+ python -m lidar_slam --no-model /working/474706b3-d80d-488e-b0b2-bc80bfd64124 Lidar SLAM 0.0.13 ===================================================== The recording path: /working/474706b3-d80d-488e-b0b2-bc80bfd64124 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 0.001400513 Adjusted end_distance from 9.223372036854776e+18 to 647.851400513 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.001400513 meters Centerline goodness [0,1] 0.9980467054431809 Centerline is valid? [0, True] SLAMing on 0.031400513 meters Centerline goodness [0,1] 0.997921987964847 Centerline is valid? [True, True] Translation: X:0.03, Y:0.01, Z:0.00 [[ 9.99998258e-01 6.27309010e-04 1.75775616e-03 2.88078240e-02] [-6.30638055e-04 9.99998008e-01 1.89400371e-03 7.26812017e-03] [-1.75656454e-03 -1.89510892e-03 9.99996662e-01 2.40813612e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.061400513 meters Centerline goodness [0,1] 0.8726076297793643 Centerline is valid? [True, False] Translation: X:0.03, Y:0.00, Z:0.01 [[ 0.99983114 0.01635723 0.00837454 0.03325844] [-0.01641637 0.99984044 0.0070432 0.00272896] [-0.008258 -0.00717949 0.99994013 0.01155777] [ 0. 0. 0. 1. ]] SLAMing on 0.091400513 meters Centerline goodness [0,1] 0.9770982572436652 Centerline is valid? [False, True] Translation: X:0.04, Y:-0.05, Z:0.01 [[ 0.99981461 -0.00707541 0.01790749 0.03560276] [ 0.00690494 0.99993043 0.00956353 -0.05235803] [-0.01797391 -0.00943811 0.99979391 0.01167588] [ 0. 0. 0. 1. ]] SLAMing on 0.121400513 meters Centerline goodness [0,1] 0.9924556852572417 Centerline is valid? [True, True] Translation: X:0.07, Y:-0.05, Z:0.01 [[ 9.99779507e-01 -5.83268775e-03 2.01721668e-02 6.62655523e-02] [ 5.82691809e-03 9.99982964e-01 3.44786408e-04 -4.74412686e-02] [-2.01738341e-02 -2.27168821e-04 9.99796462e-01 1.42040847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.151400513 meters Centerline goodness [0,1] 0.9924556852572417 Centerline is valid? [True, True] Translation: X:0.10, Y:-0.05, Z:0.01 [[ 9.99780841e-01 -5.64183567e-03 2.01603560e-02 9.88180628e-02] [ 5.62454698e-03 9.99983764e-01 9.14158873e-04 -4.66322470e-02] [-2.01651863e-02 -8.00565657e-04 9.99796341e-01 1.45621913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.18140051299999999 meters Centerline goodness [0,1] 0.9379230818509898 Centerline is valid? [True, False] Translation: X:0.10, Y:-0.05, Z:0.02 [[ 0.99978025 -0.00545971 0.02023959 0.09804869] [ 0.0054336 0.99998433 0.00134485 -0.04861029] [-0.02024662 -0.00123458 0.99979425 0.01563906] [ 0. 0. 0. 1. ]] SLAMing on 0.21140051299999998 meters Centerline goodness [0,1] 0.9657174572001879 Centerline is valid? [False, True] Translation: X:0.10, Y:-0.05, Z:0.02 [[ 0.99978307 -0.0051112 0.02019142 0.09813729] [ 0.00506833 0.99998479 0.00217381 -0.05246357] [-0.02020222 -0.002071 0.99979377 0.01580885] [ 0. 0. 0. 1. ]] SLAMing on 0.24140051299999998 meters Centerline goodness [0,1] 0.9657174572001879 Centerline is valid? [True, True] Translation: X:0.13, Y:-0.05, Z:0.02 [[ 9.99782792e-01 -4.93717009e-03 2.02482973e-02 1.30631193e-01] [ 4.92010057e-03 9.99987498e-01 8.92740469e-04 -5.01255384e-02] [-2.02524517e-02 -7.92922899e-04 9.99794584e-01 1.62922905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.271400513 meters Centerline goodness [0,1] 0.921710850075957 Centerline is valid? [True, False] Translation: X:0.13, Y:-0.06, Z:0.02 [[ 0.99978039 -0.00446603 0.02047495 0.12928337] [ 0.00442466 0.99998808 0.00206533 -0.05553858] [-0.02048393 -0.00197428 0.99978823 0.01769811] [ 0. 0. 0. 1. ]] SLAMing on 0.301400513 meters Centerline goodness [0,1] 0.921710850075957 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.06, Z:0.02 [[ 0.99978039 -0.00446603 0.02047495 0.12928337] [ 0.00442466 0.99998808 0.00206533 -0.05553858] [-0.02048393 -0.00197428 0.99978823 0.01769811] [ 0. 0. 0. 1. ]] SLAMing on 0.33140051299999995 meters Centerline goodness [0,1] 0.9901277584204413 Centerline is valid? [False, True] Translation: X:0.12, Y:-0.06, Z:0.02 [[ 9.99748270e-01 -6.04337804e-03 2.16072570e-02 1.21365407e-01] [ 6.02741770e-03 9.99981512e-01 8.03706256e-04 -5.79343816e-02] [-2.16117147e-02 -6.73267976e-04 9.99766213e-01 2.37426807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.361400513 meters Centerline goodness [0,1] 0.9901277584204413 Centerline is valid? [True, True] Translation: X:0.15, Y:-0.06, Z:0.02 [[ 9.99749553e-01 -5.84525887e-03 2.16024323e-02 1.53911489e-01] [ 5.82681882e-03 9.99982604e-01 9.16456207e-04 -5.67861964e-02] [-2.16074134e-02 -7.90353224e-04 9.99766220e-01 2.43267346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.391400513 meters Centerline goodness [0,1] 0.7820999232671157 Centerline is valid? [True, False] Translation: X:0.15, Y:-0.06, Z:0.02 [[ 0.99975563 -0.00556442 0.02139448 0.15485781] [ 0.00552766 0.99998314 0.00177671 -0.06088896] [-0.02140401 -0.00165801 0.99976953 0.0237504 ] [ 0. 0. 0. 1. ]] SLAMing on 0.421400513 meters Centerline goodness [0,1] 0.821142734859833 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.06, Z:0.02 [[ 9.99841205e-01 -6.76913214e-03 1.64846329e-02 1.25942409e-01] [ 6.75487840e-03 9.99976762e-01 9.20195169e-04 -6.34699118e-02] [-1.64904787e-02 -8.08697356e-04 9.99863696e-01 1.50861268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.45140051299999995 meters Centerline goodness [0,1] 0.821142734859833 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.06, Z:0.02 [[ 9.99841205e-01 -6.76913214e-03 1.64846329e-02 1.25942409e-01] [ 6.75487840e-03 9.99976762e-01 9.20195169e-04 -6.34699118e-02] [-1.64904787e-02 -8.08697356e-04 9.99863696e-01 1.50861268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.481400513 meters Centerline goodness [0,1] 0.9980117565698479 Centerline is valid? [False, True] Translation: X:0.10, Y:-0.07, Z:0.01 [[ 9.99903330e-01 -7.99253953e-03 1.13776339e-02 9.87057542e-02] [ 7.99236121e-03 9.99968059e-01 6.11412774e-05 -6.64115862e-02] [-1.13777591e-02 2.97987928e-05 9.99935271e-01 5.03569317e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.511400513 meters Centerline goodness [0,1] 0.9980117565698479 Centerline is valid? [True, True] Translation: X:0.13, Y:-0.07, Z:0.01 [[ 9.99903862e-01 -7.94782221e-03 1.13621904e-02 1.31230787e-01] [ 7.94349117e-03 9.99968359e-01 4.26258605e-04 -6.55525242e-02] [-1.13652188e-02 -3.35962165e-04 9.99935357e-01 5.48007366e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.541400513 meters Centerline goodness [0,1] 0.9980117565698479 Centerline is valid? [True, True] Translation: X:0.16, Y:-0.06, Z:0.01 [[ 9.99904191e-01 -7.90809876e-03 1.13609210e-02 1.63743927e-01] [ 7.90378510e-03 9.99968674e-01 4.24541772e-04 -6.43868745e-02] [-1.13639224e-02 -3.34706819e-04 9.99935373e-01 5.92977474e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5714005129999999 meters Centerline goodness [0,1] 0.997900023814163 Centerline is valid? [True, True] Translation: X:0.19, Y:-0.07, Z:-0.00 [[ 0.99994232 -0.00912898 0.00565813 0.19337806] [ 0.00912164 0.99995752 0.00132184 -0.07058725] [-0.00566995 -0.00127016 0.99998312 -0.00482793] [ 0. 0. 0. 1. ]] SLAMing on 0.601400513 meters Centerline goodness [0,1] 0.9980370162647224 Centerline is valid? [True, True] Translation: X:0.22, Y:-0.07, Z:-0.01 [[ 0.99993301 -0.01120603 0.00289975 0.22366682] [ 0.01120103 0.99993576 0.00173378 -0.07162504] [-0.00291899 -0.00170118 0.99999429 -0.00773835] [ 0. 0. 0. 1. ]] SLAMing on 0.631400513 meters Centerline goodness [0,1] 0.9980170704371066 Centerline is valid? [True, True] Translation: X:0.26, Y:-0.08, Z:-0.01 [[ 0.99988701 -0.0141124 0.00517821 0.2564747 ] [ 0.01410459 0.99989934 0.00154208 -0.07834826] [-0.00519945 -0.00146887 0.9999854 -0.00590741] [ 0. 0. 0. 1. ]] SLAMing on 0.6614005129999999 meters Centerline goodness [0,1] 0.9980170704371066 Centerline is valid? [True, True] Translation: X:0.29, Y:-0.08, Z:-0.01 [[ 9.99886575e-01 -1.41108885e-02 5.26488199e-03 2.88066706e-01] [ 1.41097537e-02 9.99900421e-01 2.52631604e-04 -7.60847088e-02] [-5.26792257e-03 -1.78316761e-04 9.99986109e-01 -5.51577381e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6914005129999999 meters Centerline goodness [0,1] 0.9978600470789643 Centerline is valid? [True, True] Translation: X:0.32, Y:-0.08, Z:0.01 [[ 9.99816377e-01 -1.58777604e-02 1.07288477e-02 3.18982763e-01] [ 1.58795000e-02 9.99873910e-01 -7.69688696e-05 -8.10093104e-02] [-1.07262728e-02 2.47323473e-04 9.99942441e-01 6.86317389e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.721400513 meters Centerline goodness [0,1] 0.9978600470789643 Centerline is valid? [True, True] Translation: X:0.35, Y:-0.08, Z:0.01 [[ 9.99817351e-01 -1.58111907e-02 1.07363832e-02 3.51480936e-01] [ 1.58070094e-02 9.99874949e-01 4.74202478e-04 -8.03352708e-02] [-1.07425383e-02 -3.04405755e-04 9.99942251e-01 7.28545073e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.751400513 meters Centerline goodness [0,1] 0.9978600470789643 Centerline is valid? [True, True] Translation: X:0.38, Y:-0.08, Z:0.01 [[ 9.99817973e-01 -1.57522246e-02 1.07651483e-02 3.83961632e-01] [ 1.57480364e-02 9.99875880e-01 4.73710232e-04 -7.91994281e-02] [-1.07712741e-02 -3.04094057e-04 9.99941942e-01 7.70216419e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.781400513 meters Centerline goodness [0,1] 0.9982002056907782 Centerline is valid? [True, True] Translation: X:0.41, Y:-0.08, Z:0.03 [[ 0.99964554 -0.01787868 0.01972666 0.41279673] [ 0.01794051 0.99983467 -0.00296138 -0.08036565] [-0.01967045 0.00331423 0.99980102 0.02774767] [ 0. 0. 0. 1. ]] SLAMing on 0.8114005129999999 meters Centerline goodness [0,1] 0.9980837549790075 Centerline is valid? [True, True] Translation: X:0.44, Y:-0.09, Z:0.03 [[ 9.99501539e-01 -2.00613245e-02 2.43765736e-02 4.44220311e-01] [ 2.00444801e-02 9.99798652e-01 9.35181579e-04 -9.21075313e-02] [-2.43904265e-02 -4.46099681e-04 9.99702410e-01 3.37925545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.841400513 meters Centerline goodness [0,1] 0.9980837549790075 Centerline is valid? [True, True] Translation: X:0.48, Y:-0.09, Z:0.03 [[ 9.99505502e-01 -1.98625428e-02 2.43768458e-02 4.76741126e-01] [ 1.98458126e-02 9.99802622e-01 9.28072249e-04 -9.10099968e-02] [-2.43904682e-02 -4.43835007e-04 9.99702410e-01 3.42288021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.871400513 meters Centerline goodness [0,1] 0.9979043708835856 Centerline is valid? [True, True] Translation: X:0.51, Y:-0.10, Z:0.04 [[ 9.99486542e-01 -2.16939309e-02 2.35801849e-02 5.07771713e-01] [ 2.16787468e-02 9.99764584e-01 8.99402024e-04 -9.54621255e-02] [-2.35941453e-02 -3.87751361e-04 9.99721544e-01 3.56072606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9014005129999999 meters Centerline goodness [0,1] 0.9979043708835856 Centerline is valid? [True, True] Translation: X:0.54, Y:-0.09, Z:0.04 [[ 9.99488117e-01 -2.16211540e-02 2.35802748e-02 5.40280976e-01] [ 2.16060054e-02 9.99766161e-01 8.97042865e-04 -9.43438624e-02] [-2.35941559e-02 -3.87108139e-04 9.99721544e-01 3.60433647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9314005129999999 meters Centerline goodness [0,1] 0.9979043708835856 Centerline is valid? [True, True] Translation: X:0.57, Y:-0.09, Z:0.04 [[ 9.99489687e-01 -2.15483684e-02 2.35803401e-02 5.72790340e-01] [ 2.15332400e-02 9.99767732e-01 8.95326159e-04 -9.32284893e-02] [-2.35941560e-02 -3.87108140e-04 9.99721544e-01 3.64794877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.961400513 meters Centerline goodness [0,1] 0.998258024770038 Centerline is valid? [True, True] Translation: X:0.61, Y:-0.10, Z:0.03 [[ 0.99948872 -0.02284338 0.02237116 0.60529695] [ 0.0227476 0.99973099 0.00452664 -0.10077429] [-0.02246855 -0.00401544 0.99973949 0.03311278] [ 0. 0. 0. 1. ]] SLAMing on 0.991400513 meters Centerline goodness [0,1] 0.9981419784725781 Centerline is valid? [True, True] Translation: X:0.64, Y:-0.10, Z:0.04 [[ 9.99451626e-01 -2.33961869e-02 2.34321430e-02 6.38485309e-01] [ 2.33969991e-02 9.99726224e-01 2.39530185e-04 -9.96579768e-02] [-2.34313319e-02 3.08842996e-04 9.99725401e-01 3.51854513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.0214005130000001 meters Centerline goodness [0,1] 0.9953769102350071 Centerline is valid? [True, True] Translation: X:0.67, Y:-0.10, Z:0.05 [[ 0.99935124 -0.0231639 0.02757787 0.66826994] [ 0.02287263 0.99967972 0.01083058 -0.09916538] [-0.02781991 -0.01019278 0.99956098 0.05320755] [ 0. 0. 0. 1. ]] SLAMing on 1.0514005130000001 meters Centerline goodness [0,1] 0.9953769102350071 Centerline is valid? [True, True] Translation: X:0.70, Y:-0.09, Z:0.05 [[ 9.99337602e-01 -2.30965291e-02 2.81230827e-02 7.00386622e-01] [ 2.30771050e-02 9.99733173e-01 1.01509498e-03 -9.04204679e-02] [-2.81390239e-02 -3.65423254e-04 9.99603952e-01 5.29869223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.0814005130000002 meters Centerline goodness [0,1] 0.9983202568518637 Centerline is valid? [True, True] Translation: X:0.73, Y:-0.09, Z:0.03 [[ 0.99951646 -0.02079665 0.02311601 0.73188234] [ 0.02105597 0.99971743 -0.01103165 -0.08849058] [-0.02288005 0.01151305 0.99967192 0.03274251] [ 0. 0. 0. 1. ]] SLAMing on 1.111400513 meters Centerline goodness [0,1] 0.9983202568518637 Centerline is valid? [True, True] Translation: X:0.76, Y:-0.10, Z:0.03 [[ 9.99530256e-01 -2.05982070e-02 2.26932147e-02 7.64732740e-01] [ 2.05851759e-02 9.99787777e-01 8.07708742e-04 -9.70786054e-02] [-2.27050361e-02 -3.40185508e-04 9.99742150e-01 3.35569474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.141400513 meters Centerline goodness [0,1] 0.9981895633652822 Centerline is valid? [True, True] Translation: X:0.79, Y:-0.09, Z:0.03 [[ 0.99959056 -0.01780093 0.02240174 0.79426403] [ 0.01783072 0.99984038 -0.00113093 -0.09372181] [-0.02237803 0.0015299 0.99974841 0.03456213] [ 0. 0. 0. 1. ]] SLAMing on 1.171400513 meters Centerline goodness [0,1] 0.9981606638720164 Centerline is valid? [True, True] Translation: X:0.83, Y:-0.10, Z:0.04 [[ 0.99959922 -0.01531833 0.0238066 0.82626778] [ 0.01525761 0.99987987 0.00272994 -0.09598405] [-0.02384556 -0.00236561 0.99971286 0.03505809] [ 0. 0. 0. 1. ]] SLAMing on 1.201400513 meters Centerline goodness [0,1] 0.9981606638720164 Centerline is valid? [True, True] Translation: X:0.86, Y:-0.09, Z:0.04 [[ 9.99599765e-01 -1.51579736e-02 2.38860903e-02 8.58728600e-01] [ 1.51408154e-02 9.99884967e-01 8.99035608e-04 -9.34257932e-02] [-2.38969702e-02 -5.37020899e-04 9.99714282e-01 3.54106846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.231400513 meters Centerline goodness [0,1] 0.9981606638720164 Centerline is valid? [True, True] Translation: X:0.89, Y:-0.09, Z:0.04 [[ 9.99602279e-01 -1.49731801e-02 2.38974227e-02 8.91244041e-01] [ 1.49560052e-02 9.99887750e-01 8.97269629e-04 -9.23712933e-02] [-2.39081752e-02 -5.39502789e-04 9.99714013e-01 3.58363594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2614005130000001 meters Centerline goodness [0,1] 0.998212803982894 Centerline is valid? [True, True] Translation: X:0.92, Y:-0.09, Z:0.05 [[ 0.99954371 -0.01287019 0.02732623 0.92027871] [ 0.01279337 0.99991371 0.00298403 -0.0896321 ] [-0.02736227 -0.00263308 0.99962212 0.04518217] [ 0. 0. 0. 1. ]] SLAMing on 1.2914005130000001 meters Centerline goodness [0,1] 0.9946123213867416 Centerline is valid? [True, True] Translation: X:0.95, Y:-0.08, Z:0.06 [[ 0.99944582 -0.01217606 0.03098048 0.95016791] [ 0.01213497 0.99992522 0.0015139 -0.08310822] [-0.03099659 -0.00113712 0.99951884 0.05918405] [ 0. 0. 0. 1. ]] SLAMing on 1.321400513 meters Centerline goodness [0,1] 0.9981311623311064 Centerline is valid? [True, True] Translation: X:0.98, Y:-0.08, Z:0.06 [[ 0.99939449 -0.01232375 0.03253889 0.9823488 ] [ 0.01236632 0.99992292 -0.00110716 -0.08458508] [-0.03252273 0.00150888 0.99946986 0.05748178] [ 0. 0. 0. 1. ]] SLAMing on 1.351400513 meters Centerline goodness [0,1] 0.9983370288248337 Centerline is valid? [True, True] Translation: X:1.01, Y:-0.10, Z:0.05 [[ 0.99907847 -0.03049937 0.03019925 1.01372543] [ 0.03038531 0.99952932 0.0042285 -0.10247814] [-0.030314 -0.00330699 0.99953495 0.05129326] [ 0. 0. 0. 1. ]] SLAMing on 1.381400513 meters Centerline goodness [0,1] 0.7265337720147087 Centerline is valid? [True, False] Translation: X:1.00, Y:-0.10, Z:0.04 [[ 0.99904659 0.03818283 0.02116555 1.00339993] [-0.03799695 0.99923627 -0.0091161 -0.09698932] [-0.02149747 0.00830319 0.99973442 0.0434825 ] [ 0. 0. 0. 1. ]] SLAMing on 1.411400513 meters Centerline goodness [0,1] 0.7265337720147087 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.10, Z:0.04 [[ 0.99904659 0.03818283 0.02116555 1.00339993] [-0.03799695 0.99923627 -0.0091161 -0.09698932] [-0.02149747 0.00830319 0.99973442 0.0434825 ] [ 0. 0. 0. 1. ]] SLAMing on 1.441400513 meters Centerline goodness [0,1] 0.7341834866337806 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.11, Z:0.04 [[ 0.99917122 0.03669071 0.01762555 0.98983735] [-0.03674145 0.99932152 0.00256357 -0.10755052] [-0.01751954 -0.00320903 0.99984137 0.04017403] [ 0. 0. 0. 1. ]] SLAMing on 1.471400513 meters Centerline goodness [0,1] 0.7093383873190903 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.10, Z:0.04 [[ 0.99932858 0.03232122 0.01725478 0.99120038] [-0.03228598 0.99947599 -0.00231707 -0.10495884] [-0.01732063 0.00175843 0.99984844 0.03862863] [ 0. 0. 0. 1. ]] SLAMing on 1.501400513 meters Centerline goodness [0,1] 0.7093383873190903 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.10, Z:0.04 [[ 0.99932858 0.03232122 0.01725478 0.99120038] [-0.03228598 0.99947599 -0.00231707 -0.10495884] [-0.01732063 0.00175843 0.99984844 0.03862863] [ 0. 0. 0. 1. ]] SLAMing on 1.5314005130000001 meters Centerline goodness [0,1] 0.7065030516633715 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.11, Z:0.04 [[ 9.99314496e-01 3.27311101e-02 1.72977642e-02 9.90695455e-01] [-3.27172811e-02 9.99464061e-01 -1.08193200e-03 -1.10772870e-01] [-1.73239065e-02 5.15254524e-04 9.99849797e-01 3.94082364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5614005130000002 meters Centerline goodness [0,1] 0.7355428376185189 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.11, Z:0.04 [[ 0.99944647 0.02831451 0.01746527 0.98967305] [-0.02821413 0.99958409 -0.00596748 -0.10809373] [-0.01762697 0.00547141 0.99982966 0.03957256] [ 0. 0. 0. 1. ]] SLAMing on 1.591400513 meters Centerline goodness [0,1] 0.764719756421802 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.11, Z:0.03 [[ 0.999595 0.02343895 0.01613833 0.97607701] [-0.0234663 0.99972349 0.00150696 -0.11271503] [-0.01609854 -0.00188506 0.99986863 0.03326207] [ 0. 0. 0. 1. ]] SLAMing on 1.621400513 meters Centerline goodness [0,1] 0.8134302526825892 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.12, Z:0.03 [[ 0.99967812 0.02253937 0.0116464 0.94423509] [-0.02255769 0.9997445 0.00144353 -0.11569174] [-0.01161089 -0.00170578 0.99993114 0.02681504] [ 0. 0. 0. 1. ]] SLAMing on 1.651400513 meters Centerline goodness [0,1] 0.8134302526825892 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.12, Z:0.03 [[ 0.99967812 0.02253937 0.0116464 0.94423509] [-0.02255769 0.9997445 0.00144353 -0.11569174] [-0.01161089 -0.00170578 0.99993114 0.02681504] [ 0. 0. 0. 1. ]] SLAMing on 1.681400513 meters Centerline goodness [0,1] 0.7625514669425941 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.11, Z:0.03 [[ 0.99976599 0.01823588 0.01163704 0.9442295 ] [-0.01819631 0.99982832 -0.00349713 -0.11259826] [-0.01169882 0.00328456 0.99992617 0.02619233] [ 0. 0. 0. 1. ]] SLAMing on 1.711400513 meters Centerline goodness [0,1] 0.7625514669425941 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.11, Z:0.03 [[ 0.99976599 0.01823588 0.01163704 0.9442295 ] [-0.01819631 0.99982832 -0.00349713 -0.11259826] [-0.01169882 0.00328456 0.99992617 0.02619233] [ 0. 0. 0. 1. ]] SLAMing on 1.741400513 meters Centerline goodness [0,1] 0.7630901287553649 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.12, Z:0.03 [[ 0.99975804 0.01855058 0.01182119 0.9430882 ] [-0.01851961 0.99982479 -0.00272427 -0.11616791] [-0.01186965 0.00250469 0.99992642 0.02733091] [ 0. 0. 0. 1. ]] SLAMing on 1.7714005130000001 meters Centerline goodness [0,1] 0.7630901287553649 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.12, Z:0.03 [[ 0.99975804 0.01855058 0.01182119 0.9430882 ] [-0.01851961 0.99982479 -0.00272427 -0.11616791] [-0.01186965 0.00250469 0.99992642 0.02733091] [ 0. 0. 0. 1. ]] SLAMing on 1.801400513 meters Centerline goodness [0,1] 0.8177937493193945 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.13, Z:0.03 [[ 0.99981767 0.01801302 0.00633765 0.91947183] [-0.01806242 0.99980623 0.00782597 -0.12749707] [-0.00619546 -0.00793902 0.99994929 0.03422772] [ 0. 0. 0. 1. ]] SLAMing on 1.831400513 meters Centerline goodness [0,1] 0.8177937493193945 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.12, Z:0.03 [[ 0.9998869 0.01358745 0.0064481 0.91902652] [-0.01360257 0.99990482 0.00230686 -0.12146662] [-0.00641614 -0.00239431 0.99997655 0.03381982] [ 0. 0. 0. 1. ]] SLAMing on 1.861400513 meters Centerline goodness [0,1] 0.8139429410621342 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.12, Z:0.03 [[ 0.99988826 0.01357858 0.00625215 0.92022376] [-0.01359308 0.999905 0.00228341 -0.12143926] [-0.00622056 -0.00236814 0.99997785 0.03255946] [ 0. 0. 0. 1. ]] SLAMing on 1.891400513 meters Centerline goodness [0,1] 0.8139429410621342 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.12, Z:0.03 [[ 0.99993761 0.00921495 0.00631406 0.9199536 ] [-0.00919485 0.99995259 -0.00320505 -0.11545731] [-0.00634329 0.0031468 0.99997493 0.03219616] [ 0. 0. 0. 1. ]] SLAMing on 1.921400513 meters Centerline goodness [0,1] 0.8599388776903569 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.12, Z:0.03 [[ 0.99993874 0.00927952 0.00603424 0.92148156] [-0.00926125 0.99995247 -0.00304878 -0.11626332] [-0.00606224 0.00299271 0.99997715 0.03080213] [ 0. 0. 0. 1. ]] SLAMing on 1.951400513 meters Centerline goodness [0,1] 0.7838811346240432 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.12, Z:0.03 [[ 0.99993905 0.00938233 0.00582021 0.92255928] [-0.0093664 0.99995233 -0.00275886 -0.11769064] [-0.00584581 0.00270417 0.99997926 0.02998542] [ 0. 0. 0. 1. ]] SLAMing on 1.981400513 meters Centerline goodness [0,1] 0.7838811346240432 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.12, Z:0.03 [[ 0.99993905 0.00938233 0.00582021 0.92255928] [-0.0093664 0.99995233 -0.00275886 -0.11769064] [-0.00584581 0.00270417 0.99997926 0.02998542] [ 0. 0. 0. 1. ]] SLAMing on 2.011400513 meters Centerline goodness [0,1] 0.7838811346240432 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.12, Z:0.03 [[ 0.99993905 0.00938233 0.00582021 0.92255928] [-0.0093664 0.99995233 -0.00275886 -0.11769064] [-0.00584581 0.00270417 0.99997926 0.02998542] [ 0. 0. 0. 1. ]] SLAMing on 2.041400513 meters Centerline goodness [0,1] 0.8251843228560342 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.12, Z:0.03 [[ 0.99993962 0.00940159 0.00568889 0.92328834] [-0.00938631 0.99995229 -0.00270551 -0.11797406] [-0.00571405 0.00265195 0.99998016 0.02937308] [ 0. 0. 0. 1. ]] SLAMing on 2.071400513 meters Centerline goodness [0,1] 0.8251843228560342 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.12, Z:0.03 [[ 0.99993962 0.00940159 0.00568889 0.92328834] [-0.00938631 0.99995229 -0.00270551 -0.11797406] [-0.00571405 0.00265195 0.99998016 0.02937308] [ 0. 0. 0. 1. ]] SLAMing on 2.101400513 meters Centerline goodness [0,1] 0.8463693169575522 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.12, Z:0.03 [[ 0.99994092 0.0093625 0.00552297 0.92425232] [-0.00934727 0.99995246 -0.00277737 -0.11769423] [-0.00554871 0.00272558 0.99998089 0.02845411] [ 0. 0. 0. 1. ]] SLAMing on 2.131400513 meters Centerline goodness [0,1] 0.8621829494879661 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.12, Z:0.03 [[ 0.99994231 0.00928343 0.00540323 0.92492736] [-0.00926761 0.99995271 -0.00294689 -0.11693911] [-0.00543033 0.00289665 0.99998106 0.02785218] [ 0. 0. 0. 1. ]] SLAMing on 2.1614005130000002 meters Centerline goodness [0,1] 0.8621829494879661 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.12, Z:0.03 [[ 0.99994231 0.00928343 0.00540323 0.92492736] [-0.00926761 0.99995271 -0.00294689 -0.11693911] [-0.00543033 0.00289665 0.99998106 0.02785218] [ 0. 0. 0. 1. ]] SLAMing on 2.191400513 meters Centerline goodness [0,1] 0.8621829494879661 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.12, Z:0.03 [[ 0.99994231 0.00928343 0.00540323 0.92492736] [-0.00926761 0.99995271 -0.00294689 -0.11693911] [-0.00543033 0.00289665 0.99998106 0.02785218] [ 0. 0. 0. 1. ]] SLAMing on 2.221400513 meters Centerline goodness [0,1] 0.8546951586550864 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.12, Z:0.03 [[ 0.99994134 0.00936598 0.00543976 0.92454928] [-0.00935122 0.99995254 -0.00273198 -0.11792907] [-0.00546509 0.00268095 0.99998147 0.02838608] [ 0. 0. 0. 1. ]] SLAMing on 2.251400513 meters Centerline goodness [0,1] 0.8546951586550864 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.12, Z:0.03 [[ 0.99994134 0.00936598 0.00543976 0.92454928] [-0.00935122 0.99995254 -0.00273198 -0.11792907] [-0.00546509 0.00268095 0.99998147 0.02838608] [ 0. 0. 0. 1. ]] SLAMing on 2.281400513 meters Centerline goodness [0,1] 0.9646069359162847 Centerline is valid? [False, True] Translation: X:0.92, Y:-0.12, Z:0.03 [[ 0.99993878 0.00953143 0.00562007 0.92339469] [-0.00951865 0.99995206 -0.00229641 -0.1199178 ] [-0.00564169 0.00224277 0.99998157 0.02960279] [ 0. 0. 0. 1. ]] SLAMing on 2.311400513 meters Centerline goodness [0,1] 0.8860138204206403 Centerline is valid? [True, False] Translation: X:0.92, Y:-0.12, Z:0.03 [[ 0.99993646 0.00969 0.00576053 0.92241104] [-0.00967972 0.99995151 -0.00181059 -0.12217445] [-0.00577779 0.00175471 0.99998177 0.03075918] [ 0. 0. 0. 1. ]] SLAMing on 2.341400513 meters Centerline goodness [0,1] 0.8860138204206403 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.12, Z:0.03 [[ 0.99993646 0.00969 0.00576053 0.92241104] [-0.00967972 0.99995151 -0.00181059 -0.12217445] [-0.00577779 0.00175471 0.99998177 0.03075918] [ 0. 0. 0. 1. ]] SLAMing on 2.371400513 meters Centerline goodness [0,1] 0.9425698850968959 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.12, Z:0.03 [[ 0.99993582 0.00980456 0.00567598 0.92236255] [-0.009797 0.99995108 -0.00135913 -0.12434243] [-0.00568903 0.00130343 0.99998297 0.03141088] [ 0. 0. 0. 1. ]] SLAMing on 2.401400513 meters Centerline goodness [0,1] 0.9425698850968959 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.12, Z:0.03 [[ 0.99993582 0.00980456 0.00567598 0.92236255] [-0.009797 0.99995108 -0.00135913 -0.12434243] [-0.00568903 0.00130343 0.99998297 0.03141088] [ 0. 0. 0. 1. ]] SLAMing on 2.431400513 meters Centerline goodness [0,1] 0.9488144928783511 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.13, Z:0.03 [[ 9.99935087e-01 9.95752914e-03 5.53805614e-03 9.22665113e-01] [-9.95256425e-03 9.99950046e-01 -9.23343341e-04 -1.26406814e-01] [-5.54697371e-03 8.68165544e-04 9.99984239e-01 3.17383654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.461400513 meters Centerline goodness [0,1] 0.994694903241049 Centerline is valid? [False, True] Translation: X:0.92, Y:-0.13, Z:0.03 [[ 9.99933953e-01 1.01154962e-02 5.45589918e-03 9.22635510e-01] [-1.01132140e-02 9.99948761e-01 -4.45734819e-04 -1.28660836e-01] [-5.46012845e-03 3.90528704e-04 9.99985017e-01 3.23451738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.491400513 meters Centerline goodness [0,1] 0.9985369107300385 Centerline is valid? [True, True] Translation: X:0.95, Y:-0.14, Z:0.03 [[ 9.99940533e-01 9.52824752e-03 5.30493179e-03 9.52403497e-01] [-9.52470700e-03 9.99954399e-01 -6.92266287e-04 -1.37738576e-01] [-5.31128596e-03 6.41697200e-04 9.99985689e-01 3.19383171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.521400513 meters Centerline goodness [0,1] 0.9985454703341077 Centerline is valid? [True, True] Translation: X:0.98, Y:-0.14, Z:0.03 [[ 0.99998087 0.00525727 0.00325861 0.98340434] [-0.00524614 0.99998041 -0.00341381 -0.14044903] [-0.0032765 0.00339665 0.99998886 0.03092389] [ 0. 0. 0. 1. ]] SLAMing on 2.551400513 meters Centerline goodness [0,1] 0.9969768295579693 Centerline is valid? [True, True] Translation: X:1.02, Y:-0.14, Z:0.04 [[ 0.99998764 0.00227933 0.00441844 1.01529165] [-0.00230043 0.99998595 0.00477472 -0.13607583] [-0.0044075 -0.00478482 0.99997884 0.03647703] [ 0. 0. 0. 1. ]] SLAMing on 2.581400513 meters Centerline goodness [0,1] 0.9996732310909725 Centerline is valid? [True, True] Translation: X:1.05, Y:-0.14, Z:0.00 [[ 9.99845588e-01 -8.60970592e-04 -1.75516335e-02 1.04651201e+00] [ 8.47545443e-04 9.99999343e-01 -7.72318678e-04 -1.41168439e-01] [ 1.75522869e-02 7.57323615e-04 9.99845660e-01 3.44335181e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.611400513 meters Centerline goodness [0,1] 0.6860713197195977 Centerline is valid? [True, False] Translation: X:1.05, Y:-0.14, Z:-0.00 [[ 9.99826410e-01 -9.05381415e-04 -1.86099706e-02 1.05149538e+00] [ 8.92364028e-04 9.99999351e-01 -7.07776778e-04 -1.41841142e-01] [ 1.86105994e-02 6.91047046e-04 9.99826569e-01 -2.97695909e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.641400513 meters Centerline goodness [0,1] 0.6860713197195977 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.14, Z:-0.00 [[ 9.99826410e-01 -9.05381415e-04 -1.86099706e-02 1.05149538e+00] [ 8.92364028e-04 9.99999351e-01 -7.07776778e-04 -1.41841142e-01] [ 1.86105994e-02 6.91047046e-04 9.99826569e-01 -2.97695909e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.671400513 meters Centerline goodness [0,1] 0.9983624571761005 Centerline is valid? [False, True] Translation: X:1.09, Y:-0.14, Z:-0.00 [[ 9.99889816e-01 -3.87569936e-04 -1.48393019e-02 1.08840552e+00] [ 3.73808726e-04 9.99999498e-01 -9.30111354e-04 -1.40493083e-01] [ 1.48396549e-02 9.24461810e-04 9.99889459e-01 -1.83152409e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.701400513 meters Centerline goodness [0,1] 0.9982704198555801 Centerline is valid? [True, True] Translation: X:1.12, Y:-0.14, Z:0.02 [[ 9.99984443e-01 -5.41174224e-04 -5.55158946e-03 1.11668375e+00] [ 5.39860326e-04 9.99999826e-01 -2.38166410e-04 -1.38252816e-01] [ 5.55171739e-03 2.35165622e-04 9.99984561e-01 1.64725981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.731400513 meters Centerline goodness [0,1] 0.9988534094842506 Centerline is valid? [True, True] Translation: X:1.14, Y:-0.14, Z:0.03 [[ 9.99992988e-01 1.04187846e-03 3.59711559e-03 1.14423597e+00] [-1.04926238e-03 9.99997345e-01 2.05145599e-03 -1.39175654e-01] [-3.59496867e-03 -2.05521592e-03 9.99991426e-01 3.34125604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.761400513 meters Centerline goodness [0,1] 0.9995893135051012 Centerline is valid? [True, True] Translation: X:1.18, Y:-0.13, Z:0.04 [[ 9.99971611e-01 2.56222214e-04 7.53069007e-03 1.17710439e+00] [-2.44609465e-04 9.99998780e-01 -1.54293702e-03 -1.33642709e-01] [-7.53107622e-03 1.54105114e-03 9.99970454e-01 4.12736777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.791400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.21, Y:-0.14, Z:0.03 [[ 9.99992302e-01 1.51454148e-03 3.61959359e-03 1.20990185e+00] [-1.51511233e-03 9.99998840e-01 1.54975823e-04 -1.37821519e-01] [-3.61935468e-03 -1.60458721e-04 9.99993437e-01 3.34746577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.821400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.24, Y:-0.14, Z:0.03 [[ 9.99991987e-01 1.70971767e-03 3.61964751e-03 1.24241938e+00] [-1.71028525e-03 9.99998526e-01 1.53714655e-04 -1.36568485e-01] [-3.61937937e-03 -1.59904053e-04 9.99993437e-01 3.35981752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.851400513 meters Centerline goodness [0,1] 0.9999135508969095 Centerline is valid? [True, True] Translation: X:1.27, Y:-0.13, Z:0.02 [[ 9.99986562e-01 3.73683881e-03 -3.59330922e-03 1.27315845e+00] [-3.73741389e-03 9.99993004e-01 -1.53339450e-04 -1.28200648e-01] [ 3.59271108e-03 1.66767073e-04 9.99993532e-01 2.09220623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.881400513 meters Centerline goodness [0,1] 0.9999135508969095 Centerline is valid? [True, True] Translation: X:1.30, Y:-0.13, Z:0.02 [[ 9.99986739e-01 3.68911897e-03 -3.59331552e-03 1.30149099e+00] [-3.68969321e-03 9.99993181e-01 -1.53191694e-04 -1.26913478e-01] [ 3.59272588e-03 1.66447895e-04 9.99993532e-01 2.10297127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.911400513 meters Centerline goodness [0,1] 0.7033681815254492 Centerline is valid? [True, False] Translation: X:1.27, Y:-0.10, Z:0.03 [[ 0.99910265 0.03926121 0.01588866 1.26931961] [-0.0391317 0.99919891 -0.00838161 -0.10452989] [-0.016205 0.00775234 0.99983864 0.02952417] [ 0. 0. 0. 1. ]] SLAMing on 2.941400513 meters Centerline goodness [0,1] 0.7339943953438242 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.07, Z:0.02 [[ 0.99931733 0.03407495 0.01427498 1.24539059] [-0.0341345 0.99940944 0.0039495 -0.06695454] [-0.01413197 -0.00443408 0.99989031 0.02416702] [ 0. 0. 0. 1. ]] SLAMing on 2.971400513 meters Centerline goodness [0,1] 0.7339943953438242 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.06, Z:0.02 [[ 9.99453618e-01 2.97309270e-02 1.44408376e-02 1.24454826e+00] [-2.97113474e-02 9.99557290e-01 -1.56854820e-03 -6.08448169e-02] [-1.44810789e-02 1.13863443e-03 9.99894495e-01 2.39554390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.001400513 meters Centerline goodness [0,1] 0.7339943953438242 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.06, Z:0.02 [[ 9.99453618e-01 2.97309270e-02 1.44408376e-02 1.24454826e+00] [-2.97113474e-02 9.99557290e-01 -1.56854820e-03 -6.08448169e-02] [-1.44810789e-02 1.13863443e-03 9.99894495e-01 2.39554390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.031400513 meters Centerline goodness [0,1] 0.7037641450688197 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.06, Z:0.02 [[ 0.99945572 0.02959454 0.01457458 1.24386812] [-0.02957009 0.99956092 -0.00189032 -0.05932982] [-0.01462413 0.00145832 0.999892 0.02446397] [ 0. 0. 0. 1. ]] SLAMing on 3.061400513 meters Centerline goodness [0,1] 0.7200878155872668 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.06, Z:0.03 [[ 0.99945533 0.02956466 0.01466217 1.24330687] [-0.02953917 0.99956172 -0.00195252 -0.05902523] [-0.01471347 0.00151835 0.9998906 0.02505035] [ 0. 0. 0. 1. ]] SLAMing on 3.091400513 meters Centerline goodness [0,1] 0.7200878155872668 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.06, Z:0.03 [[ 0.99945533 0.02956466 0.01466217 1.24330687] [-0.02953917 0.99956172 -0.00195252 -0.05902523] [-0.01471347 0.00151835 0.9998906 0.02505035] [ 0. 0. 0. 1. ]] SLAMing on 3.121400513 meters Centerline goodness [0,1] 0.7272064968180163 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.06, Z:0.03 [[ 0.99945357 0.02960892 0.01469281 1.2429893 ] [-0.02958567 0.99956063 -0.00179767 -0.05975591] [-0.01473958 0.001362 0.99989044 0.02547459] [ 0. 0. 0. 1. ]] SLAMing on 3.151400513 meters Centerline goodness [0,1] 0.7272064968180163 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.06, Z:0.03 [[ 0.99945357 0.02960892 0.01469281 1.2429893 ] [-0.02958567 0.99956063 -0.00179767 -0.05975591] [-0.01473958 0.001362 0.99989044 0.02547459] [ 0. 0. 0. 1. ]] SLAMing on 3.181400513 meters Centerline goodness [0,1] 0.7200274672217335 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.06, Z:0.03 [[ 9.99452985e-01 2.96671328e-02 1.46147797e-02 1.24319693e+00] [-2.96468903e-02 9.99559154e-01 -1.59982816e-03 -6.07073863e-02] [-1.46557992e-02 1.16567026e-03 9.99891919e-01 2.55450715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.211400513 meters Centerline goodness [0,1] 0.7200274672217335 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.06, Z:0.03 [[ 9.99452985e-01 2.96671328e-02 1.46147797e-02 1.24319693e+00] [-2.96468903e-02 9.99559154e-01 -1.59982816e-03 -6.07073863e-02] [-1.46557992e-02 1.16567026e-03 9.99891919e-01 2.55450715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.241400513 meters Centerline goodness [0,1] 0.789609495957337 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.07, Z:0.02 [[ 0.99955384 0.02860813 0.00858457 1.23101573] [-0.02868808 0.99954478 0.00933924 -0.06878104] [-0.00831348 -0.00958135 0.99991954 0.02391122] [ 0. 0. 0. 1. ]] SLAMing on 3.271400513 meters Centerline goodness [0,1] 0.789609495957337 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.06, Z:0.02 [[ 0.99966835 0.0242377 0.0087017 1.23035535] [-0.02427165 0.99969811 0.00381779 -0.06264125] [-0.00860654 -0.00402772 0.99995485 0.02368897] [ 0. 0. 0. 1. ]] SLAMing on 3.301400513 meters Centerline goodness [0,1] 0.8765070767080203 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.06, Z:0.01 [[ 0.99973605 0.02282456 0.00262009 1.20889991] [-0.02283041 0.99973687 0.002228 -0.05947789] [-0.00256855 -0.00228723 0.99999409 0.00940753] [ 0. 0. 0. 1. ]] SLAMing on 3.331400513 meters Centerline goodness [0,1] 0.8765070767080203 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.05, Z:0.01 [[ 0.9998247 0.01848447 0.00298071 1.20758355] [-0.01847483 0.99982411 -0.0032294 -0.05353577] [-0.00303988 0.00317377 0.99999034 0.00925999] [ 0. 0. 0. 1. ]] SLAMing on 3.361400513 meters Centerline goodness [0,1] 0.9950606585788562 Centerline is valid? [False, True] Translation: X:1.22, Y:-0.05, Z:-0.00 [[ 9.99833223e-01 1.82497137e-02 6.89257385e-04 1.22336017e+00] [-1.82469358e-02 9.99826130e-01 -3.84183806e-03 -5.06116502e-02] [-7.59249988e-04 3.82862049e-03 9.99992383e-01 -2.81193494e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.391400513 meters Centerline goodness [0,1] 0.9950606585788562 Centerline is valid? [True, True] Translation: X:1.25, Y:-0.05, Z:-0.00 [[ 9.99834333e-01 1.81954563e-02 4.82470703e-04 1.25273698e+00] [-1.81954708e-02 9.99834448e-01 2.56308912e-05 -5.24595441e-02] [-4.81924464e-04 -3.44054266e-05 9.99999883e-01 -3.27921855e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.421400513 meters Centerline goodness [0,1] 0.9736539421428416 Centerline is valid? [True, True] Translation: X:1.28, Y:-0.05, Z:-0.01 [[ 9.99812204e-01 1.83208502e-02 -6.31683827e-03 1.28145637e+00] [-1.83233515e-02 9.99832056e-01 -3.38327940e-04 -4.88455570e-02] [ 6.30957894e-03 4.54010052e-04 9.99979991e-01 -1.46883927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.451400513 meters Centerline goodness [0,1] 0.9834306727233398 Centerline is valid? [True, True] Translation: X:1.31, Y:-0.05, Z:-0.01 [[ 9.99818149e-01 1.81931107e-02 -5.71655988e-03 1.30996564e+00] [-1.81951598e-02 9.99834407e-01 -3.06648148e-04 -4.79104561e-02] [ 5.71003437e-03 4.10606104e-04 9.99983613e-01 -1.27217430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.481400513 meters Centerline goodness [0,1] 0.9834306727233398 Centerline is valid? [True, True] Translation: X:1.34, Y:-0.05, Z:-0.01 [[ 9.99819002e-01 1.81461793e-02 -5.71654550e-03 1.33832196e+00] [-1.81482292e-02 9.99835260e-01 -3.06916150e-04 -4.63116808e-02] [ 5.71003440e-03 4.10605776e-04 9.99983613e-01 -1.29438971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.511400513 meters Centerline goodness [0,1] 0.9923550049811583 Centerline is valid? [True, True] Translation: X:1.37, Y:-0.05, Z:0.01 [[ 9.99831108e-01 1.63419527e-02 8.40811139e-03 1.36909745e+00] [-1.63463194e-02 9.99866288e-01 4.50884401e-04 -5.09176610e-02] [-8.39961879e-03 -5.88249924e-04 9.99964550e-01 1.21448963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.541400513 meters Centerline goodness [0,1] 0.9923550049811583 Centerline is valid? [True, True] Translation: X:1.40, Y:-0.05, Z:0.01 [[ 9.99827925e-01 1.65355398e-02 8.40811675e-03 1.40166566e+00] [-1.65399125e-02 9.99863105e-01 4.50784174e-04 -4.93134789e-02] [-8.39951176e-03 -5.89776121e-04 9.99964550e-01 1.18898667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.571400513 meters Centerline goodness [0,1] 0.952755389555075 Centerline is valid? [True, True] Translation: X:1.43, Y:-0.04, Z:0.01 [[ 9.99838696e-01 1.68100120e-02 6.32499053e-03 1.43275918e+00] [-1.68124864e-02 9.99858603e-01 3.38229718e-04 -3.99561146e-02] [-6.31841055e-03 -4.44513978e-04 9.99979940e-01 8.68141446e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6014005129999997 meters Centerline goodness [0,1] 0.8204711440521856 Centerline is valid? [True, False] Translation: X:1.43, Y:-0.04, Z:0.01 [[ 0.99973068 0.02195366 0.00752328 1.42832795] [-0.02198812 0.99974797 0.00452956 -0.03738715] [-0.00742195 -0.00469376 0.99996144 0.01068934] [ 0. 0. 0. 1. ]] SLAMing on 3.631400513 meters Centerline goodness [0,1] 0.689687142887945 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.04, Z:0.02 [[ 0.99964882 0.02511392 0.00845776 1.42126944] [-0.02517887 0.9996536 0.00766194 -0.03631284] [-0.00826241 -0.00787221 0.99993488 0.01679297] [ 0. 0. 0. 1. ]] SLAMing on 3.661400513 meters Centerline goodness [0,1] 0.6845294779672755 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.03, Z:0.02 [[ 0.99963893 0.02528777 0.00908551 1.4188313 ] [-0.02535022 0.99965533 0.00682529 -0.0315558 ] [-0.00890978 -0.00705315 0.99993543 0.01777808] [ 0. 0. 0. 1. ]] SLAMing on 3.691400513 meters Centerline goodness [0,1] 0.668106226634008 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.03, Z:0.02 [[ 0.99963362 0.02532374 0.00955681 1.41697829] [-0.02538226 0.9996595 0.00605226 -0.0274382 ] [-0.00940029 -0.00629261 0.99993602 0.01841808] [ 0. 0. 0. 1. ]] SLAMing on 3.721400513 meters Centerline goodness [0,1] 0.6673167177421083 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.02, Z:0.02 [[ 0.99962641 0.02540191 0.01008876 1.41496217] [-0.02545759 0.99966116 0.00542967 -0.02405508] [-0.00994742 -0.00568448 0.99993437 0.01904667] [ 0. 0. 0. 1. ]] SLAMing on 3.751400513 meters Centerline goodness [0,1] 0.6566257244183029 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.02, Z:0.02 [[ 0.99961505 0.02549798 0.01093617 1.41183884] [-0.02555185 0.9996619 0.00481529 -0.02063055] [-0.01080969 -0.00509287 0.9999286 0.02004581] [ 0. 0. 0. 1. ]] SLAMing on 3.781400513 meters Centerline goodness [0,1] 0.656775640472699 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.02, Z:0.02 [[ 0.99960546 0.02553882 0.01169152 1.40892684] [-0.02559031 0.99966337 0.00427576 -0.01769959] [-0.01157839 -0.00457326 0.99992251 0.02110285] [ 0. 0. 0. 1. ]] SLAMing on 3.811400513 meters Centerline goodness [0,1] 0.6380966676673672 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.01, Z:0.02 [[ 9.99681607e-01 2.19926156e-02 1.23697028e-02 1.40606698e+00] [-2.19804217e-02 9.99757773e-01 -1.12089506e-03 -1.01520087e-02] [-1.23913580e-02 8.48646888e-04 9.99922864e-01 2.16698159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.841400513 meters Centerline goodness [0,1] 0.695590447735893 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.02, Z:0.04 [[ 0.99872879 -0.00731289 0.0498731 1.34475694] [ 0.0071811 0.99997024 0.00282124 -0.0185262 ] [-0.04989225 -0.00245951 0.99875158 0.04081102] [ 0. 0. 0. 1. ]] SLAMing on 3.8714005129999998 meters Centerline goodness [0,1] 0.7519801874506288 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.03, Z:0.03 [[ 0.99912684 -0.02287214 0.03496314 1.33173839] [ 0.02266267 0.99972284 0.00637562 -0.02505369] [-0.03509928 -0.0055777 0.99936827 0.02617158] [ 0. 0. 0. 1. ]] SLAMing on 3.901400513 meters Centerline goodness [0,1] 0.7706610685060623 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.02, Z:0.02 [[ 0.9996922 -0.01915351 0.01576866 1.36293562] [ 0.0191141 0.99981381 0.0026461 -0.02357006] [-0.0158164 -0.00234388 0.99987217 0.01719931] [ 0. 0. 0. 1. ]] SLAMing on 3.931400513 meters Centerline goodness [0,1] 0.9938316712517195 Centerline is valid? [False, True] Translation: X:1.36, Y:-0.11, Z:0.02 [[ 0.99947074 -0.03230479 0.00382623 1.36224937] [ 0.03227793 0.99945521 0.00688634 -0.10681053] [-0.0040466 -0.0067592 0.99996897 0.01703618] [ 0. 0. 0. 1. ]] SLAMing on 3.961400513 meters Centerline goodness [0,1] 0.9881878731705214 Centerline is valid? [True, True] Translation: X:1.39, Y:-0.10, Z:0.02 [[ 9.99454216e-01 -3.24282206e-02 6.29926436e-03 1.39342049e+00] [ 3.24277899e-02 9.99474066e-01 1.70512864e-04 -1.00573110e-01] [-6.30148079e-03 3.38514208e-05 9.99980145e-01 2.02239422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.991400513 meters Centerline goodness [0,1] 0.9881878731705214 Centerline is valid? [True, True] Translation: X:1.43, Y:-0.10, Z:0.02 [[ 9.99456166e-01 -3.23802067e-02 6.23660504e-03 1.42507963e+00] [ 3.23774060e-02 9.99475563e-01 5.49530068e-04 -9.82171908e-02] [-6.25112823e-03 -3.47306121e-04 9.99980401e-01 2.05423352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.021400513 meters Centerline goodness [0,1] 0.9759082710641587 Centerline is valid? [True, True] Translation: X:1.46, Y:-0.10, Z:0.02 [[ 9.99463233e-01 -3.17308685e-02 8.14851774e-03 1.45605672e+00] [ 3.17318195e-02 9.99496419e-01 1.25820389e-05 -9.65338956e-02] [-8.14481354e-03 2.45992009e-04 9.99966800e-01 2.36673556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.051400513 meters Centerline goodness [0,1] 0.9759082710641587 Centerline is valid? [True, True] Translation: X:1.49, Y:-0.09, Z:0.02 [[ 9.99465648e-01 -3.16778593e-02 8.05796375e-03 1.48774133e+00] [ 3.16734076e-02 9.99498041e-01 6.79510814e-04 -9.44247591e-02] [-8.07544443e-03 -4.23924546e-04 9.99967303e-01 2.39945492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.081400513 meters Centerline goodness [0,1] 0.9924956747404844 Centerline is valid? [True, True] Translation: X:1.52, Y:-0.10, Z:0.02 [[ 9.99514086e-01 -3.00668790e-02 8.22043987e-03 1.51970372e+00] [ 3.00680282e-02 9.99547854e-01 -1.62103774e-05 -9.62480131e-02] [-8.21623564e-03 2.63374918e-04 9.99966211e-01 2.35306745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.1114005129999995 meters Centerline goodness [0,1] 0.9924956747404844 Centerline is valid? [True, True] Translation: X:1.55, Y:-0.09, Z:0.02 [[ 9.99516593e-01 -3.00104504e-02 8.12111049e-03 1.55139835e+00] [ 3.00059000e-02 9.99549489e-01 6.81605389e-04 -9.41677030e-02] [-8.13790712e-03 -4.37594668e-04 9.99966791e-01 2.38716058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.141400513 meters Centerline goodness [0,1] 0.9984197423963632 Centerline is valid? [True, True] Translation: X:1.58, Y:-0.09, Z:0.02 [[ 9.99581816e-01 -2.80374141e-02 7.07790294e-03 1.58253847e+00] [ 2.80402851e-02 9.99606747e-01 -3.06695983e-04 -9.45810616e-02] [-7.06652057e-03 5.05034144e-04 9.99974904e-01 2.13318774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.171400513 meters Centerline goodness [0,1] 0.9984197423963632 Centerline is valid? [True, True] Translation: X:1.61, Y:-0.09, Z:0.02 [[ 9.99584624e-01 -2.79699052e-02 6.94717798e-03 1.61426246e+00] [ 2.79663631e-02 9.99608681e-01 6.06498168e-04 -9.26896422e-02] [-6.96142311e-03 -4.11958942e-04 9.99975684e-01 2.17060094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.201400513 meters Centerline goodness [0,1] 0.9221487211532245 Centerline is valid? [True, False] Translation: X:1.61, Y:-0.09, Z:0.02 [[ 9.99580790e-01 -2.81159081e-02 6.90936614e-03 1.61463565e+00] [ 2.81156840e-02 9.99604668e-01 1.29581228e-04 -9.04273854e-02] [-6.91027794e-03 6.47346489e-05 9.99976122e-01 2.10798969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.231400513 meters Centerline goodness [0,1] 0.8939064551540068 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.08, Z:0.02 [[ 0.9997604 -0.02143995 0.00441242 1.61243937] [ 0.02149837 0.99967572 -0.01364817 -0.08017276] [-0.00411837 0.01373976 0.99989712 0.02406141] [ 0. 0. 0. 1. ]] SLAMing on 4.261400513 meters Centerline goodness [0,1] 0.8939064551540068 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.09, Z:0.02 [[ 0.99984717 -0.0170113 0.00403235 1.61322998] [ 0.0170436 0.99982181 -0.00811512 -0.08633661] [-0.00389358 0.00818261 0.99995894 0.02446756] [ 0. 0. 0. 1. ]] SLAMing on 4.291400513 meters Centerline goodness [0,1] 0.8939064551540068 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.09, Z:0.02 [[ 0.99991412 -0.0125851 0.00365599 1.61405439] [ 0.01259459 0.99991734 -0.00258547 -0.09248543] [-0.00362315 0.0026313 0.99998997 0.02490567] [ 0. 0. 0. 1. ]] SLAMing on 4.321400513 meters Centerline goodness [0,1] 0.8197209222076045 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.09, Z:0.03 [[ 0.99996096 -0.00808733 0.00355921 1.61407536] [ 0.00807961 0.99996498 0.00218026 -0.09449707] [-0.00357672 -0.00215142 0.99999129 0.02523333] [ 0. 0. 0. 1. ]] SLAMing on 4.351400513 meters Centerline goodness [0,1] 0.7807207519383202 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.09, Z:0.03 [[ 9.99958808e-01 -8.10254638e-03 4.09025422e-03 1.61240206e+00] [ 8.09723435e-03 9.99966354e-01 1.31359660e-03 -8.99449040e-02] [-4.10076007e-03 -1.28042275e-03 9.99990772e-01 2.51517885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.381400513 meters Centerline goodness [0,1] 0.7807207519383202 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.09, Z:0.03 [[ 9.99958808e-01 -8.10254638e-03 4.09025422e-03 1.61240206e+00] [ 8.09723435e-03 9.99966354e-01 1.31359660e-03 -8.99449040e-02] [-4.10076007e-03 -1.28042275e-03 9.99990772e-01 2.51517885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.411400513 meters Centerline goodness [0,1] 0.7030023293934949 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.09, Z:0.03 [[ 9.99956418e-01 -8.12172659e-03 4.60438240e-03 1.61053127e+00] [ 8.11992688e-03 9.99966949e-01 4.09428219e-04 -8.51560817e-02] [-4.60755548e-03 -3.72023127e-04 9.99989316e-01 2.55167298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.441400513 meters Centerline goodness [0,1] 0.7030023293934949 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.09, Z:0.03 [[ 9.99956418e-01 -8.12172659e-03 4.60438240e-03 1.61053127e+00] [ 8.11992688e-03 9.99966949e-01 4.09428219e-04 -8.51560817e-02] [-4.60755548e-03 -3.72023127e-04 9.99989316e-01 2.55167298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.471400513 meters Centerline goodness [0,1] 0.6896425416388356 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.09, Z:0.03 [[ 0.99998241 -0.00368467 0.00464724 1.6101523 ] [ 0.00366115 0.9999805 0.00505919 -0.08662371] [-0.00466579 -0.00504209 0.9999764 0.02587164] [ 0. 0. 0. 1. ]] SLAMing on 4.501400513 meters Centerline goodness [0,1] 0.6896425416388356 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.09, Z:0.03 [[ 0.99998241 -0.00368467 0.00464724 1.6101523 ] [ 0.00366115 0.9999805 0.00505919 -0.08662371] [-0.00466579 -0.00504209 0.9999764 0.02587164] [ 0. 0. 0. 1. ]] SLAMing on 4.531400513 meters Centerline goodness [0,1] 0.6956110358471497 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.08, Z:0.03 [[ 0.99998043 -0.00403581 0.00477956 1.60983994] [ 0.00401722 0.99998435 0.00389465 -0.08103995] [-0.0047952 -0.00387538 0.99998099 0.02538891] [ 0. 0. 0. 1. ]] SLAMing on 4.561400513 meters Centerline goodness [0,1] 0.6956110358471497 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.08, Z:0.03 [[ 0.99998043 -0.00403581 0.00477956 1.60983994] [ 0.00401722 0.99998435 0.00389465 -0.08103995] [-0.0047952 -0.00387538 0.99998099 0.02538891] [ 0. 0. 0. 1. ]] SLAMing on 4.591400513 meters Centerline goodness [0,1] 0.6880134549453393 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.08, Z:0.02 [[ 0.99997783 -0.00450759 0.00490011 1.60954839] [ 0.00449468 0.99998641 0.00264273 -0.07515655] [-0.00491196 -0.00262065 0.9999845 0.02499137] [ 0. 0. 0. 1. ]] SLAMing on 4.621400513 meters Centerline goodness [0,1] 0.6880134549453393 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.08, Z:0.02 [[ 0.99997783 -0.00450759 0.00490011 1.60954839] [ 0.00449468 0.99998641 0.00264273 -0.07515655] [-0.00491196 -0.00262065 0.9999845 0.02499137] [ 0. 0. 0. 1. ]] SLAMing on 4.651400513 meters Centerline goodness [0,1] 0.6878133436174316 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.07, Z:0.02 [[ 9.99975138e-01 -4.97712234e-03 4.99517593e-03 1.60924907e+00] [ 4.96979038e-03 9.99986557e-01 1.47914953e-03 -6.96830630e-02] [-5.00247069e-03 -1.45428778e-03 9.99986430e-01 2.48149383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.681400513 meters Centerline goodness [0,1] 0.6878133436174316 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.07, Z:0.02 [[ 9.99975138e-01 -4.97712234e-03 4.99517593e-03 1.60924907e+00] [ 4.96979038e-03 9.99986557e-01 1.47914953e-03 -6.96830630e-02] [-5.00247069e-03 -1.45428778e-03 9.99986430e-01 2.48149383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.711400513 meters Centerline goodness [0,1] 0.698198684068601 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.07, Z:0.02 [[ 9.99972750e-01 -5.39823439e-03 5.03561393e-03 1.60921865e+00] [ 5.39578114e-03 9.99985317e-01 5.00637538e-04 -6.51420407e-02] [-5.03824255e-03 -4.73452825e-04 9.99987196e-01 2.45165772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.741400513 meters Centerline goodness [0,1] 0.6624310459550538 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.01, Z:0.02 [[ 0.99998351 0.00550226 0.00164589 1.61931477] [-0.00549537 0.99997624 -0.00416225 -0.00588106] [-0.00166875 0.00415314 0.99998998 0.02357585] [ 0. 0. 0. 1. ]] SLAMing on 4.771400513 meters Centerline goodness [0,1] 0.6624310459550538 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.01, Z:0.02 [[ 0.99998351 0.00550226 0.00164589 1.61931477] [-0.00549537 0.99997624 -0.00416225 -0.00588106] [-0.00166875 0.00415314 0.99998998 0.02357585] [ 0. 0. 0. 1. ]] SLAMing on 4.801400513 meters Centerline goodness [0,1] 0.6511412175864003 Centerline is valid? [False, False] Translation: X:1.62, Y:0.00, Z:0.02 [[ 9.99986992e-01 4.90196993e-03 1.40938789e-03 1.62052373e+00] [-4.89412754e-03 9.99972816e-01 -5.51501819e-03 3.47361640e-04] [-1.43638403e-03 5.50804873e-03 9.99983799e-01 2.25761061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.831400513 meters Centerline goodness [0,1] 0.6665808334406249 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.01, Z:0.02 [[ 9.99958967e-01 9.00866062e-03 9.52912031e-04 1.62200446e+00] [-9.00859688e-03 9.99959419e-01 -7.11627401e-05 -6.03468402e-03] [-9.53514442e-04 6.25754197e-05 9.99999543e-01 2.28495149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.8614005129999995 meters Centerline goodness [0,1] 0.6599324426084898 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.00, Z:0.03 [[ 0.99997528 0.0067856 0.00183985 1.61548502] [-0.00678118 0.99997413 -0.00240057 -0.0038595 ] [-0.00185609 0.00238804 0.99999543 0.02687894] [ 0. 0. 0. 1. ]] SLAMing on 4.891400513 meters Centerline goodness [0,1] 0.6427402686875645 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.00, Z:0.03 [[ 0.99997584 0.00673485 0.00172323 1.61601987] [-0.00673057 0.99997429 -0.00247485 -0.00354931] [-0.00173986 0.00246319 0.99999545 0.02654947] [ 0. 0. 0. 1. ]] SLAMing on 4.921400513 meters Centerline goodness [0,1] 0.6697751195146526 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.00, Z:0.03 [[ 9.99977446e-01 6.53555107e-03 1.54740617e-03 1.61685109e+00] [-6.53106812e-03 9.99974512e-01 -2.88461786e-03 -1.67814313e-03] [-1.56621930e-03 2.87444658e-03 9.99994642e-01 2.60122040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.951400513 meters Centerline goodness [0,1] 0.6664006556811319 Centerline is valid? [False, False] Translation: X:1.62, Y:0.00, Z:0.02 [[ 9.99979974e-01 6.20059487e-03 1.26625046e-03 1.61830167e+00] [-6.19591356e-03 9.99974078e-01 -3.66803524e-03 1.94854301e-03] [-1.28896163e-03 3.66011621e-03 9.99992471e-01 2.48624498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.981400513 meters Centerline goodness [0,1] 0.685964380118733 Centerline is valid? [False, False] Translation: X:1.62, Y:0.00, Z:0.02 [[ 9.99980705e-01 6.08468097e-03 1.25139676e-03 1.61854212e+00] [-6.07966332e-03 9.99973618e-01 -3.97510623e-03 3.38210336e-03] [-1.27555100e-03 3.96742146e-03 9.99991316e-01 2.44193407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.011400513 meters Centerline goodness [0,1] 0.6585951742627345 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.00, Z:0.02 [[ 9.99942460e-01 1.06749163e-02 1.05998003e-03 1.61937664e+00] [-1.06762497e-02 9.99942213e-01 1.26036845e-03 -1.00194405e-03] [-1.04646445e-03 -1.27161254e-03 9.99998644e-01 2.42969001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.041400513 meters Centerline goodness [0,1] 0.6499494177662024 Centerline is valid? [False, False] Translation: X:1.62, Y:0.00, Z:0.02 [[ 9.99945519e-01 1.03670889e-02 1.21721012e-03 1.61882055e+00] [-1.03675310e-02 9.99946192e-01 3.57482087e-04 3.31171007e-03] [-1.21343858e-03 -3.70082075e-04 9.99999195e-01 2.42989808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.0714005129999995 meters Centerline goodness [0,1] 0.6644324324324324 Centerline is valid? [False, False] Translation: X:1.62, Y:0.01, Z:0.02 [[ 9.99949254e-01 9.98355195e-03 1.34871757e-03 1.61843918e+00] [-9.98260812e-03 9.99949924e-01 -7.04725896e-04 8.32452989e-03] [-1.35568570e-03 6.91226414e-04 9.99998842e-01 2.40465807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.101400513 meters Centerline goodness [0,1] 0.6664 Centerline is valid? [False, False] Translation: X:1.62, Y:0.01, Z:0.02 [[ 9.99952598e-01 9.64053010e-03 1.36480225e-03 1.61839131e+00] [-9.63836011e-03 9.99952289e-01 -1.58771138e-03 1.24504798e-02] [-1.38004351e-03 1.57448166e-03 9.99997808e-01 2.39105478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.131400513 meters Centerline goodness [0,1] 0.6385902287975228 Centerline is valid? [False, False] Translation: X:1.62, Y:0.02, Z:0.02 [[ 9.99955876e-01 9.29547998e-03 1.35616668e-03 1.61834960e+00] [-9.29212650e-03 9.99953805e-01 -2.45845284e-03 1.65436938e-02] [-1.37895653e-03 2.44574269e-03 9.99996058e-01 2.39282638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.161400513 meters Centerline goodness [0,1] 0.6508341006916932 Centerline is valid? [False, False] Translation: X:1.62, Y:0.02, Z:0.02 [[ 9.99957345e-01 9.13927833e-03 1.33458842e-03 1.61825125e+00] [-9.13552463e-03 9.99954372e-01 -2.79214758e-03 1.80971134e-02] [-1.36004574e-03 2.77983632e-03 9.99995211e-01 2.42315689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.191400513 meters Centerline goodness [0,1] 0.6587576993146526 Centerline is valid? [False, False] Translation: X:1.60, Y:0.01, Z:0.02 [[ 0.99994128 0.00817127 0.00711824 1.59711991] [-0.008195 0.99996094 0.00331138 0.01414557] [-0.0070909 -0.00336952 0.99996918 0.01939953] [ 0. 0. 0. 1. ]] SLAMing on 5.221400513 meters Centerline goodness [0,1] 0.6562977633306784 Centerline is valid? [False, False] Translation: X:1.60, Y:0.02, Z:0.02 [[ 0.99994277 0.00795356 0.00715553 1.59663906] [-0.00797449 0.99996399 0.00290147 0.01603449] [-0.0071322 -0.00295837 0.99997019 0.02011511] [ 0. 0. 0. 1. ]] SLAMing on 5.251400513 meters Centerline goodness [0,1] 0.6606010952524686 Centerline is valid? [False, False] Translation: X:1.59, Y:0.02, Z:0.02 [[ 0.99996839 0.00283327 0.00742953 1.5949326 ] [-0.00280852 0.99999048 -0.00334 0.02488291] [-0.00743893 0.00331902 0.99996682 0.02140028] [ 0. 0. 0. 1. ]] SLAMing on 5.2814005129999995 meters Centerline goodness [0,1] 0.6720954781447253 Centerline is valid? [False, False] Translation: X:1.60, Y:0.02, Z:0.02 [[ 0.99996927 0.00281171 0.00731827 1.59519525] [-0.00278766 0.99999069 -0.00329432 0.0246275 ] [-0.00732746 0.00327382 0.99996779 0.02160811] [ 0. 0. 0. 1. ]] SLAMing on 5.311400513 meters Centerline goodness [0,1] 0.673662888419601 Centerline is valid? [False, False] Translation: X:1.60, Y:0.03, Z:0.02 [[ 0.99997057 0.00274571 0.00716341 1.59572037] [-0.00272143 0.99999052 -0.00339779 0.02508205] [-0.00717267 0.0033782 0.99996857 0.02155469] [ 0. 0. 0. 1. ]] SLAMing on 5.341400513 meters Centerline goodness [0,1] 0.6659596803564924 Centerline is valid? [False, False] Translation: X:1.60, Y:0.03, Z:0.02 [[ 0.9999715 0.00260075 0.00708729 1.59588652] [-0.00257454 0.99998982 -0.00370526 0.02651625] [-0.00709686 0.00368691 0.99996802 0.02169745] [ 0. 0. 0. 1. ]] SLAMing on 5.371400513 meters Centerline goodness [0,1] 0.6982587279640511 Centerline is valid? [False, False] Translation: X:1.58, Y:0.02, Z:0.02 [[ 9.99994390e-01 8.40445638e-04 3.24239515e-03 1.57550318e+00] [-8.60778669e-04 9.99979943e-01 6.27470054e-03 2.01458992e-02] [-3.23705657e-03 -6.27745632e-03 9.99975057e-01 2.43266910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.401400513 meters Centerline goodness [0,1] 0.6986954933270293 Centerline is valid? [False, False] Translation: X:1.57, Y:0.02, Z:0.03 [[ 9.99994110e-01 6.70718021e-04 3.36596403e-03 1.57466845e+00] [-6.90540388e-04 9.99982407e-01 5.89135813e-03 2.19321142e-02] [-3.36195337e-03 -5.89364777e-03 9.99976981e-01 2.51568231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.431400513 meters Centerline goodness [0,1] 0.6765867903461307 Centerline is valid? [False, False] Translation: X:1.57, Y:0.02, Z:0.03 [[ 9.99992762e-01 4.27795714e-04 3.78062836e-03 1.57253851e+00] [-4.47745084e-04 9.99985974e-01 5.27746382e-03 2.48376474e-02] [-3.77831766e-03 -5.27911838e-03 9.99978927e-01 2.66869373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.461400513 meters Centerline goodness [0,1] 0.6702416332859542 Centerline is valid? [False, False] Translation: X:1.57, Y:0.03, Z:0.03 [[ 9.99992458e-01 2.29991525e-04 3.87686516e-03 1.57214611e+00] [-2.48648508e-04 9.99988388e-01 4.81259425e-03 2.70037787e-02] [-3.87571329e-03 -4.81352193e-03 9.99980904e-01 2.67833011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.491400513 meters Centerline goodness [0,1] 0.6571533035099794 Centerline is valid? [False, False] Translation: X:1.57, Y:0.03, Z:0.03 [[ 9.99992394e-01 -4.84771759e-05 3.90001790e-03 1.57222179e+00] [ 3.24298439e-05 9.99991534e-01 4.11463964e-03 3.02687574e-02] [-3.90018435e-03 -4.11448187e-03 9.99983930e-01 2.63540859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.521400513 meters Centerline goodness [0,1] 0.6534530149458856 Centerline is valid? [False, False] Translation: X:1.57, Y:0.04, Z:0.03 [[ 9.99993160e-01 -4.52597069e-04 3.67077681e-03 1.57329542e+00] [ 4.42507586e-04 9.99996124e-01 2.74894283e-03 3.67668967e-02] [-3.67200674e-03 -2.74729968e-03 9.99989484e-01 2.52948749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.551400513 meters Centerline goodness [0,1] 0.6571255882225964 Centerline is valid? [False, False] Translation: X:1.57, Y:0.04, Z:0.02 [[ 9.99992929e-01 -7.43624942e-04 3.68619851e-03 1.57333623e+00] [ 7.36175970e-04 9.99997685e-01 2.02171852e-03 4.01573482e-02] [-3.68769338e-03 -2.01899053e-03 9.99991162e-01 2.49776660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.581400513 meters Centerline goodness [0,1] 0.6541987373518983 Centerline is valid? [False, False] Translation: X:1.57, Y:0.04, Z:0.02 [[ 9.99992594e-01 -1.05332412e-03 3.70180704e-03 1.57340613e+00] [ 1.04880748e-03 9.99998704e-01 1.22184572e-03 4.38812187e-02] [-3.70308924e-03 -1.21795419e-03 9.99992402e-01 2.45611152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.6114005129999995 meters Centerline goodness [0,1] 0.6485870360015484 Centerline is valid? [False, False] Translation: X:1.57, Y:0.05, Z:0.02 [[ 9.99992114e-01 -1.38081498e-03 3.72372358e-03 1.57339816e+00] [ 1.37947730e-03 9.99998983e-01 3.61776616e-04 4.79399853e-02] [-3.72421934e-03 -3.56636971e-04 9.99993001e-01 2.42626647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.641400513 meters Centerline goodness [0,1] 0.6512923063690707 Centerline is valid? [False, False] Translation: X:1.57, Y:0.05, Z:0.02 [[ 9.99991930e-01 -1.67110771e-03 3.65336607e-03 1.57374708e+00] [ 1.67248565e-03 9.99998531e-01 -3.74146779e-04 5.13985746e-02] [-3.65273546e-03 3.80253962e-04 9.99993256e-01 2.38823005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.671400513 meters Centerline goodness [0,1] 0.6545869780669625 Centerline is valid? [False, False] Translation: X:1.57, Y:0.05, Z:0.02 [[ 9.99991643e-01 -1.96087969e-03 3.58729648e-03 1.57418919e+00] [ 1.96477018e-03 9.99997485e-01 -1.08131679e-03 5.47077118e-02] [-3.58516712e-03 1.08835597e-03 9.99992981e-01 2.33095350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.701400513 meters Centerline goodness [0,1] 0.6501139343909884 Centerline is valid? [False, False] Translation: X:1.58, Y:0.06, Z:0.02 [[ 9.99995703e-01 -9.90081838e-04 2.75924019e-03 1.57976898e+00] [ 9.92368218e-04 9.99999165e-01 -8.27380997e-04 5.89176150e-02] [-2.75841871e-03 8.30115624e-04 9.99995851e-01 1.96786337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.731400513 meters Centerline goodness [0,1] 0.6633644133644134 Centerline is valid? [False, False] Translation: X:1.58, Y:0.06, Z:0.02 [[ 9.99995273e-01 -1.27432431e-03 2.79813271e-03 1.57946213e+00] [ 1.27851213e-03 9.99998065e-01 -1.49536744e-03 6.20209142e-02] [-2.79622171e-03 1.49893782e-03 9.99994967e-01 1.99349800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.761400513 meters Centerline goodness [0,1] 0.6631258501198264 Centerline is valid? [False, False] Translation: X:1.58, Y:0.06, Z:0.02 [[ 9.99994867e-01 -1.50012764e-03 2.83111131e-03 1.57918985e+00] [ 1.50584430e-03 9.99996830e-01 -2.01817910e-03 6.44654650e-02] [-2.82807480e-03 2.02243195e-03 9.99993956e-01 2.01975259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.791400513 meters Centerline goodness [0,1] 0.6567328441950798 Centerline is valid? [False, False] Translation: X:1.58, Y:0.07, Z:0.02 [[ 0.99999436 -0.00183592 0.00281288 1.57911803] [ 0.00184374 0.99999444 -0.00277905 0.0680049 ] [-0.00280777 0.00278422 0.99999218 0.02036718] [ 0. 0. 0. 1. ]] SLAMing on 5.8214005129999995 meters Centerline goodness [0,1] 0.6655695818807786 Centerline is valid? [False, False] Translation: X:1.58, Y:0.07, Z:0.02 [[ 0.99999407 -0.00201673 0.00279138 1.57924387] [ 0.00202561 0.99999288 -0.00318251 0.06986459] [-0.00278494 0.00318814 0.99999104 0.02019356] [ 0. 0. 0. 1. ]] SLAMing on 5.851400513 meters Centerline goodness [0,1] 0.6534170303329965 Centerline is valid? [False, False] Translation: X:1.58, Y:0.07, Z:0.02 [[ 0.99999415 -0.00212941 0.00267546 1.57987132] [ 0.00213857 0.99999185 -0.00342486 0.07099806] [-0.00266814 0.00343056 0.99999056 0.01964087] [ 0. 0. 0. 1. ]] SLAMing on 5.881400513 meters Centerline goodness [0,1] 0.65707171528538 Centerline is valid? [False, False] Translation: X:1.58, Y:0.07, Z:0.02 [[ 0.99999449 -0.00217447 0.00250796 1.58060496] [ 0.00218325 0.99999148 -0.00350304 0.07136557] [-0.00250032 0.00350849 0.99999072 0.0192466 ] [ 0. 0. 0. 1. ]] SLAMing on 5.911400513 meters Centerline goodness [0,1] 0.6839530756244319 Centerline is valid? [False, False] Translation: X:1.58, Y:0.07, Z:0.02 [[ 0.99999453 -0.0022069 0.00246177 1.58079148] [ 0.00221566 0.9999912 -0.00356295 0.07163255] [-0.00245388 0.00356839 0.99999062 0.01916501] [ 0. 0. 0. 1. ]] SLAMing on 5.941400513 meters Centerline goodness [0,1] 0.6671197117770156 Centerline is valid? [False, False] Translation: X:1.58, Y:0.07, Z:0.02 [[ 0.99999433 -0.00229315 0.00246681 1.5803106 ] [ 0.00230216 0.99999066 -0.00365721 0.07202348] [-0.0024584 0.00366287 0.99999027 0.02014853] [ 0. 0. 0. 1. ]] SLAMing on 5.971400513 meters Centerline goodness [0,1] 0.6908535131268021 Centerline is valid? [False, False] Translation: X:1.58, Y:0.07, Z:0.02 [[ 0.99999443 -0.00226909 0.00244909 1.58018075] [ 0.00227787 0.99999098 -0.00358449 0.07168135] [-0.00244093 0.00359005 0.99999058 0.02055593] [ 0. 0. 0. 1. ]] SLAMing on 6.001400513 meters Centerline goodness [0,1] 0.6624486264330521 Centerline is valid? [False, False] Translation: X:1.58, Y:0.07, Z:0.02 [[ 0.99999467 -0.00219575 0.00241516 1.58009559] [ 0.00220394 0.99999181 -0.00339572 0.07079295] [-0.00240768 0.00340103 0.99999132 0.02097357] [ 0. 0. 0. 1. ]] SLAMing on 6.0314005129999995 meters Centerline goodness [0,1] 0.6859427336574824 Centerline is valid? [False, False] Translation: X:1.58, Y:0.07, Z:0.02 [[ 0.99999467 -0.00215724 0.00245188 1.57989339] [ 0.00216534 0.99999218 -0.00330862 0.07039156] [-0.00244472 0.00331391 0.99999152 0.02114165] [ 0. 0. 0. 1. ]] SLAMing on 6.061400513 meters Centerline goodness [0,1] 0.6910722006052745 Centerline is valid? [False, False] Translation: X:1.58, Y:0.07, Z:0.02 [[ 0.99999436 -0.00222446 0.00251754 1.57953461] [ 0.0022332 0.99999147 -0.0034759 0.07118791] [-0.00250979 0.0034815 0.99999079 0.0214119 ] [ 0. 0. 0. 1. ]] SLAMing on 6.091400513 meters Centerline goodness [0,1] 0.6565819811666344 Centerline is valid? [False, False] Translation: X:1.59, Y:0.07, Z:0.02 [[ 9.99998428e-01 -1.58041747e-04 1.76587270e-03 1.58532142e+00] [ 1.61043865e-04 9.99998542e-01 -1.70006323e-03 7.42220180e-02] [-1.76560145e-03 1.70034494e-03 9.99996996e-01 1.77384864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.121400513 meters Centerline goodness [0,1] 0.6511107765758404 Centerline is valid? [False, False] Translation: X:1.59, Y:0.08, Z:0.02 [[ 9.99998333e-01 -3.74941078e-04 1.78725596e-03 1.58524089e+00] [ 3.78961584e-04 9.99997398e-01 -2.24973370e-03 7.68069510e-02] [-1.78640779e-03 2.25040725e-03 9.99995872e-01 1.76440127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.151400513 meters Centerline goodness [0,1] 0.6661321776814735 Centerline is valid? [False, False] Translation: X:1.59, Y:0.08, Z:0.02 [[ 9.99998325e-01 -5.27198036e-04 1.75256234e-03 1.58555690e+00] [ 5.31826944e-04 9.99996369e-01 -2.64180713e-03 7.86474958e-02] [-1.75116323e-03 2.64273477e-03 9.99994975e-01 1.71481849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.181400513 meters Centerline goodness [0,1] 0.6522228718681652 Centerline is valid? [False, False] Translation: X:1.59, Y:0.08, Z:0.02 [[ 9.99998211e-01 -5.70176273e-04 1.80373250e-03 1.58539245e+00] [ 5.75169476e-04 9.99996001e-01 -2.76895465e-03 7.92595726e-02] [-1.80214649e-03 2.76998714e-03 9.99994540e-01 1.70854120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.211400513 meters Centerline goodness [0,1] 0.6483675675675675 Centerline is valid? [False, False] Translation: X:1.58, Y:0.08, Z:0.02 [[ 9.99998132e-01 -5.28286278e-04 1.85933303e-03 1.58499295e+00] [ 5.33237987e-04 9.99996310e-01 -2.66367667e-03 7.87597024e-02] [-1.85791898e-03 2.66466316e-03 9.99994724e-01 1.75323787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.241400513 meters Centerline goodness [0,1] 0.6727253126347563 Centerline is valid? [False, False] Translation: X:1.58, Y:0.08, Z:0.02 [[ 9.99998079e-01 -4.68721571e-04 1.90315787e-03 1.58465072e+00] [ 4.73485944e-04 9.99996754e-01 -2.50372566e-03 7.80165224e-02] [-1.90197814e-03 2.50462197e-03 9.99995055e-01 1.79468029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.271400513 meters Centerline goodness [0,1] 0.6776593000257976 Centerline is valid? [False, False] Translation: X:1.58, Y:0.08, Z:0.02 [[ 9.99998231e-01 -4.03327033e-04 1.83747089e-03 1.58481082e+00] [ 4.07559081e-04 9.99997264e-01 -2.30339980e-03 7.70714050e-02] [-1.83653684e-03 2.30414460e-03 9.99995659e-01 1.81011351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.301400513 meters Centerline goodness [0,1] 0.6903744008291229 Centerline is valid? [False, False] Translation: X:1.59, Y:0.08, Z:0.02 [[ 9.99998517e-01 -2.89411635e-04 1.69777643e-03 1.58530682e+00] [ 2.92795603e-04 9.99997971e-01 -1.99326635e-03 7.56203435e-02] [-1.69719611e-03 1.99376049e-03 9.99996572e-01 1.80483954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.331400513 meters Centerline goodness [0,1] 0.6677544845472227 Centerline is valid? [False, False] Translation: X:1.59, Y:0.07, Z:0.02 [[ 9.99999097e-01 -3.26187167e-04 1.30378405e-03 1.58670233e+00] [ 3.27549681e-04 9.99999400e-01 -1.04496871e-03 7.05956093e-02] [-1.30344241e-03 1.04539482e-03 9.99998604e-01 1.78439758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.3614005129999995 meters Centerline goodness [0,1] 0.7026208805466655 Centerline is valid? [False, False] Translation: X:1.59, Y:0.07, Z:0.02 [[ 9.99999312e-01 -5.82489147e-05 1.17173541e-03 1.58710479e+00] [ 5.85135848e-05 9.99999973e-01 -2.25845741e-04 6.67140393e-02] [-1.17172223e-03 2.25914148e-04 9.99999288e-01 1.80304156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.391400513 meters Centerline goodness [0,1] 0.715960518943149 Centerline is valid? [False, False] Translation: X:1.59, Y:0.06, Z:0.02 [[ 9.99999336e-01 2.33341346e-04 1.12879382e-03 1.58700338e+00] [-2.34021125e-04 9.99999791e-01 6.02122210e-04 6.27875515e-02] [-1.12865308e-03 -6.02385972e-04 9.99999182e-01 1.86653358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.421400513 meters Centerline goodness [0,1] 0.7536544814630881 Centerline is valid? [False, False] Translation: X:1.59, Y:0.06, Z:0.02 [[ 9.99999282e-01 4.65976111e-04 1.10405275e-03 1.58685804e+00] [-4.67382708e-04 9.99999079e-01 1.27411554e-03 5.96157909e-02] [-1.10345802e-03 -1.27463064e-03 9.99998579e-01 1.92910933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.451400513 meters Centerline goodness [0,1] 0.8072952660677264 Centerline is valid? [False, False] Translation: X:1.59, Y:0.06, Z:0.02 [[ 9.99999212e-01 7.38571046e-04 1.01533068e-03 1.58691884e+00] [-7.40605842e-04 9.99997715e-01 2.00515943e-03 5.61718097e-02] [-1.01384741e-03 -2.00590981e-03 9.99997474e-01 1.98943221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.481400513 meters Centerline goodness [0,1] 0.7041840191614699 Centerline is valid? [False, False] Translation: X:1.59, Y:0.05, Z:0.02 [[ 9.99999182e-01 8.62429561e-04 9.44793317e-04 1.58715760e+00] [-8.64594518e-04 9.99996996e-01 2.29345376e-03 5.48410948e-02] [-9.42812537e-04 -2.29426874e-03 9.99996924e-01 1.99172715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.511400513 meters Centerline goodness [0,1] 0.7754345107172123 Centerline is valid? [False, False] Translation: X:1.59, Y:0.05, Z:0.02 [[ 9.99999010e-01 1.04188678e-03 9.45531883e-04 1.58719147e+00] [-1.04444360e-03 9.99995789e-01 2.70765351e-03 5.29098941e-02] [-9.42706833e-04 -2.70863838e-03 9.99995887e-01 1.98589205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.541400513 meters Centerline goodness [0,1] 0.7763807617846034 Centerline is valid? [False, False] Translation: X:1.59, Y:0.05, Z:0.02 [[ 9.99998777e-01 1.24332852e-03 9.49125809e-04 1.58713572e+00] [-1.24634660e-03 9.99994148e-01 3.18590380e-03 5.06868785e-02] [-9.45159130e-04 -3.18708284e-03 9.99994475e-01 2.00068213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.5714005129999995 meters Centerline goodness [0,1] 0.7417797888386124 Centerline is valid? [False, False] Translation: X:1.59, Y:0.05, Z:0.02 [[ 9.99999642e-01 -8.13142835e-04 2.34831711e-04 1.59306197e+00] [ 8.12942934e-04 9.99999308e-01 8.50098223e-04 5.27965346e-02] [-2.35522800e-04 -8.49907014e-04 9.99999611e-01 1.58459400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.601400513 meters Centerline goodness [0,1] 0.7870438350248327 Centerline is valid? [False, False] Translation: X:1.59, Y:0.05, Z:0.02 [[ 9.99999774e-01 -6.61731393e-04 1.15010354e-04 1.59346922e+00] [ 6.61588470e-04 9.99999014e-01 1.23832273e-03 5.09774563e-02] [-1.15829678e-04 -1.23824636e-03 9.99999227e-01 1.58584861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.631400513 meters Centerline goodness [0,1] 0.7870438350248327 Centerline is valid? [False, False] Translation: X:1.59, Y:0.05, Z:0.02 [[ 9.99999774e-01 -6.61731393e-04 1.15010354e-04 1.59346922e+00] [ 6.61588470e-04 9.99999014e-01 1.23832273e-03 5.09774563e-02] [-1.15829678e-04 -1.23824636e-03 9.99999227e-01 1.58584861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.661400513 meters Centerline goodness [0,1] 0.9002556990552136 Centerline is valid? [False, False] Translation: X:1.59, Y:0.05, Z:0.02 [[ 9.99999874e-01 -4.80369368e-04 -1.42504526e-04 1.59441479e+00] [ 4.80673983e-04 9.99997583e-01 2.14530338e-03 4.65050251e-02] [ 1.41473644e-04 -2.14537161e-03 9.99997689e-01 1.56990343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.691400513 meters Centerline goodness [0,1] 0.7897040836033562 Centerline is valid? [False, False] Translation: X:1.59, Y:0.05, Z:0.02 [[ 9.99987198e-01 -5.05982579e-03 -4.59432399e-05 1.59395178e+00] [ 5.05966120e-03 9.99982502e-01 -3.06526261e-03 5.07749072e-02] [ 6.14521309e-05 3.06499091e-03 9.99995301e-01 1.59362278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.721400513 meters Centerline goodness [0,1] 0.7998140821929653 Centerline is valid? [False, False] Translation: X:1.59, Y:0.05, Z:0.02 [[ 9.99988177e-01 -4.86249373e-03 -4.60548444e-05 1.59383232e+00] [ 4.86236015e-03 9.99984913e-01 -2.55568889e-03 4.83925544e-02] [ 5.84811708e-05 2.55543474e-03 9.99996733e-01 1.62512233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.751400513 meters Centerline goodness [0,1] 0.8926937683411014 Centerline is valid? [False, False] Translation: X:1.59, Y:0.05, Z:0.02 [[ 9.99988972e-01 -4.69599189e-03 -5.81717875e-05 1.59379242e+00] [ 4.69585715e-03 9.99986700e-01 -2.13278478e-03 4.64016603e-02] [ 6.81865539e-05 2.13248809e-03 9.99997724e-01 1.64480271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.7814005129999995 meters Centerline goodness [0,1] 0.8576017592273197 Centerline is valid? [False, False] Translation: X:1.59, Y:0.04, Z:0.02 [[ 9.99989575e-01 -4.55885986e-03 -2.57165661e-04 1.59478237e+00] [ 4.55840997e-03 9.99988125e-01 -1.72369925e-03 4.44527666e-02] [ 2.65020710e-04 1.72250901e-03 9.99998481e-01 1.57432357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.811400513 meters Centerline goodness [0,1] 0.9896080376007934 Centerline is valid? [False, True] Translation: X:1.60, Y:0.04, Z:0.02 [[ 9.99989733e-01 -4.51609290e-03 -3.72024194e-04 1.59529837e+00] [ 4.51547811e-03 9.99988465e-01 -1.63713708e-03 4.40653391e-02] [ 3.79413366e-04 1.63544040e-03 9.99998591e-01 1.54567501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.841400513 meters Centerline goodness [0,1] 0.9585535826015664 Centerline is valid? [True, True] Translation: X:1.63, Y:0.05, Z:0.02 [[ 9.99988348e-01 -4.77812564e-03 -6.88632455e-04 1.62536027e+00] [ 4.77809621e-03 9.99988584e-01 -4.43808458e-05 4.86194438e-02] [ 6.88836651e-04 4.10899766e-05 9.99999762e-01 1.58898015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.871400513 meters Centerline goodness [0,1] 0.9049769862777993 Centerline is valid? [True, False] Translation: X:1.63, Y:0.05, Z:0.02 [[ 9.99988791e-01 -4.68580778e-03 -6.79388553e-04 1.62516456e+00] [ 4.68593026e-03 9.99989005e-01 1.78807980e-04 4.75845123e-02] [ 6.78543223e-04 -1.81989544e-04 9.99999753e-01 1.62446405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.901400513 meters Centerline goodness [0,1] 0.9919520584990157 Centerline is valid? [False, True] Translation: X:1.62, Y:0.05, Z:0.02 [[ 9.99989560e-01 -4.52581198e-03 -6.30763706e-04 1.62477540e+00] [ 4.52617326e-03 9.99989593e-01 5.72530145e-04 4.57453626e-02] [ 6.28165978e-04 -5.75379114e-04 9.99999637e-01 1.67602846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.931400513 meters Centerline goodness [0,1] 0.9959057018488988 Centerline is valid? [True, True] Translation: X:1.66, Y:0.04, Z:0.02 [[ 9.99980054e-01 -6.31587371e-03 -4.32505499e-05 1.65547755e+00] [ 6.31587360e-03 9.99980055e-01 -2.69167787e-06 4.44276289e-02] [ 4.32666876e-05 2.41845917e-06 9.99999999e-01 1.78028699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.961400513 meters Centerline goodness [0,1] 0.9944855326326716 Centerline is valid? [True, True] Translation: X:1.69, Y:0.04, Z:0.02 [[ 9.99929046e-01 -1.19120951e-02 -6.71090048e-05 1.68556196e+00] [ 1.19120948e-02 9.99929048e-01 -4.16544407e-06 4.44481636e-02] [ 6.71538625e-05 3.36573969e-06 9.99999998e-01 1.95958003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.991400512999999 meters Centerline goodness [0,1] 0.9998055651572761 Centerline is valid? [True, True] Translation: X:1.72, Y:0.04, Z:0.02 [[ 9.99884693e-01 -1.51737029e-02 -5.99157381e-04 1.71673054e+00] [ 1.51736832e-02 9.99884872e-01 -3.74070774e-05 3.63200777e-02] [ 5.99656005e-04 2.83113398e-05 9.99999820e-01 1.79380146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.021400513 meters Centerline goodness [0,1] 0.999633810098225 Centerline is valid? [True, True] Translation: X:1.75, Y:0.04, Z:0.02 [[ 9.99827887e-01 -1.85336310e-02 -8.36767031e-04 1.74687341e+00] [ 1.85335939e-02 9.99828237e-01 -5.20666578e-05 3.89125500e-02] [ 8.37588289e-04 3.65493961e-05 9.99999649e-01 1.87678901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.051400513 meters Centerline goodness [0,1] 0.9999350185197219 Centerline is valid? [True, True] Translation: X:1.78, Y:0.03, Z:0.02 [[ 9.99753628e-01 -2.21551608e-02 -1.35351691e-03 1.77804470e+00] [ 2.21550671e-02 9.99754543e-01 -8.42206958e-05 2.88881090e-02] [ 1.35505060e-03 5.42126884e-05 9.99999080e-01 1.69283311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.081400513 meters Centerline goodness [0,1] 0.9999570225201995 Centerline is valid? [True, True] Translation: X:1.81, Y:0.02, Z:0.02 [[ 9.99555759e-01 -2.97806369e-02 -1.18213959e-03 1.80808435e+00] [ 2.97805709e-02 9.99556458e-01 -7.34348494e-05 1.98531204e-02] [ 1.18380219e-03 3.81974349e-05 9.99999299e-01 1.87378851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.1114005129999995 meters Centerline goodness [0,1] 0.999956934605198 Centerline is valid? [True, True] Translation: X:1.84, Y:0.02, Z:0.02 [[ 9.99445019e-01 -3.32962888e-02 -1.00559966e-03 1.83844739e+00] [ 3.32962428e-02 9.99445524e-01 -6.24721271e-05 1.51126921e-02] [ 1.00712217e-03 2.89547659e-05 9.99999492e-01 1.92430875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.141400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.87, Y:0.01, Z:0.02 [[ 9.99339777e-01 -3.63166604e-02 -1.05383115e-03 1.86866050e+00] [ 3.63166118e-02 9.99340332e-01 -6.52280348e-05 1.13639831e-02] [ 1.05550484e-03 2.69133930e-05 9.99999443e-01 1.92347601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.171400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.90, Y:0.01, Z:0.02 [[ 9.99182086e-01 -4.03972776e-02 -1.79410548e-03 1.89895888e+00] [ 4.03971420e-02 9.99183696e-01 -1.11751852e-04 5.56137720e-03] [ 1.79715542e-03 3.91837143e-05 9.99998384e-01 1.86811174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.201400512999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.93, Y:0.00, Z:0.02 [[ 9.99116440e-01 -4.19597465e-02 -2.39143068e-03 1.92838925e+00] [ 4.19595131e-02 9.99119301e-01 -1.47703466e-04 3.89018378e-03] [ 2.39552215e-03 4.72296940e-05 9.99997130e-01 1.82192374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.231400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.96, Y:0.00, Z:0.02 [[ 9.99036461e-01 -4.37880893e-02 -2.95862344e-03 1.95790121e+00] [ 4.37877376e-02 9.99040840e-01 -1.83576837e-04 1.79418049e-03] [ 2.96382413e-03 5.38485269e-05 9.99995606e-01 1.74191414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.261400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.99, Y:-0.00, Z:0.02 [[ 9.98952441e-01 -4.56728544e-02 -2.83035145e-03 1.98660801e+00] [ 4.56725395e-02 9.98956450e-01 -1.75841997e-04 -1.83770864e-03] [ 2.83542904e-03 4.63884538e-05 9.99995979e-01 1.70059768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.291400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.01, Y:-0.00, Z:0.02 [[ 9.98877930e-01 -4.73192916e-02 -1.94068271e-03 2.01397479e+00] [ 4.73191457e-02 9.98879814e-01 -1.21032906e-04 -9.64872438e-04] [ 1.94423598e-03 2.90656503e-05 9.99998110e-01 1.97605117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.3214005129999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.04, Y:-0.00, Z:0.02 [[ 9.98772000e-01 -4.95398281e-02 -5.45015750e-04 2.04305741e+00] [ 4.95398177e-02 9.98772149e-01 -3.25950983e-05 -1.91385760e-03] [ 5.45961307e-04 5.55509060e-06 9.99999851e-01 2.21309987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.351400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.07, Y:-0.00, Z:0.02 [[ 9.98744993e-01 -5.00798340e-02 -6.70439850e-04 2.07282968e+00] [ 5.00798171e-02 9.98745218e-01 -4.20179106e-05 -2.10326234e-03] [ 6.71702844e-04 8.38967279e-06 9.99999774e-01 2.17908403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.381400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.10, Y:-0.00, Z:0.02 [[ 9.98739964e-01 -5.01695679e-02 -1.22398726e-03 2.10241419e+00] [ 5.01695113e-02 9.98740714e-01 -7.69561654e-05 -1.65791848e-04] [ 1.22630677e-03 1.54523551e-05 9.99999248e-01 2.15529201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.411400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.13, Y:0.00, Z:0.02 [[ 9.98742318e-01 -5.01065387e-02 -1.76530963e-03 2.13082287e+00] [ 5.01064207e-02 9.98743878e-01 -1.11044325e-04 2.31221366e-03] [ 1.76865623e-03 2.24513199e-05 9.99998436e-01 2.19468624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.441400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.16, Y:0.00, Z:0.02 [[ 9.98753449e-01 -4.98739707e-02 -2.03340808e-03 2.15935385e+00] [ 4.98738136e-02 9.98755519e-01 -1.27967159e-04 4.96503478e-03] [ 2.03725977e-03 2.63938258e-05 9.99997924e-01 2.26697262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.471400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.19, Y:0.01, Z:0.02 [[ 9.98801873e-01 -4.89163078e-02 -1.41879352e-03 2.18822444e+00] [ 4.89162321e-02 9.98802881e-01 -8.80742096e-05 9.61708133e-03] [ 1.42140332e-03 1.85666526e-05 9.99998990e-01 2.36181298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.501400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.22, Y:0.01, Z:0.02 [[ 9.98826343e-01 -4.84298560e-02 -6.96452670e-04 2.21719473e+00] [ 4.84298373e-02 9.98826586e-01 -4.37513497e-05 1.35590656e-02] [ 6.97754314e-04 9.97091119e-06 9.99999757e-01 2.44047939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5314005129999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.25, Y:0.02, Z:0.03 [[ 9.98830667e-01 -4.83454665e-02 -1.20131711e-04 2.24676025e+00] [ 4.83454660e-02 9.98830674e-01 -7.60049032e-06 1.91612632e-02] [ 1.20358687e-04 1.78377928e-06 9.99999993e-01 2.62365907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.561400513 meters Centerline goodness [0,1] 0.9998928624997322 Centerline is valid? [True, True] Translation: X:2.28, Y:0.02, Z:0.03 [[ 9.98821387e-01 -4.85369197e-02 -6.02164349e-05 2.27603396e+00] [ 4.85369195e-02 9.98821389e-01 -3.69144667e-06 2.38455049e-02] [ 6.03246346e-05 7.64375625e-07 9.99999998e-01 2.66894288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.591400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.31, Y:0.03, Z:0.03 [[ 9.98798736e-01 -4.89998099e-02 3.20528499e-04 2.30655242e+00] [ 4.89998059e-02 9.98798788e-01 2.03207299e-05 2.62658026e-02] [-3.21139188e-04 -4.59048511e-06 9.99999948e-01 2.78051854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.621400513 meters Centerline goodness [0,1] 0.9999784909231696 Centerline is valid? [True, True] Translation: X:2.34, Y:0.02, Z:0.03 [[ 9.98615513e-01 -5.25592820e-02 2.13979638e-03 2.33756919e+00] [ 5.25591119e-02 9.98617805e-01 1.35657904e-04 2.45900648e-02] [-2.14396885e-03 -2.30042899e-05 9.99997701e-01 3.00033193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.651400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.37, Y:0.02, Z:0.03 [[ 9.98447425e-01 -5.56205454e-02 3.01555623e-03 2.36775480e+00] [ 5.56202221e-02 9.98451979e-01 1.91016139e-04 2.30682916e-02] [-3.02151251e-03 -2.29936647e-05 9.99995435e-01 3.11590432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.681400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.40, Y:0.02, Z:0.03 [[ 9.98230077e-01 -5.93837903e-02 3.20598995e-03 2.39912648e+00] [ 5.93834450e-02 9.98235225e-01 2.02879036e-04 2.04897840e-02] [-3.21237982e-03 -1.21372281e-05 9.99994840e-01 3.03472554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.711400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.43, Y:0.01, Z:0.03 [[ 9.97690099e-01 -6.78768245e-02 2.68375506e-03 2.43075061e+00] [ 6.78766136e-02 9.97693709e-01 1.69715939e-04 1.34333434e-02] [-2.68908531e-03 1.28402926e-05 9.99996384e-01 2.81488581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.741400512999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.46, Y:0.01, Z:0.03 [[ 9.97401887e-01 -7.20179207e-02 1.70160246e-03 2.46041618e+00] [ 7.20178416e-02 9.97403338e-01 1.07806044e-04 1.02764693e-02] [-1.70494794e-03 1.50197845e-05 9.99998546e-01 2.78726407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.771400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.49, Y:0.01, Z:0.03 [[ 9.97132841e-01 -7.56673441e-02 7.42585052e-04 2.48936763e+00] [ 7.56673297e-02 9.97133117e-01 4.74457941e-05 5.66330339e-03] [-7.44046245e-04 8.87966857e-06 9.99999723e-01 2.79639215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.801400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.52, Y:0.00, Z:0.03 [[ 9.96884084e-01 -7.88804025e-02 7.09380282e-05 2.51875309e+00] [ 7.88804022e-02 9.96884087e-01 6.25049020e-06 1.90538608e-03] [-7.12100326e-05 -6.35393998e-07 9.99999997e-01 2.75972603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.831400513 meters Centerline goodness [0,1] 0.9998489230370786 Centerline is valid? [True, True] Translation: X:2.55, Y:-0.00, Z:0.03 [[ 9.96451940e-01 -8.41625576e-02 -4.42323405e-04 2.54881764e+00] [ 8.41625535e-02 9.96452038e-01 -2.78597681e-05 -4.94809180e-03] [ 4.43098807e-04 -9.46614729e-06 9.99999902e-01 2.64738252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.8614005129999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.58, Y:-0.01, Z:0.03 [[ 9.96258526e-01 -8.64228016e-02 2.18531944e-04 2.57652378e+00] [ 8.64228005e-02 9.96258550e-01 1.46721791e-05 -1.00798629e-02] [-2.18982329e-04 4.26885903e-06 9.99999976e-01 2.88040877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.891400513 meters Centerline goodness [0,1] 0.9999783315276273 Centerline is valid? [True, True] Translation: X:2.61, Y:-0.01, Z:0.03 [[ 9.96105686e-01 -8.81607779e-02 1.06715035e-03 2.60562054e+00] [ 8.81607536e-02 9.96106258e-01 6.98957313e-05 -8.55102058e-03] [-1.06915720e-03 2.44572436e-05 9.99999428e-01 2.87368747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.921400513 meters Centerline goodness [0,1] 0.9999566855806298 Centerline is valid? [True, True] Translation: X:2.63, Y:-0.01, Z:0.03 [[ 9.96026297e-01 -8.90439295e-02 1.67163531e-03 2.63472120e+00] [ 8.90438723e-02 9.96027699e-01 1.08754548e-04 -9.28784554e-03] [-1.67467901e-03 4.05264913e-05 9.99998597e-01 2.97683991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.951400512999999 meters Centerline goodness [0,1] 0.9999784807402625 Centerline is valid? [True, True] Translation: X:2.66, Y:-0.01, Z:0.03 [[ 9.96081890e-01 -8.84337874e-02 5.77970696e-04 2.66332319e+00] [ 8.84337797e-02 9.96082057e-01 3.88716231e-05 -1.26321226e-02] [-5.79143805e-04 1.23928134e-05 9.99999832e-01 2.92771516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.981400513 meters Centerline goodness [0,1] 0.9999568006566301 Centerline is valid? [True, True] Translation: X:2.69, Y:-0.01, Z:0.03 [[ 9.96171686e-01 -8.74150448e-02 -7.62476548e-04 2.69237488e+00] [ 8.74150342e-02 9.96171978e-01 -4.72451438e-05 -9.26367411e-03] [ 7.63687707e-04 -1.95876389e-05 9.99999708e-01 2.70799729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.011400513 meters Centerline goodness [0,1] 0.9999784631288766 Centerline is valid? [True, True] Translation: X:2.72, Y:-0.01, Z:0.03 [[ 9.96299480e-01 -8.59338235e-02 -1.65068171e-03 2.72010608e+00] [ 8.59337663e-02 9.96300846e-01 -1.05647255e-04 -1.03899497e-02] [ 1.65365425e-03 -3.65929913e-05 9.99998632e-01 2.75905746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.041400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.75, Y:-0.01, Z:0.03 [[ 9.96428038e-01 -8.44257259e-02 -1.86082249e-03 2.74912430e+00] [ 8.44256518e-02 9.96429774e-01 -1.18478239e-04 -6.49192868e-03] [ 1.86418155e-03 -3.90461130e-05 9.99998262e-01 2.72877257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.071400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.78, Y:-0.00, Z:0.03 [[ 9.96553096e-01 -8.29454881e-02 -1.40447804e-03 2.77653419e+00] [ 8.29454434e-02 9.96554085e-01 -9.01133472e-05 -4.86528598e-03] [ 1.40711282e-03 -2.66923184e-05 9.99999010e-01 2.95156251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.101400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.81, Y:-0.00, Z:0.03 [[ 9.96668313e-01 -8.15580772e-02 -7.44078004e-04 2.80519515e+00] [ 8.15580653e-02 9.96668591e-01 -4.64432831e-05 -1.09531840e-03] [ 7.45387000e-04 -1.43970138e-05 9.99999722e-01 3.12228374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.131400512999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.83, Y:0.00, Z:0.03 [[ 9.96923014e-01 -7.83842836e-02 -6.38540876e-04 2.83312748e+00] [ 7.83842742e-02 9.96923219e-01 -3.97602128e-05 3.60853072e-03] [ 6.39692801e-04 -1.04136919e-05 9.99999795e-01 3.24961398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.161400513 meters Centerline goodness [0,1] 0.9999353852118288 Centerline is valid? [True, True] Translation: X:2.86, Y:0.01, Z:0.03 [[ 9.97067900e-01 -7.65212821e-02 -3.11515348e-04 2.86063984e+00] [ 7.65212798e-02 9.97067948e-01 -1.93346182e-05 7.98252050e-03] [ 3.12081478e-04 -4.55962590e-06 9.99999951e-01 3.30930245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.191400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.89, Y:0.01, Z:0.03 [[ 9.97204902e-01 -7.47051251e-02 1.23585750e-03 2.88826246e+00] [ 7.47050801e-02 9.97205668e-01 8.26382484e-05 1.35216992e-02] [-1.23857760e-03 9.91756675e-06 9.99999233e-01 3.49862712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.221400512999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.92, Y:0.02, Z:0.04 [[ 9.97592300e-01 -6.91773480e-02 4.90892774e-03 2.91542720e+00] [ 6.91766055e-02 9.97604378e-01 3.21090856e-04 2.13574466e-02] [-4.91938001e-03 1.92651919e-05 9.99987900e-01 4.26804746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.251400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.95, Y:0.03, Z:0.04 [[ 9.97828285e-01 -6.56942549e-02 4.79353760e-03 2.94531833e+00] [ 6.56935097e-02 9.97839799e-01 3.12924130e-04 2.81726950e-02] [-4.80373991e-03 2.65976118e-06 9.99988462e-01 4.30649936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.281400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.98, Y:0.04, Z:0.04 [[ 9.98062229e-01 -6.21352885e-02 3.31558556e-03 2.97505469e+00] [ 6.21349124e-02 9.98067736e-01 2.16442805e-04 3.57996176e-02] [-3.32262770e-03 -1.00097706e-05 9.99994480e-01 4.03152479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.311400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.00, Y:0.05, Z:0.04 [[ 9.98488893e-01 -5.49416267e-02 1.16106813e-03 3.00469412e+00] [ 5.49415759e-02 9.98489568e-01 7.56512555e-05 5.10483744e-02] [-1.16347082e-03 -1.17460254e-05 9.99999323e-01 3.69897750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.341400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.03, Y:0.06, Z:0.04 [[ 9.98679222e-01 -5.13652946e-02 1.19096001e-03 3.03292944e+00] [ 5.13652379e-02 9.98679932e-01 7.81555299e-05 6.01258964e-02] [-1.19340234e-03 -1.68783597e-05 9.99999288e-01 3.83569643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.371400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.06, Y:0.07, Z:0.04 [[ 9.98845230e-01 -4.80123737e-02 1.73729309e-03 3.06263748e+00] [ 4.80122487e-02 9.98846741e-01 1.13602078e-04 6.69774251e-02] [-1.74074384e-03 -3.00595457e-05 9.99998484e-01 3.90534325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.401400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.09, Y:0.07, Z:0.04 [[ 9.98983396e-01 -4.50179423e-02 2.35777281e-03 3.09289340e+00] [ 4.50177041e-02 9.98986177e-01 1.54001944e-04 7.39894118e-02] [-2.36231529e-03 -4.77038664e-05 9.99997209e-01 4.03415698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.431400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.12, Y:0.08, Z:0.04 [[ 9.99085921e-01 -4.26538795e-02 2.82277996e-03 3.12384505e+00] [ 4.26535297e-02 9.99089907e-01 1.84047086e-04 7.96988617e-02] [-2.82806129e-03 -6.34773233e-05 9.99995999e-01 4.09349112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.461400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.15, Y:0.09, Z:0.04 [[ 9.99162482e-01 -4.08319860e-02 2.66151120e-03 3.15408550e+00] [ 4.08316683e-02 9.99166025e-01 1.73614879e-04 8.54339230e-02] [-2.66638060e-03 -6.47955306e-05 9.99996443e-01 4.05651892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.491400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.19, Y:0.09, Z:0.04 [[ 9.99273723e-01 -3.80864467e-02 1.20364664e-03 3.18512044e+00] [ 3.80863801e-02 9.99274448e-01 7.82877597e-05 9.09500616e-02] [-1.20575504e-03 -3.23883577e-05 9.99999273e-01 3.72306152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.521400513 meters Centerline goodness [0,1] 0.9998924523025962 Centerline is valid? [True, True] Translation: X:3.22, Y:0.10, Z:0.04 [[ 9.99322263e-01 -3.68064572e-02 5.47494247e-04 3.21605242e+00] [ 3.68064433e-02 9.99322413e-01 3.54578828e-05 9.51225724e-02] [-5.48428351e-04 -1.52825357e-05 9.99999849e-01 3.65962271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.551400512999999 meters Centerline goodness [0,1] 0.9998924523025962 Centerline is valid? [True, True] Translation: X:3.25, Y:0.10, Z:0.04 [[ 9.99323161e-01 -3.67820622e-02 5.47495147e-04 3.24683932e+00] [ 3.67820483e-02 9.99323311e-01 3.54440432e-05 9.70888900e-02] [-5.48428368e-04 -1.52820604e-05 9.99999849e-01 3.69191336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.581400513 meters Centerline goodness [0,1] 0.9999786251709987 Centerline is valid? [True, True] Translation: X:3.28, Y:0.10, Z:0.04 [[ 9.99387579e-01 -3.49886255e-02 5.13330861e-04 3.27725425e+00] [ 3.49886131e-02 9.99387710e-01 3.31389276e-05 1.02318611e-01] [-5.14176039e-04 -1.51578977e-05 9.99999868e-01 3.71171493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.611400513 meters Centerline goodness [0,1] 0.999935015704538 Centerline is valid? [True, True] Translation: X:3.31, Y:0.10, Z:0.04 [[ 9.99472013e-01 -3.24795475e-02 8.79646476e-04 3.30825755e+00] [ 3.24795097e-02 9.99472400e-01 5.71896460e-05 1.04372511e-01] [-8.81039868e-04 -2.85889643e-05 9.99999611e-01 3.69971299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.641400513 meters Centerline goodness [0,1] 0.9998065265058687 Centerline is valid? [True, True] Translation: X:3.34, Y:0.12, Z:0.04 [[ 9.99647782e-01 -2.64500466e-02 2.16969837e-03 3.33725116e+00] [ 2.64498016e-02 9.99650133e-01 1.41516728e-04 1.19708913e-01] [-2.17268239e-03 -8.40787922e-05 9.99997636e-01 4.07290722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.671400513 meters Centerline goodness [0,1] 0.9997195495534366 Centerline is valid? [True, True] Translation: X:3.37, Y:0.12, Z:0.04 [[ 9.99725827e-01 -2.33608194e-02 1.59459207e-03 3.36772107e+00] [ 2.33606835e-02 9.99727097e-01 1.03781708e-04 1.24391267e-01] [-1.59658132e-03 -6.65024929e-05 9.99998723e-01 3.96197700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.701400513 meters Centerline goodness [0,1] 0.9994838709677419 Centerline is valid? [True, True] Translation: X:3.40, Y:0.13, Z:0.04 [[ 9.99795154e-01 -2.02380566e-02 2.64839217e-04 3.39849107e+00] [ 2.02380528e-02 9.99795189e-01 1.70511329e-05 1.30583091e-01] [-2.65130057e-04 -1.16878100e-05 9.99999965e-01 3.80628946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.731400513 meters Centerline goodness [0,1] 0.9978644923315861 Centerline is valid? [True, True] Translation: X:3.43, Y:0.14, Z:0.04 [[ 9.99858000e-01 -1.68141467e-02 -1.12453400e-03 3.42802052e+00] [ 1.68140749e-02 9.99858631e-01 -7.32494126e-05 1.37426958e-01] [ 1.12560666e-03 5.43310122e-05 9.99999365e-01 3.68427200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.761400513 meters Centerline goodness [0,1] 0.9755924932975871 Centerline is valid? [True, True] Translation: X:3.46, Y:0.15, Z:0.03 [[ 9.99929211e-01 -1.13888959e-02 -3.44471243e-03 3.45701301e+00] [ 1.13881905e-02 9.99935127e-01 -2.24325721e-04 1.48982239e-01] [ 3.44704378e-03 1.85080800e-04 9.99994042e-01 3.39975862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.791400513 meters Centerline goodness [0,1] 0.9956147930527953 Centerline is valid? [True, True] Translation: X:3.49, Y:0.15, Z:0.03 [[ 9.99951699e-01 -8.91680336e-03 -4.13411086e-03 3.48787457e+00] [ 8.91576573e-03 9.99960217e-01 -2.69352329e-04 1.47196879e-01] [ 4.13634816e-03 2.32480555e-04 9.99991418e-01 3.20162740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.821400513 meters Centerline goodness [0,1] 0.9503828286304198 Centerline is valid? [True, True] Translation: X:3.52, Y:0.16, Z:0.03 [[ 9.99980244e-01 -4.23242779e-03 -4.64731301e-03 3.51697771e+00] [ 4.23106635e-03 9.99991003e-01 -3.02746054e-04 1.55135474e-01] [ 4.64855255e-03 2.83076984e-04 9.99989155e-01 3.10057083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.851400513 meters Centerline goodness [0,1] 0.8996334326566486 Centerline is valid? [True, False] Translation: X:3.52, Y:0.16, Z:0.03 [[ 9.99980334e-01 -4.27287980e-03 -4.59060488e-03 3.51667663e+00] [ 4.27070577e-03 9.99990764e-01 -4.83281486e-04 1.56016660e-01] [ 4.59262748e-03 4.63666860e-04 9.99989346e-01 3.12098283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.881400512999999 meters Centerline goodness [0,1] 0.9135118764331761 Centerline is valid? [False, False] Translation: X:3.52, Y:0.16, Z:0.03 [[ 9.99980481e-01 -4.39132504e-03 -4.44455280e-03 3.51604800e+00] [ 4.38783272e-03 9.99990057e-01 -7.95200401e-04 1.57506389e-01] [ 4.44800059e-03 7.75682926e-04 9.99989807e-01 3.14865826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.911400513 meters Centerline goodness [0,1] 0.8578363683438336 Centerline is valid? [False, False] Translation: X:3.52, Y:0.16, Z:0.03 [[ 9.99980133e-01 -4.55209269e-03 -4.36038738e-03 3.51559597e+00] [ 4.54672832e-03 9.99988896e-01 -1.23937540e-03 1.59613328e-01] [ 4.36598071e-03 1.21952528e-03 9.99989725e-01 3.18068470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.941400513 meters Centerline goodness [0,1] 0.7962450380860423 Centerline is valid? [False, False] Translation: X:3.52, Y:0.16, Z:0.03 [[ 9.99983239e-01 -2.34118005e-03 -5.29527165e-03 3.52226530e+00] [ 2.34641750e-03 9.99996764e-01 9.83085568e-04 1.58196252e-01] [ 5.29295294e-03 -9.95494008e-04 9.99985497e-01 2.77066461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.971400512999999 meters Centerline goodness [0,1] 0.8002323130202844 Centerline is valid? [False, False] Translation: X:3.52, Y:0.16, Z:0.03 [[ 9.99983869e-01 -2.36171315e-03 -5.16571554e-03 3.52191271e+00] [ 2.36488620e-03 9.99997019e-01 6.08229999e-04 1.60102130e-01] [ 5.16426368e-03 -6.20436517e-04 9.99986473e-01 2.74877525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.001400513 meters Centerline goodness [0,1] 0.7556766771511052 Centerline is valid? [False, False] Translation: X:3.52, Y:0.16, Z:0.03 [[ 9.99984187e-01 -2.48768423e-03 -5.04353336e-03 3.52160187e+00] [ 2.48896088e-03 9.99996872e-01 2.46865311e-04 1.61818810e-01] [ 5.04290346e-03 -2.59414565e-04 9.99987251e-01 2.72468238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.031400513 meters Centerline goodness [0,1] 0.728193945613135 Centerline is valid? [False, False] Translation: X:3.53, Y:0.16, Z:0.02 [[ 9.99982771e-01 -5.75786663e-04 -5.84172685e-03 3.52760718e+00] [ 5.87910892e-04 9.99997677e-01 2.07394793e-03 1.60561325e-01] [ 5.84051912e-03 -2.07734661e-03 9.99980786e-01 2.34735963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.061400513 meters Centerline goodness [0,1] 0.7183609513179359 Centerline is valid? [False, False] Translation: X:3.53, Y:0.16, Z:0.02 [[ 9.99983105e-01 -6.40351673e-04 -5.77754950e-03 3.52729230e+00] [ 6.51482078e-04 9.99997935e-01 1.92481619e-03 1.61249353e-01] [ 5.77630502e-03 -1.92854764e-03 9.99981457e-01 2.36292917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.091400513 meters Centerline goodness [0,1] 0.7127627563083008 Centerline is valid? [False, False] Translation: X:3.53, Y:0.16, Z:0.02 [[ 9.99983093e-01 -5.80754771e-04 -5.78583798e-03 3.52725372e+00] [ 5.92583597e-04 9.99997738e-01 2.04294029e-03 1.60713017e-01] [ 5.78463844e-03 -2.04633434e-03 9.99981175e-01 2.37581753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.121400513 meters Centerline goodness [0,1] 0.7522035948842032 Centerline is valid? [False, False] Translation: X:3.53, Y:0.16, Z:0.02 [[ 9.99983774e-01 -4.38355056e-04 -5.67966824e-03 3.52663782e+00] [ 4.51841461e-04 9.99997081e-01 2.37344023e-03 1.59189660e-01] [ 5.67861125e-03 -2.37596803e-03 9.99981054e-01 2.43193481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.151400513 meters Centerline goodness [0,1] 0.7473079993957834 Centerline is valid? [False, False] Translation: X:3.53, Y:0.16, Z:0.02 [[ 9.99984216e-01 -3.99398027e-04 -5.60430406e-03 3.52617179e+00] [ 4.13366035e-04 9.99996811e-01 2.49143461e-03 1.58624347e-01] [ 5.60329111e-03 -2.49371192e-03 9.99981192e-01 2.47977976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.181400513 meters Centerline goodness [0,1] 0.7238284931037438 Centerline is valid? [False, False] Translation: X:3.53, Y:0.16, Z:0.03 [[ 9.99984413e-01 -3.70724290e-04 -5.57107493e-03 3.52589918e+00] [ 3.85061636e-04 9.99996617e-01 2.57268097e-03 1.58249296e-01] [ 5.57010233e-03 -2.57478607e-03 9.99981172e-01 2.51224814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.211400513 meters Centerline goodness [0,1] 0.6965409142636292 Centerline is valid? [False, False] Translation: X:3.53, Y:0.16, Z:0.02 [[ 9.99984442e-01 -3.31071801e-04 -5.56825014e-03 3.52597326e+00] [ 3.45869181e-04 9.99996411e-01 2.65670297e-03 1.57858491e-01] [ 5.56735059e-03 -2.65858753e-03 9.99980968e-01 2.49691281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.241400513 meters Centerline goodness [0,1] 0.6740870756453615 Centerline is valid? [False, False] Translation: X:3.53, Y:0.16, Z:0.02 [[ 9.99983819e-01 -3.01321185e-04 -5.68080743e-03 3.52664847e+00] [ 3.16404833e-04 9.99996427e-01 2.65448266e-03 1.57895989e-01] [ 5.67998728e-03 -2.65623714e-03 9.99980341e-01 2.43608150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.271400513 meters Centerline goodness [0,1] 0.737408830003021 Centerline is valid? [False, False] Translation: X:3.53, Y:0.16, Z:0.02 [[ 9.99983712e-01 -2.23677786e-04 -5.70318803e-03 3.52673358e+00] [ 2.39789727e-04 9.99995982e-01 2.82454899e-03 1.57115349e-01] [ 5.70253333e-03 -2.82587055e-03 9.99979748e-01 2.43472515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.301400512999999 meters Centerline goodness [0,1] 0.7284410744120293 Centerline is valid? [False, False] Translation: X:3.53, Y:0.16, Z:0.02 [[ 9.99983628e-01 -6.72962135e-05 -5.72179610e-03 3.52678619e+00] [ 8.55332373e-05 9.99994918e-01 3.18710509e-03 1.55416964e-01] [ 5.72155254e-03 -3.18754232e-03 9.99978551e-01 2.43702005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.331400513 meters Centerline goodness [0,1] 0.7034223777417428 Centerline is valid? [False, False] Translation: X:3.53, Y:0.15, Z:0.02 [[ 9.99983252e-01 1.72163038e-04 -5.78502179e-03 3.52700846e+00] [-1.50293506e-04 9.99992842e-01 3.78059360e-03 1.52624953e-01] [ 5.78563126e-03 -3.77966083e-03 9.99976120e-01 2.43939042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.361400513 meters Centerline goodness [0,1] 0.7493621491820501 Centerline is valid? [False, False] Translation: X:3.52, Y:0.15, Z:0.03 [[ 9.99985175e-01 -2.02328644e-03 -5.05522850e-03 3.52136482e+00] [ 2.03267962e-03 9.99996216e-01 1.85366540e-03 1.49659860e-01] [ 5.05145888e-03 -1.86391358e-03 9.99985504e-01 2.78979209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.391400512999999 meters Centerline goodness [0,1] 0.7559060186675249 Centerline is valid? [False, False] Translation: X:3.52, Y:0.15, Z:0.03 [[ 9.99984775e-01 -1.77468452e-03 -5.22506040e-03 3.52222980e+00] [ 1.78740467e-03 9.99995448e-01 2.43078805e-03 1.46958718e-01] [ 5.22072273e-03 -2.44009033e-03 9.99983395e-01 2.73366914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.421400513 meters Centerline goodness [0,1] 0.7415766323611052 Centerline is valid? [False, False] Translation: X:3.52, Y:0.14, Z:0.03 [[ 9.99984516e-01 -1.57516785e-03 -5.33730758e-03 3.52272833e+00] [ 1.59059258e-03 9.99994568e-01 2.88697032e-03 1.44819851e-01] [ 5.33273113e-03 -2.89541510e-03 9.99981589e-01 2.71219337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.451400513 meters Centerline goodness [0,1] 0.8099320193253239 Centerline is valid? [False, False] Translation: X:3.52, Y:0.14, Z:0.03 [[ 9.99984639e-01 -1.46261867e-03 -5.34618247e-03 3.52269009e+00] [ 1.47937728e-03 9.99994001e-01 3.13207862e-03 1.43684125e-01] [ 5.34156936e-03 -3.13993953e-03 9.99980804e-01 2.72826744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.481400513 meters Centerline goodness [0,1] 0.7535987550252885 Centerline is valid? [False, False] Translation: X:3.52, Y:0.14, Z:0.03 [[ 9.99984933e-01 -1.47077835e-03 -5.28873858e-03 3.52253323e+00] [ 1.48661821e-03 9.99994418e-01 2.99233426e-03 1.44405504e-01] [ 5.28430800e-03 -3.00015151e-03 9.99981537e-01 2.72019086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.511400513 meters Centerline goodness [0,1] 0.7077678437426298 Centerline is valid? [False, False] Translation: X:3.54, Y:0.15, Z:0.03 [[ 9.99944412e-01 1.60323963e-04 -1.05426046e-02 3.54316686e+00] [-1.94784195e-04 9.99994642e-01 -3.26771844e-03 1.50575193e-01] [ 1.05420242e-02 3.26959033e-03 9.99939086e-01 3.26977011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.541400513 meters Centerline goodness [0,1] 0.6909745281604147 Centerline is valid? [False, False] Translation: X:3.54, Y:0.15, Z:0.03 [[ 9.99943986e-01 2.29854675e-04 -1.05816381e-02 3.54345774e+00] [-2.63390667e-04 9.99994947e-01 -3.16797835e-03 1.50137213e-01] [ 1.05808565e-02 3.17058800e-03 9.99938995e-01 3.23675565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.571400513 meters Centerline goodness [0,1] 0.709026487490818 Centerline is valid? [False, False] Translation: X:3.54, Y:0.15, Z:0.03 [[ 9.99944111e-01 4.10001507e-04 -1.05644349e-02 3.54351245e+00] [-4.39322140e-04 9.99996058e-01 -2.77323840e-03 1.48315049e-01] [ 1.05632562e-02 2.77772459e-03 9.99940349e-01 3.21521312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.601400513 meters Centerline goodness [0,1] 0.7400399905398722 Centerline is valid? [False, False] Translation: X:3.54, Y:0.14, Z:0.03 [[ 9.99943727e-01 7.55877596e-04 -1.05816221e-02 3.54368048e+00] [-7.76518239e-04 9.99997804e-01 -1.94663974e-03 1.44437174e-01] [ 1.05801275e-02 1.95474702e-03 9.99942118e-01 3.19754322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.631400512999999 meters Centerline goodness [0,1] 0.7202463995192204 Centerline is valid? [False, False] Translation: X:3.54, Y:0.14, Z:0.03 [[ 9.99943198e-01 8.32166192e-04 -1.06258378e-02 3.54381659e+00] [-8.50785612e-04 9.99998111e-01 -1.74787785e-03 1.43497209e-01] [ 1.06243632e-02 1.75681888e-03 9.99942017e-01 3.20164758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.661400513 meters Centerline goodness [0,1] 0.729170677447646 Centerline is valid? [False, False] Translation: X:3.54, Y:0.14, Z:0.03 [[ 9.99942308e-01 8.95502650e-04 -1.07041220e-02 3.54407064e+00] [-9.12446367e-04 9.99998338e-01 -1.57813638e-03 1.42706178e-01] [ 1.07026910e-02 1.58781227e-03 9.99941464e-01 3.20483834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.691400513 meters Centerline goodness [0,1] 0.7144269199363961 Centerline is valid? [False, False] Translation: X:3.54, Y:0.14, Z:0.03 [[ 9.99941312e-01 9.70586315e-04 -1.07903396e-02 3.54440665e+00] [-9.85660639e-04 9.99998546e-01 -1.39179015e-03 1.41821753e-01] [ 1.07889730e-02 1.40234408e-03 9.99940814e-01 3.19788295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.721400512999999 meters Centerline goodness [0,1] 0.7534222987516143 Centerline is valid? [False, False] Translation: X:3.54, Y:0.14, Z:0.03 [[ 9.99941180e-01 9.71711187e-04 -1.08024445e-02 3.54441875e+00] [-9.86643118e-04 9.99998565e-01 -1.37703007e-03 1.41742165e-01] [ 1.08010909e-02 1.38760723e-03 9.99940704e-01 3.20403748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.751400513 meters Centerline goodness [0,1] 0.7363969249876872 Centerline is valid? [False, False] Translation: X:3.54, Y:0.14, Z:0.03 [[ 9.99941686e-01 9.57002122e-04 -1.07567881e-02 3.54402724e+00] [-9.72242341e-04 9.99998531e-01 -1.41166020e-03 1.41925058e-01] [ 1.07554214e-02 1.42203609e-03 9.99941148e-01 3.24992110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.781400513 meters Centerline goodness [0,1] 0.7305040699297696 Centerline is valid? [False, False] Translation: X:3.54, Y:0.14, Z:0.03 [[ 9.99942590e-01 1.01156917e-03 -1.06674289e-02 3.54336896e+00] [-1.02540671e-03 9.99998640e-01 -1.29178663e-03 1.41382246e-01] [ 1.06661076e-02 1.30265092e-03 9.99942267e-01 3.32118893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.811400513 meters Centerline goodness [0,1] 0.7311187312473211 Centerline is valid? [False, False] Translation: X:3.54, Y:0.14, Z:0.03 [[ 9.99942835e-01 1.18188995e-03 -1.06268627e-02 3.54299198e+00] [-1.19160151e-03 9.99998878e-01 -9.07583727e-04 1.39603101e-01] [ 1.06257781e-02 9.20194831e-04 9.99943121e-01 3.37123162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.841400513 meters Centerline goodness [0,1] 0.7314392635925671 Centerline is valid? [False, False] Translation: X:3.54, Y:0.14, Z:0.03 [[ 9.99941056e-01 1.54363662e-03 -1.07471841e-02 3.54351855e+00] [-1.54391261e-03 9.99998808e-01 -1.73828919e-05 1.35417676e-01] [ 1.07471444e-02 3.39745803e-05 9.99942247e-01 3.35112821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.871400513 meters Centerline goodness [0,1] 0.7411709441858478 Centerline is valid? [False, False] Translation: X:3.57, Y:0.13, Z:0.03 [[ 9.99972973e-01 -4.90292536e-04 -7.33571312e-03 3.56758239e+00] [ 5.57322362e-04 9.99958090e-01 9.13821343e-03 1.30382515e-01] [ 7.33092529e-03 -9.14205481e-03 9.99931338e-01 2.82207257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.901400513 meters Centerline goodness [0,1] 0.7859722930477647 Centerline is valid? [False, False] Translation: X:3.58, Y:0.14, Z:0.03 [[ 9.99983411e-01 8.32614546e-05 -5.75940486e-03 3.58356613e+00] [-9.69066960e-05 9.99997189e-01 -2.36897182e-03 1.37636644e-01] [ 5.75919143e-03 2.36949065e-03 9.99980608e-01 3.26068460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.931400513 meters Centerline goodness [0,1] 0.7438663687626343 Centerline is valid? [False, False] Translation: X:3.58, Y:0.14, Z:0.03 [[ 9.99983598e-01 3.19625156e-04 -5.71847892e-03 3.58314752e+00] [-3.29947719e-04 9.99998318e-01 -1.80427162e-03 1.35002639e-01] [ 5.71789261e-03 1.80612882e-03 9.99982022e-01 3.31910559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.961400513 meters Centerline goodness [0,1] 0.7517074528443274 Centerline is valid? [False, False] Translation: X:3.58, Y:0.13, Z:0.03 [[ 9.99983220e-01 5.45188118e-04 -5.76734484e-03 3.58321533e+00] [-5.52506704e-04 9.99999044e-01 -1.26745257e-03 1.32496216e-01] [ 5.76664833e-03 1.27061780e-03 9.99982565e-01 3.34168665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.991400513 meters Centerline goodness [0,1] 0.80739112808586 Centerline is valid? [False, False] Translation: X:3.58, Y:0.13, Z:0.03 [[ 9.99981081e-01 9.47199854e-04 -6.07782308e-03 3.58464673e+00] [-9.49355211e-04 9.99999487e-01 -3.51751283e-04 1.28210793e-01] [ 6.07748679e-03 3.57514641e-04 9.99981468e-01 3.26864907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.021400513 meters Centerline goodness [0,1] 0.7509543409182999 Centerline is valid? [False, False] Translation: X:3.59, Y:0.13, Z:0.03 [[ 9.99980054e-01 1.07761037e-03 -6.22340416e-03 3.58553707e+00] [-1.07818305e-03 9.99999415e-01 -8.86654190e-05 1.26973956e-01] [ 6.22330497e-03 9.53736194e-05 9.99980631e-01 3.19078552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.051400512999999 meters Centerline goodness [0,1] 0.7922469030328919 Centerline is valid? [False, False] Translation: X:3.59, Y:0.13, Z:0.03 [[ 9.99979684e-01 1.13767922e-03 -6.27199792e-03 3.58597479e+00] [-1.13762957e-03 9.99999353e-01 1.14837936e-05 1.26517351e-01] [ 6.27200693e-03 -4.34835007e-06 9.99980331e-01 3.13651950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.081400513 meters Centerline goodness [0,1] 0.7088497268340384 Centerline is valid? [False, False] Translation: X:3.59, Y:0.13, Z:0.03 [[ 9.99979956e-01 1.13936039e-03 -6.22811328e-03 3.58586284e+00] [-1.14000436e-03 9.99999345e-01 -9.98494089e-05 1.27096816e-01] [ 6.22799544e-03 1.06947484e-04 9.99980600e-01 3.12626762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.111400513 meters Centerline goodness [0,1] 0.7676313752472693 Centerline is valid? [False, False] Translation: X:3.59, Y:0.13, Z:0.03 [[ 9.99981462e-01 1.08533264e-03 -5.99139910e-03 3.58502120e+00] [-1.08788277e-03 9.99999319e-01 -4.22389303e-04 1.28728834e-01] [ 5.99093659e-03 4.28899413e-04 9.99981962e-01 3.13876029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.141400512999999 meters Centerline goodness [0,1] 0.6704758655978168 Centerline is valid? [False, False] Translation: X:3.60, Y:0.14, Z:0.03 [[ 9.99969839e-01 7.72170326e-03 -8.34840473e-04 3.60478602e+00] [-7.72605946e-03 9.99955857e-01 -5.34716105e-03 1.36449362e-01] [ 7.93514430e-04 5.35344980e-03 9.99985355e-01 2.75539198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.171400513 meters Centerline goodness [0,1] 0.6330539381918229 Centerline is valid? [False, False] Translation: X:3.60, Y:0.14, Z:0.03 [[ 9.99970107e-01 7.71182146e-03 -5.59398643e-04 3.60409911e+00] [-7.71519407e-03 9.99950388e-01 -6.30065807e-03 1.41428797e-01] [ 5.10781340e-04 6.30478559e-03 9.99979994e-01 2.70080288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.201400513 meters Centerline goodness [0,1] 0.6493869282439493 Centerline is valid? [False, False] Translation: X:3.60, Y:0.15, Z:0.03 [[ 9.99970808e-01 7.62129673e-03 -5.47626992e-04 3.60428815e+00] [-7.62513835e-03 9.99943595e-01 -7.39355731e-03 1.47018752e-01] [ 4.91247609e-04 7.39751721e-03 9.99972517e-01 2.63109651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.231400513 meters Centerline goodness [0,1] 0.6199104714172503 Centerline is valid? [False, False] Translation: X:3.61, Y:0.15, Z:0.03 [[ 9.99926971e-01 1.20671399e-02 -6.61272332e-04 3.60503701e+00] [-1.20689243e-02 9.99923347e-01 -2.76434030e-03 1.45591285e-01] [ 6.27863962e-04 2.77211927e-03 9.99995961e-01 2.58565034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.261400513 meters Centerline goodness [0,1] 0.47615301197133686 Centerline is valid? [False, False] Translation: X:3.61, Y:0.15, Z:0.03 [[ 9.99868051e-01 1.62282309e-02 -7.24460178e-04 3.60549455e+00] [-1.62273509e-02 9.99867603e-01 1.20437977e-03 1.47262099e-01] [ 7.43909214e-04 -1.19246478e-03 9.99999012e-01 2.56829402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.291400513 meters Centerline goodness [0,1] 0.5972724143865084 Centerline is valid? [False, False] Translation: X:3.61, Y:0.15, Z:0.03 [[ 9.99871406e-01 1.60210418e-02 -7.06170544e-04 3.60530320e+00] [-1.60205207e-02 9.99871391e-01 7.37451440e-04 1.49434752e-01] [ 7.17894465e-04 -7.26043388e-04 9.99999479e-01 2.58962139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.321400513 meters Centerline goodness [0,1] 0.61562634524322 Centerline is valid? [False, False] Translation: X:3.60, Y:0.16, Z:0.03 [[ 9.99936470e-01 1.12655599e-02 -3.79068457e-04 3.60386616e+00] [-1.12673740e-02 9.99923089e-01 -5.18297202e-03 1.57217425e-01] [ 3.20650220e-04 5.18691385e-03 9.99986496e-01 2.61097539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.351400513 meters Centerline goodness [0,1] 0.6072152411836238 Centerline is valid? [False, False] Translation: X:3.61, Y:0.15, Z:0.03 [[ 9.99890904e-01 1.47423311e-02 -9.19014074e-04 3.60576691e+00] [-1.47425396e-02 9.99891299e-01 -2.20510818e-04 1.51918827e-01] [ 9.15663333e-04 2.34035362e-04 9.99999553e-01 2.62882073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.381400512999999 meters Centerline goodness [0,1] 0.6635487894035178 Centerline is valid? [False, False] Translation: X:3.61, Y:0.16, Z:0.03 [[ 9.99950308e-01 9.92607666e-03 -9.24420502e-04 3.60534904e+00] [-9.93113201e-03 9.99934809e-01 -5.63483043e-03 1.56957085e-01] [ 8.68428479e-04 5.64373096e-03 9.99983697e-01 2.67486767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.411400513 meters Centerline goodness [0,1] 0.6000937846363714 Centerline is valid? [False, False] Translation: X:3.61, Y:0.16, Z:0.03 [[ 9.99949337e-01 9.99447854e-03 -1.19768536e-03 3.60622935e+00] [-1.00006423e-02 9.99936179e-01 -5.25593621e-03 1.55059060e-01] [ 1.14507858e-03 5.26764755e-03 9.99985470e-01 2.67838180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.441400513 meters Centerline goodness [0,1] 0.6000937846363714 Centerline is valid? [False, False] Translation: X:3.61, Y:0.16, Z:0.03 [[ 9.99949337e-01 9.99447854e-03 -1.19768536e-03 3.60622935e+00] [-1.00006423e-02 9.99936179e-01 -5.25593621e-03 1.55059060e-01] [ 1.14507858e-03 5.26764755e-03 9.99985470e-01 2.67838180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.471400512999999 meters Centerline goodness [0,1] 0.6943563592732259 Centerline is valid? [False, False] Translation: X:3.61, Y:0.15, Z:0.03 [[ 9.99947694e-01 1.01306161e-02 -1.40714531e-03 3.60697865e+00] [-1.01373169e-02 9.99936905e-01 -4.83944786e-03 1.53058782e-01] [ 1.35802994e-03 4.85345940e-03 9.99987300e-01 2.66755754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.501400513 meters Centerline goodness [0,1] 0.6859184979731172 Centerline is valid? [False, False] Translation: X:3.61, Y:0.15, Z:0.03 [[ 9.99946473e-01 1.02321509e-02 -1.53435374e-03 3.60735716e+00] [-1.02389993e-02 9.99937346e-01 -4.52398042e-03 1.51543053e-01] [ 1.48796755e-03 4.53944851e-03 9.99988590e-01 2.67642934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.531400513 meters Centerline goodness [0,1] 0.6823664805421763 Centerline is valid? [False, False] Translation: X:3.61, Y:0.14, Z:0.02 [[ 0.99996537 0.00725431 0.00407792 3.60680446] [-0.00730138 0.9999055 0.01164851 0.13999148] [-0.00399303 -0.01167788 0.99992384 0.023815 ] [ 0. 0. 0. 1. ]] SLAMing on 10.561400512999999 meters Centerline goodness [0,1] 0.6912049758238012 Centerline is valid? [False, False] Translation: X:3.60, Y:0.15, Z:0.02 [[ 9.99985100e-01 2.93472718e-03 4.60303274e-03 3.60457533e+00] [-2.96314146e-03 9.99976524e-01 6.17832244e-03 1.46059372e-01] [-4.58479299e-03 -6.19186982e-03 9.99970320e-01 2.45516224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.591400513 meters Centerline goodness [0,1] 0.6477639171758316 Centerline is valid? [False, False] Translation: X:3.60, Y:0.15, Z:0.03 [[ 9.99984379e-01 2.95565680e-03 4.74405901e-03 3.60375192e+00] [-2.98513266e-03 9.99976211e-01 6.21820766e-03 1.45902486e-01] [-4.72556727e-03 -6.23227217e-03 9.99969413e-01 2.52555018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.621400513 meters Centerline goodness [0,1] 0.661843630586922 Centerline is valid? [False, False] Translation: X:3.58, Y:0.15, Z:0.03 [[ 9.99990839e-01 4.07402837e-03 1.31322593e-03 3.57805610e+00] [-4.06880291e-03 9.99983891e-01 -3.95750986e-03 1.51041529e-01] [-1.32932778e-03 3.95213035e-03 9.99991307e-01 3.19107747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.651400513 meters Centerline goodness [0,1] 0.6699070430324818 Centerline is valid? [False, False] Translation: X:3.59, Y:0.15, Z:0.03 [[ 9.99979005e-01 6.46971594e-03 3.64855951e-04 3.58522337e+00] [-6.46916680e-03 9.99977970e-01 -1.48670601e-03 1.50182117e-01] [-3.74466479e-04 1.48431448e-03 9.99998828e-01 2.70860004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.681400513 meters Centerline goodness [0,1] 0.6755113322277502 Centerline is valid? [False, False] Translation: X:3.59, Y:0.15, Z:0.03 [[ 9.99979562e-01 6.38049674e-03 4.05836470e-04 3.58528302e+00] [-6.37979556e-03 9.99978193e-01 -1.70617606e-03 1.51208754e-01] [-4.16713871e-04 1.70355203e-03 9.99998462e-01 2.66482146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.711400513 meters Centerline goodness [0,1] 0.6440476695364519 Centerline is valid? [False, False] Translation: X:3.58, Y:0.15, Z:0.03 [[ 9.99980115e-01 6.28426660e-03 5.26303885e-04 3.58475741e+00] [-6.28323944e-03 9.99978396e-01 -1.93107175e-03 1.52272070e-01] [-5.38427884e-04 1.92772646e-03 9.99997997e-01 2.68515881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.741400513 meters Centerline goodness [0,1] 0.6650904387285566 Centerline is valid? [False, False] Translation: X:3.58, Y:0.15, Z:0.03 [[ 9.99980796e-01 6.16533346e-03 6.28894510e-04 3.58409578e+00] [-6.16394593e-03 9.99978616e-01 -2.18488091e-03 1.53454964e-01] [-6.42351581e-04 2.18096248e-03 9.99997415e-01 2.74335336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.771400513 meters Centerline goodness [0,1] 0.6788503990490746 Centerline is valid? [False, False] Translation: X:3.58, Y:0.15, Z:0.03 [[ 9.99980811e-01 6.15460284e-03 7.05976704e-04 3.58368138e+00] [-6.15303563e-03 9.99978648e-01 -2.20100496e-03 1.53525508e-01] [-7.19507941e-04 2.19661882e-03 9.99997329e-01 2.77011626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.801400512999999 meters Centerline goodness [0,1] 0.6732402783113501 Centerline is valid? [False, False] Translation: X:3.58, Y:0.15, Z:0.03 [[ 9.99980427e-01 6.22555180e-03 6.22718223e-04 3.58411812e+00] [-6.22427957e-03 9.99978580e-01 -2.02451709e-03 1.52687567e-01] [-6.35308621e-04 2.02060149e-03 9.99997757e-01 2.73816236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.831400513 meters Centerline goodness [0,1] 0.649123922116994 Centerline is valid? [False, False] Translation: X:3.59, Y:0.15, Z:0.03 [[ 9.99979808e-01 6.35443200e-03 6.57343989e-05 3.58667367e+00] [-6.35432463e-03 9.99978653e-01 -1.52174759e-03 1.50168653e-01] [-7.54028373e-05 1.52129917e-03 9.99998840e-01 2.59505422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.861400513 meters Centerline goodness [0,1] 0.6905365350745307 Centerline is valid? [False, False] Translation: X:3.57, Y:0.14, Z:0.03 [[ 0.99996445 0.00565333 -0.00625562 3.56595186] [-0.00560066 0.99994899 0.00840557 0.13969615] [ 0.00630282 -0.00837023 0.99994511 0.0309574 ] [ 0. 0. 0. 1. ]] SLAMing on 10.891400512999999 meters Centerline goodness [0,1] 0.625604946167786 Centerline is valid? [False, False] Translation: X:3.57, Y:0.14, Z:0.03 [[ 0.99996294 0.00573193 -0.00642331 3.56670775] [-0.00567653 0.99994682 0.0086105 0.13870719] [ 0.00647233 -0.00857372 0.9999423 0.0305623 ] [ 0. 0. 0. 1. ]] SLAMing on 10.921400513 meters Centerline goodness [0,1] 0.6492062471881226 Centerline is valid? [False, False] Translation: X:3.57, Y:0.14, Z:0.03 [[ 9.99980994e-01 1.31134482e-03 -6.02422511e-03 3.56516040e+00] [-1.28870858e-03 9.99992101e-01 3.75988232e-03 1.41344129e-01] [ 6.02910803e-03 -3.75204739e-03 9.99974786e-01 3.08857782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.951400513 meters Centerline goodness [0,1] 0.6646835093385461 Centerline is valid? [False, False] Translation: X:3.59, Y:0.15, Z:0.03 [[ 9.99998387e-01 1.78752634e-03 1.76892840e-04 3.58609684e+00] [-1.78640580e-03 9.99979530e-01 -6.14399079e-03 1.49938357e-01] [-1.87871764e-04 6.14366487e-03 9.99981110e-01 2.57087552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.981400513 meters Centerline goodness [0,1] 0.7011978609625669 Centerline is valid? [False, False] Translation: X:3.58, Y:0.14, Z:0.03 [[ 9.99987238e-01 4.89799360e-03 1.23823897e-03 3.58133829e+00] [-4.89607021e-03 9.99986810e-01 -1.55161207e-03 1.43908308e-01] [-1.24582243e-03 1.54552977e-03 9.99998030e-01 2.79170642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.011400513 meters Centerline goodness [0,1] 0.6905043807719631 Centerline is valid? [False, False] Translation: X:3.58, Y:0.14, Z:0.03 [[ 9.99987173e-01 4.93004480e-03 1.16100673e-03 3.58165246e+00] [-4.92832571e-03 9.99986762e-01 -1.47891678e-03 1.43576378e-01] [-1.16828249e-03 1.47317599e-03 9.99998232e-01 2.78020631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.041400513 meters Centerline goodness [0,1] 0.6891785737033185 Centerline is valid? [False, False] Translation: X:3.58, Y:0.14, Z:0.03 [[ 9.99957286e-01 9.23251393e-03 4.32201010e-04 3.58434372e+00] [-9.23423964e-03 9.99948638e-01 4.17742586e-03 1.36484295e-01] [-3.93610669e-04 -4.18123847e-03 9.99991181e-01 2.73765185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.071400513 meters Centerline goodness [0,1] 0.7104765993988836 Centerline is valid? [False, False] Translation: X:3.59, Y:0.13, Z:0.03 [[ 9.99955472e-01 9.43278192e-03 2.78404753e-04 3.58559237e+00] [-9.43396614e-03 9.99944859e-01 4.61294963e-03 1.34411360e-01] [-2.34876453e-04 -4.61537068e-03 9.99989322e-01 2.58923374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.101400513 meters Centerline goodness [0,1] 0.6866404715127701 Centerline is valid? [False, False] Translation: X:3.59, Y:0.13, Z:0.03 [[ 9.99954816e-01 9.49975884e-03 3.46721061e-04 3.58537876e+00] [-9.50129961e-03 9.99943572e-01 4.75171771e-03 1.33773481e-01] [-3.01561324e-04 -4.75479731e-03 9.99988650e-01 2.58695121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.131400512999999 meters Centerline goodness [0,1] 0.666475413319733 Centerline is valid? [False, False] Translation: X:3.58, Y:0.13, Z:0.03 [[ 9.99954026e-01 9.57852285e-03 4.45017656e-04 3.58481832e+00] [-9.58060256e-03 9.99941935e-01 4.93336010e-03 1.32935390e-01] [-3.97737514e-04 -4.93739683e-03 9.99987732e-01 2.63146389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.161400513 meters Centerline goodness [0,1] 0.6787971327989142 Centerline is valid? [False, False] Translation: X:3.58, Y:0.14, Z:0.03 [[ 9.99985770e-01 5.29990832e-03 6.08971174e-04 3.58395620e+00] [-5.29963455e-03 9.99985855e-01 -4.50296687e-04 1.38562738e-01] [-6.11349092e-04 4.47062954e-04 9.99999713e-01 2.65506111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.191400513 meters Centerline goodness [0,1] 0.6136281569277172 Centerline is valid? [False, False] Translation: X:3.58, Y:0.14, Z:0.03 [[ 9.99984982e-01 5.45193834e-03 5.58373515e-04 3.58407579e+00] [-5.45187714e-03 9.99985132e-01 -1.11068785e-04 1.36986519e-01] [-5.58970753e-04 1.08022933e-04 9.99999838e-01 2.66589638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.221400512999999 meters Centerline goodness [0,1] 0.6747645547945205 Centerline is valid? [False, False] Translation: X:3.58, Y:0.14, Z:0.03 [[ 9.99985254e-01 5.38245288e-03 7.22339733e-04 3.58365629e+00] [-5.38209906e-03 9.99985396e-01 -4.90886930e-04 1.38861217e-01] [-7.24971360e-04 4.86991987e-04 9.99999619e-01 2.63823702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.251400513 meters Centerline goodness [0,1] 0.6696428571428572 Centerline is valid? [False, False] Translation: X:3.58, Y:0.14, Z:0.03 [[ 9.99986592e-01 5.09340663e-03 9.34818931e-04 3.58293199e+00] [-5.09219110e-03 9.99986192e-01 -1.29808474e-03 1.42684508e-01] [-9.41417697e-04 1.29330706e-03 9.99998721e-01 2.63569537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.281400513 meters Centerline goodness [0,1] 0.5316238214891652 Centerline is valid? [False, False] Translation: X:3.58, Y:0.15, Z:0.03 [[ 9.99987774e-01 4.82224597e-03 1.09434011e-03 3.58241291e+00] [-4.81990322e-03 9.99986108e-01 -2.13342137e-03 1.46683935e-01] [-1.10461279e-03 2.12812067e-03 9.99997125e-01 2.61942049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.311400512999999 meters Centerline goodness [0,1] 0.5685523556848817 Centerline is valid? [False, False] Translation: X:3.58, Y:0.15, Z:0.03 [[ 9.99987274e-01 4.85478376e-03 1.37254183e-03 3.58119655e+00] [-4.85103938e-03 9.99984539e-01 -2.71835665e-03 1.49806514e-01] [-1.38571765e-03 2.71166380e-03 9.99995363e-01 2.66326699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.341400513 meters Centerline goodness [0,1] 0.6573877620300432 Centerline is valid? [False, False] Translation: X:3.58, Y:0.15, Z:0.03 [[ 9.99987548e-01 4.77403146e-03 1.45335704e-03 3.58087141e+00] [-4.76970395e-03 9.99984224e-01 -2.96664499e-03 1.51011714e-01] [-1.46749697e-03 2.95967597e-03 9.99994543e-01 2.66947747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.371400513 meters Centerline goodness [0,1] 0.6791601933367858 Centerline is valid? [False, False] Translation: X:3.56, Y:0.14, Z:0.03 [[ 0.99998145 0.00426387 -0.00435043 3.55908626] [-0.00423161 0.99996369 0.00739658 0.14181324] [ 0.00438181 -0.00737804 0.99996318 0.03229058] [ 0. 0. 0. 1. ]] SLAMing on 11.401400513 meters Centerline goodness [0,1] 0.6484516914923173 Centerline is valid? [False, False] Translation: X:3.58, Y:0.16, Z:0.03 [[ 9.99990543e-01 4.09480018e-03 1.46495410e-03 3.58087022e+00] [-4.08951427e-03 9.99985182e-01 -3.59322390e-03 1.55005249e-01] [-1.47964593e-03 3.58719897e-03 9.99992471e-01 2.66088615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.431400513 meters Centerline goodness [0,1] 0.6678041510982484 Centerline is valid? [False, False] Translation: X:3.56, Y:0.15, Z:0.02 [[ 9.99999889e-01 -1.53673826e-04 4.45577094e-04 3.56353703e+00] [ 1.51882678e-04 9.99991920e-01 4.01709027e-03 1.50979581e-01] [-4.46190815e-04 -4.01702215e-03 9.99991832e-01 2.25341119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.461400513 meters Centerline goodness [0,1] 0.6859193438140807 Centerline is valid? [False, False] Translation: X:3.60, Y:0.16, Z:0.02 [[ 9.99984558e-01 -3.97107841e-03 3.88767773e-03 3.60192768e+00] [ 3.97296742e-03 9.99991993e-01 -4.78293352e-04 1.59556778e-01] [-3.88574726e-03 4.93731583e-04 9.99992329e-01 2.35237084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.491400513 meters Centerline goodness [0,1] 0.687358191703412 Centerline is valid? [False, False] Translation: X:3.60, Y:0.16, Z:0.02 [[ 9.99984940e-01 -3.97390275e-03 3.78515766e-03 3.60211049e+00] [ 3.97536206e-03 9.99992027e-01 -3.78089671e-04 1.59060448e-01] [-3.78362498e-03 3.93131350e-04 9.99992765e-01 2.38726882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.521400513 meters Centerline goodness [0,1] 0.6932695374800638 Centerline is valid? [False, False] Translation: X:3.60, Y:0.16, Z:0.02 [[ 9.99985114e-01 -4.02341413e-03 3.68564768e-03 3.60228325e+00] [ 4.02500842e-03 9.99991809e-01 -4.25251849e-04 1.59262311e-01] [-3.68390653e-03 4.40080282e-04 9.99993118e-01 2.41693370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.551400512999999 meters Centerline goodness [0,1] 0.6952188695282617 Centerline is valid? [False, False] Translation: X:3.60, Y:0.16, Z:0.02 [[ 9.99985522e-01 -4.03987363e-03 3.55453786e-03 3.60273536e+00] [ 4.04146129e-03 9.99991737e-01 -4.39588098e-04 1.59308148e-01] [-3.55273261e-03 4.53947261e-04 9.99993586e-01 2.41314658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.581400513 meters Centerline goodness [0,1] 0.7039133697866409 Centerline is valid? [False, False] Translation: X:3.60, Y:0.16, Z:0.02 [[ 9.99985877e-01 -4.01632655e-03 3.48066324e-03 3.60315711e+00] [ 4.01771563e-03 9.99991852e-01 -3.92185932e-04 1.59085354e-01] [-3.47905973e-03 4.06164708e-04 9.99993866e-01 2.37658982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.611400513 meters Centerline goodness [0,1] 0.6656948702008618 Centerline is valid? [False, False] Translation: X:3.60, Y:0.16, Z:0.02 [[ 9.99984786e-01 -4.28191239e-03 3.47755718e-03 3.60348293e+00] [ 4.28563499e-03 9.99990251e-01 -1.06371747e-03 1.62227022e-01] [-3.47296853e-03 1.07860483e-03 9.99993388e-01 2.30215997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.641400512999999 meters Centerline goodness [0,1] 0.6848891070933038 Centerline is valid? [False, False] Translation: X:3.61, Y:0.16, Z:0.02 [[ 9.99994010e-01 -2.27797689e-03 2.60599539e-03 3.61014815e+00] [ 2.27602580e-03 9.99997128e-01 7.51411467e-04 1.63242866e-01] [-2.60769960e-03 -7.45475653e-04 9.99996322e-01 1.85167503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.671400513 meters Centerline goodness [0,1] 0.6450926576030297 Centerline is valid? [False, False] Translation: X:3.61, Y:0.17, Z:0.02 [[ 9.99992879e-01 -2.59395465e-03 2.74097512e-03 3.60961424e+00] [ 2.59431691e-03 9.99996626e-01 -1.28616693e-04 1.67442029e-01] [-2.74063225e-03 1.35726736e-04 9.99996235e-01 1.85352497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.701400513 meters Centerline goodness [0,1] 0.6544360070618764 Centerline is valid? [False, False] Translation: X:3.61, Y:0.18, Z:0.02 [[ 9.99992681e-01 -2.70800493e-03 2.70271240e-03 3.60955815e+00] [ 2.71261803e-03 9.99994868e-01 -1.70463879e-03 1.75609231e-01] [-2.69808236e-03 1.71195774e-03 9.99994895e-01 1.84984088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.731400513 meters Centerline goodness [0,1] 0.6666666666666667 Centerline is valid? [False, False] Translation: X:3.60, Y:0.18, Z:0.02 [[ 9.99993762e-01 -8.76124365e-04 3.42164393e-03 3.60356532e+00] [ 8.75958827e-04 9.99999615e-01 4.98779988e-05 1.76520963e-01] [-3.42168631e-03 -4.68804685e-05 9.99994145e-01 2.25470726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.761400513 meters Centerline goodness [0,1] 0.6499925656874614 Centerline is valid? [False, False] Translation: X:3.61, Y:0.18, Z:0.02 [[ 9.99996597e-01 9.18301006e-04 2.44190167e-03 3.61056017e+00] [-9.22098226e-04 9.99998367e-01 1.55435506e-03 1.79008393e-01] [-2.44047032e-03 -1.55660144e-03 9.99995811e-01 1.81604795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.791400513 meters Centerline goodness [0,1] 0.6860798208016541 Centerline is valid? [False, False] Translation: X:3.57, Y:0.18, Z:0.02 [[ 9.99999747e-01 3.63671928e-06 7.10661760e-04 3.56714355e+00] [-3.05225453e-06 9.99999662e-01 -8.22422595e-04 1.81381821e-01] [-7.10664511e-04 8.22420218e-04 9.99999409e-01 1.89179630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.821400513 meters Centerline goodness [0,1] 0.5636633768438926 Centerline is valid? [False, False] Translation: X:3.61, Y:0.19, Z:0.02 [[ 9.99993445e-01 3.31518596e-04 3.60559714e-03 3.60752655e+00] [-3.28069381e-04 9.99999488e-01 -9.57177436e-04 1.88565805e-01] [-3.60591262e-03 9.55988275e-04 9.99993042e-01 1.89915949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.851400513 meters Centerline goodness [0,1] 0.6394287052212597 Centerline is valid? [False, False] Translation: X:3.61, Y:0.19, Z:0.02 [[ 9.99993104e-01 8.39627917e-05 3.71292559e-03 3.60688454e+00] [-7.83887428e-05 9.99998870e-01 -1.50137527e-03 1.91093334e-01] [-3.71304746e-03 1.50107386e-03 9.99991980e-01 1.94837407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.881400512999999 meters Centerline goodness [0,1] 0.6890294727393191 Centerline is valid? [False, False] Translation: X:3.61, Y:0.20, Z:0.02 [[ 9.99992302e-01 -4.35981637e-04 3.89935643e-03 3.60561126e+00] [ 4.46083745e-04 9.99996546e-01 -2.59021729e-03 1.96106505e-01] [-3.89821368e-03 2.59193679e-03 9.99989043e-01 2.06732483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.911400513 meters Centerline goodness [0,1] 0.6773946685940224 Centerline is valid? [False, False] Translation: X:3.61, Y:0.20, Z:0.02 [[ 9.99992458e-01 -6.40481589e-04 3.83064556e-03 3.60569941e+00] [ 6.52065886e-04 9.99995216e-01 -3.02362677e-03 1.98108965e-01] [-3.82869066e-03 3.02610180e-03 9.99988092e-01 2.09022661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.941400513 meters Centerline goodness [0,1] 0.677475353621946 Centerline is valid? [False, False] Translation: X:3.61, Y:0.20, Z:0.02 [[ 9.99993175e-01 -7.23585200e-04 3.62313616e-03 3.60645838e+00] [ 7.35040405e-04 9.99994733e-01 -3.16134937e-03 1.98729657e-01] [-3.62082957e-03 3.16399095e-03 9.99988439e-01 2.07375175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.971400512999999 meters Centerline goodness [0,1] 0.7012835224616432 Centerline is valid? [False, False] Translation: X:3.61, Y:0.20, Z:0.02 [[ 9.99994834e-01 -1.34065989e-03 2.92132194e-03 3.60871867e+00] [ 1.34972176e-03 9.99994277e-01 -3.10221540e-03 1.97378236e-01] [-2.91714620e-03 3.10614235e-03 9.99990921e-01 2.06342229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.001400513 meters Centerline goodness [0,1] 0.705531246017248 Centerline is valid? [False, False] Translation: X:3.61, Y:0.20, Z:0.02 [[ 9.99995053e-01 -1.30297403e-03 2.86287885e-03 3.60877111e+00] [ 1.31107511e-03 9.99995137e-01 -2.82964246e-03 1.96038574e-01] [-2.85917798e-03 2.83338191e-03 9.99991898e-01 2.09844569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.031400513 meters Centerline goodness [0,1] 0.6433179526617107 Centerline is valid? [False, False] Translation: X:3.61, Y:0.20, Z:0.02 [[ 9.99995275e-01 -1.27909652e-03 2.79533155e-03 3.60895846e+00] [ 1.28667679e-03 9.99995496e-01 -2.71164664e-03 1.95463110e-01] [-2.79185050e-03 2.71523051e-03 9.99992417e-01 2.10794362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.061400512999999 meters Centerline goodness [0,1] 0.7301046222450904 Centerline is valid? [False, False] Translation: X:3.61, Y:0.20, Z:0.02 [[ 9.99995591e-01 -1.29940518e-03 2.67022694e-03 3.60941035e+00] [ 1.30670934e-03 9.99995405e-01 -2.73548413e-03 1.95561075e-01] [-2.66666017e-03 2.73896128e-03 9.99992693e-01 2.09917314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.091400513 meters Centerline goodness [0,1] 0.7162066067619108 Centerline is valid? [False, False] Translation: X:3.61, Y:0.20, Z:0.02 [[ 9.99995913e-01 -1.28235698e-03 2.55540765e-03 3.60987315e+00] [ 1.28927189e-03 9.99995507e-01 -2.70618410e-03 1.95438041e-01] [-2.55192587e-03 2.70946765e-03 9.99993073e-01 2.08190647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.121400513 meters Centerline goodness [0,1] 0.7165528538302806 Centerline is valid? [False, False] Translation: X:3.65, Y:0.20, Z:0.02 [[ 9.99989345e-01 -3.71952723e-04 4.60127129e-03 3.65224127e+00] [ 3.75982190e-04 9.99999547e-01 -8.74894928e-04 1.96098612e-01] [-4.60094378e-03 8.76615602e-04 9.99989031e-01 2.02117403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.151400513 meters Centerline goodness [0,1] 0.7041716379751151 Centerline is valid? [False, False] Translation: X:3.65, Y:0.20, Z:0.02 [[ 9.99988637e-01 -3.38799833e-04 4.75518788e-03 3.65153339e+00] [ 3.43340300e-04 9.99999486e-01 -9.54060993e-04 1.96549308e-01] [-4.75486220e-03 9.55682800e-04 9.99988239e-01 2.05881675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.181400513 meters Centerline goodness [0,1] 0.701415397812567 Centerline is valid? [False, False] Translation: X:3.65, Y:0.20, Z:0.02 [[ 9.99987757e-01 -4.48073640e-04 4.92804453e-03 3.65080496e+00] [ 4.54402481e-04 9.99999073e-01 -1.28320528e-03 1.98116935e-01] [-4.92746499e-03 1.28542889e-03 9.99987034e-01 2.08614421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.211400513 meters Centerline goodness [0,1] 0.6916379660726892 Centerline is valid? [False, False] Translation: X:3.65, Y:0.20, Z:0.02 [[ 9.99986778e-01 -5.73379424e-04 5.11037592e-03 3.65013859e+00] [ 5.81963720e-04 9.99998422e-01 -1.67844913e-03 2.00017706e-01] [-5.10940546e-03 1.68140099e-03 9.99985533e-01 2.09279458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.241400513 meters Centerline goodness [0,1] 0.6895122524408742 Centerline is valid? [False, False] Translation: X:3.65, Y:0.20, Z:0.02 [[ 9.99986014e-01 -6.78696091e-04 5.24518073e-03 3.64961730e+00] [ 6.89254881e-04 9.99997739e-01 -2.01150048e-03 2.01617398e-01] [-5.24380368e-03 2.01508761e-03 9.99984221e-01 2.10099741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.271400513 meters Centerline goodness [0,1] 0.6866967547818612 Centerline is valid? [False, False] Translation: X:3.65, Y:0.20, Z:0.02 [[ 9.99984837e-01 -6.94033786e-04 5.46301219e-03 3.64886852e+00] [ 7.05816175e-04 9.99997429e-01 -2.15512452e-03 2.02340317e-01] [-5.46150242e-03 2.15894773e-03 9.99982755e-01 2.10220568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.301400512999999 meters Centerline goodness [0,1] 0.655501985854767 Centerline is valid? [False, False] Translation: X:3.65, Y:0.20, Z:0.02 [[ 9.99984737e-01 -6.51796097e-04 5.48651732e-03 3.64864779e+00] [ 6.63070168e-04 9.99997672e-01 -2.05330034e-03 2.01854915e-01] [-5.48516622e-03 2.05690695e-03 9.99982841e-01 2.12678913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.331400513 meters Centerline goodness [0,1] 0.7004629826275326 Centerline is valid? [False, False] Translation: X:3.65, Y:0.20, Z:0.02 [[ 9.99984715e-01 -5.72123060e-04 5.49932355e-03 3.64854960e+00] [ 5.82214172e-04 9.99998150e-01 -1.83354762e-03 2.00815467e-01] [-5.49826436e-03 1.83672138e-03 9.99983198e-01 2.13983001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.361400513 meters Centerline goodness [0,1] 0.7004629826275326 Centerline is valid? [False, False] Translation: X:3.65, Y:0.20, Z:0.02 [[ 9.99984715e-01 -5.72123060e-04 5.49932355e-03 3.64854960e+00] [ 5.82214172e-04 9.99998150e-01 -1.83354762e-03 2.00815467e-01] [-5.49826436e-03 1.83672138e-03 9.99983198e-01 2.13983001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.391400512999999 meters Centerline goodness [0,1] 0.7077243362736891 Centerline is valid? [False, False] Translation: X:3.63, Y:0.19, Z:0.03 [[ 9.99998511e-01 -1.71961257e-03 -1.46059888e-04 3.62779810e+00] [ 1.72075245e-03 9.99964899e-01 8.19994940e-03 1.89993415e-01] [ 1.31954025e-04 -8.20018852e-03 9.99966369e-01 2.59533646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.421400513 meters Centerline goodness [0,1] 0.6971019142337718 Centerline is valid? [False, False] Translation: X:3.63, Y:0.19, Z:0.02 [[ 9.99991702e-01 -3.94756043e-03 -1.00637699e-03 3.63457152e+00] [ 3.95324242e-03 9.99975895e-01 5.70794170e-03 1.91543266e-01] [ 9.83820284e-04 -5.71187279e-03 9.99983203e-01 2.12071313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.451400513 meters Centerline goodness [0,1] 0.7364023060479779 Centerline is valid? [False, False] Translation: X:3.63, Y:0.19, Z:0.02 [[ 9.99963290e-01 -8.52884664e-03 -8.22723797e-04 3.63415704e+00] [ 8.52937850e-03 9.99963416e-01 6.45142667e-04 1.94994349e-01] [ 8.17191376e-04 -6.52136307e-04 9.99999453e-01 2.08441011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.481400513 meters Centerline goodness [0,1] 0.694731020399481 Centerline is valid? [False, False] Translation: X:3.65, Y:0.20, Z:0.02 [[ 0.99993081 -0.01110012 0.00389518 3.6541039 ] [ 0.01115049 0.99985125 -0.0131586 0.20237198] [-0.00374854 0.01320112 0.99990583 0.01810821] [ 0. 0. 0. 1. ]] SLAMing on 12.511400513 meters Centerline goodness [0,1] 0.6829512741230408 Centerline is valid? [False, False] Translation: X:3.65, Y:0.19, Z:0.02 [[ 9.99971590e-01 -6.60416620e-03 3.63388761e-03 3.65486762e+00] [ 6.62869680e-03 9.99955042e-01 -6.78039057e-03 1.91751967e-01] [-3.58894541e-03 6.80428587e-03 9.99970410e-01 1.83052319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.541400513 meters Centerline goodness [0,1] 0.7159593518738268 Centerline is valid? [False, False] Translation: X:3.61, Y:0.18, Z:0.02 [[ 9.99990799e-01 -4.16007623e-03 1.04703445e-03 3.61412036e+00] [ 4.16204743e-03 9.99989557e-01 -1.88756365e-03 1.78389760e-01] [-1.03917111e-03 1.89190409e-03 9.99997670e-01 1.89701520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.571400513 meters Centerline goodness [0,1] 0.7033337601912324 Centerline is valid? [False, False] Translation: X:3.61, Y:0.18, Z:0.02 [[ 9.99965335e-01 -8.23356303e-03 1.23950411e-03 3.61340661e+00] [ 8.24139730e-03 9.99945211e-01 -6.45394540e-03 1.79958254e-01] [-1.18629723e-03 6.46393692e-03 9.99978405e-01 1.92109498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.601400513 meters Centerline goodness [0,1] 0.7291044615814233 Centerline is valid? [False, False] Translation: X:3.61, Y:0.17, Z:0.02 [[ 9.99970624e-01 -7.56556590e-03 1.22997183e-03 3.61342106e+00] [ 7.57152910e-03 9.99959241e-01 -4.91810947e-03 1.72856988e-01] [-1.19271342e-03 4.92727776e-03 9.99987150e-01 1.93706101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.631400512999999 meters Centerline goodness [0,1] 0.7279672872054235 Centerline is valid? [False, False] Translation: X:3.61, Y:0.16, Z:0.02 [[ 9.99975976e-01 -6.82008305e-03 1.23847880e-03 3.61334446e+00] [ 6.82387018e-03 9.99971974e-01 -3.07985264e-03 1.64317670e-01] [-1.21743924e-03 3.08822987e-03 9.99994490e-01 1.96626525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.661400513 meters Centerline goodness [0,1] 0.7618657761499515 Centerline is valid? [False, False] Translation: X:3.61, Y:0.15, Z:0.02 [[ 9.99950050e-01 -9.87301712e-03 1.55568125e-03 3.61177653e+00] [ 9.87984799e-03 9.99941308e-01 -4.44618016e-03 1.51027469e-01] [-1.51169273e-03 4.46132797e-03 9.99988906e-01 2.09569729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.691400513 meters Centerline goodness [0,1] 0.8789216425141577 Centerline is valid? [False, False] Translation: X:3.61, Y:0.14, Z:0.02 [[ 9.99954050e-01 -9.47916590e-03 1.42910683e-03 3.61205760e+00] [ 9.48283537e-03 9.99951700e-01 -2.58313277e-03 1.41860911e-01] [-1.40455186e-03 2.59656606e-03 9.99995643e-01 2.14567240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.721400512999999 meters Centerline goodness [0,1] 0.8253126670229823 Centerline is valid? [False, False] Translation: X:3.61, Y:0.13, Z:0.02 [[ 9.99957534e-01 -9.15628083e-03 1.04488169e-03 3.61339486e+00] [ 9.15718904e-03 9.99957696e-01 -8.67750059e-04 1.33267697e-01] [-1.03689212e-03 8.77281389e-04 9.99999078e-01 2.14109873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.751400513 meters Centerline goodness [0,1] 0.9249212162507452 Centerline is valid? [False, False] Translation: X:3.62, Y:0.12, Z:0.02 [[ 9.99919813e-01 -1.26552447e-02 4.60175577e-04 3.61631853e+00] [ 1.26565374e-02 9.99915627e-01 -2.92414175e-03 1.22683169e-01] [-4.23131021e-04 2.92973150e-03 9.99995619e-01 2.00627761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.781400513 meters Centerline goodness [0,1] 0.955756131508467 Centerline is valid? [False, True] Translation: X:3.62, Y:0.12, Z:0.02 [[ 9.99924851e-01 -1.22594048e-02 1.42388054e-05 3.61808233e+00] [ 1.22594127e-02 9.99923879e-01 -1.39383787e-03 1.15141690e-01] [ 2.84990105e-06 1.39390768e-03 9.99999029e-01 1.95451914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.811400512999999 meters Centerline goodness [0,1] 0.9935728830816223 Centerline is valid? [True, True] Translation: X:3.65, Y:0.11, Z:0.02 [[ 9.99890970e-01 -1.47557416e-02 -5.62266605e-04 3.64926020e+00] [ 1.47557221e-02 9.99891128e-01 -3.88272729e-05 1.07367361e-01] [ 5.62778315e-04 3.05263898e-05 9.99999841e-01 1.90746793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.841400513 meters Centerline goodness [0,1] 0.9994225463566953 Centerline is valid? [True, True] Translation: X:3.68, Y:0.10, Z:0.02 [[ 9.99857313e-01 -1.68856614e-02 -4.76644249e-04 3.68021651e+00] [ 1.68856476e-02 9.99857427e-01 -3.28610422e-05 9.93716780e-02] [ 4.77131172e-04 2.48079066e-05 9.99999886e-01 1.98135500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.871400513 meters Centerline goodness [0,1] 0.9981077518390952 Centerline is valid? [True, True] Translation: X:3.71, Y:0.10, Z:0.02 [[ 9.99822487e-01 -1.88408227e-02 -1.37428883e-04 3.70973656e+00] [ 1.88408216e-02 9.99822496e-01 -9.41132480e-06 1.02278400e-01] [ 1.37581806e-04 6.82038108e-06 9.99999991e-01 2.19292555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.901400513 meters Centerline goodness [0,1] 0.999870862209978 Centerline is valid? [True, True] Translation: X:3.74, Y:0.09, Z:0.02 [[ 9.99792299e-01 -2.03787565e-02 -2.53311950e-04 3.74106282e+00] [ 2.03787528e-02 9.99792332e-01 -1.74669128e-05 9.19698125e-02] [ 2.53615299e-04 1.23011033e-05 9.99999968e-01 2.15985633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.931400513 meters Centerline goodness [0,1] 0.9998296313648657 Centerline is valid? [True, True] Translation: X:3.77, Y:0.09, Z:0.02 [[ 9.99731084e-01 -2.31882879e-02 -2.52821741e-04 3.77133109e+00] [ 2.31882842e-02 9.99731115e-01 -1.74331109e-05 8.66266074e-02] [ 2.53158005e-04 1.15659204e-05 9.99999968e-01 2.11664456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.961400513 meters Centerline goodness [0,1] 0.9999785812200137 Centerline is valid? [True, True] Translation: X:3.80, Y:0.08, Z:0.02 [[ 9.99676823e-01 -2.54133752e-02 6.41025477e-04 3.80135241e+00] [ 2.54133520e-02 9.99677028e-01 4.43479208e-05 8.23910755e-02] [-6.41945473e-04 -2.80429825e-05 9.99999794e-01 2.26606429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.991400513 meters Centerline goodness [0,1] 0.9997876722508865 Centerline is valid? [True, True] Translation: X:3.83, Y:0.09, Z:0.03 [[ 9.99618316e-01 -2.75762028e-02 1.66575011e-03 3.83114311e+00] [ 2.75760496e-02 9.99619702e-01 1.14899717e-04 8.56883991e-02] [-1.66828513e-03 -6.89210537e-05 9.99998606e-01 2.56377775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.021400513 meters Centerline goodness [0,1] 0.9998520741319922 Centerline is valid? [True, True] Translation: X:3.86, Y:0.08, Z:0.03 [[ 9.99550145e-01 -2.98756792e-02 2.63662295e-03 3.86245544e+00] [ 2.98753035e-02 9.99553617e-01 1.81776454e-04 8.31815962e-02] [-2.64087671e-03 -1.02924770e-04 9.99996508e-01 2.74633256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.051400512999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.89, Y:0.07, Z:0.03 [[ 9.99406807e-01 -3.43391043e-02 2.61904664e-03 3.89423897e+00] [ 3.43387488e-02 9.99410235e-01 1.80597969e-04 7.23548307e-02] [-2.62370359e-03 -9.05560554e-05 9.99996554e-01 2.71170899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.081400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.92, Y:0.06, Z:0.03 [[ 9.99324628e-01 -3.66496387e-02 2.66302201e-03 3.92497128e+00] [ 3.66492791e-02 9.99328173e-01 1.83746026e-04 6.44046633e-02] [-2.66796714e-03 -8.60240927e-05 9.99996437e-01 2.61600517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.111400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.95, Y:0.06, Z:0.03 [[ 9.99238054e-01 -3.89436799e-02 2.58876307e-03 3.95461747e+00] [ 3.89433476e-02 9.99241404e-01 1.78653605e-04 6.16574724e-02] [-2.59375667e-03 -7.77023806e-05 9.99996633e-01 2.63495268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.141400512999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.98, Y:0.06, Z:0.03 [[ 9.99130290e-01 -4.16071746e-02 2.73989745e-03 3.98490532e+00] [ 4.16068118e-02 9.99134044e-01 1.89313618e-04 5.73850068e-02] [-2.74540163e-03 -7.51505719e-05 9.99996229e-01 2.64250002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.171400513 meters Centerline goodness [0,1] 0.9999788655000422 Centerline is valid? [True, True] Translation: X:4.01, Y:0.05, Z:0.03 [[ 9.98950970e-01 -4.56581690e-02 3.50576469e-03 4.01483966e+00] [ 4.56576001e-02 9.98957119e-01 2.42184325e-04 4.92818811e-02] [-3.51316628e-03 -8.18654639e-05 9.99993825e-01 2.84113697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.201400513 meters Centerline goodness [0,1] 0.9999789074035014 Centerline is valid? [True, True] Translation: X:4.04, Y:0.05, Z:0.03 [[ 9.98898127e-01 -4.67907016e-02 3.62792102e-03 4.04355576e+00] [ 4.67900991e-02 9.98904712e-01 2.50804349e-04 4.73085836e-02] [-3.63568271e-03 -8.07772109e-05 9.99993388e-01 2.92741848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.231400512999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.07, Y:0.04, Z:0.03 [[ 9.98898889e-01 -4.68293126e-02 2.83281146e-03 4.07397081e+00] [ 4.68289453e-02 9.98902904e-01 1.95893854e-04 4.24975486e-02] [-2.83887717e-03 -6.30205798e-05 9.99995968e-01 2.65382502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.261400513 meters Centerline goodness [0,1] 0.999978770831122 Centerline is valid? [True, True] Translation: X:4.10, Y:0.05, Z:0.02 [[ 9.98929607e-01 -4.62235882e-02 1.73769934e-03 4.10125440e+00] [ 4.62234480e-02 9.98931118e-01 1.20751213e-04 4.51633061e-02] [-1.74142350e-03 -4.02995071e-05 9.99998483e-01 2.48116981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.291400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.13, Y:0.05, Z:0.02 [[ 9.98981589e-01 -4.51065695e-02 1.08716190e-03 4.12947430e+00] [ 4.51065139e-02 9.98982180e-01 7.56187299e-05 4.77291922e-02] [-1.08946627e-03 -2.65036356e-05 9.99999406e-01 2.34881406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.321400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.16, Y:0.05, Z:0.02 [[ 9.99022522e-01 -4.41949494e-02 8.97804987e-04 4.15843847e+00] [ 4.41949104e-02 9.99022926e-01 6.32565056e-05 4.92589199e-02] [-8.99723383e-04 -2.35162628e-05 9.99999595e-01 2.31095111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.351400513 meters Centerline goodness [0,1] 0.9999784268887258 Centerline is valid? [True, True] Translation: X:4.19, Y:0.05, Z:0.02 [[ 9.99041009e-01 -4.37800198e-02 6.10034737e-04 4.18764816e+00] [ 4.37800014e-02 9.99041195e-01 4.33838090e-05 4.97854408e-02] [-6.11349176e-04 -1.66348827e-05 9.99999813e-01 2.34041733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.381400512999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.22, Y:0.05, Z:0.02 [[ 9.99018030e-01 -4.43046700e-02 2.69028771e-04 4.21658367e+00] [ 4.43046663e-02 9.99018066e-01 1.97031517e-05 4.96723333e-02] [-2.69637545e-04 -7.76457387e-06 9.99999964e-01 2.28896527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.411400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.24, Y:0.05, Z:0.02 [[ 9.98967398e-01 -4.54327662e-02 3.05755119e-05 4.24424690e+00] [ 4.54327662e-02 9.98967399e-01 2.46552282e-06 4.96137732e-02] [-3.06559551e-05 -1.07384684e-06 1.00000000e+00 2.27703008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.441400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.27, Y:0.05, Z:0.02 [[ 9.98882696e-01 -4.72567452e-02 -3.99588251e-04 4.27298538e+00] [ 4.72567382e-02 9.98882776e-01 -2.70402374e-05 4.83820417e-02] [ 4.00419655e-04 8.12678788e-06 9.99999920e-01 2.22038892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.471400512999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.30, Y:0.05, Z:0.02 [[ 9.98771699e-01 -4.95358648e-02 -1.13672444e-03 4.30067368e+00] [ 4.95358067e-02 9.98772345e-01 -7.92889024e-05 5.19984769e-02] [ 1.13925658e-03 2.28829494e-05 9.99999351e-01 2.24368334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.501400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.33, Y:0.04, Z:0.02 [[ 9.98522787e-01 -5.43338903e-02 -2.66919027e-04 4.32983359e+00] [ 5.43338875e-02 9.98522823e-01 -1.78654235e-05 4.41016170e-02] [ 2.67495438e-04 3.33628406e-06 9.99999964e-01 2.21789201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.531400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.36, Y:0.04, Z:0.03 [[ 9.98385105e-01 -5.67865120e-02 1.57281547e-03 4.35868249e+00] [ 5.67864066e-02 9.98386344e-01 1.11633478e-04 4.33120531e-02] [-1.57661676e-03 -2.21386627e-05 9.99998757e-01 2.51774181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.561400512999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.39, Y:0.04, Z:0.03 [[ 9.98252407e-01 -5.90202384e-02 2.95694892e-03 4.38684038e+00] [ 5.90198794e-02 9.98256786e-01 2.08599676e-04 4.41000761e-02] [-2.96410592e-03 -3.37163604e-05 9.99995606e-01 2.87844108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.591400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.42, Y:0.04, Z:0.03 [[ 9.98110305e-01 -6.13802748e-02 2.87752777e-03 4.41534954e+00] [ 6.13799415e-02 9.98114453e-01 2.04087111e-04 4.35945240e-02] [-2.88462898e-03 -2.70789628e-05 9.99995839e-01 2.86020356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.621400513 meters Centerline goodness [0,1] 0.9998512758408227 Centerline is valid? [True, True] Translation: X:4.44, Y:0.04, Z:0.03 [[ 9.97990989e-01 -6.33435315e-02 1.25850697e-03 4.44284395e+00] [ 6.33434693e-02 9.97991782e-01 8.92565592e-05 4.43500786e-02] [-1.26163344e-03 -9.35904413e-06 9.99999204e-01 2.63538226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.651400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.47, Y:0.04, Z:0.03 [[ 9.97830808e-01 -6.58305623e-02 -1.23619323e-04 4.47083552e+00] [ 6.58305617e-02 9.97830816e-01 -8.41356163e-06 4.44729759e-02] [ 1.23905039e-04 2.57381543e-07 9.99999992e-01 2.50087345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.681400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.50, Y:0.04, Z:0.02 [[ 9.97557219e-01 -6.98479250e-02 -9.28054247e-04 4.49950578e+00] [ 6.98478949e-02 9.97557651e-01 -6.48377025e-05 4.22476615e-02] [ 9.30316394e-04 -1.43317245e-07 9.99999567e-01 2.39896694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.711400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.53, Y:0.04, Z:0.03 [[ 9.97419285e-01 -7.17953994e-02 4.36143046e-04 4.52699338e+00] [ 7.17953925e-02 9.97419381e-01 3.12828251e-05 4.36026577e-02] [-4.37263490e-04 1.10968110e-07 9.99999904e-01 2.68909683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.741400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.56, Y:0.05, Z:0.03 [[ 9.97274177e-01 -7.37633307e-02 1.78503450e-03 4.55547847e+00] [ 7.37632200e-02 9.97275775e-01 1.27817819e-04 4.62234469e-02] [-1.78959993e-03 4.20048184e-06 9.99998399e-01 2.96578973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.771400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.58, Y:0.05, Z:0.03 [[ 9.96941147e-01 -7.81004061e-02 2.94550461e-03 4.58441141e+00] [ 7.81001238e-02 9.96945498e-01 2.10931400e-04 4.88245304e-02] [-2.95298139e-03 1.97580825e-05 9.99995640e-01 3.16641264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.801400512999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.61, Y:0.05, Z:0.03 [[ 9.96765731e-01 -8.03031516e-02 3.07927111e-03 4.61199067e+00] [ 8.03028550e-02 9.96770487e-01 2.20031022e-04 4.87756138e-02] [-3.08699575e-03 2.79548788e-05 9.99995235e-01 3.31917834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.831400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.64, Y:0.05, Z:0.03 [[ 9.96582057e-01 -8.25208561e-02 3.80953093e-03 4.64102470e+00] [ 8.25204140e-02 9.96589337e-01 2.73358433e-04 5.00857099e-02] [-3.81909567e-03 4.19399597e-05 9.99992706e-01 3.41636911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.861400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.67, Y:0.05, Z:0.04 [[ 9.96418624e-01 -8.44349156e-02 4.54655122e-03 4.66949714e+00] [ 8.44343028e-02 9.96428995e-01 3.26894665e-04 5.43529373e-02] [-4.55791678e-03 5.81609499e-05 9.99989611e-01 3.50655706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.891400512999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.70, Y:0.06, Z:0.04 [[ 9.96291809e-01 -8.58765830e-02 5.27664980e-03 4.69697066e+00] [ 8.58757786e-02 9.96305780e-01 3.79258717e-04 5.58565676e-02] [-5.28972613e-03 7.52840559e-05 9.99986006e-01 3.89551661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.921400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.73, Y:0.07, Z:0.04 [[ 9.96101703e-01 -8.80652618e-02 5.08994297e-03 4.72521249e+00] [ 8.80645353e-02 9.96114704e-01 3.67114916e-04 6.59391491e-02] [-5.10249711e-03 8.25596701e-05 9.99986979e-01 3.87145463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.951400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.75, Y:0.07, Z:0.04 [[ 9.95990017e-01 -8.93866021e-02 3.73124688e-03 4.75325206e+00] [ 8.93862174e-02 9.95997004e-01 2.70067855e-04 7.35869176e-02] [-3.74045116e-03 6.45371574e-05 9.99993002e-01 3.52467047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.981400512999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.78, Y:0.07, Z:0.03 [[ 9.95824863e-01 -9.12555413e-02 2.29535554e-03 4.78133909e+00] [ 9.12554009e-02 9.95827507e-01 1.66026575e-04 7.48204906e-02] [-2.30092903e-03 4.41301981e-05 9.99997352e-01 3.36780347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.011400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.81, Y:0.08, Z:0.03 [[ 9.95561772e-01 -9.40996000e-02 1.42269079e-03 4.80976030e+00] [ 9.40995476e-02 9.95562788e-01 1.03869519e-04 7.82418873e-02] [-1.42615209e-03 3.04660375e-05 9.99998983e-01 3.16929465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.041400513 meters Centerline goodness [0,1] 0.9999786630251563 Centerline is valid? [True, True] Translation: X:4.84, Y:0.08, Z:0.03 [[ 9.95141586e-01 -9.84435764e-02 1.44429269e-03 4.83827723e+00] [ 9.84435278e-02 9.95142633e-01 1.04828936e-04 7.75990603e-02] [-1.44759697e-03 3.78616339e-05 9.99998952e-01 3.14069472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.071400513 meters Centerline goodness [0,1] 0.9999575920782002 Centerline is valid? [True, True] Translation: X:4.87, Y:0.08, Z:0.03 [[ 9.94660837e-01 -1.03170215e-01 2.39276987e-03 4.86855583e+00] [ 1.03170096e-01 9.94663713e-01 1.73355010e-04 7.63069457e-02] [-2.39788644e-03 7.44328580e-05 9.99997122e-01 3.26002642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.101400513 meters Centerline goodness [0,1] 0.9999359986346376 Centerline is valid? [True, True] Translation: X:4.90, Y:0.07, Z:0.04 [[ 9.93565539e-01 -1.13180622e-01 4.20303670e-03 4.89954167e+00] [ 1.13180345e-01 9.93574414e-01 3.04387052e-04 7.13247201e-02] [-4.21048044e-03 1.73272660e-04 9.99991121e-01 3.51732871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.131400512999999 meters Centerline goodness [0,1] 0.9998493230298986 Centerline is valid? [True, True] Translation: X:4.93, Y:0.07, Z:0.03 [[ 9.93085623e-01 -1.17325066e-01 3.97161411e-03 4.92966585e+00] [ 1.17324852e-01 9.93093549e-01 2.87642339e-04 7.23738472e-02] [-3.97793201e-03 1.80315565e-04 9.99992072e-01 3.45010058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.161400513 meters Centerline goodness [0,1] 0.9994675413187937 Centerline is valid? [True, True] Translation: X:4.96, Y:0.07, Z:0.03 [[ 9.92712560e-01 -1.20474426e-01 2.77229880e-03 4.95887768e+00] [ 1.20474334e-01 9.92716422e-01 2.00967161e-04 6.63203853e-02] [-2.77631795e-03 1.34488226e-04 9.99996137e-01 3.35272700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.191400513 meters Centerline goodness [0,1] 0.9998083842534438 Centerline is valid? [True, True] Translation: X:4.99, Y:0.07, Z:0.03 [[ 9.92449913e-01 -1.22640754e-01 1.55412194e-03 4.98742813e+00] [ 1.22640727e-01 9.92451127e-01 1.12946615e-04 7.40597819e-02] [-1.55624193e-03 7.85047861e-05 9.99998786e-01 2.98642774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.221400512999999 meters Centerline goodness [0,1] 0.9996371630418543 Centerline is valid? [True, True] Translation: X:5.02, Y:0.07, Z:0.03 [[ 9.92155133e-01 -1.25003986e-01 1.48167644e-03 5.01706353e+00] [ 1.25003965e-01 9.92156236e-01 1.07494710e-04 7.46453695e-02] [-1.48349179e-03 7.85640017e-05 9.99998897e-01 2.90275391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.251400513 meters Centerline goodness [0,1] 0.9996371630418543 Centerline is valid? [True, True] Translation: X:5.04, Y:0.08, Z:0.03 [[ 9.92132037e-01 -1.25187162e-01 1.48158663e-03 5.04451749e+00] [ 1.25187138e-01 9.92133141e-01 1.08731696e-04 7.67929965e-02] [-1.48354301e-03 7.75993917e-05 9.99998897e-01 2.91812268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.281400513 meters Centerline goodness [0,1] 0.999612127480768 Centerline is valid? [True, True] Translation: X:5.07, Y:0.08, Z:0.03 [[ 9.92014016e-01 -1.26107536e-01 2.25431615e-03 5.07334657e+00] [ 1.26107485e-01 9.92016570e-01 1.65159455e-04 8.04743322e-02] [-2.25714683e-03 1.20445647e-04 9.99997445e-01 3.06560888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.311400512999999 meters Centerline goodness [0,1] 0.9975979933679109 Centerline is valid? [True, True] Translation: X:5.10, Y:0.08, Z:0.03 [[ 9.91900387e-01 -1.26995666e-01 2.39230864e-03 5.10089871e+00] [ 1.26995612e-01 9.91903263e-01 1.75112967e-04 7.78738382e-02] [-2.39517734e-03 1.30118082e-04 9.99997123e-01 3.22032638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.341400513 meters Centerline goodness [0,1] 0.9979061799416268 Centerline is valid? [True, True] Translation: X:5.13, Y:0.08, Z:0.03 [[ 9.91816751e-01 -1.27653489e-01 2.02951650e-03 5.12904549e+00] [ 1.27653451e-01 9.91818821e-01 1.48508725e-04 8.12379886e-02] [-2.03187032e-03 1.11781344e-04 9.99997930e-01 3.26430501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.371400513 meters Centerline goodness [0,1] 0.999595408956368 Centerline is valid? [True, True] Translation: X:5.16, Y:0.09, Z:0.03 [[ 9.91748791e-01 -1.28183687e-01 1.81047523e-03 5.15775611e+00] [ 1.28183657e-01 9.91750439e-01 1.33407114e-04 8.81628358e-02] [-1.81264022e-03 9.97669911e-05 9.99998352e-01 3.25051468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.401400512999999 meters Centerline goodness [0,1] 0.9985814078452445 Centerline is valid? [True, True] Translation: X:5.19, Y:0.09, Z:0.03 [[ 9.91712349e-01 -1.28460658e-01 2.11567263e-03 5.18522151e+00] [ 1.28460618e-01 9.91714599e-01 1.55275356e-04 8.94415442e-02] [-2.11809021e-03 1.17792126e-04 9.99997750e-01 3.31545410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.431400513 meters Centerline goodness [0,1] 0.996682292001113 Centerline is valid? [True, True] Translation: X:5.22, Y:0.09, Z:0.04 [[ 9.91587659e-01 -1.29384915e-01 3.66846072e-03 5.21507165e+00] [ 1.29384803e-01 9.91594423e-01 2.68890901e-04 9.08217839e-02] [-3.67241562e-03 2.08014167e-04 9.99993235e-01 3.52566348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.461400513 meters Centerline goodness [0,1] 0.9556295659647615 Centerline is valid? [True, True] Translation: X:5.24, Y:0.09, Z:0.04 [[ 9.91458228e-01 -1.30351344e-01 4.37133548e-03 5.24402396e+00] [ 1.30351194e-01 9.91467833e-01 3.20601591e-04 8.72918536e-02] [-4.37582936e-03 2.51945712e-04 9.99990394e-01 3.68595966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.491400513 meters Centerline goodness [0,1] 0.9778790265920075 Centerline is valid? [True, True] Translation: X:5.27, Y:0.09, Z:0.04 [[ 9.91317225e-01 -1.31412864e-01 4.56274161e-03 5.27253869e+00] [ 1.31412705e-01 9.91327690e-01 3.36078510e-04 9.13981018e-02] [-4.56733714e-03 2.66441799e-04 9.99989534e-01 3.67707525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.521400513 meters Centerline goodness [0,1] 0.9900372259161233 Centerline is valid? [True, True] Translation: X:5.30, Y:0.10, Z:0.04 [[ 9.91246415e-01 -1.31967282e-01 3.89624048e-03 5.30134975e+00] [ 1.31967167e-01 9.91254046e-01 2.87762670e-04 9.51746689e-02] [-3.90013940e-03 2.28932102e-04 9.99992368e-01 3.58244232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.551400512999999 meters Centerline goodness [0,1] 0.9830007707459107 Centerline is valid? [True, True] Translation: X:5.33, Y:0.10, Z:0.04 [[ 9.91352231e-01 -1.31182319e-01 3.45733680e-03 5.32880739e+00] [ 1.31182225e-01 9.91358239e-01 2.55063120e-04 9.67664117e-02] [-3.46091910e-03 2.00683739e-04 9.99993991e-01 3.56678843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.581400513 meters Centerline goodness [0,1] 0.9910311995239309 Centerline is valid? [True, True] Translation: X:5.36, Y:0.10, Z:0.04 [[ 9.91972665e-01 -1.26375919e-01 4.39993454e-03 5.35781410e+00] [ 1.26375720e-01 9.91982395e-01 3.24381599e-04 1.03675707e-01] [-4.40565163e-03 2.34267217e-04 9.99990268e-01 3.74417444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.611400513 meters Centerline goodness [0,1] 0.9998732412219546 Centerline is valid? [True, True] Translation: X:5.39, Y:0.12, Z:0.04 [[ 9.92396881e-01 -1.22956183e-01 5.49621762e-03 5.38751487e+00] [ 1.22955821e-01 9.92412063e-01 4.05113254e-04 1.16188835e-01] [-5.50432385e-03 2.73758819e-04 9.99984814e-01 3.87537893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.641400512999999 meters Centerline goodness [0,1] 0.9998929061000685 Centerline is valid? [True, True] Translation: X:5.42, Y:0.13, Z:0.04 [[ 9.92775858e-01 -1.19809730e-01 6.45951408e-03 5.41700466e+00] [ 1.19809162e-01 9.92796826e-01 4.76230839e-04 1.25146972e-01] [-6.47004216e-03 3.01118488e-04 9.99979024e-01 4.08322273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.671400513 meters Centerline goodness [0,1] 0.9999149099108682 Centerline is valid? [True, True] Translation: X:5.45, Y:0.14, Z:0.04 [[ 9.93119249e-01 -1.16917907e-01 6.66041451e-03 5.44651997e+00] [ 1.16917237e-01 9.93141540e-01 4.91119875e-04 1.36052040e-01] [-6.67215503e-03 2.90976662e-04 9.99977699e-01 4.12893414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.701400513 meters Centerline goodness [0,1] 0.9998292969166755 Centerline is valid? [True, True] Translation: X:5.48, Y:0.14, Z:0.04 [[ 9.93641135e-01 -1.12492706e-01 4.76302323e-03 5.47583292e+00] [ 1.12492313e-01 9.93652533e-01 3.51187973e-04 1.43469271e-01] [-4.77229618e-03 1.86848682e-04 9.99988595e-01 4.01566305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.731400512999999 meters Centerline goodness [0,1] 0.9999573978613726 Centerline is valid? [True, True] Translation: X:5.50, Y:0.16, Z:0.04 [[ 9.93738686e-01 -1.11652160e-01 4.14955468e-03 5.50441890e+00] [ 1.11651848e-01 9.93747337e-01 3.07419618e-04 1.55463412e-01] [-4.15793298e-03 1.57810682e-04 9.99991343e-01 3.75450507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.761400513 meters Centerline goodness [0,1] 0.9999152542372881 Centerline is valid? [True, True] Translation: X:5.53, Y:0.16, Z:0.04 [[ 9.93772770e-01 -1.11337430e-01 4.43380394e-03 5.53333258e+00] [ 1.11337068e-01 9.93782647e-01 3.29090989e-04 1.61695778e-01] [-4.44287756e-03 1.66605070e-04 9.99990116e-01 3.70076745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.791400513 meters Centerline goodness [0,1] 0.9999784399120348 Centerline is valid? [True, True] Translation: X:5.56, Y:0.17, Z:0.04 [[ 9.93741205e-01 -1.11573617e-01 5.45388303e-03 5.56112745e+00] [ 1.11573075e-01 9.93756150e-01 4.04429231e-04 1.70205861e-01] [-5.46495344e-03 2.06608508e-04 9.99985046e-01 3.72693057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.821400513 meters Centerline goodness [0,1] 0.9998315683095774 Centerline is valid? [True, True] Translation: X:5.59, Y:0.17, Z:0.04 [[ 9.93670234e-01 -1.12137030e-01 6.68969934e-03 5.58954147e+00] [ 1.12136226e-01 9.93692719e-01 4.96391388e-04 1.67968523e-01] [-6.70316939e-03 2.56908288e-04 9.99977501e-01 4.17575729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.851400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.62, Y:0.18, Z:0.04 [[ 9.93560053e-01 -1.13050682e-01 7.61337568e-03 5.61717369e+00] [ 1.13049661e-01 9.93589178e-01 5.65746792e-04 1.79941408e-01] [-7.62852574e-03 2.98586125e-04 9.99970858e-01 4.13951257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.881400512999999 meters Centerline goodness [0,1] 0.999957203689042 Centerline is valid? [True, True] Translation: X:5.64, Y:0.19, Z:0.04 [[ 9.93420259e-01 -1.14272158e-01 7.61994655e-03 5.64407355e+00] [ 1.14271168e-01 9.93449435e-01 5.66659345e-04 1.87827921e-01] [-7.63478498e-03 3.07809318e-04 9.99970807e-01 4.25341569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.911400513 meters Centerline goodness [0,1] 0.9998933901918976 Centerline is valid? [True, True] Translation: X:5.67, Y:0.20, Z:0.04 [[ 9.93332918e-01 -1.15053586e-01 7.23784032e-03 5.67257086e+00] [ 1.15052700e-01 9.93359242e-01 5.40002791e-04 1.95154533e-01] [-7.25190483e-03 2.96330525e-04 9.99973661e-01 4.15133645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.941400513 meters Centerline goodness [0,1] 0.9998918310834198 Centerline is valid? [True, True] Translation: X:5.70, Y:0.20, Z:0.04 [[ 9.93229614e-01 -1.15944084e-01 7.20446532e-03 5.70044670e+00] [ 1.15943231e-01 9.93255696e-01 5.37344438e-04 1.97650762e-01] [-7.21817813e-03 3.01602576e-04 9.99973903e-01 4.14829664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.971400512999999 meters Centerline goodness [0,1] 0.9998720573183214 Centerline is valid? [True, True] Translation: X:5.73, Y:0.20, Z:0.04 [[ 9.93113503e-01 -1.16902221e-01 7.70985241e-03 5.72887496e+00] [ 1.16901259e-01 9.93143375e-01 5.76857546e-04 2.02498706e-01] [-7.72442477e-03 3.28406436e-04 9.99970112e-01 4.16995732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.001400513 meters Centerline goodness [0,1] 0.9998100183648914 Centerline is valid? [True, True] Translation: X:5.76, Y:0.21, Z:0.04 [[ 9.93035126e-01 -1.17512150e-01 8.49312264e-03 5.75633457e+00] [ 1.17511007e-01 9.93071377e-01 6.35273070e-04 2.05992117e-01] [-8.50892930e-03 3.67186917e-04 9.99963731e-01 4.32111716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.031400513 meters Centerline goodness [0,1] 0.9999574350352225 Centerline is valid? [True, True] Translation: X:5.79, Y:0.21, Z:0.04 [[ 9.92998188e-01 -1.17809909e-01 8.68468575e-03 5.78521224e+00] [ 1.17808708e-01 9.93036094e-01 6.51563911e-04 2.12314761e-01] [-8.70096710e-03 3.76129824e-04 9.99962075e-01 4.38364493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.061400512999999 meters Centerline goodness [0,1] 0.9999144915453515 Centerline is valid? [True, True] Translation: X:5.81, Y:0.22, Z:0.04 [[ 9.92891935e-01 -1.18776830e-01 7.59407617e-03 5.81277952e+00] [ 1.18775940e-01 9.92920919e-01 5.69729775e-04 2.23817562e-01] [-7.60798779e-03 3.36313438e-04 9.99971002e-01 4.09742610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.091400513 meters Centerline goodness [0,1] 0.999934721587571 Centerline is valid? [True, True] Translation: X:5.84, Y:0.24, Z:0.04 [[ 9.92807083e-01 -1.19502610e-01 7.29530026e-03 5.84125942e+00] [ 1.19501794e-01 9.92833833e-01 5.49216778e-04 2.35131319e-01] [-7.30865376e-03 3.26535161e-04 9.99973238e-01 3.83905506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.121400513 meters Centerline goodness [0,1] 0.9998504145653475 Centerline is valid? [True, True] Translation: X:5.87, Y:0.24, Z:0.04 [[ 9.92730062e-01 -1.20125948e-01 7.53533100e-03 5.86902129e+00] [ 1.20125097e-01 9.92758601e-01 5.67097627e-04 2.36107362e-01] [-7.54888780e-03 3.42207506e-04 9.99971448e-01 4.01067016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.151400512999999 meters Centerline goodness [0,1] 0.9999354894202649 Centerline is valid? [True, True] Translation: X:5.90, Y:0.24, Z:0.04 [[ 9.92602918e-01 -1.21112101e-01 8.44430678e-03 5.89711911e+00] [ 1.21111060e-01 9.92638759e-01 6.36463892e-04 2.41077535e-01] [-8.45922969e-03 3.90943028e-04 9.99964144e-01 4.12594260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.181400513 meters Centerline goodness [0,1] 0.9998284403079496 Centerline is valid? [True, True] Translation: X:5.93, Y:0.24, Z:0.04 [[ 9.92315138e-01 -1.23374070e-01 9.46074485e-03 5.92658541e+00] [ 1.23372870e-01 9.92360130e-01 7.12656501e-04 2.43882620e-01] [-9.47638932e-03 4.60019406e-04 9.99954992e-01 4.36799836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.211400513 meters Centerline goodness [0,1] 0.9996988016608936 Centerline is valid? [True, True] Translation: X:5.96, Y:0.25, Z:0.04 [[ 9.92110254e-01 -1.24992933e-01 9.69594487e-03 5.95559172e+00] [ 1.24991745e-01 9.92157512e-01 7.30838001e-04 2.50036861e-01] [-9.71125413e-03 4.86841192e-04 9.99952726e-01 4.33695528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.241400513 meters Centerline goodness [0,1] 0.9996138499163342 Centerline is valid? [True, True] Translation: X:5.98, Y:0.26, Z:0.04 [[ 9.91903569e-01 -1.26614870e-01 9.79720953e-03 5.98462973e+00] [ 1.26613732e-01 9.91951822e-01 7.38813828e-04 2.55104415e-01] [-9.81190466e-03 5.07629189e-04 9.99951733e-01 4.27728759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.271400513 meters Centerline goodness [0,1] 0.9996141148222785 Centerline is valid? [True, True] Translation: X:6.01, Y:0.26, Z:0.04 [[ 9.91646867e-01 -1.28593796e-01 1.00063775e-02 6.01383467e+00] [ 1.28592704e-01 9.91697205e-01 7.55178934e-04 2.57928599e-01] [-1.00204079e-02 5.37876309e-04 9.99949650e-01 4.29737649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.301400512999999 meters Centerline goodness [0,1] 0.9967990439811357 Centerline is valid? [True, True] Translation: X:6.04, Y:0.26, Z:0.04 [[ 9.91321579e-01 -1.31050132e-01 1.03629517e-02 6.04346684e+00] [ 1.31049096e-01 9.91375571e-01 7.81982127e-04 2.57132801e-01] [-1.03760560e-02 5.82859687e-04 9.99945997e-01 4.35965030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.331400513 meters Centerline goodness [0,1] 0.9138514227728214 Centerline is valid? [True, False] Translation: X:6.04, Y:0.26, Z:0.04 [[ 9.91213377e-01 -1.31855938e-01 1.04905956e-02 6.04334203e+00] [ 1.31854997e-01 9.91268705e-01 7.84365848e-04 2.55990402e-01] [-1.05024224e-02 6.05763526e-04 9.99944665e-01 4.30952025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.361400513 meters Centerline goodness [0,1] 0.8957173036297292 Centerline is valid? [False, False] Translation: X:6.04, Y:0.25, Z:0.04 [[ 9.91210168e-01 -1.31877138e-01 1.05272945e-02 6.04342539e+00] [ 1.31872441e-01 9.91266036e-01 1.14212131e-03 2.54186087e-01] [-1.05859692e-02 2.56177767e-04 9.99943934e-01 4.27620355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.391400512999999 meters Centerline goodness [0,1] 0.7733532295885739 Centerline is valid? [False, False] Translation: X:6.04, Y:0.25, Z:0.04 [[ 9.91599815e-01 -1.28945018e-01 1.01483230e-02 6.04339196e+00] [ 1.28887003e-01 9.91640032e-01 6.17959999e-03 2.46191476e-01] [-1.08603120e-02 -4.81970326e-03 9.99929410e-01 4.24659787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.421400513 meters Centerline goodness [0,1] 0.7636274174225569 Centerline is valid? [False, False] Translation: X:6.04, Y:0.24, Z:0.04 [[ 9.91627955e-01 -1.28722756e-01 1.02201373e-02 6.04348941e+00] [ 1.28653439e-01 9.91663656e-01 7.17534236e-03 2.41377068e-01] [-1.10585686e-02 -5.80041426e-03 9.99922029e-01 4.21317537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.451400513 meters Centerline goodness [0,1] 0.6895904112768786 Centerline is valid? [False, False] Translation: X:6.04, Y:0.24, Z:0.04 [[ 0.99165017 -0.12856455 0.01005497 6.04451345] [ 0.12848282 0.99167621 0.00839411 0.23528591] [-0.01105046 -0.00703213 0.99991421 0.04161579] [ 0. 0. 0. 1. ]] SLAMing on 15.481400512999999 meters Centerline goodness [0,1] 0.6990176651629496 Centerline is valid? [False, False] Translation: X:6.04, Y:0.23, Z:0.04 [[ 0.99166193 -0.1284825 0.0099435 6.04499681] [ 0.12839958 0.99168545 0.00857399 0.23445117] [-0.01096243 -0.00722576 0.9999138 0.04146382] [ 0. 0. 0. 1. ]] SLAMing on 15.511400513 meters Centerline goodness [0,1] 0.7053403454763126 Centerline is valid? [False, False] Translation: X:6.00, Y:0.24, Z:0.05 [[ 0.9920455 -0.12555214 0.00907627 5.9984262 ] [ 0.12563243 0.99203699 -0.00889347 0.2439197 ] [-0.0078874 0.009963 0.99991926 0.04511056] [ 0. 0. 0. 1. ]] SLAMing on 15.541400513 meters Centerline goodness [0,1] 0.7571952081949296 Centerline is valid? [False, False] Translation: X:6.00, Y:0.24, Z:0.04 [[ 9.92624527e-01 -1.20927453e-01 8.54977497e-03 5.99878709e+00] [ 1.20956542e-01 9.92653362e-01 -2.96934866e-03 2.35992697e-01] [-8.12788710e-03 3.98159953e-03 9.99959041e-01 4.47678060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.571400513 meters Centerline goodness [0,1] 0.6866111577271456 Centerline is valid? [False, False] Translation: X:6.00, Y:0.23, Z:0.04 [[ 9.93219077e-01 -1.15981050e-01 8.01633466e-03 5.99941028e+00] [ 1.15958368e-01 9.93248790e-01 3.24011645e-03 2.27068037e-01] [-8.33800681e-03 -2.28858439e-03 9.99962619e-01 4.41069962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.601400513 meters Centerline goodness [0,1] 0.733698665188281 Centerline is valid? [False, False] Translation: X:6.00, Y:0.22, Z:0.04 [[ 0.99374751 -0.11140508 0.0074024 6.0002305 ] [ 0.11133733 0.99374183 0.00900986 0.21984116] [-0.00835981 -0.00812936 0.99993201 0.04356737] [ 0. 0. 0. 1. ]] SLAMing on 15.631400512999999 meters Centerline goodness [0,1] 0.7286984018459961 Centerline is valid? [False, False] Translation: X:6.00, Y:0.22, Z:0.04 [[ 0.99375525 -0.1113387 0.00736151 6.00052642] [ 0.11127027 0.99374823 0.00913188 0.21931597] [-0.00833222 -0.00825573 0.99993121 0.04325419] [ 0. 0. 0. 1. ]] SLAMing on 15.661400513 meters Centerline goodness [0,1] 0.8386882434894438 Centerline is valid? [False, False] Translation: X:6.00, Y:0.22, Z:0.04 [[ 0.99379963 -0.11095181 0.00721118 6.00139551] [ 0.11087746 0.99378375 0.01000234 0.21531901] [-0.00827614 -0.00914077 0.99992397 0.04271169] [ 0. 0. 0. 1. ]] SLAMing on 15.691400513 meters Centerline goodness [0,1] 0.9071622612220258 Centerline is valid? [False, False] Translation: X:6.00, Y:0.21, Z:0.04 [[ 0.9938457 -0.11054181 0.00715732 6.00189956] [ 0.11045963 0.99381964 0.01100915 0.21066942] [-0.00833005 -0.0101508 0.99991378 0.04230926] [ 0. 0. 0. 1. ]] SLAMing on 15.721400512999999 meters Centerline goodness [0,1] 0.7843056874083024 Centerline is valid? [False, False] Translation: X:6.00, Y:0.21, Z:0.04 [[ 0.99386352 -0.11038591 0.00708925 6.00234609] [ 0.1103013 0.99383298 0.01138544 0.20893804] [-0.00830232 -0.01053362 0.99991005 0.04192201] [ 0. 0. 0. 1. ]] SLAMing on 15.751400513 meters Centerline goodness [0,1] 0.7210327858375407 Centerline is valid? [False, False] Translation: X:6.00, Y:0.21, Z:0.04 [[ 0.99388026 -0.11024306 0.00696406 6.00290852] [ 0.1101567 0.99384464 0.01176177 0.20718551] [-0.00821785 -0.01092265 0.99990658 0.04163222] [ 0. 0. 0. 1. ]] SLAMing on 15.781400513 meters Centerline goodness [0,1] 0.7602337942864403 Centerline is valid? [False, False] Translation: X:6.00, Y:0.20, Z:0.04 [[ 0.99391999 -0.1098906 0.00686417 6.00348982] [ 0.10979887 0.99387455 0.01255366 0.20348949] [-0.00820165 -0.01172366 0.99989764 0.04135052] [ 0. 0. 0. 1. ]] SLAMing on 15.811400512999999 meters Centerline goodness [0,1] 0.7312378219814573 Centerline is valid? [False, False] Translation: X:5.98, Y:0.21, Z:0.05 [[ 9.94154694e-01 -1.07910271e-01 3.43770309e-03 5.98182592e+00] [ 1.07902714e-01 9.94158767e-01 2.31327540e-03 2.08434999e-01] [-3.66724884e-03 -1.92881610e-03 9.99991415e-01 4.52323611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.841400513 meters Centerline goodness [0,1] 0.8822540312149694 Centerline is valid? [False, False] Translation: X:5.98, Y:0.20, Z:0.04 [[ 9.94657772e-01 -1.03182276e-01 3.05536117e-03 5.98198597e+00] [ 1.03154577e-01 9.94631977e-01 8.14633188e-03 2.01147551e-01] [-3.87951699e-03 -7.78763782e-03 9.99962150e-01 4.47968809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.871400513 meters Centerline goodness [0,1] 0.9643966186491848 Centerline is valid? [False, True] Translation: X:5.97, Y:0.20, Z:0.04 [[ 9.95200677e-01 -9.77907817e-02 3.54606799e-03 5.96736386e+00] [ 9.77834641e-02 9.95205323e-01 2.18178365e-03 2.00636385e-01] [-3.74242406e-03 -1.82456575e-03 9.99991333e-01 3.78555711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.901400512999999 meters Centerline goodness [0,1] 0.9742222414128111 Centerline is valid? [True, True] Translation: X:6.00, Y:0.20, Z:0.04 [[ 9.95301422e-01 -9.67868002e-02 2.71944106e-03 5.99701786e+00] [ 9.67869502e-02 9.95305119e-01 7.67109870e-05 2.01858701e-01] [-2.71409822e-03 1.86855852e-04 9.99996299e-01 3.64314929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.931400513 meters Centerline goodness [0,1] 0.8952476004416886 Centerline is valid? [True, False] Translation: X:6.00, Y:0.20, Z:0.04 [[ 9.95312841e-01 -9.66743896e-02 2.53197067e-03 5.99801083e+00] [ 9.66740180e-02 9.95316061e-01 2.69057769e-04 2.01005969e-01] [-2.54612207e-03 -2.30208745e-05 9.99996758e-01 3.56382411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.961400513 meters Centerline goodness [0,1] 0.9990499427806447 Centerline is valid? [False, True] Translation: X:5.96, Y:0.20, Z:0.03 [[ 9.95514606e-01 -9.46023521e-02 -1.03160231e-03 5.96020874e+00] [ 9.46043827e-02 9.95512650e-01 2.13893309e-03 1.95633780e-01] [ 8.24625052e-04 -2.22693324e-03 9.99997180e-01 3.28725167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.991400513 meters Centerline goodness [0,1] 0.9642158653742827 Centerline is valid? [True, True] Translation: X:5.99, Y:0.19, Z:0.03 [[ 9.95566629e-01 -9.40384298e-02 -1.96508814e-03 5.98810394e+00] [ 9.40385062e-02 9.95568559e-01 -5.37192646e-05 1.87804014e-01] [ 1.96143164e-03 -1.31312846e-04 9.99998068e-01 3.19511820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.021400513 meters Centerline goodness [0,1] 0.9945106784458358 Centerline is valid? [True, True] Translation: X:6.02, Y:0.19, Z:0.03 [[ 9.95595480e-01 -9.37104415e-02 -2.82731239e-03 6.01710599e+00] [ 9.37105981e-02 9.95599477e-01 -7.73274077e-05 1.92152896e-01] [ 2.82211712e-03 -1.87962317e-04 9.99996000e-01 3.04819277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.051400513 meters Centerline goodness [0,1] 0.9921771186077415 Centerline is valid? [True, True] Translation: X:6.05, Y:0.19, Z:0.03 [[ 9.95670607e-01 -9.29077188e-02 -2.86327361e-03 6.04535926e+00] [ 9.29078739e-02 9.95674706e-01 -7.90846215e-05 1.92357785e-01] [ 2.85823668e-03 -1.87278430e-04 9.99995898e-01 3.08610595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.081400513 meters Centerline goodness [0,1] 0.993847275221884 Centerline is valid? [True, True] Translation: X:6.07, Y:0.19, Z:0.03 [[ 9.95716589e-01 -9.24164844e-02 -2.76921256e-03 6.07456130e+00] [ 9.24166275e-02 9.95720423e-01 -7.65049285e-05 1.94590601e-01] [ 2.76443182e-03 -1.79744059e-04 9.99996163e-01 3.14768628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.111400513 meters Centerline goodness [0,1] 0.9870543202442905 Centerline is valid? [True, True] Translation: X:6.10, Y:0.20, Z:0.03 [[ 9.95812603e-01 -9.13966967e-02 -1.97580001e-03 6.10235243e+00] [ 9.13967675e-02 9.95814555e-01 -5.46267191e-05 1.95202934e-01] [ 1.97252311e-03 -1.26183758e-04 9.99998047e-01 3.30065774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.141400513 meters Centerline goodness [0,1] 0.9991168741653383 Centerline is valid? [True, True] Translation: X:6.13, Y:0.21, Z:0.04 [[ 9.95965937e-01 -8.97295058e-02 6.83498638e-04 6.13228336e+00] [ 8.97295137e-02 9.95966171e-01 1.91211096e-05 2.05489653e-01] [-6.82457249e-04 4.22860265e-05 9.99999766e-01 3.72631927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.171400513 meters Centerline goodness [0,1] 0.9991168741653383 Centerline is valid? [True, True] Translation: X:6.16, Y:0.21, Z:0.04 [[ 9.95949209e-01 -8.99149904e-02 6.83468248e-04 6.15980787e+00] [ 8.99149976e-02 9.95949443e-01 2.02072218e-05 2.06397356e-01] [-6.82516753e-04 4.13286793e-05 9.99999766e-01 3.74144866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.201400513 meters Centerline goodness [0,1] 0.992444138287338 Centerline is valid? [True, True] Translation: X:6.19, Y:0.20, Z:0.04 [[ 9.95942741e-01 -8.99833302e-02 1.02789790e-03 6.18639342e+00] [ 8.99833476e-02 9.95943270e-01 2.93792731e-05 2.03520142e-01] [-1.02637164e-03 6.32336200e-05 9.99999471e-01 3.93195644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.231400513 meters Centerline goodness [0,1] 0.9996333283005845 Centerline is valid? [True, True] Translation: X:6.22, Y:0.21, Z:0.04 [[ 9.95776581e-01 -9.17935067e-02 -1.71853065e-03 6.21594643e+00] [ 9.17935595e-02 9.95778058e-01 -4.82869111e-05 2.13723606e-01] [ 1.71570754e-03 -1.09667071e-04 9.99998522e-01 3.55156340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.261400512999998 meters Centerline goodness [0,1] 0.9982850282970331 Centerline is valid? [True, True] Translation: X:6.24, Y:0.21, Z:0.03 [[ 9.95649724e-01 -9.31085197e-02 -3.52577279e-03 6.24463075e+00] [ 9.31087495e-02 9.95655940e-01 -9.92612298e-05 2.11555855e-01] [ 3.51969869e-03 -2.29450880e-04 9.99993780e-01 3.27606976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.291400513 meters Centerline goodness [0,1] 0.996231797666695 Centerline is valid? [True, True] Translation: X:6.27, Y:0.21, Z:0.03 [[ 9.95493264e-01 -9.47208504e-02 -4.59580850e-03 6.27412917e+00] [ 9.47212570e-02 9.95503826e-01 -1.29605428e-04 2.10729584e-01] [ 4.58742128e-03 -3.06299427e-04 9.99989431e-01 3.16095466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.321400513 meters Centerline goodness [0,1] 0.8992942686056459 Centerline is valid? [True, False] Translation: X:6.27, Y:0.20, Z:0.03 [[ 9.95825808e-01 -9.11582398e-02 -4.59738353e-03 6.27298093e+00] [ 9.11809545e-02 9.95821789e-01 4.99984372e-03 2.04655758e-01] [ 4.12239774e-03 -5.39816723e-03 9.99976933e-01 3.16414751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.351400512999998 meters Centerline goodness [0,1] 0.7676545842217484 Centerline is valid? [False, False] Translation: X:6.27, Y:0.21, Z:0.03 [[ 9.95794318e-01 -9.15268091e-02 -4.06440608e-03 6.27090249e+00] [ 9.15458200e-02 9.95789454e-01 4.76728448e-03 2.05427736e-01] [ 3.61095837e-03 -5.11931419e-03 9.99980377e-01 3.23488793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.381400513 meters Centerline goodness [0,1] 0.826853448275862 Centerline is valid? [False, False] Translation: X:6.27, Y:0.21, Z:0.03 [[ 9.95790554e-01 -9.15662447e-02 -4.09810668e-03 6.27116423e+00] [ 9.15852556e-02 9.95786053e-01 4.71999953e-03 2.05651543e-01] [ 3.64864484e-03 -5.07545710e-03 9.99980463e-01 3.20041715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.411400513 meters Centerline goodness [0,1] 0.8255480194756872 Centerline is valid? [False, False] Translation: X:6.27, Y:0.21, Z:0.03 [[ 9.95772523e-01 -9.17434514e-02 -4.49686161e-03 6.27335512e+00] [ 9.17646894e-02 9.95769302e-01 4.76860448e-03 2.05355892e-01] [ 4.04034851e-03 -5.16109843e-03 9.99978519e-01 3.01367897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.441400512999998 meters Centerline goodness [0,1] 0.8244659195611648 Centerline is valid? [False, False] Translation: X:6.27, Y:0.21, Z:0.03 [[ 9.95774380e-01 -9.17260215e-02 -4.44079573e-03 6.27332066e+00] [ 9.17471912e-02 9.95770647e-01 4.82407086e-03 2.05117433e-01] [ 3.97952121e-03 -5.21111671e-03 9.99978504e-01 2.98356958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.471400513 meters Centerline goodness [0,1] 0.8970113259549546 Centerline is valid? [False, False] Translation: X:6.27, Y:0.21, Z:0.03 [[ 9.95770368e-01 -9.17826094e-02 -4.16263921e-03 6.27197596e+00] [ 9.18021781e-02 9.95765781e-01 4.78227753e-03 2.05230368e-01] [ 3.70608377e-03 -5.14418960e-03 9.99979901e-01 3.07079335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.501400513 meters Centerline goodness [0,1] 0.7660845191893058 Centerline is valid? [False, False] Translation: X:6.27, Y:0.21, Z:0.03 [[ 9.95765391e-01 -9.18374622e-02 -4.14331396e-03 6.27173656e+00] [ 9.18564738e-02 9.95761361e-01 4.65839085e-03 2.05773960e-01] [ 3.69793715e-03 -5.01925460e-03 9.99980566e-01 3.10304232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.531400513 meters Centerline goodness [0,1] 0.7916630965641334 Centerline is valid? [False, False] Translation: X:6.27, Y:0.21, Z:0.03 [[ 9.95757161e-01 -9.19232122e-02 -4.21891683e-03 6.27200888e+00] [ 9.19417610e-02 9.95754506e-01 4.43578274e-03 2.06820329e-01] [ 3.79325404e-03 -4.80485707e-03 9.99981262e-01 3.09528589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.561400513 meters Centerline goodness [0,1] 0.757061905271036 Centerline is valid? [False, False] Translation: X:6.27, Y:0.20, Z:0.03 [[ 9.96162015e-01 -8.74099344e-02 -4.55436582e-03 6.27222104e+00] [ 8.74513074e-02 9.96120049e-01 9.85483403e-03 2.01298224e-01] [ 3.67528470e-03 -1.02152966e-02 9.99941068e-01 3.03947565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.591400513 meters Centerline goodness [0,1] 0.8381425485961123 Centerline is valid? [False, False] Translation: X:6.25, Y:0.21, Z:0.03 [[ 9.96588019e-01 -8.23971101e-02 -4.79974073e-03 6.25461019e+00] [ 8.24105414e-02 9.96594887e-01 2.67087249e-03 2.05254073e-01] [ 4.56332489e-03 -3.05730876e-03 9.99984914e-01 2.64633459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.621400513 meters Centerline goodness [0,1] 0.9096379069517567 Centerline is valid? [False, False] Translation: X:6.25, Y:0.21, Z:0.03 [[ 9.96580771e-01 -8.24783514e-02 -4.90803596e-03 6.25496228e+00] [ 8.24907340e-02 9.96588999e-01 2.37602111e-03 2.06688002e-01] [ 4.69532435e-03 -2.77276444e-03 9.99985133e-01 2.63972697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.651400513 meters Centerline goodness [0,1] 0.9186928780824279 Centerline is valid? [False, False] Translation: X:6.26, Y:0.20, Z:0.03 [[ 9.96957710e-01 -7.77603855e-02 -5.35221647e-03 6.25566578e+00] [ 7.78009898e-02 9.96938007e-01 7.84962380e-03 2.01199644e-01] [ 4.72543825e-03 -8.24215071e-03 9.99954868e-01 2.57828410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.681400513 meters Centerline goodness [0,1] 0.9915129544727583 Centerline is valid? [False, True] Translation: X:6.26, Y:0.22, Z:0.02 [[ 9.97305736e-01 -7.32214762e-02 -4.45909678e-03 6.26100789e+00] [ 7.31794092e-02 9.97278527e-01 -8.96177544e-03 2.17838304e-01] [ 5.10315589e-03 8.61131599e-03 9.99949900e-01 2.14551174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.711400513 meters Centerline goodness [0,1] 0.9709128021942974 Centerline is valid? [True, True] Translation: X:6.29, Y:0.21, Z:0.02 [[ 9.97399802e-01 -7.19192669e-02 -4.61020587e-03 6.28972443e+00] [ 7.19200045e-02 9.97410403e-01 -5.80163260e-06 2.07882354e-01] [ 4.59868454e-03 -3.25779480e-04 9.99989373e-01 2.07654311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.741400513 meters Centerline goodness [0,1] 0.9961764768358221 Centerline is valid? [True, True] Translation: X:6.32, Y:0.22, Z:0.03 [[ 9.97557297e-01 -6.98281694e-02 -1.86154223e-03 6.32002619e+00] [ 6.98282861e-02 9.97559026e-01 -2.35563102e-06 2.20669819e-01] [ 1.85716274e-03 -1.27638426e-04 9.99998267e-01 2.50162497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.771400513 meters Centerline goodness [0,1] 0.9995434286335472 Centerline is valid? [True, True] Translation: X:6.35, Y:0.23, Z:0.03 [[ 9.97621904e-01 -6.89215227e-02 -6.00712288e-04 6.34868712e+00] [ 6.89215347e-02 9.97622084e-01 -7.39531325e-07 2.29754606e-01] [ 5.99334814e-04 -4.06642401e-05 9.99999820e-01 2.64375395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.801400513 meters Centerline goodness [0,1] 0.979801853627357 Centerline is valid? [True, True] Translation: X:6.38, Y:0.22, Z:0.03 [[ 9.97656072e-01 -6.84252489e-02 -5.89252164e-04 6.37645527e+00] [ 6.84252603e-02 9.97656245e-01 -7.46609747e-07 2.21320641e-01] [ 5.87922189e-04 -3.95748730e-05 9.99999826e-01 2.74310836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.831400513 meters Centerline goodness [0,1] 0.9992793862066042 Centerline is valid? [True, True] Translation: X:6.41, Y:0.23, Z:0.03 [[ 9.97750703e-01 -6.70201472e-02 -1.35450145e-03 6.40594749e+00] [ 6.70202062e-02 9.97751618e-01 -1.86550331e-06 2.33577065e-01] [ 1.35158104e-03 -8.89176594e-05 9.99999083e-01 2.63551625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.861400513 meters Centerline goodness [0,1] 0.9985941294252971 Centerline is valid? [True, True] Translation: X:6.43, Y:0.23, Z:0.03 [[ 9.97760044e-01 -6.68825461e-02 -1.27254952e-03 6.43381535e+00] [ 6.68825980e-02 9.97760852e-01 -1.78708833e-06 2.33448149e-01] [ 1.26981962e-03 -8.33283325e-05 9.99999190e-01 2.64312066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.891400513 meters Centerline goodness [0,1] 0.9994427894815799 Centerline is valid? [True, True] Translation: X:6.46, Y:0.24, Z:0.03 [[ 9.97682992e-01 -6.80311784e-02 -6.36652553e-04 6.46360440e+00] [ 6.80311916e-02 9.97683195e-01 -9.14394500e-07 2.39598666e-01] [ 6.35239761e-04 -4.23999560e-05 9.99999797e-01 2.73601856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.921400513 meters Centerline goodness [0,1] 0.9731039908149597 Centerline is valid? [True, True] Translation: X:6.49, Y:0.23, Z:0.03 [[ 9.97584435e-01 -6.94642600e-02 1.06803676e-04 6.49235849e+00] [ 6.94642604e-02 9.97584441e-01 1.98456454e-07 2.28805053e-01] [-1.06559472e-04 7.22106132e-06 9.99999994e-01 2.84400529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.951400513 meters Centerline goodness [0,1] 0.8822021953615513 Centerline is valid? [True, False] Translation: X:6.49, Y:0.23, Z:0.03 [[ 9.97566259e-01 -6.97235662e-02 4.27522707e-04 6.49087054e+00] [ 6.97236822e-02 9.97566308e-01 -2.62634860e-04 2.29821504e-01] [-4.08170410e-04 2.91804132e-04 9.99999874e-01 2.93224000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.981400513 meters Centerline goodness [0,1] 0.6984950259331689 Centerline is valid? [False, False] Translation: X:6.49, Y:0.22, Z:0.03 [[ 9.97822164e-01 -6.59611595e-02 2.34057987e-04 6.49071277e+00] [ 6.59591838e-02 9.97809926e-01 4.97373341e-03 2.23872960e-01] [-5.61618606e-04 -4.94746316e-03 9.99987604e-01 2.90502693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.011400512999998 meters Centerline goodness [0,1] 0.9331535349643614 Centerline is valid? [False, False] Translation: X:6.49, Y:0.22, Z:0.03 [[ 9.97828853e-01 -6.58602416e-02 9.70431076e-05 6.49150768e+00] [ 6.58587241e-02 9.97813930e-01 5.47619175e-03 2.21431308e-01] [-4.57494276e-04 -5.45791100e-03 9.99985001e-01 2.83763270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.041400513 meters Centerline goodness [0,1] 0.8742880390561432 Centerline is valid? [False, False] Translation: X:6.49, Y:0.22, Z:0.03 [[ 9.97837343e-01 -6.57313370e-02 1.66347530e-04 6.49136487e+00] [ 6.57292465e-02 9.97820394e-01 5.84195254e-03 2.19698117e-01] [-5.49984309e-04 -5.81838451e-03 9.99982922e-01 2.82445797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.071400513 meters Centerline goodness [0,1] 0.7274846731715741 Centerline is valid? [False, False] Translation: X:6.49, Y:0.22, Z:0.03 [[ 9.97844845e-01 -6.56167621e-02 3.24044442e-04 6.49083931e+00] [ 6.56135130e-02 9.97825964e-01 6.18162107e-03 2.18076666e-01] [-7.28957916e-04 -6.14703703e-03 9.99980841e-01 2.83256669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.101400512999998 meters Centerline goodness [0,1] 0.7919016878632552 Centerline is valid? [False, False] Translation: X:6.49, Y:0.22, Z:0.03 [[ 9.97855593e-01 -6.54515648e-02 5.54252028e-04 6.48986824e+00] [ 6.54462986e-02 9.97832908e-01 6.80218323e-03 2.15000443e-01] [-9.98264450e-04 -6.75132284e-03 9.99976711e-01 2.88807649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.131400513 meters Centerline goodness [0,1] 0.7213149794801641 Centerline is valid? [False, False] Translation: X:6.49, Y:0.22, Z:0.03 [[ 9.97555188e-01 -6.98799929e-02 6.58569019e-04 6.49029039e+00] [ 6.98788709e-02 9.97554208e-01 1.59546426e-03 2.19460466e-01] [-7.68449327e-04 -1.54554359e-03 9.99998510e-01 2.91815669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.161400513 meters Centerline goodness [0,1] 0.8976712893634569 Centerline is valid? [False, False] Translation: X:6.47, Y:0.23, Z:0.04 [[ 9.97487430e-01 -7.06965664e-02 -4.56309392e-03 6.46823087e+00] [ 7.06446086e-02 9.97444273e-01 -1.06892907e-02 2.27743548e-01] [ 5.30712804e-03 1.03400751e-02 9.99932456e-01 3.52703072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.191400512999998 meters Centerline goodness [0,1] 0.7296658360488149 Centerline is valid? [False, False] Translation: X:6.50, Y:0.21, Z:0.03 [[ 9.97381267e-01 -7.23117302e-02 -1.27360608e-03 6.49651033e+00] [ 7.23115201e-02 9.97382073e-01 -2.10252065e-04 2.14940200e-01] [ 1.28547556e-03 1.17605079e-04 9.99999167e-01 2.63366773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.221400513 meters Centerline goodness [0,1] 0.6286720257916729 Centerline is valid? [False, False] Translation: X:6.50, Y:0.21, Z:0.03 [[ 9.97662063e-01 -6.83255780e-02 -1.42236567e-03 6.49630688e+00] [ 6.83324244e-02 9.97647416e-01 5.50573321e-03 2.06703971e-01] [ 1.04283703e-03 -5.59005485e-03 9.99983832e-01 2.58266244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.251400513 meters Centerline goodness [0,1] 0.6838968750667492 Centerline is valid? [False, False] Translation: X:6.50, Y:0.20, Z:0.03 [[ 9.97691949e-01 -6.78921660e-02 -1.19556866e-03 6.49515100e+00] [ 6.78985863e-02 9.97670593e-01 6.57043174e-03 2.01626016e-01] [ 7.46702853e-04 -6.63644427e-03 9.99977700e-01 2.68371805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.281400513 meters Centerline goodness [0,1] 0.6786206896551724 Centerline is valid? [False, False] Translation: X:6.49, Y:0.21, Z:0.03 [[ 9.97401215e-01 -7.20403674e-02 -1.00099490e-03 6.49491522e+00] [ 7.20418028e-02 9.97400514e-01 1.48072519e-03 2.05877119e-01] [ 8.91720839e-04 -1.54899058e-03 9.99998403e-01 2.79613549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.311400513 meters Centerline goodness [0,1] 0.6940889440568421 Centerline is valid? [False, False] Translation: X:6.49, Y:0.20, Z:0.03 [[ 9.97412184e-01 -7.18895226e-02 -9.11696778e-04 6.49428057e+00] [ 7.18910690e-02 9.97410874e-01 1.79509931e-03 2.04372196e-01] [ 7.80287448e-04 -1.85599678e-03 9.99997973e-01 2.86890478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.341400513 meters Centerline goodness [0,1] 0.6736134739707383 Centerline is valid? [False, False] Translation: X:6.49, Y:0.21, Z:0.03 [[ 9.97412161e-01 -7.18904952e-02 -8.58984782e-04 6.49374907e+00] [ 7.18917012e-02 9.97411365e-01 1.46688333e-03 2.06026637e-01] [ 7.51306215e-04 -1.52484115e-03 9.99998555e-01 2.94180961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.371400513 meters Centerline goodness [0,1] 0.7209486166007906 Centerline is valid? [False, False] Translation: X:6.49, Y:0.20, Z:0.03 [[ 9.97742030e-01 -6.71531858e-02 -1.13593527e-03 6.49394923e+00] [ 6.71595185e-02 9.97717684e-01 7.00156963e-03 2.00266844e-01] [ 6.63165003e-04 -7.06204916e-03 9.99974844e-01 2.89883341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.401400513 meters Centerline goodness [0,1] 0.8348257013420678 Centerline is valid? [False, False] Translation: X:6.49, Y:0.21, Z:0.03 [[ 9.98166569e-01 -6.04665729e-02 -2.70079965e-03 6.49445006e+00] [ 6.04450543e-02 9.98143779e-01 -7.44263130e-03 2.10362388e-01] [ 3.14581678e-03 7.26573577e-03 9.99968656e-01 2.96790412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.431400513 meters Centerline goodness [0,1] 0.937395048439182 Centerline is valid? [False, False] Translation: X:6.49, Y:0.21, Z:0.03 [[ 9.98440629e-01 -5.57558714e-02 -2.75574938e-03 6.49389207e+00] [ 5.57504590e-02 9.98442724e-01 -2.00338002e-03 2.05060827e-01] [ 2.86315812e-03 1.84662171e-03 9.99994196e-01 2.95887677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.461400513 meters Centerline goodness [0,1] 0.8085924081071797 Centerline is valid? [False, False] Translation: X:6.49, Y:0.20, Z:0.03 [[ 9.98682765e-01 -5.12486539e-02 -2.51190390e-03 6.49217322e+00] [ 5.12567030e-02 9.98680216e-01 3.25217924e-03 2.00417725e-01] [ 2.34191892e-03 -3.37664727e-03 9.99991557e-01 3.01046835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.491400513 meters Centerline goodness [0,1] 0.860201942412185 Centerline is valid? [False, False] Translation: X:6.49, Y:0.20, Z:0.03 [[ 9.98668831e-01 -5.15248711e-02 -2.39872575e-03 6.49096276e+00] [ 5.15311435e-02 9.98667922e-01 2.63095152e-03 2.03206474e-01] [ 2.25997102e-03 -2.75105836e-03 9.99993662e-01 3.16748131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.521400513 meters Centerline goodness [0,1] 0.9807488252235865 Centerline is valid? [False, True] Translation: X:6.49, Y:0.20, Z:0.03 [[ 9.98676603e-01 -5.13745112e-02 -2.38790055e-03 6.49104536e+00] [ 5.13815594e-02 9.98674618e-01 2.99044585e-03 2.01555945e-01] [ 2.23110297e-03 -3.10918235e-03 9.99992678e-01 3.14463333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.551400513 meters Centerline goodness [0,1] 0.7750363776427287 Centerline is valid? [True, False] Translation: X:6.49, Y:0.20, Z:0.03 [[ 9.98686530e-01 -5.11764875e-02 -2.48649958e-03 6.49176370e+00] [ 5.11851094e-02 9.98682919e-01 3.53723807e-03 1.99012494e-01] [ 2.30220124e-03 -3.65986376e-03 9.99990653e-01 3.06465294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.581400513 meters Centerline goodness [0,1] 0.8009255291798782 Centerline is valid? [False, False] Translation: X:6.49, Y:0.20, Z:0.03 [[ 9.98693083e-01 -5.10411774e-02 -2.63132496e-03 6.49313126e+00] [ 5.10515531e-02 9.98687850e-01 4.03954201e-03 1.96727928e-01] [ 2.42168928e-03 -4.16859589e-03 9.99988379e-01 2.88106417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.611400513 meters Centerline goodness [0,1] 0.8207557256805594 Centerline is valid? [False, False] Translation: X:6.49, Y:0.20, Z:0.03 [[ 9.98693453e-01 -5.10339502e-02 -2.63114637e-03 6.49320442e+00] [ 5.10444352e-02 9.98688029e-01 4.08493050e-03 1.96519442e-01] [ 2.41922424e-03 -4.21389872e-03 9.99988195e-01 2.86558458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.641400513 meters Centerline goodness [0,1] 0.8124621113709188 Centerline is valid? [False, False] Translation: X:6.49, Y:0.19, Z:0.03 [[ 9.98704817e-01 -5.08116475e-02 -2.62002147e-03 6.49301789e+00] [ 5.08235670e-02 9.98696572e-01 4.70339273e-03 1.93565980e-01] [ 2.37761933e-03 -4.83045981e-03 9.99985507e-01 2.90230176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.671400513 meters Centerline goodness [0,1] 0.691827970911288 Centerline is valid? [False, False] Translation: X:6.49, Y:0.19, Z:0.03 [[ 9.98714381e-01 -5.06195462e-02 -2.69195049e-03 6.49331920e+00] [ 5.06330849e-02 9.98703657e-01 5.22448461e-03 1.91103593e-01] [ 2.42399976e-03 -5.35406967e-03 9.99982729e-01 2.89076606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.701400513 meters Centerline goodness [0,1] 0.7242684804928131 Centerline is valid? [False, False] Translation: X:6.49, Y:0.19, Z:0.03 [[ 9.98719178e-01 -5.05208411e-02 -2.76564523e-03 6.49385074e+00] [ 5.05355280e-02 9.98706972e-01 5.52661966e-03 1.89695518e-01] [ 2.48285970e-03 -5.65930438e-03 9.99980904e-01 2.83157366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.731400513 meters Centerline goodness [0,1] 0.6610096854375589 Centerline is valid? [False, False] Translation: X:6.49, Y:0.19, Z:0.03 [[ 9.98713023e-01 -5.06444725e-02 -2.72657680e-03 6.49393761e+00] [ 5.06583523e-02 9.98702042e-01 5.28796311e-03 1.90820051e-01] [ 2.45523171e-03 -5.41928151e-03 9.99982301e-01 2.78421620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.761400512999998 meters Centerline goodness [0,1] 0.6653932344466973 Centerline is valid? [False, False] Translation: X:6.49, Y:0.19, Z:0.03 [[ 9.98711807e-01 -5.06733804e-02 -2.63348036e-03 6.49345511e+00] [ 5.06866358e-02 9.98700874e-01 5.23729597e-03 1.91030948e-01] [ 2.36466765e-03 -5.36403159e-03 9.99982818e-01 2.81701026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.791400513 meters Centerline goodness [0,1] 0.772116860930303 Centerline is valid? [False, False] Translation: X:6.49, Y:0.19, Z:0.03 [[ 9.98710130e-01 -5.07131568e-02 -2.50030026e-03 6.49286969e+00] [ 5.07254678e-02 9.98699437e-01 5.13434853e-03 1.91512133e-01] [ 2.23666944e-03 -5.25455479e-03 9.99983693e-01 2.84462180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.821400513 meters Centerline goodness [0,1] 0.6770793243532178 Centerline is valid? [False, False] Translation: X:6.49, Y:0.19, Z:0.03 [[ 9.98704498e-01 -5.08204035e-02 -2.57149122e-03 6.49321519e+00] [ 5.08323718e-02 9.98695543e-01 4.82516081e-03 1.93010840e-01] [ 2.32292020e-03 -4.94962480e-03 9.99985053e-01 2.81866584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.851400512999998 meters Centerline goodness [0,1] 0.6995277324805693 Centerline is valid? [False, False] Translation: X:6.49, Y:0.20, Z:0.03 [[ 9.98695508e-01 -5.09914993e-02 -2.67384745e-03 6.49356614e+00] [ 5.10027806e-02 9.98689099e-01 4.33586582e-03 1.95367399e-01] [ 2.44925000e-03 -4.46658337e-03 9.99987025e-01 2.81172394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.881400513 meters Centerline goodness [0,1] 0.7437211018733584 Centerline is valid? [False, False] Translation: X:6.43, Y:0.20, Z:0.03 [[ 9.98978875e-01 -4.51451414e-02 -1.76711945e-03 6.42953443e+00] [ 4.51422307e-02 9.98979201e-01 -1.65377015e-03 2.00355258e-01] [ 1.83997526e-03 1.57230974e-03 9.99997071e-01 2.63643451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.911400513 meters Centerline goodness [0,1] 0.7615896866729275 Centerline is valid? [False, False] Translation: X:6.45, Y:0.21, Z:0.03 [[ 9.99056534e-01 -4.34283119e-02 1.54910673e-04 6.45057166e+00] [ 4.34272725e-02 9.98992146e-01 -1.13474230e-02 2.05360769e-01] [ 3.38044879e-04 1.13434444e-02 9.99935604e-01 2.63619809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.941400512999998 meters Centerline goodness [0,1] 0.7759487090625541 Centerline is valid? [False, False] Translation: X:6.45, Y:0.20, Z:0.03 [[ 9.99247687e-01 -3.87811745e-02 2.85308500e-04 6.44983284e+00] [ 3.87821720e-02 9.99231348e-01 -5.71460517e-03 1.99013375e-01] [-6.34700967e-05 5.72137088e-03 9.99983631e-01 2.58590985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.971400513 meters Centerline goodness [0,1] 0.992605603261341 Centerline is valid? [False, True] Translation: X:6.45, Y:0.20, Z:0.02 [[ 9.99414989e-01 -3.42004197e-02 -1.04526707e-04 6.45131149e+00] [ 3.42003385e-02 9.99414753e-01 -6.99194028e-04 1.95905005e-01] [ 1.28378262e-04 6.95210143e-04 9.99999750e-01 2.43131648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.001400513 meters Centerline goodness [0,1] 0.9995653780124737 Centerline is valid? [True, True] Translation: X:6.48, Y:0.20, Z:0.02 [[ 9.99481171e-01 -3.21298106e-02 -2.25057328e-03 6.48198241e+00] [ 3.21300984e-02 9.99483691e-01 9.18203380e-05 1.98825436e-01] [ 2.24646112e-03 -1.64083840e-04 9.99997463e-01 2.15548803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.031400512999998 meters Centerline goodness [0,1] 0.9937346357169273 Centerline is valid? [True, True] Translation: X:6.51, Y:0.19, Z:0.02 [[ 9.99558363e-01 -2.95898590e-02 -2.74223605e-03 6.51085525e+00] [ 2.95902766e-02 9.99562106e-01 1.11840014e-04 1.90451434e-01] [ 2.73772591e-03 -1.92934145e-04 9.99996234e-01 2.10136241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.061400513 meters Centerline goodness [0,1] 0.9937346357169273 Centerline is valid? [True, True] Translation: X:6.54, Y:0.19, Z:0.02 [[ 9.99552934e-01 -2.97726625e-02 -2.74225135e-03 6.53838838e+00] [ 2.97730798e-02 9.99556677e-01 1.11464060e-04 1.89471098e-01] [ 2.73771707e-03 -1.93059496e-04 9.99996234e-01 2.10341910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.091400513 meters Centerline goodness [0,1] 0.9976923740510697 Centerline is valid? [True, True] Translation: X:6.57, Y:0.19, Z:0.02 [[ 9.99570559e-01 -2.92654905e-02 -1.49253927e-03 6.56761418e+00] [ 2.92656132e-02 9.99571668e-01 6.04732072e-05 1.91779238e-01] [ 1.49013019e-03 -1.04127314e-04 9.99998884e-01 2.26793801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.121400513 meters Centerline goodness [0,1] 0.9969463678981549 Centerline is valid? [True, True] Translation: X:6.60, Y:0.19, Z:0.02 [[ 9.99581552e-01 -2.89253206e-02 -2.16362840e-04 6.59674417e+00] [ 2.89253232e-02 9.99581575e-01 8.83485630e-06 1.92508144e-01] [ 2.16016758e-04 -1.50895245e-05 9.99999977e-01 2.43249721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.151400513 meters Centerline goodness [0,1] 0.9451051564001282 Centerline is valid? [True, False] Translation: X:6.60, Y:0.20, Z:0.02 [[ 9.99572639e-01 -2.92321926e-02 -1.35290463e-04 6.59614810e+00] [ 2.92320849e-02 9.99572378e-01 -7.39496311e-04 1.96019153e-01] [ 1.56849709e-04 7.35225457e-04 9.99999717e-01 2.49206946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.181400513 meters Centerline goodness [0,1] 0.9998293114852035 Centerline is valid? [False, True] Translation: X:6.60, Y:0.19, Z:0.02 [[ 9.99690870e-01 -2.48628421e-02 -5.88292748e-05 6.59583402e+00] [ 2.48628413e-02 9.99679616e-01 4.74387052e-03 1.89990022e-01] [-5.91356767e-05 -4.74386671e-03 9.99988746e-01 2.42410004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.211400513 meters Centerline goodness [0,1] 0.9967842901856536 Centerline is valid? [True, True] Translation: X:6.62, Y:0.18, Z:0.02 [[ 9.99675860e-01 -2.54512296e-02 6.39907678e-04 6.62446395e+00] [ 2.54482705e-02 9.99667017e-01 4.27093893e-03 1.80637229e-01] [-7.48395247e-04 -4.25327001e-03 9.99990675e-01 2.36902503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.241400513 meters Centerline goodness [0,1] 0.9882043996728228 Centerline is valid? [True, True] Translation: X:6.65, Y:0.18, Z:0.02 [[ 9.99639844e-01 -2.67874699e-02 1.61689522e-03 6.65449889e+00] [ 2.67876180e-02 9.99641145e-01 -7.00121534e-05 1.82417530e-01] [-1.61443954e-03 1.13299710e-04 9.99998690e-01 2.49245493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.271400513 meters Centerline goodness [0,1] 0.980951146818712 Centerline is valid? [True, True] Translation: X:6.69, Y:0.18, Z:0.03 [[ 9.99616975e-01 -2.75981891e-02 2.05989839e-03 6.68520238e+00] [ 2.75984312e-02 9.99619087e-01 -8.91951233e-05 1.81002432e-01] [-2.05665213e-03 1.46010923e-04 9.99997874e-01 2.54295956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.301400513 meters Centerline goodness [0,1] 0.8403843673416742 Centerline is valid? [True, False] Translation: X:6.69, Y:0.18, Z:0.03 [[ 9.99616274e-01 -2.76281741e-02 1.99740283e-03 6.68558516e+00] [ 2.76283390e-02 9.99618263e-01 -5.49763060e-05 1.80828853e-01] [-1.99512145e-03 1.10140133e-04 9.99998004e-01 2.50126064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.331400513 meters Centerline goodness [0,1] 0.9623959636034327 Centerline is valid? [False, True] Translation: X:6.69, Y:0.18, Z:0.02 [[ 9.99615688e-01 -2.76512950e-02 1.97049151e-03 6.68574671e+00] [ 2.76515343e-02 9.99617619e-01 -9.42771807e-05 1.81016546e-01] [-1.96713115e-03 1.48728062e-04 9.99998054e-01 2.48627588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.361400513 meters Centerline goodness [0,1] 0.7762454082619064 Centerline is valid? [True, False] Translation: X:6.68, Y:0.18, Z:0.02 [[ 9.99724250e-01 -2.33843891e-02 2.14338893e-03 6.68486115e+00] [ 2.33728177e-02 9.99712910e-01 5.27342936e-03 1.75403550e-01] [-2.26608950e-03 -5.22187818e-03 9.99983798e-01 2.47574286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.391400513 meters Centerline goodness [0,1] 0.8941442411194833 Centerline is valid? [False, False] Translation: X:6.68, Y:0.18, Z:0.03 [[ 9.99720510e-01 -2.35335376e-02 2.25254087e-03 6.68414782e+00] [ 2.35222053e-02 9.99711150e-01 4.93169218e-03 1.76959957e-01] [-2.36795039e-03 -4.87732910e-03 9.99985302e-01 2.54584236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.421400513 meters Centerline goodness [0,1] 0.8664389410760034 Centerline is valid? [False, False] Translation: X:6.70, Y:0.19, Z:0.03 [[ 9.99733006e-01 -2.27131739e-02 4.24610689e-03 6.69979703e+00] [ 2.27397057e-02 9.99721517e-01 -6.30827271e-03 1.85796622e-01] [-4.10164352e-03 6.40314366e-03 9.99971088e-01 2.99841319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.451400513 meters Centerline goodness [0,1] 0.8940664267086234 Centerline is valid? [False, False] Translation: X:6.70, Y:0.18, Z:0.03 [[ 9.99817981e-01 -1.84981433e-02 4.67155796e-03 6.69815634e+00] [ 1.85032172e-02 9.99828254e-01 -1.04525494e-03 1.80690680e-01] [-4.65142036e-03 1.13150353e-03 9.99988542e-01 3.00024079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.481400513 meters Centerline goodness [0,1] 0.9914637045361225 Centerline is valid? [False, True] Translation: X:6.70, Y:0.18, Z:0.03 [[ 9.99815226e-01 -1.86740074e-02 4.56012271e-03 6.69870820e+00] [ 1.86807736e-02 9.99824454e-01 -1.44570007e-03 1.82576326e-01] [-4.53232518e-03 1.53061956e-03 9.99988558e-01 2.96092236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.511400512999998 meters Centerline goodness [0,1] 0.8232554164351951 Centerline is valid? [True, False] Translation: X:6.70, Y:0.18, Z:0.03 [[ 9.99816690e-01 -1.86173771e-02 4.46993179e-03 6.69917752e+00] [ 1.86233543e-02 9.99825726e-01 -1.29930896e-03 1.81930629e-01] [-4.44496307e-03 1.38231591e-03 9.99989166e-01 2.92013842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.541400513 meters Centerline goodness [0,1] 0.9188187907898421 Centerline is valid? [False, False] Translation: X:6.70, Y:0.18, Z:0.03 [[ 9.99818204e-01 -1.85296913e-02 4.49553099e-03 6.69910773e+00] [ 1.85347559e-02 9.99827625e-01 -1.08754436e-03 1.80932688e-01] [-4.47460421e-03 1.17067022e-03 9.99989304e-01 2.91504099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.571400513 meters Centerline goodness [0,1] 0.7340361960047805 Centerline is valid? [False, False] Translation: X:6.70, Y:0.18, Z:0.03 [[ 9.99817494e-01 -1.85341113e-02 4.63309056e-03 6.69827575e+00] [ 1.85390416e-02 9.99827613e-01 -1.02346439e-03 1.80535072e-01] [-4.61332288e-03 1.10917066e-03 9.99988743e-01 2.99011464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.601400512999998 meters Centerline goodness [0,1] 0.7687781537599414 Centerline is valid? [False, False] Translation: X:6.70, Y:0.18, Z:0.03 [[ 9.99816323e-01 -1.85824924e-02 4.69167360e-03 6.69783193e+00] [ 1.85880007e-02 9.99826586e-01 -1.13320506e-03 1.81017007e-01] [-4.66980223e-03 1.22020575e-03 9.99988352e-01 3.04153242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.631400513 meters Centerline goodness [0,1] 0.974269789146215 Centerline is valid? [False, True] Translation: X:6.70, Y:0.18, Z:0.03 [[ 9.99817498e-01 -1.85315165e-02 4.64266982e-03 6.69800875e+00] [ 1.85363820e-02 9.99827679e-01 -1.00717584e-03 1.80440898e-01] [-4.62320529e-03 1.09305033e-03 9.99988716e-01 3.03733280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.661400513 meters Centerline goodness [0,1] 0.8287649351479138 Centerline is valid? [True, False] Translation: X:6.70, Y:0.18, Z:0.03 [[ 9.99820904e-01 -1.83901385e-02 4.46800805e-03 6.69900038e+00] [ 1.83931218e-02 9.99830635e-01 -6.27544873e-04 1.78732103e-01] [-4.45571069e-03 7.09613099e-04 9.99989821e-01 2.94777958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.691400512999998 meters Centerline goodness [0,1] 0.7257995644562107 Centerline is valid? [False, False] Translation: X:6.70, Y:0.18, Z:0.03 [[ 9.99819654e-01 -1.84708417e-02 4.41444489e-03 6.69932841e+00] [ 1.84746722e-02 9.99828985e-01 -8.28508492e-04 1.79694348e-01] [-4.39838670e-03 9.09914496e-04 9.99989913e-01 2.91575728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.721400513 meters Centerline goodness [0,1] 0.9998921460773529 Centerline is valid? [False, True] Translation: X:6.70, Y:0.18, Z:0.03 [[ 9.99813817e-01 -1.88096154e-02 4.30462609e-03 6.69976547e+00] [ 1.88170233e-02 9.99821521e-01 -1.68692086e-03 1.83748838e-01] [-4.27212747e-03 1.76760703e-03 9.99989312e-01 2.89939297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.751400513 meters Centerline goodness [0,1] 0.9078955849178214 Centerline is valid? [True, False] Translation: X:6.70, Y:0.18, Z:0.03 [[ 9.99888697e-01 -1.43266197e-02 4.16431271e-03 6.70030428e+00] [ 1.43112487e-02 9.99890751e-01 3.69778617e-03 1.78513684e-01] [-4.21683454e-03 -3.63777808e-03 9.99984492e-01 2.82055726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.781400512999998 meters Centerline goodness [0,1] 0.9942766364902507 Centerline is valid? [False, True] Translation: X:6.68, Y:0.19, Z:0.03 [[ 9.99920069e-01 -1.25490930e-02 -1.54169807e-03 6.67705301e+00] [ 1.25405854e-02 9.99906732e-01 -5.40936432e-03 1.88699427e-01] [ 1.60943690e-03 5.38959815e-03 9.99984181e-01 3.47128467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.811400513 meters Centerline goodness [0,1] 0.925116041391645 Centerline is valid? [True, False] Translation: X:6.72, Y:0.19, Z:0.03 [[ 9.99943978e-01 -1.05642820e-02 6.60795341e-04 6.72003625e+00] [ 1.05655721e-02 9.99942222e-01 -1.98024189e-03 1.85192515e-01] [-6.39837327e-04 1.98711264e-03 9.99997821e-01 3.31855594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.841400513 meters Centerline goodness [0,1] 0.9753980669909779 Centerline is valid? [False, True] Translation: X:6.72, Y:0.19, Z:0.03 [[ 9.99941742e-01 -1.07628410e-02 8.20721565e-04 6.71909698e+00] [ 1.07648302e-02 9.99939034e-01 -2.45916451e-03 1.87396550e-01] [-7.94203932e-04 2.46785617e-03 9.99996639e-01 3.40214189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.871400513 meters Centerline goodness [0,1] 0.8795656047172613 Centerline is valid? [True, False] Translation: X:6.72, Y:0.19, Z:0.03 [[ 9.99939640e-01 -1.09429725e-02 9.83874273e-04 6.71809615e+00] [ 1.09457611e-02 9.99935960e-01 -2.87502956e-03 1.89286264e-01] [-9.52349897e-04 2.88562528e-03 9.99995383e-01 3.49175208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.901400513 meters Centerline goodness [0,1] 0.9829934175029675 Centerline is valid? [False, True] Translation: X:6.68, Y:0.20, Z:0.04 [[ 9.99931824e-01 -1.15858847e-02 -1.45446055e-03 6.67567623e+00] [ 1.15771631e-02 9.99915764e-01 -5.86813717e-03 1.97512990e-01] [ 1.52232560e-03 5.85089857e-03 9.99981725e-01 3.62446351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.931400513 meters Centerline goodness [0,1] 0.9905133928571429 Centerline is valid? [True, True] Translation: X:6.71, Y:0.19, Z:0.03 [[ 9.99925201e-01 -1.20241330e-02 -2.23889860e-03 6.70530050e+00] [ 1.20244746e-02 9.99927694e-01 1.39179797e-04 1.92164160e-01] [ 2.23706319e-03 -1.66090965e-04 9.99997484e-01 3.47029690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.961400513 meters Centerline goodness [0,1] 0.9795675418280989 Centerline is valid? [True, True] Translation: X:6.73, Y:0.19, Z:0.03 [[ 9.99920118e-01 -1.23410212e-02 -2.73081141e-03 6.73362730e+00] [ 1.23415304e-02 9.99923826e-01 1.69703346e-04 1.89292033e-01] [ 2.72850908e-03 -2.03392182e-04 9.99996257e-01 3.38626937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.991400513 meters Centerline goodness [0,1] 0.9287699940124883 Centerline is valid? [True, False] Translation: X:6.76, Y:0.20, Z:0.03 [[ 9.99929233e-01 -1.17077029e-02 2.11145555e-03 6.75620216e+00] [ 1.17284913e-02 9.99880031e-01 -1.01176369e-02 2.00851562e-01] [-1.99274795e-03 1.01416851e-02 9.99946586e-01 2.85837890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.021400513 meters Centerline goodness [0,1] 0.9347476005410861 Centerline is valid? [False, False] Translation: X:6.75, Y:0.20, Z:0.03 [[ 9.99969642e-01 -7.39665978e-03 2.45041680e-03 6.75499291e+00] [ 7.40922843e-03 9.99959236e-01 -5.16044622e-03 1.97569774e-01] [-2.41214685e-03 5.17844525e-03 9.99983682e-01 2.84715219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.051400513 meters Centerline goodness [0,1] 0.9542045947117469 Centerline is valid? [False, True] Translation: X:6.75, Y:0.20, Z:0.03 [[ 9.99981091e-01 -5.31671749e-03 3.09023895e-03 6.74923312e+00] [ 5.32568717e-03 9.99981609e-01 -2.90163806e-03 1.96748916e-01] [-3.07475493e-03 2.91804084e-03 9.99991015e-01 3.24851217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.081400513 meters Centerline goodness [0,1] 0.8273270048537433 Centerline is valid? [True, False] Translation: X:6.75, Y:0.20, Z:0.03 [[ 9.99980975e-01 -5.39654448e-03 2.98789628e-03 6.74984220e+00] [ 5.40566691e-03 9.99980727e-01 -3.05351766e-03 1.97489475e-01] [-2.97136025e-03 3.06961114e-03 9.99990874e-01 3.18789487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.111400513 meters Centerline goodness [0,1] 0.9772732206038768 Centerline is valid? [False, True] Translation: X:6.71, Y:0.20, Z:0.03 [[ 9.99977899e-01 -6.57799168e-03 -9.65493119e-04 6.71444311e+00] [ 6.57235246e-03 9.99961973e-01 -5.73213209e-03 2.03405875e-01] [ 1.00316232e-03 5.72565984e-03 9.99983105e-01 2.81965153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.141400513 meters Centerline goodness [0,1] 0.8002765957446809 Centerline is valid? [True, False] Translation: X:6.76, Y:0.20, Z:0.03 [[ 9.99979667e-01 -6.20116577e-03 1.48726785e-03 6.75523545e+00] [ 6.20516142e-03 9.99977110e-01 -2.69717035e-03 1.97813462e-01] [-1.47050821e-03 2.70634425e-03 9.99995257e-01 2.73263010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.171400513 meters Centerline goodness [0,1] 0.765994016169075 Centerline is valid? [False, False] Translation: X:6.75, Y:0.20, Z:0.03 [[ 9.99978509e-01 -6.36803490e-03 1.55862032e-03 6.75468519e+00] [ 6.37278566e-03 9.99975005e-01 -3.06230159e-03 1.99466897e-01] [-1.53908052e-03 3.07216853e-03 9.99994096e-01 2.79554399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.201400513 meters Centerline goodness [0,1] 0.7482599850091016 Centerline is valid? [False, False] Translation: X:6.75, Y:0.20, Z:0.03 [[ 9.99975721e-01 -6.77160959e-03 1.64411974e-03 6.75394376e+00] [ 6.77825450e-03 9.99968744e-01 -4.07025869e-03 2.04153944e-01] [-1.61650614e-03 4.08130413e-03 9.99990365e-01 2.89733867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.231400513 meters Centerline goodness [0,1] 0.8250311727286176 Centerline is valid? [False, False] Translation: X:6.80, Y:0.20, Z:0.03 [[ 9.99978477e-01 -4.74634387e-03 4.52954873e-03 6.79507118e+00] [ 4.74437360e-03 9.99988646e-01 4.45628543e-04 1.98245837e-01] [-4.53161241e-03 -4.24129081e-04 9.99989642e-01 2.73111810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.261400512999998 meters Centerline goodness [0,1] 0.9570415919378256 Centerline is valid? [False, True] Translation: X:6.77, Y:0.21, Z:0.03 [[ 9.99996621e-01 -2.59400827e-03 -1.73011685e-04 6.77183220e+00] [ 2.59223145e-03 9.99950732e-01 -9.58192241e-03 2.10797929e-01] [ 1.97858748e-04 9.58144155e-03 9.99954077e-01 3.36777732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.291400513 meters Centerline goodness [0,1] 0.967261078483716 Centerline is valid? [True, True] Translation: X:6.80, Y:0.21, Z:0.03 [[ 9.99999254e-01 -4.15287125e-04 1.14829131e-03 6.80167279e+00] [ 4.15383876e-04 9.99999910e-01 -8.40194522e-05 2.05557994e-01] [-1.14825631e-03 8.44963712e-05 9.99999337e-01 3.41802018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.321400513 meters Centerline goodness [0,1] 0.996130779647901 Centerline is valid? [True, True] Translation: X:6.83, Y:0.21, Z:0.04 [[ 9.99998142e-01 1.38484937e-03 1.34060432e-03 6.83269228e+00] [-1.38471908e-03 9.99999036e-01 -9.81073462e-05 2.13456654e-01] [-1.34073889e-03 9.62508036e-05 9.99999097e-01 3.51822311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.351400512999998 meters Centerline goodness [0,1] 0.9966122640303405 Centerline is valid? [True, True] Translation: X:6.86, Y:0.22, Z:0.03 [[ 9.99996295e-01 2.71998569e-03 -1.11208009e-04 6.86320869e+00] [-2.71998481e-03 9.99996301e-01 8.10314239e-06 2.16376302e-01] [ 1.11229638e-04 -7.80062827e-06 9.99999994e-01 3.46191940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.381400513 meters Centerline goodness [0,1] 0.9980188739535181 Centerline is valid? [True, True] Translation: X:6.89, Y:0.22, Z:0.03 [[ 9.99996931e-01 1.83624504e-03 -1.66298067e-03 6.89384012e+00] [-1.83604515e-03 9.99998307e-01 1.21718404e-04 2.17235513e-01] [ 1.66320136e-03 -1.18664723e-04 9.99998610e-01 3.22404406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.411400513 meters Centerline goodness [0,1] 0.9847247268484142 Centerline is valid? [True, True] Translation: X:6.92, Y:0.21, Z:0.03 [[ 9.99996371e-01 -1.41685211e-04 -2.69038438e-03 6.92225994e+00] [ 1.42215535e-04 9.99999970e-01 1.96928189e-04 2.11430917e-01] [ 2.69035640e-03 -1.97310088e-04 9.99996362e-01 3.00710607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.441400512999998 meters Centerline goodness [0,1] 0.8657356076759062 Centerline is valid? [True, False] Translation: X:6.92, Y:0.21, Z:0.03 [[ 9.99996954e-01 -8.06262968e-04 -2.33268099e-03 6.92123499e+00] [ 8.06620328e-04 9.99999663e-01 1.52260307e-04 2.10631759e-01] [ 2.33255744e-03 -1.54141432e-04 9.99997268e-01 2.95545145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.471400513 meters Centerline goodness [0,1] 0.8776466017741135 Centerline is valid? [False, False] Translation: X:6.88, Y:0.22, Z:0.03 [[ 9.99984102e-01 -2.54248154e-03 -5.03309708e-03 6.87899928e+00] [ 2.52522343e-03 9.99990921e-01 -3.43231499e-03 2.16190746e-01] [ 5.04177798e-03 3.41955072e-03 9.99981443e-01 3.05419418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.501400513 meters Centerline goodness [0,1] 0.9900795347643889 Centerline is valid? [False, True] Translation: X:6.90, Y:0.21, Z:0.02 [[ 9.99983248e-01 -5.74491942e-03 7.07330809e-04 6.90055268e+00] [ 5.74158765e-03 9.99972819e-01 4.62555384e-03 2.07365604e-01] [-7.33885017e-04 -4.62141515e-03 9.99989052e-01 2.43585450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.531400512999998 meters Centerline goodness [0,1] 0.7810371134463714 Centerline is valid? [True, False] Translation: X:6.90, Y:0.21, Z:0.02 [[ 9.99983476e-01 -5.68880830e-03 8.27360197e-04 6.89991911e+00] [ 5.68471150e-03 9.99971971e-01 4.87246027e-03 2.06090939e-01] [-8.55055500e-04 -4.86767645e-03 9.99987787e-01 2.48683301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.561400513 meters Centerline goodness [0,1] 0.7256786845936456 Centerline is valid? [False, False] Translation: X:6.90, Y:0.21, Z:0.03 [[ 9.99983298e-01 -5.74333182e-03 6.46828013e-04 6.90028359e+00] [ 5.74021808e-03 9.99972399e-01 4.71700774e-03 2.06796444e-01] [-6.73901501e-04 -4.71321602e-03 9.99988666e-01 2.53782758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.591400513 meters Centerline goodness [0,1] 0.7578585036369934 Centerline is valid? [False, False] Translation: X:6.88, Y:0.21, Z:0.03 [[ 9.99993860e-01 -1.41185401e-03 -3.20732322e-03 6.87983130e+00] [ 1.40119321e-03 9.99993495e-01 -3.32371256e-03 2.13886043e-01] [ 3.21199496e-03 3.31919808e-03 9.99989333e-01 2.87352540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.621400513 meters Centerline goodness [0,1] 0.8462145952060789 Centerline is valid? [False, False] Translation: X:6.92, Y:0.21, Z:0.03 [[ 9.99999347e-01 1.13492682e-03 1.34122588e-04 6.91884164e+00] [-1.13501462e-03 9.99999140e-01 6.56349930e-04 2.09327846e-01] [-1.33377564e-04 -6.56501733e-04 9.99999776e-01 2.93025049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.651400513 meters Centerline goodness [0,1] 0.8997533512064343 Centerline is valid? [False, False] Translation: X:6.92, Y:0.21, Z:0.03 [[ 9.99984660e-01 5.52999663e-03 3.13000821e-04 6.91814425e+00] [-5.53152954e-03 9.99971547e-01 5.12905965e-03 2.08624758e-01] [-2.84628233e-04 -5.13071235e-03 9.99986797e-01 2.95913321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.681400513 meters Centerline goodness [0,1] 0.9995108256412438 Centerline is valid? [False, True] Translation: X:6.94, Y:0.21, Z:0.03 [[ 9.99878148e-01 1.55494356e-02 1.37994108e-03 6.93798880e+00] [-1.55543155e-02 9.99872547e-01 3.59901363e-03 2.12969324e-01] [-1.32380257e-03 -3.62003912e-03 9.99992571e-01 3.16788626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.711400513 meters Centerline goodness [0,1] 0.9998928050767516 Centerline is valid? [True, True] Translation: X:6.97, Y:0.22, Z:0.03 [[ 9.99786737e-01 2.06394705e-02 7.02129529e-04 6.96922222e+00] [-2.06394370e-02 9.99786983e-01 -5.48924419e-05 2.22258959e-01] [-7.03112914e-04 4.03891772e-05 9.99999752e-01 3.13504353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.741400513 meters Centerline goodness [0,1] 0.9998715450983751 Centerline is valid? [True, True] Translation: X:7.00, Y:0.23, Z:0.03 [[ 9.99609066e-01 2.79554760e-02 -4.53847510e-04 7.00001147e+00] [-2.79554627e-02 9.99609169e-01 3.55307185e-05 2.27180474e-01] [ 4.54663410e-04 -2.28293113e-05 9.99999896e-01 2.90162755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.771400513 meters Centerline goodness [0,1] 0.9999787960391001 Centerline is valid? [True, True] Translation: X:7.03, Y:0.22, Z:0.03 [[ 9.99554944e-01 2.98172810e-02 -9.18628765e-04 7.02841693e+00] [-2.98172274e-02 9.99555365e-01 7.19462409e-05 2.21618599e-01] [ 9.20365552e-04 -4.45232580e-05 9.99999575e-01 2.83469113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.801400513 meters Centerline goodness [0,1] 0.9999572256560515 Centerline is valid? [True, True] Translation: X:7.06, Y:0.23, Z:0.03 [[ 9.99537154e-01 3.03806873e-02 -1.57859011e-03 7.05804596e+00] [-3.03805298e-02 9.99538398e-01 1.23665490e-04 2.25304289e-01] [ 1.58161847e-03 -7.56498475e-05 9.99998746e-01 2.71675508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.831400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.09, Y:0.22, Z:0.03 [[ 9.99530397e-01 3.05917155e-02 -1.77000995e-03 7.08661678e+00] [-3.05915179e-02 9.99531960e-01 1.38612182e-04 2.24115906e-01] [ 1.77342190e-03 -8.43997977e-05 9.99998424e-01 2.70607993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.861400513 meters Centerline goodness [0,1] 0.9999786013866302 Centerline is valid? [True, True] Translation: X:7.11, Y:0.22, Z:0.03 [[ 9.99526937e-01 3.07549104e-02 1.94664107e-04 7.11395144e+00] [-3.07549080e-02 9.99526956e-01 -1.49525551e-05 2.18333352e-01] [-1.95031887e-04 8.95860488e-06 9.99999981e-01 3.09638196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.891400513 meters Centerline goodness [0,1] 0.9999575641841715 Centerline is valid? [True, True] Translation: X:7.14, Y:0.21, Z:0.04 [[ 9.99473904e-01 3.23961457e-02 1.55051013e-03 7.14111911e+00] [-3.23922485e-02 9.99472167e-01 -2.47584757e-03 2.12799871e-01] [-1.62989964e-03 2.42432053e-03 9.99995733e-01 3.52644198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.921400513 meters Centerline goodness [0,1] 0.9998300403654132 Centerline is valid? [True, True] Translation: X:7.17, Y:0.21, Z:0.04 [[ 9.99423488e-01 3.38248835e-02 2.92714010e-03 7.17074522e+00] [-3.38311817e-02 9.99425293e-01 2.12957112e-03 2.09773053e-01] [-2.85342535e-03 -2.22737201e-03 9.99993448e-01 3.65501349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.951400513 meters Centerline goodness [0,1] 0.9999784413064569 Centerline is valid? [True, True] Translation: X:7.20, Y:0.21, Z:0.04 [[ 9.99352770e-01 3.57969872e-02 3.55195118e-03 7.20128497e+00] [-3.57962279e-02 9.99359071e-01 -2.77149058e-04 2.13317305e-01] [-3.55959573e-03 1.49823225e-04 9.99993653e-01 3.72755761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.981400513 meters Centerline goodness [0,1] 0.9999784413064569 Centerline is valid? [True, True] Translation: X:7.23, Y:0.21, Z:0.04 [[ 9.99353602e-01 3.57737552e-02 3.55196165e-03 7.23038757e+00] [-3.57729961e-02 9.99359903e-01 -2.77014822e-04 2.11084369e-01] [-3.55959791e-03 1.49771449e-04 9.99993653e-01 3.74054275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.011400512999998 meters Centerline goodness [0,1] 0.9999784584895093 Centerline is valid? [True, True] Translation: X:7.26, Y:0.21, Z:0.04 [[ 9.99063188e-01 4.31575253e-02 3.18974924e-03 7.26075866e+00] [-4.31569515e-02 9.99068274e-01 -2.48534433e-04 2.14292967e-01] [-3.19750340e-03 1.10641750e-04 9.99994882e-01 3.54989278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.041400513 meters Centerline goodness [0,1] 0.999957211013885 Centerline is valid? [True, True] Translation: X:7.29, Y:0.21, Z:0.04 [[ 9.98881601e-01 4.72083207e-02 2.63072167e-03 7.28926163e+00] [-4.72079439e-02 9.98885062e-01 -2.05178615e-04 2.11088095e-01] [-2.63747472e-03 8.07581820e-05 9.99996519e-01 3.54891301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.071400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.32, Y:0.22, Z:0.03 [[ 9.98634470e-01 5.21855108e-02 2.42231417e-03 7.32004041e+00] [-5.21821420e-02 9.98636555e-01 -1.43375370e-03 2.15373490e-01] [-2.49383265e-03 1.30539432e-03 9.99996038e-01 3.45750192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.101400512999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.35, Y:0.22, Z:0.03 [[ 9.98210978e-01 5.97858142e-02 7.06626274e-04 7.35127413e+00] [-5.97865255e-02 9.98210652e-01 1.03231770e-03 2.20680526e-01] [-6.43643920e-04 -1.07271759e-03 9.99999217e-01 3.30940257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.131400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.38, Y:0.22, Z:0.03 [[ 9.97985797e-01 6.34327728e-02 7.94783894e-04 7.37971489e+00] [-6.34327438e-02 9.97986114e-01 -6.17326417e-05 2.20547661e-01] [-7.97099162e-04 1.11929765e-05 9.99999682e-01 3.46201327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.161400513 meters Centerline goodness [0,1] 0.9998303035445347 Centerline is valid? [True, True] Translation: X:7.41, Y:0.22, Z:0.04 [[ 9.97770446e-01 6.67305526e-02 1.08161207e-03 7.40726946e+00] [-6.67305008e-02 9.97771032e-01 -8.39798931e-05 2.20220563e-01] [-1.08480522e-03 1.16161404e-05 9.99999412e-01 3.57696478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.191400512999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.44, Y:0.22, Z:0.04 [[ 9.97644530e-01 6.85793494e-02 1.50488547e-03 7.43584917e+00] [-6.85792511e-02 9.97645665e-01 -1.16935863e-04 2.19375892e-01] [-1.50936185e-03 1.34565061e-05 9.99998861e-01 3.59233165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.221400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.46, Y:0.22, Z:0.04 [[ 9.97442527e-01 7.14475979e-02 1.90959172e-03 7.46393577e+00] [-7.14474450e-02 9.97444355e-01 -1.48277664e-04 2.18668841e-01] [-1.91530556e-03 1.14629986e-05 9.99998166e-01 3.59257415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.251400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.49, Y:0.22, Z:0.04 [[ 9.97254178e-01 7.39864698e-02 3.17910676e-03 7.49204447e+00] [-7.39891212e-02 9.97258785e-01 7.24502638e-04 2.15633223e-01] [-3.11678876e-03 -9.57732598e-04 9.99994684e-01 3.51333880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.281400512999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.52, Y:0.21, Z:0.03 [[ 9.97231307e-01 7.43550848e-02 1.02098129e-03 7.52242255e+00] [-7.43540376e-02 9.97231378e-01 -1.02800192e-03 2.14732616e-01] [-1.09459174e-03 9.49241620e-04 9.99998950e-01 3.37634526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.311400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.55, Y:0.21, Z:0.03 [[ 9.96999197e-01 7.74118301e-02 9.76710763e-05 7.55151878e+00] [-7.74118297e-02 9.96999202e-01 -7.36248697e-06 2.11698187e-01] [-9.79479288e-05 -2.20503127e-07 9.99999995e-01 3.23778904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.341400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.58, Y:0.21, Z:0.03 [[ 9.96793067e-01 7.99890977e-02 2.30771309e-03 7.57793180e+00] [-7.99927736e-02 9.96794243e-01 1.54699325e-03 2.09398413e-01] [-2.17657253e-03 -1.72663252e-03 9.99996141e-01 3.38944515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.371400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.61, Y:0.21, Z:0.03 [[ 9.96718096e-01 8.09468232e-02 8.05800155e-04 7.60707205e+00] [-8.09452799e-02 9.96716935e-01 -1.79230724e-03 2.10535027e-01] [-9.48236239e-04 1.72119934e-03 9.99998069e-01 3.42511136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.401400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.64, Y:0.21, Z:0.03 [[ 9.96380513e-01 8.50037236e-02 4.91175389e-04 7.63521789e+00] [-8.50037154e-02 9.96380634e-01 -3.77272362e-05 2.08234006e-01] [-4.92604601e-04 -4.16104995e-06 9.99999879e-01 3.36715432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.431400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.66, Y:0.21, Z:0.03 [[ 9.96195028e-01 8.71518850e-02 1.24985242e-04 7.66426010e+00] [-8.71518845e-02 9.96195036e-01 -9.43989445e-06 2.05235199e-01] [-1.25332382e-04 -1.48872344e-06 9.99999992e-01 3.21287457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.461400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.69, Y:0.21, Z:0.03 [[ 9.95782744e-01 9.17422757e-02 2.85947002e-04 7.69311692e+00] [-9.17422732e-02 9.95782785e-01 -2.19274070e-05 2.10895547e-01] [-2.86752772e-04 -4.39849446e-06 9.99999959e-01 3.43063385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.491400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.72, Y:0.21, Z:0.03 [[ 9.95604630e-01 9.36507163e-02 9.82016361e-04 7.72178853e+00] [-9.36506872e-02 9.95605114e-01 -7.56079092e-05 2.06484750e-01] [-9.84781245e-04 -1.66909226e-05 9.99999515e-01 3.37838021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.521400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.75, Y:0.21, Z:0.03 [[ 9.95421883e-01 9.55657624e-02 1.56846345e-03 7.74997847e+00] [-9.55656910e-02 9.95423118e-01 -1.20561080e-04 2.06423847e-01] [-1.57280629e-03 -2.98821562e-05 9.99998763e-01 3.44770689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.551400513 meters Centerline goodness [0,1] 0.9999783937946979 Centerline is valid? [True, True] Translation: X:7.78, Y:0.20, Z:0.03 [[ 9.95267174e-01 9.71658018e-02 1.43528896e-03 7.77847579e+00] [-9.71657436e-02 9.95268208e-01 -1.10409796e-04 2.04537343e-01] [-1.43922553e-03 -2.95736732e-05 9.99998964e-01 3.39152320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.581400513 meters Centerline goodness [0,1] 0.9999784710112166 Centerline is valid? [True, True] Translation: X:7.81, Y:0.21, Z:0.03 [[ 9.94909098e-01 1.00773930e-01 -7.08350817e-04 7.80772049e+00] [-1.00773916e-01 9.94909350e-01 5.47323486e-05 2.05703334e-01] [ 7.10260444e-04 1.69295742e-05 9.99999748e-01 3.04297235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.611400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.84, Y:0.20, Z:0.03 [[ 9.94740891e-01 1.02412089e-01 -1.52426257e-03 7.83685033e+00] [-1.02412029e-01 9.94742058e-01 1.17573212e-04 2.03974260e-01] [ 1.52828901e-03 3.91479417e-05 9.99998831e-01 2.93138840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.641400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.87, Y:0.20, Z:0.03 [[ 9.94578228e-01 1.03981171e-01 -1.43660122e-03 7.86568406e+00] [-1.03981119e-01 9.94579265e-01 1.10753053e-04 2.02826996e-01] [ 1.44033002e-03 3.92268276e-05 9.99998962e-01 2.97989931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.671400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.90, Y:0.20, Z:0.03 [[ 9.94263803e-01 1.06955466e-01 -1.35017813e-04 7.89501411e+00] [-1.06955466e-01 9.94263812e-01 1.04966579e-05 2.00172634e-01] [ 1.35366001e-04 4.00444607e-06 9.99999991e-01 3.22954864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.701400513 meters Centerline goodness [0,1] 0.9999784101213351 Centerline is valid? [True, True] Translation: X:7.92, Y:0.20, Z:0.03 [[ 9.94107866e-01 1.08395006e-01 2.69790465e-04 7.92249604e+00] [-1.08395005e-01 9.94107903e-01 -2.03963279e-05 2.00179415e-01] [-2.70411693e-04 -8.96778864e-06 9.99999963e-01 3.34236414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.731400513 meters Centerline goodness [0,1] 0.9999786160294244 Centerline is valid? [True, True] Translation: X:7.95, Y:0.20, Z:0.03 [[ 9.93879601e-01 1.10468422e-01 2.57091304e-04 7.95063567e+00] [-1.10468420e-01 9.93879634e-01 -1.95252284e-05 2.00030623e-01] [-2.57674732e-04 -8.99474406e-06 9.99999967e-01 3.37640927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.761400512999998 meters Centerline goodness [0,1] 0.9999571017974347 Centerline is valid? [True, True] Translation: X:7.98, Y:0.20, Z:0.03 [[ 9.93594086e-01 1.13007900e-01 8.62263038e-05 7.98054078e+00] [-1.13007900e-01 9.93594089e-01 -6.51095732e-06 1.98772751e-01] [-8.64097354e-05 -3.27500484e-06 9.99999996e-01 3.37684612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.791400513 meters Centerline goodness [0,1] 0.9997869121438769 Centerline is valid? [True, True] Translation: X:8.01, Y:0.20, Z:0.03 [[ 9.92924779e-01 1.18744995e-01 -9.71901971e-05 8.01035258e+00] [-1.18744994e-01 9.92924784e-01 7.46954028e-06 2.03303648e-01] [ 9.73895259e-05 4.12415778e-06 9.99999995e-01 3.41240073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.821400513 meters Centerline goodness [0,1] 0.9968196081757272 Centerline is valid? [True, True] Translation: X:8.04, Y:0.21, Z:0.04 [[ 9.92523702e-01 1.22052035e-01 -4.33268710e-05 8.03979307e+00] [-1.22052035e-01 9.92523703e-01 3.43104619e-06 2.09550736e-01] [ 4.34217126e-05 1.88273811e-06 9.99999999e-01 3.51856849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.851400512999998 meters Centerline goodness [0,1] 0.987910994431859 Centerline is valid? [True, True] Translation: X:8.07, Y:0.21, Z:0.04 [[ 9.91910846e-01 1.26931401e-01 1.13746081e-03 8.07026243e+00] [-1.26931384e-01 9.91911496e-01 -8.72936929e-05 2.11037774e-01] [-1.13934077e-03 -5.77919149e-05 9.99999349e-01 3.63361403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.881400513 meters Centerline goodness [0,1] 0.9931095178809084 Centerline is valid? [True, True] Translation: X:8.10, Y:0.21, Z:0.03 [[ 9.91655815e-01 1.28913685e-01 8.33617786e-05 8.09985718e+00] [-1.28913685e-01 9.91655818e-01 -6.28584853e-06 2.08076865e-01] [-8.34765246e-05 -4.51307581e-06 9.99999997e-01 3.42692160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.911400513 meters Centerline goodness [0,1] 0.9795589140540426 Centerline is valid? [True, True] Translation: X:8.13, Y:0.21, Z:0.03 [[ 9.91504985e-01 1.30057526e-01 -1.70445413e-03 8.12823845e+00] [-1.30057493e-01 9.91506445e-01 1.30895585e-04 2.10427893e-01] [ 1.70700122e-03 9.18934066e-05 9.99998539e-01 3.15610307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.941400512999998 meters Centerline goodness [0,1] 0.989465619613101 Centerline is valid? [True, True] Translation: X:8.16, Y:0.21, Z:0.03 [[ 9.91548946e-01 1.29679264e-01 -3.73855115e-03 8.15742522e+00] [-1.29679102e-01 9.91555973e-01 2.86743221e-04 2.08407166e-01] [ 3.74416738e-03 2.00492016e-04 9.99992970e-01 2.85417909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.971400513 meters Centerline goodness [0,1] 0.9262872743434001 Centerline is valid? [True, False] Translation: X:8.16, Y:0.21, Z:0.03 [[ 9.92133850e-01 1.25112300e-01 -4.16359689e-03 8.15680553e+00] [-1.25133105e-01 9.92126440e-01 -5.18013339e-03 2.14183055e-01] [ 3.48271615e-03 5.66038949e-03 9.99977915e-01 2.93281012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.001400513 meters Centerline goodness [0,1] 0.9862981885740827 Centerline is valid? [False, True] Translation: X:8.16, Y:0.21, Z:0.03 [[ 9.92105518e-01 1.25343556e-01 -3.95392114e-03 8.15553296e+00] [-1.25361154e-01 9.92100647e-01 -4.57019255e-03 2.11254183e-01] [ 3.34984354e-03 5.02978136e-03 9.99981740e-01 3.02634590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.031400512999998 meters Centerline goodness [0,1] 0.9992485561543251 Centerline is valid? [True, True] Translation: X:8.18, Y:0.19, Z:0.03 [[ 9.92435004e-01 1.22754238e-01 -2.03978583e-03 8.18434755e+00] [-1.22754184e-01 9.92437095e-01 1.51744390e-04 1.92473551e-01] [ 2.04298639e-03 9.97958015e-05 9.99997908e-01 3.27052617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.061400513 meters Centerline goodness [0,1] 0.9997191314680782 Centerline is valid? [True, True] Translation: X:8.21, Y:0.19, Z:0.03 [[ 9.92541983e-01 1.21885326e-01 -2.09263096e-03 8.21285376e+00] [-1.21885268e-01 9.92544184e-01 1.55903433e-04 1.85743347e-01] [ 2.09603103e-03 1.00320183e-04 9.99997798e-01 3.26944521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.091400513 meters Centerline goodness [0,1] 0.998092169415356 Centerline is valid? [True, True] Translation: X:8.24, Y:0.18, Z:0.03 [[ 9.92593681e-01 1.21473300e-01 -1.42191641e-03 8.24025039e+00] [-1.21473272e-01 9.92594697e-01 1.06193579e-04 1.84139644e-01] [ 1.42428637e-03 6.73177636e-05 9.99998983e-01 3.42985318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.121400512999998 meters Centerline goodness [0,1] 0.9428776492442793 Centerline is valid? [True, False] Translation: X:8.24, Y:0.19, Z:0.04 [[ 9.93020004e-01 1.17937776e-01 -1.39702496e-03 8.23826800e+00] [-1.17942716e-01 9.93011336e-01 -4.24283067e-03 1.85557635e-01] [ 8.86871613e-04 4.37798465e-03 9.99990023e-01 3.51459185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.151400513 meters Centerline goodness [0,1] 0.9806299513624875 Centerline is valid? [False, True] Translation: X:8.24, Y:0.18, Z:0.03 [[ 9.93002433e-01 1.18086495e-01 -1.32197176e-03 8.23803969e+00] [-1.18090851e-01 9.92994991e-01 -3.93695176e-03 1.84118280e-01] [ 8.47810500e-04 4.06551544e-03 9.99991376e-01 3.49950043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.181400513 meters Centerline goodness [0,1] 0.9843116441991296 Centerline is valid? [True, True] Translation: X:8.27, Y:0.18, Z:0.03 [[ 9.92790610e-01 1.19842959e-01 -2.11403634e-03 8.26666554e+00] [-1.19842927e-01 9.92792855e-01 1.42215792e-04 1.77167367e-01] [ 2.11584373e-03 1.12161800e-04 9.99997755e-01 3.24050347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.211400513 meters Centerline goodness [0,1] 0.9883861758726589 Centerline is valid? [True, True] Translation: X:8.30, Y:0.17, Z:0.03 [[ 9.92486037e-01 1.22280851e-01 -4.34279620e-03 8.29694922e+00] [-1.22280742e-01 9.92495509e-01 2.91586739e-04 1.70014505e-01] [ 4.34586120e-03 2.41644573e-04 9.99990528e-01 2.87871094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.241400513 meters Centerline goodness [0,1] 0.9735072301841388 Centerline is valid? [True, True] Translation: X:8.33, Y:0.17, Z:0.03 [[ 9.92322315e-01 1.23586203e-01 -4.78266337e-03 8.32579581e+00] [-1.23586085e-01 9.92333803e-01 3.21223014e-04 1.68185495e-01] [ 4.78569726e-03 2.72313877e-04 9.99988511e-01 2.83858988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.271400513 meters Centerline goodness [0,1] 0.8973574645254482 Centerline is valid? [True, False] Translation: X:8.33, Y:0.17, Z:0.03 [[ 9.92311543e-01 1.23674385e-01 -4.73789357e-03 8.32568416e+00] [-1.23673720e-01 9.92322842e-01 4.34196915e-04 1.67686338e-01] [ 4.75521905e-03 1.55094314e-04 9.99988682e-01 2.82493048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.301400513 meters Centerline goodness [0,1] 0.8136237237046 Centerline is valid? [False, False] Translation: X:8.32, Y:0.17, Z:0.03 [[ 9.92677057e-01 1.20720724e-01 -4.33211835e-03 8.32218250e+00] [-1.20737622e-01 9.92676885e-01 -3.87679120e-03 1.70828231e-01] [ 3.83238470e-03 4.37145135e-03 9.99983101e-01 2.97737911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.331400513 meters Centerline goodness [0,1] 0.8372305017913548 Centerline is valid? [False, False] Translation: X:8.32, Y:0.17, Z:0.03 [[ 9.93149639e-01 1.16764551e-01 -4.45352725e-03 8.32080460e+00] [-1.16800051e-01 9.93116616e-01 -8.78260549e-03 1.74540127e-01] [ 3.39737493e-03 9.24261368e-03 9.99951515e-01 3.03511895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.361400513 meters Centerline goodness [0,1] 0.7586763176328246 Centerline is valid? [False, False] Translation: X:8.32, Y:0.17, Z:0.03 [[ 9.93108030e-01 1.17123544e-01 -4.30299961e-03 8.32017782e+00] [-1.17154959e-01 9.93081688e-01 -7.96725090e-03 1.70698354e-01] [ 3.34007745e-03 8.41645859e-03 9.99959003e-01 3.03555182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.391400513 meters Centerline goodness [0,1] 0.7712821607771966 Centerline is valid? [False, False] Translation: X:8.32, Y:0.17, Z:0.03 [[ 9.93066511e-01 1.17477386e-01 -4.23881602e-03 8.31997259e+00] [-1.17505357e-01 9.93046890e-01 -7.09680429e-03 1.66595061e-01] [ 3.37562906e-03 7.54568227e-03 9.99965833e-01 3.00838373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.421400513 meters Centerline goodness [0,1] 0.9615284918131939 Centerline is valid? [False, True] Translation: X:8.30, Y:0.16, Z:0.03 [[ 9.93581359e-01 1.12737772e-01 -9.28860859e-03 8.29951214e+00] [-1.12742012e-01 9.93624292e-01 6.76082318e-05 1.55591009e-01] [ 9.23700914e-03 9.80042141e-04 9.99956858e-01 3.31657512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.451400513 meters Centerline goodness [0,1] 0.9889819587628866 Centerline is valid? [True, True] Translation: X:8.33, Y:0.14, Z:0.03 [[ 9.93836047e-01 1.10404911e-01 -1.00333314e-02 8.32903429e+00] [-1.10404856e-01 9.93886539e-01 5.61024877e-04 1.44370807e-01] [ 1.00339329e-02 5.50161758e-04 9.99949507e-01 3.17552853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.481400513 meters Centerline goodness [0,1] 0.9965019398333651 Centerline is valid? [True, True] Translation: X:8.36, Y:0.13, Z:0.03 [[ 9.94384085e-01 1.05475344e-01 -8.67431190e-03 8.35708175e+00] [-1.05475116e-01 9.94421824e-01 4.85054926e-04 1.26665433e-01] [ 8.67708640e-03 4.32593155e-04 9.99962260e-01 3.42155805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.511400512999998 meters Centerline goodness [0,1] 0.9829258010118044 Centerline is valid? [True, True] Translation: X:8.39, Y:0.12, Z:0.04 [[ 9.94609859e-01 1.03468821e-01 -6.74023617e-03 8.38559384e+00] [-1.03468638e-01 9.94632645e-01 3.76779755e-04 1.22870209e-01] [ 6.74304389e-03 3.22654196e-04 9.99977213e-01 3.89641970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.541400513 meters Centerline goodness [0,1] 0.9938007285741676 Centerline is valid? [True, True] Translation: X:8.41, Y:0.12, Z:0.04 [[ 9.94678092e-01 1.02835447e-01 -6.35323430e-03 8.41413989e+00] [-1.02835271e-01 9.94698337e-01 3.55124925e-04 1.15290470e-01] [ 6.35607102e-03 3.00101589e-04 9.99979755e-01 4.03219060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.571400513 meters Centerline goodness [0,1] 0.9986151059976563 Centerline is valid? [True, True] Translation: X:8.44, Y:0.10, Z:0.04 [[ 9.94461302e-01 1.04830420e-01 -7.56985315e-03 8.44299777e+00] [-1.04830233e-01 9.94490042e-01 4.22506767e-04 1.02747710e-01] [ 7.57243514e-03 3.73382842e-04 9.99971259e-01 3.74582763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.601400512999998 meters Centerline goodness [0,1] 0.9966741765904946 Centerline is valid? [True, True] Translation: X:8.47, Y:0.10, Z:0.04 [[ 9.94279164e-01 1.06460086e-01 -8.67149200e-03 8.47179570e+00] [-1.06459904e-01 9.94316878e-01 4.83884055e-04 9.73462836e-02] [ 8.67372520e-03 4.42050375e-04 9.99962285e-01 3.57301940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.631400513 meters Centerline goodness [0,1] 0.9711970627334304 Centerline is valid? [True, True] Translation: X:8.50, Y:0.10, Z:0.04 [[ 9.94069021e-01 1.08332680e-01 -9.52958454e-03 8.50034971e+00] [-1.08332551e-01 9.94114569e-01 5.31244139e-04 9.82894025e-02] [ 9.53104993e-03 5.04270859e-04 9.99954451e-01 3.56942662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.661400513 meters Centerline goodness [0,1] 0.9748909906683799 Centerline is valid? [True, True] Translation: X:8.53, Y:0.09, Z:0.04 [[ 9.93704589e-01 1.11578041e-01 -1.00761943e-02 8.53063120e+00] [-1.11578071e-01 9.93755513e-01 5.60896332e-04 9.18454622e-02] [ 1.00758573e-02 5.66917063e-04 9.99949077e-01 3.55826114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.691400512999998 meters Centerline goodness [0,1] 0.9715654952076678 Centerline is valid? [True, True] Translation: X:8.56, Y:0.09, Z:0.04 [[ 9.93592020e-01 1.12561234e-01 -1.02404596e-02 8.56033894e+00] [-1.12561317e-01 9.93644617e-01 5.70087819e-04 8.79618103e-02] [ 1.02395474e-02 5.86244916e-04 9.99947403e-01 3.54376370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.721400513 meters Centerline goodness [0,1] 0.9819149618418521 Centerline is valid? [True, True] Translation: X:8.59, Y:0.08, Z:0.03 [[ 9.93516096e-01 1.13143322e-01 -1.11514926e-02 8.58835856e+00] [-1.13143459e-01 9.93578468e-01 6.20621676e-04 8.13314899e-02] [ 1.11501021e-02 6.45120816e-04 9.99937628e-01 3.41590962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.751400513 meters Centerline goodness [0,1] 0.9765509053131493 Centerline is valid? [True, True] Translation: X:8.61, Y:0.07, Z:0.03 [[ 9.93486494e-01 1.13166689e-01 -1.33374187e-02 8.61475253e+00] [-1.13166900e-01 9.93575716e-01 7.41349558e-04 7.48057422e-02] [ 1.33356314e-02 7.72833552e-04 9.99910778e-01 3.09609117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.781400512999998 meters Centerline goodness [0,1] 0.966702059885326 Centerline is valid? [True, True] Translation: X:8.64, Y:0.07, Z:0.03 [[ 9.93443224e-01 1.13480335e-01 -1.38842857e-02 8.64234285e+00] [-1.13480610e-01 9.93539912e-01 7.70561070e-04 7.25200187e-02] [ 1.38820355e-02 8.10088533e-04 9.99903312e-01 3.06930942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.811400513 meters Centerline goodness [0,1] 0.9911693187150719 Centerline is valid? [True, True] Translation: X:8.67, Y:0.06, Z:0.03 [[ 9.93355124e-01 1.14261331e-01 -1.37820468e-02 8.67087831e+00] [-1.14261688e-01 9.93450393e-01 7.64104480e-04 6.45114061e-02] [ 1.37790874e-02 8.15732828e-04 9.99904731e-01 3.15621953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.841400513 meters Centerline goodness [0,1] 0.9810382011915184 Centerline is valid? [True, True] Translation: X:8.70, Y:0.06, Z:0.03 [[ 9.93059897e-01 1.16913383e-01 -1.27789678e-02 8.70041435e+00] [-1.16913916e-01 9.93141800e-01 7.07890323e-04 5.69478416e-02] [ 1.27740889e-02 7.91061669e-04 9.99918095e-01 3.34060389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.871400512999998 meters Centerline goodness [0,1] 0.9810382011915184 Centerline is valid? [True, True] Translation: X:8.73, Y:0.06, Z:0.03 [[ 9.93068136e-01 1.16843375e-01 -1.27789690e-02 8.72791865e+00] [-1.16843903e-01 9.93150040e-01 7.07868343e-04 5.55465591e-02] [ 1.27741433e-02 7.90183115e-04 9.99918095e-01 3.37954543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.901400513 meters Centerline goodness [0,1] 0.8447079788701021 Centerline is valid? [True, False] Translation: X:8.73, Y:0.06, Z:0.03 [[ 9.93520196e-01 1.12906993e-01 -1.30242737e-02 8.72734173e+00] [-1.12968630e-01 9.93590114e-01 -4.09568406e-03 5.87806316e-02] [ 1.24783582e-02 5.54047919e-03 9.99906792e-01 3.35647835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.931400513 meters Centerline goodness [0,1] 0.9744105008871882 Centerline is valid? [False, True] Translation: X:8.73, Y:0.06, Z:0.03 [[ 9.93499990e-01 1.13086155e-01 -1.30111891e-02 8.72761073e+00] [-1.13142990e-01 9.93571767e-01 -3.71597704e-03 5.69653274e-02] [ 1.25073246e-02 5.16394799e-03 9.99908446e-01 3.28478615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.961400513 meters Centerline goodness [0,1] 0.9229625854673631 Centerline is valid? [True, False] Translation: X:8.73, Y:0.06, Z:0.03 [[ 0.99395281 0.10896753 -0.01356022 8.72844446] [-0.10909431 0.99399077 -0.00898773 0.06254075] [ 0.01249936 0.01041272 0.99986766 0.03204717] [ 0. 0. 0. 1. ]] SLAMing on 21.991400513 meters Centerline goodness [0,1] 0.7905369597015242 Centerline is valid? [False, False] Translation: X:8.73, Y:0.06, Z:0.03 [[ 9.93903397e-01 1.09426009e-01 -1.34901978e-02 8.72818539e+00] [-1.09540237e-01 9.93949853e-01 -8.03904105e-03 5.80918745e-02] [ 1.25288999e-02 9.46774968e-03 9.99876687e-01 3.18120017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.021400513 meters Centerline goodness [0,1] 0.8972808381065945 Centerline is valid? [False, False] Translation: X:8.73, Y:0.05, Z:0.03 [[ 9.93864529e-01 1.09791456e-01 -1.33840867e-02 8.72776382e+00] [-1.09894934e-01 9.93916725e-01 -7.25583196e-03 5.44159010e-02] [ 1.25060393e-02 8.68215734e-03 9.99884103e-01 3.17200766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.051400513 meters Centerline goodness [0,1] 0.8914512837952729 Centerline is valid? [False, False] Translation: X:8.73, Y:0.05, Z:0.03 [[ 9.93837423e-01 1.10042222e-01 -1.33373554e-02 8.72773664e+00] [-1.10138580e-01 9.93893542e-01 -6.71710246e-03 5.18571999e-02] [ 1.25167465e-02 8.14466518e-03 9.99888492e-01 3.13191491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.081400513 meters Centerline goodness [0,1] 0.840617617279784 Centerline is valid? [False, False] Translation: X:8.73, Y:0.05, Z:0.03 [[ 9.93809761e-01 1.10290391e-01 -1.33487157e-02 8.72813283e+00] [-1.10381675e-01 9.93869278e-01 -6.30432845e-03 4.99138897e-02] [ 1.25715716e-02 7.73875675e-03 9.99891028e-01 3.05079715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.111400513 meters Centerline goodness [0,1] 0.7764918397781932 Centerline is valid? [False, False] Translation: X:8.73, Y:0.05, Z:0.03 [[ 9.93786964e-01 1.10505625e-01 -1.32656456e-02 8.72771004e+00] [-1.10590762e-01 9.93848733e-01 -5.86340099e-03 4.78470416e-02] [ 1.25361063e-02 7.29402932e-03 9.99894816e-01 3.06379228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.141400513 meters Centerline goodness [0,1] 0.8790197782629894 Centerline is valid? [False, False] Translation: X:8.73, Y:0.04, Z:0.03 [[ 9.93753647e-01 1.10821480e-01 -1.31258733e-02 8.72702269e+00] [-1.10897300e-01 9.93818297e-01 -5.19444699e-03 4.47135410e-02] [ 1.24690767e-02 6.61762455e-03 9.99900360e-01 3.08545372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.171400513 meters Centerline goodness [0,1] 0.7783080904501294 Centerline is valid? [False, False] Translation: X:8.72, Y:0.04, Z:0.04 [[ 9.93954884e-01 1.09072427e-01 -1.25257307e-02 8.72008885e+00] [-1.09164631e-01 9.93999542e-01 -6.92775092e-03 4.18027170e-02] [ 1.16949439e-02 8.25323863e-03 9.99897551e-01 3.53383956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.201400513 meters Centerline goodness [0,1] 0.8030974393932938 Centerline is valid? [False, False] Translation: X:8.72, Y:0.04, Z:0.04 [[ 9.93920184e-01 1.09397321e-01 -1.24456297e-02 8.71963886e+00] [-1.09480630e-01 9.93969469e-01 -6.21985087e-03 3.85011693e-02] [ 1.16901410e-02 7.54459070e-03 9.99903205e-01 3.54996020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.231400513 meters Centerline goodness [0,1] 0.7085775962413494 Centerline is valid? [False, False] Translation: X:8.72, Y:0.03, Z:0.04 [[ 9.93838154e-01 1.10156226e-01 -1.23015870e-02 8.71884234e+00] [-1.10218862e-01 9.93897002e-01 -4.53342894e-03 3.05533018e-02] [ 1.17271250e-02 5.86136158e-03 9.99914056e-01 3.56702200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.261400512999998 meters Centerline goodness [0,1] 0.7744403934203832 Centerline is valid? [False, False] Translation: X:8.72, Y:0.03, Z:0.04 [[ 0.99429247 0.10597091 -0.01235533 8.71761462] [-0.10608932 0.99431258 -0.00935636 0.0334585 ] [ 0.01129355 0.01061372 0.9998799 0.03561854] [ 0. 0. 0. 1. ]] SLAMing on 22.291400513 meters Centerline goodness [0,1] 0.7177904972657829 Centerline is valid? [False, False] Translation: X:8.72, Y:0.03, Z:0.04 [[ 9.94253110e-01 1.06351287e-01 -1.22538955e-02 8.71691581e+00] [-1.06459272e-01 9.94280528e-01 -8.52374976e-03 2.95852781e-02] [ 1.12772980e-02 9.77930551e-03 9.99888588e-01 3.60813521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.321400513 meters Centerline goodness [0,1] 0.777456281152319 Centerline is valid? [False, False] Translation: X:8.72, Y:0.03, Z:0.04 [[ 9.94215219e-01 1.06717125e-01 -1.21471573e-02 8.71625404e+00] [-1.06815674e-01 9.94248448e-01 -7.77406264e-03 2.61291187e-02] [ 1.12476667e-02 9.02659818e-03 9.99896000e-01 3.64775459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.351400512999998 meters Centerline goodness [0,1] 0.6730122709699109 Centerline is valid? [False, False] Translation: X:8.72, Y:0.02, Z:0.04 [[ 9.94142455e-01 1.07397196e-01 -1.21087397e-02 8.71608474e+00] [-1.07479683e-01 9.94186818e-01 -6.37877755e-03 1.95789319e-02] [ 1.13532865e-02 7.64285707e-03 9.99906340e-01 3.62124140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.381400513 meters Centerline goodness [0,1] 0.6919389885390481 Centerline is valid? [False, False] Translation: X:8.72, Y:0.02, Z:0.04 [[ 9.94111553e-01 1.07681727e-01 -1.21188127e-02 8.71641897e+00] [-1.07757478e-01 9.94160410e-01 -5.77972895e-03 1.67199135e-02] [ 1.14256726e-02 7.05158801e-03 9.99909860e-01 3.54887211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.411400513 meters Centerline goodness [0,1] 0.5729311711402927 Centerline is valid? [False, False] Translation: X:8.72, Y:0.01, Z:0.03 [[ 9.94088251e-01 1.07898071e-01 -1.21060262e-02 8.71679376e+00] [-1.07968972e-01 9.94139801e-01 -5.36263325e-03 1.47194420e-02] [ 1.14564647e-02 6.63800592e-03 9.99912339e-01 3.45540283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.441400512999998 meters Centerline goodness [0,1] 0.6596128256857106 Centerline is valid? [False, False] Translation: X:8.72, Y:0.01, Z:0.03 [[ 9.94071132e-01 1.08069569e-01 -1.19813445e-02 8.71658738e+00] [-1.08136682e-01 9.94122950e-01 -5.10086247e-03 1.34858566e-02] [ 1.13596815e-02 6.36624298e-03 9.99915211e-01 3.40556464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.471400513 meters Centerline goodness [0,1] 0.5484683083692985 Centerline is valid? [False, False] Translation: X:8.75, Y:0.01, Z:0.04 [[ 9.93665395e-01 1.12126398e-01 -7.53355319e-03 8.75229436e+00] [-1.12145536e-01 9.93689431e-01 -2.16653885e-03 8.16828411e-03] [ 7.24308599e-03 2.99766904e-03 9.99969275e-01 3.67184858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.501400513 meters Centerline goodness [0,1] 0.5305722828146713 Centerline is valid? [False, False] Translation: X:8.75, Y:0.01, Z:0.04 [[ 9.93669854e-01 1.12107766e-01 -7.21598587e-03 8.75126435e+00] [-1.12128962e-01 9.93690257e-01 -2.60181715e-03 1.03662977e-02] [ 6.87877094e-03 3.39446828e-03 9.99970580e-01 3.67726992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.531400512999998 meters Centerline goodness [0,1] 0.5206060347766792 Centerline is valid? [False, False] Translation: X:8.75, Y:0.02, Z:0.04 [[ 9.93616081e-01 1.12613182e-01 -6.73461936e-03 8.75017398e+00] [-1.12639069e-01 9.93629464e-01 -3.59551780e-03 1.66776464e-02] [ 6.28681353e-03 4.33114556e-03 9.99970858e-01 3.61404448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.561400513 meters Centerline goodness [0,1] 0.493725807137692 Centerline is valid? [False, False] Translation: X:8.75, Y:0.02, Z:0.04 [[ 9.93652830e-01 1.12284058e-01 -6.80757907e-03 8.75079383e+00] [-1.12316028e-01 9.93662301e-01 -4.51014472e-03 2.09669638e-02] [ 6.25801733e-03 5.24611830e-03 9.99966657e-01 3.55283511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.591400513 meters Centerline goodness [0,1] 0.41365053113669614 Centerline is valid? [False, False] Translation: X:8.75, Y:0.02, Z:0.04 [[ 9.93680729e-01 1.12031113e-01 -6.90201995e-03 8.75143675e+00] [-1.12067424e-01 9.93687419e-01 -5.11914540e-03 2.38021895e-02] [ 6.28494683e-03 5.86028773e-03 9.99963078e-01 3.50115222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.621400512999998 meters Centerline goodness [0,1] 0.4724029110581568 Centerline is valid? [False, False] Translation: X:8.75, Y:0.03, Z:0.03 [[ 9.93695836e-01 1.11888552e-01 -7.03826716e-03 8.75214543e+00] [-1.11927535e-01 9.93701636e-01 -5.41164114e-03 2.51146881e-02] [ 6.38843690e-03 6.16530116e-03 9.99960588e-01 3.45399849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.651400513 meters Centerline goodness [0,1] 0.524549900689832 Centerline is valid? [False, False] Translation: X:8.75, Y:0.02, Z:0.03 [[ 9.94211791e-01 1.07397169e-01 -2.96006310e-03 8.74918058e+00] [-1.07364338e-01 9.94173150e-01 9.62536400e-03 1.62624890e-02] [ 3.97655210e-03 -9.25184517e-03 9.99949294e-01 3.38176487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.681400513 meters Centerline goodness [0,1] 0.57544795221843 Centerline is valid? [False, False] Translation: X:8.75, Y:0.02, Z:0.03 [[ 9.94725933e-01 1.02521567e-01 -3.10581336e-03 8.74822200e+00] [-1.02510077e-01 9.94725243e-01 3.65727665e-03 2.42276938e-02] [ 3.46438068e-03 -3.31961076e-03 9.99988489e-01 3.39575900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.711400513 meters Centerline goodness [0,1] 0.6312212843252485 Centerline is valid? [False, False] Translation: X:8.75, Y:0.03, Z:0.03 [[ 9.95199802e-01 9.78023096e-02 -3.47315700e-03 8.74756412e+00] [-9.78079263e-02 9.95204202e-01 -1.48552030e-03 2.81651271e-02] [ 3.31121312e-03 1.81809179e-03 9.99992865e-01 3.49338963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.741400513 meters Centerline goodness [0,1] 0.56857828867688 Centerline is valid? [False, False] Translation: X:8.75, Y:0.03, Z:0.03 [[ 9.95644510e-01 9.31477477e-02 -3.93788649e-03 8.74795543e+00] [-9.31724889e-02 9.95627763e-01 -6.65164992e-03 3.22259325e-02] [ 3.30108291e-03 6.98958141e-03 9.99970124e-01 3.46306083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.771400513 meters Centerline goodness [0,1] 0.5677634776728164 Centerline is valid? [False, False] Translation: X:8.75, Y:0.02, Z:0.03 [[ 9.96104203e-01 8.81001724e-02 -3.84393030e-03 8.74804849e+00] [-8.80605129e-02 9.96069909e-01 9.49122896e-03 1.94160595e-02] [ 4.66500221e-03 -9.11575458e-03 9.99947569e-01 3.46431441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.801400513 meters Centerline goodness [0,1] 0.5709267594968659 Centerline is valid? [False, False] Translation: X:8.75, Y:0.03, Z:0.03 [[ 9.96817906e-01 7.95890075e-02 -4.43300384e-03 8.74809346e+00] [-7.95939227e-02 9.96826925e-01 -9.43313285e-04 2.96115828e-02] [ 4.34386021e-03 1.29315174e-03 9.99989729e-01 3.39026944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.831400513 meters Centerline goodness [0,1] 0.6434196913071937 Centerline is valid? [False, False] Translation: X:8.75, Y:0.04, Z:0.03 [[ 9.97171532e-01 7.50272515e-02 -4.45494436e-03 8.74721495e+00] [-7.50547350e-02 9.97159129e-01 -6.36064018e-03 3.50568163e-02] [ 3.96506709e-03 6.67701399e-03 9.99969847e-01 3.37741346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.861400513 meters Centerline goodness [0,1] 0.6522846410153017 Centerline is valid? [False, False] Translation: X:8.75, Y:0.03, Z:0.03 [[ 9.97157655e-01 7.52161756e-02 -4.37458753e-03 8.74674500e+00] [-7.52414308e-02 9.97147729e-01 -5.92744428e-03 3.30450108e-02] [ 3.91627033e-03 6.23974667e-03 9.99972864e-01 3.40756635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.891400513 meters Centerline goodness [0,1] 0.7364591068208337 Centerline is valid? [False, False] Translation: X:8.75, Y:0.03, Z:0.03 [[ 9.97135118e-01 7.55129214e-02 -4.39935932e-03 8.74684379e+00] [-7.55353910e-02 9.97129630e-01 -5.18705950e-03 2.95278080e-02] [ 3.99504152e-03 5.50450651e-03 9.99976870e-01 3.38937932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.921400513 meters Centerline goodness [0,1] 0.7930427691581364 Centerline is valid? [False, False] Translation: X:8.75, Y:0.03, Z:0.03 [[ 9.97122084e-01 7.56822782e-02 -4.44315355e-03 8.74696774e+00] [-7.57033667e-02 9.97118892e-01 -4.78700525e-03 2.76490514e-02] [ 4.06806088e-03 5.10959034e-03 9.99978671e-01 3.38556954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.951400513 meters Centerline goodness [0,1] 0.7155087958427397 Centerline is valid? [False, False] Translation: X:8.75, Y:0.02, Z:0.03 [[ 9.97086976e-01 7.61491108e-02 -4.34455649e-03 8.74605222e+00] [-7.61652654e-02 9.97088407e-01 -3.68242989e-03 2.25336582e-02] [ 4.05149315e-03 4.00260718e-03 9.99983782e-01 3.48086798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.981400513 meters Centerline goodness [0,1] 0.6871020786777418 Centerline is valid? [False, False] Translation: X:8.75, Y:0.02, Z:0.04 [[ 9.97076767e-01 7.62852149e-02 -4.29955448e-03 8.74558864e+00] [-7.62997555e-02 9.97079379e-01 -3.32565790e-03 2.08639840e-02] [ 4.03329858e-03 3.64399119e-03 9.99985227e-01 3.53186139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.011400512999998 meters Centerline goodness [0,1] 0.5995375771588571 Centerline is valid? [False, False] Translation: X:8.75, Y:0.02, Z:0.04 [[ 9.97065175e-01 7.64391199e-02 -4.25414127e-03 8.74523905e+00] [-7.64520224e-02 9.97068875e-01 -2.95754008e-03 1.91401317e-02] [ 4.01560009e-03 3.27409792e-03 9.99986578e-01 3.56251643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.041400513 meters Centerline goodness [0,1] 0.8076610662220512 Centerline is valid? [False, False] Translation: X:8.75, Y:0.02, Z:0.04 [[ 9.97047356e-01 7.66672854e-02 -4.32396897e-03 8.74544253e+00] [-7.66782200e-02 9.97052949e-01 -2.42218144e-03 1.66313686e-02] [ 4.12552394e-03 2.74658384e-03 9.99987718e-01 3.55934575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.071400513 meters Centerline goodness [0,1] 0.8667927529067894 Centerline is valid? [False, False] Translation: X:8.75, Y:0.02, Z:0.03 [[ 9.97359958e-01 7.24642333e-02 -4.69558769e-03 8.74616440e+00] [-7.24948061e-02 9.97346250e-01 -6.70533329e-03 1.64933486e-02] [ 4.19722994e-03 7.02803665e-03 9.99966494e-01 3.44027121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.101400512999998 meters Centerline goodness [0,1] 0.8496138705444533 Centerline is valid? [False, False] Translation: X:8.75, Y:0.01, Z:0.03 [[ 9.97343636e-01 7.26844716e-02 -4.75817485e-03 8.74639123e+00] [-7.27132971e-02 9.97333647e-01 -6.19458471e-03 1.40965031e-02] [ 4.29523776e-03 6.52411221e-03 9.99969493e-01 3.42819288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.131400513 meters Centerline goodness [0,1] 0.7425641894754682 Centerline is valid? [False, False] Translation: X:8.77, Y:0.01, Z:0.04 [[ 9.97399505e-01 7.20079875e-02 -3.01287805e-03 8.76579133e+00] [-7.19935360e-02 9.97394223e-01 4.65785013e-03 6.15926193e-03] [ 3.34042957e-03 -4.42882967e-03 9.99984613e-01 3.59713837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.161400513 meters Centerline goodness [0,1] 0.8207611425652377 Centerline is valid? [False, False] Translation: X:8.76, Y:0.01, Z:0.04 [[ 9.97676923e-01 6.80668303e-02 -2.76840048e-03 8.76416524e+00] [-6.80681856e-02 9.97680592e-01 -3.98222589e-04 1.07704935e-02] [ 2.73487368e-03 5.85737485e-04 9.99996089e-01 3.57814325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.191400512999998 meters Centerline goodness [0,1] 0.7439759036144578 Centerline is valid? [False, False] Translation: X:8.76, Y:0.02, Z:0.04 [[ 9.97946255e-01 6.40060050e-02 -2.55009541e-03 8.76283427e+00] [-6.40193142e-02 9.97933321e-01 -5.53300688e-03 1.54885002e-02] [ 2.19067951e-03 5.68489885e-03 9.99981441e-01 3.52806843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.221400513 meters Centerline goodness [0,1] 0.648584505848449 Centerline is valid? [False, False] Translation: X:8.76, Y:0.01, Z:0.04 [[ 9.97935057e-01 6.41851227e-02 -2.42749354e-03 8.76242064e+00] [-6.41969535e-02 9.97923917e-01 -5.15813629e-03 1.37254830e-02] [ 2.09137825e-03 5.30332272e-03 9.99983750e-01 3.52080537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.251400513 meters Centerline goodness [0,1] 0.6474762407602956 Centerline is valid? [False, False] Translation: X:8.76, Y:0.01, Z:0.04 [[ 9.97907343e-01 6.46271998e-02 -2.06392640e-03 8.76062559e+00] [-6.46354779e-02 9.97899961e-01 -4.23362010e-03 9.47447570e-03] [ 1.78598506e-03 4.35816346e-03 9.99988908e-01 3.61494676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.281400512999998 meters Centerline goodness [0,1] 0.7106755293168256 Centerline is valid? [False, False] Translation: X:8.76, Y:0.01, Z:0.04 [[ 9.97885902e-01 6.49603386e-02 -1.97023856e-03 8.75991271e+00] [-6.49668918e-02 9.97881395e-01 -3.46768244e-03 5.92384380e-03] [ 1.74080258e-03 3.58835169e-03 9.99992047e-01 3.67995519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.311400513 meters Centerline goodness [0,1] 0.8629702211050995 Centerline is valid? [False, False] Translation: X:8.76, Y:-0.00, Z:0.04 [[ 9.97874307e-01 6.51264618e-02 -2.32622130e-03 8.76100450e+00] [-6.51310459e-02 9.97874809e-01 -1.95234488e-03 -1.88558499e-03] [ 2.19412832e-03 2.09970402e-03 9.99995389e-01 3.67007149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.341400513 meters Centerline goodness [0,1] 0.8238421625776696 Centerline is valid? [False, False] Translation: X:8.76, Y:0.00, Z:0.04 [[ 9.98162039e-01 6.05404548e-02 -2.71994359e-03 8.76204660e+00] [-6.05583305e-02 9.98139714e-01 -7.05690462e-03 1.75534517e-03] [ 2.28765550e-03 7.20864954e-03 9.99971401e-01 3.54308595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.371400512999998 meters Centerline goodness [0,1] 0.8524158995460909 Centerline is valid? [False, False] Translation: X:8.77, Y:-0.01, Z:0.03 [[ 9.98346449e-01 5.74588058e-02 -1.68926376e-03 8.76518543e+00] [-5.74355066e-02 9.98282061e-01 1.15796545e-02 -1.43634743e-02] [ 2.35171483e-03 -1.14634832e-02 9.99931527e-01 3.27930662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.401400513 meters Centerline goodness [0,1] 0.9021127058723909 Centerline is valid? [False, False] Translation: X:8.76, Y:-0.01, Z:0.03 [[ 9.98571297e-01 5.34080364e-02 -1.71676110e-03 8.76488819e+00] [-5.33951257e-02 9.98549990e-01 6.84676138e-03 -1.19276748e-02] [ 2.07994386e-03 -6.74531272e-03 9.99975087e-01 3.19992499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.431400513 meters Centerline goodness [0,1] 0.8314990351379434 Centerline is valid? [False, False] Translation: X:8.76, Y:-0.01, Z:0.03 [[ 9.98764052e-01 4.96841363e-02 -1.36177417e-03 8.76307485e+00] [-4.96815151e-02 9.98763312e-01 1.89545003e-03 -7.48885666e-03] [ 1.45426387e-03 -1.82545235e-03 9.99997276e-01 3.18199263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.461400513 meters Centerline goodness [0,1] 0.737588052376621 Centerline is valid? [False, False] Translation: X:8.76, Y:-0.00, Z:0.03 [[ 9.98941119e-01 4.59937542e-02 -1.10232264e-03 8.76156186e+00] [-4.59970046e-02 9.98936670e-01 -3.13118587e-03 -2.53395575e-03] [ 9.57135518e-04 3.17857386e-03 9.99994490e-01 3.16641805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.491400513 meters Centerline goodness [0,1] 0.690588185439444 Centerline is valid? [False, False] Translation: X:8.76, Y:-0.00, Z:0.03 [[ 9.98937845e-01 4.60680700e-02 -9.56554774e-04 8.76099594e+00] [-4.60707770e-02 9.98933575e-01 -3.03268176e-03 -2.94853529e-03] [ 8.15824885e-04 3.07352980e-03 9.99994944e-01 3.17993564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.521400513 meters Centerline goodness [0,1] 0.6670263865083899 Centerline is valid? [False, False] Translation: X:8.76, Y:-0.00, Z:0.03 [[ 9.98933994e-01 4.61555031e-02 -7.38096593e-04 8.76026411e+00] [-4.61575273e-02 9.98929631e-01 -3.01238654e-03 -2.96048623e-03] [ 5.98268341e-04 3.04324403e-03 9.99995190e-01 3.17899420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.551400513 meters Centerline goodness [0,1] 0.5870144143382509 Centerline is valid? [False, False] Translation: X:8.76, Y:-0.00, Z:0.03 [[ 9.98931165e-01 4.62179290e-02 -6.55595009e-04 8.76007860e+00] [-4.62196529e-02 9.98927040e-01 -2.91745848e-03 -3.42055639e-03] [ 5.20052693e-04 2.94464157e-03 9.99995529e-01 3.15943243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.581400513 meters Centerline goodness [0,1] 0.6449630411826821 Centerline is valid? [False, False] Translation: X:8.76, Y:-0.00, Z:0.03 [[ 9.98927697e-01 4.62930922e-02 -6.37757014e-04 8.76015847e+00] [-4.62946914e-02 9.98923971e-01 -2.77525729e-03 -4.10582659e-03] [ 5.08595528e-04 2.80180614e-03 9.99995946e-01 3.12979340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.611400513 meters Centerline goodness [0,1] 0.6350030737922117 Centerline is valid? [False, False] Translation: X:8.76, Y:-0.00, Z:0.03 [[ 9.98928921e-01 4.62680190e-02 -5.30921193e-04 8.76007995e+00] [-4.62693898e-02 9.98924634e-01 -2.95282719e-03 -3.26156241e-03] [ 3.93728793e-04 2.97422988e-03 9.99995499e-01 3.07175505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.641400513 meters Centerline goodness [0,1] 0.5984276928929182 Centerline is valid? [False, False] Translation: X:8.76, Y:-0.00, Z:0.03 [[ 9.98935301e-01 4.61303868e-02 -5.01800401e-04 8.76011365e+00] [-4.61317986e-02 9.98929882e-01 -3.30865788e-03 -1.58707575e-03] [ 3.48633748e-04 3.32828411e-03 9.99994400e-01 3.04859934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.671400513 meters Centerline goodness [0,1] 0.41123729826658695 Centerline is valid? [False, False] Translation: X:8.76, Y:-0.00, Z:0.03 [[ 9.98938640e-01 4.60588093e-02 -4.23458774e-04 8.75993143e+00] [-4.60600119e-02 9.98932542e-01 -3.50020198e-03 -6.94332826e-04] [ 2.61791614e-04 3.51599152e-03 9.99993785e-01 3.03466844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.701400513 meters Centerline goodness [0,1] 0.5414890684309859 Centerline is valid? [False, False] Translation: X:8.76, Y:-0.00, Z:0.03 [[ 9.98936478e-01 4.61061166e-02 -3.73619853e-04 8.75957230e+00] [-4.61071359e-02 9.98930496e-01 -3.46340638e-03 -8.12646705e-04] [ 2.13536047e-04 3.47694951e-03 9.99993933e-01 3.06903413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.731400513 meters Centerline goodness [0,1] 0.4931524246978388 Centerline is valid? [False, False] Translation: X:8.76, Y:-0.00, Z:0.03 [[ 9.98929148e-01 4.62650773e-02 -3.14641425e-04 8.75912510e+00] [-4.62658373e-02 9.98924249e-01 -3.13331714e-03 -2.30947050e-03] [ 1.69339789e-04 3.14451897e-03 9.99995042e-01 3.11420878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.761400512999998 meters Centerline goodness [0,1] 0.568994163507008 Centerline is valid? [False, False] Translation: X:8.76, Y:-0.00, Z:0.03 [[ 9.98926811e-01 4.63150281e-02 -3.80730248e-04 8.75937768e+00] [-4.63159698e-02 9.98922262e-01 -3.02416477e-03 -2.81747606e-03] [ 2.40255644e-04 3.03855316e-03 9.99995355e-01 3.10662407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.791400513 meters Centerline goodness [0,1] 0.568994163507008 Centerline is valid? [False, False] Translation: X:8.76, Y:-0.00, Z:0.03 [[ 9.98926811e-01 4.63150281e-02 -3.80730248e-04 8.75937768e+00] [-4.63159698e-02 9.98922262e-01 -3.02416477e-03 -2.81747606e-03] [ 2.40255644e-04 3.03855316e-03 9.99995355e-01 3.10662407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.821400513 meters Centerline goodness [0,1] 0.5093636966804358 Centerline is valid? [False, False] Translation: X:8.76, Y:-0.00, Z:0.03 [[ 9.98923247e-01 4.63911425e-02 -4.57221249e-04 8.75961627e+00] [-4.63922566e-02 9.98919270e-01 -2.83748173e-03 -3.69751940e-03] [ 3.25093097e-04 2.85563799e-03 9.99995870e-01 3.10757446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.851400512999998 meters Centerline goodness [0,1] 0.5062213351452353 Centerline is valid? [False, False] Translation: X:8.76, Y:-0.01, Z:0.03 [[ 9.98917423e-01 4.65166116e-02 -4.32619444e-04 8.75944518e+00] [-4.65175583e-02 9.98914286e-01 -2.52304571e-03 -5.18208417e-03] [ 3.14786206e-04 2.54043872e-03 9.99996724e-01 3.11969178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.881400513 meters Centerline goodness [0,1] 0.5365617024866598 Centerline is valid? [False, False] Translation: X:8.76, Y:-0.01, Z:0.03 [[ 9.98911589e-01 4.66428225e-02 -2.90357326e-04 8.75864587e+00] [-4.66433532e-02 9.98909142e-01 -2.21899812e-03 -6.57317519e-03] [ 1.86540252e-04 2.23012618e-03 9.99997496e-01 3.17745054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.911400513 meters Centerline goodness [0,1] 0.5615360135780205 Centerline is valid? [False, False] Translation: X:8.76, Y:-0.01, Z:0.03 [[ 9.98917869e-01 4.65090343e-02 3.95187203e-05 8.75697948e+00] [-4.65087925e-02 9.98914787e-01 -2.48604094e-03 -5.21652965e-03] [-1.55099197e-04 2.48151275e-03 9.99996909e-01 3.29330302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.941400512999998 meters Centerline goodness [0,1] 0.37448853263948634 Centerline is valid? [False, False] Translation: X:8.76, Y:-0.00, Z:0.03 [[ 9.98924343e-01 4.63697927e-02 -4.58027977e-06 8.75709107e+00] [-4.63696249e-02 9.98920453e-01 -2.79027696e-03 -3.76782103e-03] [-1.24809229e-04 2.78748796e-03 9.99996107e-01 3.29936634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.971400513 meters Centerline goodness [0,1] 0.6077769283044512 Centerline is valid? [False, False] Translation: X:8.76, Y:-0.00, Z:0.03 [[ 9.98927446e-01 4.63027742e-02 -1.06899596e-04 8.75759004e+00] [-4.63028888e-02 9.98923174e-01 -2.92131843e-03 -3.18906881e-03] [-2.84806638e-05 2.92313491e-03 9.99995727e-01 3.26916643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.001400513 meters Centerline goodness [0,1] 0.629636703166115 Centerline is valid? [False, False] Translation: X:8.76, Y:-0.01, Z:0.03 [[ 9.98921264e-01 4.64329537e-02 -5.37708019e-04 8.75918421e+00] [-4.64341073e-02 9.98918519e-01 -2.38014676e-03 -5.89044127e-03] [ 4.26609254e-04 2.40254720e-03 9.99997023e-01 3.22946680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.031400512999998 meters Centerline goodness [0,1] 0.6302515683416767 Centerline is valid? [False, False] Translation: X:8.76, Y:-0.01, Z:0.03 [[ 9.98915715e-01 4.65509070e-02 -6.38086526e-04 8.75950728e+00] [-4.65521131e-02 9.98913805e-01 -2.02750416e-03 -7.60701122e-03] [ 5.43011282e-04 2.05501005e-03 9.99997741e-01 3.22591016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.061400513 meters Centerline goodness [0,1] 0.5968606270306764 Centerline is valid? [False, False] Translation: X:8.76, Y:-0.01, Z:0.03 [[ 9.98907610e-01 4.67242890e-02 -6.53213694e-04 8.75931889e+00] [-4.67252723e-02 9.98906527e-01 -1.58111712e-03 -9.68290153e-03] [ 5.78622849e-04 1.60991151e-03 9.99998537e-01 3.26957275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.091400513 meters Centerline goodness [0,1] 0.8578189917334132 Centerline is valid? [False, False] Translation: X:8.76, Y:-0.01, Z:0.03 [[ 9.98899961e-01 4.68876183e-02 -6.46694620e-04 8.75909671e+00] [-4.68883480e-02 9.98899459e-01 -1.16362874e-03 -1.16409170e-02] [ 5.91423126e-04 1.19267114e-03 9.99999114e-01 3.30428221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.121400512999998 meters Centerline goodness [0,1] 0.8744429993817027 Centerline is valid? [False, False] Translation: X:8.76, Y:-0.01, Z:0.03 [[ 9.98893591e-01 4.70222760e-02 -7.06240397e-04 8.75900740e+00] [-4.70228288e-02 9.98893504e-01 -7.87711899e-04 -1.33982983e-02] [ 6.68418939e-04 8.20049789e-04 9.99999440e-01 3.35791076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.151400513 meters Centerline goodness [0,1] 0.8324074665304472 Centerline is valid? [False, False] Translation: X:8.76, Y:-0.01, Z:0.03 [[ 9.99094492e-01 4.25388911e-02 -7.98798984e-04 8.75910561e+00] [-4.25430228e-02 9.99075542e-01 -6.17682589e-03 -8.04562075e-03] [ 5.35305203e-04 6.20521605e-03 9.99980604e-01 3.28200130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.181400513 meters Centerline goodness [0,1] 0.8727728344199283 Centerline is valid? [False, False] Translation: X:8.76, Y:-0.02, Z:0.04 [[ 9.99146527e-01 4.11846727e-02 -3.16875761e-03 8.75844179e+00] [-4.11375210e-02 9.99059131e-01 1.37316068e-02 -2.35817013e-02] [ 3.73130796e-03 -1.35895324e-02 9.99900696e-01 3.56744639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.211400513 meters Centerline goodness [0,1] 0.6595039214436014 Centerline is valid? [False, False] Translation: X:8.76, Y:-0.02, Z:0.04 [[ 9.99310578e-01 3.70141945e-02 -2.88410343e-03 8.75719701e+00] [-3.69899506e-02 9.99283221e-01 8.04913396e-03 -1.59931182e-02] [ 3.17996837e-03 -7.93690186e-03 9.99963446e-01 3.50085802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.241400513 meters Centerline goodness [0,1] 0.6505087920977561 Centerline is valid? [False, False] Translation: X:8.75, Y:-0.01, Z:0.03 [[ 9.99450004e-01 3.30769593e-02 -2.36734678e-03 8.75490935e+00] [-3.30714503e-02 9.99450275e-01 2.32959888e-03 -7.38676397e-03] [ 2.44310144e-03 -2.25002602e-03 9.99994484e-01 3.49798693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.271400513 meters Centerline goodness [0,1] 0.6220878609783942 Centerline is valid? [False, False] Translation: X:8.75, Y:-0.00, Z:0.04 [[ 9.99458820e-01 3.28328611e-02 -2.01747443e-03 8.75349358e+00] [-3.28307829e-02 9.99460368e-01 1.05470756e-03 -8.82063508e-04] [ 2.05101481e-03 -9.87901505e-04 9.99997409e-01 3.54143500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.301400513 meters Centerline goodness [0,1] 0.6294610727742262 Centerline is valid? [False, False] Translation: X:8.75, Y:0.01, Z:0.03 [[ 9.99582093e-01 2.88598818e-02 -1.65698613e-03 8.75198628e+00] [-2.88672725e-02 9.99572555e-01 -4.62460548e-03 7.30772454e-03] [ 1.52281229e-03 4.67050549e-03 9.99987934e-01 3.49869801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.331400513 meters Centerline goodness [0,1] 0.6693802352235481 Centerline is valid? [False, False] Translation: X:8.75, Y:0.01, Z:0.03 [[ 9.99588693e-01 2.86264071e-02 -1.72431778e-03 8.75243154e+00] [-2.86349346e-02 9.99576709e-01 -5.14237109e-03 9.68997566e-03] [ 1.57638028e-03 5.18963172e-03 9.99985291e-01 3.45538726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.361400513 meters Centerline goodness [0,1] 0.6947984256993938 Centerline is valid? [False, False] Translation: X:8.75, Y:0.01, Z:0.03 [[ 9.99476266e-01 3.22717202e-02 -2.39385372e-03 8.75498945e+00] [-3.22728499e-02 9.99479001e-01 -4.34787065e-04 6.29813416e-03] [ 2.37857520e-03 5.11815834e-04 9.99997040e-01 3.47013527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.391400513 meters Centerline goodness [0,1] 0.7225847457627119 Centerline is valid? [False, False] Translation: X:8.76, Y:0.01, Z:0.03 [[ 9.99480928e-01 3.21179508e-02 -2.51247038e-03 8.75534172e+00] [-3.21197846e-02 9.99483786e-01 -6.92973750e-04 7.46611959e-03] [ 2.48891651e-03 7.73314054e-04 9.99996604e-01 3.47757704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.421400513 meters Centerline goodness [0,1] 0.9154676643506147 Centerline is valid? [False, False] Translation: X:8.75, Y:0.01, Z:0.04 [[ 9.99624717e-01 2.72808542e-02 -2.48619199e-03 8.75463422e+00] [-2.72957023e-02 9.99608497e-01 -6.14795280e-03 1.27646098e-02] [ 2.31749724e-03 6.21350793e-03 9.99978011e-01 3.51758969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.451400513 meters Centerline goodness [0,1] 0.7825483599663583 Centerline is valid? [False, False] Translation: X:8.78, Y:0.01, Z:0.03 [[ 9.99697336e-01 2.46004876e-02 -2.31007199e-04 8.77681335e+00] [-2.45998316e-02 9.99694232e-01 2.50829092e-03 7.86785531e-03] [ 2.92641744e-04 -2.50184901e-03 9.99996828e-01 3.37255486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.481400513 meters Centerline goodness [0,1] 0.8475327761042046 Centerline is valid? [False, False] Translation: X:8.78, Y:0.01, Z:0.03 [[ 9.99802817e-01 1.98569633e-02 -1.70636704e-04 8.77656831e+00] [-1.98573736e-02 9.99798648e-01 -2.88916979e-03 1.29104358e-02] [ 1.13232207e-04 2.89198849e-03 9.99995812e-01 3.31823672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.511400512999998 meters Centerline goodness [0,1] 0.9165375390036297 Centerline is valid? [False, False] Translation: X:8.78, Y:-0.00, Z:0.04 [[ 9.99875423e-01 1.54116531e-02 -3.40858945e-03 8.77508498e+00] [-1.53641706e-02 9.99790238e-01 1.35433690e-02 -1.17845347e-04] [ 3.61660016e-03 -1.34893116e-02 9.99902475e-01 3.67960603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.541400513 meters Centerline goodness [0,1] 0.9596390761363396 Centerline is valid? [False, True] Translation: X:8.77, Y:0.01, Z:0.04 [[ 9.99971900e-01 6.77168202e-03 -3.21601218e-03 8.77423543e+00] [-6.76132414e-03 9.99971955e-01 3.22074744e-03 8.99666248e-03] [ 3.23773186e-03 -3.19891244e-03 9.99989642e-01 3.62541652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.571400513 meters Centerline goodness [0,1] 0.961757509281134 Centerline is valid? [True, True] Translation: X:8.80, Y:0.01, Z:0.04 [[ 9.99982499e-01 5.53803140e-03 -2.08119599e-03 8.80432188e+00] [-5.53829021e-03 9.99984657e-01 -1.18613239e-04 1.20787349e-02] [ 2.08050718e-03 1.30137430e-04 9.99997827e-01 3.82035913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.601400512999998 meters Centerline goodness [0,1] 0.9507395389996207 Centerline is valid? [True, True] Translation: X:8.83, Y:0.01, Z:0.04 [[ 9.99987187e-01 4.91208134e-03 -1.22354996e-03 8.83258296e+00] [-4.91217017e-03 9.99987933e-01 -6.96107189e-05 1.42575003e-02] [ 1.22319327e-03 7.56201126e-05 9.99999249e-01 4.04205835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.631400513 meters Centerline goodness [0,1] 0.8473788560342805 Centerline is valid? [True, False] Translation: X:8.79, Y:0.01, Z:0.04 [[ 9.99983449e-01 4.64416380e-03 -3.39599204e-03 8.78943676e+00] [-4.63904924e-03 9.99988096e-01 1.51238705e-03 9.84685454e-03] [ 3.40297538e-03 -1.49660784e-03 9.99993090e-01 4.14153921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.661400513 meters Centerline goodness [0,1] 0.9629191904269464 Centerline is valid? [False, True] Translation: X:8.79, Y:0.01, Z:0.04 [[ 9.99982313e-01 4.86975047e-03 -3.41470147e-03 8.78962861e+00] [-4.86291922e-03 9.99986164e-01 2.00599695e-03 7.51886063e-03] [ 3.42442293e-03 -1.98935606e-03 9.99992158e-01 4.11633517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.691400512999998 meters Centerline goodness [0,1] 0.9606532408190895 Centerline is valid? [True, True] Translation: X:8.82, Y:0.01, Z:0.04 [[ 9.99979767e-01 5.05283254e-03 -3.86442004e-03 8.81875287e+00] [-5.05372291e-03 9.99987206e-01 -2.20671308e-04 1.11132082e-02] [ 3.86325558e-03 2.40196552e-04 9.99992509e-01 4.00564857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.721400513 meters Centerline goodness [0,1] 0.9666102770141679 Centerline is valid? [True, True] Translation: X:8.85, Y:0.01, Z:0.04 [[ 9.99973686e-01 5.55888942e-03 -4.66113347e-03 8.84742209e+00] [-5.56019157e-03 9.99984507e-01 -2.66451774e-04 1.08566228e-02] [ 4.65958008e-03 2.92361558e-04 9.99989101e-01 3.90622216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.751400513 meters Centerline goodness [0,1] 0.975927337398374 Centerline is valid? [True, True] Translation: X:8.88, Y:0.01, Z:0.04 [[ 9.99967674e-01 6.45323770e-03 -4.79662570e-03 8.87697048e+00] [-6.45462840e-03 9.99979131e-01 -2.74508271e-04 1.05231675e-02] [ 4.79475413e-03 3.05459834e-04 9.99988458e-01 3.88419960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.781400512999998 meters Centerline goodness [0,1] 0.9846046923044522 Centerline is valid? [True, True] Translation: X:8.90, Y:0.01, Z:0.04 [[ 9.99957750e-01 7.18821728e-03 -5.72947959e-03 8.90404449e+00] [-7.14877419e-03 9.99950812e-01 6.87523981e-03 7.99232553e-03] [ 5.77861848e-03 -6.83399058e-03 9.99959951e-01 3.86556253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.811400513 meters Centerline goodness [0,1] 0.9881617060576802 Centerline is valid? [True, True] Translation: X:8.93, Y:0.01, Z:0.04 [[ 9.99946315e-01 9.04365363e-03 -5.05761724e-03 8.93312161e+00] [-9.03319881e-03 9.99957024e-01 2.08618245e-03 1.11952704e-02] [ 5.07626659e-03 -2.04038399e-03 9.99985034e-01 3.82704253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.841400513 meters Centerline goodness [0,1] 0.7301785941543291 Centerline is valid? [True, False] Translation: X:8.93, Y:0.01, Z:0.04 [[ 9.99944596e-01 9.17139776e-03 -5.16635357e-03 8.93395669e+00] [-9.16190369e-03 9.99956302e-01 1.85835432e-03 1.24800769e-02] [ 5.18317152e-03 -1.81091773e-03 9.99984928e-01 3.72832395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.871400512999998 meters Centerline goodness [0,1] 0.8906029079705404 Centerline is valid? [False, False] Translation: X:8.93, Y:0.01, Z:0.04 [[ 9.99945422e-01 9.05415013e-03 -5.21301874e-03 8.93447831e+00] [-9.04683889e-03 9.99958062e-01 1.42437247e-03 1.45468799e-02] [ 5.22569660e-03 -1.37713339e-03 9.99985398e-01 3.65121187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.901400513 meters Centerline goodness [0,1] 0.5834580759418946 Centerline is valid? [False, False] Translation: X:8.93, Y:0.02, Z:0.04 [[ 9.99944893e-01 9.19233939e-03 -5.07070144e-03 8.93428678e+00] [-9.19050176e-03 9.99957692e-01 3.85584109e-04 2.02741070e-02] [ 5.07403133e-03 -3.38960570e-04 9.99987070e-01 3.57548223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.931400513 meters Centerline goodness [0,1] 0.6794915254237288 Centerline is valid? [False, False] Translation: X:8.93, Y:0.02, Z:0.04 [[ 9.99947173e-01 8.99737922e-03 -4.96964746e-03 8.93397726e+00] [-8.99824826e-03 9.99959503e-01 -1.52538659e-04 2.28464366e-02] [ 4.96807376e-03 1.97248722e-04 9.99987640e-01 3.56559367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.961400513 meters Centerline goodness [0,1] 0.6652056426732484 Centerline is valid? [False, False] Translation: X:8.93, Y:0.02, Z:0.04 [[ 9.99948976e-01 8.84868361e-03 -4.87308119e-03 8.93368185e+00] [-8.85141049e-03 9.99960681e-01 -5.38296834e-04 2.46844026e-02] [ 4.86812636e-03 5.81403009e-04 9.99987982e-01 3.56039182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.991400513 meters Centerline goodness [0,1] 0.6451366653236922 Centerline is valid? [False, False] Translation: X:8.93, Y:0.03, Z:0.04 [[ 9.99950523e-01 8.70444071e-03 -4.81506065e-03 8.93347448e+00] [-8.70902005e-03 9.99961642e-01 -9.30895635e-04 2.65636433e-02] [ 4.80677303e-03 9.72784037e-04 9.99987974e-01 3.55946851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.021400513 meters Centerline goodness [0,1] 0.7582746742549049 Centerline is valid? [False, False] Translation: X:8.93, Y:0.03, Z:0.04 [[ 9.99952626e-01 8.52530011e-03 -4.69728305e-03 8.93304940e+00] [-8.53178057e-03 9.99962677e-01 -1.36131273e-03 2.85987315e-02] [ 4.68550214e-03 1.40132443e-03 9.99988041e-01 3.56455445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.051400513 meters Centerline goodness [0,1] 0.547399577167019 Centerline is valid? [False, False] Translation: X:8.95, Y:0.02, Z:0.04 [[ 9.99954096e-01 8.17382986e-03 -4.99948226e-03 8.95215080e+00] [-8.12633881e-03 9.99922357e-01 9.44686567e-03 2.38431398e-02] [ 5.07631115e-03 -9.40580454e-03 9.99942879e-01 4.00852161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.081400513 meters Centerline goodness [0,1] 0.4823077085577878 Centerline is valid? [False, False] Translation: X:8.95, Y:0.03, Z:0.04 [[ 9.99982955e-01 3.52802442e-03 -4.65226519e-03 8.95102387e+00] [-3.51159242e-03 9.99987584e-01 3.53549222e-03 3.18181777e-02] [ 4.66468073e-03 -3.51909510e-03 9.99982928e-01 3.96355571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.111400513 meters Centerline goodness [0,1] 0.5186471547470297 Centerline is valid? [False, False] Translation: X:8.95, Y:0.03, Z:0.04 [[ 9.99982472e-01 3.40071355e-03 -4.84675933e-03 8.95188140e+00] [-3.38463441e-03 9.99988755e-01 3.32185383e-03 3.27475648e-02] [ 4.85800150e-03 -3.30539110e-03 9.99982737e-01 3.92321346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.141400513 meters Centerline goodness [0,1] 0.6330158460787849 Centerline is valid? [False, False] Translation: X:8.95, Y:0.03, Z:0.04 [[ 9.99982451e-01 3.27733763e-03 -4.93528609e-03 8.95242885e+00] [-3.26217083e-03 9.99989942e-01 3.07805554e-03 3.38357773e-02] [ 4.94532427e-03 -3.06190177e-03 9.99983084e-01 3.87522621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.171400513 meters Centerline goodness [0,1] 0.7672146467864577 Centerline is valid? [False, False] Translation: X:8.95, Y:0.04, Z:0.04 [[ 9.99982832e-01 3.09591995e-03 -4.97503128e-03 8.95268589e+00] [-3.08254496e-03 9.99991621e-01 2.69384579e-03 3.56026879e-02] [ 4.98332952e-03 -2.67846379e-03 9.99983996e-01 3.84947408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.201400513 meters Centerline goodness [0,1] 0.8242940863079382 Centerline is valid? [False, False] Translation: X:8.95, Y:0.04, Z:0.04 [[ 9.99983472e-01 2.89846479e-03 -4.96536716e-03 8.95255704e+00] [-2.88722135e-03 9.99993255e-01 2.27004583e-03 3.75917228e-02] [ 4.97191332e-03 -2.25567220e-03 9.99985096e-01 3.86649454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.231400513 meters Centerline goodness [0,1] 0.8132379630618127 Centerline is valid? [False, False] Translation: X:8.95, Y:0.04, Z:0.04 [[ 9.99985239e-01 2.55241834e-03 -4.79654726e-03 8.95140687e+00] [-2.54513315e-03 9.99995599e-01 1.52432963e-03 4.11519615e-02] [ 4.80041688e-03 -1.51209928e-03 9.99987335e-01 3.98094785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.261400512999998 meters Centerline goodness [0,1] 0.7042295178941141 Centerline is valid? [False, False] Translation: X:8.97, Y:0.04, Z:0.04 [[ 9.99984066e-01 2.07780844e-03 -5.24885535e-03 8.97081586e+00] [-2.01287073e-03 9.99921748e-01 1.23469193e-02 3.58309402e-02] [ 5.27409915e-03 -1.23361573e-02 9.99909998e-01 4.41675724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.291400513 meters Centerline goodness [0,1] 0.8798609926658707 Centerline is valid? [False, False] Translation: X:8.97, Y:0.04, Z:0.04 [[ 9.99985373e-01 -2.53715813e-03 -4.77671830e-03 8.96941835e+00] [ 2.56835040e-03 9.99975346e-01 6.53529167e-03 4.33283058e-02] [ 4.76001947e-03 -6.54746436e-03 9.99967236e-01 4.37067597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.321400513 meters Centerline goodness [0,1] 0.8319791866589896 Centerline is valid? [False, False] Translation: X:8.97, Y:0.05, Z:0.04 [[ 9.99985524e-01 -2.77032877e-03 -4.61276439e-03 8.96856532e+00] [ 2.79840057e-03 9.99977538e-01 6.09038525e-03 4.54247194e-02] [ 4.59578841e-03 -6.10320545e-03 9.99970814e-01 4.42936553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.351400512999998 meters Centerline goodness [0,1] 0.7292583777408008 Centerline is valid? [False, False] Translation: X:8.99, Y:0.06, Z:0.04 [[ 9.99994527e-01 -2.85061868e-03 1.67932719e-03 8.99090494e+00] [ 2.85803009e-03 9.99986114e-01 -4.42757606e-03 5.64912397e-02] [-1.66668254e-03 4.43235140e-03 9.99988788e-01 3.79204177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.381400513 meters Centerline goodness [0,1] 0.7910750079122271 Centerline is valid? [False, False] Translation: X:8.99, Y:0.06, Z:0.04 [[ 9.99994695e-01 -2.77634309e-03 1.70359294e-03 8.99060359e+00] [ 2.78353800e-03 9.99987156e-01 -4.23563815e-03 5.55944323e-02] [-1.69181147e-03 4.24035770e-03 9.99989579e-01 3.83517377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.411400513 meters Centerline goodness [0,1] 0.8820189815112368 Centerline is valid? [False, False] Translation: X:8.95, Y:0.05, Z:0.04 [[ 9.99998655e-01 -1.56051342e-03 -5.04166344e-04 8.94828197e+00] [ 1.56050886e-03 9.99998782e-01 -9.43597097e-06 4.74138991e-02] [ 5.04180455e-04 8.64920223e-06 9.99999873e-01 3.96158463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.441400512999998 meters Centerline goodness [0,1] 0.8060701448412276 Centerline is valid? [False, False] Translation: X:8.95, Y:0.05, Z:0.04 [[ 9.99998505e-01 -1.61054769e-03 -6.29465098e-04 8.94892356e+00] [ 1.61049617e-03 9.99998700e-01 -8.23436094e-05 4.77200136e-02] [ 6.29596898e-04 8.13297352e-05 9.99999798e-01 3.91787111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.471400513 meters Centerline goodness [0,1] 0.7308631489542414 Centerline is valid? [False, False] Translation: X:8.95, Y:0.05, Z:0.04 [[ 9.99998274e-01 -1.67087856e-03 -8.12727142e-04 8.94982284e+00] [ 1.67071132e-03 9.99998583e-01 -2.06409841e-04 4.82660972e-02] [ 8.13070876e-04 2.05051652e-04 9.99999648e-01 3.85815934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.501400513 meters Centerline goodness [0,1] 0.8751320515529263 Centerline is valid? [False, False] Translation: X:8.95, Y:0.05, Z:0.04 [[ 9.99998045e-01 -1.69995266e-03 -1.01040911e-03 8.95101268e+00] [ 1.69965551e-03 9.99998512e-01 -2.94874293e-04 4.86230183e-02] [ 1.01090887e-03 2.93156369e-04 9.99999446e-01 3.75518678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.531400512999998 meters Centerline goodness [0,1] 0.8041381088455837 Centerline is valid? [False, False] Translation: X:8.91, Y:0.04, Z:0.04 [[ 9.99991431e-01 -1.50973594e-03 -3.85468104e-03 8.90974074e+00] [ 1.51392015e-03 9.99998268e-01 1.08280108e-03 4.45654992e-02] [ 3.85303962e-03 -1.08862749e-03 9.99991984e-01 3.73585747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.561400513 meters Centerline goodness [0,1] 0.9126836466286008 Centerline is valid? [False, False] Translation: X:8.91, Y:0.05, Z:0.04 [[ 9.99991341e-01 -1.63191931e-03 -3.82827948e-03 8.90972613e+00] [ 1.63461946e-03 9.99998417e-01 7.02294106e-04 4.63901737e-02] [ 3.82712733e-03 -7.08545804e-04 9.99992426e-01 3.71715820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.591400513 meters Centerline goodness [0,1] 0.8639458677334242 Centerline is valid? [False, False] Translation: X:8.91, Y:0.05, Z:0.04 [[ 9.99991272e-01 -1.73775180e-03 -3.79939207e-03 8.90956688e+00] [ 1.73922166e-03 9.99998414e-01 3.83596827e-04 4.79282552e-02] [ 3.79871944e-03 -3.90201464e-04 9.99992709e-01 3.72503645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.621400512999998 meters Centerline goodness [0,1] 0.7506169687686155 Centerline is valid? [False, False] Translation: X:8.91, Y:0.05, Z:0.04 [[ 9.99991517e-01 -1.61573424e-03 -3.78893911e-03 8.90932605e+00] [ 1.61819374e-03 9.99998482e-01 6.46151934e-04 4.67213322e-02] [ 3.78788934e-03 -6.52277690e-04 9.99992613e-01 3.76545329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.651400513 meters Centerline goodness [0,1] 0.7788855561657725 Centerline is valid? [False, False] Translation: X:8.91, Y:0.04, Z:0.04 [[ 9.99991811e-01 -1.44156885e-03 -3.78156859e-03 8.90920905e+00] [ 1.44565657e-03 9.99998374e-01 1.07844953e-03 4.46623365e-02] [ 3.78000778e-03 -1.08390754e-03 9.99992268e-01 3.78392636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.681400513 meters Centerline goodness [0,1] 0.7788855561657725 Centerline is valid? [False, False] Translation: X:8.91, Y:0.04, Z:0.04 [[ 9.99991811e-01 -1.44156885e-03 -3.78156859e-03 8.90920905e+00] [ 1.44565657e-03 9.99998374e-01 1.07844953e-03 4.46623365e-02] [ 3.78000778e-03 -1.08390754e-03 9.99992268e-01 3.78392636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.711400512999997 meters Centerline goodness [0,1] 0.6779140454555083 Centerline is valid? [False, False] Translation: X:8.91, Y:0.04, Z:0.04 [[ 9.99992300e-01 -1.23054878e-03 -3.72629752e-03 8.90874775e+00] [ 1.23650985e-03 9.99997959e-01 1.59784984e-03 4.22352853e-02] [ 3.72432369e-03 -1.60244514e-03 9.99991781e-01 3.84235878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.741400513 meters Centerline goodness [0,1] 0.8720013708019191 Centerline is valid? [False, False] Translation: X:8.91, Y:0.04, Z:0.04 [[ 9.99977751e-01 -5.71451714e-03 -3.44111708e-03 8.90800785e+00] [ 5.70352073e-03 9.99978624e-01 -3.19697278e-03 4.44787482e-02] [ 3.45931268e-03 3.17727517e-03 9.99988969e-01 3.80844078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.771400513 meters Centerline goodness [0,1] 0.8659826936257711 Centerline is valid? [False, False] Translation: X:8.91, Y:0.04, Z:0.04 [[ 9.99978670e-01 -5.42739235e-03 -3.63356173e-03 8.90878085e+00] [ 5.41827620e-03 9.99982161e-01 -2.51403436e-03 4.12441268e-02] [ 3.64714156e-03 2.49429310e-03 9.99990238e-01 3.78338132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.801400513 meters Centerline goodness [0,1] 0.9259196545739322 Centerline is valid? [False, False] Translation: X:8.93, Y:0.05, Z:0.05 [[ 9.99946339e-01 -5.55772160e-03 -8.74250287e-03 8.92738575e+00] [ 5.46599706e-03 9.99930134e-01 -1.04809289e-02 4.67962770e-02] [ 8.80014215e-03 1.04325800e-02 9.99906855e-01 4.51370847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.831400513 meters Centerline goodness [0,1] 0.8600638977635783 Centerline is valid? [False, False] Translation: X:8.93, Y:0.04, Z:0.05 [[ 9.99959758e-01 -1.16830840e-03 -8.89477893e-03 8.92780062e+00] [ 1.12725303e-03 9.99988696e-01 -4.61928589e-03 3.85862738e-02] [ 8.90007513e-03 4.60907333e-03 9.99949771e-01 4.55097507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.861400513 meters Centerline goodness [0,1] 0.943911281723182 Centerline is valid? [False, False] Translation: X:8.93, Y:0.04, Z:0.05 [[ 9.99959775e-01 -1.06607308e-03 -8.90571209e-03 8.92771135e+00] [ 1.02693064e-03 9.99989799e-01 -4.39862340e-03 3.75741394e-02] [ 8.91031050e-03 4.38930091e-03 9.99950669e-01 4.57574061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.891400513 meters Centerline goodness [0,1] 0.9779172327532294 Centerline is valid? [False, True] Translation: X:8.93, Y:0.04, Z:0.05 [[ 9.99960044e-01 -9.62377669e-04 -8.88734409e-03 8.92742729e+00] [ 9.25336149e-04 9.99990873e-01 -4.17106712e-03 3.65424423e-02] [ 8.89127712e-03 4.16267668e-03 9.99951807e-01 4.61936290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.921400513 meters Centerline goodness [0,1] 0.8676751012362608 Centerline is valid? [True, False] Translation: X:8.95, Y:0.03, Z:0.04 [[ 9.99987445e-01 -2.93150013e-03 -4.06408009e-03 8.94882464e+00] [ 2.94981356e-03 9.99985490e-01 4.50752007e-03 2.93252880e-02] [ 4.05080733e-03 -4.51945176e-03 9.99981583e-01 4.22813608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.951400513 meters Centerline goodness [0,1] 0.9915797655288555 Centerline is valid? [False, True] Translation: X:8.95, Y:0.03, Z:0.04 [[ 9.99964731e-01 -7.49941976e-03 -3.78083665e-03 8.94809951e+00] [ 7.49683580e-03 9.99971655e-01 -6.97147435e-04 3.35934747e-02] [ 3.78595769e-03 6.68778536e-04 9.99992610e-01 4.19415295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.981400513 meters Centerline goodness [0,1] 0.9877647258746309 Centerline is valid? [True, True] Translation: X:8.98, Y:0.04, Z:0.04 [[ 9.99947923e-01 -9.29723665e-03 -4.20872498e-03 8.97710458e+00] [ 9.29597148e-03 9.99956740e-01 -3.20069825e-04 3.55479731e-02] [ 4.21151867e-03 2.80928969e-04 9.99991092e-01 4.15162185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.011400512999998 meters Centerline goodness [0,1] 0.9434878028192791 Centerline is valid? [True, False] Translation: X:8.98, Y:0.03, Z:0.04 [[ 9.99948428e-01 -9.11941634e-03 -4.46969689e-03 8.97812847e+00] [ 9.12077737e-03 9.99958364e-01 2.84212060e-04 3.25442913e-02] [ 4.46691894e-03 -3.24964513e-04 9.99989970e-01 4.12160761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.041400513 meters Centerline goodness [0,1] 0.9953417139940016 Centerline is valid? [False, True] Translation: X:8.98, Y:0.03, Z:0.04 [[ 9.99945556e-01 -9.28508763e-03 -4.76157321e-03 8.97928143e+00] [ 9.29047689e-03 9.99956225e-01 1.11095553e-03 2.78546728e-02] [ 4.75104946e-03 -1.15513234e-03 9.99988047e-01 4.09743892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.071400513 meters Centerline goodness [0,1] 0.999340551809228 Centerline is valid? [True, True] Translation: X:9.01, Y:0.02, Z:0.04 [[ 9.99922497e-01 -1.16950382e-02 -4.26920163e-03 9.00994306e+00] [ 1.16938894e-02 9.99931581e-01 -2.93947591e-04 2.08029015e-02] [ 4.27234727e-03 2.44001237e-04 9.99990844e-01 4.07974727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.101400512999998 meters Centerline goodness [0,1] 0.9995491046506635 Centerline is valid? [True, True] Translation: X:9.04, Y:0.02, Z:0.04 [[ 9.99890891e-01 -1.41729366e-02 -4.16330004e-03 9.03848601e+00] [ 1.41718656e-02 9.99899533e-01 -2.86645294e-04 2.09614003e-02] [ 4.16694437e-03 2.27612290e-04 9.99991292e-01 4.13856531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.131400513 meters Centerline goodness [0,1] 0.999935813774364 Centerline is valid? [True, True] Translation: X:9.07, Y:0.01, Z:0.04 [[ 9.99789010e-01 -2.02338206e-02 -3.53936588e-03 9.06928671e+00] [ 2.02330836e-02 9.99795260e-01 -2.43930213e-04 1.42939758e-02] [ 3.54357687e-03 1.72266461e-04 9.99993707e-01 4.31097542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.161400513 meters Centerline goodness [0,1] 0.9996617050067659 Centerline is valid? [True, True] Translation: X:9.10, Y:0.02, Z:0.04 [[ 9.99721748e-01 -2.33678143e-02 -3.22050646e-03 9.09777985e+00] [ 2.33672209e-02 9.99726925e-01 -2.21787199e-04 2.02619029e-02] [ 3.22480970e-03 1.46471200e-04 9.99994790e-01 4.42965770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.191400512999998 meters Centerline goodness [0,1] 0.9999574295991996 Centerline is valid? [True, True] Translation: X:9.13, Y:0.01, Z:0.04 [[ 9.99621997e-01 -2.72273396e-02 -3.81256889e-03 9.12885787e+00] [ 2.72265352e-02 9.99629255e-01 -2.62734299e-04 1.36616473e-02] [ 3.81830895e-03 1.58831943e-04 9.99992698e-01 4.42374797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.221400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.16, Y:0.01, Z:0.04 [[ 9.99524609e-01 -3.05790676e-02 -3.93401218e-03 9.15937894e+00] [ 3.05782371e-02 9.99532340e-01 -2.71104607e-04 7.76567856e-03] [ 3.94046252e-03 1.50680570e-04 9.99992225e-01 4.45336261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.251400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.19, Y:-0.00, Z:0.05 [[ 9.99311945e-01 -3.70272243e-02 -2.14978005e-03 9.19037235e+00] [ 3.70269911e-02 9.99314255e-01 -1.48180688e-04 -2.89769824e-03] [ 2.15379256e-03 6.84788451e-05 9.99997678e-01 4.79521396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.281400512999998 meters Centerline goodness [0,1] 0.9999787247622492 Centerline is valid? [True, True] Translation: X:9.22, Y:-0.00, Z:0.05 [[ 9.99201165e-01 -3.99463843e-02 -1.14837793e-03 9.21921285e+00] [ 3.99463199e-02 9.99201824e-01 -7.90065728e-05 -2.87189596e-03] [ 1.15061735e-03 3.30699873e-05 9.99999337e-01 4.95659809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.311400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.25, Y:-0.00, Z:0.05 [[ 9.99083527e-01 -4.27944931e-02 -8.59288751e-04 9.24758826e+00] [ 4.27944582e-02 9.99083896e-01 -5.89914471e-05 -4.25722197e-03] [ 8.61026062e-04 2.21645864e-05 9.99999629e-01 5.03507311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.341400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.28, Y:-0.01, Z:0.05 [[ 9.98952017e-01 -4.57586281e-02 -1.00741576e-03 9.27705864e+00] [ 4.57585821e-02 9.98952525e-01 -6.86691661e-05 -7.78154497e-03] [ 1.00950273e-03 2.24992851e-05 9.99999490e-01 4.98951610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.371400512999998 meters Centerline goodness [0,1] 0.9999786109982247 Centerline is valid? [True, True] Translation: X:9.31, Y:-0.01, Z:0.05 [[ 9.98833254e-01 -4.82578359e-02 -1.81993136e-03 9.30625840e+00] [ 4.82576871e-02 9.98834911e-01 -1.25639223e-04 -1.17619996e-02] [ 1.82387406e-03 3.76669562e-05 9.99998336e-01 4.82661979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.401400513 meters Centerline goodness [0,1] 0.9999354547214871 Centerline is valid? [True, True] Translation: X:9.34, Y:-0.02, Z:0.05 [[ 9.98674915e-01 -5.13102940e-02 -3.95829131e-03 9.33516187e+00] [ 5.13096116e-02 9.98682757e-01 -2.73825565e-04 -1.59713758e-02] [ 3.96712735e-03 7.03643335e-05 9.99992128e-01 4.53164409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.431400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.36, Y:-0.02, Z:0.05 [[ 9.98583239e-01 -5.30087162e-02 -4.64666934e-03 9.36429246e+00] [ 5.30077940e-02 9.98594047e-01 -3.21486159e-04 -1.69282984e-02] [ 4.65717791e-03 7.47209985e-05 9.99989152e-01 4.52415987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.461400512999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.39, Y:-0.02, Z:0.04 [[ 9.98535823e-01 -5.38401762e-02 -5.23881724e-03 9.39303664e+00] [ 5.38390101e-02 9.98549563e-01 -3.63471544e-04 -1.69189397e-02] [ 5.25078804e-03 8.08866228e-05 9.99986211e-01 4.46049239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.491400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.42, Y:-0.02, Z:0.04 [[ 9.98494966e-01 -5.45521885e-02 -5.64457222e-03 9.42185847e+00] [ 5.45508402e-02 9.98510917e-01 -3.92656514e-04 -1.58177839e-02] [ 5.65758726e-03 8.41493952e-05 9.99983992e-01 4.40034827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.521400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.45, Y:-0.01, Z:0.05 [[ 9.98506143e-01 -5.44733437e-02 -4.25871794e-03 9.44898450e+00] [ 5.44725729e-02 9.98515223e-01 -2.96882422e-04 -1.14460137e-02] [ 4.26856687e-03 6.44555988e-05 9.99990888e-01 4.54831087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.551400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.48, Y:-0.01, Z:0.05 [[ 9.98541576e-01 -5.38960820e-02 -3.15160970e-03 9.47787927e+00] [ 5.38956574e-02 9.98546549e-01 -2.19560268e-04 -1.07361384e-02] [ 3.15886243e-03 4.93819791e-05 9.99995010e-01 4.70332212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.581400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.51, Y:-0.01, Z:0.05 [[ 9.98558661e-01 -5.36251236e-02 -2.22413234e-03 9.50537254e+00] [ 5.36249103e-02 9.98561137e-01 -1.55477089e-04 -7.52888221e-03] [ 2.22926960e-03 3.59840959e-05 9.99997515e-01 4.91377832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.611400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.53, Y:-0.00, Z:0.05 [[ 9.98489013e-01 -5.49437592e-02 -9.34753274e-04 9.53385098e+00] [ 5.49437229e-02 9.98489451e-01 -6.45600036e-05 -4.30442274e-03] [ 9.36888453e-04 1.31036294e-05 9.99999561e-01 5.17007849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.641400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.56, Y:-0.00, Z:0.05 [[ 9.98411336e-01 -5.63417195e-02 -6.44547879e-04 9.56140039e+00] [ 5.63417022e-02 9.98411544e-01 -4.49254953e-05 -9.20916578e-04] [ 6.46055223e-04 8.53919909e-06 9.99999791e-01 5.27538586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.671400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.59, Y:-0.00, Z:0.05 [[ 9.98315815e-01 -5.80064673e-02 -8.84607439e-04 9.59062836e+00] [ 5.80064358e-02 9.98316207e-01 -6.12418869e-05 -2.15908884e-03] [ 8.86670369e-04 9.82581964e-06 9.99999607e-01 5.17211686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.701400513 meters Centerline goodness [0,1] 0.9998717071501881 Centerline is valid? [True, True] Translation: X:9.62, Y:-0.00, Z:0.05 [[ 9.98229839e-01 -5.94563191e-02 -1.46093267e-03 9.61963697e+00] [ 5.94562334e-02 9.98230908e-01 -1.02095585e-04 -1.58396773e-03] [ 1.46441838e-03 1.50533057e-05 9.99998928e-01 5.08060241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.731400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.65, Y:-0.00, Z:0.05 [[ 9.98143997e-01 -6.08634460e-02 -2.05006166e-03 9.64725658e+00] [ 6.08632774e-02 9.98146102e-01 -1.44554082e-04 -6.74114584e-05] [ 2.05505912e-03 1.95123178e-05 9.99997888e-01 5.06820152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.761400512999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.67, Y:0.00, Z:0.05 [[ 9.98108706e-01 -6.14098130e-02 -2.80098105e-03 9.67488179e+00] [ 6.14095011e-02 9.98112636e-01 -1.97314272e-04 3.72654236e-03] [ 2.80781162e-03 2.49342437e-05 9.99996058e-01 5.01216837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.791400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.70, Y:0.01, Z:0.05 [[ 9.98104546e-01 -6.14513486e-02 -3.32379951e-03 9.70120897e+00] [ 6.14509055e-02 9.98110080e-01 -2.35368399e-04 1.07990872e-02] [ 3.33198150e-03 3.06717788e-05 9.99994448e-01 4.96337070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.821400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.73, Y:0.01, Z:0.05 [[ 9.98092082e-01 -6.16628854e-02 -3.14385382e-03 9.72883552e+00] [ 6.16624904e-02 9.98097033e-01 -2.22503142e-04 1.42889200e-02] [ 3.15159136e-03 2.82207683e-05 9.99995033e-01 4.98068463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.851400512999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.76, Y:0.02, Z:0.05 [[ 9.98056820e-01 -6.22393016e-02 -2.97546753e-03 9.75657100e+00] [ 6.22389489e-02 9.98061255e-01 -2.11056047e-04 1.75257403e-02] [ 2.98283483e-03 2.54559559e-05 9.99995551e-01 5.02834723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.881400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.78, Y:0.02, Z:0.05 [[ 9.97992567e-01 -6.32619800e-02 -2.95932184e-03 9.78423727e+00] [ 6.32616329e-02 9.97996955e-01 -2.10834087e-04 2.14314031e-02] [ 2.96673197e-03 2.31993195e-05 9.99995599e-01 5.11973703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.911400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.81, Y:0.03, Z:0.05 [[ 9.97779286e-01 -6.65072511e-02 -3.64439455e-03 9.81234951e+00] [ 6.65067456e-02 9.97785942e-01 -2.59875257e-04 2.52766566e-02] [ 3.65360924e-03 1.69213275e-05 9.99993325e-01 5.11442770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.941400512999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.84, Y:0.03, Z:0.05 [[ 9.97611605e-01 -6.89968880e-02 -3.24260728e-03 9.84029498e+00] [ 6.89964999e-02 9.97616875e-01 -2.31536905e-04 2.57883549e-02] [ 3.25085507e-03 7.25535053e-06 9.99994716e-01 5.17206861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.971400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.87, Y:0.03, Z:0.05 [[ 9.97403757e-01 -7.19896093e-02 -1.80032881e-03 9.86850634e+00] [ 7.19894950e-02 9.97405382e-01 -1.28331720e-04 2.63521259e-02] [ 1.80489619e-03 -1.60622250e-06 9.99998371e-01 5.41051849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.001400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.90, Y:0.03, Z:0.06 [[ 9.96935644e-01 -7.82249593e-02 4.22428736e-04 9.89698386e+00] [ 7.82249529e-02 9.96935733e-01 3.15651828e-05 2.69048156e-02] [-4.23603486e-04 1.57601214e-06 9.99999910e-01 5.71322604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.031400512999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.93, Y:0.03, Z:0.06 [[ 9.96720999e-01 -8.09130214e-02 5.77810087e-04 9.92522166e+00] [ 8.09130105e-02 9.96721166e-01 4.21443055e-05 2.75914507e-02] [-5.79325567e-04 4.74623940e-06 9.99999832e-01 5.82523522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.061400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.95, Y:0.03, Z:0.06 [[ 9.96516631e-01 -8.33941930e-02 1.16727901e-04 9.95391205e+00] [ 8.33941924e-02 9.96516637e-01 9.59605843e-06 3.01055069e-02] [-1.17121551e-04 1.71797214e-07 9.99999993e-01 5.69564708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.091400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.98, Y:0.03, Z:0.06 [[ 9.96335910e-01 -8.55261346e-02 -1.88306608e-04 9.98278396e+00] [ 8.55261338e-02 9.96335927e-01 -1.25931693e-05 3.27326593e-02] [ 1.88693684e-04 -3.55810931e-06 9.99999982e-01 5.61759143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.121400512999998 meters Centerline goodness [0,1] 0.9999782424229238 Centerline is valid? [True, True] Translation: X:10.01, Y:0.04, Z:0.05 [[ 9.95991256e-01 -8.94429478e-02 -1.17384523e-03 1.00117021e+01] [ 8.94429106e-02 9.95991947e-01 -8.42020543e-05 3.69723394e-02] [ 1.17667168e-03 -2.11276246e-05 9.99999307e-01 5.44336544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.151400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.04, Y:0.04, Z:0.05 [[ 9.95855895e-01 -9.09298000e-02 -1.67585765e-03 1.00389267e+01] [ 9.09297242e-02 9.95857304e-01 -1.21509363e-04 4.01170806e-02] [ 1.67996391e-03 -3.13794587e-05 9.99998588e-01 5.34750444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.181400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.07, Y:0.04, Z:0.05 [[ 9.95771566e-01 -9.18170870e-02 -2.93458863e-03 1.00666269e+01] [ 9.18168566e-02 9.95775888e-01 -2.13414818e-04 4.13818305e-02] [ 2.94178773e-03 -5.69322962e-05 9.99995671e-01 5.24302620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.211400512999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.09, Y:0.05, Z:0.05 [[ 9.95743699e-01 -9.20839498e-02 -3.87714862e-03 1.00946288e+01] [ 9.20835497e-02 9.95751244e-01 -2.81971100e-04 4.79011490e-02] [ 3.88664057e-03 -7.62506615e-05 9.99992444e-01 5.13495991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.241400513 meters Centerline goodness [0,1] 0.9999356112637363 Centerline is valid? [True, True] Translation: X:10.12, Y:0.06, Z:0.05 [[ 9.95777047e-01 -9.16855249e-02 -4.67298058e-03 1.01225332e+01] [ 9.16849337e-02 9.95788008e-01 -3.41042944e-04 5.62107674e-02] [ 4.68456672e-03 -8.88391786e-05 9.99989023e-01 5.05367975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.271400513 meters Centerline goodness [0,1] 0.9999787188763567 Centerline is valid? [True, True] Translation: X:10.15, Y:0.06, Z:0.05 [[ 9.95816751e-01 -9.12699164e-02 -4.33602470e-03 1.01504030e+01] [ 9.12693998e-02 9.95826188e-01 -3.17291873e-04 6.22043181e-02] [ 4.34688615e-03 -7.97818095e-05 9.99990549e-01 5.19280532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.301400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.18, Y:0.08, Z:0.06 [[ 9.95986408e-01 -8.94675477e-02 -2.57534456e-03 1.01786054e+01] [ 8.94673594e-02 9.95989737e-01 -1.88440887e-04 7.82254043e-02] [ 2.58187610e-03 -4.27247157e-05 9.99996666e-01 5.50611017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.331400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.21, Y:0.08, Z:0.06 [[ 9.96052512e-01 -8.87465205e-02 -1.85674205e-03 1.02061748e+01] [ 8.87464211e-02 9.96054243e-01 -1.36004765e-04 8.48446149e-02] [ 1.86148574e-03 -2.93113241e-05 9.99998267e-01 5.68683930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.361400513 meters Centerline goodness [0,1] 0.9998730212477779 Centerline is valid? [True, True] Translation: X:10.23, Y:0.09, Z:0.06 [[ 9.96097774e-01 -8.82226381e-02 -2.44752197e-03 1.02345846e+01] [ 8.82224643e-02 9.96100780e-01 -1.79113292e-04 9.24413662e-02] [ 2.45378039e-03 -3.75120680e-05 9.99996989e-01 5.69205852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.391400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.26, Y:0.10, Z:0.05 [[ 9.95949584e-01 -8.98429129e-02 -3.56038459e-03 1.02620634e+01] [ 8.98425503e-02 9.95955947e-01 -2.61980876e-04 1.01913111e-01] [ 3.56952333e-03 -5.89542875e-05 9.99993627e-01 5.47781330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.421400513 meters Centerline goodness [0,1] 0.9999784375875973 Centerline is valid? [True, True] Translation: X:10.29, Y:0.11, Z:0.05 [[ 9.95796823e-01 -9.14972769e-02 -4.11517553e-03 1.02903987e+01] [ 9.14968064e-02 9.95805324e-01 -3.02836912e-04 1.06406148e-01] [ 4.12562245e-03 -7.49613833e-05 9.99991487e-01 5.33836034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.451400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.32, Y:0.11, Z:0.05 [[ 9.95557972e-01 -9.40484260e-02 -4.38373234e-03 1.03190383e+01] [ 9.40479133e-02 9.95567620e-01 -3.23406391e-04 1.08388007e-01] [ 4.39471783e-03 -9.03110673e-05 9.99990339e-01 5.30554146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.481400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.35, Y:0.11, Z:0.05 [[ 9.95361292e-01 -9.61229571e-02 -4.03441208e-03 1.03473465e+01] [ 9.61225364e-02 9.95369464e-01 -2.98497086e-04 1.10354361e-01] [ 4.04442301e-03 -9.06854775e-05 9.99991817e-01 5.31536328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.511400512999998 meters Centerline goodness [0,1] 0.9998932376742895 Centerline is valid? [True, True] Translation: X:10.37, Y:0.12, Z:0.05 [[ 9.95323714e-01 -9.65127304e-02 -3.99958744e-03 1.03746334e+01] [ 9.65123205e-02 9.95331746e-01 -2.95814544e-04 1.16261279e-01] [ 4.00946621e-03 -9.15782338e-05 9.99991958e-01 5.39760558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.541400513 meters Centerline goodness [0,1] 0.9999785112600997 Centerline is valid? [True, True] Translation: X:10.40, Y:0.12, Z:0.05 [[ 9.95547184e-01 -9.41801531e-02 -3.98780722e-03 1.04021799e+01] [ 9.41797228e-02 9.95555168e-01 -2.95975861e-04 1.24259545e-01] [ 3.99795714e-03 -8.09126432e-05 9.99992005e-01 5.39956658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.571400513 meters Centerline goodness [0,1] 0.9998718085674607 Centerline is valid? [True, True] Translation: X:10.43, Y:0.13, Z:0.05 [[ 9.95886591e-01 -9.05152831e-02 -4.10858735e-03 1.04305151e+01] [ 9.05147934e-02 9.95895064e-01 -3.05366767e-04 1.34995356e-01] [ 4.11936222e-03 -6.77772657e-05 9.99991513e-01 5.40338991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.601400512999998 meters Centerline goodness [0,1] 0.9998718085674607 Centerline is valid? [True, True] Translation: X:10.46, Y:0.14, Z:0.05 [[ 9.95869663e-01 -9.07013423e-02 -4.10859944e-03 1.04579243e+01] [ 9.07008548e-02 9.95878136e-01 -3.05204819e-04 1.37210072e-01] [ 4.11934684e-03 -6.87092612e-05 9.99991513e-01 5.42165998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.631400513 meters Centerline goodness [0,1] 0.999978465447811 Centerline is valid? [True, True] Translation: X:10.49, Y:0.16, Z:0.05 [[ 9.96668837e-01 -8.14435244e-02 -4.26396714e-03 1.04856587e+01] [ 8.14429092e-02 9.96677958e-01 -3.18010601e-04 1.58170152e-01] [ 4.27570196e-03 -3.03186327e-05 9.99990859e-01 5.49533009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.661400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.51, Y:0.17, Z:0.06 [[ 9.97034252e-01 -7.68514001e-02 -4.06966726e-03 1.05127521e+01] [ 7.68508017e-02 9.97042558e-01 -3.03444066e-04 1.69722748e-01] [ 4.08095156e-03 -1.02130638e-05 9.99991673e-01 5.51536065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.691400512999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.54, Y:0.18, Z:0.06 [[ 9.97368842e-01 -7.23880860e-02 -3.91902420e-03 1.05397590e+01] [ 7.23874972e-02 9.97376541e-01 -2.92079543e-04 1.81663778e-01] [ 3.92988588e-03 7.62268173e-06 9.99992278e-01 5.60524998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.721400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.57, Y:0.19, Z:0.06 [[ 9.97652898e-01 -6.83766367e-02 -3.65109664e-03 1.05666437e+01] [ 6.83760952e-02 9.97659579e-01 -2.73089506e-04 1.93139829e-01] [ 3.66122448e-03 2.28008061e-05 9.99993297e-01 5.68133110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.751400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.59, Y:0.21, Z:0.06 [[ 9.98105925e-01 -6.14433234e-02 -3.04653245e-03 1.05938875e+01] [ 6.14429134e-02 9.98110573e-01 -2.28069301e-04 2.10819734e-01] [ 3.05478959e-03 4.04494912e-05 9.99995333e-01 5.73208432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.781400512999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.62, Y:0.22, Z:0.06 [[ 9.98271469e-01 -5.86790786e-02 -3.29250908e-03 1.06223772e+01] [ 5.86785857e-02 9.98276897e-01 -2.46195497e-04 2.19186075e-01] [ 3.30128227e-03 5.25701645e-05 9.99994549e-01 5.69712961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.811400513 meters Centerline goodness [0,1] 0.9998713081526285 Centerline is valid? [True, True] Translation: X:10.65, Y:0.22, Z:0.06 [[ 9.98418671e-01 -5.60965467e-02 -3.65156811e-03 1.06511046e+01] [ 5.60959206e-02 9.98425347e-01 -2.73716477e-04 2.24233003e-01] [ 3.66117270e-03 6.84455666e-05 9.99993296e-01 5.59200501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.841400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.68, Y:0.23, Z:0.06 [[ 9.98522535e-01 -5.42100326e-02 -3.74418093e-03 1.06797194e+01] [ 5.42093586e-02 9.98529552e-01 -2.81321261e-04 2.31455453e-01] [ 3.75392574e-03 7.79359717e-05 9.99992951e-01 5.61586913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.871400512999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.71, Y:0.24, Z:0.06 [[ 9.98719507e-01 -5.04563046e-02 -3.67515817e-03 1.07072413e+01] [ 5.04556265e-02 9.98726265e-01 -2.77071073e-04 2.44559010e-01] [ 3.68445698e-03 9.12838772e-05 9.99993208e-01 5.70570346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.901400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.74, Y:0.25, Z:0.06 [[ 9.98803133e-01 -4.87894472e-02 -3.44828359e-03 1.07354654e+01] [ 4.87888408e-02 9.98809082e-01 -2.59788521e-04 2.51305824e-01] [ 3.45685191e-03 9.12398299e-05 9.99994021e-01 5.72286371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.931400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.76, Y:0.26, Z:0.06 [[ 9.98890864e-01 -4.69538144e-02 -3.51879702e-03 1.07638024e+01] [ 4.69531695e-02 9.98897056e-01 -2.65705305e-04 2.57631666e-01] [ 3.52739186e-03 1.00191929e-04 9.99993774e-01 5.75848275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.961400512999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.79, Y:0.27, Z:0.06 [[ 9.99067798e-01 -4.30614185e-02 -3.04130315e-03 1.07937614e+01] [ 4.30609158e-02 9.99072422e-01 -2.30597859e-04 2.65480255e-01] [ 3.04841197e-03 9.94215965e-05 9.99995349e-01 5.82066954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.991400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.82, Y:0.27, Z:0.06 [[ 9.99147344e-01 -4.11568785e-02 -3.27058215e-03 1.08212817e+01] [ 4.11562875e-02 9.99152690e-01 -2.47802523e-04 2.73635384e-01] [ 3.27800973e-03 1.12986213e-04 9.99994621e-01 5.84116076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.021400513 meters Centerline goodness [0,1] 0.9999575164092869 Centerline is valid? [True, True] Translation: X:10.85, Y:0.28, Z:0.06 [[ 9.99217530e-01 -3.93767772e-02 -3.71432163e-03 1.08497039e+01] [ 3.93760017e-02 9.99224425e-01 -2.81723835e-04 2.81280791e-01] [ 3.72253427e-03 1.35248260e-04 9.99993062e-01 5.80461437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.051400513 meters Centerline goodness [0,1] 0.9999785867237687 Centerline is valid? [True, True] Translation: X:10.88, Y:0.28, Z:0.06 [[ 9.99299861e-01 -3.72418243e-02 -3.58249905e-03 1.08793536e+01] [ 3.72410886e-02 9.99306273e-01 -2.71875918e-04 2.83417076e-01] [ 3.59013893e-03 1.38269403e-04 9.99993546e-01 5.73469850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.081400513 meters Centerline goodness [0,1] 0.999957152344838 Centerline is valid? [True, True] Translation: X:10.91, Y:0.29, Z:0.06 [[ 9.99309668e-01 -3.70530624e-02 -2.69398677e-03 1.09063908e+01] [ 3.70526460e-02 9.99313294e-01 -2.04329292e-04 2.88879124e-01] [ 2.69970782e-03 1.04368899e-04 9.99996350e-01 5.91638022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.111400513 meters Centerline goodness [0,1] 0.9999364662529914 Centerline is valid? [True, True] Translation: X:10.93, Y:0.30, Z:0.06 [[ 9.99307770e-01 -3.71403694e-02 -2.13875761e-03 1.09337566e+01] [ 3.71401071e-02 9.99310055e-01 -1.62274349e-04 2.95789211e-01] [ 2.14330892e-03 8.27283305e-05 9.99997700e-01 6.11993251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.141400513 meters Centerline goodness [0,1] 0.999956369030738 Centerline is valid? [True, True] Translation: X:10.96, Y:0.29, Z:0.06 [[ 9.99294951e-01 -3.74819586e-02 -2.16883901e-03 1.09632058e+01] [ 3.74816904e-02 9.99297301e-01 -1.64203942e-04 2.92296071e-01] [ 2.17346966e-03 8.27964174e-05 9.99997635e-01 6.09622997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.171400513 meters Centerline goodness [0,1] 0.9999786315654515 Centerline is valid? [True, True] Translation: X:10.99, Y:0.30, Z:0.06 [[ 9.99345980e-01 -3.59757416e-02 -3.65494565e-03 1.09913594e+01] [ 3.59749633e-02 9.99352653e-01 -2.78485012e-04 2.99153538e-01] [ 3.66259834e-03 1.46816342e-04 9.99993282e-01 5.88755600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.201400513 meters Centerline goodness [0,1] 0.9998499946426658 Centerline is valid? [True, True] Translation: X:11.02, Y:0.31, Z:0.06 [[ 9.99387286e-01 -3.47307175e-02 -4.33935334e-03 1.10188792e+01] [ 3.47296080e-02 9.99396690e-01 -3.30805146e-04 3.10251104e-01] [ 4.34822447e-03 1.79898417e-04 9.99990530e-01 5.83036200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.231400513 meters Centerline goodness [0,1] 0.9999359562794868 Centerline is valid? [True, True] Translation: X:11.05, Y:0.31, Z:0.06 [[ 9.99430329e-01 -3.34156888e-02 -4.73378535e-03 1.10482502e+01] [ 3.34143524e-02 9.99441519e-01 -3.61148180e-04 3.07755069e-01] [ 4.74320963e-03 2.02766073e-04 9.99988730e-01 5.75089189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.261400512999998 meters Centerline goodness [0,1] 0.99991440005136 Centerline is valid? [True, True] Translation: X:11.08, Y:0.31, Z:0.06 [[ 9.99493510e-01 -3.14224475e-02 -5.03510328e-03 1.10775426e+01] [ 3.14209092e-02 9.99506167e-01 -3.84350106e-04 3.13885993e-01] [ 5.04469400e-03 2.25947914e-04 9.99987250e-01 5.85461496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.291400513 meters Centerline goodness [0,1] 0.9997883732249804 Centerline is valid? [True, True] Translation: X:11.11, Y:0.32, Z:0.06 [[ 9.99522325e-01 -3.04404234e-02 -5.33882278e-03 1.11052353e+01] [ 3.04386794e-02 9.99536553e-01 -4.07624862e-04 3.18793154e-01] [ 5.34875679e-03 2.44923434e-04 9.99985665e-01 5.86510815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.321400513 meters Centerline goodness [0,1] 0.999805042890564 Centerline is valid? [True, True] Translation: X:11.13, Y:0.32, Z:0.06 [[ 9.99536796e-01 -2.98570340e-02 -5.89502093e-03 1.11336769e+01] [ 2.98548958e-02 9.99554142e-01 -4.50404458e-04 3.21569532e-01] [ 5.90584032e-03 2.74200593e-04 9.99982523e-01 5.82814801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.351400512999998 meters Centerline goodness [0,1] 0.9999135415540905 Centerline is valid? [True, True] Translation: X:11.16, Y:0.32, Z:0.06 [[ 9.99584185e-01 -2.81802533e-02 -6.10993779e-03 1.11626276e+01] [ 2.81779183e-02 9.99602814e-01 -4.67936752e-04 3.24970384e-01] [ 6.12069758e-03 2.95576849e-04 9.99981225e-01 5.75221208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.381400513 meters Centerline goodness [0,1] 0.9997603590257506 Centerline is valid? [True, True] Translation: X:11.19, Y:0.32, Z:0.06 [[ 9.99629666e-01 -2.66747885e-02 -5.38390943e-03 1.11927567e+01] [ 2.66729527e-02 9.99644128e-01 -4.12510066e-04 3.23897344e-01] [ 5.39299707e-03 2.68752537e-04 9.99985422e-01 5.82398352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.411400513 meters Centerline goodness [0,1] 0.9986036819832013 Centerline is valid? [True, True] Translation: X:11.22, Y:0.34, Z:0.06 [[ 9.99667784e-01 -2.52902005e-02 -4.97268115e-03 1.12200528e+01] [ 2.52886169e-02 9.99680119e-01 -3.81092732e-04 3.42074580e-01] [ 4.98072839e-03 2.55213899e-04 9.99987564e-01 5.97397712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.441400512999998 meters Centerline goodness [0,1] 0.9996104402025711 Centerline is valid? [True, True] Translation: X:11.25, Y:0.34, Z:0.06 [[ 9.99736776e-01 -2.22043580e-02 -5.77455240e-03 1.12507086e+01] [ 2.22021695e-02 9.99753403e-01 -4.42822910e-04 3.38717218e-01] [ 5.78296101e-03 3.14498757e-04 9.99983229e-01 5.83854017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.471400513 meters Centerline goodness [0,1] 0.9995311867368466 Centerline is valid? [True, True] Translation: X:11.28, Y:0.34, Z:0.06 [[ 9.99755907e-01 -2.11610370e-02 -6.35111719e-03 1.12799806e+01] [ 2.11583684e-02 9.99776018e-01 -4.87086649e-04 3.38405347e-01] [ 6.36000191e-03 3.52588478e-04 9.99979713e-01 5.74146736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.501400513 meters Centerline goodness [0,1] 0.9992740781860495 Centerline is valid? [True, True] Translation: X:11.31, Y:0.34, Z:0.06 [[ 9.99762108e-01 -2.09113736e-02 -6.20007382e-03 1.13072795e+01] [ 2.09088243e-02 9.99781273e-01 -4.75708751e-04 3.40929049e-01] [ 6.20866543e-03 3.45959329e-04 9.99980666e-01 5.77645730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.531400512999998 meters Centerline goodness [0,1] 0.9639429697265004 Centerline is valid? [True, True] Translation: X:11.33, Y:0.35, Z:0.06 [[ 9.99779236e-01 -2.06959821e-02 -3.62714411e-03 1.13349584e+01] [ 2.06951080e-02 9.99785795e-01 -2.78350584e-04 3.47484108e-01] [ 3.63212789e-03 2.03224995e-04 9.99993383e-01 6.22335375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.561400513 meters Centerline goodness [0,1] 0.9989836079754336 Centerline is valid? [True, True] Translation: X:11.36, Y:0.34, Z:0.06 [[ 9.99769362e-01 -2.12703159e-02 -2.96591448e-03 1.13642623e+01] [ 2.12697349e-02 9.99773748e-01 -2.27316873e-04 3.37269297e-01] [ 2.97007854e-03 1.64180230e-04 9.99995576e-01 6.31543312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.591400513 meters Centerline goodness [0,1] 0.998333368945108 Centerline is valid? [True, True] Translation: X:11.39, Y:0.34, Z:0.06 [[ 9.99756472e-01 -2.18400712e-02 -3.16361155e-03 1.13926873e+01] [ 2.18394097e-02 9.99761462e-01 -2.43523913e-04 3.38855349e-01] [ 3.16817549e-03 1.74373200e-04 9.99994966e-01 6.34144884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.621400512999998 meters Centerline goodness [0,1] 0.9992082513053154 Centerline is valid? [True, True] Translation: X:11.42, Y:0.34, Z:0.06 [[ 9.99733716e-01 -2.27579601e-02 -3.81729841e-03 1.14217950e+01] [ 2.27570042e-02 9.99740983e-01 -2.93666511e-04 3.37397161e-01] [ 3.82299291e-03 2.06718036e-04 9.99992671e-01 6.26438459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.651400513 meters Centerline goodness [0,1] 0.9998485438573715 Centerline is valid? [True, True] Translation: X:11.45, Y:0.32, Z:0.06 [[ 9.99701707e-01 -2.38005225e-02 -5.48022829e-03 1.14516561e+01] [ 2.37985597e-02 9.99716685e-01 -4.23097529e-04 3.24897541e-01] [ 5.48874560e-03 2.92549781e-04 9.99984894e-01 6.06542204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.681400513 meters Centerline goodness [0,1] 0.9984086705948131 Centerline is valid? [True, True] Translation: X:11.48, Y:0.34, Z:0.06 [[ 9.99700249e-01 -2.38783224e-02 -5.40725747e-03 1.14782221e+01] [ 2.38764115e-02 9.99714831e-01 -4.17679630e-04 3.35013557e-01] [ 5.41568897e-03 2.88448525e-04 9.99985293e-01 6.09637426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.711400512999997 meters Centerline goodness [0,1] 0.9993825583375916 Centerline is valid? [True, True] Translation: X:11.51, Y:0.33, Z:0.06 [[ 9.99716179e-01 -2.33288842e-02 -4.82961356e-03 1.15075373e+01] [ 2.33273524e-02 9.99727811e-01 -3.73274231e-04 3.31308534e-01] [ 4.83700706e-03 2.60506190e-04 9.99988268e-01 6.19081593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.741400513 meters Centerline goodness [0,1] 0.9993309159975826 Centerline is valid? [True, True] Translation: X:11.54, Y:0.33, Z:0.06 [[ 9.99774133e-01 -2.09182631e-02 -3.75612831e-03 1.15380273e+01] [ 2.09173166e-02 9.99781167e-01 -2.91106122e-04 3.28391367e-01] [ 3.76139578e-03 2.12472246e-04 9.99992903e-01 6.35230082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.771400513 meters Centerline goodness [0,1] 0.999054515761652 Centerline is valid? [True, True] Translation: X:11.57, Y:0.33, Z:0.06 [[ 9.99799627e-01 -1.95919839e-02 -4.10617718e-03 1.15678576e+01] [ 1.95908414e-02 9.99808030e-01 -3.18261326e-04 3.30523808e-01] [ 4.11162429e-03 2.37754089e-04 9.99991519e-01 6.25173603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.801400512999997 meters Centerline goodness [0,1] 0.9997835169830926 Centerline is valid? [True, True] Translation: X:11.60, Y:0.32, Z:0.06 [[ 9.99817861e-01 -1.83047924e-02 -5.40171758e-03 1.15982018e+01] [ 1.83027956e-02 9.99832402e-01 -4.18851490e-04 3.24125873e-01] [ 5.40847925e-03 3.19908668e-04 9.99985323e-01 6.02736521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.831400513 meters Centerline goodness [0,1] 0.9963693391767637 Centerline is valid? [True, True] Translation: X:11.63, Y:0.33, Z:0.06 [[ 9.99852370e-01 -1.54968592e-02 -7.42196307e-03 1.16263790e+01] [ 1.54930108e-02 9.99879810e-01 -5.75743118e-04 3.33913820e-01] [ 7.42999324e-03 4.60669567e-04 9.99972291e-01 5.61496706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.861400513 meters Centerline goodness [0,1] 0.9994581003164694 Centerline is valid? [True, True] Translation: X:11.66, Y:0.33, Z:0.06 [[ 9.99869302e-01 -1.43209498e-02 -7.50263850e-03 1.16568162e+01] [ 1.43169831e-02 9.99897337e-01 -5.82150923e-04 3.29342061e-01] [ 7.51020522e-03 4.74659688e-04 9.99971685e-01 5.60202706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.891400513 meters Centerline goodness [0,1] 0.9865504465337417 Centerline is valid? [True, True] Translation: X:11.69, Y:0.34, Z:0.06 [[ 9.99888531e-01 -1.31620921e-02 -7.04875897e-03 1.16852420e+01] [ 1.31585610e-02 9.99913273e-01 -5.47097548e-04 3.35586832e-01] [ 7.05534860e-03 4.54285039e-04 9.99975008e-01 5.61455447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.921400513 meters Centerline goodness [0,1] 0.9879273041973172 Centerline is valid? [True, True] Translation: X:11.71, Y:0.34, Z:0.06 [[ 9.99901407e-01 -1.22637453e-02 -6.83940243e-03 1.17144619e+01] [ 1.22603983e-02 9.99924697e-01 -5.31086019e-04 3.35126920e-01] [ 6.84540051e-03 4.47179859e-04 9.99976470e-01 5.67209241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.951400513 meters Centerline goodness [0,1] 0.8388939622401087 Centerline is valid? [True, False] Translation: X:11.74, Y:0.34, Z:0.05 [[ 9.99943423e-01 -1.04727953e-02 -1.86307444e-03 1.17365064e+01] [ 1.04542975e-02 9.99898538e-01 -9.67576958e-03 3.40645446e-01] [ 1.96421776e-03 9.65574502e-03 9.99951453e-01 5.12976142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.981400513 meters Centerline goodness [0,1] 0.8195300747897201 Centerline is valid? [False, False] Translation: X:11.74, Y:0.33, Z:0.05 [[ 9.99980984e-01 -5.74080956e-03 -2.25270481e-03 1.17378055e+01] [ 5.73224279e-03 9.99976384e-01 -3.79108677e-03 3.32961867e-01] [ 2.27441552e-03 3.77810163e-03 9.99990276e-01 5.11177618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.011400512999998 meters Centerline goodness [0,1] 0.7190383061944645 Centerline is valid? [False, False] Translation: X:11.74, Y:0.33, Z:0.05 [[ 9.99981250e-01 -5.70935342e-03 -2.21431816e-03 1.17378782e+01] [ 5.70099821e-03 9.99976675e-01 -3.76140123e-03 3.32839915e-01] [ 2.23574168e-03 3.74870688e-03 9.99990474e-01 5.07000231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.041400513 meters Centerline goodness [0,1] 0.8963499284509088 Centerline is valid? [False, False] Translation: X:11.74, Y:0.33, Z:0.05 [[ 9.99981430e-01 -5.67175749e-03 -2.22952297e-03 1.17381686e+01] [ 5.66347465e-03 9.99977102e-01 -3.70399254e-03 3.32576476e-01] [ 2.25048007e-03 3.69129691e-03 9.99990655e-01 5.02166309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.071400513 meters Centerline goodness [0,1] 0.9202750617814548 Centerline is valid? [False, False] Translation: X:11.73, Y:0.33, Z:0.05 [[ 9.99992797e-01 -3.51496903e-03 -1.43228368e-03 1.17324557e+01] [ 3.51317575e-03 9.99993044e-01 -1.25264129e-03 3.28411312e-01] [ 1.43667671e-03 1.24760041e-03 9.99998190e-01 5.35309436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.101400512999998 meters Centerline goodness [0,1] 0.8447051295723579 Centerline is valid? [False, False] Translation: X:11.73, Y:0.33, Z:0.05 [[ 9.99992851e-01 -3.48126286e-03 -1.47621824e-03 1.17325866e+01] [ 3.47946653e-03 9.99993205e-01 -1.21767188e-03 3.28272922e-01] [ 1.48044724e-03 1.21252672e-03 9.99998169e-01 5.35314628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.131400513 meters Centerline goodness [0,1] 0.9203782141787533 Centerline is valid? [False, False] Translation: X:11.73, Y:0.33, Z:0.05 [[ 9.99993209e-01 -3.34915989e-03 -1.53793213e-03 1.17327663e+01] [ 3.34773729e-03 9.99993967e-01 -9.26657728e-04 3.26928545e-01] [ 1.54102638e-03 9.21502842e-04 9.99998388e-01 5.35941908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.161400513 meters Centerline goodness [0,1] 0.9118602067845851 Centerline is valid? [False, False] Translation: X:11.73, Y:0.32, Z:0.05 [[ 9.99994675e-01 -2.83698029e-03 -1.61269216e-03 1.17328944e+01] [ 2.83738121e-03 9.99995944e-01 2.46367367e-04 3.21435098e-01] [ 1.61198668e-03 -2.50941877e-04 9.99998669e-01 5.39025322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.191400512999998 meters Centerline goodness [0,1] 0.8237332644539154 Centerline is valid? [False, False] Translation: X:11.73, Y:0.32, Z:0.05 [[ 9.99995167e-01 -2.65266288e-03 -1.62131424e-03 1.17329281e+01] [ 2.65375431e-03 9.99996253e-01 6.71397855e-04 3.19449370e-01] [ 1.61952717e-03 -6.75697180e-04 9.99998460e-01 5.39149266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.221400513 meters Centerline goodness [0,1] 0.8862820512820513 Centerline is valid? [False, False] Translation: X:11.73, Y:0.32, Z:0.05 [[ 9.99995397e-01 -2.58076149e-03 -1.59559888e-03 1.17328945e+01] [ 2.58210481e-03 9.99996313e-01 8.40399719e-04 3.18655653e-01] [ 1.59342412e-03 -8.44515854e-04 9.99998374e-01 5.38108724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.251400513 meters Centerline goodness [0,1] 0.9525244752255141 Centerline is valid? [False, True] Translation: X:11.73, Y:0.32, Z:0.05 [[ 9.99995548e-01 -2.54612106e-03 -1.55620195e-03 1.17326333e+01] [ 2.54755930e-03 9.99996329e-01 9.22916443e-04 3.18280612e-01] [ 1.55384638e-03 -9.26876851e-04 9.99998363e-01 5.40621892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.281400512999998 meters Centerline goodness [0,1] 0.8923218109513613 Centerline is valid? [True, False] Translation: X:11.69, Y:0.31, Z:0.06 [[ 9.99991135e-01 -2.54968401e-03 -3.35087799e-03 1.16880326e+01] [ 2.55760795e-03 9.99993938e-01 2.36257989e-03 3.11701705e-01] [ 3.34483384e-03 -2.37112918e-03 9.99991595e-01 5.59721599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.311400513 meters Centerline goodness [0,1] 0.7850768573868488 Centerline is valid? [False, False] Translation: X:11.73, Y:0.31, Z:0.06 [[ 9.99998380e-01 -1.65518038e-03 -7.07939711e-04 1.17289921e+01] [ 1.65676866e-03 9.99996099e-01 2.24885616e-03 3.14825547e-01] [ 7.04214687e-04 -2.25002541e-03 9.99997221e-01 5.57940005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.341400513 meters Centerline goodness [0,1] 0.8239853590268059 Centerline is valid? [False, False] Translation: X:11.73, Y:0.32, Z:0.06 [[ 9.99998250e-01 -1.75842892e-03 -6.39256231e-04 1.17288272e+01] [ 1.75968253e-03 9.99996520e-01 1.96580856e-03 3.16158761e-01] [ 6.35797271e-04 -1.96693001e-03 9.99997863e-01 5.56330560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.371400512999998 meters Centerline goodness [0,1] 0.7399278412507517 Centerline is valid? [False, False] Translation: X:11.73, Y:0.32, Z:0.06 [[ 9.99998326e-01 -1.72325675e-03 -6.15014682e-04 1.17288869e+01] [ 1.72403765e-03 9.99997706e-01 1.27147143e-03 3.19830899e-01] [ 6.12822199e-04 -1.27252961e-03 9.99999003e-01 5.51170147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.401400513 meters Centerline goodness [0,1] 0.6357931780119142 Centerline is valid? [False, False] Translation: X:11.77, Y:0.33, Z:0.05 [[ 9.99996708e-01 -1.00859811e-03 2.35958938e-03 1.17694810e+01] [ 1.00778190e-03 9.99999432e-01 3.47074424e-04 3.25504506e-01] [-2.35993810e-03 -3.44695330e-04 9.99997156e-01 5.48015040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.431400513 meters Centerline goodness [0,1] 0.705411935766673 Centerline is valid? [False, False] Translation: X:11.77, Y:0.33, Z:0.06 [[ 9.99996231e-01 -1.09014489e-03 2.51999919e-03 1.17686979e+01] [ 1.08987544e-03 9.99999400e-01 1.08292512e-04 3.26680631e-01] [-2.52011573e-03 -1.05545619e-04 9.99996819e-01 5.52681091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.461400512999997 meters Centerline goodness [0,1] 0.6616512510123183 Centerline is valid? [False, False] Translation: X:11.77, Y:0.33, Z:0.06 [[ 9.99995539e-01 -1.12755335e-03 2.76591175e-03 1.17674695e+01] [ 1.12768277e-03 9.99999363e-01 -4.52323744e-05 3.27473875e-01] [-2.76585899e-03 4.83512436e-05 9.99996174e-01 5.60582876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.491400513 meters Centerline goodness [0,1] 0.6616512510123183 Centerline is valid? [False, False] Translation: X:11.77, Y:0.33, Z:0.06 [[ 9.99995539e-01 -1.12755335e-03 2.76591175e-03 1.17674695e+01] [ 1.12768277e-03 9.99999363e-01 -4.52323744e-05 3.27473875e-01] [-2.76585899e-03 4.83512436e-05 9.99996174e-01 5.60582876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.521400513 meters Centerline goodness [0,1] 0.7061504396242234 Centerline is valid? [False, False] Translation: X:11.77, Y:0.33, Z:0.06 [[ 9.99994496e-01 -1.14236126e-03 3.11491403e-03 1.17658136e+01] [ 1.14278737e-03 9.99999338e-01 -1.35019636e-04 3.27988301e-01] [-3.11475773e-03 1.38578577e-04 9.99995140e-01 5.70657451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.551400512999997 meters Centerline goodness [0,1] 0.6555529665953526 Centerline is valid? [False, False] Translation: X:11.81, Y:0.33, Z:0.06 [[ 9.99985218e-01 -5.24810855e-04 5.41196084e-03 1.18085600e+01] [ 5.24785909e-04 9.99999862e-01 6.02955518e-06 3.30486539e-01] [-5.41196326e-03 -3.18934526e-06 9.99985355e-01 5.58702794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.581400513 meters Centerline goodness [0,1] 0.6718534984651212 Centerline is valid? [False, False] Translation: X:11.81, Y:0.33, Z:0.05 [[ 9.99987484e-01 -3.63527195e-04 4.99003959e-03 1.18107464e+01] [ 3.60970509e-04 9.99999803e-01 5.13248936e-04 3.27947133e-01] [-4.99022519e-03 -5.11441255e-04 9.99987418e-01 5.42902287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.611400513 meters Centerline goodness [0,1] 0.735613810741688 Centerline is valid? [False, False] Translation: X:11.81, Y:0.33, Z:0.05 [[ 9.99988134e-01 -3.57624394e-04 4.85842018e-03 1.18115525e+01] [ 3.54948832e-04 9.99999785e-01 5.51557296e-04 3.27720099e-01] [-4.85861639e-03 -5.49826260e-04 9.99988046e-01 5.35564588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.641400513 meters Centerline goodness [0,1] 0.7023405662591478 Centerline is valid? [False, False] Translation: X:11.81, Y:0.33, Z:0.05 [[ 9.99988571e-01 -3.01092682e-04 4.77143127e-03 1.18119063e+01] [ 2.97738671e-04 9.99999708e-01 7.03630760e-04 3.26984270e-01] [-4.77164174e-03 -7.02202079e-04 9.99988369e-01 5.34425186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.671400513 meters Centerline goodness [0,1] 0.7450032376429959 Centerline is valid? [False, False] Translation: X:11.79, Y:0.33, Z:0.06 [[ 9.99996296e-01 -2.00545924e-03 1.84032219e-03 1.17860959e+01] [ 2.02773002e-03 9.99923758e-01 -1.21805704e-02 3.31040091e-01] [-1.81575424e-03 1.21842569e-02 9.99924121e-01 5.97397053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.701400513 meters Centerline goodness [0,1] 0.7289109766637856 Centerline is valid? [False, False] Translation: X:11.79, Y:0.32, Z:0.06 [[ 9.99996906e-01 1.96838154e-03 1.52099268e-03 1.17869611e+01] [-1.95877740e-03 9.99978298e-01 -6.29028646e-03 3.21824233e-01] [-1.53334135e-03 6.28728771e-03 9.99979059e-01 6.03894415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.731400513 meters Centerline goodness [0,1] 0.7912298452198997 Centerline is valid? [False, False] Translation: X:11.79, Y:0.32, Z:0.06 [[ 9.99996553e-01 2.25231884e-03 1.34974206e-03 1.17874590e+01] [-2.24489228e-03 9.99982472e-01 -5.47869020e-03 3.17955031e-01] [-1.36205816e-03 5.47564129e-03 9.99984081e-01 6.05361411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.761400512999998 meters Centerline goodness [0,1] 0.9365976145637163 Centerline is valid? [False, False] Translation: X:11.79, Y:0.31, Z:0.06 [[ 9.99996101e-01 2.53114485e-03 1.17942237e-03 1.17879800e+01] [-2.52556430e-03 9.99985722e-01 -4.70930623e-03 3.14303114e-01] [-1.19132546e-03 4.70630916e-03 9.99988216e-01 6.06403242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.791400513 meters Centerline goodness [0,1] 0.8098394086158552 Centerline is valid? [False, False] Translation: X:11.83, Y:0.31, Z:0.06 [[ 9.99993539e-01 -3.27983030e-04 3.57982367e-03 1.18298790e+01] [ 3.55093319e-04 9.99971246e-01 -7.57507316e-03 3.14470299e-01] [-3.57723624e-03 7.57629539e-03 9.99964901e-01 5.98873119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.821400513 meters Centerline goodness [0,1] 0.7955204159918166 Centerline is valid? [False, False] Translation: X:11.83, Y:0.31, Z:0.06 [[ 9.99994006e-01 2.06521565e-04 3.45627637e-03 1.18300506e+01] [-1.85218887e-04 9.99980993e-01 -6.16266208e-03 3.07787943e-01] [-3.45748340e-03 6.16198497e-03 9.99975038e-01 6.04053680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.851400512999998 meters Centerline goodness [0,1] 0.9416624084483052 Centerline is valid? [False, False] Translation: X:11.83, Y:0.30, Z:0.06 [[ 9.99993900e-01 1.02196710e-03 3.33996767e-03 1.18301895e+01] [-1.01012139e-03 9.99993201e-01 -3.54641779e-03 2.95198935e-01] [-3.34356928e-03 3.54302239e-03 9.99988134e-01 6.10019744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.881400513 meters Centerline goodness [0,1] 0.9989805435654947 Centerline is valid? [False, True] Translation: X:11.79, Y:0.29, Z:0.06 [[ 9.99998741e-01 1.03037458e-03 1.20651678e-03 1.17873161e+01] [-1.02944451e-03 9.99999173e-01 -7.71234684e-04 2.85283630e-01] [-1.20731045e-03 7.69991671e-04 9.99998975e-01 6.22660627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.911400513 meters Centerline goodness [0,1] 0.9923317783883954 Centerline is valid? [True, True] Translation: X:11.82, Y:0.29, Z:0.06 [[ 9.99998600e-01 1.21961319e-03 1.14573199e-03 1.18185666e+01] [-1.21969955e-03 9.99999253e-01 7.46821213e-05 2.88512453e-01] [-1.14564005e-03 -7.60794655e-05 9.99999341e-01 6.27022765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.941400512999998 meters Centerline goodness [0,1] 0.9126331487004686 Centerline is valid? [True, False] Translation: X:11.82, Y:0.28, Z:0.06 [[ 9.99998121e-01 1.60259994e-03 1.09057902e-03 1.18187352e+01] [-1.60361052e-03 9.99998285e-01 9.26402932e-04 2.84518365e-01] [-1.08909250e-03 -9.28150056e-04 9.99998976e-01 6.27638377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.971400513 meters Centerline goodness [0,1] 0.8856936077822005 Centerline is valid? [False, False] Translation: X:11.82, Y:0.28, Z:0.06 [[ 9.99996895e-01 2.23546235e-03 1.10086428e-03 1.18186660e+01] [-2.23792053e-03 9.99994994e-01 2.23681117e-03 2.78453001e-01] [-1.09585847e-03 -2.23926787e-03 9.99996892e-01 6.29175182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.001400513 meters Centerline goodness [0,1] 0.9422185998627316 Centerline is valid? [False, False] Translation: X:11.82, Y:0.28, Z:0.06 [[ 9.99996556e-01 2.34690262e-03 1.17442600e-03 1.18185399e+01] [-2.34976674e-03 9.99994254e-01 2.44333250e-03 2.77499111e-01] [-1.16868499e-03 -2.44608371e-03 9.99996325e-01 6.26960307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.031400512999998 meters Centerline goodness [0,1] 0.903818185764831 Centerline is valid? [False, False] Translation: X:11.80, Y:0.28, Z:0.07 [[ 9.99972624e-01 6.73153297e-03 -3.07210743e-03 1.17960663e+01] [-6.74325980e-03 9.99969956e-01 -3.82293317e-03 2.78540874e-01] [ 3.04628093e-03 3.84354453e-03 9.99987974e-01 6.69248408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.061400513 meters Centerline goodness [0,1] 0.7482358978745243 Centerline is valid? [False, False] Translation: X:11.82, Y:0.27, Z:0.07 [[ 9.99960950e-01 8.48556158e-03 -2.46841584e-03 1.18192495e+01] [-8.46157221e-03 9.99918388e-01 9.57183299e-03 2.70201582e-01] [ 2.54943676e-03 -9.55057253e-03 9.99951142e-01 6.62177379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.091400513 meters Centerline goodness [0,1] 0.7278754437743273 Centerline is valid? [False, False] Translation: X:11.82, Y:0.28, Z:0.07 [[ 9.99985094e-01 4.99510954e-03 -2.20473750e-03 1.18184496e+01] [-4.98533907e-03 9.99977827e-01 4.41504617e-03 2.76546217e-01] [ 2.22674225e-03 -4.40398899e-03 9.99987823e-01 6.54020600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.121400512999998 meters Centerline goodness [0,1] 0.46227115551878484 Centerline is valid? [False, False] Translation: X:11.82, Y:0.28, Z:0.07 [[ 9.99983262e-01 5.54940594e-03 -1.63719842e-03 1.18163579e+01] [-5.54289365e-03 9.99976814e-01 3.95578142e-03 2.79967148e-01] [ 1.65911270e-03 -3.94664039e-03 9.99990836e-01 6.55689595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.151400513 meters Centerline goodness [0,1] 0.6548409684058647 Centerline is valid? [False, False] Translation: X:11.82, Y:0.28, Z:0.07 [[ 9.99985203e-01 5.22590809e-03 -1.51106844e-03 1.18160809e+01] [-5.22122479e-03 9.99981605e-01 3.08684306e-03 2.84088780e-01] [ 1.52717220e-03 -3.07890776e-03 9.99994094e-01 6.52094140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.181400513 meters Centerline goodness [0,1] 0.7026829635039632 Centerline is valid? [False, False] Translation: X:11.77, Y:0.29, Z:0.06 [[ 9.99983734e-01 4.27261599e-03 -3.77851245e-03 1.17738917e+01] [-4.26478180e-03 9.99988745e-01 2.07898613e-03 2.85177358e-01] [ 3.78735263e-03 -2.06283778e-03 9.99990700e-01 6.45477865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.211400512999997 meters Centerline goodness [0,1] 0.47621505376344087 Centerline is valid? [False, False] Translation: X:11.77, Y:0.29, Z:0.06 [[ 9.99985120e-01 3.96264327e-03 -3.74933763e-03 1.17739636e+01] [-3.95751995e-03 9.99991227e-01 1.37289352e-03 2.88446984e-01] [ 3.75474502e-03 -1.35803502e-03 9.99992029e-01 6.41366594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.241400513 meters Centerline goodness [0,1] 0.6652150709787598 Centerline is valid? [False, False] Translation: X:11.77, Y:0.29, Z:0.06 [[ 9.99985833e-01 3.71512462e-03 -3.81199974e-03 1.17742011e+01] [-3.71184138e-03 9.99992734e-01 8.68004259e-04 2.90771638e-01] [ 3.81519679e-03 -8.53842424e-04 9.99992358e-01 6.40105195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.271400513 meters Centerline goodness [0,1] 0.6038225021962247 Centerline is valid? [False, False] Translation: X:11.77, Y:0.29, Z:0.06 [[ 9.99985655e-01 3.75194073e-03 -3.82276966e-03 1.17741193e+01] [-3.74818753e-03 9.99992487e-01 9.88494164e-04 2.90193517e-01] [ 3.82644971e-03 -9.74151527e-04 9.99992205e-01 6.42428013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.301400512999997 meters Centerline goodness [0,1] 0.5913907566601413 Centerline is valid? [False, False] Translation: X:11.77, Y:0.29, Z:0.06 [[ 9.99985365e-01 3.79898608e-03 -3.85189035e-03 1.17740316e+01] [-3.79437391e-03 9.99992077e-01 1.20397977e-03 2.89131054e-01] [ 3.85643373e-03 -1.18934664e-03 9.99991857e-01 6.45980006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.331400513 meters Centerline goodness [0,1] 0.7289974061609037 Centerline is valid? [False, False] Translation: X:11.77, Y:0.29, Z:0.07 [[ 9.99994673e-01 1.57049570e-03 -2.86134760e-03 1.17669100e+01] [-1.57331669e-03 9.99998278e-01 -9.83911626e-04 2.90689916e-01] [ 2.85979745e-03 9.88408191e-04 9.99995422e-01 6.91396840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.361400513 meters Centerline goodness [0,1] 0.6705020028978096 Centerline is valid? [False, False] Translation: X:11.77, Y:0.29, Z:0.07 [[ 9.99992035e-01 -2.93786109e-03 -2.70172384e-03 1.17661123e+01] [ 2.92242039e-03 9.99979476e-01 -5.70142876e-03 2.92535274e-01] [ 2.71841839e-03 5.69348778e-03 9.99980097e-01 6.96471770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.391400513 meters Centerline goodness [0,1] 0.7058861232774276 Centerline is valid? [False, False] Translation: X:11.77, Y:0.29, Z:0.07 [[ 9.99992271e-01 -2.75086970e-03 -2.80919351e-03 1.17663823e+01] [ 2.73635674e-03 9.99982958e-01 -5.15707858e-03 2.89932304e-01] [ 2.82333209e-03 5.14935176e-03 9.99982756e-01 6.98406430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.421400513 meters Centerline goodness [0,1] 0.7069967752885269 Centerline is valid? [False, False] Translation: X:11.77, Y:0.29, Z:0.07 [[ 9.99991461e-01 -2.72014521e-03 -3.11097020e-03 1.17675490e+01] [ 2.70545884e-03 9.99985223e-01 -4.71534069e-03 2.87631482e-01] [ 3.12375064e-03 4.70688383e-03 9.99984044e-01 6.95726245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.451400513 meters Centerline goodness [0,1] 0.8777389851564675 Centerline is valid? [False, False] Translation: X:11.77, Y:0.29, Z:0.07 [[ 9.99991098e-01 -2.73942819e-03 -3.20932369e-03 1.17678934e+01] [ 2.72414552e-03 9.99984976e-01 -4.75669221e-03 2.87828289e-01] [ 3.22230609e-03 4.74790720e-03 9.99983537e-01 6.95366833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.481400513 meters Centerline goodness [0,1] 0.8280513918629551 Centerline is valid? [False, False] Translation: X:11.77, Y:0.29, Z:0.07 [[ 9.99990632e-01 -2.83277950e-03 -3.27291779e-03 1.17681388e+01] [ 2.81649405e-03 9.99983684e-01 -4.96976017e-03 2.88820110e-01] [ 3.28694262e-03 4.96049546e-03 9.99982295e-01 6.94429256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.511400512999998 meters Centerline goodness [0,1] 0.7265895953757225 Centerline is valid? [False, False] Translation: X:11.77, Y:0.28, Z:0.07 [[ 9.99992087e-01 1.71837546e-03 -3.58781946e-03 1.17689388e+01] [-1.71660764e-03 9.99998404e-01 4.95748236e-04 2.83136447e-01] [ 3.58866561e-03 -4.89585435e-04 9.99993441e-01 7.00254885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.541400513 meters Centerline goodness [0,1] 0.7671586794011139 Centerline is valid? [False, False] Translation: X:11.79, Y:0.28, Z:0.07 [[ 9.99991635e-01 3.67402390e-03 -1.79761657e-03 1.17904601e+01] [-3.64834451e-03 9.99894134e-01 1.40858465e-02 2.76594287e-01] [ 1.84917800e-03 -1.40791704e-02 9.99899174e-01 6.97117971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.571400513 meters Centerline goodness [0,1] 0.7070910728840462 Centerline is valid? [False, False] Translation: X:11.77, Y:0.28, Z:0.07 [[ 9.99982831e-01 3.59116935e-03 -4.63050495e-03 1.17654702e+01] [-3.58030414e-03 9.99990823e-01 2.35259944e-03 2.84619818e-01] [ 4.63891104e-03 -2.33598043e-03 9.99986512e-01 7.42996595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.601400512999998 meters Centerline goodness [0,1] 0.8367050771096863 Centerline is valid? [False, False] Translation: X:11.76, Y:0.29, Z:0.07 [[ 9.99983782e-01 3.47319640e-03 -4.51357754e-03 1.17649589e+01] [-3.46388071e-03 9.99991858e-01 2.07010653e-03 2.85961531e-01] [ 4.52073068e-03 -2.05443847e-03 9.99987671e-01 7.45196850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.631400513 meters Centerline goodness [0,1] 0.6934027703668921 Centerline is valid? [False, False] Translation: X:11.80, Y:0.29, Z:0.07 [[ 9.99995435e-01 2.65237059e-03 -1.44720043e-03 1.18047317e+01] [-2.65386762e-03 9.99995944e-01 -1.03349587e-03 2.94440729e-01] [ 1.44445335e-03 1.03733183e-03 9.99998419e-01 7.41687594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.661400513 meters Centerline goodness [0,1] 0.711368748918498 Centerline is valid? [False, False] Translation: X:11.76, Y:0.29, Z:0.07 [[ 9.99989786e-01 2.20771476e-03 -3.94393394e-03 1.17628510e+01] [-2.21040106e-03 9.99997328e-01 -6.76891154e-04 2.92920077e-01] [ 3.94242902e-03 6.85601916e-04 9.99991994e-01 7.38306789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.691400512999998 meters Centerline goodness [0,1] 0.7112317829623747 Centerline is valid? [False, False] Translation: X:11.76, Y:0.30, Z:0.07 [[ 9.99989997e-01 1.97060391e-03 -4.01535402e-03 1.17632906e+01] [-1.97555303e-03 9.99997293e-01 -1.22895592e-03 2.95491437e-01] [ 4.01292137e-03 1.23687617e-03 9.99991183e-01 7.33950955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.721400513 meters Centerline goodness [0,1] 0.748639224357884 Centerline is valid? [False, False] Translation: X:11.77, Y:0.30, Z:0.07 [[ 9.99977966e-01 4.23801575e-03 -5.10945601e-03 1.17706183e+01] [-4.23270969e-03 9.99990492e-01 1.04884578e-03 2.97286309e-01] [ 5.11385246e-03 -1.02719582e-03 9.99986397e-01 6.91233665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.751400513 meters Centerline goodness [0,1] 0.7324465719187512 Centerline is valid? [False, False] Translation: X:11.77, Y:0.30, Z:0.07 [[ 9.99978836e-01 4.05508149e-03 -5.08752214e-03 1.17703932e+01] [-4.05196988e-03 9.99991597e-01 6.21773515e-04 2.99310830e-01] [ 5.09000073e-03 -6.01145869e-04 9.99986865e-01 6.93759563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.781400512999998 meters Centerline goodness [0,1] 0.5770747617727942 Centerline is valid? [False, False] Translation: X:11.77, Y:0.30, Z:0.07 [[ 9.99979555e-01 3.93790418e-03 -5.03806718e-03 1.17699976e+01] [-3.93616399e-03 9.99992190e-01 3.55276775e-04 3.00588455e-01] [ 5.03942688e-03 -3.35438853e-04 9.99987246e-01 6.97978349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.811400513 meters Centerline goodness [0,1] 0.7332892265665016 Centerline is valid? [False, False] Translation: X:11.77, Y:0.30, Z:0.07 [[ 9.99979468e-01 3.97166481e-03 -5.02891560e-03 1.17698086e+01] [-3.96947394e-03 9.99992022e-01 4.45560631e-04 3.00171119e-01] [ 5.03064510e-03 -4.25589334e-04 9.99987256e-01 7.00958611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.841400513 meters Centerline goodness [0,1] 0.7501221247584053 Centerline is valid? [False, False] Translation: X:11.78, Y:0.30, Z:0.07 [[ 9.99980412e-01 2.16872942e-03 -5.87127651e-03 1.17763532e+01] [-2.17614747e-03 9.99996842e-01 -1.25735483e-03 2.99844128e-01] [ 5.86853110e-03 1.27010697e-03 9.99981973e-01 6.57290803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.871400512999998 meters Centerline goodness [0,1] 0.8551909051909052 Centerline is valid? [False, False] Translation: X:11.78, Y:0.30, Z:0.07 [[ 9.99979596e-01 2.38158686e-03 -5.92749946e-03 1.17763695e+01] [-2.38570408e-03 9.99996918e-01 -6.87621167e-04 2.97153032e-01] [ 5.92584356e-03 7.01748397e-04 9.99982196e-01 6.60982868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.901400513 meters Centerline goodness [0,1] 0.7584091344822445 Centerline is valid? [False, False] Translation: X:11.78, Y:0.30, Z:0.06 [[ 9.99976706e-01 5.33768388e-04 -6.80458738e-03 1.17825650e+01] [-5.50917268e-04 9.99996677e-01 -2.51856883e-03 2.98925737e-01] [ 6.80322043e-03 2.52225892e-03 9.99973677e-01 6.23351871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.931400513 meters Centerline goodness [0,1] 0.9867855747949486 Centerline is valid? [False, True] Translation: X:11.74, Y:0.29, Z:0.06 [[ 9.99958077e-01 -2.98452153e-04 -9.15180301e-03 1.17399400e+01] [ 2.88328151e-04 9.99999345e-01 -1.10752970e-03 2.91873025e-01] [ 9.15212756e-03 1.10484455e-03 9.99957508e-01 6.31714569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.961400512999997 meters Centerline goodness [0,1] 0.994831039607159 Centerline is valid? [True, True] Translation: X:11.77, Y:0.29, Z:0.06 [[ 9.99961502e-01 -2.12851516e-03 -8.51262391e-03 1.17701819e+01] [ 2.12324222e-03 9.99997548e-01 -6.28415995e-04 2.88050578e-01] [ 8.51394063e-03 6.10317439e-04 9.99963570e-01 6.42194311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.991400513 meters Centerline goodness [0,1] 0.9571824688863573 Centerline is valid? [True, True] Translation: X:11.80, Y:0.29, Z:0.07 [[ 9.99962400e-01 -3.62012606e-03 -7.87996725e-03 1.17988276e+01] [ 3.61565336e-03 9.99993294e-01 -5.81776029e-04 2.92691820e-01] [ 7.88202051e-03 5.53262924e-04 9.99968783e-01 6.59558079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.021400513 meters Centerline goodness [0,1] 0.9142706019253147 Centerline is valid? [True, False] Translation: X:11.84, Y:0.29, Z:0.07 [[ 9.99975139e-01 -4.14885778e-03 -5.70153496e-03 1.18418270e+01] [ 4.14590889e-03 9.99991266e-01 -5.28931159e-04 2.88723930e-01] [ 5.70367962e-03 5.05279965e-04 9.99983606e-01 6.50856175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.051400512999997 meters Centerline goodness [0,1] 0.9829503178213823 Centerline is valid? [False, True] Translation: X:11.84, Y:0.29, Z:0.06 [[ 9.99975873e-01 -3.85118471e-03 -5.78114700e-03 1.18421475e+01] [ 3.85200345e-03 9.99992572e-01 1.30494214e-04 2.85630198e-01] [ 5.78060151e-03 -1.52760064e-04 9.99983281e-01 6.49881509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.081400513 meters Centerline goodness [0,1] 0.9356315990332019 Centerline is valid? [True, False] Translation: X:11.84, Y:0.28, Z:0.07 [[ 9.99976717e-01 -3.59183429e-03 -5.80206329e-03 1.18421646e+01] [ 3.59594071e-03 9.99993291e-01 6.97475293e-04 2.82974078e-01] [ 5.79951915e-03 -7.18322929e-04 9.99982925e-01 6.51183778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.111400513 meters Centerline goodness [0,1] 0.8429715017611271 Centerline is valid? [False, False] Translation: X:11.84, Y:0.28, Z:0.07 [[ 9.99977852e-01 -3.33399284e-03 -5.76013424e-03 1.18418509e+01] [ 3.34127074e-03 9.99993631e-01 1.25433480e-03 2.80395366e-01] [ 5.75591561e-03 -1.27355319e-03 9.99982624e-01 6.54723861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.141400513 meters Centerline goodness [0,1] 0.7981326739427013 Centerline is valid? [False, False] Translation: X:11.84, Y:0.28, Z:0.07 [[ 9.99978951e-01 -3.11234395e-03 -5.69298780e-03 1.18414178e+01] [ 3.12203362e-03 9.99993692e-01 1.69394205e-03 2.78391763e-01] [ 5.68767975e-03 -1.71168010e-03 9.99982360e-01 6.59162325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.171400513 meters Centerline goodness [0,1] 0.9649402390438246 Centerline is valid? [False, True] Translation: X:11.84, Y:0.28, Z:0.07 [[ 9.99981452e-01 -2.82012863e-03 -5.39834421e-03 1.18407051e+01] [ 2.83050017e-03 9.99994161e-01 1.91456898e-03 2.77609691e-01] [ 5.39291336e-03 -1.92981348e-03 9.99983596e-01 6.54479580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.201400513 meters Centerline goodness [0,1] 0.7170945307804585 Centerline is valid? [True, False] Translation: X:11.84, Y:0.28, Z:0.07 [[ 9.99981466e-01 -2.83537751e-03 -5.38779336e-03 1.18408330e+01] [ 2.84496137e-03 9.99994383e-01 1.77198043e-03 2.78298920e-01] [ 5.38273886e-03 -1.78727565e-03 9.99983916e-01 6.50780436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.231400513 meters Centerline goodness [0,1] 0.787880076546885 Centerline is valid? [False, False] Translation: X:11.86, Y:0.29, Z:0.06 [[ 9.99995089e-01 -2.91130621e-04 -3.12058729e-03 1.18615618e+01] [ 2.65932689e-04 9.99967385e-01 -8.07211612e-03 2.85284987e-01] [ 3.12283555e-03 8.07124661e-03 9.99962551e-01 6.36121270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.261400512999998 meters Centerline goodness [0,1] 0.675076073116516 Centerline is valid? [False, False] Translation: X:11.82, Y:0.27, Z:0.06 [[ 9.99980519e-01 2.01253087e-03 -5.90859432e-03 1.18209189e+01] [-2.02841415e-03 9.99994342e-01 -2.68340460e-03 2.74524015e-01] [ 5.90316046e-03 2.69533740e-03 9.99978944e-01 6.38711710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.291400513 meters Centerline goodness [0,1] 0.6553132938187975 Centerline is valid? [False, False] Translation: X:11.86, Y:0.27, Z:0.06 [[ 9.99988537e-01 2.95025628e-03 -3.77123391e-03 1.18641127e+01] [-2.95897367e-03 9.99992959e-01 -2.30806181e-03 2.74928444e-01] [ 3.76439798e-03 2.31919433e-03 9.99990225e-01 6.26462309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.321400513 meters Centerline goodness [0,1] 0.7985339323717191 Centerline is valid? [False, False] Translation: X:11.82, Y:0.27, Z:0.06 [[ 9.99981456e-01 2.33016761e-03 -5.62657099e-03 1.18201092e+01] [-2.33454700e-03 9.99996977e-01 -7.71898787e-04 2.69620806e-01] [ 5.62475532e-03 7.85019967e-04 9.99983873e-01 6.39414046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.351400512999998 meters Centerline goodness [0,1] 0.7420206486509691 Centerline is valid? [False, False] Translation: X:11.82, Y:0.27, Z:0.06 [[ 9.99981450e-01 2.37750008e-03 -5.60786173e-03 1.18199388e+01] [-2.38106641e-03 9.99996967e-01 -6.29360036e-04 2.68938412e-01] [ 5.60634842e-03 6.42701052e-04 9.99984078e-01 6.41631698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.381400513 meters Centerline goodness [0,1] 0.9129908843478637 Centerline is valid? [False, False] Translation: X:11.82, Y:0.27, Z:0.06 [[ 9.99980967e-01 2.49316703e-03 -5.64357954e-03 1.18200644e+01] [-2.49517626e-03 9.99996826e-01 -3.49008011e-04 2.67606461e-01] [ 5.64269149e-03 3.63083094e-04 9.99984014e-01 6.41482767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.411400513 meters Centerline goodness [0,1] 0.9129908843478637 Centerline is valid? [False, False] Translation: X:11.82, Y:0.27, Z:0.06 [[ 9.99980967e-01 2.49316703e-03 -5.64357954e-03 1.18200644e+01] [-2.49517626e-03 9.99996826e-01 -3.49008011e-04 2.67606461e-01] [ 5.64269149e-03 3.63083094e-04 9.99984014e-01 6.41482767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.441400512999998 meters Centerline goodness [0,1] 0.7506884993915587 Centerline is valid? [False, False] Translation: X:11.84, Y:0.26, Z:0.07 [[ 9.99977343e-01 1.52916987e-03 -6.55549943e-03 1.18416633e+01] [-1.46361145e-03 9.99948991e-01 9.99368248e-03 2.59788570e-01] [ 6.57044708e-03 -9.98386135e-03 9.99928573e-01 6.69963393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.471400513 meters Centerline goodness [0,1] 0.9291308337423444 Centerline is valid? [False, False] Translation: X:11.84, Y:0.26, Z:0.07 [[ 9.99975252e-01 -2.89625386e-03 -6.41149564e-03 1.18416035e+01] [ 2.92763729e-03 9.99983754e-01 4.89090789e-03 2.63680078e-01] [ 6.39722617e-03 -4.90955738e-03 9.99967485e-01 6.60386842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.501400513 meters Centerline goodness [0,1] 0.8772543048913859 Centerline is valid? [False, False] Translation: X:11.84, Y:0.27, Z:0.07 [[ 9.99954088e-01 -7.34039326e-03 -6.15962798e-03 1.18409511e+01] [ 7.34179644e-03 9.99973028e-01 2.05222063e-04 2.65417653e-01] [ 6.15795543e-03 -2.50435376e-04 9.99981008e-01 6.57740308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.531400512999998 meters Centerline goodness [0,1] 0.8106907545164719 Centerline is valid? [False, False] Translation: X:11.86, Y:0.27, Z:0.07 [[ 9.99962562e-01 -6.72948562e-03 -5.43954228e-03 1.18577846e+01] [ 6.66595271e-03 9.99910327e-01 -1.16147675e-02 2.73022419e-01] [ 5.51721591e-03 1.15780730e-02 9.99917751e-01 6.97935604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.561400513 meters Centerline goodness [0,1] 0.9653127208102263 Centerline is valid? [False, True] Translation: X:11.86, Y:0.26, Z:0.07 [[ 9.99979828e-01 -3.19417421e-03 -5.49002652e-03 1.18576302e+01] [ 3.16078146e-03 9.99976519e-01 -6.08039084e-03 2.64179293e-01] [ 5.50931944e-03 6.06291542e-03 9.99966444e-01 7.09054522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.591400513 meters Centerline goodness [0,1] 0.9429564332937787 Centerline is valid? [True, False] Translation: X:11.88, Y:0.26, Z:0.07 [[ 9.99981951e-01 -5.60495191e-03 -2.16382370e-03 1.18798975e+01] [ 5.61119145e-03 9.99980086e-01 2.88835005e-03 2.56213945e-01] [ 2.14759155e-03 -2.90043954e-03 9.99993488e-01 6.79983891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.621400512999998 meters Centerline goodness [0,1] 0.9991247171341958 Centerline is valid? [False, True] Translation: X:11.88, Y:0.25, Z:0.07 [[ 9.99953139e-01 -9.42908206e-03 -2.19352917e-03 1.18800696e+01] [ 9.42843053e-03 9.99955504e-01 -3.07177033e-04 2.50905817e-01] [ 2.19632796e-03 2.86481102e-04 9.99997547e-01 6.81371418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.651400513 meters Centerline goodness [0,1] 0.9977176741606587 Centerline is valid? [True, True] Translation: X:11.91, Y:0.25, Z:0.07 [[ 9.99943786e-01 -1.02415936e-02 -2.74497836e-03 1.19075919e+01] [ 1.02410631e-02 9.99947537e-01 -2.07272710e-04 2.52722133e-01] [ 2.74695715e-03 1.79149562e-04 9.99996211e-01 6.76157692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.681400513 meters Centerline goodness [0,1] 0.9994662111668624 Centerline is valid? [True, True] Translation: X:11.94, Y:0.25, Z:0.07 [[ 9.99940141e-01 -1.05209819e-02 -3.00394671e-03 1.19361983e+01] [ 1.05203467e-02 9.99944634e-01 -2.27170530e-04 2.46369012e-01] [ 3.00617045e-03 1.95554371e-04 9.99995462e-01 6.72873786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.711400512999997 meters Centerline goodness [0,1] 0.9992506636978676 Centerline is valid? [True, True] Translation: X:11.96, Y:0.25, Z:0.07 [[ 9.99945370e-01 -1.00225670e-02 -2.96745184e-03 1.19635121e+01] [ 1.00219435e-02 9.99949754e-01 -2.24908242e-04 2.47801797e-01] [ 2.96955689e-03 1.95156320e-04 9.99995572e-01 6.72880704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.741400513 meters Centerline goodness [0,1] 0.9990341896851458 Centerline is valid? [True, True] Translation: X:11.99, Y:0.25, Z:0.07 [[ 9.99958566e-01 -8.77995869e-03 -2.40375861e-03 1.19935840e+01] [ 8.77954553e-03 9.99961442e-01 -1.82379385e-04 2.46531898e-01] [ 2.40526721e-03 1.61267920e-04 9.99997094e-01 6.80242034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.771400513 meters Centerline goodness [0,1] 0.9981306403094112 Centerline is valid? [True, True] Translation: X:12.02, Y:0.25, Z:0.07 [[ 9.99974684e-01 -6.90178799e-03 -1.73087420e-03 1.20227188e+01] [ 6.90157092e-03 9.99976175e-01 -1.31351105e-04 2.49326034e-01] [ 1.73173952e-03 1.19402029e-04 9.99998493e-01 6.92224398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.801400512999997 meters Centerline goodness [0,1] 0.9812268528372569 Centerline is valid? [True, True] Translation: X:12.05, Y:0.25, Z:0.07 [[ 9.99997509e-01 -1.76465984e-03 -1.36709803e-03 1.20515585e+01] [ 1.76451961e-03 9.99998438e-01 -1.03776240e-04 2.52955958e-01] [ 1.36727902e-03 1.01363710e-04 9.99999060e-01 7.08753783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.831400513 meters Centerline goodness [0,1] 0.9732313165734371 Centerline is valid? [True, True] Translation: X:12.08, Y:0.26, Z:0.07 [[ 9.99997760e-01 9.66910344e-04 -1.88304436e-03 1.20819398e+01] [-9.67181290e-04 9.99999522e-01 -1.42981884e-04 2.56197720e-01] [ 1.88290521e-03 1.44802808e-04 9.99998217e-01 7.04289651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.861400513 meters Centerline goodness [0,1] 0.97001323583657 Centerline is valid? [True, True] Translation: X:12.11, Y:0.26, Z:0.07 [[ 9.99990621e-01 3.64153062e-03 -2.34479376e-03 1.21119516e+01] [-3.64195804e-03 9.99993352e-01 -1.78043486e-04 2.59203545e-01] [ 2.34412982e-03 1.86581457e-04 9.99997235e-01 7.03120894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.891400513 meters Centerline goodness [0,1] 0.815285395954748 Centerline is valid? [True, False] Translation: X:12.13, Y:0.25, Z:0.07 [[ 9.99977740e-01 6.45221194e-03 1.69954860e-03 1.21346289e+01] [-6.47442303e-03 9.99889192e-01 1.34046951e-02 2.50835619e-01] [-1.61287034e-03 -1.34154003e-02 9.99908709e-01 6.64295209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.921400513 meters Centerline goodness [0,1] 0.6020555161366616 Centerline is valid? [False, False] Translation: X:12.13, Y:0.26, Z:0.07 [[ 9.99994544e-01 2.35278427e-03 2.31863512e-03 1.21326674e+01] [-2.37145553e-03 9.99964519e-01 8.08311744e-03 2.56521089e-01] [-2.29953502e-03 -8.08857188e-03 9.99964643e-01 6.59872716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.951400513 meters Centerline goodness [0,1] 0.6560467447166954 Centerline is valid? [False, False] Translation: X:12.13, Y:0.26, Z:0.07 [[ 9.99994610e-01 -1.84385575e-03 2.71650782e-03 1.21315229e+01] [ 1.83644002e-03 9.99994588e-01 2.72984775e-03 2.62183885e-01] [-2.72152656e-03 -2.72484433e-03 9.99992584e-01 6.53866100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.981400513 meters Centerline goodness [0,1] 0.6677301344223243 Centerline is valid? [False, False] Translation: X:12.13, Y:0.26, Z:0.07 [[ 9.99994819e-01 -1.76416984e-03 2.69256881e-03 1.21315439e+01] [ 1.75630087e-03 9.99994189e-01 2.92204726e-03 2.61275018e-01] [-2.69770815e-03 -2.91730316e-03 9.99992106e-01 6.55036242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.011400513 meters Centerline goodness [0,1] 0.7141243419510219 Centerline is valid? [False, False] Translation: X:12.13, Y:0.26, Z:0.07 [[ 9.99995140e-01 -1.70729894e-03 2.60863100e-03 1.21318991e+01] [ 1.69930424e-03 9.99993863e-01 3.06386110e-03 2.60577712e-01] [-2.61384592e-03 -3.05941336e-03 9.99991904e-01 6.53521104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.041400513 meters Centerline goodness [0,1] 0.8153780617678381 Centerline is valid? [False, False] Translation: X:12.13, Y:0.26, Z:0.07 [[ 9.99995397e-01 -1.67845697e-03 2.52768686e-03 1.21323354e+01] [ 1.67046916e-03 9.99993615e-01 3.15893174e-03 2.60076299e-01] [-2.53297285e-03 -3.15469477e-03 9.99991816e-01 6.50231131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.071400513 meters Centerline goodness [0,1] 0.8847050192050407 Centerline is valid? [False, False] Translation: X:12.11, Y:0.27, Z:0.07 [[ 9.99996946e-01 -6.91306766e-04 -2.37282030e-03 1.21103348e+01] [ 6.76186031e-04 9.99979499e-01 -6.36737106e-03 2.66322458e-01] [ 2.37717346e-03 6.36574714e-03 9.99976913e-01 6.93893421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.101400513 meters Centerline goodness [0,1] 0.5270142587184332 Centerline is valid? [False, False] Translation: X:12.12, Y:0.27, Z:0.06 [[ 9.99992528e-01 1.73222054e-03 -3.45599852e-03 1.21176910e+01] [-1.74535129e-03 9.99991257e-01 -3.80001640e-03 2.65695485e-01] [ 3.44938584e-03 3.80601994e-03 9.99986808e-01 6.49479138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.131400512999996 meters Centerline goodness [0,1] 0.5368122977346279 Centerline is valid? [False, False] Translation: X:12.12, Y:0.26, Z:0.07 [[ 9.99972822e-01 6.21619792e-03 -3.96403666e-03 1.21193812e+01] [-6.21051842e-03 9.99979673e-01 1.44346093e-03 2.60990217e-01] [ 3.97292892e-03 -1.41880297e-03 9.99991101e-01 6.50484706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.161400513 meters Centerline goodness [0,1] 0.4665994940616559 Centerline is valid? [False, False] Translation: X:12.12, Y:0.27, Z:0.06 [[ 9.99974477e-01 5.96803972e-03 -3.92771631e-03 1.21196477e+01] [-5.96603086e-03 9.99982066e-01 5.22974393e-04 2.65409730e-01] [ 3.93076701e-03 -4.99528168e-04 9.99992150e-01 6.41597750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.191400513 meters Centerline goodness [0,1] 0.64381864022905 Centerline is valid? [False, False] Translation: X:12.12, Y:0.27, Z:0.06 [[ 9.99975880e-01 5.77991046e-03 -3.85133037e-03 1.21194768e+01] [-5.77984229e-03 9.99983296e-01 2.88285548e-05 2.67748679e-01] [ 3.85143266e-03 -6.56777728e-06 9.99992583e-01 6.39579975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.221400513 meters Centerline goodness [0,1] 0.5806451612903225 Centerline is valid? [False, False] Translation: X:12.08, Y:0.27, Z:0.06 [[ 9.99969921e-01 4.93250331e-03 -5.98557383e-03 1.20761154e+01] [-4.93136846e-03 9.99987820e-01 2.04341299e-04 2.66403137e-01] [ 5.98650883e-03 -1.74818082e-04 9.99982065e-01 6.46187582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.251400513 meters Centerline goodness [0,1] 0.5148810803836394 Centerline is valid? [False, False] Translation: X:12.09, Y:0.26, Z:0.07 [[ 9.99968351e-01 4.87219195e-03 -6.28952248e-03 1.20945699e+01] [-4.80233666e-03 9.99927146e-01 1.10743396e-02 2.61981680e-01] [ 6.34302057e-03 -1.10437847e-02 9.99918897e-01 6.95066279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.281400513 meters Centerline goodness [0,1] 0.6134138276766858 Centerline is valid? [False, False] Translation: X:12.12, Y:0.28, Z:0.06 [[ 9.99987077e-01 5.04624511e-03 -6.18048429e-04 1.21157452e+01] [-5.04657214e-03 9.99987126e-01 -5.28719893e-04 2.75467245e-01] [ 6.15372422e-04 5.31832086e-04 9.99999669e-01 6.36224402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.311400513 meters Centerline goodness [0,1] 0.4865011032752131 Centerline is valid? [False, False] Translation: X:12.07, Y:0.27, Z:0.06 [[ 9.99987285e-01 4.18252080e-03 -2.81714998e-03 1.20726997e+01] [-4.18121049e-03 9.99991148e-01 4.70846376e-04 2.72487995e-01] [ 2.81909437e-03 -4.59061292e-04 9.99995921e-01 6.46120265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.341400512999996 meters Centerline goodness [0,1] 0.6107834516481867 Centerline is valid? [False, False] Translation: X:12.07, Y:0.27, Z:0.06 [[ 9.99986944e-01 4.18236554e-03 -2.93581634e-03 1.20732755e+01] [-4.18065629e-03 9.99991088e-01 5.88101273e-04 2.71832517e-01] [ 2.93824983e-03 -5.75819956e-04 9.99995518e-01 6.42116314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.371400513 meters Centerline goodness [0,1] 0.5034051724137931 Centerline is valid? [False, False] Translation: X:12.07, Y:0.27, Z:0.06 [[ 9.99986529e-01 4.17623722e-03 -3.08221632e-03 1.20739191e+01] [-4.17431908e-03 9.99991090e-01 6.28494353e-04 2.71570385e-01] [ 3.08481360e-03 -6.15619733e-04 9.99995052e-01 6.38836442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.401400513 meters Centerline goodness [0,1] 0.8497535881030607 Centerline is valid? [False, False] Translation: X:12.07, Y:0.27, Z:0.06 [[ 9.99986417e-01 4.10887636e-03 -3.20655186e-03 1.20745232e+01] [-4.10721753e-03 9.99991428e-01 5.23739936e-04 2.71994930e-01] [ 3.20867636e-03 -5.10562816e-04 9.99994722e-01 6.34736634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.431400513 meters Centerline goodness [0,1] 0.6812389267188934 Centerline is valid? [False, False] Translation: X:12.09, Y:0.27, Z:0.07 [[ 9.99986282e-01 3.37176189e-03 -4.00841108e-03 1.20949469e+01] [-3.32788246e-03 9.99935017e-01 1.09035663e-02 2.66093203e-01] [ 4.04491483e-03 -1.08900772e-02 9.99932520e-01 6.74715610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.461400513 meters Centerline goodness [0,1] 0.5074604690650536 Centerline is valid? [False, False] Translation: X:12.09, Y:0.27, Z:0.07 [[ 9.99991812e-01 -1.29949645e-03 -3.83243569e-03 1.20944058e+01] [ 1.31991615e-03 9.99984922e-01 5.33041952e-03 2.72197869e-01] [ 3.82545105e-03 -5.33543437e-03 9.99978449e-01 6.71016755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.491400513 meters Centerline goodness [0,1] 0.9437510759166811 Centerline is valid? [False, False] Translation: X:12.09, Y:0.28, Z:0.07 [[ 9.99976584e-01 -5.87942197e-03 -3.50202256e-03 1.20929810e+01] [ 5.88080450e-03 9.99982634e-01 3.84614676e-04 2.75192875e-01] [ 3.49970043e-03 -4.05200380e-04 9.99993794e-01 6.78418713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.521400512999996 meters Centerline goodness [0,1] 0.8060901184425968 Centerline is valid? [False, False] Translation: X:12.12, Y:0.29, Z:0.06 [[ 9.99974248e-01 -6.55703205e-03 2.91682299e-03 1.21164036e+01] [ 6.58741954e-03 9.99922824e-01 -1.05333450e-02 2.86797567e-01] [-2.84753040e-03 1.05522881e-02 9.99940269e-01 6.03545482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.551400513 meters Centerline goodness [0,1] 0.9442924538463195 Centerline is valid? [False, False] Translation: X:12.09, Y:0.27, Z:0.07 [[ 9.99974033e-01 -6.82941356e-03 -2.30053599e-03 1.20907393e+01] [ 6.83139017e-03 9.99976302e-01 8.52436871e-04 2.73579315e-01] [ 2.29465983e-03 -8.68130595e-04 9.99996990e-01 6.94415597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.581400513 meters Centerline goodness [0,1] 0.9769614881807076 Centerline is valid? [False, True] Translation: X:12.09, Y:0.27, Z:0.07 [[ 9.99974992e-01 -6.68938421e-03 -2.29501455e-03 1.20903167e+01] [ 6.69211123e-03 9.99976908e-01 1.18262265e-03 2.72081354e-01] [ 2.28705054e-03 -1.19795157e-03 9.99996667e-01 7.02559081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.611400513 meters Centerline goodness [0,1] 0.8164763458401305 Centerline is valid? [True, False] Translation: X:12.09, Y:0.27, Z:0.07 [[ 9.99977120e-01 -6.35634224e-03 -2.31457515e-03 1.20902624e+01] [ 6.36083600e-03 9.99977889e-01 1.93935152e-03 2.68553281e-01] [ 2.30219679e-03 -1.95402978e-03 9.99995441e-01 7.05390765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.641400513 meters Centerline goodness [0,1] 0.7648069579974544 Centerline is valid? [False, False] Translation: X:12.11, Y:0.28, Z:0.07 [[ 9.99985199e-01 -5.07829012e-03 1.95275805e-03 1.21123777e+01] [ 5.09514549e-03 9.99948949e-01 -8.72570787e-03 2.76855612e-01] [-1.90834669e-03 8.73552831e-03 9.99960024e-01 6.51944327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.671400513 meters Centerline goodness [0,1] 0.8078593278713072 Centerline is valid? [False, False] Translation: X:12.11, Y:0.28, Z:0.06 [[ 9.99985488e-01 -5.03715709e-03 1.91073375e-03 1.21126921e+01] [ 5.05348500e-03 9.99949914e-01 -8.63902356e-03 2.76429700e-01] [-1.86712193e-03 8.64855406e-03 9.99960857e-01 6.48472474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.701400512999996 meters Centerline goodness [0,1] 0.59954213825713 Centerline is valid? [False, False] Translation: X:12.11, Y:0.27, Z:0.07 [[ 9.99998663e-01 -3.02112496e-04 1.60720786e-03 1.21134091e+01] [ 3.06875054e-04 9.99995561e-01 -2.96382887e-03 2.69954720e-01] [-1.60630531e-03 2.96431812e-03 9.99994316e-01 6.53615683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.731400513 meters Centerline goodness [0,1] 0.6651549025870329 Centerline is valid? [False, False] Translation: X:12.12, Y:0.27, Z:0.06 [[ 9.99997667e-01 2.04308859e-03 7.01285605e-04 1.21200612e+01] [-2.04265784e-03 9.99997725e-01 -6.14396821e-04 2.68682895e-01] [-7.02539276e-04 6.12962901e-04 9.99999565e-01 6.12203817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.761400513 meters Centerline goodness [0,1] 0.6121883656509695 Centerline is valid? [False, False] Translation: X:12.12, Y:0.27, Z:0.06 [[ 9.99997888e-01 1.87056852e-03 8.51674785e-04 1.21195196e+01] [-1.86958391e-03 9.99997585e-01 -1.15541789e-03 2.71311202e-01] [-8.53834016e-04 1.15382317e-03 9.99998970e-01 6.12758998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.791400513 meters Centerline goodness [0,1] 0.6917570360270149 Centerline is valid? [False, False] Translation: X:12.12, Y:0.28, Z:0.06 [[ 9.99997500e-01 1.91193524e-03 1.15940545e-03 1.21184063e+01] [-1.90972591e-03 9.99996364e-01 -1.90368738e-03 2.75313945e-01] [-1.16304096e-03 1.90146847e-03 9.99997516e-01 6.13353043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.821400513 meters Centerline goodness [0,1] 0.5641763064272172 Centerline is valid? [False, False] Translation: X:12.12, Y:0.28, Z:0.06 [[ 9.99997614e-01 1.80668746e-03 1.22832119e-03 1.21181755e+01] [-1.80398676e-03 9.99995961e-01 -2.19625710e-03 2.76715696e-01] [-1.23228418e-03 2.19403599e-03 9.99996834e-01 6.12843040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.851400513 meters Centerline goodness [0,1] 0.5514688775618113 Centerline is valid? [False, False] Translation: X:12.12, Y:0.27, Z:0.06 [[ 9.99990839e-01 4.26855960e-03 3.18777001e-04 1.21249863e+01] [-4.26872320e-03 9.99990757e-01 5.14316881e-04 2.74815852e-01] [-3.16578662e-04 -5.15672940e-04 9.99999817e-01 5.70885762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.881400512999996 meters Centerline goodness [0,1] 0.5392812146319588 Centerline is valid? [False, False] Translation: X:12.13, Y:0.28, Z:0.06 [[ 9.99991214e-01 4.17956369e-03 3.22655068e-04 1.21251766e+01] [-4.17966106e-03 9.99991220e-01 3.01678258e-04 2.75786272e-01] [-3.21391352e-04 -3.03024196e-04 9.99999902e-01 5.66786280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.911400513 meters Centerline goodness [0,1] 0.5101206778500513 Centerline is valid? [False, False] Translation: X:12.13, Y:0.28, Z:0.06 [[ 9.99991481e-01 4.11641436e-03 3.05137662e-04 1.21254906e+01] [-4.11645766e-03 9.99991517e-01 1.41413525e-04 2.76505578e-01] [-3.04552957e-04 -1.42668406e-04 9.99999943e-01 5.61522647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.941400513 meters Centerline goodness [0,1] 0.6095372993389991 Centerline is valid? [False, False] Translation: X:12.13, Y:0.28, Z:0.06 [[ 9.99992349e-01 3.90179006e-03 2.78351659e-04 1.21260516e+01] [-3.90168766e-03 9.99992321e-01 -3.67502136e-04 2.78810459e-01] [-2.79783438e-04 3.66413284e-04 9.99999894e-01 5.51360077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.971400513 meters Centerline goodness [0,1] 0.6013523666416228 Centerline is valid? [False, False] Translation: X:12.13, Y:0.28, Z:0.06 [[ 9.99992836e-01 3.77700978e-03 2.47648308e-04 1.21261924e+01] [-3.77685269e-03 9.99992668e-01 -6.31765894e-04 2.80024145e-01] [-2.50032679e-04 6.30826038e-04 9.99999770e-01 5.50209810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.001400513 meters Centerline goodness [0,1] 0.5293167569865052 Centerline is valid? [False, False] Translation: X:12.13, Y:0.28, Z:0.06 [[ 9.99993207e-01 3.68077445e-03 1.93145349e-04 1.21263282e+01] [-3.68061247e-03 9.99992880e-01 -8.32416584e-04 2.80966717e-01] [-1.96207911e-04 8.31700036e-04 9.99999635e-01 5.50990337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.031400513 meters Centerline goodness [0,1] 0.7269616493780399 Centerline is valid? [False, False] Translation: X:12.10, Y:0.27, Z:0.06 [[ 9.99979895e-01 3.02546564e-03 -5.57289346e-03 1.21027821e+01] [-2.97066069e-03 9.99947406e-01 9.81636607e-03 2.69423726e-01] [ 5.60229944e-03 -9.79961353e-03 9.99936289e-01 6.29383582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.061400513 meters Centerline goodness [0,1] 0.5148658139485389 Centerline is valid? [False, False] Translation: X:12.13, Y:0.28, Z:0.06 [[ 9.99996011e-01 2.81308975e-03 -2.55006118e-04 1.21266921e+01] [-2.81347848e-03 9.99994861e-01 -1.53707800e-03 2.80185240e-01] [ 2.50680869e-04 1.53778932e-03 9.99998786e-01 5.54433943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.091400512999996 meters Centerline goodness [0,1] 0.7252242445354001 Centerline is valid? [False, False] Translation: X:12.08, Y:0.27, Z:0.06 [[ 9.99994500e-01 1.67656790e-03 -2.86172709e-03 1.20849722e+01] [-1.67749298e-03 9.99998542e-01 -3.20891200e-04 2.73919006e-01] [ 2.86118492e-03 3.25689962e-04 9.99995854e-01 5.58876158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.121400513 meters Centerline goodness [0,1] 0.9746918293880222 Centerline is valid? [False, True] Translation: X:12.09, Y:0.27, Z:0.06 [[ 9.99994276e-01 1.71184179e-03 -2.91858536e-03 1.20852517e+01] [-1.71239105e-03 9.99998517e-01 -1.85706052e-04 2.73236700e-01] [ 2.91826313e-03 1.90702749e-04 9.99995724e-01 5.56949858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.151400513 meters Centerline goodness [0,1] 0.8060095225839661 Centerline is valid? [True, False] Translation: X:12.13, Y:0.28, Z:0.06 [[ 9.99997090e-01 2.41076371e-03 -9.01102815e-05 1.21259599e+01] [-2.41090594e-03 9.99995793e-01 -1.61306420e-03 2.79429346e-01] [ 8.62211858e-05 1.61327675e-03 9.99998695e-01 5.50915433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.181400513 meters Centerline goodness [0,1] 0.47260462847082285 Centerline is valid? [False, False] Translation: X:12.13, Y:0.27, Z:0.06 [[ 9.99977044e-01 6.76379738e-03 -4.02516685e-04 1.21267103e+01] [-6.76223493e-03 9.99970051e-01 3.76410212e-03 2.73913153e-01] [ 4.27964254e-04 -3.76129380e-03 9.99992835e-01 5.59116991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.211400513 meters Centerline goodness [0,1] 0.5507797479171117 Centerline is valid? [False, False] Translation: X:12.13, Y:0.27, Z:0.06 [[ 9.99977325e-01 6.71989902e-03 -4.38700910e-04 1.21268245e+01] [-6.71824309e-03 9.99970687e-01 3.67286117e-03 2.74332405e-01] [ 4.63369306e-04 -3.66983059e-03 9.99993159e-01 5.59185539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.241400513 meters Centerline goodness [0,1] 0.4439913750773895 Centerline is valid? [False, False] Translation: X:12.13, Y:0.28, Z:0.05 [[ 9.99997299e-01 2.23155989e-03 -6.49101371e-04 1.21279883e+01] [-2.23285692e-03 9.99995498e-01 -2.00437789e-03 2.81153759e-01] [ 6.44625560e-04 2.00582183e-03 9.99997781e-01 5.45161386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.271400512999996 meters Centerline goodness [0,1] 0.5186520443849575 Centerline is valid? [False, False] Translation: X:12.11, Y:0.27, Z:0.06 [[ 9.99981513e-01 7.87397380e-04 -6.02932560e-03 1.21069136e+01] [-7.37132681e-04 9.99964997e-01 8.33439225e-03 2.71518881e-01] [ 6.03567703e-03 -8.32979376e-03 9.99947091e-01 6.00339312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.301400513 meters Centerline goodness [0,1] 0.5186520443849575 Centerline is valid? [False, False] Translation: X:12.10, Y:0.28, Z:0.06 [[ 9.99981393e-01 -3.37658915e-03 -5.08054442e-03 1.21041356e+01] [ 3.39223354e-03 9.99989522e-01 3.07381425e-03 2.77025118e-01] [ 5.07011218e-03 -3.09099145e-03 9.99982370e-01 5.95372817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.331400513 meters Centerline goodness [0,1] 0.4421446331045328 Centerline is valid? [False, False] Translation: X:12.14, Y:0.28, Z:0.06 [[ 9.99988223e-01 -4.41934074e-03 -2.00561071e-03 1.21445942e+01] [ 4.41933752e-03 9.99990235e-01 -6.03765243e-06 2.83788054e-01] [ 2.00561781e-03 -2.82588933e-06 9.99997989e-01 5.88173310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.361400513 meters Centerline goodness [0,1] 0.5899477695008134 Centerline is valid? [False, False] Translation: X:12.14, Y:0.28, Z:0.06 [[ 9.99988663e-01 -4.28765260e-03 -2.07132771e-03 1.21447036e+01] [ 4.28837018e-03 9.99990746e-01 3.42117538e-04 2.82139979e-01] [ 2.06984166e-03 -3.50996280e-04 9.99997796e-01 5.90444175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.391400513 meters Centerline goodness [0,1] 0.8340901302261823 Centerline is valid? [False, False] Translation: X:12.14, Y:0.28, Z:0.06 [[ 9.99989268e-01 -4.13258759e-03 -2.09420854e-03 1.21446169e+01] [ 4.13422067e-03 9.99991153e-01 7.76080773e-04 2.80088068e-01] [ 2.09098279e-03 -7.84730364e-04 9.99997506e-01 5.93857541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.421400513 meters Centerline goodness [0,1] 0.9005367110347788 Centerline is valid? [False, False] Translation: X:12.14, Y:0.28, Z:0.06 [[ 9.99989961e-01 -3.98649586e-03 -2.04591765e-03 1.21441168e+01] [ 3.98883484e-03 9.99991394e-01 1.14044098e-03 2.78436649e-01] [ 2.04135368e-03 -1.14859035e-03 9.99997257e-01 6.00816085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.451400512999996 meters Centerline goodness [0,1] 0.9630041962832919 Centerline is valid? [False, True] Translation: X:12.14, Y:0.28, Z:0.06 [[ 9.99990023e-01 -4.06573243e-03 -1.85051140e-03 1.21429358e+01] [ 4.06784108e-03 9.99991080e-01 1.13716399e-03 2.78491674e-01] [ 1.84587148e-03 -1.14468023e-03 9.99997641e-01 6.11926780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.481400513 meters Centerline goodness [0,1] 0.8154062940347581 Centerline is valid? [True, False] Translation: X:12.14, Y:0.28, Z:0.06 [[ 9.99990042e-01 -4.04556534e-03 -1.88387959e-03 1.21428875e+01] [ 4.04791150e-03 9.99991034e-01 1.24324647e-03 2.77972450e-01] [ 1.87883306e-03 -1.25085987e-03 9.99997453e-01 6.14881802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.511400513 meters Centerline goodness [0,1] 0.9364849620059172 Centerline is valid? [False, False] Translation: X:12.14, Y:0.28, Z:0.06 [[ 9.99990346e-01 -3.93604402e-03 -1.95345537e-03 1.21431242e+01] [ 3.93901339e-03 9.99991089e-01 1.51854612e-03 2.76661779e-01] [ 1.94746089e-03 -1.52622615e-03 9.99996939e-01 6.14670078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.541400513 meters Centerline goodness [0,1] 0.9927213563966433 Centerline is valid? [False, True] Translation: X:12.14, Y:0.28, Z:0.06 [[ 9.99990631e-01 -3.83534694e-03 -2.00722250e-03 1.21433053e+01] [ 3.83891711e-03 9.99991051e-01 1.77784227e-03 2.75439803e-01] [ 2.00038590e-03 -1.78553118e-03 9.99996405e-01 6.14806666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.571400513 meters Centerline goodness [0,1] 0.9914498933901918 Centerline is valid? [True, True] Translation: X:12.17, Y:0.28, Z:0.06 [[ 9.99984886e-01 -5.20709755e-03 -1.76469533e-03 1.21715100e+01] [ 5.20686713e-03 9.99986435e-01 -1.35140095e-04 2.79916106e-01] [ 1.76537508e-03 1.25949519e-04 9.99998434e-01 6.13194064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.601400513 meters Centerline goodness [0,1] 0.9871046124989342 Centerline is valid? [True, True] Translation: X:12.20, Y:0.28, Z:0.06 [[ 9.99979521e-01 -6.27763059e-03 -1.24464518e-03 1.22000029e+01] [ 6.27751676e-03 9.99980292e-01 -9.53482849e-05 2.83545460e-01] [ 1.24521921e-03 8.75330512e-05 9.99999221e-01 6.25239304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.631400512999996 meters Centerline goodness [0,1] 0.9262903983264312 Centerline is valid? [True, False] Translation: X:12.20, Y:0.28, Z:0.06 [[ 9.99980433e-01 -6.15938639e-03 -1.09366616e-03 1.21987686e+01] [ 6.15957340e-03 9.99981016e-01 1.67699497e-04 2.82436697e-01] [ 1.09261247e-03 -1.74432733e-04 9.99999388e-01 6.39945594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.661400513 meters Centerline goodness [0,1] 0.9560930193190715 Centerline is valid? [False, True] Translation: X:12.20, Y:0.28, Z:0.06 [[ 9.99980385e-01 -6.17659886e-03 -1.03908755e-03 1.21985388e+01] [ 6.17668894e-03 9.99980921e-01 8.35056692e-05 2.82861992e-01] [ 1.03855194e-03 -8.99221518e-05 9.99999457e-01 6.40741678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.691400513 meters Centerline goodness [0,1] 0.8792447181592679 Centerline is valid? [True, False] Translation: X:12.18, Y:0.29, Z:0.06 [[ 9.99983496e-01 -5.26330348e-03 2.30343075e-03 1.21814675e+01] [ 5.28225829e-03 9.99951588e-01 -8.30171865e-03 2.90708650e-01] [-2.25962477e-03 8.31374896e-03 9.99962887e-01 5.53273375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.721400513 meters Centerline goodness [0,1] 0.9294064651751431 Centerline is valid? [False, False] Translation: X:12.18, Y:0.29, Z:0.05 [[ 9.99997752e-01 -7.41498040e-04 1.98661673e-03 1.21827585e+01] [ 7.48222447e-04 9.99993987e-01 -3.38625138e-03 2.87873276e-01] [-1.98409389e-03 3.38773019e-03 9.99992293e-01 5.47118405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.751400513 meters Centerline goodness [0,1] 0.7527560740661458 Centerline is valid? [False, False] Translation: X:12.19, Y:0.29, Z:0.05 [[ 9.99997354e-01 2.06036846e-03 1.02318271e-03 1.21894895e+01] [-2.05975113e-03 9.99997696e-01 -6.04034506e-04 2.89172416e-01] [-1.02442489e-03 6.01925406e-04 9.99999294e-01 5.02539055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.781400513 meters Centerline goodness [0,1] 0.6591853699085619 Centerline is valid? [False, False] Translation: X:12.19, Y:0.29, Z:0.05 [[ 9.99997815e-01 1.88996934e-03 8.92809320e-04 1.21902381e+01] [-1.88877933e-03 9.99997329e-01 -1.33185283e-03 2.92687248e-01] [-8.95324097e-04 1.33016361e-03 9.99998715e-01 4.94630890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.811400513 meters Centerline goodness [0,1] 0.8124866367329484 Centerline is valid? [False, False] Translation: X:12.19, Y:0.29, Z:0.05 [[ 9.99996439e-01 2.23066728e-03 1.46466325e-03 1.21881754e+01] [-2.22834177e-03 9.99996257e-01 -1.58746723e-03 2.94612184e-01] [-1.46819888e-03 1.58419781e-03 9.99997667e-01 4.98368395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.841400512999996 meters Centerline goodness [0,1] 0.5684024525249085 Centerline is valid? [False, False] Translation: X:12.19, Y:0.30, Z:0.05 [[ 9.99996524e-01 2.06328362e-03 1.64145138e-03 1.21875659e+01] [-2.05986050e-03 9.99995706e-01 -2.08438777e-03 2.97013301e-01] [-1.64574501e-03 2.08099936e-03 9.99996480e-01 4.98367437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.871400513 meters Centerline goodness [0,1] 0.6398850697030967 Centerline is valid? [False, False] Translation: X:12.19, Y:0.30, Z:0.05 [[ 9.99996865e-01 1.78146404e-03 1.75958499e-03 1.21873669e+01] [-1.77656684e-03 9.99994555e-01 -2.78081116e-03 3.00284196e-01] [-1.76452933e-03 2.77767642e-03 9.99994585e-01 4.93914969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.901400513 meters Centerline goodness [0,1] 0.563514233926858 Centerline is valid? [False, False] Translation: X:12.19, Y:0.30, Z:0.05 [[ 9.99997534e-01 1.47151657e-03 1.66327875e-03 1.21882446e+01] [-1.46564909e-03 9.99992719e-01 -3.52338514e-03 3.03690515e-01] [-1.66845136e-03 3.52093867e-03 9.99992410e-01 4.81811608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.931400513 meters Centerline goodness [0,1] 0.7118527141810029 Centerline is valid? [False, False] Translation: X:12.17, Y:0.29, Z:0.05 [[ 9.99992499e-01 6.36631623e-04 -3.82048783e-03 1.21655443e+01] [-6.09213936e-04 9.99974086e-01 7.17336628e-03 2.92056642e-01] [ 3.82495562e-03 -7.17098498e-03 9.99966973e-01 5.48830107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.961400513 meters Centerline goodness [0,1] 0.48923632766296055 Centerline is valid? [False, False] Translation: X:12.17, Y:0.29, Z:0.06 [[ 9.99992409e-01 7.27360316e-04 -3.82794355e-03 1.21653824e+01] [-6.99017456e-04 9.99972373e-01 7.40033669e-03 2.91000733e-01] [ 3.83322050e-03 -7.39760471e-03 9.99965290e-01 5.52697553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.991400513 meters Centerline goodness [0,1] 0.7147752252058102 Centerline is valid? [False, False] Translation: X:12.16, Y:0.30, Z:0.05 [[ 9.99987817e-01 -3.79503644e-03 -3.15653733e-03 1.21633709e+01] [ 3.80038100e-03 9.99991352e-01 1.68890118e-03 2.98142208e-01] [ 3.15010060e-03 -1.70087665e-03 9.99993592e-01 5.48357232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.021400512999996 meters Centerline goodness [0,1] 0.7256368610018806 Centerline is valid? [False, False] Translation: X:12.16, Y:0.31, Z:0.05 [[ 9.99960708e-01 -8.41023488e-03 -2.80192483e-03 1.21623831e+01] [ 8.39802448e-03 9.99955311e-01 -4.34149404e-03 3.06821278e-01] [ 2.83831260e-03 4.31779282e-03 9.99986650e-01 5.43115308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.051400513 meters Centerline goodness [0,1] 0.6959379884799041 Centerline is valid? [False, False] Translation: X:12.16, Y:0.30, Z:0.06 [[ 9.99985999e-01 -4.25727581e-03 -3.14290246e-03 1.21631492e+01] [ 4.25979296e-03 9.99990611e-01 7.94641041e-04 3.02323041e-01] [ 3.13948994e-03 -8.08018029e-04 9.99994745e-01 5.50751328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.081400513 meters Centerline goodness [0,1] 0.7548083156848338 Centerline is valid? [False, False] Translation: X:12.16, Y:0.31, Z:0.06 [[ 9.99983665e-01 -4.58291547e-03 -3.41578726e-03 1.21640357e+01] [ 4.58334321e-03 9.99989490e-01 1.17408600e-04 3.05425454e-01] [ 3.41521329e-03 -1.33062407e-04 9.99994159e-01 5.50321060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.111400513 meters Centerline goodness [0,1] 0.8481031899415865 Centerline is valid? [False, False] Translation: X:12.16, Y:0.31, Z:0.05 [[ 9.99982666e-01 -4.66395265e-03 -3.59390068e-03 1.21646449e+01] [ 4.66385779e-03 9.99989124e-01 -3.47750545e-05 3.06107610e-01] [ 3.59402378e-03 1.80130100e-05 9.99993541e-01 5.49705664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.141400513 meters Centerline goodness [0,1] 0.6251592086269848 Centerline is valid? [False, False] Translation: X:12.21, Y:0.31, Z:0.05 [[ 9.99990327e-01 -4.26629343e-03 -1.07003427e-03 1.22063253e+01] [ 4.26500332e-03 9.99990179e-01 -1.20506100e-03 3.11895178e-01] [ 1.07516491e-03 1.20048564e-03 9.99998701e-01 5.43543196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.171400513 meters Centerline goodness [0,1] 0.930969226468248 Centerline is valid? [False, False] Translation: X:12.20, Y:0.32, Z:0.05 [[ 9.99959907e-01 -8.94788168e-03 -3.45579756e-04 1.22040085e+01] [ 8.94517064e-03 9.99934218e-01 -7.17944216e-03 3.20189145e-01] [ 4.09797822e-04 7.17606304e-03 9.99974168e-01 5.44309307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.201400512999996 meters Centerline goodness [0,1] 0.9158179128160044 Centerline is valid? [False, False] Translation: X:12.20, Y:0.32, Z:0.06 [[ 9.99987769e-01 -4.91713129e-03 -5.33370104e-04 1.22039120e+01] [ 4.91607206e-03 9.99985977e-01 -1.96938722e-03 3.15063043e-01] [ 5.43046360e-04 1.96674105e-03 9.99997919e-01 5.59437704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.231400513 meters Centerline goodness [0,1] 0.7959647446108102 Centerline is valid? [False, False] Translation: X:12.20, Y:0.32, Z:0.06 [[ 9.99952625e-01 -9.73066688e-03 -2.50160723e-04 1.22027484e+01] [ 9.72846870e-03 9.99923412e-01 -7.65036126e-03 3.21629581e-01] [ 3.24584680e-04 7.64756514e-03 9.99970704e-01 5.65181283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.261400513 meters Centerline goodness [0,1] 0.8564009403718743 Centerline is valid? [False, False] Translation: X:12.20, Y:0.32, Z:0.06 [[ 9.99953163e-01 -9.67146213e-03 -3.65589422e-04 1.22031861e+01] [ 9.66845274e-03 9.99925197e-01 -7.49139535e-03 3.20856760e-01] [ 4.38014822e-04 7.48750979e-03 9.99971872e-01 5.63954951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.291400513 meters Centerline goodness [0,1] 0.8564009403718743 Centerline is valid? [False, False] Translation: X:12.20, Y:0.31, Z:0.06 [[ 9.99985177e-01 -5.39698295e-03 -7.19691583e-04 1.22040523e+01] [ 5.39548488e-03 9.99983307e-01 -2.06748894e-03 3.14939560e-01] [ 7.30837771e-04 2.06357521e-03 9.99997604e-01 5.69234460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.321400513 meters Centerline goodness [0,1] 0.984921076271549 Centerline is valid? [False, True] Translation: X:12.20, Y:0.31, Z:0.06 [[ 9.99985193e-01 -5.37373377e-03 -8.58102573e-04 1.22045728e+01] [ 5.37205219e-03 9.99983669e-01 -1.95006926e-03 3.14359302e-01] [ 8.68567712e-04 1.94543062e-03 9.99997730e-01 5.67819848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.351400513 meters Centerline goodness [0,1] 0.9875923063712863 Centerline is valid? [True, True] Translation: X:12.23, Y:0.31, Z:0.06 [[ 9.99971664e-01 -7.44243599e-03 -1.13239561e-03 1.22336906e+01] [ 7.44233957e-03 9.99972301e-01 -8.93345586e-05 3.14972078e-01] [ 1.13302911e-03 8.09043545e-05 9.99999355e-01 5.59486176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.381400512999996 meters Centerline goodness [0,1] 0.9020632974031283 Centerline is valid? [True, False] Translation: X:12.23, Y:0.31, Z:0.06 [[ 9.99972158e-01 -7.37363578e-03 -1.14593974e-03 1.22337422e+01] [ 7.37370492e-03 9.99972812e-01 5.61223679e-05 3.14306443e-01] [ 1.14549476e-03 -6.45706268e-05 9.99999342e-01 5.59283399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.411400513 meters Centerline goodness [0,1] 0.9873980093126575 Centerline is valid? [False, True] Translation: X:12.23, Y:0.31, Z:0.06 [[ 9.99971956e-01 -7.39497019e-03 -1.18422661e-03 1.22338210e+01] [ 7.39493515e-03 9.99972657e-01 -3.39640379e-05 3.14762129e-01] [ 1.18444539e-03 2.52058064e-05 9.99999298e-01 5.60143019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.441400513 meters Centerline goodness [0,1] 0.9641144227475162 Centerline is valid? [True, True] Translation: X:12.26, Y:0.32, Z:0.06 [[ 9.99979641e-01 -6.31097115e-03 -9.42887671e-04 1.22626041e+01] [ 6.31090305e-03 9.99980083e-01 -7.51866505e-05 3.21095132e-01] [ 9.43343392e-04 6.92346472e-05 9.99999553e-01 5.67991379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.471400513 meters Centerline goodness [0,1] 0.9826128122915366 Centerline is valid? [True, True] Translation: X:12.29, Y:0.32, Z:0.06 [[ 9.99989481e-01 -4.52745490e-03 -7.35368565e-04 1.22928752e+01] [ 4.52741299e-03 9.99989749e-01 -5.86410216e-05 3.22453013e-01] [ 7.35626522e-04 5.53110875e-05 9.99999728e-01 5.80251881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.501400513 meters Centerline goodness [0,1] 0.7582964484635422 Centerline is valid? [True, False] Translation: X:12.33, Y:0.33, Z:0.06 [[ 9.99996605e-01 -1.53064853e-03 2.10867147e-03 1.23324899e+01] [ 1.53054580e-03 9.99998827e-01 5.03314844e-05 3.30604516e-01] [-2.10874604e-03 -4.71038953e-05 9.99997775e-01 5.78505129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.531400513 meters Centerline goodness [0,1] 0.6980961405926946 Centerline is valid? [False, False] Translation: X:12.29, Y:0.33, Z:0.06 [[ 9.99999289e-01 -1.15982929e-03 -2.76894804e-04 1.22895709e+01] [ 1.16012980e-03 9.99998736e-01 1.08758404e-03 3.28646888e-01] [ 2.75633042e-04 -1.08790451e-03 9.99999370e-01 5.85229952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.561400513 meters Centerline goodness [0,1] 0.779283870827821 Centerline is valid? [False, False] Translation: X:12.29, Y:0.33, Z:0.06 [[ 9.99998971e-01 -1.42042581e-03 -2.00964829e-04 1.22894677e+01] [ 1.42051403e-03 9.99998894e-01 4.39516804e-04 3.31679003e-01] [ 2.00340306e-04 -4.39801825e-04 9.99999883e-01 5.81674040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.591400512999996 meters Centerline goodness [0,1] 0.7845089075917461 Centerline is valid? [False, False] Translation: X:12.33, Y:0.34, Z:0.06 [[ 9.99998141e-01 -6.72852729e-04 1.80684190e-03 1.23327634e+01] [ 6.74646150e-04 9.99999280e-01 -9.92146011e-04 3.38921266e-01] [-1.80617303e-03 9.93363146e-04 9.99997875e-01 5.63456599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.621400513 meters Centerline goodness [0,1] 0.6598454036328016 Centerline is valid? [False, False] Translation: X:12.33, Y:0.34, Z:0.06 [[ 9.99998213e-01 -8.38377210e-04 1.69414846e-03 1.23332918e+01] [ 8.40628453e-04 9.99998764e-01 -1.32855974e-03 3.40454638e-01] [-1.69303254e-03 1.32998152e-03 9.99997682e-01 5.59960803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.651400513 meters Centerline goodness [0,1] 0.7193582660433488 Centerline is valid? [False, False] Translation: X:12.33, Y:0.34, Z:0.06 [[ 9.99998523e-01 -8.05987377e-04 1.51784665e-03 1.23337917e+01] [ 8.07721522e-04 9.99999021e-01 -1.14223706e-03 3.39516316e-01] [-1.51692454e-03 1.14346138e-03 9.99998196e-01 5.61547774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.681400513 meters Centerline goodness [0,1] 0.9863867794269935 Centerline is valid? [False, True] Translation: X:12.29, Y:0.33, Z:0.06 [[ 9.99990705e-01 -4.31169620e-03 2.54271905e-06 1.22901802e+01] [ 4.31169694e-03 9.99990561e-01 -5.36102884e-04 3.29413819e-01] [-2.31182286e-07 5.36108864e-04 9.99999856e-01 5.86086125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.711400513 meters Centerline goodness [0,1] 0.9572131849315069 Centerline is valid? [True, True] Translation: X:12.32, Y:0.33, Z:0.06 [[ 9.99959661e-01 -8.94566097e-03 8.07771517e-04 1.23193385e+01] [ 8.94561287e-03 9.99959985e-01 6.31466791e-05 3.32899417e-01] [-8.08304083e-04 -5.59181205e-05 9.99999672e-01 5.94796192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.741400513 meters Centerline goodness [0,1] 0.9979940675615117 Centerline is valid? [True, True] Translation: X:12.35, Y:0.32, Z:0.06 [[ 9.99913379e-01 -1.31163228e-02 1.09363490e-03 1.23509723e+01] [ 1.31162371e-02 9.99913975e-01 8.55134729e-05 3.24615764e-01] [-1.09466245e-03 -7.11616910e-05 9.99999398e-01 6.00121984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.771400512999996 meters Centerline goodness [0,1] 0.9996982173266367 Centerline is valid? [True, True] Translation: X:12.38, Y:0.32, Z:0.06 [[ 9.99854086e-01 -1.70669854e-02 7.24749735e-04 1.23823079e+01] [ 1.70669488e-02 9.99854347e-01 5.66581066e-05 3.15981403e-01] [-7.25611156e-04 -4.42805728e-05 9.99999736e-01 5.93859155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.801400513 meters Centerline goodness [0,1] 0.9998052917378795 Centerline is valid? [True, True] Translation: X:12.41, Y:0.31, Z:0.06 [[ 9.99790415e-01 -2.04637134e-02 -6.02390593e-04 1.24132270e+01] [ 2.04636887e-02 9.99790596e-01 -4.70996631e-05 3.07506253e-01] [ 6.03228283e-04 3.47626582e-05 9.99999817e-01 5.75302210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.831400513 meters Centerline goodness [0,1] 0.9996986460597972 Centerline is valid? [True, True] Translation: X:12.44, Y:0.31, Z:0.06 [[ 9.99725090e-01 -2.34001467e-02 -1.47541772e-03 1.24430835e+01] [ 2.34000018e-02 9.99726176e-01 -1.15400501e-04 3.07502429e-01] [ 1.47771411e-03 8.08439992e-05 9.99998905e-01 5.62234750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.861400513 meters Centerline goodness [0,1] 0.9998910960097578 Centerline is valid? [True, True] Translation: X:12.47, Y:0.29, Z:0.06 [[ 9.99649697e-01 -2.63819256e-02 -2.11581710e-03 1.24746972e+01] [ 2.63816342e-02 9.99651930e-01 -1.65525799e-04 2.93995344e-01] [ 2.11944754e-03 1.09649102e-04 9.99997748e-01 5.63679011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.891400513 meters Centerline goodness [0,1] 0.9995702621400946 Centerline is valid? [True, True] Translation: X:12.50, Y:0.30, Z:0.06 [[ 9.99644531e-01 -2.65730857e-02 -2.16376889e-03 1.25025618e+01] [ 2.65727809e-02 9.99646867e-01 -1.69473476e-04 2.95653754e-01] [ 2.16750822e-03 1.11915877e-04 9.99997645e-01 5.64018645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.921400513 meters Centerline goodness [0,1] 0.999570179020438 Centerline is valid? [True, True] Translation: X:12.53, Y:0.30, Z:0.06 [[ 9.99653970e-01 -2.61539225e-02 -2.81288734e-03 1.25304333e+01] [ 2.61534055e-02 9.99657917e-01 -2.20445140e-04 3.00918211e-01] [ 2.81769061e-03 1.46802276e-04 9.99996020e-01 5.53715033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.951400512999996 meters Centerline goodness [0,1] 0.9996153024150459 Centerline is valid? [True, True] Translation: X:12.56, Y:0.29, Z:0.05 [[ 9.99676676e-01 -2.51368907e-02 -3.83144026e-03 1.25607001e+01] [ 2.51359240e-02 9.99683998e-01 -3.00266215e-04 2.93797990e-01] [ 3.83777727e-03 2.03862341e-04 9.99992615e-01 5.39740606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.981400513 meters Centerline goodness [0,1] 0.9998040752351097 Centerline is valid? [True, True] Translation: X:12.59, Y:0.29, Z:0.05 [[ 9.99727398e-01 -2.29522253e-02 -4.28077583e-03 1.25907749e+01] [ 2.29509985e-02 9.99736535e-01 -3.35507592e-04 2.91994854e-01] [ 4.28734864e-03 2.37168052e-04 9.99990781e-01 5.36710451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.011400513 meters Centerline goodness [0,1] 0.9992014158680825 Centerline is valid? [True, True] Translation: X:12.62, Y:0.30, Z:0.05 [[ 9.99871950e-01 -1.56747390e-02 -3.22276804e-03 1.26192681e+01] [ 1.56740063e-02 9.99877123e-01 -2.52485451e-04 2.98562049e-01] [ 3.22632968e-03 2.01939433e-04 9.99994775e-01 5.47379704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.041400513 meters Centerline goodness [0,1] 0.9992678567583281 Centerline is valid? [True, True] Translation: X:12.65, Y:0.30, Z:0.06 [[ 9.99934809e-01 -1.12105823e-02 -2.16802391e-03 1.26490926e+01] [ 1.12102402e-02 9.99937149e-01 -1.69912832e-04 3.01209396e-01] [ 2.16979247e-03 1.45597686e-04 9.99997635e-01 5.71353424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.071400513 meters Centerline goodness [0,1] 0.9968623742800653 Centerline is valid? [True, True] Translation: X:12.68, Y:0.31, Z:0.06 [[ 9.99976819e-01 -6.69791080e-03 -1.22485201e-03 1.26772993e+01] [ 6.69779821e-03 9.99977565e-01 -9.60017244e-05 3.10920912e-01] [ 1.22546755e-03 8.77956873e-05 9.99999245e-01 5.84990509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.101400513 meters Centerline goodness [0,1] 0.9367397113842865 Centerline is valid? [True, False] Translation: X:12.68, Y:0.31, Z:0.05 [[ 9.99990435e-01 -3.93615977e-03 -1.90695009e-03 1.26831420e+01] [ 3.94121874e-03 9.99988705e-01 2.65645586e-03 3.09445827e-01] [ 1.89647232e-03 -2.66394616e-03 9.99994653e-01 5.44222088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.131400512999996 meters Centerline goodness [0,1] 0.8381383322559793 Centerline is valid? [False, False] Translation: X:12.68, Y:0.31, Z:0.05 [[ 9.99990519e-01 -3.96002243e-03 -1.81138482e-03 1.26830067e+01] [ 3.96416193e-03 9.99989527e-01 2.28741337e-03 3.11294998e-01] [ 1.80230764e-03 -2.29457230e-03 9.99995743e-01 5.39808331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.161400513 meters Centerline goodness [0,1] 0.7091789717322818 Centerline is valid? [False, False] Translation: X:12.69, Y:0.31, Z:0.05 [[ 9.99993693e-01 -2.19359499e-03 -2.79335775e-03 1.26885568e+01] [ 2.20429116e-03 9.99990229e-01 3.83184337e-03 3.08778996e-01] [ 2.78492495e-03 -3.83797658e-03 9.99988757e-01 5.10144968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.191400513 meters Centerline goodness [0,1] 0.981143206747367 Centerline is valid? [False, True] Translation: X:12.65, Y:0.30, Z:0.05 [[ 9.99980670e-01 -2.84459256e-03 -5.52886285e-03 1.26474050e+01] [ 2.87151870e-03 9.99984027e-01 4.86828379e-03 3.03800209e-01] [ 5.51492626e-03 -4.88406592e-03 9.99972865e-01 5.09879267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.221400513 meters Centerline goodness [0,1] 0.981143206747367 Centerline is valid? [True, True] Translation: X:12.67, Y:0.31, Z:0.05 [[ 9.99982861e-01 -2.92482507e-03 -5.07177958e-03 1.26744903e+01] [ 2.92264491e-03 9.99995633e-01 -4.37219425e-04 3.10915185e-01] [ 5.07303623e-03 4.22388921e-04 9.99987043e-01 5.05746649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.251400513 meters Centerline goodness [0,1] 0.8531713074266731 Centerline is valid? [True, False] Translation: X:12.67, Y:0.31, Z:0.05 [[ 9.99983469e-01 -2.72853428e-03 -5.06137577e-03 1.26743692e+01] [ 2.72864198e-03 9.99996277e-01 1.43729196e-05 3.08836199e-01] [ 5.06131771e-03 -2.81833644e-05 9.99987191e-01 5.07578968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.281400513 meters Centerline goodness [0,1] 0.7579516333957835 Centerline is valid? [False, False] Translation: X:12.71, Y:0.31, Z:0.05 [[ 9.99986042e-01 -4.97768905e-03 -1.77146057e-03 1.27133948e+01] [ 4.97125508e-03 9.99981098e-01 -3.61807300e-03 3.12037098e-01] [ 1.78943673e-03 3.60921612e-03 9.99991886e-01 5.14509891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.311400512999995 meters Centerline goodness [0,1] 0.968880601813155 Centerline is valid? [False, True] Translation: X:12.71, Y:0.31, Z:0.05 [[ 9.99986973e-01 -4.78143550e-03 -1.78656395e-03 1.27130899e+01] [ 4.77607398e-03 9.99984114e-01 -2.99333276e-03 3.09056742e-01] [ 1.80084799e-03 2.98476101e-03 9.99993924e-01 5.21626374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.341400512999996 meters Centerline goodness [0,1] 0.9889647473055949 Centerline is valid? [True, True] Translation: X:12.74, Y:0.30, Z:0.05 [[ 9.99972881e-01 -7.35212650e-03 -4.28935388e-04 1.27438698e+01] [ 7.35211213e-03 9.99972972e-01 -3.50705420e-05 3.03982222e-01] [ 4.29181638e-04 3.19160098e-05 9.99999907e-01 5.44101020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.371400513 meters Centerline goodness [0,1] 0.9942661531878476 Centerline is valid? [True, True] Translation: X:12.77, Y:0.30, Z:0.06 [[ 9.99953262e-01 -9.60601364e-03 1.09504295e-03 1.27749727e+01] [ 9.60592132e-03 9.99953858e-01 8.95374570e-05 3.02634644e-01] [-1.09585252e-03 -7.90143757e-05 9.99999396e-01 5.62707216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.401400513 meters Centerline goodness [0,1] 0.998186215235792 Centerline is valid? [True, True] Translation: X:12.81, Y:0.30, Z:0.06 [[ 9.99932298e-01 -1.14460158e-02 2.09491070e-03 1.28058407e+01] [ 1.14456819e-02 9.99934481e-01 1.71319329e-04 2.97081464e-01] [-2.09673437e-03 -1.47330049e-04 9.99997791e-01 5.73586162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.431400513 meters Centerline goodness [0,1] 0.9569189470038102 Centerline is valid? [True, True] Translation: X:12.83, Y:0.31, Z:0.06 [[ 9.99912457e-01 -1.30652095e-02 2.09250937e-03 1.28344749e+01] [ 1.30648799e-02 9.99914636e-01 1.71119526e-04 3.07400160e-01] [-2.09456646e-03 -1.43766162e-04 9.99997796e-01 5.81806109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.461400513 meters Centerline goodness [0,1] 0.9947546058430251 Centerline is valid? [True, True] Translation: X:12.87, Y:0.30, Z:0.06 [[ 9.99883769e-01 -1.51798676e-02 1.42097940e-03 1.28654930e+01] [ 1.51797178e-02 9.99884775e-01 1.16206536e-04 3.00240264e-01] [-1.42257967e-03 -9.46229625e-05 9.99998984e-01 5.73023783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.491400513 meters Centerline goodness [0,1] 0.9991043439319302 Centerline is valid? [True, True] Translation: X:12.90, Y:0.29, Z:0.06 [[ 9.99879542e-01 -1.55136547e-02 4.76756108e-04 1.28953765e+01] [ 1.55136379e-02 9.99879656e-01 3.90064622e-05 2.94361671e-01] [-4.77303866e-04 -3.16055419e-05 9.99999886e-01 5.53085762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.521400512999996 meters Centerline goodness [0,1] 0.9985693538248108 Centerline is valid? [True, True] Translation: X:12.92, Y:0.30, Z:0.05 [[ 9.99883694e-01 -1.50424371e-02 -2.51482031e-03 1.29234748e+01] [ 1.50306491e-02 9.99876256e-01 -4.64237431e-03 2.97397430e-01] [ 2.58434174e-03 4.60403499e-03 9.99986062e-01 5.25416842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.551400513 meters Centerline goodness [0,1] 0.9991573761991185 Centerline is valid? [True, True] Translation: X:12.96, Y:0.29, Z:0.05 [[ 9.99862722e-01 -1.63670856e-02 -2.57976403e-03 1.29552342e+01] [ 1.63778366e-02 9.99857041e-01 4.20291173e-03 2.85358825e-01] [ 2.51060582e-03 -4.24458572e-03 9.99987840e-01 5.21885644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.581400513 meters Centerline goodness [0,1] 0.998840181275371 Centerline is valid? [True, True] Translation: X:12.98, Y:0.29, Z:0.05 [[ 9.99859911e-01 -1.64659985e-02 -3.00501647e-03 1.29819178e+01] [ 1.64653318e-02 9.99864407e-01 -2.46500373e-04 2.88542659e-01] [ 3.00866789e-03 1.96987248e-04 9.99995455e-01 5.08182109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.611400513 meters Centerline goodness [0,1] 0.9975379033303097 Centerline is valid? [True, True] Translation: X:13.01, Y:0.29, Z:0.05 [[ 9.99865443e-01 -1.62241323e-02 -2.42352704e-03 1.30098109e+01] [ 1.62236975e-02 9.99868367e-01 -1.98944170e-04 2.91929907e-01] [ 2.42643573e-03 1.59598830e-04 9.99997043e-01 5.17719366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.641400513 meters Centerline goodness [0,1] 0.9533026179813986 Centerline is valid? [True, True] Translation: X:13.04, Y:0.30, Z:0.05 [[ 9.99889917e-01 -1.48375675e-02 -1.07713097e-05 1.30374816e+01] [ 1.48375674e-02 9.99889917e-01 -8.71578267e-07 3.01154640e-01] [ 1.07830561e-05 7.11662288e-07 1.00000000e+00 5.49500250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.671400513 meters Centerline goodness [0,1] 0.9989501199862872 Centerline is valid? [True, True] Translation: X:13.07, Y:0.29, Z:0.06 [[ 9.99910494e-01 -1.33703649e-02 4.88137500e-04 1.30682554e+01] [ 1.33703469e-02 9.99910612e-01 4.01140866e-05 2.88757696e-01] [-4.88630207e-04 -3.35839284e-05 9.99999880e-01 5.50877027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.701400512999996 meters Centerline goodness [0,1] 0.9948721249570889 Centerline is valid? [True, True] Translation: X:13.10, Y:0.30, Z:0.05 [[ 9.99936162e-01 -1.12944907e-02 3.24972133e-04 1.30964708e+01] [ 1.12944826e-02 9.99936215e-01 2.67153097e-05 2.96652423e-01] [-3.25253141e-04 -2.30432121e-05 9.99999947e-01 5.41640606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.731400513 meters Centerline goodness [0,1] 0.9537713416593475 Centerline is valid? [True, True] Translation: X:13.13, Y:0.31, Z:0.05 [[ 9.99967031e-01 -8.09290890e-03 -6.64378453e-04 1.31254606e+01] [ 8.09287440e-03 9.99967251e-01 -5.46072125e-05 3.05704712e-01] [ 6.64798626e-04 4.92286807e-05 9.99999778e-01 5.27555042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.761400513 meters Centerline goodness [0,1] 0.9180884456876856 Centerline is valid? [True, False] Translation: X:13.13, Y:0.30, Z:0.05 [[ 9.99993784e-01 -3.40416217e-03 -9.18175787e-04 1.31262553e+01] [ 3.40882851e-03 9.99981034e-01 5.12942905e-03 3.01637583e-01] [ 9.00696964e-04 -5.13252707e-03 9.99986423e-01 5.27609245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.791400513 meters Centerline goodness [0,1] 0.9358897027143472 Centerline is valid? [False, False] Translation: X:13.11, Y:0.30, Z:0.05 [[ 9.99997872e-01 1.68332957e-03 -1.19228161e-03 1.31064633e+01] [-1.68446446e-03 9.99998129e-01 -9.51498541e-04 3.04831461e-01] [ 1.19067769e-03 9.53504872e-04 9.99998837e-01 4.91324383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.821400513 meters Centerline goodness [0,1] 0.6740486054755905 Centerline is valid? [False, False] Translation: X:13.11, Y:0.30, Z:0.05 [[ 9.99979796e-01 6.22045853e-03 -1.30879251e-03 1.31068035e+01] [-6.21542030e-03 9.99973392e-01 3.81900769e-03 3.02788725e-01] [ 1.33251366e-03 -3.81079583e-03 9.99991851e-01 4.93397577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.851400513 meters Centerline goodness [0,1] 0.431291872213007 Centerline is valid? [False, False] Translation: X:13.11, Y:0.31, Z:0.05 [[ 9.99979807e-01 6.29033093e-03 -9.04283130e-04 1.31057339e+01] [-6.28757829e-03 9.99975687e-01 3.01528927e-03 3.07113463e-01] [ 9.23228311e-04 -3.00954263e-03 9.99995045e-01 4.87224573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.881400512999996 meters Centerline goodness [0,1] 0.4442803466324957 Centerline is valid? [False, False] Translation: X:13.10, Y:0.31, Z:0.05 [[ 9.99977769e-01 6.66576476e-03 -1.70948792e-04 1.31032877e+01] [-6.66536609e-03 9.99975288e-01 2.23532508e-03 3.12021623e-01] [ 1.85844719e-04 -2.23413595e-03 9.99997487e-01 4.86328501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.911400513 meters Centerline goodness [0,1] 0.37683706746855283 Centerline is valid? [False, False] Translation: X:13.14, Y:0.32, Z:0.05 [[ 9.99961786e-01 8.35701063e-03 2.56654279e-03 1.31438949e+01] [-8.36192342e-03 9.99963215e-01 1.90943729e-03 3.16423171e-01] [-2.55049119e-03 -1.93082556e-03 9.99994883e-01 4.87792185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.941400513 meters Centerline goodness [0,1] 0.5088331609789727 Centerline is valid? [False, False] Translation: X:13.10, Y:0.31, Z:0.05 [[ 9.99975890e-01 6.92605944e-03 4.99264263e-04 1.30999318e+01] [-6.92717213e-03 9.99973447e-01 2.26249733e-03 3.13397251e-01] [-4.83580815e-04 -2.26590127e-03 9.99997316e-01 5.03858384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.971400513 meters Centerline goodness [0,1] 0.557082429733966 Centerline is valid? [False, False] Translation: X:13.10, Y:0.31, Z:0.05 [[ 9.99975975e-01 6.91326323e-03 5.06412483e-04 1.30997084e+01] [-6.91439510e-03 9.99973522e-01 2.26850741e-03 3.13392115e-01] [-4.90716286e-04 -2.27195444e-03 9.99997299e-01 5.07549302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.001400513 meters Centerline goodness [0,1] 0.5734027551795206 Centerline is valid? [False, False] Translation: X:13.10, Y:0.31, Z:0.05 [[ 9.99976044e-01 6.90867411e-03 4.26569372e-04 1.30999888e+01] [-6.90964238e-03 9.99973456e-01 2.31174016e-03 3.13142225e-01] [-4.10586990e-04 -2.31463222e-03 9.99997237e-01 5.06972225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.031400513 meters Centerline goodness [0,1] 0.4987901832008296 Centerline is valid? [False, False] Translation: X:13.10, Y:0.31, Z:0.05 [[ 9.99976272e-01 6.88732947e-03 1.44619088e-04 1.31009351e+01] [-6.88766163e-03 9.99973308e-01 2.43792066e-03 3.12412666e-01] [-1.27824465e-04 -2.43885890e-03 9.99997018e-01 5.06238381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.061400512999995 meters Centerline goodness [0,1] 0.6523486775993672 Centerline is valid? [False, False] Translation: X:13.11, Y:0.31, Z:0.05 [[ 9.99988837e-01 4.66284184e-03 -7.64513809e-04 1.31078796e+01] [-4.66255535e-03 9.99989060e-01 3.76085637e-04 3.13076780e-01] [ 7.66259073e-04 -3.72516850e-04 9.99999637e-01 4.59206580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.091400512999996 meters Centerline goodness [0,1] 0.9005280928058177 Centerline is valid? [False, False] Translation: X:13.09, Y:0.31, Z:0.05 [[ 9.99990000e-01 -6.61191096e-04 -4.42302852e-03 1.30870526e+01] [ 6.94039047e-04 9.99972163e-01 7.42916674e-03 3.06758817e-01] [ 4.41799329e-03 -7.43216220e-03 9.99962621e-01 4.93800500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.121400513 meters Centerline goodness [0,1] 0.9403369460242516 Centerline is valid? [False, False] Translation: X:13.11, Y:0.32, Z:0.04 [[ 9.99992455e-01 -3.79133786e-03 8.46470877e-04 1.31091747e+01] [ 3.79760798e-03 9.99964416e-01 -7.53289439e-03 3.19292086e-01] [-8.17881009e-04 7.53605212e-03 9.99971269e-01 4.29331679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.151400513 meters Centerline goodness [0,1] 0.9760360321530935 Centerline is valid? [False, True] Translation: X:13.11, Y:0.31, Z:0.04 [[ 9.99993455e-01 -3.54458209e-03 7.25113364e-04 1.31091439e+01] [ 3.54917320e-03 9.99973020e-01 -6.43141912e-03 3.13940410e-01] [-7.02297107e-04 6.43395058e-03 9.99979055e-01 4.38759116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.181400513 meters Centerline goodness [0,1] 0.9703988878194846 Centerline is valid? [True, True] Translation: X:13.14, Y:0.31, Z:0.05 [[ 9.99971052e-01 -7.57093253e-03 7.59518174e-04 1.31392328e+01] [ 7.57088711e-03 9.99971338e-01 6.26580187e-05 3.08476551e-01] [-7.59970785e-04 -5.69059785e-05 9.99999710e-01 4.55602897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.211400513 meters Centerline goodness [0,1] 0.9988518197573657 Centerline is valid? [True, True] Translation: X:13.17, Y:0.29, Z:0.05 [[ 9.99859746e-01 -1.65902053e-02 2.29220069e-03 1.31713861e+01] [ 1.65898151e-02 9.99862362e-01 1.89137280e-04 2.93168213e-01] [-2.29502303e-03 -1.51083567e-04 9.99997355e-01 4.78144928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.241400513 meters Centerline goodness [0,1] 0.9995950122562081 Centerline is valid? [True, True] Translation: X:13.20, Y:0.28, Z:0.05 [[ 9.99778891e-01 -2.08096521e-02 3.02132187e-03 1.32019443e+01] [ 2.08089932e-02 9.99783438e-01 2.49359803e-04 2.82781078e-01] [-3.02585666e-03 -1.86434001e-04 9.99995405e-01 4.87076197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.271400512999996 meters Centerline goodness [0,1] 0.9996810139503233 Centerline is valid? [True, True] Translation: X:13.23, Y:0.28, Z:0.05 [[ 9.99702010e-01 -2.40789883e-02 4.01179289e-03 1.32313511e+01] [ 2.40778526e-02 9.99710032e-01 3.31166400e-04 2.81898402e-01] [-4.01860375e-03 -2.34472358e-04 9.99991898e-01 4.93647118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.301400513 meters Centerline goodness [0,1] 0.9996401430960394 Centerline is valid? [True, True] Translation: X:13.26, Y:0.28, Z:0.05 [[ 9.99644932e-01 -2.62714434e-02 4.45216846e-03 1.32608814e+01] [ 2.62700658e-02 9.99654815e-01 3.67615841e-04 2.80595761e-01] [-4.46028944e-03 -2.50526554e-04 9.99990021e-01 4.99804135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.331400513 meters Centerline goodness [0,1] 0.9998278755540255 Centerline is valid? [True, True] Translation: X:13.29, Y:0.28, Z:0.05 [[ 9.99597638e-01 -2.79745279e-02 4.68903181e-03 1.32916818e+01] [ 2.79730178e-02 9.99608604e-01 3.87328258e-04 2.75446778e-01] [-4.69803187e-03 -2.56006042e-04 9.99988931e-01 5.00421479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.361400513 meters Centerline goodness [0,1] 0.9996143711035413 Centerline is valid? [True, True] Translation: X:13.32, Y:0.27, Z:0.05 [[ 9.99552588e-01 -2.94952674e-02 4.96523770e-03 1.33219896e+01] [ 2.94935926e-02 9.99564885e-01 4.10209954e-04 2.72336351e-01] [-4.97517650e-03 -2.63583723e-04 9.99987589e-01 5.09397758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.391400513 meters Centerline goodness [0,1] 0.9998720900486058 Centerline is valid? [True, True] Translation: X:13.35, Y:0.27, Z:0.05 [[ 9.99501036e-01 -3.11361506e-02 5.31221282e-03 1.33525431e+01] [ 3.11342563e-02 9.99515115e-01 4.38937086e-04 2.66597233e-01] [-5.32330382e-03 -2.73326276e-04 9.99985794e-01 5.15908414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.421400513 meters Centerline goodness [0,1] 0.999829689396036 Centerline is valid? [True, True] Translation: X:13.38, Y:0.27, Z:0.05 [[ 9.99458575e-01 -3.24773448e-02 5.27054905e-03 1.33809700e+01] [ 3.24754978e-02 9.99472437e-01 4.35665479e-04 2.69855247e-01] [-5.28191777e-03 -2.64265895e-04 9.99986016e-01 5.21833674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.451400512999996 meters Centerline goodness [0,1] 0.9999141114832947 Centerline is valid? [True, True] Translation: X:13.41, Y:0.27, Z:0.05 [[ 9.99433816e-01 -3.33218992e-02 4.65825046e-03 1.34103509e+01] [ 3.33204624e-02 9.99444645e-01 3.85740686e-04 2.66235145e-01] [-4.66851709e-03 -2.30307227e-04 9.99989076e-01 5.07891538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.481400513 meters Centerline goodness [0,1] 0.9998925632265412 Centerline is valid? [True, True] Translation: X:13.44, Y:0.26, Z:0.05 [[ 9.99413493e-01 -3.41433646e-02 2.62701973e-03 1.34394667e+01] [ 3.41429094e-02 9.99416937e-01 2.17938911e-04 2.59843777e-01] [-2.63292918e-03 -1.28116991e-04 9.99996526e-01 4.69039746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.511400513 meters Centerline goodness [0,1] 0.9997441746434435 Centerline is valid? [True, True] Translation: X:13.47, Y:0.27, Z:0.05 [[ 9.99401006e-01 -3.45613524e-02 1.77239466e-03 1.34667397e+01] [ 3.45611456e-02 9.99402574e-01 1.47203064e-04 2.70832762e-01] [-1.77642332e-03 -8.58589001e-05 9.99998418e-01 4.54807174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.541400513 meters Centerline goodness [0,1] 0.9998710675605983 Centerline is valid? [True, True] Translation: X:13.50, Y:0.26, Z:0.04 [[ 9.99379396e-01 -3.52147165e-02 8.63769152e-04 1.34959279e+01] [ 3.52146675e-02 9.99379769e-01 7.18285291e-05 2.64037812e-01] [-8.65762836e-04 -4.13666086e-05 9.99999624e-01 4.44608159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.571400513 meters Centerline goodness [0,1] 0.9998923341946597 Centerline is valid? [True, True] Translation: X:13.52, Y:0.26, Z:0.05 [[ 9.99347341e-01 -3.61092595e-02 1.00647691e-03 1.35246159e+01] [ 3.61091933e-02 9.99347847e-01 8.38670036e-05 2.63405137e-01] [-1.00884891e-03 -4.74691978e-05 9.99999490e-01 4.52090119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.601400513 meters Centerline goodness [0,1] 0.9999148755054267 Centerline is valid? [True, True] Translation: X:13.55, Y:0.26, Z:0.05 [[ 9.99303136e-01 -3.72797380e-02 1.86090152e-03 1.35533424e+01] [ 3.72795131e-02 9.99304865e-01 1.55416394e-04 2.63657991e-01] [-1.86540182e-03 -8.59345870e-05 9.99998256e-01 4.68205209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.631400512999996 meters Centerline goodness [0,1] 0.9999787802911344 Centerline is valid? [True, True] Translation: X:13.58, Y:0.26, Z:0.05 [[ 9.99251161e-01 -3.85769116e-02 2.98973290e-03 1.35827903e+01] [ 3.85763359e-02 9.99255625e-01 2.50005523e-04 2.64287076e-01] [-2.99715186e-03 -1.34485369e-04 9.99995499e-01 4.81047132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.661400513 meters Centerline goodness [0,1] 0.9999362651370299 Centerline is valid? [True, True] Translation: X:13.61, Y:0.26, Z:0.05 [[ 9.99121466e-01 -4.18312209e-02 2.53889426e-03 1.36120710e+01] [ 4.18308160e-02 9.99124686e-01 2.12382764e-04 2.64173094e-01] [-2.54555616e-03 -1.05992160e-04 9.99996754e-01 4.70521355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.691400513 meters Centerline goodness [0,1] 0.9999784853700516 Centerline is valid? [True, True] Translation: X:13.64, Y:0.26, Z:0.05 [[ 9.99034976e-01 -4.38899811e-02 1.66893800e-03 1.36425224e+01] [ 4.38898090e-02 9.99036368e-01 1.39630560e-04 2.61127416e-01] [-1.67345814e-03 -6.62464434e-05 9.99998598e-01 4.57727711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.721400513 meters Centerline goodness [0,1] 0.9999782684283728 Centerline is valid? [True, True] Translation: X:13.67, Y:0.26, Z:0.05 [[ 9.98940528e-01 -4.60021112e-02 1.27573743e-03 1.36719928e+01] [ 4.60020122e-02 9.98941341e-01 1.06871414e-04 2.60247637e-01] [-1.27930317e-03 -4.80716986e-05 9.99999181e-01 4.54766009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.751400513 meters Centerline goodness [0,1] 0.999935571161652 Centerline is valid? [True, True] Translation: X:13.70, Y:0.26, Z:0.05 [[ 9.98842674e-01 -4.80812628e-02 1.22647688e-03 1.36997942e+01] [ 4.80811727e-02 9.98843426e-01 1.02854032e-04 2.63551499e-01] [-1.23000372e-03 -4.37645493e-05 9.99999243e-01 4.58108134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.781400513 meters Centerline goodness [0,1] 0.9998942984588716 Centerline is valid? [True, True] Translation: X:13.73, Y:0.26, Z:0.05 [[ 9.98739383e-01 -5.01618854e-02 1.85201156e-03 1.37278976e+01] [ 5.01616834e-02 9.98741098e-01 1.55431301e-04 2.64424934e-01] [-1.85747678e-03 -6.23353439e-05 9.99998273e-01 4.72750301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.811400512999995 meters Centerline goodness [0,1] 0.9999788126615534 Centerline is valid? [True, True] Translation: X:13.76, Y:0.26, Z:0.05 [[ 9.98633857e-01 -5.21692209e-02 2.96511323e-03 1.37566678e+01] [ 5.21687113e-02 9.98638255e-01 2.49003636e-04 2.64969107e-01] [-2.97406583e-03 -9.39773252e-05 9.99995573e-01 4.95344976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.841400512999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.79, Y:0.26, Z:0.05 [[ 9.98398260e-01 -5.63452473e-02 5.11146635e-03 1.37862155e+01] [ 5.63437869e-02 9.98411335e-01 4.29389196e-04 2.63866800e-01] [-5.12753999e-03 -1.40702055e-04 9.99986844e-01 5.32234871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.871400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.82, Y:0.26, Z:0.05 [[ 9.98261965e-01 -5.85800512e-02 6.43636834e-03 1.38151507e+01] [ 5.85777757e-02 9.98282701e-01 5.41656244e-04 2.62658419e-01] [-6.45704542e-03 -1.63686686e-04 9.99979140e-01 5.48153329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.901400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.84, Y:0.26, Z:0.06 [[ 9.98124806e-01 -6.07351437e-02 7.62324746e-03 1.38430422e+01] [ 6.07320105e-02 9.98153901e-01 6.42029639e-04 2.63704724e-01] [-7.64816796e-03 -1.77850564e-04 9.99970737e-01 5.64580192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.931400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.87, Y:0.26, Z:0.06 [[ 9.98011732e-01 -6.24434897e-02 8.56702410e-03 1.38718807e+01] [ 6.24395838e-02 9.98048484e-01 7.22900901e-04 2.61366075e-01] [-8.59544586e-03 -1.86542161e-04 9.99963041e-01 5.62422449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.961400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.90, Y:0.26, Z:0.06 [[ 9.97928468e-01 -6.37293959e-02 8.79416931e-03 1.39011169e+01] [ 6.37253180e-02 9.97967199e-01 7.43432481e-04 2.63318008e-01] [-8.82367102e-03 -1.81481201e-04 9.99961054e-01 5.65668344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.991400513 meters Centerline goodness [0,1] 0.9998914836357322 Centerline is valid? [True, True] Translation: X:13.93, Y:0.26, Z:0.05 [[ 9.97871150e-01 -6.47325927e-02 7.92843624e-03 1.39304021e+01] [ 6.47292990e-02 9.97902634e-01 6.71606761e-04 2.63403049e-01] [-7.95528226e-03 -1.56974891e-04 9.99968344e-01 5.46167219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.021400512999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.96, Y:0.27, Z:0.06 [[ 9.97837787e-01 -6.53698547e-02 6.82155094e-03 1.39579183e+01] [ 6.53674282e-02 9.97861095e-01 5.78300075e-04 2.70259469e-01] [-6.84476368e-03 -1.31142426e-04 9.99976566e-01 5.53941881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.051400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.99, Y:0.27, Z:0.05 [[ 9.97702322e-01 -6.75031633e-02 5.77930979e-03 1.39869590e+01] [ 6.75014524e-02 9.97719055e-01 4.90820351e-04 2.72074300e-01] [-5.79925943e-03 -9.95807999e-05 9.99983179e-01 5.41945183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.081400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.02, Y:0.27, Z:0.05 [[ 9.97599073e-01 -6.89287187e-02 6.70230414e-03 1.40161333e+01] [ 6.89264422e-02 9.97621582e-01 5.70323399e-04 2.72280211e-01] [-6.72567492e-03 -1.06988115e-04 9.99977377e-01 5.49827710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.111400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.04, Y:0.27, Z:0.05 [[ 9.97586150e-01 -6.91155111e-02 6.70219804e-03 1.40435519e+01] [ 6.91132304e-02 9.97608658e-01 5.71568826e-04 2.74768851e-01] [-6.72567507e-03 -1.06978587e-04 9.99977377e-01 5.49714508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.141400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.07, Y:0.28, Z:0.06 [[ 9.97449252e-01 -7.08915779e-02 8.32905210e-03 1.40715202e+01] [ 7.08881129e-02 9.97484020e-01 7.10868007e-04 2.77446791e-01] [-8.35849092e-03 -1.18623977e-04 9.99965060e-01 5.77312228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.171400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.10, Y:0.28, Z:0.06 [[ 9.97299538e-01 -7.28251721e-02 9.49347906e-03 1.41005749e+01] [ 7.28207432e-02 9.97344715e-01 8.11809647e-04 2.76707458e-01] [-9.52739134e-03 -1.18295185e-04 9.99954606e-01 5.83146860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.201400512999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.13, Y:0.28, Z:0.06 [[ 9.97151892e-01 -7.47604284e-02 9.94901161e-03 1.41280873e+01] [ 7.47556542e-02 9.97201518e-01 8.51407162e-04 2.77581525e-01] [-9.98482104e-03 -1.05237391e-04 9.99950145e-01 5.92633516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.231400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.16, Y:0.28, Z:0.06 [[ 9.96969625e-01 -7.71449338e-02 1.00113433e-02 1.41571730e+01] [ 7.71402032e-02 9.97019886e-01 8.58383530e-04 2.77622450e-01] [-1.00477283e-02 -8.35052493e-05 9.99949517e-01 5.91209176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.261400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.19, Y:0.27, Z:0.06 [[ 9.96493632e-01 -8.29703929e-02 1.07868434e-02 1.41862034e+01] [ 8.29652222e-02 9.96552012e-01 9.26717221e-04 2.73041308e-01] [-1.08265406e-02 -2.85349486e-05 9.99941391e-01 5.90968613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.291400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.21, Y:0.27, Z:0.06 [[ 9.96216567e-01 -8.62114821e-02 1.09604753e-02 1.42147614e+01] [ 8.62063163e-02 9.96276859e-01 9.43767516e-04 2.72030439e-01] [-1.10010315e-02 4.66536907e-06 9.99939487e-01 5.87758775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.321400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.24, Y:0.27, Z:0.06 [[ 9.95975668e-01 -8.89881308e-02 1.06574583e-02 1.42423915e+01] [ 8.89833955e-02 9.96032686e-01 9.18627656e-04 2.70998540e-01] [-1.06969238e-02 3.34060345e-05 9.99942786e-01 5.92574720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.351400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.27, Y:0.27, Z:0.06 [[ 9.95778453e-01 -9.12341357e-02 1.00799423e-02 1.42701985e+01] [ 9.12299954e-02 9.95829468e-01 8.70753904e-04 2.71156170e-01] [-1.01173461e-02 5.25151179e-05 9.99948817e-01 5.75609391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.381400512999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.30, Y:0.27, Z:0.06 [[ 9.95650561e-01 -9.27145396e-02 9.16381475e-03 1.42974418e+01] [ 9.27111730e-02 9.95692729e-01 7.92422956e-04 2.71179693e-01] [-9.19781284e-03 6.06116538e-05 9.99957697e-01 5.72370569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.411400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.33, Y:0.27, Z:0.06 [[ 9.95551585e-01 -9.38495772e-02 8.32459566e-03 1.43254863e+01] [ 9.38468256e-02 9.95586386e-01 7.21413506e-04 2.73282581e-01] [-8.35555846e-03 6.30325176e-05 9.99965090e-01 5.56230545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.441400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.35, Y:0.27, Z:0.06 [[ 9.95406383e-01 -9.53187651e-02 8.97031086e-03 1.43528510e+01] [ 9.53156234e-02 9.95446797e-01 7.78073740e-04 2.74113854e-01] [-9.00363224e-03 8.05112050e-05 9.99959463e-01 5.68473112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.471400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.38, Y:0.28, Z:0.06 [[ 9.95319623e-01 -9.61588412e-02 9.60856810e-03 1.43807597e+01] [ 9.61552702e-02 9.95365997e-01 8.34007588e-04 2.75950206e-01] [-9.64423917e-03 9.38103433e-05 9.99953489e-01 5.79000874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.501400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.41, Y:0.28, Z:0.06 [[ 9.95225478e-01 -9.71392568e-02 9.49799265e-03 1.44091499e+01] [ 9.71357977e-02 9.95270795e-01 8.25923728e-04 2.78815668e-01] [-9.53330431e-03 1.00614755e-04 9.99954552e-01 5.68109867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.531400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.44, Y:0.28, Z:0.06 [[ 9.95133617e-01 -9.81100048e-02 9.13848323e-03 1.44378108e+01] [ 9.81068295e-02 9.95175570e-01 7.96183809e-04 2.81657855e-01] [-9.17250886e-03 1.04238343e-04 9.99957926e-01 5.52034918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.561400512999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.47, Y:0.28, Z:0.06 [[ 9.95096785e-01 -9.84852093e-02 9.11323967e-03 1.44651456e+01] [ 9.84820619e-02 9.95138509e-01 7.94570282e-04 2.83325190e-01] [-9.14718916e-03 1.06816300e-04 9.99958158e-01 5.57566380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.591400512999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.49, Y:0.29, Z:0.06 [[ 9.95117193e-01 -9.81996185e-02 9.93008437e-03 1.44932982e+01] [ 9.81958493e-02 9.95166731e-01 8.67608527e-04 2.88438103e-01] [-9.96728842e-03 1.11720906e-04 9.99950319e-01 5.68715145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.621400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.52, Y:0.30, Z:0.06 [[ 9.95416668e-01 -9.46714235e-02 1.35269769e-02 1.45207451e+01] [ 9.46640716e-02 9.95508569e-01 1.18420302e-03 3.01660689e-01] [-1.35783316e-02 1.01743291e-04 9.99907805e-01 6.30819795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.651400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.55, Y:0.31, Z:0.06 [[ 9.95600361e-01 -9.26975966e-02 1.36775917e-02 1.45491437e+01] [ 9.26898617e-02 9.95694306e-01 1.19971969e-03 3.10490524e-01] [-1.37299113e-02 7.33327322e-05 9.99905738e-01 6.32558858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.681400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.58, Y:0.32, Z:0.06 [[ 9.95754745e-01 -9.11643098e-02 1.27105091e-02 1.45775886e+01] [ 9.11574776e-02 9.95835863e-01 1.11705495e-03 3.18434337e-01] [-1.27594163e-02 4.63451858e-05 9.99918594e-01 6.16296162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.711400513 meters Centerline goodness [0,1] 0.9998501968840952 Centerline is valid? [True, True] Translation: X:14.61, Y:0.33, Z:0.06 [[ 9.95809996e-01 -9.07377180e-02 1.13629939e-02 1.46055181e+01] [ 9.07322077e-02 9.95874824e-01 1.00057630e-03 3.25203487e-01] [-1.14069096e-02 3.46056412e-05 9.99934938e-01 5.87248567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.741400513 meters Centerline goodness [0,1] 0.9999785513587715 Centerline is valid? [True, True] Translation: X:14.63, Y:0.33, Z:0.06 [[ 9.95789498e-01 -9.09948873e-02 1.10998652e-02 1.46319150e+01] [ 9.09896343e-02 9.95851359e-01 9.78385819e-04 3.30319951e-01] [-1.11428440e-02 3.57063540e-05 9.99937916e-01 5.75248513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.771400512999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.66, Y:0.33, Z:0.06 [[ 9.95662392e-01 -9.22948438e-02 1.17500229e-02 1.46600480e+01] [ 9.22890352e-02 9.95731720e-01 1.03676777e-03 3.34193990e-01] [-1.17955588e-02 5.21275979e-05 9.99930429e-01 5.79288765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.801400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.69, Y:0.34, Z:0.06 [[ 9.95223870e-01 -9.66635651e-02 1.36236200e-02 1.46880141e+01] [ 9.66561538e-02 9.95317106e-01 1.20293423e-03 3.36030360e-01] [-1.36761019e-02 1.19617847e-04 9.99906471e-01 6.10021197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.831400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.72, Y:0.34, Z:0.06 [[ 9.94936441e-01 -9.95856957e-02 1.35708173e-02 1.47166409e+01] [ 9.95785828e-02 9.95028977e-01 1.20052447e-03 3.37397769e-01] [-1.36229115e-02 1.56917210e-04 9.99907192e-01 6.17024599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.861400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.74, Y:0.34, Z:0.06 [[ 9.94664804e-01 -1.02367953e-01 1.27565731e-02 1.47445780e+01] [ 1.02361887e-01 9.94746585e-01 1.12930374e-03 3.38463164e-01] [-1.28051620e-02 1.82508205e-04 9.99917994e-01 6.11984429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.891400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.77, Y:0.34, Z:0.06 [[ 9.94424060e-01 -1.04832886e-01 1.14391432e-02 1.47731231e+01] [ 1.04828149e-01 9.94489834e-01 1.01456964e-03 3.41066365e-01] [-1.14824719e-02 1.90231750e-04 9.99934056e-01 5.90780415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.921400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.80, Y:0.34, Z:0.06 [[ 9.94261636e-01 -1.06452624e-01 1.05658475e-02 1.48004032e+01] [ 1.06448666e-01 9.94317757e-01 9.37914331e-04 3.42852205e-01] [-1.06056533e-02 1.92188136e-04 9.99943740e-01 5.82036205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.951400512999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.83, Y:0.35, Z:0.06 [[ 9.94118644e-01 -1.07750088e-01 1.08646019e-02 1.48284820e+01] [ 1.07745973e-01 9.94177989e-01 9.65106693e-04 3.47207414e-01] [-1.09053384e-02 2.11186541e-04 9.99940513e-01 5.82077229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.981400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.86, Y:0.35, Z:0.06 [[ 9.93965202e-01 -1.09059758e-01 1.17960181e-02 1.48566280e+01] [ 1.09054986e-01 9.94035165e-01 1.04892431e-03 3.50012820e-01] [-1.18400522e-02 2.43820322e-04 9.99929874e-01 5.96951644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.011400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.88, Y:0.35, Z:0.06 [[ 9.93815875e-01 -1.10318666e-01 1.26411336e-02 1.48848180e+01] [ 1.10313278e-01 9.93896230e-01 1.12486332e-03 3.50580142e-01] [-1.26880685e-02 2.76577863e-04 9.99919465e-01 6.25545116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.041400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.91, Y:0.36, Z:0.06 [[ 9.93619339e-01 -1.12149372e-01 1.19636068e-02 1.49127784e+01] [ 1.12144654e-01 9.93691320e-01 1.06660425e-03 3.59243948e-01] [-1.20077512e-02 2.81855938e-04 9.99927865e-01 5.94466049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.071400513 meters Centerline goodness [0,1] 0.999912736157773 Centerline is valid? [True, True] Translation: X:14.94, Y:0.36, Z:0.06 [[ 9.93578334e-01 -1.12659153e-01 1.04885797e-02 1.49416122e+01] [ 1.12655536e-01 9.93633661e-01 9.36911535e-04 3.64079842e-01] [-1.05273575e-02 2.50701563e-04 9.99944554e-01 5.70305784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.101400513 meters Centerline goodness [0,1] 0.9999783867900061 Centerline is valid? [True, True] Translation: X:14.97, Y:0.37, Z:0.06 [[ 9.93582464e-01 -1.12668816e-01 9.98123501e-03 1.49689902e+01] [ 1.12665534e-01 9.93632569e-01 8.92250046e-04 3.66551702e-01] [-1.00182089e-02 2.38017177e-04 9.99949788e-01 5.62443418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.131400512999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.00, Y:0.37, Z:0.06 [[ 9.93562967e-01 -1.12828850e-01 1.01134687e-02 1.49965924e+01] [ 1.12825469e-01 9.93614408e-01 9.06027485e-04 3.72864591e-01] [-1.01511143e-02 2.40861495e-04 9.99948447e-01 5.56229520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.161400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.02, Y:0.37, Z:0.06 [[ 9.93579267e-01 -1.12575485e-01 1.12694246e-02 1.50248028e+01] [ 1.12571262e-01 9.93643140e-01 1.01034752e-03 3.74604860e-01] [-1.13115268e-02 2.64753000e-04 9.99935988e-01 5.87908740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.191400513 meters Centerline goodness [0,1] 0.9999361742867476 Centerline is valid? [True, True] Translation: X:15.05, Y:0.38, Z:0.06 [[ 9.93598473e-01 -1.12262557e-01 1.26171712e-02 1.50526540e+01] [ 1.12257209e-01 9.93678537e-01 1.13355418e-03 3.79868968e-01] [-1.26646679e-02 2.90070721e-04 9.99919758e-01 6.08084784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.221400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.08, Y:0.39, Z:0.06 [[ 9.93941642e-01 -1.09055146e-01 1.36743728e-02 1.50811900e+01] [ 1.09048530e-01 9.94035665e-01 1.23073395e-03 3.90157996e-01] [-1.37270321e-02 2.67892524e-04 9.99905744e-01 6.09868591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.251400513 meters Centerline goodness [0,1] 0.9999784724016189 Centerline is valid? [True, True] Translation: X:15.11, Y:0.40, Z:0.06 [[ 9.94191177e-01 -1.06731740e-01 1.38650654e-02 1.51099672e+01] [ 1.06724679e-01 9.94287825e-01 1.25027841e-03 3.95939032e-01] [-1.39193101e-02 2.36728891e-04 9.99903094e-01 6.05048084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.281400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.14, Y:0.40, Z:0.06 [[ 9.94468576e-01 -1.04022692e-01 1.45440873e-02 1.51373981e+01] [ 1.04014619e-01 9.94574902e-01 1.31244405e-03 4.00443247e-01] [-1.46017082e-02 2.07613339e-04 9.99893368e-01 6.13060380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.311400512999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.17, Y:0.41, Z:0.06 [[ 9.94762566e-01 -1.00980938e-01 1.58204514e-02 1.51655033e+01] [ 1.00970959e-01 9.94888345e-01 1.43028016e-03 4.07014549e-01] [-1.58840138e-02 1.74616991e-04 9.99873826e-01 6.24552796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.341400512999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.19, Y:0.42, Z:0.06 [[ 9.95110453e-01 -9.73213221e-02 1.68447851e-02 1.51937488e+01] [ 9.73094350e-02 9.95253006e-01 1.52583865e-03 4.15141325e-01] [-1.69133197e-02 1.20778534e-04 9.99856952e-01 6.29628353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.371400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.22, Y:0.42, Z:0.06 [[ 9.95528193e-01 -9.28754092e-02 1.72561632e-02 1.52205935e+01] [ 9.28622469e-02 9.95677737e-01 1.56422103e-03 4.23522883e-01] [-1.73268552e-02 4.52199494e-05 9.99849878e-01 6.43389464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.401400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.25, Y:0.44, Z:0.06 [[ 9.96396201e-01 -8.34537386e-02 1.51685207e-02 1.52473364e+01] [ 8.34424621e-02 9.96511647e-01 1.37589507e-03 4.38706500e-01] [-1.52304312e-02 -1.05237903e-04 9.99884005e-01 6.13207490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.431400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.27, Y:0.44, Z:0.06 [[ 9.96380296e-01 -8.36434697e-02 1.51682634e-02 1.52747310e+01] [ 8.36321720e-02 9.96495740e-01 1.37872955e-03 4.41351408e-01] [-1.52304315e-02 -1.05184146e-04 9.99884005e-01 6.13094213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.461400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.30, Y:0.46, Z:0.06 [[ 9.97181630e-01 -7.37229758e-02 1.39183393e-02 1.53016363e+01] [ 7.37124887e-02 9.97278731e-01 1.26567216e-03 4.61349201e-01] [-1.39737729e-02 -2.36149601e-04 9.99902334e-01 5.93910336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.491400513 meters Centerline goodness [0,1] 0.9999788090697181 Centerline is valid? [True, True] Translation: X:15.33, Y:0.47, Z:0.06 [[ 9.97536078e-01 -6.87048339e-02 1.41921941e-02 1.53297298e+01] [ 6.86934153e-02 9.97636982e-01 1.29106351e-03 4.73509522e-01] [-1.42473600e-02 -3.12972147e-04 9.99898452e-01 5.93745276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.521400512999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.36, Y:0.48, Z:0.06 [[ 9.97843870e-01 -6.41124391e-02 1.40430146e-02 1.53593349e+01] [ 6.41008045e-02 9.97942611e-01 1.27750659e-03 4.83926803e-01] [-1.40960267e-02 -3.74583582e-04 9.99900576e-01 5.93017537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.551400513 meters Centerline goodness [0,1] 0.9999786948462833 Centerline is valid? [True, True] Translation: X:15.39, Y:0.49, Z:0.06 [[ 9.98088602e-01 -6.03621801e-02 1.32495371e-02 1.53882901e+01] [ 6.03514869e-02 9.98176459e-01 1.20578110e-03 4.89420597e-01] [-1.32981596e-02 -4.03847108e-04 9.99911494e-01 5.64355024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.581400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.42, Y:0.50, Z:0.05 [[ 9.98283272e-01 -5.73540657e-02 1.18752162e-02 1.54167586e+01] [ 5.73452632e-02 9.98353821e-01 1.08071652e-03 4.98859792e-01] [-1.19176510e-02 -3.97873824e-04 9.99928903e-01 5.44551214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.611400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.44, Y:0.51, Z:0.05 [[ 9.98421625e-01 -5.52906831e-02 9.85898755e-03 1.54446358e+01] [ 5.52845122e-02 9.98470238e-01 8.97559524e-04 5.08424740e-01] [-9.89353233e-03 -3.51093521e-04 9.99950996e-01 5.13816855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.641400513 meters Centerline goodness [0,1] 0.999809172444501 Centerline is valid? [True, True] Translation: X:15.47, Y:0.52, Z:0.05 [[ 9.98521899e-01 -5.38434057e-02 7.40980248e-03 1.54733720e+01] [ 5.38398789e-02 9.98549354e-01 6.74759696e-04 5.18749268e-01] [-7.43538483e-03 -2.74819465e-04 9.99972319e-01 4.58424875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.671400513 meters Centerline goodness [0,1] 0.9999577211711236 Centerline is valid? [True, True] Translation: X:15.50, Y:0.52, Z:0.05 [[ 9.98494525e-01 -5.42698632e-02 7.96654978e-03 1.55012756e+01] [ 5.42657946e-02 9.98526262e-01 7.26135124e-04 5.24262238e-01] [-7.99421642e-03 -2.92730792e-04 9.99968003e-01 4.74309625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.701400512999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.53, Y:0.53, Z:0.05 [[ 9.98417149e-01 -5.55678263e-02 8.68403354e-03 1.55302906e+01] [ 5.55630291e-02 9.98454867e-01 7.92885285e-04 5.27292337e-01] [-8.71467446e-03 -3.09119058e-04 9.99961979e-01 4.88952232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.731400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.56, Y:0.53, Z:0.05 [[ 9.98311059e-01 -5.74349384e-02 8.73253810e-03 1.55593280e+01] [ 5.74301548e-02 9.98349208e-01 7.97773077e-04 5.25357033e-01] [-8.76394254e-03 -2.94914670e-04 9.99961552e-01 4.83227212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.761400513 meters Centerline goodness [0,1] 0.9999787116277089 Centerline is valid? [True, True] Translation: X:15.59, Y:0.53, Z:0.05 [[ 9.98209947e-01 -5.92885630e-02 7.85920111e-03 1.55867662e+01] [ 5.92847422e-02 9.98240854e-01 7.18444391e-04 5.31728022e-01] [-7.88797117e-03 -2.51227626e-04 9.99968858e-01 4.77526836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.791400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.62, Y:0.53, Z:0.04 [[ 9.98090260e-01 -6.15090775e-02 5.69787205e-03 1.56167089e+01] [ 6.15071006e-02 9.98106510e-01 5.21703623e-04 5.28257442e-01] [-5.71917269e-03 -1.70247715e-04 9.99983631e-01 4.23804479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.821400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.65, Y:0.53, Z:0.03 [[ 9.97885832e-01 -6.49734447e-02 1.52253679e-03 1.56463386e+01] [ 6.49733076e-02 9.97886993e-01 1.39448590e-04 5.29210524e-01] [-1.52838011e-03 -4.02295213e-05 9.99998831e-01 3.47604420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.851400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.67, Y:0.53, Z:0.03 [[ 9.97833654e-01 -6.57778059e-02 1.13099813e-03 1.56736200e+01] [ 6.57777306e-02 9.97834295e-01 1.03659014e-04 5.34917439e-01] [-1.13536719e-03 -2.90399617e-05 9.99999355e-01 3.36961069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.881400512999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.70, Y:0.53, Z:0.03 [[ 9.97971450e-01 -6.36410452e-02 1.67419765e-03 1.56995438e+01] [ 6.36310074e-02 9.97958407e-01 5.48760101e-03 5.29974041e-01] [-2.02001628e-03 -5.36993826e-03 9.99983542e-01 3.37914942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.911400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.73, Y:0.55, Z:0.03 [[ 9.97842173e-01 -6.56426508e-02 1.42866993e-03 1.57303343e+01] [ 6.56492188e-02 9.97829332e-01 -5.17731283e-03 5.45286533e-01] [-1.08571622e-03 5.25993215e-03 9.99985577e-01 3.27531920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.941400513 meters Centerline goodness [0,1] 0.9999785513587715 Centerline is valid? [True, True] Translation: X:15.76, Y:0.55, Z:0.03 [[ 9.97869764e-01 -6.52369301e-02 2.77177664e-04 1.57584291e+01] [ 6.52369255e-02 9.97869803e-01 2.54266490e-05 5.45867442e-01] [-2.78245978e-04 -7.29026561e-06 9.99999961e-01 3.26151565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.971400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.79, Y:0.55, Z:0.03 [[ 9.97905448e-01 -6.46860463e-02 -6.57670439e-04 1.57872536e+01] [ 6.46860204e-02 9.97905664e-01 -6.05658940e-05 5.48410018e-01] [ 6.60210825e-04 1.78969521e-05 9.99999782e-01 3.09985178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.001400513 meters Centerline goodness [0,1] 0.9999786898521076 Centerline is valid? [True, True] Translation: X:15.81, Y:0.56, Z:0.03 [[ 9.97983374e-01 -6.34599193e-02 -1.42296230e-03 1.58140288e+01] [ 6.34597970e-02 9.97984387e-01 -1.31003417e-04 5.59464978e-01] [ 1.42840763e-03 4.04383337e-05 9.99998979e-01 2.90528444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.031400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.84, Y:0.56, Z:0.02 [[ 9.98210347e-01 -5.96154411e-02 -4.70131778e-03 1.58435527e+01] [ 5.96140633e-02 9.98221406e-01 -4.32801529e-04 5.64212568e-01] [ 4.71875770e-03 1.51762309e-04 9.99988855e-01 2.47907933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.061400512999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.87, Y:0.57, Z:0.02 [[ 9.98199087e-01 -5.98036925e-02 -4.70122940e-03 1.58709412e+01] [ 5.98023121e-02 9.98210146e-01 -4.33760593e-04 5.66890646e-01] [ 4.71875537e-03 1.51835040e-04 9.99988855e-01 2.47794671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.091400512999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.90, Y:0.57, Z:0.02 [[ 9.98411361e-01 -5.60089382e-02 -6.14442459e-03 1.58971598e+01] [ 5.60225620e-02 9.98427362e-01 2.06788671e-03 5.66654074e-01] [ 6.01894149e-03 -2.40882799e-03 9.99978985e-01 2.28352774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.121400513 meters Centerline goodness [0,1] 0.9999786953001832 Centerline is valid? [True, True] Translation: X:15.93, Y:0.58, Z:0.02 [[ 9.98395979e-01 -5.60784206e-02 -7.78968355e-03 1.59280745e+01] [ 5.60534731e-02 9.98422030e-01 -3.38504057e-03 5.81335264e-01] [ 7.96721939e-03 2.94297208e-03 9.99963931e-01 1.88384791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.151400513 meters Centerline goodness [0,1] 0.9997619202216307 Centerline is valid? [True, True] Translation: X:15.96, Y:0.58, Z:0.02 [[ 9.98483543e-01 -5.42637121e-02 -9.27705542e-03 1.59574789e+01] [ 5.42580902e-02 9.98526577e-01 -8.56803143e-04 5.83884484e-01] [ 9.30987972e-03 3.52148529e-04 9.99956600e-01 1.72678577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.181400513 meters Centerline goodness [0,1] 0.9998924175918754 Centerline is valid? [True, True] Translation: X:15.99, Y:0.59, Z:0.02 [[ 9.98632378e-01 -5.15252243e-02 -8.86143893e-03 1.59868531e+01] [ 5.15199852e-02 9.98671628e-01 -8.18630971e-04 5.88826357e-01] [ 8.89184779e-03 3.60970191e-04 9.99960402e-01 1.76716199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.211400513 meters Centerline goodness [0,1] 0.9997452337480361 Centerline is valid? [True, True] Translation: X:16.01, Y:0.60, Z:0.02 [[ 9.98779046e-01 -4.88074653e-02 -7.63210414e-03 1.60141900e+01] [ 4.88034967e-02 9.98808150e-01 -7.05474211e-04 6.03639156e-01] [ 7.65744023e-03 3.32139490e-04 9.99970626e-01 1.75512032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.241400513 meters Centerline goodness [0,1] 0.9997645699120348 Centerline is valid? [True, True] Translation: X:16.04, Y:0.61, Z:0.02 [[ 9.99068728e-01 -4.27572587e-02 -5.78737404e-03 1.60446055e+01] [ 4.27548756e-02 9.99085449e-01 -5.34933277e-04 6.06035368e-01] [ 5.80495347e-03 2.86996652e-04 9.99983110e-01 2.30423638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.271400512999996 meters Centerline goodness [0,1] 0.9996162292390679 Centerline is valid? [True, True] Translation: X:16.07, Y:0.61, Z:0.02 [[ 9.99218677e-01 -3.89433922e-02 -6.74153294e-03 1.60746784e+01] [ 3.89400719e-02 9.99241353e-01 -6.23126726e-04 6.12608148e-01] [ 6.76068517e-03 3.60124086e-04 9.99977081e-01 2.23424532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.301400513 meters Centerline goodness [0,1] 0.999761326158653 Centerline is valid? [True, True] Translation: X:16.10, Y:0.61, Z:0.02 [[ 9.99362722e-01 -3.47556016e-02 -8.13622600e-03 1.61046712e+01] [ 3.47506266e-02 9.99395732e-01 -7.52077304e-04 6.14502883e-01] [ 8.15744844e-03 4.68859070e-04 9.99966618e-01 2.11102906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.331400513 meters Centerline goodness [0,1] 0.9977471733401343 Centerline is valid? [True, True] Translation: X:16.13, Y:0.63, Z:0.02 [[ 9.99500847e-01 -3.01690521e-02 -9.37469230e-03 1.61330042e+01] [ 3.01622453e-02 9.99544640e-01 -8.66657004e-04 6.28070694e-01] [ 9.39656966e-03 5.83462641e-04 9.99955681e-01 1.84307852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.361400513 meters Centerline goodness [0,1] 0.9698159665470909 Centerline is valid? [True, True] Translation: X:16.16, Y:0.64, Z:0.02 [[ 9.99620476e-01 -2.55204698e-02 -1.03735075e-02 1.61611483e+01] [ 2.55118835e-02 9.99674059e-01 -9.59221220e-04 6.40807160e-01] [ 1.03946061e-02 6.94209457e-04 9.99945734e-01 1.62181278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.391400513 meters Centerline goodness [0,1] 0.9278421722894947 Centerline is valid? [True, False] Translation: X:16.14, Y:0.64, Z:0.02 [[ 9.99678547e-01 -2.20288455e-02 -1.25511724e-02 1.61385684e+01] [ 2.19152138e-02 9.99718233e-01 -9.12021611e-03 6.44991335e-01] [ 1.27485437e-02 8.84222276e-03 9.99879638e-01 1.78305279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.421400513 meters Centerline goodness [0,1] 0.764659473751546 Centerline is valid? [False, False] Translation: X:16.16, Y:0.65, Z:0.01 [[ 9.99850851e-01 -1.49197553e-02 -8.69926457e-03 1.61597683e+01] [ 1.47966962e-02 9.99791908e-01 -1.40427199e-02 6.51448118e-01] [ 8.90696827e-03 1.39119051e-02 9.99863553e-01 1.40708733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.451400512999996 meters Centerline goodness [0,1] 0.8551019112324592 Centerline is valid? [False, False] Translation: X:16.16, Y:0.65, Z:0.01 [[ 9.99906956e-01 -1.02366672e-02 -9.01612242e-03 1.61605618e+01] [ 1.01572058e-02 9.99909556e-01 -8.81538733e-03 6.47091061e-01] [ 9.10554715e-03 8.72298850e-03 9.99920496e-01 1.42521603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.481400513 meters Centerline goodness [0,1] 0.7932569974554707 Centerline is valid? [False, False] Translation: X:16.16, Y:0.64, Z:0.01 [[ 9.99940642e-01 -5.59629074e-03 -9.34851891e-03 1.61614373e+01] [ 5.56338258e-03 9.99978250e-01 -3.54245062e-03 6.42460668e-01] [ 9.36814016e-03 3.49023096e-03 9.99950027e-01 1.45235464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.511400513 meters Centerline goodness [0,1] 0.42919574856270026 Centerline is valid? [False, False] Translation: X:16.16, Y:0.64, Z:0.01 [[ 9.99952362e-01 -1.07030091e-03 -9.70193712e-03 1.61624426e+01] [ 1.08766454e-03 9.99997816e-01 1.78460813e-03 6.37402134e-01] [ 9.70000586e-03 -1.79507557e-03 9.99951343e-01 1.48592337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.541400513 meters Centerline goodness [0,1] 0.5797505849020155 Centerline is valid? [False, False] Translation: X:16.16, Y:0.64, Z:0.01 [[ 9.99952194e-01 -1.22475024e-03 -9.70098990e-03 1.61624923e+01] [ 1.23851486e-03 9.99998235e-01 1.41300747e-03 6.39171299e-01] [ 9.69924220e-03 -1.42495474e-03 9.99951946e-01 1.47244574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.571400513 meters Centerline goodness [0,1] 0.786684403630356 Centerline is valid? [False, False] Translation: X:16.16, Y:0.64, Z:0.01 [[ 9.99951746e-01 -1.35913997e-03 -9.72927549e-03 1.61626230e+01] [ 1.36984561e-03 9.99998464e-01 1.09377477e-03 6.40681939e-01] [ 9.72777395e-03 -1.10704959e-03 9.99952071e-01 1.46308459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.601400513 meters Centerline goodness [0,1] 0.7508723855194708 Centerline is valid? [False, False] Translation: X:16.16, Y:0.64, Z:0.02 [[ 9.99951515e-01 -1.54211346e-03 -9.72568271e-03 1.61623873e+01] [ 1.54878930e-03 9.99998570e-01 6.78919540e-04 6.42666132e-01] [ 9.72462183e-03 -6.93949656e-04 9.99952474e-01 1.50430526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.631400512999996 meters Centerline goodness [0,1] 0.8486922303727624 Centerline is valid? [False, False] Translation: X:16.16, Y:0.64, Z:0.02 [[ 9.99951299e-01 -1.48608743e-03 -9.75656703e-03 1.61623018e+01] [ 1.49432650e-03 9.99998533e-01 8.37227823e-04 6.41916698e-01] [ 9.75530852e-03 -8.51766546e-04 9.99952053e-01 1.53914826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.661400513 meters Centerline goodness [0,1] 0.7293244309818896 Centerline is valid? [False, False] Translation: X:16.16, Y:0.64, Z:0.02 [[ 9.99950536e-01 -1.26672744e-03 -9.86510607e-03 1.61624655e+01] [ 1.28158603e-03 9.99998054e-01 1.50000024e-03 6.38706624e-01] [ 9.86318678e-03 -1.51256902e-03 9.99950214e-01 1.58370759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.691400513 meters Centerline goodness [0,1] 0.9241346812885538 Centerline is valid? [False, False] Translation: X:16.16, Y:0.63, Z:0.02 [[ 9.99950242e-01 -9.40853398e-04 -9.93122948e-03 1.61623473e+01] [ 9.66803747e-04 9.99996130e-01 2.60852722e-03 6.33329535e-01] [ 9.92873681e-03 -2.61799898e-03 9.99947282e-01 1.66379684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.721400513 meters Centerline goodness [0,1] 0.8854469943483473 Centerline is valid? [False, False] Translation: X:16.16, Y:0.63, Z:0.02 [[ 9.99950488e-01 -6.91996025e-04 -9.92686077e-03 1.61619071e+01] [ 7.30560690e-04 9.99992199e-01 3.88178021e-03 6.26981969e-01] [ 9.92409715e-03 -3.88884019e-03 9.99943193e-01 1.77135957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.751400513 meters Centerline goodness [0,1] 0.8956189667974965 Centerline is valid? [False, False] Translation: X:16.20, Y:0.63, Z:0.02 [[ 9.99975762e-01 -4.15045029e-03 -5.59002161e-03 1.61980445e+01] [ 4.14556090e-03 9.99991015e-01 -8.85965733e-04 6.30646064e-01] [ 5.59364854e-03 8.62770484e-04 9.99983983e-01 1.95028189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.781400513 meters Centerline goodness [0,1] 0.9647337429595494 Centerline is valid? [False, True] Translation: X:16.20, Y:0.62, Z:0.02 [[ 9.99976980e-01 -3.82360778e-03 -5.60536950e-03 1.61978278e+01] [ 3.82562613e-03 9.99992621e-01 3.49397383e-04 6.24601086e-01] [ 5.60399218e-03 -3.70833388e-04 9.99984229e-01 2.02133686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.811400512999995 meters Centerline goodness [0,1] 0.9929460404057625 Centerline is valid? [True, True] Translation: X:16.23, Y:0.62, Z:0.02 [[ 9.99965625e-01 -6.25899321e-03 -5.43813657e-03 1.62289659e+01] [ 6.25696309e-03 9.99980349e-01 -3.90244138e-04 6.18671505e-01] [ 5.44047224e-03 3.56204503e-04 9.99985137e-01 2.08838495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.841400512999996 meters Centerline goodness [0,1] 0.9949700342465754 Centerline is valid? [True, True] Translation: X:16.26, Y:0.61, Z:0.02 [[ 9.99955984e-01 -7.09744532e-03 -6.13652399e-03 1.62579830e+01] [ 7.09486481e-03 9.99974733e-01 -4.42184138e-04 6.13550396e-01] [ 6.13950732e-03 3.98626867e-04 9.99981074e-01 1.94070524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.871400513 meters Centerline goodness [0,1] 0.9477351916376306 Centerline is valid? [True, False] Translation: X:16.26, Y:0.61, Z:0.02 [[ 9.99955768e-01 -7.04361231e-03 -6.23295213e-03 1.62585080e+01] [ 7.04146590e-03 9.99975142e-01 -3.66243212e-04 6.13179244e-01] [ 6.23537686e-03 3.22337892e-04 9.99980508e-01 1.90103863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.901400513 meters Centerline goodness [0,1] 0.8691178663485504 Centerline is valid? [False, False] Translation: X:16.28, Y:0.62, Z:0.02 [[ 9.99990969e-01 -1.89744026e-03 -3.80294792e-03 1.62795038e+01] [ 1.86906048e-03 9.99970485e-01 -7.45228485e-03 6.17947098e-01] [ 3.81697594e-03 7.44510960e-03 9.99965000e-01 1.69845412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.931400513 meters Centerline goodness [0,1] 0.880633998376554 Centerline is valid? [False, False] Translation: X:16.28, Y:0.61, Z:0.02 [[ 9.99988045e-01 2.80377498e-03 -4.00609365e-03 1.62801387e+01] [-2.81288940e-03 9.99993464e-01 -2.27131833e-03 6.13914325e-01] [ 3.99969920e-03 2.28255987e-03 9.99989396e-01 1.71145585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.961400513 meters Centerline goodness [0,1] 0.8447606171806262 Centerline is valid? [False, False] Translation: X:16.28, Y:0.62, Z:0.02 [[ 9.99988946e-01 2.90027488e-03 -3.70078438e-03 1.62793079e+01] [-2.91150854e-03 9.99991160e-01 -3.03371106e-03 6.18128885e-01] [ 3.69195307e-03 3.04445239e-03 9.99988550e-01 1.67301000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.991400513 meters Centerline goodness [0,1] 0.6996431908928723 Centerline is valid? [False, False] Translation: X:16.28, Y:0.62, Z:0.02 [[ 9.99965018e-01 7.46446034e-03 -3.77412269e-03 1.62793234e+01] [-7.45778527e-03 9.99970607e-01 1.77963110e-03 6.15894901e-01] [ 3.78729574e-03 -1.75142225e-03 9.99991294e-01 1.73232395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.021400512999996 meters Centerline goodness [0,1] 0.45799740475228146 Centerline is valid? [False, False] Translation: X:16.28, Y:0.62, Z:0.02 [[ 9.99922813e-01 1.19707434e-02 -3.32703068e-03 1.62775756e+01] [-1.19510676e-02 9.99911341e-01 5.87217081e-03 6.17458218e-01] [ 3.39702996e-03 -5.83195598e-03 9.99977224e-01 1.80739559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.051400513 meters Centerline goodness [0,1] 0.38793935364886023 Centerline is valid? [False, False] Translation: X:16.28, Y:0.62, Z:0.02 [[ 9.99926029e-01 1.17398287e-02 -3.18003358e-03 1.62771719e+01] [-1.17234548e-02 9.99918172e-01 5.11957255e-03 6.21103765e-01] [ 3.23987627e-03 -5.08191287e-03 9.99981839e-01 1.78470329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.081400513 meters Centerline goodness [0,1] 0.4388136384866884 Centerline is valid? [False, False] Translation: X:16.28, Y:0.62, Z:0.02 [[ 9.99928061e-01 1.15471048e-02 -3.24605098e-03 1.62776145e+01] [-1.15325741e-02 9.99923551e-01 4.46006997e-03 6.24276710e-01] [ 3.29730371e-03 -4.42231380e-03 9.99984785e-01 1.72651448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.111400513 meters Centerline goodness [0,1] 0.2913360702814235 Centerline is valid? [False, False] Translation: X:16.28, Y:0.63, Z:0.02 [[ 9.99966342e-01 7.69258834e-03 -2.85304279e-03 1.62763094e+01] [-7.69601258e-03 9.99969676e-01 -1.19117740e-03 6.32687616e-01] [ 2.84379304e-03 1.21309436e-03 9.99995221e-01 1.64866611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.141400513 meters Centerline goodness [0,1] 0.3249914879128363 Centerline is valid? [False, False] Translation: X:16.28, Y:0.64, Z:0.02 [[ 9.99968286e-01 7.48888639e-03 -2.70980407e-03 1.62758150e+01] [-7.49361512e-03 9.99970410e-01 -1.73912028e-03 6.35330299e-01] [ 2.69669981e-03 1.75937135e-03 9.99994816e-01 1.64623035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.171400513 meters Centerline goodness [0,1] 0.3014299089284195 Centerline is valid? [False, False] Translation: X:16.27, Y:0.64, Z:0.02 [[ 9.99970441e-01 7.26560385e-03 -2.51560608e-03 1.62749303e+01] [-7.27151897e-03 9.99970800e-01 -2.35026440e-03 6.38318469e-01] [ 2.49845653e-03 2.36848720e-03 9.99994074e-01 1.68959540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.201400512999996 meters Centerline goodness [0,1] 0.3052547907536307 Centerline is valid? [False, False] Translation: X:16.27, Y:0.64, Z:0.02 [[ 9.99957897e-01 9.02787961e-03 -1.64386766e-03 1.62681528e+01] [-9.02867283e-03 9.99959128e-01 -4.75753999e-04 6.37368128e-01] [ 1.63950542e-03 4.90575912e-04 9.99998536e-01 2.17285461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.231400513 meters Centerline goodness [0,1] 0.2782675518176191 Centerline is valid? [False, False] Translation: X:16.27, Y:0.64, Z:0.02 [[ 9.99960623e-01 8.75414016e-03 -1.45518115e-03 1.62672376e+01] [-8.75602501e-03 9.99960828e-01 -1.29398220e-03 6.41395828e-01] [ 1.44379645e-03 1.30667285e-03 9.99998104e-01 2.22326330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.261400513 meters Centerline goodness [0,1] 0.2941214016723048 Centerline is valid? [False, False] Translation: X:16.27, Y:0.65, Z:0.02 [[ 9.99963026e-01 8.51479195e-03 -1.20243257e-03 1.62662427e+01] [-8.51792569e-03 9.99960275e-01 -2.62555598e-03 6.48179028e-01] [ 1.18002874e-03 2.63570113e-03 9.99995830e-01 2.23635560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.291400513 meters Centerline goodness [0,1] 0.25691598360655743 Centerline is valid? [False, False] Translation: X:16.27, Y:0.65, Z:0.02 [[ 9.99964845e-01 8.30826528e-03 -1.13218941e-03 1.62659941e+01] [-8.31177778e-03 9.99960546e-01 -3.13383293e-03 6.50598609e-01] [ 1.10610802e-03 3.14313326e-03 9.99994449e-01 2.23429165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.321400513 meters Centerline goodness [0,1] 0.34751681878561935 Centerline is valid? [False, False] Translation: X:16.27, Y:0.65, Z:0.02 [[ 9.99966885e-01 8.06529263e-03 -1.08652997e-03 1.62658751e+01] [-8.06926206e-03 9.99960598e-01 -3.69984931e-03 6.53279152e-01] [ 1.05664679e-03 3.70849429e-03 9.99992565e-01 2.22487255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.351400513 meters Centerline goodness [0,1] 0.28584543125533735 Centerline is valid? [False, False] Translation: X:16.27, Y:0.66, Z:0.02 [[ 9.99969018e-01 7.79676992e-03 -1.08315656e-03 1.62658942e+01] [-7.80141280e-03 9.99960105e-01 -4.35046351e-03 6.56357572e-01] [ 1.04919379e-03 4.35877888e-03 9.99989950e-01 2.21346736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.381400512999996 meters Centerline goodness [0,1] 0.2758451215863926 Centerline is valid? [False, False] Translation: X:16.27, Y:0.66, Z:0.02 [[ 9.99970870e-01 7.56397776e-03 -1.02196757e-03 1.62656793e+01] [-7.56888687e-03 9.99959407e-01 -4.88829375e-03 6.58900723e-01] [ 9.84951137e-04 4.89588651e-03 9.99987530e-01 2.21019538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.411400513 meters Centerline goodness [0,1] 0.2871050893675039 Centerline is valid? [False, False] Translation: X:16.27, Y:0.66, Z:0.02 [[ 9.99972434e-01 7.34986130e-03 -1.05360141e-03 1.62654144e+01] [-7.35537480e-03 9.99958753e-01 -5.32829430e-03 6.61017335e-01] [ 1.01439573e-03 5.33589706e-03 9.99985249e-01 2.28163527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.441400513 meters Centerline goodness [0,1] 0.27406188563125056 Centerline is valid? [False, False] Translation: X:16.27, Y:0.66, Z:0.02 [[ 9.99973017e-01 7.26690832e-03 -1.07599466e-03 1.62652854e+01] [-7.27269668e-03 9.99958554e-01 -5.47707428e-03 6.61724148e-01] [ 1.03614867e-03 5.48475188e-03 9.99984422e-01 2.32257649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.471400513 meters Centerline goodness [0,1] 0.31669501927259414 Centerline is valid? [False, False] Translation: X:16.27, Y:0.66, Z:0.02 [[ 9.99973869e-01 7.14495084e-03 -1.10020071e-03 1.62651073e+01] [-7.15110095e-03 9.99958234e-01 -5.69137741e-03 6.62725948e-01] [ 1.05949015e-03 5.69909633e-03 9.99983199e-01 2.37333179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.501400513 meters Centerline goodness [0,1] 0.5001291211156065 Centerline is valid? [False, False] Translation: X:16.26, Y:0.66, Z:0.02 [[ 9.99974497e-01 7.04828055e-03 -1.15174962e-03 1.62648348e+01] [-7.05480091e-03 9.99958532e-01 -5.75881880e-03 6.63020951e-01] [ 1.11111209e-03 5.76679730e-03 9.99982755e-01 2.46235905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.531400513 meters Centerline goodness [0,1] 0.45852888471712605 Centerline is valid? [False, False] Translation: X:16.28, Y:0.66, Z:0.03 [[ 9.99985163e-01 4.33599258e-03 -3.29738812e-03 1.62823134e+01] [-4.33060253e-03 9.99989278e-01 1.64003025e-03 6.59573319e-01] [ 3.30446393e-03 -1.62572624e-03 9.99993219e-01 3.21977168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.561400512999995 meters Centerline goodness [0,1] 0.7587542775972279 Centerline is valid? [False, False] Translation: X:16.28, Y:0.66, Z:0.03 [[ 9.99994405e-01 -2.80760902e-04 -3.33319596e-03 1.62821766e+01] [ 2.69842643e-04 9.99994599e-01 -3.27561072e-03 6.62311801e-01] [ 3.33409762e-03 3.27469296e-03 9.99989080e-01 3.25914352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.591400512999996 meters Centerline goodness [0,1] 0.6626425937044343 Centerline is valid? [False, False] Translation: X:16.28, Y:0.66, Z:0.03 [[ 9.99994218e-01 -1.59095864e-04 -3.39698363e-03 1.62821081e+01] [ 1.49816740e-04 9.99996258e-01 -2.73165725e-03 6.59655903e-01] [ 3.39740551e-03 2.73113252e-03 9.99990499e-01 3.32329786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.621400513 meters Centerline goodness [0,1] 0.5403546869344915 Centerline is valid? [False, False] Translation: X:16.28, Y:0.66, Z:0.03 [[ 9.99994063e-01 -1.75506012e-04 -3.44143388e-03 1.62820055e+01] [ 1.66509252e-04 9.99996569e-01 -2.61436001e-03 6.59073822e-01] [ 3.44188090e-03 2.61377145e-03 9.99990661e-01 3.37668630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.651400513 meters Centerline goodness [0,1] 0.7566890169447955 Centerline is valid? [False, False] Translation: X:16.28, Y:0.66, Z:0.03 [[ 9.99993715e-01 -3.62138438e-04 -3.52693871e-03 1.62822974e+01] [ 3.51544465e-04 9.99995427e-01 -3.00388727e-03 6.60890620e-01] [ 3.52801040e-03 3.00262851e-03 9.99989269e-01 3.37499463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.681400513 meters Centerline goodness [0,1] 0.6933730039813348 Centerline is valid? [False, False] Translation: X:16.28, Y:0.66, Z:0.03 [[ 9.99992328e-01 -6.66409577e-04 -3.86004460e-03 1.62838803e+01] [ 6.51946127e-04 9.99992767e-01 -3.74701159e-03 6.64335798e-01] [ 3.86251373e-03 3.74446630e-03 9.99985530e-01 3.27458958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.711400513 meters Centerline goodness [0,1] 0.4471480621311231 Centerline is valid? [False, False] Translation: X:16.29, Y:0.66, Z:0.03 [[ 9.99989314e-01 1.10639029e-03 -4.48864693e-03 1.62893736e+01] [-1.11517022e-03 9.99997469e-01 -1.95400020e-03 6.62787638e-01] [ 4.48647368e-03 1.95898492e-03 9.99988017e-01 2.89971895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.741400513 meters Centerline goodness [0,1] 0.4996373255962794 Centerline is valid? [False, False] Translation: X:16.29, Y:0.67, Z:0.03 [[ 9.99990130e-01 8.82806113e-04 -4.35427658e-03 1.62889092e+01] [-8.94011463e-04 9.99996292e-01 -2.57213802e-03 6.65766686e-01] [ 4.35198974e-03 2.57600541e-03 9.99987212e-01 2.89895526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.771400512999996 meters Centerline goodness [0,1] 0.4340957674219752 Centerline is valid? [False, False] Translation: X:16.29, Y:0.67, Z:0.03 [[ 9.99991486e-01 6.30591014e-04 -4.07809889e-03 1.62878495e+01] [-6.44321095e-04 9.99994126e-01 -3.36634764e-03 6.69645881e-01] [ 4.07595214e-03 3.36894658e-03 9.99986018e-01 2.92126078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.801400513 meters Centerline goodness [0,1] 0.43828188377951416 Centerline is valid? [False, False] Translation: X:16.29, Y:0.67, Z:0.03 [[ 9.99993530e-01 4.12350303e-04 -3.57337730e-03 1.62858476e+01] [-4.27990293e-04 9.99990329e-01 -4.37715018e-03 6.74815783e-01] [ 3.57153782e-03 4.37865123e-03 9.99984036e-01 2.98092834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.831400513 meters Centerline goodness [0,1] 0.5547387541403996 Centerline is valid? [False, False] Translation: X:16.29, Y:0.68, Z:0.03 [[ 9.99993526e-01 3.36669782e-04 -3.58253831e-03 1.62858845e+01] [-3.53041643e-04 9.99989494e-01 -4.57025465e-03 6.75736431e-01] [ 3.58096200e-03 4.57148985e-03 9.99983139e-01 2.97738958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.861400513 meters Centerline goodness [0,1] 0.5470783746113435 Centerline is valid? [False, False] Translation: X:16.29, Y:0.68, Z:0.03 [[ 9.99993265e-01 2.41484591e-04 -3.66219136e-03 1.62863714e+01] [-2.59016125e-04 9.99988507e-01 -4.78745171e-03 6.76726730e-01] [ 3.66099317e-03 4.78836804e-03 9.99981834e-01 2.93167043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.891400513 meters Centerline goodness [0,1] 0.5341606877383491 Centerline is valid? [False, False] Translation: X:16.29, Y:0.68, Z:0.03 [[ 9.99993158e-01 6.17581919e-05 -3.69871782e-03 1.62866493e+01] [-8.09751421e-05 9.99986499e-01 -5.19564641e-03 6.78624221e-01] [ 3.69834701e-03 5.19591037e-03 9.99979662e-01 2.89717311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.921400513 meters Centerline goodness [0,1] 0.4162364289204751 Centerline is valid? [False, False] Translation: X:16.31, Y:0.68, Z:0.03 [[ 9.99991815e-01 -9.76144145e-04 -3.92648771e-03 1.63067270e+01] [ 9.95239977e-04 9.99987674e-01 4.86432647e-03 6.76577656e-01] [ 3.92169102e-03 -4.86819445e-03 9.99980460e-01 3.22945059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.951400512999996 meters Centerline goodness [0,1] 0.4162364289204751 Centerline is valid? [False, False] Translation: X:16.31, Y:0.68, Z:0.03 [[ 9.99991815e-01 -9.76144145e-04 -3.92648771e-03 1.63067270e+01] [ 9.95239977e-04 9.99987674e-01 4.86432647e-03 6.76577656e-01] [ 3.92169102e-03 -4.86819445e-03 9.99980460e-01 3.22945059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.981400513 meters Centerline goodness [0,1] 0.43537443994026026 Centerline is valid? [False, False] Translation: X:16.31, Y:0.68, Z:0.03 [[ 9.99991842e-01 -9.68210460e-04 -3.92166083e-03 1.63064130e+01] [ 9.87521436e-04 9.99987383e-01 4.92524345e-03 6.76303670e-01] [ 3.91684268e-03 -4.92907599e-03 9.99980181e-01 3.28920031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.011400513 meters Centerline goodness [0,1] 0.6051999828524885 Centerline is valid? [False, False] Translation: X:16.30, Y:0.68, Z:0.04 [[ 9.99989666e-01 -3.41366140e-03 -3.00243060e-03 1.62995754e+01] [ 3.42048246e-03 9.99991574e-01 2.26965262e-03 6.78261526e-01] [ 2.99465748e-03 -2.27989893e-03 9.99992917e-01 3.72251537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.041400513 meters Centerline goodness [0,1] 0.3500562620751152 Centerline is valid? [False, False] Translation: X:16.30, Y:0.68, Z:0.04 [[ 9.99963219e-01 -8.07082155e-03 -2.90198707e-03 1.62995463e+01] [ 8.06107319e-03 9.99961880e-01 -3.35534908e-03 6.84657902e-01] [ 2.92895687e-03 3.33183254e-03 9.99990160e-01 3.65247642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.071400513 meters Centerline goodness [0,1] 0.4894980645980075 Centerline is valid? [False, False] Translation: X:16.30, Y:0.68, Z:0.04 [[ 9.99963057e-01 -8.05061320e-03 -3.01212478e-03 1.63000995e+01] [ 8.04078383e-03 9.99962354e-01 -3.26127028e-03 6.84173439e-01] [ 3.03826661e-03 3.23692995e-03 9.99990146e-01 3.61815243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.101400513 meters Centerline goodness [0,1] 0.5230495312868696 Centerline is valid? [False, False] Translation: X:16.26, Y:0.67, Z:0.04 [[ 9.99959894e-01 -7.05180822e-03 -5.52100597e-03 1.62585358e+01] [ 7.05617638e-03 9.99974807e-01 7.72111162e-04 6.74936823e-01] [ 5.51542210e-03 -8.11037388e-04 9.99984461e-01 3.75184060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.131400512999996 meters Centerline goodness [0,1] 0.7969639879598952 Centerline is valid? [False, False] Translation: X:16.25, Y:0.68, Z:0.04 [[ 9.99945337e-01 -9.44192649e-03 -4.49153631e-03 1.62511364e+01] [ 9.43450866e-03 9.99954100e-01 -1.66984410e-03 6.76059906e-01] [ 4.50709669e-03 1.62737739e-03 9.99988519e-01 4.25444122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.161400513 meters Centerline goodness [0,1] 0.8554952946472594 Centerline is valid? [False, False] Translation: X:16.27, Y:0.68, Z:0.04 [[ 9.99967017e-01 -8.10260822e-03 -5.58815563e-04 1.62690059e+01] [ 8.09506299e-03 9.99890453e-01 -1.23915858e-02 6.83561395e-01] [ 6.59158512e-04 1.23866534e-02 9.99923065e-01 4.18868395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.191400513 meters Centerline goodness [0,1] 0.5852655673773897 Centerline is valid? [False, False] Translation: X:16.29, Y:0.67, Z:0.04 [[ 9.99966053e-01 -7.63383796e-03 3.10114094e-03 1.62905005e+01] [ 7.63454488e-03 9.99970833e-01 -2.16183521e-04 6.74999639e-01] [-3.09940018e-03 2.39851982e-04 9.99995168e-01 3.87024144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.221400513 meters Centerline goodness [0,1] 0.5714590899380474 Centerline is valid? [False, False] Translation: X:16.29, Y:0.67, Z:0.04 [[ 9.99966942e-01 -7.49709385e-03 3.14764797e-03 1.62901696e+01] [ 7.49684586e-03 9.99971894e-01 9.05774311e-05 6.73581187e-01] [-3.14823857e-03 -6.69770052e-05 9.99995042e-01 3.90659121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.251400513 meters Centerline goodness [0,1] 0.6996654663228996 Centerline is valid? [False, False] Translation: X:16.29, Y:0.67, Z:0.04 [[ 9.99967954e-01 -7.38392571e-03 3.09321339e-03 1.62908694e+01] [ 7.38313742e-03 9.99972709e-01 2.66188224e-04 6.72740939e-01] [-3.09509449e-03 -2.43342075e-04 9.99995181e-01 3.80362057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.281400513 meters Centerline goodness [0,1] 0.5523017004703429 Centerline is valid? [False, False] Translation: X:16.29, Y:0.67, Z:0.04 [[ 9.99967989e-01 -7.39711064e-03 3.05009643e-03 1.62912275e+01] [ 7.39656558e-03 9.99972627e-01 1.89944754e-04 6.73098682e-01] [-3.05141798e-03 -1.67378435e-04 9.99995330e-01 3.75879913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.311400512999995 meters Centerline goodness [0,1] 0.7645766729736195 Centerline is valid? [False, False] Translation: X:16.23, Y:0.67, Z:0.04 [[ 9.99985461e-01 -3.07305944e-03 4.43109829e-03 1.62287128e+01] [ 3.08332102e-03 9.99992577e-01 -2.31084092e-03 6.67189835e-01] [-4.42396405e-03 2.32446982e-03 9.99987513e-01 3.53202978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.341400512999996 meters Centerline goodness [0,1] 0.46622982802129054 Centerline is valid? [False, False] Translation: X:16.27, Y:0.67, Z:0.04 [[ 9.99973615e-01 2.33872491e-04 7.26041690e-03 1.62689465e+01] [-2.33766551e-04 9.99999973e-01 -1.54400665e-05 6.68906137e-01] [-7.26042031e-03 1.37424165e-05 9.99973643e-01 3.58246243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.371400513 meters Centerline goodness [0,1] 0.5575185145433079 Centerline is valid? [False, False] Translation: X:16.24, Y:0.67, Z:0.04 [[ 9.99991537e-01 1.50307037e-03 3.82973240e-03 1.62435689e+01] [-1.46524465e-03 9.99950310e-01 -9.86059332e-03 6.73775813e-01] [-3.84436327e-03 9.85489837e-03 9.99944049e-01 4.23146260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.401400513 meters Centerline goodness [0,1] 0.4485149144565287 Centerline is valid? [False, False] Translation: X:16.26, Y:0.67, Z:0.05 [[ 9.99993956e-01 1.44305445e-03 3.16300836e-03 1.62619606e+01] [-1.44741309e-03 9.99998006e-01 1.37614742e-03 6.67877192e-01] [-3.16101620e-03 -1.38071728e-03 9.99994051e-01 4.73235427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.431400513 meters Centerline goodness [0,1] 0.5195421552205473 Centerline is valid? [False, False] Translation: X:16.22, Y:0.67, Z:0.05 [[ 9.99999085e-01 3.50179541e-04 1.30704746e-03 1.62178316e+01] [-3.51358614e-04 9.99999531e-01 9.01968619e-04 6.65667077e-01] [-1.30673099e-03 -9.02427035e-04 9.99998739e-01 4.89443871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.461400513 meters Centerline goodness [0,1] 0.596326174410932 Centerline is valid? [False, False] Translation: X:16.22, Y:0.67, Z:0.05 [[ 9.99998977e-01 3.67685885e-04 1.38208581e-03 1.62172077e+01] [-3.69022465e-04 9.99999464e-01 9.66944412e-04 6.65396839e-01] [-1.38172954e-03 -9.67453443e-04 9.99998577e-01 4.96756072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.491400513 meters Centerline goodness [0,1] 0.49906517954999674 Centerline is valid? [False, False] Translation: X:16.22, Y:0.67, Z:0.05 [[ 9.99989692e-01 -4.18335220e-03 1.76488508e-03 1.62159863e+01] [ 4.19112724e-03 9.99981427e-01 -4.42495531e-03 6.70684311e-01] [-1.74634115e-03 4.43230656e-03 9.99988652e-01 4.95602992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.521400512999996 meters Centerline goodness [0,1] 0.5424402613030772 Centerline is valid? [False, False] Translation: X:16.22, Y:0.67, Z:0.05 [[ 9.99991572e-01 -3.86548171e-03 1.38320845e-03 1.62173122e+01] [ 3.87034203e-03 9.99986285e-01 -3.52855345e-03 6.66404319e-01] [-1.36954992e-03 3.53387721e-03 9.99992818e-01 4.94704629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.551400513 meters Centerline goodness [0,1] 0.5769937209004314 Centerline is valid? [False, False] Translation: X:16.22, Y:0.67, Z:0.05 [[ 9.99992119e-01 -3.78612519e-03 1.19469313e-03 1.62180094e+01] [ 3.79001592e-03 9.99987467e-01 -3.27138844e-03 6.65139994e-01] [-1.18229227e-03 3.27589056e-03 9.99993935e-01 4.93534180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.581400513 meters Centerline goodness [0,1] 0.3831473807246839 Centerline is valid? [False, False] Translation: X:16.22, Y:0.66, Z:0.05 [[ 9.99992780e-01 -3.67395133e-03 9.70096451e-04 1.62187296e+01] [ 3.67676717e-03 9.99988986e-01 -2.91698927e-03 6.63407362e-01] [-9.59368890e-04 2.92053503e-03 9.99995275e-01 4.94174808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.611400513 meters Centerline goodness [0,1] 0.7885726514016691 Centerline is valid? [False, False] Translation: X:16.22, Y:0.66, Z:0.05 [[ 9.99991418e-01 -4.06875453e-03 7.80981463e-04 1.62189950e+01] [ 4.07024049e-03 9.99989891e-01 -1.91061547e-03 6.57236422e-01] [-7.73199743e-04 1.91377786e-03 9.99997870e-01 5.04970674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.641400513 meters Centerline goodness [0,1] 0.8084988492029666 Centerline is valid? [False, False] Translation: X:16.22, Y:0.65, Z:0.05 [[ 9.99992412e-01 -3.83736337e-03 6.71302738e-04 1.62189729e+01] [ 3.83794533e-03 9.99992259e-01 -8.67775581e-04 6.52117019e-01] [-6.67967571e-04 8.70345419e-04 9.99999398e-01 5.13849790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.671400513 meters Centerline goodness [0,1] 0.9258797212423643 Centerline is valid? [False, False] Translation: X:16.21, Y:0.65, Z:0.06 [[ 9.99977591e-01 -6.53738501e-03 1.44220842e-03 1.62132136e+01] [ 6.54243786e-03 9.99972378e-01 -3.52710134e-03 6.50965767e-01] [-1.41911056e-03 3.53645786e-03 9.99992740e-01 5.52082166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.701400512999996 meters Centerline goodness [0,1] 0.9658248871476024 Centerline is valid? [False, True] Translation: X:16.21, Y:0.65, Z:0.05 [[ 9.99978957e-01 -6.39721080e-03 1.07732700e-03 1.62145445e+01] [ 6.40025961e-03 9.99975455e-01 -2.85071022e-03 6.47530952e-01] [-1.05906397e-03 2.85754540e-03 9.99995356e-01 5.49728305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.731400513 meters Centerline goodness [0,1] 0.976838830648598 Centerline is valid? [True, True] Translation: X:16.25, Y:0.64, Z:0.05 [[ 9.99930265e-01 -1.14571343e-02 -2.86327619e-03 1.62455452e+01] [ 1.14796841e-02 9.99902206e-01 7.98723456e-03 6.42737890e-01] [ 2.77148535e-03 -8.01954708e-03 9.99964002e-01 5.05022371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.761400513 meters Centerline goodness [0,1] 0.9683825730044038 Centerline is valid? [True, True] Translation: X:16.27, Y:0.65, Z:0.05 [[ 9.99887222e-01 -1.47155988e-02 -2.99891222e-03 1.62735422e+01] [ 1.47149202e-02 9.99891699e-01 -2.48223858e-04 6.51053895e-01] [ 3.00224020e-03 2.04067110e-04 9.99995472e-01 4.82498097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.791400513 meters Centerline goodness [0,1] 0.9958599682526063 Centerline is valid? [True, True] Translation: X:16.30, Y:0.64, Z:0.05 [[ 9.99874810e-01 -1.56625619e-02 -2.24677318e-03 1.63032396e+01] [ 1.56621830e-02 9.99877323e-01 -1.86153416e-04 6.43082391e-01] [ 2.24941319e-03 1.50940739e-04 9.99997459e-01 5.04690625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.821400513 meters Centerline goodness [0,1] 0.9875147232037691 Centerline is valid? [True, True] Translation: X:16.33, Y:0.65, Z:0.05 [[ 9.99867184e-01 -1.62592841e-02 -1.11841342e-03 1.63306257e+01] [ 1.62591904e-02 9.99867806e-01 -9.28384082e-05 6.47032802e-01] [ 1.11977506e-03 7.46415810e-05 9.99999370e-01 5.23210051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.851400513 meters Centerline goodness [0,1] 0.9952308692824626 Centerline is valid? [True, True] Translation: X:16.36, Y:0.64, Z:0.06 [[ 9.99905407e-01 -1.33692764e-02 3.23111564e-03 1.63590159e+01] [ 1.33869918e-02 9.99895127e-01 -5.52476370e-03 6.42730515e-01] [-3.15691470e-03 5.56749601e-03 9.99979518e-01 5.62623013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.881400512999996 meters Centerline goodness [0,1] 0.9828271450128584 Centerline is valid? [True, True] Translation: X:16.39, Y:0.64, Z:0.06 [[ 9.99849888e-01 -1.73262776e-02 3.48694558e-05 1.63910755e+01] [ 1.73257850e-02 9.99833118e-01 5.79254336e-03 6.40274001e-01] [-1.35226851e-04 -5.79106969e-03 9.99983222e-01 5.59553619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.911400513 meters Centerline goodness [0,1] 0.9870893519110315 Centerline is valid? [True, True] Translation: X:16.42, Y:0.64, Z:0.06 [[ 9.99861429e-01 -1.58165045e-02 5.19243218e-03 1.64198037e+01] [ 1.58348262e-02 9.99868472e-01 -3.50659524e-03 6.36145493e-01] [-5.13628715e-03 3.58833059e-03 9.99980371e-01 5.78646376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.941400513 meters Centerline goodness [0,1] 0.9996770512627295 Centerline is valid? [True, True] Translation: X:16.45, Y:0.62, Z:0.06 [[ 9.99789828e-01 -2.04666368e-02 1.19031486e-03 1.64537280e+01] [ 2.04617722e-02 9.99782775e-01 3.96471726e-03 6.22374416e-01] [-1.27120073e-03 -3.93952803e-03 9.99991432e-01 5.68947415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.971400513 meters Centerline goodness [0,1] 0.9969417011787194 Centerline is valid? [True, True] Translation: X:16.48, Y:0.63, Z:0.06 [[ 9.99770515e-01 -2.13512138e-02 1.74456435e-03 1.64827271e+01] [ 2.13509936e-02 9.99772031e-01 1.44741651e-04 6.30641752e-01] [-1.74725705e-03 -1.07460253e-04 9.99998468e-01 5.64670338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.001400513 meters Centerline goodness [0,1] 0.9998496240601503 Centerline is valid? [True, True] Translation: X:16.51, Y:0.62, Z:0.06 [[ 9.99757037e-01 -2.20153778e-02 1.09105046e-03 1.65134018e+01] [ 2.20152921e-02 9.99757630e-01 9.04957373e-05 6.18483952e-01] [-1.09277832e-03 -6.64539555e-05 9.99999401e-01 5.59804258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.031400513 meters Centerline goodness [0,1] 0.9996338022101113 Centerline is valid? [True, True] Translation: X:16.54, Y:0.61, Z:0.05 [[ 9.99758628e-01 -2.18689794e-02 -2.10556213e-03 1.65425455e+01] [ 2.18686593e-02 9.99760837e-01 -1.74972277e-04 6.14184991e-01] [ 2.10888502e-03 1.28884223e-04 9.99997768e-01 5.15940083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.061400512999995 meters Centerline goodness [0,1] 0.9996996610460377 Centerline is valid? [True, True] Translation: X:16.57, Y:0.61, Z:0.05 [[ 9.99767981e-01 -2.12864643e-02 -3.29700840e-03 1.65717474e+01] [ 2.12856731e-02 9.99773397e-01 -2.74876761e-04 6.09963023e-01] [ 3.30211244e-03 2.04633942e-04 9.99994527e-01 4.98465428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.091400512999996 meters Centerline goodness [0,1] 0.9945235487404163 Centerline is valid? [True, True] Translation: X:16.60, Y:0.62, Z:0.05 [[ 9.99779091e-01 -2.06299489e-02 -4.02176231e-03 1.65992440e+01] [ 2.06287672e-02 9.99787148e-01 -3.35084667e-04 6.16718040e-01] [ 4.02781905e-03 2.52046646e-04 9.99991857e-01 4.94360958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.121400513 meters Centerline goodness [0,1] 0.9936958736627611 Centerline is valid? [True, True] Translation: X:16.63, Y:0.62, Z:0.05 [[ 9.99800970e-01 -1.96823512e-02 -3.25965083e-03 1.66285272e+01] [ 1.96815697e-02 9.99806262e-01 -2.71653978e-04 6.16945061e-01] [ 3.26436610e-03 2.07444866e-04 9.99994650e-01 5.00538598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.151400513 meters Centerline goodness [0,1] 0.9986135699507284 Centerline is valid? [True, True] Translation: X:16.66, Y:0.62, Z:0.05 [[ 9.99885296e-01 -1.51407729e-02 3.88394663e-04 1.66550516e+01] [ 1.51440221e-02 9.99829961e-01 -1.05217719e-02 6.21614697e-01] [-2.29020862e-04 1.05264469e-02 9.99944569e-01 5.24647761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.181400513 meters Centerline goodness [0,1] 0.9808691947166596 Centerline is valid? [True, True] Translation: X:16.69, Y:0.61, Z:0.05 [[ 9.99870153e-01 -1.58232354e-02 -3.04990300e-03 1.66870694e+01] [ 1.58537637e-02 9.99821682e-01 1.02597646e-02 6.12780559e-01] [ 2.88701647e-03 -1.03067848e-02 9.99942716e-01 5.32670230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.211400513 meters Centerline goodness [0,1] 0.9620522419807709 Centerline is valid? [True, True] Translation: X:16.72, Y:0.63, Z:0.05 [[ 9.99907281e-01 -1.34709236e-02 -1.99079741e-03 1.67163873e+01] [ 1.34706192e-02 9.99909253e-01 -1.66255434e-04 6.25423253e-01] [ 1.99285637e-03 1.39422745e-04 9.99998005e-01 5.26664814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.241400512999995 meters Centerline goodness [0,1] 0.9655561468866418 Centerline is valid? [True, True] Translation: X:16.75, Y:0.63, Z:0.05 [[ 9.99935810e-01 -1.11502197e-02 -2.01191798e-03 1.67466295e+01] [ 1.11499041e-02 9.99937824e-01 -1.68021861e-04 6.26129639e-01] [ 2.01366637e-03 1.45578384e-04 9.99997962e-01 5.34147405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.271400512999996 meters Centerline goodness [0,1] 0.9443610312727897 Centerline is valid? [True, False] Translation: X:16.75, Y:0.63, Z:0.05 [[ 9.99936160e-01 -1.11293162e-02 -1.95303600e-03 1.67464573e+01] [ 1.11290257e-02 9.99938058e-01 -1.59539928e-04 6.26128627e-01] [ 1.95469060e-03 1.37794355e-04 9.99998080e-01 5.33681360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.301400513 meters Centerline goodness [0,1] 0.8341399218882662 Centerline is valid? [False, False] Translation: X:16.75, Y:0.63, Z:0.05 [[ 9.99935468e-01 -1.11967509e-02 -1.92165754e-03 1.67465671e+01] [ 1.11957304e-02 9.99937180e-01 -5.40966996e-04 6.28019387e-01] [ 1.92759389e-03 5.19417727e-04 9.99998007e-01 5.28669978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.331400513 meters Centerline goodness [0,1] 0.6372609238980789 Centerline is valid? [False, False] Translation: X:16.75, Y:0.62, Z:0.05 [[ 9.99975454e-01 -6.53715042e-03 -2.52151669e-03 1.67481799e+01] [ 6.55004466e-03 9.99965339e-01 5.13978268e-03 6.21234285e-01] [ 2.48782976e-03 -5.15617256e-03 9.99983612e-01 5.34544100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.361400513 meters Centerline goodness [0,1] 0.9031654149899937 Centerline is valid? [False, False] Translation: X:16.73, Y:0.62, Z:0.06 [[ 9.99968210e-01 -4.96471473e-03 -6.23936147e-03 1.67267242e+01] [ 4.93862919e-03 9.99979030e-01 -4.18927842e-03 6.24217766e-01] [ 6.26002921e-03 4.15833135e-03 9.99971760e-01 5.63935364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.391400513 meters Centerline goodness [0,1] 0.7649504317236968 Centerline is valid? [False, False] Translation: X:16.73, Y:0.62, Z:0.06 [[ 9.99968150e-01 -4.88363276e-03 -6.31257617e-03 1.67270392e+01] [ 4.85809291e-03 9.99979978e-01 -4.05488943e-03 6.23588115e-01] [ 6.33225237e-03 4.02409320e-03 9.99971854e-01 5.62400958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.421400513 meters Centerline goodness [0,1] 0.6824048841286943 Centerline is valid? [False, False] Translation: X:16.74, Y:0.62, Z:0.06 [[ 9.99973515e-01 -5.15155879e-03 -5.14104564e-03 1.67449936e+01] [ 5.18794982e-03 9.99961404e-01 7.09047588e-03 6.17596435e-01] [ 5.10432021e-03 -7.11695958e-03 9.99961647e-01 5.97991185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.451400512999996 meters Centerline goodness [0,1] 0.8160337193460491 Centerline is valid? [False, False] Translation: X:16.74, Y:0.62, Z:0.06 [[ 9.99974465e-01 -5.14132785e-03 -4.96350291e-03 1.67441441e+01] [ 5.17657415e-03 9.99961292e-01 7.11455683e-03 6.17555040e-01] [ 4.92673252e-03 -7.14006910e-03 9.99962373e-01 6.02735550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.481400513 meters Centerline goodness [0,1] 0.8590720000000001 Centerline is valid? [False, False] Translation: X:16.74, Y:0.62, Z:0.06 [[ 9.99975017e-01 -5.06676253e-03 -4.92879706e-03 1.67439444e+01] [ 5.10261577e-03 9.99960416e-01 7.28906660e-03 6.16753648e-01] [ 4.89166998e-03 -7.31403426e-03 9.99961287e-01 6.04301520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.511400513 meters Centerline goodness [0,1] 0.9465503602505719 Centerline is valid? [False, False] Translation: X:16.74, Y:0.62, Z:0.06 [[ 9.99975246e-01 -4.94007968e-03 -5.01031962e-03 1.67443158e+01] [ 4.97819571e-03 9.99958547e-01 7.62378163e-03 6.15132893e-01] [ 4.97244984e-03 -7.64853526e-03 9.99958386e-01 6.02633824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.541400513 meters Centerline goodness [0,1] 0.8460117227319062 Centerline is valid? [False, False] Translation: X:16.74, Y:0.62, Z:0.06 [[ 9.99941926e-01 -9.52929502e-03 -5.03365353e-03 1.67449933e+01] [ 9.54056183e-03 9.99952026e-01 2.21904753e-03 6.20383943e-01] [ 5.01226609e-03 -2.26694254e-03 9.99984869e-01 5.90019332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.571400513 meters Centerline goodness [0,1] 0.892148293431684 Centerline is valid? [False, False] Translation: X:16.75, Y:0.62, Z:0.06 [[ 9.99942614e-01 -9.36283735e-03 -5.20634483e-03 1.67457597e+01] [ 9.37678888e-03 9.99952494e-01 2.66179507e-03 6.18217206e-01] [ 5.18117555e-03 -2.71046111e-03 9.99982904e-01 5.86500604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.601400513 meters Centerline goodness [0,1] 0.8560428808440039 Centerline is valid? [False, False] Translation: X:16.75, Y:0.62, Z:0.06 [[ 9.99944776e-01 -9.09766890e-03 -5.26096605e-03 1.67454319e+01] [ 9.11535011e-03 9.99952854e-01 3.34667399e-03 6.15045708e-01] [ 5.23027109e-03 -3.39444472e-03 9.99980561e-01 5.97321301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.631400512999996 meters Centerline goodness [0,1] 0.9060781722859214 Centerline is valid? [False, False] Translation: X:16.74, Y:0.61, Z:0.06 [[ 9.99945647e-01 -9.05037234e-03 -5.17633214e-03 1.67447321e+01] [ 9.06824937e-03 9.99952963e-01 3.44062872e-03 6.14696500e-01] [ 5.14494969e-03 -3.48738198e-03 9.99980684e-01 6.05456434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.661400513 meters Centerline goodness [0,1] 0.9010404376273732 Centerline is valid? [False, False] Translation: X:16.74, Y:0.62, Z:0.06 [[ 9.99946073e-01 -9.20889631e-03 -4.80071440e-03 1.67433300e+01] [ 9.22268921e-03 9.99953383e-01 2.85891658e-03 6.17637892e-01] [ 4.77416314e-03 -2.90303791e-03 9.99984390e-01 6.08842018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.691400513 meters Centerline goodness [0,1] 0.7186589850974723 Centerline is valid? [False, False] Translation: X:16.74, Y:0.62, Z:0.06 [[ 9.99944501e-01 -9.37204048e-03 -4.81245479e-03 1.67435952e+01] [ 9.38309663e-03 9.99953378e-01 2.27998661e-03 6.20433680e-01] [ 4.79086230e-03 -2.32501580e-03 9.99985821e-01 6.03169312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.721400513 meters Centerline goodness [0,1] 0.757454165154846 Centerline is valid? [False, False] Translation: X:16.74, Y:0.62, Z:0.06 [[ 9.99942908e-01 -9.53369400e-03 -4.82592421e-03 1.67440038e+01] [ 9.54213627e-03 9.99952977e-01 1.72936643e-03 6.23048740e-01] [ 4.80921003e-03 -1.77531733e-03 9.99986860e-01 5.95198102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.751400513 meters Centerline goodness [0,1] 0.6681948424068768 Centerline is valid? [False, False] Translation: X:16.74, Y:0.63, Z:0.06 [[ 9.99941941e-01 -9.64040992e-03 -4.81427205e-03 1.67441549e+01] [ 9.64663169e-03 9.99952663e-01 1.27081494e-03 6.25282554e-01] [ 4.80179298e-03 -1.31718267e-03 9.99987604e-01 5.90525329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.781400513 meters Centerline goodness [0,1] 0.5777506583595606 Centerline is valid? [False, False] Translation: X:16.74, Y:0.63, Z:0.06 [[ 9.99941030e-01 -9.79486952e-03 -4.69011103e-03 1.67438637e+01] [ 9.79853079e-03 9.99951706e-01 7.58295519e-04 6.27787864e-01] [ 4.68245712e-03 -8.04206999e-04 9.99988714e-01 5.87830087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.811400512999995 meters Centerline goodness [0,1] 0.555763345800748 Centerline is valid? [False, False] Translation: X:16.76, Y:0.64, Z:0.06 [[ 9.99981820e-01 -4.74762806e-03 -3.71737459e-03 1.67603338e+01] [ 4.72109269e-03 9.99963545e-01 -7.11473249e-03 6.37925019e-01] [ 3.75101718e-03 7.09705308e-03 9.99967780e-01 6.25274037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.841400512999996 meters Centerline goodness [0,1] 0.555763345800748 Centerline is valid? [False, False] Translation: X:16.76, Y:0.63, Z:0.06 [[ 9.99991585e-01 -5.61872831e-04 -4.06383467e-03 1.67612256e+01] [ 5.54716477e-04 9.99998294e-01 -1.76189847e-03 6.32160134e-01] [ 4.06481770e-03 1.75962936e-03 9.99990190e-01 6.31950538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.871400513 meters Centerline goodness [0,1] 0.5415684024900673 Centerline is valid? [False, False] Translation: X:16.76, Y:0.63, Z:0.06 [[ 9.99991654e-01 -7.76044156e-04 -4.01113957e-03 1.67611137e+01] [ 7.66970208e-04 9.99997145e-01 -2.26323037e-03 6.34516253e-01] [ 4.01288448e-03 2.26013506e-03 9.99989394e-01 6.30197348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.901400513 meters Centerline goodness [0,1] 0.5697552634391365 Centerline is valid? [False, False] Translation: X:16.76, Y:0.64, Z:0.06 [[ 9.99991379e-01 -8.57704302e-04 -4.06274891e-03 1.67614248e+01] [ 8.47834087e-04 9.99996687e-01 -2.43054223e-03 6.35257329e-01] [ 4.06482013e-03 2.42707674e-03 9.99988793e-01 6.27211695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.931400513 meters Centerline goodness [0,1] 0.8268830806835481 Centerline is valid? [False, False] Translation: X:16.76, Y:0.64, Z:0.06 [[ 9.99990920e-01 -8.68066707e-04 -4.17204427e-03 1.67619515e+01] [ 8.57975484e-04 9.99996704e-01 -2.41995318e-03 6.35149604e-01] [ 4.17413120e-03 2.41635170e-03 9.99988369e-01 6.23739402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.961400513 meters Centerline goodness [0,1] 0.7575127534616539 Centerline is valid? [False, False] Translation: X:16.76, Y:0.64, Z:0.06 [[ 9.99990481e-01 -8.74229661e-04 -4.27487530e-03 1.67624258e+01] [ 8.63925976e-04 9.99996719e-01 -2.41154184e-03 6.35082309e-01] [ 4.27696952e-03 2.40782570e-03 9.99987955e-01 6.20938532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.991400512999995 meters Centerline goodness [0,1] 0.6280730257813503 Centerline is valid? [False, False] Translation: X:16.76, Y:0.64, Z:0.06 [[ 9.99989725e-01 -9.96745998e-04 -4.42226108e-03 1.67630870e+01] [ 9.85096224e-04 9.99996041e-01 -2.63574421e-03 6.36074467e-01] [ 4.42487075e-03 2.63136077e-03 9.99986748e-01 6.17220245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.021400512999996 meters Centerline goodness [0,1] 0.5477674596107365 Centerline is valid? [False, False] Translation: X:16.76, Y:0.64, Z:0.06 [[ 9.99989430e-01 -9.87847066e-04 -4.49050702e-03 1.67632837e+01] [ 9.76249870e-04 9.99996185e-01 -2.58406168e-03 6.35804070e-01] [ 4.49304254e-03 2.57965051e-03 9.99986579e-01 6.17796473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.051400513 meters Centerline goodness [0,1] 0.6579800392391026 Centerline is valid? [False, False] Translation: X:16.76, Y:0.64, Z:0.06 [[ 9.99989332e-01 -9.29769771e-04 -4.52444388e-03 1.67633824e+01] [ 9.18678562e-04 9.99996570e-01 -2.45285839e-03 6.35194905e-01] [ 4.52670895e-03 2.44867572e-03 9.99986756e-01 6.17958196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.081400513 meters Centerline goodness [0,1] 0.7324362816997215 Centerline is valid? [False, False] Translation: X:16.76, Y:0.64, Z:0.06 [[ 9.99989292e-01 -9.86077416e-04 -4.52144133e-03 1.67633731e+01] [ 9.74412711e-04 9.99996194e-01 -2.58134187e-03 6.35798575e-01] [ 4.52396952e-03 2.57690848e-03 9.99986447e-01 6.17899784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.111400513 meters Centerline goodness [0,1] 0.732968682968683 Centerline is valid? [False, False] Translation: X:16.76, Y:0.64, Z:0.07 [[ 9.99993880e-01 6.01475439e-04 -3.44643277e-03 1.67559376e+01] [-6.05426370e-04 9.99999161e-01 -1.14545419e-03 6.38129985e-01] [ 3.44574092e-03 1.14753375e-03 9.99993405e-01 6.64243911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.141400513 meters Centerline goodness [0,1] 0.8345140085519178 Centerline is valid? [False, False] Translation: X:16.76, Y:0.64, Z:0.06 [[ 9.99987047e-01 2.81741053e-03 -4.23877353e-03 1.67620345e+01] [-2.81318500e-03 9.99995540e-01 1.00250860e-03 6.38897946e-01] [ 4.24157911e-03 -9.90571162e-04 9.99990514e-01 6.27646739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.171400513 meters Centerline goodness [0,1] 0.6052603442745643 Centerline is valid? [False, False] Translation: X:16.76, Y:0.64, Z:0.06 [[ 9.99988336e-01 2.52900052e-03 -4.11487563e-03 1.67615622e+01] [-2.52768564e-03 9.99996753e-01 3.24710818e-04 6.42105141e-01] [ 4.11568346e-03 -3.14305919e-04 9.99991481e-01 6.28414270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.201400512999996 meters Centerline goodness [0,1] 0.7018786834322674 Centerline is valid? [False, False] Translation: X:16.76, Y:0.65, Z:0.06 [[ 9.99989133e-01 2.19935112e-03 -4.11062534e-03 1.67616446e+01] [-2.20118676e-03 9.99997480e-01 -4.42088075e-04 6.45701522e-01] [ 4.10964267e-03 4.51131525e-04 9.99991454e-01 6.26067883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.231400513 meters Centerline goodness [0,1] 0.6087551884975823 Centerline is valid? [False, False] Translation: X:16.76, Y:0.66, Z:0.06 [[ 9.99990254e-01 1.25978394e-03 -4.23145043e-03 1.67626722e+01] [-1.27075794e-03 9.99995834e-01 -2.59175017e-03 6.55633583e-01] [ 4.22816775e-03 2.59710206e-03 9.99987689e-01 6.12633581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.261400513 meters Centerline goodness [0,1] 0.8002475564471382 Centerline is valid? [False, False] Translation: X:16.76, Y:0.66, Z:0.06 [[ 9.99990894e-01 8.21721431e-04 -4.18759956e-03 1.67627383e+01] [-8.36778917e-04 9.99993187e-01 -3.59524933e-03 6.60318715e-01] [ 4.18461674e-03 3.59872069e-03 9.99984769e-01 6.07654454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.291400513 meters Centerline goodness [0,1] 0.41271017745965866 Centerline is valid? [False, False] Translation: X:16.76, Y:0.66, Z:0.06 [[ 9.99977601e-01 4.86844840e-03 -4.59303834e-03 1.67639142e+01] [-4.86313434e-03 9.99987493e-01 1.16744040e-03 6.57554613e-01] [ 4.59866452e-03 -1.14507769e-03 9.99988770e-01 6.12677973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.321400513 meters Centerline goodness [0,1] 0.7631079148972493 Centerline is valid? [False, False] Translation: X:16.76, Y:0.66, Z:0.06 [[ 9.99979794e-01 4.47945204e-03 -4.51071165e-03 1.67635029e+01] [-4.47807934e-03 9.99989924e-01 3.14373416e-04 6.61570120e-01] [ 4.51207442e-03 -2.94167739e-04 9.99989777e-01 6.14827274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.351400513 meters Centerline goodness [0,1] 0.4490384411509022 Centerline is valid? [False, False] Translation: X:16.76, Y:0.67, Z:0.06 [[ 9.99984343e-01 3.55433814e-03 -4.32204890e-03 1.67626087e+01] [-3.56177371e-03 9.99992188e-01 -1.71390371e-03 6.71112596e-01] [ 4.31592335e-03 1.72927104e-03 9.99989191e-01 6.18206228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.381400512999996 meters Centerline goodness [0,1] 0.862572347266881 Centerline is valid? [False, False] Translation: X:16.76, Y:0.68, Z:0.06 [[ 9.99985452e-01 3.15959158e-03 -4.37173976e-03 1.67627809e+01] [-3.17094073e-03 9.99991615e-01 -2.59153579e-03 6.75213294e-01] [ 4.36351491e-03 2.60536061e-03 9.99987086e-01 6.17724771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.411400513 meters Centerline goodness [0,1] 0.6462151564231523 Centerline is valid? [False, False] Translation: X:16.76, Y:0.68, Z:0.06 [[ 9.99985634e-01 2.89929573e-03 -4.50846490e-03 1.67632606e+01] [-2.91340467e-03 9.99990870e-01 -3.12601939e-03 6.77669943e-01] [ 4.49936048e-03 3.13910946e-03 9.99984951e-01 6.16861892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.441400513 meters Centerline goodness [0,1] 0.7247741852431934 Centerline is valid? [False, False] Translation: X:16.76, Y:0.68, Z:0.06 [[ 9.99985601e-01 2.76316969e-03 -4.60023267e-03 1.67635936e+01] [-2.77880442e-03 9.99990373e-01 -3.39576734e-03 6.78893592e-01] [ 4.59080530e-03 3.40850160e-03 9.99983653e-01 6.16168662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.471400513 meters Centerline goodness [0,1] 0.985214476059486 Centerline is valid? [False, True] Translation: X:16.76, Y:0.68, Z:0.06 [[ 9.99986891e-01 2.31730044e-03 -4.56600974e-03 1.67631259e+01] [-2.33577826e-03 9.99989088e-01 -4.04565152e-03 6.81775981e-01] [ 4.55658493e-03 4.05626367e-03 9.99981392e-01 6.23023100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.501400513 meters Centerline goodness [0,1] 0.9954047670173932 Centerline is valid? [True, True] Translation: X:16.79, Y:0.68, Z:0.06 [[ 9.99993397e-01 -1.10969017e-05 -3.63403764e-03 1.67932991e+01] [ 1.01168062e-05 9.99999964e-01 -2.69717059e-04 6.80760815e-01] [ 3.63404050e-03 2.69678513e-04 9.99993360e-01 6.36484521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.531400513 meters Centerline goodness [0,1] 0.9385665529010239 Centerline is valid? [True, False] Translation: X:16.79, Y:0.68, Z:0.06 [[ 9.99993607e-01 -2.27086453e-04 -3.56839630e-03 1.67928504e+01] [ 2.24630755e-04 9.99999738e-01 -6.88565402e-04 6.82715116e-01] [ 3.56855173e-03 6.87759429e-04 9.99993396e-01 6.40718223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.561400512999995 meters Centerline goodness [0,1] 0.8592943475582556 Centerline is valid? [False, False] Translation: X:16.79, Y:0.68, Z:0.06 [[ 9.99993944e-01 -3.84860677e-04 -3.45895552e-03 1.67922467e+01] [ 3.81377462e-04 9.99999420e-01 -1.00761654e-03 6.84228049e-01] [ 3.45934130e-03 1.00629127e-03 9.99993510e-01 6.44979123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.591400512999996 meters Centerline goodness [0,1] 0.9667722874025863 Centerline is valid? [False, True] Translation: X:16.79, Y:0.69, Z:0.06 [[ 9.99994129e-01 -8.15855468e-04 -3.32822756e-03 1.67917395e+01] [ 8.09229347e-04 9.99997689e-01 -1.99174706e-03 6.88842785e-01] [ 3.32984485e-03 1.98904207e-03 9.99992478e-01 6.45921314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.621400513 meters Centerline goodness [0,1] 0.971555101345597 Centerline is valid? [True, True] Translation: X:16.82, Y:0.69, Z:0.07 [[ 9.99994990e-01 -3.67756160e-04 -3.14393512e-03 1.68203027e+01] [ 3.67046120e-04 9.99999907e-01 -2.26418349e-04 6.91907461e-01] [ 3.14401810e-03 2.25263246e-04 9.99995032e-01 6.51112456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.651400513 meters Centerline goodness [0,1] 0.9172017716744019 Centerline is valid? [True, False] Translation: X:16.82, Y:0.70, Z:0.06 [[ 9.99994899e-01 -7.43503114e-04 -3.10624719e-03 1.68202166e+01] [ 7.39864553e-04 9.99999039e-01 -1.17235373e-03 6.96415488e-01] [ 3.10711586e-03 1.17004955e-03 9.99994488e-01 6.49320017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.681400513 meters Centerline goodness [0,1] 0.9218653948065713 Centerline is valid? [False, False] Translation: X:16.82, Y:0.70, Z:0.06 [[ 9.99994704e-01 -1.12616454e-03 -3.05349735e-03 1.68202172e+01] [ 1.11972395e-03 9.99997147e-01 -2.11013790e-03 7.00863590e-01] [ 3.05586500e-03 2.10670765e-03 9.99993112e-01 6.45474978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.711400513 meters Centerline goodness [0,1] 0.8171648127706547 Centerline is valid? [False, False] Translation: X:16.82, Y:0.70, Z:0.06 [[ 9.99994285e-01 -1.46215292e-03 -3.04827419e-03 1.68202921e+01] [ 1.45321457e-03 9.99994645e-01 -2.93242064e-03 7.04736085e-01] [ 3.05254551e-03 2.92797409e-03 9.99991054e-01 6.42848263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.741400512999995 meters Centerline goodness [0,1] 0.9441792062747772 Centerline is valid? [False, False] Translation: X:16.81, Y:0.70, Z:0.07 [[ 9.99996950e-01 1.50034957e-04 -2.46522323e-03 1.68149534e+01] [-1.53214289e-04 9.99999157e-01 -1.28953506e-03 7.04131181e-01] [ 2.46502768e-03 1.28990883e-03 9.99996130e-01 6.80834333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.771400512999996 meters Centerline goodness [0,1] 0.7960585058888558 Centerline is valid? [False, False] Translation: X:16.82, Y:0.71, Z:0.07 [[ 9.99996812e-01 -1.19773293e-04 -2.52228096e-03 1.68153072e+01] [ 1.14873626e-04 9.99998107e-01 -1.94260935e-03 7.07197371e-01] [ 2.52250886e-03 1.94231341e-03 9.99994932e-01 6.76766298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.801400513 meters Centerline goodness [0,1] 0.7903415029542885 Centerline is valid? [False, False] Translation: X:16.82, Y:0.71, Z:0.07 [[ 9.99996645e-01 -5.14360297e-04 -2.53881555e-03 1.68156596e+01] [ 5.07126894e-04 9.99995813e-01 -2.84894731e-03 7.11410002e-01] [ 2.54027031e-03 2.84765025e-03 9.99992719e-01 6.69992109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.831400513 meters Centerline goodness [0,1] 0.6581296742164362 Centerline is valid? [False, False] Translation: X:16.82, Y:0.71, Z:0.07 [[ 9.99996752e-01 -6.41580287e-04 -2.46674095e-03 1.68153931e+01] [ 6.33918778e-04 9.99994977e-01 -3.10545218e-03 7.12607551e-01] [ 2.46872096e-03 3.10387838e-03 9.99992136e-01 6.70013294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.861400513 meters Centerline goodness [0,1] 0.9711485190709568 Centerline is valid? [False, True] Translation: X:16.82, Y:0.71, Z:0.07 [[ 9.99996838e-01 -6.81036642e-04 -2.42059761e-03 1.68151325e+01] [ 6.73481551e-04 9.99994904e-01 -3.12061352e-03 7.12652204e-01] [ 2.42271053e-03 3.11897343e-03 9.99992201e-01 6.71824964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.891400513 meters Centerline goodness [0,1] 0.9989568697577383 Centerline is valid? [True, True] Translation: X:16.84, Y:0.70, Z:0.07 [[ 9.99971637e-01 -5.77023744e-03 -4.84046821e-03 1.68449615e+01] [ 5.75666110e-03 9.99979471e-01 -2.81401761e-03 7.02934468e-01] [ 4.85660639e-03 2.78607286e-03 9.99984325e-01 6.59945445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.921400513 meters Centerline goodness [0,1] 0.992004946273239 Centerline is valid? [True, True] Translation: X:16.87, Y:0.71, Z:0.07 [[ 9.99940613e-01 -1.03154039e-02 -3.51622309e-03 1.68749748e+01] [ 1.03231385e-02 9.99944320e-01 2.18868493e-03 7.08096249e-01] [ 3.49345014e-03 -2.22485341e-03 9.99991423e-01 6.54309707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.951400512999996 meters Centerline goodness [0,1] 0.9995930867581865 Centerline is valid? [True, True] Translation: X:16.91, Y:0.70, Z:0.07 [[ 9.99901983e-01 -1.35455592e-02 -3.54146165e-03 1.69060080e+01] [ 1.35447161e-02 9.99908232e-01 -2.61929315e-04 7.01227799e-01] [ 3.54468464e-03 2.13935549e-04 9.99993695e-01 6.60769891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.981400513 meters Centerline goodness [0,1] 0.9993192503244198 Centerline is valid? [True, True] Translation: X:16.94, Y:0.70, Z:0.07 [[ 9.99874439e-01 -1.54136751e-02 -3.67756280e-03 1.69360017e+01] [ 1.54127784e-02 9.99881179e-01 -2.72054292e-04 7.01010590e-01] [ 3.68131918e-03 2.15338672e-04 9.99993201e-01 6.69224931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.011400513 meters Centerline goodness [0,1] 0.9995306967020777 Centerline is valid? [True, True] Translation: X:16.97, Y:0.70, Z:0.07 [[ 9.99890624e-01 -1.42385169e-02 -4.00050508e-03 1.69656871e+01] [ 1.42374460e-02 9.99898599e-01 -2.96057043e-04 7.02363981e-01] [ 4.00431484e-03 2.39067686e-04 9.99991954e-01 6.67442418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.041400513 meters Centerline goodness [0,1] 0.9953777664174495 Centerline is valid? [True, True] Translation: X:16.99, Y:0.72, Z:0.06 [[ 9.99914154e-01 -1.21802397e-02 -4.82971905e-03 1.69939365e+01] [ 1.21786547e-02 9.99925774e-01 -3.57441518e-04 7.15198462e-01] [ 4.83371428e-03 2.98591352e-04 9.99988273e-01 6.40129985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.071400513 meters Centerline goodness [0,1] 0.9890149737639179 Centerline is valid? [True, True] Translation: X:17.02, Y:0.72, Z:0.06 [[ 9.99938538e-01 -9.70863055e-03 -5.35381822e-03 1.70234317e+01] [ 9.70664761e-03 9.99952811e-01 -3.96238005e-04 7.21942745e-01] [ 5.35741251e-03 3.44246024e-04 9.99985590e-01 6.27964879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.101400513 meters Centerline goodness [0,1] 0.985402081161024 Centerline is valid? [True, True] Translation: X:17.05, Y:0.73, Z:0.06 [[ 9.99961504e-01 -7.18073327e-03 -5.04260965e-03 1.70531478e+01] [ 7.17894209e-03 9.99974161e-01 -3.73221014e-04 7.26966547e-01] [ 5.04515935e-03 3.37006044e-04 9.99987216e-01 6.32331904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.131400512999996 meters Centerline goodness [0,1] 0.9459951713329663 Centerline is valid? [True, False] Translation: X:17.05, Y:0.73, Z:0.06 [[ 9.99984026e-01 -2.97787546e-03 -4.80417594e-03 1.70517639e+01] [ 2.99515906e-03 9.99989054e-01 3.59444674e-03 7.28782016e-01] [ 4.79341954e-03 -3.60877860e-03 9.99982000e-01 6.41823471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.161400513 meters Centerline goodness [0,1] 0.9328810377197474 Centerline is valid? [False, False] Translation: X:17.05, Y:0.73, Z:0.06 [[ 9.99984456e-01 -3.35309840e-03 -4.45463411e-03 1.70503816e+01] [ 3.36397875e-03 9.99991372e-01 2.43723536e-03 7.34431173e-01] [ 4.44642339e-03 -2.45218277e-03 9.99987108e-01 6.45684271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.191400513 meters Centerline goodness [0,1] 0.7610497530366948 Centerline is valid? [False, False] Translation: X:17.05, Y:0.74, Z:0.06 [[ 9.99983684e-01 -3.77353311e-03 -4.28867570e-03 1.70496068e+01] [ 3.77852988e-03 9.99992191e-01 1.15760324e-03 7.40644075e-01] [ 4.28427395e-03 -1.17378924e-03 9.99990134e-01 6.48170798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.221400513 meters Centerline goodness [0,1] 0.8845426135759689 Centerline is valid? [False, False] Translation: X:17.05, Y:0.75, Z:0.06 [[ 9.99982097e-01 -4.30822673e-03 -4.15263133e-03 1.70491359e+01] [ 4.30711804e-03 9.99990686e-01 -2.75891743e-04 7.47510364e-01] [ 4.15378126e-03 2.58000931e-04 9.99991340e-01 6.47136689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.251400513 meters Centerline goodness [0,1] 0.7394798953836994 Centerline is valid? [False, False] Translation: X:17.05, Y:0.75, Z:0.07 [[ 9.99991564e-01 -5.62855079e-04 -4.06889626e-03 1.70484841e+01] [ 5.74098917e-04 9.99996019e-01 2.76272347e-03 7.53560790e-01] [ 4.06732505e-03 -2.76503611e-03 9.99987906e-01 6.52030757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.281400513 meters Centerline goodness [0,1] 0.7514872099940512 Centerline is valid? [False, False] Translation: X:17.05, Y:0.76, Z:0.07 [[ 9.99991947e-01 -9.45096796e-04 -3.90035305e-03 1.70476680e+01] [ 9.52439303e-04 9.99997777e-01 1.88109576e-03 7.57720221e-01] [ 3.89856656e-03 -1.88479546e-03 9.99990624e-01 6.55930875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.311400512999995 meters Centerline goodness [0,1] 0.6844046811397557 Centerline is valid? [False, False] Translation: X:17.05, Y:0.76, Z:0.07 [[ 9.99992078e-01 -1.11625332e-03 -3.82080749e-03 1.70471361e+01] [ 1.12207649e-03 9.99998212e-01 1.52226356e-03 7.59397997e-01] [ 3.81910142e-03 -1.52653873e-03 9.99991542e-01 6.60400944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.341400512999996 meters Centerline goodness [0,1] 0.7534107494130338 Centerline is valid? [False, False] Translation: X:17.05, Y:0.76, Z:0.07 [[ 9.99991568e-01 -1.18791555e-03 -3.93100814e-03 1.70476043e+01] [ 1.19377274e-03 9.99998180e-01 1.48798508e-03 7.59465057e-01] [ 3.92923338e-03 -1.49266526e-03 9.99991166e-01 6.58335117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.371400513 meters Centerline goodness [0,1] 0.959950881123702 Centerline is valid? [False, True] Translation: X:17.01, Y:0.76, Z:0.06 [[ 9.99959390e-01 -4.51630542e-03 -7.79878398e-03 1.70110874e+01] [ 4.50414698e-03 9.99988615e-01 -1.57587786e-03 7.62010223e-01] [ 7.80581233e-03 1.54068700e-03 9.99968347e-01 6.24583015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.401400513 meters Centerline goodness [0,1] 0.9637084608422051 Centerline is valid? [True, True] Translation: X:17.04, Y:0.77, Z:0.06 [[ 9.99935744e-01 -7.00350439e-03 -8.91396636e-03 1.70405000e+01] [ 6.99766355e-03 9.99975281e-01 -6.86266929e-04 7.66982930e-01] [ 8.91855229e-03 6.23845894e-04 9.99960034e-01 6.17863242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.431400513 meters Centerline goodness [0,1] 0.9682341488190976 Centerline is valid? [True, True] Translation: X:17.07, Y:0.77, Z:0.06 [[ 9.99918352e-01 -9.19415248e-03 -8.87455068e-03 1.70697452e+01] [ 9.18844782e-03 9.99957552e-01 -6.83370121e-04 7.70500327e-01] [ 8.88045698e-03 6.01770980e-04 9.99960387e-01 6.19225728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.461400513 meters Centerline goodness [0,1] 0.9923610370212312 Centerline is valid? [True, True] Translation: X:17.10, Y:0.77, Z:0.06 [[ 9.99909313e-01 -1.07116785e-02 -8.16243060e-03 1.71003826e+01] [ 1.07069019e-02 9.99942482e-01 -6.28670310e-04 7.67651767e-01] [ 8.16869523e-03 5.41218954e-04 9.99966489e-01 6.34735793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.491400512999995 meters Centerline goodness [0,1] 0.9346628962643251 Centerline is valid? [True, False] Translation: X:17.10, Y:0.77, Z:0.06 [[ 9.99910531e-01 -1.05387981e-02 -8.23795902e-03 1.71007289e+01] [ 1.05371615e-02 9.99944453e-01 -2.42044769e-04 7.65853757e-01] [ 8.24005229e-03 1.55218409e-04 9.99966038e-01 6.33269795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.521400512999996 meters Centerline goodness [0,1] 0.9893001302778549 Centerline is valid? [False, True] Translation: X:17.10, Y:0.77, Z:0.06 [[ 9.99910290e-01 -1.05418204e-02 -8.26331203e-03 1.71011750e+01] [ 1.05399757e-02 9.99944417e-01 -2.66759365e-04 7.65962869e-01] [ 8.26566486e-03 1.79640326e-04 9.99965823e-01 6.26085088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.551400513 meters Centerline goodness [0,1] 0.9908032145773347 Centerline is valid? [True, True] Translation: X:17.13, Y:0.77, Z:0.06 [[ 9.99914534e-01 -9.96702973e-03 -8.46066566e-03 1.71294866e+01] [ 9.96184382e-03 9.99950165e-01 -6.54866014e-04 7.68409629e-01] [ 8.46677110e-03 5.70526215e-04 9.99963993e-01 6.17229998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.581400513 meters Centerline goodness [0,1] 0.9597702372088076 Centerline is valid? [True, True] Translation: X:17.16, Y:0.78, Z:0.06 [[ 9.99917824e-01 -9.45000451e-03 -8.66273168e-03 1.71565660e+01] [ 9.44454323e-03 9.99955174e-01 -6.71125780e-04 7.75873170e-01] [ 8.66868551e-03 5.89255085e-04 9.99962253e-01 6.10000648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.611400513 meters Centerline goodness [0,1] 0.9027247427350981 Centerline is valid? [True, False] Translation: X:17.16, Y:0.78, Z:0.06 [[ 9.99917876e-01 -9.46094047e-03 -8.64470718e-03 1.71564635e+01] [ 9.45532277e-03 9.99955059e-01 -6.90482512e-04 7.75957779e-01] [ 8.65085129e-03 6.08687311e-04 9.99962395e-01 6.10739871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.641400513 meters Centerline goodness [0,1] 0.9988179160935351 Centerline is valid? [False, True] Translation: X:17.16, Y:0.78, Z:0.06 [[ 9.99918161e-01 -9.37389458e-03 -8.70640366e-03 1.71565911e+01] [ 9.36988635e-03 9.99955976e-01 -5.01053868e-04 7.75079946e-01] [ 8.71071719e-03 4.19434849e-04 9.99961973e-01 6.12189119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.671400513 meters Centerline goodness [0,1] 0.9850383631713555 Centerline is valid? [True, True] Translation: X:17.19, Y:0.76, Z:0.06 [[ 9.99940640e-01 -9.80615158e-03 -4.74931348e-03 1.71857237e+01] [ 9.92794585e-03 9.99603778e-01 2.63386193e-02 7.59659936e-01] [ 4.48915121e-03 -2.63842068e-02 9.99641796e-01 5.78698287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.701400512999996 meters Centerline goodness [0,1] 0.9715030891249973 Centerline is valid? [True, True] Translation: X:17.21, Y:0.79, Z:0.06 [[ 9.99946996e-01 -9.48260244e-03 -4.01062156e-03 1.72126711e+01] [ 9.48141191e-03 9.99955001e-01 -3.15753384e-04 7.87944879e-01] [ 4.01343525e-03 2.77710293e-04 9.99991908e-01 5.55872787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.731400513 meters Centerline goodness [0,1] 0.9715030891249973 Centerline is valid? [True, True] Translation: X:17.24, Y:0.79, Z:0.06 [[ 9.99945267e-01 -9.66324063e-03 -4.01054257e-03 1.72401164e+01] [ 9.66204755e-03 9.99953271e-01 -3.16755621e-04 7.90266381e-01] [ 4.01341605e-03 2.77988231e-04 9.99991908e-01 5.55348706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.761400513 meters Centerline goodness [0,1] 0.8821502265523623 Centerline is valid? [True, False] Translation: X:17.24, Y:0.79, Z:0.05 [[ 9.99945537e-01 -9.62460161e-03 -4.03617812e-03 1.72405012e+01] [ 9.62356817e-03 9.99953654e-01 -2.75389026e-04 7.90067607e-01] [ 4.03864157e-03 2.36531592e-04 9.99991817e-01 5.49381757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.791400513 meters Centerline goodness [0,1] 0.9227708869646618 Centerline is valid? [False, False] Translation: X:17.24, Y:0.79, Z:0.06 [[ 9.99980514e-01 -4.83899061e-03 -3.94406002e-03 1.72395744e+01] [ 4.85918344e-03 9.99975054e-01 5.12640705e-03 7.85072561e-01] [ 3.91915499e-03 -5.14547207e-03 9.99979082e-01 5.60941834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.821400513 meters Centerline goodness [0,1] 0.6605402869874843 Centerline is valid? [False, False] Translation: X:17.24, Y:0.79, Z:0.06 [[ 9.99980971e-01 -4.91698756e-03 -3.72583637e-03 1.72386018e+01] [ 4.93478027e-03 9.99976393e-01 4.78144385e-03 7.86808075e-01] [ 3.70223812e-03 -4.79973905e-03 9.99981628e-01 5.65510629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.851400513 meters Centerline goodness [0,1] 0.82682494608963 Centerline is valid? [False, False] Translation: X:17.24, Y:0.79, Z:0.06 [[ 9.99981178e-01 -4.95947286e-03 -3.61197298e-03 1.72381018e+01] [ 4.97601388e-03 9.99977108e-01 4.58499902e-03 7.87806202e-01] [ 3.58915112e-03 -4.60288595e-03 9.99982966e-01 5.67419782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.881400512999996 meters Centerline goodness [0,1] 0.6846497061220987 Centerline is valid? [False, False] Translation: X:17.24, Y:0.79, Z:0.06 [[ 9.99981445e-01 -4.92452083e-03 -3.58596480e-03 1.72380637e+01] [ 4.94099996e-03 9.99977208e-01 4.60118462e-03 7.87755446e-01] [ 3.56322444e-03 -4.61881749e-03 9.99982985e-01 5.66149066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.911400513 meters Centerline goodness [0,1] 0.6048222486817486 Centerline is valid? [False, False] Translation: X:17.24, Y:0.79, Z:0.06 [[ 9.99981905e-01 -4.81230285e-03 -3.60983539e-03 1.72383197e+01] [ 4.82963162e-03 9.99976783e-01 4.80717619e-03 7.86800544e-01] [ 3.58661799e-03 -4.82452338e-03 9.99981930e-01 5.62488733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.941400513 meters Centerline goodness [0,1] 0.7798587853836473 Centerline is valid? [False, False] Translation: X:17.24, Y:0.79, Z:0.06 [[ 9.99982199e-01 -4.76624886e-03 -3.58953474e-03 1.72381509e+01] [ 4.78388740e-03 9.99976447e-01 4.92142955e-03 7.86258868e-01] [ 3.56599343e-03 -4.93851387e-03 9.99981447e-01 5.64570861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.971400513 meters Centerline goodness [0,1] 0.6634527576613503 Centerline is valid? [False, False] Translation: X:17.24, Y:0.79, Z:0.06 [[ 9.99982633e-01 -4.70299396e-03 -3.55178995e-03 1.72378212e+01] [ 4.72095893e-03 9.99976020e-01 5.06667089e-03 7.85603788e-01] [ 3.52787626e-03 -5.08335075e-03 9.99980857e-01 5.68464057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.001400513 meters Centerline goodness [0,1] 0.6399812034090181 Centerline is valid? [False, False] Translation: X:17.24, Y:0.78, Z:0.06 [[ 9.99983175e-01 -4.62952943e-03 -3.49516899e-03 1.72375139e+01] [ 4.64782325e-03 9.99975448e-01 5.24417773e-03 7.84775728e-01] [ 3.47080510e-03 -5.26033442e-03 9.99980141e-01 5.70844746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.031400513 meters Centerline goodness [0,1] 0.6650691086482092 Centerline is valid? [False, False] Translation: X:17.24, Y:0.79, Z:0.06 [[ 9.99982657e-01 -4.71471629e-03 -3.52935432e-03 1.72378611e+01] [ 4.73246990e-03 9.99976106e-01 5.03893710e-03 7.85713790e-01] [ 3.50551283e-03 -5.05555227e-03 9.99981076e-01 5.65951217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.061400512999995 meters Centerline goodness [0,1] 0.5349426027250295 Centerline is valid? [False, False] Translation: X:17.24, Y:0.79, Z:0.06 [[ 9.99981713e-01 -4.93386672e-03 -3.49735564e-03 1.72380312e+01] [ 4.94958107e-03 9.99977631e-01 4.49888568e-03 7.88229452e-01] [ 3.47508050e-03 -4.51611385e-03 9.99983764e-01 5.59651773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.091400512999996 meters Centerline goodness [0,1] 0.6236144990798991 Centerline is valid? [False, False] Translation: X:17.24, Y:0.79, Z:0.06 [[ 9.99980365e-01 -5.19788437e-03 -3.50019512e-03 1.72382464e+01] [ 5.21110468e-03 9.99979283e-01 3.77855324e-03 7.91622150e-01] [ 3.48048212e-03 -3.79671894e-03 9.99986735e-01 5.54105665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.121400513 meters Centerline goodness [0,1] 0.7254897748754081 Centerline is valid? [False, False] Translation: X:17.24, Y:0.80, Z:0.05 [[ 9.99977168e-01 -5.71998692e-03 -3.59783399e-03 1.72388948e+01] [ 5.72839099e-03 9.99980878e-01 2.32991939e-03 7.98460692e-01] [ 3.58443809e-03 -2.35047599e-03 9.99990813e-01 5.44679363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.151400513 meters Centerline goodness [0,1] 0.5856843186780256 Centerline is valid? [False, False] Translation: X:17.24, Y:0.80, Z:0.05 [[ 9.99976238e-01 -5.87106815e-03 -3.61302500e-03 1.72389526e+01] [ 5.87830085e-03 9.99980734e-01 1.99448762e-03 8.00022264e-01] [ 3.60124562e-03 -2.01567868e-03 9.99991484e-01 5.44006823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.181400513 meters Centerline goodness [0,1] 0.6944444444444444 Centerline is valid? [False, False] Translation: X:17.24, Y:0.80, Z:0.05 [[ 9.99976226e-01 -5.90846755e-03 -3.55502781e-03 1.72384957e+01] [ 5.91554058e-03 9.99980538e-01 1.98236773e-03 8.00067218e-01] [ 3.54324587e-03 -2.00335051e-03 9.99991716e-01 5.48851826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.211400513 meters Centerline goodness [0,1] 0.7529874516342804 Centerline is valid? [False, False] Translation: X:17.24, Y:0.80, Z:0.06 [[ 9.99977174e-01 -5.81663070e-03 -3.43779342e-03 1.72376739e+01] [ 5.82455545e-03 9.99980393e-01 2.29968593e-03 7.98576692e-01] [ 3.42434959e-03 -2.31965705e-03 9.99991446e-01 5.57764274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.241400512999995 meters Centerline goodness [0,1] 0.7484395040615648 Centerline is valid? [False, False] Translation: X:17.24, Y:0.80, Z:0.06 [[ 9.99978005e-01 -5.74538684e-03 -3.31357202e-03 1.72368831e+01] [ 5.75409946e-03 9.99979997e-01 2.62586353e-03 7.97035441e-01] [ 3.29841913e-03 -2.64487240e-03 9.99991063e-01 5.65965780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.271400512999996 meters Centerline goodness [0,1] 0.7771257868345247 Centerline is valid? [False, False] Translation: X:17.24, Y:0.80, Z:0.06 [[ 9.99978127e-01 -5.67978440e-03 -3.38896764e-03 1.72370524e+01] [ 5.68959009e-03 9.99979636e-01 2.89082388e-03 7.95754420e-01] [ 3.37247937e-03 -2.91004248e-03 9.99990079e-01 5.67977493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.301400513 meters Centerline goodness [0,1] 0.9199862711028166 Centerline is valid? [False, False] Translation: X:17.24, Y:0.79, Z:0.06 [[ 9.99974828e-01 -5.91990615e-03 -3.91114945e-03 1.72390349e+01] [ 5.93269335e-03 9.99977068e-01 3.26594978e-03 7.93395931e-01] [ 3.89172564e-03 -3.28907122e-03 9.99987018e-01 5.62303708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.331400513 meters Centerline goodness [0,1] 0.9641216129170782 Centerline is valid? [False, True] Translation: X:17.24, Y:0.79, Z:0.06 [[ 9.99975084e-01 -5.74592637e-03 -4.10065487e-03 1.72397950e+01] [ 5.76139549e-03 9.99976294e-01 3.77056535e-03 7.90963200e-01] [ 4.07889227e-03 -3.79409690e-03 9.99984484e-01 5.59759875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.361400513 meters Centerline goodness [0,1] 0.992289250307782 Centerline is valid? [True, True] Translation: X:17.27, Y:0.79, Z:0.06 [[ 9.99968407e-01 -7.23619263e-03 -3.28977766e-03 1.72703107e+01] [ 7.23540482e-03 9.99973793e-01 -2.51311162e-04 7.90715562e-01] [ 3.29150998e-03 2.27500350e-04 9.99994557e-01 5.67419304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.391400513 meters Centerline goodness [0,1] 0.9928872892430962 Centerline is valid? [True, True] Translation: X:17.30, Y:0.79, Z:0.06 [[ 9.99953738e-01 -9.59765841e-03 -6.37245048e-04 1.73007663e+01] [ 9.59762932e-03 9.99953941e-01 -4.86814871e-05 7.89941483e-01] [ 6.37682925e-04 4.25631933e-05 9.99999796e-01 6.12568606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.421400513 meters Centerline goodness [0,1] 0.9853769474377776 Centerline is valid? [True, True] Translation: X:17.33, Y:0.79, Z:0.06 [[ 9.99940433e-01 -1.09146663e-02 -3.38885741e-05 1.73306622e+01] [ 1.09146662e-02 9.99940433e-01 -2.58900469e-06 7.93297816e-01] [ 3.39148136e-05 2.21896799e-06 9.99999999e-01 6.23898985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.451400512999996 meters Centerline goodness [0,1] 0.996990477009394 Centerline is valid? [True, True] Translation: X:17.36, Y:0.79, Z:0.06 [[ 9.99919632e-01 -1.26658858e-02 5.52308599e-04 1.73615286e+01] [ 1.26658644e-02 9.99919784e-01 4.21950345e-05 7.90596077e-01] [-5.52798733e-04 -3.51961775e-05 9.99999847e-01 6.19786359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.481400513 meters Centerline goodness [0,1] 0.9958307364982485 Centerline is valid? [True, True] Translation: X:17.39, Y:0.79, Z:0.06 [[ 9.99909923e-01 -1.34133084e-02 -4.79304503e-04 1.73916918e+01] [ 1.34132924e-02 9.99910037e-01 -3.66235264e-05 7.92786397e-01] [ 4.79752626e-04 3.01911760e-05 9.99999884e-01 6.09601600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.511400513 meters Centerline goodness [0,1] 0.9987109802994822 Centerline is valid? [True, True] Translation: X:17.42, Y:0.79, Z:0.06 [[ 9.99877645e-01 -1.54748045e-02 -2.28579027e-03 1.74219374e+01] [ 1.54744455e-02 9.99880248e-01 -1.74638671e-04 7.91549154e-01] [ 2.28821904e-03 1.39245966e-04 9.99997372e-01 5.91808752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.541400513 meters Centerline goodness [0,1] 0.9993631790103802 Centerline is valid? [True, True] Translation: X:17.45, Y:0.79, Z:0.06 [[ 9.99871197e-01 -1.57160196e-02 -3.25531092e-03 1.74506078e+01] [ 1.57152916e-02 9.99876476e-01 -2.49122879e-04 7.90619464e-01] [ 3.25882403e-03 1.97932631e-04 9.99994670e-01 5.88586635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.571400513 meters Centerline goodness [0,1] 0.9990591052946711 Centerline is valid? [True, True] Translation: X:17.48, Y:0.79, Z:0.06 [[ 9.99876580e-01 -1.52565309e-02 -3.75008236e-03 1.74793454e+01] [ 1.52555591e-02 9.99883586e-01 -2.87622817e-04 7.91888161e-01] [ 3.75403392e-03 2.30377715e-04 9.99992927e-01 5.81182163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.601400513 meters Centerline goodness [0,1] 0.9965305462773408 Centerline is valid? [True, True] Translation: X:17.51, Y:0.80, Z:0.06 [[ 9.99889686e-01 -1.42803431e-02 -4.08497741e-03 1.75074632e+01] [ 1.42791806e-02 9.99897998e-01 -3.13590306e-04 7.98165654e-01] [ 4.08903892e-03 2.55225583e-04 9.99991607e-01 5.73927365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.631400512999996 meters Centerline goodness [0,1] 0.9990097304744683 Centerline is valid? [True, True] Translation: X:17.54, Y:0.79, Z:0.06 [[ 9.99903677e-01 -1.31953697e-02 -4.30327427e-03 1.75372411e+01] [ 1.31940688e-02 9.99912900e-01 -3.30556183e-04 7.93066544e-01] [ 4.30726127e-03 2.73746646e-04 9.99990686e-01 5.78127694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.661400513 meters Centerline goodness [0,1] 0.9970540802064294 Centerline is valid? [True, True] Translation: X:17.57, Y:0.80, Z:0.06 [[ 9.99941718e-01 -9.85517586e-03 -4.40866176e-03 1.75658506e+01] [ 9.85377755e-03 9.99951393e-01 -3.38782999e-04 7.99332785e-01] [ 4.41178623e-03 2.95321281e-04 9.99990224e-01 5.75664307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.691400513 meters Centerline goodness [0,1] 0.965834875656817 Centerline is valid? [True, True] Translation: X:17.59, Y:0.81, Z:0.06 [[ 9.99965654e-01 -7.23004592e-03 -4.05181782e-03 1.75944356e+01] [ 7.22884330e-03 9.99973823e-01 -3.11378319e-04 8.08446422e-01] [ 4.05396303e-03 2.82077668e-04 9.99991743e-01 5.78575381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.721400513 meters Centerline goodness [0,1] 0.9398672726884749 Centerline is valid? [True, False] Translation: X:17.59, Y:0.81, Z:0.06 [[ 9.99965665e-01 -7.33183852e-03 -3.86170574e-03 1.75938430e+01] [ 7.32847720e-03 9.99972756e-01 -8.83855399e-04 8.11305375e-01] [ 3.86808081e-03 8.55524630e-04 9.99992153e-01 5.77540250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.751400513 meters Centerline goodness [0,1] 0.8432324447404034 Centerline is valid? [False, False] Translation: X:17.59, Y:0.81, Z:0.06 [[ 9.99989052e-01 -2.91418205e-03 -3.66118152e-03 1.75929924e+01] [ 2.92664743e-03 9.99989924e-01 3.40401262e-03 8.11655721e-01] [ 3.65122472e-03 -3.41469034e-03 9.99987504e-01 5.80112951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.781400513 meters Centerline goodness [0,1] 0.7175935806052328 Centerline is valid? [False, False] Translation: X:17.61, Y:0.82, Z:0.06 [[ 9.99984189e-01 2.08899089e-03 -5.22084207e-03 1.76104213e+01] [-2.10478322e-03 9.99993221e-01 -3.02120128e-03 8.17949055e-01] [ 5.21449542e-03 3.03214226e-03 9.99981807e-01 6.48123126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.811400512999995 meters Centerline goodness [0,1] 0.7038134419030972 Centerline is valid? [False, False] Translation: X:17.61, Y:0.82, Z:0.06 [[ 9.99985208e-01 1.92631763e-03 -5.08656794e-03 1.76099698e+01] [-1.94432511e-03 9.99991852e-01 -3.53763301e-03 8.20448129e-01] [ 5.07971189e-03 3.54747062e-03 9.99980806e-01 6.47526245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.841400512999996 meters Centerline goodness [0,1] 0.7059946380697051 Centerline is valid? [False, False] Translation: X:17.61, Y:0.82, Z:0.06 [[ 9.99985739e-01 1.82125569e-03 -5.02034820e-03 1.76098347e+01] [-1.84040641e-03 9.99991038e-01 -3.81264351e-03 8.21734297e-01] [ 5.01335941e-03 3.82182862e-03 9.99980130e-01 6.45448473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.871400513 meters Centerline goodness [0,1] 0.686555714194387 Centerline is valid? [False, False] Translation: X:17.61, Y:0.82, Z:0.06 [[ 9.99985895e-01 1.69399635e-03 -5.03382852e-03 1.76100786e+01] [-1.71482387e-03 9.99989976e-01 -4.13607892e-03 8.23241716e-01] [ 5.02677155e-03 4.14465271e-03 9.99978776e-01 6.40912849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.901400513 meters Centerline goodness [0,1] 0.6798488556829405 Centerline is valid? [False, False] Translation: X:17.61, Y:0.82, Z:0.06 [[ 9.99986088e-01 1.64072774e-03 -5.01320244e-03 1.76099435e+01] [-1.66211478e-03 9.99989524e-01 -4.26495919e-03 8.23861994e-01] [ 5.00615228e-03 4.27323238e-03 9.99978339e-01 6.41916611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.931400513 meters Centerline goodness [0,1] 0.6659369620199358 Centerline is valid? [False, False] Translation: X:17.63, Y:0.82, Z:0.06 [[ 9.99996880e-01 1.43785135e-05 -2.49813224e-03 1.76309818e+01] [-5.98735248e-07 9.99984787e-01 5.51594556e-03 8.20684781e-01] [ 2.49817354e-03 -5.51592685e-03 9.99981667e-01 6.25604462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.961400513 meters Centerline goodness [0,1] 0.7020209533119408 Centerline is valid? [False, False] Translation: X:17.63, Y:0.82, Z:0.06 [[ 9.99997117e-01 -1.03673073e-05 -2.40130827e-03 1.76303612e+01] [ 2.36073374e-05 9.99984799e-01 5.51371093e-03 8.20701323e-01] [ 2.40121461e-03 -5.51375172e-03 9.99981916e-01 6.31324133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.991400512999995 meters Centerline goodness [0,1] 0.6751675552986017 Centerline is valid? [False, False] Translation: X:17.62, Y:0.82, Z:0.07 [[ 9.99993701e-01 -3.09832711e-03 -1.73168994e-03 1.76243161e+01] [ 3.10228630e-03 9.99992570e-01 2.28832229e-03 8.22605116e-01] [ 1.72458711e-03 -2.29368007e-03 9.99995882e-01 6.76796205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.021400512999996 meters Centerline goodness [0,1] 0.9277235387725259 Centerline is valid? [False, False] Translation: X:17.63, Y:0.82, Z:0.07 [[ 9.99993466e-01 -3.07013994e-03 -1.90823025e-03 1.76250621e+01] [ 3.07482824e-03 9.99992250e-01 2.45882416e-03 8.21734557e-01] [ 1.90066653e-03 -2.46467557e-03 9.99995156e-01 6.73437814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.051400513 meters Centerline goodness [0,1] 0.7660758845735491 Centerline is valid? [False, False] Translation: X:17.63, Y:0.82, Z:0.07 [[ 9.99992865e-01 -3.07216421e-03 -2.19828484e-03 1.76263306e+01] [ 3.07788565e-03 9.99991873e-01 2.60405054e-03 8.20909134e-01] [ 2.19026691e-03 -2.61079803e-03 9.99994193e-01 6.67323573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.081400513 meters Centerline goodness [0,1] 0.881171387011209 Centerline is valid? [False, False] Translation: X:17.63, Y:0.82, Z:0.07 [[ 9.99992490e-01 -3.06800404e-03 -2.36817371e-03 1.76267903e+01] [ 3.07500580e-03 9.99990895e-01 2.95865279e-03 8.19083710e-01] [ 2.35907499e-03 -2.96591271e-03 9.99992819e-01 6.69615223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.111400513 meters Centerline goodness [0,1] 0.8373731317716586 Centerline is valid? [False, False] Translation: X:17.63, Y:0.82, Z:0.07 [[ 9.99992705e-01 -3.03725288e-03 -2.31626018e-03 1.76263093e+01] [ 3.04452813e-03 9.99990423e-01 3.14391737e-03 8.18195539e-01] [ 2.30668913e-03 -3.15094636e-03 9.99992375e-01 6.76200682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.141400513 meters Centerline goodness [0,1] 0.9896041074383672 Centerline is valid? [False, True] Translation: X:17.63, Y:0.82, Z:0.07 [[ 9.99967912e-01 -7.74062025e-03 -2.06331240e-03 1.76253023e+01] [ 7.73548038e-03 9.99966987e-01 -2.48752330e-03 8.24590645e-01] [ 2.08249926e-03 2.47148277e-03 9.99994777e-01 6.79417802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.171400513 meters Centerline goodness [0,1] 0.9970044394638162 Centerline is valid? [True, True] Translation: X:17.66, Y:0.82, Z:0.07 [[ 9.99956942e-01 -9.13221948e-03 -1.64848893e-03 1.76551026e+01] [ 9.13202169e-03 9.99958294e-01 -1.27467928e-04 8.21817940e-01] [ 1.64958424e-03 1.12408403e-04 9.99998633e-01 6.90317070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.201400512999996 meters Centerline goodness [0,1] 0.9956859546703297 Centerline is valid? [True, True] Translation: X:17.68, Y:0.83, Z:0.07 [[ 9.99949808e-01 -9.85762944e-03 -1.79130133e-03 1.76831847e+01] [ 9.85739699e-03 9.99951405e-01 -1.38547251e-04 8.25772832e-01] [ 1.79258003e-03 1.20882729e-04 9.99998386e-01 6.82832798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.231400513 meters Centerline goodness [0,1] 0.986746500181117 Centerline is valid? [True, True] Translation: X:17.71, Y:0.83, Z:0.07 [[ 9.99953014e-01 -9.32788433e-03 -2.63836619e-03 1.77111508e+01] [ 9.32737786e-03 9.99956478e-01 -2.04205600e-04 8.33404300e-01] [ 2.64015617e-03 1.79586967e-04 9.99996499e-01 6.61746979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.261400513 meters Centerline goodness [0,1] 0.9983753926134518 Centerline is valid? [True, True] Translation: X:17.74, Y:0.83, Z:0.06 [[ 9.99962306e-01 -7.59836345e-03 -4.20138773e-03 1.77411956e+01] [ 7.59706316e-03 9.99971089e-01 -3.25362202e-04 8.30827744e-01] [ 4.20373848e-03 2.93431730e-04 9.99991121e-01 6.48928628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.291400513 meters Centerline goodness [0,1] 0.9833727175080559 Centerline is valid? [True, True] Translation: X:17.77, Y:0.84, Z:0.06 [[ 9.99968849e-01 -6.14214679e-03 -4.95733123e-03 1.77690711e+01] [ 6.14031811e-03 9.99981074e-01 -3.84019728e-04 8.41385980e-01] [ 4.95959611e-03 3.53568175e-04 9.99987639e-01 6.39554287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.321400513 meters Centerline goodness [0,1] 0.9308882448214133 Centerline is valid? [True, False] Translation: X:17.79, Y:0.85, Z:0.07 [[ 9.99983217e-01 -1.20231275e-03 -5.66750840e-03 1.77878936e+01] [ 1.15900582e-03 9.99970156e-01 -7.63836486e-03 8.51699481e-01] [ 5.67652296e-03 7.63166799e-03 9.99954766e-01 6.83359763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.351400513 meters Centerline goodness [0,1] 0.836041138768818 Centerline is valid? [False, False] Translation: X:17.79, Y:0.85, Z:0.07 [[ 9.99977272e-01 3.35042530e-03 -5.85058489e-03 1.77885277e+01] [-3.36620754e-03 9.99990717e-01 -2.68978737e-03 8.48724895e-01] [ 5.84151865e-03 2.70942052e-03 9.99979268e-01 6.83734892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.381400512999996 meters Centerline goodness [0,1] 0.890550252064786 Centerline is valid? [False, False] Translation: X:17.78, Y:0.85, Z:0.07 [[ 9.99972285e-01 5.54487425e-03 -4.96827643e-03 1.77818429e+01] [-5.54702562e-03 9.99984527e-01 -4.19346518e-04 8.49072052e-01] [ 4.96587433e-03 4.46894052e-04 9.99987570e-01 7.27945262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.411400513 meters Centerline goodness [0,1] 0.7004861686092181 Centerline is valid? [False, False] Translation: X:17.80, Y:0.84, Z:0.07 [[ 9.99953437e-01 9.55518818e-03 -1.34987026e-03 1.78039635e+01] [-9.53413993e-03 9.99844688e-01 1.48222797e-02 8.44539197e-01] [ 1.49129028e-03 -1.48087197e-02 9.99889233e-01 6.90229781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.441400513 meters Centerline goodness [0,1] 0.6966106365389915 Centerline is valid? [False, False] Translation: X:17.80, Y:0.85, Z:0.07 [[ 9.99983984e-01 5.56117633e-03 -1.05166596e-03 1.78027411e+01] [-5.55161067e-03 9.99945074e-01 8.88981884e-03 8.54047796e-01] [ 1.10104605e-03 -8.88383802e-03 9.99959932e-01 6.88842888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.471400513 meters Centerline goodness [0,1] 0.692140111063648 Centerline is valid? [False, False] Translation: X:17.80, Y:0.86, Z:0.07 [[ 9.99999162e-01 1.06448660e-03 -7.37122695e-04 1.78016182e+01] [-1.06229816e-03 9.99995046e-01 2.96295382e-03 8.62336425e-01] [ 7.40273068e-04 -2.96216829e-03 9.99995339e-01 6.87254830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.501400513 meters Centerline goodness [0,1] 0.7562022090059473 Centerline is valid? [False, False] Translation: X:17.81, Y:0.86, Z:0.06 [[ 9.99998120e-01 -1.29483027e-03 -1.44335528e-03 1.78076909e+01] [ 1.29575674e-03 9.99998955e-01 6.41140221e-04 8.63767128e-01] [ 1.44252360e-03 -6.43009253e-04 9.99998753e-01 6.44914891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.531400513 meters Centerline goodness [0,1] 0.9144351778401903 Centerline is valid? [False, False] Translation: X:17.80, Y:0.86, Z:0.07 [[ 9.99991972e-01 -3.95290903e-03 -6.56258822e-04 1.78013681e+01] [ 3.95161630e-03 9.99990272e-01 -1.95958389e-03 8.63404550e-01] [ 6.63998495e-04 1.95697488e-03 9.99997865e-01 6.89189494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.561400512999995 meters Centerline goodness [0,1] 0.9900667256904705 Centerline is valid? [False, True] Translation: X:17.80, Y:0.86, Z:0.07 [[ 9.99989648e-01 -4.52804737e-03 -4.47900243e-04 1.78003390e+01] [ 4.52750889e-03 9.99989036e-01 -1.19603370e-03 8.58234824e-01] [ 4.53311029e-04 1.19399345e-03 9.99999184e-01 7.00066695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.591400512999996 meters Centerline goodness [0,1] 0.9513626121338379 Centerline is valid? [True, True] Translation: X:17.83, Y:0.86, Z:0.07 [[ 9.99980257e-01 -6.28253546e-03 -1.20828717e-04 1.78298593e+01] [ 6.28253442e-03 9.99980265e-01 -8.97664687e-06 8.63135424e-01] [ 1.20882728e-04 8.21735907e-06 9.99999993e-01 7.08263885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.621400513 meters Centerline goodness [0,1] 0.9803169021634255 Centerline is valid? [True, True] Translation: X:17.86, Y:0.86, Z:0.07 [[ 9.99974991e-01 -7.06393689e-03 -3.43351463e-04 1.78606025e+01] [ 7.06392854e-03 9.99975050e-01 -2.55083800e-05 8.60933914e-01] [ 3.43523086e-04 2.30823319e-05 9.99999941e-01 7.05194605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.651400513 meters Centerline goodness [0,1] 0.9803169021634255 Centerline is valid? [True, True] Translation: X:17.89, Y:0.86, Z:0.07 [[ 9.99974991e-01 -7.06393689e-03 -3.43351463e-04 1.78905875e+01] [ 7.06392854e-03 9.99975050e-01 -2.55083800e-05 8.63161570e-01] [ 3.43523086e-04 2.30823319e-05 9.99999941e-01 7.05593438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.681400513 meters Centerline goodness [0,1] 0.9819522277385949 Centerline is valid? [True, True] Translation: X:17.92, Y:0.86, Z:0.07 [[ 9.99972419e-01 -7.40432728e-03 -5.80612319e-04 1.79202850e+01] [ 7.40430348e-03 9.99972587e-01 -4.31263233e-05 8.63739402e-01] [ 5.80915724e-04 3.88261041e-05 9.99999831e-01 6.98897445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.711400513 meters Centerline goodness [0,1] 0.9891713137076903 Centerline is valid? [True, True] Translation: X:17.95, Y:0.86, Z:0.07 [[ 9.99961476e-01 -8.70175092e-03 -1.15112212e-03 1.79506228e+01] [ 8.70165820e-03 9.99962136e-01 -8.55269661e-05 8.60026924e-01] [ 1.15182277e-03 7.55070001e-05 9.99999334e-01 6.82033548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.741400512999995 meters Centerline goodness [0,1] 0.9954710144927537 Centerline is valid? [True, True] Translation: X:17.98, Y:0.86, Z:0.07 [[ 9.99938653e-01 -1.09784231e-02 -1.47143383e-03 1.79805336e+01] [ 1.09782740e-02 9.99939731e-01 -1.09388955e-04 8.55096049e-01] [ 1.47254607e-03 9.32284408e-05 9.99998911e-01 6.76479304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.771400512999996 meters Centerline goodness [0,1] 0.9985201707165376 Centerline is valid? [True, True] Translation: X:18.01, Y:0.85, Z:0.07 [[ 9.99925823e-01 -1.20875024e-02 -1.49698067e-03 1.80112789e+01] [ 1.20873493e-02 9.99926939e-01 -1.11318647e-04 8.50466829e-01] [ 1.49821686e-03 9.32158616e-05 9.99998873e-01 6.76894558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.801400513 meters Centerline goodness [0,1] 0.9979706925278763 Centerline is valid? [True, True] Translation: X:18.04, Y:0.85, Z:0.07 [[ 9.99914994e-01 -1.29824147e-02 -1.20868378e-03 1.80399058e+01] [ 1.29823155e-02 9.99915722e-01 -8.98888341e-05 8.49420096e-01] [ 1.20974889e-03 7.41896788e-05 9.99999266e-01 6.84150000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.831400513 meters Centerline goodness [0,1] 0.9991037323147179 Centerline is valid? [True, True] Translation: X:18.07, Y:0.84, Z:0.07 [[ 9.99908571e-01 -1.34749437e-02 -1.12897682e-03 1.80702690e+01] [ 1.34748574e-02 9.99909206e-01 -8.39997577e-05 8.40687218e-01] [ 1.13000621e-03 6.87792760e-05 9.99999359e-01 6.85533735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.861400513 meters Centerline goodness [0,1] 0.997577766445691 Centerline is valid? [True, True] Translation: X:18.10, Y:0.84, Z:0.07 [[ 9.99918872e-01 -1.26969202e-02 -1.01842542e-03 1.80998610e+01] [ 1.26968496e-02 9.99919389e-01 -7.57985617e-05 8.40949373e-01] [ 1.01930573e-03 6.28616180e-05 9.99999479e-01 6.91147347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.891400513 meters Centerline goodness [0,1] 0.9507138291071809 Centerline is valid? [True, True] Translation: X:18.13, Y:0.85, Z:0.07 [[ 9.99957337e-01 -9.04226638e-03 -1.88725093e-03 1.81285561e+01] [ 9.04201724e-03 9.99959110e-01 -1.40503646e-04 8.46106031e-01] [ 1.88844423e-03 1.23433097e-04 9.99998209e-01 6.76514288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.921400513 meters Centerline goodness [0,1] 0.9934788711105353 Centerline is valid? [True, True] Translation: X:18.16, Y:0.84, Z:0.07 [[ 9.99975546e-01 -6.38669162e-03 -2.84915695e-03 1.81595254e+01] [ 6.38611292e-03 9.99979586e-01 -2.12163835e-04 8.41155130e-01] [ 2.85045382e-03 1.93963609e-04 9.99995919e-01 6.69374769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.951400512999996 meters Centerline goodness [0,1] 0.9882522538029563 Centerline is valid? [True, True] Translation: X:18.19, Y:0.84, Z:0.07 [[ 9.99987236e-01 -3.29103707e-03 -3.83374440e-03 1.81896924e+01] [ 3.28996664e-03 9.99994547e-01 -2.85485048e-04 8.44192207e-01] [ 3.83466304e-03 2.72868513e-04 9.99992610e-01 6.54936606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.981400513 meters Centerline goodness [0,1] 0.8655272835490934 Centerline is valid? [True, False] Translation: X:18.21, Y:0.85, Z:0.06 [[ 9.99995540e-01 2.97982965e-03 -2.03905485e-04 1.82129563e+01] [-2.98096659e-03 9.99978601e-01 -5.82336294e-03 8.49757011e-01] [ 1.86548492e-04 5.82394480e-03 9.99983023e-01 6.00820130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.011400513 meters Centerline goodness [0,1] 0.678321378867359 Centerline is valid? [False, False] Translation: X:18.21, Y:0.84, Z:0.06 [[ 9.99969763e-01 7.77326270e-03 -2.21679899e-04 1.82131574e+01] [-7.77333572e-03 9.99969733e-01 -3.30433007e-04 8.44272683e-01] [ 2.19104647e-04 3.32146208e-04 9.99999921e-01 6.00161752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.041400513 meters Centerline goodness [0,1] 0.7416210153992149 Centerline is valid? [False, False] Translation: X:18.21, Y:0.85, Z:0.06 [[ 9.99970604e-01 7.66752326e-03 1.37057551e-05 1.82125024e+01] [-7.66750374e-03 9.99970008e-01 -1.09162371e-03 8.48093125e-01] [-2.20753943e-05 1.09148654e-03 9.99999404e-01 5.96700379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.071400513 meters Centerline goodness [0,1] 0.6266518884815415 Centerline is valid? [False, False] Translation: X:18.22, Y:0.85, Z:0.06 [[ 9.99949991e-01 9.96325850e-03 -8.65980442e-04 1.82192262e+01] [-9.96206545e-03 9.99949437e-01 1.37125403e-03 8.46775077e-01] [ 8.79598814e-04 -1.36255850e-03 9.99998685e-01 5.53773562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.101400513 meters Centerline goodness [0,1] 0.6141226051992172 Centerline is valid? [False, False] Translation: X:18.22, Y:0.85, Z:0.06 [[ 9.99951024e-01 9.86095282e-03 -8.43079568e-04 1.82192598e+01] [-9.86000079e-03 9.99950755e-01 1.12602529e-03 8.47906578e-01] [ 8.54141733e-04 -1.11765738e-03 9.99999011e-01 5.51331720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.131400512999996 meters Centerline goodness [0,1] 0.7011229174300062 Centerline is valid? [False, False] Translation: X:18.22, Y:0.85, Z:0.06 [[ 9.99952758e-01 9.69628652e-03 -6.80750289e-04 1.82184419e+01] [-9.69579506e-03 9.99952734e-01 7.21554392e-04 8.49828684e-01] [ 6.87714511e-04 -7.14919889e-04 9.99999508e-01 5.56884091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.161400513 meters Centerline goodness [0,1] 0.6746760490860723 Centerline is valid? [False, False] Translation: X:18.22, Y:0.85, Z:0.06 [[ 9.99953487e-01 9.62602685e-03 -6.02659719e-04 1.82179391e+01] [-9.62568767e-03 9.99953513e-01 5.63191548e-04 8.50591903e-01] [ 6.08053000e-04 -5.57364338e-04 9.99999660e-01 5.61619438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.191400513 meters Centerline goodness [0,1] 0.5662484049340706 Centerline is valid? [False, False] Translation: X:18.22, Y:0.85, Z:0.06 [[ 9.99953995e-01 9.57145869e-03 -6.27763954e-04 1.82179760e+01] [-9.57118103e-03 9.99954097e-01 4.43824532e-04 8.51141265e-01] [ 6.31983186e-04 -4.37795672e-04 9.99999704e-01 5.62280361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.221400513 meters Centerline goodness [0,1] 0.626196324214449 Centerline is valid? [False, False] Translation: X:18.22, Y:0.85, Z:0.06 [[ 9.99954452e-01 9.50579639e-03 -8.56107646e-04 1.82190768e+01] [-9.50556476e-03 9.99954783e-01 2.74228643e-04 8.51900613e-01] [ 8.58675698e-04 -2.66078366e-04 9.99999596e-01 5.55870372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.251400513 meters Centerline goodness [0,1] 0.6347829774601896 Centerline is valid? [False, False] Translation: X:18.22, Y:0.86, Z:0.06 [[ 9.99984745e-01 5.50184181e-03 -4.90064633e-04 1.82178777e+01] [-5.50425482e-03 9.99972015e-01 -5.06670845e-03 8.57908547e-01] [ 4.62174690e-04 5.06932860e-03 9.99987044e-01 5.52073000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.281400513 meters Centerline goodness [0,1] 0.5182912637792776 Centerline is valid? [False, False] Translation: X:18.22, Y:0.86, Z:0.06 [[ 9.99983932e-01 5.65636035e-03 -3.76770016e-04 1.82174488e+01] [-5.65808390e-03 9.99972748e-01 -4.74238582e-03 8.56408279e-01] [ 3.49935105e-04 4.74444142e-03 9.99988684e-01 5.52721179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.311400512999995 meters Centerline goodness [0,1] 0.6564960003394937 Centerline is valid? [False, False] Translation: X:18.22, Y:0.86, Z:0.06 [[ 9.99983615e-01 5.71511348e-03 -3.28695524e-04 1.82172098e+01] [-5.71656780e-03 9.99973042e-01 -4.60827912e-03 8.55789482e-01] [ 3.02349825e-04 4.61008262e-03 9.99989328e-01 5.54174526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.341400512999996 meters Centerline goodness [0,1] 0.5550054187296798 Centerline is valid? [False, False] Translation: X:18.22, Y:0.86, Z:0.06 [[ 9.99983662e-01 5.70601473e-03 -3.41942278e-04 1.82172754e+01] [-5.70753382e-03 9.99973041e-01 -4.61966926e-03 8.55832005e-01] [ 3.15573159e-04 4.62154543e-03 9.99989271e-01 5.53861424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.371400513 meters Centerline goodness [0,1] 0.5167710863913395 Centerline is valid? [False, False] Translation: X:18.22, Y:0.86, Z:0.06 [[ 9.99983851e-01 5.66704178e-03 -4.27301725e-04 1.82177389e+01] [-5.66899028e-03 9.99972859e-01 -4.70571714e-03 8.56215588e-01] [ 4.00622632e-04 4.70806352e-03 9.99988837e-01 5.50265480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.401400513 meters Centerline goodness [0,1] 0.57489973547231 Centerline is valid? [False, False] Translation: X:18.22, Y:0.86, Z:0.06 [[ 9.99983492e-01 5.72986579e-03 -4.30230181e-04 1.82177161e+01] [-5.73176942e-03 9.99973167e-01 -4.56211165e-03 8.55553179e-01] [ 4.04078349e-04 4.56450232e-03 9.99989501e-01 5.50899770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.431400513 meters Centerline goodness [0,1] 0.6728989894682983 Centerline is valid? [False, False] Translation: X:18.22, Y:0.85, Z:0.06 [[ 9.99983308e-01 5.77331370e-03 -2.29968789e-04 1.82164714e+01] [-5.77427114e-03 9.99973620e-01 -4.40649891e-03 8.54877836e-01] [ 2.04522622e-04 4.40775325e-03 9.99990265e-01 5.62499379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.461400513 meters Centerline goodness [0,1] 0.7055164722031572 Centerline is valid? [False, False] Translation: X:18.22, Y:0.85, Z:0.06 [[ 9.99983370e-01 5.76424591e-03 -1.81536178e-04 1.82159876e+01] [-5.76498986e-03 9.99973677e-01 -4.40576874e-03 8.54884819e-01] [ 1.56135465e-04 4.40674203e-03 9.99990278e-01 5.69083325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.491400512999995 meters Centerline goodness [0,1] 0.6728004600345026 Centerline is valid? [False, False] Translation: X:18.22, Y:0.85, Z:0.06 [[ 9.99951898e-01 9.79275891e-03 -5.50621578e-04 1.82171404e+01] [-9.79227760e-03 9.99951676e-01 8.70130648e-04 8.49275729e-01] [ 5.59115949e-04 -8.64696953e-04 9.99999470e-01 5.73515654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.521400512999996 meters Centerline goodness [0,1] 0.6417790385063189 Centerline is valid? [False, False] Translation: X:18.22, Y:0.85, Z:0.06 [[ 9.99953351e-01 9.64372447e-03 -5.43089570e-04 1.82171590e+01] [-9.64342354e-03 9.99953348e-01 5.54013973e-04 8.50735620e-01] [ 5.48406992e-04 -5.48750886e-04 9.99999699e-01 5.72453368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.551400513 meters Centerline goodness [0,1] 0.6900783739557317 Centerline is valid? [False, False] Translation: X:18.20, Y:0.85, Z:0.06 [[ 9.99948977e-01 8.23669500e-03 -5.84805844e-03 1.81951946e+01] [-8.17598638e-03 9.99913217e-01 1.03300924e-02 8.45244305e-01] [ 5.93263675e-03 -1.02817517e-02 9.99929542e-01 6.30478287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.581400513 meters Centerline goodness [0,1] 0.6711845683208701 Centerline is valid? [False, False] Translation: X:18.22, Y:0.86, Z:0.06 [[ 9.99976597e-01 6.83587760e-03 -2.77582240e-04 1.82192682e+01] [-6.83639038e-03 9.99974845e-01 -1.89038894e-03 8.59057262e-01] [ 2.64652790e-04 1.89224236e-03 9.99998175e-01 5.60612334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.611400513 meters Centerline goodness [0,1] 0.7524075336628601 Centerline is valid? [False, False] Translation: X:18.22, Y:0.86, Z:0.06 [[ 9.99997955e-01 2.01890063e-03 -1.16949458e-04 1.82183940e+01] [-2.01970428e-03 9.99971050e-01 -7.33620972e-03 8.64287567e-01] [ 1.02134994e-04 7.33643093e-03 9.99973083e-01 5.65463228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.641400513 meters Centerline goodness [0,1] 0.9001078981441519 Centerline is valid? [False, False] Translation: X:18.20, Y:0.85, Z:0.06 [[ 9.99983827e-01 1.91564539e-04 -5.68418630e-03 1.81966338e+01] [-1.79067652e-04 9.99997566e-01 2.19896319e-03 8.54374012e-01] [ 5.68459371e-03 -2.19790977e-03 9.99981427e-01 6.21759424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.671400513 meters Centerline goodness [0,1] 0.9113961624085657 Centerline is valid? [False, False] Translation: X:18.24, Y:0.86, Z:0.06 [[ 9.99988930e-01 -3.42103875e-03 -3.23041098e-03 1.82391000e+01] [ 3.41347258e-03 9.99991425e-01 -2.34478630e-03 8.60364853e-01] [ 3.23840489e-03 2.33373342e-03 9.99992033e-01 6.04454591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.701400512999996 meters Centerline goodness [0,1] 0.7925283806521692 Centerline is valid? [False, False] Translation: X:18.24, Y:0.86, Z:0.06 [[ 9.99989280e-01 -3.25829102e-03 -3.28996011e-03 1.82391281e+01] [ 3.25207315e-03 9.99992919e-01 -1.89353624e-03 8.58238872e-01] [ 3.29610650e-03 1.88281675e-03 9.99992795e-01 6.08080905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.731400513 meters Centerline goodness [0,1] 0.9625661574064154 Centerline is valid? [False, True] Translation: X:18.24, Y:0.86, Z:0.06 [[ 9.99989534e-01 -3.16163643e-03 -3.30700633e-03 1.82389708e+01] [ 3.15619359e-03 9.99993658e-01 -1.64977623e-03 8.57107212e-01] [ 3.31220135e-03 1.63932141e-03 9.99993171e-01 6.12618415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.761400513 meters Centerline goodness [0,1] 0.9685844943103264 Centerline is valid? [True, True] Translation: X:18.27, Y:0.86, Z:0.06 [[ 9.99990690e-01 -3.30895971e-03 -2.76970510e-03 1.82671959e+01] [ 3.30842917e-03 9.99994508e-01 -1.96112336e-04 8.56572749e-01] [ 2.77033882e-03 1.86947137e-04 9.99996145e-01 6.30587781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.791400513 meters Centerline goodness [0,1] 0.967763340967956 Centerline is valid? [True, True] Translation: X:18.30, Y:0.86, Z:0.06 [[ 9.99993604e-01 -2.30569865e-03 -2.73413565e-03 1.82965421e+01] [ 2.30517572e-03 9.99997324e-01 -1.94393436e-04 8.58765770e-01] [ 2.73457655e-03 1.88089530e-04 9.99996243e-01 6.30995487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.821400513 meters Centerline goodness [0,1] 0.7636212659952732 Centerline is valid? [True, False] Translation: X:18.30, Y:0.86, Z:0.06 [[ 9.99993395e-01 -5.53623970e-04 -3.59213431e-03 1.83026140e+01] [ 5.59181351e-04 9.99998648e-01 1.54627736e-03 8.56190559e-01] [ 3.59127339e-03 -1.54827580e-03 9.99992353e-01 5.91899321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.851400513 meters Centerline goodness [0,1] 0.9359220402592971 Centerline is valid? [False, False] Translation: X:18.30, Y:0.86, Z:0.06 [[ 9.99993045e-01 -5.52099481e-04 -3.68846585e-03 1.83032121e+01] [ 5.57728554e-04 9.99998681e-01 1.52527432e-03 8.56265775e-01] [ 3.68761889e-03 -1.52732088e-03 9.99992034e-01 5.86389760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.881400512999996 meters Centerline goodness [0,1] 0.8048016701461378 Centerline is valid? [False, False] Translation: X:18.30, Y:0.86, Z:0.06 [[ 9.99992824e-01 -5.24425004e-04 -3.75201945e-03 1.83036012e+01] [ 5.30313436e-04 9.99998629e-01 1.56858052e-03 8.56062730e-01] [ 3.75119170e-03 -1.57055901e-03 9.99991731e-01 5.82961023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.911400513 meters Centerline goodness [0,1] 0.7944326391840204 Centerline is valid? [False, False] Translation: X:18.30, Y:0.85, Z:0.06 [[ 9.99992793e-01 -2.30091683e-04 -3.78949529e-03 1.83037067e+01] [ 2.38520537e-04 9.99997499e-01 2.22396658e-03 8.52987477e-01] [ 3.78897409e-03 -2.22485443e-03 9.99990347e-01 5.83512772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.941400513 meters Centerline goodness [0,1] 0.9670547172622215 Centerline is valid? [False, True] Translation: X:18.30, Y:0.85, Z:0.06 [[ 9.99992824e-01 7.30903183e-05 -3.78772450e-03 1.83036742e+01] [-6.19677670e-05 9.99995687e-01 2.93650730e-03 8.49635455e-01] [ 3.78792279e-03 -2.93625151e-03 9.99988515e-01 5.84359166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.971400513 meters Centerline goodness [0,1] 0.89326354601513 Centerline is valid? [True, False] Translation: X:18.30, Y:0.85, Z:0.06 [[ 9.99984704e-01 -4.15829290e-03 -3.64683823e-03 1.83032759e+01] [ 4.15397085e-03 9.99990662e-01 -1.19192602e-03 8.48702303e-01] [ 3.65176055e-03 1.17675893e-03 9.99992640e-01 5.83396252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.001400513 meters Centerline goodness [0,1] 0.9934983266184904 Centerline is valid? [False, True] Translation: X:18.30, Y:0.84, Z:0.06 [[ 9.99985825e-01 -3.83605669e-03 -3.69249330e-03 1.83033201e+01] [ 3.83459477e-03 9.99992567e-01 -4.02913428e-04 8.44999429e-01] [ 3.69401145e-03 3.88748501e-04 9.99993102e-01 5.86201926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.031400513 meters Centerline goodness [0,1] 0.9505896276258506 Centerline is valid? [True, True] Translation: X:18.33, Y:0.85, Z:0.06 [[ 9.99981590e-01 -4.66623647e-03 -3.87894717e-03 1.83312502e+01] [ 4.66519623e-03 9.99989079e-01 -2.77180447e-04 8.52588632e-01] [ 3.88019820e-03 2.59079294e-04 9.99992438e-01 5.83135546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.061400512999995 meters Centerline goodness [0,1] 0.9804440998470849 Centerline is valid? [True, True] Translation: X:18.36, Y:0.85, Z:0.06 [[ 9.99982146e-01 -2.62087053e-03 -5.37010713e-03 1.83620036e+01] [ 2.61884415e-03 9.99996497e-01 -3.84341584e-04 8.50784935e-01] [ 5.37109563e-03 3.70271248e-04 9.99985507e-01 5.63869521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.091400512999996 meters Centerline goodness [0,1] 0.9507465539579041 Centerline is valid? [True, True] Translation: X:18.39, Y:0.86, Z:0.06 [[ 9.99981727e-01 -7.80999154e-04 -5.99467408e-03 1.83910015e+01] [ 7.78440901e-04 9.99999605e-01 -4.29075674e-04 8.55106346e-01] [ 5.99500682e-03 4.24401334e-04 9.99981940e-01 5.52262169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.121400513 meters Centerline goodness [0,1] 0.8553719008264463 Centerline is valid? [True, False] Translation: X:18.39, Y:0.85, Z:0.06 [[ 9.99982787e-01 -6.62138917e-04 -5.82979298e-03 1.83904749e+01] [ 6.60400976e-04 9.99999737e-01 -3.00033582e-04 8.54588352e-01] [ 5.82999011e-03 2.96178416e-04 9.99982962e-01 5.51592235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.151400513 meters Centerline goodness [0,1] 0.9459049004299374 Centerline is valid? [False, False] Translation: X:18.39, Y:0.85, Z:0.06 [[ 9.99983556e-01 -6.25885093e-04 -5.70048051e-03 1.83897956e+01] [ 6.24508113e-04 9.99999775e-01 -2.43331976e-04 8.54370194e-01] [ 5.70063152e-03 2.39767978e-04 9.99983723e-01 5.56461974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.181400513 meters Centerline goodness [0,1] 0.8881121861813221 Centerline is valid? [False, False] Translation: X:18.39, Y:0.85, Z:0.06 [[ 9.99984263e-01 -6.08030235e-04 -5.57705077e-03 1.83891122e+01] [ 6.06654508e-04 9.99999785e-01 -2.48364795e-04 8.54448040e-01] [ 5.57720058e-03 2.44977544e-04 9.99984417e-01 5.61475120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.211400513 meters Centerline goodness [0,1] 0.6953749362353341 Centerline is valid? [False, False] Translation: X:18.39, Y:0.86, Z:0.06 [[ 9.99984432e-01 -6.69972605e-04 -5.53959557e-03 1.83890373e+01] [ 6.67163133e-04 9.99999648e-01 -5.08994239e-04 8.55730127e-01] [ 5.53993464e-03 5.05290501e-04 9.99984527e-01 5.60275678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.241400512999995 meters Centerline goodness [0,1] 0.7299122358554874 Centerline is valid? [False, False] Translation: X:18.39, Y:0.86, Z:0.06 [[ 9.99984259e-01 -7.70018774e-04 -5.55781738e-03 1.83892826e+01] [ 7.65615937e-04 9.99999391e-01 -7.94272237e-04 8.57081268e-01] [ 5.55842560e-03 7.90004581e-04 9.99984240e-01 5.56335157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.271400512999996 meters Centerline goodness [0,1] 0.6771810783534817 Centerline is valid? [False, False] Translation: X:18.39, Y:0.86, Z:0.05 [[ 9.99984136e-01 -9.28721663e-04 -5.55562240e-03 1.83895799e+01] [ 9.20706851e-04 9.99998532e-01 -1.44503241e-03 8.60239308e-01] [ 5.55695627e-03 1.43989438e-03 9.99983523e-01 5.49278072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.301400513 meters Centerline goodness [0,1] 0.7261338815366825 Centerline is valid? [False, False] Translation: X:18.39, Y:0.86, Z:0.05 [[ 9.99984033e-01 -1.08101989e-03 -5.54666584e-03 1.83897572e+01] [ 1.07070980e-03 9.99997694e-01 -1.86142478e-03 8.62205385e-01] [ 5.54866529e-03 1.85545619e-03 9.99982885e-01 5.44726643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.331400513 meters Centerline goodness [0,1] 0.5658132754474452 Centerline is valid? [False, False] Translation: X:18.40, Y:0.86, Z:0.05 [[ 9.99979949e-01 6.65147065e-04 -6.29761760e-03 1.83958142e+01] [-6.66011721e-04 9.99999769e-01 -1.35202800e-04 8.60820430e-01] [ 6.29752621e-03 1.39394377e-04 9.99980161e-01 5.03807736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.361400513 meters Centerline goodness [0,1] 0.5405036278275714 Centerline is valid? [False, False] Translation: X:18.40, Y:0.86, Z:0.05 [[ 9.99979380e-01 6.63197417e-04 -6.38746106e-03 1.83964314e+01] [-6.64536166e-04 9.99999758e-01 -2.07470082e-04 8.61155525e-01] [ 6.38732192e-03 2.11710503e-04 9.99979578e-01 4.97244797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.391400513 meters Centerline goodness [0,1] 0.653489622540058 Centerline is valid? [False, False] Translation: X:18.40, Y:0.86, Z:0.05 [[ 9.99979652e-01 7.14619034e-04 -6.33922111e-03 1.83960396e+01] [-7.15189935e-04 9.99999740e-01 -8.77921026e-05 8.60619043e-01] [ 6.33915673e-03 9.23240633e-05 9.99979903e-01 5.01800430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.421400513 meters Centerline goodness [0,1] 0.6274688673441245 Centerline is valid? [False, False] Translation: X:18.43, Y:0.86, Z:0.05 [[ 9.99997758e-01 -3.40971426e-04 -2.08985639e-03 1.84311379e+01] [ 3.36992264e-04 9.99998130e-01 -1.90409216e-03 8.64805410e-01] [ 2.09050172e-03 1.90338363e-03 9.99996003e-01 5.33115279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.451400512999996 meters Centerline goodness [0,1] 0.6395656950817553 Centerline is valid? [False, False] Translation: X:18.39, Y:0.86, Z:0.06 [[ 9.99991362e-01 -9.07630303e-04 -4.05623335e-03 1.83875222e+01] [ 9.07940973e-04 9.99999585e-01 7.47499793e-05 8.57289314e-01] [ 4.05616382e-03 -7.84321540e-05 9.99991771e-01 5.51192241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.481400513 meters Centerline goodness [0,1] 0.7635808352105354 Centerline is valid? [False, False] Translation: X:18.39, Y:0.85, Z:0.06 [[ 9.99990837e-01 -6.77795122e-04 -4.22689243e-03 1.83881281e+01] [ 6.81221394e-04 9.99999441e-01 8.09201789e-04 8.53753913e-01] [ 4.22634159e-03 -8.12073824e-04 9.99990739e-01 5.50593751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.511400513 meters Centerline goodness [0,1] 0.9139111092099071 Centerline is valid? [False, False] Translation: X:18.43, Y:0.86, Z:0.05 [[ 9.99986762e-01 -4.53458817e-03 -2.43158357e-03 1.84325796e+01] [ 4.52585178e-03 9.99983327e-01 -3.58642897e-03 8.58358567e-01] [ 2.44780601e-03 3.57537650e-03 9.99990612e-01 5.24254066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.541400513 meters Centerline goodness [0,1] 0.9139111092099071 Centerline is valid? [False, False] Translation: X:18.43, Y:0.86, Z:0.05 [[ 9.99986762e-01 -4.53458817e-03 -2.43158357e-03 1.84325796e+01] [ 4.52585178e-03 9.99983327e-01 -3.58642897e-03 8.58358567e-01] [ 2.44780601e-03 3.57537650e-03 9.99990612e-01 5.24254066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.571400513 meters Centerline goodness [0,1] 0.9982912919968389 Centerline is valid? [False, True] Translation: X:18.43, Y:0.85, Z:0.05 [[ 9.99982331e-01 -5.27069160e-03 -2.74891255e-03 1.84333991e+01] [ 5.26265557e-03 9.99981882e-01 -2.92243515e-03 8.53295359e-01] [ 2.76426600e-03 2.90791694e-03 9.99991951e-01 5.31878956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.601400513 meters Centerline goodness [0,1] 0.9976993374944081 Centerline is valid? [True, True] Translation: X:18.46, Y:0.85, Z:0.05 [[ 9.99964133e-01 -8.23590397e-03 -1.97552871e-03 1.84625717e+01] [ 8.23564344e-03 9.99966077e-01 -1.39979596e-04 8.51827979e-01] [ 1.97661455e-03 1.23704826e-04 9.99998039e-01 5.49730342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.631400512999996 meters Centerline goodness [0,1] 0.998631074606434 Centerline is valid? [True, True] Translation: X:18.49, Y:0.85, Z:0.06 [[ 9.99937851e-01 -1.10627963e-02 -1.38143996e-03 1.84936653e+01] [ 1.10626716e-02 9.99938802e-01 -9.78812536e-05 8.48553622e-01] [ 1.38243826e-03 8.25927538e-05 9.99999041e-01 5.66017425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.661400513 meters Centerline goodness [0,1] 0.9995310468313687 Centerline is valid? [True, True] Translation: X:18.53, Y:0.83, Z:0.06 [[ 9.99889507e-01 -1.48174221e-02 -1.19066739e-03 1.85255014e+01] [ 1.48173321e-02 9.99890214e-01 -8.43664110e-05 8.33126973e-01] [ 1.19178677e-03 6.67145749e-05 9.99999288e-01 5.73175806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.691400513 meters Centerline goodness [0,1] 0.998914131198501 Centerline is valid? [True, True] Translation: X:18.55, Y:0.84, Z:0.06 [[ 9.99864667e-01 -1.64083720e-02 -1.18907619e-03 1.85535856e+01] [ 1.64082833e-02 9.99865372e-01 -8.43081452e-05 8.42405666e-01] [ 1.19029947e-03 6.47860364e-05 9.99999289e-01 5.69303035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.721400513 meters Centerline goodness [0,1] 0.9998720354888244 Centerline is valid? [True, True] Translation: X:18.59, Y:0.82, Z:0.06 [[ 9.99788713e-01 -2.05550133e-02 1.41275745e-04 1.85860078e+01] [ 2.05550121e-02 9.99788723e-01 1.00125824e-05 8.18278957e-01] [-1.41451705e-04 -7.10654228e-06 9.99999990e-01 5.96343485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.751400513 meters Centerline goodness [0,1] 0.999872994369417 Centerline is valid? [True, True] Translation: X:18.61, Y:0.82, Z:0.06 [[ 9.99741360e-01 -2.27092802e-02 1.22526152e-03 1.86145622e+01] [ 2.27091908e-02 9.99742109e-01 8.68667907e-05 8.18425977e-01] [-1.22691822e-03 -5.90196258e-05 9.99999246e-01 6.08152634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.781400513 meters Centerline goodness [0,1] 0.9998084821143575 Centerline is valid? [True, True] Translation: X:18.65, Y:0.81, Z:0.06 [[ 9.99689008e-01 -2.48777942e-02 1.72715820e-03 1.86451434e+01] [ 2.48776196e-02 9.99690497e-01 1.22500350e-04 8.13302177e-01] [-1.72967118e-03 -7.94946686e-05 9.99998501e-01 6.18062987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.811400512999995 meters Centerline goodness [0,1] 0.999873187640022 Centerline is valid? [True, True] Translation: X:18.67, Y:0.80, Z:0.06 [[ 9.99622394e-01 -2.74688261e-02 7.29630725e-04 1.86743981e+01] [ 2.74687957e-02 9.99622660e-01 5.17505072e-05 8.04572486e-01] [-7.30776932e-04 -3.16888887e-05 9.99999732e-01 5.98292521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.841400512999996 meters Centerline goodness [0,1] 0.9998513516383173 Centerline is valid? [True, True] Translation: X:18.70, Y:0.80, Z:0.06 [[ 9.99608219e-01 -2.79891054e-02 1.39194350e-04 1.87033160e+01] [ 2.79891043e-02 9.99608228e-01 9.76766300e-06 7.98213739e-01] [-1.39413206e-04 -5.86791103e-06 9.99999990e-01 5.93236419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.871400513 meters Centerline goodness [0,1] 0.9999147703059746 Centerline is valid? [True, True] Translation: X:18.73, Y:0.79, Z:0.06 [[ 9.99613684e-01 -2.77848494e-02 6.96523306e-04 1.87323584e+01] [ 2.77848217e-02 9.99613926e-01 4.95200642e-05 7.90215111e-01] [-6.97630304e-04 -3.01481580e-05 9.99999756e-01 5.98173768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.901400513 meters Centerline goodness [0,1] 0.9998507303550486 Centerline is valid? [True, True] Translation: X:18.76, Y:0.80, Z:0.06 [[ 9.99614836e-01 -2.77251758e-02 1.22259953e-03 1.87594541e+01] [ 2.77250899e-02 9.99615582e-01 8.71859887e-05 7.95412869e-01] [-1.22454679e-03 -5.32557258e-05 9.99999249e-01 6.05914709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.931400513 meters Centerline goodness [0,1] 0.9881514058196879 Centerline is valid? [True, True] Translation: X:18.79, Y:0.81, Z:0.05 [[ 9.99683217e-01 -2.47672401e-02 4.47758284e-03 1.87861913e+01] [ 2.47416892e-02 9.99677773e-01 5.67449722e-03 8.12509007e-01] [-4.61668168e-03 -5.56191668e-03 9.99973875e-01 5.42228361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.961400513 meters Centerline goodness [0,1] 0.9998932969120127 Centerline is valid? [True, True] Translation: X:18.82, Y:0.79, Z:0.06 [[ 9.99552285e-01 -2.98883739e-02 -1.38391725e-03 1.88186311e+01] [ 2.98804465e-02 9.99538716e-01 -5.43265313e-03 7.89335355e-01] [ 1.54565204e-03 5.38886878e-03 9.99984285e-01 5.58824601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.991400512999995 meters Centerline goodness [0,1] 0.9999788175983393 Centerline is valid? [True, True] Translation: X:18.85, Y:0.79, Z:0.05 [[ 9.99507384e-01 -3.12850400e-02 -2.49715315e-03 1.88471597e+01] [ 3.12846896e-02 9.99510498e-01 -1.79299437e-04 7.85643389e-01] [ 2.50154018e-03 1.01088450e-04 9.99996866e-01 5.47531543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.021400512999996 meters Centerline goodness [0,1] 0.9999574187229875 Centerline is valid? [True, True] Translation: X:18.88, Y:0.78, Z:0.06 [[ 9.99362841e-01 -3.56331991e-02 -2.04612638e-03 1.88786813e+01] [ 3.56329731e-02 9.99364933e-01 -1.46812695e-04 7.76724562e-01] [ 2.05005836e-03 7.38095858e-05 9.99997896e-01 5.50961066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.051400513 meters Centerline goodness [0,1] 0.999936731551975 Centerline is valid? [True, True] Translation: X:18.91, Y:0.77, Z:0.06 [[ 9.99241973e-01 -3.89145330e-02 -1.06726384e-03 1.89076368e+01] [ 3.89144733e-02 9.99242542e-01 -7.66415419e-05 7.72055780e-01] [ 1.06943790e-03 3.50514353e-05 9.99999428e-01 5.58553050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.081400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.94, Y:0.76, Z:0.06 [[ 9.98973716e-01 -4.52910212e-02 -4.88251275e-04 1.89398152e+01] [ 4.52910095e-02 9.98973835e-01 -3.50364309e-05 7.55250341e-01] [ 4.89337084e-04 1.28870805e-05 9.99999880e-01 5.69983342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.111400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.97, Y:0.75, Z:0.06 [[ 9.98830330e-01 -4.83483408e-02 -6.40813745e-04 1.89697475e+01] [ 4.83483211e-02 9.98830535e-01 -4.62211914e-05 7.49689023e-01] [ 6.42299054e-04 1.51848591e-05 9.99999794e-01 5.74539274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.141400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.00, Y:0.75, Z:0.06 [[ 9.98703491e-01 -5.08971807e-02 -9.02381933e-04 1.89975296e+01] [ 5.08971427e-02 9.98703898e-01 -6.50104806e-05 7.47686197e-01] [ 9.04521204e-04 1.89975319e-05 9.99999591e-01 5.76051568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.171400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.03, Y:0.74, Z:0.06 [[ 9.98562301e-01 -5.36021592e-02 -3.73401548e-04 1.90276042e+01] [ 5.36021528e-02 9.98562371e-01 -2.70674041e-05 7.38655096e-01] [ 3.74315607e-04 7.01336244e-06 9.99999930e-01 5.94620040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.201400512999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.05, Y:0.74, Z:0.06 [[ 9.98552584e-01 -5.37839749e-02 -1.44879279e-04 1.90541187e+01] [ 5.37839739e-02 9.98552595e-01 -1.05807056e-05 7.40457494e-01] [ 1.45238652e-04 2.77320761e-06 9.99999989e-01 5.97665988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.231400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.08, Y:0.74, Z:0.06 [[ 9.98530872e-01 -5.41854970e-02 1.73923727e-04 1.90826219e+01] [ 5.41854957e-02 9.98530887e-01 1.24481658e-05 7.40108764e-01] [-1.74342723e-04 -3.00573446e-06 9.99999985e-01 5.89872649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.261400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.11, Y:0.74, Z:0.06 [[ 9.98468135e-01 -5.53296712e-02 1.08369967e-04 1.91112929e+01] [ 5.53296706e-02 9.98468140e-01 7.73040021e-06 7.38384232e-01] [-1.08631680e-04 -1.72248368e-06 9.99999994e-01 5.86578987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.291400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.14, Y:0.74, Z:0.06 [[ 9.98286933e-01 -5.85019361e-02 -8.49919139e-04 1.91392381e+01] [ 5.85019047e-02 9.98287295e-01 -6.18389772e-05 7.36362911e-01] [ 8.52081178e-04 1.20111544e-05 9.99999637e-01 5.76803941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.321400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.17, Y:0.74, Z:0.06 [[ 9.98178182e-01 -6.03286946e-02 -8.75415801e-04 1.91680754e+01] [ 6.03286617e-02 9.98178565e-01 -6.39174711e-05 7.35404259e-01] [ 8.77677346e-04 1.09883613e-05 9.99999615e-01 5.78990517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.351400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.20, Y:0.73, Z:0.06 [[ 9.98057653e-01 -6.22935410e-02 -6.59900161e-04 1.91967787e+01] [ 6.22935227e-02 9.98057871e-01 -4.83257352e-05 7.33940772e-01] [ 6.61628931e-04 7.12436423e-06 9.99999781e-01 5.85193868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.381400512999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.23, Y:0.73, Z:0.06 [[ 9.97773699e-01 -6.66884880e-02 5.39837591e-04 1.92259845e+01] [ 6.66884765e-02 9.97773845e-01 3.93753011e-05 7.29312453e-01] [-5.41261708e-04 -3.28669335e-06 9.99999854e-01 5.97152459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.411400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.25, Y:0.73, Z:0.06 [[ 9.97558474e-01 -6.98132980e-02 1.78730688e-03 1.92548805e+01] [ 6.98131754e-02 9.97560075e-01 1.30979038e-04 7.26258023e-01] [-1.79209007e-03 -5.88168003e-06 9.99998394e-01 6.12071166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.441400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.28, Y:0.72, Z:0.06 [[ 9.97301288e-01 -7.33532940e-02 3.07167500e-03 1.92831860e+01] [ 7.33529466e-02 9.97306018e-01 2.25773086e-04 7.22777963e-01] [-3.07996116e-03 1.52622545e-07 9.99995257e-01 6.32331152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.471400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.31, Y:0.72, Z:0.06 [[ 9.97030983e-01 -7.69021743e-02 3.90832763e-03 1.93111326e+01] [ 7.69016372e-02 9.97038643e-01 2.87750589e-04 7.19371995e-01] [-3.91888232e-03 1.36605412e-05 9.99992321e-01 6.44288580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.501400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.34, Y:0.71, Z:0.06 [[ 9.96590391e-01 -8.24173145e-02 3.87030751e-03 1.93393435e+01] [ 8.24168280e-02 9.96597905e-01 2.85298595e-04 7.12041200e-01] [-3.88065390e-03 3.46526304e-05 9.99992470e-01 6.49541446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.531400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.37, Y:0.71, Z:0.06 [[ 9.96450182e-01 -8.41282902e-02 3.07676814e-03 1.93679412e+01] [ 8.41279896e-02 9.96454931e-01 2.27232756e-04 7.11410893e-01] [-3.08497749e-03 3.24161974e-05 9.99995241e-01 6.40969262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.561400512999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.40, Y:0.71, Z:0.06 [[ 9.96359059e-01 -8.52287968e-02 2.16289566e-03 1.93969481e+01] [ 8.52286501e-02 9.96361406e-01 1.60059389e-04 7.11814536e-01] [-2.16866743e-03 2.48640552e-05 9.99997648e-01 6.28559002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.591400512999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.42, Y:0.71, Z:0.06 [[ 9.96336087e-01 -8.55181512e-02 1.02395717e-03 1.94244353e+01] [ 8.55181184e-02 9.96336613e-01 7.58574297e-05 7.11431667e-01] [-1.02669321e-03 1.19873958e-05 9.99999473e-01 6.16812592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.621400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.45, Y:0.71, Z:0.06 [[ 9.96355861e-01 -8.52924562e-02 4.42365497e-04 1.94523662e+01] [ 8.52924501e-02 9.96355959e-01 3.27300023e-05 7.12853487e-01] [-4.43545121e-04 5.11970743e-06 9.99999902e-01 6.07472097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.651400513 meters Centerline goodness [0,1] 0.99991414098051 Centerline is valid? [True, True] Translation: X:19.48, Y:0.72, Z:0.06 [[ 9.96602449e-01 -8.23599968e-02 6.24516428e-04 1.94814357e+01] [ 8.23599839e-02 9.96602644e-01 4.63943672e-05 7.16861081e-01] [-6.26215764e-04 5.19842302e-06 9.99999804e-01 6.24393443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.681400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.51, Y:0.72, Z:0.06 [[ 9.96813296e-01 -7.97562179e-02 1.48296053e-03 1.95096791e+01] [ 7.97561417e-02 9.96814399e-01 1.10578296e-04 7.22978444e-01] [-1.48705571e-03 8.04929461e-06 9.99998894e-01 6.40278688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.711400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.54, Y:0.73, Z:0.06 [[ 9.97056511e-01 -7.66445853e-02 1.98011017e-03 1.95382717e+01] [ 7.66444425e-02 9.97058477e-01 1.48030379e-04 7.30244626e-01] [-1.98563136e-03 4.16978702e-06 9.99998029e-01 6.43945387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.741400512999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.57, Y:0.74, Z:0.06 [[ 9.97312942e-01 -7.32435367e-02 1.50987719e-03 1.95662916e+01] [ 7.32434494e-02 9.97314085e-01 1.13115602e-04 7.37821497e-01] [-1.51410678e-03 -2.22304002e-06 9.99998854e-01 6.33865104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.771400512999996 meters Centerline goodness [0,1] 0.99978427819484 Centerline is valid? [True, True] Translation: X:19.59, Y:0.75, Z:0.06 [[ 9.97824926e-01 -6.59173838e-02 -5.62317895e-04 1.95937983e+01] [ 6.59173704e-02 9.97825084e-01 -4.22710340e-05 7.48863780e-01] [ 5.63881297e-04 5.11257431e-06 9.99999841e-01 5.97134785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.801400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.62, Y:0.76, Z:0.06 [[ 9.98050074e-01 -6.24071139e-02 -1.18424363e-03 1.96207285e+01] [ 6.24070522e-02 9.98050776e-01 -8.90628412e-05 7.56708597e-01] [ 1.18749343e-03 1.49840210e-05 9.99999295e-01 5.89036527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.831400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.65, Y:0.76, Z:0.06 [[ 9.98228324e-01 -5.94879140e-02 -1.18378098e-03 1.96486575e+01] [ 5.94878502e-02 9.98229026e-01 -8.90903763e-05 7.64258228e-01] [ 1.18698433e-03 1.85119516e-05 9.99999295e-01 5.87536016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.861400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.68, Y:0.77, Z:0.06 [[ 9.98374831e-01 -5.69779323e-02 -1.10123322e-03 1.96771557e+01] [ 5.69778752e-02 9.98375438e-01 -8.31580104e-05 7.72046062e-01] [ 1.10418236e-03 2.02769358e-05 9.99999390e-01 5.83458307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.891400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.70, Y:0.78, Z:0.06 [[ 9.98482033e-01 -5.50414381e-02 -2.01759484e-03 1.97042729e+01] [ 5.50412427e-02 9.98484070e-01 -1.52271214e-04 7.77718068e-01] [ 2.02291753e-03 4.09891443e-05 9.99997953e-01 5.58680967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.921400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.73, Y:0.78, Z:0.06 [[ 9.98458174e-01 -5.54635196e-02 -2.25249204e-03 1.97327615e+01] [ 5.54632760e-02 9.98460713e-01 -1.70526269e-04 7.78526465e-01] [ 2.25848280e-03 4.53327594e-05 9.99997449e-01 5.55488715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.951400512999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.76, Y:0.78, Z:0.06 [[ 9.98438449e-01 -5.58199387e-02 -2.19021318e-03 1.97606825e+01] [ 5.58197083e-02 9.98440851e-01 -1.66232914e-04 7.81198069e-01] [ 2.19607742e-03 4.37162724e-05 9.99997588e-01 5.58750652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.981400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.79, Y:0.78, Z:0.06 [[ 9.98420204e-01 -5.61830398e-02 -7.49477761e-04 1.97887448e+01] [ 5.61830127e-02 9.98420485e-01 -5.71491583e-05 7.83261089e-01] [ 7.51504763e-04 1.49509557e-05 9.99999718e-01 5.84707786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.011400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.82, Y:0.79, Z:0.06 [[ 9.98432864e-01 -5.59599758e-02 -5.45115944e-04 1.98156279e+01] [ 5.59599615e-02 9.98433013e-01 -4.15306034e-05 7.91863312e-01] [ 5.46585806e-04 1.09608521e-05 9.99999851e-01 5.87235757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.041400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.84, Y:0.80, Z:0.06 [[ 9.98446501e-01 -5.57032660e-02 -1.31588330e-03 1.98443636e+01] [ 5.57031819e-02 9.98447367e-01 -1.00475685e-04 7.96378467e-01] [ 1.31943704e-03 2.70207090e-05 9.99999129e-01 5.76693794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.071400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.87, Y:0.80, Z:0.06 [[ 9.98491963e-01 -5.48410836e-02 -2.50100868e-03 1.98723992e+01] [ 5.48407774e-02 9.98495094e-01 -1.90907345e-04 8.01422642e-01] [ 2.50771447e-03 5.34621893e-05 9.99996854e-01 5.57050639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.101400513 meters Centerline goodness [0,1] 0.9999783774433489 Centerline is valid? [True, True] Translation: X:19.90, Y:0.81, Z:0.05 [[ 9.98609857e-01 -5.26075199e-02 -3.28662083e-03 1.99007492e+01] [ 5.26069769e-02 9.98615263e-01 -2.51501172e-04 8.09733738e-01] [ 3.29530058e-03 7.82523634e-05 9.99994567e-01 5.38167536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.131400512999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.93, Y:0.82, Z:0.06 [[ 9.98691294e-01 -5.11256991e-02 -1.36433090e-03 1.99282089e+01] [ 5.11256041e-02 9.98692226e-01 -1.04475135e-04 8.15533328e-01] [ 1.36788802e-03 3.45861669e-05 9.99999064e-01 5.60533234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.161400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.96, Y:0.82, Z:0.06 [[ 9.98739751e-01 -5.01794805e-02 9.64375522e-04 1.99565558e+01] [ 5.01794326e-02 9.98740216e-01 7.38373572e-05 8.18207849e-01] [-9.66865737e-04 -2.53524872e-05 9.99999532e-01 6.01483024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.191400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.98, Y:0.82, Z:0.06 [[ 9.98748700e-01 -4.99461625e-02 2.53298905e-03 1.99843038e+01] [ 4.99458295e-02 9.98751909e-01 1.94586277e-04 8.23916533e-01] [-2.53954649e-03 -6.78305514e-05 9.99996773e-01 6.31683362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.221400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.01, Y:0.82, Z:0.06 [[ 9.98709758e-01 -5.07609566e-02 1.46459372e-03 2.00134268e+01] [ 5.07608459e-02 9.98710831e-01 1.12698879e-04 8.24889601e-01] [-1.46842632e-03 -3.82094536e-05 9.99998921e-01 6.13175274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.251400513 meters Centerline goodness [0,1] 0.9999565217391304 Centerline is valid? [True, True] Translation: X:20.04, Y:0.83, Z:0.06 [[ 9.98704668e-01 -5.08813844e-02 2.66869855e-04 2.00416531e+01] [ 5.08813808e-02 9.98704703e-01 2.04510325e-05 8.26891034e-01] [-2.67564757e-04 -6.84583489e-06 9.99999964e-01 5.89838240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.281400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.07, Y:0.83, Z:0.06 [[ 9.98739098e-01 -5.02012954e-02 -2.09860961e-04 2.00688129e+01] [ 5.02012931e-02 9.98739120e-01 -1.62731760e-05 8.32940513e-01] [ 2.10413286e-04 5.71736550e-06 9.99999978e-01 5.75405896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.311400512999995 meters Centerline goodness [0,1] 0.9999566883946553 Centerline is valid? [True, True] Translation: X:20.10, Y:0.84, Z:0.06 [[ 9.98900550e-01 -4.68792976e-02 1.47619419e-04 2.00981146e+01] [ 4.68792964e-02 9.98900561e-01 1.13951235e-05 8.36979963e-01] [-1.47991316e-04 -4.46230058e-06 9.99999989e-01 5.87455773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.341400512999996 meters Centerline goodness [0,1] 0.9999787374285046 Centerline is valid? [True, True] Translation: X:20.13, Y:0.85, Z:0.06 [[ 9.99021494e-01 -4.42110513e-02 1.19901477e-03 2.01256748e+01] [ 4.42109718e-02 9.99022213e-01 9.27333686e-05 8.47249754e-01] [-1.20194223e-03 -3.96330202e-05 9.99999277e-01 6.06330886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.371400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.15, Y:0.85, Z:0.06 [[ 9.99150777e-01 -4.11723808e-02 1.60020734e-03 2.01548822e+01] [ 4.11722352e-02 9.99152056e-01 1.23841700e-04 8.50526607e-01] [-1.60394931e-03 -5.78524177e-05 9.99998712e-01 6.17368599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.401400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.18, Y:0.86, Z:0.06 [[ 9.99266377e-01 -3.82551115e-02 1.80384371e-03 2.01847980e+01] [ 3.82549217e-02 9.99268003e-01 1.39645557e-04 8.56677927e-01] [-1.80786546e-03 -7.05372101e-05 9.99998363e-01 6.19395544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.431400513 meters Centerline goodness [0,1] 0.9999143120327328 Centerline is valid? [True, True] Translation: X:20.21, Y:0.86, Z:0.06 [[ 9.99448492e-01 -3.31585408e-02 1.79500855e-03 2.02149861e+01] [ 3.31583445e-02 9.99450101e-01 1.38974674e-04 8.60195493e-01] [-1.79862967e-03 -7.93785161e-05 9.99998379e-01 6.07158897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.461400513 meters Centerline goodness [0,1] 0.9999355323949716 Centerline is valid? [True, True] Translation: X:20.24, Y:0.86, Z:0.06 [[ 9.99512038e-01 -3.12181740e-02 1.05451559e-03 2.02444441e+01] [ 3.12181052e-02 9.99512593e-01 8.16508604e-05 8.62475085e-01] [-1.05655060e-03 -4.86910392e-05 9.99999441e-01 5.85965143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.491400512999995 meters Centerline goodness [0,1] 0.9999355323949716 Centerline is valid? [True, True] Translation: X:20.27, Y:0.86, Z:0.06 [[ 9.99506054e-01 -3.14091719e-02 1.05451064e-03 2.02718903e+01] [ 3.14091031e-02 9.99506609e-01 8.17147666e-05 8.64743511e-01] [-1.05655694e-03 -4.85531706e-05 9.99999441e-01 5.85737950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.521400512999996 meters Centerline goodness [0,1] 0.9999142219934809 Centerline is valid? [True, True] Translation: X:20.30, Y:0.87, Z:0.06 [[ 9.99543048e-01 -3.02185559e-02 7.30469580e-04 2.03000074e+01] [ 3.02185226e-02 9.99543315e-01 5.67096852e-05 8.67921614e-01] [-7.31849670e-04 -3.46100601e-05 9.99999732e-01 5.71859478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.551400513 meters Centerline goodness [0,1] 0.9998935196030411 Centerline is valid? [True, True] Translation: X:20.33, Y:0.87, Z:0.06 [[ 9.99558592e-01 -2.96859915e-02 1.16748352e-03 2.03290562e+01] [ 2.96859057e-02 9.99559272e-01 9.07581055e-05 8.66070419e-01] [-1.16966322e-03 -5.60602385e-05 9.99999314e-01 5.68717376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.581400513 meters Centerline goodness [0,1] 0.9997862654156069 Centerline is valid? [True, True] Translation: X:20.36, Y:0.87, Z:0.06 [[ 9.99559754e-01 -2.96327496e-02 1.48292303e-03 2.03561862e+01] [ 2.96326108e-02 9.99560851e-01 1.15492753e-04 8.73257470e-01] [-1.48569417e-03 -7.14990268e-05 9.99998894e-01 5.71274660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.611400513 meters Centerline goodness [0,1] 0.9998505072076882 Centerline is valid? [True, True] Translation: X:20.39, Y:0.87, Z:0.06 [[ 9.99565801e-01 -2.94549438e-02 7.84170745e-04 2.03859537e+01] [ 2.94549050e-02 9.99566108e-01 6.10920825e-05 8.68130002e-01] [-7.85629964e-04 -3.79678816e-05 9.99999691e-01 5.62136951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.641400513 meters Centerline goodness [0,1] 0.9997873426335488 Centerline is valid? [True, True] Translation: X:20.42, Y:0.87, Z:0.05 [[ 9.99579273e-01 -2.89863050e-02 -1.03462538e-03 2.04151000e+01] [ 2.89862366e-02 9.99579807e-01 -8.10853284e-05 8.67718690e-01] [ 1.03654101e-03 5.10613175e-05 9.99999461e-01 5.36709905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.671400512999995 meters Centerline goodness [0,1] 0.9996356778534996 Centerline is valid? [True, True] Translation: X:20.44, Y:0.87, Z:0.05 [[ 9.99654408e-01 -2.60427015e-02 -3.58374178e-03 2.04439454e+01] [ 2.60418628e-02 9.99660814e-01 -2.80495286e-04 8.74193800e-01] [ 3.58983108e-03 1.87071037e-04 9.99993539e-01 4.98678673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.701400512999996 meters Centerline goodness [0,1] 0.9997640750670241 Centerline is valid? [True, True] Translation: X:20.47, Y:0.87, Z:0.05 [[ 9.99706191e-01 -2.40299262e-02 -3.17704939e-03 2.04737530e+01] [ 2.40292566e-02 9.99711225e-01 -2.48788712e-04 8.68737588e-01] [ 3.18211031e-03 1.72373481e-04 9.99994922e-01 5.14893896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.731400513 meters Centerline goodness [0,1] 0.9995059713033766 Centerline is valid? [True, True] Translation: X:20.50, Y:0.87, Z:0.05 [[ 9.99755062e-01 -2.20073198e-02 -2.34375569e-03 2.05024547e+01] [ 2.20069497e-02 9.99757801e-01 -1.83588493e-04 8.73423533e-01] [ 2.34722833e-03 1.31964612e-04 9.99997237e-01 5.29208683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.761400513 meters Centerline goodness [0,1] 0.9989967126328823 Centerline is valid? [True, True] Translation: X:20.53, Y:0.88, Z:0.05 [[ 9.99791394e-01 -2.02957653e-02 -2.29155613e-03 2.05300047e+01] [ 2.02954067e-02 9.99794011e-01 -1.79625809e-04 8.83474268e-01] [ 2.29472974e-03 1.33080274e-04 9.99997358e-01 5.26890528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.791400513 meters Centerline goodness [0,1] 0.99884775418756 Centerline is valid? [True, True] Translation: X:20.56, Y:0.88, Z:0.05 [[ 9.99823687e-01 -1.85656705e-02 -2.81265147e-03 2.05600832e+01] [ 1.85651235e-02 9.99827629e-01 -2.20465938e-04 8.84291296e-01] [ 2.81625975e-03 1.68209845e-04 9.99996020e-01 5.17505696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.821400513 meters Centerline goodness [0,1] 0.9995883257859728 Centerline is valid? [True, True] Translation: X:20.59, Y:0.87, Z:0.05 [[ 9.99807118e-01 -1.94811486e-02 -2.49216694e-03 2.05898557e+01] [ 1.94807207e-02 9.99810214e-01 -1.95885710e-04 8.74915813e-01] [ 2.49551004e-03 1.47298719e-04 9.99996875e-01 5.24095938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.851400513 meters Centerline goodness [0,1] 0.9994411846884604 Centerline is valid? [True, True] Translation: X:20.62, Y:0.88, Z:0.05 [[ 9.99778662e-01 -2.09247433e-02 -2.18684309e-03 2.06185267e+01] [ 2.09244173e-02 9.99781046e-01 -1.71874019e-04 8.76123762e-01] [ 2.18996069e-03 1.26077559e-04 9.99997594e-01 5.25673959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.881400512999996 meters Centerline goodness [0,1] 0.9994456526374141 Centerline is valid? [True, True] Translation: X:20.65, Y:0.88, Z:0.05 [[ 9.99707848e-01 -2.41085963e-02 -1.73024866e-03 2.06484098e+01] [ 2.41083969e-02 9.99709341e-01 -1.36001184e-04 8.76980168e-01] [ 1.73302454e-03 9.42479297e-05 9.99998494e-01 5.40167042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.911400513 meters Centerline goodness [0,1] 0.999527592870947 Centerline is valid? [True, True] Translation: X:20.68, Y:0.88, Z:0.05 [[ 9.99683842e-01 -2.50789723e-02 -1.80573266e-03 2.06778336e+01] [ 2.50787560e-02 9.99685468e-01 -1.42311836e-04 8.76524038e-01] [ 1.80873374e-03 9.69813138e-05 9.99998360e-01 5.45311993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.941400513 meters Centerline goodness [0,1] 0.9995929123904613 Centerline is valid? [True, True] Translation: X:20.71, Y:0.88, Z:0.06 [[ 9.99685077e-01 -2.50244972e-02 -1.87639674e-03 2.07063662e+01] [ 2.50242633e-02 9.99686833e-01 -1.47992565e-04 8.75110847e-01] [ 1.87951256e-03 1.00990512e-04 9.99998229e-01 5.51996342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.971400513 meters Centerline goodness [0,1] 0.9996790963352802 Centerline is valid? [True, True] Translation: X:20.73, Y:0.88, Z:0.06 [[ 9.99703024e-01 -2.43223979e-02 -1.51154821e-03 2.07338260e+01] [ 2.43222452e-02 9.99704163e-01 -1.19293536e-04 8.81204816e-01] [ 1.51400254e-03 8.24938620e-05 9.99998850e-01 5.53102169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.001400513 meters Centerline goodness [0,1] 0.999614907363827 Centerline is valid? [True, True] Translation: X:20.76, Y:0.89, Z:0.06 [[ 9.99724207e-01 -2.34626024e-02 -1.00850993e-03 2.07608144e+01] [ 2.34625339e-02 9.99724714e-01 -7.96869001e-05 8.87640589e-01] [ 1.01010196e-03 5.60027246e-05 9.99999488e-01 5.61008887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.031400513 meters Centerline goodness [0,1] 0.9994864003081598 Centerline is valid? [True, True] Translation: X:20.79, Y:0.89, Z:0.06 [[ 9.99739053e-01 -2.28233820e-02 9.58960441e-04 2.07899466e+01] [ 2.28233198e-02 9.99739511e-01 7.57398275e-05 8.88758459e-01] [-9.60439281e-04 -5.38334026e-05 9.99999537e-01 5.97376637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.061400512999995 meters Centerline goodness [0,1] 0.9995743231738464 Centerline is valid? [True, True] Translation: X:20.82, Y:0.89, Z:0.06 [[ 9.99734625e-01 -2.29506920e-02 1.98650879e-03 2.08169471e+01] [ 2.29504247e-02 9.99736592e-01 1.57260506e-04 8.91194976e-01] [-1.98959477e-03 -1.11627553e-04 9.99998015e-01 6.18339626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.091400512999996 meters Centerline goodness [0,1] 0.9995735971345727 Centerline is valid? [True, True] Translation: X:20.85, Y:0.89, Z:0.06 [[ 9.99728629e-01 -2.30988526e-02 3.01840581e-03 2.08453983e+01] [ 2.30982348e-02 9.99733172e-01 2.39399067e-04 8.92093859e-01] [-3.02313026e-03 -1.69614255e-04 9.99995416e-01 6.30495536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.121400513 meters Centerline goodness [0,1] 0.9994703838657741 Centerline is valid? [True, True] Translation: X:20.87, Y:0.90, Z:0.06 [[ 9.99722145e-01 -2.32507058e-02 3.87794151e-03 2.08741475e+01] [ 2.32496859e-02 9.99729642e-01 3.07870221e-04 8.97010103e-01] [-3.88405127e-03 -2.17623755e-04 9.99992433e-01 6.40695332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.151400513 meters Centerline goodness [0,1] 0.9995111167793224 Centerline is valid? [True, True] Translation: X:20.90, Y:0.90, Z:0.06 [[ 9.99736648e-01 -2.25316434e-02 4.35423696e-03 2.09036415e+01] [ 2.25303504e-02 9.99746100e-01 3.45802546e-04 8.96363173e-01] [-4.36092292e-03 -2.47608994e-04 9.99990460e-01 6.39765397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.181400513 meters Centerline goodness [0,1] 0.9994035827635419 Centerline is valid? [True, True] Translation: X:20.93, Y:0.90, Z:0.06 [[ 9.99761271e-01 -2.15371812e-02 3.68105473e-03 2.09336721e+01] [ 2.15362501e-02 9.99768025e-01 2.92388052e-04 8.98905334e-01] [-3.68649803e-03 -2.13042135e-04 9.99993182e-01 6.32940408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.211400513 meters Centerline goodness [0,1] 0.999210700343452 Centerline is valid? [True, True] Translation: X:20.96, Y:0.91, Z:0.06 [[ 9.99796777e-01 -1.99937943e-02 2.57946442e-03 2.09624915e+01] [ 1.99933319e-02 9.99800092e-01 2.04934150e-04 9.05386222e-01] [-2.58304618e-03 -1.53320414e-04 9.99996652e-01 6.21646565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.241400512999995 meters Centerline goodness [0,1] 0.9996330512864791 Centerline is valid? [True, True] Translation: X:20.99, Y:0.90, Z:0.06 [[ 9.99839632e-01 -1.78903324e-02 8.03746751e-04 2.09932615e+01] [ 1.78902868e-02 9.99839954e-01 6.38620986e-05 9.02851910e-01] [-8.04760629e-04 -4.94725973e-05 9.99999675e-01 6.00621106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.271400512999996 meters Centerline goodness [0,1] 0.9947992779162727 Centerline is valid? [True, True] Translation: X:21.02, Y:0.92, Z:0.06 [[ 9.99898458e-01 -1.41275830e-02 -1.86699121e-03 2.10216145e+01] [ 1.41273305e-02 9.99900193e-01 -1.48371996e-04 9.15954001e-01] [ 1.86890101e-03 1.21981328e-04 9.99998246e-01 5.62624323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.301400513 meters Centerline goodness [0,1] 0.9939811565537336 Centerline is valid? [True, True] Translation: X:21.05, Y:0.92, Z:0.06 [[ 9.99918151e-01 -1.26126271e-02 -2.14783643e-03 2.10522738e+01] [ 1.26122894e-02 9.99920447e-01 -1.70680797e-04 9.18130564e-01] [ 2.14981830e-03 1.43577692e-04 9.99997679e-01 5.60492590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.331400513 meters Centerline goodness [0,1] 0.9984681176996234 Centerline is valid? [True, True] Translation: X:21.08, Y:0.91, Z:0.06 [[ 9.99930905e-01 -1.15376103e-02 -2.25158300e-03 2.10822149e+01] [ 1.15372363e-02 9.99933428e-01 -1.78995944e-04 9.14701679e-01] [ 2.25349829e-03 1.53006531e-04 9.99997449e-01 5.61294724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.361400513 meters Centerline goodness [0,1] 0.9857939486461845 Centerline is valid? [True, True] Translation: X:21.11, Y:0.92, Z:0.06 [[ 9.99937926e-01 -1.09037834e-02 -2.29156278e-03 2.11094428e+01] [ 1.09033941e-02 9.99940540e-01 -1.82334031e-04 9.24464714e-01] [ 2.29341466e-03 1.57336901e-04 9.99997358e-01 5.51834847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.391400513 meters Centerline goodness [0,1] 0.989353547398007 Centerline is valid? [True, True] Translation: X:21.14, Y:0.93, Z:0.05 [[ 9.99956188e-01 -9.00530892e-03 -2.55468649e-03 2.11398300e+01] [ 9.00481888e-03 9.99959435e-01 -2.03255502e-04 9.25853019e-01] [ 2.55641324e-03 1.80242107e-04 9.99996716e-01 5.35568795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.421400512999995 meters Centerline goodness [0,1] 0.9861659657137978 Centerline is valid? [True, True] Translation: X:21.17, Y:0.93, Z:0.05 [[ 9.99966354e-01 -7.58072448e-03 -3.13415939e-03 2.11702346e+01] [ 7.57998000e-03 9.99971240e-01 -2.49348040e-04 9.28609456e-01] [ 3.13595949e-03 2.25582785e-04 9.99995057e-01 5.30746692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.451400512999996 meters Centerline goodness [0,1] 0.9322768724772014 Centerline is valid? [True, False] Translation: X:21.17, Y:0.92, Z:0.05 [[ 9.99990267e-01 -2.91083736e-03 -3.31542347e-03 2.11704388e+01] [ 2.92825896e-03 9.99981868e-01 5.26203707e-03 9.22896243e-01] [ 3.30004642e-03 -5.27169427e-03 9.99980659e-01 5.38656651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.481400513 meters Centerline goodness [0,1] 0.6808914777763708 Centerline is valid? [False, False] Translation: X:21.19, Y:0.94, Z:0.05 [[ 9.99996945e-01 -1.77883084e-03 1.71633044e-03 2.11937799e+01] [ 1.78838560e-03 9.99982824e-01 -5.58158687e-03 9.35521391e-01] [-1.70637226e-03 5.58463928e-03 9.99982950e-01 4.64376636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.511400513 meters Centerline goodness [0,1] 0.9853816769457308 Centerline is valid? [False, True] Translation: X:21.17, Y:0.93, Z:0.06 [[ 9.99992969e-01 -8.28750278e-04 -3.65718940e-03 2.11678282e+01] [ 8.53027765e-04 9.99977580e-01 6.64173148e-03 9.25878427e-01] [ 3.65160307e-03 -6.64480446e-03 9.99971256e-01 5.62610609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.541400513 meters Centerline goodness [0,1] 0.9377813813557514 Centerline is valid? [True, False] Translation: X:21.17, Y:0.93, Z:0.06 [[ 9.99993014e-01 -8.57574035e-04 -3.63818964e-03 2.11676622e+01] [ 8.81559062e-04 9.99977857e-01 6.59609880e-03 9.26095459e-01] [ 3.63245243e-03 -6.59926000e-03 9.99971627e-01 5.64411969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.571400513 meters Centerline goodness [0,1] 0.9430007485830393 Centerline is valid? [False, False] Translation: X:21.16, Y:0.93, Z:0.06 [[ 9.99990555e-01 -3.42840309e-03 -2.67127443e-03 2.11607428e+01] [ 3.43830067e-03 9.99987209e-01 3.70944845e-03 9.29009783e-01] [ 2.65852278e-03 -3.71859806e-03 9.99989552e-01 6.06661068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.601400513 meters Centerline goodness [0,1] 0.9924810419433615 Centerline is valid? [False, True] Translation: X:21.16, Y:0.93, Z:0.06 [[ 9.99990800e-01 -3.35638446e-03 -2.67088906e-03 2.11605189e+01] [ 3.36691712e-03 9.99986535e-01 3.94882656e-03 9.27899660e-01] [ 2.65759932e-03 -3.95778289e-03 9.99988636e-01 6.11040426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.631400512999996 meters Centerline goodness [0,1] 0.8924162257495591 Centerline is valid? [True, False] Translation: X:21.16, Y:0.93, Z:0.06 [[ 9.99962016e-01 -8.32494851e-03 -2.58114270e-03 2.11608049e+01] [ 8.32034969e-03 9.99963788e-01 -1.78734845e-03 9.34412402e-01] [ 2.59592881e-03 1.76580455e-03 9.99995072e-01 6.00452724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.661400513 meters Centerline goodness [0,1] 0.9964188845567046 Centerline is valid? [False, True] Translation: X:21.16, Y:0.93, Z:0.06 [[ 9.99960997e-01 -8.38264312e-03 -2.78139616e-03 2.11615378e+01] [ 8.37783417e-03 9.99963398e-01 -1.73614207e-03 9.34052440e-01] [ 2.79584782e-03 1.71277228e-03 9.99994625e-01 5.98870068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.691400513 meters Centerline goodness [0,1] 0.9983849717370054 Centerline is valid? [True, True] Translation: X:21.19, Y:0.93, Z:0.06 [[ 9.99933275e-01 -1.11150266e-02 -3.14660107e-03 2.11920760e+01] [ 1.11143568e-02 9.99938207e-01 -2.30285947e-04 9.31723316e-01] [ 3.14896626e-03 1.95298134e-04 9.99995023e-01 5.94679640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.721400513 meters Centerline goodness [0,1] 0.9992508882325243 Centerline is valid? [True, True] Translation: X:21.22, Y:0.93, Z:0.06 [[ 9.99910429e-01 -1.31154996e-02 -2.66782045e-03 2.12216056e+01] [ 1.31150250e-02 9.99913975e-01 -1.95316476e-04 9.33108290e-01] [ 2.67015263e-03 1.60310449e-04 9.99996422e-01 6.03386053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.751400513 meters Centerline goodness [0,1] 0.9997014352434369 Centerline is valid? [True, True] Translation: X:21.25, Y:0.93, Z:0.06 [[ 9.99879024e-01 -1.55463235e-02 -4.98788566e-04 2.12515374e+01] [ 1.55463072e-02 9.99879148e-01 -3.65149651e-05 9.34633265e-01] [ 4.99295960e-04 2.87562273e-05 9.99999875e-01 6.37711074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.781400513 meters Centerline goodness [0,1] 0.9994690002336399 Centerline is valid? [True, True] Translation: X:21.28, Y:0.94, Z:0.06 [[ 9.99858501e-01 -1.68194414e-02 -2.89950724e-04 2.12790563e+01] [ 1.68194359e-02 9.99858543e-01 -2.12703634e-05 9.40907569e-01] [ 2.90267464e-04 1.63905461e-05 9.99999958e-01 6.44793453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.811400512999995 meters Centerline goodness [0,1] 0.999468571307102 Centerline is valid? [True, True] Translation: X:21.31, Y:0.94, Z:0.06 [[ 9.99824394e-01 -1.87238633e-02 -7.73069072e-04 2.13079102e+01] [ 1.87238250e-02 9.99824692e-01 -5.66673843e-05 9.43446048e-01] [ 7.73994579e-04 4.21826231e-05 9.99999700e-01 6.38373363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.841400512999996 meters Centerline goodness [0,1] 0.9994706530024562 Centerline is valid? [True, True] Translation: X:21.34, Y:0.94, Z:0.06 [[ 9.99770160e-01 -2.14155665e-02 -1.00015708e-03 2.13376934e+01] [ 2.14155038e-02 9.99770659e-01 -7.33322373e-05 9.41565466e-01] [ 1.00149815e-03 5.18965150e-05 9.99999497e-01 6.33275356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.871400513 meters Centerline goodness [0,1] 0.9997887755317576 Centerline is valid? [True, True] Translation: X:21.37, Y:0.94, Z:0.07 [[ 9.99597709e-01 -2.83464222e-02 9.48440368e-04 2.13670447e+01] [ 2.83463690e-02 9.99598159e-01 6.95370543e-05 9.37888498e-01] [-9.50030372e-04 -4.26242396e-05 9.99999548e-01 6.55095664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.901400513 meters Centerline goodness [0,1] 0.9999147430568877 Centerline is valid? [True, True] Translation: X:21.40, Y:0.93, Z:0.07 [[ 9.99489596e-01 -3.19107704e-02 1.50010686e-03 2.13982662e+01] [ 3.19106411e-02 9.99490720e-01 1.09996568e-04 9.30959059e-01] [-1.50285296e-03 -6.20710537e-05 9.99998869e-01 6.66284752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.931400513 meters Centerline goodness [0,1] 0.9999576755406949 Centerline is valid? [True, True] Translation: X:21.43, Y:0.93, Z:0.07 [[ 9.99386747e-01 -3.49749309e-02 1.69856166e-03 2.14285311e+01] [ 3.49747696e-02 9.99388188e-01 1.24564036e-04 9.28545701e-01] [-1.70187908e-03 -6.50808441e-05 9.99998550e-01 6.70363201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.961400513 meters Centerline goodness [0,1] 0.9999575308432251 Centerline is valid? [True, True] Translation: X:21.46, Y:0.92, Z:0.07 [[ 9.99257273e-01 -3.84873655e-02 1.90394256e-03 2.14588019e+01] [ 3.84871691e-02 9.99259085e-01 1.39665247e-04 9.22544976e-01] [-1.90790725e-03 -6.62841544e-05 9.99998178e-01 6.74920360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.991400512999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.49, Y:0.93, Z:0.07 [[ 9.99240412e-01 -3.88883348e-02 2.50927387e-03 2.14864368e+01] [ 3.88879941e-02 9.99243559e-01 1.84467493e-04 9.25586195e-01] [-2.51454939e-03 -8.67467464e-05 9.99996835e-01 6.82183073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.021400512999996 meters Centerline goodness [0,1] 0.9999366995125862 Centerline is valid? [True, True] Translation: X:21.51, Y:0.94, Z:0.07 [[ 9.99243253e-01 -3.88007995e-02 2.72365629e-03 2.15138147e+01] [ 3.88003971e-02 9.99246961e-01 2.00453053e-04 9.35108296e-01] [-2.72938301e-03 -9.46224148e-05 9.99996271e-01 6.89603155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.051400513 meters Centerline goodness [0,1] 0.9999786639356504 Centerline is valid? [True, True] Translation: X:21.54, Y:0.93, Z:0.07 [[ 9.99234999e-01 -3.89846255e-02 3.10091615e-03 2.15422802e+01] [ 3.89841031e-02 9.99239805e-01 2.28746713e-04 9.29823402e-01] [-3.10747645e-03 -1.07685287e-04 9.99995166e-01 6.89338722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.081400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.57, Y:0.93, Z:0.07 [[ 9.99159931e-01 -4.07889549e-02 3.96141021e-03 2.15701199e+01] [ 4.07881153e-02 9.99167776e-01 2.92539409e-04 9.27974083e-01] [-3.97004580e-03 -1.30715200e-04 9.99992111e-01 7.02166065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.111400513 meters Centerline goodness [0,1] 0.9999787631668365 Centerline is valid? [True, True] Translation: X:21.60, Y:0.93, Z:0.07 [[ 9.99082106e-01 -4.26848517e-02 3.59845620e-03 2.15993594e+01] [ 4.26841706e-02 9.99088580e-01 2.65907781e-04 9.25702058e-01] [-3.60652673e-03 -1.12066588e-04 9.99993490e-01 6.93246255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.141400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.63, Y:0.92, Z:0.07 [[ 9.98984432e-01 -4.49660749e-02 2.85607963e-03 2.16283217e+01] [ 4.49656547e-02 9.98988511e-01 2.11179391e-04 9.24089972e-01] [-2.86268665e-03 -8.25394329e-05 9.99995899e-01 6.75272911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.171400512999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.66, Y:0.92, Z:0.07 [[ 9.98877987e-01 -4.73432648e-02 1.17578408e-03 2.16566800e+01] [ 4.73431952e-02 9.98878678e-01 8.69800678e-05 9.22695069e-01] [-1.17858357e-03 -3.12170999e-05 9.99999305e-01 6.54440943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.201400512999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.69, Y:0.92, Z:0.07 [[ 9.98898594e-01 -4.69167137e-02 6.48551685e-04 2.16855682e+01] [ 4.69166924e-02 9.98898805e-01 4.80203598e-05 9.22145478e-01] [-6.50090460e-04 -1.75395700e-05 9.99999789e-01 6.53757503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.231400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.71, Y:0.93, Z:0.07 [[ 9.98965577e-01 -4.54726877e-02 1.07792901e-04 2.17129476e+01] [ 4.54726871e-02 9.98965582e-01 7.97305340e-06 9.29729262e-01] [-1.08043955e-04 -3.06317302e-06 9.99999994e-01 6.50632886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.261400513 meters Centerline goodness [0,1] 0.9999358878464728 Centerline is valid? [True, True] Translation: X:21.74, Y:0.93, Z:0.06 [[ 9.99043543e-01 -4.37253584e-02 -3.02446854e-04 2.17420332e+01] [ 4.37253536e-02 9.99043589e-01 -2.25705578e-05 9.32065865e-01] [ 3.03144496e-04 9.32437443e-06 9.99999954e-01 6.43415076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.291400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.77, Y:0.93, Z:0.06 [[ 9.99112592e-01 -4.21175926e-02 -3.69963953e-04 2.17708602e+01] [ 4.21175852e-02 9.99112660e-01 -2.76569285e-05 9.32505789e-01] [ 3.70800513e-04 1.20503972e-05 9.99999931e-01 6.41402078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.321400513 meters Centerline goodness [0,1] 0.9999359330286592 Centerline is valid? [True, True] Translation: X:21.80, Y:0.94, Z:0.07 [[ 9.99231658e-01 -3.91820216e-02 9.29316650e-04 2.17986508e+01] [ 3.91819741e-02 9.99232089e-01 6.93004930e-05 9.37424673e-01] [-9.31318352e-04 -3.28347856e-05 9.99999566e-01 6.51742346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.351400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.83, Y:0.94, Z:0.07 [[ 9.99288818e-01 -3.76820506e-02 1.38578592e-03 2.18278720e+01] [ 3.76819434e-02 9.99289778e-01 1.03405528e-04 9.37044847e-01] [-1.38869824e-03 -5.11128810e-05 9.99999034e-01 6.55859680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.381400512999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.86, Y:0.94, Z:0.07 [[ 9.99281687e-01 -3.78707048e-02 1.38577167e-03 2.18553226e+01] [ 3.78705975e-02 9.99282646e-01 1.03596317e-04 9.39239095e-01] [-1.38870085e-03 -5.10419009e-05 9.99999034e-01 6.55732192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.411400513 meters Centerline goodness [0,1] 0.9999355199243434 Centerline is valid? [True, True] Translation: X:21.88, Y:0.94, Z:0.06 [[ 9.99340509e-01 -3.63016288e-02 8.59422947e-04 2.18849270e+01] [ 3.63015869e-02 9.99340878e-01 6.43118859e-05 9.41224139e-01] [-8.61191109e-04 -3.30710559e-05 9.99999629e-01 6.49825528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.441400513 meters Centerline goodness [0,1] 0.9999144915453515 Centerline is valid? [True, True] Translation: X:21.91, Y:0.95, Z:0.06 [[ 9.99400866e-01 -3.46108177e-02 2.51173046e-05 2.19130200e+01] [ 3.46108176e-02 9.99400866e-01 1.86426579e-06 9.49068921e-01] [-2.51667798e-05 -9.93818399e-07 1.00000000e+00 6.36896626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.471400513 meters Centerline goodness [0,1] 0.9997236100776018 Centerline is valid? [True, True] Translation: X:21.94, Y:0.95, Z:0.06 [[ 9.99505560e-01 -3.13946888e-02 -1.73474507e-03 2.19424303e+01] [ 3.13945105e-02 9.99507062e-01 -1.29922942e-04 9.53602815e-01] [ 1.73796884e-03 7.53972308e-05 9.99998487e-01 6.09871289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.501400513 meters Centerline goodness [0,1] 0.9998922762038134 Centerline is valid? [True, True] Translation: X:21.97, Y:0.95, Z:0.06 [[ 9.99546478e-01 -3.00489537e-02 -1.97436419e-03 2.19725601e+01] [ 3.00487201e-02 9.99548424e-01 -1.47920782e-04 9.52181621e-01] [ 1.97791748e-03 8.85265800e-05 9.99998040e-01 6.06728230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.531400513 meters Centerline goodness [0,1] 0.999850936967632 Centerline is valid? [True, True] Translation: X:22.00, Y:0.96, Z:0.06 [[ 9.99586193e-01 -2.87108644e-02 -1.76863413e-03 2.20005770e+01] [ 2.87106746e-02 9.99587755e-01 -1.32605018e-04 9.60911421e-01] [ 1.77171222e-03 8.17714661e-05 9.99998427e-01 6.06634336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.561400512999995 meters Centerline goodness [0,1] 0.9994711904560454 Centerline is valid? [True, True] Translation: X:22.03, Y:0.97, Z:0.06 [[ 9.99620041e-01 -2.75120574e-02 -1.69121418e-03 2.20288554e+01] [ 2.75118821e-02 9.99621468e-01 -1.26851215e-04 9.69530196e-01] [ 1.69406394e-03 8.02745320e-05 9.99998562e-01 6.07316210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.591400512999996 meters Centerline goodness [0,1] 0.9996999892853317 Centerline is valid? [True, True] Translation: X:22.06, Y:0.96, Z:0.06 [[ 9.99639963e-01 -2.67704242e-02 -1.81342469e-03 2.20587600e+01] [ 2.67702207e-02 9.99641604e-01 -1.36376946e-04 9.61300409e-01] [ 1.81642564e-03 8.77820660e-05 9.99998346e-01 6.11716214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.621400513 meters Centerline goodness [0,1] 0.9998091562586144 Centerline is valid? [True, True] Translation: X:22.09, Y:0.97, Z:0.06 [[ 9.99656667e-01 -2.61766509e-02 -1.15409783e-03 2.20859192e+01] [ 2.61765680e-02 9.99657331e-01 -8.68887032e-05 9.66533488e-01] [ 1.15597681e-03 5.66485511e-05 9.99999330e-01 6.13409593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.651400513 meters Centerline goodness [0,1] 0.9995980452304893 Centerline is valid? [True, True] Translation: X:22.11, Y:0.97, Z:0.06 [[ 9.99644161e-01 -2.66723347e-02 -3.72600993e-04 2.21140234e+01] [ 2.66723260e-02 9.99644230e-01 -2.81093823e-05 9.69243966e-01] [ 3.73218175e-04 1.81612447e-05 9.99999930e-01 6.21751761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.681400513 meters Centerline goodness [0,1] 0.9997861099822472 Centerline is valid? [True, True] Translation: X:22.14, Y:0.97, Z:0.06 [[ 9.99599321e-01 -2.82919871e-02 8.72090088e-04 2.21439084e+01] [ 2.82919405e-02 9.99599701e-01 6.57093581e-05 9.66157073e-01] [-8.73600039e-04 -4.10099089e-05 9.99999618e-01 6.31528374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.711400513 meters Centerline goodness [0,1] 0.999786183155509 Centerline is valid? [True, True] Translation: X:22.17, Y:0.97, Z:0.06 [[ 9.99582529e-01 -2.88551872e-02 1.46481312e-03 2.21715224e+01] [ 2.88550562e-02 9.99583600e-01 1.10472477e-04 9.72421436e-01] [-1.46739088e-03 -6.81590935e-05 9.99998921e-01 6.38527049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.741400512999995 meters Centerline goodness [0,1] 0.9997851403033818 Centerline is valid? [True, True] Translation: X:22.20, Y:0.98, Z:0.06 [[ 9.99575311e-01 -2.91014618e-02 1.51739553e-03 2.21990592e+01] [ 2.91013212e-02 9.99576460e-01 1.14668041e-04 9.75582826e-01] [-1.52008986e-03 -7.04611284e-05 9.99998842e-01 6.45404416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.771400512999996 meters Centerline goodness [0,1] 0.9997879199185612 Centerline is valid? [True, True] Translation: X:22.23, Y:0.97, Z:0.06 [[ 9.99571911e-01 -2.92302150e-02 1.26061316e-03 2.22276385e+01] [ 2.92301178e-02 9.99572704e-01 9.54797617e-05 9.74678659e-01] [-1.26286540e-03 -5.85910169e-05 9.99999201e-01 6.46784059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.801400513 meters Centerline goodness [0,1] 0.9998297183967987 Centerline is valid? [True, True] Translation: X:22.25, Y:0.98, Z:0.06 [[ 9.99573663e-01 -2.91779590e-02 1.06700570e-03 2.22549090e+01] [ 2.91778892e-02 9.99574231e-01 8.09227586e-05 9.82456962e-01] [-1.06891257e-03 -4.97552841e-05 9.99999427e-01 6.49632510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.831400513 meters Centerline goodness [0,1] 0.9998487532950175 Centerline is valid? [True, True] Translation: X:22.28, Y:0.99, Z:0.06 [[ 9.99575848e-01 -2.91152985e-02 6.50465813e-04 2.22821865e+01] [ 2.91152725e-02 9.99576059e-01 4.93587198e-05 9.93437898e-01] [-6.51627148e-04 -3.03992948e-05 9.99999787e-01 6.43948777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.861400513 meters Centerline goodness [0,1] 0.9994696198234895 Centerline is valid? [True, True] Translation: X:22.31, Y:1.00, Z:0.06 [[ 9.99574294e-01 -2.91661703e-02 7.52250905e-04 2.23082922e+01] [ 2.91661356e-02 9.99574576e-01 5.71350196e-05 1.00099441e+00] [-7.53597289e-04 -3.51704450e-05 9.99999715e-01 6.40839056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.891400513 meters Centerline goodness [0,1] 0.999787460148778 Centerline is valid? [True, True] Translation: X:22.34, Y:1.00, Z:0.06 [[ 9.99545432e-01 -3.01466640e-02 3.28300656e-04 2.23374378e+01] [ 3.01466574e-02 9.99545486e-01 2.49297838e-05 9.97493438e-01] [-3.28902989e-04 -1.50212841e-05 9.99999946e-01 6.33865711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.921400512999995 meters Centerline goodness [0,1] 0.9997851264530824 Centerline is valid? [True, True] Translation: X:22.37, Y:0.99, Z:0.06 [[ 9.99486177e-01 -3.20503645e-02 -3.95616638e-04 2.23676116e+01] [ 3.20503550e-02 9.99486255e-01 -3.01493817e-05 9.90578316e-01] [ 3.96379691e-04 1.74542365e-05 9.99999921e-01 6.26315569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.951400512999996 meters Centerline goodness [0,1] 0.9998513484816309 Centerline is valid? [True, True] Translation: X:22.40, Y:1.00, Z:0.06 [[ 9.99389007e-01 -3.49373184e-02 -9.98604836e-04 2.23961078e+01] [ 3.49372598e-02 9.99389505e-01 -7.61091587e-05 9.96867156e-01] [ 1.00065424e-03 4.11741400e-05 9.99999498e-01 6.14937893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.981400513 meters Centerline goodness [0,1] 0.9999363124933659 Centerline is valid? [True, True] Translation: X:22.43, Y:0.99, Z:0.06 [[ 9.99149718e-01 -4.12177543e-02 -9.68771178e-04 2.24272429e+01] [ 4.12177020e-02 9.99150187e-01 -7.38998605e-05 9.87995424e-01] [ 9.70993889e-04 3.39065031e-05 9.99999528e-01 6.16061853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.011400513 meters Centerline goodness [0,1] 0.9999786893979755 Centerline is valid? [True, True] Translation: X:22.46, Y:0.98, Z:0.06 [[ 9.99044261e-01 -4.37073483e-02 -4.82775467e-04 2.24577980e+01] [ 4.37073356e-02 9.99044377e-01 -3.68261897e-05 9.82850613e-01] [ 4.83923691e-04 1.56901641e-05 9.99999883e-01 6.29642976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.041400513 meters Centerline goodness [0,1] 0.9999362434649551 Centerline is valid? [True, True] Translation: X:22.49, Y:0.98, Z:0.06 [[ 9.98971599e-01 -4.53391275e-02 -3.27358989e-04 2.24860111e+01] [ 4.53391218e-02 9.98971653e-01 -2.50137285e-05 9.83013262e-01] [ 3.28156451e-04 1.01458353e-05 9.99999946e-01 6.36766554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.071400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.51, Y:0.98, Z:0.06 [[ 9.98928948e-01 -4.62703951e-02 -8.85844844e-05 2.25146319e+01] [ 4.62703947e-02 9.98928952e-01 -6.84881311e-06 9.81897157e-01] [ 8.88065034e-05 2.74263862e-06 9.99999996e-01 6.40604695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.101400513 meters Centerline goodness [0,1] 0.9999574621945254 Centerline is valid? [True, True] Translation: X:22.54, Y:0.98, Z:0.06 [[ 9.98970942e-01 -4.53547487e-02 6.39396650e-05 2.25438774e+01] [ 4.53547485e-02 9.98970944e-01 4.82513439e-06 9.78211335e-01] [-6.40927103e-05 -1.92020162e-06 9.99999998e-01 6.35931008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.131400512999996 meters Centerline goodness [0,1] 0.9999573096544216 Centerline is valid? [True, True] Translation: X:22.57, Y:0.98, Z:0.06 [[ 9.99031773e-01 -4.39940081e-02 2.09404214e-04 2.25725419e+01] [ 4.39940057e-02 9.99031795e-01 1.60092463e-05 9.78635432e-01] [-2.09905779e-04 -6.78121549e-06 9.99999978e-01 6.33150277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.161400513 meters Centerline goodness [0,1] 0.9999786803112675 Centerline is valid? [True, True] Translation: X:22.60, Y:0.98, Z:0.06 [[ 9.99138824e-01 -4.14858186e-02 7.33539314e-04 2.26011051e+01] [ 4.14857884e-02 9.99139093e-01 5.63615820e-05 9.83930599e-01] [-7.35246011e-04 -2.58815879e-05 9.99999729e-01 6.40447790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.191400513 meters Centerline goodness [0,1] 0.9999145134748135 Centerline is valid? [True, True] Translation: X:22.63, Y:0.99, Z:0.06 [[ 9.99278687e-01 -3.79705934e-02 5.83233841e-04 2.26308484e+01] [ 3.79705737e-02 9.99278857e-01 4.48328373e-05 9.87295495e-01] [-5.84515575e-04 -2.26547752e-05 9.99999829e-01 6.46429262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.221400513 meters Centerline goodness [0,1] 0.9998508607465485 Centerline is valid? [True, True] Translation: X:22.66, Y:1.00, Z:0.06 [[ 9.99556831e-01 -2.97681326e-02 -2.43570413e-06 2.26596373e+01] [ 2.97681326e-02 9.99556831e-01 -1.86976558e-07 9.96594380e-01] [ 2.44019064e-06 1.14387332e-07 1.00000000e+00 6.43914025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.251400513 meters Centerline goodness [0,1] 0.9991943349022601 Centerline is valid? [True, True] Translation: X:22.69, Y:1.01, Z:0.06 [[ 9.99671246e-01 -2.56384485e-02 2.64571291e-04 2.26879804e+01] [ 2.56384440e-02 9.99671281e-01 2.03446659e-05 1.00587418e+00] [-2.65005927e-04 -1.35547813e-05 9.99999965e-01 6.48911630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.281400513 meters Centerline goodness [0,1] 0.9994900019124928 Centerline is valid? [True, True] Translation: X:22.72, Y:1.00, Z:0.07 [[ 9.99769614e-01 -2.14498928e-02 7.87424895e-04 2.27182975e+01] [ 2.14498518e-02 9.99769924e-01 6.05190186e-05 1.00251431e+00] [-7.88541853e-04 -4.36149286e-05 9.99999688e-01 6.55605151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.311400512999995 meters Centerline goodness [0,1] 0.9996811088906842 Centerline is valid? [True, True] Translation: X:22.75, Y:1.00, Z:0.07 [[ 9.99843445e-01 -1.76554149e-02 1.17085348e-03 2.27484941e+01] [ 1.76553216e-02 9.99844129e-01 9.00037878e-05 1.00073681e+00] [-1.17226003e-03 -6.93179027e-05 9.99999311e-01 6.59570694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.341400512999996 meters Centerline goodness [0,1] 0.998824660754354 Centerline is valid? [True, True] Translation: X:22.78, Y:1.01, Z:0.07 [[ 9.99931110e-01 -1.16282892e-02 1.59948055e-03 2.27775005e+01] [ 1.16281073e-02 9.99932384e-01 1.22959122e-04 1.01149420e+00] [-1.60080220e-03 -1.04351720e-04 9.99998713e-01 6.62826137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.371400513 meters Centerline goodness [0,1] 0.9981775027549377 Centerline is valid? [True, True] Translation: X:22.81, Y:1.01, Z:0.07 [[ 9.99947546e-01 -1.01196667e-02 1.58065626e-03 2.28072901e+01] [ 1.01194872e-02 9.99948789e-01 1.21524286e-04 1.01384501e+00] [-1.58180510e-03 -1.05522481e-04 9.99998743e-01 6.62904397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.401400513 meters Centerline goodness [0,1] 0.9973373988104185 Centerline is valid? [True, True] Translation: X:22.84, Y:1.01, Z:0.07 [[ 9.99950223e-01 -9.85462438e-03 1.56135633e-03 2.28367672e+01] [ 9.85444886e-03 9.99951437e-01 1.20070163e-04 1.01461236e+00] [-1.56246375e-03 -1.04677880e-04 9.99998774e-01 6.59234819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.431400513 meters Centerline goodness [0,1] 0.9992909020585328 Centerline is valid? [True, True] Translation: X:22.87, Y:1.01, Z:0.07 [[ 9.99938698e-01 -1.08920494e-02 1.99077309e-03 2.28670106e+01] [ 1.08917660e-02 9.99940671e-01 1.53141420e-04 1.00715672e+00] [-1.99232301e-03 -1.31448997e-04 9.99998007e-01 6.60334454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.461400513 meters Centerline goodness [0,1] 0.9994606489471868 Centerline is valid? [True, True] Translation: X:22.90, Y:1.00, Z:0.07 [[ 9.99863425e-01 -1.63995767e-02 2.04555219e-03 2.28966711e+01] [ 1.63992889e-02 9.99865510e-01 1.57386965e-04 9.99983915e-01] [-2.04785816e-03 -1.23819868e-04 9.99997895e-01 6.55763177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.491400512999995 meters Centerline goodness [0,1] 0.9994658690310865 Centerline is valid? [True, True] Translation: X:22.93, Y:1.00, Z:0.06 [[ 9.99795826e-01 -2.01856752e-02 9.19447705e-04 2.29256641e+01] [ 2.01856187e-02 9.99796247e-01 7.07587601e-05 9.96098156e-01] [-9.20688678e-04 -5.21846923e-05 9.99999575e-01 6.39860947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.521400512999996 meters Centerline goodness [0,1] 0.9997847240161888 Centerline is valid? [True, True] Translation: X:22.96, Y:0.99, Z:0.06 [[ 9.99719926e-01 -2.36618068e-02 -4.34082685e-04 2.29559618e+01] [ 2.36617945e-02 9.99720020e-01 -3.34138793e-05 9.93037823e-01] [ 4.34751784e-04 2.31333457e-05 9.99999905e-01 6.22139936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.551400513 meters Centerline goodness [0,1] 0.999871668734226 Centerline is valid? [True, True] Translation: X:22.99, Y:0.99, Z:0.06 [[ 9.99640058e-01 -2.68052362e-02 -1.11066788e-03 2.29867504e+01] [ 2.68051577e-02 9.99640674e-01 -8.54962839e-05 9.86807017e-01] [ 1.11256053e-03 5.56938827e-05 9.99999380e-01 6.13289742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.581400513 meters Centerline goodness [0,1] 0.9998286240654656 Centerline is valid? [True, True] Translation: X:23.02, Y:0.98, Z:0.06 [[ 9.99470688e-01 -3.25321839e-02 -2.02866413e-05 2.30161955e+01] [ 3.25321838e-02 9.99470688e-01 -1.57652031e-06 9.77513417e-01] [ 2.03271910e-05 9.15717093e-07 1.00000000e+00 6.31272563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.611400513 meters Centerline goodness [0,1] 0.9998930000642 Centerline is valid? [True, True] Translation: X:23.05, Y:0.97, Z:0.06 [[ 9.99370015e-01 -3.54890608e-02 3.15121532e-04 2.30466218e+01] [ 3.54890549e-02 9.99370065e-01 2.42649951e-05 9.74225560e-01] [-3.15784168e-04 -1.30663432e-05 9.99999950e-01 6.42849753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.641400513 meters Centerline goodness [0,1] 0.9999786224293471 Centerline is valid? [True, True] Translation: X:23.08, Y:0.97, Z:0.06 [[ 9.99265017e-01 -3.83330654e-02 -3.55837267e-05 2.30770081e+01] [ 3.83330654e-02 9.99265018e-01 -2.75232929e-06 9.66847115e-01] [ 3.56630786e-05 1.38627305e-06 9.99999999e-01 6.40479727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.671400512999995 meters Centerline goodness [0,1] 0.9999784733284539 Centerline is valid? [True, True] Translation: X:23.11, Y:0.96, Z:0.06 [[ 9.99169018e-01 -4.07388092e-02 -1.27412977e-03 2.31072257e+01] [ 4.07387170e-02 9.99169829e-01 -9.82030032e-05 9.63189363e-01] [ 1.27707269e-03 4.62149863e-05 9.99999183e-01 6.19667229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.701400512999996 meters Centerline goodness [0,1] 0.99993564855531 Centerline is valid? [True, True] Translation: X:23.14, Y:0.96, Z:0.06 [[ 9.99027385e-01 -4.39749579e-02 -3.23830253e-03 2.31366337e+01] [ 4.39743795e-02 9.99032628e-01 -2.49650237e-04 9.58496965e-01] [ 3.24614824e-03 1.07005079e-04 9.99994726e-01 5.78516568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.731400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.17, Y:0.95, Z:0.06 [[ 9.98998371e-01 -4.47027929e-02 -1.97854927e-03 2.31657077e+01] [ 4.47025776e-02 9.99000328e-01 -1.52929652e-04 9.54788000e-01] [ 1.98340775e-03 6.43302212e-05 9.99998031e-01 5.98989667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.761400513 meters Centerline goodness [0,1] 0.9998934651524514 Centerline is valid? [True, True] Translation: X:23.19, Y:0.96, Z:0.06 [[ 9.99001090e-01 -4.46857864e-02 -5.14805390e-05 2.31924738e+01] [ 4.46857862e-02 9.99001091e-01 -4.01940645e-06 9.58841585e-01] [ 5.16087250e-05 1.71494307e-06 9.99999999e-01 6.25921597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.791400513 meters Centerline goodness [0,1] 0.9999784515267093 Centerline is valid? [True, True] Translation: X:23.22, Y:0.95, Z:0.06 [[ 9.99023797e-01 -4.41522789e-02 1.42477197e-03 2.32213636e+01] [ 4.41521663e-02 9.99024812e-01 1.10348841e-04 9.54801360e-01] [-1.42825470e-03 -4.73343494e-05 9.99998979e-01 6.45205685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.821400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.25, Y:0.96, Z:0.06 [[ 9.99039744e-01 -4.37956416e-02 1.23740643e-03 2.32486051e+01] [ 4.37955563e-02 9.99040510e-01 9.59729698e-05 9.61334660e-01] [-1.24042235e-03 -4.16879083e-05 9.99999230e-01 6.40168423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.851400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.28, Y:0.96, Z:0.06 [[ 9.99080532e-01 -4.28605857e-02 1.02967166e-03 2.32779459e+01] [ 4.28605260e-02 9.99081062e-01 7.99888410e-05 9.60826576e-01] [-1.03215382e-03 -3.57830250e-05 9.99999467e-01 6.32728673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.881400512999996 meters Centerline goodness [0,1] 0.999936106319085 Centerline is valid? [True, True] Translation: X:23.30, Y:0.97, Z:0.06 [[ 9.99132856e-01 -4.16240585e-02 9.86688135e-04 2.33047525e+01] [ 4.16240029e-02 9.99133343e-01 7.67765321e-05 9.67832530e-01] [-9.89028766e-04 -3.56400459e-05 9.99999510e-01 6.28012248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.911400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.33, Y:0.97, Z:0.06 [[ 9.99243169e-01 -3.88978771e-02 2.10646602e-04 2.33337717e+01] [ 3.88978745e-02 9.99243191e-01 1.63921579e-05 9.68955587e-01] [-2.11124803e-04 -8.18604670e-06 9.99999978e-01 6.22586962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.941400513 meters Centerline goodness [0,1] 0.999830634063724 Centerline is valid? [True, True] Translation: X:23.36, Y:0.98, Z:0.06 [[ 9.99299891e-01 -3.74128187e-02 9.70389310e-05 2.33612075e+01] [ 3.74128182e-02 9.99299895e-01 7.54181607e-06 9.80255294e-01] [-9.72531542e-05 -3.90603610e-06 9.99999995e-01 6.19308037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.971400513 meters Centerline goodness [0,1] 0.9998700201468772 Centerline is valid? [True, True] Translation: X:23.39, Y:0.98, Z:0.06 [[ 9.99358863e-01 -3.58030931e-02 -3.88692495e-05 2.33909360e+01] [ 3.58030930e-02 9.99358864e-01 -3.04098876e-06 9.84062418e-01] [ 3.89532058e-05 1.64739971e-06 9.99999999e-01 6.17126606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.001400513 meters Centerline goodness [0,1] 0.9998488545332844 Centerline is valid? [True, True] Translation: X:23.42, Y:0.99, Z:0.06 [[ 9.99399229e-01 -3.46570563e-02 2.64371727e-04 2.34195489e+01] [ 3.46570520e-02 9.99399264e-01 2.05798692e-05 9.87464422e-01] [-2.64926147e-04 -1.14051608e-05 9.99999965e-01 6.21313334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.031400513 meters Centerline goodness [0,1] 0.9998503985809237 Centerline is valid? [True, True] Translation: X:23.45, Y:1.00, Z:0.06 [[ 9.99464529e-01 -3.26956106e-02 1.28556056e-03 2.34474814e+01] [ 3.26955084e-02 9.99465354e-01 1.00466046e-04 9.96108019e-01] [-1.28815804e-03 -5.83801937e-05 9.99999169e-01 6.38039476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.061400512999995 meters Centerline goodness [0,1] 0.9998288440555401 Centerline is valid? [True, True] Translation: X:23.48, Y:1.00, Z:0.06 [[ 9.99452527e-01 -3.30441727e-02 1.65218347e-03 2.34760353e+01] [ 3.30440039e-02 9.99453889e-01 1.29327949e-04 9.99653401e-01] [-1.65555473e-03 -7.46623886e-05 9.99998627e-01 6.41796107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.091400512999996 meters Centerline goodness [0,1] 0.9998073836276083 Centerline is valid? [True, True] Translation: X:23.50, Y:1.00, Z:0.06 [[ 9.99422665e-01 -3.39330087e-02 1.69905361e-03 2.35038441e+01] [ 3.39328313e-02 9.99424107e-01 1.33142750e-04 1.00356421e+00] [-1.70259307e-03 -7.54121827e-05 9.99998548e-01 6.45221331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.121400513 meters Centerline goodness [0,1] 0.9998928602039941 Centerline is valid? [True, True] Translation: X:23.53, Y:1.00, Z:0.06 [[ 9.99385375e-01 -3.50259116e-02 1.43430250e-03 2.35331541e+01] [ 3.50257860e-02 9.99386403e-01 1.12562024e-04 1.00372275e+00] [-1.43736500e-03 -6.22552684e-05 9.99998965e-01 6.40996219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.151400513 meters Centerline goodness [0,1] 0.999786530045896 Centerline is valid? [True, True] Translation: X:23.56, Y:1.01, Z:0.06 [[ 9.99365873e-01 -3.56018520e-02 5.99254862e-04 2.35608751e+01] [ 3.56018302e-02 9.99366053e-01 4.70649744e-05 1.00762405e+00] [-6.00550566e-04 -2.57005594e-05 9.99999819e-01 6.29656345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.181400513 meters Centerline goodness [0,1] 0.9999130869347935 Centerline is valid? [True, True] Translation: X:23.59, Y:1.01, Z:0.06 [[ 9.99367381e-01 -3.55371572e-02 -1.39583159e-03 2.35901867e+01] [ 3.55370382e-02 9.99368354e-01 -1.09994397e-04 1.00625630e+00] [ 1.39885881e-03 6.03210921e-05 9.99999020e-01 6.01562916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.211400513 meters Centerline goodness [0,1] 0.9998713081526285 Centerline is valid? [True, True] Translation: X:23.62, Y:1.01, Z:0.06 [[ 9.99378527e-01 -3.51827555e-02 -2.17586867e-03 2.36170716e+01] [ 3.51824651e-02 9.99380891e-01 -1.71614451e-04 1.01264912e+00] [ 2.18055944e-03 9.49553732e-05 9.99997618e-01 5.84726390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.241400512999995 meters Centerline goodness [0,1] 0.9998917936288089 Centerline is valid? [True, True] Translation: X:23.65, Y:1.01, Z:0.06 [[ 9.99397042e-01 -3.46207389e-02 -2.63773807e-03 2.36455643e+01] [ 3.46203089e-02 9.99400516e-01 -2.08499311e-04 1.01474715e+00] [ 2.64337519e-03 1.17054288e-04 9.99996499e-01 5.78168829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.271400512999996 meters Centerline goodness [0,1] 0.9998917936288089 Centerline is valid? [True, True] Translation: X:23.67, Y:1.02, Z:0.06 [[ 9.99390516e-01 -3.48085984e-02 -2.63769799e-03 2.36730262e+01] [ 3.48081678e-02 9.99393990e-01 -2.09005859e-04 1.01705471e+00] [ 2.64337472e-03 1.17065039e-04 9.99996499e-01 5.78041409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.301400513 meters Centerline goodness [0,1] 0.9997642065550578 Centerline is valid? [True, True] Translation: X:23.70, Y:1.02, Z:0.06 [[ 9.99424879e-01 -3.38190632e-02 -2.48632235e-03 2.37013442e+01] [ 3.38186765e-02 9.99427965e-01 -1.97418784e-04 1.02143755e+00] [ 2.49157661e-03 1.13221113e-04 9.99996890e-01 5.77149760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.331400513 meters Centerline goodness [0,1] 0.9999127704117237 Centerline is valid? [True, True] Translation: X:23.73, Y:1.03, Z:0.06 [[ 9.99494562e-01 -3.17617826e-02 -1.34560455e-03 2.37309330e+01] [ 3.17616675e-02 9.99495465e-01 -1.06845075e-04 1.02618065e+00] [ 1.34831924e-03 6.40524274e-05 9.99999089e-01 5.93854096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.361400513 meters Centerline goodness [0,1] 0.999716219166121 Centerline is valid? [True, True] Translation: X:23.76, Y:1.03, Z:0.06 [[ 9.99507710e-01 -3.13496761e-02 -1.23936058e-03 2.37576960e+01] [ 3.13495779e-02 9.99508476e-01 -9.85747334e-05 1.03499934e+00] [ 1.24184169e-03 5.96727750e-05 9.99999227e-01 5.92530018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.391400513 meters Centerline goodness [0,1] 0.9997611914376275 Centerline is valid? [True, True] Translation: X:23.79, Y:1.03, Z:0.06 [[ 9.99503017e-01 -3.14873876e-02 -1.50436381e-03 2.37858420e+01] [ 3.14872426e-02 9.99504147e-01 -1.19967807e-04 1.03131983e+00] [ 1.50739534e-03 7.25399167e-05 9.99998861e-01 5.81102291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.421400512999995 meters Centerline goodness [0,1] 0.9998710564772629 Centerline is valid? [True, True] Translation: X:23.81, Y:1.03, Z:0.06 [[ 9.99491020e-01 -3.18526079e-02 -1.76438683e-03 2.38132052e+01] [ 3.18524090e-02 9.99492573e-01 -1.40732126e-04 1.03376617e+00] [ 1.76797422e-03 8.44605255e-05 9.99998434e-01 5.77628750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.451400512999996 meters Centerline goodness [0,1] 0.9997635120608849 Centerline is valid? [True, True] Translation: X:23.84, Y:1.03, Z:0.06 [[ 9.99439728e-01 -3.34039635e-02 -2.09891535e-03 2.38423875e+01] [ 3.34036852e-02 9.99441927e-01 -1.67502180e-04 1.03374745e+00] [ 2.10333924e-03 9.72968252e-05 9.99997783e-01 5.67260794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.481400513 meters Centerline goodness [0,1] 0.9998694346520434 Centerline is valid? [True, True] Translation: X:23.87, Y:1.04, Z:0.06 [[ 9.99429731e-01 -3.37207397e-02 -1.76768010e-03 2.38709690e+01] [ 3.37205422e-02 9.99431291e-01 -1.41416313e-04 1.03638578e+00] [ 1.77144347e-03 8.17285365e-05 9.99998428e-01 5.77308484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.511400513 meters Centerline goodness [0,1] 0.9998920296270704 Centerline is valid? [True, True] Translation: X:23.90, Y:1.04, Z:0.06 [[ 9.99441385e-01 -3.34147072e-02 -6.12319627e-04 2.38992595e+01] [ 3.34146833e-02 9.99441572e-01 -4.91379002e-05 1.03939417e+00] [ 6.13619619e-04 2.86499846e-05 9.99999811e-01 5.99084671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.541400513 meters Centerline goodness [0,1] 0.9998068918165043 Centerline is valid? [True, True] Translation: X:23.93, Y:1.05, Z:0.06 [[ 9.99467081e-01 -3.26203881e-02 1.21000908e-03 2.39266721e+01] [ 3.26202946e-02 9.99467812e-01 9.69945798e-05 1.04657082e+00] [-1.21252912e-03 -5.74720371e-05 9.99999263e-01 6.24639205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.571400513 meters Centerline goodness [0,1] 0.9998711838206878 Centerline is valid? [True, True] Translation: X:23.96, Y:1.05, Z:0.07 [[ 9.99527996e-01 -3.04652524e-02 3.95646398e-03 2.39551663e+01] [ 3.04642347e-02 9.99535807e-01 3.17254127e-04 1.05171986e+00] [-3.96429264e-03 -1.96573734e-04 9.99992123e-01 6.64210224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.601400513 meters Centerline goodness [0,1] 0.9997839519509139 Centerline is valid? [True, True] Translation: X:23.98, Y:1.05, Z:0.07 [[ 9.99536991e-01 -3.01913116e-02 3.78004082e-03 2.39842912e+01] [ 3.01903786e-02 9.99544121e-01 3.03654522e-04 1.04964723e+00] [-3.78748531e-03 -1.89393064e-04 9.99992810e-01 6.56873139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.631400512999996 meters Centerline goodness [0,1] 0.999806746687853 Centerline is valid? [True, True] Translation: X:24.01, Y:1.05, Z:0.07 [[ 9.99526903e-01 -3.05584687e-02 3.48575399e-03 2.40127116e+01] [ 3.05576756e-02 9.99532966e-01 2.80580457e-04 1.05101057e+00] [-3.49270013e-03 -1.73931176e-04 9.99993885e-01 6.53901089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.661400513 meters Centerline goodness [0,1] 0.9999129867304763 Centerline is valid? [True, True] Translation: X:24.04, Y:1.05, Z:0.06 [[ 9.99500418e-01 -3.14904660e-02 2.69553345e-03 2.40422370e+01] [ 3.14899945e-02 9.99504044e-01 2.17221696e-04 1.05013900e+00] [-2.70103700e-03 -1.32230842e-04 9.99996343e-01 6.38526363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.691400513 meters Centerline goodness [0,1] 0.9998917608347404 Centerline is valid? [True, True] Translation: X:24.07, Y:1.05, Z:0.06 [[ 9.99449116e-01 -3.31503228e-02 1.58751047e-03 2.40707617e+01] [ 3.31501612e-02 9.99450374e-01 1.27993812e-04 1.05093603e+00] [-1.59088097e-03 -7.52970740e-05 9.99998732e-01 6.23047958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.721400513 meters Centerline goodness [0,1] 0.9999569540699926 Centerline is valid? [True, True] Translation: X:24.10, Y:1.04, Z:0.06 [[ 9.99277421e-01 -3.80079059e-02 1.88577351e-04 2.41020247e+01] [ 3.80079037e-02 9.99277438e-01 1.52055606e-05 1.04195793e+00] [-1.89019023e-04 -8.02714356e-06 9.99999982e-01 6.02966695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.751400513 meters Centerline goodness [0,1] 0.9998485962711424 Centerline is valid? [True, True] Translation: X:24.13, Y:1.05, Z:0.06 [[ 9.99207960e-01 -3.97922602e-02 1.68588178e-04 2.41297050e+01] [ 3.97922585e-02 9.99207974e-01 1.35772546e-05 1.04581422e+00] [-1.68994921e-04 -6.85799655e-06 9.99999986e-01 6.00833841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.781400513 meters Centerline goodness [0,1] 0.9998709649669886 Centerline is valid? [True, True] Translation: X:24.16, Y:1.04, Z:0.06 [[ 9.99156976e-01 -4.10474415e-02 6.66545935e-04 2.41589871e+01] [ 4.10474147e-02 9.99157198e-01 5.38218951e-05 1.04153937e+00] [-6.68193420e-04 -2.64165346e-05 9.99999776e-01 6.10767181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.811400512999995 meters Centerline goodness [0,1] 0.9998050090995754 Centerline is valid? [True, True] Translation: X:24.19, Y:1.04, Z:0.06 [[ 9.99149256e-01 -4.11993139e-02 1.83863233e-03 2.41870814e+01] [ 4.11991095e-02 9.99150945e-01 1.48919889e-04 1.04151610e+00] [-1.84320662e-03 -7.30431818e-05 9.99998299e-01 6.35830157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.841400512999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.21, Y:1.05, Z:0.06 [[ 9.99173160e-01 -4.05955123e-02 2.23637698e-03 2.42143942e+01] [ 4.05952080e-02 9.99175658e-01 1.81340325e-04 1.04545171e+00] [-2.24189505e-03 -9.04041967e-05 9.99997483e-01 6.47802815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.871400513 meters Centerline goodness [0,1] 0.9999782858879986 Centerline is valid? [True, True] Translation: X:24.24, Y:1.05, Z:0.07 [[ 9.99200999e-01 -3.98674156e-02 2.82007249e-03 2.42435569e+01] [ 3.98669275e-02 9.99204972e-01 2.29097419e-04 1.04689647e+00] [-2.82696398e-03 -1.16486744e-04 9.99995997e-01 6.53017181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.901400513 meters Centerline goodness [0,1] 0.9999785940577104 Centerline is valid? [True, True] Translation: X:24.27, Y:1.05, Z:0.07 [[ 9.99237276e-01 -3.89043826e-02 3.36394667e-03 2.42710187e+01] [ 3.89036818e-02 9.99242928e-01 2.73543938e-04 1.05233382e+00] [-3.37204198e-03 -1.42465389e-04 9.99994305e-01 6.54713874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.931400513 meters Centerline goodness [0,1] 0.9999354547214871 Centerline is valid? [True, True] Translation: X:24.30, Y:1.05, Z:0.06 [[ 9.99262862e-01 -3.82584064e-02 3.16642354e-03 2.42996002e+01] [ 3.82577808e-02 9.99267870e-01 2.57955687e-04 1.05482227e+00] [-3.17397428e-03 -1.36625201e-04 9.99994954e-01 6.45512810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.961400513 meters Centerline goodness [0,1] 0.9999352205739457 Centerline is valid? [True, True] Translation: X:24.33, Y:1.06, Z:0.06 [[ 9.99240648e-01 -3.89425324e-02 1.26736737e-03 2.43281028e+01] [ 3.89424325e-02 9.99241450e-01 1.03411066e-04 1.05803724e+00] [-1.27043310e-03 -5.39781726e-05 9.99999192e-01 6.22175805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.991400512999995 meters Centerline goodness [0,1] 0.9999562803305208 Centerline is valid? [True, True] Translation: X:24.36, Y:1.06, Z:0.06 [[ 9.99184938e-01 -4.03636996e-02 4.80170635e-04 2.43569201e+01] [ 4.03636854e-02 9.99185054e-01 3.92094044e-05 1.05954146e+00] [-4.81361958e-04 -1.97959899e-05 9.99999884e-01 6.14374788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.021400512999996 meters Centerline goodness [0,1] 0.999912736157773 Centerline is valid? [True, True] Translation: X:24.38, Y:1.06, Z:0.06 [[ 9.99119470e-01 -4.19556136e-02 1.04860632e-04 2.43847092e+01] [ 4.19556129e-02 9.99119476e-01 8.53736386e-06 1.06374994e+00] [-1.05126490e-04 -4.13035437e-06 9.99999994e-01 6.12342021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.051400513 meters Centerline goodness [0,1] 0.999978301436445 Centerline is valid? [True, True] Translation: X:24.41, Y:1.07, Z:0.06 [[ 9.99060230e-01 -4.33382143e-02 6.75600508e-04 2.44137876e+01] [ 4.33381868e-02 9.99060458e-01 5.52887131e-05 1.06738209e+00] [-6.77361867e-04 -2.59574534e-05 9.99999770e-01 6.22544378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.081400513 meters Centerline goodness [0,1] 0.9998493846286255 Centerline is valid? [True, True] Translation: X:24.44, Y:1.07, Z:0.06 [[ 9.98996787e-01 -4.47697281e-02 1.04404208e-03 2.44416867e+01] [ 4.47696630e-02 9.98997332e-01 8.55778052e-05 1.07228326e+00] [-1.04682654e-03 -3.87505406e-05 9.99999451e-01 6.29218673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.111400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.47, Y:1.07, Z:0.06 [[ 9.98803643e-01 -4.88960586e-02 6.76517549e-04 2.44717784e+01] [ 4.88960322e-02 9.98803872e-01 5.54692654e-05 1.07184807e+00] [-6.78420575e-04 -2.23238806e-05 9.99999770e-01 6.17457103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.141400513 meters Centerline goodness [0,1] 0.9998908296943232 Centerline is valid? [True, True] Translation: X:24.50, Y:1.07, Z:0.06 [[ 9.98667624e-01 -5.16032908e-02 2.77738957e-04 2.45010467e+01] [ 5.16032864e-02 9.98667663e-01 2.27463624e-05 1.07354854e+00] [-2.78542702e-04 -8.38381274e-06 9.99999961e-01 6.04213569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.171400512999995 meters Centerline goodness [0,1] 0.9999567857220025 Centerline is valid? [True, True] Translation: X:24.53, Y:1.08, Z:0.06 [[ 9.98526580e-01 -5.42637505e-02 3.37952496e-04 2.45284319e+01] [ 5.42637442e-02 9.98526637e-01 2.77570264e-05 1.07674563e+00] [-3.38960770e-04 -9.37756086e-06 9.99999943e-01 6.06797200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.201400512999996 meters Centerline goodness [0,1] 0.9999567894566275 Centerline is valid? [True, True] Translation: X:24.56, Y:1.08, Z:0.06 [[ 9.98352918e-01 -5.73694727e-02 4.42377335e-04 2.45571285e+01] [ 5.73694622e-02 9.98353015e-01 3.63686893e-05 1.07755127e+00] [-4.43735198e-04 -1.09298372e-05 9.99999901e-01 6.07462932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.231400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.59, Y:1.07, Z:0.06 [[ 9.97919696e-01 -6.44515385e-02 -1.50948327e-03 2.45878932e+01] [ 6.44514243e-02 9.97920838e-01 -1.24175492e-04 1.06851542e+00] [ 1.51434811e-03 2.66288232e-05 9.99998853e-01 6.11852272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.261400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.62, Y:1.07, Z:0.06 [[ 9.97688788e-01 -6.78999788e-02 -2.58382776e-03 2.46168751e+01] [ 6.78996548e-02 9.97692133e-01 -2.13021158e-04 1.06811892e+00] [ 2.59232876e-03 3.70878075e-05 9.99996639e-01 6.04636320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.291400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.65, Y:1.07, Z:0.06 [[ 9.97496860e-01 -7.06255348e-02 -3.47107069e-03 2.46456774e+01] [ 7.06249645e-02 9.97502898e-01 -2.86747106e-04 1.06870097e+00] [ 3.48265474e-03 4.08850938e-05 9.99993935e-01 5.92090243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.321400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.67, Y:1.07, Z:0.06 [[ 9.97371039e-01 -7.23837104e-02 -3.40721483e-03 2.46730542e+01] [ 7.23831706e-02 9.97376858e-01 -2.81629340e-04 1.07353819e+00] [ 3.41866260e-03 3.42639353e-05 9.99994156e-01 5.82727232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.351400513 meters Centerline goodness [0,1] 0.9999567221344643 Centerline is valid? [True, True] Translation: X:24.70, Y:1.08, Z:0.06 [[ 9.97333346e-01 -7.29320142e-02 -2.66818031e-03 2.47005620e+01] [ 7.29316836e-02 9.97336914e-01 -2.21125530e-04 1.07791477e+00] [ 2.67720185e-03 2.59409826e-05 9.99996416e-01 5.94985003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.381400512999996 meters Centerline goodness [0,1] 0.9998917584915463 Centerline is valid? [True, True] Translation: X:24.73, Y:1.09, Z:0.06 [[ 9.97463512e-01 -7.11795680e-02 1.06318339e-04 2.47287834e+01] [ 7.11795675e-02 9.97463518e-01 8.74782265e-06 1.08934486e+00] [-1.06671331e-04 -1.15794049e-06 9.99999994e-01 6.32105600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.411400513 meters Centerline goodness [0,1] 0.9996531240515111 Centerline is valid? [True, True] Translation: X:24.76, Y:1.10, Z:0.06 [[ 9.97523641e-01 -7.03296602e-02 5.70066509e-04 2.47569428e+01] [ 7.03296446e-02 9.97523804e-01 4.73398238e-05 1.09574278e+00] [-5.71984306e-04 -7.13001844e-06 9.99999836e-01 6.38794745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.441400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.78, Y:1.10, Z:0.06 [[ 9.97572205e-01 -6.96380500e-02 4.87860083e-04 2.47843530e+01] [ 6.96380385e-02 9.97572324e-01 4.05826686e-05 1.10465943e+00] [-4.89501814e-04 -6.51052304e-06 9.99999880e-01 6.37963689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.471400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.81, Y:1.12, Z:0.06 [[ 9.97555607e-01 -6.98737897e-02 6.80808161e-04 2.48100468e+01] [ 6.98737673e-02 9.97555840e-01 5.66905379e-05 1.11833813e+00] [-6.83105339e-04 -8.98133300e-06 9.99999767e-01 6.32007532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.501400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.84, Y:1.12, Z:0.06 [[ 9.97443414e-01 -7.14415665e-02 1.65470613e-03 2.48388334e+01] [ 7.14414357e-02 9.97444787e-01 1.38080368e-04 1.12247939e+00] [-1.66034268e-03 -1.95127717e-05 9.99998621e-01 6.43811099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.531400513 meters Centerline goodness [0,1] 0.999871904355252 Centerline is valid? [True, True] Translation: X:24.87, Y:1.13, Z:0.07 [[ 9.97252165e-01 -7.40382552e-02 2.54083437e-03 2.48662916e+01] [ 7.40379545e-02 9.97255402e-01 2.12326589e-04 1.12607770e+00] [-2.54958109e-03 -2.36249715e-05 9.99996750e-01 6.60922761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.561400512999995 meters Centerline goodness [0,1] 0.9998920785668034 Centerline is valid? [True, True] Translation: X:24.90, Y:1.13, Z:0.07 [[ 9.97015398e-01 -7.71482151e-02 2.90689155e-03 2.48954360e+01] [ 7.71478334e-02 9.97019635e-01 2.43386983e-04 1.12711095e+00] [-2.91700482e-03 -1.84001850e-05 9.99995745e-01 6.65698440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.591400512999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.92, Y:1.13, Z:0.07 [[ 9.96757080e-01 -8.04255273e-02 2.65685960e-03 2.49234656e+01] [ 8.04252195e-02 9.96760620e-01 2.22660970e-04 1.12964115e+00] [-2.66616065e-03 -8.26038110e-06 9.99996446e-01 6.60422926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.621400513 meters Centerline goodness [0,1] 0.9999133917938725 Centerline is valid? [True, True] Translation: X:24.95, Y:1.13, Z:0.06 [[ 9.96143690e-01 -8.77272313e-02 1.29674673e-03 2.49503685e+01] [ 8.77271639e-02 9.96144534e-01 1.08851934e-04 1.12976625e+00] [-1.30129645e-03 5.32774535e-06 9.99999153e-01 6.31436794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.651400513 meters Centerline goodness [0,1] 0.9999127437720867 Centerline is valid? [True, True] Translation: X:24.98, Y:1.13, Z:0.06 [[ 9.95856860e-01 -9.09287391e-02 1.03897005e-03 2.49796177e+01] [ 9.09286974e-02 9.95857402e-01 8.73849874e-05 1.13135346e+00] [-1.04261182e-03 7.44925440e-06 9.99999456e-01 6.29771000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.681400513 meters Centerline goodness [0,1] 0.999848802298205 Centerline is valid? [True, True] Translation: X:25.01, Y:1.13, Z:0.06 [[ 9.95685750e-01 -9.27860753e-02 7.94111857e-04 2.50069442e+01] [ 9.27860515e-02 9.95686067e-01 6.68716833e-05 1.13369915e+00] [-7.96890872e-04 7.09932140e-06 9.99999682e-01 6.27091215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.711400513 meters Centerline goodness [0,1] 0.9998697351280937 Centerline is valid? [True, True] Translation: X:25.04, Y:1.14, Z:0.06 [[ 9.95586419e-01 -9.38482266e-02 4.39021918e-04 2.50352813e+01] [ 9.38482194e-02 9.95586516e-01 3.69814798e-05 1.13895510e+00] [-4.40554948e-04 4.38316624e-06 9.99999903e-01 6.28407253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.741400512999995 meters Centerline goodness [0,1] 0.999869007073618 Centerline is valid? [True, True] Translation: X:25.06, Y:1.15, Z:0.06 [[ 9.95580840e-01 -9.39084201e-02 3.70282871e-06 2.50629103e+01] [ 9.39084201e-02 9.95580840e-01 2.19176545e-07 1.14540927e+00] [-3.70704784e-06 1.29518825e-07 1.00000000e+00 6.20341662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.771400512999996 meters Centerline goodness [0,1] 0.9998259507440606 Centerline is valid? [True, True] Translation: X:25.09, Y:1.16, Z:0.06 [[ 9.95859705e-01 -9.08945167e-02 -1.27895928e-03 2.50894497e+01] [ 9.08944525e-02 9.95860526e-01 -1.08340917e-04 1.15722471e+00] [ 1.28351266e-03 -8.35795077e-06 9.99999176e-01 5.96053791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.801400513 meters Centerline goodness [0,1] 0.9998706562041907 Centerline is valid? [True, True] Translation: X:25.12, Y:1.16, Z:0.06 [[ 9.96048724e-01 -8.87988181e-02 -1.30710175e-03 2.51170976e+01] [ 8.87987491e-02 9.96049582e-01 -1.10803700e-04 1.16428958e+00] [ 1.31177739e-03 -5.70311619e-06 9.99999140e-01 5.88781230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.831400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.14, Y:1.17, Z:0.06 [[ 9.96214469e-01 -8.69275922e-02 -5.71244686e-04 2.51445879e+01] [ 8.69275787e-02 9.96214632e-01 -4.84745285e-05 1.17128400e+00] [ 5.73296089e-04 -1.36589071e-06 9.99999836e-01 5.93739709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.861400513 meters Centerline goodness [0,1] 0.9998481891129907 Centerline is valid? [True, True] Translation: X:25.17, Y:1.18, Z:0.06 [[ 9.96453992e-01 -8.41373170e-02 5.94734000e-04 2.51706420e+01] [ 8.41373019e-02 9.96454169e-01 5.04499835e-05 1.18250930e+00] [-5.96869900e-04 -2.31773403e-07 9.99999822e-01 6.08667305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.891400513 meters Centerline goodness [0,1] 0.999868677362166 Centerline is valid? [True, True] Translation: X:25.20, Y:1.19, Z:0.06 [[ 9.96519032e-01 -8.33633014e-02 6.16209546e-04 2.51977165e+01] [ 8.33632850e-02 9.96519222e-01 5.23428055e-05 1.18916654e+00] [-6.18428126e-04 -7.91349823e-07 9.99999809e-01 6.04867611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.921400512999995 meters Centerline goodness [0,1] 0.9998698566253823 Centerline is valid? [True, True] Translation: X:25.22, Y:1.20, Z:0.06 [[ 9.96586011e-01 -8.25604437e-02 -3.08572775e-04 2.52241851e+01] [ 8.25604395e-02 9.96586059e-01 -2.63248416e-05 1.19534928e+00] [ 3.09692717e-04 7.59064985e-07 9.99999952e-01 5.96195748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.951400512999996 meters Centerline goodness [0,1] 0.9999569938716267 Centerline is valid? [True, True] Translation: X:25.25, Y:1.20, Z:0.06 [[ 9.96616202e-01 -8.21869966e-02 -1.20143362e-03 2.52512162e+01] [ 8.21869327e-02 9.96616926e-01 -1.02561152e-04 1.20039954e+00] [ 1.20579827e-03 3.47196181e-06 9.99999273e-01 5.84300203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.981400513 meters Centerline goodness [0,1] 0.9999563890100305 Centerline is valid? [True, True] Translation: X:25.28, Y:1.20, Z:0.06 [[ 9.96590415e-01 -8.24863882e-02 -1.88146070e-03 2.52792500e+01] [ 8.24862313e-02 9.96592191e-01 -1.60979829e-04 1.20390627e+00] [ 1.88832769e-03 5.23635184e-06 9.99998217e-01 5.79850576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.011400513 meters Centerline goodness [0,1] 0.9999568854013969 Centerline is valid? [True, True] Translation: X:25.31, Y:1.21, Z:0.06 [[ 9.96489503e-01 -8.37049665e-02 -1.46623074e-03 2.53058776e+01] [ 8.37048723e-02 9.96490581e-01 -1.25546872e-04 1.20848242e+00] [ 1.47159402e-03 2.37548247e-06 9.99998917e-01 5.85956499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.041400513 meters Centerline goodness [0,1] 0.9998912972585169 Centerline is valid? [True, True] Translation: X:25.33, Y:1.21, Z:0.06 [[ 9.96443939e-01 -8.42562850e-02 -5.96301876e-04 2.53333436e+01] [ 8.42562694e-02 9.96444117e-01 -5.12511947e-05 1.21187496e+00] [ 5.98499732e-04 8.26770777e-07 9.99999821e-01 5.98980572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.071400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.36, Y:1.22, Z:0.06 [[ 9.96459535e-01 -8.40728864e-02 3.80084422e-04 2.53602320e+01] [ 8.40728801e-02 9.96459608e-01 3.26026923e-05 1.21550175e+00] [-3.81479776e-04 -5.32471567e-07 9.99999927e-01 6.13518717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.101400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.39, Y:1.22, Z:0.06 [[ 9.96536433e-01 -8.31568413e-02 2.76597699e-04 2.53878236e+01] [ 8.31568379e-02 9.96536472e-01 2.37184284e-05 1.22045280e+00] [-2.77612044e-04 -6.35288087e-07 9.99999961e-01 6.12630781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.131400512999996 meters Centerline goodness [0,1] 0.9999568472608799 Centerline is valid? [True, True] Translation: X:25.42, Y:1.23, Z:0.06 [[ 9.96671501e-01 -8.15222240e-02 -2.12602809e-04 2.54154446e+01] [ 8.15222219e-02 9.96671524e-01 -1.83410965e-05 1.22710173e+00] [ 2.13390373e-04 9.48194832e-07 9.99999977e-01 6.01163598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.161400513 meters Centerline goodness [0,1] 0.9999568472608799 Centerline is valid? [True, True] Translation: X:25.44, Y:1.23, Z:0.06 [[ 9.96656283e-01 -8.17080685e-02 -2.12594369e-04 2.54428480e+01] [ 8.17080664e-02 9.96656306e-01 -1.84389492e-05 1.22963662e+00] [ 2.13390129e-04 1.00661976e-06 9.99999977e-01 6.01036216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.191400513 meters Centerline goodness [0,1] 0.9998496983230627 Centerline is valid? [True, True] Translation: X:25.47, Y:1.24, Z:0.06 [[ 9.96962752e-01 -7.78779171e-02 -5.48127869e-04 2.54703712e+01] [ 7.78779028e-02 9.96962903e-01 -4.73775538e-05 1.24081454e+00] [ 5.50152817e-04 4.54660756e-06 9.99999849e-01 5.89907273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.221400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.50, Y:1.25, Z:0.06 [[ 9.97077924e-01 -7.63883521e-02 -6.57697081e-04 2.54987529e+01] [ 7.63883311e-02 9.97078141e-01 -5.70079667e-05 1.24589244e+00] [ 6.60130128e-04 6.60100267e-06 9.99999782e-01 5.87945941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.251400513 meters Centerline goodness [0,1] 0.9998920226320563 Centerline is valid? [True, True] Translation: X:25.53, Y:1.25, Z:0.06 [[ 9.97198929e-01 -7.47869015e-02 -1.10237361e-03 2.55260337e+01] [ 7.47868415e-02 9.97199538e-01 -9.55614174e-05 1.25182083e+00] [ 1.10643319e-03 1.28507028e-05 9.99999388e-01 5.78415335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.281400513 meters Centerline goodness [0,1] 0.9999126980662622 Centerline is valid? [True, True] Translation: X:25.55, Y:1.26, Z:0.06 [[ 9.97395574e-01 -7.20787304e-02 -2.59349105e-03 2.55545114e+01] [ 7.20783883e-02 9.97398945e-01 -2.25255787e-04 1.25999711e+00] [ 2.60298139e-03 3.77344694e-05 9.99996612e-01 5.63673585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.311400512999995 meters Centerline goodness [0,1] 0.999870870547724 Centerline is valid? [True, True] Translation: X:25.58, Y:1.27, Z:0.05 [[ 9.97512453e-01 -7.04024848e-02 -3.52093439e-03 2.55821603e+01] [ 7.04018434e-02 9.97518665e-01 -3.05945458e-04 1.26800523e+00] [ 3.53373710e-03 5.73041324e-05 9.99993755e-01 5.49796134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.341400512999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.61, Y:1.27, Z:0.05 [[ 9.97609157e-01 -6.90038111e-02 -3.80056444e-03 2.56104457e+01] [ 6.90030510e-02 9.97616394e-01 -3.30934148e-04 1.27362555e+00] [ 3.81434111e-03 6.78923943e-05 9.99992723e-01 5.48230350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.371400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.64, Y:1.28, Z:0.05 [[ 9.97702941e-01 -6.76341411e-02 -3.80313967e-03 2.56380081e+01] [ 6.76333693e-02 9.97710187e-01 -3.31335941e-04 1.28009221e+00] [ 3.81684082e-03 7.33556933e-05 9.99992713e-01 5.47316332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.401400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.67, Y:1.29, Z:0.06 [[ 9.97795776e-01 -6.63103067e-02 -2.55593552e-03 2.56665174e+01] [ 6.63099525e-02 9.97799048e-01 -2.23169442e-04 1.28507114e+00] [ 2.56510846e-03 5.31935643e-05 9.99996709e-01 5.71330359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.431400513 meters Centerline goodness [0,1] 0.9999781945050152 Centerline is valid? [True, True] Translation: X:25.70, Y:1.29, Z:0.06 [[ 9.97905964e-01 -6.46762588e-02 -8.18102652e-04 2.56950404e+01] [ 6.46762218e-02 9.97906299e-01 -7.16258492e-05 1.29076349e+00] [ 8.21022282e-04 1.85640735e-05 9.99999663e-01 5.99628189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.461400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.72, Y:1.30, Z:0.06 [[ 9.98172783e-01 -6.04126619e-02 1.18591044e-03 2.57238604e+01] [ 6.04125813e-02 9.98173487e-01 1.03731008e-04 1.30172588e+00] [-1.19001102e-03 -3.18975580e-05 9.99999291e-01 6.29944808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.491400512999995 meters Centerline goodness [0,1] 0.9999127285421303 Centerline is valid? [True, True] Translation: X:25.75, Y:1.31, Z:0.06 [[ 9.98333716e-01 -5.77008335e-02 6.36561565e-04 2.57526286e+01] [ 5.77008097e-02 9.98333919e-01 5.56921396e-05 1.30692185e+00] [-6.38714484e-04 -1.88692230e-05 9.99999796e-01 6.20568816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.521400512999996 meters Centerline goodness [0,1] 0.9999346077555202 Centerline is valid? [True, True] Translation: X:25.78, Y:1.31, Z:0.06 [[ 9.98462258e-01 -5.54315400e-02 6.81278525e-04 2.57816148e+01] [ 5.54315122e-02 9.98462490e-01 5.96277889e-05 1.31316796e+00] [-6.83536312e-04 -2.17717979e-05 9.99999766e-01 6.15599275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.551400513 meters Centerline goodness [0,1] 0.9998911457993164 Centerline is valid? [True, True] Translation: X:25.81, Y:1.32, Z:0.06 [[ 9.98562871e-01 -5.35869036e-02 7.98233843e-04 2.58106835e+01] [ 5.35868649e-02 9.98563189e-01 6.98897553e-05 1.31742732e+00] [-8.00832107e-04 -2.70144656e-05 9.99999679e-01 6.10705500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.581400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.84, Y:1.32, Z:0.06 [[ 9.98708342e-01 -5.07729842e-02 1.93713409e-03 2.58392343e+01] [ 5.07727504e-02 9.98710218e-01 1.69703612e-04 1.32469033e+00] [-1.94325197e-03 -7.11307868e-05 9.99998109e-01 6.19404495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.611400513 meters Centerline goodness [0,1] 0.9999349452455817 Centerline is valid? [True, True] Translation: X:25.87, Y:1.33, Z:0.06 [[ 9.98787294e-01 -4.91760663e-02 2.37840715e-03 2.58667551e+01] [ 4.91757091e-02 9.98790121e-01 2.08483940e-04 1.33440233e+00] [-2.38578199e-03 -9.12712517e-05 9.99997150e-01 6.30145557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.641400513 meters Centerline goodness [0,1] 0.9999568509848763 Centerline is valid? [True, True] Translation: X:25.89, Y:1.34, Z:0.06 [[ 9.98875904e-01 -4.73632277e-02 1.91129608e-03 2.58946904e+01] [ 4.73629936e-02 9.98877730e-01 1.67609127e-04 1.34283089e+00] [-1.91708960e-03 -7.68960144e-05 9.99998159e-01 6.29252236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.671400512999995 meters Centerline goodness [0,1] 0.9998913728301723 Centerline is valid? [True, True] Translation: X:25.92, Y:1.35, Z:0.06 [[ 9.99069427e-01 -4.31104681e-02 -1.32968315e-03 2.59247978e+01] [ 4.31103510e-02 9.99070310e-01 -1.16620566e-04 1.34581124e+00] [ 1.33347452e-03 5.91889347e-05 9.99999109e-01 5.86679839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.701400512999996 meters Centerline goodness [0,1] 0.9997213111239737 Centerline is valid? [True, True] Translation: X:25.95, Y:1.35, Z:0.06 [[ 9.99148102e-01 -4.12101817e-02 -2.18900918e-03 2.59531578e+01] [ 4.12098596e-02 9.99150494e-01 -1.92080850e-04 1.35143577e+00] [ 2.19506529e-03 1.01708455e-04 9.99997586e-01 5.68016135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.731400513 meters Centerline goodness [0,1] 0.9999569392412694 Centerline is valid? [True, True] Translation: X:25.98, Y:1.35, Z:0.06 [[ 9.99189440e-01 -4.02226144e-02 -1.61380390e-03 2.59816696e+01] [ 4.02224375e-02 9.99190740e-01 -1.41944532e-04 1.35278103e+00] [ 1.61820730e-03 7.69183503e-05 9.99998688e-01 5.73611278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.761400513 meters Centerline goodness [0,1] 0.9998701944919196 Centerline is valid? [True, True] Translation: X:26.01, Y:1.36, Z:0.06 [[ 9.99207462e-01 -3.98040200e-02 2.95600902e-04 2.60099686e+01] [ 3.98040140e-02 9.99207506e-01 2.59581762e-05 1.35558412e+00] [-2.96399880e-04 -1.41715009e-05 9.99999956e-01 5.92639586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.791400513 meters Centerline goodness [0,1] 0.9997006372150707 Centerline is valid? [True, True] Translation: X:26.04, Y:1.36, Z:0.06 [[ 9.99218310e-01 -3.94956729e-02 1.69167086e-03 2.60375404e+01] [ 3.94954770e-02 9.99219738e-01 1.49067139e-04 1.36409950e+00] [-1.69623842e-03 -8.21372675e-05 9.99998558e-01 6.06704879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.821400513 meters Centerline goodness [0,1] 0.9999350944375933 Centerline is valid? [True, True] Translation: X:26.07, Y:1.36, Z:0.06 [[ 9.99216897e-01 -3.95159306e-02 2.02080398e-03 2.60672271e+01] [ 3.95156505e-02 9.99218936e-01 1.78364319e-04 1.35839774e+00] [-2.02627384e-03 -9.83712575e-05 9.99997942e-01 6.03484227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.851400513 meters Centerline goodness [0,1] 0.9998712529236315 Centerline is valid? [True, True] Translation: X:26.10, Y:1.36, Z:0.06 [[ 9.99276572e-01 -3.80295777e-02 2.88552352e-04 2.60954275e+01] [ 3.80295719e-02 9.99276614e-01 2.54736765e-05 1.36382463e+00] [-2.89312370e-04 -1.44817258e-05 9.99999958e-01 5.79227470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.881400512999996 meters Centerline goodness [0,1] 0.9999141262344354 Centerline is valid? [True, True] Translation: X:26.13, Y:1.36, Z:0.06 [[ 9.99324946e-01 -3.67351879e-02 -4.22544402e-04 2.61255091e+01] [ 3.67351754e-02 9.99325035e-01 -3.73477459e-05 1.36255841e+00] [ 4.23631176e-04 2.18002914e-05 9.99999910e-01 5.73724175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.911400513 meters Centerline goodness [0,1] 0.9997646907822962 Centerline is valid? [True, True] Translation: X:26.15, Y:1.37, Z:0.06 [[ 9.99384755e-01 -3.50616494e-02 -8.90142065e-04 2.61533114e+01] [ 3.50615932e-02 9.99385150e-01 -7.87327169e-05 1.36919468e+00] [ 8.92355260e-04 4.74744780e-05 9.99999601e-01 5.67918180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.941400513 meters Centerline goodness [0,1] 0.9996315002276028 Centerline is valid? [True, True] Translation: X:26.18, Y:1.37, Z:0.06 [[ 9.99448631e-01 -3.31669243e-02 -1.54582571e-03 2.61826369e+01] [ 3.31667523e-02 9.99449823e-01 -1.36753484e-04 1.36826324e+00] [ 1.54951092e-03 8.54080637e-05 9.99998796e-01 5.57914001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.971400513 meters Centerline goodness [0,1] 0.9996553432565755 Centerline is valid? [True, True] Translation: X:26.21, Y:1.37, Z:0.05 [[ 9.99532699e-01 -3.04396210e-02 -2.79522780e-03 2.62109457e+01] [ 3.04390479e-02 9.99536594e-01 -2.47330306e-04 1.37371508e+00] [ 2.80146112e-03 1.62130655e-04 9.99996063e-01 5.26737673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.001400513 meters Centerline goodness [0,1] 0.998828790459966 Centerline is valid? [True, True] Translation: X:26.24, Y:1.38, Z:0.05 [[ 9.99557692e-01 -2.96131135e-02 -2.73576677e-03 2.62383651e+01] [ 2.96125610e-02 9.99561423e-01 -2.42245907e-04 1.38151686e+00] [ 2.74174058e-03 1.61125699e-04 9.99996228e-01 5.17770560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.031400513 meters Centerline goodness [0,1] 0.9993812013229489 Centerline is valid? [True, True] Translation: X:26.27, Y:1.38, Z:0.05 [[ 9.99563328e-01 -2.94358415e-02 -2.58536536e-03 2.62676785e+01] [ 2.94353463e-02 9.99566660e-01 -2.29394964e-04 1.37828973e+00] [ 2.59099745e-03 1.53193669e-04 9.99996632e-01 5.24230466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.061400512999995 meters Centerline goodness [0,1] 0.9996974085201116 Centerline is valid? [True, True] Translation: X:26.30, Y:1.37, Z:0.05 [[ 9.99564184e-01 -2.94421620e-02 -2.14520974e-03 2.62971425e+01] [ 2.94418202e-02 9.99566477e-01 -1.90718085e-04 1.37119898e+00] [ 2.14989489e-03 1.27476087e-04 9.99997681e-01 5.41829984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.091400512999996 meters Centerline goodness [0,1] 0.9993819003367578 Centerline is valid? [True, True] Translation: X:26.32, Y:1.38, Z:0.06 [[ 9.99592091e-01 -2.85490145e-02 -7.78010117e-04 2.63247000e+01] [ 2.85489692e-02 9.99592393e-01 -6.92138198e-05 1.37761212e+00] [ 7.79668981e-04 4.69741999e-05 9.99999695e-01 5.72380615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.121400513 meters Centerline goodness [0,1] 0.999352876464117 Centerline is valid? [True, True] Translation: X:26.35, Y:1.38, Z:0.06 [[ 9.99613344e-01 -2.78057451e-02 -5.83892983e-05 2.63533599e+01] [ 2.78057448e-02 9.99613346e-01 -5.27622697e-06 1.38135253e+00] [ 5.85134312e-05 3.65062896e-06 9.99999998e-01 5.88018982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.151400513 meters Centerline goodness [0,1] 0.9946819825569028 Centerline is valid? [True, True] Translation: X:26.38, Y:1.39, Z:0.06 [[ 9.99674964e-01 -2.54708134e-02 1.09751070e-03 2.63818518e+01] [ 2.54707213e-02 9.99675564e-01 9.77833726e-05 1.39314949e+00] [-1.09964525e-03 -6.97972003e-05 9.99999393e-01 6.02657307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.181400513 meters Centerline goodness [0,1] 0.9981097220432187 Centerline is valid? [True, True] Translation: X:26.41, Y:1.39, Z:0.06 [[ 9.99755308e-01 -2.20291837e-02 2.01001198e-03 2.64123303e+01] [ 2.20288680e-02 9.99757319e-01 1.79092541e-04 1.39146195e+00] [-2.01346945e-03 -1.34770430e-04 9.99997964e-01 6.10474839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.211400513 meters Centerline goodness [0,1] 0.9797825384863817 Centerline is valid? [True, True] Translation: X:26.44, Y:1.40, Z:0.06 [[ 9.99886861e-01 -1.49596237e-02 1.57323592e-03 2.64414275e+01] [ 1.49594215e-02 9.99888092e-01 1.40182999e-04 1.40199671e+00] [-1.57515694e-03 -1.16632440e-04 9.99998753e-01 5.96668088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.241400512999995 meters Centerline goodness [0,1] 0.9775650677565068 Centerline is valid? [True, True] Translation: X:26.47, Y:1.41, Z:0.06 [[ 9.99925741e-01 -1.21807767e-02 -3.75736694e-04 2.64719382e+01] [ 1.21807649e-02 9.99925811e-01 -3.34805653e-05 1.40572216e+00] [ 3.76116638e-04 2.89013187e-05 9.99999929e-01 5.70917434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.271400512999996 meters Centerline goodness [0,1] 0.6901462581402797 Centerline is valid? [True, False] Translation: X:26.47, Y:1.41, Z:0.06 [[ 9.99925179e-01 -1.22222080e-02 -5.04652330e-04 2.64728478e+01] [ 1.22220965e-02 9.99925282e-01 -2.23438237e-04 1.40656651e+00] [ 5.07345532e-04 2.17253609e-04 9.99999848e-01 5.60780146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.301400513 meters Centerline goodness [0,1] 0.7943333050775621 Centerline is valid? [False, False] Translation: X:26.47, Y:1.41, Z:0.06 [[ 9.99924044e-01 -1.23131419e-02 -5.40156289e-04 2.64733512e+01] [ 1.23128731e-02 9.99924070e-01 -4.98145724e-04 1.40783878e+00] [ 5.46249014e-04 4.91457011e-04 9.99999730e-01 5.52620704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.331400513 meters Centerline goodness [0,1] 0.9474551250508119 Centerline is valid? [False, False] Translation: X:26.47, Y:1.41, Z:0.06 [[ 9.99920135e-01 -1.26345026e-02 -3.05383935e-04 2.64724135e+01] [ 1.26340861e-02 9.99919303e-01 -1.32931974e-03 1.41185920e+00] [ 3.22154585e-04 1.32535532e-03 9.99999070e-01 5.55291863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.361400513 meters Centerline goodness [0,1] 0.9581405405405405 Centerline is valid? [False, True] Translation: X:26.47, Y:1.41, Z:0.06 [[ 9.99918412e-01 -1.27716654e-02 -2.32953523e-04 2.64721466e+01] [ 1.27712604e-02 9.99917059e-01 -1.66440459e-03 1.41346419e+00] [ 2.54191420e-04 1.66129369e-03 9.99998588e-01 5.55560077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.391400513 meters Centerline goodness [0,1] 0.5971564986737401 Centerline is valid? [True, False] Translation: X:26.51, Y:1.42, Z:0.06 [[ 9.99937041e-01 -1.09651007e-02 2.38344768e-03 2.65134067e+01] [ 1.09689593e-02 9.99938540e-01 -1.61191933e-03 1.41759396e+00] [-2.36562633e-03 1.63796179e-03 9.99995860e-01 5.51462847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.421400512999995 meters Centerline goodness [0,1] 0.8620845726108883 Centerline is valid? [False, False] Translation: X:26.49, Y:1.42, Z:0.06 [[ 9.99959307e-01 -8.96133407e-03 -1.03870285e-03 2.64902295e+01] [ 8.94985187e-03 9.99904011e-01 -1.05768440e-02 1.42211538e+00] [ 1.13338578e-03 1.05671173e-02 9.99943524e-01 5.89625980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.451400512999996 meters Centerline goodness [0,1] 0.8077054648080048 Centerline is valid? [False, False] Translation: X:26.49, Y:1.42, Z:0.06 [[ 9.99988759e-01 -4.59517823e-03 -1.16852695e-03 2.64903391e+01] [ 4.58797063e-03 9.99970884e-01 -6.09773890e-03 1.42141821e+00] [ 1.19651312e-03 6.09230919e-03 9.99980726e-01 5.93987372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.481400513 meters Centerline goodness [0,1] 0.6557145607392671 Centerline is valid? [False, False] Translation: X:26.49, Y:1.42, Z:0.06 [[ 9.99998952e-01 -6.19135260e-06 -1.44794372e-03 2.64908664e+01] [ 5.22476926e-06 9.99999777e-01 -6.67558708e-04 1.41601166e+00] [ 1.44794753e-03 6.67550443e-04 9.99998729e-01 6.02035702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.511400513 meters Centerline goodness [0,1] 0.7300207128678692 Centerline is valid? [False, False] Translation: X:26.49, Y:1.42, Z:0.06 [[ 9.99998976e-01 -4.98082266e-05 -1.43044925e-03 2.64908367e+01] [ 4.87198808e-05 9.99999709e-01 -7.60866719e-04 1.41644110e+00] [ 1.43048673e-03 7.60796248e-04 9.99998687e-01 6.01312244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.541400513 meters Centerline goodness [0,1] 0.7654381724455092 Centerline is valid? [False, False] Translation: X:26.49, Y:1.42, Z:0.06 [[ 9.99998863e-01 -8.69388681e-05 -1.50514779e-03 2.64911603e+01] [ 8.56675049e-05 9.99999640e-01 -8.44720504e-04 1.41682516e+00] [ 1.50522069e-03 8.44590602e-04 9.99998510e-01 5.99336934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.571400513 meters Centerline goodness [0,1] 0.7389497707063966 Centerline is valid? [False, False] Translation: X:26.49, Y:1.42, Z:0.06 [[ 9.99998677e-01 -3.20905753e-04 -1.59491422e-03 2.64914951e+01] [ 3.18793302e-04 9.99999072e-01 -1.32456957e-03 1.41902378e+00] [ 1.59533780e-03 1.32405937e-03 9.99997851e-01 5.98157292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.601400512999994 meters Centerline goodness [0,1] 0.9116222760290557 Centerline is valid? [False, False] Translation: X:26.49, Y:1.42, Z:0.06 [[ 9.99998537e-01 -3.70576711e-04 -1.67009525e-03 2.64915729e+01] [ 3.68221307e-04 9.99998938e-01 -1.41042821e-03 1.41942722e+00] [ 1.67061615e-03 1.40981118e-03 9.99997611e-01 6.01478081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.631400512999996 meters Centerline goodness [0,1] 0.8568680012106014 Centerline is valid? [False, False] Translation: X:26.49, Y:1.42, Z:0.06 [[ 9.99998544e-01 -3.72841719e-04 -1.66506554e-03 2.64913392e+01] [ 3.70526169e-04 9.99998964e-01 -1.39075800e-03 1.41936632e+00] [ 1.66558235e-03 1.39013903e-03 9.99997647e-01 6.05695233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.661400513 meters Centerline goodness [0,1] 0.9016086713407028 Centerline is valid? [False, False] Translation: X:26.49, Y:1.42, Z:0.06 [[ 9.99998558e-01 -4.59400032e-04 -1.63502076e-03 2.64911566e+01] [ 4.56842913e-04 9.99998673e-01 -1.56399715e-03 1.42018465e+00] [ 1.63573709e-03 1.56324795e-03 9.99997440e-01 6.07356535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.691400513 meters Centerline goodness [0,1] 0.48476731084040225 Centerline is valid? [False, False] Translation: X:26.51, Y:1.42, Z:0.06 [[ 9.99997511e-01 -9.13181164e-04 -2.03572575e-03 2.65103953e+01] [ 9.31475885e-04 9.99959029e-01 9.00406946e-03 1.41571258e+00] [ 2.02742000e-03 -9.00594328e-03 9.99957390e-01 6.49754398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.721400513 meters Centerline goodness [0,1] 0.8718770846334273 Centerline is valid? [False, False] Translation: X:26.49, Y:1.42, Z:0.06 [[ 9.99996906e-01 -6.60247666e-04 -2.39816682e-03 2.64906597e+01] [ 6.54201033e-04 9.99996608e-01 -2.52126657e-03 1.42481902e+00] [ 2.39982335e-03 2.51968988e-03 9.99993946e-01 6.15001996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.751400513 meters Centerline goodness [0,1] 0.8021155166495022 Centerline is valid? [False, False] Translation: X:26.49, Y:1.42, Z:0.06 [[ 9.99997175e-01 -5.93081315e-04 -2.30190975e-03 2.64900486e+01] [ 5.87666926e-04 9.99997061e-01 -2.35209325e-03 1.42408434e+00] [ 2.30329797e-03 2.35073384e-03 9.99994584e-01 6.20787943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.781400513 meters Centerline goodness [0,1] 0.9079595596110183 Centerline is valid? [False, False] Translation: X:26.49, Y:1.42, Z:0.06 [[ 9.99997487e-01 -4.93494325e-04 -2.18704114e-03 2.64893139e+01] [ 4.88837490e-04 9.99997614e-01 -2.12930871e-03 1.42312461e+00] [ 2.18808672e-03 2.12823425e-03 9.99995341e-01 6.27809188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.811400512999995 meters Centerline goodness [0,1] 0.6935783737578801 Centerline is valid? [False, False] Translation: X:26.49, Y:1.42, Z:0.06 [[ 9.99997602e-01 -5.16734693e-04 -2.12791192e-03 2.64889956e+01] [ 5.12107980e-04 9.99997505e-01 -2.17426872e-03 1.42334730e+00] [ 2.12903013e-03 2.17317379e-03 9.99995372e-01 6.30008107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.841400512999996 meters Centerline goodness [0,1] 0.7705232223854852 Centerline is valid? [False, False] Translation: X:26.49, Y:1.43, Z:0.06 [[ 9.99997224e-01 -7.93511515e-04 -2.21855875e-03 2.64896455e+01] [ 7.87320816e-04 9.99995798e-01 -2.78989688e-03 1.42618082e+00] [ 2.22076324e-03 2.78814242e-03 9.99993647e-01 6.22971601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.871400513 meters Centerline goodness [0,1] 0.8075988560861805 Centerline is valid? [False, False] Translation: X:26.49, Y:1.43, Z:0.06 [[ 9.99997127e-01 -8.48377239e-04 -2.24173325e-03 2.64896691e+01] [ 8.41814316e-04 9.99995362e-01 -2.92693446e-03 1.42683888e+00] [ 2.24420600e-03 2.92503892e-03 9.99993204e-01 6.23771749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.901400513 meters Centerline goodness [0,1] 0.8655172413793104 Centerline is valid? [False, False] Translation: X:26.51, Y:1.42, Z:0.07 [[ 9.99996428e-01 -1.79694783e-03 -1.97882003e-03 2.65091595e+01] [ 1.81187374e-03 9.99969728e-01 7.56705053e-03 1.42073620e+00] [ 1.96516253e-03 -7.57060887e-03 9.99969412e-01 6.59919461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.931400513 meters Centerline goodness [0,1] 0.8853132853431017 Centerline is valid? [False, False] Translation: X:26.51, Y:1.42, Z:0.07 [[ 9.99977563e-01 -6.50501895e-03 -1.59932673e-03 2.65075111e+01] [ 6.50886488e-03 9.99975910e-01 2.41138834e-03 1.42469580e+00] [ 1.58360208e-03 -2.42174404e-03 9.99995814e-01 6.67810089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.961400513 meters Centerline goodness [0,1] 0.9333290921814364 Centerline is valid? [False, False] Translation: X:26.51, Y:1.42, Z:0.07 [[ 9.99977064e-01 -6.57328856e-03 -1.63227227e-03 2.65073501e+01] [ 6.57753500e-03 9.99974962e-01 2.60995778e-03 1.42361123e+00] [ 1.61507539e-03 -2.62063424e-03 9.99995262e-01 6.73361956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.991400512999995 meters Centerline goodness [0,1] 0.998208 Centerline is valid? [False, True] Translation: X:26.51, Y:1.42, Z:0.07 [[ 9.99976526e-01 -6.61697110e-03 -1.77857670e-03 2.65077986e+01] [ 6.62190260e-03 9.99974207e-01 2.78128307e-03 1.42267120e+00] [ 1.76012716e-03 -2.79299534e-03 9.99994551e-01 6.74305369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.021400512999996 meters Centerline goodness [0,1] 0.9940751048980538 Centerline is valid? [True, True] Translation: X:26.54, Y:1.43, Z:0.06 [[ 9.99946958e-01 -9.73317095e-03 -3.36857549e-03 2.65362417e+01] [ 9.73241049e-03 9.99952610e-01 -2.42070143e-04 1.43326185e+00] [ 3.37077196e-03 2.09272944e-04 9.99994297e-01 6.45472111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.051400513 meters Centerline goodness [0,1] 0.9991419623321464 Centerline is valid? [True, True] Translation: X:26.57, Y:1.43, Z:0.06 [[ 9.99910748e-01 -1.21106157e-02 -5.64173967e-03 2.65672139e+01] [ 1.21085197e-02 9.99926607e-01 -4.05536568e-04 1.42831665e+00] [ 5.64623690e-03 3.37187257e-04 9.99984003e-01 6.10975969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.081400513 meters Centerline goodness [0,1] 0.9991419623321464 Centerline is valid? [True, True] Translation: X:26.59, Y:1.43, Z:0.06 [[ 9.99908557e-01 -1.22902198e-02 -5.64172153e-03 2.65946810e+01] [ 1.22881251e-02 9.99924416e-01 -4.05788576e-04 1.43044568e+00] [ 5.64628234e-03 3.36425289e-04 9.99984003e-01 6.12221248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.111400513 meters Centerline goodness [0,1] 0.999526045930458 Centerline is valid? [True, True] Translation: X:26.63, Y:1.42, Z:0.06 [[ 9.99872615e-01 -1.44530541e-02 -6.77217183e-03 2.66256895e+01] [ 1.44500786e-02 9.99895473e-01 -4.88101551e-04 1.41962479e+00] [ 6.77851852e-03 3.90180959e-04 9.99976949e-01 6.03592064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.141400513 meters Centerline goodness [0,1] 0.9997840825668265 Centerline is valid? [True, True] Translation: X:26.65, Y:1.42, Z:0.06 [[ 9.99881774e-01 -1.40367987e-02 -6.27742236e-03 2.66545909e+01] [ 1.40342317e-02 9.99901413e-01 -4.52788683e-04 1.41926554e+00] [ 6.28315919e-03 3.64636351e-04 9.99980194e-01 6.13568440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.171400512999995 meters Centerline goodness [0,1] 0.9991059835245535 Centerline is valid? [True, True] Translation: X:26.68, Y:1.43, Z:0.06 [[ 9.99907510e-01 -1.20589842e-02 -6.28906741e-03 2.66831813e+01] [ 1.20563638e-02 9.99927216e-01 -4.54411502e-04 1.43184295e+00] [ 6.29408941e-03 3.78546188e-04 9.99980120e-01 6.12363728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.201400512999996 meters Centerline goodness [0,1] 0.9990147150170283 Centerline is valid? [True, True] Translation: X:26.71, Y:1.43, Z:0.06 [[ 9.99935437e-01 -8.88328649e-03 -7.08579131e-03 2.67134554e+01] [ 8.87988012e-03 9.99960442e-01 -5.12049307e-04 1.43441423e+00] [ 7.09005969e-03 4.49095271e-04 9.99974764e-01 6.02884605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.231400513 meters Centerline goodness [0,1] 0.9923467194083756 Centerline is valid? [True, True] Translation: X:26.74, Y:1.44, Z:0.06 [[ 9.99955857e-01 -5.05849173e-03 -7.91810616e-03 2.67417908e+01] [ 5.05411896e-03 9.99987064e-01 -5.72162772e-04 1.44298743e+00] [ 7.92089801e-03 5.32118464e-04 9.99968488e-01 5.86810309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.261400513 meters Centerline goodness [0,1] 0.9849154185971339 Centerline is valid? [True, True] Translation: X:26.77, Y:1.45, Z:0.06 [[ 9.99975773e-01 2.65605846e-03 -6.43416005e-03 2.67724331e+01] [-2.65910447e-03 9.99996357e-01 -4.64903481e-04 1.44524598e+00] [ 6.43290179e-03 4.82001322e-04 9.99979193e-01 6.04143277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.291400513 meters Centerline goodness [0,1] 0.7290720862149433 Centerline is valid? [True, False] Translation: X:26.81, Y:1.45, Z:0.06 [[ 9.99985724e-01 4.51755516e-03 -2.85378071e-03 2.68107259e+01] [-4.51950044e-03 9.99989559e-01 -6.75571098e-04 1.44909009e+00] [ 2.85069899e-03 6.88459117e-04 9.99995700e-01 6.09261316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.321400513 meters Centerline goodness [0,1] 0.8396287086263077 Centerline is valid? [False, False] Translation: X:26.81, Y:1.44, Z:0.06 [[ 9.99952950e-01 9.23232749e-03 -2.97677389e-03 2.68109961e+01] [-9.21842903e-03 9.99946701e-01 4.64936622e-03 1.44439570e+00] [ 3.01953970e-03 -4.62170629e-03 9.99984761e-01 6.14298797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.351400512999994 meters Centerline goodness [0,1] 0.8259357083038072 Centerline is valid? [False, False] Translation: X:26.81, Y:1.45, Z:0.06 [[ 9.99951644e-01 9.32874206e-03 -3.11194857e-03 2.68117862e+01] [-9.31585217e-03 9.99948073e-01 4.13115891e-03 1.44714929e+00] [ 3.15032549e-03 -4.10196869e-03 9.99986625e-01 6.05061388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.381400512999996 meters Centerline goodness [0,1] 0.5828468315465449 Centerline is valid? [False, False] Translation: X:26.82, Y:1.44, Z:0.06 [[ 9.99920936e-01 1.19571877e-02 -3.89201397e-03 2.68180039e+01] [-1.19296495e-02 9.99904172e-01 7.02350824e-03 1.44418231e+00] [ 3.97562241e-03 -6.97652257e-03 9.99967761e-01 5.66829691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.411400513 meters Centerline goodness [0,1] 0.7449260998836558 Centerline is valid? [False, False] Translation: X:26.77, Y:1.44, Z:0.06 [[ 9.99919594e-01 1.13487815e-02 -5.65786723e-03 2.67736090e+01] [-1.13072586e-02 9.99909294e-01 7.31772603e-03 1.44281940e+00] [ 5.74040130e-03 -7.25316267e-03 9.99957219e-01 5.77817682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.441400513 meters Centerline goodness [0,1] 0.5554490864954644 Centerline is valid? [False, False] Translation: X:26.80, Y:1.46, Z:0.05 [[ 9.99923397e-01 1.23741272e-02 2.83409435e-04 2.67960264e+01] [-1.23731933e-02 9.99918679e-01 -3.08874918e-03 1.45714517e+00] [-3.21606962e-04 3.08500590e-03 9.99995190e-01 5.06335842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.471400513 meters Centerline goodness [0,1] 0.4668695855771482 Centerline is valid? [False, False] Translation: X:26.79, Y:1.47, Z:0.05 [[ 9.99929786e-01 1.18343941e-02 6.07806381e-04 2.67949288e+01] [-1.18313768e-02 9.99918731e-01 -4.74869650e-03 1.46519648e+00] [-6.63954930e-04 4.74117189e-03 9.99988540e-01 5.06204686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.501400513 meters Centerline goodness [0,1] 0.6650929288613544 Centerline is valid? [False, False] Translation: X:26.79, Y:1.47, Z:0.05 [[ 9.99929569e-01 1.18513866e-02 6.33196992e-04 2.67946350e+01] [-1.18482728e-02 9.99918696e-01 -4.71372432e-03 1.46507116e+00] [-6.89009680e-04 4.70589004e-03 9.99988690e-01 5.10167934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.531400513 meters Centerline goodness [0,1] 0.6014199655765922 Centerline is valid? [False, False] Translation: X:26.79, Y:1.46, Z:0.05 [[ 9.99927667e-01 1.20136103e-02 5.78595206e-04 2.67946477e+01] [-1.20110091e-02 9.99918589e-01 -4.30699875e-03 1.46317314e+00] [-6.30290707e-04 4.29973770e-03 9.99990557e-01 5.13233015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.561400512999995 meters Centerline goodness [0,1] 0.6809075342465754 Centerline is valid? [False, False] Translation: X:26.79, Y:1.46, Z:0.05 [[ 9.99926825e-01 1.20885582e-02 4.60423045e-04 2.67948242e+01] [-1.20866458e-02 9.99919146e-01 -3.95163161e-03 1.46143438e+00] [-5.08155347e-04 3.94577747e-03 9.99992086e-01 5.17385929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.591400512999996 meters Centerline goodness [0,1] 0.7350171232876712 Centerline is valid? [False, False] Translation: X:26.79, Y:1.45, Z:0.05 [[ 9.99974378e-01 7.15595182e-03 -1.89089171e-04 2.67920744e+01] [-7.15303461e-03 9.99896524e-01 1.24810054e-02 1.44936852e+00] [ 2.78383078e-04 -1.24793330e-02 9.99922091e-01 5.47222451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.621400513 meters Centerline goodness [0,1] 0.7211452239634485 Centerline is valid? [False, False] Translation: X:26.79, Y:1.46, Z:0.05 [[ 9.99997260e-01 2.34067282e-03 2.55013617e-05 2.67914527e+01] [-2.34079314e-03 9.99973399e-01 6.90810715e-03 1.45523380e+00] [-9.33106470e-06 -6.90814791e-03 9.99976138e-01 5.43199399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.651400513 meters Centerline goodness [0,1] 0.691799307223155 Centerline is valid? [False, False] Translation: X:26.80, Y:1.46, Z:0.05 [[ 9.99999626e-01 6.51986648e-05 -8.62156123e-04 2.67982711e+01] [-6.13918706e-05 9.99990253e-01 4.41472430e-03 1.45840806e+00] [ 8.62435554e-04 -4.41466972e-03 9.99989883e-01 4.96693584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.681400513 meters Centerline goodness [0,1] 0.7542380100519636 Centerline is valid? [False, False] Translation: X:26.80, Y:1.46, Z:0.05 [[ 9.99999597e-01 -2.35128472e-05 -8.97442609e-04 2.67983850e+01] [ 2.73217331e-05 9.99990992e-01 4.24437917e-03 1.45919098e+00] [ 8.97334727e-04 -4.24440198e-03 9.99990590e-01 4.96641912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.711400513 meters Centerline goodness [0,1] 0.768850485770785 Centerline is valid? [False, False] Translation: X:26.80, Y:1.47, Z:0.05 [[ 9.99990376e-01 -4.38266265e-03 -1.98425207e-04 2.67962832e+01] [ 4.38234810e-03 9.99989182e-01 -1.55883733e-03 1.46718763e+00] [ 2.05254918e-04 1.55795276e-03 9.99998765e-01 4.92178045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.741400512999995 meters Centerline goodness [0,1] 0.8327203114581316 Centerline is valid? [False, False] Translation: X:26.80, Y:1.47, Z:0.05 [[ 9.99989412e-01 -4.60023787e-03 -1.17307607e-04 2.67959801e+01] [ 4.59998257e-03 9.99987234e-01 -2.09088549e-03 1.46969341e+00] [ 1.26924680e-04 2.09032374e-03 9.99997807e-01 4.92579043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.771400512999996 meters Centerline goodness [0,1] 0.6549036311361942 Centerline is valid? [False, False] Translation: X:26.80, Y:1.47, Z:0.05 [[ 9.99999940e-01 -1.35408212e-04 -3.20002525e-04 2.67967420e+01] [ 1.36256751e-04 9.99996471e-01 2.65313314e-03 1.46766434e+00] [ 3.19642140e-04 -2.65317658e-03 9.99996429e-01 4.90367595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.801400513 meters Centerline goodness [0,1] 0.7318989071038251 Centerline is valid? [False, False] Translation: X:26.80, Y:1.47, Z:0.05 [[ 9.99999875e-01 -4.10834147e-04 -2.84298642e-04 2.67970088e+01] [ 4.11376657e-04 9.99998090e-01 1.91081953e-03 1.47112751e+00] [ 2.83513069e-04 -1.91093625e-03 9.99998134e-01 4.81763890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.831400513 meters Centerline goodness [0,1] 0.6271632168306753 Centerline is valid? [False, False] Translation: X:26.80, Y:1.47, Z:0.04 [[ 9.99997602e-01 1.84226517e-03 -1.18407827e-03 2.68038419e+01] [-1.83751779e-03 9.99990320e-01 3.99800498e-03 1.47264722e+00] [ 1.19143219e-03 -3.99581962e-03 9.99991307e-01 4.36766579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.861400513 meters Centerline goodness [0,1] 0.6150517563210589 Centerline is valid? [False, False] Translation: X:26.80, Y:1.48, Z:0.04 [[ 9.99998459e-01 1.42258276e-03 -1.02875427e-03 2.68034151e+01] [-1.41953078e-03 9.99994608e-01 2.96134892e-03 1.47752781e+00] [ 1.03296149e-03 -2.95988400e-03 9.99995086e-01 4.33863401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.891400513 meters Centerline goodness [0,1] 0.7022187207222553 Centerline is valid? [False, False] Translation: X:26.80, Y:1.48, Z:0.04 [[ 9.99999232e-01 8.55651275e-04 -8.97034067e-04 2.68030454e+01] [-8.54237807e-04 9.99998395e-01 1.57491303e-03 1.48405989e+00] [ 8.98380204e-04 -1.57414553e-03 9.99998357e-01 4.31364300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.921400512999995 meters Centerline goodness [0,1] 0.6618469455017117 Centerline is valid? [False, False] Translation: X:26.80, Y:1.49, Z:0.04 [[ 9.99999318e-01 6.76858150e-04 -9.51953977e-04 2.68033891e+01] [-6.75738965e-04 9.99999081e-01 1.17550230e-03 1.48588783e+00] [ 9.52748750e-04 -1.17485822e-03 9.99998856e-01 4.27912161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.951400512999996 meters Centerline goodness [0,1] 0.6127692046803459 Centerline is valid? [False, False] Translation: X:26.80, Y:1.49, Z:0.04 [[ 9.99999420e-01 4.48241652e-04 -9.79535683e-04 2.68037244e+01] [-4.47586273e-04 9.99999676e-01 6.69188460e-04 1.48822414e+00] [ 9.79835323e-04 -6.68749645e-04 9.99999296e-01 4.22712765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.981400513 meters Centerline goodness [0,1] 0.6552063288432757 Centerline is valid? [False, False] Translation: X:26.80, Y:1.49, Z:0.04 [[ 9.99999490e-01 1.84594368e-04 -9.92670751e-04 2.68040441e+01] [-1.84519337e-04 9.99999980e-01 7.56758639e-05 1.49095276e+00] [ 9.92684701e-04 -7.54926584e-05 9.99999504e-01 4.16849275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.011400513 meters Centerline goodness [0,1] 0.5367857295267358 Centerline is valid? [False, False] Translation: X:26.80, Y:1.49, Z:0.04 [[ 9.99999461e-01 -3.81731889e-05 -1.03802398e-03 2.68043086e+01] [ 3.77373964e-05 9.99999911e-01 -4.19845355e-04 1.49324467e+00] [ 1.03803991e-03 4.19805956e-04 9.99999373e-01 4.14088098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.041400513 meters Centerline goodness [0,1] 0.560250457894961 Centerline is valid? [False, False] Translation: X:26.80, Y:1.50, Z:0.04 [[ 9.99999443e-01 -2.50445064e-04 -1.02510737e-03 2.68040254e+01] [ 2.49515817e-04 9.99999558e-01 -9.06514450e-04 1.49556103e+00] [ 1.02533394e-03 9.06258164e-04 9.99999064e-01 4.18386967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.071400513 meters Centerline goodness [0,1] 0.7159839772580436 Centerline is valid? [False, False] Translation: X:26.76, Y:1.49, Z:0.04 [[ 9.99995839e-01 -6.57563645e-04 -2.80889418e-03 2.67598421e+01] [ 6.59275074e-04 9.99999598e-01 6.08406613e-04 1.49099045e+00] [ 2.80849298e-03 -6.10255915e-04 9.99995870e-01 4.35224169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.101400512999994 meters Centerline goodness [0,1] 0.7227232802759271 Centerline is valid? [False, False] Translation: X:26.76, Y:1.49, Z:0.04 [[ 9.99995964e-01 -7.12540972e-04 -2.75016271e-03 2.67594546e+01] [ 7.13999582e-04 9.99999605e-01 5.29426904e-04 1.49135390e+00] [ 2.74978438e-03 -5.31388383e-04 9.99996078e-01 4.38832253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.131400512999996 meters Centerline goodness [0,1] 0.5341150480074772 Centerline is valid? [False, False] Translation: X:26.77, Y:1.49, Z:0.04 [[ 9.99990344e-01 -2.57060784e-03 -3.56435372e-03 2.67650033e+01] [ 2.56614246e-03 9.99995918e-01 -1.25679751e-03 1.49360866e+00] [ 3.56756991e-03 1.24763874e-03 9.99992858e-01 4.06688530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.161400513 meters Centerline goodness [0,1] 0.7330526585741153 Centerline is valid? [False, False] Translation: X:26.77, Y:1.49, Z:0.04 [[ 9.99990576e-01 -2.37076663e-03 -3.63689660e-03 2.67652036e+01] [ 2.36811685e-03 9.99996928e-01 -7.32717410e-04 1.49113810e+00] [ 3.63862252e-03 7.24097909e-04 9.99993118e-01 4.07837859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.191400513 meters Centerline goodness [0,1] 0.6974260273682875 Centerline is valid? [False, False] Translation: X:26.79, Y:1.49, Z:0.04 [[ 9.99987702e-01 -4.36738209e-03 -2.34989419e-03 2.67871010e+01] [ 4.38775817e-03 9.99952206e-01 8.73693054e-03 1.48581055e+00] [ 2.31162436e-03 -8.74713386e-03 9.99959071e-01 4.05154197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.221400513 meters Centerline goodness [0,1] 0.7209127919434326 Centerline is valid? [False, False] Translation: X:26.77, Y:1.49, Z:0.04 [[ 9.99989361e-01 -4.29345415e-03 -1.68617286e-03 2.67675631e+01] [ 4.28914282e-03 9.99987545e-01 -2.55221577e-03 1.49187948e+00] [ 1.69710968e-03 2.54495638e-03 9.99995321e-01 3.59797439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.251400513 meters Centerline goodness [0,1] 0.7384913375659099 Centerline is valid? [False, False] Translation: X:26.77, Y:1.49, Z:0.04 [[ 9.99988837e-01 -4.43001237e-03 -1.64344843e-03 2.67672660e+01] [ 4.42530155e-03 9.99986121e-01 -2.85906912e-03 1.49333837e+00] [ 1.65609133e-03 2.85176445e-03 9.99994562e-01 3.63047885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.281400513 meters Centerline goodness [0,1] 0.7852810524517342 Centerline is valid? [False, False] Translation: X:26.77, Y:1.49, Z:0.03 [[ 9.99994900e-01 -2.12029790e-03 -2.38833643e-03 2.67731843e+01] [ 2.11949553e-03 9.99997697e-01 -3.38433912e-04 1.49192484e+00] [ 2.38904851e-03 3.33370117e-04 9.99997091e-01 3.26112786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.311400512999995 meters Centerline goodness [0,1] 0.7329350451252066 Centerline is valid? [False, False] Translation: X:26.78, Y:1.49, Z:0.03 [[ 9.99995865e-01 -1.53449809e-04 -2.87168797e-03 2.67781110e+01] [ 1.58323605e-04 9.99998547e-01 1.69703806e-03 1.49043327e+00] [ 2.87142338e-03 -1.69748569e-03 9.99994437e-01 2.91956133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.341400512999996 meters Centerline goodness [0,1] 0.6989070571660334 Centerline is valid? [False, False] Translation: X:26.78, Y:1.49, Z:0.03 [[ 9.99996449e-01 -2.95844224e-04 -2.64841327e-03 2.67771256e+01] [ 2.99449347e-04 9.99999029e-01 1.36094568e-03 1.49206141e+00] [ 2.64800807e-03 -1.36173391e-03 9.99995567e-01 2.96373383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.371400513 meters Centerline goodness [0,1] 0.712874016582904 Centerline is valid? [False, False] Translation: X:26.78, Y:1.49, Z:0.03 [[ 9.99996572e-01 -2.96042130e-04 -2.60159951e-03 2.67767955e+01] [ 2.99847072e-04 9.99998886e-01 1.46227114e-03 1.49153899e+00] [ 2.60116372e-03 -1.46304621e-03 9.99995547e-01 2.99500621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.401400513 meters Centerline goodness [0,1] 0.7185485592315901 Centerline is valid? [False, False] Translation: X:26.77, Y:1.49, Z:0.03 [[ 9.99995107e-01 -2.62557817e-03 -1.70059725e-03 2.67702973e+01] [ 2.62415272e-03 9.99996204e-01 -8.39893427e-04 1.49272389e+00] [ 1.70279600e-03 8.35426690e-04 9.99998201e-01 3.38558953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.431400513 meters Centerline goodness [0,1] 0.7926305850036482 Centerline is valid? [False, False] Translation: X:26.77, Y:1.49, Z:0.03 [[ 9.99995403e-01 -2.44017679e-03 -1.79990122e-03 2.67706887e+01] [ 2.43962094e-03 9.99996976e-01 -3.10951837e-04 1.49020160e+00] [ 1.80065455e-03 3.06559331e-04 9.99998332e-01 3.37097926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.461400513 meters Centerline goodness [0,1] 0.7417057090161328 Centerline is valid? [False, False] Translation: X:26.81, Y:1.49, Z:0.03 [[ 9.99995932e-01 -2.64914142e-03 1.05694158e-03 2.68119658e+01] [ 2.65038896e-03 9.99995791e-01 -1.18067576e-03 1.49202864e+00] [-1.05380936e-03 1.18347226e-03 9.99998744e-01 3.31473300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.491400512999995 meters Centerline goodness [0,1] 0.8725009107077807 Centerline is valid? [False, False] Translation: X:26.81, Y:1.50, Z:0.03 [[ 9.99972421e-01 -7.31528122e-03 1.28210754e-03 2.68114761e+01] [ 7.32338212e-03 9.99952498e-01 -6.43192020e-03 1.49639197e+00] [-1.23499533e-03 6.44113218e-03 9.99978493e-01 3.27357121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.521400512999996 meters Centerline goodness [0,1] 0.9667115068434651 Centerline is valid? [False, True] Translation: X:26.81, Y:1.49, Z:0.03 [[ 9.99992035e-01 -3.88776006e-03 9.02726648e-04 2.68126813e+01] [ 3.88869160e-03 9.99991906e-01 -1.03246122e-03 1.48797712e+00] [-8.98705380e-04 1.03596342e-03 9.99999060e-01 3.31974084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.551400513 meters Centerline goodness [0,1] 0.9861737365103109 Centerline is valid? [True, True] Translation: X:26.84, Y:1.48, Z:0.03 [[ 9.99940039e-01 -1.08403014e-02 1.55143654e-03 2.68430607e+01] [ 1.08401408e-02 9.99941238e-01 1.11864585e-04 1.48139864e+00] [-1.55255802e-03 -9.50400871e-05 9.99998790e-01 3.48061369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.581400513 meters Centerline goodness [0,1] 0.9896382938147607 Centerline is valid? [True, True] Translation: X:26.87, Y:1.48, Z:0.04 [[ 9.99895080e-01 -1.44053708e-02 1.52132629e-03 2.68723696e+01] [ 1.44052204e-02 9.99896233e-01 1.09742388e-04 1.47996757e+00] [-1.52274931e-03 -8.78158332e-05 9.99998837e-01 3.52422185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.611400513 meters Centerline goodness [0,1] 0.9997245120684906 Centerline is valid? [True, True] Translation: X:26.90, Y:1.47, Z:0.03 [[ 9.99754934e-01 -2.20969286e-02 1.34055231e-03 2.69035835e+01] [ 2.20968188e-02 9.99755831e-01 9.66527429e-05 1.46553693e+00] [-1.34236071e-03 -6.70071152e-05 9.99999097e-01 3.43494305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.641400513 meters Centerline goodness [0,1] 0.9995346082247419 Centerline is valid? [True, True] Translation: X:26.93, Y:1.47, Z:0.04 [[ 9.99672366e-01 -2.55213042e-02 1.95524759e-03 2.69326105e+01] [ 2.55210768e-02 9.99674274e-01 1.41171918e-04 1.46664689e+00] [-1.95821361e-03 -9.12256416e-05 9.99998079e-01 3.66604725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.671400512999995 meters Centerline goodness [0,1] 0.9997241145136988 Centerline is valid? [True, True] Translation: X:26.96, Y:1.46, Z:0.04 [[ 9.99590772e-01 -2.84215650e-02 3.24097676e-03 2.69630063e+01] [ 2.84209556e-02 9.99596016e-01 2.33941114e-04 1.46155057e+00] [-3.24631642e-03 -1.41733722e-04 9.99994721e-01 3.79545420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.701400512999996 meters Centerline goodness [0,1] 0.9999149948996939 Centerline is valid? [True, True] Translation: X:26.99, Y:1.45, Z:0.04 [[ 9.99510683e-01 -3.09926749e-02 4.22481589e-03 2.69933577e+01] [ 3.09916615e-02 9.99519597e-01 3.05128967e-04 1.45089299e+00] [-4.23224303e-03 -1.74045598e-04 9.99991029e-01 3.75216977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.731400513 meters Centerline goodness [0,1] 0.9999572466866182 Centerline is valid? [True, True] Translation: X:27.02, Y:1.45, Z:0.04 [[ 9.99437050e-01 -3.31825107e-02 4.95017195e-03 2.70218495e+01] [ 3.31811452e-02 9.99449290e-01 3.57751821e-04 1.45115949e+00] [-4.95931695e-03 -1.93298050e-04 9.99987684e-01 3.96640961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.761400513 meters Centerline goodness [0,1] 0.9998927038626609 Centerline is valid? [True, True] Translation: X:27.05, Y:1.44, Z:0.04 [[ 9.99367575e-01 -3.52759388e-02 4.47873966e-03 2.70522173e+01] [ 3.52748417e-02 9.99377597e-01 3.23725178e-04 1.44371901e+00] [-4.48737179e-03 -1.65533613e-04 9.99989918e-01 3.74256937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.791400513 meters Centerline goodness [0,1] 0.9999364325973641 Centerline is valid? [True, True] Translation: X:27.08, Y:1.45, Z:0.04 [[ 9.99367416e-01 -3.54153348e-02 3.24379598e-03 2.70807825e+01] [ 3.54147593e-02 9.99372673e-01 2.34720224e-04 1.44855912e+00] [-3.25007376e-03 -1.19693490e-04 9.99994711e-01 3.76438858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.821400513 meters Centerline goodness [0,1] 0.9999573078318782 Centerline is valid? [True, True] Translation: X:27.11, Y:1.45, Z:0.04 [[ 9.99401781e-01 -3.45123536e-02 2.23086986e-03 2.71087850e+01] [ 3.45120776e-02 9.99404268e-01 1.62103190e-04 1.45296292e+00] [-2.23513542e-03 -8.50142629e-05 9.99997498e-01 3.65960486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.851400512999994 meters Centerline goodness [0,1] 0.9999355780793678 Centerline is valid? [True, True] Translation: X:27.14, Y:1.46, Z:0.04 [[ 9.99453737e-01 -3.29850444e-02 2.05296834e-03 2.71386830e+01] [ 3.29848083e-02 9.99455842e-01 1.48776690e-04 1.45517764e+00] [-2.05675861e-03 -8.09786512e-05 9.99997882e-01 3.63868198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.881400512999996 meters Centerline goodness [0,1] 0.9999149948996939 Centerline is valid? [True, True] Translation: X:27.17, Y:1.45, Z:0.04 [[ 9.99502623e-01 -3.14348864e-02 2.52066950e-03 2.71687293e+01] [ 3.14345254e-02 9.99505796e-01 1.82698500e-04 1.45242007e+00] [-2.52516689e-03 -1.03371581e-04 9.99996806e-01 3.59971917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.911400513 meters Centerline goodness [0,1] 0.9998727114580902 Centerline is valid? [True, True] Translation: X:27.20, Y:1.46, Z:0.04 [[ 9.99544506e-01 -3.00347324e-02 2.94886686e-03 2.71965606e+01] [ 3.00342315e-02 9.99548848e-01 2.14012268e-04 1.45797156e+00] [-2.95396427e-03 -1.25347836e-04 9.99995629e-01 3.74204368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.941400513 meters Centerline goodness [0,1] 0.9999356899397629 Centerline is valid? [True, True] Translation: X:27.23, Y:1.46, Z:0.04 [[ 9.99579558e-01 -2.88974746e-02 2.37539358e-03 2.72260014e+01] [ 2.88971465e-02 9.99582375e-01 1.72344960e-04 1.46334433e+00] [-2.37938189e-03 -1.03630402e-04 9.99997164e-01 3.52718334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.971400513 meters Centerline goodness [0,1] 0.9999356899397629 Centerline is valid? [True, True] Translation: X:27.25, Y:1.47, Z:0.04 [[ 9.99574807e-01 -2.90613757e-02 2.37528704e-03 2.72542842e+01] [ 2.90610445e-02 9.99577624e-01 1.73813061e-04 1.46550079e+00] [-2.37933502e-03 -1.04710834e-04 9.99997164e-01 3.54900852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.001400513 meters Centerline goodness [0,1] 0.9999573824287754 Centerline is valid? [True, True] Translation: X:27.28, Y:1.47, Z:0.04 [[ 9.99570021e-01 -2.92691900e-02 1.75719721e-03 2.72825683e+01] [ 2.92690102e-02 9.99571563e-01 1.27979302e-04 1.47074666e+00] [-1.76019021e-03 -7.64928501e-05 9.99998448e-01 3.53248644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.031400513 meters Centerline goodness [0,1] 0.9999149930931889 Centerline is valid? [True, True] Translation: X:27.31, Y:1.47, Z:0.03 [[ 9.99532605e-01 -3.05321045e-02 1.53672637e-03 2.73115785e+01] [ 3.05319665e-02 9.99533784e-01 1.13152661e-04 1.46830527e+00] [-1.53946472e-03 -6.61804960e-05 9.99998813e-01 3.43803537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.061400512999995 meters Centerline goodness [0,1] 0.9999575452673587 Centerline is valid? [True, True] Translation: X:27.34, Y:1.46, Z:0.04 [[ 9.99329005e-01 -3.65020606e-02 3.02308438e-03 2.73416515e+01] [ 3.65015609e-02 9.99333572e-01 2.20339240e-04 1.46434188e+00] [-3.02911254e-03 -1.09844095e-04 9.99995406e-01 3.69108080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.091400512999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.37, Y:1.46, Z:0.04 [[ 9.99163692e-01 -4.06480402e-02 4.43322716e-03 2.73724781e+01] [ 4.06470062e-02 9.99173517e-01 3.23106925e-04 1.45879333e+00] [-4.44269683e-03 -1.42639296e-04 9.99990121e-01 3.77308027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.121400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.40, Y:1.46, Z:0.04 [[ 9.98990398e-01 -4.46125410e-02 5.28251257e-03 2.74023505e+01] [ 4.46111273e-02 9.99004354e-01 3.85206598e-04 1.45501678e+00] [-5.29443810e-03 -1.49158852e-04 9.99985973e-01 3.91074322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.151400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.43, Y:1.46, Z:0.04 [[ 9.98849907e-01 -4.76407198e-02 5.40597296e-03 2.74313419e+01] [ 4.76392829e-02 9.98864527e-01 3.94332827e-04 1.45501522e+00] [-5.41862092e-03 -1.36342633e-04 9.99985310e-01 4.07613483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.181400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.46, Y:1.44, Z:0.03 [[ 9.98589222e-01 -5.30435551e-02 2.43847539e-03 2.74628006e+01] [ 5.30432789e-02 9.98592199e-01 1.77843516e-04 1.44447776e+00] [-2.44447595e-03 -4.82478881e-05 9.99997011e-01 3.49216025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.211400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.49, Y:1.44, Z:0.03 [[ 9.98444422e-01 -5.57552241e-02 3.01343911e-04 2.74908817e+01] [ 5.57552198e-02 9.98444468e-01 2.26775146e-05 1.44459909e+00] [-3.02139550e-04 -5.84074198e-06 9.99999954e-01 3.20905081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.241400512999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.52, Y:1.45, Z:0.03 [[ 9.98302078e-01 -5.82462918e-02 -5.75001440e-04 2.75187707e+01] [ 5.82462776e-02 9.98302244e-01 -4.13629416e-05 1.44609789e+00] [ 5.76434465e-04 7.80101709e-06 9.99999834e-01 3.12935725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.271400512999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.55, Y:1.45, Z:0.03 [[ 9.98182906e-01 -6.02552621e-02 -4.35878187e-04 2.75473263e+01] [ 6.02552545e-02 9.98183001e-01 -3.06972769e-05 1.44522414e+00] [ 4.36935869e-04 4.37754604e-06 9.99999905e-01 3.14787275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.301400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.58, Y:1.44, Z:0.03 [[ 9.98054783e-01 -6.23429365e-02 -8.85407542e-05 2.75768862e+01] [ 6.23429363e-02 9.98054787e-01 -5.20902942e-06 1.44227962e+00] [ 8.86932698e-05 -3.20993870e-07 9.99999996e-01 3.16304642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.331400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.61, Y:1.44, Z:0.03 [[ 9.97749678e-01 -6.70490033e-02 -1.05742415e-04 2.76062700e+01] [ 6.70490030e-02 9.97749684e-01 -6.48154457e-06 1.43752128e+00] [ 1.05939042e-04 -6.22964507e-07 9.99999994e-01 3.29566685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.361400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.63, Y:1.44, Z:0.03 [[ 9.97576390e-01 -6.95797126e-02 -9.43182040e-05 2.76343915e+01] [ 6.95797123e-02 9.97576395e-01 -6.48332618e-06 1.43709406e+00] [ 9.45407219e-05 -9.50203679e-08 9.99999996e-01 3.34728367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.391400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.66, Y:1.44, Z:0.03 [[ 9.97415319e-01 -7.18517229e-02 1.08740288e-04 2.76626693e+01] [ 7.18517223e-02 9.97415325e-01 9.51746446e-06 1.43688405e+00] [-1.09143076e-04 -1.67968790e-06 9.99999994e-01 3.34823005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.421400512999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.69, Y:1.44, Z:0.03 [[ 9.97262340e-01 -7.39425724e-02 5.66262456e-04 2.76896918e+01] [ 7.39425602e-02 9.97262501e-01 4.25095952e-05 1.43643890e+00] [-5.67855582e-04 -5.22322656e-07 9.99999839e-01 3.37279842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.451400512999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.72, Y:1.44, Z:0.04 [[ 9.96958497e-01 -7.78866859e-02 2.72401535e-03 2.77181695e+01] [ 7.78864246e-02 9.96962218e-01 2.02021376e-04 1.43589711e+00] [-2.73147516e-03 1.07568891e-05 9.99996269e-01 3.50864545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.481400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.75, Y:1.44, Z:0.04 [[ 9.96781153e-01 -8.00843516e-02 3.71875047e-03 2.77456182e+01] [ 8.00838797e-02 9.96788090e-01 2.75847809e-04 1.43686933e+00] [-3.72889727e-03 2.28520683e-05 9.99993047e-01 3.80035473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.511400513 meters Centerline goodness [0,1] 0.9998912310470099 Centerline is valid? [True, True] Translation: X:27.77, Y:1.44, Z:0.04 [[ 9.96622380e-01 -8.20205207e-02 4.05771607e-03 2.77740853e+01] [ 8.20199688e-02 9.96630640e-01 3.02513254e-04 1.44001847e+00] [-4.06885646e-03 3.13222656e-05 9.99991722e-01 3.70137479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.541400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.80, Y:1.44, Z:0.04 [[ 9.96489445e-01 -8.36513654e-02 3.35192606e-03 2.78018511e+01] [ 8.36509994e-02 9.96495082e-01 2.49473943e-04 1.43982963e+00] [-3.36104667e-03 3.17938140e-05 9.99994351e-01 3.76406042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.571400513 meters Centerline goodness [0,1] 0.9999354144241119 Centerline is valid? [True, True] Translation: X:27.83, Y:1.44, Z:0.04 [[ 9.96220437e-01 -8.67998076e-02 3.26102528e-03 2.78308311e+01] [ 8.67994734e-02 9.96225774e-01 2.44124597e-04 1.44016343e+00] [-3.26990740e-03 3.98533641e-05 9.99994653e-01 3.63759941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.601400512999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.86, Y:1.44, Z:0.04 [[ 9.96028347e-01 -8.89348096e-02 4.25809377e-03 2.78598634e+01] [ 8.89342580e-02 9.96037447e-01 3.19087296e-04 1.44079926e+00] [-4.26959882e-03 6.08704186e-05 9.99990883e-01 3.77508946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.631400512999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.89, Y:1.44, Z:0.04 [[ 9.95862317e-01 -9.07206450e-02 5.29252076e-03 2.78875446e+01] [ 9.07198225e-02 9.95876376e-01 3.95760210e-04 1.44160589e+00] [-5.30660002e-03 8.60138647e-05 9.99985916e-01 3.98568783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.661400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.92, Y:1.44, Z:0.04 [[ 9.95726074e-01 -9.21754554e-02 5.76810972e-03 2.79162866e+01] [ 9.21744926e-02 9.95742776e-01 4.33096946e-04 1.44405621e+00] [-5.78347449e-03 1.00426665e-04 9.99983271e-01 4.03701376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.691400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.95, Y:1.45, Z:0.04 [[ 9.95630951e-01 -9.32242256e-02 5.31544825e-03 2.79450885e+01] [ 9.32234176e-02 9.95645135e-01 4.00109034e-04 1.44511279e+00] [-5.32960005e-03 9.71633146e-05 9.99985793e-01 4.02098120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.721400513 meters Centerline goodness [0,1] 0.9999139155511557 Centerline is valid? [True, True] Translation: X:27.97, Y:1.45, Z:0.04 [[ 9.95605216e-01 -9.35894170e-02 3.35770101e-03 2.79732474e+01] [ 9.35890931e-02 9.95610876e-01 2.53826047e-04 1.45011010e+00] [-3.36671907e-03 6.15336558e-05 9.99994331e-01 3.66854324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.751400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.00, Y:1.46, Z:0.04 [[ 9.95639034e-01 -9.32548214e-02 2.54027322e-03 2.80021268e+01] [ 9.32546329e-02 9.95642273e-01 1.92797510e-04 1.45551704e+00] [-2.54718270e-03 4.49355198e-05 9.99996755e-01 3.54909502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.781400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.03, Y:1.46, Z:0.04 [[ 9.95721234e-01 -9.23715574e-02 2.59215823e-03 2.80303620e+01] [ 9.23713571e-02 9.95724607e-01 1.97150626e-04 1.46226304e+00] [-2.59928684e-03 4.31341093e-05 9.99996621e-01 3.57266532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.811400512999995 meters Centerline goodness [0,1] 0.9998917983120537 Centerline is valid? [True, True] Translation: X:28.06, Y:1.47, Z:0.04 [[ 9.95906911e-01 -9.03123016e-02 3.62120397e-03 2.80580356e+01] [ 9.03118966e-02 9.95913493e-01 2.75539451e-04 1.47379786e+00] [-3.63129050e-03 5.26261551e-05 9.99993405e-01 3.57859074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.841400512999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.09, Y:1.48, Z:0.03 [[ 9.95948530e-01 -8.98887674e-02 2.55651889e-03 2.80855497e+01] [ 8.98885650e-02 9.95951810e-01 1.94214617e-04 1.47766895e+00] [-2.56362733e-03 3.63740517e-05 9.99996713e-01 3.47625513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.871400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.11, Y:1.48, Z:0.03 [[ 9.95938886e-01 -9.00142033e-02 1.78261938e-03 2.81136661e+01] [ 9.00141027e-02 9.95940481e-01 1.36747598e-04 1.48361950e+00] [-1.78769203e-03 2.42686335e-05 9.99998402e-01 3.25672132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.901400513 meters Centerline goodness [0,1] 0.999935834367113 Centerline is valid? [True, True] Translation: X:28.14, Y:1.49, Z:0.03 [[ 9.95919046e-01 -9.02435118e-02 1.16703928e-03 2.81408612e+01] [ 9.02434690e-02 9.95919730e-01 8.94147168e-05 1.48681414e+00] [-1.17034654e-03 1.62678537e-05 9.99999315e-01 3.27977107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.931400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.17, Y:1.49, Z:0.03 [[ 9.95765448e-01 -9.19244126e-02 1.03718939e-03 2.81695454e+01] [ 9.19243787e-02 9.95765988e-01 8.03601325e-05 1.49399015e+00] [-1.04018497e-03 1.53231468e-05 9.99999459e-01 3.12919757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.961400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.20, Y:1.50, Z:0.03 [[ 9.95644624e-01 -9.32243352e-02 1.00303829e-03 2.81980025e+01] [ 9.32243039e-02 9.95645129e-01 7.79313386e-05 1.49523921e+00] [-1.00593528e-03 1.59156279e-05 9.99999494e-01 3.12098719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.991400512999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.23, Y:1.49, Z:0.03 [[ 9.95470927e-01 -9.50600216e-02 1.10727170e-03 2.82258194e+01] [ 9.50599854e-02 9.95471542e-01 8.53825132e-05 1.49431960e+00] [-1.11037394e-03 2.02614225e-05 9.99999383e-01 3.11822882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.021400512999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.25, Y:1.49, Z:0.03 [[ 9.95273829e-01 -9.71021819e-02 1.08243100e-03 2.82539931e+01] [ 9.71021487e-02 9.95274417e-01 8.33098471e-05 1.49239064e+00] [-1.08540546e-03 2.21902659e-05 9.99999411e-01 3.16002485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.051400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.28, Y:1.49, Z:0.03 [[ 9.95112294e-01 -9.87410534e-02 1.31411242e-03 2.82826031e+01] [ 9.87410046e-02 9.95113161e-01 1.02085649e-04 1.49250934e+00] [-1.31777061e-03 2.81700960e-05 9.99999131e-01 3.18785328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.081400513 meters Centerline goodness [0,1] 0.9999134011690842 Centerline is valid? [True, True] Translation: X:28.31, Y:1.50, Z:0.03 [[ 9.95143621e-01 -9.84326505e-02 -4.32263758e-04 2.83091954e+01] [ 9.84335872e-02 9.95136109e-01 3.86701578e-03 1.49735825e+00] [ 4.95206615e-05 -3.89078535e-03 9.99992430e-01 3.00849027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.111400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.34, Y:1.50, Z:0.03 [[ 9.95324699e-01 -9.65786888e-02 1.14021879e-03 2.83390132e+01] [ 9.65823680e-02 9.95317736e-01 -3.80139612e-03 1.50478637e+00] [-7.67746128e-04 3.89374848e-03 9.99992125e-01 3.15602226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.141400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.37, Y:1.51, Z:0.03 [[ 9.95528025e-01 -9.44652965e-02 5.09825845e-04 2.83674857e+01] [ 9.44652881e-02 9.95528155e-01 4.06475833e-05 1.50818244e+00] [-5.11385769e-04 7.69503701e-06 9.99999869e-01 3.12567292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.171400512999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.40, Y:1.51, Z:0.03 [[ 9.95709858e-01 -9.25300928e-02 2.48138787e-04 2.83958272e+01] [ 9.25300906e-02 9.95709888e-01 2.05182511e-05 1.51380496e+00] [-2.48972799e-04 2.53007952e-06 9.99999969e-01 3.11684246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.201400512999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.42, Y:1.52, Z:0.03 [[ 9.95826002e-01 -9.12719567e-02 -6.23812159e-05 2.84248826e+01] [ 9.12719566e-02 9.95826004e-01 -4.10911909e-06 1.51809641e+00] [ 6.24958843e-05 -1.60168800e-06 9.99999998e-01 3.13963927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.231400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.45, Y:1.52, Z:0.03 [[ 9.95910413e-01 -9.03310730e-02 -1.65706026e-03 2.84530658e+01] [ 9.03309864e-02 9.95911792e-01 -1.27189013e-04 1.52077877e+00] [ 1.66177498e-03 -2.30150259e-05 9.99998619e-01 3.07495987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.261400513 meters Centerline goodness [0,1] 0.9999134686107386 Centerline is valid? [True, True] Translation: X:28.48, Y:1.52, Z:0.03 [[ 9.95959252e-01 -8.97836527e-02 -2.01587181e-03 2.84821876e+01] [ 8.97835220e-02 9.95961292e-01 -1.55379505e-04 1.52431239e+00] [ 2.02168083e-03 -2.62404150e-05 9.99997956e-01 3.06490083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.291400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.51, Y:1.53, Z:0.03 [[ 9.96061247e-01 -8.86340564e-02 -2.44856118e-03 2.85104092e+01] [ 8.86338571e-02 9.96064257e-01 -1.90004344e-04 1.52624201e+00] [ 2.45576512e-03 -2.77694577e-05 9.99996984e-01 2.99315523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.321400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.54, Y:1.53, Z:0.03 [[ 9.96194061e-01 -8.71486944e-02 -1.58076847e-03 2.85393661e+01] [ 8.71486107e-02 9.96195315e-01 -1.21933872e-04 1.53087479e+00] [ 1.58538052e-03 -1.62919770e-05 9.99998743e-01 3.13909929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.351400512999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.57, Y:1.54, Z:0.03 [[ 9.96444105e-01 -8.42550382e-02 -4.84015083e-04 2.85669318e+01] [ 8.42550300e-02 9.96444222e-01 -3.72996762e-05 1.53726873e+00] [ 4.85436719e-04 -3.61366290e-06 9.99999882e-01 3.29855845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.381400512999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.60, Y:1.55, Z:0.03 [[ 9.96743660e-01 -8.06354463e-02 3.33334721e-05 2.85955413e+01] [ 8.06354462e-02 9.96743661e-01 3.90704167e-06 1.54514182e+00] [-3.35399730e-05 -1.20645962e-06 9.99999999e-01 3.36744258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.411400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.62, Y:1.55, Z:0.03 [[ 9.97037704e-01 -7.69110297e-02 7.13897155e-04 2.86226349e+01] [ 7.69110083e-02 9.97037960e-01 5.74395255e-05 1.55203054e+00] [-7.16200296e-04 -2.36282265e-06 9.99999744e-01 3.46396745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.441400513 meters Centerline goodness [0,1] 0.99993564855531 Centerline is valid? [True, True] Translation: X:28.65, Y:1.56, Z:0.03 [[ 9.97543481e-01 -7.00495993e-02 -2.39862054e-04 2.86503569e+01] [ 7.00495971e-02 9.97543510e-01 -1.75373626e-05 1.56273456e+00] [ 2.40501321e-04 6.92041442e-07 9.99999971e-01 3.46053888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.471400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.68, Y:1.57, Z:0.03 [[ 9.97713449e-01 -6.75749108e-02 -1.22707343e-03 2.86777308e+01] [ 6.75748439e-02 9.97714203e-01 -9.60010463e-05 1.57025947e+00] [ 1.23075585e-03 1.28622397e-05 9.99999243e-01 3.41487158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.501400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.71, Y:1.58, Z:0.03 [[ 9.97908306e-01 -6.46227160e-02 -1.70814490e-03 2.87055969e+01] [ 6.46225814e-02 9.97909767e-01 -1.33923660e-04 1.57663777e+00] [ 1.71322899e-03 2.32588004e-05 9.99998532e-01 3.32705191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.531400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.73, Y:1.58, Z:0.03 [[ 9.98042416e-01 -6.25127387e-02 -1.86880965e-03 2.87334784e+01] [ 6.25125739e-02 9.98044166e-01 -1.46501092e-04 1.58238618e+00] [ 1.87431276e-03 2.93902023e-05 9.99998243e-01 3.34871969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.561400512999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.76, Y:1.58, Z:0.03 [[ 9.98144221e-01 -6.08900766e-02 -7.15616338e-04 2.87623622e+01] [ 6.08900527e-02 9.98144478e-01 -5.51637601e-05 1.58153723e+00] [ 7.17647422e-04 1.14874718e-05 9.99999742e-01 3.33633206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.591400512999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.79, Y:1.58, Z:0.03 [[ 9.98124647e-01 -6.12138474e-02 2.32452681e-04 2.87887870e+01] [ 6.12138445e-02 9.98124674e-01 1.94198862e-05 1.58418602e+00] [-2.33205522e-04 -5.15414483e-06 9.99999973e-01 3.48296321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.621400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.82, Y:1.59, Z:0.04 [[ 9.98117914e-01 -6.13145962e-02 1.07279916e-03 2.88162737e+01] [ 6.13145399e-02 9.98118490e-01 8.53394595e-05 1.58619341e+00] [-1.07601323e-03 -1.94006564e-05 9.99999421e-01 3.65241984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.651400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.85, Y:1.59, Z:0.04 [[ 9.98164007e-01 -6.05551974e-02 1.29763172e-03 2.88450572e+01] [ 6.05551131e-02 9.98164850e-01 1.04174509e-04 1.58721509e+00] [-1.30155868e-03 -2.54050093e-05 9.99999153e-01 3.63815088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.681400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.87, Y:1.59, Z:0.04 [[ 9.98244857e-01 -5.92173367e-02 7.15346642e-04 2.88722254e+01] [ 5.92173109e-02 9.98245114e-01 5.73183011e-05 1.58980791e+00] [-7.17485527e-04 -1.48567949e-05 9.99999742e-01 3.64003206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.711400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.90, Y:1.60, Z:0.03 [[ 9.98435383e-01 -5.58660340e-02 -2.40271261e-03 2.89003102e+01] [ 5.58657375e-02 9.98438272e-01 -1.90379300e-04 1.59504807e+00] [ 2.40959596e-03 5.58521177e-05 9.99997095e-01 3.24289633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.741400512999995 meters Centerline goodness [0,1] 0.9999571926970742 Centerline is valid? [True, True] Translation: X:28.93, Y:1.60, Z:0.03 [[ 9.98531022e-01 -5.40571596e-02 -3.69077825e-03 2.89275820e+01] [ 5.40564460e-02 9.98537838e-01 -2.92900873e-04 1.60410212e+00] [ 3.70121512e-03 9.29602534e-05 9.99993146e-01 2.99614073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.771400512999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.96, Y:1.61, Z:0.03 [[ 9.98612667e-01 -5.24795138e-02 -4.31768604e-03 2.89558628e+01] [ 5.24785210e-02 9.98621994e-01 -3.42980573e-04 1.60590854e+00] [ 4.32973570e-03 1.15918967e-04 9.99990620e-01 2.79877739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.801400513 meters Centerline goodness [0,1] 0.999978418974038 Centerline is valid? [True, True] Translation: X:28.99, Y:1.61, Z:0.03 [[ 9.98732831e-01 -5.00367025e-02 -5.39083768e-03 2.89851833e+01] [ 5.00351166e-02 9.98747367e-01 -4.28743718e-04 1.61092330e+00] [ 5.40553786e-03 1.58469235e-04 9.99985377e-01 2.66225622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.831400513 meters Centerline goodness [0,1] 0.9999573569859918 Centerline is valid? [True, True] Translation: X:29.01, Y:1.62, Z:0.03 [[ 9.98755680e-01 -4.94318194e-02 -6.60199627e-03 2.90121079e+01] [ 4.94294268e-02 9.98777481e-01 -5.25182534e-04 1.61722072e+00] [ 6.61988593e-03 1.98196148e-04 9.99978069e-01 2.57298979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.861400513 meters Centerline goodness [0,1] 0.999849510910459 Centerline is valid? [True, True] Translation: X:29.04, Y:1.62, Z:0.02 [[ 9.98797011e-01 -4.84586511e-02 -7.50260794e-03 2.90404007e+01] [ 4.84555271e-02 9.98825162e-01 -5.97713445e-04 1.61811871e+00] [ 7.52275798e-03 2.33451580e-04 9.99971676e-01 2.49000406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.891400513 meters Centerline goodness [0,1] 0.9999355379359247 Centerline is valid? [True, True] Translation: X:29.07, Y:1.62, Z:0.02 [[ 9.98698827e-01 -4.98536856e-02 -1.07361049e-02 2.90693744e+01] [ 4.98492967e-02 9.98756522e-01 -6.76171055e-04 1.62059001e+00] [ 1.07564644e-02 1.40103960e-04 9.99942138e-01 2.25931574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.921400512999995 meters Centerline goodness [0,1] 0.9999355379359247 Centerline is valid? [True, True] Translation: X:29.10, Y:1.62, Z:0.02 [[ 9.98688620e-01 -5.00596015e-02 -1.07273746e-02 2.90967786e+01] [ 5.00536497e-02 9.98746192e-01 -8.22759881e-04 1.62309305e+00] [ 1.07551115e-02 2.84736682e-04 9.99942122e-01 2.27995033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.951400512999996 meters Centerline goodness [0,1] 0.9999565746048289 Centerline is valid? [True, True] Translation: X:29.13, Y:1.62, Z:0.02 [[ 9.98783722e-01 -4.87239985e-02 -7.55304654e-03 2.91255974e+01] [ 4.87195447e-02 9.98812199e-01 -7.72656897e-04 1.62460022e+00] [ 7.58172196e-03 4.03736143e-04 9.99971177e-01 2.39686210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.981400513 meters Centerline goodness [0,1] 0.9999784849071623 Centerline is valid? [True, True] Translation: X:29.15, Y:1.63, Z:0.02 [[ 9.98804410e-01 -4.83544111e-02 -7.18337432e-03 2.91530569e+01] [ 4.83515186e-02 9.98830215e-01 -5.75889214e-04 1.62862517e+00] [ 7.20281810e-03 2.27873630e-04 9.99974033e-01 2.44327811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.011400513 meters Centerline goodness [0,1] 0.9999567922571725 Centerline is valid? [True, True] Translation: X:29.18, Y:1.63, Z:0.02 [[ 9.98840359e-01 -4.73060169e-02 -8.94861441e-03 2.91809619e+01] [ 4.73014802e-02 9.98880400e-01 -7.18057278e-04 1.63202791e+00] [ 8.97256398e-03 2.93941882e-04 9.99959703e-01 2.27399079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.041400513 meters Centerline goodness [0,1] 0.9999574277868835 Centerline is valid? [True, True] Translation: X:29.21, Y:1.64, Z:0.02 [[ 9.98822553e-01 -4.71683697e-02 -1.13424787e-02 2.92080792e+01] [ 4.71610614e-02 9.98886883e-01 -9.11094622e-04 1.63646347e+00] [ 1.13728280e-02 3.75098524e-04 9.99935257e-01 1.98794641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.071400513 meters Centerline goodness [0,1] 0.9999140856566003 Centerline is valid? [True, True] Translation: X:29.24, Y:1.64, Z:0.02 [[ 9.98810155e-01 -4.69950881e-02 -1.30282628e-02 2.92370624e+01] [ 4.69854076e-02 9.98895026e-01 -1.04829658e-03 1.63981128e+00] [ 1.30631317e-02 4.34911031e-04 9.99914579e-01 1.78635119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.101400512999994 meters Centerline goodness [0,1] 0.9999129412788926 Centerline is valid? [True, True] Translation: X:29.27, Y:1.65, Z:0.02 [[ 9.98955837e-01 -4.40326137e-02 -1.21804912e-02 2.92659416e+01] [ 4.40239163e-02 9.99029995e-01 -9.81379509e-04 1.64933872e+00] [ 1.22118888e-02 4.44121862e-04 9.99925333e-01 1.90128412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.131400512999996 meters Centerline goodness [0,1] 0.9997392551388466 Centerline is valid? [True, True] Translation: X:29.30, Y:1.65, Z:0.02 [[ 9.99054218e-01 -4.20713843e-02 -1.09849045e-02 2.92954533e+01] [ 4.20641895e-02 9.99114518e-01 -8.85297264e-04 1.65250666e+00] [ 1.10124232e-02 4.22388861e-04 9.99939272e-01 2.03409165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.161400513 meters Centerline goodness [0,1] 0.9999782400557055 Centerline is valid? [True, True] Translation: X:29.32, Y:1.66, Z:0.02 [[ 9.99040870e-01 -4.22077204e-02 -1.16553833e-02 2.93228981e+01] [ 4.21996184e-02 9.99108757e-01 -9.40305375e-04 1.65529077e+00] [ 1.16846836e-02 4.47550775e-04 9.99931632e-01 1.85580516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.191400513 meters Centerline goodness [0,1] 0.9999129393840461 Centerline is valid? [True, True] Translation: X:29.35, Y:1.66, Z:0.02 [[ 9.99014338e-01 -4.25573827e-02 -1.26182778e-02 2.93505683e+01] [ 4.25478886e-02 9.99093908e-01 -1.02002990e-03 1.65858544e+00] [ 1.26502543e-02 4.82143418e-04 9.99919866e-01 1.67377869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.221400513 meters Centerline goodness [0,1] 0.9997179492742618 Centerline is valid? [True, True] Translation: X:29.38, Y:1.65, Z:0.01 [[ 9.98803638e-01 -4.56641057e-02 -1.74952099e-02 2.93831823e+01] [ 4.57418129e-02 9.98945015e-01 4.06730644e-03 1.65430183e+00] [ 1.72910228e-02 -4.86270309e-03 9.99838674e-01 1.48498802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.251400513 meters Centerline goodness [0,1] 0.9998265845833695 Centerline is valid? [True, True] Translation: X:29.41, Y:1.67, Z:0.02 [[ 9.98908417e-01 -4.48850805e-02 -1.29346201e-02 2.94083646e+01] [ 4.48043610e-02 9.98974865e-01 -6.46435182e-03 1.66575027e+00] [ 1.32115133e-02 5.87776805e-03 9.99895448e-01 1.70419734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.281400513 meters Centerline goodness [0,1] 0.9998697634035164 Centerline is valid? [True, True] Translation: X:29.44, Y:1.66, Z:0.02 [[ 9.98736039e-01 -4.79782279e-02 -1.49804680e-02 2.94414534e+01] [ 4.80202784e-02 9.98843332e-01 2.45984185e-03 1.65627587e+00] [ 1.48451217e-02 -3.17609895e-03 9.99884761e-01 1.99313720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.311400512999995 meters Centerline goodness [0,1] 0.9999782547241611 Centerline is valid? [True, True] Translation: X:29.47, Y:1.66, Z:0.02 [[ 9.98831967e-01 -4.70389975e-02 -1.10469021e-02 2.94676579e+01] [ 4.69960199e-02 9.98886586e-01 -4.11849199e-03 1.66050144e+00] [ 1.12283321e-02 3.59452102e-03 9.99930500e-01 2.22521981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.341400512999996 meters Centerline goodness [0,1] 0.9999567558217475 Centerline is valid? [True, True] Translation: X:29.50, Y:1.66, Z:0.02 [[ 9.98929846e-01 -4.51490004e-02 -1.00364454e-02 2.94960516e+01] [ 4.51430841e-02 9.98980199e-01 -8.15364202e-04 1.66047269e+00] [ 1.00630231e-02 3.61415538e-04 9.99949301e-01 2.41833506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.371400513 meters Centerline goodness [0,1] 0.9998707286594563 Centerline is valid? [True, True] Translation: X:29.52, Y:1.67, Z:0.02 [[ 9.99037866e-01 -4.27449683e-02 -9.80870374e-03 2.95238577e+01] [ 4.27391971e-02 9.99085945e-01 -7.97333715e-04 1.66762711e+00] [ 9.83382005e-03 3.77350451e-04 9.99951576e-01 2.41189815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.401400513 meters Centerline goodness [0,1] 0.9997837370242214 Centerline is valid? [True, True] Translation: X:29.55, Y:1.67, Z:0.02 [[ 9.99135521e-01 -4.01488967e-02 -1.07831312e-02 2.95524974e+01] [ 4.01417652e-02 9.99193610e-01 -8.77060058e-04 1.67272427e+00] [ 1.08096488e-02 4.43447937e-04 9.99941476e-01 2.21363869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.431400513 meters Centerline goodness [0,1] 0.9998920436143798 Centerline is valid? [True, True] Translation: X:29.58, Y:1.68, Z:0.02 [[ 9.99189067e-01 -3.82154410e-02 -1.26802074e-02 2.95814464e+01] [ 3.82054176e-02 9.99269374e-01 -1.03185895e-03 1.67639739e+00] [ 1.27103759e-02 5.46569559e-04 9.99919071e-01 1.95193680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.461400513 meters Centerline goodness [0,1] 0.9997001627687827 Centerline is valid? [True, True] Translation: X:29.61, Y:1.68, Z:0.02 [[ 9.99242960e-01 -3.56795809e-02 -1.55072663e-02 2.96104840e+01] [ 3.56642782e-02 9.99363030e-01 -1.26232234e-03 1.68185283e+00] [ 1.55424278e-02 7.08311254e-04 9.99878958e-01 1.50351261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.491400512999995 meters Centerline goodness [0,1] 0.9995879954896348 Centerline is valid? [True, True] Translation: X:29.64, Y:1.68, Z:0.01 [[ 9.99248073e-01 -3.54119721e-02 -1.57886285e-02 2.96378906e+01] [ 3.53960670e-02 9.99372536e-01 -1.28577612e-03 1.68462861e+00] [ 1.58242536e-02 7.25953954e-04 9.99874525e-01 1.48968020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.521400512999996 meters Centerline goodness [0,1] 0.9998044583496285 Centerline is valid? [True, True] Translation: X:29.67, Y:1.68, Z:0.02 [[ 9.99195003e-01 -3.68897593e-02 -1.57636104e-02 2.96673809e+01] [ 3.68740615e-02 9.99319094e-01 -1.28541918e-03 1.68155115e+00] [ 1.58002957e-02 7.03116078e-04 9.99874920e-01 1.57674540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.551400513 meters Centerline goodness [0,1] 0.9996285776709635 Centerline is valid? [True, True] Translation: X:29.70, Y:1.68, Z:0.02 [[ 9.99167196e-01 -3.79834944e-02 -1.49053127e-02 2.96967644e+01] [ 3.79695558e-02 9.99278155e-01 -1.21712960e-03 1.68102958e+00] [ 1.49407842e-02 6.50167865e-04 9.99888169e-01 1.73035283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.581400513 meters Centerline goodness [0,1] 0.999593461143444 Centerline is valid? [True, True] Translation: X:29.72, Y:1.69, Z:0.02 [[ 9.99152471e-01 -3.89699599e-02 -1.32545281e-02 2.97247066e+01] [ 3.89590047e-02 9.99240222e-01 -1.08382599e-03 1.68572114e+00] [ 1.32866942e-02 5.66524192e-04 9.99911567e-01 1.91845895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.611400513 meters Centerline goodness [0,1] 0.9997828683096298 Centerline is valid? [True, True] Translation: X:29.75, Y:1.68, Z:0.02 [[ 9.99162631e-01 -3.86693210e-02 -1.33686021e-02 2.97535600e+01] [ 3.86581196e-02 9.99251895e-01 -1.09538360e-03 1.68157580e+00] [ 1.34009587e-02 5.77661342e-04 9.99910036e-01 1.97065373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.641400513 meters Centerline goodness [0,1] 0.999913311083178 Centerline is valid? [True, True] Translation: X:29.78, Y:1.68, Z:0.02 [[ 9.99154760e-01 -3.84207616e-02 -1.46154486e-02 2.97826761e+01] [ 3.84073090e-02 9.99261446e-01 -1.20011223e-03 1.68356531e+00] [ 1.46507636e-02 6.37757791e-04 9.99892468e-01 1.82408758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.671400512999995 meters Centerline goodness [0,1] 0.9997841291771005 Centerline is valid? [True, True] Translation: X:29.81, Y:1.69, Z:0.02 [[ 9.99177531e-01 -3.73124555e-02 -1.58758218e-02 2.98116913e+01] [ 3.72964161e-02 9.99303394e-01 -1.30528499e-03 1.68569219e+00] [ 1.59134660e-02 7.12100182e-04 9.99873119e-01 1.67574629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.701400512999996 meters Centerline goodness [0,1] 0.9995834977421193 Centerline is valid? [True, True] Translation: X:29.84, Y:1.69, Z:0.01 [[ 9.99273874e-01 -3.36682236e-02 -1.78374671e-02 2.98419772e+01] [ 3.36473898e-02 9.99432690e-01 -1.46689786e-03 1.69318591e+00] [ 1.78767356e-02 8.65648504e-04 9.99839824e-01 1.45952168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.731400513 meters Centerline goodness [0,1] 0.9984197423963632 Centerline is valid? [True, True] Translation: X:29.87, Y:1.70, Z:0.01 [[ 9.99218937e-01 -3.36603080e-02 -2.07002535e-02 2.98730443e+01] [ 3.36557457e-02 9.99433323e-01 -5.68834397e-04 1.70159927e+00] [ 2.07076702e-02 -1.28292366e-04 9.99785565e-01 1.25790440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.761400513 meters Centerline goodness [0,1] 0.9996062044673916 Centerline is valid? [True, True] Translation: X:29.90, Y:1.71, Z:0.01 [[ 9.99367486e-01 -3.01730600e-02 -1.88205689e-02 2.98994383e+01] [ 3.01293746e-02 9.99542625e-01 -2.60046331e-03 1.70684450e+00] [ 1.88904247e-02 2.03176651e-03 9.99819496e-01 1.31718651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.791400513 meters Centerline goodness [0,1] 0.9992152246419462 Centerline is valid? [True, True] Translation: X:29.93, Y:1.71, Z:0.01 [[ 9.99382940e-01 -2.94675997e-02 -1.91154575e-02 2.99267682e+01] [ 2.94428801e-02 9.99565226e-01 -1.57337993e-03 1.71024196e+00] [ 1.91535103e-02 1.00959494e-03 9.99816045e-01 1.27529779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.821400513 meters Centerline goodness [0,1] 0.9963859072022161 Centerline is valid? [True, True] Translation: X:29.95, Y:1.72, Z:0.01 [[ 9.99459612e-01 -2.76138424e-02 -1.78314372e-02 2.99544310e+01] [ 2.75920247e-02 9.99618189e-01 -1.46846511e-03 1.72157418e+00] [ 1.78651789e-02 9.75666110e-04 9.99839929e-01 1.40472154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.851400512999994 meters Centerline goodness [0,1] 0.9994106990854923 Centerline is valid? [True, True] Translation: X:29.98, Y:1.72, Z:0.02 [[ 9.99500598e-01 -2.64143761e-02 -1.73445864e-02 2.99842726e+01] [ 2.63935451e-02 9.99650609e-01 -1.42886120e-03 1.72023833e+00] [ 1.73762688e-02 9.70362502e-04 9.99848550e-01 1.61080559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.881400512999996 meters Centerline goodness [0,1] 0.9972107792653622 Centerline is valid? [True, True] Translation: X:30.01, Y:1.73, Z:0.02 [[ 9.99516773e-01 -2.55390887e-02 -1.77193322e-02 3.00116170e+01] [ 2.55171988e-02 9.99673317e-01 -1.46039682e-03 1.73016648e+00] [ 1.77508408e-02 1.00754339e-03 9.99841934e-01 1.50544732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.911400513 meters Centerline goodness [0,1] 0.9970374888361252 Centerline is valid? [True, True] Translation: X:30.04, Y:1.73, Z:0.01 [[ 9.99518755e-01 -2.47498979e-02 -1.87003044e-02 3.00407549e+01] [ 2.47253648e-02 9.99693092e-01 -1.54201318e-03 1.73295490e+00] [ 1.87327298e-02 1.07889925e-03 9.99823945e-01 1.46325271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.941400513 meters Centerline goodness [0,1] 0.9749902474968575 Centerline is valid? [True, True] Translation: X:30.07, Y:1.74, Z:0.01 [[ 9.99474082e-01 -2.36993996e-02 -2.21336558e-02 3.00706707e+01] [ 2.36647653e-02 9.99718284e-01 -1.82543790e-03 1.73998541e+00] [ 2.21706822e-02 1.30069010e-03 9.99753354e-01 9.93607524e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.971400513 meters Centerline goodness [0,1] 0.9820922217859791 Centerline is valid? [True, True] Translation: X:30.10, Y:1.74, Z:0.01 [[ 9.99425133e-01 -2.43591086e-02 -2.35804375e-02 3.00988774e+01] [ 2.43199091e-02 9.99702330e-01 -1.94776781e-03 1.74094062e+00] [ 2.36208642e-02 1.37317400e-03 9.99720045e-01 8.75261756e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.001400513 meters Centerline goodness [0,1] 0.9766635609195901 Centerline is valid? [True, True] Translation: X:30.13, Y:1.75, Z:0.01 [[ 9.99420836e-01 -2.39890991e-02 -2.41353803e-02 3.01273020e+01] [ 2.39478235e-02 9.99711214e-01 -1.99779619e-03 1.74544918e+00] [ 2.41763357e-02 1.41864931e-03 9.99706703e-01 8.24420044e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.031400513 meters Centerline goodness [0,1] 0.9946336249209223 Centerline is valid? [True, True] Translation: X:30.16, Y:1.75, Z:0.01 [[ 9.99434652e-01 -2.37576565e-02 -2.37897251e-02 3.01556695e+01] [ 2.37174255e-02 9.99716758e-01 -1.97187909e-03 1.74581098e+00] [ 2.38298341e-02 1.40653326e-03 9.99715040e-01 1.02546272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.061400512999995 meters Centerline goodness [0,1] 0.9464715447154471 Centerline is valid? [True, False] Translation: X:30.18, Y:1.76, Z:0.01 [[ 9.99673307e-01 -1.93228857e-02 -1.67303842e-02 3.01757044e+01] [ 1.92034294e-02 9.99789154e-01 -7.27154522e-03 1.75570052e+00] [ 1.68673639e-02 6.94788891e-03 9.99833596e-01 5.73044625e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.091400512999996 meters Centerline goodness [0,1] 0.9902269658586768 Centerline is valid? [False, True] Translation: X:30.21, Y:1.76, Z:0.01 [[ 9.99762539e-01 -1.72970531e-02 -1.32543574e-02 3.02148365e+01] [ 1.72131928e-02 9.99831262e-01 -6.41517867e-03 1.75972454e+00] [ 1.33630846e-02 6.18550550e-03 9.99891578e-01 6.55580088e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.121400513 meters Centerline goodness [0,1] 0.9566560791685573 Centerline is valid? [True, True] Translation: X:30.24, Y:1.76, Z:0.00 [[ 9.99726731e-01 -1.68080090e-02 -1.62466749e-02 3.02428863e+01] [ 1.67888821e-02 9.99858195e-01 -1.31296960e-03 1.76370142e+00] [ 1.62664394e-02 1.03984730e-03 9.99867152e-01 2.46579910e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.151400513 meters Centerline goodness [0,1] 0.9001997723025369 Centerline is valid? [True, False] Translation: X:30.24, Y:1.76, Z:0.00 [[ 9.99722254e-01 -1.69558745e-02 -1.63680234e-02 3.02436530e+01] [ 1.69323491e-02 9.99855397e-01 -1.57480073e-03 1.76485551e+00] [ 1.63923586e-02 1.29721425e-03 9.99864795e-01 1.73488079e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.181400513 meters Centerline goodness [0,1] 0.9626218734461811 Centerline is valid? [False, True] Translation: X:30.24, Y:1.77, Z:0.00 [[ 9.99719813e-01 -1.70208022e-02 -1.64495486e-02 3.02439849e+01] [ 1.69955408e-02 9.99854164e-01 -1.67427916e-03 1.76527927e+00] [ 1.64756472e-02 1.39424108e-03 9.99863295e-01 1.59558138e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.211400513 meters Centerline goodness [0,1] 0.9244388649596329 Centerline is valid? [True, False] Translation: X:30.24, Y:1.76, Z:0.00 [[ 9.99720273e-01 -1.70068339e-02 -1.64360169e-02 3.02438063e+01] [ 1.69835290e-02 9.99854558e-01 -1.55646451e-03 1.76470931e+00] [ 1.64600969e-02 1.27688756e-03 9.99863708e-01 1.87512654e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.241400512999995 meters Centerline goodness [0,1] 0.9514297412028357 Centerline is valid? [False, True] Translation: X:30.27, Y:1.76, Z:-0.00 [[ 9.99668590e-01 -2.25224293e-02 -1.24679450e-02 3.02650315e+01] [ 2.25705249e-02 9.99738294e-01 3.73034910e-03 1.76377931e+00] [ 1.23806655e-02 -4.01052089e-03 9.99915314e-01 -1.14514335e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.271400512999996 meters Centerline goodness [0,1] 0.98782560065389 Centerline is valid? [True, True] Translation: X:30.30, Y:1.76, Z:0.00 [[ 9.99616383e-01 -2.51099073e-02 -1.16867584e-02 3.02950704e+01] [ 2.51010854e-02 9.99684512e-01 -9.00955930e-04 1.76414884e+00] [ 1.17056943e-02 6.07259988e-04 9.99931302e-01 6.18595632e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.301400513 meters Centerline goodness [0,1] 0.9944995452379921 Centerline is valid? [True, True] Translation: X:30.32, Y:1.76, Z:0.00 [[ 9.99556459e-01 -2.75120071e-02 -1.14006564e-02 3.03247895e+01] [ 2.75037662e-02 9.99621313e-01 -8.79032178e-04 1.76325068e+00] [ 1.14205231e-02 5.65081303e-04 9.99934624e-01 1.52158310e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.331400513 meters Centerline goodness [0,1] 0.9942125380612002 Centerline is valid? [True, True] Translation: X:30.35, Y:1.76, Z:0.00 [[ 9.99521425e-01 -2.89468413e-02 -1.09087799e-02 3.03527608e+01] [ 2.89393728e-02 9.99580814e-01 -8.41896865e-04 1.76477832e+00] [ 1.09285773e-02 5.25800706e-04 9.99940143e-01 2.00537910e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.361400513 meters Centerline goodness [0,1] 0.9994176265044649 Centerline is valid? [True, True] Translation: X:30.38, Y:1.76, Z:0.01 [[ 9.99490104e-01 -3.02632678e-02 -1.01816714e-02 3.03823514e+01] [ 3.02568102e-02 9.99541848e-01 -7.87711223e-04 1.76017365e+00] [ 1.02008454e-02 4.79244673e-04 9.99947855e-01 5.01858530e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.391400513 meters Centerline goodness [0,1] 0.9985421490438213 Centerline is valid? [True, True] Translation: X:30.41, Y:1.76, Z:0.00 [[ 9.99491179e-01 -3.05222183e-02 -9.26156852e-03 3.04094781e+01] [ 3.05168840e-02 9.99533994e-01 -7.16760609e-04 1.76474702e+00] [ 9.27912970e-03 4.33761694e-04 9.99956854e-01 4.95642954e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.421400512999995 meters Centerline goodness [0,1] 0.9995865790504374 Centerline is valid? [True, True] Translation: X:30.44, Y:1.76, Z:0.01 [[ 9.99511375e-01 -2.97804929e-02 -9.49389248e-03 3.04382763e+01] [ 2.97748490e-02 9.99556360e-01 -7.35303834e-04 1.76129564e+00] [ 9.51157832e-03 4.52265332e-04 9.99954662e-01 6.63895883e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.451400512999996 meters Centerline goodness [0,1] 0.9994196917918627 Centerline is valid? [True, True] Translation: X:30.47, Y:1.77, Z:0.01 [[ 9.99530309e-01 -2.89977086e-02 -9.91437398e-03 3.04657658e+01] [ 2.89915095e-02 9.99579362e-01 -7.68446565e-04 1.76610082e+00] [ 9.93248682e-03 4.80652965e-04 9.99950556e-01 5.52077272e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.481400513 meters Centerline goodness [0,1] 0.9993327880848866 Centerline is valid? [True, True] Translation: X:30.49, Y:1.77, Z:0.01 [[ 9.99554444e-01 -2.82528521e-02 -9.62759441e-03 3.04934566e+01] [ 2.82469665e-02 9.99600696e-01 -7.46787147e-04 1.76909979e+00] [ 9.64484894e-03 4.74504074e-04 9.99953375e-01 5.48127770e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.511400513 meters Centerline goodness [0,1] 0.9994180156489125 Centerline is valid? [True, True] Translation: X:30.52, Y:1.77, Z:0.01 [[ 9.99580685e-01 -2.74663393e-02 -9.16812872e-03 3.05224373e+01] [ 2.74609513e-02 9.99622623e-01 -7.13087468e-04 1.76919899e+00] [ 9.18425478e-03 4.61022924e-04 9.99957718e-01 7.48981045e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.541400513 meters Centerline goodness [0,1] 0.9990299424432516 Centerline is valid? [True, True] Translation: X:30.55, Y:1.77, Z:0.01 [[ 9.99644999e-01 -2.59334187e-02 -6.11016232e-03 3.05500056e+01] [ 2.59309960e-02 9.99663622e-01 -4.75404666e-04 1.77489328e+00] [ 6.12043587e-03 3.16793303e-04 9.99981220e-01 1.35614039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.571400513 meters Centerline goodness [0,1] 0.9995668651867894 Centerline is valid? [True, True] Translation: X:30.58, Y:1.77, Z:0.02 [[ 9.99693846e-01 -2.41491581e-02 -5.38809393e-03 3.05793587e+01] [ 2.41472476e-02 9.99708325e-01 -4.19352673e-04 1.77311596e+00] [ 5.39664937e-03 2.89116648e-04 9.99985396e-01 1.64443943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.601400512999994 meters Centerline goodness [0,1] 0.9990380298852048 Centerline is valid? [True, True] Translation: X:30.61, Y:1.78, Z:0.02 [[ 9.99753536e-01 -2.15112338e-02 -5.48951418e-03 3.06084125e+01] [ 2.15092113e-02 9.99768559e-01 -4.27217036e-04 1.78007289e+00] [ 5.49743365e-03 3.09036622e-04 9.99984841e-01 1.55373769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.631400512999996 meters Centerline goodness [0,1] 0.9993889264747605 Centerline is valid? [True, True] Translation: X:30.64, Y:1.78, Z:0.02 [[ 9.99801219e-01 -1.90023350e-02 -6.03602281e-03 3.06389732e+01] [ 1.89998444e-02 9.99819376e-01 -4.69699211e-04 1.78131111e+00] [ 6.04385794e-03 3.54922350e-04 9.99981673e-01 1.55833234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.661400513 meters Centerline goodness [0,1] 0.9963043338131969 Centerline is valid? [True, True] Translation: X:30.67, Y:1.79, Z:0.02 [[ 9.99876564e-01 -1.44006811e-02 -6.28307222e-03 3.06678294e+01] [ 1.43978913e-02 9.99896225e-01 -4.89032063e-04 1.79125757e+00] [ 6.28946259e-03 3.98508708e-04 9.99980142e-01 1.54286638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.691400513 meters Centerline goodness [0,1] 0.9714994606256743 Centerline is valid? [True, True] Translation: X:30.70, Y:1.80, Z:0.02 [[ 9.99899711e-01 -1.29512145e-02 -5.73005240e-03 3.06957350e+01] [ 1.29488688e-02 9.99916060e-01 -4.46284546e-04 1.80140440e+00] [ 5.73535135e-03 3.72042092e-04 9.99983484e-01 1.58893882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.721400513 meters Centerline goodness [0,1] 0.997549604250244 Centerline is valid? [True, True] Translation: X:30.73, Y:1.80, Z:0.02 [[ 9.99919235e-01 -1.16114166e-02 -5.16697999e-03 3.07256413e+01] [ 1.16094897e-02 9.99932526e-01 -4.02765114e-04 1.79624075e+00] [ 5.17130803e-03 3.42746584e-04 9.99986570e-01 1.82154336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.751400513 meters Centerline goodness [0,1] 0.9776480975042529 Centerline is valid? [True, True] Translation: X:30.75, Y:1.81, Z:0.02 [[ 9.99939332e-01 -1.01304250e-02 -4.32523483e-03 3.07535351e+01] [ 1.01290599e-02 9.99948643e-01 -3.37414679e-04 1.80615103e+00] [ 4.32843085e-03 2.93583646e-04 9.99990589e-01 1.76277424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.781400513 meters Centerline goodness [0,1] 0.955138135812032 Centerline is valid? [True, True] Translation: X:30.78, Y:1.81, Z:0.02 [[ 9.99934288e-01 -1.03807901e-02 -4.86398591e-03 3.07811669e+01] [ 1.03790653e-02 9.99946064e-01 -3.79707769e-04 1.80869190e+00] [ 4.86766523e-03 3.29199190e-04 9.99988099e-01 1.60184389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.811400512999995 meters Centerline goodness [0,1] 0.955138135812032 Centerline is valid? [True, True] Translation: X:30.81, Y:1.81, Z:0.02 [[ 9.99932415e-01 -1.05597285e-02 -4.86388116e-03 3.08086273e+01] [ 1.05579993e-02 9.99944190e-01 -3.81048526e-04 1.81099188e+00] [ 4.86763348e-03 3.29669919e-04 9.99988099e-01 1.59127206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.841400512999996 meters Centerline goodness [0,1] 0.9948779494652922 Centerline is valid? [True, True] Translation: X:30.84, Y:1.80, Z:0.02 [[ 9.99917513e-01 -1.17811636e-02 -5.11585704e-03 3.08383827e+01] [ 1.17792682e-02 9.99930542e-01 -4.00477318e-04 1.80099021e+00] [ 5.12021979e-03 3.40183232e-04 9.99986834e-01 1.60329359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.871400513 meters Centerline goodness [0,1] 0.9940884167237835 Centerline is valid? [True, True] Translation: X:30.87, Y:1.80, Z:0.02 [[ 9.99889784e-01 -1.39009209e-02 -5.21378714e-03 3.08671809e+01] [ 1.38989802e-02 9.99903321e-01 -4.08278753e-04 1.79919781e+00] [ 5.21895852e-03 3.35767430e-04 9.99986325e-01 1.56337053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.901400513 meters Centerline goodness [0,1] 0.9987870123681417 Centerline is valid? [True, True] Translation: X:30.90, Y:1.79, Z:0.02 [[ 9.99849318e-01 -1.67348914e-02 -4.61354405e-03 3.08986017e+01] [ 1.67334023e-02 9.99859922e-01 -3.61176662e-04 1.79051328e+00] [ 4.61894204e-03 2.83921950e-04 9.99989292e-01 1.71268785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.931400513 meters Centerline goodness [0,1] 0.9999131001520747 Centerline is valid? [True, True] Translation: X:30.93, Y:1.77, Z:0.02 [[ 9.99747870e-01 -2.22020361e-02 -3.35655732e-03 3.09305549e+01] [ 2.22012785e-02 9.99753487e-01 -2.62801544e-04 1.77185438e+00] [ 3.36156462e-03 1.88215420e-04 9.99994332e-01 2.01123201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.961400513 meters Centerline goodness [0,1] 0.9990834683263705 Centerline is valid? [True, True] Translation: X:30.96, Y:1.78, Z:0.02 [[ 9.99706044e-01 -2.39828448e-02 -3.55642496e-03 3.09589994e+01] [ 2.39820046e-02 9.99712352e-01 -2.78698131e-04 1.77808962e+00] [ 3.56208593e-03 1.93326006e-04 9.99993637e-01 1.78465002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.991400512999995 meters Centerline goodness [0,1] 0.9991888661202186 Centerline is valid? [True, True] Translation: X:30.99, Y:1.77, Z:0.02 [[ 9.99673299e-01 -2.52143739e-02 -4.18701142e-03 3.09889086e+01] [ 2.52132159e-02 9.99682042e-01 -3.29132571e-04 1.77226821e+00] [ 4.19397900e-03 2.23457020e-04 9.99991180e-01 1.65978801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.02140051299999 meters Centerline goodness [0,1] 0.9992706366912648 Centerline is valid? [True, True] Translation: X:31.02, Y:1.77, Z:0.02 [[ 9.99657161e-01 -2.57360408e-02 -4.81839790e-03 3.10178828e+01] [ 2.57345097e-02 9.99668741e-01 -3.79496322e-04 1.76775201e+00] [ 4.82656850e-03 2.55367109e-04 9.99988319e-01 1.57454356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.05140051299999 meters Centerline goodness [0,1] 0.9996544798842507 Centerline is valid? [True, True] Translation: X:31.05, Y:1.76, Z:0.02 [[ 9.99698756e-01 -2.40482273e-02 -4.90719980e-03 3.10486311e+01] [ 2.40466210e-02 9.99710764e-01 -3.86073497e-04 1.75687389e+00] [ 4.91506484e-03 2.67955621e-04 9.99987885e-01 1.76648749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.08140051299999 meters Centerline goodness [0,1] 0.9996759769295573 Centerline is valid? [True, True] Translation: X:31.08, Y:1.76, Z:0.02 [[ 9.99730565e-01 -2.28663481e-02 -3.99098688e-03 3.10782046e+01] [ 2.28652750e-02 9.99738506e-01 -3.14303456e-04 1.75538008e+00] [ 3.99713023e-03 2.22963759e-04 9.99991987e-01 1.94496426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.11140051299999 meters Centerline goodness [0,1] 0.9993981342160698 Centerline is valid? [True, True] Translation: X:31.11, Y:1.76, Z:0.02 [[ 9.99767356e-01 -2.13542905e-02 -3.03767514e-03 3.11064727e+01] [ 2.13536616e-02 9.99771956e-01 -2.39326098e-04 1.76126994e+00] [ 3.04209306e-03 1.74404933e-04 9.99995358e-01 2.03153159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.141400513 meters Centerline goodness [0,1] 0.9971537807986406 Centerline is valid? [True, True] Translation: X:31.14, Y:1.77, Z:0.02 [[ 9.99817162e-01 -1.90066319e-02 -2.09557290e-03 3.11355802e+01] [ 1.90063275e-02 9.99819350e-01 -1.65096355e-04 1.76745889e+00] [ 2.09833226e-03 1.25237024e-04 9.99997791e-01 2.10870710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.171400513 meters Centerline goodness [0,1] 0.9914291196725156 Centerline is valid? [True, True] Translation: X:31.17, Y:1.77, Z:0.02 [[ 9.99900362e-01 -1.39838232e-02 -1.92840217e-03 3.11660937e+01] [ 1.39835562e-02 9.99902214e-01 -1.51864875e-04 1.76937987e+00] [ 1.93033725e-03 1.24883823e-04 9.99998129e-01 2.11667954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.201400513 meters Centerline goodness [0,1] 0.9819634505456435 Centerline is valid? [True, True] Translation: X:31.20, Y:1.77, Z:0.02 [[ 9.99916723e-01 -1.26913713e-02 -2.34018885e-03 3.11957115e+01] [ 1.26909743e-02 9.99919449e-01 -1.84440150e-04 1.77130154e+00] [ 2.34234115e-03 1.54725514e-04 9.99997245e-01 2.05914728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.231400513 meters Centerline goodness [0,1] 0.9953336044694651 Centerline is valid? [True, True] Translation: X:31.22, Y:1.77, Z:0.02 [[ 9.99922003e-01 -1.22146254e-02 -2.60581910e-03 3.12249245e+01] [ 1.22141291e-02 9.99925383e-01 -2.06322680e-04 1.76778922e+00] [ 2.60814482e-03 1.74478777e-04 9.99996584e-01 2.08330029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.26140051299998 meters Centerline goodness [0,1] 0.9796634534077456 Centerline is valid? [True, True] Translation: X:31.25, Y:1.77, Z:0.02 [[ 9.99928770e-01 -1.18530317e-02 -1.39999114e-03 3.12521239e+01] [ 1.18528881e-02 9.99929746e-01 -1.10814365e-04 1.77457399e+00] [ 1.40120627e-03 9.42125339e-05 9.99999014e-01 2.29110070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.29140051299999 meters Centerline goodness [0,1] 0.99898520997517 Centerline is valid? [True, True] Translation: X:31.28, Y:1.77, Z:0.03 [[ 9.99929896e-01 -1.18382670e-02 -2.43063015e-04 3.12818389e+01] [ 1.18382625e-02 9.99929925e-01 -1.98685594e-05 1.76578544e+00] [ 2.43281192e-04 1.69897228e-05 9.99999970e-01 2.56067885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.32140051299999 meters Centerline goodness [0,1] 0.9896631997095444 Centerline is valid? [True, True] Translation: X:31.31, Y:1.78, Z:0.03 [[ 9.99934240e-01 -1.14600517e-02 4.28551928e-04 3.13095333e+01] [ 1.14600383e-02 9.99934331e-01 3.38060326e-05 1.77554088e+00] [-4.28911205e-04 -2.88925880e-05 9.99999908e-01 2.66992353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.35140051299999 meters Centerline goodness [0,1] 0.993047706382888 Centerline is valid? [True, True] Translation: X:31.34, Y:1.77, Z:0.03 [[ 9.99937413e-01 -1.11833611e-02 3.18653482e-04 3.13389772e+01] [ 1.11833537e-02 9.99937464e-01 2.51569812e-05 1.77440313e+00] [-3.18914894e-04 -2.15917921e-05 9.99999949e-01 2.61692395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.38140051299999 meters Centerline goodness [0,1] 0.9539353909987722 Centerline is valid? [True, True] Translation: X:31.37, Y:1.78, Z:0.02 [[ 9.99940765e-01 -1.08663810e-02 -6.23246459e-04 3.13669361e+01] [ 1.08663522e-02 9.99940958e-01 -4.95223687e-05 1.78244184e+00] [ 6.23747790e-04 4.27470196e-05 9.99999805e-01 2.41718428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.41140051299999 meters Centerline goodness [0,1] 0.9458372550697356 Centerline is valid? [True, False] Translation: X:31.37, Y:1.78, Z:0.02 [[ 9.99940689e-01 -1.08695817e-02 -6.86573052e-04 3.13673373e+01] [ 1.08695249e-02 9.99940921e-01 -8.64289059e-05 1.78260436e+00] [ 6.87471936e-04 7.89610568e-05 9.99999761e-01 2.37904086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.44140051299999 meters Centerline goodness [0,1] 0.9034953437938512 Centerline is valid? [False, False] Translation: X:31.37, Y:1.78, Z:0.02 [[ 9.99941129e-01 -1.08300920e-02 -6.68692851e-04 3.13671203e+01] [ 1.08300622e-02 9.99941352e-01 -4.82287112e-05 1.78248613e+00] [ 6.69175955e-04 4.09838867e-05 9.99999775e-01 2.40944996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.47140051299999 meters Centerline goodness [0,1] 0.8971829488678643 Centerline is valid? [False, False] Translation: X:31.37, Y:1.78, Z:0.03 [[ 9.99982079e-01 -5.93437618e-03 -7.90499499e-04 3.13669239e+01] [ 5.93881839e-03 9.99965885e-01 5.74096460e-03 1.77560299e+00] [ 7.56403488e-04 -5.74555635e-03 9.99983208e-01 2.51656874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.501400513 meters Centerline goodness [0,1] 0.9256118712661399 Centerline is valid? [False, False] Translation: X:31.37, Y:1.78, Z:0.02 [[ 9.99953064e-01 -9.68539275e-03 -2.49028364e-04 3.13654465e+01] [ 9.68550428e-03 9.99952993e-01 4.50647856e-04 1.78213350e+00] [ 2.44651956e-04 -4.53038670e-04 9.99999867e-01 2.41999583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.531400513 meters Centerline goodness [0,1] 0.9719372817765826 Centerline is valid? [False, True] Translation: X:31.34, Y:1.79, Z:0.03 [[ 9.99962715e-01 -7.64900611e-03 -4.00757749e-03 3.13436893e+01] [ 7.61543087e-03 9.99936329e-01 -8.32726513e-03 1.78629145e+00] [ 4.07101763e-03 8.29643522e-03 9.99957297e-01 2.69769857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.561400513 meters Centerline goodness [0,1] 0.8826967455302263 Centerline is valid? [True, False] Translation: X:31.35, Y:1.78, Z:0.03 [[ 9.99984170e-01 -3.25194806e-03 -4.59179515e-03 3.13454117e+01] [ 3.23795566e-03 9.99990102e-01 -3.05141359e-03 1.78126154e+00] [ 4.60167274e-03 3.03649726e-03 9.99984802e-01 2.72161445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.591400513 meters Centerline goodness [0,1] 0.746348536216124 Centerline is valid? [False, False] Translation: X:31.36, Y:1.78, Z:0.03 [[ 9.99981854e-01 -3.47502820e-03 -4.92094397e-03 3.13640842e+01] [ 3.51254565e-03 9.99964676e-01 7.63602664e-03 1.77645138e+00] [ 4.89423474e-03 -7.65317312e-03 9.99958737e-01 3.20289419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.621400513 meters Centerline goodness [0,1] 0.9551043812517255 Centerline is valid? [False, True] Translation: X:31.38, Y:1.79, Z:0.04 [[ 9.99991885e-01 -2.02605955e-03 -3.48202511e-03 3.13752996e+01] [ 2.01278862e-03 9.99990714e-01 -3.81055654e-03 1.78715506e+00] [ 3.48971319e-03 3.80351703e-03 9.99986677e-01 3.99820324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.65140051299998 meters Centerline goodness [0,1] 0.9387194991208886 Centerline is valid? [True, False] Translation: X:31.37, Y:1.79, Z:0.04 [[ 9.99992332e-01 -1.97944415e-03 -3.37913769e-03 3.13745870e+01] [ 1.96694403e-03 9.99991226e-01 -3.69852758e-03 1.78669375e+00] [ 3.38642907e-03 3.69185264e-03 9.99987451e-01 4.07045955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.68140051299999 meters Centerline goodness [0,1] 0.9726024481106972 Centerline is valid? [False, True] Translation: X:31.37, Y:1.78, Z:0.04 [[ 9.99992296e-01 -1.82645647e-03 -3.47460092e-03 3.13748115e+01] [ 1.81502404e-03 9.99992939e-01 -3.29060094e-03 1.78473905e+00] [ 3.48058653e-03 3.28426910e-03 9.99988549e-01 4.08554306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.71140051299999 meters Centerline goodness [0,1] 0.9853293926154373 Centerline is valid? [True, True] Translation: X:31.41, Y:1.78, Z:0.04 [[ 9.99980988e-01 -3.58995340e-03 -5.01349022e-03 3.14051865e+01] [ 3.58811926e-03 9.99993492e-01 -3.74787881e-04 1.77975986e+00] [ 5.01480306e-03 3.56791755e-04 9.99987362e-01 3.97605718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.74140051299999 meters Centerline goodness [0,1] 0.9713615629572252 Centerline is valid? [True, True] Translation: X:31.43, Y:1.78, Z:0.04 [[ 9.99969027e-01 -5.16042897e-03 -5.94267139e-03 3.14340103e+01] [ 5.15787868e-03 9.99986599e-01 -4.44395562e-04 1.78198265e+00] [ 5.94488502e-03 4.13730220e-04 9.99982243e-01 3.84164487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.77140051299999 meters Centerline goodness [0,1] 0.9805434203516249 Centerline is valid? [True, True] Translation: X:31.47, Y:1.78, Z:0.04 [[ 9.99949510e-01 -7.95212027e-03 -6.14332156e-03 3.14652842e+01] [ 7.94944722e-03 9.99968297e-01 -4.59412375e-04 1.77913221e+00] [ 6.14678010e-03 4.10553169e-04 9.99981024e-01 3.78655385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.80140051299999 meters Centerline goodness [0,1] 0.978544895606507 Centerline is valid? [True, True] Translation: X:31.49, Y:1.78, Z:0.04 [[ 9.99936694e-01 -8.92935088e-03 -6.84647867e-03 3.14930969e+01] [ 8.92605205e-03 9.99960031e-01 -5.12234099e-04 1.77912964e+00] [ 6.85077894e-03 4.51089646e-04 9.99976431e-01 3.69361961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.83140051299999 meters Centerline goodness [0,1] 0.9574893191914469 Centerline is valid? [True, True] Translation: X:31.52, Y:1.78, Z:0.04 [[ 9.99925002e-01 -9.43324983e-03 -7.81054885e-03 3.15210258e+01] [ 9.42896836e-03 9.99955375e-01 -5.84808094e-04 1.78002366e+00] [ 7.81571695e-03 5.11118816e-04 9.99969326e-01 3.57872565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.86140051299999 meters Centerline goodness [0,1] 0.9442868417123478 Centerline is valid? [True, False] Translation: X:31.52, Y:1.78, Z:0.04 [[ 9.99926113e-01 -9.20571020e-03 -7.93869866e-03 3.15214134e+01] [ 9.20547229e-03 9.99957627e-01 -6.65085683e-05 1.77758311e+00] [ 7.93897453e-03 -6.57581635e-06 9.99968486e-01 3.58917721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.891400513 meters Centerline goodness [0,1] 0.9772531077348067 Centerline is valid? [False, True] Translation: X:31.51, Y:1.78, Z:0.04 [[ 9.99910629e-01 -1.13703207e-02 -7.03211025e-03 3.15144100e+01] [ 1.13540639e-02 9.99932785e-01 -2.34742104e-03 1.77741420e+00] [ 7.05832851e-03 2.26736821e-03 9.99972519e-01 4.07181461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.921400513 meters Centerline goodness [0,1] 0.9906282913827569 Centerline is valid? [True, True] Translation: X:31.54, Y:1.78, Z:0.04 [[ 9.99922207e-01 -1.11336373e-02 -5.62343037e-03 3.15434465e+01] [ 1.11313756e-02 9.99937950e-01 -4.33327948e-04 1.77599171e+00] [ 5.62790595e-03 3.70697722e-04 9.99984095e-01 4.35773121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.951400513 meters Centerline goodness [0,1] 0.9966239316239316 Centerline is valid? [True, True] Translation: X:31.57, Y:1.77, Z:0.05 [[ 9.99932154e-01 -1.06714865e-02 -4.66983592e-03 3.15720157e+01] [ 1.06699198e-02 9.99943010e-01 -3.60270940e-04 1.77316344e+00] [ 4.67341441e-03 3.10419722e-04 9.99989031e-01 4.56198251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.981400513 meters Centerline goodness [0,1] 0.9989898338599092 Centerline is valid? [True, True] Translation: X:31.60, Y:1.77, Z:0.05 [[ 9.99946449e-01 -9.20159315e-03 -4.73608224e-03 3.16025014e+01] [ 9.19996443e-03 9.99957613e-01 -3.65567444e-04 1.76555671e+00] [ 4.73924529e-03 3.21976079e-04 9.99988718e-01 4.61435912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.01140051299998 meters Centerline goodness [0,1] 0.8836418424451141 Centerline is valid? [True, False] Translation: X:31.60, Y:1.77, Z:0.05 [[ 9.99946221e-01 -9.17945432e-03 -4.82624174e-03 3.16029377e+01] [ 9.17796179e-03 9.99957827e-01 -3.31310668e-04 1.76537770e+00] [ 4.82907946e-03 2.86997788e-04 9.99988299e-01 4.58758969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.04140051299999 meters Centerline goodness [0,1] 0.927539334260944 Centerline is valid? [False, False] Translation: X:31.60, Y:1.77, Z:0.05 [[ 9.99945799e-01 -9.20836917e-03 -4.85841851e-03 3.16030902e+01] [ 9.20620777e-03 9.99957513e-01 -4.67052843e-04 1.76604180e+00] [ 4.86251289e-03 4.22299918e-04 9.99988089e-01 4.57784758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.07140051299999 meters Centerline goodness [0,1] 0.9954992785925016 Centerline is valid? [False, True] Translation: X:31.60, Y:1.76, Z:0.05 [[ 9.99967317e-01 -7.03044652e-03 -3.99212893e-03 3.15965082e+01] [ 7.03729775e-03 9.99973785e-01 1.70474034e-03 1.76307207e+00] [ 3.98003919e-03 -1.73277843e-03 9.99990578e-01 5.02450118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.10140051299999 meters Centerline goodness [0,1] 0.9530227103102676 Centerline is valid? [True, True] Translation: X:31.62, Y:1.77, Z:0.05 [[ 9.99990257e-01 -2.99647255e-03 -3.24136154e-03 3.16248084e+01] [ 2.99561857e-03 9.99995477e-01 -2.68287606e-04 1.77499368e+00] [ 3.24215080e-03 2.58575109e-04 9.99994711e-01 5.04456377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.13140051299999 meters Centerline goodness [0,1] 0.3944052686191051 Centerline is valid? [True, False] Translation: X:31.62, Y:1.77, Z:0.05 [[ 9.99992556e-01 1.88681271e-03 -3.36556457e-03 3.16249891e+01] [-1.86892502e-03 9.99984155e-01 5.31016463e-03 1.76909914e+00] [ 3.37553052e-03 -5.30383512e-03 9.99980237e-01 5.09563807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.16140051299999 meters Centerline goodness [0,1] 0.5679145074934956 Centerline is valid? [False, False] Translation: X:31.58, Y:1.76, Z:0.05 [[ 9.99965971e-01 5.11578151e-03 -6.47195818e-03 3.15845057e+01] [-5.04236873e-03 9.99923336e-01 1.13091240e-02 1.76053348e+00] [ 6.52931702e-03 -1.12761051e-02 9.99915105e-01 5.12563544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.19140051299999 meters Centerline goodness [0,1] 0.4086115060586125 Centerline is valid? [False, False] Translation: X:31.61, Y:1.77, Z:0.04 [[ 9.99934331e-01 1.13132425e-02 -1.82895664e-03 3.16066893e+01] [-1.13039048e-02 9.99923419e-01 5.03767454e-03 1.77022781e+00] [ 1.88580901e-03 -5.01666937e-03 9.99985638e-01 4.47781090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.22140051299999 meters Centerline goodness [0,1] 0.4193196638942934 Centerline is valid? [False, False] Translation: X:31.61, Y:1.77, Z:0.04 [[ 9.99936473e-01 1.11845756e-02 -1.39849921e-03 3.16053446e+01] [-1.11784354e-02 9.99928171e-01 4.32384398e-03 1.77385069e+00] [ 1.44675912e-03 -4.30793626e-03 9.99989674e-01 4.46051748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.251400513 meters Centerline goodness [0,1] 0.380154584448125 Centerline is valid? [False, False] Translation: X:31.60, Y:1.78, Z:0.04 [[ 9.99938805e-01 1.09973159e-02 -1.20180337e-03 3.16046992e+01] [-1.09927615e-02 9.99932611e-01 3.73273507e-03 1.77672150e+00] [ 1.24277244e-03 -3.71929551e-03 9.99992311e-01 4.44814423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.281400513 meters Centerline goodness [0,1] 0.38312283018466065 Centerline is valid? [False, False] Translation: X:31.60, Y:1.78, Z:0.04 [[ 9.99977340e-01 6.70406977e-03 -6.12154371e-04 3.16029700e+01] [-6.70525022e-03 9.99975624e-01 -1.94710678e-03 1.78409822e+00] [ 5.99085910e-04 1.95116731e-03 9.99997917e-01 4.34967464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.311400513 meters Centerline goodness [0,1] 0.3975898474992001 Centerline is valid? [False, False] Translation: X:31.60, Y:1.78, Z:0.04 [[ 9.99976863e-01 6.76977917e-03 -6.65613416e-04 3.16032243e+01] [-6.77092904e-03 9.99975562e-01 -1.74073657e-03 1.78306960e+00] [ 6.53812747e-04 1.74520311e-03 9.99998263e-01 4.33228765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.341400513 meters Centerline goodness [0,1] 0.38293752128021796 Centerline is valid? [False, False] Translation: X:31.61, Y:1.78, Z:0.04 [[ 9.99982760e-01 5.56717611e-03 -1.86713569e-03 3.16085910e+01] [-5.57089133e-03 9.99982501e-01 -1.99053546e-03 1.78032942e+00] [ 1.85602136e-03 2.00090276e-03 9.99996276e-01 4.16186399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.371400513 meters Centerline goodness [0,1] 0.5160039420687291 Centerline is valid? [False, False] Translation: X:31.61, Y:1.78, Z:0.04 [[ 9.99981494e-01 5.72003549e-03 -2.07204817e-03 3.16088860e+01] [-5.72252813e-03 9.99982907e-01 -1.19905585e-03 1.77643480e+00] [ 2.06515411e-03 1.21089101e-03 9.99997134e-01 4.24326756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.40140051299998 meters Centerline goodness [0,1] 0.5820940170940171 Centerline is valid? [False, False] Translation: X:31.61, Y:1.78, Z:0.04 [[ 9.99987238e-01 4.04507971e-03 -3.02670158e-03 3.16144320e+01] [-4.05266312e-03 9.99988654e-01 -2.50357736e-03 1.77686795e+00] [ 3.01654007e-03 2.51581161e-03 9.99992286e-01 3.99353058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.43140051299999 meters Centerline goodness [0,1] 0.7862843054564329 Centerline is valid? [False, False] Translation: X:31.59, Y:1.77, Z:0.04 [[ 9.99995219e-01 -2.07294709e-03 -2.29461056e-03 3.15936372e+01] [ 2.08175228e-03 9.99990454e-01 3.84162032e-03 1.77198144e+00] [ 2.28662518e-03 -3.84637877e-03 9.99989988e-01 3.75840890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.46140051299999 meters Centerline goodness [0,1] 0.9521078968279535 Centerline is valid? [False, True] Translation: X:31.60, Y:1.77, Z:0.03 [[ 9.99986848e-01 -4.07046236e-03 -3.12011932e-03 3.15998335e+01] [ 4.07624261e-03 9.99989984e-01 1.84845669e-03 1.77283108e+00] [ 3.11256400e-03 -1.86115074e-03 9.99993424e-01 3.37823472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.49140051299999 meters Centerline goodness [0,1] 0.9365150640408835 Centerline is valid? [True, False] Translation: X:31.60, Y:1.77, Z:0.03 [[ 9.99959293e-01 -8.43286368e-03 -3.20935557e-03 3.16003618e+01] [ 8.42554993e-03 9.99961892e-01 -2.28562281e-03 1.77172697e+00] [ 3.22850762e-03 2.25848918e-03 9.99992238e-01 3.34730791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.52140051299999 meters Centerline goodness [0,1] 0.9897556630185798 Centerline is valid? [False, True] Translation: X:31.60, Y:1.77, Z:0.03 [[ 9.99957743e-01 -8.39817801e-03 -3.73927578e-03 3.16021529e+01] [ 8.39242655e-03 9.99963580e-01 -1.55116338e-03 1.76777164e+00] [ 3.75216655e-03 1.51971624e-03 9.99991806e-01 3.34456134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.55140051299999 meters Centerline goodness [0,1] 0.9908790089937214 Centerline is valid? [True, True] Translation: X:31.63, Y:1.76, Z:0.03 [[ 9.99886656e-01 -1.39449977e-02 -5.67565764e-03 3.16323779e+01] [ 1.39426507e-02 9.99902694e-01 -4.52883065e-04 1.76406067e+00] [ 5.68142082e-03 3.73698021e-04 9.99983791e-01 3.12825720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.58140051299999 meters Centerline goodness [0,1] 0.9975751387913981 Centerline is valid? [True, True] Translation: X:31.66, Y:1.76, Z:0.03 [[ 9.99858948e-01 -1.58341127e-02 -5.60038258e-03 3.16626298e+01] [ 1.58318569e-02 9.99874568e-01 -4.46902521e-04 1.76300837e+00] [ 5.60675642e-03 3.58175029e-04 9.99984218e-01 3.20776149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.61140051299999 meters Centerline goodness [0,1] 0.999120284941853 Centerline is valid? [True, True] Translation: X:31.69, Y:1.76, Z:0.03 [[ 9.99844470e-01 -1.68852693e-02 -5.09155485e-03 3.16915595e+01] [ 1.68834178e-02 9.99857382e-01 -4.06409064e-04 1.76329209e+00] [ 5.09769103e-03 3.20383008e-04 9.99986955e-01 3.29832698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.641400513 meters Centerline goodness [0,1] 0.999592973436161 Centerline is valid? [True, True] Translation: X:31.72, Y:1.76, Z:0.03 [[ 9.99836644e-01 -1.75122713e-02 -4.47287510e-03 3.17205942e+01] [ 1.75108473e-02 9.99846610e-01 -3.57334550e-04 1.76232455e+00] [ 4.47844674e-03 2.78952344e-04 9.99989933e-01 3.38204149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.671400513 meters Centerline goodness [0,1] 0.9989492194201407 Centerline is valid? [True, True] Translation: X:31.75, Y:1.77, Z:0.03 [[ 9.99831152e-01 -1.78079660e-02 -4.53252801e-03 3.17479169e+01] [ 1.78065039e-02 9.99841386e-01 -3.62726963e-04 1.77245610e+00] [ 4.53826852e-03 2.81957239e-04 9.99989662e-01 3.32676572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.701400513 meters Centerline goodness [0,1] 0.9989492194201407 Centerline is valid? [True, True] Translation: X:31.78, Y:1.77, Z:0.03 [[ 9.99827962e-01 -1.79861802e-02 -4.53249619e-03 3.17753829e+01] [ 1.79847182e-02 9.99838196e-01 -3.63124089e-04 1.77480108e+00] [ 4.53829403e-03 2.81545951e-04 9.99989662e-01 3.33617339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.731400513 meters Centerline goodness [0,1] 0.9992555725710397 Centerline is valid? [True, True] Translation: X:31.80, Y:1.78, Z:0.03 [[ 9.99804123e-01 -1.91628326e-02 -4.94988262e-03 3.18044969e+01] [ 1.91610988e-02 9.99816330e-01 -3.97455511e-04 1.78039435e+00] [ 4.95658985e-03 3.02532469e-04 9.99987670e-01 3.22873659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.76140051299998 meters Centerline goodness [0,1] 0.9970118671561513 Centerline is valid? [True, True] Translation: X:31.83, Y:1.79, Z:0.03 [[ 9.99783755e-01 -2.02308958e-02 -4.81192047e-03 3.18318518e+01] [ 2.02292670e-02 9.99795293e-01 -3.86938829e-04 1.79082571e+00] [ 4.81876355e-03 2.89513531e-04 9.99988348e-01 3.27262404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.79140051299999 meters Centerline goodness [0,1] 0.9993820847183159 Centerline is valid? [True, True] Translation: X:31.86, Y:1.79, Z:0.03 [[ 9.99756081e-01 -2.16301388e-02 -4.46278869e-03 3.18624081e+01] [ 2.16287505e-02 9.99766007e-01 -3.59100205e-04 1.78625440e+00] [ 4.46951182e-03 2.62488070e-04 9.99989977e-01 3.34153181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.82140051299999 meters Centerline goodness [0,1] 0.9996577613313085 Centerline is valid? [True, True] Translation: X:31.89, Y:1.79, Z:0.03 [[ 9.99678013e-01 -2.50132458e-02 -4.26697398e-03 3.18933201e+01] [ 2.50120066e-02 9.99687092e-01 -3.43528178e-04 1.78531512e+00] [ 4.27423157e-03 2.36691985e-04 9.99990837e-01 3.41161110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.85140051299999 meters Centerline goodness [0,1] 0.999848782700741 Centerline is valid? [True, True] Translation: X:31.92, Y:1.78, Z:0.04 [[ 9.99637891e-01 -2.66905686e-02 -3.42070482e-03 3.19233012e+01] [ 2.66897820e-02 9.99643726e-01 -2.75402390e-04 1.78206777e+00] [ 3.42683675e-03 1.84004799e-04 9.99994111e-01 3.57791348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.88140051299999 meters Centerline goodness [0,1] 0.9999570428283002 Centerline is valid? [True, True] Translation: X:31.95, Y:1.79, Z:0.04 [[ 9.99592184e-01 -2.84772728e-02 -2.12391245e-03 3.19531689e+01] [ 2.84769735e-02 9.99594434e-01 -1.71005264e-04 1.78575982e+00] [ 2.12792083e-03 1.10452927e-04 9.99997730e-01 3.71906156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.91140051299999 meters Centerline goodness [0,1] 0.999789145194619 Centerline is valid? [True, True] Translation: X:31.98, Y:1.80, Z:0.04 [[ 9.99526705e-01 -3.07312693e-02 -1.39793532e-03 3.19811841e+01] [ 3.07311419e-02 9.99527681e-01 -1.12555765e-04 1.79588177e+00] [ 1.40073403e-03 6.95423438e-05 9.99999017e-01 3.81766105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.94140051299999 meters Centerline goodness [0,1] 0.9998300764655905 Centerline is valid? [True, True] Translation: X:32.01, Y:1.79, Z:0.04 [[ 9.99427509e-01 -3.38061835e-02 -1.34030225e-03 3.20117650e+01] [ 3.38060689e-02 9.99428406e-01 -1.08019210e-04 1.79263512e+00] [ 1.34318786e-03 6.26470197e-05 9.99999096e-01 3.81652937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.97140051299999 meters Centerline goodness [0,1] 0.9999140930372407 Centerline is valid? [True, True] Translation: X:32.04, Y:1.79, Z:0.04 [[ 9.99305756e-01 -3.72136015e-02 -1.77612990e-03 3.20428843e+01] [ 3.72134058e-02 9.99307331e-01 -1.43158981e-04 1.78677221e+00] [ 1.78022709e-03 7.69637510e-05 9.99998412e-01 3.69869291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.001400513 meters Centerline goodness [0,1] 0.9999786068800274 Centerline is valid? [True, True] Translation: X:32.07, Y:1.79, Z:0.03 [[ 9.99047526e-01 -4.34605669e-02 -3.90116906e-03 3.20718768e+01] [ 4.34596697e-02 9.99055133e-01 -3.14504575e-04 1.78815057e+00] [ 3.91115152e-03 1.44661498e-04 9.99992341e-01 3.32552026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.031400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.10, Y:1.79, Z:0.03 [[ 9.98912638e-01 -4.63529195e-02 -4.99475360e-03 3.21019116e+01] [ 4.63514840e-02 9.98925111e-01 -4.02837275e-04 1.78596609e+00] [ 5.00805748e-03 1.70885004e-04 9.99987445e-01 3.13847439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.061400513 meters Centerline goodness [0,1] 0.9999785633132543 Centerline is valid? [True, True] Translation: X:32.13, Y:1.78, Z:0.03 [[ 9.98759830e-01 -4.94799663e-02 -5.52575694e-03 3.21323784e+01] [ 4.94782565e-02 9.98775102e-01 -4.45775588e-04 1.78386364e+00] [ 5.54104541e-03 1.71817931e-04 9.99984634e-01 3.11810266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.091400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.16, Y:1.77, Z:0.03 [[ 9.98443438e-01 -5.54109459e-02 -6.35044622e-03 3.21630264e+01] [ 5.54088069e-02 9.98463621e-01 -5.12400884e-04 1.77488731e+00] [ 6.36908214e-03 1.59732652e-04 9.99979704e-01 3.07854477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.121400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.19, Y:1.78, Z:0.03 [[ 9.98303243e-01 -5.79191903e-02 -6.00013350e-03 3.21907176e+01] [ 5.79173248e-02 9.98321265e-01 -4.84348195e-04 1.77777167e+00] [ 6.01811393e-03 1.36014694e-04 9.99981882e-01 3.05407560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.15140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.22, Y:1.78, Z:0.03 [[ 9.98153853e-01 -6.05186698e-02 -5.13574183e-03 3.22202590e+01] [ 6.05173352e-02 9.98167060e-01 -4.15014348e-04 1.77565078e+00] [ 5.15144444e-03 1.03446761e-04 9.99986726e-01 3.12582706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.18140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.25, Y:1.77, Z:0.03 [[ 9.97990439e-01 -6.32318401e-02 -4.10102845e-03 3.22496874e+01] [ 6.32310098e-02 9.97998862e-01 -3.31931405e-04 1.77304695e+00] [ 4.11381036e-03 7.19521982e-05 9.99991536e-01 3.25871960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.21140051299999 meters Centerline goodness [0,1] 0.999978594515915 Centerline is valid? [True, True] Translation: X:32.28, Y:1.77, Z:0.03 [[ 9.97644432e-01 -6.84826925e-02 -3.96327421e-03 3.22776963e+01] [ 6.84819562e-02 9.97652303e-01 -3.21359611e-04 1.76942357e+00] [ 3.97597722e-03 4.91898552e-05 9.99992095e-01 3.27578490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.24140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.31, Y:1.77, Z:0.03 [[ 9.97441569e-01 -7.13476883e-02 -4.45240987e-03 3.23054869e+01] [ 7.13467862e-02 9.97451505e-01 -3.61306545e-04 1.76795777e+00] [ 4.46684131e-03 4.27170323e-05 9.99990023e-01 3.20650567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.27140051299999 meters Centerline goodness [0,1] 0.9998702702702703 Centerline is valid? [True, True] Translation: X:32.33, Y:1.76, Z:0.03 [[ 9.97258264e-01 -7.38241125e-02 -5.09470850e-03 3.23349891e+01] [ 7.38229611e-02 9.97271277e-01 -4.13941487e-04 1.76491313e+00] [ 5.11136531e-03 3.67001012e-05 9.99986936e-01 3.16905838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.30140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.36, Y:1.76, Z:0.03 [[ 9.97081849e-01 -7.61955343e-02 -4.69320099e-03 3.23632130e+01] [ 7.61945806e-02 9.97092894e-01 -3.81939110e-04 1.75987142e+00] [ 4.70865942e-03 2.32280727e-05 9.99988914e-01 3.30500400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.33140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.39, Y:1.76, Z:0.03 [[ 9.97058197e-01 -7.65356802e-02 -4.15218076e-03 3.23915814e+01] [ 7.65349353e-02 9.97066843e-01 -3.38239628e-04 1.75955960e+00] [ 4.16588916e-03 1.94577085e-05 9.99991322e-01 3.40821559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.36140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.42, Y:1.76, Z:0.03 [[ 9.97084659e-01 -7.62067357e-02 -3.83605825e-03 3.24194248e+01] [ 7.62060947e-02 9.97092038e-01 -3.13179531e-04 1.76126180e+00] [ 3.84876953e-03 1.99354872e-05 9.99992593e-01 3.48821475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.391400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.45, Y:1.77, Z:0.03 [[ 9.97163874e-01 -7.51519297e-02 -4.04920382e-03 3.24468639e+01] [ 7.51512039e-02 9.97172095e-01 -3.31332976e-04 1.76575330e+00] [ 4.06265337e-03 2.60907324e-05 9.99991747e-01 3.45269969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.421400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.47, Y:1.77, Z:0.03 [[ 9.97416494e-01 -7.16600505e-02 -5.01749247e-03 3.24738266e+01] [ 7.16588894e-02 9.97429113e-01 -4.11037511e-04 1.77387173e+00] [ 5.03404803e-03 5.04276556e-05 9.99987328e-01 3.26750264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.451400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.50, Y:1.78, Z:0.03 [[ 9.97517152e-01 -7.02484503e-02 -4.96866877e-03 3.25021106e+01] [ 7.02472919e-02 9.97529524e-01 -4.07498912e-04 1.77741544e+00] [ 4.98501996e-03 5.74516289e-05 9.99987573e-01 3.34551421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.481400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.53, Y:1.78, Z:0.03 [[ 9.97611363e-01 -6.89479586e-02 -4.21286948e-03 3.25291728e+01] [ 6.89471119e-02 9.97620256e-01 -3.46052064e-04 1.78443202e+00] [ 4.22670351e-03 5.47602876e-05 9.99991066e-01 3.48063807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.51140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.56, Y:1.79, Z:0.04 [[ 9.97667087e-01 -6.81798896e-02 -3.44763251e-03 3.25580903e+01] [ 6.81793174e-02 9.97673043e-01 -2.83369061e-04 1.78867159e+00] [ 3.45893009e-03 4.76507540e-05 9.99994017e-01 3.63258125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.54140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.59, Y:1.79, Z:0.04 [[ 9.97689681e-01 -6.78652545e-02 -3.09955793e-03 3.25851246e+01] [ 6.78647889e-02 9.97694495e-01 -2.55253209e-04 1.79473209e+00] [ 3.10973471e-03 4.43126476e-05 9.99995164e-01 3.69864660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.57140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.61, Y:1.79, Z:0.04 [[ 9.97458879e-01 -7.11365092e-02 -3.92184035e-03 3.26139683e+01] [ 7.11357878e-02 9.97466588e-01 -3.23308401e-04 1.79474494e+00] [ 3.93490375e-03 4.35036322e-05 9.99992257e-01 3.56656199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.60140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.64, Y:1.79, Z:0.04 [[ 9.97206273e-01 -7.45831833e-02 -4.12294466e-03 3.26432048e+01] [ 7.45824126e-02 9.97214795e-01 -3.40585405e-04 1.79280904e+00] [ 4.13686336e-03 3.21347420e-05 9.99991443e-01 3.53863839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.63140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.67, Y:1.79, Z:0.04 [[ 9.96899704e-01 -7.85859913e-02 -3.90151734e-03 3.26726772e+01] [ 7.85853293e-02 9.96907339e-01 -3.22915798e-04 1.79147904e+00] [ 3.91482793e-03 1.53126380e-05 9.99992337e-01 3.56260877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.66140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.70, Y:1.79, Z:0.04 [[ 9.96596179e-01 -8.23444875e-02 -3.92944000e-03 3.27018970e+01] [ 8.23438427e-02 9.96603926e-01 -3.25891672e-04 1.79027237e+00] [ 3.94293071e-03 1.21720560e-06 9.99992227e-01 3.57057405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.69140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.73, Y:1.79, Z:0.03 [[ 9.96362135e-01 -8.50957964e-02 -4.60458816e-03 3.27301131e+01] [ 8.50949368e-02 9.96372774e-01 -3.82641353e-04 1.78992712e+00] [ 4.62044745e-03 -1.05777830e-05 9.99989326e-01 3.48631252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.72140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.76, Y:1.79, Z:0.03 [[ 9.96106256e-01 -8.79518519e-02 -6.06616313e-03 3.27577030e+01] [ 8.79504095e-02 9.96124727e-01 -5.04653944e-04 1.78875517e+00] [ 6.08704034e-03 -3.08325805e-05 9.99981473e-01 3.23677289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.751400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.79, Y:1.79, Z:0.03 [[ 9.96083119e-01 -8.82455291e-02 -5.58093887e-03 3.27856721e+01] [ 8.82443086e-02 9.96098753e-01 -4.65043780e-04 1.79211501e+00] [ 5.60020429e-03 -2.92638335e-05 9.99984318e-01 3.32149221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.781400513 meters Centerline goodness [0,1] 0.9999783211932015 Centerline is valid? [True, True] Translation: X:32.81, Y:1.80, Z:0.03 [[ 9.96105254e-01 -8.80432781e-02 -4.76498700e-03 3.28130432e+01] [ 8.80423821e-02 9.96116650e-01 -3.97884121e-04 1.79659684e+00] [ 4.78151391e-03 -2.31863434e-05 9.99988568e-01 3.49402553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.811400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.84, Y:1.80, Z:0.04 [[ 9.96318373e-01 -8.56929943e-02 -2.53176578e-03 3.28411337e+01] [ 8.56927332e-02 9.96321590e-01 -2.11610973e-04 1.80495332e+00] [ 2.54058649e-03 -6.12202963e-06 9.99996773e-01 3.91375824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.841400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.87, Y:1.81, Z:0.04 [[ 9.96455297e-01 -8.41072432e-02 -1.67716161e-03 3.28677848e+01] [ 8.41071262e-02 9.96456708e-01 -1.40337236e-04 1.81077696e+00] [ 1.68302231e-03 -1.22146072e-06 9.99998584e-01 4.05682592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.871400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.90, Y:1.82, Z:0.04 [[ 9.96579094e-01 -8.26314882e-02 -1.46534751e-03 3.28952834e+01] [ 8.26313972e-02 9.96580171e-01 -1.22633806e-04 1.81751670e+00] [ 1.47046968e-03 1.13057556e-06 9.99998919e-01 4.05671980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.90140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.92, Y:1.83, Z:0.04 [[ 9.96766699e-01 -8.03330920e-02 -1.65562905e-03 3.29220027e+01] [ 8.03329717e-02 9.96768074e-01 -1.39193626e-04 1.82845560e+00] [ 1.66146003e-03 5.74196959e-06 9.99998620e-01 3.99778420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.93140051299999 meters Centerline goodness [0,1] 0.9999784631288766 Centerline is valid? [True, True] Translation: X:32.95, Y:1.83, Z:0.04 [[ 9.96798974e-01 -7.99256765e-02 -1.92149740e-03 3.29493284e+01] [ 7.99255137e-02 9.96800826e-01 -1.61495426e-04 1.83413696e+00] [ 1.92825783e-03 7.40180730e-06 9.99998141e-01 3.95188573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.96140051299999 meters Centerline goodness [0,1] 0.9998924708058238 Centerline is valid? [True, True] Translation: X:32.98, Y:1.84, Z:0.04 [[ 9.96797801e-01 -7.99344612e-02 -2.15098404e-03 3.29774811e+01] [ 7.99342561e-02 9.96800121e-01 -1.81273814e-04 1.83853557e+00] [ 2.15859118e-03 8.75602937e-06 9.99997670e-01 3.90536996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.99140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.00, Y:1.84, Z:0.04 [[ 9.96781946e-01 -8.01083744e-02 -2.89819872e-03 3.30041281e+01] [ 8.01080003e-02 9.96786160e-01 -2.45097264e-04 1.84169286e+00] [ 2.90851872e-03 1.21396237e-05 9.99995770e-01 3.81247646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.02140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.03, Y:1.84, Z:0.03 [[ 9.96716125e-01 -8.08145403e-02 -5.09676392e-03 3.30309878e+01] [ 8.08133895e-02 9.96729156e-01 -4.31679254e-04 1.84478354e+00] [ 5.11497916e-03 1.83749061e-05 9.99986918e-01 3.44836488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.05140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.06, Y:1.85, Z:0.03 [[ 9.96654150e-01 -8.15052469e-02 -6.11555681e-03 3.30591658e+01] [ 8.15035977e-02 9.96672912e-01 -5.18831724e-04 1.84640863e+00] [ 6.13749732e-03 1.86559094e-05 9.99981165e-01 3.29754819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.08140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.09, Y:1.85, Z:0.03 [[ 9.96578739e-01 -8.23958211e-02 -6.46101887e-03 3.30873443e+01] [ 8.23939906e-02 9.96599683e-01 -5.49423061e-04 1.84747433e+00] [ 6.48431952e-03 1.51942135e-05 9.99978976e-01 3.28837195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.11140051299999 meters Centerline goodness [0,1] 0.9999568174457519 Centerline is valid? [True, True] Translation: X:33.11, Y:1.85, Z:0.03 [[ 9.96490932e-01 -8.34748473e-02 -6.14595773e-03 3.31144257e+01] [ 8.34732063e-02 9.96509884e-01 -5.23492061e-04 1.84860604e+00] [ 6.16820605e-03 8.63229399e-06 9.99980976e-01 3.36679351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.141400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.14, Y:1.85, Z:0.04 [[ 9.96421865e-01 -8.44131738e-02 -4.22887245e-03 3.31422058e+01] [ 8.44124043e-02 9.96430839e-01 -3.60448866e-04 1.85016158e+00] [ 4.24420556e-03 2.18984081e-06 9.99990993e-01 3.75537678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.171400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.17, Y:1.85, Z:0.04 [[ 9.96455866e-01 -8.40399213e-02 -3.60538077e-03 3.31700810e+01] [ 8.40393587e-02 9.96462388e-01 -3.07518613e-04 1.85346044e+00] [ 3.61847017e-03 3.43483791e-06 9.99993453e-01 3.83489744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.201400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.20, Y:1.86, Z:0.04 [[ 9.96532365e-01 -8.31044132e-02 -4.11130605e-03 3.31983763e+01] [ 8.31036700e-02 9.96540845e-01 -3.51558777e-04 1.85704565e+00] [ 4.12630049e-03 8.67507813e-06 9.99991487e-01 3.71945900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.231400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.23, Y:1.86, Z:0.04 [[ 9.96651821e-01 -8.16011726e-02 -5.13768660e-03 3.32259600e+01] [ 8.15999873e-02 9.96665063e-01 -4.40259404e-04 1.86181800e+00] [ 5.15647843e-03 1.95501752e-05 9.99986705e-01 3.52969532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.26140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.25, Y:1.87, Z:0.04 [[ 9.96910855e-01 -7.83949506e-02 -4.79369007e-03 3.32544621e+01] [ 7.83938796e-02 9.96922379e-01 -4.11208854e-04 1.86891269e+00] [ 4.81117361e-03 3.41426077e-05 9.99988426e-01 3.57560392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.29140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.28, Y:1.87, Z:0.04 [[ 9.97005602e-01 -7.72183411e-02 -4.14218156e-03 3.32817486e+01] [ 7.72175290e-02 9.97014206e-01 -3.55861731e-04 1.87398995e+00] [ 4.15729291e-03 3.49471144e-05 9.99991358e-01 3.68730480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.32140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.31, Y:1.88, Z:0.04 [[ 9.97084483e-01 -7.62201329e-02 -3.60910391e-03 3.33100525e+01] [ 7.62195091e-02 9.97091014e-01 -3.10275821e-04 1.87781155e+00] [ 3.62225434e-03 3.42870790e-05 9.99993439e-01 3.83079545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.35140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.34, Y:1.88, Z:0.04 [[ 9.97174436e-01 -7.50292179e-02 -3.70940923e-03 3.33377522e+01] [ 7.50285484e-02 9.97181335e-01 -3.19495010e-04 1.88158306e+00] [ 3.72292511e-03 4.02806669e-05 9.99993069e-01 3.84660071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.38140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.37, Y:1.89, Z:0.04 [[ 9.97427554e-01 -7.14747169e-02 -5.44424421e-03 3.33664553e+01] [ 7.14732184e-02 9.97442409e-01 -4.69552302e-04 1.88806159e+00] [ 5.46388118e-03 7.92267480e-05 9.99985070e-01 3.56724023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.41140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.40, Y:1.89, Z:0.03 [[ 9.97570145e-01 -6.94416878e-02 -5.62648067e-03 3.33952288e+01] [ 6.94400496e-02 9.97586008e-01 -4.86227512e-04 1.89424844e+00] [ 5.64666285e-03 9.43429534e-05 9.99984053e-01 3.47885343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.44140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.42, Y:1.90, Z:0.04 [[ 9.97720129e-01 -6.73180154e-02 -4.77803600e-03 3.34239522e+01] [ 6.73168062e-02 9.97731565e-01 -4.13620489e-04 1.90030594e+00] [ 4.79504145e-03 9.10353634e-05 9.99988500e-01 3.56583806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.47140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.45, Y:1.91, Z:0.04 [[ 9.97883308e-01 -6.49045513e-02 -4.03764800e-03 3.34513121e+01] [ 6.49036660e-02 9.97891473e-01 -3.50052070e-04 1.90882722e+00] [ 4.05185448e-03 8.72529603e-05 9.99991787e-01 3.68454840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.501400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.48, Y:1.92, Z:0.04 [[ 9.98242765e-01 -5.91185700e-02 -4.04673291e-03 3.34797712e+01] [ 5.91176323e-02 9.98250962e-01 -3.51055209e-04 1.92209649e+00] [ 4.06040890e-03 1.11205054e-04 9.99991750e-01 3.75106083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.531400513 meters Centerline goodness [0,1] 0.9999576208335982 Centerline is valid? [True, True] Translation: X:33.51, Y:1.93, Z:0.04 [[ 9.98406443e-01 -5.62528438e-02 -4.49361877e-03 3.35092502e+01] [ 5.62516581e-02 9.98416546e-01 -3.89906647e-04 1.92708431e+00] [ 4.50843669e-03 1.36511802e-04 9.99989828e-01 3.75282180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.561400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.54, Y:1.93, Z:0.04 [[ 9.98552598e-01 -5.35865539e-02 -4.60321898e-03 3.35387621e+01] [ 5.35852809e-02 9.98563197e-01 -3.99523980e-04 1.93078394e+00] [ 4.61801417e-03 1.52280926e-04 9.99989325e-01 3.78728836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.591400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.57, Y:1.93, Z:0.04 [[ 9.98542496e-01 -5.37744855e-02 -4.60319240e-03 3.35661744e+01] [ 5.37732131e-02 9.98553094e-01 -3.99829903e-04 1.93331464e+00] [ 4.61803266e-03 1.51718703e-04 9.99989325e-01 3.79668533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.621400513 meters Centerline goodness [0,1] 0.9999787256674821 Centerline is valid? [True, True] Translation: X:33.59, Y:1.94, Z:0.04 [[ 9.98688292e-01 -5.10726373e-02 -3.64428648e-03 3.35936073e+01] [ 5.10718199e-02 9.98694933e-01 -3.17064229e-04 1.94219207e+00] [ 3.65572375e-03 1.30527990e-04 9.99993309e-01 3.93041281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.65140051299998 meters Centerline goodness [0,1] 0.9999150093489716 Centerline is valid? [True, True] Translation: X:33.62, Y:1.95, Z:0.04 [[ 9.98914029e-01 -4.65850167e-02 -7.74024302e-04 3.36228272e+01] [ 4.65849784e-02 9.98914328e-01 -6.73753585e-05 1.95338410e+00] [ 7.76322648e-04 3.12442854e-05 9.99999698e-01 4.33137428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.68140051299999 meters Centerline goodness [0,1] 0.9999575164092869 Centerline is valid? [True, True] Translation: X:33.65, Y:1.96, Z:0.04 [[ 9.98990530e-01 -4.49211892e-02 -8.22244317e-05 3.36515124e+01] [ 4.49211888e-02 9.98990534e-01 -7.04183084e-06 1.95951740e+00] [ 8.24577563e-05 3.34110311e-06 9.99999997e-01 4.43231305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.71140051299999 meters Centerline goodness [0,1] 0.9998516886308741 Centerline is valid? [True, True] Translation: X:33.68, Y:1.97, Z:0.05 [[ 9.99041931e-01 -4.37631949e-02 5.77131922e-05 3.36780358e+01] [ 4.37631947e-02 9.99041932e-01 5.22767775e-06 1.97262935e+00] [-5.78866789e-05 -2.69695561e-06 9.99999998e-01 4.51795286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.74140051299999 meters Centerline goodness [0,1] 0.9998514998514999 Centerline is valid? [True, True] Translation: X:33.71, Y:1.98, Z:0.04 [[ 9.99066112e-01 -4.31716202e-02 -1.76501373e-03 3.37065301e+01] [ 4.31714161e-02 9.99067668e-01 -1.53564282e-04 1.97507526e+00] [ 1.76999777e-03 7.72227284e-05 9.99998431e-01 4.16912312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.77140051299999 meters Centerline goodness [0,1] 0.9999573333333334 Centerline is valid? [True, True] Translation: X:33.74, Y:1.97, Z:0.04 [[ 9.99040010e-01 -4.37008324e-02 -3.04903365e-03 3.37358433e+01] [ 4.37002233e-02 9.99044653e-01 -2.66152342e-04 1.97293826e+00] [ 3.05775184e-03 1.32653387e-04 9.99995316e-01 3.92688271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.80140051299999 meters Centerline goodness [0,1] 0.9999786798567286 Centerline is valid? [True, True] Translation: X:33.76, Y:1.98, Z:0.04 [[ 9.99008680e-01 -4.43854054e-02 -3.40492937e-03 3.37632792e+01] [ 4.43846476e-02 9.99014472e-01 -2.97845289e-04 1.97602214e+00] [ 3.41479370e-03 1.46423439e-04 9.99994159e-01 3.87762806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.83140051299999 meters Centerline goodness [0,1] 0.9999357216318135 Centerline is valid? [True, True] Translation: X:33.79, Y:1.98, Z:0.04 [[ 9.98986900e-01 -4.49272055e-02 -2.59230806e-03 3.37903671e+01] [ 4.49267678e-02 9.98990257e-01 -2.26866243e-04 1.98164404e+00] [ 2.59988296e-03 1.10172383e-04 9.99996614e-01 4.02401044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.86140051299999 meters Centerline goodness [0,1] 0.999914942479852 Centerline is valid? [True, True] Translation: X:33.82, Y:1.99, Z:0.05 [[ 9.99015819e-01 -4.43539875e-02 3.43602656e-04 3.38192036e+01] [ 4.43539795e-02 9.99015878e-01 3.06961384e-05 1.98732103e+00] [-3.44626005e-04 -1.54257827e-05 9.99999940e-01 4.59759083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.891400513 meters Centerline goodness [0,1] 0.9999784904605192 Centerline is valid? [True, True] Translation: X:33.85, Y:1.99, Z:0.05 [[ 9.99058840e-01 -4.33599175e-02 1.16302474e-03 3.38482590e+01] [ 4.33598272e-02 9.99059515e-01 1.02824446e-04 1.98664250e+00] [-1.16638939e-03 -5.22991201e-05 9.99999318e-01 4.68746427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.921400513 meters Centerline goodness [0,1] 0.9998520303549158 Centerline is valid? [True, True] Translation: X:33.87, Y:2.00, Z:0.05 [[ 9.99097891e-01 -4.24485845e-02 1.23357480e-03 3.38745081e+01] [ 4.24484824e-02 9.99098651e-01 1.08894870e-04 2.00195275e+00] [-1.23708536e-03 -5.64332567e-05 9.99999233e-01 4.81136752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.951400513 meters Centerline goodness [0,1] 0.9998303934871099 Centerline is valid? [True, True] Translation: X:33.90, Y:2.00, Z:0.05 [[ 9.99121474e-01 -4.19042472e-02 5.60709896e-04 3.39033304e+01] [ 4.19042257e-02 9.99121631e-01 4.99812115e-05 2.00364040e+00] [-5.62311811e-04 -2.64411877e-05 9.99999842e-01 4.65560006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.981400513 meters Centerline goodness [0,1] 0.9997453634936129 Centerline is valid? [True, True] Translation: X:33.93, Y:2.01, Z:0.04 [[ 9.99193976e-01 -4.01368171e-02 -6.59383283e-04 3.39322342e+01] [ 4.01367875e-02 9.99194193e-01 -5.80782135e-05 2.01209094e+00] [ 6.61183022e-04 3.15658743e-05 9.99999781e-01 4.40779498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.01140051299998 meters Centerline goodness [0,1] 0.9999362407549095 Centerline is valid? [True, True] Translation: X:33.96, Y:2.01, Z:0.04 [[ 9.99220139e-01 -3.94766860e-02 -8.39187872e-04 3.39613896e+01] [ 3.94766381e-02 9.99220491e-01 -7.35895299e-05 2.01091198e+00] [ 8.41438789e-04 4.04038244e-05 9.99999645e-01 4.29438090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.04140051299999 meters Centerline goodness [0,1] 0.999784315417134 Centerline is valid? [True, True] Translation: X:33.99, Y:2.02, Z:0.04 [[ 9.99247594e-01 -3.87511640e-02 -1.61055057e-03 3.39883789e+01] [ 3.87509851e-02 9.99248888e-01 -1.42146197e-04 2.02031553e+00] [ 1.61484920e-03 7.96288239e-05 9.99998693e-01 4.22109810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.07140051299999 meters Centerline goodness [0,1] 0.9998516320474777 Centerline is valid? [True, True] Translation: X:34.02, Y:2.02, Z:0.04 [[ 9.99289114e-01 -3.76072994e-02 -2.63778912e-03 3.40179054e+01] [ 3.76068142e-02 9.99292586e-01 -2.33304744e-04 2.02418477e+00] [ 2.64469708e-03 1.33940045e-04 9.99996494e-01 4.10975766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.10140051299999 meters Centerline goodness [0,1] 0.9998498820501823 Centerline is valid? [True, True] Translation: X:34.05, Y:2.03, Z:0.04 [[ 9.99401269e-01 -3.42803153e-02 -4.68655001e-03 3.40476946e+01] [ 3.42787466e-02 9.99412225e-01 -4.14652482e-04 2.02947229e+00] [ 4.69800979e-03 2.53755157e-04 9.99988932e-01 3.83280036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.13140051299999 meters Centerline goodness [0,1] 0.9993189895507459 Centerline is valid? [True, True] Translation: X:34.08, Y:2.04, Z:0.04 [[ 9.99469097e-01 -3.22476468e-02 -4.64896767e-03 3.40757786e+01] [ 3.22460811e-02 9.99479875e-01 -4.11366401e-04 2.04474107e+00] [ 4.65981522e-03 2.61237017e-04 9.99989109e-01 3.76176969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.16140051299999 meters Centerline goodness [0,1] 0.9993582338595816 Centerline is valid? [True, True] Translation: X:34.11, Y:2.05, Z:0.04 [[ 9.99540386e-01 -3.00295786e-02 -4.15231320e-03 3.41052411e+01] [ 3.00283101e-02 9.99548981e-01 -3.67499861e-04 2.04881947e+00] [ 4.16147630e-03 2.42644004e-04 9.99991312e-01 3.82049446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.19140051299999 meters Centerline goodness [0,1] 0.9989772000852333 Centerline is valid? [True, True] Translation: X:34.13, Y:2.06, Z:0.04 [[ 9.99604617e-01 -2.78895235e-02 -3.57541266e-03 3.41334508e+01] [ 2.78885692e-02 9.99610988e-01 -3.16478798e-04 2.05544297e+00] [ 3.58284822e-03 2.16640524e-04 9.99993558e-01 3.93259155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.22140051299999 meters Centerline goodness [0,1] 0.9993119019460273 Centerline is valid? [True, True] Translation: X:34.16, Y:2.06, Z:0.04 [[ 9.99645292e-01 -2.62035611e-02 -4.76056398e-03 3.41637623e+01] [ 2.62018498e-02 9.99656584e-01 -4.21485796e-04 2.05894439e+00] [ 4.76997356e-03 2.96600709e-04 9.99988580e-01 3.74584037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.251400513 meters Centerline goodness [0,1] 0.9994868834584055 Centerline is valid? [True, True] Translation: X:34.19, Y:2.06, Z:0.04 [[ 9.99626151e-01 -2.66862856e-02 -5.94986332e-03 3.41922863e+01] [ 2.66836186e-02 9.99643790e-01 -5.27199412e-04 2.06022146e+00] [ 5.96181291e-03 3.68238436e-04 9.99982160e-01 3.53878156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.281400513 meters Centerline goodness [0,1] 0.9994872233142467 Centerline is valid? [True, True] Translation: X:34.22, Y:2.06, Z:0.03 [[ 9.99604939e-01 -2.74068543e-02 -6.23138117e-03 3.42213159e+01] [ 2.74039365e-02 9.99624289e-01 -5.53154852e-04 2.06407457e+00] [ 6.24420020e-03 3.82171948e-04 9.99980432e-01 3.43978915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.311400513 meters Centerline goodness [0,1] 0.9987464678012196 Centerline is valid? [True, True] Translation: X:34.25, Y:2.07, Z:0.04 [[ 9.99585017e-01 -2.83605668e-02 -5.04703204e-03 3.42483287e+01] [ 2.83586621e-02 9.99597712e-01 -4.48577884e-04 2.07286063e+00] [ 5.05772360e-03 3.05264655e-04 9.99987163e-01 3.54568620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.341400513 meters Centerline goodness [0,1] 0.9995928513264475 Centerline is valid? [True, True] Translation: X:34.28, Y:2.07, Z:0.04 [[ 9.99566334e-01 -2.94184807e-02 -1.30260183e-03 3.42774992e+01] [ 2.94183547e-02 9.99567180e-01 -1.15754015e-04 2.07014282e+00] [ 1.30544335e-03 7.73834139e-05 9.99999145e-01 4.29360270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.371400513 meters Centerline goodness [0,1] 0.9918290250010612 Centerline is valid? [True, True] Translation: X:34.30, Y:2.08, Z:0.05 [[ 9.99572029e-01 -2.92514559e-02 -3.34144721e-04 3.43046387e+01] [ 2.92514477e-02 9.99572084e-01 -2.94711666e-05 2.08186322e+00] [ 3.34863810e-04 1.96843370e-05 9.99999944e-01 4.56321579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.40140051299998 meters Centerline goodness [0,1] 0.9967888737665873 Centerline is valid? [True, True] Translation: X:34.33, Y:2.08, Z:0.05 [[ 9.99582724e-01 -2.88850161e-02 -1.81815546e-04 3.43336871e+01] [ 2.88850137e-02 9.99582741e-01 -1.56975814e-05 2.08318605e+00] [ 1.82193107e-04 1.04392867e-05 9.99999983e-01 4.58486034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.43140051299999 meters Centerline goodness [0,1] 0.9997613934621808 Centerline is valid? [True, True] Translation: X:34.36, Y:2.08, Z:0.04 [[ 9.99593509e-01 -2.85001910e-02 -7.45323478e-04 3.43632818e+01] [ 2.85001496e-02 9.99593786e-01 -6.60617487e-05 2.07650097e+00] [ 7.46903490e-04 4.47930646e-05 9.99999720e-01 4.41242408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.46140051299999 meters Centerline goodness [0,1] 0.9997831790290757 Centerline is valid? [True, True] Translation: X:34.39, Y:2.07, Z:0.04 [[ 9.99595637e-01 -2.84067807e-02 -1.27208469e-03 3.43920085e+01] [ 2.84066593e-02 9.99596443e-01 -1.13350555e-04 2.07475813e+00] [ 1.27479126e-03 7.71690440e-05 9.99999184e-01 4.31062816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.49140051299999 meters Centerline goodness [0,1] 0.999419704264099 Centerline is valid? [True, True] Translation: X:34.42, Y:2.08, Z:0.05 [[ 9.99588147e-01 -2.86970958e-02 -1.16098688e-04 3.44190312e+01] [ 2.86970948e-02 9.99588154e-01 -1.02019564e-05 2.08090756e+00] [ 1.16343640e-04 6.86605957e-06 9.99999993e-01 4.53045658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.52140051299999 meters Centerline goodness [0,1] 0.99965526899791 Centerline is valid? [True, True] Translation: X:34.45, Y:2.08, Z:0.05 [[ 9.99563608e-01 -2.94955328e-02 1.61477123e-03 3.44487690e+01] [ 2.94953361e-02 9.99564907e-01 1.45528046e-04 2.07633230e+00] [-1.61836108e-03 -9.78363183e-05 9.99998686e-01 4.77270448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.55140051299999 meters Centerline goodness [0,1] 0.9984132021580451 Centerline is valid? [True, True] Translation: X:34.48, Y:2.08, Z:0.05 [[ 9.99534480e-01 -3.02954651e-02 3.60673520e-03 3.44771363e+01] [ 3.02944923e-02 9.99540964e-01 3.24047727e-04 2.08297722e+00] [-3.61489676e-03 -2.14632665e-04 9.99993443e-01 5.10774765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.58140051299999 meters Centerline goodness [0,1] 0.9996764382320585 Centerline is valid? [True, True] Translation: X:34.51, Y:2.07, Z:0.05 [[ 9.99462654e-01 -3.24475871e-02 4.64306258e-03 3.45086727e+01] [ 3.24459984e-02 9.99473403e-01 4.17097281e-04 2.07191744e+00] [-4.65415135e-03 -2.66224354e-04 9.99989134e-01 5.08978046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.61140051299999 meters Centerline goodness [0,1] 0.9994058985784001 Centerline is valid? [True, True] Translation: X:34.54, Y:2.08, Z:0.05 [[ 9.99422416e-01 -3.37284851e-02 4.15006556e-03 3.45374538e+01] [ 3.37272263e-02 9.99431006e-01 3.72950210e-04 2.07500452e+00] [-4.16028325e-03 -2.32764599e-04 9.99991319e-01 5.06555000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.641400513 meters Centerline goodness [0,1] 0.9997014861724131 Centerline is valid? [True, True] Translation: X:34.57, Y:2.07, Z:0.05 [[ 9.99377142e-01 -3.51103803e-02 3.54809738e-03 3.45680021e+01] [ 3.51094688e-02 9.99383422e-01 3.18864207e-04 2.07182571e+00] [-3.55710514e-03 -1.94093786e-04 9.99993655e-01 4.96294205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.671400513 meters Centerline goodness [0,1] 0.9998707676402171 Centerline is valid? [True, True] Translation: X:34.60, Y:2.06, Z:0.05 [[ 9.99288379e-01 -3.75639110e-02 3.41867078e-03 3.45995893e+01] [ 3.75630787e-02 9.99294211e-01 3.07368421e-04 2.05834056e+00] [-3.42780389e-03 -1.78733892e-04 9.99994109e-01 4.89567660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.701400513 meters Centerline goodness [0,1] 0.9997851079832384 Centerline is valid? [True, True] Translation: X:34.63, Y:2.06, Z:0.05 [[ 9.99275887e-01 -3.78772090e-02 3.60808114e-03 3.46275714e+01] [ 3.78762828e-02 9.99282383e-01 3.24716802e-04 2.06050228e+00] [-3.61779128e-03 -1.87820969e-04 9.99993438e-01 4.95370359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.731400513 meters Centerline goodness [0,1] 0.9997852003007196 Centerline is valid? [True, True] Translation: X:34.66, Y:2.06, Z:0.05 [[ 9.99298002e-01 -3.73303480e-02 3.15422968e-03 3.46557796e+01] [ 3.73296368e-02 9.99302966e-01 2.84072725e-04 2.06198419e+00] [-3.16263561e-03 -1.66127058e-04 9.99994985e-01 4.91021533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.76140051299998 meters Centerline goodness [0,1] 0.9997641762246757 Centerline is valid? [True, True] Translation: X:34.69, Y:2.06, Z:0.05 [[ 9.99345579e-01 -3.60988290e-02 2.29979564e-03 3.46853564e+01] [ 3.60984476e-02 9.99348217e-01 2.07173439e-04 2.06074799e+00] [-2.30577540e-03 -1.24018808e-04 9.99997334e-01 4.79676910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.79140051299999 meters Centerline goodness [0,1] 0.9992116589252994 Centerline is valid? [True, True] Translation: X:34.72, Y:2.06, Z:0.05 [[ 9.99535555e-01 -3.04376201e-02 1.49210089e-03 3.47156920e+01] [ 3.04374533e-02 9.99536664e-01 1.34373227e-04 2.06337886e+00] [-1.49549955e-03 -8.88950666e-05 9.99998878e-01 4.71420859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.82140051299999 meters Centerline goodness [0,1] 0.9972557862491491 Centerline is valid? [True, True] Translation: X:34.75, Y:2.07, Z:0.05 [[ 9.99647384e-01 -2.64782279e-02 2.00282158e-03 3.47460990e+01] [ 2.64779195e-02 9.99649382e-01 1.80330074e-04 2.06798026e+00] [-2.00689417e-03 -1.27235938e-04 9.99997978e-01 4.81212232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.85140051299999 meters Centerline goodness [0,1] 0.9800191918114938 Centerline is valid? [True, True] Translation: X:34.78, Y:2.07, Z:0.05 [[ 9.99747087e-01 -2.23783670e-02 2.22938316e-03 3.47757059e+01] [ 2.23779746e-02 9.99749562e-01 2.00788916e-04 2.07298586e+00] [-2.23331816e-03 -1.50849054e-04 9.99997495e-01 4.89300809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.88140051299999 meters Centerline goodness [0,1] 0.8866366685061765 Centerline is valid? [True, False] Translation: X:34.78, Y:2.08, Z:0.04 [[ 9.99898786e-01 -1.31561853e-02 5.41596933e-03 3.47788625e+01] [ 1.32141966e-02 9.99854162e-01 -1.08184719e-02 2.07990046e+00] [-5.27284966e-03 1.08889446e-02 9.99926811e-01 4.33463392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.91140051299999 meters Centerline goodness [0,1] 0.9879121588196073 Centerline is valid? [False, True] Translation: X:34.74, Y:2.07, Z:0.04 [[ 9.99963588e-01 -8.08655423e-03 2.72596257e-03 3.47386904e+01] [ 8.08939353e-03 9.99966748e-01 -1.03216591e-03 2.06619176e+00] [-2.71752526e-03 1.05417971e-03 9.99995752e-01 4.48968355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.94140051299999 meters Centerline goodness [0,1] 0.5653823329942353 Centerline is valid? [True, False] Translation: X:34.78, Y:2.07, Z:0.04 [[ 9.99970896e-01 -5.47508257e-03 5.31322947e-03 3.47811672e+01] [ 5.47793976e-03 9.99984859e-01 -5.23345618e-04 2.06974419e+00] [-5.31028367e-03 5.52435937e-04 9.99985748e-01 4.31311158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.97140051299999 meters Centerline goodness [0,1] 0.8164353636597276 Centerline is valid? [False, False] Translation: X:34.76, Y:2.07, Z:0.04 [[ 9.99990859e-01 -3.15364679e-03 2.88732548e-03 3.47586236e+01] [ 3.18063396e-03 9.99950851e-01 -9.39038422e-03 2.07364082e+00] [-2.85756961e-03 9.39948191e-03 9.99951741e-01 4.49887110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.001400513 meters Centerline goodness [0,1] 0.7214733609179713 Centerline is valid? [False, False] Translation: X:34.76, Y:2.07, Z:0.05 [[ 9.99995785e-01 1.35726757e-03 2.56674775e-03 3.47595181e+01] [-1.34652800e-03 9.99990352e-01 -4.18122671e-03 2.06924375e+00] [-2.57239803e-03 4.17775288e-03 9.99987965e-01 4.52161743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.031400513 meters Centerline goodness [0,1] 0.7976654534490556 Centerline is valid? [False, False] Translation: X:34.74, Y:2.06, Z:0.05 [[ 9.99996426e-01 9.26707669e-05 -2.67191265e-03 3.47371830e+01] [-7.55300494e-05 9.99979424e-01 6.41453627e-03 2.05927245e+00] [ 2.67245211e-03 -6.41431153e-03 9.99975857e-01 5.17070831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.061400513 meters Centerline goodness [0,1] 0.9416188190933242 Centerline is valid? [False, False] Translation: X:34.74, Y:2.06, Z:0.05 [[ 9.99996244e-01 1.86981425e-04 -2.73442289e-03 3.47371767e+01] [-1.68501490e-04 9.99977158e-01 6.75692745e-03 2.05761545e+00] [ 2.73562384e-03 -6.75644132e-03 9.99973433e-01 5.21319591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.091400513 meters Centerline goodness [0,1] 0.8341424813396925 Centerline is valid? [False, False] Translation: X:34.74, Y:2.06, Z:0.05 [[ 9.99992581e-01 -1.58299457e-03 -3.51172133e-03 3.47429744e+01] [ 1.60046345e-03 9.99986333e-01 4.97722939e-03 2.05893731e+00] [ 3.50379440e-03 -4.98281285e-03 9.99981447e-01 4.85633026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.121400513 meters Centerline goodness [0,1] 0.8985282562065963 Centerline is valid? [False, False] Translation: X:34.74, Y:2.06, Z:0.05 [[ 9.99976024e-01 -6.15732260e-03 -3.16843840e-03 3.47415238e+01] [ 6.15780522e-03 9.99981030e-01 1.42587470e-04 2.06141934e+00] [ 3.16750034e-03 -1.62094678e-04 9.99994970e-01 4.91946488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.15140051299998 meters Centerline goodness [0,1] 0.99424102683979 Centerline is valid? [False, True] Translation: X:34.74, Y:2.06, Z:0.05 [[ 9.99976498e-01 -6.06801014e-03 -3.19109577e-03 3.47414063e+01] [ 6.06965420e-03 9.99981452e-01 5.05770194e-04 2.05967766e+00] [ 3.18796756e-03 -5.25127155e-04 9.99994781e-01 4.95837604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.18140051299999 meters Centerline goodness [0,1] 0.9978973302465858 Centerline is valid? [True, True] Translation: X:34.77, Y:2.06, Z:0.05 [[ 9.99959807e-01 -8.33243812e-03 -3.30987440e-03 3.47717630e+01] [ 8.33165173e-03 9.99965260e-01 -2.51307318e-04 2.06044567e+00] [ 3.31185342e-03 2.23720496e-04 9.99994491e-01 4.85757952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.21140051299999 meters Centerline goodness [0,1] 0.9847771699953356 Centerline is valid? [True, True] Translation: X:34.80, Y:2.07, Z:0.05 [[ 9.99938950e-01 -9.47905127e-03 -5.67843032e-03 3.47996915e+01] [ 9.47675511e-03 9.99955002e-01 -4.31135842e-04 2.07149242e+00] [ 5.68226156e-03 3.77296428e-04 9.99983785e-01 4.55749786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.24140051299999 meters Centerline goodness [0,1] 0.998291364985797 Centerline is valid? [True, True] Translation: X:34.83, Y:2.07, Z:0.04 [[ 9.99934521e-01 -9.26047261e-03 -6.72283673e-03 3.48284467e+01] [ 9.25724923e-03 9.99957020e-01 -5.10426427e-04 2.06945375e+00] [ 6.72727458e-03 4.48158029e-04 9.99977271e-01 4.41200387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.27140051299999 meters Centerline goodness [0,1] 0.9991044394217238 Centerline is valid? [True, True] Translation: X:34.86, Y:2.07, Z:0.04 [[ 9.99932920e-01 -8.98758376e-03 -7.30606806e-03 3.48574283e+01] [ 8.98376034e-03 9.99959491e-01 -5.55972878e-04 2.06954783e+00] [ 7.31076895e-03 4.90299619e-04 9.99973156e-01 4.38457893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.30140051299999 meters Centerline goodness [0,1] 0.9992927257919327 Centerline is valid? [True, True] Translation: X:34.89, Y:2.07, Z:0.04 [[ 9.99935849e-01 -8.63857424e-03 -7.32615960e-03 3.48856684e+01] [ 8.63471178e-03 9.99962564e-01 -5.58682401e-04 2.07383397e+00] [ 7.33071155e-03 4.95387284e-04 9.99973007e-01 4.42660907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.33140051299999 meters Centerline goodness [0,1] 0.9818417089158058 Centerline is valid? [True, True] Translation: X:34.91, Y:2.09, Z:0.05 [[ 9.99947384e-01 -7.85695062e-03 -6.59522719e-03 3.49124397e+01] [ 7.85379547e-03 9.99969031e-01 -5.04162011e-04 2.09269855e+00] [ 6.59898412e-03 4.52337919e-04 9.99978124e-01 4.59341032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.36140051299999 meters Centerline goodness [0,1] 0.9856528587849632 Centerline is valid? [True, True] Translation: X:34.94, Y:2.10, Z:0.05 [[ 9.99941962e-01 -8.05106232e-03 -7.15916989e-03 3.49402274e+01] [ 8.04734862e-03 9.99967470e-01 -5.47388561e-04 2.09748486e+00] [ 7.16334406e-03 4.89744456e-04 9.99974223e-01 4.50649035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.391400513 meters Centerline goodness [0,1] 0.9984900363667297 Centerline is valid? [True, True] Translation: X:34.97, Y:2.10, Z:0.04 [[ 9.99934436e-01 -8.50989221e-03 -7.66199141e-03 3.49690386e+01] [ 8.50564053e-03 9.99963654e-01 -5.87320454e-04 2.09576619e+00] [ 7.66671096e-03 5.22111802e-04 9.99970474e-01 4.40707760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.421400513 meters Centerline goodness [0,1] 0.9925676833447566 Centerline is valid? [True, True] Translation: X:35.00, Y:2.11, Z:0.04 [[ 9.99921543e-01 -9.57841893e-03 -8.07224620e-03 3.49963275e+01] [ 9.57372269e-03 9.99953979e-01 -6.20217615e-04 2.10546830e+00] [ 8.07781541e-03 5.42887509e-04 9.99967227e-01 4.30819584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.451400513 meters Centerline goodness [0,1] 0.9990219840966109 Centerline is valid? [True, True] Translation: X:35.03, Y:2.10, Z:0.04 [[ 9.99867788e-01 -1.41430167e-02 -8.02382051e-03 3.50270478e+01] [ 1.41385171e-02 9.99899856e-01 -6.17227378e-04 2.10180128e+00] [ 8.03174643e-03 5.03700850e-04 9.99967618e-01 4.20819570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.481400513 meters Centerline goodness [0,1] 0.9995735698599177 Centerline is valid? [True, True] Translation: X:35.06, Y:2.10, Z:0.04 [[ 9.99829253e-01 -1.67693794e-02 -7.76225115e-03 3.50579126e+01] [ 1.67652473e-02 9.99859275e-01 -5.97099419e-04 2.09790886e+00] [ 7.77117179e-03 4.66861406e-04 9.99969695e-01 4.21708922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.51140051299998 meters Centerline goodness [0,1] 0.9995735698599177 Centerline is valid? [True, True] Translation: X:35.09, Y:2.10, Z:0.04 [[ 9.99826175e-01 -1.69519114e-02 -7.76226818e-03 3.50853743e+01] [ 1.69477865e-02 9.99856198e-01 -5.96878323e-04 2.10016664e+00] [ 7.77127017e-03 4.65221307e-04 9.99969695e-01 4.24225834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.54140051299999 meters Centerline goodness [0,1] 0.9996127449925776 Centerline is valid? [True, True] Translation: X:35.12, Y:2.10, Z:0.04 [[ 9.99790020e-01 -1.90832376e-02 -7.46631397e-03 3.51159049e+01] [ 1.90794686e-02 9.99817805e-01 -5.75710749e-04 2.09917665e+00] [ 7.47594007e-03 4.33136559e-04 9.99971961e-01 4.26601698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.57140051299999 meters Centerline goodness [0,1] 0.9994472084024323 Centerline is valid? [True, True] Translation: X:35.14, Y:2.11, Z:0.04 [[ 9.99756659e-01 -2.06716955e-02 -7.70091300e-03 3.51439069e+01] [ 2.06677323e-02 9.99786223e-01 -5.93872396e-04 2.10675166e+00] [ 7.71154308e-03 4.34567474e-04 9.99970171e-01 4.26413628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.60140051299999 meters Centerline goodness [0,1] 0.9993220626244651 Centerline is valid? [True, True] Translation: X:35.17, Y:2.11, Z:0.04 [[ 9.99753678e-01 -2.04675578e-02 -8.58264838e-03 3.51728781e+01] [ 2.04626260e-02 9.99790399e-01 -6.62052214e-04 2.10820189e+00] [ 8.59440004e-03 4.86265612e-04 9.99962949e-01 4.16317799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.63140051299999 meters Centerline goodness [0,1] 0.9996155899626268 Centerline is valid? [True, True] Translation: X:35.20, Y:2.11, Z:0.04 [[ 9.99761391e-01 -1.95125036e-02 -9.81951588e-03 3.52021774e+01] [ 1.95059855e-02 9.99809452e-01 -7.59139978e-04 2.10887380e+00] [ 9.83245752e-03 5.67419506e-04 9.99951499e-01 3.99042634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.66140051299999 meters Centerline goodness [0,1] 0.9988248365454467 Centerline is valid? [True, True] Translation: X:35.23, Y:2.12, Z:0.04 [[ 9.99779723e-01 -1.79297548e-02 -1.09100578e-02 3.52300784e+01] [ 1.79216099e-02 9.99839039e-01 -8.43862849e-04 2.12070265e+00] [ 1.09234320e-02 6.48151164e-04 9.99940127e-01 3.81124483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.69140051299999 meters Centerline goodness [0,1] 0.9986138656089395 Centerline is valid? [True, True] Translation: X:35.26, Y:2.13, Z:0.04 [[ 9.99813869e-01 -1.56822438e-02 -1.12380819e-02 3.52602126e+01] [ 1.56734566e-02 9.99876786e-01 -8.69559754e-04 2.12643380e+00] [ 1.12503339e-02 6.93258313e-04 9.99936473e-01 3.77890015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.72140051299999 meters Centerline goodness [0,1] 0.9980960530538026 Centerline is valid? [True, True] Translation: X:35.29, Y:2.13, Z:0.04 [[ 9.99879267e-01 -1.11976628e-02 -1.07732591e-02 3.52902099e+01] [ 1.11893282e-02 9.99937050e-01 -8.33606607e-04 2.13409800e+00] [ 1.07819154e-02 7.12960432e-04 9.99941619e-01 3.89781620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.751400513 meters Centerline goodness [0,1] 0.988889601093947 Centerline is valid? [True, True] Translation: X:35.32, Y:2.14, Z:0.04 [[ 9.99892520e-01 -9.28520420e-03 -1.13460491e-02 3.53191740e+01] [ 9.27583597e-03 9.99956593e-01 -8.78027774e-04 2.14216575e+00] [ 1.13537093e-02 7.72689314e-04 9.99935246e-01 3.85091660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.781400513 meters Centerline goodness [0,1] 0.9819188584815248 Centerline is valid? [True, True] Translation: X:35.35, Y:2.15, Z:0.04 [[ 9.99902345e-01 -7.31630836e-03 -1.19068249e-02 3.53494616e+01] [ 7.30585095e-03 9.99972887e-01 -9.21530764e-04 2.14681106e+00] [ 1.19132442e-02 8.34451284e-04 9.99928687e-01 3.74445763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.811400513 meters Centerline goodness [0,1] 0.9171797375907604 Centerline is valid? [True, False] Translation: X:35.35, Y:2.15, Z:0.04 [[ 9.99923214e-01 -2.82232079e-03 -1.20664854e-02 3.53501770e+01] [ 2.86733850e-03 9.99988988e-01 3.71513488e-03 2.14530127e+00] [ 1.20558672e-02 -3.74944831e-03 9.99920296e-01 3.69651308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.841400513 meters Centerline goodness [0,1] 0.9385582762838809 Centerline is valid? [False, False] Translation: X:35.35, Y:2.15, Z:0.04 [[ 9.99923494e-01 -3.14308631e-03 -1.19635735e-02 3.53500853e+01] [ 3.17842717e-03 9.99990638e-01 2.93617198e-03 2.14895269e+00] [ 1.19542329e-02 -2.97397270e-03 9.99924123e-01 3.63956817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.87140051299998 meters Centerline goodness [0,1] 0.9944192083062946 Centerline is valid? [False, True] Translation: X:35.35, Y:2.15, Z:0.04 [[ 9.99922994e-01 -3.40022216e-03 -1.19349963e-02 3.53501837e+01] [ 3.42814061e-03 9.99991434e-01 2.31953117e-03 2.15184638e+00] [ 1.19270072e-02 -2.36026740e-03 9.99926085e-01 3.59512956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.90140051299998 meters Centerline goodness [0,1] 0.8147592941579579 Centerline is valid? [True, False] Translation: X:35.37, Y:2.16, Z:0.03 [[ 9.99972506e-01 -2.87620244e-03 -6.83488862e-03 3.53742224e+01] [ 2.81764702e-03 9.99959381e-01 -8.56137662e-03 2.16371658e+00] [ 6.85923525e-03 8.54188293e-03 9.99939992e-01 2.86950568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.93140051299999 meters Centerline goodness [0,1] 0.9304959415239471 Centerline is valid? [False, False] Translation: X:35.40, Y:2.16, Z:0.03 [[ 9.99971643e-01 -4.67816803e-03 -5.90145057e-03 3.53956811e+01] [ 4.68512114e-03 9.99988346e-01 1.16493055e-03 2.15740551e+00] [ 5.89593205e-03 -1.19254653e-03 9.99981908e-01 2.97907280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.96140051299999 meters Centerline goodness [0,1] 0.9725612358112145 Centerline is valid? [False, True] Translation: X:35.40, Y:2.16, Z:0.03 [[ 9.99971562e-01 -4.55752172e-03 -6.00864022e-03 3.53960188e+01] [ 4.56654923e-03 9.99988464e-01 1.48955899e-03 2.15584494e+00] [ 6.00178221e-03 -1.51695538e-03 9.99980839e-01 2.98468848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.99140051299999 meters Centerline goodness [0,1] 0.7881039313916957 Centerline is valid? [True, False] Translation: X:35.40, Y:2.16, Z:0.03 [[ 9.99970540e-01 -4.58501635e-03 -6.15597534e-03 3.53965488e+01] [ 4.59425593e-03 9.99988340e-01 1.48761146e-03 2.15581562e+00] [ 6.14908284e-03 -1.51584976e-03 9.99979945e-01 2.97840233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.02140051299999 meters Centerline goodness [0,1] 0.9404462266968133 Centerline is valid? [False, False] Translation: X:35.40, Y:2.16, Z:0.03 [[ 9.99969405e-01 -4.76326194e-03 -6.20487950e-03 3.53969124e+01] [ 4.77020534e-03 9.99988012e-01 1.10470449e-03 2.15758660e+00] [ 6.19954312e-03 -1.13426925e-03 9.99980139e-01 2.93865414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.05140051299999 meters Centerline goodness [0,1] 0.9900564536823198 Centerline is valid? [False, True] Translation: X:35.40, Y:2.16, Z:0.03 [[ 9.99967320e-01 -5.26946877e-03 -6.13114316e-03 3.53969457e+01] [ 5.26840484e-03 9.99986104e-01 -1.89668013e-04 2.16374084e+00] [ 6.13205741e-03 1.57360470e-04 9.99981186e-01 2.87667256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.08140051299999 meters Centerline goodness [0,1] 0.8252466405851335 Centerline is valid? [True, False] Translation: X:35.40, Y:2.16, Z:0.02 [[ 9.99969806e-01 -3.19926856e-03 -7.08175830e-03 3.54037632e+01] [ 3.21210953e-03 9.99993216e-01 1.80261571e-03 2.16295199e+00] [ 7.07594321e-03 -1.82530867e-03 9.99973299e-01 2.46653674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.11140051299999 meters Centerline goodness [0,1] 0.9719208541903882 Centerline is valid? [False, True] Translation: X:35.40, Y:2.17, Z:0.02 [[ 9.99968896e-01 -3.40073253e-03 -7.11625616e-03 3.54041232e+01] [ 3.41002327e-03 9.99993349e-01 1.29384015e-03 2.16534347e+00] [ 7.11180882e-03 -1.31806651e-03 9.99973842e-01 2.41549646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.141400513 meters Centerline goodness [0,1] 0.8912801404771082 Centerline is valid? [True, False] Translation: X:35.40, Y:2.17, Z:0.02 [[ 9.99967470e-01 -3.63460709e-03 -7.20052760e-03 3.54044475e+01] [ 3.64006868e-03 9.99993097e-01 7.45538147e-04 2.16792725e+00] [ 7.19776816e-03 -7.71724310e-04 9.99973798e-01 2.40213403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.171400513 meters Centerline goodness [0,1] 0.8559623207022051 Centerline is valid? [False, False] Translation: X:35.40, Y:2.17, Z:0.02 [[ 9.99967256e-01 -3.67189922e-03 -7.21141352e-03 3.54042477e+01] [ 3.67706229e-03 9.99992993e-01 7.02830171e-04 2.16814638e+00] [ 7.20878227e-03 -7.29323974e-04 9.99973750e-01 2.44662446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.201400513 meters Centerline goodness [0,1] 0.8637215642838886 Centerline is valid? [False, False] Translation: X:35.40, Y:2.17, Z:0.02 [[ 9.99967129e-01 -3.68650548e-03 -7.22154861e-03 3.54041090e+01] [ 3.69203612e-03 9.99992901e-01 7.52671282e-04 2.16789783e+00] [ 7.21872261e-03 -7.79308759e-04 9.99973641e-01 2.47927261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.231400513 meters Centerline goodness [0,1] 0.9874619650834071 Centerline is valid? [False, True] Translation: X:35.40, Y:2.17, Z:0.03 [[ 9.99961093e-01 -6.25828614e-03 -6.21658893e-03 3.53971068e+01] [ 6.24534888e-03 9.99978296e-01 -2.09832332e-03 2.17112765e+00] [ 6.22958591e-03 2.05941691e-03 9.99978475e-01 2.89692732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.26140051299998 meters Centerline goodness [0,1] 0.9843967679019225 Centerline is valid? [True, True] Translation: X:35.43, Y:2.17, Z:0.03 [[ 9.99951093e-01 -8.24151606e-03 -5.46699470e-03 3.54256859e+01] [ 8.23936396e-03 9.99965969e-01 -4.16060169e-04 2.17421201e+00] [ 5.47023762e-03 3.70995262e-04 9.99984969e-01 2.95610297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.29140051299999 meters Centerline goodness [0,1] 0.9994391475042064 Centerline is valid? [True, True] Translation: X:35.46, Y:2.17, Z:0.03 [[ 9.99911902e-01 -1.25479292e-02 -4.32869646e-03 3.54564577e+01] [ 1.25466201e-02 9.99921234e-01 -3.29444067e-04 2.16804859e+00] [ 4.33248935e-03 2.75104534e-04 9.99990577e-01 3.11982532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.32140051299999 meters Centerline goodness [0,1] 0.9994838598679542 Centerline is valid? [True, True] Translation: X:35.49, Y:2.17, Z:0.03 [[ 9.99892771e-01 -1.39768521e-02 -4.36964788e-03 3.54856662e+01] [ 1.39755269e-02 9.99902282e-01 -3.33671547e-04 2.16924872e+00] [ 4.37388456e-03 2.72567636e-04 9.99990397e-01 3.15673698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.35140051299999 meters Centerline goodness [0,1] 0.9888984140591514 Centerline is valid? [True, True] Translation: X:35.51, Y:2.18, Z:0.03 [[ 9.99881016e-01 -1.46620615e-02 -4.79357242e-03 3.55127312e+01] [ 1.46604747e-02 9.99892462e-01 -3.65997452e-04 2.18395310e+00] [ 4.79842321e-03 2.95677857e-04 9.99988444e-01 2.93762369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.38140051299999 meters Centerline goodness [0,1] 0.969899024327894 Centerline is valid? [True, True] Translation: X:35.54, Y:2.18, Z:0.03 [[ 9.99868619e-01 -1.46695089e-02 -6.89570409e-03 3.55416776e+01] [ 1.46662166e-02 9.99892306e-01 -5.27780925e-04 2.18308552e+00] [ 6.90270375e-03 4.26577695e-04 9.99976085e-01 2.72702301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.41140051299999 meters Centerline goodness [0,1] 0.9901297477840106 Centerline is valid? [True, True] Translation: X:35.57, Y:2.18, Z:0.03 [[ 9.99868533e-01 -1.41247822e-02 -7.96284369e-03 3.55705957e+01] [ 1.41203651e-02 9.99900116e-01 -6.10672163e-04 2.18021769e+00] [ 7.97067395e-03 4.98153620e-04 9.99968110e-01 2.71994591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.44140051299999 meters Centerline goodness [0,1] 0.9979318367874531 Centerline is valid? [True, True] Translation: X:35.60, Y:2.18, Z:0.03 [[ 9.99878726e-01 -1.31401206e-02 -8.35882263e-03 3.55999437e+01] [ 1.31352198e-02 9.99913524e-01 -6.40938483e-04 2.17870532e+00] [ 8.36652180e-03 5.31065782e-04 9.99964859e-01 2.75948707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.47140051299999 meters Centerline goodness [0,1] 0.9696169372154942 Centerline is valid? [True, True] Translation: X:35.63, Y:2.19, Z:0.03 [[ 9.99919074e-01 -1.09986336e-02 -6.39337158e-03 3.56281388e+01] [ 1.09957221e-02 9.99939425e-01 -4.90370661e-04 2.19346471e+00] [ 6.39837771e-03 4.20031240e-04 9.99979442e-01 2.87708463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.501400513 meters Centerline goodness [0,1] 0.9978188571675377 Centerline is valid? [True, True] Translation: X:35.66, Y:2.19, Z:0.03 [[ 9.99939491e-01 -9.88946584e-03 -4.81788619e-03 3.56583598e+01] [ 9.88779903e-03 9.99951046e-01 -3.69660377e-04 2.18946087e+00] [ 4.82130608e-03 3.21999719e-04 9.99988326e-01 3.19153590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.531400513 meters Centerline goodness [0,1] 0.9971743551321846 Centerline is valid? [True, True] Translation: X:35.69, Y:2.19, Z:0.03 [[ 9.99951139e-01 -9.11169914e-03 -3.83352916e-03 3.56862434e+01] [ 9.11063687e-03 9.99958454e-01 -2.94473958e-04 2.19262852e+00] [ 3.83605305e-03 2.59533678e-04 9.99992609e-01 3.30071309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.561400513 meters Centerline goodness [0,1] 0.9988792378817596 Centerline is valid? [True, True] Translation: X:35.71, Y:2.19, Z:0.03 [[ 9.99950445e-01 -9.25892719e-03 -3.65791694e-03 3.57145763e+01] [ 9.25795700e-03 9.99957104e-01 -2.82075316e-04 2.19015069e+00] [ 3.66037174e-03 2.48196500e-04 9.99993270e-01 3.37262505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.591400513 meters Centerline goodness [0,1] 0.9939378305172192 Centerline is valid? [True, True] Translation: X:35.74, Y:2.20, Z:0.03 [[ 9.99927255e-01 -1.11782436e-02 -4.53112407e-03 3.57433946e+01] [ 1.11767769e-02 9.99937477e-01 -3.48886890e-04 2.19523792e+00] [ 4.53474072e-03 2.98218147e-04 9.99989674e-01 3.15417224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.62140051299998 meters Centerline goodness [0,1] 0.9983324781939457 Centerline is valid? [True, True] Translation: X:35.77, Y:2.19, Z:0.03 [[ 9.99901807e-01 -1.31429336e-02 -4.86209177e-03 3.57735833e+01] [ 1.31412674e-02 9.99913580e-01 -3.74477110e-04 2.19064064e+00] [ 4.86659331e-03 3.10546290e-04 9.99988110e-01 3.13117656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.65140051299998 meters Centerline goodness [0,1] 0.9966545860050181 Centerline is valid? [True, True] Translation: X:35.80, Y:2.19, Z:0.03 [[ 9.99865544e-01 -1.56989765e-02 -4.73668129e-03 3.58026401e+01] [ 1.56974236e-02 9.99876721e-01 -3.64862220e-04 2.19272618e+00] [ 4.74182532e-03 2.90459470e-04 9.99988715e-01 3.07321983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.68140051299999 meters Centerline goodness [0,1] 0.9992458684363621 Centerline is valid? [True, True] Translation: X:35.83, Y:2.18, Z:0.03 [[ 9.99780991e-01 -2.01407919e-02 -5.68488002e-03 3.58332324e+01] [ 2.01386258e-02 9.99797101e-01 -4.38013089e-04 2.18268627e+00] [ 5.69254849e-03 3.23431489e-04 9.99983745e-01 3.03191232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.71140051299999 meters Centerline goodness [0,1] 0.998868778280543 Centerline is valid? [True, True] Translation: X:35.86, Y:2.18, Z:0.03 [[ 9.99742922e-01 -2.16418690e-02 -6.76156541e-03 3.58609067e+01] [ 2.16388339e-02 9.99765717e-01 -5.21721542e-04 2.18398901e+00] [ 6.77127232e-03 3.75275028e-04 9.99977004e-01 2.80587009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.74140051299999 meters Centerline goodness [0,1] 0.9987176199025392 Centerline is valid? [True, True] Translation: X:35.89, Y:2.18, Z:0.03 [[ 9.99714149e-01 -2.26318795e-02 -7.70829473e-03 3.58904213e+01] [ 2.26279541e-02 9.99743777e-01 -5.96076884e-04 2.18311902e+00] [ 7.71981003e-03 4.21483555e-04 9.99970113e-01 2.67875745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.77140051299999 meters Centerline goodness [0,1] 0.9985495499338766 Centerline is valid? [True, True] Translation: X:35.92, Y:2.18, Z:0.03 [[ 9.99713276e-01 -2.26474110e-02 -7.77561263e-03 3.59194781e+01] [ 2.26434074e-02 9.99743424e-01 -6.02550590e-04 2.18380787e+00] [ 7.78726380e-03 4.26311460e-04 9.99969588e-01 2.75677389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.80140051299999 meters Centerline goodness [0,1] 0.9989894863580658 Centerline is valid? [True, True] Translation: X:35.95, Y:2.18, Z:0.03 [[ 9.99805609e-01 -1.86408149e-02 -6.42368101e-03 3.59503755e+01] [ 1.86380026e-02 9.99826174e-01 -4.97389960e-04 2.18479866e+00] [ 6.43183616e-03 3.77568689e-04 9.99979244e-01 3.15100556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.83140051299999 meters Centerline goodness [0,1] 0.9797802386103198 Centerline is valid? [True, True] Translation: X:35.98, Y:2.20, Z:0.03 [[ 9.99855566e-01 -1.56399224e-02 -6.65124876e-03 3.59789584e+01] [ 1.56368412e-02 9.99877604e-01 -5.15000839e-04 2.19795184e+00] [ 6.65848925e-03 4.10921935e-04 9.99977748e-01 2.95233081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.86140051299999 meters Centerline goodness [0,1] 0.9732060889429749 Centerline is valid? [True, True] Translation: X:36.01, Y:2.20, Z:0.03 [[ 9.99896428e-01 -1.23320798e-02 -7.41981622e-03 3.60089748e+01] [ 1.23281547e-02 9.99923840e-01 -5.74510067e-04 2.20145408e+00] [ 7.42633603e-03 4.82977921e-04 9.99972308e-01 2.89279125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.891400513 meters Centerline goodness [0,1] 0.8843661880879092 Centerline is valid? [True, False] Translation: X:36.01, Y:2.21, Z:0.03 [[ 9.99896083e-01 -1.24269704e-02 -7.30707322e-03 3.60088698e+01] [ 1.24176550e-02 9.99922028e-01 -1.31883172e-03 2.20521926e+00] [ 7.32289256e-03 1.22795795e-03 9.99972433e-01 2.82659175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.921400513 meters Centerline goodness [0,1] 0.8224467083297663 Centerline is valid? [False, False] Translation: X:36.03, Y:2.21, Z:0.03 [[ 9.99958842e-01 -3.16912193e-03 -8.50119444e-03 3.60272115e+01] [ 3.13336638e-03 9.99986204e-01 -4.21597055e-03 2.21161861e+00] [ 8.51443808e-03 4.18915968e-03 9.99954977e-01 3.35611168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.951400513 meters Centerline goodness [0,1] 0.9011757573132971 Centerline is valid? [False, False] Translation: X:36.02, Y:2.21, Z:0.04 [[ 9.99971118e-01 -1.32517555e-03 -7.48381167e-03 3.60199646e+01] [ 1.30662001e-03 9.99996062e-01 -2.48376862e-03 2.21146283e+00] [ 7.48707362e-03 2.47391839e-03 9.99968911e-01 3.82429967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.981400513 meters Centerline goodness [0,1] 0.8252252642522959 Centerline is valid? [False, False] Translation: X:36.02, Y:2.21, Z:0.04 [[ 9.99972793e-01 -1.46695284e-03 -7.22925674e-03 3.60187655e+01] [ 1.44583328e-03 9.99994675e-01 -2.92576250e-03 2.21368089e+00] [ 7.23351020e-03 2.91523060e-03 9.99969588e-01 3.89593905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.01140051299998 meters Centerline goodness [0,1] 0.7674738402698695 Centerline is valid? [False, False] Translation: X:36.04, Y:2.21, Z:0.04 [[ 9.99991173e-01 -3.48034130e-03 -2.35381310e-03 3.60387982e+01] [ 3.49329408e-03 9.99978656e-01 5.52135196e-03 2.20956522e+00] [ 2.33454667e-03 -5.52952578e-03 9.99981987e-01 3.61285697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.04140051299999 meters Centerline goodness [0,1] 0.9593412688254619 Centerline is valid? [False, True] Translation: X:36.04, Y:2.22, Z:0.04 [[ 9.99964472e-01 -8.15367746e-03 -2.13818170e-03 3.60384160e+01] [ 8.15334247e-03 9.99966747e-01 -1.65341140e-04 2.21628197e+00] [ 2.13945873e-03 1.47901938e-04 9.99997700e-01 3.54332141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.07140051299999 meters Centerline goodness [0,1] 0.8286094363507628 Centerline is valid? [True, False] Translation: X:36.04, Y:2.22, Z:0.04 [[ 9.99964271e-01 -8.14416153e-03 -2.26490826e-03 3.60388792e+01] [ 8.14390393e-03 9.99966830e-01 -1.22935623e-04 2.21605247e+00] [ 2.26583434e-03 1.04486036e-04 9.99997428e-01 3.53534118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.10140051299999 meters Centerline goodness [0,1] 0.7916028586013272 Centerline is valid? [False, False] Translation: X:36.04, Y:2.21, Z:0.04 [[ 9.99965315e-01 -7.96699412e-03 -2.42821385e-03 3.60393105e+01] [ 7.96786807e-03 9.99968195e-01 3.50453973e-04 2.21377771e+00] [ 2.42534456e-03 -3.69789505e-04 9.99996990e-01 3.55960168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.13140051299999 meters Centerline goodness [0,1] 0.9714389395265438 Centerline is valid? [False, True] Translation: X:36.04, Y:2.21, Z:0.04 [[ 9.99966564e-01 -7.81148357e-03 -2.41885762e-03 3.60391476e+01] [ 7.81318799e-03 9.99969234e-01 6.95992189e-04 2.21217115e+00] [ 2.41334647e-03 -7.14867908e-04 9.99996832e-01 3.58684135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.16140051299999 meters Centerline goodness [0,1] 0.8506331808023837 Centerline is valid? [True, False] Translation: X:36.04, Y:2.21, Z:0.04 [[ 9.99967479e-01 -7.69436943e-03 -2.41606496e-03 3.60391790e+01] [ 7.69669612e-03 9.99969924e-01 9.55194010e-04 2.21095388e+00] [ 2.40864268e-03 -9.73758664e-04 9.99996625e-01 3.57870589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.19140051299999 meters Centerline goodness [0,1] 0.9740228994490359 Centerline is valid? [False, True] Translation: X:36.04, Y:2.21, Z:0.04 [[ 9.99967994e-01 -7.63650392e-03 -2.38634126e-03 3.60390064e+01] [ 7.63909920e-03 9.99970238e-01 1.08033802e-03 2.21037755e+00] [ 2.37802023e-03 -1.09853295e-03 9.99996569e-01 3.59302331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.22140051299999 meters Centerline goodness [0,1] 0.7930312993723045 Centerline is valid? [True, False] Translation: X:36.04, Y:2.21, Z:0.04 [[ 9.99969973e-01 -7.42646071e-03 -2.21369498e-03 3.60377853e+01] [ 7.42990665e-03 9.99971193e-01 1.55250818e-03 2.20828687e+00] [ 2.20210156e-03 -1.56890911e-03 9.99996345e-01 3.72175829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.251400513 meters Centerline goodness [0,1] 0.9741019214703426 Centerline is valid? [False, True] Translation: X:36.04, Y:2.21, Z:0.04 [[ 9.99971071e-01 -7.28461275e-03 -2.18919559e-03 3.60374984e+01] [ 7.28872246e-03 9.99971679e-01 1.87519103e-03 2.20680942e+00] [ 2.17547355e-03 -1.89109322e-03 9.99995846e-01 3.76461448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.281400513 meters Centerline goodness [0,1] 0.9926196113564131 Centerline is valid? [True, True] Translation: X:36.07, Y:2.21, Z:0.04 [[ 9.99969012e-01 -7.66569383e-03 -1.79204808e-03 3.60670873e+01] [ 7.66543465e-03 9.99970609e-01 -1.51452889e-04 2.20542161e+00] [ 1.79315640e-03 1.37711368e-04 9.99998383e-01 3.78322177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.311400513 meters Centerline goodness [0,1] 0.8489821177073108 Centerline is valid? [True, False] Translation: X:36.07, Y:2.20, Z:0.04 [[ 9.99970877e-01 -7.39422100e-03 -1.88947300e-03 3.60673805e+01] [ 7.39516387e-03 9.99972534e-01 4.92510745e-04 2.20237772e+00] [ 1.88577937e-03 -5.06469364e-04 9.99998094e-01 3.79189306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.341400513 meters Centerline goodness [0,1] 0.9806398199842911 Centerline is valid? [False, True] Translation: X:36.07, Y:2.20, Z:0.04 [[ 9.99969220e-01 -7.43740930e-03 -2.49875040e-03 3.60694303e+01] [ 7.44132342e-03 9.99971095e-01 1.56080150e-03 2.19646622e+00] [ 2.48706985e-03 -1.57934747e-03 9.99995660e-01 3.79632480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.37140051299998 meters Centerline goodness [0,1] 0.9764449849580746 Centerline is valid? [True, True] Translation: X:36.10, Y:2.20, Z:0.04 [[ 9.99947584e-01 -9.89542455e-03 -2.62873310e-03 3.60991156e+01] [ 9.89491135e-03 9.99951022e-01 -2.08161048e-04 2.19839032e+00] [ 2.63066420e-03 1.82139056e-04 9.99996523e-01 3.67001747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.40140051299998 meters Centerline goodness [0,1] 0.9764449849580746 Centerline is valid? [True, True] Translation: X:36.13, Y:2.20, Z:0.04 [[ 9.99945813e-01 -1.00727802e-02 -2.62865999e-03 3.61265847e+01] [ 1.00722652e-02 9.99949252e-01 -2.09083442e-04 2.20071687e+00] [ 2.63063264e-03 1.82595552e-04 9.99996523e-01 3.66231844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.43140051299999 meters Centerline goodness [0,1] 0.9602114694579502 Centerline is valid? [True, True] Translation: X:36.16, Y:2.20, Z:0.04 [[ 9.99921242e-01 -1.21944574e-02 -2.96724163e-03 3.61553197e+01] [ 1.21938118e-02 9.99925625e-01 -2.35578600e-04 2.20166833e+00] [ 2.96989370e-03 1.99378060e-04 9.99995570e-01 3.51831581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.46140051299999 meters Centerline goodness [0,1] 0.9974171330176496 Centerline is valid? [True, True] Translation: X:36.19, Y:2.19, Z:0.03 [[ 9.99871414e-01 -1.55091372e-02 -4.07697942e-03 3.61874488e+01] [ 1.55079461e-02 9.99879692e-01 -3.23602622e-04 2.18607037e+00] [ 4.08150772e-03 2.60335435e-04 9.99991637e-01 3.43643158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.49140051299999 meters Centerline goodness [0,1] 0.9949173808561768 Centerline is valid? [True, True] Translation: X:36.22, Y:2.19, Z:0.03 [[ 9.99854995e-01 -1.65796133e-02 -3.88668755e-03 3.62152148e+01] [ 1.65785368e-02 9.99862519e-01 -3.09021798e-04 2.18693756e+00] [ 3.89127666e-03 2.44541396e-04 9.99992399e-01 3.47235780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.52140051299999 meters Centerline goodness [0,1] 0.9954792621814692 Centerline is valid? [True, True] Translation: X:36.24, Y:2.19, Z:0.04 [[ 9.99853047e-01 -1.68058830e-02 -3.38317923e-03 3.62443620e+01] [ 1.68050660e-02 9.99858749e-01 -2.69769960e-04 2.18659557e+00] [ 3.38723508e-03 2.12875766e-04 9.99994241e-01 3.59671371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.55140051299999 meters Centerline goodness [0,1] 0.9873614995410004 Centerline is valid? [True, True] Translation: X:36.27, Y:2.19, Z:0.04 [[ 9.99873987e-01 -1.56187177e-02 -2.84019102e-03 3.62722278e+01] [ 1.56181375e-02 9.99878004e-01 -2.26355504e-04 2.19082245e+00] [ 2.84337991e-03 1.81968486e-04 9.99995941e-01 3.72930110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.58140051299999 meters Centerline goodness [0,1] 0.9857855414980841 Centerline is valid? [True, True] Translation: X:36.30, Y:2.19, Z:0.04 [[ 9.99941432e-01 -1.05488582e-02 -2.41968875e-03 3.63023649e+01] [ 1.05484225e-02 9.99944345e-01 -1.92753728e-04 2.18988507e+00] [ 2.42158742e-03 1.67218540e-04 9.99997054e-01 3.77631673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.61140051299999 meters Centerline goodness [0,1] 0.9959388026988697 Centerline is valid? [True, True] Translation: X:36.33, Y:2.19, Z:0.04 [[ 9.99969467e-01 -7.27366977e-03 -2.85651073e-03 3.63327191e+01] [ 7.27304925e-03 9.99973525e-01 -2.27561163e-04 2.18771147e+00] [ 2.85809031e-03 2.06778671e-04 9.99995894e-01 3.72462704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.641400513 meters Centerline goodness [0,1] 0.9048430378668484 Centerline is valid? [True, False] Translation: X:36.33, Y:2.19, Z:0.04 [[ 9.99970357e-01 -7.19577949e-03 -2.73958763e-03 3.63324354e+01] [ 7.19469394e-03 9.99974035e-01 -4.05896934e-04 2.18872722e+00] [ 2.74243725e-03 3.86174407e-04 9.99996165e-01 3.69401983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.671400513 meters Centerline goodness [0,1] 0.8055490839775495 Centerline is valid? [False, False] Translation: X:36.33, Y:2.19, Z:0.04 [[ 9.99971164e-01 -7.16984936e-03 -2.50294106e-03 3.63315413e+01] [ 7.16833845e-03 9.99974120e-01 -6.12103880e-04 2.18989763e+00] [ 2.50726498e-03 5.94144301e-04 9.99996680e-01 3.71180392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.701400513 meters Centerline goodness [0,1] 0.7426371798426137 Centerline is valid? [False, False] Translation: X:36.32, Y:2.19, Z:0.04 [[ 9.99986141e-01 -5.06318873e-03 -1.44293062e-03 3.63238903e+01] [ 5.06537055e-03 9.99986027e-01 1.51245316e-03 2.18750537e+00] [ 1.43525262e-03 -1.51974117e-03 9.99997815e-01 4.22523256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.731400513 meters Centerline goodness [0,1] 0.5425026117732341 Centerline is valid? [False, False] Translation: X:36.32, Y:2.19, Z:0.04 [[ 9.99985470e-01 -5.20955016e-03 -1.38559982e-03 3.63238340e+01] [ 5.21104280e-03 9.99985844e-01 1.07582996e-03 2.18958981e+00] [ 1.37997562e-03 -1.08303475e-03 9.99998461e-01 4.19556725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.76140051299998 meters Centerline goodness [0,1] 0.4879905026393335 Centerline is valid? [False, False] Translation: X:36.33, Y:2.19, Z:0.04 [[ 9.99994610e-01 -2.30157249e-03 -2.34149766e-03 3.63306749e+01] [ 2.31106456e-03 9.99989091e-01 4.05924819e-03 2.18947088e+00] [ 2.33212946e-03 -4.06463766e-03 9.99989020e-01 3.75020036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.79140051299999 meters Centerline goodness [0,1] 0.8064599650462814 Centerline is valid? [False, False] Translation: X:36.29, Y:2.18, Z:0.04 [[ 9.99980904e-01 -2.95898345e-03 -5.42541336e-03 3.62902317e+01] [ 2.98804994e-03 9.99981186e-01 5.35721475e-03 2.18441414e+00] [ 5.40945937e-03 -5.37332386e-03 9.99970932e-01 3.73000851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.82140051299999 meters Centerline goodness [0,1] 0.6571212285065426 Centerline is valid? [False, False] Translation: X:36.29, Y:2.18, Z:0.04 [[ 9.99981303e-01 -2.80665330e-03 -5.43292254e-03 3.62902726e+01] [ 2.83766743e-03 9.99979676e-01 5.70928667e-03 2.18275293e+00] [ 5.41678813e-03 -5.72459675e-03 9.99968943e-01 3.72822015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.85140051299999 meters Centerline goodness [0,1] 0.7005709676734659 Centerline is valid? [False, False] Translation: X:36.33, Y:2.19, Z:0.04 [[ 9.99989404e-01 -3.52990219e-03 -2.95480017e-03 3.63322504e+01] [ 3.53579214e-03 9.99991768e-01 1.99050519e-03 2.18911391e+00] [ 2.94774956e-03 -2.00093166e-03 9.99993654e-01 3.54119230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.88140051299999 meters Centerline goodness [0,1] 0.42988535249828885 Centerline is valid? [False, False] Translation: X:36.33, Y:2.19, Z:0.04 [[ 9.99980169e-01 -5.96615745e-03 -2.01632703e-03 3.63255663e+01] [ 5.96493719e-03 9.99982023e-01 -6.10665242e-04 2.18965541e+00] [ 2.01993411e-03 5.98625868e-04 9.99997781e-01 3.94311371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.91140051299999 meters Centerline goodness [0,1] 0.6371048430015966 Centerline is valid? [False, False] Translation: X:36.33, Y:2.19, Z:0.04 [[ 9.99980592e-01 -5.92227742e-03 -1.93471977e-03 3.63250120e+01] [ 5.92123074e-03 9.99982320e-01 -5.46281464e-04 2.18944641e+00] [ 1.93792080e-03 5.34814939e-04 9.99997979e-01 3.99618631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.94140051299999 meters Centerline goodness [0,1] 0.4708233243340916 Centerline is valid? [False, False] Translation: X:36.32, Y:2.19, Z:0.04 [[ 9.99980910e-01 -5.91643765e-03 -1.78186996e-03 3.63242883e+01] [ 5.91541607e-03 9.99982337e-01 -5.78040518e-04 2.18968610e+00] [ 1.78525843e-03 5.67488981e-04 9.99998245e-01 4.03550888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.97140051299999 meters Centerline goodness [0,1] 0.4129205750947551 Centerline is valid? [False, False] Translation: X:36.33, Y:2.19, Z:0.04 [[ 9.99990018e-01 -3.78373005e-03 -2.37644338e-03 3.63294203e+01] [ 3.78782190e-03 9.99991347e-01 1.71970429e-03 2.18662541e+00] [ 2.36991592e-03 -1.72868867e-03 9.99995698e-01 3.71438409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.001400513 meters Centerline goodness [0,1] 0.589403831745692 Centerline is valid? [False, False] Translation: X:36.33, Y:2.19, Z:0.04 [[ 9.99967740e-01 -7.76515446e-03 -2.05452489e-03 3.63290304e+01] [ 7.75746871e-03 9.99962981e-01 -3.72277654e-03 2.19334165e+00] [ 2.08335676e-03 3.70671853e-03 9.99990960e-01 3.53755063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.031400513 meters Centerline goodness [0,1] 0.6713739462935604 Centerline is valid? [False, False] Translation: X:36.29, Y:2.18, Z:0.04 [[ 9.99964966e-01 -6.72561778e-03 -4.98318647e-03 3.62895160e+01] [ 6.73049150e-03 9.99976887e-01 9.61909365e-04 2.18346258e+00] [ 4.97660186e-03 -9.95414960e-04 9.99987121e-01 3.53351292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.061400513 meters Centerline goodness [0,1] 0.8336638785892904 Centerline is valid? [False, False] Translation: X:36.29, Y:2.19, Z:0.03 [[ 9.99924161e-01 -1.13079907e-02 -4.87876319e-03 3.62896628e+01] [ 1.12868076e-02 9.99926850e-01 -4.34779478e-03 2.18824701e+00] [ 4.92757113e-03 4.29239939e-03 9.99978647e-01 3.43578667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.091400513 meters Centerline goodness [0,1] 0.8766409802121801 Centerline is valid? [False, False] Translation: X:36.33, Y:2.19, Z:0.04 [[ 9.99887686e-01 -1.49734623e-02 -6.40264303e-04 3.63252777e+01] [ 1.49665267e-02 9.99840643e-01 -9.73099794e-03 2.19336875e+00] [ 7.85869003e-04 9.72032248e-03 9.99952448e-01 3.69114077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.12140051299998 meters Centerline goodness [0,1] 0.8363363045457433 Centerline is valid? [False, False] Translation: X:36.33, Y:2.19, Z:0.04 [[ 9.99929101e-01 -1.18844430e-02 -7.44092568e-04 3.63252310e+01] [ 1.18808555e-02 9.99918593e-01 -4.65314325e-03 2.18578212e+00] [ 7.99332010e-04 4.64397288e-03 9.99988897e-01 3.83640761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.15140051299998 meters Centerline goodness [0,1] 0.855373398426674 Centerline is valid? [False, False] Translation: X:36.32, Y:2.18, Z:0.04 [[ 9.99930917e-01 -1.17273451e-02 -7.94208269e-04 3.63249966e+01] [ 1.17240715e-02 9.99923238e-01 -4.00810481e-03 2.18267895e+00] [ 8.41151732e-04 3.99851657e-03 9.99991652e-01 3.91979910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.18140051299999 meters Centerline goodness [0,1] 0.9560014530845995 Centerline is valid? [False, True] Translation: X:36.33, Y:2.18, Z:0.04 [[ 9.99928537e-01 -1.18551890e-02 -1.54125740e-03 3.63279860e+01] [ 1.18506258e-02 9.99925466e-01 -2.93686391e-03 2.17652696e+00] [ 1.57595960e-03 2.91838917e-03 9.99994500e-01 3.82933974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.21140051299999 meters Centerline goodness [0,1] 0.9386752136752137 Centerline is valid? [True, False] Translation: X:36.33, Y:2.17, Z:0.04 [[ 9.99966697e-01 -7.85665089e-03 -2.20860941e-03 3.63304458e+01] [ 7.86264475e-03 9.99965394e-01 2.71840399e-03 2.16841474e+00] [ 2.18717543e-03 -2.73567897e-03 9.99993866e-01 3.79811050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.24140051299999 meters Centerline goodness [0,1] 0.9861765966566652 Centerline is valid? [False, True] Translation: X:36.33, Y:2.17, Z:0.04 [[ 9.99966840e-01 -7.79313666e-03 -2.36358614e-03 3.63313525e+01] [ 7.79993275e-03 9.99965433e-01 2.87987449e-03 2.16755648e+00] [ 2.34106118e-03 -2.89821480e-03 9.99993060e-01 3.72166738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.27140051299999 meters Centerline goodness [0,1] 0.9030575155013898 Centerline is valid? [True, False] Translation: X:36.33, Y:2.17, Z:0.04 [[ 9.99967564e-01 -7.68521441e-03 -2.40999160e-03 3.63314147e+01] [ 7.69269948e-03 9.99965568e-01 3.11211739e-03 2.16647485e+00] [ 2.38599133e-03 -3.13055579e-03 9.99992253e-01 3.74032231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.30140051299999 meters Centerline goodness [0,1] 0.9762407040422766 Centerline is valid? [False, True] Translation: X:36.33, Y:2.16, Z:0.04 [[ 9.99968946e-01 -7.50153128e-03 -2.41530830e-03 3.63312687e+01] [ 7.51007032e-03 9.99965512e-01 3.54593556e-03 2.16444461e+00] [ 2.38862506e-03 -3.56396458e-03 9.99990796e-01 3.77501173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.33140051299999 meters Centerline goodness [0,1] 0.9162331570868156 Centerline is valid? [True, False] Translation: X:36.33, Y:2.16, Z:0.04 [[ 9.99970655e-01 -7.25480386e-03 -2.46123745e-03 3.63314139e+01] [ 7.26487209e-03 9.99965178e-01 4.10674235e-03 2.16178668e+00] [ 2.43135813e-03 -4.12450241e-03 9.99988538e-01 3.77937300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.36140051299999 meters Centerline goodness [0,1] 0.8739124899206383 Centerline is valid? [False, False] Translation: X:36.33, Y:2.16, Z:0.04 [[ 9.99971831e-01 -7.07561573e-03 -2.50447460e-03 3.63317356e+01] [ 7.08691610e-03 9.99964616e-01 4.53233021e-03 2.15971555e+00] [ 2.47231695e-03 -4.54995155e-03 9.99986593e-01 3.74571957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.391400513 meters Centerline goodness [0,1] 0.9869039696000343 Centerline is valid? [False, True] Translation: X:36.33, Y:2.16, Z:0.04 [[ 9.99972544e-01 -7.05290012e-03 -2.27337525e-03 3.63308882e+01] [ 7.06301601e-03 9.99965053e-01 4.47283812e-03 2.16011271e+00] [ 2.24174932e-03 -4.48877219e-03 9.99987413e-01 3.76450639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.421400513 meters Centerline goodness [0,1] 0.9172588400493596 Centerline is valid? [True, False] Translation: X:36.35, Y:2.17, Z:0.03 [[ 9.99981631e-01 -5.16846347e-03 3.16612383e-03 3.63505373e+01] [ 5.18646476e-03 9.99970282e-01 -5.70401424e-03 2.17003916e+00] [-3.13654875e-03 5.72033045e-03 9.99978720e-01 3.29161144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.451400513 meters Centerline goodness [0,1] 0.9395347854562356 Centerline is valid? [False, False] Translation: X:36.36, Y:2.17, Z:0.03 [[ 9.99993649e-01 -2.55210431e-03 2.48782863e-03 3.63559115e+01] [ 2.55906855e-03 9.99992805e-01 -2.80017254e-03 2.16778312e+00] [-2.48066439e-03 2.80652128e-03 9.99992985e-01 2.98702353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.481400513 meters Centerline goodness [0,1] 0.9498148029203332 Centerline is valid? [False, False] Translation: X:36.31, Y:2.16, Z:0.03 [[ 9.99999496e-01 -1.00364814e-03 -3.97486285e-05 3.63129740e+01] [ 1.00372792e-03 9.99997373e-01 2.06056675e-03 2.15983874e+00] [ 3.76804401e-05 -2.06060561e-03 9.99997876e-01 3.26224633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.51140051299998 meters Centerline goodness [0,1] 0.9232910477890397 Centerline is valid? [False, False] Translation: X:36.31, Y:2.16, Z:0.03 [[ 9.99999257e-01 -1.21253589e-03 1.26998374e-04 3.63125320e+01] [ 1.21234345e-03 9.99998133e-01 1.50453187e-03 2.16251330e+00] [-1.28822436e-04 -1.50437678e-03 9.99998860e-01 3.23278123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.54140051299999 meters Centerline goodness [0,1] 0.8591515985465804 Centerline is valid? [False, False] Translation: X:36.29, Y:2.17, Z:0.03 [[ 9.99999594e-01 -9.01134991e-04 1.01748370e-05 3.62930619e+01] [ 9.01190976e-04 9.99954535e-01 -9.49296592e-03 2.16867048e+00] [-1.61993065e-06 9.49297123e-03 9.99954941e-01 2.83249590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.57140051299999 meters Centerline goodness [0,1] 0.8825481798715203 Centerline is valid? [False, False] Translation: X:36.30, Y:2.16, Z:0.03 [[ 9.99994811e-01 3.13587327e-03 -7.37540019e-04 3.62953476e+01] [-3.13870788e-03 9.99987570e-01 -3.87409530e-03 2.16086815e+00] [ 7.25382179e-04 3.87639012e-03 9.99992224e-01 2.89912806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.60140051299999 meters Centerline goodness [0,1] 0.9897045658012533 Centerline is valid? [False, True] Translation: X:36.30, Y:2.16, Z:0.03 [[ 9.99994058e-01 3.17376043e-03 -1.34586235e-03 3.62973805e+01] [-3.17759515e-03 9.99990871e-01 -2.85676611e-03 2.15535329e+00] [ 1.33678337e-03 2.86102574e-03 9.99995014e-01 2.89270485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.63140051299999 meters Centerline goodness [0,1] 0.9182617582557966 Centerline is valid? [True, False] Translation: X:36.30, Y:2.15, Z:0.03 [[ 9.99993487e-01 3.31478457e-03 -1.42734223e-03 3.62975359e+01] [-3.31819422e-03 9.99991631e-01 -2.39311160e-03 2.15309723e+00] [ 1.41939764e-03 2.39783221e-03 9.99996118e-01 2.91449647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.66140051299999 meters Centerline goodness [0,1] 0.9867971386724969 Centerline is valid? [False, True] Translation: X:36.30, Y:2.15, Z:0.03 [[ 9.99992914e-01 3.48701642e-03 -1.41851077e-03 3.62972071e+01] [-3.48972780e-03 9.99992080e-01 -1.91346427e-03 2.15083599e+00] [ 1.41182725e-03 1.91840092e-03 9.99997163e-01 2.97300688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.69140051299999 meters Centerline goodness [0,1] 0.9877421821889871 Centerline is valid? [True, True] Translation: X:36.33, Y:2.15, Z:0.03 [[ 9.99996503e-01 2.62265447e-03 -3.40243045e-04 3.63264847e+01] [-2.62266250e-03 9.99996561e-01 -2.31571894e-05 2.15061346e+00] [ 3.40181141e-04 2.40494511e-05 9.99999942e-01 3.19564703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.72140051299999 meters Centerline goodness [0,1] 0.9876716703928458 Centerline is valid? [True, True] Translation: X:36.36, Y:2.15, Z:0.03 [[ 9.99993445e-01 3.50920398e-03 -8.91675458e-04 3.63573576e+01] [-3.50925941e-03 9.99993841e-01 -6.06043444e-05 2.15035455e+00] [ 8.91457293e-04 6.37330676e-05 9.99999601e-01 3.23230288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.751400513 meters Centerline goodness [0,1] 0.9826249035907104 Centerline is valid? [True, True] Translation: X:36.39, Y:2.15, Z:0.03 [[ 9.99987963e-01 4.53071912e-03 -1.88296385e-03 3.63878741e+01] [-4.53096809e-03 9.99989727e-01 -1.27979063e-04 2.15391233e+00] [ 1.88236467e-03 1.36509172e-04 9.99998219e-01 3.02911946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.781400513 meters Centerline goodness [0,1] 0.9640755585877537 Centerline is valid? [True, True] Translation: X:36.42, Y:2.16, Z:0.03 [[ 9.99980573e-01 5.76473775e-03 -2.37101036e-03 3.64166159e+01] [-5.76513581e-03 9.99983368e-01 -1.61087498e-04 2.16063653e+00] [ 2.37004230e-03 1.74753565e-04 9.99997176e-01 2.87114961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.811400513 meters Centerline goodness [0,1] 0.944318109366034 Centerline is valid? [True, False] Translation: X:36.42, Y:2.16, Z:0.03 [[ 9.99981678e-01 5.64571824e-03 -2.18407085e-03 3.64158912e+01] [-5.64699105e-03 9.99983889e-01 -5.77041623e-04 2.16269982e+00] [ 2.18077785e-03 5.89364479e-04 9.99997448e-01 2.88892261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.841400513 meters Centerline goodness [0,1] 0.995759898922843 Centerline is valid? [False, True] Translation: X:36.42, Y:2.16, Z:0.03 [[ 9.99981425e-01 5.74343924e-03 -2.04024690e-03 3.64150068e+01] [-5.74425661e-03 9.99983424e-01 -3.94993560e-04 2.16195835e+00] [ 2.03794446e-03 4.06705925e-04 9.99997841e-01 2.96813452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.87140051299998 meters Centerline goodness [0,1] 0.890565394369499 Centerline is valid? [True, False] Translation: X:36.41, Y:2.16, Z:0.03 [[ 9.99981431e-01 5.78428033e-03 -1.91848751e-03 3.64142109e+01] [-5.78500131e-03 9.99983198e-01 -3.70470167e-04 2.16197001e+00] [ 1.91631238e-03 3.81561741e-04 9.99998091e-01 3.04530196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.90140051299998 meters Centerline goodness [0,1] 0.8596843860924603 Centerline is valid? [False, False] Translation: X:36.41, Y:2.17, Z:0.03 [[ 9.99983552e-01 5.56754040e-03 -1.37775052e-03 3.64126131e+01] [-5.56965711e-03 9.99983308e-01 -1.53731428e-03 2.16791806e+00] [ 1.36916846e-03 1.54496259e-03 9.99997869e-01 3.01277571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.93140051299999 meters Centerline goodness [0,1] 0.7228828368068874 Centerline is valid? [False, False] Translation: X:36.41, Y:2.17, Z:0.03 [[ 9.99985175e-01 5.25355740e-03 -1.43170379e-03 3.64132844e+01] [-5.25712428e-03 9.99983058e-01 -2.49908364e-03 2.17244917e+00] [ 1.41855045e-03 2.50657324e-03 9.99995852e-01 2.90956813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.96140051299999 meters Centerline goodness [0,1] 0.8534103996928721 Centerline is valid? [False, False] Translation: X:36.41, Y:2.18, Z:0.03 [[ 9.99986022e-01 5.07678249e-03 -1.47688293e-03 3.64137854e+01] [-5.08138769e-03 9.99982187e-01 -3.13132830e-03 2.17545989e+00] [ 1.46095955e-03 3.13878915e-03 9.99994007e-01 2.83355241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.99140051299999 meters Centerline goodness [0,1] 0.38979365620736695 Centerline is valid? [False, False] Translation: X:36.41, Y:2.18, Z:0.03 [[ 9.99984791e-01 5.32767612e-03 -1.42604851e-03 3.64136491e+01] [-5.33199200e-03 9.99981164e-01 -3.03996513e-03 2.17525931e+00] [ 1.40982570e-03 3.04752258e-03 9.99994362e-01 2.81941267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.02140051299999 meters Centerline goodness [0,1] 0.3909295511486688 Centerline is valid? [False, False] Translation: X:36.41, Y:2.17, Z:0.03 [[ 9.99984171e-01 5.45919584e-03 -1.36217206e-03 3.64131285e+01] [-5.46295661e-03 9.99981234e-01 -2.77258537e-03 2.17406771e+00] [ 1.34701041e-03 2.77998297e-03 9.99995229e-01 2.87608504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.05140051299999 meters Centerline goodness [0,1] 0.4770252775006898 Centerline is valid? [False, False] Translation: X:36.41, Y:2.17, Z:0.03 [[ 9.99983629e-01 5.56801428e-03 -1.31874346e-03 3.64127983e+01] [-5.57128537e-03 9.99981380e-01 -2.48991581e-03 2.17273750e+00] [ 1.30485502e-03 2.49722214e-03 9.99996031e-01 2.91258493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.08140051299999 meters Centerline goodness [0,1] 0.5509803084020333 Centerline is valid? [False, False] Translation: X:36.41, Y:2.17, Z:0.03 [[ 9.99982391e-01 5.75353797e-03 -1.45382016e-03 3.64130978e+01] [-5.75640310e-03 9.99981483e-01 -1.97431924e-03 2.17026963e+00] [ 1.44243392e-03 1.98265325e-03 9.99996994e-01 2.93986962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.11140051299999 meters Centerline goodness [0,1] 0.6163829103758433 Centerline is valid? [False, False] Translation: X:36.41, Y:2.17, Z:0.03 [[ 9.99997899e-01 1.43537776e-03 -1.46338523e-03 3.64133962e+01] [-1.44447494e-03 9.99979522e-01 -6.23454388e-03 2.16983509e+00] [ 1.45440634e-03 6.23664460e-03 9.99979494e-01 2.87235118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.141400513 meters Centerline goodness [0,1] 0.7675102496404577 Centerline is valid? [False, False] Translation: X:36.41, Y:2.17, Z:0.03 [[ 9.99997538e-01 1.63357978e-03 -1.50207177e-03 3.64132991e+01] [-1.64205201e-03 9.99982653e-01 -5.65653524e-03 2.16709768e+00] [ 1.49280531e-03 5.65898780e-03 9.99982874e-01 2.91589671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.171400513 meters Centerline goodness [0,1] 0.9305391281907915 Centerline is valid? [False, False] Translation: X:36.41, Y:2.17, Z:0.03 [[ 9.99997421e-01 1.71291836e-03 -1.49127553e-03 3.64131059e+01] [-1.72101358e-03 9.99983700e-01 -5.44413328e-03 2.16613506e+00] [ 1.48192587e-03 5.44668575e-03 9.99984069e-01 2.94483725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.201400513 meters Centerline goodness [0,1] 0.9128474511388529 Centerline is valid? [False, False] Translation: X:36.43, Y:2.16, Z:0.03 [[ 9.99997990e-01 1.35743435e-03 -1.47582171e-03 3.64318035e+01] [-1.34954509e-03 9.99984866e-01 5.33358652e-03 2.16005769e+00] [ 1.48303937e-03 -5.33158411e-03 9.99984687e-01 3.45446697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.231400513 meters Centerline goodness [0,1] 0.9818702086314036 Centerline is valid? [False, True] Translation: X:36.43, Y:2.16, Z:0.03 [[ 9.99998127e-01 1.23749813e-03 -1.48816438e-03 3.64317554e+01] [-1.22996638e-03 9.99986485e-01 5.05141062e-03 2.16140765e+00] [ 1.49439538e-03 -5.04957077e-03 9.99986134e-01 3.47183290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.26140051299998 meters Centerline goodness [0,1] 0.8239128111977776 Centerline is valid? [True, False] Translation: X:36.43, Y:2.16, Z:0.03 [[ 9.99998546e-01 9.34441751e-04 -1.42646861e-03 3.64316510e+01] [-9.28242574e-04 9.99990150e-01 4.34031452e-03 2.16475609e+00] [ 1.43051033e-03 -4.33898410e-03 9.99989563e-01 3.45094342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.29140051299999 meters Centerline goodness [0,1] 0.8457591242436553 Centerline is valid? [False, False] Translation: X:36.43, Y:2.17, Z:0.03 [[ 9.99998944e-01 5.21238196e-04 -1.35628606e-03 3.64316024e+01] [-5.16689750e-04 9.99994249e-01 3.35179634e-03 2.16939622e+00] [ 1.35802534e-03 -3.35109202e-03 9.99993463e-01 3.40971325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.32140051299999 meters Centerline goodness [0,1] 0.8457591242436553 Centerline is valid? [False, False] Translation: X:36.43, Y:2.17, Z:0.03 [[ 9.99998944e-01 5.21238196e-04 -1.35628606e-03 3.64316024e+01] [-5.16689750e-04 9.99994249e-01 3.35179634e-03 2.16939622e+00] [ 1.35802534e-03 -3.35109202e-03 9.99993463e-01 3.40971325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.35140051299999 meters Centerline goodness [0,1] 0.7802520650600357 Centerline is valid? [False, False] Translation: X:36.43, Y:2.18, Z:0.03 [[ 9.99999040e-01 -1.79137319e-04 -1.37385857e-03 3.64321702e+01] [ 1.81615245e-04 9.99998357e-01 1.80371287e-03 2.17653959e+00] [ 1.37353320e-03 -1.80396065e-03 9.99997430e-01 3.30295030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.38140051299999 meters Centerline goodness [0,1] 0.8656144978091632 Centerline is valid? [False, False] Translation: X:36.43, Y:2.18, Z:0.03 [[ 9.99998783e-01 -3.66582728e-04 -1.51662775e-03 3.64326742e+01] [ 3.68884004e-04 9.99998781e-01 1.51736271e-03 2.17779180e+00] [ 1.51606966e-03 -1.51792032e-03 9.99997699e-01 3.29259342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.41140051299999 meters Centerline goodness [0,1] 0.8515691807764666 Centerline is valid? [False, False] Translation: X:36.43, Y:2.18, Z:0.04 [[ 9.99995241e-01 -3.02948304e-03 -5.83062981e-04 3.64261723e+01] [ 3.02874028e-03 9.99994606e-01 -1.27059612e-03 2.18162469e+00] [ 5.86909085e-04 1.26882412e-03 9.99999023e-01 3.67395208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.44140051299999 meters Centerline goodness [0,1] 0.9410476635911391 Centerline is valid? [False, False] Translation: X:36.43, Y:2.18, Z:0.04 [[ 9.99989772e-01 -4.36390096e-03 -1.18833970e-03 3.64283126e+01] [ 4.36181424e-03 9.99988951e-01 -1.75296153e-03 2.18153881e+00] [ 1.19597632e-03 1.74776029e-03 9.99997757e-01 3.67900182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.47140051299999 meters Centerline goodness [0,1] 0.9988925331175192 Centerline is valid? [False, True] Translation: X:36.43, Y:2.18, Z:0.04 [[ 9.99988978e-01 -4.47339748e-03 -1.42570425e-03 3.64288946e+01] [ 4.47142638e-03 9.99989047e-01 -1.38274414e-03 2.17948582e+00] [ 1.43187420e-03 1.37635397e-03 9.99998028e-01 3.72047257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.501400513 meters Centerline goodness [0,1] 0.9993538382010856 Centerline is valid? [True, True] Translation: X:36.46, Y:2.18, Z:0.04 [[ 9.99960195e-01 -8.76599034e-03 -1.66310532e-03 3.64582216e+01] [ 8.76581865e-03 9.99961573e-01 -1.10496524e-04 2.17820529e+00] [ 1.66401003e-03 9.59136460e-05 9.99998611e-01 3.77787545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.531400513 meters Centerline goodness [0,1] 0.9998506602948393 Centerline is valid? [True, True] Translation: X:36.49, Y:2.17, Z:0.04 [[ 9.99881024e-01 -1.53655801e-02 -1.35528148e-03 3.64893553e+01] [ 1.53654721e-02 9.99881940e-01 -9.00536139e-05 2.17237208e+00] [ 1.35650520e-03 6.92183599e-05 9.99999078e-01 3.73732154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.561400513 meters Centerline goodness [0,1] 0.9995767016593295 Centerline is valid? [True, True] Translation: X:36.52, Y:2.18, Z:0.04 [[ 9.99845844e-01 -1.75356132e-02 -8.88603016e-04 3.65173354e+01] [ 1.75355676e-02 9.99846238e-01 -5.90980827e-05 2.18268989e+00] [ 8.89502704e-04 4.35068141e-05 9.99999603e-01 3.67619870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.591400513 meters Centerline goodness [0,1] 0.9997037914691943 Centerline is valid? [True, True] Translation: X:36.55, Y:2.17, Z:0.04 [[ 9.99825465e-01 -1.86714597e-02 -6.45841174e-04 3.65469457e+01] [ 1.86714358e-02 9.99825673e-01 -4.29993747e-05 2.17185826e+00] [ 6.46531448e-04 3.09330878e-05 9.99999791e-01 3.72930029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.62140051299998 meters Centerline goodness [0,1] 0.9996368607681463 Centerline is valid? [True, True] Translation: X:36.58, Y:2.17, Z:0.04 [[ 9.99811652e-01 -1.93418577e-02 -1.59778204e-03 3.65762370e+01] [ 1.93417118e-02 9.99812926e-01 -1.06673045e-04 2.17189762e+00] [ 1.59954639e-03 7.57491138e-05 9.99998718e-01 3.62003945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.65140051299998 meters Centerline goodness [0,1] 0.9997237862530542 Centerline is valid? [True, True] Translation: X:36.60, Y:2.18, Z:0.04 [[ 9.99820659e-01 -1.88227340e-02 -2.08674951e-03 3.66035870e+01] [ 1.88224841e-02 9.99822832e-01 -1.39310652e-04 2.17556028e+00] [ 2.08900201e-03 1.00007859e-04 9.99997813e-01 3.55206005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.68140051299999 meters Centerline goodness [0,1] 0.999829056176414 Centerline is valid? [True, True] Translation: X:36.63, Y:2.17, Z:0.04 [[ 9.99846834e-01 -1.73433345e-02 -2.34885313e-03 3.66328630e+01] [ 1.73430136e-02 9.99849586e-01 -1.56919082e-04 2.17247625e+00] [ 2.35122133e-03 1.16158856e-04 9.99997229e-01 3.57400934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.71140051299999 meters Centerline goodness [0,1] 0.9995707878189583 Centerline is valid? [True, True] Translation: X:36.66, Y:2.18, Z:0.04 [[ 9.99918823e-01 -1.24929117e-02 -2.50503980e-03 3.66612138e+01] [ 1.24925317e-02 9.99921951e-01 -1.67264972e-04 2.18147658e+00] [ 2.50693391e-03 1.35957105e-04 9.99996848e-01 3.57515991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.74140051299999 meters Centerline goodness [0,1] 0.9989399592944369 Centerline is valid? [True, True] Translation: X:36.69, Y:2.19, Z:0.04 [[ 9.99948823e-01 -9.79647034e-03 -2.52616826e-03 3.66898500e+01] [ 9.79607516e-03 9.99952003e-01 -1.68761041e-04 2.18725198e+00] [ 2.52770028e-03 1.44005870e-04 9.99996795e-01 3.55558024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.77140051299999 meters Centerline goodness [0,1] 0.9996389201588751 Centerline is valid? [True, True] Translation: X:36.72, Y:2.18, Z:0.04 [[ 9.99971037e-01 -7.13532834e-03 -2.64825300e-03 3.67203183e+01] [ 7.13488469e-03 9.99974531e-01 -1.76937045e-04 2.18107219e+00] [ 2.64944806e-03 1.58036941e-04 9.99996478e-01 3.59117353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.80140051299999 meters Centerline goodness [0,1] 0.9980503931000869 Centerline is valid? [True, True] Translation: X:36.75, Y:2.19, Z:0.04 [[ 9.99996255e-01 -1.09737456e-03 -2.50700090e-03 3.67495856e+01] [ 1.09695799e-03 9.99999384e-01 -1.67530010e-04 2.19179452e+00] [ 2.50718320e-03 1.64779308e-04 9.99996843e-01 3.52837942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.83140051299999 meters Centerline goodness [0,1] 0.9115889830508475 Centerline is valid? [True, False] Translation: X:36.75, Y:2.19, Z:0.04 [[ 9.99996872e-01 -9.17733676e-04 -2.32677214e-03 3.67487967e+01] [ 9.17898111e-04 9.99999576e-01 6.96038422e-05 2.19081332e+00] [ 2.32670727e-03 -7.17393642e-05 9.99997291e-01 3.56545022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.86140051299999 meters Centerline goodness [0,1] 0.9817700550740724 Centerline is valid? [False, True] Translation: X:36.75, Y:2.19, Z:0.04 [[ 9.99997521e-01 -7.32937904e-04 -2.10264581e-03 3.67478700e+01] [ 7.33638264e-04 9.99999676e-01 3.32333175e-04 2.18972605e+00] [ 2.10240155e-03 -3.33874933e-04 9.99997734e-01 3.60296777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.891400513 meters Centerline goodness [0,1] 0.988194429646046 Centerline is valid? [True, True] Translation: X:36.78, Y:2.19, Z:0.04 [[ 9.99996550e-01 1.91319833e-03 -1.79988030e-03 3.67784601e+01] [-1.91343477e-03 9.99998161e-01 -1.29652312e-04 2.18965947e+00] [ 1.79962894e-03 1.33095819e-04 9.99998372e-01 3.60071293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.921400513 meters Centerline goodness [0,1] 0.8966121620177407 Centerline is valid? [True, False] Translation: X:36.78, Y:2.19, Z:0.03 [[ 9.99995569e-01 2.11354870e-03 -2.09660434e-03 3.67803797e+01] [-2.11392651e-03 9.99997750e-01 -1.78004927e-04 2.18993090e+00] [ 2.09622340e-03 1.82436205e-04 9.99997786e-01 3.39577267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.951400513 meters Centerline goodness [0,1] 0.893468434695058 Centerline is valid? [False, False] Translation: X:36.78, Y:2.19, Z:0.03 [[ 9.99994783e-01 2.30499453e-03 -2.26306346e-03 3.67813246e+01] [-2.30442965e-03 9.99997313e-01 2.52183818e-04 2.18779598e+00] [ 2.26363866e-03 -2.46967432e-04 9.99997407e-01 3.31760935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.981400513 meters Centerline goodness [0,1] 0.7630211118478749 Centerline is valid? [False, False] Translation: X:36.78, Y:2.18, Z:0.03 [[ 9.99993829e-01 2.61553018e-03 -2.34561370e-03 3.67817800e+01] [-2.61328523e-03 9.99996125e-01 9.59637952e-04 2.18439859e+00] [ 2.34811458e-03 -9.53502272e-04 9.99996789e-01 3.28339217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.01140051299998 meters Centerline goodness [0,1] 0.7954827394447535 Centerline is valid? [False, False] Translation: X:36.78, Y:2.18, Z:0.03 [[ 9.99992864e-01 2.96123278e-03 -2.34601195e-03 3.67815818e+01] [-2.95713831e-03 9.99994102e-01 1.74683813e-03 2.18071678e+00] [ 2.35117091e-03 -1.73988818e-03 9.99995722e-01 3.32380081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.04140051299999 meters Centerline goodness [0,1] 0.8622714987976421 Centerline is valid? [False, False] Translation: X:36.79, Y:2.18, Z:0.03 [[ 9.99995111e-01 1.52125723e-03 -2.73184805e-03 3.67860623e+01] [-1.51977356e-03 9.99998697e-01 5.45094916e-04 2.17732847e+00] [ 2.73267372e-03 -5.40940461e-04 9.99996120e-01 2.99976408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.07140051299999 meters Centerline goodness [0,1] 0.7551303976058145 Centerline is valid? [False, False] Translation: X:36.78, Y:2.18, Z:0.03 [[ 9.99998177e-01 -7.25435963e-04 -1.76608021e-03 3.67791067e+01] [ 7.22553789e-04 9.99998407e-01 -1.63205211e-03 2.17664291e+00] [ 1.76726134e-03 1.63077304e-03 9.99997109e-01 3.42481922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.10140051299999 meters Centerline goodness [0,1] 0.8571215637842557 Centerline is valid? [False, False] Translation: X:36.78, Y:2.17, Z:0.03 [[ 9.99997589e-01 -2.59196087e-04 -2.18056256e-03 3.67805478e+01] [ 2.58657590e-04 9.99999936e-01 -2.47231721e-04 2.16985297e+00] [ 2.18062650e-03 2.46667105e-04 9.99997592e-01 3.40913499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.13140051299999 meters Centerline goodness [0,1] 0.9906497962684967 Centerline is valid? [False, True] Translation: X:36.77, Y:2.17, Z:0.04 [[ 9.99995825e-01 -2.59171924e-03 -1.27808138e-03 3.67739788e+01] [ 2.58847508e-03 9.99993441e-01 -2.53345459e-03 2.16951965e+00] [ 1.28463900e-03 2.53013573e-03 9.99995974e-01 3.80757186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.16140051299999 meters Centerline goodness [0,1] 0.9182802616060899 Centerline is valid? [True, False] Translation: X:36.77, Y:2.17, Z:0.04 [[ 9.99996675e-01 -2.22444075e-03 -1.30425512e-03 3.67736216e+01] [ 2.22228000e-03 9.99996160e-01 -1.65580674e-03 2.16546557e+00] [ 1.30793336e-03 1.65290282e-03 9.99997779e-01 3.89680202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.19140051299999 meters Centerline goodness [0,1] 0.9364280427196785 Centerline is valid? [False, False] Translation: X:36.81, Y:2.17, Z:0.04 [[ 9.99994591e-01 -1.75260422e-03 2.78323258e-03 3.68097840e+01] [ 1.76043088e-03 9.99994496e-01 -2.81211995e-03 2.16598715e+00] [-2.77828873e-03 2.81700443e-03 9.99992173e-01 4.11347602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.22140051299999 meters Centerline goodness [0,1] 0.983343273408878 Centerline is valid? [False, True] Translation: X:36.81, Y:2.17, Z:0.04 [[ 9.99977184e-01 -5.94897388e-03 3.20020177e-03 3.68078053e+01] [ 5.97137422e-03 9.99957416e-01 -7.03625178e-03 2.16575303e+00] [-3.15820701e-03 7.05520085e-03 9.99970124e-01 4.24137777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.251400513 meters Centerline goodness [0,1] 0.945354267480929 Centerline is valid? [True, False] Translation: X:36.81, Y:2.16, Z:0.04 [[ 9.99979328e-01 -5.65477601e-03 3.06065485e-03 3.68081244e+01] [ 5.67388533e-03 9.99964238e-01 -6.27128823e-03 2.16209005e+00] [-3.02508266e-03 6.28852440e-03 9.99975651e-01 4.26735767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.281400513 meters Centerline goodness [0,1] 0.9948155828766109 Centerline is valid? [False, True] Translation: X:36.81, Y:2.15, Z:0.04 [[ 9.99995518e-01 -1.46079932e-03 2.61331155e-03 3.68094732e+01] [ 1.46178544e-03 9.99998861e-01 -3.75475496e-04 2.15334194e+00] [-2.61276008e-03 3.79293914e-04 9.99996515e-01 4.33124027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.311400513 meters Centerline goodness [0,1] 0.9607314276005606 Centerline is valid? [True, True] Translation: X:36.84, Y:2.16, Z:0.04 [[ 9.99997356e-01 -3.95823971e-04 2.26525405e-03 3.68391130e+01] [ 3.95466216e-04 9.99999909e-01 1.58376963e-04 2.15876550e+00] [-2.26531653e-03 -1.57480712e-04 9.99997422e-01 4.25021182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.341400513 meters Centerline goodness [0,1] 0.8443726099173903 Centerline is valid? [True, False] Translation: X:36.84, Y:2.16, Z:0.04 [[ 9.99997258e-01 -3.84396955e-04 2.30983868e-03 3.68389122e+01] [ 3.84150837e-04 9.99999920e-01 1.06994680e-04 2.15907093e+00] [-2.30987963e-03 -1.06107060e-04 9.99997327e-01 4.26082851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.37140051299998 meters Centerline goodness [0,1] 0.7974970834659031 Centerline is valid? [False, False] Translation: X:36.84, Y:2.16, Z:0.04 [[ 9.99997232e-01 -3.72301032e-04 2.32318388e-03 3.68389312e+01] [ 3.72177139e-04 9.99999929e-01 5.37614016e-05 2.15935172e+00] [-2.32320373e-03 -5.28966169e-05 9.99997300e-01 4.24872863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.40140051299998 meters Centerline goodness [0,1] 0.89630920118725 Centerline is valid? [False, False] Translation: X:36.80, Y:2.14, Z:0.05 [[ 9.99992731e-01 3.75906291e-03 -6.37836123e-04 3.67984942e+01] [-3.75325483e-03 9.99953572e-01 8.87506716e-03 2.14387299e+00] [ 6.71168445e-04 -8.87260869e-03 9.99960412e-01 4.51373631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.43140051299999 meters Centerline goodness [0,1] 0.888089033195198 Centerline is valid? [False, False] Translation: X:36.80, Y:2.14, Z:0.05 [[ 9.99992444e-01 3.85282714e-03 -5.16443562e-04 3.67980669e+01] [-3.84803351e-03 9.99952256e-01 8.98210688e-03 2.14342283e+00] [ 5.51025410e-04 -8.98005172e-03 9.99959527e-01 4.51671370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.46140051299999 meters Centerline goodness [0,1] 0.9345257106355797 Centerline is valid? [False, False] Translation: X:36.80, Y:2.15, Z:0.04 [[ 9.99999982e-01 -1.86100942e-04 2.85303555e-05 3.67963665e+01] [ 1.85996696e-04 9.99993462e-01 3.61134975e-03 2.14961279e+00] [-2.92022445e-05 -3.61134438e-03 9.99993479e-01 4.44525511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.49140051299999 meters Centerline goodness [0,1] 0.6180068641694565 Centerline is valid? [False, False] Translation: X:36.84, Y:2.16, Z:0.04 [[ 9.99996613e-01 -4.66585697e-04 2.56050272e-03 3.68373832e+01] [ 4.68183895e-04 9.99999696e-01 -6.23609722e-04 2.15500268e+00] [-2.56021097e-03 6.24806396e-04 9.99996527e-01 4.27651792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.52140051299999 meters Centerline goodness [0,1] 0.9581675426091028 Centerline is valid? [False, True] Translation: X:36.84, Y:2.16, Z:0.04 [[ 9.99985083e-01 -4.65818925e-03 2.85237240e-03 3.68369961e+01] [ 4.67427011e-03 9.99973073e-01 -5.65724243e-03 2.15884803e+00] [-2.82594308e-03 5.67049080e-03 9.99979930e-01 4.14690563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.55140051299999 meters Centerline goodness [0,1] 0.8543856662552667 Centerline is valid? [True, False] Translation: X:36.84, Y:2.15, Z:0.04 [[ 9.99997341e-01 -3.87303425e-04 2.27326927e-03 3.68387477e+01] [ 3.86753305e-04 9.99999896e-01 2.42429699e-04 2.15010048e+00] [-2.27336292e-03 -2.41549860e-04 9.99997387e-01 4.21275426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.58140051299999 meters Centerline goodness [0,1] 0.8083537559936068 Centerline is valid? [False, False] Translation: X:36.84, Y:2.15, Z:0.04 [[ 9.99997599e-01 -3.56584505e-04 2.16192513e-03 3.68395629e+01] [ 3.55828958e-04 9.99999875e-01 3.49853239e-04 2.14944511e+00] [-2.16204961e-03 -3.49083124e-04 9.99997602e-01 4.12494583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.61140051299999 meters Centerline goodness [0,1] 0.7412353923205341 Centerline is valid? [False, False] Translation: X:36.84, Y:2.15, Z:0.04 [[ 9.99997790e-01 -3.14360773e-04 2.07885848e-03 3.68399085e+01] [ 3.13426434e-04 9.99999850e-01 4.49758417e-04 2.14895073e+00] [-2.07899956e-03 -4.49105854e-04 9.99997738e-01 4.11054526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.641400513 meters Centerline goodness [0,1] 0.7545421627723701 Centerline is valid? [False, False] Translation: X:36.84, Y:2.15, Z:0.04 [[ 9.99998067e-01 -1.41587988e-04 1.96107681e-03 3.68402588e+01] [ 1.39934990e-04 9.99999635e-01 8.43014628e-04 2.14707929e+00] [-1.96119546e-03 -8.42738575e-04 9.99997722e-01 4.11925064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.671400513 meters Centerline goodness [0,1] 0.730492068906703 Centerline is valid? [False, False] Translation: X:36.84, Y:2.14, Z:0.04 [[ 9.99998273e-01 9.63866164e-05 1.85605850e-03 3.68404892e+01] [-9.89336461e-05 9.99999054e-01 1.37223586e-03 2.14458898e+00] [-1.85592448e-03 -1.37241712e-03 9.99997336e-01 4.14510902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.701400513 meters Centerline goodness [0,1] 0.5759367568609808 Centerline is valid? [False, False] Translation: X:36.84, Y:2.14, Z:0.04 [[ 9.99998014e-01 3.59321155e-04 1.96047926e-03 3.68400809e+01] [-3.62867023e-04 9.99998299e-01 1.80861803e-03 2.14265256e+00] [-1.95982605e-03 -1.80932583e-03 9.99996443e-01 4.16238649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.731400513 meters Centerline goodness [0,1] 0.40700603238437927 Centerline is valid? [False, False] Translation: X:36.88, Y:2.15, Z:0.04 [[ 9.99988024e-01 1.14636627e-03 4.75783888e-03 3.68802272e+01] [-1.13971295e-03 9.99998369e-01 -1.40086797e-03 2.14932350e+00] [-4.75943703e-03 1.39542863e-03 9.99987700e-01 4.02704430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.76140051299998 meters Centerline goodness [0,1] 0.4183521713265913 Centerline is valid? [False, False] Translation: X:36.88, Y:2.15, Z:0.04 [[ 9.99987206e-01 1.23705328e-03 4.90478505e-03 3.68795496e+01] [-1.23094452e-03 9.99998463e-01 -1.24829368e-03 2.14869586e+00] [-4.90632172e-03 1.24224019e-03 9.99987192e-01 4.06099892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.79140051299999 meters Centerline goodness [0,1] 0.43059544323185905 Centerline is valid? [False, False] Translation: X:36.88, Y:2.14, Z:0.04 [[ 9.99986306e-01 1.66864824e-03 4.96012202e-03 3.68790989e+01] [-1.66731551e-03 9.99998573e-01 -2.72811026e-04 2.14414514e+00] [-4.96057016e-03 2.64537201e-04 9.99987661e-01 4.10955271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.82140051299999 meters Centerline goodness [0,1] 0.6606233016304348 Centerline is valid? [False, False] Translation: X:36.88, Y:2.14, Z:0.04 [[ 9.99986613e-01 1.75009516e-03 4.86930079e-03 3.68796002e+01] [-1.74995976e-03 9.99998468e-01 -3.20672373e-05 2.14290928e+00] [-4.86934945e-03 2.35457276e-05 9.99988144e-01 4.07128727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.85140051299999 meters Centerline goodness [0,1] 0.5216158601577489 Centerline is valid? [False, False] Translation: X:36.88, Y:2.14, Z:0.04 [[ 9.99986891e-01 1.68302759e-03 4.83573167e-03 3.68799878e+01] [-1.68230496e-03 9.99998573e-01 -1.53498718e-04 2.14338762e+00] [-4.83598311e-03 1.45361531e-04 9.99988296e-01 4.01463620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.88140051299999 meters Centerline goodness [0,1] 0.7469197540059158 Centerline is valid? [False, False] Translation: X:36.88, Y:2.14, Z:0.04 [[ 9.99986901e-01 1.78505675e-03 4.79706773e-03 3.68798454e+01] [-1.78595692e-03 9.99998388e-01 1.83372487e-04 2.14178818e+00] [-4.79673267e-03 -1.91937441e-04 9.99988477e-01 4.06724865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.91140051299999 meters Centerline goodness [0,1] 0.7090257971822529 Centerline is valid? [False, False] Translation: X:36.87, Y:2.14, Z:0.04 [[ 9.99985150e-01 -1.85008066e-04 5.44660172e-03 3.68741020e+01] [ 1.94858843e-04 9.99998346e-01 -1.80813467e-03 2.14333524e+00] [-5.44625819e-03 1.80916913e-03 9.99983532e-01 4.48630997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.94140051299999 meters Centerline goodness [0,1] 0.7399905994957912 Centerline is valid? [False, False] Translation: X:36.87, Y:2.14, Z:0.04 [[ 9.99985981e-01 -3.46621953e-04 5.28377185e-03 3.68748531e+01] [ 3.58046549e-04 9.99997600e-01 -2.16141212e-03 2.14494498e+00] [-5.28300998e-03 2.16327366e-03 9.99983705e-01 4.44717528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.97140051299999 meters Centerline goodness [0,1] 0.712695918107293 Centerline is valid? [False, False] Translation: X:36.88, Y:2.14, Z:0.04 [[ 9.99988535e-01 1.93481651e-03 4.38023376e-03 3.68816920e+01] [-1.93594151e-03 9.99998094e-01 2.52609318e-04 2.14414775e+00] [-4.37973666e-03 -2.61086298e-04 9.99990375e-01 4.00887040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.001400513 meters Centerline goodness [0,1] 0.5405064912880082 Centerline is valid? [False, False] Translation: X:36.88, Y:2.15, Z:0.04 [[ 9.99988733e-01 1.71994028e-03 4.42454751e-03 3.68815742e+01] [-1.71880084e-03 9.99998489e-01 -2.61318346e-04 2.14659053e+00] [-4.42499027e-03 2.53710485e-04 9.99990177e-01 4.00183987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.031400513 meters Centerline goodness [0,1] 0.4357915687395456 Centerline is valid? [False, False] Translation: X:36.89, Y:2.15, Z:0.04 [[ 9.99984789e-01 4.07756272e-03 3.71425120e-03 3.68873197e+01] [-4.08620185e-03 9.99988957e-01 2.32132989e-03 2.14531506e+00] [-3.70474482e-03 -2.33647176e-03 9.99990408e-01 3.65837144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.061400513 meters Centerline goodness [0,1] 0.47882050081909666 Centerline is valid? [False, False] Translation: X:36.89, Y:2.15, Z:0.04 [[ 9.99985435e-01 3.69193428e-03 3.93682149e-03 3.68864518e+01] [-3.69757671e-03 9.99992146e-01 1.42693058e-03 2.14962233e+00] [-3.93152243e-03 -1.44146650e-03 9.99991233e-01 3.67969642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.091400513 meters Centerline goodness [0,1] 0.7008099397845815 Centerline is valid? [False, False] Translation: X:36.89, Y:2.15, Z:0.04 [[ 9.99986528e-01 3.45719244e-03 3.87186960e-03 3.68869012e+01] [-3.46086556e-03 9.99993567e-01 9.42370445e-04 2.15182085e+00] [-3.86858674e-03 -9.55757770e-04 9.99992060e-01 3.63253992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.12140051299998 meters Centerline goodness [0,1] 0.5203653471221497 Centerline is valid? [False, False] Translation: X:36.89, Y:2.15, Z:0.04 [[ 9.99987532e-01 3.31322314e-03 3.73605252e-03 3.68875926e+01] [-3.31585211e-03 9.99994259e-01 6.97703508e-04 2.15286141e+00] [-3.73371942e-03 -7.10083007e-04 9.99992778e-01 3.58391648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.15140051299998 meters Centerline goodness [0,1] 0.7743549348548071 Centerline is valid? [False, False] Translation: X:36.89, Y:2.15, Z:0.04 [[ 9.99988010e-01 3.29851651e-03 3.61935691e-03 3.68879488e+01] [-3.30118600e-03 9.99994283e-01 7.31833306e-04 2.15265304e+00] [-3.61692226e-03 -7.43772702e-04 9.99993182e-01 3.59090532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.18140051299999 meters Centerline goodness [0,1] 0.6263563252627548 Centerline is valid? [False, False] Translation: X:36.89, Y:2.15, Z:0.04 [[ 9.99988494e-01 3.24906241e-03 3.52913209e-03 3.68877955e+01] [-3.25216584e-03 9.99994330e-01 8.73991788e-04 2.15193932e+00] [-3.52627243e-03 -8.85459055e-04 9.99993391e-01 3.68111655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.21140051299999 meters Centerline goodness [0,1] 0.6263563252627548 Centerline is valid? [False, False] Translation: X:36.89, Y:2.15, Z:0.04 [[ 9.99988494e-01 3.24906241e-03 3.52913209e-03 3.68877955e+01] [-3.25216584e-03 9.99994330e-01 8.73991788e-04 2.15193932e+00] [-3.52627243e-03 -8.85459055e-04 9.99993391e-01 3.68111655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.24140051299999 meters Centerline goodness [0,1] 0.906346949327818 Centerline is valid? [False, False] Translation: X:36.86, Y:2.14, Z:0.05 [[ 9.99996526e-01 2.10858852e-03 -1.58195032e-03 3.68629837e+01] [-2.09010607e-03 9.99930587e-01 1.15954011e-02 2.14264709e+00] [ 1.60629044e-03 -1.15920543e-02 9.99931520e-01 4.57848936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.27140051299999 meters Centerline goodness [0,1] 0.6112927379722005 Centerline is valid? [False, False] Translation: X:36.91, Y:2.16, Z:0.04 [[ 9.99999661e-01 7.17119188e-04 4.03938303e-04 3.69051649e+01] [-7.18783799e-04 9.99991188e-01 4.13599303e-03 2.15818454e+00] [-4.00968744e-04 -4.13628197e-03 9.99991365e-01 4.11974947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.30140051299999 meters Centerline goodness [0,1] 0.7416881961797468 Centerline is valid? [False, False] Translation: X:36.91, Y:2.16, Z:0.04 [[ 9.99999769e-01 5.28886795e-04 4.26939548e-04 3.69052651e+01] [-5.30440628e-04 9.99993207e-01 3.64759653e-03 2.16046372e+00] [-4.25007482e-04 -3.64782215e-03 9.99993256e-01 4.08445173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.33140051299999 meters Centerline goodness [0,1] 0.7355119363395226 Centerline is valid? [False, False] Translation: X:36.90, Y:2.16, Z:0.04 [[ 9.99999536e-01 4.65848387e-04 8.42885252e-04 3.69038612e+01] [-4.68368463e-04 9.99995414e-01 2.99209894e-03 2.16387511e+00] [-8.41487522e-04 -2.99249233e-03 9.99995168e-01 4.08427960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.36140051299999 meters Centerline goodness [0,1] 0.9626380697050938 Centerline is valid? [False, True] Translation: X:36.88, Y:2.17, Z:0.04 [[ 9.99998833e-01 1.30372974e-03 7.96344137e-04 3.68829268e+01] [-1.29767366e-03 9.99970591e-01 -7.55861557e-03 2.17209392e+00] [-8.06175109e-04 7.55757336e-03 9.99971116e-01 3.75398527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.391400513 meters Centerline goodness [0,1] 0.788583239223541 Centerline is valid? [True, False] Translation: X:36.88, Y:2.17, Z:0.04 [[ 9.99983250e-01 5.76438853e-03 5.21240853e-04 3.68833175e+01] [-5.76313892e-03 9.99980589e-01 -2.36791567e-03 2.16777849e+00] [-5.34880321e-04 2.36487202e-03 9.99997061e-01 3.87214789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.421400513 meters Centerline goodness [0,1] 0.5458851644013911 Centerline is valid? [False, False] Translation: X:36.88, Y:2.17, Z:0.04 [[ 9.99983784e-01 5.66764120e-03 5.56194723e-04 3.68832325e+01] [-5.66618125e-03 9.99980587e-01 -2.59226258e-03 2.16882735e+00] [-5.70875940e-04 2.58906904e-03 9.99996485e-01 3.86533933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.451400513 meters Centerline goodness [0,1] 0.48319730645470627 Centerline is valid? [False, False] Translation: X:36.89, Y:2.17, Z:0.04 [[ 9.99983423e-01 5.75719295e-03 9.04083560e-05 3.68850274e+01] [-5.75699763e-03 9.99981369e-01 -2.02956354e-03 2.16581892e+00] [-1.02091260e-04 2.02900941e-03 9.99997936e-01 3.80951293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.481400513 meters Centerline goodness [0,1] 0.8416421667124939 Centerline is valid? [False, False] Translation: X:36.89, Y:2.16, Z:0.04 [[ 9.99983309e-01 5.77478595e-03 -1.85343265e-04 3.68860642e+01] [-5.77509566e-03 9.99981851e-01 -1.71641938e-03 2.16411533e+00] [ 1.75427947e-04 1.71746110e-03 9.99998510e-01 3.78787271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.51140051299998 meters Centerline goodness [0,1] 0.6560072306268696 Centerline is valid? [False, False] Translation: X:36.84, Y:2.16, Z:0.04 [[ 9.99989114e-01 3.71040802e-03 -2.82921617e-03 3.68439545e+01] [-3.71165080e-03 9.99993018e-01 -4.34141003e-04 2.15902229e+00] [ 2.82758558e-03 4.44637339e-04 9.99995904e-01 3.93279350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.54140051299999 meters Centerline goodness [0,1] 0.8793623622552691 Centerline is valid? [False, False] Translation: X:36.84, Y:2.15, Z:0.04 [[ 9.99990482e-01 3.24888023e-03 -2.91209297e-03 3.68433698e+01] [-3.24723988e-03 9.99994566e-01 5.67841237e-04 2.15267307e+00] [ 2.91392200e-03 -5.58379568e-04 9.99995599e-01 4.15966520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.57140051299999 meters Centerline goodness [0,1] 0.9913558167262817 Centerline is valid? [False, True] Translation: X:36.85, Y:2.15, Z:0.04 [[ 9.99991987e-01 1.54989325e-03 -3.69111240e-03 3.68491492e+01] [-1.55354987e-03 9.99998305e-01 -9.87996368e-04 2.15273456e+00] [ 3.68957485e-03 9.93722778e-04 9.99992700e-01 3.81626792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.60140051299999 meters Centerline goodness [0,1] 0.9963394130291358 Centerline is valid? [True, True] Translation: X:36.88, Y:2.15, Z:0.04 [[ 9.99993348e-01 -3.77970597e-04 -3.62774517e-03 3.68798490e+01] [ 3.77068846e-04 9.99999898e-01 -2.49251201e-04 2.15076516e+00] [ 3.62783901e-03 2.47881633e-04 9.99993389e-01 3.86082268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.63140051299999 meters Centerline goodness [0,1] 0.9967609265454855 Centerline is valid? [True, True] Translation: X:36.91, Y:2.15, Z:0.04 [[ 9.99985338e-01 -5.26739418e-04 -5.38949615e-03 3.69082943e+01] [ 5.24750502e-04 9.99999794e-01 -3.70443072e-04 2.15327756e+00] [ 5.38969017e-03 3.67609499e-04 9.99985408e-01 3.54530309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.66140051299999 meters Centerline goodness [0,1] 0.9902839739190117 Centerline is valid? [True, True] Translation: X:36.94, Y:2.16, Z:0.03 [[ 9.99980003e-01 9.84490250e-04 -6.24687577e-03 3.69383929e+01] [-9.87192746e-04 9.99999420e-01 -4.29546912e-04 2.15875701e+00] [ 6.24644927e-03 4.35705193e-04 9.99980396e-01 3.44858489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.69140051299999 meters Centerline goodness [0,1] 0.9873217792196705 Centerline is valid? [True, True] Translation: X:36.97, Y:2.16, Z:0.04 [[ 9.99969931e-01 4.00071295e-03 -6.64311317e-03 3.69690927e+01] [-4.00383537e-03 9.99991880e-01 -4.56791321e-04 2.16037563e+00] [ 6.64123174e-03 4.83375517e-04 9.99977830e-01 3.61820370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.72140051299999 meters Centerline goodness [0,1] 0.970402592971682 Centerline is valid? [True, True] Translation: X:37.00, Y:2.17, Z:0.04 [[ 9.99966058e-01 4.85442834e-03 -6.65710335e-03 3.69971420e+01] [-4.85758360e-03 9.99988097e-01 -4.57882487e-04 2.16537436e+00] [ 6.65480135e-03 4.90204381e-04 9.99977736e-01 3.66419874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.751400513 meters Centerline goodness [0,1] 0.9434359323186804 Centerline is valid? [True, False] Translation: X:37.00, Y:2.17, Z:0.04 [[ 9.99966769e-01 4.71688307e-03 -6.64915067e-03 3.69973807e+01] [-4.72198691e-03 9.99988569e-01 -7.52103558e-04 2.16668698e+00] [ 6.64552708e-03 7.83475767e-04 9.99977611e-01 3.60980823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.781400513 meters Centerline goodness [0,1] 0.9552594104019214 Centerline is valid? [False, True] Translation: X:37.00, Y:2.17, Z:0.04 [[ 9.99966873e-01 4.63806791e-03 -6.68895825e-03 3.69977825e+01] [-4.64406734e-03 9.99988828e-01 -8.81662268e-04 2.16720433e+00] [ 6.68479431e-03 9.12697033e-04 9.99977240e-01 3.55771223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.811400513 meters Centerline goodness [0,1] 0.9766356136349101 Centerline is valid? [True, True] Translation: X:37.03, Y:2.17, Z:0.04 [[ 9.99979945e-01 2.68343518e-04 -6.32759060e-03 3.70274000e+01] [-2.71065288e-04 9.99999871e-01 -4.29289599e-04 2.16597247e+00] [ 6.32747458e-03 4.30996180e-04 9.99979888e-01 3.50676381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.841400513 meters Centerline goodness [0,1] 0.8323050082975192 Centerline is valid? [True, False] Translation: X:37.03, Y:2.16, Z:0.04 [[ 9.99979390e-01 3.50592528e-04 -6.41061305e-03 3.70274654e+01] [-3.50534522e-04 9.99999939e-01 1.01720542e-05 2.16379013e+00] [ 6.41061622e-03 -7.92470340e-06 9.99979452e-01 3.54636463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.87140051299998 meters Centerline goodness [0,1] 0.9980005105079555 Centerline is valid? [False, True] Translation: X:37.03, Y:2.16, Z:0.04 [[ 9.99978769e-01 4.11085186e-04 -6.50331746e-03 3.70274893e+01] [-4.07571662e-04 9.99999770e-01 5.41582490e-04 2.16110554e+00] [ 6.50353860e-03 -5.38920424e-04 9.99978707e-01 3.60340238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.90140051299998 meters Centerline goodness [0,1] 0.9995756238329655 Centerline is valid? [True, True] Translation: X:37.06, Y:2.15, Z:0.04 [[ 9.99952151e-01 -8.93098481e-03 -3.99170061e-03 3.70586710e+01] [ 8.93008013e-03 9.99960096e-01 -2.44406030e-04 2.14944951e+00] [ 3.99372411e-03 2.08748129e-04 9.99992003e-01 4.04433298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.93140051299999 meters Centerline goodness [0,1] 0.9997660022548873 Centerline is valid? [True, True] Translation: X:37.09, Y:2.14, Z:0.04 [[ 9.99900179e-01 -1.37660181e-02 -3.18263559e-03 3.70893668e+01] [ 1.37654674e-02 9.99905232e-01 -1.94874128e-04 2.13939159e+00] [ 3.18501662e-03 1.51044209e-04 9.99994916e-01 4.21433706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.96140051299999 meters Centerline goodness [0,1] 0.9998291219001645 Centerline is valid? [True, True] Translation: X:37.12, Y:2.14, Z:0.04 [[ 9.99819277e-01 -1.86811419e-02 -3.52538275e-03 3.71191582e+01] [ 1.86804964e-02 9.99825481e-01 -2.15929081e-04 2.13520749e+00] [ 3.52880130e-03 1.50034158e-04 9.99993763e-01 4.26110031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.99140051299999 meters Centerline goodness [0,1] 0.9999787469183031 Centerline is valid? [True, True] Translation: X:37.15, Y:2.13, Z:0.04 [[ 9.99643571e-01 -2.62404263e-02 -4.91638948e-03 3.71503397e+01] [ 2.62392620e-02 9.99655646e-01 -3.01170233e-04 2.12587831e+00] [ 4.92259933e-03 1.72060456e-04 9.99987869e-01 4.08995158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.02140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.18, Y:2.12, Z:0.04 [[ 9.99583199e-01 -2.83638886e-02 -5.37760573e-03 3.71797076e+01] [ 2.83625261e-02 9.99597648e-01 -3.29479871e-04 2.12201103e+00] [ 5.38478737e-03 1.76820061e-04 9.99985486e-01 3.99685011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.05140051299999 meters Centerline goodness [0,1] 0.9999785094128771 Centerline is valid? [True, True] Translation: X:37.21, Y:2.13, Z:0.04 [[ 9.99544699e-01 -2.97164240e-02 -5.22766967e-03 3.72078600e+01] [ 2.97151524e-02 9.99558356e-01 -3.20760723e-04 2.12659867e+00] [ 5.23489276e-03 1.65273679e-04 9.99986284e-01 3.92827698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.08140051299999 meters Centerline goodness [0,1] 0.9999573214971619 Centerline is valid? [True, True] Translation: X:37.24, Y:2.13, Z:0.04 [[ 9.99536655e-01 -3.00754943e-02 -4.68405263e-03 3.72369705e+01] [ 3.00744740e-02 9.99547619e-01 -2.88106641e-04 2.12804227e+00] [ 4.69059860e-03 1.47102729e-04 9.99988988e-01 4.03392109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.11140051299999 meters Centerline goodness [0,1] 0.9999363341185459 Centerline is valid? [True, True] Translation: X:37.26, Y:2.13, Z:0.04 [[ 9.99565738e-01 -2.91145202e-02 -4.54743897e-03 3.72644519e+01] [ 2.91135461e-02 9.99576072e-01 -2.80277664e-04 2.13306872e+00] [ 4.55367133e-03 1.47763876e-04 9.99989621e-01 4.17233600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.141400513 meters Centerline goodness [0,1] 0.9999574956433034 Centerline is valid? [True, True] Translation: X:37.29, Y:2.13, Z:0.04 [[ 9.99563872e-01 -2.90898248e-02 -5.08402368e-03 3.72931881e+01] [ 2.90886044e-02 9.99576788e-01 -3.13843770e-04 2.13261393e+00] [ 5.09100172e-03 1.65819741e-04 9.99987027e-01 4.07471426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.171400513 meters Centerline goodness [0,1] 0.9999358659170104 Centerline is valid? [True, True] Translation: X:37.32, Y:2.13, Z:0.04 [[ 9.99514869e-01 -3.07137354e-02 -5.16647509e-03 3.73222933e+01] [ 3.07124935e-02 9.99528209e-01 -3.19554329e-04 2.13038493e+00] [ 5.17385230e-03 1.60723971e-04 9.99986603e-01 3.92360573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.201400513 meters Centerline goodness [0,1] 0.9999784529196294 Centerline is valid? [True, True] Translation: X:37.35, Y:2.13, Z:0.04 [[ 9.99461555e-01 -3.24505635e-02 -4.85398645e-03 3.73512719e+01] [ 3.24494858e-02 9.99473332e-01 -3.00622108e-04 2.12846993e+00] [ 4.86118536e-03 1.42950875e-04 9.99988174e-01 3.93688366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.231400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.38, Y:2.13, Z:0.04 [[ 9.99396319e-01 -3.43434689e-02 -5.24620984e-03 3.73794194e+01] [ 3.43422327e-02 9.99410079e-01 -3.25576411e-04 2.13014121e+00] [ 5.25429641e-03 1.45213308e-04 9.99986186e-01 3.91224070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.26140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.41, Y:2.13, Z:0.04 [[ 9.99273145e-01 -3.76416781e-02 -6.02377870e-03 3.74096082e+01] [ 3.76401069e-02 9.99291290e-01 -3.74037863e-04 2.12986328e+00] [ 6.03358900e-03 1.47030318e-04 9.99981787e-01 3.92536150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.29140051299999 meters Centerline goodness [0,1] 0.9999569661108123 Centerline is valid? [True, True] Translation: X:37.44, Y:2.13, Z:0.04 [[ 9.99225671e-01 -3.89640767e-02 -5.46429403e-03 3.74384808e+01] [ 3.89628014e-02 9.99240604e-01 -3.39698045e-04 2.12832827e+00] [ 5.47338049e-03 1.26530804e-04 9.99985013e-01 4.09059549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.32140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.47, Y:2.13, Z:0.04 [[ 9.99194040e-01 -3.98653575e-02 -4.69288013e-03 3.74664190e+01] [ 3.98644241e-02 9.99205055e-01 -2.92299382e-04 2.13128194e+00] [ 4.70080217e-03 1.04984837e-04 9.99988946e-01 4.33769781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.35140051299999 meters Centerline goodness [0,1] 0.9998275416055876 Centerline is valid? [True, True] Translation: X:37.50, Y:2.13, Z:0.04 [[ 9.99103996e-01 -4.21079587e-02 -4.25740072e-03 3.74958674e+01] [ 4.21072095e-02 9.99113063e-01 -2.65502775e-04 2.13181663e+00] [ 4.26480445e-03 8.59976198e-05 9.99990902e-01 4.32948887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.38140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.52, Y:2.13, Z:0.04 [[ 9.99053995e-01 -4.32202004e-02 -4.80931797e-03 3.75246783e+01] [ 4.32192532e-02 9.99065566e-01 -3.00744152e-04 2.13368021e+00] [ 4.81782221e-03 9.26045156e-05 9.99988390e-01 4.24630873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.41140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.55, Y:2.14, Z:0.04 [[ 9.99019412e-01 -4.38860928e-02 -5.85017681e-03 3.75525878e+01] [ 4.38846979e-02 9.99036535e-01 -3.66645735e-04 2.13634116e+00] [ 5.86063102e-03 1.09552965e-04 9.99982820e-01 4.05776226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.44140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.58, Y:2.14, Z:0.04 [[ 9.98999283e-01 -4.42239472e-02 -6.68391424e-03 3.75796580e+01] [ 4.42221307e-02 9.99021635e-01 -4.19393215e-04 2.13855759e+00] [ 6.69592215e-03 1.23396592e-04 9.99977574e-01 3.89102856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.47140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.61, Y:2.14, Z:0.04 [[ 9.99002960e-01 -4.39536584e-02 -7.82054469e-03 3.76085081e+01] [ 4.39511549e-02 9.99033560e-01 -4.91773818e-04 2.13970550e+00] [ 7.83460186e-03 1.47561529e-04 9.99969298e-01 3.95864195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.501400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.64, Y:2.15, Z:0.04 [[ 9.99044309e-01 -4.30884928e-02 -7.33822195e-03 3.76356738e+01] [ 4.30862589e-02 9.99071249e-01 -4.62310726e-04 2.14647277e+00] [ 7.35132684e-03 1.45692370e-04 9.99972968e-01 3.96795147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.531400513 meters Centerline goodness [0,1] 0.9999787478216517 Centerline is valid? [True, True] Translation: X:37.66, Y:2.15, Z:0.04 [[ 9.99145724e-01 -4.09075186e-02 -5.86496407e-03 3.76641116e+01] [ 4.09060503e-02 9.99162929e-01 -3.70132069e-04 2.15274689e+00] [ 5.87519587e-03 1.29903358e-04 9.99982732e-01 4.11178513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.561400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.69, Y:2.15, Z:0.04 [[ 9.99174960e-01 -4.01812623e-02 -5.90466815e-03 3.76928910e+01] [ 4.01797561e-02 9.99192398e-01 -3.73545687e-04 2.15484659e+00] [ 5.91490906e-03 1.35989371e-04 9.99982498e-01 4.11361317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.591400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.72, Y:2.15, Z:0.04 [[ 9.99187310e-01 -3.97779989e-02 -6.51389826e-03 3.77213569e+01] [ 3.97761525e-02 9.99208530e-01 -4.12816745e-04 2.15430849e+00] [ 6.52516373e-03 1.53383442e-04 9.99978699e-01 4.09776672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.62140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.75, Y:2.16, Z:0.04 [[ 9.99158641e-01 -4.04170348e-02 -6.96230586e-03 3.77489769e+01] [ 4.04149379e-02 9.99182885e-01 -4.41662240e-04 2.16039707e+00] [ 6.97446753e-03 1.59909485e-04 9.99975665e-01 4.11508996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.65140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.78, Y:2.16, Z:0.04 [[ 9.99103913e-01 -4.18178153e-02 -6.53002019e-03 3.77771866e+01] [ 4.18159961e-02 9.99125243e-01 -4.14944159e-04 2.16278602e+00] [ 6.54166006e-03 1.41513035e-04 9.99978593e-01 4.20359843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.68140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.81, Y:2.16, Z:0.04 [[ 9.99047663e-01 -4.32785468e-02 -5.54385781e-03 3.78058036e+01] [ 4.32772536e-02 9.99063038e-01 -3.53070191e-04 2.16394822e+00] [ 5.55394379e-03 1.12811008e-04 9.99984570e-01 4.37945405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.71140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.83, Y:2.17, Z:0.04 [[ 9.98940597e-01 -4.57099306e-02 -5.31848396e-03 3.78342457e+01] [ 4.57087705e-02 9.98954750e-01 -3.39532195e-04 2.16733230e+00] [ 5.32844481e-03 9.60711310e-05 9.99985799e-01 4.35688140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.74140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.86, Y:2.17, Z:0.04 [[ 9.98905439e-01 -4.64207474e-02 -5.74783055e-03 3.78613072e+01] [ 4.64194000e-02 9.98921971e-01 -3.67675718e-04 2.17312683e+00] [ 5.75870200e-03 1.00462429e-04 9.99983413e-01 4.21865692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.77140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.89, Y:2.18, Z:0.04 [[ 9.98751228e-01 -4.95647736e-02 -6.27034034e-03 3.78894487e+01] [ 4.95632277e-02 9.98770907e-01 -4.01791330e-04 2.17552328e+00] [ 6.28254820e-03 9.05112785e-05 9.99980261e-01 4.15648828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.80140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.92, Y:2.17, Z:0.04 [[ 9.98594078e-01 -5.26568405e-02 -6.09291406e-03 3.79188096e+01] [ 5.26554324e-02 9.98612664e-01 -3.91403650e-04 2.17268750e+00] [ 6.10507122e-03 7.00283430e-05 9.99981361e-01 4.28881905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.83140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.95, Y:2.17, Z:0.04 [[ 9.98372824e-01 -5.66531035e-02 -6.49075347e-03 3.79465459e+01] [ 5.66515849e-02 9.98393922e-01 -4.17732563e-04 2.17000812e+00] [ 6.50399466e-03 4.93413676e-05 9.99978848e-01 4.28058959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.86140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.98, Y:2.16, Z:0.04 [[ 9.97725665e-01 -6.69710022e-02 -7.64081650e-03 3.79756906e+01] [ 6.69691953e-02 9.97754922e-01 -4.92373587e-04 2.15955373e+00] [ 7.65663703e-03 -2.04455684e-05 9.99970687e-01 4.12210349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.891400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.00, Y:2.15, Z:0.04 [[ 9.97367983e-01 -7.20752984e-02 -7.89032711e-03 3.80043821e+01] [ 7.20735267e-02 9.97399192e-01 -5.09038856e-04 2.15422764e+00] [ 7.90649501e-03 -6.09846441e-05 9.99968741e-01 4.07853011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.921400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.03, Y:2.15, Z:0.04 [[ 9.97036489e-01 -7.65155629e-02 -7.97544092e-03 3.80333533e+01] [ 7.65138867e-02 9.97068382e-01 -5.15527636e-04 2.14854782e+00] [ 7.99150586e-03 -9.62321177e-05 9.99968063e-01 4.09388451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.951400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.06, Y:2.14, Z:0.04 [[ 9.96574914e-01 -8.23471046e-02 -7.57595012e-03 3.80625980e+01] [ 8.23457553e-02 9.96603701e-01 -4.90389729e-04 2.13738984e+00] [ 7.59060210e-03 -1.35137233e-04 9.99971182e-01 4.29805923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.981400513 meters Centerline goodness [0,1] 0.9999142201539748 Centerline is valid? [True, True] Translation: X:38.09, Y:2.14, Z:0.04 [[ 9.96470410e-01 -8.36842599e-02 -6.60814659e-03 3.80901532e+01] [ 8.36832607e-02 9.96492312e-01 -4.28044375e-04 2.13605301e+00] [ 6.62078785e-03 -1.26457701e-04 9.99978074e-01 4.42907681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.01140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.12, Y:2.14, Z:0.05 [[ 9.96466724e-01 -8.37952000e-02 -5.69491576e-03 3.81178331e+01] [ 8.37944562e-02 9.96482992e-01 -3.69509623e-04 2.13787715e+00] [ 5.70584983e-03 -1.08998326e-04 9.99983716e-01 4.56881786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.04140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.15, Y:2.14, Z:0.05 [[ 9.96752017e-01 -8.03719941e-02 -5.07525404e-03 3.81470003e+01] [ 8.03713548e-02 9.96764935e-01 -3.30125417e-04 2.14263235e+00] [ 5.08536811e-03 -7.88518679e-05 9.99987066e-01 4.65882415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.07140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.18, Y:2.15, Z:0.05 [[ 9.96968491e-01 -7.76215678e-02 -5.35915399e-03 3.81754955e+01] [ 7.76208106e-02 9.96982892e-01 -3.49460989e-04 2.14806782e+00] [ 5.37011055e-03 -6.75802818e-05 9.99985579e-01 4.69365293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.10140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.20, Y:2.15, Z:0.05 [[ 9.97225480e-01 -7.42147037e-02 -5.78964167e-03 3.82029608e+01] [ 7.42137582e-02 9.97242285e-01 -3.78260331e-04 2.15496550e+00] [ 5.80174796e-03 -5.24602269e-05 9.99983168e-01 4.66089180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.13140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.23, Y:2.16, Z:0.05 [[ 9.97211817e-01 -7.43980720e-02 -5.78959905e-03 3.82304303e+01] [ 7.43971259e-02 9.97228622e-01 -3.78911687e-04 2.15693815e+00] [ 5.80174418e-03 -5.28743177e-05 9.99983168e-01 4.66994119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.16140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.26, Y:2.17, Z:0.05 [[ 9.97587788e-01 -6.91208247e-02 -6.39670076e-03 3.82587165e+01] [ 6.91195536e-02 9.97608295e-01 -4.19826260e-04 2.17055004e+00] [ 6.41042048e-03 -2.33235508e-05 9.99979453e-01 4.52664902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.19140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.29, Y:2.18, Z:0.05 [[ 9.97682136e-01 -6.77723343e-02 -6.10454439e-03 3.82861085e+01] [ 6.77711451e-02 9.97700812e-01 -4.01703753e-04 2.17545845e+00] [ 6.11773330e-03 -1.29393049e-05 9.99981286e-01 4.52354393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.22140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.31, Y:2.18, Z:0.05 [[ 9.97745960e-01 -6.68556761e-02 -5.77208079e-03 3.83138628e+01] [ 6.68545914e-02 9.97762656e-01 -3.80891923e-04 2.17902034e+00] [ 5.78463145e-03 -5.85672507e-06 9.99983269e-01 4.58117672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.251400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.34, Y:2.19, Z:0.05 [[ 9.97973975e-01 -6.33074024e-02 -6.33392916e-03 3.83415716e+01] [ 6.33060192e-02 9.97994074e-01 -4.18834924e-04 2.18780069e+00] [ 6.34773912e-03 1.70105129e-05 9.99979853e-01 4.53240989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.281400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.37, Y:2.20, Z:0.04 [[ 9.98121426e-01 -6.08401984e-02 -7.21725232e-03 3.83696401e+01] [ 6.08383316e-02 9.98147519e-01 -4.78128601e-04 2.19545560e+00] [ 7.23297193e-03 3.81448115e-05 9.99973841e-01 4.46704989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.311400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.40, Y:2.21, Z:0.04 [[ 9.98424533e-01 -5.53338699e-02 -9.30666775e-03 3.83978214e+01] [ 5.53305103e-02 9.98467903e-01 -6.18274570e-04 2.20820522e+00] [ 9.32662055e-03 1.02357823e-04 9.99956501e-01 4.18532502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.341400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.42, Y:2.22, Z:0.04 [[ 9.98550772e-01 -5.28459305e-02 -1.01814863e-02 3.84249756e+01] [ 5.28417678e-02 9.98602668e-01 -6.77613393e-04 2.21569982e+00] [ 1.02030685e-02 1.38623642e-04 9.99947938e-01 3.97204677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.37140051299998 meters Centerline goodness [0,1] 0.9999786925764936 Centerline is valid? [True, True] Translation: X:38.45, Y:2.23, Z:0.04 [[ 9.98790890e-01 -4.79605240e-02 -1.07956689e-02 3.84520473e+01] [ 4.79555508e-02 9.98849212e-01 -7.19205935e-04 2.23072746e+00] [ 1.08177389e-02 2.00624086e-04 9.99941466e-01 3.75487951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.40140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.48, Y:2.24, Z:0.04 [[ 9.98949468e-01 -4.46769803e-02 -1.01945409e-02 3.84812409e+01] [ 4.46723713e-02 9.99001460e-01 -6.79489153e-04 2.23500641e+00] [ 1.02147188e-02 2.23361009e-04 9.99947803e-01 4.01248492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.43140051299999 meters Centerline goodness [0,1] 0.9999787161586923 Centerline is valid? [True, True] Translation: X:38.51, Y:2.25, Z:0.04 [[ 9.99114448e-01 -4.10371243e-02 -9.28836288e-03 3.85085697e+01] [ 4.10331378e-02 9.99157594e-01 -6.19441931e-04 2.24704430e+00] [ 9.30595842e-03 2.37762710e-04 9.99956670e-01 4.10862821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.46140051299999 meters Centerline goodness [0,1] 0.9999784932361228 Centerline is valid? [True, True] Translation: X:38.54, Y:2.26, Z:0.04 [[ 9.99261202e-01 -3.74864933e-02 -8.47425919e-03 3.85365073e+01] [ 3.74830442e-02 9.99297104e-01 -5.65517157e-04 2.25603313e+00] [ 8.48950192e-03 2.47458322e-04 9.99963933e-01 4.28202185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.49140051299999 meters Centerline goodness [0,1] 0.9999360136504213 Centerline is valid? [True, True] Translation: X:38.57, Y:2.26, Z:0.05 [[ 9.99411170e-01 -3.35325504e-02 -7.27191804e-03 3.85665610e+01] [ 3.35299048e-02 9.99437597e-01 -4.85450782e-04 2.25985986e+00] [ 7.28410669e-03 2.41338214e-04 9.99973441e-01 4.62103988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.52140051299999 meters Centerline goodness [0,1] 0.9998302315217622 Centerline is valid? [True, True] Translation: X:38.59, Y:2.29, Z:0.05 [[ 9.99704122e-01 -2.35763309e-02 -5.98547757e-03 3.85941127e+01] [ 2.35743602e-02 9.99722006e-01 -3.99601868e-04 2.28587461e+00] [ 5.99323479e-03 2.58379830e-04 9.99982007e-01 4.76084723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.55140051299999 meters Centerline goodness [0,1] 0.9995105654033579 Centerline is valid? [True, True] Translation: X:38.62, Y:2.31, Z:0.05 [[ 9.99826547e-01 -1.76655036e-02 -5.89961536e-03 3.86221134e+01] [ 1.76634862e-02 9.99843911e-01 -3.93894891e-04 2.31091403e+00] [ 5.90565285e-03 2.89618795e-04 9.99982520e-01 4.73215072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.58140051299999 meters Centerline goodness [0,1] 0.9950894944942817 Centerline is valid? [True, True] Translation: X:38.65, Y:2.33, Z:0.05 [[ 9.99959018e-01 -6.12749553e-03 -6.66452037e-03 3.86506596e+01] [ 6.12466514e-03 9.99981145e-01 -4.45022318e-04 2.33497621e+00] [ 6.66712159e-03 4.04186125e-04 9.99977693e-01 4.62158324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.61140051299999 meters Centerline goodness [0,1] 0.9985743467529151 Centerline is valid? [True, True] Translation: X:38.68, Y:2.34, Z:0.04 [[ 9.99964600e-01 -2.83125974e-03 -7.92351532e-03 3.86813655e+01] [ 2.82715568e-03 9.99995864e-01 -5.29111694e-04 2.33593281e+00] [ 7.92498060e-03 5.06691952e-04 9.99968468e-01 4.47635749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.641400513 meters Centerline goodness [0,1] 0.9204031830238727 Centerline is valid? [True, False] Translation: X:38.68, Y:2.34, Z:0.04 [[ 9.99962177e-01 -3.27965253e-03 -8.05534580e-03 3.86823430e+01] [ 3.26650217e-03 9.99993312e-01 -1.64511448e-03 2.34115705e+00] [ 8.06068733e-03 1.61873945e-03 9.99966202e-01 4.36644211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.671400513 meters Centerline goodness [0,1] 0.9945093682568846 Centerline is valid? [False, True] Translation: X:38.68, Y:2.35, Z:0.04 [[ 9.99959669e-01 -4.12402273e-03 -7.97825632e-03 3.86828423e+01] [ 4.09609771e-03 9.99985439e-01 -3.51332060e-03 2.34981376e+00] [ 7.99262916e-03 3.48049919e-03 9.99962001e-01 4.21324641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.701400513 meters Centerline goodness [0,1] 0.9981104033970276 Centerline is valid? [True, True] Translation: X:38.71, Y:2.35, Z:0.04 [[ 9.99959573e-01 -5.68801310e-03 -6.96415833e-03 3.87129628e+01] [ 5.68483718e-03 9.99983728e-01 -4.75747604e-04 2.35099842e+00] [ 6.96675107e-03 4.36138264e-04 9.99975637e-01 4.40948889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.731400513 meters Centerline goodness [0,1] 0.9995054720591714 Centerline is valid? [True, True] Translation: X:38.74, Y:2.35, Z:0.05 [[ 9.99959191e-01 -7.25745324e-03 -5.38014980e-03 3.87423031e+01] [ 7.25557983e-03 9.99973610e-01 -3.67644133e-04 2.35389429e+00] [ 5.38267598e-03 3.28593024e-04 9.99985459e-01 4.66905984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.76140051299998 meters Centerline goodness [0,1] 0.9995524296675192 Centerline is valid? [True, True] Translation: X:38.77, Y:2.36, Z:0.05 [[ 9.99958932e-01 -8.03217575e-03 -4.19745057e-03 3.87710785e+01] [ 8.03104027e-03 9.99967709e-01 -2.87301318e-04 2.36118505e+00] [ 4.19962269e-03 2.53579625e-04 9.99991149e-01 4.92062434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.79140051299999 meters Centerline goodness [0,1] 0.9995087989065436 Centerline is valid? [True, True] Translation: X:38.80, Y:2.37, Z:0.05 [[ 9.99961961e-01 -7.56707497e-03 -4.33782909e-03 3.87996746e+01] [ 7.56585492e-03 9.99971334e-01 -2.97598176e-04 2.36788697e+00] [ 4.33995669e-03 2.64767470e-04 9.99990547e-01 4.90228717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.82140051299999 meters Centerline goodness [0,1] 0.995703339965288 Centerline is valid? [True, True] Translation: X:38.83, Y:2.39, Z:0.05 [[ 9.99964988e-01 -7.04336086e-03 -4.51812936e-03 3.88258507e+01] [ 7.04203005e-03 9.99975156e-01 -3.10388616e-04 2.38566026e+00] [ 4.52020329e-03 2.78560946e-04 9.99989745e-01 4.78733809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.85140051299999 meters Centerline goodness [0,1] 0.9990780643639716 Centerline is valid? [True, True] Translation: X:38.85, Y:2.39, Z:0.05 [[ 9.99957466e-01 -7.68803888e-03 -5.09518475e-03 3.88545669e+01] [ 7.68635116e-03 9.99970398e-01 -3.50738532e-04 2.39005475e+00] [ 5.09773041e-03 3.11560234e-04 9.99986958e-01 4.66644658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.88140051299999 meters Centerline goodness [0,1] 0.9991767636256175 Centerline is valid? [True, True] Translation: X:38.88, Y:2.40, Z:0.05 [[ 9.99949663e-01 -8.56220591e-03 -5.23064192e-03 3.88824447e+01] [ 8.56043726e-03 9.99963294e-01 -3.60427353e-04 2.39588354e+00] [ 5.23353598e-03 3.15632628e-04 9.99986255e-01 4.64924720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.91140051299999 meters Centerline goodness [0,1] 0.9984950931558533 Centerline is valid? [True, True] Translation: X:38.91, Y:2.40, Z:0.05 [[ 9.99930818e-01 -1.03679801e-02 -5.55562864e-03 3.89108808e+01] [ 1.03660118e-02 9.99946198e-01 -3.82972208e-04 2.40232562e+00] [ 5.55930038e-03 3.25356001e-04 9.99984494e-01 4.59050619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.94140051299999 meters Centerline goodness [0,1] 0.999871731834021 Centerline is valid? [True, True] Translation: X:38.94, Y:2.39, Z:0.05 [[ 9.99869091e-01 -1.54587226e-02 -4.77802418e-03 3.89418876e+01] [ 1.54573245e-02 9.99880474e-01 -3.29408143e-04 2.39259599e+00] [ 4.78254531e-03 2.55509550e-04 9.99988531e-01 4.82679051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.97140051299999 meters Centerline goodness [0,1] 0.999681548945927 Centerline is valid? [True, True] Translation: X:38.97, Y:2.39, Z:0.05 [[ 9.99830086e-01 -1.77951297e-02 -4.80955910e-03 3.89705611e+01] [ 1.77937397e-02 9.99841624e-01 -3.31641424e-04 2.39321250e+00] [ 4.81469899e-03 2.46005031e-04 9.99988379e-01 4.83294704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.001400513 meters Centerline goodness [0,1] 0.9996771624733659 Centerline is valid? [True, True] Translation: X:39.00, Y:2.39, Z:0.05 [[ 9.99787115e-01 -1.98780960e-02 -5.53041474e-03 3.90011188e+01] [ 1.98762891e-02 9.99802374e-01 -3.81502009e-04 2.38683980e+00] [ 5.53690532e-03 2.71496671e-04 9.99984634e-01 4.74920532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.031400513 meters Centerline goodness [0,1] 0.9997644842204427 Centerline is valid? [True, True] Translation: X:39.03, Y:2.39, Z:0.04 [[ 9.99740713e-01 -2.14332432e-02 -7.68910642e-03 3.90291767e+01] [ 2.14297935e-02 9.99770215e-01 -5.30769845e-04 2.39203139e+00] [ 7.69871569e-03 3.65856261e-04 9.99970298e-01 4.40074264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.061400513 meters Centerline goodness [0,1] 0.9999353490076073 Centerline is valid? [True, True] Translation: X:39.06, Y:2.39, Z:0.04 [[ 9.99760472e-01 -2.04546339e-02 -7.78506575e-03 3.90584183e+01] [ 2.04510591e-02 9.99790710e-01 -5.38535010e-04 2.39171933e+00] [ 7.79445195e-03 3.79193177e-04 9.99969551e-01 4.43517679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.091400513 meters Centerline goodness [0,1] 0.9996600735091037 Centerline is valid? [True, True] Translation: X:39.09, Y:2.40, Z:0.05 [[ 9.99868860e-01 -1.52254782e-02 -5.51789238e-03 3.90865547e+01] [ 1.52236017e-02 9.99884041e-01 -3.81931800e-04 2.40462972e+00] [ 5.52306763e-03 2.97879518e-04 9.99984703e-01 4.75231171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.12140051299998 meters Centerline goodness [0,1] 0.9998067964708155 Centerline is valid? [True, True] Translation: X:39.12, Y:2.41, Z:0.05 [[ 9.99906490e-01 -1.27229530e-02 -5.01382055e-03 3.91163869e+01] [ 1.27213719e-02 9.99919020e-01 -3.47108864e-04 2.40736216e+00] [ 5.01783078e-03 2.83293730e-04 9.99987370e-01 4.87510764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.15140051299998 meters Centerline goodness [0,1] 0.9995278260682935 Centerline is valid? [True, True] Translation: X:39.14, Y:2.41, Z:0.05 [[ 9.99925474e-01 -1.09852572e-02 -5.32641187e-03 3.91441886e+01] [ 1.09834472e-02 9.99939612e-01 -3.68950949e-04 2.41424837e+00] [ 5.33014324e-03 3.10421089e-04 9.99985747e-01 4.84927645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.18140051299999 meters Centerline goodness [0,1] 0.9999136609898768 Centerline is valid? [True, True] Translation: X:39.17, Y:2.41, Z:0.05 [[ 9.99933807e-01 -9.91420540e-03 -5.83872083e-03 3.91745461e+01] [ 9.91201129e-03 9.99950793e-01 -4.04603392e-04 2.40675177e+00] [ 5.84244485e-03 3.46703143e-04 9.99982873e-01 4.84930072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.21140051299999 meters Centerline goodness [0,1] 0.9997641003645722 Centerline is valid? [True, True] Translation: X:39.20, Y:2.41, Z:0.05 [[ 9.99954231e-01 -8.04681192e-03 -5.17538285e-03 3.92038520e+01] [ 8.04506273e-03 9.99967574e-01 -3.58711674e-04 2.41073555e+00] [ 5.17810152e-03 3.17058976e-04 9.99986543e-01 4.92862582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.24140051299999 meters Centerline goodness [0,1] 0.9997420464316423 Centerline is valid? [True, True] Translation: X:39.23, Y:2.41, Z:0.05 [[ 9.99983923e-01 -4.35734655e-03 -3.62856587e-03 3.92300300e+01] [ 4.36745970e-03 9.99986588e-01 2.78384801e-03 2.41197770e+00] [ 3.61638701e-03 -2.79965087e-03 9.99989542e-01 5.10407813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.27140051299999 meters Centerline goodness [0,1] 0.997381976075944 Centerline is valid? [True, True] Translation: X:39.26, Y:2.43, Z:0.05 [[ 9.99994714e-01 -1.98078313e-03 -2.57840679e-03 3.92612601e+01] [ 1.97246412e-03 9.99992854e-01 -3.22496894e-03 2.43068196e+00] [ 2.58477633e-03 3.21986608e-03 9.99991476e-01 5.33625130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.30140051299999 meters Centerline goodness [0,1] 0.9958629219712963 Centerline is valid? [True, True] Translation: X:39.29, Y:2.43, Z:0.05 [[ 9.99993515e-01 4.20165608e-04 -3.57689364e-03 3.92917230e+01] [-4.21057206e-04 9.99999880e-01 -2.48516620e-04 2.43272478e+00] [ 3.57678879e-03 2.50021085e-04 9.99993572e-01 5.27356402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.33140051299999 meters Centerline goodness [0,1] 0.9999136852099607 Centerline is valid? [True, True] Translation: X:39.32, Y:2.42, Z:0.05 [[ 9.99981260e-01 4.19939944e-03 -4.45467698e-03 3.93197749e+01] [-4.19027852e-03 9.99989110e-01 2.05485375e-03 2.41594088e+00] [ 4.46325762e-03 -2.03614891e-03 9.99987967e-01 5.15011335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.36140051299999 meters Centerline goodness [0,1] 0.989451975337816 Centerline is valid? [True, True] Translation: X:39.35, Y:2.45, Z:0.05 [[ 9.99974587e-01 4.21599036e-03 -5.74902242e-03 3.93502697e+01] [-4.23199726e-03 9.99987195e-01 -2.77496589e-03 2.44536490e+00] [ 5.73724958e-03 2.79922522e-03 9.99979624e-01 4.93428907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.391400513 meters Centerline goodness [0,1] 0.9584516293063265 Centerline is valid? [True, True] Translation: X:39.38, Y:2.45, Z:0.05 [[ 9.99980459e-01 3.84026668e-03 -4.93289023e-03 3.93775882e+01] [-3.84200582e-03 9.99992561e-01 -3.43131401e-04 2.44971292e+00] [ 4.93153582e-03 3.62076889e-04 9.99987774e-01 5.12498324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.421400513 meters Centerline goodness [0,1] 0.8184670836425315 Centerline is valid? [True, False] Translation: X:39.38, Y:2.45, Z:0.05 [[ 9.99979446e-01 4.06558591e-03 -4.95760251e-03 3.93772759e+01] [-4.06451669e-03 9.99991714e-01 2.25730042e-04 2.44704226e+00] [ 4.95847916e-03 -2.05575145e-04 9.99987686e-01 5.20172208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.451400513 meters Centerline goodness [0,1] 0.9224895486733213 Centerline is valid? [False, False] Translation: X:39.37, Y:2.45, Z:0.06 [[ 9.99990284e-01 1.58499016e-03 -4.11334202e-03 3.93707562e+01] [-1.59390973e-03 9.99996384e-01 -2.16607547e-03 2.44681079e+00] [ 4.10989393e-03 2.17261072e-03 9.99989194e-01 5.61527166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.481400513 meters Centerline goodness [0,1] 0.9830810520665593 Centerline is valid? [False, True] Translation: X:39.37, Y:2.44, Z:0.06 [[ 9.99989916e-01 6.65255818e-04 -4.44138993e-03 3.93722753e+01] [-6.71732587e-04 9.99998713e-01 -1.45694287e-03 2.44068207e+00] [ 4.44041498e-03 1.45991161e-03 9.99989076e-01 5.58009383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.51140051299998 meters Centerline goodness [0,1] 0.99991480479649 Centerline is valid? [True, True] Translation: X:39.40, Y:2.42, Z:0.06 [[ 9.99994727e-01 -5.44259450e-04 -3.20164351e-03 3.94017171e+01] [ 5.50044585e-04 9.99998217e-01 1.80632383e-03 2.41591718e+00] [ 3.20065469e-03 -1.80807535e-03 9.99993243e-01 5.80716232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.54140051299999 meters Centerline goodness [0,1] 0.9998078811424668 Centerline is valid? [True, True] Translation: X:39.43, Y:2.42, Z:0.06 [[ 9.99983329e-01 -5.63680925e-03 -1.25237531e-03 3.94328465e+01] [ 5.63419197e-03 9.99981957e-01 -2.08364572e-03 2.42164875e+00] [ 1.26409783e-03 2.07655486e-03 9.99997045e-01 6.06669536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.57140051299999 meters Centerline goodness [0,1] 0.9995966886011463 Centerline is valid? [True, True] Translation: X:39.46, Y:2.42, Z:0.06 [[ 9.99981309e-01 -5.77573662e-03 -2.00567347e-03 3.94612717e+01] [ 5.77550016e-03 9.99983314e-01 -1.23670878e-04 2.42090298e+00] [ 2.00635430e-03 1.12084799e-04 9.99997981e-01 6.03704191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.60140051299999 meters Centerline goodness [0,1] 0.9996997576615411 Centerline is valid? [True, True] Translation: X:39.49, Y:2.42, Z:0.05 [[ 9.99964948e-01 -5.04366293e-03 -6.68317519e-03 3.94915168e+01] [ 5.04102015e-03 9.99987209e-01 -4.12224434e-04 2.41609100e+00] [ 6.68516883e-03 3.78519964e-04 9.99977582e-01 5.31380953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.63140051299999 meters Centerline goodness [0,1] 0.9995497427101201 Centerline is valid? [True, True] Translation: X:39.52, Y:2.42, Z:0.05 [[ 9.99954911e-01 -4.23554849e-03 -8.49921671e-03 3.95209174e+01] [ 4.23124267e-03 9.99990911e-01 -5.24531244e-04 2.41503975e+00] [ 8.50136114e-03 4.88545345e-04 9.99963743e-01 4.96061551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.66140051299999 meters Centerline goodness [0,1] 0.997975018118259 Centerline is valid? [True, True] Translation: X:39.55, Y:2.42, Z:0.05 [[ 9.99955950e-01 -3.20417413e-03 -8.82216538e-03 3.95495711e+01] [ 3.19949132e-03 9.99994733e-01 -5.44862813e-04 2.41768639e+00] [ 8.82386475e-03 5.16612371e-04 9.99960935e-01 4.83005970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.69140051299999 meters Centerline goodness [0,1] 0.9995925107770176 Centerline is valid? [True, True] Translation: X:39.58, Y:2.41, Z:0.05 [[ 9.99965246e-01 -2.40629553e-03 -7.98222312e-03 3.95790127e+01] [ 2.40242601e-03 9.99996992e-01 -4.94319926e-04 2.40947512e+00] [ 7.98338859e-03 4.75126046e-04 9.99968019e-01 5.09503356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.72140051299999 meters Centerline goodness [0,1] 0.9990117090987216 Centerline is valid? [True, True] Translation: X:39.61, Y:2.41, Z:0.05 [[ 9.99976421e-01 -1.20192873e-03 -6.76110927e-03 3.96069203e+01] [ 1.19912309e-03 9.99999193e-01 -4.19006804e-04 2.41418070e+00] [ 6.76160744e-03 4.10889522e-04 9.99977056e-01 5.21452351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.751400513 meters Centerline goodness [0,1] 0.9988461785004594 Centerline is valid? [True, True] Translation: X:39.64, Y:2.42, Z:0.05 [[ 9.99975458e-01 -9.62669501e-04 -6.93950862e-03 3.96356365e+01] [ 9.59700328e-04 9.99999447e-01 -4.31182297e-04 2.41563456e+00] [ 6.93991987e-03 4.24511866e-04 9.99975828e-01 5.21950170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.781400513 meters Centerline goodness [0,1] 0.9997217882594646 Centerline is valid? [True, True] Translation: X:39.67, Y:2.41, Z:0.05 [[ 9.99974791e-01 4.19836421e-04 -7.08804168e-03 3.96656833e+01] [-4.22969677e-04 9.99999814e-01 -4.40554908e-04 2.40765184e+00] [ 7.08785540e-03 4.43541829e-04 9.99974782e-01 5.39393242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.811400513 meters Centerline goodness [0,1] 0.9960256410256411 Centerline is valid? [True, True] Translation: X:39.69, Y:2.42, Z:0.05 [[ 9.99972938e-01 1.00010350e-03 -7.28853884e-03 3.96932503e+01] [-1.00343502e-03 9.99999394e-01 -4.53448040e-04 2.41593229e+00] [ 7.28808093e-03 4.60749344e-04 9.99973335e-01 5.33368742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.841400513 meters Centerline goodness [0,1] 0.9956145953080427 Centerline is valid? [True, True] Translation: X:39.72, Y:2.42, Z:0.05 [[ 9.99968158e-01 8.68360278e-04 -7.93279153e-03 3.97213135e+01] [-8.72306960e-04 9.99999497e-01 -4.94068418e-04 2.41651219e+00] [ 7.93235852e-03 5.00972515e-04 9.99968413e-01 5.24416172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.87140051299998 meters Centerline goodness [0,1] 0.894102901814165 Centerline is valid? [True, False] Translation: X:39.72, Y:2.41, Z:0.05 [[ 9.99965733e-01 1.07609899e-03 -8.20824380e-03 3.97223076e+01] [-1.07462389e-03 9.99999406e-01 1.84117882e-04 2.41314373e+00] [ 8.20843705e-03 -1.75290798e-04 9.99966295e-01 5.22657059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.90140051299998 meters Centerline goodness [0,1] 0.9934385718242048 Centerline is valid? [False, True] Translation: X:39.72, Y:2.41, Z:0.05 [[ 9.99964316e-01 1.31518042e-03 -8.34485126e-03 3.97226021e+01] [-1.30836466e-03 9.99998806e-01 8.22168784e-04 2.41009540e+00] [ 8.34592259e-03 -8.11221338e-04 9.99964843e-01 5.25656337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.93140051299999 meters Centerline goodness [0,1] 0.9990332144545181 Centerline is valid? [True, True] Translation: X:39.75, Y:2.41, Z:0.05 [[ 9.99957792e-01 -1.13232926e-03 -9.11763868e-03 3.97532508e+01] [ 1.12757803e-03 9.99999226e-01 -5.26227011e-04 2.40513908e+00] [ 9.11822748e-03 5.15923951e-04 9.99958295e-01 5.23327993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.96140051299999 meters Centerline goodness [0,1] 0.9841768768576132 Centerline is valid? [True, True] Translation: X:39.78, Y:2.41, Z:0.05 [[ 9.99932395e-01 -6.61198674e-03 -9.56493896e-03 3.97829471e+01] [ 6.60700687e-03 9.99978021e-01 -5.52143593e-04 2.40933434e+00] [ 9.56837950e-03 4.88910648e-04 9.99954102e-01 5.07960311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.99140051299999 meters Centerline goodness [0,1] 0.999745168825653 Centerline is valid? [True, True] Translation: X:39.81, Y:2.40, Z:0.05 [[ 9.99927343e-01 -8.56377133e-03 -8.48350017e-03 3.98132449e+01] [ 8.55992216e-03 9.99963243e-01 -4.89931087e-04 2.39815099e+00] [ 8.48738400e-03 4.17277389e-04 9.99963894e-01 5.48174262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.02140051299999 meters Centerline goodness [0,1] 0.999745168825653 Centerline is valid? [True, True] Translation: X:39.84, Y:2.40, Z:0.05 [[ 9.99925767e-01 -8.74595370e-03 -8.48339626e-03 3.98407380e+01] [ 8.74209587e-03 9.99961666e-01 -4.91727495e-04 2.39989292e+00] [ 8.48737169e-03 4.17528329e-04 9.99963894e-01 5.47740286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.05140051299999 meters Centerline goodness [0,1] 0.9998496369807106 Centerline is valid? [True, True] Translation: X:39.87, Y:2.39, Z:0.06 [[ 9.99919361e-01 -1.02694623e-02 -7.47064939e-03 3.98704613e+01] [ 1.02665045e-02 9.99947204e-01 -4.34162789e-04 2.39426901e+00] [ 7.47471359e-03 3.57430323e-04 9.99972000e-01 5.73502313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.08140051299999 meters Centerline goodness [0,1] 0.9998708649893464 Centerline is valid? [True, True] Translation: X:39.90, Y:2.39, Z:0.06 [[ 9.99909638e-01 -1.18363869e-02 -6.37301382e-03 3.98991943e+01] [ 1.18342661e-02 9.99929904e-01 -3.70383153e-04 2.39114766e+00] [ 6.37695110e-03 2.94929743e-04 9.99979624e-01 5.85099873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.11140051299999 meters Centerline goodness [0,1] 0.9999783268313828 Centerline is valid? [True, True] Translation: X:39.93, Y:2.39, Z:0.06 [[ 9.99903356e-01 -1.25843709e-02 -5.90861896e-03 3.99280906e+01] [ 1.25825538e-02 9.99920777e-01 -3.44597674e-04 2.38916286e+00] [ 5.91248741e-03 2.70218854e-04 9.99982485e-01 5.85969444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.141400513 meters Centerline goodness [0,1] 0.9998719644914856 Centerline is valid? [True, True] Translation: X:39.96, Y:2.40, Z:0.06 [[ 9.99904548e-01 -1.29350624e-02 -4.85582262e-03 3.99558813e+01] [ 1.29338378e-02 9.99916314e-01 -2.83522416e-04 2.39678150e+00] [ 4.85908364e-03 2.20690931e-04 9.99988170e-01 5.85137074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.171400513 meters Centerline goodness [0,1] 0.9999566621161888 Centerline is valid? [True, True] Translation: X:39.98, Y:2.39, Z:0.06 [[ 9.99902084e-01 -1.33342342e-02 -4.24511624e-03 3.99849904e+01] [ 1.33332982e-02 9.99911077e-01 -2.48712205e-04 2.38758140e+00] [ 4.24805514e-03 1.92086451e-04 9.99990959e-01 6.18276229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.201400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.01, Y:2.38, Z:0.06 [[ 9.99945255e-01 -1.04480246e-02 5.70424005e-04 4.00103839e+01] [ 1.04395496e-02 9.99857683e-01 1.32524980e-02 2.37510626e+00] [-7.08805249e-04 -1.32458176e-02 9.99912019e-01 6.46222707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.231400513 meters Centerline goodness [0,1] 0.9998503570054299 Centerline is valid? [True, True] Translation: X:40.04, Y:2.40, Z:0.06 [[ 9.99908585e-01 -1.25767299e-02 -4.96457513e-03 4.00421086e+01] [ 1.25089130e-02 9.99831127e-01 -1.34626854e-02 2.40347503e+00] [ 5.13305331e-03 1.33993533e-02 9.99897049e-01 5.83644214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.26140051299998 meters Centerline goodness [0,1] 0.999785066414478 Centerline is valid? [True, True] Translation: X:40.07, Y:2.39, Z:0.06 [[ 9.99940454e-01 -8.26735840e-03 -7.12309976e-03 4.00734687e+01] [ 8.26458726e-03 9.99965760e-01 -4.18382487e-04 2.39196595e+00] [ 7.12631479e-03 3.59488095e-04 9.99974543e-01 6.02002408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.29140051299999 meters Centerline goodness [0,1] 0.9998919689734892 Centerline is valid? [True, True] Translation: X:40.10, Y:2.39, Z:0.06 [[ 9.99960805e-01 -5.47129242e-03 -6.96088081e-03 4.01032541e+01] [ 5.46857761e-03 9.99984964e-01 -4.08983505e-04 2.39406944e+00] [ 6.96301381e-03 3.70901358e-04 9.99975689e-01 6.02315080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.32140051299999 meters Centerline goodness [0,1] 0.999167413859357 Centerline is valid? [True, True] Translation: X:40.13, Y:2.40, Z:0.06 [[ 9.99977690e-01 -2.76465102e-03 -6.08083847e-03 4.01323691e+01] [ 2.76252897e-03 9.99996120e-01 -3.57344982e-04 2.40307134e+00] [ 6.08180282e-03 3.40538518e-04 9.99981448e-01 6.00025679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.35140051299999 meters Centerline goodness [0,1] 0.9993967467413551 Centerline is valid? [True, True] Translation: X:40.16, Y:2.40, Z:0.06 [[ 9.99981989e-01 1.05854630e-03 -5.90769675e-03 4.01626382e+01] [-1.06061612e-03 9.99999377e-01 -3.47236906e-04 2.40095711e+00] [ 5.90732550e-03 3.53496451e-04 9.99982489e-01 6.13357771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.38140051299999 meters Centerline goodness [0,1] 0.9994825355756791 Centerline is valid? [True, True] Translation: X:40.19, Y:2.40, Z:0.06 [[ 9.99974173e-01 2.65254523e-03 -6.67961412e-03 4.01917975e+01] [-2.65522943e-03 9.99996398e-01 -3.93014150e-04 2.40413367e+00] [ 6.67854757e-03 4.10739907e-04 9.99977614e-01 6.01628736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.41140051299999 meters Centerline goodness [0,1] 0.9531083329777702 Centerline is valid? [True, True] Translation: X:40.22, Y:2.42, Z:0.06 [[ 9.99937727e-01 6.46601249e-03 -9.09574975e-03 4.02199298e+01] [-6.47114521e-03 9.99978919e-01 -5.34981524e-04 2.42018163e+00] [ 9.09209881e-03 5.93808126e-04 9.99958490e-01 5.54301937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.44140051299999 meters Centerline goodness [0,1] 0.9920694782664914 Centerline is valid? [True, True] Translation: X:40.25, Y:2.42, Z:0.06 [[ 9.99914034e-01 9.02832192e-03 -9.50863950e-03 4.02504808e+01] [-9.03404698e-03 9.99959036e-01 -5.59309631e-04 2.41696247e+00] [ 9.50320036e-03 6.45163046e-04 9.99954635e-01 5.65605005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.47140051299999 meters Centerline goodness [0,1] 0.916508497972565 Centerline is valid? [True, False] Translation: X:40.25, Y:2.42, Z:0.06 [[ 9.99918291e-01 8.80089210e-03 -9.27126786e-03 4.02497486e+01] [-8.81311209e-03 9.99960347e-01 -1.27801922e-03 2.42048498e+00] [ 9.25965252e-03 1.35962352e-03 9.99956204e-01 5.65032232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.501400513 meters Centerline goodness [0,1] 0.9479886830181454 Centerline is valid? [False, False] Translation: X:40.28, Y:2.43, Z:0.06 [[ 9.99926219e-01 1.10557890e-02 -5.03256625e-03 4.02844849e+01] [-1.10650288e-02 9.99937139e-01 -1.81186996e-03 2.42862713e+00] [ 5.01221825e-03 1.86742177e-03 9.99985695e-01 5.91588797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.531400513 meters Centerline goodness [0,1] 0.9495750227855614 Centerline is valid? [False, False] Translation: X:40.28, Y:2.43, Z:0.06 [[ 9.99928507e-01 1.08741248e-02 -4.97339775e-03 4.02841164e+01] [-1.08850614e-02 9.99938386e-01 -2.17725211e-03 2.43036736e+00] [ 4.94941561e-03 2.23123220e-03 9.99985262e-01 5.94473283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.561400513 meters Centerline goodness [0,1] 0.9625803978361801 Centerline is valid? [False, True] Translation: X:40.28, Y:2.43, Z:0.06 [[ 9.99928028e-01 1.08362222e-02 -5.14935769e-03 4.02845611e+01] [-1.08472912e-02 9.99938905e-01 -2.12653030e-03 2.43006264e+00] [ 5.12599954e-03 2.18223383e-03 9.99984481e-01 5.96902162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.591400513 meters Centerline goodness [0,1] 0.9916671994544254 Centerline is valid? [True, True] Translation: X:40.31, Y:2.42, Z:0.06 [[ 9.99954663e-01 7.05657931e-03 -6.39354850e-03 4.03147993e+01] [-7.05908405e-03 9.99975016e-01 -3.69277129e-04 2.42348165e+00] [ 6.39078293e-03 4.14392983e-04 9.99979493e-01 5.84508899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.62140051299998 meters Centerline goodness [0,1] 0.9994978494858415 Centerline is valid? [True, True] Translation: X:40.35, Y:2.41, Z:0.06 [[ 9.99953912e-01 -1.12783384e-04 -9.60008065e-03 4.03461391e+01] [ 1.07465405e-04 9.99999841e-01 -5.54465546e-04 2.40827831e+00] [ 9.60014166e-03 5.53408316e-04 9.99953764e-01 5.57808272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.65140051299998 meters Centerline goodness [0,1] 0.9908633108811593 Centerline is valid? [True, True] Translation: X:40.38, Y:2.42, Z:0.05 [[ 9.99957856e-01 -2.92355437e-03 -8.70285156e-03 4.03753861e+01] [ 2.91928868e-03 9.99995612e-01 -5.02811519e-04 2.41894294e+00] [ 8.70428337e-03 4.77384192e-04 9.99962003e-01 5.31687023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.68140051299999 meters Centerline goodness [0,1] 0.9989776575578795 Centerline is valid? [True, True] Translation: X:40.41, Y:2.41, Z:0.06 [[ 9.99950057e-01 -6.08745074e-03 -7.92637508e-03 4.04060575e+01] [ 6.08401154e-03 9.99981387e-01 -4.57933657e-04 2.41340699e+00] [ 7.92901520e-03 4.09686629e-04 9.99968481e-01 5.55827254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.71140051299999 meters Centerline goodness [0,1] 0.999804729876329 Centerline is valid? [True, True] Translation: X:40.44, Y:2.41, Z:0.06 [[ 9.99940455e-01 -8.06355754e-03 -7.35287476e-03 4.04362069e+01] [ 8.06064915e-03 9.99967422e-01 -4.25094159e-04 2.40774706e+00] [ 7.35606299e-03 3.65799903e-04 9.99972877e-01 5.78162830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.74140051299999 meters Centerline goodness [0,1] 0.9996573435559173 Centerline is valid? [True, True] Translation: X:40.46, Y:2.41, Z:0.06 [[ 9.99945608e-01 -8.80689729e-03 -5.58745582e-03 4.04644865e+01] [ 8.80522761e-03 9.99961181e-01 -3.23355516e-04 2.40753071e+00] [ 5.59008668e-03 2.74139108e-04 9.99984338e-01 6.02879371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.77140051299999 meters Centerline goodness [0,1] 0.9997619202216307 Centerline is valid? [True, True] Translation: X:40.49, Y:2.41, Z:0.06 [[ 9.99949444e-01 -7.95957181e-03 -6.14446513e-03 4.04937290e+01] [ 7.95752861e-03 9.99968275e-01 -3.56902272e-04 2.40722735e+00] [ 6.14711098e-03 3.07989471e-04 9.99981059e-01 5.91434919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.80140051299999 meters Centerline goodness [0,1] 0.99933883592467 Centerline is valid? [True, True] Translation: X:40.52, Y:2.41, Z:0.06 [[ 9.99961922e-01 -6.11588091e-03 -6.22505134e-03 4.05214107e+01] [ 6.11374803e-03 9.99981245e-01 -3.61600276e-04 2.41447157e+00] [ 6.22714610e-03 3.23528111e-04 9.99980559e-01 5.71849936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.83140051299999 meters Centerline goodness [0,1] 0.9982617279711575 Centerline is valid? [True, True] Translation: X:40.55, Y:2.42, Z:0.06 [[ 9.99973255e-01 -4.18960335e-03 -5.99472898e-03 4.05497618e+01] [ 4.18758993e-03 9.99991171e-01 -3.48376772e-04 2.41893171e+00] [ 5.99613562e-03 3.23263988e-04 9.99981971e-01 5.69282221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.86140051299999 meters Centerline goodness [0,1] 0.9998039215686274 Centerline is valid? [True, True] Translation: X:40.57, Y:2.40, Z:0.06 [[ 9.99995354e-01 2.92962190e-03 -8.42522018e-04 4.05733755e+01] [-2.92349070e-03 9.99969888e-01 7.18861559e-03 2.40193586e+00] [ 8.63556573e-04 -7.18611908e-03 9.99973807e-01 6.23752397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.891400513 meters Centerline goodness [0,1] 0.9920423252889264 Centerline is valid? [True, True] Translation: X:40.61, Y:2.43, Z:0.06 [[ 9.99946386e-01 9.22227570e-03 -4.70907414e-03 4.06082576e+01] [-9.25744493e-03 9.99929007e-01 -7.50203078e-03 2.43276153e+00] [ 4.63955403e-03 7.54522256e-03 9.99960771e-01 6.15422423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.921400513 meters Centerline goodness [0,1] 0.981133295959291 Centerline is valid? [True, True] Translation: X:40.64, Y:2.43, Z:0.06 [[ 9.99887525e-01 1.42251031e-02 -4.75226568e-03 4.06391947e+01] [-1.42265758e-02 9.99898759e-01 -2.76233101e-04 2.43218250e+00] [ 4.74785511e-03 3.43810500e-04 9.99988670e-01 6.36707448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.951400513 meters Centerline goodness [0,1] 0.9008579396674685 Centerline is valid? [True, False] Translation: X:40.68, Y:2.43, Z:0.07 [[ 9.99787509e-01 2.05835611e-02 -1.11941326e-03 4.06773843e+01] [-2.05777368e-02 9.99775819e-01 4.98690871e-03 2.42835560e+00] [ 1.22181065e-03 -4.96281405e-03 9.99986939e-01 6.51405924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.981400513 meters Centerline goodness [0,1] 0.8961385393137571 Centerline is valid? [False, False] Translation: X:40.68, Y:2.43, Z:0.07 [[ 9.99754999e-01 2.21281986e-02 -5.33241539e-04 4.06750597e+01] [-2.21252422e-02 9.99742569e-01 5.02695542e-03 2.43276410e+00] [ 6.44341733e-04 -5.01392572e-03 9.99987223e-01 6.50093693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.01140051299998 meters Centerline goodness [0,1] 0.5467820674071073 Centerline is valid? [False, False] Translation: X:40.68, Y:2.44, Z:0.06 [[ 9.99758445e-01 2.19689903e-02 -6.45016592e-04 4.06761221e+01] [-2.19662348e-02 9.99750685e-01 4.00661609e-03 2.43777073e+00] [ 7.32877090e-04 -3.99147969e-03 9.99991765e-01 6.34287651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.04140051299999 meters Centerline goodness [0,1] 0.524031272696202 Centerline is valid? [False, False] Translation: X:40.68, Y:2.44, Z:0.06 [[ 9.99766883e-01 2.15736026e-02 -8.71954152e-04 4.06776512e+01] [-2.15711657e-02 9.99763633e-01 2.71363693e-03 2.44378490e+00] [ 9.30290975e-04 -2.69419526e-03 9.99995938e-01 6.17089804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.07140051299999 meters Centerline goodness [0,1] 0.43990134166826134 Centerline is valid? [False, False] Translation: X:40.68, Y:2.45, Z:0.06 [[ 9.99778707e-01 2.10128093e-02 -9.99281906e-04 4.06789207e+01] [-2.10115724e-02 9.99778473e-01 1.23259501e-03 2.45064336e+00] [ 1.02496082e-03 -1.21132577e-03 9.99998741e-01 6.00071386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.10140051299999 meters Centerline goodness [0,1] 0.4506211380713502 Centerline is valid? [False, False] Translation: X:40.68, Y:2.46, Z:0.06 [[ 9.99789461e-01 2.04940442e-02 -1.01382648e-03 4.06793810e+01] [-2.04941733e-02 9.99789966e-01 -1.17147528e-04 2.45696698e+00] [ 1.01121271e-03 1.37900400e-04 9.99999479e-01 5.91003608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.13140051299999 meters Centerline goodness [0,1] 0.453613981047723 Centerline is valid? [False, False] Translation: X:40.68, Y:2.47, Z:0.06 [[ 9.99803665e-01 1.97965572e-02 -8.52787435e-04 4.06786390e+01] [-1.97980829e-02 9.99802343e-01 -1.81940234e-03 2.46513243e+00] [ 8.16600973e-04 1.83592868e-03 9.99997981e-01 5.94564757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.16140051299999 meters Centerline goodness [0,1] 0.5203940246806669 Centerline is valid? [False, False] Translation: X:40.68, Y:2.47, Z:0.06 [[ 9.99807976e-01 1.95806017e-02 -7.82143663e-04 4.06781685e+01] [-1.95823419e-02 9.99805641e-01 -2.28299134e-03 2.46734936e+00] [ 7.37289303e-04 2.29786915e-03 9.99997088e-01 5.99534157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.19140051299999 meters Centerline goodness [0,1] 0.5210291829208501 Centerline is valid? [False, False] Translation: X:40.70, Y:2.47, Z:0.06 [[ 9.99838944e-01 1.79408177e-02 4.60963478e-04 4.06990388e+01] [-1.79435637e-02 9.99815377e-01 6.87320016e-03 2.46610624e+00] [-3.37567542e-04 -6.88036452e-03 9.99976273e-01 6.11084069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.22140051299999 meters Centerline goodness [0,1] 0.6484233261339093 Centerline is valid? [False, False] Translation: X:40.69, Y:2.48, Z:0.06 [[ 9.99888052e-01 1.48908376e-02 1.46477858e-03 4.06929783e+01] [-1.48956813e-02 9.99883430e-01 3.35341426e-03 2.47576722e+00] [-1.41467269e-03 -3.37485773e-03 9.99993304e-01 6.42655596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.251400513 meters Centerline goodness [0,1] 0.7011894027223153 Centerline is valid? [False, False] Translation: X:40.69, Y:2.48, Z:0.06 [[ 9.99950014e-01 9.86662574e-03 1.61851452e-03 4.06924135e+01] [-9.86224472e-03 9.99947741e-01 -2.69282995e-03 2.48388552e+00] [-1.64499909e-03 2.67673316e-03 9.99995065e-01 6.39641694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.281400513 meters Centerline goodness [0,1] 0.8832377448328103 Centerline is valid? [False, False] Translation: X:40.67, Y:2.48, Z:0.06 [[ 9.99992138e-01 3.24811482e-03 2.27469592e-03 4.06713612e+01] [-3.25420486e-03 9.99991117e-01 2.67873544e-03 2.48312264e+00] [-2.26597487e-03 -2.68611671e-03 9.99993825e-01 6.17290949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.311400513 meters Centerline goodness [0,1] 0.9760359353507565 Centerline is valid? [False, True] Translation: X:40.68, Y:2.49, Z:0.06 [[ 9.99998650e-01 3.36262479e-04 1.60848880e-03 4.06762308e+01] [-3.35667468e-04 9.99999875e-01 -3.70174575e-04 2.49093009e+00] [-1.60861307e-03 3.69634158e-04 9.99998638e-01 5.85093869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.341400513 meters Centerline goodness [0,1] 0.998147589712661 Centerline is valid? [True, True] Translation: X:40.71, Y:2.49, Z:0.06 [[ 9.99995939e-01 -2.72488671e-03 8.35206384e-04 4.07072299e+01] [ 2.72483963e-03 9.99996286e-01 5.75006072e-05 2.48612902e+00] [-8.35359964e-04 -5.52245703e-05 9.99999650e-01 5.78320846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.37140051299998 meters Centerline goodness [0,1] 0.9788838933753808 Centerline is valid? [True, True] Translation: X:40.74, Y:2.50, Z:0.05 [[ 9.99989738e-01 -4.53014907e-03 2.61200538e-05 4.07357570e+01] [ 4.53014901e-03 9.99989739e-01 2.17305601e-06 2.49907883e+00] [-2.61296300e-05 -2.05470597e-06 1.00000000e+00 5.48655191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.40140051299998 meters Centerline goodness [0,1] 0.9882885797476545 Centerline is valid? [True, True] Translation: X:40.77, Y:2.50, Z:0.05 [[ 9.99980844e-01 -6.06687248e-03 -1.22671047e-03 4.07660995e+01] [ 6.06677350e-03 9.99981593e-01 -8.43964277e-05 2.49983159e+00] [ 1.22719991e-03 7.69526364e-05 9.99999244e-01 5.36023924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.43140051299999 meters Centerline goodness [0,1] 0.9998257080610021 Centerline is valid? [True, True] Translation: X:40.80, Y:2.49, Z:0.06 [[ 9.99972494e-01 -7.19481607e-03 -1.80152540e-03 4.07955416e+01] [ 7.19460352e-03 9.99974111e-01 -1.24438271e-04 2.48784605e+00] [ 1.80237407e-03 1.11473588e-04 9.99998370e-01 5.54763780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.46140051299999 meters Centerline goodness [0,1] 0.999334835318099 Centerline is valid? [True, True] Translation: X:40.82, Y:2.50, Z:0.05 [[ 9.99962755e-01 -8.55469295e-03 -1.14242587e-03 4.08231085e+01] [ 8.55460826e-03 9.99963406e-01 -7.90000196e-05 2.50477716e+00] [ 1.14305988e-03 6.92240715e-05 9.99999344e-01 5.48126776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.49140051299999 meters Centerline goodness [0,1] 0.9986064361211757 Centerline is valid? [True, True] Translation: X:40.85, Y:2.51, Z:0.06 [[ 9.99965818e-01 -8.26706259e-03 -1.32551687e-04 4.08511907e+01] [ 8.26706141e-03 9.99965827e-01 -9.42390757e-06 2.51304606e+00] [ 1.32625065e-04 8.32777251e-06 9.99999991e-01 5.52170543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.52140051299999 meters Centerline goodness [0,1] 0.9993931381260972 Centerline is valid? [True, True] Translation: X:40.88, Y:2.51, Z:0.06 [[ 9.99971876e-01 -7.46033442e-03 7.68789452e-04 4.08808196e+01] [ 7.46029602e-03 9.99972170e-01 5.28078153e-05 2.51491193e+00] [-7.69162021e-04 -4.70709332e-05 9.99999703e-01 5.68739258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.55140051299999 meters Centerline goodness [0,1] 0.9995041928043286 Centerline is valid? [True, True] Translation: X:40.91, Y:2.52, Z:0.06 [[ 9.99979197e-01 -6.33626464e-03 1.20751462e-03 4.09113827e+01] [ 6.33616871e-03 9.99979923e-01 8.32497091e-05 2.51891422e+00] [-1.20801787e-03 -7.55969608e-05 9.99999267e-01 5.75617089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.58140051299999 meters Centerline goodness [0,1] 0.9908664105847205 Centerline is valid? [True, True] Translation: X:40.94, Y:2.53, Z:0.06 [[ 9.99985630e-01 -5.19168220e-03 1.33616460e-03 4.09405555e+01] [ 5.19156362e-03 9.99986519e-01 9.22010418e-05 2.53448806e+00] [-1.33662527e-03 -8.52629333e-05 9.99999103e-01 5.64670300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.61140051299999 meters Centerline goodness [0,1] 0.9920634920634921 Centerline is valid? [True, True] Translation: X:40.97, Y:2.54, Z:0.05 [[ 9.99992316e-01 -3.89252953e-03 4.64729542e-04 4.09717563e+01] [ 3.89251498e-03 9.99992424e-01 3.22112257e-05 2.53885198e+00] [-4.64851404e-04 -3.04020115e-05 9.99999891e-01 5.47860884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.641400513 meters Centerline goodness [0,1] 0.9980253697065957 Centerline is valid? [True, True] Translation: X:41.00, Y:2.54, Z:0.05 [[ 9.99992069e-01 -3.98168082e-03 -8.94838950e-05 4.10022474e+01] [ 3.98168029e-03 9.99992073e-01 -6.16621635e-06 2.53786840e+00] [ 8.95077376e-05 5.80987118e-06 9.99999996e-01 5.38469839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.671400513 meters Centerline goodness [0,1] 0.9984742666809928 Centerline is valid? [True, True] Translation: X:41.03, Y:2.54, Z:0.05 [[ 9.99990400e-01 -4.32285764e-03 -7.15617431e-04 4.10332056e+01] [ 4.32282346e-03 9.99990655e-01 -4.93122466e-05 2.53853535e+00] [ 7.15823914e-04 4.62182854e-05 9.99999743e-01 5.26551693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.701400513 meters Centerline goodness [0,1] 0.9984644258658932 Centerline is valid? [True, True] Translation: X:41.06, Y:2.54, Z:0.05 [[ 9.99984718e-01 -5.51147665e-03 -4.32269416e-04 4.10623726e+01] [ 5.51146424e-03 9.99984811e-01 -2.98882047e-05 2.54073927e+00] [ 4.32427579e-04 2.75053105e-05 9.99999906e-01 5.26410068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.731400513 meters Centerline goodness [0,1] 0.9977349699074574 Centerline is valid? [True, True] Translation: X:41.09, Y:2.54, Z:0.05 [[ 9.99980149e-01 -6.27492974e-03 5.71021911e-04 4.10914365e+01] [ 6.27490833e-03 9.99980312e-01 3.92657990e-05 2.54439955e+00] [-5.71257059e-04 -3.56819094e-05 9.99999836e-01 5.40267488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.76140051299998 meters Centerline goodness [0,1] 0.9980083947233168 Centerline is valid? [True, True] Translation: X:41.12, Y:2.55, Z:0.06 [[ 9.99978627e-01 -6.32171673e-03 1.66788418e-03 4.11216499e+01] [ 6.32153373e-03 9.99980012e-01 1.14970273e-04 2.54513828e+00] [-1.66857765e-03 -1.04424229e-04 9.99998602e-01 5.60181557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.79140051299999 meters Centerline goodness [0,1] 0.9947436743206146 Centerline is valid? [True, True] Translation: X:41.15, Y:2.55, Z:0.06 [[ 9.99982143e-01 -5.60384820e-03 2.07604398e-03 4.11512776e+01] [ 5.60356240e-03 9.99984290e-01 1.43457762e-04 2.55070053e+00] [-2.07681528e-03 -1.31821958e-04 9.99997835e-01 5.62481328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.82140051299999 meters Centerline goodness [0,1] 0.9991647749175483 Centerline is valid? [True, True] Translation: X:41.18, Y:2.55, Z:0.06 [[ 9.99985521e-01 -5.01317483e-03 1.95604609e-03 4.11828871e+01] [ 5.01292056e-03 9.99987426e-01 1.34870744e-04 2.54562546e+00] [-1.95669763e-03 -1.25063287e-04 9.99998078e-01 5.62458787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.85140051299999 meters Centerline goodness [0,1] 0.9907907136126103 Centerline is valid? [True, True] Translation: X:41.21, Y:2.56, Z:0.05 [[ 9.99986706e-01 -4.88015620e-03 1.66476598e-03 4.12133122e+01] [ 4.87997173e-03 9.99988086e-01 1.14854010e-04 2.55720188e+00] [-1.66530666e-03 -1.06728472e-04 9.99998608e-01 5.45079327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.88140051299999 meters Centerline goodness [0,1] 0.998912278456715 Centerline is valid? [True, True] Translation: X:41.24, Y:2.55, Z:0.06 [[ 9.99973967e-01 -6.13283708e-03 3.80185922e-03 4.12445756e+01] [ 6.13188632e-03 9.99981166e-01 2.61682686e-04 2.55227885e+00] [-3.80339248e-03 -2.38363305e-04 9.99992739e-01 5.73307455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.91140051299999 meters Centerline goodness [0,1] 0.9995064377682403 Centerline is valid? [True, True] Translation: X:41.28, Y:2.54, Z:0.06 [[ 9.99959161e-01 -7.26127358e-03 5.38053799e-03 4.12766425e+01] [ 7.25938591e-03 9.99973582e-01 3.70279185e-04 2.54434314e+00] [-5.38308454e-03 -3.31204661e-04 9.99985456e-01 5.99604015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.94140051299999 meters Centerline goodness [0,1] 0.9995064377682403 Centerline is valid? [True, True] Translation: X:41.31, Y:2.55, Z:0.06 [[ 9.99959499e-01 -7.21459404e-03 5.38054199e-03 4.13082982e+01] [ 7.21270601e-03 9.99973920e-01 3.70221047e-04 2.54644317e+00] [-5.38307266e-03 -3.31397785e-04 9.99985456e-01 5.96966626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.97140051299999 meters Centerline goodness [0,1] 0.9995542442317081 Centerline is valid? [True, True] Translation: X:41.34, Y:2.55, Z:0.06 [[ 9.99943718e-01 -8.62973955e-03 6.17156770e-03 4.13394076e+01] [ 8.62728487e-03 9.99962694e-01 4.24252925e-04 2.54668014e+00] [-6.17499866e-03 -3.70985175e-04 9.99980866e-01 6.10549329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.001400513 meters Centerline goodness [0,1] 0.9997658478436715 Centerline is valid? [True, True] Translation: X:41.37, Y:2.54, Z:0.06 [[ 9.99901164e-01 -1.32063592e-02 4.82225269e-03 4.13707270e+01] [ 1.32049142e-02 9.99912756e-01 3.31381798e-04 2.53913044e+00] [-4.82620833e-03 -2.67671613e-04 9.99988318e-01 5.85967218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.031400513 meters Centerline goodness [0,1] 0.9997621570196112 Centerline is valid? [True, True] Translation: X:41.40, Y:2.53, Z:0.06 [[ 9.99878147e-01 -1.50443513e-02 4.16642979e-03 4.14022636e+01] [ 1.50432881e-02 9.99886802e-01 2.86411025e-04 2.53427304e+00] [-4.17026703e-03 -2.23699322e-04 9.99991279e-01 5.67244088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.061400513 meters Centerline goodness [0,1] 0.9994497354497355 Centerline is valid? [True, True] Translation: X:41.43, Y:2.54, Z:0.06 [[ 9.99874256e-01 -1.54451128e-02 3.59466858e-03 4.14319552e+01] [ 1.54443243e-02 9.99880699e-01 2.47013829e-04 2.54282247e+00] [-3.59805489e-03 -1.91465541e-04 9.99993509e-01 5.51924981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.091400513 meters Centerline goodness [0,1] 0.9996586666666667 Centerline is valid? [True, True] Translation: X:41.46, Y:2.54, Z:0.06 [[ 9.99877836e-01 -1.51333709e-02 3.91071545e-03 4.14639167e+01] [ 1.51324364e-02 9.99885462e-01 2.68435251e-04 2.54147628e+00] [-3.91432985e-03 -2.09223805e-04 9.99992317e-01 5.56008724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.12140051299998 meters Centerline goodness [0,1] 0.9995704282830018 Centerline is valid? [True, True] Translation: X:41.49, Y:2.54, Z:0.06 [[ 9.99897431e-01 -1.38502296e-02 3.64664003e-03 4.14946856e+01] [ 1.38494090e-02 9.99904061e-01 2.50186391e-04 2.54235790e+00] [-3.64975532e-03 -1.99656921e-04 9.99993320e-01 5.54723884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.15140051299998 meters Centerline goodness [0,1] 0.9998494753139515 Centerline is valid? [True, True] Translation: X:41.53, Y:2.54, Z:0.06 [[ 9.99924142e-01 -1.19638972e-02 2.92826767e-03 4.15258632e+01] [ 1.19633600e-02 9.99928416e-01 2.00888789e-04 2.53745588e+00] [-2.93046146e-03 -1.65841630e-04 9.99995692e-01 5.52307812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.18140051299999 meters Centerline goodness [0,1] 0.9976241438356165 Centerline is valid? [True, True] Translation: X:41.55, Y:2.55, Z:0.05 [[ 9.99977122e-01 -6.44549295e-03 2.05192905e-03 4.15548188e+01] [ 6.44521756e-03 9.99979219e-01 1.40797991e-04 2.55195599e+00] [-2.05279392e-03 -1.27569641e-04 9.99997885e-01 5.29517222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.21140051299999 meters Centerline goodness [0,1] 0.9882661660230837 Centerline is valid? [True, True] Translation: X:41.58, Y:2.56, Z:0.05 [[ 9.99993334e-01 -2.91342291e-03 2.20078736e-03 4.15835694e+01] [ 2.91309750e-03 9.99995746e-01 1.51053140e-04 2.55994777e+00] [-2.20121808e-03 -1.44641024e-04 9.99997567e-01 5.27421700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.24140051299999 meters Centerline goodness [0,1] 0.9727394478766147 Centerline is valid? [True, True] Translation: X:41.61, Y:2.56, Z:0.05 [[ 9.99997239e-01 4.26868806e-04 2.31089651e-03 4.16136468e+01] [-4.27235857e-04 9.99999896e-01 1.58343429e-04 2.56394314e+00] [-2.31082868e-03 -1.59330290e-04 9.99997317e-01 5.25583477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.27140051299999 meters Centerline goodness [0,1] 0.9978613742808871 Centerline is valid? [True, True] Translation: X:41.65, Y:2.56, Z:0.05 [[ 9.99986486e-01 3.87280673e-03 3.46830179e-03 4.16453334e+01] [-3.87365455e-03 9.99992469e-01 2.37765038e-04 2.55809513e+00] [-3.46735485e-03 -2.51196828e-04 9.99993957e-01 5.47329095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.30140051299999 meters Centerline goodness [0,1] 0.9971883380915304 Centerline is valid? [True, True] Translation: X:41.68, Y:2.56, Z:0.06 [[ 9.99967069e-01 6.59498637e-03 4.72946191e-03 4.16754209e+01] [-6.59659213e-03 9.99978190e-01 3.24005037e-04 2.56079912e+00] [-4.72722195e-03 -3.55192699e-04 9.99988764e-01 5.61486916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.33140051299999 meters Centerline goodness [0,1] 0.9835373211515256 Centerline is valid? [True, True] Translation: X:41.71, Y:2.57, Z:0.06 [[ 9.99949318e-01 8.57416244e-03 5.27690473e-03 4.17053560e+01] [-8.57618874e-03 9.99963158e-01 3.61487136e-04 2.56645539e+00] [-5.27361087e-03 -4.06724546e-04 9.99986012e-01 5.63399709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.36140051299999 meters Centerline goodness [0,1] 0.9069133647028765 Centerline is valid? [True, False] Translation: X:41.71, Y:2.56, Z:0.05 [[ 9.99930039e-01 1.09992315e-02 4.35136840e-03 4.17124546e+01] [-1.10124204e-02 9.99934805e-01 3.01872507e-03 2.56355595e+00] [-4.31788106e-03 -3.06643297e-03 9.99985976e-01 5.14408966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.391400513 meters Centerline goodness [0,1] 0.980466560303566 Centerline is valid? [False, True] Translation: X:41.69, Y:2.55, Z:0.06 [[ 9.99943204e-01 1.05525221e-02 -1.49435397e-03 4.16891150e+01] [-1.05309022e-02 9.99849269e-01 1.38035887e-02 2.55155099e+00] [ 1.63979140e-03 -1.37870678e-02 9.99903609e-01 5.89406583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.421400513 meters Centerline goodness [0,1] 0.8906746202042743 Centerline is valid? [True, False] Translation: X:41.69, Y:2.56, Z:0.06 [[ 9.99980285e-01 6.11828979e-03 -1.41309215e-03 4.16891587e+01] [-6.10612123e-03 9.99945564e-01 8.46080011e-03 2.55666965e+00] [ 1.46478085e-03 -8.45200479e-03 9.99963208e-01 5.78281024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.451400513 meters Centerline goodness [0,1] 0.9472379527727322 Centerline is valid? [False, False] Translation: X:41.69, Y:2.56, Z:0.06 [[ 9.99997754e-01 1.73266674e-03 -1.22075483e-03 4.16887773e+01] [-1.72879666e-03 9.99993500e-01 3.16419518e-03 2.56167924e+00] [ 1.22622939e-03 -3.16207764e-03 9.99994249e-01 5.69679257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.481400513 meters Centerline goodness [0,1] 0.8230060034305318 Centerline is valid? [False, False] Translation: X:41.69, Y:2.56, Z:0.06 [[ 9.99996195e-01 -2.60680601e-03 -9.03015000e-04 4.16877259e+01] [ 2.60556351e-03 9.99995661e-01 -1.37439107e-03 2.56277427e+00] [ 9.06593853e-04 1.37203297e-03 9.99998648e-01 5.68980663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.51140051299998 meters Centerline goodness [0,1] 0.9524629546952399 Centerline is valid? [False, True] Translation: X:41.69, Y:2.56, Z:0.06 [[ 9.99996862e-01 -2.29757310e-03 -9.98248044e-04 4.16878593e+01] [ 2.29711684e-03 9.99997257e-01 -4.57970265e-04 2.55832907e+00] [ 9.99297526e-04 4.55675735e-04 9.99999397e-01 5.72913805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.54140051299999 meters Centerline goodness [0,1] 0.9955719083577556 Centerline is valid? [True, True] Translation: X:41.72, Y:2.55, Z:0.06 [[ 9.99991656e-01 -4.05807897e-03 -4.68336494e-04 4.17189928e+01] [ 4.05806246e-03 9.99991765e-01 -3.61912532e-05 2.55029892e+00] [ 4.68479505e-04 3.42904125e-05 9.99999890e-01 5.74799422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.57140051299999 meters Centerline goodness [0,1] 0.9443994371722167 Centerline is valid? [True, False] Translation: X:41.72, Y:2.55, Z:0.06 [[ 9.99992742e-01 -3.75912253e-03 -6.20266238e-04 4.17195033e+01] [ 3.75959505e-03 9.99992642e-01 7.62409481e-04 2.54646505e+00] [ 6.17395684e-04 -7.64735898e-04 9.99999517e-01 5.74915869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.60140051299999 meters Centerline goodness [0,1] 0.963351120597652 Centerline is valid? [False, True] Translation: X:41.72, Y:2.54, Z:0.06 [[ 9.99993839e-01 -3.43042450e-03 -7.44573949e-04 4.17199576e+01] [ 3.43160363e-03 9.99992851e-01 1.58816035e-03 2.54252408e+00] [ 7.39120562e-04 -1.59070565e-03 9.99998462e-01 5.74211460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.63140051299999 meters Centerline goodness [0,1] 0.9892381459776238 Centerline is valid? [True, True] Translation: X:41.75, Y:2.54, Z:0.06 [[ 9.99989416e-01 -4.53809343e-03 -7.57553882e-04 4.17500879e+01] [ 4.53805227e-03 9.99989701e-01 -5.60424949e-05 2.53920218e+00] [ 7.57800407e-04 5.26040826e-05 9.99999711e-01 5.71311670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.66140051299999 meters Centerline goodness [0,1] 0.9959647127004229 Centerline is valid? [True, True] Translation: X:41.78, Y:2.53, Z:0.06 [[ 9.99973423e-01 -7.26739212e-03 5.82300236e-04 4.17811258e+01] [ 7.26736830e-03 9.99973591e-01 4.30039756e-05 2.53341882e+00] [-5.82597385e-04 -3.87710424e-05 9.99999830e-01 5.87033057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.69140051299999 meters Centerline goodness [0,1] 0.9961585509796768 Centerline is valid? [True, True] Translation: X:41.81, Y:2.53, Z:0.06 [[ 9.99957077e-01 -9.25471222e-03 4.40969421e-04 4.18106879e+01] [ 9.25469877e-03 9.99957174e-01 3.25344828e-05 2.53301004e+00] [-4.41251634e-04 -2.84520472e-05 9.99999902e-01 5.82760153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.72140051299999 meters Centerline goodness [0,1] 0.9988165935106291 Centerline is valid? [True, True] Translation: X:41.84, Y:2.53, Z:0.06 [[ 9.99931413e-01 -1.17092089e-02 -2.50878727e-04 4.18417666e+01] [ 1.17092047e-02 9.99931445e-01 -1.85679500e-05 2.52554601e+00] [ 2.51078944e-04 1.56290861e-05 9.99999968e-01 5.73425064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.751400513 meters Centerline goodness [0,1] 0.9988197424892704 Centerline is valid? [True, True] Translation: X:41.87, Y:2.53, Z:0.06 [[ 9.99887809e-01 -1.49570018e-02 -8.10666904e-04 4.18717652e+01] [ 1.49569581e-02 9.99888137e-01 -5.99054205e-05 2.52505051e+00] [ 8.11472225e-04 4.77735887e-05 9.99999670e-01 5.56397617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.781400513 meters Centerline goodness [0,1] 0.9993788154653529 Centerline is valid? [True, True] Translation: X:41.90, Y:2.52, Z:0.05 [[ 9.99819401e-01 -1.89772949e-02 -1.01416575e-03 4.19021854e+01] [ 1.89772285e-02 9.99819913e-01 -7.50168959e-05 2.52065031e+00] [ 1.01540673e-03 5.57572927e-05 9.99999483e-01 5.49513660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.811400513 meters Centerline goodness [0,1] 0.9996584480734336 Centerline is valid? [True, True] Translation: X:41.93, Y:2.51, Z:0.06 [[ 9.99731817e-01 -2.31425609e-02 -8.46178628e-04 4.19324726e+01] [ 2.31425162e-02 9.99732174e-01 -6.26133960e-05 2.51279382e+00] [ 8.47401033e-04 4.30139016e-05 9.99999640e-01 5.56648134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.841400513 meters Centerline goodness [0,1] 0.9999569318230759 Centerline is valid? [True, True] Translation: X:41.96, Y:2.50, Z:0.06 [[ 9.99544238e-01 -3.01859048e-02 3.56763764e-04 4.19641704e+01] [ 3.01858973e-02 9.99544302e-01 2.63658280e-05 2.49954420e+00] [-3.57397064e-04 -1.55845771e-05 9.99999936e-01 5.81898139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.87140051299998 meters Centerline goodness [0,1] 0.9999136311618768 Centerline is valid? [True, True] Translation: X:42.00, Y:2.49, Z:0.06 [[ 9.99455250e-01 -3.29988934e-02 5.24832198e-04 4.19950815e+01] [ 3.29988776e-02 9.99455388e-01 3.87570706e-05 2.49225934e+00] [-5.25825309e-04 -2.14170842e-05 9.99999862e-01 5.88624465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.90140051299998 meters Centerline goodness [0,1] 0.9999570566637322 Centerline is valid? [True, True] Translation: X:42.02, Y:2.49, Z:0.06 [[ 9.99367885e-01 -3.55503932e-02 -6.50047218e-06 4.20235233e+01] [ 3.55503932e-02 9.99367885e-01 -5.79634345e-07 2.49449893e+00] [ 6.51696937e-06 3.48173607e-07 1.00000000e+00 5.74494428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.93140051299999 meters Centerline goodness [0,1] 0.999935745036304 Centerline is valid? [True, True] Translation: X:42.05, Y:2.49, Z:0.06 [[ 9.99222890e-01 -3.94111473e-02 -6.13904432e-04 4.20544949e+01] [ 3.94111268e-02 9.99223079e-01 -4.54572530e-05 2.48531469e+00] [ 6.15218999e-04 2.12272623e-05 9.99999811e-01 5.61850321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.96140051299999 meters Centerline goodness [0,1] 0.9999784927735719 Centerline is valid? [True, True] Translation: X:42.08, Y:2.49, Z:0.06 [[ 9.99177833e-01 -4.05383043e-02 -5.52058565e-04 4.20818685e+01] [ 4.05382878e-02 9.99177985e-01 -4.10973129e-05 2.48808597e+00] [ 5.53270780e-04 1.86840151e-05 9.99999847e-01 5.58155550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.99140051299999 meters Centerline goodness [0,1] 0.9999570206730563 Centerline is valid? [True, True] Translation: X:42.11, Y:2.49, Z:0.06 [[ 9.99141749e-01 -4.14206406e-02 -3.10937929e-04 4.21094569e+01] [ 4.14206353e-02 9.99141797e-01 -2.32552246e-05 2.48942783e+00] [ 3.11634327e-04 1.03560192e-05 9.99999951e-01 5.62372733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.02140051299999 meters Centerline goodness [0,1] 0.9999129071590315 Centerline is valid? [True, True] Translation: X:42.14, Y:2.48, Z:0.06 [[ 9.99095342e-01 -4.25208253e-02 6.90985642e-04 4.21394684e+01] [ 4.25208004e-02 9.99095580e-01 5.06949695e-05 2.48148387e+00] [-6.92516293e-04 -2.12678453e-05 9.99999760e-01 5.82439598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.05140051299999 meters Centerline goodness [0,1] 0.9999574187229875 Centerline is valid? [True, True] Translation: X:42.17, Y:2.48, Z:0.06 [[ 9.99075713e-01 -4.29735861e-02 9.95140142e-04 4.21672445e+01] [ 4.29735340e-02 9.99076208e-01 7.37102896e-05 2.48386879e+00] [-9.97388435e-04 -3.08774714e-05 9.99999502e-01 5.86737046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.08140051299999 meters Centerline goodness [0,1] 0.999957206436152 Centerline is valid? [True, True] Translation: X:42.19, Y:2.49, Z:0.06 [[ 9.99045059e-01 -4.36700350e-02 1.37745755e-03 4.21947045e+01] [ 4.36699357e-02 9.99046008e-01 1.02143618e-04 2.48533262e+00] [-1.38060408e-03 -4.18925947e-05 9.99999046e-01 5.92713882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.11140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.22, Y:2.48, Z:0.06 [[ 9.98976219e-01 -4.52380330e-02 1.86696636e-04 4.22236140e+01] [ 4.52380313e-02 9.98976236e-01 1.32760152e-05 2.48293943e+00] [-1.87106084e-04 -4.81663521e-06 9.99999982e-01 5.68048411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.141400513 meters Centerline goodness [0,1] 0.9999566056976719 Centerline is valid? [True, True] Translation: X:42.25, Y:2.48, Z:0.06 [[ 9.98912393e-01 -4.66251312e-02 3.57965143e-04 4.22525598e+01] [ 4.66251249e-02 9.98912457e-01 2.60894234e-05 2.48052744e+00] [-3.58792263e-04 -9.37087884e-06 9.99999936e-01 5.66007523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.171400513 meters Centerline goodness [0,1] 0.999935521310207 Centerline is valid? [True, True] Translation: X:42.28, Y:2.48, Z:0.06 [[ 9.98822975e-01 -4.84987217e-02 7.33750579e-04 4.22805871e+01] [ 4.84986947e-02 9.98823244e-01 5.45492984e-05 2.48279565e+00] [-7.35532706e-04 -1.88991472e-05 9.99999729e-01 5.66072310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.201400513 meters Centerline goodness [0,1] 0.9999569975703627 Centerline is valid? [True, True] Translation: X:42.31, Y:2.48, Z:0.06 [[ 9.98714306e-01 -5.06706949e-02 1.48877086e-03 4.23101142e+01] [ 5.06705854e-02 9.98715415e-01 1.11191607e-04 2.48041272e+00] [-1.49249257e-03 -3.56117577e-05 9.99998886e-01 5.74591007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.231400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.34, Y:2.47, Z:0.06 [[ 9.98580331e-01 -5.31940454e-02 2.77787769e-03 4.23398832e+01] [ 5.31936729e-02 9.98584193e-01 2.07853892e-04 2.47498853e+00] [-2.78500134e-03 -5.97932909e-05 9.99996120e-01 5.86243367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.26140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.37, Y:2.47, Z:0.06 [[ 9.98371953e-01 -5.69749952e-02 2.70064315e-03 4.23680202e+01] [ 5.69746555e-02 9.98375604e-01 2.02602585e-04 2.47240028e+00] [-2.70779952e-03 -4.84045255e-05 9.99996333e-01 5.85023188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.29140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.40, Y:2.47, Z:0.06 [[ 9.98295532e-01 -5.83356536e-02 1.72688175e-03 4.23960395e+01] [ 5.83355168e-02 9.98297025e-01 1.29572390e-04 2.47488372e+00] [-1.73149960e-03 -2.86129994e-05 9.99998501e-01 5.76624360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.32140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.43, Y:2.47, Z:0.06 [[ 9.98192656e-01 -6.00768837e-02 1.47953771e-03 4.24251856e+01] [ 6.00767855e-02 9.98193753e-01 1.10817113e-04 2.47379019e+00] [-1.48352284e-03 -2.17309586e-05 9.99998899e-01 5.70371053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.35140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.45, Y:2.47, Z:0.06 [[ 9.98055547e-01 -6.23063517e-02 1.74447662e-03 4.24538780e+01] [ 6.23062178e-02 9.98057072e-01 1.31057278e-04 2.47308919e+00] [-1.74925292e-03 -2.21107034e-05 9.99998470e-01 5.71969007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.38140051299999 meters Centerline goodness [0,1] 0.9998909844107707 Centerline is valid? [True, True] Translation: X:42.48, Y:2.47, Z:0.06 [[ 9.97643469e-01 -6.85193068e-02 3.55144873e-03 4.24835304e+01] [ 6.85187866e-02 9.97649790e-01 2.68088715e-04 2.46841804e+00] [-3.56147134e-03 -2.41159978e-05 9.99993658e-01 5.97771117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.41140051299999 meters Centerline goodness [0,1] 0.999892530897367 Centerline is valid? [True, True] Translation: X:42.51, Y:2.47, Z:0.06 [[ 9.97387516e-01 -7.21203893e-02 4.09779443e-03 4.25121299e+01] [ 7.21197241e-02 9.97395934e-01 3.10066324e-04 2.46670634e+00] [-4.10948561e-03 -1.37244767e-05 9.99991556e-01 6.08234736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.44140051299999 meters Centerline goodness [0,1] 0.999869511319893 Centerline is valid? [True, True] Translation: X:42.54, Y:2.47, Z:0.06 [[ 9.97114689e-01 -7.57961030e-02 4.15297067e-03 4.25402403e+01] [ 7.57954487e-02 9.97123338e-01 3.14952181e-04 2.46533285e+00] [-4.16489613e-03 7.32829209e-07 9.99991327e-01 6.07934089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.47140051299999 meters Centerline goodness [0,1] 0.9999132113953438 Centerline is valid? [True, True] Translation: X:42.57, Y:2.46, Z:0.06 [[ 9.96843673e-01 -7.92973080e-02 3.82479831e-03 4.25688788e+01] [ 7.92967762e-02 9.96851010e-01 2.90737993e-04 2.46471772e+00] [-3.83580880e-03 1.34738464e-05 9.99992643e-01 6.05139708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.501400513 meters Centerline goodness [0,1] 0.9999350171121605 Centerline is valid? [True, True] Translation: X:42.60, Y:2.46, Z:0.06 [[ 9.96578894e-01 -8.25382471e-02 4.23627370e-03 4.25968444e+01] [ 8.25376203e-02 9.96587897e-01 3.22884991e-04 2.46405711e+00] [-4.24846946e-03 2.78715832e-05 9.99990975e-01 6.05319358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.531400513 meters Centerline goodness [0,1] 0.9998694942903752 Centerline is valid? [True, True] Translation: X:42.63, Y:2.46, Z:0.06 [[ 9.96308982e-01 -8.57242154e-02 4.44657813e-03 4.26261243e+01] [ 8.57235544e-02 9.96318903e-01 3.39381437e-04 2.46416051e+00] [-4.45930306e-03 4.30477088e-05 9.99990056e-01 6.13759577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.561400513 meters Centerline goodness [0,1] 0.9998706701442028 Centerline is valid? [True, True] Translation: X:42.66, Y:2.46, Z:0.06 [[ 9.95765064e-01 -9.18574619e-02 3.76080855e-03 4.26555842e+01] [ 9.18570307e-02 9.95772164e-01 2.87602400e-04 2.45736186e+00] [-3.77132690e-03 5.90722840e-05 9.99992887e-01 6.13275145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.591400513 meters Centerline goodness [0,1] 0.9996322893234123 Centerline is valid? [True, True] Translation: X:42.68, Y:2.45, Z:0.06 [[ 9.95464000e-01 -9.51124854e-02 2.24481936e-03 4.26835311e+01] [ 9.51123400e-02 9.95466530e-01 1.71655918e-04 2.45380789e+00] [-2.25096916e-03 4.26327355e-05 9.99997466e-01 5.93296889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.62140051299998 meters Centerline goodness [0,1] 0.9998693066718944 Centerline is valid? [True, True] Translation: X:42.71, Y:2.45, Z:0.06 [[ 9.95136822e-01 -9.85000684e-02 6.64915411e-04 4.27136849e+01] [ 9.85000564e-02 9.95137044e-01 5.08354803e-05 2.45147257e+00] [-6.66689255e-04 1.49059472e-05 9.99999778e-01 5.74157074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.65140051299998 meters Centerline goodness [0,1] 0.9998918544793874 Centerline is valid? [True, True] Translation: X:42.74, Y:2.45, Z:0.06 [[ 9.94782146e-01 -1.02021139e-01 4.11320341e-04 4.27431872e+01] [ 1.02021135e-01 9.94782231e-01 3.13779751e-05 2.44962368e+00] [-4.12375383e-04 1.07491187e-05 9.99999915e-01 5.67984039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.68140051299999 meters Centerline goodness [0,1] 0.9998699243393241 Centerline is valid? [True, True] Translation: X:42.77, Y:2.45, Z:0.06 [[ 9.94440895e-01 -1.05286952e-01 1.40138994e-03 4.27714445e+01] [ 1.05286905e-01 9.94441882e-01 1.07251784e-04 2.44773720e+00] [-1.40489306e-03 4.08924497e-05 9.99999012e-01 5.76730046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.71140051299999 meters Centerline goodness [0,1] 0.9998282967032966 Centerline is valid? [True, True] Translation: X:42.80, Y:2.45, Z:0.06 [[ 9.94154253e-01 -1.07932458e-01 2.81180329e-03 4.28011871e+01] [ 1.07932280e-01 9.94158225e-01 2.15614333e-04 2.44656760e+00] [-2.81864915e-03 8.91304333e-05 9.99996024e-01 5.98543966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.74140051299999 meters Centerline goodness [0,1] 0.9998922669194803 Centerline is valid? [True, True] Translation: X:42.83, Y:2.44, Z:0.06 [[ 9.93924159e-01 -1.10031141e-01 2.81322186e-03 4.28307737e+01] [ 1.10030971e-01 9.93928136e-01 2.15778612e-04 2.44494610e+00] [-2.81988273e-03 9.50739563e-05 9.99996020e-01 6.01796189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.77140051299999 meters Centerline goodness [0,1] 0.9997828635949103 Centerline is valid? [True, True] Translation: X:42.86, Y:2.45, Z:0.06 [[ 9.93989905e-01 -1.09450837e-01 2.14075357e-03 4.28594740e+01] [ 1.09450738e-01 9.93992208e-01 1.64005463e-04 2.44918967e+00] [-2.14584290e-03 7.12872830e-05 9.99997695e-01 5.97169468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.80140051299999 meters Centerline goodness [0,1] 0.9998281528580327 Centerline is valid? [True, True] Translation: X:42.89, Y:2.45, Z:0.06 [[ 9.94102723e-01 -1.08417089e-01 2.34753036e-03 4.28875613e+01] [ 1.08416965e-01 9.94105492e-01 1.80450182e-04 2.45214736e+00] [-2.35325671e-03 7.51261002e-05 9.99997228e-01 6.00426001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.83140051299999 meters Centerline goodness [0,1] 0.9998281528580327 Centerline is valid? [True, True] Translation: X:42.92, Y:2.45, Z:0.06 [[ 9.94081470e-01 -1.08611784e-01 2.34752641e-03 4.29150235e+01] [ 1.08611660e-01 9.94084239e-01 1.80501939e-04 2.45443710e+00] [-2.35324364e-03 7.55351072e-05 9.99997228e-01 5.99356956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.86140051299999 meters Centerline goodness [0,1] 0.9999783197831978 Centerline is valid? [True, True] Translation: X:42.94, Y:2.46, Z:0.06 [[ 9.94313924e-01 -1.06429356e-01 3.55137555e-03 4.29431487e+01] [ 1.06429055e-01 9.94320261e-01 2.74204359e-04 2.46068593e+00] [-3.56038806e-03 1.05324330e-04 9.99993656e-01 6.24456413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.891400513 meters Centerline goodness [0,1] 0.9997855089871734 Centerline is valid? [True, True] Translation: X:42.97, Y:2.46, Z:0.06 [[ 9.94294364e-01 -1.06628427e-01 3.01584632e-03 4.29706906e+01] [ 1.06628211e-01 9.94298934e-01 2.32965946e-04 2.46035666e+00] [-3.02349357e-03 8.99375696e-05 9.99995425e-01 6.17582827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.921400513 meters Centerline goodness [0,1] 0.9998275601922704 Centerline is valid? [True, True] Translation: X:43.00, Y:2.47, Z:0.06 [[ 9.94252268e-01 -1.07038711e-01 2.26760814e-03 4.29986278e+01] [ 1.07038589e-01 9.94254852e-01 1.75246581e-04 2.46654407e+00] [-2.27333856e-03 6.84822646e-05 9.99997414e-01 6.03431491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.951400513 meters Centerline goodness [0,1] 0.9998268510702768 Centerline is valid? [True, True] Translation: X:43.03, Y:2.47, Z:0.06 [[ 9.94179933e-01 -1.07716091e-01 1.87178807e-03 4.30277019e+01] [ 1.07716010e-01 9.94181694e-01 1.44494745e-04 2.47068583e+00] [-1.87646185e-03 5.79677662e-05 9.99998238e-01 5.93854184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.981400513 meters Centerline goodness [0,1] 0.9998698368622007 Centerline is valid? [True, True] Translation: X:43.06, Y:2.47, Z:0.06 [[ 9.94092422e-01 -1.08522382e-01 1.77455460e-03 4.30558289e+01] [ 1.08522310e-01 9.94094004e-01 1.37447161e-04 2.47014414e+00] [-1.77899018e-03 5.59435834e-05 9.99998416e-01 5.85662963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.01140051299998 meters Centerline goodness [0,1] 0.9998915095363118 Centerline is valid? [True, True] Translation: X:43.08, Y:2.47, Z:0.06 [[ 9.93978863e-01 -1.09567121e-01 1.03273305e-03 4.30844532e+01] [ 1.09567097e-01 9.93979399e-01 7.96942685e-05 2.47252408e+00] [-1.03524725e-03 3.39391439e-05 9.99999464e-01 5.80514679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.04140051299999 meters Centerline goodness [0,1] 0.9998275787749472 Centerline is valid? [True, True] Translation: X:43.11, Y:2.47, Z:0.05 [[ 9.93703839e-01 -1.12038456e-01 -2.55949795e-04 4.31133934e+01] [ 1.12038454e-01 9.93703872e-01 -2.01487862e-05 2.46960425e+00] [ 2.56595741e-04 -8.65429308e-06 9.99999967e-01 5.49573054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.07140051299999 meters Centerline goodness [0,1] 0.9997845848950928 Centerline is valid? [True, True] Translation: X:43.14, Y:2.47, Z:0.05 [[ 9.93548488e-01 -1.13407233e-01 -4.49090825e-04 4.31412774e+01] [ 1.13407228e-01 9.93548589e-01 -3.52495590e-05 2.46946589e+00] [ 4.50191110e-04 -1.59079997e-05 9.99999899e-01 5.41124034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.10140051299999 meters Centerline goodness [0,1] 0.9998701186249892 Centerline is valid? [True, True] Translation: X:43.17, Y:2.47, Z:0.05 [[ 9.93341411e-01 -1.15207059e-01 -4.18281677e-04 4.31711712e+01] [ 1.15207055e-01 9.93341499e-01 -3.27172943e-05 2.47084050e+00] [ 4.19265811e-04 -1.56895568e-05 9.99999912e-01 5.41833040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.13140051299999 meters Centerline goodness [0,1] 0.9998500107135204 Centerline is valid? [True, True] Translation: X:43.20, Y:2.47, Z:0.05 [[ 9.93136481e-01 -1.16958920e-01 -7.35320424e-04 4.32001955e+01] [ 1.16958910e-01 9.93136753e-01 -5.75169544e-05 2.46677369e+00] [ 7.37000860e-04 -2.88800893e-05 9.99999728e-01 5.37101265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.16140051299999 meters Centerline goodness [0,1] 0.9998915354245304 Centerline is valid? [True, True] Translation: X:43.23, Y:2.47, Z:0.05 [[ 9.92848397e-01 -1.19360108e-01 -2.28573734e-03 4.32301331e+01] [ 1.19360013e-01 9.92851024e-01 -1.78491586e-04 2.46700048e+00] [ 2.29070143e-03 -9.56105540e-05 9.99997372e-01 5.19937322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.19140051299999 meters Centerline goodness [0,1] 0.9998697747102487 Centerline is valid? [True, True] Translation: X:43.26, Y:2.47, Z:0.05 [[ 9.92810171e-01 -1.19676835e-01 -2.32805492e-03 4.32592854e+01] [ 1.19676735e-01 9.92812896e-01 -1.82787429e-04 2.47055305e+00] [ 2.33319837e-03 -9.71407933e-05 9.99997273e-01 5.19416330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.22140051299999 meters Centerline goodness [0,1] 0.9997853294120173 Centerline is valid? [True, True] Translation: X:43.29, Y:2.47, Z:0.05 [[ 9.92861976e-01 -1.19261779e-01 -1.31344233e-03 4.32872170e+01] [ 1.19261747e-01 9.92862843e-01 -1.03063347e-04 2.47258649e+00] [ 1.31635961e-03 -5.43157497e-05 9.99999132e-01 5.35377007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.251400513 meters Centerline goodness [0,1] 0.9998925216568861 Centerline is valid? [True, True] Translation: X:43.32, Y:2.47, Z:0.06 [[ 9.92952928e-01 -1.18508988e-01 -3.19298627e-04 4.33154456e+01] [ 1.18508985e-01 9.92952980e-01 -2.57201326e-05 2.47491098e+00] [ 3.20096590e-04 -1.23008754e-05 9.99999949e-01 5.51622812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.281400513 meters Centerline goodness [0,1] 0.9998277606734558 Centerline is valid? [True, True] Translation: X:43.34, Y:2.48, Z:0.06 [[ 9.93063289e-01 -1.17580836e-01 -2.26448629e-04 4.33445966e+01] [ 1.17580834e-01 9.93063315e-01 -1.81300645e-05 2.47959267e+00] [ 2.27009575e-04 -8.62171732e-06 9.99999974e-01 5.57159100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.311400513 meters Centerline goodness [0,1] 0.999848501244454 Centerline is valid? [True, True] Translation: X:43.37, Y:2.49, Z:0.06 [[ 9.93155023e-01 -1.16801978e-01 -6.31714867e-04 4.33734325e+01] [ 1.16801969e-01 9.93155223e-01 -5.04016157e-05 2.48597797e+00] [ 6.33277928e-04 -2.37289228e-05 9.99999799e-01 5.50005949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.341400513 meters Centerline goodness [0,1] 0.999739933249534 Centerline is valid? [True, True] Translation: X:43.40, Y:2.50, Z:0.05 [[ 9.93261336e-01 -1.15890846e-01 -1.10956879e-03 4.34018614e+01] [ 1.15890820e-01 9.93261954e-01 -8.82134043e-05 2.49574207e+00] [ 1.11231559e-03 -4.09698730e-05 9.99999381e-01 5.34672330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.37140051299998 meters Centerline goodness [0,1] 0.9998908082374266 Centerline is valid? [True, True] Translation: X:43.43, Y:2.50, Z:0.05 [[ 9.93302851e-01 -1.15537632e-01 -7.07775707e-04 4.34307253e+01] [ 1.15537621e-01 9.93303103e-01 -5.66441318e-05 2.50214816e+00] [ 7.09580335e-04 -2.55099441e-05 9.99999748e-01 5.39684889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.40140051299998 meters Centerline goodness [0,1] 0.9998907939281424 Centerline is valid? [True, True] Translation: X:43.46, Y:2.51, Z:0.05 [[ 9.93160784e-01 -1.16754505e-01 -2.06965112e-04 4.34590376e+01] [ 1.16754504e-01 9.93160805e-01 -1.70944617e-05 2.50940935e+00] [ 2.07545493e-04 -7.18656003e-06 9.99999978e-01 5.46041552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.43140051299999 meters Centerline goodness [0,1] 0.9998486257379495 Centerline is valid? [True, True] Translation: X:43.49, Y:2.51, Z:0.05 [[ 9.93031138e-01 -1.17849591e-01 -7.95534072e-04 4.34868963e+01] [ 1.17849578e-01 9.93031456e-01 -6.34905850e-05 2.50923298e+00] [ 7.97472697e-04 -3.07052270e-05 9.99999682e-01 5.37226929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.46140051299999 meters Centerline goodness [0,1] 0.9996998542149044 Centerline is valid? [True, True] Translation: X:43.52, Y:2.51, Z:0.05 [[ 9.92964998e-01 -1.18404093e-01 -9.91689852e-04 4.35151269e+01] [ 1.18404073e-01 9.92965492e-01 -7.89827008e-05 2.51067937e+00] [ 9.94065677e-04 -3.89930605e-05 9.99999505e-01 5.31513705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.49140051299999 meters Centerline goodness [0,1] 0.9998490631131811 Centerline is valid? [True, True] Translation: X:43.54, Y:2.52, Z:0.05 [[ 9.92912173e-01 -1.18849911e-01 -3.38128902e-04 4.35426117e+01] [ 1.18849909e-01 9.92912231e-01 -2.70990016e-05 2.51552454e+00] [ 3.38953037e-04 -1.32796607e-05 9.99999942e-01 5.34701323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.52140051299999 meters Centerline goodness [0,1] 0.9998924731182796 Centerline is valid? [True, True] Translation: X:43.57, Y:2.52, Z:0.06 [[ 9.92872391e-01 -1.19178750e-01 9.16646060e-04 4.35701381e+01] [ 1.19178734e-01 9.92872814e-01 7.22776403e-05 2.52113215e+00] [-9.18726912e-04 3.74822430e-05 9.99999577e-01 5.53688196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.55140051299999 meters Centerline goodness [0,1] 0.999892844131073 Centerline is valid? [True, True] Translation: X:43.60, Y:2.53, Z:0.06 [[ 9.92833706e-01 -1.19487154e-01 2.01290390e-03 4.35972750e+01] [ 1.19487075e-01 9.92835743e-01 1.59970064e-04 2.53034248e+00] [-2.01759731e-03 8.16923285e-05 9.99997961e-01 5.73704601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.58140051299999 meters Centerline goodness [0,1] 0.9998921693372728 Centerline is valid? [True, True] Translation: X:43.62, Y:2.53, Z:0.06 [[ 9.92887559e-01 -1.19022641e-01 2.81175085e-03 4.36236271e+01] [ 1.18989972e-01 9.92846929e-01 9.81641749e-03 2.53421789e+00] [-3.96001414e-03 -9.41202864e-03 9.99947865e-01 6.09116183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.61140051299999 meters Centerline goodness [0,1] 0.999785633132543 Centerline is valid? [True, True] Translation: X:43.65, Y:2.55, Z:0.05 [[ 9.92711656e-01 -1.20486257e-01 2.57485671e-03 4.36527418e+01] [ 1.20505266e-01 9.92668807e-01 -9.33381775e-03 2.54974232e+00] [-1.43138317e-03 9.57607347e-03 9.99953124e-01 5.49267820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.641400513 meters Centerline goodness [0,1] 0.999825434232347 Centerline is valid? [True, True] Translation: X:43.68, Y:2.55, Z:0.06 [[ 9.92592703e-01 -1.21483351e-01 1.23310202e-03 4.36813867e+01] [ 1.21483322e-01 9.92593468e-01 9.86179768e-05 2.54790045e+00] [-1.23594945e-03 5.19138448e-05 9.99999235e-01 5.63383822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.671400513 meters Centerline goodness [0,1] 0.9999125377181091 Centerline is valid? [True, True] Translation: X:43.71, Y:2.55, Z:0.06 [[ 9.92430223e-01 -1.22805962e-01 9.73495880e-04 4.37101868e+01] [ 1.22805945e-01 9.92430700e-01 7.75254829e-05 2.55461100e+00] [-9.75647789e-04 4.26124487e-05 9.99999523e-01 5.58960423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.701400513 meters Centerline goodness [0,1] 0.9998498595113999 Centerline is valid? [True, True] Translation: X:43.74, Y:2.55, Z:0.06 [[ 9.92050510e-01 -1.25830053e-01 1.60699700e-03 4.37394913e+01] [ 1.25830009e-01 9.92051809e-01 1.29068204e-04 2.55053799e+00] [-1.61046494e-03 7.41662700e-05 9.99998700e-01 5.66636701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.731400513 meters Centerline goodness [0,1] 0.9999353253136722 Centerline is valid? [True, True] Translation: X:43.77, Y:2.55, Z:0.06 [[ 9.91858196e-01 -1.27340044e-01 1.35389363e-03 4.37685400e+01] [ 1.27340014e-01 9.91859118e-01 1.08731738e-04 2.55380416e+00] [-1.35671765e-03 6.45583689e-05 9.99999078e-01 5.59083132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.76140051299998 meters Centerline goodness [0,1] 0.9998482319016543 Centerline is valid? [True, True] Translation: X:43.80, Y:2.56, Z:0.05 [[ 9.91668967e-01 -1.28811978e-01 -3.67587288e-04 4.37972673e+01] [ 1.28811976e-01 9.91669035e-01 -2.97184345e-05 2.56311058e+00] [ 3.68353021e-04 -1.78787956e-05 9.99999932e-01 5.33713587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.79140051299999 meters Centerline goodness [0,1] 0.999847614071752 Centerline is valid? [True, True] Translation: X:43.82, Y:2.57, Z:0.05 [[ 9.91615581e-01 -1.29208132e-01 -1.94880035e-03 4.38247295e+01] [ 1.29208072e-01 9.91617492e-01 -1.57145842e-04 2.56586395e+00] [ 1.95276903e-03 -9.59724699e-05 9.99998089e-01 5.00407050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.82140051299999 meters Centerline goodness [0,1] 0.9996797130228685 Centerline is valid? [True, True] Translation: X:43.85, Y:2.57, Z:0.05 [[ 9.91635065e-01 -1.29044193e-01 -2.73768334e-03 4.38522416e+01] [ 1.29044073e-01 9.91638835e-01 -2.21023863e-04 2.56985389e+00] [ 2.74331496e-03 -1.34106797e-04 9.99996228e-01 4.80596598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.85140051299999 meters Centerline goodness [0,1] 0.9997856974476566 Centerline is valid? [True, True] Translation: X:43.88, Y:2.58, Z:0.05 [[ 9.91637981e-01 -1.29026276e-01 -2.51688497e-03 4.38811191e+01] [ 1.29026173e-01 9.91641168e-01 -2.03957753e-04 2.57641403e+00] [ 2.52216266e-03 -1.22491781e-04 9.99996812e-01 4.86290405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.88140051299999 meters Centerline goodness [0,1] 0.9998492126747517 Centerline is valid? [True, True] Translation: X:43.91, Y:2.59, Z:0.05 [[ 9.91616573e-01 -1.29213871e-01 -5.88992638e-04 4.39096953e+01] [ 1.29213866e-01 9.91616748e-01 -4.83383079e-05 2.58533732e+00] [ 5.90300944e-04 -2.81729482e-05 9.99999825e-01 5.31188736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.91140051299999 meters Centerline goodness [0,1] 0.9999566611770825 Centerline is valid? [True, True] Translation: X:43.94, Y:2.59, Z:0.05 [[ 9.91604919e-01 -1.29303449e-01 5.50988200e-04 4.39374631e+01] [ 1.29303445e-01 9.91605071e-01 4.40146075e-05 2.59497820e+00] [-5.52053934e-04 2.75995710e-05 9.99999847e-01 5.41891163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.94140051299999 meters Centerline goodness [0,1] 0.9998055819580057 Centerline is valid? [True, True] Translation: X:43.97, Y:2.59, Z:0.05 [[ 9.91507992e-01 -1.30043320e-01 7.97532770e-04 4.39650803e+01] [ 1.30043310e-01 9.91508312e-01 6.45048111e-05 2.59474901e+00] [-7.99148791e-04 3.97567655e-05 9.99999680e-01 5.43728611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.97140051299999 meters Centerline goodness [0,1] 0.9997636594117267 Centerline is valid? [True, True] Translation: X:43.99, Y:2.60, Z:0.05 [[ 9.91338022e-01 -1.31328613e-01 1.31212625e-03 4.39945856e+01] [ 1.31328587e-01 9.91338888e-01 1.06460565e-04 2.60112047e+00] [-1.31474310e-03 6.67812804e-05 9.99999133e-01 5.43851175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.001400513 meters Centerline goodness [0,1] 0.9952008301266808 Centerline is valid? [True, True] Translation: X:44.02, Y:2.60, Z:0.05 [[ 9.90683449e-01 -1.36179900e-01 1.15727248e-03 4.40244082e+01] [ 1.36179883e-01 9.90684123e-01 9.39454305e-05 2.59761041e+00] [-1.15928495e-03 6.45270477e-05 9.99999326e-01 5.24699182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.031400513 meters Centerline goodness [0,1] 0.9992386835751419 Centerline is valid? [True, True] Translation: X:44.05, Y:2.61, Z:0.05 [[ 9.90383117e-01 -1.38350466e-01 6.55329293e-04 4.40545306e+01] [ 1.38350461e-01 9.90383333e-01 5.32268540e-05 2.60583545e+00] [-6.56391170e-04 3.79501323e-05 9.99999784e-01 5.13153058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.061400513 meters Centerline goodness [0,1] 0.9986934935981187 Centerline is valid? [True, True] Translation: X:44.08, Y:2.61, Z:0.05 [[ 9.90099063e-01 -1.40370215e-01 -2.20579628e-04 4.40846561e+01] [ 1.40370214e-01 9.90099087e-01 -1.79665286e-05 2.60953175e+00] [ 2.20917654e-04 -1.31741665e-05 9.99999976e-01 5.08907606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.091400513 meters Centerline goodness [0,1] 0.9975182355733955 Centerline is valid? [True, True] Translation: X:44.11, Y:2.61, Z:0.05 [[ 9.89971255e-01 -1.41268522e-01 -3.44496075e-04 4.41125103e+01] [ 1.41268521e-01 9.89971315e-01 -2.83758888e-05 2.61102702e+00] [ 3.45049852e-04 -2.05751366e-05 9.99999940e-01 5.01183200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.12140051299998 meters Centerline goodness [0,1] 0.9166162489196197 Centerline is valid? [True, False] Translation: X:44.11, Y:2.61, Z:0.05 [[ 9.90563134e-01 -1.37053946e-01 -9.45606487e-04 4.41126315e+01] [ 1.37056999e-01 9.90550099e-01 5.08731737e-03 2.60655017e+00] [ 2.39433678e-04 -5.16891102e-03 9.99986612e-01 5.03120211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.15140051299998 meters Centerline goodness [0,1] 0.9979483857034878 Centerline is valid? [False, True] Translation: X:44.11, Y:2.61, Z:0.05 [[ 9.91135472e-01 -1.32845182e-01 -1.62280592e-03 4.41132392e+01] [ 1.32854624e-01 9.91090499e-01 9.44835051e-03 2.60607662e+00] [ 3.53179687e-04 -9.58019261e-03 9.99954047e-01 4.97213037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.18140051299999 meters Centerline goodness [0,1] 0.997582507716549 Centerline is valid? [True, True] Translation: X:44.14, Y:2.62, Z:0.05 [[ 9.91187495e-01 -1.32460324e-01 -1.26962311e-03 4.41407225e+01] [ 1.32460311e-01 9.91188306e-01 -9.46542347e-05 2.61849948e+00] [ 1.27097351e-03 -7.43545780e-05 9.99999190e-01 4.64789297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.21140051299999 meters Centerline goodness [0,1] 0.9992369075131906 Centerline is valid? [True, True] Translation: X:44.17, Y:2.63, Z:0.05 [[ 9.91193126e-01 -1.32421871e-01 -7.96408862e-04 4.41692365e+01] [ 1.32421865e-01 9.91193445e-01 -5.98686306e-05 2.62531272e+00] [ 7.97323159e-04 -4.61205719e-05 9.99999681e-01 4.76531672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.24140051299999 meters Centerline goodness [0,1] 0.9982023737329984 Centerline is valid? [True, True] Translation: X:44.20, Y:2.63, Z:0.05 [[ 9.91151499e-01 -1.32735451e-01 -7.26744153e-05 4.41966222e+01] [ 1.32735451e-01 9.91151502e-01 -5.71330223e-06 2.62643673e+00] [ 7.27897136e-05 -3.98372318e-06 9.99999997e-01 4.81696055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.27140051299999 meters Centerline goodness [0,1] 0.9934609593460959 Centerline is valid? [True, True] Translation: X:44.22, Y:2.63, Z:0.05 [[ 9.91041948e-01 -1.33549274e-01 6.69821027e-04 4.42241319e+01] [ 1.33549271e-01 9.91042174e-01 4.90991244e-05 2.62649428e+00] [-6.70378039e-04 4.07948183e-05 9.99999774e-01 4.83990645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.30140051299999 meters Centerline goodness [0,1] 0.9986756117154085 Centerline is valid? [True, True] Translation: X:44.25, Y:2.64, Z:0.05 [[ 9.90854228e-01 -1.34912028e-01 2.57736106e-03 4.42527869e+01] [ 1.34911986e-01 9.90857568e-01 1.90992955e-04 2.63649292e+00] [-2.57956495e-03 1.58470721e-04 9.99996660e-01 5.11416915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.33140051299999 meters Centerline goodness [0,1] 0.9897055616139585 Centerline is valid? [True, True] Translation: X:44.28, Y:2.63, Z:0.05 [[ 9.90869255e-01 -1.34773272e-01 3.77948003e-03 4.42805765e+01] [ 1.34773180e-01 9.90876436e-01 2.80396544e-04 2.63453736e+00] [-3.78278766e-03 2.31536226e-04 9.99992818e-01 5.22391868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.36140051299999 meters Centerline goodness [0,1] 0.9649591621231386 Centerline is valid? [True, True] Translation: X:44.31, Y:2.63, Z:0.05 [[ 9.90946197e-01 -1.34196164e-01 4.12612775e-03 4.43084460e+01] [ 1.34196047e-01 9.90954755e-01 3.06403834e-04 2.63257592e+00] [-4.12992413e-03 2.50080321e-04 9.99991441e-01 5.32617564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.391400513 meters Centerline goodness [0,1] 0.995674101126038 Centerline is valid? [True, True] Translation: X:44.34, Y:2.64, Z:0.05 [[ 9.91024280e-01 -1.33622371e-01 3.99221316e-03 4.43364295e+01] [ 1.33622257e-01 9.91032292e-01 2.96522696e-04 2.64065976e+00] [-3.99603423e-03 2.39587342e-04 9.99991987e-01 5.37757933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.421400513 meters Centerline goodness [0,1] 0.9979530953988197 Centerline is valid? [True, True] Translation: X:44.36, Y:2.65, Z:0.05 [[ 9.91181266e-01 -1.32473098e-01 3.25197647e-03 4.43647858e+01] [ 1.32473014e-01 9.91186583e-01 2.42198171e-04 2.64519551e+00] [-3.25540018e-03 1.90736834e-04 9.99994683e-01 5.27669200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.451400513 meters Centerline goodness [0,1] 0.9995846086576301 Centerline is valid? [True, True] Translation: X:44.39, Y:2.66, Z:0.05 [[ 9.91610897e-01 -1.29256712e-01 7.29550407e-04 4.43933822e+01] [ 1.29256707e-01 9.91611164e-01 5.43017187e-05 2.66218116e+00] [-7.30449190e-04 4.04531071e-05 9.99999732e-01 5.10719553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.48140051299998 meters Centerline goodness [0,1] 0.9998913232481308 Centerline is valid? [True, True] Translation: X:44.42, Y:2.67, Z:0.05 [[ 9.91896210e-01 -1.27046368e-01 1.06257895e-03 4.44228926e+01] [ 1.27046356e-01 9.91896777e-01 7.91915187e-05 2.67042021e+00] [-1.06402963e-03 5.64470169e-05 9.99999432e-01 4.98494633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.51140051299998 meters Centerline goodness [0,1] 0.9997167138810198 Centerline is valid? [True, True] Translation: X:44.45, Y:2.67, Z:0.05 [[ 9.91993421e-01 -1.26280789e-01 1.48854969e-03 4.44508414e+01] [ 1.26280764e-01 9.91994534e-01 1.10785958e-04 2.67248991e+00] [-1.49062329e-03 7.80762512e-05 9.99998886e-01 5.04244731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.54140051299999 meters Centerline goodness [0,1] 0.9996987887002733 Centerline is valid? [True, True] Translation: X:44.48, Y:2.68, Z:0.05 [[ 9.91588941e-01 -1.29369834e-01 3.84932083e-03 4.44808759e+01] [ 1.29369691e-01 9.91596390e-01 2.87344914e-04 2.67847459e+00] [-3.85414640e-03 2.13057406e-04 9.99992550e-01 5.29975520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.57140051299999 meters Centerline goodness [0,1] 0.998165889867081 Centerline is valid? [True, True] Translation: X:44.51, Y:2.68, Z:0.05 [[ 9.91081342e-01 -1.33202365e-01 3.86059668e-03 4.45117018e+01] [ 1.33202249e-01 9.91088834e-01 2.88250891e-04 2.67842318e+00] [-3.86458996e-03 2.28560081e-04 9.99992506e-01 5.36371539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.60140051299999 meters Centerline goodness [0,1] 0.9798173954829409 Centerline is valid? [True, True] Translation: X:44.54, Y:2.68, Z:0.05 [[ 9.90525468e-01 -1.37285028e-01 3.48117071e-03 4.45417471e+01] [ 1.37284959e-01 9.90531561e-01 2.59906995e-04 2.67643633e+00] [-3.48389080e-03 2.20467879e-04 9.99993907e-01 5.22402356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.63140051299999 meters Centerline goodness [0,1] 0.8206091217164195 Centerline is valid? [True, False] Translation: X:44.54, Y:2.67, Z:0.05 [[ 9.90506111e-01 -1.37430936e-01 3.22206781e-03 4.45428138e+01] [ 1.37429395e-01 9.90511321e-01 6.96148897e-04 2.67394606e+00] [-3.28716703e-03 -2.46732908e-04 9.99994567e-01 5.18167771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.66140051299999 meters Centerline goodness [0,1] 0.9054808149846434 Centerline is valid? [False, False] Translation: X:44.54, Y:2.67, Z:0.05 [[ 9.90493768e-01 -1.37524426e-01 3.02136395e-03 4.45438332e+01] [ 1.37520664e-01 9.90497880e-01 1.42032804e-03 2.67000377e+00] [-3.18798439e-03 -9.91326099e-04 9.99994427e-01 5.12671364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.69140051299999 meters Centerline goodness [0,1] 0.7575081517075682 Centerline is valid? [False, False] Translation: X:44.54, Y:2.67, Z:0.05 [[ 9.90479668e-01 -1.37629938e-01 2.83330833e-03 4.45449349e+01] [ 1.37624090e-01 9.90482165e-01 2.16570067e-03 2.66591329e+00] [-3.10440662e-03 -1.75515100e-03 9.99993641e-01 5.05294208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.72140051299999 meters Centerline goodness [0,1] 0.7309763370733486 Centerline is valid? [False, False] Translation: X:44.55, Y:2.66, Z:0.05 [[ 9.90419071e-01 -1.38069018e-01 2.64780529e-03 4.45462899e+01] [ 1.38061886e-01 9.90419894e-01 2.71097357e-03 2.66229013e+00] [-2.99674050e-03 -2.31943893e-03 9.99992820e-01 4.94679822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.751400513 meters Centerline goodness [0,1] 0.7309763370733486 Centerline is valid? [False, False] Translation: X:44.55, Y:2.66, Z:0.05 [[ 9.90978342e-01 -1.34006461e-01 2.04783114e-03 4.45464045e+01] [ 1.33986219e-01 9.90950905e-01 7.99980779e-03 2.65655451e+00] [-3.10132605e-03 -7.65325511e-03 9.99965904e-01 4.98834759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.781400513 meters Centerline goodness [0,1] 0.6749871111874892 Centerline is valid? [False, False] Translation: X:44.55, Y:2.66, Z:0.05 [[ 9.90986484e-01 -1.33947652e-01 1.95333677e-03 4.45468865e+01] [ 1.33927669e-01 9.90957561e-01 8.15423819e-03 2.65582661e+00] [-3.02791490e-03 -7.81913399e-03 9.99964846e-01 4.95582171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.811400513 meters Centerline goodness [0,1] 0.7246695555603946 Centerline is valid? [False, False] Translation: X:44.53, Y:2.66, Z:0.05 [[ 9.91150942e-01 -1.32729809e-01 -1.61508611e-03 4.45256253e+01] [ 1.32725846e-01 9.91149992e-01 -2.35426024e-03 2.66119376e+00] [ 1.91327310e-03 2.11906358e-03 9.99995924e-01 5.29259614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.841400513 meters Centerline goodness [0,1] 0.6853267677422141 Centerline is valid? [False, False] Translation: X:44.53, Y:2.65, Z:0.05 [[ 9.91739804e-01 -1.28248380e-01 -2.12476142e-03 4.45252950e+01] [ 1.28254882e-01 9.91735834e-01 3.27431033e-03 2.65437657e+00] [ 1.68727704e-03 -3.51977491e-03 9.99992382e-01 5.37236171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.87140051299998 meters Centerline goodness [0,1] 0.7340038752095444 Centerline is valid? [False, False] Translation: X:44.53, Y:2.66, Z:0.05 [[ 9.91730517e-01 -1.28320759e-01 -2.08915468e-03 4.45250160e+01] [ 1.28326734e-01 9.91727304e-01 3.03370657e-03 2.65553358e+00] [ 1.68258421e-03 -3.27671378e-03 9.99993216e-01 5.40037426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.90140051299998 meters Centerline goodness [0,1] 0.7094272332746101 Centerline is valid? [False, False] Translation: X:44.54, Y:2.66, Z:0.05 [[ 9.92447220e-01 -1.22636312e-01 2.97496797e-03 4.45441703e+01] [ 1.22641726e-01 9.92449536e-01 -1.71057858e-03 2.65777375e+00] [-2.74272653e-03 2.06251416e-03 9.99994112e-01 5.04719351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.93140051299999 meters Centerline goodness [0,1] 0.7540062886262604 Centerline is valid? [False, False] Translation: X:44.54, Y:2.65, Z:0.05 [[ 9.93023595e-01 -1.17884715e-01 2.70814704e-03 4.45429264e+01] [ 1.17872577e-01 9.93019531e-01 4.27400240e-03 2.64966983e+00] [-3.19308246e-03 -3.92496896e-03 9.99987199e-01 5.18212543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.96140051299999 meters Centerline goodness [0,1] 0.8797912463818963 Centerline is valid? [False, False] Translation: X:44.54, Y:2.65, Z:0.05 [[ 9.93038505e-01 -1.17758680e-01 2.72417316e-03 4.45426877e+01] [ 1.17745674e-01 9.93033480e-01 4.52370535e-03 2.64853621e+00] [-3.23790073e-03 -4.17145399e-03 9.99986057e-01 5.22658962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.99140051299999 meters Centerline goodness [0,1] 0.7778018455140147 Centerline is valid? [False, False] Translation: X:44.54, Y:2.65, Z:0.05 [[ 9.93055432e-01 -1.17620227e-01 2.52798224e-03 4.45433520e+01] [ 1.17607298e-01 9.93048738e-01 4.76731131e-03 2.64739435e+00] [-3.07114181e-03 -4.43689524e-03 9.99985441e-01 5.21917284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.02140051299999 meters Centerline goodness [0,1] 0.8318099121018829 Centerline is valid? [False, False] Translation: X:44.53, Y:2.65, Z:0.06 [[ 9.93194212e-01 -1.16409244e-01 -3.76101470e-03 4.45254301e+01] [ 1.16393787e-01 9.93194695e-01 -4.09681605e-03 2.64958067e+00] [ 4.21232711e-03 3.63117525e-03 9.99984535e-01 5.51343511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.05140051299999 meters Centerline goodness [0,1] 0.7383829602260379 Centerline is valid? [False, False] Translation: X:44.53, Y:2.64, Z:0.06 [[ 9.93688643e-01 -1.12080339e-01 -4.56933808e-03 4.45266309e+01] [ 1.12089999e-01 9.93696213e-01 1.91506785e-03 2.64022507e+00] [ 4.32589249e-03 -2.41515828e-03 9.99987727e-01 5.52990853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.08140051299999 meters Centerline goodness [0,1] 0.8199420841077063 Centerline is valid? [False, False] Translation: X:44.53, Y:2.64, Z:0.06 [[ 9.93727456e-01 -1.11733708e-01 -4.61755012e-03 4.45266508e+01] [ 1.11747080e-01 9.93732885e-01 2.74637862e-03 2.63630447e+00] [ 4.28174833e-03 -3.24514958e-03 9.99985568e-01 5.57275226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.11140051299999 meters Centerline goodness [0,1] 0.807546922455044 Centerline is valid? [False, False] Translation: X:44.53, Y:2.63, Z:0.06 [[ 9.93766936e-01 -1.11383412e-01 -4.58394318e-03 4.45261779e+01] [ 1.11400037e-01 9.93769317e-01 3.54631836e-03 2.63259137e+00] [ 4.16038104e-03 -4.03486537e-03 9.99983205e-01 5.66386731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.141400513 meters Centerline goodness [0,1] 0.7506841640269787 Centerline is valid? [False, False] Translation: X:44.55, Y:2.64, Z:0.05 [[ 9.94086239e-01 -1.08590117e-01 8.58225836e-04 4.45464139e+01] [ 1.08592816e-01 9.94077079e-01 -4.28509271e-03 2.63600285e+00] [-3.87823913e-04 4.35294886e-03 9.99990451e-01 5.22907734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.171400513 meters Centerline goodness [0,1] 0.8189215369712626 Centerline is valid? [False, False] Translation: X:44.55, Y:2.63, Z:0.05 [[ 9.94595350e-01 -1.03826189e-01 4.59756418e-04 4.45459582e+01] [ 1.03825447e-01 9.94594523e-01 1.41804681e-03 2.62931152e+00] [-6.04501612e-04 -1.36264835e-03 9.99998889e-01 5.30586052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.201400513 meters Centerline goodness [0,1] 0.7305817354566135 Centerline is valid? [False, False] Translation: X:44.55, Y:2.62, Z:0.05 [[ 9.95084913e-01 -9.90253260e-02 -1.15937019e-05 4.45460181e+01] [ 9.90228650e-02 9.95059344e-01 7.16754316e-03 2.62245342e+00] [-6.98231876e-04 -7.13346210e-03 9.99974313e-01 5.34056063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.23140051299998 meters Centerline goodness [0,1] 0.9593416389450569 Centerline is valid? [False, True] Translation: X:44.53, Y:2.63, Z:0.05 [[ 9.95027902e-01 -9.94502949e-02 5.39565970e-03 4.45287697e+01] [ 9.94495210e-02 9.95042523e-01 4.12213314e-04 2.62758498e+00] [-5.40990558e-03 1.26432023e-04 9.99985358e-01 4.60590326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.26140051299998 meters Centerline goodness [0,1] 0.9214053350683149 Centerline is valid? [True, False] Translation: X:44.53, Y:2.62, Z:0.05 [[ 9.95468264e-01 -9.49557696e-02 5.13204801e-03 4.45280740e+01] [ 9.49224976e-02 9.95464227e-01 6.37911243e-03 2.61909138e+00] [-5.71450373e-03 -5.86305716e-03 9.99966484e-01 4.69013787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.29140051299999 meters Centerline goodness [0,1] 0.9095021645021645 Centerline is valid? [False, False] Translation: X:44.53, Y:2.62, Z:0.05 [[ 9.95463815e-01 -9.49914565e-02 5.33077132e-03 4.45271802e+01] [ 9.49571210e-02 9.95461033e-01 6.36221854e-03 2.61918076e+00] [-5.91093153e-03 -5.82716364e-03 9.99965552e-01 4.74089508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.32140051299999 meters Centerline goodness [0,1] 0.8445467116066028 Centerline is valid? [False, False] Translation: X:44.53, Y:2.62, Z:0.05 [[ 9.95459254e-01 -9.50287874e-02 5.51389284e-03 4.45264576e+01] [ 9.49932341e-02 9.95457427e-01 6.38718468e-03 2.61905225e+00] [-6.09581199e-03 -5.83439958e-03 9.99964400e-01 4.76761110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.35140051299999 meters Centerline goodness [0,1] 0.7514073503285601 Centerline is valid? [False, False] Translation: X:44.53, Y:2.62, Z:0.05 [[ 9.95462699e-01 -9.49982854e-02 5.41662632e-03 4.45267947e+01] [ 9.49611531e-02 9.95458134e-01 6.74407535e-03 2.61722518e+00] [-6.03270032e-03 -6.19910638e-03 9.99962588e-01 4.76109162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.38140051299999 meters Centerline goodness [0,1] 0.7544110324522093 Centerline is valid? [False, False] Translation: X:44.53, Y:2.61, Z:0.05 [[ 9.95487985e-01 -9.47466522e-02 5.17142955e-03 4.45278723e+01] [ 9.47061748e-02 9.95476412e-01 7.57977669e-03 2.61318826e+00] [-5.86619460e-03 -7.05581031e-03 9.99957901e-01 4.70568527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.41140051299999 meters Centerline goodness [0,1] 0.7418817831971289 Centerline is valid? [False, False] Translation: X:44.53, Y:2.61, Z:0.05 [[ 9.95502680e-01 -9.46179655e-02 4.67490376e-03 4.45301534e+01] [ 9.45736368e-02 9.95477768e-01 8.93540721e-03 2.60608538e+00] [-5.49921281e-03 -8.45309918e-03 9.99949151e-01 4.58858221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.44140051299999 meters Centerline goodness [0,1] 0.725136247118885 Centerline is valid? [False, False] Translation: X:44.53, Y:2.62, Z:0.04 [[ 9.95657425e-01 -9.29194300e-02 5.68080689e-03 4.45305985e+01] [ 9.29774803e-02 9.95607558e-01 -1.09899650e-02 2.62187299e+00] [-4.63467299e-03 1.14704274e-02 9.99923472e-01 4.37314727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.47140051299999 meters Centerline goodness [0,1] 0.7486367065416533 Centerline is valid? [False, False] Translation: X:44.53, Y:2.62, Z:0.04 [[ 9.96056504e-01 -8.85446013e-02 5.59416602e-03 4.45291741e+01] [ 8.85762733e-02 9.96053130e-01 -5.69268700e-03 2.61685597e+00] [-5.06802987e-03 6.16574829e-03 9.99968149e-01 4.48917565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.501400513 meters Centerline goodness [0,1] 0.7581838074398249 Centerline is valid? [False, False] Translation: X:44.53, Y:2.61, Z:0.05 [[ 9.96447696e-01 -8.40372214e-02 5.45301037e-03 4.45279949e+01] [ 8.40406354e-02 9.96462248e-01 -3.99580522e-04 2.61209803e+00] [-5.40013933e-03 8.56435547e-04 9.99985052e-01 4.60321944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.531400513 meters Centerline goodness [0,1] 0.7924119710684742 Centerline is valid? [False, False] Translation: X:44.53, Y:2.62, Z:0.05 [[ 9.96438329e-01 -8.41651801e-02 5.18446481e-03 4.45289725e+01] [ 8.41729287e-02 9.96450321e-01 -1.29458213e-03 2.61661027e+00] [-5.05710288e-03 1.72636284e-03 9.99985723e-01 4.55999844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.561400513 meters Centerline goodness [0,1] 0.807974591184171 Centerline is valid? [False, False] Translation: X:44.53, Y:2.61, Z:0.05 [[ 9.96808760e-01 -7.96830843e-02 4.78569204e-03 4.45291367e+01] [ 7.96657306e-02 9.96814717e-01 3.71377700e-03 2.61322538e+00] [-5.06637346e-03 -3.32066979e-03 9.99981652e-01 4.55840370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.591400513 meters Centerline goodness [0,1] 0.9241166290608775 Centerline is valid? [False, False] Translation: X:44.49, Y:2.63, Z:0.04 [[ 9.97139062e-01 -7.54337751e-02 4.84105204e-03 4.44903948e+01] [ 7.54760839e-02 9.97104709e-01 -9.24989707e-03 2.62556469e+00] [-4.12928113e-03 9.58881734e-03 9.99945500e-01 4.49887904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.62140051299998 meters Centerline goodness [0,1] 0.8233024197846711 Centerline is valid? [False, False] Translation: X:44.53, Y:2.63, Z:0.05 [[ 9.97310644e-01 -7.28749639e-02 7.79228086e-03 4.45295039e+01] [ 7.29317384e-02 9.97310450e-01 -7.26820940e-03 2.62646148e+00] [-7.24165263e-03 7.81696718e-03 9.99943225e-01 4.56843916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.65140051299998 meters Centerline goodness [0,1] 0.8890603897356744 Centerline is valid? [False, False] Translation: X:44.53, Y:2.62, Z:0.05 [[ 9.97608803e-01 -6.86857492e-02 7.67754778e-03 4.45284876e+01] [ 6.87065640e-02 9.97633828e-01 -2.48075802e-03 2.62394934e+00] [-7.48898866e-03 3.00232397e-03 9.99967450e-01 4.65211182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.68140051299999 meters Centerline goodness [0,1] 0.884952904070204 Centerline is valid? [False, False] Translation: X:44.53, Y:2.62, Z:0.05 [[ 9.97883130e-01 -6.46034723e-02 7.45996109e-03 4.45284018e+01] [ 6.45825388e-02 9.97907817e-01 3.01396864e-03 2.61730109e+00] [-7.63906633e-03 -2.52580523e-03 9.99967632e-01 4.65178962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.71140051299999 meters Centerline goodness [0,1] 0.8853162782547749 Centerline is valid? [False, False] Translation: X:44.49, Y:2.63, Z:0.05 [[ 9.98032690e-01 -6.24774624e-02 5.22657552e-03 4.44868525e+01] [ 6.25430260e-02 9.97951016e-01 -1.34959117e-02 2.63006717e+00] [-4.37267604e-03 1.37962469e-02 9.99895266e-01 4.64496270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.74140051299999 meters Centerline goodness [0,1] 0.9213579348431011 Centerline is valid? [False, False] Translation: X:44.53, Y:2.63, Z:0.05 [[ 9.98092882e-01 -6.12502983e-02 7.68115708e-03 4.45280944e+01] [ 6.13426353e-02 9.98039434e-01 -1.24245059e-02 2.62884474e+00] [-6.90509298e-03 1.28719933e-02 9.99893310e-01 4.57163518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.77140051299999 meters Centerline goodness [0,1] 0.9384595311616579 Centerline is valid? [False, False] Translation: X:44.53, Y:2.62, Z:0.05 [[ 9.98353584e-01 -5.68602358e-02 7.55213638e-03 4.45274035e+01] [ 5.69133819e-02 9.98354445e-01 -7.01915660e-03 2.62331837e+00] [-7.14059802e-03 7.43741777e-03 9.99946847e-01 4.63826911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.80140051299999 meters Centerline goodness [0,1] 0.8941777279779348 Centerline is valid? [False, False] Translation: X:44.53, Y:2.62, Z:0.05 [[ 9.98595346e-01 -5.24781159e-02 7.30636064e-03 4.45270741e+01] [ 5.24902243e-02 9.98620348e-01 -1.47532065e-03 2.61696548e+00] [-7.21885836e-03 1.85676084e-03 9.99972220e-01 4.72011538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.83140051299999 meters Centerline goodness [0,1] 0.9282648013771764 Centerline is valid? [False, False] Translation: X:44.53, Y:2.62, Z:0.05 [[ 9.98599053e-01 -5.24107066e-02 7.28347292e-03 4.45273730e+01] [ 5.24218817e-02 9.98624113e-01 -1.35183501e-03 2.61641865e+00] [-7.20260106e-03 1.73175452e-03 9.99972561e-01 4.67123194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.86140051299999 meters Centerline goodness [0,1] 0.9246136696465651 Centerline is valid? [False, False] Translation: X:44.53, Y:2.61, Z:0.05 [[ 9.98828022e-01 -4.78719733e-02 7.13138319e-03 4.45272075e+01] [ 4.78434417e-02 9.98846353e-01 4.11921192e-03 2.61078309e+00] [-7.32035089e-03 -3.77319438e-03 9.99966087e-01 4.66444850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.891400513 meters Centerline goodness [0,1] 0.9502571397308239 Centerline is valid? [False, True] Translation: X:44.53, Y:2.62, Z:0.05 [[ 9.99149463e-01 -4.09007348e-02 5.24216303e-03 4.45260667e+01] [ 4.09530977e-02 9.99107935e-01 -1.03043004e-02 2.62450137e+00] [-4.81603322e-03 1.05102190e-02 9.99933168e-01 4.76389789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.921400513 meters Centerline goodness [0,1] 0.9962282146882858 Centerline is valid? [True, True] Translation: X:44.56, Y:2.62, Z:0.05 [[ 9.99242485e-01 -3.84481409e-02 6.01637906e-03 4.45560369e+01] [ 3.84497254e-02 9.99260525e-01 -1.47887448e-04 2.62383889e+00] [-6.00624410e-03 3.79103544e-04 9.99981890e-01 5.10006196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.951400513 meters Centerline goodness [0,1] 0.9990876507005539 Centerline is valid? [True, True] Translation: X:44.59, Y:2.63, Z:0.05 [[ 9.99333399e-01 -3.59433259e-02 6.39025293e-03 4.45864390e+01] [ 3.59450617e-02 9.99353755e-01 -1.56944877e-04 2.62860336e+00] [-6.38048214e-03 3.86538293e-04 9.99979570e-01 5.23272757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.98140051299998 meters Centerline goodness [0,1] 0.9979304100375114 Centerline is valid? [True, True] Translation: X:44.62, Y:2.63, Z:0.05 [[ 9.99390629e-01 -3.41540969e-02 7.20192442e-03 4.46155610e+01] [ 3.41562551e-02 9.99416489e-01 -1.76843238e-04 2.62774667e+00] [-7.19168210e-03 4.22726243e-04 9.99974050e-01 5.32111739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.01140051299998 meters Centerline goodness [0,1] 0.9994635423372388 Centerline is valid? [True, True] Translation: X:44.65, Y:2.63, Z:0.05 [[ 9.99439885e-01 -3.24585150e-02 8.14619280e-03 4.46457074e+01] [ 3.24612177e-02 9.99472976e-01 -1.99735293e-04 2.63421785e+00] [-8.13541645e-03 4.64058757e-04 9.99966799e-01 5.39893271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.04140051299999 meters Centerline goodness [0,1] 0.9996750996361116 Centerline is valid? [True, True] Translation: X:44.68, Y:2.64, Z:0.05 [[ 9.99481344e-01 -3.09715028e-02 8.82097663e-03 4.46752762e+01] [ 3.09746130e-02 9.99520148e-01 -2.16161340e-04 2.64162709e+00] [-8.81004903e-03 4.89275564e-04 9.99961071e-01 5.31033257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.07140051299999 meters Centerline goodness [0,1] 0.9994861913937059 Centerline is valid? [True, True] Translation: X:44.71, Y:2.64, Z:0.05 [[ 9.99471281e-01 -3.12422853e-02 9.00430096e-03 4.47051742e+01] [ 3.12455361e-02 9.99511715e-01 -2.20542178e-04 2.64253061e+00] [-8.99301406e-03 5.01769784e-04 9.99959436e-01 5.24021011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.10140051299999 meters Centerline goodness [0,1] 0.9987342048405753 Centerline is valid? [True, True] Translation: X:44.74, Y:2.64, Z:0.05 [[ 9.99426503e-01 -3.27350935e-02 8.66480456e-03 4.47360331e+01] [ 3.27381581e-02 9.99463940e-01 -2.12037561e-04 2.64379617e+00] [-8.65321864e-03 4.95585700e-04 9.99962437e-01 5.16936583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.13140051299999 meters Centerline goodness [0,1] 0.9966401301147064 Centerline is valid? [True, True] Translation: X:44.77, Y:2.64, Z:0.05 [[ 9.99368323e-01 -3.45055670e-02 8.50416585e-03 4.47662990e+01] [ 3.45085845e-02 9.99404380e-01 -2.08300638e-04 2.64307407e+00] [-8.49191306e-03 5.01635785e-04 9.99963817e-01 5.11911013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.16140051299999 meters Centerline goodness [0,1] 0.9846065160766899 Centerline is valid? [True, True] Translation: X:44.80, Y:2.64, Z:0.05 [[ 9.99277180e-01 -3.71867927e-02 7.89054092e-03 4.47959080e+01] [ 3.71894728e-02 9.99308214e-01 -1.93150554e-04 2.64145214e+00] [-7.87789970e-03 4.86455998e-04 9.99968851e-01 5.00051709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.19140051299999 meters Centerline goodness [0,1] 0.9869806334214288 Centerline is valid? [True, True] Translation: X:44.83, Y:2.64, Z:0.05 [[ 9.99170082e-01 -4.01416298e-02 6.91345381e-03 4.48264747e+01] [ 4.01437574e-02 9.99193900e-01 -1.69197508e-04 2.64410843e+00] [-6.90108901e-03 4.46589101e-04 9.99976087e-01 4.86812946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.22140051299999 meters Centerline goodness [0,1] 0.897821010005785 Centerline is valid? [True, False] Translation: X:44.83, Y:2.65, Z:0.05 [[ 9.99145369e-01 -4.07877761e-02 6.69987069e-03 4.48278616e+01] [ 4.07957378e-02 9.99166949e-01 -1.05594667e-03 2.64787364e+00] [-6.65121964e-03 1.32837040e-03 9.99976998e-01 4.71939888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.251400513 meters Centerline goodness [0,1] 0.8589319317370709 Centerline is valid? [False, False] Translation: X:44.83, Y:2.65, Z:0.05 [[ 9.99142928e-01 -4.08503498e-02 6.68263588e-03 4.48281906e+01] [ 4.08588021e-02 9.99164288e-01 -1.13315874e-03 2.64820436e+00] [-6.63076119e-03 1.40523204e-03 9.99977029e-01 4.65869032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.281400513 meters Centerline goodness [0,1] 0.8524970209078107 Centerline is valid? [False, False] Translation: X:44.83, Y:2.64, Z:0.05 [[ 9.99279027e-01 -3.73137252e-02 7.00799090e-03 4.48265957e+01] [ 3.72870806e-02 9.99297004e-01 3.89501049e-03 2.64276416e+00] [-7.14840167e-03 -3.63089477e-03 9.99967858e-01 4.68937566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.311400513 meters Centerline goodness [0,1] 0.7524422927293162 Centerline is valid? [False, False] Translation: X:44.82, Y:2.65, Z:0.05 [[ 9.99256230e-01 -3.78077010e-02 7.58708934e-03 4.48244323e+01] [ 3.77849636e-02 9.99281028e-01 3.11819590e-03 2.64619691e+00] [-7.69952626e-03 -2.82919878e-03 9.99966356e-01 4.76049364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.341400513 meters Centerline goodness [0,1] 0.7323848094824112 Centerline is valid? [False, False] Translation: X:44.85, Y:2.66, Z:0.04 [[ 9.99204811e-01 -3.76966829e-02 1.29886664e-02 4.48485252e+01] [ 3.77947831e-02 9.99258182e-01 -7.39184674e-03 2.65709305e+00] [-1.27003831e-02 7.87687265e-03 9.99888321e-01 3.98627034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.37140051299998 meters Centerline goodness [0,1] 0.6771155198499798 Centerline is valid? [False, False] Translation: X:44.85, Y:2.65, Z:0.04 [[ 9.99342626e-01 -3.38036615e-02 1.31007186e-02 4.48476422e+01] [ 3.38393124e-02 9.99424137e-01 -2.50918562e-03 2.65362240e+00] [-1.30083547e-02 2.95085546e-03 9.99911034e-01 3.99797261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.40140051299998 meters Centerline goodness [0,1] 0.6657760868635917 Centerline is valid? [False, False] Translation: X:44.85, Y:2.65, Z:0.04 [[ 9.99445651e-01 -3.05792575e-02 1.31643047e-02 4.48472987e+01] [ 3.05519240e-02 9.99530598e-01 2.27250262e-03 2.64882862e+00] [-1.32276168e-02 -1.86904802e-03 9.99910764e-01 3.94090716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.43140051299999 meters Centerline goodness [0,1] 0.6640121593560679 Centerline is valid? [False, False] Translation: X:44.85, Y:2.65, Z:0.04 [[ 9.99449339e-01 -3.04369711e-02 1.32140184e-02 4.48471338e+01] [ 3.04037019e-02 9.99534023e-01 2.71139468e-03 2.64673247e+00] [-1.32903876e-02 -2.30814655e-03 9.99909015e-01 3.93799443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.46140051299999 meters Centerline goodness [0,1] 0.6823524419739466 Centerline is valid? [False, False] Translation: X:44.85, Y:2.65, Z:0.04 [[ 9.99449855e-01 -3.03907930e-02 1.32810783e-02 4.48468425e+01] [ 3.03530301e-02 9.99534631e-01 3.03578138e-03 2.64509778e+00] [-1.33671575e-02 -2.63099029e-03 9.99907194e-01 3.94706715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.49140051299999 meters Centerline goodness [0,1] 0.6538717217421139 Centerline is valid? [False, False] Translation: X:44.85, Y:2.65, Z:0.04 [[ 9.99296294e-01 -3.50354823e-02 1.33952281e-02 4.48470196e+01] [ 3.50757279e-02 9.99380787e-01 -2.78136688e-03 2.65236466e+00] [-1.32894871e-02 3.24925699e-03 9.99906412e-01 3.94123416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.52140051299999 meters Centerline goodness [0,1] 0.6929457912674426 Centerline is valid? [False, False] Translation: X:44.85, Y:2.65, Z:0.04 [[ 9.99430749e-01 -3.09133670e-02 1.35107946e-02 4.48459747e+01] [ 3.08833707e-02 9.99520057e-01 2.42325689e-03 2.64749016e+00] [-1.35792212e-02 -2.00461857e-03 9.99905789e-01 3.99470758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.55140051299999 meters Centerline goodness [0,1] 0.7021820117083555 Centerline is valid? [False, False] Translation: X:44.85, Y:2.65, Z:0.04 [[ 9.99421435e-01 -3.11598330e-02 1.36330358e-02 4.48451877e+01] [ 3.11469748e-02 9.99514148e-01 1.15452789e-03 2.65382476e+00] [-1.36623870e-02 -7.29232101e-04 9.99906399e-01 4.08741483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.58140051299999 meters Centerline goodness [0,1] 0.700558205188528 Centerline is valid? [False, False] Translation: X:44.85, Y:2.66, Z:0.04 [[ 9.99416241e-01 -3.13393906e-02 1.36022333e-02 4.48452948e+01] [ 3.13348637e-02 9.99508794e-01 5.45851813e-04 2.65674647e+00] [-1.36126585e-02 -1.19309040e-04 9.99907336e-01 4.09216172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.61140051299999 meters Centerline goodness [0,1] 0.758511140686043 Centerline is valid? [False, False] Translation: X:44.85, Y:2.66, Z:0.04 [[ 9.99412700e-01 -3.15172501e-02 1.34505810e-02 4.48459596e+01] [ 3.15205084e-02 9.99503105e-01 -3.02616644e-05 2.65951265e+00] [-1.34429437e-02 4.54213041e-04 9.99909536e-01 4.05700727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.641400513 meters Centerline goodness [0,1] 0.758511140686043 Centerline is valid? [False, False] Translation: X:44.85, Y:2.66, Z:0.04 [[ 9.99412700e-01 -3.15172501e-02 1.34505810e-02 4.48459596e+01] [ 3.15205084e-02 9.99503105e-01 -3.02616644e-05 2.65951265e+00] [-1.34429437e-02 4.54213041e-04 9.99909536e-01 4.05700727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.671400513 meters Centerline goodness [0,1] 0.7029066517607603 Centerline is valid? [False, False] Translation: X:44.85, Y:2.66, Z:0.04 [[ 9.99545839e-01 -2.70056570e-02 1.33720231e-02 4.48459875e+01] [ 2.69396645e-02 9.99624098e-01 5.09092464e-03 2.65573442e+00] [-1.35044803e-02 -4.72837472e-03 9.99897631e-01 4.00715264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.701400513 meters Centerline goodness [0,1] 0.7684754411165663 Centerline is valid? [False, False] Translation: X:44.85, Y:2.67, Z:0.04 [[ 9.99673828e-01 -2.30671913e-02 1.09609031e-02 4.48482714e+01] [ 2.32047468e-02 9.99651421e-01 -1.25927095e-02 2.67141254e+00] [-1.06666039e-02 1.28429471e-02 9.99860631e-01 3.92119007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.73140051299998 meters Centerline goodness [0,1] 0.7600419889029328 Centerline is valid? [False, False] Translation: X:44.85, Y:2.67, Z:0.04 [[ 9.99757285e-01 -1.89893924e-02 1.11702074e-02 4.48469989e+01] [ 1.90805232e-02 9.99785064e-01 -8.10917755e-03 2.67035921e+00] [-1.10138181e-02 8.32034273e-03 9.99904729e-01 3.97808848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.76140051299998 meters Centerline goodness [0,1] 0.7945208427486173 Centerline is valid? [False, False] Translation: X:44.85, Y:2.66, Z:0.04 [[ 9.99823795e-01 -1.49648447e-02 1.13327575e-02 4.48460411e+01] [ 1.49974646e-02 9.99883614e-01 -2.79886985e-03 2.66474001e+00] [-1.12895539e-02 2.96833930e-03 9.99931865e-01 4.01010443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.79140051299999 meters Centerline goodness [0,1] 0.7420991778006166 Centerline is valid? [False, False] Translation: X:44.85, Y:2.66, Z:0.04 [[ 9.99824062e-01 -1.49449804e-02 1.13354492e-02 4.48460631e+01] [ 1.49757479e-02 9.99884387e-01 -2.63425936e-03 2.66391568e+00] [-1.12947697e-02 2.80355273e-03 9.99932282e-01 3.99723742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.82140051299999 meters Centerline goodness [0,1] 0.6117041718262949 Centerline is valid? [False, False] Translation: X:44.85, Y:2.66, Z:0.04 [[ 9.99820826e-01 -1.51082294e-02 1.14042668e-02 4.48461000e+01] [ 1.51355320e-02 9.99882779e-01 -2.31156562e-03 2.66202903e+00] [-1.13680064e-02 2.48376110e-03 9.99932297e-01 3.93448126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.85140051299999 meters Centerline goodness [0,1] 0.7002416027025293 Centerline is valid? [False, False] Translation: X:44.85, Y:2.66, Z:0.04 [[ 9.99866634e-01 -1.15005661e-02 1.15953494e-02 4.48452233e+01] [ 1.14684646e-02 9.99930227e-01 2.83118606e-03 2.65628574e+00] [-1.16271006e-02 -2.69782762e-03 9.99928764e-01 3.94401506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.88140051299999 meters Centerline goodness [0,1] 0.6971472728443557 Centerline is valid? [False, False] Translation: X:44.85, Y:2.66, Z:0.04 [[ 9.99803195e-01 -1.61033317e-02 1.15868074e-02 4.48455473e+01] [ 1.61372515e-02 9.99865753e-01 -2.83992294e-03 2.66285024e+00] [-1.15395196e-02 3.02634325e-03 9.99928838e-01 3.94157141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.91140051299999 meters Centerline goodness [0,1] 0.6870426081205061 Centerline is valid? [False, False] Translation: X:44.85, Y:2.66, Z:0.04 [[ 9.99804204e-01 -1.60660263e-02 1.15514864e-02 4.48456130e+01] [ 1.60987164e-02 9.99866646e-01 -2.74255101e-03 2.66238432e+00] [-1.15058840e-02 2.92797813e-03 9.99929518e-01 3.95037254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.94140051299999 meters Centerline goodness [0,1] 0.7005604483586869 Centerline is valid? [False, False] Translation: X:44.82, Y:2.67, Z:0.05 [[ 9.99882483e-01 -1.41810805e-02 5.82376682e-03 4.48237600e+01] [ 1.42482521e-02 9.99830510e-01 -1.16592541e-02 2.67058685e+00] [-5.65743893e-03 1.17408625e-02 9.99915069e-01 4.52084078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.97140051299999 meters Centerline goodness [0,1] 0.649912494130704 Centerline is valid? [False, False] Translation: X:44.82, Y:2.67, Z:0.04 [[ 9.99883433e-01 -1.41805276e-02 5.65983137e-03 4.48243918e+01] [ 1.42461629e-02 9.99829713e-01 -1.17299363e-02 2.67096737e+00] [-5.49253090e-03 1.18091998e-02 9.99915184e-01 4.49939626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.001400513 meters Centerline goodness [0,1] 0.7548747715790605 Centerline is valid? [False, False] Translation: X:44.82, Y:2.66, Z:0.05 [[ 9.99937056e-01 -9.61143884e-03 5.78820698e-03 4.48235746e+01] [ 9.64633852e-03 9.99935279e-01 -6.03201747e-03 2.66416078e+00] [-5.72985599e-03 6.08747280e-03 9.99965055e-01 4.52461272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.031400513 meters Centerline goodness [0,1] 0.6673548881462719 Centerline is valid? [False, False] Translation: X:44.82, Y:2.66, Z:0.05 [[ 9.99937679e-01 -9.55750462e-03 5.76991515e-03 4.48235020e+01] [ 9.59168028e-03 9.99936446e-01 -5.92475146e-03 2.66367175e+00] [-5.71292261e-03 5.97972540e-03 9.99965802e-01 4.54944278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.061400513 meters Centerline goodness [0,1] 0.7455881074502304 Centerline is valid? [False, False] Translation: X:44.78, Y:2.66, Z:0.05 [[ 9.99959524e-01 -7.98739560e-03 4.14159077e-03 4.47796091e+01] [ 7.99898447e-03 9.99964118e-01 -2.78919370e-03 2.66260996e+00] [-4.11916377e-03 2.82220933e-03 9.99987534e-01 4.64675131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.091400513 meters Centerline goodness [0,1] 0.828913920056101 Centerline is valid? [False, False] Translation: X:44.78, Y:2.66, Z:0.05 [[ 9.99959773e-01 -7.93176894e-03 4.18811525e-03 4.47795427e+01] [ 7.94291779e-03 9.99964938e-01 -2.65213185e-03 2.66197299e+00] [-4.16693230e-03 2.68529102e-03 9.99987713e-01 4.62514162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.12140051299998 meters Centerline goodness [0,1] 0.6461397450654389 Centerline is valid? [False, False] Translation: X:44.82, Y:2.66, Z:0.04 [[ 9.99937307e-01 -9.48930617e-03 5.94434769e-03 4.48234016e+01] [ 9.51808600e-03 9.99943027e-01 -4.83211016e-03 2.66018595e+00] [-5.89815565e-03 4.88838604e-03 9.99970657e-01 4.45403149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.15140051299998 meters Centerline goodness [0,1] 0.592539150362857 Centerline is valid? [False, False] Translation: X:44.82, Y:2.66, Z:0.04 [[ 9.99937972e-01 -9.34640821e-03 6.05772401e-03 4.48229091e+01] [ 9.37339845e-03 9.99946200e-01 -4.44253767e-03 2.65833356e+00] [-6.01587633e-03 4.49904357e-03 9.99971784e-01 4.46879458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.18140051299999 meters Centerline goodness [0,1] 0.5936398796733993 Centerline is valid? [False, False] Translation: X:44.78, Y:2.66, Z:0.05 [[ 9.99937211e-01 -1.08028584e-02 2.97870098e-03 4.47818738e+01] [ 1.08201944e-02 9.99924250e-01 -5.86660214e-03 2.66203353e+00] [-2.91509927e-03 5.89846391e-03 9.99978355e-01 4.55692475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.21140051299999 meters Centerline goodness [0,1] 0.6056763414372925 Centerline is valid? [False, False] Translation: X:44.78, Y:2.65, Z:0.05 [[ 9.99938686e-01 -1.07057989e-02 2.83024717e-03 4.47823266e+01] [ 1.07182779e-02 9.99932738e-01 -4.43137780e-03 2.65455765e+00] [-2.78261536e-03 4.46144147e-03 9.99986176e-01 4.52649221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.24140051299999 meters Centerline goodness [0,1] 0.6017414919068043 Centerline is valid? [False, False] Translation: X:44.78, Y:2.65, Z:0.05 [[ 9.99942607e-01 -1.03282396e-02 2.84795067e-03 4.47822348e+01] [ 1.03376836e-02 9.99941048e-01 -3.32154053e-03 2.64928691e+00] [-2.81347711e-03 3.35079110e-03 9.99990428e-01 4.50972956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.27140051299999 meters Centerline goodness [0,1] 0.47281005514941643 Centerline is valid? [False, False] Translation: X:44.78, Y:2.64, Z:0.05 [[ 9.99946081e-01 -9.95492363e-03 2.95540655e-03 4.47817275e+01] [ 9.96144454e-03 9.99947964e-01 -2.19997509e-03 2.64388440e+00] [-2.93335218e-03 2.22929659e-03 9.99993213e-01 4.52305785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.30140051299999 meters Centerline goodness [0,1] 0.5190882575348386 Centerline is valid? [False, False] Translation: X:44.78, Y:2.64, Z:0.05 [[ 9.99948835e-01 -9.62567971e-03 3.11019656e-03 4.47810422e+01] [ 9.63000973e-03 9.99952678e-01 -1.38023673e-03 2.64003439e+00] [-3.09676366e-03 1.41011733e-03 9.99994211e-01 4.55104648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.33140051299999 meters Centerline goodness [0,1] 0.5594625867832348 Centerline is valid? [False, False] Translation: X:44.78, Y:2.64, Z:0.05 [[ 9.99951229e-01 -9.37852424e-03 3.09571447e-03 4.47805719e+01] [ 9.38157248e-03 9.99955520e-01 -9.71615022e-04 2.63818557e+00] [-3.08646446e-03 1.00061031e-03 9.99994736e-01 4.65674420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.36140051299999 meters Centerline goodness [0,1] 0.6841284622214523 Centerline is valid? [False, False] Translation: X:44.78, Y:2.64, Z:0.05 [[ 9.99951351e-01 -9.37952683e-03 3.05299790e-03 4.47804166e+01] [ 9.38287608e-03 9.99955392e-01 -1.08456915e-03 2.63875801e+00] [-3.04268897e-03 1.11316229e-03 9.99994751e-01 4.72279129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.391400513 meters Centerline goodness [0,1] 0.6710835833135507 Centerline is valid? [False, False] Translation: X:44.78, Y:2.64, Z:0.05 [[ 9.99951936e-01 -9.36565524e-03 2.89992635e-03 4.47807443e+01] [ 9.36933591e-03 9.99955315e-01 -1.25825508e-03 2.63965781e+00] [-2.88801239e-03 1.28536499e-03 9.99995004e-01 4.76198023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.421400513 meters Centerline goodness [0,1] 0.6192525674351217 Centerline is valid? [False, False] Translation: X:44.80, Y:2.64, Z:0.05 [[ 9.99991660e-01 -4.02775012e-03 6.76634182e-04 4.48020690e+01] [ 4.03226437e-03 9.99968694e-01 -6.80828044e-03 2.64077549e+00] [-6.49190947e-04 6.81095202e-03 9.99976594e-01 5.09666029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.451400513 meters Centerline goodness [0,1] 0.7456412705994746 Centerline is valid? [False, False] Translation: X:44.76, Y:2.64, Z:0.05 [[ 9.99997610e-01 -9.05366077e-04 -1.98980737e-03 4.47610218e+01] [ 9.00459986e-04 9.99996556e-01 -2.46512506e-03 2.63966483e+00] [ 1.99203236e-03 2.46332742e-03 9.99994982e-01 5.04404087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.48140051299998 meters Centerline goodness [0,1] 0.6630050069060773 Centerline is valid? [False, False] Translation: X:44.76, Y:2.64, Z:0.05 [[ 9.99997234e-01 -8.59302292e-04 -2.18946599e-03 4.47618095e+01] [ 8.53965844e-04 9.99996666e-01 -2.43709868e-03 2.63958055e+00] [ 2.19155290e-03 2.43522221e-03 9.99994633e-01 5.01130005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.51140051299998 meters Centerline goodness [0,1] 0.7212631307043224 Centerline is valid? [False, False] Translation: X:44.76, Y:2.64, Z:0.05 [[ 9.99997400e-01 -6.56114988e-04 -2.18397753e-03 4.47617643e+01] [ 6.51792490e-04 9.99997829e-01 -1.97930939e-03 2.63744374e+00] [ 2.18527144e-03 1.97788074e-03 9.99995656e-01 5.00671749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.54140051299999 meters Centerline goodness [0,1] 0.7241446513642269 Centerline is valid? [False, False] Translation: X:44.76, Y:2.63, Z:0.05 [[ 9.99998380e-01 -1.20294515e-04 -1.79604939e-03 4.47598656e+01] [ 1.19132170e-04 9.99999783e-01 -6.47260523e-04 2.63122832e+00] [ 1.79612686e-03 6.47045507e-04 9.99998178e-01 5.11769298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.57140051299999 meters Centerline goodness [0,1] 0.7009088345660803 Centerline is valid? [False, False] Translation: X:44.76, Y:2.63, Z:0.05 [[ 9.99998581e-01 3.03115771e-05 -1.68459828e-03 4.47592651e+01] [-3.07723264e-05 9.99999962e-01 -2.73481706e-04 2.62947916e+00] [ 1.68458993e-03 2.73533157e-04 9.99998544e-01 5.16107004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.60140051299999 meters Centerline goodness [0,1] 0.6615345027233349 Centerline is valid? [False, False] Translation: X:44.80, Y:2.62, Z:0.05 [[ 9.99999506e-01 2.70011325e-04 9.57109134e-04 4.48002719e+01] [-2.69952251e-04 9.99999962e-01 -6.18501836e-05 2.62473499e+00] [-9.57125797e-04 6.15917793e-05 9.99999540e-01 5.13952754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.63140051299999 meters Centerline goodness [0,1] 0.7258679685286489 Centerline is valid? [False, False] Translation: X:44.76, Y:2.63, Z:0.05 [[ 9.99999444e-01 3.51433652e-04 -9.94035381e-04 4.47566625e+01] [-3.50647568e-04 9.99999626e-01 7.90864379e-04 2.62725785e+00] [ 9.94312945e-04 -7.90515384e-04 9.99999193e-01 5.22765196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.66140051299999 meters Centerline goodness [0,1] 0.6408935814073263 Centerline is valid? [False, False] Translation: X:44.80, Y:2.62, Z:0.05 [[ 9.99999707e-01 3.22578327e-06 7.65841652e-04 4.48002842e+01] [-3.00011208e-06 9.99999957e-01 -2.94671788e-04 2.62369825e+00] [-7.65842569e-04 2.94669404e-04 9.99999663e-01 5.09762893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.69140051299999 meters Centerline goodness [0,1] 0.6705269126755649 Centerline is valid? [False, False] Translation: X:44.76, Y:2.63, Z:0.05 [[ 9.99999679e-01 2.63210523e-04 -7.57172072e-04 4.47555920e+01] [-2.62631300e-04 9.99999673e-01 7.64978950e-04 2.62575601e+00] [ 7.57373175e-04 -7.64779847e-04 9.99999421e-01 5.23580493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.72140051299999 meters Centerline goodness [0,1] 0.7028789634015532 Centerline is valid? [False, False] Translation: X:44.79, Y:2.62, Z:0.05 [[ 9.99995307e-01 9.40145402e-04 2.91595295e-03 4.47921460e+01] [-9.42737948e-04 9.99999161e-01 8.87843374e-04 2.62269742e+00] [-2.91511581e-03 -8.90588187e-04 9.99995354e-01 5.49328595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.751400513 meters Centerline goodness [0,1] 0.6935756002595717 Centerline is valid? [False, False] Translation: X:44.79, Y:2.62, Z:0.06 [[ 9.99995290e-01 9.01555847e-04 2.93391738e-03 4.47920285e+01] [-9.03851952e-04 9.99999286e-01 7.81375482e-04 2.62320805e+00] [-2.93321084e-03 -7.84023629e-04 9.99995391e-01 5.50458081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.781400513 meters Centerline goodness [0,1] 0.7142154977133821 Centerline is valid? [False, False] Translation: X:44.84, Y:2.62, Z:0.05 [[ 9.99988804e-01 7.07711267e-04 4.67868450e-03 4.48360665e+01] [-7.06094093e-04 9.99999690e-01 -3.47289789e-04 2.62023874e+00] [-4.67892883e-03 3.43982310e-04 9.99988995e-01 5.30013786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.811400513 meters Centerline goodness [0,1] 0.6635093333333333 Centerline is valid? [False, False] Translation: X:44.84, Y:2.62, Z:0.05 [[ 9.99989091e-01 8.36117107e-04 4.59556518e-03 4.48366317e+01] [-8.35987172e-04 9.99999650e-01 -3.01948293e-05 2.61872119e+00] [-4.59558882e-03 2.63526663e-05 9.99989440e-01 5.23587018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.841400513 meters Centerline goodness [0,1] 0.7358764719914987 Centerline is valid? [False, False] Translation: X:44.80, Y:2.62, Z:0.05 [[ 9.99997868e-01 5.98695647e-04 1.97643036e-03 4.47952749e+01] [-6.00024168e-04 9.99999594e-01 6.71657788e-04 2.61974138e+00] [-1.97602744e-03 -6.72842262e-04 9.99997821e-01 5.20004994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.87140051299998 meters Centerline goodness [0,1] 0.7329166848133792 Centerline is valid? [False, False] Translation: X:44.79, Y:2.62, Z:0.05 [[ 9.99997752e-01 6.78710816e-04 2.00881958e-03 4.47949517e+01] [-6.80453742e-04 9.99999393e-01 8.67080927e-04 2.61883708e+00] [-2.00822986e-03 -8.68445886e-04 9.99997606e-01 5.24188306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.90140051299998 meters Centerline goodness [0,1] 0.6551044284600052 Centerline is valid? [False, False] Translation: X:44.79, Y:2.62, Z:0.05 [[ 9.99997586e-01 8.36374085e-04 2.03167135e-03 4.47946369e+01] [-8.39003710e-04 9.99998811e-01 1.29380892e-03 2.61681669e+00] [-2.03058683e-03 -1.29551038e-03 9.99997099e-01 5.28185849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.93140051299999 meters Centerline goodness [0,1] 0.7148112673603553 Centerline is valid? [False, False] Translation: X:44.79, Y:2.62, Z:0.06 [[ 9.99995618e-01 -9.89878149e-04 2.79013385e-03 4.47885977e+01] [ 9.91074891e-04 9.99999417e-01 -4.27569039e-04 2.61566225e+00] [-2.78970899e-03 4.30332397e-04 9.99996016e-01 5.68734143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.96140051299999 meters Centerline goodness [0,1] 0.7302301323423952 Centerline is valid? [False, False] Translation: X:44.79, Y:2.62, Z:0.06 [[ 9.99995604e-01 -9.99813399e-04 2.79135765e-03 4.47887108e+01] [ 1.00111142e-03 9.99999391e-01 -4.63654385e-04 2.61583671e+00] [-2.79089238e-03 4.66446807e-04 9.99995997e-01 5.66375160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.99140051299999 meters Centerline goodness [0,1] 0.6370638197727905 Centerline is valid? [False, False] Translation: X:44.83, Y:2.61, Z:0.06 [[ 9.99986904e-01 -4.49688247e-04 5.09800109e-03 4.48309485e+01] [ 4.53951557e-04 9.99999548e-01 -8.35144612e-04 2.61342293e+00] [-5.09762323e-03 8.37447920e-04 9.99986656e-01 5.55428224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.02140051299999 meters Centerline goodness [0,1] 0.7356346622393756 Centerline is valid? [False, False] Translation: X:44.82, Y:2.61, Z:0.06 [[ 9.99981753e-01 1.39896539e-03 5.87676477e-03 4.48247346e+01] [-1.40475850e-03 9.99998531e-01 9.81752937e-04 2.61204907e+00] [-5.87538270e-03 -9.89990458e-04 9.99982250e-01 6.00466669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.05140051299999 meters Centerline goodness [0,1] 0.7679671015803299 Centerline is valid? [False, False] Translation: X:44.82, Y:2.61, Z:0.06 [[ 9.99982445e-01 1.39513244e-03 5.75869308e-03 4.48249203e+01] [-1.40038495e-03 9.99998607e-01 9.08168523e-04 2.61241864e+00] [-5.75741804e-03 -9.16216968e-04 9.99983006e-01 6.04700549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.08140051299999 meters Centerline goodness [0,1] 0.7387680687589531 Centerline is valid? [False, False] Translation: X:44.83, Y:2.61, Z:0.06 [[ 9.99984053e-01 1.44132977e-03 5.46046013e-03 4.48261561e+01] [-1.44636783e-03 9.99998532e-01 9.18807433e-04 2.61239789e+00] [-5.45912781e-03 -9.26690614e-04 9.99984669e-01 5.98770134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.11140051299999 meters Centerline goodness [0,1] 0.7452252719918673 Centerline is valid? [False, False] Translation: X:44.83, Y:2.61, Z:0.06 [[ 9.99984443e-01 1.36813948e-03 5.40760929e-03 4.48263732e+01] [-1.37212518e-03 9.99998790e-01 7.33412537e-04 2.61327677e+00] [-5.40659933e-03 -7.40821044e-04 9.99985110e-01 5.97824198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.141400513 meters Centerline goodness [0,1] 0.7298709677419355 Centerline is valid? [False, False] Translation: X:44.83, Y:2.61, Z:0.06 [[ 9.99984137e-01 1.30588865e-03 5.47914707e-03 4.48260178e+01] [-1.30898400e-03 9.99998986e-01 5.61384759e-04 2.61407800e+00] [-5.47840840e-03 -5.68547969e-04 9.99984832e-01 6.00641292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.171400513 meters Centerline goodness [0,1] 0.8220082470608878 Centerline is valid? [False, False] Translation: X:44.78, Y:2.62, Z:0.06 [[ 9.99992770e-01 8.75296945e-04 3.70040049e-03 4.47809965e+01] [-8.77345513e-04 9.99999463e-01 5.52020143e-04 2.61789459e+00] [-3.69991532e-03 -5.55262682e-04 9.99993001e-01 6.27360758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.201400513 meters Centerline goodness [0,1] 0.7901439162668993 Centerline is valid? [False, False] Translation: X:44.79, Y:2.62, Z:0.06 [[ 9.99995043e-01 -8.12763425e-04 3.04185465e-03 4.47863060e+01] [ 8.15498645e-04 9.99999264e-01 -8.98062562e-04 2.61795674e+00] [-3.04112250e-03 9.00538739e-04 9.99994970e-01 5.90061572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.23140051299998 meters Centerline goodness [0,1] 0.7467073249854019 Centerline is valid? [False, False] Translation: X:44.79, Y:2.62, Z:0.06 [[ 9.99995536e-01 -7.43049501e-04 2.89407520e-03 4.47871123e+01] [ 7.44925367e-04 9.99999513e-01 -6.47150626e-04 2.61673393e+00] [-2.89359292e-03 6.49303607e-04 9.99995603e-01 5.82627024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.26140051299998 meters Centerline goodness [0,1] 0.7710142410559222 Centerline is valid? [False, False] Translation: X:44.79, Y:2.62, Z:0.06 [[ 9.99996071e-01 -6.33072619e-04 2.73089797e-03 4.47879657e+01] [ 6.34036614e-04 9.99999737e-01 -3.52144204e-04 2.61534529e+00] [-2.73067432e-03 3.53874310e-04 9.99996209e-01 5.75169862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.29140051299999 meters Centerline goodness [0,1] 0.6048948800925826 Centerline is valid? [False, False] Translation: X:44.83, Y:2.61, Z:0.06 [[ 9.99989667e-01 -4.61491013e-04 4.52252151e-03 4.48318382e+01] [ 4.62683646e-04 9.99999858e-01 -2.62667162e-04 2.61010689e+00] [-4.52239966e-03 2.64756945e-04 9.99989739e-01 5.55370477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.32140051299999 meters Centerline goodness [0,1] 0.5852411314134109 Centerline is valid? [False, False] Translation: X:44.83, Y:2.61, Z:0.06 [[ 9.99989753e-01 -2.64776790e-04 4.51919481e-03 4.48316755e+01] [ 2.63825196e-04 9.99999943e-01 2.11161969e-04 2.60787791e+00] [-4.51925046e-03 -2.09967528e-04 9.99989766e-01 5.57971990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.35140051299999 meters Centerline goodness [0,1] 0.7503594189215287 Centerline is valid? [False, False] Translation: X:44.83, Y:2.61, Z:0.06 [[ 9.99988932e-01 -8.59777655e-05 4.70418568e-03 4.48306102e+01] [ 8.31272555e-05 9.99999813e-01 6.06144011e-04 2.60604548e+00] [-4.70423691e-03 -6.05746255e-04 9.99988752e-01 5.66769439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.38140051299999 meters Centerline goodness [0,1] 0.765621280003463 Centerline is valid? [False, False] Translation: X:44.83, Y:2.61, Z:0.06 [[ 9.99989128e-01 -1.03214979e-04 4.66178750e-03 4.48306292e+01] [ 1.00913453e-04 9.99999873e-01 4.93932733e-04 2.60660186e+00] [-4.66183789e-03 -4.93456926e-04 9.99989012e-01 5.69789687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.41140051299999 meters Centerline goodness [0,1] 0.7356545419179148 Centerline is valid? [False, False] Translation: X:44.83, Y:2.61, Z:0.06 [[ 9.99989731e-01 -1.63175837e-04 4.52898420e-03 4.48310244e+01] [ 1.62331679e-04 9.99999969e-01 1.86757173e-04 2.60810881e+00] [-4.52901454e-03 -1.86020057e-04 9.99989727e-01 5.71268761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.44140051299999 meters Centerline goodness [0,1] 0.7410292728989614 Centerline is valid? [False, False] Translation: X:44.83, Y:2.61, Z:0.06 [[ 9.99990763e-01 -2.05082740e-04 4.29315141e-03 4.48317290e+01] [ 2.06184102e-04 9.99999946e-01 -2.56098149e-04 2.61038247e+00] [-4.29309865e-03 2.56980963e-04 9.99990752e-01 5.73089701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.47140051299999 meters Centerline goodness [0,1] 0.7723368439226519 Centerline is valid? [False, False] Translation: X:44.83, Y:2.61, Z:0.06 [[ 9.99983083e-01 4.02981742e-03 4.19458153e-03 4.48321165e+01] [-4.04573582e-03 9.99984621e-01 3.79345048e-03 2.61174920e+00] [-4.17923011e-03 -3.81035648e-03 9.99984007e-01 5.72686427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.501400513 meters Centerline goodness [0,1] 0.9927062591983378 Centerline is valid? [False, True] Translation: X:44.83, Y:2.62, Z:0.06 [[ 9.99985059e-01 3.73619074e-03 3.99027081e-03 4.48329182e+01] [-3.74731660e-03 9.99989102e-01 2.78441945e-03 2.61658656e+00] [-3.97982421e-03 -2.79933065e-03 9.99988162e-01 5.71035999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.531400513 meters Centerline goodness [0,1] 0.9895585938335794 Centerline is valid? [True, True] Translation: X:44.86, Y:2.62, Z:0.05 [[ 9.99972155e-01 6.82143953e-03 3.02609907e-03 4.48614225e+01] [-6.81974556e-03 9.99976583e-01 -5.69752765e-04 2.61641799e+00] [-3.02991474e-03 5.49099674e-04 9.99995259e-01 5.44795506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.561400513 meters Centerline goodness [0,1] 0.9895585938335794 Centerline is valid? [True, True] Translation: X:44.89, Y:2.61, Z:0.05 [[ 9.99970634e-01 7.03171853e-03 3.04734801e-03 4.48938495e+01] [-7.03114404e-03 9.99975261e-01 -1.99194534e-04 2.61363450e+00] [-3.04867330e-03 1.77762342e-04 9.99995337e-01 5.42246543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.591400513 meters Centerline goodness [0,1] 0.9164652567975831 Centerline is valid? [True, False] Translation: X:44.89, Y:2.61, Z:0.05 [[ 9.99928122e-01 1.15782902e-02 3.11339667e-03 4.48936156e+01] [-1.15941265e-02 9.99919691e-01 5.11747680e-03 2.60880700e+00] [-3.05389500e-03 -5.15320608e-03 9.99982059e-01 5.42927200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.62140051299998 meters Centerline goodness [0,1] 0.9556620602205076 Centerline is valid? [False, True] Translation: X:44.89, Y:2.62, Z:0.05 [[ 9.99971764e-01 6.98063979e-03 2.78249298e-03 4.48949232e+01] [-6.97699846e-03 9.99974794e-01 -1.31622232e-03 2.61971469e+00] [-2.79161092e-03 1.29677170e-03 9.99995263e-01 5.37477036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.65140051299998 meters Centerline goodness [0,1] 0.8935095893379564 Centerline is valid? [True, False] Translation: X:44.89, Y:2.62, Z:0.05 [[ 9.99972117e-01 6.89479455e-03 2.86845246e-03 4.48944346e+01] [-6.89048088e-03 9.99975119e-01 -1.51100598e-03 2.62063571e+00] [-2.87879916e-03 1.49119883e-03 9.99994744e-01 5.41749787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.68140051299999 meters Centerline goodness [0,1] 0.9946942736978324 Centerline is valid? [False, True] Translation: X:44.89, Y:2.62, Z:0.05 [[ 9.99971299e-01 6.94787216e-03 3.02114344e-03 4.48937051e+01] [-6.94424922e-03 9.99975159e-01 -1.20803674e-03 2.61912756e+00] [-3.02946167e-03 1.18702250e-03 9.99994707e-01 5.45359894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.71140051299999 meters Centerline goodness [0,1] 0.9721694036300778 Centerline is valid? [True, True] Translation: X:44.93, Y:2.61, Z:0.06 [[ 9.99989254e-01 3.03874123e-03 3.50118911e-03 4.49255834e+01] [-3.03576026e-03 9.99995025e-01 -8.56415343e-04 2.61276217e+00] [-3.50377412e-03 8.45777369e-04 9.99993504e-01 5.55095518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.74140051299999 meters Centerline goodness [0,1] 0.824312371912415 Centerline is valid? [True, False] Translation: X:44.93, Y:2.61, Z:0.06 [[ 9.99988532e-01 3.14915060e-03 3.60810529e-03 4.49252380e+01] [-3.14784058e-03 9.99994978e-01 -3.68700673e-04 2.61036736e+00] [-3.60924826e-03 3.57338705e-04 9.99993423e-01 5.53731684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.77140051299999 meters Centerline goodness [0,1] 0.7933718957943722 Centerline is valid? [False, False] Translation: X:44.91, Y:2.61, Z:0.05 [[ 9.99983351e-01 -1.09734427e-03 5.66519560e-03 4.49064270e+01] [ 1.06015305e-03 9.99977897e-01 6.56369416e-03 2.60802253e+00] [-5.67227302e-03 -6.55757891e-03 9.99962411e-01 4.98366368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.80140051299999 meters Centerline goodness [0,1] 0.6914951070402454 Centerline is valid? [False, False] Translation: X:44.91, Y:2.61, Z:0.05 [[ 9.99983617e-01 -1.19253741e-03 5.59847834e-03 4.49069102e+01] [ 1.15620804e-03 9.99978285e-01 6.48790808e-03 2.60829999e+00] [-5.60609384e-03 -6.48132878e-03 9.99963281e-01 4.92682911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.83140051299999 meters Centerline goodness [0,1] 0.8606591210271339 Centerline is valid? [False, False] Translation: X:44.90, Y:2.61, Z:0.05 [[ 9.99968652e-01 -4.29867637e-03 6.64957284e-03 4.49021523e+01] [ 4.28532778e-03 9.99988777e-01 2.02038356e-03 2.61364241e+00] [-6.65818319e-03 -1.99182463e-03 9.99975850e-01 5.15569690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.86140051299999 meters Centerline goodness [0,1] 0.7751168598322341 Centerline is valid? [False, False] Translation: X:44.94, Y:2.61, Z:0.05 [[ 9.99949622e-01 -4.03512060e-03 9.19083175e-03 4.49431954e+01] [ 4.02271326e-03 9.99990973e-01 1.36805624e-03 2.61201212e+00] [-9.19626906e-03 -1.33101524e-03 9.99956828e-01 5.14297398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.891400513 meters Centerline goodness [0,1] 0.7631039910304233 Centerline is valid? [False, False] Translation: X:44.92, Y:2.62, Z:0.06 [[ 9.99988471e-01 -2.64700717e-03 4.00641458e-03 4.49205329e+01] [ 2.68017861e-03 9.99961988e-01 -8.29698518e-03 2.62171849e+00] [-3.98430011e-03 8.30762743e-03 9.99957553e-01 5.71918953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.921400513 meters Centerline goodness [0,1] 0.63810116264104 Centerline is valid? [False, False] Translation: X:44.92, Y:2.62, Z:0.06 [[ 9.99990046e-01 1.73703015e-03 4.10990085e-03 4.49199651e+01] [-1.72558932e-03 9.99994631e-01 -2.78563384e-03 2.61556795e+00] [-4.11471751e-03 2.77851411e-03 9.99987674e-01 5.73978605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.951400513 meters Centerline goodness [0,1] 0.7605294040944061 Centerline is valid? [False, False] Translation: X:44.89, Y:2.61, Z:0.07 [[ 9.99999848e-01 5.48703912e-04 4.74890960e-05 4.48946670e+01] [-5.49034757e-04 9.99973406e-01 7.27228309e-03 2.61050506e+00] [-4.34975029e-05 -7.27230806e-03 9.99973555e-01 6.51102914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.98140051299998 meters Centerline goodness [0,1] 0.8026672402667241 Centerline is valid? [False, False] Translation: X:44.92, Y:2.62, Z:0.06 [[ 9.99996067e-01 1.82785307e-03 2.12709991e-03 4.49153090e+01] [-1.82041355e-03 9.99992238e-01 -3.49418989e-03 2.61598450e+00] [-2.13347027e-03 3.49030394e-03 9.99991633e-01 6.31599650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.01140051299998 meters Centerline goodness [0,1] 0.7815509922644315 Centerline is valid? [False, False] Translation: X:44.92, Y:2.62, Z:0.06 [[ 9.99996042e-01 1.80262030e-03 2.16043159e-03 4.49152923e+01] [-1.79495107e-03 9.99992100e-01 -3.54655588e-03 2.61623546e+00] [-2.16680762e-03 3.54266398e-03 9.99991377e-01 6.29624984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.04140051299999 meters Centerline goodness [0,1] 0.8210250638500498 Centerline is valid? [False, False] Translation: X:44.92, Y:2.62, Z:0.06 [[ 9.99995992e-01 1.80762359e-03 2.17908502e-03 4.49151896e+01] [-1.79992598e-03 9.99992152e-01 -3.52929800e-03 2.61616441e+00] [-2.18544757e-03 3.52536167e-03 9.99991398e-01 6.30260866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.07140051299999 meters Centerline goodness [0,1] 0.781872316554834 Centerline is valid? [False, False] Translation: X:44.92, Y:2.62, Z:0.06 [[ 9.99996296e-01 1.68467012e-03 2.13771080e-03 4.49153595e+01] [-1.67655141e-03 9.99991397e-01 -3.79397993e-03 2.61738625e+00] [-2.14408401e-03 3.79038190e-03 9.99990518e-01 6.29864987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.10140051299999 meters Centerline goodness [0,1] 0.7574888395264077 Centerline is valid? [False, False] Translation: X:44.92, Y:2.62, Z:0.06 [[ 9.99996997e-01 1.51771409e-03 1.92421029e-03 4.49162532e+01] [-1.50965690e-03 9.99990117e-01 -4.18183038e-03 2.61918980e+00] [-1.93053809e-03 4.17891292e-03 9.99989405e-01 6.26389437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.13140051299999 meters Centerline goodness [0,1] 0.719149769384736 Centerline is valid? [False, False] Translation: X:44.92, Y:2.61, Z:0.06 [[ 9.99980349e-01 5.96663800e-03 1.92382916e-03 4.49162961e+01] [-5.96878867e-03 9.99981566e-01 1.11411379e-03 2.61434187e+00] [-1.91714618e-03 -1.12557483e-03 9.99997529e-01 6.24127940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.16140051299999 meters Centerline goodness [0,1] 0.8888088219237908 Centerline is valid? [False, False] Translation: X:44.92, Y:2.62, Z:0.06 [[ 9.99981083e-01 5.85405921e-03 1.88783960e-03 4.49165034e+01] [-5.85565341e-03 9.99982503e-01 8.40042066e-04 2.61561486e+00] [-1.88288891e-03 -8.51080709e-04 9.99997865e-01 6.22551620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.19140051299999 meters Centerline goodness [0,1] 0.787670490274736 Centerline is valid? [False, False] Translation: X:44.92, Y:2.62, Z:0.06 [[ 9.99981234e-01 5.78594106e-03 2.01345257e-03 4.49158800e+01] [-5.78721864e-03 9.99983056e-01 6.29279287e-04 2.61661649e+00] [-2.00977748e-03 -6.40919768e-04 9.99997775e-01 6.27479432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.22140051299999 meters Centerline goodness [0,1] 0.842664576119858 Centerline is valid? [False, False] Translation: X:44.92, Y:2.62, Z:0.06 [[ 9.99981528e-01 5.66903517e-03 2.19196419e-03 4.49150002e+01] [-5.66977611e-03 9.99983872e-01 3.31961059e-04 2.61799837e+00] [-2.19004694e-03 -3.44382873e-04 9.99997543e-01 6.34531214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.251400513 meters Centerline goodness [0,1] 0.8215776563239661 Centerline is valid? [False, False] Translation: X:44.91, Y:2.62, Z:0.06 [[ 9.99948193e-01 9.88578865e-03 2.42536646e-03 4.49140948e+01] [-9.89813936e-03 9.99937831e-01 5.13427448e-03 2.61538496e+00] [-2.37445932e-03 -5.15801510e-03 9.99983878e-01 6.38416157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.281400513 meters Centerline goodness [0,1] 0.7113872795020353 Centerline is valid? [False, False] Translation: X:44.92, Y:2.62, Z:0.06 [[ 9.99983661e-01 5.42751184e-03 1.79438916e-03 4.49164987e+01] [-5.42633365e-03 9.99985059e-01 -6.60816625e-04 2.62298270e+00] [-1.79794894e-03 6.51068874e-04 9.99998172e-01 6.30187263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.311400513 meters Centerline goodness [0,1] 0.9147118761652864 Centerline is valid? [False, False] Translation: X:44.92, Y:2.62, Z:0.06 [[ 9.99983867e-01 5.43918295e-03 1.63718862e-03 4.49173206e+01] [-5.43816565e-03 9.99985018e-01 -6.25182812e-04 2.62279692e+00] [-1.64056458e-03 6.16269423e-04 9.99998464e-01 6.23601914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.341400513 meters Centerline goodness [0,1] 0.8346656352071514 Centerline is valid? [False, False] Translation: X:44.92, Y:2.62, Z:0.06 [[ 9.99983770e-01 5.46158088e-03 1.62203850e-03 4.49175712e+01] [-5.46072208e-03 9.99984948e-01 -5.33413691e-04 2.62233358e+00] [-1.62492736e-03 5.24547532e-04 9.99998542e-01 6.18911455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.37140051299998 meters Centerline goodness [0,1] 0.7312541903670221 Centerline is valid? [False, False] Translation: X:44.92, Y:2.62, Z:0.06 [[ 9.99983539e-01 5.47225101e-03 1.72518862e-03 4.49171930e+01] [-5.47139402e-03 9.99984906e-01 -5.01078434e-04 2.62217433e+00] [-1.72790461e-03 4.91630999e-04 9.99998386e-01 6.19547305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.40140051299998 meters Centerline goodness [0,1] 0.719953576341128 Centerline is valid? [False, False] Translation: X:44.92, Y:2.62, Z:0.06 [[ 9.99983819e-01 5.40881371e-03 1.76231663e-03 4.49169930e+01] [-5.40768101e-03 9.99985169e-01 -6.46865748e-04 2.62285475e+00] [-1.76578927e-03 6.37325235e-04 9.99998238e-01 6.21266875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.43140051299999 meters Centerline goodness [0,1] 0.6793760460026605 Centerline is valid? [False, False] Translation: X:44.92, Y:2.63, Z:0.06 [[ 9.99985900e-01 5.07268612e-03 1.57071215e-03 4.49178198e+01] [-5.07024823e-03 9.99985942e-01 -1.55220311e-03 2.62715681e+00] [-1.57856390e-03 1.54421732e-03 9.99997562e-01 6.18575783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.46140051299999 meters Centerline goodness [0,1] 0.952500436376331 Centerline is valid? [False, True] Translation: X:44.89, Y:2.62, Z:0.07 [[ 9.99981423e-01 5.01130926e-03 -3.46990856e-03 4.48934596e+01] [-4.98023956e-03 9.99947943e-01 8.90552124e-03 2.62387885e+00] [ 3.51435625e-03 -8.88807482e-03 9.99954325e-01 6.98396146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.49140051299999 meters Centerline goodness [0,1] 0.9457003691326475 Centerline is valid? [True, False] Translation: X:44.89, Y:2.63, Z:0.07 [[ 9.99992421e-01 1.12255494e-03 -3.72801549e-03 4.48943458e+01] [-1.11103244e-03 9.99994604e-01 3.09141887e-03 2.63318161e+00] [ 3.73146566e-03 -3.08725349e-03 9.99988272e-01 6.98005407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.52140051299999 meters Centerline goodness [0,1] 0.9837079988749216 Centerline is valid? [False, True] Translation: X:44.92, Y:2.64, Z:0.07 [[ 9.99993785e-01 3.37047306e-03 -1.03474794e-03 4.49174074e+01] [-3.37730256e-03 9.99972046e-01 -6.67092164e-03 2.64042367e+00] [ 1.01223485e-03 6.67437484e-03 9.99977214e-01 6.56370264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.55140051299999 meters Centerline goodness [0,1] 0.9601377846140514 Centerline is valid? [True, True] Translation: X:44.94, Y:2.63, Z:0.07 [[ 9.99977297e-01 6.71611611e-03 5.46189194e-04 4.49435329e+01] [-6.71789386e-03 9.99971920e-01 3.32086217e-03 2.62837379e+00] [-5.23870561e-04 -3.32445602e-03 9.99994337e-01 6.57838172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.58140051299999 meters Centerline goodness [0,1] 0.990250726353169 Centerline is valid? [True, True] Translation: X:44.98, Y:2.64, Z:0.06 [[ 9.99971710e-01 7.48799666e-03 -7.13193071e-04 4.49752390e+01] [-7.48948391e-03 9.99969736e-01 -2.10601174e-03 2.63817734e+00] [ 6.97401678e-04 2.11129361e-03 9.99997528e-01 6.43290691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.61140051299999 meters Centerline goodness [0,1] 0.9096714344271136 Centerline is valid? [True, False] Translation: X:44.98, Y:2.65, Z:0.06 [[ 9.99975788e-01 6.92904733e-03 -6.42424148e-04 4.49751489e+01] [-6.93138283e-03 9.99969105e-01 -3.70743753e-03 2.64580574e+00] [ 6.16715290e-04 3.71180065e-03 9.99992921e-01 6.43376836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.641400513 meters Centerline goodness [0,1] 0.5056165240076755 Centerline is valid? [False, False] Translation: X:44.97, Y:2.65, Z:0.06 [[ 9.99977290e-01 6.71290323e-03 -5.96456872e-04 4.49748271e+01] [-6.71536486e-03 9.99968523e-01 -4.22564821e-03 2.64823945e+00] [ 5.68071730e-04 4.22955767e-03 9.99990894e-01 6.47477379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.671400513 meters Centerline goodness [0,1] 0.8913203622654591 Centerline is valid? [False, False] Translation: X:44.97, Y:2.65, Z:0.07 [[ 9.99978677e-01 6.50449979e-03 -5.80744358e-04 4.49746482e+01] [-6.50717138e-03 9.99967672e-01 -4.72345385e-03 2.65056799e+00] [ 5.50001879e-04 4.72713213e-03 9.99988676e-01 6.50844677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.701400513 meters Centerline goodness [0,1] 0.8892551369863013 Centerline is valid? [False, False] Translation: X:44.99, Y:2.64, Z:0.06 [[ 9.99976986e-01 5.91344127e-03 3.32537336e-03 4.49928204e+01] [-5.93411176e-03 9.99962918e-01 6.24086678e-03 2.64439096e+00] [-3.28834505e-03 -6.26045629e-03 9.99974996e-01 6.41514276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.73140051299998 meters Centerline goodness [0,1] 0.9991056626821394 Centerline is valid? [False, True] Translation: X:44.95, Y:2.65, Z:0.06 [[ 9.99988252e-01 4.79437595e-03 7.13720159e-04 4.49519979e+01] [-4.79679430e-03 9.99982626e-01 3.42612648e-03 2.65479767e+00] [-6.97281620e-04 -3.42950980e-03 9.99993876e-01 6.44345625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.76140051299998 meters Centerline goodness [0,1] 0.9986719498388923 Centerline is valid? [True, True] Translation: X:44.98, Y:2.66, Z:0.06 [[ 9.99959430e-01 8.97797192e-03 7.31130473e-04 4.49820256e+01] [-8.97967472e-03 9.99956897e-01 2.36000556e-03 2.65867175e+00] [-7.09910896e-04 -2.36647513e-03 9.99996948e-01 6.27732790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.79140051299999 meters Centerline goodness [0,1] 0.9997602388892521 Centerline is valid? [True, True] Translation: X:45.01, Y:2.67, Z:0.06 [[ 9.99926442e-01 1.21167257e-02 -5.42910901e-04 4.50136946e+01] [-1.21183215e-02 9.99921951e-01 -3.03927724e-03 2.67295740e+00] [ 5.06042439e-04 3.04563285e-03 9.99995234e-01 6.31157891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.82140051299999 meters Centerline goodness [0,1] 0.9997202074769171 Centerline is valid? [True, True] Translation: X:45.04, Y:2.67, Z:0.06 [[ 9.99877490e-01 1.55626863e-02 1.67582855e-03 4.50434900e+01] [-1.55664402e-02 9.99876302e-01 2.25080133e-03 2.67040800e+00] [-1.64059274e-03 -2.27661227e-03 9.99996063e-01 6.47790546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.85140051299999 meters Centerline goodness [0,1] 0.9999130207880317 Centerline is valid? [True, True] Translation: X:45.07, Y:2.68, Z:0.07 [[ 9.99789783e-01 1.99533975e-02 4.71712962e-03 4.50741182e+01] [-1.99670085e-02 9.99796560e-01 2.85616725e-03 2.67786079e+00] [-4.65917973e-03 -2.94975380e-03 9.99984795e-01 6.77055517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.88140051299999 meters Centerline goodness [0,1] 0.9998709038879445 Centerline is valid? [True, True] Translation: X:45.11, Y:2.71, Z:0.07 [[ 9.99630909e-01 2.67823182e-02 4.55550554e-03 4.51114444e+01] [-2.67550754e-02 9.99624373e-01 -5.93954203e-03 2.70575097e+00] [-4.71286907e-03 5.81546691e-03 9.99971984e-01 7.21926115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.91140051299999 meters Centerline goodness [0,1] 0.9999356126456764 Centerline is valid? [True, True] Translation: X:45.14, Y:2.70, Z:0.07 [[ 9.99507127e-01 3.08379602e-02 5.87564040e-03 4.51408684e+01] [-3.08361781e-02 9.99524374e-01 -3.93672986e-04 2.70456758e+00] [-5.88498587e-03 2.12296661e-04 9.99982661e-01 7.33912164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.94140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.17, Y:2.71, Z:0.07 [[ 9.99329183e-01 3.57537624e-02 7.92798891e-03 4.51682860e+01] [-3.57651539e-02 9.99359377e-01 1.29973489e-03 2.71003048e+00] [-7.87643965e-03 -1.58240875e-03 9.99967728e-01 7.31758862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.97140051299999 meters Centerline goodness [0,1] 0.9999782305816789 Centerline is valid? [True, True] Translation: X:45.20, Y:2.72, Z:0.07 [[ 9.99293785e-01 3.71751212e-02 5.47183780e-03 4.52044347e+01] [-3.71626461e-02 9.99306434e-01 -2.36418917e-03 2.72485850e+00] [-5.55593173e-03 2.15917157e-03 9.99982235e-01 7.21586538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.001400513 meters Centerline goodness [0,1] 0.9999786292821576 Centerline is valid? [True, True] Translation: X:45.23, Y:2.72, Z:0.07 [[ 9.99162980e-01 4.00278700e-02 8.43260249e-03 4.52322299e+01] [-4.00851588e-02 9.99173549e-01 6.73786367e-03 2.71755564e+00] [-8.15593103e-03 -7.07024615e-03 9.99941745e-01 7.11593378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.031400513 meters Centerline goodness [0,1] 0.9999783479484681 Centerline is valid? [True, True] Translation: X:45.27, Y:2.73, Z:0.07 [[ 9.99190522e-01 3.99713040e-02 4.53816763e-03 4.52683480e+01] [-3.99338674e-02 9.99169815e-01 -8.06021739e-03 2.73252748e+00] [-4.85657751e-03 7.87246624e-03 9.99957218e-01 6.95867669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.061400513 meters Centerline goodness [0,1] 0.9999564876860152 Centerline is valid? [True, True] Translation: X:45.30, Y:2.73, Z:0.07 [[ 9.99162609e-01 4.06191295e-02 4.91604926e-03 4.53007550e+01] [-4.06179924e-02 9.99174694e-01 -3.30956626e-04 2.73033114e+00] [-4.92543518e-03 1.30999434e-04 9.99987861e-01 6.94748344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.091400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.33, Y:2.73, Z:0.07 [[ 9.99157016e-01 4.07152847e-02 5.24626786e-03 4.53325481e+01] [-4.07139860e-02 9.99170779e-01 -3.54151146e-04 2.72826634e+00] [-5.25633691e-03 1.40256125e-04 9.99986176e-01 7.01668282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.12140051299998 meters Centerline goodness [0,1] 0.9998711340206186 Centerline is valid? [True, True] Translation: X:45.36, Y:2.73, Z:0.07 [[ 9.99162466e-01 4.05099263e-02 5.77164132e-03 4.53645764e+01] [-4.05083441e-02 9.99179124e-01 -3.90813231e-04 2.72930919e+00] [-5.78273533e-03 1.56686279e-04 9.99983268e-01 7.01456185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.15140051299998 meters Centerline goodness [0,1] 0.9999138172494775 Centerline is valid? [True, True] Translation: X:45.39, Y:2.70, Z:0.07 [[ 9.98817982e-01 4.57241000e-02 1.64907417e-02 4.53871776e+01] [-4.60371519e-02 9.98756510e-01 1.91315029e-02 2.69589860e+00] [-1.55954649e-02 -1.98680760e-02 9.99680970e-01 6.72619642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.18140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.43, Y:2.73, Z:0.07 [[ 9.99030031e-01 4.28290156e-02 1.02309389e-02 4.54251897e+01] [-4.27088587e-02 9.99019194e-01 -1.16877088e-02 2.73491688e+00] [-1.07214774e-02 1.12394204e-02 9.99879355e-01 6.89137532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.21140051299999 meters Centerline goodness [0,1] 0.9999786233433091 Centerline is valid? [True, True] Translation: X:45.46, Y:2.74, Z:0.07 [[ 9.99072155e-01 4.25935108e-02 6.37346114e-03 4.54600236e+01] [-4.25265061e-02 9.99042211e-01 -1.03032182e-02 2.73570942e+00] [-6.80620695e-03 1.00226173e-02 9.99926609e-01 6.86004204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.24140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.49, Y:2.73, Z:0.07 [[ 9.99008330e-01 4.41790622e-02 5.52870639e-03 4.54904936e+01] [-4.41776387e-02 9.99023619e-01 -3.79398111e-04 2.72710999e+00] [-5.54006972e-03 1.34776680e-04 9.99984645e-01 6.65078611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.27140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.52, Y:2.73, Z:0.07 [[ 9.98951328e-01 4.54961031e-02 5.13303585e-03 4.55226605e+01] [-4.54948883e-02 9.98964509e-01 -3.53228706e-04 2.72785168e+00] [-5.14379117e-03 1.19331392e-04 9.99986763e-01 6.51132990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.30140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.55, Y:2.73, Z:0.06 [[ 9.98868563e-01 4.72891695e-02 5.03266108e-03 4.55544249e+01] [-4.72873924e-02 9.98881214e-01 -4.71572064e-04 2.72980374e+00] [-5.04933086e-03 2.33057091e-04 9.99987225e-01 6.44162316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.33140051299999 meters Centerline goodness [0,1] 0.9999140099318529 Centerline is valid? [True, True] Translation: X:45.59, Y:2.73, Z:0.06 [[ 9.98720002e-01 5.03155016e-02 5.16806220e-03 4.55856085e+01] [-5.03150049e-02 9.98733372e-01 -2.26164154e-04 2.73057022e+00] [-5.17289575e-03 -3.41564112e-05 9.99986620e-01 6.30645892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.36140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.62, Y:2.73, Z:0.06 [[ 9.98510648e-01 5.42986456e-02 5.30504565e-03 4.56169744e+01] [-5.42974643e-02 9.98524737e-01 -3.66558611e-04 2.73237402e+00] [-5.31712295e-03 7.79621496e-05 9.99985861e-01 6.40914258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.391400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.65, Y:2.74, Z:0.06 [[ 9.98154208e-01 6.06064495e-02 3.87747576e-03 4.56487831e+01] [-6.06058658e-02 9.98161739e-01 -2.67960052e-04 2.73555281e+00] [-3.88658806e-03 3.24676777e-05 9.99992447e-01 6.24244656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.421400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.68, Y:2.74, Z:0.06 [[ 9.97971752e-01 6.35921421e-02 2.90214278e-03 4.56814910e+01] [-6.35918298e-02 9.97975971e-01 -1.99846851e-04 2.73696217e+00] [-2.90897745e-03 1.48889416e-05 9.99995769e-01 6.06203089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.451400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.71, Y:2.73, Z:0.06 [[ 9.97970234e-01 6.36159579e-02 2.90205877e-03 4.57122495e+01] [-6.36156421e-02 9.97974453e-01 -2.01058753e-04 2.73478818e+00] [-2.90897106e-03 1.60343189e-05 9.99995769e-01 6.03731307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.48140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.74, Y:2.74, Z:0.06 [[ 9.97764625e-01 6.68034284e-02 1.74804981e-03 4.57438602e+01] [-6.68033188e-02 9.97766156e-01 -1.21071401e-04 2.73714153e+00] [-1.75223292e-03 4.02523218e-06 9.99998465e-01 5.83155511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.51140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.77, Y:2.74, Z:0.06 [[ 9.97540647e-01 7.00860050e-02 7.80607517e-04 4.57741752e+01] [-7.00859841e-02 9.97540952e-01 -5.41520714e-05 2.73886434e+00] [-7.82483268e-04 -6.90753632e-07 9.99999694e-01 5.62870340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.54140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.80, Y:2.74, Z:0.06 [[ 9.97058837e-01 7.66299025e-02 1.23821769e-03 4.58035521e+01] [-7.66298546e-02 9.97059606e-01 -8.61475518e-05 2.74407670e+00] [-1.24117832e-03 -8.99026361e-06 9.99999230e-01 5.57585757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.57140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.83, Y:2.75, Z:0.06 [[ 9.96745186e-01 8.05903347e-02 2.05704759e-03 4.58331422e+01] [-8.05902116e-02 9.96747309e-01 -1.42769397e-04 2.74686270e+00] [-2.06186249e-03 -2.34731918e-05 9.99997874e-01 5.67304517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.60140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.86, Y:2.75, Z:0.06 [[ 9.96466319e-01 8.39897184e-02 7.75459854e-04 4.58646046e+01] [-8.39819879e-02 9.96441181e-01 -7.21098505e-03 2.74747411e+00] [-1.37834874e-03 7.12037907e-03 9.99973700e-01 5.99749787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.63140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.89, Y:2.74, Z:0.06 [[ 9.96130932e-01 8.77153394e-02 5.40229387e-03 4.58922255e+01] [-8.77795459e-02 9.96053923e-01 1.30894306e-02 2.74218537e+00] [-4.23283216e-03 -1.35129976e-02 9.99899736e-01 5.52686780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.66140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.93, Y:2.76, Z:0.06 [[ 9.96010780e-01 8.92200526e-02 -1.51964642e-03 4.59261561e+01] [-8.92315231e-02 9.95947688e-01 -1.12222269e-02 2.76403905e+00] [ 5.12240663e-04 1.13130593e-02 9.99935874e-01 5.55341443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.69140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.95, Y:2.75, Z:0.05 [[ 9.95868327e-01 9.08005359e-02 -1.23980982e-03 4.59541993e+01] [-9.08005011e-02 9.95869099e-01 8.44303717e-05 2.74982547e+00] [ 1.24235461e-03 2.84938201e-05 9.99999228e-01 5.47418437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.72140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.98, Y:2.75, Z:0.05 [[ 9.95850317e-01 9.10055607e-02 -3.66200778e-04 4.59822868e+01] [-9.10055578e-02 9.95850384e-01 2.46179916e-05 2.74928262e+00] [ 3.66921559e-04 8.81047133e-06 9.99999933e-01 5.38864643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.751400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.01, Y:2.75, Z:0.05 [[ 9.95991936e-01 8.94421356e-02 4.09201346e-04 4.60099059e+01] [-8.94421315e-02 9.95992020e-01 -2.82293362e-05 2.74664659e+00] [-4.10086167e-04 -8.48364938e-06 9.99999916e-01 5.43318840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.781400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.04, Y:2.74, Z:0.06 [[ 9.96186264e-01 8.72503766e-02 5.46202632e-04 4.60389009e+01] [-8.72503692e-02 9.96186414e-01 -3.73746014e-05 2.73717513e+00] [-5.47380589e-04 -1.04243168e-05 9.99999850e-01 5.54850374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.811400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.07, Y:2.73, Z:0.06 [[ 9.96356917e-01 8.52787344e-02 6.57324136e-04 4.60674722e+01] [-8.52787232e-02 9.96357133e-01 -4.50555444e-05 2.73185289e+00] [-6.58771872e-04 -1.11643598e-05 9.99999783e-01 5.67531945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.841400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.10, Y:2.72, Z:0.06 [[ 9.96479141e-01 8.38391514e-02 5.63494709e-04 4.60979129e+01] [-8.38382183e-02 9.96478229e-01 -1.51416792e-03 2.72480148e+00] [-6.88456764e-04 1.46159436e-03 9.99998695e-01 5.93557143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.87140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.13, Y:2.73, Z:0.06 [[ 9.96409074e-01 8.46197266e-02 2.90846421e-03 4.61254455e+01] [-8.46237071e-02 9.96412167e-01 1.27370686e-03 2.72521623e+00] [-2.79024840e-03 -1.51525810e-03 9.99994959e-01 6.00350169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.90140051299998 meters Centerline goodness [0,1] 0.999807803190467 Centerline is valid? [True, True] Translation: X:46.15, Y:2.73, Z:0.06 [[ 9.96250182e-01 8.62867138e-02 6.33861058e-03 4.61543448e+01] [-8.62857144e-02 9.96270339e-01 -4.31475032e-04 2.72697006e+00] [-6.35220027e-03 -1.17074463e-04 9.99979818e-01 6.19117208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.93140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.18, Y:2.73, Z:0.06 [[ 9.96134024e-01 8.75944430e-02 6.64981561e-03 4.61848763e+01] [-8.75918673e-02 9.96156215e-01 -6.78140684e-04 2.72763281e+00] [-6.68365650e-03 9.30492424e-05 9.99977660e-01 6.43098263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.96140051299999 meters Centerline goodness [0,1] 0.999935938500961 Centerline is valid? [True, True] Translation: X:46.21, Y:2.73, Z:0.06 [[ 9.95999864e-01 8.90970128e-02 6.78182035e-03 4.62149213e+01] [-8.90974378e-02 9.96022886e-01 -2.40038726e-04 2.72995616e+00] [-6.77623501e-03 -3.65164279e-04 9.99976974e-01 6.26896796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.99140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.25, Y:2.73, Z:0.06 [[ 9.95863529e-01 9.07311688e-02 4.86687047e-03 4.62453044e+01] [-9.07306334e-02 9.95875415e-01 -3.31131819e-04 2.72855210e+00] [-4.87684062e-03 -1.11812138e-04 9.99988102e-01 6.03969265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.02140051299999 meters Centerline goodness [0,1] 0.9999785770903404 Centerline is valid? [True, True] Translation: X:46.27, Y:2.73, Z:0.06 [[ 9.95887503e-01 9.05322911e-02 3.46197762e-03 4.62748970e+01] [-9.05193196e-02 9.95887691e-01 -3.73634408e-03 2.72572991e+00] [-3.78600068e-03 3.40760252e-03 9.99987027e-01 5.96826207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.05140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.30, Y:2.72, Z:0.06 [[ 9.95948166e-01 8.97659709e-02 5.41486992e-03 4.63042815e+01] [-8.97837520e-02 9.95956350e-01 3.13477607e-03 2.71877133e+00] [-5.11157786e-03 -3.60824182e-03 9.99980426e-01 6.03363614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.08140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.33, Y:2.72, Z:0.06 [[ 9.96047415e-01 8.86780864e-02 5.07395011e-03 4.63335240e+01] [-8.86848222e-02 9.96059111e-01 1.11785902e-03 2.71880899e+00] [-4.95482464e-03 -1.56342295e-03 9.99986503e-01 5.99311795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.11140051299999 meters Centerline goodness [0,1] 0.999914030261348 Centerline is valid? [True, True] Translation: X:46.36, Y:2.72, Z:0.06 [[ 9.96089291e-01 8.82399535e-02 4.45359447e-03 4.63640293e+01] [-8.82328871e-02 9.96098320e-01 -1.75936182e-03 2.71737417e+00] [-4.59146398e-03 1.35952797e-03 9.99988535e-01 5.76353980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.141400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.39, Y:2.71, Z:0.06 [[ 9.96095272e-01 8.82296513e-02 3.12051334e-03 4.63946392e+01] [-8.82294181e-02 9.96100158e-01 -2.12605648e-04 2.71205378e+00] [-3.12710195e-03 -6.35455954e-05 9.99995109e-01 5.66493644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.171400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.42, Y:2.70, Z:0.06 [[ 9.96193758e-01 8.71116700e-02 3.09081425e-03 4.64240853e+01] [-8.71183215e-02 9.96195786e-01 2.08669599e-03 2.70075110e+00] [-2.89728056e-03 -2.34802007e-03 9.99993046e-01 5.53746904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.201400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.45, Y:2.70, Z:0.06 [[ 9.96281858e-01 8.60664107e-02 3.87716497e-03 4.64531785e+01] [-8.60568656e-02 9.96286924e-01 -2.56519251e-03 2.69891762e+00] [-4.08354568e-03 2.22199810e-03 9.99989194e-01 5.81541925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.23140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.48, Y:2.69, Z:0.06 [[ 9.96458811e-01 8.39033328e-02 5.48350256e-03 4.64833153e+01] [-8.39025473e-02 9.96473895e-01 -3.73528434e-04 2.68996066e+00] [-5.49550744e-03 -8.78741344e-05 9.99984896e-01 6.07985845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.26140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.51, Y:2.68, Z:0.06 [[ 9.96682130e-01 8.11139713e-02 6.72718145e-03 4.65143572e+01] [-8.11281231e-02 9.96701950e-01 1.85771860e-03 2.67718663e+00] [-6.55430793e-03 -2.39731853e-03 9.99975647e-01 6.09566438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.29140051299999 meters Centerline goodness [0,1] 0.999870814942405 Centerline is valid? [True, True] Translation: X:46.55, Y:2.67, Z:0.06 [[ 9.96785128e-01 7.99666805e-02 4.97375356e-03 4.65455848e+01] [-7.99545113e-02 9.96795124e-01 -2.59952386e-03 2.67031500e+00] [-5.16568859e-03 2.19349269e-03 9.99984252e-01 5.83874540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.32140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.58, Y:2.65, Z:0.06 [[ 9.96854852e-01 7.92096083e-02 2.49845539e-03 4.65767126e+01] [-7.92094305e-02 9.96857982e-01 -1.70202469e-04 2.65269056e+00] [-2.50408687e-03 -2.82340714e-05 9.99996864e-01 5.55775947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.35140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.61, Y:2.65, Z:0.05 [[ 9.96856203e-01 7.92201616e-02 1.36974926e-03 4.66087412e+01] [-7.92201084e-02 9.96857144e-01 -9.31464367e-05 2.64510939e+00] [-1.37282342e-03 -1.56580819e-05 9.99999058e-01 5.39969538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.38140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.64, Y:2.64, Z:0.05 [[ 9.96855656e-01 7.92340269e-02 8.77375112e-04 4.66391240e+01] [-7.92340046e-02 9.96856042e-01 -6.02307827e-05 2.64099863e+00] [-8.79389009e-04 -9.47654725e-06 9.99999613e-01 5.27521231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.41140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.67, Y:2.64, Z:0.05 [[ 9.96800591e-01 7.99216902e-02 1.05094609e-03 4.66706161e+01] [-7.99216585e-02 9.96801145e-01 -7.21148585e-05 2.63678934e+00] [-1.05334781e-03 -1.21092211e-05 9.99999445e-01 5.30055542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.44140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.70, Y:2.63, Z:0.05 [[ 9.96684669e-01 8.13555959e-02 9.68592752e-04 4.67013613e+01] [-8.13536374e-02 9.96683462e-01 -1.91388255e-03 2.63212692e+00] [-1.12108543e-03 1.82873885e-03 9.99997699e-01 5.42691822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.47140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.73, Y:2.62, Z:0.06 [[ 9.96409033e-01 8.46274680e-02 2.68915285e-03 4.67322788e+01] [-8.46321254e-02 9.96410870e-01 1.66790169e-03 2.62482545e+00] [-2.53835083e-03 -1.88950103e-03 9.99994993e-01 5.51934879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.501400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.76, Y:2.62, Z:0.05 [[ 9.96348882e-01 8.53689820e-02 1.02066212e-03 4.67642931e+01] [-8.53674064e-02 9.96348413e-01 -1.49881995e-03 2.62223996e+00] [-1.14488781e-03 1.40621630e-03 9.99998356e-01 5.47402550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.531400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.80, Y:2.61, Z:0.05 [[ 9.96367338e-01 8.51209179e-02 2.56062490e-03 4.67956730e+01] [-8.51243464e-02 9.96369538e-01 1.26091343e-03 2.61412419e+00] [-2.44399854e-03 -1.47430448e-03 9.99995927e-01 5.45528010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.561400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.83, Y:2.61, Z:0.05 [[ 9.96451057e-01 8.41118498e-02 3.23837033e-03 4.68264153e+01] [-8.41115681e-02 9.96456318e-01 -2.23320426e-04 2.61180039e+00] [-3.24567847e-03 -4.98565319e-05 9.99994732e-01 5.49132282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.591400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.86, Y:2.60, Z:0.06 [[ 9.96549288e-01 8.29007136e-02 4.12179318e-03 4.68584538e+01] [-8.29002432e-02 9.96557810e-01 -2.85131572e-04 2.60368002e+00] [-4.13124279e-03 -5.75499923e-05 9.99991465e-01 5.64097393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.62140051299998 meters Centerline goodness [0,1] 0.9999352820623449 Centerline is valid? [True, True] Translation: X:46.89, Y:2.60, Z:0.06 [[ 9.96687379e-01 8.11429584e-02 5.48530112e-03 4.68896323e+01] [-8.11420917e-02 9.96702471e-01 -3.80729909e-04 2.59760580e+00] [-5.49810674e-03 -6.56201115e-05 9.99984883e-01 5.71868296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.65140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.92, Y:2.59, Z:0.06 [[ 9.96905757e-01 7.83012653e-02 6.91544302e-03 4.69206240e+01] [-7.82998106e-02 9.96929741e-01 -4.81260815e-04 2.59018363e+00] [-6.93189415e-03 -6.17062016e-05 9.99975972e-01 6.05629151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.68140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.95, Y:2.59, Z:0.06 [[ 9.96985070e-01 7.73180600e-02 6.53356439e-03 4.69521959e+01] [-7.73167361e-02 9.97006477e-01 -4.55345979e-04 2.58515259e+00] [-6.54921248e-03 -5.11807303e-05 9.99978552e-01 5.94292834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.71140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.98, Y:2.58, Z:0.06 [[ 9.97021555e-01 7.69242892e-02 5.53832482e-03 4.69844928e+01] [-7.69233275e-02 9.97036936e-01 -3.86754085e-04 2.58082132e+00] [-5.55166519e-03 -4.04242145e-05 9.99984589e-01 5.80058416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.74140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.02, Y:2.58, Z:0.06 [[ 9.97016924e-01 7.71067050e-02 3.43650486e-03 4.70171440e+01] [-7.71063350e-02 9.97022846e-01 -2.40225511e-04 2.58025917e+00] [-3.44479685e-03 -2.54673943e-05 9.99994066e-01 5.50433695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.77140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.05, Y:2.58, Z:0.05 [[ 9.96974504e-01 7.76925252e-02 2.38968006e-03 4.70498471e+01] [-7.76923477e-02 9.96977367e-01 -1.67177990e-04 2.58011726e+00] [-2.39544542e-03 -1.89876601e-05 9.99997131e-01 5.29851529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.80140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.08, Y:2.58, Z:0.05 [[ 9.96918946e-01 7.84256390e-02 1.42620792e-03 4.70823743e+01] [-7.84255768e-02 9.96919966e-01 -9.95733804e-05 2.57869088e+00] [-1.42962426e-03 -1.25845896e-05 9.99998978e-01 5.12252675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.83140051299999 meters Centerline goodness [0,1] 0.9999142017545741 Centerline is valid? [True, True] Translation: X:47.11, Y:2.58, Z:0.05 [[ 9.96958329e-01 7.79310043e-02 9.21140677e-04 4.71143709e+01] [-7.79309783e-02 9.96958755e-01 -6.41546563e-05 2.57671461e+00] [-9.23338899e-04 -7.82587515e-06 9.99999574e-01 4.87962816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.86140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.15, Y:2.57, Z:0.05 [[ 9.97045483e-01 7.67998066e-02 1.44710148e-03 4.71461339e+01] [-7.67997850e-02 9.97046533e-01 -7.05709560e-05 2.57144933e+00] [-1.44824735e-03 -4.07746299e-05 9.99998950e-01 5.09595940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.891400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.18, Y:2.57, Z:0.05 [[ 9.97284560e-01 7.35771560e-02 3.14779537e-03 4.71777969e+01] [-7.35767423e-02 9.97289528e-01 -2.47169382e-04 2.56617869e+00] [-3.15744938e-03 1.48936793e-05 9.99995015e-01 5.25035227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.921400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.21, Y:2.55, Z:0.05 [[ 9.97834537e-01 6.56057458e-02 4.70360261e-03 4.72065118e+01] [-6.56236994e-02 9.97837320e-01 3.76989840e-03 2.54826851e+00] [-4.44610323e-03 -4.07040263e-03 9.99981832e-01 5.48198351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.951400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.24, Y:2.55, Z:0.05 [[ 9.98176922e-01 6.02922037e-02 2.77156268e-03 4.72399445e+01] [-6.02792775e-02 9.98171262e-01 -4.53222193e-03 2.54566609e+00] [-3.03975186e-03 4.35689155e-03 9.99985889e-01 5.32399821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.98140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.27, Y:2.53, Z:0.05 [[ 9.98447903e-01 5.56596922e-02 1.94523266e-03 4.72696758e+01] [-5.56595280e-02 9.98449797e-01 -1.38479831e-04 2.53131137e+00] [-1.94992490e-03 2.99941649e-05 9.99998098e-01 5.10297502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.01140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.30, Y:2.52, Z:0.05 [[ 9.98759466e-01 4.96944395e-02 3.16112655e-03 4.72994559e+01] [-4.96939737e-02 9.98764466e-01 -2.25777080e-04 2.51810579e+00] [-3.16844074e-03 6.84080564e-05 9.99994978e-01 5.22563380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.04140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.33, Y:2.51, Z:0.05 [[ 9.98749733e-01 4.96548412e-02 5.77654109e-03 4.73313058e+01] [-4.96752676e-02 9.98759470e-01 3.44797663e-03 2.51192071e+00] [-5.59816638e-03 -3.73061696e-03 9.99977371e-01 5.49714519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.07140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.36, Y:2.51, Z:0.06 [[ 9.98667591e-01 5.09481691e-02 8.20527398e-03 4.73623472e+01] [-5.09719725e-02 9.98696385e-01 2.71833040e-03 2.51270288e+00] [-8.05608350e-03 -3.13294747e-03 9.99962641e-01 5.66068890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.10140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.40, Y:2.52, Z:0.06 [[ 9.98595052e-01 5.26843421e-02 5.68176553e-03 4.73973653e+01] [-5.26450863e-02 9.98589788e-01 -6.85056306e-03 2.52419281e+00] [-6.03467044e-03 6.54182134e-03 9.99960393e-01 5.60379572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.13140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.43, Y:2.52, Z:0.06 [[ 9.98441527e-01 5.54756421e-02 6.08028508e-03 4.74284681e+01] [-5.54740027e-02 9.98460036e-01 -4.38080906e-04 2.51879460e+00] [-6.09522448e-03 1.00100418e-04 9.99981419e-01 5.61904430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.16140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.46, Y:2.52, Z:0.05 [[ 9.98305444e-01 5.79406805e-02 5.39612999e-03 4.74599142e+01] [-5.79563281e-02 9.98315221e-01 2.78989365e-03 2.52150554e+00] [-5.22539037e-03 -3.09790590e-03 9.99981549e-01 5.38986025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.19140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.49, Y:2.52, Z:0.05 [[ 9.98423593e-01 5.59512138e-02 4.44867024e-03 4.74915947e+01] [-5.59358973e-02 9.98428242e-01 -3.49597664e-03 2.51896991e+00] [-4.63728214e-03 3.24162520e-03 9.99983994e-01 5.27300863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.22140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.52, Y:2.51, Z:0.05 [[ 9.98584232e-01 5.29750320e-02 4.81437348e-03 4.75233005e+01] [-5.29739663e-02 9.98595833e-01 -3.48694143e-04 2.51241129e+00] [-4.82608538e-03 9.31640138e-05 9.99988350e-01 5.36184592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.251400513 meters Centerline goodness [0,1] 0.9999785416934895 Centerline is valid? [True, True] Translation: X:47.55, Y:2.49, Z:0.05 [[ 9.98714911e-01 5.00931537e-02 7.69433730e-03 4.75511708e+01] [-5.01528905e-02 9.98711269e-01 7.77746911e-03 2.49476795e+00] [-7.29482341e-03 -8.15336763e-03 9.99940152e-01 5.38849257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.281400513 meters Centerline goodness [0,1] 0.9998498240796362 Centerline is valid? [True, True] Translation: X:47.59, Y:2.50, Z:0.05 [[ 9.99027014e-01 4.39565727e-02 3.58394928e-03 4.75850195e+01] [-4.39226843e-02 9.98994017e-01 -9.04170255e-03 2.50103229e+00] [-3.97778614e-03 8.87548843e-03 9.99952700e-01 5.15864936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.311400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.61, Y:2.48, Z:0.05 [[ 9.99369745e-01 3.53029454e-02 3.71691755e-03 4.76144317e+01] [-3.53021869e-02 9.99376647e-01 -2.69502991e-04 2.48056011e+00] [-3.72411485e-03 1.38117817e-04 9.99993056e-01 5.16638469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.341400513 meters Centerline goodness [0,1] 0.9997181877303274 Centerline is valid? [True, True] Translation: X:47.64, Y:2.48, Z:0.05 [[ 9.99512702e-01 3.10449743e-02 3.25094702e-03 4.76446519e+01] [-3.10443714e-02 9.99517980e-01 -2.35772020e-04 2.47566599e+00] [-3.25669954e-03 1.34733522e-04 9.99994688e-01 4.97388932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.37140051299998 meters Centerline goodness [0,1] 0.9997181877303274 Centerline is valid? [True, True] Translation: X:47.68, Y:2.47, Z:0.05 [[ 9.99506769e-01 3.12353923e-02 3.25098100e-03 4.76770761e+01] [-3.12347919e-02 9.99512047e-01 -2.35304140e-04 2.47314721e+00] [-3.25674450e-03 1.33644366e-04 9.99994688e-01 4.95501499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.40140051299998 meters Centerline goodness [0,1] 0.9997846405651032 Centerline is valid? [True, True] Translation: X:47.71, Y:2.47, Z:0.05 [[ 9.99597648e-01 2.82645384e-02 2.37859087e-03 4.77076032e+01] [-2.82642067e-02 9.99600473e-01 -1.72931236e-04 2.46800897e+00] [-2.38252838e-03 1.05632673e-04 9.99997156e-01 4.91570651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.43140051299999 meters Centerline goodness [0,1] 0.9999352429468776 Centerline is valid? [True, True] Translation: X:47.74, Y:2.46, Z:0.05 [[ 9.99635224e-01 2.69076039e-02 2.32355236e-03 4.77384521e+01] [-2.69072848e-02 9.99637919e-01 -1.68461097e-04 2.46234583e+00] [-2.32724393e-03 1.05879161e-04 9.99997286e-01 5.01029191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.46140051299999 meters Centerline goodness [0,1] 0.9999785380091857 Centerline is valid? [True, True] Translation: X:47.77, Y:2.46, Z:0.05 [[ 9.99645936e-01 2.64927902e-02 2.47678810e-03 4.77709308e+01] [-2.64924254e-02 9.99648998e-01 -1.79976554e-04 2.46058585e+00] [-2.48068682e-03 1.14296706e-04 9.99996917e-01 5.08544127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.49140051299999 meters Centerline goodness [0,1] 0.9998053969901401 Centerline is valid? [True, True] Translation: X:47.80, Y:2.46, Z:0.05 [[ 9.99630897e-01 2.70201546e-02 2.82493545e-03 4.78016745e+01] [-2.70196803e-02 9.99634881e-01 -2.05917269e-04 2.45877816e+00] [-2.82946793e-03 1.29512412e-04 9.99995989e-01 5.14270625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.52140051299999 meters Centerline goodness [0,1] 0.9999569475836831 Centerline is valid? [True, True] Translation: X:47.83, Y:2.46, Z:0.05 [[ 9.99553649e-01 2.96274166e-02 3.83659924e-03 4.78324631e+01] [-2.96346390e-02 9.99559105e-01 1.83953165e-03 2.46198927e+00] [-3.78040713e-03 -1.95240680e-03 9.99990948e-01 5.14212236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.55140051299999 meters Centerline goodness [0,1] 0.9997838305231301 Centerline is valid? [True, True] Translation: X:47.87, Y:2.47, Z:0.05 [[ 9.99537704e-01 3.02868330e-02 2.66186592e-03 4.78651762e+01] [-3.02807022e-02 9.99538756e-01 -2.31410069e-03 2.46632099e+00] [-2.73072493e-03 2.23242772e-03 9.99993780e-01 4.88680038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.58140051299999 meters Centerline goodness [0,1] 0.9999569336778639 Centerline is valid? [True, True] Translation: X:47.90, Y:2.47, Z:0.05 [[ 9.99495948e-01 3.16248192e-02 2.77876328e-03 4.78979503e+01] [-3.16243747e-02 9.99499804e-01 -2.03770095e-04 2.46768804e+00] [-2.78381754e-03 1.15790734e-04 9.99996118e-01 4.86920581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.61140051299999 meters Centerline goodness [0,1] 0.9998917608347404 Centerline is valid? [True, True] Translation: X:47.93, Y:2.46, Z:0.05 [[ 9.99495981e-01 3.16705050e-02 2.18223607e-03 4.79294886e+01] [-3.16702314e-02 9.99498360e-01 -1.59866766e-04 2.45972905e+00] [-2.18620443e-03 9.06742688e-05 9.99997606e-01 4.71406103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.641400513 meters Centerline goodness [0,1] 0.9999783853885227 Centerline is valid? [True, True] Translation: X:47.96, Y:2.47, Z:0.05 [[ 9.99510544e-01 3.12688142e-02 9.66615424e-04 4.79620143e+01] [-3.12687607e-02 9.99511010e-01 -7.03532000e-05 2.47017541e+00] [-9.68342621e-04 4.00938988e-05 9.99999530e-01 4.75225915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.671400513 meters Centerline goodness [0,1] 0.9999355074488897 Centerline is valid? [True, True] Translation: X:47.99, Y:2.47, Z:0.05 [[ 9.99528083e-01 3.07157414e-02 3.93445888e-04 4.79933362e+01] [-3.07157327e-02 9.99528160e-01 -2.81556442e-05 2.46565266e+00] [-3.94125066e-04 1.60573783e-05 9.99999922e-01 4.58564738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.701400513 meters Centerline goodness [0,1] 0.9998492321609339 Centerline is valid? [True, True] Translation: X:48.02, Y:2.46, Z:0.04 [[ 9.99565044e-01 2.94876277e-02 4.49595278e-04 4.80247857e+01] [-2.94876161e-02 9.99565145e-01 -3.24023138e-05 2.46248221e+00] [-4.50355236e-04 1.91307273e-05 9.99999898e-01 4.46111051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.73140051299998 meters Centerline goodness [0,1] 0.9998703375545662 Centerline is valid? [True, True] Translation: X:48.06, Y:2.46, Z:0.05 [[ 9.99587533e-01 2.86643899e-02 1.76546318e-03 4.80565239e+01] [-2.86642048e-02 9.99589089e-01 -1.30058933e-04 2.45967921e+00] [-1.76846579e-03 7.93996896e-05 9.99998433e-01 4.55930907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.76140051299998 meters Centerline goodness [0,1] 0.9999783699602007 Centerline is valid? [True, True] Translation: X:48.09, Y:2.46, Z:0.05 [[ 9.99600962e-01 2.80710706e-02 3.15138692e-03 4.80885627e+01] [-2.80704739e-02 9.99605919e-01 -2.33421031e-04 2.46147865e+00] [-3.15669740e-03 1.44866963e-04 9.99995007e-01 4.79863271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.79140051299999 meters Centerline goodness [0,1] 0.9996567039285944 Centerline is valid? [True, True] Translation: X:48.12, Y:2.45, Z:0.05 [[ 9.99653257e-01 2.61008528e-02 3.47999948e-03 4.81180627e+01] [-2.61001100e-02 9.99659301e-01 -2.58723673e-04 2.45456168e+00] [-3.48556675e-03 1.67805593e-04 9.99993911e-01 4.71043449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.82140051299999 meters Centerline goodness [0,1] 0.9997194527169926 Centerline is valid? [True, True] Translation: X:48.15, Y:2.46, Z:0.05 [[ 9.99664645e-01 2.56521161e-02 3.54503901e-03 4.81502455e+01] [-2.56513425e-02 9.99670915e-01 -2.63529962e-04 2.45607217e+00] [-3.55063250e-03 1.72506576e-04 9.99993682e-01 4.77622258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.85140051299999 meters Centerline goodness [0,1] 0.9999352317623438 Centerline is valid? [True, True] Translation: X:48.18, Y:2.45, Z:0.05 [[ 9.99651638e-01 2.59127603e-02 5.01315264e-03 4.81833238e+01] [-2.59112102e-02 9.99664178e-01 -3.73909892e-04 2.45481354e+00] [-5.02115816e-03 2.43882784e-04 9.99987364e-01 4.98524459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.88140051299999 meters Centerline goodness [0,1] 0.9998288294071078 Centerline is valid? [True, True] Translation: X:48.21, Y:2.45, Z:0.05 [[ 9.99684732e-01 2.44797293e-02 5.58381376e-03 4.82142571e+01] [-2.44777771e-02 9.99700287e-01 -4.17700976e-04 2.44633379e+00] [-5.59236543e-03 2.80889940e-04 9.99984323e-01 4.92274185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.91140051299999 meters Centerline goodness [0,1] 0.9998281934541706 Centerline is valid? [True, True] Translation: X:48.25, Y:2.45, Z:0.05 [[ 9.99697175e-01 2.41360977e-02 4.79654420e-03 4.82463795e+01] [-2.41346503e-02 9.99708652e-01 -3.59426633e-04 2.44615377e+00] [-4.80382189e-03 2.43554873e-04 9.99988432e-01 4.83239569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.94140051299999 meters Centerline goodness [0,1] 0.999891453010008 Centerline is valid? [True, True] Translation: X:48.28, Y:2.45, Z:0.05 [[ 9.99704582e-01 2.40650969e-02 3.40876734e-03 4.82789730e+01] [-2.40643645e-02 9.99710379e-01 -2.55707813e-04 2.44970108e+00] [-3.41393372e-03 1.73602452e-04 9.99994157e-01 4.74492258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.97140051299999 meters Centerline goodness [0,1] 0.9999352373550936 Centerline is valid? [True, True] Translation: X:48.31, Y:2.44, Z:0.05 [[ 9.99707015e-01 2.41120462e-02 2.11977436e-03 4.83099494e+01] [-2.41117630e-02 9.99709257e-01 -1.59053041e-04 2.44021658e+00] [-2.12299314e-03 1.07894944e-04 9.99997741e-01 4.51390271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.001400513 meters Centerline goodness [0,1] 0.9998476008011844 Centerline is valid? [True, True] Translation: X:48.34, Y:2.44, Z:0.05 [[ 9.99702806e-01 2.43085017e-02 1.84319742e-03 4.83432906e+01] [-2.43082878e-02 9.99704500e-01 -1.38349622e-04 2.44106967e+00] [-1.84601583e-03 9.35035319e-05 9.99998292e-01 4.50477883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.031400513 meters Centerline goodness [0,1] 0.9996543679253435 Centerline is valid? [True, True] Translation: X:48.38, Y:2.44, Z:0.04 [[ 9.99731144e-01 2.31257753e-02 1.68450604e-03 4.83750217e+01] [-2.31255936e-02 9.99732560e-01 -1.27250756e-04 2.43769775e+00] [-1.68699831e-03 8.82613415e-05 9.99998573e-01 4.40502334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.061400513 meters Centerline goodness [0,1] 0.9996954866775422 Centerline is valid? [True, True] Translation: X:48.41, Y:2.43, Z:0.04 [[ 9.99778343e-01 2.09970346e-02 1.54563715e-03 4.84057886e+01] [-2.09968788e-02 9.99779534e-01 -1.16962369e-04 2.43446744e+00] [-1.54775226e-03 8.44828877e-05 9.99998799e-01 4.31809830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.091400513 meters Centerline goodness [0,1] 0.9998914129348911 Centerline is valid? [True, True] Translation: X:48.44, Y:2.43, Z:0.04 [[ 9.99795697e-01 2.01638249e-02 1.40856808e-03 4.84371100e+01] [-2.01636951e-02 9.99796686e-01 -1.06277902e-04 2.43061535e+00] [-1.41042467e-03 7.78542517e-05 9.99999002e-01 4.25503824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.12140051299998 meters Centerline goodness [0,1] 0.9995255860091001 Centerline is valid? [True, True] Translation: X:48.47, Y:2.43, Z:0.04 [[ 9.99809804e-01 1.94407036e-02 1.55419424e-03 4.84695737e+01] [-1.94405449e-02 9.99811008e-01 -1.17098379e-04 2.43221129e+00] [-1.55617698e-03 8.68617247e-05 9.99998785e-01 4.17332239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.15140051299998 meters Centerline goodness [0,1] 0.999913337377589 Centerline is valid? [True, True] Translation: X:48.50, Y:2.43, Z:0.04 [[ 9.99812309e-01 1.92778958e-02 1.92601596e-03 4.85022131e+01] [-1.92776509e-02 9.99814158e-01 -1.45657252e-04 2.43232825e+00] [-1.92846599e-03 1.08500850e-04 9.99998135e-01 4.28130793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.18140051299999 meters Centerline goodness [0,1] 0.9994856848962798 Centerline is valid? [True, True] Translation: X:48.53, Y:2.42, Z:0.04 [[ 9.99816342e-01 1.88855282e-02 3.25866205e-03 4.85332337e+01] [-1.88848202e-02 9.99821635e-01 -2.47891103e-04 2.42323094e+00] [-3.26276238e-03 1.86306329e-04 9.99994660e-01 4.44446704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.21140051299999 meters Centerline goodness [0,1] 0.9994209736221317 Centerline is valid? [True, True] Translation: X:48.56, Y:2.42, Z:0.05 [[ 9.99814477e-01 1.88886189e-02 3.77241062e-03 4.85649940e+01] [-1.88876690e-02 9.99821571e-01 -2.87257696e-04 2.42232613e+00] [-3.77716341e-03 2.15952360e-04 9.99992843e-01 4.53108159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.24140051299999 meters Centerline goodness [0,1] 0.9991381167851756 Centerline is valid? [True, True] Translation: X:48.60, Y:2.42, Z:0.05 [[ 9.99810128e-01 1.91200169e-02 3.75926545e-03 4.85975946e+01] [-1.91190731e-02 9.99817173e-01 -2.86823874e-04 2.42014877e+00] [-3.76406223e-03 2.14895744e-04 9.99992893e-01 4.54666492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.27140051299999 meters Centerline goodness [0,1] 0.9993557254531398 Centerline is valid? [True, True] Translation: X:48.63, Y:2.42, Z:0.04 [[ 9.99816705e-01 1.89214970e-02 2.92135849e-03 4.86294995e+01] [-1.89209252e-02 9.99820958e-01 -2.23263418e-04 2.41861724e+00] [-2.92505992e-03 1.67947690e-04 9.99995708e-01 4.34574192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.30140051299999 meters Centerline goodness [0,1] 0.9969075243132571 Centerline is valid? [True, True] Translation: X:48.66, Y:2.41, Z:0.04 [[ 9.99839899e-01 1.77599259e-02 2.18196813e-03 4.86603095e+01] [-1.77596038e-02 9.99842272e-01 -1.66919477e-04 2.41063050e+00] [-2.18458845e-03 1.28141864e-04 9.99997606e-01 4.16607493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.33140051299999 meters Centerline goodness [0,1] 0.9996325357196896 Centerline is valid? [True, True] Translation: X:48.69, Y:2.42, Z:0.04 [[ 9.99839370e-01 1.77224438e-02 2.67363091e-03 4.86929851e+01] [-1.77219586e-02 9.99842933e-01 -2.05081203e-04 2.41630656e+00] [-2.67684551e-03 1.57666285e-04 9.99996405e-01 4.32791900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.36140051299999 meters Centerline goodness [0,1] 0.9985811638755724 Centerline is valid? [True, True] Translation: X:48.72, Y:2.41, Z:0.04 [[ 9.99851103e-01 1.70141837e-02 2.87928495e-03 4.87237675e+01] [-1.70136162e-02 9.99855233e-01 -2.21451617e-04 2.41105889e+00] [-2.88263594e-03 1.72431594e-04 9.99995830e-01 4.34822875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.391400513 meters Centerline goodness [0,1] 0.9988681018281224 Centerline is valid? [True, True] Translation: X:48.76, Y:2.41, Z:0.04 [[ 9.99847966e-01 1.71599970e-02 3.09520434e-03 4.87571930e+01] [-1.71593406e-02 9.99852739e-01 -2.38518778e-04 2.41084224e+00] [-3.09884152e-03 1.85370849e-04 9.99995181e-01 4.37984687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.421400513 meters Centerline goodness [0,1] 0.9997172929714684 Centerline is valid? [True, True] Translation: X:48.79, Y:2.42, Z:0.04 [[ 9.99847981e-01 1.71959475e-02 2.88340983e-03 4.87901934e+01] [-1.71953765e-02 9.99852124e-01 -2.22711511e-04 2.41678368e+00] [-2.88681318e-03 1.73096337e-04 9.99995818e-01 4.35479180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.451400513 meters Centerline goodness [0,1] 0.9993928486241516 Centerline is valid? [True, True] Translation: X:48.82, Y:2.41, Z:0.04 [[ 9.99873974e-01 1.54604358e-02 3.60704022e-03 4.88202229e+01] [-1.54595266e-02 9.99880455e-01 -2.79816355e-04 2.41314047e+00] [-3.61093510e-03 2.24017957e-04 9.99993455e-01 4.44325813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.48140051299998 meters Centerline goodness [0,1] 0.9786874959430513 Centerline is valid? [True, True] Translation: X:48.85, Y:2.40, Z:0.05 [[ 9.99885257e-01 1.44066986e-02 4.68177557e-03 4.88509720e+01] [-1.44051553e-02 9.99896174e-01 -3.63187122e-04 2.40493856e+00] [-4.68652181e-03 2.95703744e-04 9.99988974e-01 4.59202949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.51140051299998 meters Centerline goodness [0,1] 0.9700923366968742 Centerline is valid? [True, True] Translation: X:48.88, Y:2.40, Z:0.05 [[ 9.99918513e-01 1.18247245e-02 4.81069482e-03 4.88816741e+01] [-1.18230629e-02 9.99930035e-01 -3.73685883e-04 2.40269358e+00] [-4.81477697e-03 3.16778285e-04 9.99988359e-01 4.51765877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.54140051299999 meters Centerline goodness [0,1] 0.7835224703374319 Centerline is valid? [True, False] Translation: X:48.87, Y:2.40, Z:0.04 [[ 9.99972900e-01 5.39402087e-03 5.01030039e-03 4.88650716e+01] [-5.41784618e-03 9.99974023e-01 4.75392869e-03 2.40162402e+00] [-4.98452745e-03 -4.78094490e-03 9.99976148e-01 3.94403576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.57140051299999 meters Centerline goodness [0,1] 0.8686976158422721 Centerline is valid? [False, False] Translation: X:48.86, Y:2.40, Z:0.04 [[ 9.99978345e-01 3.22666006e-03 5.73576828e-03 4.88592290e+01] [-3.24131042e-03 9.99991504e-01 2.54675166e-03 2.40180487e+00] [-5.72750205e-03 -2.56528792e-03 9.99980307e-01 4.32468789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.60140051299999 meters Centerline goodness [0,1] 0.8000386606241543 Centerline is valid? [False, False] Translation: X:48.87, Y:2.40, Z:0.04 [[ 9.99987852e-01 1.11928786e-03 4.80032900e-03 4.88661899e+01] [-1.12268421e-03 9.99999121e-01 7.04889431e-04 2.39999385e+00] [-4.79953581e-03 -7.10270121e-04 9.99988230e-01 3.83839540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.63140051299999 meters Centerline goodness [0,1] 0.735836045083292 Centerline is valid? [False, False] Translation: X:48.87, Y:2.40, Z:0.04 [[ 9.99986925e-01 1.33562120e-03 4.93618406e-03 4.88657938e+01] [-1.34267615e-03 9.99998082e-01 1.42619469e-03 2.39653055e+00] [-4.93426974e-03 -1.43280374e-03 9.99986800e-01 3.81833322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.66140051299999 meters Centerline goodness [0,1] 0.739332633248323 Centerline is valid? [False, False] Translation: X:48.87, Y:2.40, Z:0.03 [[ 9.99991206e-01 -8.51136210e-04 4.10645345e-03 4.88720602e+01] [ 8.54062643e-04 9.99999383e-01 -7.10941584e-04 2.39719792e+00] [-4.10584581e-03 7.14442501e-04 9.99991316e-01 3.42096939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.69140051299999 meters Centerline goodness [0,1] 0.7239296767537826 Centerline is valid? [False, False] Translation: X:48.87, Y:2.40, Z:0.03 [[ 9.99990498e-01 -7.13989682e-04 4.30054151e-03 4.88711853e+01] [ 7.15375597e-04 9.99999693e-01 -3.20735530e-04 2.39533357e+00] [-4.30031118e-03 3.23808985e-04 9.99990701e-01 3.46569070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.72140051299999 meters Centerline goodness [0,1] 0.7320639165031376 Centerline is valid? [False, False] Translation: X:48.87, Y:2.39, Z:0.04 [[ 9.99989415e-01 -3.97435847e-04 4.58384184e-03 4.88697594e+01] [ 3.94844893e-04 9.99999762e-01 5.66127339e-04 2.39111204e+00] [-4.58406575e-03 -5.64311440e-04 9.99989334e-01 3.56513548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.751400513 meters Centerline goodness [0,1] 0.7151277434842249 Centerline is valid? [False, False] Translation: X:48.87, Y:2.39, Z:0.04 [[ 9.99989237e-01 -2.41246534e-04 4.63325141e-03 4.88694547e+01] [ 2.36908991e-04 9.99999533e-01 9.36702884e-04 2.38935576e+00] [-4.63347523e-03 -9.35595144e-04 9.99988828e-01 3.59024902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.781400513 meters Centerline goodness [0,1] 0.7552700348432055 Centerline is valid? [False, False] Translation: X:48.83, Y:2.39, Z:0.04 [[ 9.99997986e-01 -6.25179300e-04 1.90690140e-03 4.88281197e+01] [ 6.24356350e-04 9.99999712e-01 4.32128345e-04 2.39171441e+00] [-1.90717101e-03 -4.30936889e-04 9.99998088e-01 3.62216905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.811400513 meters Centerline goodness [0,1] 0.7258012854732976 Centerline is valid? [False, False] Translation: X:48.87, Y:2.39, Z:0.04 [[ 9.99990303e-01 -8.64196448e-04 4.31814308e-03 4.88699010e+01] [ 8.61034595e-04 9.99999360e-01 7.34030553e-04 2.38562764e+00] [-4.31877467e-03 -7.30305365e-04 9.99990407e-01 3.56997296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.841400513 meters Centerline goodness [0,1] 0.7122351187306997 Centerline is valid? [False, False] Translation: X:48.87, Y:2.38, Z:0.04 [[ 9.99990352e-01 -2.34907013e-04 4.38645436e-03 4.88695592e+01] [ 2.24974646e-04 9.99997410e-01 2.26468309e-03 2.37843388e+00] [-4.38697499e-03 -2.26367440e-03 9.99987815e-01 3.57422795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.87140051299998 meters Centerline goodness [0,1] 0.6905663588783456 Centerline is valid? [False, False] Translation: X:48.87, Y:2.38, Z:0.04 [[ 9.99990408e-01 4.90865725e-05 4.37976269e-03 4.88695164e+01] [-6.19830086e-05 9.99995663e-01 2.94446419e-03 2.37524298e+00] [-4.37959916e-03 -2.94470742e-03 9.99986074e-01 3.57838237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.90140051299998 meters Centerline goodness [0,1] 0.6743921054328897 Centerline is valid? [False, False] Translation: X:48.85, Y:2.38, Z:0.04 [[ 9.99999017e-01 7.77482238e-04 -1.16663816e-03 4.88485137e+01] [-7.85981264e-04 9.99973028e-01 -7.30236937e-03 2.38274188e+00] [ 1.16092923e-03 7.30327914e-03 9.99972657e-01 4.06014274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.93140051299999 meters Centerline goodness [0,1] 0.7022663372241629 Centerline is valid? [False, False] Translation: X:48.85, Y:2.37, Z:0.04 [[ 9.99984477e-01 5.43477803e-03 -1.22821062e-03 4.88487128e+01] [-5.43620967e-03 9.99984545e-01 -1.16531691e-03 2.37359645e+00] [ 1.22185840e-03 1.17197564e-03 9.99998567e-01 4.03412598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.96140051299999 meters Centerline goodness [0,1] 0.7177361211247296 Centerline is valid? [False, False] Translation: X:48.85, Y:2.37, Z:0.04 [[ 9.99983081e-01 5.62153961e-03 -1.49519131e-03 4.88499018e+01] [-5.62282564e-03 9.99983824e-01 -8.57301433e-04 2.37219938e+00] [ 1.49034777e-03 8.65694129e-04 9.99998515e-01 3.97136985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.99140051299999 meters Centerline goodness [0,1] 0.8405236665298451 Centerline is valid? [False, False] Translation: X:48.81, Y:2.37, Z:0.04 [[ 9.99965828e-01 6.64683834e-03 -4.91557404e-03 4.88108327e+01] [-6.64613925e-03 9.99977902e-01 1.58540166e-04 2.37447006e+00] [ 4.91651920e-03 -1.25865158e-04 9.99987906e-01 3.85071076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.02140051299999 meters Centerline goodness [0,1] 0.8877399660339231 Centerline is valid? [False, False] Translation: X:48.81, Y:2.38, Z:0.04 [[ 9.99956319e-01 7.56267257e-03 -5.49244416e-03 4.88127168e+01] [-7.56258559e-03 9.99971403e-01 3.66045994e-05 2.37686105e+00] [ 5.49256391e-03 4.93407860e-06 9.99984916e-01 3.85335834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.05140051299999 meters Centerline goodness [0,1] 0.9863310770848394 Centerline is valid? [False, True] Translation: X:48.77, Y:2.38, Z:0.04 [[ 9.99913574e-01 1.03094067e-02 -8.15853132e-03 4.87713195e+01] [-1.02880524e-02 9.99943552e-01 2.65507115e-03 2.37937158e+00] [ 8.18544299e-03 -2.57090628e-03 9.99963194e-01 3.85277983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.08140051299999 meters Centerline goodness [0,1] 0.9985108770718232 Centerline is valid? [True, True] Translation: X:48.80, Y:2.38, Z:0.04 [[ 9.99858504e-01 1.48638494e-02 -7.87648027e-03 4.88019756e+01] [-1.48595194e-02 9.99889406e-01 6.07979319e-04 2.38483605e+00] [ 7.88464609e-03 -4.90852581e-04 9.99968795e-01 3.97696979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.11140051299999 meters Centerline goodness [0,1] 0.9998490240483123 Centerline is valid? [True, True] Translation: X:48.83, Y:2.39, Z:0.04 [[ 9.99811100e-01 1.77711801e-02 -7.87076205e-03 4.88331329e+01] [-1.77669463e-02 9.99841971e-01 6.07512192e-04 2.38918691e+00] [ 7.88031445e-03 -4.67558027e-04 9.99968841e-01 4.00869790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.141400513 meters Centerline goodness [0,1] 0.9996356934681981 Centerline is valid? [True, True] Translation: X:48.86, Y:2.39, Z:0.04 [[ 9.99757786e-01 2.07140096e-02 -7.43631182e-03 4.88628298e+01] [-2.07103119e-02 9.99785354e-01 5.73908988e-04 2.38897946e+00] [ 7.44660360e-03 -4.19761641e-04 9.99972186e-01 4.03187542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.171400513 meters Centerline goodness [0,1] 0.9996556547939309 Centerline is valid? [True, True] Translation: X:48.89, Y:2.39, Z:0.04 [[ 9.99764792e-01 2.07220282e-02 -6.39985231e-03 4.88918906e+01] [-2.07192908e-02 9.99785211e-01 4.93726569e-04 2.39088207e+00] [ 6.40870871e-03 -3.61010039e-04 9.99979399e-01 4.15884915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.201400513 meters Centerline goodness [0,1] 0.9998478988309939 Centerline is valid? [True, True] Translation: X:48.92, Y:2.40, Z:0.04 [[ 9.99792964e-01 1.96960089e-02 -5.10840417e-03 4.89222864e+01] [-1.96942524e-02 9.99805972e-01 3.93930580e-04 2.40019729e+00] [ 5.11517185e-03 -2.93242822e-04 9.99986874e-01 4.32938099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.23140051299998 meters Centerline goodness [0,1] 0.9996335101108093 Centerline is valid? [True, True] Translation: X:48.95, Y:2.40, Z:0.04 [[ 9.99835466e-01 1.77189556e-02 -3.88329360e-03 4.89518329e+01] [-1.77179259e-02 9.99842980e-01 2.99389555e-04 2.39738811e+00] [ 3.88798871e-03 -2.30536387e-04 9.99992415e-01 4.45910043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.26140051299998 meters Centerline goodness [0,1] 0.9996335101108093 Centerline is valid? [True, True] Translation: X:48.98, Y:2.40, Z:0.04 [[ 9.99835892e-01 1.76949090e-02 -3.88329793e-03 4.89809678e+01] [-1.76938794e-02 9.99843406e-01 2.99333359e-04 2.39518153e+00] [ 3.88798650e-03 -2.30573630e-04 9.99992415e-01 4.46823599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.29140051299999 meters Centerline goodness [0,1] 0.9550413644967143 Centerline is valid? [True, True] Translation: X:49.01, Y:2.38, Z:0.04 [[ 9.99930424e-01 1.08124169e-02 -4.71585788e-03 4.90093378e+01] [-1.08108225e-02 9.99941495e-01 3.63463340e-04 2.38376590e+00] [ 4.71951190e-03 -3.12455749e-04 9.99988814e-01 4.36314938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.32140051299999 meters Centerline goodness [0,1] 0.9901748145577582 Centerline is valid? [True, True] Translation: X:49.04, Y:2.39, Z:0.04 [[ 9.99956319e-01 6.75297213e-03 -6.46206352e-03 4.90398452e+01] [-6.74989328e-03 9.99977095e-01 4.98141510e-04 2.38736005e+00] [ 6.46527944e-03 -4.54501511e-04 9.99978997e-01 4.18210033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.35140051299999 meters Centerline goodness [0,1] 0.9216906105695228 Centerline is valid? [True, False] Translation: X:49.06, Y:2.38, Z:0.04 [[ 9.99992793e-01 2.52613517e-03 -2.83432590e-03 4.90616444e+01] [-2.50465878e-03 9.99968321e-01 7.55538097e-03 2.38326915e+00] [ 2.85332203e-03 -7.54822749e-03 9.99967441e-01 3.78704408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.38140051299999 meters Centerline goodness [0,1] 0.8137482681445167 Centerline is valid? [False, False] Translation: X:49.06, Y:2.39, Z:0.04 [[ 9.99992021e-01 -2.57415130e-03 -3.05467635e-03 4.90627227e+01] [ 2.57815391e-03 9.99995822e-01 1.30710888e-03 2.39235859e+00] [ 3.05129889e-03 -1.31497388e-03 9.99994480e-01 3.73353231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.41140051299999 meters Centerline goodness [0,1] 0.7059644751820271 Centerline is valid? [False, False] Translation: X:49.06, Y:2.40, Z:0.04 [[ 9.99990887e-01 -3.17399767e-03 -2.85499016e-03 4.90619409e+01] [ 3.17415902e-03 9.99994961e-01 5.19844747e-05 2.39814738e+00] [ 2.85481078e-03 -6.10461938e-05 9.99995923e-01 3.77025092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.44140051299999 meters Centerline goodness [0,1] 0.7501755431197736 Centerline is valid? [False, False] Translation: X:49.06, Y:2.41, Z:0.04 [[ 9.99967468e-01 -7.44538471e-03 -3.10303787e-03 4.90627510e+01] [ 7.42680760e-03 9.99954684e-01 -5.95587813e-03 2.40747574e+00] [ 3.14724106e-03 5.93263871e-03 9.99977449e-01 3.81280608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.47140051299999 meters Centerline goodness [0,1] 0.7817229210418065 Centerline is valid? [False, False] Translation: X:49.02, Y:2.41, Z:0.04 [[ 9.99980286e-01 -4.23818937e-03 -4.63309230e-03 4.90173176e+01] [ 4.22793090e-03 9.99988594e-01 -2.22172923e-03 2.40920315e+00] [ 4.64245557e-03 2.20209704e-03 9.99986799e-01 3.98648007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.501400513 meters Centerline goodness [0,1] 0.7767847643366316 Centerline is valid? [False, False] Translation: X:49.06, Y:2.41, Z:0.04 [[ 9.99996216e-01 -2.39731975e-03 -1.34910792e-03 4.90558775e+01] [ 2.39653083e-03 9.99996957e-01 -5.86088109e-04 2.40907472e+00] [ 1.35050885e-03 5.82852713e-04 9.99998918e-01 4.14580030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.531400513 meters Centerline goodness [0,1] 0.8307747916312298 Centerline is valid? [False, False] Translation: X:49.06, Y:2.42, Z:0.04 [[ 9.99998471e-01 1.12888043e-03 -1.33563720e-03 4.90555064e+01] [-1.12636992e-03 9.99997601e-01 1.87889097e-03 2.41778221e+00] [ 1.33775504e-03 -1.87738367e-03 9.99997343e-01 4.22316600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.561400513 meters Centerline goodness [0,1] 0.9134978540772533 Centerline is valid? [False, False] Translation: X:49.05, Y:2.42, Z:0.05 [[ 9.99994564e-01 3.25657202e-03 -5.16193601e-04 4.90496509e+01] [-3.25466048e-03 9.99987999e-01 3.66170631e-03 2.42254849e+00] [ 5.28112017e-04 -3.66000637e-03 9.99993163e-01 4.58919431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.591400513 meters Centerline goodness [0,1] 0.7493877898681884 Centerline is valid? [False, False] Translation: X:49.05, Y:2.43, Z:0.05 [[ 9.99996006e-01 2.69757093e-03 -8.43566325e-04 4.90509656e+01] [-2.69571855e-03 9.99993970e-01 2.18937154e-03 2.42957430e+00] [ 8.49467223e-04 -2.18708878e-03 9.99997248e-01 4.54834046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.62140051299998 meters Centerline goodness [0,1] 0.9949768078148046 Centerline is valid? [False, True] Translation: X:49.05, Y:2.44, Z:0.04 [[ 9.99996999e-01 2.19254402e-03 -1.09329952e-03 4.90520784e+01] [-2.19149057e-03 9.99997134e-01 9.63822732e-04 2.43535982e+00] [ 1.09540961e-03 -9.61423884e-04 9.99998938e-01 4.49728191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.65140051299998 meters Centerline goodness [0,1] 0.9926583317138477 Centerline is valid? [True, True] Translation: X:49.08, Y:2.44, Z:0.04 [[ 9.99997402e-01 1.27204187e-03 -1.89136054e-03 4.90818871e+01] [-1.27178978e-03 9.99999182e-01 1.34483481e-04 2.43956555e+00] [ 1.89153006e-03 -1.32077718e-04 9.99998202e-01 4.30365983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.68140051299999 meters Centerline goodness [0,1] 0.9669284917160271 Centerline is valid? [True, True] Translation: X:49.11, Y:2.44, Z:0.04 [[ 9.99998903e-01 -5.11210450e-04 -1.39030869e-03 4.91113610e+01] [ 5.11348370e-04 9.99999864e-01 9.88469149e-05 2.43726104e+00] [ 1.39025797e-03 -9.95577386e-05 9.99999029e-01 4.37187278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.71140051299999 meters Centerline goodness [0,1] 0.8868934962147281 Centerline is valid? [True, False] Translation: X:49.11, Y:2.44, Z:0.04 [[ 9.99998916e-01 -7.21802500e-04 -1.28352105e-03 4.91110233e+01] [ 7.21395512e-04 9.99999689e-01 -3.17521816e-04 2.43916380e+00] [ 1.28374984e-03 3.16595545e-04 9.99999126e-01 4.37026106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.74140051299999 meters Centerline goodness [0,1] 0.8226761078707789 Centerline is valid? [False, False] Translation: X:49.11, Y:2.44, Z:0.04 [[ 9.99998809e-01 -9.12010878e-04 -1.24492882e-03 4.91109358e+01] [ 9.11185021e-04 9.99999365e-01 -6.63782878e-04 2.44074987e+00] [ 1.24553341e-03 6.62647727e-04 9.99999005e-01 4.36361769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.77140051299999 meters Centerline goodness [0,1] 0.7572440575257116 Centerline is valid? [False, False] Translation: X:49.11, Y:2.44, Z:0.04 [[ 9.99998640e-01 -1.10912257e-03 -1.22095078e-03 4.91109346e+01] [ 1.10794942e-03 9.99998924e-01 -9.61100730e-04 2.44206559e+00] [ 1.22201544e-03 9.59746671e-04 9.99998793e-01 4.34520637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.80140051299999 meters Centerline goodness [0,1] 0.6462971568586033 Centerline is valid? [False, False] Translation: X:49.15, Y:2.45, Z:0.04 [[ 9.99987669e-01 -4.69564484e-03 1.61660277e-03 4.91531690e+01] [ 4.70302942e-03 9.99978384e-01 -4.59487300e-03 2.44521295e+00] [-1.59499194e-03 4.60241927e-03 9.99988137e-01 4.17705719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.83140051299999 meters Centerline goodness [0,1] 0.5565239411652985 Centerline is valid? [False, False] Translation: X:49.15, Y:2.44, Z:0.04 [[ 9.99997558e-01 -1.27465522e-03 1.80514728e-03 4.91525961e+01] [ 1.27421729e-03 9.99999158e-01 2.43729700e-04 2.44065369e+00] [-1.80545643e-03 -2.41428955e-04 9.99998341e-01 4.13336878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.86140051299999 meters Centerline goodness [0,1] 0.6681982347787062 Centerline is valid? [False, False] Translation: X:49.11, Y:2.45, Z:0.04 [[ 9.99996869e-01 -2.29387946e-03 -9.99827748e-04 4.91108514e+01] [ 2.29180015e-03 9.99995219e-01 -2.07587828e-03 2.44768432e+00] [ 1.00458478e-03 2.07358037e-03 9.99997346e-01 4.20180709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.891400513 meters Centerline goodness [0,1] 0.694658284150201 Centerline is valid? [False, False] Translation: X:49.11, Y:2.45, Z:0.04 [[ 9.99996634e-01 -2.40407476e-03 -9.76268269e-04 4.91108034e+01] [ 2.40184198e-03 9.99994512e-01 -2.28182064e-03 2.44862354e+00] [ 9.81748579e-04 2.27946812e-03 9.99996920e-01 4.19599326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.921400513 meters Centerline goodness [0,1] 0.6533611655448581 Centerline is valid? [False, False] Translation: X:49.11, Y:2.45, Z:0.04 [[ 9.99996004e-01 -2.55005608e-03 -1.22050202e-03 4.91120715e+01] [ 2.54692876e-03 9.99993487e-01 -2.55705224e-03 2.44995259e+00] [ 1.22701469e-03 2.55393349e-03 9.99995986e-01 4.10724960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.951400513 meters Centerline goodness [0,1] 0.5198188724596005 Centerline is valid? [False, False] Translation: X:49.11, Y:2.45, Z:0.04 [[ 9.99995976e-01 -2.48759852e-03 -1.36412425e-03 4.91129117e+01] [ 2.48432572e-03 9.99994044e-01 -2.39566321e-03 2.44923104e+00] [ 1.37007557e-03 2.39226464e-03 9.99996200e-01 4.03115144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.98140051299998 meters Centerline goodness [0,1] 0.5866631787761865 Centerline is valid? [False, False] Translation: X:49.07, Y:2.45, Z:0.04 [[ 9.99985780e-01 -2.85578527e-03 -4.50371566e-03 4.90736092e+01] [ 2.83988433e-03 9.99989726e-01 -3.53307972e-03 2.45305593e+00] [ 4.51375911e-03 3.52023945e-03 9.99983617e-01 3.86131538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.01140051299998 meters Centerline goodness [0,1] 0.6671124148045897 Centerline is valid? [False, False] Translation: X:49.10, Y:2.44, Z:0.03 [[ 9.99989912e-01 -4.42826323e-03 7.52755489e-04 4.90978814e+01] [ 4.42380094e-03 9.99973222e-01 5.82969896e-03 2.44333040e+00] [-7.78550773e-04 -5.82631010e-03 9.99982724e-01 3.11805219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.04140051299999 meters Centerline goodness [0,1] 0.6308577810231519 Centerline is valid? [False, False] Translation: X:49.10, Y:2.45, Z:0.03 [[ 9.99962181e-01 -8.68907575e-03 3.70791842e-04 4.90990221e+01] [ 8.68895547e-03 9.99962198e-01 3.24766501e-04 2.44976274e+00] [-3.73599746e-04 -3.21532424e-04 9.99999879e-01 3.17315536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.07140051299999 meters Centerline goodness [0,1] 0.5899550063507782 Centerline is valid? [False, False] Translation: X:49.10, Y:2.45, Z:0.03 [[ 9.99962882e-01 -8.60413494e-03 4.50607805e-04 4.90983619e+01] [ 8.60391537e-03 9.99962867e-01 4.86976664e-04 2.44898406e+00] [-4.54781085e-04 -4.83081597e-04 9.99999780e-01 3.25346205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.10140051299999 meters Centerline goodness [0,1] 0.5101197324129703 Centerline is valid? [False, False] Translation: X:49.12, Y:2.45, Z:0.03 [[ 9.99974748e-01 -6.70842175e-03 2.34547827e-03 4.91186003e+01] [ 6.72950923e-03 9.99935936e-01 -9.10147030e-03 2.45156490e+00] [-2.28427151e-03 9.11702439e-03 9.99955830e-01 3.27435263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.13140051299999 meters Centerline goodness [0,1] 0.5569096097320261 Centerline is valid? [False, False] Translation: X:49.12, Y:2.44, Z:0.03 [[ 9.99994093e-01 -1.95743763e-03 2.82540038e-03 4.91167760e+01] [ 1.96613066e-03 9.99993332e-01 -3.07725115e-03 2.44320644e+00] [-2.81935801e-03 3.08278807e-03 9.99991274e-01 3.29625110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.16140051299999 meters Centerline goodness [0,1] 0.5122213153485975 Centerline is valid? [False, False] Translation: X:49.12, Y:2.44, Z:0.03 [[ 9.99994556e-01 -1.85001162e-03 2.73219265e-03 4.91169792e+01] [ 1.85785103e-03 9.99994157e-01 -2.86952937e-03 2.44225832e+00] [-2.72686802e-03 2.87458975e-03 9.99992150e-01 3.31598573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.19140051299999 meters Centerline goodness [0,1] 0.7283134612061517 Centerline is valid? [False, False] Translation: X:49.11, Y:2.44, Z:0.04 [[ 9.99993667e-01 4.15754838e-04 3.53457062e-03 4.91111338e+01] [-4.14393257e-04 9.99999840e-01 -3.85941940e-04 2.43769773e+00] [-3.53473051e-03 3.84474794e-04 9.99993679e-01 3.68248518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.22140051299999 meters Centerline goodness [0,1] 0.6163624301825419 Centerline is valid? [False, False] Translation: X:49.11, Y:2.44, Z:0.04 [[ 9.99994021e-01 5.31187947e-04 3.41711396e-03 4.91114487e+01] [-5.30420257e-04 9.99999834e-01 -2.25562664e-04 2.43701570e+00] [-3.41723321e-03 2.23748809e-04 9.99994136e-01 3.69448044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.251400513 meters Centerline goodness [0,1] 0.7401004380809916 Centerline is valid? [False, False] Translation: X:49.11, Y:2.44, Z:0.04 [[ 9.99994340e-01 5.28774414e-04 3.32273237e-03 4.91116234e+01] [-5.27540023e-04 9.99999792e-01 -3.72364337e-04 2.43777619e+00] [-3.32292857e-03 3.70609355e-04 9.99994410e-01 3.72491275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.281400513 meters Centerline goodness [0,1] 0.8339077241201052 Centerline is valid? [False, False] Translation: X:49.10, Y:2.44, Z:0.04 [[ 9.99987011e-01 2.84693261e-03 4.22763994e-03 4.91048827e+01] [-2.85482221e-03 9.99994193e-01 1.86133410e-03 2.43724055e+00] [-4.22231630e-03 -1.87337909e-03 9.99989331e-01 4.17838620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.311400513 meters Centerline goodness [0,1] 0.8187962390465429 Centerline is valid? [False, False] Translation: X:49.11, Y:2.44, Z:0.04 [[ 9.99966915e-01 7.02346218e-03 4.10372059e-03 4.91057184e+01] [-7.04682006e-03 9.99958894e-01 5.70541503e-03 2.43964946e+00] [-4.06348014e-03 -5.73414445e-03 9.99975304e-01 4.10281780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.341400513 meters Centerline goodness [0,1] 0.9478461472122807 Centerline is valid? [False, False] Translation: X:49.08, Y:2.45, Z:0.05 [[ 9.99958699e-01 8.97139096e-03 -1.45397355e-03 4.90815537e+01] [-8.97628438e-03 9.99953950e-01 -3.39470821e-03 2.45234977e+00] [ 1.42345134e-03 3.40761929e-03 9.99993181e-01 4.81918582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.37140051299998 meters Centerline goodness [0,1] 0.9926648807245823 Centerline is valid? [False, True] Translation: X:49.10, Y:2.44, Z:0.04 [[ 9.99940663e-01 9.97064178e-03 4.38824894e-03 4.91019768e+01] [-1.00086472e-02 9.99911841e-01 8.72570819e-03 2.44266328e+00] [-4.30086116e-03 -8.76911087e-03 9.99952302e-01 4.29326673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.40140051299998 meters Centerline goodness [0,1] 0.9809718270087104 Centerline is valid? [True, True] Translation: X:49.14, Y:2.45, Z:0.05 [[ 9.99928571e-01 1.05233921e-02 5.66663800e-03 4.91352159e+01] [-1.05209997e-02 9.99944551e-01 -4.51831654e-04 2.45246055e+00] [-5.67107859e-03 3.92180684e-04 9.99983842e-01 4.67369829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.43140051299999 meters Centerline goodness [0,1] 0.9846614611188362 Centerline is valid? [True, True] Translation: X:49.17, Y:2.45, Z:0.05 [[ 9.99930145e-01 1.00900299e-02 6.15597563e-03 4.91680227e+01] [-1.00871916e-02 9.99949002e-01 -4.91949314e-04 2.45398639e+00] [-6.16062547e-03 4.29818444e-04 9.99980931e-01 4.69188173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.46140051299999 meters Centerline goodness [0,1] 0.9697407895020828 Centerline is valid? [True, True] Translation: X:49.20, Y:2.45, Z:0.05 [[ 9.99943748e-01 8.71193966e-03 6.05005785e-03 4.91985823e+01] [-8.70916552e-03 9.99961957e-01 -4.84725855e-04 2.45210737e+00] [-6.05405059e-03 4.32007633e-04 9.99981581e-01 4.57950433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.49140051299999 meters Centerline goodness [0,1] 0.957167944489656 Centerline is valid? [True, True] Translation: X:49.23, Y:2.45, Z:0.04 [[ 9.99962386e-01 6.47072459e-03 5.77554918e-03 4.92295111e+01] [-6.46815883e-03 9.99978974e-01 -4.62814003e-04 2.44967831e+00] [-5.77842248e-03 4.25439425e-04 9.99983214e-01 4.39787057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.52140051299999 meters Centerline goodness [0,1] 0.9177895827934698 Centerline is valid? [True, False] Translation: X:49.21, Y:2.45, Z:0.04 [[ 9.99970161e-01 2.29961759e-03 7.37481434e-03 4.92106116e+01] [-2.34627665e-03 9.99977248e-01 6.32441182e-03 2.44643105e+00] [-7.36010282e-03 -6.34152647e-03 9.99952806e-01 3.84663372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.55140051299999 meters Centerline goodness [0,1] 0.7779438773331055 Centerline is valid? [False, False] Translation: X:49.21, Y:2.45, Z:0.04 [[ 9.99970929e-01 -2.39674304e-03 7.23857026e-03 4.92110133e+01] [ 2.39033531e-03 9.99996744e-01 8.93742130e-04 2.45171299e+00] [-7.24068876e-03 -8.76413538e-04 9.99973402e-01 3.86104816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.58140051299999 meters Centerline goodness [0,1] 0.6486918016733016 Centerline is valid? [False, False] Translation: X:49.21, Y:2.45, Z:0.04 [[ 9.99968914e-01 -2.85566552e-03 7.34958655e-03 4.92104719e+01] [ 2.84772252e-03 9.99995350e-01 1.09097909e-03 2.44997886e+00] [-7.35266785e-03 -1.07001559e-03 9.99972396e-01 3.88523744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.61140051299999 meters Centerline goodness [0,1] 0.6890048757437119 Centerline is valid? [False, False] Translation: X:49.20, Y:2.45, Z:0.04 [[ 9.99956361e-01 -4.55874738e-03 8.15436524e-03 4.92044220e+01] [ 4.56442064e-03 9.99989354e-01 -6.77257336e-04 2.45153481e+00] [-8.15119098e-03 7.14447735e-04 9.99966523e-01 4.30349888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.641400513 meters Centerline goodness [0,1] 0.6874556289396123 Centerline is valid? [False, False] Translation: X:49.20, Y:2.45, Z:0.04 [[ 9.99957256e-01 -4.20453023e-03 8.23460816e-03 4.92041466e+01] [ 4.20276741e-03 9.99991142e-01 2.31367002e-04 2.44725359e+00] [-8.23550800e-03 -1.96748970e-04 9.99966068e-01 4.29601841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.671400513 meters Centerline goodness [0,1] 0.7429891409943654 Centerline is valid? [False, False] Translation: X:49.20, Y:2.44, Z:0.04 [[ 9.99958891e-01 -3.76284264e-03 8.24969351e-03 4.92043211e+01] [ 3.75224635e-03 9.99992116e-01 1.29954813e-03 2.44228835e+00] [-8.25451847e-03 -1.26853982e-03 9.99965126e-01 4.24216451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.701400513 meters Centerline goodness [0,1] 0.5880518592878959 Centerline is valid? [False, False] Translation: X:49.21, Y:2.44, Z:0.04 [[ 9.99963840e-01 -3.37079078e-03 7.80740056e-03 4.92065350e+01] [ 3.35641001e-03 9.99992648e-01 1.85431222e-03 2.43999544e+00] [-7.81359366e-03 -1.82804033e-03 9.99967802e-01 4.08457383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.73140051299998 meters Centerline goodness [0,1] 0.862398172492565 Centerline is valid? [False, False] Translation: X:49.19, Y:2.45, Z:0.05 [[ 9.99996756e-01 6.16366745e-04 2.47130057e-03 4.91862767e+01] [-6.02164445e-04 9.99983325e-01 -5.74352433e-03 2.44760247e+00] [-2.47479947e-03 5.74201757e-03 9.99980452e-01 4.56178784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.76140051299998 meters Centerline goodness [0,1] 0.8019462425515497 Centerline is valid? [False, False] Translation: X:49.19, Y:2.45, Z:0.04 [[ 9.99994336e-01 2.95895013e-03 1.60373292e-03 4.91925083e+01] [-2.95360929e-03 9.99990119e-01 -3.32245041e-03 2.44559164e+00] [-1.61354804e-03 3.31769479e-03 9.99993195e-01 4.20418693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.79140051299999 meters Centerline goodness [0,1] 0.7684049405812199 Centerline is valid? [False, False] Translation: X:49.20, Y:2.44, Z:0.04 [[ 9.99984180e-01 5.53211184e-03 1.01762324e-03 4.91976246e+01] [-5.53146757e-03 9.99984500e-01 -6.34843156e-04 2.44328904e+00] [-1.02111949e-03 6.29204163e-04 9.99999281e-01 3.90486047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.82140051299999 meters Centerline goodness [0,1] 0.9957173447537473 Centerline is valid? [False, True] Translation: X:49.20, Y:2.44, Z:0.04 [[ 9.99948665e-01 1.00722071e-02 1.10395931e-03 4.91968771e+01] [-1.00761057e-02 9.99942809e-01 3.58471231e-03 2.44409524e+00] [-1.06779020e-03 -3.59565190e-03 9.99992966e-01 4.02824388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.85140051299999 meters Centerline goodness [0,1] 0.9997614814172341 Centerline is valid? [True, True] Translation: X:49.23, Y:2.46, Z:0.04 [[ 9.99907229e-01 1.36155182e-02 3.89830696e-04 4.92282606e+01] [-1.36155082e-02 9.99907304e-01 -2.83743557e-05 2.45682677e+00] [-3.90180891e-04 2.30639803e-05 9.99999924e-01 3.92241646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.88140051299999 meters Centerline goodness [0,1] 0.9996604630435244 Centerline is valid? [True, True] Translation: X:49.26, Y:2.45, Z:0.04 [[ 9.99863381e-01 1.65108790e-02 7.81201837e-04 4.92573080e+01] [-1.65108395e-02 9.99863685e-01 -5.69115437e-05 2.45467779e+00] [-7.82035008e-04 4.40054703e-05 9.99999693e-01 3.71902385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.91140051299999 meters Centerline goodness [0,1] 0.9999573178539417 Centerline is valid? [True, True] Translation: X:49.29, Y:2.46, Z:0.04 [[ 9.99824821e-01 1.86798867e-02 1.17836017e-03 4.92887415e+01] [-1.86797985e-02 9.99825514e-01 -8.57714105e-05 2.46298432e+00] [-1.17975677e-03 6.37448545e-05 9.99999302e-01 3.69270455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.94140051299999 meters Centerline goodness [0,1] 0.9999144988564223 Centerline is valid? [True, True] Translation: X:49.32, Y:2.46, Z:0.04 [[ 9.99773599e-01 2.12338276e-02 1.36920756e-03 4.93178136e+01] [-2.12337108e-02 9.99774534e-01 -9.97374987e-05 2.45837968e+00] [-1.37101666e-03 7.06415607e-05 9.99999058e-01 3.73471406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.97140051299999 meters Centerline goodness [0,1] 0.9997873516777953 Centerline is valid? [True, True] Translation: X:49.35, Y:2.46, Z:0.04 [[ 9.99755518e-01 2.21026446e-02 6.15023234e-04 4.93492729e+01] [-2.21026215e-02 9.99755706e-01 -4.43480649e-05 2.45678331e+00] [-6.15853197e-04 3.07435968e-05 9.99999810e-01 3.68974788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.001400513 meters Centerline goodness [0,1] 0.9997451525898868 Centerline is valid? [True, True] Translation: X:49.38, Y:2.46, Z:0.04 [[ 9.99744024e-01 2.26225855e-02 -3.23414092e-04 4.93798511e+01] [-2.26225791e-02 9.99744076e-01 2.35956365e-05 2.46044273e+00] [ 3.23865117e-04 -1.62731357e-05 9.99999947e-01 3.59102964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.031400513 meters Centerline goodness [0,1] 0.999936 Centerline is valid? [True, True] Translation: X:49.41, Y:2.47, Z:0.04 [[ 9.99724707e-01 2.34490017e-02 -8.08962636e-04 4.94096123e+01] [-2.34489617e-02 9.99725034e-01 5.89177563e-05 2.46516195e+00] [ 8.10121761e-04 -3.99322028e-05 9.99999671e-01 3.54644981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.061400513 meters Centerline goodness [0,1] 0.9998296857702461 Centerline is valid? [True, True] Translation: X:49.44, Y:2.46, Z:0.03 [[ 9.99708055e-01 2.41540431e-02 -6.21465492e-04 4.94390847e+01] [-2.41540196e-02 9.99708248e-01 4.54132037e-05 2.46336351e+00] [ 6.22381091e-04 -3.03890559e-05 9.99999806e-01 3.48831810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.091400513 meters Centerline goodness [0,1] 0.9998931372758554 Centerline is valid? [True, True] Translation: X:49.47, Y:2.47, Z:0.04 [[ 9.99663415e-01 2.59405115e-02 3.83794469e-04 4.94700948e+01] [-2.59405027e-02 9.99663488e-01 -2.79998327e-05 2.47116401e+00] [-3.84391648e-04 1.80345869e-05 9.99999926e-01 3.62841336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.12140051299998 meters Centerline goodness [0,1] 0.9997877263367934 Centerline is valid? [True, True] Translation: X:49.50, Y:2.47, Z:0.04 [[ 9.99618825e-01 2.75667288e-02 1.51015823e-03 4.95000643e+01] [-2.75665937e-02 9.99619963e-01 -1.10174015e-04 2.46986697e+00] [-1.51262145e-03 6.85021013e-05 9.99998854e-01 3.74100133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.15140051299998 meters Centerline goodness [0,1] 0.9999361688546565 Centerline is valid? [True, True] Translation: X:49.53, Y:2.48, Z:0.04 [[ 9.99552262e-01 2.98313577e-02 2.31624270e-03 4.95317333e+01] [-2.98310461e-02 9.99554941e-01 -1.68967642e-04 2.47516384e+00] [-2.32025237e-03 9.97960459e-05 9.99997303e-01 3.86435502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.18140051299999 meters Centerline goodness [0,1] 0.9999361688546565 Centerline is valid? [True, True] Translation: X:49.56, Y:2.47, Z:0.04 [[ 9.99551593e-01 2.98537908e-02 2.31624186e-03 4.95625126e+01] [-2.98534792e-02 9.99554271e-01 -1.68979158e-04 2.47287664e+00] [-2.32025412e-03 9.97555085e-05 9.99997303e-01 3.85320756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.21140051299999 meters Centerline goodness [0,1] 0.9999786238002608 Centerline is valid? [True, True] Translation: X:49.59, Y:2.48, Z:0.04 [[ 9.99402615e-01 3.44561634e-02 2.68060172e-03 4.95936749e+01] [-3.44557624e-02 9.99406205e-01 -1.95654087e-04 2.48457832e+00] [-2.68575148e-03 1.03175031e-04 9.99996388e-01 3.88711693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.24140051299999 meters Centerline goodness [0,1] 0.9999360368427785 Centerline is valid? [True, True] Translation: X:49.62, Y:2.49, Z:0.04 [[ 9.99348154e-01 3.60110313e-02 2.54404743e-03 4.96243242e+01] [-3.60106751e-02 9.99351388e-01 -1.85689549e-04 2.48867031e+00] [-2.54908420e-03 9.39556427e-05 9.99996747e-01 3.76040503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.27140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.66, Y:2.50, Z:0.04 [[ 9.99322538e-01 3.67519738e-02 1.93849917e-03 4.96554672e+01] [-3.67517684e-02 9.99324416e-01 -1.41490694e-04 2.49685968e+00] [-1.94238961e-03 7.01515671e-05 9.99998111e-01 3.68058515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.30140051299999 meters Centerline goodness [0,1] 0.9999573333333334 Centerline is valid? [True, True] Translation: X:49.68, Y:2.50, Z:0.04 [[ 9.99322030e-01 3.67842388e-02 1.54935826e-03 4.96845693e+01] [-3.67841076e-02 9.99323229e-01 -1.13111853e-04 2.49509427e+00] [-1.55247043e-03 5.60434055e-05 9.99998793e-01 3.53803539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.33140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.71, Y:2.49, Z:0.03 [[ 9.99401177e-01 3.45773487e-02 1.30170730e-03 4.97138460e+01] [-3.45772542e-02 9.99402023e-01 -9.49997859e-05 2.49104834e+00] [-1.30421375e-03 4.99334338e-05 9.99999148e-01 3.40311450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.36140051299999 meters Centerline goodness [0,1] 0.9999787991858887 Centerline is valid? [True, True] Translation: X:49.74, Y:2.48, Z:0.03 [[ 9.99446960e-01 3.32368319e-02 1.04252609e-03 4.97434023e+01] [-3.32367707e-02 9.99447503e-01 -7.59314931e-05 2.48410663e+00] [-1.04447381e-03 4.12392995e-05 9.99999454e-01 3.35980027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.391400513 meters Centerline goodness [0,1] 0.999978494623656 Centerline is valid? [True, True] Translation: X:49.77, Y:2.49, Z:0.03 [[ 9.99465750e-01 3.26827414e-02 2.31133834e-04 4.97742694e+01] [-3.26827383e-02 9.99465776e-01 -1.68806347e-05 2.49027446e+00] [-2.31562062e-04 9.31752958e-06 9.99999973e-01 3.28149162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.421400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.80, Y:2.49, Z:0.03 [[ 9.99437441e-01 3.35372110e-02 -2.39267389e-04 4.98028664e+01] [-3.35372078e-02 9.99437469e-01 1.74075227e-05 2.48787219e+00] [ 2.39716594e-04 -9.37336974e-06 9.99999971e-01 3.09428830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.451400513 meters Centerline goodness [0,1] 0.9999570142068046 Centerline is valid? [True, True] Translation: X:49.83, Y:2.50, Z:0.03 [[ 9.99262909e-01 3.83775510e-02 8.95645401e-04 4.98342133e+01] [-3.83775078e-02 9.99263310e-01 -6.54029287e-05 2.49587851e+00] [-8.97495593e-04 3.09820824e-05 9.99999597e-01 3.23823208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.48140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.86, Y:2.50, Z:0.03 [[ 9.99120730e-01 4.18900196e-02 1.72995490e-03 4.98634017e+01] [-4.18898635e-02 9.99122226e-01 -1.26356068e-04 2.49887477e+00] [-1.73372945e-03 5.37773921e-05 9.99998496e-01 3.41303168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.51140051299998 meters Centerline goodness [0,1] 0.9999785770903404 Centerline is valid? [True, True] Translation: X:49.89, Y:2.50, Z:0.03 [[ 9.98939404e-01 4.60104470e-02 1.76210643e-03 4.98938829e+01] [-4.60102916e-02 9.98940957e-01 -1.28638914e-04 2.50436607e+00] [-1.76615901e-03 4.74274495e-05 9.99998439e-01 3.49642424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.54140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.93, Y:2.52, Z:0.03 [[ 9.98497707e-01 5.47928755e-02 2.63525383e-04 4.99257208e+01] [-5.47928724e-02 9.98497742e-01 -1.92413205e-05 2.51926295e+00] [-2.64183787e-04 4.77310173e-06 9.99999965e-01 3.22433594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.57140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.95, Y:2.52, Z:0.03 [[ 9.98302128e-01 5.82470611e-02 3.75328855e-04 4.99538870e+01] [-5.82470549e-02 9.98302199e-01 -2.75861991e-05 2.52203183e+00] [-3.76298436e-04 5.67756084e-06 9.99999929e-01 3.06467396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.60140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.98, Y:2.52, Z:0.03 [[ 9.98156978e-01 6.06694737e-02 1.36468764e-03 4.99819820e+01] [-6.06693942e-02 9.98157911e-01 -9.96406901e-05 2.52194502e+00] [-1.36821891e-03 1.66622777e-05 9.99999064e-01 3.06627323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.63140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.01, Y:2.52, Z:0.03 [[ 9.98064112e-01 6.21354258e-02 2.68666242e-03 5.00107518e+01] [-6.21351239e-02 9.98067727e-01 -1.95780449e-04 2.52476860e+00] [-2.69363596e-03 2.84653375e-05 9.99996372e-01 3.27685086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.66140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.04, Y:2.53, Z:0.03 [[ 9.98032139e-01 6.26489042e-02 2.63891306e-03 5.00394759e+01] [-6.26486151e-02 9.98035628e-01 -1.92178086e-04 2.52540904e+00] [-2.64576900e-03 2.64756577e-05 9.99996500e-01 3.33300124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.69140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.07, Y:2.52, Z:0.03 [[ 9.98037698e-01 6.26135043e-02 -5.50749369e-04 5.00670930e+01] [-6.26134919e-02 9.98037850e-01 3.97926454e-05 2.52158471e+00] [ 5.52160273e-04 -5.23021907e-06 9.99999848e-01 2.82959968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.72140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.10, Y:2.52, Z:0.03 [[ 9.98028785e-01 6.27227893e-02 -2.09686551e-03 5.00963054e+01] [-6.27226080e-02 9.98030987e-01 1.52153769e-04 2.52068437e+00] [ 2.10228026e-03 -2.03329683e-05 9.99997790e-01 2.59450373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.751400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.13, Y:2.52, Z:0.03 [[ 9.97967161e-01 6.36968678e-02 -2.06242733e-03 5.01255462e+01] [-6.36966948e-02 9.97969292e-01 1.49540707e-04 2.52172804e+00] [ 2.06776442e-03 -1.78669112e-05 9.99997862e-01 2.61659205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.781400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.15, Y:2.52, Z:0.03 [[ 9.97864431e-01 6.53144759e-02 -7.72839211e-04 5.01538296e+01] [-6.53144522e-02 9.97864730e-01 5.58324788e-05 2.52219515e+00] [ 7.74835660e-04 -5.23567497e-06 9.99999700e-01 2.68695626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.811400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.18, Y:2.52, Z:0.03 [[ 9.97738752e-01 6.72047274e-02 9.52301484e-04 5.01830067e+01] [-6.72046920e-02 9.97739207e-01 -6.91979473e-05 2.52389524e+00] [-9.54798957e-04 5.04234563e-06 9.99999544e-01 2.91992283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.841400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.21, Y:2.53, Z:0.03 [[ 9.97547068e-01 6.99956710e-02 6.73607873e-04 5.02125097e+01] [-6.99956539e-02 9.97547295e-01 -4.89682490e-05 2.52617398e+00] [-6.75383277e-04 1.69850970e-06 9.99999772e-01 2.93975391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.87140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.24, Y:2.53, Z:0.03 [[ 9.97453682e-01 7.13133102e-02 -7.51678818e-04 5.02399528e+01] [-7.13132896e-02 9.97453965e-01 5.41855115e-05 2.52526925e+00] [ 7.53629166e-04 -4.42848682e-07 9.99999716e-01 2.65429350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.90140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.27, Y:2.52, Z:0.03 [[ 9.97387703e-01 7.22094785e-02 -1.88724739e-03 5.02690063e+01] [-7.22093498e-02 9.97389488e-01 1.36318880e-04 2.52354645e+00] [ 1.89216423e-03 3.14132312e-07 9.99998210e-01 2.56811720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.93140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.30, Y:2.52, Z:0.03 [[ 9.97322630e-01 7.31206034e-02 -9.73677860e-04 5.02963368e+01] [-7.31205698e-02 9.97323106e-01 7.01403950e-05 2.52055784e+00] [ 9.76200136e-04 1.24327671e-06 9.99999524e-01 2.61717471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.96140051299999 meters Centerline goodness [0,1] 0.9999783867900061 Centerline is valid? [True, True] Translation: X:50.32, Y:2.52, Z:0.03 [[ 9.97305151e-01 7.33644000e-02 3.16106911e-04 5.03244655e+01] [-7.33643964e-02 9.97305201e-01 -2.30440106e-05 2.51767305e+00] [-3.16945676e-04 -2.09082211e-07 9.99999950e-01 2.74676227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.99140051299999 meters Centerline goodness [0,1] 0.9999571146753581 Centerline is valid? [True, True] Translation: X:50.35, Y:2.51, Z:0.03 [[ 9.97270145e-01 7.38106430e-02 2.06086101e-03 5.03526771e+01] [-7.38104930e-02 9.97272274e-01 -1.48875011e-04 2.51479317e+00] [-2.06622811e-03 -3.64456321e-06 9.99997865e-01 2.98525483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.02140051299999 meters Centerline goodness [0,1] 0.9999567474048443 Centerline is valid? [True, True] Translation: X:50.38, Y:2.51, Z:0.03 [[ 9.97105876e-01 7.58747302e-02 4.78515968e-03 5.03815165e+01] [-7.58739472e-02 9.97117358e-01 -3.45218041e-04 2.51253338e+00] [-4.79755910e-03 -1.88500160e-05 9.99988491e-01 3.41391940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.05140051299999 meters Centerline goodness [0,1] 0.9999569141946186 Centerline is valid? [True, True] Translation: X:50.41, Y:2.51, Z:0.04 [[ 9.96939479e-01 7.79897293e-02 5.41078483e-03 5.04101914e+01] [-7.79887608e-02 9.96954162e-01 -3.90069744e-04 2.51105418e+00] [-5.42472589e-03 -3.31044762e-05 9.99985286e-01 3.55672917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.08140051299999 meters Centerline goodness [0,1] 0.9999353643297281 Centerline is valid? [True, True] Translation: X:50.44, Y:2.51, Z:0.04 [[ 9.96737814e-01 8.05037203e-02 5.73428319e-03 5.04388184e+01] [-8.05026758e-02 9.96754307e-01 -4.13104928e-04 2.50954178e+00] [-5.74892795e-03 -4.98678381e-05 9.99983474e-01 3.63828536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.11140051299999 meters Centerline goodness [0,1] 0.9999785154151896 Centerline is valid? [True, True] Translation: X:50.47, Y:2.51, Z:0.04 [[ 9.96547843e-01 8.28444870e-02 5.40249191e-03 5.04670162e+01] [-8.28435958e-02 9.96562485e-01 -3.88928968e-04 2.50919102e+00] [-5.41614139e-03 -5.99755316e-05 9.99985331e-01 3.67006220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.141400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.50, Y:2.51, Z:0.04 [[ 9.96368742e-01 8.50186274e-02 4.60035073e-03 5.04958679e+01] [-8.50180055e-02 9.96379360e-01 -3.30949804e-04 2.50813703e+00] [-4.61183142e-03 -6.13646034e-05 9.99989364e-01 3.57867895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.171400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.53, Y:2.51, Z:0.03 [[ 9.96031787e-01 8.89644376e-02 2.45099409e-03 5.05257286e+01] [-8.89642731e-02 9.96034802e-01 -1.76261463e-04 2.50811679e+00] [-2.45695642e-03 -4.24888873e-05 9.99996981e-01 3.16773104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.201400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.55, Y:2.51, Z:0.03 [[ 9.95822786e-01 9.12885837e-02 1.83667809e-03 5.05530783e+01] [-9.12884951e-02 9.95824479e-01 -1.32144486e-04 2.50823346e+00] [-1.84107228e-03 -3.60750888e-05 9.99998305e-01 3.04915851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.23140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.58, Y:2.51, Z:0.03 [[ 9.95464835e-01 9.51089351e-02 2.01289919e-03 5.05820756e+01] [-9.51088370e-02 9.95466869e-01 -1.44623210e-04 2.50764183e+00] [-2.01752941e-03 -4.74771808e-05 9.99997964e-01 3.01698895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.26140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.61, Y:2.51, Z:0.03 [[ 9.95294751e-01 9.68685208e-02 2.20182712e-03 5.06109675e+01] [-9.68684080e-02 9.95297185e-01 -1.58064755e-04 2.50608766e+00] [-2.20678384e-03 -5.59664675e-05 9.99997563e-01 3.00309338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.29140051299999 meters Centerline goodness [0,1] 0.9999570870703343 Centerline is valid? [True, True] Translation: X:50.64, Y:2.50, Z:0.03 [[ 9.95171009e-01 9.81421315e-02 1.66864384e-03 5.06390233e+01] [-9.81420686e-02 9.95172407e-01 -1.19774666e-04 2.50223243e+00] [-1.67234324e-03 -4.45678822e-05 9.99998601e-01 2.95779221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.32140051299999 meters Centerline goodness [0,1] 0.9999784936986537 Centerline is valid? [True, True] Translation: X:50.67, Y:2.50, Z:0.03 [[ 9.95057449e-01 9.92900441e-02 1.46987250e-03 5.06675063e+01] [-9.92899967e-02 9.95058534e-01 -1.05418483e-04 2.49850162e+00] [-1.47307618e-03 -4.10461889e-05 9.99998914e-01 2.89091395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.35140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.70, Y:2.49, Z:0.03 [[ 9.94838232e-01 1.01472685e-01 4.32252919e-04 5.06966328e+01] [-1.01472681e-01 9.94838326e-01 -3.10268092e-05 2.49239185e+00] [-4.33170144e-04 -1.29952065e-05 9.99999906e-01 2.65367583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.38140051299999 meters Centerline goodness [0,1] 0.9999573806124405 Centerline is valid? [True, True] Translation: X:50.72, Y:2.49, Z:0.03 [[ 9.94718839e-01 1.02637193e-01 1.97377377e-04 5.07240421e+01] [-1.02637192e-01 9.94718858e-01 -1.44406869e-05 2.49136581e+00] [-1.97817150e-04 -5.89383633e-06 9.99999980e-01 2.52371742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.41140051299999 meters Centerline goodness [0,1] 0.9999784031272272 Centerline is valid? [True, True] Translation: X:50.75, Y:2.49, Z:0.03 [[ 9.94570261e-01 1.04066253e-01 4.58210202e-04 5.07517523e+01] [-1.04066249e-01 9.94570367e-01 -3.29400653e-05 2.48925123e+00] [-4.59150238e-04 -1.49230075e-05 9.99999894e-01 2.51323526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.44140051299999 meters Centerline goodness [0,1] 0.9999566771363587 Centerline is valid? [True, True] Translation: X:50.78, Y:2.48, Z:0.03 [[ 9.94370948e-01 1.05949541e-01 1.05448702e-03 5.07807004e+01] [-1.05949520e-01 9.94371507e-01 -7.54114415e-05 2.48478489e+00] [-1.05654165e-03 -3.67354473e-05 9.99999441e-01 2.63057283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.47140051299999 meters Centerline goodness [0,1] 0.9999784849071623 Centerline is valid? [True, True] Translation: X:50.81, Y:2.49, Z:0.02 [[ 9.93926628e-01 1.10044655e-01 -1.78494774e-04 5.08099936e+01] [-1.10044655e-01 9.93926644e-01 1.26522588e-05 2.48692930e+00] [ 1.78803025e-04 7.06697880e-06 9.99999984e-01 2.41559939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.501400513 meters Centerline goodness [0,1] 0.9999354658291565 Centerline is valid? [True, True] Translation: X:50.84, Y:2.49, Z:0.02 [[ 9.93806974e-01 1.11108794e-01 -1.59183841e-03 5.08372584e+01] [-1.11108755e-01 9.93808247e-01 1.13238145e-04 2.48595954e+00] [ 1.59456390e-03 6.43303257e-05 9.99998727e-01 2.15552481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.531400513 meters Centerline goodness [0,1] 0.999892122807396 Centerline is valid? [True, True] Translation: X:50.87, Y:2.48, Z:0.02 [[ 9.93761823e-01 1.11494128e-01 -2.54934043e-03 5.08663252e+01] [-1.11494029e-01 9.93765087e-01 1.81471593e-04 2.48242609e+00] [ 2.55367854e-03 1.03896695e-04 9.99996734e-01 1.99222371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.561400513 meters Centerline goodness [0,1] 0.9999135415540905 Centerline is valid? [True, True] Translation: X:50.89, Y:2.47, Z:0.02 [[ 9.93842401e-01 1.10799261e-01 -8.97931827e-04 5.08944891e+01] [-1.10799248e-01 9.93842806e-01 6.37558037e-05 2.46926855e+00] [ 8.99467182e-04 3.61269503e-05 9.99999595e-01 2.29290847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.591400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.92, Y:2.47, Z:0.03 [[ 9.93893877e-01 1.10333067e-01 1.25529099e-03 5.09224033e+01] [-1.10333042e-01 9.93894668e-01 -8.95208931e-05 2.46741925e+00] [-1.25750414e-03 -4.95258059e-05 9.99999208e-01 2.60615851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.62140051299998 meters Centerline goodness [0,1] 0.9999786639356504 Centerline is valid? [True, True] Translation: X:50.95, Y:2.46, Z:0.03 [[ 9.93938058e-01 1.09898385e-01 3.07926104e-03 5.09505264e+01] [-1.09898232e-01 9.93942821e-01 -2.19081875e-04 2.46117579e+00] [-3.08468615e-03 -1.20651532e-04 9.99995235e-01 2.87594309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.65140051299998 meters Centerline goodness [0,1] 0.9999572091829093 Centerline is valid? [True, True] Translation: X:50.98, Y:2.46, Z:0.03 [[ 9.93952783e-01 1.09742342e-01 3.80566876e-03 5.09784694e+01] [-1.09742110e-01 9.93960058e-01 -2.70539025e-04 2.45738983e+00] [-3.81237233e-03 -1.48739101e-04 9.99992722e-01 2.96610401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.68140051299999 meters Centerline goodness [0,1] 0.9999785614749706 Centerline is valid? [True, True] Translation: X:51.01, Y:2.45, Z:0.03 [[ 9.93790035e-01 1.11242261e-01 2.55460086e-03 5.10066726e+01] [-1.11242161e-01 9.93793313e-01 -1.81495865e-04 2.45397088e+00] [-2.55893526e-03 -1.03810538e-04 9.99996721e-01 2.71506344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.71140051299999 meters Centerline goodness [0,1] 0.9999787374285046 Centerline is valid? [True, True] Translation: X:51.03, Y:2.45, Z:0.03 [[ 9.93666846e-01 1.12358149e-01 1.35832551e-03 5.10349101e+01] [-1.12358122e-01 9.93667773e-01 -9.65439401e-05 2.44905095e+00] [-1.36057179e-03 -5.66863915e-05 9.99999073e-01 2.51441658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.74140051299999 meters Centerline goodness [0,1] 0.9998069829287124 Centerline is valid? [True, True] Translation: X:51.06, Y:2.45, Z:0.02 [[ 9.93455506e-01 1.14217590e-01 7.06684071e-04 5.10639826e+01] [-1.14217583e-01 9.93455757e-01 -5.02434480e-05 2.44546532e+00] [-7.07798045e-04 -3.08011168e-05 9.99999749e-01 2.40267385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.77140051299999 meters Centerline goodness [0,1] 0.9999142477382841 Centerline is valid? [True, True] Translation: X:51.09, Y:2.44, Z:0.02 [[ 9.93193847e-01 1.16469349e-01 9.34280331e-04 5.10923587e+01] [-1.16469338e-01 9.93194286e-01 -6.64005881e-05 2.44475582e+00] [-9.35655519e-04 -4.28663560e-05 9.99999561e-01 2.43116636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.80140051299999 meters Centerline goodness [0,1] 0.9998494947323157 Centerline is valid? [True, True] Translation: X:51.12, Y:2.44, Z:0.02 [[ 9.92953944e-01 1.18497832e-01 8.53514321e-04 5.11207044e+01] [-1.18497823e-01 9.92954310e-01 -6.06273102e-05 2.44465406e+00] [-8.54684929e-04 -4.09394622e-05 9.99999634e-01 2.41923301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.83140051299999 meters Centerline goodness [0,1] 0.9998082250159812 Centerline is valid? [True, True] Translation: X:51.15, Y:2.45, Z:0.02 [[ 9.92538937e-01 1.21926062e-01 7.03205916e-04 5.11512414e+01] [-1.21926057e-01 9.92539185e-01 -4.97986448e-05 2.44557608e+00] [-7.04031179e-04 -3.63120310e-05 9.99999752e-01 2.30292042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.86140051299999 meters Centerline goodness [0,1] 0.9998503793951052 Centerline is valid? [True, True] Translation: X:51.18, Y:2.45, Z:0.02 [[ 9.92391623e-01 1.23116002e-01 1.14738098e-03 5.11797282e+01] [-1.23115990e-01 9.92392285e-01 -8.13200152e-05 2.44549116e+00] [-1.14866383e-03 -6.05596435e-05 9.99999338e-01 2.33020033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.891400513 meters Centerline goodness [0,1] 0.9998494979682225 Centerline is valid? [True, True] Translation: X:51.21, Y:2.44, Z:0.02 [[ 9.92317007e-01 1.23697408e-01 2.43084064e-03 5.12083194e+01] [-1.23697357e-01 9.92319976e-01 -1.72074271e-04 2.43635857e+00] [-2.43345686e-03 -1.29936336e-04 9.99997031e-01 2.47831420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.921400513 meters Centerline goodness [0,1] 0.9997836200367846 Centerline is valid? [True, True] Translation: X:51.24, Y:2.43, Z:0.03 [[ 9.92378762e-01 1.23161298e-01 3.96063122e-03 5.12362289e+01] [-1.23161158e-01 9.92386644e-01 -2.80062159e-04 2.43494740e+00] [-3.96497034e-03 -2.09868190e-04 9.99992117e-01 2.69830625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.951400513 meters Centerline goodness [0,1] 0.9999568043886741 Centerline is valid? [True, True] Translation: X:51.26, Y:2.42, Z:0.03 [[ 9.92638482e-01 1.20971676e-01 5.89041742e-03 5.12647914e+01] [-1.20971331e-01 9.92655914e-01 -4.16144195e-04 2.41732117e+00] [-5.89749935e-03 -2.99490892e-04 9.99982565e-01 3.00981716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.98140051299998 meters Centerline goodness [0,1] 0.9998278607393382 Centerline is valid? [True, True] Translation: X:51.29, Y:2.42, Z:0.03 [[ 9.92778040e-01 1.19815280e-01 6.00520979e-03 5.12929212e+01] [-1.19814902e-01 9.92796157e-01 -4.24009272e-04 2.41833986e+00] [-6.01275199e-03 -2.98566525e-04 9.99981879e-01 3.06003998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.01140051299998 meters Centerline goodness [0,1] 0.9996368995493282 Centerline is valid? [True, True] Translation: X:51.32, Y:2.42, Z:0.03 [[ 9.92840013e-01 1.19320162e-01 5.60429807e-03 5.13208860e+01] [-1.19319826e-01 9.92855792e-01 -3.95368924e-04 2.41880440e+00] [-5.61143528e-03 -2.76165784e-04 9.99984218e-01 2.98864893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.04140051299999 meters Centerline goodness [0,1] 0.9997438688608568 Centerline is valid? [True, True] Translation: X:51.35, Y:2.41, Z:0.03 [[ 9.92820613e-01 1.19496104e-01 5.28309886e-03 5.13491389e+01] [-1.19495810e-01 9.92834635e-01 -3.72432203e-04 2.41056273e+00] [-5.28974772e-03 -2.61549807e-04 9.99985975e-01 2.84180311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.07140051299999 meters Centerline goodness [0,1] 0.9997438688608568 Centerline is valid? [True, True] Translation: X:51.38, Y:2.41, Z:0.03 [[ 9.92828755e-01 1.19428439e-01 5.28311847e-03 5.13766018e+01] [-1.19428146e-01 9.92842777e-01 -3.72153855e-04 2.40875508e+00] [-5.28975176e-03 -2.61467994e-04 9.99985975e-01 2.83186136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.10140051299999 meters Centerline goodness [0,1] 0.9998067342381034 Centerline is valid? [True, True] Translation: X:51.41, Y:2.39, Z:0.03 [[ 9.92593550e-01 1.21356444e-01 5.53704123e-03 5.14052723e+01] [-1.21356153e-01 9.92608952e-01 -3.89735617e-04 2.39422543e+00] [-5.54341362e-03 -2.85104961e-04 9.99984595e-01 2.85353089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.13140051299999 meters Centerline goodness [0,1] 0.9988785679524343 Centerline is valid? [True, True] Translation: X:51.43, Y:2.40, Z:0.03 [[ 9.92398609e-01 1.22942557e-01 5.48894708e-03 5.14342509e+01] [-1.22942296e-01 9.92413746e-01 -3.86196879e-04 2.39934327e+00] [-5.49478657e-03 -2.91562514e-04 9.99984861e-01 2.88624127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.16140051299999 meters Centerline goodness [0,1] 0.9997008163439757 Centerline is valid? [True, True] Translation: X:51.46, Y:2.39, Z:0.03 [[ 9.92168860e-01 1.24810551e-01 4.82491437e-03 5.14628541e+01] [-1.24810373e-01 9.92180556e-01 -3.39319004e-04 2.39015267e+00] [-4.82953682e-03 -2.65537611e-04 9.99988302e-01 2.71246351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.19140051299999 meters Centerline goodness [0,1] 0.98419643995072 Centerline is valid? [True, True] Translation: X:51.49, Y:2.40, Z:0.02 [[ 9.91676446e-01 1.28713909e-01 3.24907403e-03 5.14928783e+01] [-1.28713849e-01 9.91681750e-01 -2.28413526e-04 2.39685956e+00] [-3.25144742e-03 -1.91688512e-04 9.99994696e-01 2.42588615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.22140051299999 meters Centerline goodness [0,1] 0.9994652978291092 Centerline is valid? [True, True] Translation: X:51.52, Y:2.38, Z:0.02 [[ 9.91487802e-01 1.30184003e-01 2.01608654e-03 5.15220490e+01] [-1.30183983e-01 9.91489844e-01 -1.41745496e-04 2.38493662e+00] [-2.01738232e-03 -1.21923246e-04 9.99997958e-01 2.26481317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.251400513 meters Centerline goodness [0,1] 0.9985251057369049 Centerline is valid? [True, True] Translation: X:51.55, Y:2.38, Z:0.02 [[ 9.91318785e-01 1.31475339e-01 1.14129811e-03 5.15506478e+01] [-1.31475333e-01 9.91319439e-01 -8.02799718e-05 2.38485209e+00] [-1.14194584e-03 -7.04695047e-05 9.99999345e-01 2.10731004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.281400513 meters Centerline goodness [0,1] 0.9990383176970914 Centerline is valid? [True, True] Translation: X:51.58, Y:2.38, Z:0.02 [[ 9.91160423e-01 1.32664311e-01 1.09405935e-03 5.15796490e+01] [-1.32664307e-01 9.91161024e-01 -7.69250023e-05 2.37939776e+00] [-1.09459419e-03 -6.88976075e-05 9.99999399e-01 2.04590649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.311400513 meters Centerline goodness [0,1] 0.9875581195109351 Centerline is valid? [True, True] Translation: X:51.61, Y:2.37, Z:0.02 [[ 9.90974155e-01 1.34003759e-01 3.63559383e-03 5.16076249e+01] [-1.34003721e-01 9.90980796e-01 -2.55194884e-04 2.37495537e+00] [-3.63700075e-03 -2.34291566e-04 9.99993359e-01 2.32586981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.341400513 meters Centerline goodness [0,1] 0.963965697910652 Centerline is valid? [True, True] Translation: X:51.64, Y:2.37, Z:0.02 [[ 9.90945100e-01 1.34191251e-01 4.52961223e-03 5.16357063e+01] [-1.34191195e-01 9.90955409e-01 -3.17682407e-04 2.37342239e+00] [-4.53127394e-03 -2.93028252e-04 9.99989691e-01 2.47199508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.37140051299998 meters Centerline goodness [0,1] 0.9926287286168658 Centerline is valid? [True, True] Translation: X:51.66, Y:2.37, Z:0.02 [[ 9.90919084e-01 1.34388636e-01 4.36605590e-03 5.16639392e+01] [-1.34388587e-01 9.90928662e-01 -3.05972927e-04 2.36537195e+00] [-4.36756922e-03 -2.83553672e-04 9.99990422e-01 2.45059610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.40140051299998 meters Centerline goodness [0,1] 0.9860453207015747 Centerline is valid? [True, True] Translation: X:51.69, Y:2.37, Z:0.02 [[ 9.90904095e-01 1.34531171e-01 3.23095811e-03 5.16914323e+01] [-1.34531145e-01 9.90909340e-01 -2.26325517e-04 2.36664172e+00] [-3.23203440e-03 -2.10397612e-04 9.99994755e-01 2.27965280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.43140051299999 meters Centerline goodness [0,1] 0.9080601324953287 Centerline is valid? [True, False] Translation: X:51.69, Y:2.37, Z:0.02 [[ 9.91464416e-01 1.30351571e-01 2.60365917e-03 5.16919382e+01] [-1.30336780e-01 9.91456068e-01 -5.21422980e-03 2.37042665e+00] [-3.26109673e-03 4.83037075e-03 9.99983016e-01 2.23974038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.46140051299999 meters Centerline goodness [0,1] 0.9599396117289332 Centerline is valid? [False, True] Translation: X:51.69, Y:2.37, Z:0.02 [[ 9.92022880e-01 1.26040395e-01 2.10323053e-03 5.16920022e+01] [-1.26012585e-01 9.91975440e-01 -1.02739791e-02 2.37439050e+00] [-3.38128941e-03 9.92698881e-03 9.99945009e-01 2.21860900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.49140051299999 meters Centerline goodness [0,1] 0.9907251802846263 Centerline is valid? [True, True] Translation: X:51.72, Y:2.36, Z:0.02 [[ 9.92115733e-01 1.25287852e-01 3.05398357e-03 5.17202618e+01] [-1.25287863e-01 9.92120414e-01 -1.88591428e-04 2.35674481e+00] [-3.05354765e-03 -1.95522552e-04 9.99995319e-01 2.23863082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.52140051299999 meters Centerline goodness [0,1] 0.9959868818503496 Centerline is valid? [True, True] Translation: X:51.75, Y:2.35, Z:0.02 [[ 9.92257432e-01 1.24133456e-01 4.00924391e-03 5.17487517e+01] [-1.24133465e-01 9.92265500e-01 -2.47400201e-04 2.34911399e+00] [-4.00894505e-03 -2.52196652e-04 9.99991932e-01 2.40267745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.55140051299999 meters Centerline goodness [0,1] 0.9992197151960466 Centerline is valid? [True, True] Translation: X:51.78, Y:2.33, Z:0.03 [[ 9.92600803e-01 1.21286623e-01 5.76209865e-03 5.17783082e+01] [-1.21286597e-01 9.92617467e-01 -3.55267681e-04 2.33487646e+00] [-5.76264898e-03 -3.46226354e-04 9.99983336e-01 2.67785728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.58140051299999 meters Centerline goodness [0,1] 0.9995895796431503 Centerline is valid? [True, True] Translation: X:51.81, Y:2.33, Z:0.03 [[ 9.92732110e-01 1.20198588e-01 5.93784507e-03 5.18077246e+01] [-1.20198541e-01 9.92749806e-01 -3.66045167e-04 2.32782960e+00] [-5.93879265e-03 -3.50335525e-04 9.99982304e-01 2.72725127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.61140051299999 meters Centerline goodness [0,1] 0.9995484744888086 Centerline is valid? [True, True] Translation: X:51.84, Y:2.32, Z:0.03 [[ 9.92803876e-01 1.19635660e-01 5.26997502e-03 5.18363927e+01] [-1.19635616e-01 9.92817815e-01 -3.24749801e-04 2.32422496e+00] [-5.27097674e-03 -3.08063847e-04 9.99986061e-01 2.62650392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.641400513 meters Centerline goodness [0,1] 0.999782144568864 Centerline is valid? [True, True] Translation: X:51.86, Y:2.31, Z:0.03 [[ 9.92810549e-01 1.19615502e-01 4.39841180e-03 5.18646965e+01] [-1.19615472e-01 9.92820258e-01 -2.70911264e-04 2.31259588e+00] [-4.39923753e-03 -2.57154542e-04 9.99990290e-01 2.52793694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.671400513 meters Centerline goodness [0,1] 0.9995495785341999 Centerline is valid? [True, True] Translation: X:51.89, Y:2.31, Z:0.02 [[ 9.92747480e-01 1.20163156e-01 3.64100876e-03 5.18935238e+01] [-1.20163140e-01 9.92754134e-01 -2.24110123e-04 2.31300579e+00] [-3.64155628e-03 -2.15030285e-04 9.99993346e-01 2.37596046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.701400513 meters Centerline goodness [0,1] 0.999656283566058 Centerline is valid? [True, True] Translation: X:51.92, Y:2.31, Z:0.02 [[ 9.92675757e-01 1.20732238e-01 4.30904607e-03 5.19220406e+01] [-1.20732221e-01 9.92685076e-01 -2.65042606e-04 2.30931979e+00] [-4.30952491e-03 -2.57139332e-04 9.99990681e-01 2.44418006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.73140051299998 meters Centerline goodness [0,1] 0.998951624981279 Centerline is valid? [True, True] Translation: X:51.95, Y:2.31, Z:0.03 [[ 9.92571661e-01 1.21564611e-01 4.85216704e-03 5.19509636e+01] [-1.21564600e-01 9.92583477e-01 -2.98202435e-04 2.30744020e+00] [-4.85243170e-03 -2.93864460e-04 9.99988184e-01 2.51237143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.76140051299998 meters Centerline goodness [0,1] 0.9995458477508651 Centerline is valid? [True, True] Translation: X:51.98, Y:2.30, Z:0.02 [[ 9.92461435e-01 1.22474400e-01 4.50801452e-03 5.19797487e+01] [-1.22474401e-01 9.92471634e-01 -2.76904834e-04 2.30204221e+00] [-4.50799029e-03 -2.77299009e-04 9.99989801e-01 2.39951412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.79140051299999 meters Centerline goodness [0,1] 0.9889986867316842 Centerline is valid? [True, True] Translation: X:52.01, Y:2.31, Z:0.02 [[ 9.92350017e-01 1.23402680e-01 3.63620542e-03 5.20085051e+01] [-1.23402687e-01 9.92356653e-01 -2.23262956e-04 2.31128484e+00] [-3.63596388e-03 -2.27162522e-04 9.99993364e-01 2.23584255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.82140051299999 meters Centerline goodness [0,1] 0.9992889310263096 Centerline is valid? [True, True] Translation: X:52.04, Y:2.30, Z:0.02 [[ 9.91847963e-01 1.27392377e-01 2.96665067e-03 5.20384794e+01] [-1.27392400e-01 9.91852380e-01 -1.81993657e-04 2.30063460e+00] [-2.96566413e-03 -1.97418710e-04 9.99995583e-01 2.06122651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.85140051299999 meters Centerline goodness [0,1] 0.9967851323380456 Centerline is valid? [True, True] Translation: X:52.07, Y:2.30, Z:0.02 [[ 9.91538032e-01 1.29766080e-01 3.61871318e-03 5.20675207e+01] [-1.29766130e-01 9.91544604e-01 -2.21979659e-04 2.30162110e+00] [-3.61692095e-03 -2.49485130e-04 9.99993428e-01 2.11457139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.88140051299999 meters Centerline goodness [0,1] 0.9128140488805332 Centerline is valid? [True, False] Translation: X:52.11, Y:2.30, Z:0.02 [[ 9.91574106e-01 1.29390159e-01 6.24327706e-03 5.21072874e+01] [-1.29376111e-01 9.91592171e-01 -2.60551614e-03 2.30186540e+00] [-6.52791280e-03 1.77583143e-03 9.99977116e-01 2.15742219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.91140051299999 meters Centerline goodness [0,1] 0.746402111896449 Centerline is valid? [False, False] Translation: X:52.11, Y:2.30, Z:0.02 [[ 9.92077042e-01 1.25481472e-01 6.12722397e-03 5.21055793e+01] [-1.25437024e-01 9.92075684e-01 -7.16875471e-03 2.30378767e+00] [-6.97821580e-03 6.34337623e-03 9.99955532e-01 2.22896600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.94140051299999 meters Centerline goodness [0,1] 0.9443646728531322 Centerline is valid? [False, False] Translation: X:52.11, Y:2.30, Z:0.02 [[ 9.92027827e-01 1.25870488e-01 6.11649588e-03 5.21054748e+01] [-1.25833467e-01 9.92032607e-01 -6.10283022e-03 2.29871382e+00] [-6.83592958e-03 5.28451752e-03 9.99962671e-01 2.21763595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.97140051299999 meters Centerline goodness [0,1] 0.9717935990676997 Centerline is valid? [False, True] Translation: X:52.11, Y:2.29, Z:0.02 [[ 9.91977007e-01 1.26272084e-01 6.08096666e-03 5.21054290e+01] [-1.26243346e-01 9.91987203e-01 -4.89970386e-03 2.29295854e+00] [-6.65093692e-03 4.09271200e-03 9.99969507e-01 2.20879811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.001400513 meters Centerline goodness [0,1] 0.9940245894592038 Centerline is valid? [True, True] Translation: X:52.13, Y:2.27, Z:0.02 [[ 9.92557504e-01 1.21608074e-01 6.40910787e-03 5.21339360e+01] [-1.21608154e-01 9.92578115e-01 -3.78632996e-04 2.27437547e+00] [-6.40758504e-03 -4.03584756e-04 9.99979390e-01 2.16510630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.031400513 meters Centerline goodness [0,1] 0.9996136841653431 Centerline is valid? [True, True] Translation: X:52.16, Y:2.26, Z:0.02 [[ 9.92836980e-01 1.19256868e-01 7.24780722e-03 5.21636134e+01] [-1.19256908e-01 9.92863337e-01 -4.28193106e-04 2.25882559e+00] [-7.24714704e-03 -4.39225129e-04 9.99973643e-01 2.25171388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.061400513 meters Centerline goodness [0,1] 0.995804255683521 Centerline is valid? [True, True] Translation: X:52.19, Y:2.26, Z:0.02 [[ 9.93102586e-01 1.16980304e-01 7.92857871e-03 5.21930711e+01] [-1.16980279e-01 9.93134127e-01 -4.68453567e-04 2.25815284e+00] [-7.92894194e-03 -4.62264904e-04 9.99968459e-01 2.42314993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.091400513 meters Centerline goodness [0,1] 0.9998046069342827 Centerline is valid? [True, True] Translation: X:52.22, Y:2.23, Z:0.02 [[ 9.93316054e-01 1.15176459e-01 7.58947143e-03 5.22232912e+01] [-1.15176383e-01 9.93344955e-01 -4.48433365e-04 2.23491322e+00] [-7.59061212e-03 -4.28691810e-04 9.99971099e-01 2.32850752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.12140051299998 meters Centerline goodness [0,1] 0.9992258563963615 Centerline is valid? [True, True] Translation: X:52.25, Y:2.23, Z:0.02 [[ 9.93469160e-01 1.13923919e-01 6.35370130e-03 5.22540645e+01] [-1.13923840e-01 9.93489415e-01 -3.75602876e-04 2.23440682e+00] [-6.35512514e-03 -3.50688175e-04 9.99979744e-01 2.14884300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.15140051299998 meters Centerline goodness [0,1] 0.9997203940293371 Centerline is valid? [True, True] Translation: X:52.29, Y:2.22, Z:0.02 [[ 9.93375892e-01 1.14760854e-01 5.85516508e-03 5.22851194e+01] [-1.14760800e-01 9.93393094e-01 -3.46311105e-04 2.22124140e+00] [-5.85622351e-03 -3.27926327e-04 9.99982798e-01 2.09362563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.18140051299999 meters Centerline goodness [0,1] 0.9996731314011768 Centerline is valid? [True, True] Translation: X:52.31, Y:2.21, Z:0.02 [[ 9.92965085e-01 1.18298795e-01 5.07294660e-03 5.23120157e+01] [-1.18306894e-01 9.92976193e-01 1.32638003e-03 2.20673856e+00] [-4.88040604e-03 -1.91721362e-03 9.99986253e-01 2.08529511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.21140051299999 meters Centerline goodness [0,1] 0.9995696240666222 Centerline is valid? [True, True] Translation: X:52.35, Y:2.21, Z:0.02 [[ 9.92877140e-01 1.18949257e-01 6.78676065e-03 5.23460377e+01] [-1.18938257e-01 9.92899631e-01 -2.00340634e-03 2.21438598e+00] [-6.97687584e-03 1.18193087e-03 9.99974963e-01 2.21699837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.24140051299999 meters Centerline goodness [0,1] 0.9909623682459267 Centerline is valid? [True, True] Translation: X:52.38, Y:2.22, Z:0.02 [[ 9.92025526e-01 1.25867371e-01 6.53914127e-03 5.23755480e+01] [-1.25867530e-01 9.92046982e-01 -3.88782305e-04 2.21785525e+00] [-6.53607036e-03 -4.37383590e-04 9.99978544e-01 2.10903920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.27140051299999 meters Centerline goodness [0,1] 0.9955103969754253 Centerline is valid? [True, True] Translation: X:52.41, Y:2.21, Z:0.02 [[ 9.91561537e-01 1.29523080e-01 5.43052692e-03 5.24058280e+01] [-1.29523244e-01 9.91576333e-01 -3.22948317e-04 2.21029830e+00] [-5.42661124e-03 -3.83156336e-04 9.99985202e-01 1.93853785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.30140051299999 meters Centerline goodness [0,1] 0.9859357553895044 Centerline is valid? [True, True] Translation: X:52.44, Y:2.21, Z:0.02 [[ 9.91146379e-01 1.32684597e-01 4.86349972e-03 5.24367091e+01] [-1.32684767e-01 9.91158246e-01 -2.89252201e-04 2.20975338e+00] [-4.85887717e-03 -3.58621054e-04 9.99988131e-01 1.86999508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.33140051299999 meters Centerline goodness [0,1] 0.9768353912125326 Centerline is valid? [True, True] Translation: X:52.47, Y:2.21, Z:0.02 [[ 9.90819993e-01 1.35083009e-01 5.32191622e-03 5.24669310e+01] [-1.35083246e-01 9.90834202e-01 -3.16617274e-04 2.20672091e+00] [-5.31590623e-03 -4.05190992e-04 9.99985788e-01 1.91676894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.36140051299999 meters Centerline goodness [0,1] 0.656358126840171 Centerline is valid? [True, False] Translation: X:52.46, Y:2.21, Z:0.02 [[ 9.91282115e-01 1.31645463e-01 5.40751079e-03 5.24649580e+01] [-1.31617157e-01 9.91286480e-01 -5.29516973e-03 2.21224500e+00] [-6.05747741e-03 4.53728585e-03 9.99971360e-01 1.93296120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.391400513 meters Centerline goodness [0,1] 0.6996031320390432 Centerline is valid? [False, False] Translation: X:52.46, Y:2.21, Z:0.02 [[ 9.91247643e-01 1.31885177e-01 5.86597525e-03 5.24632465e+01] [-1.31854704e-01 9.91254826e-01 -5.31093259e-03 2.21263074e+00] [-6.51510956e-03 4.49099299e-03 9.99968692e-01 1.98164024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.421400513 meters Centerline goodness [0,1] 0.7817308528210032 Centerline is valid? [False, False] Translation: X:52.42, Y:2.21, Z:0.02 [[ 9.91183471e-01 1.32461769e-01 3.03408916e-03 5.24229267e+01] [-1.32452707e-01 9.91184739e-01 -3.01564209e-03 2.21391159e+00] [-3.40680015e-03 2.58718128e-03 9.99990850e-01 1.93769195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.451400513 meters Centerline goodness [0,1] 0.6440732275222695 Centerline is valid? [False, False] Translation: X:52.42, Y:2.22, Z:0.02 [[ 9.91210254e-01 1.32266433e-01 2.79683475e-03 5.24241971e+01] [-1.32255664e-01 9.91208589e-01 -3.73794887e-03 2.21735814e+00] [-3.26665179e-03 3.33519601e-03 9.99989103e-01 1.85798298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.48140051299998 meters Centerline goodness [0,1] 0.6822859123502524 Centerline is valid? [False, False] Translation: X:52.38, Y:2.22, Z:0.02 [[ 9.90940671e-01 1.34300355e-01 3.56777985e-05 5.23838084e+01] [-1.34300354e-01 9.90940671e-01 -2.88585346e-05 2.21879176e+00] [-3.92302930e-05 2.38055547e-05 9.99999999e-01 1.85845543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.51140051299998 meters Centerline goodness [0,1] 0.5792251254987772 Centerline is valid? [False, False] Translation: X:52.38, Y:2.22, Z:0.02 [[ 9.90922985e-01 1.34430785e-01 -4.30550738e-05 5.23844262e+01] [-1.34430746e-01 9.90922335e-01 -1.14064347e-03 2.22493624e+00] [-1.10673363e-04 1.13607776e-03 9.99999349e-01 1.81402567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.54140051299999 meters Centerline goodness [0,1] 0.5722424844077088 Centerline is valid? [False, False] Translation: X:52.38, Y:2.23, Z:0.02 [[ 9.90947426e-01 1.34250502e-01 -3.75506433e-05 5.23846575e+01] [-1.34250394e-01 9.90946186e-01 -1.57715451e-03 2.22691918e+00] [-1.74523117e-04 1.56791839e-03 9.99998756e-01 1.77056443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.57140051299999 meters Centerline goodness [0,1] 0.45762530267640944 Centerline is valid? [False, False] Translation: X:52.39, Y:2.24, Z:0.02 [[ 9.91562817e-01 1.29626145e-01 -4.92174711e-04 5.23851034e+01] [-1.29626141e-01 9.91534039e-01 -7.57049879e-03 2.23538237e+00] [-4.93326596e-04 7.57042381e-03 9.99971222e-01 1.65509827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.60140051299999 meters Centerline goodness [0,1] 0.628780718336484 Centerline is valid? [False, False] Translation: X:52.39, Y:2.24, Z:0.02 [[ 9.91585670e-01 1.29450639e-01 -6.24636840e-04 5.23858168e+01] [-1.29451544e-01 9.91554803e-01 -7.83392143e-03 2.23649510e+00] [-3.94744478e-04 7.84886444e-03 9.99969119e-01 1.60216530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.63140051299999 meters Centerline goodness [0,1] 0.7611469072164948 Centerline is valid? [False, False] Translation: X:52.38, Y:2.23, Z:0.02 [[ 9.92744959e-01 1.20158737e-01 -4.39585414e-03 5.23827175e+01] [-1.20147011e-01 9.92752044e-01 2.84176341e-03 2.23014971e+00] [ 4.70545589e-03 -2.29299756e-03 9.99986300e-01 2.15214826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.66140051299999 meters Centerline goodness [0,1] 0.9460498466588916 Centerline is valid? [False, False] Translation: X:52.38, Y:2.23, Z:0.02 [[ 9.93283798e-01 1.15597153e-01 -4.95933370e-03 5.23828256e+01] [-1.15608162e-01 9.93292898e-01 -1.99286341e-03 2.23265197e+00] [ 4.69570161e-03 2.55281839e-03 9.99985717e-01 2.17885601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.69140051299999 meters Centerline goodness [0,1] 0.9970770288858322 Centerline is valid? [False, True] Translation: X:52.38, Y:2.22, Z:0.02 [[ 9.94160519e-01 1.07787781e-01 -5.16292562e-03 5.23805315e+01] [-1.07724691e-01 9.94117182e-01 1.12436746e-02 2.22173066e+00] [ 6.34448380e-03 -1.06218428e-02 9.99923459e-01 2.40066728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.72140051299999 meters Centerline goodness [0,1] 0.9992883790136502 Centerline is valid? [True, True] Translation: X:52.41, Y:2.22, Z:0.02 [[ 9.95200690e-01 9.77453018e-02 -4.63064439e-03 5.24100782e+01] [-9.77456074e-02 9.95211420e-01 1.60805763e-04 2.21903850e+00] [ 4.62418819e-03 2.92591142e-04 9.99989266e-01 2.43770837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.751400513 meters Centerline goodness [0,1] 0.9997185355186524 Centerline is valid? [True, True] Translation: X:52.44, Y:2.21, Z:0.03 [[ 9.95504227e-01 9.46496642e-02 -3.57427387e-03 5.24405685e+01] [-9.46498265e-02 9.95510620e-01 1.24118900e-04 2.20847297e+00] [ 3.56997541e-03 2.14743512e-04 9.99993605e-01 2.53314822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.781400513 meters Centerline goodness [0,1] 0.9995462892945879 Centerline is valid? [True, True] Translation: X:52.47, Y:2.21, Z:0.03 [[ 9.95618650e-01 9.34628744e-02 -2.86271303e-03 5.24705755e+01] [-9.34629736e-02 9.95622751e-01 9.94109521e-05 2.20973319e+00] [ 2.85947346e-03 1.68582275e-04 9.99995897e-01 2.62111440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.811400513 meters Centerline goodness [0,1] 0.9995865610584037 Centerline is valid? [True, True] Translation: X:52.50, Y:2.20, Z:0.03 [[ 9.95484819e-01 9.48858776e-02 -2.57773688e-03 5.25014023e+01] [-9.48859627e-02 9.95488145e-01 8.95099526e-05 2.20356407e+00] [ 2.57459973e-03 1.55485246e-04 9.99996674e-01 2.77120732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.841400513 meters Centerline goodness [0,1] 0.9995883703799991 Centerline is valid? [True, True] Translation: X:52.53, Y:2.20, Z:0.03 [[ 9.95368830e-01 9.61086756e-02 -2.00379467e-03 5.25329591e+01] [-9.61087296e-02 9.95370839e-01 6.95843055e-05 2.20057991e+00] [ 2.00120643e-03 1.23320111e-04 9.99997990e-01 2.91333461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.87140051299998 meters Centerline goodness [0,1] 0.9995894643590242 Centerline is valid? [True, True] Translation: X:52.56, Y:2.20, Z:0.03 [[ 9.95242479e-01 9.74156524e-02 -1.61199392e-03 5.25640988e+01] [-9.74156889e-02 9.95243779e-01 5.60023624e-05 2.19709698e+00] [ 1.60978242e-03 1.01297568e-04 9.99998699e-01 3.08777316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.90140051299998 meters Centerline goodness [0,1] 0.9996510512082352 Centerline is valid? [True, True] Translation: X:52.60, Y:2.19, Z:0.03 [[ 9.95113953e-01 9.87050100e-02 -2.35419931e-03 5.25952639e+01] [-9.87050914e-02 9.95116726e-01 8.18738299e-05 2.18905597e+00] [ 2.35078446e-03 1.50897667e-04 9.99997226e-01 3.04025020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.93140051299999 meters Centerline goodness [0,1] 0.9948105864037364 Centerline is valid? [True, True] Translation: X:52.63, Y:2.20, Z:0.02 [[ 9.94771878e-01 1.01987626e-01 -5.23786609e-03 5.26253174e+01] [-1.01988074e-01 9.94785605e-01 1.82330685e-04 2.20261520e+00] [ 5.22914926e-03 3.52822436e-04 9.99986266e-01 2.47433379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.96140051299999 meters Centerline goodness [0,1] 0.9991381910630414 Centerline is valid? [True, True] Translation: X:52.66, Y:2.19, Z:0.03 [[ 9.94593568e-01 1.03742439e-01 -4.59785173e-03 5.26554458e+01] [-1.03742802e-01 9.94604145e-01 1.60044413e-04 2.19459704e+00] [ 4.58964579e-03 3.17814880e-04 9.99989417e-01 2.52085274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.99140051299999 meters Centerline goodness [0,1] 0.9991381910630414 Centerline is valid? [True, True] Translation: X:52.69, Y:2.19, Z:0.03 [[ 9.94593568e-01 1.03742439e-01 -4.59785294e-03 5.26854994e+01] [-1.03742803e-01 9.94604145e-01 1.60009705e-04 2.19355118e+00] [ 4.58964339e-03 3.17849526e-04 9.99989417e-01 2.52986887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.02140051299999 meters Centerline goodness [0,1] 0.9989785717390359 Centerline is valid? [True, True] Translation: X:52.72, Y:2.19, Z:0.03 [[ 9.94408661e-01 1.05549511e-01 -3.27335009e-03 5.27152876e+01] [-1.05549705e-01 9.94414022e-01 1.13912501e-04 2.19140304e+00] [ 3.26708864e-03 2.32225560e-04 9.99994636e-01 2.72142229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.05140051299999 meters Centerline goodness [0,1] 0.9108491076257437 Centerline is valid? [True, False] Translation: X:52.71, Y:2.20, Z:0.03 [[ 9.94801901e-01 1.01783639e-01 -3.04431643e-03 5.27131113e+01] [-1.01797702e-01 9.94793104e-01 -4.88967139e-03 2.19623461e+00] [ 2.53077644e-03 5.17415882e-03 9.99983411e-01 2.75407402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.08140051299999 meters Centerline goodness [0,1] 0.9937183472080335 Centerline is valid? [False, True] Translation: X:52.71, Y:2.19, Z:0.03 [[ 9.94781754e-01 1.01983751e-01 -2.92865561e-03 5.27127858e+01] [-1.01996365e-01 9.94774409e-01 -4.54045920e-03 2.19463931e+00] [ 2.45029860e-03 4.81547819e-03 9.99985403e-01 2.73701222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.11140051299999 meters Centerline goodness [0,1] 0.846828639002365 Centerline is valid? [True, False] Translation: X:52.71, Y:2.20, Z:0.03 [[ 9.94784291e-01 1.01957685e-01 -2.97418476e-03 5.27131403e+01] [-1.01970813e-01 9.94776483e-01 -4.65850738e-03 2.19517381e+00] [ 2.48367843e-03 4.93749000e-03 9.99984726e-01 2.69159805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.141400513 meters Centerline goodness [0,1] 0.9599542086960278 Centerline is valid? [False, True] Translation: X:52.71, Y:2.19, Z:0.03 [[ 9.94780851e-01 1.01991169e-01 -2.97649723e-03 5.27132583e+01] [-1.02004085e-01 9.94773488e-01 -4.56885114e-03 2.19470805e+00] [ 2.49495806e-03 4.84862050e-03 9.99985133e-01 2.66205437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.171400513 meters Centerline goodness [0,1] 0.9935162094763093 Centerline is valid? [True, True] Translation: X:52.74, Y:2.18, Z:0.03 [[ 9.94893495e-01 1.00861615e-01 -3.72389787e-03 5.27449363e+01] [-1.00861958e-01 9.94900425e-01 9.58635779e-05 2.18404806e+00] [ 3.71457653e-03 2.80225582e-04 9.99993062e-01 2.57804200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.201400513 meters Centerline goodness [0,1] 0.9161097621247609 Centerline is valid? [True, False] Translation: X:52.75, Y:2.19, Z:0.03 [[ 9.95336044e-01 9.63776958e-02 -4.18323731e-03 5.27453505e+01] [-9.63978291e-02 9.95330764e-01 -4.91205503e-03 2.18745092e+00] [ 3.69029225e-03 5.29240042e-03 9.99979186e-01 2.52660134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.23140051299998 meters Centerline goodness [0,1] 0.9990320082601962 Centerline is valid? [False, True] Translation: X:52.74, Y:2.18, Z:0.03 [[ 9.95315097e-01 9.65958598e-02 -4.13502143e-03 5.27445319e+01] [-9.66102235e-02 9.95316392e-01 -3.42712186e-03 2.17995510e+00] [ 3.78460883e-03 3.81055147e-03 9.99985578e-01 2.63231202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.26140051299998 meters Centerline goodness [0,1] 0.9970091447014524 Centerline is valid? [True, True] Translation: X:52.78, Y:2.18, Z:0.03 [[ 9.95425614e-01 9.54806621e-02 -3.35999281e-03 5.27752998e+01] [-9.54808968e-02 9.95431258e-01 9.08514150e-05 2.17823643e+00] [ 3.35331642e-03 2.30379301e-04 9.99994351e-01 2.79592795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.29140051299999 meters Centerline goodness [0,1] 0.9988807576409815 Centerline is valid? [True, True] Translation: X:52.81, Y:2.17, Z:0.03 [[ 9.95517494e-01 9.45274305e-02 -3.07958344e-03 5.28067983e+01] [-9.45276230e-02 9.95522236e-01 8.33380823e-05 2.17157364e+00] [ 3.07367152e-03 2.08141183e-04 9.99995255e-01 2.82985046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.32140051299999 meters Centerline goodness [0,1] 0.9993941623212238 Centerline is valid? [True, True] Translation: X:52.84, Y:2.16, Z:0.03 [[ 9.95547018e-01 9.41884584e-02 -3.83004374e-03 5.28385503e+01] [-9.41887525e-02 9.95554352e-01 1.03932531e-04 2.16165728e+00] [ 3.82280595e-03 2.57277320e-04 9.99992660e-01 2.57643700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.35140051299999 meters Centerline goodness [0,1] 0.995875402792696 Centerline is valid? [True, True] Translation: X:52.87, Y:2.17, Z:0.02 [[ 9.95510442e-01 9.45586331e-02 -4.19829121e-03 5.28692002e+01] [-9.45589875e-02 9.95519254e-01 1.14446854e-04 2.16888008e+00] [ 4.19030167e-03 2.83053128e-04 9.99991181e-01 2.40399861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.38140051299999 meters Centerline goodness [0,1] 0.9975351508916324 Centerline is valid? [True, True] Translation: X:52.90, Y:2.17, Z:0.02 [[ 9.95482505e-01 9.48563920e-02 -4.10445242e-03 5.29005163e+01] [-9.48567330e-02 9.95490928e-01 1.11949390e-04 2.16548042e+00] [ 4.09656426e-03 2.77891288e-04 9.99991570e-01 2.36284772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.41140051299999 meters Centerline goodness [0,1] 0.9995686029205583 Centerline is valid? [True, True] Translation: X:52.93, Y:2.15, Z:0.03 [[ 9.95452451e-01 9.51844987e-02 -3.78543103e-03 5.29318718e+01] [-9.51847904e-02 9.95459615e-01 1.03451905e-04 2.15413330e+00] [ 3.77809074e-03 2.57334006e-04 9.99992830e-01 2.51358133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.44140051299999 meters Centerline goodness [0,1] 0.9977173866230242 Centerline is valid? [True, True] Translation: X:52.96, Y:2.15, Z:0.03 [[ 9.95627196e-01 9.33979994e-02 -1.81682627e-03 5.29615424e+01] [-9.33980632e-02 9.95628846e-01 4.98567866e-05 2.14984142e+00] [ 1.81354116e-03 1.20049282e-04 9.99998348e-01 2.85280090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.47140051299999 meters Centerline goodness [0,1] 0.9986896373947414 Centerline is valid? [True, True] Translation: X:52.99, Y:2.14, Z:0.03 [[ 9.95811018e-01 9.14238732e-02 -1.44619340e-03 5.29920790e+01] [-9.14239116e-02 9.95812064e-01 3.96707604e-05 2.14190812e+00] [ 1.44376369e-03 9.27120772e-05 9.99998953e-01 2.95196040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.501400513 meters Centerline goodness [0,1] 0.9995266170331798 Centerline is valid? [True, True] Translation: X:53.02, Y:2.13, Z:0.03 [[ 9.95984817e-01 8.95082236e-02 -1.58811438e-03 5.30225057e+01] [-8.95082675e-02 9.95986078e-01 4.35839843e-05 2.12787887e+00] [ 1.58564094e-03 9.87403798e-05 9.99998738e-01 2.89200112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.531400513 meters Centerline goodness [0,1] 0.9993985091619944 Centerline is valid? [True, True] Translation: X:53.05, Y:2.13, Z:0.03 [[ 9.96115321e-01 8.80180742e-02 -2.66180937e-03 5.30535367e+01] [-8.80181919e-02 9.96118865e-01 7.31010034e-05 2.12755404e+00] [ 2.65791274e-03 1.61470619e-04 9.99996455e-01 2.67498981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.561400513 meters Centerline goodness [0,1] 0.9994835599931141 Centerline is valid? [True, True] Translation: X:53.09, Y:2.12, Z:0.02 [[ 9.96124722e-01 8.78549016e-02 -4.12969562e-03 5.30856874e+01] [-8.78551823e-02 9.96133251e-01 1.13724695e-04 2.11658374e+00] [ 4.12371840e-03 2.49531181e-04 9.99991466e-01 2.39928543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.59140051299998 meters Centerline goodness [0,1] 0.9996534846450383 Centerline is valid? [True, True] Translation: X:53.12, Y:2.11, Z:0.02 [[ 9.96036828e-01 8.87752374e-02 -5.44013710e-03 5.31172601e+01] [-8.87757328e-02 9.96051628e-01 1.50809599e-04 2.10951259e+00] [ 5.43204557e-03 3.32740243e-04 9.99985191e-01 2.23526821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.62140051299998 meters Centerline goodness [0,1] 0.9796183498743452 Centerline is valid? [True, True] Translation: X:53.15, Y:2.12, Z:0.03 [[ 9.95679248e-01 9.27817088e-02 -3.79325910e-03 5.31477618e+01] [-9.27819775e-02 9.95686443e-01 1.05461704e-04 2.12346221e+00] [ 3.78668158e-03 2.46940051e-04 9.99992800e-01 2.51485510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.65140051299998 meters Centerline goodness [0,1] 0.9988986546310493 Centerline is valid? [True, True] Translation: X:53.18, Y:2.11, Z:0.03 [[ 9.95481823e-01 9.49044106e-02 -3.01540759e-03 5.31781588e+01] [-9.49045900e-02 9.95486369e-01 8.38552584e-05 2.11041024e+00] [ 3.00975539e-03 2.02699636e-04 9.99995450e-01 2.70497328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.68140051299999 meters Centerline goodness [0,1] 0.9992377052750795 Centerline is valid? [True, True] Translation: X:53.21, Y:2.11, Z:0.03 [[ 9.95246733e-01 9.73148327e-02 -3.70986639e-03 5.32085120e+01] [-9.73151206e-02 9.95253614e-01 1.03249064e-04 2.10615801e+00] [ 3.70230560e-03 2.58267801e-04 9.99993113e-01 2.63021066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.71140051299999 meters Centerline goodness [0,1] 0.9630951868897587 Centerline is valid? [True, True] Translation: X:53.24, Y:2.11, Z:0.02 [[ 9.94558460e-01 1.03990309e-01 -6.28380407e-03 5.32378965e+01] [-1.03991267e-01 9.94578195e-01 1.74952254e-04 2.11395499e+00] [ 6.26792785e-03 4.79460502e-04 9.99980241e-01 2.18600165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.74140051299999 meters Centerline goodness [0,1] 0.8450939636145456 Centerline is valid? [True, False] Translation: X:53.24, Y:2.12, Z:0.02 [[ 9.94929766e-01 1.00370811e-01 -6.36093483e-03 5.32371665e+01] [-1.00402157e-01 9.94935281e-01 -4.81597632e-03 2.11906189e+00] [ 5.84533503e-03 5.43020977e-03 9.99968172e-01 2.10058856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.77140051299999 meters Centerline goodness [0,1] 0.9638650386158691 Centerline is valid? [False, True] Translation: X:53.24, Y:2.12, Z:0.02 [[ 9.94929538e-01 1.00373263e-01 -6.35794270e-03 5.32371636e+01] [-1.00404826e-01 9.94934818e-01 -4.85573643e-03 2.11926409e+00] [ 5.83835246e-03 5.46948373e-03 9.99967999e-01 2.09998793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.80140051299999 meters Centerline goodness [0,1] 0.821886808565146 Centerline is valid? [True, False] Translation: X:53.24, Y:2.12, Z:0.02 [[ 9.94937530e-01 1.00293142e-01 -6.37150645e-03 5.32372345e+01] [-1.00325968e-01 9.94941759e-01 -5.05932943e-03 2.12021874e+00] [ 5.83186179e-03 5.67294428e-03 9.99966903e-01 2.09374430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.83140051299999 meters Centerline goodness [0,1] 0.9640588790661746 Centerline is valid? [False, True] Translation: X:53.24, Y:2.12, Z:0.02 [[ 9.94945944e-01 1.00208891e-01 -6.38334362e-03 5.32373323e+01] [-1.00242825e-01 9.94949215e-01 -5.23781456e-03 2.12103758e+00] [ 5.82622714e-03 5.85122674e-03 9.99965909e-01 2.08525078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.86140051299999 meters Centerline goodness [0,1] 0.9922156459083891 Centerline is valid? [True, True] Translation: X:53.27, Y:2.11, Z:0.02 [[ 9.94967545e-01 1.00093036e-01 -4.57913067e-03 5.32691448e+01] [-1.00093667e-01 9.94978015e-01 9.18162912e-05 2.10760586e+00] [ 4.56532451e-03 3.66987749e-04 9.99989512e-01 2.31344670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.891400513 meters Centerline goodness [0,1] 0.5679414855966196 Centerline is valid? [True, False] Translation: X:53.27, Y:2.11, Z:0.02 [[ 9.95389368e-01 9.58076099e-02 -4.57256428e-03 5.32678034e+01] [-9.58285936e-02 9.95387156e-01 -4.61424751e-03 2.10970224e+00] [ 4.10939173e-03 5.03115532e-03 9.99978900e-01 2.31156263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.921400513 meters Centerline goodness [0,1] 0.9825243135318491 Centerline is valid? [False, True] Translation: X:53.27, Y:2.11, Z:0.02 [[ 9.95808128e-01 9.13494422e-02 -4.63149250e-03 5.32670036e+01] [-9.13907552e-02 9.95768144e-01 -9.67125638e-03 2.11337797e+00] [ 3.72842881e-03 1.00539913e-02 9.99942506e-01 2.26588348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.951400513 meters Centerline goodness [0,1] 0.8940874035989718 Centerline is valid? [True, False] Translation: X:53.26, Y:2.10, Z:0.03 [[ 9.96159453e-01 8.74405575e-02 -4.52703037e-03 5.32629374e+01] [-8.74056844e-02 9.96145310e-01 7.40054464e-03 2.09998414e+00] [ 5.15668781e-03 -6.97643431e-03 9.99962368e-01 2.61276672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.98140051299998 meters Centerline goodness [0,1] 0.9973242255482074 Centerline is valid? [False, True] Translation: X:53.26, Y:2.11, Z:0.03 [[ 9.96555703e-01 8.27931953e-02 -4.69236676e-03 5.32628783e+01] [-8.27851171e-02 9.96565627e-01 1.89074678e-03 2.10570074e+00] [ 4.83279239e-03 -1.49577636e-03 9.99987203e-01 2.50812597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.01140051299998 meters Centerline goodness [0,1] 0.9969531959030209 Centerline is valid? [True, True] Translation: X:53.29, Y:2.10, Z:0.02 [[ 9.96640447e-01 8.17634444e-02 -4.74964646e-03 5.32946831e+01] [-8.17642108e-02 9.96651701e-01 3.29370102e-05 2.10205585e+00] [ 4.73643626e-03 3.55524737e-04 9.99988720e-01 2.42172856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.04140051299999 meters Centerline goodness [0,1] 0.9973948323724109 Centerline is valid? [True, True] Translation: X:53.33, Y:2.10, Z:0.03 [[ 9.96585376e-01 8.24645676e-02 -4.14539121e-03 5.33265390e+01] [-8.24651565e-02 9.96593948e-01 2.89697032e-05 2.09908657e+00] [ 4.13366076e-03 3.12979552e-04 9.99991407e-01 2.50072299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.07140051299999 meters Centerline goodness [0,1] 0.9732878475798146 Centerline is valid? [True, True] Translation: X:53.36, Y:2.11, Z:0.03 [[ 9.96547328e-01 8.29112122e-02 -4.37647054e-03 5.33578629e+01] [-8.29118697e-02 9.96556883e-01 3.13086175e-05 2.10510267e+00] [ 4.36399768e-03 3.31660836e-04 9.99990423e-01 2.50299674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.10140051299999 meters Centerline goodness [0,1] 0.8552503829640338 Centerline is valid? [True, False] Translation: X:53.36, Y:2.11, Z:0.02 [[ 9.96832432e-01 7.93966215e-02 -4.61291246e-03 5.33580783e+01] [-7.94186085e-02 9.96829815e-01 -4.79636492e-03 2.10956449e+00] [ 4.21747350e-03 5.14752320e-03 9.99977858e-01 2.36431005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.13140051299999 meters Centerline goodness [0,1] 0.9685656045488682 Centerline is valid? [False, True] Translation: X:53.36, Y:2.11, Z:0.02 [[ 9.96819537e-01 7.95556638e-02 -4.65910993e-03 5.33582845e+01] [-7.95765157e-02 9.96818715e-01 -4.47531581e-03 2.10802460e+00] [ 4.28825125e-03 4.83183797e-03 9.99979132e-01 2.34426325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.16140051299999 meters Centerline goodness [0,1] 0.9802448944457596 Centerline is valid? [True, True] Translation: X:53.39, Y:2.10, Z:0.03 [[ 9.96715473e-01 8.08759177e-02 -4.16560694e-03 5.33892050e+01] [-8.08766229e-02 9.96724120e-01 -8.28278317e-07 2.10136597e+00] [ 4.15189392e-03 3.37725779e-04 9.99991324e-01 2.54873518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.19140051299999 meters Centerline goodness [0,1] 0.9730931973527178 Centerline is valid? [True, True] Translation: X:53.42, Y:2.10, Z:0.03 [[ 9.96639190e-01 8.18672119e-02 -2.84328457e-03 5.34216261e+01] [-8.18675442e-02 9.96643219e-01 -4.77764607e-07 2.10297698e+00] [ 2.83370118e-03 2.33248885e-04 9.99995958e-01 2.75746173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.22140051299999 meters Centerline goodness [0,1] 0.8112200812235375 Centerline is valid? [True, False] Translation: X:53.42, Y:2.11, Z:0.03 [[ 9.96977641e-01 7.76459033e-02 -2.58770677e-03 5.34201044e+01] [-7.76593771e-02 9.96964265e-01 -5.59248715e-03 2.11004283e+00] [ 2.14561746e-03 5.77654435e-03 9.99981014e-01 2.69137249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.251400513 meters Centerline goodness [0,1] 0.9619150312702178 Centerline is valid? [False, True] Translation: X:53.42, Y:2.11, Z:0.03 [[ 9.96977678e-01 7.76440802e-02 -2.62812540e-03 5.34204247e+01] [-7.76578015e-02 9.96964352e-01 -5.59887518e-03 2.11000369e+00] [ 2.18542782e-03 5.78604802e-03 9.99980873e-01 2.64903913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.281400513 meters Centerline goodness [0,1] 0.9091993948046967 Centerline is valid? [True, False] Translation: X:53.43, Y:2.11, Z:0.02 [[ 9.97075178e-01 7.63367050e-02 -3.71438668e-03 5.34275444e+01] [-7.63601295e-02 9.97058216e-01 -6.63657493e-03 2.10855142e+00] [ 3.19684550e-03 6.90079518e-03 9.99971079e-01 2.14561339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.311400513 meters Centerline goodness [0,1] 0.9373145962800165 Centerline is valid? [False, False] Translation: X:53.40, Y:2.10, Z:0.03 [[ 9.97092102e-01 7.56743198e-02 -8.98540472e-03 5.34029190e+01] [-7.56391281e-02 9.97126436e-01 4.19431212e-03 2.09763977e+00] [ 9.27698631e-03 -3.50246731e-03 9.99950834e-01 2.92223213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34140051299998 meters Centerline goodness [0,1] 0.9247713596767536 Centerline is valid? [False, False] Translation: X:53.40, Y:2.10, Z:0.03 [[ 9.97428168e-01 7.11145133e-02 -8.93174039e-03 5.34023899e+01] [-7.11301243e-02 9.97466002e-01 -1.44207318e-03 2.10423646e+00] [ 8.80655505e-03 2.07368021e-03 9.99959071e-01 2.81159712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.37140051299998 meters Centerline goodness [0,1] 0.7747963994856408 Centerline is valid? [False, False] Translation: X:53.40, Y:2.10, Z:0.03 [[ 9.97120295e-01 7.52878188e-02 -9.10287656e-03 5.34034628e+01] [-7.52543888e-02 9.97156500e-01 3.96132833e-03 2.09814271e+00] [ 9.37523229e-03 -3.26488946e-03 9.99950722e-01 2.90699775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.40140051299998 meters Centerline goodness [0,1] 0.9303268961052973 Centerline is valid? [False, False] Translation: X:53.40, Y:2.11, Z:0.03 [[ 9.97452310e-01 7.07805997e-02 -8.88799178e-03 5.34023111e+01] [-7.07989949e-02 9.97489029e-01 -1.77198696e-03 2.10543590e+00] [ 8.74025199e-03 2.39673337e-03 9.99958931e-01 2.81549013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.43140051299999 meters Centerline goodness [0,1] 0.8411446549012003 Centerline is valid? [False, False] Translation: X:53.40, Y:2.11, Z:0.03 [[ 9.97764556e-01 6.62539706e-02 -8.73505765e-03 5.34014373e+01] [-6.63194840e-02 9.97770728e-01 -7.43646987e-03 2.11229833e+00] [ 8.22288918e-03 7.99915057e-03 9.99934197e-01 2.71928596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.46140051299999 meters Centerline goodness [0,1] 0.9453195805101204 Centerline is valid? [False, False] Translation: X:53.39, Y:2.10, Z:0.03 [[ 9.98011751e-01 6.25336938e-02 -7.87923081e-03 5.33942527e+01] [-6.24560718e-02 9.98000185e-01 9.74009599e-03 2.09964609e+00] [ 8.47255799e-03 -9.22862445e-03 9.99921521e-01 3.31307130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.49140051299999 meters Centerline goodness [0,1] 0.881050697221922 Centerline is valid? [False, False] Translation: X:53.39, Y:2.11, Z:0.03 [[ 9.98283654e-01 5.80778293e-02 -7.53076325e-03 5.33926572e+01] [-5.80498564e-02 9.98306139e-01 3.88152501e-03 2.10777974e+00] [ 7.74343774e-03 -3.43770324e-03 9.99964110e-01 3.24890440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.52140051299999 meters Centerline goodness [0,1] 0.9836119091146514 Centerline is valid? [False, True] Translation: X:53.39, Y:2.12, Z:0.03 [[ 9.98530773e-01 5.37041711e-02 -7.22199262e-03 5.33913848e+01] [-5.37205527e-02 9.98553814e-01 -2.09363037e-03 2.11676448e+00] [ 7.09911159e-03 2.47852379e-03 9.99971729e-01 3.15689097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.55140051299999 meters Centerline goodness [0,1] 0.9687513450695132 Centerline is valid? [True, True] Translation: X:53.42, Y:2.12, Z:0.03 [[ 9.98535468e-01 5.35543171e-02 -7.67166052e-03 5.34215810e+01] [-5.35573065e-02 9.98564760e-01 -1.84612467e-04 2.12174863e+00] [ 7.65076305e-03 5.95215570e-04 9.99970555e-01 3.19721460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.58140051299999 meters Centerline goodness [0,1] 0.2610337710245487 Centerline is valid? [True, False] Translation: X:53.40, Y:2.12, Z:0.04 [[ 9.98544610e-01 5.25193514e-02 -1.22629199e-02 5.33969564e+01] [-5.23919074e-02 9.98571477e-01 1.04925687e-02 2.11533346e+00] [ 1.27964649e-02 -9.83482016e-03 9.99869755e-01 4.01726408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.61140051299999 meters Centerline goodness [0,1] 0.9729875277340974 Centerline is valid? [False, True] Translation: X:53.44, Y:2.13, Z:0.04 [[ 9.98713001e-01 4.97446942e-02 -9.88970286e-03 5.34359730e+01] [-4.97159626e-02 9.98758492e-01 3.13027921e-03 2.12597324e+00] [ 1.00331395e-02 -2.63457444e-03 9.99946196e-01 4.01101317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.641400513 meters Centerline goodness [0,1] 0.9918600623484586 Centerline is valid? [True, True] Translation: X:53.47, Y:2.13, Z:0.04 [[ 9.98808574e-01 4.81618257e-02 -7.86581875e-03 5.34664054e+01] [-4.81649424e-02 9.98839374e-01 -2.07178030e-04 2.12767063e+00] [ 7.84671141e-03 5.85787900e-04 9.99969043e-01 4.32311614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.671400513 meters Centerline goodness [0,1] 0.9859257983988982 Centerline is valid? [True, True] Translation: X:53.50, Y:2.13, Z:0.04 [[ 9.98877647e-01 4.66828170e-02 -8.01010047e-03 5.34964972e+01] [-4.66860018e-02 9.98909592e-01 -2.10978270e-04 2.13083183e+00] [ 7.99151713e-03 5.84701043e-04 9.99967896e-01 4.26096450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.701400513 meters Centerline goodness [0,1] 0.9940357421705561 Centerline is valid? [True, True] Translation: X:53.53, Y:2.13, Z:0.04 [[ 9.98959686e-01 4.47623012e-02 -8.71101775e-03 5.35276443e+01] [-4.47659951e-02 9.98997474e-01 -2.29428229e-04 2.12979142e+00] [ 8.69201499e-03 6.19146929e-04 9.99962032e-01 4.05935733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.73140051299998 meters Centerline goodness [0,1] 0.9984302097414207 Centerline is valid? [True, True] Translation: X:53.56, Y:2.13, Z:0.04 [[ 9.99047302e-01 4.26187677e-02 -9.38774990e-03 5.35587119e+01] [-4.26229628e-02 9.99091198e-01 -2.47157088e-04 2.12631428e+00] [ 9.36868477e-03 6.47055336e-04 9.99955904e-01 3.92179363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.76140051299998 meters Centerline goodness [0,1] 0.9947807708068238 Centerline is valid? [True, True] Translation: X:53.59, Y:2.13, Z:0.04 [[ 9.99136251e-01 4.04007987e-02 -9.72256948e-03 5.35877687e+01] [-4.04051940e-02 9.99183344e-01 -2.55998829e-04 2.13057286e+00] [ 9.70428692e-03 6.48620017e-04 9.99952702e-01 3.87690405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.79140051299999 meters Centerline goodness [0,1] 0.9979888848041866 Centerline is valid? [True, True] Translation: X:53.62, Y:2.13, Z:0.04 [[ 9.99216965e-01 3.84113045e-02 -9.48830601e-03 5.36183301e+01] [-3.84154028e-02 9.99261825e-01 -2.49991077e-04 2.12634797e+00] [ 9.47169949e-03 6.14292423e-04 9.99954954e-01 4.05775764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.82140051299999 meters Centerline goodness [0,1] 0.9975664907935824 Centerline is valid? [True, True] Translation: X:53.65, Y:2.13, Z:0.04 [[ 9.99283122e-01 3.68758900e-02 -8.56805026e-03 5.36473973e+01] [-3.68791768e-02 9.99319706e-01 -2.25884651e-04 2.13024662e+00] [ 8.55389177e-03 5.41705360e-04 9.99963268e-01 4.38031797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.85140051299999 meters Centerline goodness [0,1] 0.9993548109596112 Centerline is valid? [True, True] Translation: X:53.68, Y:2.12, Z:0.04 [[ 9.99267450e-01 3.73534875e-02 -8.32343571e-03 5.36776315e+01] [-3.73566073e-02 9.99301974e-01 -2.19617907e-04 2.12405899e+00] [ 8.30942224e-03 5.30392345e-04 9.99965335e-01 4.35085583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.88140051299999 meters Centerline goodness [0,1] 0.9993548109596112 Centerline is valid? [True, True] Translation: X:53.71, Y:2.12, Z:0.04 [[ 9.99268312e-01 3.73304402e-02 -8.32343062e-03 5.37068473e+01] [-3.73335609e-02 9.99302835e-01 -2.19810488e-04 2.12486844e+00] [ 8.30942220e-03 5.30392959e-04 9.99965335e-01 4.37331962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.91140051299999 meters Centerline goodness [0,1] 0.9979576919769542 Centerline is valid? [True, True] Translation: X:53.74, Y:2.13, Z:0.04 [[ 9.99239362e-01 3.80328218e-02 -8.61409871e-03 5.37357270e+01] [-3.80361920e-02 9.99276336e-01 -2.27691539e-04 2.13354212e+00] [ 8.59920525e-03 5.55165860e-04 9.99962872e-01 4.22805277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.94140051299999 meters Centerline goodness [0,1] 0.998231016182926 Centerline is valid? [True, True] Translation: X:53.77, Y:2.13, Z:0.04 [[ 9.99190518e-01 3.92062663e-02 -9.00989558e-03 5.37657441e+01] [-3.92100027e-02 9.99230964e-01 -2.38367873e-04 2.13119711e+00] [ 8.99362113e-03 5.91452949e-04 9.99959382e-01 4.08875430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.97140051299999 meters Centerline goodness [0,1] 0.9792168996052492 Centerline is valid? [True, True] Translation: X:53.79, Y:2.14, Z:0.04 [[ 9.99138181e-01 4.02552825e-02 -1.01196904e-02 5.37945257e+01] [-4.02600512e-02 9.99189200e-01 -2.67869886e-04 2.13707632e+00] [ 1.01007022e-02 6.75058283e-04 9.99948759e-01 3.96539746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.001400513 meters Centerline goodness [0,1] 0.993259685164847 Centerline is valid? [True, True] Translation: X:53.82, Y:2.13, Z:0.04 [[ 9.99122424e-01 4.02853764e-02 -1.14660157e-02 5.38240899e+01] [-4.02914992e-02 9.99187922e-01 -3.03402222e-04 2.13050820e+00] [ 1.14444817e-02 7.65118926e-04 9.99934217e-01 3.84470674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.031400513 meters Centerline goodness [0,1] 0.998827437951925 Centerline is valid? [True, True] Translation: X:53.85, Y:2.12, Z:0.04 [[ 9.99127815e-01 3.99738736e-02 -1.20705389e-02 5.38534056e+01] [-3.99806411e-02 9.99200403e-01 -3.19786452e-04 2.12433562e+00] [ 1.20481042e-02 8.02095423e-04 9.99927097e-01 3.99032079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.061400513 meters Centerline goodness [0,1] 0.995963477022039 Centerline is valid? [True, True] Translation: X:53.88, Y:2.13, Z:0.04 [[ 9.99126799e-01 4.03054316e-02 -1.10050839e-02 5.38814362e+01] [-4.03110828e-02 9.99187135e-01 -2.92082930e-04 2.13367533e+00] [ 1.09843657e-02 7.35454731e-04 9.99939400e-01 4.13327328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.09140051299998 meters Centerline goodness [0,1] 0.9986577762383096 Centerline is valid? [True, True] Translation: X:53.91, Y:2.13, Z:0.04 [[ 9.99119299e-01 4.06503580e-02 -1.04006981e-02 5.39100732e+01] [-4.06554298e-02 9.99173188e-01 -2.76592957e-04 2.13012992e+00] [ 1.03808550e-02 6.99194212e-04 9.99945873e-01 4.26800837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.12140051299998 meters Centerline goodness [0,1] 0.9987578451882845 Centerline is valid? [True, True] Translation: X:53.94, Y:2.13, Z:0.04 [[ 9.99078065e-01 4.16143033e-02 -1.05484231e-02 5.39398147e+01] [-4.16195782e-02 9.99133490e-01 -2.80947863e-04 2.12982217e+00] [ 1.05275913e-02 7.19709766e-04 9.99944324e-01 4.26229640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.15140051299998 meters Centerline goodness [0,1] 0.9812272824460124 Centerline is valid? [True, True] Translation: X:53.97, Y:2.14, Z:0.04 [[ 9.99017204e-01 4.28160301e-02 -1.14636145e-02 5.39685400e+01] [-4.28223425e-02 9.99082656e-01 -3.05647141e-04 2.13868646e+00] [ 1.14400118e-02 7.96245578e-04 9.99934244e-01 4.11473049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.18140051299999 meters Centerline goodness [0,1] 0.9979300084093409 Centerline is valid? [True, True] Translation: X:54.00, Y:2.13, Z:0.04 [[ 9.98953725e-01 4.39946041e-02 -1.24872347e-02 5.39981200e+01] [-4.40021916e-02 9.99031379e-01 -3.33396274e-04 2.12903351e+00] [ 1.24604717e-02 8.82513143e-04 9.99921976e-01 4.03703620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.21140051299999 meters Centerline goodness [0,1] 0.9987216432301259 Centerline is valid? [True, True] Translation: X:54.03, Y:2.13, Z:0.04 [[ 9.98963334e-01 4.37581135e-02 -1.25493096e-02 5.40275210e+01] [-4.37657661e-02 9.99041763e-01 -3.35696224e-04 2.12706734e+00] [ 1.25225950e-02 8.84578368e-04 9.99921198e-01 4.06064035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.24140051299999 meters Centerline goodness [0,1] 0.9706268991229016 Centerline is valid? [True, True] Translation: X:54.06, Y:2.14, Z:0.04 [[ 9.98984655e-01 4.32210344e-02 -1.27122863e-02 5.40551408e+01] [-4.32288551e-02 9.99065138e-01 -3.40946882e-04 2.13549595e+00] [ 1.26856660e-02 8.90138285e-04 9.99919137e-01 4.02848878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.27140051299999 meters Centerline goodness [0,1] 0.9939911380092943 Centerline is valid? [True, True] Translation: X:54.08, Y:2.13, Z:0.04 [[ 9.99008050e-01 4.26541717e-02 -1.27881603e-02 5.40841693e+01] [-4.26620487e-02 9.99089501e-01 -3.43670294e-04 2.12959988e+00] [ 1.27618577e-02 8.88898506e-04 9.99918169e-01 4.13583472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.30140051299999 meters Centerline goodness [0,1] 0.9977091242309203 Centerline is valid? [True, True] Translation: X:54.11, Y:2.13, Z:0.04 [[ 9.99015852e-01 4.23135321e-02 -1.33000961e-02 5.41135315e+01] [-4.23220308e-02 9.99103957e-01 -3.58056923e-04 2.12627922e+00] [ 1.32730280e-02 9.20591617e-04 9.99911486e-01 4.16580843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.33140051299999 meters Centerline goodness [0,1] 0.9971003749890992 Centerline is valid? [True, True] Translation: X:54.14, Y:2.13, Z:0.04 [[ 9.98986567e-01 4.29008417e-02 -1.36145747e-02 5.41419592e+01] [-4.29098100e-02 9.99078882e-01 -3.67166403e-04 2.13012806e+00] [ 1.35862823e-02 9.50993117e-04 9.99907250e-01 4.15798079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.36140051299999 meters Centerline goodness [0,1] 0.9743424860137612 Centerline is valid? [True, True] Translation: X:54.17, Y:2.14, Z:0.04 [[ 9.98895443e-01 4.52024321e-02 -1.28310082e-02 5.41707466e+01] [-4.52105922e-02 9.98977418e-01 -3.46474189e-04 2.13907442e+00] [ 1.28022259e-02 9.26188967e-04 9.99917619e-01 4.20490800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.391400513 meters Centerline goodness [0,1] 0.9916451890034365 Centerline is valid? [True, True] Translation: X:54.20, Y:2.14, Z:0.04 [[ 9.98868564e-01 4.60375332e-02 -1.19221141e-02 5.42000649e+01] [-4.60446407e-02 9.98939331e-01 -3.22220555e-04 2.13540573e+00] [ 1.18946345e-02 8.70805444e-04 9.99928877e-01 4.39026709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.421400513 meters Centerline goodness [0,1] 0.9945940124919234 Centerline is valid? [True, True] Translation: X:54.23, Y:2.13, Z:0.04 [[ 9.98855677e-01 4.64356897e-02 -1.14483255e-02 5.42297760e+01] [-4.64422734e-02 9.98920927e-01 -3.09757764e-04 2.13360851e+00] [ 1.14215881e-02 8.41089563e-04 9.99934418e-01 4.48683194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.451400513 meters Centerline goodness [0,1] 0.9585217094600358 Centerline is valid? [True, True] Translation: X:54.26, Y:2.14, Z:0.04 [[ 9.98875036e-01 4.60491602e-02 -1.13197530e-02 5.42580258e+01] [-4.60555756e-02 9.98938832e-01 -3.06580271e-04 2.14122404e+00] [ 1.12936231e-02 8.27573119e-04 9.99935883e-01 4.38900782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.48140051299998 meters Centerline goodness [0,1] 0.9934338837602392 Centerline is valid? [True, True] Translation: X:54.29, Y:2.14, Z:0.04 [[ 9.98929871e-01 4.47827951e-02 -1.15591768e-02 5.42880667e+01] [-4.47894045e-02 9.98996402e-01 -3.13423418e-04 2.13535451e+00] [ 1.15335401e-02 8.30816661e-04 9.99933141e-01 4.39534364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.51140051299998 meters Centerline goodness [0,1] 0.9992588394297424 Centerline is valid? [True, True] Translation: X:54.32, Y:2.13, Z:0.05 [[ 9.99077867e-01 4.13845731e-02 -1.14338731e-02 5.43185829e+01] [-4.13908208e-02 9.99142985e-01 -3.10221399e-04 2.12614268e+00] [ 1.14112358e-02 7.83192728e-04 9.99934583e-01 4.51731143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.54140051299999 meters Centerline goodness [0,1] 0.9987190899025206 Centerline is valid? [True, True] Translation: X:54.35, Y:2.13, Z:0.05 [[ 9.99151909e-01 3.96251300e-02 -1.11943075e-02 5.43479062e+01] [-3.96310101e-02 9.99214337e-01 -3.03849773e-04 2.12725562e+00] [ 1.11734724e-02 7.47233792e-04 9.99937296e-01 4.62578514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.57140051299999 meters Centerline goodness [0,1] 0.9991792302043285 Centerline is valid? [True, True] Translation: X:54.38, Y:2.12, Z:0.05 [[ 9.99227344e-01 3.78125933e-02 -1.07201753e-02 5.43782182e+01] [-3.78178841e-02 9.99284606e-01 -2.91187421e-04 2.12463909e+00] [ 1.07014956e-02 6.96376781e-04 9.99942495e-01 4.77363511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.60140051299999 meters Centerline goodness [0,1] 0.9994632889652211 Centerline is valid? [True, True] Translation: X:54.41, Y:2.12, Z:0.05 [[ 9.99283416e-01 3.64087407e-02 -1.03469069e-02 5.44085419e+01] [-3.64135958e-02 9.99336766e-01 -2.81164898e-04 2.12337612e+00] [ 1.03298076e-02 6.57731503e-04 9.99946430e-01 4.83236684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.63140051299999 meters Centerline goodness [0,1] 0.9992213690926787 Centerline is valid? [True, True] Translation: X:54.44, Y:2.13, Z:0.05 [[ 9.99290759e-01 3.63363259e-02 -9.88181277e-03 5.44372973e+01] [-3.63407523e-02 9.99339421e-01 -2.68687751e-04 2.13005105e+00] [ 9.86552193e-03 6.27609697e-04 9.99951138e-01 4.88511872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.66140051299999 meters Centerline goodness [0,1] 0.9933675331086738 Centerline is valid? [True, True] Translation: X:54.47, Y:2.14, Z:0.05 [[ 9.99169605e-01 3.97341045e-02 -9.01677463e-03 5.44664597e+01] [-3.97379299e-02 9.99210106e-01 -2.45424597e-04 2.14328650e+00] [ 8.99990061e-03 6.03528755e-04 9.99959318e-01 5.06242446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.69140051299999 meters Centerline goodness [0,1] 0.9990911451571021 Centerline is valid? [True, True] Translation: X:54.50, Y:2.14, Z:0.05 [[ 9.99033309e-01 4.30044629e-02 -9.11395250e-03 5.44968743e+01] [-4.30085074e-02 9.99074675e-01 -2.48152570e-04 2.13830361e+00] [ 9.09484746e-03 6.39890177e-04 9.99958436e-01 5.15298879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.72140051299999 meters Centerline goodness [0,1] 0.995854564297435 Centerline is valid? [True, True] Translation: X:54.53, Y:2.15, Z:0.05 [[ 9.98840723e-01 4.71514192e-02 -9.69302501e-03 5.45258648e+01] [-4.71561880e-02 9.98887493e-01 -2.63895381e-04 2.14790038e+00] [ 9.66979841e-03 7.20675562e-04 9.99952987e-01 5.12644039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.751400513 meters Centerline goodness [0,1] 0.8637948850426247 Centerline is valid? [True, False] Translation: X:54.53, Y:2.15, Z:0.05 [[ 9.98844152e-01 4.71015201e-02 -9.58162901e-03 5.45258948e+01] [-4.71159672e-02 9.98888596e-01 -1.28756522e-03 2.15318505e+00] [ 9.51033367e-03 1.73752470e-03 9.99953266e-01 5.04821873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.781400513 meters Centerline goodness [0,1] 0.955372972972973 Centerline is valid? [False, True] Translation: X:54.52, Y:2.16, Z:0.05 [[ 9.98849268e-01 4.70841557e-02 -9.12264101e-03 5.45247317e+01] [-4.71067111e-02 9.98887276e-01 -2.27345061e-03 2.15839476e+00] [ 9.00544652e-03 2.70057210e-03 9.99955803e-01 4.99345064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.811400513 meters Centerline goodness [0,1] 0.9620833514406154 Centerline is valid? [True, True] Translation: X:54.55, Y:2.16, Z:0.05 [[ 9.98687775e-01 5.04683182e-02 -8.69923643e-03 5.45549176e+01] [-5.04729540e-02 9.98725379e-01 -3.14046013e-04 2.16092684e+00] [ 8.67229883e-03 7.52710074e-04 9.99962112e-01 5.07917493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.84140051299998 meters Centerline goodness [0,1] 0.9113431745417822 Centerline is valid? [True, False] Translation: X:54.56, Y:2.17, Z:0.05 [[ 9.98482134e-01 5.44090592e-02 -8.54884031e-03 5.45553577e+01] [-5.43842392e-02 9.98515240e-01 3.10961434e-03 2.16510040e+00] [ 8.70533853e-03 -2.63997219e-03 9.99958623e-01 5.04472518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.87140051299998 meters Centerline goodness [0,1] 0.7080177932082022 Centerline is valid? [False, False] Translation: X:54.56, Y:2.17, Z:0.05 [[ 9.98503524e-01 5.39999407e-02 -8.64401175e-03 5.45561223e+01] [-5.39828838e-02 9.98539449e-01 2.19473644e-03 2.16927173e+00] [ 8.74990237e-03 -1.72482339e-03 9.99960231e-01 4.96217541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.90140051299998 meters Centerline goodness [0,1] 0.853415559772296 Centerline is valid? [False, False] Translation: X:54.56, Y:2.18, Z:0.05 [[ 9.98755233e-01 4.90661752e-02 -8.97188786e-03 5.45574356e+01] [-4.91067797e-02 9.98784006e-01 -4.36275663e-03 2.18011558e+00] [ 8.74691431e-03 4.79790653e-03 9.99950235e-01 4.78074761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.93140051299999 meters Centerline goodness [0,1] 0.3945477870429762 Centerline is valid? [False, False] Translation: X:54.56, Y:2.18, Z:0.05 [[ 9.98770832e-01 4.87343971e-02 -9.04347217e-03 5.45579144e+01] [-4.87814482e-02 9.98796674e-01 -5.05711264e-03 2.18331236e+00] [ 8.78613459e-03 5.49205027e-03 9.99946319e-01 4.73646630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.96140051299999 meters Centerline goodness [0,1] 0.9014669609243152 Centerline is valid? [False, False] Translation: X:54.56, Y:2.19, Z:0.05 [[ 9.98785061e-01 4.84374839e-02 -9.06704960e-03 5.45580590e+01] [-4.84902268e-02 9.98807448e-01 -5.69031824e-03 2.18624450e+00] [ 8.78061198e-03 6.12306815e-03 9.99942703e-01 4.72868281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.99140051299999 meters Centerline goodness [0,1] 0.980659965034965 Centerline is valid? [False, True] Translation: X:54.56, Y:2.19, Z:0.05 [[ 9.98798990e-01 4.81364213e-02 -9.13580331e-03 5.45582446e+01] [-4.81950786e-02 9.98817993e-01 -6.31275658e-03 2.18913405e+00] [ 8.82113122e-03 6.74547565e-03 9.99938341e-01 4.74211048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.02140051299999 meters Centerline goodness [0,1] 0.25983945301512434 Centerline is valid? [True, False] Translation: X:54.56, Y:2.19, Z:0.04 [[ 9.99175729e-01 4.04981395e-02 -2.78616247e-03 5.45613575e+01] [-4.04912752e-02 9.99176820e-01 2.47751314e-03 2.19208260e+00] [ 2.88420363e-03 -2.36265573e-03 9.99993050e-01 4.21971374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.05140051299999 meters Centerline goodness [0,1] 0.8900511139387927 Centerline is valid? [False, False] Translation: X:54.56, Y:2.20, Z:0.04 [[ 9.99369551e-01 3.53774473e-02 -2.98940055e-03 5.45620198e+01] [-3.53891411e-02 9.99365787e-01 -3.95382684e-03 2.20199237e+00] [ 2.84762833e-03 4.05712647e-03 9.99987715e-01 4.12354805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.08140051299999 meters Centerline goodness [0,1] 0.9944321430874734 Centerline is valid? [False, True] Translation: X:54.56, Y:2.19, Z:0.04 [[ 9.99527581e-01 3.07345503e-02 -4.17547228e-05 5.45608074e+01] [-3.07318271e-02 9.99455353e-01 1.20229920e-02 2.19276189e+00] [ 4.11253234e-04 -1.20160289e-02 9.99927720e-01 4.07003022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.11140051299999 meters Centerline goodness [0,1] 0.958209274927707 Centerline is valid? [True, True] Translation: X:54.59, Y:2.21, Z:0.04 [[ 9.99607309e-01 2.80204820e-02 2.84297640e-04 5.45891331e+01] [-2.80204863e-02 9.99607349e-01 1.13643114e-05 2.21316733e+00] [-2.83867577e-04 -1.93260069e-05 9.99999960e-01 3.83805015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.141400513 meters Centerline goodness [0,1] 0.9887987223205421 Centerline is valid? [True, True] Translation: X:54.62, Y:2.21, Z:0.04 [[ 9.99682578e-01 2.51933570e-02 1.97386928e-04 5.46196281e+01] [-2.51933591e-02 9.99682597e-01 7.93471404e-06 2.21090259e+00] [-1.97124374e-04 -1.29050351e-05 9.99999980e-01 3.79425581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.171400513 meters Centerline goodness [0,1] 0.9954362473898349 Centerline is valid? [True, True] Translation: X:54.65, Y:2.21, Z:0.04 [[ 9.99754384e-01 2.21623511e-02 4.61038990e-05 5.46507146e+01] [-2.21623512e-02 9.99754385e-01 1.91389987e-06 2.21015341e+00] [-4.60501587e-05 -2.93520059e-06 9.99999999e-01 3.76599609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.201400513 meters Centerline goodness [0,1] 0.9996754651665946 Centerline is valid? [True, True] Translation: X:54.68, Y:2.20, Z:0.04 [[ 9.99852129e-01 1.71950939e-02 2.19100115e-04 5.46813285e+01] [-1.71950962e-02 9.99852153e-01 8.79645442e-06 2.20224899e+00] [-2.18916466e-04 -1.25626012e-05 9.99999976e-01 3.81204672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.23140051299998 meters Centerline goodness [0,1] 0.9993550190269387 Centerline is valid? [True, True] Translation: X:54.71, Y:2.21, Z:0.04 [[ 9.99877103e-01 1.56712324e-02 4.36573193e-04 5.47113049e+01] [-1.56712416e-02 9.99877198e-01 1.75989604e-05 2.21053684e+00] [-4.36243784e-04 -2.44384416e-05 9.99999905e-01 3.80965295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.26140051299998 meters Centerline goodness [0,1] 0.9996541288370082 Centerline is valid? [True, True] Translation: X:54.74, Y:2.21, Z:0.04 [[ 9.99893474e-01 1.45686966e-02 8.91269733e-04 5.47432986e+01] [-1.45687345e-02 9.99893870e-01 3.60375050e-05 2.20586313e+00] [-8.90650123e-04 -4.90183382e-05 9.99999602e-01 3.95981338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.29140051299999 meters Centerline goodness [0,1] 0.9996320664877499 Centerline is valid? [True, True] Translation: X:54.78, Y:2.21, Z:0.04 [[ 9.99901893e-01 1.38788869e-02 1.89255545e-03 5.47760699e+01] [-1.38790557e-02 9.99903678e-01 7.61258179e-05 2.20562541e+00] [-1.89131662e-03 -1.02385232e-04 9.99998206e-01 4.11661861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.32140051299999 meters Centerline goodness [0,1] 0.9996543604588365 Centerline is valid? [True, True] Translation: X:54.81, Y:2.21, Z:0.04 [[ 9.99903054e-01 1.36608665e-02 2.69519180e-03 5.48074930e+01] [-1.36612081e-02 9.99906675e-01 1.08373049e-04 2.21060315e+00] [-2.69345980e-03 -1.45182119e-04 9.99996362e-01 4.22807713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.35140051299999 meters Centerline goodness [0,1] 0.9996793295850525 Centerline is valid? [True, True] Translation: X:54.84, Y:2.22, Z:0.04 [[ 9.99903831e-01 1.34892889e-02 3.21978996e-03 5.48383643e+01] [-1.34897730e-02 9.99909001e-01 1.28675829e-04 2.21737311e+00] [-3.21776122e-03 -1.72097690e-04 9.99994808e-01 4.23598227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.38140051299999 meters Centerline goodness [0,1] 0.9992307692307693 Centerline is valid? [True, True] Translation: X:54.87, Y:2.22, Z:0.04 [[ 9.99907438e-01 1.35213769e-02 1.51236245e-03 5.48697807e+01] [-1.35214845e-02 9.99908579e-01 6.09150692e-05 2.22211687e+00] [-1.51140053e-03 -8.13588162e-05 9.99998855e-01 3.97093448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.41140051299999 meters Centerline goodness [0,1] 0.9997842642331672 Centerline is valid? [True, True] Translation: X:54.90, Y:2.22, Z:0.04 [[ 9.99904964e-01 1.37805838e-02 3.98303033e-04 5.49021293e+01] [-1.37805915e-02 9.99905043e-01 1.66165511e-05 2.21517994e+00] [-3.98036226e-04 -2.21038233e-05 9.99999921e-01 3.91094579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.44140051299999 meters Centerline goodness [0,1] 0.9995689190645544 Centerline is valid? [True, True] Translation: X:54.93, Y:2.22, Z:0.04 [[ 9.99887806e-01 1.48772060e-02 1.74480741e-03 5.49341515e+01] [-1.48773498e-02 9.99889324e-01 6.94658039e-05 2.21715938e+00] [-1.74358084e-03 -9.54161204e-05 9.99998475e-01 4.30250415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.47140051299999 meters Centerline goodness [0,1] 0.9998074330829964 Centerline is valid? [True, True] Translation: X:54.97, Y:2.22, Z:0.05 [[ 9.99866479e-01 1.58844776e-02 3.83509299e-03 5.49658187e+01] [-1.58851731e-02 9.99873811e-01 1.50952416e-04 2.22087053e+00] [-3.83221124e-03 -2.11853377e-04 9.99992635e-01 4.61275698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.501400513 meters Centerline goodness [0,1] 0.9997820353538656 Centerline is valid? [True, True] Translation: X:55.00, Y:2.23, Z:0.05 [[ 9.99840020e-01 1.70236531e-02 5.48913643e-03 5.49966961e+01] [-1.70250884e-02 9.99855040e-01 2.14853892e-04 2.22717914e+00] [-5.48468312e-03 -3.08272552e-04 9.99984911e-01 4.82546821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.531400513 meters Centerline goodness [0,1] 0.9996554323247551 Centerline is valid? [True, True] Translation: X:55.03, Y:2.24, Z:0.05 [[ 9.99809769e-01 1.82358819e-02 6.91938259e-03 5.50271476e+01] [-1.82381891e-02 9.99833634e-01 2.70478532e-04 2.23716164e+00] [-6.91329902e-03 -3.96624087e-04 9.99976024e-01 4.88807485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.561400513 meters Centerline goodness [0,1] 0.9998054264403848 Centerline is valid? [True, True] Translation: X:55.06, Y:2.23, Z:0.05 [[ 9.99808092e-01 1.85930362e-02 6.17077458e-03 5.50598877e+01] [-1.85948765e-02 9.99827071e-01 2.40985394e-04 2.23044005e+00] [-6.16522683e-03 -3.55683938e-04 9.99980932e-01 4.72246394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.59140051299998 meters Centerline goodness [0,1] 0.9997632983301773 Centerline is valid? [True, True] Translation: X:55.09, Y:2.23, Z:0.04 [[ 9.99825082e-01 1.80043369e-02 5.06453276e-03 5.50912934e+01] [-1.80055655e-02 9.99837867e-01 1.97089909e-04 2.22988625e+00] [-5.06016316e-03 -2.88245210e-04 9.99987156e-01 4.39607920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.62140051299998 meters Centerline goodness [0,1] 0.9994874204433813 Centerline is valid? [True, True] Translation: X:55.12, Y:2.23, Z:0.04 [[ 9.99893865e-01 1.42911513e-02 2.83242748e-03 5.51206363e+01] [-1.42915198e-02 9.99897865e-01 1.09911577e-04 2.22606124e+00] [-2.83056743e-03 -1.50379605e-04 9.99995983e-01 3.98870835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.65140051299998 meters Centerline goodness [0,1] 0.9997851310700473 Centerline is valid? [True, True] Translation: X:55.15, Y:2.22, Z:0.04 [[ 9.99918034e-01 1.25107251e-02 2.72153967e-03 5.51527451e+01] [-1.25110591e-02 9.99921728e-01 1.05766407e-04 2.21956924e+00] [-2.72000344e-03 -1.39807082e-04 9.99996291e-01 4.06903760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.68140051299999 meters Centerline goodness [0,1] 0.999738573482637 Centerline is valid? [True, True] Translation: X:55.18, Y:2.22, Z:0.04 [[ 9.99911177e-01 1.28691173e-02 3.46763809e-03 5.51819885e+01] [-1.28755414e-02 9.99915420e-01 1.83668974e-03 2.21933935e+00] [-3.44370822e-03 -1.88117432e-03 9.99992301e-01 4.15338288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.71140051299999 meters Centerline goodness [0,1] 0.9998916951869341 Centerline is valid? [True, True] Translation: X:55.22, Y:2.22, Z:0.04 [[ 9.99934748e-01 1.12320422e-02 2.08370436e-03 5.52163436e+01] [-1.12287356e-02 9.99935689e-01 -1.59183500e-03 2.22088416e+00] [-2.10144991e-03 1.56833376e-03 9.99996562e-01 4.09478578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.74140051299999 meters Centerline goodness [0,1] 0.9998264905545796 Centerline is valid? [True, True] Translation: X:55.25, Y:2.22, Z:0.04 [[ 9.99930547e-01 1.17334286e-02 1.10827284e-03 5.52485117e+01] [-1.17334841e-02 9.99931159e-01 4.35350440e-05 2.22140734e+00] [-1.10768573e-03 -5.65359220e-05 9.99999385e-01 3.97110276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.77140051299999 meters Centerline goodness [0,1] 0.9998254266137128 Centerline is valid? [True, True] Translation: X:55.28, Y:2.22, Z:0.04 [[ 9.99916549e-01 1.28871431e-02 9.03345669e-04 5.52800257e+01] [-1.28871801e-02 9.99916956e-01 3.51338148e-05 2.22275160e+00] [-9.02817877e-04 -4.67724612e-05 9.99999591e-01 3.83840924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.80140051299999 meters Centerline goodness [0,1] 0.9998254266137128 Centerline is valid? [True, True] Translation: X:55.31, Y:2.22, Z:0.04 [[ 9.99914390e-01 1.30535747e-02 9.03334444e-04 5.53117093e+01] [-1.30536120e-02 9.99914797e-01 3.54279661e-05 2.22386590e+00] [-9.02795016e-04 -4.72167105e-05 9.99999591e-01 3.82105347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.83140051299999 meters Centerline goodness [0,1] 0.9992896504219047 Centerline is valid? [True, True] Translation: X:55.34, Y:2.24, Z:0.04 [[ 9.99871726e-01 1.59139253e-02 1.81059253e-03 5.53413558e+01] [-1.59140766e-02 9.99873361e-01 6.91821033e-05 2.23504726e+00] [-1.80926228e-03 -9.79871373e-05 9.99998358e-01 3.69467416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.86140051299999 meters Centerline goodness [0,1] 0.9994432428959935 Centerline is valid? [True, True] Translation: X:55.37, Y:2.24, Z:0.04 [[ 9.99849782e-01 1.71762462e-02 2.32149436e-03 5.53733276e+01] [-1.71764986e-02 9.99852469e-01 8.88462077e-05 2.23551445e+00] [-2.31962582e-03 -1.28708006e-04 9.99997301e-01 3.70321511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.891400513 meters Centerline goodness [0,1] 0.9996551055161561 Centerline is valid? [True, True] Translation: X:55.41, Y:2.23, Z:0.04 [[ 9.99837447e-01 1.79717328e-02 1.44784277e-03 5.54052481e+01] [-1.79718325e-02 9.99838492e-01 5.58775372e-05 2.22759796e+00] [-1.44660472e-03 -8.18888420e-05 9.99998950e-01 3.65863281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.921400513 meters Centerline goodness [0,1] 0.9997378538972387 Centerline is valid? [True, True] Translation: X:55.44, Y:2.23, Z:0.04 [[ 9.99835153e-01 1.81474359e-02 5.80682373e-04 5.54360765e+01] [-1.81474521e-02 9.99835321e-01 2.25185960e-05 2.23014135e+00] [-5.80178092e-04 -3.30527894e-05 9.99999831e-01 3.53284052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.951400513 meters Centerline goodness [0,1] 0.9995914505655185 Centerline is valid? [True, True] Translation: X:55.47, Y:2.23, Z:0.03 [[ 9.99842946e-01 1.77220327e-02 1.17502534e-04 5.54668664e+01] [-1.77220334e-02 9.99842952e-01 5.26589396e-06 2.23489069e+00] [-1.17390758e-04 -7.34745077e-06 9.99999993e-01 3.47820965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.98140051299998 meters Centerline goodness [0,1] 0.9995880490872036 Centerline is valid? [True, True] Translation: X:55.50, Y:2.23, Z:0.03 [[ 9.99854814e-01 1.70395770e-02 -5.33099447e-05 5.54994274e+01] [-1.70395771e-02 9.99854816e-01 -1.11103820e-06 2.23001898e+00] [ 5.32832733e-05 2.01925580e-06 9.99999999e-01 3.49382790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.01140051299998 meters Centerline goodness [0,1] 0.9995672868887927 Centerline is valid? [True, True] Translation: X:55.53, Y:2.23, Z:0.03 [[ 9.99860385e-01 1.67081211e-02 -2.21385539e-04 5.55293099e+01] [-1.67088535e-02 9.99852897e-01 -3.87269088e-03 2.22720113e+00] [ 1.56647584e-04 3.87584930e-03 9.99992477e-01 3.45446190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.04140051299999 meters Centerline goodness [0,1] 0.999804937254817 Centerline is valid? [True, True] Translation: X:55.56, Y:2.22, Z:0.03 [[ 9.99887013e-01 1.50316476e-02 -1.05070772e-04 5.55614390e+01] [-1.50311301e-02 9.99879574e-01 3.86047335e-03 2.21633978e+00] [ 1.63087393e-04 -3.85845783e-03 9.99992543e-01 3.49762830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.07140051299999 meters Centerline goodness [0,1] 0.9997204842073577 Centerline is valid? [True, True] Translation: X:55.59, Y:2.22, Z:0.03 [[ 9.99880126e-01 1.54795702e-02 -3.41696829e-04 5.55939587e+01] [-1.54795752e-02 9.99880184e-01 -1.18378404e-05 2.21902694e+00] [ 3.41472644e-04 1.71257431e-05 9.99999942e-01 3.38497449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.10140051299999 meters Centerline goodness [0,1] 0.9996091544708385 Centerline is valid? [True, True] Translation: X:55.63, Y:2.22, Z:0.03 [[ 9.99864314e-01 1.64413548e-02 -1.01715433e-03 5.56257931e+01] [-1.64414007e-02 9.99864830e-01 -3.68572272e-05 2.22071491e+00] [ 1.01641086e-03 5.35756682e-05 9.99999482e-01 3.32907869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.13140051299999 meters Centerline goodness [0,1] 0.9988409529942047 Centerline is valid? [True, True] Translation: X:55.66, Y:2.23, Z:0.03 [[ 9.99840160e-01 1.78238008e-02 -1.40231169e-03 5.56558520e+01] [-1.78238911e-02 9.99841140e-01 -5.19718467e-05 2.22954824e+00] [ 1.40116259e-03 7.69581905e-05 9.99999015e-01 3.17704928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.16140051299999 meters Centerline goodness [0,1] 0.99927227585026 Centerline is valid? [True, True] Translation: X:55.69, Y:2.23, Z:0.03 [[ 9.99803185e-01 1.98053239e-02 -1.15768569e-03 5.56874737e+01] [-1.98053867e-02 9.99803853e-01 -4.28062684e-05 2.22735779e+00] [ 1.15661083e-03 6.57262564e-05 9.99999329e-01 3.24957979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.19140051299999 meters Centerline goodness [0,1] 0.999093987962983 Centerline is valid? [True, True] Translation: X:55.72, Y:2.23, Z:0.03 [[ 9.99712711e-01 2.39611177e-02 -5.99484483e-04 5.57182633e+01] [-2.39611353e-02 9.99712891e-01 -2.21924797e-05 2.22964541e+00] [ 5.98780609e-04 3.65504328e-05 9.99999820e-01 3.34166515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.22140051299999 meters Centerline goodness [0,1] 0.9990771740063524 Centerline is valid? [True, True] Translation: X:55.75, Y:2.23, Z:0.03 [[ 9.99689601e-01 2.49134253e-02 -1.51915237e-04 5.57504735e+01] [-2.49134264e-02 9.99689612e-01 -5.37259889e-06 2.23201045e+00] [ 1.51734234e-04 9.15566032e-06 9.99999988e-01 3.28829656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.251400513 meters Centerline goodness [0,1] 0.9963905085324961 Centerline is valid? [True, True] Translation: X:55.78, Y:2.24, Z:0.03 [[ 9.99694249e-01 2.47266277e-02 5.24971915e-05 5.57816870e+01] [-2.47266278e-02 9.99694250e-01 2.44266233e-06 2.23646912e+00] [-5.24207417e-05 -3.73999400e-06 9.99999999e-01 3.25971760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.281400513 meters Centerline goodness [0,1] 0.9997208743075535 Centerline is valid? [True, True] Translation: X:55.81, Y:2.22, Z:0.04 [[ 9.99752215e-01 2.21911407e-02 1.74953734e-03 5.58130104e+01] [-2.21912877e-02 9.99753741e-01 6.46578849e-05 2.22229771e+00] [-1.74767167e-03 -1.03466350e-04 9.99998467e-01 3.64269022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.311400513 meters Centerline goodness [0,1] 0.9995902346445825 Centerline is valid? [True, True] Translation: X:55.84, Y:2.22, Z:0.04 [[ 9.99812047e-01 1.93437570e-02 1.30009865e-03 5.58432938e+01] [-1.93438357e-02 9.99812889e-01 4.79935537e-05 2.21837630e+00] [-1.29892701e-03 -7.31334277e-05 9.99999154e-01 3.65424378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.34140051299998 meters Centerline goodness [0,1] 0.9993096455461351 Centerline is valid? [True, True] Translation: X:55.87, Y:2.22, Z:0.04 [[ 9.99861677e-01 1.65958168e-02 1.09834868e-03 5.58731855e+01] [-1.65958714e-02 9.99862278e-01 4.05685131e-05 2.21898995e+00] [-1.09752414e-03 -5.87909549e-05 9.99999396e-01 3.56300035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.37140051299998 meters Centerline goodness [0,1] 0.9994846135675478 Centerline is valid? [True, True] Translation: X:55.90, Y:2.21, Z:0.03 [[ 9.99897008e-01 1.43228451e-02 9.11215277e-04 5.59039665e+01] [-1.43228818e-02 9.99897422e-01 3.36565698e-05 2.21225159e+00] [-9.10639748e-04 -4.67043321e-05 9.99999584e-01 3.49550793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.40140051299998 meters Centerline goodness [0,1] 0.9996757668114908 Centerline is valid? [True, True] Translation: X:55.93, Y:2.21, Z:0.04 [[ 9.99913862e-01 1.29597117e-02 2.07696110e-03 5.59347372e+01] [-1.29598991e-02 9.99916014e-01 7.67922774e-05 2.21249675e+00] [-2.07579146e-03 -1.03702869e-04 9.99997840e-01 3.56614217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.43140051299999 meters Centerline goodness [0,1] 0.9997825519700791 Centerline is valid? [True, True] Translation: X:55.97, Y:2.20, Z:0.04 [[ 9.99919425e-01 1.24027238e-02 2.70488869e-03 5.59676579e+01] [-1.24030404e-02 9.99923074e-01 1.00306047e-04 2.20114501e+00] [-2.70343654e-03 -1.33846808e-04 9.99996337e-01 3.68913693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.46140051299999 meters Centerline goodness [0,1] 0.999848327266424 Centerline is valid? [True, True] Translation: X:56.00, Y:2.20, Z:0.04 [[ 9.99914118e-01 1.28416399e-02 2.61710908e-03 5.59985329e+01] [-1.28419367e-02 9.99917534e-01 9.66080188e-05 2.19818872e+00] [-2.61565266e-03 -1.30208471e-04 9.99996571e-01 3.69144869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.49140051299999 meters Centerline goodness [0,1] 0.9996315082151992 Centerline is valid? [True, True] Translation: X:56.03, Y:2.20, Z:0.04 [[ 9.99909972e-01 1.32726330e-02 1.97108471e-03 5.60295483e+01] [-1.32728020e-02 9.99911910e-01 7.26576176e-05 2.20333648e+00] [-1.96994672e-03 -9.88128934e-05 9.99998055e-01 3.61542886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.52140051299999 meters Centerline goodness [0,1] 0.9996534020752551 Centerline is valid? [True, True] Translation: X:56.06, Y:2.20, Z:0.04 [[ 9.99896581e-01 1.42621589e-02 1.84883689e-03 5.60617246e+01] [-1.42623089e-02 9.99898286e-01 6.79643609e-05 2.20097583e+00] [-1.84767952e-03 -9.43260150e-05 9.99998289e-01 3.60299106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.55140051299999 meters Centerline goodness [0,1] 0.9995677918485543 Centerline is valid? [True, True] Translation: X:56.09, Y:2.21, Z:0.03 [[ 9.99881041e-01 1.53129201e-02 1.84901375e-03 5.60922189e+01] [-1.53130708e-02 9.99882746e-01 6.73716648e-05 2.20824870e+00] [-1.84776528e-03 -9.56777287e-05 9.99998288e-01 3.46355245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.58140051299999 meters Centerline goodness [0,1] 0.9995214270176201 Centerline is valid? [True, True] Translation: X:56.12, Y:2.20, Z:0.03 [[ 9.99847144e-01 1.74636304e-02 8.43338401e-04 5.61207192e+01] [-1.74607467e-02 9.99842059e-01 -3.31365564e-03 2.20461258e+00] [-9.01073661e-04 3.29842381e-03 9.99994154e-01 3.25549009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.61140051299999 meters Centerline goodness [0,1] 0.9995863990596021 Centerline is valid? [True, True] Translation: X:56.15, Y:2.20, Z:0.03 [[ 9.99845184e-01 1.75952471e-02 -1.26431372e-04 5.61541559e+01] [-1.75947209e-02 9.99839515e-01 3.37203853e-03 2.19726274e+00] [ 1.85742933e-04 -3.36929196e-03 9.99994307e-01 3.17300050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.641400513 meters Centerline goodness [0,1] 0.99965195449305 Centerline is valid? [True, True] Translation: X:56.19, Y:2.20, Z:0.03 [[ 9.99833513e-01 1.82429338e-02 3.76503717e-04 5.61860811e+01] [-1.82429405e-02 9.99833584e-01 1.43885802e-05 2.19981908e+00] [-3.76178571e-04 -2.12547196e-05 9.99999929e-01 3.18588420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.671400513 meters Centerline goodness [0,1] 0.999782144568864 Centerline is valid? [True, True] Translation: X:56.22, Y:2.20, Z:0.03 [[ 9.99820766e-01 1.89202221e-02 6.78566124e-04 5.62181504e+01] [-1.89202435e-02 9.99820996e-01 2.51221004e-05 2.19870201e+00] [-6.77969342e-04 -3.79562340e-05 9.99999769e-01 3.32419136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.701400513 meters Centerline goodness [0,1] 0.9992070465699406 Centerline is valid? [True, True] Translation: X:56.25, Y:2.21, Z:0.03 [[ 9.99808208e-01 1.95521724e-02 1.12273978e-03 5.62485026e+01] [-1.95522301e-02 9.99808836e-01 4.04324096e-05 2.21024632e+00] [-1.12173461e-03 -6.23767216e-05 9.99999369e-01 3.32061718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.73140051299998 meters Centerline goodness [0,1] 0.9997817546922741 Centerline is valid? [True, True] Translation: X:56.28, Y:2.20, Z:0.03 [[ 9.99782001e-01 2.08221226e-02 1.54573638e-03 5.62809845e+01] [-2.08222328e-02 9.99783192e-01 5.52394078e-05 2.19950734e+00] [-1.54425106e-03 -8.74130486e-05 9.99998804e-01 3.40442063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.76140051299998 meters Centerline goodness [0,1] 0.9975363602965012 Centerline is valid? [True, True] Translation: X:56.31, Y:2.21, Z:0.03 [[ 9.99718665e-01 2.37014064e-02 -9.13105576e-04 5.63101997e+01] [-2.37014460e-02 9.99719081e-01 -3.25377409e-05 2.21109413e+00] [ 9.12077876e-04 5.41705094e-05 9.99999583e-01 2.98451137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.79140051299999 meters Centerline goodness [0,1] 0.9982808269222504 Centerline is valid? [True, True] Translation: X:56.34, Y:2.21, Z:0.03 [[ 9.99674309e-01 2.53715978e-02 -2.74906055e-03 5.63417065e+01] [-2.53719618e-02 9.99678075e-01 -9.76104012e-05 2.20645025e+00] [ 2.74569903e-03 1.67327670e-04 9.99996217e-01 2.79369153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.82140051299999 meters Centerline goodness [0,1] 0.9991380796414411 Centerline is valid? [True, True] Translation: X:56.37, Y:2.20, Z:0.03 [[ 9.99625107e-01 2.71366248e-02 -3.63996978e-03 5.63725221e+01] [-2.71372748e-02 9.99631708e-01 -1.29302742e-04 2.20215459e+00] [ 3.63512037e-03 2.28033127e-04 9.99993367e-01 2.72016171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.85140051299999 meters Centerline goodness [0,1] 0.955860231228779 Centerline is valid? [True, True] Translation: X:56.40, Y:2.22, Z:0.03 [[ 9.99579274e-01 2.87799486e-02 -3.60407462e-03 5.64023657e+01] [-2.87805963e-02 9.99585745e-01 -1.27985305e-04 2.21629113e+00] [ 3.59889821e-03 2.31658875e-04 9.99993497e-01 2.51490354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.88140051299999 meters Centerline goodness [0,1] 0.9554918527459264 Centerline is valid? [True, True] Translation: X:56.43, Y:2.22, Z:0.03 [[ 9.99538943e-01 3.02649116e-02 -2.43650051e-03 5.64335797e+01] [-3.02652117e-02 9.99541900e-01 -8.63918149e-05 2.21806324e+00] [ 2.43276971e-03 1.60093187e-04 9.99997028e-01 2.63387585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.91140051299999 meters Centerline goodness [0,1] 0.9967025527919114 Centerline is valid? [True, True] Translation: X:56.47, Y:2.21, Z:0.03 [[ 9.99496070e-01 3.17326245e-02 -8.04023689e-04 5.64652252e+01] [-3.17326575e-02 9.99496392e-01 -2.84042192e-05 2.21134131e+00] [ 8.02717436e-04 5.39037139e-05 9.99999676e-01 2.90520047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.94140051299999 meters Centerline goodness [0,1] 0.9936647488525437 Centerline is valid? [True, True] Translation: X:56.50, Y:2.21, Z:0.03 [[ 9.99372050e-01 3.54183756e-02 -1.02210749e-03 5.64958889e+01] [-3.54184309e-02 9.99372570e-01 -3.61017767e-05 2.21149535e+00] [ 1.02018752e-03 7.22805502e-05 9.99999477e-01 2.92152205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.97140051299999 meters Centerline goodness [0,1] 0.7636277893292749 Centerline is valid? [True, False] Translation: X:56.50, Y:2.21, Z:0.03 [[ 9.99369259e-01 3.54965343e-02 -1.03937349e-03 5.64960946e+01] [-3.54965285e-02 9.99369799e-01 2.39744303e-05 2.21122544e+00] [ 1.03956949e-03 1.29348423e-05 9.99999460e-01 2.89059583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.001400513 meters Centerline goodness [0,1] 0.8542299816790603 Centerline is valid? [False, False] Translation: X:56.50, Y:2.21, Z:0.03 [[ 9.99367535e-01 3.55473234e-02 -9.58343800e-04 5.64959689e+01] [-3.55472808e-02 9.99367994e-01 6.14327427e-05 2.21105605e+00] [ 9.59921890e-04 -2.73273725e-05 9.99999539e-01 2.86159543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.031400513 meters Centerline goodness [0,1] 0.8008689510519444 Centerline is valid? [False, False] Translation: X:56.50, Y:2.21, Z:0.03 [[ 9.99364323e-01 3.56404725e-02 -8.40655278e-04 5.64955654e+01] [-3.56403497e-02 9.99364668e-01 1.60620209e-04 2.21064051e+00] [ 8.45845763e-04 -1.30556859e-04 9.99999634e-01 2.86362959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.061400513 meters Centerline goodness [0,1] 0.8079350378012794 Centerline is valid? [False, False] Translation: X:56.50, Y:2.21, Z:0.03 [[ 9.99361398e-01 3.57248729e-02 -7.28056111e-04 5.64950899e+01] [-3.57246756e-02 9.99361630e-01 2.82120589e-04 2.21013735e+00] [ 7.37670064e-04 -2.55930857e-04 9.99999695e-01 2.88206262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.09140051299998 meters Centerline goodness [0,1] 0.7653078887013718 Centerline is valid? [False, False] Translation: X:56.49, Y:2.21, Z:0.03 [[ 9.99357786e-01 3.58302935e-02 -4.54381063e-04 5.64941030e+01] [-3.58302434e-02 9.99357884e-01 1.17856665e-04 2.21119563e+00] [ 4.58312136e-04 -1.01500391e-04 9.99999890e-01 2.91019250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.12140051299998 meters Centerline goodness [0,1] 0.7677646704914158 Centerline is valid? [False, False] Translation: X:56.49, Y:2.21, Z:0.03 [[ 9.99363482e-01 3.56715543e-02 -4.13481827e-04 5.64939839e+01] [-3.56717074e-02 9.99363494e-01 -3.68914230e-04 2.21355858e+00] [ 4.00058899e-04 3.83429012e-04 9.99999846e-01 2.90999377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.15140051299998 meters Centerline goodness [0,1] 0.672138897245262 Centerline is valid? [False, False] Translation: X:56.49, Y:2.22, Z:0.03 [[ 9.99371912e-01 3.54353612e-02 -3.41854053e-04 5.64939925e+01] [-3.54356892e-02 9.99371452e-01 -1.00660859e-03 2.21654266e+00] [ 3.05969642e-04 1.01809019e-03 9.99999435e-01 2.86179048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.18140051299999 meters Centerline goodness [0,1] 0.8665372958594073 Centerline is valid? [False, False] Translation: X:56.49, Y:2.21, Z:0.03 [[ 9.99202695e-01 3.99238846e-02 -2.39819915e-04 5.64941686e+01] [-3.99226898e-02 9.99195574e-01 3.79249039e-03 2.21428266e+00] [ 3.91037946e-04 -3.77989236e-03 9.99992780e-01 2.85829015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.21140051299999 meters Centerline goodness [0,1] 0.8665372958594073 Centerline is valid? [False, False] Translation: X:56.49, Y:2.22, Z:0.03 [[ 9.99358750e-01 3.58001312e-02 6.63303906e-04 5.64912254e+01] [-3.57991288e-02 9.99357930e-01 -1.46605335e-03 2.21981164e+00] [-7.15362921e-04 1.44136754e-03 9.99998705e-01 2.79155638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.24140051299999 meters Centerline goodness [0,1] 0.605587192435801 Centerline is valid? [False, False] Translation: X:56.51, Y:2.21, Z:0.03 [[ 9.99342625e-01 3.62518478e-02 3.48999466e-04 5.65088302e+01] [-3.62535276e-02 9.99295484e-01 9.70655636e-03 2.21327443e+00] [ 3.12701390e-06 -9.71282797e-03 9.99952829e-01 3.38168955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.27140051299999 meters Centerline goodness [0,1] 0.49013514951580295 Centerline is valid? [False, False] Translation: X:56.51, Y:2.22, Z:0.03 [[ 9.99478462e-01 3.22854545e-02 6.73921817e-04 5.65072312e+01] [-3.22879407e-02 9.99470286e-01 4.07884683e-03 2.22122826e+00] [-5.41877407e-04 -4.09847910e-03 9.99991454e-01 3.35619299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.30140051299999 meters Centerline goodness [0,1] 0.8208394825939752 Centerline is valid? [False, False] Translation: X:56.47, Y:2.22, Z:0.03 [[ 9.99527237e-01 3.06811022e-02 -1.99305290e-03 5.64655010e+01] [-3.06723648e-02 9.99520347e-01 4.27580381e-03 2.22149890e+00] [ 2.12328330e-03 -4.21265072e-03 9.99988873e-01 3.39154306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.33140051299999 meters Centerline goodness [0,1] 0.47792494481236203 Centerline is valid? [False, False] Translation: X:56.47, Y:2.23, Z:0.03 [[ 9.99662015e-01 2.59297274e-02 -1.87214123e-03 5.64652660e+01] [-2.59334552e-02 9.99661680e-01 -1.99514980e-03 2.23112498e+00] [ 1.81977415e-03 2.04302656e-03 9.99996257e-01 3.27000524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.36140051299999 meters Centerline goodness [0,1] 0.9512290031778974 Centerline is valid? [False, True] Translation: X:56.46, Y:2.22, Z:0.03 [[ 9.99781547e-01 2.09002703e-02 1.90617725e-04 5.64619319e+01] [-2.09008952e-02 9.99684195e-01 1.39521515e-02 2.22141228e+00] [ 1.01046209e-04 -1.39530877e-02 9.99902646e-01 3.48870874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.391400513 meters Centerline goodness [0,1] 0.9290319788826864 Centerline is valid? [True, False] Translation: X:56.46, Y:2.23, Z:0.03 [[ 9.99868336e-01 1.62193074e-02 4.94416602e-04 5.64608675e+01] [-1.62228936e-02 9.99833023e-01 8.41088601e-03 2.22730264e+00] [-3.57915300e-04 -8.41779947e-03 9.99964506e-01 3.44591241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.421400513 meters Centerline goodness [0,1] 0.6834212897412795 Centerline is valid? [False, False] Translation: X:56.46, Y:2.23, Z:0.03 [[ 9.99932782e-01 1.15745312e-02 6.79355858e-04 5.64603073e+01] [-1.15764142e-02 9.99928968e-01 2.83651356e-03 2.23343095e+00] [-6.46476287e-04 -2.84418740e-03 9.99995746e-01 3.38609642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.451400513 meters Centerline goodness [0,1] 0.9649857237929628 Centerline is valid? [False, True] Translation: X:56.46, Y:2.24, Z:0.03 [[ 9.99976717e-01 6.76843871e-03 8.68590195e-04 5.64599085e+01] [-6.76591415e-03 9.99972972e-01 -2.87724766e-03 2.24001025e+00] [-8.88041193e-04 2.87130387e-03 9.99995483e-01 3.30837514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.48140051299998 meters Centerline goodness [0,1] 0.986230336833849 Centerline is valid? [True, True] Translation: X:56.49, Y:2.24, Z:0.03 [[ 9.99990581e-01 4.33541444e-03 2.04374387e-04 5.64906527e+01] [-4.33541771e-03 9.99990602e-01 1.55167227e-05 2.23636105e+00] [-2.04305195e-04 -1.64026249e-05 9.99999979e-01 3.33213162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.51140051299998 meters Centerline goodness [0,1] 0.9592550985136536 Centerline is valid? [True, True] Translation: X:56.52, Y:2.24, Z:0.03 [[ 9.99998896e-01 1.48400784e-03 6.95796793e-05 5.65198525e+01] [-1.48400821e-03 9.99998899e-01 5.25580819e-06 2.24192763e+00] [-6.95718030e-05 -5.35905920e-06 9.99999998e-01 3.25847558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.54140051299999 meters Centerline goodness [0,1] 0.9866500150725637 Centerline is valid? [True, True] Translation: X:56.55, Y:2.24, Z:0.03 [[ 9.99990352e-01 -4.38035960e-03 3.28529953e-04 5.65497573e+01] [ 4.38035164e-03 9.99990406e-01 2.49459379e-05 2.23885359e+00] [-3.28636073e-04 -2.35066205e-05 9.99999946e-01 3.25538904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.57140051299999 meters Centerline goodness [0,1] 0.9984051724137931 Centerline is valid? [True, True] Translation: X:56.58, Y:2.23, Z:0.03 [[ 9.99971899e-01 -7.45086999e-03 -8.27565276e-04 5.65811059e+01] [ 7.45082053e-03 9.99972240e-01 -6.28435922e-05 2.23217855e+00] [ 8.28010542e-04 5.66757859e-05 9.99999656e-01 3.07303790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.60140051299999 meters Centerline goodness [0,1] 0.9985335662375191 Centerline is valid? [True, True] Translation: X:56.61, Y:2.23, Z:0.03 [[ 9.99942356e-01 -1.03120920e-02 -2.99078223e-03 5.66120422e+01] [ 1.03114587e-02 9.99946810e-01 -2.27109558e-04 2.23104023e+00] [ 2.99296512e-03 1.96257139e-04 9.99995502e-01 2.73583335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.63140051299999 meters Centerline goodness [0,1] 0.9927138309010491 Centerline is valid? [True, True] Translation: X:56.64, Y:2.24, Z:0.02 [[ 9.99910960e-01 -1.23412875e-02 -5.07592424e-03 5.66404287e+01] [ 1.23394880e-02 9.99923791e-01 -3.85694650e-04 2.23543976e+00] [ 5.08029737e-03 3.23026002e-04 9.99987043e-01 2.40367803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.66140051299999 meters Centerline goodness [0,1] 0.9708440339253728 Centerline is valid? [True, True] Translation: X:56.67, Y:2.24, Z:0.02 [[ 9.99882580e-01 -1.35647880e-02 -7.12907413e-03 5.66684484e+01] [ 1.35612669e-02 9.99907895e-01 -5.42017809e-04 2.23906463e+00] [ 7.13576986e-03 4.45274888e-04 9.99974441e-01 2.07521680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.69140051299999 meters Centerline goodness [0,1] 0.9708440339253728 Centerline is valid? [True, True] Translation: X:56.70, Y:2.24, Z:0.02 [[ 9.99880128e-01 -1.37443335e-02 -7.12895333e-03 5.66959262e+01] [ 1.37408056e-02 9.99905443e-01 -5.43604939e-04 2.24130361e+00] [ 7.13575072e-03 4.45582214e-04 9.99974441e-01 2.06891289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.72140051299999 meters Centerline goodness [0,1] 0.9954283997252747 Centerline is valid? [True, True] Translation: X:56.73, Y:2.24, Z:0.02 [[ 9.99862202e-01 -1.43663074e-02 -8.31784971e-03 5.67256813e+01] [ 1.43615168e-02 9.99896666e-01 -6.35389557e-04 2.23716604e+00] [ 8.32611840e-03 5.15845063e-04 9.99965204e-01 2.03921389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.751400513 meters Centerline goodness [0,1] 0.9706091644204852 Centerline is valid? [True, True] Translation: X:56.75, Y:2.25, Z:0.02 [[ 9.99900302e-01 -1.25907994e-02 -6.39195081e-03 5.67527621e+01] [ 1.25879329e-02 9.99920650e-01 -4.88486143e-04 2.25107526e+00] [ 6.39759404e-03 4.07975994e-04 9.99979452e-01 2.19501556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.781400513 meters Centerline goodness [0,1] 0.9976147107294648 Centerline is valid? [True, True] Translation: X:56.78, Y:2.25, Z:0.03 [[ 9.99935499e-01 -1.02576172e-02 -4.87635225e-03 5.67834229e+01] [ 1.02559218e-02 9.99947337e-01 -3.72564788e-04 2.25008602e+00] [ 4.87991707e-03 3.22529270e-04 9.99988041e-01 2.53526318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.811400513 meters Centerline goodness [0,1] 0.9611219105803943 Centerline is valid? [True, True] Translation: X:56.81, Y:2.26, Z:0.03 [[ 9.99963246e-01 -7.70303151e-03 -3.76422459e-03 5.68112532e+01] [ 7.70200285e-03 9.99970298e-01 -2.87693864e-04 2.26479329e+00] [ 3.76632890e-03 2.58691222e-04 9.99992874e-01 2.59029392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.84140051299998 meters Centerline goodness [0,1] 0.991358024691358 Centerline is valid? [True, True] Translation: X:56.84, Y:2.26, Z:0.03 [[ 9.99975841e-01 -5.76250190e-03 -3.88733163e-03 5.68418215e+01] [ 5.76139013e-03 9.99983359e-01 -2.97135948e-04 2.26350646e+00] [ 3.88897919e-03 2.74732335e-04 9.99992400e-01 2.65676957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.87140051299998 meters Centerline goodness [0,1] 0.9197131849315069 Centerline is valid? [True, False] Translation: X:56.87, Y:2.28, Z:0.02 [[ 9.99998869e-01 -1.10018424e-03 1.02514700e-03 5.68651503e+01] [ 1.10773563e-03 9.99972043e-01 -7.39494052e-03 2.27597295e+00] [-1.01698254e-03 7.39606775e-03 9.99972132e-01 1.93636250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.90140051299998 meters Centerline goodness [0,1] 0.9765700638998257 Centerline is valid? [False, True] Translation: X:56.86, Y:2.28, Z:0.02 [[ 9.99998302e-01 -1.41731665e-03 1.17738203e-03 5.68646001e+01] [ 1.42693532e-03 9.99965285e-01 -8.20927435e-03 2.27986039e+00] [-1.16570602e-03 8.21094047e-03 9.99965610e-01 1.94630202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.93140051299999 meters Centerline goodness [0,1] 0.987060435378292 Centerline is valid? [True, True] Translation: X:56.90, Y:2.28, Z:0.02 [[ 9.99998562e-01 -1.13876589e-03 1.25706009e-03 5.68955093e+01] [ 1.13864654e-03 9.99999347e-01 9.56556933e-05 2.27548727e+00] [-1.25716820e-03 -9.42242086e-05 9.99999205e-01 2.16534185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.96140051299999 meters Centerline goodness [0,1] 0.9162758531261481 Centerline is valid? [True, False] Translation: X:56.90, Y:2.28, Z:0.02 [[ 9.99998542e-01 -1.16131558e-03 1.25192439e-03 5.68953841e+01] [ 1.16119583e-03 9.99999321e-01 9.63739001e-05 2.27548158e+00] [-1.25203546e-03 -9.49200302e-05 9.99999212e-01 2.19064400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.99140051299999 meters Centerline goodness [0,1] 0.9931641050202464 Centerline is valid? [False, True] Translation: X:56.90, Y:2.27, Z:0.02 [[ 9.99998640e-01 -1.13621082e-03 1.19538818e-03 5.68955875e+01] [ 1.13593461e-03 9.99999328e-01 2.31719290e-04 2.27478376e+00] [-1.19565066e-03 -2.30361092e-04 9.99999259e-01 2.18329030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.02140051299999 meters Centerline goodness [0,1] 0.9964015600422332 Centerline is valid? [True, True] Translation: X:56.93, Y:2.28, Z:0.02 [[ 9.99977887e-01 -6.56740341e-03 1.04590442e-03 5.69253175e+01] [ 6.56732716e-03 9.99978432e-01 7.63210821e-05 2.27515162e+00] [-1.04638309e-03 -6.94505979e-05 9.99999450e-01 1.99490203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.05140051299999 meters Centerline goodness [0,1] 0.9971055189545307 Centerline is valid? [True, True] Translation: X:56.95, Y:2.28, Z:0.02 [[ 9.99959194e-01 -8.89739533e-03 1.56420126e-03 5.69549589e+01] [ 8.89722769e-03 9.99960412e-01 1.14094947e-04 2.27577442e+00] [-1.56515449e-03 -1.00173237e-04 9.99998770e-01 2.05632472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.08140051299999 meters Centerline goodness [0,1] 0.9940409361775628 Centerline is valid? [True, True] Translation: X:56.98, Y:2.28, Z:0.02 [[ 9.99936841e-01 -1.10684158e-02 1.95029675e-03 5.69845271e+01] [ 1.10681593e-02 9.99938736e-01 1.42277430e-04 2.27676583e+00] [-1.95175206e-03 -1.20682248e-04 9.99998088e-01 2.08172761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.11140051299999 meters Centerline goodness [0,1] 0.9993119167419258 Centerline is valid? [True, True] Translation: X:57.02, Y:2.27, Z:0.02 [[ 9.99916399e-01 -1.27263865e-02 2.28799631e-03 5.70159646e+01] [ 1.27260378e-02 9.99919007e-01 1.66913181e-04 2.26507001e+00] [-2.28993520e-03 -1.37782099e-04 9.99997369e-01 2.24471902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.141400513 meters Centerline goodness [0,1] 0.9955397349573273 Centerline is valid? [True, True] Translation: X:57.05, Y:2.27, Z:0.02 [[ 9.99900963e-01 -1.40322547e-02 1.07741378e-03 5.70451072e+01] [ 1.40321782e-02 9.99901541e-01 7.85312378e-05 2.27321282e+00] [-1.07840967e-03 -6.34049981e-05 9.99999417e-01 1.88927034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.171400513 meters Centerline goodness [0,1] 0.9992855441771851 Centerline is valid? [True, True] Translation: X:57.08, Y:2.27, Z:0.02 [[ 9.99915499e-01 -1.29985572e-02 1.82467908e-04 5.70751051e+01] [ 1.29985550e-02 9.99915515e-01 1.29547658e-05 2.26539448e+00] [-1.82620886e-04 -1.05818519e-05 9.99999983e-01 1.83718814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.201400513 meters Centerline goodness [0,1] 0.9989657401422107 Centerline is valid? [True, True] Translation: X:57.10, Y:2.27, Z:0.02 [[ 9.99938333e-01 -1.11006119e-02 -3.25748827e-04 5.71038878e+01] [ 1.11006046e-02 9.99938386e-01 -2.39558283e-05 2.26929810e+00] [ 3.25994681e-04 2.03383420e-05 9.99999947e-01 1.76685581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.23140051299998 meters Centerline goodness [0,1] 0.9722419469369311 Centerline is valid? [True, True] Translation: X:57.13, Y:2.28, Z:0.02 [[ 9.99956264e-01 -9.34800050e-03 -2.90025408e-04 5.71319875e+01] [ 9.34799469e-03 9.99956306e-01 -2.13516203e-05 2.28239798e+00] [ 2.90212331e-04 1.86395305e-05 9.99999958e-01 1.70601533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.26140051299998 meters Centerline goodness [0,1] 0.9971605575632422 Centerline is valid? [True, True] Translation: X:57.16, Y:2.28, Z:0.02 [[ 9.99967476e-01 -8.06400447e-03 1.35517202e-04 5.71622481e+01] [ 8.06400322e-03 9.99967485e-01 9.74461274e-06 2.27704539e+00] [-1.35591377e-04 -8.65148465e-06 9.99999991e-01 1.85151972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.29140051299999 meters Centerline goodness [0,1] 0.9985742984900525 Centerline is valid? [True, True] Translation: X:57.19, Y:2.28, Z:0.02 [[ 9.99973508e-01 -7.24999041e-03 6.48784614e-04 5.71915924e+01] [ 7.24996130e-03 9.99973718e-01 4.71979993e-05 2.27701712e+00] [-6.49109748e-04 -4.24930856e-05 9.99999788e-01 1.87663031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.32140051299999 meters Centerline goodness [0,1] 0.9985688264376789 Centerline is valid? [True, True] Translation: X:57.22, Y:2.28, Z:0.02 [[ 9.99974427e-01 -7.03503395e-03 1.28594817e-03 5.72212785e+01] [ 7.03491899e-03 9.99975250e-01 9.39004173e-05 2.27705441e+00] [-1.28657693e-03 -8.48514748e-05 9.99999169e-01 1.87068367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.35140051299999 meters Centerline goodness [0,1] 0.9882707414182719 Centerline is valid? [True, True] Translation: X:57.25, Y:2.29, Z:0.02 [[ 9.99971602e-01 -7.32505512e-03 1.77160529e-03 5.72502008e+01] [ 7.32483709e-03 9.99973165e-01 1.29525753e-04 2.28501257e+00] [-1.77250653e-03 -1.16545355e-04 9.99998422e-01 1.85482561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.38140051299999 meters Centerline goodness [0,1] 0.9993214848537909 Centerline is valid? [True, True] Translation: X:57.28, Y:2.27, Z:0.02 [[ 9.99966010e-01 -7.90802634e-03 2.33299713e-03 5.72819945e+01] [ 7.90764958e-03 9.99968719e-01 1.70675883e-04 2.27350856e+00] [-2.33427387e-03 -1.52221558e-04 9.99997264e-01 2.07522087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.41140051299999 meters Centerline goodness [0,1] 0.9989071038251366 Centerline is valid? [True, True] Translation: X:57.31, Y:2.28, Z:0.02 [[ 9.99955551e-01 -8.79049237e-03 3.40929370e-03 5.73117528e+01] [ 8.78969274e-03 9.99961339e-01 2.49456259e-04 2.28007825e+00] [-3.41135473e-03 -2.19478527e-04 9.99994157e-01 2.19603353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.44140051299999 meters Centerline goodness [0,1] 0.9995216975389164 Centerline is valid? [True, True] Translation: X:57.34, Y:2.27, Z:0.02 [[ 9.99926040e-01 -1.13096981e-02 4.47276385e-03 5.73432957e+01] [ 1.13083473e-02 9.99936005e-01 3.27180685e-04 2.27399700e+00] [-4.47617793e-03 -2.76576920e-04 9.99989944e-01 2.29078613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.47140051299999 meters Centerline goodness [0,1] 0.9996969040917948 Centerline is valid? [True, True] Translation: X:57.37, Y:2.27, Z:0.02 [[ 9.99912278e-01 -1.25802864e-02 4.14394412e-03 5.73747995e+01] [ 1.25791377e-02 9.99920834e-01 3.03144003e-04 2.27355738e+00] [-4.14742970e-03 -2.50990167e-04 9.99991368e-01 2.13112709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.501400513 meters Centerline goodness [0,1] 0.9996335812048712 Centerline is valid? [True, True] Translation: X:57.41, Y:2.27, Z:0.02 [[ 9.99897316e-01 -1.39647690e-02 3.21602562e-03 5.74059560e+01] [ 1.39640846e-02 9.99902470e-01 2.35180545e-04 2.27306333e+00] [-3.21899620e-03 -1.90247542e-04 9.99994801e-01 1.96355552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.531400513 meters Centerline goodness [0,1] 0.9992907191677771 Centerline is valid? [True, True] Translation: X:57.44, Y:2.28, Z:0.02 [[ 9.99883334e-01 -1.50938729e-02 2.34370556e-03 5.74357966e+01] [ 1.50935127e-02 9.99886072e-01 1.71331125e-04 2.27678088e+00] [-2.34602459e-03 -1.35936387e-04 9.99997239e-01 1.84682582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.561400513 meters Centerline goodness [0,1] 0.9992029812808306 Centerline is valid? [True, True] Translation: X:57.47, Y:2.28, Z:0.02 [[ 9.99875254e-01 -1.56558824e-02 2.09040294e-03 5.74651882e+01] [ 1.56555972e-02 9.99877432e-01 1.52759609e-04 2.27929324e+00] [-2.09253831e-03 -1.20014047e-04 9.99997803e-01 1.84098325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.59140051299998 meters Centerline goodness [0,1] 0.9992113396568262 Centerline is valid? [True, True] Translation: X:57.49, Y:2.28, Z:0.02 [[ 9.99870706e-01 -1.59065106e-02 2.35668808e-03 5.74936630e+01] [ 1.59061489e-02 9.99873474e-01 1.72152964e-04 2.28101008e+00] [-2.35912825e-03 -1.34644874e-04 9.99997208e-01 1.93602614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.62140051299998 meters Centerline goodness [0,1] 0.9995453659803858 Centerline is valid? [True, True] Translation: X:57.52, Y:2.28, Z:0.02 [[ 9.99890010e-01 -1.44513246e-02 3.33561419e-03 5.75228467e+01] [ 1.44505912e-02 9.99895555e-01 2.43870376e-04 2.28073537e+00] [-3.33879005e-03 -1.95641956e-04 9.99994407e-01 2.16381939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.65140051299998 meters Centerline goodness [0,1] 0.9994377162629757 Centerline is valid? [True, True] Translation: X:57.55, Y:2.28, Z:0.02 [[ 9.99900405e-01 -1.35327920e-02 4.00545072e-03 5.75526642e+01] [ 1.35317261e-02 9.99908399e-01 2.93095879e-04 2.28422685e+00] [-4.00905023e-03 -2.38866026e-04 9.99991935e-01 2.11778301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.68140051299999 meters Centerline goodness [0,1] 0.9988658734913978 Centerline is valid? [True, True] Translation: X:57.58, Y:2.29, Z:0.02 [[ 9.99900315e-01 -1.32418602e-02 4.90023722e-03 5.75828832e+01] [ 1.32402608e-02 9.99912280e-01 3.58691043e-04 2.29283192e+00] [-4.90455710e-03 -2.93774868e-04 9.99987929e-01 2.07707418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.71140051299999 meters Centerline goodness [0,1] 0.9995255041518387 Centerline is valid? [True, True] Translation: X:57.61, Y:2.29, Z:0.02 [[ 9.99873711e-01 -1.47482662e-02 5.92039042e-03 5.76145105e+01] [ 1.47459583e-02 9.99891179e-01 4.33291838e-04 2.29019622e+00] [-5.92613645e-03 -3.45935288e-04 9.99982380e-01 2.11877999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.74140051299999 meters Centerline goodness [0,1] 0.9996554397450255 Centerline is valid? [True, True] Translation: X:57.65, Y:2.28, Z:0.02 [[ 9.99864259e-01 -1.56818400e-02 5.05413437e-03 5.76465982e+01] [ 1.56801704e-02 9.99876990e-01 3.69804041e-04 2.28347250e+00] [-5.05931187e-03 -2.90504155e-04 9.99987159e-01 2.07988963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.77140051299999 meters Centerline goodness [0,1] 0.9992666091458153 Centerline is valid? [True, True] Translation: X:57.68, Y:2.29, Z:0.02 [[ 9.99864942e-01 -1.59930571e-02 3.78408864e-03 5.76762255e+01] [ 1.59921238e-02 9.99872080e-01 2.76790965e-04 2.29083709e+00] [-3.78803131e-03 -2.16237968e-04 9.99992802e-01 1.98566089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.80140051299999 meters Centerline goodness [0,1] 0.9996528681766901 Centerline is valid? [True, True] Translation: X:57.71, Y:2.28, Z:0.02 [[ 9.99876596e-01 -1.55135846e-02 2.47396916e-03 5.77071607e+01] [ 1.55131844e-02 9.99879647e-01 1.80908135e-04 2.28378767e+00] [-2.47647795e-03 -1.42506671e-04 9.99996923e-01 1.97580099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.83140051299999 meters Centerline goodness [0,1] 0.9988651692610753 Centerline is valid? [True, True] Translation: X:57.74, Y:2.29, Z:0.02 [[ 9.99895237e-01 -1.43317672e-02 2.02854559e-03 5.77363472e+01] [ 1.43314958e-02 9.99897288e-01 1.48279105e-04 2.29284971e+00] [-2.03046233e-03 -1.19191478e-04 9.99997932e-01 1.83208326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.86140051299999 meters Centerline goodness [0,1] 0.9993282191305856 Centerline is valid? [True, True] Translation: X:57.77, Y:2.29, Z:0.02 [[ 9.99915826e-01 -1.28035704e-02 2.09998558e-03 5.77657980e+01] [ 1.28032764e-02 9.99918023e-01 1.53417796e-04 2.29204682e+00] [-2.10177772e-03 -1.26518187e-04 9.99997783e-01 1.83951955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.891400513 meters Centerline goodness [0,1] 0.9963062167883527 Centerline is valid? [True, True] Translation: X:57.79, Y:2.30, Z:0.02 [[ 9.99960447e-01 -8.66910379e-03 1.98766128e-03 5.77943806e+01] [ 8.66883171e-03 9.99962414e-01 1.45460241e-04 2.30150666e+00] [-1.98884758e-03 -1.28223786e-04 9.99998014e-01 1.59994913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.921400513 meters Centerline goodness [0,1] 0.9987650843859003 Centerline is valid? [True, True] Translation: X:57.83, Y:2.30, Z:0.02 [[ 9.99972240e-01 -7.15658057e-03 2.07415940e-03 5.78253530e+01] [ 7.15628112e-03 9.99974382e-01 1.51760926e-04 2.29935796e+00] [-2.07519236e-03 -1.36913445e-04 9.99997837e-01 1.55336162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.951400513 meters Centerline goodness [0,1] 0.9816107210138723 Centerline is valid? [True, True] Translation: X:57.85, Y:2.31, Z:0.01 [[ 9.99977731e-01 -6.25919848e-03 2.31507176e-03 5.78545611e+01] [ 6.25882243e-03 9.99980399e-01 1.69645750e-04 2.30865940e+00] [-2.31608823e-03 -1.55152349e-04 9.99997306e-01 1.48974080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.98140051299998 meters Centerline goodness [0,1] 0.9528176842825381 Centerline is valid? [True, True] Translation: X:57.89, Y:2.31, Z:0.01 [[ 9.99980286e-01 -5.73903313e-03 2.54777907e-03 5.78851155e+01] [ 5.73857696e-03 9.99983517e-01 1.86319104e-04 2.31134371e+00] [-2.54880636e-03 -1.71694804e-04 9.99996737e-01 1.49568996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.01140051299998 meters Centerline goodness [0,1] 0.9772834426299772 Centerline is valid? [True, True] Translation: X:57.92, Y:2.31, Z:0.01 [[ 9.99979530e-01 -6.00457817e-03 2.21026512e-03 5.79165036e+01] [ 6.00423542e-03 9.99981961e-01 1.61674296e-04 2.30933219e+00] [-2.21119604e-03 -1.48400034e-04 9.99997544e-01 1.45619821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.04140051299999 meters Centerline goodness [0,1] 0.9969667424981042 Centerline is valid? [True, True] Translation: X:57.95, Y:2.30, Z:0.01 [[ 9.99977949e-01 -6.52669906e-03 1.22631143e-03 5.79482490e+01] [ 6.52659388e-03 9.99978698e-01 8.97475667e-05 2.30178553e+00] [-1.22687106e-03 -8.17419510e-05 9.99999244e-01 1.36055269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.07140051299999 meters Centerline goodness [0,1] 0.9757435004193278 Centerline is valid? [True, True] Translation: X:57.98, Y:2.31, Z:0.01 [[ 9.99975019e-01 -7.05117200e-03 4.91371127e-04 5.79773638e+01] [ 7.05115524e-03 9.99975140e-01 3.58225902e-05 2.30941939e+00] [-4.91611503e-04 -3.23569612e-05 9.99999879e-01 1.14468958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.10140051299999 meters Centerline goodness [0,1] 0.9845732286182791 Centerline is valid? [True, True] Translation: X:58.01, Y:2.31, Z:0.01 [[ 9.99972177e-01 -7.45017887e-03 3.73275496e-04 5.80072254e+01] [ 7.45016926e-03 9.99972247e-01 2.71270851e-05 2.30873375e+00] [-3.73467238e-04 -2.43453647e-05 9.99999930e-01 1.06563880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.13140051299999 meters Centerline goodness [0,1] 0.9860807274910994 Centerline is valid? [True, True] Translation: X:58.04, Y:2.31, Z:0.01 [[ 9.99969983e-01 -7.63768932e-03 1.30340148e-03 5.80361737e+01] [ 7.63757186e-03 9.99970829e-01 9.50758844e-05 2.30692947e+00] [-1.30408961e-03 -8.51182081e-05 9.99999146e-01 1.25217550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.16140051299999 meters Centerline goodness [0,1] 0.9993901509376429 Centerline is valid? [True, True] Translation: X:58.07, Y:2.30, Z:0.01 [[ 9.99968106e-01 -7.75645852e-03 1.90352313e-03 5.80676419e+01] [ 7.75620755e-03 9.99969910e-01 1.39189976e-04 2.29720327e+00] [-1.90454547e-03 -1.24421417e-04 9.99998179e-01 1.46508516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.19140051299999 meters Centerline goodness [0,1] 0.998265093684941 Centerline is valid? [True, True] Translation: X:58.10, Y:2.30, Z:0.01 [[ 9.99974061e-01 -6.92422560e-03 1.98317645e-03 5.80966758e+01] [ 6.92894261e-03 9.99973159e-01 -2.38160075e-03 2.30257880e+00] [-1.96663248e-03 2.39528028e-03 9.99995197e-01 1.47867704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.22140051299999 meters Centerline goodness [0,1] 0.9985582716474436 Centerline is valid? [True, True] Translation: X:58.13, Y:2.30, Z:0.02 [[ 9.99966800e-01 -7.75426709e-03 2.50416354e-03 5.81272314e+01] [ 7.74744946e-03 9.99966286e-01 2.72083813e-03 2.30030672e+00] [-2.52517722e-03 -2.70134692e-03 9.99993163e-01 1.60081226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.251400513 meters Centerline goodness [0,1] 0.9993255884784406 Centerline is valid? [True, True] Translation: X:58.16, Y:2.30, Z:0.01 [[ 9.99972556e-01 -7.19865157e-03 1.75145396e-03 5.81585908e+01] [ 7.19843802e-03 9.99974083e-01 1.28206018e-04 2.29746836e+00] [-1.75233148e-03 -1.15594767e-04 9.99998458e-01 1.35470933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.281400513 meters Centerline goodness [0,1] 0.9984292165717652 Centerline is valid? [True, True] Translation: X:58.19, Y:2.30, Z:0.01 [[ 9.99975720e-01 -6.90393883e-03 9.46145119e-04 5.81876283e+01] [ 6.90387653e-03 9.99976166e-01 6.90990661e-05 2.30057363e+00] [-9.46599624e-04 -6.25653193e-05 9.99999550e-01 1.16443316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.311400513 meters Centerline goodness [0,1] 0.9985925557023148 Centerline is valid? [True, True] Translation: X:58.22, Y:2.30, Z:0.01 [[ 9.99977430e-01 -6.68760028e-03 6.44742525e-04 5.82177329e+01] [ 6.68757136e-03 9.99977637e-01 4.69951653e-05 2.29969941e+00] [-6.45042391e-04 -4.26823430e-05 9.99999791e-01 1.11281305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.34140051299998 meters Centerline goodness [0,1] 0.9949883930314798 Centerline is valid? [True, True] Translation: X:58.25, Y:2.30, Z:0.01 [[ 9.99980063e-01 -6.26410476e-03 7.97015378e-04 5.82470223e+01] [ 6.26406033e-03 9.99980379e-01 5.82236583e-05 2.30415265e+00] [-7.97364459e-04 -5.32299450e-05 9.99999681e-01 1.09813343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.37140051299998 meters Centerline goodness [0,1] 0.9981841763942931 Centerline is valid? [True, True] Translation: X:58.28, Y:2.30, Z:0.01 [[ 9.99980729e-01 -5.87799433e-03 1.99771475e-03 5.82771743e+01] [ 5.87771429e-03 9.99982715e-01 1.46024530e-04 2.30153311e+00] [-1.99853855e-03 -1.34279719e-04 9.99997994e-01 1.35930612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.40140051299998 meters Centerline goodness [0,1] 0.9988810948056978 Centerline is valid? [True, True] Translation: X:58.31, Y:2.30, Z:0.02 [[ 9.99976263e-01 -6.02392602e-03 3.34438742e-03 5.83072293e+01] [ 6.02314092e-03 9.99981831e-01 2.44773543e-04 2.30194524e+00] [-3.34580116e-03 -2.24624016e-04 9.99994378e-01 1.65741049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.43140051299999 meters Centerline goodness [0,1] 0.995560631855699 Centerline is valid? [True, True] Translation: X:58.34, Y:2.31, Z:0.02 [[ 9.99967716e-01 -6.00401979e-03 5.34037647e-03 5.83379553e+01] [ 6.00201803e-03 9.99981911e-01 3.90784130e-04 2.30887678e+00] [-5.34262614e-03 -3.58718478e-04 9.99985664e-01 1.92229614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.46140051299999 meters Centerline goodness [0,1] 0.9989004118065588 Centerline is valid? [True, True] Translation: X:58.37, Y:2.31, Z:0.02 [[ 9.99966373e-01 -5.22061032e-03 6.32437808e-03 5.83700713e+01] [ 5.21778894e-03 9.99986280e-01 4.62530900e-04 2.30646057e+00] [-6.32670601e-03 -4.29516077e-04 9.99979894e-01 1.96440413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.49140051299999 meters Centerline goodness [0,1] 0.9981382863575357 Centerline is valid? [True, True] Translation: X:58.40, Y:2.31, Z:0.02 [[ 9.99968112e-01 -4.22791446e-03 6.77497414e-03 5.84006105e+01] [ 4.22465633e-03 9.99990954e-01 4.95146444e-04 2.31068919e+00] [-6.77700628e-03 -4.66508717e-04 9.99976927e-01 1.92722516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.52140051299999 meters Centerline goodness [0,1] 0.9848155256984432 Centerline is valid? [True, True] Translation: X:58.43, Y:2.32, Z:0.02 [[ 9.99973506e-01 -3.43254297e-03 6.41907676e-03 5.84314812e+01] [ 3.42960271e-03 9.99994009e-01 4.69001350e-04 2.31813120e+00] [-6.42064817e-03 -4.46974041e-04 9.99979288e-01 1.85287508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.55140051299999 meters Centerline goodness [0,1] 0.9990477014977058 Centerline is valid? [True, True] Translation: X:58.46, Y:2.31, Z:0.02 [[ 9.99982452e-01 -3.48626576e-03 4.78970425e-03 5.84649047e+01] [ 3.48462973e-03 9.99993867e-01 3.49876632e-04 2.30540618e+00] [-4.79089464e-03 -3.33180147e-04 9.99988468e-01 1.68782931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.58140051299999 meters Centerline goodness [0,1] 0.9959899100963715 Centerline is valid? [True, True] Translation: X:58.50, Y:2.31, Z:0.01 [[ 9.99981772e-01 -4.53055241e-03 3.99128329e-03 5.84951529e+01] [ 4.52942544e-03 9.99989700e-01 2.91351717e-04 2.31213773e+00] [-3.99256217e-03 -2.73268186e-04 9.99991992e-01 1.49237133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.61140051299999 meters Centerline goodness [0,1] 0.9959899100963715 Centerline is valid? [True, True] Translation: X:58.53, Y:2.31, Z:0.01 [[ 9.99981978e-01 -4.48478553e-03 3.99128534e-03 5.85268081e+01] [ 4.48365831e-03 9.99989906e-01 2.91323677e-04 2.31437209e+00] [-3.99255158e-03 -2.73422867e-04 9.99991992e-01 1.47042671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.641400513 meters Centerline goodness [0,1] 0.998278681470006 Centerline is valid? [True, True] Translation: X:58.56, Y:2.31, Z:0.01 [[ 9.99981500e-01 -5.30579105e-03 2.97468772e-03 5.85587397e+01] [ 5.30516883e-03 9.99985904e-01 2.17022862e-04 2.31368373e+00] [-2.97579727e-03 -2.01237626e-04 9.99995552e-01 1.33488184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.671400513 meters Centerline goodness [0,1] 0.980805773213485 Centerline is valid? [True, True] Translation: X:58.59, Y:2.32, Z:0.01 [[ 9.99981319e-01 -5.82120039e-03 1.86419379e-03 5.85891664e+01] [ 5.82095698e-03 9.99983049e-01 1.35970426e-04 2.31947912e+00] [-1.86495370e-03 -1.25116494e-04 9.99998253e-01 1.19784192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.701400513 meters Centerline goodness [0,1] 0.9928599079530303 Centerline is valid? [True, True] Translation: X:58.62, Y:2.32, Z:0.01 [[ 9.99983623e-01 -5.50630025e-03 1.55998181e-03 5.86195886e+01] [ 5.50612963e-03 9.99984835e-01 1.13648360e-04 2.31633281e+00] [-1.56058393e-03 -1.05057036e-04 9.99998777e-01 1.25649426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.73140051299998 meters Centerline goodness [0,1] 0.9973222769283925 Centerline is valid? [True, True] Translation: X:58.65, Y:2.31, Z:0.01 [[ 9.99988483e-01 -4.44438095e-03 1.81126338e-03 5.86501115e+01] [ 4.44414920e-03 9.99990116e-01 1.31954815e-04 2.31484799e+00] [-1.81183193e-03 -1.23903771e-04 9.99998351e-01 1.35423399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.76140051299998 meters Centerline goodness [0,1] 0.9933864713485566 Centerline is valid? [True, True] Translation: X:58.68, Y:2.32, Z:0.01 [[ 9.99993871e-01 -2.64897628e-03 2.28932367e-03 5.86795107e+01] [ 2.64860137e-03 9.99996479e-01 1.66782637e-04 2.32051889e+00] [-2.28975741e-03 -1.60718109e-04 9.99997366e-01 1.38704634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.79140051299999 meters Centerline goodness [0,1] 0.9849863414424297 Centerline is valid? [True, True] Translation: X:58.71, Y:2.33, Z:0.01 [[ 9.99994282e-01 -5.24272938e-04 3.34068009e-03 5.87087302e+01] [ 5.23462495e-04 9.99999833e-01 2.43467949e-04 2.32758802e+00] [-3.34080717e-03 -2.41717836e-04 9.99994390e-01 1.49980107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.82140051299999 meters Centerline goodness [0,1] 0.9969943346451585 Centerline is valid? [True, True] Translation: X:58.74, Y:2.33, Z:0.02 [[ 9.99991343e-01 1.69617655e-03 3.79965355e-03 5.87394987e+01] [-1.69724024e-03 9.99998521e-01 2.76737915e-04 2.32670707e+00] [-3.79917853e-03 -2.83184444e-04 9.99992743e-01 1.61991050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.85140051299999 meters Centerline goodness [0,1] 0.8898741295038712 Centerline is valid? [True, False] Translation: X:58.74, Y:2.33, Z:0.01 [[ 9.99991806e-01 1.37165125e-03 3.80869532e-03 5.87400554e+01] [-1.36838747e-03 9.99998694e-01 -8.59402546e-04 2.33207519e+00] [-3.80986915e-03 8.54183734e-04 9.99992378e-01 1.48651279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.88140051299999 meters Centerline goodness [0,1] 0.8249951501304076 Centerline is valid? [False, False] Translation: X:58.74, Y:2.34, Z:0.01 [[ 9.99992330e-01 1.03933644e-03 3.77609955e-03 5.87407048e+01] [-1.03299244e-03 9.99998053e-01 -1.68160240e-03 2.33581208e+00] [-3.77783995e-03 1.67768882e-03 9.99991457e-01 1.37087031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.91140051299999 meters Centerline goodness [0,1] 0.918858146308035 Centerline is valid? [False, False] Translation: X:58.75, Y:2.33, Z:0.01 [[ 9.99991300e-01 2.84559017e-03 3.05011597e-03 5.87467029e+01] [-2.84589909e-03 9.99995946e-01 9.69481560e-05 2.33491536e+00] [-3.04982773e-03 -1.05627635e-04 9.99995344e-01 9.48114197e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.94140051299999 meters Centerline goodness [0,1] 0.7802456455685368 Centerline is valid? [False, False] Translation: X:58.75, Y:2.34, Z:0.01 [[ 9.99991676e-01 2.74448410e-03 3.01934414e-03 5.87468838e+01] [-2.74409572e-03 9.99996226e-01 -1.32766393e-04 2.33597654e+00] [-3.01969712e-03 1.24479919e-04 9.99995433e-01 9.30439396e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.97140051299999 meters Centerline goodness [0,1] 0.8201080987962703 Centerline is valid? [False, False] Translation: X:58.75, Y:2.34, Z:0.01 [[ 9.99991713e-01 2.69300579e-03 3.05306427e-03 5.87465640e+01] [-2.69230529e-03 9.99996348e-01 -2.33529744e-04 2.33649817e+00] [-3.05368202e-03 2.25308027e-04 9.99995312e-01 9.72139547e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.001400513 meters Centerline goodness [0,1] 0.9871129562359453 Centerline is valid? [False, True] Translation: X:58.75, Y:2.34, Z:0.01 [[ 9.99992560e-01 2.41969690e-03 3.00413817e-03 5.87464660e+01] [-2.41750787e-03 9.99996810e-01 -7.32087494e-04 2.33883020e+00] [-3.00590002e-03 7.24819520e-04 9.99995220e-01 1.02195504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.031400513 meters Centerline goodness [0,1] 0.9844916095077866 Centerline is valid? [True, True] Translation: X:58.78, Y:2.34, Z:0.01 [[ 9.99997629e-01 6.34893542e-04 2.08312921e-03 5.87774656e+01] [-6.35206244e-04 9.99999787e-01 1.49453564e-04 2.34121872e+00] [-2.08303388e-03 -1.50776426e-04 9.99997819e-01 8.43773307e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.061400513 meters Centerline goodness [0,1] 0.9874756651524984 Centerline is valid? [True, True] Translation: X:58.81, Y:2.34, Z:0.01 [[ 9.99997619e-01 -1.19558207e-03 1.82549217e-03 5.88079814e+01] [ 1.19534494e-03 9.99999277e-01 1.30987450e-04 2.34324645e+00] [-1.82564746e-03 -1.28805045e-04 9.99998325e-01 7.88121447e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.09140051299998 meters Centerline goodness [0,1] 0.9985324585635359 Centerline is valid? [True, True] Translation: X:58.84, Y:2.34, Z:0.01 [[ 9.99981638e-01 -4.62160644e-03 3.91965072e-03 5.88391490e+01] [ 4.62054027e-03 9.99989286e-01 2.81017340e-04 2.34330744e+00] [-3.92090748e-03 -2.62901276e-04 9.99992279e-01 1.04299336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.12140051299998 meters Centerline goodness [0,1] 0.9882870004907085 Centerline is valid? [True, True] Translation: X:58.87, Y:2.35, Z:0.01 [[ 9.99970521e-01 -5.97330243e-03 4.82463656e-03 5.88687575e+01] [ 5.97170311e-03 9.99982109e-01 3.45827885e-04 2.35292774e+00] [-4.82661598e-03 -3.17006393e-04 9.99988302e-01 1.09500072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.15140051299998 meters Centerline goodness [0,1] 0.9986741436271953 Centerline is valid? [True, True] Translation: X:58.90, Y:2.35, Z:0.01 [[ 9.99960643e-01 -7.30943292e-03 5.02845509e-03 5.89010042e+01] [ 7.30771233e-03 9.99973233e-01 3.60457534e-04 2.34547350e+00] [-5.03095523e-03 -3.23696844e-04 9.99987292e-01 1.13489060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.18140051299999 meters Centerline goodness [0,1] 0.9935048176187199 Centerline is valid? [True, True] Translation: X:58.93, Y:2.35, Z:0.01 [[ 9.99952670e-01 -8.52286190e-03 4.69246948e-03 5.89310011e+01] [ 8.52137700e-03 9.99963636e-01 3.36345573e-04 2.35121221e+00] [-4.69516547e-03 -2.96343353e-04 9.99988934e-01 1.07324651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.21140051299999 meters Centerline goodness [0,1] 0.9992860079188213 Centerline is valid? [True, True] Translation: X:58.96, Y:2.34, Z:0.01 [[ 9.99945344e-01 -9.61407967e-03 4.10835224e-03 5.89634268e+01] [ 9.61295197e-03 9.99953751e-01 2.94150474e-04 2.34253926e+00] [-4.11099022e-03 -2.54641004e-04 9.99991517e-01 1.02843229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.24140051299999 meters Centerline goodness [0,1] 0.9972690623780831 Centerline is valid? [True, True] Translation: X:58.99, Y:2.35, Z:0.01 [[ 9.99945174e-01 -9.80500006e-03 3.67578655e-03 5.89940973e+01] [ 9.80409897e-03 9.99951904e-01 2.63080946e-04 2.35230959e+00] [-3.67818927e-03 -2.27028748e-04 9.99993210e-01 9.26459568e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.27140051299999 meters Centerline goodness [0,1] 0.9969156439402109 Centerline is valid? [True, True] Translation: X:59.02, Y:2.36, Z:0.01 [[ 9.99949986e-01 -9.12251459e-03 4.09934037e-03 5.90247364e+01] [ 9.12138896e-03 9.99958356e-01 2.93199519e-04 2.35513319e+00] [-4.10184438e-03 -2.55793177e-04 9.99991555e-01 9.53797188e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.30140051299999 meters Centerline goodness [0,1] 0.9983935915010281 Centerline is valid? [True, True] Translation: X:59.06, Y:2.36, Z:0.01 [[ 9.99955085e-01 -8.17843922e-03 4.78958410e-03 5.90559469e+01] [ 8.17689293e-03 9.99966510e-01 3.42337226e-04 2.35579125e+00] [-4.79222348e-03 -3.03157934e-04 9.99988471e-01 1.03815499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.33140051299999 meters Centerline goodness [0,1] 0.9983031552720322 Centerline is valid? [True, True] Translation: X:59.09, Y:2.36, Z:0.01 [[ 9.99959026e-01 -7.08230279e-03 5.63801857e-03 5.90871033e+01] [ 7.08014307e-03 9.99974854e-01 4.02930618e-04 2.36048713e+00] [-5.64073047e-03 -3.62996131e-04 9.99984025e-01 1.14865527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.36140051299999 meters Centerline goodness [0,1] 0.9989432139236958 Centerline is valid? [True, True] Translation: X:59.12, Y:2.36, Z:0.01 [[ 9.99968369e-01 -4.74413293e-03 6.38393602e-03 5.91186359e+01] [ 4.74132003e-03 9.99988656e-01 4.55684696e-04 2.35979391e+00] [-6.38602543e-03 -4.25401998e-04 9.99979519e-01 1.18670275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.391400513 meters Centerline goodness [0,1] 0.9921741204014828 Centerline is valid? [True, True] Translation: X:59.15, Y:2.37, Z:0.01 [[ 9.99975709e-01 -3.68411753e-03 5.91683252e-03 5.91490172e+01] [ 3.68168345e-03 9.99993133e-01 4.22222006e-04 2.36749881e+00] [-5.91834741e-03 -4.00427846e-04 9.99982406e-01 1.09636981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.421400513 meters Centerline goodness [0,1] 0.9883377524844252 Centerline is valid? [True, True] Translation: X:59.18, Y:2.37, Z:0.01 [[ 9.99982925e-01 -2.38262368e-03 5.33602342e-03 5.91797914e+01] [ 2.38062634e-03 9.99997094e-01 3.80631794e-04 2.36882675e+00] [-5.33691482e-03 -3.67922217e-04 9.99985691e-01 1.02078753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.451400513 meters Centerline goodness [0,1] 0.9518836974934065 Centerline is valid? [True, True] Translation: X:59.21, Y:2.38, Z:0.01 [[ 9.99987088e-01 -1.06983862e-03 4.96786730e-03 5.92091615e+01] [ 1.06809072e-03 9.99999367e-01 3.54480851e-04 2.37582819e+00] [-4.96824339e-03 -3.49170141e-04 9.99987597e-01 9.54292107e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.48140051299998 meters Centerline goodness [0,1] 0.9223777729916003 Centerline is valid? [True, False] Translation: X:59.21, Y:2.38, Z:0.01 [[ 9.99986945e-01 -1.13129886e-03 4.98294039e-03 5.92091842e+01] [ 1.13038911e-03 9.99999344e-01 1.85384667e-04 2.37663171e+00] [-4.98314685e-03 -1.79749585e-04 9.99987568e-01 9.39371991e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.51140051299998 meters Centerline goodness [0,1] 0.9953137203853163 Centerline is valid? [False, True] Translation: X:59.21, Y:2.38, Z:0.01 [[ 9.99986633e-01 -1.09046995e-03 5.05425823e-03 5.92089761e+01] [ 1.08916471e-03 9.99999373e-01 2.60990468e-04 2.37629394e+00] [-5.05453966e-03 -2.55482060e-04 9.99987193e-01 9.30623298e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.54140051299999 meters Centerline goodness [0,1] 0.9697598961713173 Centerline is valid? [True, True] Translation: X:59.24, Y:2.38, Z:0.01 [[ 9.99986755e-01 -1.65839222e-03 4.87225711e-03 5.92401364e+01] [ 1.65667205e-03 9.99998564e-01 3.57070089e-04 2.38368856e+00] [-4.87284227e-03 -3.48993627e-04 9.99988067e-01 7.95845213e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.57140051299999 meters Centerline goodness [0,1] 0.9430831398847906 Centerline is valid? [True, False] Translation: X:59.24, Y:2.38, Z:0.01 [[ 9.99987350e-01 -1.45713237e-03 4.81427546e-03 5.92404059e+01] [ 1.45256889e-03 9.99998493e-01 9.51267956e-04 2.38078336e+00] [-4.81565433e-03 -9.44262855e-04 9.99987959e-01 7.77241127e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.60140051299999 meters Centerline goodness [0,1] 0.9986262538159616 Centerline is valid? [False, True] Translation: X:59.22, Y:2.39, Z:0.00 [[ 9.99986089e-01 -1.61513695e-03 5.02136199e-03 5.92219253e+01] [ 1.66573456e-03 9.99947721e-01 -1.00886720e-02 2.38580695e+00] [-5.00480489e-03 1.00968959e-02 9.99936500e-01 2.48217988e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.63140051299999 meters Centerline goodness [0,1] 0.9978450133609171 Centerline is valid? [True, True] Translation: X:59.25, Y:2.38, Z:0.00 [[ 9.99987069e-01 -3.55818978e-03 3.63333613e-03 5.92518825e+01] [ 3.55727894e-03 9.99993640e-01 2.57123027e-04 2.37792577e+00] [-3.63422791e-03 -2.44194912e-04 9.99993366e-01 3.08626981e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.66140051299999 meters Centerline goodness [0,1] 0.996807439309207 Centerline is valid? [True, True] Translation: X:59.28, Y:2.38, Z:0.00 [[ 9.99985056e-01 -4.35863392e-03 3.30013141e-03 5.92830215e+01] [ 4.35788745e-03 9.99990477e-01 2.33351024e-04 2.37830351e+00] [-3.30111707e-03 -2.18965935e-04 9.99994527e-01 1.99932817e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.69140051299999 meters Centerline goodness [0,1] 0.99849646997298 Centerline is valid? [True, True] Translation: X:59.32, Y:2.38, Z:0.00 [[ 9.99983404e-01 -4.93784528e-03 2.96790022e-03 5.93154490e+01] [ 4.93724406e-03 9.99987790e-01 2.09866227e-04 2.37568870e+00] [-2.96890027e-03 -1.95209496e-04 9.99995574e-01 2.14089134e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.72140051299999 meters Centerline goodness [0,1] 0.997911363488023 Centerline is valid? [True, True] Translation: X:59.35, Y:2.38, Z:0.00 [[ 9.99982117e-01 -5.10988989e-03 3.10704556e-03 5.93462509e+01] [ 5.10923166e-03 9.99986924e-01 2.19751995e-04 2.37846221e+00] [-3.10812784e-03 -2.03873450e-04 9.99995149e-01 1.72981962e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.751400513 meters Centerline goodness [0,1] 0.9969268460414339 Centerline is valid? [True, True] Translation: X:59.38, Y:2.38, Z:0.00 [[ 9.99980320e-01 -5.15901233e-03 3.56999373e-03 5.93769117e+01] [ 5.15814520e-03 9.99986665e-01 2.52058300e-04 2.38250766e+00] [-3.57124650e-03 -2.33638794e-04 9.99993596e-01 1.71446000e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.781400513 meters Centerline goodness [0,1] 0.992958509370599 Centerline is valid? [True, True] Translation: X:59.41, Y:2.39, Z:0.00 [[ 9.99978070e-01 -5.43838685e-03 3.77921562e-03 5.94078038e+01] [ 5.43741827e-03 9.99985182e-01 2.66520065e-04 2.38778926e+00] [-3.78060905e-03 -2.45965044e-04 9.99992823e-01 1.48233134e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.811400513 meters Centerline goodness [0,1] 0.98818552780567 Centerline is valid? [True, True] Translation: X:59.44, Y:2.39, Z:0.00 [[ 9.99969190e-01 -7.18184241e-03 3.16865147e-03 5.94372163e+01] [ 7.18117245e-03 9.99974190e-01 2.22761454e-04 2.39160636e+00] [-3.17016952e-03 -1.99999958e-04 9.99994955e-01 7.40394180e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.84140051299998 meters Centerline goodness [0,1] 0.9924912039818072 Centerline is valid? [True, True] Translation: X:59.47, Y:2.39, Z:-0.00 [[ 9.99962465e-01 -8.14201762e-03 2.96238167e-03 5.94687571e+01] [ 8.14143555e-03 9.99966836e-01 2.08495828e-04 2.39096280e+00] [-2.96398100e-03 -1.84369963e-04 9.99995590e-01 -1.71177120e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.87140051299998 meters Centerline goodness [0,1] 0.892467083962875 Centerline is valid? [True, False] Translation: X:59.47, Y:2.39, Z:0.00 [[ 9.99963618e-01 -7.99692932e-03 2.96858495e-03 5.94684933e+01] [ 7.99531529e-03 9.99967883e-01 5.55175561e-04 2.38938990e+00] [-2.97292931e-03 -5.31420590e-04 9.99995440e-01 2.98637663e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.90140051299998 meters Centerline goodness [0,1] 0.934587098583044 Centerline is valid? [False, False] Translation: X:59.47, Y:2.39, Z:0.00 [[ 9.99964680e-01 -7.86826343e-03 2.95449448e-03 5.94683540e+01] [ 7.86564194e-03 9.99968662e-01 8.97860029e-04 2.38779001e+00] [-2.96146649e-03 -8.74589321e-04 9.99995232e-01 6.54802311e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.93140051299999 meters Centerline goodness [0,1] 0.9994187923797223 Centerline is valid? [False, True] Translation: X:59.47, Y:2.39, Z:0.00 [[ 9.99965657e-01 -7.76795406e-03 2.88852342e-03 5.94684408e+01] [ 7.76441222e-03 9.99969093e-01 1.23537614e-03 2.38616057e+00] [-2.89803049e-03 -1.21290603e-03 9.99995065e-01 8.75445579e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.96140051299999 meters Centerline goodness [0,1] 0.9995036685369012 Centerline is valid? [True, True] Translation: X:59.50, Y:2.39, Z:-0.00 [[ 9.99939429e-01 -1.06415054e-02 2.80999714e-03 5.94980176e+01] [ 1.06410297e-02 9.99943366e-01 1.84212688e-04 2.38769785e+00] [-2.81179830e-03 -1.54300267e-04 9.99996035e-01 -1.44545227e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.99140051299999 meters Centerline goodness [0,1] 0.9996102883865939 Centerline is valid? [True, True] Translation: X:59.53, Y:2.38, Z:-0.00 [[ 9.99830723e-01 -1.82436916e-02 2.38586605e-03 5.95294078e+01] [ 1.82433701e-02 9.99833564e-01 1.56459144e-04 2.37777731e+00] [-2.38832335e-03 -1.12906422e-04 9.99997142e-01 -8.13245061e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.02140051299999 meters Centerline goodness [0,1] 0.9996070383792516 Centerline is valid? [True, True] Translation: X:59.56, Y:2.37, Z:-0.00 [[ 9.99753269e-01 -2.20798161e-02 2.42538823e-03 5.95602405e+01] [ 2.20794952e-02 9.99756206e-01 1.59007125e-04 2.37394227e+00] [-2.42830778e-03 -1.05416545e-04 9.99997046e-01 -1.48436203e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.05140051299999 meters Centerline goodness [0,1] 0.9997612899025629 Centerline is valid? [True, True] Translation: X:59.59, Y:2.37, Z:-0.00 [[ 9.99668917e-01 -2.56113959e-02 2.47249487e-03 5.95898058e+01] [ 2.56110735e-02 9.99671970e-01 1.61976399e-04 2.37254155e+00] [-2.47583226e-03 -9.85995231e-05 9.99996930e-01 -1.71781502e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.08140051299999 meters Centerline goodness [0,1] 0.9997411226647107 Centerline is valid? [True, True] Translation: X:59.62, Y:2.36, Z:-0.00 [[ 9.99574911e-01 -2.90180372e-02 2.81972907e-03 5.96204043e+01] [ 2.90176309e-02 9.99578883e-01 1.84882695e-04 2.36475066e+00] [-2.82390656e-03 -1.02982247e-04 9.99996007e-01 -1.05093573e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.11140051299999 meters Centerline goodness [0,1] 0.9996763963497508 Centerline is valid? [True, True] Translation: X:59.65, Y:2.36, Z:-0.00 [[ 9.99485696e-01 -3.19157771e-02 3.11884923e-03 5.96493000e+01] [ 3.19152945e-02 9.99490556e-01 2.04417785e-04 2.36243167e+00] [-3.12378450e-03 -1.04773660e-04 9.99995115e-01 -3.68310559e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.141400513 meters Centerline goodness [0,1] 0.9997824715581562 Centerline is valid? [True, True] Translation: X:59.68, Y:2.36, Z:0.00 [[ 9.99416833e-01 -3.39317565e-02 3.82484223e-03 5.96784066e+01] [ 3.39310448e-02 9.99424145e-01 2.50833576e-04 2.35970601e+00] [-3.83115090e-03 -1.20906405e-04 9.99992654e-01 6.33374858e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.171400513 meters Centerline goodness [0,1] 0.9997212872242351 Centerline is valid? [True, True] Translation: X:59.71, Y:2.36, Z:0.00 [[ 9.99390561e-01 -3.45411567e-02 5.04130308e-03 5.97066857e+01] [ 3.45399264e-02 9.99403264e-01 3.30935904e-04 2.36070982e+00] [-5.04972567e-03 -1.56607981e-04 9.99987238e-01 2.20440417e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.201400513 meters Centerline goodness [0,1] 0.999827582491002 Centerline is valid? [True, True] Translation: X:59.74, Y:2.36, Z:0.00 [[ 9.99405542e-01 -3.40509212e-02 5.39427932e-03 5.97359369e+01] [ 3.40495053e-02 9.99420085e-01 3.54131734e-04 2.35903625e+00] [-5.40320961e-03 -1.70248675e-04 9.99985388e-01 3.30347954e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.23140051299998 meters Centerline goodness [0,1] 0.9999136404853405 Centerline is valid? [True, True] Translation: X:59.76, Y:2.36, Z:0.00 [[ 9.99425530e-01 -3.34521292e-02 5.43743784e-03 5.97649904e+01] [ 3.34506768e-02 9.99440305e-01 3.57871810e-04 2.35852156e+00] [-5.44636611e-03 -1.75780248e-04 9.99985153e-01 3.37893123e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.26140051299998 meters Centerline goodness [0,1] 0.9998071028998864 Centerline is valid? [True, True] Translation: X:59.79, Y:2.36, Z:0.00 [[ 9.99444712e-01 -3.28927973e-02 5.32266380e-03 5.97922206e+01] [ 3.28913912e-02 9.99458870e-01 3.51515664e-04 2.36430002e+00] [-5.33134588e-03 -1.76250654e-04 9.99985773e-01 2.57670396e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.29140051299999 meters Centerline goodness [0,1] 0.9998477466504263 Centerline is valid? [True, True] Translation: X:59.82, Y:2.36, Z:0.00 [[ 9.99462130e-01 -3.22114549e-02 6.15409107e-03 5.98211911e+01] [ 3.22095611e-02 9.99481055e-01 4.06621428e-04 2.36263205e+00] [-6.16399531e-03 -2.08182146e-04 9.99980981e-01 3.07886475e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.32140051299999 meters Centerline goodness [0,1] 0.9996968975297149 Centerline is valid? [True, True] Translation: X:59.85, Y:2.37, Z:0.00 [[ 9.99448567e-01 -3.23834363e-02 7.33998949e-03 5.98493647e+01] [ 3.23807350e-02 9.99475488e-01 4.86587133e-04 2.36584910e+00] [-7.35189694e-03 -2.48644558e-04 9.99972944e-01 4.53134983e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.35140051299999 meters Centerline goodness [0,1] 0.9998916693749323 Centerline is valid? [True, True] Translation: X:59.88, Y:2.36, Z:0.01 [[ 9.99418077e-01 -3.31126854e-02 8.18880174e-03 5.98784068e+01] [ 3.31093436e-02 9.99451588e-01 5.43364807e-04 2.36166034e+00] [-8.20230317e-03 -2.71922760e-04 9.99966324e-01 6.47426410e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.38140051299999 meters Centerline goodness [0,1] 0.9997617087647849 Centerline is valid? [True, True] Translation: X:59.91, Y:2.36, Z:0.01 [[ 9.99371280e-01 -3.43659022e-02 8.71945025e-03 5.99078168e+01] [ 3.43621476e-02 9.99409279e-01 5.80097370e-04 2.35774111e+00] [-8.73423505e-03 -2.80113616e-04 9.99961817e-01 6.65098853e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.41140051299999 meters Centerline goodness [0,1] 0.9998505582715996 Centerline is valid? [True, True] Translation: X:59.94, Y:2.36, Z:0.01 [[ 9.99344971e-01 -3.52771368e-02 8.07173194e-03 5.99355290e+01] [ 3.52739386e-02 9.99377536e-01 5.38290110e-04 2.36113489e+00] [-8.08569691e-03 -2.53215737e-04 9.99967278e-01 5.09297055e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.44140051299999 meters Centerline goodness [0,1] 0.9996790620052206 Centerline is valid? [True, True] Translation: X:59.96, Y:2.36, Z:0.00 [[ 9.99322426e-01 -3.61357603e-02 6.99252771e-03 5.99648813e+01] [ 3.61333797e-02 9.99346867e-01 4.66515182e-04 2.35973094e+00] [-7.00481855e-03 -2.13535424e-04 9.99975443e-01 2.24184064e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.47140051299999 meters Centerline goodness [0,1] 0.999805904807091 Centerline is valid? [True, True] Translation: X:59.99, Y:2.36, Z:-0.00 [[ 9.99319641e-01 -3.63728975e-02 6.10470219e-03 5.99933332e+01] [ 3.63710829e-02 9.99338270e-01 4.08039464e-04 2.35888394e+00] [-6.11550410e-03 -1.85727221e-04 9.99981283e-01 -1.70118421e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.501400513 meters Centerline goodness [0,1] 0.999805904807091 Centerline is valid? [True, True] Translation: X:60.02, Y:2.36, Z:-0.00 [[ 9.99312942e-01 -3.65564977e-02 6.10462696e-03 6.00208136e+01] [ 3.65546797e-02 9.99331571e-01 4.09161268e-04 2.36087233e+00] [-6.11550395e-03 -1.85727468e-04 9.99981283e-01 -4.03648149e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.531400513 meters Centerline goodness [0,1] 0.9998270083252243 Centerline is valid? [True, True] Translation: X:60.05, Y:2.36, Z:-0.00 [[ 9.99323273e-01 -3.64052793e-02 5.25844130e-03 6.00496524e+01] [ 3.64039239e-02 9.99337095e-01 3.53259659e-04 2.35681186e+00] [-5.26781597e-03 -1.61592702e-04 9.99986112e-01 -1.10541871e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.561400513 meters Centerline goodness [0,1] 0.9997625215889464 Centerline is valid? [True, True] Translation: X:60.08, Y:2.35, Z:0.00 [[ 9.99406654e-01 -3.39640909e-02 5.72544714e-03 6.00797749e+01] [ 3.39624357e-02 9.99423036e-01 3.86097442e-04 2.35273068e+00] [-5.73525721e-03 -1.91418222e-04 9.99983535e-01 1.35684604e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.59140051299998 meters Centerline goodness [0,1] 0.9997200568499935 Centerline is valid? [True, True] Translation: X:60.11, Y:2.36, Z:0.00 [[ 9.99485240e-01 -3.14292172e-02 6.43891367e-03 6.01078839e+01] [ 3.14270703e-02 9.99505953e-01 4.34365850e-04 2.36109129e+00] [-6.44938433e-03 -2.31786063e-04 9.99979176e-01 2.25705412e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.62140051299998 meters Centerline goodness [0,1] 0.9998699553513373 Centerline is valid? [True, True] Translation: X:60.14, Y:2.36, Z:0.00 [[ 9.99589535e-01 -2.79988530e-02 6.06845557e-03 6.01381224e+01] [ 2.79968813e-02 9.99607927e-01 4.09631966e-04 2.36484105e+00] [-6.07754552e-03 -2.39565996e-04 9.99981503e-01 1.74547495e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.65140051299998 meters Centerline goodness [0,1] 0.9998044456032853 Centerline is valid? [True, True] Translation: X:60.17, Y:2.37, Z:-0.00 [[ 9.99703047e-01 -2.39169315e-02 4.66881396e-03 6.01686260e+01] [ 2.39157197e-02 9.99713929e-01 3.15219660e-04 2.36889423e+00] [-4.67501743e-03 -2.03468009e-04 9.99989051e-01 -6.08001754e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.68140051299999 meters Centerline goodness [0,1] 0.9997396906657411 Centerline is valid? [True, True] Translation: X:60.20, Y:2.37, Z:-0.00 [[ 9.99808926e-01 -1.92509476e-02 3.39306426e-03 6.01985109e+01] [ 1.92502809e-02 9.99814670e-01 2.29041188e-04 2.37057319e+00] [-3.39684469e-03 -1.63679984e-04 9.99994217e-01 -2.22364126e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.71140051299999 meters Centerline goodness [0,1] 0.9993070593330446 Centerline is valid? [True, True] Translation: X:60.23, Y:2.38, Z:-0.00 [[ 9.99893482e-01 -1.43864358e-02 2.46073642e-03 6.02279448e+01] [ 1.43860703e-02 9.99896501e-01 1.66144235e-04 2.37686443e+00] [-2.46287196e-03 -1.30726210e-04 9.99996959e-01 -4.34477463e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.74140051299999 meters Centerline goodness [0,1] 0.9986444616576298 Centerline is valid? [True, True] Translation: X:60.26, Y:2.39, Z:-0.00 [[ 9.99979350e-01 -5.96870454e-03 2.38214644e-03 6.02574291e+01] [ 5.96833830e-03 9.99982176e-01 1.60822441e-04 2.38586956e+00] [-2.38306388e-03 -1.46601664e-04 9.99997150e-01 -4.53099664e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.77140051299999 meters Centerline goodness [0,1] 0.9958511631948216 Centerline is valid? [True, True] Translation: X:60.29, Y:2.39, Z:-0.00 [[ 9.99993877e-01 -2.41822024e-03 2.52952298e-03 6.02874700e+01] [ 2.41779574e-03 9.99997063e-01 1.70865047e-04 2.39312280e+00] [-2.52992874e-03 -1.64748131e-04 9.99996786e-01 -4.97614887e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.80140051299999 meters Centerline goodness [0,1] 0.8760493827160494 Centerline is valid? [True, False] Translation: X:60.33, Y:2.40, Z:-0.01 [[ 9.99985292e-01 -6.71442662e-04 5.38184107e-03 6.03265756e+01] [ 6.85067610e-04 9.99996564e-01 -2.53020818e-03 2.40017562e+00] [-5.38012369e-03 2.53385789e-03 9.99982317e-01 -6.33348957e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.83140051299999 meters Centerline goodness [0,1] 0.7763512070070497 Centerline is valid? [False, False] Translation: X:60.33, Y:2.40, Z:-0.01 [[ 9.99990532e-01 1.24408058e-03 4.17001375e-03 6.03322155e+01] [-1.23988252e-03 9.99998722e-01 -1.00916032e-03 2.39816334e+00] [-4.17126390e-03 1.00398043e-03 9.99990796e-01 -8.55701143e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.86140051299999 meters Centerline goodness [0,1] 0.8716677801004246 Centerline is valid? [False, False] Translation: X:60.33, Y:2.40, Z:-0.01 [[ 9.99989955e-01 1.10043011e-03 4.34495406e-03 6.03317579e+01] [-1.09415100e-03 9.99998354e-01 -1.44726143e-03 2.40028194e+00] [-4.34653952e-03 1.44249286e-03 9.99989513e-01 -8.77941392e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.891400513 meters Centerline goodness [0,1] 0.8916982446970687 Centerline is valid? [False, False] Translation: X:60.32, Y:2.40, Z:-0.00 [[ 9.99982480e-01 2.50581324e-03 5.36290810e-03 6.03248202e+01] [-2.50412418e-03 9.99996813e-01 -3.21643030e-04 2.40380887e+00] [-5.36369699e-03 3.08208007e-04 9.99985568e-01 -4.29019620e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.921400513 meters Centerline goodness [0,1] 0.9116533264480592 Centerline is valid? [False, False] Translation: X:60.33, Y:2.40, Z:-0.01 [[ 9.99977954e-01 4.79404526e-03 4.59447132e-03 6.03308394e+01] [-4.80463575e-03 9.99985820e-01 2.29679287e-03 2.40277530e+00] [-4.58339525e-03 -2.31881699e-03 9.99986808e-01 -8.12976158e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.951400513 meters Centerline goodness [0,1] 0.8805609077285378 Centerline is valid? [False, False] Translation: X:60.33, Y:2.40, Z:-0.01 [[ 9.99979224e-01 4.69405741e-03 4.41784345e-03 6.03315343e+01] [-4.70360218e-03 9.99986621e-01 2.15259929e-03 2.40333740e+00] [-4.40767992e-03 -2.17333435e-03 9.99987924e-01 -8.34858964e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.98140051299998 meters Centerline goodness [0,1] 0.9701518140492323 Centerline is valid? [False, True] Translation: X:60.33, Y:2.40, Z:-0.01 [[ 9.99979646e-01 4.68272892e-03 4.33347093e-03 6.03318378e+01] [-4.69221417e-03 9.99986613e-01 2.18126091e-03 2.40315170e+00] [-4.32319866e-03 -2.20155009e-03 9.99988231e-01 -8.43420032e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.01140051299998 meters Centerline goodness [0,1] 0.99221958072185 Centerline is valid? [True, True] Translation: X:60.36, Y:2.40, Z:-0.01 [[ 9.99984591e-01 2.74376936e-03 4.82600558e-03 6.03628387e+01] [-2.74533605e-03 9.99996181e-01 3.18041192e-04 2.40398188e+00] [-4.82511452e-03 -3.31285299e-04 9.99988304e-01 -7.73566247e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.04140051299999 meters Centerline goodness [0,1] 0.9807683987366417 Centerline is valid? [True, True] Translation: X:60.39, Y:2.41, Z:-0.01 [[ 9.99980800e-01 7.70975238e-04 6.14865516e-03 6.03923450e+01] [-7.73480089e-04 9.99999619e-01 4.05014390e-04 2.41332634e+00] [-6.14834056e-03 -4.09762476e-04 9.99981015e-01 -6.66394442e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.07140051299999 meters Centerline goodness [0,1] 0.9984608047173084 Centerline is valid? [True, True] Translation: X:60.42, Y:2.41, Z:-0.01 [[ 9.99972173e-01 -2.67316681e-03 6.96470935e-03 6.04232249e+01] [ 2.67003605e-03 9.99996330e-01 4.58776659e-04 2.41411522e+00] [-6.96591018e-03 -4.40167868e-04 9.99975641e-01 -5.98096697e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.10140051299999 meters Centerline goodness [0,1] 0.9973527178040578 Centerline is valid? [True, True] Translation: X:60.45, Y:2.42, Z:-0.01 [[ 9.99967191e-01 -4.34921001e-03 6.83385772e-03 6.04523565e+01] [ 4.34623520e-03 9.99990454e-01 4.50094380e-04 2.41837085e+00] [-6.83575004e-03 -4.20378060e-04 9.99976548e-01 -7.08094176e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.13140051299999 meters Centerline goodness [0,1] 0.998884239888424 Centerline is valid? [True, True] Translation: X:60.48, Y:2.42, Z:-0.01 [[ 9.99959920e-01 -6.24838914e-03 6.41210473e-03 6.04836749e+01] [ 6.24580817e-03 9.99980406e-01 4.22461567e-04 2.41510297e+00] [-6.41461879e-03 -3.82395859e-04 9.99979353e-01 -7.72448253e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.16140051299999 meters Centerline goodness [0,1] 0.99892890040916 Centerline is valid? [True, True] Translation: X:60.51, Y:2.41, Z:-0.01 [[ 9.99950360e-01 -8.18624819e-03 5.68009939e-03 6.05141577e+01] [ 8.18425460e-03 9.99966438e-01 3.74133969e-04 2.41469957e+00] [-5.68297151e-03 -3.27628017e-04 9.99983798e-01 -8.94587833e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.19140051299999 meters Centerline goodness [0,1] 0.9985966881841145 Centerline is valid? [True, True] Translation: X:60.54, Y:2.42, Z:-0.01 [[ 9.99939399e-01 -9.90350761e-03 4.80821390e-03 6.05441878e+01] [ 9.90209860e-03 9.99950923e-01 3.16762232e-04 2.41618564e+00] [-4.81111498e-03 -2.69131628e-04 9.99988390e-01 -1.04495131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.22140051299999 meters Centerline goodness [0,1] 0.9984684412614867 Centerline is valid? [True, True] Translation: X:60.57, Y:2.42, Z:-0.01 [[ 9.99930991e-01 -1.06977310e-02 4.85498253e-03 6.05747190e+01] [ 1.06963040e-02 9.99942742e-01 3.19785759e-04 2.41580573e+00] [-4.85812552e-03 -2.67833321e-04 9.99988163e-01 -1.08164335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.251400513 meters Centerline goodness [0,1] 0.9990526225131341 Centerline is valid? [True, True] Translation: X:60.61, Y:2.42, Z:-0.01 [[ 9.99939401e-01 -9.42540853e-03 5.68831770e-03 6.06061706e+01] [ 9.42342936e-03 9.99955528e-01 3.74639179e-04 2.41541889e+00] [-5.69159586e-03 -3.21013016e-04 9.99983751e-01 -9.33359278e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.281400513 meters Centerline goodness [0,1] 0.9981455125716997 Centerline is valid? [True, True] Translation: X:60.64, Y:2.42, Z:-0.01 [[ 9.99949576e-01 -7.11079168e-03 7.09102193e-03 6.06361348e+01] [ 7.10765998e-03 9.99974631e-01 4.66746110e-04 2.41967529e+00] [-7.09416097e-03 -4.16322002e-04 9.99974749e-01 -7.19316002e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.311400513 meters Centerline goodness [0,1] 0.9682186453494652 Centerline is valid? [True, True] Translation: X:60.67, Y:2.43, Z:-0.01 [[ 9.99965845e-01 -3.44265997e-03 7.51380918e-03 6.06652577e+01] [ 3.43904042e-03 9.99993964e-01 4.94586264e-04 2.43391575e+00] [-7.51546652e-03 -4.68729077e-04 9.99971649e-01 -7.36115312e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.34140051299998 meters Centerline goodness [0,1] 0.990227384753863 Centerline is valid? [True, True] Translation: X:60.70, Y:2.43, Z:-0.01 [[ 9.99974542e-01 1.19906609e-03 7.03399473e-03 6.06960636e+01] [-1.20235211e-03 9.99999170e-01 4.62952447e-04 2.43415432e+00] [-7.03343378e-03 -4.71398000e-04 9.99975154e-01 -8.27335070e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.37140051299998 meters Centerline goodness [0,1] 0.9210594370932288 Centerline is valid? [True, False] Translation: X:60.70, Y:2.44, Z:-0.01 [[ 9.99972183e-01 1.33476171e-03 7.33838993e-03 6.06954166e+01] [-1.33204105e-03 9.99999042e-01 -3.75618853e-04 2.43882936e+00] [-7.33888426e-03 3.65833368e-04 9.99973003e-01 -9.13862984e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.40140051299998 meters Centerline goodness [0,1] 0.868137748004195 Centerline is valid? [False, False] Translation: X:60.70, Y:2.44, Z:-0.01 [[ 9.99971355e-01 1.54881358e-03 7.40886866e-03 6.06953386e+01] [-1.54247463e-03 9.99998440e-01 -8.61227623e-04 2.44165202e+00] [-7.41019098e-03 8.49774960e-04 9.99972183e-01 -9.69838014e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.43140051299999 meters Centerline goodness [0,1] 0.8109985466358896 Centerline is valid? [False, False] Translation: X:60.70, Y:2.44, Z:-0.01 [[ 9.99970667e-01 1.51539205e-03 7.50788407e-03 6.06951829e+01] [-1.50560326e-03 9.99998009e-01 -1.30928187e-03 2.44389483e+00] [-7.50985320e-03 1.29793957e-03 9.99970958e-01 -1.01382671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.46140051299999 meters Centerline goodness [0,1] 0.707493921500521 Centerline is valid? [False, False] Translation: X:60.66, Y:2.44, Z:-0.01 [[ 9.99990733e-01 1.30774227e-03 4.10170530e-03 6.06568155e+01] [-1.31114192e-03 9.99998799e-01 8.26259161e-04 2.44294811e+00] [-4.10061984e-03 -8.31629422e-04 9.99991247e-01 -1.15549959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.49140051299999 meters Centerline goodness [0,1] 0.8765355476608312 Centerline is valid? [False, False] Translation: X:60.70, Y:2.45, Z:-0.01 [[ 9.99977634e-01 1.19076818e-03 6.58125596e-03 6.06989134e+01] [-1.17036902e-03 9.99994502e-01 -3.10256808e-03 2.45037203e+00] [-6.58491422e-03 3.09479619e-03 9.99973530e-01 -1.46392673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.52140051299999 meters Centerline goodness [0,1] 0.8597011051755088 Centerline is valid? [False, False] Translation: X:60.67, Y:2.44, Z:-0.01 [[ 9.99998114e-01 -1.62296543e-03 1.06667262e-03 6.06736022e+01] [ 1.61696185e-03 9.99982983e-01 5.60529120e-03 2.43912906e+00] [-1.07575166e-03 -5.60355586e-03 9.99983721e-01 -5.10364989e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.55140051299999 meters Centerline goodness [0,1] 0.9418915686231868 Centerline is valid? [False, False] Translation: X:60.67, Y:2.44, Z:-0.01 [[ 9.99980570e-01 -6.11941727e-03 1.18810709e-03 6.06734839e+01] [ 6.11843710e-03 9.99980940e-01 8.26873657e-04 2.44120053e+00] [-1.19314443e-03 -8.19588232e-04 9.99998952e-01 -5.56560678e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.58140051299999 meters Centerline goodness [0,1] 0.9818562305833621 Centerline is valid? [False, True] Translation: X:60.67, Y:2.44, Z:-0.00 [[ 9.99981224e-01 -6.07084675e-03 8.34970027e-04 6.06742185e+01] [ 6.06954655e-03 9.99980377e-01 1.55099956e-03 2.43742968e+00] [-8.44369523e-04 -1.54590254e-03 9.99998449e-01 -4.66669129e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.61140051299999 meters Centerline goodness [0,1] 0.9914413538222135 Centerline is valid? [True, True] Translation: X:60.70, Y:2.44, Z:-0.01 [[ 9.99954500e-01 -9.47940767e-03 1.06698028e-03 6.07046360e+01] [ 9.47932540e-03 9.99955067e-01 8.21406573e-05 2.43921308e+00] [-1.06771098e-03 -7.20226666e-05 9.99999427e-01 -5.03771930e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.641400513 meters Centerline goodness [0,1] 0.9982946346582711 Centerline is valid? [True, True] Translation: X:60.73, Y:2.44, Z:-0.00 [[ 9.99908222e-01 -1.34301175e-02 1.78337585e-03 6.07345365e+01] [ 1.34298941e-02 9.99909805e-01 1.37214081e-04 2.43859715e+00] [-1.78505780e-03 -1.13250939e-04 9.99998400e-01 -4.90919415e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.671400513 meters Centerline goodness [0,1] 0.9991225183722716 Centerline is valid? [True, True] Translation: X:60.76, Y:2.44, Z:-0.00 [[ 9.99900073e-01 -1.40075865e-02 1.90579896e-03 6.07632708e+01] [ 1.40073337e-02 9.99901882e-01 1.45941055e-04 2.43705014e+00] [-1.90765625e-03 -1.19231309e-04 9.99998173e-01 -4.55663825e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.701400513 meters Centerline goodness [0,1] 0.9975030136042707 Centerline is valid? [True, True] Translation: X:60.79, Y:2.44, Z:-0.00 [[ 9.99905482e-01 -1.35212303e-02 2.49054813e-03 6.07911934e+01] [ 1.35207943e-02 9.99908571e-01 1.91833863e-04 2.44229786e+00] [-2.49291426e-03 -1.58141542e-04 9.99996880e-01 -3.86365700e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.73140051299998 meters Centerline goodness [0,1] 0.9137298642242766 Centerline is valid? [True, False] Translation: X:60.79, Y:2.44, Z:-0.00 [[ 9.99905369e-01 -1.35091447e-02 2.59920104e-03 6.07907743e+01] [ 1.35088541e-02 9.99908743e-01 1.29352106e-04 2.44268951e+00] [-2.60071128e-03 -9.42276377e-05 9.99996614e-01 -3.72446402e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.76140051299998 meters Centerline goodness [0,1] 0.9979893630821118 Centerline is valid? [False, True] Translation: X:60.79, Y:2.45, Z:-0.00 [[ 9.99902765e-01 -1.36646173e-02 2.78170579e-03 6.07902484e+01] [ 1.36656369e-02 9.99906560e-01 -3.47862992e-04 2.44501160e+00] [-2.77669245e-03 3.85842949e-04 9.99996071e-01 -3.85051184e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.79140051299999 meters Centerline goodness [0,1] 0.9950839198700595 Centerline is valid? [True, True] Translation: X:60.82, Y:2.45, Z:-0.00 [[ 9.99953849e-01 -9.24715532e-03 2.60578326e-03 6.08198378e+01] [ 9.24663693e-03 9.99957227e-01 2.10918858e-04 2.45063391e+00] [-2.60762220e-03 -1.86814392e-04 9.99996583e-01 -3.78296883e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.82140051299999 meters Centerline goodness [0,1] 0.983632995532309 Centerline is valid? [True, True] Translation: X:60.85, Y:2.46, Z:-0.01 [[ 9.99974140e-01 -6.94948601e-03 1.85066247e-03 6.08504514e+01] [ 6.94922048e-03 9.99975843e-01 1.49867397e-04 2.45502115e+00] [-1.85165926e-03 -1.37002860e-04 9.99998276e-01 -5.50678479e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.85140051299999 meters Centerline goodness [0,1] 0.857253785427721 Centerline is valid? [True, False] Translation: X:60.85, Y:2.46, Z:-0.01 [[ 9.99974047e-01 -6.97513592e-03 1.80339542e-03 6.08509320e+01] [ 6.97523792e-03 9.99975671e-01 -5.02782472e-05 2.45594538e+00] [-1.80300085e-03 6.28560545e-05 9.99998373e-01 -6.25410991e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.88140051299999 meters Centerline goodness [0,1] 0.8229912575080691 Centerline is valid? [False, False] Translation: X:60.85, Y:2.46, Z:-0.01 [[ 9.99973355e-01 -7.07728056e-03 1.78945576e-03 6.08512771e+01] [ 7.07799909e-03 9.99974872e-01 -3.95518906e-04 2.45755965e+00] [-1.78661159e-03 4.08174134e-04 9.99998321e-01 -6.92130212e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.91140051299999 meters Centerline goodness [0,1] 0.8463874099258024 Centerline is valid? [False, False] Translation: X:60.85, Y:2.45, Z:-0.01 [[ 9.99995668e-01 -2.60889266e-03 1.36268977e-03 6.08520368e+01] [ 2.60213238e-03 9.99984415e-01 4.93941889e-03 2.45246888e+00] [-1.37555495e-03 -4.93585159e-03 9.99986873e-01 -5.69513366e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.94140051299999 meters Centerline goodness [0,1] 0.9423821995194909 Centerline is valid? [False, False] Translation: X:60.83, Y:2.46, Z:-0.01 [[ 9.99995205e-01 -2.34273617e-03 2.02539904e-03 6.08313413e+01] [ 2.35427043e-03 9.99980919e-01 -5.71130664e-03 2.45969119e+00] [-2.01198031e-03 5.71604759e-03 9.99981639e-01 -9.95919630e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.97140051299999 meters Centerline goodness [0,1] 0.9253621621621622 Centerline is valid? [False, False] Translation: X:60.83, Y:2.45, Z:-0.01 [[ 9.99996200e-01 2.12274173e-03 1.75868395e-03 6.08310575e+01] [-2.12235985e-03 9.99997724e-01 -2.18974217e-04 2.45395036e+00] [-1.75914478e-03 2.15240825e-04 9.99998430e-01 -7.47144030e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.001400513 meters Centerline goodness [0,1] 0.9570594297492271 Centerline is valid? [False, True] Translation: X:60.83, Y:2.46, Z:-0.01 [[ 9.99996511e-01 1.98515216e-03 1.74258293e-03 6.08312354e+01] [-1.98420204e-03 9.99997882e-01 -5.46796032e-04 2.45546565e+00] [-1.74366471e-03 5.43336488e-04 9.99998332e-01 -7.71263953e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.031400513 meters Centerline goodness [0,1] 0.8493851792413958 Centerline is valid? [True, False] Translation: X:60.81, Y:2.45, Z:-0.00 [[ 9.99993309e-01 7.28873434e-04 -3.58475347e-03 6.08084045e+01] [-6.92794894e-04 9.99949203e-01 1.00554059e-02 2.44682132e+00] [ 3.59190049e-03 -1.00528552e-02 9.99943018e-01 -9.48851592e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.061400513 meters Centerline goodness [0,1] 0.9702112021444476 Centerline is valid? [False, True] Translation: X:60.81, Y:2.45, Z:-0.00 [[ 9.99986436e-01 -4.01224740e-03 -3.32104833e-03 6.08083273e+01] [ 4.02587480e-03 9.99983463e-01 4.10687716e-03 2.45467092e+00] [ 3.30451560e-03 -4.12019158e-03 9.99986052e-01 -1.84684705e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.09140051299998 meters Centerline goodness [0,1] 0.9901702229681132 Centerline is valid? [True, True] Translation: X:60.84, Y:2.46, Z:-0.00 [[ 9.99980850e-01 -5.60843672e-03 -2.61631817e-03 6.08379369e+01] [ 5.60789473e-03 9.99984253e-01 -2.14447350e-04 2.45679640e+00] [ 2.61747969e-03 1.99771207e-04 9.99996554e-01 -2.70795119e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.12140051299998 meters Centerline goodness [0,1] 0.9929121057765254 Centerline is valid? [True, True] Translation: X:60.87, Y:2.46, Z:-0.00 [[ 9.99968924e-01 -7.52044532e-03 -2.36513993e-03 6.08669206e+01] [ 7.52000759e-03 9.99971706e-01 -1.93915719e-04 2.45758054e+00] [ 2.36653134e-03 1.76123823e-04 9.99997184e-01 -2.19127771e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.15140051299998 meters Centerline goodness [0,1] 0.9834374732517333 Centerline is valid? [True, True] Translation: X:60.90, Y:2.46, Z:-0.00 [[ 9.99914227e-01 -1.30469662e-02 -1.14673882e-03 6.08960614e+01] [ 1.30468669e-02 9.99914882e-01 -9.40234385e-05 2.46073880e+00] [ 1.14786793e-03 7.90540251e-05 9.99999338e-01 -8.84158968e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.18140051299999 meters Centerline goodness [0,1] 0.9993727288458211 Centerline is valid? [True, True] Translation: X:60.93, Y:2.45, Z:-0.00 [[ 9.99873024e-01 -1.59150342e-02 -8.04782044e-04 6.09275133e+01] [ 1.59149863e-02 9.99873346e-01 -6.59870060e-05 2.44918283e+00] [ 8.05730301e-04 5.31705321e-05 9.99999674e-01 -3.62560373e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.21140051299999 meters Centerline goodness [0,1] 0.9988274888720009 Centerline is valid? [True, True] Translation: X:60.96, Y:2.45, Z:-0.00 [[ 9.99831413e-01 -1.83375783e-02 -9.37779610e-04 6.09564075e+01] [ 1.83375142e-02 9.99831851e-01 -7.69127945e-05 2.45353100e+00] [ 9.39032318e-04 5.97032811e-05 9.99999557e-01 -1.07400669e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.24140051299999 meters Centerline goodness [0,1] 0.9992420797332121 Centerline is valid? [True, True] Translation: X:60.99, Y:2.45, Z:-0.00 [[ 9.99798108e-01 -2.00488034e-02 -1.33776568e-03 6.09860761e+01] [ 2.00486744e-02 9.99798999e-01 -1.09748952e-04 2.45247106e+00] [ 1.33969712e-03 8.29063658e-05 9.99999099e-01 -1.45271302e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.27140051299999 meters Centerline goodness [0,1] 0.9994382993432424 Centerline is valid? [True, True] Translation: X:61.01, Y:2.45, Z:-0.00 [[ 9.99779803e-01 -2.09387633e-02 -1.38372763e-03 6.10146588e+01] [ 2.09386258e-02 9.99780756e-01 -1.13791594e-04 2.45266212e+00] [ 1.38580692e-03 8.47931826e-05 9.99999036e-01 -5.35655317e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.30140051299999 meters Centerline goodness [0,1] 0.9994389417578387 Centerline is valid? [True, True] Translation: X:61.04, Y:2.46, Z:0.00 [[ 9.99777349e-01 -2.10846322e-02 -8.30725543e-04 6.10419553e+01] [ 2.10845827e-02 9.99777693e-01 -6.83510624e-05 2.45514133e+00] [ 8.31982024e-04 5.08203426e-05 9.99999653e-01 1.85590606e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.33140051299999 meters Centerline goodness [0,1] 0.9991792479319208 Centerline is valid? [True, True] Translation: X:61.07, Y:2.46, Z:0.00 [[ 9.99781618e-01 -2.08965344e-02 -2.25065456e-04 6.10710707e+01] [ 2.08965308e-02 9.99781643e-01 -1.86008473e-05 2.45838054e+00] [ 2.25405005e-04 1.38936980e-05 9.99999974e-01 3.28829405e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.36140051299999 meters Centerline goodness [0,1] 0.9991433038487074 Centerline is valid? [True, True] Translation: X:61.10, Y:2.46, Z:0.00 [[ 9.99785962e-01 -2.06772051e-02 6.94987773e-04 6.10984081e+01] [ 2.06771702e-02 9.99786203e-01 5.73016397e-05 2.46275605e+00] [-6.96024024e-04 -4.29189945e-05 9.99999757e-01 4.16280515e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.391400513 meters Centerline goodness [0,1] 0.9991433038487074 Centerline is valid? [True, True] Translation: X:61.13, Y:2.47, Z:0.00 [[ 9.99782173e-01 -2.08596303e-02 6.94980578e-04 6.11258903e+01] [ 2.08595955e-02 9.99782413e-01 5.73888003e-05 2.46515516e+00] [-6.96026469e-04 -4.28792858e-05 9.99999757e-01 4.15404856e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.421400513 meters Centerline goodness [0,1] 0.9991433038487074 Centerline is valid? [True, True] Translation: X:61.15, Y:2.47, Z:0.00 [[ 9.99778350e-01 -2.10420549e-02 6.94970090e-04 6.11533720e+01] [ 2.10420200e-02 9.99778591e-01 5.75156083e-05 2.46755926e+00] [-6.96026463e-04 -4.28792855e-05 9.99999757e-01 4.14530304e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.451400513 meters Centerline goodness [0,1] 0.9996326151319344 Centerline is valid? [True, True] Translation: X:61.18, Y:2.47, Z:0.00 [[ 9.99769338e-01 -2.14748300e-02 3.20237913e-04 6.11829412e+01] [ 2.14748226e-02 9.99769389e-01 2.65301999e-05 2.46660741e+00] [-3.20733794e-04 -1.96470280e-05 9.99999948e-01 3.06685975e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.48140051299998 meters Centerline goodness [0,1] 0.9993315219735196 Centerline is valid? [True, True] Translation: X:61.21, Y:2.47, Z:0.00 [[ 9.99759730e-01 -2.19112773e-02 -6.14908410e-04 6.12109993e+01] [ 2.19112500e-02 9.99759918e-01 -5.11879397e-05 2.47104529e+00] [ 6.15882375e-04 3.77022288e-05 9.99999810e-01 1.53906305e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.51140051299998 meters Centerline goodness [0,1] 0.9977869385983944 Centerline is valid? [True, True] Translation: X:61.24, Y:2.48, Z:-0.00 [[ 9.99735478e-01 -2.29210082e-02 -1.89792780e-03 6.12387030e+01] [ 2.29207490e-02 9.99737273e-01 -1.58181456e-04 2.47987822e+00] [ 1.90105484e-03 1.14637687e-04 9.99998186e-01 -1.00938440e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.54140051299999 meters Centerline goodness [0,1] 0.9996100519930676 Centerline is valid? [True, True] Translation: X:61.27, Y:2.48, Z:-0.00 [[ 9.99684374e-01 -2.49327774e-02 -3.08374492e-03 6.12694730e+01] [ 2.49321030e-02 9.99689114e-01 -2.56971679e-04 2.47515699e+00] [ 3.08919325e-03 1.80006326e-04 9.99995212e-01 -1.97763349e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.57140051299999 meters Centerline goodness [0,1] 0.9995216039315459 Centerline is valid? [True, True] Translation: X:61.30, Y:2.48, Z:-0.00 [[ 9.99616328e-01 -2.74646679e-02 -3.59010875e-03 6.12982126e+01] [ 2.74637697e-02 9.99622755e-01 -2.99255280e-04 2.47791930e+00] [ 3.59697335e-03 2.00542544e-04 9.99993511e-01 -2.76334809e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.60140051299999 meters Centerline goodness [0,1] 0.9995029391424619 Centerline is valid? [True, True] Translation: X:61.33, Y:2.48, Z:-0.00 [[ 9.99523782e-01 -3.07064693e-02 -3.05334659e-03 6.13268446e+01] [ 3.07058345e-02 9.99528432e-01 -2.54553795e-04 2.48410565e+00] [ 3.05972318e-03 1.60677016e-04 9.99995306e-01 -2.64118521e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.63140051299999 meters Centerline goodness [0,1] 0.9997007779772591 Centerline is valid? [True, True] Translation: X:61.36, Y:2.48, Z:-0.00 [[ 9.99283509e-01 -3.78031213e-02 -1.84173884e-03 6.13574470e+01] [ 3.78029024e-02 9.99285203e-01 -1.53545179e-04 2.48020322e+00] [ 1.84622686e-03 8.38120920e-05 9.99998292e-01 -6.45910628e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.66140051299999 meters Centerline goodness [0,1] 0.9998265545052467 Centerline is valid? [True, True] Translation: X:61.39, Y:2.48, Z:-0.00 [[ 9.99176277e-01 -4.05370000e-02 -1.87585953e-03 6.13871149e+01] [ 4.05367776e-02 9.99178035e-01 -1.56441022e-04 2.48019660e+00] [ 1.88065929e-03 8.02708573e-05 9.99998228e-01 -7.74374018e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.69140051299999 meters Centerline goodness [0,1] 0.9998491054106489 Centerline is valid? [True, True] Translation: X:61.42, Y:2.48, Z:-0.00 [[ 9.99079602e-01 -4.28431103e-02 -2.10142425e-03 6.14160234e+01] [ 4.28428361e-02 9.99081809e-01 -1.75301023e-04 2.48452456e+00] [ 2.10700519e-03 8.51087012e-05 9.99997777e-01 -1.57295539e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.72140051299999 meters Centerline goodness [0,1] 0.9998703571660077 Centerline is valid? [True, True] Translation: X:61.44, Y:2.49, Z:-0.00 [[ 9.98992123e-01 -4.48198890e-02 -2.43221579e-03 6.14447266e+01] [ 4.48195274e-02 9.98995079e-01 -2.03015644e-04 2.48583968e+00] [ 2.43887075e-03 9.38002668e-05 9.99997022e-01 -2.51456450e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.751400513 meters Centerline goodness [0,1] 0.9997834372834373 Centerline is valid? [True, True] Translation: X:61.47, Y:2.49, Z:-0.00 [[ 9.98910437e-01 -4.65928192e-02 -2.65463063e-03 6.14734183e+01] [ 4.65923944e-02 9.98913960e-01 -2.21706795e-04 2.48649989e+00] [ 2.66207754e-03 9.77796345e-05 9.99996452e-01 -2.81334010e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.781400513 meters Centerline goodness [0,1] 0.999806514027733 Centerline is valid? [True, True] Translation: X:61.50, Y:2.50, Z:-0.01 [[ 9.98756071e-01 -4.97222602e-02 -3.74273241e-03 6.15014988e+01] [ 4.97214372e-02 9.98763075e-01 -3.12657456e-04 2.49680124e+00] [ 3.75364897e-03 1.26174497e-04 9.99992947e-01 -5.19839129e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.811400513 meters Centerline goodness [0,1] 0.9998918498010037 Centerline is valid? [True, True] Translation: X:61.53, Y:2.50, Z:-0.01 [[ 9.98690861e-01 -5.09372174e-02 -4.68651055e-03 6.15302928e+01] [ 5.09359367e-02 9.98701846e-01 -3.92303135e-04 2.50016934e+00] [ 4.70040956e-03 1.53077751e-04 9.99988941e-01 -6.33129250e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.84140051299998 meters Centerline goodness [0,1] 0.9999783070849061 Centerline is valid? [True, True] Translation: X:61.56, Y:2.50, Z:-0.01 [[ 9.98626147e-01 -5.21180315e-02 -5.43409006e-03 6.15586140e+01] [ 5.21163222e-02 9.98640917e-01 -4.55780657e-04 2.50281224e+00] [ 5.45045907e-03 1.71949694e-04 9.99985131e-01 -7.23478513e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.87140051299998 meters Centerline goodness [0,1] 0.9998909392313396 Centerline is valid? [True, True] Translation: X:61.59, Y:2.51, Z:-0.01 [[ 9.98573211e-01 -5.30881316e-02 -5.76128769e-03 6.15860464e+01] [ 5.30862246e-02 9.98589815e-01 -4.83529398e-04 2.50689606e+00] [ 5.77883288e-03 1.76994492e-04 9.99983287e-01 -7.72058487e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.90140051299998 meters Centerline goodness [0,1] 0.9998263059620478 Centerline is valid? [True, True] Translation: X:61.62, Y:2.51, Z:-0.01 [[ 9.98358909e-01 -5.71216535e-02 -4.07496005e-03 6.16162988e+01] [ 5.71207322e-02 9.98367219e-01 -3.42210628e-04 2.51039897e+00] [ 4.08785417e-03 1.08884328e-04 9.99991639e-01 -5.50538896e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.93140051299999 meters Centerline goodness [0,1] 0.9998255636474641 Centerline is valid? [True, True] Translation: X:61.65, Y:2.51, Z:-0.00 [[ 9.98178273e-01 -6.02395088e-02 -3.36714795e-03 6.16456299e+01] [ 6.02388956e-02 9.98183949e-01 -2.83328513e-04 2.51230766e+00] [ 3.37810061e-03 7.99790918e-05 9.99994291e-01 -4.39593386e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.96140051299999 meters Centerline goodness [0,1] 0.9999138153925708 Centerline is valid? [True, True] Translation: X:61.67, Y:2.52, Z:-0.00 [[ 9.97990703e-01 -6.32862657e-02 -3.06678523e-03 6.16733110e+01] [ 6.32857709e-02 9.97995413e-01 -2.58210834e-04 2.51536787e+00] [ 3.07697879e-03 6.36081444e-05 9.99995264e-01 -4.11197025e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.99140051299999 meters Centerline goodness [0,1] 0.9998693009780644 Centerline is valid? [True, True] Translation: X:61.70, Y:2.52, Z:-0.00 [[ 9.97793276e-01 -6.63009475e-02 -3.57255836e-03 6.17020374e+01] [ 6.63002933e-02 9.97799669e-01 -3.01380036e-04 2.51633875e+00] [ 3.58467934e-03 6.38533059e-05 9.99993573e-01 -4.56403895e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.02140051299999 meters Centerline goodness [0,1] 0.9998072309801234 Centerline is valid? [True, True] Translation: X:61.73, Y:2.52, Z:-0.01 [[ 9.97617482e-01 -6.88897142e-02 -3.68324379e-03 6.17292779e+01] [ 6.88890357e-02 9.97624280e-01 -3.10906507e-04 2.52230421e+00] [ 3.69591169e-03 5.64306540e-05 9.99993169e-01 -5.62782233e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.05140051299999 meters Centerline goodness [0,1] 0.999828374058739 Centerline is valid? [True, True] Translation: X:61.76, Y:2.52, Z:-0.00 [[ 9.97429567e-01 -7.16051110e-02 -2.63950048e-03 6.17585087e+01] [ 7.16047708e-02 9.97433059e-01 -2.23265512e-04 2.52238064e+00] [ 2.64871199e-03 3.36907963e-05 9.99996492e-01 -3.79402051e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.08140051299999 meters Centerline goodness [0,1] 0.9998263436658852 Centerline is valid? [True, True] Translation: X:61.79, Y:2.52, Z:0.00 [[ 9.97030999e-01 -7.69993986e-02 5.29369872e-04 6.17874853e+01] [ 7.69993857e-02 9.97031139e-01 4.47776603e-05 2.51944648e+00] [-5.31246099e-04 -3.88356047e-06 9.99999859e-01 1.58932956e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.11140051299999 meters Centerline goodness [0,1] 0.9997642015005359 Centerline is valid? [True, True] Translation: X:61.82, Y:2.52, Z:0.00 [[ 9.96812371e-01 -7.97742073e-02 1.08285300e-03 6.18151453e+01] [ 7.97741548e-02 9.96812959e-01 9.16736432e-05 2.52111727e+00] [-1.08671510e-03 -4.99773851e-06 9.99999410e-01 2.71198986e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.141400513 meters Centerline goodness [0,1] 0.9998278014550777 Centerline is valid? [True, True] Translation: X:61.84, Y:2.52, Z:0.00 [[ 9.96594314e-01 -8.24586754e-02 5.82960645e-04 6.18440785e+01] [ 8.24586606e-02 9.96594485e-01 4.94061981e-05 2.52226985e+00] [-5.85049333e-04 -1.16778220e-06 9.99999829e-01 2.14296510e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.171400513 meters Centerline goodness [0,1] 0.9998057120652808 Centerline is valid? [True, True] Translation: X:61.87, Y:2.52, Z:0.00 [[ 9.96396256e-01 -8.48196745e-02 -3.50678327e-04 6.18720006e+01] [ 8.48196693e-02 9.96396318e-01 -2.98773905e-05 2.52264607e+00] [ 3.51948784e-04 2.53003382e-08 9.99999938e-01 7.29654697e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.201400513 meters Centerline goodness [0,1] 0.9996526420910946 Centerline is valid? [True, True] Translation: X:61.90, Y:2.52, Z:0.00 [[ 9.96216047e-01 -8.69089194e-02 -6.54400297e-04 6.18999948e+01] [ 8.69089015e-02 9.96216262e-01 -5.58343662e-05 2.52332737e+00] [ 6.56776722e-04 -1.25011946e-06 9.99999784e-01 7.52026540e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.23140051299998 meters Centerline goodness [0,1] 0.9996579296190191 Centerline is valid? [True, True] Translation: X:61.93, Y:2.52, Z:0.00 [[ 9.96100150e-01 -8.82296067e-02 1.69236890e-04 6.19278398e+01] [ 8.82296055e-02 9.96100164e-01 1.44142194e-05 2.52469827e+00] [-1.69848655e-04 5.73697880e-07 9.99999986e-01 1.90275945e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.26140051299998 meters Centerline goodness [0,1] 0.9998056281450446 Centerline is valid? [True, True] Translation: X:61.96, Y:2.53, Z:0.00 [[ 9.95942467e-01 -8.99893510e-02 7.20963193e-04 6.19565598e+01] [ 8.99893300e-02 9.95942728e-01 6.15579742e-05 2.53221765e+00] [-7.23577611e-04 3.57079399e-06 9.99999738e-01 3.22126548e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.29140051299999 meters Centerline goodness [0,1] 0.9998273592438335 Centerline is valid? [True, True] Translation: X:61.98, Y:2.54, Z:0.00 [[ 9.95907680e-01 -9.03760818e-02 2.37088665e-04 6.19828544e+01] [ 9.03760796e-02 9.95907708e-01 2.02543496e-05 2.53835426e+00] [-2.37948938e-04 1.25568180e-06 9.99999972e-01 2.07254247e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.32140051299999 meters Centerline goodness [0,1] 0.9999784969358133 Centerline is valid? [True, True] Translation: X:62.01, Y:2.54, Z:0.00 [[ 9.95851633e-01 -9.09908145e-02 -4.43849260e-04 6.20104779e+01] [ 9.09908065e-02 9.95851732e-01 -3.81152615e-05 2.54393835e+00] [ 4.45476192e-04 -2.42905673e-06 9.99999901e-01 1.00468483e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.35140051299999 meters Centerline goodness [0,1] 0.9999140948822026 Centerline is valid? [True, True] Translation: X:62.04, Y:2.55, Z:-0.00 [[ 9.95775776e-01 -9.18080995e-02 -1.37002875e-03 6.20383315e+01] [ 9.18080247e-02 9.95776718e-01 -1.17562502e-04 2.54791294e+00] [ 1.37503592e-03 -8.71374174e-06 9.99999055e-01 -6.25100253e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.38140051299999 meters Centerline goodness [0,1] 0.9997421572840567 Centerline is valid? [True, True] Translation: X:62.07, Y:2.55, Z:-0.00 [[ 9.95613220e-01 -9.35462770e-02 -1.84646296e-03 6.20671769e+01] [ 9.35461434e-02 9.95614933e-01 -1.58784441e-04 2.55169114e+00] [ 1.85321979e-03 -1.46415999e-05 9.99998283e-01 -1.86945903e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.41140051299999 meters Centerline goodness [0,1] 0.999783084965619 Centerline is valid? [True, True] Translation: X:62.10, Y:2.56, Z:-0.00 [[ 9.95258489e-01 -9.72371978e-02 -2.33830114e-03 6.20955563e+01] [ 9.72369928e-02 9.95261235e-01 -2.01471071e-04 2.55902166e+00] [ 2.34681096e-03 -2.68535774e-05 9.99997246e-01 -3.19345649e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.44140051299999 meters Centerline goodness [0,1] 0.9997843898231996 Centerline is valid? [True, True] Translation: X:62.12, Y:2.56, Z:-0.00 [[ 9.95096645e-01 -9.88818503e-02 -2.24637443e-03 6.21227055e+01] [ 9.88816649e-02 9.95099180e-01 -1.93687528e-04 2.56265163e+00] [ 2.25451753e-03 -2.93874341e-05 9.99997458e-01 -2.90303774e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.47140051299999 meters Centerline goodness [0,1] 0.999610634017608 Centerline is valid? [True, True] Translation: X:62.15, Y:2.57, Z:-0.00 [[ 9.94937055e-01 -1.00475629e-01 -2.21445744e-03 6.21508948e+01] [ 1.00475453e-01 9.94939519e-01 -1.91065859e-04 2.56594629e+00] [ 2.22244868e-03 -3.24001099e-05 9.99997530e-01 -2.48087426e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.501400513 meters Centerline goodness [0,1] 0.9997159152990538 Centerline is valid? [True, True] Translation: X:62.18, Y:2.57, Z:-0.00 [[ 9.94802240e-01 -1.01785488e-01 -2.86664848e-03 6.21790864e+01] [ 1.01785197e-01 9.94806369e-01 -2.47505581e-04 2.56943525e+00] [ 2.87695264e-03 -4.55632735e-05 9.99995861e-01 -2.64674931e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.531400513 meters Centerline goodness [0,1] 0.9997412622091895 Centerline is valid? [True, True] Translation: X:62.21, Y:2.57, Z:-0.00 [[ 9.94680763e-01 -1.02938463e-01 -3.72201136e-03 6.22080450e+01] [ 1.02937978e-01 9.94687724e-01 -3.22022784e-04 2.57374371e+00] [ 3.73538754e-03 -6.28264561e-05 9.99993021e-01 -3.93750334e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.561400513 meters Centerline goodness [0,1] 0.9998270718948598 Centerline is valid? [True, True] Translation: X:62.24, Y:2.58, Z:-0.01 [[ 9.94611527e-01 -1.03563212e-01 -4.75086945e-03 6.22361963e+01] [ 1.03562429e-01 9.94622870e-01 -4.11277298e-04 2.57644269e+00] [ 4.76791660e-03 -8.29504379e-05 9.99988630e-01 -6.34628026e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.59140051299998 meters Centerline goodness [0,1] 0.9997395437674994 Centerline is valid? [True, True] Translation: X:62.26, Y:2.59, Z:-0.01 [[ 9.94736327e-01 -1.02349451e-01 -4.92235798e-03 6.22639276e+01] [ 1.02348591e-01 9.94748503e-01 -4.26991037e-04 2.58688606e+00] [ 4.94021052e-03 -7.90529087e-05 9.99987794e-01 -6.92610421e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.62140051299998 meters Centerline goodness [0,1] 0.9997395437674994 Centerline is valid? [True, True] Translation: X:62.29, Y:2.59, Z:-0.01 [[ 9.94716632e-01 -1.02540695e-01 -4.92227514e-03 6.22913459e+01] [ 1.02539833e-01 9.94728807e-01 -4.27944970e-04 2.58943801e+00] [ 4.94021065e-03 -7.90452903e-05 9.99987794e-01 -6.93483627e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.65140051299998 meters Centerline goodness [0,1] 0.9998495723556969 Centerline is valid? [True, True] Translation: X:62.32, Y:2.60, Z:-0.01 [[ 9.94922021e-01 -1.00557638e-01 -4.28184021e-03 6.23185125e+01] [ 1.00556966e-01 9.94931233e-01 -3.72488409e-04 2.59566219e+00] [ 4.29759312e-03 -5.99719403e-05 9.99990764e-01 -6.50962328e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.68140051299999 meters Centerline goodness [0,1] 0.9999564241671569 Centerline is valid? [True, True] Translation: X:62.35, Y:2.61, Z:-0.01 [[ 9.95499390e-01 -9.46419120e-02 -4.88596613e-03 6.23464997e+01] [ 9.46409646e-02 9.95511380e-01 -4.25272789e-04 2.60984637e+00] [ 4.90428351e-03 -3.90537450e-05 9.99987973e-01 -6.31567655e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.71140051299999 meters Centerline goodness [0,1] 0.9996786081590675 Centerline is valid? [True, True] Translation: X:62.37, Y:2.62, Z:-0.01 [[ 9.95808155e-01 -9.12692390e-02 -6.00362518e-03 6.23747396e+01] [ 9.12677408e-02 9.95826253e-01 -5.23614081e-04 2.61779902e+00] [ 6.02635742e-03 -2.65181343e-05 9.99981841e-01 -6.91398322e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.74140051299999 meters Centerline goodness [0,1] 0.9997617861706044 Centerline is valid? [True, True] Translation: X:62.40, Y:2.63, Z:-0.01 [[ 9.96113596e-01 -8.78184905e-02 -6.75405319e-03 6.24018290e+01] [ 8.78165062e-02 9.96136493e-01 -5.90373573e-04 2.62584928e+00] [ 6.77980457e-03 -5.03821093e-06 9.99977017e-01 -7.57242482e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.77140051299999 meters Centerline goodness [0,1] 0.9998066968792285 Centerline is valid? [True, True] Translation: X:62.43, Y:2.64, Z:-0.01 [[ 9.96680052e-01 -8.12263748e-02 -5.58113539e-03 6.24286246e+01] [ 8.12249147e-02 9.96695678e-01 -4.88152358e-04 2.64074073e+00] [ 5.60234437e-03 3.32044722e-05 9.99984306e-01 -6.92479519e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.80140051299999 meters Centerline goodness [0,1] 0.9998475111643612 Centerline is valid? [True, True] Translation: X:62.46, Y:2.65, Z:-0.00 [[ 9.96924787e-01 -7.82508937e-02 -4.21500655e-03 6.24565935e+01] [ 7.82500327e-02 9.96933697e-01 -3.69060680e-04 2.64657426e+00] [ 4.23096139e-03 3.81013398e-05 9.99991049e-01 -3.74948596e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.83140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.48, Y:2.65, Z:-0.00 [[ 9.97129658e-01 -7.56548048e-02 -2.96563102e-03 6.24838189e+01] [ 7.56543666e-02 9.97134068e-01 -2.59843693e-04 2.65237603e+00] [ 2.97679015e-03 3.47349162e-05 9.99995569e-01 -1.70317176e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.86140051299999 meters Centerline goodness [0,1] 0.999871122948707 Centerline is valid? [True, True] Translation: X:62.51, Y:2.66, Z:-0.00 [[ 9.97353437e-01 -7.26457431e-02 -2.95267398e-03 6.25116665e+01] [ 7.26452949e-02 9.97357806e-01 -2.58886331e-04 2.65861949e+00] [ 2.96367943e-03 4.37032997e-05 9.99995607e-01 -1.23080367e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.891400513 meters Centerline goodness [0,1] 0.9999351547639633 Centerline is valid? [True, True] Translation: X:62.54, Y:2.67, Z:-0.00 [[ 9.97506332e-01 -7.05108006e-02 -3.05705108e-03 6.25401386e+01] [ 7.05103084e-02 9.97511015e-01 -2.68598960e-04 2.66546096e+00] [ 3.06838125e-03 5.23755485e-05 9.99995291e-01 -9.97963680e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.921400513 meters Centerline goodness [0,1] 0.9998912428764084 Centerline is valid? [True, True] Translation: X:62.57, Y:2.68, Z:-0.00 [[ 9.97658875e-01 -6.82904150e-02 -3.63157558e-03 6.25674669e+01] [ 6.82897051e-02 9.97665482e-01 -3.19253389e-04 2.67505513e+00] [ 3.64489955e-03 7.05067514e-05 9.99993355e-01 -1.67951639e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.951400513 meters Centerline goodness [0,1] 0.9999352037840991 Centerline is valid? [True, True] Translation: X:62.59, Y:2.69, Z:-0.00 [[ 9.97951999e-01 -6.38087207e-02 -4.50064565e-03 6.25945944e+01] [ 6.38075839e-02 9.97962141e-01 -3.95862881e-04 2.69151212e+00] [ 4.51673348e-03 1.07876828e-04 9.99989794e-01 -3.85580857e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.98140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.62, Y:2.69, Z:-0.00 [[ 9.98029888e-01 -6.25797871e-02 -4.48474350e-03 6.26230450e+01] [ 6.25786447e-02 9.98039958e-01 -3.94750491e-04 2.69112972e+00] [ 4.50065661e-03 1.13323618e-04 9.99989866e-01 -2.20498586e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.01140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.65, Y:2.70, Z:-0.00 [[ 9.98062347e-01 -6.21210136e-02 -3.53994006e-03 6.26506741e+01] [ 6.21202977e-02 9.98068621e-01 -3.11933096e-04 2.70018293e+00] [ 3.55248070e-03 9.14265476e-05 9.99993686e-01 -1.47579659e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.04140051299999 meters Centerline goodness [0,1] 0.9999350817969359 Centerline is valid? [True, True] Translation: X:62.68, Y:2.70, Z:-0.00 [[ 9.98051135e-01 -6.23395273e-02 -2.77772159e-03 6.26784207e+01] [ 6.23390867e-02 9.98054998e-01 -2.45017215e-04 2.70485757e+00] [ 2.78759317e-03 7.13790824e-05 9.99996112e-01 -2.07622586e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.07140051299999 meters Centerline goodness [0,1] 0.9998926416593306 Centerline is valid? [True, True] Translation: X:62.71, Y:2.70, Z:0.00 [[ 9.97960081e-01 -6.38024589e-02 -2.21889847e-03 6.27072909e+01] [ 6.38021804e-02 9.97962546e-01 -1.96125345e-04 2.70464041e+00] [ 2.22689085e-03 5.41547047e-05 9.99997519e-01 9.53690932e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.10140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.74, Y:2.70, Z:-0.00 [[ 9.97816567e-01 -6.59815362e-02 -2.92152852e-03 6.27361380e+01] [ 6.59810614e-02 9.97820842e-01 -2.58703428e-04 2.70396569e+00] [ 2.93223170e-03 6.53730141e-05 9.99995699e-01 -2.07729476e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.13140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.77, Y:2.70, Z:-0.00 [[ 9.97540255e-01 -6.98534931e-02 -5.82485186e-03 6.27658712e+01] [ 6.98516706e-02 9.97557255e-01 -5.15983902e-04 2.69818526e+00] [ 5.84666651e-03 1.07839080e-04 9.99982902e-01 -4.03625504e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.16140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.79, Y:2.70, Z:-0.00 [[ 9.97479769e-01 -7.07249978e-02 -5.66430806e-03 6.27944624e+01] [ 7.07232832e-02 9.97495847e-01 -5.02684229e-04 2.70027012e+00] [ 5.68567610e-03 1.00818886e-04 9.99983831e-01 -3.15326347e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.19140051299999 meters Centerline goodness [0,1] 0.9999135490285072 Centerline is valid? [True, True] Translation: X:62.82, Y:2.70, Z:-0.00 [[ 9.97514348e-01 -7.03223652e-02 -4.45980243e-03 6.28225359e+01] [ 7.03212942e-02 9.97524315e-01 -3.96680175e-04 2.70418451e+00] [ 4.47665685e-03 8.20750875e-05 9.99989976e-01 -1.15867835e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.22140051299999 meters Centerline goodness [0,1] 0.9998703151342239 Centerline is valid? [True, True] Translation: X:62.85, Y:2.71, Z:0.00 [[ 9.97594033e-01 -6.92516680e-02 -3.21744501e-03 6.28509347e+01] [ 6.92511033e-02 9.97599219e-01 -2.86736148e-04 2.70890191e+00] [ 3.22957759e-03 6.32346537e-05 9.99994783e-01 1.01843975e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.251400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.88, Y:2.71, Z:0.00 [[ 9.97694958e-01 -6.77996346e-02 -2.82497329e-03 6.28798794e+01] [ 6.77991920e-02 9.97698956e-01 -2.52252306e-04 2.71338472e+00] [ 2.83557551e-03 6.01399478e-05 9.99995978e-01 2.20682652e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.281400513 meters Centerline goodness [0,1] 0.9999784203711696 Centerline is valid? [True, True] Translation: X:62.91, Y:2.72, Z:0.00 [[ 9.97884225e-01 -6.49426212e-02 -3.08695132e-03 6.29093805e+01] [ 6.49420790e-02 9.97888997e-01 -2.75669002e-04 2.71889824e+00] [ 3.09833742e-03 7.46127118e-05 9.99995197e-01 1.73120269e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.311400513 meters Centerline goodness [0,1] 0.9999784203711696 Centerline is valid? [True, True] Translation: X:62.94, Y:2.72, Z:0.00 [[ 9.97871654e-01 -6.51354993e-02 -3.08689320e-03 6.29367848e+01] [ 6.51349560e-02 9.97876426e-01 -2.76319141e-04 2.72149595e+00] [ 3.09833613e-03 7.46663859e-05 9.99995197e-01 1.72246140e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.34140051299998 meters Centerline goodness [0,1] 0.9999567062083298 Centerline is valid? [True, True] Translation: X:62.97, Y:2.73, Z:0.00 [[ 9.98196947e-01 -5.99033331e-02 -3.80080601e-03 6.29650248e+01] [ 5.99024714e-02 9.98204177e-01 -3.40247815e-04 2.73259744e+00] [ 3.81436241e-03 1.11956657e-04 9.99992719e-01 1.60533883e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.37140051299998 meters Centerline goodness [0,1] 0.9999572476005216 Centerline is valid? [True, True] Translation: X:62.99, Y:2.74, Z:-0.00 [[ 9.98317408e-01 -5.78477045e-02 -3.99960144e-03 6.29925114e+01] [ 5.78467330e-02 9.98325411e-01 -3.58248330e-04 2.74238712e+00] [ 4.01362759e-03 1.26281668e-04 9.99991937e-01 -7.79733125e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.40140051299998 meters Centerline goodness [0,1] 0.99753731826921 Centerline is valid? [True, True] Translation: X:63.02, Y:2.78, Z:-0.00 [[ 9.98352445e-01 -5.71187239e-02 -5.46316222e-03 6.30228063e+01] [ 5.71049441e-02 9.98364675e-01 -2.64601623e-03 2.77711735e+00] [ 5.60536525e-03 2.32968320e-03 9.99981576e-01 -2.29895207e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.43140051299999 meters Centerline goodness [0,1] 0.9998710148977793 Centerline is valid? [True, True] Translation: X:63.05, Y:2.74, Z:-0.00 [[ 9.98350359e-01 -5.71193233e-02 -5.82610882e-03 6.30507854e+01] [ 5.71298476e-02 9.98365383e-01 1.65611345e-03 2.74389921e+00] [ 5.72198928e-03 -1.98622617e-03 9.99981657e-01 -1.85554906e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.46140051299999 meters Centerline goodness [0,1] 0.9999780980332034 Centerline is valid? [True, True] Translation: X:63.08, Y:2.74, Z:-0.00 [[ 9.98286324e-01 -5.82118612e-02 -5.98281054e-03 6.30793323e+01] [ 5.82096679e-02 9.98304234e-01 -5.40236111e-04 2.74455450e+00] [ 6.00411324e-03 1.91052908e-04 9.99981957e-01 -1.51187269e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.49140051299999 meters Centerline goodness [0,1] 0.9998914270824285 Centerline is valid? [True, True] Translation: X:63.11, Y:2.75, Z:-0.00 [[ 9.98258333e-01 -5.87375099e-02 -5.49591707e-03 6.31073053e+01] [ 5.87356653e-02 9.98273447e-01 -4.96577686e-04 2.74806211e+00] [ 5.51559582e-03 1.72906468e-04 9.99984774e-01 -9.91074053e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.52140051299999 meters Centerline goodness [0,1] 0.999935754668494 Centerline is valid? [True, True] Translation: X:63.13, Y:2.76, Z:-0.00 [[ 9.98332722e-01 -5.73957444e-02 -6.12417409e-03 6.31340163e+01] [ 5.73934264e-02 9.98351485e-01 -5.53712573e-04 2.75902774e+00] [ 6.14585905e-03 2.01302044e-04 9.99981094e-01 -3.47913062e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.55140051299999 meters Centerline goodness [0,1] 0.9999142863265262 Centerline is valid? [True, True] Translation: X:63.16, Y:2.76, Z:-0.00 [[ 9.98419348e-01 -5.57910427e-02 -6.79443207e-03 6.31635637e+01] [ 5.57881515e-02 9.98442439e-01 -6.14462873e-04 2.76080883e+00] [ 6.81813085e-03 2.34442816e-04 9.99976729e-01 -4.41337822e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.58140051299999 meters Centerline goodness [0,1] 0.9999140321090073 Centerline is valid? [True, True] Translation: X:63.19, Y:2.77, Z:-0.01 [[ 9.98518823e-01 -5.39786543e-02 -6.81650857e-03 6.31910510e+01] [ 5.39756998e-02 9.98542059e-01 -6.16797732e-04 2.77144813e+00] [ 6.83986442e-03 2.47958325e-04 9.99976577e-01 -5.19966343e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.61140051299999 meters Centerline goodness [0,1] 0.9999137056932669 Centerline is valid? [True, True] Translation: X:63.22, Y:2.77, Z:-0.00 [[ 9.98642128e-01 -5.17228995e-02 -6.21623118e-03 6.32201724e+01] [ 5.17203974e-02 9.98661446e-01 -5.62700461e-04 2.77435387e+00] [ 6.23701492e-03 2.40430438e-04 9.99980521e-01 -3.76094940e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.641400513 meters Centerline goodness [0,1] 0.9998710093518219 Centerline is valid? [True, True] Translation: X:63.25, Y:2.78, Z:-0.00 [[ 9.98766219e-01 -4.94164207e-02 -4.90472607e-03 6.32482051e+01] [ 4.94148344e-02 9.98778242e-01 -4.44157708e-04 2.78231093e+00] [ 4.92068236e-03 2.01243489e-04 9.99987873e-01 -1.70658830e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.671400513 meters Centerline goodness [0,1] 0.9998704803022126 Centerline is valid? [True, True] Translation: X:63.28, Y:2.79, Z:0.00 [[ 9.98873678e-01 -4.72940818e-02 -3.82701578e-03 6.32771959e+01] [ 4.72930999e-02 9.98880995e-01 -3.46702503e-04 2.78760477e+00] [ 3.83913030e-03 1.65320565e-04 9.99992617e-01 1.69771753e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.701400513 meters Centerline goodness [0,1] 0.9995714775454234 Centerline is valid? [True, True] Translation: X:63.31, Y:2.80, Z:-0.00 [[ 9.99080200e-01 -4.26863834e-02 -4.07762345e-03 6.33052169e+01] [ 4.26852303e-02 9.99088502e-01 -3.69446463e-04 2.80171251e+00] [ 4.08967704e-03 1.95052351e-04 9.99991618e-01 -2.24017657e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.73140051299998 meters Centerline goodness [0,1] 0.9997175816297712 Centerline is valid? [True, True] Translation: X:63.33, Y:2.80, Z:-0.00 [[ 9.99127701e-01 -4.14321936e-02 -5.21642501e-03 6.33345083e+01] [ 4.14302884e-02 9.99141285e-01 -4.72818121e-04 2.80208145e+00] [ 5.23153548e-03 2.56287690e-04 9.99986283e-01 -1.01946893e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.76140051299998 meters Centerline goodness [0,1] 0.9996724962337067 Centerline is valid? [True, True] Translation: X:63.36, Y:2.81, Z:-0.00 [[ 9.99152919e-01 -4.08244818e-02 -5.17754853e-03 6.33615254e+01] [ 4.08225951e-02 9.99166300e-01 -4.69607116e-04 2.80931931e+00] [ 5.19240347e-03 2.57848353e-04 9.99986486e-01 -1.19331970e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.79140051299999 meters Centerline goodness [0,1] 0.999824952956107 Centerline is valid? [True, True] Translation: X:63.39, Y:2.81, Z:0.00 [[ 9.99145558e-01 -4.11614138e-02 -3.72720158e-03 6.33903543e+01] [ 4.11604358e-02 9.99152493e-01 -3.38744440e-04 2.80755279e+00] [ 3.73798595e-03 1.85041761e-04 9.99992997e-01 1.53930324e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.82140051299999 meters Centerline goodness [0,1] 0.9996971073754354 Centerline is valid? [True, True] Translation: X:63.42, Y:2.82, Z:0.00 [[ 9.99146462e-01 -4.12228240e-02 -2.65069139e-03 6.34163673e+01] [ 4.12223286e-02 9.99149969e-01 -2.41271899e-04 2.82304827e+00] [ 2.65838413e-03 1.31798292e-04 9.99996458e-01 2.42919141e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.85140051299999 meters Centerline goodness [0,1] 0.9996557140705356 Centerline is valid? [True, True] Translation: X:63.44, Y:2.83, Z:0.00 [[ 9.99129344e-01 -4.15831023e-02 -3.37621604e-03 6.34443165e+01] [ 4.15822986e-02 9.99135035e-01 -3.07928811e-04 2.82908922e+00] [ 3.38610037e-03 1.67269887e-04 9.99994253e-01 1.08458957e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.88140051299999 meters Centerline goodness [0,1] 0.9997578425976885 Centerline is valid? [True, True] Translation: X:63.47, Y:2.83, Z:-0.00 [[ 9.99092124e-01 -4.22404555e-02 -5.53825800e-03 6.34735451e+01] [ 4.22382980e-02 9.99107437e-01 -5.05998663e-04 2.82696144e+00] [ 5.55468837e-03 2.71612686e-04 9.99984536e-01 -1.88503842e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.91140051299999 meters Centerline goodness [0,1] 0.999439691399263 Centerline is valid? [True, True] Translation: X:63.50, Y:2.83, Z:-0.01 [[ 9.99059704e-01 -4.27324571e-02 -7.32421143e-03 6.35011267e+01] [ 4.27286941e-02 9.99086488e-01 -6.69556238e-04 2.83481880e+00] [ 7.34613246e-03 3.55972668e-04 9.99972953e-01 -5.56375291e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.94140051299999 meters Centerline goodness [0,1] 0.9996122778675283 Centerline is valid? [True, True] Translation: X:63.53, Y:2.83, Z:-0.00 [[ 9.99018866e-01 -4.38799511e-02 -5.98790588e-03 6.35298658e+01] [ 4.38774548e-02 9.99036771e-01 -5.47675826e-04 2.83448539e+00] [ 6.00617014e-03 2.84404413e-04 9.99981922e-01 -2.85782680e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.97140051299999 meters Centerline goodness [0,1] 0.9997861465751374 Centerline is valid? [True, True] Translation: X:63.56, Y:2.84, Z:0.00 [[ 9.99037159e-01 -4.37194957e-02 -3.65520880e-03 6.35565394e+01] [ 4.37185633e-02 9.99043830e-01 -3.34633001e-04 2.84050073e+00] [ 3.66634379e-03 1.74510325e-04 9.99993264e-01 5.82643385e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.001400513 meters Centerline goodness [0,1] 0.99969942246173 Centerline is valid? [True, True] Translation: X:63.58, Y:2.85, Z:0.00 [[ 9.99091272e-01 -4.25390267e-02 -2.65735649e-03 6.35848755e+01] [ 4.25385294e-02 9.99094797e-01 -2.43396779e-04 2.84864282e+00] [ 2.66530490e-03 1.30135560e-04 9.99996440e-01 1.86719677e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.031400513 meters Centerline goodness [0,1] 0.9996306916927354 Centerline is valid? [True, True] Translation: X:63.61, Y:2.85, Z:0.00 [[ 9.99169330e-01 -4.06174577e-02 -3.29720977e-03 6.36139187e+01] [ 4.06166813e-02 9.99174756e-01 -3.02109174e-04 2.85395949e+00] [ 3.30675968e-03 1.67936502e-04 9.99994519e-01 9.26379805e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.061400513 meters Centerline goodness [0,1] 0.9995266272189349 Centerline is valid? [True, True] Translation: X:63.64, Y:2.86, Z:-0.00 [[ 9.99284407e-01 -3.75056967e-02 -4.89872734e-03 6.36441381e+01] [ 3.75039456e-02 9.99296379e-01 -4.48856778e-04 2.85569697e+00] [ 4.91211518e-03 2.64813975e-04 9.99987900e-01 -1.34192811e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.09140051299998 meters Centerline goodness [0,1] 0.9993236314445924 Centerline is valid? [True, True] Translation: X:63.67, Y:2.86, Z:-0.00 [[ 9.99374827e-01 -3.48621070e-02 -5.88116204e-03 6.36739426e+01] [ 3.48595376e-02 9.99392076e-01 -5.38872929e-04 2.86470504e+00] [ 5.89637299e-03 3.33521452e-04 9.99982561e-01 -2.73771530e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.12140051299998 meters Centerline goodness [0,1] 0.9909037749334026 Centerline is valid? [True, True] Translation: X:63.70, Y:2.89, Z:-0.00 [[ 9.99563107e-01 -2.89228956e-02 -6.08784531e-03 6.37015889e+01] [ 2.89200326e-02 9.99581573e-01 -5.57802774e-04 2.88514047e+00] [ 6.10143127e-03 3.81498389e-04 9.99981313e-01 -3.33005822e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.15140051299998 meters Centerline goodness [0,1] 0.99348351458657 Centerline is valid? [True, True] Translation: X:63.73, Y:2.89, Z:-0.00 [[ 9.99636036e-01 -2.64180879e-02 -5.46628055e-03 6.37312001e+01] [ 2.64157421e-02 9.99650918e-01 -5.00906585e-04 2.89179102e+00] [ 5.47760536e-03 3.56328416e-04 9.99984934e-01 -2.04700341e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.18140051299999 meters Centerline goodness [0,1] 0.9953852153566167 Centerline is valid? [True, True] Translation: X:63.76, Y:2.90, Z:-0.00 [[ 9.99683446e-01 -2.46708500e-02 -4.93527246e-03 6.37610761e+01] [ 2.46689163e-02 9.99695574e-01 -4.52305886e-04 2.89692667e+00] [ 4.94492881e-03 3.30414883e-04 9.99987719e-01 -8.98321957e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.21140051299999 meters Centerline goodness [0,1] 0.9948513074688088 Centerline is valid? [True, True] Translation: X:63.79, Y:2.90, Z:-0.00 [[ 9.99708863e-01 -2.36660390e-02 -4.70180861e-03 6.37903584e+01] [ 2.36642723e-02 9.99719869e-01 -4.31022796e-04 2.90423075e+00] [ 4.71069209e-03 3.19632430e-04 9.99988854e-01 -8.86121831e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.24140051299999 meters Centerline goodness [0,1] 0.9915674283875121 Centerline is valid? [True, True] Translation: X:63.82, Y:2.91, Z:-0.00 [[ 9.99708168e-01 -2.35834447e-02 -5.23448195e-03 6.38188005e+01] [ 2.35812493e-02 9.99721808e-01 -4.80745802e-04 2.91169534e+00] [ 5.24436340e-03 3.57169881e-04 9.99986184e-01 -2.09440258e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.27140051299999 meters Centerline goodness [0,1] 0.9945873676492787 Centerline is valid? [True, True] Translation: X:63.85, Y:2.92, Z:-0.00 [[ 9.99691963e-01 -2.40911180e-02 -5.96639643e-03 6.38477990e+01] [ 2.40882689e-02 9.99709685e-01 -5.48942765e-04 2.91556316e+00] [ 5.97788894e-03 4.05053508e-04 9.99982050e-01 -3.21144820e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.30140051299999 meters Centerline goodness [0,1] 0.9963476990504018 Centerline is valid? [True, True] Translation: X:63.88, Y:2.92, Z:-0.00 [[ 9.99612548e-01 -2.71144869e-02 -6.28952941e-03 6.38767908e+01] [ 2.71113802e-02 9.99632251e-01 -5.78710601e-04 2.92081282e+00] [ 6.30290789e-03 4.07968556e-04 9.99980053e-01 -4.85786880e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.33140051299999 meters Centerline goodness [0,1] 0.982167323171776 Centerline is valid? [True, True] Translation: X:63.91, Y:2.93, Z:-0.01 [[ 9.99551082e-01 -2.93531733e-02 -6.00206083e-03 6.39052395e+01] [ 2.93503833e-02 9.99569032e-01 -5.52402475e-04 2.92931411e+00] [ 6.01568890e-03 3.75991706e-04 9.99981835e-01 -5.06353695e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.36140051299999 meters Centerline goodness [0,1] 0.9964995678478824 Centerline is valid? [True, True] Translation: X:63.94, Y:2.93, Z:-0.00 [[ 9.99484350e-01 -3.17105091e-02 -5.04747342e-03 6.39359059e+01] [ 3.17085654e-02 9.99497049e-01 -4.64671435e-04 2.92847963e+00] [ 5.05966976e-03 3.04383686e-04 9.99987153e-01 -3.54493538e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.391400513 meters Centerline goodness [0,1] 0.9965843179377014 Centerline is valid? [True, True] Translation: X:63.96, Y:2.93, Z:-0.00 [[ 9.99436696e-01 -3.32646805e-02 -4.44427606e-03 6.39644703e+01] [ 3.32631885e-02 9.99446543e-01 -4.09242443e-04 2.93300707e+00] [ 4.45542966e-03 2.61181123e-04 9.99990040e-01 -2.26713647e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.421400513 meters Centerline goodness [0,1] 0.9994189674836989 Centerline is valid? [True, True] Translation: X:63.99, Y:2.93, Z:-0.00 [[ 9.99408502e-01 -3.40851465e-02 -4.56605864e-03 6.39932866e+01] [ 3.40835765e-02 9.99418897e-01 -4.21244944e-04 2.93128327e+00] [ 4.57776349e-03 2.65368169e-04 9.99989487e-01 -1.85963926e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.451400513 meters Centerline goodness [0,1] 0.99952717659954 Centerline is valid? [True, True] Translation: X:64.02, Y:2.93, Z:-0.00 [[ 9.99398086e-01 -3.42840134e-02 -5.29828072e-03 6.40209183e+01] [ 3.42818968e-02 9.99412083e-01 -4.89804524e-04 2.93283351e+00] [ 5.31195823e-03 3.07874591e-04 9.99985844e-01 -2.39101601e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.48140051299998 meters Centerline goodness [0,1] 0.9987443441363036 Centerline is valid? [True, True] Translation: X:64.05, Y:2.94, Z:-0.00 [[ 9.99437442e-01 -3.29265226e-02 -6.37526383e-03 6.40487522e+01] [ 3.29234295e-02 9.99457703e-01 -5.89533950e-04 2.94139303e+00] [ 6.39121785e-03 3.79306753e-04 9.99979504e-01 -4.60183784e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.51140051299998 meters Centerline goodness [0,1] 0.9989255860927864 Centerline is valid? [True, True] Translation: X:64.08, Y:2.95, Z:-0.00 [[ 9.99463028e-01 -3.22284367e-02 -5.91466595e-03 6.40776653e+01] [ 3.22257562e-02 9.99480465e-01 -5.47951087e-04 2.94516469e+00] [ 5.92925268e-03 3.57052269e-04 9.99982358e-01 -4.36673072e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.54140051299999 meters Centerline goodness [0,1] 0.9997826559443599 Centerline is valid? [True, True] Translation: X:64.11, Y:2.94, Z:-0.00 [[ 9.99482528e-01 -3.16712153e-02 -5.62238009e-03 6.41074071e+01] [ 3.16687789e-02 9.99498282e-01 -5.21850780e-04 2.93949530e+00] [ 5.63608689e-03 3.43526825e-04 9.99984058e-01 -2.66553720e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.57140051299999 meters Centerline goodness [0,1] 0.9993984962406015 Centerline is valid? [True, True] Translation: X:64.14, Y:2.95, Z:-0.00 [[ 9.99497300e-01 -3.11957020e-02 -5.65463562e-03 6.41350853e+01] [ 3.11932283e-02 9.99513235e-01 -5.25157531e-04 2.94693774e+00] [ 5.66826580e-03 3.48507195e-04 9.99983875e-01 -3.15835967e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.60140051299999 meters Centerline goodness [0,1] 0.9986567293526302 Centerline is valid? [True, True] Translation: X:64.16, Y:2.95, Z:-0.00 [[ 9.99499823e-01 -3.08857123e-02 -6.79539044e-03 6.41625538e+01] [ 3.08821299e-02 9.99522834e-01 -6.31504685e-04 2.95083432e+00] [ 6.81165238e-03 4.21332690e-04 9.99976712e-01 -4.60223133e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.63140051299999 meters Centerline goodness [0,1] 0.9961848422496571 Centerline is valid? [True, True] Translation: X:64.19, Y:2.96, Z:-0.01 [[ 9.99464192e-01 -3.19228663e-02 -7.22903922e-03 6.41903316e+01] [ 3.19188345e-02 9.99490238e-01 -6.72439484e-04 2.95580491e+00] [ 7.24682033e-03 4.41336679e-04 9.99973644e-01 -5.41196289e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.66140051299999 meters Centerline goodness [0,1] 0.9950444918449572 Centerline is valid? [True, True] Translation: X:64.22, Y:2.95, Z:-0.01 [[ 9.99392249e-01 -3.42068745e-02 -6.70993259e-03 6.42193281e+01] [ 3.42034513e-02 9.99414696e-01 -6.24291768e-04 2.95461163e+00] [ 6.72736031e-03 3.94409501e-04 9.99977293e-01 -5.29192192e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.69140051299999 meters Centerline goodness [0,1] 0.9990669415211023 Centerline is valid? [True, True] Translation: X:64.25, Y:2.95, Z:-0.00 [[ 9.99374144e-01 -3.48278234e-02 -6.19209870e-03 6.42487844e+01] [ 3.48249135e-02 9.99393262e-01 -5.77174626e-04 2.94996189e+00] [ 6.20844345e-03 3.61174096e-04 9.99980662e-01 -4.62487255e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.72140051299999 meters Centerline goodness [0,1] 0.9832403438099137 Centerline is valid? [True, True] Translation: X:64.28, Y:2.96, Z:-0.01 [[ 9.99369180e-01 -3.49991488e-02 -6.02510331e-03 6.42752345e+01] [ 3.49963949e-02 9.99387281e-01 -5.61929293e-04 2.96205182e+00] [ 6.04107866e-03 3.50717922e-04 9.99981691e-01 -6.18463532e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.751400513 meters Centerline goodness [0,1] 0.9935872689057608 Centerline is valid? [True, True] Translation: X:64.30, Y:2.96, Z:-0.01 [[ 9.99361962e-01 -3.51843747e-02 -6.14240536e-03 6.43037779e+01] [ 3.51815089e-02 9.99380774e-01 -5.74016617e-04 2.96110937e+00] [ 6.15879824e-03 3.57551284e-04 9.99980970e-01 -5.96091301e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.781400513 meters Centerline goodness [0,1] 0.9988232986860168 Centerline is valid? [True, True] Translation: X:64.33, Y:2.96, Z:-0.01 [[ 9.99372837e-01 -3.46205701e-02 -7.43969881e-03 6.43332644e+01] [ 3.46163413e-02 9.99400432e-01 -6.96462539e-04 2.95614792e+00] [ 7.45935014e-03 4.38490590e-04 9.99972083e-01 -6.69823074e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.811400513 meters Centerline goodness [0,1] 0.9725541609353507 Centerline is valid? [True, True] Translation: X:64.36, Y:2.96, Z:-0.01 [[ 9.99405446e-01 -3.31965505e-02 -9.31361572e-03 6.43608904e+01] [ 3.31898570e-02 9.99448684e-01 -8.72371947e-04 2.96499187e+00] [ 9.33744072e-03 5.62735701e-04 9.99956247e-01 -9.86374858e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.84140051299998 meters Centerline goodness [0,1] 0.9043440952483106 Centerline is valid? [True, False] Translation: X:64.36, Y:2.96, Z:-0.01 [[ 9.99544649e-01 -2.85485751e-02 -9.77107255e-03 6.43616416e+01] [ 2.85970484e-02 9.99579218e-01 4.85763421e-03 2.95794175e+00] [ 9.62828252e-03 -5.13484612e-03 9.99940463e-01 -8.95710339e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.87140051299998 meters Centerline goodness [0,1] 0.9647761322727371 Centerline is valid? [False, True] Translation: X:64.36, Y:2.97, Z:-0.01 [[ 9.99642394e-01 -2.57107375e-02 -7.35127943e-03 6.43595824e+01] [ 2.56072832e-02 9.99576315e-01 -1.38368334e-02 2.97251070e+00] [ 7.70392000e-03 1.36436389e-02 9.99877243e-01 -9.76321142e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.90140051299998 meters Centerline goodness [0,1] 0.9942918686052773 Centerline is valid? [True, True] Translation: X:64.39, Y:2.96, Z:-0.01 [[ 9.99687084e-01 -2.38368645e-02 -7.58532536e-03 6.43908364e+01] [ 2.38324624e-02 9.99715742e-01 -6.70217136e-04 2.95848910e+00] [ 7.59914505e-03 4.89230433e-04 9.99971006e-01 -7.03116684e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.93140051299999 meters Centerline goodness [0,1] 0.9509822824945905 Centerline is valid? [True, True] Translation: X:64.42, Y:2.97, Z:-0.01 [[ 9.99743192e-01 -2.14752977e-02 -7.23610820e-03 6.44193087e+01] [ 2.14712289e-02 9.99769262e-01 -6.39524199e-04 2.97098986e+00] [ 7.24817252e-03 4.83991829e-04 9.99973615e-01 -7.75639290e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.96140051299999 meters Centerline goodness [0,1] 0.9901346257404415 Centerline is valid? [True, True] Translation: X:64.45, Y:2.97, Z:-0.01 [[ 9.99830138e-01 -1.75511831e-02 -5.62589709e-03 6.44502111e+01] [ 1.75486617e-02 9.99845887e-01 -4.97218273e-04 2.96878875e+00] [ 5.63375683e-03 3.98406849e-04 9.99984051e-01 -5.37637796e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.99140051299999 meters Centerline goodness [0,1] 0.9922956076355263 Centerline is valid? [True, True] Translation: X:64.48, Y:2.97, Z:-0.00 [[ 9.99845475e-01 -1.68682278e-02 -4.94854765e-03 6.44791130e+01] [ 1.68662650e-02 9.99857658e-01 -4.38090783e-04 2.97235566e+00] [ 4.95523309e-03 3.54559571e-04 9.99987660e-01 -4.14083956e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.02140051299999 meters Centerline goodness [0,1] 0.9853903089766761 Centerline is valid? [True, True] Translation: X:64.51, Y:2.98, Z:-0.00 [[ 9.99855439e-01 -1.62935998e-02 -4.85994836e-03 6.45062978e+01] [ 1.62916977e-02 9.99867189e-01 -4.30719387e-04 2.97752322e+00] [ 4.86632087e-03 3.51480313e-04 9.99988098e-01 -4.49840228e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.05140051299999 meters Centerline goodness [0,1] 0.9536464903465823 Centerline is valid? [True, True] Translation: X:64.53, Y:2.98, Z:-0.01 [[ 9.99856702e-01 -1.59423271e-02 -5.69361882e-03 6.45339673e+01] [ 1.59397088e-02 9.99872827e-01 -5.04954143e-04 2.98333264e+00] [ 5.70094489e-03 4.14127158e-04 9.99983664e-01 -6.12638026e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.08140051299999 meters Centerline goodness [0,1] 0.9763888888888889 Centerline is valid? [True, True] Translation: X:64.56, Y:2.98, Z:-0.01 [[ 9.99846875e-01 -1.62412349e-02 -6.51530823e-03 6.45618942e+01] [ 1.62378051e-02 9.99867991e-01 -5.78990314e-04 2.98015325e+00] [ 6.52385167e-03 4.73107351e-04 9.99978608e-01 -7.65765254e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.11140051299999 meters Centerline goodness [0,1] 0.9830537933431824 Centerline is valid? [True, True] Translation: X:64.59, Y:2.98, Z:-0.01 [[ 9.99831434e-01 -1.72742544e-02 -6.22128394e-03 6.45907245e+01] [ 1.72711448e-02 9.99850690e-01 -5.53209729e-04 2.98034873e+00] [ 6.22991132e-03 4.45667781e-04 9.99980495e-01 -7.33734890e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.141400513 meters Centerline goodness [0,1] 0.9015682993284847 Centerline is valid? [True, False] Translation: X:64.61, Y:2.99, Z:-0.01 [[ 9.99857795e-01 -1.68575995e-02 -4.60511454e-04 6.46133012e+01] [ 1.68515617e-02 9.99798261e-01 -1.09298880e-02 2.99034832e+00] [ 6.44670226e-04 1.09205734e-02 9.99940161e-01 -1.38530240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.171400513 meters Centerline goodness [0,1] 0.9889493185413101 Centerline is valid? [False, True] Translation: X:64.61, Y:2.98, Z:-0.01 [[ 9.99921152e-01 -1.25352346e-02 -7.46363092e-04 6.46136823e+01] [ 1.25313171e-02 9.99908775e-01 -5.04056705e-03 2.98198872e+00] [ 8.09479696e-04 5.03081670e-03 9.99987018e-01 -1.27770838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20140051299998 meters Centerline goodness [0,1] 0.9876712917221531 Centerline is valid? [True, True] Translation: X:64.64, Y:2.98, Z:-0.01 [[ 9.99905085e-01 -1.37584916e-02 -7.25127835e-04 6.46429852e+01] [ 1.37584512e-02 9.99905346e-01 -6.06955184e-05 2.98090034e+00] [ 7.25894277e-04 5.07131215e-05 9.99999735e-01 -1.12316746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.23140051299998 meters Centerline goodness [0,1] 0.9876712917221531 Centerline is valid? [True, True] Translation: X:64.67, Y:2.98, Z:-0.01 [[ 9.99902860e-01 -1.39192127e-02 -7.25069245e-04 6.46712772e+01] [ 1.39191718e-02 9.99903122e-01 -6.13958688e-05 2.98337256e+00] [ 7.25853584e-04 5.12975414e-05 9.99999735e-01 -1.13528214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.26140051299998 meters Centerline goodness [0,1] 0.9884577974710904 Centerline is valid? [True, True] Translation: X:64.70, Y:2.98, Z:-0.01 [[ 9.99886029e-01 -1.50960249e-02 -1.97920397e-04 6.47016723e+01] [ 1.50960220e-02 9.99886048e-01 -1.66225266e-05 2.98421958e+00] [ 1.98148778e-04 1.36328214e-05 9.99999980e-01 -1.14389983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.29140051299999 meters Centerline goodness [0,1] 0.9962939820301222 Centerline is valid? [True, True] Translation: X:64.73, Y:2.98, Z:-0.01 [[ 9.99868666e-01 -1.62043397e-02 2.63863146e-04 6.47313361e+01] [ 1.62043346e-02 9.99868701e-01 2.14885819e-05 2.98123168e+00] [-2.64176710e-04 -1.72100330e-05 9.99999965e-01 -1.03604817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.32140051299999 meters Centerline goodness [0,1] 0.9988355795148248 Centerline is valid? [True, True] Translation: X:64.76, Y:2.98, Z:-0.01 [[ 9.99843698e-01 -1.76560881e-02 9.17557515e-04 6.47615000e+01] [ 1.76560250e-02 9.99844117e-01 7.68957196e-05 2.97713052e+00] [-9.18772161e-04 -6.06832823e-05 9.99999576e-01 -1.01345595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.35140051299999 meters Centerline goodness [0,1] 0.9983687495921874 Centerline is valid? [True, True] Translation: X:64.79, Y:2.98, Z:-0.01 [[ 9.99845433e-01 -1.75807157e-02 -1.71059845e-04 6.47911771e+01] [ 1.75807135e-02 9.99845447e-01 -1.44596144e-05 2.97689400e+00] [ 1.71287618e-04 1.14500253e-05 9.99999985e-01 -1.21837072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.38140051299999 meters Centerline goodness [0,1] 0.9944559496073864 Centerline is valid? [True, True] Translation: X:64.82, Y:2.98, Z:-0.01 [[ 9.99836997e-01 -1.79984142e-02 -1.42718394e-03 6.48193210e+01] [ 1.79982611e-02 9.99838011e-01 -1.19996868e-04 2.98314834e+00] [ 1.42911251e-03 9.42904786e-05 9.99998974e-01 -1.36118452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.41140051299999 meters Centerline goodness [0,1] 0.9919847905459416 Centerline is valid? [True, True] Translation: X:64.85, Y:2.99, Z:-0.02 [[ 9.99839079e-01 -1.77214012e-02 -2.78722058e-03 6.48482584e+01] [ 1.77208141e-02 9.99842946e-01 -2.35203730e-04 2.98650859e+00] [ 2.79095097e-03 1.85774063e-04 9.99996088e-01 -1.57494667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.44140051299999 meters Centerline goodness [0,1] 0.9706489929419866 Centerline is valid? [True, True] Translation: X:64.88, Y:2.99, Z:-0.02 [[ 9.99844280e-01 -1.73749028e-02 -3.08680544e-03 6.48753932e+01] [ 1.73741821e-02 9.99849024e-01 -2.60140633e-04 2.99385868e+00] [ 3.09085932e-03 2.06469404e-04 9.99995202e-01 -1.73167014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.47140051299999 meters Centerline goodness [0,1] 0.993028743028743 Centerline is valid? [True, True] Translation: X:64.90, Y:2.99, Z:-0.02 [[ 9.99841369e-01 -1.75948538e-02 -2.76713134e-03 6.49039520e+01] [ 1.75942725e-02 9.99845181e-01 -2.34300833e-04 2.98959298e+00] [ 2.77082543e-03 1.85578003e-04 9.99996144e-01 -1.61867373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.501400513 meters Centerline goodness [0,1] 0.9891245594689845 Centerline is valid? [True, True] Translation: X:64.93, Y:2.99, Z:-0.02 [[ 9.99842053e-01 -1.75867256e-02 -2.56431747e-03 6.49319549e+01] [ 1.75862271e-02 9.99845327e-01 -2.16784700e-04 2.99301877e+00] [ 2.56773338e-03 1.71653789e-04 9.99996689e-01 -1.58348216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.531400513 meters Centerline goodness [0,1] 0.9575335375059311 Centerline is valid? [True, True] Translation: X:64.96, Y:3.00, Z:-0.02 [[ 9.99845326e-01 -1.74045992e-02 -2.53063559e-03 6.49594166e+01] [ 1.74041128e-02 9.99848514e-01 -2.14084400e-04 2.99935906e+00] [ 2.53397829e-03 1.70007820e-04 9.99996775e-01 -1.67874431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.561400513 meters Centerline goodness [0,1] 0.9625913997214485 Centerline is valid? [True, True] Translation: X:64.99, Y:3.00, Z:-0.02 [[ 9.99832600e-01 -1.81925549e-02 -1.95029120e-03 6.49875222e+01] [ 1.81922660e-02 9.99834493e-01 -1.65774729e-04 3.00252742e+00] [ 1.95298428e-03 1.30266762e-04 9.99998084e-01 -1.55172603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.59140051299998 meters Centerline goodness [0,1] 0.9973317714434465 Centerline is valid? [True, True] Translation: X:65.02, Y:3.00, Z:-0.01 [[ 9.99825662e-01 -1.86094744e-02 -1.52763519e-03 6.50166646e+01] [ 1.86092970e-02 9.99826824e-01 -1.30278563e-04 2.99662999e+00] [ 1.52979506e-03 1.01827634e-04 9.99998825e-01 -1.40439360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.62140051299998 meters Centerline goodness [0,1] 0.9862242918121847 Centerline is valid? [True, True] Translation: X:65.04, Y:3.01, Z:-0.01 [[ 9.99838811e-01 -1.79337888e-02 -8.55547040e-04 6.50433679e+01] [ 1.79337329e-02 9.99839175e-01 -7.28684124e-05 3.00738118e+00] [ 8.56716254e-04 5.75135147e-05 9.99999631e-01 -1.37635458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.65140051299998 meters Centerline goodness [0,1] 0.9964573268921095 Centerline is valid? [True, True] Translation: X:65.07, Y:3.01, Z:-0.01 [[ 9.99847178e-01 -1.74815689e-02 -1.23257447e-04 6.50718245e+01] [ 1.74815677e-02 9.99847186e-01 -1.11717701e-05 3.00882408e+00] [ 1.23433912e-04 9.01532944e-06 9.99999992e-01 -1.23420422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.68140051299999 meters Centerline goodness [0,1] 0.9741203713630223 Centerline is valid? [True, True] Translation: X:65.10, Y:3.02, Z:-0.01 [[ 9.99866457e-01 -1.63421584e-02 3.66316170e-05 6.50998620e+01] [ 1.63421583e-02 9.99866458e-01 2.96978720e-06 3.01795196e+00] [-3.66752578e-05 -2.37075093e-06 9.99999999e-01 -1.28476029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.71140051299999 meters Centerline goodness [0,1] 0.9908808692277843 Centerline is valid? [True, True] Translation: X:65.13, Y:3.01, Z:-0.01 [[ 9.99889030e-01 -1.48923709e-02 -3.79742943e-04 6.51296676e+01] [ 1.48923597e-02 9.99889102e-01 -3.24672582e-05 3.01444590e+00] [ 3.80184344e-04 2.68083869e-05 9.99999927e-01 -1.38022699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.74140051299999 meters Centerline goodness [0,1] 0.9943315089913995 Centerline is valid? [True, True] Translation: X:65.16, Y:3.01, Z:-0.01 [[ 9.99891509e-01 -1.46991512e-02 -9.51712799e-04 6.51583523e+01] [ 1.46990799e-02 9.99891959e-01 -8.18691260e-05 3.01330880e+00] [ 9.52813382e-04 6.78709414e-05 9.99999544e-01 -1.43557963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.77140051299999 meters Centerline goodness [0,1] 0.9443775790921596 Centerline is valid? [True, False] Translation: X:65.16, Y:3.01, Z:-0.01 [[ 9.99893840e-01 -1.45337267e-02 -1.03888956e-03 6.51587623e+01] [ 1.45341071e-02 9.99894310e-01 3.59495304e-04 3.01117466e+00] [ 1.03355495e-03 -3.74556472e-04 9.99999396e-01 -1.46375632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.80140051299999 meters Centerline goodness [0,1] 0.908077154912598 Centerline is valid? [False, False] Translation: X:65.16, Y:3.01, Z:-0.01 [[ 9.99894355e-01 -1.45010216e-02 -9.99218671e-04 6.51585697e+01] [ 1.45014871e-02 9.99894742e-01 4.60276356e-04 3.01072013e+00] [ 9.92439018e-04 -4.74717887e-04 9.99999395e-01 -1.45289106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.83140051299999 meters Centerline goodness [0,1] 0.9942970279983644 Centerline is valid? [False, True] Translation: X:65.16, Y:3.01, Z:-0.01 [[ 9.99894935e-01 -1.44651253e-02 -9.38084115e-04 6.51581690e+01] [ 1.44656656e-02 9.99895203e-01 5.71745923e-04 3.01023074e+00] [ 9.29715430e-04 -5.85255864e-04 9.99999397e-01 -1.41369798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.86140051299999 meters Centerline goodness [0,1] 0.9945914622368167 Centerline is valid? [True, True] Translation: X:65.19, Y:3.01, Z:-0.01 [[ 9.99863274e-01 -1.65158910e-02 -8.11123957e-04 6.51866638e+01] [ 1.65158425e-02 9.99863602e-01 -6.65112447e-05 3.01140532e+00] [ 8.12111814e-04 5.31057554e-05 9.99999669e-01 -1.45871478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.891400513 meters Centerline goodness [0,1] 0.9877631353756632 Centerline is valid? [True, True] Translation: X:65.22, Y:3.01, Z:-0.02 [[ 9.99849219e-01 -1.72475494e-02 -2.01512453e-03 6.52150034e+01] [ 1.72472501e-02 9.99851241e-01 -1.65825202e-04 3.01208787e+00] [ 2.01768484e-03 1.31044843e-04 9.99997956e-01 -1.62932524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.921400513 meters Centerline goodness [0,1] 0.9937304075235109 Centerline is valid? [True, True] Translation: X:65.24, Y:3.01, Z:-0.02 [[ 9.99836063e-01 -1.77923916e-02 -3.35831170e-03 6.52443277e+01] [ 1.77915627e-02 9.99841679e-01 -2.76538029e-04 3.00688539e+00] [ 3.36270028e-03 2.16743081e-04 9.99994323e-01 -1.73346458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.95140051299998 meters Centerline goodness [0,1] 0.9957894736842106 Centerline is valid? [True, True] Translation: X:65.27, Y:3.01, Z:-0.02 [[ 9.99829334e-01 -1.80272305e-02 -4.04013659e-03 6.52726415e+01] [ 1.80260299e-02 9.99837462e-01 -3.33406982e-04 3.00570960e+00] [ 4.04549032e-03 2.60522458e-04 9.99991783e-01 -1.83239152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.98140051299998 meters Centerline goodness [0,1] 0.9721978468848319 Centerline is valid? [True, True] Translation: X:65.30, Y:3.01, Z:-0.02 [[ 9.99831488e-01 -1.78705372e-02 -4.19994923e-03 6.53002246e+01] [ 1.78692393e-02 9.99840272e-01 -3.46346091e-04 3.01325896e+00] [ 4.20546777e-03 2.71237829e-04 9.99991120e-01 -1.95882783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.01140051299998 meters Centerline goodness [0,1] 0.826713030122024 Centerline is valid? [True, False] Translation: X:65.30, Y:3.01, Z:-0.02 [[ 9.99834556e-01 -1.77056391e-02 -4.16774759e-03 6.53000202e+01] [ 1.77057615e-02 9.99843241e-01 -7.52276630e-06 3.01169837e+00] [ 4.16722746e-03 -6.62716232e-05 9.99991315e-01 -1.93676661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.04140051299999 meters Centerline goodness [0,1] 0.9877412961047914 Centerline is valid? [False, True] Translation: X:65.30, Y:3.01, Z:-0.02 [[ 9.99840691e-01 -1.73982615e-02 -3.98660784e-03 6.52992715e+01] [ 1.74006710e-02 9.99848434e-01 5.70500504e-04 3.00911100e+00] [ 3.97607789e-03 -6.39779269e-04 9.99991891e-01 -1.90237258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.07140051299999 meters Centerline goodness [0,1] 0.9851458310744877 Centerline is valid? [True, True] Translation: X:65.33, Y:3.01, Z:-0.02 [[ 9.99874650e-01 -1.52094558e-02 -4.39970201e-03 6.53292859e+01] [ 1.52079469e-02 9.99884282e-01 -3.76216424e-04 3.01110865e+00] [ 4.40491493e-03 3.09258831e-04 9.99990250e-01 -2.02415029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.10140051299999 meters Centerline goodness [0,1] 0.8569954646089031 Centerline is valid? [True, False] Translation: X:65.33, Y:3.01, Z:-0.02 [[ 9.99874085e-01 -1.52254152e-02 -4.47222109e-03 6.53299359e+01] [ 1.52224578e-02 9.99883890e-01 -6.94581601e-04 3.01267766e+00] [ 4.48227711e-03 6.26415946e-04 9.99989758e-01 -2.11737689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.13140051299999 meters Centerline goodness [0,1] 0.8400642398286938 Centerline is valid? [False, False] Translation: X:65.33, Y:3.01, Z:-0.02 [[ 9.99873664e-01 -1.52695088e-02 -4.41577498e-03 6.53299204e+01] [ 1.52646006e-02 9.99882836e-01 -1.14308782e-03 3.01493865e+00] [ 4.43271200e-03 1.07553836e-03 9.99989597e-01 -2.16302255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.16140051299999 meters Centerline goodness [0,1] 0.8228397460810986 Centerline is valid? [False, False] Translation: X:65.32, Y:3.01, Z:-0.02 [[ 9.99903281e-01 -1.35041138e-02 -3.32666476e-03 6.53233736e+01] [ 1.35059980e-02 9.99908642e-01 5.44564155e-04 3.01262908e+00] [ 3.31900699e-03 -5.89441413e-04 9.99994318e-01 -1.80098387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.19140051299999 meters Centerline goodness [0,1] 0.5838786500461284 Centerline is valid? [False, False] Translation: X:65.32, Y:3.01, Z:-0.02 [[ 9.99904767e-01 -1.34585059e-02 -3.05365422e-03 6.53222229e+01] [ 1.34592034e-02 9.99909399e-01 2.07965990e-04 3.01452604e+00] [ 3.05057864e-03 -2.49045938e-04 9.99995316e-01 -1.75452432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.22140051299999 meters Centerline goodness [0,1] 0.8272283008260174 Centerline is valid? [False, False] Translation: X:65.32, Y:3.01, Z:-0.01 [[ 9.99927168e-01 -1.19142088e-02 -1.92600890e-03 6.53159413e+01] [ 1.19172286e-02 9.99927764e-01 1.56413996e-03 3.01296472e+00] [ 1.90723428e-03 -1.58697873e-03 9.99996922e-01 -1.43017403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.251400513 meters Centerline goodness [0,1] 0.46146624562601346 Centerline is valid? [False, False] Translation: X:65.34, Y:3.02, Z:-0.02 [[ 9.99976749e-01 -5.96364312e-03 3.30707024e-03 6.53374325e+01] [ 5.97683902e-03 9.99974159e-01 -3.99478677e-03 3.02152124e+00] [-3.28316130e-03 4.01445971e-03 9.99986552e-01 -2.01265249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.281400513 meters Centerline goodness [0,1] 0.3814353244520843 Centerline is valid? [False, False] Translation: X:65.34, Y:3.02, Z:-0.02 [[ 9.99974759e-01 -6.14180343e-03 3.57210979e-03 6.53365402e+01] [ 6.15781141e-03 9.99970970e-01 -4.48778025e-03 3.02390243e+00] [-3.54444303e-03 4.50966335e-03 9.99983550e-01 -2.01298489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.311400513 meters Centerline goodness [0,1] 0.5306566540086188 Centerline is valid? [False, False] Translation: X:65.34, Y:3.02, Z:-0.02 [[ 9.99988976e-01 -3.75942271e-03 2.81341153e-03 6.53423763e+01] [ 3.76468297e-03 9.99991171e-01 -1.86675335e-03 3.02263728e+00] [-2.80636877e-03 1.87732437e-03 9.99994300e-01 -2.36788261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.34140051299998 meters Centerline goodness [0,1] 0.623867561754546 Centerline is valid? [False, False] Translation: X:65.30, Y:3.02, Z:-0.02 [[ 9.99995206e-01 -3.02954422e-03 6.40138545e-04 6.52990261e+01] [ 3.02853364e-03 9.99994176e-01 1.57379215e-03 3.01613967e+00] [-6.44902689e-04 -1.57184592e-03 9.99998557e-01 -2.15781373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.37140051299998 meters Centerline goodness [0,1] 0.6370147824004528 Centerline is valid? [False, False] Translation: X:65.30, Y:3.02, Z:-0.02 [[ 9.99994790e-01 -3.16932248e-03 6.12111186e-04 6.52991077e+01] [ 3.16856457e-03 9.99994217e-01 1.23521591e-03 3.01772459e+00] [-6.16022444e-04 -1.23326996e-03 9.99999050e-01 -2.15910929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.40140051299998 meters Centerline goodness [0,1] 0.5210161366262894 Centerline is valid? [False, False] Translation: X:65.34, Y:3.03, Z:-0.02 [[ 9.99994225e-01 -2.42725211e-03 2.37882807e-03 6.53428820e+01] [ 2.42939899e-03 9.99996644e-01 -9.00019158e-04 3.02628063e+00] [-2.37663551e-03 9.05793083e-04 9.99996766e-01 -2.39744637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.43140051299999 meters Centerline goodness [0,1] 0.5174817674817676 Centerline is valid? [False, False] Translation: X:65.34, Y:3.03, Z:-0.02 [[ 9.99994202e-01 -2.53123833e-03 2.27778434e-03 6.53434176e+01] [ 2.53380911e-03 9.99996155e-01 -1.12645276e-03 3.02728288e+00] [-2.27492426e-03 1.13221770e-03 9.99996771e-01 -2.44142429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.46140051299999 meters Centerline goodness [0,1] 0.5231528150134048 Centerline is valid? [False, False] Translation: X:65.34, Y:3.03, Z:-0.02 [[ 9.99994254e-01 -2.58061791e-03 2.19828226e-03 6.53436912e+01] [ 2.58328330e-03 9.99995931e-01 -1.21051043e-03 3.02765902e+00] [-2.19514945e-03 1.21618226e-03 9.99996851e-01 -2.44535703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.49140051299999 meters Centerline goodness [0,1] 0.46002606995437756 Centerline is valid? [False, False] Translation: X:65.30, Y:3.02, Z:-0.02 [[ 9.99996331e-01 -2.70851504e-03 -4.58959555e-05 6.53015809e+01] [ 2.70857899e-03 9.99995272e-01 1.45586150e-03 3.02085588e+00] [ 4.19525158e-05 -1.45598047e-03 9.99998939e-01 -2.31465428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.52140051299999 meters Centerline goodness [0,1] 0.7907382666034565 Centerline is valid? [False, False] Translation: X:65.30, Y:3.02, Z:-0.02 [[ 9.99995625e-01 -2.95602882e-03 -1.10084271e-04 6.53014565e+01] [ 2.95617707e-03 9.99994690e-01 1.37183593e-03 3.02099884e+00] [ 1.06028500e-04 -1.37215536e-03 9.99999053e-01 -2.24870481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.55140051299999 meters Centerline goodness [0,1] 0.8032867672266026 Centerline is valid? [False, False] Translation: X:65.30, Y:3.02, Z:-0.02 [[ 9.99995418e-01 -3.01765164e-03 -2.40797390e-04 6.53017960e+01] [ 3.01798070e-03 9.99994496e-01 1.37806917e-03 3.02089596e+00] [ 2.36637533e-04 -1.37878958e-03 9.99999021e-01 -2.23003946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.58140051299999 meters Centerline goodness [0,1] 0.9076533154257739 Centerline is valid? [False, False] Translation: X:65.30, Y:3.03, Z:-0.02 [[ 9.99969584e-01 -7.79797254e-03 1.49213993e-04 6.53009100e+01] [ 7.79856641e-03 9.99959414e-01 -4.51138174e-03 3.02845344e+00] [-1.14028306e-04 4.51240818e-03 9.99989813e-01 -2.30325194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.61140051299999 meters Centerline goodness [0,1] 0.9240729209164502 Centerline is valid? [False, False] Translation: X:65.30, Y:3.03, Z:-0.02 [[ 9.99968701e-01 -7.91114157e-03 1.01712075e-04 6.53008606e+01] [ 7.91153092e-03 9.99957756e-01 -4.67913016e-03 3.02921747e+00] [-6.46905169e-05 4.67978841e-03 9.99989048e-01 -2.26418618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.641400513 meters Centerline goodness [0,1] 0.9287697772037455 Centerline is valid? [False, False] Translation: X:65.30, Y:3.02, Z:-0.02 [[ 9.99992163e-01 -3.95759153e-03 -1.09070822e-04 6.53010560e+01] [ 3.95764123e-03 9.99992063e-01 4.59330416e-04 3.02429104e+00] [ 1.07252114e-04 -4.59758479e-04 9.99999889e-01 -2.14750936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.671400513 meters Centerline goodness [0,1] 0.5347222222222222 Centerline is valid? [False, False] Translation: X:65.34, Y:3.03, Z:-0.02 [[ 9.99986817e-01 -3.80942662e-03 3.44287933e-03 6.53395947e+01] [ 3.81273517e-03 9.99992276e-01 -9.54930616e-04 3.02924138e+00] [-3.43921500e-03 9.68044815e-04 9.99993617e-01 -2.09531494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.70140051299998 meters Centerline goodness [0,1] 0.9466241955964961 Centerline is valid? [False, False] Translation: X:65.30, Y:3.02, Z:-0.02 [[ 9.99983881e-01 -5.42183657e-03 1.68566096e-03 6.52955270e+01] [ 5.42018399e-03 9.99984827e-01 9.83407396e-04 3.02217892e+00] [-1.69096726e-03 -9.74254952e-04 9.99998096e-01 -1.76998178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.73140051299998 meters Centerline goodness [0,1] 0.9082408198121263 Centerline is valid? [False, False] Translation: X:65.30, Y:3.02, Z:-0.02 [[ 9.99983938e-01 -5.42088428e-03 1.65469611e-03 6.52953601e+01] [ 5.41897343e-03 9.99984648e-01 1.15711356e-03 3.02129121e+00] [-1.66094328e-03 -1.14812822e-03 9.99997962e-01 -1.71797536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.76140051299998 meters Centerline goodness [0,1] 0.9846650349801815 Centerline is valid? [False, True] Translation: X:65.27, Y:3.03, Z:-0.01 [[ 9.99979712e-01 -6.05335204e-03 -1.98284659e-03 6.52721289e+01] [ 6.03204181e-03 9.99925810e-01 -1.05825173e-02 3.02771155e+00] [ 2.04675918e-03 1.05703420e-02 9.99942038e-01 -1.27791673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.79140051299999 meters Centerline goodness [0,1] 0.9971781229132112 Centerline is valid? [True, True] Translation: X:65.30, Y:3.02, Z:-0.01 [[ 9.99956700e-01 -8.39060393e-03 -4.02445289e-03 6.53033218e+01] [ 8.38941237e-03 9.99964759e-01 -3.12871331e-04 3.01564410e+00] [ 4.02693625e-03 2.79094989e-04 9.99991853e-01 -1.49086844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.82140051299999 meters Centerline goodness [0,1] 0.9983079526226735 Centerline is valid? [True, True] Translation: X:65.33, Y:3.02, Z:-0.02 [[ 9.99944127e-01 -9.25667200e-03 -5.10464455e-03 6.53323200e+01] [ 9.25476565e-03 9.99957095e-01 -3.96949163e-04 3.01666969e+00] [ 5.10809996e-03 3.49684695e-04 9.99986892e-01 -1.67266499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.85140051299999 meters Centerline goodness [0,1] 0.9541502816452333 Centerline is valid? [True, True] Translation: X:65.36, Y:3.03, Z:-0.02 [[ 9.99937708e-01 -9.62688530e-03 -5.64825624e-03 6.53595532e+01] [ 9.62455542e-03 9.99953586e-01 -4.39531903e-04 3.03042711e+00] [ 5.65222541e-03 3.85142569e-04 9.99983952e-01 -1.82084335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.88140051299999 meters Centerline goodness [0,1] 0.9984252308223315 Centerline is valid? [True, True] Translation: X:65.39, Y:3.02, Z:-0.02 [[ 9.99928515e-01 -1.00380062e-02 -6.49636024e-03 6.53897051e+01] [ 1.00349278e-02 9.99949521e-01 -5.06292386e-04 3.01961156e+00] [ 6.50111448e-03 4.41065688e-04 9.99978770e-01 -1.86723813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.91140051299999 meters Centerline goodness [0,1] 0.9460998088036263 Centerline is valid? [True, False] Translation: X:65.39, Y:3.02, Z:-0.02 [[ 9.99929223e-01 -9.89364704e-03 -6.60787298e-03 6.53900777e+01] [ 9.89260047e-03 9.99951049e-01 -1.91049074e-04 3.01811947e+00] [ 6.60943968e-03 1.25666505e-04 9.99978150e-01 -1.86828086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.94140051299999 meters Centerline goodness [0,1] 0.9839325382276187 Centerline is valid? [False, True] Translation: X:65.39, Y:3.02, Z:-0.02 [[ 9.99930696e-01 -9.71222063e-03 -6.65408624e-03 6.53902050e+01] [ 9.71380102e-03 9.99952799e-01 2.05228834e-04 3.01627528e+00] [ 6.65177894e-03 -2.69851080e-04 9.99977840e-01 -1.86165727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.97140051299999 meters Centerline goodness [0,1] 0.9964822927681982 Centerline is valid? [True, True] Translation: X:65.42, Y:3.01, Z:-0.02 [[ 9.99948210e-01 -8.35160566e-03 -5.81613890e-03 6.54198419e+01] [ 8.34909248e-03 9.99965042e-01 -4.56251550e-04 3.01334590e+00] [ 5.81974601e-03 4.07668439e-04 9.99982982e-01 -1.74026420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.001400513 meters Centerline goodness [0,1] 0.9977496302964058 Centerline is valid? [True, True] Translation: X:65.45, Y:3.01, Z:-0.02 [[ 9.99959941e-01 -7.28376302e-03 -5.20229916e-03 6.54491059e+01] [ 7.28173705e-03 9.99973404e-01 -4.08272484e-04 3.01388621e+00] [ 5.20513456e-03 3.70374355e-04 9.99986385e-01 -1.66135049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.031400513 meters Centerline goodness [0,1] 0.9829534406395161 Centerline is valid? [True, True] Translation: X:65.48, Y:3.02, Z:-0.02 [[ 9.99971067e-01 -5.78204972e-03 -4.94292759e-03 6.54777568e+01] [ 5.78020203e-03 9.99983219e-01 -3.88008200e-04 3.02330303e+00] [ 4.94508812e-03 3.59425853e-04 9.99987708e-01 -1.70471920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.061400513 meters Centerline goodness [0,1] 0.9792046698285297 Centerline is valid? [True, True] Translation: X:65.51, Y:3.03, Z:-0.02 [[ 9.99979026e-01 -3.69784417e-03 -5.31730713e-03 6.55083088e+01] [ 3.69567663e-03 9.99993084e-01 -4.17406696e-04 3.02552781e+00] [ 5.31881386e-03 3.97746893e-04 9.99985776e-01 -1.74892537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.09140051299998 meters Centerline goodness [0,1] 0.9763009647967883 Centerline is valid? [True, True] Translation: X:65.54, Y:3.03, Z:-0.02 [[ 9.99983720e-01 -1.80446410e-03 -5.41329989e-03 6.55382543e+01] [ 1.80218981e-03 9.99998286e-01 -4.24977075e-04 3.02827181e+00] [ 5.41405746e-03 4.15214363e-04 9.99985258e-01 -1.80344900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.12140051299998 meters Centerline goodness [0,1] 0.9763009647967883 Centerline is valid? [True, True] Translation: X:65.57, Y:3.03, Z:-0.02 [[ 9.99983366e-01 -1.99086895e-03 -5.41325314e-03 6.55657386e+01] [ 1.98859418e-03 9.99997932e-01 -4.25571884e-04 3.03056937e+00] [ 5.41408920e-03 4.14800041e-04 9.99985258e-01 -1.79689188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.15140051299998 meters Centerline goodness [0,1] 0.9349568900317653 Centerline is valid? [True, False] Translation: X:65.57, Y:3.03, Z:-0.02 [[ 9.99983196e-01 -2.05191672e-03 -5.42199299e-03 6.55659855e+01] [ 2.04833777e-03 9.99997681e-01 -6.65551043e-04 3.03170836e+00] [ 5.42334607e-03 6.54433785e-04 9.99985079e-01 -1.84231462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.18140051299999 meters Centerline goodness [0,1] 0.9272939851903175 Centerline is valid? [False, False] Translation: X:65.57, Y:3.03, Z:-0.02 [[ 9.99983494e-01 -2.09323403e-03 -5.35075242e-03 6.55659962e+01] [ 2.08628393e-03 9.99996973e-01 -1.30415192e-03 3.03497417e+00] [ 5.35346612e-03 1.29296720e-03 9.99984834e-01 -1.90493497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.21140051299999 meters Centerline goodness [0,1] 0.7130623260162774 Centerline is valid? [False, False] Translation: X:65.61, Y:3.04, Z:-0.02 [[ 9.99996291e-01 -2.58493146e-04 -2.71115754e-03 6.56075364e+01] [ 2.53808197e-04 9.99998474e-01 -1.72822719e-03 3.04107509e+00] [ 2.71160014e-03 1.72753267e-03 9.99994831e-01 -2.01667748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.24140051299999 meters Centerline goodness [0,1] 0.7671787105149286 Centerline is valid? [False, False] Translation: X:65.56, Y:3.04, Z:-0.02 [[ 9.99989556e-01 1.31698440e-04 -4.56844867e-03 6.55630283e+01] [-1.31757130e-04 9.99999991e-01 -1.25459339e-05 3.03912113e+00] [ 4.56844698e-03 1.31477286e-05 9.99989565e-01 -1.87731215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.27140051299999 meters Centerline goodness [0,1] 0.6422398968185726 Centerline is valid? [False, False] Translation: X:65.56, Y:3.04, Z:-0.02 [[ 9.99981135e-01 4.35553757e-03 -4.33109435e-03 6.55617197e+01] [-4.33810533e-03 9.99982485e-01 4.02618547e-03 3.04061696e+00] [ 4.34855470e-03 -4.00732077e-03 9.99982516e-01 -1.76844880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.30140051299999 meters Centerline goodness [0,1] 0.6823011308976634 Centerline is valid? [False, False] Translation: X:65.56, Y:3.05, Z:-0.02 [[ 9.99983236e-01 4.03389909e-03 -4.15402381e-03 6.55611473e+01] [-4.02110703e-03 9.99987162e-01 3.08319977e-03 3.04516470e+00] [ 4.16640780e-03 -3.06644431e-03 9.99986619e-01 -1.77691021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.33140051299999 meters Centerline goodness [0,1] 0.41720873317447027 Centerline is valid? [False, False] Translation: X:65.56, Y:3.05, Z:-0.02 [[ 9.99985305e-01 3.53732775e-03 -4.10812608e-03 6.55614056e+01] [-3.52985109e-03 9.99992103e-01 1.82579449e-03 3.05102131e+00] [ 4.11455207e-03 -1.81126658e-03 9.99989895e-01 -1.87333066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.36140051299999 meters Centerline goodness [0,1] 0.5694032098446711 Centerline is valid? [False, False] Translation: X:65.56, Y:3.06, Z:-0.02 [[ 9.99987126e-01 2.82814565e-03 -4.21295214e-03 6.55624569e+01] [-2.82776791e-03 9.99995997e-01 9.56142133e-05 3.05899504e+00] [ 4.21320569e-03 -8.36997315e-05 9.99991121e-01 -2.02914617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.391400513 meters Centerline goodness [0,1] 0.3938601940915615 Centerline is valid? [False, False] Translation: X:65.56, Y:3.07, Z:-0.02 [[ 9.99988412e-01 2.08073290e-03 -4.34117179e-03 6.55635540e+01] [-2.08813573e-03 9.99996372e-01 -1.70142618e-03 3.06728376e+00] [ 4.33761583e-03 1.71047142e-03 9.99989130e-01 -2.17407522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.421400513 meters Centerline goodness [0,1] 0.5636147443519619 Centerline is valid? [False, False] Translation: X:65.56, Y:3.07, Z:-0.02 [[ 9.99984072e-01 4.37753855e-03 -3.56262218e-03 6.55584198e+01] [-4.37582449e-03 9.99990307e-01 4.88775887e-04 3.07243832e+00] [ 3.56472728e-03 -4.73178693e-04 9.99993534e-01 -1.84781977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.45140051299998 meters Centerline goodness [0,1] 0.5374474834948126 Centerline is valid? [False, False] Translation: X:65.56, Y:3.07, Z:-0.02 [[ 9.99957732e-01 8.30545567e-03 -3.94369424e-03 6.55591861e+01] [-8.28384201e-03 9.99950751e-01 5.46562752e-03 3.06825462e+00] [ 3.98889454e-03 -5.43272756e-03 9.99977287e-01 -1.71053238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.48140051299998 meters Centerline goodness [0,1] 0.5024743953868663 Centerline is valid? [False, False] Translation: X:65.56, Y:3.08, Z:-0.02 [[ 9.99988344e-01 3.36976351e-03 -3.45794618e-03 6.55573917e+01] [-3.37184028e-03 9.99994138e-01 -5.94927256e-04 3.07663835e+00] [ 3.45592115e-03 6.06579964e-04 9.99993844e-01 -1.69410777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.51140051299998 meters Centerline goodness [0,1] 0.47165075619435803 Centerline is valid? [False, False] Translation: X:65.56, Y:3.08, Z:-0.02 [[ 9.99988851e-01 3.10991838e-03 -3.55342192e-03 6.55574487e+01] [-3.11328559e-03 9.99994710e-01 -9.42457698e-04 3.07815521e+00] [ 3.55047216e-03 9.53510008e-04 9.99993242e-01 -1.64492682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.54140051299999 meters Centerline goodness [0,1] 0.813164589992824 Centerline is valid? [False, False] Translation: X:65.56, Y:3.08, Z:-0.02 [[ 9.99989288e-01 2.91888117e-03 -3.59219978e-03 6.55573343e+01] [-2.92322623e-03 9.99995001e-01 -1.20492588e-03 3.07929907e+00] [ 3.58866479e-03 1.21541379e-03 9.99992822e-01 -1.59703495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.57140051299999 meters Centerline goodness [0,1] 0.804123266696858 Centerline is valid? [False, False] Translation: X:65.58, Y:3.08, Z:-0.01 [[ 9.99991452e-01 -3.62519524e-03 -1.98841153e-03 6.55767149e+01] [ 3.63153458e-03 9.99988306e-01 3.19385593e-03 3.08143017e+00] [ 1.97680992e-03 -3.20104961e-03 9.99992923e-01 -1.46961089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.60140051299999 meters Centerline goodness [0,1] 0.7478119449615886 Centerline is valid? [False, False] Translation: X:65.58, Y:3.09, Z:-0.02 [[ 9.99962876e-01 -8.43420997e-03 -1.76389428e-03 6.55762260e+01] [ 8.42981108e-03 9.99961377e-01 -2.48659495e-03 3.08790713e+00] [ 1.78479862e-03 2.47163334e-03 9.99995353e-01 -1.51697575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.63140051299999 meters Centerline goodness [0,1] 0.84890010047673 Centerline is valid? [False, False] Translation: X:65.58, Y:3.08, Z:-0.02 [[ 9.99987252e-01 -4.55545613e-03 -2.17811291e-03 6.55775506e+01] [ 4.56123944e-03 9.99986066e-01 2.65764118e-03 3.08266850e+00] [ 2.16597579e-03 -2.66754220e-03 9.99994096e-01 -1.50127871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.66140051299999 meters Centerline goodness [0,1] 0.748380221653879 Centerline is valid? [False, False] Translation: X:65.58, Y:3.09, Z:-0.02 [[ 9.99991585e-01 -2.39171300e-03 -3.33315782e-03 6.55849940e+01] [ 2.40687697e-03 9.99986739e-01 4.55286865e-03 3.08627183e+00] [ 3.32222447e-03 -4.56085284e-03 9.99984081e-01 -1.92808673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.69140051299999 meters Centerline goodness [0,1] 0.7339893011364858 Centerline is valid? [False, False] Translation: X:65.58, Y:3.09, Z:-0.02 [[ 9.99990951e-01 -2.72560096e-03 -3.26639535e-03 6.55847092e+01] [ 2.73742278e-03 9.99989700e-01 3.62023815e-03 3.09072983e+00] [ 3.25649438e-03 -3.62914689e-03 9.99988112e-01 -1.92189666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.72140051299999 meters Centerline goodness [0,1] 0.7073604006592042 Centerline is valid? [False, False] Translation: X:65.58, Y:3.09, Z:-0.02 [[ 9.99990350e-01 -2.99812417e-03 -3.21121246e-03 6.55843531e+01] [ 3.00704963e-03 9.99991619e-01 2.77825489e-03 3.09481180e+00] [ 3.20285600e-03 -2.78788435e-03 9.99990985e-01 -1.89683258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.751400513 meters Centerline goodness [0,1] 0.8557581553039358 Centerline is valid? [False, False] Translation: X:65.56, Y:3.10, Z:-0.01 [[ 9.99975271e-01 1.80187769e-05 -7.03252459e-03 6.55602501e+01] [-5.34794941e-05 9.99987286e-01 -5.04223247e-03 3.09906431e+00] [ 7.03234433e-03 5.04248387e-03 9.99962559e-01 -1.34199794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.781400513 meters Centerline goodness [0,1] 0.6987076102617036 Centerline is valid? [False, False] Translation: X:65.58, Y:3.09, Z:-0.01 [[ 9.99957531e-01 5.39590561e-04 -9.20026037e-03 6.55797864e+01] [-4.85897768e-04 9.99982845e-01 5.83724476e-03 3.09382244e+00] [ 9.20325226e-03 -5.83252648e-03 9.99940639e-01 -8.14281898e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.811400513 meters Centerline goodness [0,1] 0.7594309394625539 Centerline is valid? [False, False] Translation: X:65.60, Y:3.11, Z:-0.01 [[ 9.99983438e-01 1.54513822e-03 -5.54399857e-03 6.56019863e+01] [-1.57569803e-03 9.99983567e-01 -5.51210576e-03 3.10552258e+00] [ 5.53539050e-03 5.52075014e-03 9.99969440e-01 -1.26623009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.84140051299998 meters Centerline goodness [0,1] 0.8690483881387686 Centerline is valid? [False, False] Translation: X:65.60, Y:3.11, Z:-0.01 [[ 9.99982166e-01 1.49414436e-03 -5.78229229e-03 6.56033785e+01] [-1.52590016e-03 9.99983758e-01 -5.49139469e-03 3.10527307e+00] [ 5.77399344e-03 5.50011996e-03 9.99968204e-01 -1.39528823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.87140051299998 meters Centerline goodness [0,1] 0.9315462766071697 Centerline is valid? [False, False] Translation: X:65.60, Y:3.10, Z:-0.01 [[ 9.99981573e-01 1.69907020e-03 -5.82817207e-03 6.56033524e+01] [-1.72777955e-03 9.99986382e-01 -4.92446903e-03 3.10258971e+00] [ 5.81972569e-03 4.93444809e-03 9.99970891e-01 -1.35917194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.90140051299998 meters Centerline goodness [0,1] 0.9423018126228434 Centerline is valid? [False, False] Translation: X:65.56, Y:3.09, Z:-0.01 [[ 9.99973434e-01 1.24987680e-03 -7.18121355e-03 6.55579089e+01] [-1.26572012e-03 9.99996774e-01 -2.20209582e-03 3.09363597e+00] [ 7.17843804e-03 2.21112673e-03 9.99971790e-01 -1.05303744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.93140051299999 meters Centerline goodness [0,1] 0.8686603441914972 Centerline is valid? [False, False] Translation: X:65.56, Y:3.09, Z:-0.01 [[ 9.99973008e-01 1.43072685e-03 -7.20670837e-03 6.55575447e+01] [-1.44170576e-03 9.99997808e-01 -1.51846433e-03 3.09035542e+00] [ 7.20452006e-03 1.52881330e-03 9.99972878e-01 -9.55802004e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.96140051299999 meters Centerline goodness [0,1] 0.9658346839546191 Centerline is valid? [False, True] Translation: X:65.56, Y:3.09, Z:-0.01 [[ 9.99969421e-01 1.32207127e-03 -7.70777013e-03 6.55591040e+01] [-1.32715046e-03 9.99998906e-01 -6.53892470e-04 3.08553922e+00] [ 7.70689720e-03 6.64101846e-04 9.99970081e-01 -9.33209992e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.99140051299999 meters Centerline goodness [0,1] 0.9969069712110398 Centerline is valid? [True, True] Translation: X:65.59, Y:3.08, Z:-0.01 [[ 9.99961966e-01 9.00210208e-04 -8.67502913e-03 6.55884516e+01] [-9.05505060e-04 9.99999406e-01 -6.06447170e-04 3.07829248e+00] [ 8.67447805e-03 6.14279387e-04 9.99962187e-01 -1.10554634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.02140051299999 meters Centerline goodness [0,1] 0.9905143475906876 Centerline is valid? [True, True] Translation: X:65.62, Y:3.08, Z:-0.01 [[ 9.99964306e-01 8.01524540e-04 -8.41093485e-03 6.56161605e+01] [-8.06501898e-04 9.99999502e-01 -5.88397236e-04 3.08015273e+00] [ 8.41045905e-03 5.95159668e-04 9.99964454e-01 -1.09588082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.05140051299999 meters Centerline goodness [0,1] 0.9161181398529663 Centerline is valid? [True, False] Translation: X:65.64, Y:3.07, Z:-0.02 [[ 9.99991472e-01 1.08262091e-03 -3.98557505e-03 6.56382375e+01] [-1.04008985e-03 9.99942662e-01 1.06578988e-02 3.07109686e+00] [ 3.99688499e-03 -1.06536625e-02 9.99935260e-01 -1.55395486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.08140051299999 meters Centerline goodness [0,1] 0.9403288656703636 Centerline is valid? [False, False] Translation: X:65.64, Y:3.08, Z:-0.02 [[ 9.99991903e-01 -2.42151812e-03 -3.21417532e-03 6.56353718e+01] [ 2.44002668e-03 9.99980394e-01 5.76703812e-03 3.07621496e+00] [ 3.20014732e-03 -5.77483410e-03 9.99978205e-01 -1.52096446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.11140051299999 meters Centerline goodness [0,1] 0.7889047914040972 Centerline is valid? [False, False] Translation: X:65.63, Y:3.08, Z:-0.02 [[ 9.99993809e-01 -2.03321126e-03 -2.87187883e-03 6.56341850e+01] [ 2.04834484e-03 9.99983981e-01 5.27650145e-03 3.07949522e+00] [ 2.86110459e-03 -5.28235138e-03 9.99981955e-01 -1.52690507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.141400513 meters Centerline goodness [0,1] 0.6829832337637309 Centerline is valid? [False, False] Translation: X:65.63, Y:3.08, Z:-0.02 [[ 9.99993684e-01 -2.12086444e-03 -2.85183867e-03 6.56342662e+01] [ 2.13504990e-03 9.99985319e-01 4.98033533e-03 3.08090342e+00] [ 2.84123419e-03 -4.98639269e-03 9.99983532e-01 -1.56320621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.171400513 meters Centerline goodness [0,1] 0.7420374580491502 Centerline is valid? [False, False] Translation: X:65.61, Y:3.09, Z:-0.02 [[ 9.99991146e-01 -2.11837476e-04 -4.20268061e-03 6.56131027e+01] [ 1.92420659e-04 9.99989309e-01 -4.61996947e-03 3.08508252e+00] [ 4.20361436e-03 4.61911989e-03 9.99980496e-01 -1.61076612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20140051299998 meters Centerline goodness [0,1] 0.722922840641156 Centerline is valid? [False, False] Translation: X:65.61, Y:3.09, Z:-0.02 [[ 9.99991124e-01 -2.48682529e-04 -4.20588781e-03 6.56132322e+01] [ 2.28760109e-04 9.99988756e-01 -4.73661102e-03 3.08563789e+00] [ 4.20701843e-03 4.73560684e-03 9.99979937e-01 -1.63652542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.23140051299998 meters Centerline goodness [0,1] 0.7315881924510518 Centerline is valid? [False, False] Translation: X:65.63, Y:3.08, Z:-0.01 [[ 9.99983573e-01 -4.45984271e-04 -5.71444443e-03 6.56330369e+01] [ 4.78911790e-04 9.99983284e-01 5.76208365e-03 3.08169988e+00] [ 5.71177911e-03 -5.76472571e-03 9.99967071e-01 -1.16742137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.26140051299998 meters Centerline goodness [0,1] 0.7696085921980397 Centerline is valid? [False, False] Translation: X:65.59, Y:3.08, Z:-0.01 [[ 9.99966052e-01 -1.84608908e-03 -8.03036640e-03 6.55908191e+01] [ 1.88379284e-03 9.99987227e-01 4.69012040e-03 3.08214985e+00] [ 8.02160545e-03 -4.70508873e-03 9.99956757e-01 -1.20588250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.29140051299999 meters Centerline goodness [0,1] 0.7523591031079561 Centerline is valid? [False, False] Translation: X:65.61, Y:3.10, Z:-0.02 [[ 9.99996462e-01 -1.14927056e-03 -2.39915251e-03 6.56126228e+01] [ 1.13497741e-03 9.99981652e-01 -5.95046639e-03 3.09591261e+00] [ 2.40594719e-03 5.94772235e-03 9.99979418e-01 -1.78624986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.32140051299999 meters Centerline goodness [0,1] 0.735940481550567 Centerline is valid? [False, False] Translation: X:65.61, Y:3.10, Z:-0.02 [[ 9.99992497e-01 2.84866765e-03 -2.62508538e-03 6.56132886e+01] [-2.85421746e-03 9.99993695e-01 -2.11283149e-03 3.09803836e+00] [ 2.61905008e-03 2.12030820e-03 9.99994322e-01 -1.77502267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.35140051299999 meters Centerline goodness [0,1] 0.6994629011998095 Centerline is valid? [False, False] Translation: X:65.61, Y:3.10, Z:-0.02 [[ 9.99969762e-01 7.19784171e-03 -2.94366701e-03 6.56144246e+01] [-7.18996848e-03 9.99970570e-01 2.67652427e-03 3.09561659e+00] [ 2.96284557e-03 -2.65527846e-03 9.99992085e-01 -1.77961687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.38140051299999 meters Centerline goodness [0,1] 0.5803009398982495 Centerline is valid? [False, False] Translation: X:65.61, Y:3.10, Z:-0.02 [[ 9.99971987e-01 6.86126727e-03 -2.99129811e-03 6.56146588e+01] [-6.85567599e-03 9.99974741e-01 1.87544516e-03 3.09935601e+00] [ 3.00409049e-03 -1.85488525e-03 9.99993767e-01 -1.80238524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.41140051299999 meters Centerline goodness [0,1] 0.7277824684462342 Centerline is valid? [False, False] Translation: X:65.61, Y:3.10, Z:-0.02 [[ 9.99973627e-01 6.64181535e-03 -2.93788715e-03 6.56144543e+01] [-6.63780001e-03 9.99977025e-01 1.37439047e-03 3.10169318e+00] [ 2.94694810e-03 -1.35485311e-03 9.99994740e-01 -1.80121627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.44140051299999 meters Centerline goodness [0,1] 0.7107669422933893 Centerline is valid? [False, False] Translation: X:65.61, Y:3.10, Z:-0.02 [[ 9.99974279e-01 6.53269827e-03 -2.96064137e-03 6.56142355e+01] [-6.52931078e-03 9.99978020e-01 1.15240057e-03 3.10274495e+00] [ 2.96810458e-03 -1.13303998e-03 9.99994953e-01 -1.74180808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.47140051299999 meters Centerline goodness [0,1] 0.7916309012875536 Centerline is valid? [False, False] Translation: X:65.65, Y:3.11, Z:-0.02 [[ 9.99990425e-01 4.37580424e-03 4.61167598e-05 6.56536976e+01] [-4.37567383e-03 9.99987238e-01 -2.52530985e-03 3.10972151e+00] [-5.71664328e-05 2.52508387e-03 9.99996810e-01 -1.69883662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.501400513 meters Centerline goodness [0,1] 0.7340548649807115 Centerline is valid? [False, False] Translation: X:65.66, Y:3.11, Z:-0.02 [[ 9.99993786e-01 3.49774011e-03 -4.41087129e-04 6.56552742e+01] [-3.49866526e-03 9.99991644e-01 -2.11439995e-03 3.10556154e+00] [ 4.33687822e-04 2.11593002e-03 9.99997667e-01 -1.67197591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.531400513 meters Centerline goodness [0,1] 0.9945538693359165 Centerline is valid? [False, True] Translation: X:65.65, Y:3.10, Z:-0.01 [[ 9.99999296e-01 1.14116048e-03 3.26507315e-04 6.56490275e+01] [-1.13974059e-03 9.99990035e-01 -4.31634432e-03 3.10474526e+00] [-3.31429703e-04 4.31596914e-03 9.99990631e-01 -1.23954352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.561400513 meters Centerline goodness [0,1] 0.9945348136672691 Centerline is valid? [True, True] Translation: X:65.68, Y:3.10, Z:-0.01 [[ 9.99999230e-01 -1.19787851e-03 -3.23648671e-04 6.56791328e+01] [ 1.19787128e-03 9.99999282e-01 -2.25144876e-05 3.10188926e+00] [ 3.23675408e-04 2.21267808e-05 9.99999947e-01 -1.26114247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.59140051299998 meters Centerline goodness [0,1] 0.9990970072239422 Centerline is valid? [True, True] Translation: X:65.71, Y:3.10, Z:-0.01 [[ 9.99995431e-01 -2.83781474e-03 -1.04189016e-03 6.57099757e+01] [ 2.83774075e-03 9.99995971e-01 -7.24781086e-05 3.09834310e+00] [ 1.04209164e-03 6.95211633e-05 9.99999455e-01 -1.32019052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.62140051299998 meters Centerline goodness [0,1] 0.9775821344213013 Centerline is valid? [True, True] Translation: X:65.74, Y:3.11, Z:-0.02 [[ 9.99991225e-01 -3.33752815e-03 -2.53210996e-03 6.57390453e+01] [ 3.33709283e-03 9.99994416e-01 -1.76124102e-04 3.11107562e+00] [ 2.53268364e-03 1.67672671e-04 9.99996779e-01 -1.66931122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.65140051299998 meters Centerline goodness [0,1] 0.9337462909618592 Centerline is valid? [True, False] Translation: X:65.74, Y:3.11, Z:-0.02 [[ 9.99991560e-01 -3.27724772e-03 -2.47800792e-03 6.57389296e+01] [ 3.27709282e-03 9.99994628e-01 -6.65674084e-05 3.11058364e+00] [ 2.47821277e-03 5.84461845e-05 9.99996928e-01 -1.68241569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.68140051299999 meters Centerline goodness [0,1] 0.9958838868176626 Centerline is valid? [False, True] Translation: X:65.74, Y:3.11, Z:-0.02 [[ 9.99992242e-01 -3.15178523e-03 -2.36255857e-03 6.57383798e+01] [ 3.15220554e-03 9.99995017e-01 1.74203358e-04 3.10951233e+00] [ 2.36199775e-03 -1.81649277e-04 9.99997194e-01 -1.64598277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.71140051299999 meters Centerline goodness [0,1] 0.994153059898653 Centerline is valid? [True, True] Translation: X:65.77, Y:3.11, Z:-0.02 [[ 9.99994682e-01 -1.99493246e-03 -2.57981109e-03 6.57683772e+01] [ 1.99446313e-03 9.99997994e-01 -1.84482551e-04 3.10983221e+00] [ 2.58017394e-03 1.79336232e-04 9.99996655e-01 -1.51748423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.74140051299999 meters Centerline goodness [0,1] 0.9930816664160024 Centerline is valid? [True, True] Translation: X:65.80, Y:3.11, Z:-0.02 [[ 9.99991395e-01 -2.01133583e-03 -3.62822742e-03 6.57960871e+01] [ 2.01040667e-03 9.99997945e-01 -2.59719429e-04 3.11177026e+00] [ 3.62874235e-03 2.52422982e-04 9.99993384e-01 -1.67128282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.77140051299999 meters Centerline goodness [0,1] 0.9951923076923077 Centerline is valid? [True, True] Translation: X:65.83, Y:3.11, Z:-0.02 [[ 9.99986828e-01 -2.65319673e-03 -4.39373369e-03 6.58250739e+01] [ 2.65183740e-03 9.99996434e-01 -3.15174692e-04 3.11081670e+00] [ 4.39455425e-03 3.03519074e-04 9.99990298e-01 -1.79748802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.80140051299999 meters Centerline goodness [0,1] 0.9945114309174986 Centerline is valid? [True, True] Translation: X:65.85, Y:3.11, Z:-0.02 [[ 9.99985044e-01 -3.99959282e-03 -3.73026676e-03 6.58537955e+01] [ 3.99862148e-03 9.99991970e-01 -2.67816009e-04 3.10951976e+00] [ 3.73130796e-03 2.52896079e-04 9.99993007e-01 -1.77099999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.83140051299999 meters Centerline goodness [0,1] 0.9977823231779525 Centerline is valid? [True, True] Translation: X:65.88, Y:3.11, Z:-0.02 [[ 9.99980416e-01 -6.01439190e-03 -1.73080292e-03 6.58841762e+01] [ 6.01418574e-03 9.99981907e-01 -1.24288262e-04 3.10515960e+00] [ 1.73151912e-03 1.13876457e-04 9.99998494e-01 -1.52722121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.86140051299999 meters Centerline goodness [0,1] 0.998905884624461 Centerline is valid? [True, True] Translation: X:65.92, Y:3.10, Z:-0.01 [[ 9.99953636e-01 -9.57645180e-03 1.00857420e-03 6.59154086e+01] [ 9.57638359e-03 9.99954143e-01 7.24361573e-05 3.09525857e+00] [-1.00922163e-03 -6.27743054e-05 9.99999489e-01 -1.24025837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.891400513 meters Centerline goodness [0,1] 0.9996746062735911 Centerline is valid? [True, True] Translation: X:65.95, Y:3.09, Z:-0.01 [[ 9.99940650e-01 -1.08909942e-02 2.86576534e-04 6.59461560e+01] [ 1.08909888e-02 9.99940691e-01 2.05814551e-05 3.09011852e+00] [-2.86783690e-04 -1.74591318e-05 9.99999959e-01 -1.34077138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.921400513 meters Centerline goodness [0,1] 0.9996351696461145 Centerline is valid? [True, True] Translation: X:65.98, Y:3.08, Z:-0.02 [[ 9.99925985e-01 -1.21127945e-02 -1.14185441e-03 6.59764334e+01] [ 1.21127087e-02 9.99926635e-01 -8.20091804e-05 3.08428077e+00] [ 1.14276400e-03 6.81721607e-05 9.99999345e-01 -1.54786548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.95140051299998 meters Centerline goodness [0,1] 0.9996969565782069 Centerline is valid? [True, True] Translation: X:66.01, Y:3.08, Z:-0.02 [[ 9.99918179e-01 -1.24547691e-02 -2.91783834e-03 6.60060108e+01] [ 1.24542094e-02 9.99922421e-01 -2.09915403e-04 3.08202092e+00] [ 2.92022642e-03 1.73558858e-04 9.99995721e-01 -1.78753302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.98140051299998 meters Centerline goodness [0,1] 0.9993048918237901 Centerline is valid? [True, True] Translation: X:66.04, Y:3.08, Z:-0.02 [[ 9.99946406e-01 -1.01039629e-02 -2.25715080e-03 6.60360328e+01] [ 1.01036217e-02 9.99948944e-01 -1.62518935e-04 3.08099663e+00] [ 2.25867764e-03 1.39704827e-04 9.99997439e-01 -1.83892300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.01140051299998 meters Centerline goodness [0,1] 0.9989932095195253 Centerline is valid? [True, True] Translation: X:66.06, Y:3.09, Z:-0.02 [[ 9.99976867e-01 -6.72166188e-03 -1.04108369e-03 6.60647894e+01] [ 6.72158746e-03 9.99977407e-01 -7.49658071e-05 3.08742748e+00] [ 1.04156406e-03 6.79663379e-05 9.99999455e-01 -1.57301295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.04140051299999 meters Centerline goodness [0,1] 0.9989932095195253 Centerline is valid? [True, True] Translation: X:66.09, Y:3.09, Z:-0.02 [[ 9.99976711e-01 -6.74483234e-03 -1.04108278e-03 6.60939392e+01] [ 6.74475792e-03 9.99977251e-01 -7.49784187e-05 3.08956616e+00] [ 1.04156482e-03 6.79548212e-05 9.99999455e-01 -1.57005075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.07140051299999 meters Centerline goodness [0,1] 0.9982813757695739 Centerline is valid? [True, True] Translation: X:66.12, Y:3.09, Z:-0.01 [[ 9.99997087e-01 -2.40342971e-03 2.20269340e-04 6.61243834e+01] [ 2.40342627e-03 9.99997112e-01 1.58820490e-05 3.08922227e+00] [-2.20306876e-04 -1.53526016e-05 9.99999976e-01 -1.32626909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.10140051299999 meters Centerline goodness [0,1] 0.9685411607967853 Centerline is valid? [True, True] Translation: X:66.15, Y:3.10, Z:-0.01 [[ 9.99997929e-01 2.01279728e-03 3.00369699e-04 6.61530912e+01] [-2.01280387e-03 9.99997974e-01 2.16318821e-05 3.09826116e+00] [-3.00325550e-04 -2.22364226e-05 9.99999955e-01 -1.27209767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.13140051299999 meters Centerline goodness [0,1] 0.8554982481338818 Centerline is valid? [True, False] Translation: X:66.12, Y:3.09, Z:-0.01 [[ 9.99966835e-01 7.43635450e-03 -3.32102205e-03 6.61159671e+01] [-7.41226199e-03 9.99946544e-01 7.20887064e-03 3.08969576e+00] [ 3.37445223e-03 -7.18401527e-03 9.99968501e-01 -1.49702947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.16140051299999 meters Centerline goodness [0,1] 0.7639281933853233 Centerline is valid? [False, False] Translation: X:66.12, Y:3.09, Z:-0.02 [[ 9.99967220e-01 7.40958619e-03 -3.26462666e-03 6.61160687e+01] [-7.38698335e-03 9.99949034e-01 6.88205857e-03 3.09129889e+00] [ 3.31545348e-03 -6.85771723e-03 9.99970989e-01 -1.56678856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.19140051299999 meters Centerline goodness [0,1] 0.7467335385410164 Centerline is valid? [False, False] Translation: X:66.12, Y:3.10, Z:-0.02 [[ 9.99989485e-01 3.53150027e-03 -2.92534411e-03 6.61151153e+01] [-3.52684072e-03 9.99992506e-01 1.59645120e-03 3.09732683e+00] [ 2.93096006e-03 -1.58611720e-03 9.99994447e-01 -1.65309593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.22140051299999 meters Centerline goodness [0,1] 0.7343406413968779 Centerline is valid? [False, False] Translation: X:66.11, Y:3.10, Z:-0.02 [[ 9.99989585e-01 3.57180394e-03 -2.84126310e-03 6.61147842e+01] [-3.56712727e-03 9.99992278e-01 1.64934964e-03 3.09711476e+00] [ 2.84713231e-03 -1.63919732e-03 9.99994603e-01 -1.64221132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.251400513 meters Centerline goodness [0,1] 0.625244093474389 Centerline is valid? [False, False] Translation: X:66.15, Y:3.10, Z:-0.02 [[ 9.99993499e-01 3.55345839e-03 6.11660973e-04 6.61525409e+01] [-3.55297301e-03 9.99993374e-01 -7.92803111e-04 3.10483922e+00] [-6.14474113e-04 7.90624742e-04 9.99999499e-01 -1.56781858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.281400513 meters Centerline goodness [0,1] 0.6531654768520497 Centerline is valid? [False, False] Translation: X:66.15, Y:3.11, Z:-0.02 [[ 9.99993918e-01 3.43044052e-03 6.28618459e-04 6.61524454e+01] [-3.42977465e-03 9.99993559e-01 -1.05729407e-03 3.10607794e+00] [-6.32241395e-04 1.05513162e-03 9.99999243e-01 -1.56230475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.311400513 meters Centerline goodness [0,1] 0.647815954330675 Centerline is valid? [False, False] Translation: X:66.15, Y:3.11, Z:-0.02 [[ 9.99994156e-01 3.37607530e-03 5.37877481e-04 6.61528543e+01] [-3.37545854e-03 9.99993649e-01 -1.14347076e-03 3.10643239e+00] [-5.41734509e-04 1.14164850e-03 9.99999202e-01 -1.58374058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.34140051299998 meters Centerline goodness [0,1] 0.8711888595770445 Centerline is valid? [False, False] Translation: X:66.15, Y:3.10, Z:-0.01 [[ 9.99974867e-01 6.80224558e-03 1.99858191e-03 6.61481087e+01] [-6.81022663e-03 9.99968754e-01 4.01405959e-03 3.09987490e+00] [-1.97121484e-03 -4.02756951e-03 9.99989946e-01 -1.47267291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.37140051299998 meters Centerline goodness [0,1] 0.6569010970320606 Centerline is valid? [False, False] Translation: X:66.19, Y:3.11, Z:-0.02 [[ 9.99979707e-01 4.04800706e-03 4.91932782e-03 6.61887358e+01] [-4.04333209e-03 9.99991365e-01 -9.59902144e-04 3.10669960e+00] [-4.92317103e-03 9.39992188e-04 9.99987439e-01 -1.56499311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.40140051299998 meters Centerline goodness [0,1] 0.9259371548606449 Centerline is valid? [False, False] Translation: X:66.15, Y:3.10, Z:-0.01 [[ 9.99993302e-01 2.58277813e-03 2.59330419e-03 6.61454948e+01] [-2.58233737e-03 9.99996651e-01 -1.73293456e-04 3.10121521e+00] [-2.59374308e-03 1.66595509e-04 9.99996622e-01 -1.36997659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.43140051299999 meters Centerline goodness [0,1] 0.7371218752001366 Centerline is valid? [False, False] Translation: X:66.19, Y:3.11, Z:-0.01 [[ 9.99983793e-01 1.15265534e-03 5.57543562e-03 6.61861248e+01] [-1.13498457e-03 9.99994327e-01 -3.17152289e-03 3.10550454e+00] [-5.57905966e-03 3.16514346e-03 9.99979428e-01 -1.44858639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.46140051299999 meters Centerline goodness [0,1] 0.9491260723530797 Centerline is valid? [False, False] Translation: X:66.19, Y:3.10, Z:-0.01 [[ 9.99984704e-01 1.41148002e-03 5.34778152e-03 6.61869927e+01] [-1.39844637e-03 9.99996045e-01 -2.44016395e-03 3.10198849e+00] [-5.35120461e-03 2.43264804e-03 9.99982723e-01 -1.47250423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.49140051299999 meters Centerline goodness [0,1] 0.9249622763526621 Centerline is valid? [False, False] Translation: X:66.19, Y:3.10, Z:-0.01 [[ 9.99985074e-01 1.68272993e-03 5.19812129e-03 6.61875411e+01] [-1.67356310e-03 9.99997038e-01 -1.76733465e-03 3.09880239e+00] [-5.20107984e-03 1.75860888e-03 9.99984928e-01 -1.48547440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.52140051299999 meters Centerline goodness [0,1] 0.9755882479459715 Centerline is valid? [False, True] Translation: X:66.19, Y:3.09, Z:-0.01 [[ 9.99984548e-01 2.06354533e-03 5.16200801e-03 6.61873545e+01] [-2.05938930e-03 9.99997551e-01 -8.10304899e-04 3.09432888e+00] [-5.16366747e-03 7.99661794e-04 9.99986348e-01 -1.41952925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.55140051299999 meters Centerline goodness [0,1] 0.9629066780821918 Centerline is valid? [True, True] Translation: X:66.22, Y:3.09, Z:-0.01 [[ 9.99981011e-01 1.64540121e-03 5.93892261e-03 6.62185063e+01] [-1.64801397e-03 9.99998547e-01 4.35070852e-04 3.09432761e+00] [-5.93819812e-03 -4.44850018e-04 9.99982270e-01 -1.22159168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.58140051299999 meters Centerline goodness [0,1] 0.9600271866105943 Centerline is valid? [True, True] Translation: X:66.25, Y:3.09, Z:-0.01 [[ 9.99975250e-01 1.60910824e-03 6.84907081e-03 6.62506226e+01] [-1.61257439e-03 9.99998575e-01 5.00584799e-04 3.09465394e+00] [-6.84825555e-03 -5.11617046e-04 9.99976420e-01 -1.07661648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.61140051299999 meters Centerline goodness [0,1] 0.7736954206602769 Centerline is valid? [True, False] Translation: X:66.25, Y:3.09, Z:-0.01 [[ 9.99975335e-01 1.83488975e-03 6.77961787e-03 6.62508129e+01] [-1.84183273e-03 9.99997786e-01 1.01799358e-03 3.09223058e+00] [-6.77773495e-03 -1.03045539e-03 9.99976500e-01 -1.06461548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.641400513 meters Centerline goodness [0,1] 0.7633840336856579 Centerline is valid? [False, False] Translation: X:66.23, Y:3.09, Z:-0.01 [[ 9.99980857e-01 6.03867465e-03 1.34921026e-03 6.62339535e+01] [-6.03172297e-03 9.99968812e-01 -5.09840089e-03 3.09101816e+00] [-1.37995576e-03 5.09016523e-03 9.99986093e-01 -9.92176486e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.671400513 meters Centerline goodness [0,1] 0.8458870380679142 Centerline is valid? [False, False] Translation: X:66.23, Y:3.09, Z:-0.01 [[ 9.99981905e-01 5.86555874e-03 1.33604008e-03 6.62345694e+01] [-5.85790106e-03 9.99966795e-01 -5.66518173e-03 3.09367571e+00] [-1.36922517e-03 5.65725283e-03 9.99983060e-01 -1.11301901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70140051299998 meters Centerline goodness [0,1] 0.6477316131222679 Centerline is valid? [False, False] Translation: X:66.23, Y:3.09, Z:-0.01 [[ 9.99945388e-01 1.03772921e-02 1.23825244e-03 6.62348376e+01] [-1.03765096e-02 9.99945960e-01 -6.36687965e-04 3.09024468e+00] [-1.24479263e-03 6.23804455e-04 9.99999031e-01 -1.07726093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.73140051299998 meters Centerline goodness [0,1] 0.6217008170423921 Centerline is valid? [False, False] Translation: X:66.23, Y:3.10, Z:-0.01 [[ 9.99948128e-01 1.00358723e-02 1.73852854e-03 6.62330523e+01] [-1.00324141e-02 9.99947701e-01 -1.98654425e-03 3.09698659e+00] [-1.75837433e-03 1.96899957e-03 9.99996516e-01 -1.04553754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.76140051299998 meters Centerline goodness [0,1] 0.7837564108089471 Centerline is valid? [False, False] Translation: X:66.23, Y:3.10, Z:-0.01 [[ 9.99949859e-01 9.85579893e-03 1.77277414e-03 6.62329313e+01] [-9.85152092e-03 9.99948578e-01 -2.40593385e-03 3.09895460e+00] [-1.79639538e-03 2.38834869e-03 9.99995534e-01 -1.04449961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.79140051299999 meters Centerline goodness [0,1] 0.4358604907403484 Centerline is valid? [False, False] Translation: X:66.25, Y:3.09, Z:-0.01 [[ 9.99955046e-01 9.43657012e-03 9.25913944e-04 6.62528201e+01] [-9.44384504e-03 9.99921823e-01 8.19525957e-03 3.09343139e+00] [-8.48506417e-04 -8.20363535e-03 9.99965990e-01 -6.32701432e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.82140051299999 meters Centerline goodness [0,1] 0.7803929196654348 Centerline is valid? [False, False] Translation: X:66.21, Y:3.09, Z:-0.01 [[ 9.99971082e-01 7.34641201e-03 -1.96605958e-03 6.62118727e+01] [-7.33245188e-03 9.99948504e-01 7.01599066e-03 3.09302355e+00] [ 2.01750069e-03 -7.00137174e-03 9.99973455e-01 -6.70833487e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.85140051299999 meters Centerline goodness [0,1] 0.7552945211352139 Centerline is valid? [False, False] Translation: X:66.21, Y:3.09, Z:-0.01 [[ 9.99970745e-01 7.36322670e-03 -2.07155872e-03 6.62121556e+01] [-7.34821043e-03 9.99947329e-01 7.16533796e-03 3.09225011e+00] [ 2.12420962e-03 -7.14990609e-03 9.99972183e-01 -6.60331024e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.88140051299999 meters Centerline goodness [0,1] 0.7295011957635804 Centerline is valid? [False, False] Translation: X:66.21, Y:3.10, Z:-0.01 [[ 9.99994222e-01 2.71815872e-03 -2.04163273e-03 6.62121657e+01] [-2.71379317e-03 9.99994032e-01 2.13799569e-03 3.09548392e+00] [ 2.04743196e-03 -2.13244277e-03 9.99995630e-01 -7.04564302e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.91140051299999 meters Centerline goodness [0,1] 0.9870506085565428 Centerline is valid? [False, True] Translation: X:66.17, Y:3.09, Z:-0.01 [[ 9.99988509e-01 4.21911751e-04 -4.77523793e-03 6.61709135e+01] [-4.13939693e-04 9.99998519e-01 1.67032298e-03 3.09181259e+00] [ 4.77593559e-03 -1.66832713e-03 9.99987203e-01 -7.15175877e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.94140051299999 meters Centerline goodness [0,1] 0.9966948218876239 Centerline is valid? [True, True] Translation: X:66.20, Y:3.09, Z:-0.01 [[ 9.99989481e-01 -1.90941038e-03 -4.17041537e-03 6.62012242e+01] [ 1.90809677e-03 9.99998129e-01 -3.18939976e-04 3.09305010e+00] [ 4.17101655e-03 3.10979065e-04 9.99991253e-01 -7.07338194e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.97140051299999 meters Centerline goodness [0,1] 0.9977415469328056 Centerline is valid? [True, True] Translation: X:66.23, Y:3.10, Z:-0.01 [[ 9.99987138e-01 -3.57524423e-03 -3.59743595e-03 6.62309820e+01] [ 3.57427741e-03 9.99993574e-01 -2.75144727e-04 3.09566941e+00] [ 3.59839654e-03 2.62282954e-04 9.99993491e-01 -6.88652662e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.001400513 meters Centerline goodness [0,1] 0.9988416819652067 Centerline is valid? [True, True] Translation: X:66.26, Y:3.10, Z:-0.01 [[ 9.99983546e-01 -4.62777912e-03 -3.38977147e-03 6.62601599e+01] [ 4.62692582e-03 9.99989262e-01 -2.59526823e-04 3.09740176e+00] [ 3.39093611e-03 2.43838332e-04 9.99994221e-01 -6.45785900e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.031400513 meters Centerline goodness [0,1] 0.9343740656900013 Centerline is valid? [True, False] Translation: X:66.30, Y:3.10, Z:-0.01 [[ 9.99990962e-01 -4.19567452e-03 -6.87095539e-04 6.63006040e+01] [ 4.19510889e-03 9.99990862e-01 -8.22601186e-04 3.09884552e+00] [ 6.90540627e-04 8.19711311e-04 9.99999426e-01 -5.82428353e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.061400513 meters Centerline goodness [0,1] 0.9550436718616201 Centerline is valid? [False, True] Translation: X:66.30, Y:3.10, Z:-0.01 [[ 9.99991855e-01 -3.97769829e-03 -6.83585019e-04 6.63004691e+01] [ 3.97749474e-03 9.99992045e-01 -2.98865549e-04 3.09639967e+00] [ 6.84768379e-04 2.96144159e-04 9.99999722e-01 -5.55542047e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.09140051299998 meters Centerline goodness [0,1] 0.9971182171370021 Centerline is valid? [True, True] Translation: X:66.33, Y:3.09, Z:-0.01 [[ 9.99990749e-01 -4.19637806e-03 -9.44650097e-04 6.63310865e+01] [ 4.19631343e-03 9.99991193e-01 -7.03899489e-05 3.08995070e+00] [ 9.44937160e-04 6.64252498e-05 9.99999551e-01 -5.99397922e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.12140051299998 meters Centerline goodness [0,1] 0.9981049185976397 Centerline is valid? [True, True] Translation: X:66.36, Y:3.09, Z:-0.01 [[ 9.99987689e-01 -4.16748888e-03 -2.69339361e-03 6.63603940e+01] [ 4.16696316e-03 9.99991298e-01 -2.00768694e-04 3.09131035e+00] [ 2.69420687e-03 1.89542950e-04 9.99996353e-01 -9.25048089e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.15140051299998 meters Centerline goodness [0,1] 0.9960533653639912 Centerline is valid? [True, True] Translation: X:66.39, Y:3.10, Z:-0.01 [[ 9.99988194e-01 -3.72219266e-03 -3.12359215e-03 6.63879003e+01] [ 3.72148257e-03 9.99993048e-01 -2.33113455e-04 3.09607639e+00] [ 3.12443813e-03 2.21486309e-04 9.99995094e-01 -1.03365236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.18140051299999 meters Centerline goodness [0,1] 0.9644614660447601 Centerline is valid? [True, True] Translation: X:66.42, Y:3.10, Z:-0.01 [[ 9.99992895e-01 -2.93543652e-03 -2.36498115e-03 6.64159366e+01] [ 2.93502705e-03 9.99995677e-01 -1.76587537e-04 3.10444065e+00] [ 2.36548928e-03 1.69644999e-04 9.99997188e-01 -9.28710220e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.21140051299999 meters Centerline goodness [0,1] 0.9738020122783083 Centerline is valid? [True, True] Translation: X:66.45, Y:3.11, Z:-0.01 [[ 9.99996672e-01 -1.82116452e-03 -1.82756134e-03 6.64456153e+01] [ 1.82091808e-03 9.99998333e-01 -1.36502090e-04 3.10595615e+00] [ 1.82780689e-03 1.33173796e-04 9.99998321e-01 -8.18166790e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.24140051299999 meters Centerline goodness [0,1] 0.9848536857461598 Centerline is valid? [True, True] Translation: X:66.47, Y:3.11, Z:-0.01 [[ 9.99998580e-01 -6.12893601e-04 -1.56988960e-03 6.64746936e+01] [ 6.12710158e-04 9.99999805e-01 -1.17329284e-04 3.10822085e+00] [ 1.56996121e-03 1.16367230e-04 9.99998761e-01 -7.97617851e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.27140051299999 meters Centerline goodness [0,1] 0.9647727518316008 Centerline is valid? [True, True] Translation: X:66.50, Y:3.12, Z:-0.01 [[ 9.99998513e-01 6.16057776e-04 -1.61085530e-03 6.65028478e+01] [-6.16252600e-04 9.99999803e-01 -1.20450612e-04 3.11572594e+00] [ 1.61078077e-03 1.21443126e-04 9.99998695e-01 -8.41282071e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.30140051299999 meters Centerline goodness [0,1] 0.9006203153269579 Centerline is valid? [True, False] Translation: X:66.50, Y:3.12, Z:-0.01 [[ 9.99998361e-01 5.39212681e-04 -1.72826088e-03 6.65035580e+01] [-5.39865048e-04 9.99999783e-01 -3.77025804e-04 3.11688608e+00] [ 1.72805720e-03 3.77958214e-04 9.99998435e-01 -9.14669440e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.33140051299999 meters Centerline goodness [0,1] 0.8601404627515188 Centerline is valid? [False, False] Translation: X:66.50, Y:3.12, Z:-0.01 [[ 9.99998228e-01 6.87094196e-04 -1.75250316e-03 6.65037572e+01] [-6.87147834e-04 9.99999763e-01 -3.00045830e-05 3.11523819e+00] [ 1.75248213e-03 3.12087586e-05 9.99998464e-01 -9.40760223e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.36140051299999 meters Centerline goodness [0,1] 0.9199067040421116 Centerline is valid? [False, False] Translation: X:66.50, Y:3.11, Z:-0.01 [[ 9.99998064e-01 8.35173013e-04 -1.78163148e-03 6.65037387e+01] [-8.34479812e-04 9.99999576e-01 3.89790591e-04 3.11323622e+00] [ 1.78195626e-03 -3.88303101e-04 9.99998337e-01 -9.19347638e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.391400513 meters Centerline goodness [0,1] 0.8875723102728974 Centerline is valid? [False, False] Translation: X:66.50, Y:3.11, Z:-0.01 [[ 9.99999397e-01 -6.24395703e-04 -9.03662231e-04 6.64978549e+01] [ 6.23675542e-04 9.99999488e-01 -7.96998439e-04 3.11367670e+00] [ 9.04159410e-04 7.96434366e-04 9.99999274e-01 -5.50308478e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.421400513 meters Centerline goodness [0,1] 0.9741708564400233 Centerline is valid? [False, True] Translation: X:66.50, Y:3.11, Z:-0.00 [[ 9.99999549e-01 -6.75003131e-04 -6.68262551e-04 6.64962323e+01] [ 6.75463481e-04 9.99999535e-01 6.88890080e-04 3.10571269e+00] [ 6.67797237e-04 -6.89341156e-04 9.99999539e-01 -3.38315048e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.45140051299998 meters Centerline goodness [0,1] 0.9987990048897658 Centerline is valid? [True, True] Translation: X:66.53, Y:3.10, Z:-0.00 [[ 9.99993680e-01 -3.55491860e-03 -5.47837435e-05 6.65271579e+01] [ 3.55491840e-03 9.99993681e-01 -3.83011220e-06 3.09611515e+00] [ 5.47970130e-05 3.63533625e-06 9.99999998e-01 -2.65578771e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.48140051299998 meters Centerline goodness [0,1] 0.9997606666521616 Centerline is valid? [True, True] Translation: X:66.56, Y:3.09, Z:-0.00 [[ 9.99981718e-01 -6.03142763e-03 -4.31650337e-04 6.65578227e+01] [ 6.03141515e-03 9.99981810e-01 -3.01998592e-05 3.08699740e+00] [ 4.31824634e-04 2.75958446e-05 9.99999906e-01 -3.02706135e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.51140051299998 meters Centerline goodness [0,1] 0.9996342512908778 Centerline is valid? [True, True] Translation: X:66.59, Y:3.09, Z:-0.00 [[ 9.99969012e-01 -7.82067947e-03 -9.01609357e-04 6.65872828e+01] [ 7.82062576e-03 9.99969416e-01 -6.30819195e-05 3.08816481e+00] [ 9.02075127e-04 5.60288154e-05 9.99999592e-01 -3.58571979e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.54140051299999 meters Centerline goodness [0,1] 0.9987965012572264 Centerline is valid? [True, True] Translation: X:66.62, Y:3.09, Z:-0.00 [[ 9.99958902e-01 -8.96991857e-03 -1.31742175e-03 6.66154723e+01] [ 8.96980486e-03 9.99959766e-01 -9.21918282e-05 3.09434138e+00] [ 1.31819570e-03 8.03710233e-05 9.99999128e-01 -4.35801915e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.57140051299999 meters Centerline goodness [0,1] 0.9992699005776375 Centerline is valid? [True, True] Translation: X:66.65, Y:3.09, Z:-0.01 [[ 9.99968702e-01 -7.58126433e-03 -2.26255302e-03 6.66453883e+01] [ 7.58092516e-03 9.99971252e-01 -1.58441336e-04 3.08562626e+00] [ 2.26368916e-03 1.41284132e-04 9.99997428e-01 -5.98472954e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.60140051299999 meters Centerline goodness [0,1] 0.9993291640518491 Centerline is valid? [True, True] Translation: X:66.68, Y:3.08, Z:-0.01 [[ 9.99982748e-01 -5.19909622e-03 -2.73382812e-03 6.66754725e+01] [ 5.19859196e-03 9.99986469e-01 -1.91527558e-04 3.08430019e+00] [ 2.73478690e-03 1.77312196e-04 9.99996245e-01 -6.45512711e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.63140051299999 meters Centerline goodness [0,1] 0.9992181731312166 Centerline is valid? [True, True] Translation: X:66.71, Y:3.09, Z:-0.01 [[ 9.99991119e-01 -1.97882933e-03 -3.72099784e-03 6.67057517e+01] [ 1.97787281e-03 9.99998010e-01 -2.60721924e-04 3.08588784e+00] [ 3.72150635e-03 2.53359948e-04 9.99993043e-01 -7.57397610e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.66140051299999 meters Centerline goodness [0,1] 0.9975737619687188 Centerline is valid? [True, True] Translation: X:66.74, Y:3.09, Z:-0.01 [[ 9.99990626e-01 8.92338423e-04 -4.23688987e-03 6.67351602e+01] [-8.93604233e-04 9.99999557e-01 -2.96875515e-04 3.09123986e+00] [ 4.23662308e-03 3.00658835e-04 9.99990980e-01 -8.81474318e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.69140051299999 meters Centerline goodness [0,1] 0.995679923584578 Centerline is valid? [True, True] Translation: X:66.77, Y:3.09, Z:-0.01 [[ 9.99975723e-01 5.37322424e-03 -4.43645222e-03 6.67657381e+01] [-5.37465605e-03 9.99985508e-01 -3.10877787e-04 3.09268406e+00] [ 4.43471751e-03 3.34714644e-04 9.99990111e-01 -9.08959142e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.72140051299999 meters Centerline goodness [0,1] 0.9953510601320821 Centerline is valid? [True, True] Translation: X:66.80, Y:3.09, Z:-0.01 [[ 9.99969672e-01 6.80534467e-03 -3.78705370e-03 6.67963168e+01] [-6.80639824e-03 9.99976801e-01 -2.65383286e-04 3.09353792e+00] [ 3.78515982e-03 2.91151433e-04 9.99992794e-01 -7.65208478e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.751400513 meters Centerline goodness [0,1] 0.9760477750948603 Centerline is valid? [True, True] Translation: X:66.82, Y:3.10, Z:-0.01 [[ 9.99964625e-01 7.79300064e-03 -3.16508084e-03 6.68244890e+01] [-7.79374163e-03 9.99969604e-01 -2.21847307e-04 3.09970425e+00] [ 3.16325577e-03 2.46507281e-04 9.99994967e-01 -6.97205409e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.781400513 meters Centerline goodness [0,1] 0.965349438421933 Centerline is valid? [True, True] Translation: X:66.85, Y:3.10, Z:-0.01 [[ 9.99964124e-01 8.00358153e-03 -2.77375290e-03 6.68531677e+01] [-8.00415167e-03 9.99967947e-01 -1.94507351e-04 3.10177885e+00] [ 2.77210724e-03 2.16701911e-04 9.99996134e-01 -6.26433634e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.811400513 meters Centerline goodness [0,1] 0.7654645790554415 Centerline is valid? [True, False] Translation: X:66.87, Y:3.09, Z:-0.00 [[ 9.99967684e-01 7.51768439e-03 -2.84885208e-03 6.68722008e+01] [-7.48666581e-03 9.99914226e-01 1.07466791e-02 3.09304559e+00] [ 2.92939786e-03 -1.07250035e-02 9.99938195e-01 -1.81889634e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.84140051299998 meters Centerline goodness [0,1] 0.9898863831984851 Centerline is valid? [False, True] Translation: X:66.87, Y:3.10, Z:-0.00 [[ 9.99992128e-01 3.13977206e-03 -2.42622732e-03 6.68709761e+01] [-3.12586202e-03 9.99978779e-01 5.71587722e-03 3.09665326e+00] [ 2.44412238e-03 -5.70824817e-03 9.99980721e-01 -2.31401719e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.87140051299998 meters Centerline goodness [0,1] 0.9897490126680623 Centerline is valid? [True, True] Translation: X:66.90, Y:3.10, Z:-0.00 [[ 9.99994797e-01 3.18852207e-03 -4.89143708e-04 6.69003362e+01] [-3.18854031e-03 9.99994916e-01 -3.65327830e-05 3.10108313e+00] [ 4.89024736e-04 3.80922474e-05 9.99999880e-01 -6.31395708e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.90140051299998 meters Centerline goodness [0,1] 0.7428484545711245 Centerline is valid? [True, False] Translation: X:66.90, Y:3.10, Z:-0.00 [[ 9.99995017e-01 3.12802225e-03 -4.26907123e-04 6.69001224e+01] [-3.12810098e-03 9.99995091e-01 -1.83873415e-04 3.10178613e+00] [ 4.26329867e-04 1.85207907e-04 9.99999892e-01 -6.07551055e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.93140051299999 meters Centerline goodness [0,1] 0.7428484545711245 Centerline is valid? [False, False] Translation: X:66.90, Y:3.10, Z:-0.00 [[ 9.99995017e-01 3.12802225e-03 -4.26907123e-04 6.69001224e+01] [-3.12810098e-03 9.99995091e-01 -1.83873415e-04 3.10178613e+00] [ 4.26329867e-04 1.85207907e-04 9.99999892e-01 -6.07551055e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.96140051299999 meters Centerline goodness [0,1] 0.9743197205571608 Centerline is valid? [False, True] Translation: X:66.90, Y:3.10, Z:-0.00 [[ 9.99995283e-01 3.04816135e-03 -3.77702884e-04 6.68999595e+01] [-3.04832110e-03 9.99995264e-01 -4.23075523e-04 3.10293342e+00] [ 3.76411493e-04 4.24224887e-04 9.99999839e-01 -6.40674114e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.99140051299999 meters Centerline goodness [0,1] 0.9664559721011334 Centerline is valid? [True, True] Translation: X:66.93, Y:3.10, Z:-0.00 [[ 9.99981269e-01 6.01072493e-03 -1.15417839e-03 6.69306180e+01] [-6.01083043e-03 9.99981931e-01 -8.79568764e-05 3.10367493e+00] [ 1.15362885e-03 9.48927995e-05 9.99999330e-01 -1.33331646e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.02140051299999 meters Centerline goodness [0,1] 0.9326472935948051 Centerline is valid? [True, False] Translation: X:66.94, Y:3.10, Z:-0.01 [[ 9.99960224e-01 8.66584253e-03 -2.11014863e-03 6.69374716e+01] [-8.65963349e-03 9.99958200e-01 2.93403804e-03 3.09989810e+00] [ 2.13548634e-03 -2.91564823e-03 9.99993469e-01 -5.56096877e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.05140051299999 meters Centerline goodness [0,1] 0.5672635149641462 Centerline is valid? [False, False] Translation: X:66.94, Y:3.10, Z:-0.01 [[ 9.99961075e-01 8.56505104e-03 -2.11852200e-03 6.69378771e+01] [-8.55946876e-03 9.99959908e-01 2.63016311e-03 3.10127700e+00] [ 2.14096455e-03 -2.61192731e-03 9.99994297e-01 -6.34906916e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.08140051299999 meters Centerline goodness [0,1] 0.9078769659739467 Centerline is valid? [False, False] Translation: X:66.90, Y:3.10, Z:-0.01 [[ 9.99957784e-01 7.62589141e-03 -5.12593688e-03 6.68978315e+01] [-7.60944768e-03 9.99965864e-01 3.21983085e-03 3.09925019e+00] [ 5.15031598e-03 -3.18068937e-03 9.99981679e-01 -7.31672052e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.11140051299999 meters Centerline goodness [0,1] 0.652453948215896 Centerline is valid? [False, False] Translation: X:66.92, Y:3.09, Z:-0.00 [[ 9.99964227e-01 6.95699864e-03 -4.81094184e-03 6.69175995e+01] [-6.89038434e-03 9.99882038e-01 1.37270708e-02 3.09303103e+00] [ 4.90587355e-03 -1.36934305e-02 9.99894206e-01 -4.14983662e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.141400513 meters Centerline goodness [0,1] 0.6452167558621875 Centerline is valid? [False, False] Translation: X:66.92, Y:3.10, Z:-0.01 [[ 9.99986456e-01 2.28251125e-03 -4.67744043e-03 6.69174855e+01] [-2.24319882e-03 9.99962264e-01 8.39276912e-03 3.09775770e+00] [ 4.69642051e-03 -8.38216301e-03 9.99953840e-01 -5.08889414e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.171400513 meters Centerline goodness [0,1] 0.9299657792221768 Centerline is valid? [False, False] Translation: X:66.92, Y:3.10, Z:-0.01 [[ 9.99986450e-01 -2.37923916e-03 -4.63018950e-03 6.69177667e+01] [ 2.39367900e-03 9.99992282e-01 3.11558992e-03 3.10222058e+00] [ 4.62274103e-03 -3.12663089e-03 9.99984427e-01 -6.08388600e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20140051299998 meters Centerline goodness [0,1] 0.9622617152201042 Centerline is valid? [False, True] Translation: X:66.92, Y:3.10, Z:-0.01 [[ 9.99985750e-01 -2.25698656e-03 -4.83789258e-03 6.69185061e+01] [ 2.27405340e-03 9.99991201e-01 3.52515010e-03 3.10019036e+00] [ 4.82989379e-03 -3.53610150e-03 9.99982084e-01 -6.16856737e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.23140051299998 meters Centerline goodness [0,1] 0.9644996000259443 Centerline is valid? [True, True] Translation: X:66.95, Y:3.11, Z:-0.01 [[ 9.99978299e-01 -4.02308952e-03 -5.21701552e-03 6.69467621e+01] [ 4.02087448e-03 9.99991822e-01 -4.34999171e-04 3.10526544e+00] [ 5.21872290e-03 4.14012766e-04 9.99986297e-01 -7.20946988e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.26140051299998 meters Centerline goodness [0,1] 0.9435573392536931 Centerline is valid? [True, False] Translation: X:66.99, Y:3.11, Z:-0.01 [[ 9.99981869e-01 -5.66963074e-03 -2.02909893e-03 6.69870631e+01] [ 5.66145500e-03 9.99975923e-01 -4.01255885e-03 3.10952794e+00] [ 2.05179981e-03 4.00099844e-03 9.99989891e-01 -7.72467364e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.29140051299999 meters Centerline goodness [0,1] 0.9821304649548924 Centerline is valid? [False, True] Translation: X:66.94, Y:3.10, Z:-0.01 [[ 9.99981026e-01 -4.47277110e-03 -4.23568069e-03 6.69447999e+01] [ 4.47862138e-03 9.99989029e-01 1.37271314e-03 3.09898373e+00] [ 4.22949438e-03 -1.39165711e-03 9.99990087e-01 -5.53195995e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.32140051299999 meters Centerline goodness [0,1] 0.9714944908036311 Centerline is valid? [True, True] Translation: X:66.97, Y:3.11, Z:-0.01 [[ 9.99977462e-01 -5.33917682e-03 -4.07039602e-03 6.69726132e+01] [ 5.33789080e-03 9.99985700e-01 -3.26743279e-04 3.10501241e+00] [ 4.07208235e-03 3.05008585e-04 9.99991663e-01 -5.91984530e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.35140051299999 meters Centerline goodness [0,1] 0.9970409051349 Centerline is valid? [True, True] Translation: X:67.00, Y:3.10, Z:-0.01 [[ 9.99975517e-01 -6.09572311e-03 -3.43624092e-03 6.70015707e+01] [ 6.09480887e-03 9.99981388e-01 -2.76469259e-04 3.10220880e+00] [ 3.43786225e-03 2.55519258e-04 9.99994058e-01 -5.59838500e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.38140051299999 meters Centerline goodness [0,1] 0.9929936578676722 Centerline is valid? [True, True] Translation: X:67.03, Y:3.11, Z:-0.01 [[ 9.99972285e-01 -6.81551783e-03 -2.99643272e-03 6.70295817e+01] [ 6.81482435e-03 9.99976750e-01 -2.41583024e-04 3.10798309e+00] [ 2.99800957e-03 2.21156166e-04 9.99995482e-01 -5.69143900e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.41140051299999 meters Centerline goodness [0,1] 0.9802319395680391 Centerline is valid? [True, True] Translation: X:67.06, Y:3.11, Z:-0.01 [[ 9.99961844e-01 -8.31365434e-03 -2.68213261e-03 6.70576218e+01] [ 8.31310398e-03 9.99965422e-01 -2.16276619e-04 3.11405341e+00] [ 2.68383792e-03 1.93971519e-04 9.99996380e-01 -5.46836158e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.44140051299999 meters Centerline goodness [0,1] 0.9993706733794839 Centerline is valid? [True, True] Translation: X:67.09, Y:3.10, Z:-0.00 [[ 9.99913209e-01 -1.30193284e-02 -2.01770967e-03 6.70890914e+01] [ 1.30190265e-02 9.99915236e-01 -1.62689113e-04 3.10487353e+00] [ 2.01965675e-03 1.36406377e-04 9.99997951e-01 -3.91505131e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.47140051299999 meters Centerline goodness [0,1] 0.9989947599187252 Centerline is valid? [True, True] Translation: X:67.12, Y:3.11, Z:-0.00 [[ 9.99876604e-01 -1.55599559e-02 -2.15987329e-03 6.71183736e+01] [ 1.55596158e-02 9.99878927e-01 -1.74189615e-04 3.11178249e+00] [ 2.16232217e-03 1.40561322e-04 9.99997652e-01 -4.21127388e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.501400513 meters Centerline goodness [0,1] 0.9995876646628616 Centerline is valid? [True, True] Translation: X:67.15, Y:3.11, Z:-0.01 [[ 9.99831014e-01 -1.80663868e-02 -3.39851883e-03 6.71493636e+01] [ 1.80655591e-02 9.99836767e-01 -2.74090162e-04 3.10664597e+00] [ 3.40291590e-03 2.12647702e-04 9.99994187e-01 -5.37392592e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.531400513 meters Centerline goodness [0,1] 0.9995646590191768 Centerline is valid? [True, True] Translation: X:67.18, Y:3.11, Z:-0.01 [[ 9.99791063e-01 -1.99350301e-02 -4.51943056e-03 6.71792710e+01] [ 1.99335849e-02 9.99801240e-01 -3.64609550e-04 3.10553599e+00] [ 4.52580078e-03 2.74444917e-04 9.99989721e-01 -6.31855774e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.561400513 meters Centerline goodness [0,1] 0.9997404395224088 Centerline is valid? [True, True] Translation: X:67.21, Y:3.11, Z:-0.00 [[ 9.99759771e-01 -2.16756990e-02 -3.25022851e-03 6.72081537e+01] [ 2.16749604e-02 9.99765036e-01 -2.62296798e-04 3.10763803e+00] [ 3.25515029e-03 1.91785213e-04 9.99994684e-01 -3.95661491e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.59140051299998 meters Centerline goodness [0,1] 0.999462654486835 Centerline is valid? [True, True] Translation: X:67.24, Y:3.11, Z:-0.00 [[ 9.99760113e-01 -2.18137631e-02 -1.96878009e-03 6.72360450e+01] [ 2.18134915e-02 9.99762045e-01 -1.59347606e-04 3.11122994e+00] [ 1.97178758e-03 1.16363413e-04 9.99998049e-01 -2.51777954e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.62140051299998 meters Centerline goodness [0,1] 0.9997643025498179 Centerline is valid? [True, True] Translation: X:67.26, Y:3.11, Z:-0.00 [[ 9.99763112e-01 -2.17491572e-02 -8.32960789e-04 6.72647651e+01] [ 2.17491084e-02 9.99763458e-01 -6.76005969e-05 3.11428304e+00] [ 8.34234015e-04 4.94684286e-05 9.99999651e-01 -1.55143639e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.65140051299998 meters Centerline goodness [0,1] 0.9994228302693459 Centerline is valid? [True, True] Translation: X:67.29, Y:3.12, Z:-0.00 [[ 9.99765028e-01 -2.16769277e-02 -1.17961177e-05 6.72916608e+01] [ 2.16769277e-02 9.99765028e-01 -9.87831615e-07 3.12193542e+00] [ 1.18147591e-05 7.31895912e-07 1.00000000e+00 -6.74582887e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.68140051299999 meters Centerline goodness [0,1] 0.9994389054339851 Centerline is valid? [True, True] Translation: X:67.32, Y:3.12, Z:0.00 [[ 9.99759730e-01 -2.19136621e-02 5.23695281e-04 6.73201574e+01] [ 2.19136428e-02 9.99759866e-01 4.24761671e-05 3.11819609e+00] [-5.24500333e-04 -3.09898900e-05 9.99999862e-01 4.91014727e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.71140051299999 meters Centerline goodness [0,1] 0.9995942511798749 Centerline is valid? [True, True] Translation: X:67.35, Y:3.12, Z:0.00 [[ 9.99757360e-01 -2.19908410e-02 1.27443089e-03 6.73475676e+01] [ 2.19907267e-02 9.99758169e-01 1.03651650e-04 3.12112758e+00] [-1.27640208e-03 -7.56008385e-05 9.99999183e-01 2.18182529e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.74140051299999 meters Centerline goodness [0,1] 0.9997012759783211 Centerline is valid? [True, True] Translation: X:67.38, Y:3.12, Z:0.00 [[ 9.99767737e-01 -2.15406628e-02 6.87221043e-04 6.73751133e+01] [ 2.15406295e-02 9.99767972e-01 5.59185480e-05 3.12379378e+00] [-6.88266111e-04 -4.11023863e-05 9.99999762e-01 1.70425777e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.77140051299999 meters Centerline goodness [0,1] 0.9977045522804308 Centerline is valid? [True, True] Translation: X:67.40, Y:3.14, Z:-0.00 [[ 9.99776200e-01 -2.11532578e-02 -2.99967933e-04 6.74018444e+01] [ 2.11532514e-02 9.99776245e-01 -2.44686538e-05 3.13528965e+00] [ 3.00418405e-04 1.81178806e-05 9.99999955e-01 -1.37964296e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.80140051299999 meters Centerline goodness [0,1] 0.9994608001725439 Centerline is valid? [True, True] Translation: X:67.43, Y:3.12, Z:-0.00 [[ 9.99785244e-01 -2.07087594e-02 -7.83547889e-04 6.74316399e+01] [ 2.07087156e-02 9.99785550e-01 -6.40511060e-05 3.12443743e+00] [ 7.84706275e-04 4.78110802e-05 9.99999691e-01 -1.49539718e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.83140051299999 meters Centerline goodness [0,1] 0.9996955992346495 Centerline is valid? [True, True] Translation: X:67.46, Y:3.13, Z:0.00 [[ 9.99815961e-01 -1.91737899e-02 6.40489496e-04 6.74607848e+01] [ 1.91737603e-02 9.99816165e-01 5.22921044e-05 3.12686897e+00] [-6.41374389e-04 -4.00018886e-05 9.99999794e-01 8.93940106e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.86140051299999 meters Centerline goodness [0,1] 0.9995467788928456 Centerline is valid? [True, True] Translation: X:67.49, Y:3.13, Z:0.00 [[ 9.99830076e-01 -1.83808123e-02 1.40157705e-03 6.74884005e+01] [ 1.83806697e-02 9.99831055e-01 1.14545649e-04 3.13209706e+00] [-1.40344570e-03 -8.87642599e-05 9.99999011e-01 3.27488382e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.891400513 meters Centerline goodness [0,1] 0.9994021565068859 Centerline is valid? [True, True] Translation: X:67.52, Y:3.14, Z:0.01 [[ 9.99847053e-01 -1.73359580e-02 2.30981430e-03 6.75173540e+01] [ 1.73355677e-02 9.99849710e-01 1.88885420e-04 3.13648771e+00] [-2.31274167e-03 -1.48814588e-04 9.99997315e-01 5.47074081e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.921400513 meters Centerline goodness [0,1] 0.999228345444023 Centerline is valid? [True, True] Translation: X:67.55, Y:3.14, Z:0.01 [[ 9.99871681e-01 -1.58271135e-02 2.47467129e-03 6.75465987e+01] [ 1.58266608e-02 9.99874730e-01 2.02416488e-04 3.14110673e+00] [-2.47756496e-03 -1.63224731e-04 9.99996918e-01 5.36655780e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.95140051299998 meters Centerline goodness [0,1] 0.9995639376430829 Centerline is valid? [True, True] Translation: X:67.58, Y:3.14, Z:0.00 [[ 9.99900327e-01 -1.40457270e-02 1.43320050e-03 6.75773494e+01] [ 1.40455733e-02 9.99901349e-01 1.17244773e-04 3.13750434e+00] [-1.43470590e-03 -9.71029644e-05 9.99998966e-01 3.11131097e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.98140051299998 meters Centerline goodness [0,1] 0.9990387766247952 Centerline is valid? [True, True] Translation: X:67.61, Y:3.15, Z:0.00 [[ 9.99926232e-01 -1.21336041e-02 5.53044061e-04 6.76052998e+01] [ 1.21335810e-02 9.99926384e-01 4.52455218e-05 3.14781124e+00] [-5.53552339e-04 -3.85317792e-05 9.99999846e-01 1.38194375e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.01140051299998 meters Centerline goodness [0,1] 0.9916565047172838 Centerline is valid? [True, True] Translation: X:67.63, Y:3.16, Z:-0.00 [[ 9.99956028e-01 -9.26734724e-03 -1.43457094e-03 6.76332850e+01] [ 9.26124010e-03 9.99948265e-01 -4.20678104e-03 3.16385135e+00] [ 1.47348243e-03 4.19331015e-03 9.99990122e-01 -1.34248150e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.04140051299999 meters Centerline goodness [0,1] 0.9777023130646505 Centerline is valid? [True, True] Translation: X:67.66, Y:3.16, Z:0.00 [[ 9.99955083e-01 -9.47639968e-03 -1.70526893e-04 6.76611032e+01] [ 9.47702154e-03 9.99946617e-01 4.11703821e-03 3.16335112e+00] [ 1.31503090e-04 -4.11846937e-03 9.99991510e-01 1.09051707e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.07140051299999 meters Centerline goodness [0,1] 0.9696417729204615 Centerline is valid? [True, True] Translation: X:67.69, Y:3.17, Z:-0.00 [[ 9.99952723e-01 -9.72340330e-03 8.27295237e-05 6.76888890e+01] [ 9.72340277e-03 9.99952727e-01 6.76578642e-06 3.17102260e+00] [-8.27913992e-05 -5.96105408e-06 9.99999997e-01 -5.41552102e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.10140051299999 meters Centerline goodness [0,1] 0.9638881172674629 Centerline is valid? [True, True] Translation: X:67.72, Y:3.17, Z:-0.00 [[ 9.99935287e-01 -1.13001773e-02 -1.31433846e-03 6.77177897e+01] [ 1.13000453e-02 9.99936147e-01 -1.07840507e-04 3.17283578e+00] [ 1.31547315e-03 9.29814440e-05 9.99999130e-01 -3.87720707e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.13140051299999 meters Centerline goodness [0,1] 0.9990434782608696 Centerline is valid? [True, True] Translation: X:67.75, Y:3.16, Z:-0.00 [[ 9.99924505e-01 -1.21164878e-02 -2.04318587e-03 6.77482410e+01] [ 1.21161700e-02 9.99926582e-01 -1.67838038e-04 3.15945393e+00] [ 2.04506947e-03 1.43069779e-04 9.99997899e-01 -4.71670797e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.16140051299999 meters Centerline goodness [0,1] 0.9983243103892756 Centerline is valid? [True, True] Translation: X:67.78, Y:3.16, Z:-0.01 [[ 9.99924462e-01 -1.20909314e-02 -2.20899529e-03 6.77759502e+01] [ 1.20905596e-02 9.99926890e-01 -1.81571018e-04 3.16188763e+00] [ 2.21102916e-03 1.54849314e-04 9.99997544e-01 -5.11040406e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.19140051299999 meters Centerline goodness [0,1] 0.9985987755453997 Centerline is valid? [True, True] Translation: X:67.80, Y:3.16, Z:-0.00 [[ 9.99930775e-01 -1.16019918e-02 -1.95935604e-03 6.78047367e+01] [ 1.16016977e-02 9.99932685e-01 -1.61438683e-04 3.16274983e+00] [ 1.96109715e-03 1.38695651e-04 9.99998067e-01 -4.41613807e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.22140051299999 meters Centerline goodness [0,1] 0.9972914293084546 Centerline is valid? [True, True] Translation: X:67.83, Y:3.17, Z:-0.00 [[ 9.99941386e-01 -1.07736344e-02 -1.07426627e-03 6.78324171e+01] [ 1.07735455e-02 9.99941960e-01 -8.85378728e-05 3.16839635e+00] [ 1.07515779e-03 7.69590267e-05 9.99999419e-01 -3.17441038e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.251400513 meters Centerline goodness [0,1] 0.8705698103492663 Centerline is valid? [True, False] Translation: X:67.83, Y:3.16, Z:-0.00 [[ 9.99980273e-01 -6.13437009e-03 -1.35001256e-03 6.78326252e+01] [ 6.14182938e-03 9.99965501e-01 5.59236458e-03 3.16171712e+00] [ 1.31566035e-03 -5.60054581e-03 9.99983451e-01 -1.85470112e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.281400513 meters Centerline goodness [0,1] 0.9616292544744409 Centerline is valid? [False, True] Translation: X:67.83, Y:3.16, Z:-0.00 [[ 9.99980488e-01 -6.13010504e-03 -1.20252496e-03 6.78320549e+01] [ 6.13670025e-03 9.99965715e-01 5.55966124e-03 3.16192496e+00] [ 1.16840242e-03 -5.56693229e-03 9.99983822e-01 -1.69297967e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.311400513 meters Centerline goodness [0,1] 0.9652885865973007 Centerline is valid? [True, True] Translation: X:67.86, Y:3.17, Z:-0.01 [[ 9.99990163e-01 -3.95097332e-03 -2.01588178e-03 6.78620365e+01] [ 3.95065621e-03 9.99992183e-01 -1.61261851e-04 3.16583456e+00] [ 2.01650316e-03 1.53296209e-04 9.99997955e-01 -5.04178378e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.34140051299998 meters Centerline goodness [0,1] 0.9465252080169408 Centerline is valid? [True, False] Translation: X:67.86, Y:3.16, Z:-0.01 [[ 9.99990873e-01 -3.72467235e-03 -2.09304576e-03 6.78624177e+01] [ 3.72542288e-03 9.99992998e-01 3.54798023e-04 3.16338325e+00] [ 2.09170960e-03 -3.62592265e-04 9.99997747e-01 -5.29205796e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.37140051299998 meters Centerline goodness [0,1] 0.8893776162852468 Centerline is valid? [False, False] Translation: X:67.86, Y:3.16, Z:-0.01 [[ 9.99991740e-01 -3.44991478e-03 -2.14888961e-03 6.78625466e+01] [ 3.45205456e-03 9.99993549e-01 9.92851465e-04 3.16035943e+00] [ 2.14545050e-03 -1.00026135e-03 9.99997198e-01 -5.20234101e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.40140051299998 meters Centerline goodness [0,1] 0.9300939037114324 Centerline is valid? [False, False] Translation: X:67.86, Y:3.15, Z:-0.00 [[ 9.99993252e-01 -2.88611128e-03 -2.27310979e-03 6.78627921e+01] [ 2.89131587e-03 9.99993199e-01 2.28968938e-03 3.15427171e+00] [ 2.26648603e-03 -2.29624620e-03 9.99994795e-01 -4.81131417e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.43140051299999 meters Centerline goodness [0,1] 0.9201770517042296 Centerline is valid? [False, False] Translation: X:67.86, Y:3.15, Z:-0.00 [[ 9.99993750e-01 -2.59791366e-03 -2.39789589e-03 6.78633203e+01] [ 2.60495580e-03 9.99992290e-01 2.93835976e-03 3.15120128e+00] [ 2.39024380e-03 -2.94458781e-03 9.99992808e-01 -4.99212653e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.46140051299999 meters Centerline goodness [0,1] 0.8787535531855778 Centerline is valid? [False, False] Translation: X:67.86, Y:3.15, Z:-0.01 [[ 9.99994021e-01 -2.40063677e-03 -2.48894845e-03 6.78638856e+01] [ 2.40899181e-03 9.99991456e-01 3.35930814e-03 3.14915821e+00] [ 2.48086271e-03 -3.36528391e-03 9.99991260e-01 -5.48510590e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.49140051299999 meters Centerline goodness [0,1] 0.9030403514060549 Centerline is valid? [False, False] Translation: X:67.86, Y:3.15, Z:-0.01 [[ 9.99979600e-01 -6.04487470e-03 -2.06371976e-03 6.78628004e+01] [ 6.04154335e-03 9.99980443e-01 -1.61668506e-03 3.15413490e+00] [ 2.07345206e-03 1.60418403e-03 9.99996564e-01 -6.54447509e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.52140051299999 meters Centerline goodness [0,1] 0.8452525510747534 Centerline is valid? [False, False] Translation: X:67.88, Y:3.16, Z:-0.01 [[ 9.99999551e-01 -2.50162955e-04 9.13926240e-04 6.78842312e+01] [ 2.57735289e-04 9.99965564e-01 -8.29479650e-03 3.15946277e+00] [-9.11819717e-04 8.29502833e-03 9.99965180e-01 -1.04405208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.55140051299999 meters Centerline goodness [0,1] 0.602475458813487 Centerline is valid? [False, False] Translation: X:67.88, Y:3.15, Z:-0.01 [[ 9.99989365e-01 4.53050150e-03 8.62399304e-04 6.78839561e+01] [-4.52815742e-03 9.99986100e-01 -2.70091721e-03 3.15349025e+00] [-8.74623827e-04 2.69698341e-03 9.99995981e-01 -9.42257367e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.58140051299999 meters Centerline goodness [0,1] 0.5684546615581099 Centerline is valid? [False, False] Translation: X:67.88, Y:3.15, Z:-0.01 [[ 9.99989344e-01 4.51508877e-03 9.61802871e-04 6.78835041e+01] [-4.51234277e-03 9.99985791e-01 -2.83834806e-03 3.15420531e+00] [-9.74604598e-04 2.83397783e-03 9.99995509e-01 -9.21422910e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.61140051299999 meters Centerline goodness [0,1] 0.8422758605786892 Centerline is valid? [False, False] Translation: X:67.84, Y:3.15, Z:-0.01 [[ 9.99984636e-01 5.22882691e-03 -1.84053614e-03 6.78423963e+01] [-5.22692907e-03 9.99985804e-01 1.03443609e-03 3.14648215e+00] [ 1.84591890e-03 -1.02479985e-03 9.99997771e-01 -7.98974167e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.641400513 meters Centerline goodness [0,1] 0.3838034151728825 Centerline is valid? [False, False] Translation: X:67.89, Y:3.15, Z:-0.01 [[ 9.99988158e-01 4.84484369e-03 4.58657405e-04 6.78852523e+01] [-4.84357701e-03 9.99984561e-01 -2.72368325e-03 3.15390666e+00] [-4.71846144e-04 2.72142946e-03 9.99996186e-01 -1.10032139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.671400513 meters Centerline goodness [0,1] 0.5574768264619223 Centerline is valid? [False, False] Translation: X:67.86, Y:3.15, Z:-0.00 [[ 9.99988549e-01 1.29362702e-04 -4.78382175e-03 6.78618271e+01] [-1.10035521e-04 9.99991832e-01 4.04015582e-03 3.14672136e+00] [ 4.78430533e-03 -4.03958316e-03 9.99980396e-01 -3.47592301e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70140051299998 meters Centerline goodness [0,1] 0.8980777827447475 Centerline is valid? [False, False] Translation: X:67.89, Y:3.16, Z:-0.01 [[ 9.99998347e-01 -5.35605333e-04 1.73767375e-03 6.78856359e+01] [ 5.47293656e-04 9.99977184e-01 -6.73293181e-03 3.15852615e+00] [-1.73402791e-03 6.73387170e-03 9.99975824e-01 -1.12182041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.73140051299998 meters Centerline goodness [0,1] 0.7029199897092874 Centerline is valid? [False, False] Translation: X:67.86, Y:3.15, Z:-0.02 [[ 9.99967540e-01 -2.93085866e-03 7.50523763e-03 6.78629967e+01] [ 2.92955318e-03 9.99995692e-01 1.84930229e-04 3.15232683e+00] [-7.50574730e-03 -1.62937233e-04 9.99971818e-01 -1.56910923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.76140051299998 meters Centerline goodness [0,1] 0.952249075055713 Centerline is valid? [False, True] Translation: X:67.86, Y:3.15, Z:-0.02 [[ 9.99967351e-01 -2.98295264e-03 7.50997944e-03 6.78627689e+01] [ 2.98249066e-03 9.99995550e-01 7.27135913e-05 3.15289337e+00] [-7.51016292e-03 -5.03127737e-05 9.99971797e-01 -1.52791371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.79140051299999 meters Centerline goodness [0,1] 0.766805192579581 Centerline is valid? [True, False] Translation: X:67.86, Y:3.15, Z:-0.02 [[ 9.99967230e-01 -3.14391567e-03 7.46017539e-03 6.78630142e+01] [ 3.14644565e-03 9.99994996e-01 -3.27418525e-04 3.15476515e+00] [-7.45910868e-03 3.50880832e-04 9.99972119e-01 -1.54830316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.82140051299999 meters Centerline goodness [0,1] 0.9605164066702528 Centerline is valid? [False, True] Translation: X:67.86, Y:3.16, Z:-0.02 [[ 9.99967084e-01 -3.35216055e-03 7.38872192e-03 6.78634914e+01] [ 3.35819868e-03 9.99994037e-01 -8.04953226e-04 3.15694364e+00] [-7.38597953e-03 8.29739527e-04 9.99972379e-01 -1.59917128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.85140051299999 meters Centerline goodness [0,1] 0.9605164066702528 Centerline is valid? [True, True] Translation: X:67.90, Y:3.16, Z:-0.02 [[ 9.99968180e-01 -3.29753290e-03 7.26393284e-03 6.78960998e+01] [ 3.29303291e-03 9.99994379e-01 6.31371047e-04 3.15838192e+00] [-7.26597397e-03 -6.07430588e-04 9.99973418e-01 -1.61286060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.88140051299999 meters Centerline goodness [0,1] 0.8464656045874922 Centerline is valid? [True, False] Translation: X:67.90, Y:3.16, Z:-0.02 [[ 9.99968152e-01 -3.72507545e-03 7.05819928e-03 6.78975123e+01] [ 3.72788866e-03 9.99992977e-01 -3.85459911e-04 3.16298024e+00] [-7.05671384e-03 4.11759817e-04 9.99975016e-01 -1.77533764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.91140051299999 meters Centerline goodness [0,1] 0.6619396937774555 Centerline is valid? [False, False] Translation: X:67.90, Y:3.17, Z:-0.02 [[ 9.99967549e-01 -3.98172998e-03 7.00333047e-03 6.78978625e+01] [ 3.98846403e-03 9.99991597e-01 -9.47846205e-04 3.16557200e+00] [-6.99949755e-03 9.75747978e-04 9.99975027e-01 -1.81404026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.94140051299999 meters Centerline goodness [0,1] 0.8835200898158344 Centerline is valid? [False, False] Translation: X:67.87, Y:3.17, Z:-0.01 [[ 9.99986144e-01 -4.08642552e-03 3.31845232e-03 6.78744630e+01] [ 4.12677573e-03 9.99916512e-01 -1.22449226e-02 3.17418022e+00] [-3.26813731e-03 1.22584475e-02 9.99919522e-01 -1.35650784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.97140051299999 meters Centerline goodness [0,1] 0.9409978966541622 Centerline is valid? [False, False] Translation: X:67.87, Y:3.18, Z:-0.01 [[ 9.99984480e-01 -4.46093660e-03 3.33751899e-03 6.78739020e+01] [ 4.50327523e-03 9.99908095e-01 -1.27875569e-02 3.17661604e+00] [-3.28016778e-03 1.28023882e-02 9.99912666e-01 -1.25102962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.001400513 meters Centerline goodness [0,1] 0.9486349804997214 Centerline is valid? [False, False] Translation: X:67.89, Y:3.17, Z:-0.01 [[ 9.99971153e-01 -6.16222448e-03 4.44064441e-03 6.78942742e+01] [ 6.17593153e-03 9.99976187e-01 -3.07965124e-03 3.17146938e+00] [-4.42156116e-03 3.10698752e-03 9.99985398e-01 -1.08201414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.031400513 meters Centerline goodness [0,1] 0.996994708072911 Centerline is valid? [False, True] Translation: X:67.85, Y:3.16, Z:-0.01 [[ 9.99979691e-01 -5.91440025e-03 2.37441232e-03 6.78518827e+01] [ 5.91066732e-03 9.99981290e-01 1.57609834e-03 3.16088570e+00] [-2.38368957e-03 -1.56203197e-03 9.99995939e-01 -7.93247066e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.061400513 meters Centerline goodness [0,1] 0.9988454919729017 Centerline is valid? [True, True] Translation: X:67.88, Y:3.16, Z:-0.01 [[ 9.99958014e-01 -8.59630169e-03 3.17381639e-03 6.78824933e+01] [ 8.59556102e-03 9.99963027e-01 2.46936851e-04 3.16142779e+00] [-3.17582179e-03 -2.19645751e-04 9.99994933e-01 -7.68056151e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.09140051299998 meters Centerline goodness [0,1] 0.9985092362536458 Centerline is valid? [True, True] Translation: X:67.91, Y:3.16, Z:-0.01 [[ 9.99933152e-01 -1.09211032e-02 3.79763115e-03 6.79125654e+01] [ 1.09200595e-02 9.99940331e-01 2.95453550e-04 3.16272585e+00] [-3.80063122e-03 -2.53963441e-04 9.99992745e-01 -7.21664271e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.12140051299998 meters Centerline goodness [0,1] 0.9996955131690555 Centerline is valid? [True, True] Translation: X:67.94, Y:3.16, Z:-0.01 [[ 9.99907810e-01 -1.26580367e-02 4.91372336e-03 6.79441029e+01] [ 1.26563100e-02 9.99919833e-01 3.82331946e-04 3.15530401e+00] [-4.91816902e-03 -3.20107093e-04 9.99987854e-01 -6.45190370e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.15140051299998 meters Centerline goodness [0,1] 0.9989500299991428 Centerline is valid? [True, True] Translation: X:67.97, Y:3.16, Z:-0.01 [[ 9.99885919e-01 -1.41263918e-02 5.34738356e-03 6.79741990e+01] [ 1.41243680e-02 9.99900160e-01 4.16047660e-04 3.16075358e+00] [-5.35272692e-03 -3.40471784e-04 9.99985616e-01 -6.18277333e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.18140051299999 meters Centerline goodness [0,1] 0.998126050058157 Centerline is valid? [True, True] Translation: X:68.00, Y:3.16, Z:-0.01 [[ 9.99900627e-01 -1.33239842e-02 4.60521405e-03 6.80049214e+01] [ 1.33224748e-02 9.99911188e-01 3.58284306e-04 3.16377442e+00] [-4.60957883e-03 -2.96895854e-04 9.99989332e-01 -6.79123474e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.21140051299999 meters Centerline goodness [0,1] 0.9951218459280364 Centerline is valid? [True, True] Translation: X:68.04, Y:3.17, Z:-0.01 [[ 9.99927828e-01 -1.15252331e-02 3.39240198e-03 6.80354383e+01] [ 1.15244040e-02 9.99933557e-01 2.63852535e-04 3.16728161e+00] [-3.39521755e-03 -2.24738081e-04 9.99994211e-01 -8.33424453e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.24140051299999 meters Centerline goodness [0,1] 0.9982074151801329 Centerline is valid? [True, True] Translation: X:68.07, Y:3.16, Z:-0.01 [[ 9.99955606e-01 -9.02109604e-03 2.72141143e-03 6.80666957e+01] [ 9.02055336e-03 9.99959292e-01 2.11621077e-04 3.16415552e+00] [-2.72320970e-03 -1.87063045e-04 9.99996275e-01 -9.09757339e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.27140051299999 meters Centerline goodness [0,1] 0.9574477156927538 Centerline is valid? [True, True] Translation: X:68.09, Y:3.18, Z:-0.01 [[ 9.99974959e-01 -5.95686703e-03 3.82052620e-03 6.80946842e+01] [ 5.95577494e-03 9.99982220e-01 2.97161468e-04 3.18065276e+00] [-3.82222842e-03 -2.74399833e-04 9.99992658e-01 -8.00636714e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.30140051299999 meters Centerline goodness [0,1] 0.8869066649615278 Centerline is valid? [True, False] Translation: X:68.09, Y:3.18, Z:-0.01 [[ 9.99991135e-01 -1.36940048e-03 3.98183926e-03 6.80933436e+01] [ 1.34859665e-03 9.99985452e-01 5.22267831e-03 3.17804443e+00] [-3.98893327e-03 -5.21726211e-03 9.99978434e-01 -6.49307118e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.33140051299999 meters Centerline goodness [0,1] 0.9948921679909194 Centerline is valid? [False, True] Translation: X:68.03, Y:3.18, Z:-0.01 [[ 9.99983242e-01 9.76858621e-04 5.70622457e-03 6.80313133e+01] [-9.83960418e-04 9.99998745e-01 1.24189542e-03 3.17707351e+00] [-5.70500426e-03 -1.24748931e-03 9.99982948e-01 -9.90739387e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.36140051299999 meters Centerline goodness [0,1] 0.7474862740876305 Centerline is valid? [True, False] Translation: X:68.07, Y:3.18, Z:-0.01 [[ 9.99970068e-01 1.47120152e-03 7.59602079e-03 6.80741607e+01] [-1.45772541e-03 9.99997355e-01 -1.77933363e-03 3.18393025e+00] [-7.59861845e-03 1.76820746e-03 9.99969567e-01 -1.26569396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.391400513 meters Centerline goodness [0,1] 0.8227240588777237 Centerline is valid? [False, False] Translation: X:68.07, Y:3.18, Z:-0.01 [[ 9.99970968e-01 1.52434634e-03 7.46587047e-03 6.80749334e+01] [-1.51217045e-03 9.99997518e-01 -1.63624748e-03 3.18314650e+00] [-7.46834615e-03 1.62491031e-03 9.99970791e-01 -1.33972820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.421400513 meters Centerline goodness [0,1] 0.8122278199982922 Centerline is valid? [False, False] Translation: X:68.08, Y:3.18, Z:-0.01 [[ 9.99972298e-01 1.63099867e-03 7.26249689e-03 6.80758560e+01] [-1.62130371e-03 9.99997787e-01 -1.34062270e-03 3.18164740e+00] [-7.26466737e-03 1.32881084e-03 9.99972729e-01 -1.39205933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.45140051299998 meters Centerline goodness [0,1] 0.809266940319357 Centerline is valid? [False, False] Translation: X:68.08, Y:3.18, Z:-0.01 [[ 9.99973072e-01 1.67423958e-03 7.14511197e-03 6.80764976e+01] [-1.66560232e-03 9.99997875e-01 -1.21461497e-03 3.18099217e+00] [-7.14713034e-03 1.20268135e-03 9.99973736e-01 -1.44250408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.48140051299998 meters Centerline goodness [0,1] 0.9657448821606743 Centerline is valid? [False, True] Translation: X:68.08, Y:3.18, Z:-0.01 [[ 9.99972720e-01 1.54222058e-03 7.22356538e-03 6.80762075e+01] [-1.53097185e-03 9.99997607e-01 -1.56249842e-03 3.18267253e+00] [-7.22595782e-03 1.55139672e-03 9.99972689e-01 -1.43671826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.51140051299998 meters Centerline goodness [0,1] 0.8263592493297587 Centerline is valid? [True, False] Translation: X:68.08, Y:3.19, Z:-0.01 [[ 9.99971653e-01 1.35273981e-03 7.40691683e-03 6.80755347e+01] [-1.33701036e-03 9.99996842e-01 -2.12815600e-03 3.18543786e+00] [-7.40977228e-03 2.11819255e-03 9.99970304e-01 -1.42418056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.54140051299999 meters Centerline goodness [0,1] 0.977975480091136 Centerline is valid? [False, True] Translation: X:68.05, Y:3.17, Z:-0.00 [[ 9.99992692e-01 3.19309711e-03 2.10255588e-03 6.80493329e+01] [-3.21640680e-03 9.99932352e-01 1.11779140e-02 3.17328713e+00] [-2.06672148e-03 -1.11845950e-02 9.99935315e-01 -4.30560554e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.57140051299999 meters Centerline goodness [0,1] 0.9426389514554776 Centerline is valid? [True, False] Translation: X:68.07, Y:3.19, Z:-0.01 [[ 9.99966368e-01 4.29361077e-03 6.98762317e-03 6.80720652e+01] [-4.29258362e-03 9.99990774e-01 -1.61986454e-04 3.18704210e+00] [-6.98825421e-03 1.31986049e-04 9.99975573e-01 -1.16235917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.60140051299999 meters Centerline goodness [0,1] 0.4404523576266133 Centerline is valid? [False, False] Translation: X:68.07, Y:3.19, Z:-0.01 [[ 9.99940689e-01 8.41789620e-03 6.91068483e-03 6.80724464e+01] [-8.44417971e-03 9.99957192e-01 3.78298734e-03 3.18883787e+00] [-6.87854420e-03 -3.84111803e-03 9.99968965e-01 -1.17058231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.63140051299999 meters Centerline goodness [0,1] 0.4586263654047583 Centerline is valid? [False, False] Translation: X:68.07, Y:3.19, Z:-0.01 [[ 9.99943354e-01 8.00484160e-03 7.01509297e-03 6.80722037e+01] [-8.02435032e-03 9.99964003e-01 2.75724351e-03 3.19367249e+00] [-6.99276915e-03 -2.81337889e-03 9.99971593e-01 -1.19887258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.66140051299999 meters Centerline goodness [0,1] 0.8731899003495365 Centerline is valid? [False, False] Translation: X:68.03, Y:3.19, Z:-0.01 [[ 9.99970900e-01 6.67225543e-03 3.69867414e-03 6.80329595e+01] [-6.68207140e-03 9.99974169e-01 2.64794203e-03 3.19441137e+00] [-3.68091085e-03 -2.67257978e-03 9.99989654e-01 -1.28107332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.69140051299999 meters Centerline goodness [0,1] 0.4750644975586874 Centerline is valid? [False, False] Translation: X:68.08, Y:3.21, Z:-0.02 [[ 9.99969871e-01 5.16743171e-03 5.79260300e-03 6.80758056e+01] [-5.15046969e-03 9.99982416e-01 -2.93932485e-03 3.20641779e+00] [-5.80768990e-03 2.90940166e-03 9.99978903e-01 -1.61100084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.72140051299999 meters Centerline goodness [0,1] 0.7862003617882677 Centerline is valid? [False, False] Translation: X:68.05, Y:3.20, Z:-0.01 [[ 9.99997374e-01 -1.49758715e-03 1.73468667e-03 6.80541691e+01] [ 1.49289579e-03 9.99995234e-01 2.70258679e-03 3.20162623e+00] [-1.73872576e-03 -2.69998998e-03 9.99994843e-01 -1.07965750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.751400513 meters Centerline goodness [0,1] 0.9876601906079139 Centerline is valid? [False, True] Translation: X:68.05, Y:3.20, Z:-0.01 [[ 9.99997386e-01 -1.70489652e-03 1.52348525e-03 6.80545975e+01] [ 1.69978303e-03 9.99992939e-01 3.35145639e-03 3.19788442e+00] [-1.52918837e-03 -3.34885804e-03 9.99993223e-01 -1.00747495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.781400513 meters Centerline goodness [0,1] 0.9974557999137559 Centerline is valid? [True, True] Translation: X:68.09, Y:3.20, Z:-0.01 [[ 9.99970476e-01 -7.35397130e-03 2.22865879e-03 6.80853447e+01] [ 7.35359487e-03 9.99972946e-01 1.77052634e-04 3.19629294e+00] [-2.22990054e-03 -1.60658753e-04 9.99997501e-01 -1.00808250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.811400513 meters Centerline goodness [0,1] 0.9980930342182511 Centerline is valid? [True, True] Translation: X:68.12, Y:3.19, Z:-0.01 [[ 9.99913389e-01 -1.29514212e-02 2.33970423e-03 6.81154232e+01] [ 1.29510217e-02 9.99916115e-01 1.85838766e-04 3.19495263e+00] [-2.34191484e-03 -1.55521111e-04 9.99997246e-01 -1.00951796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.84140051299998 meters Centerline goodness [0,1] 0.9994311220024505 Centerline is valid? [True, True] Translation: X:68.15, Y:3.19, Z:-0.01 [[ 9.99836813e-01 -1.79757578e-02 1.79422515e-03 6.81468449e+01] [ 1.79755309e-02 9.99838417e-01 1.42546510e-04 3.19008260e+00] [-1.79649762e-03 -1.10271098e-04 9.99998380e-01 -1.05722851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.87140051299998 meters Centerline goodness [0,1] 0.9995434484857708 Centerline is valid? [True, True] Translation: X:68.18, Y:3.18, Z:-0.01 [[ 9.99703111e-01 -2.43289373e-02 1.33924600e-03 6.81783561e+01] [ 2.43288166e-02 9.99704005e-01 1.06409927e-04 3.18109055e+00] [-1.34143843e-03 -7.37960646e-05 9.99999098e-01 -1.10714073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.90140051299998 meters Centerline goodness [0,1] 0.9995443795968845 Centerline is valid? [True, True] Translation: X:68.21, Y:3.18, Z:-0.01 [[ 9.99653992e-01 -2.62617945e-02 1.48819690e-03 6.82071031e+01] [ 2.62616476e-02 9.99655096e-01 1.18159400e-04 3.18011448e+00] [-1.49078669e-03 -7.90360136e-05 9.99998886e-01 -1.08110651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.93140051299999 meters Centerline goodness [0,1] 0.9992629525254715 Centerline is valid? [True, True] Translation: X:68.24, Y:3.18, Z:-0.01 [[ 9.99612177e-01 -2.78054251e-02 1.53407950e-03 6.82357126e+01] [ 2.78052708e-02 9.99613351e-01 1.21785859e-04 3.18119910e+00] [-1.53687266e-03 -7.90831320e-05 9.99998816e-01 -1.15275958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.96140051299999 meters Centerline goodness [0,1] 0.999654979083107 Centerline is valid? [True, True] Translation: X:68.26, Y:3.18, Z:-0.01 [[ 9.99583029e-01 -2.88013578e-02 2.06140454e-03 6.82647311e+01] [ 2.88010822e-02 9.99585149e-01 1.63290624e-04 3.17620137e+00] [-2.06525236e-03 -1.03851855e-04 9.99997862e-01 -1.06364303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.99140051299999 meters Centerline goodness [0,1] 0.9996769956286742 Centerline is valid? [True, True] Translation: X:68.29, Y:3.17, Z:-0.01 [[ 9.99571183e-01 -2.91311870e-02 2.97063564e-03 6.82944408e+01] [ 2.91306133e-02 9.99575586e-01 2.36216907e-04 3.17229890e+00] [-2.97625614e-03 -1.49579175e-04 9.99995560e-01 -9.26854460e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.02140051299999 meters Centerline goodness [0,1] 0.9995713305898491 Centerline is valid? [True, True] Translation: X:68.32, Y:3.17, Z:-0.01 [[ 9.99593910e-01 -2.83197432e-02 3.16343757e-03 6.83237032e+01] [ 2.83190867e-02 9.99598902e-01 2.52123589e-04 3.16637175e+00] [-3.16930879e-03 -1.62435541e-04 9.99994965e-01 -7.90761578e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.05140051299999 meters Centerline goodness [0,1] 0.9996325754301029 Centerline is valid? [True, True] Translation: X:68.35, Y:3.17, Z:-0.01 [[ 9.99628449e-01 -2.71586721e-02 2.31764408e-03 6.83522866e+01] [ 2.71583153e-02 9.99631128e-01 1.85317841e-04 3.16723597e+00] [-2.32182215e-03 -1.22305677e-04 9.99997297e-01 -8.59287498e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.08140051299999 meters Centerline goodness [0,1] 0.9996133439305738 Centerline is valid? [True, True] Translation: X:68.38, Y:3.17, Z:-0.01 [[ 9.99680160e-01 -2.52486795e-02 1.44273864e-03 6.83812323e+01] [ 2.52485390e-02 9.99681198e-01 1.15481049e-04 3.17033754e+00] [-1.44519443e-03 -7.90170712e-05 9.99998953e-01 -9.51095854e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.11140051299999 meters Centerline goodness [0,1] 0.9981181051265412 Centerline is valid? [True, True] Translation: X:68.41, Y:3.17, Z:-0.01 [[ 9.99780325e-01 -2.09449093e-02 7.82762078e-04 6.84105334e+01] [ 2.09448667e-02 9.99780630e-01 6.26081466e-05 3.17249207e+00] [-7.83901685e-04 -4.61995458e-05 9.99999692e-01 -1.02289710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.141400513 meters Centerline goodness [0,1] 0.9989651157776723 Centerline is valid? [True, True] Translation: X:68.44, Y:3.17, Z:-0.01 [[ 9.99838812e-01 -1.79131498e-02 1.21215941e-03 6.84410736e+01] [ 1.79130453e-02 9.99839544e-01 9.70424388e-05 3.17102791e+00] [-1.21370324e-03 -7.53133304e-05 9.99999261e-01 -1.02072854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.171400513 meters Centerline goodness [0,1] 0.9990297960415678 Centerline is valid? [True, True] Translation: X:68.47, Y:3.18, Z:-0.01 [[ 9.99901275e-01 -1.39167317e-02 1.94041200e-03 6.84707149e+01] [ 1.39164564e-02 9.99903149e-01 1.55317897e-04 3.17835771e+00] [-1.94238559e-03 -1.28298904e-04 9.99998105e-01 -1.02103290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20140051299998 meters Centerline goodness [0,1] 0.9976511786812436 Centerline is valid? [True, True] Translation: X:68.50, Y:3.19, Z:-0.01 [[ 9.99952220e-01 -9.52606115e-03 2.19356341e-03 6.85001481e+01] [ 9.52569872e-03 9.99954614e-01 1.75615646e-04 3.18578588e+00] [-2.19513678e-03 -1.54712031e-04 9.99997579e-01 -1.08131302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.23140051299998 meters Centerline goodness [0,1] 0.9294792510768968 Centerline is valid? [True, False] Translation: X:68.50, Y:3.18, Z:-0.01 [[ 9.99986652e-01 -4.75188519e-03 2.02853448e-03 6.85002214e+01] [ 4.74050589e-03 9.99973206e-01 5.57804410e-03 3.18078232e+00] [-2.05498635e-03 -5.56835337e-03 9.99982385e-01 -1.00171952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.26140051299998 meters Centerline goodness [0,1] 0.9612821666559533 Centerline is valid? [False, True] Translation: X:68.50, Y:3.18, Z:-0.01 [[ 9.99986405e-01 -4.75956083e-03 2.12987617e-03 6.84998859e+01] [ 4.74820086e-03 9.99974643e-01 5.30727506e-03 3.18219436e+00] [-2.15508246e-03 -5.29708983e-03 9.99983648e-01 -1.00586538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.29140051299999 meters Centerline goodness [0,1] 0.9630750735278333 Centerline is valid? [True, True] Translation: X:68.53, Y:3.19, Z:-0.01 [[ 9.99995985e-01 -2.29957292e-03 1.65597034e-03 6.85300440e+01] [ 2.29934899e-03 9.99997347e-01 1.37120392e-04 3.18885310e+00] [-1.65628127e-03 -1.33312187e-04 9.99998619e-01 -1.10955801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.32140051299999 meters Centerline goodness [0,1] 0.8574446528271789 Centerline is valid? [True, False] Translation: X:68.53, Y:3.19, Z:-0.01 [[ 9.99995511e-01 -2.48914003e-03 1.66770803e-03 6.85301853e+01] [ 2.48963505e-03 9.99996857e-01 -2.94812420e-04 3.19083907e+00] [-1.66696896e-03 2.98963081e-04 9.99998566e-01 -1.15033790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.35140051299999 meters Centerline goodness [0,1] 0.9568484374660673 Centerline is valid? [False, True] Translation: X:68.53, Y:3.19, Z:-0.01 [[ 9.99995192e-01 -2.61023730e-03 1.67436714e-03 6.85301969e+01] [ 2.61119653e-03 9.99996428e-01 -5.70960656e-04 3.19212988e+00] [-1.67287081e-03 5.75330012e-04 9.99998435e-01 -1.16120396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.38140051299999 meters Centerline goodness [0,1] 0.656594693582045 Centerline is valid? [True, False] Translation: X:68.57, Y:3.20, Z:-0.01 [[ 9.99978160e-01 -4.26448981e-03 5.04914214e-03 6.85688005e+01] [ 4.28865477e-03 9.99979356e-01 -4.78483994e-03 3.19947028e+00] [-5.02863301e-03 4.80638947e-03 9.99975805e-01 -1.17852063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.41140051299999 meters Centerline goodness [0,1] 0.7859565807327001 Centerline is valid? [False, False] Translation: X:68.57, Y:3.20, Z:-0.01 [[ 9.99978837e-01 -4.13945209e-03 5.01897097e-03 6.85686823e+01] [ 4.16180873e-03 9.99981428e-01 -4.45219518e-03 3.19791939e+00] [-5.00044811e-03 4.47298896e-03 9.99977494e-01 -1.13649378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.44140051299999 meters Centerline goodness [0,1] 0.9894068257455463 Centerline is valid? [False, True] Translation: X:68.53, Y:3.19, Z:-0.01 [[ 9.99989671e-01 -3.65269297e-03 2.70458926e-03 6.85262034e+01] [ 3.65283353e-03 9.99993327e-01 -4.70317943e-05 3.18876298e+00] [-2.70439942e-03 5.69107228e-05 9.99996341e-01 -8.63475054e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.47140051299999 meters Centerline goodness [0,1] 0.9918650709144342 Centerline is valid? [True, True] Translation: X:68.56, Y:3.19, Z:-0.01 [[ 9.99991767e-01 -3.57504894e-03 1.91949807e-03 6.85584998e+01] [ 3.57476933e-03 9.99993599e-01 1.49078831e-04 3.18904410e+00] [-1.92001875e-03 -1.42215841e-04 9.99998147e-01 -9.63227952e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.501400513 meters Centerline goodness [0,1] 0.8384330038381542 Centerline is valid? [True, False] Translation: X:68.56, Y:3.19, Z:-0.01 [[ 9.99992184e-01 -3.50469038e-03 1.82983877e-03 6.85588579e+01] [ 3.50413466e-03 9.99993813e-01 3.06817409e-04 3.18829913e+00] [-1.83090275e-03 -3.00403009e-04 9.99998279e-01 -9.73318192e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.531400513 meters Centerline goodness [0,1] 0.9926773949670591 Centerline is valid? [False, True] Translation: X:68.56, Y:3.19, Z:-0.01 [[ 9.99992081e-01 -3.54244109e-03 1.81331839e-03 6.85589880e+01] [ 3.54210847e-03 9.99993709e-01 1.86611229e-04 3.18887527e+00] [-1.81396804e-03 -1.80186781e-04 9.99998339e-01 -9.88342058e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.561400513 meters Centerline goodness [0,1] 0.8732421581467248 Centerline is valid? [True, False] Translation: X:68.56, Y:3.19, Z:-0.01 [[ 9.99998595e-01 -1.26143336e-03 1.10367508e-03 6.85647933e+01] [ 1.25866319e-03 9.99996065e-01 2.50705248e-03 3.18765466e+00] [-1.10683322e-03 -2.50565980e-03 9.99996248e-01 -1.37270766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.59140051299998 meters Centerline goodness [0,1] 0.8813639086164113 Centerline is valid? [False, False] Translation: X:68.56, Y:3.19, Z:-0.01 [[ 9.99997336e-01 -1.34133971e-03 1.87855752e-03 6.85614945e+01] [ 1.33812051e-03 9.99997636e-01 1.71386458e-03 3.19205901e+00] [-1.88085195e-03 -1.71134628e-03 9.99996767e-01 -1.22200444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.62140051299998 meters Centerline goodness [0,1] 0.9404424031024546 Centerline is valid? [False, False] Translation: X:68.54, Y:3.20, Z:-0.01 [[ 9.99996633e-01 -1.31448897e-04 2.59167701e-03 6.85380138e+01] [ 1.52433224e-04 9.99967197e-01 -8.09827961e-03 3.19743514e+00] [-2.59052748e-03 8.09864740e-03 9.99963850e-01 -1.37297361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.65140051299998 meters Centerline goodness [0,1] 0.6847949580912774 Centerline is valid? [False, False] Translation: X:68.56, Y:3.19, Z:-0.01 [[ 9.99998061e-01 -4.53651206e-04 1.91644545e-03 6.85571675e+01] [ 4.48784623e-04 9.99996676e-01 2.53904745e-03 3.19096630e+00] [-1.91759092e-03 -2.53818246e-03 9.99994940e-01 -8.89015222e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.68140051299999 meters Centerline goodness [0,1] 0.9939443570458807 Centerline is valid? [False, True] Translation: X:68.56, Y:3.19, Z:-0.01 [[ 9.99998220e-01 -4.71880018e-04 1.82676437e-03 6.85577732e+01] [ 4.67264062e-04 9.99996699e-01 2.52645089e-03 3.19091503e+00] [-1.82795052e-03 -2.52559281e-03 9.99995140e-01 -9.54845870e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.71140051299999 meters Centerline goodness [0,1] 0.9870880499029423 Centerline is valid? [True, True] Translation: X:68.59, Y:3.20, Z:-0.01 [[ 9.99998666e-01 -1.61582543e-03 2.40358349e-04 6.85890984e+01] [ 1.61582085e-03 9.99998694e-01 1.92544846e-05 3.19692216e+00] [-2.40389147e-04 -1.88660829e-05 9.99999971e-01 -1.30279936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.74140051299999 meters Centerline goodness [0,1] 0.9870880499029423 Centerline is valid? [True, True] Translation: X:68.62, Y:3.20, Z:-0.01 [[ 9.99998666e-01 -1.61582520e-03 2.40367196e-04 6.86190946e+01] [ 1.61582065e-03 9.99998694e-01 1.91434035e-05 3.19931122e+00] [-2.40397814e-04 -1.87549877e-05 9.99999971e-01 -1.30882479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.77140051299999 meters Centerline goodness [0,1] 0.9960957834461218 Centerline is valid? [True, True] Translation: X:68.65, Y:3.20, Z:-0.01 [[ 9.99996071e-01 -2.64669822e-03 -9.23720791e-04 6.86503310e+01] [ 2.64663140e-03 9.99996495e-01 -7.35510237e-05 3.19730775e+00] [ 9.23912221e-04 7.11059863e-05 9.99999571e-01 -1.46249605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.80140051299999 meters Centerline goodness [0,1] 0.9701865743412195 Centerline is valid? [True, True] Translation: X:68.68, Y:3.21, Z:-0.01 [[ 9.99990769e-01 -3.94942911e-03 -1.69235460e-03 6.86791685e+01] [ 3.94920650e-03 9.99992193e-01 -1.34859786e-04 3.20508931e+00] [ 1.69287400e-03 1.28175084e-04 9.99998559e-01 -1.37691658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.83140051299999 meters Centerline goodness [0,1] 0.9395937008552533 Centerline is valid? [True, False] Translation: X:68.68, Y:3.21, Z:-0.01 [[ 9.99990180e-01 -4.08502686e-03 -1.71828878e-03 6.86792028e+01] [ 4.08425537e-03 9.99991557e-01 -4.52257525e-04 3.20660016e+00] [ 1.72012176e-03 4.45235153e-04 9.99998421e-01 -1.36764446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.86140051299999 meters Centerline goodness [0,1] 0.991527974884961 Centerline is valid? [False, True] Translation: X:68.68, Y:3.21, Z:-0.01 [[ 9.99989248e-01 -4.30510567e-03 -1.72325020e-03 6.86793243e+01] [ 4.30341489e-03 9.99990256e-01 -9.83665242e-04 3.20910520e+00] [ 1.72746819e-03 9.76238805e-04 9.99998031e-01 -1.39198400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.891400513 meters Centerline goodness [0,1] 0.8873013152821216 Centerline is valid? [True, False] Translation: X:68.69, Y:3.21, Z:-0.02 [[ 9.99994579e-01 -2.21731635e-03 -2.43415494e-03 6.86853202e+01] [ 2.22009784e-03 9.99996885e-01 1.14058885e-03 3.20795574e+00] [ 2.43161831e-03 -1.14598673e-03 9.99996387e-01 -1.80879802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.921400513 meters Centerline goodness [0,1] 0.9907070361012377 Centerline is valid? [False, True] Translation: X:68.68, Y:3.21, Z:-0.02 [[ 9.99994623e-01 -2.33164169e-03 -2.30598599e-03 6.86849297e+01] [ 2.33363235e-03 9.99996906e-01 8.60942727e-04 3.20928720e+00] [ 2.30397144e-03 -8.66319422e-04 9.99996971e-01 -1.81876034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.95140051299998 meters Centerline goodness [0,1] 0.9630594925257399 Centerline is valid? [True, True] Translation: X:68.71, Y:3.22, Z:-0.02 [[ 9.99996504e-01 -2.41840990e-03 -1.06943943e-03 6.87122671e+01] [ 2.41832046e-03 9.99997072e-01 -8.49185664e-05 3.21882135e+00] [ 1.06964167e-03 8.23320222e-05 9.99999425e-01 -1.72788310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.98140051299998 meters Centerline goodness [0,1] 0.9988558846386323 Centerline is valid? [True, True] Translation: X:68.74, Y:3.21, Z:-0.02 [[ 9.99997438e-01 -2.25366681e-03 -2.10130454e-04 6.87428487e+01] [ 2.25366335e-03 9.99997460e-01 -1.66945679e-05 3.21070842e+00] [ 2.10167544e-04 1.62209618e-05 9.99999978e-01 -1.50536976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.01140051299998 meters Centerline goodness [0,1] 0.8852035367989407 Centerline is valid? [True, False] Translation: X:68.74, Y:3.21, Z:-0.02 [[ 9.99997016e-01 -2.42571284e-03 -2.89092146e-04 6.87432578e+01] [ 2.42558790e-03 9.99996965e-01 -4.31763608e-04 3.21263213e+00] [ 2.90138603e-04 4.31061101e-04 9.99999865e-01 -1.53816858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.04140051299999 meters Centerline goodness [0,1] 0.9911051620285412 Centerline is valid? [False, True] Translation: X:68.74, Y:3.22, Z:-0.02 [[ 9.99976853e-01 -6.80264342e-03 1.29826126e-04 6.87423094e+01] [ 6.80331788e-03 9.99957619e-01 -6.20277836e-03 3.22030624e+00] [-8.76253345e-05 6.20351803e-03 9.99980754e-01 -1.63713579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.07140051299999 meters Centerline goodness [0,1] 0.8829191610319135 Centerline is valid? [True, False] Translation: X:68.74, Y:3.21, Z:-0.02 [[ 9.99996786e-01 -2.49639365e-03 -4.42479735e-04 6.87437543e+01] [ 2.49603021e-03 9.99996549e-01 -8.20023404e-04 3.21461628e+00] [ 4.44525310e-04 8.18916326e-04 9.99999566e-01 -1.55812525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.10140051299999 meters Centerline goodness [0,1] 0.8946838803605455 Centerline is valid? [False, False] Translation: X:68.74, Y:3.22, Z:-0.02 [[ 9.99996521e-01 -2.59630268e-03 -4.66490921e-04 6.87438460e+01] [ 2.59582412e-03 9.99996107e-01 -1.02356580e-03 3.21556076e+00] [ 4.69146592e-04 1.02235131e-03 9.99999367e-01 -1.56382091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.13140051299999 meters Centerline goodness [0,1] 0.917453789971942 Centerline is valid? [False, False] Translation: X:68.74, Y:3.22, Z:-0.02 [[ 9.99996210e-01 -2.70105846e-03 -5.32502171e-04 6.87441781e+01] [ 2.70041389e-03 9.99995625e-01 -1.20747542e-03 3.21637161e+00] [ 5.35761303e-04 1.20603287e-03 9.99999129e-01 -1.59190611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.16140051299999 meters Centerline goodness [0,1] 0.9954604409857328 Centerline is valid? [False, True] Translation: X:68.74, Y:3.22, Z:-0.02 [[ 9.99996285e-01 -2.64762421e-03 -6.48028452e-04 6.87447117e+01] [ 2.64695764e-03 9.99995969e-01 -1.02731967e-03 3.21546007e+00] [ 6.50745796e-04 1.02560055e-03 9.99999262e-01 -1.62457717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.19140051299999 meters Centerline goodness [0,1] 0.9889928930490552 Centerline is valid? [True, True] Translation: X:68.77, Y:3.22, Z:-0.02 [[ 9.99990076e-01 -3.88348179e-03 -2.18332563e-03 6.87739350e+01] [ 3.88312838e-03 9.99992447e-01 -1.66080182e-04 3.21647477e+00] [ 2.18395411e-03 1.57600400e-04 9.99997603e-01 -1.87356832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.22140051299999 meters Centerline goodness [0,1] 0.9869022103873049 Centerline is valid? [True, True] Translation: X:68.80, Y:3.22, Z:-0.02 [[ 9.99979489e-01 -5.26932616e-03 -3.64073527e-03 6.88034551e+01] [ 5.26835247e-03 9.99986084e-01 -2.76980101e-04 3.21594891e+00] [ 3.64214411e-03 2.57793744e-04 9.99993334e-01 -2.02110769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.251400513 meters Centerline goodness [0,1] 0.9875024282846597 Centerline is valid? [True, True] Translation: X:68.83, Y:3.22, Z:-0.02 [[ 9.99969566e-01 -6.65993632e-03 -4.06346142e-03 6.88334217e+01] [ 6.65873425e-03 9.99977783e-01 -3.09282677e-04 3.21751816e+00] [ 4.06543094e-03 2.82215755e-04 9.99991696e-01 -2.08970196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.281400513 meters Centerline goodness [0,1] 0.998334054521852 Centerline is valid? [True, True] Translation: X:68.86, Y:3.21, Z:-0.02 [[ 9.99962229e-01 -7.92245428e-03 -3.57425495e-03 6.88638128e+01] [ 7.92153226e-03 9.99968587e-01 -2.72043610e-04 3.21405201e+00] [ 3.57629792e-03 2.43719759e-04 9.99993575e-01 -1.96281376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.311400513 meters Centerline goodness [0,1] 0.9933036194905583 Centerline is valid? [True, True] Translation: X:68.89, Y:3.23, Z:-0.02 [[ 9.99936768e-01 -1.12145459e-02 -8.32497231e-04 6.88920018e+01] [ 1.12144970e-02 9.99937114e-01 -6.34660576e-05 3.22594090e+00] [ 8.33156621e-04 5.41260069e-05 9.99999651e-01 -1.77036728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.34140051299998 meters Centerline goodness [0,1] 0.9972385821845404 Centerline is valid? [True, True] Translation: X:68.92, Y:3.23, Z:-0.02 [[ 9.99917582e-01 -1.28381468e-02 1.06195297e-04 6.89221890e+01] [ 1.28381460e-02 9.99917588e-01 8.05234984e-06 3.22519859e+00] [-1.06289922e-04 -6.68833546e-06 9.99999994e-01 -1.62706078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.37140051299998 meters Centerline goodness [0,1] 0.9986959124337267 Centerline is valid? [True, True] Translation: X:68.95, Y:3.22, Z:-0.02 [[ 9.99897202e-01 -1.43228008e-02 6.65793816e-04 6.89519719e+01] [ 1.43227703e-02 9.99897423e-01 5.06428305e-05 3.22408378e+00] [-6.66450868e-04 -4.11016126e-05 9.99999777e-01 -1.53733770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.40140051299998 meters Centerline goodness [0,1] 0.9996141396385775 Centerline is valid? [True, True] Translation: X:68.98, Y:3.22, Z:-0.02 [[ 9.99874838e-01 -1.58177584e-02 -3.26467023e-04 6.89825941e+01] [ 1.58177511e-02 9.99874891e-01 -2.49433955e-05 3.21532801e+00] [ 3.26820728e-04 1.97762994e-05 9.99999946e-01 -1.57804539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.43140051299999 meters Centerline goodness [0,1] 0.9993138200922054 Centerline is valid? [True, True] Translation: X:69.01, Y:3.22, Z:-0.02 [[ 9.99852512e-01 -1.71072814e-02 -1.51520569e-03 6.90108141e+01] [ 1.71071257e-02 9.99853656e-01 -1.15651838e-04 3.21763962e+00] [ 1.51696244e-03 8.97139662e-05 9.99998845e-01 -1.78316776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.46140051299999 meters Centerline goodness [0,1] 0.9994408602150537 Centerline is valid? [True, True] Translation: X:69.04, Y:3.22, Z:-0.02 [[ 9.99835253e-01 -1.80156755e-02 -2.21398588e-03 6.90403141e+01] [ 1.80153440e-02 9.99837696e-01 -1.69579518e-04 3.21628605e+00] [ 2.21668163e-03 1.29665863e-04 9.99997535e-01 -1.87111086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.49140051299999 meters Centerline goodness [0,1] 0.9987150658528751 Centerline is valid? [True, True] Translation: X:69.07, Y:3.23, Z:-0.02 [[ 9.99845593e-01 -1.75484675e-02 -9.17359061e-04 6.90673424e+01] [ 1.75484104e-02 9.99846012e-01 -7.03028366e-05 3.22641804e+00] [ 9.18451506e-04 5.41937881e-05 9.99999577e-01 -1.80309201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.52140051299999 meters Centerline goodness [0,1] 0.9987195082911838 Centerline is valid? [True, True] Translation: X:69.10, Y:3.23, Z:-0.02 [[ 9.99867354e-01 -1.62867456e-02 -1.28367633e-04 6.90964049e+01] [ 1.62867444e-02 9.99867362e-01 -9.91853690e-06 3.23083040e+00] [ 1.28512147e-04 7.82653042e-06 9.99999992e-01 -1.68678678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.55140051299999 meters Centerline goodness [0,1] 0.9989682522623219 Centerline is valid? [True, True] Translation: X:69.13, Y:3.23, Z:-0.02 [[ 9.99897563e-01 -1.43127773e-02 -9.24076331e-05 6.91267411e+01] [ 1.43127767e-02 9.99897567e-01 -7.06731527e-06 3.23372851e+00] [ 9.24993204e-05 5.74398150e-06 9.99999996e-01 -1.64453788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.58140051299999 meters Centerline goodness [0,1] 0.9958904692956307 Centerline is valid? [True, True] Translation: X:69.16, Y:3.24, Z:-0.02 [[ 9.99930433e-01 -1.17877601e-02 -4.21661611e-04 6.91553979e+01] [ 1.17877475e-02 9.99930522e-01 -3.23029355e-05 3.24226951e+00] [ 4.22013093e-04 2.73302476e-05 9.99999911e-01 -1.69413944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.61140051299999 meters Centerline goodness [0,1] 0.9945066689466484 Centerline is valid? [True, True] Translation: X:69.19, Y:3.25, Z:-0.02 [[ 9.99958266e-01 -9.08544617e-03 -9.60139412e-04 6.91857768e+01] [ 9.08537981e-03 9.99958724e-01 -7.34509491e-05 3.24680195e+00] [ 9.60767116e-04 6.47246524e-05 9.99999536e-01 -1.73314203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.641400513 meters Centerline goodness [0,1] 0.9948692521611658 Centerline is valid? [True, True] Translation: X:69.22, Y:3.26, Z:-0.02 [[ 9.99990472e-01 -4.27228234e-03 -8.96023116e-04 6.92158452e+01] [ 4.27222261e-03 9.99990872e-01 -6.85611514e-05 3.25503089e+00] [ 8.96307850e-04 6.47324880e-05 9.99999596e-01 -1.75859650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.671400513 meters Centerline goodness [0,1] 0.9714767248367965 Centerline is valid? [True, True] Translation: X:69.24, Y:3.27, Z:-0.02 [[ 9.99996830e-01 -2.51726270e-03 -5.10027471e-05 6.92437933e+01] [ 2.51726250e-03 9.99996832e-01 -3.97211466e-06 3.26674336e+00] [ 5.10125844e-05 3.84371477e-06 9.99999999e-01 -1.75665410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70140051299998 meters Centerline goodness [0,1] 0.9298828541001065 Centerline is valid? [True, False] Translation: X:69.24, Y:3.27, Z:-0.02 [[ 9.99995974e-01 -2.83699151e-03 5.70077364e-05 6.92436091e+01] [ 2.83703639e-03 9.99995653e-01 -8.03267135e-04 3.27052132e+00] [-5.47286266e-05 8.03425634e-04 9.99999676e-01 -1.79726334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.73140051299998 meters Centerline goodness [0,1] 0.9928938615058965 Centerline is valid? [False, True] Translation: X:69.20, Y:3.27, Z:-0.02 [[ 9.99992143e-01 -2.79556195e-03 -2.81036561e-03 6.92027297e+01] [ 2.79920894e-03 9.99995244e-01 1.29459812e-03 3.26754791e+00] [ 2.80673312e-03 -1.30245474e-03 9.99995213e-01 -1.79923651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.76140051299998 meters Centerline goodness [0,1] 0.9935268144210572 Centerline is valid? [True, True] Translation: X:69.23, Y:3.27, Z:-0.02 [[ 9.99990698e-01 -2.88900451e-03 -3.20258810e-03 6.92314570e+01] [ 2.88821019e-03 9.99995797e-01 -2.52620444e-04 3.27231679e+00] [ 3.20330446e-03 2.43368347e-04 9.99994840e-01 -1.90333137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.79140051299999 meters Centerline goodness [0,1] 0.9949136173409164 Centerline is valid? [True, True] Translation: X:69.26, Y:3.27, Z:-0.02 [[ 9.99989437e-01 -3.57713206e-03 -2.88627468e-03 6.92599808e+01] [ 3.57648837e-03 9.99993578e-01 -2.28148699e-04 3.27480702e+00] [ 2.88707226e-03 2.17823561e-04 9.99995809e-01 -1.87479066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.82140051299999 meters Centerline goodness [0,1] 0.98185562540646 Centerline is valid? [True, True] Translation: X:69.29, Y:3.28, Z:-0.02 [[ 9.99984515e-01 -5.49204285e-03 -8.98438234e-04 6.92879777e+01] [ 5.49198123e-03 9.99984916e-01 -7.10407450e-05 3.28264484e+00] [ 8.98814841e-04 6.61054390e-05 9.99999594e-01 -1.54527477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.85140051299999 meters Centerline goodness [0,1] 0.9986480887900394 Centerline is valid? [True, True] Translation: X:69.32, Y:3.28, Z:-0.01 [[ 9.99979697e-01 -6.31630184e-03 -8.42827553e-04 6.93180130e+01] [ 6.31624789e-03 9.99980050e-01 -6.66584467e-05 3.27595421e+00] [ 8.43231773e-04 6.13335856e-05 9.99999643e-01 -1.44752369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.88140051299999 meters Centerline goodness [0,1] 0.9735838664576537 Centerline is valid? [True, True] Translation: X:69.35, Y:3.29, Z:-0.01 [[ 9.99974536e-01 -7.01811679e-03 -1.29379646e-03 6.93456305e+01] [ 7.01799015e-03 9.99975368e-01 -1.02390918e-04 3.28665758e+00] [ 1.29448318e-03 9.33084603e-05 9.99999158e-01 -1.49337561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.91140051299999 meters Centerline goodness [0,1] 0.9986504145155417 Centerline is valid? [True, True] Translation: X:69.38, Y:3.28, Z:-0.02 [[ 9.99967552e-01 -7.70535736e-03 -2.35003481e-03 6.93758366e+01] [ 7.70494052e-03 9.99970299e-01 -1.86375843e-04 3.27674636e+00] [ 2.35140110e-03 1.68262917e-04 9.99997221e-01 -1.59768663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.94140051299999 meters Centerline goodness [0,1] 0.997418188859485 Centerline is valid? [True, True] Translation: X:69.40, Y:3.28, Z:-0.02 [[ 9.99961544e-01 -8.22284290e-03 -3.04872816e-03 6.94035077e+01] [ 8.22214314e-03 9.99966168e-01 -2.41988687e-04 3.28136385e+00] [ 3.05061485e-03 2.16912302e-04 9.99995323e-01 -1.75398274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.97140051299999 meters Centerline goodness [0,1] 0.9977312504051339 Centerline is valid? [True, True] Translation: X:69.43, Y:3.28, Z:-0.02 [[ 9.99957208e-01 -8.64469435e-03 -3.29429841e-03 6.94320400e+01] [ 8.64387771e-03 9.99962607e-01 -2.62052110e-04 3.28450552e+00] [ 3.29644059e-03 2.33565384e-04 9.99994539e-01 -1.87058702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.001400513 meters Centerline goodness [0,1] 0.9974426215296591 Centerline is valid? [True, True] Translation: X:69.46, Y:3.29, Z:-0.02 [[ 9.99963330e-01 -7.83500312e-03 -3.45699442e-03 6.94613542e+01] [ 7.83409900e-03 9.99969275e-01 -2.74997723e-04 3.28682961e+00] [ 3.45904281e-03 2.47905202e-04 9.99993987e-01 -1.96738498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.031400513 meters Centerline goodness [0,1] 0.9932942708333333 Centerline is valid? [True, True] Translation: X:69.49, Y:3.29, Z:-0.02 [[ 9.99967442e-01 -7.42065884e-03 -3.16995850e-03 6.94884621e+01] [ 7.41989591e-03 9.99972440e-01 -2.52368234e-04 3.29223405e+00] [ 3.17174387e-03 2.28839255e-04 9.99994944e-01 -1.93407291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.061400513 meters Centerline goodness [0,1] 0.990137814982853 Centerline is valid? [True, True] Translation: X:69.52, Y:3.30, Z:-0.02 [[ 9.99974360e-01 -6.68061148e-03 -2.57852105e-03 6.95168252e+01] [ 6.68010402e-03 9.99977667e-01 -2.05364665e-04 3.29721564e+00] [ 2.57983543e-03 1.88134611e-04 9.99996655e-01 -1.81398628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.09140051299998 meters Centerline goodness [0,1] 0.9924521040027369 Centerline is valid? [True, True] Translation: X:69.55, Y:3.30, Z:-0.02 [[ 9.99980879e-01 -5.79507588e-03 -2.15834588e-03 6.95466230e+01] [ 5.79471818e-03 9.99983196e-01 -1.71946544e-04 3.29971440e+00] [ 2.15930606e-03 1.59436250e-04 9.99997656e-01 -1.71142049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.12140051299998 meters Centerline goodness [0,1] 0.9474818438463031 Centerline is valid? [True, False] Translation: X:69.55, Y:3.30, Z:-0.02 [[ 9.99980547e-01 -5.85919400e-03 -2.13906249e-03 6.95464256e+01] [ 5.85846451e-03 9.99982779e-01 -3.47137600e-04 3.30059024e+00] [ 2.14105960e-03 3.34599226e-04 9.99997652e-01 -1.68612690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.15140051299998 meters Centerline goodness [0,1] 0.878203080069014 Centerline is valid? [False, False] Translation: X:69.57, Y:3.31, Z:-0.02 [[ 9.99985940e-01 -4.51476182e-03 2.78146374e-03 6.95684856e+01] [ 4.54478860e-03 9.99930425e-01 -1.08852734e-02 3.31062971e+00] [-2.73212581e-03 1.08977615e-02 9.99936885e-01 -2.30695356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.18140051299999 meters Centerline goodness [0,1] 0.8142887563884157 Centerline is valid? [False, False] Translation: X:69.57, Y:3.30, Z:-0.02 [[ 9.99996522e-01 2.81314304e-04 2.62231508e-03 6.95682912e+01] [-2.68940594e-04 9.99988835e-01 -4.71777972e-03 3.30173678e+00] [-2.62361298e-03 4.71705807e-03 9.99985433e-01 -2.16075497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.21140051299999 meters Centerline goodness [0,1] 0.9347385920416036 Centerline is valid? [False, False] Translation: X:69.57, Y:3.30, Z:-0.02 [[ 9.99996311e-01 3.57438193e-04 2.69249143e-03 6.95678814e+01] [-3.45160850e-04 9.99989548e-01 -4.55892989e-03 3.30104023e+00] [-2.69409283e-03 4.55798373e-03 9.99985983e-01 -2.12765124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.24140051299999 meters Centerline goodness [0,1] 0.9659920584091201 Centerline is valid? [False, True] Translation: X:69.57, Y:3.30, Z:-0.02 [[ 9.99996220e-01 3.77651822e-04 2.72355691e-03 6.95677065e+01] [-3.65401885e-04 9.99989822e-01 -4.49686736e-03 3.30075402e+00] [-2.72522744e-03 4.49585517e-03 9.99986180e-01 -2.11513019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.27140051299999 meters Centerline goodness [0,1] 0.9925878182404125 Centerline is valid? [True, True] Translation: X:69.60, Y:3.29, Z:-0.02 [[ 9.99997692e-01 -2.61834130e-04 2.13242030e-03 6.95997075e+01] [ 2.61488448e-04 9.99999953e-01 1.62385339e-04 3.29435034e+00] [-2.13246272e-03 -1.61827361e-04 9.99997713e-01 -2.09913328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.30140051299999 meters Centerline goodness [0,1] 0.9960871995528228 Centerline is valid? [True, True] Translation: X:69.63, Y:3.29, Z:-0.02 [[ 9.99998872e-01 -8.43758244e-04 1.24235651e-03 6.96317961e+01] [ 8.43641016e-04 9.99999640e-01 9.48803418e-05 3.29482811e+00] [-1.24243612e-03 -9.38321319e-05 9.99999224e-01 -2.25065458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.33140051299999 meters Centerline goodness [0,1] 0.976041353867273 Centerline is valid? [True, True] Translation: X:69.66, Y:3.30, Z:-0.02 [[ 9.99998747e-01 -1.35158230e-03 8.24557137e-04 6.96620023e+01] [ 1.35153109e-03 9.99999085e-01 6.26555955e-05 3.30253486e+00] [-8.24641066e-04 -6.15411024e-05 9.99999658e-01 -2.35231103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.36140051299999 meters Centerline goodness [0,1] 0.9977124606154776 Centerline is valid? [True, True] Translation: X:69.69, Y:3.30, Z:-0.02 [[ 9.99996537e-01 -2.28291459e-03 1.30957901e-03 6.96926799e+01] [ 2.28278630e-03 9.99997389e-01 9.94522757e-05 3.29734044e+00] [-1.30980263e-03 -9.64624423e-05 9.99999138e-01 -2.25425448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.391400513 meters Centerline goodness [0,1] 0.9976212615963497 Centerline is valid? [True, True] Translation: X:69.72, Y:3.30, Z:-0.02 [[ 9.99994918e-01 -2.62233307e-03 1.81300190e-03 6.97240063e+01] [ 2.62208768e-03 9.99996553e-01 1.37715658e-04 3.30014725e+00] [-1.81335679e-03 -1.32961108e-04 9.99998347e-01 -2.15753386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.421400513 meters Centerline goodness [0,1] 0.9814060715747743 Centerline is valid? [True, True] Translation: X:69.75, Y:3.31, Z:-0.02 [[ 9.99994809e-01 -2.67900869e-03 1.79023983e-03 6.97545622e+01] [ 2.67876955e-03 9.99996403e-01 1.35962151e-04 3.30888422e+00] [-1.79059763e-03 -1.31165805e-04 9.99998388e-01 -2.13564994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.45140051299998 meters Centerline goodness [0,1] 0.9475489985847236 Centerline is valid? [True, False] Translation: X:69.75, Y:3.31, Z:-0.02 [[ 9.99994539e-01 -2.79946185e-03 1.75626836e-03 6.97548555e+01] [ 2.79973856e-03 9.99996069e-01 -1.55113391e-04 3.31022027e+00] [-1.75582722e-03 1.60029636e-04 9.99998446e-01 -2.17227931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.48140051299998 meters Centerline goodness [0,1] 0.9962328692978848 Centerline is valid? [False, True] Translation: X:69.75, Y:3.32, Z:-0.02 [[ 9.99972938e-01 -6.98441123e-03 2.31097974e-03 6.97534422e+01] [ 6.99821594e-03 9.99957389e-01 -6.02035990e-03 3.31891125e+00] [-2.26883259e-03 6.03636971e-03 9.99979207e-01 -2.27539204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.51140051299998 meters Centerline goodness [0,1] 0.9965876941018941 Centerline is valid? [True, True] Translation: X:69.78, Y:3.32, Z:-0.02 [[ 9.99978420e-01 -6.38639584e-03 1.54051697e-03 6.97844284e+01] [ 6.38621059e-03 9.99979600e-01 1.25144503e-04 3.31830909e+00] [-1.54128477e-03 -1.15303737e-04 9.99998806e-01 -2.29647240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.54140051299999 meters Centerline goodness [0,1] 0.9967015785302747 Centerline is valid? [True, True] Translation: X:69.82, Y:3.32, Z:-0.02 [[ 9.99977298e-01 -6.44459404e-03 1.96727836e-03 6.98154767e+01] [ 6.44429206e-03 9.99979223e-01 1.59803775e-04 3.32445224e+00] [-1.96826736e-03 -1.47122431e-04 9.99998052e-01 -2.31266824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.57140051299999 meters Centerline goodness [0,1] 0.993783360843748 Centerline is valid? [True, True] Translation: X:69.84, Y:3.33, Z:-0.02 [[ 9.99965653e-01 -7.99649527e-03 2.17932830e-03 6.98445667e+01] [ 7.99612865e-03 9.99968015e-01 1.76887807e-04 3.32904777e+00] [-2.18067308e-03 -1.59455542e-04 9.99997610e-01 -2.33854267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.60140051299999 meters Centerline goodness [0,1] 0.9609555612638069 Centerline is valid? [True, True] Translation: X:69.87, Y:3.34, Z:-0.02 [[ 9.99947438e-01 -1.00173313e-02 2.18485163e-03 6.98735036e+01] [ 1.00169675e-02 9.99949813e-01 1.77387804e-04 3.33860632e+00] [-2.18651893e-03 -1.55492892e-04 9.99997597e-01 -2.36967462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.63140051299999 meters Centerline goodness [0,1] 0.9656684174855981 Centerline is valid? [True, True] Translation: X:69.90, Y:3.34, Z:-0.02 [[ 9.99926978e-01 -1.19038327e-02 2.08278658e-03 6.99034445e+01] [ 1.19035062e-02 9.99929136e-01 1.69101157e-04 3.34257608e+00] [-2.08465194e-03 -1.44296345e-04 9.99997817e-01 -2.40398455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.66140051299999 meters Centerline goodness [0,1] 0.9656684174855981 Centerline is valid? [True, True] Translation: X:69.93, Y:3.35, Z:-0.02 [[ 9.99926978e-01 -1.19038327e-02 2.08278658e-03 6.99334174e+01] [ 1.19035062e-02 9.99929136e-01 1.69101157e-04 3.34500957e+00] [-2.08465194e-03 -1.44296346e-04 9.99997817e-01 -2.41737338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.69140051299999 meters Centerline goodness [0,1] 0.9974311926605505 Centerline is valid? [True, True] Translation: X:69.96, Y:3.34, Z:-0.02 [[ 9.99912048e-01 -1.31463697e-02 1.75216166e-03 6.99646025e+01] [ 1.31461405e-02 9.99913576e-01 1.42257765e-04 3.34006141e+00] [-1.75388040e-03 -1.19211089e-04 9.99998455e-01 -2.42871989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.72140051299999 meters Centerline goodness [0,1] 0.9986889544411668 Centerline is valid? [True, True] Translation: X:69.99, Y:3.34, Z:-0.02 [[ 9.99903417e-01 -1.38160667e-02 1.50763895e-03 6.99948744e+01] [ 1.38158978e-02 9.99904548e-01 1.22404999e-04 3.33944973e+00] [-1.50918620e-03 -1.01563791e-04 9.99998856e-01 -2.45450020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.751400513 meters Centerline goodness [0,1] 0.9922710292412728 Centerline is valid? [True, True] Translation: X:70.02, Y:3.35, Z:-0.02 [[ 9.99915418e-01 -1.29263896e-02 1.43697396e-03 7.00232097e+01] [ 1.29262353e-02 9.99916446e-01 1.16632691e-04 3.35233513e+00] [-1.43836153e-03 -9.80481630e-05 9.99998961e-01 -2.42169235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.781400513 meters Centerline goodness [0,1] 0.9916986769099445 Centerline is valid? [True, True] Translation: X:70.05, Y:3.36, Z:-0.02 [[ 9.99927528e-01 -1.19116836e-02 1.74673453e-03 7.00537050e+01] [ 1.19114540e-02 9.99929046e-01 1.41837526e-04 3.35778681e+00] [-1.74830011e-03 -1.21021099e-04 9.99998464e-01 -2.35994189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.811400513 meters Centerline goodness [0,1] 0.9981360071988687 Centerline is valid? [True, True] Translation: X:70.08, Y:3.36, Z:-0.02 [[ 9.99942482e-01 -1.05540552e-02 1.90928442e-03 7.00837083e+01] [ 1.05537783e-02 9.99944295e-01 1.55007444e-04 3.35822460e+00] [-1.91081403e-03 -1.34848363e-04 9.99998165e-01 -2.35065110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.84140051299998 meters Centerline goodness [0,1] 0.9728260869565217 Centerline is valid? [True, True] Translation: X:70.11, Y:3.37, Z:-0.02 [[ 9.99956584e-01 -9.16451701e-03 1.68545809e-03 7.01130367e+01] [ 9.16429919e-03 9.99957998e-01 1.36913038e-04 3.37062343e+00] [-1.68664204e-03 -1.21461052e-04 9.99998570e-01 -2.48619202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.87140051299998 meters Centerline goodness [0,1] 0.9962904652015442 Centerline is valid? [True, True] Translation: X:70.14, Y:3.37, Z:-0.03 [[ 9.99967786e-01 -7.95949314e-03 1.03649189e-03 7.01437543e+01] [ 7.95941015e-03 9.99968320e-01 8.41648539e-05 3.36676820e+00] [-1.03712897e-03 -7.59122785e-05 9.99999459e-01 -2.57723367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.90140051299998 meters Centerline goodness [0,1] 0.9965667645534635 Centerline is valid? [True, True] Translation: X:70.17, Y:3.37, Z:-0.03 [[ 9.99971655e-01 -7.44813077e-03 1.10203533e-03 7.01744191e+01] [ 7.44803665e-03 9.99972259e-01 8.94870893e-05 3.36859499e+00] [-1.10267127e-03 -8.12765533e-05 9.99999389e-01 -2.52387883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.93140051299999 meters Centerline goodness [0,1] 0.9919933561891783 Centerline is valid? [True, True] Translation: X:70.20, Y:3.37, Z:-0.02 [[ 9.99966311e-01 -8.04259860e-03 1.64131013e-03 7.02045985e+01] [ 8.04239057e-03 9.99967651e-01 1.33309749e-04 3.37384012e+00] [-1.64232919e-03 -1.20105201e-04 9.99998644e-01 -2.31467479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.96140051299999 meters Centerline goodness [0,1] 0.9648037999058582 Centerline is valid? [True, True] Translation: X:70.23, Y:3.38, Z:-0.02 [[ 9.99961001e-01 -8.73129105e-03 1.32725609e-03 7.02348240e+01] [ 8.73115562e-03 9.99961877e-01 1.07795600e-04 3.38048909e+00] [-1.32814669e-03 -9.62029161e-05 9.99999113e-01 -2.33678454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.99140051299999 meters Centerline goodness [0,1] 0.9949166902005083 Centerline is valid? [True, True] Translation: X:70.27, Y:3.37, Z:-0.02 [[ 9.99955656e-01 -9.37490285e-03 8.92756366e-04 7.02664652e+01] [ 9.37484182e-03 9.99956053e-01 7.25137259e-05 3.37449352e+00] [-8.93396941e-04 -6.41410606e-05 9.99999599e-01 -2.39082263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.02140051299999 meters Centerline goodness [0,1] 0.997678517690555 Centerline is valid? [True, True] Translation: X:70.30, Y:3.37, Z:-0.02 [[ 9.99950970e-01 -9.87382887e-03 7.51790451e-04 7.02968961e+01] [ 9.87378577e-03 9.99951251e-01 6.10204968e-05 3.37192094e+00] [-7.52356308e-04 -5.35944871e-05 9.99999716e-01 -2.45677935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.05140051299999 meters Centerline goodness [0,1] 0.996617959502233 Centerline is valid? [True, True] Translation: X:70.33, Y:3.37, Z:-0.02 [[ 9.99950402e-01 -9.93760463e-03 6.61986261e-04 7.03270273e+01] [ 9.93757128e-03 9.99950620e-01 5.36433360e-05 3.37217457e+00] [-6.62486659e-04 -4.70621398e-05 9.99999779e-01 -2.49463903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.08140051299999 meters Centerline goodness [0,1] 0.994717856222623 Centerline is valid? [True, True] Translation: X:70.36, Y:3.37, Z:-0.03 [[ 9.99965336e-01 -8.27356211e-03 9.35884423e-04 7.03567394e+01] [ 8.27349465e-03 9.99965771e-01 7.59313878e-05 3.37349594e+00] [-9.36480612e-04 -6.81857209e-05 9.99999559e-01 -2.50723935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.11140051299999 meters Centerline goodness [0,1] 0.8687481249732139 Centerline is valid? [True, False] Translation: X:70.36, Y:3.37, Z:-0.03 [[ 9.99982562e-01 -5.90535542e-03 5.33067652e-05 7.03632372e+01] [ 5.90520460e-03 9.99979472e-01 2.48695809e-03 3.37163485e+00] [-6.79920424e-05 -2.48659994e-03 9.99996906e-01 -2.92451881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.141400513 meters Centerline goodness [0,1] 0.9981729995432499 Centerline is valid? [False, True] Translation: X:70.34, Y:3.38, Z:-0.03 [[ 9.99991265e-01 -2.98162876e-03 -2.92918084e-03 7.03393127e+01] [ 2.96519610e-03 9.99979933e-01 -5.59839796e-03 3.37663296e+00] [ 2.94581440e-03 5.58966346e-03 9.99980039e-01 -2.53332336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.171400513 meters Centerline goodness [0,1] 0.9665307690665756 Centerline is valid? [True, True] Translation: X:70.37, Y:3.39, Z:-0.02 [[ 9.99997123e-01 -2.62789549e-04 -2.38414354e-03 7.03685183e+01] [ 2.62335032e-04 9.99999947e-01 -1.90952701e-04 3.38589260e+00] [ 2.38419359e-03 1.90326707e-04 9.99997140e-01 -2.40608253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20140051299998 meters Centerline goodness [0,1] 0.7167135135135135 Centerline is valid? [True, False] Translation: X:70.33, Y:3.38, Z:-0.02 [[ 9.99985578e-01 1.36488038e-03 -5.19431399e-03 7.03267384e+01] [-1.34714802e-03 9.99993259e-01 3.41577141e-03 3.38142415e+00] [ 5.19894109e-03 -3.40872464e-03 9.99980676e-01 -2.29807827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.23140051299998 meters Centerline goodness [0,1] 0.6637730120378884 Centerline is valid? [False, False] Translation: X:70.35, Y:3.39, Z:-0.03 [[ 9.99996144e-01 2.77633297e-03 6.54578485e-05 7.03490417e+01] [-2.77581247e-03 9.99972117e-01 -6.93252656e-03 3.39343462e+00] [-8.47030254e-05 6.93231813e-03 9.99975968e-01 -2.94515132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.26140051299998 meters Centerline goodness [0,1] 0.8658396408510269 Centerline is valid? [False, False] Translation: X:70.33, Y:3.38, Z:-0.02 [[ 9.99976245e-01 2.87945986e-03 -6.26246125e-03 7.03256298e+01] [-2.85644621e-03 9.99989147e-01 3.68070223e-03 3.38349456e+00] [ 6.27299172e-03 -3.66272642e-03 9.99973617e-01 -2.17212627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.29140051299999 meters Centerline goodness [0,1] 0.7092717356432467 Centerline is valid? [False, False] Translation: X:70.37, Y:3.39, Z:-0.02 [[ 9.99992187e-01 1.12130566e-03 -3.79062020e-03 7.03675877e+01] [-1.12639252e-03 9.99998468e-01 -1.34009085e-03 3.39289619e+00] [ 3.78911174e-03 1.34435011e-03 9.99991918e-01 -2.39064049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.32140051299999 meters Centerline goodness [0,1] 0.7122515701626086 Centerline is valid? [False, False] Translation: X:70.37, Y:3.39, Z:-0.02 [[ 9.99991731e-01 1.12339591e-03 -3.90851841e-03 7.03679077e+01] [-1.12819911e-03 9.99998611e-01 -1.22691808e-03 3.39230955e+00] [ 3.90713466e-03 1.23131752e-03 9.99991609e-01 -2.38164272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.35140051299999 meters Centerline goodness [0,1] 0.7880584872942134 Centerline is valid? [False, False] Translation: X:70.37, Y:3.39, Z:-0.02 [[ 9.99991228e-01 1.19478615e-03 -4.01454889e-03 7.03678511e+01] [-1.19794692e-03 9.99998974e-01 -7.85015684e-04 3.39013964e+00] [ 4.01360684e-03 7.89818015e-04 9.99991634e-01 -2.30239827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.38140051299999 meters Centerline goodness [0,1] 0.9865240135190407 Centerline is valid? [False, True] Translation: X:70.37, Y:3.39, Z:-0.02 [[ 9.99986882e-01 -3.45668771e-03 -3.77992213e-03 7.03670237e+01] [ 3.43439230e-03 9.99976762e-01 -5.88904788e-03 3.39384662e+00] [ 3.80019089e-03 5.87598889e-03 9.99975515e-01 -2.28852188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.41140051299999 meters Centerline goodness [0,1] 0.9984772015315002 Centerline is valid? [True, True] Translation: X:70.40, Y:3.38, Z:-0.02 [[ 9.99969445e-01 -6.76361591e-03 -3.91962760e-03 7.03981944e+01] [ 6.76246345e-03 9.99977087e-01 -3.07200421e-04 3.38247530e+00] [ 3.92161557e-03 2.80684696e-04 9.99992271e-01 -2.12192762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.44140051299999 meters Centerline goodness [0,1] 0.9840604927928509 Centerline is valid? [True, True] Translation: X:70.43, Y:3.39, Z:-0.02 [[ 9.99918793e-01 -1.17425138e-02 -4.95184709e-03 7.04268064e+01] [ 1.17407349e-02 9.99931000e-01 -3.88154850e-04 3.38836526e+00] [ 4.95606333e-03 3.29985006e-04 9.99987664e-01 -2.37330109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.47140051299999 meters Centerline goodness [0,1] 0.9850172958977951 Centerline is valid? [True, True] Translation: X:70.46, Y:3.39, Z:-0.02 [[ 9.99896071e-01 -1.34279108e-02 -5.24766678e-03 7.04563006e+01] [ 1.34259357e-02 9.99909783e-01 -4.11440949e-04 3.38838861e+00] [ 5.25271815e-03 3.40943352e-04 9.99986146e-01 -2.47559002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.501400513 meters Centerline goodness [0,1] 0.9984164009501594 Centerline is valid? [True, True] Translation: X:70.49, Y:3.38, Z:-0.03 [[ 9.99882347e-01 -1.43373315e-02 -5.45283165e-03 7.04857435e+01] [ 1.43352113e-02 9.99897154e-01 -4.27723521e-04 3.37818502e+00] [ 5.45840327e-03 3.49505704e-04 9.99985042e-01 -2.51189784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.531400513 meters Centerline goodness [0,1] 0.9839203511401349 Centerline is valid? [True, True] Translation: X:70.51, Y:3.38, Z:-0.03 [[ 9.99883970e-01 -1.42801922e-02 -5.30310218e-03 7.05133011e+01] [ 1.42781846e-02 9.99897975e-01 -4.16253187e-04 3.38485374e+00] [ 5.30850530e-03 3.40486218e-04 9.99985852e-01 -2.50288583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.561400513 meters Centerline goodness [0,1] 0.9843922263775697 Centerline is valid? [True, True] Translation: X:70.54, Y:3.38, Z:-0.02 [[ 9.99893463e-01 -1.36872103e-02 -5.07182943e-03 7.05427183e+01] [ 1.36853636e-02 9.99906272e-01 -3.98650759e-04 3.38307340e+00] [ 5.07681048e-03 3.29198458e-04 9.99987059e-01 -2.35879894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.59140051299998 meters Centerline goodness [0,1] 0.9908227373115767 Centerline is valid? [True, True] Translation: X:70.57, Y:3.38, Z:-0.02 [[ 9.99935555e-01 -1.03640847e-02 -4.63369626e-03 7.05732266e+01] [ 1.03625061e-02 9.99946241e-01 -3.64554191e-04 3.38253260e+00] [ 4.63722543e-03 3.16513992e-04 9.99989198e-01 -2.21373265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.62140051299998 meters Centerline goodness [0,1] 0.9980270212309672 Centerline is valid? [True, True] Translation: X:70.60, Y:3.38, Z:-0.02 [[ 9.99959265e-01 -7.95952150e-03 -4.25613176e-03 7.06036632e+01] [ 7.95816793e-03 9.99968277e-01 -3.34867925e-04 3.38061083e+00] [ 4.25866213e-03 3.00983273e-04 9.99990887e-01 -2.15275665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.65140051299998 meters Centerline goodness [0,1] 0.911018214392356 Centerline is valid? [True, False] Translation: X:70.60, Y:3.38, Z:-0.02 [[ 9.99959683e-01 -7.98486865e-03 -4.10771522e-03 7.06032069e+01] [ 7.98231874e-03 9.99967938e-01 -6.36783507e-04 3.38216672e+00] [ 4.11266816e-03 6.03968742e-04 9.99991361e-01 -2.16582874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.68140051299999 meters Centerline goodness [0,1] 0.9944019366273289 Centerline is valid? [False, True] Translation: X:70.60, Y:3.38, Z:-0.02 [[ 9.99959724e-01 -8.04181020e-03 -3.98500125e-03 7.06029171e+01] [ 8.03828626e-03 9.99967288e-01 -8.99530580e-04 3.38346693e+00] [ 3.99210474e-03 8.67461769e-04 9.99991655e-01 -2.18755097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.71140051299999 meters Centerline goodness [0,1] 0.9768067741723738 Centerline is valid? [True, True] Translation: X:70.63, Y:3.39, Z:-0.02 [[ 9.99975564e-01 -5.45040288e-03 -4.37763825e-03 7.06318313e+01] [ 5.44884136e-03 9.99985087e-01 -3.68552051e-04 3.39004876e+00] [ 4.37958172e-03 3.44689988e-04 9.99990350e-01 -2.25247451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.74140051299999 meters Centerline goodness [0,1] 0.8032100789575872 Centerline is valid? [True, False] Translation: X:70.66, Y:3.40, Z:-0.03 [[ 9.99992883e-01 -3.73066029e-03 5.61835896e-04 7.06551187e+01] [ 3.73635347e-03 9.99937913e-01 -1.04981079e-02 3.40203063e+00] [-5.22636139e-04 1.05001324e-02 9.99944736e-01 -2.98654861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.77140051299999 meters Centerline goodness [0,1] 0.6618879245687346 Centerline is valid? [False, False] Translation: X:70.66, Y:3.40, Z:-0.03 [[ 9.99999447e-01 9.53291476e-04 4.43070842e-04 7.06552007e+01] [-9.50936553e-04 9.99985581e-01 -5.28516501e-03 3.39788522e+00] [-4.48102756e-04 5.28474075e-03 9.99985935e-01 -2.93023952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.80140051299999 meters Centerline goodness [0,1] 0.8219966011590919 Centerline is valid? [False, False] Translation: X:70.61, Y:3.39, Z:-0.03 [[ 9.99996421e-01 1.90759896e-03 -1.87597292e-03 7.06127483e+01] [-1.90953269e-03 9.99997647e-01 -1.02953395e-03 3.38956197e+00] [ 1.87400457e-03 1.03311250e-03 9.99997710e-01 -2.75785210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.83140051299999 meters Centerline goodness [0,1] 0.4477557422487699 Centerline is valid? [False, False] Translation: X:70.63, Y:3.38, Z:-0.02 [[ 9.99993818e-01 1.90944675e-03 -2.95252923e-03 7.06322745e+01] [-1.88036004e-03 9.99949985e-01 9.82304541e-03 3.38260894e+00] [ 2.97113814e-03 -9.81743287e-03 9.99947394e-01 -2.26558694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.86140051299999 meters Centerline goodness [0,1] 0.9544321899850491 Centerline is valid? [False, True] Translation: X:70.63, Y:3.39, Z:-0.02 [[ 9.99994073e-01 -2.54195290e-03 -2.32218509e-03 7.06306778e+01] [ 2.55144903e-03 9.99988358e-01 4.09553825e-03 3.38993963e+00] [ 2.31174739e-03 -4.10143891e-03 9.99988917e-01 -2.37889457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.891400513 meters Centerline goodness [0,1] 0.6784007234207468 Centerline is valid? [True, False] Translation: X:70.63, Y:3.39, Z:-0.02 [[ 9.99993716e-01 -2.71815220e-03 -2.27570458e-03 7.06306207e+01] [ 2.72658752e-03 9.99989394e-01 3.71182294e-03 3.39169085e+00] [ 2.26559115e-03 -3.71800453e-03 9.99990522e-01 -2.40190888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.921400513 meters Centerline goodness [0,1] 0.56170542302149 Centerline is valid? [False, False] Translation: X:70.63, Y:3.39, Z:-0.02 [[ 9.99993431e-01 -2.87377958e-03 -2.20888840e-03 7.06303924e+01] [ 2.88117312e-03 9.99990234e-01 3.35131481e-03 3.39339674e+00] [ 2.19923589e-03 -3.35765698e-03 9.99991945e-01 -2.40405117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.95140051299998 meters Centerline goodness [0,1] 0.6150650907845152 Centerline is valid? [False, False] Translation: X:70.63, Y:3.39, Z:-0.02 [[ 9.99992914e-01 -3.02558598e-03 -2.24014605e-03 7.06306838e+01] [ 3.03236116e-03 9.99990820e-01 3.02724338e-03 3.39485427e+00] [ 2.23096630e-03 -3.03401486e-03 9.99992909e-01 -2.44355705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.98140051299998 meters Centerline goodness [0,1] 0.6778815127135052 Centerline is valid? [False, False] Translation: X:70.63, Y:3.40, Z:-0.02 [[ 9.99992612e-01 -3.09296837e-03 -2.28260303e-03 7.06310202e+01] [ 3.09952388e-03 9.99991066e-01 2.87401827e-03 3.39553483e+00] [ 2.27369339e-03 -2.88107202e-03 9.99993265e-01 -2.48504524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.01140051299998 meters Centerline goodness [0,1] 0.8812124875858198 Centerline is valid? [False, False] Translation: X:70.63, Y:3.40, Z:-0.03 [[ 9.99992387e-01 -3.14775051e-03 -2.30594970e-03 7.06311968e+01] [ 3.15407992e-03 9.99991255e-01 2.74634005e-03 3.39611029e+00] [ 2.29728474e-03 -2.75359230e-03 9.99993570e-01 -2.50676897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.04140051299999 meters Centerline goodness [0,1] 0.9037546960846056 Centerline is valid? [False, False] Translation: X:70.63, Y:3.40, Z:-0.02 [[ 9.99992349e-01 -3.16474148e-03 -2.29900777e-03 7.06311200e+01] [ 3.17093596e-03 9.99991339e-01 2.69578124e-03 3.39637280e+00] [ 2.29045641e-03 -2.70305062e-03 9.99993724e-01 -2.49610739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.071400513 meters Centerline goodness [0,1] 0.9016248025789143 Centerline is valid? [False, False] Translation: X:70.63, Y:3.40, Z:-0.02 [[ 9.99991881e-01 -3.34329476e-03 -2.24936690e-03 7.06308906e+01] [ 3.34842978e-03 9.99991788e-01 2.28299100e-03 3.39832200e+00] [ 2.24171572e-03 -2.29050431e-03 9.99994864e-01 -2.48587830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.101400513 meters Centerline goodness [0,1] 0.7414865328529765 Centerline is valid? [False, False] Translation: X:70.63, Y:3.40, Z:-0.03 [[ 9.99991061e-01 -3.59574562e-03 -2.22439491e-03 7.06309289e+01] [ 3.59953683e-03 9.99992072e-01 1.70272742e-03 3.40102688e+00] [ 2.21825470e-03 -1.71071899e-03 9.99996076e-01 -2.51478770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.131400513 meters Centerline goodness [0,1] 0.8380093019268278 Centerline is valid? [False, False] Translation: X:70.63, Y:3.40, Z:-0.03 [[ 9.99990103e-01 -3.88509669e-03 -2.16787426e-03 7.06308484e+01] [ 3.88732846e-03 9.99991918e-01 1.02621128e-03 3.40420422e+00] [ 2.16386981e-03 -1.03462836e-03 9.99997124e-01 -2.54294370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.161400513 meters Centerline goodness [0,1] 0.6868037610475343 Centerline is valid? [False, False] Translation: X:70.63, Y:3.41, Z:-0.03 [[ 9.99965598e-01 -8.16222190e-03 -1.47674353e-03 7.06289217e+01] [ 8.15497275e-03 9.99954986e-01 -4.85005461e-03 3.41281542e+00] [ 1.51626427e-03 4.83784496e-03 9.99987148e-01 -2.62242675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.191400513 meters Centerline goodness [0,1] 0.6456874945985653 Centerline is valid? [False, False] Translation: X:70.63, Y:3.41, Z:-0.03 [[ 9.99990937e-01 -3.74888475e-03 -2.01782469e-03 7.06303452e+01] [ 3.74972476e-03 9.99992885e-01 4.12671283e-04 3.40793801e+00] [ 2.01626327e-03 -4.20233830e-04 9.99997879e-01 -2.56665813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.221400513 meters Centerline goodness [0,1] 0.7185436180774377 Centerline is valid? [False, False] Translation: X:70.63, Y:3.41, Z:-0.03 [[ 9.99989004e-01 -4.21322891e-03 -2.05923677e-03 7.06308893e+01] [ 4.21172033e-03 9.99990860e-01 -7.36381662e-04 3.41328135e+00] [ 2.06232049e-03 7.27700635e-04 9.99997609e-01 -2.65917293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.251400513 meters Centerline goodness [0,1] 0.5479951918949086 Centerline is valid? [False, False] Translation: X:70.64, Y:3.41, Z:-0.03 [[ 9.99993405e-01 -2.04740141e-03 -2.99975246e-03 7.06376454e+01] [ 2.05134223e-03 9.99997036e-01 1.31122658e-03 3.41437842e+00] [ 2.99705896e-03 -1.31737145e-03 9.99994641e-01 -3.07543015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.281400513 meters Centerline goodness [0,1] 0.63590370227453 Centerline is valid? [False, False] Translation: X:70.64, Y:3.42, Z:-0.03 [[ 9.99992754e-01 -2.44918703e-03 -2.91424967e-03 7.06373436e+01] [ 2.45026229e-03 9.99996931e-01 3.65450888e-04 3.41884382e+00] [ 2.91334567e-03 -3.72588916e-04 9.99995687e-01 -3.07914533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.311400513 meters Centerline goodness [0,1] 0.5312041116005874 Centerline is valid? [False, False] Translation: X:70.64, Y:3.42, Z:-0.03 [[ 9.99992084e-01 -2.74550976e-03 -2.87991052e-03 7.06372253e+01] [ 2.74459052e-03 9.99996181e-01 -3.23096570e-04 3.42207220e+00] [ 2.88078659e-03 3.15189837e-04 9.99995801e-01 -3.08252654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.341400513 meters Centerline goodness [0,1] 0.6003579978002545 Centerline is valid? [False, False] Translation: X:70.64, Y:3.42, Z:-0.03 [[ 9.99991549e-01 -2.94079087e-03 -2.87282568e-03 7.06371622e+01] [ 2.93861052e-03 9.99995391e-01 -7.62880135e-04 3.42414506e+00] [ 2.87505591e-03 7.54431573e-04 9.99995582e-01 -3.07996594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.371400513 meters Centerline goodness [0,1] 0.7991812250974211 Centerline is valid? [False, False] Translation: X:70.59, Y:3.42, Z:-0.03 [[ 9.99981803e-01 -3.45237962e-03 -4.94728390e-03 7.05941457e+01] [ 3.45781119e-03 9.99993428e-01 1.08975627e-03 3.42005756e+00] [ 4.94348914e-03 -1.10684321e-03 9.99987168e-01 -2.97674879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.401400513 meters Centerline goodness [0,1] 0.6685704507048279 Centerline is valid? [False, False] Translation: X:70.64, Y:3.43, Z:-0.03 [[ 9.99971523e-01 -7.05646762e-03 -2.67571563e-03 7.06368923e+01] [ 7.04115593e-03 9.99959026e-01 -5.68934343e-03 3.43292314e+00] [ 2.71575267e-03 5.67034129e-03 9.99980236e-01 -3.23266776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.431400513 meters Centerline goodness [0,1] 0.9728378028800552 Centerline is valid? [False, True] Translation: X:70.64, Y:3.43, Z:-0.03 [[ 9.99970465e-01 -7.09243772e-03 -2.96066466e-03 7.06378520e+01] [ 7.07629648e-03 9.99960235e-01 -5.42722876e-03 3.43147923e+00] [ 2.99903921e-03 5.40611793e-03 9.99980890e-01 -3.23964973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.461400513 meters Centerline goodness [0,1] 0.9018326865028029 Centerline is valid? [True, False] Translation: X:70.64, Y:3.42, Z:-0.03 [[ 9.99986922e-01 -3.86103505e-03 -3.35393006e-03 7.06391465e+01] [ 3.85997252e-03 9.99992498e-01 -3.23216451e-04 3.42423133e+00] [ 3.35515285e-03 3.10266146e-04 9.99994323e-01 -3.18430132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.491400513 meters Centerline goodness [0,1] 0.928781345860952 Centerline is valid? [False, False] Translation: X:70.64, Y:3.42, Z:-0.03 [[ 9.99986527e-01 -3.79143930e-03 -3.54564596e-03 7.06395806e+01] [ 3.79211493e-03 9.99992793e-01 1.83849611e-04 3.42167679e+00] [ 3.54492335e-03 -1.97292631e-04 9.99993697e-01 -3.14316777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.52140051299997 meters Centerline goodness [0,1] 0.9776106648436165 Centerline is valid? [False, True] Translation: X:70.64, Y:3.42, Z:-0.03 [[ 9.99986313e-01 -3.73949090e-03 -3.65915335e-03 7.06397008e+01] [ 3.74149697e-03 9.99992854e-01 5.41542654e-04 3.41991809e+00] [ 3.65710211e-03 -5.55225953e-04 9.99993159e-01 -3.09079084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.55140051299998 meters Centerline goodness [0,1] 0.9776106648436165 Centerline is valid? [True, True] Translation: X:70.67, Y:3.42, Z:-0.03 [[ 9.99985835e-01 -3.91827196e-03 -3.60221580e-03 7.06671323e+01] [ 3.91736970e-03 9.99992294e-01 -2.57495376e-04 3.42273664e+00] [ 3.60319698e-03 2.43380518e-04 9.99993479e-01 -3.10063603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.58140051299998 meters Centerline goodness [0,1] 0.9963129689174706 Centerline is valid? [True, True] Translation: X:70.70, Y:3.42, Z:-0.03 [[ 9.99974623e-01 -6.22224573e-03 -3.46950049e-03 7.06980174e+01] [ 6.22142302e-03 9.99980616e-01 -2.47868031e-04 3.41836603e+00] [ 3.47097553e-03 2.26276511e-04 9.99993951e-01 -3.07563877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.61140051299998 meters Centerline goodness [0,1] 0.9924319945425087 Centerline is valid? [True, True] Translation: X:70.73, Y:3.43, Z:-0.03 [[ 9.99968973e-01 -7.45604842e-03 -2.54169362e-03 7.07265191e+01] [ 7.45561067e-03 9.99972190e-01 -1.81660084e-04 3.42501010e+00] [ 2.54297741e-03 1.62704570e-04 9.99996753e-01 -2.91293447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.64140051299998 meters Centerline goodness [0,1] 0.9967465057043173 Centerline is valid? [True, True] Translation: X:70.76, Y:3.43, Z:-0.03 [[ 9.99979782e-01 -6.08696754e-03 -1.83960243e-03 7.07564344e+01] [ 6.08673583e-03 9.99981467e-01 -1.31527885e-04 3.42659886e+00] [ 1.84036894e-03 1.20328052e-04 9.99998299e-01 -2.81201323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.67140051299998 meters Centerline goodness [0,1] 0.9988314723448455 Centerline is valid? [True, True] Translation: X:70.79, Y:3.43, Z:-0.03 [[ 9.99991736e-01 -3.88417907e-03 -1.20050468e-03 7.07871744e+01] [ 3.88407883e-03 9.99992453e-01 -8.58202924e-05 3.42641007e+00] [ 1.20082896e-03 8.11567284e-05 9.99999276e-01 -2.82864813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.70140051299998 meters Centerline goodness [0,1] 0.9870079587007958 Centerline is valid? [True, True] Translation: X:70.82, Y:3.44, Z:-0.03 [[ 9.99998030e-01 -1.50739711e-03 -1.29125562e-03 7.08156562e+01] [ 1.50727912e-03 9.99998860e-01 -9.23457790e-05 3.43899787e+00] [ 1.29139335e-03 9.03993144e-05 9.99999162e-01 -2.81536033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.73140051299998 meters Centerline goodness [0,1] 0.8727600489301887 Centerline is valid? [True, False] Translation: X:70.82, Y:3.44, Z:-0.03 [[ 9.99997709e-01 -1.74906264e-03 -1.23411975e-03 7.08156531e+01] [ 1.74801071e-03 9.99998108e-01 -8.52938401e-04 3.44265105e+00] [ 1.23560925e-03 8.50779192e-04 9.99998875e-01 -2.86272771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.76140051299998 meters Centerline goodness [0,1] 0.9871531012370285 Centerline is valid? [False, True] Translation: X:70.82, Y:3.45, Z:-0.03 [[ 9.99997344e-01 -2.00056685e-03 -1.14424028e-03 7.08156899e+01] [ 1.99847304e-03 9.99996332e-01 -1.82809917e-03 3.44737544e+00] [ 1.14789332e-03 1.82580758e-03 9.99997674e-01 -2.94216234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.79140051299999 meters Centerline goodness [0,1] 0.7963309058881657 Centerline is valid? [True, False] Translation: X:70.82, Y:3.45, Z:-0.03 [[ 9.99997442e-01 -1.95556555e-03 -1.13649588e-03 7.08156458e+01] [ 1.95357242e-03 9.99996557e-01 -1.75221890e-03 3.44703529e+00] [ 1.13991854e-03 1.74999419e-03 9.99997819e-01 -2.94235406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.821400513 meters Centerline goodness [0,1] 0.993400839499762 Centerline is valid? [False, True] Translation: X:70.82, Y:3.44, Z:-0.03 [[ 9.99997779e-01 -1.77004571e-03 -1.14448926e-03 7.08155624e+01] [ 1.76854309e-03 9.99997575e-01 -1.31260260e-03 3.44498969e+00] [ 1.14680985e-03 1.31057560e-03 9.99998484e-01 -2.92028082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.851400513 meters Centerline goodness [0,1] 0.9937911041883004 Centerline is valid? [True, True] Translation: X:70.84, Y:3.45, Z:-0.03 [[ 9.99993448e-01 -3.57809598e-03 -5.49404196e-04 7.08444146e+01] [ 3.57807312e-03 9.99993598e-01 -4.25908200e-05 3.44566869e+00] [ 5.49553073e-04 4.06247325e-05 9.99999848e-01 -2.84522967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.881400513 meters Centerline goodness [0,1] 0.9963618251510492 Centerline is valid? [True, True] Translation: X:70.87, Y:3.45, Z:-0.03 [[ 9.99984100e-01 -5.63874469e-03 -5.87579191e-05 7.08743684e+01] [ 5.63874443e-03 9.99984102e-01 -4.58989210e-06 3.44552702e+00] [ 5.87828662e-05 4.25849823e-06 9.99999998e-01 -2.84100006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.911400513 meters Centerline goodness [0,1] 0.998780434687922 Centerline is valid? [True, True] Translation: X:70.90, Y:3.44, Z:-0.03 [[ 9.99970751e-01 -7.64589192e-03 1.92699144e-04 7.09045590e+01] [ 7.64588919e-03 9.99970770e-01 1.48842589e-05 3.44282184e+00] [-1.92807315e-04 -1.34104672e-05 9.99999981e-01 -2.86030495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.941400513 meters Centerline goodness [0,1] 0.9957983193277311 Centerline is valid? [True, True] Translation: X:70.93, Y:3.45, Z:-0.03 [[ 9.99938855e-01 -1.10369104e-02 -6.87310703e-04 7.09339289e+01] [ 1.10368764e-02 9.99939090e-01 -5.32533773e-05 3.44753968e+00] [ 6.87856592e-04 4.56643578e-05 9.99999762e-01 -3.06048188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.971400513 meters Centerline goodness [0,1] 0.9983944804842594 Centerline is valid? [True, True] Translation: X:70.96, Y:3.44, Z:-0.03 [[ 9.99921255e-01 -1.24832654e-02 -1.28554544e-03 7.09640681e+01] [ 1.24831476e-02 9.99922078e-01 -9.96325862e-05 3.44369560e+00] [ 1.28668901e-03 8.35770871e-05 9.99999169e-01 -3.10140962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.001400513 meters Centerline goodness [0,1] 0.9992386670147047 Centerline is valid? [True, True] Translation: X:70.99, Y:3.44, Z:-0.03 [[ 9.99904206e-01 -1.37639904e-02 -1.45961347e-03 7.09939956e+01] [ 1.37638398e-02 9.99905267e-01 -1.13150768e-04 3.44215990e+00] [ 1.46103261e-03 9.30500433e-05 9.99998928e-01 -3.09228929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.031400513 meters Centerline goodness [0,1] 0.9948351125902235 Centerline is valid? [True, True] Translation: X:71.02, Y:3.45, Z:-0.03 [[ 9.99885565e-01 -1.50310070e-02 -1.71018824e-03 7.10214566e+01] [ 1.50308017e-02 9.99887022e-01 -1.32855927e-04 3.44890804e+00] [ 1.71199199e-03 1.07135223e-04 9.99998529e-01 -3.16085136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.061400513 meters Centerline goodness [0,1] 0.9946116044486594 Centerline is valid? [True, True] Translation: X:71.05, Y:3.45, Z:-0.03 [[ 9.99866715e-01 -1.61884399e-02 -2.11826627e-03 7.10510597e+01] [ 1.61881266e-02 9.99868950e-01 -1.64965435e-04 3.44744291e+00] [ 2.12065921e-03 1.30652685e-04 9.99997743e-01 -3.30363084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.091400513 meters Centerline goodness [0,1] 0.9992425717933736 Centerline is valid? [True, True] Translation: X:71.08, Y:3.44, Z:-0.03 [[ 9.99838388e-01 -1.78824944e-02 -1.84792247e-03 7.10820500e+01] [ 1.78822593e-02 9.99840089e-01 -1.43663829e-04 3.44030369e+00] [ 1.85019604e-03 1.10595583e-04 9.99998282e-01 -3.23313405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.121400513 meters Centerline goodness [0,1] 0.9998031582170509 Centerline is valid? [True, True] Translation: X:71.11, Y:3.43, Z:-0.03 [[ 9.99772553e-01 -2.12490705e-02 -1.82190468e-03 7.11133371e+01] [ 2.12488476e-02 9.99774208e-01 -1.41622888e-04 3.42706616e+00] [ 1.82450267e-03 1.02877302e-04 9.99998330e-01 -3.16434597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.151400513 meters Centerline goodness [0,1] 0.9988424933550545 Centerline is valid? [True, True] Translation: X:71.14, Y:3.44, Z:-0.03 [[ 9.99745536e-01 -2.23961378e-02 -2.69761566e-03 7.11408602e+01] [ 2.23956510e-02 9.99749164e-01 -2.10528826e-04 3.43917167e+00] [ 2.70165403e-03 1.50060395e-04 9.99996339e-01 -3.34492576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.181400513 meters Centerline goodness [0,1] 0.9989288545170205 Centerline is valid? [True, True] Translation: X:71.17, Y:3.44, Z:-0.03 [[ 9.99724334e-01 -2.32318528e-02 -3.39654173e-03 7.11693244e+01] [ 2.32310845e-02 9.99730087e-01 -2.65491867e-04 3.43995232e+00] [ 3.40179282e-03 1.86513332e-04 9.99994196e-01 -3.45145469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.211400513 meters Centerline goodness [0,1] 0.9989973189179763 Centerline is valid? [True, True] Translation: X:71.20, Y:3.44, Z:-0.03 [[ 9.99709809e-01 -2.38109126e-02 -3.65221385e-03 7.11981156e+01] [ 2.38100260e-02 9.99716460e-01 -2.86042516e-04 3.43972424e+00] [ 3.65798924e-03 1.99000202e-04 9.99993290e-01 -3.46774119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.241400513 meters Centerline goodness [0,1] 0.9997585071350165 Centerline is valid? [True, True] Translation: X:71.23, Y:3.44, Z:-0.03 [[ 9.99694170e-01 -2.45458234e-02 -3.01149676e-03 7.12271265e+01] [ 2.45452221e-02 9.99698693e-01 -2.36445205e-04 3.43696718e+00] [ 3.01639311e-03 1.62455036e-04 9.99995437e-01 -3.32528144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.27140051299997 meters Centerline goodness [0,1] 0.9997388295209698 Centerline is valid? [True, True] Translation: X:71.26, Y:3.44, Z:-0.03 [[ 9.99675878e-01 -2.53754671e-02 -2.05536621e-03 7.12561238e+01] [ 2.53751878e-02 9.99677985e-01 -1.61856652e-04 3.43611246e+00] [ 2.05881154e-03 1.09648887e-04 9.99997875e-01 -3.23397215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.30140051299998 meters Centerline goodness [0,1] 0.9996556473829201 Centerline is valid? [True, True] Translation: X:71.28, Y:3.44, Z:-0.03 [[ 9.99614958e-01 -2.77329705e-02 -9.04204444e-04 7.12848952e+01] [ 2.77329175e-02 9.99615366e-01 -7.11090874e-05 3.43866324e+00] [ 9.05828722e-04 4.60054802e-05 9.99999589e-01 -3.08818297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.33140051299998 meters Centerline goodness [0,1] 0.9999348024514279 Centerline is valid? [True, True] Translation: X:71.32, Y:3.43, Z:-0.03 [[ 9.99562981e-01 -2.95278118e-02 -1.39829844e-03 7.13152472e+01] [ 2.95276867e-02 9.99563957e-01 -1.09969024e-04 3.43296538e+00] [ 1.40093586e-03 6.86324470e-05 9.99999016e-01 -3.12909225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.36140051299998 meters Centerline goodness [0,1] 0.9997199000258554 Centerline is valid? [True, True] Translation: X:71.34, Y:3.44, Z:-0.03 [[ 9.99496494e-01 -3.16902976e-02 -1.57568592e-03 7.13443547e+01] [ 3.16901415e-02 9.99497734e-01 -1.23950109e-04 3.43752988e+00] [ 1.57882252e-03 7.39539896e-05 9.99998751e-01 -3.18830277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.39140051299998 meters Centerline goodness [0,1] 0.9997645094303269 Centerline is valid? [True, True] Translation: X:71.37, Y:3.44, Z:-0.03 [[ 9.99419098e-01 -3.40720489e-02 -7.49963308e-04 7.13733960e+01] [ 3.40720142e-02 9.99419379e-01 -5.90393127e-05 3.43879019e+00] [ 7.51539454e-04 3.34522562e-05 9.99999717e-01 -3.09843727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.42140051299998 meters Centerline goodness [0,1] 0.9999136498067914 Centerline is valid? [True, True] Translation: X:71.40, Y:3.43, Z:-0.03 [[ 9.99338070e-01 -3.63781930e-02 2.20252529e-04 7.14034471e+01] [ 3.63781901e-02 9.99338094e-01 1.72740013e-05 3.43422255e+00] [-2.20735139e-04 -9.25017880e-06 9.99999976e-01 -2.93496682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.45140051299998 meters Centerline goodness [0,1] 0.9998482351920909 Centerline is valid? [True, True] Translation: X:71.43, Y:3.43, Z:-0.03 [[ 9.99257060e-01 -3.85315555e-02 8.04546567e-04 7.14328134e+01] [ 3.85315172e-02 9.99257383e-01 6.30671083e-05 3.43404483e+00] [-8.06379171e-04 -3.20198534e-05 9.99999674e-01 -2.90579112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.48140051299998 meters Centerline goodness [0,1] 0.9998501006467087 Centerline is valid? [True, True] Translation: X:71.46, Y:3.43, Z:-0.03 [[ 9.99178157e-01 -4.05194722e-02 1.08728891e-03 7.14614228e+01] [ 4.05194029e-02 9.99178748e-01 8.56538929e-05 3.43426648e+00] [-1.08986663e-03 -4.15272013e-05 9.99999405e-01 -2.82150779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.51140051299998 meters Centerline goodness [0,1] 0.9999568174457519 Centerline is valid? [True, True] Translation: X:71.49, Y:3.43, Z:-0.03 [[ 9.99055947e-01 -4.34400659e-02 4.19425906e-04 7.14917930e+01] [ 4.34400558e-02 9.99056035e-01 3.30607362e-05 3.43230003e+00] [-4.20466143e-04 -1.48096404e-05 9.99999911e-01 -2.92803158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.54140051299999 meters Centerline goodness [0,1] 0.9999349959914194 Centerline is valid? [True, True] Translation: X:71.52, Y:3.43, Z:-0.03 [[ 9.99006343e-01 -4.45608824e-02 8.08721147e-04 7.15195844e+01] [ 4.45608454e-02 9.99006670e-01 6.37106678e-05 3.43493840e+00] [-8.10756824e-04 -2.76100632e-05 9.99999671e-01 -2.91863761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.571400513 meters Centerline goodness [0,1] 0.9999566160520608 Centerline is valid? [True, True] Translation: X:71.55, Y:3.43, Z:-0.03 [[ 9.98923622e-01 -4.63131378e-02 2.58653823e-03 7.15489759e+01] [ 4.63127641e-02 9.98926967e-01 2.04248742e-04 3.43451829e+00] [-2.59322219e-03 -8.42391579e-05 9.99996634e-01 -2.73852448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.601400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.58, Y:3.43, Z:-0.03 [[ 9.98875089e-01 -4.73610898e-02 2.34188151e-03 7.15781286e+01] [ 4.73607854e-02 9.98877831e-01 1.85262806e-04 3.43494665e+00] [-2.34802777e-03 -7.41410543e-05 9.99997241e-01 -2.72195724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.631400513 meters Centerline goodness [0,1] 0.9999562018220042 Centerline is valid? [True, True] Translation: X:71.61, Y:3.44, Z:-0.03 [[ 9.98834248e-01 -4.82537865e-02 1.31074947e-03 7.16059548e+01] [ 4.82536917e-02 9.98835107e-01 1.03851542e-04 3.43914647e+00] [-1.31423382e-03 -4.04819757e-05 9.99999136e-01 -2.90844549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.661400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.64, Y:3.44, Z:-0.03 [[ 9.98806452e-01 -4.88433233e-02 -3.31127416e-05 7.16350224e+01] [ 4.88433232e-02 9.98806453e-01 -3.01707251e-06 3.44206935e+00] [ 3.32205838e-05 1.39613516e-06 9.99999999e-01 -3.17922092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.691400513 meters Centerline goodness [0,1] 0.9999783947283137 Centerline is valid? [True, True] Translation: X:71.66, Y:3.44, Z:-0.03 [[ 9.98783972e-01 -4.92817593e-02 -1.37305238e-03 7.16629982e+01] [ 4.92816548e-02 9.98784915e-01 -1.09865762e-04 3.44462749e+00] [ 1.37679838e-03 4.20658688e-05 9.99999051e-01 -3.44037034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.721400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.69, Y:3.45, Z:-0.04 [[ 9.98750808e-01 -4.99007009e-02 -2.59669070e-03 7.16908648e+01] [ 4.99003306e-02 9.98754181e-01 -2.07234048e-04 3.44776199e+00] [ 2.60379682e-03 7.73994481e-05 9.99996607e-01 -3.66458984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.751400513 meters Centerline goodness [0,1] 0.999891922270497 Centerline is valid? [True, True] Translation: X:71.72, Y:3.45, Z:-0.04 [[ 9.98658223e-01 -5.17229703e-02 -2.54713251e-03 7.17197673e+01] [ 5.17226182e-02 9.98661469e-01 -2.03956411e-04 3.45016195e+00] [ 2.55427233e-03 7.19383843e-05 9.99996735e-01 -3.65756431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.781400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.75, Y:3.45, Z:-0.04 [[ 9.98601947e-01 -5.27999300e-02 -2.51366033e-03 7.17476838e+01] [ 5.27995904e-02 9.98605109e-01 -2.01321745e-04 3.45231831e+00] [ 2.52078382e-03 6.83200503e-05 9.99996820e-01 -3.55317340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.811400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.78, Y:3.45, Z:-0.03 [[ 9.98540408e-01 -5.39433100e-02 -2.67824756e-03 7.17766416e+01] [ 5.39429269e-02 9.98543997e-01 -2.15134445e-04 3.45125760e+00] [ 2.68595309e-03 7.03479246e-05 9.99996390e-01 -3.48489206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.841400513 meters Centerline goodness [0,1] 0.9999565670604587 Centerline is valid? [True, True] Translation: X:71.80, Y:3.45, Z:-0.04 [[ 9.98473558e-01 -5.51643079e-02 -2.72986515e-03 7.18043977e+01] [ 5.51639147e-02 9.98477288e-01 -2.19185655e-04 3.45489222e+00] [ 2.73779958e-03 6.82610322e-05 9.99996250e-01 -3.58170272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.871400513 meters Centerline goodness [0,1] 0.9999137205841117 Centerline is valid? [True, True] Translation: X:71.83, Y:3.45, Z:-0.04 [[ 9.98391940e-01 -5.66355956e-02 -2.43779064e-03 7.18337858e+01] [ 5.66352848e-02 9.98394915e-01 -1.96402139e-04 3.45340531e+00] [ 2.44500113e-03 5.80213456e-05 9.99997009e-01 -3.62440001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.901400513 meters Centerline goodness [0,1] 0.9999353294962168 Centerline is valid? [True, True] Translation: X:71.86, Y:3.46, Z:-0.04 [[ 9.98323122e-01 -5.78566963e-02 -1.88308323e-03 7.18625425e+01] [ 5.78565123e-02 9.98324897e-01 -1.52114915e-04 3.45537084e+00] [ 1.88872974e-03 4.29112091e-05 9.99998215e-01 -3.57638490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.931400513 meters Centerline goodness [0,1] 0.9999571468363652 Centerline is valid? [True, True] Translation: X:71.89, Y:3.46, Z:-0.03 [[ 9.98303986e-01 -5.82096002e-02 -8.90993541e-04 7.18913248e+01] [ 5.82095588e-02 9.98304383e-01 -7.23330487e-05 3.45984262e+00] [ 8.93693236e-04 2.03460299e-05 9.99999600e-01 -3.43398296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.961400513 meters Centerline goodness [0,1] 0.9999782514136581 Centerline is valid? [True, True] Translation: X:71.92, Y:3.46, Z:-0.03 [[ 9.98294676e-01 -5.83518124e-02 -1.67535747e-03 7.19176258e+01] [ 5.83516670e-02 9.98296081e-01 -1.35611738e-04 3.46384732e+00] [ 1.68041599e-03 3.76205745e-05 9.99998587e-01 -3.46252789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.991400513 meters Centerline goodness [0,1] 0.9998708566508825 Centerline is valid? [True, True] Translation: X:71.95, Y:3.47, Z:-0.03 [[ 9.98285866e-01 -5.85073527e-02 -1.48949896e-03 7.19453368e+01] [ 5.85072371e-02 9.98286977e-01 -1.21122718e-04 3.46538218e+00] [ 1.49403398e-03 3.37686288e-05 9.99998883e-01 -3.39324713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.02140051299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.97, Y:3.47, Z:-0.03 [[ 9.98246158e-01 -5.91948379e-02 -7.60450042e-04 7.19744067e+01] [ 5.91948078e-02 9.98246448e-01 -6.21285834e-05 3.46712886e+00] [ 7.62794245e-04 1.70049256e-05 9.99999709e-01 -3.11101531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.05140051299998 meters Centerline goodness [0,1] 0.999913068045987 Centerline is valid? [True, True] Translation: X:72.00, Y:3.47, Z:-0.03 [[ 9.98180848e-01 -6.02906389e-02 1.83902822e-04 7.20031527e+01] [ 6.02906373e-02 9.98180865e-01 1.45647018e-05 3.46711086e+00] [-1.84446393e-04 -3.45058807e-06 9.99999983e-01 -3.06168294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.08140051299998 meters Centerline goodness [0,1] 0.9999784250269688 Centerline is valid? [True, True] Translation: X:72.03, Y:3.47, Z:-0.03 [[ 9.98043123e-01 -6.25273855e-02 5.00273617e-04 7.20313784e+01] [ 6.25273731e-02 9.98043249e-01 4.03928176e-05 3.47064339e+00] [-5.01820364e-04 -9.03297873e-06 9.99999874e-01 -2.95215112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.11140051299998 meters Centerline goodness [0,1] 0.9999133392551509 Centerline is valid? [True, True] Translation: X:72.06, Y:3.46, Z:-0.03 [[ 9.97663702e-01 -6.83136050e-02 6.24251107e-04 7.20617965e+01] [ 6.83135865e-02 9.97663897e-01 5.08579021e-05 3.46226427e+00] [-6.26267078e-04 -8.09425088e-06 9.99999804e-01 -3.08211184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.14140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.09, Y:3.46, Z:-0.03 [[ 9.97401528e-01 -7.20403852e-02 6.11855985e-04 7.20910428e+01] [ 7.20403684e-02 9.97401716e-01 4.96096994e-05 3.45841269e+00] [-6.13840112e-04 -5.40245939e-06 9.99999812e-01 -2.94258120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.17140051299998 meters Centerline goodness [0,1] 0.9998926370488072 Centerline is valid? [True, True] Translation: X:72.12, Y:3.46, Z:-0.03 [[ 9.97156646e-01 -7.53464464e-02 1.23984918e-03 7.21190234e+01] [ 7.53463788e-02 9.97157416e-01 1.01269320e-04 3.45712174e+00] [-1.24395509e-03 -7.56323002e-06 9.99999226e-01 -2.98945449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.20140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.15, Y:3.45, Z:-0.03 [[ 9.96697910e-01 -8.11704528e-02 2.15248004e-03 7.21488639e+01] [ 8.11702619e-02 9.96700235e-01 1.76033009e-04 3.44923044e+00] [-2.15966604e-03 -7.34363564e-07 9.99997668e-01 -2.78066629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.23140051299998 meters Centerline goodness [0,1] 0.9997606718593621 Centerline is valid? [True, True] Translation: X:72.18, Y:3.45, Z:-0.03 [[ 9.96490781e-01 -8.36467928e-02 3.05588317e-03 7.21770897e+01] [ 8.36464176e-02 9.96495466e-01 2.50611795e-04 3.44708850e+00] [-3.06613660e-03 5.88133698e-06 9.99995299e-01 -2.84522126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.26140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.21, Y:3.45, Z:-0.03 [[ 9.96340335e-01 -8.54291796e-02 2.79137111e-03 7.22056742e+01] [ 8.54288721e-02 9.96344245e-01 2.29422604e-04 3.44567756e+00] [-2.80076593e-03 9.88069162e-06 9.99996078e-01 -2.71105937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.29140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.23, Y:3.45, Z:-0.03 [[ 9.96297343e-01 -8.59504850e-02 2.02935136e-03 7.22341538e+01] [ 8.59503230e-02 9.96299410e-01 1.67063833e-04 3.44596467e+00] [-2.03620078e-03 7.97815184e-06 9.99997927e-01 -2.75920282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.321400513 meters Centerline goodness [0,1] 0.9999783634081959 Centerline is valid? [True, True] Translation: X:72.26, Y:3.45, Z:-0.03 [[ 9.96343081e-01 -8.54348844e-02 1.15951640e-03 7.22622058e+01] [ 8.54348312e-02 9.96343756e-01 9.54874425e-05 3.44815871e+00] [-1.16343488e-03 3.92483479e-06 9.99999323e-01 -2.93314311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.351400513 meters Centerline goodness [0,1] 0.9997814589798505 Centerline is valid? [True, True] Translation: X:72.29, Y:3.45, Z:-0.03 [[ 9.96439527e-01 -8.43082143e-02 6.27222989e-04 7.22903571e+01] [ 8.43081985e-02 9.96439725e-01 5.15518590e-05 3.45155074e+00] [-6.29336148e-04 1.51173034e-06 9.99999802e-01 -3.00083068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.381400513 meters Centerline goodness [0,1] 0.9999786548272108 Centerline is valid? [True, True] Translation: X:72.32, Y:3.46, Z:-0.03 [[ 9.96880866e-01 -7.89148050e-02 9.96469999e-04 7.23172407e+01] [ 7.89147619e-02 9.96881364e-01 8.25676732e-05 3.45975176e+00] [-9.99878184e-04 -3.67394078e-06 9.99999500e-01 -2.92210622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.411400513 meters Centerline goodness [0,1] 0.999934964989486 Centerline is valid? [True, True] Translation: X:72.35, Y:3.47, Z:-0.03 [[ 9.97143497e-01 -7.55174085e-02 1.40234536e-03 7.23453910e+01] [ 7.55173197e-02 9.97144483e-01 1.16252744e-04 3.46687091e+00] [-1.40712004e-03 -1.00193050e-05 9.99999010e-01 -2.88024971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.441400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.37, Y:3.47, Z:-0.03 [[ 9.97399070e-01 -7.20407088e-02 2.28740931e-03 7.23733427e+01] [ 7.20404619e-02 9.97401692e-01 1.90258507e-04 3.47390421e+00] [-2.29517228e-03 -2.49776349e-05 9.99997366e-01 -2.63671816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.471400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.40, Y:3.48, Z:-0.03 [[ 9.97385327e-01 -7.22307189e-02 2.28739243e-03 7.24007546e+01] [ 7.22304720e-02 9.97387950e-01 1.90461265e-04 3.47634809e+00] [-2.29517480e-03 -2.47438364e-05 9.99997366e-01 -2.64307220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.501400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.43, Y:3.48, Z:-0.02 [[ 9.97635903e-01 -6.86692657e-02 2.67151114e-03 7.24286755e+01] [ 6.86689148e-02 9.97639479e-01 2.22983137e-04 3.48309816e+00] [-2.68051707e-03 -3.90062127e-05 9.99996407e-01 -2.47827167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.531400513 meters Centerline goodness [0,1] 0.9998488088295644 Centerline is valid? [True, True] Translation: X:72.46, Y:3.49, Z:-0.03 [[ 9.97882568e-01 -6.49919938e-02 2.53399846e-03 7.24570014e+01] [ 6.49916658e-02 9.97885784e-01 2.11644660e-04 3.49056325e+00] [-2.54239625e-03 -4.65077362e-05 9.99996767e-01 -2.57749461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.561400513 meters Centerline goodness [0,1] 0.9998716824568532 Centerline is valid? [True, True] Translation: X:72.49, Y:3.50, Z:-0.03 [[ 9.98074921e-01 -6.20019656e-02 1.48577820e-03 7.24860588e+01] [ 6.20018495e-02 9.98076027e-01 1.24123616e-04 3.49599340e+00] [-1.49061551e-03 -3.17636716e-05 9.99998889e-01 -2.72652776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.591400513 meters Centerline goodness [0,1] 0.9999783825850105 Centerline is valid? [True, True] Translation: X:72.51, Y:3.50, Z:-0.03 [[ 9.98318246e-01 -5.79684155e-02 -5.85750407e-04 7.25148911e+01] [ 5.79683967e-02 9.98318417e-01 -4.91089945e-05 3.50265743e+00] [ 5.87612190e-04 1.50713933e-05 9.99999827e-01 -3.11787193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.621400513 meters Centerline goodness [0,1] 0.9998272212863375 Centerline is valid? [True, True] Translation: X:72.54, Y:3.51, Z:-0.03 [[ 9.98397912e-01 -5.65793960e-02 -6.16973837e-04 7.25438259e+01] [ 5.65793746e-02 9.98398103e-01 -5.20940552e-05 3.50609038e+00] [ 6.18932959e-04 1.71026021e-05 9.99999808e-01 -3.24122249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.651400513 meters Centerline goodness [0,1] 0.9999134648667359 Centerline is valid? [True, True] Translation: X:72.57, Y:3.51, Z:-0.03 [[ 9.98466763e-01 -5.53473163e-02 -8.92861796e-04 7.25708332e+01] [ 5.53472713e-02 9.98467162e-01 -7.50537782e-05 3.51219446e+00] [ 8.95647209e-04 2.55212389e-05 9.99999599e-01 -3.31086360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.681400513 meters Centerline goodness [0,1] 0.9998704775062602 Centerline is valid? [True, True] Translation: X:72.60, Y:3.51, Z:-0.03 [[ 9.98534309e-01 -5.41017772e-02 -1.49409859e-03 7.25996693e+01] [ 5.41016493e-02 9.98535425e-01 -1.25933777e-04 3.51457087e+00] [ 1.49872361e-03 4.49159992e-05 9.99998876e-01 -3.37076991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.711400513 meters Centerline goodness [0,1] 0.9998268398268398 Centerline is valid? [True, True] Translation: X:72.63, Y:3.52, Z:-0.03 [[ 9.98615898e-01 -5.25504268e-02 -2.17727740e-03 7.26287974e+01] [ 5.25501510e-02 9.98618269e-01 -1.83718208e-04 3.51540666e+00] [ 2.18392346e-03 6.90476671e-05 9.99997613e-01 -3.45919520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.741400513 meters Centerline goodness [0,1] 0.9998269222448185 Centerline is valid? [True, True] Translation: X:72.66, Y:3.52, Z:-0.04 [[ 9.98826085e-01 -4.83416143e-02 -3.08859377e-03 7.26585789e+01] [ 4.83410407e-02 9.98830855e-01 -2.60134559e-04 3.51984757e+00] [ 3.09755807e-03 1.10523347e-04 9.99995196e-01 -3.55432250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.77140051299997 meters Centerline goodness [0,1] 0.9998481430059007 Centerline is valid? [True, True] Translation: X:72.69, Y:3.53, Z:-0.04 [[ 9.98934736e-01 -4.60375455e-02 -3.15254270e-03 7.26868231e+01] [ 4.60369359e-02 9.98939703e-01 -2.65687577e-04 3.52963193e+00] [ 3.16143167e-03 1.20271143e-04 9.99994995e-01 -3.58500444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.80140051299998 meters Centerline goodness [0,1] 0.9997639839509087 Centerline is valid? [True, True] Translation: X:72.72, Y:3.53, Z:-0.04 [[ 9.99055512e-01 -4.33481392e-02 -3.00386583e-03 7.27159424e+01] [ 4.33475734e-02 9.99060020e-01 -2.53262775e-04 3.53151417e+00] [ 3.01202073e-03 1.22813276e-04 9.99995456e-01 -3.58619917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.83140051299998 meters Centerline goodness [0,1] 0.9998264943176889 Centerline is valid? [True, True] Translation: X:72.75, Y:3.53, Z:-0.04 [[ 9.99173172e-01 -4.04595173e-02 -3.99985951e-03 7.27463607e+01] [ 4.04584913e-02 9.99181163e-01 -3.37131117e-04 3.53395622e+00] [ 4.01022444e-03 1.75024087e-04 9.99991944e-01 -3.63235532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.86140051299998 meters Centerline goodness [0,1] 0.9990493475066978 Centerline is valid? [True, True] Translation: X:72.77, Y:3.55, Z:-0.04 [[ 9.99295939e-01 -3.72231348e-02 -4.69719235e-03 7.27743695e+01] [ 3.72216837e-02 9.99306955e-01 -3.95995133e-04 3.54742664e+00] [ 4.70867716e-03 2.20878920e-04 9.99988890e-01 -3.87262768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.89140051299998 meters Centerline goodness [0,1] 0.9996756476235783 Centerline is valid? [True, True] Translation: X:72.81, Y:3.55, Z:-0.04 [[ 9.99483169e-01 -3.18897778e-02 -4.05437234e-03 7.28052441e+01] [ 3.18886531e-02 9.99491369e-01 -3.41772351e-04 3.54598687e+00] [ 4.06320921e-03 2.12307239e-04 9.99991723e-01 -3.51017374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.92140051299998 meters Centerline goodness [0,1] 0.9993967857296738 Centerline is valid? [True, True] Translation: X:72.83, Y:3.55, Z:-0.03 [[ 9.99537666e-01 -3.02531790e-02 -3.03313879e-03 7.28341333e+01] [ 3.02525412e-02 9.99542254e-01 -2.55962899e-04 3.55091992e+00] [ 3.03949408e-03 1.64084402e-04 9.99995367e-01 -3.36211690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.95140051299998 meters Centerline goodness [0,1] 0.9994596230330278 Centerline is valid? [True, True] Translation: X:72.86, Y:3.55, Z:-0.03 [[ 9.99565955e-01 -2.93954677e-02 -1.95154632e-03 7.28624459e+01] [ 2.93952007e-02 9.99567854e-01 -1.65316553e-04 3.55472677e+00] [ 1.95556253e-03 1.07878702e-04 9.99998082e-01 -3.31636840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.98140051299998 meters Centerline goodness [0,1] 0.9990855149826673 Centerline is valid? [True, True] Translation: X:72.89, Y:3.56, Z:-0.03 [[ 9.99576062e-01 -2.91013849e-02 -8.97838694e-04 7.28893605e+01] [ 2.91013282e-02 9.99576464e-01 -7.60687661e-05 3.56215331e+00] [ 8.99672133e-04 4.99082191e-05 9.99999594e-01 -3.23817057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.01140051299998 meters Centerline goodness [0,1] 0.9993120646659214 Centerline is valid? [True, True] Translation: X:72.92, Y:3.56, Z:-0.03 [[ 9.99569321e-01 -2.93359757e-02 -7.57557423e-04 7.29174158e+01] [ 2.93359351e-02 9.99569607e-01 -6.46421823e-05 3.55980337e+00] [ 7.59127716e-04 4.23906869e-05 9.99999711e-01 -3.14695631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.04140051299999 meters Centerline goodness [0,1] 0.9997183769849006 Centerline is valid? [True, True] Translation: X:72.95, Y:3.56, Z:-0.03 [[ 9.99557171e-01 -2.97413562e-02 -9.55944535e-04 7.29468590e+01] [ 2.97412917e-02 9.99557627e-01 -8.15691542e-05 3.55829907e+00] [ 9.57947628e-04 5.31020077e-05 9.99999540e-01 -2.95477594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.071400513 meters Centerline goodness [0,1] 0.9993761159993976 Centerline is valid? [True, True] Translation: X:72.97, Y:3.56, Z:-0.03 [[ 9.99556894e-01 -2.96626247e-02 -2.47870057e-03 7.29746201e+01] [ 2.96621929e-02 9.99559958e-01 -2.10792354e-04 3.56031443e+00] [ 2.48386249e-03 1.37175257e-04 9.99996906e-01 -3.22705681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.101400513 meters Centerline goodness [0,1] 0.9996527627067147 Centerline is valid? [True, True] Translation: X:73.00, Y:3.56, Z:-0.03 [[ 9.99554052e-01 -2.96428709e-02 -3.60521685e-03 7.30033489e+01] [ 2.96419545e-02 9.99560533e-01 -3.07388589e-04 3.55986847e+00] [ 3.61274436e-03 2.00385836e-04 9.99993454e-01 -3.40328140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.131400513 meters Centerline goodness [0,1] 0.9996527551706925 Centerline is valid? [True, True] Translation: X:73.03, Y:3.56, Z:-0.04 [[ 9.99558746e-01 -2.94693377e-02 -3.72438286e-03 7.30309273e+01] [ 2.94683586e-02 9.99565663e-01 -3.17508678e-04 3.56329580e+00] [ 3.73212199e-03 2.07617127e-04 9.99993014e-01 -3.50607153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.161400513 meters Centerline goodness [0,1] 0.9992064513361644 Centerline is valid? [True, True] Translation: X:73.06, Y:3.57, Z:-0.04 [[ 9.99576318e-01 -2.89384831e-02 -3.12239816e-03 7.30592700e+01] [ 2.89377898e-02 9.99581179e-01 -2.66975035e-04 3.56598794e+00] [ 3.12881629e-03 1.76506621e-04 9.99995090e-01 -3.59155543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.191400513 meters Centerline goodness [0,1] 0.997303947790735 Centerline is valid? [True, True] Translation: X:73.09, Y:3.58, Z:-0.03 [[ 9.99597227e-01 -2.82564133e-02 -2.63790605e-03 7.30865936e+01] [ 2.82559162e-02 9.99600696e-01 -2.25517276e-04 3.57668003e+00] [ 2.64322503e-03 1.50889992e-04 9.99996495e-01 -3.43291959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.221400513 meters Centerline goodness [0,1] 0.9925799208810008 Centerline is valid? [True, True] Translation: X:73.11, Y:3.58, Z:-0.03 [[ 9.99641526e-01 -2.66294356e-02 -2.77358522e-03 7.31148648e+01] [ 2.66288795e-02 9.99645360e-01 -2.37224767e-04 3.58103868e+00] [ 2.77891876e-03 1.63282261e-04 9.99996125e-01 -3.41219177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.251400513 meters Centerline goodness [0,1] 0.9920251069409514 Centerline is valid? [True, True] Translation: X:73.15, Y:3.58, Z:-0.04 [[ 9.99730595e-01 -2.27759158e-02 -4.47147802e-03 7.31457733e+01] [ 2.27744330e-02 9.99740556e-01 -3.82256541e-04 3.57793475e+00] [ 4.47902417e-03 2.80318183e-04 9.99989930e-01 -3.65415518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.281400513 meters Centerline goodness [0,1] 0.9561531841652323 Centerline is valid? [True, True] Translation: X:73.17, Y:3.59, Z:-0.04 [[ 9.99755462e-01 -2.17590832e-02 -3.94434479e-03 7.31735137e+01] [ 2.17579206e-02 9.99763211e-01 -3.37412602e-04 3.58783630e+00] [ 3.95075261e-03 2.51509351e-04 9.99992164e-01 -3.69990263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.311400513 meters Centerline goodness [0,1] 0.9976296168598888 Centerline is valid? [True, True] Translation: X:73.20, Y:3.59, Z:-0.03 [[ 9.99785035e-01 -2.06373870e-02 -1.99528504e-03 7.32035606e+01] [ 2.06370872e-02 9.99787018e-01 -1.70743695e-04 3.58527916e+00] [ 1.99838378e-03 1.29530120e-04 9.99997995e-01 -3.33476369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.341400513 meters Centerline goodness [0,1] 0.9985493642802287 Centerline is valid? [True, True] Translation: X:73.23, Y:3.59, Z:-0.03 [[ 9.99826526e-01 -1.86245530e-02 2.11738780e-04 7.32329814e+01] [ 1.86245496e-02 9.99826548e-01 1.80889305e-05 3.59062977e+00] [-2.12038952e-04 -1.41422532e-05 9.99999977e-01 -3.10293398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.371400513 meters Centerline goodness [0,1] 0.9699556015345489 Centerline is valid? [True, True] Translation: X:73.26, Y:3.61, Z:-0.03 [[ 9.99880459e-01 -1.54374394e-02 8.67348009e-04 7.32609563e+01] [ 1.54373808e-02 9.99880834e-01 7.41923778e-05 3.60559070e+00] [-8.68389991e-04 -6.07939273e-05 9.99999621e-01 -3.03106850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.401400513 meters Centerline goodness [0,1] 0.9560149072629572 Centerline is valid? [True, True] Translation: X:73.29, Y:3.61, Z:-0.03 [[ 9.99890369e-01 -1.48064790e-02 -1.36635250e-04 7.32898701e+01] [ 1.48064775e-02 9.99890378e-01 -1.18036982e-05 3.60873936e+00] [ 1.36795043e-04 9.77931741e-06 9.99999991e-01 -3.20416706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.431400513 meters Centerline goodness [0,1] 0.9133066695492379 Centerline is valid? [True, False] Translation: X:73.29, Y:3.61, Z:-0.03 [[ 9.99887582e-01 -1.49921397e-02 -2.44303023e-04 7.32904019e+01] [ 1.49920313e-02 9.99887516e-01 -4.39723495e-04 3.61070408e+00] [ 2.50867939e-04 4.36011463e-04 9.99999873e-01 -3.24791673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.461400513 meters Centerline goodness [0,1] 0.9748167516824553 Centerline is valid? [False, True] Translation: X:73.29, Y:3.61, Z:-0.03 [[ 9.99885244e-01 -1.51448275e-02 -3.64761537e-04 7.32910610e+01] [ 1.51445528e-02 9.99885038e-01 -7.44450820e-04 3.61205247e+00] [ 3.75994183e-04 7.38841240e-04 9.99999656e-01 -3.30478005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.491400513 meters Centerline goodness [0,1] 0.9918386734605752 Centerline is valid? [True, True] Translation: X:73.32, Y:3.61, Z:-0.03 [[ 9.99840396e-01 -1.78199390e-02 -1.27763823e-03 7.33223717e+01] [ 1.78198150e-02 9.99841209e-01 -1.08386013e-04 3.60880852e+00] [ 1.27936679e-03 8.56014368e-05 9.99999178e-01 -3.40348280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.52140051299997 meters Centerline goodness [0,1] 0.9391804270770294 Centerline is valid? [True, False] Translation: X:73.32, Y:3.61, Z:-0.03 [[ 9.99842455e-01 -1.77044221e-02 -1.27201673e-03 7.33221251e+01] [ 1.77046767e-02 9.99843242e-01 1.89186612e-04 3.60744291e+00] [ 1.26846789e-03 -2.11677451e-04 9.99999173e-01 -3.35982059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.55140051299998 meters Centerline goodness [0,1] 0.9549902987143132 Centerline is valid? [False, True] Translation: X:73.34, Y:3.62, Z:-0.04 [[ 9.99837900e-01 -1.74453316e-02 4.45350517e-03 7.33449200e+01] [ 1.74918497e-02 9.99790505e-01 -1.06292595e-02 3.61822135e+00] [-4.26714122e-03 1.07054365e-02 9.99933590e-01 -4.10296219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.58140051299998 meters Centerline goodness [0,1] 0.9966444405957742 Centerline is valid? [True, True] Translation: X:73.38, Y:3.60, Z:-0.04 [[ 9.99823469e-01 -1.85600789e-02 2.92493235e-03 7.33766816e+01] [ 1.85594584e-02 9.99827730e-01 2.39135116e-04 3.59991328e+00] [-2.92886684e-03 -1.84807740e-04 9.99995694e-01 -4.04051918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.61140051299998 meters Centerline goodness [0,1] 0.9961036724501657 Centerline is valid? [True, True] Translation: X:73.41, Y:3.60, Z:-0.04 [[ 9.99810660e-01 -1.92669242e-02 2.72565765e-03 7.34063831e+01] [ 1.92663870e-02 9.99814361e-01 2.23214214e-04 3.60227993e+00] [-2.72945231e-03 -1.70658375e-04 9.99996260e-01 -4.10956150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.64140051299998 meters Centerline goodness [0,1] 0.9906523855890944 Centerline is valid? [True, True] Translation: X:73.44, Y:3.61, Z:-0.04 [[ 9.99791893e-01 -2.01774059e-02 3.00715726e-03 7.34353783e+01] [ 2.01767560e-02 9.99796398e-01 2.46313061e-04 3.60629874e+00] [-3.01151495e-03 -1.85587123e-04 9.99995448e-01 -4.09980831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.67140051299998 meters Centerline goodness [0,1] 0.9983612213213732 Centerline is valid? [True, True] Translation: X:73.47, Y:3.60, Z:-0.04 [[ 9.99758660e-01 -2.15675302e-02 4.17891725e-03 7.34657374e+01] [ 2.15662870e-02 9.99767362e-01 3.42330541e-04 3.59846530e+00] [-4.18532830e-03 -2.52124194e-04 9.99991210e-01 -3.86976759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.70140051299998 meters Centerline goodness [0,1] 0.9954790881042167 Centerline is valid? [True, True] Translation: X:73.49, Y:3.61, Z:-0.04 [[ 9.99733003e-01 -2.24323664e-02 5.54185727e-03 7.34945990e+01] [ 2.24301917e-02 9.99748308e-01 4.54255287e-04 3.60543642e+00] [-5.55065245e-03 -3.29829081e-04 9.99984541e-01 -3.65880483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.73140051299998 meters Centerline goodness [0,1] 0.9984713759769199 Centerline is valid? [True, True] Translation: X:73.53, Y:3.60, Z:-0.04 [[ 9.99721038e-01 -2.28646275e-02 5.92073475e-03 7.35250925e+01] [ 2.28621535e-02 9.99738509e-01 4.85203095e-04 3.60231287e+00] [-5.93028051e-03 -3.49706995e-04 9.99982355e-01 -3.60230066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.76140051299998 meters Centerline goodness [0,1] 0.999172005055127 Centerline is valid? [True, True] Translation: X:73.56, Y:3.60, Z:-0.04 [[ 9.99717449e-01 -2.31462331e-02 5.41049729e-03 7.35558242e+01] [ 2.31441713e-02 9.99732039e-01 4.43389231e-04 3.59528653e+00] [-5.41931028e-03 -3.18042475e-04 9.99985265e-01 -3.75958973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.79140051299999 meters Centerline goodness [0,1] 0.9994206505879324 Centerline is valid? [True, True] Translation: X:73.59, Y:3.59, Z:-0.04 [[ 9.99718160e-01 -2.33159397e-02 4.46857522e-03 7.35863217e+01] [ 2.33145350e-02 9.99728112e-01 3.66198896e-04 3.59224154e+00] [-4.47589854e-03 -2.61912933e-04 9.99989949e-01 -3.82861586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.821400513 meters Centerline goodness [0,1] 0.9994600431965442 Centerline is valid? [True, True] Translation: X:73.62, Y:3.59, Z:-0.04 [[ 9.99711587e-01 -2.36371980e-02 4.24573449e-03 7.36174302e+01] [ 2.36359328e-02 9.99720572e-01 3.47937140e-04 3.59119461e+00] [-4.25277238e-03 -2.47484896e-04 9.99990926e-01 -3.81113098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.851400513 meters Centerline goodness [0,1] 0.9996336127933791 Centerline is valid? [True, True] Translation: X:73.65, Y:3.59, Z:-0.04 [[ 9.99710085e-01 -2.34648551e-02 5.39880818e-03 7.36475708e+01] [ 2.34628070e-02 9.99724613e-01 4.42401601e-04 3.58744904e+00] [-5.40770230e-03 -3.15602147e-04 9.99985328e-01 -3.70086607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.881400513 meters Centerline goodness [0,1] 0.9982502754196099 Centerline is valid? [True, True] Translation: X:73.68, Y:3.59, Z:-0.04 [[ 9.99720427e-01 -2.29832107e-02 5.55333916e-03 7.36768432e+01] [ 2.29810358e-02 9.99735798e-01 4.55132910e-04 3.59206099e+00] [-5.56233237e-03 -3.27384181e-04 9.99984477e-01 -3.78525510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.911400513 meters Centerline goodness [0,1] 0.9990903971932257 Centerline is valid? [True, True] Translation: X:73.71, Y:3.59, Z:-0.04 [[ 9.99736269e-01 -2.23857391e-02 5.12555628e-03 7.37075296e+01] [ 2.23838781e-02 9.99749361e-01 4.20158087e-04 3.58679332e+00] [-5.13367717e-03 -3.05317451e-04 9.99986776e-01 -3.86462255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.941400513 meters Centerline goodness [0,1] 0.999393309065696 Centerline is valid? [True, True] Translation: X:73.74, Y:3.58, Z:-0.04 [[ 9.99741994e-01 -2.23618405e-02 3.98676808e-03 7.37382147e+01] [ 2.23607145e-02 9.99749915e-01 3.26808011e-04 3.58371270e+00] [-3.99307908e-03 -2.37576709e-04 9.99991999e-01 -4.04598963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.971400513 meters Centerline goodness [0,1] 0.9971846006185348 Centerline is valid? [True, True] Translation: X:73.77, Y:3.59, Z:-0.04 [[ 9.99749342e-01 -2.22245493e-02 2.70586717e-03 7.37680770e+01] [ 2.22240303e-02 9.99752991e-01 2.21747466e-04 3.58535369e+00] [-2.71012703e-03 -1.61556610e-04 9.99996315e-01 -4.33793843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.001400513 meters Centerline goodness [0,1] 0.997745910437508 Centerline is valid? [True, True] Translation: X:73.80, Y:3.58, Z:-0.04 [[ 9.99736535e-01 -2.28593255e-02 2.07627676e-03 7.37972848e+01] [ 2.28590231e-02 9.99738684e-01 1.69277381e-04 3.58183071e+00] [-2.07960376e-03 -1.21771124e-04 9.99997830e-01 -4.49727863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.031400513 meters Centerline goodness [0,1] 0.9986411871279441 Centerline is valid? [True, True] Translation: X:73.83, Y:3.57, Z:-0.05 [[ 9.99710211e-01 -2.40004960e-02 1.86304985e-03 7.38273437e+01] [ 2.40002529e-02 9.99711941e-01 1.52757754e-04 3.57083943e+00] [-1.86617944e-03 -1.07999819e-04 9.99998253e-01 -4.61904491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.061400513 meters Centerline goodness [0,1] 0.9900540169767641 Centerline is valid? [True, True] Translation: X:73.85, Y:3.58, Z:-0.05 [[ 9.99699792e-01 -2.44399011e-02 1.73715272e-03 7.38544527e+01] [ 2.44396904e-02 9.99701296e-01 1.42421552e-04 3.57565260e+00] [-1.74011460e-03 -9.99233214e-05 9.99998481e-01 -4.71293309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.091400513 meters Centerline goodness [0,1] 0.9972620599739244 Centerline is valid? [True, True] Translation: X:73.88, Y:3.57, Z:-0.05 [[ 9.99704059e-01 -2.43037231e-02 1.05969557e-03 7.38839722e+01] [ 2.43036455e-02 9.99704619e-01 8.60456750e-05 3.56567727e+00] [-1.06147378e-03 -6.02657452e-05 9.99999435e-01 -4.71391831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.121400513 meters Centerline goodness [0,1] 0.9903400392435906 Centerline is valid? [True, True] Translation: X:73.91, Y:3.57, Z:-0.05 [[ 9.99717343e-01 -2.36967343e-02 1.92315852e-03 7.39114053e+01] [ 2.36964738e-02 9.99719187e-01 1.58148810e-04 3.56924686e+00] [-1.92636609e-03 -1.12532032e-04 9.99998138e-01 -4.63791430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.151400513 meters Centerline goodness [0,1] 0.9988364325885065 Centerline is valid? [True, True] Translation: X:73.94, Y:3.56, Z:-0.05 [[ 9.99762777e-01 -2.16265850e-02 2.58452346e-03 7.39426332e+01] [ 2.16261060e-02 9.99766106e-01 2.13152602e-04 3.56312301e+00] [-2.58852872e-03 -1.57208860e-04 9.99996637e-01 -4.50401888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.181400513 meters Centerline goodness [0,1] 0.8717155775464938 Centerline is valid? [True, False] Translation: X:73.94, Y:3.56, Z:-0.05 [[ 9.99765844e-01 -2.14744071e-02 2.66580430e-03 7.39424150e+01] [ 2.14735740e-02 9.99769358e-01 3.40733875e-04 3.56264438e+00] [-2.67250651e-03 -2.83409744e-04 9.99996389e-01 -4.51623987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.211400513 meters Centerline goodness [0,1] 0.9848704887829197 Centerline is valid? [False, True] Translation: X:73.91, Y:3.56, Z:-0.05 [[ 9.99868254e-01 -1.52374575e-02 5.59412111e-03 7.39133682e+01] [ 1.52678696e-02 9.99868670e-01 -5.43457998e-03 3.56082349e+00] [-5.51057725e-03 5.51927431e-03 9.99969585e-01 -5.04761457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.241400513 meters Centerline goodness [0,1] 0.9091317173271771 Centerline is valid? [True, False] Translation: X:73.91, Y:3.56, Z:-0.05 [[ 9.99871319e-01 -1.50479770e-02 5.55918047e-03 7.39133820e+01] [ 1.50774291e-02 9.99872311e-01 -5.29455645e-03 3.56032895e+00] [-5.47879827e-03 5.37769329e-03 9.99970531e-01 -5.03349273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.27140051299997 meters Centerline goodness [0,1] 0.9446328168590926 Centerline is valid? [False, False] Translation: X:73.91, Y:3.55, Z:-0.05 [[ 9.99935132e-01 -1.01181739e-02 5.23014657e-03 7.39138208e+01] [ 1.01152023e-02 9.99948663e-01 5.94301327e-04 3.55304699e+00] [-5.23589131e-03 -5.41358785e-04 9.99986146e-01 -4.93030183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.30140051299998 meters Centerline goodness [0,1] 0.790438433829955 Centerline is valid? [False, False] Translation: X:73.91, Y:3.55, Z:-0.05 [[ 9.99934510e-01 -1.01418926e-02 5.30256752e-03 7.39136820e+01] [ 1.01408776e-02 9.99948556e-01 2.18263970e-04 3.55497488e+00] [-5.30450834e-03 -1.64476988e-04 9.99985917e-01 -4.95793751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.33140051299998 meters Centerline goodness [0,1] 0.673732974680842 Centerline is valid? [False, False] Translation: X:73.91, Y:3.55, Z:-0.05 [[ 9.99969527e-01 -5.50584758e-03 5.53457627e-03 7.39120541e+01] [ 5.47711933e-03 9.99971519e-01 5.19250956e-03 3.55223843e+00] [-5.56300780e-03 -5.16203779e-03 9.99971203e-01 -4.80641206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.36140051299998 meters Centerline goodness [0,1] 0.673732974680842 Centerline is valid? [False, False] Translation: X:73.91, Y:3.55, Z:-0.05 [[ 9.99969527e-01 -5.50584758e-03 5.53457627e-03 7.39120541e+01] [ 5.47711933e-03 9.99971519e-01 5.19250956e-03 3.55223843e+00] [-5.56300780e-03 -5.16203779e-03 9.99971203e-01 -4.80641206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.39140051299998 meters Centerline goodness [0,1] 0.5662012416043393 Centerline is valid? [False, False] Translation: X:73.91, Y:3.55, Z:-0.05 [[ 9.99967895e-01 -5.47830336e-03 5.84787069e-03 7.39108157e+01] [ 5.45000104e-03 9.99973412e-01 4.84477864e-03 3.55420744e+00] [-5.87425637e-03 -4.81275220e-03 9.99971165e-01 -4.77383042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.42140051299998 meters Centerline goodness [0,1] 0.5465053705577201 Centerline is valid? [False, False] Translation: X:73.89, Y:3.56, Z:-0.05 [[ 9.99989424e-01 -2.51719207e-03 3.84913787e-03 7.38875368e+01] [ 2.52932889e-03 9.99991835e-01 -3.15151805e-03 3.55743941e+00] [-3.84117347e-03 3.16122046e-03 9.99987626e-01 -4.57316452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.45140051299998 meters Centerline goodness [0,1] 0.4817679321278602 Centerline is valid? [False, False] Translation: X:73.89, Y:3.56, Z:-0.05 [[ 9.99995590e-01 1.88308415e-04 2.96372400e-03 7.38940247e+01] [-1.87135308e-04 9.99999904e-01 -3.96094092e-04 3.55712695e+00] [-2.96379831e-03 3.95537728e-04 9.99995530e-01 -4.99843956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.48140051299998 meters Centerline goodness [0,1] 0.5171886442941456 Centerline is valid? [False, False] Translation: X:73.90, Y:3.56, Z:-0.05 [[ 9.99996178e-01 6.34229633e-06 2.76481886e-03 7.38956279e+01] [-2.94061949e-06 9.99999243e-01 -1.23034581e-03 3.56096353e+00] [-2.76482457e-03 1.23033297e-03 9.99995421e-01 -5.21419447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.51140051299998 meters Centerline goodness [0,1] 0.3666230619116039 Centerline is valid? [False, False] Translation: X:73.90, Y:3.56, Z:-0.05 [[ 9.99996496e-01 -7.55616837e-06 2.64721009e-03 7.38963799e+01] [ 1.09211549e-05 9.99999192e-01 -1.27113235e-03 3.56105175e+00] [-2.64719835e-03 1.27115681e-03 9.99995688e-01 -5.29126387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.54140051299999 meters Centerline goodness [0,1] 0.43658578190967634 Centerline is valid? [False, False] Translation: X:73.90, Y:3.56, Z:-0.05 [[ 9.99996764e-01 5.32183841e-05 2.54356346e-03 7.38967993e+01] [-5.03816957e-05 9.99999377e-01 -1.11529289e-03 3.56025910e+00] [-2.54362122e-03 1.11516113e-03 9.99996143e-01 -5.30496771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.571400513 meters Centerline goodness [0,1] 0.5544620409566581 Centerline is valid? [False, False] Translation: X:73.90, Y:3.56, Z:-0.05 [[ 9.99996848e-01 1.31770317e-04 2.50750370e-03 7.38968025e+01] [-1.29438519e-04 9.99999559e-01 -9.30067421e-04 3.55941574e+00] [-2.50762515e-03 9.29739921e-04 9.99996424e-01 -5.28276935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.601400513 meters Centerline goodness [0,1] 0.4586485392204914 Centerline is valid? [False, False] Translation: X:73.90, Y:3.56, Z:-0.05 [[ 9.99996958e-01 2.29982731e-04 2.45584374e-03 7.38967444e+01] [-2.28362639e-04 9.99999756e-01 -6.59948371e-04 3.55816588e+00] [-2.45599491e-03 6.59385540e-04 9.99996767e-01 -5.23795825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.631400513 meters Centerline goodness [0,1] 0.4350397062590726 Centerline is valid? [False, False] Translation: X:73.90, Y:3.56, Z:-0.05 [[ 9.99997098e-01 3.41620297e-04 2.38489336e-03 7.38966669e+01] [-3.40716167e-04 9.99999870e-01 -3.79503086e-04 3.55691390e+00] [-2.38502269e-03 3.78689413e-04 9.99997084e-01 -5.17721968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.661400513 meters Centerline goodness [0,1] 0.5460529136829467 Centerline is valid? [False, False] Translation: X:73.90, Y:3.55, Z:-0.05 [[ 9.99996718e-01 6.34535255e-04 2.48234798e-03 7.38958471e+01] [-6.35512648e-04 9.99999721e-01 3.92968331e-04 3.55338675e+00] [-2.48209794e-03 -3.94544604e-04 9.99996842e-01 -5.07563171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.691400513 meters Centerline goodness [0,1] 0.7714668279198341 Centerline is valid? [False, False] Translation: X:73.89, Y:3.55, Z:-0.05 [[ 9.99992082e-01 -1.87885412e-03 3.50798491e-03 7.38889722e+01] [ 1.88634271e-03 9.99995947e-01 -2.13264066e-03 3.55345931e+00] [-3.50396377e-03 2.13924103e-03 9.99991573e-01 -4.67270656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.721400513 meters Centerline goodness [0,1] 0.5548741261740361 Centerline is valid? [False, False] Translation: X:73.89, Y:3.55, Z:-0.05 [[ 9.99992801e-01 -1.62869140e-03 3.42721314e-03 7.38889048e+01] [ 1.63333987e-03 9.99997749e-01 -1.35398114e-03 3.54973883e+00] [-3.42500021e-03 1.35956920e-03 9.99993210e-01 -4.60342301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.751400513 meters Centerline goodness [0,1] 0.568684182533773 Centerline is valid? [False, False] Translation: X:73.89, Y:3.55, Z:-0.05 [[ 9.99993722e-01 -1.40894530e-03 3.25133735e-03 7.38892032e+01] [ 1.41115099e-03 9.99998776e-01 -6.76198766e-04 3.54649045e+00] [-3.25038064e-03 6.80782648e-04 9.99994486e-01 -4.54314854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.781400513 meters Centerline goodness [0,1] 0.6621954616554886 Centerline is valid? [False, False] Translation: X:73.89, Y:3.54, Z:-0.05 [[ 9.99994710e-01 -1.21962536e-03 3.01550160e-03 7.38899352e+01] [ 1.22014175e-03 9.99999241e-01 -1.69410542e-04 3.54405275e+00] [-3.01529269e-03 1.73088986e-04 9.99995439e-01 -4.52997626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.811400513 meters Centerline goodness [0,1] 0.6509180760874196 Centerline is valid? [False, False] Translation: X:73.89, Y:3.54, Z:-0.05 [[ 9.99995655e-01 -1.14098259e-03 2.71816086e-03 7.38912045e+01] [ 1.14079040e-03 9.99999347e-01 7.22564225e-05 3.54275426e+00] [-2.71824153e-03 -6.91552567e-05 9.99996303e-01 -4.58578447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.841400513 meters Centerline goodness [0,1] 0.6809729406232634 Centerline is valid? [False, False] Translation: X:73.89, Y:3.54, Z:-0.05 [[ 9.99996243e-01 -1.15706063e-03 2.48495876e-03 7.38925026e+01] [ 1.15692958e-03 9.99999329e-01 5.41765350e-05 3.54266724e+00] [-2.48501978e-03 -5.13014092e-05 9.99996911e-01 -4.68828807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.871400513 meters Centerline goodness [0,1] 0.7326424428522689 Centerline is valid? [False, False] Translation: X:73.89, Y:3.54, Z:-0.05 [[ 9.99995965e-01 -1.22380510e-03 2.56365156e-03 7.38921059e+01] [ 1.22408552e-03 9.99999245e-01 -1.07815668e-04 3.54348524e+00] [-2.56351768e-03 1.10953361e-04 9.99996708e-01 -4.66503644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.901400513 meters Centerline goodness [0,1] 0.8209486421776925 Centerline is valid? [False, False] Translation: X:73.89, Y:3.55, Z:-0.05 [[ 9.99977781e-01 -5.70602872e-03 3.44656261e-03 7.38895649e+01] [ 5.72627853e-03 9.99966233e-01 -5.89435270e-03 3.55121202e+00] [-3.41281289e-03 5.91395771e-03 9.99976689e-01 -4.73594311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.931400513 meters Centerline goodness [0,1] 0.47227780287871945 Centerline is valid? [False, False] Translation: X:73.89, Y:3.55, Z:-0.05 [[ 9.99994452e-01 -1.75594761e-03 2.83075283e-03 7.38911618e+01] [ 1.75825895e-03 9.99998123e-01 -8.14229505e-04 3.54643614e+00] [-2.82931778e-03 8.19202184e-04 9.99995662e-01 -4.63485188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.961400513 meters Centerline goodness [0,1] 0.5531361854440089 Centerline is valid? [False, False] Translation: X:73.89, Y:3.55, Z:-0.05 [[ 9.99994526e-01 -1.82194485e-03 2.76194527e-03 7.38912498e+01] [ 1.82422111e-03 9.99997998e-01 -8.21854608e-04 3.54639626e+00] [-2.76044236e-03 8.26888508e-04 9.99995848e-01 -4.60703722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.991400513 meters Centerline goodness [0,1] 0.5287453679195342 Centerline is valid? [False, False] Translation: X:73.89, Y:3.54, Z:-0.05 [[ 9.99995086e-01 -1.79923947e-03 2.56743187e-03 7.38916322e+01] [ 1.80063696e-03 9.99998232e-01 -5.42105865e-04 3.54496667e+00] [-2.56645196e-03 5.46726214e-04 9.99996557e-01 -4.55805533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.02140051299997 meters Centerline goodness [0,1] 0.8625010691985288 Centerline is valid? [False, False] Translation: X:73.89, Y:3.55, Z:-0.05 [[ 9.99975053e-01 -6.50531804e-03 2.75218881e-03 7.38909979e+01] [ 6.52097997e-03 9.99962375e-01 -5.72054047e-03 3.54899063e+00] [-2.71487133e-03 5.73834473e-03 9.99979850e-01 -4.55155960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.05140051299998 meters Centerline goodness [0,1] 0.9154384751696417 Centerline is valid? [False, False] Translation: X:73.89, Y:3.55, Z:-0.04 [[ 9.99974807e-01 -6.56499096e-03 2.69942425e-03 7.38907993e+01] [ 6.57999396e-03 9.99962744e-01 -5.58705055e-03 3.54830940e+00] [-2.66264474e-03 5.60467199e-03 9.99980749e-01 -4.47644199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.08140051299998 meters Centerline goodness [0,1] 0.976835711077364 Centerline is valid? [False, True] Translation: X:73.89, Y:3.55, Z:-0.04 [[ 9.99973726e-01 -6.77679714e-03 2.57345677e-03 7.38909473e+01] [ 6.79123788e-03 9.99961007e-01 -5.64476293e-03 3.54837268e+00] [-2.53510301e-03 5.66209158e-03 9.99980757e-01 -4.42139115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.11140051299998 meters Centerline goodness [0,1] 0.9524466617131939 Centerline is valid? [True, True] Translation: X:73.92, Y:3.55, Z:-0.04 [[ 9.99950729e-01 -9.53461452e-03 2.76244408e-03 7.39207355e+01] [ 9.53408520e-03 9.99954529e-01 2.04716410e-04 3.55130209e+00] [-2.76427036e-03 -1.78368946e-04 9.99996163e-01 -4.25509103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.14140051299998 meters Centerline goodness [0,1] 0.9949113207145442 Centerline is valid? [True, True] Translation: X:73.95, Y:3.55, Z:-0.04 [[ 9.99931235e-01 -1.13386757e-02 2.99325282e-03 7.39521671e+01] [ 1.13380620e-02 9.99935697e-01 2.21898543e-04 3.54589026e+00] [-2.99557639e-03 -1.87945598e-04 9.99995496e-01 -4.21037814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.17140051299998 meters Centerline goodness [0,1] 0.9946511478636685 Centerline is valid? [True, True] Translation: X:73.98, Y:3.55, Z:-0.04 [[ 9.99904323e-01 -1.35132577e-02 2.95573563e-03 7.39816042e+01] [ 1.35126690e-02 9.99908676e-01 2.19062358e-04 3.54858468e+00] [-2.95842595e-03 -1.79101522e-04 9.99995608e-01 -4.25406917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.20140051299998 meters Centerline goodness [0,1] 0.9992932862190813 Centerline is valid? [True, True] Translation: X:74.01, Y:3.54, Z:-0.04 [[ 9.99899976e-01 -1.37817544e-02 3.17837944e-03 7.40116368e+01] [ 1.37810751e-02 9.99905009e-01 2.35521993e-04 3.54474028e+00] [-3.18132343e-03 -1.91696949e-04 9.99994921e-01 -4.23223992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.23140051299998 meters Centerline goodness [0,1] 0.9985429612170559 Centerline is valid? [True, True] Translation: X:74.04, Y:3.55, Z:-0.04 [[ 9.99903827e-01 -1.34336283e-02 3.44592937e-03 7.40403131e+01] [ 1.34328274e-02 9.99909743e-01 2.55455105e-04 3.55285205e+00] [-3.44905004e-03 -2.09141962e-04 9.99994030e-01 -4.24572252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.26140051299998 meters Centerline goodness [0,1] 0.9978697569392667 Centerline is valid? [True, True] Translation: X:74.07, Y:3.56, Z:-0.04 [[ 9.99915956e-01 -1.24946421e-02 3.45911094e-03 7.40700774e+01] [ 1.24938294e-02 9.99921916e-01 2.56472702e-04 3.55526217e+00] [-3.46204538e-03 -2.13233605e-04 9.99993984e-01 -4.28315637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.29140051299999 meters Centerline goodness [0,1] 0.9397510621490638 Centerline is valid? [True, False] Translation: X:74.07, Y:3.55, Z:-0.04 [[ 9.99964998e-01 -7.78024976e-03 3.07745902e-03 7.40707715e+01] [ 7.76165104e-03 9.99951817e-01 6.00999917e-03 3.54833970e+00] [-3.12407004e-03 -5.98590264e-03 9.99977204e-01 -4.18662201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.321400513 meters Centerline goodness [0,1] 0.9893089291823469 Centerline is valid? [False, True] Translation: X:74.07, Y:3.55, Z:-0.04 [[ 9.99927942e-01 -1.14516618e-02 3.60153082e-03 7.40692927e+01] [ 1.14489820e-02 9.99934167e-01 7.63824455e-04 3.55488496e+00] [-3.61004078e-03 -7.22535554e-04 9.99993223e-01 -4.28249758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.351400513 meters Centerline goodness [0,1] 0.9661622575715177 Centerline is valid? [True, True] Translation: X:74.10, Y:3.56, Z:-0.05 [[ 9.99966347e-01 -7.82912778e-03 2.45140712e-03 7.40988356e+01] [ 7.82869180e-03 9.99969338e-01 1.87395221e-04 3.56394226e+00] [-2.45279910e-03 -1.68197604e-04 9.99996978e-01 -4.60922609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.381400513 meters Centerline goodness [0,1] 0.9257004437394156 Centerline is valid? [True, False] Translation: X:74.11, Y:3.56, Z:-0.05 [[ 9.99983981e-01 -5.46832715e-03 1.46100320e-03 7.41059172e+01] [ 5.46458176e-03 9.99981804e-01 2.55538762e-03 3.56378135e+00] [-1.47495031e-03 -2.54736291e-03 9.99995668e-01 -5.07632505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.411400513 meters Centerline goodness [0,1] 0.9491042172007319 Centerline is valid? [False, False] Translation: X:74.11, Y:3.57, Z:-0.05 [[ 9.99983192e-01 -5.59516452e-03 1.51972978e-03 7.41057859e+01] [ 5.59190763e-03 9.99982078e-01 2.13893274e-03 3.56579658e+00] [-1.53167022e-03 -2.13039860e-03 9.99996558e-01 -5.09529681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.441400513 meters Centerline goodness [0,1] 0.9307401588177842 Centerline is valid? [False, False] Translation: X:74.11, Y:3.56, Z:-0.05 [[ 9.99983925e-01 -5.45189096e-03 1.55753970e-03 7.41053484e+01] [ 5.44804040e-03 9.99982119e-01 2.46584425e-03 3.56432855e+00] [-1.57095536e-03 -2.45731907e-03 9.99995747e-01 -5.03526551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.471400513 meters Centerline goodness [0,1] 0.9499647789612995 Centerline is valid? [False, False] Translation: X:74.11, Y:3.56, Z:-0.05 [[ 9.99985234e-01 -5.23021925e-03 1.47521908e-03 7.41055723e+01] [ 5.22573566e-03 9.99981765e-01 3.02692799e-03 3.56165286e+00] [-1.49102368e-03 -3.01917419e-03 9.99994331e-01 -5.02449135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.501400513 meters Centerline goodness [0,1] 0.9219546530725423 Centerline is valid? [False, False] Translation: X:74.11, Y:3.56, Z:-0.05 [[ 9.99986520e-01 -5.06302157e-03 1.15171858e-03 7.41067622e+01] [ 5.05883188e-03 9.99980680e-01 3.61205865e-03 3.55869384e+00] [-1.16998426e-03 -3.60618360e-03 9.99992813e-01 -5.05060774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.531400513 meters Centerline goodness [0,1] 0.9275050121571471 Centerline is valid? [False, False] Translation: X:74.11, Y:3.56, Z:-0.05 [[ 9.99987831e-01 -4.86458533e-03 8.20345077e-04 7.41080408e+01] [ 4.86106042e-03 9.99979173e-01 4.24546642e-03 3.55551434e+00] [-8.40980425e-04 -4.24142701e-03 9.99990651e-01 -5.08562588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.561400513 meters Centerline goodness [0,1] 0.9436373333333333 Centerline is valid? [False, False] Translation: X:74.11, Y:3.55, Z:-0.05 [[ 9.99989260e-01 -4.59522428e-03 6.03809411e-04 7.41086714e+01] [ 4.59217102e-03 9.99977134e-01 4.96431654e-03 3.55205549e+00] [-6.26607752e-04 -4.96149043e-03 9.99987495e-01 -5.06497182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.591400513 meters Centerline goodness [0,1] 0.8463319807091716 Centerline is valid? [False, False] Translation: X:74.11, Y:3.55, Z:-0.05 [[ 9.99981450e-01 -6.08821128e-03 -1.80228636e-04 7.41149253e+01] [ 6.08882021e-03 9.99974995e-01 3.59665640e-03 3.54895523e+00] [ 1.58326926e-04 -3.59768706e-03 9.99993516e-01 -5.47185618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.621400513 meters Centerline goodness [0,1] 0.9379683507611707 Centerline is valid? [False, False] Translation: X:74.11, Y:3.55, Z:-0.05 [[ 9.99982489e-01 -5.91698840e-03 -1.02868066e-04 7.41145158e+01] [ 5.91734970e-03 9.99974636e-01 3.96389694e-03 3.54728207e+00] [ 7.94111244e-05 -3.96443624e-03 9.99992138e-01 -5.44133244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.651400513 meters Centerline goodness [0,1] 0.8786916481422674 Centerline is valid? [False, False] Translation: X:74.14, Y:3.56, Z:-0.06 [[ 9.99972544e-01 -4.81635613e-03 5.63152890e-03 7.41375768e+01] [ 4.85193712e-03 9.99968247e-01 -6.32167699e-03 3.55727717e+00] [-5.60090263e-03 6.34882725e-03 9.99964160e-01 -6.25548652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.681400513 meters Centerline goodness [0,1] 0.9475525967652456 Centerline is valid? [False, False] Translation: X:74.14, Y:3.56, Z:-0.06 [[ 9.99972032e-01 -4.80366095e-03 5.73242623e-03 7.41372013e+01] [ 4.84008653e-03 9.99968078e-01 -6.35743942e-03 3.55751560e+00] [-5.70170426e-03 6.38500705e-03 9.99963360e-01 -6.24809599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.711400513 meters Centerline goodness [0,1] 0.879500883674382 Centerline is valid? [False, False] Translation: X:74.14, Y:3.55, Z:-0.06 [[ 9.99984730e-01 1.58037418e-04 5.52399240e-03 7.41373888e+01] [-1.55440829e-04 9.99999877e-01 -4.70482716e-04 3.55021962e+00] [-5.52406608e-03 4.69616878e-04 9.99984632e-01 -6.15126885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.741400513 meters Centerline goodness [0,1] 0.7902785709753157 Centerline is valid? [False, False] Translation: X:74.14, Y:3.55, Z:-0.06 [[ 9.99985063e-01 2.05320664e-04 5.46189910e-03 7.41376635e+01] [-2.02846798e-04 9.99999877e-01 -4.53481626e-04 3.55016257e+00] [-5.46199154e-03 4.52366923e-04 9.99984981e-01 -6.16505302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.77140051299997 meters Centerline goodness [0,1] 0.8549334127558184 Centerline is valid? [False, False] Translation: X:74.14, Y:3.55, Z:-0.06 [[ 9.99984956e-01 2.54373790e-04 5.47925764e-03 7.41375491e+01] [-2.52211829e-04 9.99999890e-01 -3.95259159e-04 3.54995300e+00] [-5.47935758e-03 3.93871279e-04 9.99984911e-01 -6.15426108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.80140051299998 meters Centerline goodness [0,1] 0.7770214214299389 Centerline is valid? [False, False] Translation: X:74.14, Y:3.55, Z:-0.06 [[ 9.99984734e-01 3.20797504e-04 5.51614706e-03 7.41372537e+01] [-3.19253252e-04 9.99999910e-01 -2.80829541e-04 3.54946995e+00] [-5.51623665e-03 2.79064206e-04 9.99984747e-01 -6.12103697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.83140051299998 meters Centerline goodness [0,1] 0.7652503244749889 Centerline is valid? [False, False] Translation: X:74.14, Y:3.55, Z:-0.06 [[ 9.99984347e-01 4.47132823e-04 5.57733424e-03 7.41368344e+01] [-4.47048631e-04 9.99999900e-01 -1.63420262e-05 3.54829488e+00] [-5.57734099e-03 1.38484307e-05 9.99984446e-01 -6.07795590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.86140051299998 meters Centerline goodness [0,1] 0.6079310125103545 Centerline is valid? [False, False] Translation: X:74.14, Y:3.55, Z:-0.06 [[ 9.99982934e-01 7.30734598e-04 5.79638071e-03 7.41355516e+01] [-7.33972904e-04 9.99999576e-01 5.56569597e-04 3.54578878e+00] [-5.79597155e-03 -5.60814485e-04 9.99983046e-01 -5.97120210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.89140051299998 meters Centerline goodness [0,1] 0.8680688336520077 Centerline is valid? [False, False] Translation: X:74.14, Y:3.55, Z:-0.06 [[ 9.99982832e-01 6.83556568e-04 5.81960979e-03 7.41354067e+01] [-6.86104634e-04 9.99999670e-01 4.35856271e-04 3.54637239e+00] [-5.81930994e-03 -4.39841650e-04 9.99982971e-01 -5.95837071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.92140051299998 meters Centerline goodness [0,1] 0.8376378255027832 Centerline is valid? [False, False] Translation: X:74.14, Y:3.55, Z:-0.06 [[ 9.99983068e-01 5.56055031e-04 5.79257753e-03 7.41356559e+01] [-5.56733238e-04 9.99999838e-01 1.15470247e-04 3.54786310e+00] [-5.79251238e-03 -1.18693212e-04 9.99983216e-01 -5.98980502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.95140051299998 meters Centerline goodness [0,1] 0.8298867763298441 Centerline is valid? [False, False] Translation: X:74.14, Y:3.55, Z:-0.06 [[ 9.99983469e-01 4.05155258e-04 5.73567050e-03 7.41361248e+01] [-4.03619938e-04 9.99999882e-01 -2.68834334e-04 3.54961016e+00] [-5.73577874e-03 2.66514859e-04 9.99983515e-01 -6.04577940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.98140051299998 meters Centerline goodness [0,1] 0.7204137250273599 Centerline is valid? [False, False] Translation: X:74.14, Y:3.55, Z:-0.06 [[ 9.99983536e-01 2.37662077e-04 5.73338786e-03 7.41363068e+01] [-2.33655114e-04 9.99999728e-01 -6.99542059e-04 3.55162896e+00] [-5.73355256e-03 6.98190906e-04 9.99983319e-01 -6.08280865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.01140051299998 meters Centerline goodness [0,1] 0.40803918257051175 Centerline is valid? [False, False] Translation: X:74.18, Y:3.56, Z:-0.06 [[ 9.99963349e-01 1.56710785e-03 8.41696378e-03 7.41777570e+01] [-1.54136972e-03 9.99994120e-01 -3.06350553e-03 3.55868727e+00] [-8.42171513e-03 3.05041959e-03 9.99959884e-01 -6.33330967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.04140051299999 meters Centerline goodness [0,1] 0.568933726130174 Centerline is valid? [False, False] Translation: X:74.18, Y:3.56, Z:-0.06 [[ 9.99961534e-01 1.21042984e-03 8.68712451e-03 7.41767970e+01] [-1.17593691e-03 9.99991410e-01 -3.97459125e-03 3.56309729e+00] [-8.69186085e-03 3.96422285e-03 9.99954367e-01 -6.32644419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.071400513 meters Centerline goodness [0,1] 0.5374867556685738 Centerline is valid? [False, False] Translation: X:74.18, Y:3.56, Z:-0.06 [[ 9.99961268e-01 1.10343076e-03 8.73185646e-03 7.41764794e+01] [-1.06660487e-03 9.99990523e-01 -4.22095127e-03 3.56431345e+00] [-8.73643123e-03 4.21147434e-03 9.99952968e-01 -6.29569129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.101400513 meters Centerline goodness [0,1] 0.6948654632152589 Centerline is valid? [False, False] Translation: X:74.18, Y:3.57, Z:-0.06 [[ 9.99960899e-01 9.95316423e-04 8.78694652e-03 7.41761285e+01] [-9.55973854e-04 9.99989506e-01 -4.48045333e-03 3.56559893e+00] [-8.79131378e-03 4.47187805e-03 9.99951356e-01 -6.26435177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.131400513 meters Centerline goodness [0,1] 0.5863149146546764 Centerline is valid? [False, False] Translation: X:74.18, Y:3.57, Z:-0.06 [[ 9.99960763e-01 8.79394088e-04 8.81475683e-03 7.41758433e+01] [-8.37535176e-04 9.99988362e-01 -4.75129834e-03 3.56693764e+00] [-8.81883251e-03 4.74372925e-03 9.99949861e-01 -6.22854703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.161400513 meters Centerline goodness [0,1] 0.7689152817533217 Centerline is valid? [False, False] Translation: X:74.18, Y:3.57, Z:-0.06 [[ 9.99960396e-01 7.67116103e-04 8.86670146e-03 7.41755079e+01] [-7.22746488e-04 9.99987208e-01 -5.00619376e-03 3.56817534e+00] [-8.87042837e-03 4.99958712e-03 9.99948158e-01 -6.19953193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.191400513 meters Centerline goodness [0,1] 0.7581731279872543 Centerline is valid? [False, False] Translation: X:74.18, Y:3.57, Z:-0.06 [[ 9.99960715e-01 7.65022049e-04 8.83075357e-03 7.41754344e+01] [-7.21257775e-04 9.99987449e-01 -4.95801477e-03 3.56797648e+00] [-8.83443573e-03 4.95145074e-03 9.99948717e-01 -6.16508346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.221400513 meters Centerline goodness [0,1] 0.9446760778005884 Centerline is valid? [False, False] Translation: X:74.18, Y:3.57, Z:-0.06 [[ 9.99965828e-01 9.48870639e-05 8.26640965e-03 7.41771538e+01] [-5.62065515e-05 9.99989050e-01 -4.67934639e-03 3.56512837e+00] [-8.26676314e-03 4.67872186e-03 9.99954884e-01 -6.10772988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.251400513 meters Centerline goodness [0,1] 0.9693838661867458 Centerline is valid? [False, True] Translation: X:74.18, Y:3.56, Z:-0.06 [[ 9.99969176e-01 1.72977420e-04 7.84968166e-03 7.41781382e+01] [-1.43210117e-04 9.99992798e-01 -3.79257057e-03 3.56056300e+00] [-7.85028115e-03 3.79132952e-03 9.99961999e-01 -6.03127958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.281400513 meters Centerline goodness [0,1] 0.9693838661867458 Centerline is valid? [True, True] Translation: X:74.21, Y:3.56, Z:-0.06 [[ 9.99971492e-01 2.09844149e-04 7.54796766e-03 7.42109096e+01] [-2.13829716e-04 9.99999838e-01 5.27228689e-04 3.55892297e+00] [-7.54785580e-03 -5.28827639e-04 9.99971375e-01 -5.95924061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.311400513 meters Centerline goodness [0,1] 0.9897933361450865 Centerline is valid? [True, True] Translation: X:74.24, Y:3.55, Z:-0.06 [[ 9.99967244e-01 -3.96172101e-03 7.05804341e-03 7.42424021e+01] [ 3.95834241e-03 9.99992044e-01 4.92593762e-04 3.55372249e+00] [-7.05993878e-03 -4.64639474e-04 9.99974970e-01 -6.01961286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.341400513 meters Centerline goodness [0,1] 0.9972783329789496 Centerline is valid? [True, True] Translation: X:74.27, Y:3.55, Z:-0.06 [[ 9.99948737e-01 -8.36058528e-03 5.71180889e-03 7.42740357e+01] [ 8.35844432e-03 9.99964988e-01 3.98599905e-04 3.54596547e+00] [-5.71494144e-03 -3.50837635e-04 9.99983608e-01 -6.21981894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.371400513 meters Centerline goodness [0,1] 0.9988852922892237 Centerline is valid? [True, True] Translation: X:74.31, Y:3.53, Z:-0.07 [[ 9.99868236e-01 -1.61333963e-02 1.79568131e-03 7.43055883e+01] [ 1.61331972e-02 9.99869844e-01 1.25302526e-04 3.53397893e+00] [-1.79746914e-03 -9.63159354e-05 9.99998380e-01 -6.80736728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.401400513 meters Centerline goodness [0,1] 0.9992260727491615 Centerline is valid? [True, True] Translation: X:74.34, Y:3.53, Z:-0.07 [[ 9.99830133e-01 -1.84197480e-02 6.46996209e-04 7.43358634e+01] [ 1.84197227e-02 9.99830342e-01 4.50628602e-05 3.53041019e+00] [-6.47716488e-04 -3.31377148e-05 9.99999790e-01 -7.00074971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.431400513 meters Centerline goodness [0,1] 0.9990413906226701 Centerline is valid? [True, True] Translation: X:74.37, Y:3.53, Z:-0.07 [[ 9.99821114e-01 -1.88908294e-02 9.36616637e-04 7.43651804e+01] [ 1.88907773e-02 9.99821551e-01 6.44411388e-05 3.52780566e+00] [-9.37666845e-04 -4.67361949e-05 9.99999559e-01 -6.97719096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.461400513 meters Centerline goodness [0,1] 0.9998927199776858 Centerline is valid? [True, True] Translation: X:74.39, Y:3.52, Z:-0.07 [[ 9.99830508e-01 -1.82589521e-02 2.35914406e-03 7.43948845e+01] [ 1.82586152e-02 9.99833284e-01 1.64263510e-04 3.52136257e+00] [-2.36175003e-03 -1.21160965e-04 9.99997204e-01 -6.69120581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.491400513 meters Centerline goodness [0,1] 0.9994217177125723 Centerline is valid? [True, True] Translation: X:74.42, Y:3.53, Z:-0.06 [[ 9.99854492e-01 -1.65810014e-02 4.00811785e-03 7.44226295e+01] [ 1.65800087e-02 9.99862503e-01 2.80780064e-04 3.52764642e+00] [-4.01222236e-03 -2.14284580e-04 9.99991928e-01 -6.45607631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.52140051299997 meters Centerline goodness [0,1] 0.986021983607599 Centerline is valid? [True, True] Translation: X:74.45, Y:3.54, Z:-0.06 [[ 9.99890209e-01 -1.40978133e-02 4.56299995e-03 7.44515188e+01] [ 1.40964991e-02 9.99900588e-01 3.20050845e-04 3.53920701e+00] [-4.56705835e-03 -2.55693382e-04 9.99989538e-01 -6.35952479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.55140051299998 meters Centerline goodness [0,1] 0.9657172316020106 Centerline is valid? [True, True] Translation: X:74.48, Y:3.54, Z:-0.07 [[ 9.99970358e-01 -7.65742664e-03 8.03802312e-04 7.44819294e+01] [ 7.65738377e-03 9.99970680e-01 5.63966156e-05 3.53875995e+00] [-8.04210598e-04 -5.02399211e-05 9.99999675e-01 -7.00030863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.58140051299998 meters Centerline goodness [0,1] 0.8932438744744999 Centerline is valid? [True, False] Translation: X:74.48, Y:3.53, Z:-0.07 [[ 9.99995690e-01 -2.91126944e-03 3.78932754e-04 7.44832696e+01] [ 2.90913639e-03 9.99980572e-01 5.51292279e-03 3.53321328e+00] [-3.94974996e-04 -5.51179666e-03 9.99984732e-01 -6.99821780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.61140051299998 meters Centerline goodness [0,1] 0.7815564896191568 Centerline is valid? [False, False] Translation: X:74.48, Y:3.53, Z:-0.07 [[ 9.99996145e-01 -2.74057129e-03 4.46719093e-04 7.44831722e+01] [ 2.73816883e-03 9.99982245e-01 5.29271087e-03 3.53454050e+00] [-4.61216213e-04 -5.29146727e-03 9.99985894e-01 -7.03141812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.64140051299998 meters Centerline goodness [0,1] 0.763146698434309 Centerline is valid? [False, False] Translation: X:74.48, Y:3.54, Z:-0.07 [[ 9.99996563e-01 -2.49835178e-03 7.94797918e-04 7.44819525e+01] [ 2.49424600e-03 9.99983754e-01 5.12554327e-03 3.53583066e+00] [-8.07590416e-04 -5.12354323e-03 9.99986548e-01 -7.02317221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.67140051299998 meters Centerline goodness [0,1] 0.7314606264077175 Centerline is valid? [False, False] Translation: X:74.48, Y:3.54, Z:-0.07 [[ 9.99996526e-01 -2.39537417e-03 1.10039040e-03 7.44809707e+01] [ 2.39022979e-03 9.99986319e-01 4.65281075e-03 3.53847242e+00] [-1.11152057e-03 -4.65016440e-03 9.99988570e-01 -7.04011500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.70140051299998 meters Centerline goodness [0,1] 0.6717710848477146 Centerline is valid? [False, False] Translation: X:74.48, Y:3.54, Z:-0.07 [[ 9.99997456e-01 -1.74788035e-03 1.42551334e-03 7.44799430e+01] [ 1.74243205e-03 9.99991207e-01 3.81431650e-03 3.54434701e+00] [-1.43216778e-03 -3.81182294e-03 9.99991709e-01 -7.12853075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.73140051299998 meters Centerline goodness [0,1] 0.4838839474798814 Centerline is valid? [False, False] Translation: X:74.48, Y:3.55, Z:-0.07 [[ 9.99996729e-01 -2.01320087e-03 1.57741869e-03 7.44797417e+01] [ 2.00834070e-03 9.99993250e-01 3.07663940e-03 3.54783424e+00] [-1.58360194e-03 -3.07346135e-03 9.99994023e-01 -7.19427627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.76140051299998 meters Centerline goodness [0,1] 0.4784671840728868 Centerline is valid? [False, False] Translation: X:74.48, Y:3.55, Z:-0.07 [[ 9.99995994e-01 -2.26277912e-03 1.70078489e-03 7.44794572e+01] [ 2.25871104e-03 9.99994593e-01 2.39000976e-03 3.55115144e+00] [-1.70618376e-03 -2.38615861e-03 9.99995698e-01 -7.22590314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.79140051299999 meters Centerline goodness [0,1] 0.45520806848037965 Centerline is valid? [False, False] Translation: X:74.48, Y:3.56, Z:-0.07 [[ 9.99994901e-01 -2.62446380e-03 1.81945757e-03 7.44793029e+01] [ 2.62179917e-03 9.99995489e-01 1.46536364e-03 3.55554810e+00] [-1.82329516e-03 -1.46058591e-03 9.99997271e-01 -7.27949043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.821400513 meters Centerline goodness [0,1] 0.38953463798131793 Centerline is valid? [False, False] Translation: X:74.48, Y:3.57, Z:-0.07 [[ 9.99992606e-01 -3.23802159e-03 2.07437066e-03 7.44786919e+01] [ 3.23925939e-03 9.99994577e-01 -5.93627775e-04 3.56568997e+00] [-2.07243723e-03 6.00342810e-04 9.99997672e-01 -7.35227513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.851400513 meters Centerline goodness [0,1] 0.4043477339661419 Centerline is valid? [False, False] Translation: X:74.48, Y:3.57, Z:-0.07 [[ 9.99991396e-01 -3.54568349e-03 2.15299861e-03 7.44784591e+01] [ 3.54857160e-03 9.99992807e-01 -1.33910152e-03 3.56925920e+00] [-2.14823509e-03 1.34673007e-03 9.99996786e-01 -7.36358603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.881400513 meters Centerline goodness [0,1] 0.49163701446743224 Centerline is valid? [False, False] Translation: X:74.48, Y:3.57, Z:-0.07 [[ 9.99990212e-01 -3.77638949e-03 2.30526783e-03 7.44778942e+01] [ 3.78073528e-03 9.99991079e-01 -1.88371741e-03 3.57187929e+00] [-2.29813361e-03 1.89241458e-03 9.99995569e-01 -7.35544631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.911400513 meters Centerline goodness [0,1] 0.41313335864658485 Centerline is valid? [False, False] Translation: X:74.48, Y:3.57, Z:-0.07 [[ 9.99988928e-01 -4.04397934e-03 2.40615876e-03 7.44774589e+01] [ 4.04998415e-03 9.99988684e-01 -2.49598200e-03 3.57483003e+00] [-2.39603784e-03 2.50569927e-03 9.99993990e-01 -7.34323673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.941400513 meters Centerline goodness [0,1] 0.439643869221334 Centerline is valid? [False, False] Translation: X:74.48, Y:3.58, Z:-0.07 [[ 9.99987756e-01 -4.28814449e-03 2.46977522e-03 7.44772208e+01] [ 4.29558542e-03 9.99986228e-01 -3.01541603e-03 3.57730067e+00] [-2.45681066e-03 3.02598824e-03 9.99992404e-01 -7.34736700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.971400513 meters Centerline goodness [0,1] 0.6686067429998519 Centerline is valid? [False, False] Translation: X:74.48, Y:3.58, Z:-0.07 [[ 9.99984927e-01 -5.08717960e-03 2.06559301e-03 7.44784742e+01] [ 5.09463491e-03 9.99980469e-01 -3.62020620e-03 3.57934053e+00] [-2.04713602e-03 3.63067507e-03 9.99991314e-01 -7.32239005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.001400513 meters Centerline goodness [0,1] 0.7805996772275545 Centerline is valid? [False, False] Translation: X:74.48, Y:3.58, Z:-0.07 [[ 9.99985172e-01 -5.07891064e-03 1.96485322e-03 7.44784999e+01] [ 5.08540741e-03 9.99981572e-01 -3.31574806e-03 3.57784946e+00] [-1.94797663e-03 3.32569098e-03 9.99992573e-01 -7.25899508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.031400513 meters Centerline goodness [0,1] 0.8238340859961903 Centerline is valid? [False, False] Translation: X:74.48, Y:3.58, Z:-0.07 [[ 9.99985351e-01 -5.06709497e-03 1.90316530e-03 7.44783985e+01] [ 5.07303054e-03 9.99982243e-01 -3.12701589e-03 3.57695309e+00] [-1.88728662e-03 3.13662490e-03 9.99993300e-01 -7.19809650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.061400513 meters Centerline goodness [0,1] 0.7889176460605032 Centerline is valid? [False, False] Translation: X:74.48, Y:3.58, Z:-0.07 [[ 9.99984710e-01 -5.21168533e-03 1.84905498e-03 7.44786427e+01] [ 5.21775932e-03 9.99980957e-01 -3.29544306e-03 3.57766305e+00] [-1.83184495e-03 3.30504060e-03 9.99992860e-01 -7.21007120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.091400513 meters Centerline goodness [0,1] 0.919685206848878 Centerline is valid? [False, False] Translation: X:74.48, Y:3.58, Z:-0.07 [[ 9.99983574e-01 -5.44821887e-03 1.77983326e-03 7.44790879e+01] [ 5.45494226e-03 9.99977921e-01 -3.79478189e-03 3.57994501e+00] [-1.75911916e-03 3.80442845e-03 9.99991216e-01 -7.25341655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.121400513 meters Centerline goodness [0,1] 0.799744436162283 Centerline is valid? [False, False] Translation: X:74.48, Y:3.58, Z:-0.07 [[ 9.99997585e-01 -1.80585041e-03 1.25229861e-03 7.44807736e+01] [ 1.80484844e-03 9.99998051e-01 8.00776692e-04 3.57727092e+00] [-1.25374225e-03 -7.98514550e-04 9.99998895e-01 -7.21647710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.151400513 meters Centerline goodness [0,1] 0.928113924591144 Centerline is valid? [False, False] Translation: X:74.48, Y:3.58, Z:-0.07 [[ 9.99997834e-01 -1.70333486e-03 1.19591541e-03 7.44806732e+01] [ 1.70209670e-03 9.99998015e-01 1.03557413e-03 3.57623373e+00] [-1.19767697e-03 -1.03353632e-03 9.99998749e-01 -7.16003223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.181400513 meters Centerline goodness [0,1] 0.9344168624214335 Centerline is valid? [False, False] Translation: X:74.48, Y:3.57, Z:-0.07 [[ 9.99998146e-01 -1.53660636e-03 1.16084565e-03 7.44804455e+01] [ 1.53490696e-03 9.99997751e-01 1.46340517e-03 3.57422880e+00] [-1.16309172e-03 -1.46162067e-03 9.99998255e-01 -7.09498729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.211400513 meters Centerline goodness [0,1] 0.9380291301473568 Centerline is valid? [False, False] Translation: X:74.47, Y:3.58, Z:-0.07 [[ 9.99988964e-01 -4.16768333e-03 2.16858553e-03 7.44736267e+01] [ 4.17079526e-03 9.99990276e-01 -1.43246629e-03 3.57516897e+00] [-2.16259438e-03 1.44149521e-03 9.99996623e-01 -6.69421656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.241400513 meters Centerline goodness [0,1] 0.9754423979776092 Centerline is valid? [False, True] Translation: X:74.47, Y:3.57, Z:-0.07 [[ 9.99989664e-01 -4.00091091e-03 2.15987484e-03 7.44733603e+01] [ 4.00306000e-03 9.99991496e-01 -9.91604028e-04 3.57312681e+00] [-2.15588916e-03 1.00023989e-03 9.99997176e-01 -6.63732007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.27140051299997 meters Centerline goodness [0,1] 0.9779100669714043 Centerline is valid? [True, True] Translation: X:74.50, Y:3.57, Z:-0.07 [[ 9.99974505e-01 -6.69737712e-03 2.47667302e-03 7.45029284e+01] [ 6.69694676e-03 9.99977559e-01 1.82019841e-04 3.57384026e+00] [-2.47783649e-03 -1.65429054e-04 9.99996916e-01 -6.66136317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.30140051299998 meters Centerline goodness [0,1] 0.9757588667589733 Centerline is valid? [True, True] Translation: X:74.53, Y:3.58, Z:-0.07 [[ 9.99970351e-01 -7.35366448e-03 2.28506027e-03 7.45337107e+01] [ 7.35329968e-03 9.99972950e-01 1.68007050e-04 3.57704230e+00] [-2.28623392e-03 -1.51199336e-04 9.99997375e-01 -6.74714636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.33140051299998 meters Centerline goodness [0,1] 0.9939846416382253 Centerline is valid? [True, True] Translation: X:74.56, Y:3.57, Z:-0.07 [[ 9.99970451e-01 -7.36710314e-03 2.19604162e-03 7.45646009e+01] [ 7.36676635e-03 9.99972852e-01 1.61413877e-04 3.57411178e+00] [-2.19717115e-03 -1.45231382e-04 9.99997576e-01 -6.75102696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.36140051299998 meters Centerline goodness [0,1] 0.9752842837746096 Centerline is valid? [True, True] Translation: X:74.59, Y:3.58, Z:-0.07 [[ 9.99973162e-01 -7.06379816e-03 1.94375307e-03 7.45947151e+01] [ 7.06353368e-03 9.99975043e-01 1.42899574e-04 3.58209047e+00] [-1.94471398e-03 -1.29165973e-04 9.99998101e-01 -6.80896050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.39140051299998 meters Centerline goodness [0,1] 0.9668204136289242 Centerline is valid? [True, True] Translation: X:74.63, Y:3.58, Z:-0.07 [[ 9.99977616e-01 -6.68502354e-03 2.77962752e-04 7.46250292e+01] [ 6.68501811e-03 9.99977655e-01 2.04277110e-05 3.58344843e+00] [-2.78093100e-04 -1.85690677e-05 9.99999961e-01 -7.10264637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.42140051299998 meters Centerline goodness [0,1] 0.9700795870079587 Centerline is valid? [True, True] Translation: X:74.65, Y:3.58, Z:-0.07 [[ 9.99972893e-01 -7.35312348e-03 -3.81509908e-04 7.46548919e+01] [ 7.35311327e-03 9.99972965e-01 -2.81476968e-05 3.58282676e+00] [ 3.81706568e-04 2.53416482e-05 9.99999927e-01 -7.21277771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.45140051299998 meters Centerline goodness [0,1] 0.9709221526159372 Centerline is valid? [True, True] Translation: X:74.68, Y:3.58, Z:-0.07 [[ 9.99959995e-01 -8.89744896e-03 -9.18082782e-04 7.46848958e+01] [ 8.89739057e-03 9.99960415e-01 -6.76605848e-05 3.58232661e+00] [ 9.18648446e-04 5.94893370e-05 9.99999576e-01 -7.26459124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.48140051299998 meters Centerline goodness [0,1] 0.9609982068141064 Centerline is valid? [True, True] Translation: X:74.71, Y:3.58, Z:-0.07 [[ 9.99941148e-01 -1.08132137e-02 -8.80299117e-04 7.47138834e+01] [ 1.08131608e-02 9.99941534e-01 -6.48613973e-05 3.58371388e+00] [ 8.80949009e-04 5.53387642e-05 9.99999610e-01 -7.26784080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.51140051299998 meters Centerline goodness [0,1] 0.9920858285544999 Centerline is valid? [True, True] Translation: X:74.74, Y:3.58, Z:-0.07 [[ 9.99920706e-01 -1.25871541e-02 -3.82287973e-04 7.47439448e+01] [ 1.25871442e-02 9.99920778e-01 -2.82349159e-05 3.57678790e+00] [ 3.82613084e-04 2.34207632e-05 9.99999927e-01 -7.17424717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.54140051299999 meters Centerline goodness [0,1] 0.9904071626518866 Centerline is valid? [True, True] Translation: X:74.77, Y:3.58, Z:-0.07 [[ 9.99903554e-01 -1.38864344e-02 -2.24953419e-04 7.47727246e+01] [ 1.38864310e-02 9.99903579e-01 -1.67147186e-05 3.57702018e+00] [ 2.25163836e-04 1.35893064e-05 9.99999975e-01 -7.18529406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.571400513 meters Centerline goodness [0,1] 0.9960492034339896 Centerline is valid? [True, True] Translation: X:74.80, Y:3.57, Z:-0.07 [[ 9.99905839e-01 -1.37217434e-02 -1.66565314e-04 7.48021845e+01] [ 1.37217414e-02 9.99905852e-01 -1.30155317e-05 3.57399851e+00] [ 1.66728228e-04 1.07287400e-05 9.99999986e-01 -7.23227763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.601400513 meters Centerline goodness [0,1] 0.9846262100729242 Centerline is valid? [True, True] Translation: X:74.83, Y:3.58, Z:-0.07 [[ 9.99927378e-01 -1.20497740e-02 -2.04945390e-04 7.48303645e+01] [ 1.20497711e-02 9.99927399e-01 -1.51440351e-05 3.58305424e+00] [ 2.05112993e-04 1.26733902e-05 9.99999979e-01 -7.35111291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.631400513 meters Centerline goodness [0,1] 0.9702106789491641 Centerline is valid? [True, True] Translation: X:74.86, Y:3.59, Z:-0.07 [[ 9.99952285e-01 -9.76556023e-03 -2.49794571e-04 7.48595577e+01] [ 9.76555591e-03 9.99952316e-01 -1.85070015e-05 3.58965891e+00] [ 2.49963391e-04 1.60667356e-05 9.99999969e-01 -7.43251442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.661400513 meters Centerline goodness [0,1] 0.9810511875160765 Centerline is valid? [True, True] Translation: X:74.89, Y:3.59, Z:-0.07 [[ 9.99974787e-01 -7.08586843e-03 -4.64822208e-04 7.48903662e+01] [ 7.08585324e-03 9.99974894e-01 -3.43147073e-05 3.58923031e+00] [ 4.65053688e-04 3.10201802e-05 9.99999891e-01 -7.43776712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.691400513 meters Centerline goodness [0,1] 0.9250542160989922 Centerline is valid? [True, False] Translation: X:74.89, Y:3.59, Z:-0.07 [[ 9.99975541e-01 -6.97783341e-03 -4.77522997e-04 7.48902923e+01] [ 6.97781656e-03 9.99975654e-01 -3.69443372e-05 3.58939588e+00] [ 4.77769163e-04 3.36113657e-05 9.99999885e-01 -7.42045447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.721400513 meters Centerline goodness [0,1] 0.8985234388221357 Centerline is valid? [False, False] Translation: X:74.89, Y:3.59, Z:-0.07 [[ 9.99975793e-01 -6.94440953e-03 -4.34677062e-04 7.48902592e+01] [ 6.94435117e-03 9.99975879e-01 -1.35615047e-04 3.58993840e+00] [ 4.35608344e-04 1.32593214e-04 9.99999896e-01 -7.44467730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.751400513 meters Centerline goodness [0,1] 0.7536795157693533 Centerline is valid? [False, False] Translation: X:74.89, Y:3.59, Z:-0.08 [[ 9.99974548e-01 -7.12901566e-03 -2.85263434e-04 7.48903302e+01] [ 7.12870935e-03 9.99974028e-01 -1.06077982e-03 3.59448746e+00] [ 2.92818341e-04 1.05871926e-03 9.99999397e-01 -7.57478897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.781400513 meters Centerline goodness [0,1] 0.8860491929285166 Centerline is valid? [False, False] Translation: X:74.89, Y:3.60, Z:-0.08 [[ 9.99972804e-01 -7.37125773e-03 -2.35680047e-04 7.48903938e+01] [ 7.37086333e-03 9.99971502e-01 -1.63268801e-03 3.59715692e+00] [ 2.47708295e-04 1.63090645e-03 9.99998639e-01 -7.62263463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.811400513 meters Centerline goodness [0,1] 0.8842219433869973 Centerline is valid? [False, False] Translation: X:74.90, Y:3.60, Z:-0.08 [[ 9.99987203e-01 -4.95592437e-03 -1.01624836e-03 7.48964474e+01] [ 4.95690749e-03 9.99987247e-01 9.67175127e-04 3.59546027e+00] [ 1.01144215e-03 -9.72200199e-04 9.99999016e-01 -8.00161889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.841400513 meters Centerline goodness [0,1] 0.8810969762833216 Centerline is valid? [False, False] Translation: X:74.90, Y:3.60, Z:-0.08 [[ 9.99986809e-01 -5.04101983e-03 -9.84632363e-04 7.48963307e+01] [ 5.04177743e-03 9.99986995e-01 7.68459102e-04 3.59640017e+00] [ 9.80745741e-04 -7.73413263e-04 9.99999220e-01 -8.00219173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.871400513 meters Centerline goodness [0,1] 0.8758947323303758 Centerline is valid? [False, False] Translation: X:74.90, Y:3.60, Z:-0.08 [[ 9.99986491e-01 -5.11391994e-03 -9.30613386e-04 7.48961549e+01] [ 5.11447265e-03 9.99986745e-01 5.92515210e-04 3.59724342e+00] [ 9.27570976e-04 -5.97266802e-04 9.99999391e-01 -8.00691082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.901400513 meters Centerline goodness [0,1] 0.7044844849073741 Centerline is valid? [False, False] Translation: X:74.93, Y:3.60, Z:-0.08 [[ 9.99986913e-01 -4.16347294e-03 2.97323181e-03 7.49332564e+01] [ 4.16546692e-03 9.99991103e-01 -6.64765466e-04 3.60038224e+00] [-2.97043763e-03 6.77141665e-04 9.99995359e-01 -7.88475956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.931400513 meters Centerline goodness [0,1] 0.7361627513942877 Centerline is valid? [False, False] Translation: X:74.93, Y:3.60, Z:-0.08 [[ 9.99988382e-01 -3.83968520e-03 2.91408767e-03 7.49330789e+01] [ 3.83943638e-03 9.99992625e-01 9.09754450e-05 3.59685606e+00] [-2.91441549e-03 -7.97859339e-05 9.99995750e-01 -7.81200162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.961400513 meters Centerline goodness [0,1] 0.8724018598331246 Centerline is valid? [False, False] Translation: X:74.93, Y:3.59, Z:-0.08 [[ 9.99990254e-01 -3.47190922e-03 2.72725473e-03 7.49334471e+01] [ 3.46921069e-03 9.99993489e-01 9.93574377e-04 3.59260723e+00] [-2.73068657e-03 -9.84103272e-04 9.99995787e-01 -7.76013627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.991400513 meters Centerline goodness [0,1] 0.7799211339656826 Centerline is valid? [False, False] Translation: X:74.93, Y:3.59, Z:-0.08 [[ 9.99991482e-01 -3.24837426e-03 2.54652265e-03 7.49341517e+01] [ 3.24424881e-03 9.99993421e-01 1.62249161e-03 3.58953796e+00] [-2.55177636e-03 -1.61421624e-03 9.99995441e-01 -7.78161488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.02140051299997 meters Centerline goodness [0,1] 0.9269024514811032 Centerline is valid? [False, False] Translation: X:74.93, Y:3.59, Z:-0.08 [[ 9.99992054e-01 -3.18039520e-03 2.40365907e-03 7.49347204e+01] [ 3.17594559e-03 9.99993240e-01 1.85273865e-03 3.58835795e+00] [-2.40953526e-03 -1.84509004e-03 9.99995395e-01 -7.79985923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.05140051299998 meters Centerline goodness [0,1] 0.875334060248434 Centerline is valid? [False, False] Translation: X:74.93, Y:3.59, Z:-0.08 [[ 9.99991936e-01 -3.19429037e-03 2.43402130e-03 7.49346484e+01] [ 3.18982361e-03 9.99993226e-01 1.83681319e-03 3.58843375e+00] [-2.43987213e-03 -1.82903428e-03 9.99995351e-01 -7.80768221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.08140051299998 meters Centerline goodness [0,1] 0.9474276015699586 Centerline is valid? [False, False] Translation: X:74.93, Y:3.59, Z:-0.08 [[ 9.99991876e-01 -3.22348756e-03 2.42004899e-03 7.49346084e+01] [ 3.21928416e-03 9.99993306e-01 1.73879915e-03 3.58893400e+00] [-2.42563779e-03 -1.73099420e-03 9.99995560e-01 -7.79343207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.11140051299998 meters Centerline goodness [0,1] 0.9370375068713265 Centerline is valid? [False, False] Translation: X:74.93, Y:3.59, Z:-0.08 [[ 9.99992033e-01 -3.20555535e-03 2.37860127e-03 7.49347959e+01] [ 3.20138360e-03 9.99993334e-01 1.75560621e-03 3.58884203e+00] [-2.38421311e-03 -1.74797741e-03 9.99995630e-01 -7.80421490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.14140051299998 meters Centerline goodness [0,1] 0.955619854051869 Centerline is valid? [False, True] Translation: X:74.93, Y:3.59, Z:-0.08 [[ 9.99992063e-01 -3.19713320e-03 2.37757101e-03 7.49348406e+01] [ 3.19292555e-03 9.99993334e-01 1.77142110e-03 3.58874733e+00] [-2.38321863e-03 -1.76381563e-03 9.99995605e-01 -7.81427595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.17140051299998 meters Centerline goodness [0,1] 0.955619854051869 Centerline is valid? [True, True] Translation: X:74.97, Y:3.59, Z:-0.08 [[ 9.99991885e-01 -3.16281181e-03 2.49517099e-03 7.49655589e+01] [ 3.16235981e-03 9.99994983e-01 1.85071824e-04 3.59240503e+00] [-2.49574382e-03 -1.77179694e-04 9.99996870e-01 -7.87358235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.20140051299998 meters Centerline goodness [0,1] 0.9389077053344623 Centerline is valid? [True, False] Translation: X:74.97, Y:3.59, Z:-0.08 [[ 9.99992404e-01 -3.02566021e-03 2.45710136e-03 7.49655627e+01] [ 3.02442642e-03 9.99995299e-01 5.05693568e-04 3.59090953e+00] [-2.45861986e-03 -4.98258405e-04 9.99996853e-01 -7.85175807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.23140051299998 meters Centerline goodness [0,1] 0.9950514221782348 Centerline is valid? [False, True] Translation: X:74.92, Y:3.58, Z:-0.07 [[ 9.99986321e-01 -5.21374664e-03 4.17671739e-04 7.49223445e+01] [ 5.21216500e-03 9.99979563e-01 3.70236694e-03 3.57788820e+00] [-4.36966406e-04 -3.70013932e-03 9.99993059e-01 -7.39697287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.26140051299998 meters Centerline goodness [0,1] 0.9737818189525445 Centerline is valid? [True, True] Translation: X:74.95, Y:3.59, Z:-0.07 [[ 9.99972103e-01 -7.12533272e-03 2.24103767e-03 7.49509858e+01] [ 7.12498532e-03 9.99974604e-01 1.62961048e-04 3.58805623e+00] [-2.24214191e-03 -1.46989142e-04 9.99997476e-01 -7.24695233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.29140051299999 meters Centerline goodness [0,1] 0.9297925205461998 Centerline is valid? [True, False] Translation: X:74.95, Y:3.58, Z:-0.07 [[ 9.99975071e-01 -6.67363906e-03 2.30658774e-03 7.49501586e+01] [ 6.67059292e-03 9.99976872e-01 1.32580901e-03 3.58269087e+00] [-2.31538236e-03 -1.31038965e-03 9.99996461e-01 -7.12602753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.321400513 meters Centerline goodness [0,1] 0.9974500182141556 Centerline is valid? [False, True] Translation: X:74.95, Y:3.59, Z:-0.07 [[ 9.99933373e-01 -1.12400787e-02 2.62875595e-03 7.49497109e+01] [ 1.12502359e-02 9.99929180e-01 -3.88154492e-03 3.58691375e+00] [-2.58494091e-03 3.91086043e-03 9.99989012e-01 -7.22338999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.351400513 meters Centerline goodness [0,1] 0.9960764352823906 Centerline is valid? [True, True] Translation: X:74.98, Y:3.59, Z:-0.07 [[ 9.99931283e-01 -1.15147851e-02 2.19968332e-03 7.49794751e+01] [ 1.15144582e-02 9.99933693e-01 1.61224345e-04 3.58508631e+00] [-2.20139393e-03 -1.35885104e-04 9.99997568e-01 -7.21121670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.381400513 meters Centerline goodness [0,1] 0.9958831144027332 Centerline is valid? [True, True] Translation: X:75.01, Y:3.59, Z:-0.07 [[ 9.99943003e-01 -1.05575774e-02 1.58992133e-03 7.50091791e+01] [ 1.05574054e-02 9.99944262e-01 1.16528520e-04 3.58507304e+00] [-1.59106297e-03 -9.97364337e-05 9.99998729e-01 -7.31164020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.411400513 meters Centerline goodness [0,1] 0.9726522408484434 Centerline is valid? [True, True] Translation: X:75.04, Y:3.59, Z:-0.07 [[ 9.99985870e-01 -5.31076940e-03 2.34804191e-04 7.50381208e+01] [ 5.31076551e-03 9.99985898e-01 1.71858587e-05 3.59267769e+00] [-2.34892150e-04 -1.59386259e-05 9.99999972e-01 -7.49648429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.441400513 meters Centerline goodness [0,1] 0.9444984982444266 Centerline is valid? [True, False] Translation: X:75.04, Y:3.59, Z:-0.08 [[ 9.99985971e-01 -5.29414740e-03 1.74878497e-04 7.50385422e+01] [ 5.29420807e-03 9.99985925e-01 -3.48342140e-04 3.59458033e+00] [-1.73031861e-04 3.49263096e-04 9.99999924e-01 -7.54956791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.471400513 meters Centerline goodness [0,1] 0.8807430997876857 Centerline is valid? [False, False] Translation: X:75.04, Y:3.60, Z:-0.08 [[ 9.99985763e-01 -5.33330451e-03 1.74806813e-04 7.50386654e+01] [ 5.33341263e-03 9.99985583e-01 -6.23998009e-04 3.59595206e+00] [-1.71476321e-04 6.24921441e-04 9.99999790e-01 -7.57741575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.501400513 meters Centerline goodness [0,1] 0.8476702508960574 Centerline is valid? [False, False] Translation: X:75.04, Y:3.60, Z:-0.08 [[ 9.99986830e-01 -5.12234883e-03 3.17223752e-04 7.50380481e+01] [ 5.12249410e-03 9.99986775e-01 -4.58837189e-04 3.59542575e+00] [-3.14869232e-04 4.60456123e-04 9.99999844e-01 -7.55126618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.531400513 meters Centerline goodness [0,1] 0.65239418554938 Centerline is valid? [False, False] Translation: X:75.04, Y:3.59, Z:-0.08 [[ 9.99987462e-01 -4.99592341e-03 3.41343227e-04 7.50378820e+01] [ 4.99599516e-03 9.99987498e-01 -2.09669322e-04 3.59431121e+00] [-3.40291467e-04 2.11372042e-04 9.99999920e-01 -7.53523430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.561400513 meters Centerline goodness [0,1] 0.7151281181062277 Centerline is valid? [False, False] Translation: X:75.04, Y:3.59, Z:-0.08 [[ 9.99987609e-01 -4.95939589e-03 4.31400651e-04 7.50376023e+01] [ 4.95946113e-03 9.99987691e-01 -1.50282041e-04 3.59405638e+00] [-4.30650033e-04 1.52419694e-04 9.99999896e-01 -7.54297102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.591400513 meters Centerline goodness [0,1] 0.8498215680891948 Centerline is valid? [False, False] Translation: X:75.04, Y:3.59, Z:-0.08 [[ 9.99987176e-01 -5.03591193e-03 5.37024351e-04 7.50372532e+01] [ 5.03609287e-03 9.99987262e-01 -3.36102424e-04 3.59495847e+00] [-5.35324929e-04 3.38802618e-04 9.99999799e-01 -7.54846820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.621400513 meters Centerline goodness [0,1] 0.8621027728638717 Centerline is valid? [False, False] Translation: X:75.04, Y:3.60, Z:-0.08 [[ 9.99986742e-01 -5.11136818e-03 6.24909233e-04 7.50370399e+01] [ 5.11170332e-03 9.99986792e-01 -5.35877061e-04 3.59592183e+00] [-6.22161914e-04 5.39064307e-04 9.99999661e-01 -7.56490438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.651400513 meters Centerline goodness [0,1] 0.7134832647027769 Centerline is valid? [False, False] Translation: X:75.04, Y:3.60, Z:-0.08 [[ 9.99986529e-01 -5.15959624e-03 5.65978510e-04 7.50373285e+01] [ 5.15998662e-03 9.99986449e-01 -6.90467568e-04 3.59665114e+00] [-5.62408307e-04 6.93378708e-04 9.99999601e-01 -7.58659298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.681400513 meters Centerline goodness [0,1] 0.806137900147156 Centerline is valid? [False, False] Translation: X:75.04, Y:3.60, Z:-0.08 [[ 9.99986612e-01 -5.15107451e-03 4.91736434e-04 7.50375985e+01] [ 5.15141344e-03 9.99986493e-01 -6.90488097e-04 3.59664434e+00] [-4.88173037e-04 6.93011991e-04 9.99999641e-01 -7.58926228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.711400513 meters Centerline goodness [0,1] 0.8082362904933305 Centerline is valid? [False, False] Translation: X:75.04, Y:3.60, Z:-0.08 [[ 9.99986409e-01 -5.19406388e-03 4.51854208e-04 7.50375849e+01] [ 5.19442518e-03 9.99986187e-01 -8.02133317e-04 3.59721036e+00] [-4.47681634e-04 8.04469538e-04 9.99999576e-01 -7.56291124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.741400513 meters Centerline goodness [0,1] 0.8122627425890382 Centerline is valid? [False, False] Translation: X:75.04, Y:3.60, Z:-0.08 [[ 9.99986320e-01 -5.20966083e-03 4.67173674e-04 7.50373599e+01] [ 5.21006448e-03 9.99986052e-01 -8.67004016e-04 3.59759295e+00] [-4.62650361e-04 8.69426161e-04 9.99999515e-01 -7.52921285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.77140051299997 meters Centerline goodness [0,1] 0.5550759595446659 Centerline is valid? [False, False] Translation: X:75.04, Y:3.60, Z:-0.07 [[ 9.99986387e-01 -5.19419410e-03 4.95944003e-04 7.50370637e+01] [ 5.19462297e-03 9.99986132e-01 -8.67416903e-04 3.59766937e+00] [-4.91431593e-04 8.69981338e-04 9.99999501e-01 -7.49258311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.80140051299998 meters Centerline goodness [0,1] 0.611178228524194 Centerline is valid? [False, False] Translation: X:75.04, Y:3.60, Z:-0.07 [[ 9.99986223e-01 -5.22572504e-03 4.94981470e-04 7.50370705e+01] [ 5.22619908e-03 9.99985881e-01 -9.61299162e-04 3.59813761e+00] [-4.89950997e-04 9.63872790e-04 9.99999415e-01 -7.49424480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.83140051299998 meters Centerline goodness [0,1] 0.7544612508497621 Centerline is valid? [False, False] Translation: X:75.03, Y:3.60, Z:-0.07 [[ 9.99992138e-01 -3.78944591e-03 1.16768421e-03 7.50318427e+01] [ 3.78910869e-03 9.99992779e-01 2.90872360e-04 3.60072692e+00] [-1.16877802e-03 -2.86445591e-04 9.99999276e-01 -7.21153245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.86140051299998 meters Centerline goodness [0,1] 0.498390294863868 Centerline is valid? [False, False] Translation: X:75.03, Y:3.61, Z:-0.07 [[ 9.99990312e-01 -4.19245702e-03 1.34117754e-03 7.50316989e+01] [ 4.19340645e-03 9.99990958e-01 -7.05878872e-04 3.60539043e+00] [-1.33820605e-03 7.11496136e-04 9.99998851e-01 -7.30259979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.89140051299998 meters Centerline goodness [0,1] 0.45696586545601126 Centerline is valid? [False, False] Translation: X:75.04, Y:3.61, Z:-0.08 [[ 9.99998145e-01 -1.86167117e-03 4.93813462e-04 7.50380409e+01] [ 1.86089152e-03 9.99997029e-01 1.57462331e-03 3.60608361e+00] [-4.96743425e-04 -1.57370146e-03 9.99998638e-01 -7.69600769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.92140051299998 meters Centerline goodness [0,1] 0.7122823569774424 Centerline is valid? [False, False] Translation: X:75.04, Y:3.61, Z:-0.08 [[ 9.99997620e-01 -2.10092888e-03 5.88993223e-04 7.50376816e+01] [ 2.10035824e-03 9.99997326e-01 9.67778669e-04 3.60899336e+00] [-5.91024882e-04 -9.66539268e-04 9.99999358e-01 -7.69054005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.95140051299998 meters Centerline goodness [0,1] 0.46560543351374295 Centerline is valid? [False, False] Translation: X:75.08, Y:3.62, Z:-0.08 [[ 9.99991595e-01 -1.26046590e-03 3.90133767e-03 7.50755471e+01] [ 1.27045315e-03 9.99995920e-01 -2.55853857e-03 3.62058181e+00] [-3.89809680e-03 2.56347354e-03 9.99989117e-01 -7.71340728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.98140051299998 meters Centerline goodness [0,1] 0.7866752219014009 Centerline is valid? [False, False] Translation: X:75.08, Y:3.62, Z:-0.08 [[ 9.99990981e-01 -1.53925129e-03 3.95831526e-03 7.50752557e+01] [ 1.55189282e-03 9.99993700e-01 -3.19257808e-03 3.62361529e+00] [-3.95337615e-03 3.19869217e-03 9.99987070e-01 -7.69545047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.01140051299998 meters Centerline goodness [0,1] 0.5106532727621729 Centerline is valid? [False, False] Translation: X:75.08, Y:3.63, Z:-0.08 [[ 9.99990507e-01 -1.76725625e-03 3.98279112e-03 7.50750719e+01] [ 1.78178378e-03 9.99991762e-01 -3.64698260e-03 3.62573792e+00] [-3.97631316e-03 3.65404445e-03 9.99985418e-01 -7.67965334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.04140051299999 meters Centerline goodness [0,1] 0.5449855638586957 Centerline is valid? [False, False] Translation: X:75.08, Y:3.63, Z:-0.08 [[ 9.99990769e-01 -1.88055246e-03 3.86331105e-03 7.50753095e+01] [ 1.89491682e-03 9.99991293e-01 -3.71785826e-03 3.62599362e+00] [-3.85628579e-03 3.72514459e-03 9.99985626e-01 -7.65068119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.071400513 meters Centerline goodness [0,1] 0.843438006655858 Centerline is valid? [False, False] Translation: X:75.08, Y:3.62, Z:-0.08 [[ 9.99991729e-01 -1.82629672e-03 3.63411427e-03 7.50759463e+01] [ 1.83845450e-03 9.99992716e-01 -3.34493555e-03 3.62410466e+00] [-3.62797896e-03 3.35158904e-03 9.99987802e-01 -7.63049889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.101400513 meters Centerline goodness [0,1] 0.9146745284026576 Centerline is valid? [False, False] Translation: X:75.08, Y:3.62, Z:-0.08 [[ 9.99992441e-01 -2.51629511e-03 2.96407481e-03 7.50786454e+01] [ 2.52509978e-03 9.99992400e-01 -2.97047495e-03 3.62061603e+00] [-2.95657769e-03 2.97793708e-03 9.99991195e-01 -7.69316569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.131400513 meters Centerline goodness [0,1] 0.9370383022332294 Centerline is valid? [False, False] Translation: X:75.08, Y:3.62, Z:-0.08 [[ 9.99993169e-01 -2.50911677e-03 2.71419852e-03 7.50796358e+01] [ 2.51659787e-03 9.99993035e-01 -2.75638921e-03 3.61943756e+00] [-2.70726351e-03 2.76320093e-03 9.99992518e-01 -7.73007088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.161400513 meters Centerline goodness [0,1] 0.9586836981406595 Centerline is valid? [False, True] Translation: X:75.08, Y:3.62, Z:-0.08 [[ 9.99993609e-01 -2.51935222e-03 2.53656753e-03 7.50803545e+01] [ 2.52629059e-03 9.99993066e-01 -2.73586012e-03 3.61927258e+00] [-2.52965735e-03 2.74225075e-03 9.99993040e-01 -7.75654972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.191400513 meters Centerline goodness [0,1] 0.9739552046683257 Centerline is valid? [True, True] Translation: X:75.11, Y:3.62, Z:-0.08 [[ 9.99993303e-01 -3.00429553e-03 2.09002469e-03 7.51117950e+01] [ 3.00399171e-03 9.99995477e-01 1.48489224e-04 3.61623845e+00] [-2.09046134e-03 -1.42209813e-04 9.99997805e-01 -7.76515993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.221400513 meters Centerline goodness [0,1] 0.9389832678845825 Centerline is valid? [True, False] Translation: X:75.11, Y:3.62, Z:-0.08 [[ 9.99993666e-01 -2.88931532e-03 2.07838050e-03 7.51117056e+01] [ 2.88849222e-03 9.99995749e-01 3.98925314e-04 3.61508942e+00] [-2.07952428e-03 -3.92919401e-04 9.99997761e-01 -7.74079407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.251400513 meters Centerline goodness [0,1] 0.9765870555282345 Centerline is valid? [False, True] Translation: X:75.11, Y:3.62, Z:-0.08 [[ 9.99993354e-01 -2.82232784e-03 2.30811956e-03 7.51106912e+01] [ 2.82133891e-03 9.99995927e-01 4.31599712e-04 3.61510538e+00] [-2.30932828e-03 -4.25084856e-04 9.99997243e-01 -7.68953706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.281400513 meters Centerline goodness [0,1] 0.9580661599218651 Centerline is valid? [True, True] Translation: X:75.14, Y:3.62, Z:-0.08 [[ 9.99995277e-01 -1.76781093e-03 2.51428492e-03 7.51402646e+01] [ 1.76735737e-03 9.99998422e-01 1.82601767e-04 3.62153556e+00] [-2.51460376e-03 -1.78157264e-04 9.99996823e-01 -7.73159947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.311400513 meters Centerline goodness [0,1] 0.8976621273149628 Centerline is valid? [True, False] Translation: X:75.14, Y:3.62, Z:-0.08 [[ 9.99995172e-01 -1.86499323e-03 2.48538359e-03 7.51405174e+01] [ 1.86514567e-03 9.99998259e-01 -5.90174444e-05 3.62263866e+00] [-2.48526920e-03 6.36527620e-05 9.99996910e-01 -7.76318101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.341400513 meters Centerline goodness [0,1] 0.8271707254876961 Centerline is valid? [False, False] Translation: X:75.14, Y:3.62, Z:-0.08 [[ 9.99995396e-01 -1.80166035e-03 2.44156283e-03 7.51406154e+01] [ 1.80150256e-03 9.99998375e-01 6.68244864e-05 3.62205084e+00] [-2.44167926e-03 -6.24256970e-05 9.99997017e-01 -7.75508450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.371400513 meters Centerline goodness [0,1] 0.910294055066173 Centerline is valid? [False, False] Translation: X:75.14, Y:3.62, Z:-0.08 [[ 9.99995609e-01 -1.64282973e-03 2.46639282e-03 7.51402858e+01] [ 1.64182254e-03 9.99998568e-01 4.10335791e-04 3.62049099e+00] [-2.46706340e-03 -4.06284610e-04 9.99996874e-01 -7.70815359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.401400513 meters Centerline goodness [0,1] 0.9244841523080196 Centerline is valid? [False, False] Translation: X:75.14, Y:3.62, Z:-0.08 [[ 9.99995697e-01 -1.52353667e-03 2.50686806e-03 7.51399550e+01] [ 1.52188065e-03 9.99998623e-01 6.62368400e-04 3.61936023e+00] [-2.50787375e-03 -6.58550396e-04 9.99996638e-01 -7.67136165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.431400513 meters Centerline goodness [0,1] 0.938968134180821 Centerline is valid? [False, False] Translation: X:75.14, Y:3.62, Z:-0.08 [[ 9.99995343e-01 -1.70031370e-03 2.53449363e-03 7.51401293e+01] [ 1.69964025e-03 9.99998520e-01 2.67843120e-04 3.62115169e+00] [-2.53494529e-03 -2.63534145e-04 9.99996752e-01 -7.72612253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.461400513 meters Centerline goodness [0,1] 0.816850128813848 Centerline is valid? [False, False] Translation: X:75.14, Y:3.62, Z:-0.08 [[ 9.99995362e-01 -1.76489193e-03 2.48218391e-03 7.51405141e+01] [ 1.76455568e-03 9.99998434e-01 1.37647842e-04 3.62169847e+00] [-2.48242296e-03 -1.33267252e-04 9.99996910e-01 -7.76887383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.491400513 meters Centerline goodness [0,1] 0.8489159603015718 Centerline is valid? [False, False] Translation: X:75.14, Y:3.62, Z:-0.08 [[ 9.99995802e-01 -1.67497833e-03 2.36458926e-03 7.51410556e+01] [ 1.67409661e-03 9.99998528e-01 3.74814093e-04 3.62050309e+00] [-2.36521359e-03 -3.70853968e-04 9.99997134e-01 -7.79941335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.52140051299997 meters Centerline goodness [0,1] 0.8566245889466426 Centerline is valid? [False, False] Translation: X:75.14, Y:3.62, Z:-0.08 [[ 9.99996415e-01 -1.48681628e-03 2.22676481e-03 7.51415661e+01] [ 1.48490930e-03 9.99998530e-01 8.57797378e-04 3.61814362e+00] [-2.22803692e-03 -8.54487759e-04 9.99997153e-01 -7.81219230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.55140051299998 meters Centerline goodness [0,1] 0.9433439239183743 Centerline is valid? [False, False] Translation: X:75.14, Y:3.62, Z:-0.08 [[ 9.99996818e-01 -1.26346107e-03 2.18330185e-03 7.51415967e+01] [ 1.26038208e-03 9.99998210e-01 1.41104692e-03 3.61551926e+00] [-2.18508074e-03 -1.40829064e-03 9.99996621e-01 -7.79175158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.58140051299998 meters Centerline goodness [0,1] 0.9271549808469662 Centerline is valid? [False, False] Translation: X:75.14, Y:3.61, Z:-0.08 [[ 9.99996981e-01 -1.05729766e-03 2.21831062e-03 7.51411932e+01] [ 1.05291665e-03 9.99997495e-01 1.97517074e-03 3.61286602e+00] [-2.22039341e-03 -1.97282908e-03 9.99995589e-01 -7.73433610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.61140051299998 meters Centerline goodness [0,1] 0.9903388951327051 Centerline is valid? [False, True] Translation: X:75.10, Y:3.60, Z:-0.07 [[ 9.99995861e-01 -2.80405591e-03 6.43692239e-04 7.50958777e+01] [ 2.80078718e-03 9.99983457e-01 5.02402896e-03 3.60241846e+00] [-6.57769248e-04 -5.02220533e-03 9.99987172e-01 -7.24283516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.64140051299998 meters Centerline goodness [0,1] 0.9837510620220901 Centerline is valid? [True, True] Translation: X:75.13, Y:3.61, Z:-0.07 [[ 9.99993744e-01 -3.17197870e-03 1.56524823e-03 7.51261659e+01] [ 3.17181109e-03 9.99994964e-01 1.09551983e-04 3.60925278e+00] [-1.56558784e-03 -1.04586626e-04 9.99998769e-01 -7.25832521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.67140051299998 meters Centerline goodness [0,1] 0.9928048337852552 Centerline is valid? [True, True] Translation: X:75.16, Y:3.61, Z:-0.07 [[ 9.99991029e-01 -3.54590854e-03 2.31708424e-03 7.51578068e+01] [ 3.54554231e-03 9.99993701e-01 1.62143116e-04 3.60772822e+00] [-2.31764459e-03 -1.53926341e-04 9.99997302e-01 -7.22291541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.70140051299998 meters Centerline goodness [0,1] 0.9786902064720215 Centerline is valid? [True, True] Translation: X:75.19, Y:3.61, Z:-0.07 [[ 9.99989795e-01 -3.51821139e-03 2.83401901e-03 7.51883998e+01] [ 3.51766352e-03 9.99993793e-01 1.98283614e-04 3.61385085e+00] [-2.83469902e-03 -1.88312466e-04 9.99995965e-01 -7.20659157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.73140051299998 meters Centerline goodness [0,1] 0.9927652561056529 Centerline is valid? [True, True] Translation: X:75.22, Y:3.61, Z:-0.07 [[ 9.99988837e-01 -3.27060916e-03 3.41011334e-03 7.52206536e+01] [ 3.26981558e-03 9.99994626e-01 2.38263273e-04 3.61122884e+00] [-3.41087428e-03 -2.27110171e-04 9.99994157e-01 -7.16702785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.76140051299998 meters Centerline goodness [0,1] 0.9839998295587703 Centerline is valid? [True, True] Translation: X:75.25, Y:3.62, Z:-0.07 [[ 9.99988209e-01 -2.94165767e-03 3.86378305e-03 7.52516535e+01] [ 2.94063720e-03 9.99995640e-01 2.69767650e-04 3.61644756e+00] [-3.86455977e-03 -2.58402485e-04 9.99992499e-01 -7.12471409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.79140051299999 meters Centerline goodness [0,1] 0.9927739522230723 Centerline is valid? [True, True] Translation: X:75.28, Y:3.61, Z:-0.07 [[ 9.99986850e-01 -2.96913446e-03 4.18147327e-03 7.52841679e+01] [ 2.96794016e-03 9.99995553e-01 2.91793985e-04 3.61387316e+00] [-4.18232105e-03 -2.79379785e-04 9.99991215e-01 -7.07794392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.821400513 meters Centerline goodness [0,1] 0.9922483912757236 Centerline is valid? [True, True] Translation: X:75.32, Y:3.61, Z:-0.07 [[ 9.99984864e-01 -3.47854263e-03 4.26287972e-03 7.53163103e+01] [ 3.47730680e-03 9.99993910e-01 2.97282401e-04 3.61448821e+00] [-4.26388786e-03 -2.82454561e-04 9.99990870e-01 -7.07404817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.851400513 meters Centerline goodness [0,1] 0.9944603629417383 Centerline is valid? [True, True] Translation: X:75.35, Y:3.61, Z:-0.07 [[ 9.99980401e-01 -5.19410308e-03 3.49562938e-03 7.53475435e+01] [ 5.19328298e-03 9.99986485e-01 2.43642816e-04 3.60928953e+00] [-3.49684764e-03 -2.25484248e-04 9.99993861e-01 -7.20848355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.881400513 meters Centerline goodness [0,1] 0.9963883577650308 Centerline is valid? [True, True] Translation: X:75.38, Y:3.61, Z:-0.07 [[ 9.99974524e-01 -6.46658936e-03 3.02231257e-03 7.53792993e+01] [ 6.46598216e-03 9.99979073e-01 2.10633293e-04 3.60680740e+00] [-3.02361140e-03 -1.91085708e-04 9.99995411e-01 -7.28582370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.911400513 meters Centerline goodness [0,1] 0.9959805193424215 Centerline is valid? [True, True] Translation: X:75.41, Y:3.61, Z:-0.07 [[ 9.99964293e-01 -8.02346511e-03 2.65274377e-03 7.54094286e+01] [ 8.02300298e-03 9.99967798e-01 1.84803436e-04 3.60668091e+00] [-2.65414111e-03 -1.63513866e-04 9.99996464e-01 -7.34028197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.941400513 meters Centerline goodness [0,1] 0.9974616040955632 Centerline is valid? [True, True] Translation: X:75.44, Y:3.60, Z:-0.07 [[ 9.99956291e-01 -9.06712720e-03 2.28113925e-03 7.54407439e+01] [ 9.06678814e-03 9.99958883e-01 1.58931941e-04 3.60477777e+00] [-2.28248651e-03 -1.38242388e-04 9.99997386e-01 -7.40990820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.971400513 meters Centerline goodness [0,1] 0.9985590472759637 Centerline is valid? [True, True] Translation: X:75.47, Y:3.60, Z:-0.07 [[ 9.99953126e-01 -9.50648830e-03 1.83660793e-03 7.54718762e+01] [ 9.50626931e-03 9.99954806e-01 1.27926920e-04 3.60207183e+00] [-1.83774106e-03 -1.10461634e-04 9.99998305e-01 -7.48482014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.001400513 meters Centerline goodness [0,1] 0.9981199393253146 Centerline is valid? [True, True] Translation: X:75.50, Y:3.60, Z:-0.08 [[ 9.99954871e-01 -9.48219167e-03 5.86491868e-04 7.55015796e+01] [ 9.48216937e-03 9.99955042e-01 4.07801638e-05 3.60336414e+00] [-5.86852186e-04 -3.52171082e-05 9.99999827e-01 -7.65792260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.031400513 meters Centerline goodness [0,1] 0.9923073635625455 Centerline is valid? [True, True] Translation: X:75.53, Y:3.61, Z:-0.08 [[ 9.99962711e-01 -8.58952919e-03 -8.92863010e-04 7.55295933e+01] [ 8.58947686e-03 9.99963108e-01 -6.24205406e-05 3.60904508e+00] [ 8.93366233e-04 5.47489869e-05 9.99999599e-01 -7.89591401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.061400513 meters Centerline goodness [0,1] 0.9935687860277037 Centerline is valid? [True, True] Translation: X:75.56, Y:3.61, Z:-0.08 [[ 9.99973000e-01 -7.34133209e-03 -3.21626808e-04 7.55591782e+01] [ 7.34132522e-03 9.99973052e-01 -2.25162591e-05 3.61104831e+00] [ 3.21783440e-04 2.01544842e-05 9.99999948e-01 -7.81985696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.091400513 meters Centerline goodness [0,1] 0.9935687860277037 Centerline is valid? [True, True] Translation: X:75.59, Y:3.61, Z:-0.08 [[ 9.99971838e-01 -7.49803200e-03 -3.21588114e-04 7.55875176e+01] [ 7.49802497e-03 9.99971889e-01 -2.30703347e-05 3.61312420e+00] [ 3.21752056e-04 2.06584092e-05 9.99999948e-01 -7.83054258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.121400513 meters Centerline goodness [0,1] 0.9397885835095138 Centerline is valid? [True, False] Translation: X:75.63, Y:3.62, Z:-0.08 [[ 9.99980629e-01 -5.35078115e-03 3.17966669e-03 7.56260475e+01] [ 5.35302426e-03 9.99985429e-01 -6.97363890e-04 3.61652255e+00] [-3.17588892e-03 7.14371214e-04 9.99994702e-01 -7.84882296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.151400513 meters Centerline goodness [0,1] 0.9718223777108053 Centerline is valid? [False, True] Translation: X:75.63, Y:3.61, Z:-0.08 [[ 9.99991582e-01 -3.22627657e-03 2.53531890e-03 7.56309836e+01] [ 3.22275133e-03 9.99993836e-01 1.39331272e-03 3.61421303e+00] [-2.53979849e-03 -1.38513029e-03 9.99995815e-01 -8.14065908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.181400513 meters Centerline goodness [0,1] 0.9952361710724995 Centerline is valid? [True, True] Translation: X:75.66, Y:3.61, Z:-0.08 [[ 9.99995478e-01 -1.04746779e-03 2.81884246e-03 7.56623615e+01] [ 1.04692747e-03 9.99999433e-01 1.93151145e-04 3.61328538e+00] [-2.81904319e-03 -1.90199148e-04 9.99996008e-01 -8.14890081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.211400513 meters Centerline goodness [0,1] 0.9330931440076295 Centerline is valid? [True, False] Translation: X:75.66, Y:3.62, Z:-0.08 [[ 9.99995446e-01 -1.23386917e-03 2.75430461e-03 7.56627882e+01] [ 1.23463374e-03 9.99999200e-01 -2.75905487e-04 3.61545715e+00] [-2.75396197e-03 2.79304788e-04 9.99996169e-01 -8.19322388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.241400513 meters Centerline goodness [0,1] 0.9855245231607629 Centerline is valid? [False, True] Translation: X:75.66, Y:3.62, Z:-0.08 [[ 9.99995313e-01 -1.35397967e-03 2.74609188e-03 7.56628459e+01] [ 1.35550012e-03 9.99998929e-01 -5.51894201e-04 3.61676208e+00] [-2.74534168e-03 5.55613942e-04 9.99996077e-01 -8.19853800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.27140051299997 meters Centerline goodness [0,1] 0.9908239301681925 Centerline is valid? [True, True] Translation: X:75.69, Y:3.62, Z:-0.08 [[ 9.99994172e-01 -1.75291836e-03 2.92964380e-03 7.56947953e+01] [ 1.75232623e-03 9.99998444e-01 2.04672440e-04 3.61697501e+00] [-2.92999802e-03 -1.99537556e-04 9.99995688e-01 -8.15088569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.30140051299998 meters Centerline goodness [0,1] 0.9771275020100715 Centerline is valid? [True, True] Translation: X:75.72, Y:3.63, Z:-0.08 [[ 9.99981317e-01 -4.22346610e-03 4.41905377e-03 7.57242671e+01] [ 4.22214394e-03 9.99991039e-01 3.08482637e-04 3.62596678e+00] [-4.42031704e-03 -2.89818992e-04 9.99990188e-01 -7.98121013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.33140051299998 meters Centerline goodness [0,1] 0.9984781583572684 Centerline is valid? [True, True] Translation: X:75.76, Y:3.62, Z:-0.08 [[ 9.99972044e-01 -5.94120073e-03 4.54018661e-03 7.57553588e+01] [ 5.93982253e-03 9.99982309e-01 3.16979380e-04 3.61689146e+00] [-4.54198952e-03 -2.90002615e-04 9.99989643e-01 -7.98460878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.36140051299998 meters Centerline goodness [0,1] 0.9971638162664733 Centerline is valid? [True, True] Translation: X:75.79, Y:3.62, Z:-0.08 [[ 9.99957800e-01 -8.12818291e-03 4.28152147e-03 7.57851869e+01] [ 8.12697725e-03 9.99966931e-01 2.98920317e-04 3.62146791e+00] [-4.28380956e-03 -2.64111875e-04 9.99990790e-01 -8.03047792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.39140051299998 meters Centerline goodness [0,1] 0.9979828863834215 Centerline is valid? [True, True] Translation: X:75.82, Y:3.62, Z:-0.08 [[ 9.99943513e-01 -9.96171948e-03 3.70600199e-03 7.58165560e+01] [ 9.96082867e-03 9.99950356e-01 2.58750706e-04 3.62116814e+00] [-3.70839561e-03 -2.21821239e-04 9.99993099e-01 -8.13280129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.42140051299998 meters Centerline goodness [0,1] 0.9953959093609437 Centerline is valid? [True, True] Translation: X:75.85, Y:3.62, Z:-0.08 [[ 9.99925448e-01 -1.17261436e-02 3.40541856e-03 7.58458506e+01] [ 1.17254019e-02 9.99931227e-01 2.37702056e-04 3.62494318e+00] [-3.40797168e-03 -1.97754434e-04 9.99994173e-01 -8.20864506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.45140051299998 meters Centerline goodness [0,1] 0.9998494008304468 Centerline is valid? [True, True] Translation: X:75.88, Y:3.61, Z:-0.08 [[ 9.99883040e-01 -1.47286413e-02 4.11988996e-03 7.58771937e+01] [ 1.47275808e-02 9.99891502e-01 2.87634209e-04 3.61121765e+00] [-4.12367942e-03 -2.26924555e-04 9.99991472e-01 -8.11583986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.48140051299998 meters Centerline goodness [0,1] 0.9996167603474706 Centerline is valid? [True, True] Translation: X:75.91, Y:3.62, Z:-0.08 [[ 9.99867557e-01 -1.54258313e-02 5.18760873e-03 7.59066499e+01] [ 1.54241591e-02 9.99880975e-01 3.62196947e-04 3.61567325e+00] [-5.19257846e-03 -2.82134475e-04 9.99986479e-01 -7.96698809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.51140051299998 meters Centerline goodness [0,1] 0.9994706978319783 Centerline is valid? [True, True] Translation: X:75.94, Y:3.61, Z:-0.08 [[ 9.99860880e-01 -1.56760985e-02 5.69913025e-03 7.59377123e+01] [ 1.56740840e-02 9.99877075e-01 3.97970543e-04 3.61448051e+00] [-5.70466831e-03 -3.08586531e-04 9.99983681e-01 -7.85100189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.54140051299999 meters Centerline goodness [0,1] 0.9997028547171813 Centerline is valid? [True, True] Translation: X:75.97, Y:3.62, Z:-0.08 [[ 9.99867039e-01 -1.55198859e-02 5.00379740e-03 7.59680249e+01] [ 1.55183311e-02 9.99879522e-01 3.49404691e-04 3.61633396e+00] [-5.00861728e-03 -2.71707649e-04 9.99987420e-01 -7.91262129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.571400513 meters Centerline goodness [0,1] 0.9989866148714268 Centerline is valid? [True, True] Translation: X:76.00, Y:3.62, Z:-0.08 [[ 9.99876606e-01 -1.51869594e-02 4.01599868e-03 7.59981585e+01] [ 1.51859558e-02 9.99884647e-01 2.80299253e-04 3.62353119e+00] [-4.01979232e-03 -2.19277887e-04 9.99991897e-01 -8.12212326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.601400513 meters Centerline goodness [0,1] 0.9996155489107219 Centerline is valid? [True, True] Translation: X:76.03, Y:3.62, Z:-0.08 [[ 9.99884194e-01 -1.49016149e-02 3.08889692e-03 7.60287742e+01] [ 1.49010200e-02 9.99888950e-01 2.15514315e-04 3.61689159e+00] [-3.09176541e-03 -1.69461642e-04 9.99995206e-01 -8.28597204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.631400513 meters Centerline goodness [0,1] 0.9991073705687324 Centerline is valid? [True, True] Translation: X:76.06, Y:3.62, Z:-0.08 [[ 9.99899190e-01 -1.39152206e-02 2.82412657e-03 7.60569816e+01] [ 1.39147193e-02 9.99903166e-01 1.97054327e-04 3.61766615e+00] [-2.82659515e-03 -1.57737533e-04 9.99995993e-01 -8.42477872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.661400513 meters Centerline goodness [0,1] 0.999677613480055 Centerline is valid? [True, True] Translation: X:76.09, Y:3.61, Z:-0.08 [[ 9.99906498e-01 -1.35041775e-02 2.15222902e-03 7.60862359e+01] [ 1.35038860e-02 9.99908807e-01 1.49922058e-04 3.61358919e+00] [-2.15405733e-03 -1.20844585e-04 9.99997673e-01 -8.49013229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.691400513 meters Centerline goodness [0,1] 0.9992302099816106 Centerline is valid? [True, True] Translation: X:76.11, Y:3.62, Z:-0.09 [[ 9.99920327e-01 -1.25890454e-02 9.24696454e-04 7.61142488e+01] [ 1.25889910e-02 9.99920753e-01 6.45657991e-05 3.61588441e+00] [-9.25435996e-04 -5.29196596e-05 9.99999570e-01 -8.59931778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.721400513 meters Centerline goodness [0,1] 0.9957778014713722 Centerline is valid? [True, True] Translation: X:76.14, Y:3.62, Z:-0.09 [[ 9.99936204e-01 -1.12851816e-02 4.82661686e-04 7.61428266e+01] [ 1.12851667e-02 9.99936320e-01 3.36702167e-05 3.62142487e+00] [-4.83010924e-04 -2.82211511e-05 9.99999883e-01 -8.66432025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.751400513 meters Centerline goodness [0,1] 0.999443683669976 Centerline is valid? [True, True] Translation: X:76.17, Y:3.62, Z:-0.08 [[ 9.99969766e-01 -7.48857683e-03 2.09483885e-03 7.61731514e+01] [ 7.48828563e-03 9.99971952e-01 1.46816692e-04 3.62111720e+00] [-2.09587954e-03 -1.31125502e-04 9.99997795e-01 -8.38840669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.781400513 meters Centerline goodness [0,1] 0.9972292029125588 Centerline is valid? [True, True] Translation: X:76.20, Y:3.63, Z:-0.08 [[ 9.99981966e-01 -5.18776896e-03 3.02567631e-03 7.62019638e+01] [ 5.18715096e-03 9.99986524e-01 2.12063161e-04 3.63240445e+00] [-3.02673567e-03 -1.96364697e-04 9.99995400e-01 -8.27668848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.811400513 meters Centerline goodness [0,1] 0.9927340712570907 Centerline is valid? [True, True] Translation: X:76.23, Y:3.64, Z:-0.08 [[ 9.99990342e-01 -2.53792892e-03 3.58810958e-03 7.62314355e+01] [ 2.53704263e-03 9.99996750e-01 2.51537237e-04 3.63952054e+00] [-3.58873630e-03 -2.42431621e-04 9.99993531e-01 -8.23485321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.841400513 meters Centerline goodness [0,1] 0.9868625241810336 Centerline is valid? [True, True] Translation: X:76.26, Y:3.64, Z:-0.08 [[ 9.99994831e-01 -5.84385656e-05 3.21486249e-03 7.62615148e+01] [ 5.77141758e-05 9.99999973e-01 2.25417613e-04 3.64483315e+00] [-3.21487558e-03 -2.25230905e-04 9.99994807e-01 -8.30538411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.871400513 meters Centerline goodness [0,1] 0.8542225980340344 Centerline is valid? [True, False] Translation: X:76.26, Y:3.65, Z:-0.08 [[ 9.99994837e-01 -3.11180097e-04 3.19828124e-03 7.62620499e+01] [ 3.12665029e-04 9.99999844e-01 -4.63801164e-04 3.64802079e+00] [-3.19813642e-03 4.64798760e-04 9.99994778e-01 -8.40381065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.901400513 meters Centerline goodness [0,1] 0.8337527757216876 Centerline is valid? [False, False] Translation: X:76.26, Y:3.65, Z:-0.08 [[ 9.99994678e-01 -5.74849735e-04 3.21144247e-03 7.62623766e+01] [ 5.78299750e-04 9.99999257e-01 -1.07346296e-03 3.65082401e+00] [-3.21082300e-03 1.07531442e-03 9.99994267e-01 -8.47863144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.931400513 meters Centerline goodness [0,1] 0.9565077664702731 Centerline is valid? [False, True] Translation: X:76.22, Y:3.65, Z:-0.08 [[ 9.99997507e-01 -2.11913339e-03 7.03841344e-04 7.62209341e+01] [ 2.11800050e-03 9.99996467e-01 1.60644656e-03 3.64585963e+00] [-7.07243132e-04 -1.60495182e-03 9.99998462e-01 -8.24288775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.961400513 meters Centerline goodness [0,1] 0.9343795185846729 Centerline is valid? [True, False] Translation: X:76.22, Y:3.64, Z:-0.08 [[ 9.99997750e-01 -2.01280346e-03 6.70393468e-04 7.62205239e+01] [ 2.01140820e-03 9.99995823e-01 2.07547078e-03 3.64362999e+00] [-6.74568183e-04 -2.07411767e-03 9.99997621e-01 -8.13701092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.99140051299997 meters Centerline goodness [0,1] 0.9929475168943812 Centerline is valid? [False, True] Translation: X:76.22, Y:3.65, Z:-0.08 [[ 9.99977119e-01 -6.70285559e-03 9.12661050e-04 7.62201208e+01] [ 6.70604071e-03 9.99971274e-01 -3.53277575e-03 3.64989968e+00] [-8.88955147e-04 3.53881526e-03 9.99993343e-01 -8.21297801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.02140051299997 meters Centerline goodness [0,1] 0.9979047619047619 Centerline is valid? [True, True] Translation: X:76.25, Y:3.65, Z:-0.08 [[ 9.99969788e-01 -7.76952790e-03 2.40509327e-04 7.62502817e+01] [ 7.76952401e-03 9.99969817e-01 1.71081269e-05 3.64558653e+00] [-2.40634989e-04 -1.52389670e-05 9.99999971e-01 -8.11648729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.05140051299998 meters Centerline goodness [0,1] 0.9988032398008249 Centerline is valid? [True, True] Translation: X:76.28, Y:3.65, Z:-0.08 [[ 9.99968166e-01 -7.93455816e-03 -8.42943536e-04 7.62786480e+01] [ 7.93451004e-03 9.99968519e-01 -6.04093641e-05 3.64733536e+00] [ 8.43396321e-04 5.37190970e-05 9.99999643e-01 -8.28956606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.08140051299998 meters Centerline goodness [0,1] 0.9127290362030067 Centerline is valid? [True, False] Translation: X:76.31, Y:3.66, Z:-0.09 [[ 9.99979393e-01 -4.89744799e-03 4.15076324e-03 7.63056356e+01] [ 4.93224201e-03 9.99952436e-01 -8.41419323e-03 3.66229030e+00] [-4.10935774e-03 8.43449241e-03 9.99955985e-01 -9.28590623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.11140051299998 meters Centerline goodness [0,1] 0.9160106666666666 Centerline is valid? [False, False] Translation: X:76.28, Y:3.65, Z:-0.08 [[ 9.99989570e-01 -4.26216497e-03 -1.64111666e-03 7.62788276e+01] [ 4.26736987e-03 9.99985835e-01 3.18122649e-03 3.65176928e+00] [ 1.62753450e-03 -3.18819656e-03 9.99993593e-01 -8.20990495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.14140051299998 meters Centerline goodness [0,1] 0.9588393064560411 Centerline is valid? [False, True] Translation: X:76.30, Y:3.66, Z:-0.09 [[ 9.99994734e-01 -2.70813375e-03 1.78853554e-03 7.63003181e+01] [ 2.72306957e-03 9.99960996e-01 -8.40190469e-03 3.66283454e+00] [-1.76571230e-03 8.40673074e-03 9.99963104e-01 -8.70630299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.17140051299998 meters Centerline goodness [0,1] 0.9721488237299694 Centerline is valid? [True, True] Translation: X:76.33, Y:3.65, Z:-0.09 [[ 9.99992766e-01 -3.77160424e-03 4.92061412e-04 7.63318547e+01] [ 3.77158783e-03 9.99992887e-01 3.42853492e-05 3.65473929e+00] [-4.92187223e-04 -3.24292484e-05 9.99999878e-01 -8.62744617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.20140051299998 meters Centerline goodness [0,1] 0.9928510273972603 Centerline is valid? [True, True] Translation: X:76.36, Y:3.65, Z:-0.09 [[ 9.99985121e-01 -5.39676559e-03 7.95189171e-04 7.63625659e+01] [ 5.39672333e-03 9.99985436e-01 5.52825473e-05 3.65164112e+00] [-7.95475937e-04 -5.09903088e-05 9.99999682e-01 -8.59215057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.23140051299998 meters Centerline goodness [0,1] 0.994725087737956 Centerline is valid? [True, True] Translation: X:76.39, Y:3.65, Z:-0.08 [[ 9.99974526e-01 -6.91383560e-03 1.77396730e-03 7.63920413e+01] [ 6.91362730e-03 9.99976093e-01 1.23525706e-04 3.65285407e+00] [-1.77477893e-03 -1.11258010e-04 9.99998419e-01 -8.46283420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.26140051299998 meters Centerline goodness [0,1] 0.9931928207513265 Centerline is valid? [True, True] Translation: X:76.42, Y:3.66, Z:-0.08 [[ 9.99965182e-01 -7.78237146e-03 3.01143126e-03 7.64212861e+01] [ 7.78177586e-03 9.99969700e-01 2.09446353e-04 3.65824614e+00] [-3.01297001e-03 -1.86004777e-04 9.99995444e-01 -8.30452267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.29140051299999 meters Centerline goodness [0,1] 0.9954825026511135 Centerline is valid? [True, True] Translation: X:76.45, Y:3.66, Z:-0.08 [[ 9.99967661e-01 -7.52495154e-03 2.83748503e-03 7.64524726e+01] [ 7.52442148e-03 9.99971672e-01 1.97434213e-04 3.65965263e+00] [-2.83889033e-03 -1.76077395e-04 9.99995955e-01 -8.29782598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.321400513 meters Centerline goodness [0,1] 0.9950806056604979 Centerline is valid? [True, True] Translation: X:76.48, Y:3.66, Z:-0.08 [[ 9.99977491e-01 -6.50118219e-03 1.65912184e-03 7.64832060e+01] [ 6.50099960e-03 9.99978862e-01 1.15416460e-04 3.66121869e+00] [-1.65983712e-03 -1.04627912e-04 9.99998617e-01 -8.45641353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.351400513 meters Centerline goodness [0,1] 0.9906066286103774 Centerline is valid? [True, True] Translation: X:76.51, Y:3.67, Z:-0.09 [[ 9.99986760e-01 -5.06669290e-03 8.99090340e-04 7.65137006e+01] [ 5.06663873e-03 9.99987163e-01 6.25173096e-05 3.66506933e+00] [-8.99395554e-04 -5.79611160e-05 9.99999594e-01 -8.62127146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.381400513 meters Centerline goodness [0,1] 0.9874747044413675 Centerline is valid? [True, True] Translation: X:76.54, Y:3.67, Z:-0.08 [[ 9.99995107e-01 -2.17244881e-03 2.25070015e-03 7.65440732e+01] [ 2.17210205e-03 9.99997629e-01 1.56498655e-04 3.66948160e+00] [-2.25103480e-03 -1.51609139e-04 9.99997455e-01 -8.43926880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.411400513 meters Centerline goodness [0,1] 0.9679676304476102 Centerline is valid? [True, True] Translation: X:76.57, Y:3.68, Z:-0.08 [[ 9.99993568e-01 -6.24343159e-04 3.53191615e-03 7.65740995e+01] [ 6.23479584e-04 9.99999775e-01 2.45601858e-04 3.67717426e+00] [-3.53206870e-03 -2.43398201e-04 9.99993733e-01 -8.27925422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.441400513 meters Centerline goodness [0,1] 0.973088698109572 Centerline is valid? [True, True] Translation: X:76.60, Y:3.68, Z:-0.08 [[ 9.99993966e-01 1.33129366e-03 3.20858154e-03 7.66047997e+01] [-1.33201627e-03 9.99999088e-01 2.23086685e-04 3.67618395e+00] [-3.20828162e-03 -2.27359222e-04 9.99994828e-01 -8.27521968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.471400513 meters Centerline goodness [0,1] 0.9429444289064349 Centerline is valid? [True, False] Translation: X:76.61, Y:3.68, Z:-0.08 [[ 9.99994229e-01 1.31771895e-03 3.13146269e-03 7.66052952e+01] [-1.31807116e-03 9.99999125e-01 1.10414615e-04 3.67667365e+00] [-3.13131446e-03 -1.14541469e-04 9.99995091e-01 -8.32207482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.501400513 meters Centerline goodness [0,1] 0.8902094660091878 Centerline is valid? [False, False] Translation: X:76.65, Y:3.68, Z:-0.09 [[ 9.99984047e-01 3.09379426e-03 4.72591230e-03 7.66500262e+01] [-3.08202266e-03 9.99992135e-01 -2.49611850e-03 3.68294843e+00] [-4.73359761e-03 2.48151331e-03 9.99985717e-01 -8.77006421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.531400513 meters Centerline goodness [0,1] 0.7710746255992533 Centerline is valid? [False, False] Translation: X:76.65, Y:3.68, Z:-0.09 [[ 9.99960681e-01 7.46536208e-03 4.78593858e-03 7.66498143e+01] [-7.47484874e-03 9.99970128e-01 1.96738127e-03 3.68235310e+00] [-4.77110840e-03 -2.00307808e-03 9.99986612e-01 -8.75343013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.561400513 meters Centerline goodness [0,1] 0.5915289519520796 Centerline is valid? [False, False] Translation: X:76.65, Y:3.69, Z:-0.09 [[ 9.99961268e-01 7.23088961e-03 5.01768127e-03 7.66491483e+01] [-7.23734172e-03 9.99973005e-01 1.26891113e-03 3.68571921e+00] [-5.00837046e-03 -1.30517666e-03 9.99986606e-01 -8.77511727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.591400513 meters Centerline goodness [0,1] 0.7938166265931867 Centerline is valid? [False, False] Translation: X:76.65, Y:3.69, Z:-0.09 [[ 9.99961583e-01 7.07948159e-03 5.16856846e-03 7.66486672e+01] [-7.08405355e-03 9.99974532e-01 8.66798548e-04 3.68764629e+00] [-5.16230034e-03 -9.03379664e-04 9.99986267e-01 -8.77990350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.621400513 meters Centerline goodness [0,1] 0.7610969991819865 Centerline is valid? [False, False] Translation: X:76.62, Y:3.68, Z:-0.08 [[ 9.99972223e-01 7.40631525e-03 -8.36128795e-04 7.66230965e+01] [-7.39566022e-03 9.99899461e-01 1.20984190e-02 3.67501445e+00] [ 9.25649437e-04 -1.20918993e-02 9.99926462e-01 -7.82821035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.651400513 meters Centerline goodness [0,1] 0.4873053486797563 Centerline is valid? [False, False] Translation: X:76.67, Y:3.69, Z:-0.08 [[ 9.99987609e-01 4.89401730e-03 9.10916783e-04 7.66650480e+01] [-4.89690586e-03 9.99982902e-01 3.19630625e-03 3.68773376e+00] [-8.95258430e-04 -3.20072732e-03 9.99994477e-01 -8.33664069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.681400513 meters Centerline goodness [0,1] 0.49887109142029484 Centerline is valid? [False, False] Translation: X:76.66, Y:3.69, Z:-0.08 [[ 9.99995833e-01 2.35536729e-03 1.66927860e-03 7.66592759e+01] [-2.35616943e-03 9.99997110e-01 4.78730887e-04 3.68962020e+00] [-1.66814619e-03 -4.82661995e-04 9.99998492e-01 -8.01213759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.711400513 meters Centerline goodness [0,1] 0.6327543424317618 Centerline is valid? [False, False] Translation: X:76.66, Y:3.69, Z:-0.08 [[ 9.99995925e-01 2.39468626e-03 1.55445762e-03 7.66596052e+01] [-2.39572225e-03 9.99996909e-01 6.64943031e-04 3.68868334e+00] [-1.55286048e-03 -6.68664370e-04 9.99998571e-01 -8.00600077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.74140051299997 meters Centerline goodness [0,1] 0.6828098471986417 Centerline is valid? [False, False] Translation: X:76.66, Y:3.69, Z:-0.08 [[ 9.99996253e-01 2.39160626e-03 1.33186898e-03 7.66603747e+01] [-2.39280891e-03 9.99996730e-01 9.02121310e-04 3.68738628e+00] [-1.32970711e-03 -9.05304838e-04 9.99998706e-01 -8.01151155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.77140051299997 meters Centerline goodness [0,1] 0.7515217298769846 Centerline is valid? [False, False] Translation: X:76.66, Y:3.69, Z:-0.08 [[ 9.99996140e-01 2.49004652e-03 1.23310672e-03 7.66605329e+01] [-2.49160897e-03 9.99996093e-01 1.26716713e-03 3.68561544e+00] [-1.22994660e-03 -1.27023466e-03 9.99998437e-01 -7.97663692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.80140051299998 meters Centerline goodness [0,1] 0.8908896492728828 Centerline is valid? [False, False] Translation: X:76.65, Y:3.69, Z:-0.08 [[ 9.99997510e-01 -7.66644760e-05 2.23020746e-03 7.66534539e+01] [ 7.97806315e-05 9.99999021e-01 -1.39719374e-03 3.68719866e+00] [-2.23009816e-03 1.39736819e-03 9.99996537e-01 -7.53288189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.83140051299998 meters Centerline goodness [0,1] 0.9729015201586253 Centerline is valid? [False, True] Translation: X:76.65, Y:3.68, Z:-0.07 [[ 9.99997301e-01 2.92879110e-05 2.32316074e-03 7.66525434e+01] [-2.73220274e-05 9.99999642e-01 -8.46237958e-04 3.68458327e+00] [-2.32318469e-03 8.46172201e-04 9.99996943e-01 -7.40544880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.86140051299998 meters Centerline goodness [0,1] 0.9587131595163724 Centerline is valid? [True, True] Translation: X:76.68, Y:3.69, Z:-0.07 [[ 9.99996081e-01 -1.03802602e-03 2.60015314e-03 7.66830690e+01] [ 1.03753739e-03 9.99999444e-01 1.89268365e-04 3.68820068e+00] [-2.60034816e-03 -1.86569867e-04 9.99996602e-01 -7.39296673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.89140051299998 meters Centerline goodness [0,1] 0.9739622398902771 Centerline is valid? [True, True] Translation: X:76.72, Y:3.69, Z:-0.07 [[ 9.99995498e-01 -1.63938893e-03 2.51335486e-03 7.67153533e+01] [ 1.63893351e-03 9.99998640e-01 1.83248389e-04 3.68747823e+00] [-2.51365185e-03 -1.79128342e-04 9.99996825e-01 -7.44405349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.92140051299998 meters Centerline goodness [0,1] 0.8722118565007209 Centerline is valid? [True, False] Translation: X:76.72, Y:3.69, Z:-0.07 [[ 9.99996021e-01 -1.47866587e-03 2.40254280e-03 7.67155868e+01] [ 1.47707902e-03 9.99998690e-01 6.62124717e-04 3.68515085e+00] [-2.40351872e-03 -6.58573337e-04 9.99996895e-01 -7.41568157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.95140051299998 meters Centerline goodness [0,1] 0.9710318052859489 Centerline is valid? [False, True] Translation: X:76.72, Y:3.69, Z:-0.07 [[ 9.99996032e-01 -1.52218565e-03 2.37056427e-03 7.67158368e+01] [ 1.52083018e-03 9.99998679e-01 5.73489996e-04 3.68552134e+00] [-2.37143409e-03 -5.69882495e-04 9.99997026e-01 -7.44647743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.98140051299998 meters Centerline goodness [0,1] 0.9710318052859489 Centerline is valid? [True, True] Translation: X:76.75, Y:3.69, Z:-0.07 [[ 9.99996034e-01 -1.47538420e-03 2.39919996e-03 7.67474725e+01] [ 1.47497887e-03 9.99998898e-01 1.70705847e-04 3.68805403e+00] [-2.39944917e-03 -1.67166400e-04 9.99997107e-01 -7.47388910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.01140051299998 meters Centerline goodness [0,1] 0.8725016356767481 Centerline is valid? [True, False] Translation: X:76.79, Y:3.70, Z:-0.08 [[ 9.99986181e-01 -1.40120334e-03 5.06690653e-03 7.67891643e+01] [ 1.42052747e-03 9.99991725e-01 -3.81220845e-03 3.69611173e+00] [-5.06152292e-03 3.81935345e-03 9.99979897e-01 -7.78980517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.04140051299999 meters Centerline goodness [0,1] 0.9422882640175114 Centerline is valid? [False, False] Translation: X:76.79, Y:3.70, Z:-0.08 [[ 9.99986641e-01 -1.45819919e-03 4.95903134e-03 7.67896884e+01] [ 1.47758039e-03 9.99991277e-01 -3.90684862e-03 3.69649206e+00] [-4.95329112e-03 3.91412379e-03 9.99980072e-01 -7.82200761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.071400513 meters Centerline goodness [0,1] 0.9536150787807393 Centerline is valid? [False, True] Translation: X:76.79, Y:3.70, Z:-0.08 [[ 9.99987183e-01 -1.44151113e-03 4.85346942e-03 7.67900857e+01] [ 1.46025331e-03 9.99991483e-01 -3.86027718e-03 3.69625281e+00] [-4.84786345e-03 3.86731499e-03 9.99980771e-01 -7.83202835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.101400513 meters Centerline goodness [0,1] 0.9900500706124021 Centerline is valid? [True, True] Translation: X:76.82, Y:3.69, Z:-0.08 [[ 9.99987710e-01 -1.79539640e-03 4.62128619e-03 7.68231951e+01] [ 1.79393951e-03 9.99998340e-01 3.19382037e-04 3.68855927e+00] [-4.62185194e-03 -3.11087804e-04 9.99989271e-01 -7.71186642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.131400513 meters Centerline goodness [0,1] 0.9859872066405665 Centerline is valid? [True, True] Translation: X:76.85, Y:3.69, Z:-0.08 [[ 9.99977421e-01 -2.53144335e-03 6.22492735e-03 7.68537513e+01] [ 2.52881723e-03 9.99996710e-01 4.29706180e-04 3.69454227e+00] [-6.22599465e-03 -4.13954774e-04 9.99980533e-01 -7.66255860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.161400513 meters Centerline goodness [0,1] 0.9952168367346939 Centerline is valid? [True, True] Translation: X:76.89, Y:3.69, Z:-0.08 [[ 9.99975770e-01 -2.88170069e-03 6.33674365e-03 7.68865854e+01] [ 2.87898643e-03 9.99995760e-01 4.37417131e-04 3.69281461e+00] [-6.33797729e-03 -4.19163134e-04 9.99979827e-01 -7.70949033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.191400513 meters Centerline goodness [0,1] 0.997536259828181 Centerline is valid? [True, True] Translation: X:76.92, Y:3.69, Z:-0.08 [[ 9.99979447e-01 -2.76728394e-03 5.78343463e-03 7.69189686e+01] [ 2.76502350e-03 9.99996098e-01 3.98806376e-04 3.69230963e+00] [-5.78451567e-03 -3.82806847e-04 9.99983196e-01 -7.80680192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.221400513 meters Centerline goodness [0,1] 0.9972112579371889 Centerline is valid? [True, True] Translation: X:76.95, Y:3.69, Z:-0.08 [[ 9.99985148e-01 -1.67059092e-03 5.18775731e-03 7.69505172e+01] [ 1.66875870e-03 9.99998544e-01 3.57489520e-04 3.69289957e+00] [-5.18834697e-03 -3.48827095e-04 9.99986480e-01 -7.90265301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.251400513 meters Centerline goodness [0,1] 0.9024876465972472 Centerline is valid? [True, False] Translation: X:76.95, Y:3.69, Z:-0.08 [[ 9.99985579e-01 -1.74566363e-03 5.07891737e-03 7.69511364e+01] [ 1.74529169e-03 9.99998474e-01 7.76641884e-05 3.69422045e+00] [-5.07904520e-03 -6.87988761e-05 9.99987099e-01 -7.95823077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.281400513 meters Centerline goodness [0,1] 0.936321858644313 Centerline is valid? [False, False] Translation: X:76.95, Y:3.70, Z:-0.08 [[ 9.99985290e-01 -1.85709720e-03 5.09622281e-03 7.69513350e+01] [ 1.85835707e-03 9.99998244e-01 -2.42491994e-04 3.69572307e+00] [-5.09576353e-03 2.51959028e-04 9.99986985e-01 -8.00762357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.311400513 meters Centerline goodness [0,1] 0.9922101725981366 Centerline is valid? [False, True] Translation: X:76.91, Y:3.69, Z:-0.08 [[ 9.99995928e-01 -1.03319882e-03 2.66016154e-03 7.69087763e+01] [ 1.02208904e-03 9.99990765e-01 4.17433413e-03 3.68922311e+00] [-2.66444989e-03 -4.17159821e-03 9.99987749e-01 -7.75787029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.341400513 meters Centerline goodness [0,1] 0.9241322103113834 Centerline is valid? [True, False] Translation: X:76.95, Y:3.70, Z:-0.08 [[ 9.99983930e-01 1.35156024e-03 5.50577816e-03 7.69479128e+01] [-1.36469472e-03 9.99996231e-01 2.38252353e-03 3.69713060e+00] [-5.50253728e-03 -2.38999895e-03 9.99982005e-01 -7.86490879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.371400513 meters Centerline goodness [0,1] 0.8610164437249723 Centerline is valid? [False, False] Translation: X:76.95, Y:3.70, Z:-0.08 [[ 9.99984033e-01 1.13206892e-03 5.53645219e-03 7.69479109e+01] [-1.14201816e-03 9.99997738e-01 1.79421298e-03 3.69990867e+00] [-5.53440850e-03 -1.80050706e-03 9.99983064e-01 -7.88660724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.401400513 meters Centerline goodness [0,1] 0.6619512814006597 Centerline is valid? [False, False] Translation: X:76.95, Y:3.70, Z:-0.08 [[ 9.99984550e-01 9.01899937e-04 5.48507523e-03 7.69483246e+01] [-9.06723569e-04 9.99999204e-01 8.76987239e-04 3.70439353e+00] [-5.48427991e-03 -8.81947137e-04 9.99984572e-01 -7.94872465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.431400513 meters Centerline goodness [0,1] 0.6562113522964732 Centerline is valid? [False, False] Translation: X:76.95, Y:3.71, Z:-0.08 [[ 9.99983934e-01 7.95898022e-04 5.61238209e-03 7.69478050e+01] [-7.99467823e-04 9.99999480e-01 6.33843331e-04 3.70557618e+00] [-5.61187469e-03 -6.38320067e-04 9.99984050e-01 -7.93485592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.461400513 meters Centerline goodness [0,1] 0.7386935740839087 Centerline is valid? [False, False] Translation: X:76.95, Y:3.71, Z:-0.08 [[ 9.99983725e-01 7.95622192e-04 5.64941394e-03 7.69474467e+01] [-7.99799172e-04 9.99999408e-01 7.37144441e-04 3.70507639e+00] [-5.64882411e-03 -7.41650841e-04 9.99983770e-01 -7.89221397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.49140051299997 meters Centerline goodness [0,1] 0.9417218823429793 Centerline is valid? [False, False] Translation: X:76.95, Y:3.70, Z:-0.08 [[ 9.99984165e-01 9.53102887e-04 5.54629461e-03 7.69473758e+01] [-9.60508607e-04 9.99998651e-01 1.33274491e-03 3.70220668e+00] [-5.54501688e-03 -1.33805107e-03 9.99983731e-01 -7.81212523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.52140051299997 meters Centerline goodness [0,1] 0.9820980567249225 Centerline is valid? [False, True] Translation: X:76.95, Y:3.71, Z:-0.08 [[ 9.99977016e-01 -3.64517671e-03 5.71658294e-03 7.69472348e+01] [ 3.66667741e-03 9.99986227e-01 -3.75515052e-03 3.70576235e+00] [-5.70281602e-03 3.77602508e-03 9.99976609e-01 -7.89500678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.55140051299998 meters Centerline goodness [0,1] 0.8571911156152352 Centerline is valid? [True, False] Translation: X:76.95, Y:3.70, Z:-0.08 [[ 9.99979416e-01 -3.56947689e-03 5.33157148e-03 7.69483353e+01] [ 3.58558227e-03 9.99989029e-01 -3.01425751e-03 3.70187208e+00] [-5.32075366e-03 3.03331226e-03 9.99981244e-01 -7.85846292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.58140051299998 meters Centerline goodness [0,1] 0.9942283937470716 Centerline is valid? [False, True] Translation: X:76.93, Y:3.69, Z:-0.07 [[ 9.99961761e-01 -8.73747833e-03 -3.64387765e-04 7.69254818e+01] [ 8.73875162e-03 9.99955144e-01 3.65284198e-03 3.69191716e+00] [ 3.32454792e-04 -3.65588660e-03 9.99993262e-01 -7.05414053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.61140051299998 meters Centerline goodness [0,1] 0.9983658743633277 Centerline is valid? [True, True] Translation: X:76.96, Y:3.69, Z:-0.07 [[ 9.99930809e-01 -1.17633640e-02 9.60930317e-06 7.69560585e+01] [ 1.17633640e-02 9.99930809e-01 6.75776561e-07 3.69158587e+00] [-9.61658771e-06 -5.62692072e-07 1.00000000e+00 -7.14250613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.64140051299998 meters Centerline goodness [0,1] 0.9994670305071738 Centerline is valid? [True, True] Translation: X:76.99, Y:3.69, Z:-0.07 [[ 9.99893134e-01 -1.46045250e-02 6.53886103e-04 7.69871528e+01] [ 1.46044977e-02 9.99893348e-01 4.65111739e-05 3.68620026e+00] [-6.54495639e-04 -3.69565254e-05 9.99999785e-01 -7.03360967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.67140051299998 meters Centerline goodness [0,1] 0.9994266542087828 Centerline is valid? [True, True] Translation: X:77.02, Y:3.68, Z:-0.07 [[ 9.99859154e-01 -1.67382826e-02 1.22569052e-03 7.70168146e+01] [ 1.67381883e-02 9.99859903e-01 8.71366070e-05 3.68447962e+00] [-1.22697732e-03 -6.66084955e-05 9.99999245e-01 -6.92090227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.70140051299998 meters Centerline goodness [0,1] 0.9994677340373438 Centerline is valid? [True, True] Translation: X:77.04, Y:3.69, Z:-0.07 [[ 9.99835444e-01 -1.80970061e-02 1.25808839e-03 7.70445138e+01] [ 1.80969080e-02 9.99836234e-01 8.93726040e-05 3.68564931e+00] [-1.25949974e-03 -6.65903874e-05 9.99999205e-01 -6.88901240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.73140051299998 meters Centerline goodness [0,1] 0.9991921081724636 Centerline is valid? [True, True] Translation: X:77.07, Y:3.69, Z:-0.07 [[ 9.99824643e-01 -1.86708994e-02 1.44255630e-03 7.70716200e+01] [ 1.86707707e-02 9.99825681e-01 1.02593707e-04 3.69164731e+00] [-1.44422036e-03 -7.56420787e-05 9.99998954e-01 -6.83761037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.76140051299998 meters Centerline goodness [0,1] 0.9995327698254258 Centerline is valid? [True, True] Translation: X:77.10, Y:3.69, Z:-0.07 [[ 9.99851899e-01 -1.70398138e-02 2.41336066e-03 7.71010006e+01] [ 1.70394482e-02 9.99854803e-01 1.71967079e-04 3.68951315e+00] [-2.41594054e-03 -1.30819277e-04 9.99997073e-01 -6.50659264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.79140051299999 meters Centerline goodness [0,1] 0.9996165072330997 Centerline is valid? [True, True] Translation: X:77.13, Y:3.69, Z:-0.06 [[ 9.99872009e-01 -1.57864946e-02 2.59838184e-03 7.71302005e+01] [ 1.57860664e-02 9.99875375e-01 1.85250748e-04 3.69316838e+00] [-2.60098247e-03 -1.44208810e-04 9.99996607e-01 -6.49930680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.821400513 meters Centerline goodness [0,1] 0.9995750106247344 Centerline is valid? [True, True] Translation: X:77.16, Y:3.70, Z:-0.07 [[ 9.99890148e-01 -1.46445172e-02 2.28691850e-03 7.71600312e+01] [ 1.46441823e-02 9.99892755e-01 1.63126862e-04 3.69626811e+00] [-2.28906215e-03 -1.29618891e-04 9.99997372e-01 -6.58041873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.851400513 meters Centerline goodness [0,1] 0.9992759487201329 Centerline is valid? [True, True] Translation: X:77.19, Y:3.70, Z:-0.07 [[ 9.99894824e-01 -1.43673268e-02 1.97994047e-03 7.71886842e+01] [ 1.43670758e-02 9.99896778e-01 1.40966166e-04 3.70091765e+00] [-1.98176140e-03 -1.12505385e-04 9.99998030e-01 -6.67193986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.881400513 meters Centerline goodness [0,1] 0.9985339735690307 Centerline is valid? [True, True] Translation: X:77.22, Y:3.71, Z:-0.07 [[ 9.99849190e-01 -1.72054394e-02 2.36022609e-03 7.72179756e+01] [ 1.72050887e-02 9.99851967e-01 1.68801453e-04 3.70768923e+00] [-2.36278100e-03 -1.28168097e-04 9.99997200e-01 -6.72963632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.911400513 meters Centerline goodness [0,1] 0.9995970307529162 Centerline is valid? [True, True] Translation: X:77.25, Y:3.70, Z:-0.07 [[ 9.99790624e-01 -2.03439657e-02 2.19804342e-03 7.72490430e+01] [ 2.03436690e-02 9.99793034e-01 1.57252802e-04 3.69996231e+00] [-2.20078764e-03 -1.12503609e-04 9.99997572e-01 -6.67558161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.941400513 meters Centerline goodness [0,1] 0.9998087913488708 Centerline is valid? [True, True] Translation: X:77.28, Y:3.69, Z:-0.07 [[ 9.99701523e-01 -2.43381829e-02 2.12529409e-03 7.72798162e+01] [ 2.43379145e-02 9.99703778e-01 1.52052641e-04 3.69400954e+00] [-2.12836522e-03 -1.00282031e-04 9.99997730e-01 -6.57570765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.971400513 meters Centerline goodness [0,1] 0.9996816570810076 Centerline is valid? [True, True] Translation: X:77.31, Y:3.69, Z:-0.06 [[ 9.99585824e-01 -2.86724758e-02 2.46359221e-03 7.73098240e+01] [ 2.86721283e-02 9.99588854e-01 1.76242920e-04 3.69074931e+00] [-2.46763263e-03 -1.05533493e-04 9.99996950e-01 -6.47515804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.001400513 meters Centerline goodness [0,1] 0.9998090023556376 Centerline is valid? [True, True] Translation: X:77.34, Y:3.69, Z:-0.06 [[ 9.99471453e-01 -3.23235913e-02 3.46411004e-03 7.73391784e+01] [ 3.23229260e-02 9.99477447e-01 2.47886549e-04 3.69095321e+00] [-3.47031244e-03 -1.35785357e-04 9.99993969e-01 -6.33554408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.031400513 meters Centerline goodness [0,1] 0.9999787084548726 Centerline is valid? [True, True] Translation: X:77.37, Y:3.69, Z:-0.06 [[ 9.99388214e-01 -3.46026931e-02 5.08449500e-03 7.73693140e+01] [ 3.46012886e-02 9.99401130e-01 3.63949386e-04 3.68837984e+00] [-5.09404367e-03 -1.87796648e-04 9.99987008e-01 -6.18702333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.061400513 meters Centerline goodness [0,1] 0.9998302459312072 Centerline is valid? [True, True] Translation: X:77.40, Y:3.69, Z:-0.06 [[ 9.99346358e-01 -3.53967883e-02 7.34333304e-03 7.73969436e+01] [ 3.53938779e-02 9.99373302e-01 5.25952298e-04 3.68925844e+00] [-7.35734801e-03 -2.65699480e-04 9.99972899e-01 -5.94417858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.091400513 meters Centerline goodness [0,1] 0.9999787586558477 Centerline is valid? [True, True] Translation: X:77.43, Y:3.69, Z:-0.06 [[ 9.99348075e-01 -3.53026227e-02 7.55977092e-03 7.74261762e+01] [ 3.52995295e-02 9.99376630e-01 5.42245650e-04 3.68612296e+00] [-7.57420108e-03 -2.75035790e-04 9.99971278e-01 -5.95674042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.121400513 meters Centerline goodness [0,1] 0.9999362840880129 Centerline is valid? [True, True] Translation: X:77.45, Y:3.69, Z:-0.06 [[ 9.99353963e-01 -3.52532465e-02 6.99042277e-03 7.74532088e+01] [ 3.52505949e-02 9.99378378e-01 5.02194080e-04 3.69346971e+00] [-7.00378135e-03 -2.55453082e-04 9.99975441e-01 -5.92155763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.151400513 meters Centerline goodness [0,1] 0.9999363111413043 Centerline is valid? [True, True] Translation: X:77.48, Y:3.69, Z:-0.06 [[ 9.99329958e-01 -3.60568489e-02 6.28803437e-03 7.74820220e+01] [ 3.60547159e-02 9.99349715e-01 4.52280541e-04 3.69293631e+00] [-6.30025317e-03 -2.25264201e-04 9.99980128e-01 -5.98874854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.181400513 meters Centerline goodness [0,1] 0.9999573087431693 Centerline is valid? [True, True] Translation: X:77.51, Y:3.69, Z:-0.06 [[ 9.99271030e-01 -3.76909704e-02 6.06621198e-03 7.75117276e+01] [ 3.76890098e-02 9.99289421e-01 4.37241496e-04 3.68784137e+00] [-6.07838151e-03 -2.08293238e-04 9.99981505e-01 -6.09536149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.211400513 meters Centerline goodness [0,1] 0.9999150580790385 Centerline is valid? [True, True] Translation: X:77.54, Y:3.69, Z:-0.06 [[ 9.99150196e-01 -4.08384554e-02 5.57724949e-03 7.75404173e+01] [ 4.08368436e-02 9.99165747e-01 4.02619692e-04 3.68969778e+00] [-5.58903902e-03 -1.74520279e-04 9.99984366e-01 -6.18603959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.24140051299997 meters Centerline goodness [0,1] 0.9999787134403337 Centerline is valid? [True, True] Translation: X:77.57, Y:3.69, Z:-0.06 [[ 9.99077753e-01 -4.26600043e-02 4.87514988e-03 7.75692850e+01] [ 4.26587938e-02 9.99089637e-01 3.52058319e-04 3.68923860e+00] [-4.88573053e-03 -1.43765621e-04 9.99988054e-01 -6.32703318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.27140051299997 meters Centerline goodness [0,1] 0.9999785798436328 Centerline is valid? [True, True] Translation: X:77.60, Y:3.69, Z:-0.06 [[ 9.98993876e-01 -4.46721835e-02 3.95360119e-03 7.75988909e+01] [ 4.46714027e-02 9.99001694e-01 2.85631600e-04 3.68812844e+00] [-3.96241407e-03 -1.08731309e-04 9.99992144e-01 -6.48313852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.30140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.63, Y:3.69, Z:-0.07 [[ 9.98898544e-01 -4.68327655e-02 2.89676058e-03 7.76283616e+01] [ 4.68323547e-02 9.98902741e-01 2.09549636e-04 3.68917788e+00] [-2.90339588e-03 -7.36567075e-05 9.99995782e-01 -6.63744934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.33140051299998 meters Centerline goodness [0,1] 0.9999787256674821 Centerline is valid? [True, True] Translation: X:77.66, Y:3.69, Z:-0.07 [[ 9.98811911e-01 -4.86834310e-02 2.16554840e-03 7.76561579e+01] [ 4.86832049e-02 9.98814257e-01 1.57013374e-04 3.69320667e+00] [-2.17062457e-03 -5.14009918e-05 9.99997643e-01 -6.73521583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.36140051299998 meters Centerline goodness [0,1] 0.9999786630251563 Centerline is valid? [True, True] Translation: X:77.68, Y:3.69, Z:-0.07 [[ 9.98750195e-01 -4.99468746e-02 1.83213408e-03 7.76849693e+01] [ 4.99467152e-02 9.98751875e-01 1.32668128e-04 3.69489169e+00] [-1.83647371e-03 -4.09932394e-05 9.99998313e-01 -6.76676961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.39140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.71, Y:3.70, Z:-0.07 [[ 9.98612356e-01 -5.26580143e-02 7.03641955e-04 7.77142353e+01] [ 5.26579917e-02 9.98612604e-01 5.06780286e-05 3.69755756e+00] [-7.05334330e-04 -1.35553333e-05 9.99999751e-01 -6.80166554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.42140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.74, Y:3.70, Z:-0.07 [[ 9.98499772e-01 -5.47552557e-02 2.60736776e-04 7.77417660e+01] [ 5.47552527e-02 9.98499806e-01 1.87859339e-05 3.70355981e+00] [-2.61374249e-04 -4.48104267e-06 9.99999966e-01 -6.97140003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.45140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.77, Y:3.70, Z:-0.07 [[ 9.98330418e-01 -5.77598436e-02 -4.20856741e-04 7.77711534e+01] [ 5.77598355e-02 9.98330507e-01 -3.14026761e-05 3.70272539e+00] [ 4.21967938e-04 7.04163063e-06 9.99999911e-01 -7.01024268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.48140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.80, Y:3.70, Z:-0.07 [[ 9.97890743e-01 -6.49135146e-02 -5.48985675e-04 7.78001415e+01] [ 6.49135022e-02 9.97890894e-01 -4.03153788e-05 3.69711326e+00] [ 5.50444819e-04 4.59376041e-06 9.99999848e-01 -6.95634244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.51140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.83, Y:3.69, Z:-0.07 [[ 9.97641116e-01 -6.86454982e-02 7.18151967e-07 7.78289919e+01] [ 6.86454982e-02 9.97641116e-01 -6.33535994e-07 3.69415304e+00] [-6.72968537e-07 6.81339456e-07 1.00000000e+00 -6.73408476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.54140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.86, Y:3.69, Z:-0.07 [[ 9.97417121e-01 -7.18171170e-02 1.17832843e-03 7.78583712e+01] [ 7.18170656e-02 9.97417817e-01 8.59172421e-05 3.69353969e+00] [-1.18145610e-03 -1.07123786e-06 9.99999302e-01 -6.54702645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.571400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.89, Y:3.69, Z:-0.06 [[ 9.97266587e-01 -7.38566514e-02 2.13282267e-03 7.78857592e+01] [ 7.38564854e-02 9.97268868e-01 1.56612080e-04 3.69483310e+00] [-2.13856450e-03 1.33879210e-06 9.99997713e-01 -6.48417726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.601400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.91, Y:3.70, Z:-0.06 [[ 9.97171429e-01 -7.51200303e-02 2.47421901e-03 7.79141103e+01] [ 7.51198105e-02 9.97174499e-01 1.81773814e-04 3.69694235e+00] [-2.48088296e-03 4.60321006e-06 9.99996923e-01 -6.47361583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.631400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.94, Y:3.70, Z:-0.06 [[ 9.97135855e-01 -7.56024804e-02 2.08618664e-03 7.79416164e+01] [ 7.56023247e-02 9.97138037e-01 1.53514382e-04 3.69930009e+00] [-2.09182211e-03 4.64586490e-06 9.99997812e-01 -6.49829485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.661400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.97, Y:3.70, Z:-0.07 [[ 9.97168054e-01 -7.51955615e-02 1.22485588e-03 7.79685575e+01] [ 7.51955076e-02 9.97168806e-01 9.00417400e-05 3.70158112e+00] [-1.22815882e-03 2.31691328e-06 9.99999246e-01 -6.65077316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.691400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.00, Y:3.71, Z:-0.07 [[ 9.97385591e-01 -7.22610953e-02 5.63694042e-04 7.79957376e+01] [ 7.22610836e-02 9.97385750e-01 4.11236721e-05 3.70894876e+00] [-5.65192046e-04 -2.83015680e-07 9.99999840e-01 -6.70979738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.721400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.02, Y:3.72, Z:-0.07 [[ 9.97556844e-01 -6.98431093e-02 1.51075193e-03 7.80234996e+01] [ 6.98430196e-02 9.97557988e-01 1.12167621e-04 3.71681661e+00] [-1.51489679e-03 -6.37810130e-06 9.99998853e-01 -6.63160444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.751400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.05, Y:3.72, Z:-0.06 [[ 9.97722473e-01 -6.73699981e-02 3.33921184e-03 7.80520080e+01] [ 6.73695443e-02 9.97728061e-01 2.48328235e-04 3.72437821e+00] [-3.34835523e-03 -2.28014812e-05 9.99994394e-01 -6.36624329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.781400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.08, Y:3.73, Z:-0.06 [[ 9.97846846e-01 -6.53708924e-02 5.32152298e-03 7.80801222e+01] [ 6.53697047e-02 9.97861034e-01 3.97001323e-04 3.73059803e+00] [-5.33609275e-03 -4.82801322e-05 9.99985762e-01 -6.10359144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.811400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.11, Y:3.73, Z:-0.06 [[ 9.97919923e-01 -6.41485522e-02 6.38680005e-03 7.81083723e+01] [ 6.41468089e-02 9.97940358e-01 4.77630819e-04 3.73419582e+00] [-6.40428486e-03 -6.69444681e-05 9.99979490e-01 -5.94800157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.841400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.14, Y:3.74, Z:-0.06 [[ 9.97954425e-01 -6.36364728e-02 6.11275516e-03 7.81361497e+01] [ 6.36348617e-02 9.97973143e-01 4.57892253e-04 3.73750779e+00] [-6.12950413e-03 -6.79712699e-05 9.99981212e-01 -6.00214680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.871400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.16, Y:3.74, Z:-0.07 [[ 9.97912709e-01 -6.45220315e-02 2.67078989e-03 7.81648543e+01] [ 6.45217275e-02 9.97916282e-01 1.99923493e-04 3.73931915e+00] [-2.67812419e-03 -2.71822167e-05 9.99996413e-01 -6.56060441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.901400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.19, Y:3.74, Z:-0.07 [[ 9.97900754e-01 -6.47066603e-02 2.67075987e-03 7.81923045e+01] [ 6.47063558e-02 9.97904328e-01 2.00323486e-04 3.74153963e+00] [-2.67812510e-03 -2.70878190e-05 9.99996413e-01 -6.57208011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.931400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.22, Y:3.74, Z:-0.07 [[ 9.97880356e-01 -6.50622043e-02 1.30597851e-03 7.82196314e+01] [ 6.50621316e-02 9.97881210e-01 9.81040957e-05 3.74454709e+00] [-1.30959429e-03 -1.29264040e-05 9.99999142e-01 -6.81191281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.961400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.25, Y:3.75, Z:-0.07 [[ 9.97866953e-01 -6.52704988e-02 1.14258615e-03 7.82473871e+01] [ 6.52704437e-02 9.97867607e-01 8.55547322e-05 3.74793237e+00] [-1.14573390e-03 -1.07951353e-05 9.99999344e-01 -6.84828304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.99140051299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.27, Y:3.76, Z:-0.07 [[ 9.97938412e-01 -6.41339620e-02 2.40022615e-03 7.82745737e+01] [ 6.41337114e-02 9.97941298e-01 1.81271862e-04 3.75817471e+00] [-2.40691048e-03 -2.69627432e-05 9.99997103e-01 -6.69605183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.02140051299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.30, Y:3.76, Z:-0.07 [[ 9.98017366e-01 -6.29232388e-02 1.41544520e-03 7.83028847e+01] [ 6.29231509e-02 9.98018369e-01 1.06603519e-04 3.76306820e+00] [-1.41934815e-03 -1.73278917e-05 9.99998993e-01 -6.86625930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.05140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.33, Y:3.77, Z:-0.07 [[ 9.98120056e-01 -6.12881484e-02 -3.40894235e-04 7.83309835e+01] [ 6.12881431e-02 9.98120114e-01 -2.60927680e-05 3.76808933e+00] [ 3.41852570e-04 5.15094045e-06 9.99999942e-01 -7.15812468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.08140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.36, Y:3.78, Z:-0.07 [[ 9.98229721e-01 -5.94631839e-02 -1.24668196e-03 7.83578685e+01] [ 5.94631116e-02 9.98230499e-01 -9.50116689e-05 3.77543833e+00] [ 1.25012565e-03 2.07118835e-05 9.99999218e-01 -7.40002934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.11140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.39, Y:3.78, Z:-0.07 [[ 9.98326821e-01 -5.78117543e-02 -1.16574409e-03 7.83862775e+01] [ 5.78116894e-02 9.98327502e-01 -8.93836737e-05 3.77829302e+00] [ 1.16896181e-03 2.18404835e-05 9.99999317e-01 -7.24369352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.14140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.41, Y:3.79, Z:-0.07 [[ 9.98424551e-01 -5.60975259e-02 1.21812882e-03 7.84137846e+01] [ 5.60974548e-02 9.98425294e-01 9.24333890e-05 3.78851168e+00] [-1.22139591e-03 -2.39538384e-05 9.99999254e-01 -6.93121492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.17140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.44, Y:3.79, Z:-0.07 [[ 9.98421370e-01 -5.61420468e-02 1.68463852e-03 7.84409854e+01] [ 5.61419110e-02 9.98422791e-01 1.27876405e-04 3.79448696e+00] [-1.68916074e-03 -3.30957092e-05 9.99998573e-01 -6.85422159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.20140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.47, Y:3.80, Z:-0.07 [[ 9.98450204e-01 -5.56282575e-02 1.63933010e-03 7.84699810e+01] [ 5.56281276e-02 9.98451549e-01 1.24759474e-04 3.79838968e+00] [-1.64373183e-03 -3.33732584e-05 9.99998649e-01 -6.85691850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.23140051299998 meters Centerline goodness [0,1] 0.9999788175983393 Centerline is valid? [True, True] Translation: X:78.50, Y:3.81, Z:-0.07 [[ 9.98535705e-01 -5.40863067e-02 1.05738584e-03 7.84967724e+01] [ 5.40862516e-02 9.98536264e-01 8.06988552e-05 3.80754324e+00] [-1.06020281e-03 -2.33906515e-05 9.99999438e-01 -6.98748514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.26140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.53, Y:3.82, Z:-0.07 [[ 9.98653659e-01 -5.18689071e-02 6.97632680e-04 7.85251010e+01] [ 5.18688825e-02 9.98653902e-01 5.33180799e-05 3.81602606e+00] [-6.99459149e-04 -1.70608680e-05 9.99999755e-01 -7.06340593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.29140051299999 meters Centerline goodness [0,1] 0.99989304126468 Centerline is valid? [True, True] Translation: X:78.55, Y:3.83, Z:-0.07 [[ 9.98771530e-01 -4.95451279e-02 8.43613012e-04 7.85523046e+01] [ 4.95450911e-02 9.98771886e-01 6.44974814e-05 3.82819601e+00] [-8.45772494e-04 -2.26213647e-05 9.99999642e-01 -7.08171419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.321400513 meters Centerline goodness [0,1] 0.999935710612035 Centerline is valid? [True, True] Translation: X:78.58, Y:3.84, Z:-0.07 [[ 9.98984772e-01 -4.50418383e-02 8.11544240e-04 7.85813408e+01] [ 4.50418026e-02 9.98985101e-01 6.21892586e-05 3.84102638e+00] [-8.13521724e-04 -2.55727068e-05 9.99999669e-01 -7.07183778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.351400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.61, Y:3.84, Z:-0.07 [[ 9.99051861e-01 -4.35316634e-02 6.10331282e-04 7.86102921e+01] [ 4.35316433e-02 9.99052048e-01 4.62148691e-05 3.84411939e+00] [-6.11764527e-04 -1.96023273e-05 9.99999813e-01 -7.07051495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.381400513 meters Centerline goodness [0,1] 0.9999575254316478 Centerline is valid? [True, True] Translation: X:78.64, Y:3.85, Z:-0.07 [[ 9.99093560e-01 -4.25663161e-02 4.08722409e-04 7.86371219e+01] [ 4.25663069e-02 9.99093644e-01 3.11472235e-05 3.85263414e+00] [-4.09677783e-04 -1.37211869e-05 9.99999916e-01 -7.16600484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.411400513 meters Centerline goodness [0,1] 0.9999152398711646 Centerline is valid? [True, True] Translation: X:78.66, Y:3.86, Z:-0.07 [[ 9.99113298e-01 -4.21009242e-02 3.61599716e-04 7.86641938e+01] [ 4.21009170e-02 9.99113363e-01 2.75570334e-05 3.85683867e+00] [-3.62439285e-04 -1.23089188e-05 9.99999934e-01 -7.18293351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.441400513 meters Centerline goodness [0,1] 0.9998938924493866 Centerline is valid? [True, True] Translation: X:78.69, Y:3.86, Z:-0.07 [[ 9.99128725e-01 -4.17288413e-02 7.02824754e-04 7.86923222e+01] [ 4.17288137e-02 9.99128972e-01 5.39170102e-05 3.86039465e+00] [-7.04462468e-04 -2.45419905e-05 9.99999752e-01 -7.08062769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.471400513 meters Centerline goodness [0,1] 0.9999145043389048 Centerline is valid? [True, True] Translation: X:78.72, Y:3.87, Z:-0.07 [[ 9.99163603e-01 -4.08770870e-02 1.07638320e-03 7.87191243e+01] [ 4.08770216e-02 9.99164182e-01 8.27272275e-05 3.86829936e+00] [-1.07886519e-03 -3.86586955e-05 9.99999417e-01 -7.03054123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.501400513 meters Centerline goodness [0,1] 0.999787523372429 Centerline is valid? [True, True] Translation: X:78.75, Y:3.89, Z:-0.07 [[ 9.99275132e-01 -3.80671605e-02 3.20406490e-04 7.87469165e+01] [ 3.80671545e-02 9.99275183e-01 2.46935668e-05 3.88616462e+00] [-3.21114268e-04 -1.24787038e-05 9.99999948e-01 -7.15681763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.531400513 meters Centerline goodness [0,1] 0.9996375343809301 Centerline is valid? [True, True] Translation: X:78.78, Y:3.89, Z:-0.07 [[ 9.99311906e-01 -3.70870363e-02 -5.15576398e-04 7.87751926e+01] [ 3.70870205e-02 9.99312039e-01 -4.01651442e-05 3.88665736e+00] [ 5.16711308e-04 2.10163144e-05 9.99999866e-01 -7.23684937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.561400513 meters Centerline goodness [0,1] 0.999808900968235 Centerline is valid? [True, True] Translation: X:78.80, Y:3.89, Z:-0.07 [[ 9.99343389e-01 -3.62239777e-02 -7.84215062e-04 7.88030038e+01] [ 3.62239411e-02 9.99343696e-01 -6.08282946e-05 3.89261947e+00] [ 7.85903821e-04 3.23809938e-05 9.99999691e-01 -7.31550126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.591400513 meters Centerline goodness [0,1] 0.9998930069331508 Centerline is valid? [True, True] Translation: X:78.83, Y:3.89, Z:-0.07 [[ 9.99370036e-01 -3.54771732e-02 -9.49014437e-04 7.88317869e+01] [ 3.54771188e-02 9.99370486e-01 -7.41715745e-05 3.89209429e+00] [ 9.51048417e-04 4.04565512e-05 9.99999547e-01 -7.25153155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.621400513 meters Centerline goodness [0,1] 0.9997876361783007 Centerline is valid? [True, True] Translation: X:78.86, Y:3.90, Z:-0.07 [[ 9.99392451e-01 -3.48529322e-02 4.08432683e-05 7.88584261e+01] [ 3.48529321e-02 9.99392452e-01 2.80499036e-06 3.90382565e+00] [-4.09162162e-05 -1.37977853e-06 9.99999999e-01 -7.22781617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.651400513 meters Centerline goodness [0,1] 0.9997238859861518 Centerline is valid? [True, True] Translation: X:78.89, Y:3.91, Z:-0.07 [[ 9.99357556e-01 -3.58379162e-02 3.45864759e-04 7.88862590e+01] [ 3.58379091e-02 9.99357615e-01 2.65078940e-05 3.90710803e+00] [-3.46592569e-04 -1.40957944e-05 9.99999940e-01 -7.23097138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.681400513 meters Centerline goodness [0,1] 0.9998284145504461 Centerline is valid? [True, True] Translation: X:78.92, Y:3.91, Z:-0.07 [[ 9.99308750e-01 -3.71739593e-02 -3.43832037e-04 7.89154348e+01] [ 3.71739523e-02 9.99308809e-01 -2.68880988e-05 3.90738788e+00] [ 3.44593920e-04 1.40879167e-05 9.99999941e-01 -7.33952745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.711400513 meters Centerline goodness [0,1] 0.9998719836139026 Centerline is valid? [True, True] Translation: X:78.94, Y:3.91, Z:-0.08 [[ 9.99253339e-01 -3.86094674e-02 -1.44028891e-03 7.89432797e+01] [ 3.86093455e-02 9.99254375e-01 -1.12298899e-04 3.90896760e+00] [ 1.44355079e-03 5.66064380e-05 9.99998956e-01 -7.50109705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.74140051299997 meters Centerline goodness [0,1] 0.9998087629085036 Centerline is valid? [True, True] Translation: X:78.97, Y:3.91, Z:-0.08 [[ 9.99195221e-01 -4.00421617e-02 -2.35290010e-03 7.89706984e+01] [ 4.00418410e-02 9.99197987e-01 -1.83256638e-04 3.91397486e+00] [ 2.35835103e-03 8.88947055e-05 9.99997215e-01 -7.69369110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.77140051299997 meters Centerline goodness [0,1] 0.9999575218231633 Centerline is valid? [True, True] Translation: X:79.00, Y:3.91, Z:-0.07 [[ 9.99125594e-01 -4.18076735e-02 -4.07031244e-04 7.90001215e+01] [ 4.18076640e-02 9.99125677e-01 -3.18752210e-05 3.91079515e+00] [ 4.08007996e-04 1.48303236e-05 9.99999917e-01 -7.27264853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.80140051299998 meters Centerline goodness [0,1] 0.9999150616864502 Centerline is valid? [True, True] Translation: X:79.03, Y:3.92, Z:-0.07 [[ 9.99143676e-01 -4.13523861e-02 1.37637039e-03 7.90278116e+01] [ 4.13522779e-02 9.99144623e-01 1.06962231e-04 3.91732511e+00] [-1.37961622e-03 -4.99545857e-05 9.99999047e-01 -7.09730218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.83140051299998 meters Centerline goodness [0,1] 0.9998940924784478 Centerline is valid? [True, True] Translation: X:79.06, Y:3.92, Z:-0.07 [[ 9.99189949e-01 -4.01900205e-02 2.05147670e-03 7.90568007e+01] [ 4.01897777e-02 9.99192052e-01 1.59452832e-04 3.92125565e+00] [-2.05622763e-03 -7.68752740e-05 9.99997883e-01 -7.02771855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.86140051299998 meters Centerline goodness [0,1] 0.9997679422809164 Centerline is valid? [True, True] Translation: X:79.08, Y:3.93, Z:-0.07 [[ 9.99266572e-01 -3.82492855e-02 1.81929449e-03 7.90843877e+01] [ 3.82490905e-02 9.99268226e-01 1.41870555e-04 3.93008883e+00] [-1.82338962e-03 -7.21801440e-05 9.99998335e-01 -7.13717855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.89140051299998 meters Centerline goodness [0,1] 0.9998086978701696 Centerline is valid? [True, True] Translation: X:79.11, Y:3.93, Z:-0.07 [[ 9.99352978e-01 -3.59551891e-02 9.22049647e-04 7.91141792e+01] [ 3.59551380e-02 9.99353402e-01 7.19408371e-05 3.93099253e+00] [-9.24040099e-04 -3.87418674e-05 9.99999572e-01 -7.33143387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.92140051299998 meters Centerline goodness [0,1] 0.9995720735177697 Centerline is valid? [True, True] Translation: X:79.14, Y:3.94, Z:-0.08 [[ 9.99447932e-01 -3.32234312e-02 -1.85332522e-04 7.91436237e+01] [ 3.32234291e-02 9.99447949e-01 -1.45418300e-05 3.93555021e+00] [ 1.85713338e-04 8.37642000e-06 9.99999983e-01 -7.53130425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.95140051299998 meters Centerline goodness [0,1] 0.9993616885465648 Centerline is valid? [True, True] Translation: X:79.17, Y:3.95, Z:-0.08 [[ 9.99612262e-01 -2.78111816e-02 -1.36554886e-03 7.91722282e+01] [ 2.78110617e-02 9.99613192e-01 -1.06746048e-04 3.94660319e+00] [ 1.36798938e-03 6.87272946e-05 9.99999062e-01 -7.74769821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.98140051299998 meters Centerline goodness [0,1] 0.999272789493947 Centerline is valid? [True, True] Translation: X:79.20, Y:3.95, Z:-0.08 [[ 9.99664985e-01 -2.58021275e-02 -2.04154091e-03 7.92020718e+01] [ 2.58018552e-02 9.99667064e-01 -1.59609782e-04 3.94944059e+00] [ 2.04497947e-03 1.06880767e-04 9.99997903e-01 -7.78787300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.01140051299998 meters Centerline goodness [0,1] 0.9991710064831544 Centerline is valid? [True, True] Translation: X:79.23, Y:3.95, Z:-0.08 [[ 9.99698458e-01 -2.44174386e-02 -2.60420732e-03 7.92319242e+01] [ 2.44169906e-02 9.99701840e-01 -2.03694981e-04 3.94697041e+00] [ 2.60840456e-03 1.40046653e-04 9.99996588e-01 -7.81097164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.04140051299999 meters Centerline goodness [0,1] 0.9989419780777857 Centerline is valid? [True, True] Translation: X:79.26, Y:3.95, Z:-0.08 [[ 9.99712404e-01 -2.38377119e-02 -2.62153793e-03 7.92590481e+01] [ 2.38372544e-02 9.99715831e-01 -2.05614886e-04 3.94960986e+00] [ 2.62569435e-03 1.43065485e-04 9.99996543e-01 -7.89362557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.071400513 meters Centerline goodness [0,1] 0.998637950114923 Centerline is valid? [True, True] Translation: X:79.29, Y:3.95, Z:-0.08 [[ 9.99718417e-01 -2.36510006e-02 -1.92803974e-03 7.92869181e+01] [ 2.36507528e-02 9.99720270e-01 -1.51266366e-04 3.95282251e+00] [ 1.93107801e-03 1.05624180e-04 9.99998130e-01 -7.87159059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.101400513 meters Centerline goodness [0,1] 0.9990832924723388 Centerline is valid? [True, True] Translation: X:79.32, Y:3.95, Z:-0.08 [[ 9.99720054e-01 -2.36324921e-02 -1.14882034e-03 7.93163154e+01] [ 2.36324033e-02 9.99720712e-01 -9.08288652e-05 3.95127397e+00] [ 1.15064600e-03 6.36540525e-05 9.99999336e-01 -7.72647520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.131400513 meters Centerline goodness [0,1] 0.9990618136847268 Centerline is valid? [True, True] Translation: X:79.35, Y:3.95, Z:-0.07 [[ 9.99725489e-01 -2.34285276e-02 -2.23959163e-04 7.93458699e+01] [ 2.34285241e-02 9.99725514e-01 -1.82713873e-05 3.94885064e+00] [ 2.24325761e-04 1.30193390e-05 9.99999975e-01 -7.47675262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.161400513 meters Centerline goodness [0,1] 0.9968952684742158 Centerline is valid? [True, True] Translation: X:79.37, Y:3.95, Z:-0.07 [[ 9.99737583e-01 -2.28991494e-02 6.27773154e-04 7.93738005e+01] [ 2.28991230e-02 9.99737779e-01 4.91767937e-05 3.95426384e+00] [-6.28734645e-04 -3.47884343e-05 9.99999802e-01 -7.29795557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.191400513 meters Centerline goodness [0,1] 0.9992172128546343 Centerline is valid? [True, True] Translation: X:79.40, Y:3.95, Z:-0.07 [[ 9.99746374e-01 -2.24592652e-02 1.66428894e-03 7.94030008e+01] [ 2.24590788e-02 9.99747755e-01 1.30600186e-04 3.94848907e+00] [-1.66680231e-03 -9.31886656e-05 9.99998607e-01 -7.12555716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.221400513 meters Centerline goodness [0,1] 0.9994885346517773 Centerline is valid? [True, True] Translation: X:79.43, Y:3.95, Z:-0.07 [[ 9.99767807e-01 -2.14485501e-02 2.07173617e-03 7.94332976e+01] [ 2.14482576e-02 9.99769946e-01 1.63333105e-04 3.94519654e+00] [-2.07476281e-03 -1.18860049e-04 9.99997841e-01 -7.11045227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.251400513 meters Centerline goodness [0,1] 0.9983932346723045 Centerline is valid? [True, True] Translation: X:79.46, Y:3.95, Z:-0.07 [[ 9.99830469e-01 -1.82850289e-02 2.16602191e-03 7.94629099e+01] [ 1.82847016e-02 9.99832806e-01 1.70841882e-04 3.95022377e+00] [-2.16878361e-03 -1.31207854e-04 9.99997640e-01 -7.22600400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.281400513 meters Centerline goodness [0,1] 0.9972512950629031 Centerline is valid? [True, True] Translation: X:79.49, Y:3.95, Z:-0.07 [[ 9.99865921e-01 -1.62705441e-02 1.84657703e-03 7.94934540e+01] [ 1.62703027e-02 9.99867619e-01 1.45688963e-04 3.95276647e+00] [-1.84870302e-03 -1.15625062e-04 9.99998284e-01 -7.24837721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.311400513 meters Centerline goodness [0,1] 0.955845533630384 Centerline is valid? [True, True] Translation: X:79.52, Y:3.96, Z:-0.07 [[ 9.99902273e-01 -1.38755592e-02 1.70689629e-03 7.95219609e+01] [ 1.38753495e-02 9.99903724e-01 1.34625897e-04 3.96450436e+00] [-1.70859996e-03 -1.10928958e-04 9.99998534e-01 -7.23752832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.341400513 meters Centerline goodness [0,1] 0.9966148176715087 Centerline is valid? [True, True] Translation: X:79.55, Y:3.96, Z:-0.07 [[ 9.99942073e-01 -1.06377355e-02 1.64016690e-03 7.95526313e+01] [ 1.06375375e-02 9.99943411e-01 1.29404334e-04 3.95807391e+00] [-1.64145065e-03 -1.11949501e-04 9.99998647e-01 -7.16810852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.371400513 meters Centerline goodness [0,1] 0.9533427074012527 Centerline is valid? [True, True] Translation: X:79.58, Y:3.97, Z:-0.07 [[ 9.99988834e-01 -3.94631738e-03 2.59980238e-03 7.95815170e+01] [ 3.94579722e-03 9.99992194e-01 2.05175503e-04 3.96967511e+00] [-2.60059178e-03 -1.94914919e-04 9.99996599e-01 -7.10527496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.401400513 meters Centerline goodness [0,1] 0.8018867924528301 Centerline is valid? [True, False] Translation: X:79.58, Y:3.97, Z:-0.07 [[ 9.99989322e-01 -3.77823933e-03 2.66084573e-03 7.95812333e+01] [ 3.77699206e-03 9.99992755e-01 4.73618480e-04 3.96845428e+00] [-2.66261590e-03 -4.63563430e-04 9.99996348e-01 -7.09456415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.431400513 meters Centerline goodness [0,1] 0.909892906372601 Centerline is valid? [False, False] Translation: X:79.58, Y:3.97, Z:-0.07 [[ 9.99989688e-01 -3.65276131e-03 2.69837701e-03 7.95810897e+01] [ 3.65080287e-03 9.99993069e-01 7.30354257e-04 3.96727076e+00] [-2.70102612e-03 -7.20495483e-04 9.99996093e-01 -7.09306425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.461400513 meters Centerline goodness [0,1] 0.6131113555593163 Centerline is valid? [False, False] Translation: X:79.58, Y:3.97, Z:-0.07 [[ 9.99989932e-01 -3.62917087e-03 2.63906852e-03 7.95814066e+01] [ 3.62698108e-03 9.99993075e-01 8.34071822e-04 3.96672488e+00] [-2.64207724e-03 -8.24491573e-04 9.99996170e-01 -7.11824744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.49140051299997 meters Centerline goodness [0,1] 0.9274452616451094 Centerline is valid? [False, False] Translation: X:79.58, Y:3.97, Z:-0.07 [[ 9.99990383e-01 -3.60824424e-03 2.49305355e-03 7.95821093e+01] [ 3.60589026e-03 9.99993049e-01 9.48065345e-04 3.96609373e+00] [-2.49645707e-03 -9.39066550e-04 9.99996443e-01 -7.16193217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.52140051299997 meters Centerline goodness [0,1] 0.9027260539252198 Centerline is valid? [False, False] Translation: X:79.58, Y:3.97, Z:-0.07 [[ 9.99964820e-01 -8.01296656e-03 2.48010255e-03 7.95828220e+01] [ 8.02232075e-03 9.99960657e-01 -3.78501123e-03 3.96793480e+00] [-2.44967581e-03 3.80477425e-03 9.99989761e-01 -7.28466602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.55140051299998 meters Centerline goodness [0,1] 0.8262946522933841 Centerline is valid? [False, False] Translation: X:79.58, Y:3.97, Z:-0.07 [[ 9.99966777e-01 -7.78970964e-03 2.40114889e-03 7.95830141e+01] [ 7.79753612e-03 9.99964260e-01 -3.26752927e-03 3.96548330e+00] [-2.37560997e-03 3.28614376e-03 9.99991779e-01 -7.26895826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.58140051299998 meters Centerline goodness [0,1] 0.8117227621917575 Centerline is valid? [False, False] Translation: X:79.58, Y:3.97, Z:-0.07 [[ 9.99965939e-01 -7.89060216e-03 2.42065520e-03 7.95831722e+01] [ 7.89915151e-03 9.99962525e-01 -3.54284078e-03 3.96678325e+00] [-2.39260933e-03 3.56184123e-03 9.99990794e-01 -7.31190592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.61140051299998 meters Centerline goodness [0,1] 0.8909052183173589 Centerline is valid? [False, False] Translation: X:79.58, Y:3.96, Z:-0.07 [[ 9.99991995e-01 -3.34336970e-03 2.19836022e-03 7.95836119e+01] [ 3.33997779e-03 9.99993229e-01 1.54478884e-03 3.96314125e+00] [-2.20351014e-03 -1.53743400e-03 9.99996390e-01 -7.26391602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.64140051299998 meters Centerline goodness [0,1] 0.8995846203003515 Centerline is valid? [False, False] Translation: X:79.58, Y:3.97, Z:-0.07 [[ 9.99990845e-01 -3.65804729e-03 2.21992391e-03 7.95838667e+01] [ 3.65653246e-03 9.99993080e-01 6.86054055e-04 3.96719382e+00] [-2.22241817e-03 -6.77930551e-04 9.99997301e-01 -7.33306167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.67140051299998 meters Centerline goodness [0,1] 0.7578123347085581 Centerline is valid? [False, False] Translation: X:79.58, Y:3.97, Z:-0.07 [[ 9.99990425e-01 -3.77634170e-03 2.21123241e-03 7.95841446e+01] [ 3.77581719e-03 9.99992842e-01 2.41329707e-04 3.96931400e+00] [-2.21212793e-03 -2.32978187e-04 9.99997526e-01 -7.39279319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.70140051299998 meters Centerline goodness [0,1] 0.6511736491362112 Centerline is valid? [False, False] Translation: X:79.58, Y:3.97, Z:-0.07 [[ 9.99991182e-01 -3.60279307e-03 2.15783320e-03 7.95843362e+01] [ 3.60157307e-03 9.99993352e-01 5.69001236e-04 3.96777817e+00] [-2.15986885e-03 -5.61224625e-04 9.99997510e-01 -7.39616940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.73140051299998 meters Centerline goodness [0,1] 0.728451401032115 Centerline is valid? [False, False] Translation: X:79.58, Y:3.97, Z:-0.07 [[ 9.99991386e-01 -3.57974627e-03 2.10102415e-03 7.95844723e+01] [ 3.57842572e-03 9.99993398e-01 6.31947466e-04 3.96747450e+00] [-2.10327249e-03 -6.24423663e-04 9.99997593e-01 -7.38635505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.76140051299998 meters Centerline goodness [0,1] 0.8104833567147047 Centerline is valid? [False, False] Translation: X:79.58, Y:3.97, Z:-0.07 [[ 9.99991125e-01 -3.68223833e-03 2.04708979e-03 7.95846116e+01] [ 3.68137532e-03 9.99993133e-01 4.25190324e-04 3.96845348e+00] [-2.04864138e-03 -4.17650445e-04 9.99997814e-01 -7.38088451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.79140051299999 meters Centerline goodness [0,1] 0.8104833567147047 Centerline is valid? [False, False] Translation: X:79.58, Y:3.97, Z:-0.07 [[ 9.99991125e-01 -3.68223833e-03 2.04708979e-03 7.95846116e+01] [ 3.68137532e-03 9.99993133e-01 4.25190324e-04 3.96845348e+00] [-2.04864138e-03 -4.17650445e-04 9.99997814e-01 -7.38088451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.821400513 meters Centerline goodness [0,1] 0.8019118764244113 Centerline is valid? [False, False] Translation: X:79.58, Y:3.97, Z:-0.07 [[ 9.99990856e-01 -3.78052268e-03 1.99873516e-03 7.95846256e+01] [ 3.78001913e-03 9.99992823e-01 2.55651490e-04 3.96925252e+00] [-1.99968731e-03 -2.48093895e-04 9.99997970e-01 -7.35539608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.851400513 meters Centerline goodness [0,1] 0.6270517743364699 Centerline is valid? [False, False] Translation: X:79.58, Y:3.97, Z:-0.07 [[ 9.99991093e-01 -3.71936120e-03 1.99503642e-03 7.95843204e+01] [ 3.71853380e-03 9.99992999e-01 4.18280070e-04 3.96855587e+00] [-1.99657818e-03 -4.10857734e-04 9.99997922e-01 -7.29575328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.881400513 meters Centerline goodness [0,1] 0.8660570313163032 Centerline is valid? [False, False] Translation: X:79.58, Y:3.97, Z:-0.07 [[ 9.99991647e-01 -3.54649652e-03 2.03204556e-03 7.95838253e+01] [ 3.54475691e-03 9.99993348e-01 8.59051489e-04 3.96653688e+00] [-2.03507867e-03 -8.51841205e-04 9.99997566e-01 -7.22511750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.911400513 meters Centerline goodness [0,1] 0.9170062829003226 Centerline is valid? [False, False] Translation: X:79.58, Y:3.96, Z:-0.07 [[ 9.99991496e-01 -3.49052322e-03 2.19640470e-03 7.95827941e+01] [ 3.48777512e-03 9.99993132e-01 1.25376873e-03 3.96471949e+00] [-2.20076592e-03 -1.24609751e-03 9.99996802e-01 -7.12859912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.941400513 meters Centerline goodness [0,1] 0.8946988514531983 Centerline is valid? [False, False] Translation: X:79.58, Y:3.97, Z:-0.07 [[ 9.99991027e-01 -3.61434982e-03 2.20940077e-03 7.95827377e+01] [ 3.61213561e-03 9.99992971e-01 1.00534584e-03 3.96587187e+00] [-2.21301891e-03 -9.97356168e-04 9.99997054e-01 -7.12932580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.971400513 meters Centerline goodness [0,1] 0.8677991137370753 Centerline is valid? [False, False] Translation: X:79.58, Y:3.97, Z:-0.07 [[ 9.99990650e-01 -3.73444046e-03 2.18049002e-03 7.95827301e+01] [ 3.73272195e-03 9.99992720e-01 7.91670526e-04 3.96686515e+00] [-2.18343059e-03 -7.83523961e-04 9.99997309e-01 -7.11100016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.001400513 meters Centerline goodness [0,1] 0.9953292053221349 Centerline is valid? [False, True] Translation: X:79.54, Y:3.96, Z:-0.07 [[ 9.99983703e-01 -5.70709530e-03 1.52552050e-04 7.95388937e+01] [ 5.70659845e-03 9.99978974e-01 3.07995531e-03 3.95921391e+00] [-1.70126441e-04 -3.07903456e-03 9.99995245e-01 -6.68950667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.031400513 meters Centerline goodness [0,1] 0.9985386000211797 Centerline is valid? [True, True] Translation: X:79.57, Y:3.96, Z:-0.07 [[ 9.99969130e-01 -7.66536656e-03 1.72678707e-03 7.95690035e+01] [ 7.66516155e-03 9.99970614e-01 1.25311194e-04 3.95908699e+00] [-1.72769688e-03 -1.12071223e-04 9.99998501e-01 -6.50778100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.061400513 meters Centerline goodness [0,1] 0.9993811485030196 Centerline is valid? [True, True] Translation: X:79.60, Y:3.96, Z:-0.06 [[ 9.99952320e-01 -9.41625629e-03 2.58681089e-03 7.95996070e+01] [ 9.41580194e-03 9.99955653e-01 1.87763046e-04 3.95554486e+00] [-2.58846420e-03 -1.63397195e-04 9.99996637e-01 -6.36074958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.091400513 meters Centerline goodness [0,1] 0.9995495978552279 Centerline is valid? [True, True] Translation: X:79.63, Y:3.96, Z:-0.06 [[ 9.99942413e-01 -1.03961979e-02 2.66249083e-03 7.96306081e+01] [ 1.03957199e-02 9.99945944e-01 1.93273971e-04 3.95505062e+00] [-2.66435622e-03 -1.65584332e-04 9.99996437e-01 -6.32313115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.121400513 meters Centerline goodness [0,1] 0.9989719426001286 Centerline is valid? [True, True] Translation: X:79.66, Y:3.97, Z:-0.06 [[ 9.99943919e-01 -1.03781894e-02 2.10999608e-03 7.96598533e+01] [ 1.03778893e-02 9.99946137e-01 1.53148079e-04 3.96510663e+00] [-2.11147183e-03 -1.31242185e-04 9.99997762e-01 -6.43164468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.151400513 meters Centerline goodness [0,1] 0.9986552254098361 Centerline is valid? [True, True] Translation: X:79.69, Y:3.97, Z:-0.07 [[ 9.99955837e-01 -9.30789625e-03 1.29904755e-03 7.96893481e+01] [ 9.30778161e-03 9.99956677e-01 9.42641605e-05 3.97066035e+00] [-1.29986868e-03 -8.21687466e-05 9.99999152e-01 -6.57726627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.181400513 meters Centerline goodness [0,1] 0.9891484744031661 Centerline is valid? [True, True] Translation: X:79.72, Y:3.98, Z:-0.07 [[ 9.99987022e-01 -5.09413861e-03 -7.65677870e-05 7.97180110e+01] [ 5.09413820e-03 9.99987025e-01 -5.56911724e-06 3.98119118e+00] [ 7.65951634e-05 5.17899807e-06 9.99999997e-01 -6.86130246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.211400513 meters Centerline goodness [0,1] 0.9795365312393308 Centerline is valid? [True, True] Translation: X:79.75, Y:3.99, Z:-0.07 [[ 9.99996515e-01 -2.61720696e-03 -3.47689454e-04 7.97483749e+01] [ 2.61719834e-03 9.99996575e-01 -2.52419396e-05 3.98779705e+00] [ 3.47754326e-04 2.43318793e-05 9.99999939e-01 -6.93776951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.24140051299997 meters Centerline goodness [0,1] 0.9404471242648776 Centerline is valid? [True, False] Translation: X:79.75, Y:3.99, Z:-0.07 [[ 9.99999283e-01 -1.00326620e-04 -1.19323249e-03 7.97547863e+01] [ 1.03167467e-04 9.99997160e-01 2.38097594e-03 3.98871616e+00] [ 1.19299023e-03 -2.38109733e-03 9.99996454e-01 -7.35219019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.27140051299997 meters Centerline goodness [0,1] 0.8076931277852406 Centerline is valid? [False, False] Translation: X:79.75, Y:3.99, Z:-0.07 [[ 9.99999331e-01 -3.91160694e-04 -1.08833286e-03 7.97546248e+01] [ 3.92823267e-04 9.99998756e-01 1.52783798e-03 3.99282168e+00] [ 1.08773387e-03 -1.52826448e-03 9.99998241e-01 -7.39234776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.30140051299998 meters Centerline goodness [0,1] 0.9828979434777032 Centerline is valid? [False, True] Translation: X:79.75, Y:4.00, Z:-0.07 [[ 9.99999257e-01 -6.46589483e-04 -1.03307249e-03 7.97546742e+01] [ 6.47414059e-04 9.99999472e-01 7.98042894e-04 3.99628794e+00] [ 1.03255593e-03 -7.98711127e-04 9.99999148e-01 -7.44310459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.33140051299998 meters Centerline goodness [0,1] 0.9171863730855713 Centerline is valid? [True, False] Translation: X:79.76, Y:4.00, Z:-0.08 [[ 9.99996825e-01 1.60997841e-03 -1.93843782e-03 7.97614029e+01] [-1.60399155e-03 9.99993952e-01 3.08610288e-03 3.99504429e+00] [ 1.94339465e-03 -3.08298384e-03 9.99993359e-01 -7.86717660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.36140051299998 meters Centerline goodness [0,1] 0.9180589210559877 Centerline is valid? [False, False] Translation: X:79.76, Y:4.00, Z:-0.08 [[ 9.99997208e-01 1.31222019e-03 -1.96500218e-03 7.97617883e+01] [-1.30737778e-03 9.99996111e-01 2.46358660e-03 3.99788636e+00] [ 1.96822731e-03 -2.46101072e-03 9.99995035e-01 -7.92819780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.39140051299998 meters Centerline goodness [0,1] 0.9607300296015504 Centerline is valid? [False, True] Translation: X:79.76, Y:4.00, Z:-0.08 [[ 9.99997341e-01 1.20605578e-03 -1.96575966e-03 7.97617308e+01] [-1.20164933e-03 9.99996766e-01 2.24124510e-03 3.99893473e+00] [ 1.96845637e-03 -2.23887699e-03 9.99995556e-01 -7.91726074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.42140051299998 meters Centerline goodness [0,1] 0.9307878942663772 Centerline is valid? [True, False] Translation: X:79.76, Y:4.00, Z:-0.08 [[ 9.99997690e-01 1.04595262e-03 -1.87755975e-03 7.97612942e+01] [-1.04237958e-03 9.99997646e-01 1.90299268e-03 4.00055070e+00] [ 1.87954577e-03 -1.90103116e-03 9.99996427e-01 -7.89028047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.45140051299998 meters Centerline goodness [0,1] 0.9858818511409683 Centerline is valid? [False, True] Translation: X:79.76, Y:4.00, Z:-0.08 [[ 9.99998091e-01 8.33500041e-04 -1.76752191e-03 7.97607333e+01] [-8.30998533e-04 9.99998653e-01 1.41552525e-03 4.00290700e+00] [ 1.76869937e-03 -1.41405374e-03 9.99997436e-01 -7.85335844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.48140051299998 meters Centerline goodness [0,1] 0.9745768084701706 Centerline is valid? [True, True] Translation: X:79.79, Y:4.02, Z:-0.08 [[ 9.99999306e-01 7.47349302e-04 -9.11113218e-04 7.97883024e+01] [-7.47411176e-04 9.99999718e-01 -6.75722059e-05 4.01507532e+00] [ 9.11062462e-04 6.82531352e-05 9.99999583e-01 -7.79105877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.51140051299998 meters Centerline goodness [0,1] 0.9951194561070736 Centerline is valid? [True, True] Translation: X:79.82, Y:4.02, Z:-0.08 [[ 9.99997596e-01 1.13189046e-03 -1.87817101e-03 7.98181440e+01] [-1.13215416e-03 9.99999349e-01 -1.39346712e-04 4.01512148e+00] [ 1.87801206e-03 1.41472756e-04 9.99998227e-01 -7.89914052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.54140051299999 meters Centerline goodness [0,1] 0.9345907670061879 Centerline is valid? [True, False] Translation: X:79.82, Y:4.02, Z:-0.08 [[ 9.99997831e-01 7.60249410e-04 -1.93908275e-03 7.98187950e+01] [-7.62127553e-04 9.99999241e-01 -9.68018256e-04 4.01891156e+00] [ 1.93834535e-03 9.69493984e-04 9.99997651e-01 -7.98761967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.571400513 meters Centerline goodness [0,1] 0.6406556961490526 Centerline is valid? [False, False] Translation: X:79.82, Y:4.02, Z:-0.08 [[ 9.99997744e-01 4.28921183e-04 -2.08030993e-03 7.98197652e+01] [-4.32498581e-04 9.99998428e-01 -1.71950163e-03 4.02236427e+00] [ 2.07956913e-03 1.72039748e-03 9.99996358e-01 -8.08508617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.601400513 meters Centerline goodness [0,1] 0.7547105754540825 Centerline is valid? [False, False] Translation: X:79.82, Y:4.03, Z:-0.08 [[ 9.99997594e-01 1.21089098e-04 -2.19036543e-03 7.98205249e+01] [-1.26339840e-04 9.99997119e-01 -2.39721978e-03 4.02547530e+00] [ 2.19006884e-03 2.39749074e-03 9.99994728e-01 -8.16102621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.631400513 meters Centerline goodness [0,1] 0.7907606969703386 Centerline is valid? [False, False] Translation: X:79.82, Y:4.03, Z:-0.08 [[ 9.99997381e-01 -1.63205028e-04 -2.28276134e-03 7.98212066e+01] [ 1.56280128e-04 9.99995387e-01 -3.03341260e-03 4.02840185e+00] [ 2.28324588e-03 3.03304791e-03 9.99992794e-01 -8.23494896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.661400513 meters Centerline goodness [0,1] 0.9198665505004356 Centerline is valid? [False, False] Translation: X:79.82, Y:4.03, Z:-0.08 [[ 9.99997152e-01 -4.87977300e-04 -2.33612640e-03 7.98211356e+01] [ 4.79224229e-04 9.99992869e-01 -3.74592564e-03 4.03181382e+00] [ 2.33793767e-03 3.74479545e-03 9.99990255e-01 -8.18716067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.691400513 meters Centerline goodness [0,1] 0.992116707011418 Centerline is valid? [False, True] Translation: X:79.82, Y:4.03, Z:-0.08 [[ 9.99997242e-01 -6.32982531e-04 -2.26184249e-03 7.98205244e+01] [ 6.23704307e-04 9.99991399e-01 -4.10041798e-03 4.03357944e+00] [ 2.26441853e-03 4.09899594e-03 9.99989035e-01 -8.11545717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.721400513 meters Centerline goodness [0,1] 0.9149270096532153 Centerline is valid? [True, False] Translation: X:79.82, Y:4.04, Z:-0.08 [[ 9.99997314e-01 -9.02323223e-04 -2.13491923e-03 7.98199281e+01] [ 8.92212901e-04 9.99988406e-01 -4.73191529e-03 4.03661536e+00] [ 2.13916419e-03 4.72999777e-03 9.99986525e-01 -8.08084350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.751400513 meters Centerline goodness [0,1] 0.9189022575570767 Centerline is valid? [False, False] Translation: X:79.83, Y:4.03, Z:-0.08 [[ 9.99973277e-01 5.54073596e-03 -4.76923132e-03 7.98288998e+01] [-5.52127384e-03 9.99976417e-01 4.08430434e-03 4.03324679e+00] [ 4.79174889e-03 -4.05786296e-03 9.99980286e-01 -7.92937964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.781400513 meters Centerline goodness [0,1] 0.8195546455080625 Centerline is valid? [False, False] Translation: X:79.83, Y:4.04, Z:-0.08 [[ 9.99975344e-01 5.18034608e-03 -4.74077264e-03 7.98290527e+01] [-5.16490072e-03 9.99981333e-01 3.26444710e-03 4.03705363e+00] [ 4.75759511e-03 -3.23988100e-03 9.99983434e-01 -7.98070729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.811400513 meters Centerline goodness [0,1] 0.8613672836204129 Centerline is valid? [False, False] Translation: X:79.83, Y:4.04, Z:-0.08 [[ 9.99976528e-01 4.92443507e-03 -4.76378598e-03 7.98292069e+01] [-4.91175541e-03 9.99984373e-01 2.66972332e-03 4.03984333e+00] [ 4.77685842e-03 -2.64626211e-03 9.99985089e-01 -7.99724786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.841400513 meters Centerline goodness [0,1] 0.8971258249946774 Centerline is valid? [False, False] Translation: X:79.83, Y:4.04, Z:-0.08 [[ 9.99977185e-01 4.76362775e-03 -4.78920187e-03 7.98292633e+01] [-4.75255979e-03 9.99986016e-01 2.31975445e-03 4.04149681e+00] [ 4.80018534e-03 -2.29694056e-03 9.99985841e-01 -7.99216596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.871400513 meters Centerline goodness [0,1] 0.8634104724325478 Centerline is valid? [False, False] Translation: X:79.83, Y:4.04, Z:-0.08 [[ 9.99978043e-01 4.55651345e-03 -4.81164941e-03 7.98292538e+01] [-4.54758250e-03 9.99987920e-01 1.86542416e-03 4.04363480e+00] [ 4.82009112e-03 -1.84350183e-03 9.99986684e-01 -7.97662870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.901400513 meters Centerline goodness [0,1] 0.9974985861573933 Centerline is valid? [False, True] Translation: X:79.78, Y:4.05, Z:-0.08 [[ 9.99975771e-01 2.12860728e-03 -6.62771400e-03 7.97846107e+01] [-2.12857195e-03 9.99997735e-01 1.23845334e-05 4.04773601e+00] [ 6.62772534e-03 1.72333280e-06 9.99978036e-01 -7.81783437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.931400513 meters Centerline goodness [0,1] 0.9193306429461852 Centerline is valid? [True, False] Translation: X:79.83, Y:4.05, Z:-0.08 [[ 9.99989366e-01 2.74993189e-03 -3.70215374e-03 7.98250637e+01] [-2.75551644e-03 9.99995072e-01 -1.50420742e-03 4.05411842e+00] [ 3.69799903e-03 1.51439277e-03 9.99992016e-01 -7.85540714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.961400513 meters Centerline goodness [0,1] 0.8331363943281567 Centerline is valid? [False, False] Translation: X:79.82, Y:4.06, Z:-0.08 [[ 9.99990247e-01 2.49394103e-03 -3.64499006e-03 7.98247885e+01] [-2.50141130e-03 9.99994778e-01 -2.04634027e-03 4.05669752e+00] [ 3.63986758e-03 2.05543793e-03 9.99991263e-01 -7.84059757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.99140051299997 meters Centerline goodness [0,1] 0.9972100353537505 Centerline is valid? [False, True] Translation: X:79.82, Y:4.06, Z:-0.08 [[ 9.99991130e-01 2.25359994e-03 -3.55827334e-03 7.98243884e+01] [-2.26280901e-03 9.99994096e-01 -2.58617267e-03 4.05927314e+00] [ 3.55242413e-03 2.59420142e-03 9.99990325e-01 -7.82058083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.02140051299997 meters Centerline goodness [0,1] 0.9462404418011895 Centerline is valid? [True, False] Translation: X:79.82, Y:4.06, Z:-0.08 [[ 9.99992648e-01 1.81219883e-03 -3.37936007e-03 7.98233901e+01] [-1.82445886e-03 9.99991753e-01 -3.62836746e-03 4.06431835e+00] [ 3.37275688e-03 3.63450629e-03 9.99987707e-01 -7.74136877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.05140051299998 meters Centerline goodness [0,1] 0.9456570155902004 Centerline is valid? [False, False] Translation: X:79.82, Y:4.07, Z:-0.08 [[ 9.99993383e-01 1.57462954e-03 -3.27944872e-03 7.98228958e+01] [-1.58837768e-03 9.99989944e-01 -4.19383399e-03 4.06702410e+00] [ 3.27281200e-03 4.19901524e-03 9.99985828e-01 -7.71013692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.08140051299998 meters Centerline goodness [0,1] 0.9633301789401238 Centerline is valid? [False, True] Translation: X:79.78, Y:4.06, Z:-0.08 [[ 9.99981563e-01 2.22289665e-03 -5.65080765e-03 7.97804105e+01] [-2.23099055e-03 9.99996494e-01 -1.42644310e-03 4.06388955e+00] [ 5.64761700e-03 1.43902370e-03 9.99983017e-01 -7.62880467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.11140051299998 meters Centerline goodness [0,1] 0.9530335596177991 Centerline is valid? [True, True] Translation: X:79.81, Y:4.07, Z:-0.08 [[ 9.99981015e-01 2.16721753e-03 -5.76827281e-03 7.98081452e+01] [-2.16954550e-03 9.99997568e-01 -3.97354779e-04 4.06960827e+00] [ 5.76739763e-03 4.09861765e-04 9.99983284e-01 -7.65228030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.14140051299998 meters Centerline goodness [0,1] 0.9490247849416574 Centerline is valid? [True, False] Translation: X:79.81, Y:4.07, Z:-0.08 [[ 9.99981898e-01 1.73697299e-03 -5.76076598e-03 7.98082922e+01] [-1.74478289e-03 9.99997565e-01 -1.35095609e-03 4.07407292e+00] [ 5.75840538e-03 1.36098292e-03 9.99982494e-01 -7.68883347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.17140051299998 meters Centerline goodness [0,1] 0.9980572575307957 Centerline is valid? [False, True] Translation: X:79.81, Y:4.08, Z:-0.08 [[ 9.99982375e-01 1.13440052e-03 -5.82777158e-03 7.98086563e+01] [-1.14985626e-03 9.99995829e-01 -2.64941790e-03 4.08010767e+00] [ 5.82474177e-03 2.65607231e-03 9.99979509e-01 -7.72034952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.20140051299998 meters Centerline goodness [0,1] 0.9738004183481587 Centerline is valid? [True, True] Translation: X:79.84, Y:4.09, Z:-0.08 [[ 9.99976331e-01 -3.62897935e-04 -6.87066483e-03 7.98367480e+01] [ 3.59687007e-04 9.99999826e-01 -4.68568640e-04 4.09203990e+00] [ 6.87083367e-03 4.66086260e-04 9.99976287e-01 -7.77433823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.23140051299998 meters Centerline goodness [0,1] 0.9893466658228383 Centerline is valid? [True, True] Translation: X:79.87, Y:4.09, Z:-0.08 [[ 9.99970757e-01 -2.36503110e-03 -7.27261169e-03 7.98667033e+01] [ 2.36148493e-03 9.99997089e-01 -4.96154811e-04 4.09456145e+00] [ 7.27376394e-03 4.78966139e-04 9.99973431e-01 -7.81629283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.26140051299998 meters Centerline goodness [0,1] 0.9986408138127296 Centerline is valid? [True, True] Translation: X:79.90, Y:4.09, Z:-0.08 [[ 9.99959222e-01 -5.01856302e-03 -7.50787815e-03 7.98976658e+01] [ 5.01485719e-03 9.99987294e-01 -5.12337085e-04 4.09266034e+00] [ 7.51035396e-03 4.74665256e-04 9.99971684e-01 -7.81347367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.29140051299999 meters Centerline goodness [0,1] 0.9983088110941992 Centerline is valid? [True, True] Translation: X:79.93, Y:4.10, Z:-0.08 [[ 9.99943165e-01 -7.91674175e-03 -7.14090209e-03 7.99265079e+01] [ 7.91346274e-03 9.99968569e-01 -4.87326300e-04 4.09840131e+00] [ 7.14453568e-03 4.30789340e-04 9.99974385e-01 -7.79603161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.321400513 meters Centerline goodness [0,1] 0.9990235411492496 Centerline is valid? [True, True] Translation: X:79.96, Y:4.10, Z:-0.07 [[ 9.99877479e-01 -1.45836666e-02 -5.68718155e-03 7.99559333e+01] [ 1.45816939e-02 9.99893606e-01 -3.88177945e-04 4.10092018e+00] [ 5.69223753e-03 3.05201645e-04 9.99983753e-01 -7.49995952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.351400513 meters Centerline goodness [0,1] 0.9996824657592244 Centerline is valid? [True, True] Translation: X:79.99, Y:4.09, Z:-0.07 [[ 9.99805037e-01 -1.89281783e-02 -5.62237107e-03 7.99864022e+01] [ 1.89263188e-02 9.99820808e-01 -3.83757122e-04 4.09084814e+00] [ 5.62862740e-03 2.77271516e-04 9.99984121e-01 -7.49123799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.381400513 meters Centerline goodness [0,1] 0.9998940655522363 Centerline is valid? [True, True] Translation: X:80.02, Y:4.09, Z:-0.08 [[ 9.99693300e-01 -2.39967796e-02 -6.12041895e-03 8.00164448e+01] [ 2.39946700e-02 9.99711999e-01 -4.17886305e-04 4.09026495e+00] [ 6.12868419e-03 2.70900707e-04 9.99981183e-01 -7.61175302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.411400513 meters Centerline goodness [0,1] 0.9999361946488579 Centerline is valid? [True, True] Translation: X:80.05, Y:4.09, Z:-0.08 [[ 9.99554777e-01 -2.91125539e-02 -6.53508208e-03 8.00470328e+01] [ 2.91102571e-02 9.99576107e-01 -4.46325325e-04 4.08856943e+00] [ 6.54530558e-03 2.55888691e-04 9.99978547e-01 -7.74764180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.441400513 meters Centerline goodness [0,1] 0.9999787978373794 Centerline is valid? [True, True] Translation: X:80.08, Y:4.09, Z:-0.08 [[ 9.99401011e-01 -3.39601074e-02 -6.65815508e-03 8.00768792e+01] [ 3.39578304e-02 9.99423163e-01 -4.54756951e-04 4.08963283e+00] [ 6.66975800e-03 2.28388055e-04 9.99977731e-01 -7.83836561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.471400513 meters Centerline goodness [0,1] 0.9999788301543282 Centerline is valid? [True, True] Translation: X:80.11, Y:4.09, Z:-0.08 [[ 9.99234860e-01 -3.85083817e-02 -6.84093115e-03 8.01073034e+01] [ 3.85060839e-02 9.99258256e-01 -4.67334596e-04 4.08529309e+00] [ 6.85385324e-03 2.03559550e-04 9.99976491e-01 -7.88345876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.501400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.14, Y:4.07, Z:-0.08 [[ 9.98813666e-01 -4.79194926e-02 -8.65923458e-03 8.01384449e+01] [ 4.79161630e-02 9.98851186e-01 -5.91680522e-04 4.07174023e+00] [ 8.67763976e-03 1.76061296e-04 9.99962333e-01 -8.09395122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.531400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.17, Y:4.07, Z:-0.08 [[ 9.98607644e-01 -5.18416109e-02 -9.75814792e-03 8.01668889e+01] [ 5.18375668e-02 9.98655307e-01 -6.67071256e-04 4.06992143e+00] [ 9.77960825e-03 1.60303811e-04 9.99952166e-01 -8.28078113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.561400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.20, Y:4.07, Z:-0.08 [[ 9.98431877e-01 -5.50954504e-02 -9.91351778e-03 8.01957780e+01] [ 5.50914271e-02 9.98481083e-01 -6.78675255e-04 4.06621109e+00] [ 9.93585189e-03 1.31461167e-04 9.99950630e-01 -8.28722869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.591400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.23, Y:4.06, Z:-0.08 [[ 9.98310558e-01 -5.75345671e-02 -8.11190219e-03 8.02253684e+01] [ 5.75319444e-02 9.98343511e-01 -5.56485936e-04 4.06360319e+00] [ 8.13048209e-03 8.88522788e-05 9.99966943e-01 -7.94384524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.621400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.25, Y:4.07, Z:-0.07 [[ 9.98279163e-01 -5.84833471e-02 -4.29081412e-03 8.02529758e+01] [ 5.84826204e-02 9.98288383e-01 -2.94735610e-04 4.06512423e+00] [ 4.30070701e-03 4.32903647e-05 9.99990751e-01 -7.26552144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.651400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.28, Y:4.07, Z:-0.07 [[ 9.98378005e-01 -5.67454567e-02 -4.61645166e-03 8.02819247e+01] [ 5.67445960e-02 9.98388677e-01 -3.17300733e-04 4.07026316e+00] [ 4.62701844e-03 5.48273881e-05 9.99989294e-01 -7.32809134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.681400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.31, Y:4.08, Z:-0.08 [[ 9.98538432e-01 -5.37389160e-02 -5.75569850e-03 8.03091908e+01] [ 5.37375215e-02 9.98555017e-01 -3.96765977e-04 4.07701824e+00] [ 5.76870339e-03 8.68891047e-05 9.99983357e-01 -7.52314272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.711400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.34, Y:4.08, Z:-0.08 [[ 9.98528464e-01 -5.39238252e-02 -5.75566228e-03 8.03366224e+01] [ 5.39224307e-02 9.98545048e-01 -3.97290693e-04 4.07908478e+00] [ 5.76871151e-03 8.63467647e-05 9.99983357e-01 -7.50778420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.74140051299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.36, Y:4.08, Z:-0.08 [[ 9.98681695e-01 -5.08836493e-02 -6.76213093e-03 8.03646182e+01] [ 5.08816462e-02 9.98704580e-01 -4.68051083e-04 4.08484883e+00] [ 6.77718728e-03 1.23365695e-04 9.99977027e-01 -7.68579020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.77140051299997 meters Centerline goodness [0,1] 0.9999575902796921 Centerline is valid? [True, True] Translation: X:80.39, Y:4.09, Z:-0.08 [[ 9.98782584e-01 -4.87562353e-02 -7.49522739e-03 8.03914441e+01] [ 4.87537102e-02 9.98810696e-01 -5.19352428e-04 4.09184560e+00] [ 7.51163496e-03 1.53300016e-04 9.99971776e-01 -7.80372145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.80140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.42, Y:4.10, Z:-0.08 [[ 9.98786128e-01 -4.87266065e-02 -7.21027164e-03 8.04189605e+01] [ 4.87242628e-02 9.98812142e-01 -5.00454438e-04 4.09837204e+00] [ 7.22609231e-03 1.48531780e-04 9.99973880e-01 -7.68140222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.83140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.45, Y:4.10, Z:-0.08 [[ 9.98695791e-01 -5.05830676e-02 -6.93327527e-03 8.04476714e+01] [ 5.05809370e-02 9.98719849e-01 -4.82424216e-04 4.09937989e+00] [ 6.94880212e-03 1.31103475e-04 9.99975848e-01 -7.58186162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.86140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.48, Y:4.10, Z:-0.08 [[ 9.98563945e-01 -5.30466304e-02 -7.49012413e-03 8.04752251e+01] [ 5.30442048e-02 9.98592029e-01 -5.22256441e-04 4.09957892e+00] [ 7.50728219e-03 1.24198774e-04 9.99971812e-01 -7.68692338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.89140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.50, Y:4.10, Z:-0.08 [[ 9.98386379e-01 -5.61439330e-02 -8.51456987e-03 8.05043966e+01] [ 5.61409040e-02 9.98422679e-01 -5.94532257e-04 4.09734650e+00] [ 8.53451904e-03 1.15557257e-04 9.99963574e-01 -7.88055024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.92140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.53, Y:4.09, Z:-0.08 [[ 9.97930995e-01 -6.38409955e-02 -7.61952510e-03 8.05340557e+01] [ 6.38387875e-02 9.97960082e-01 -5.32895389e-04 4.09008624e+00] [ 7.63800247e-03 4.53715822e-05 9.99970829e-01 -7.90160237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.95140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.56, Y:4.09, Z:-0.08 [[ 9.97688757e-01 -6.77261836e-02 -5.50537233e-03 8.05631508e+01] [ 6.77250896e-02 9.97703946e-01 -3.85117580e-04 4.08607777e+00] [ 5.51881424e-03 1.13756456e-05 9.99984771e-01 -7.50987082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.98140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.59, Y:4.08, Z:-0.07 [[ 9.97510409e-01 -7.04031957e-02 -4.04637397e-03 8.05912924e+01] [ 7.04026252e-02 9.97518616e-01 -2.83440116e-04 4.08483099e+00] [ 4.05628845e-03 -2.14088346e-06 9.99991773e-01 -7.20522504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.01140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.62, Y:4.09, Z:-0.07 [[ 9.97443284e-01 -7.13793211e-02 -3.44799544e-03 8.06184034e+01] [ 7.13789102e-02 9.97449243e-01 -2.42243075e-04 4.08555335e+00] [ 3.45649159e-03 -4.49042886e-06 9.99994026e-01 -6.97708360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.04140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.65, Y:4.09, Z:-0.07 [[ 9.97515476e-01 -7.03570075e-02 -3.57293631e-03 8.06462334e+01] [ 7.03565594e-02 9.97521875e-01 -2.51120176e-04 4.08911409e+00] [ 3.58175019e-03 -8.83244166e-07 9.99993586e-01 -6.89613788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.071400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.67, Y:4.10, Z:-0.07 [[ 9.97909856e-01 -6.44684685e-02 -4.44257769e-03 8.06747569e+01] [ 6.44677123e-02 9.97919744e-01 -3.13352082e-04 4.10050555e+00] [ 4.45353732e-03 2.62943101e-05 9.99990083e-01 -6.94063772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.101400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.70, Y:4.11, Z:-0.07 [[ 9.98138377e-01 -6.07521288e-02 -5.38146756e-03 8.07017433e+01] [ 6.07509593e-02 9.98152882e-01 -3.80669971e-04 4.10938822e+00] [ 5.39465387e-03 5.30319896e-05 9.99985447e-01 -7.12967791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.131400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.73, Y:4.12, Z:-0.07 [[ 9.98334179e-01 -5.72925600e-02 -6.81393504e-03 8.07304081e+01] [ 5.72906002e-02 9.98357428e-01 -4.82617422e-04 4.11649082e+00] [ 6.83039305e-03 9.14390396e-05 9.99976668e-01 -7.38653181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.161400513 meters Centerline goodness [0,1] 0.9998066428909036 Centerline is valid? [True, True] Translation: X:80.76, Y:4.13, Z:-0.08 [[ 9.98550066e-01 -5.32140488e-02 -8.12589338e-03 8.07558803e+01] [ 5.31715216e-02 9.98570993e-01 -5.36300091e-03 4.12915494e+00] [ 8.39966841e-03 4.92315880e-03 9.99952603e-01 -7.61622424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.191400513 meters Centerline goodness [0,1] 0.9999575839837123 Centerline is valid? [True, True] Translation: X:80.79, Y:4.13, Z:-0.08 [[ 9.98755830e-01 -4.89346979e-02 -9.60145285e-03 8.07871633e+01] [ 4.89762625e-02 9.98791352e-01 4.14256285e-03 4.12969836e+00] [ 9.38713301e-03 -4.60765207e-03 9.99945324e-01 -7.67720302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.221400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.81, Y:4.14, Z:-0.08 [[ 9.98842509e-01 -4.72794655e-02 -8.84841347e-03 8.08136481e+01] [ 4.72757377e-02 9.98881678e-01 -6.30101988e-04 4.14142150e+00] [ 8.86830898e-03 2.11057376e-04 9.99960654e-01 -7.64115494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.251400513 meters Centerline goodness [0,1] 0.9999788099677912 Centerline is valid? [True, True] Translation: X:80.84, Y:4.15, Z:-0.07 [[ 9.98911162e-01 -4.60420376e-02 -7.52470408e-03 8.08425842e+01] [ 4.60393017e-02 9.98939485e-01 -5.36489615e-04 4.14619467e+00] [ 7.54142509e-03 1.89473343e-04 9.99971545e-01 -7.35299164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.281400513 meters Centerline goodness [0,1] 0.9999788418001396 Centerline is valid? [True, True] Translation: X:80.87, Y:4.15, Z:-0.07 [[ 9.98959748e-01 -4.51344524e-02 -6.50413391e-03 8.08714512e+01] [ 4.51323831e-02 9.98980907e-01 -4.64653630e-04 4.15030856e+00] [ 6.51847748e-03 1.70623209e-04 9.99978740e-01 -7.15141840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.311400513 meters Centerline goodness [0,1] 0.9999573969538822 Centerline is valid? [True, True] Translation: X:80.90, Y:4.16, Z:-0.07 [[ 9.98990538e-01 -4.44960984e-02 -6.16452953e-03 8.08988507e+01] [ 4.44942219e-02 9.99009544e-01 -4.41282784e-04 4.15603180e+00] [ 6.17805920e-03 1.66551381e-04 9.99980902e-01 -7.13211907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.341400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.93, Y:4.16, Z:-0.07 [[ 9.99010144e-01 -4.39976561e-02 -6.55267201e-03 8.09279090e+01] [ 4.39955218e-02 9.99031618e-01 -4.69574505e-04 4.15653086e+00] [ 6.56698669e-03 1.80821470e-04 9.99978421e-01 -7.26632934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.371400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.96, Y:4.16, Z:-0.07 [[ 9.99036632e-01 -4.33723985e-02 -6.68151499e-03 8.09565017e+01] [ 4.33701579e-02 9.99058957e-01 -4.79931615e-04 4.15857249e+00] [ 6.69604318e-03 1.89690904e-04 9.99977563e-01 -7.49072046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.401400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.98, Y:4.16, Z:-0.07 [[ 9.99042856e-01 -4.32792656e-02 -6.34635233e-03 8.09835955e+01] [ 4.32772364e-02 9.99062997e-01 -4.56779019e-04 4.16343658e+00] [ 6.36017484e-03 1.81689226e-04 9.99979757e-01 -7.41006467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.431400513 meters Centerline goodness [0,1] 0.9999785734181826 Centerline is valid? [True, True] Translation: X:81.01, Y:4.17, Z:-0.07 [[ 9.99052448e-01 -4.31519470e-02 -5.66701880e-03 8.10125413e+01] [ 4.31503252e-02 9.99068508e-01 -4.08196479e-04 4.16558946e+00] [ 5.67935449e-03 1.63275988e-04 9.99983859e-01 -7.26533230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.461400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.04, Y:4.16, Z:-0.07 [[ 9.99090469e-01 -4.22712001e-02 -5.60186287e-03 8.10411641e+01] [ 4.22695965e-02 9.99106159e-01 -4.04391857e-04 4.16388191e+00] [ 5.61394982e-03 1.67235567e-04 9.99984228e-01 -7.14939375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.49140051299997 meters Centerline goodness [0,1] 0.9999575344501773 Centerline is valid? [True, True] Translation: X:81.07, Y:4.18, Z:-0.07 [[ 9.99260207e-01 -3.78880746e-02 -6.59788466e-03 8.10689607e+01] [ 3.78857471e-02 9.99281963e-01 -4.77438575e-04 4.17969727e+00] [ 6.61123636e-03 2.27119580e-04 9.99978120e-01 -7.16316254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.52140051299997 meters Centerline goodness [0,1] 0.9998732733493854 Centerline is valid? [True, True] Translation: X:81.10, Y:4.19, Z:-0.07 [[ 9.99353192e-01 -3.53510094e-02 -6.59577594e-03 8.10983749e+01] [ 3.53486272e-02 9.99374928e-01 -4.77444775e-04 4.18588138e+00] [ 6.60853126e-03 2.43984335e-04 9.99978134e-01 -7.17111716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.55140051299998 meters Centerline goodness [0,1] 0.9999362543028345 Centerline is valid? [True, True] Translation: X:81.13, Y:4.19, Z:-0.07 [[ 9.99444881e-01 -3.27039084e-02 -6.35481812e-03 8.11272185e+01] [ 3.27016427e-02 9.99465052e-01 -4.60149933e-04 4.19093713e+00] [ 6.36646733e-03 2.52081504e-04 9.99979702e-01 -7.12445744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.58140051299998 meters Centerline goodness [0,1] 0.999829989799388 Centerline is valid? [True, True] Translation: X:81.16, Y:4.19, Z:-0.07 [[ 9.99539167e-01 -2.97828346e-02 -5.86819816e-03 8.11576696e+01] [ 2.97808513e-02 9.99556362e-01 -4.25086111e-04 4.19403990e+00] [ 5.87825507e-03 2.50130281e-04 9.99982692e-01 -7.04495648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.61140051299998 meters Centerline goodness [0,1] 0.9998302783435167 Centerline is valid? [True, True] Translation: X:81.19, Y:4.21, Z:-0.07 [[ 9.99682610e-01 -2.44244911e-02 -6.17442133e-03 8.11857752e+01] [ 2.44221933e-02 9.99701634e-01 -4.47275578e-04 4.21100003e+00] [ 6.18350357e-03 2.96340706e-04 9.99980838e-01 -7.14059377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.64140051299998 meters Centerline goodness [0,1] 0.9999149840595112 Centerline is valid? [True, True] Translation: X:81.22, Y:4.21, Z:-0.07 [[ 9.99719978e-01 -2.26136446e-02 -6.97062861e-03 8.12153669e+01] [ 2.26106714e-02 9.99744219e-01 -5.05055231e-04 4.21088690e+00] [ 6.98026680e-03 3.47303211e-04 9.99975577e-01 -7.26205862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.67140051299998 meters Centerline goodness [0,1] 0.9995754076086957 Centerline is valid? [True, True] Translation: X:81.24, Y:4.22, Z:-0.07 [[ 9.99733652e-01 -2.16023829e-02 -8.12171929e-03 8.12431044e+01] [ 2.15983114e-02 9.99766556e-01 -5.88700618e-04 4.22244043e+00] [ 8.13254066e-03 4.13128396e-04 9.99966845e-01 -7.42585957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.70140051299998 meters Centerline goodness [0,1] 0.9994690002336399 Centerline is valid? [True, True] Translation: X:81.27, Y:4.22, Z:-0.07 [[ 9.99732470e-01 -2.14307659e-02 -8.70122408e-03 8.12714976e+01] [ 2.14260799e-02 9.99770236e-01 -6.31411233e-04 4.22472730e+00] [ 8.71275648e-03 4.44809189e-04 9.99961944e-01 -7.48144622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.73140051299998 meters Centerline goodness [0,1] 0.9997453256648061 Centerline is valid? [True, True] Translation: X:81.30, Y:4.23, Z:-0.07 [[ 9.99743282e-01 -2.16296220e-02 -6.74763233e-03 8.12988705e+01] [ 2.16268025e-02 9.99765993e-01 -4.90544049e-04 4.22889110e+00] [ 6.75666362e-03 3.44488405e-04 9.99977114e-01 -7.02940222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.76140051299998 meters Centerline goodness [0,1] 0.9998087710351862 Centerline is valid? [True, True] Translation: X:81.33, Y:4.23, Z:-0.07 [[ 9.99752993e-01 -2.16741049e-02 -4.91785062e-03 8.13278149e+01] [ 2.16726046e-02 9.99765057e-01 -3.58163933e-04 4.23289568e+00] [ 4.92445809e-03 2.51492833e-04 9.99987843e-01 -6.76308064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.79140051299999 meters Centerline goodness [0,1] 0.99963707783613 Centerline is valid? [True, True] Translation: X:81.36, Y:4.24, Z:-0.07 [[ 9.99761328e-01 -2.13649908e-02 -4.56339597e-03 8.13555442e+01] [ 2.13636922e-02 9.99771715e-01 -3.33129122e-04 4.24065831e+00] [ 4.56947151e-03 2.35558626e-04 9.99989532e-01 -6.71330403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.821400513 meters Centerline goodness [0,1] 0.9997440382236252 Centerline is valid? [True, True] Translation: X:81.38, Y:4.24, Z:-0.07 [[ 9.99769435e-01 -2.08289375e-02 -5.21844131e-03 8.13849656e+01] [ 2.08272304e-02 9.99783017e-01 -3.81261269e-04 4.23865569e+00] [ 5.22525027e-03 2.72487684e-04 9.99986311e-01 -6.88812764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.851400513 meters Centerline goodness [0,1] 0.9994015303723336 Centerline is valid? [True, True] Translation: X:81.42, Y:4.24, Z:-0.07 [[ 9.99807318e-01 -1.75251222e-02 -8.84289063e-03 8.14151099e+01] [ 1.75200778e-02 9.99846302e-01 -6.47600725e-04 4.24444258e+00] [ 8.85288078e-03 4.92547813e-04 9.99960691e-01 -7.43884048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.881400513 meters Centerline goodness [0,1] 0.9992389006342495 Centerline is valid? [True, True] Translation: X:81.44, Y:4.26, Z:-0.08 [[ 9.99837869e-01 -1.50425046e-02 -9.89745432e-03 8.14434838e+01] [ 1.50360633e-02 9.99886689e-01 -7.24891229e-04 4.25550968e+00] [ 9.90723701e-03 5.75954951e-04 9.99950756e-01 -7.58289457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.911400513 meters Centerline goodness [0,1] 0.9967770662821763 Centerline is valid? [True, True] Translation: X:81.47, Y:4.26, Z:-0.08 [[ 9.99867686e-01 -1.26535925e-02 -1.02223906e-02 8.14715759e+01] [ 1.26465956e-02 9.99919748e-01 -7.48818600e-04 4.26467910e+00] [ 1.02310455e-02 6.19441081e-04 9.99947470e-01 -7.58463811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.941400513 meters Centerline goodness [0,1] 0.9989594835640874 Centerline is valid? [True, True] Translation: X:81.50, Y:4.26, Z:-0.07 [[ 9.99898130e-01 -1.02142195e-02 -9.96996705e-03 8.15017775e+01] [ 1.02074419e-02 9.99947636e-01 -7.30448607e-04 4.26252663e+00] [ 9.97690594e-03 6.28606336e-04 9.99950032e-01 -7.37728063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.971400513 meters Centerline goodness [0,1] 0.994200127469726 Centerline is valid? [True, True] Translation: X:81.53, Y:4.27, Z:-0.07 [[ 9.99923771e-01 -7.91560127e-03 -9.47607443e-03 8.15306726e+01] [ 7.90937478e-03 9.99968479e-01 -6.94370490e-04 4.27187730e+00] [ 9.48127209e-03 6.19367735e-04 9.99954860e-01 -7.30583564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.001400513 meters Centerline goodness [0,1] 0.9721945110691317 Centerline is valid? [True, True] Translation: X:81.56, Y:4.28, Z:-0.07 [[ 9.99940732e-01 -5.65976585e-03 -9.30054480e-03 8.15595485e+01] [ 5.65366941e-03 9.99983786e-01 -6.81654576e-04 4.27849711e+00] [ 9.30425200e-03 6.29031969e-04 9.99956517e-01 -7.28334642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.031400513 meters Centerline goodness [0,1] 0.961561433447099 Centerline is valid? [True, True] Translation: X:81.59, Y:4.28, Z:-0.07 [[ 9.99956985e-01 -1.25474233e-03 -9.18983301e-03 8.15893075e+01] [ 1.24860352e-03 9.99998994e-01 -6.73706409e-04 4.28475681e+00] [ 9.19066909e-03 6.62202972e-04 9.99957546e-01 -7.43989284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.061400513 meters Centerline goodness [0,1] 0.7997746933917147 Centerline is valid? [True, False] Translation: X:81.59, Y:4.29, Z:-0.07 [[ 9.99957571e-01 -1.46588261e-03 -9.09436839e-03 8.15891548e+01] [ 1.45491462e-03 9.99998207e-01 -1.21251845e-03 4.28730731e+00] [ 9.09612949e-03 1.19923547e-03 9.99957910e-01 -7.47845522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.091400513 meters Centerline goodness [0,1] 0.9633451048802281 Centerline is valid? [False, True] Translation: X:81.59, Y:4.29, Z:-0.07 [[ 9.99957376e-01 -1.58049464e-03 -9.09661983e-03 8.15891270e+01] [ 1.56714662e-03 9.99997685e-01 -1.47430190e-03 4.28854961e+00] [ 9.09892890e-03 1.45998333e-03 9.99957538e-01 -7.47362885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.121400513 meters Centerline goodness [0,1] 0.7828533527322521 Centerline is valid? [True, False] Translation: X:81.59, Y:4.29, Z:-0.07 [[ 9.99957327e-01 -1.64259207e-03 -9.09101752e-03 8.15889411e+01] [ 1.62799280e-03 9.99997374e-01 -1.61306838e-03 4.28923147e+00] [ 9.09364326e-03 1.59819944e-03 9.99957375e-01 -7.44273113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.151400513 meters Centerline goodness [0,1] 0.9819177384439068 Centerline is valid? [False, True] Translation: X:81.61, Y:4.29, Z:-0.07 [[ 9.99963011e-01 -3.50783429e-03 -7.85317695e-03 8.16095524e+01] [ 3.57119205e-03 9.99961073e-01 8.06835402e-03 4.28500531e+00] [ 7.82456881e-03 -8.09610078e-03 9.99936613e-01 -7.31668942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.181400513 meters Centerline goodness [0,1] 0.9387552323368991 Centerline is valid? [True, False] Translation: X:81.61, Y:4.29, Z:-0.07 [[ 9.99937164e-01 -8.13652321e-03 -7.71132654e-03 8.16093246e+01] [ 8.15603818e-03 9.99963607e-01 2.50262858e-03 4.29121102e+00] [ 7.69068321e-03 -2.56536520e-03 9.99967136e-01 -7.37167487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.211400513 meters Centerline goodness [0,1] 0.9370125846633763 Centerline is valid? [False, False] Translation: X:81.61, Y:4.29, Z:-0.07 [[ 9.99937261e-01 -8.09394727e-03 -7.74349915e-03 8.16093962e+01] [ 8.11451901e-03 9.99963621e-01 2.62892752e-03 4.29059580e+00] [ 7.72193904e-03 -2.69159736e-03 9.99966563e-01 -7.36217782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.24140051299997 meters Centerline goodness [0,1] 0.9986866468587177 Centerline is valid? [False, True] Translation: X:81.61, Y:4.29, Z:-0.07 [[ 9.99937233e-01 -8.07306790e-03 -7.76891095e-03 8.16095122e+01] [ 8.09415861e-03 9.99963631e-01 2.68715526e-03 4.29030771e+00] [ 7.74693482e-03 -2.74986939e-03 9.99966211e-01 -7.36817216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.27140051299997 meters Centerline goodness [0,1] 0.757161125319693 Centerline is valid? [True, False] Translation: X:81.63, Y:4.30, Z:-0.08 [[ 9.99969855e-01 -7.09998044e-03 -3.14320778e-03 8.16313636e+01] [ 7.07438013e-03 9.99942314e-01 -8.08218899e-03 4.30083477e+00] [ 3.20040984e-03 8.05970911e-03 9.99962399e-01 -7.88562664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.30140051299998 meters Centerline goodness [0,1] 0.7227844609933591 Centerline is valid? [False, False] Translation: X:81.63, Y:4.30, Z:-0.08 [[ 9.99991500e-01 -2.70968580e-03 -3.10780814e-03 8.16306532e+01] [ 2.69954636e-03 9.99991035e-01 -3.26213794e-03 4.29839713e+00] [ 3.11661964e-03 3.25372054e-03 9.99989850e-01 -7.77476277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.33140051299998 meters Centerline goodness [0,1] 0.994337680164722 Centerline is valid? [False, True] Translation: X:81.63, Y:4.30, Z:-0.08 [[ 9.99991186e-01 -2.92164431e-03 -3.01529964e-03 8.16300570e+01] [ 2.91025965e-03 9.99988647e-01 -3.77313708e-03 4.30084994e+00] [ 3.02628917e-03 3.76432852e-03 9.99988336e-01 -7.72058145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.36140051299998 meters Centerline goodness [0,1] 0.9722054510953941 Centerline is valid? [True, True] Translation: X:81.66, Y:4.31, Z:-0.08 [[ 9.99990059e-01 -2.59520859e-03 -3.62593121e-03 8.16580572e+01] [ 2.59427090e-03 9.99996600e-01 -2.63287465e-04 4.30515673e+00] [ 3.62660217e-03 2.53878200e-04 9.99993392e-01 -7.77496802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.39140051299998 meters Centerline goodness [0,1] 0.9807430419610179 Centerline is valid? [True, True] Translation: X:81.69, Y:4.31, Z:-0.08 [[ 9.99986783e-01 -2.23299042e-03 -4.63123124e-03 8.16871630e+01] [ 2.23145412e-03 9.99997454e-01 -3.36867989e-04 4.30773082e+00] [ 4.63197167e-03 3.26529157e-04 9.99989219e-01 -7.94010671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.42140051299998 meters Centerline goodness [0,1] 0.7696714726650036 Centerline is valid? [True, False] Translation: X:81.69, Y:4.31, Z:-0.08 [[ 9.99984853e-01 -2.73102526e-04 -5.49726627e-03 8.16940027e+01] [ 2.81982287e-04 9.99998657e-01 1.61459457e-03 4.30576047e+00] [ 5.49681793e-03 -1.61612024e-03 9.99983586e-01 -8.41846268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.45140051299998 meters Centerline goodness [0,1] 0.9107336235269137 Centerline is valid? [False, False] Translation: X:81.69, Y:4.31, Z:-0.08 [[ 9.99985793e-01 -3.76833816e-04 -5.31710984e-03 8.16933253e+01] [ 3.83845840e-04 9.99999058e-01 1.31780724e-03 4.30720525e+00] [ 5.31660823e-03 -1.31982947e-03 9.99984996e-01 -8.40751541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.48140051299998 meters Centerline goodness [0,1] 0.8877572807242292 Centerline is valid? [False, False] Translation: X:81.69, Y:4.31, Z:-0.08 [[ 9.99986748e-01 -4.44795510e-04 -5.12888400e-03 8.16925150e+01] [ 4.50264078e-04 9.99999331e-01 1.06512412e-03 4.30847904e+00] [ 5.12840681e-03 -1.06741936e-03 9.99986280e-01 -8.37415072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.51140051299998 meters Centerline goodness [0,1] 0.8543577737575823 Centerline is valid? [False, False] Translation: X:81.69, Y:4.31, Z:-0.08 [[ 9.99987106e-01 -5.50673603e-04 -5.04827457e-03 8.16921564e+01] [ 5.54588125e-04 9.99999547e-01 7.74050854e-04 4.30988586e+00] [ 5.04784604e-03 -7.76840586e-04 9.99986958e-01 -8.35922063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.54140051299999 meters Centerline goodness [0,1] 0.7016558060036321 Centerline is valid? [False, False] Translation: X:81.69, Y:4.31, Z:-0.08 [[ 9.99987352e-01 -7.24918920e-04 -4.97704321e-03 8.16919230e+01] [ 7.26563843e-04 9.99999682e-01 3.28701858e-04 4.31201719e+00] [ 4.97680335e-03 -3.32313840e-04 9.99987560e-01 -8.36258588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.571400513 meters Centerline goodness [0,1] 0.6498661340359526 Centerline is valid? [False, False] Translation: X:81.70, Y:4.31, Z:-0.09 [[ 9.99982602e-01 1.67430451e-03 -5.65621604e-03 8.16975630e+01] [-1.65994247e-03 9.99995389e-01 2.54290094e-03 4.31369784e+00] [ 5.66044755e-03 -2.53346770e-03 9.99980770e-01 -8.72599177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.601400513 meters Centerline goodness [0,1] 0.6498661340359526 Centerline is valid? [False, False] Translation: X:81.70, Y:4.31, Z:-0.09 [[ 9.99982602e-01 1.67430451e-03 -5.65621604e-03 8.16975630e+01] [-1.65994247e-03 9.99995389e-01 2.54290094e-03 4.31369784e+00] [ 5.66044755e-03 -2.53346770e-03 9.99980770e-01 -8.72599177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.631400513 meters Centerline goodness [0,1] 0.712500798195015 Centerline is valid? [False, False] Translation: X:81.70, Y:4.31, Z:-0.09 [[ 9.99983444e-01 1.64635562e-03 -5.51377659e-03 8.16969140e+01] [-1.63285590e-03 9.99995661e-01 2.45196968e-03 4.31416504e+00] [ 5.51778948e-03 -2.44292588e-03 9.99981793e-01 -8.69556597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.661400513 meters Centerline goodness [0,1] 0.6790734381332253 Centerline is valid? [False, False] Translation: X:81.70, Y:4.31, Z:-0.09 [[ 9.99983465e-01 1.70101182e-03 -5.49322933e-03 8.16969967e+01] [-1.68703717e-03 9.99995332e-01 2.54761104e-03 4.31370745e+00] [ 5.49753720e-03 -2.53830163e-03 9.99981667e-01 -8.72597451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.691400513 meters Centerline goodness [0,1] 0.6170541323800055 Centerline is valid? [False, False] Translation: X:81.70, Y:4.31, Z:-0.09 [[ 9.99982794e-01 1.69888440e-03 -5.61477875e-03 8.16978206e+01] [-1.68456947e-03 9.99995322e-01 2.55325573e-03 4.31361083e+00] [ 5.61909017e-03 -2.54375331e-03 9.99980977e-01 -8.80702304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.721400513 meters Centerline goodness [0,1] 0.5901572870648996 Centerline is valid? [False, False] Translation: X:81.70, Y:4.31, Z:-0.09 [[ 9.99982558e-01 1.60405750e-03 -5.68421473e-03 8.16986334e+01] [-1.59076144e-03 9.99995990e-01 2.34287084e-03 4.31452917e+00] [ 5.68795004e-03 -2.33378775e-03 9.99981100e-01 -8.92438153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.751400513 meters Centerline goodness [0,1] 0.7019483269800932 Centerline is valid? [False, False] Translation: X:81.70, Y:4.31, Z:-0.09 [[ 9.99982885e-01 1.60649074e-03 -5.62577891e-03 8.16982305e+01] [-1.59347220e-03 9.99996044e-01 2.31780388e-03 4.31469003e+00] [ 5.62948019e-03 -2.30879969e-03 9.99981489e-01 -8.88589054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.781400513 meters Centerline goodness [0,1] 0.5981753524406248 Centerline is valid? [False, False] Translation: X:81.70, Y:4.31, Z:-0.09 [[ 9.99983055e-01 1.64900245e-03 -5.58313408e-03 8.16979330e+01] [-1.63579576e-03 9.99995856e-01 2.36920182e-03 4.31448358e+00] [ 5.58701776e-03 -2.36002880e-03 9.99981608e-01 -8.85447392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.811400513 meters Centerline goodness [0,1] 0.5663397226317927 Centerline is valid? [False, False] Translation: X:81.70, Y:4.31, Z:-0.09 [[ 9.99982889e-01 1.67001711e-03 -5.60647394e-03 8.16981523e+01] [-1.65684095e-03 9.99995857e-01 2.35399051e-03 4.31456918e+00] [ 5.61038191e-03 -2.34466119e-03 9.99981513e-01 -8.88198809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.841400513 meters Centerline goodness [0,1] 0.45662487292443243 Centerline is valid? [False, False] Translation: X:81.71, Y:4.31, Z:-0.09 [[ 9.99970485e-01 4.01188073e-03 -6.55233992e-03 8.17055448e+01] [-3.98178903e-03 9.99981497e-01 4.59911758e-03 4.31306928e+00] [ 6.57066979e-03 -4.57289180e-03 9.99967957e-01 -9.39743851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.871400513 meters Centerline goodness [0,1] 0.6637550808613681 Centerline is valid? [False, False] Translation: X:81.66, Y:4.31, Z:-0.09 [[ 9.99952673e-01 3.18654457e-03 -9.19226469e-03 8.16636780e+01] [-3.14768218e-03 9.99986061e-01 4.23910092e-03 4.31080155e+00] [ 9.20564465e-03 -4.20996597e-03 9.99948765e-01 -9.40654887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.901400513 meters Centerline goodness [0,1] 0.4702052973087969 Centerline is valid? [False, False] Translation: X:81.70, Y:4.32, Z:-0.09 [[ 9.99979003e-01 1.44922723e-03 -6.31610946e-03 8.17036952e+01] [-1.44997617e-03 9.99998942e-01 -1.13999397e-04 4.31986380e+00] [ 6.31593757e-03 1.23155211e-04 9.99980047e-01 -9.45026984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.931400513 meters Centerline goodness [0,1] 0.4359061471493789 Centerline is valid? [False, False] Translation: X:81.70, Y:4.32, Z:-0.09 [[ 9.99978071e-01 1.51840210e-03 -6.44606817e-03 8.17041341e+01] [-1.51778984e-03 9.99998843e-01 9.98733332e-05 4.31880275e+00] [ 6.44621236e-03 -9.00873663e-05 9.99979219e-01 -9.45090816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.961400513 meters Centerline goodness [0,1] 0.6733529905516218 Centerline is valid? [False, False] Translation: X:81.66, Y:4.31, Z:-0.10 [[ 9.99953616e-01 6.35211165e-04 -9.61057508e-03 8.16640084e+01] [-6.28412079e-04 9.99999550e-01 7.10462051e-04 4.31348614e+00] [ 9.61102205e-03 -7.04389695e-04 9.99953565e-01 -9.50520882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.99140051299997 meters Centerline goodness [0,1] 0.6880972320642488 Centerline is valid? [False, False] Translation: X:81.67, Y:4.31, Z:-0.10 [[ 9.99951184e-01 7.08355570e-04 -9.85537303e-03 8.16650315e+01] [-6.98724683e-04 9.99999275e-01 9.80630865e-04 4.31210580e+00] [ 9.85606052e-03 -9.73696802e-04 9.99950954e-01 -9.54545356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.02140051299997 meters Centerline goodness [0,1] 0.5016006275307936 Centerline is valid? [False, False] Translation: X:81.69, Y:4.31, Z:-0.10 [[ 9.99967039e-01 -2.37579095e-03 -7.76384772e-03 8.16884379e+01] [ 2.44775132e-03 9.99954015e-01 9.27232684e-03 4.30715623e+00] [ 7.74146159e-03 -9.29102518e-03 9.99926871e-01 -9.84668370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.05140051299998 meters Centerline goodness [0,1] 0.5884645194626248 Centerline is valid? [False, False] Translation: X:81.67, Y:4.31, Z:-0.10 [[ 9.99979221e-01 -2.37104742e-03 -5.99470372e-03 8.16680769e+01] [ 2.36127130e-03 9.99995872e-01 -1.63734415e-03 4.31253477e+00] [ 5.99856120e-03 1.62315501e-03 9.99980691e-01 -1.03290992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.08140051299998 meters Centerline goodness [0,1] 0.5294455188829618 Centerline is valid? [False, False] Translation: X:81.71, Y:4.31, Z:-0.10 [[ 9.99995320e-01 -1.73325713e-03 -2.52090960e-03 8.17072161e+01] [ 1.72952865e-03 9.99997408e-01 -1.48045168e-03 4.31455956e+00] [ 2.52346907e-03 1.47608477e-03 9.99995727e-01 -1.02749907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.11140051299998 meters Centerline goodness [0,1] 0.7246078683466186 Centerline is valid? [False, False] Translation: X:81.71, Y:4.31, Z:-0.10 [[ 9.99995672e-01 -1.67633307e-03 -2.41799718e-03 8.17065491e+01] [ 1.67334938e-03 9.99997837e-01 -1.23544744e-03 4.31340349e+00] [ 2.42006297e-03 1.23139594e-03 9.99996313e-01 -1.02038093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.14140051299998 meters Centerline goodness [0,1] 0.6958524358370111 Centerline is valid? [False, False] Translation: X:81.71, Y:4.31, Z:-0.10 [[ 9.99995632e-01 -1.58811160e-03 -2.49288264e-03 8.17068414e+01] [ 1.58561623e-03 9.99998240e-01 -1.00265783e-03 4.31229664e+00] [ 2.49447058e-03 9.98700696e-04 9.99996390e-01 -1.02127654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.17140051299998 meters Centerline goodness [0,1] 0.6072760794065943 Centerline is valid? [False, False] Translation: X:81.71, Y:4.31, Z:-0.10 [[ 9.99995585e-01 -1.47469020e-03 -2.57978854e-03 8.17072156e+01] [ 1.47284694e-03 9.99998659e-01 -7.16253696e-04 4.31093174e+00] [ 2.58084133e-03 7.12450900e-04 9.99996416e-01 -1.02308950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.20140051299998 meters Centerline goodness [0,1] 0.6840933191940615 Centerline is valid? [False, False] Translation: X:81.75, Y:4.31, Z:-0.10 [[ 9.99999347e-01 -6.94164487e-04 9.07281863e-04 8.17465384e+01] [ 6.94490963e-04 9.99999694e-01 -3.59574340e-04 4.31220355e+00] [-9.07031981e-04 3.60204205e-04 9.99999524e-01 -1.01985751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.23140051299998 meters Centerline goodness [0,1] 0.8045484438975752 Centerline is valid? [False, False] Translation: X:81.75, Y:4.31, Z:-0.10 [[ 9.99999285e-01 -5.16170741e-04 1.07886119e-03 8.17451566e+01] [ 5.16106195e-04 9.99999865e-01 6.01054010e-05 4.31034868e+00] [-1.07889206e-03 -5.95485511e-05 9.99999416e-01 -1.00399382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.26140051299998 meters Centerline goodness [0,1] 0.7353675568157771 Centerline is valid? [False, False] Translation: X:81.74, Y:4.31, Z:-0.10 [[ 9.99999275e-01 -5.76229398e-04 1.05756333e-03 8.17449788e+01] [ 5.76305734e-04 9.99999831e-01 -7.18774221e-05 4.31099634e+00] [-1.05752173e-03 7.24868498e-05 9.99999438e-01 -9.99146856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.29140051299999 meters Centerline goodness [0,1] 0.880768324803529 Centerline is valid? [False, False] Translation: X:81.70, Y:4.31, Z:-0.10 [[ 9.99998280e-01 -1.22226920e-03 -1.39505095e-03 8.17026117e+01] [ 1.22194752e-03 9.99999227e-01 -2.31419333e-04 4.30943739e+00] [ 1.39533273e-03 2.29714256e-04 9.99999000e-01 -9.94698550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.321400513 meters Centerline goodness [0,1] 0.7672704746443372 Centerline is valid? [False, False] Translation: X:81.70, Y:4.31, Z:-0.10 [[ 9.99998165e-01 -1.35433391e-03 -1.35479074e-03 8.17025568e+01] [ 1.35356767e-03 9.99998924e-01 -5.66330997e-04 4.31102516e+00] [ 1.35555628e-03 5.64496157e-04 9.99998922e-01 -9.96760057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.351400513 meters Centerline goodness [0,1] 0.7529782164737917 Centerline is valid? [False, False] Translation: X:81.70, Y:4.31, Z:-0.10 [[ 9.99998257e-01 -1.36689154e-03 -1.27196127e-03 8.17022228e+01] [ 1.36608908e-03 9.99998867e-01 -6.31543633e-04 4.31135516e+00] [ 1.27282308e-03 6.29804920e-04 9.99998992e-01 -9.95929940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.381400513 meters Centerline goodness [0,1] 0.6654333469572138 Centerline is valid? [False, False] Translation: X:81.70, Y:4.31, Z:-0.10 [[ 9.99998485e-01 -1.32178939e-03 -1.13284653e-03 8.17016035e+01] [ 1.32117474e-03 9.99998980e-01 -5.43142373e-04 4.31098141e+00] [ 1.13356329e-03 5.41644862e-04 9.99999211e-01 -9.92951502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.411400513 meters Centerline goodness [0,1] 0.6112516205819217 Centerline is valid? [False, False] Translation: X:81.74, Y:4.32, Z:-0.10 [[ 9.99998932e-01 -7.20859394e-04 1.27147096e-03 8.17442054e+01] [ 7.22798164e-04 9.99998576e-01 -1.52502483e-03 4.31679655e+00] [-1.27036982e-03 1.52594222e-03 9.99998029e-01 -1.00882555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.441400513 meters Centerline goodness [0,1] 0.5951030158256196 Centerline is valid? [False, False] Translation: X:81.74, Y:4.32, Z:-0.10 [[ 9.99998894e-01 -9.32714501e-04 1.15883507e-03 8.17448641e+01] [ 9.35049600e-04 9.99997530e-01 -2.01613514e-03 4.31906637e+00] [-1.15695173e-03 2.01721647e-03 9.99997296e-01 -1.01472268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.471400513 meters Centerline goodness [0,1] 0.5777293416244631 Centerline is valid? [False, False] Translation: X:81.75, Y:4.32, Z:-0.10 [[ 9.99998810e-01 -1.13743316e-03 1.04265717e-03 8.17454707e+01] [ 1.14005807e-03 9.99996174e-01 -2.52039286e-03 4.32143174e+00] [-1.03978640e-03 2.52157855e-03 9.99996280e-01 -1.01946148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.501400513 meters Centerline goodness [0,1] 0.695005856671281 Centerline is valid? [False, False] Translation: X:81.75, Y:4.32, Z:-0.11 [[ 9.99999580e-01 9.08270593e-04 1.24647594e-04 8.17522690e+01] [-9.08195284e-04 9.99999406e-01 -6.02909446e-04 4.32142002e+00] [-1.25195125e-04 6.02795988e-04 9.99999810e-01 -1.06244092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.531400513 meters Centerline goodness [0,1] 0.5951375340351178 Centerline is valid? [False, False] Translation: X:81.75, Y:4.32, Z:-0.11 [[ 9.99986808e-01 5.13392288e-03 1.63854274e-04 8.17519251e+01] [-5.13446440e-03 9.99980707e-01 3.49600583e-03 4.32254893e+00] [-1.45902889e-04 -3.49680101e-03 9.99993876e-01 -1.05739396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.561400513 meters Centerline goodness [0,1] 0.5050764655904842 Centerline is valid? [False, False] Translation: X:81.76, Y:4.33, Z:-0.11 [[ 9.99971571e-01 7.51999649e-03 -5.53707234e-04 8.17577337e+01] [-7.51674392e-03 9.99955736e-01 5.65894913e-03 4.32565471e+00] [ 5.96238003e-04 -5.65462618e-03 9.99983835e-01 -1.09603961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.591400513 meters Centerline goodness [0,1] 0.4262503711873754 Centerline is valid? [False, False] Translation: X:81.76, Y:4.34, Z:-0.11 [[ 9.99973874e-01 7.21543835e-03 -4.35014275e-04 8.17575554e+01] [-7.21398528e-03 9.99968684e-01 3.25411536e-03 4.33822865e+00] [ 4.58480521e-04 -3.25089215e-03 9.99994611e-01 -1.10525838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.621400513 meters Centerline goodness [0,1] 0.35607140577459095 Centerline is valid? [False, False] Translation: X:81.76, Y:4.34, Z:-0.11 [[ 9.99977267e-01 6.73476612e-03 -3.29808932e-04 8.17572000e+01] [-6.73406199e-03 9.99975139e-01 2.09148075e-03 4.34370953e+00] [ 3.43886366e-04 -2.08921225e-03 9.99997758e-01 -1.10631190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.651400513 meters Centerline goodness [0,1] 0.5979625832906201 Centerline is valid? [False, False] Translation: X:81.76, Y:4.35, Z:-0.11 [[ 9.99979819e-01 6.34864267e-03 -2.37585623e-04 8.17566723e+01] [-6.34835108e-03 9.99979119e-01 1.20855505e-03 4.34786885e+00] [ 2.45253346e-04 -1.20702238e-03 9.99999241e-01 -1.10279915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.681400513 meters Centerline goodness [0,1] 0.6092172797262618 Centerline is valid? [False, False] Translation: X:81.76, Y:4.35, Z:-0.11 [[ 9.99981509e-01 6.07797423e-03 -1.97893229e-04 8.17563212e+01] [-6.07785091e-03 9.99981339e-01 6.17907559e-04 4.35064047e+00] [ 2.01645163e-04 -6.16693368e-04 9.99999790e-01 -1.09888325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.711400513 meters Centerline goodness [0,1] 0.607792928322984 Centerline is valid? [False, False] Translation: X:81.76, Y:4.35, Z:-0.11 [[ 9.99984616e-01 5.50557830e-03 -6.75393051e-04 8.17579273e+01] [-5.50572952e-03 9.99984819e-01 -2.22236869e-04 4.35425947e+00] [ 6.74159255e-04 2.25951982e-04 9.99999747e-01 -1.10086223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.74140051299997 meters Centerline goodness [0,1] 0.6104266826923077 Centerline is valid? [False, False] Translation: X:81.76, Y:4.36, Z:-0.11 [[ 9.99985444e-01 5.32179678e-03 -8.88833734e-04 8.17588693e+01] [-5.32225045e-03 9.99985707e-01 -5.08823409e-04 4.35549238e+00] [ 8.86113175e-04 5.13546598e-04 9.99999476e-01 -1.10587086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.77140051299997 meters Centerline goodness [0,1] 0.555108948593188 Centerline is valid? [False, False] Translation: X:81.78, Y:4.35, Z:-0.11 [[ 9.99995526e-01 2.87444344e-03 -8.27877439e-04 8.17822518e+01] [-2.86741831e-03 9.99960898e-01 8.36543718e-03 4.35303747e+00] [ 8.51891043e-04 -8.36302588e-03 9.99964666e-01 -1.10925506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.80140051299998 meters Centerline goodness [0,1] 0.7429561548892571 Centerline is valid? [False, False] Translation: X:81.74, Y:4.35, Z:-0.11 [[ 9.99992180e-01 9.06318659e-04 -3.84956199e-03 8.17413981e+01] [-8.81263362e-04 9.99978452e-01 6.50532692e-03 4.35221249e+00] [ 3.85537493e-03 -6.50188357e-03 9.99971430e-01 -1.11021987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.83140051299998 meters Centerline goodness [0,1] 0.5471726127349086 Centerline is valid? [False, False] Translation: X:81.76, Y:4.36, Z:-0.12 [[ 9.99996893e-01 1.26610111e-03 2.14728107e-03 8.17626924e+01] [-1.25773234e-03 9.99991626e-01 -3.89426292e-03 4.36324678e+00] [-2.15219362e-03 3.89155011e-03 9.99990112e-01 -1.16424700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.86140051299998 meters Centerline goodness [0,1] 0.6075426722853616 Centerline is valid? [False, False] Translation: X:81.76, Y:4.36, Z:-0.12 [[ 9.99996773e-01 1.17581123e-03 2.25191830e-03 8.17621935e+01] [-1.16646844e-03 9.99990726e-01 -4.14564478e-03 4.36448133e+00] [-2.25677191e-03 4.14300461e-03 9.99988871e-01 -1.16148822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.89140051299998 meters Centerline goodness [0,1] 0.6685868471208001 Centerline is valid? [False, False] Translation: X:81.76, Y:4.37, Z:-0.12 [[ 9.99996709e-01 1.05349499e-03 2.33926822e-03 8.17618697e+01] [-1.04295033e-03 9.99989312e-01 -4.50432849e-03 4.36620882e+00] [-2.34398851e-03 4.50187393e-03 9.99987119e-01 -1.16112290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.92140051299998 meters Centerline goodness [0,1] 0.5509800974730017 Centerline is valid? [False, False] Translation: X:81.76, Y:4.37, Z:-0.12 [[ 9.99996726e-01 8.55609796e-04 2.41177716e-03 8.17617045e+01] [-8.43428388e-04 9.99986907e-01 -5.04730155e-03 4.36879469e+00] [-2.41606410e-03 5.04525087e-03 9.99984354e-01 -1.16308595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.95140051299998 meters Centerline goodness [0,1] 0.5984659635666347 Centerline is valid? [False, False] Translation: X:81.76, Y:4.36, Z:-0.12 [[ 9.99983533e-01 5.34350113e-03 2.09297928e-03 8.17626421e+01] [-5.34385036e-03 9.99985709e-01 1.61300116e-04 4.36437855e+00] [-2.09208746e-03 -1.72482028e-04 9.99997797e-01 -1.15963763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.98140051299998 meters Centerline goodness [0,1] 0.5067564696383802 Centerline is valid? [False, False] Translation: X:81.76, Y:4.37, Z:-0.12 [[ 9.99984372e-01 5.13950521e-03 2.20049936e-03 8.17621701e+01] [-5.13828377e-03 9.99986642e-01 -5.60368861e-04 4.36788619e+00] [-2.20334998e-03 5.49053313e-04 9.99997422e-01 -1.15834035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.01140051299998 meters Centerline goodness [0,1] 0.5844527495995728 Centerline is valid? [False, False] Translation: X:81.76, Y:4.37, Z:-0.12 [[ 9.99984067e-01 5.19272808e-03 2.21381940e-03 8.17622164e+01] [-5.19172346e-03 9.99986417e-01 -4.59296870e-04 4.36740962e+00] [-2.21617433e-03 4.47796014e-04 9.99997444e-01 -1.16034126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.04140051299999 meters Centerline goodness [0,1] 0.6070540841690237 Centerline is valid? [False, False] Translation: X:81.76, Y:4.37, Z:-0.12 [[ 9.99983421e-01 5.32270280e-03 2.19687280e-03 8.17624290e+01] [-5.32236936e-03 9.99985824e-01 -1.57596435e-04 4.36597769e+00] [-2.19768049e-03 1.45901254e-04 9.99997574e-01 -1.16343349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.071400513 meters Centerline goodness [0,1] 0.6313013905032503 Centerline is valid? [False, False] Translation: X:81.76, Y:4.36, Z:-0.12 [[ 9.99982686e-01 5.48308283e-03 2.13620770e-03 8.17626790e+01] [-5.48360255e-03 9.99984937e-01 2.37510794e-04 4.36410497e+00] [-2.13487323e-03 -2.49220795e-04 9.99997690e-01 -1.16410859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.101400513 meters Centerline goodness [0,1] 0.49761495897729446 Centerline is valid? [False, False] Translation: X:81.80, Y:4.37, Z:-0.12 [[ 9.99976149e-01 3.83357478e-03 5.74504836e-03 8.18012351e+01] [-3.82301413e-03 9.99990985e-01 -1.84807427e-03 4.36701504e+00] [-5.75208129e-03 1.82606679e-03 9.99981789e-01 -1.15799423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.131400513 meters Centerline goodness [0,1] 0.4846742476060192 Centerline is valid? [False, False] Translation: X:81.78, Y:4.35, Z:-0.11 [[ 9.99996701e-01 2.37074995e-03 9.88539839e-04 8.17803917e+01] [-2.37946415e-03 9.99957481e-01 8.90925004e-03 4.35489778e+00] [-9.67376203e-04 -8.91157285e-03 9.99959823e-01 -1.11178117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.161400513 meters Centerline goodness [0,1] 0.5899683052902512 Centerline is valid? [False, False] Translation: X:81.78, Y:4.36, Z:-0.11 [[ 9.99997326e-01 -2.01325753e-03 1.13769350e-03 8.17798831e+01] [ 2.00890150e-03 9.99990697e-01 3.81708603e-03 4.35884752e+00] [-1.14536769e-03 -3.81479031e-03 9.99992068e-01 -1.11314996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.191400513 meters Centerline goodness [0,1] 0.5215182878881262 Centerline is valid? [False, False] Translation: X:81.78, Y:4.36, Z:-0.11 [[ 9.99997950e-01 -1.74375629e-03 1.02900632e-03 8.17803007e+01] [ 1.73916423e-03 9.99988601e-01 4.44676319e-03 4.35586909e+00] [-1.03674866e-03 -4.44496446e-03 9.99989584e-01 -1.11347527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.221400513 meters Centerline goodness [0,1] 0.5181862630471291 Centerline is valid? [False, False] Translation: X:81.78, Y:4.36, Z:-0.11 [[ 9.99997883e-01 -1.78449299e-03 1.02473839e-03 8.17803422e+01] [ 1.78001638e-03 9.99988942e-01 4.35295892e-03 4.35630182e+00] [-1.03249488e-03 -4.35112566e-03 9.99990001e-01 -1.11413387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.251400513 meters Centerline goodness [0,1] 0.6000892990028278 Centerline is valid? [False, False] Translation: X:81.78, Y:4.36, Z:-0.11 [[ 9.99997943e-01 -1.79436569e-03 9.45209098e-04 8.17807330e+01] [ 1.79027093e-03 9.99989087e-01 4.31529867e-03 4.35646048e+00] [-9.52942006e-04 -4.31359762e-03 9.99990242e-01 -1.11667851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.281400513 meters Centerline goodness [0,1] 0.5311111583512256 Centerline is valid? [False, False] Translation: X:81.78, Y:4.36, Z:-0.11 [[ 9.99998119e-01 -1.73171776e-03 8.73997998e-04 8.17812415e+01] [ 1.72780838e-03 9.99988588e-01 4.45409381e-03 4.35576736e+00] [-8.81701258e-04 -4.45257533e-03 9.99989699e-01 -1.12192003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.311400513 meters Centerline goodness [0,1] 0.5996592482163774 Centerline is valid? [False, False] Translation: X:81.78, Y:4.35, Z:-0.11 [[ 9.99998356e-01 -1.62809489e-03 7.98655760e-04 8.17817308e+01] [ 1.62432052e-03 9.99987617e-01 4.70400275e-03 4.35455669e+00] [-8.06304433e-04 -4.70269774e-03 9.99988617e-01 -1.12655310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.341400513 meters Centerline goodness [0,1] 0.5493360879764133 Centerline is valid? [False, False] Translation: X:81.76, Y:4.36, Z:-0.12 [[ 9.99997703e-01 -1.24903696e-03 1.74191592e-03 8.17620289e+01] [ 1.26032506e-03 9.99978118e-01 -6.49430551e-03 4.36041668e+00] [-1.73376618e-03 6.49648597e-03 9.99977395e-01 -1.17084146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.371400513 meters Centerline goodness [0,1] 0.5103372309778004 Centerline is valid? [False, False] Translation: X:81.80, Y:4.37, Z:-0.12 [[ 9.99978142e-01 -3.49073821e-03 5.61525550e-03 8.17995894e+01] [ 3.54416457e-03 9.99948280e-01 -9.53285753e-03 4.36636486e+00] [-5.58168838e-03 9.55255054e-03 9.99938795e-01 -1.16314767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.401400513 meters Centerline goodness [0,1] 0.8258920875711084 Centerline is valid? [False, False] Translation: X:81.78, Y:4.35, Z:-0.11 [[ 9.99986794e-01 -5.12943830e-03 3.16949261e-04 8.17766169e+01] [ 5.12925967e-03 9.99986687e-01 5.61855040e-04 4.35437030e+00] [-3.19827043e-04 -5.60221905e-04 9.99999792e-01 -1.09364211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.431400513 meters Centerline goodness [0,1] 0.5683647812031187 Centerline is valid? [False, False] Translation: X:81.82, Y:4.36, Z:-0.11 [[ 9.99966277e-01 -7.33001795e-03 3.70344936e-03 8.18157450e+01] [ 7.33861219e-03 9.99970398e-01 -2.31236928e-03 4.35887046e+00] [-3.68639002e-03 2.33946948e-03 9.99990469e-01 -1.08995851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.461400513 meters Centerline goodness [0,1] 0.7680894869781164 Centerline is valid? [False, False] Translation: X:81.82, Y:4.36, Z:-0.11 [[ 9.99968507e-01 -7.12204392e-03 3.50168660e-03 8.18164745e+01] [ 7.12775673e-03 9.99973282e-01 -1.62168087e-03 4.35553439e+00] [-3.49004336e-03 1.64658896e-03 9.99992554e-01 -1.09030417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.49140051299997 meters Centerline goodness [0,1] 0.9276547586000726 Centerline is valid? [False, False] Translation: X:81.82, Y:4.35, Z:-0.11 [[ 9.99971192e-01 -6.91566263e-03 3.12858730e-03 8.18178526e+01] [ 6.91794906e-03 9.99975811e-01 -7.20587081e-04 4.35106352e+00] [-3.12352828e-03 7.42209730e-04 9.99994846e-01 -1.09282998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.52140051299997 meters Centerline goodness [0,1] 0.9276547586000726 Centerline is valid? [False, False] Translation: X:81.82, Y:4.35, Z:-0.11 [[ 9.99971192e-01 -6.91566263e-03 3.12858730e-03 8.18178526e+01] [ 6.91794906e-03 9.99975811e-01 -7.20587081e-04 4.35106352e+00] [-3.12352828e-03 7.42209730e-04 9.99994846e-01 -1.09282998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.55140051299998 meters Centerline goodness [0,1] 0.8987500798500947 Centerline is valid? [False, False] Translation: X:81.82, Y:4.35, Z:-0.11 [[ 9.99972840e-01 -6.70083906e-03 3.06894522e-03 8.18180895e+01] [ 6.70154788e-03 9.99977520e-01 -2.20740609e-04 4.34870084e+00] [-3.06739708e-03 2.41301297e-04 9.99995266e-01 -1.09319846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.58140051299998 meters Centerline goodness [0,1] 0.8745268977248565 Centerline is valid? [False, False] Translation: X:81.82, Y:4.35, Z:-0.11 [[ 9.99974015e-01 -6.53592050e-03 3.04166118e-03 8.18181806e+01] [ 6.53552434e-03 9.99978633e-01 1.40167493e-04 4.34702231e+00] [-3.04251231e-03 -1.20285000e-04 9.99995364e-01 -1.09281318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.61140051299998 meters Centerline goodness [0,1] 0.6599336558980752 Centerline is valid? [False, False] Translation: X:81.82, Y:4.35, Z:-0.11 [[ 9.99974737e-01 -6.41722046e-03 3.05674755e-03 8.18182349e+01] [ 6.41619426e-03 9.99979356e-01 3.45404144e-04 4.34607886e+00] [-3.05890098e-03 -3.25782732e-04 9.99995268e-01 -1.09477899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.64140051299998 meters Centerline goodness [0,1] 0.8195768326565506 Centerline is valid? [False, False] Translation: X:81.80, Y:4.35, Z:-0.11 [[ 9.99989686e-01 -1.72054444e-03 4.20330462e-03 8.17984620e+01] [ 1.74603057e-03 9.99980070e-01 -6.06722763e-03 4.34868282e+00] [-4.19278191e-03 6.07450415e-03 9.99972760e-01 -1.13898236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.67140051299998 meters Centerline goodness [0,1] 0.5199682906971761 Centerline is valid? [False, False] Translation: X:81.80, Y:4.34, Z:-0.11 [[ 9.99987453e-01 2.89917734e-03 4.08513156e-03 8.17987699e+01] [-2.89563451e-03 9.99995427e-01 -8.72896947e-04 4.34456770e+00] [-4.08764356e-03 8.61056947e-04 9.99991275e-01 -1.13634305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.70140051299998 meters Centerline goodness [0,1] 0.5741276595744681 Centerline is valid? [False, False] Translation: X:81.81, Y:4.34, Z:-0.12 [[ 9.99981375e-01 5.21846219e-03 3.16488090e-03 8.18056460e+01] [-5.22269322e-03 9.99985477e-01 1.33008230e-03 4.34481746e+00] [-3.15789395e-03 -1.34658673e-03 9.99994107e-01 -1.18049373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.73140051299998 meters Centerline goodness [0,1] 0.38917301530038406 Centerline is valid? [False, False] Translation: X:81.81, Y:4.35, Z:-0.12 [[ 9.99976739e-01 5.99092227e-03 3.26043651e-03 8.18054741e+01] [-5.99269964e-03 9.99981900e-01 5.35638520e-04 4.35075388e+00] [-3.25716853e-03 -5.55164878e-04 9.99994541e-01 -1.18668880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.76140051299998 meters Centerline goodness [0,1] 0.4450749027446429 Centerline is valid? [False, False] Translation: X:81.77, Y:4.35, Z:-0.12 [[ 9.99966267e-01 8.21178189e-03 -1.76309094e-04 8.17660874e+01] [-8.21113792e-03 9.99960554e-01 3.38628550e-03 4.34725358e+00] [ 2.04109577e-04 -3.38472357e-03 9.99994251e-01 -1.19398298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.79140051299999 meters Centerline goodness [0,1] 0.4310963822148578 Centerline is valid? [False, False] Translation: X:81.77, Y:4.35, Z:-0.12 [[ 9.99943473e-01 1.05775547e-02 -1.07949906e-03 8.17728066e+01] [-1.05712254e-02 9.99927822e-01 5.70955306e-03 4.34895435e+00] [ 1.13981426e-03 -5.69781869e-03 9.99983118e-01 -1.23742929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.821400513 meters Centerline goodness [0,1] 0.4137129575828007 Centerline is valid? [False, False] Translation: X:81.77, Y:4.35, Z:-0.12 [[ 9.99946468e-01 1.02977306e-02 -1.00882905e-03 8.17726589e+01] [-1.02924974e-02 9.99934218e-01 5.06207634e-03 4.35196710e+00] [ 1.06089059e-03 -5.05142199e-03 9.99986679e-01 -1.23998977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.851400513 meters Centerline goodness [0,1] 0.4014113032170039 Centerline is valid? [False, False] Translation: X:81.77, Y:4.35, Z:-0.12 [[ 9.99948048e-01 1.01363665e-02 -1.07510240e-03 8.17728342e+01] [-1.01311267e-02 9.99937292e-01 4.77208062e-03 4.35328073e+00] [ 1.12340654e-03 -4.76094070e-03 9.99988036e-01 -1.23958133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.881400513 meters Centerline goodness [0,1] 0.49542021872950737 Centerline is valid? [False, False] Translation: X:81.77, Y:4.35, Z:-0.12 [[ 9.99950969e-01 9.82611011e-03 -1.22737589e-03 8.17728801e+01] [-9.82063336e-03 9.99942135e-01 4.39120682e-03 4.35494136e+00] [ 1.27045335e-03 -4.37893791e-03 9.99989605e-01 -1.23078068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.911400513 meters Centerline goodness [0,1] 0.5609999787419485 Centerline is valid? [False, False] Translation: X:81.77, Y:4.36, Z:-0.12 [[ 9.99987407e-01 4.95673305e-03 -7.84664355e-04 8.17710958e+01] [-4.95812691e-03 9.99986116e-01 -1.78451417e-03 4.36402993e+00] [ 7.75808100e-04 1.78838216e-03 9.99998100e-01 -1.22773405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.941400513 meters Centerline goodness [0,1] 0.5559268303131559 Centerline is valid? [False, False] Translation: X:81.77, Y:4.37, Z:-0.12 [[ 9.99988361e-01 4.76640453e-03 -7.48381326e-04 8.17706952e+01] [-4.76801681e-03 9.99986284e-01 -2.16755099e-03 4.36582607e+00] [ 7.38039636e-04 2.17109406e-03 9.99997371e-01 -1.22226477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.971400513 meters Centerline goodness [0,1] 0.5159052453468698 Centerline is valid? [False, False] Translation: X:81.79, Y:4.36, Z:-0.13 [[ 9.99993178e-01 2.41082485e-03 2.79848800e-03 8.17934552e+01] [-2.42878072e-03 9.99976373e-01 6.43070742e-03 4.36376915e+00] [-2.78291857e-03 -6.43746047e-03 9.99975407e-01 -1.26749549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.001400513 meters Centerline goodness [0,1] 0.5128760376196846 Centerline is valid? [False, False] Translation: X:81.79, Y:4.37, Z:-0.12 [[ 9.99992921e-01 1.34886423e-04 3.76041006e-03 8.17862910e+01] [-1.49781701e-04 9.99992144e-01 3.96107792e-03 4.36632464e+00] [-3.75984622e-03 -3.96161311e-03 9.99985084e-01 -1.22109079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.031400513 meters Centerline goodness [0,1] 0.6813647626914034 Centerline is valid? [False, False] Translation: X:81.79, Y:4.36, Z:-0.12 [[ 9.99992469e-01 9.71580014e-05 3.87975607e-03 8.17853807e+01] [-1.14657535e-04 9.99989821e-01 4.51050496e-03 4.36341784e+00] [-3.87927834e-03 -4.51091584e-03 9.99982301e-01 -1.20961060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.061400513 meters Centerline goodness [0,1] 0.614054858600893 Centerline is valid? [False, False] Translation: X:81.79, Y:4.36, Z:-0.12 [[ 9.99992851e-01 2.08723922e-04 3.77536543e-03 8.17855875e+01] [-2.27033049e-04 9.99988214e-01 4.84985207e-03 4.36179612e+00] [-3.77430865e-03 -4.85067454e-03 9.99981113e-01 -1.20635321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.091400513 meters Centerline goodness [0,1] 0.6453149589553826 Centerline is valid? [False, False] Translation: X:81.79, Y:4.36, Z:-0.12 [[ 9.99993836e-01 3.86571840e-04 3.48985078e-03 8.17866050e+01] [-4.05325793e-04 9.99985474e-01 5.37474832e-03 4.35924460e+00] [-3.48772236e-03 -5.37612972e-03 9.99979466e-01 -1.20766846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.121400513 meters Centerline goodness [0,1] 0.9560840354057801 Centerline is valid? [False, True] Translation: X:81.79, Y:4.36, Z:-0.12 [[ 9.99987223e-01 -3.79515400e-03 3.33919266e-03 8.17875263e+01] [ 3.79074051e-03 9.99991935e-01 1.32706109e-03 4.35788039e+00] [-3.34420213e-03 -1.31438612e-03 9.99993544e-01 -1.21533162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.151400513 meters Centerline goodness [0,1] 0.9501473213325591 Centerline is valid? [True, True] Translation: X:81.82, Y:4.36, Z:-0.12 [[ 9.99978630e-01 -4.96357862e-03 4.25477849e-03 8.18192997e+01] [ 4.96219662e-03 9.99987632e-01 3.35305417e-04 4.35818247e+00] [-4.25639018e-03 -3.14185204e-04 9.99990892e-01 -1.20737204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.181400513 meters Centerline goodness [0,1] 0.7139672632316413 Centerline is valid? [True, False] Translation: X:81.86, Y:4.36, Z:-0.12 [[ 9.99959512e-01 -4.44030695e-03 7.82673748e-03 8.18576075e+01] [ 4.43484763e-03 9.99989911e-01 7.14738473e-04 4.35861676e+00] [-7.82983217e-03 -6.79999146e-04 9.99969115e-01 -1.19631636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.211400513 meters Centerline goodness [0,1] 0.8163891790487966 Centerline is valid? [False, False] Translation: X:81.86, Y:4.36, Z:-0.12 [[ 9.99959225e-01 -4.31133698e-03 7.93481905e-03 8.18569912e+01] [ 4.30351640e-03 9.99990237e-01 1.00241332e-03 4.35730726e+00] [-7.93906333e-03 -9.68224827e-04 9.99968016e-01 -1.19099725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.24140051299997 meters Centerline goodness [0,1] 0.7132589733199685 Centerline is valid? [False, False] Translation: X:81.86, Y:4.36, Z:-0.12 [[ 9.99961754e-01 -4.12038216e-03 7.71451474e-03 8.18582018e+01] [ 4.11134609e-03 9.99990844e-01 1.18680032e-03 4.35649568e+00] [-7.71933418e-03 -1.15503789e-03 9.99969538e-01 -1.20133262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.27140051299997 meters Centerline goodness [0,1] 0.4615515481456277 Centerline is valid? [False, False] Translation: X:81.86, Y:4.36, Z:-0.12 [[ 9.99963427e-01 -4.02969661e-03 7.54363955e-03 8.18591450e+01] [ 4.02020813e-03 9.99991109e-01 1.27255351e-03 4.35611903e+00] [-7.54870048e-03 -1.24217997e-03 9.99970737e-01 -1.20916998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.30140051299998 meters Centerline goodness [0,1] 0.7954633412169426 Centerline is valid? [False, False] Translation: X:81.84, Y:4.36, Z:-0.12 [[ 9.99993751e-01 -1.21106630e-03 3.32125062e-03 8.18366045e+01] [ 1.23345678e-03 9.99976472e-01 -6.74783845e-03 4.35750146e+00] [-3.31300040e-03 6.75189291e-03 9.99971718e-01 -1.15936760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.33140051299998 meters Centerline goodness [0,1] 0.6689514833458284 Centerline is valid? [False, False] Translation: X:81.84, Y:4.35, Z:-0.12 [[ 9.99990156e-01 3.36247745e-03 2.89527242e-03 8.18380299e+01] [-3.35988001e-03 9.99993949e-01 -9.01530990e-04 4.34975749e+00] [-2.89828628e-03 8.91794347e-04 9.99995402e-01 -1.15879940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.36140051299998 meters Centerline goodness [0,1] 0.7069500531349628 Centerline is valid? [False, False] Translation: X:81.84, Y:4.35, Z:-0.12 [[ 9.99988694e-01 3.69029623e-03 2.99888257e-03 8.18373402e+01] [-3.68996904e-03 9.99993185e-01 -1.14626969e-04 4.34606086e+00] [-2.99928515e-03 1.03559889e-04 9.99995497e-01 -1.15158379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.39140051299998 meters Centerline goodness [0,1] 0.7343364263216141 Centerline is valid? [False, False] Translation: X:81.84, Y:4.34, Z:-0.11 [[ 9.99987567e-01 3.97007850e-03 3.01735376e-03 8.18369431e+01] [-3.97188460e-03 9.99991936e-01 5.92815710e-04 4.34273203e+00] [-3.01497590e-03 -6.04792920e-04 9.99995272e-01 -1.14453871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.42140051299998 meters Centerline goodness [0,1] 0.7105771475876123 Centerline is valid? [False, False] Translation: X:81.84, Y:4.34, Z:-0.11 [[ 9.99986345e-01 4.27045086e-03 3.01214996e-03 8.18367341e+01] [-4.27470541e-03 9.99989873e-01 1.40744167e-03 4.33885616e+00] [-3.00610905e-03 -1.42029850e-03 9.99994473e-01 -1.13926737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.45140051299998 meters Centerline goodness [0,1] 0.8826823970356489 Centerline is valid? [False, False] Translation: X:81.83, Y:4.34, Z:-0.11 [[ 9.99989572e-01 2.30101375e-03 3.94470228e-03 8.18296925e+01] [-2.29942514e-03 9.99997273e-01 -4.07208135e-04 4.33850452e+00] [-3.94562852e-03 3.98133341e-04 9.99992137e-01 -1.09207468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.48140051299998 meters Centerline goodness [0,1] 0.8738948348068869 Centerline is valid? [False, False] Translation: X:81.83, Y:4.33, Z:-0.11 [[ 9.99989239e-01 2.45847011e-03 3.93420056e-03 8.18294402e+01] [-2.46122138e-03 9.99996730e-01 6.94633217e-04 4.33290275e+00] [-3.93247996e-03 -7.04308681e-04 9.99992020e-01 -1.08469483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.51140051299998 meters Centerline goodness [0,1] 0.8206931832715181 Centerline is valid? [False, False] Translation: X:81.82, Y:4.33, Z:-0.10 [[ 9.99989010e-01 3.54115983e-04 4.67492709e-03 8.18233570e+01] [-3.47536906e-04 9.99998948e-01 -1.40804861e-03 4.33382923e+00] [-4.67542078e-03 1.40640842e-03 9.99988081e-01 -1.04352299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.54140051299999 meters Centerline goodness [0,1] 0.947527128326007 Centerline is valid? [False, False] Translation: X:81.82, Y:4.33, Z:-0.10 [[ 9.99989722e-01 5.35190199e-04 4.50217848e-03 8.18239656e+01] [-5.30860650e-04 9.99999396e-01 -9.62796496e-04 4.33171467e+00] [-4.50269104e-03 9.60396571e-04 9.99989402e-01 -1.04393163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.571400513 meters Centerline goodness [0,1] 0.845948465841668 Centerline is valid? [False, False] Translation: X:81.82, Y:4.33, Z:-0.10 [[ 9.99990270e-01 6.63377718e-04 4.36110522e-03 8.18245643e+01] [-6.60494268e-04 9.99999562e-01 -6.62581364e-04 4.33028540e+00] [-4.36154286e-03 6.59694432e-04 9.99990271e-01 -1.04620524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.601400513 meters Centerline goodness [0,1] 0.9494637494637495 Centerline is valid? [False, False] Translation: X:81.79, Y:4.32, Z:-0.11 [[ 9.99999731e-01 5.58372548e-04 4.76165106e-04 8.17869036e+01] [-5.58554279e-04 9.99999771e-01 3.81609318e-04 4.32469374e+00] [-4.75951917e-04 -3.81875179e-04 9.99999814e-01 -1.05908339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.631400513 meters Centerline goodness [0,1] 0.7734334653124462 Centerline is valid? [False, False] Translation: X:81.79, Y:4.32, Z:-0.11 [[ 9.99999649e-01 6.68295889e-04 5.05612895e-04 8.17867082e+01] [-6.68616004e-04 9.99999576e-01 6.33219268e-04 4.32352516e+00] [-5.05189502e-04 -6.33557107e-04 9.99999672e-01 -1.05711191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.661400513 meters Centerline goodness [0,1] 0.9576574453039621 Centerline is valid? [False, True] Translation: X:81.79, Y:4.32, Z:-0.11 [[ 9.99999495e-01 8.14367574e-04 5.89564461e-04 8.17862447e+01] [-8.14932521e-04 9.99999208e-01 9.58638145e-04 4.32202174e+00] [-5.88783310e-04 -9.59118116e-04 9.99999367e-01 -1.05332368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.691400513 meters Centerline goodness [0,1] 0.9316522329767363 Centerline is valid? [True, False] Translation: X:81.79, Y:4.32, Z:-0.11 [[ 9.99999364e-01 9.60486572e-04 5.90521360e-04 8.17860921e+01] [-9.61256617e-04 9.99998686e-01 1.30511027e-03 4.32039961e+00] [-5.89267044e-04 -1.30567708e-03 9.99998974e-01 -1.05031310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.721400513 meters Centerline goodness [0,1] 0.8409724142331497 Centerline is valid? [False, False] Translation: X:81.79, Y:4.32, Z:-0.10 [[ 9.99999129e-01 1.24354880e-03 4.41418636e-04 8.17864602e+01] [-1.24443961e-03 9.99997178e-01 2.02355866e-03 4.31700326e+00] [-4.38900996e-04 -2.02410622e-03 9.99997855e-01 -1.04729012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.751400513 meters Centerline goodness [0,1] 0.937017394993636 Centerline is valid? [False, False] Translation: X:81.79, Y:4.32, Z:-0.10 [[ 9.99999056e-01 1.34165113e-03 2.96737552e-04 8.17870297e+01] [-1.34233200e-03 9.99996439e-01 2.30632556e-03 4.31561058e+00] [-2.93642212e-04 -2.30672170e-03 9.99997296e-01 -1.04893904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.781400513 meters Centerline goodness [0,1] 0.9795439517075147 Centerline is valid? [False, True] Translation: X:81.78, Y:4.32, Z:-0.10 [[ 9.99999206e-01 -8.06027346e-04 9.69043351e-04 8.17813729e+01] [ 8.05997101e-04 9.99999675e-01 3.16011144e-05 4.31776155e+00] [-9.69068507e-04 -3.08200431e-05 9.99999530e-01 -1.01227829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.811400513 meters Centerline goodness [0,1] 0.9792716372217616 Centerline is valid? [True, True] Translation: X:81.81, Y:4.32, Z:-0.10 [[ 9.99998113e-01 -1.82523825e-03 6.65501691e-04 8.18123677e+01] [ 1.82520728e-03 9.99998333e-01 4.71429505e-05 4.31877576e+00] [-6.65586629e-04 -4.59281830e-05 9.99999777e-01 -1.02904873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.841400513 meters Centerline goodness [0,1] 0.9568855542822547 Centerline is valid? [True, True] Translation: X:81.84, Y:4.32, Z:-0.11 [[ 9.99989221e-01 -4.40299496e-03 -1.47379878e-03 8.18421316e+01] [ 4.40284607e-03 9.99990302e-01 -1.04252871e-04 4.31599556e+00] [ 1.47424352e-03 9.77628382e-05 9.99998909e-01 -1.07459233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.871400513 meters Centerline goodness [0,1] 0.9844541931087355 Centerline is valid? [True, True] Translation: X:81.87, Y:4.31, Z:-0.11 [[ 9.99981340e-01 -5.79936545e-03 -1.92009845e-03 8.18718691e+01] [ 5.79911272e-03 9.99983176e-01 -1.37166987e-04 4.30943791e+00] [ 1.92086162e-03 1.26029560e-04 9.99998147e-01 -1.07881424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.901400513 meters Centerline goodness [0,1] 0.9931345204891654 Centerline is valid? [True, True] Translation: X:81.90, Y:4.31, Z:-0.11 [[ 9.99975815e-01 -6.85815495e-03 -1.15523180e-03 8.19007013e+01] [ 6.85806448e-03 9.99976480e-01 -8.22604738e-05 4.30753973e+00] [ 1.15576879e-03 7.43358301e-05 9.99999329e-01 -1.06740367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.931400513 meters Centerline goodness [0,1] 0.9725029726516052 Centerline is valid? [True, True] Translation: X:81.93, Y:4.31, Z:-0.10 [[ 9.99963275e-01 -8.43154351e-03 1.53551223e-03 8.19293188e+01] [ 8.43138641e-03 9.99964449e-01 1.08752267e-04 4.31450756e+00] [-1.53637459e-03 -9.58017762e-05 9.99998815e-01 -1.03703088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.961400513 meters Centerline goodness [0,1] 0.9985856334647694 Centerline is valid? [True, True] Translation: X:81.96, Y:4.30, Z:-0.10 [[ 9.99957368e-01 -9.05118130e-03 1.82691006e-03 8.19613929e+01] [ 9.05095935e-03 9.99959031e-01 1.29720677e-04 4.30380370e+00] [-1.82800934e-03 -1.13179858e-04 9.99998323e-01 -1.02447528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.99140051299997 meters Centerline goodness [0,1] 0.9988264413434046 Centerline is valid? [True, True] Translation: X:81.99, Y:4.30, Z:-0.10 [[ 9.99958248e-01 -9.04301741e-03 1.31397361e-03 8.19924459e+01] [ 9.04290256e-03 9.99959108e-01 9.33176155e-05 4.30197243e+00] [-1.31476375e-03 -8.14315839e-05 9.99999132e-01 -1.03470489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.02140051299997 meters Centerline goodness [0,1] 0.9741716227697537 Centerline is valid? [True, True] Translation: X:82.02, Y:4.31, Z:-0.11 [[ 9.99963911e-01 -8.49341822e-03 1.95931275e-04 8.20215783e+01] [ 8.49341567e-03 9.99963930e-01 1.38892951e-05 4.31213158e+00] [-1.96042176e-04 -1.22246681e-05 9.99999981e-01 -1.06764498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.05140051299998 meters Centerline goodness [0,1] 0.9859428742335875 Centerline is valid? [True, True] Translation: X:82.05, Y:4.31, Z:-0.11 [[ 9.99977139e-01 -6.73852000e-03 -5.60586502e-04 8.20522381e+01] [ 6.73849878e-03 9.99977295e-01 -3.97391960e-05 4.31095900e+00] [ 5.60841557e-04 3.59607761e-05 9.99999842e-01 -1.07620074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.08140051299998 meters Centerline goodness [0,1] 0.964877133905927 Centerline is valid? [True, True] Translation: X:82.08, Y:4.32, Z:-0.11 [[ 9.99981289e-01 -6.07030154e-03 7.57274734e-04 8.20809139e+01] [ 6.07026264e-03 9.99981574e-01 5.36558173e-05 4.31921424e+00] [-7.57586488e-04 -4.90579568e-05 9.99999712e-01 -1.05731637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.11140051299998 meters Centerline goodness [0,1] 0.985859872611465 Centerline is valid? [True, True] Translation: X:82.11, Y:4.32, Z:-0.10 [[ 9.99980878e-01 -5.66212195e-03 2.48687337e-03 8.21115555e+01] [ 5.66170094e-03 9.99983957e-01 1.76300937e-04 4.31970936e+00] [-2.48783171e-03 -1.62217632e-04 9.99996892e-01 -1.02422911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.14140051299998 meters Centerline goodness [0,1] 0.9703834232092056 Centerline is valid? [True, True] Translation: X:82.14, Y:4.32, Z:-0.10 [[ 9.99977528e-01 -5.56263309e-03 3.74179179e-03 8.21421077e+01] [ 5.56167882e-03 9.99984499e-01 2.65386867e-04 4.32376455e+00] [-3.74321004e-03 -2.44570259e-04 9.99992964e-01 -1.00542988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.17140051299998 meters Centerline goodness [0,1] 0.9862164465274819 Centerline is valid? [True, True] Translation: X:82.17, Y:4.32, Z:-0.10 [[ 9.99975171e-01 -5.99671531e-03 3.70086106e-03 8.21744424e+01] [ 5.99578507e-03 9.99981991e-01 2.62402519e-04 4.32130654e+00] [-3.70236797e-03 -2.40206436e-04 9.99993117e-01 -1.00775096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.20140051299998 meters Centerline goodness [0,1] 0.9845850472838302 Centerline is valid? [True, True] Translation: X:82.20, Y:4.32, Z:-0.10 [[ 9.99964707e-01 -8.12690622e-03 2.13006132e-03 8.22041704e+01] [ 8.12660340e-03 9.99966967e-01 1.50779746e-04 4.31859089e+00] [-2.13121633e-03 -1.33464261e-04 9.99997720e-01 -1.03656350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.23140051299998 meters Centerline goodness [0,1] 0.9981703684792783 Centerline is valid? [True, True] Translation: X:82.24, Y:4.31, Z:-0.10 [[ 9.99953637e-01 -9.48003060e-03 1.68902459e-03 8.22364063e+01] [ 9.47984166e-03 9.99955058e-01 1.19831457e-04 4.31151414e+00] [-1.69008469e-03 -1.03814216e-04 9.99998566e-01 -1.03954096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.26140051299998 meters Centerline goodness [0,1] 0.9923187913766763 Centerline is valid? [True, True] Translation: X:82.27, Y:4.32, Z:-0.10 [[ 9.99935786e-01 -1.10618993e-02 2.46124352e-03 8.22653740e+01] [ 1.10615040e-02 9.99938805e-01 1.74171803e-04 4.31749442e+00] [-2.46301957e-03 -1.46935564e-04 9.99996956e-01 -1.04160082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.29140051299999 meters Centerline goodness [0,1] 0.999418942475305 Centerline is valid? [True, True] Translation: X:82.30, Y:4.31, Z:-0.10 [[ 9.99908468e-01 -1.29352958e-02 3.96668106e-03 8.22964091e+01] [ 1.29342831e-02 9.99916309e-01 2.80840768e-04 4.30818594e+00] [-3.96998185e-03 -2.29508886e-04 9.99992093e-01 -1.01243750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.321400513 meters Centerline goodness [0,1] 0.9994913853391824 Centerline is valid? [True, True] Translation: X:82.33, Y:4.30, Z:-0.10 [[ 9.99849655e-01 -1.56324721e-02 7.50293875e-03 8.23267458e+01] [ 1.56289247e-02 9.99877720e-01 5.31208143e-04 4.30347084e+00] [-7.51032539e-03 -4.13865413e-04 9.99971711e-01 -9.53684060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.351400513 meters Centerline goodness [0,1] 0.9996805656118233 Centerline is valid? [True, True] Translation: X:82.36, Y:4.30, Z:-0.10 [[ 9.99839625e-01 -1.61623686e-02 7.71372305e-03 8.23597345e+01] [ 1.61586347e-02 9.99869292e-01 5.46132510e-04 4.30092718e+00] [-7.72154160e-03 -4.21401691e-04 9.99970100e-01 -9.51852885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.381400513 meters Centerline goodness [0,1] 0.9994862463876699 Centerline is valid? [True, True] Translation: X:82.39, Y:4.30, Z:-0.10 [[ 9.99857963e-01 -1.56253673e-02 6.31671570e-03 8.23914133e+01] [ 1.56228551e-02 9.99877856e-01 4.46859715e-04 4.30152230e+00] [-6.32292650e-03 -3.48111110e-04 9.99979950e-01 -9.80471843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.411400513 meters Centerline goodness [0,1] 0.9994862463876699 Centerline is valid? [True, True] Translation: X:82.42, Y:4.30, Z:-0.10 [[ 9.99858685e-01 -1.55791324e-02 6.31673034e-03 8.24230551e+01] [ 1.55766206e-02 9.99878577e-01 4.46652622e-04 4.30367918e+00] [-6.32292181e-03 -3.48196191e-04 9.99979950e-01 -9.82805877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.441400513 meters Centerline goodness [0,1] 0.998334685511764 Centerline is valid? [True, True] Translation: X:82.45, Y:4.31, Z:-0.10 [[ 9.99880992e-01 -1.48799551e-02 4.07282884e-03 8.24531928e+01] [ 1.48789049e-02 9.99889261e-01 2.88031756e-04 4.31090766e+00] [-4.07666372e-03 -2.27398245e-04 9.99991665e-01 -1.02191520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.471400513 meters Centerline goodness [0,1] 0.9992075730317828 Centerline is valid? [True, True] Translation: X:82.49, Y:4.30, Z:-0.11 [[ 9.99918876e-01 -1.26994427e-02 9.83102356e-04 8.24856613e+01] [ 1.26993805e-02 9.99919357e-01 6.95306965e-05 4.29797853e+00] [-9.83906077e-04 -5.70402650e-05 9.99999514e-01 -1.06780606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.501400513 meters Centerline goodness [0,1] 0.9931096082684701 Centerline is valid? [True, True] Translation: X:82.51, Y:4.30, Z:-0.11 [[ 9.99937177e-01 -1.11592583e-02 1.05486008e-03 8.25148827e+01] [ 1.11591860e-02 9.99937732e-01 7.43403710e-05 4.30304092e+00] [-1.05562398e-03 -6.25643208e-05 9.99999441e-01 -1.07264117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.531400513 meters Centerline goodness [0,1] 0.9724000085053903 Centerline is valid? [True, True] Translation: X:82.54, Y:4.31, Z:-0.11 [[ 9.99953332e-01 -9.43057938e-03 2.09721525e-03 8.25442311e+01] [ 9.43028979e-03 9.99955523e-01 1.47929657e-04 4.30830870e+00] [-2.09851703e-03 -1.28145406e-04 9.99997790e-01 -1.06204140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.561400513 meters Centerline goodness [0,1] 0.9965162715608803 Centerline is valid? [True, True] Translation: X:82.58, Y:4.30, Z:-0.10 [[ 9.99977355e-01 -5.48719101e-03 3.89608450e-03 8.25754096e+01] [ 5.48616117e-03 9.99984913e-01 2.74964196e-04 4.29607704e+00] [-3.89753450e-03 -2.53583422e-04 9.99992372e-01 -1.02389226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.591400513 meters Centerline goodness [0,1] 0.9796768816514938 Centerline is valid? [True, True] Translation: X:82.61, Y:4.30, Z:-0.10 [[ 9.99986911e-01 -4.06876345e-03 3.10209820e-03 8.26055789e+01] [ 4.06810363e-03 9.99991701e-01 2.18982991e-04 4.29801720e+00] [-3.10296345e-03 -2.06360468e-04 9.99995165e-01 -1.04064933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.621400513 meters Centerline goodness [0,1] 0.9455280936950674 Centerline is valid? [True, False] Translation: X:82.61, Y:4.29, Z:-0.10 [[ 9.99989663e-01 -3.49693666e-03 2.90602324e-03 8.26064709e+01] [ 3.49243148e-03 9.99992694e-01 1.55391953e-03 4.29163924e+00] [-2.91143597e-03 -1.54375438e-03 9.99994570e-01 -1.04495758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.651400513 meters Centerline goodness [0,1] 0.9646873788081183 Centerline is valid? [False, True] Translation: X:82.57, Y:4.28, Z:-0.11 [[ 9.99990714e-01 -4.23179078e-03 -8.15189648e-04 8.25688163e+01] [ 4.23427592e-03 9.99986319e-01 3.07132248e-03 4.28239949e+00] [ 8.02181301e-04 -3.07474570e-03 9.99994951e-01 -1.05506678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.681400513 meters Centerline goodness [0,1] 0.9785654694418893 Centerline is valid? [True, True] Translation: X:82.60, Y:4.27, Z:-0.11 [[ 9.99994151e-01 -3.35599269e-03 -6.59322656e-04 8.25993353e+01] [ 3.35596206e-03 9.99994368e-01 -4.75520913e-05 4.27247895e+00] [ 6.59478527e-04 4.53391514e-05 9.99999782e-01 -1.05905028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.711400513 meters Centerline goodness [0,1] 0.9421893693385746 Centerline is valid? [True, False] Translation: X:82.60, Y:4.27, Z:-0.11 [[ 9.99996111e-01 -2.71749316e-03 -6.27382741e-04 8.25988056e+01] [ 2.71835270e-03 9.99995362e-01 1.37328881e-03 4.26589416e+00] [ 6.23647928e-04 -1.37498892e-03 9.99998860e-01 -1.05015925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.74140051299997 meters Centerline goodness [0,1] 0.9741153968759961 Centerline is valid? [False, True] Translation: X:82.60, Y:4.26, Z:-0.10 [[ 9.99997592e-01 -2.12905065e-03 -5.31950533e-04 8.25981428e+01] [ 2.13044418e-03 9.99994264e-01 2.63298960e-03 4.26005880e+00] [ 5.26341713e-04 -2.63411656e-03 9.99996392e-01 -1.04291767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.77140051299997 meters Centerline goodness [0,1] 0.9752604166666666 Centerline is valid? [True, True] Translation: X:82.63, Y:4.26, Z:-0.10 [[ 9.99998974e-01 1.39715891e-03 -3.16646307e-04 8.26285548e+01] [-1.39716634e-03 9.99999024e-01 -2.32523594e-05 4.25634591e+00] [ 3.16613511e-04 2.36947431e-05 9.99999950e-01 -1.04045638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.80140051299998 meters Centerline goodness [0,1] 0.7853048351695187 Centerline is valid? [True, False] Translation: X:82.63, Y:4.26, Z:-0.10 [[ 9.99998758e-01 1.51961828e-03 -4.18859422e-04 8.26293447e+01] [-1.51952836e-03 9.99998822e-01 2.14914684e-04 4.25515977e+00] [ 4.19185517e-04 -2.14277948e-04 9.99999889e-01 -1.04931682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.83140051299998 meters Centerline goodness [0,1] 0.8331546444806587 Centerline is valid? [False, False] Translation: X:82.63, Y:4.25, Z:-0.11 [[ 9.99998457e-01 1.67469391e-03 -5.30835902e-04 8.26300097e+01] [-1.67440391e-03 9.99998449e-01 5.46283982e-04 4.25354490e+00] [ 5.31749937e-04 -5.45394305e-04 9.99999710e-01 -1.05513299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.86140051299998 meters Centerline goodness [0,1] 0.7919418758256275 Centerline is valid? [False, False] Translation: X:82.63, Y:4.25, Z:-0.11 [[ 9.99997928e-01 1.96699857e-03 -5.24448712e-04 8.26300710e+01] [-1.96639409e-03 9.99997405e-01 1.15063238e-03 4.25069504e+00] [ 5.26710643e-04 -1.14959872e-03 9.99999200e-01 -1.05697398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.89140051299998 meters Centerline goodness [0,1] 0.8769326044247032 Centerline is valid? [False, False] Translation: X:82.63, Y:4.25, Z:-0.11 [[ 9.99997042e-01 2.37737344e-03 -5.13589351e-04 8.26298198e+01] [-2.37632914e-03 9.99995127e-01 2.02445427e-03 4.24665245e+00] [ 5.18399733e-04 -2.02322783e-03 9.99997819e-01 -1.05244001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.92140051299998 meters Centerline goodness [0,1] 0.6470475704629511 Centerline is valid? [False, False] Translation: X:82.63, Y:4.24, Z:-0.10 [[ 9.99995133e-01 3.09885488e-03 -3.60782027e-04 8.26288514e+01] [-3.09756541e-03 9.99989002e-01 3.52142143e-03 4.23980868e+00] [ 3.71690434e-04 -3.52028675e-03 9.99993735e-01 -1.04251778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.95140051299998 meters Centerline goodness [0,1] 0.8471555860178204 Centerline is valid? [False, False] Translation: X:82.63, Y:4.24, Z:-0.10 [[ 9.99994927e-01 3.17597833e-03 -2.41933508e-04 8.26284280e+01] [-3.17507024e-03 9.99988241e-01 3.66566592e-03 4.23917545e+00] [ 2.53572739e-04 -3.66487917e-03 9.99993252e-01 -1.04198578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.98140051299998 meters Centerline goodness [0,1] 0.6409362443929505 Centerline is valid? [False, False] Translation: X:82.63, Y:4.24, Z:-0.10 [[ 9.99994957e-01 3.17135509e-03 -1.68577963e-04 8.26281746e+01] [-3.17071852e-03 9.99988308e-01 3.65100091e-03 4.23922728e+00] [ 1.80154613e-04 -3.65044798e-03 9.99993321e-01 -1.04196817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.01140051299998 meters Centerline goodness [0,1] 0.5141531520027243 Centerline is valid? [False, False] Translation: X:82.63, Y:4.24, Z:-0.10 [[ 9.99994407e-01 3.34253944e-03 -1.19607180e-04 8.26277884e+01] [-3.34202999e-03 9.99986285e-01 4.03236962e-03 4.23747621e+00] [ 1.33083894e-04 -4.03194733e-03 9.99991863e-01 -1.03765723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.04140051299999 meters Centerline goodness [0,1] 0.6315868231471387 Centerline is valid? [False, False] Translation: X:82.62, Y:4.24, Z:-0.10 [[ 9.99999112e-01 1.02883382e-03 8.46594663e-04 8.26208519e+01] [-1.03023415e-03 9.99998099e-01 1.65530533e-03 4.23714629e+00] [-8.44890020e-04 -1.65617605e-03 9.99998272e-01 -9.95052041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.071400513 meters Centerline goodness [0,1] 0.6714634924008928 Centerline is valid? [False, False] Translation: X:82.63, Y:4.24, Z:-0.10 [[ 9.99999876e-01 -4.98131969e-04 1.90161451e-05 8.26273375e+01] [ 4.98124329e-04 9.99999796e-01 3.99638777e-04 4.23523491e+00] [-1.92152141e-05 -3.99629255e-04 9.99999920e-01 -1.03965256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.101400513 meters Centerline goodness [0,1] 0.6938064379050249 Centerline is valid? [False, False] Translation: X:82.63, Y:4.24, Z:-0.10 [[ 9.99999858e-01 -5.19812959e-04 -1.20320046e-04 8.26280630e+01] [ 5.19857247e-04 9.99999797e-01 3.68341473e-04 4.23530341e+00] [ 1.20128553e-04 -3.68403970e-04 9.99999925e-01 -1.04458646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.131400513 meters Centerline goodness [0,1] 0.6613782425180817 Centerline is valid? [False, False] Translation: X:82.63, Y:4.24, Z:-0.11 [[ 9.99999751e-01 -6.57356027e-04 -2.58248411e-04 8.26288592e+01] [ 6.57371707e-04 9.99999782e-01 6.06373073e-05 4.23666112e+00] [ 2.58208494e-04 -6.08070574e-05 9.99999965e-01 -1.05121002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.161400513 meters Centerline goodness [0,1] 0.6379217881888581 Centerline is valid? [False, False] Translation: X:82.61, Y:4.24, Z:-0.10 [[ 9.99989668e-01 1.94751596e-03 -4.10750198e-03 8.26069166e+01] [-1.98124044e-03 9.99964232e-01 -8.22243480e-03 4.24156097e+00] [ 4.09134174e-03 8.23048780e-03 9.99957759e-01 -1.01864995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.191400513 meters Centerline goodness [0,1] 0.5608255351877964 Centerline is valid? [False, False] Translation: X:82.61, Y:4.24, Z:-0.10 [[ 9.99969366e-01 6.52554764e-03 -4.32260576e-03 8.26072405e+01] [-6.53828075e-03 9.99974309e-01 -2.93815060e-03 4.23688696e+00] [ 4.30332166e-03 2.96632301e-03 9.99986341e-01 -1.00918926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.221400513 meters Centerline goodness [0,1] 0.6286997829030803 Centerline is valid? [False, False] Translation: X:82.61, Y:4.24, Z:-0.10 [[ 9.99972162e-01 6.23503482e-03 -4.09870301e-03 8.26065156e+01] [-6.25016378e-03 9.99973664e-01 -3.68877006e-03 4.24050437e+00] [ 4.07559546e-03 3.71428493e-03 9.99984797e-01 -1.00916496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.251400513 meters Centerline goodness [0,1] 0.503099173553719 Centerline is valid? [False, False] Translation: X:82.61, Y:4.25, Z:-0.10 [[ 9.99975535e-01 5.77998638e-03 -3.93969714e-03 8.26059874e+01] [-5.79871026e-03 9.99971868e-01 -4.75788182e-03 4.24554294e+00] [ 3.91208581e-03 4.78061058e-03 9.99980920e-01 -1.00936257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.281400513 meters Centerline goodness [0,1] 0.6238775553527076 Centerline is valid? [False, False] Translation: X:82.63, Y:4.24, Z:-0.10 [[ 9.99976146e-01 5.00609074e-03 -4.75875706e-03 8.26264022e+01] [-4.98053359e-03 9.99973193e-01 5.36731673e-03 4.23956628e+00] [ 4.78549877e-03 -5.34348755e-03 9.99974273e-01 -9.66948438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.311400513 meters Centerline goodness [0,1] 0.5398163802512466 Centerline is valid? [False, False] Translation: X:82.62, Y:4.24, Z:-0.09 [[ 9.99989843e-01 2.25966314e-03 -3.89965826e-03 8.26201154e+01] [-2.25045449e-03 9.99994673e-01 2.36417442e-03 4.24172521e+00] [ 3.90497973e-03 -2.35537440e-03 9.99989602e-01 -9.30435214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.341400513 meters Centerline goodness [0,1] 0.6840050912176496 Centerline is valid? [False, False] Translation: X:82.63, Y:4.25, Z:-0.10 [[ 9.99988485e-01 4.37197228e-04 -4.77893715e-03 8.26262893e+01] [-4.35408141e-04 9.99999835e-01 3.75403267e-04 4.24511923e+00] [ 4.77910049e-03 -3.73318157e-04 9.99988510e-01 -9.69388595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.371400513 meters Centerline goodness [0,1] 0.9097399829497016 Centerline is valid? [False, False] Translation: X:82.63, Y:4.25, Z:-0.10 [[ 9.99985920e-01 -3.51826728e-04 -5.29488022e-03 8.26283125e+01] [ 3.52258057e-04 9.99999935e-01 8.05291698e-05 4.24535621e+00] [ 5.29485155e-03 -8.23932002e-05 9.99985979e-01 -9.74170742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.401400513 meters Centerline goodness [0,1] 0.9204881263686034 Centerline is valid? [False, False] Translation: X:82.63, Y:4.24, Z:-0.10 [[ 9.99985021e-01 -2.70404816e-04 -5.46676802e-03 8.26287320e+01] [ 2.73045183e-04 9.99999846e-01 4.82244370e-04 4.24333946e+00] [ 5.46663678e-03 -4.83729821e-04 9.99984941e-01 -9.70945859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.431400513 meters Centerline goodness [0,1] 0.9399944180854033 Centerline is valid? [False, False] Translation: X:82.62, Y:4.24, Z:-0.09 [[ 9.99985570e-01 -2.91955858e-03 -4.50947572e-03 8.26218889e+01] [ 2.90974623e-03 9.99993388e-01 -2.18097257e-03 4.24338401e+00] [ 4.51581338e-03 2.16781967e-03 9.99987454e-01 -9.27745662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.461400513 meters Centerline goodness [0,1] 0.8159762056511579 Centerline is valid? [False, False] Translation: X:82.64, Y:4.24, Z:-0.10 [[ 9.99985323e-01 -5.36611035e-03 -7.47960812e-04 8.26433353e+01] [ 5.37070124e-03 9.99965875e-01 6.27730065e-03 4.23779315e+00] [ 7.14250600e-04 -6.28122559e-03 9.99980018e-01 -9.56015665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.49140051299997 meters Centerline goodness [0,1] 0.9783242840413073 Centerline is valid? [False, True] Translation: X:82.64, Y:4.24, Z:-0.10 [[ 9.99986196e-01 -5.20537892e-03 -7.15949234e-04 8.26429737e+01] [ 5.21008360e-03 9.99963751e-01 6.73433446e-03 4.23566895e+00] [ 6.80868519e-04 -6.73797166e-03 9.99977068e-01 -9.50530623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.52140051299997 meters Centerline goodness [0,1] 0.9964779658104974 Centerline is valid? [True, True] Translation: X:82.67, Y:4.24, Z:-0.10 [[ 9.99975307e-01 -7.02259283e-03 -2.62621798e-04 8.26727195e+01] [ 7.02258804e-03 9.99975341e-01 -1.91375716e-05 4.23610650e+00] [ 2.62749717e-04 1.72928144e-05 9.99999965e-01 -9.57125560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.55140051299998 meters Centerline goodness [0,1] 0.9823277970354932 Centerline is valid? [True, True] Translation: X:82.70, Y:4.24, Z:-0.10 [[ 9.99974294e-01 -7.16403312e-03 -2.97208283e-04 8.27009062e+01] [ 7.16402698e-03 9.99974338e-01 -2.17022300e-05 4.24261865e+00] [ 2.97356132e-04 1.95724639e-05 9.99999956e-01 -9.65645208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.58140051299998 meters Centerline goodness [0,1] 0.9957508617512519 Centerline is valid? [True, True] Translation: X:82.73, Y:4.24, Z:-0.10 [[ 9.99978896e-01 -6.49117817e-03 -2.69764942e-04 8.27313030e+01] [ 6.49117309e-03 9.99978932e-01 -1.96723084e-05 4.23596353e+00] [ 2.69886955e-04 1.79208023e-05 9.99999963e-01 -9.67163668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.61140051299998 meters Centerline goodness [0,1] 0.9863497193400238 Centerline is valid? [True, True] Translation: X:82.76, Y:4.24, Z:-0.09 [[ 9.99976153e-01 -6.82845423e-03 1.03275422e-03 8.27592024e+01] [ 6.82838055e-03 9.99976684e-01 7.48463107e-05 4.24347515e+00] [-1.03324123e-03 -6.77924870e-05 9.99999464e-01 -9.49247174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.64140051299998 meters Centerline goodness [0,1] 0.9963546440981474 Centerline is valid? [True, True] Translation: X:82.79, Y:4.24, Z:-0.09 [[ 9.99973901e-01 -6.97675300e-03 1.87668283e-03 8.27899305e+01] [ 6.97650950e-03 9.99975655e-01 1.36264084e-04 4.23935063e+00] [-1.87758783e-03 -1.23167832e-04 9.99998230e-01 -9.35818626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.67140051299998 meters Centerline goodness [0,1] 0.9927053734255058 Centerline is valid? [True, True] Translation: X:82.82, Y:4.24, Z:-0.09 [[ 9.99963034e-01 -8.38044763e-03 1.92297848e-03 8.28199370e+01] [ 8.38019456e-03 9.99964876e-01 1.39625565e-04 4.23894824e+00] [-1.92408106e-03 -1.23505470e-04 9.99998141e-01 -9.37704039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.70140051299998 meters Centerline goodness [0,1] 0.9985535405872193 Centerline is valid? [True, True] Translation: X:82.85, Y:4.23, Z:-0.10 [[ 9.99960910e-01 -8.83373203e-03 3.79064343e-04 8.28507567e+01] [ 8.83372223e-03 9.99960982e-01 2.75234869e-05 4.22988789e+00] [-3.79292687e-04 -2.41738619e-05 9.99999928e-01 -9.54268668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.73140051299998 meters Centerline goodness [0,1] 0.987911638811813 Centerline is valid? [True, True] Translation: X:82.88, Y:4.24, Z:-0.10 [[ 9.99965714e-01 -8.25822763e-03 -6.10616836e-04 8.28791888e+01] [ 8.25820199e-03 9.99965899e-01 -4.44988844e-05 4.23563189e+00] [ 6.10963496e-04 3.94547615e-05 9.99999813e-01 -9.76961260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.76140051299998 meters Centerline goodness [0,1] 0.9710052369395836 Centerline is valid? [True, True] Translation: X:82.91, Y:4.24, Z:-0.10 [[ 9.99978421e-01 -6.48841275e-03 -1.02842602e-03 8.29084624e+01] [ 6.48833928e-03 9.99978948e-01 -7.47662576e-05 4.23910008e+00] [ 1.02888949e-03 6.80918672e-05 9.99999468e-01 -9.89079686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.79140051299999 meters Centerline goodness [0,1] 0.9516921571547085 Centerline is valid? [True, True] Translation: X:82.94, Y:4.24, Z:-0.10 [[ 9.99999349e-01 -1.03676549e-03 -4.77454564e-04 8.29394908e+01] [ 1.03674904e-03 9.99999462e-01 -3.46896376e-05 4.23892406e+00] [ 4.77490272e-04 3.41946144e-05 9.99999885e-01 -9.73452120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.821400513 meters Centerline goodness [0,1] 0.9530699871189352 Centerline is valid? [True, True] Translation: X:82.97, Y:4.24, Z:-0.10 [[ 9.99998232e-01 1.86681005e-03 -2.26421066e-04 8.29703473e+01] [-1.86681382e-03 9.99998257e-01 -1.64490196e-05 4.23816600e+00] [ 2.26389964e-04 1.68716765e-05 9.99999974e-01 -9.64516341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.851400513 meters Centerline goodness [0,1] 0.9464910210474372 Centerline is valid? [True, False] Translation: X:82.97, Y:4.24, Z:-0.10 [[ 9.99996981e-01 2.45145048e-03 1.66643622e-04 8.29689191e+01] [-2.45153180e-03 9.99996875e-01 4.89566546e-04 4.23636495e+00] [-1.65442953e-04 -4.89973600e-04 9.99999866e-01 -9.62046116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.881400513 meters Centerline goodness [0,1] 0.706006344880448 Centerline is valid? [False, False] Translation: X:82.97, Y:4.24, Z:-0.10 [[ 9.99996898e-01 2.45701818e-03 4.09680045e-04 8.29680109e+01] [-2.45711373e-03 9.99996954e-01 2.32888152e-04 4.23777097e+00] [-4.09106587e-04 -2.33894060e-04 9.99999889e-01 -9.60445208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.911400513 meters Centerline goodness [0,1] 0.6279463416698405 Centerline is valid? [False, False] Translation: X:82.97, Y:4.24, Z:-0.10 [[ 9.99996746e-01 2.47568105e-03 6.16257086e-04 8.29672907e+01] [-2.47573094e-03 9.99996932e-01 8.02036361e-05 4.23861392e+00] [-6.16056637e-04 -8.17290618e-05 9.99999807e-01 -9.60300100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.941400513 meters Centerline goodness [0,1] 0.7379134860050891 Centerline is valid? [False, False] Translation: X:82.93, Y:4.23, Z:-0.10 [[ 9.99992411e-01 2.80338530e-03 -2.70540978e-03 8.29272964e+01] [-2.79483939e-03 9.99991110e-01 3.15745031e-03 4.23130462e+00] [ 2.71423728e-03 -3.14986516e-03 9.99991356e-01 -9.53695878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.971400513 meters Centerline goodness [0,1] 0.5500780298009705 Centerline is valid? [False, False] Translation: X:82.93, Y:4.23, Z:-0.10 [[ 9.99991926e-01 2.95181960e-03 -2.72678612e-03 8.29276103e+01] [-2.94234065e-03 9.99989638e-01 3.47373208e-03 4.22975135e+00] [ 2.73701169e-03 -3.46568090e-03 9.99990249e-01 -9.58216753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.001400513 meters Centerline goodness [0,1] 0.506668655190046 Centerline is valid? [False, False] Translation: X:82.93, Y:4.23, Z:-0.10 [[ 9.99991373e-01 3.11041627e-03 -2.75288561e-03 8.29279274e+01] [-3.09986838e-03 9.99987870e-01 3.82758462e-03 4.22800773e+00] [ 2.76475760e-03 -3.81901801e-03 9.99988886e-01 -9.62631794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.031400513 meters Centerline goodness [0,1] 0.4126603244712478 Centerline is valid? [False, False] Translation: X:82.93, Y:4.23, Z:-0.10 [[ 9.99990421e-01 3.29343774e-03 -2.88306731e-03 8.29284970e+01] [-3.28088072e-03 9.99985159e-01 4.34938626e-03 4.22542077e+00] [ 2.89734896e-03 -4.33988559e-03 9.99986385e-01 -9.65347369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.061400513 meters Centerline goodness [0,1] 0.5540503238135683 Centerline is valid? [False, False] Translation: X:82.93, Y:4.22, Z:-0.10 [[ 9.99989568e-01 3.45344020e-03 -2.98962958e-03 8.29287351e+01] [-3.43913512e-03 9.99982677e-01 4.77689174e-03 4.22336103e+00] [ 3.00607450e-03 -4.76656017e-03 9.99984122e-01 -9.62849482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.091400513 meters Centerline goodness [0,1] 0.6002973977695167 Centerline is valid? [False, False] Translation: X:82.93, Y:4.23, Z:-0.10 [[ 9.99995590e-01 -1.16633314e-03 -2.73135638e-03 8.29282584e+01] [ 1.16477158e-03 9.99999157e-01 -5.73235672e-04 4.22829687e+00] [ 2.73202266e-03 5.70051738e-04 9.99996106e-01 -9.71904183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.121400513 meters Centerline goodness [0,1] 0.6060094819117584 Centerline is valid? [False, False] Translation: X:82.93, Y:4.23, Z:-0.10 [[ 9.99995402e-01 -1.04396819e-03 -2.84699744e-03 8.29287023e+01] [ 1.04326051e-03 9.99999425e-01 -2.50045405e-04 4.22673523e+00] [ 2.84725684e-03 2.47074095e-04 9.99995916e-01 -9.73216422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.151400513 meters Centerline goodness [0,1] 0.7275177756553115 Centerline is valid? [False, False] Translation: X:82.93, Y:4.23, Z:-0.10 [[ 9.99995179e-01 -1.04135206e-03 -2.92543169e-03 8.29291407e+01] [ 1.04068447e-03 9.99999432e-01 -2.29716026e-04 4.22656740e+00] [ 2.92566925e-03 2.26670467e-04 9.99995695e-01 -9.76491229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.181400513 meters Centerline goodness [0,1] 0.8406295800675461 Centerline is valid? [False, False] Translation: X:82.93, Y:4.23, Z:-0.10 [[ 9.99995226e-01 -9.74342073e-04 -2.93251000e-03 8.29290105e+01] [ 9.74023746e-04 9.99999520e-01 -1.09977346e-04 4.22604544e+00] [ 2.93261574e-03 1.07120486e-04 9.99995694e-01 -9.73411786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.211400513 meters Centerline goodness [0,1] 0.5602769106623346 Centerline is valid? [False, False] Translation: X:82.93, Y:4.22, Z:-0.10 [[ 9.99995424e-01 -7.83691956e-04 -2.92185597e-03 8.29287806e+01] [ 7.84516617e-04 9.99999653e-01 2.81103211e-04 4.22427292e+00] [ 2.92163466e-03 -2.83394170e-04 9.99995692e-01 -9.69620763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.24140051299997 meters Centerline goodness [0,1] 0.8515976331360947 Centerline is valid? [False, False] Translation: X:82.89, Y:4.22, Z:-0.10 [[ 9.99983773e-01 -1.40049095e-03 -5.52198246e-03 8.28867419e+01] [ 1.41585866e-03 9.99995133e-01 2.78008105e-03 4.21725786e+00] [ 5.51806211e-03 -2.78785428e-03 9.99980889e-01 -9.53490172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.27140051299997 meters Centerline goodness [0,1] 0.7614118554712614 Centerline is valid? [False, False] Translation: X:82.89, Y:4.22, Z:-0.10 [[ 9.99984091e-01 -1.45681192e-03 -5.44930845e-03 8.28868016e+01] [ 1.47139726e-03 9.99995344e-01 2.67349774e-03 4.21766172e+00] [ 5.44538829e-03 -2.68147330e-03 9.99981579e-01 -9.59712475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.30140051299998 meters Centerline goodness [0,1] 0.6249069762497077 Centerline is valid? [False, False] Translation: X:82.89, Y:4.22, Z:-0.10 [[ 9.99984056e-01 -1.46691951e-03 -5.45297426e-03 8.28867500e+01] [ 1.48182666e-03 9.99995174e-01 2.73073081e-03 4.21733425e+00] [ 5.44894218e-03 -2.73876764e-03 9.99981404e-01 -9.58535175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.33140051299998 meters Centerline goodness [0,1] 0.6249069762497077 Centerline is valid? [False, False] Translation: X:82.89, Y:4.22, Z:-0.10 [[ 9.99984056e-01 -1.46691951e-03 -5.45297426e-03 8.28867500e+01] [ 1.48182666e-03 9.99995174e-01 2.73073081e-03 4.21733425e+00] [ 5.44894218e-03 -2.73876764e-03 9.99981404e-01 -9.58535175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.36140051299998 meters Centerline goodness [0,1] 0.8663707560658116 Centerline is valid? [False, False] Translation: X:82.89, Y:4.22, Z:-0.10 [[ 9.99984223e-01 -1.28474907e-03 -5.46834814e-03 8.28864391e+01] [ 1.30221509e-03 9.99994059e-01 3.19166109e-03 4.21522563e+00] [ 5.46421516e-03 -3.19873170e-03 9.99979955e-01 -9.51462423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.39140051299998 meters Centerline goodness [0,1] 0.7074302421661476 Centerline is valid? [False, False] Translation: X:82.89, Y:4.21, Z:-0.10 [[ 9.99975109e-01 -3.03287683e-03 -6.37043443e-03 8.28929546e+01] [ 3.04372790e-03 9.99993932e-01 1.69434468e-03 4.21353058e+00] [ 6.36525704e-03 -1.71369238e-03 9.99978273e-01 -9.89011714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.42140051299998 meters Centerline goodness [0,1] 0.7349946977730647 Centerline is valid? [False, False] Translation: X:82.89, Y:4.21, Z:-0.10 [[ 9.99974516e-01 -2.95800315e-03 -6.49754801e-03 8.28935835e+01] [ 2.97048560e-03 9.99993760e-01 1.91229141e-03 4.21241193e+00] [ 6.49185090e-03 -1.93154355e-03 9.99977062e-01 -9.92857858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.45140051299998 meters Centerline goodness [0,1] 0.8188779863481228 Centerline is valid? [False, False] Translation: X:82.89, Y:4.21, Z:-0.10 [[ 9.99974210e-01 -2.88966273e-03 -6.57492648e-03 8.28939642e+01] [ 2.90356395e-03 9.99993568e-01 2.10571558e-03 4.21143665e+00] [ 6.56879938e-03 -2.12475199e-03 9.99976168e-01 -9.95477282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.48140051299998 meters Centerline goodness [0,1] 0.8622745501726393 Centerline is valid? [False, False] Translation: X:82.89, Y:4.21, Z:-0.10 [[ 9.99974369e-01 -2.70317435e-03 -6.62984306e-03 8.28940514e+01] [ 2.72017587e-03 9.99993032e-01 2.55671735e-03 4.20931479e+00] [ 6.62288561e-03 -2.57468616e-03 9.99974754e-01 -9.93678803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.51140051299998 meters Centerline goodness [0,1] 0.8583014861995754 Centerline is valid? [False, False] Translation: X:82.92, Y:4.22, Z:-0.11 [[ 9.99996028e-01 -2.64708455e-03 -9.67645736e-04 8.29176111e+01] [ 2.63899544e-03 9.99962342e-01 -8.26739298e-03 4.21575211e+00] [ 9.89493785e-04 8.26480654e-03 9.99965356e-01 -1.07162058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.54140051299999 meters Centerline goodness [0,1] 0.8400273457528628 Centerline is valid? [False, False] Translation: X:82.92, Y:4.22, Z:-0.11 [[ 9.99996123e-01 -2.61226297e-03 -9.64295725e-04 8.29174658e+01] [ 2.60428565e-03 9.99963125e-01 -8.18326488e-03 4.21538871e+00] [ 9.85637006e-04 8.18072185e-03 9.99966052e-01 -1.06920456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.571400513 meters Centerline goodness [0,1] 0.7841139659554474 Centerline is valid? [False, False] Translation: X:82.92, Y:4.21, Z:-0.11 [[ 9.99998036e-01 1.58091505e-03 -1.19518500e-03 8.29177207e+01] [-1.58447622e-03 9.99994291e-01 -2.98454417e-03 4.21061599e+00] [ 1.19045987e-03 2.98643205e-03 9.99994832e-01 -1.05723766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.601400513 meters Centerline goodness [0,1] 0.9054316407092627 Centerline is valid? [False, False] Translation: X:82.92, Y:4.21, Z:-0.11 [[ 9.99998363e-01 1.41917318e-03 -1.12225603e-03 8.29173184e+01] [-1.42295562e-03 9.99993286e-01 -3.37680362e-03 4.21253196e+00] [ 1.11745623e-03 3.37839501e-03 9.99993669e-01 -1.05408216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.631400513 meters Centerline goodness [0,1] 0.922221273325078 Centerline is valid? [False, False] Translation: X:82.94, Y:4.21, Z:-0.10 [[ 9.99999413e-01 9.01019121e-04 -6.01412625e-04 8.29360036e+01] [-8.96720155e-04 9.99974318e-01 7.11051143e-03 4.20713039e+00] [ 6.07803886e-04 -7.10996795e-03 9.99974539e-01 -1.01319421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.661400513 meters Centerline goodness [0,1] 0.7958791614769153 Centerline is valid? [False, False] Translation: X:82.96, Y:4.22, Z:-0.11 [[ 9.99989669e-01 1.15128606e-03 4.39736487e-03 8.29587859e+01] [-1.13189730e-03 9.99989639e-01 -4.40912192e-03 4.21681177e+00] [-4.40239547e-03 4.40409900e-03 9.99980611e-01 -1.08661867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.691400513 meters Centerline goodness [0,1] 0.9756994951655685 Centerline is valid? [False, True] Translation: X:82.94, Y:4.21, Z:-0.10 [[ 9.99999238e-01 -3.17538816e-04 -1.19324496e-03 8.29351515e+01] [ 3.24462768e-04 9.99983087e-01 5.80691749e-03 4.20619714e+00] [ 1.19138086e-03 -5.80730023e-03 9.99982428e-01 -1.00574829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.721400513 meters Centerline goodness [0,1] 0.948613169595596 Centerline is valid? [True, False] Translation: X:82.96, Y:4.22, Z:-0.11 [[ 9.99996182e-01 -1.27348805e-04 2.76031510e-03 8.29578753e+01] [ 1.45101925e-04 9.99979302e-01 -6.43230980e-03 4.21671607e+00] [-2.75943882e-03 6.43268577e-03 9.99975503e-01 -1.06979286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.751400513 meters Centerline goodness [0,1] 0.970821032815642 Centerline is valid? [False, True] Translation: X:82.94, Y:4.21, Z:-0.10 [[ 9.99994392e-01 -2.28825462e-03 -2.44518149e-03 8.29352910e+01] [ 2.29720107e-03 9.99990655e-01 3.66228520e-03 4.20626622e+00] [ 2.43677840e-03 -3.66788174e-03 9.99990304e-01 -9.92817660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.781400513 meters Centerline goodness [0,1] 0.9365654255093828 Centerline is valid? [True, False] Translation: X:82.96, Y:4.22, Z:-0.11 [[ 9.99979114e-01 -5.76748017e-03 2.91671628e-03 8.29582059e+01] [ 5.80012477e-03 9.99919213e-01 -1.13104581e-02 4.21546002e+00] [-2.85124780e-03 1.13271392e-02 9.99931781e-01 -1.06402519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.811400513 meters Centerline goodness [0,1] 0.9928716686289201 Centerline is valid? [False, True] Translation: X:82.93, Y:4.20, Z:-0.10 [[ 9.99978003e-01 -6.10145329e-03 -2.60094054e-03 8.29330635e+01] [ 6.10237787e-03 9.99981320e-01 3.47693897e-04 4.20016924e+00] [ 2.59877052e-03 -3.63558171e-04 9.99996557e-01 -9.69944356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.841400513 meters Centerline goodness [0,1] 0.9967086403499459 Centerline is valid? [True, True] Translation: X:82.96, Y:4.20, Z:-0.10 [[ 9.99966205e-01 -7.69401871e-03 -2.89675328e-03 8.29635874e+01] [ 7.69350356e-03 9.99970387e-01 -1.88937800e-04 4.19778834e+00] [ 2.89812119e-03 1.66645234e-04 9.99995787e-01 -9.77419088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.871400513 meters Centerline goodness [0,1] 0.9987617949703258 Centerline is valid? [True, True] Translation: X:82.99, Y:4.19, Z:-0.10 [[ 9.99952593e-01 -9.14868024e-03 -3.33371082e-03 8.29930018e+01] [ 9.14800350e-03 9.99958132e-01 -2.18192087e-04 4.19452620e+00] [ 3.33556741e-03 1.87684945e-04 9.99994419e-01 -9.88501146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.901400513 meters Centerline goodness [0,1] 0.9991894716635028 Centerline is valid? [True, True] Translation: X:83.02, Y:4.19, Z:-0.10 [[ 9.99945213e-01 -1.00398723e-02 -2.96174264e-03 8.30219142e+01] [ 1.00393422e-02 9.99949586e-01 -1.93814895e-04 4.19366925e+00] [ 2.96353920e-03 1.64070328e-04 9.99995595e-01 -9.90926335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.931400513 meters Centerline goodness [0,1] 0.9993985350031147 Centerline is valid? [True, True] Translation: X:83.05, Y:4.19, Z:-0.10 [[ 9.99943307e-01 -1.03209407e-02 -2.61942580e-03 8.30514999e+01] [ 1.03205253e-02 9.99946727e-01 -1.72076157e-04 4.18952999e+00] [ 2.62106224e-03 1.45032551e-04 9.99996554e-01 -9.76276126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.961400513 meters Centerline goodness [0,1] 0.9978180417994738 Centerline is valid? [True, True] Translation: X:83.08, Y:4.19, Z:-0.10 [[ 9.99963379e-01 -8.22790309e-03 -2.35413487e-03 8.30805481e+01] [ 8.22756217e-03 9.99966141e-01 -1.54465443e-04 4.19448837e+00] [ 2.35532609e-03 1.35090996e-04 9.99997217e-01 -9.58681591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.99140051299997 meters Centerline goodness [0,1] 0.9030355741286777 Centerline is valid? [True, False] Translation: X:83.08, Y:4.20, Z:-0.10 [[ 9.99962369e-01 -8.33935362e-03 -2.39074937e-03 8.30809936e+01] [ 8.33811791e-03 9.99965099e-01 -5.26372664e-04 4.19625380e+00] [ 2.39505553e-03 5.06418505e-04 9.99997004e-01 -9.65150494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.02140051299997 meters Centerline goodness [0,1] 0.990193993023058 Centerline is valid? [False, True] Translation: X:83.08, Y:4.20, Z:-0.10 [[ 9.99960771e-01 -8.51627598e-03 -2.43516915e-03 8.30815415e+01] [ 8.51379173e-03 9.99963228e-01 -1.02870931e-03 4.19860075e+00] [ 2.44384038e-03 1.00793644e-03 9.99996506e-01 -9.73100719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.05140051299998 meters Centerline goodness [0,1] 0.9697811591725081 Centerline is valid? [True, True] Translation: X:83.11, Y:4.20, Z:-0.10 [[ 9.99987490e-01 -4.44433412e-03 -2.29501660e-03 8.31105172e+01] [ 4.44397977e-03 9.99990113e-01 -1.59475321e-04 4.20356554e+00] [ 2.29570267e-03 1.49274318e-04 9.99997354e-01 -9.78167100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.08140051299998 meters Centerline goodness [0,1] 0.8480290567247089 Centerline is valid? [True, False] Translation: X:83.11, Y:4.20, Z:-0.10 [[ 9.99988011e-01 -4.37572216e-03 -2.19807028e-03 8.31101192e+01] [ 4.37554099e-03 9.99990423e-01 -8.72232278e-05 4.20330251e+00] [ 2.19843089e-03 7.76044355e-05 9.99997580e-01 -9.76603507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.11140051299998 meters Centerline goodness [0,1] 0.9970350170973467 Centerline is valid? [False, True] Translation: X:83.11, Y:4.20, Z:-0.10 [[ 9.99988096e-01 -4.41890450e-03 -2.06897721e-03 8.31097189e+01] [ 4.41844172e-03 9.99990213e-01 -2.28190968e-04 4.20399952e+00] [ 2.06996531e-03 2.19046596e-04 9.99997834e-01 -9.77033286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.14140051299998 meters Centerline goodness [0,1] 0.9942905522750956 Centerline is valid? [True, True] Translation: X:83.14, Y:4.21, Z:-0.10 [[ 9.99992663e-01 -3.35088126e-03 -1.85646689e-03 8.31384569e+01] [ 3.35063681e-03 9.99994378e-01 -1.34771870e-04 4.20926176e+00] [ 1.85690805e-03 1.28550535e-04 9.99998268e-01 -9.76628327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.17140051299998 meters Centerline goodness [0,1] 0.9940954180444025 Centerline is valid? [True, True] Translation: X:83.17, Y:4.21, Z:-0.10 [[ 9.99994325e-01 -2.76327156e-03 -1.92706145e-03 8.31662222e+01] [ 2.76300685e-03 9.99996173e-01 -1.40014118e-04 4.21491864e+00] [ 1.92744097e-03 1.34688839e-04 9.99998133e-01 -9.75634534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.20140051299998 meters Centerline goodness [0,1] 0.9930876571477946 Centerline is valid? [True, True] Translation: X:83.19, Y:4.22, Z:-0.10 [[ 9.99994689e-01 -2.13867820e-03 -2.45917827e-03 8.31942940e+01] [ 2.13824489e-03 9.99997698e-01 -1.78816780e-04 4.21844857e+00] [ 2.45955504e-03 1.73557505e-04 9.99996960e-01 -9.82207650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.23140051299998 meters Centerline goodness [0,1] 0.930419890904478 Centerline is valid? [True, False] Translation: X:83.24, Y:4.23, Z:-0.10 [[ 9.99999555e-01 -9.03971824e-04 -2.69713483e-04 8.32371430e+01] [ 9.03265828e-04 9.99996196e-01 -2.60631721e-03 4.22611594e+00] [ 2.72068495e-04 2.60607243e-03 9.99996567e-01 -1.01007091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.26140051299998 meters Centerline goodness [0,1] 0.9612277523180219 Centerline is valid? [False, True] Translation: X:83.24, Y:4.23, Z:-0.10 [[ 9.99999462e-01 -1.01413591e-03 -2.17393534e-04 8.32369853e+01] [ 1.01350865e-03 9.99995378e-01 -2.86632446e-03 4.22734696e+00] [ 2.20299372e-04 2.86610259e-03 9.99995868e-01 -1.01062378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.29140051299999 meters Centerline goodness [0,1] 0.9132763459519677 Centerline is valid? [True, False] Translation: X:83.24, Y:4.23, Z:-0.10 [[ 9.99999419e-01 -1.06170624e-03 -1.87116404e-04 8.32367777e+01] [ 1.06114161e-03 9.99994960e-01 -2.99220642e-03 4.22798108e+00] [ 1.90292305e-04 2.99200612e-03 9.99995506e-01 -1.00853817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.321400513 meters Centerline goodness [0,1] 0.8959634944665971 Centerline is valid? [False, False] Translation: X:83.24, Y:4.23, Z:-0.10 [[ 9.99999519e-01 -9.53036349e-04 -2.29847754e-04 8.32369423e+01] [ 9.52409537e-04 9.99995869e-01 -2.71193814e-03 4.22662441e+00] [ 2.32431380e-04 2.71171793e-03 9.99996296e-01 -1.00931035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.351400513 meters Centerline goodness [0,1] 0.8013034156282506 Centerline is valid? [False, False] Translation: X:83.24, Y:4.23, Z:-0.10 [[ 9.99999553e-01 -8.81723111e-04 -3.41267231e-04 8.32373768e+01] [ 8.80862993e-04 9.99996456e-01 -2.51236140e-03 4.22562644e+00] [ 3.43481229e-04 2.51205966e-03 9.99996786e-01 -1.01066495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.381400513 meters Centerline goodness [0,1] 0.9923982450805786 Centerline is valid? [False, True] Translation: X:83.20, Y:4.22, Z:-0.10 [[ 9.99996026e-01 -1.14887733e-03 -2.57435431e-03 8.31952392e+01] [ 1.15199545e-03 9.99998604e-01 1.21007023e-03 4.21806506e+00] [ 2.57296049e-03 -1.21303106e-03 9.99995954e-01 -9.92394782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.411400513 meters Centerline goodness [0,1] 0.9498192642993833 Centerline is valid? [True, False] Translation: X:83.24, Y:4.22, Z:-0.10 [[ 9.99999575e-01 -9.17836546e-04 8.83287541e-05 8.32361342e+01] [ 9.17955896e-04 9.99998653e-01 -1.36078612e-03 4.22228206e+00] [-8.70796559e-05 1.36086663e-03 9.99999070e-01 -1.00316069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.441400513 meters Centerline goodness [0,1] 0.9536114503653232 Centerline is valid? [False, True] Translation: X:83.24, Y:4.22, Z:-0.10 [[ 9.99999717e-01 -7.47901537e-04 8.11849143e-05 8.32359952e+01] [ 7.47977888e-04 9.99999274e-01 -9.44544974e-04 4.22034277e+00] [-8.04784287e-05 9.44605432e-04 9.99999551e-01 -9.99985393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.471400513 meters Centerline goodness [0,1] 0.9599744653686563 Centerline is valid? [True, True] Translation: X:83.27, Y:4.22, Z:-0.10 [[ 9.99998536e-01 -1.49283760e-03 8.35911622e-04 8.32662598e+01] [ 1.49279024e-03 9.99998884e-01 5.72783610e-05 4.22075698e+00] [-8.35996196e-04 -5.60304364e-05 9.99999649e-01 -9.95910513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.501400513 meters Centerline goodness [0,1] 0.9807712919891102 Centerline is valid? [True, True] Translation: X:83.30, Y:4.22, Z:-0.10 [[ 9.99995373e-01 -2.86183851e-03 1.03120863e-03 8.32972689e+01] [ 2.86176710e-03 9.99995903e-01 7.07175442e-05 4.21805997e+00] [-1.03140678e-03 -6.77661381e-05 9.99999466e-01 -1.00182165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.531400513 meters Centerline goodness [0,1] 0.9956989247311828 Centerline is valid? [True, True] Translation: X:83.33, Y:4.21, Z:-0.10 [[ 9.99994368e-01 -3.33401302e-03 3.85190166e-04 8.33284684e+01] [ 3.33400310e-03 9.99994442e-01 2.63897024e-05 4.21227567e+00] [-3.85276009e-04 -2.51053286e-05 9.99999925e-01 -1.00617800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.561400513 meters Centerline goodness [0,1] 0.9933753674434457 Centerline is valid? [True, True] Translation: X:83.36, Y:4.21, Z:-0.10 [[ 9.99994759e-01 -3.23669061e-03 7.34894662e-05 8.33577269e+01] [ 3.23669025e-03 9.99994762e-01 4.96497554e-06 4.21432841e+00] [-7.35051514e-05 -4.72708688e-06 9.99999997e-01 -1.00729567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.591400513 meters Centerline goodness [0,1] 0.9984006570273833 Centerline is valid? [True, True] Translation: X:83.39, Y:4.21, Z:-0.10 [[ 9.99995749e-01 -2.91223767e-03 1.40940526e-04 8.33880667e+01] [ 2.91223635e-03 9.99995759e-01 9.58642458e-06 4.20986718e+00] [-1.40967846e-04 -9.17593171e-06 9.99999990e-01 -9.97718143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.621400513 meters Centerline goodness [0,1] 0.9737834941050375 Centerline is valid? [True, True] Translation: X:83.42, Y:4.22, Z:-0.10 [[ 9.99996333e-01 -2.46112630e-03 1.12981778e-03 8.34168452e+01] [ 2.46104045e-03 9.99996969e-01 7.73722457e-05 4.22278943e+00] [-1.13000478e-03 -7.45914347e-05 9.99999359e-01 -9.93506547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.651400513 meters Centerline goodness [0,1] 0.9977468294671789 Centerline is valid? [True, True] Translation: X:83.45, Y:4.22, Z:-0.10 [[ 9.99996279e-01 -2.10046841e-03 1.74043490e-03 8.34473749e+01] [ 2.10026395e-03 9.99997787e-01 1.19299949e-04 4.21884175e+00] [-1.74068164e-03 -1.15644133e-04 9.99998478e-01 -9.86593071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.681400513 meters Centerline goodness [0,1] 0.9995000217381853 Centerline is valid? [True, True] Translation: X:83.48, Y:4.22, Z:-0.10 [[ 9.99995990e-01 -2.14698276e-03 1.84653351e-03 8.34784415e+01] [ 2.14675249e-03 9.99997688e-01 1.26674920e-04 4.21761412e+00] [-1.84680121e-03 -1.22710362e-04 9.99998287e-01 -9.91125855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.711400513 meters Centerline goodness [0,1] 0.9916556966325534 Centerline is valid? [True, True] Translation: X:83.51, Y:4.23, Z:-0.10 [[ 9.99994718e-01 -2.74389087e-03 1.74221780e-03 8.35091602e+01] [ 2.74368675e-03 9.99996229e-01 1.19536659e-04 4.22963933e+00] [-1.74253923e-03 -1.14755928e-04 9.99998475e-01 -1.00280846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.74140051299997 meters Centerline goodness [0,1] 0.9932854332392439 Centerline is valid? [True, True] Translation: X:83.54, Y:4.23, Z:-0.10 [[ 9.99990569e-01 -4.22950572e-03 9.86232668e-04 8.35402610e+01] [ 4.22944109e-03 9.99991054e-01 6.76052927e-05 4.23018035e+00] [-9.86509782e-04 -6.34334421e-05 9.99999511e-01 -1.00382244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.77140051299997 meters Centerline goodness [0,1] 0.9854044235495245 Centerline is valid? [True, True] Translation: X:83.57, Y:4.23, Z:-0.10 [[ 9.99981455e-01 -6.07192266e-03 4.71515475e-04 8.35702530e+01] [ 6.07190810e-03 9.99981565e-01 3.22868310e-05 4.23332109e+00] [-4.71702826e-04 -2.94232336e-05 9.99999888e-01 -1.01056763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.80140051299998 meters Centerline goodness [0,1] 0.9995265864732844 Centerline is valid? [True, True] Translation: X:83.60, Y:4.22, Z:-0.10 [[ 9.99935620e-01 -1.13195948e-02 7.89149538e-04 8.36020090e+01] [ 1.13195557e-02 9.99935930e-01 5.40195929e-05 4.22148848e+00] [-7.89710457e-04 -4.50832929e-05 9.99999687e-01 -9.82471293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.83140051299998 meters Centerline goodness [0,1] 0.9995489593848665 Centerline is valid? [True, True] Translation: X:83.63, Y:4.22, Z:-0.10 [[ 9.99907400e-01 -1.35831215e-02 8.30438815e-04 8.36311572e+01] [ 1.35830791e-02 9.99907744e-01 5.67421231e-05 4.22396470e+00] [-8.31132937e-04 -4.54569527e-05 9.99999654e-01 -9.80598893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.86140051299998 meters Centerline goodness [0,1] 0.9939434148011813 Centerline is valid? [True, True] Translation: X:83.66, Y:4.24, Z:-0.10 [[ 9.99885448e-01 -1.51137478e-02 8.15912137e-04 8.36590383e+01] [ 1.51137074e-02 9.99885780e-01 5.57075496e-05 4.23526925e+00] [-8.16660893e-04 -4.33697109e-05 9.99999666e-01 -9.93796415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.89140051299998 meters Centerline goodness [0,1] 0.9997438469912695 Centerline is valid? [True, True] Translation: X:83.69, Y:4.23, Z:-0.10 [[ 9.99874704e-01 -1.57730392e-02 1.33668879e-03 8.36887433e+01] [ 1.57729319e-02 9.99875595e-01 9.08381302e-05 4.22562750e+00] [-1.33795530e-03 -6.97432474e-05 9.99999103e-01 -9.80462201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.92140051299998 meters Centerline goodness [0,1] 0.9997009505500374 Centerline is valid? [True, True] Translation: X:83.72, Y:4.23, Z:-0.10 [[ 9.99869755e-01 -1.60415524e-02 1.77270461e-03 8.37161442e+01] [ 1.60413620e-02 9.99871322e-01 1.21530598e-04 4.22878461e+00] [-1.77442604e-03 -9.30781728e-05 9.99998421e-01 -9.77248492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.95140051299998 meters Centerline goodness [0,1] 0.9996109622201089 Centerline is valid? [True, True] Translation: X:83.75, Y:4.23, Z:-0.10 [[ 9.99861361e-01 -1.65188869e-02 2.09384893e-03 8.37450111e+01] [ 1.65186229e-02 9.99863548e-01 1.43318153e-04 4.22962339e+00] [-2.09593068e-03 -1.08710782e-04 9.99997798e-01 -9.75600206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.98140051299998 meters Centerline goodness [0,1] 0.9997833903738682 Centerline is valid? [True, True] Translation: X:83.77, Y:4.23, Z:-0.10 [[ 9.99849700e-01 -1.71236569e-02 2.71258760e-03 8.37742751e+01] [ 1.71232141e-02 9.99853370e-01 1.86374049e-04 4.22614839e+00] [-2.71538126e-03 -1.39897818e-04 9.99996304e-01 -9.68686629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.01140051299998 meters Centerline goodness [0,1] 0.9999784987851814 Centerline is valid? [True, True] Translation: X:83.80, Y:4.23, Z:-0.10 [[ 9.99848504e-01 -1.72118424e-02 2.59275942e-03 8.38032452e+01] [ 1.72114372e-02 9.99851856e-01 1.78521751e-04 4.22658720e+00] [-2.59544801e-03 -1.33869590e-04 9.99996623e-01 -9.73602308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.04140051299999 meters Centerline goodness [0,1] 0.9996784496988146 Centerline is valid? [True, True] Translation: X:83.83, Y:4.23, Z:-0.10 [[ 9.99843657e-01 -1.75659406e-02 2.02464945e-03 8.38306952e+01] [ 1.75656931e-02 9.99845702e-01 1.39951311e-04 4.23245645e+00] [-2.02679542e-03 -1.04365059e-04 9.99997941e-01 -9.82637539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.071400513 meters Centerline goodness [0,1] 0.9997647209804719 Centerline is valid? [True, True] Translation: X:83.86, Y:4.23, Z:-0.10 [[ 9.99829115e-01 -1.83605428e-02 2.15181302e-03 8.38595258e+01] [ 1.83602656e-02 9.99831425e-01 1.48486499e-04 4.23081676e+00] [-2.15417657e-03 -1.08953266e-04 9.99997674e-01 -9.80785825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.101400513 meters Centerline goodness [0,1] 0.9995734880150132 Centerline is valid? [True, True] Translation: X:83.89, Y:4.23, Z:-0.10 [[ 9.99817940e-01 -1.88916843e-02 2.68165412e-03 8.38873606e+01] [ 1.88912530e-02 9.99821527e-01 1.86070437e-04 4.23448236e+00] [-2.68469071e-03 -1.35376755e-04 9.99996387e-01 -9.78246434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.131400513 meters Centerline goodness [0,1] 0.9995949000042642 Centerline is valid? [True, True] Translation: X:83.92, Y:4.23, Z:-0.10 [[ 9.99813197e-01 -1.90749127e-02 3.11748528e-03 8.39155602e+01] [ 1.90743312e-02 9.99818045e-01 2.16171304e-04 4.23323096e+00] [-3.12104149e-03 -1.56666976e-04 9.99995117e-01 -9.73646246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.161400513 meters Centerline goodness [0,1] 0.9997422901812559 Centerline is valid? [True, True] Translation: X:83.95, Y:4.23, Z:-0.10 [[ 9.99827426e-01 -1.84767987e-02 1.93048320e-03 8.39450135e+01] [ 1.84765745e-02 9.99829285e-01 1.33872606e-04 4.22719213e+00] [-1.93262718e-03 -9.81807859e-05 9.99998128e-01 -9.91933051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.191400513 meters Centerline goodness [0,1] 0.9996747896973376 Centerline is valid? [True, True] Translation: X:83.97, Y:4.22, Z:-0.10 [[ 9.99831695e-01 -1.83424019e-02 3.70759539e-04 8.39744231e+01] [ 1.83423939e-02 9.99831764e-01 2.49542555e-05 4.22207249e+00] [-3.71154885e-04 -1.81494381e-05 9.99999931e-01 -1.01621880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.221400513 meters Centerline goodness [0,1] 0.9996747896973376 Centerline is valid? [True, True] Translation: X:84.00, Y:4.22, Z:-0.10 [[ 9.99828254e-01 -1.85290361e-02 3.70764771e-04 8.40019158e+01] [ 1.85290281e-02 9.99828323e-01 2.48809659e-05 4.22413029e+00] [-3.71162140e-04 -1.80067818e-05 9.99999931e-01 -1.01790990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.251400513 meters Centerline goodness [0,1] 0.999405457054889 Centerline is valid? [True, True] Translation: X:84.03, Y:4.23, Z:-0.10 [[ 9.99841705e-01 -1.77888233e-02 -3.50894687e-04 8.40294351e+01] [ 1.77888156e-02 9.99841766e-01 -2.50129503e-05 4.22644978e+00] [ 3.51284115e-04 1.87669900e-05 9.99999938e-01 -1.03568450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.281400513 meters Centerline goodness [0,1] 0.9998475244505435 Centerline is valid? [True, True] Translation: X:84.06, Y:4.22, Z:-0.10 [[ 9.99885356e-01 -1.51368988e-02 3.85984108e-04 8.40601797e+01] [ 1.51368895e-02 9.99885430e-01 2.70538640e-05 4.21940639e+00] [-3.86349398e-04 -2.12081637e-05 9.99999925e-01 -1.01401861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.311400513 meters Centerline goodness [0,1] 0.9989296112348005 Centerline is valid? [True, True] Translation: X:84.09, Y:4.23, Z:-0.10 [[ 9.99918687e-01 -1.26741166e-02 1.40919399e-03 8.40891268e+01] [ 1.26739897e-02 9.99919677e-01 9.89243173e-05 4.22725531e+00] [-1.41033458e-03 -8.10561634e-05 9.99999002e-01 -1.00752024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.341400513 meters Centerline goodness [0,1] 0.9972198460222412 Centerline is valid? [True, True] Translation: X:84.12, Y:4.23, Z:-0.10 [[ 9.99950665e-01 -9.71732042e-03 2.05965717e-03 8.41179072e+01] [ 9.71704282e-03 9.99952778e-01 1.44741885e-04 4.23288878e+00] [-2.06096642e-03 -1.24720967e-04 9.99997868e-01 -1.00139411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.371400513 meters Centerline goodness [0,1] 0.9778270983162253 Centerline is valid? [True, True] Translation: X:84.15, Y:4.24, Z:-0.10 [[ 9.99977394e-01 -6.26872956e-03 2.43215756e-03 8.41465298e+01] [ 6.26833212e-03 9.99980339e-01 1.70998335e-04 4.24328899e+00] [-2.43318168e-03 -1.55748898e-04 9.99997028e-01 -1.00960464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.401400513 meters Centerline goodness [0,1] 0.9958126650776268 Centerline is valid? [True, True] Translation: X:84.18, Y:4.24, Z:-0.10 [[ 9.99994451e-01 -2.39139471e-03 2.31950186e-03 8.41766380e+01] [ 2.39102287e-03 9.99997128e-01 1.63069203e-04 4.24137403e+00] [-2.31988516e-03 -1.57522317e-04 9.99997297e-01 -1.01222705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.431400513 meters Centerline goodness [0,1] 0.9759054143457755 Centerline is valid? [True, True] Translation: X:84.21, Y:4.25, Z:-0.10 [[ 9.99997159e-01 1.42794051e-03 1.90888868e-03 8.42058007e+01] [-1.42819968e-03 9.99998971e-01 1.34411777e-04 4.25076631e+00] [-1.90869479e-03 -1.37137669e-04 9.99998169e-01 -1.02721971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.461400513 meters Centerline goodness [0,1] 0.8204283360790774 Centerline is valid? [True, False] Translation: X:84.21, Y:4.26, Z:-0.10 [[ 9.99996382e-01 1.66064434e-03 2.11597980e-03 8.42054604e+01] [-1.65918703e-03 9.99998385e-01 -6.90281217e-04 4.25557760e+00] [-2.11712269e-03 6.86767914e-04 9.99997523e-01 -1.03727194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.49140051299997 meters Centerline goodness [0,1] 0.8020944875144558 Centerline is valid? [False, False] Translation: X:84.21, Y:4.26, Z:-0.10 [[ 9.99996516e-01 1.55150074e-03 2.13579468e-03 8.42054884e+01] [-1.54943324e-03 9.99998330e-01 -9.69339927e-04 4.25687813e+00] [-2.13729504e-03 9.66027278e-04 9.99997249e-01 -1.03925750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.52140051299997 meters Centerline goodness [0,1] 0.8485953020420344 Centerline is valid? [False, False] Translation: X:84.21, Y:4.26, Z:-0.10 [[ 9.99996519e-01 1.50297243e-03 2.16852902e-03 8.42052916e+01] [-1.50060742e-03 9.99998278e-01 -1.09182418e-03 4.25747657e+00] [-2.17016627e-03 1.08856627e-03 9.99997053e-01 -1.03760536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.55140051299998 meters Centerline goodness [0,1] 0.912239149916784 Centerline is valid? [False, False] Translation: X:84.20, Y:4.26, Z:-0.10 [[ 9.99996462e-01 1.48525808e-03 2.20661585e-03 8.42049484e+01] [-1.48279619e-03 9.99998277e-01 -1.11690288e-03 4.25765142e+00] [-2.20827094e-03 1.11362697e-03 9.99996942e-01 -1.03381939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.58140051299998 meters Centerline goodness [0,1] 0.8879254977520874 Centerline is valid? [False, False] Translation: X:84.20, Y:4.26, Z:-0.10 [[ 9.99996369e-01 1.44611912e-03 2.27371516e-03 8.42045162e+01] [-1.44348320e-03 9.99998285e-01 -1.16051620e-03 4.25791827e+00] [-2.27538951e-03 1.15722992e-03 9.99996742e-01 -1.03027402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.61140051299998 meters Centerline goodness [0,1] 0.9975262965432683 Centerline is valid? [False, True] Translation: X:84.20, Y:4.26, Z:-0.10 [[ 9.99996958e-01 1.04727205e-03 2.23334056e-03 8.42043121e+01] [-1.04484289e-03 9.99998862e-01 -1.08857315e-03 4.25702529e+00] [-2.23447805e-03 1.08623634e-03 9.99996914e-01 -1.02237528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.64140051299998 meters Centerline goodness [0,1] 0.9861852500320281 Centerline is valid? [True, True] Translation: X:84.23, Y:4.26, Z:-0.10 [[ 9.99994582e-01 -2.20668396e-03 2.44263854e-03 8.42336399e+01] [ 2.20628014e-03 9.99997552e-01 1.68004774e-04 4.26259152e+00] [-2.44300330e-03 -1.62614719e-04 9.99997003e-01 -1.01905130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.67140051299998 meters Centerline goodness [0,1] 0.9996136675824175 Centerline is valid? [True, True] Translation: X:84.27, Y:4.25, Z:-0.10 [[ 9.99981214e-01 -5.48632290e-03 2.73357307e-03 8.42656650e+01] [ 5.48582918e-03 9.99984935e-01 1.88079702e-04 4.24882882e+00] [-2.73456376e-03 -1.73080254e-04 9.99996246e-01 -1.01370906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.70140051299998 meters Centerline goodness [0,1] 0.999100488306348 Centerline is valid? [True, True] Translation: X:84.30, Y:4.25, Z:-0.10 [[ 9.99942746e-01 -1.03957241e-02 2.53648406e-03 8.42950373e+01] [ 1.03953148e-02 9.99945952e-01 1.74487522e-04 4.25162566e+00] [-2.53816089e-03 -1.48109981e-04 9.99996768e-01 -1.02071322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.73140051299998 meters Centerline goodness [0,1] 0.9989931016753074 Centerline is valid? [True, True] Translation: X:84.33, Y:4.25, Z:-0.10 [[ 9.99927683e-01 -1.19453777e-02 1.39172026e-03 8.43250568e+01] [ 1.19452561e-02 9.99928648e-01 9.56984200e-05 4.25041251e+00] [-1.39276412e-03 -7.90670444e-05 9.99999027e-01 -1.03443325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.76140051299998 meters Centerline goodness [0,1] 0.9996127616547985 Centerline is valid? [True, True] Translation: X:84.36, Y:4.24, Z:-0.10 [[ 9.99913099e-01 -1.31799156e-02 2.88867357e-04 8.43550644e+01] [ 1.31799105e-02 9.99913141e-01 1.92285127e-05 4.24188462e+00] [-2.89095697e-04 -1.54195958e-05 9.99999958e-01 -1.04632649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.79140051299999 meters Centerline goodness [0,1] 0.9997832636164633 Centerline is valid? [True, True] Translation: X:84.38, Y:4.24, Z:-0.10 [[ 9.99906215e-01 -1.36944216e-02 1.52650200e-04 8.43845566e+01] [ 1.36944203e-02 9.99906227e-01 9.79524181e-06 4.23877064e+00] [-1.52770025e-04 -7.70386717e-06 9.99999988e-01 -1.04487748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.821400513 meters Centerline goodness [0,1] 0.9995299747895569 Centerline is valid? [True, True] Translation: X:84.41, Y:4.24, Z:-0.10 [[ 9.99914442e-01 -1.30008597e-02 1.44450268e-03 8.44122505e+01] [ 1.30007293e-02 9.99915482e-01 9.96085193e-05 4.24239705e+00] [-1.44567559e-03 -8.08204086e-05 9.99998952e-01 -1.02665481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.851400513 meters Centerline goodness [0,1] 0.9994189299703009 Centerline is valid? [True, True] Translation: X:84.44, Y:4.25, Z:-0.10 [[ 9.99925269e-01 -1.17867171e-02 3.24504016e-03 8.44408324e+01] [ 1.17860500e-02 9.99930517e-01 2.24642236e-04 4.24678153e+00] [-3.24746248e-03 -1.86379243e-04 9.99994710e-01 -1.00489712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.881400513 meters Centerline goodness [0,1] 0.9996088572111519 Centerline is valid? [True, True] Translation: X:84.47, Y:4.24, Z:-0.10 [[ 9.99969572e-01 -6.63786726e-03 4.09791414e-03 8.44712739e+01] [ 6.63675944e-03 9.99977936e-01 2.83877154e-04 4.24496117e+00] [-4.09970807e-03 -2.56671646e-04 9.99991563e-01 -9.95574844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.911400513 meters Centerline goodness [0,1] 0.9951305982102813 Centerline is valid? [True, True] Translation: X:84.50, Y:4.26, Z:-0.10 [[ 9.99989778e-01 -2.57272718e-03 3.71816211e-03 8.44999584e+01] [ 2.57178688e-03 9.99996660e-01 2.57652544e-04 4.25800488e+00] [-3.71881256e-03 -2.48087590e-04 9.99993054e-01 -1.00561646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.941400513 meters Centerline goodness [0,1] 0.9948680193153028 Centerline is valid? [True, True] Translation: X:84.53, Y:4.26, Z:-0.10 [[ 9.99991836e-01 1.44552216e-03 3.77330570e-03 8.45309294e+01] [-1.44651837e-03 9.99998920e-01 2.61298985e-04 4.25872746e+00] [-3.77292391e-03 -2.66755008e-04 9.99992847e-01 -1.00500122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.971400513 meters Centerline goodness [0,1] 0.9536273175710155 Centerline is valid? [True, True] Translation: X:84.56, Y:4.27, Z:-0.10 [[ 9.99977384e-01 5.58428242e-03 3.74808789e-03 8.45598391e+01] [-5.58529397e-03 9.99984368e-01 2.59469617e-04 4.26878538e+00] [-3.74658035e-03 -2.80397921e-04 9.99992942e-01 -1.00690276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.001400513 meters Centerline goodness [0,1] 0.8712456444130914 Centerline is valid? [True, False] Translation: X:84.56, Y:4.27, Z:-0.10 [[ 9.99977384e-01 5.46538108e-03 3.91931238e-03 8.45597447e+01] [-5.46371782e-03 9.99984979e-01 -4.34957945e-04 4.27215040e+00] [-3.92163072e-03 4.13534091e-04 9.99992225e-01 -1.01695602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.031400513 meters Centerline goodness [0,1] 0.8300311258988945 Centerline is valid? [False, False] Translation: X:84.56, Y:4.28, Z:-0.10 [[ 9.99973899e-01 5.82626390e-03 4.27271706e-03 8.45592548e+01] [-5.81927985e-03 9.99981715e-01 -1.64518189e-03 4.27944606e+00] [-4.28222419e-03 1.62027481e-03 9.99989519e-01 -1.03663298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.061400513 meters Centerline goodness [0,1] 0.5346702204171426 Centerline is valid? [False, False] Translation: X:84.57, Y:4.28, Z:-0.11 [[ 9.99956922e-01 8.66644184e-03 3.32367352e-03 8.45653258e+01] [-8.67163248e-03 9.99961199e-01 1.55050076e-03 4.27844984e+00] [-3.31010723e-03 -1.57925565e-03 9.99993275e-01 -1.06781302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.091400513 meters Centerline goodness [0,1] 0.4756648907944728 Centerline is valid? [False, False] Translation: X:84.57, Y:4.28, Z:-0.11 [[ 9.99957920e-01 8.52656092e-03 3.38476278e-03 8.45652610e+01] [-8.53073259e-03 9.99962868e-01 1.21996585e-03 4.27997291e+00] [-3.37423498e-03 -1.24878902e-03 9.99993528e-01 -1.07049119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.121400513 meters Centerline goodness [0,1] 0.6917529072868879 Centerline is valid? [False, False] Translation: X:84.57, Y:4.29, Z:-0.11 [[ 9.99961629e-01 8.02704696e-03 3.50817722e-03 8.45650449e+01] [-8.02721146e-03 9.99967781e-01 3.28139184e-05 4.28557886e+00] [-3.50780079e-03 -6.09735396e-05 9.99993846e-01 -1.07441457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.151400513 meters Centerline goodness [0,1] 0.7117321515659125 Centerline is valid? [False, False] Translation: X:84.57, Y:4.29, Z:-0.11 [[ 9.99964466e-01 7.62891132e-03 3.58702038e-03 8.45650742e+01] [-7.62567440e-03 9.99970505e-01 -9.15211887e-04 4.29001840e+00] [-3.59389665e-03 8.87825916e-04 9.99993148e-01 -1.08004344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.181400513 meters Centerline goodness [0,1] 0.45315151001017984 Centerline is valid? [False, False] Translation: X:84.57, Y:4.29, Z:-0.11 [[ 9.99967501e-01 7.23625741e-03 3.55437674e-03 8.45654333e+01] [-7.22988399e-03 9.99972239e-01 -1.80270882e-03 4.29412532e+00] [-3.56732293e-03 1.77695250e-03 9.99992058e-01 -1.08473384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.211400513 meters Centerline goodness [0,1] 0.6942863840760395 Centerline is valid? [False, False] Translation: X:84.57, Y:4.30, Z:-0.11 [[ 9.99969830e-01 6.90363373e-03 3.56072150e-03 8.45657550e+01] [-6.89455244e-03 9.99972965e-01 -2.55640712e-03 4.29759029e+00] [-3.57827373e-03 2.53178042e-03 9.99990393e-01 -1.09145586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.24140051299997 meters Centerline goodness [0,1] 0.7726353006325744 Centerline is valid? [False, False] Translation: X:84.57, Y:4.30, Z:-0.11 [[ 9.99972386e-01 6.54896587e-03 3.51258488e-03 8.45662040e+01] [-6.53727631e-03 9.99973090e-01 -3.32912986e-03 4.30112558e+00] [-3.53429271e-03 3.30607519e-03 9.99988289e-01 -1.09719561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.27140051299997 meters Centerline goodness [0,1] 0.5535566188197767 Centerline is valid? [False, False] Translation: X:84.57, Y:4.31, Z:-0.11 [[ 9.99975248e-01 6.10704980e-03 3.49386052e-03 8.45665164e+01] [-6.09204464e-03 9.99972244e-01 -4.28936465e-03 4.30555368e+00] [-3.51995891e-03 4.26797373e-03 9.99984697e-01 -1.10222763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.30140051299998 meters Centerline goodness [0,1] 0.547519565632357 Centerline is valid? [False, False] Translation: X:84.57, Y:4.31, Z:-0.11 [[ 9.99980009e-01 5.30158051e-03 3.44610975e-03 8.45663881e+01] [-5.28147345e-03 9.99969129e-01 -5.81785956e-03 4.31261760e+00] [-3.47684721e-03 5.79954272e-03 9.99977138e-01 -1.09728070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.33140051299998 meters Centerline goodness [0,1] 0.6573849363477668 Centerline is valid? [False, False] Translation: X:84.57, Y:4.31, Z:-0.11 [[ 9.99980969e-01 5.10628235e-03 3.46241545e-03 8.45659858e+01] [-5.08481331e-03 9.99967968e-01 -6.18130419e-03 4.31437875e+00] [-3.49386802e-03 6.16358082e-03 9.99974901e-01 -1.09075368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.36140051299998 meters Centerline goodness [0,1] 0.9831217261968916 Centerline is valid? [False, True] Translation: X:84.54, Y:4.31, Z:-0.10 [[ 9.99995897e-01 2.49074136e-03 -1.41482972e-03 8.45410117e+01] [-2.48641856e-03 9.99992261e-01 3.04893618e-03 4.30743885e+00] [ 1.42241288e-03 -3.04540581e-03 9.99994351e-01 -1.00286506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.39140051299998 meters Centerline goodness [0,1] 0.9410102212116704 Centerline is valid? [True, False] Translation: X:84.58, Y:4.32, Z:-0.10 [[ 9.99998384e-01 3.67740186e-04 1.76001893e-03 8.45807237e+01] [-3.62570189e-04 9.99995622e-01 -2.93688480e-03 4.31838823e+00] [-1.76109123e-03 2.93624192e-03 9.99994139e-01 -1.02200101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.42140051299998 meters Centerline goodness [0,1] 0.933865644628979 Centerline is valid? [False, False] Translation: X:84.58, Y:4.32, Z:-0.10 [[ 9.99998522e-01 1.15187372e-04 1.71550164e-03 8.45808156e+01] [-1.09429685e-04 9.99994363e-01 -3.35598566e-03 4.32030341e+00] [-1.71587853e-03 3.35579298e-03 9.99992897e-01 -1.02108811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.45140051299998 meters Centerline goodness [0,1] 0.9995524582827185 Centerline is valid? [False, True] Translation: X:84.58, Y:4.32, Z:-0.10 [[ 9.99998314e-01 -4.45795988e-04 1.78139973e-03 8.45802156e+01] [ 4.53138574e-04 9.99991396e-01 -4.12353114e-03 4.32371525e+00] [-1.77954615e-03 4.12433141e-03 9.99989912e-01 -1.01327187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.48140051299998 meters Centerline goodness [0,1] 0.9991335587489434 Centerline is valid? [True, True] Translation: X:84.61, Y:4.33, Z:-0.10 [[ 9.99995576e-01 -2.00704561e-03 2.19534572e-03 8.46102609e+01] [ 2.00674329e-03 9.99997977e-01 1.39903910e-04 4.32933120e+00] [-2.19562207e-03 -1.35497796e-04 9.99997580e-01 -9.81085018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.51140051299998 meters Centerline goodness [0,1] 0.9997650325750294 Centerline is valid? [True, True] Translation: X:84.64, Y:4.33, Z:-0.10 [[ 9.99991048e-01 -3.11046585e-03 2.86853823e-03 8.46417679e+01] [ 3.10995441e-03 9.99995147e-01 1.82735912e-04 4.32619750e+00] [-2.86909270e-03 -1.73813253e-04 9.99995869e-01 -9.66403293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.54140051299999 meters Centerline goodness [0,1] 0.9987946966653274 Centerline is valid? [True, True] Translation: X:84.67, Y:4.34, Z:-0.09 [[ 9.99988630e-01 -3.60241499e-03 3.12460344e-03 8.46719664e+01] [ 3.60181090e-03 9.99993494e-01 1.98937847e-04 4.34041460e+00] [-3.12529976e-03 -1.87681354e-04 9.99995099e-01 -9.49186403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.571400513 meters Centerline goodness [0,1] 0.999594640723673 Centerline is valid? [True, True] Translation: X:84.70, Y:4.34, Z:-0.10 [[ 9.99985099e-01 -4.82142862e-03 2.56048296e-03 8.47041699e+01] [ 4.82102720e-03 9.99988366e-01 1.62923657e-04 4.33776336e+00] [-2.56123870e-03 -1.50577071e-04 9.99996709e-01 -9.63479752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.601400513 meters Centerline goodness [0,1] 0.9997632575757576 Centerline is valid? [True, True] Translation: X:84.74, Y:4.33, Z:-0.10 [[ 9.99983042e-01 -5.57807214e-03 1.67372088e-03 8.47364791e+01] [ 5.57790177e-03 9.99984438e-01 1.06443451e-04 4.33100582e+00] [-1.67428858e-03 -9.71057950e-05 9.99998594e-01 -9.83165796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.631400513 meters Centerline goodness [0,1] 0.9993608453884995 Centerline is valid? [True, True] Translation: X:84.77, Y:4.34, Z:-0.10 [[ 9.99980933e-01 -6.10210805e-03 9.47073587e-04 8.47659139e+01] [ 6.10205374e-03 9.99981380e-01 6.02223926e-05 4.34018959e+00] [-9.47423437e-04 -5.44421504e-05 9.99999550e-01 -9.89814491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.661400513 meters Centerline goodness [0,1] 0.9996774609727777 Centerline is valid? [True, True] Translation: X:84.80, Y:4.34, Z:-0.10 [[ 9.99976435e-01 -6.82406947e-03 7.48919064e-04 8.47962777e+01] [ 6.82403569e-03 9.99976715e-01 4.76535143e-05 4.33535776e+00] [-7.49226816e-04 -4.25417409e-05 9.99999718e-01 -9.94614855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.691400513 meters Centerline goodness [0,1] 0.9994688761419163 Centerline is valid? [True, True] Translation: X:84.83, Y:4.35, Z:-0.10 [[ 9.99976353e-01 -6.87233788e-03 2.54684610e-04 8.48254000e+01] [ 6.87233397e-03 9.99976385e-01 1.62100392e-05 4.34999748e+00] [-2.54789997e-04 -1.44593782e-05 9.99999967e-01 -9.97080809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.721400513 meters Centerline goodness [0,1] 0.9995737334555297 Centerline is valid? [True, True] Translation: X:84.86, Y:4.35, Z:-0.10 [[ 9.99978074e-01 -6.61750775e-03 -2.43489191e-04 8.48551962e+01] [ 6.61750418e-03 9.99978104e-01 -1.54888106e-05 4.35455050e+00] [ 2.43586357e-04 1.38771802e-05 9.99999970e-01 -1.00655856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.751400513 meters Centerline goodness [0,1] 0.9992784380305603 Centerline is valid? [True, True] Translation: X:84.88, Y:4.36, Z:-0.10 [[ 9.99984831e-01 -5.20820277e-03 -1.79254559e-03 8.48843835e+01] [ 5.20800650e-03 9.99986432e-01 -1.14143167e-04 4.35940112e+00] [ 1.79311575e-03 1.04805846e-04 9.99998387e-01 -1.03737123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.781400513 meters Centerline goodness [0,1] 0.9973387835047157 Centerline is valid? [True, True] Translation: X:84.91, Y:4.37, Z:-0.10 [[ 9.99983902e-01 -5.42736143e-03 -1.65525748e-03 8.49113858e+01] [ 5.42719418e-03 9.99985267e-01 -1.05518807e-04 4.37197353e+00] [ 1.65580578e-03 9.65337050e-05 9.99998624e-01 -1.03958415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.811400513 meters Centerline goodness [0,1] 0.999615565332536 Centerline is valid? [True, True] Translation: X:84.94, Y:4.36, Z:-0.10 [[ 9.99977186e-01 -6.64753029e-03 -1.19904283e-03 8.49407315e+01] [ 6.64744333e-03 9.99977903e-01 -7.64970846e-05 4.36431378e+00] [ 1.19952485e-03 6.85247702e-05 9.99999278e-01 -1.03470875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.841400513 meters Centerline goodness [0,1] 0.9997869393842548 Centerline is valid? [True, True] Translation: X:84.97, Y:4.36, Z:-0.10 [[ 9.99962777e-01 -8.51201619e-03 -1.41081184e-03 8.49709148e+01] [ 8.51189760e-03 9.99963769e-01 -9.00412321e-05 4.36334119e+00] [ 1.41152716e-03 7.80291946e-05 9.99999001e-01 -1.03613171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.871400513 meters Centerline goodness [0,1] 0.9997219370294319 Centerline is valid? [True, True] Translation: X:85.00, Y:4.36, Z:-0.10 [[ 9.99914880e-01 -1.28558795e-02 -2.22689268e-03 8.49998587e+01] [ 1.28555946e-02 9.99917353e-01 -1.42163989e-04 4.35944590e+00] [ 2.22853628e-03 1.13523858e-04 9.99997510e-01 -1.04595435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.901400513 meters Centerline goodness [0,1] 0.9997644640486488 Centerline is valid? [True, True] Translation: X:85.03, Y:4.35, Z:-0.10 [[ 9.99882294e-01 -1.51982521e-02 -2.10044301e-03 8.50307006e+01] [ 1.51980038e-02 9.99884495e-01 -1.34117875e-04 4.35306532e+00] [ 2.10223876e-03 1.02179547e-04 9.99997785e-01 -1.04015262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.931400513 meters Centerline goodness [0,1] 0.9998718742659464 Centerline is valid? [True, True] Translation: X:85.06, Y:4.35, Z:-0.10 [[ 9.99856319e-01 -1.68713966e-02 -1.64260278e-03 8.50592099e+01] [ 1.68712470e-02 9.99857665e-01 -1.04930101e-04 4.35478829e+00] [ 1.64413930e-03 7.72022676e-05 9.99998645e-01 -1.01981590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.961400513 meters Centerline goodness [0,1] 0.9998281971437775 Centerline is valid? [True, True] Translation: X:85.09, Y:4.36, Z:-0.10 [[ 9.99841282e-01 -1.77911759e-02 -9.40926645e-04 8.50879255e+01] [ 1.77911272e-02 9.99841724e-01 -6.01975471e-05 4.35743209e+00] [ 9.41848704e-04 4.34478471e-05 9.99999556e-01 -1.01039174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.99140051299997 meters Centerline goodness [0,1] 0.999871915293314 Centerline is valid? [True, True] Translation: X:85.12, Y:4.36, Z:-0.10 [[ 9.99857327e-01 -1.68780497e-02 -6.76555194e-04 8.51166250e+01] [ 1.68780242e-02 9.99857555e-01 -4.33728030e-05 4.36079056e+00] [ 6.77190870e-04 3.19476999e-05 9.99999770e-01 -1.00946512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.02140051299997 meters Centerline goodness [0,1] 0.9998293697344567 Centerline is valid? [True, True] Translation: X:85.15, Y:4.37, Z:-0.10 [[ 9.99900461e-01 -1.40744606e-02 -9.89075590e-04 8.51462903e+01] [ 1.40744046e-02 9.99900949e-01 -6.35131152e-05 4.36543884e+00] [ 9.89871533e-04 4.95861431e-05 9.99999509e-01 -1.02068430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.05140051299998 meters Centerline goodness [0,1] 0.9990770947802198 Centerline is valid? [True, True] Translation: X:85.17, Y:4.38, Z:-0.10 [[ 9.99977806e-01 -6.27004551e-03 -2.25242308e-03 8.51744602e+01] [ 6.26973545e-03 9.99980335e-01 -1.44689168e-04 4.38253596e+00] [ 2.25328599e-03 1.30563860e-04 9.99997453e-01 -1.04127496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.08140051299998 meters Centerline goodness [0,1] 0.9993973310374515 Centerline is valid? [True, True] Translation: X:85.21, Y:4.38, Z:-0.10 [[ 9.99991922e-01 -3.09480052e-03 -2.56476353e-03 8.52051639e+01] [ 3.09438807e-03 9.99995199e-01 -1.64764964e-04 4.38137764e+00] [ 2.56526113e-03 1.56827259e-04 9.99996697e-01 -1.04579249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.11140051299998 meters Centerline goodness [0,1] 0.9982869745829853 Centerline is valid? [True, True] Translation: X:85.23, Y:4.39, Z:-0.11 [[ 9.99995412e-01 -7.76339175e-04 -2.92803474e-03 8.52331164e+01] [ 7.75791548e-04 9.99999681e-01 -1.88160100e-04 4.39433378e+00] [ 2.92817988e-03 1.85887692e-04 9.99995696e-01 -1.05370553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.14140051299998 meters Centerline goodness [0,1] 0.9982869745829853 Centerline is valid? [True, True] Translation: X:85.26, Y:4.40, Z:-0.11 [[ 9.99995258e-01 -9.54430639e-04 -2.92800539e-03 8.52606226e+01] [ 9.53882442e-04 9.99999527e-01 -1.88616191e-04 4.39624700e+00] [ 2.92818402e-03 1.85822324e-04 9.99995696e-01 -1.05358919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.17140051299998 meters Centerline goodness [0,1] 0.9991872005475702 Centerline is valid? [True, True] Translation: X:85.29, Y:4.39, Z:-0.11 [[ 9.99995404e-01 3.93841060e-04 -3.00630236e-03 8.52903717e+01] [-3.94425449e-04 9.99999903e-01 -1.93797468e-04 4.39302748e+00] [ 3.00622574e-03 1.94982340e-04 9.99995462e-01 -1.05404017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.20140051299998 meters Centerline goodness [0,1] 0.9969513495075257 Centerline is valid? [True, True] Translation: X:85.32, Y:4.40, Z:-0.10 [[ 9.99994799e-01 1.56270526e-03 -2.82129015e-03 8.53187035e+01] [-1.56322496e-03 9.99998762e-01 -1.82008947e-04 4.40070062e+00] [ 2.82100223e-03 1.86418312e-04 9.99996004e-01 -1.04337800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.23140051299998 meters Centerline goodness [0,1] 0.9912789457972622 Centerline is valid? [True, True] Translation: X:85.35, Y:4.41, Z:-0.10 [[ 9.99995883e-01 1.57012056e-03 -2.40161688e-03 8.53458434e+01] [-1.57049748e-03 9.99998755e-01 -1.55064532e-04 4.40607627e+00] [ 2.40137042e-03 1.58835627e-04 9.99997104e-01 -1.03616912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.26140051299998 meters Centerline goodness [0,1] 0.997547931595747 Centerline is valid? [True, True] Translation: X:85.37, Y:4.41, Z:-0.10 [[ 9.99997281e-01 1.65582095e-03 -1.64206132e-03 8.53743708e+01] [-1.65599739e-03 9.99998623e-01 -1.06093269e-04 4.40618449e+00] [ 1.64188339e-03 1.08812230e-04 9.99998646e-01 -1.03096123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.29140051299999 meters Centerline goodness [0,1] 0.9990620536761101 Centerline is valid? [True, True] Translation: X:85.40, Y:4.41, Z:-0.10 [[ 9.99998119e-01 1.70016560e-03 -9.33673040e-04 8.54039282e+01] [-1.70022268e-03 9.99998553e-01 -6.03468176e-05 4.40638024e+00] [ 9.33569090e-04 6.19341561e-05 9.99999562e-01 -1.02544774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.321400513 meters Centerline goodness [0,1] 0.9990454574380078 Centerline is valid? [True, True] Translation: X:85.43, Y:4.41, Z:-0.10 [[ 9.99998093e-01 1.92735451e-03 -3.15001391e-04 8.54330231e+01] [-1.92736102e-03 9.99998142e-01 -2.03617610e-05 4.40967818e+00] [ 3.14961562e-04 2.09688436e-05 9.99999950e-01 -1.01719751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.351400513 meters Centerline goodness [0,1] 0.9957307407798796 Centerline is valid? [True, True] Translation: X:85.46, Y:4.41, Z:-0.10 [[ 9.99995523e-01 2.96748933e-03 -3.85894640e-04 8.54632347e+01] [-2.96749918e-03 9.99995597e-01 -2.49510369e-05 4.41362903e+00] [ 3.85818899e-04 2.60960673e-05 9.99999925e-01 -1.00872736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.381400513 meters Centerline goodness [0,1] 0.9967804113448137 Centerline is valid? [True, True] Translation: X:85.49, Y:4.41, Z:-0.10 [[ 9.99993989e-01 3.21758950e-03 -1.29163758e-03 8.54937380e+01] [-3.21770000e-03 9.99994820e-01 -8.34789537e-05 4.41316906e+00] [ 1.29136229e-03 8.76345542e-05 9.99999162e-01 -1.02365845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.411400513 meters Centerline goodness [0,1] 0.9944460869197956 Centerline is valid? [True, True] Translation: X:85.52, Y:4.42, Z:-0.10 [[ 9.99992122e-01 3.34468236e-03 -2.13764236e-03 8.55227177e+01] [-3.34498534e-03 9.99994396e-01 -1.38175496e-04 4.41548787e+00] [ 2.13716823e-03 1.45324790e-04 9.99997706e-01 -1.04539685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.441400513 meters Centerline goodness [0,1] 0.9922796211529943 Centerline is valid? [True, True] Translation: X:85.55, Y:4.42, Z:-0.11 [[ 9.99990081e-01 3.76115224e-03 -2.38582559e-03 8.55527527e+01] [-3.76153095e-03 9.99992914e-01 -1.54266383e-04 4.41576929e+00] [ 2.38522846e-03 1.63239210e-04 9.99997142e-01 -1.05631029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.471400513 meters Centerline goodness [0,1] 0.9971535994222231 Centerline is valid? [True, True] Translation: X:85.58, Y:4.41, Z:-0.10 [[ 9.99992026e-01 3.55881173e-03 -1.81184329e-03 8.55830970e+01] [-3.55902988e-03 9.99993660e-01 -1.17191167e-04 4.41284226e+00] [ 1.81141474e-03 1.23638637e-04 9.99998352e-01 -1.04425271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.501400513 meters Centerline goodness [0,1] 0.9951527924130664 Centerline is valid? [True, True] Translation: X:85.61, Y:4.42, Z:-0.10 [[ 9.99993387e-01 3.35769994e-03 -1.39677146e-03 8.56123635e+01] [-3.35782941e-03 9.99994358e-01 -9.03622198e-05 4.41518985e+00] [ 1.39646017e-03 9.50517426e-05 9.99999020e-01 -1.03596403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.531400513 meters Centerline goodness [0,1] 0.9976274954046083 Centerline is valid? [True, True] Translation: X:85.64, Y:4.41, Z:-0.10 [[ 9.99994764e-01 2.96631925e-03 -1.29364554e-03 8.56419062e+01] [-2.96643001e-03 9.99995597e-01 -8.37145453e-05 4.41235384e+00] [ 1.29339152e-03 8.75516159e-05 9.99999160e-01 -1.03044556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.561400513 meters Centerline goodness [0,1] 0.9909976857258116 Centerline is valid? [True, True] Translation: X:85.67, Y:4.42, Z:-0.10 [[ 9.99995082e-01 2.75499944e-03 -1.49871887e-03 8.56707576e+01] [-2.75514793e-03 9.99996200e-01 -9.70202990e-05 4.41776383e+00] [ 1.49844588e-03 1.01149014e-04 9.99998872e-01 -1.03098404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.591400513 meters Centerline goodness [0,1] 0.9924725695330442 Centerline is valid? [True, True] Translation: X:85.70, Y:4.42, Z:-0.10 [[ 9.99993901e-01 2.98269398e-03 -1.81680332e-03 8.57006527e+01] [-2.98291264e-03 9.99995544e-01 -1.17653907e-04 4.41843993e+00] [ 1.81644430e-03 1.23072555e-04 9.99998343e-01 -1.03915270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.621400513 meters Centerline goodness [0,1] 0.9867205788465631 Centerline is valid? [True, True] Translation: X:85.73, Y:4.42, Z:-0.11 [[ 9.99990139e-01 3.69464524e-03 -2.46391097e-03 8.57300747e+01] [-3.69504969e-03 9.99993161e-01 -1.59617332e-04 4.42065708e+00] [ 2.46330439e-03 1.68720032e-04 9.99996952e-01 -1.06676280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.651400513 meters Centerline goodness [0,1] 0.9164254005018336 Centerline is valid? [True, False] Translation: X:85.73, Y:4.42, Z:-0.11 [[ 9.99989112e-01 3.92736518e-03 -2.52013367e-03 8.57302354e+01] [-3.92644161e-03 9.99992223e-01 3.71320000e-04 4.41815694e+00] [ 2.52157238e-03 -3.61420799e-04 9.99996756e-01 -1.06642174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.681400513 meters Centerline goodness [0,1] 0.8733241845244379 Centerline is valid? [False, False] Translation: X:85.77, Y:4.42, Z:-0.11 [[ 9.99991559e-01 4.09997551e-03 2.69037036e-04 8.57713712e+01] [-4.09938807e-03 9.99989289e-01 -2.14887344e-03 4.42041088e+00] [-2.77844483e-04 2.14775241e-03 9.99997655e-01 -1.07861312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.711400513 meters Centerline goodness [0,1] 0.9436951766030202 Centerline is valid? [False, False] Translation: X:85.77, Y:4.42, Z:-0.11 [[ 9.99990282e-01 4.40324080e-03 2.18317133e-04 8.57713006e+01] [-4.40291671e-03 9.99989236e-01 -1.46337501e-03 4.41723143e+00] [-2.24758376e-04 1.46239955e-03 9.99998905e-01 -1.07418283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.74140051299997 meters Centerline goodness [0,1] 0.9985573403384868 Centerline is valid? [False, True] Translation: X:85.73, Y:4.41, Z:-0.11 [[ 9.99989081e-01 3.68121285e-03 -2.87852389e-03 8.57318794e+01] [-3.67775824e-03 9.99992512e-01 1.20450748e-03 4.41034750e+00] [ 2.88293639e-03 -1.19390781e-03 9.99995132e-01 -1.07339611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.77140051299997 meters Centerline goodness [0,1] 0.99053877603442 Centerline is valid? [True, True] Translation: X:85.76, Y:4.42, Z:-0.11 [[ 9.99989642e-01 3.77045608e-03 -2.54959180e-03 8.57597126e+01] [-3.77089230e-03 9.99992876e-01 -1.66308190e-04 4.41912399e+00] [ 2.54894658e-03 1.75920703e-04 9.99996736e-01 -1.08290820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.80140051299998 meters Centerline goodness [0,1] 0.9920473737093016 Centerline is valid? [True, True] Translation: X:85.79, Y:4.42, Z:-0.11 [[ 9.99989277e-01 4.39565461e-03 -1.45714655e-03 8.57889521e+01] [-4.39579785e-03 9.99990334e-01 -9.51109852e-05 4.41926300e+00] [ 1.45671439e-03 1.01515287e-04 9.99998934e-01 -1.07211611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.83140051299998 meters Centerline goodness [0,1] 0.9967488021902806 Centerline is valid? [True, True] Translation: X:85.82, Y:4.42, Z:-0.11 [[ 9.99987057e-01 5.08292981e-03 2.20837709e-04 8.58200851e+01] [-5.08293311e-03 9.99987082e-01 1.44097159e-05 4.41645033e+00] [-2.20761612e-04 -1.55320327e-05 9.99999976e-01 -1.05362595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.86140051299998 meters Centerline goodness [0,1] 0.9075261987932677 Centerline is valid? [True, False] Translation: X:85.82, Y:4.41, Z:-0.10 [[ 9.99953857e-01 9.60601351e-03 -8.78499778e-05 8.58204128e+01] [-9.60530221e-03 9.99935397e-01 6.07780937e-03 4.40739639e+00] [ 1.46227821e-04 -6.07668510e-03 9.99981526e-01 -1.03556817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.89140051299998 meters Centerline goodness [0,1] 0.9983490212054289 Centerline is valid? [False, True] Translation: X:85.82, Y:4.41, Z:-0.10 [[ 9.99952467e-01 9.75002863e-03 -3.75227819e-05 8.58201192e+01] [-9.74958966e-03 9.99932044e-01 6.39159600e-03 4.40596842e+00] [ 9.98384759e-05 -6.39092635e-03 9.99979573e-01 -1.03278080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.92140051299998 meters Centerline goodness [0,1] 0.9637524391278527 Centerline is valid? [True, True] Translation: X:85.85, Y:4.42, Z:-0.11 [[ 9.99933515e-01 1.15173807e-02 -5.61329352e-04 8.58494519e+01] [-1.15174022e-02 9.99933672e-01 -3.51448644e-05 4.41967104e+00] [ 5.60887343e-04 4.16075837e-05 9.99999842e-01 -1.05821546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.95140051299998 meters Centerline goodness [0,1] 0.9542167652734482 Centerline is valid? [True, True] Translation: X:85.88, Y:4.42, Z:-0.11 [[ 9.99927700e-01 1.20112364e-02 -5.70111132e-04 8.58818562e+01] [-1.20112587e-02 9.99927862e-01 -3.56905835e-05 4.41866602e+00] [ 5.69641317e-04 4.25357554e-05 9.99999837e-01 -1.05920219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.98140051299998 meters Centerline goodness [0,1] 0.9806629834254144 Centerline is valid? [True, True] Translation: X:85.91, Y:4.41, Z:-0.11 [[ 9.99924421e-01 1.22803134e-02 -5.89059933e-04 8.59145778e+01] [-1.22803371e-02 9.99924593e-01 -3.67828514e-05 4.41493146e+00] [ 5.88563809e-04 4.40139260e-05 9.99999826e-01 -1.05539791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.01140051299998 meters Centerline goodness [0,1] 0.962501058693995 Centerline is valid? [True, True] Translation: X:85.95, Y:4.42, Z:-0.11 [[ 9.99924733e-01 1.22501266e-02 -6.80751495e-04 8.59459526e+01] [-1.22501583e-02 9.99924963e-01 -4.23826628e-05 4.41773515e+00] [ 6.80181221e-04 5.07187864e-05 9.99999767e-01 -1.05845214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.04140051299999 meters Centerline goodness [0,1] 0.7872277748553393 Centerline is valid? [True, False] Translation: X:85.95, Y:4.42, Z:-0.11 [[ 9.99923458e-01 1.23508533e-02 -7.31668717e-04 8.59460478e+01] [-1.23507038e-02 9.99923705e-01 2.08462575e-04 4.41653762e+00] [ 7.34187585e-04 -1.99409995e-04 9.99999711e-01 -1.05710278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.071400513 meters Centerline goodness [0,1] 0.9603979257064239 Centerline is valid? [False, True] Translation: X:85.95, Y:4.41, Z:-0.11 [[ 9.99919826e-01 1.26345479e-02 -8.42301130e-04 8.59460580e+01] [-1.26337884e-02 9.99919785e-01 9.01030467e-04 4.41330960e+00] [ 8.53617677e-04 -8.90316773e-04 9.99999239e-01 -1.05043072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.101400513 meters Centerline goodness [0,1] 0.7006318110503329 Centerline is valid? [True, False] Translation: X:85.94, Y:4.42, Z:-0.11 [[ 9.99964862e-01 8.37723946e-03 -3.11278131e-04 8.59444187e+01] [-8.37848336e-03 9.99955926e-01 -4.23646379e-03 4.41775766e+00] [ 2.75774540e-04 4.23892297e-03 9.99990978e-01 -1.05649162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.131400513 meters Centerline goodness [0,1] 0.9809295008078919 Centerline is valid? [False, True] Translation: X:85.94, Y:4.42, Z:-0.11 [[ 9.99963029e-01 8.59501485e-03 -2.57311082e-04 8.59439148e+01] [-8.59591774e-03 9.99956054e-01 -3.74179466e-03 4.41551629e+00] [ 2.25138993e-04 3.74386814e-03 9.99992966e-01 -1.05051164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.161400513 meters Centerline goodness [0,1] 0.6277461780813228 Centerline is valid? [True, False] Translation: X:85.94, Y:4.41, Z:-0.11 [[ 9.99962675e-01 8.63581918e-03 -2.67942037e-04 8.59440129e+01] [-8.63673326e-03 9.99956144e-01 -3.62183469e-03 4.41489868e+00] [ 2.36652776e-04 3.62401365e-03 9.99993405e-01 -1.05195449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.191400513 meters Centerline goodness [0,1] 0.9924829642248723 Centerline is valid? [False, True] Translation: X:85.95, Y:4.42, Z:-0.11 [[ 9.99965203e-01 8.32947189e-03 -4.60724010e-04 8.59454182e+01] [-8.33134439e-03 9.99956373e-01 -4.22376017e-03 4.41747698e+00] [ 4.25522218e-04 4.22745165e-03 9.99990974e-01 -1.06680217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.221400513 meters Centerline goodness [0,1] 0.990254856682838 Centerline is valid? [True, True] Translation: X:85.98, Y:4.42, Z:-0.11 [[ 9.99971060e-01 7.55514467e-03 -8.94258205e-04 8.59761216e+01] [-7.55519739e-03 9.99971458e-01 -5.55819440e-05 4.41789947e+00] [ 8.93812751e-04 6.23366327e-05 9.99999599e-01 -1.06490884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.251400513 meters Centerline goodness [0,1] 0.9423828331256469 Centerline is valid? [True, False] Translation: X:85.98, Y:4.42, Z:-0.11 [[ 9.99971766e-01 7.46341103e-03 -8.74260611e-04 8.59759381e+01] [-7.46362697e-03 9.99972117e-01 -2.43990442e-04 4.41880266e+00] [ 8.72415233e-04 2.50508708e-04 9.99999588e-01 -1.06285931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.281400513 meters Centerline goodness [0,1] 0.9945436088317401 Centerline is valid? [False, True] Translation: X:85.98, Y:4.42, Z:-0.11 [[ 9.99971560e-01 7.49464602e-03 -8.41828302e-04 8.59755343e+01] [-7.49477760e-03 9.99971902e-01 -1.53265104e-04 4.41843174e+00] [ 8.40655980e-04 1.59570062e-04 9.99999634e-01 -1.05735367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.311400513 meters Centerline goodness [0,1] 0.9983560005978179 Centerline is valid? [True, True] Translation: X:86.01, Y:4.41, Z:-0.11 [[ 9.99983604e-01 5.68973721e-03 -6.47258273e-04 8.60067982e+01] [-5.68976386e-03 9.99983812e-01 -3.93350487e-05 4.41346871e+00] [ 6.47023989e-04 4.30171505e-05 9.99999790e-01 -1.05282496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.341400513 meters Centerline goodness [0,1] 0.9992143205996645 Centerline is valid? [True, True] Translation: X:86.04, Y:4.41, Z:-0.11 [[ 9.99997411e-01 4.16422110e-04 -2.23710882e-03 8.60368998e+01] [-4.16727236e-04 9.99999904e-01 -1.35928482e-04 4.40947467e+00] [ 2.23705200e-03 1.36860395e-04 9.99997488e-01 -1.06396632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.371400513 meters Centerline goodness [0,1] 0.9991391184573003 Centerline is valid? [True, True] Translation: X:86.07, Y:4.41, Z:-0.11 [[ 9.99992376e-01 -2.19140310e-03 -3.23198216e-03 8.60674960e+01] [ 2.19077976e-03 9.99997581e-01 -1.96393094e-04 4.40720212e+00] [ 3.23240472e-03 1.89311035e-04 9.99994758e-01 -1.07948350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.401400513 meters Centerline goodness [0,1] 0.9990776490776491 Centerline is valid? [True, True] Translation: X:86.10, Y:4.41, Z:-0.11 [[ 9.99985648e-01 -3.90947995e-03 -3.66318451e-03 8.60961981e+01] [ 3.90869029e-03 9.99992336e-01 -2.22700180e-04 4.41008661e+00] [ 3.66402708e-03 2.08378730e-04 9.99993266e-01 -1.08776197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.431400513 meters Centerline goodness [0,1] 0.9991538868323638 Centerline is valid? [True, True] Translation: X:86.13, Y:4.41, Z:-0.11 [[ 9.99983420e-01 -4.57718038e-03 -3.49420269e-03 8.61252697e+01] [ 4.57646431e-03 9.99989505e-01 -2.12900698e-04 4.41026693e+00] [ 3.49514051e-03 1.96906074e-04 9.99993873e-01 -1.08653498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.461400513 meters Centerline goodness [0,1] 0.9994196044711952 Centerline is valid? [True, True] Translation: X:86.16, Y:4.42, Z:-0.11 [[ 9.99992349e-01 -2.46071349e-03 -3.04085396e-03 8.61555378e+01] [ 2.46016117e-03 9.99996957e-01 -1.85362302e-04 4.41673588e+00] [ 3.04130083e-03 1.77879893e-04 9.99995359e-01 -1.08132949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.49140051299997 meters Centerline goodness [0,1] 0.9902558635394456 Centerline is valid? [True, True] Translation: X:86.18, Y:4.43, Z:-0.11 [[ 9.99994545e-01 -9.79638230e-05 -3.30163612e-03 8.61840608e+01] [ 9.72997560e-05 9.99999975e-01 -2.01292709e-04 4.43185294e+00] [ 3.30165575e-03 2.00970363e-04 9.99994529e-01 -1.09165025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.52140051299997 meters Centerline goodness [0,1] 0.9988702491846609 Centerline is valid? [True, True] Translation: X:86.22, Y:4.43, Z:-0.11 [[ 9.99988682e-01 2.56185878e-03 -4.00901467e-03 8.62150131e+01] [-2.56285926e-03 9.99996686e-01 -2.44439887e-04 4.42659582e+00] [ 4.00837516e-03 2.54711661e-04 9.99991934e-01 -1.09656580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.55140051299998 meters Centerline goodness [0,1] 0.9944682294095206 Centerline is valid? [True, True] Translation: X:86.24, Y:4.44, Z:-0.11 [[ 9.99977603e-01 4.70014924e-03 -4.76467052e-03 8.62431792e+01] [-4.70158706e-03 9.99988905e-01 -2.90610485e-04 4.43614565e+00] [ 4.76325175e-03 3.13005489e-04 9.99988607e-01 -1.11099295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.58140051299998 meters Centerline goodness [0,1] 0.9814658090724442 Centerline is valid? [True, True] Translation: X:86.27, Y:4.44, Z:-0.11 [[ 9.99966487e-01 6.23922038e-03 -5.30057909e-03 8.62719435e+01] [-6.24102199e-03 9.99980472e-01 -3.23416710e-04 4.44174902e+00] [ 5.29845771e-03 3.56486902e-04 9.99985900e-01 -1.11822143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.61140051299998 meters Centerline goodness [0,1] 0.9806196608440648 Centerline is valid? [True, True] Translation: X:86.30, Y:4.44, Z:-0.11 [[ 9.99961898e-01 6.81429369e-03 -5.45598764e-03 8.63005912e+01] [-6.81621226e-03 9.99976714e-01 -3.33127440e-04 4.44469775e+00] [ 5.45359056e-03 3.70303917e-04 9.99985061e-01 -1.12404117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.64140051299998 meters Centerline goodness [0,1] 0.9912528997382255 Centerline is valid? [True, True] Translation: X:86.33, Y:4.45, Z:-0.11 [[ 9.99971200e-01 5.77009125e-03 -4.93002974e-03 8.63303256e+01] [-5.77164571e-03 9.99983299e-01 -3.01134626e-04 4.44698816e+00] [ 4.92820982e-03 3.29580338e-04 9.99987802e-01 -1.12438647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.67140051299998 meters Centerline goodness [0,1] 0.9961849144269912 Centerline is valid? [True, True] Translation: X:86.36, Y:4.45, Z:-0.11 [[ 9.99978552e-01 4.54323202e-03 -4.71738677e-03 8.63605962e+01] [-4.54464196e-03 9.99989632e-01 -2.88205175e-04 4.44786807e+00] [ 4.71602847e-03 3.09637828e-04 9.99988832e-01 -1.12182094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.70140051299998 meters Centerline goodness [0,1] 0.9978949606634063 Centerline is valid? [True, True] Translation: X:86.39, Y:4.45, Z:-0.11 [[ 9.99986087e-01 2.72280868e-03 -4.51793545e-03 8.63908495e+01] [-2.72408364e-03 9.99996252e-01 -2.76070277e-04 4.44944149e+00] [ 4.51716683e-03 2.88373670e-04 9.99989756e-01 -1.11697535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.73140051299998 meters Centerline goodness [0,1] 0.9779675491033305 Centerline is valid? [True, True] Translation: X:86.42, Y:4.46, Z:-0.11 [[ 9.99981836e-01 -1.64119819e-03 -5.79945057e-03 8.64198882e+01] [ 1.63916984e-03 9.99998594e-01 -3.54484117e-04 4.45717688e+00] [ 5.80002419e-03 3.44971394e-04 9.99983120e-01 -1.13483295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.76140051299998 meters Centerline goodness [0,1] 0.9984428991937204 Centerline is valid? [True, True] Translation: X:86.45, Y:4.45, Z:-0.11 [[ 9.99975819e-01 -3.49989630e-03 -6.00934715e-03 8.64499467e+01] [ 3.49775113e-03 9.99993815e-01 -3.67444963e-04 4.45093479e+00] [ 6.01059600e-03 3.46416877e-04 9.99981876e-01 -1.12967779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.79140051299999 meters Centerline goodness [0,1] 0.9991876175816659 Centerline is valid? [True, True] Translation: X:86.48, Y:4.45, Z:-0.11 [[ 9.99976442e-01 -4.55710573e-03 -5.13310296e-03 8.64794674e+01] [ 4.55555097e-03 9.99989574e-01 -3.14539680e-04 4.44842000e+00] [ 5.13448283e-03 2.91148158e-04 9.99986776e-01 -1.11171621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.821400513 meters Centerline goodness [0,1] 0.9995935915809288 Centerline is valid? [True, True] Translation: X:86.51, Y:4.45, Z:-0.11 [[ 9.99980928e-01 -4.97763928e-03 -3.65596816e-03 8.65086204e+01] [ 4.97685140e-03 9.99987590e-01 -2.24570056e-04 4.44911911e+00] [ 3.65704062e-03 2.06370563e-04 9.99993292e-01 -1.08709796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.851400513 meters Centerline goodness [0,1] 0.9994446105865766 Centerline is valid? [True, True] Translation: X:86.54, Y:4.45, Z:-0.11 [[ 9.99985462e-01 -4.67567946e-03 -2.68589289e-03 8.65371188e+01] [ 4.67525208e-03 9.99989057e-01 -1.65380284e-04 4.45187015e+00] [ 2.68663677e-03 1.52820653e-04 9.99996379e-01 -1.07606520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.881400513 meters Centerline goodness [0,1] 0.9992379016893179 Centerline is valid? [True, True] Translation: X:86.57, Y:4.46, Z:-0.11 [[ 9.99987601e-01 -4.21160253e-03 -2.65694050e-03 8.65654619e+01] [ 4.21118157e-03 9.99991119e-01 -1.64013397e-04 4.45620560e+00] [ 2.65760767e-03 1.52822505e-04 9.99996457e-01 -1.07809101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.911400513 meters Centerline goodness [0,1] 0.9992182052528156 Centerline is valid? [True, True] Translation: X:86.59, Y:4.46, Z:-0.11 [[ 9.99989027e-01 -3.65182232e-03 -2.93445328e-03 8.65941553e+01] [ 3.65130504e-03 9.99993317e-01 -1.81613501e-04 4.46103881e+00] [ 2.93509689e-03 1.70896924e-04 9.99995678e-01 -1.08622078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.941400513 meters Centerline goodness [0,1] 0.9988331883658272 Centerline is valid? [True, True] Translation: X:86.62, Y:4.47, Z:-0.11 [[ 9.99994835e-01 -8.38396455e-04 -3.10287089e-03 8.66242712e+01] [ 8.37804275e-04 9.99999631e-01 -1.92143944e-04 4.46735290e+00] [ 3.10303083e-03 1.89543353e-04 9.99995168e-01 -1.08549694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.971400513 meters Centerline goodness [0,1] 0.9930545262043409 Centerline is valid? [True, True] Translation: X:86.65, Y:4.48, Z:-0.11 [[ 9.99996825e-01 1.26341643e-03 -2.18028459e-03 8.66531659e+01] [-1.26371384e-03 9.99999192e-01 -1.35037070e-04 4.47764263e+00] [ 2.18011222e-03 1.37791898e-04 9.99997614e-01 -1.06772162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.001400513 meters Centerline goodness [0,1] 0.9988544031228123 Centerline is valid? [True, True] Translation: X:86.68, Y:4.47, Z:-0.10 [[ 9.99993889e-01 3.32382461e-03 -1.08347952e-03 8.66835119e+01] [-3.32389927e-03 9.99994474e-01 -6.71155661e-05 4.47379960e+00] [ 1.08325046e-03 7.07165327e-05 9.99999411e-01 -1.04446850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.031400513 meters Centerline goodness [0,1] 0.9988544031228123 Centerline is valid? [True, True] Translation: X:86.71, Y:4.48, Z:-0.10 [[ 9.99993889e-01 3.32382460e-03 -1.08347910e-03 8.67135182e+01] [-3.32389927e-03 9.99994474e-01 -6.71223677e-05 4.47565852e+00] [ 1.08325001e-03 7.07233329e-05 9.99999411e-01 -1.04428396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.061400513 meters Centerline goodness [0,1] 0.9985511260733386 Centerline is valid? [True, True] Translation: X:86.74, Y:4.48, Z:-0.10 [[ 9.99987890e-01 4.87941822e-03 -6.41648261e-04 8.67441884e+01] [-4.87944473e-03 9.99988095e-01 -3.97506056e-05 4.47770583e+00] [ 6.41446662e-04 4.28810115e-05 9.99999793e-01 -1.03558621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.091400513 meters Centerline goodness [0,1] 0.9939953908281709 Centerline is valid? [True, True] Translation: X:86.77, Y:4.48, Z:-0.11 [[ 9.99973437e-01 7.08542935e-03 -1.70957815e-03 8.67731675e+01] [-7.08562073e-03 9.99974891e-01 -1.05919299e-04 4.48373930e+00] [ 1.70878474e-03 1.18029908e-04 9.99998533e-01 -1.05923898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.121400513 meters Centerline goodness [0,1] 0.947689643520865 Centerline is valid? [True, False] Translation: X:86.77, Y:4.48, Z:-0.11 [[ 9.99973709e-01 7.02157028e-03 -1.81101897e-03 8.67739061e+01] [-7.02208149e-03 9.99975307e-01 -2.76074139e-04 4.48443910e+00] [ 1.80903578e-03 2.88784003e-04 9.99998322e-01 -1.06691557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.151400513 meters Centerline goodness [0,1] 0.9393702120455412 Centerline is valid? [False, False] Translation: X:86.77, Y:4.48, Z:-0.11 [[ 9.99974034e-01 6.96776621e-03 -1.83871685e-03 8.67743970e+01] [-6.96852722e-03 9.99975636e-01 -4.07802052e-04 4.48495441e+00] [ 1.83583058e-03 4.20604612e-04 9.99998226e-01 -1.07437509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.181400513 meters Centerline goodness [0,1] 0.9180080696538543 Centerline is valid? [False, False] Translation: X:86.77, Y:4.49, Z:-0.11 [[ 9.99975286e-01 6.80228153e-03 -1.77668723e-03 8.67747800e+01] [-6.80398062e-03 9.99976399e-01 -9.52039050e-04 4.48746438e+00] [ 1.77016926e-03 9.64104067e-04 9.99997969e-01 -1.08596253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.211400513 meters Centerline goodness [0,1] 0.9318143316957479 Centerline is valid? [False, False] Translation: X:86.77, Y:4.49, Z:-0.11 [[ 9.99976979e-01 6.57583622e-03 -1.67335269e-03 8.67746754e+01] [-6.57842228e-03 9.99977169e-01 -1.54465406e-03 4.49026101e+00] [ 1.66315709e-03 1.55562652e-03 9.99997407e-01 -1.09058737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.24140051299997 meters Centerline goodness [0,1] 0.9504458161865569 Centerline is valid? [False, True] Translation: X:86.77, Y:4.49, Z:-0.11 [[ 9.99935460e-01 1.12264418e-02 -1.74458630e-03 8.67743670e+01] [-1.12197229e-02 9.99929781e-01 3.81452093e-03 4.48542804e+00] [ 1.78728729e-03 -3.79470096e-03 9.99991203e-01 -1.07688455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.27140051299997 meters Centerline goodness [0,1] 0.931698250261713 Centerline is valid? [True, False] Translation: X:86.77, Y:4.49, Z:-0.11 [[ 9.99971059e-01 7.47275186e-03 -1.42826251e-03 8.67730901e+01] [-7.47499591e-03 9.99970826e-01 -1.57235091e-03 4.49253415e+00] [ 1.41647105e-03 1.58298166e-03 9.99997744e-01 -1.08090234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.30140051299998 meters Centerline goodness [0,1] 0.8810177207649924 Centerline is valid? [False, False] Translation: X:86.77, Y:4.49, Z:-0.11 [[ 9.99971508e-01 7.41882092e-03 -1.39420350e-03 8.67729472e+01] [-7.42131702e-03 9.99970853e-01 -1.79377994e-03 4.49364362e+00] [ 1.38085513e-03 1.80407565e-03 9.99997419e-01 -1.08035335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.33140051299998 meters Centerline goodness [0,1] 0.8110222790747255 Centerline is valid? [False, False] Translation: X:86.77, Y:4.49, Z:-0.11 [[ 9.99972097e-01 7.32898172e-03 -1.44600738e-03 8.67738627e+01] [-7.33188782e-03 9.99971092e-01 -2.01478052e-03 4.49448611e+00] [ 1.43119929e-03 2.02532627e-03 9.99996925e-01 -1.09527413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.36140051299998 meters Centerline goodness [0,1] 0.6883330134561662 Centerline is valid? [False, False] Translation: X:86.77, Y:4.49, Z:-0.11 [[ 9.99972112e-01 7.30493379e-03 -1.55320892e-03 8.67745679e+01] [-7.30804200e-03 9.99971286e-01 -2.00498032e-03 4.49428460e+00] [ 1.53851807e-03 2.01627532e-03 9.99996784e-01 -1.10224862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.39140051299998 meters Centerline goodness [0,1] 0.8695818541272506 Centerline is valid? [False, False] Translation: X:86.78, Y:4.49, Z:-0.11 [[ 9.99971787e-01 7.32599055e-03 -1.65958521e-03 8.67751235e+01] [-7.32906353e-03 9.99971425e-01 -1.85320591e-03 4.49343664e+00] [ 1.64596122e-03 1.86531683e-03 9.99996906e-01 -1.10647326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.42140051299998 meters Centerline goodness [0,1] 0.9590755692255115 Centerline is valid? [False, True] Translation: X:86.78, Y:4.49, Z:-0.11 [[ 9.99970765e-01 7.45401482e-03 -1.70493083e-03 8.67750577e+01] [-7.45656414e-03 9.99971084e-01 -1.49382790e-03 4.49175734e+00] [ 1.69374651e-03 1.50649716e-03 9.99997431e-01 -1.10239376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.45140051299998 meters Centerline goodness [0,1] 0.9506491309679875 Centerline is valid? [True, True] Translation: X:86.80, Y:4.49, Z:-0.11 [[ 9.99989922e-01 4.35042575e-03 -1.10858360e-03 8.68043167e+01] [-4.35051479e-03 9.99990533e-01 -7.79262881e-05 4.49186231e+00] [ 1.10823409e-03 8.27484121e-05 9.99999382e-01 -1.07572382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.48140051299998 meters Centerline goodness [0,1] 0.9550176693490016 Centerline is valid? [True, True] Translation: X:86.84, Y:4.49, Z:-0.11 [[ 9.99994016e-01 3.34638028e-03 -8.77673809e-04 8.68351751e+01] [-3.34643565e-03 9.99994399e-01 -6.16269931e-05 4.49322025e+00] [ 8.77462666e-04 6.45637032e-05 9.99999613e-01 -1.07595594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.51140051299998 meters Centerline goodness [0,1] 0.93923050789876 Centerline is valid? [True, False] Translation: X:86.84, Y:4.49, Z:-0.11 [[ 9.99993857e-01 3.40205476e-03 -8.43582178e-04 8.68350643e+01] [-3.40198107e-03 9.99994209e-01 8.87728095e-05 4.49249121e+00] [ 8.43879303e-04 -8.59024136e-05 9.99999640e-01 -1.07613837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.54140051299999 meters Centerline goodness [0,1] 0.9735446367956552 Centerline is valid? [False, True] Translation: X:86.84, Y:4.49, Z:-0.11 [[ 9.99993793e-01 3.42027300e-03 -8.45696534e-04 8.68351261e+01] [-3.42015323e-03 9.99994141e-01 1.43025919e-04 4.49221388e+00] [ 8.46180767e-04 -1.40132620e-04 9.99999632e-01 -1.07736940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.571400513 meters Centerline goodness [0,1] 0.9775054593253758 Centerline is valid? [True, True] Translation: X:86.87, Y:4.49, Z:-0.11 [[ 9.99994486e-01 3.28237040e-03 -5.04284007e-04 8.68655255e+01] [-3.28238860e-03 9.99994612e-01 -3.52805129e-05 4.49409752e+00] [ 5.04165487e-04 3.69355745e-05 9.99999872e-01 -1.07782484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.601400513 meters Centerline goodness [0,1] 0.998996541269909 Centerline is valid? [True, True] Translation: X:86.89, Y:4.48, Z:-0.11 [[ 9.99990836e-01 4.25315799e-03 -4.88970814e-04 8.68947218e+01] [-4.25275431e-03 9.99990618e-01 8.23651481e-04 4.48317627e+00] [ 4.92469346e-04 -8.21564460e-04 9.99999541e-01 -1.07092471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.631400513 meters Centerline goodness [0,1] 0.798892870169717 Centerline is valid? [True, False] Translation: X:86.90, Y:4.49, Z:-0.11 [[ 9.99992169e-01 3.91794986e-03 -5.58780122e-04 8.68953291e+01] [-3.91794401e-03 9.99992325e-01 1.15540247e-05 4.48691271e+00] [ 5.58821101e-04 -9.36466503e-06 9.99999844e-01 -1.07802579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.661400513 meters Centerline goodness [0,1] 0.6720400340715502 Centerline is valid? [False, False] Translation: X:86.90, Y:4.49, Z:-0.11 [[ 9.99978062e-01 6.42780772e-03 -1.59980659e-03 8.69027647e+01] [-6.42374598e-03 9.99976164e-01 2.53121190e-03 4.48670089e+00] [ 1.61603860e-03 -2.52087961e-03 9.99995517e-01 -1.12519475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.691400513 meters Centerline goodness [0,1] 0.8324375793482861 Centerline is valid? [False, False] Translation: X:86.90, Y:4.49, Z:-0.11 [[ 9.99979598e-01 6.14963347e-03 -1.72782507e-03 8.69037948e+01] [-6.14676727e-03 9.99979732e-01 1.65929164e-03 4.49074290e+00] [ 1.73799408e-03 -1.64863725e-03 9.99997131e-01 -1.13744085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.721400513 meters Centerline goodness [0,1] 0.5623455877694956 Centerline is valid? [False, False] Translation: X:86.90, Y:4.50, Z:-0.11 [[ 9.99979325e-01 6.25739205e-03 -1.48161347e-03 8.69033439e+01] [-6.25720661e-03 9.99980415e-01 1.29763289e-04 4.49916559e+00] [ 1.48239643e-03 -1.20489845e-04 9.99998894e-01 -1.14913638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.751400513 meters Centerline goodness [0,1] 0.7045072996578617 Centerline is valid? [False, False] Translation: X:86.90, Y:4.50, Z:-0.11 [[ 9.99981691e-01 5.95366434e-03 -1.08260974e-03 8.69019204e+01] [-5.95459228e-03 9.99981905e-01 -8.55938096e-04 4.50406788e+00] [ 1.07749418e-03 8.62368924e-04 9.99999048e-01 -1.14722724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.781400513 meters Centerline goodness [0,1] 0.8895671476137625 Centerline is valid? [False, False] Translation: X:86.90, Y:4.51, Z:-0.11 [[ 9.99983063e-01 5.77549875e-03 -7.19788239e-04 8.69003918e+01] [-5.77656586e-03 9.99982206e-01 -1.48938981e-03 4.50728776e+00] [ 7.11173462e-04 1.49352249e-03 9.99998632e-01 -1.14062324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.811400513 meters Centerline goodness [0,1] 0.5753737015454776 Centerline is valid? [False, False] Translation: X:86.90, Y:4.50, Z:-0.11 [[ 9.99946004e-01 1.03511139e-02 -9.18949066e-04 8.69001942e+01] [-1.03473196e-02 9.99938296e-01 4.04186035e-03 4.50137600e+00] [ 9.60730121e-04 -4.03213345e-03 9.99991409e-01 -1.12126517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.841400513 meters Centerline goodness [0,1] 0.5894438766819963 Centerline is valid? [False, False] Translation: X:86.90, Y:4.50, Z:-0.11 [[ 9.99946238e-01 1.03318636e-02 -8.79643506e-04 8.68998872e+01] [-1.03282720e-02 9.99938685e-01 3.99405323e-03 4.50163972e+00] [ 9.20855584e-04 -3.98475330e-03 9.99991637e-01 -1.11789365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.871400513 meters Centerline goodness [0,1] 0.680938640414156 Centerline is valid? [False, False] Translation: X:86.90, Y:4.51, Z:-0.11 [[ 9.99983611e-01 5.66447555e-03 -8.30990822e-04 8.69003565e+01] [-5.66603392e-03 9.99982171e-01 -1.88510282e-03 4.50921979e+00] [ 8.20297887e-04 1.88978035e-03 9.99997878e-01 -1.13529411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.901400513 meters Centerline goodness [0,1] 0.7234641602100005 Centerline is valid? [False, False] Translation: X:86.90, Y:4.51, Z:-0.11 [[ 9.99984855e-01 5.38969518e-03 -1.11362497e-03 8.69017529e+01] [-5.39222293e-03 9.99982864e-01 -2.27944060e-03 4.51079498e+00] [ 1.10132040e-03 2.28541099e-03 9.99996782e-01 -1.14406906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.931400513 meters Centerline goodness [0,1] 0.6984096772829167 Centerline is valid? [False, False] Translation: X:86.90, Y:4.51, Z:-0.11 [[ 9.99984550e-01 5.43696675e-03 -1.15681021e-03 8.69016107e+01] [-5.43939583e-03 9.99982986e-01 -2.10712766e-03 4.50999495e+00] [ 1.14533414e-03 2.11338746e-03 9.99997111e-01 -1.13863787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.961400513 meters Centerline goodness [0,1] 0.8070078572945424 Centerline is valid? [False, False] Translation: X:86.90, Y:4.51, Z:-0.11 [[ 9.99983379e-01 5.64662296e-03 -1.16504287e-03 8.69012344e+01] [-5.64850258e-03 9.99982741e-01 -1.61641408e-03 4.50776114e+00] [ 1.15589548e-03 1.62296796e-03 9.99998015e-01 -1.13084138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.99140051299997 meters Centerline goodness [0,1] 0.7133374465459652 Centerline is valid? [False, False] Translation: X:86.90, Y:4.51, Z:-0.11 [[ 9.99982178e-01 5.85376769e-03 -1.17389120e-03 8.69009623e+01] [-5.85510223e-03 9.99982213e-01 -1.13665159e-03 4.50555372e+00] [ 1.16721662e-03 1.14350458e-03 9.99998665e-01 -1.12520637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.02140051299997 meters Centerline goodness [0,1] 0.5964221445961682 Centerline is valid? [False, False] Translation: X:86.90, Y:4.50, Z:-0.11 [[ 9.99981710e-01 5.89978946e-03 -1.33117173e-03 8.69015893e+01] [-5.90106597e-03 9.99982131e-01 -9.57055392e-04 4.50461961e+00] [ 1.32550152e-03 9.64893219e-04 9.99998656e-01 -1.12698858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.05140051299998 meters Centerline goodness [0,1] 0.6654711375212223 Centerline is valid? [False, False] Translation: X:86.90, Y:4.51, Z:-0.11 [[ 9.99981947e-01 5.84307096e-03 -1.40143504e-03 8.69020489e+01] [-5.84456477e-03 9.99982354e-01 -1.06419542e-03 4.50504859e+00] [ 1.39519214e-03 1.07236699e-03 9.99998452e-01 -1.13130877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.08140051299998 meters Centerline goodness [0,1] 0.7974206729234502 Centerline is valid? [False, False] Translation: X:86.90, Y:4.50, Z:-0.11 [[ 9.99981843e-01 5.85486892e-03 -1.42593074e-03 8.69021670e+01] [-5.85632646e-03 9.99982331e-01 -1.02014800e-03 4.50481407e+00] [ 1.41993271e-03 1.02848019e-03 9.99998463e-01 -1.13222055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.11140051299998 meters Centerline goodness [0,1] 0.9284347493302717 Centerline is valid? [False, False] Translation: X:86.90, Y:4.50, Z:-0.11 [[ 9.99981799e-01 5.87131076e-03 -1.38870641e-03 8.69017980e+01] [-5.87261769e-03 9.99982315e-01 -9.38912370e-04 4.50444801e+00] [ 1.38316920e-03 9.47050623e-04 9.99998595e-01 -1.12759988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.14140051299998 meters Centerline goodness [0,1] 0.8445754666780187 Centerline is valid? [False, False] Translation: X:86.90, Y:4.50, Z:-0.11 [[ 9.99981890e-01 5.88022275e-03 -1.28158393e-03 8.69011667e+01] [-5.88135875e-03 9.99982314e-01 -8.84448880e-04 4.50425784e+00] [ 1.27636050e-03 8.91970317e-04 9.99998788e-01 -1.12236078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.17140051299998 meters Centerline goodness [0,1] 0.9210784104944845 Centerline is valid? [False, False] Translation: X:86.90, Y:4.50, Z:-0.11 [[ 9.99982108e-01 5.84639901e-03 -1.26593333e-03 8.69009161e+01] [-5.84757470e-03 9.99982473e-01 -9.27011277e-04 4.50448402e+00] [ 1.26049147e-03 9.34397331e-04 9.99998769e-01 -1.11847281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.20140051299998 meters Centerline goodness [0,1] 0.8592134278190499 Centerline is valid? [False, False] Translation: X:86.90, Y:4.51, Z:-0.11 [[ 9.99982864e-01 5.66589351e-03 -1.47314291e-03 8.69018479e+01] [-5.66777271e-03 9.99983126e-01 -1.27460726e-03 4.50599877e+00] [ 1.46589627e-03 1.28293485e-03 9.99998103e-01 -1.12318540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.23140051299998 meters Centerline goodness [0,1] 0.924514279647521 Centerline is valid? [False, False] Translation: X:86.90, Y:4.51, Z:-0.11 [[ 9.99983702e-01 5.48305746e-03 -1.59144873e-03 8.69026080e+01] [-5.48569010e-03 9.99983585e-01 -1.65461341e-03 4.50770455e+00] [ 1.58235027e-03 1.66331664e-03 9.99997365e-01 -1.13028763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.26140051299998 meters Centerline goodness [0,1] 0.7114745011086474 Centerline is valid? [False, False] Translation: X:86.90, Y:4.51, Z:-0.11 [[ 9.99985771e-01 5.09375257e-03 -1.58502208e-03 8.69025895e+01] [-5.09768196e-03 9.99983919e-01 -2.48499012e-03 4.51156293e+00] [ 1.57233866e-03 2.49303470e-03 9.99995656e-01 -1.13074909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.29140051299999 meters Centerline goodness [0,1] 0.9605619498984428 Centerline is valid? [False, True] Translation: X:86.90, Y:4.51, Z:-0.11 [[ 9.99959819e-01 8.76387465e-03 -1.88569757e-03 8.69032263e+01] [-8.75910078e-03 9.99958450e-01 2.52516107e-03 4.50651209e+00] [ 1.90774942e-03 -2.50854259e-03 9.99995034e-01 -1.11698922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.321400513 meters Centerline goodness [0,1] 0.9813271802760329 Centerline is valid? [True, True] Translation: X:86.93, Y:4.51, Z:-0.11 [[ 9.99976855e-01 6.79247987e-03 -3.88274145e-04 8.69336103e+01] [-6.79249011e-03 9.99976930e-01 -2.50661120e-05 4.51009491e+00] [ 3.88094927e-04 2.77028801e-05 9.99999924e-01 -1.10110061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.351400513 meters Centerline goodness [0,1] 0.9382945141199557 Centerline is valid? [True, False] Translation: X:86.93, Y:4.51, Z:-0.11 [[ 9.99976128e-01 6.89851911e-03 -3.92593266e-04 8.69332387e+01] [-6.89837626e-03 9.99976140e-01 3.64062615e-04 4.50825912e+00] [ 3.95095392e-04 -3.61345668e-04 9.99999857e-01 -1.09362304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.381400513 meters Centerline goodness [0,1] 0.9973541053701077 Centerline is valid? [False, True] Translation: X:86.93, Y:4.51, Z:-0.11 [[ 9.99975189e-01 7.02391575e-03 -5.33846777e-04 8.69334261e+01] [-7.02341176e-03 9.99974894e-01 9.40160506e-04 4.50538463e+00] [ 5.40436982e-04 -9.36387755e-04 9.99999416e-01 -1.08848756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.411400513 meters Centerline goodness [0,1] 0.9975180313958422 Centerline is valid? [True, True] Translation: X:86.96, Y:4.51, Z:-0.11 [[ 9.99991360e-01 4.12520761e-03 -5.12756168e-04 8.69625589e+01] [-4.12522384e-03 9.99991491e-01 -3.05840762e-05 4.50658505e+00] [ 5.12625640e-04 3.26990459e-05 9.99999868e-01 -1.09300755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.441400513 meters Centerline goodness [0,1] 0.9994650804519001 Centerline is valid? [True, True] Translation: X:86.99, Y:4.49, Z:-0.11 [[ 9.99997248e-01 -1.71406212e-03 -1.60188937e-03 8.69936651e+01] [ 1.71391129e-03 9.99998527e-01 -9.55207975e-05 4.49247007e+00] [ 1.60205074e-03 9.27750383e-05 9.99998712e-01 -1.10390786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.471400513 meters Centerline goodness [0,1] 0.9993774419303594 Centerline is valid? [True, True] Translation: X:87.02, Y:4.49, Z:-0.11 [[ 9.99992467e-01 -3.38524545e-03 -1.89911183e-03 8.70227245e+01] [ 3.38503636e-03 9.99994264e-01 -1.13303961e-04 4.49267399e+00] [ 1.89948450e-03 1.06874545e-04 9.99998190e-01 -1.09535112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.501400513 meters Centerline goodness [0,1] 0.9993386243386243 Centerline is valid? [True, True] Translation: X:87.05, Y:4.50, Z:-0.11 [[ 9.99986281e-01 -4.72810735e-03 -2.25461908e-03 8.70501477e+01] [ 4.72781572e-03 9.99988815e-01 -1.34661968e-04 4.49554072e+00] [ 2.25523056e-03 1.24000697e-04 9.99997449e-01 -1.09939461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.531400513 meters Centerline goodness [0,1] 0.9995472771957056 Centerline is valid? [True, True] Translation: X:87.08, Y:4.49, Z:-0.11 [[ 9.99978881e-01 -5.83735994e-03 -2.85700792e-03 8.70796725e+01] [ 5.83689582e-03 9.99982951e-01 -1.70757749e-04 4.48721834e+00] [ 2.85795598e-03 1.54078085e-04 9.99995904e-01 -1.10208390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.561400513 meters Centerline goodness [0,1] 0.9992162345365192 Centerline is valid? [True, True] Translation: X:87.11, Y:4.49, Z:-0.11 [[ 9.99971933e-01 -6.86768306e-03 -2.99475334e-03 8.71077507e+01] [ 6.86717604e-03 9.99976405e-01 -1.79553861e-04 4.49300831e+00] [ 2.99591580e-03 1.58983323e-04 9.99995500e-01 -1.11162493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.591400513 meters Centerline goodness [0,1] 0.9995293110825845 Centerline is valid? [True, True] Translation: X:87.13, Y:4.48, Z:-0.11 [[ 9.99966272e-01 -7.87000178e-03 -2.34923367e-03 8.71336514e+01] [ 7.88034461e-03 9.99959153e-01 4.42633718e-03 4.48394143e+00] [ 2.31430243e-03 -4.44470066e-03 9.99987444e-01 -1.10531015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.621400513 meters Centerline goodness [0,1] 0.999743381378042 Centerline is valid? [True, True] Translation: X:87.17, Y:4.48, Z:-0.11 [[ 9.99952508e-01 -9.58056491e-03 -1.78721261e-03 8.71663076e+01] [ 9.57390469e-03 9.99947329e-01 -3.69865549e-03 4.47945570e+00] [ 1.82255368e-03 3.68136923e-03 9.99991563e-01 -1.11112730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.651400513 meters Centerline goodness [0,1] 0.999593287096498 Centerline is valid? [True, True] Translation: X:87.19, Y:4.48, Z:-0.11 [[ 9.99938812e-01 -1.09782231e-02 -1.36059747e-03 8.71947376e+01] [ 1.09781224e-02 9.99939735e-01 -8.14469507e-05 4.47886847e+00] [ 1.36140962e-03 6.65051615e-05 9.99999071e-01 -1.09662781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.681400513 meters Centerline goodness [0,1] 0.999722228157518 Centerline is valid? [True, True] Translation: X:87.22, Y:4.47, Z:-0.11 [[ 9.99918212e-01 -1.27474020e-02 -1.03549808e-03 8.72244764e+01] [ 1.27473443e-02 9.99918747e-01 -6.22419555e-05 4.47374145e+00] [ 1.03620737e-03 4.90370142e-05 9.99999462e-01 -1.08938486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.711400513 meters Centerline goodness [0,1] 0.9999138525155066 Centerline is valid? [True, True] Translation: X:87.25, Y:4.46, Z:-0.11 [[ 9.99888805e-01 -1.48771495e-02 -1.02330117e-03 8.72546935e+01] [ 1.48770944e-02 9.99889328e-01 -6.14200408e-05 4.46283516e+00] [ 1.02410167e-03 4.61894631e-05 9.99999475e-01 -1.09072655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.74140051299997 meters Centerline goodness [0,1] 0.9998705361959219 Centerline is valid? [True, True] Translation: X:87.28, Y:4.46, Z:-0.11 [[ 9.99853459e-01 -1.70707430e-02 -1.28495647e-03 8.72838284e+01] [ 1.70706579e-02 9.99854283e-01 -7.71497151e-05 4.46451465e+00] [ 1.28608623e-03 5.52033571e-05 9.99999171e-01 -1.10479561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.77140051299997 meters Centerline goodness [0,1] 0.9997638927643865 Centerline is valid? [True, True] Translation: X:87.31, Y:4.45, Z:-0.11 [[ 9.99791840e-01 -2.03019971e-02 -2.02640885e-03 8.73146014e+01] [ 2.03017921e-02 9.99793890e-01 -1.21665842e-04 4.45137425e+00] [ 2.02846125e-03 8.05007850e-05 9.99997939e-01 -1.12576617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.80140051299998 meters Centerline goodness [0,1] 0.9998292240367168 Centerline is valid? [True, True] Translation: X:87.34, Y:4.45, Z:-0.11 [[ 9.99776939e-01 -2.10613219e-02 -1.57876220e-03 8.73425312e+01] [ 2.10611983e-02 9.99778184e-01 -9.49228061e-05 4.44766323e+00] [ 1.58041120e-03 6.16510089e-05 9.99998749e-01 -1.11773407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.83140051299998 meters Centerline goodness [0,1] 0.9999572494282111 Centerline is valid? [True, True] Translation: X:87.37, Y:4.44, Z:-0.11 [[ 9.99769628e-01 -2.14504181e-02 -7.54800437e-04 8.73723604e+01] [ 2.14503898e-02 9.99769913e-01 -4.56256591e-05 4.43955571e+00] [ 7.55605457e-04 2.94243847e-05 9.99999714e-01 -1.09168016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.86140051299998 meters Centerline goodness [0,1] 0.9999136572625035 Centerline is valid? [True, True] Translation: X:87.40, Y:4.44, Z:-0.11 [[ 9.99774457e-01 -2.12019679e-02 -1.22921068e-03 8.74013775e+01] [ 2.12018924e-02 9.99775212e-01 -7.44145302e-05 4.43626953e+00] [ 1.23051210e-03 4.83361540e-05 9.99999242e-01 -1.09444744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.89140051299998 meters Centerline goodness [0,1] 0.9998711755233495 Centerline is valid? [True, True] Translation: X:87.43, Y:4.44, Z:-0.11 [[ 9.99777317e-01 -2.09935019e-02 -2.14245036e-03 8.74290151e+01] [ 2.09932722e-02 9.99779609e-01 -1.29613666e-04 4.43982706e+00] [ 2.14469923e-03 8.46077600e-05 9.99997697e-01 -1.11029123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.92140051299998 meters Centerline goodness [0,1] 0.999957123869142 Centerline is valid? [True, True] Translation: X:87.46, Y:4.43, Z:-0.11 [[ 9.99768843e-01 -2.13214454e-02 -2.76689243e-03 8.74578222e+01] [ 2.13210619e-02 9.99772666e-01 -1.68012532e-04 4.43457430e+00] [ 2.76984569e-03 1.08980610e-04 9.99996158e-01 -1.11365880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.95140051299998 meters Centerline goodness [0,1] 0.999957123869142 Centerline is valid? [True, True] Translation: X:87.49, Y:4.44, Z:-0.11 [[ 9.99764867e-01 -2.15070732e-02 -2.76686124e-03 8.74853220e+01] [ 2.15066890e-02 9.99768690e-01 -1.68525702e-04 4.43638212e+00] [ 2.76984573e-03 1.08980052e-04 9.99996158e-01 -1.11391536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.98140051299998 meters Centerline goodness [0,1] 0.9999356416527223 Centerline is valid? [True, True] Translation: X:87.51, Y:4.43, Z:-0.11 [[ 9.99744520e-01 -2.24638857e-02 -2.50390414e-03 8.75142790e+01] [ 2.24635731e-02 9.99747650e-01 -1.52914059e-04 4.43293136e+00] [ 2.50670732e-03 9.66283590e-05 9.99996854e-01 -1.10586368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.01140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.54, Y:4.42, Z:-0.11 [[ 9.99688996e-01 -2.49299848e-02 -6.38494519e-04 8.75446202e+01] [ 2.49299650e-02 9.99689199e-01 -3.89912129e-05 4.42497436e+00] [ 6.39268125e-04 2.30614405e-05 9.99999795e-01 -1.07967394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.04140051299999 meters Centerline goodness [0,1] 0.9999573005401482 Centerline is valid? [True, True] Translation: X:87.57, Y:4.43, Z:-0.11 [[ 9.99645174e-01 -2.66327673e-02 -4.70957378e-04 8.75728890e+01] [ 2.66327567e-02 9.99645285e-01 -2.88098354e-05 4.42771892e+00] [ 4.71557608e-04 1.62567197e-05 9.99999889e-01 -1.08251071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.071400513 meters Centerline goodness [0,1] 0.9999787138934417 Centerline is valid? [True, True] Translation: X:87.60, Y:4.43, Z:-0.11 [[ 9.99585822e-01 -2.87619797e-02 -9.65746829e-04 8.76011039e+01] [ 2.87619360e-02 9.99586288e-01 -5.90948786e-05 4.42683366e+00] [ 9.67046973e-04 3.12936543e-05 9.99999532e-01 -1.09490893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.101400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.63, Y:4.42, Z:-0.11 [[ 9.99520215e-01 -3.09337473e-02 -1.56290631e-03 8.76307767e+01] [ 3.09336351e-02 9.99521436e-01 -9.59326948e-05 4.42101000e+00] [ 1.56512592e-03 4.75402943e-05 9.99998774e-01 -1.10119680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.131400513 meters Centerline goodness [0,1] 0.9997818403944325 Centerline is valid? [True, True] Translation: X:87.66, Y:4.42, Z:-0.11 [[ 9.99433914e-01 -3.36026705e-02 -1.64689953e-03 8.76598089e+01] [ 3.36025496e-02 9.99435270e-01 -1.01062383e-04 4.41655841e+00] [ 1.64936544e-03 4.56651499e-05 9.99998639e-01 -1.09550885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.161400513 meters Centerline goodness [0,1] 0.9998499624906226 Centerline is valid? [True, True] Translation: X:87.69, Y:4.42, Z:-0.11 [[ 9.99329565e-01 -3.65518619e-02 -2.09329211e-03 8.76874052e+01] [ 3.65516727e-02 9.99331756e-01 -1.28579685e-04 4.41696732e+00] [ 2.09659310e-03 5.19801525e-05 9.99997801e-01 -1.09205232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.191400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.72, Y:4.42, Z:-0.11 [[ 9.99329109e-01 -3.64620474e-02 -3.44248307e-03 8.77165784e+01] [ 3.64615330e-02 9.99335035e-01 -2.12083495e-04 4.41830175e+00] [ 3.44792694e-03 8.64229995e-05 9.99994052e-01 -1.10187702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.221400513 meters Centerline goodness [0,1] 0.9999785885577253 Centerline is valid? [True, True] Translation: X:87.74, Y:4.42, Z:-0.11 [[ 9.99342281e-01 -3.59375714e-02 -4.84734773e-03 8.77445691e+01] [ 3.59365448e-02 9.99354029e-01 -2.98755552e-04 4.42364958e+00] [ 4.85495303e-03 1.24362126e-04 9.99988207e-01 -1.12836508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.251400513 meters Centerline goodness [0,1] 0.9998045390378977 Centerline is valid? [True, True] Translation: X:87.77, Y:4.42, Z:-0.11 [[ 9.99398379e-01 -3.43898881e-02 -4.49619204e-03 8.77692110e+01] [ 3.44196578e-02 9.99384872e-01 6.72042102e-03 4.42312029e+00] [ 4.26231178e-03 -6.87113527e-03 9.99967310e-01 -1.12569203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.281400513 meters Centerline goodness [0,1] 0.9999360313872659 Centerline is valid? [True, True] Translation: X:87.80, Y:4.44, Z:-0.11 [[ 9.99370013e-01 -3.53004360e-02 -3.66827212e-03 8.78004621e+01] [ 3.52745957e-02 9.99353940e-01 -6.88515328e-03 4.44056400e+00] [ 3.90895111e-03 6.75141891e-03 9.99969569e-01 -1.13156645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.311400513 meters Centerline goodness [0,1] 0.9998933265062298 Centerline is valid? [True, True] Translation: X:87.83, Y:4.44, Z:-0.11 [[ 9.99347260e-01 -3.59519727e-02 -3.53676429e-03 8.78291446e+01] [ 3.59514226e-02 9.99353515e-01 -2.19011216e-04 4.43880884e+00] [ 3.54235171e-03 9.17165513e-05 9.99993722e-01 -1.09730253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.341400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.86, Y:4.44, Z:-0.11 [[ 9.99298424e-01 -3.73027633e-02 -3.34111645e-03 8.78566815e+01] [ 3.73022792e-02 9.99304006e-01 -2.07106309e-04 4.44342978e+00] [ 3.34651669e-03 8.23297500e-05 9.99994397e-01 -1.09532109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.371400513 meters Centerline goodness [0,1] 0.999956279374795 Centerline is valid? [True, True] Translation: X:87.89, Y:4.44, Z:-0.11 [[ 9.99209465e-01 -3.96299024e-02 -3.14897507e-03 8.78857296e+01] [ 3.96294836e-02 9.99214424e-01 -1.95312329e-04 4.44267470e+00] [ 3.15424152e-03 7.03656721e-05 9.99995023e-01 -1.08884925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.401400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.91, Y:4.45, Z:-0.11 [[ 9.99125795e-01 -4.17234576e-02 -2.60730890e-03 8.79134487e+01] [ 4.17231772e-02 9.99129196e-01 -1.61892502e-04 4.44807960e+00] [ 2.61179316e-03 5.29657630e-05 9.99996588e-01 -1.09148397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.431400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.94, Y:4.45, Z:-0.11 [[ 9.99016674e-01 -4.42728227e-02 -2.36693646e-03 8.79421668e+01] [ 4.42725975e-02 9.99019477e-01 -1.47480629e-04 4.44737985e+00] [ 2.37114501e-03 4.25451818e-05 9.99997188e-01 -1.08668884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.461400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.97, Y:4.45, Z:-0.11 [[ 9.98819095e-01 -4.85559541e-02 -1.65346739e-03 8.79701273e+01] [ 4.85558500e-02 9.98820464e-01 -1.03062402e-04 4.45056711e+00] [ 1.65652135e-03 2.26551805e-05 9.99998628e-01 -1.07584356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.49140051299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.00, Y:4.45, Z:-0.11 [[ 9.98745586e-01 -5.00402184e-02 -1.79776035e-03 8.79993069e+01] [ 5.00400971e-02 9.98747203e-01 -1.12464194e-04 4.45206204e+00] [ 1.80113585e-03 2.23630149e-05 9.99998378e-01 -1.07269886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.52140051299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.03, Y:4.46, Z:-0.11 [[ 9.98703609e-01 -5.08621148e-02 -2.03617031e-03 8.80273022e+01] [ 5.08619608e-02 9.98705685e-01 -1.27362130e-04 4.45677042e+00] [ 2.04001278e-03 2.36334039e-05 9.99997919e-01 -1.07949281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.55140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.06, Y:4.46, Z:-0.11 [[ 9.98722146e-01 -5.04700698e-02 -2.61661325e-03 8.80563317e+01] [ 5.04698127e-02 9.98725573e-01 -1.64213637e-04 4.46147649e+00] [ 2.62156645e-03 3.19438150e-05 9.99996563e-01 -1.07833751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.58140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.08, Y:4.47, Z:-0.11 [[ 9.98767237e-01 -4.95526044e-02 -2.92325718e-03 8.80843678e+01] [ 4.95522796e-02 9.98771514e-01 -1.83496534e-04 4.46666029e+00] [ 2.92875873e-03 3.84162694e-05 9.99995710e-01 -1.08089101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.61140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.11, Y:4.47, Z:-0.11 [[ 9.98812880e-01 -4.85611033e-02 -3.82755037e-03 8.81116127e+01] [ 4.85605383e-02 9.98820212e-01 -2.40469089e-04 4.47190749e+00] [ 3.83471212e-03 5.43157175e-05 9.99992646e-01 -1.08883340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.64140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.14, Y:4.48, Z:-0.11 [[ 9.98848682e-01 -4.77740020e-02 -4.35365541e-03 8.81398066e+01] [ 4.77732599e-02 9.98858168e-01 -2.74356884e-04 4.47644039e+00] [ 4.36179140e-03 6.60527003e-05 9.99990485e-01 -1.10187799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.67140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.17, Y:4.48, Z:-0.11 [[ 9.98895555e-01 -4.67793950e-02 -4.39983077e-03 8.81676457e+01] [ 4.67786268e-02 9.98905242e-01 -2.77412664e-04 4.48185544e+00] [ 4.40799121e-03 7.12882352e-05 9.99990282e-01 -1.11252347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.70140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.19, Y:4.49, Z:-0.11 [[ 9.98942946e-01 -4.58178484e-02 -3.70341734e-03 8.81947707e+01] [ 4.58172965e-02 9.98949809e-01 -2.33779839e-04 4.48589691e+00] [ 3.71023933e-03 6.38521512e-05 9.99993115e-01 -1.10649821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.73140051299998 meters Centerline goodness [0,1] 0.9999784584895093 Centerline is valid? [True, True] Translation: X:88.22, Y:4.49, Z:-0.11 [[ 9.99072224e-01 -4.29971222e-02 -2.43689447e-03 8.82236454e+01] [ 4.29968736e-02 9.99075195e-01 -1.54348854e-04 4.49063896e+00] [ 2.44127738e-03 4.94268089e-05 9.99997019e-01 -1.07868707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.76140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.25, Y:4.49, Z:-0.11 [[ 9.99134111e-01 -4.15059262e-02 -2.87850445e-03 8.82527604e+01] [ 4.15055718e-02 9.99138256e-01 -1.82780230e-04 4.49146319e+00] [ 2.88361038e-03 6.31479892e-05 9.99995840e-01 -1.07445847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.79140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.28, Y:4.49, Z:-0.11 [[ 9.99193916e-01 -4.00428187e-02 -2.84451673e-03 8.82816906e+01] [ 4.00424653e-02 9.99197962e-01 -1.81097253e-04 4.49468658e+00] [ 2.84948696e-03 6.70498109e-05 9.99995938e-01 -1.07098564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.821400513 meters Centerline goodness [0,1] 0.9999572329733776 Centerline is valid? [True, True] Translation: X:88.31, Y:4.50, Z:-0.11 [[ 9.99316588e-01 -3.69436993e-02 -1.23260731e-03 8.83093217e+01] [ 3.69436305e-02 9.99317348e-01 -7.85234858e-05 4.50355765e+00] [ 1.23466681e-03 3.29328331e-05 9.99999237e-01 -1.05263097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.851400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.34, Y:4.51, Z:-0.11 [[ 9.99395633e-01 -3.47487535e-02 -9.45274024e-04 8.83386084e+01] [ 3.47487121e-02 9.99396079e-01 -6.02202088e-05 4.50692735e+00] [ 9.46795730e-04 2.73367588e-05 9.99999551e-01 -1.05388232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.881400513 meters Centerline goodness [0,1] 0.9999575326467778 Centerline is valid? [True, True] Translation: X:88.37, Y:4.51, Z:-0.11 [[ 9.99491211e-01 -3.18615191e-02 -1.47077040e-03 8.83664574e+01] [ 3.18614156e-02 9.99492292e-01 -9.37753833e-05 4.51274669e+00] [ 1.47301151e-03 4.68668444e-05 9.99998914e-01 -1.06004269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.911400513 meters Centerline goodness [0,1] 0.9999142789790626 Centerline is valid? [True, True] Translation: X:88.40, Y:4.52, Z:-0.11 [[ 9.99581296e-01 -2.88369639e-02 -2.37956248e-03 8.83960577e+01] [ 2.88366844e-02 9.99584125e-01 -1.51679800e-04 4.51839653e+00] [ 2.38294687e-03 8.29975989e-05 9.99997157e-01 -1.07798499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.941400513 meters Centerline goodness [0,1] 0.9999358549466527 Centerline is valid? [True, True] Translation: X:88.43, Y:4.52, Z:-0.11 [[ 9.99657871e-01 -2.59903491e-02 -2.93995140e-03 8.84256783e+01] [ 2.59899101e-02 9.99662188e-01 -1.87431479e-04 4.52216287e+00] [ 2.94382966e-03 1.10958280e-04 9.99995661e-01 -1.08804175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.971400513 meters Centerline goodness [0,1] 0.9998091926729986 Centerline is valid? [True, True] Translation: X:88.45, Y:4.53, Z:-0.11 [[ 9.99746747e-01 -2.22230762e-02 -3.54638252e-03 8.84547578e+01] [ 2.22224136e-02 9.99753026e-01 -2.26130427e-04 4.53122611e+00] [ 3.55053197e-03 1.47263979e-04 9.99993686e-01 -1.10099148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.001400513 meters Centerline goodness [0,1] 0.9998298017190026 Centerline is valid? [True, True] Translation: X:88.48, Y:4.53, Z:-0.11 [[ 9.99763032e-01 -2.14140141e-02 -3.91398136e-03 8.84834140e+01] [ 2.14131977e-02 9.99770680e-01 -2.50359321e-04 4.53092526e+00] [ 3.91844500e-03 1.66489137e-04 9.99992309e-01 -1.09915995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.031400513 meters Centerline goodness [0,1] 0.9995946753135934 Centerline is valid? [True, True] Translation: X:88.51, Y:4.54, Z:-0.11 [[ 9.99773727e-01 -2.09837037e-02 -3.48997673e-03 8.85110727e+01] [ 2.09830517e-02 9.99779807e-01 -2.23345276e-04 4.53895654e+00] [ 3.49389487e-03 1.50064376e-04 9.99993885e-01 -1.10125460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.061400513 meters Centerline goodness [0,1] 0.9997669195236683 Centerline is valid? [True, True] Translation: X:88.54, Y:4.53, Z:-0.11 [[ 9.99768889e-01 -2.13444567e-02 -2.56577352e-03 8.85401565e+01] [ 2.13441041e-02 9.99772175e-01 -1.64730840e-04 4.53371901e+00] [ 2.56870506e-03 1.09928632e-04 9.99996695e-01 -1.08690102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.091400513 meters Centerline goodness [0,1] 0.9999143065255581 Centerline is valid? [True, True] Translation: X:88.57, Y:4.54, Z:-0.11 [[ 9.99759210e-01 -2.18800388e-02 -1.66907507e-03 8.85677764e+01] [ 2.18798903e-02 9.99760601e-01 -1.07204123e-04 4.53540101e+00] [ 1.67102113e-03 7.06591303e-05 9.99998601e-01 -1.07750410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.121400513 meters Centerline goodness [0,1] 0.9998725519350865 Centerline is valid? [True, True] Translation: X:88.60, Y:4.54, Z:-0.11 [[ 9.99767000e-01 -2.15427483e-02 -1.36232121e-03 8.85958959e+01] [ 2.15426488e-02 9.99767926e-01 -8.76602782e-05 4.53954007e+00] [ 1.36389350e-03 5.82918459e-05 9.99999068e-01 -1.07383079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.151400513 meters Centerline goodness [0,1] 0.9998498530705047 Centerline is valid? [True, True] Translation: X:88.62, Y:4.54, Z:-0.11 [[ 9.99795888e-01 -2.00376584e-02 -2.58367102e-03 8.86247841e+01] [ 2.00372957e-02 9.99799219e-01 -1.66202528e-04 4.54320154e+00] [ 2.58648258e-03 1.14398824e-04 9.99996649e-01 -1.08657222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.181400513 meters Centerline goodness [0,1] 0.9998930435526654 Centerline is valid? [True, True] Translation: X:88.65, Y:4.55, Z:-0.11 [[ 9.99830808e-01 -1.80260574e-02 -3.66280226e-03 8.86539841e+01] [ 1.80253145e-02 9.99837503e-01 -2.35735518e-04 4.54605540e+00] [ 3.66645644e-03 1.69672470e-04 9.99993264e-01 -1.09566221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.211400513 meters Centerline goodness [0,1] 0.9996557659208262 Centerline is valid? [True, True] Translation: X:88.68, Y:4.56, Z:-0.11 [[ 9.99864879e-01 -1.59381703e-02 -4.02473238e-03 8.86813721e+01] [ 1.59372557e-02 9.99872960e-01 -2.59225566e-04 4.55805859e+00] [ 4.02835266e-03 1.95047350e-04 9.99991867e-01 -1.10478569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.24140051299997 meters Centerline goodness [0,1] 0.9993409583740805 Centerline is valid? [True, True] Translation: X:88.71, Y:4.57, Z:-0.11 [[ 9.99898085e-01 -1.39517622e-02 -3.02778941e-03 8.87089575e+01] [ 1.39512350e-02 9.99902658e-01 -1.95161824e-04 4.57088762e+00] [ 3.03021753e-03 1.52900533e-04 9.99995397e-01 -1.10158787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.27140051299997 meters Centerline goodness [0,1] 0.9996788627459376 Centerline is valid? [True, True] Translation: X:88.74, Y:4.57, Z:-0.11 [[ 9.99917355e-01 -1.26944224e-02 -2.03325738e-03 8.87385682e+01] [ 1.26941820e-02 9.99919417e-01 -1.31096142e-04 4.57066903e+00] [ 2.03475772e-03 1.05274768e-04 9.99997924e-01 -1.07970233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.30140051299998 meters Centerline goodness [0,1] 0.999615622797839 Centerline is valid? [True, True] Translation: X:88.77, Y:4.58, Z:-0.11 [[ 9.99911916e-01 -1.31448728e-02 -1.83648221e-03 8.87659641e+01] [ 1.31446772e-02 9.99913598e-01 -1.18551822e-04 4.57708644e+00] [ 1.83788188e-03 9.44014137e-05 9.99998307e-01 -1.06840576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.33140051299998 meters Centerline goodness [0,1] 0.999656748117478 Centerline is valid? [True, True] Translation: X:88.80, Y:4.58, Z:-0.11 [[ 9.99899019e-01 -1.40457075e-02 -2.16110378e-03 8.87952355e+01] [ 1.40454383e-02 9.99901348e-01 -1.39705252e-04 4.57905061e+00] [ 2.16285284e-03 1.09337494e-04 9.99997655e-01 -1.06109887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.36140051299998 meters Centerline goodness [0,1] 0.9995699294684328 Centerline is valid? [True, True] Translation: X:88.82, Y:4.58, Z:-0.11 [[ 9.99884368e-01 -1.51099355e-02 -1.71469844e-03 8.88232795e+01] [ 1.51097675e-02 9.99885835e-01 -1.10903366e-04 4.58352499e+00] [ 1.71617842e-03 8.49818470e-05 9.99998524e-01 -1.05218722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.39140051299998 meters Centerline goodness [0,1] 0.999765708200213 Centerline is valid? [True, True] Translation: X:88.85, Y:4.59, Z:-0.10 [[ 9.99856827e-01 -1.69151102e-02 4.52405640e-04 8.88518297e+01] [ 1.69150987e-02 9.99856929e-01 2.92341455e-05 4.59474955e+00] [-4.52835413e-04 -2.15774739e-05 9.99999897e-01 -1.03470828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.42140051299998 meters Centerline goodness [0,1] 0.9998720191118127 Centerline is valid? [True, True] Translation: X:88.88, Y:4.59, Z:-0.10 [[ 9.99848908e-01 -1.73596301e-02 8.97396041e-04 8.88809178e+01] [ 1.73595850e-02 9.99849309e-01 5.80099603e-05 4.59491002e+00] [-8.98267843e-04 -4.24227726e-05 9.99999596e-01 -1.03025368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.45140051299998 meters Centerline goodness [0,1] 0.9997227317322869 Centerline is valid? [True, True] Translation: X:88.91, Y:4.60, Z:-0.10 [[ 9.99851652e-01 -1.72158803e-02 5.35917713e-04 8.89077724e+01] [ 1.72158642e-02 9.99851795e-01 3.47098240e-05 4.60332693e+00] [-5.36435848e-04 -2.54783883e-05 9.99999856e-01 -1.03423360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.48140051299998 meters Centerline goodness [0,1] 0.9998513295386968 Centerline is valid? [True, True] Translation: X:88.94, Y:4.59, Z:-0.10 [[ 9.99857917e-01 -1.68482838e-02 -5.29381775e-04 8.89373409e+01] [ 1.68518759e-02 9.99828086e-01 7.73390219e-03 4.59498083e+00] [ 3.98987788e-04 -7.74172442e-03 9.99969953e-01 -1.03495484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.51140051299998 meters Centerline goodness [0,1] 0.999616122840691 Centerline is valid? [True, True] Translation: X:88.96, Y:4.62, Z:-0.11 [[ 9.99846685e-01 -1.74294472e-02 -1.67943945e-03 8.89637352e+01] [ 1.74157450e-02 9.99817483e-01 -7.85442897e-03 4.62210158e+00] [ 1.81603128e-03 7.82397608e-03 9.99967743e-01 -1.08525238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.54140051299999 meters Centerline goodness [0,1] 0.999849381387843 Centerline is valid? [True, True] Translation: X:88.99, Y:4.61, Z:-0.11 [[ 9.99830074e-01 -1.81550306e-02 -3.19653725e-03 8.89933509e+01] [ 1.81544553e-02 9.99835172e-01 -2.08909080e-04 4.61125833e+00] [ 3.19980312e-03 1.50842188e-04 9.99994869e-01 -1.07472090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.571400513 meters Centerline goodness [0,1] 0.9999140708915145 Centerline is valid? [True, True] Translation: X:89.02, Y:4.61, Z:-0.11 [[ 9.99802290e-01 -1.96406097e-02 -3.10279518e-03 8.90208916e+01] [ 1.96400746e-02 9.99807095e-01 -2.02857353e-04 4.61457276e+00] [ 3.10618088e-03 1.41878117e-04 9.99995166e-01 -1.07616650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.601400513 meters Centerline goodness [0,1] 0.9999360191089595 Centerline is valid? [True, True] Translation: X:89.05, Y:4.62, Z:-0.11 [[ 9.99780825e-01 -2.08198216e-02 -2.19926023e-03 8.90499075e+01] [ 2.08195546e-02 9.99783239e-01 -1.44254693e-04 4.61544409e+00] [ 2.20178687e-03 9.84354573e-05 9.99997571e-01 -1.06331296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.631400513 meters Centerline goodness [0,1] 0.9998295624014658 Centerline is valid? [True, True] Translation: X:89.08, Y:4.62, Z:-0.10 [[ 9.99769069e-01 -2.14712074e-02 -8.92463975e-04 8.90775947e+01] [ 2.14711637e-02 9.99769466e-01 -5.85838834e-05 4.62080992e+00] [ 8.93516099e-04 3.94081144e-05 9.99999600e-01 -1.04764874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.661400513 meters Centerline goodness [0,1] 0.9999353879950895 Centerline is valid? [True, True] Translation: X:89.11, Y:4.62, Z:-0.10 [[ 9.99766185e-01 -2.16200753e-02 -3.83228024e-04 8.91057405e+01] [ 2.16200671e-02 9.99766259e-01 -2.54012941e-05 4.61918190e+00] [ 3.83687625e-04 1.71099393e-05 9.99999926e-01 -1.04198099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.691400513 meters Centerline goodness [0,1] 0.9999354574987629 Centerline is valid? [True, True] Translation: X:89.14, Y:4.62, Z:-0.11 [[ 9.99808525e-01 -1.94520975e-02 -2.12810549e-03 8.91353216e+01] [ 1.94518435e-02 9.99810785e-01 -1.40025370e-04 4.62134207e+00] [ 2.13042661e-03 9.86029841e-05 9.99997726e-01 -1.07131843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.721400513 meters Centerline goodness [0,1] 0.9997455308861887 Centerline is valid? [True, True] Translation: X:89.16, Y:4.63, Z:-0.11 [[ 9.99831047e-01 -1.80260415e-02 -3.59719071e-03 8.91630694e+01] [ 1.80253057e-02 9.99837503e-01 -2.36864438e-04 4.62714068e+00] [ 3.60087591e-03 1.71983956e-04 9.99993502e-01 -1.09641621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.751400513 meters Centerline goodness [0,1] 0.9994715704924964 Centerline is valid? [True, True] Translation: X:89.19, Y:4.63, Z:-0.11 [[ 9.99855813e-01 -1.64231820e-02 -4.31655066e-03 8.91915579e+01] [ 1.64221071e-02 9.99865108e-01 -2.84355030e-04 4.63425190e+00] [ 4.32063841e-03 2.13427172e-04 9.99990643e-01 -1.11750675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.781400513 meters Centerline goodness [0,1] 0.9996793981234103 Centerline is valid? [True, True] Translation: X:89.22, Y:4.63, Z:-0.11 [[ 9.99876037e-01 -1.52077289e-02 -4.07867298e-03 8.92215578e+01] [ 1.52067588e-02 9.99884334e-01 -2.68771141e-04 4.62940774e+00] [ 4.08228861e-03 2.06714427e-04 9.99991646e-01 -1.10891295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.811400513 meters Centerline goodness [0,1] 0.9991453539303036 Centerline is valid? [True, True] Translation: X:89.25, Y:4.64, Z:-0.11 [[ 9.99908466e-01 -1.34385860e-02 -1.56974704e-03 8.92489606e+01] [ 1.34384399e-02 9.99909695e-01 -1.03574531e-04 4.64476166e+00] [ 1.57099718e-03 8.24700992e-05 9.99998763e-01 -1.07951588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.841400513 meters Centerline goodness [0,1] 0.9991453539303036 Centerline is valid? [True, True] Translation: X:89.28, Y:4.65, Z:-0.11 [[ 9.99906162e-01 -1.36089560e-02 -1.56972126e-03 8.92764453e+01] [ 1.36088095e-02 9.99907390e-01 -1.03964916e-04 4.64673803e+00] [ 1.57099074e-03 8.25931230e-05 9.99998763e-01 -1.07980782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.871400513 meters Centerline goodness [0,1] 0.9995546601632913 Centerline is valid? [True, True] Translation: X:89.31, Y:4.64, Z:-0.11 [[ 9.99903660e-01 -1.38344653e-02 -1.13018122e-03 8.93052799e+01] [ 1.38343893e-02 9.99904297e-01 -7.51169083e-05 4.63801906e+00] [ 1.13111226e-03 5.94743046e-05 9.99999359e-01 -1.06668934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.901400513 meters Centerline goodness [0,1] 0.99968046354089 Centerline is valid? [True, True] Translation: X:89.33, Y:4.63, Z:-0.11 [[ 9.99894801e-01 -1.44690729e-02 -1.01590927e-03 8.93344653e+01] [ 1.44690116e-02 9.99895316e-01 -6.76821821e-05 4.63407574e+00] [ 1.01678222e-03 5.29758590e-05 9.99999482e-01 -1.05913380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.931400513 meters Centerline goodness [0,1] 0.999701740556893 Centerline is valid? [True, True] Translation: X:89.36, Y:4.63, Z:-0.11 [[ 9.99880904e-01 -1.54239575e-02 -5.29395992e-04 8.93621929e+01] [ 1.54239410e-02 9.99881043e-01 -3.53097051e-05 4.63399254e+00] [ 5.29877632e-04 2.71401273e-05 9.99999859e-01 -1.05306530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.961400513 meters Centerline goodness [0,1] 0.9997874375597832 Centerline is valid? [True, True] Translation: X:89.39, Y:4.63, Z:-0.10 [[ 9.99864305e-01 -1.63454900e-02 2.04839735e-03 8.93913755e+01] [ 1.63452446e-02 9.99866398e-01 1.36453040e-04 4.62682272e+00] [-2.05035407e-03 -1.02952969e-04 9.99997893e-01 -1.02002690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.99140051299997 meters Centerline goodness [0,1] 0.9995302357362488 Centerline is valid? [True, True] Translation: X:89.42, Y:4.64, Z:-0.10 [[ 9.99869267e-01 -1.60670035e-02 1.81659290e-03 8.94191474e+01] [ 1.60668098e-02 9.99870913e-01 1.21194895e-04 4.63528018e+00] [-1.81830564e-03 -9.19921985e-05 9.99998343e-01 -1.02427347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.02140051299997 meters Centerline goodness [0,1] 0.999871857847639 Centerline is valid? [True, True] Translation: X:89.45, Y:4.62, Z:-0.10 [[ 9.99885411e-01 -1.51273912e-02 5.71567379e-04 8.94483149e+01] [ 1.51273719e-02 9.99885574e-01 3.81182559e-05 4.62393272e+00] [-5.72078607e-04 -2.94675757e-05 9.99999836e-01 -1.04779559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.05140051299998 meters Centerline goodness [0,1] 0.9994691693562086 Centerline is valid? [True, True] Translation: X:89.48, Y:4.63, Z:-0.11 [[ 9.99909888e-01 -1.33849017e-02 -1.03002440e-03 8.94758446e+01] [ 1.33848378e-02 9.99910417e-01 -6.89220356e-05 4.63304388e+00] [ 1.03085464e-03 5.51291154e-05 9.99999467e-01 -1.07764016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.08140051299998 meters Centerline goodness [0,1] 0.9998286130511161 Centerline is valid? [True, True] Translation: X:89.51, Y:4.63, Z:-0.11 [[ 9.99940027e-01 -1.07511008e-02 -2.08703653e-03 8.95059852e+01] [ 1.07508329e-02 9.99942198e-01 -1.39565869e-04 4.62909528e+00] [ 2.08841638e-03 1.17120118e-04 9.99997812e-01 -1.09439047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.11140051299998 meters Centerline goodness [0,1] 0.8826092528514674 Centerline is valid? [True, False] Translation: X:89.51, Y:4.63, Z:-0.11 [[ 9.99979251e-01 -5.96752687e-03 -2.42622817e-03 8.95069712e+01] [ 5.97952046e-03 9.99969789e-01 4.96647607e-03 4.62553622e+00] [ 2.39651729e-03 -4.98088070e-03 9.99984724e-01 -1.09341970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.14140051299998 meters Centerline goodness [0,1] 0.8151355022176949 Centerline is valid? [False, False] Translation: X:89.53, Y:4.63, Z:-0.11 [[ 9.99993186e-01 7.72098485e-05 -3.69073850e-03 8.95271681e+01] [-8.25612505e-05 9.99998946e-01 -1.44982388e-03 4.63004598e+00] [ 3.69062267e-03 1.45011872e-03 9.99992138e-01 -1.06212195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.17140051299998 meters Centerline goodness [0,1] 0.8538451782014966 Centerline is valid? [False, False] Translation: X:89.53, Y:4.63, Z:-0.11 [[ 9.99993603e-01 1.56419411e-04 -3.57345958e-03 8.95271186e+01] [-1.64031557e-04 9.99997718e-01 -2.12999581e-03 4.63366938e+00] [ 3.57311825e-03 2.13056834e-03 9.99991347e-01 -1.07068199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.20140051299998 meters Centerline goodness [0,1] 0.7216979135807694 Centerline is valid? [False, False] Translation: X:89.52, Y:4.64, Z:-0.11 [[ 9.99995278e-01 1.32402198e-03 -2.77312628e-03 8.95235566e+01] [-1.33110578e-03 9.99995852e-01 -2.55415992e-03 4.63965275e+00] [ 2.76973302e-03 2.55783918e-03 9.99992893e-01 -1.06424353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.23140051299998 meters Centerline goodness [0,1] 0.7582991737994605 Centerline is valid? [False, False] Translation: X:89.52, Y:4.64, Z:-0.11 [[ 9.99996117e-01 1.16403805e-03 -2.53216775e-03 8.95225379e+01] [-1.17177586e-03 9.99994642e-01 -3.05647185e-03 4.64218158e+00] [ 2.52859634e-03 3.05942712e-03 9.99992123e-01 -1.06025270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.26140051299998 meters Centerline goodness [0,1] 0.9581350892098556 Centerline is valid? [False, True] Translation: X:89.52, Y:4.64, Z:-0.11 [[ 9.99996433e-01 1.06293149e-03 -2.45033684e-03 8.95221576e+01] [-1.07108724e-03 9.99993884e-01 -3.32951537e-03 4.64352755e+00] [ 2.44678280e-03 3.33212802e-03 9.99991455e-01 -1.05833995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.29140051299999 meters Centerline goodness [0,1] 0.766487428534994 Centerline is valid? [True, False] Translation: X:89.52, Y:4.64, Z:-0.11 [[ 9.99996467e-01 1.00436988e-03 -2.46126516e-03 8.95222441e+01] [-1.01285243e-03 9.99993544e-01 -3.44759792e-03 4.64406563e+00] [ 2.45778660e-03 3.45007863e-03 9.99991028e-01 -1.05954425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.321400513 meters Centerline goodness [0,1] 0.93575765349752 Centerline is valid? [False, False] Translation: X:89.52, Y:4.65, Z:-0.11 [[ 9.99996195e-01 6.67649668e-04 -2.67644838e-03 8.95231726e+01] [-6.78020678e-04 9.99992259e-01 -3.87588241e-03 4.64580830e+00] [ 2.67383993e-03 3.87768235e-03 9.99988907e-01 -1.06438163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.351400513 meters Centerline goodness [0,1] 0.9553377370551885 Centerline is valid? [False, True] Translation: X:89.52, Y:4.65, Z:-0.11 [[ 9.99996187e-01 6.17835149e-04 -2.69146793e-03 8.95229150e+01] [-6.28120083e-04 9.99992498e-01 -3.82214250e-03 4.64554509e+00] [ 2.68908628e-03 3.82381849e-03 9.99989074e-01 -1.05883275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.381400513 meters Centerline goodness [0,1] 0.9900475054276563 Centerline is valid? [True, True] Translation: X:89.55, Y:4.64, Z:-0.10 [[ 9.99994488e-01 -2.58086686e-03 -2.08868706e-03 8.95529291e+01] [ 2.58054611e-03 9.99996658e-01 -1.56245313e-04 4.64054207e+00] [ 2.08908333e-03 1.50854498e-04 9.99997806e-01 -1.03735123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.411400513 meters Centerline goodness [0,1] 0.9941899915182358 Centerline is valid? [True, True] Translation: X:89.58, Y:4.64, Z:-0.10 [[ 9.99983592e-01 -5.56087217e-03 -1.37539694e-03 8.95823148e+01] [ 5.56073587e-03 9.99984534e-01 -1.02906420e-04 4.64214094e+00] [ 1.37594792e-03 9.52565122e-05 9.99999049e-01 -1.02747749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.441400513 meters Centerline goodness [0,1] 0.9539493293591654 Centerline is valid? [True, True] Translation: X:89.61, Y:4.65, Z:-0.10 [[ 9.99966075e-01 -8.19149721e-03 -8.65050929e-04 8.96105499e+01] [ 8.19144425e-03 9.99966447e-01 -6.47381026e-05 4.65341328e+00] [ 8.65552206e-04 5.76498899e-05 9.99999624e-01 -1.02088980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.471400513 meters Centerline goodness [0,1] 0.9969441832635269 Centerline is valid? [True, True] Translation: X:89.64, Y:4.65, Z:-0.10 [[ 9.99937514e-01 -1.10998294e-02 -1.32717720e-03 8.96415901e+01] [ 1.10997073e-02 9.99938391e-01 -9.93205958e-05 4.65111668e+00] [ 1.32819788e-03 8.45831112e-05 9.99999114e-01 -1.02200253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.501400513 meters Centerline goodness [0,1] 0.9993333333333333 Centerline is valid? [True, True] Translation: X:89.67, Y:4.65, Z:-0.10 [[ 9.99932871e-01 -1.14631787e-02 -1.68794229e-03 8.96711790e+01] [ 1.14629811e-02 9.99934290e-01 -1.26717274e-04 4.64551082e+00] [ 1.68928396e-03 1.07359917e-04 9.99998567e-01 -1.02559099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.531400513 meters Centerline goodness [0,1] 0.9986244259623728 Centerline is valid? [True, True] Translation: X:89.70, Y:4.65, Z:-0.10 [[ 9.99933339e-01 -1.13829176e-02 -1.93581890e-03 8.96987135e+01] [ 1.13826575e-02 9.99935205e-01 -1.45334654e-04 4.65356743e+00] [ 1.93734780e-03 1.23290202e-04 9.99998116e-01 -1.02568559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.561400513 meters Centerline goodness [0,1] 0.9991673605328892 Centerline is valid? [True, True] Translation: X:89.73, Y:4.66, Z:-0.10 [[ 9.99931445e-01 -1.15947406e-02 -1.63298888e-03 8.97267526e+01] [ 1.15945552e-02 9.99932773e-01 -1.23000336e-04 4.65658314e+00] [ 1.63430526e-03 1.04058124e-04 9.99998659e-01 -1.01636452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.591400513 meters Centerline goodness [0,1] 0.998756645515349 Centerline is valid? [True, True] Translation: X:89.75, Y:4.67, Z:-0.10 [[ 9.99923026e-01 -1.23979764e-02 -4.80917417e-04 8.97536705e+01] [ 1.23979604e-02 9.99923142e-01 -3.62532845e-05 4.66504974e+00] [ 4.81329922e-04 3.02880988e-05 9.99999884e-01 -1.00912412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.621400513 meters Centerline goodness [0,1] 0.9993000466635558 Centerline is valid? [True, True] Translation: X:89.78, Y:4.66, Z:-0.10 [[ 9.99912148e-01 -1.32490559e-02 -3.99312475e-04 8.97827273e+01] [ 1.32490449e-02 9.99912227e-01 -3.02540109e-05 4.66390887e+00] [ 3.99678264e-04 2.49608442e-05 9.99999920e-01 -1.01425374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.651400513 meters Centerline goodness [0,1] 0.9992521687107389 Centerline is valid? [True, True] Translation: X:89.81, Y:4.67, Z:-0.10 [[ 9.99894552e-01 -1.44901944e-02 -9.59102369e-04 8.98102482e+01] [ 1.44901316e-02 9.99895010e-01 -7.24613277e-05 4.66789098e+00] [ 9.60051652e-04 5.85561672e-05 9.99999537e-01 -1.02057394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.681400513 meters Centerline goodness [0,1] 0.9994862463876699 Centerline is valid? [True, True] Translation: X:89.84, Y:4.66, Z:-0.10 [[ 9.99872722e-01 -1.59043183e-02 -1.26177873e-03 8.98407294e+01] [ 1.59042106e-02 9.99873516e-01 -9.52938791e-05 4.66182546e+00] [ 1.26313472e-03 7.52141555e-05 9.99999199e-01 -1.02146448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.711400513 meters Centerline goodness [0,1] 0.9997639738225512 Centerline is valid? [True, True] Translation: X:89.87, Y:4.66, Z:-0.10 [[ 9.99852304e-01 -1.71567544e-02 -1.00781937e-03 8.98694102e+01] [ 1.71566863e-02 9.99852810e-01 -7.61916499e-05 4.66146468e+00] [ 1.00897823e-03 5.88895559e-05 9.99999489e-01 -1.02030394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.74140051299997 meters Centerline goodness [0,1] 0.9997629208155524 Centerline is valid? [True, True] Translation: X:89.90, Y:4.67, Z:-0.10 [[ 9.99838406e-01 -1.79750201e-02 -2.45891092e-04 8.98980540e+01] [ 1.79750160e-02 9.99838436e-01 -1.87520714e-05 4.66521453e+00] [ 2.46188434e-04 1.43291449e-05 9.99999970e-01 -1.01217472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.77140051299997 meters Centerline goodness [0,1] 0.9993125966660938 Centerline is valid? [True, True] Translation: X:89.93, Y:4.67, Z:-0.10 [[ 9.99831867e-01 -1.83190579e-02 8.05649759e-04 8.99256436e+01] [ 1.83190146e-02 9.99832191e-01 6.10105139e-05 4.67286878e+00] [-8.06632219e-04 -4.62415464e-05 9.99999674e-01 -9.99600513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.80140051299998 meters Centerline goodness [0,1] 0.9981140871334124 Centerline is valid? [True, True] Translation: X:89.95, Y:4.68, Z:-0.10 [[ 9.99843584e-01 -1.76851552e-02 -2.07467412e-04 8.99524305e+01] [ 1.76851523e-02 9.99843605e-01 -1.57795748e-05 4.68463709e+00] [ 2.07714029e-04 1.21080138e-05 9.99999978e-01 -1.00680960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.83140051299998 meters Centerline goodness [0,1] 0.9994062513253319 Centerline is valid? [True, True] Translation: X:89.98, Y:4.68, Z:-0.10 [[ 9.99851205e-01 -1.71953441e-02 -1.37398403e-03 8.99818164e+01] [ 1.71952166e-02 9.99852146e-01 -1.04548415e-04 4.67805994e+00] [ 1.37557862e-03 8.09069055e-05 9.99999051e-01 -1.02322118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.86140051299998 meters Centerline goodness [0,1] 0.9995277044288444 Centerline is valid? [True, True] Translation: X:90.01, Y:4.68, Z:-0.11 [[ 9.99873753e-01 -1.56009050e-02 -3.01485795e-03 9.00115252e+01] [ 1.56002845e-02 9.99878282e-01 -2.29217871e-04 4.67811728e+00] [ 3.01806700e-03 1.82156291e-04 9.99995429e-01 -1.05177032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.89140051299998 meters Centerline goodness [0,1] 0.9983341875961046 Centerline is valid? [True, True] Translation: X:90.04, Y:4.69, Z:-0.11 [[ 9.99884649e-01 -1.48666811e-02 -3.10967639e-03 9.00379232e+01] [ 1.48660163e-02 9.99889467e-01 -2.36805012e-04 4.69104696e+00] [ 3.11285317e-03 1.90549196e-04 9.99995137e-01 -1.06144757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.92140051299998 meters Centerline goodness [0,1] 0.9986996376039224 Centerline is valid? [True, True] Translation: X:90.07, Y:4.69, Z:-0.11 [[ 9.99898747e-01 -1.39762067e-02 -2.67605729e-03 9.00670000e+01] [ 1.39757110e-02 9.99902314e-01 -2.03831820e-04 4.69192960e+00] [ 2.67864468e-03 1.66411378e-04 9.99996399e-01 -1.05434598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.95140051299998 meters Centerline goodness [0,1] 0.9993999528534385 Centerline is valid? [True, True] Translation: X:90.10, Y:4.69, Z:-0.10 [[ 9.99908542e-01 -1.33623085e-02 -2.08723414e-03 9.00958846e+01] [ 1.33620047e-02 9.99910712e-01 -1.59427642e-04 4.68934467e+00] [ 2.08917809e-03 1.31523429e-04 9.99997809e-01 -1.03968629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.98140051299998 meters Centerline goodness [0,1] 0.998683898250232 Centerline is valid? [True, True] Translation: X:90.12, Y:4.70, Z:-0.10 [[ 9.99910116e-01 -1.32582525e-02 -1.99485046e-03 9.01238186e+01] [ 1.32579747e-02 9.99912098e-01 -1.52407897e-04 4.69527049e+00] [ 1.99669577e-03 1.25946521e-04 9.99997999e-01 -1.03341619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.01140051299998 meters Centerline goodness [0,1] 0.9988368837099102 Centerline is valid? [True, True] Translation: X:90.15, Y:4.70, Z:-0.10 [[ 9.99898576e-01 -1.40850963e-02 -2.10894959e-03 9.01519214e+01] [ 1.40847868e-02 9.99900791e-01 -1.61537926e-04 4.69869980e+00] [ 2.11101564e-03 1.31817437e-04 9.99997763e-01 -1.04275182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.04140051299999 meters Centerline goodness [0,1] 0.9994810137531356 Centerline is valid? [True, True] Translation: X:90.18, Y:4.69, Z:-0.11 [[ 9.99884083e-01 -1.49784311e-02 -2.73258603e-03 9.01815834e+01] [ 1.49779149e-02 9.99887803e-01 -2.09307737e-04 4.69330848e+00] [ 2.73541454e-03 1.68355034e-04 9.99996245e-01 -1.05103240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.071400513 meters Centerline goodness [0,1] 0.9987776371941413 Centerline is valid? [True, True] Translation: X:90.21, Y:4.70, Z:-0.11 [[ 9.99865142e-01 -1.59734080e-02 -3.81411716e-03 9.02091517e+01] [ 1.59724087e-02 9.99872390e-01 -2.92312190e-04 4.70287119e+00] [ 3.81829966e-03 2.31352131e-04 9.99992684e-01 -1.07416535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.101400513 meters Centerline goodness [0,1] 0.9982488361166874 Centerline is valid? [True, True] Translation: X:90.24, Y:4.70, Z:-0.11 [[ 9.99842455e-01 -1.69541995e-02 -5.25550660e-03 9.02381531e+01] [ 1.69523110e-02 9.99856218e-01 -4.03682610e-04 4.70462915e+00] [ 5.26159506e-03 3.14526029e-04 9.99986108e-01 -1.09764990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.131400513 meters Centerline goodness [0,1] 0.9982575399044874 Centerline is valid? [True, True] Translation: X:90.27, Y:4.71, Z:-0.11 [[ 9.99814111e-01 -1.84446030e-02 -5.61602938e-03 9.02668331e+01] [ 1.84424694e-02 9.99829830e-01 -4.31456131e-04 4.70759613e+00] [ 5.62303174e-03 3.27802478e-04 9.99984137e-01 -1.10275609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.161400513 meters Centerline goodness [0,1] 0.9983423749246534 Centerline is valid? [True, True] Translation: X:90.30, Y:4.71, Z:-0.11 [[ 9.99812435e-01 -1.89067462e-02 -4.19878762e-03 9.02953603e+01] [ 1.89055545e-02 9.99821222e-01 -3.23335359e-04 4.70936370e+00] [ 4.20415019e-03 2.43894305e-04 9.99991133e-01 -1.07488700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.191400513 meters Centerline goodness [0,1] 0.9996757247551722 Centerline is valid? [True, True] Translation: X:90.32, Y:4.70, Z:-0.10 [[ 9.99825813e-01 -1.84042253e-02 -3.10281695e-03 9.03244362e+01] [ 1.84035716e-02 9.99830611e-01 -2.39077827e-04 4.70158797e+00] [ 3.10669141e-03 1.81933269e-04 9.99995158e-01 -1.03812112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.221400513 meters Centerline goodness [0,1] 0.9997838258501048 Centerline is valid? [True, True] Translation: X:90.35, Y:4.71, Z:-0.10 [[ 9.99839755e-01 -1.76957469e-02 -2.70636668e-03 9.03528782e+01] [ 1.76952456e-02 9.99843405e-01 -2.09071865e-04 4.70531143e+00] [ 2.70964256e-03 1.61148539e-04 9.99996316e-01 -1.03317009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.251400513 meters Centerline goodness [0,1] 0.9993782827741451 Centerline is valid? [True, True] Translation: X:90.38, Y:4.72, Z:-0.10 [[ 9.99883960e-01 -1.52203446e-02 -6.38412564e-04 9.03806741e+01] [ 1.52203162e-02 9.99884163e-01 -4.93042472e-05 4.71908829e+00] [ 6.39089040e-04 3.95816848e-05 9.99999795e-01 -1.02218486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.281400513 meters Centerline goodness [0,1] 0.9991100186472284 Centerline is valid? [True, True] Translation: X:90.41, Y:4.72, Z:-0.10 [[ 9.99908886e-01 -1.34737064e-02 8.24511853e-04 9.04103243e+01] [ 1.34736585e-02 9.99909224e-01 6.36647142e-05 4.72149308e+00] [-8.25294807e-04 -5.25497222e-05 9.99999658e-01 -1.00158386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.311400513 meters Centerline goodness [0,1] 0.9994194047823843 Centerline is valid? [True, True] Translation: X:90.44, Y:4.72, Z:-0.10 [[ 9.99933114e-01 -1.14930992e-02 1.29463281e-03 9.04407568e+01] [ 1.14929793e-02 9.99933949e-01 9.99792914e-05 4.72425603e+00] [-1.29569637e-03 -8.50934161e-05 9.99999157e-01 -9.87919543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.341400513 meters Centerline goodness [0,1] 0.9980343874200794 Centerline is valid? [True, True] Translation: X:90.47, Y:4.73, Z:-0.10 [[ 9.99956108e-01 -9.32549655e-03 9.03990323e-04 9.04692012e+01] [ 9.32543723e-03 9.99956515e-01 6.98139440e-05 4.73276588e+00] [-9.04602062e-04 -6.13807747e-05 9.99999589e-01 -9.85424030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.371400513 meters Centerline goodness [0,1] 0.9986594884434931 Centerline is valid? [True, True] Translation: X:90.50, Y:4.73, Z:-0.10 [[ 9.99986365e-01 -5.20635008e-03 -4.04680538e-04 9.04998095e+01] [ 5.20633785e-03 9.99986446e-01 -3.12710582e-05 4.73377544e+00] [ 4.04837862e-04 2.91637282e-05 9.99999918e-01 -9.94731602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.401400513 meters Centerline goodness [0,1] 0.9812295395603928 Centerline is valid? [True, True] Translation: X:90.53, Y:4.74, Z:-0.10 [[ 9.99993314e-01 -3.61512057e-03 -5.50591814e-04 9.05279004e+01] [ 3.61509768e-03 9.99993465e-01 -4.25678644e-05 4.74426764e+00] [ 5.50742103e-04 4.05771366e-05 9.99999848e-01 -1.00207035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.431400513 meters Centerline goodness [0,1] 0.9746087920521895 Centerline is valid? [True, True] Translation: X:90.56, Y:4.75, Z:-0.10 [[ 9.99996579e-01 -2.55252200e-03 -5.72046440e-04 9.05569244e+01] [ 2.55249710e-03 9.99996741e-01 -4.42532284e-05 4.74637655e+00] [ 5.72157533e-04 4.27929301e-05 9.99999835e-01 -1.00599955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.461400513 meters Centerline goodness [0,1] 0.954212336816016 Centerline is valid? [True, True] Translation: X:90.59, Y:4.75, Z:-0.10 [[ 9.99998525e-01 -1.70919666e-03 -1.66605901e-04 9.05861929e+01] [ 1.70919453e-03 9.99998539e-01 -1.29021028e-05 4.75003238e+00] [ 1.66627709e-04 1.26173218e-05 9.99999986e-01 -1.00551038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.49140051299997 meters Centerline goodness [0,1] 0.9969801460666938 Centerline is valid? [True, True] Translation: X:90.62, Y:4.74, Z:-0.10 [[ 9.99999903e-01 -4.08362717e-04 -1.65780623e-04 9.06175051e+01] [ 4.08360597e-04 9.99999917e-01 -1.28206718e-05 4.74315771e+00] [ 1.65785845e-04 1.27529723e-05 9.99999986e-01 -1.00470109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.52140051299997 meters Centerline goodness [0,1] 0.9247033117689902 Centerline is valid? [True, False] Translation: X:90.62, Y:4.74, Z:-0.10 [[ 9.99999886e-01 -4.48131632e-04 -1.63238839e-04 9.06176050e+01] [ 4.48107408e-04 9.99999889e-01 -1.48402108e-04 4.74380172e+00] [ 1.63305325e-04 1.48328943e-04 9.99999976e-01 -1.00673732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.55140051299998 meters Centerline goodness [0,1] 0.9917015117401093 Centerline is valid? [False, True] Translation: X:90.62, Y:4.75, Z:-0.10 [[ 9.99999892e-01 -4.39394259e-04 -1.49367201e-04 9.06179132e+01] [ 4.39321467e-04 9.99999785e-01 -4.87022370e-04 4.74552480e+00] [ 1.49581163e-04 4.86956697e-04 9.99999870e-01 -1.01456491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.58140051299998 meters Centerline goodness [0,1] 0.654044824828719 Centerline is valid? [True, False] Translation: X:90.62, Y:4.75, Z:-0.10 [[ 9.99999820e-01 -5.91424808e-04 -1.00781299e-04 9.06179883e+01] [ 5.91336016e-04 9.99999439e-01 -8.78802210e-04 4.74732712e+00] [ 1.01300988e-04 8.78742456e-04 9.99999609e-01 -1.01942938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.61140051299998 meters Centerline goodness [0,1] 0.6586121437422552 Centerline is valid? [False, False] Translation: X:90.66, Y:4.75, Z:-0.10 [[ 9.99996003e-01 7.40332277e-04 2.72853457e-03 9.06590484e+01] [-7.33115364e-04 9.99996233e-01 -2.64502911e-03 4.75374518e+00] [-2.73048249e-03 2.64301821e-03 9.99992779e-01 -1.03670724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.64140051299998 meters Centerline goodness [0,1] 0.9528190102764074 Centerline is valid? [False, True] Translation: X:90.66, Y:4.76, Z:-0.10 [[ 9.99995879e-01 4.45602661e-04 2.83608379e-03 9.06592121e+01] [-4.36134305e-04 9.99994333e-01 -3.33827526e-03 4.75690430e+00] [-2.83755526e-03 3.33702459e-03 9.99990406e-01 -1.04766445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.67140051299998 meters Centerline goodness [0,1] 0.9651423158076046 Centerline is valid? [True, True] Translation: X:90.69, Y:4.76, Z:-0.11 [[ 9.99998587e-01 -2.67913886e-04 1.65952200e-03 9.06905505e+01] [ 2.67682839e-04 9.99999954e-01 1.39445595e-04 4.75603584e+00] [-1.65955928e-03 -1.39001173e-04 9.99998613e-01 -1.05458569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.70140051299998 meters Centerline goodness [0,1] 0.801438572526253 Centerline is valid? [True, False] Translation: X:90.69, Y:4.76, Z:-0.11 [[ 9.99998673e-01 -3.86713261e-04 1.58248891e-03 9.06908422e+01] [ 3.86878749e-04 9.99999920e-01 -1.04269432e-04 4.75715923e+00] [-1.58244846e-03 1.04881524e-04 9.99998742e-01 -1.05527350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.73140051299998 meters Centerline goodness [0,1] 0.9558176643091254 Centerline is valid? [False, True] Translation: X:90.69, Y:4.76, Z:-0.11 [[ 9.99998724e-01 -5.08712610e-04 1.51455116e-03 9.06908727e+01] [ 5.09279029e-04 9.99999801e-01 -3.73622853e-04 4.75844757e+00] [-1.51436079e-03 3.74393705e-04 9.99998783e-01 -1.05132821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.76140051299998 meters Centerline goodness [0,1] 0.9558176643091254 Centerline is valid? [True, True] Translation: X:90.72, Y:4.76, Z:-0.11 [[ 9.99998795e-01 -4.88861348e-04 1.47355628e-03 9.07217424e+01] [ 4.88682116e-04 9.99999873e-01 1.21989918e-04 4.76052469e+00] [-1.47361573e-03 -1.21269670e-04 9.99998907e-01 -1.05233675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.79140051299999 meters Centerline goodness [0,1] 0.49475006921815434 Centerline is valid? [True, False] Translation: X:90.76, Y:4.77, Z:-0.10 [[ 9.99987344e-01 8.15590496e-05 5.03032809e-03 9.07591148e+01] [-7.12042714e-05 9.99997879e-01 -2.05861448e-03 4.76807507e+00] [-5.03048532e-03 2.05823024e-03 9.99985229e-01 -1.03782120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.821400513 meters Centerline goodness [0,1] 0.808426652936886 Centerline is valid? [False, False] Translation: X:90.76, Y:4.77, Z:-0.10 [[ 9.99986737e-01 -2.44070625e-05 5.15021635e-03 9.07585418e+01] [ 3.63698919e-05 9.99997302e-01 -2.32270104e-03 4.76938830e+00] [-5.15014577e-03 2.32285755e-03 9.99984040e-01 -1.03440196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.851400513 meters Centerline goodness [0,1] 0.9024939935789764 Centerline is valid? [False, False] Translation: X:90.76, Y:4.77, Z:-0.11 [[ 9.99987559e-01 2.21306222e-03 4.47030320e-03 9.07643189e+01] [-2.21389606e-03 9.99997533e-01 1.81588803e-04 4.76854529e+00] [-4.46989030e-03 -1.91483331e-04 9.99989992e-01 -1.07166833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.881400513 meters Centerline goodness [0,1] 0.9779831240103252 Centerline is valid? [False, True] Translation: X:90.72, Y:4.77, Z:-0.11 [[ 9.99997676e-01 1.15288164e-03 1.82162193e-03 9.07231498e+01] [-1.15314567e-03 9.99999325e-01 1.43897156e-04 4.77237513e+00] [-1.82145480e-03 -1.45997417e-04 9.99998330e-01 -1.07881664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.911400513 meters Centerline goodness [0,1] 0.8492865193628649 Centerline is valid? [True, False] Translation: X:90.77, Y:4.78, Z:-0.11 [[ 9.99991674e-01 1.71258360e-03 3.70382091e-03 9.07668143e+01] [-1.70143615e-03 9.99994020e-01 -3.01077556e-03 4.78198758e+00] [-3.70895496e-03 3.00444868e-03 9.99988608e-01 -1.11336712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.941400513 meters Centerline goodness [0,1] 0.7115799824707668 Centerline is valid? [False, False] Translation: X:90.77, Y:4.78, Z:-0.11 [[ 9.99992229e-01 1.44921239e-03 3.66624728e-03 9.07671890e+01] [-1.43594193e-03 9.99992418e-01 -3.61967743e-03 4.78480328e+00] [-3.67146516e-03 3.61438478e-03 9.99986728e-01 -1.11871091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.971400513 meters Centerline goodness [0,1] 0.9092292089249493 Centerline is valid? [False, False] Translation: X:90.78, Y:4.78, Z:-0.11 [[ 9.99987385e-01 3.92349689e-04 5.00767901e-03 9.07845791e+01] [-4.24187446e-04 9.99979696e-01 6.35830934e-03 4.78354902e+00] [-5.00508266e-03 -6.36035332e-03 9.99967247e-01 -1.07455715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.001400513 meters Centerline goodness [0,1] 0.6424673532222105 Centerline is valid? [False, False] Translation: X:90.78, Y:4.78, Z:-0.11 [[ 9.99987088e-01 2.86088519e-04 5.07371249e-03 9.07838802e+01] [-3.17179550e-04 9.99981173e-01 6.12812062e-03 4.78472053e+00] [-5.07186378e-03 -6.12965077e-03 9.99968351e-01 -1.06550121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.031400513 meters Centerline goodness [0,1] 0.9841096943679118 Centerline is valid? [False, True] Translation: X:90.78, Y:4.79, Z:-0.10 [[ 9.99980129e-01 -2.08818836e-03 5.94813954e-03 9.07773833e+01] [ 2.06799665e-03 9.99992086e-01 3.39875705e-03 4.78897143e+00] [-5.95518971e-03 -3.38638878e-03 9.99976534e-01 -1.02392294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.061400513 meters Centerline goodness [0,1] 0.9539440095302927 Centerline is valid? [True, True] Translation: X:90.81, Y:4.80, Z:-0.10 [[ 9.99971841e-01 -3.06595113e-03 6.84955027e-03 9.08068000e+01] [ 3.06233957e-03 9.99995166e-01 5.37694782e-04 4.79865318e+00] [-6.85116571e-03 -5.16703993e-04 9.99976397e-01 -1.01952940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.091400513 meters Centerline goodness [0,1] 0.9661286509488706 Centerline is valid? [True, True] Translation: X:90.84, Y:4.80, Z:-0.10 [[ 9.99963943e-01 -3.67137351e-03 7.65731901e-03 9.08391969e+01] [ 3.66687880e-03 9.99993096e-01 6.00938767e-04 4.80164056e+00] [-7.65947241e-03 -5.72838638e-04 9.99970502e-01 -1.01724198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.121400513 meters Centerline goodness [0,1] 0.9971457389960727 Centerline is valid? [True, True] Translation: X:90.87, Y:4.80, Z:-0.10 [[ 9.99970339e-01 -3.81543154e-03 6.69053808e-03 9.08719131e+01] [ 3.81200555e-03 9.99992597e-01 5.24743020e-04 4.80107625e+00] [-6.69249066e-03 -4.99223088e-04 9.99977480e-01 -1.04950531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.151400513 meters Centerline goodness [0,1] 0.9154234149871241 Centerline is valid? [True, False] Translation: X:90.87, Y:4.80, Z:-0.11 [[ 9.99970946e-01 -3.89303780e-03 6.55379505e-03 9.08725216e+01] [ 3.89116892e-03 9.99992385e-01 2.97887591e-04 4.80212346e+00] [-6.55490483e-03 -2.72377013e-04 9.99978479e-01 -1.05289466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.181400513 meters Centerline goodness [0,1] 0.9135595022865043 Centerline is valid? [False, False] Translation: X:90.87, Y:4.80, Z:-0.11 [[ 9.99971119e-01 -3.95423873e-03 6.49045595e-03 9.08728758e+01] [ 3.95338821e-03 9.99992175e-01 1.43866806e-04 4.80282265e+00] [-6.49097404e-03 -1.18203359e-04 9.99978926e-01 -1.05558585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.211400513 meters Centerline goodness [0,1] 0.8962102741776808 Centerline is valid? [False, False] Translation: X:90.87, Y:4.80, Z:-0.11 [[ 9.99970783e-01 -4.04524693e-03 6.48599663e-03 9.08730283e+01] [ 4.04597868e-03 9.99991810e-01 -9.97013244e-05 4.80396550e+00] [-6.48554019e-03 1.25940616e-04 9.99978961e-01 -1.05855217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.24140051299997 meters Centerline goodness [0,1] 0.8429046138116134 Centerline is valid? [False, False] Translation: X:90.88, Y:4.81, Z:-0.11 [[ 9.99982324e-01 -1.81015522e-03 5.66355905e-03 9.08794612e+01] [ 1.79863393e-03 9.99996304e-01 2.03871543e-03 4.80504015e+00] [-5.66722851e-03 -2.02849273e-03 9.99981884e-01 -1.10243398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.27140051299997 meters Centerline goodness [0,1] 0.9702796829263082 Centerline is valid? [False, True] Translation: X:90.88, Y:4.81, Z:-0.11 [[ 9.99981859e-01 -1.92181435e-03 5.70862073e-03 9.08793085e+01] [ 1.91173678e-03 9.99996606e-01 1.77025742e-03 4.80631063e+00] [-5.71200345e-03 -1.75931192e-03 9.99982139e-01 -1.10265406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.30140051299998 meters Centerline goodness [0,1] 0.9814122422818075 Centerline is valid? [True, True] Translation: X:90.91, Y:4.81, Z:-0.11 [[ 9.99981362e-01 -2.09922847e-03 5.73315684e-03 9.09119214e+01] [ 2.09661248e-03 9.99997695e-01 4.62264181e-04 4.80820371e+00] [-5.73411403e-03 -4.50235357e-04 9.99983458e-01 -1.10788632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.33140051299998 meters Centerline goodness [0,1] 0.9470581954084356 Centerline is valid? [True, False] Translation: X:90.91, Y:4.81, Z:-0.11 [[ 9.99982206e-01 -1.99466156e-03 5.62226602e-03 9.09122755e+01] [ 1.99059876e-03 9.99997754e-01 7.28131445e-04 4.80694713e+00] [-5.62370576e-03 -7.16926812e-04 9.99983930e-01 -1.10779976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.36140051299998 meters Centerline goodness [0,1] 0.9126029671569358 Centerline is valid? [False, False] Translation: X:90.91, Y:4.81, Z:-0.11 [[ 9.99982800e-01 -1.93664501e-03 5.53619004e-03 9.09128584e+01] [ 1.93139342e-03 9.99997680e-01 9.53781118e-04 4.80575436e+00] [-5.53802433e-03 -9.43072152e-04 9.99984220e-01 -1.11388427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.39140051299998 meters Centerline goodness [0,1] 0.9744330338040222 Centerline is valid? [False, True] Translation: X:90.91, Y:4.81, Z:-0.11 [[ 9.99983098e-01 -1.90503825e-03 5.49309882e-03 9.09130628e+01] [ 1.89935154e-03 9.99997655e-01 1.04027711e-03 4.80533188e+00] [-5.49506771e-03 -1.02982620e-03 9.99984372e-01 -1.11522924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.42140051299998 meters Centerline goodness [0,1] 0.9156808832619306 Centerline is valid? [True, False] Translation: X:90.91, Y:4.80, Z:-0.11 [[ 9.99983884e-01 -1.86343485e-03 5.36280133e-03 9.09135552e+01] [ 1.85703135e-03 9.99997557e-01 1.19879128e-03 4.80451282e+00] [-5.36502210e-03 -1.18881307e-03 9.99984902e-01 -1.11646219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.45140051299998 meters Centerline goodness [0,1] 0.9724987128882787 Centerline is valid? [False, True] Translation: X:90.91, Y:4.80, Z:-0.11 [[ 9.99984765e-01 -1.75164745e-03 5.23457460e-03 9.09141016e+01] [ 1.74398701e-03 9.99997402e-01 1.46763774e-03 4.80322367e+00] [-5.23713178e-03 -1.45848635e-03 9.99985223e-01 -1.11905243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.48140051299998 meters Centerline goodness [0,1] 0.9156080623306233 Centerline is valid? [True, False] Translation: X:90.96, Y:4.81, Z:-0.12 [[ 9.99987721e-01 -1.76313761e-03 4.63139665e-03 9.09618802e+01] [ 1.76854646e-03 9.99997759e-01 -1.16403057e-03 4.80837457e+00] [-4.62933392e-03 1.17220711e-03 9.99988598e-01 -1.15337436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.51140051299998 meters Centerline goodness [0,1] 0.9929874683462113 Centerline is valid? [False, True] Translation: X:90.92, Y:4.80, Z:-0.11 [[ 9.99994370e-01 -2.20535038e-03 2.52898995e-03 9.09183198e+01] [ 2.20198008e-03 9.99996685e-01 1.33467675e-03 4.80282413e+00] [-2.53192500e-03 -1.32910045e-03 9.99995911e-01 -1.13036328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.54140051299999 meters Centerline goodness [0,1] 0.8532000850520944 Centerline is valid? [True, False] Translation: X:90.96, Y:4.81, Z:-0.11 [[ 9.99981761e-01 -1.72421332e-03 5.78829688e-03 9.09572806e+01] [ 1.72633111e-03 9.99998445e-01 -3.60897965e-04 4.80744901e+00] [-5.78766561e-03 3.70883899e-04 9.99983183e-01 -1.12795437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.571400513 meters Centerline goodness [0,1] 0.967845864982504 Centerline is valid? [False, True] Translation: X:90.96, Y:4.81, Z:-0.11 [[ 9.99981007e-01 -1.63110683e-03 5.94349342e-03 9.09563234e+01] [ 1.63227206e-03 9.99998650e-01 -1.91205388e-04 4.80677674e+00] [-5.94317351e-03 2.00903155e-04 9.99982319e-01 -1.11895262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.601400513 meters Centerline goodness [0,1] 0.9904931925236057 Centerline is valid? [True, True] Translation: X:90.99, Y:4.80, Z:-0.11 [[ 9.99976282e-01 -5.15072336e-04 6.86804575e-03 9.09874179e+01] [ 5.11578727e-04 9.99999739e-01 5.10422941e-04 4.80363962e+00] [-6.86830686e-03 -5.06897289e-04 9.99976284e-01 -1.09318130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.631400513 meters Centerline goodness [0,1] 0.8149198362612997 Centerline is valid? [True, False] Translation: X:90.99, Y:4.80, Z:-0.11 [[ 9.99976763e-01 -6.35425717e-04 6.78744664e-03 9.09879697e+01] [ 6.33786486e-04 9.99999769e-01 2.43657345e-04 4.80483430e+00] [-6.78759990e-03 -2.39349892e-04 9.99976935e-01 -1.09924986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.661400513 meters Centerline goodness [0,1] 0.94814229923814 Centerline is valid? [False, False] Translation: X:90.99, Y:4.81, Z:-0.11 [[ 9.99977098e-01 -6.99486744e-04 6.73156914e-03 9.09883597e+01] [ 6.98717010e-04 9.99999749e-01 1.16698043e-04 4.80537228e+00] [-6.73164908e-03 -1.11991909e-04 9.99977336e-01 -1.10376675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.691400513 meters Centerline goodness [0,1] 0.9928882034145192 Centerline is valid? [False, True] Translation: X:90.99, Y:4.80, Z:-0.11 [[ 9.99976303e-01 -5.52952637e-04 6.86204180e-03 9.09873264e+01] [ 5.46656874e-04 9.99999428e-01 9.19318396e-04 4.80150880e+00] [-6.86254621e-03 -9.15545429e-04 9.99976033e-01 -1.09066932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.721400513 meters Centerline goodness [0,1] 0.9956785154429522 Centerline is valid? [True, True] Translation: X:91.02, Y:4.80, Z:-0.11 [[ 9.99962665e-01 -2.93408161e-03 8.12771001e-03 9.10171696e+01] [ 2.92953485e-03 9.99995546e-01 5.71264314e-04 4.80242944e+00] [-8.12934994e-03 -5.47432577e-04 9.99966806e-01 -1.07057212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.751400513 meters Centerline goodness [0,1] 0.9976906299448317 Centerline is valid? [True, True] Translation: X:91.05, Y:4.80, Z:-0.11 [[ 9.99959152e-01 -5.01472046e-03 7.51975367e-03 9.10482706e+01] [ 5.01088645e-03 9.99987306e-01 5.28612523e-04 4.80030341e+00] [-7.52230906e-03 -4.90910298e-04 9.99971587e-01 -1.07241613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.781400513 meters Centerline goodness [0,1] 0.9990762819273485 Centerline is valid? [True, True] Translation: X:91.08, Y:4.80, Z:-0.11 [[ 9.99961382e-01 -7.63329322e-03 4.35505696e-03 9.10792954e+01] [ 7.63203198e-03 9.99970829e-01 3.06148371e-04 4.79561083e+00] [-4.35726684e-03 -2.72898614e-04 9.99990470e-01 -1.11531542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.811400513 meters Centerline goodness [0,1] 0.9983719286219233 Centerline is valid? [True, True] Translation: X:91.11, Y:4.80, Z:-0.11 [[ 9.99960894e-01 -7.94958499e-03 3.87485143e-03 9.11103269e+01] [ 7.94858885e-03 9.99968372e-01 2.72409039e-04 4.80177017e+00] [-3.87689442e-03 -2.41598785e-04 9.99992456e-01 -1.12920564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.841400513 meters Centerline goodness [0,1] 0.9958772526351581 Centerline is valid? [True, True] Translation: X:91.14, Y:4.81, Z:-0.11 [[ 9.99957536e-01 -7.94467894e-03 4.66989793e-03 9.11414601e+01] [ 7.94323309e-03 9.99968398e-01 3.28075265e-04 4.80783205e+00] [-4.67235680e-03 -2.90967246e-04 9.99989042e-01 -1.12525817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.871400513 meters Centerline goodness [0,1] 0.999415381950459 Centerline is valid? [True, True] Translation: X:91.17, Y:4.80, Z:-0.11 [[ 9.99951892e-01 -7.80220350e-03 5.94469042e-03 9.11743462e+01] [ 7.79985948e-03 9.99969494e-01 4.17387995e-04 4.79979458e+00] [-5.94776561e-03 -3.71000165e-04 9.99982243e-01 -1.10460104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.901400513 meters Centerline goodness [0,1] 0.9987124187214318 Centerline is valid? [True, True] Translation: X:91.20, Y:4.81, Z:-0.11 [[ 9.99953719e-01 -6.57958016e-03 7.01916195e-03 9.12044301e+01] [ 6.57628467e-03 9.99978255e-01 4.92476088e-04 4.81026433e+00] [-7.02224960e-03 -4.46293289e-04 9.99975244e-01 -1.08946464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.931400513 meters Centerline goodness [0,1] 0.9976901885992795 Centerline is valid? [True, True] Translation: X:91.23, Y:4.81, Z:-0.11 [[ 9.99962529e-01 -5.77290094e-03 6.45094869e-03 9.12348801e+01] [ 5.77010379e-03 9.99983251e-01 4.52130114e-04 4.81447946e+00] [-6.45345074e-03 -4.14890528e-04 9.99979090e-01 -1.09764880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.961400513 meters Centerline goodness [0,1] 0.9983612837320167 Centerline is valid? [True, True] Translation: X:91.27, Y:4.81, Z:-0.11 [[ 9.99971295e-01 -5.32085006e-03 5.39413859e-03 9.12674456e+01] [ 5.31889002e-03 9.99985783e-01 3.77646570e-04 4.81200530e+00] [-5.39607131e-03 -3.48944900e-04 9.99985380e-01 -1.11319855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.99140051299997 meters Centerline goodness [0,1] 0.9939264328485885 Centerline is valid? [True, True] Translation: X:91.30, Y:4.82, Z:-0.11 [[ 9.99977614e-01 -5.01354478e-03 4.43129044e-03 9.12984820e+01] [ 5.01221981e-03 9.99987391e-01 3.10057739e-04 4.81841049e+00] [-4.43278906e-03 -2.87840196e-04 9.99990134e-01 -1.13541532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.02140051299997 meters Centerline goodness [0,1] 0.9965400140962388 Centerline is valid? [True, True] Translation: X:91.33, Y:4.82, Z:-0.11 [[ 9.99978441e-01 -5.02084275e-03 4.23193796e-03 9.13311214e+01] [ 5.01963473e-03 9.99987358e-01 2.96026217e-04 4.81870482e+00] [-4.23337076e-03 -2.74777053e-04 9.99991001e-01 -1.14319629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.05140051299998 meters Centerline goodness [0,1] 0.9963010204081633 Centerline is valid? [True, True] Translation: X:91.36, Y:4.82, Z:-0.11 [[ 9.99974389e-01 -5.04102831e-03 5.08025275e-03 9.13621101e+01] [ 5.03928946e-03 9.99987240e-01 3.55020340e-04 4.82273554e+00] [-5.08197759e-03 -3.29410384e-04 9.99987032e-01 -1.14593818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.08140051299998 meters Centerline goodness [0,1] 0.9985147779593049 Centerline is valid? [True, True] Translation: X:91.39, Y:4.82, Z:-0.11 [[ 9.99956343e-01 -4.43764596e-03 8.22305559e-03 9.13943346e+01] [ 4.43307354e-03 9.99990009e-01 5.74193177e-04 4.82436769e+00] [-8.22552150e-03 -5.37714700e-04 9.99966025e-01 -1.10473619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.11140051299998 meters Centerline goodness [0,1] 0.9776427497724048 Centerline is valid? [True, True] Translation: X:91.42, Y:4.84, Z:-0.11 [[ 9.99954705e-01 -3.70325322e-03 8.76779726e-03 9.14248702e+01] [ 3.69803043e-03 9.99992975e-01 6.11816569e-04 4.83623636e+00] [-8.77000137e-03 -5.79365275e-04 9.99961375e-01 -1.09640436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.14140051299998 meters Centerline goodness [0,1] 0.9974498398246502 Centerline is valid? [True, True] Translation: X:91.46, Y:4.83, Z:-0.11 [[ 9.99965930e-01 -2.95042084e-03 7.70928489e-03 9.14570728e+01] [ 2.94636241e-03 9.99995515e-01 5.37739133e-04 4.83229707e+00] [-7.71083687e-03 -5.15006466e-04 9.99970138e-01 -1.11513817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.17140051299998 meters Centerline goodness [0,1] 0.9299092242607199 Centerline is valid? [True, False] Translation: X:91.44, Y:4.84, Z:-0.11 [[ 9.99994668e-01 -1.12610875e-03 3.06522414e-03 9.14355436e+01] [ 1.15183598e-03 9.99964018e-01 -8.40447653e-03 4.83809010e+00] [-3.05564950e-03 8.40796236e-03 9.99959984e-01 -1.07711142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.20140051299998 meters Centerline goodness [0,1] 0.98625678119349 Centerline is valid? [False, True] Translation: X:91.44, Y:4.83, Z:-0.11 [[ 9.99990126e-01 3.61890964e-03 2.57921449e-03 9.14369164e+01] [-3.61199009e-03 9.99989879e-01 -2.68244048e-03 4.83127881e+00] [-2.58889590e-03 2.67309790e-03 9.99993076e-01 -1.07267496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.23140051299998 meters Centerline goodness [0,1] 0.9983660824173493 Centerline is valid? [True, True] Translation: X:91.47, Y:4.82, Z:-0.11 [[ 9.99986208e-01 4.64505232e-03 2.45109390e-03 9.14695010e+01] [-4.64546470e-03 9.99989197e-01 1.62576824e-04 4.82213774e+00] [-2.45031224e-03 -1.73961052e-04 9.99996983e-01 -1.06291303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.26140051299998 meters Centerline goodness [0,1] 0.9712078651685393 Centerline is valid? [True, True] Translation: X:91.50, Y:4.83, Z:-0.11 [[ 9.99978820e-01 5.93001361e-03 2.68239914e-03 9.14991354e+01] [-5.93051158e-03 9.99982399e-01 1.77726991e-04 4.83403828e+00] [-2.68129800e-03 -1.93631226e-04 9.99996387e-01 -1.06674977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.29140051299999 meters Centerline goodness [0,1] 0.9223834372746171 Centerline is valid? [True, False] Translation: X:91.50, Y:4.84, Z:-0.11 [[ 9.99979995e-01 5.71332074e-03 2.71442075e-03 9.14991974e+01] [-5.71236185e-03 9.99983619e-01 -3.60879029e-04 4.83655518e+00] [-2.71643810e-03 3.45366056e-04 9.99996251e-01 -1.07004527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.321400513 meters Centerline goodness [0,1] 0.9178988575197328 Centerline is valid? [False, False] Translation: X:91.50, Y:4.84, Z:-0.11 [[ 9.99980772e-01 5.53938038e-03 2.78748127e-03 9.14989476e+01] [-5.53705833e-03 9.99984318e-01 -8.40054812e-04 4.83885054e+00] [-2.79209094e-03 8.24604214e-04 9.99995762e-01 -1.06960010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.351400513 meters Centerline goodness [0,1] 0.9543748933992836 Centerline is valid? [False, True] Translation: X:91.50, Y:4.84, Z:-0.11 [[ 9.99980844e-01 5.46847144e-03 2.89953950e-03 9.14984141e+01] [-5.46530318e-03 9.99984461e-01 -1.09947672e-03 4.84014923e+00] [-2.90550690e-03 1.08360879e-03 9.99995192e-01 -1.06619184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.381400513 meters Centerline goodness [0,1] 0.8285316279364275 Centerline is valid? [True, False] Translation: X:91.50, Y:4.84, Z:-0.11 [[ 9.99964620e-01 8.14927334e-03 2.08538585e-03 9.15045147e+01] [-8.15313971e-03 9.99965047e-01 1.85229274e-03 4.83814642e+00] [-2.07021812e-03 -1.86922965e-03 9.99996110e-01 -1.10123466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.411400513 meters Centerline goodness [0,1] 0.9223234232686028 Centerline is valid? [False, False] Translation: X:91.46, Y:4.83, Z:-0.11 [[ 9.99938873e-01 1.10380013e-02 -6.42290733e-04 9.14623238e+01] [-1.10333977e-02 9.99916166e-01 6.77676992e-03 4.83417352e+00] [ 7.17038882e-04 -6.76926903e-03 9.99976831e-01 -1.08577940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.441400513 meters Centerline goodness [0,1] 0.834124342317191 Centerline is valid? [False, False] Translation: X:91.46, Y:4.84, Z:-0.11 [[ 9.99975546e-01 6.97822135e-03 -4.59570813e-04 9.14619578e+01] [-6.97782125e-03 9.99975279e-01 8.66530975e-04 4.84334125e+00] [ 4.65606297e-04 -8.63302983e-04 9.99999519e-01 -1.09809354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.471400513 meters Centerline goodness [0,1] 0.48805402765094397 Centerline is valid? [False, False] Translation: X:91.47, Y:4.84, Z:-0.11 [[ 9.99954610e-01 9.42845613e-03 -1.37186885e-03 9.14687878e+01] [-9.42354224e-03 9.99949312e-01 3.54532232e-03 4.84192633e+00] [ 1.40522623e-03 -3.53223354e-03 9.99992774e-01 -1.14064928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.501400513 meters Centerline goodness [0,1] 0.8700486300049273 Centerline is valid? [False, False] Translation: X:91.47, Y:4.84, Z:-0.11 [[ 9.99955366e-01 9.33858012e-03 -1.43415748e-03 9.14692092e+01] [-9.33372118e-03 9.99950801e-01 3.35813378e-03 4.84274739e+00] [ 1.46544713e-03 -3.34459787e-03 9.99993333e-01 -1.14504078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.531400513 meters Centerline goodness [0,1] 0.641169660849805 Centerline is valid? [False, False] Translation: X:91.47, Y:4.85, Z:-0.12 [[ 9.99988818e-01 4.63802585e-03 -9.23628925e-04 9.14676991e+01] [-4.64050351e-03 9.99985591e-01 -2.69870064e-03 4.85140460e+00] [ 9.11098974e-04 2.70295657e-03 9.99995932e-01 -1.15116262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.561400513 meters Centerline goodness [0,1] 0.8464291039212762 Centerline is valid? [False, False] Translation: X:91.47, Y:4.85, Z:-0.12 [[ 9.99971406e-01 7.30487705e-03 -1.95575207e-03 9.14728762e+01] [-7.30344877e-03 9.99973058e-01 7.36448263e-04 4.85026332e+00] [ 1.96107905e-03 -7.22143470e-04 9.99997816e-01 -1.16694088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.591400513 meters Centerline goodness [0,1] 0.44564666103127637 Centerline is valid? [False, False] Translation: X:91.47, Y:4.85, Z:-0.12 [[ 9.99972506e-01 7.12098901e-03 -2.06853052e-03 9.14731161e+01] [-7.12020125e-03 9.99974576e-01 3.87946835e-04 4.85189621e+00] [ 2.07124050e-03 -3.73207816e-04 9.99997785e-01 -1.16423361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.621400513 meters Centerline goodness [0,1] 0.6466563250387811 Centerline is valid? [False, False] Translation: X:91.47, Y:4.85, Z:-0.12 [[ 9.99971862e-01 7.20709727e-03 -2.08169160e-03 9.14730196e+01] [-7.20590089e-03 9.99973868e-01 5.81645389e-04 4.85101346e+00] [ 2.08582918e-03 -5.66628559e-04 9.99997664e-01 -1.16163516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.651400513 meters Centerline goodness [0,1] 0.6466563250387811 Centerline is valid? [False, False] Translation: X:91.47, Y:4.85, Z:-0.12 [[ 9.99971862e-01 7.20709727e-03 -2.08169160e-03 9.14730196e+01] [-7.20590089e-03 9.99973868e-01 5.81645389e-04 4.85101346e+00] [ 2.08582918e-03 -5.66628559e-04 9.99997664e-01 -1.16163516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.681400513 meters Centerline goodness [0,1] 0.7590558889882093 Centerline is valid? [False, False] Translation: X:91.47, Y:4.85, Z:-0.12 [[ 9.99972007e-01 7.20607699e-03 -2.01438915e-03 9.14726048e+01] [-7.20491169e-03 9.99973873e-01 5.85144918e-04 4.85103232e+00] [ 2.01855311e-03 -5.70615042e-04 9.99997800e-01 -1.15798971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.711400513 meters Centerline goodness [0,1] 0.8859730258770893 Centerline is valid? [False, False] Translation: X:91.47, Y:4.85, Z:-0.12 [[ 9.99973712e-01 7.00394175e-03 -1.87599095e-03 9.14721096e+01] [-7.00376242e-03 9.99975468e-01 1.02142978e-04 4.85333527e+00] [ 1.87666033e-03 -8.90012977e-05 9.99998235e-01 -1.15737916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.74140051299997 meters Centerline goodness [0,1] 0.8704480294407121 Centerline is valid? [False, False] Translation: X:91.47, Y:4.86, Z:-0.12 [[ 9.99975883e-01 6.70267378e-03 -1.81875328e-03 9.14720132e+01] [-6.70379113e-03 9.99977344e-01 -6.08948680e-04 4.85665537e+00] [ 1.81463049e-03 6.21126536e-04 9.99998161e-01 -1.15947333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.77140051299997 meters Centerline goodness [0,1] 0.6802673456397199 Centerline is valid? [False, False] Translation: X:91.47, Y:4.86, Z:-0.12 [[ 9.99977282e-01 6.49345793e-03 -1.80851837e-03 9.14721050e+01] [-6.49550490e-03 9.99978267e-01 -1.12828284e-03 4.85907990e+00] [ 1.80115261e-03 1.14000445e-03 9.99997728e-01 -1.16231593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.80140051299998 meters Centerline goodness [0,1] 0.4867914904469428 Centerline is valid? [False, False] Translation: X:91.47, Y:4.86, Z:-0.12 [[ 9.99977810e-01 6.38999918e-03 -1.88365200e-03 9.14726133e+01] [-6.39260108e-03 9.99978617e-01 -1.37853921e-03 4.86020718e+00] [ 1.87480286e-03 1.39055006e-03 9.99997276e-01 -1.16754318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.83140051299998 meters Centerline goodness [0,1] 0.6288192894048606 Centerline is valid? [False, False] Translation: X:91.47, Y:4.86, Z:-0.12 [[ 9.99977849e-01 6.37026149e-03 -1.92914292e-03 9.14727269e+01] [-6.37292614e-03 9.99978743e-01 -1.37827850e-03 4.86017602e+00] [ 1.92032191e-03 1.39054225e-03 9.99997189e-01 -1.16682024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.86140051299998 meters Centerline goodness [0,1] 0.7549868513886216 Centerline is valid? [False, False] Translation: X:91.47, Y:4.86, Z:-0.12 [[ 9.99977648e-01 6.38176402e-03 -1.99389274e-03 9.14728457e+01] [-6.38428745e-03 9.99978824e-01 -1.26179038e-03 4.85959220e+00] [ 1.98579806e-03 1.27449176e-03 9.99997216e-01 -1.16504562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.89140051299998 meters Centerline goodness [0,1] 0.910615711252654 Centerline is valid? [False, False] Translation: X:91.47, Y:4.86, Z:-0.12 [[ 9.99976897e-01 6.42854167e-03 -2.20905736e-03 9.14733767e+01] [-6.43055606e-03 9.99978913e-01 -9.05989855e-04 4.85777385e+00] [ 2.20318659e-03 9.20174391e-04 9.99997150e-01 -1.16173059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.92140051299998 meters Centerline goodness [0,1] 0.9138735770554817 Centerline is valid? [False, False] Translation: X:91.47, Y:4.85, Z:-0.12 [[ 9.99975513e-01 6.54558235e-03 -2.47544781e-03 9.14741169e+01] [-6.54623708e-03 9.99978540e-01 -2.56477796e-04 4.85449092e+00] [ 2.47371589e-03 2.72676384e-04 9.99996903e-01 -1.15911264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.95140051299998 meters Centerline goodness [0,1] 0.9984094914671366 Centerline is valid? [False, True] Translation: X:91.43, Y:4.85, Z:-0.12 [[ 9.99985146e-01 2.63811244e-03 -4.76947657e-03 9.14324482e+01] [-2.64046586e-03 9.99996395e-01 -4.87205581e-04 4.84688311e+00] [ 4.76817407e-03 4.99791984e-04 9.99988507e-01 -1.15171592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.98140051299998 meters Centerline goodness [0,1] 0.9952261199437364 Centerline is valid? [True, True] Translation: X:91.46, Y:4.85, Z:-0.12 [[ 9.99989222e-01 3.10771561e-04 -4.63237989e-03 9.14616192e+01] [-3.12212458e-04 9.99999903e-01 -3.10329099e-04 4.85213279e+00] [ 4.63228300e-03 3.11772041e-04 9.99989222e-01 -1.15205298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.01140051299998 meters Centerline goodness [0,1] 0.9977946686650252 Centerline is valid? [True, True] Translation: X:91.49, Y:4.85, Z:-0.12 [[ 9.99982243e-01 -1.42156774e-03 -5.78731303e-03 9.14917015e+01] [ 1.41934694e-03 9.99998918e-01 -3.87824159e-04 4.84840598e+00] [ 5.78785808e-03 3.79603067e-04 9.99983178e-01 -1.16862876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.04140051299999 meters Centerline goodness [0,1] 0.9988990588032122 Centerline is valid? [True, True] Translation: X:91.52, Y:4.84, Z:-0.12 [[ 9.99975157e-01 -1.11489469e-03 -6.96011295e-03 9.15209566e+01] [ 1.11166879e-03 9.99999273e-01 -4.67335499e-04 4.84386519e+00] [ 6.96062892e-03 4.59586549e-04 9.99975669e-01 -1.17974904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.071400513 meters Centerline goodness [0,1] 0.913175303197354 Centerline is valid? [True, False] Translation: X:91.56, Y:4.85, Z:-0.12 [[ 9.99990343e-01 2.33703708e-04 -4.38850632e-03 9.15634301e+01] [-2.37217593e-04 9.99999652e-01 -8.00198341e-04 4.84557485e+00] [ 4.38831778e-03 8.01231644e-04 9.99990050e-01 -1.19527127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.101400513 meters Centerline goodness [0,1] 0.9977121597639462 Centerline is valid? [False, True] Translation: X:91.56, Y:4.85, Z:-0.12 [[ 9.99990382e-01 2.77903204e-04 -4.37701850e-03 9.15633453e+01] [-2.81078754e-04 9.99999698e-01 -7.24906627e-04 4.84525964e+00] [ 4.37681573e-03 7.26129942e-04 9.99990158e-01 -1.19429951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.131400513 meters Centerline goodness [0,1] 0.9871214235119878 Centerline is valid? [True, True] Translation: X:91.59, Y:4.85, Z:-0.12 [[ 9.99987163e-01 1.83587485e-03 -4.72273802e-03 9.15926758e+01] [-1.83741111e-03 9.99998260e-01 -3.20971430e-04 4.85189843e+00] [ 4.72214054e-03 3.29644921e-04 9.99988796e-01 -1.19800511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.161400513 meters Centerline goodness [0,1] 0.9547867237961246 Centerline is valid? [True, True] Translation: X:91.62, Y:4.86, Z:-0.12 [[ 9.99962875e-01 5.39532645e-03 -6.71857083e-03 9.16224832e+01] [-5.39851589e-03 9.99985324e-01 -4.56674987e-04 4.85747479e+00] [ 6.71600831e-03 4.92928344e-04 9.99977326e-01 -1.23389756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.191400513 meters Centerline goodness [0,1] 0.8686712927268054 Centerline is valid? [True, False] Translation: X:91.62, Y:4.86, Z:-0.12 [[ 9.99963724e-01 5.27440715e-03 -6.68822165e-03 9.16227205e+01] [-5.27961267e-03 9.99985773e-01 -7.60893786e-04 4.85886111e+00] [ 6.68411324e-03 7.96177403e-04 9.99977344e-01 -1.24055668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.221400513 meters Centerline goodness [0,1] 0.8672244220206923 Centerline is valid? [False, False] Translation: X:91.62, Y:4.86, Z:-0.12 [[ 9.99964710e-01 5.19722611e-03 -6.60062846e-03 9.16225054e+01] [-5.20385144e-03 9.99985973e-01 -9.86964816e-04 4.85991618e+00] [ 6.59540639e-03 1.02127868e-03 9.99977729e-01 -1.24222894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.251400513 meters Centerline goodness [0,1] 0.8835710308792668 Centerline is valid? [False, False] Translation: X:91.62, Y:4.86, Z:-0.12 [[ 9.99965744e-01 5.21531666e-03 -6.42736483e-03 9.16216015e+01] [-5.22186164e-03 9.99985864e-01 -1.00193858e-03 4.86009117e+00] [ 6.42204854e-03 1.03546707e-03 9.99978842e-01 -1.23603199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.281400513 meters Centerline goodness [0,1] 0.8822174876794284 Centerline is valid? [False, False] Translation: X:91.62, Y:4.86, Z:-0.12 [[ 9.99965837e-01 5.34695623e-03 -6.30354081e-03 9.16206728e+01] [-5.35172645e-03 9.99985406e-01 -7.40127940e-04 4.85900187e+00] [ 6.29949138e-03 7.73837481e-04 9.99979859e-01 -1.22574831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.311400513 meters Centerline goodness [0,1] 0.7975977129202936 Centerline is valid? [False, False] Translation: X:91.62, Y:4.85, Z:-0.12 [[ 9.99927719e-01 1.00361887e-02 -6.62061546e-03 9.16212322e+01] [-1.00016622e-02 9.99936317e-01 5.22766117e-03 4.85077747e+00] [ 6.67265964e-03 -5.16106615e-03 9.99964419e-01 -1.21279191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.341400513 meters Centerline goodness [0,1] 0.9659071404050806 Centerline is valid? [False, True] Translation: X:91.62, Y:4.86, Z:-0.12 [[ 9.99963556e-01 5.86236643e-03 -6.20643904e-03 9.16202161e+01] [-5.86451562e-03 9.99982750e-01 -3.28141335e-04 4.85776214e+00] [ 6.20440830e-03 3.64527135e-04 9.99980686e-01 -1.22466541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.371400513 meters Centerline goodness [0,1] 0.9616945547670204 Centerline is valid? [True, True] Translation: X:91.65, Y:4.86, Z:-0.12 [[ 9.99956238e-01 6.67059370e-03 -6.55934084e-03 9.16497730e+01] [-6.67389444e-03 9.99977613e-01 -4.81451863e-04 4.86079017e+00] [ 6.55598243e-03 5.25207142e-04 9.99978371e-01 -1.23566854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.401400513 meters Centerline goodness [0,1] 0.8193350361673356 Centerline is valid? [True, False] Translation: X:91.67, Y:4.85, Z:-0.12 [[ 9.99949954e-01 6.95061204e-03 -7.19574083e-03 9.16680485e+01] [-6.87356703e-03 9.99919375e-01 1.06769562e-02 4.85441979e+00] [ 7.26937205e-03 -1.06269614e-02 9.99917109e-01 -1.18058991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.431400513 meters Centerline goodness [0,1] 0.524569580114495 Centerline is valid? [False, False] Translation: X:91.69, Y:4.86, Z:-0.12 [[ 9.99964753e-01 8.17393680e-03 -1.91796510e-03 9.16891707e+01] [-8.17405997e-03 9.99966590e-01 -5.63859080e-05 4.86404266e+00] [ 1.91744012e-03 7.20614823e-05 9.99998159e-01 -1.23531015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.461400513 meters Centerline goodness [0,1] 0.5804575826778313 Centerline is valid? [False, False] Translation: X:91.69, Y:4.86, Z:-0.12 [[ 9.99964462e-01 8.21867356e-03 -1.87858381e-03 9.16888924e+01] [-8.21865328e-03 9.99966226e-01 1.85161898e-05 4.86371219e+00] [ 1.87867254e-03 -3.07610279e-06 9.99998235e-01 -1.23247806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.49140051299997 meters Centerline goodness [0,1] 0.7137583749413221 Centerline is valid? [False, False] Translation: X:91.69, Y:4.86, Z:-0.12 [[ 9.99965022e-01 8.16962225e-03 -1.79209644e-03 9.16885346e+01] [-8.16983432e-03 9.99966620e-01 -1.11045280e-04 4.86434595e+00] [ 1.79112942e-03 1.25682527e-04 9.99998388e-01 -1.23109862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.52140051299997 meters Centerline goodness [0,1] 0.679006280172598 Centerline is valid? [False, False] Translation: X:91.69, Y:4.87, Z:-0.12 [[ 9.99967012e-01 7.92866126e-03 -1.76397691e-03 9.16884556e+01] [-7.92979000e-03 9.99968358e-01 -6.33814662e-04 4.86677415e+00] [ 1.75889580e-03 6.47781720e-04 9.99998243e-01 -1.23137438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.55140051299998 meters Centerline goodness [0,1] 0.5376819015917722 Centerline is valid? [False, False] Translation: X:91.69, Y:4.87, Z:-0.12 [[ 9.99967467e-01 7.85888634e-03 -1.81726828e-03 9.16886269e+01] [-7.86031667e-03 9.99968802e-01 -7.81280958e-04 4.86743655e+00] [ 1.81107158e-03 7.95539845e-04 9.99998044e-01 -1.23129274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.58140051299998 meters Centerline goodness [0,1] 0.7253267381617381 Centerline is valid? [False, False] Translation: X:91.69, Y:4.87, Z:-0.12 [[ 9.99967474e-01 7.84536110e-03 -1.87110239e-03 9.16888651e+01] [-7.84685199e-03 9.99968900e-01 -7.90793446e-04 4.86744622e+00] [ 1.86484014e-03 8.05449988e-04 9.99997937e-01 -1.23234757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.61140051299998 meters Centerline goodness [0,1] 0.9724616445440442 Centerline is valid? [False, True] Translation: X:91.69, Y:4.87, Z:-0.12 [[ 9.99967650e-01 7.83240293e-03 -1.83122714e-03 9.16883372e+01] [-7.83365065e-03 9.99969089e-01 -6.75182012e-04 4.86692497e+00] [ 1.82588224e-03 6.89505363e-04 9.99998095e-01 -1.22421894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.64140051299998 meters Centerline goodness [0,1] 0.7988683563617869 Centerline is valid? [True, False] Translation: X:91.71, Y:4.86, Z:-0.12 [[ 9.99984754e-01 5.37290325e-03 1.27398225e-03 9.17097237e+01] [-5.38257712e-03 9.99955747e-01 7.71562840e-03 4.86328919e+00] [-1.23247055e-03 -7.72236808e-03 9.99969423e-01 -1.24155546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.67140051299998 meters Centerline goodness [0,1] 0.915236301297382 Centerline is valid? [False, False] Translation: X:91.71, Y:4.87, Z:-0.12 [[ 9.99998612e-01 6.89165028e-04 1.51691959e-03 9.17089445e+01] [-6.92785589e-04 9.99996910e-01 2.38755488e-03 4.86808198e+00] [-1.51526949e-03 -2.38860247e-03 9.99995999e-01 -1.24360613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.70140051299998 meters Centerline goodness [0,1] 0.8970494316004598 Centerline is valid? [False, False] Translation: X:91.70, Y:4.87, Z:-0.12 [[ 9.99995576e-01 -1.76270056e-03 2.39601074e-03 9.17023256e+01] [ 1.76277863e-03 9.99998446e-01 -3.04740054e-05 4.86788555e+00] [-2.39595330e-03 3.46975071e-05 9.99997129e-01 -1.20073108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.73140051299998 meters Centerline goodness [0,1] 0.9834000170256235 Centerline is valid? [False, True] Translation: X:91.70, Y:4.86, Z:-0.12 [[ 9.99996233e-01 -1.51022121e-03 2.29179934e-03 9.17026114e+01] [ 1.50882545e-03 9.99998675e-01 6.10631963e-04 4.86484787e+00] [-2.29271850e-03 -6.07171738e-04 9.99997187e-01 -1.19933628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.76140051299998 meters Centerline goodness [0,1] 0.9372706324144405 Centerline is valid? [True, False] Translation: X:91.70, Y:4.86, Z:-0.12 [[ 9.99996451e-01 -1.41981735e-03 2.25431584e-03 9.17027928e+01] [ 1.41799936e-03 9.99998668e-01 8.07844672e-04 4.86393800e+00] [-2.25545983e-03 -8.04645186e-04 9.99997133e-01 -1.20050091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.79140051299999 meters Centerline goodness [0,1] 0.8502502928959421 Centerline is valid? [False, False] Translation: X:91.70, Y:4.87, Z:-0.12 [[ 9.99995583e-01 -1.75187020e-03 2.40104726e-03 9.17026924e+01] [ 1.75250891e-03 9.99998430e-01 -2.63935494e-04 4.86909483e+00] [-2.40058111e-03 2.68142185e-04 9.99997083e-01 -1.20862521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.821400513 meters Centerline goodness [0,1] 0.9307923555937299 Centerline is valid? [False, False] Translation: X:91.70, Y:4.87, Z:-0.12 [[ 9.99994865e-01 -3.33984920e-05 3.20464429e-03 9.16967810e+01] [ 2.91098858e-05 9.99999104e-01 1.33828450e-03 4.86864408e+00] [-3.20468611e-03 -1.33818434e-03 9.99993970e-01 -1.17087212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.851400513 meters Centerline goodness [0,1] 0.7732239266432428 Centerline is valid? [False, False] Translation: X:91.70, Y:4.87, Z:-0.12 [[ 9.99995235e-01 -1.54604010e-04 3.08313885e-03 9.16974708e+01] [ 1.52514744e-04 9.99999759e-01 6.77865960e-04 4.87185249e+00] [-3.08324291e-03 -6.77392506e-04 9.99995017e-01 -1.17802335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.881400513 meters Centerline goodness [0,1] 0.690736403851158 Centerline is valid? [False, False] Translation: X:91.68, Y:4.87, Z:-0.11 [[ 9.99992949e-01 3.59244005e-03 -1.09354012e-03 9.16755082e+01] [-3.59922414e-03 9.99973889e-01 -6.26635705e-03 4.87476421e+00] [ 1.07100006e-03 6.27024877e-03 9.99979768e-01 -1.13942154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.911400513 meters Centerline goodness [0,1] 0.45943458813961946 Centerline is valid? [False, False] Translation: X:91.68, Y:4.87, Z:-0.12 [[ 9.99941975e-01 1.05526949e-02 -2.16491206e-03 9.16831276e+01] [-1.05506371e-02 9.99943880e-01 9.59761606e-04 4.87080452e+00] [ 2.17491864e-03 -9.36864715e-04 9.99997196e-01 -1.18722493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.941400513 meters Centerline goodness [0,1] 0.44295359370993936 Centerline is valid? [False, False] Translation: X:91.68, Y:4.88, Z:-0.12 [[ 9.99945793e-01 1.02183472e-02 -1.99925775e-03 9.16830289e+01] [-1.02185811e-02 9.99947783e-01 -1.06822112e-04 4.87588306e+00] [ 1.99806181e-03 1.27245899e-04 9.99997996e-01 -1.19724765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.971400513 meters Centerline goodness [0,1] 0.32775058523090017 Centerline is valid? [False, False] Translation: X:91.68, Y:4.88, Z:-0.12 [[ 9.99949227e-01 9.90294223e-03 -1.86429955e-03 9.16827011e+01] [-9.90478247e-03 9.99950466e-01 -9.80459592e-04 4.88004072e+00] [ 1.85449777e-03 9.98875292e-04 9.99997782e-01 -1.20060810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.001400513 meters Centerline goodness [0,1] 0.4467902873538606 Centerline is valid? [False, False] Translation: X:91.68, Y:4.88, Z:-0.12 [[ 9.99950759e-01 9.76513660e-03 -1.76708797e-03 9.16822580e+01] [-9.76746527e-03 9.99951434e-01 -1.31400086e-03 4.88163562e+00] [ 1.75417076e-03 1.33119613e-03 9.99997575e-01 -1.19857605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.031400513 meters Centerline goodness [0,1] 0.586150915624053 Centerline is valid? [False, False] Translation: X:91.68, Y:4.88, Z:-0.12 [[ 9.99952121e-01 9.63689447e-03 -1.69874360e-03 9.16815882e+01] [-9.63950600e-03 9.99952359e-01 -1.53590598e-03 4.88272383e+00] [ 1.68386131e-03 1.55220749e-03 9.99997378e-01 -1.18948540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.061400513 meters Centerline goodness [0,1] 0.4259868774873615 Centerline is valid? [False, False] Translation: X:91.68, Y:4.89, Z:-0.12 [[ 9.99954805e-01 9.35714862e-03 -1.68293765e-03 9.16814700e+01] [-9.36070887e-03 9.99953940e-01 -2.12020519e-03 4.88545294e+00] [ 1.66302106e-03 2.13586286e-03 9.99996336e-01 -1.18821928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.091400513 meters Centerline goodness [0,1] 0.44150344097406036 Centerline is valid? [False, False] Translation: X:91.70, Y:4.88, Z:-0.11 [[ 9.99959573e-01 8.65544721e-03 -2.43624256e-03 9.17016523e+01] [-8.63614216e-03 9.99932082e-01 7.82611553e-03 4.88303333e+00] [ 2.50381563e-03 -7.80475941e-03 9.99966408e-01 -1.14944328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.121400513 meters Centerline goodness [0,1] 0.45846787899388175 Centerline is valid? [False, False] Translation: X:91.70, Y:4.89, Z:-0.12 [[ 9.99990649e-01 3.72855964e-03 -2.19087082e-03 9.17012382e+01] [-3.72531856e-03 9.99991963e-01 1.48157871e-03 4.89277635e+00] [ 2.19637737e-03 -1.47340316e-03 9.99996502e-01 -1.16143185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.151400513 meters Centerline goodness [0,1] 0.4610540201272313 Centerline is valid? [False, False] Translation: X:91.70, Y:4.89, Z:-0.12 [[ 9.99990665e-01 3.65479130e-03 -2.30470471e-03 9.17015624e+01] [-3.65157221e-03 9.99992354e-01 1.39941148e-03 4.89310307e+00] [ 2.30980165e-03 -1.39098262e-03 9.99996365e-01 -1.16041749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.181400513 meters Centerline goodness [0,1] 0.5793967596644396 Centerline is valid? [False, False] Translation: X:91.70, Y:4.89, Z:-0.12 [[ 9.99990363e-01 3.63532120e-03 -2.46147741e-03 9.17019843e+01] [-3.63181971e-03 9.99992389e-01 1.42549226e-03 4.89294651e+00] [ 2.46664079e-03 -1.41653888e-03 9.99995955e-01 -1.15857159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.211400513 meters Centerline goodness [0,1] 0.6905285638013882 Centerline is valid? [False, False] Translation: X:91.70, Y:4.90, Z:-0.12 [[ 9.99990923e-01 3.34745363e-03 -2.63613007e-03 9.17024332e+01] [-3.34497813e-03 9.99993961e-01 9.42916207e-04 4.89512905e+00] [ 2.63927052e-03 -9.34089851e-04 9.99996081e-01 -1.15591961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.24140051299997 meters Centerline goodness [0,1] 0.7851916450419024 Centerline is valid? [False, False] Translation: X:91.70, Y:4.90, Z:-0.12 [[ 9.99991603e-01 3.11744796e-03 -2.66005525e-03 9.17024334e+01] [-3.11623566e-03 9.99995039e-01 4.59764681e-04 4.89739143e+00] [ 2.66147535e-03 -4.51471461e-04 9.99996356e-01 -1.15461242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.27140051299997 meters Centerline goodness [0,1] 0.8786240468702882 Centerline is valid? [False, False] Translation: X:91.66, Y:4.90, Z:-0.11 [[ 9.99985719e-01 1.80956585e-03 -5.02866572e-03 9.16596539e+01] [-1.80666819e-03 9.99998199e-01 5.80712289e-04 4.89613606e+00] [ 5.02970750e-03 -5.71618865e-04 9.99987188e-01 -1.14762355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.30140051299998 meters Centerline goodness [0,1] 0.9463911798641084 Centerline is valid? [False, False] Translation: X:91.66, Y:4.90, Z:-0.11 [[ 9.99985782e-01 1.68081928e-03 -5.06075604e-03 9.16594831e+01] [-1.67874518e-03 9.99998505e-01 4.14058292e-04 4.89687973e+00] [ 5.06144443e-03 -4.05556685e-04 9.99987109e-01 -1.14241241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.33140051299998 meters Centerline goodness [0,1] 0.7525963041476628 Centerline is valid? [False, False] Translation: X:91.66, Y:4.90, Z:-0.11 [[ 9.99985325e-01 1.75531261e-03 -5.12526282e-03 9.16596027e+01] [-1.75216520e-03 9.99998274e-01 6.18521806e-04 4.89590160e+00] [ 5.12633967e-03 -6.09532422e-04 9.99986674e-01 -1.14054034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.36140051299998 meters Centerline goodness [0,1] 0.747341049086685 Centerline is valid? [False, False] Translation: X:91.66, Y:4.90, Z:-0.11 [[ 9.99985036e-01 1.77765303e-03 -5.17383619e-03 9.16597402e+01] [-1.77412393e-03 9.99998191e-01 6.86613742e-04 4.89556142e+00] [ 5.17504739e-03 -6.77424441e-04 9.99986380e-01 -1.14005284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.39140051299998 meters Centerline goodness [0,1] 0.9798992821172184 Centerline is valid? [False, True] Translation: X:91.66, Y:4.90, Z:-0.11 [[ 9.99985304e-01 1.64130712e-03 -5.16693638e-03 9.16597705e+01] [-1.63924969e-03 9.99998575e-01 4.02402623e-04 4.89685660e+00] [ 5.16758948e-03 -3.93926811e-04 9.99986570e-01 -1.14122972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.42140051299998 meters Centerline goodness [0,1] 0.7699538540420441 Centerline is valid? [True, False] Translation: X:91.66, Y:4.90, Z:-0.11 [[ 9.99985481e-01 1.44593086e-03 -5.19100548e-03 9.16598981e+01] [-1.44610979e-03 9.99998954e-01 -3.07165797e-05 4.89887178e+00] [ 5.19095563e-03 3.82228976e-05 9.99986526e-01 -1.14235799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.45140051299998 meters Centerline goodness [0,1] 0.7330129232083733 Centerline is valid? [False, False] Translation: X:91.66, Y:4.90, Z:-0.11 [[ 9.99985634e-01 1.29716699e-03 -5.20094125e-03 9.16599554e+01] [-1.29905335e-03 9.99999092e-01 -3.59332659e-04 4.90040920e+00] [ 5.20047041e-03 3.66083797e-04 9.99986410e-01 -1.14274621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.48140051299998 meters Centerline goodness [0,1] 0.8502800882702427 Centerline is valid? [False, False] Translation: X:91.67, Y:4.90, Z:-0.12 [[ 9.99974240e-01 3.84962873e-03 -6.05799406e-03 9.16663270e+01] [-3.83622641e-03 9.99990172e-01 2.22240452e-03 4.89850527e+00] [ 6.06648996e-03 -2.19910744e-03 9.99979181e-01 -1.17947014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.51140051299998 meters Centerline goodness [0,1] 0.9430292598967298 Centerline is valid? [False, False] Translation: X:91.62, Y:4.90, Z:-0.12 [[ 9.99955786e-01 3.41166132e-03 -8.76285052e-03 9.16243038e+01] [-3.38837314e-03 9.99990692e-01 2.67107525e-03 4.89703187e+00] [ 8.77188176e-03 -2.64126534e-03 9.99958038e-01 -1.17712960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.54140051299999 meters Centerline goodness [0,1] 0.6538725742744289 Centerline is valid? [False, False] Translation: X:91.62, Y:4.90, Z:-0.12 [[ 9.99957825e-01 3.11892628e-03 -8.63830709e-03 9.16241236e+01] [-3.10383282e-03 9.99993634e-01 1.76012634e-03 4.90138813e+00] [ 8.64374180e-03 -1.73324025e-03 9.99961140e-01 -1.18221750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.571400513 meters Centerline goodness [0,1] 0.6538725742744289 Centerline is valid? [False, False] Translation: X:91.62, Y:4.90, Z:-0.12 [[ 9.99957825e-01 3.11892628e-03 -8.63830709e-03 9.16241236e+01] [-3.10383282e-03 9.99993634e-01 1.76012634e-03 4.90138813e+00] [ 8.64374180e-03 -1.73324025e-03 9.99961140e-01 -1.18221750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.601400513 meters Centerline goodness [0,1] 0.3903836731215782 Centerline is valid? [False, False] Translation: X:91.62, Y:4.91, Z:-0.12 [[ 9.99958773e-01 2.85546345e-03 -8.61966556e-03 9.16242702e+01] [-2.84999301e-03 9.99995730e-01 6.46862934e-04 4.90688769e+00] [ 8.62147584e-03 -6.22270280e-04 9.99962641e-01 -1.18800514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.631400513 meters Centerline goodness [0,1] 0.3971743873249878 Centerline is valid? [False, False] Translation: X:91.62, Y:4.91, Z:-0.12 [[ 9.99938166e-01 7.08513424e-03 -8.57111723e-03 9.16246168e+01] [-7.05081683e-03 9.99967032e-01 4.02745799e-03 4.91164979e+00] [ 8.59936974e-03 -3.96677558e-03 9.99955157e-01 -1.19755109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.661400513 meters Centerline goodness [0,1] 0.46716565153984735 Centerline is valid? [False, False] Translation: X:91.62, Y:4.92, Z:-0.12 [[ 9.99942000e-01 7.00937900e-03 -8.17713200e-03 9.16236642e+01] [-6.98634123e-03 9.99971555e-01 2.84251216e-03 4.91782762e+00] [ 8.19682365e-03 -2.78521906e-03 9.99962527e-01 -1.20627161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.691400513 meters Centerline goodness [0,1] 0.4379802649885486 Centerline is valid? [False, False] Translation: X:91.62, Y:4.92, Z:-0.12 [[ 9.99945944e-01 6.65806777e-03 -7.98615958e-03 9.16233169e+01] [-6.64694481e-03 9.99976903e-01 1.41851415e-03 4.92479404e+00] [ 7.99541968e-03 -1.36535391e-03 9.99967104e-01 -1.21435730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.721400513 meters Centerline goodness [0,1] 0.3501507150950254 Centerline is valid? [False, False] Translation: X:91.62, Y:4.94, Z:-0.12 [[ 9.99952300e-01 6.14919272e-03 -7.58845493e-03 9.16220922e+01] [-6.15831715e-03 9.99980342e-01 -1.17962826e-03 4.93805992e+00] [ 7.58105199e-03 1.22630410e-03 9.99970511e-01 -1.22062580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.751400513 meters Centerline goodness [0,1] 0.330790213963004 Centerline is valid? [False, False] Translation: X:91.62, Y:4.94, Z:-0.12 [[ 9.99956118e-01 5.65992272e-03 -7.46502752e-03 9.16215379e+01] [-5.67715784e-03 9.99981264e-01 -2.28961471e-03 4.94329350e+00] [ 7.45192861e-03 2.33189438e-03 9.99969515e-01 -1.21873101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.781400513 meters Centerline goodness [0,1] 0.3614284505373614 Centerline is valid? [False, False] Translation: X:91.62, Y:4.94, Z:-0.12 [[ 9.99923577e-01 9.41682907e-03 -8.01025310e-03 9.16230181e+01] [-9.39711306e-03 9.99952732e-01 2.49543407e-03 4.93975970e+00] [ 8.03337355e-03 -2.41997011e-03 9.99964804e-01 -1.20825576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.811400513 meters Centerline goodness [0,1] 0.42389755153268527 Centerline is valid? [False, False] Translation: X:91.62, Y:4.94, Z:-0.12 [[ 9.99925073e-01 9.26242888e-03 -8.00350080e-03 9.16225443e+01] [-9.24426160e-03 9.99954617e-01 2.30393755e-03 4.94064282e+00] [ 8.02447763e-03 -2.22977847e-03 9.99965317e-01 -1.19974399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.841400513 meters Centerline goodness [0,1] 0.4161839899857849 Centerline is valid? [False, False] Translation: X:91.62, Y:4.95, Z:-0.12 [[ 9.99960889e-01 4.18005988e-03 -7.79401300e-03 9.16216662e+01] [-4.20901909e-03 9.99984286e-01 -3.70287770e-03 4.94857289e+00] [ 7.77841227e-03 3.73553803e-03 9.99962770e-01 -1.19947285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.871400513 meters Centerline goodness [0,1] 0.5381234473533346 Centerline is valid? [False, False] Translation: X:91.62, Y:4.96, Z:-0.12 [[ 9.99967270e-01 -1.26336393e-03 -7.99148022e-03 9.16220723e+01] [ 1.18597366e-03 9.99952431e-01 -9.68143333e-03 4.95579181e+00] [ 8.00333124e-03 9.67163876e-03 9.99921200e-01 -1.19688911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.901400513 meters Centerline goodness [0,1] 0.5851685583601558 Centerline is valid? [False, False] Translation: X:91.62, Y:4.96, Z:-0.12 [[ 9.99964572e-01 -1.65986234e-03 -8.25222126e-03 9.16228193e+01] [ 1.57940119e-03 9.99951247e-01 -9.74721610e-03 4.95562175e+00] [ 8.26799798e-03 9.73383721e-03 9.99918443e-01 -1.19392568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.931400513 meters Centerline goodness [0,1] 0.8051297422283121 Centerline is valid? [False, False] Translation: X:91.62, Y:4.96, Z:-0.12 [[ 9.99962994e-01 -1.85829194e-03 -8.39979534e-03 9.16230307e+01] [ 1.77545502e-03 9.99949828e-01 -9.85850153e-03 4.95598967e+00] [ 8.41769387e-03 9.84322325e-03 9.99916123e-01 -1.18804129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.96140051299997 meters Centerline goodness [0,1] 0.7364489602617643 Centerline is valid? [False, False] Translation: X:91.62, Y:4.96, Z:-0.12 [[ 9.99962045e-01 -2.00980612e-03 -8.47756632e-03 9.16230151e+01] [ 1.92391748e-03 9.99946867e-01 -1.01273016e-02 4.95724887e+00] [ 8.49746979e-03 1.01106071e-02 9.99912781e-01 -1.18254417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.99140051299997 meters Centerline goodness [0,1] 0.9587551475634866 Centerline is valid? [False, True] Translation: X:91.62, Y:4.95, Z:-0.12 [[ 9.99960689e-01 1.94554534e-03 -8.65074334e-03 9.16232507e+01] [-1.99210462e-03 9.99983561e-01 -5.37675775e-03 4.95440735e+00] [ 8.64014040e-03 5.39377957e-03 9.99948126e-01 -1.17391077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.02140051299997 meters Centerline goodness [0,1] 0.910632427843803 Centerline is valid? [True, False] Translation: X:91.64, Y:4.95, Z:-0.11 [[ 9.99906915e-01 3.68227812e-03 -1.31378320e-02 9.16381317e+01] [-3.67191531e-03 9.99992928e-01 8.12810464e-04 4.95004577e+00] [ 1.31407321e-02 -7.64493797e-04 9.99913365e-01 -1.12350682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.05140051299998 meters Centerline goodness [0,1] 0.7192039076224346 Centerline is valid? [False, False] Translation: X:91.64, Y:4.95, Z:-0.11 [[ 9.99907475e-01 3.44186312e-03 -1.31603958e-02 9.16384923e+01] [-3.43933375e-03 9.99994062e-01 2.14823133e-04 4.95283469e+00] [ 1.31610570e-02 -1.69540263e-04 9.99913375e-01 -1.12943592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.08140051299998 meters Centerline goodness [0,1] 0.8730462927473276 Centerline is valid? [False, False] Translation: X:91.66, Y:4.97, Z:-0.12 [[ 9.99955068e-01 4.90279344e-03 -8.11326057e-03 9.16611044e+01] [-4.98479284e-03 9.99936390e-01 -1.01176702e-02 4.96576333e+00] [ 8.06313964e-03 1.01576586e-02 9.99915900e-01 -1.18974471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.11140051299998 meters Centerline goodness [0,1] 0.5788425690560922 Centerline is valid? [False, False] Translation: X:91.66, Y:4.96, Z:-0.12 [[ 9.99880870e-01 1.29012732e-02 -8.47366593e-03 9.16624896e+01] [-1.29065554e-02 9.99916545e-01 -5.68977230e-04 4.95925892e+00] [ 8.46561823e-03 6.78275286e-04 9.99963936e-01 -1.18531998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.14140051299998 meters Centerline goodness [0,1] 0.6583901539517132 Centerline is valid? [False, False] Translation: X:91.66, Y:4.97, Z:-0.12 [[ 9.99826776e-01 1.66714356e-02 -8.27537528e-03 9.16622726e+01] [-1.66533274e-02 9.99858787e-01 2.25231553e-03 4.96637981e+00] [ 8.31175603e-03 -2.11411284e-03 9.99963222e-01 -1.19060608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.17140051299998 meters Centerline goodness [0,1] 0.6607005553182401 Centerline is valid? [False, False] Translation: X:91.66, Y:4.97, Z:-0.12 [[ 9.99835950e-01 1.61752342e-02 -8.15071776e-03 9.16621760e+01] [-1.61704334e-02 9.99869036e-01 6.54559170e-04 4.97409059e+00] [ 8.16023796e-03 -5.22651151e-04 9.99966568e-01 -1.19822365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.20140051299998 meters Centerline goodness [0,1] 0.5237790982471833 Centerline is valid? [False, False] Translation: X:91.66, Y:4.98, Z:-0.12 [[ 9.99844971e-01 1.56584012e-02 -8.05291276e-03 9.16619762e+01] [-1.56662744e-02 9.99876857e-01 -9.15538128e-04 4.98164305e+00] [ 8.03758524e-03 1.04155533e-03 9.99967156e-01 -1.20218745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.23140051299998 meters Centerline goodness [0,1] 0.6151495588551754 Centerline is valid? [False, False] Translation: X:91.66, Y:4.99, Z:-0.12 [[ 9.99854487e-01 1.50753017e-02 -7.98373707e-03 9.16618329e+01] [-1.50948314e-02 9.99883206e-01 -2.39160063e-03 4.98859849e+00] [ 7.94675052e-03 2.51176578e-03 9.99965269e-01 -1.20511547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.26140051299998 meters Centerline goodness [0,1] 0.4610938099910413 Centerline is valid? [False, False] Translation: X:91.66, Y:4.99, Z:-0.12 [[ 9.99778264e-01 1.93302531e-02 -8.35253835e-03 9.16632723e+01] [-1.93130159e-02 9.99811197e-01 2.13946425e-03 4.98735466e+00] [ 8.39231775e-03 -1.97767715e-03 9.99962828e-01 -1.20480988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.29140051299999 meters Centerline goodness [0,1] 0.532249483965697 Centerline is valid? [False, False] Translation: X:91.66, Y:4.99, Z:-0.12 [[ 9.99791894e-01 1.86172147e-02 -8.34074706e-03 9.16630389e+01] [-1.86131791e-02 9.99826602e-01 5.61222021e-04 4.99475478e+00] [ 8.34974919e-03 -4.05857408e-04 9.99965058e-01 -1.20223825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.321400513 meters Centerline goodness [0,1] 0.442766497461929 Centerline is valid? [False, False] Translation: X:91.66, Y:5.00, Z:-0.12 [[ 9.99795845e-01 1.84058449e-02 -8.33623412e-03 9.16626184e+01] [-1.84046776e-02 9.99830596e-01 2.16732337e-04 4.99634553e+00] [ 8.33881107e-03 -6.32623885e-05 9.99965230e-01 -1.19501079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.351400513 meters Centerline goodness [0,1] 0.6731637390615974 Centerline is valid? [False, False] Translation: X:91.66, Y:5.00, Z:-0.12 [[ 9.99834199e-01 1.66673960e-02 -7.33295160e-03 9.16569780e+01] [-1.66778440e-02 9.99859982e-01 -1.36595504e-03 4.99979525e+00] [ 7.30915794e-03 1.48802638e-03 9.99972181e-01 -1.16536569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.381400513 meters Centerline goodness [0,1] 0.6900363448676315 Centerline is valid? [False, False] Translation: X:91.65, Y:5.00, Z:-0.11 [[ 9.99868619e-01 1.49693025e-02 -6.21812466e-03 9.16513367e+01] [-1.49860404e-02 9.99884181e-01 -2.65396674e-03 5.00178436e+00] [ 6.17767645e-03 2.74680312e-03 9.99977145e-01 -1.13888740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.411400513 meters Centerline goodness [0,1] 0.7757433118130979 Centerline is valid? [False, False] Translation: X:91.65, Y:5.00, Z:-0.11 [[ 9.99955516e-01 5.63286837e-03 -7.56549472e-03 9.16500003e+01] [-5.56738375e-03 9.99947098e-01 8.64904386e-03 4.99694964e+00] [ 7.61381342e-03 -8.60653911e-03 9.99933976e-01 -1.12041220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.441400513 meters Centerline goodness [0,1] 0.8300142701965879 Centerline is valid? [False, False] Translation: X:91.69, Y:5.01, Z:-0.11 [[ 9.99985346e-01 1.19065392e-03 -5.28109571e-03 9.16908694e+01] [-1.18609271e-03 9.99998921e-01 8.66734619e-04 5.00994369e+00] [ 5.28212199e-03 -8.60458049e-04 9.99985679e-01 -1.12704387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.471400513 meters Centerline goodness [0,1] 0.8818003663783922 Centerline is valid? [False, False] Translation: X:91.69, Y:5.01, Z:-0.11 [[ 9.99984277e-01 1.23433505e-03 -5.47004796e-03 9.16914899e+01] [-1.22857283e-03 9.99998687e-01 1.05664783e-03 5.00900631e+00] [ 5.47134503e-03 -1.04991086e-03 9.99984481e-01 -1.12659370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.501400513 meters Centerline goodness [0,1] 0.9660925610571016 Centerline is valid? [False, True] Translation: X:91.69, Y:5.01, Z:-0.11 [[ 9.99983128e-01 1.37676045e-03 -5.64350998e-03 9.16923346e+01] [-1.36883422e-03 9.99998072e-01 1.40810712e-03 5.00733163e+00] [ 5.64543772e-03 -1.40035833e-03 9.99983084e-01 -1.13166997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.531400513 meters Centerline goodness [0,1] 0.8915508531535242 Centerline is valid? [True, False] Translation: X:91.69, Y:5.01, Z:-0.11 [[ 9.99983393e-01 1.33610701e-03 -5.60606729e-03 9.16923779e+01] [-1.32879465e-03 9.99998262e-01 1.30788820e-03 5.00777447e+00] [ 5.60780502e-03 -1.30041717e-03 9.99983431e-01 -1.13517511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.561400513 meters Centerline goodness [0,1] 0.7815953002057221 Centerline is valid? [False, False] Translation: X:91.73, Y:5.01, Z:-0.11 [[ 9.99993230e-01 1.74243666e-03 -3.24097959e-03 9.17345783e+01] [-1.74114143e-03 9.99998403e-01 4.02419606e-04 5.01263285e+00] [ 3.24167561e-03 -3.96773878e-04 9.99994667e-01 -1.14440108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.591400513 meters Centerline goodness [0,1] 0.8430646054256633 Centerline is valid? [False, False] Translation: X:91.73, Y:5.01, Z:-0.11 [[ 9.99993618e-01 1.72329738e-03 -3.12966568e-03 9.17341052e+01] [-1.72230319e-03 9.99998466e-01 3.20335406e-04 5.01304670e+00] [ 3.13021291e-03 -3.14943128e-04 9.99995051e-01 -1.14266953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.621400513 meters Centerline goodness [0,1] 0.7564061669324827 Centerline is valid? [False, False] Translation: X:91.73, Y:5.01, Z:-0.11 [[ 9.99993567e-01 1.77417912e-03 -3.11755685e-03 9.17338660e+01] [-1.77287650e-03 9.99998340e-01 4.20549146e-04 5.01258569e+00] [ 3.11829781e-03 -4.15019397e-04 9.99995052e-01 -1.13895299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.651400513 meters Centerline goodness [0,1] 0.8280103026400515 Centerline is valid? [False, False] Translation: X:91.73, Y:5.01, Z:-0.11 [[ 9.99992798e-01 2.11309381e-03 -3.15262334e-03 9.17338659e+01] [-2.10934907e-03 9.99997066e-01 1.19067036e-03 5.00900012e+00] [ 3.15513009e-03 -1.18401180e-03 9.99994322e-01 -1.13609010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.681400513 meters Centerline goodness [0,1] 0.7593564631075833 Centerline is valid? [False, False] Translation: X:91.73, Y:5.01, Z:-0.11 [[ 9.99992262e-01 2.29902865e-03 -3.19210978e-03 9.17341096e+01] [-2.29385634e-03 9.99996052e-01 1.62305943e-03 5.00695663e+00] [ 3.19582863e-03 -1.61572463e-03 9.99993588e-01 -1.13818681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.71140051299997 meters Centerline goodness [0,1] 0.7912615121010923 Centerline is valid? [False, False] Translation: X:91.73, Y:5.00, Z:-0.11 [[ 9.99991654e-01 2.51473529e-03 -3.21989879e-03 9.17343035e+01] [-2.50787891e-03 9.99994583e-01 2.13164747e-03 5.00455794e+00] [ 3.22524187e-03 -2.12355456e-03 9.99992544e-01 -1.13991172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.74140051299997 meters Centerline goodness [0,1] 0.7123725036427531 Centerline is valid? [False, False] Translation: X:91.73, Y:5.00, Z:-0.11 [[ 9.99991019e-01 2.75590609e-03 -3.21991915e-03 9.17343686e+01] [-2.74722204e-03 9.99992586e-01 2.69829556e-03 5.00189308e+00] [ 3.22733153e-03 -2.68942549e-03 9.99991176e-01 -1.14084634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.77140051299997 meters Centerline goodness [0,1] 0.671362907536077 Centerline is valid? [False, False] Translation: X:91.73, Y:5.00, Z:-0.11 [[ 9.99989867e-01 3.06741257e-03 -3.29512180e-03 9.17349524e+01] [-3.05625112e-03 9.99989594e-01 3.38697752e-03 4.99864618e+00] [ 3.30547677e-03 -3.37687248e-03 9.99988835e-01 -1.14696593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.80140051299998 meters Centerline goodness [0,1] 0.8445727036711224 Centerline is valid? [False, False] Translation: X:91.74, Y:5.00, Z:-0.12 [[ 9.99989424e-01 3.12270417e-03 -3.37643644e-03 9.17354403e+01] [-3.11091167e-03 9.99989063e-01 3.49221666e-03 4.99814099e+00] [ 3.38730467e-03 -3.48167593e-03 9.99988202e-01 -1.15116089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.83140051299998 meters Centerline goodness [0,1] 0.5814475766779312 Centerline is valid? [False, False] Translation: X:91.74, Y:5.00, Z:-0.12 [[ 9.99989127e-01 3.13508073e-03 -3.45225430e-03 9.17357747e+01] [-3.12301717e-03 9.99989018e-01 3.49426279e-03 4.99812516e+00] [ 3.46317118e-03 -3.48344334e-03 9.99987936e-01 -1.15281137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.86140051299998 meters Centerline goodness [0,1] 0.5828648671844827 Centerline is valid? [False, False] Translation: X:91.74, Y:5.00, Z:-0.12 [[ 9.99989067e-01 3.19295074e-03 -3.41632004e-03 9.17355964e+01] [-3.18066270e-03 9.99988475e-01 3.59627209e-03 4.99767027e+00] [ 3.42776339e-03 -3.58536661e-03 9.99987698e-01 -1.15183354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.89140051299998 meters Centerline goodness [0,1] 0.5507859862585353 Centerline is valid? [False, False] Translation: X:91.73, Y:5.00, Z:-0.11 [[ 9.99989442e-01 3.37223820e-03 -3.12164969e-03 9.17344083e+01] [-3.36108966e-03 9.99987980e-01 3.56974473e-03 4.99806848e+00] [ 3.13365020e-03 -3.55921490e-03 9.99988756e-01 -1.14785427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.92140051299998 meters Centerline goodness [0,1] 0.6256509860838384 Centerline is valid? [False, False] Translation: X:91.73, Y:5.00, Z:-0.12 [[ 9.99990572e-01 3.14526610e-03 -2.99389933e-03 9.17340631e+01] [-3.13642757e-03 9.99990723e-01 2.95231111e-03 5.00100410e+00] [ 3.00315736e-03 -2.94289313e-03 9.99991160e-01 -1.15017301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.95140051299998 meters Centerline goodness [0,1] 0.3869575386447237 Centerline is valid? [False, False] Translation: X:91.73, Y:5.01, Z:-0.12 [[ 9.99991565e-01 2.83061635e-03 -2.97600139e-03 9.17342644e+01] [-2.82446848e-03 9.99993873e-01 2.06799030e-03 5.00519510e+00] [ 2.98183684e-03 -2.05956723e-03 9.99993433e-01 -1.15641372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.98140051299998 meters Centerline goodness [0,1] 0.6218494605203887 Centerline is valid? [False, False] Translation: X:91.73, Y:5.01, Z:-0.12 [[ 9.99992516e-01 2.52438998e-03 -2.93183449e-03 9.17343854e+01] [-2.52054715e-03 9.99995961e-01 1.31368127e-03 5.00870893e+00] [ 2.93513890e-03 -1.30628161e-03 9.99994839e-01 -1.16285209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.01140051299998 meters Centerline goodness [0,1] 0.6779261756569848 Centerline is valid? [False, False] Translation: X:91.73, Y:5.01, Z:-0.12 [[ 9.99993605e-01 2.27888193e-03 -2.75605501e-03 9.17335246e+01] [-2.27679036e-03 9.99997118e-01 7.61802098e-04 5.01128723e+00] [ 2.75778312e-03 -7.55522267e-04 9.99995912e-01 -1.15800260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.04140051299999 meters Centerline goodness [0,1] 0.6586540510591143 Centerline is valid? [False, False] Translation: X:91.77, Y:5.02, Z:-0.12 [[ 9.99997876e-01 1.94983701e-03 6.67378631e-04 9.17725091e+01] [-1.94958371e-03 9.99998027e-01 -3.79984525e-04 5.01604233e+00] [-6.68118222e-04 3.78682607e-04 9.99999705e-01 -1.15227759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.071400513 meters Centerline goodness [0,1] 0.5972389471873387 Centerline is valid? [False, False] Translation: X:91.77, Y:5.02, Z:-0.11 [[ 9.99997806e-01 1.99745269e-03 6.30507622e-04 9.17724364e+01] [-1.99733216e-03 9.99997987e-01 -1.91735623e-04 5.01513348e+00] [-6.30889336e-04 1.90475870e-04 9.99999783e-01 -1.14824762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.101400513 meters Centerline goodness [0,1] 0.758099025307428 Centerline is valid? [False, False] Translation: X:91.77, Y:5.01, Z:-0.11 [[ 9.99997816e-01 2.02081111e-03 5.32731793e-04 9.17727556e+01] [-2.02077763e-03 9.99997956e-01 -6.33690881e-05 5.01449841e+00] [-5.32858762e-04 6.22924173e-05 9.99999856e-01 -1.14815559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.131400513 meters Centerline goodness [0,1] 0.5677167703981585 Centerline is valid? [False, False] Translation: X:91.82, Y:5.02, Z:-0.12 [[ 9.99995179e-01 2.04122722e-03 2.34002713e-03 9.18165230e+01] [-2.04019677e-03 9.99997821e-01 -4.42662352e-04 5.01824913e+00] [-2.34092560e-03 4.37886102e-04 9.99997164e-01 -1.16442301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.161400513 meters Centerline goodness [0,1] 0.7806891215097909 Centerline is valid? [False, False] Translation: X:91.81, Y:5.02, Z:-0.11 [[ 9.99995123e-01 -6.45599127e-05 3.12235511e-03 9.18108294e+01] [ 7.26833018e-05 9.99996613e-01 -2.60164301e-03 5.02123912e+00] [-3.12217657e-03 2.60185726e-03 9.99991741e-01 -1.13000065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.191400513 meters Centerline goodness [0,1] 0.7889604773847617 Centerline is valid? [False, False] Translation: X:91.81, Y:5.02, Z:-0.11 [[ 9.99995022e-01 -2.47997271e-04 3.14568475e-03 9.18107212e+01] [ 2.57550449e-04 9.99995356e-01 -3.03687366e-03 5.02328606e+00] [-3.14491700e-03 3.03766872e-03 9.99990441e-01 -1.12959544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.221400513 meters Centerline goodness [0,1] 0.7102386320132715 Centerline is valid? [False, False] Translation: X:91.85, Y:5.03, Z:-0.11 [[ 9.99984038e-01 1.01549489e-03 5.55802953e-03 9.18530548e+01] [-9.99503055e-04 9.99995355e-01 -2.87927100e-03 5.02886950e+00] [-5.56092760e-03 2.87366978e-03 9.99980409e-01 -1.14213498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.251400513 meters Centerline goodness [0,1] 0.7193583620671193 Centerline is valid? [False, False] Translation: X:91.85, Y:5.03, Z:-0.11 [[ 9.99984304e-01 7.61277216e-04 5.55087388e-03 9.18531843e+01] [-7.41663099e-04 9.99993478e-01 -3.53472153e-03 5.03195724e+00] [-5.55352857e-03 3.53054917e-03 9.99978347e-01 -1.14497311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.281400513 meters Centerline goodness [0,1] 0.7199578884042713 Centerline is valid? [False, False] Translation: X:91.85, Y:5.03, Z:-0.11 [[ 9.99983669e-01 6.23071024e-04 5.68093670e-03 9.18523833e+01] [-6.00879352e-04 9.99992186e-01 -3.90721065e-03 5.03376144e+00] [-5.68332678e-03 3.90373329e-03 9.99976230e-01 -1.13790856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.311400513 meters Centerline goodness [0,1] 0.740576352653344 Centerline is valid? [False, False] Translation: X:91.83, Y:5.03, Z:-0.12 [[ 9.99936327e-01 -7.82395737e-04 1.12574527e-02 9.18312158e+01] [ 7.51853668e-04 9.99996026e-01 2.71702970e-03 5.02666223e+00] [-1.12595337e-02 -2.70839274e-03 9.99932942e-01 -1.18378595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.341400513 meters Centerline goodness [0,1] 0.6810080163738701 Centerline is valid? [False, False] Translation: X:91.87, Y:5.03, Z:-0.12 [[ 9.99899129e-01 -1.81725604e-03 1.40865023e-02 9.18722365e+01] [ 1.80470614e-03 9.99997963e-01 9.03576915e-04 5.03105482e+00] [-1.40881157e-02 -8.78063773e-04 9.99900372e-01 -1.19323822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.371400513 meters Centerline goodness [0,1] 0.7687171229200215 Centerline is valid? [False, False] Translation: X:91.85, Y:5.02, Z:-0.11 [[ 9.99958810e-01 -3.14778976e-03 8.51295240e-03 9.18499344e+01] [ 3.05324035e-03 9.99933767e-01 1.10968192e-02 5.01937687e+00] [-8.54731902e-03 -1.10703700e-02 9.99902190e-01 -1.12804556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.401400513 meters Centerline goodness [0,1] 0.6987040115956857 Centerline is valid? [False, False] Translation: X:91.85, Y:5.02, Z:-0.11 [[ 9.99933431e-01 -7.53884871e-03 8.73498099e-03 9.18491599e+01] [ 7.48346990e-03 9.99951803e-01 6.35532298e-03 5.02141945e+00] [-8.78247181e-03 -6.28953194e-03 9.99941653e-01 -1.12644365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.431400513 meters Centerline goodness [0,1] 0.71908794232451 Centerline is valid? [False, False] Translation: X:91.85, Y:5.02, Z:-0.11 [[ 9.99934291e-01 -7.43398588e-03 8.72638243e-03 9.18489791e+01] [ 7.37642282e-03 9.99950946e-01 6.61019453e-03 5.02024179e+00] [-8.77509445e-03 -6.54539069e-03 9.99940076e-01 -1.12181301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.46140051299997 meters Centerline goodness [0,1] 0.71908794232451 Centerline is valid? [False, False] Translation: X:91.85, Y:5.02, Z:-0.11 [[ 9.99934291e-01 -7.43398588e-03 8.72638243e-03 9.18489791e+01] [ 7.37642282e-03 9.99950946e-01 6.61019453e-03 5.02024179e+00] [-8.77509445e-03 -6.54539069e-03 9.99940076e-01 -1.12181301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.49140051299997 meters Centerline goodness [0,1] 0.7505045140732873 Centerline is valid? [False, False] Translation: X:91.85, Y:5.02, Z:-0.11 [[ 9.99933669e-01 -7.51158847e-03 8.73121566e-03 9.18488687e+01] [ 7.45589601e-03 9.99951764e-01 6.39369027e-03 5.02127859e+00] [-8.77882127e-03 -6.32816713e-03 9.99941442e-01 -1.12027227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.52140051299997 meters Centerline goodness [0,1] 0.7949284060704793 Centerline is valid? [False, False] Translation: X:91.83, Y:5.03, Z:-0.11 [[ 9.99974060e-01 -4.91934883e-03 5.26119740e-03 9.18267478e+01] [ 4.93260635e-03 9.99984685e-01 -2.50986798e-03 5.02606706e+00] [-5.24876991e-03 2.53575429e-03 9.99983010e-01 -1.08265311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.55140051299998 meters Centerline goodness [0,1] 0.5759081891678577 Centerline is valid? [False, False] Translation: X:91.83, Y:5.03, Z:-0.11 [[ 9.99987741e-01 -2.63777859e-03 4.19046869e-03 9.18343076e+01] [ 2.63890909e-03 9.99996483e-01 -2.64270727e-04 5.02632063e+00] [-4.18975687e-03 2.75325753e-04 9.99991185e-01 -1.13247316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.58140051299998 meters Centerline goodness [0,1] 0.6892464193747473 Centerline is valid? [False, False] Translation: X:91.83, Y:5.03, Z:-0.11 [[ 9.99988099e-01 -2.64441846e-03 4.09986729e-03 9.18347325e+01] [ 2.64907871e-03 9.99995851e-01 -1.13166999e-03 5.03083561e+00] [-4.09685767e-03 1.14251739e-03 9.99990955e-01 -1.13743504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.61140051299998 meters Centerline goodness [0,1] 0.5441157693126197 Centerline is valid? [False, False] Translation: X:91.83, Y:5.03, Z:-0.11 [[ 9.99987716e-01 -2.69805888e-03 4.15795037e-03 9.18343654e+01] [ 2.70358091e-03 9.99995470e-01 -1.32301869e-03 5.03178128e+00] [-4.15436195e-03 1.33424379e-03 9.99990480e-01 -1.13450249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.64140051299998 meters Centerline goodness [0,1] 0.6920032869128968 Centerline is valid? [False, False] Translation: X:91.79, Y:5.03, Z:-0.11 [[ 9.99997133e-01 -1.79135991e-03 1.58896222e-03 9.17919813e+01] [ 1.79015713e-03 9.99998110e-01 7.58061880e-04 5.02577714e+00] [-1.59031718e-03 -7.55215215e-04 9.99998450e-01 -1.12149290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.67140051299998 meters Centerline goodness [0,1] 0.6966936426191197 Centerline is valid? [False, False] Translation: X:91.79, Y:5.03, Z:-0.11 [[ 9.99996963e-01 -1.84914885e-03 1.62914349e-03 9.17917198e+01] [ 1.84813962e-03 9.99998100e-01 6.20772867e-04 5.02641878e+00] [-1.63028830e-03 -6.17760097e-04 9.99998480e-01 -1.11908964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.70140051299998 meters Centerline goodness [0,1] 0.5370767434454942 Centerline is valid? [False, False] Translation: X:91.83, Y:5.03, Z:-0.11 [[ 9.99990807e-01 -1.87211246e-03 3.85760743e-03 9.18343864e+01] [ 1.87136542e-03 9.99998230e-01 1.97254457e-04 5.03042953e+00] [-3.85796988e-03 -1.90033650e-04 9.99992540e-01 -1.13082800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.73140051299998 meters Centerline goodness [0,1] 0.7229024165362266 Centerline is valid? [False, False] Translation: X:91.81, Y:5.04, Z:-0.11 [[ 9.99997066e-01 -1.89110284e-03 1.51377184e-03 9.18121347e+01] [ 1.90860487e-03 9.99930371e-01 -1.16451584e-02 5.03569670e+00] [-1.49164424e-03 1.16480135e-02 9.99931047e-01 -1.10338283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.76140051299998 meters Centerline goodness [0,1] 0.7207804670007463 Centerline is valid? [False, False] Translation: X:91.81, Y:5.03, Z:-0.11 [[ 9.99997571e-01 1.93305225e-03 1.05896153e-03 9.18136416e+01] [-1.92648318e-03 9.99979112e-01 -6.16960970e-03 5.02833484e+00] [-1.07086559e-03 6.16755464e-03 9.99980407e-01 -1.10149973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.79140051299999 meters Centerline goodness [0,1] 0.6174948682860075 Centerline is valid? [False, False] Translation: X:91.81, Y:5.03, Z:-0.11 [[ 9.99997591e-01 1.95727573e-03 9.93642540e-04 9.18138958e+01] [-1.95119503e-03 9.99979588e-01 -6.08412439e-03 5.02792438e+00] [-1.00553057e-03 6.08217094e-03 9.99980998e-01 -1.10188681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.821400513 meters Centerline goodness [0,1] 0.6146665527406332 Centerline is valid? [False, False] Translation: X:91.81, Y:5.03, Z:-0.11 [[ 9.99997822e-01 1.86032574e-03 9.46493285e-04 9.18142081e+01] [-1.85430713e-03 9.99978306e-01 -6.32048057e-03 5.02902168e+00] [-9.58230905e-04 6.31871172e-03 9.99979578e-01 -1.10499020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.851400513 meters Centerline goodness [0,1] 0.839811263842806 Centerline is valid? [False, False] Translation: X:91.82, Y:5.02, Z:-0.11 [[ 9.99979742e-01 6.33555225e-03 6.13667252e-04 9.18154395e+01] [-6.33503226e-03 9.99979576e-01 -8.45615966e-04 5.02317891e+00] [-6.19012162e-04 8.41711234e-04 9.99999454e-01 -1.10616451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.881400513 meters Centerline goodness [0,1] 0.7258078414476519 Centerline is valid? [False, False] Translation: X:91.82, Y:5.02, Z:-0.11 [[ 9.99980069e-01 6.28565418e-03 5.93050489e-04 9.18156987e+01] [-6.28507137e-03 9.99979769e-01 -9.79536920e-04 5.02378618e+00] [-5.99195522e-04 9.75790032e-04 9.99999344e-01 -1.11039570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.911400513 meters Centerline goodness [0,1] 0.5631389183457052 Centerline is valid? [False, False] Translation: X:91.84, Y:5.02, Z:-0.12 [[ 9.99975153e-01 5.92891367e-03 3.81319806e-03 9.18386192e+01] [-5.96693678e-03 9.99931809e-01 1.00385928e-02 5.01756908e+00] [-3.75342009e-03 -1.00610965e-02 9.99942341e-01 -1.15237959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.941400513 meters Centerline goodness [0,1] 0.7412166488794023 Centerline is valid? [False, False] Translation: X:91.84, Y:5.02, Z:-0.11 [[ 9.99989742e-01 1.48367474e-03 4.27954640e-03 9.18368340e+01] [-1.50398056e-03 9.99987609e-01 4.74554402e-03 5.02246097e+00] [-4.27245253e-03 -4.75193170e-03 9.99979582e-01 -1.14920028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.971400513 meters Centerline goodness [0,1] 0.7361461226233711 Centerline is valid? [False, False] Translation: X:91.84, Y:5.02, Z:-0.11 [[ 9.99989639e-01 1.68964649e-03 4.22701494e-03 9.18368658e+01] [-1.71205459e-03 9.99984472e-01 5.30317624e-03 5.01981594e+00] [-4.21798882e-03 -5.31035818e-03 9.99977004e-01 -1.14565797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.001400513 meters Centerline goodness [0,1] 0.7388675213675213 Centerline is valid? [False, False] Translation: X:91.84, Y:5.02, Z:-0.11 [[ 9.99989620e-01 1.89664881e-03 4.14278642e-03 9.18369392e+01] [-1.92099412e-03 9.99980865e-01 5.88050142e-03 5.01708259e+00] [-4.13155390e-03 -5.88839865e-03 9.99974128e-01 -1.14087044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.031400513 meters Centerline goodness [0,1] 0.7494737289757384 Centerline is valid? [False, False] Translation: X:91.84, Y:5.01, Z:-0.11 [[ 9.99989227e-01 2.10145437e-03 4.13890687e-03 9.18368486e+01] [-2.12795442e-03 9.99977200e-01 6.40870689e-03 5.01458181e+00] [-4.12534489e-03 -6.41744525e-03 9.99970899e-01 -1.13840360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.061400513 meters Centerline goodness [0,1] 0.8091496532921147 Centerline is valid? [False, False] Translation: X:91.82, Y:5.02, Z:-0.12 [[ 9.99985709e-01 2.94776816e-03 4.46006227e-03 9.18160865e+01] [-2.92815942e-03 9.99986047e-01 -4.39667822e-03 5.01895985e+00] [-4.47296043e-03 4.38355561e-03 9.99980388e-01 -1.16495892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.091400513 meters Centerline goodness [0,1] 0.66589580522901 Centerline is valid? [False, False] Translation: X:91.82, Y:5.02, Z:-0.12 [[ 9.99985839e-01 3.18549888e-03 4.26318272e-03 9.18170946e+01] [-3.16883705e-03 9.99987338e-01 -3.90937167e-03 5.01668497e+00] [-4.27558204e-03 3.89580698e-03 9.99983271e-01 -1.17211474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.121400513 meters Centerline goodness [0,1] 0.8289332474779996 Centerline is valid? [False, False] Translation: X:91.82, Y:5.02, Z:-0.12 [[ 9.99985757e-01 3.29301805e-03 4.20017824e-03 9.18176136e+01] [-3.27749203e-03 9.99987791e-01 -3.69805680e-03 5.01568764e+00] [-4.21230472e-03 3.68423808e-03 9.99984341e-01 -1.17855283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.151400513 meters Centerline goodness [0,1] 0.725519921424606 Centerline is valid? [False, False] Translation: X:91.82, Y:5.02, Z:-0.12 [[ 9.99985502e-01 3.38053312e-03 4.19137305e-03 9.18177124e+01] [-3.36566725e-03 9.99988039e-01 -3.54877237e-03 5.01501326e+00] [-4.20331966e-03 3.53461415e-03 9.99984919e-01 -1.18000312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.181400513 meters Centerline goodness [0,1] 0.5946551209316213 Centerline is valid? [False, False] Translation: X:91.82, Y:5.01, Z:-0.12 [[ 9.99983885e-01 3.52466408e-03 4.45038896e-03 9.18163639e+01] [-3.50996559e-03 9.99988374e-01 -3.30624441e-03 5.01396185e+00] [-4.46199062e-03 3.29057042e-03 9.99984631e-01 -1.17021708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.21140051299997 meters Centerline goodness [0,1] 0.6503884572697003 Centerline is valid? [False, False] Translation: X:91.82, Y:5.01, Z:-0.12 [[ 9.99983410e-01 3.60277127e-03 4.49442532e-03 9.18160178e+01] [-3.58865692e-03 9.99988617e-01 -3.14453356e-03 5.01322441e+00] [-4.50570319e-03 3.12835244e-03 9.99984956e-01 -1.16630464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.24140051299997 meters Centerline goodness [0,1] 0.7102426454799227 Centerline is valid? [False, False] Translation: X:91.82, Y:5.01, Z:-0.12 [[ 9.99983316e-01 3.69114688e-03 4.44338712e-03 9.18162303e+01] [-3.67806484e-03 9.99988888e-01 -2.94873921e-03 5.01231468e+00] [-4.45422197e-03 2.93234695e-03 9.99985781e-01 -1.16728697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.27140051299997 meters Centerline goodness [0,1] 0.5814691045316192 Centerline is valid? [False, False] Translation: X:91.82, Y:5.01, Z:-0.12 [[ 9.99983556e-01 3.78952380e-03 4.30441789e-03 9.18168535e+01] [-3.77783124e-03 9.99989161e-01 -2.72129894e-03 5.01123547e+00] [-4.31468366e-03 2.70499283e-03 9.99987033e-01 -1.17049050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.30140051299998 meters Centerline goodness [0,1] 0.6941408621736491 Centerline is valid? [False, False] Translation: X:91.78, Y:5.01, Z:-0.12 [[ 9.99992558e-01 3.49923360e-03 1.62460030e-03 9.17751132e+01] [-3.49615321e-03 9.99992093e-01 -1.89507413e-03 5.00681054e+00] [-1.63121876e-03 1.88938017e-03 9.99996885e-01 -1.16671484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.33140051299998 meters Centerline goodness [0,1] 0.5746106714322186 Centerline is valid? [False, False] Translation: X:91.82, Y:5.01, Z:-0.12 [[ 9.99983438e-01 4.13720492e-03 4.00098476e-03 9.18172433e+01] [-4.12843852e-03 9.99989065e-01 -2.19684339e-03 5.01065114e+00] [-4.01002980e-03 2.18028919e-03 9.99989583e-01 -1.17490990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.36140051299998 meters Centerline goodness [0,1] 0.6943025120256547 Centerline is valid? [False, False] Translation: X:91.82, Y:5.01, Z:-0.12 [[ 9.99983484e-01 4.16391977e-03 3.96145152e-03 9.18174145e+01] [-4.15550406e-03 9.99989097e-01 -2.13026532e-03 5.01032769e+00] [-3.97027858e-03 2.11376831e-03 9.99989884e-01 -1.17566402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.39140051299998 meters Centerline goodness [0,1] 0.6872738174264974 Centerline is valid? [False, False] Translation: X:91.82, Y:5.01, Z:-0.12 [[ 9.99983508e-01 4.18786818e-03 3.93016025e-03 9.18176974e+01] [-4.17969377e-03 9.99989090e-01 -2.08583098e-03 5.01010319e+00] [-3.93885255e-03 2.06936971e-03 9.99990102e-01 -1.17924871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.42140051299998 meters Centerline goodness [0,1] 0.676705791306591 Centerline is valid? [False, False] Translation: X:91.82, Y:5.01, Z:-0.12 [[ 9.99983875e-01 4.11871835e-03 3.90977866e-03 9.18179473e+01] [-4.10993642e-03 9.99989019e-01 -2.25152795e-03 5.01086299e+00] [-3.91900913e-03 2.23542270e-03 9.99989822e-01 -1.18298433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.45140051299998 meters Centerline goodness [0,1] 0.6174552607384918 Centerline is valid? [False, False] Translation: X:91.82, Y:5.01, Z:-0.12 [[ 9.99984026e-01 4.00510151e-03 3.98837538e-03 9.18174411e+01] [-3.99508436e-03 9.99988853e-01 -2.51639460e-03 5.01212126e+00] [-3.99840934e-03 2.50042051e-03 9.99988880e-01 -1.17856081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.48140051299998 meters Centerline goodness [0,1] 0.5485009568360621 Centerline is valid? [False, False] Translation: X:91.82, Y:5.01, Z:-0.12 [[ 9.99983347e-01 4.12930979e-03 4.03172586e-03 9.18170142e+01] [-4.12043790e-03 9.99989077e-01 -2.20635211e-03 5.01068113e+00] [-4.04079254e-03 2.18970289e-03 9.99989439e-01 -1.17284529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.51140051299998 meters Centerline goodness [0,1] 0.6768185895519201 Centerline is valid? [False, False] Translation: X:91.82, Y:5.01, Z:-0.12 [[ 9.99982520e-01 4.33241506e-03 4.02356412e-03 9.18168712e+01] [-4.32552477e-03 9.99989166e-01 -1.71961165e-03 5.00841385e+00] [-4.03097060e-03 1.70217757e-03 9.99990427e-01 -1.16911230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.54140051299999 meters Centerline goodness [0,1] 0.6790494166094715 Centerline is valid? [False, False] Translation: X:91.82, Y:5.01, Z:-0.12 [[ 9.99982095e-01 4.45611006e-03 3.99401547e-03 9.18170783e+01] [-4.45050412e-03 9.99989100e-01 -1.41137724e-03 5.00693959e+00] [-4.00026119e-03 1.39357659e-03 9.99991028e-01 -1.17105739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.571400513 meters Centerline goodness [0,1] 0.6546913898188687 Centerline is valid? [False, False] Translation: X:91.82, Y:5.01, Z:-0.12 [[ 9.99983241e-01 4.29373334e-03 3.88359366e-03 9.18178056e+01] [-4.28687117e-03 9.99989239e-01 -1.77356585e-03 5.00858478e+00] [-3.89116708e-03 1.75688766e-03 9.99990886e-01 -1.17860447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.601400513 meters Centerline goodness [0,1] 0.4612204223560342 Centerline is valid? [False, False] Translation: X:91.82, Y:5.01, Z:-0.12 [[ 9.99974899e-01 6.37100177e-03 3.10018610e-03 9.18241187e+01] [-6.37247967e-03 9.99979586e-01 4.67067407e-04 5.00756504e+00] [-3.09714713e-03 -4.86811556e-04 9.99995085e-01 -1.21935267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.631400513 meters Centerline goodness [0,1] 0.6404800171434695 Centerline is valid? [False, False] Translation: X:91.82, Y:5.00, Z:-0.12 [[ 9.99936041e-01 1.09547017e-02 2.81220901e-03 9.18249635e+01] [-1.09713392e-02 9.99921988e-01 5.97053689e-03 5.00180184e+00] [-2.74658417e-03 -6.00100872e-03 9.99978222e-01 -1.21347938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.661400513 meters Centerline goodness [0,1] 0.6189029608078043 Centerline is valid? [False, False] Translation: X:91.82, Y:5.01, Z:-0.12 [[ 9.99971921e-01 6.92657443e-03 2.85986161e-03 9.18246973e+01] [-6.92818427e-03 9.99975847e-01 5.53384338e-04 5.00817457e+00] [-2.85595948e-03 -5.73182448e-04 9.99995757e-01 -1.21683427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.691400513 meters Centerline goodness [0,1] 0.4528788557054848 Centerline is valid? [False, False] Translation: X:91.82, Y:5.01, Z:-0.12 [[ 9.99971738e-01 6.95610659e-03 2.85247205e-03 9.18247830e+01] [-6.95785037e-03 9.99975613e-01 6.01851837e-04 5.00795982e+00] [-2.84821594e-03 -6.21681901e-04 9.99995751e-01 -1.21783442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.721400513 meters Centerline goodness [0,1] 0.5985138817918583 Centerline is valid? [False, False] Translation: X:91.82, Y:5.01, Z:-0.12 [[ 9.99970847e-01 7.01953928e-03 3.00510368e-03 9.18241125e+01] [-7.02174754e-03 9.99975084e-01 7.24918966e-04 5.00740483e+00] [-2.99994021e-03 -7.45998912e-04 9.99995222e-01 -1.21484277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.751400513 meters Centerline goodness [0,1] 0.5030154217282674 Centerline is valid? [False, False] Translation: X:91.80, Y:5.00, Z:-0.12 [[ 9.99981920e-01 5.68828926e-03 -1.94995639e-03 9.18025572e+01] [-5.66620482e-03 9.99921783e-01 1.11499708e-02 4.99807237e+00] [ 2.01322812e-03 -1.11387204e-02 9.99935936e-01 -1.16310507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.781400513 meters Centerline goodness [0,1] 0.5923971775475176 Centerline is valid? [False, False] Translation: X:91.84, Y:5.01, Z:-0.12 [[ 9.99996848e-01 2.47574307e-03 4.18781267e-04 9.18441506e+01] [-2.47757151e-03 9.99987147e-01 4.42344476e-03 5.01040674e+00] [-4.07824571e-04 -4.42446837e-03 9.99990129e-01 -1.18615754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.811400513 meters Centerline goodness [0,1] 0.6653554308806775 Centerline is valid? [False, False] Translation: X:91.80, Y:5.01, Z:-0.12 [[ 9.99997328e-01 3.72534556e-04 -2.28165199e-03 9.18021088e+01] [-3.66800101e-04 9.99996775e-01 2.51319386e-03 5.00965869e+00] [ 2.28258088e-03 -2.51235024e-03 9.99994239e-01 -1.18041216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.841400513 meters Centerline goodness [0,1] 0.8169236346576247 Centerline is valid? [False, False] Translation: X:91.81, Y:5.01, Z:-0.12 [[ 9.99993857e-01 -1.66529043e-03 -3.08417901e-03 9.18080040e+01] [ 1.66698184e-03 9.99998462e-01 5.45926954e-04 5.01032899e+00] [ 3.08326514e-03 -5.51064871e-04 9.99995095e-01 -1.21367452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.871400513 meters Centerline goodness [0,1] 0.7491796292350309 Centerline is valid? [False, False] Translation: X:91.81, Y:5.01, Z:-0.12 [[ 9.99993967e-01 -1.50883872e-03 -3.12885280e-03 9.18078919e+01] [ 1.51186022e-03 9.99998393e-01 9.63548910e-04 5.00835828e+00] [ 3.12739393e-03 -9.68273485e-04 9.99994641e-01 -1.20807783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.901400513 meters Centerline goodness [0,1] 0.711646757679181 Centerline is valid? [False, False] Translation: X:91.81, Y:5.01, Z:-0.12 [[ 9.99994067e-01 -1.48347137e-03 -3.10896341e-03 9.18077256e+01] [ 1.48671805e-03 9.99998352e-01 1.04224487e-03 5.00799052e+00] [ 3.10741214e-03 -1.04686084e-03 9.99994624e-01 -1.20604685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.931400513 meters Centerline goodness [0,1] 0.8528069277365412 Centerline is valid? [False, False] Translation: X:91.81, Y:5.01, Z:-0.12 [[ 9.99993952e-01 -1.63264395e-03 -3.07081307e-03 9.18076442e+01] [ 1.63485296e-03 9.99998407e-01 7.16982733e-04 5.00951719e+00] [ 3.06963760e-03 -7.21998725e-04 9.99995028e-01 -1.20716760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.96140051299997 meters Centerline goodness [0,1] 0.8454760369653986 Centerline is valid? [False, False] Translation: X:91.81, Y:5.01, Z:-0.12 [[ 9.99993962e-01 -1.64065254e-03 -3.06348673e-03 9.18075633e+01] [ 1.64275023e-03 9.99998418e-01 6.82347256e-04 5.00968532e+00] [ 3.06236239e-03 -6.87375679e-04 9.99995075e-01 -1.20614951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.99140051299997 meters Centerline goodness [0,1] 0.4975440379403794 Centerline is valid? [False, False] Translation: X:91.85, Y:5.01, Z:-0.12 [[ 9.99999343e-01 -1.13923788e-03 -1.23952404e-04 9.18481523e+01] [ 1.13926929e-03 9.99999319e-01 2.53667135e-04 5.01297310e+00] [ 1.23663332e-04 -2.53808183e-04 9.99999960e-01 -1.20584490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.02140051299997 meters Centerline goodness [0,1] 0.7610604234808056 Centerline is valid? [False, False] Translation: X:91.80, Y:5.01, Z:-0.12 [[ 9.99996591e-01 -1.55854921e-03 -2.09502297e-03 9.18042333e+01] [ 1.56094907e-03 9.99998127e-01 1.14436178e-03 5.00754240e+00] [ 2.09323550e-03 -1.14762810e-03 9.99997151e-01 -1.19100959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.05140051299998 meters Centerline goodness [0,1] 0.7296261402081281 Centerline is valid? [False, False] Translation: X:91.80, Y:5.01, Z:-0.12 [[ 9.99996813e-01 -1.40495982e-03 -2.09763352e-03 9.18041581e+01] [ 1.40816807e-03 9.99997840e-01 1.52876609e-03 5.00572825e+00] [ 2.09548114e-03 -1.53171503e-03 9.99996631e-01 -1.18905341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.08140051299998 meters Centerline goodness [0,1] 0.8136651274157688 Centerline is valid? [False, False] Translation: X:91.80, Y:5.00, Z:-0.12 [[ 9.99996884e-01 -1.23849423e-03 -2.16766000e-03 9.18043561e+01] [ 1.24274701e-03 9.99997304e-01 1.96167703e-03 5.00366308e+00] [ 2.16522463e-03 -1.96436477e-03 9.99995727e-01 -1.18829737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.11140051299998 meters Centerline goodness [0,1] 0.8912036043767432 Centerline is valid? [False, False] Translation: X:91.81, Y:5.00, Z:-0.12 [[ 9.99996731e-01 -9.36758056e-04 -2.37932381e-03 9.18052875e+01] [ 9.43763361e-04 9.99995219e-01 2.94482790e-03 4.99886228e+00] [ 2.37655384e-03 -2.94706379e-03 9.99992833e-01 -1.19234089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.14140051299998 meters Centerline goodness [0,1] 0.9634987566223375 Centerline is valid? [False, True] Translation: X:91.80, Y:5.00, Z:-0.12 [[ 9.99993248e-01 -3.30809869e-03 -1.60004718e-03 9.17992358e+01] [ 3.30872291e-03 9.99994451e-01 3.87636538e-04 5.00057442e+00] [ 1.59875596e-03 -3.92928033e-04 9.99998645e-01 -1.15391215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.17140051299998 meters Centerline goodness [0,1] 0.9470036689767631 Centerline is valid? [True, False] Translation: X:91.80, Y:5.00, Z:-0.12 [[ 9.99993186e-01 -3.28470260e-03 -1.68479550e-03 9.17995591e+01] [ 3.28541929e-03 9.99994514e-01 4.22797470e-04 5.00041212e+00] [ 1.68339750e-03 -4.28329849e-04 9.99998491e-01 -1.15494179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.20140051299998 meters Centerline goodness [0,1] 0.8831555867765076 Centerline is valid? [False, False] Translation: X:91.80, Y:5.00, Z:-0.12 [[ 9.99993331e-01 -3.25862647e-03 -1.64875876e-03 9.17992553e+01] [ 3.25935360e-03 9.99994592e-01 4.38525712e-04 5.00040238e+00] [ 1.64732086e-03 -4.43896675e-04 9.99998545e-01 -1.15152143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.23140051299998 meters Centerline goodness [0,1] 0.9013941204485431 Centerline is valid? [False, False] Translation: X:91.75, Y:4.99, Z:-0.11 [[ 9.99987499e-01 -3.67808393e-03 -3.38735337e-03 9.17547130e+01] [ 3.68621016e-03 9.99990336e-01 2.39588033e-03 4.99163962e+00] [ 3.37850839e-03 -2.40833688e-03 9.99991393e-01 -1.12643218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.26140051299998 meters Centerline goodness [0,1] 0.9040447960633763 Centerline is valid? [False, False] Translation: X:91.80, Y:4.99, Z:-0.11 [[ 9.99991592e-01 -3.80276246e-03 -1.53464491e-03 9.17985363e+01] [ 3.80595471e-03 9.99990589e-01 2.08258620e-03 4.99234423e+00] [ 1.52671089e-03 -2.08840948e-03 9.99996654e-01 -1.14000399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.29140051299999 meters Centerline goodness [0,1] 0.9682103863231729 Centerline is valid? [False, True] Translation: X:91.80, Y:5.00, Z:-0.11 [[ 9.99964679e-01 -8.31152241e-03 -1.24903225e-03 9.17978997e+01] [ 8.30769798e-03 9.99960880e-01 -3.03653212e-03 4.99625468e+00] [ 1.27422159e-03 3.02604829e-03 9.99994610e-01 -1.14512298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.321400513 meters Centerline goodness [0,1] 0.6624751259579152 Centerline is valid? [True, False] Translation: X:91.82, Y:5.01, Z:-0.12 [[ 9.99952382e-01 -8.51965207e-03 4.75902476e-03 9.18211587e+01] [ 8.58394690e-03 9.99869891e-01 -1.36571197e-02 5.00641322e+00] [-4.64205166e-03 1.36973206e-02 9.99895412e-01 -1.21671106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.351400513 meters Centerline goodness [0,1] 0.8661496389351793 Centerline is valid? [False, False] Translation: X:91.80, Y:5.00, Z:-0.11 [[ 9.99958991e-01 -9.04980632e-03 3.41829315e-04 9.17970670e+01] [ 9.05049601e-03 9.99956895e-01 -2.07304698e-03 4.99516332e+00] [-3.23053907e-04 2.07605569e-03 9.99997793e-01 -1.14563359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.381400513 meters Centerline goodness [0,1] 0.8661496389351793 Centerline is valid? [False, False] Translation: X:91.80, Y:4.99, Z:-0.11 [[ 9.99988131e-01 -4.87141552e-03 -8.26046807e-05 9.17982608e+01] [ 4.87165845e-03 9.99982843e-01 3.25276564e-03 4.98951898e+00] [ 6.67576905e-05 -3.25312945e-03 9.99994706e-01 -1.14263319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.411400513 meters Centerline goodness [0,1] 0.9102470930232558 Centerline is valid? [False, False] Translation: X:91.80, Y:4.99, Z:-0.11 [[ 9.99988299e-01 -4.83745726e-03 -4.26017650e-05 9.17979568e+01] [ 4.83757226e-03 9.99982761e-01 3.32800305e-03 4.98919201e+00] [ 2.65019580e-05 -3.32817019e-03 9.99994461e-01 -1.13934710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.441400513 meters Centerline goodness [0,1] 0.9847154051494015 Centerline is valid? [False, True] Translation: X:91.80, Y:4.99, Z:-0.11 [[ 9.99988614e-01 -4.77170261e-03 -4.62607141e-05 9.17978404e+01] [ 4.77183499e-03 9.99982526e-01 3.48951965e-03 4.98844132e+00] [ 2.96089557e-05 -3.48970067e-03 9.99993911e-01 -1.13659491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.471400513 meters Centerline goodness [0,1] 0.9766499421072945 Centerline is valid? [True, True] Translation: X:91.83, Y:4.99, Z:-0.11 [[ 9.99990639e-01 -4.32632448e-03 -6.99424442e-05 9.18280050e+01] [ 4.32632412e-03 9.99990641e-01 -5.32697985e-06 4.99408589e+00] [ 6.99648359e-05 5.02433630e-06 9.99999998e-01 -1.13380891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.501400513 meters Centerline goodness [0,1] 0.9851214618110404 Centerline is valid? [True, True] Translation: X:91.86, Y:5.00, Z:-0.11 [[ 9.99993035e-01 -3.67054461e-03 -6.75755430e-04 9.18581515e+01] [ 3.67051067e-03 9.99993262e-01 -5.14671113e-05 4.99558667e+00] [ 6.75939789e-04 4.89863853e-05 9.99999770e-01 -1.14325340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.531400513 meters Centerline goodness [0,1] 0.9099690060714134 Centerline is valid? [True, False] Translation: X:91.87, Y:5.00, Z:-0.12 [[ 9.99997540e-01 -1.55635862e-03 -1.58072265e-03 9.18651058e+01] [ 1.55944655e-03 9.99996875e-01 1.95414306e-03 4.99506492e+00] [ 1.57767636e-03 -1.95660330e-03 9.99996841e-01 -1.19067118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.561400513 meters Centerline goodness [0,1] 0.7600904919973783 Centerline is valid? [False, False] Translation: X:91.86, Y:5.00, Z:-0.12 [[ 9.99997400e-01 -1.70542145e-03 -1.51352901e-03 9.18648255e+01] [ 1.70771104e-03 9.99997398e-01 1.51274939e-03 4.99719224e+00] [ 1.51094520e-03 -1.51533013e-03 9.99997710e-01 -1.19024175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.591400513 meters Centerline goodness [0,1] 0.7454290330810442 Centerline is valid? [False, False] Translation: X:91.86, Y:5.00, Z:-0.12 [[ 9.99997313e-01 -1.89312167e-03 -1.33763522e-03 9.18642461e+01] [ 1.89443852e-03 9.99997722e-01 9.83884023e-04 4.99973997e+00] [ 1.33576956e-03 -9.86415448e-04 9.99998621e-01 -1.19091511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.621400513 meters Centerline goodness [0,1] 0.7000191192403289 Centerline is valid? [False, False] Translation: X:91.86, Y:5.00, Z:-0.12 [[ 9.99997026e-01 -2.06188336e-03 -1.30254370e-03 9.18644927e+01] [ 2.06181246e-03 9.99997873e-01 -5.57709465e-05 5.00498874e+00] [ 1.30265592e-03 5.30851799e-05 9.99999150e-01 -1.20057170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.651400513 meters Centerline goodness [0,1] 0.847880030208221 Centerline is valid? [False, False] Translation: X:91.82, Y:5.00, Z:-0.12 [[ 9.99988519e-01 -2.13576593e-03 -4.28951388e-03 9.18240347e+01] [ 2.13868496e-03 9.99997485e-01 6.76031641e-04 5.00172943e+00] [ 4.28805925e-03 -6.85197799e-04 9.99990571e-01 -1.20891208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.681400513 meters Centerline goodness [0,1] 0.8781651691672757 Centerline is valid? [False, False] Translation: X:91.82, Y:5.00, Z:-0.12 [[ 9.99988237e-01 -2.10682089e-03 -4.36897529e-03 9.18246388e+01] [ 2.11001810e-03 9.99997509e-01 7.27319405e-04 5.00145449e+00] [ 4.36743208e-03 -7.36529466e-04 9.99990191e-01 -1.21609956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.71140051299997 meters Centerline goodness [0,1] 0.6613880031671981 Centerline is valid? [False, False] Translation: X:91.83, Y:5.00, Z:-0.12 [[ 9.99988179e-01 -1.94787715e-03 -4.45499806e-03 9.18250529e+01] [ 1.95258660e-03 9.99997539e-01 1.05301064e-03 4.99993957e+00] [ 4.45293596e-03 -1.06169696e-03 9.99989522e-01 -1.21851736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.74140051299997 meters Centerline goodness [0,1] 0.7318370136249093 Centerline is valid? [False, False] Translation: X:91.82, Y:5.00, Z:-0.12 [[ 9.99988502e-01 -1.76056643e-03 -4.46049584e-03 9.18249329e+01] [ 1.76716045e-03 9.99997351e-01 1.47480531e-03 4.99799236e+00] [ 4.45788753e-03 -1.48267076e-03 9.99988964e-01 -1.21516601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.77140051299997 meters Centerline goodness [0,1] 0.7202630005977286 Centerline is valid? [False, False] Translation: X:91.82, Y:4.99, Z:-0.12 [[ 9.99990084e-01 -1.36397792e-03 -4.23919782e-03 9.18236435e+01] [ 1.37383064e-03 9.99996360e-01 2.32215266e-03 4.99413102e+00] [ 4.23601502e-03 -2.32795357e-03 9.99988318e-01 -1.20350084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.80140051299998 meters Centerline goodness [0,1] 0.5624973246008305 Centerline is valid? [False, False] Translation: X:91.82, Y:4.99, Z:-0.12 [[ 9.99990503e-01 -1.33180502e-03 -4.14979491e-03 9.18234294e+01] [ 1.34161823e-03 9.99996308e-01 2.36286071e-03 4.99395524e+00] [ 4.14663272e-03 -2.36840571e-03 9.99988598e-01 -1.20520451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.83140051299998 meters Centerline goodness [0,1] 0.6972048358055389 Centerline is valid? [False, False] Translation: X:91.82, Y:5.00, Z:-0.12 [[ 9.99990529e-01 -1.42229789e-03 -4.11335300e-03 9.18236262e+01] [ 1.43093980e-03 9.99996774e-01 2.09876168e-03 4.99520162e+00] [ 4.11035467e-03 -2.10462776e-03 9.99989338e-01 -1.21187362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.86140051299998 meters Centerline goodness [0,1] 0.7091242846344887 Centerline is valid? [False, False] Translation: X:91.82, Y:5.00, Z:-0.12 [[ 9.99990428e-01 -1.49031327e-03 -4.11381198e-03 9.18240548e+01] [ 1.49783891e-03 9.99997209e-01 1.82688487e-03 4.99647100e+00] [ 4.11107787e-03 -1.83302921e-03 9.99989869e-01 -1.22135888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.89140051299998 meters Centerline goodness [0,1] 0.6016192071468454 Centerline is valid? [False, False] Translation: X:91.83, Y:5.00, Z:-0.13 [[ 9.99986743e-01 -9.72931043e-05 -5.14828815e-03 9.18295171e+01] [ 1.11082121e-04 9.99996408e-01 2.67815103e-03 4.99610382e+00] [ 5.14800909e-03 -2.67868740e-03 9.99983161e-01 -1.25163888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.92140051299998 meters Centerline goodness [0,1] 0.5835505790845763 Centerline is valid? [False, False] Translation: X:91.83, Y:5.00, Z:-0.13 [[ 9.99986702e-01 -1.76348524e-04 -5.15414829e-03 9.18295440e+01] [ 1.88925538e-04 9.99997006e-01 2.43978813e-03 4.99723554e+00] [ 5.15370261e-03 -2.44072944e-03 9.99983741e-01 -1.25228617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.95140051299998 meters Centerline goodness [0,1] 0.523172316805523 Centerline is valid? [False, False] Translation: X:91.83, Y:5.00, Z:-0.12 [[ 9.99986901e-01 -1.96756639e-04 -5.11467706e-03 9.18291922e+01] [ 2.08818563e-04 9.99997198e-01 2.35786924e-03 4.99765895e+00] [ 5.11419880e-03 -2.35890639e-03 9.99984140e-01 -1.24822437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.98140051299998 meters Centerline goodness [0,1] 0.38354569699022134 Centerline is valid? [False, False] Translation: X:91.83, Y:5.00, Z:-0.12 [[ 9.99987133e-01 -1.26698658e-04 -5.07120028e-03 9.18287868e+01] [ 1.39350629e-04 9.99996879e-01 2.49459157e-03 4.99705285e+00] [ 5.07086839e-03 -2.49526614e-03 9.99984030e-01 -1.24348399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.01140051299998 meters Centerline goodness [0,1] 0.47637232521920936 Centerline is valid? [False, False] Translation: X:91.83, Y:5.00, Z:-0.12 [[ 9.99987230e-01 1.21343249e-05 -5.05359811e-03 9.18286278e+01] [ 2.07525470e-06 9.99996047e-01 2.81176002e-03 4.99557387e+00] [ 5.05361225e-03 -2.81173460e-03 9.99983277e-01 -1.24145793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.04140051299999 meters Centerline goodness [0,1] 0.5673345059848127 Centerline is valid? [False, False] Translation: X:91.82, Y:5.00, Z:-0.12 [[ 9.99989194e-01 -2.29134188e-03 -4.04504525e-03 9.18215962e+01] [ 2.29367960e-03 9.99997205e-01 5.73379014e-04 4.99576895e+00] [ 4.04372014e-03 -5.82650855e-04 9.99991654e-01 -1.19980396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.071400513 meters Centerline goodness [0,1] 0.4431385884003145 Centerline is valid? [False, False] Translation: X:91.82, Y:4.99, Z:-0.12 [[ 9.99988927e-01 -2.24078836e-03 -4.13825973e-03 9.18217507e+01] [ 2.24417413e-03 9.99997151e-01 8.13700855e-04 4.99455619e+00] [ 4.13642460e-03 -8.22978820e-04 9.99991106e-01 -1.19661963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.101400513 meters Centerline goodness [0,1] 0.5147337290695942 Centerline is valid? [False, False] Translation: X:91.82, Y:4.99, Z:-0.12 [[ 9.99988928e-01 -2.10258153e-03 -4.20991337e-03 9.18218785e+01] [ 2.10766468e-03 9.99997055e-01 1.20335281e-03 4.99271491e+00] [ 4.20737083e-03 -1.21221257e-03 9.99990414e-01 -1.19416581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.131400513 meters Centerline goodness [0,1] 0.5290769823270145 Centerline is valid? [False, False] Translation: X:91.82, Y:4.99, Z:-0.12 [[ 9.99988865e-01 -1.94620385e-03 -4.29912700e-03 9.18221500e+01] [ 1.95322531e-03 9.99996765e-01 1.62963292e-03 4.99067959e+00] [ 4.29594149e-03 -1.63801194e-03 9.99989431e-01 -1.19309643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.161400513 meters Centerline goodness [0,1] 0.5722051675620363 Centerline is valid? [False, False] Translation: X:91.82, Y:4.99, Z:-0.12 [[ 9.99988099e-01 -1.74833530e-03 -4.55473207e-03 9.18230937e+01] [ 1.75846162e-03 9.99995989e-01 2.22019886e-03 4.98777859e+00] [ 4.55083215e-03 -2.22818176e-03 9.99987162e-01 -1.19432740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.191400513 meters Centerline goodness [0,1] 0.5339797512789229 Centerline is valid? [False, False] Translation: X:91.82, Y:4.99, Z:-0.12 [[ 9.99988281e-01 -1.72771267e-03 -4.52239425e-03 9.18228507e+01] [ 1.73805039e-03 9.99995884e-01 2.28296254e-03 4.98749267e+00] [ 4.51843133e-03 -2.29079593e-03 9.99987168e-01 -1.19163388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.221400513 meters Centerline goodness [0,1] 0.4296776938623551 Centerline is valid? [False, False] Translation: X:91.82, Y:4.99, Z:-0.12 [[ 9.99988488e-01 -1.77385661e-03 -4.45849582e-03 9.18223649e+01] [ 1.78372463e-03 9.99995966e-01 2.21030550e-03 4.98785441e+00] [ 4.45455707e-03 -2.21823278e-03 9.99987618e-01 -1.18651753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.251400513 meters Centerline goodness [0,1] 0.5970730056678792 Centerline is valid? [False, False] Translation: X:91.82, Y:4.99, Z:-0.12 [[ 9.99989028e-01 -1.74796398e-03 -4.34616991e-03 9.18216552e+01] [ 1.75791262e-03 9.99995841e-01 2.28629218e-03 4.98750898e+00] [ 4.34215548e-03 -2.29390728e-03 9.99987942e-01 -1.18032441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.281400513 meters Centerline goodness [0,1] 0.6747387908837487 Centerline is valid? [False, False] Translation: X:91.82, Y:4.99, Z:-0.12 [[ 9.99989618e-01 -1.63322110e-03 -4.25407356e-03 9.18210846e+01] [ 1.64414455e-03 9.99995357e-01 2.56553188e-03 4.98621693e+00] [ 4.24986373e-03 -2.57249956e-03 9.99987660e-01 -1.17507717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.311400513 meters Centerline goodness [0,1] 0.7477322090200588 Centerline is valid? [False, False] Translation: X:91.82, Y:4.98, Z:-0.12 [[ 9.99989544e-01 -1.47713389e-03 -4.32780028e-03 9.18212542e+01] [ 1.49076504e-03 9.99993933e-01 3.14814174e-03 4.98337502e+00] [ 4.32312379e-03 -3.15456055e-03 9.99985680e-01 -1.17291248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.341400513 meters Centerline goodness [0,1] 0.6529340749364032 Centerline is valid? [False, False] Translation: X:91.82, Y:4.99, Z:-0.12 [[ 9.99972605e-01 -6.19600131e-03 -4.04959921e-03 9.18205299e+01] [ 6.18622187e-03 9.99977930e-01 -2.42299680e-03 4.98938518e+00] [ 4.06452273e-03 2.39787870e-03 9.99988865e-01 -1.17725024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.371400513 meters Centerline goodness [0,1] 0.7106701546183458 Centerline is valid? [False, False] Translation: X:91.86, Y:4.99, Z:-0.12 [[ 9.99981009e-01 -6.09841630e-03 -8.88950909e-04 9.18603156e+01] [ 6.09583619e-03 9.99977282e-01 -2.87680322e-03 4.99190252e+00] [ 9.06474657e-04 2.87132969e-03 9.99995467e-01 -1.17144144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.401400513 meters Centerline goodness [0,1] 0.8439614867317093 Centerline is valid? [False, False] Translation: X:91.86, Y:4.99, Z:-0.12 [[ 9.99982641e-01 -5.81251754e-03 -9.65430417e-04 9.18602772e+01] [ 5.81045112e-03 9.99980852e-01 -2.12960387e-03 4.98838064e+00] [ 9.77790290e-04 2.12395732e-03 9.99997266e-01 -1.16498718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.431400513 meters Centerline goodness [0,1] 0.7575816109716051 Centerline is valid? [False, False] Translation: X:91.86, Y:4.98, Z:-0.12 [[ 9.99985988e-01 -5.20140904e-03 -9.84874396e-04 9.18599404e+01] [ 5.20100711e-03 9.99986391e-01 -4.10225524e-04 4.98026752e+00] [ 9.86994743e-04 4.05097437e-04 9.99999431e-01 -1.15460491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.46140051299997 meters Centerline goodness [0,1] 0.8831694621168306 Centerline is valid? [False, False] Translation: X:91.86, Y:4.98, Z:-0.12 [[ 9.99986190e-01 -5.15023685e-03 -1.04639326e-03 9.18603171e+01] [ 5.14993925e-03 9.99986698e-01 -2.86904758e-04 4.97966969e+00] [ 1.04785697e-03 2.81511934e-04 9.99999411e-01 -1.15792407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.49140051299997 meters Centerline goodness [0,1] 0.7334491038504416 Centerline is valid? [False, False] Translation: X:91.86, Y:4.98, Z:-0.12 [[ 9.99985779e-01 -5.21999022e-03 -1.09253698e-03 9.18606840e+01] [ 5.21947741e-03 9.99986267e-01 -4.71700756e-04 4.98053437e+00] [ 1.09498425e-03 4.65991576e-04 9.99999292e-01 -1.16231435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.52140051299997 meters Centerline goodness [0,1] 0.9679261197742068 Centerline is valid? [False, True] Translation: X:91.86, Y:4.98, Z:-0.12 [[ 9.99985550e-01 -5.26196143e-03 -1.10065497e-03 9.18609051e+01] [ 5.26131647e-03 9.99985986e-01 -5.88051844e-04 4.98105487e+00] [ 1.10373385e-03 5.82252453e-04 9.99999221e-01 -1.16662840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.55140051299998 meters Centerline goodness [0,1] 0.7119018770061434 Centerline is valid? [True, False] Translation: X:91.90, Y:4.98, Z:-0.12 [[ 9.99991914e-01 -3.84939113e-03 1.16365742e-03 9.19035511e+01] [ 3.84911259e-03 9.99992563e-01 2.41509486e-04 4.98250445e+00] [-1.16457843e-03 -2.37028485e-04 9.99999294e-01 -1.17910906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.58140051299998 meters Centerline goodness [0,1] 0.8458443892835744 Centerline is valid? [False, False] Translation: X:91.90, Y:4.98, Z:-0.12 [[ 9.99992788e-01 -3.62862267e-03 1.12118607e-03 9.19037665e+01] [ 3.62781278e-03 9.99993158e-01 7.23541310e-04 4.98025984e+00] [-1.12380385e-03 -7.19468639e-04 9.99999110e-01 -1.18035488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.61140051299998 meters Centerline goodness [0,1] 0.7023509834876478 Centerline is valid? [False, False] Translation: X:91.90, Y:4.98, Z:-0.12 [[ 9.99994086e-01 -3.27789075e-03 1.04089448e-03 9.19040470e+01] [ 3.27627276e-03 9.99993428e-01 1.55233751e-03 4.97636030e+00] [-1.04597603e-03 -1.54891807e-03 9.99998253e-01 -1.17997159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.64140051299998 meters Centerline goodness [0,1] 0.6611226167346329 Centerline is valid? [False, False] Translation: X:91.90, Y:4.98, Z:-0.12 [[ 9.99994477e-01 -3.17747910e-03 9.74413953e-04 9.19042542e+01] [ 3.17573428e-03 9.99993361e-01 1.78697892e-03 4.97525234e+00] [-9.80085571e-04 -1.78387457e-03 9.99997929e-01 -1.17963563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.67140051299998 meters Centerline goodness [0,1] 0.926248125133919 Centerline is valid? [False, False] Translation: X:91.90, Y:4.97, Z:-0.12 [[ 9.99994857e-01 -3.07449621e-03 9.13170073e-04 9.19043998e+01] [ 3.07262720e-03 9.99993196e-01 2.04112063e-03 4.97406316e+00] [-9.19439277e-04 -2.03830430e-03 9.99997500e-01 -1.17834933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.70140051299998 meters Centerline goodness [0,1] 0.905923942153187 Centerline is valid? [False, False] Translation: X:91.90, Y:4.97, Z:-0.12 [[ 9.99995363e-01 -2.90678236e-03 9.07911011e-04 9.19042742e+01] [ 2.90455475e-03 9.99992792e-01 2.44531507e-03 4.97218082e+00] [-9.15012465e-04 -2.44266666e-03 9.99996598e-01 -1.17526489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.73140051299998 meters Centerline goodness [0,1] 0.9199366682356969 Centerline is valid? [False, False] Translation: X:91.90, Y:4.97, Z:-0.12 [[ 9.99995988e-01 -2.68362789e-03 9.06813201e-04 9.19040797e+01] [ 2.68090887e-03 9.99991947e-01 2.98645787e-03 4.96964484e+00] [-9.14820440e-04 -2.98401480e-03 9.99995129e-01 -1.17118239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.76140051299998 meters Centerline goodness [0,1] 0.9623546105389891 Centerline is valid? [False, True] Translation: X:91.90, Y:4.97, Z:-0.12 [[ 9.99996604e-01 -2.46007781e-03 8.59716761e-04 9.19042168e+01] [ 2.45700982e-03 9.99990675e-01 3.55161676e-03 4.96698011e+00] [-8.68445997e-04 -3.54949237e-03 9.99993323e-01 -1.17023095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.79140051299999 meters Centerline goodness [0,1] 0.8665395819054147 Centerline is valid? [True, False] Translation: X:91.91, Y:4.97, Z:-0.12 [[ 9.99992223e-01 -3.94059362e-03 -1.62735663e-04 9.19114780e+01] [ 3.94095468e-03 9.99989632e-01 2.28139619e-03 4.96592344e+00] [ 1.53743920e-04 -2.28201978e-03 9.99997384e-01 -1.21945839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.821400513 meters Centerline goodness [0,1] 0.9157818429917701 Centerline is valid? [False, False] Translation: X:91.91, Y:4.96, Z:-0.12 [[ 9.99992835e-01 -3.77003454e-03 -3.41597137e-04 9.19123925e+01] [ 3.77096147e-03 9.99989095e-01 2.75476624e-03 4.96360638e+00] [ 3.31207848e-04 -2.75603466e-03 9.99996147e-01 -1.22574621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.851400513 meters Centerline goodness [0,1] 0.995152774171211 Centerline is valid? [False, True] Translation: X:91.89, Y:4.97, Z:-0.12 [[ 9.99982394e-01 -3.86030709e-03 -4.50653007e-03 9.18899655e+01] [ 3.82274780e-03 9.99958135e-01 -8.31348679e-03 4.96846792e+00] [ 4.53843402e-03 8.29611310e-03 9.99955288e-01 -1.18050823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.881400513 meters Centerline goodness [0,1] 0.9659743040685225 Centerline is valid? [True, True] Translation: X:91.92, Y:4.97, Z:-0.12 [[ 9.99975354e-01 -4.99382559e-03 -4.93498572e-03 9.19184123e+01] [ 4.99204163e-03 9.99987470e-01 -3.73744136e-04 4.96903757e+00] [ 4.93679030e-03 3.49099271e-04 9.99987753e-01 -1.18389717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.911400513 meters Centerline goodness [0,1] 0.9982951357417239 Centerline is valid? [True, True] Translation: X:91.95, Y:4.96, Z:-0.11 [[ 9.99964859e-01 -8.02440145e-03 -2.42677521e-03 9.19493016e+01] [ 8.02397880e-03 9.99967790e-01 -1.83845888e-04 4.95847625e+00] [ 2.42817230e-03 1.64367035e-04 9.99997038e-01 -1.14524613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.941400513 meters Centerline goodness [0,1] 0.9992047286405159 Centerline is valid? [True, True] Translation: X:91.98, Y:4.96, Z:-0.11 [[ 9.99953607e-01 -9.57194121e-03 -1.07821804e-03 9.19799312e+01] [ 9.57185865e-03 9.99954185e-01 -8.17027782e-05 4.95519472e+00] [ 1.07895070e-03 7.13784370e-05 9.99999415e-01 -1.12421552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.971400513 meters Centerline goodness [0,1] 0.9966550164032849 Centerline is valid? [True, True] Translation: X:92.01, Y:4.96, Z:-0.11 [[ 9.99939678e-01 -1.09821198e-02 1.83402623e-04 9.20085201e+01] [ 1.09821174e-02 9.99939695e-01 1.38342874e-05 4.96174860e+00] [-1.83543492e-04 -1.18193037e-05 9.99999983e-01 -1.11766399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.001400513 meters Centerline goodness [0,1] 0.999654666321333 Centerline is valid? [True, True] Translation: X:92.04, Y:4.95, Z:-0.11 [[ 9.99919970e-01 -1.26400916e-02 5.30092598e-04 9.20394353e+01] [ 1.26400721e-02 9.99920110e-01 4.01397924e-05 4.95260655e+00] [-5.30557620e-04 -3.34361714e-05 9.99999859e-01 -1.11377890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.031400513 meters Centerline goodness [0,1] 0.9996120438821475 Centerline is valid? [True, True] Translation: X:92.07, Y:4.95, Z:-0.11 [[ 9.99898012e-01 -1.42799014e-02 2.24109258e-04 9.20697573e+01] [ 1.42798980e-02 9.99898037e-01 1.69542829e-05 4.95023251e+00] [-2.24328513e-04 -1.37522964e-05 9.99999975e-01 -1.12008505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.061400513 meters Centerline goodness [0,1] 0.9995868936577306 Centerline is valid? [True, True] Translation: X:92.10, Y:4.94, Z:-0.11 [[ 9.99852782e-01 -1.71148433e-02 -1.22303472e-03 9.21012665e+01] [ 1.71147427e-02 9.99853528e-01 -9.27099019e-05 4.94273591e+00] [ 1.22444230e-03 7.17643287e-05 9.99999248e-01 -1.13371218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.091400513 meters Centerline goodness [0,1] 0.9996109285837801 Centerline is valid? [True, True] Translation: X:92.13, Y:4.94, Z:-0.11 [[ 9.99837956e-01 -1.79246442e-02 -1.66386761e-03 9.21287895e+01] [ 1.79244586e-02 9.99839336e-01 -1.26376566e-04 4.94484363e+00] [ 1.66586554e-03 9.65321615e-05 9.99998608e-01 -1.13767732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.121400513 meters Centerline goodness [0,1] 0.9996334785045923 Centerline is valid? [True, True] Translation: X:92.16, Y:4.94, Z:-0.11 [[ 9.99829944e-01 -1.83888215e-02 -1.39063512e-03 9.21570984e+01] [ 1.83886921e-02 9.99830908e-01 -1.05729018e-04 4.94414850e+00] [ 1.39234420e-03 8.01390771e-05 9.99999027e-01 -1.13861947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.151400513 meters Centerline goodness [0,1] 0.9998038574697614 Centerline is valid? [True, True] Translation: X:92.18, Y:4.94, Z:-0.11 [[ 9.99825807e-01 -1.86515449e-02 -6.89619530e-04 9.21849956e+01] [ 1.86515128e-02 9.99826044e-01 -5.29875907e-05 4.94090830e+00] [ 6.90487867e-04 4.01159131e-05 9.99999761e-01 -1.13654596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.181400513 meters Centerline goodness [0,1] 0.9997828070023023 Centerline is valid? [True, True] Translation: X:92.21, Y:4.94, Z:-0.11 [[ 9.99837437e-01 -1.80270284e-02 -3.54243340e-04 9.22137795e+01] [ 1.80270199e-02 9.99837500e-01 -2.71426237e-05 4.93764156e+00] [ 3.54675076e-04 2.07522596e-05 9.99999937e-01 -1.13423337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.21140051299997 meters Centerline goodness [0,1] 0.9993788553803975 Centerline is valid? [True, True] Translation: X:92.24, Y:4.95, Z:-0.11 [[ 9.99861876e-01 -1.66193534e-02 -1.63625984e-04 9.22419473e+01] [ 1.66193515e-02 9.99861889e-01 -1.25648180e-05 4.94620699e+00] [ 1.63812205e-04 9.84372470e-06 9.99999987e-01 -1.13416699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.24140051299997 meters Centerline goodness [0,1] 0.9995699017225436 Centerline is valid? [True, True] Translation: X:92.27, Y:4.95, Z:-0.11 [[ 9.99896254e-01 -1.44030722e-02 -1.83598702e-04 9.22724562e+01] [ 1.44030699e-02 9.99896270e-01 -1.40240913e-05 4.94543875e+00] [ 1.83781647e-04 1.13782514e-05 9.99999983e-01 -1.12757268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.27140051299997 meters Centerline goodness [0,1] 0.9995699017225436 Centerline is valid? [True, True] Translation: X:92.30, Y:4.95, Z:-0.11 [[ 9.99893885e-01 -1.45665648e-02 -1.83565470e-04 9.23007524e+01] [ 1.45665624e-02 9.99893902e-01 -1.44596219e-05 4.94769931e+00] [ 1.83756622e-04 1.17841696e-05 9.99999983e-01 -1.12833319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.30140051299998 meters Centerline goodness [0,1] 0.9995463383020091 Centerline is valid? [True, True] Translation: X:92.33, Y:4.95, Z:-0.11 [[ 9.99933994e-01 -1.14853597e-02 -3.08165096e-04 9.23307957e+01] [ 1.14853530e-02 9.99934041e-01 -2.35390633e-05 4.95234922e+00] [ 3.08415124e-04 1.99981247e-05 9.99999952e-01 -1.12705031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.33140051299998 meters Centerline goodness [0,1] 0.9989864573449495 Centerline is valid? [True, True] Translation: X:92.36, Y:4.96, Z:-0.11 [[ 9.99969673e-01 -7.76579523e-03 -5.88090464e-04 9.23607822e+01] [ 7.76577015e-03 9.99969845e-01 -4.49149243e-05 4.95942486e+00] [ 5.88421530e-04 4.03465868e-05 9.99999826e-01 -1.12748995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.36140051299998 meters Centerline goodness [0,1] 0.9801285923880211 Centerline is valid? [True, True] Translation: X:92.39, Y:4.97, Z:-0.11 [[ 9.99999543e-01 6.18698812e-04 -7.28804465e-04 9.23903221e+01] [-6.18739556e-04 9.99999807e-01 -5.56816053e-05 4.96832254e+00] [ 7.28769874e-04 5.61325200e-05 9.99999733e-01 -1.13084963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.39140051299998 meters Centerline goodness [0,1] 0.7252667365135026 Centerline is valid? [True, False] Translation: X:92.40, Y:4.97, Z:-0.12 [[ 9.99993832e-01 3.18587232e-03 -1.47876761e-03 9.23963488e+01] [-3.18210914e-03 9.99991711e-01 2.54022442e-03 4.96643835e+00] [ 1.48684818e-03 -2.53550315e-03 9.99995680e-01 -1.17027499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.42140051299998 meters Centerline goodness [0,1] 0.7214125200642054 Centerline is valid? [False, False] Translation: X:92.40, Y:4.97, Z:-0.12 [[ 9.99994424e-01 3.11325242e-03 -1.20832370e-03 9.23954602e+01] [-3.11063804e-03 9.99992830e-01 2.15952417e-03 4.96831436e+00] [ 1.21503818e-03 -2.15575347e-03 9.99996938e-01 -1.17082876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.45140051299998 meters Centerline goodness [0,1] 0.618791232177059 Centerline is valid? [False, False] Translation: X:92.40, Y:4.97, Z:-0.12 [[ 9.99994785e-01 3.05092391e-03 -1.05940652e-03 9.23950085e+01] [-3.04897172e-03 9.99993660e-01 1.83947462e-03 4.96990173e+00] [ 1.06501190e-03 -1.83623493e-03 9.99997747e-01 -1.17200274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.48140051299998 meters Centerline goodness [0,1] 0.6858285909888323 Centerline is valid? [False, False] Translation: X:92.40, Y:4.97, Z:-0.12 [[ 9.99994901e-01 2.97475104e-03 -1.16117705e-03 9.23959841e+01] [-2.97306459e-03 9.99994527e-01 1.45139193e-03 4.97170203e+00] [ 1.16548822e-03 -1.44793227e-03 9.99998273e-01 -1.18614873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.51140051299998 meters Centerline goodness [0,1] 0.5127295269446998 Centerline is valid? [False, False] Translation: X:92.40, Y:4.97, Z:-0.12 [[ 9.99994994e-01 2.91139221e-03 -1.23938109e-03 9.23967061e+01] [-2.90981999e-03 9.99994962e-01 1.26846550e-03 4.97248278e+00] [ 1.24306784e-03 -1.26485278e-03 9.99998427e-01 -1.19578560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.54140051299999 meters Centerline goodness [0,1] 0.45793215345530625 Centerline is valid? [False, False] Translation: X:92.40, Y:4.97, Z:-0.12 [[ 9.99995263e-01 2.80807364e-03 -1.26036753e-03 9.23969340e+01] [-2.80678507e-03 9.99995538e-01 1.02298178e-03 4.97359449e+00] [ 1.26323452e-03 -1.01943935e-03 9.99998682e-01 -1.19906876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.571400513 meters Centerline goodness [0,1] 0.6173591009705431 Centerline is valid? [False, False] Translation: X:92.40, Y:4.97, Z:-0.12 [[ 9.99995610e-01 2.72538669e-03 -1.16292438e-03 9.23963336e+01] [-2.72443235e-03 9.99995951e-01 8.21439185e-04 4.97459342e+00] [ 1.16515841e-03 -8.18267270e-04 9.99998986e-01 -1.19406012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.601400513 meters Centerline goodness [0,1] 0.6330312228047461 Centerline is valid? [False, False] Translation: X:92.40, Y:4.97, Z:-0.12 [[ 9.99995627e-01 2.78058596e-03 -1.00702015e-03 9.23950477e+01] [-2.77947891e-03 9.99995533e-01 1.09907034e-03 4.97332161e+00] [ 1.01007171e-03 -1.09626654e-03 9.99998889e-01 -1.17936585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.631400513 meters Centerline goodness [0,1] 0.788429008843115 Centerline is valid? [False, False] Translation: X:92.39, Y:4.97, Z:-0.11 [[ 9.99999876e-01 4.83163385e-04 -1.16662794e-04 9.23884509e+01] [-4.83307016e-04 9.99999121e-01 -1.23429397e-03 4.97496433e+00] [ 1.16066326e-04 1.23435020e-03 9.99999231e-01 -1.13814266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.661400513 meters Centerline goodness [0,1] 0.7981790591805766 Centerline is valid? [False, False] Translation: X:92.39, Y:4.97, Z:-0.11 [[ 9.99999811e-01 5.39679606e-04 -2.93022651e-04 9.23892677e+01] [-5.39964628e-04 9.99999380e-01 -9.73487913e-04 4.97360852e+00] [ 2.92497098e-04 9.73645951e-04 9.99999483e-01 -1.14293248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.691400513 meters Centerline goodness [0,1] 0.6973698267205093 Centerline is valid? [False, False] Translation: X:92.39, Y:4.97, Z:-0.11 [[ 9.99999727e-01 6.03088751e-04 -4.26667933e-04 9.23899848e+01] [-6.03385318e-04 9.99999576e-01 -6.95288094e-04 4.97218972e+00] [ 4.26248432e-04 6.95545349e-04 9.99999667e-01 -1.14826988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.721400513 meters Centerline goodness [0,1] 0.8089270897602281 Centerline is valid? [False, False] Translation: X:92.39, Y:4.97, Z:-0.11 [[ 9.99999553e-01 7.16161676e-04 -6.16711776e-04 9.23906704e+01] [-7.16350672e-04 9.99999697e-01 -3.06291779e-04 4.97026252e+00] [ 6.16492234e-04 3.06733424e-04 9.99999763e-01 -1.14916782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.751400513 meters Centerline goodness [0,1] 0.9863573467093315 Centerline is valid? [False, True] Translation: X:92.35, Y:4.96, Z:-0.11 [[ 9.99997514e-01 -5.55627265e-04 -2.15943271e-03 9.23455386e+01] [ 5.59233435e-04 9.99998450e-01 1.66971691e-03 4.96197897e+00] [ 2.15850162e-03 -1.67092039e-03 9.99996274e-01 -1.11688709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.781400513 meters Centerline goodness [0,1] 0.8327757772048326 Centerline is valid? [True, False] Translation: X:92.39, Y:4.97, Z:-0.11 [[ 9.99999614e-01 -4.87667021e-04 7.30944318e-04 9.23858063e+01] [ 4.87690578e-04 9.99999881e-01 -3.20505648e-05 4.96568772e+00] [-7.30928601e-04 3.24070270e-05 9.99999732e-01 -1.11604628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.811400513 meters Centerline goodness [0,1] 0.831600477245611 Centerline is valid? [False, False] Translation: X:92.39, Y:4.96, Z:-0.11 [[ 9.99999665e-01 -3.97141081e-04 7.15296527e-04 9.23858842e+01] [ 3.97007601e-04 9.99999904e-01 1.86740728e-04 4.96465397e+00] [-7.15370620e-04 -1.86456687e-04 9.99999727e-01 -1.11645277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.841400513 meters Centerline goodness [0,1] 0.9577056036874226 Centerline is valid? [False, True] Translation: X:92.39, Y:4.96, Z:-0.11 [[ 9.99999663e-01 -3.47823709e-04 7.43477002e-04 9.23858740e+01] [ 3.47601157e-04 9.99999895e-01 2.99447292e-04 4.96411825e+00] [-7.43581078e-04 -2.99188758e-04 9.99999679e-01 -1.11809653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.871400513 meters Centerline goodness [0,1] 0.8166560306317805 Centerline is valid? [True, False] Translation: X:92.39, Y:4.96, Z:-0.11 [[ 9.99999604e-01 -2.23564024e-04 8.61956251e-04 9.23851822e+01] [ 2.23074209e-04 9.99999814e-01 5.68313715e-04 4.96291005e+00] [-8.62083145e-04 -5.68121210e-04 9.99999467e-01 -1.11245568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.901400513 meters Centerline goodness [0,1] 0.8803777768302563 Centerline is valid? [False, False] Translation: X:92.38, Y:4.96, Z:-0.11 [[ 9.99999538e-01 -9.66044258e-05 9.56361398e-04 9.23845273e+01] [ 9.57801747e-05 9.99999624e-01 8.61869823e-04 4.96158855e+00] [-9.56444299e-04 -8.61777824e-04 9.99999171e-01 -1.10565648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.931400513 meters Centerline goodness [0,1] 0.8645328091280101 Centerline is valid? [False, False] Translation: X:92.38, Y:4.96, Z:-0.11 [[ 9.99999527e-01 1.67312686e-05 9.72225251e-04 9.23841567e+01] [-1.78343495e-05 9.99999356e-01 1.13459641e-03 4.96034736e+00] [-9.72205642e-04 -1.13461321e-03 9.99998884e-01 -1.09923794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.96140051299997 meters Centerline goodness [0,1] 0.8655038262579624 Centerline is valid? [False, False] Translation: X:92.38, Y:4.96, Z:-0.11 [[ 9.99999581e-01 1.79173633e-04 8.97517479e-04 9.23844229e+01] [-1.80556476e-04 9.99998797e-01 1.54089884e-03 4.95840382e+00] [-8.97240310e-04 -1.54106025e-03 9.99998410e-01 -1.09952045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.99140051299997 meters Centerline goodness [0,1] 0.9564673666961341 Centerline is valid? [False, True] Translation: X:92.38, Y:4.96, Z:-0.11 [[ 9.99996302e-01 -2.12862222e-03 1.69278139e-03 9.23784958e+01] [ 2.13016630e-03 9.99997316e-01 -9.10879821e-04 4.95859716e+00] [-1.69083792e-03 9.14482359e-04 9.99998152e-01 -1.06450624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.02140051299997 meters Centerline goodness [0,1] 0.9736556508416148 Centerline is valid? [True, True] Translation: X:92.41, Y:4.96, Z:-0.11 [[ 9.99987293e-01 -4.84549005e-03 -1.39076387e-03 9.24079049e+01] [ 4.84534428e-03 9.99988255e-01 -1.08163438e-04 4.95538515e+00] [ 1.39127164e-03 1.01423334e-04 9.99999027e-01 -1.12038045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.05140051299998 meters Centerline goodness [0,1] 0.9942652943316286 Centerline is valid? [True, True] Translation: X:92.44, Y:4.95, Z:-0.11 [[ 9.99979765e-01 -5.95950583e-03 -2.22573003e-03 9.24380448e+01] [ 5.95913510e-03 9.99982229e-01 -1.73162088e-04 4.95033884e+00] [ 2.22672243e-03 1.59895159e-04 9.99997508e-01 -1.13392301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.08140051299998 meters Centerline goodness [0,1] 0.998630605956864 Centerline is valid? [True, True] Translation: X:92.47, Y:4.95, Z:-0.11 [[ 9.99971923e-01 -7.06474267e-03 -2.49855917e-03 9.24676398e+01] [ 7.06427815e-03 9.99975029e-01 -1.94687912e-04 4.94539713e+00] [ 2.49987219e-03 1.77031929e-04 9.99996860e-01 -1.13757116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.11140051299998 meters Centerline goodness [0,1] 0.9865148786553469 Centerline is valid? [True, True] Translation: X:92.49, Y:4.95, Z:-0.11 [[ 9.99967065e-01 -7.73395089e-03 -2.46067219e-03 9.24949039e+01] [ 7.73350212e-03 9.99970078e-01 -1.91840741e-04 4.95421916e+00] [ 2.46208225e-03 1.72804809e-04 9.99996954e-01 -1.14034138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.14140051299998 meters Centerline goodness [0,1] 0.9972464333723603 Centerline is valid? [True, True] Translation: X:92.52, Y:4.95, Z:-0.11 [[ 9.99963397e-01 -8.06487793e-03 -2.85690376e-03 9.25237237e+01] [ 8.06427245e-03 9.99967458e-01 -2.23389431e-04 4.94965075e+00] [ 2.85861240e-03 2.00342404e-04 9.99995894e-01 -1.14263712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.17140051299998 meters Centerline goodness [0,1] 0.988675455652657 Centerline is valid? [True, True] Translation: X:92.55, Y:4.95, Z:-0.12 [[ 9.99957424e-01 -8.22487809e-03 -4.18354611e-03 9.25504842e+01] [ 8.22358107e-03 9.99966132e-01 -3.27136607e-04 4.95064423e+00] [ 4.18609508e-03 2.92718948e-04 9.99991195e-01 -1.16717759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.20140051299998 meters Centerline goodness [0,1] 0.997545008183306 Centerline is valid? [True, True] Translation: X:92.58, Y:4.95, Z:-0.12 [[ 9.99960647e-01 -7.98904619e-03 -3.85741675e-03 9.25791983e+01] [ 7.98794103e-03 9.99968050e-01 -3.01825282e-04 4.94635579e+00] [ 3.85970480e-03 2.71000587e-04 9.99992515e-01 -1.16083128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.23140051299998 meters Centerline goodness [0,1] 0.9952188304523722 Centerline is valid? [True, True] Translation: X:92.61, Y:4.95, Z:-0.11 [[ 9.99963863e-01 -8.06228661e-03 -2.69676096e-03 9.26069068e+01] [ 8.06174588e-03 9.99967481e-01 -2.11322367e-04 4.94906220e+00] [ 2.69837700e-03 1.89574128e-04 9.99996341e-01 -1.14530782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.26140051299998 meters Centerline goodness [0,1] 0.9988962711277513 Centerline is valid? [True, True] Translation: X:92.64, Y:4.95, Z:-0.11 [[ 9.99964363e-01 -8.37468756e-03 -1.06684283e-03 9.26357940e+01] [ 8.37460264e-03 9.99964929e-01 -8.40440276e-05 4.94579035e+00] [ 1.06750925e-03 7.51066477e-05 9.99999427e-01 -1.11000643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.29140051299999 meters Centerline goodness [0,1] 0.9980823511667493 Centerline is valid? [True, True] Translation: X:92.66, Y:4.94, Z:-0.11 [[ 9.99955539e-01 -9.38726065e-03 8.94508031e-04 9.26646815e+01] [ 9.38720164e-03 9.99955937e-01 7.01490148e-05 4.94465472e+00] [-8.95127124e-04 -6.17489686e-05 9.99999597e-01 -1.07844852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.321400513 meters Centerline goodness [0,1] 0.9955379276152702 Centerline is valid? [True, True] Translation: X:92.69, Y:4.95, Z:-0.11 [[ 9.99945926e-01 -1.03463697e-02 1.04791033e-03 9.26938728e+01] [ 1.03462892e-02 9.99946472e-01 8.22404232e-05 4.94697739e+00] [-1.04870513e-03 -7.13939928e-05 9.99999448e-01 -1.07528030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.351400513 meters Centerline goodness [0,1] 0.99686004784689 Centerline is valid? [True, True] Translation: X:92.72, Y:4.95, Z:-0.11 [[ 9.99936696e-01 -1.11866493e-02 1.20951650e-03 9.27241409e+01] [ 1.11865426e-02 9.99937424e-01 9.49504066e-05 4.94689346e+00] [-1.21050299e-03 -8.14140881e-05 9.99999264e-01 -1.07875225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.381400513 meters Centerline goodness [0,1] 0.9966329244230934 Centerline is valid? [True, True] Translation: X:92.75, Y:4.95, Z:-0.11 [[ 9.99933341e-01 -1.15049738e-02 9.73981812e-04 9.27536769e+01] [ 1.15049047e-02 9.99933813e-01 7.64480826e-05 4.94897528e+00] [-9.74796881e-04 -6.52374187e-05 9.99999523e-01 -1.08391216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.411400513 meters Centerline goodness [0,1] 0.9967610986353429 Centerline is valid? [True, True] Translation: X:92.78, Y:4.95, Z:-0.11 [[ 9.99936442e-01 -1.12660853e-02 4.33576870e-04 9.27836820e+01] [ 1.12660716e-02 9.99936535e-01 3.40051312e-05 4.94977299e+00] [-4.33932458e-04 -2.91182618e-05 9.99999905e-01 -1.09335197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.441400513 meters Centerline goodness [0,1] 0.9992241713719237 Centerline is valid? [True, True] Translation: X:92.81, Y:4.94, Z:-0.11 [[ 9.99944221e-01 -1.04871362e-02 1.25505401e-03 9.28137023e+01] [ 1.04870208e-02 9.99945005e-01 9.85485079e-05 4.94256624e+00] [-1.25601848e-03 -8.53812336e-05 9.99999208e-01 -1.07752190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.471400513 meters Centerline goodness [0,1] 0.9950264754432225 Centerline is valid? [True, True] Translation: X:92.84, Y:4.95, Z:-0.11 [[ 9.99940392e-01 -1.05478422e-02 2.82047119e-03 9.28426053e+01] [ 1.05472590e-02 9.99944352e-01 2.21584361e-04 4.95036104e+00] [-2.82265147e-03 -1.91822912e-04 9.99995998e-01 -1.05330464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.501400513 meters Centerline goodness [0,1] 0.9993137317978082 Centerline is valid? [True, True] Translation: X:92.87, Y:4.94, Z:-0.10 [[ 9.99933652e-01 -1.08586145e-02 3.84472653e-03 9.28745916e+01] [ 1.08575330e-02 9.99941010e-01 3.02044014e-04 4.94346835e+00] [-3.84777951e-03 -2.60279728e-04 9.99992563e-01 -1.03803351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.531400513 meters Centerline goodness [0,1] 0.9976855820332591 Centerline is valid? [True, True] Translation: X:92.90, Y:4.95, Z:-0.10 [[ 9.99931518e-01 -1.11466453e-02 3.56540510e-03 9.29042663e+01] [ 1.11457173e-02 9.99937845e-01 2.80038119e-04 4.95064297e+00] [-3.56830498e-03 -2.40279944e-04 9.99993605e-01 -1.04498995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.561400513 meters Centerline goodness [0,1] 0.9992320491488544 Centerline is valid? [True, True] Translation: X:92.94, Y:4.95, Z:-0.11 [[ 9.99928608e-01 -1.16788056e-02 2.52663095e-03 9.29357573e+01] [ 1.16783414e-02 9.99931786e-01 1.98421792e-04 4.94593510e+00] [-2.52877592e-03 -1.68900768e-04 9.99996788e-01 -1.06274457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.591400513 meters Centerline goodness [0,1] 0.9994587924577317 Centerline is valid? [True, True] Translation: X:92.97, Y:4.94, Z:-0.11 [[ 9.99925395e-01 -1.20781465e-02 1.82279144e-03 9.29669559e+01] [ 1.20779056e-02 9.99927049e-01 1.43113211e-04 4.94305522e+00] [-1.82438701e-03 -1.21087031e-04 9.99998328e-01 -1.08081911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.621400513 meters Centerline goodness [0,1] 0.9995231386149345 Centerline is valid? [True, True] Translation: X:93.00, Y:4.94, Z:-0.11 [[ 9.99906284e-01 -1.35370246e-02 2.04242411e-03 9.29965338e+01] [ 1.35367252e-02 9.99908361e-01 1.60356999e-04 4.94258063e+00] [-2.04440770e-03 -1.32694237e-04 9.99997901e-01 -1.08602958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.651400513 meters Centerline goodness [0,1] 0.9994177897574124 Centerline is valid? [True, True] Translation: X:93.03, Y:4.94, Z:-0.11 [[ 9.99895676e-01 -1.42831444e-02 2.15154406e-03 9.30261940e+01] [ 1.42828138e-02 9.99897981e-01 1.68950771e-04 4.94494565e+00] [-2.15373771e-03 -1.38203042e-04 9.99997671e-01 -1.08978828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.681400513 meters Centerline goodness [0,1] 0.9993533646592232 Centerline is valid? [True, True] Translation: X:93.06, Y:4.94, Z:-0.11 [[ 9.99886690e-01 -1.49991386e-02 1.27789048e-03 9.30567756e+01] [ 1.49990225e-02 9.99887503e-01 1.00351783e-04 4.94092245e+00] [-1.27925191e-03 -8.11733035e-05 9.99999178e-01 -1.10390557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.71140051299997 meters Centerline goodness [0,1] 0.9989975258083781 Centerline is valid? [True, True] Translation: X:93.09, Y:4.94, Z:-0.11 [[ 9.99879626e-01 -1.54845152e-02 -9.81372900e-04 9.30855171e+01] [ 1.54844468e-02 9.99880106e-01 -7.71914152e-05 4.94167762e+00] [ 9.82450511e-04 6.19861069e-05 9.99999515e-01 -1.14101962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.74140051299997 meters Centerline goodness [0,1] 0.9991699478556987 Centerline is valid? [True, True] Translation: X:93.11, Y:4.94, Z:-0.11 [[ 9.99874704e-01 -1.57866101e-02 -1.16563488e-03 9.31137323e+01] [ 1.57865133e-02 9.99875381e-01 -9.21890118e-05 4.93958146e+00] [ 1.16694498e-03 7.37761503e-05 9.99999316e-01 -1.14679022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.77140051299997 meters Centerline goodness [0,1] 0.9993956399740989 Centerline is valid? [True, True] Translation: X:93.14, Y:4.93, Z:-0.11 [[ 9.99871407e-01 -1.60299128e-02 -4.58800672e-04 9.31420406e+01] [ 1.60298977e-02 9.99871512e-01 -3.66126524e-05 4.93270220e+00] [ 4.59328619e-04 2.92534164e-05 9.99999894e-01 -1.13260096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.80140051299998 meters Centerline goodness [0,1] 0.9996758719045767 Centerline is valid? [True, True] Translation: X:93.17, Y:4.93, Z:-0.11 [[ 9.99882562e-01 -1.53227418e-02 2.75442522e-04 9.31712902e+01] [ 1.53227364e-02 9.99882600e-01 2.14484820e-05 4.92956954e+00] [-2.75738835e-04 -1.72254299e-05 9.99999962e-01 -1.11882971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.83140051299998 meters Centerline goodness [0,1] 0.9996989053057187 Centerline is valid? [True, True] Translation: X:93.20, Y:4.93, Z:-0.11 [[ 9.99904777e-01 -1.37814882e-02 7.11759435e-04 9.31992345e+01] [ 1.37814517e-02 9.99905030e-01 5.62506317e-05 4.93153505e+00] [-7.12467056e-04 -4.64361972e-05 9.99999745e-01 -1.11441257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.86140051299998 meters Centerline goodness [0,1] 0.9956558205552808 Centerline is valid? [True, True] Translation: X:93.23, Y:4.94, Z:-0.11 [[ 9.99961997e-01 -8.71123482e-03 -3.44061884e-04 9.32284847e+01] [ 8.71122595e-03 9.99962056e-01 -2.72750892e-05 4.93813402e+00] [ 3.44286429e-04 2.42768519e-05 9.99999940e-01 -1.13744847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.89140051299998 meters Centerline goodness [0,1] 0.9949445182297245 Centerline is valid? [True, True] Translation: X:93.26, Y:4.94, Z:-0.11 [[ 9.99982508e-01 -5.87912219e-03 -6.48549040e-04 9.32592147e+01] [ 5.87909012e-03 9.99982717e-01 -5.13537098e-05 4.93872840e+00] [ 6.48839745e-04 4.75399332e-05 9.99999788e-01 -1.14942212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.92140051299998 meters Centerline goodness [0,1] 0.9649307872812211 Centerline is valid? [True, True] Translation: X:93.29, Y:4.95, Z:-0.12 [[ 9.99995007e-01 -3.00188343e-03 -9.87111451e-04 9.32881324e+01] [ 3.00180769e-03 9.99995492e-01 -7.81963097e-05 4.94672993e+00] [ 9.87341737e-04 7.52328005e-05 9.99999510e-01 -1.15674066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.95140051299998 meters Centerline goodness [0,1] 0.9973532921141122 Centerline is valid? [True, True] Translation: X:93.32, Y:4.94, Z:-0.12 [[ 9.99999649e-01 -1.58389117e-04 -8.22754353e-04 9.33193466e+01] [ 1.58335563e-04 9.99999985e-01 -6.51564133e-05 4.94060556e+00] [ 8.22764661e-04 6.50261192e-05 9.99999659e-01 -1.15798609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.98140051299998 meters Centerline goodness [0,1] 0.7870926517571886 Centerline is valid? [True, False] Translation: X:93.36, Y:4.94, Z:-0.11 [[ 9.99982849e-01 5.15047114e-03 2.78833914e-03 9.33560014e+01] [-5.15950003e-03 9.99981439e-01 3.24063853e-03 4.94086484e+00] [-2.77159657e-03 -3.25496939e-03 9.99990862e-01 -1.13332575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.01140051299998 meters Centerline goodness [0,1] 0.5341845052827712 Centerline is valid? [False, False] Translation: X:93.36, Y:4.94, Z:-0.11 [[ 9.99982360e-01 5.18276145e-03 2.90145027e-03 9.33555723e+01] [-5.19180997e-03 9.99981656e-01 3.11982121e-03 4.94151739e+00] [-2.88522775e-03 -3.13482995e-03 9.99990924e-01 -1.13262690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.04140051299999 meters Centerline goodness [0,1] 0.36253082386663016 Centerline is valid? [False, False] Translation: X:93.36, Y:4.94, Z:-0.11 [[ 9.99982090e-01 5.22332600e-03 2.92188414e-03 9.33555591e+01] [-5.23248569e-03 9.99981393e-01 3.13604663e-03 4.94145105e+00] [-2.90544917e-03 -3.15127918e-03 9.99990814e-01 -1.13394154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.071400513 meters Centerline goodness [0,1] 0.4676724137931034 Centerline is valid? [False, False] Translation: X:93.32, Y:4.94, Z:-0.11 [[ 9.99990691e-01 4.29773607e-03 -3.84357823e-04 9.33157075e+01] [-4.29599692e-03 9.99981019e-01 4.41663174e-03 4.93725892e+00] [ 4.03332045e-04 -4.41493943e-03 9.99990173e-01 -1.13615511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.101400513 meters Centerline goodness [0,1] 0.5377937977221345 Centerline is valid? [False, False] Translation: X:93.32, Y:4.94, Z:-0.11 [[ 9.99990995e-01 4.22138008e-03 -4.36255621e-04 9.33160393e+01] [-4.21948650e-03 9.99982050e-01 4.25392965e-03 4.93796927e+00] [ 4.54205244e-04 -4.25205057e-03 9.99990857e-01 -1.13966977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.131400513 meters Centerline goodness [0,1] 0.8953368321431644 Centerline is valid? [False, False] Translation: X:93.31, Y:4.94, Z:-0.11 [[ 9.99998620e-01 1.58590449e-03 4.94487568e-04 9.33094714e+01] [-1.58652386e-03 9.99997954e-01 1.25469513e-03 4.94157641e+00] [-4.92496729e-04 -1.25547791e-03 9.99999091e-01 -1.10186377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.161400513 meters Centerline goodness [0,1] 0.9014213761311252 Centerline is valid? [False, False] Translation: X:93.31, Y:4.94, Z:-0.11 [[ 9.99999873e-01 -5.03993304e-04 1.50727537e-05 9.33141478e+01] [ 5.04000487e-04 9.99999758e-01 -4.80397165e-04 4.94115183e+00] [-1.48306331e-05 4.80404701e-04 9.99999884e-01 -1.13181186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.191400513 meters Centerline goodness [0,1] 0.9014213761311252 Centerline is valid? [False, False] Translation: X:93.31, Y:4.94, Z:-0.11 [[ 9.99999873e-01 -5.03993304e-04 1.50727537e-05 9.33141478e+01] [ 5.04000487e-04 9.99999758e-01 -4.80397165e-04 4.94115183e+00] [-1.48306331e-05 4.80404701e-04 9.99999884e-01 -1.13181186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.221400513 meters Centerline goodness [0,1] 0.8573010734367013 Centerline is valid? [False, False] Translation: X:93.31, Y:4.94, Z:-0.11 [[ 9.99999915e-01 -3.40938261e-04 -2.32326569e-04 9.33144353e+01] [ 3.41036869e-04 9.99999852e-01 4.24529679e-04 4.93664925e+00] [ 2.32181796e-04 -4.24608875e-04 9.99999883e-01 -1.12068504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.251400513 meters Centerline goodness [0,1] 0.9956339391332402 Centerline is valid? [False, True] Translation: X:93.31, Y:4.94, Z:-0.11 [[ 9.99988147e-01 -4.86878718e-03 -3.90635650e-05 9.33139727e+01] [ 4.86856506e-03 9.99978241e-01 -4.45139480e-03 4.93925570e+00] [ 6.07356089e-05 4.45115185e-03 9.99990092e-01 -1.12363166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.281400513 meters Centerline goodness [0,1] 0.9938543328017012 Centerline is valid? [True, True] Translation: X:93.34, Y:4.94, Z:-0.11 [[ 9.99971284e-01 -7.57126520e-03 -3.28670134e-04 9.33434355e+01] [ 7.57125675e-03 9.99971337e-01 -2.69529035e-05 4.93790036e+00] [ 3.28864780e-04 2.44636836e-05 9.99999946e-01 -1.10995051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.311400513 meters Centerline goodness [0,1] 0.9941430464708648 Centerline is valid? [True, True] Translation: X:93.37, Y:4.94, Z:-0.11 [[ 9.99933112e-01 -1.15659698e-02 1.41229634e-06 9.33729216e+01] [ 1.15659698e-02 9.99933112e-01 1.16969992e-07 4.93961323e+00] [-1.41355475e-06 -1.00627591e-07 1.00000000e+00 -1.11373144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.341400513 meters Centerline goodness [0,1] 0.9646320837525959 Centerline is valid? [True, True] Translation: X:93.40, Y:4.95, Z:-0.11 [[ 9.99917345e-01 -1.28565800e-02 1.07126872e-04 9.34009450e+01] [ 1.28565791e-02 9.99917351e-01 8.79893895e-06 4.94735289e+00] [-1.07231143e-04 -7.42092657e-06 9.99999994e-01 -1.11676532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.371400513 meters Centerline goodness [0,1] 0.9671945701357466 Centerline is valid? [True, True] Translation: X:93.43, Y:4.95, Z:-0.11 [[ 9.99905327e-01 -1.37540716e-02 4.02549997e-04 9.34297964e+01] [ 1.37540594e-02 9.99905408e-01 3.30592851e-05 4.94810067e+00] [-4.02966619e-04 -2.75194588e-05 9.99999918e-01 -1.11631789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.401400513 meters Centerline goodness [0,1] 0.9992289404356487 Centerline is valid? [True, True] Translation: X:93.46, Y:4.93, Z:-0.11 [[ 9.99898981e-01 -1.42125800e-02 1.72128364e-04 9.34605796e+01] [ 1.42125777e-02 9.99898996e-01 1.41688516e-05 4.93231283e+00] [-1.72312354e-04 -1.17210325e-05 9.99999985e-01 -1.12338574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.431400513 meters Centerline goodness [0,1] 0.999290169929017 Centerline is valid? [True, True] Translation: X:93.49, Y:4.93, Z:-0.11 [[ 9.99896265e-01 -1.43997081e-02 -3.27721632e-04 9.34886323e+01] [ 1.43997000e-02 9.99896319e-01 -2.69457966e-05 4.93172036e+00] [ 3.28075665e-04 2.22239082e-05 9.99999946e-01 -1.12719386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.46140051299997 meters Centerline goodness [0,1] 0.9941335160364836 Centerline is valid? [True, True] Translation: X:93.52, Y:4.94, Z:-0.12 [[ 9.99917027e-01 -1.26984176e-02 -2.16554734e-03 9.35165735e+01] [ 1.26980608e-02 9.99919360e-01 -1.78420654e-04 4.94257505e+00] [ 2.16763837e-03 1.50907598e-04 9.99997639e-01 -1.15145942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.49140051299997 meters Centerline goodness [0,1] 0.9994161783467036 Centerline is valid? [True, True] Translation: X:93.55, Y:4.93, Z:-0.12 [[ 9.99935236e-01 -1.09014329e-02 -3.26851540e-03 9.35479692e+01] [ 1.09006105e-02 9.99940550e-01 -2.69303937e-04 4.93333369e+00] [ 3.27125689e-03 2.33657682e-04 9.99994622e-01 -1.15907000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.52140051299997 meters Centerline goodness [0,1] 0.9963691051670427 Centerline is valid? [True, True] Translation: X:93.58, Y:4.95, Z:-0.12 [[ 9.99955452e-01 -8.83503185e-03 -3.32202119e-03 9.35761579e+01] [ 8.83417089e-03 9.99960940e-01 -2.73750974e-04 4.94630162e+00] [ 3.32431003e-03 2.44391477e-04 9.99994445e-01 -1.16434568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.55140051299998 meters Centerline goodness [0,1] 0.9582929194956353 Centerline is valid? [True, True] Translation: X:93.60, Y:4.96, Z:-0.12 [[ 9.99972840e-01 -6.89136416e-03 -2.61323195e-03 9.36043297e+01] [ 6.89082472e-03 9.99976235e-01 -2.15374098e-04 4.96060314e+00] [ 2.61465406e-03 1.97360925e-04 9.99996562e-01 -1.15786423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.58140051299998 meters Centerline goodness [0,1] 0.9408377530035719 Centerline is valid? [True, False] Translation: X:93.60, Y:4.96, Z:-0.11 [[ 9.99983794e-01 -5.44532771e-03 -1.66145225e-03 9.35974915e+01] [ 5.44709133e-03 9.99984604e-01 1.05882159e-03 4.96147909e+00] [ 1.65566103e-03 -1.06785451e-03 9.99998059e-01 -1.11158065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.61140051299998 meters Centerline goodness [0,1] 0.9220426110414852 Centerline is valid? [False, False] Translation: X:93.64, Y:4.97, Z:-0.11 [[ 9.99989483e-01 -4.44388994e-03 1.13369035e-03 9.36383133e+01] [ 4.44442570e-03 9.99990013e-01 -4.70495953e-04 4.96661689e+00] [-1.13158819e-03 4.75529608e-04 9.99999247e-01 -1.12034511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.64140051299998 meters Centerline goodness [0,1] 0.9982802356077217 Centerline is valid? [False, True] Translation: X:93.64, Y:4.97, Z:-0.11 [[ 9.99957186e-01 -9.14036532e-03 1.44212269e-03 9.36379557e+01] [ 9.14921871e-03 9.99938570e-01 -6.25686534e-03 4.97373928e+00] [-1.38484406e-03 6.26979176e-03 9.99979386e-01 -1.13318648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.67140051299998 meters Centerline goodness [0,1] 0.8779582960214917 Centerline is valid? [True, False] Translation: X:93.64, Y:4.97, Z:-0.11 [[ 9.99957164e-01 -9.17670718e-03 1.20747577e-03 9.36389570e+01] [ 9.18398350e-03 9.99938820e-01 -6.16521258e-03 4.97312164e+00] [-1.15082555e-03 6.17603793e-03 9.99980266e-01 -1.13791344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.70140051299998 meters Centerline goodness [0,1] 0.9427952605427443 Centerline is valid? [False, False] Translation: X:93.64, Y:4.97, Z:-0.11 [[ 9.99984096e-01 -5.61375054e-03 5.41669281e-04 9.36413188e+01] [ 5.61431627e-03 9.99983690e-01 -1.04861997e-03 4.96697371e+00] [-5.35773755e-04 1.05164440e-03 9.99999303e-01 -1.13701708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.73140051299998 meters Centerline goodness [0,1] 0.9875304266131443 Centerline is valid? [False, True] Translation: X:93.64, Y:4.97, Z:-0.11 [[ 9.99984529e-01 -5.55241358e-03 3.34616720e-04 9.36419139e+01] [ 5.55265946e-03 9.99984311e-01 -7.38400245e-04 4.96542482e+00] [-3.30511566e-04 7.40246834e-04 9.99999671e-01 -1.13567282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.76140051299998 meters Centerline goodness [0,1] 0.9700665188470067 Centerline is valid? [True, True] Translation: X:93.67, Y:4.97, Z:-0.11 [[ 9.99934098e-01 -1.14092387e-02 1.27656483e-03 9.36713300e+01] [ 1.14091267e-02 9.99934909e-01 9.50266676e-05 4.96811753e+00] [-1.27756592e-03 -8.04559153e-05 9.99999181e-01 -1.12709541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.79140051299999 meters Centerline goodness [0,1] 0.9995900489783589 Centerline is valid? [True, True] Translation: X:93.70, Y:4.95, Z:-0.11 [[ 9.99902726e-01 -1.38655799e-02 1.51147486e-03 9.37031469e+01] [ 1.38654256e-02 9.99903864e-01 1.12539696e-04 4.94941846e+00] [-1.51288998e-03 -9.15715068e-05 9.99998851e-01 -1.10070448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.821400513 meters Centerline goodness [0,1] 0.999695400548279 Centerline is valid? [True, True] Translation: X:93.73, Y:4.95, Z:-0.11 [[ 9.99870511e-01 -1.60352486e-02 1.35340333e-03 9.37338805e+01] [ 1.60351269e-02 9.99871424e-01 1.00787169e-04 4.94644819e+00] [-1.35484546e-03 -7.90721242e-05 9.99999079e-01 -1.09849334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.851400513 meters Centerline goodness [0,1] 0.9998264114915593 Centerline is valid? [True, True] Translation: X:93.76, Y:4.94, Z:-0.11 [[ 9.99832634e-01 -1.82804047e-02 7.28357574e-04 9.37642582e+01] [ 1.82803700e-02 9.99832899e-01 5.42241522e-05 4.94325245e+00] [-7.29227103e-04 -4.09004310e-05 9.99999733e-01 -1.11134728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.881400513 meters Centerline goodness [0,1] 0.9996751840623647 Centerline is valid? [True, True] Translation: X:93.79, Y:4.95, Z:-0.11 [[ 9.99837971e-01 -1.79767874e-02 9.30842899e-04 9.37922493e+01] [ 1.79767308e-02 9.99838403e-01 6.91554253e-05 4.94595588e+00] [-9.31935670e-04 -5.24107079e-05 9.99999564e-01 -1.11359360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.911400513 meters Centerline goodness [0,1] 0.9996753457567691 Centerline is valid? [True, True] Translation: X:93.82, Y:4.95, Z:-0.11 [[ 9.99857807e-01 -1.68340380e-02 9.90533663e-04 9.38198478e+01] [ 1.68339733e-02 9.99858296e-01 7.36971199e-05 4.95263728e+00] [-9.91633920e-04 -5.70120235e-05 9.99999507e-01 -1.11679600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.941400513 meters Centerline goodness [0,1] 0.9991647033626044 Centerline is valid? [True, True] Translation: X:93.85, Y:4.96, Z:-0.11 [[ 9.99881776e-01 -1.53530318e-02 8.48087249e-04 9.38484352e+01] [ 1.53529837e-02 9.99882134e-01 6.31672159e-05 4.95765451e+00] [-8.48957096e-04 -5.01390783e-05 9.99999638e-01 -1.11912991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.971400513 meters Centerline goodness [0,1] 0.9981648243779608 Centerline is valid? [True, True] Translation: X:93.88, Y:4.96, Z:-0.11 [[ 9.99907135e-01 -1.36256981e-02 2.49728731e-04 9.38778248e+01] [ 1.36256938e-02 9.99907166e-01 1.85976654e-05 4.96212832e+00] [-2.49958954e-04 -1.51932110e-05 9.99999969e-01 -1.12556905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.001400513 meters Centerline goodness [0,1] 0.999589233596368 Centerline is valid? [True, True] Translation: X:93.91, Y:4.96, Z:-0.11 [[ 9.99931675e-01 -1.16797652e-02 -4.77811202e-04 9.39089530e+01] [ 1.16797494e-02 9.99931789e-01 -3.56802106e-05 4.95563140e+00] [ 4.78195347e-04 3.00970577e-05 9.99999885e-01 -1.12328966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.031400513 meters Centerline goodness [0,1] 0.9941497575085362 Centerline is valid? [True, True] Translation: X:93.94, Y:4.97, Z:-0.11 [[ 9.99966762e-01 -8.11380410e-03 8.00934609e-04 9.39373800e+01] [ 8.11375879e-03 9.99967081e-01 5.98001427e-05 4.96905221e+00] [-8.01393449e-04 -5.32995648e-05 9.99999677e-01 -1.10348054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.061400513 meters Centerline goodness [0,1] 0.9965620878289261 Centerline is valid? [True, True] Translation: X:93.97, Y:4.97, Z:-0.11 [[ 9.99976877e-01 -6.39832139e-03 2.30371899e-03 9.39673688e+01] [ 6.39794205e-03 9.99979518e-01 1.71995230e-04 4.97112803e+00] [-2.30477229e-03 -1.57252193e-04 9.99997332e-01 -1.07950160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.091400513 meters Centerline goodness [0,1] 0.9966341515703719 Centerline is valid? [True, True] Translation: X:94.00, Y:4.97, Z:-0.11 [[ 9.99981096e-01 -5.07772207e-03 3.46761591e-03 9.39984988e+01] [ 5.07685420e-03 9.99987079e-01 2.59034735e-04 4.97423860e+00] [-3.46888641e-03 -2.41425258e-04 9.99993954e-01 -1.06985193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.121400513 meters Centerline goodness [0,1] 0.9980891446238406 Centerline is valid? [True, True] Translation: X:94.03, Y:4.97, Z:-0.11 [[ 9.99981215e-01 -4.48487121e-03 4.17799092e-03 9.40309406e+01] [ 4.48360663e-03 9.99989900e-01 3.11993910e-04 4.97428472e+00] [-4.17934798e-03 -2.93255582e-04 9.99991223e-01 -1.06357948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.151400513 meters Centerline goodness [0,1] 0.9960428057783546 Centerline is valid? [True, True] Translation: X:94.06, Y:4.98, Z:-0.11 [[ 9.99973087e-01 -5.53441801e-03 4.81607214e-03 9.40613248e+01] [ 5.53275094e-03 9.99984630e-01 3.59402773e-04 4.97628543e+00] [-4.81798720e-03 -3.32746973e-04 9.99988338e-01 -1.06091767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.181400513 meters Centerline goodness [0,1] 0.9964742836385393 Centerline is valid? [True, True] Translation: X:94.09, Y:4.98, Z:-0.11 [[ 9.99966831e-01 -6.88531480e-03 4.35088105e-03 9.40916369e+01] [ 6.88396714e-03 9.99976253e-01 3.24642898e-04 4.97653772e+00] [-4.35301299e-03 -2.94680807e-04 9.99990482e-01 -1.06967563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.21140051299997 meters Centerline goodness [0,1] 0.99958604762631 Centerline is valid? [True, True] Translation: X:94.12, Y:4.96, Z:-0.11 [[ 9.99956446e-01 -8.55129732e-03 3.73906519e-03 9.41237682e+01] [ 8.55031376e-03 9.99963406e-01 2.78958531e-04 4.96317509e+00] [-3.74131383e-03 -2.46976201e-04 9.99992971e-01 -1.08002199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.24140051299997 meters Centerline goodness [0,1] 0.9984451544195954 Centerline is valid? [True, True] Translation: X:94.15, Y:4.97, Z:-0.11 [[ 9.99941163e-01 -1.01648231e-02 3.78779719e-03 9.41534577e+01] [ 1.01638255e-02 9.99948307e-01 2.82545171e-04 4.97275551e+00] [-3.79047341e-03 -2.44030037e-04 9.99992786e-01 -1.08869883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.27140051299997 meters Centerline goodness [0,1] 0.9984351554126474 Centerline is valid? [True, True] Translation: X:94.18, Y:4.97, Z:-0.11 [[ 9.99932187e-01 -1.12908677e-02 2.85269257e-03 9.41845756e+01] [ 1.12903065e-02 9.99936240e-01 2.12772575e-04 4.97139089e+00] [-2.85491307e-03 -1.80550373e-04 9.99995908e-01 -1.10079217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.30140051299998 meters Centerline goodness [0,1] 0.9989882028760871 Centerline is valid? [True, True] Translation: X:94.22, Y:4.97, Z:-0.11 [[ 9.99935801e-01 -1.12743454e-02 1.13278688e-03 9.42151526e+01] [ 1.12742569e-02 9.99936440e-01 8.44707147e-05 4.96883982e+00] [-1.13366723e-03 -7.16939614e-05 9.99999355e-01 -1.12539992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.33140051299998 meters Centerline goodness [0,1] 0.998012778050813 Centerline is valid? [True, True] Translation: X:94.24, Y:4.97, Z:-0.11 [[ 9.99943112e-01 -1.06242352e-02 9.47837134e-04 9.42436223e+01] [ 1.06241731e-02 9.99943559e-01 7.05579409e-05 4.97236447e+00] [-9.48533262e-04 -6.04839412e-05 9.99999548e-01 -1.13657339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.36140051299998 meters Centerline goodness [0,1] 0.9975460384525106 Centerline is valid? [True, True] Translation: X:94.27, Y:4.98, Z:-0.11 [[ 9.99950093e-01 -9.90108549e-03 1.33404017e-03 9.42727982e+01] [ 9.90096163e-03 9.99950979e-01 9.94159593e-05 4.97521126e+00] [-1.33495910e-03 -8.62027172e-05 9.99999105e-01 -1.13390609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.39140051299998 meters Centerline goodness [0,1] 0.9700584795321637 Centerline is valid? [True, True] Translation: X:94.30, Y:4.99, Z:-0.11 [[ 9.99952619e-01 -9.50505228e-03 2.10073257e-03 9.43011552e+01] [ 9.50474389e-03 9.99954817e-01 1.56737118e-04 4.98515960e+00] [-2.10212745e-03 -1.36762767e-04 9.99997781e-01 -1.12702865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.42140051299998 meters Centerline goodness [0,1] 0.9957648761385886 Centerline is valid? [True, True] Translation: X:94.33, Y:4.98, Z:-0.11 [[ 9.99951309e-01 -9.56597076e-03 2.42318067e-03 9.43325265e+01] [ 9.56556033e-03 9.99954233e-01 1.80911383e-04 4.97786552e+00] [-2.42480036e-03 -1.57723493e-04 9.99997048e-01 -1.12375545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.45140051299998 meters Centerline goodness [0,1] 0.9983227970584441 Centerline is valid? [True, True] Translation: X:94.36, Y:4.97, Z:-0.11 [[ 9.99948748e-01 -9.84913589e-03 2.34451199e-03 9.43634482e+01] [ 9.84875244e-03 9.99951485e-01 1.75038086e-04 4.97426261e+00] [-2.34612222e-03 -1.51938596e-04 9.99997236e-01 -1.12551629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.48140051299998 meters Centerline goodness [0,1] 0.9963379268008721 Centerline is valid? [True, True] Translation: X:94.39, Y:4.98, Z:-0.11 [[ 9.99943129e-01 -1.02788689e-02 2.84326244e-03 9.43926464e+01] [ 1.02783067e-02 9.99947154e-01 2.12255301e-04 4.97729564e+00] [-2.84529393e-03 -1.83019306e-04 9.99995935e-01 -1.11913899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.51140051299998 meters Centerline goodness [0,1] 0.9995918455027819 Centerline is valid? [True, True] Translation: X:94.42, Y:4.96, Z:-0.11 [[ 9.99938063e-01 -1.07882833e-02 2.73557744e-03 9.44242179e+01] [ 1.07877647e-02 9.99941790e-01 2.04265075e-04 4.96266084e+00] [-2.73762187e-03 -1.74741657e-04 9.99996237e-01 -1.11389195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.54140051299999 meters Centerline goodness [0,1] 0.9995019381103964 Centerline is valid? [True, True] Translation: X:94.45, Y:4.96, Z:-0.11 [[ 9.99928100e-01 -1.19036021e-02 1.44861039e-03 9.44544490e+01] [ 1.19034578e-02 9.99929145e-01 1.08167476e-04 4.95806121e+00] [-1.44979533e-03 -9.09162266e-05 9.99998945e-01 -1.14413269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.571400513 meters Centerline goodness [0,1] 0.9992822498205625 Centerline is valid? [True, True] Translation: X:94.48, Y:4.95, Z:-0.12 [[ 9.99918943e-01 -1.26465408e-02 1.47383793e-03 9.44839163e+01] [ 1.26463930e-02 9.99920025e-01 1.09553055e-04 4.95461296e+00] [-1.47510553e-03 -9.09054415e-05 9.99998908e-01 -1.15643184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.601400513 meters Centerline goodness [0,1] 0.9995044278296094 Centerline is valid? [True, True] Translation: X:94.51, Y:4.95, Z:-0.11 [[ 9.99919311e-01 -1.24990094e-02 2.26857348e-03 9.45128365e+01] [ 1.24986571e-02 9.99921874e-01 1.69394980e-04 4.95323409e+00] [-2.27051351e-03 -1.41027190e-04 9.99997412e-01 -1.13983581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.631400513 meters Centerline goodness [0,1] 0.9996523930565513 Centerline is valid? [True, True] Translation: X:94.54, Y:4.95, Z:-0.11 [[ 9.99927246e-01 -1.16996215e-02 2.93640113e-03 9.45424920e+01] [ 1.16990251e-02 9.99931540e-01 2.20182120e-04 4.95062435e+00] [-2.93877615e-03 -1.85813070e-04 9.99995665e-01 -1.13004796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.661400513 meters Centerline goodness [0,1] 0.9981342883489525 Centerline is valid? [True, True] Translation: X:94.57, Y:4.96, Z:-0.11 [[ 9.99949380e-01 -9.51706606e-03 3.26527957e-03 9.45709560e+01] [ 9.51631677e-03 9.99954689e-01 2.44931787e-04 4.96029310e+00] [-3.26746265e-03 -2.13845954e-04 9.99994639e-01 -1.11969615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.691400513 meters Centerline goodness [0,1] 0.9634777402386349 Centerline is valid? [True, True] Translation: X:94.60, Y:4.96, Z:-0.12 [[ 9.99991146e-01 -3.76231682e-03 1.88502030e-03 9.46007072e+01] [ 3.76205686e-03 9.99992913e-01 1.41433823e-04 4.96194585e+00] [-1.88553906e-03 -1.34341017e-04 9.99998213e-01 -1.15159163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.721400513 meters Centerline goodness [0,1] 0.8996387590310242 Centerline is valid? [True, False] Translation: X:94.61, Y:4.96, Z:-0.12 [[ 9.99999052e-01 -1.00076010e-03 9.45805450e-04 9.46074132e+01] [ 9.97805244e-04 9.99994637e-01 3.11949649e-03 4.95797356e+00] [-9.48922245e-04 -3.11854980e-03 9.99994687e-01 -1.19366157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.751400513 meters Centerline goodness [0,1] 0.7450913144131013 Centerline is valid? [False, False] Translation: X:94.61, Y:4.96, Z:-0.12 [[ 9.99998925e-01 -9.50537873e-04 1.11656978e-03 9.46070302e+01] [ 9.47120929e-04 9.99994880e-01 3.05676773e-03 4.95833952e+00] [-1.11946964e-03 -3.05570691e-03 9.99994705e-01 -1.19745082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.781400513 meters Centerline goodness [0,1] 0.9333888071006422 Centerline is valid? [False, False] Translation: X:94.61, Y:4.96, Z:-0.12 [[ 9.99998852e-01 -9.58827134e-04 1.17350511e-03 9.46069927e+01] [ 9.55447167e-04 9.99995404e-01 2.87741180e-03 4.95923435e+00] [-1.17625866e-03 -2.87628728e-03 9.99995172e-01 -1.20039795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.811400513 meters Centerline goodness [0,1] 0.7685906553166196 Centerline is valid? [False, False] Translation: X:94.61, Y:4.96, Z:-0.12 [[ 9.99998934e-01 -7.62698065e-04 1.24483176e-03 9.46068334e+01] [ 7.59261326e-04 9.99995906e-01 2.75894751e-03 4.96009019e+00] [-1.24693091e-03 -2.75799942e-03 9.99995419e-01 -1.20302281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.841400513 meters Centerline goodness [0,1] 0.7547825716052805 Centerline is valid? [False, False] Translation: X:94.61, Y:4.96, Z:-0.12 [[ 9.99998835e-01 -7.42868632e-04 1.33382787e-03 9.46064163e+01] [ 7.39180246e-04 9.99995908e-01 2.76363108e-03 4.96012846e+00] [-1.33587543e-03 -2.76264192e-03 9.99995292e-01 -1.20057600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.871400513 meters Centerline goodness [0,1] 0.5770178419711129 Centerline is valid? [False, False] Translation: X:94.61, Y:4.96, Z:-0.12 [[ 9.99998668e-01 -7.44740979e-04 1.45262630e-03 9.46058331e+01] [ 7.40798319e-04 9.99996046e-01 2.71281265e-03 4.96045892e+00] [-1.45464089e-03 -2.71173293e-03 9.99995265e-01 -1.19702607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.901400513 meters Centerline goodness [0,1] 0.5080840310940746 Centerline is valid? [False, False] Translation: X:94.61, Y:4.96, Z:-0.12 [[ 9.99998487e-01 -8.31793380e-04 1.52809802e-03 9.46055123e+01] [ 8.27970199e-04 9.99996530e-01 2.50085274e-03 4.96149711e+00] [-1.53017291e-03 -2.49958374e-03 9.99995705e-01 -1.19581011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.931400513 meters Centerline goodness [0,1] 0.7734294981222261 Centerline is valid? [False, False] Translation: X:94.61, Y:4.96, Z:-0.12 [[ 9.99998335e-01 -1.05911668e-03 1.48571693e-03 9.46059451e+01] [ 1.05611997e-03 9.99997409e-01 2.01635043e-03 4.96367634e+00] [-1.48784863e-03 -2.01477798e-03 9.99996863e-01 -1.20168406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.96140051299997 meters Centerline goodness [0,1] 0.43615464551566174 Centerline is valid? [False, False] Translation: X:94.61, Y:4.97, Z:-0.12 [[ 9.99998097e-01 -1.26659727e-03 1.48388086e-03 9.46062348e+01] [ 1.26425641e-03 9.99997957e-01 1.57740148e-03 4.96565439e+00] [-1.48587576e-03 -1.57552247e-03 9.99997655e-01 -1.20765750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.99140051299997 meters Centerline goodness [0,1] 0.5861294668634118 Centerline is valid? [False, False] Translation: X:94.61, Y:4.97, Z:-0.12 [[ 9.99997639e-01 -1.54299207e-03 1.53017421e-03 9.46062707e+01] [ 1.54150403e-03 9.99998338e-01 9.73165919e-04 4.96843512e+00] [-1.53167325e-03 -9.70804852e-04 9.99998356e-01 -1.21167312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.02140051299997 meters Centerline goodness [0,1] 0.7189607424476249 Centerline is valid? [False, False] Translation: X:94.65, Y:4.98, Z:-0.12 [[ 9.99988347e-01 -1.67046872e-03 4.52947193e-03 9.46468455e+01] [ 1.68478371e-03 9.99993593e-01 -3.15843843e-03 4.97833988e+00] [-4.52416684e-03 3.16603281e-03 9.99984754e-01 -1.23560477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.05140051299998 meters Centerline goodness [0,1] 0.6754799524294937 Centerline is valid? [False, False] Translation: X:94.65, Y:4.98, Z:-0.12 [[ 9.99988708e-01 -1.83805403e-03 4.38241258e-03 9.46474684e+01] [ 1.85324097e-03 9.99992283e-01 -3.46388995e-03 4.97968007e+00] [-4.37601194e-03 3.47197250e-03 9.99984398e-01 -1.23818862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.08140051299998 meters Centerline goodness [0,1] 0.6754799524294937 Centerline is valid? [False, False] Translation: X:94.65, Y:4.98, Z:-0.12 [[ 9.99988708e-01 -1.83805403e-03 4.38241258e-03 9.46474684e+01] [ 1.85324097e-03 9.99992283e-01 -3.46388995e-03 4.97968007e+00] [-4.37601194e-03 3.47197250e-03 9.99984398e-01 -1.23818862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.11140051299998 meters Centerline goodness [0,1] 0.9236634681288554 Centerline is valid? [False, False] Translation: X:94.65, Y:4.98, Z:-0.12 [[ 9.99989648e-01 -2.22421086e-03 3.96947965e-03 9.46489754e+01] [ 2.23896552e-03 9.99990587e-01 -3.71646255e-03 4.98040996e+00] [-3.96117609e-03 3.72531161e-03 9.99985215e-01 -1.24167550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.14140051299998 meters Centerline goodness [0,1] 0.9589406825277209 Centerline is valid? [False, True] Translation: X:94.65, Y:4.98, Z:-0.12 [[ 9.99989425e-01 -2.46462448e-03 3.88271065e-03 9.46492679e+01] [ 2.48056260e-03 9.99988496e-01 -4.10544024e-03 4.98214427e+00] [-3.87254762e-03 4.11502814e-03 9.99984035e-01 -1.24244858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.17140051299998 meters Centerline goodness [0,1] 0.9882599758418276 Centerline is valid? [True, True] Translation: X:94.68, Y:4.98, Z:-0.12 [[ 9.99973503e-01 -5.76425026e-03 4.44604449e-03 9.46799335e+01] [ 5.76282631e-03 9.99983339e-01 3.33017963e-04 4.98085572e+00] [-4.44789002e-03 -3.07387356e-04 9.99990061e-01 -1.22973225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.20140051299998 meters Centerline goodness [0,1] 0.9957630763936682 Centerline is valid? [True, True] Translation: X:94.71, Y:4.98, Z:-0.12 [[ 9.99938083e-01 -9.73659675e-03 5.38783609e-03 9.47099126e+01] [ 9.73456301e-03 9.99952537e-01 4.03565590e-04 4.98400353e+00] [-5.39150972e-03 -3.51092372e-04 9.99985404e-01 -1.22540153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.23140051299998 meters Centerline goodness [0,1] 0.9994121233234629 Centerline is valid? [True, True] Translation: X:94.74, Y:4.98, Z:-0.12 [[ 9.99927608e-01 -1.07083493e-02 5.48723721e-03 9.47417581e+01] [ 1.07062539e-02 9.99942602e-01 4.11085312e-04 4.97931951e+00] [-5.49132430e-03 -3.52307798e-04 9.99984861e-01 -1.22279927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.26140051299998 meters Centerline goodness [0,1] 0.9994156855955678 Centerline is valid? [True, True] Translation: X:94.77, Y:4.98, Z:-0.12 [[ 9.99922673e-01 -1.13100943e-02 5.17002740e-03 9.47728937e+01] [ 1.13082428e-02 9.99935985e-01 3.87212503e-04 4.98171834e+00] [-5.17407585e-03 -3.28718636e-04 9.99986560e-01 -1.23288816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.29140051299999 meters Centerline goodness [0,1] 0.9973921289710763 Centerline is valid? [True, True] Translation: X:94.80, Y:5.00, Z:-0.12 [[ 9.99917719e-01 -1.18451665e-02 4.92408564e-03 9.48023823e+01] [ 1.18434941e-02 9.99929795e-01 3.68647566e-04 4.99551642e+00] [-4.92810664e-03 -3.10298854e-04 9.99987809e-01 -1.24082042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.321400513 meters Centerline goodness [0,1] 0.9996345736334129 Centerline is valid? [True, True] Translation: X:94.83, Y:4.99, Z:-0.12 [[ 9.99897237e-01 -1.29599642e-02 6.12818679e-03 9.48345207e+01] [ 1.29573950e-02 9.99915944e-01 4.58749774e-04 4.99363068e+00] [-6.13361706e-03 -3.79297294e-04 9.99981117e-01 -1.22060290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.351400513 meters Centerline goodness [0,1] 0.9992080818458114 Centerline is valid? [True, True] Translation: X:94.87, Y:5.00, Z:-0.12 [[ 9.99896904e-01 -1.31716343e-02 5.71742814e-03 9.48656551e+01] [ 1.31694025e-02 9.99913188e-01 4.27819513e-04 5.00051023e+00] [-5.72256688e-03 -3.52480294e-04 9.99983564e-01 -1.22576693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.381400513 meters Centerline goodness [0,1] 0.9987741144589973 Centerline is valid? [True, True] Translation: X:94.90, Y:5.01, Z:-0.12 [[ 9.99897976e-01 -1.33651138e-02 5.04086912e-03 9.48957378e+01] [ 1.33633825e-02 9.99910635e-01 3.76975923e-04 5.00545172e+00] [-5.04545697e-03 -3.09574400e-04 9.99987224e-01 -1.23800901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.411400513 meters Centerline goodness [0,1] 0.9992739231639866 Centerline is valid? [True, True] Translation: X:94.93, Y:5.01, Z:-0.12 [[ 9.99899095e-01 -1.33366673e-02 4.89223598e-03 9.49271877e+01] [ 1.33350363e-02 9.99911018e-01 3.65847107e-04 5.00566033e+00] [-4.89667984e-03 -3.00572047e-04 9.99987966e-01 -1.24489463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.441400513 meters Centerline goodness [0,1] 0.9996339204961454 Centerline is valid? [True, True] Translation: X:94.96, Y:5.01, Z:-0.12 [[ 9.99904599e-01 -1.29019967e-02 4.93263990e-03 9.49584447e+01] [ 1.29003339e-02 9.99916719e-01 3.68756104e-04 5.00554960e+00] [-4.93698680e-03 -3.05088222e-04 9.99987766e-01 -1.24831965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.471400513 meters Centerline goodness [0,1] 0.9993308293398955 Centerline is valid? [True, True] Translation: X:94.99, Y:5.01, Z:-0.12 [[ 9.99912118e-01 -1.22300264e-02 5.11690746e-03 9.49885083e+01] [ 1.22282292e-02 9.99925159e-01 3.82366758e-04 5.01100730e+00] [-5.12120087e-03 -3.19762438e-04 9.99986835e-01 -1.24246357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.501400513 meters Centerline goodness [0,1] 0.9986365863530815 Centerline is valid? [True, True] Translation: X:95.02, Y:5.02, Z:-0.12 [[ 9.99906645e-01 -1.25198752e-02 5.47297146e-03 9.50187888e+01] [ 1.25178239e-02 9.99921565e-01 4.08902861e-04 5.01847669e+00] [-5.47766160e-03 -3.40354995e-04 9.99984940e-01 -1.23668701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.531400513 meters Centerline goodness [0,1] 0.9993530857808255 Centerline is valid? [True, True] Translation: X:95.05, Y:5.01, Z:-0.12 [[ 9.99897951e-01 -1.31047902e-02 5.68784884e-03 9.50509225e+01] [ 1.31025843e-02 9.99914067e-01 4.24917648e-04 5.01349954e+00] [-5.69292853e-03 -3.50348766e-04 9.99983734e-01 -1.22490034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.561400513 meters Centerline goodness [0,1] 0.9994201653602491 Centerline is valid? [True, True] Translation: X:95.08, Y:5.02, Z:-0.12 [[ 9.99895866e-01 -1.32477665e-02 5.72317705e-03 9.50817799e+01] [ 1.32455362e-02 9.99912183e-01 4.27423809e-04 5.01636006e+00] [-5.72833686e-03 -3.51572751e-04 9.99983531e-01 -1.22817802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.591400513 meters Centerline goodness [0,1] 0.989605121379223 Centerline is valid? [True, True] Translation: X:95.11, Y:5.04, Z:-0.12 [[ 9.99905941e-01 -1.26671218e-02 5.25858522e-03 9.51115208e+01] [ 1.26652313e-02 9.99919716e-01 3.92654990e-04 5.03559289e+00] [-5.26313685e-03 -3.26016859e-04 9.99986096e-01 -1.24641315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.621400513 meters Centerline goodness [0,1] 0.9959464334981643 Centerline is valid? [True, True] Translation: X:95.14, Y:5.04, Z:-0.13 [[ 9.99941912e-01 -9.94503750e-03 4.15553662e-03 9.51421918e+01] [ 9.94383443e-03 9.99950511e-01 3.10071467e-04 5.03739696e+00] [-4.15841464e-03 -2.68731487e-04 9.99991318e-01 -1.25986182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.651400513 meters Centerline goodness [0,1] 0.9959464412773023 Centerline is valid? [True, True] Translation: X:95.17, Y:5.04, Z:-0.12 [[ 9.99955820e-01 -8.22743353e-03 4.54617426e-03 9.51729830e+01] [ 8.22597586e-03 9.99966109e-01 3.39242356e-04 5.04128777e+00] [-4.54881128e-03 -3.01830648e-04 9.99989609e-01 -1.24839049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.681400513 meters Centerline goodness [0,1] 0.9992882715783117 Centerline is valid? [True, True] Translation: X:95.20, Y:5.04, Z:-0.12 [[ 9.99955283e-01 -5.39521745e-03 7.76684902e-03 9.52038901e+01] [ 5.39087898e-03 9.99985301e-01 5.79415586e-04 5.04210534e+00] [-7.76986093e-03 -5.37519533e-04 9.99969670e-01 -1.19646968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.71140051299997 meters Centerline goodness [0,1] 0.9950855750945493 Centerline is valid? [True, True] Translation: X:95.23, Y:5.06, Z:-0.12 [[ 9.99951993e-01 -4.14008998e-03 8.88099603e-03 9.52326438e+01] [ 4.13436871e-03 9.99991234e-01 6.62477055e-04 5.05867999e+00] [-8.88366090e-03 -6.25727939e-04 9.99960344e-01 -1.18702395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.74140051299997 meters Centerline goodness [0,1] 0.9899868191674817 Centerline is valid? [True, True] Translation: X:95.26, Y:5.07, Z:-0.12 [[ 9.99955485e-01 -2.90089305e-03 8.97841408e-03 9.52623183e+01] [ 2.89500032e-03 9.99995586e-01 6.69249024e-04 5.06772673e+00] [-8.98031587e-03 -6.43226722e-04 9.99959469e-01 -1.19848507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.77140051299997 meters Centerline goodness [0,1] 0.99528706083976 Centerline is valid? [True, True] Translation: X:95.29, Y:5.07, Z:-0.12 [[ 9.99968575e-01 -1.55779939e-03 7.77315207e-03 9.52935799e+01] [ 1.55334276e-03 9.99998626e-01 5.79340833e-04 5.06872047e+00] [-7.77404389e-03 -5.67248258e-04 9.99969621e-01 -1.22642073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.80140051299998 meters Centerline goodness [0,1] 0.9953245973363073 Centerline is valid? [True, True] Translation: X:95.32, Y:5.07, Z:-0.13 [[ 9.99980245e-01 -3.85856480e-04 6.27374978e-03 9.53243706e+01] [ 3.82931246e-04 9.99999817e-01 4.67460215e-04 5.07090678e+00] [-6.27392901e-03 -4.65048565e-04 9.99980211e-01 -1.25041478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.83140051299998 meters Centerline goodness [0,1] 0.9850947928283434 Centerline is valid? [True, True] Translation: X:95.35, Y:5.08, Z:-0.13 [[ 9.99990433e-01 -3.34202511e-04 4.36136401e-03 9.53549058e+01] [ 3.32788059e-04 9.99999892e-01 3.25035822e-04 5.07993837e+00] [-4.36147216e-03 -3.23581303e-04 9.99990436e-01 -1.27385974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.86140051299998 meters Centerline goodness [0,1] 0.9519938387814479 Centerline is valid? [True, True] Translation: X:95.38, Y:5.09, Z:-0.13 [[ 9.99989766e-01 -1.56493943e-03 4.24489646e-03 9.53847189e+01] [ 1.56361152e-03 9.99998728e-01 3.16124831e-04 5.08919309e+00] [-4.24538577e-03 -3.09484226e-04 9.99990940e-01 -1.27782322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.89140051299998 meters Centerline goodness [0,1] 0.998925391464538 Centerline is valid? [True, True] Translation: X:95.42, Y:5.08, Z:-0.13 [[ 9.99981420e-01 -3.51796896e-03 4.97831348e-03 9.54166064e+01] [ 3.51616698e-03 9.99993750e-01 3.70672710e-04 5.07719631e+00] [-4.97958638e-03 -3.53161241e-04 9.99987539e-01 -1.26238206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.92140051299998 meters Centerline goodness [0,1] 0.9976218022882118 Centerline is valid? [True, True] Translation: X:95.45, Y:5.09, Z:-0.13 [[ 9.99964030e-01 -6.01960567e-03 5.97517052e-03 9.54461170e+01] [ 6.01705503e-03 9.99981798e-01 4.44757764e-04 5.08562267e+00] [-5.97773903e-03 -4.08788836e-04 9.99982050e-01 -1.25519107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.95140051299998 meters Centerline goodness [0,1] 0.9994395223005453 Centerline is valid? [True, True] Translation: X:95.48, Y:5.08, Z:-0.12 [[ 9.99933414e-01 -9.14545221e-03 7.03762147e-03 9.54776967e+01] [ 9.14199029e-03 9.99958074e-01 5.23929224e-04 5.07854333e+00] [-7.04211798e-03 -4.59556470e-04 9.99975098e-01 -1.24518265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.98140051299998 meters Centerline goodness [0,1] 0.9986477784932389 Centerline is valid? [True, True] Translation: X:95.51, Y:5.09, Z:-0.12 [[ 9.99890348e-01 -1.27252598e-02 7.57363566e-03 9.55064935e+01] [ 1.27213529e-02 9.99918921e-01 5.63815781e-04 5.08550368e+00] [-7.58019630e-03 -4.67407065e-04 9.99971161e-01 -1.24518805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.01140051299998 meters Centerline goodness [0,1] 0.9996527928475326 Centerline is valid? [True, True] Translation: X:95.54, Y:5.07, Z:-0.13 [[ 9.99782703e-01 -1.97674007e-02 6.61796532e-03 9.55387434e+01] [ 1.97645704e-02 9.99804540e-01 4.92796804e-04 5.07014060e+00] [-6.62641309e-03 -3.61888479e-04 9.99977980e-01 -1.26531903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.04140051299999 meters Centerline goodness [0,1] 0.9995719178082192 Centerline is valid? [True, True] Translation: X:95.57, Y:5.08, Z:-0.13 [[ 9.99741571e-01 -2.20935546e-02 5.35405345e-03 9.55682514e+01] [ 2.20917362e-02 9.99755868e-01 3.98528424e-04 5.07538355e+00] [-5.36155127e-03 -2.80145096e-04 9.99985588e-01 -1.28992082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.071400513 meters Centerline goodness [0,1] 0.9997641408293666 Centerline is valid? [True, True] Translation: X:95.60, Y:5.07, Z:-0.13 [[ 9.99727140e-01 -2.28937899e-02 4.63890505e-03 9.55988389e+01] [ 2.28924335e-02 9.99737874e-01 3.45296425e-04 5.07348238e+00] [-4.64559422e-03 -2.39006383e-04 9.99989181e-01 -1.29660270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.101400513 meters Centerline goodness [0,1] 0.9995429914474113 Centerline is valid? [True, True] Translation: X:95.63, Y:5.08, Z:-0.13 [[ 9.99776756e-01 -2.02501864e-02 6.03065930e-03 9.56281003e+01] [ 2.02478462e-02 9.99794891e-01 4.48865766e-04 5.08014156e+00] [-6.03851197e-03 -3.26657697e-04 9.99981715e-01 -1.27967419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.131400513 meters Centerline goodness [0,1] 0.9995439442308945 Centerline is valid? [True, True] Translation: X:95.66, Y:5.08, Z:-0.13 [[ 9.99817547e-01 -1.80032629e-02 6.38405086e-03 9.56582501e+01] [ 1.80005942e-02 9.99837863e-01 4.75242218e-04 5.08293698e+00] [-6.39157168e-03 -3.60238800e-04 9.99979509e-01 -1.27662407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.161400513 meters Centerline goodness [0,1] 0.9994854864297046 Centerline is valid? [True, True] Translation: X:95.69, Y:5.08, Z:-0.13 [[ 9.99859006e-01 -1.56038197e-02 6.20400559e-03 9.56893022e+01] [ 1.56012525e-02 9.99878186e-01 4.61971588e-04 5.08499122e+00] [-6.21045838e-03 -3.65116194e-04 9.99980648e-01 -1.28252556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.191400513 meters Centerline goodness [0,1] 0.9982901233248552 Centerline is valid? [True, True] Translation: X:95.72, Y:5.09, Z:-0.13 [[ 9.99889696e-01 -1.35869768e-02 5.99920353e-03 9.57184766e+01] [ 1.35845406e-02 9.99907626e-01 4.46656419e-04 5.09287888e+00] [-6.00471807e-03 -3.65110727e-04 9.99981905e-01 -1.29092403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.221400513 meters Centerline goodness [0,1] 0.9979825728634588 Centerline is valid? [True, True] Translation: X:95.75, Y:5.09, Z:-0.13 [[ 9.99920355e-01 -1.09397175e-02 6.29334263e-03 9.57486336e+01] [ 1.09369843e-02 9.99940080e-01 4.68560635e-04 5.09497317e+00] [-6.29809145e-03 -3.99693127e-04 9.99980087e-01 -1.29253198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.251400513 meters Centerline goodness [0,1] 0.9990212710426726 Centerline is valid? [True, True] Translation: X:95.78, Y:5.09, Z:-0.13 [[ 9.99920528e-01 -1.04716853e-02 7.02013965e-03 9.57810208e+01] [ 1.04682725e-02 9.99945070e-01 5.22708078e-04 5.09303077e+00] [-7.02522767e-03 -4.49177802e-04 9.99975222e-01 -1.28483062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.281400513 meters Centerline goodness [0,1] 0.9991539212495932 Centerline is valid? [True, True] Translation: X:95.81, Y:5.09, Z:-0.13 [[ 9.99923303e-01 -9.87057540e-03 7.48062673e-03 9.58134884e+01] [ 9.86668620e-03 9.99951168e-01 5.56630406e-04 5.09000167e+00] [-7.48575569e-03 -4.82778717e-04 9.99971865e-01 -1.27930467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.311400513 meters Centerline goodness [0,1] 0.9995857768863503 Centerline is valid? [True, True] Translation: X:95.85, Y:5.09, Z:-0.13 [[ 9.99926989e-01 -9.22427780e-03 7.80567073e-03 9.58452152e+01] [ 9.22002669e-03 9.99957326e-01 5.80428038e-04 5.09070653e+00] [-7.81069167e-03 -5.08417168e-04 9.99969367e-01 -1.27632598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.341400513 meters Centerline goodness [0,1] 0.998950816864013 Centerline is valid? [True, True] Translation: X:95.88, Y:5.10, Z:-0.13 [[ 9.99934734e-01 -8.39348370e-03 7.75088430e-03 9.58755293e+01] [ 8.38926915e-03 9.99964644e-01 5.76104864e-04 5.09761184e+00] [-7.75544578e-03 -5.11043010e-04 9.99969795e-01 -1.27943168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.371400513 meters Centerline goodness [0,1] 0.9992864093415504 Centerline is valid? [True, True] Translation: X:95.91, Y:5.10, Z:-0.13 [[ 9.99946324e-01 -5.98215768e-03 8.45943392e-03 9.59060588e+01] [ 5.97705771e-03 9.99981940e-01 6.28027402e-04 5.09719538e+00] [-8.46303810e-03 -5.77431168e-04 9.99964021e-01 -1.26551052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.401400513 meters Centerline goodness [0,1] 0.9990464632454924 Centerline is valid? [True, True] Translation: X:95.94, Y:5.10, Z:-0.13 [[ 9.99952050e-01 -4.65064188e-03 8.61800016e-03 9.59368670e+01] [ 4.64530001e-03 9.99989006e-01 6.39764420e-04 5.09947057e+00] [-8.62088073e-03 -5.99700547e-04 9.99962660e-01 -1.26865894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.431400513 meters Centerline goodness [0,1] 0.9943528300266254 Centerline is valid? [True, True] Translation: X:95.97, Y:5.11, Z:-0.13 [[ 9.99962581e-01 -3.35936316e-03 7.97191026e-03 9.59662360e+01] [ 3.35475338e-03 9.99994198e-01 5.91554258e-04 5.10976214e+00] [-7.97385125e-03 -5.64788330e-04 9.99968049e-01 -1.28499271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.46140051299997 meters Centerline goodness [0,1] 0.9886860375417845 Centerline is valid? [True, True] Translation: X:96.00, Y:5.11, Z:-0.13 [[ 9.99976013e-01 -2.36931520e-03 6.50840630e-03 9.59985663e+01] [ 2.36622127e-03 9.99997084e-01 4.83034767e-04 5.11271523e+00] [-6.50953179e-03 -4.67622852e-04 9.99978703e-01 -1.31970266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.49140051299997 meters Centerline goodness [0,1] 0.9985258411377038 Centerline is valid? [True, True] Translation: X:96.03, Y:5.11, Z:-0.13 [[ 9.99986573e-01 -1.61972073e-03 4.92251761e-03 9.60313784e+01] [ 1.61794246e-03 9.99998624e-01 3.65211198e-04 5.10669467e+00] [-4.92310238e-03 -3.57241944e-04 9.99987818e-01 -1.34834446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.52140051299997 meters Centerline goodness [0,1] 0.9560912889746063 Centerline is valid? [True, True] Translation: X:96.06, Y:5.12, Z:-0.14 [[ 9.99990082e-01 -2.65383523e-04 4.44574665e-03 9.60606052e+01] [ 2.63920794e-04 9.99999911e-01 3.29601094e-04 5.12115644e+00] [-4.44583372e-03 -3.28424500e-04 9.99990063e-01 -1.35775697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.55140051299998 meters Centerline goodness [0,1] 0.9623430962343096 Centerline is valid? [True, True] Translation: X:96.09, Y:5.12, Z:-0.13 [[ 9.99985104e-01 1.84072671e-04 5.45500401e-03 9.60931173e+01] [-1.86280596e-04 9.99999901e-01 4.04247034e-04 5.12235211e+00] [-5.45492906e-03 -4.05257174e-04 9.99985040e-01 -1.33475117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.58140051299998 meters Centerline goodness [0,1] 0.9558113069804393 Centerline is valid? [True, True] Translation: X:96.13, Y:5.12, Z:-0.13 [[ 9.99986434e-01 2.93498347e-04 5.20063934e-03 9.61254463e+01] [-2.95505508e-04 9.99999882e-01 3.85180890e-04 5.12212590e+00] [-5.20052568e-03 -3.86712482e-04 9.99986402e-01 -1.33353751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.61140051299998 meters Centerline goodness [0,1] 0.975461707348573 Centerline is valid? [True, True] Translation: X:96.16, Y:5.12, Z:-0.13 [[ 9.99985786e-01 6.09772850e-04 5.29686579e-03 9.61579852e+01] [-6.11858103e-04 9.99999736e-01 3.92065268e-04 5.12171453e+00] [-5.29662532e-03 -3.95300626e-04 9.99985895e-01 -1.33684909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.64140051299998 meters Centerline goodness [0,1] 0.9844760948944076 Centerline is valid? [True, True] Translation: X:96.19, Y:5.12, Z:-0.13 [[ 9.99982477e-01 8.48166908e-04 5.85883540e-03 9.61906137e+01] [-8.50720405e-04 9.99999544e-01 4.33358561e-04 5.12224417e+00] [-5.85846517e-03 -4.38335198e-04 9.99982743e-01 -1.33514268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.67140051299998 meters Centerline goodness [0,1] 0.9818638932462341 Centerline is valid? [True, True] Translation: X:96.22, Y:5.13, Z:-0.13 [[ 9.99977615e-01 1.08858086e-03 6.60189719e-03 9.62214938e+01] [-1.09182653e-03 9.99999285e-01 4.88042527e-04 5.12567645e+00] [-6.60136120e-03 -4.95239728e-04 9.99978088e-01 -1.33534147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.70140051299998 meters Centerline goodness [0,1] 0.9893887762584652 Centerline is valid? [True, True] Translation: X:96.25, Y:5.12, Z:-0.13 [[ 9.99974162e-01 1.46209586e-03 7.03834348e-03 9.62534644e+01] [-1.46578905e-03 9.99998791e-01 5.19594112e-04 5.12458897e+00] [-7.03757527e-03 -5.29897413e-04 9.99975096e-01 -1.33537051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.73140051299998 meters Centerline goodness [0,1] 0.9295358380642555 Centerline is valid? [True, False] Translation: X:96.29, Y:5.13, Z:-0.13 [[ 9.99951649e-01 2.12699903e-03 9.60080133e-03 9.62942747e+01] [-2.10695898e-03 9.99995582e-01 -2.09696287e-03 5.12909712e+00] [-9.60521915e-03 2.07663299e-03 9.99951713e-01 -1.34684110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.76140051299998 meters Centerline goodness [0,1] 0.9222198505869798 Centerline is valid? [False, False] Translation: X:96.29, Y:5.13, Z:-0.13 [[ 9.99952256e-01 2.22985413e-03 9.51381455e-03 9.62944828e+01] [-2.21197456e-03 9.99995769e-01 -1.88943601e-03 5.12815217e+00] [-9.51798746e-03 1.86830149e-03 9.99952958e-01 -1.34508195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.79140051299999 meters Centerline goodness [0,1] 0.8872435897435897 Centerline is valid? [False, False] Translation: X:96.29, Y:5.13, Z:-0.13 [[ 9.99953055e-01 2.34658043e-03 9.40113926e-03 9.62948114e+01] [-2.33109929e-03 9.99995910e-01 -1.65734945e-03 5.12707447e+00] [-9.40498991e-03 1.63535665e-03 9.99954435e-01 -1.34398479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.821400513 meters Centerline goodness [0,1] 0.8917324111099103 Centerline is valid? [False, False] Translation: X:96.25, Y:5.12, Z:-0.13 [[ 9.99963700e-01 4.87958639e-03 6.98488346e-03 9.62523190e+01] [-4.91613316e-03 9.99974267e-01 5.22469426e-03 5.11617752e+00] [-6.95920937e-03 -5.25884322e-03 9.99961956e-01 -1.30784314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.851400513 meters Centerline goodness [0,1] 0.6089234915406498 Centerline is valid? [False, False] Translation: X:96.25, Y:5.12, Z:-0.13 [[ 9.99961948e-01 4.86003379e-03 7.24454308e-03 9.62513109e+01] [-4.89618595e-03 9.99975609e-01 4.98090641e-03 5.11750187e+00] [-7.22015900e-03 -5.01618750e-03 9.99961353e-01 -1.30516842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.881400513 meters Centerline goodness [0,1] 0.8154901876950703 Centerline is valid? [False, False] Translation: X:96.25, Y:5.12, Z:-0.13 [[ 9.99969117e-01 1.11519590e-03 7.77951242e-03 9.62493752e+01] [-1.11319711e-03 9.99999346e-01 -2.61255469e-04 5.12366256e+00] [-7.77979869e-03 2.52587270e-04 9.99969705e-01 -1.30893167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.911400513 meters Centerline goodness [0,1] 0.8340810076349049 Centerline is valid? [False, False] Translation: X:96.25, Y:5.12, Z:-0.13 [[ 9.99967356e-01 1.14177947e-03 7.99900765e-03 9.62484334e+01] [-1.13971784e-03 9.99999316e-01 -2.62288272e-04 5.12378837e+00] [-7.99930165e-03 2.53163098e-04 9.99967973e-01 -1.30444395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.941400513 meters Centerline goodness [0,1] 0.5039178945575334 Centerline is valid? [False, False] Translation: X:96.25, Y:5.13, Z:-0.13 [[ 9.99969333e-01 8.76531158e-04 7.78239806e-03 9.62496319e+01] [-8.71141992e-04 9.99999378e-01 -6.95844240e-04 5.12557294e+00] [-7.78300315e-03 6.89043326e-04 9.99969475e-01 -1.31455431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.971400513 meters Centerline goodness [0,1] 0.8248234538840146 Centerline is valid? [False, False] Translation: X:96.25, Y:5.13, Z:-0.13 [[ 9.99972201e-01 8.11683419e-04 7.41207446e-03 9.62512312e+01] [-8.06564211e-04 9.99999434e-01 -6.93621047e-04 5.12533523e+00] [-7.41263326e-03 6.87623451e-04 9.99972290e-01 -1.32249870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.001400513 meters Centerline goodness [0,1] 0.8248234538840146 Centerline is valid? [False, False] Translation: X:96.25, Y:5.13, Z:-0.13 [[ 9.99972201e-01 8.11683419e-04 7.41207446e-03 9.62512312e+01] [-8.06564211e-04 9.99999434e-01 -6.93621047e-04 5.12533523e+00] [-7.41263326e-03 6.87623451e-04 9.99972290e-01 -1.32249870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.031400513 meters Centerline goodness [0,1] 0.9723829393672165 Centerline is valid? [False, True] Translation: X:96.25, Y:5.12, Z:-0.13 [[ 9.99974631e-01 9.08754493e-04 7.06482909e-03 9.62524994e+01] [-9.06741490e-04 9.99999547e-01 -2.88130876e-04 5.12325527e+00] [-7.06508773e-03 2.81717593e-04 9.99975002e-01 -1.32575789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.061400513 meters Centerline goodness [0,1] 0.8541375078056028 Centerline is valid? [True, False] Translation: X:96.25, Y:5.12, Z:-0.13 [[ 9.99975966e-01 1.13069122e-03 6.84028642e-03 9.62531803e+01] [-1.13356099e-03 9.99999271e-01 4.15677328e-04 5.11981276e+00] [-6.83981143e-03 -4.23421219e-04 9.99976519e-01 -1.32469181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.091400513 meters Centerline goodness [0,1] 0.9383340116092274 Centerline is valid? [False, False] Translation: X:96.25, Y:5.12, Z:-0.13 [[ 9.99976452e-01 1.38311693e-03 6.72181646e-03 9.62534345e+01] [-1.39082201e-03 9.99998381e-01 1.14174001e-03 5.11633635e+00] [-6.72022642e-03 -1.15106197e-03 9.99976757e-01 -1.32179028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.121400513 meters Centerline goodness [0,1] 0.9949262689725155 Centerline is valid? [False, True] Translation: X:96.25, Y:5.12, Z:-0.13 [[ 9.99971318e-01 -6.62857090e-04 7.54474077e-03 9.62478295e+01] [ 6.70129084e-04 9.99999313e-01 -9.61362189e-04 5.11916275e+00] [-7.54409834e-03 9.66390566e-04 9.99971076e-01 -1.28945483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.151400513 meters Centerline goodness [0,1] 0.9852860916453817 Centerline is valid? [True, True] Translation: X:96.28, Y:5.12, Z:-0.13 [[ 9.99975165e-01 -1.14901946e-04 7.04673443e-03 9.62784731e+01] [ 1.11116190e-04 9.99999849e-01 5.37624668e-04 5.12422754e+00] [-7.04679514e-03 -5.36828310e-04 9.99975027e-01 -1.29794842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.181400513 meters Centerline goodness [0,1] 0.8868246485933068 Centerline is valid? [True, False] Translation: X:96.32, Y:5.13, Z:-0.13 [[ 9.99960461e-01 1.21498570e-03 8.80905588e-03 9.63223644e+01] [-1.19919971e-03 9.99997666e-01 -1.79707871e-03 5.13062267e+00] [-8.81121875e-03 1.78644384e-03 9.99959585e-01 -1.33253235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.21140051299997 meters Centerline goodness [0,1] 0.6991595200923886 Centerline is valid? [False, False] Translation: X:96.32, Y:5.13, Z:-0.13 [[ 9.99960014e-01 1.17182860e-03 8.86550922e-03 9.63222454e+01] [-1.15391289e-03 9.99997283e-01 -2.02567858e-03 5.13176339e+00] [-8.86785888e-03 2.01536755e-03 9.99958649e-01 -1.33422561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.24140051299997 meters Centerline goodness [0,1] 0.9349968727758966 Centerline is valid? [False, False] Translation: X:96.30, Y:5.12, Z:-0.12 [[ 9.99993463e-01 1.10149689e-03 3.44397347e-03 9.62958335e+01] [-1.13329371e-03 9.99956628e-01 9.24431732e-03 5.11944641e+00] [-3.43364151e-03 -9.24815993e-03 9.99951340e-01 -1.23254223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.27140051299997 meters Centerline goodness [0,1] 0.9738163712065931 Centerline is valid? [False, True] Translation: X:96.29, Y:5.13, Z:-0.12 [[ 9.99986837e-01 -3.20649371e-03 4.00548520e-03 9.62942019e+01] [ 3.19132603e-03 9.99987735e-01 3.78739590e-03 5.12553645e+00] [-4.01758034e-03 -3.77456324e-03 9.99984806e-01 -1.23882349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.30140051299998 meters Centerline goodness [0,1] 0.9352187419104323 Centerline is valid? [True, False] Translation: X:96.29, Y:5.12, Z:-0.12 [[ 9.99986683e-01 -3.12227309e-03 4.10926087e-03 9.62935875e+01] [ 3.10592925e-03 9.99987265e-01 3.97770978e-03 5.12472553e+00] [-4.12162804e-03 -3.96489373e-03 9.99983646e-01 -1.23346046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.33140051299998 meters Centerline goodness [0,1] 0.9890501490216406 Centerline is valid? [False, True] Translation: X:96.29, Y:5.12, Z:-0.12 [[ 9.99986696e-01 -3.04278615e-03 4.16518931e-03 9.62933590e+01] [ 3.02489288e-03 9.99986199e-01 4.29548835e-03 5.12315247e+00] [-4.17820208e-03 -4.28283196e-03 9.99982100e-01 -1.23299748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.36140051299998 meters Centerline goodness [0,1] 0.9339258941957592 Centerline is valid? [True, False] Translation: X:96.29, Y:5.12, Z:-0.12 [[ 9.99987315e-01 -3.07037265e-03 3.99287695e-03 9.62941590e+01] [ 3.05296705e-03 9.99985844e-01 4.35797632e-03 5.12266622e+00] [-4.00620104e-03 -4.34573092e-03 9.99982532e-01 -1.23787912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.39140051299998 meters Centerline goodness [0,1] 0.9867623913933985 Centerline is valid? [False, True] Translation: X:96.29, Y:5.13, Z:-0.13 [[ 9.99962176e-01 -7.68932510e-03 4.06454948e-03 9.62948090e+01] [ 7.69456988e-03 9.99969582e-01 -1.27631179e-03 5.12895633e+00] [-4.05461186e-03 1.30753847e-03 9.99990925e-01 -1.25659397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.42140051299998 meters Centerline goodness [0,1] 0.9374240453702322 Centerline is valid? [True, False] Translation: X:96.30, Y:5.13, Z:-0.13 [[ 9.99963863e-01 -7.61212574e-03 3.78515746e-03 9.62958700e+01] [ 7.61587559e-03 9.99970521e-01 -9.77246970e-04 5.12738093e+00] [-3.77760696e-03 1.00603894e-03 9.99992359e-01 -1.25927489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.45140051299998 meters Centerline goodness [0,1] 0.9413318444391952 Centerline is valid? [False, False] Translation: X:96.30, Y:5.12, Z:-0.12 [[ 9.99967961e-01 -7.13826219e-03 3.62235248e-03 9.62956027e+01] [ 7.13756876e-03 9.99974506e-01 2.04321993e-04 5.12199460e+00] [-3.62371864e-03 -1.78460657e-04 9.99993418e-01 -1.24275698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.48140051299998 meters Centerline goodness [0,1] 0.9651100719578075 Centerline is valid? [False, True] Translation: X:96.30, Y:5.12, Z:-0.12 [[ 9.99968956e-01 -6.97578602e-03 3.66409384e-03 9.62950799e+01] [ 6.97358602e-03 9.99975496e-01 6.12854778e-04 5.12014721e+00] [-3.66827920e-03 -5.87283879e-04 9.99993099e-01 -1.23500170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.51140051299998 meters Centerline goodness [0,1] 0.9848294938842547 Centerline is valid? [True, True] Translation: X:96.33, Y:5.12, Z:-0.12 [[ 9.99962427e-01 -7.02990888e-03 5.07197362e-03 9.63269791e+01] [ 7.02798364e-03 9.99975224e-01 3.97306702e-04 5.12052654e+00] [-5.07464099e-03 -3.61646027e-04 9.99987059e-01 -1.21575995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.54140051299999 meters Centerline goodness [0,1] 0.9963273984665277 Centerline is valid? [True, True] Translation: X:96.36, Y:5.12, Z:-0.12 [[ 9.99955879e-01 -6.89777284e-03 6.37652499e-03 9.63596317e+01] [ 6.89472952e-03 9.99976107e-01 4.99129211e-04 5.12080344e+00] [-6.37981552e-03 -4.55142774e-04 9.99979545e-01 -1.20437244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.571400513 meters Centerline goodness [0,1] 0.993806717990624 Centerline is valid? [True, True] Translation: X:96.39, Y:5.13, Z:-0.12 [[ 9.99954229e-01 -6.35275658e-03 7.15421447e-03 9.63899141e+01] [ 6.34891441e-03 9.99979689e-01 5.59632615e-04 5.12768785e+00] [-7.15762436e-03 -5.14185505e-04 9.99974252e-01 -1.20136964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.601400513 meters Centerline goodness [0,1] 0.979476578150974 Centerline is valid? [True, True] Translation: X:96.42, Y:5.13, Z:-0.12 [[ 9.99955991e-01 -6.13257587e-03 7.09982014e-03 9.64201694e+01] [ 6.12879031e-03 9.99981065e-01 5.54825843e-04 5.13463275e+00] [-7.10308822e-03 -5.11288117e-04 9.99974642e-01 -1.19894918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.631400513 meters Centerline goodness [0,1] 0.9862418537291817 Centerline is valid? [True, True] Translation: X:96.45, Y:5.14, Z:-0.12 [[ 9.99960565e-01 -6.02574766e-03 6.52366876e-03 9.64526717e+01] [ 6.02255012e-03 9.99981734e-01 5.09677959e-04 5.13525124e+00] [-6.52662080e-03 -4.70368738e-04 9.99978591e-01 -1.20484171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.661400513 meters Centerline goodness [0,1] 0.9823954193906764 Centerline is valid? [True, True] Translation: X:96.48, Y:5.14, Z:-0.12 [[ 9.99963213e-01 -6.13312641e-03 5.99639254e-03 9.64843410e+01] [ 6.13042826e-03 9.99981099e-01 4.68239661e-04 5.13801869e+00] [-5.99915097e-03 -4.31461982e-04 9.99981912e-01 -1.21626112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.691400513 meters Centerline goodness [0,1] 0.9961908838005564 Centerline is valid? [True, True] Translation: X:96.52, Y:5.14, Z:-0.12 [[ 9.99961174e-01 -6.34333192e-03 6.11650651e-03 9.65164197e+01] [ 6.34053021e-03 9.99979785e-01 4.77340422e-04 5.13656145e+00] [-6.11941080e-03 -4.38539995e-04 9.99981180e-01 -1.21489322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.721400513 meters Centerline goodness [0,1] 0.9979728709753941 Centerline is valid? [True, True] Translation: X:96.55, Y:5.14, Z:-0.12 [[ 9.99962169e-01 -4.83294733e-03 7.23215676e-03 9.65476322e+01] [ 4.82899379e-03 9.99988181e-01 5.64023982e-04 5.14139755e+00] [-7.23479719e-03 -5.29078604e-04 9.99973689e-01 -1.20418295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.751400513 meters Centerline goodness [0,1] 0.998578964366455 Centerline is valid? [True, True] Translation: X:96.58, Y:5.15, Z:-0.12 [[ 9.99962179e-01 -3.16968458e-03 8.09905164e-03 9.65787380e+01] [ 3.16467383e-03 9.99994793e-01 6.31424685e-04 5.14670609e+00] [-8.10101089e-03 -6.05769947e-04 9.99967003e-01 -1.19561081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.781400513 meters Centerline goodness [0,1] 0.9372324338139763 Centerline is valid? [True, False] Translation: X:96.58, Y:5.15, Z:-0.12 [[ 9.99960097e-01 -3.36201433e-03 8.27652549e-03 9.65780825e+01] [ 3.36274540e-03 9.99994343e-01 -7.44161202e-05 5.15021608e+00] [-8.27622848e-03 1.02244999e-04 9.99965746e-01 -1.19471075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.811400513 meters Centerline goodness [0,1] 0.947459695548847 Centerline is valid? [False, False] Translation: X:96.58, Y:5.15, Z:-0.12 [[ 9.99957782e-01 -3.54033810e-03 8.47935522e-03 9.65773271e+01] [ 3.54577629e-03 9.99993518e-01 -6.26398065e-04 5.15292253e+00] [-8.47708260e-03 6.56437516e-04 9.99963853e-01 -1.19279171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.841400513 meters Centerline goodness [0,1] 0.885434632631942 Centerline is valid? [False, False] Translation: X:96.57, Y:5.15, Z:-0.11 [[ 9.99954611e-01 -1.73821017e-03 9.36774616e-03 9.65707398e+01] [ 1.72777518e-03 9.99997878e-01 1.12190561e-03 5.15282839e+00] [-9.36967639e-03 -1.10566933e-03 9.99955492e-01 -1.14825153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.871400513 meters Centerline goodness [0,1] 0.4865553414686362 Centerline is valid? [False, False] Translation: X:96.57, Y:5.16, Z:-0.12 [[ 9.99955233e-01 -1.96139456e-03 9.25666486e-03 9.65714720e+01] [ 1.95599183e-03 9.99997911e-01 5.92675007e-04 5.15519998e+00] [-9.25780799e-03 -5.74542514e-04 9.99956981e-01 -1.15642461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.901400513 meters Centerline goodness [0,1] 0.9981566220641496 Centerline is valid? [False, True] Translation: X:96.55, Y:5.16, Z:-0.11 [[ 9.99985571e-01 -1.28981220e-03 5.21476442e-03 9.65508012e+01] [ 1.34029349e-03 9.99952166e-01 -9.68857621e-03 5.16218610e+00] [-5.20201854e-03 9.69542573e-03 9.99939467e-01 -1.13571310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.931400513 meters Centerline goodness [0,1] 0.9911347900174716 Centerline is valid? [True, True] Translation: X:96.58, Y:5.17, Z:-0.11 [[ 9.99987222e-01 -3.96147622e-03 3.14045566e-03 9.65805971e+01] [ 3.96068061e-03 9.99992123e-01 2.59519869e-04 5.16506399e+00] [-3.14145900e-03 -2.47078211e-04 9.99995035e-01 -1.14167367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.96140051299997 meters Centerline goodness [0,1] 0.9833537384281633 Centerline is valid? [True, True] Translation: X:96.61, Y:5.17, Z:-0.11 [[ 9.99978604e-01 -5.58947996e-03 3.39849547e-03 9.66094938e+01] [ 5.58855760e-03 9.99984344e-01 2.80839678e-04 5.17203731e+00] [-3.40001201e-03 -2.61840982e-04 9.99994186e-01 -1.14114949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.99140051299997 meters Centerline goodness [0,1] 0.9986418901440027 Centerline is valid? [True, True] Translation: X:96.64, Y:5.17, Z:-0.11 [[ 9.99961733e-01 -7.74971444e-03 4.05885820e-03 9.66400995e+01] [ 7.74841721e-03 9.99969924e-01 3.35232883e-04 5.16833996e+00] [-4.06133409e-03 -3.03770328e-04 9.99991707e-01 -1.13557932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.02140051299997 meters Centerline goodness [0,1] 0.987599131724301 Centerline is valid? [True, True] Translation: X:96.67, Y:5.18, Z:-0.11 [[ 9.99939407e-01 -1.02971829e-02 3.89227631e-03 9.66687076e+01] [ 1.02960090e-02 9.99946943e-01 3.21499166e-04 5.18221951e+00] [-3.89538034e-03 -2.81404773e-04 9.99992373e-01 -1.13583044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.05140051299998 meters Centerline goodness [0,1] 0.9962944716944759 Centerline is valid? [True, True] Translation: X:96.70, Y:5.18, Z:-0.12 [[ 9.99865176e-01 -1.63035695e-02 1.95540236e-03 9.66994597e+01] [ 1.63032847e-02 9.99867080e-01 1.61531149e-04 5.18107590e+00] [-1.95777598e-03 -1.29629889e-04 9.99998075e-01 -1.16324646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.08140051299998 meters Centerline goodness [0,1] 0.9993906154783668 Centerline is valid? [True, True] Translation: X:96.73, Y:5.17, Z:-0.12 [[ 9.99807378e-01 -1.96198818e-02 5.16543069e-04 9.67308008e+01] [ 1.96198624e-02 9.99807511e-01 4.26662531e-05 5.17114223e+00] [-5.17280747e-04 -3.25235308e-05 9.99999866e-01 -1.18260636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.11140051299998 meters Centerline goodness [0,1] 0.9980019336126329 Centerline is valid? [True, True] Translation: X:96.76, Y:5.18, Z:-0.12 [[ 9.99747365e-01 -2.24719762e-02 -4.65233358e-04 9.67595341e+01] [ 2.24719607e-02 9.99747473e-01 -3.84874332e-05 5.17974004e+00] [ 4.65980763e-04 2.80230042e-05 9.99999891e-01 -1.20558839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.14140051299998 meters Centerline goodness [0,1] 0.9995851981224757 Centerline is valid? [True, True] Translation: X:96.79, Y:5.17, Z:-0.12 [[ 9.99695187e-01 -2.46766352e-02 -7.72584893e-04 9.67901137e+01] [ 2.46765932e-02 9.99695484e-01 -6.38838105e-05 5.17104460e+00] [ 7.73926066e-04 4.47995748e-05 9.99999700e-01 -1.20970050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.17140051299998 meters Centerline goodness [0,1] 0.9997617500541477 Centerline is valid? [True, True] Translation: X:96.82, Y:5.17, Z:-0.12 [[ 9.99662947e-01 -2.59500309e-02 7.67029560e-04 9.68179287e+01] [ 2.59499900e-02 9.99663240e-01 6.32350151e-05 5.17352705e+00] [-7.68412206e-04 -4.33092921e-05 9.99999704e-01 -1.19478424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.20140051299998 meters Centerline goodness [0,1] 0.9998463665693655 Centerline is valid? [True, True] Translation: X:96.85, Y:5.17, Z:-0.12 [[ 9.99679947e-01 -2.52791809e-02 9.83528435e-04 9.68464881e+01] [ 2.52791132e-02 9.99680429e-01 8.11957980e-05 5.17297152e+00] [-9.85266691e-04 -5.63070844e-05 9.99999513e-01 -1.18420388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.23140051299998 meters Centerline goodness [0,1] 0.9991565743944637 Centerline is valid? [True, True] Translation: X:96.87, Y:5.18, Z:-0.12 [[ 9.99713777e-01 -2.39193256e-02 4.79234712e-04 9.68742469e+01] [ 2.39193094e-02 9.99713892e-01 3.94977656e-05 5.18233583e+00] [-4.80042359e-04 -2.80234970e-05 9.99999884e-01 -1.18634955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.26140051299998 meters Centerline goodness [0,1] 0.998147868972498 Centerline is valid? [True, True] Translation: X:96.90, Y:5.19, Z:-0.12 [[ 9.99758942e-01 -2.19529983e-02 3.52756490e-04 9.69034430e+01] [ 2.19529894e-02 9.99759004e-01 2.91793534e-05 5.18911564e+00] [-3.53312051e-04 -2.14282600e-05 9.99999937e-01 -1.18239678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.29140051299999 meters Centerline goodness [0,1] 0.9924559210242704 Centerline is valid? [True, True] Translation: X:96.93, Y:5.20, Z:-0.12 [[ 9.99807058e-01 -1.96393525e-02 3.78669598e-04 9.69322884e+01] [ 1.96393420e-02 9.99807129e-01 3.12974769e-05 5.19793961e+00] [-3.79211226e-04 -2.38546165e-05 9.99999928e-01 -1.18240520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.321400513 meters Centerline goodness [0,1] 0.9936616702355461 Centerline is valid? [True, True] Translation: X:96.96, Y:5.21, Z:-0.12 [[ 9.99896688e-01 -1.43179649e-02 1.26847974e-03 9.69619953e+01] [ 1.43178431e-02 9.99897489e-01 1.05085984e-04 5.20521649e+00] [-1.26985432e-03 -8.69132333e-05 9.99999190e-01 -1.17470492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.351400513 meters Centerline goodness [0,1] 0.9779535259476583 Centerline is valid? [True, True] Translation: X:96.99, Y:5.21, Z:-0.12 [[ 9.99921893e-01 -1.24055472e-02 1.52004609e-03 9.69902613e+01] [ 1.24053701e-02 9.99923043e-01 1.25892816e-04 5.21199834e+00] [-1.52149088e-03 -1.07026248e-04 9.99998837e-01 -1.17961226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.381400513 meters Centerline goodness [0,1] 0.998728530482943 Centerline is valid? [True, True] Translation: X:97.02, Y:5.20, Z:-0.12 [[ 9.99932253e-01 -1.15653914e-02 1.31537829e-03 9.70206321e+01] [ 1.15652581e-02 9.99933114e-01 1.08959199e-04 5.20191385e+00] [-1.31655046e-03 -9.37391275e-05 9.99999129e-01 -1.18057271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.411400513 meters Centerline goodness [0,1] 0.9685908319185059 Centerline is valid? [True, True] Translation: X:97.05, Y:5.21, Z:-0.12 [[ 9.99943590e-01 -1.05077648e-02 1.55041873e-03 9.70479297e+01] [ 1.05094549e-02 9.99944184e-01 -1.08600118e-03 5.21456442e+00] [-1.53892075e-03 1.10223398e-03 9.99998208e-01 -1.18685673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.441400513 meters Centerline goodness [0,1] 0.9985357765767318 Centerline is valid? [True, True] Translation: X:97.08, Y:5.20, Z:-0.12 [[ 9.99921678e-01 -1.23624857e-02 1.95093375e-03 9.70807806e+01] [ 1.23598109e-02 9.99922666e-01 1.37717594e-03 5.20303277e+00] [-1.96780819e-03 -1.35295490e-03 9.99997149e-01 -1.16422262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.471400513 meters Centerline goodness [0,1] 0.9988487770971806 Centerline is valid? [True, True] Translation: X:97.11, Y:5.21, Z:-0.12 [[ 9.99914342e-01 -1.29240496e-02 2.06815174e-03 9.71103073e+01] [ 1.29237221e-02 9.99916470e-01 1.71661041e-04 5.20548189e+00] [-2.07019755e-03 -1.44918119e-04 9.99997847e-01 -1.16500225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.501400513 meters Centerline goodness [0,1] 0.9849173333333333 Centerline is valid? [True, True] Translation: X:97.14, Y:5.22, Z:-0.12 [[ 9.99909786e-01 -1.32940383e-02 1.92073700e-03 9.71385394e+01] [ 1.32937564e-02 9.99911621e-01 1.59480707e-04 5.21704481e+00] [-1.92268739e-03 -1.33932510e-04 9.99998143e-01 -1.17002070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.531400513 meters Centerline goodness [0,1] 0.9973314969441336 Centerline is valid? [True, True] Translation: X:97.17, Y:5.21, Z:-0.12 [[ 9.99918666e-01 -1.26859508e-02 1.31439879e-03 9.71679667e+01] [ 1.26858183e-02 9.99919526e-01 1.09093343e-04 5.21431750e+00] [-1.31567696e-03 -9.24102455e-05 9.99999130e-01 -1.19694505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.561400513 meters Centerline goodness [0,1] 0.9751372854239634 Centerline is valid? [True, True] Translation: X:97.20, Y:5.22, Z:-0.12 [[ 9.99923779e-01 -1.22472632e-02 1.56248662e-03 9.71957419e+01] [ 1.22470753e-02 9.99924993e-01 1.29735869e-04 5.22495490e+00] [-1.56395833e-03 -1.10590088e-04 9.99998771e-01 -1.20365104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.591400513 meters Centerline goodness [0,1] 0.9971205707286676 Centerline is valid? [True, True] Translation: X:97.23, Y:5.22, Z:-0.12 [[ 9.99930617e-01 -1.16055243e-02 2.01817347e-03 9.72255894e+01] [ 1.16052092e-02 9.99932643e-01 1.67747202e-04 5.22146195e+00] [-2.01998433e-03 -1.44314238e-04 9.99997949e-01 -1.19176199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.621400513 meters Centerline goodness [0,1] 0.9787583820030283 Centerline is valid? [True, True] Translation: X:97.25, Y:5.23, Z:-0.12 [[ 9.99941887e-01 -1.06035063e-02 1.94621460e-03 9.72546906e+01] [ 1.06032113e-02 9.99943771e-01 1.61824205e-04 5.23071200e+00] [-1.94782107e-03 -1.41178677e-04 9.99998093e-01 -1.16958903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.651400513 meters Centerline goodness [0,1] 0.9940709776488654 Centerline is valid? [True, True] Translation: X:97.29, Y:5.23, Z:-0.12 [[ 9.99945155e-01 -1.04525392e-02 6.56628964e-04 9.72850337e+01] [ 1.04525056e-02 9.99945370e-01 5.45797340e-05 5.22742865e+00] [-6.57163589e-04 -4.77133226e-05 9.99999783e-01 -1.18650320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.681400513 meters Centerline goodness [0,1] 0.9969524804632229 Centerline is valid? [True, True] Translation: X:97.31, Y:5.23, Z:-0.12 [[ 9.99935623e-01 -1.12903317e-02 -1.13018285e-03 9.73145988e+01] [ 1.12902319e-02 9.99936259e-01 -9.46842934e-05 5.22567211e+00] [ 1.13117982e-03 8.19181715e-05 9.99999357e-01 -1.22273440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.71140051299997 meters Centerline goodness [0,1] 0.8203022478093384 Centerline is valid? [True, False] Translation: X:97.36, Y:5.24, Z:-0.13 [[ 9.99905282e-01 -1.37607111e-02 2.64967844e-04 9.73604132e+01] [ 1.37622584e-02 9.99879553e-01 -7.17492413e-03 5.23623416e+00] [-1.66203871e-04 7.17789109e-03 9.99974225e-01 -1.27959176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.74140051299997 meters Centerline goodness [0,1] 0.9835499506712992 Centerline is valid? [False, True] Translation: X:97.36, Y:5.23, Z:-0.13 [[ 9.99906921e-01 -1.36413765e-02 2.50504722e-04 9.73604172e+01] [ 1.36427646e-02 9.99883820e-01 -6.79860198e-03 5.23440899e+00] [-1.57733329e-04 6.80138675e-03 9.99976858e-01 -1.27892454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.77140051299997 meters Centerline goodness [0,1] 0.998798541085604 Centerline is valid? [True, True] Translation: X:97.39, Y:5.22, Z:-0.12 [[ 9.99816960e-01 -1.90436582e-02 1.83988164e-03 9.73916348e+01] [ 1.90434129e-02 9.99818646e-01 1.50718100e-04 5.22309559e+00] [-1.84241820e-03 -1.15652886e-04 9.99998296e-01 -1.22183522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.80140051299998 meters Centerline goodness [0,1] 0.9992757482159974 Centerline is valid? [True, True] Translation: X:97.42, Y:5.22, Z:-0.12 [[ 9.99779323e-01 -2.08071043e-02 2.89287934e-03 9.74218467e+01] [ 2.08065054e-02 9.99783493e-01 2.36973674e-04 5.22101353e+00] [-2.89718375e-03 -1.76730670e-04 9.99995788e-01 -1.19894823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.83140051299998 meters Centerline goodness [0,1] 0.9993265993265993 Centerline is valid? [True, True] Translation: X:97.45, Y:5.22, Z:-0.12 [[ 9.99778171e-01 -2.04485988e-02 5.04620761e-03 9.74507495e+01] [ 2.04467711e-02 9.99790857e-01 4.13524773e-04 5.22026789e+00] [-5.05360824e-03 -3.10254389e-04 9.99987182e-01 -1.17167693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.86140051299998 meters Centerline goodness [0,1] 0.9995689933840485 Centerline is valid? [True, True] Translation: X:97.48, Y:5.22, Z:-0.12 [[ 9.99811886e-01 -1.85513068e-02 5.66056313e-03 9.74809401e+01] [ 1.85489719e-02 9.99827845e-01 4.64710145e-04 5.22236951e+00] [-5.66820962e-03 -3.59625100e-04 9.99983871e-01 -1.17947477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.89140051299998 meters Centerline goodness [0,1] 0.9995689933840485 Centerline is valid? [True, True] Translation: X:97.51, Y:5.22, Z:-0.12 [[ 9.99812310e-01 -1.85284429e-02 5.66056073e-03 9.75117318e+01] [ 1.85261074e-02 9.99828269e-01 4.64739440e-04 5.22486002e+00] [-5.66819953e-03 -3.59784057e-04 9.99983871e-01 -1.18090740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.92140051299998 meters Centerline goodness [0,1] 0.9962262523451146 Centerline is valid? [True, True] Translation: X:97.54, Y:5.24, Z:-0.12 [[ 9.99861596e-01 -1.58241190e-02 5.13670502e-03 9.75401312e+01] [ 1.58221608e-02 9.99874733e-01 4.21629666e-04 5.23794102e+00] [-5.14273348e-03 -3.40297538e-04 9.99986718e-01 -1.19524401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.95140051299998 meters Centerline goodness [0,1] 0.9887953381751183 Centerline is valid? [True, True] Translation: X:97.57, Y:5.24, Z:-0.12 [[ 9.99908106e-01 -1.30216474e-02 3.77045472e-03 9.75707593e+01] [ 1.30205726e-02 9.99915181e-01 3.09461045e-04 5.24188215e+00] [-3.77416461e-03 -2.60339128e-04 9.99992844e-01 -1.21949905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.98140051299998 meters Centerline goodness [0,1] 0.9491503437540537 Centerline is valid? [True, False] Translation: X:97.55, Y:5.24, Z:-0.12 [[ 9.99965510e-01 -8.17785226e-03 1.44938131e-03 9.75524735e+01] [ 8.18581890e-03 9.99950934e-01 -5.57863506e-03 5.24062559e+00] [-1.40368894e-03 5.59030703e-03 9.99983389e-01 -1.23236578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.01140051299998 meters Centerline goodness [0,1] 0.9072666270279452 Centerline is valid? [False, False] Translation: X:97.59, Y:5.24, Z:-0.12 [[ 9.99973725e-01 -5.61996831e-03 4.57867625e-03 9.75920379e+01] [ 5.64354104e-03 9.99970804e-01 -5.15182242e-03 5.24266631e+00] [-4.54958949e-03 5.17752700e-03 9.99976247e-01 -1.23266144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.04140051299999 meters Centerline goodness [0,1] 0.9718595323434033 Centerline is valid? [False, True] Translation: X:97.59, Y:5.24, Z:-0.12 [[ 9.99989364e-01 -9.19564431e-04 4.51945381e-03 9.75914522e+01] [ 9.17427796e-04 9.99999466e-01 4.74814526e-04 5.23655739e+00] [-4.51988802e-03 -4.70663204e-04 9.99989674e-01 -1.21696432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.071400513 meters Centerline goodness [0,1] 0.9240741531758575 Centerline is valid? [True, False] Translation: X:97.59, Y:5.24, Z:-0.12 [[ 9.99988457e-01 -9.64951232e-04 4.70678536e-03 9.75907296e+01] [ 9.63703610e-04 9.99999500e-01 2.67329468e-04 5.23764701e+00] [-4.70704097e-03 -2.62790437e-04 9.99988887e-01 -1.21498796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.101400513 meters Centerline goodness [0,1] 0.8994766444439619 Centerline is valid? [False, False] Translation: X:97.55, Y:5.23, Z:-0.12 [[ 9.99997482e-01 1.12123193e-03 1.94389752e-03 9.75493523e+01] [-1.13206545e-03 9.99983785e-01 5.58097767e-03 5.23005152e+00] [-1.93760843e-03 -5.58316423e-03 9.99982537e-01 -1.20079178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.131400513 meters Centerline goodness [0,1] 0.8692125429589942 Centerline is valid? [False, False] Translation: X:97.59, Y:5.24, Z:-0.12 [[ 9.99992860e-01 6.11470071e-04 3.72898333e-03 9.75920676e+01] [-6.11163640e-04 9.99999810e-01 -8.33145644e-05 5.24130066e+00] [-3.72903356e-03 8.10349506e-05 9.99993044e-01 -1.24053631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.161400513 meters Centerline goodness [0,1] 0.9023975184714473 Centerline is valid? [False, False] Translation: X:97.59, Y:5.24, Z:-0.12 [[ 9.99992735e-01 3.71961435e-04 3.79375625e-03 9.75921254e+01] [-3.69360374e-04 9.99999696e-01 -6.86293755e-04 5.24409766e+00] [-3.79401037e-03 6.84887505e-04 9.99992568e-01 -1.24632420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.191400513 meters Centerline goodness [0,1] 0.6124276159747003 Centerline is valid? [False, False] Translation: X:97.60, Y:5.24, Z:-0.13 [[ 9.99991799e-01 2.84388807e-03 2.88359055e-03 9.75985848e+01] [-2.84962773e-03 9.99993963e-01 1.98830685e-03 5.24268731e+00] [-2.87791862e-03 -1.99650770e-03 9.99993866e-01 -1.28384396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.221400513 meters Centerline goodness [0,1] 0.6859868252202925 Centerline is valid? [False, False] Translation: X:97.60, Y:5.24, Z:-0.13 [[ 9.99991737e-01 2.76938408e-03 2.97597298e-03 9.75980753e+01] [-2.77467285e-03 9.99994576e-01 1.77449965e-03 5.24377680e+00] [-2.97104256e-03 -1.78274234e-03 9.99993997e-01 -1.27986465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.251400513 meters Centerline goodness [0,1] 0.9183468817341953 Centerline is valid? [False, False] Translation: X:97.60, Y:5.25, Z:-0.13 [[ 9.99992305e-01 2.56938438e-03 2.96455562e-03 9.75982761e+01] [-2.57324998e-03 9.99995843e-01 1.30086185e-03 5.24596620e+00] [-2.96120088e-03 -1.30848038e-03 9.99994760e-01 -1.28313494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.281400513 meters Centerline goodness [0,1] 0.6555723115481829 Centerline is valid? [False, False] Translation: X:97.60, Y:5.25, Z:-0.13 [[ 9.99993485e-01 2.21145117e-03 2.85290340e-03 9.75990149e+01] [-2.21287691e-03 9.99997428e-01 4.96688902e-04 5.24964003e+00] [-2.85179766e-03 -5.02998790e-04 9.99995807e-01 -1.29051719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.311400513 meters Centerline goodness [0,1] 0.9354491430540005 Centerline is valid? [False, False] Translation: X:97.56, Y:5.25, Z:-0.13 [[ 9.99999452e-01 8.56027894e-04 -6.03274125e-04 9.75601802e+01] [-8.55422309e-04 9.99999131e-01 1.00337431e-03 5.24910060e+00] [ 6.04132517e-04 -1.00285771e-03 9.99999315e-01 -1.30157046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.341400513 meters Centerline goodness [0,1] 0.7573967030614429 Centerline is valid? [False, False] Translation: X:97.56, Y:5.25, Z:-0.13 [[ 9.99999596e-01 6.36981663e-04 -6.34161240e-04 9.75603418e+01] [-6.36614598e-04 9.99999630e-01 5.78852429e-04 5.25101419e+00] [ 6.34529723e-04 -5.78448479e-04 9.99999631e-01 -1.30310416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.371400513 meters Centerline goodness [0,1] 0.9093414875748309 Centerline is valid? [False, False] Translation: X:97.56, Y:5.25, Z:-0.13 [[ 9.99999725e-01 5.82523079e-04 -4.59619029e-04 9.75592861e+01] [-5.82306236e-04 9.99999719e-01 4.71780728e-04 5.25163560e+00] [ 4.59893723e-04 -4.71512960e-04 9.99999783e-01 -1.29331452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.401400513 meters Centerline goodness [0,1] 0.5117481803090282 Centerline is valid? [False, False] Translation: X:97.59, Y:5.26, Z:-0.13 [[ 9.99992318e-01 1.17325996e-03 3.73989939e-03 9.75948079e+01] [-1.16859641e-03 9.99998537e-01 -1.24891272e-03 5.25761498e+00] [-3.74135922e-03 1.24453270e-03 9.99992227e-01 -1.27388613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.431400513 meters Centerline goodness [0,1] 0.8905034398508327 Centerline is valid? [False, False] Translation: X:97.59, Y:5.26, Z:-0.13 [[ 9.99992202e-01 9.83681495e-04 3.82456740e-03 9.75942158e+01] [-9.77280329e-04 9.99998119e-01 -1.67520552e-03 5.25968561e+00] [-3.82620807e-03 1.67145478e-03 9.99991283e-01 -1.26778712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.46140051299997 meters Centerline goodness [0,1] 0.8917711333220396 Centerline is valid? [False, False] Translation: X:97.59, Y:5.26, Z:-0.13 [[ 9.99992618e-01 7.55353342e-04 3.76740347e-03 9.75944902e+01] [-7.47523541e-04 9.99997559e-01 -2.07927695e-03 5.26152311e+00] [-3.76896486e-03 2.07644538e-03 9.99990742e-01 -1.26963346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.49140051299997 meters Centerline goodness [0,1] 0.9583807092442023 Centerline is valid? [False, True] Translation: X:97.56, Y:5.26, Z:-0.13 [[ 9.99999683e-01 -7.94028347e-04 -6.12428522e-05 9.75576496e+01] [ 7.93948087e-04 9.99998840e-01 -1.29959525e-03 5.25936543e+00] [ 6.22746967e-05 1.29954621e-03 9.99999154e-01 -1.29024788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.52140051299997 meters Centerline goodness [0,1] 0.99682477967859 Centerline is valid? [True, True] Translation: X:97.59, Y:5.25, Z:-0.13 [[ 9.99998636e-01 -1.63878329e-03 2.06286838e-04 9.75886786e+01] [ 1.63878001e-03 9.99998657e-01 1.60951638e-05 5.25343350e+00] [-2.06312938e-04 -1.57570831e-05 9.99999979e-01 -1.28242783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.55140051299998 meters Centerline goodness [0,1] 0.9566873320496816 Centerline is valid? [True, True] Translation: X:97.62, Y:5.27, Z:-0.13 [[ 9.99998003e-01 -1.60426103e-03 1.19217277e-03 9.76167270e+01] [ 1.60415126e-03 9.99998709e-01 9.30264276e-05 5.26716814e+00] [-1.19232047e-03 -9.11138164e-05 9.99999285e-01 -1.26545498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.58140051299998 meters Centerline goodness [0,1] 0.8093442728304878 Centerline is valid? [True, False] Translation: X:97.57, Y:5.27, Z:-0.13 [[ 9.99998714e-01 8.24113719e-05 -1.60157559e-03 9.75747330e+01] [-7.77619762e-05 9.99995784e-01 2.90285907e-03 5.26991028e+00] [ 1.60180807e-03 -2.90273080e-03 9.99994504e-01 -1.25674686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.61140051299998 meters Centerline goodness [0,1] 0.9866400326481517 Centerline is valid? [False, True] Translation: X:97.57, Y:5.28, Z:-0.13 [[ 9.99998749e-01 -4.40081241e-04 -1.51933505e-03 9.75749010e+01] [ 4.42425357e-04 9.99998712e-01 1.54286514e-03 5.27627145e+00] [ 1.51865411e-03 -1.54353540e-03 9.99997656e-01 -1.26622606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.64140051299998 meters Centerline goodness [0,1] 0.9666859853607229 Centerline is valid? [True, True] Translation: X:97.60, Y:5.29, Z:-0.13 [[ 9.99996912e-01 1.60968614e-03 -1.89350920e-03 9.76043986e+01] [-1.60997843e-03 9.99998692e-01 -1.52847865e-04 5.28669733e+00] [ 1.89326069e-03 1.55895902e-04 9.99998196e-01 -1.27779405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.67140051299998 meters Centerline goodness [0,1] 0.6905706504256826 Centerline is valid? [True, False] Translation: X:97.60, Y:5.29, Z:-0.13 [[ 9.99997620e-01 1.14249228e-03 -1.85893517e-03 9.76045464e+01] [-1.14502195e-03 9.99998419e-01 -1.36031936e-03 5.29236899e+00] [ 1.85737808e-03 1.36244464e-03 9.99997347e-01 -1.28368079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.70140051299998 meters Centerline goodness [0,1] 0.8527355525623758 Centerline is valid? [False, False] Translation: X:97.61, Y:5.29, Z:-0.13 [[ 9.99984165e-01 5.19233210e-03 -2.17027375e-03 9.76056105e+01] [-5.18689133e-03 9.99983410e-01 2.50510738e-03 5.29442044e+00] [ 2.18324509e-03 -2.49381074e-03 9.99994507e-01 -1.28356552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.73140051299998 meters Centerline goodness [0,1] 0.526638009639182 Centerline is valid? [False, False] Translation: X:97.57, Y:5.30, Z:-0.13 [[ 9.99979731e-01 3.46869391e-03 -5.33899498e-03 9.75662558e+01] [-3.45898314e-03 9.99992349e-01 1.82699924e-03 5.29668523e+00] [ 5.34529143e-03 -1.80849471e-03 9.99984078e-01 -1.29981645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.76140051299998 meters Centerline goodness [0,1] 0.9488527001016458 Centerline is valid? [False, False] Translation: X:97.57, Y:5.30, Z:-0.13 [[ 9.99980592e-01 3.08636869e-03 -5.41198277e-03 9.75666942e+01] [-3.08087972e-03 9.99994732e-01 1.02226856e-03 5.30035103e+00] [ 5.41510935e-03 -1.00557506e-03 9.99984833e-01 -1.30446914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.79140051299999 meters Centerline goodness [0,1] 0.939689882635141 Centerline is valid? [False, False] Translation: X:97.59, Y:5.30, Z:-0.13 [[ 9.99985828e-01 -2.60786632e-03 -4.64151589e-03 9.75865735e+01] [ 2.63543577e-03 9.99978864e-01 5.94357922e-03 5.30230119e+00] [ 4.62591772e-03 -5.95572740e-03 9.99971565e-01 -1.27768273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.821400513 meters Centerline goodness [0,1] 0.9658840399803095 Centerline is valid? [False, True] Translation: X:97.59, Y:5.30, Z:-0.13 [[ 9.99984319e-01 -2.79881488e-03 -4.85067260e-03 9.75871368e+01] [ 2.82830412e-03 9.99977497e-01 6.08325387e-03 5.30133253e+00] [ 4.83353755e-03 -6.09687765e-03 9.99969732e-01 -1.27471225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.851400513 meters Centerline goodness [0,1] 0.9980225808509281 Centerline is valid? [True, True] Translation: X:97.62, Y:5.30, Z:-0.13 [[ 9.99963237e-01 -7.08258488e-03 -4.83344065e-03 9.76179856e+01] [ 7.08089781e-03 9.99974863e-01 -3.66065607e-04 5.29969529e+00] [ 4.83591184e-03 3.31827050e-04 9.99988252e-01 -1.28949791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.881400513 meters Centerline goodness [0,1] 0.999118412282022 Centerline is valid? [True, True] Translation: X:97.65, Y:5.30, Z:-0.13 [[ 9.99925429e-01 -1.10821736e-02 -5.13056411e-03 9.76477222e+01] [ 1.10803251e-02 9.99938536e-01 -3.88588670e-04 5.29814181e+00] [ 5.13455517e-03 3.31711374e-04 9.99986763e-01 -1.29954012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.911400513 meters Centerline goodness [0,1] 0.9997628339190617 Centerline is valid? [True, True] Translation: X:97.68, Y:5.29, Z:-0.13 [[ 9.99862512e-01 -1.60396284e-02 -4.20570516e-03 9.76790357e+01] [ 1.60384299e-02 9.99871325e-01 -3.18549325e-04 5.28936718e+00] [ 4.21027341e-03 2.51052621e-04 9.99991105e-01 -1.28700440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.941400513 meters Centerline goodness [0,1] 0.9995705942974923 Centerline is valid? [True, True] Translation: X:97.71, Y:5.30, Z:-0.13 [[ 9.99846237e-01 -1.71599769e-02 -3.61079807e-03 9.77066942e+01] [ 1.71591004e-02 9.99852734e-01 -2.73586100e-04 5.29568365e+00] [ 3.61496105e-03 2.11585986e-04 9.99993444e-01 -1.27825260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.971400513 meters Centerline goodness [0,1] 0.9997188034003158 Centerline is valid? [True, True] Translation: X:97.73, Y:5.29, Z:-0.13 [[ 9.99841982e-01 -1.73804382e-02 -3.73246792e-03 9.77348358e+01] [ 1.73795014e-02 9.99848925e-01 -2.83263262e-04 5.29061217e+00] [ 3.73682728e-03 2.18350070e-04 9.99992994e-01 -1.27428460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.001400513 meters Centerline goodness [0,1] 0.9995290591886974 Centerline is valid? [True, True] Translation: X:97.76, Y:5.30, Z:-0.13 [[ 9.99849925e-01 -1.68052586e-02 -4.20833623e-03 9.77626084e+01] [ 1.68040603e-02 9.99858751e-01 -3.19927735e-04 5.29559342e+00] [ 4.21311827e-03 2.49162586e-04 9.99991094e-01 -1.28323031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.031400513 meters Centerline goodness [0,1] 0.9996094512790471 Centerline is valid? [True, True] Translation: X:97.79, Y:5.29, Z:-0.13 [[ 9.99857053e-01 -1.59264852e-02 -5.67631774e-03 9.77922587e+01] [ 1.59242897e-02 9.99873107e-01 -4.31769426e-04 5.29453853e+00] [ 5.68247402e-03 3.41316378e-04 9.99983796e-01 -1.30575316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.061400513 meters Centerline goodness [0,1] 0.9996349816417237 Centerline is valid? [True, True] Translation: X:97.82, Y:5.29, Z:-0.13 [[ 9.99852718e-01 -1.62601368e-02 -5.49095918e-03 9.78213851e+01] [ 1.62580839e-02 9.99867741e-01 -4.18294427e-04 5.29476046e+00] [ 5.49703448e-03 3.28960345e-04 9.99984837e-01 -1.30557816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.091400513 meters Centerline goodness [0,1] 0.9990003403096818 Centerline is valid? [True, True] Translation: X:97.85, Y:5.30, Z:-0.13 [[ 9.99837371e-01 -1.74081465e-02 -4.71042180e-03 9.78491239e+01] [ 1.74066466e-02 9.99848428e-01 -3.59235989e-04 5.30182400e+00] [ 4.71596147e-03 2.77184919e-04 9.99988841e-01 -1.30366281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.121400513 meters Centerline goodness [0,1] 0.999595202079383 Centerline is valid? [True, True] Translation: X:97.88, Y:5.30, Z:-0.13 [[ 9.99799198e-01 -1.96946535e-02 -3.69934305e-03 9.78794060e+01] [ 1.96937436e-02 9.99806020e-01 -2.82217884e-04 5.29796030e+00] [ 3.70418363e-03 2.09307301e-04 9.99993118e-01 -1.29222977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.151400513 meters Centerline goodness [0,1] 0.9998925955362705 Centerline is valid? [True, True] Translation: X:97.91, Y:5.29, Z:-0.13 [[ 9.99649877e-01 -2.61196288e-02 -4.22958143e-03 9.79110630e+01] [ 2.61184967e-02 9.99658802e-01 -3.22704344e-04 5.28782836e+00] [ 4.23656722e-03 2.12121049e-04 9.99991003e-01 -1.30675794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.181400513 meters Centerline goodness [0,1] 0.9996576221860823 Centerline is valid? [True, True] Translation: X:97.94, Y:5.28, Z:-0.13 [[ 9.99551609e-01 -2.95231701e-02 -4.99641660e-03 9.79412188e+01] [ 2.95216323e-02 9.99564069e-01 -3.81264309e-04 5.28484525e+00] [ 5.00549464e-03 2.33590980e-04 9.99987445e-01 -1.32387715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.21140051299997 meters Centerline goodness [0,1] 0.9997852418177132 Centerline is valid? [True, True] Translation: X:97.97, Y:5.28, Z:-0.13 [[ 9.99446899e-01 -3.27416017e-02 -5.82101733e-03 9.79715791e+01] [ 3.27395682e-02 9.99463818e-01 -4.44305474e-04 5.28005762e+00] [ 5.83244348e-03 2.53482134e-04 9.99982959e-01 -1.32819858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.24140051299997 meters Centerline goodness [0,1] 0.9999783535727428 Centerline is valid? [True, True] Translation: X:98.00, Y:5.27, Z:-0.13 [[ 9.99337874e-01 -3.60185183e-02 -5.14591680e-03 9.80018301e+01] [ 3.60169719e-02 9.99351101e-01 -3.92889955e-04 5.27261112e+00] [ 5.15672894e-03 2.07289471e-04 9.99986683e-01 -1.31299500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.27140051299997 meters Centerline goodness [0,1] 0.9999351743809154 Centerline is valid? [True, True] Translation: X:98.03, Y:5.26, Z:-0.13 [[ 9.99098188e-01 -4.23125807e-02 -3.52921966e-03 9.80321634e+01] [ 4.23118923e-02 9.99104415e-01 -2.69514864e-04 5.26313680e+00] [ 3.53746281e-03 1.19943850e-04 9.99993736e-01 -1.28328374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.30140051299998 meters Centerline goodness [0,1] 0.999956445044535 Centerline is valid? [True, True] Translation: X:98.06, Y:5.26, Z:-0.13 [[ 9.98973185e-01 -4.51819798e-02 -3.34134574e-03 9.80621878e+01] [ 4.51813786e-02 9.98978767e-01 -2.55233718e-04 5.25819585e+00] [ 3.34946541e-03 1.04005034e-04 9.99994385e-01 -1.28199171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.33140051299998 meters Centerline goodness [0,1] 0.9999563966163775 Centerline is valid? [True, True] Translation: X:98.09, Y:5.25, Z:-0.13 [[ 9.98843558e-01 -4.79384891e-02 -3.66720758e-03 9.80913840e+01] [ 4.79377829e-02 9.98850284e-01 -2.80259650e-04 5.25148099e+00] [ 3.67642656e-03 1.04137745e-04 9.99993236e-01 -1.28612991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.36140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.12, Y:5.25, Z:-0.13 [[ 9.98737552e-01 -5.01140539e-02 -3.44727631e-03 9.81194055e+01] [ 5.01134423e-02 9.98743497e-01 -2.63631918e-04 5.24911592e+00] [ 3.45615646e-03 9.05442140e-05 9.99994023e-01 -1.28447078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.39140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.15, Y:5.25, Z:-0.13 [[ 9.98650240e-01 -5.18734573e-02 -2.61591312e-03 9.81470292e+01] [ 5.18731108e-02 9.98653664e-01 -2.00183117e-04 5.24908491e+00] [ 2.62277542e-03 6.42173663e-05 9.99996558e-01 -1.27389331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.42140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.18, Y:5.25, Z:-0.13 [[ 9.98556673e-01 -5.36884478e-02 -1.45637822e-03 9.81763249e+01] [ 5.36883424e-02 9.98557735e-01 -1.11432728e-04 5.24518753e+00] [ 1.46026039e-03 3.30813615e-05 9.99998933e-01 -1.25496777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.45140051299998 meters Centerline goodness [0,1] 0.9998914317974552 Centerline is valid? [True, True] Translation: X:98.21, Y:5.25, Z:-0.13 [[ 9.98565330e-01 -5.34753167e-02 -2.76986544e-03 9.82053442e+01] [ 5.34749324e-02 9.98569170e-01 -2.12684846e-04 5.24686917e+00] [ 2.77727563e-03 6.42613466e-05 9.99996141e-01 -1.27751086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.48140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.23, Y:5.25, Z:-0.13 [[ 9.98633418e-01 -5.20771800e-02 -4.38909009e-03 9.82344805e+01] [ 5.20761974e-02 9.98643057e-01 -3.37939164e-04 5.24812009e+00] [ 4.40073327e-03 1.08910220e-04 9.99990311e-01 -1.30010790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.51140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.26, Y:5.25, Z:-0.13 [[ 9.98862984e-01 -4.72776147e-02 -6.12915445e-03 9.82645755e+01] [ 4.72756051e-02 9.98881772e-01 -4.72419970e-04 5.25100198e+00] [ 6.14463554e-03 1.82123336e-04 9.99981105e-01 -1.31674924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.54140051299999 meters Centerline goodness [0,1] 0.9999567931906068 Centerline is valid? [True, True] Translation: X:98.29, Y:5.26, Z:-0.13 [[ 9.98988727e-01 -4.45574390e-02 -6.01314855e-03 9.82925319e+01] [ 4.45554545e-02 9.99006805e-01 -4.63647339e-04 5.25923914e+00] [ 6.02783526e-03 1.95259898e-04 9.99981813e-01 -1.31462811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.571400513 meters Centerline goodness [0,1] 0.9999565491320689 Centerline is valid? [True, True] Translation: X:98.32, Y:5.26, Z:-0.13 [[ 9.99083307e-01 -4.24146513e-02 -5.79167572e-03 9.83222375e+01] [ 4.24127734e-02 9.99100074e-01 -4.46730613e-04 5.25928589e+00] [ 5.80541156e-03 2.00680068e-04 9.99983128e-01 -1.30712881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.601400513 meters Centerline goodness [0,1] 0.9999359343968224 Centerline is valid? [True, True] Translation: X:98.35, Y:5.27, Z:-0.13 [[ 9.99157540e-01 -4.05555162e-02 -6.28181334e-03 9.83498398e+01] [ 4.05532687e-02 9.99177260e-01 -4.84798727e-04 5.26598927e+00] [ 6.29630630e-03 2.29642239e-04 9.99980152e-01 -1.32168473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.631400513 meters Centerline goodness [0,1] 0.9998725627628393 Centerline is valid? [True, True] Translation: X:98.38, Y:5.27, Z:-0.13 [[ 9.99339628e-01 -3.57470695e-02 -6.51578715e-03 9.83787826e+01] [ 3.57445483e-02 9.99360833e-01 -5.03011166e-04 5.27358481e+00] [ 6.52960364e-03 2.69775123e-04 9.99978646e-01 -1.33345094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.661400513 meters Centerline goodness [0,1] 0.9997619717395538 Centerline is valid? [True, True] Translation: X:98.41, Y:5.28, Z:-0.13 [[ 9.99428844e-01 -3.33114284e-02 -5.68625797e-03 9.84080372e+01] [ 3.33094681e-02 9.99444989e-01 -4.39120943e-04 5.27526711e+00] [ 5.69772978e-03 2.49463909e-04 9.99983737e-01 -1.31736715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.691400513 meters Centerline goodness [0,1] 0.9999135882480017 Centerline is valid? [True, True] Translation: X:98.44, Y:5.27, Z:-0.13 [[ 9.99518715e-01 -3.06588295e-02 -4.73025875e-03 9.84381694e+01] [ 3.06574429e-02 9.99529883e-01 -3.65381691e-04 5.27463029e+00] [ 4.73923716e-03 2.20188200e-04 9.99988746e-01 -1.29807157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.721400513 meters Centerline goodness [0,1] 0.9997405517599239 Centerline is valid? [True, True] Translation: X:98.47, Y:5.27, Z:-0.13 [[ 9.99595172e-01 -2.81507417e-02 -4.12636882e-03 9.84685548e+01] [ 2.81496650e-02 9.99603669e-01 -3.18785393e-04 5.27351034e+00] [ 4.13370746e-03 2.02500440e-04 9.99991436e-01 -1.28780399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.751400513 meters Centerline goodness [0,1] 0.9995927815165674 Centerline is valid? [True, True] Translation: X:98.50, Y:5.28, Z:-0.13 [[ 9.99699134e-01 -2.41159044e-02 -4.47937263e-03 9.84975466e+01] [ 2.41145950e-02 9.99709141e-01 -3.46086954e-04 5.28362597e+00] [ 4.48641597e-03 2.37964571e-04 9.99989908e-01 -1.29808924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.781400513 meters Centerline goodness [0,1] 0.9995290692696293 Centerline is valid? [True, True] Translation: X:98.53, Y:5.29, Z:-0.13 [[ 9.99748917e-01 -2.19450826e-02 -4.52950983e-03 9.85272509e+01] [ 2.19437214e-02 9.99759146e-01 -3.49990576e-04 5.28665890e+00] [ 4.53609945e-03 2.50508397e-04 9.99989680e-01 -1.30100552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.811400513 meters Centerline goodness [0,1] 0.9995290692696293 Centerline is valid? [True, True] Translation: X:98.55, Y:5.29, Z:-0.13 [[ 9.99744916e-01 -2.21266247e-02 -4.52947185e-03 9.85547229e+01] [ 2.21252632e-02 9.99755145e-01 -3.50481521e-04 5.28892372e+00] [ 4.53611776e-03 2.50176362e-04 9.99989680e-01 -1.30046713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.841400513 meters Centerline goodness [0,1] 0.999382124214339 Centerline is valid? [True, True] Translation: X:98.58, Y:5.29, Z:-0.13 [[ 9.99841199e-01 -1.76400045e-02 -2.53139511e-03 9.85840728e+01] [ 1.76395644e-02 9.99844392e-01 -1.96079198e-04 5.29483975e+00] [ 2.53446004e-03 1.51395353e-04 9.99996777e-01 -1.27438895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.871400513 meters Centerline goodness [0,1] 0.9987149557730612 Centerline is valid? [True, True] Translation: X:98.61, Y:5.30, Z:-0.13 [[ 9.99868370e-01 -1.60975468e-02 -2.02774835e-03 9.86138882e+01] [ 1.60972612e-02 9.99870418e-01 -1.57085228e-04 5.29729762e+00] [ 2.03001428e-03 1.24423356e-04 9.99997932e-01 -1.25532992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.901400513 meters Centerline goodness [0,1] 0.9979427795804967 Centerline is valid? [True, True] Translation: X:98.64, Y:5.30, Z:-0.13 [[ 9.99893585e-01 -1.44475901e-02 -2.02123781e-03 9.86429586e+01] [ 1.44473029e-02 9.99895620e-01 -1.56625477e-04 5.30412680e+00] [ 2.02328970e-03 1.27407374e-04 9.99997945e-01 -1.25246246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.931400513 meters Centerline goodness [0,1] 0.9954626409973709 Centerline is valid? [True, True] Translation: X:98.67, Y:5.31, Z:-0.13 [[ 9.99912667e-01 -1.30209157e-02 -2.26127024e-03 9.86706067e+01] [ 1.30205525e-02 9.99915214e-01 -1.75263836e-04 5.30943680e+00] [ 2.26336061e-03 1.45805542e-04 9.99997428e-01 -1.26187426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.96140051299997 meters Centerline goodness [0,1] 0.9278624978701653 Centerline is valid? [True, False] Translation: X:98.67, Y:5.31, Z:-0.13 [[ 9.99911739e-01 -1.30964035e-02 -2.23555808e-03 9.86707908e+01] [ 1.30956324e-02 9.99914184e-01 -3.59217631e-04 5.31024269e+00] [ 2.24007070e-03 3.29909880e-04 9.99997437e-01 -1.26745960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.99140051299997 meters Centerline goodness [0,1] 0.9984502464538626 Centerline is valid? [False, True] Translation: X:98.67, Y:5.31, Z:-0.13 [[ 9.99914549e-01 -1.28562739e-02 -2.36885613e-03 9.86714196e+01] [ 1.28568285e-02 9.99917324e-01 2.19034406e-04 5.30744471e+00] [ 2.36584432e-03 -2.49471666e-04 9.99997170e-01 -1.27141547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.02140051299997 meters Centerline goodness [0,1] 0.998439904257138 Centerline is valid? [True, True] Translation: X:98.70, Y:5.31, Z:-0.13 [[ 9.99902696e-01 -1.37356956e-02 -2.43485511e-03 9.87000772e+01] [ 1.37352745e-02 9.99905649e-01 -1.89564877e-04 5.30852277e+00] [ 2.43722918e-03 1.56103028e-04 9.99997018e-01 -1.26899951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.05140051299998 meters Centerline goodness [0,1] 0.9986177404375716 Centerline is valid? [True, True] Translation: X:98.73, Y:5.31, Z:-0.13 [[ 9.99900139e-01 -1.40282239e-02 -1.70931468e-03 9.87290141e+01] [ 1.40280163e-02 9.99901594e-01 -1.33342902e-04 5.30973400e+00] [ 1.71101704e-03 1.09351292e-04 9.99998530e-01 -1.25682224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.08140051299998 meters Centerline goodness [0,1] 0.9992214532871972 Centerline is valid? [True, True] Translation: X:98.76, Y:5.31, Z:-0.12 [[ 9.99903571e-01 -1.38162499e-02 -1.39967104e-03 9.87584053e+01] [ 1.38161103e-02 9.99904547e-01 -1.09411114e-04 5.30926615e+00] [ 1.40104909e-03 9.00625547e-05 9.99999014e-01 -1.24752475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.11140051299998 meters Centerline goodness [0,1] 0.9959284602758415 Centerline is valid? [True, True] Translation: X:98.79, Y:5.32, Z:-0.13 [[ 9.99931074e-01 -1.16700261e-02 -1.28743331e-03 9.87866402e+01] [ 1.16699061e-02 9.99931899e-01 -1.00677496e-04 5.32495073e+00] [ 1.28852054e-03 8.56463306e-05 9.99999166e-01 -1.25015881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.14140051299998 meters Centerline goodness [0,1] 0.9924951101284123 Centerline is valid? [True, True] Translation: X:98.82, Y:5.33, Z:-0.13 [[ 9.99944036e-01 -1.04390541e-02 -1.71814001e-03 9.88159931e+01] [ 1.04388385e-02 9.99945505e-01 -1.34395987e-04 5.33035608e+00] [ 1.71944935e-03 1.16453080e-04 9.99998515e-01 -1.25801371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.17140051299998 meters Centerline goodness [0,1] 0.9976288131248398 Centerline is valid? [True, True] Translation: X:98.85, Y:5.33, Z:-0.13 [[ 9.99953278e-01 -9.54414534e-03 -1.53359348e-03 9.88452456e+01] [ 9.54397243e-03 9.99954448e-01 -1.20031888e-04 5.33045348e+00] [ 1.53466922e-03 1.05389706e-04 9.99998817e-01 -1.25175614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.20140051299998 meters Centerline goodness [0,1] 0.8809265522302342 Centerline is valid? [True, False] Translation: X:98.84, Y:5.33, Z:-0.13 [[ 9.99951889e-01 -9.70071050e-03 -1.45434575e-03 9.88449009e+01] [ 9.69997115e-03 9.99952822e-01 -5.14568121e-04 5.33236175e+00] [ 1.45926882e-03 5.00436253e-04 9.99998810e-01 -1.25065054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.23140051299998 meters Centerline goodness [0,1] 0.9955636347897596 Centerline is valid? [False, True] Translation: X:98.82, Y:5.34, Z:-0.12 [[ 9.99948637e-01 -8.86155500e-03 -4.91886583e-03 9.88226216e+01] [ 8.80924849e-03 9.99905484e-01 -1.05555669e-02 5.33801082e+00] [ 5.01193966e-03 1.05116933e-02 9.99932190e-01 -1.22023541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.26140051299998 meters Centerline goodness [0,1] 0.9928208002759572 Centerline is valid? [True, True] Translation: X:98.85, Y:5.33, Z:-0.12 [[ 9.99930252e-01 -1.00031403e-02 -6.27926935e-03 9.88527560e+01] [ 1.00002701e-02 9.99949877e-01 -4.88323952e-04 5.33171292e+00] [ 6.28383939e-03 4.25495503e-04 9.99980166e-01 -1.20620491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.29140051299999 meters Centerline goodness [0,1] 0.994195634946133 Centerline is valid? [True, True] Translation: X:98.88, Y:5.33, Z:-0.12 [[ 9.99919675e-01 -1.08482849e-02 -6.55422481e-03 9.88814635e+01] [ 1.08451746e-02 9.99941059e-01 -5.09894073e-04 5.33297449e+00] [ 6.55936997e-03 4.38771403e-04 9.99978391e-01 -1.20984217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.321400513 meters Centerline goodness [0,1] 0.9955787952216979 Centerline is valid? [True, True] Translation: X:98.91, Y:5.33, Z:-0.12 [[ 9.99906440e-01 -1.20433581e-02 -6.48607194e-03 9.89112992e+01] [ 1.20403356e-02 9.99927385e-01 -5.04846729e-04 5.33458334e+00] [ 6.49168100e-03 4.26705013e-04 9.99978838e-01 -1.21000535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.351400513 meters Centerline goodness [0,1] 0.9995418148495625 Centerline is valid? [True, True] Translation: X:98.94, Y:5.33, Z:-0.12 [[ 9.99885567e-01 -1.36983574e-02 -6.41928016e-03 9.89419190e+01] [ 1.36954299e-02 9.99906088e-01 -4.99792359e-04 5.32510891e+00] [ 6.42552365e-03 4.11820365e-04 9.99979271e-01 -1.20583088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.381400513 meters Centerline goodness [0,1] 0.9791343518262754 Centerline is valid? [True, True] Translation: X:98.97, Y:5.35, Z:-0.12 [[ 9.99864097e-01 -1.50433904e-02 -6.74411799e-03 9.89687694e+01] [ 1.50401883e-02 9.99886752e-01 -5.25270026e-04 5.34968327e+00] [ 6.75125608e-03 4.23765836e-04 9.99977120e-01 -1.21937956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.411400513 meters Centerline goodness [0,1] 0.9978238142988202 Centerline is valid? [True, True] Translation: X:99.00, Y:5.34, Z:-0.12 [[ 9.99867472e-01 -1.46707858e-02 -7.05734982e-03 9.89982809e+01] [ 1.46672664e-02 9.99892278e-01 -5.50179162e-04 5.34431023e+00] [ 7.06466115e-03 4.46594218e-04 9.99974945e-01 -1.21908265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.441400513 meters Centerline goodness [0,1] 0.9993928749539236 Centerline is valid? [True, True] Translation: X:99.03, Y:5.34, Z:-0.12 [[ 9.99882995e-01 -1.35915827e-02 -7.01895138e-03 9.90282725e+01] [ 1.35880693e-02 9.99907528e-01 -5.48010586e-04 5.34079487e+00] [ 7.02575065e-03 4.52572468e-04 9.99975217e-01 -1.21006526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.471400513 meters Centerline goodness [0,1] 0.9984657605289885 Centerline is valid? [True, True] Translation: X:99.06, Y:5.35, Z:-0.12 [[ 9.99895498e-01 -1.27650404e-02 -6.78573771e-03 9.90563596e+01] [ 1.27617364e-02 9.99918425e-01 -5.29977740e-04 5.34811733e+00] [ 6.79194935e-03 4.43324561e-04 9.99976836e-01 -1.20538479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.501400513 meters Centerline goodness [0,1] 0.999263287902754 Centerline is valid? [True, True] Translation: X:99.09, Y:5.35, Z:-0.12 [[ 9.99905125e-01 -1.21786799e-02 -6.43590838e-03 9.90855366e+01] [ 1.21756931e-02 9.99925747e-01 -5.03060782e-04 5.34849531e+00] [ 6.44155711e-03 4.24651409e-04 9.99979163e-01 -1.20318235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.531400513 meters Centerline goodness [0,1] 0.9993329460116627 Centerline is valid? [True, True] Translation: X:99.11, Y:5.35, Z:-0.12 [[ 9.99913083e-01 -1.13823401e-02 -6.65341320e-03 9.91145256e+01] [ 1.13791244e-02 9.99935120e-01 -5.20981997e-04 5.35090002e+00] [ 6.65891152e-03 4.45226699e-04 9.99977730e-01 -1.20744745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.561400513 meters Centerline goodness [0,1] 0.9731865229799378 Centerline is valid? [True, True] Translation: X:99.14, Y:5.36, Z:-0.12 [[ 9.99918188e-01 -9.02817485e-03 -9.06146153e-03 9.91433259e+01] [ 9.02211033e-03 9.99959048e-01 -7.09920383e-04 5.36253172e+00] [ 9.06749973e-03 6.28108797e-04 9.99958692e-01 -1.24274025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.591400513 meters Centerline goodness [0,1] 0.9073738900836829 Centerline is valid? [True, False] Translation: X:99.14, Y:5.36, Z:-0.13 [[ 9.99916362e-01 -9.06993154e-03 -9.21983848e-03 9.91443839e+01] [ 9.06283744e-03 9.99958603e-01 -8.10929012e-04 5.36286723e+00] [ 9.22681187e-03 7.27303290e-04 9.99957168e-01 -1.25285095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.621400513 meters Centerline goodness [0,1] 0.9210285056392982 Centerline is valid? [False, False] Translation: X:99.14, Y:5.36, Z:-0.13 [[ 9.99914209e-01 -9.26337639e-03 -9.26088165e-03 9.91449757e+01] [ 9.25201211e-03 9.99956394e-01 -1.26921805e-03 5.36496538e+00] [ 9.27223506e-03 1.18342737e-03 9.99956312e-01 -1.26182693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.651400513 meters Centerline goodness [0,1] 0.9016856317934783 Centerline is valid? [False, False] Translation: X:99.15, Y:5.36, Z:-0.13 [[ 9.99926240e-01 -6.84093165e-03 -1.00357524e-02 9.91511126e+01] [ 6.85505370e-03 9.99975561e-01 1.37345005e-03 5.36365685e+00] [ 1.00261114e-02 -1.44214437e-03 9.99948697e-01 -1.29988992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.681400513 meters Centerline goodness [0,1] 0.9619866162102068 Centerline is valid? [False, True] Translation: X:99.15, Y:5.36, Z:-0.13 [[ 9.99929586e-01 -6.78166595e-03 -9.73813678e-03 9.91491231e+01] [ 6.79634995e-03 9.99975816e-01 1.47558596e-03 5.36348756e+00] [ 9.72789434e-03 -1.54166584e-03 9.99951494e-01 -1.28122252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.71140051299997 meters Centerline goodness [0,1] 0.9408592947620678 Centerline is valid? [True, False] Translation: X:99.15, Y:5.36, Z:-0.13 [[ 9.99930664e-01 -6.70969978e-03 -9.67714958e-03 9.91485201e+01] [ 6.72595367e-03 9.99976022e-01 1.64805000e-03 5.36277244e+00] [ 9.66585962e-03 -1.71302379e-03 9.99951817e-01 -1.27360594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.74140051299997 meters Centerline goodness [0,1] 0.9853250375455911 Centerline is valid? [False, True] Translation: X:99.15, Y:5.36, Z:-0.13 [[ 9.99930188e-01 -6.73708336e-03 -9.70723227e-03 9.91485493e+01] [ 6.75326657e-03 9.99975859e-01 1.63531616e-03 5.36282082e+00] [ 9.69598067e-03 -1.70075753e-03 9.99951547e-01 -1.27262336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.77140051299997 meters Centerline goodness [0,1] 0.9989934251386717 Centerline is valid? [True, True] Translation: X:99.18, Y:5.36, Z:-0.13 [[ 9.99892734e-01 -1.08907922e-02 -9.79341657e-03 9.91791274e+01] [ 1.08841546e-02 9.99940499e-01 -7.30812317e-04 5.35774925e+00] [ 9.80079297e-03 6.24140867e-04 9.99951776e-01 -1.28926262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.80140051299998 meters Centerline goodness [0,1] 0.9984065460809647 Centerline is valid? [True, True] Translation: X:99.21, Y:5.36, Z:-0.13 [[ 9.99863255e-01 -1.33707574e-02 -9.73107633e-03 9.92088553e+01] [ 1.33643190e-02 9.99910430e-01 -7.26353773e-04 5.35880130e+00] [ 9.73991661e-03 5.96205239e-04 9.99952388e-01 -1.28311485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.83140051299998 meters Centerline goodness [0,1] 0.9994447529150472 Centerline is valid? [True, True] Translation: X:99.24, Y:5.35, Z:-0.13 [[ 9.99827693e-01 -1.58363379e-02 -9.68478983e-03 9.92393484e+01] [ 1.58300747e-02 9.99874435e-01 -7.23020417e-04 5.35361385e+00] [ 9.69502375e-03 5.69584889e-04 9.99952840e-01 -1.27244744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.86140051299998 meters Centerline goodness [0,1] 0.9993545749876294 Centerline is valid? [True, True] Translation: X:99.27, Y:5.35, Z:-0.13 [[ 9.99790727e-01 -1.80373135e-02 -9.65184905e-03 9.92689792e+01] [ 1.80311940e-02 9.99837165e-01 -7.20674277e-04 5.35278990e+00] [ 9.66327642e-03 5.46489096e-04 9.99953160e-01 -1.26176772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.89140051299998 meters Centerline goodness [0,1] 0.9994457826188903 Centerline is valid? [True, True] Translation: X:99.30, Y:5.35, Z:-0.12 [[ 9.99755588e-01 -2.07055988e-02 -7.74872461e-03 9.92977672e+01] [ 2.07017334e-02 9.99785529e-01 -5.78725966e-04 5.35291030e+00] [ 7.75904560e-03 4.18172487e-04 9.99969811e-01 -1.23640182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.92140051299998 meters Centerline goodness [0,1] 0.9996167440275945 Centerline is valid? [True, True] Translation: X:99.33, Y:5.35, Z:-0.12 [[ 9.99746804e-01 -2.12070805e-02 -7.52251451e-03 9.93266643e+01] [ 2.12034494e-02 9.99775024e-01 -5.62127342e-04 5.35328909e+00] [ 7.53274320e-03 4.02481757e-04 9.99971547e-01 -1.23654641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.95140051299998 meters Centerline goodness [0,1] 0.9995258722872352 Centerline is valid? [True, True] Translation: X:99.36, Y:5.35, Z:-0.12 [[ 9.99751210e-01 -2.09309611e-02 -7.70795678e-03 9.93558225e+01] [ 2.09271311e-02 9.99780837e-01 -5.77224068e-04 5.35148120e+00] [ 7.71834934e-03 4.15775038e-04 9.99970127e-01 -1.24262746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.98140051299998 meters Centerline goodness [0,1] 0.9995484939046677 Centerline is valid? [True, True] Translation: X:99.38, Y:5.35, Z:-0.12 [[ 9.99760620e-01 -2.03090679e-02 -8.13902237e-03 9.93832172e+01] [ 2.03047668e-02 9.99793650e-01 -6.10747044e-04 5.35452441e+00] [ 8.14974659e-03 4.45339892e-04 9.99966691e-01 -1.24992564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.01140051299998 meters Centerline goodness [0,1] 0.9993994895661312 Centerline is valid? [True, True] Translation: X:99.41, Y:5.35, Z:-0.12 [[ 9.99799923e-01 -1.85493577e-02 -7.48564613e-03 9.94131308e+01] [ 1.85456674e-02 9.99827856e-01 -5.62092729e-04 5.35480499e+00] [ 7.49478398e-03 4.23153963e-04 9.99971824e-01 -1.23956142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.04140051299999 meters Centerline goodness [0,1] 0.9996558029471873 Centerline is valid? [True, True] Translation: X:99.44, Y:5.36, Z:-0.12 [[ 9.99810415e-01 -1.80297911e-02 -7.35260503e-03 9.94406200e+01] [ 1.80262155e-02 9.99837362e-01 -5.52281073e-04 5.35765927e+00] [ 7.36136673e-03 4.19636726e-04 9.99972817e-01 -1.23145913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.071400513 meters Centerline goodness [0,1] 0.9996153106366609 Centerline is valid? [True, True] Translation: X:99.47, Y:5.35, Z:-0.12 [[ 9.99816777e-01 -1.78051323e-02 -7.02776896e-03 9.94695338e+01] [ 1.78018575e-02 9.99841395e-01 -5.28269967e-04 5.35446847e+00] [ 7.03606023e-03 4.03065835e-04 9.99975165e-01 -1.22358927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.101400513 meters Centerline goodness [0,1] 0.9995326209343333 Centerline is valid? [True, True] Translation: X:99.50, Y:5.36, Z:-0.12 [[ 9.99825597e-01 -1.74551683e-02 -6.64028417e-03 9.94968174e+01] [ 1.74522300e-02 9.99847573e-01 -5.00177933e-04 5.35796578e+00] [ 6.64800270e-03 3.84202934e-04 9.99977828e-01 -1.21214130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.131400513 meters Centerline goodness [0,1] 0.9994020160601401 Centerline is valid? [True, True] Translation: X:99.53, Y:5.36, Z:-0.12 [[ 9.99854318e-01 -1.59437258e-02 -6.09431719e-03 9.95264454e+01] [ 1.59412197e-02 9.99872825e-01 -4.59587347e-04 5.35828718e+00] [ 6.10086968e-03 3.62369544e-04 9.99981324e-01 -1.20802047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.161400513 meters Centerline goodness [0,1] 0.9990812554750764 Centerline is valid? [True, True] Translation: X:99.55, Y:5.36, Z:-0.12 [[ 9.99853342e-01 -1.60065914e-02 -6.08969202e-03 9.95533379e+01] [ 1.60040899e-02 9.99871821e-01 -4.59288086e-04 5.36190028e+00] [ 6.09626308e-03 3.61760749e-04 9.99981352e-01 -1.21292955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.191400513 meters Centerline goodness [0,1] 0.9995235929751619 Centerline is valid? [True, True] Translation: X:99.58, Y:5.35, Z:-0.12 [[ 9.99841513e-01 -1.65982119e-02 -6.43799164e-03 9.95833084e+01] [ 1.65954229e-02 9.99862168e-01 -4.86387969e-04 5.35475920e+00] [ 6.44517745e-03 3.79469689e-04 9.99979158e-01 -1.21879595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.221400513 meters Centerline goodness [0,1] 0.9996375189236444 Centerline is valid? [True, True] Translation: X:99.61, Y:5.35, Z:-0.12 [[ 9.99816199e-01 -1.74539801e-02 -7.93263261e-03 9.96120020e+01] [ 1.74497612e-02 9.99847561e-01 -6.00750706e-04 5.35336891e+00] [ 7.94190886e-03 4.62217743e-04 9.99968356e-01 -1.23470486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.251400513 meters Centerline goodness [0,1] 0.9997843805252491 Centerline is valid? [True, True] Translation: X:99.64, Y:5.35, Z:-0.13 [[ 9.99754061e-01 -1.92389123e-02 -1.10309547e-02 9.96424526e+01] [ 1.92308439e-02 9.99814720e-01 -8.37046836e-04 5.34611659e+00] [ 1.10450148e-02 6.24706404e-04 9.99938807e-01 -1.27236991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.281400513 meters Centerline goodness [0,1] 0.9994004411040449 Centerline is valid? [True, True] Translation: X:99.67, Y:5.35, Z:-0.13 [[ 9.99732563e-01 -1.98667729e-02 -1.18369634e-02 9.96701514e+01] [ 1.98575207e-02 9.99802416e-01 -8.98665310e-04 5.34885083e+00] [ 1.18524782e-02 6.63372227e-04 9.99929537e-01 -1.28631682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.311400513 meters Centerline goodness [0,1] 0.9990113905007522 Centerline is valid? [True, True] Translation: X:99.70, Y:5.35, Z:-0.13 [[ 9.99735768e-01 -1.94493309e-02 -1.22522926e-02 9.96973998e+01] [ 1.94393772e-02 9.99810604e-01 -9.30975950e-04 5.35037177e+00] [ 1.22680789e-02 6.92553019e-04 9.99924504e-01 -1.29312429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.341400513 meters Centerline goodness [0,1] 0.9975198728139905 Centerline is valid? [True, True] Translation: X:99.73, Y:5.36, Z:-0.13 [[ 9.99762155e-01 -1.81404036e-02 -1.21061307e-02 9.97257131e+01] [ 1.81305826e-02 9.99835204e-01 -9.20511866e-04 5.35547939e+00] [ 1.21208341e-02 7.00801724e-04 9.99926294e-01 -1.29506107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.371400513 meters Centerline goodness [0,1] 0.9953147627566232 Centerline is valid? [True, True] Translation: X:99.75, Y:5.36, Z:-0.13 [[ 9.99792355e-01 -1.65163538e-02 -1.19355427e-02 9.97549965e+01] [ 1.65066875e-02 9.99863343e-01 -9.07938036e-04 5.35819887e+00] [ 1.19489075e-02 7.10733234e-04 9.99928357e-01 -1.28856627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.401400513 meters Centerline goodness [0,1] 0.9967430897793015 Centerline is valid? [True, True] Translation: X:99.79, Y:5.36, Z:-0.13 [[ 9.99854792e-01 -1.31340439e-02 -1.08578127e-02 9.97851581e+01] [ 1.31258436e-02 9.99913511e-01 -8.26164981e-04 5.35909782e+00] [ 1.08677245e-02 6.83527064e-04 9.99940711e-01 -1.26331261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.431400513 meters Centerline goodness [0,1] 0.9801403359557729 Centerline is valid? [True, True] Translation: X:99.81, Y:5.37, Z:-0.13 [[ 9.99880129e-01 -1.16195493e-02 -1.02329796e-02 9.98129897e+01] [ 1.16121852e-02 9.99932273e-01 -7.78768997e-04 5.36837315e+00] [ 1.02413355e-02 6.59848391e-04 9.99947338e-01 -1.25451435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.46140051299997 meters Centerline goodness [0,1] 0.9991591565693588 Centerline is valid? [True, True] Translation: X:99.84, Y:5.36, Z:-0.12 [[ 9.99926525e-01 -8.63388849e-03 -8.50884419e-03 9.98436363e+01] [ 8.62868709e-03 9.99962562e-01 -6.47815524e-04 5.36177203e+00] [ 8.51411881e-03 5.74347772e-04 9.99963589e-01 -1.22787631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.49140051299997 meters Centerline goodness [0,1] 0.9447207466508645 Centerline is valid? [True, False] Translation: X:99.88, Y:5.36, Z:-0.12 [[ 9.99962171e-01 -6.99134873e-03 -5.17474783e-03 9.98825768e+01] [ 6.98489661e-03 9.99974807e-01 -1.26387128e-03 5.36358388e+00] [ 5.18345362e-03 1.22767839e-03 9.99985812e-01 -1.22091107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.52140051299997 meters Centerline goodness [0,1] 0.9922044998415549 Centerline is valid? [False, True] Translation: X:99.88, Y:5.36, Z:-0.12 [[ 9.99964171e-01 -6.69735214e-03 -5.17702085e-03 9.98822464e+01] [ 6.69441374e-03 9.99977421e-01 -5.84704637e-04 5.36042741e+00] [ 5.18081993e-03 5.50026568e-04 9.99986428e-01 -1.21460258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.55140051299998 meters Centerline goodness [0,1] 0.9961912462497606 Centerline is valid? [True, True] Translation: X:99.91, Y:5.36, Z:-0.12 [[ 9.99952303e-01 -8.02354563e-03 -5.56913166e-03 9.99125994e+01] [ 8.02137194e-03 9.99967743e-01 -4.12538161e-04 5.35754271e+00] [ 5.57226204e-03 3.67846408e-04 9.99984407e-01 -1.21576861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.58140051299998 meters Centerline goodness [0,1] 0.9438943199056127 Centerline is valid? [True, False] Translation: X:99.91, Y:5.36, Z:-0.12 [[ 9.99904198e-01 -1.26964586e-02 -5.51309830e-03 9.99133556e+01] [ 1.26658441e-02 9.99904366e-01 -5.55290087e-03 5.36125647e+00] [ 5.58307324e-03 5.48254085e-03 9.99969385e-01 -1.23156130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.61140051299998 meters Centerline goodness [0,1] 0.9993792010960312 Centerline is valid? [False, True] Translation: X:99.91, Y:5.36, Z:-0.12 [[ 9.99907765e-01 -1.23637419e-02 -5.62125869e-03 9.99134186e+01] [ 1.23371787e-02 9.99912679e-01 -4.73586817e-03 5.35742457e+00] [ 5.67932089e-03 4.66608089e-03 9.99972986e-01 -1.22613945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.64140051299998 meters Centerline goodness [0,1] 0.9970827477535028 Centerline is valid? [True, True] Translation: X:99.94, Y:5.36, Z:-0.12 [[ 9.99886236e-01 -1.37824128e-02 -6.12868465e-03 9.99425268e+01] [ 1.37799089e-02 9.99904951e-01 -4.50594113e-04 5.36077428e+00] [ 6.13431240e-03 3.66090135e-04 9.99981118e-01 -1.21087225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.67140051299998 meters Centerline goodness [0,1] 0.9991262280757838 Centerline is valid? [True, True] Translation: X:99.97, Y:5.35, Z:-0.12 [[ 9.99865379e-01 -1.50264052e-02 -6.59025100e-03 9.99723612e+01] [ 1.50235337e-02 9.99887023e-01 -4.85017191e-04 5.35415871e+00] [ 6.59679452e-03 3.85943040e-04 9.99978166e-01 -1.20920490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.70140051299998 meters Centerline goodness [0,1] 0.9991262280757838 Centerline is valid? [True, True] Translation: X:100.00, Y:5.36, Z:-0.12 [[ 9.99862695e-01 -1.52039689e-02 -6.59017428e-03 9.99998534e+01] [ 1.52010943e-02 9.99884339e-01 -4.86057899e-04 5.35632640e+00] [ 6.59680206e-03 3.85813300e-04 9.99978166e-01 -1.20812863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.73140051299998 meters Centerline goodness [0,1] 0.9883000835708317 Centerline is valid? [True, True] Translation: X:100.03, Y:5.36, Z:-0.12 [[ 9.99831581e-01 -1.59584374e-02 -9.06304757e-03 1.00027983e+02] [ 1.59530204e-02 9.99872518e-01 -6.69687994e-04 5.35767897e+00] [ 9.07257937e-03 5.24992223e-04 9.99958705e-01 -1.24823689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.76140051299998 meters Centerline goodness [0,1] 0.9714967406586852 Centerline is valid? [True, True] Translation: X:100.06, Y:5.36, Z:-0.13 [[ 9.99838157e-01 -1.53065367e-02 -9.45352027e-03 1.00055451e+02] [ 1.53006088e-02 9.99882694e-01 -6.99066195e-04 5.36064516e+00] [ 9.46311160e-03 5.54308441e-04 9.99955070e-01 -1.25909195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.79140051299999 meters Centerline goodness [0,1] 0.9995691790707193 Centerline is valid? [True, True] Translation: X:100.09, Y:5.35, Z:-0.12 [[ 9.99858999e-01 -1.43159715e-02 -8.77692973e-03 1.00085808e+02] [ 1.43108200e-02 9.99897384e-01 -6.49463700e-04 5.34656443e+00] [ 8.78532678e-03 5.23767064e-04 9.99961271e-01 -1.23295748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.821400513 meters Centerline goodness [0,1] 0.9995688354244815 Centerline is valid? [True, True] Translation: X:100.12, Y:5.35, Z:-0.12 [[ 9.99891299e-01 -1.26003487e-02 -7.65642707e-03 1.00115161e+02] [ 1.25963758e-02 9.99920502e-01 -5.66906158e-04 5.34613418e+00] [ 7.66296162e-03 4.70401302e-04 9.99970528e-01 -1.20979396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.851400513 meters Centerline goodness [0,1] 0.991198418266471 Centerline is valid? [True, True] Translation: X:100.14, Y:5.36, Z:-0.12 [[ 9.99959016e-01 -6.77202896e-03 -6.00882706e-03 1.00143348e+02] [ 6.76947605e-03 9.99976988e-01 -4.45095969e-04 5.35942940e+00] [ 6.01170299e-03 4.04401116e-04 9.99981848e-01 -1.18575464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.881400513 meters Centerline goodness [0,1] 0.9649627623561273 Centerline is valid? [True, True] Translation: X:100.17, Y:5.37, Z:-0.12 [[ 9.99975981e-01 -3.40703025e-03 -6.03574223e-03 1.00171800e+02] [ 3.40439332e-03 9.99994105e-01 -4.47107107e-04 5.36756319e+00] [ 6.03722995e-03 4.26548327e-04 9.99981685e-01 -1.18465261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.911400513 meters Centerline goodness [0,1] 0.9696801350398496 Centerline is valid? [True, True] Translation: X:100.20, Y:5.37, Z:-0.12 [[ 9.99980197e-01 -4.02711609e-04 -6.28043514e-03 1.00201635e+02] [ 3.99797803e-04 9.99999812e-01 -4.65198155e-04 5.37044613e+00] [ 6.28062130e-03 4.62678039e-04 9.99980170e-01 -1.19175153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.941400513 meters Centerline goodness [0,1] 0.8652965103832155 Centerline is valid? [True, False] Translation: X:100.20, Y:5.37, Z:-0.12 [[ 9.99983938e-01 -4.09622206e-05 -5.66755330e-03 1.00199558e+02] [ 3.50892738e-05 9.99999462e-01 -1.03633580e-03 5.37425966e+00] [ 5.66759271e-03 1.03612028e-03 9.99983402e-01 -1.19326246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.971400513 meters Centerline goodness [0,1] 0.8370880895972431 Centerline is valid? [False, False] Translation: X:100.20, Y:5.38, Z:-0.12 [[ 9.99984953e-01 -1.18590713e-04 -5.48451882e-03 1.00198826e+02] [ 1.11271818e-04 9.99999103e-01 -1.33475012e-03 5.37579846e+00] [ 5.48467219e-03 1.33411976e-03 9.99984069e-01 -1.19073733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.001400513 meters Centerline goodness [0,1] 0.8638236372656873 Centerline is valid? [False, False] Translation: X:100.20, Y:5.38, Z:-0.12 [[ 9.99985504e-01 -2.58871687e-04 -5.37812332e-03 1.00198478e+02] [ 2.49577378e-04 9.99998475e-01 -1.72876874e-03 5.37771917e+00] [ 5.37856265e-03 1.72740142e-03 9.99984043e-01 -1.19074654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.031400513 meters Centerline goodness [0,1] 0.9308620432830421 Centerline is valid? [False, False] Translation: X:100.22, Y:5.37, Z:-0.11 [[ 9.99973758e-01 7.47498620e-04 -7.20592124e-03 1.00215914e+02] [-6.83382766e-04 9.99960196e-01 8.89602200e-03 5.37166755e+00] [ 7.21228419e-03 -8.89086414e-03 9.99934466e-01 -1.11974465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.061400513 meters Centerline goodness [0,1] 0.674956009243359 Centerline is valid? [False, False] Translation: X:100.22, Y:5.37, Z:-0.11 [[ 9.99973539e-01 4.12898587e-04 -7.26302540e-03 1.00216691e+02] [-3.53539868e-04 9.99966545e-01 8.17211255e-03 5.37489125e+00] [ 7.26615667e-03 -8.16932853e-03 9.99940231e-01 -1.13126735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.091400513 meters Centerline goodness [0,1] 0.8366064750507533 Centerline is valid? [False, False] Translation: X:100.22, Y:5.39, Z:-0.12 [[ 9.99968797e-01 -4.26543198e-03 -6.64911434e-03 1.00215392e+02] [ 4.27621863e-03 9.99989563e-01 1.60889685e-03 5.38666543e+00] [ 6.64218230e-03 -1.63727972e-03 9.99976600e-01 -1.15054575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.121400513 meters Centerline goodness [0,1] 0.7154469814653246 Centerline is valid? [False, False] Translation: X:100.21, Y:5.39, Z:-0.11 [[ 9.99969003e-01 -4.33633202e-03 -6.57178557e-03 1.00214702e+02] [ 4.34616706e-03 9.99989456e-01 1.48301355e-03 5.38735820e+00] [ 6.56528543e-03 -1.51152966e-03 9.99977306e-01 -1.14242813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.151400513 meters Centerline goodness [0,1] 0.9148385454236857 Centerline is valid? [False, False] Translation: X:100.21, Y:5.39, Z:-0.11 [[ 9.99968880e-01 -4.39113075e-03 -6.55420724e-03 1.00214233e+02] [ 4.40081350e-03 9.99989245e-01 1.46364433e-03 5.38750914e+00] [ 6.54770970e-03 -1.49244262e-03 9.99977450e-01 -1.13458951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.181400513 meters Centerline goodness [0,1] 0.9632128309572301 Centerline is valid? [False, True] Translation: X:100.21, Y:5.39, Z:-0.11 [[ 9.99967931e-01 -4.46016403e-03 -6.65164196e-03 1.00214335e+02] [ 4.46977487e-03 9.99988987e-01 1.43071717e-03 5.38764747e+00] [ 6.64518747e-03 -1.46040263e-03 9.99976854e-01 -1.13041500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.21140051299997 meters Centerline goodness [0,1] 0.9634242070648138 Centerline is valid? [True, True] Translation: X:100.24, Y:5.40, Z:-0.12 [[ 9.99909999e-01 -1.11076697e-02 -7.52415528e-03 1.00243309e+02] [ 1.11033969e-02 9.99938170e-01 -6.09412329e-04 5.39612845e+00] [ 7.53045921e-03 5.25813799e-04 9.99971507e-01 -1.16210168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.24140051299997 meters Centerline goodness [0,1] 0.9953015873015874 Centerline is valid? [True, True] Translation: X:100.27, Y:5.39, Z:-0.12 [[ 9.99867870e-01 -1.43530921e-02 -7.63099936e-03 1.00273280e+02] [ 1.43487907e-02 9.99896860e-01 -6.18124315e-04 5.39247743e+00] [ 7.63908429e-03 5.08547029e-04 9.99970692e-01 -1.16544915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.27140051299997 meters Centerline goodness [0,1] 0.9990590449306046 Centerline is valid? [True, True] Translation: X:100.30, Y:5.39, Z:-0.12 [[ 9.99821016e-01 -1.72206359e-02 -7.83486678e-03 1.00304250e+02] [ 1.72161884e-02 9.99851589e-01 -6.34751189e-04 5.39095629e+00] [ 7.84463481e-03 4.99751037e-04 9.99969105e-01 -1.16547835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.30140051299998 meters Centerline goodness [0,1] 0.9992113228460587 Centerline is valid? [True, True] Translation: X:100.33, Y:5.40, Z:-0.12 [[ 9.99747391e-01 -2.08138696e-02 -8.48161496e-03 1.00332700e+02] [ 2.08087857e-02 9.99783238e-01 -6.87215846e-04 5.39583735e+00] [ 8.49408008e-03 5.10550140e-04 9.99963794e-01 -1.16597319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.33140051299998 meters Centerline goodness [0,1] 0.9996791924203863 Centerline is valid? [True, True] Translation: X:100.36, Y:5.40, Z:-0.12 [[ 9.99717149e-01 -2.21780421e-02 -8.58813798e-03 1.00361986e+02] [ 2.21728757e-02 9.99753909e-01 -6.96335786e-04 5.39679667e+00] [ 8.60146788e-03 5.05715111e-04 9.99962879e-01 -1.16008675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.36140051299998 meters Centerline goodness [0,1] 0.999506247048216 Centerline is valid? [True, True] Translation: X:100.39, Y:5.40, Z:-0.11 [[ 9.99700719e-01 -2.31255784e-02 -7.98002059e-03 1.00389219e+02] [ 2.31211397e-02 9.99732461e-01 -6.48040978e-04 5.40203102e+00] [ 7.99287194e-03 4.63339860e-04 9.99967949e-01 -1.14790726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.39140051299998 meters Centerline goodness [0,1] 0.9994462901439646 Centerline is valid? [True, True] Translation: X:100.42, Y:5.41, Z:-0.11 [[ 9.99686393e-01 -2.38919737e-02 -7.50257439e-03 1.00416504e+02] [ 2.38880677e-02 9.99714453e-01 -6.09828196e-04 5.40685785e+00] [ 7.51500206e-03 4.30414945e-04 9.99971669e-01 -1.13449050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.42140051299998 meters Centerline goodness [0,1] 0.9992977976380466 Centerline is valid? [True, True] Translation: X:100.45, Y:5.41, Z:-0.11 [[ 9.99655900e-01 -2.52636897e-02 -7.05890454e-03 1.00445065e+02] [ 2.52602624e-02 9.99680744e-01 -5.74284362e-04 5.40908454e+00] [ 7.07115948e-03 3.95776970e-04 9.99974921e-01 -1.13608535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.45140051299998 meters Centerline goodness [0,1] 0.9991314295398696 Centerline is valid? [True, True] Translation: X:100.47, Y:5.41, Z:-0.11 [[ 9.99632555e-01 -2.61134676e-02 -7.26919115e-03 1.00472287e+02] [ 2.61098538e-02 9.99658905e-01 -5.91609353e-04 5.41353875e+00] [ 7.28216063e-03 4.01594451e-04 9.99973404e-01 -1.14387870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.48140051299998 meters Centerline goodness [0,1] 0.999828374058739 Centerline is valid? [True, True] Translation: X:100.50, Y:5.40, Z:-0.11 [[ 9.99599501e-01 -2.71692816e-02 -7.91630510e-03 1.00501770e+02] [ 2.71650239e-02 9.99630755e-01 -6.44888603e-04 5.40492278e+00] [ 7.93090320e-03 4.29583708e-04 9.99968458e-01 -1.14931304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.51140051299998 meters Centerline goodness [0,1] 0.9997391928017213 Centerline is valid? [True, True] Translation: X:100.53, Y:5.41, Z:-0.11 [[ 9.99578147e-01 -2.78644067e-02 -8.19165620e-03 1.00529699e+02] [ 2.78598609e-02 9.99611615e-01 -6.68535541e-04 5.40777445e+00] [ 8.20710303e-03 4.40035115e-04 9.99966224e-01 -1.14810091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.54140051299999 meters Centerline goodness [0,1] 0.9996563795288105 Centerline is valid? [True, True] Translation: X:100.56, Y:5.41, Z:-0.11 [[ 9.99578101e-01 -2.77670416e-02 -8.52127086e-03 1.00559153e+02] [ 2.77621114e-02 9.99614316e-01 -6.96339425e-04 5.40666720e+00] [ 8.53731963e-03 4.59477169e-04 9.99963451e-01 -1.13235925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.571400513 meters Centerline goodness [0,1] 0.9997847842462069 Centerline is valid? [True, True] Translation: X:100.59, Y:5.41, Z:-0.11 [[ 9.99607229e-01 -2.67469353e-02 -8.36592322e-03 1.00587605e+02] [ 2.67421381e-02 9.99642131e-01 -6.84784157e-04 5.41454238e+00] [ 8.38124519e-03 4.60792520e-04 9.99964771e-01 -1.12520623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.601400513 meters Centerline goodness [0,1] 0.9994686051949156 Centerline is valid? [True, True] Translation: X:100.62, Y:5.42, Z:-0.11 [[ 9.99665942e-01 -2.46760639e-02 -7.68737591e-03 1.00616664e+02] [ 2.46719499e-02 9.99695403e-01 -6.29543224e-04 5.42157140e+00] [ 7.70056900e-03 4.39670367e-04 9.99970254e-01 -1.11470652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.631400513 meters Centerline goodness [0,1] 0.9985778268344973 Centerline is valid? [True, True] Translation: X:100.65, Y:5.43, Z:-0.11 [[ 9.99783224e-01 -1.91100029e-02 -8.26518025e-03 1.00646546e+02] [ 1.91050570e-02 9.99817253e-01 -6.76948228e-04 5.43208280e+00] [ 8.27660629e-03 5.18894742e-04 9.99965614e-01 -1.13966991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.661400513 meters Centerline goodness [0,1] 0.9927591625260118 Centerline is valid? [True, True] Translation: X:100.68, Y:5.44, Z:-0.12 [[ 9.99819738e-01 -1.65509685e-02 -9.30363750e-03 1.00675049e+02] [ 1.65445911e-02 9.99862839e-01 -7.62030313e-04 5.44006983e+00] [ 9.31497374e-03 6.07968070e-04 9.99956430e-01 -1.16549771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.691400513 meters Centerline goodness [0,1] 0.9726517571884984 Centerline is valid? [True, True] Translation: X:100.70, Y:5.45, Z:-0.12 [[ 9.99846195e-01 -1.45041775e-02 -9.85973181e-03 1.00704119e+02] [ 1.44969153e-02 9.99894588e-01 -8.07621827e-04 5.44651493e+00] [ 9.87040637e-03 6.64561914e-04 9.99951066e-01 -1.17786340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.721400513 meters Centerline goodness [0,1] 0.9851299540341883 Centerline is valid? [True, True] Translation: X:100.73, Y:5.45, Z:-0.12 [[ 9.99865729e-01 -1.31268159e-02 -9.80871090e-03 1.00733333e+02] [ 1.31195607e-02 9.99913612e-01 -8.03650347e-04 5.44703755e+00] [ 9.81841292e-03 6.74856462e-04 9.99951570e-01 -1.16685509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.751400513 meters Centerline goodness [0,1] 0.9915700286704608 Centerline is valid? [True, True] Translation: X:100.76, Y:5.45, Z:-0.11 [[ 9.99876672e-01 -1.27565493e-02 -9.16030207e-03 1.00762105e+02] [ 1.27502005e-02 9.99918431e-01 -7.51143378e-04 5.44767699e+00] [ 9.16913687e-03 6.34255053e-04 9.99957761e-01 -1.13284317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.781400513 meters Centerline goodness [0,1] 0.9989913730203013 Centerline is valid? [True, True] Translation: X:100.79, Y:5.44, Z:-0.11 [[ 9.99865087e-01 -1.36065521e-02 -9.20164087e-03 1.00791456e+02] [ 1.36001682e-02 9.99907228e-01 -7.55997758e-04 5.44280576e+00] [ 9.21107373e-03 6.30751899e-04 9.99957378e-01 -1.12627092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.811400513 meters Centerline goodness [0,1] 0.9919663351185922 Centerline is valid? [True, True] Translation: X:100.82, Y:5.45, Z:-0.11 [[ 9.99850869e-01 -1.46634571e-02 -9.12270705e-03 1.00818510e+02] [ 1.46572151e-02 9.99892295e-01 -7.50708232e-04 5.45220688e+00] [ 9.13273247e-03 6.16882798e-04 9.99958105e-01 -1.13374601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.841400513 meters Centerline goodness [0,1] 0.9972763730725515 Centerline is valid? [True, True] Translation: X:100.85, Y:5.45, Z:-0.11 [[ 9.99835453e-01 -1.56990181e-02 -9.08883789e-03 1.00847384e+02] [ 1.56928605e-02 9.99876579e-01 -7.48411818e-04 5.45030131e+00] [ 9.09946547e-03 6.05658804e-04 9.99958416e-01 -1.13276565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.871400513 meters Centerline goodness [0,1] 0.9932133939432742 Centerline is valid? [True, True] Translation: X:100.88, Y:5.45, Z:-0.11 [[ 9.99828530e-01 -1.64379388e-02 -8.52674515e-03 1.00875717e+02] [ 1.64325410e-02 9.99864730e-01 -7.02717072e-04 5.45163991e+00] [ 8.53714295e-03 5.62480488e-04 9.99963400e-01 -1.11512745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.901400513 meters Centerline goodness [0,1] 0.998765721095529 Centerline is valid? [True, True] Translation: X:100.91, Y:5.45, Z:-0.11 [[ 9.99830212e-01 -1.61736474e-02 -8.82949937e-03 1.00905190e+02] [ 1.61678366e-02 9.99869026e-01 -7.29093908e-04 5.44715791e+00] [ 8.84013504e-03 5.86216214e-04 9.99960753e-01 -1.10860199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.931400513 meters Centerline goodness [0,1] 0.9932918674506973 Centerline is valid? [True, True] Translation: X:100.93, Y:5.45, Z:-0.11 [[ 9.99840291e-01 -1.52020175e-02 -9.39632477e-03 1.00933531e+02] [ 1.51953826e-02 9.99884242e-01 -7.77103430e-04 5.45291289e+00] [ 9.40705061e-03 6.34198569e-04 9.99955552e-01 -1.11195168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.96140051299997 meters Centerline goodness [0,1] 0.9781679811228503 Centerline is valid? [True, True] Translation: X:100.96, Y:5.46, Z:-0.11 [[ 9.99876059e-01 -1.24802924e-02 -9.59735941e-03 1.00963364e+02] [ 1.24732436e-02 9.99921891e-01 -7.93956101e-04 5.45840846e+00] [ 9.60651857e-03 6.74147495e-04 9.99953629e-01 -1.11255263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.99140051299997 meters Centerline goodness [0,1] 0.9824214598478085 Centerline is valid? [True, True] Translation: X:100.99, Y:5.46, Z:-0.11 [[ 9.99897210e-01 -1.13511836e-02 -8.75894635e-03 1.00992340e+02] [ 1.13452689e-02 9.99935378e-01 -7.24673658e-04 5.46306307e+00] [ 8.76660623e-03 6.25226568e-04 9.99961377e-01 -1.10036123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.02140051299997 meters Centerline goodness [0,1] 0.9334884912670283 Centerline is valid? [True, False] Translation: X:100.99, Y:5.47, Z:-0.11 [[ 9.99896687e-01 -1.15132969e-02 -8.60574358e-03 1.00991760e+02] [ 1.15035799e-02 9.99933138e-01 -1.17777462e-03 5.46530135e+00] [ 8.61872825e-03 1.07865608e-03 9.99962276e-01 -1.09932898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.05140051299998 meters Centerline goodness [0,1] 0.8262776831345826 Centerline is valid? [False, False] Translation: X:100.99, Y:5.46, Z:-0.11 [[ 9.99937805e-01 -6.87318226e-03 -8.78329696e-03 1.00991521e+02] [ 6.91015439e-03 9.99967363e-01 4.18597640e-03 5.46033691e+00] [ 8.75423932e-03 -4.24640999e-03 9.99952665e-01 -1.08477063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.08140051299998 meters Centerline goodness [0,1] 0.9543511417585014 Centerline is valid? [False, True] Translation: X:100.99, Y:5.46, Z:-0.11 [[ 9.99935963e-01 -7.10819998e-03 -8.80586630e-03 1.00991982e+02] [ 7.13961492e-03 9.99968242e-01 3.54121613e-03 5.46333737e+00] [ 8.78041498e-03 -3.60385986e-03 9.99954957e-01 -1.09292819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.11140051299998 meters Centerline goodness [0,1] 0.9265811873720504 Centerline is valid? [True, False] Translation: X:100.99, Y:5.47, Z:-0.11 [[ 9.99933969e-01 -7.29509638e-03 -8.87917145e-03 1.00992707e+02] [ 7.32313349e-03 9.99968289e-01 3.12922043e-03 5.46514506e+00] [ 8.85606192e-03 -3.19403716e-03 9.99955683e-01 -1.10270300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.14140051299998 meters Centerline goodness [0,1] 0.9201012137067376 Centerline is valid? [False, False] Translation: X:100.99, Y:5.47, Z:-0.11 [[ 9.99931472e-01 -7.54429648e-03 -8.95178724e-03 1.00993382e+02] [ 7.56781159e-03 9.99967994e-01 2.59590263e-03 5.46750967e+00] [ 8.93191647e-03 -2.66347018e-03 9.99956562e-01 -1.11162699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.17140051299998 meters Centerline goodness [0,1] 0.9774278439846809 Centerline is valid? [False, True] Translation: X:100.99, Y:5.47, Z:-0.11 [[ 9.99928759e-01 -7.82139993e-03 -9.01683756e-03 1.00993460e+02] [ 7.84091233e-03 9.99966990e-01 2.13068010e-03 5.46962978e+00] [ 8.99987501e-03 -2.20122854e-03 9.99957078e-01 -1.10950002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.20140051299998 meters Centerline goodness [0,1] 0.8269411262798635 Centerline is valid? [True, False] Translation: X:100.99, Y:5.47, Z:-0.11 [[ 9.99928940e-01 -7.82847013e-03 -8.99053963e-03 1.00993111e+02] [ 7.84843860e-03 9.99966807e-01 2.18792330e-03 5.46938351e+00] [ 8.97311311e-03 -2.25832953e-03 9.99957191e-01 -1.10490194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.23140051299998 meters Centerline goodness [0,1] 0.9940648368365794 Centerline is valid? [False, True] Translation: X:100.99, Y:5.47, Z:-0.11 [[ 9.99928726e-01 -7.86683635e-03 -8.98089544e-03 1.00992833e+02] [ 7.88643317e-03 9.99966593e-01 2.14873181e-03 5.46960799e+00] [ 8.96369170e-03 -2.21940589e-03 9.99957362e-01 -1.10023048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.26140051299998 meters Centerline goodness [0,1] 0.99438490114864 Centerline is valid? [True, True] Translation: X:101.02, Y:5.48, Z:-0.11 [[ 9.99919527e-01 -9.42353617e-03 -8.49332370e-03 1.01021113e+02] [ 9.41836242e-03 9.99955436e-01 -6.48946736e-04 5.47679462e+00] [ 8.49906057e-03 5.68901313e-04 9.99963721e-01 -1.09847091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.29140051299999 meters Centerline goodness [0,1] 0.995092311287684 Centerline is valid? [True, True] Translation: X:101.05, Y:5.48, Z:-0.11 [[ 9.99878496e-01 -1.24847139e-02 -9.33411197e-03 1.01049975e+02] [ 1.24785954e-02 9.99921885e-01 -7.13448242e-04 5.48157177e+00] [ 9.34229003e-03 5.96884948e-04 9.99956182e-01 -1.11142665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.321400513 meters Centerline goodness [0,1] 0.998416197590052 Centerline is valid? [True, True] Translation: X:101.08, Y:5.48, Z:-0.11 [[ 9.99840801e-01 -1.47712077e-02 -1.00091712e-02 1.01079958e+02] [ 1.47642846e-02 9.99890709e-01 -7.65219005e-04 5.48025113e+00] [ 1.00193805e-02 6.17318931e-04 9.99949614e-01 -1.11989183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.351400513 meters Centerline goodness [0,1] 0.9987698833510075 Centerline is valid? [True, True] Translation: X:101.11, Y:5.48, Z:-0.11 [[ 9.99794236e-01 -1.76773663e-02 -9.94973152e-03 1.01109239e+02] [ 1.76706667e-02 9.99843572e-01 -7.60857141e-04 5.48242829e+00] [ 9.96162506e-03 5.84882194e-04 9.99950211e-01 -1.11931654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.381400513 meters Centerline goodness [0,1] 0.9998065764023211 Centerline is valid? [True, True] Translation: X:101.14, Y:5.47, Z:-0.11 [[ 9.99657242e-01 -2.45064969e-02 -9.21033463e-03 1.01140391e+02] [ 2.45010441e-02 9.99699556e-01 -7.04413073e-04 5.47459603e+00] [ 9.22483014e-03 4.78508815e-04 9.99957336e-01 -1.11165958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.411400513 meters Centerline goodness [0,1] 0.9998293260512449 Centerline is valid? [True, True] Translation: X:101.17, Y:5.48, Z:-0.11 [[ 9.99561786e-01 -2.82848231e-02 -8.72955497e-03 1.01169116e+02] [ 2.82800678e-02 9.99599816e-01 -6.67724615e-04 5.48050453e+00] [ 8.74494801e-03 4.20559602e-04 9.99961674e-01 -1.10484798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.441400513 meters Centerline goodness [0,1] 0.9997853570585331 Centerline is valid? [True, True] Translation: X:101.20, Y:5.47, Z:-0.11 [[ 9.99449265e-01 -3.20361659e-02 -8.65167304e-03 1.01200047e+02] [ 3.20316345e-02 9.99486636e-01 -6.61853886e-04 5.47455866e+00] [ 8.66843485e-03 3.84362150e-04 9.99962355e-01 -1.08848302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.471400513 meters Centerline goodness [0,1] 0.9998717455431576 Centerline is valid? [True, True] Translation: X:101.23, Y:5.47, Z:-0.11 [[ 9.99325521e-01 -3.56054990e-02 -8.98618047e-03 1.01228965e+02] [ 3.56007550e-02 9.99365856e-01 -6.87381374e-04 5.47490777e+00] [ 9.00495649e-03 3.67002940e-04 9.99959387e-01 -1.08555866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.501400513 meters Centerline goodness [0,1] 0.9997641560000857 Centerline is valid? [True, True] Translation: X:101.26, Y:5.47, Z:-0.11 [[ 9.99135677e-01 -4.06907259e-02 -8.49492764e-03 1.01257337e+02] [ 4.06983523e-02 9.99171215e-01 7.26756183e-04 5.46737736e+00] [ 8.45831494e-03 -1.07185759e-03 9.99963653e-01 -1.08861926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.531400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.29, Y:5.47, Z:-0.11 [[ 9.98978225e-01 -4.42619318e-02 -9.13165879e-03 1.01289224e+02] [ 4.42448995e-02 9.99018593e-01 -2.05894657e-03 5.46850512e+00] [ 9.21382987e-03 1.65281346e-03 9.99956186e-01 -1.08907893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.561400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.32, Y:5.47, Z:-0.11 [[ 9.98921915e-01 -4.55601036e-02 -8.90418468e-03 1.01318150e+02] [ 4.55558381e-02 9.98961561e-01 -6.81381571e-04 5.46946471e+00] [ 8.92598205e-03 2.75009388e-04 9.99960125e-01 -1.07752076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.591400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.35, Y:5.47, Z:-0.11 [[ 9.98888176e-01 -4.62932400e-02 -8.90776749e-03 1.01347146e+02] [ 4.62889913e-02 9.98927857e-01 -6.82649322e-04 5.47119632e+00] [ 8.92981914e-03 2.69558763e-04 9.99960092e-01 -1.07110878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.621400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.37, Y:5.47, Z:-0.11 [[ 9.98879602e-01 -4.64778943e-02 -8.90765108e-03 1.01374596e+02] [ 4.64736394e-02 9.98919282e-01 -6.84165564e-04 5.47345417e+00] [ 8.92982300e-03 2.69428061e-04 9.99960092e-01 -1.06950880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.651400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.40, Y:5.48, Z:-0.11 [[ 9.98835079e-01 -4.72317017e-02 -9.88191030e-03 1.01402667e+02] [ 4.72264836e-02 9.98883917e-01 -7.60851806e-04 5.47794995e+00] [ 9.90681760e-03 2.93277598e-04 9.99950883e-01 -1.07362169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.681400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.43, Y:5.48, Z:-0.11 [[ 9.98817192e-01 -4.75667227e-02 -1.00808397e-02 1.01430384e+02] [ 4.75612915e-02 9.98868018e-01 -7.77952206e-04 5.47743363e+00] [ 1.01064330e-02 2.97574281e-04 9.99948884e-01 -1.07707069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.71140051299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.46, Y:5.48, Z:-0.11 [[ 9.98802362e-01 -4.79475465e-02 -9.74030485e-03 1.01458708e+02] [ 4.79424771e-02 9.98849814e-01 -7.53417427e-04 5.47984606e+00] [ 9.76522621e-03 2.85540763e-04 9.99952278e-01 -1.07535958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.74140051299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.49, Y:5.49, Z:-0.11 [[ 9.98786777e-01 -4.84131045e-02 -9.00802757e-03 1.01486138e+02] [ 4.84087769e-02 9.98827364e-01 -6.97962854e-04 5.48521073e+00] [ 9.03125498e-03 2.61048472e-04 9.99959183e-01 -1.06845249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.77140051299997 meters Centerline goodness [0,1] 0.9999785121835919 Centerline is valid? [True, True] Translation: X:101.52, Y:5.49, Z:-0.11 [[ 9.98743079e-01 -4.93073230e-02 -9.00273348e-03 1.01515452e+02] [ 4.93030296e-02 9.98783622e-01 -6.98347053e-04 5.48714798e+00] [ 9.02621638e-03 2.53607250e-04 9.99959231e-01 -1.06248662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.80140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.54, Y:5.49, Z:-0.11 [[ 9.98741716e-01 -4.91914942e-02 -9.75608155e-03 1.01544110e+02] [ 4.91864347e-02 9.98789327e-01 -7.58007153e-04 5.48744274e+00] [ 9.78155763e-03 2.77186497e-04 9.99952121e-01 -1.06420183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.83140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.57, Y:5.50, Z:-0.11 [[ 9.98793400e-01 -4.82157853e-02 -9.32642006e-03 1.01571663e+02] [ 4.82111083e-02 9.98836905e-01 -7.25786751e-04 5.49593523e+00] [ 9.35056692e-03 2.75273969e-04 9.99956245e-01 -1.06076585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.86140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.60, Y:5.50, Z:-0.10 [[ 9.98826002e-01 -4.76315761e-02 -8.82331847e-03 1.01599992e+02] [ 4.76273599e-02 9.98864937e-01 -6.87474734e-04 5.50041573e+00] [ 8.84604895e-03 2.66436275e-04 9.99960837e-01 -1.04110163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.89140051299998 meters Centerline goodness [0,1] 0.9999130321346262 Centerline is valid? [True, True] Translation: X:101.63, Y:5.51, Z:-0.10 [[ 9.98852166e-01 -4.71312744e-02 -8.54357531e-03 1.01627896e+02] [ 4.71272935e-02 9.98888669e-01 -6.66785494e-04 5.50769908e+00] [ 8.56550702e-03 2.63384553e-04 9.99963281e-01 -1.03354735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.92140051299998 meters Centerline goodness [0,1] 0.9999133129618794 Centerline is valid? [True, True] Translation: X:101.65, Y:5.51, Z:-0.10 [[ 9.98828447e-01 -4.75438516e-02 -9.01756785e-03 1.01654968e+02] [ 4.75394276e-02 9.98869114e-01 -7.04436565e-04 5.51384701e+00] [ 9.04086163e-03 2.74921265e-04 9.99959093e-01 -1.03468160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.95140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.68, Y:5.52, Z:-0.10 [[ 9.98778327e-01 -4.86184954e-02 -8.83715160e-03 1.01683729e+02] [ 4.86142797e-02 9.98817388e-01 -6.91361252e-04 5.51639100e+00] [ 8.86031362e-03 2.60904875e-04 9.99960713e-01 -1.02734851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.98140051299998 meters Centerline goodness [0,1] 0.9998714129572877 Centerline is valid? [True, True] Translation: X:101.71, Y:5.52, Z:-0.10 [[ 9.98690644e-01 -5.04609094e-02 -8.40803937e-03 1.01711701e+02] [ 5.04571495e-02 9.98726009e-01 -6.58837632e-04 5.52063029e+00] [ 8.43057315e-03 2.33729279e-04 9.99964435e-01 -1.02327819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.01140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.74, Y:5.52, Z:-0.10 [[ 9.98455994e-01 -5.51160741e-02 -6.91708422e-03 1.01741594e+02] [ 5.51136394e-02 9.98479941e-01 -5.42249228e-04 5.52211125e+00] [ 6.93645650e-03 1.60186307e-04 9.99975930e-01 -9.92758400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.04140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.77, Y:5.53, Z:-0.10 [[ 9.98276418e-01 -5.82292386e-02 -7.31773787e-03 1.01769063e+02] [ 5.82265961e-02 9.98303228e-01 -5.73828229e-04 5.52813590e+00] [ 7.33873491e-03 1.46752222e-04 9.99973060e-01 -9.99984739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.071400513 meters Centerline goodness [0,1] 0.9999571862824849 Centerline is valid? [True, True] Translation: X:101.80, Y:5.53, Z:-0.10 [[ 9.98075979e-01 -6.14582051e-02 -8.19936429e-03 1.01796462e+02] [ 6.14549918e-02 9.98109648e-01 -6.43508784e-04 5.53169560e+00] [ 8.22341350e-03 1.38378795e-04 9.99966178e-01 -1.01259167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.101400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.83, Y:5.53, Z:-0.10 [[ 9.97655389e-01 -6.79134880e-02 -8.45478602e-03 1.01825412e+02] [ 6.79102995e-02 9.97691210e-01 -6.63976599e-04 5.53215954e+00] [ 8.48035866e-03 8.82527808e-05 9.99964037e-01 -1.01346363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.131400513 meters Centerline goodness [0,1] 0.9998923620080944 Centerline is valid? [True, True] Translation: X:101.85, Y:5.52, Z:-0.10 [[ 9.97584496e-01 -6.92230070e-02 -5.77474913e-03 1.01849437e+02] [ 6.92712982e-02 9.97560534e-01 8.62952382e-03 5.52456470e+00] [ 5.16330023e-03 -9.00870354e-03 9.99946090e-01 -9.92737704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.161400513 meters Centerline goodness [0,1] 0.9998921414241646 Centerline is valid? [True, True] Translation: X:101.88, Y:5.54, Z:-0.10 [[ 9.97077158e-01 -7.60035296e-02 -7.78482562e-03 1.01880941e+02] [ 7.59268979e-02 9.97066133e-01 -9.70731673e-03 5.54263863e+00] [ 8.49977632e-03 9.08786612e-03 9.99922579e-01 -1.04092876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.191400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.91, Y:5.54, Z:-0.10 [[ 9.96779566e-01 -7.97361873e-02 -8.52269786e-03 1.01909930e+02] [ 7.97333559e-02 9.96816001e-01 -6.72021848e-04 5.53524210e+00] [ 8.54914606e-03 -9.68565525e-06 9.99963455e-01 -1.02394171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.221400513 meters Centerline goodness [0,1] 0.9999140616607584 Centerline is valid? [True, True] Translation: X:101.94, Y:5.53, Z:-0.10 [[ 9.96179241e-01 -8.68164575e-02 -9.47746096e-03 1.01938538e+02] [ 8.68132623e-02 9.96224321e-01 -7.48789191e-04 5.53192763e+00] [ 9.50668433e-03 -7.68410565e-05 9.99954808e-01 -1.03722338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.251400513 meters Centerline goodness [0,1] 0.9999129526462396 Centerline is valid? [True, True] Translation: X:101.97, Y:5.53, Z:-0.10 [[ 9.95870766e-01 -9.01734188e-02 -1.04962480e-02 1.01967518e+02] [ 9.01696735e-02 9.95926072e-01 -8.30479161e-04 5.53202749e+00] [ 1.05283741e-02 -1.19393332e-04 9.99944568e-01 -1.04025237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.281400513 meters Centerline goodness [0,1] 0.9999125128496752 Centerline is valid? [True, True] Translation: X:102.00, Y:5.53, Z:-0.10 [[ 9.95626577e-01 -9.27045049e-02 -1.15583053e-02 1.01995925e+02] [ 9.27001170e-02 9.95693652e-01 -9.15961874e-04 5.53290148e+00] [ 1.15934450e-02 -1.59500266e-04 9.99932781e-01 -1.04921776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.311400513 meters Centerline goodness [0,1] 0.999826836078703 Centerline is valid? [True, True] Translation: X:102.02, Y:5.53, Z:-0.10 [[ 9.95758574e-01 -9.15369291e-02 -9.26570206e-03 1.02021023e+02] [ 9.16156929e-02 9.95758453e-01 8.46571823e-03 5.52561503e+00] [ 8.45147530e-03 -9.27869522e-03 9.99921236e-01 -1.04067829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.341400513 meters Centerline goodness [0,1] 0.9998699750785567 Centerline is valid? [True, True] Translation: X:102.05, Y:5.55, Z:-0.11 [[ 9.95337687e-01 -9.58045462e-02 -1.11524795e-02 1.02052751e+02] [ 9.56931039e-02 9.95359320e-01 -1.01318482e-02 5.54522500e+00] [ 1.20714015e-02 9.01739493e-03 9.99886477e-01 -1.08124732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.371400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.08, Y:5.54, Z:-0.10 [[ 9.95325838e-01 -9.59999113e-02 -1.05115899e-02 1.02081400e+02] [ 9.59964350e-02 9.95381327e-01 -8.35933249e-04 5.53952683e+00] [ 1.05432899e-02 -1.77049199e-04 9.99944402e-01 -1.04813860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.401400513 meters Centerline goodness [0,1] 0.9999353225250086 Centerline is valid? [True, True] Translation: X:102.11, Y:5.54, Z:-0.10 [[ 9.95311800e-01 -9.62274751e-02 -9.73102980e-03 1.02108440e+02] [ 9.62244932e-02 9.95359355e-01 -7.75251886e-04 5.54100997e+00] [ 9.76047207e-03 -1.64746060e-04 9.99952352e-01 -1.04332728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.431400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.14, Y:5.55, Z:-0.10 [[ 9.95416833e-01 -9.51901283e-02 -9.17428083e-03 1.02136909e+02] [ 9.51874240e-02 9.95459099e-01 -7.31959356e-04 5.54893455e+00] [ 9.20229664e-03 -1.44671495e-04 9.99957648e-01 -1.02912973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.46140051299997 meters Centerline goodness [0,1] 0.999869966624767 Centerline is valid? [True, True] Translation: X:102.16, Y:5.56, Z:-0.10 [[ 9.95649192e-01 -9.25484697e-02 -1.08382334e-02 1.02164685e+02] [ 9.25445224e-02 9.95708171e-01 -8.66239019e-04 5.55599661e+00] [ 1.08718867e-02 -1.40548956e-04 9.99940889e-01 -1.04477603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.49140051299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.19, Y:5.56, Z:-0.10 [[ 9.95753606e-01 -9.13442464e-02 -1.14448628e-02 1.02192810e+02] [ 9.13397498e-02 9.95819367e-01 -9.16075109e-04 5.56186819e+00] [ 1.14806942e-02 -1.33185809e-04 9.99934086e-01 -1.04893060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.52140051299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.22, Y:5.57, Z:-0.10 [[ 9.95786696e-01 -9.09725511e-02 -1.15260770e-02 1.02220580e+02] [ 9.09679499e-02 9.95853392e-01 -9.23925851e-04 5.56788682e+00] [ 1.15623348e-02 -1.28470527e-04 9.99933146e-01 -1.04742804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.55140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.25, Y:5.58, Z:-0.10 [[ 9.95890932e-01 -9.01006505e-02 -9.11725043e-03 1.02247238e+02] [ 9.00977298e-02 9.95932660e-01 -7.31410550e-04 5.58024329e+00] [ 9.14606804e-03 -9.30384314e-05 9.99958170e-01 -1.00448960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.58140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.28, Y:5.59, Z:-0.10 [[ 9.95958860e-01 -8.94295443e-02 -8.26467558e-03 1.02275595e+02] [ 8.94271139e-02 9.95993148e-01 -6.63904140e-04 5.58890451e+00] [ 8.29093289e-03 -7.78648737e-05 9.99965627e-01 -9.91127831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.61140051299998 meters Centerline goodness [0,1] 0.999891205013273 Centerline is valid? [True, True] Translation: X:102.30, Y:5.60, Z:-0.10 [[ 9.95959545e-01 -8.93718630e-02 -8.78946083e-03 1.02303294e+02] [ 8.93690973e-02 9.95998325e-01 -7.07701865e-04 5.59687244e+00] [ 8.81753690e-03 -8.06637520e-05 9.99961122e-01 -9.96269051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.64140051299998 meters Centerline goodness [0,1] 0.9999570677256627 Centerline is valid? [True, True] Translation: X:102.33, Y:5.61, Z:-0.10 [[ 9.95853012e-01 -9.03382384e-02 -1.07602020e-02 1.02331871e+02] [ 9.03341256e-02 9.95911136e-01 -8.68629158e-04 5.60705462e+00] [ 1.07946755e-02 -1.06986480e-04 9.99941730e-01 -1.02906145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.67140051299998 meters Centerline goodness [0,1] 0.9998926093773491 Centerline is valid? [True, True] Translation: X:102.36, Y:5.61, Z:-0.10 [[ 9.95668597e-01 -9.23007065e-02 -1.11635743e-02 1.02359691e+02] [ 9.22963877e-02 9.95731170e-01 -9.02549439e-04 5.61063902e+00] [ 1.11992249e-02 -1.31717449e-04 9.99937278e-01 -1.03135230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.70140051299998 meters Centerline goodness [0,1] 0.9999136479426622 Centerline is valid? [True, True] Translation: X:102.39, Y:5.61, Z:-0.10 [[ 9.95384536e-01 -9.53023818e-02 -1.12730806e-02 1.02388808e+02] [ 9.52981555e-02 9.95448356e-01 -9.12702694e-04 5.61283849e+00] [ 1.13087523e-02 -1.65813643e-04 9.99936040e-01 -1.02338106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.73140051299998 meters Centerline goodness [0,1] 0.9998914624351488 Centerline is valid? [True, True] Translation: X:102.41, Y:5.61, Z:-0.10 [[ 9.95282621e-01 -9.64617774e-02 -1.03744970e-02 1.02412962e+02] [ 9.65067369e-02 9.95324601e-01 3.92288907e-03 5.60786629e+00] [ 9.94758324e-03 -4.90559216e-03 9.99938488e-01 -1.01671848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.76140051299998 meters Centerline goodness [0,1] 0.9998249261407156 Centerline is valid? [True, True] Translation: X:102.45, Y:5.61, Z:-0.11 [[ 9.94263443e-01 -1.06180394e-01 -1.28813902e-02 1.02447617e+02] [ 1.06113143e-01 9.94337155e-01 -5.79848391e-03 5.61313375e+00] [ 1.34241302e-02 4.39833578e-03 9.99900219e-01 -1.06631348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.79140051299999 meters Centerline goodness [0,1] 0.999891453010008 Centerline is valid? [True, True] Translation: X:102.48, Y:5.61, Z:-0.11 [[ 9.93843776e-01 -1.09845002e-01 -1.44438521e-02 1.02476374e+02] [ 1.09839557e-01 9.93948639e-01 -1.17214187e-03 5.60632231e+00] [ 1.44852011e-02 -4.21580411e-04 9.99894995e-01 -1.07969419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.821400513 meters Centerline goodness [0,1] 0.9998913114362107 Centerline is valid? [True, True] Translation: X:102.51, Y:5.61, Z:-0.11 [[ 9.93509963e-01 -1.12736036e-01 -1.51175500e-02 1.02505321e+02] [ 1.12730393e-01 9.93624854e-01 -1.22766837e-03 5.60931341e+00] [ 1.51595758e-02 -4.84506585e-04 9.99884970e-01 -1.08764940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.851400513 meters Centerline goodness [0,1] 0.9999348307772516 Centerline is valid? [True, True] Translation: X:102.53, Y:5.61, Z:-0.11 [[ 9.93263829e-01 -1.14973900e-01 -1.44211098e-02 1.02533722e+02] [ 1.14968990e-01 9.93368390e-01 -1.17184279e-03 5.60646889e+00] [ 1.44602059e-02 -4.94031370e-04 9.99895324e-01 -1.09541410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.881400513 meters Centerline goodness [0,1] 0.9998062682968831 Centerline is valid? [True, True] Translation: X:102.56, Y:5.61, Z:-0.10 [[ 9.92824090e-01 -1.18941360e-01 -1.23805941e-02 1.02564264e+02] [ 1.18938045e-01 9.92901168e-01 -1.00628246e-03 5.60707509e+00] [ 1.24123949e-02 -4.73462188e-04 9.99922851e-01 -1.04684230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.911400513 meters Centerline goodness [0,1] 0.9998483831142109 Centerline is valid? [True, True] Translation: X:102.59, Y:5.61, Z:-0.10 [[ 9.92683398e-01 -1.20175994e-01 -1.17218138e-02 1.02592857e+02] [ 1.20173097e-01 9.92752495e-01 -9.53758509e-04 5.60750453e+00] [ 1.17514788e-02 -4.61866435e-04 9.99930842e-01 -1.02807438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.941400513 meters Centerline goodness [0,1] 0.9998283666945571 Centerline is valid? [True, True] Translation: X:102.62, Y:5.61, Z:-0.10 [[ 9.92630799e-01 -1.20639289e-01 -1.14131427e-02 1.02622105e+02] [ 1.20636551e-01 9.92696306e-01 -9.30575052e-04 5.60814821e+00] [ 1.14420485e-02 -4.53124706e-04 9.99934435e-01 -1.01856819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.971400513 meters Centerline goodness [0,1] 0.999803196956113 Centerline is valid? [True, True] Translation: X:102.65, Y:5.61, Z:-0.10 [[ 9.92619421e-01 -1.20710956e-01 -1.16425985e-02 1.02649975e+02] [ 1.20708086e-01 9.92687591e-01 -9.51440962e-04 5.60515169e+00] [ 1.16723124e-02 -4.60937006e-04 9.99931770e-01 -1.02419950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.001400513 meters Centerline goodness [0,1] 0.9999137670848963 Centerline is valid? [True, True] Translation: X:102.68, Y:5.61, Z:-0.10 [[ 9.92670225e-01 -1.20193850e-01 -1.26199711e-02 1.02678440e+02] [ 1.20190406e-01 9.92750320e-01 -1.03370804e-03 5.61359891e+00] [ 1.26527257e-02 -4.90668262e-04 9.99919831e-01 -1.04571871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.031400513 meters Centerline goodness [0,1] 0.999891795970482 Centerline is valid? [True, True] Translation: X:102.71, Y:5.61, Z:-0.11 [[ 9.92642641e-01 -1.20307659e-01 -1.36621179e-02 1.02706513e+02] [ 1.20303613e-01 9.92736513e-01 -1.12062119e-03 5.61325318e+00] [ 1.36977026e-02 -5.31225760e-04 9.99906041e-01 -1.07075232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.061400513 meters Centerline goodness [0,1] 0.9998251136761105 Centerline is valid? [True, True] Translation: X:102.73, Y:5.62, Z:-0.11 [[ 9.92600496e-01 -1.20559895e-01 -1.44764494e-02 1.02734341e+02] [ 1.20555352e-01 9.92705894e-01 -1.18928962e-03 5.62172356e+00] [ 1.45142373e-02 -5.64723976e-04 9.99894503e-01 -1.07180246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.091400513 meters Centerline goodness [0,1] 0.999848782700741 Centerline is valid? [True, True] Translation: X:102.76, Y:5.62, Z:-0.11 [[ 9.92673905e-01 -1.20009042e-01 -1.40124173e-02 1.02762483e+02] [ 1.20004710e-01 9.92772653e-01 -1.15263453e-03 5.61971856e+00] [ 1.40494713e-02 -5.37365851e-04 9.99901157e-01 -1.06232842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.121400513 meters Centerline goodness [0,1] 0.9998713660921019 Centerline is valid? [True, True] Translation: X:102.79, Y:5.63, Z:-0.10 [[ 9.92782196e-01 -1.19203729e-01 -1.31902196e-02 1.02791289e+02] [ 1.19199806e-01 9.92869693e-01 -1.08598989e-03 5.62596885e+00] [ 1.32256233e-02 -4.94120188e-04 9.99912416e-01 -1.03412551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.151400513 meters Centerline goodness [0,1] 0.9998048653570965 Centerline is valid? [True, True] Translation: X:102.82, Y:5.63, Z:-0.10 [[ 9.92900772e-01 -1.18303327e-01 -1.23442081e-02 1.02819659e+02] [ 1.18299802e-01 9.92977402e-01 -1.01796382e-03 5.63123817e+00] [ 1.23779482e-02 -4.49580298e-04 9.99923289e-01 -1.01709962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.181400513 meters Centerline goodness [0,1] 0.9999133711612596 Centerline is valid? [True, True] Translation: X:102.85, Y:5.63, Z:-0.10 [[ 9.93034244e-01 -1.17261736e-01 -1.15184674e-02 1.02847592e+02] [ 1.17258581e-01 9.93100962e-01 -9.51168700e-04 5.63422311e+00] [ 1.15505368e-02 -4.06096058e-04 9.99933208e-01 -1.01027006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.21140051299997 meters Centerline goodness [0,1] 0.999826030227248 Centerline is valid? [True, True] Translation: X:102.88, Y:5.64, Z:-0.10 [[ 9.93173373e-01 -1.16105241e-01 -1.12349583e-02 1.02875459e+02] [ 1.16102157e-01 9.93236843e-01 -9.28595109e-04 5.63719031e+00] [ 1.12667893e-02 -3.82146955e-04 9.99936455e-01 -1.01726286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.24140051299997 meters Centerline goodness [0,1] 0.99987002296261 Centerline is valid? [True, True] Translation: X:102.90, Y:5.64, Z:-0.10 [[ 9.93124719e-01 -1.16485124e-01 -1.15977482e-02 1.02903813e+02] [ 1.16481845e-01 9.93192357e-01 -9.60117635e-04 5.64197828e+00] [ 1.16306343e-02 -3.97410554e-04 9.99932283e-01 -1.01288767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.27140051299997 meters Centerline goodness [0,1] 0.9998916412023492 Centerline is valid? [True, True] Translation: X:102.93, Y:5.64, Z:-0.10 [[ 9.93041829e-01 -1.17184650e-01 -1.16483070e-02 1.02931982e+02] [ 1.17181375e-01 9.93110061e-01 -9.65661911e-04 5.63974108e+00] [ 1.16812116e-02 -4.06021961e-04 9.99931690e-01 -1.01460757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.30140051299998 meters Centerline goodness [0,1] 0.9998049076562906 Centerline is valid? [True, True] Translation: X:102.96, Y:5.64, Z:-0.10 [[ 9.92771660e-01 -1.19443496e-01 -1.17338172e-02 1.02961656e+02] [ 1.19440324e-01 9.92840905e-01 -9.73250777e-04 5.64128426e+00] [ 1.17660622e-02 -4.35275139e-04 9.99930683e-01 -1.00191801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.33140051299998 meters Centerline goodness [0,1] 0.999826779837173 Centerline is valid? [True, True] Translation: X:102.99, Y:5.65, Z:-0.10 [[ 9.92637252e-01 -1.20582447e-01 -1.14525053e-02 1.02989803e+02] [ 1.20579495e-01 9.92703220e-01 -9.50406496e-04 5.64602854e+00] [ 1.14835412e-02 -4.37528412e-04 9.99933966e-01 -9.88867514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.36140051299998 meters Centerline goodness [0,1] 0.9998705417826397 Centerline is valid? [True, True] Translation: X:103.02, Y:5.65, Z:-0.10 [[ 9.92577309e-01 -1.21128574e-01 -1.08699120e-02 1.03018049e+02] [ 1.21125941e-01 9.92636737e-01 -9.02711868e-04 5.64768693e+00] [ 1.08992182e-02 -4.20616999e-04 9.99940513e-01 -9.75547459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.39140051299998 meters Centerline goodness [0,1] 0.9998924476757943 Centerline is valid? [True, True] Translation: X:103.05, Y:5.65, Z:-0.10 [[ 9.92556381e-01 -1.21334462e-01 -1.04774896e-02 1.03046284e+02] [ 1.21332014e-01 9.92611597e-01 -8.71378905e-04 5.65120312e+00] [ 1.05058060e-02 -4.06362228e-04 9.99944730e-01 -9.68402285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.42140051299998 meters Centerline goodness [0,1] 0.9998717345760828 Centerline is valid? [True, True] Translation: X:103.07, Y:5.66, Z:-0.10 [[ 9.92626419e-01 -1.20816566e-01 -9.80559085e-03 1.03074170e+02] [ 1.20814379e-01 9.92674780e-01 -8.17235635e-04 5.66065251e+00] [ 9.83249834e-03 -3.73446689e-04 9.99951590e-01 -9.63671315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.45140051299998 meters Centerline goodness [0,1] 0.9998491086633183 Centerline is valid? [True, True] Translation: X:103.10, Y:5.67, Z:-0.10 [[ 9.92692089e-01 -1.20275696e-01 -9.80681878e-03 1.03101254e+02] [ 1.20273466e-01 9.92740461e-01 -8.19002741e-04 5.66616406e+00] [ 9.83413192e-03 -3.66482545e-04 9.99951577e-01 -9.60600099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.48140051299998 meters Centerline goodness [0,1] 0.9999351897859102 Centerline is valid? [True, True] Translation: X:103.13, Y:5.67, Z:-0.10 [[ 9.92817995e-01 -1.19257911e-01 -9.48572439e-03 1.03129735e+02] [ 1.19255764e-01 9.92863250e-01 -7.93759865e-04 5.67390872e+00] [ 9.51268929e-03 -3.43168228e-04 9.99954694e-01 -9.54822488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.51140051299998 meters Centerline goodness [0,1] 0.9999351897859102 Centerline is valid? [True, True] Translation: X:103.16, Y:5.68, Z:-0.10 [[ 9.92795016e-01 -1.19449067e-01 -9.48558275e-03 1.03157163e+02] [ 1.19446912e-01 9.92840270e-01 -7.95449640e-04 5.67638074e+00] [ 9.51268425e-03 -3.43305126e-04 9.99954694e-01 -9.53232344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.54140051299999 meters Centerline goodness [0,1] 0.9999783164924758 Centerline is valid? [True, True] Translation: X:103.19, Y:5.68, Z:-0.09 [[ 9.92971309e-01 -1.17991668e-01 -9.27072075e-03 1.03185181e+02] [ 1.17989534e-01 9.93014533e-01 -7.78693614e-04 5.68400502e+00] [ 9.29783980e-03 -3.20627602e-04 9.99956723e-01 -9.44946096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.571400513 meters Centerline goodness [0,1] 0.9998472882761028 Centerline is valid? [True, True] Translation: X:103.21, Y:5.70, Z:-0.09 [[ 9.93333742e-01 -1.14875013e-01 -9.58163399e-03 1.03213852e+02] [ 1.14872586e-01 9.93379908e-01 -8.05146424e-04 5.70231400e+00] [ 9.61069390e-03 -3.00887964e-04 9.99953771e-01 -9.44659348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.601400513 meters Centerline goodness [0,1] 0.9998913586684919 Centerline is valid? [True, True] Translation: X:103.24, Y:5.71, Z:-0.10 [[ 9.93439956e-01 -1.13910422e-01 -1.00731654e-02 1.03241802e+02] [ 1.13907681e-01 9.93490977e-01 -8.47294037e-04 5.70864997e+00] [ 1.01041145e-02 -3.05675156e-04 9.99948905e-01 -9.62354760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.631400513 meters Centerline goodness [0,1] 0.9999134442689287 Centerline is valid? [True, True] Translation: X:103.27, Y:5.72, Z:-0.10 [[ 9.93440454e-01 -1.13845707e-01 -1.07340449e-02 1.03268933e+02] [ 1.13842568e-01 9.93498390e-01 -9.04979960e-04 5.71960037e+00] [ 1.07672844e-02 -3.22947536e-04 9.99941979e-01 -9.72089851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.661400513 meters Centerline goodness [0,1] 0.999869055673163 Centerline is valid? [True, True] Translation: X:103.30, Y:5.73, Z:-0.10 [[ 9.93337776e-01 -1.14706356e-01 -1.10686312e-02 1.03297319e+02] [ 1.14703048e-01 9.93399384e-01 -9.35331395e-04 5.73126515e+00] [ 1.11028598e-02 -3.40505727e-04 9.99938303e-01 -9.71682688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.691400513 meters Centerline goodness [0,1] 0.9997184745652598 Centerline is valid? [True, True] Translation: X:103.32, Y:5.74, Z:-0.10 [[ 9.93217749e-01 -1.15604114e-01 -1.24174088e-02 1.03323797e+02] [ 1.15483573e-01 9.93258811e-01 -1.00239141e-02 5.74183958e+00] [ 1.34925064e-02 8.52192264e-03 9.99872656e-01 -9.84808595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.721400513 meters Centerline goodness [0,1] 0.9998710620191688 Centerline is valid? [True, True] Translation: X:103.35, Y:5.73, Z:-0.10 [[ 9.93018074e-01 -1.17206565e-01 -1.33314137e-02 1.03353707e+02] [ 1.17321060e-01 9.93060555e-01 8.15491216e-03 5.72757365e+00] [ 1.22830919e-02 -9.66203075e-03 9.99877878e-01 -9.84881071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.751400513 meters Centerline goodness [0,1] 0.999804275493117 Centerline is valid? [True, True] Translation: X:103.38, Y:5.75, Z:-0.10 [[ 9.92731426e-01 -1.19549711e-01 -1.38629616e-02 1.03382095e+02] [ 1.19544919e-01 9.92828096e-01 -1.17681624e-03 5.74501005e+00] [ 1.39042258e-02 -4.88984161e-04 9.99903212e-01 -1.01450158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.781400513 meters Centerline goodness [0,1] 0.9998926508791893 Centerline is valid? [True, True] Translation: X:103.41, Y:5.74, Z:-0.11 [[ 9.92024832e-01 -1.25137062e-01 -1.50813705e-02 1.03411710e+02] [ 1.25132030e-01 9.92139272e-01 -1.28054416e-03 5.74018091e+00] [ 1.51230635e-02 -6.16830900e-04 9.99885450e-01 -1.06304417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.811400513 meters Centerline goodness [0,1] 0.9999351687772832 Centerline is valid? [True, True] Translation: X:103.44, Y:5.75, Z:-0.10 [[ 9.91741472e-01 -1.27471421e-01 -1.41382002e-02 1.03440595e+02] [ 1.27467232e-01 9.91842056e-01 -1.20075072e-03 5.75127066e+00] [ 1.41759230e-02 -6.11322959e-04 9.99899330e-01 -1.03031573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.841400513 meters Centerline goodness [0,1] 0.9999349931742832 Centerline is valid? [True, True] Translation: X:103.47, Y:5.76, Z:-0.10 [[ 9.91570027e-01 -1.28938523e-01 -1.27960633e-02 1.03468805e+02] [ 1.28935206e-01 9.91652424e-01 -1.08733032e-03 5.75569810e+00] [ 1.28294459e-02 -5.71698890e-04 9.99917536e-01 -1.00652786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.871400513 meters Centerline goodness [0,1] 0.9998481594759333 Centerline is valid? [True, True] Translation: X:103.50, Y:5.76, Z:-0.10 [[ 9.91443527e-01 -1.29863105e-01 -1.32403179e-02 1.03496513e+02] [ 1.29859624e-01 9.91531750e-01 -1.12590148e-03 5.76225776e+00] [ 1.32744086e-02 -6.03114970e-04 9.99911709e-01 -1.00516104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.901400513 meters Centerline goodness [0,1] 0.9998253694527516 Centerline is valid? [True, True] Translation: X:103.52, Y:5.77, Z:-0.10 [[ 9.91530145e-01 -1.29187459e-01 -1.33630915e-02 1.03524337e+02] [ 1.29183830e-01 9.91620009e-01 -1.13801621e-03 5.77156348e+00] [ 1.33981263e-02 -5.97917960e-04 9.99910062e-01 -1.00000589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.931400513 meters Centerline goodness [0,1] 0.9999129715852225 Centerline is valid? [True, True] Translation: X:103.55, Y:5.78, Z:-0.10 [[ 9.91642955e-01 -1.28339914e-01 -1.31573809e-02 1.03552732e+02] [ 1.28336293e-01 9.91730072e-01 -1.12267693e-03 5.78307125e+00] [ 1.31926546e-02 -5.75274824e-04 9.99912808e-01 -9.91016926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.96140051299997 meters Centerline goodness [0,1] 0.9998054222337528 Centerline is valid? [True, True] Translation: X:103.58, Y:5.79, Z:-0.10 [[ 9.91731633e-01 -1.27727488e-01 -1.24119664e-02 1.03579868e+02] [ 1.27724202e-01 9.91809157e-01 -1.06035958e-03 5.79193295e+00] [ 1.24457390e-02 -5.33716363e-04 9.99922406e-01 -9.81059245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.99140051299997 meters Centerline goodness [0,1] 0.9998484782891034 Centerline is valid? [True, True] Translation: X:103.61, Y:5.80, Z:-0.10 [[ 9.91717547e-01 -1.27916521e-01 -1.15615758e-02 1.03606386e+02] [ 1.27913673e-01 9.91784813e-01 -9.88534291e-04 5.79824275e+00] [ 1.15930451e-02 -4.98536820e-04 9.99932674e-01 -9.67357632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.02140051299997 meters Centerline goodness [0,1] 0.9999139858936865 Centerline is valid? [True, True] Translation: X:103.63, Y:5.81, Z:-0.10 [[ 9.91702068e-01 -1.28126560e-01 -1.05162987e-02 1.03633798e+02] [ 1.28124201e-01 9.91757721e-01 -9.00527086e-04 5.80629650e+00] [ 1.05450019e-02 -4.54337800e-04 9.99944297e-01 -9.54038984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.05140051299998 meters Centerline goodness [0,1] 0.9997618944543054 Centerline is valid? [True, True] Translation: X:103.66, Y:5.81, Z:-0.09 [[ 9.91611855e-01 -1.28834279e-01 -1.03757768e-02 1.03661794e+02] [ 1.28832002e-01 9.91666034e-01 -8.90352514e-04 5.81485383e+00] [ 1.04040133e-02 -4.53847979e-04 9.99945774e-01 -9.46377221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.08140051299998 meters Centerline goodness [0,1] 0.9998929771613262 Centerline is valid? [True, True] Translation: X:103.69, Y:5.82, Z:-0.10 [[ 9.91352999e-01 -1.30801192e-01 -1.05014143e-02 1.03690275e+02] [ 1.30798957e-01 9.91408502e-01 -9.02262433e-04 5.82248622e+00] [ 1.05292084e-02 -4.79113469e-04 9.99944452e-01 -9.52230386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.11140051299998 meters Centerline goodness [0,1] 0.9999350058494736 Centerline is valid? [True, True] Translation: X:103.72, Y:5.83, Z:-0.10 [[ 9.91001493e-01 -1.33268840e-01 -1.24682419e-02 1.03719968e+02] [ 1.33265881e-01 9.91079743e-01 -1.07157063e-03 5.82873520e+00] [ 1.24998289e-02 -5.99663141e-04 9.99921694e-01 -9.77164461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.14140051299998 meters Centerline goodness [0,1] 0.9999348378548621 Centerline is valid? [True, True] Translation: X:103.75, Y:5.83, Z:-0.10 [[ 9.90581310e-01 -1.36204883e-01 -1.40320180e-02 1.03748997e+02] [ 1.36201426e-01 9.90680431e-01 -1.20625017e-03 5.82754174e+00] [ 1.40655428e-02 -7.16291984e-04 9.99900819e-01 -1.00728436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.17140051299998 meters Centerline goodness [0,1] 0.9997844641779464 Centerline is valid? [True, True] Translation: X:103.78, Y:5.83, Z:-0.10 [[ 9.90049899e-01 -1.39853716e-01 -1.55606900e-02 1.03778898e+02] [ 1.39849909e-01 9.90171810e-01 -1.33789113e-03 5.82736525e+00] [ 1.55948657e-02 -8.51582108e-04 9.99878030e-01 -1.02967344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.20140051299998 meters Centerline goodness [0,1] 0.999543120703159 Centerline is valid? [True, True] Translation: X:103.81, Y:5.83, Z:-0.10 [[ 9.89237290e-01 -1.45605943e-01 -1.44392696e-02 1.03809256e+02] [ 1.45603273e-01 9.89342279e-01 -1.24160760e-03 5.83006572e+00] [ 1.44661653e-02 -8.74160368e-04 9.99894977e-01 -9.97569122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.23140051299998 meters Centerline goodness [0,1] 0.9975359342915812 Centerline is valid? [True, True] Translation: X:103.84, Y:5.83, Z:-0.10 [[ 9.88965291e-01 -1.47538852e-01 -1.34141679e-02 1.03839157e+02] [ 1.47536723e-01 9.89055906e-01 -1.15360857e-03 5.82863691e+00] [ 1.34375641e-02 -8.38203548e-04 9.99909361e-01 -9.77083241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.26140051299998 meters Centerline goodness [0,1] 0.9993946207731558 Centerline is valid? [True, True] Translation: X:103.87, Y:5.84, Z:-0.10 [[ 9.88725765e-01 -1.49157876e-01 -1.31639344e-02 1.03867281e+02] [ 1.49155964e-01 9.88813034e-01 -1.13242671e-03 5.84134826e+00] [ 1.31855803e-02 -8.43819849e-04 9.99912710e-01 -9.56552139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.29140051299999 meters Centerline goodness [0,1] 0.9976515706467876 Centerline is valid? [True, True] Translation: X:103.89, Y:5.84, Z:-0.10 [[ 9.88730309e-01 -1.49101243e-01 -1.34608700e-02 1.03894968e+02] [ 1.49099229e-01 9.88821560e-01 -1.15864590e-03 5.84194151e+00] [ 1.34831540e-02 -8.61417028e-04 9.99908727e-01 -9.72141920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.321400513 meters Centerline goodness [0,1] 0.999848612643007 Centerline is valid? [True, True] Translation: X:103.92, Y:5.86, Z:-0.10 [[ 9.88739127e-01 -1.49029864e-01 -1.36028836e-02 1.03922761e+02] [ 1.49027778e-01 9.88832315e-01 -1.17258018e-03 5.85523457e+00] [ 1.36257204e-02 -8.67831614e-04 9.99906789e-01 -9.70176289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.351400513 meters Centerline goodness [0,1] 0.999649422642915 Centerline is valid? [True, True] Translation: X:103.95, Y:5.86, Z:-0.10 [[ 9.88708849e-01 -1.49217686e-01 -1.37438877e-02 1.03950296e+02] [ 1.49215555e-01 9.88803980e-01 -1.18619831e-03 5.85815453e+00] [ 1.37670126e-02 -8.77997061e-04 9.99904845e-01 -9.77424691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.381400513 meters Centerline goodness [0,1] 0.9995228904166034 Centerline is valid? [True, True] Translation: X:103.98, Y:5.86, Z:-0.10 [[ 9.88611453e-01 -1.49813373e-01 -1.42600014e-02 1.03978857e+02] [ 1.49811114e-01 9.88713867e-01 -1.23257661e-03 5.86398645e+00] [ 1.42837175e-02 -9.17767328e-04 9.99897561e-01 -9.71866537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.411400513 meters Centerline goodness [0,1] 0.997293930673081 Centerline is valid? [True, True] Translation: X:104.01, Y:5.86, Z:-0.10 [[ 9.88646776e-01 -1.49605717e-01 -1.39886658e-02 1.04007685e+02] [ 1.49603502e-01 9.88745330e-01 -1.21056733e-03 5.85794731e+00] [ 1.40123357e-02 -8.95929897e-04 9.99901421e-01 -9.73088979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.441400513 meters Centerline goodness [0,1] 0.999094964121792 Centerline is valid? [True, True] Translation: X:104.04, Y:5.87, Z:-0.10 [[ 9.88708526e-01 -1.49282354e-01 -1.30472191e-02 1.04035680e+02] [ 1.49280379e-01 9.88794261e-01 -1.13064719e-03 5.86561844e+00] [ 1.30698011e-02 -8.29813294e-04 9.99914242e-01 -9.50440723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.471400513 meters Centerline goodness [0,1] 0.9998916012660972 Centerline is valid? [True, True] Translation: X:104.06, Y:5.88, Z:-0.09 [[ 9.88872967e-01 -1.48297026e-01 -1.17578543e-02 1.04063647e+02] [ 1.48295339e-01 9.88942593e-01 -1.02004974e-03 5.87642127e+00] [ 1.17791132e-02 -7.34935364e-04 9.99930354e-01 -9.16589310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.501400513 meters Centerline goodness [0,1] 0.9998476008011844 Centerline is valid? [True, True] Translation: X:104.09, Y:5.88, Z:-0.09 [[ 9.89267757e-01 -1.45697308e-01 -1.10272421e-02 1.04093111e+02] [ 1.45695660e-01 9.89328994e-01 -9.56967942e-04 5.88466377e+00] [ 1.10489980e-02 -6.59923788e-04 9.99938740e-01 -8.97900255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.531400513 meters Centerline goodness [0,1] 0.999762121015527 Centerline is valid? [True, True] Translation: X:104.12, Y:5.89, Z:-0.09 [[ 9.89534848e-01 -1.43838174e-01 -1.14614218e-02 1.04122538e+02] [ 1.43836267e-01 9.89601000e-01 -9.94837907e-04 5.88505616e+00] [ 1.14853301e-02 -6.64141342e-04 9.99933821e-01 -9.13534644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.561400513 meters Centerline goodness [0,1] 0.9995702436718381 Centerline is valid? [True, True] Translation: X:104.15, Y:5.90, Z:-0.09 [[ 9.89814998e-01 -1.41863192e-01 -1.18787027e-02 1.04151648e+02] [ 1.41860999e-01 9.89886051e-01 -1.03127201e-03 5.89502201e+00] [ 1.19048616e-02 -6.64356135e-04 9.99928914e-01 -9.17928782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.591400513 meters Centerline goodness [0,1] 0.9998502929979897 Centerline is valid? [True, True] Translation: X:104.18, Y:5.91, Z:-0.09 [[ 9.90126647e-01 -1.39645731e-01 -1.21775827e-02 1.04180723e+02] [ 1.39643256e-01 9.90201314e-01 -1.05747378e-03 5.90522396e+00] [ 1.22059301e-02 -6.53484333e-04 9.99925291e-01 -9.22227988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.621400513 meters Centerline goodness [0,1] 0.9996554694229113 Centerline is valid? [True, True] Translation: X:104.21, Y:5.92, Z:-0.09 [[ 9.90675035e-01 -1.35817830e-01 -1.07931092e-02 1.04208587e+02] [ 1.35815657e-01 9.90733682e-01 -9.37490496e-04 5.91842919e+00] [ 1.08204247e-02 -5.37124781e-04 9.99941313e-01 -8.98727738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.651400513 meters Centerline goodness [0,1] 0.999869397705753 Centerline is valid? [True, True] Translation: X:104.24, Y:5.93, Z:-0.09 [[ 9.90772423e-01 -1.35166558e-01 -1.00003386e-02 1.04236024e+02] [ 1.35164651e-01 9.90822770e-01 -8.69490148e-04 5.93193506e+00] [ 1.00260892e-02 -4.90225417e-04 9.99949617e-01 -8.80266161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.681400513 meters Centerline goodness [0,1] 0.9998927153738869 Centerline is valid? [True, True] Translation: X:104.26, Y:5.93, Z:-0.09 [[ 9.90760919e-01 -1.35255802e-01 -9.93321818e-03 1.04262770e+02] [ 1.35253911e-01 9.90810593e-01 -8.64979393e-04 5.93390318e+00] [ 9.95893128e-03 -4.86518830e-04 9.99950290e-01 -8.74310490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.71140051299997 meters Centerline goodness [0,1] 0.9997651178681244 Centerline is valid? [True, True] Translation: X:104.29, Y:5.94, Z:-0.09 [[ 9.90277316e-01 -1.38638418e-01 -1.14117220e-02 1.04292607e+02] [ 1.38636140e-01 9.90342886e-01 -9.94316777e-04 5.94185218e+00] [ 1.14393683e-02 -5.97427744e-04 9.99934390e-01 -8.98073546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.74140051299997 meters Centerline goodness [0,1] 0.9998467936091049 Centerline is valid? [True, True] Translation: X:104.32, Y:5.95, Z:-0.09 [[ 9.89871262e-01 -1.41443670e-01 -1.21890833e-02 1.04322325e+02] [ 1.41441282e-01 9.89946077e-01 -1.06209133e-03 5.95245389e+00] [ 1.22167613e-02 -6.72705888e-04 9.99925146e-01 -9.01028478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.77140051299997 meters Centerline goodness [0,1] 0.9997827078942222 Centerline is valid? [True, True] Translation: X:104.35, Y:5.96, Z:-0.09 [[ 9.89347167e-01 -1.45035959e-01 -1.25201170e-02 1.04352256e+02] [ 1.45033726e-01 9.89426110e-01 -1.09095075e-03 5.95580716e+00] [ 1.25459578e-02 -7.36510187e-04 9.99921025e-01 -9.02950300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.80140051299998 meters Centerline goodness [0,1] 0.9995021752775914 Centerline is valid? [True, True] Translation: X:104.38, Y:5.95, Z:-0.09 [[ 9.88762294e-01 -1.48940331e-01 -1.28803863e-02 1.04381978e+02] [ 1.48938297e-01 9.88845854e-01 -1.12244356e-03 5.95381620e+00] [ 1.29038937e-02 -8.08552927e-04 9.99916414e-01 -9.16031973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.83140051299998 meters Centerline goodness [0,1] 0.9983763773731951 Centerline is valid? [True, True] Translation: X:104.41, Y:5.96, Z:-0.09 [[ 9.87804701e-01 -1.55022515e-01 -1.44876850e-02 1.04411768e+02] [ 1.55020590e-01 9.87910432e-01 -1.26263792e-03 5.96494066e+00] [ 1.45082724e-02 -9.98649796e-04 9.99894251e-01 -9.44025313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.86140051299998 meters Centerline goodness [0,1] 0.9890022553968425 Centerline is valid? [True, True] Translation: X:104.44, Y:5.97, Z:-0.09 [[ 9.87519406e-01 -1.56818282e-01 -1.46098787e-02 1.04441088e+02] [ 1.56816518e-01 9.87626933e-01 -1.27340723e-03 5.96554546e+00] [ 1.46288032e-02 -1.03355595e-03 9.99892459e-01 -9.49153758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.89140051299998 meters Centerline goodness [0,1] 0.9797031723189931 Centerline is valid? [True, True] Translation: X:104.47, Y:5.97, Z:-0.09 [[ 9.87285256e-01 -1.58333371e-01 -1.40843037e-02 1.04471333e+02] [ 1.58331884e-01 9.87385187e-01 -1.22764928e-03 5.96862734e+00] [ 1.41010106e-02 -1.01795430e-03 9.99900058e-01 -9.34900012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.92140051299998 meters Centerline goodness [0,1] 0.9514094714752396 Centerline is valid? [True, True] Translation: X:104.50, Y:5.97, Z:-0.09 [[ 9.86611861e-01 -1.62634403e-01 -1.21279164e-02 1.04500897e+02] [ 1.62633622e-01 9.86685962e-01 -1.05718980e-03 5.97417543e+00] [ 1.21383803e-02 -9.29370968e-04 9.99925895e-01 -8.97347515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.95140051299998 meters Centerline goodness [0,1] 0.9628100071728215 Centerline is valid? [True, True] Translation: X:104.53, Y:5.98, Z:-0.09 [[ 9.86277619e-01 -1.64689646e-01 -1.15662901e-02 1.04530618e+02] [ 1.64689074e-01 9.86345017e-01 -1.00835627e-03 5.98191873e+00] [ 1.15744184e-02 -9.10322384e-04 9.99932600e-01 -8.80913855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.98140051299998 meters Centerline goodness [0,1] 0.9651132686084143 Centerline is valid? [True, True] Translation: X:104.56, Y:5.99, Z:-0.09 [[ 9.86103035e-01 -1.65735413e-01 -1.15142299e-02 1.04559683e+02] [ 1.65734916e-01 9.86169828e-01 -1.00402092e-03 5.98755966e+00] [ 1.15213879e-02 -9.18241844e-04 9.99933205e-01 -8.77879087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.01140051299998 meters Centerline goodness [0,1] 0.8699632114260982 Centerline is valid? [True, False] Translation: X:104.56, Y:5.98, Z:-0.09 [[ 9.86812995e-01 -1.61414192e-01 -1.20653423e-02 1.04559545e+02] [ 1.61473743e-01 9.86868368e-01 4.12981789e-03 5.98307568e+00] [ 1.12402934e-02 -6.02359393e-03 9.99918683e-01 -8.80889205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.04140051299999 meters Centerline goodness [0,1] 0.9033430548905237 Centerline is valid? [False, False] Translation: X:104.56, Y:5.98, Z:-0.09 [[ 9.87530755e-01 -1.56899804e-01 -1.28631095e-02 1.04560102e+02] [ 1.57019210e-01 9.87555790e-01 8.86167258e-03 5.98094545e+00] [ 1.13126436e-02 -1.07709295e-02 9.99877998e-01 -8.82858832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.071400513 meters Centerline goodness [0,1] 0.9988056460369164 Centerline is valid? [False, True] Translation: X:104.56, Y:5.99, Z:-0.08 [[ 9.88428259e-01 -1.50984168e-01 -1.46067749e-02 1.04555817e+02] [ 1.50916781e-01 9.88530513e-01 -5.61702139e-03 5.99231229e+00] [ 1.52873240e-02 3.34761523e-03 9.99877538e-01 -8.40402098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.101400513 meters Centerline goodness [0,1] 0.9563557595384649 Centerline is valid? [True, True] Translation: X:104.59, Y:5.98, Z:-0.08 [[ 9.88989831e-01 -1.47204426e-01 -1.51647736e-02 1.04585794e+02] [ 1.47203259e-01 9.89105537e-01 -1.19925646e-03 5.98037467e+00] [ 1.51760973e-02 -1.04625164e-03 9.99884289e-01 -8.49985741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.131400513 meters Centerline goodness [0,1] 0.9978473791841567 Centerline is valid? [True, True] Translation: X:104.61, Y:6.00, Z:-0.08 [[ 9.89505346e-01 -1.43655902e-01 -1.55612245e-02 1.04614643e+02] [ 1.43654230e-01 9.89627176e-01 -1.23099945e-03 5.99642130e+00] [ 1.55766510e-02 -1.01735518e-03 9.99878159e-01 -8.42216814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.161400513 meters Centerline goodness [0,1] 0.9996998091643974 Centerline is valid? [True, True] Translation: X:104.64, Y:6.01, Z:-0.08 [[ 9.90411241e-01 -1.37350786e-01 -1.48436817e-02 1.04644356e+02] [ 1.37348557e-01 9.90522082e-01 -1.17432989e-03 6.01202691e+00] [ 1.48642896e-02 -8.75688749e-04 9.99889137e-01 -8.37566580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.191400513 meters Centerline goodness [0,1] 0.999913374913375 Centerline is valid? [True, True] Translation: X:104.67, Y:6.02, Z:-0.08 [[ 9.90760304e-01 -1.34914208e-01 -1.38627952e-02 1.04674079e+02] [ 1.34912026e-01 9.90856974e-01 -1.09676293e-03 6.01804342e+00] [ 1.38840162e-02 -7.83628613e-04 9.99903305e-01 -8.15603663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.221400513 meters Centerline goodness [0,1] 0.9997834325933946 Centerline is valid? [True, True] Translation: X:104.70, Y:6.02, Z:-0.08 [[ 9.91015530e-01 -1.33131555e-01 -1.28143519e-02 1.04704027e+02] [ 1.33129540e-01 9.91098127e-01 -1.01395742e-03 6.02339862e+00] [ 1.28352699e-02 -7.01121230e-04 9.99917379e-01 -7.95632519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.251400513 meters Centerline goodness [0,1] 0.9998062557854175 Centerline is valid? [True, True] Translation: X:104.73, Y:6.03, Z:-0.08 [[ 9.91373758e-01 -1.30370024e-01 -1.34806946e-02 1.04732686e+02] [ 1.30367536e-01 9.91465162e-01 -1.06691597e-03 6.02758030e+00] [ 1.35047329e-02 -6.99732439e-04 9.99908562e-01 -7.96881154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.281400513 meters Centerline goodness [0,1] 0.9998488316848788 Centerline is valid? [True, True] Translation: X:104.76, Y:6.03, Z:-0.08 [[ 9.91519772e-01 -1.29080334e-01 -1.50601602e-02 1.04761324e+02] [ 1.29077072e-01 9.91633847e-01 -1.19247476e-03 6.03405478e+00] [ 1.50880897e-02 -7.61559096e-04 9.99885878e-01 -8.13102327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.311400513 meters Centerline goodness [0,1] 0.9999345934985938 Centerline is valid? [True, True] Translation: X:104.79, Y:6.04, Z:-0.08 [[ 9.91627035e-01 -1.28082013e-01 -1.64566818e-02 1.04789283e+02] [ 1.28077950e-01 9.91763246e-01 -1.30494693e-03 6.04131668e+00] [ 1.64882724e-02 -8.13717402e-04 9.99863728e-01 -8.25198621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.341400513 meters Centerline goodness [0,1] 0.9997611343944757 Centerline is valid? [True, True] Translation: X:104.82, Y:6.04, Z:-0.08 [[ 9.91768456e-01 -1.26942816e-01 -1.67586352e-02 1.04816837e+02] [ 1.26938405e-01 9.91909708e-01 -1.33097572e-03 6.04187353e+00] [ 1.67920108e-02 -8.07294689e-04 9.99858678e-01 -8.34745293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.371400513 meters Centerline goodness [0,1] 0.9998041647627129 Centerline is valid? [True, True] Translation: X:104.85, Y:6.05, Z:-0.08 [[ 9.92046943e-01 -1.24967135e-01 -1.50358752e-02 1.04845658e+02] [ 1.24963347e-01 9.92160639e-01 -1.19490613e-03 6.05169073e+00] [ 1.50673276e-02 -6.93530320e-04 9.99886241e-01 -8.02137656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.401400513 meters Centerline goodness [0,1] 0.9997851310700473 Centerline is valid? [True, True] Translation: X:104.87, Y:6.05, Z:-0.08 [[ 9.92088514e-01 -1.24785054e-01 -1.37502755e-02 1.04873730e+02] [ 1.24781861e-01 9.92183598e-01 -1.09327548e-03 6.05059171e+00] [ 1.37792222e-02 -6.31158915e-04 9.99904863e-01 -7.85996127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.431400513 meters Centerline goodness [0,1] 0.9997851310700473 Centerline is valid? [True, True] Translation: X:104.90, Y:6.05, Z:-0.08 [[ 9.92065552e-01 -1.24967490e-01 -1.37501497e-02 1.04901135e+02] [ 1.24964292e-01 9.92160636e-01 -1.09485580e-03 6.05292608e+00] [ 1.37791786e-02 -6.32108995e-04 9.99904863e-01 -7.83888150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.46140051299997 meters Centerline goodness [0,1] 0.9999128654206422 Centerline is valid? [True, True] Translation: X:104.93, Y:6.06, Z:-0.08 [[ 9.91979402e-01 -1.25644173e-01 -1.37987981e-02 1.04929209e+02] [ 1.25640984e-01 9.92075164e-01 -1.10116988e-03 6.06010182e+00] [ 1.38278004e-02 -6.41356734e-04 9.99904186e-01 -7.66455532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.49140051299997 meters Centerline goodness [0,1] 0.9997179492742618 Centerline is valid? [True, True] Translation: X:104.96, Y:6.06, Z:-0.08 [[ 9.91731595e-01 -1.27681023e-01 -1.28841157e-02 1.04957313e+02] [ 1.27678396e-01 9.91815087e-01 -1.02960678e-03 6.06290040e+00] [ 1.29101216e-02 -6.23929655e-04 9.99916466e-01 -7.56377473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.52140051299997 meters Centerline goodness [0,1] 0.9998914294399931 Centerline is valid? [True, True] Translation: X:104.99, Y:6.07, Z:-0.07 [[ 9.91486426e-01 -1.29646607e-01 -1.21005594e-02 1.04986301e+02] [ 1.29644430e-01 9.91560077e-01 -9.67487354e-04 6.06697887e+00] [ 1.21238631e-02 -6.09519551e-04 9.99926318e-01 -7.34995165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.55140051299998 meters Centerline goodness [0,1] 0.9997618480590617 Centerline is valid? [True, True] Translation: X:105.02, Y:6.07, Z:-0.07 [[ 9.91171299e-01 -1.32080838e-01 -1.15805402e-02 1.05016081e+02] [ 1.32079006e-01 9.91238760e-01 -9.26216581e-04 6.06688304e+00] [ 1.16014157e-02 -6.11506940e-04 9.99932514e-01 -7.38706960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.58140051299998 meters Centerline goodness [0,1] 0.999696397978878 Centerline is valid? [True, True] Translation: X:105.05, Y:6.06, Z:-0.07 [[ 9.90228045e-01 -1.39047197e-01 -1.06908827e-02 1.05047015e+02] [ 1.39046039e-01 9.90285549e-01 -8.55156139e-04 6.06448176e+00] [ 1.07059337e-02 -6.39725294e-04 9.99942485e-01 -7.28812598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.61140051299998 meters Centerline goodness [0,1] 0.9974654179912363 Centerline is valid? [True, True] Translation: X:105.08, Y:6.06, Z:-0.07 [[ 9.89763758e-01 -1.42342974e-01 -1.03044552e-02 1.05077450e+02] [ 1.42342075e-01 9.89817182e-01 -8.24306591e-04 6.05806653e+00] [ 1.03168611e-02 -6.50888753e-04 9.99946568e-01 -7.20382409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.64140051299998 meters Centerline goodness [0,1] 0.9991857375503557 Centerline is valid? [True, True] Translation: X:105.11, Y:6.07, Z:-0.07 [[ 9.89384928e-01 -1.44952163e-01 -1.03119170e-02 1.05107660e+02] [ 1.44951403e-01 9.89438432e-01 -8.25009391e-04 6.06616400e+00] [ 1.03225939e-02 -6.78474981e-04 9.99946490e-01 -7.15806662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.67140051299998 meters Centerline goodness [0,1] 0.9684666161670815 Centerline is valid? [True, True] Translation: X:105.14, Y:6.06, Z:-0.07 [[ 9.89148309e-01 -1.46545019e-01 -1.04967139e-02 1.05136909e+02] [ 1.46544319e-01 9.89203749e-01 -8.39988987e-04 6.05726613e+00] [ 1.05064850e-02 -7.07360110e-04 9.99944555e-01 -7.20258595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.70140051299998 meters Centerline goodness [0,1] 0.9998464642919811 Centerline is valid? [True, True] Translation: X:105.16, Y:6.08, Z:-0.07 [[ 9.89009020e-01 -1.47504745e-01 -1.01738941e-02 1.05164067e+02] [ 1.47504132e-01 9.89061104e-01 -8.14692230e-04 6.08420883e+00] [ 1.01827739e-02 -6.94953461e-04 9.99947913e-01 -6.90401700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.73140051299998 meters Centerline goodness [0,1] 0.9133833045038119 Centerline is valid? [True, False] Translation: X:105.19, Y:6.10, Z:-0.07 [[ 9.89301374e-01 -1.45796047e-01 -5.12875890e-03 1.05187536e+02] [ 1.45745007e-01 9.89279258e-01 -9.21646727e-03 6.09520072e+00] [ 6.41749929e-03 8.37037273e-03 9.99944375e-01 -7.45826651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.76140051299998 meters Centerline goodness [0,1] 0.9956755821747497 Centerline is valid? [False, True] Translation: X:105.19, Y:6.09, Z:-0.08 [[ 9.89937141e-01 -1.41389505e-01 -5.78491561e-03 1.05187992e+02] [ 1.41364984e-01 9.89947542e-01 -4.45034186e-03 6.09291018e+00] [ 6.35599462e-03 3.58777419e-03 9.99973364e-01 -7.51736825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.79140051299999 meters Centerline goodness [0,1] 0.9987567521220955 Centerline is valid? [True, True] Translation: X:105.22, Y:6.10, Z:-0.08 [[ 9.90151021e-01 -1.39850961e-01 -6.53179321e-03 1.05217553e+02] [ 1.39850698e-01 9.90172476e-01 -4.99263233e-04 6.09896484e+00] [ 6.53742431e-03 -4.19129841e-04 9.99978543e-01 -7.63060341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.821400513 meters Centerline goodness [0,1] 0.999436167675059 Centerline is valid? [True, True] Translation: X:105.25, Y:6.11, Z:-0.08 [[ 9.90382719e-01 -1.38153543e-01 -7.46110785e-03 1.05246828e+02] [ 1.38153151e-01 9.90410714e-01 -5.70327179e-04 6.11117813e+00] [ 7.46835387e-03 -4.65933379e-04 9.99972003e-01 -7.67636005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.851400513 meters Centerline goodness [0,1] 0.9975461707348573 Centerline is valid? [True, True] Translation: X:105.27, Y:6.11, Z:-0.08 [[ 9.90380151e-01 -1.38132473e-01 -8.15943506e-03 1.05274369e+02] [ 1.38132001e-01 9.90413631e-01 -6.24173724e-04 6.11121509e+00] [ 8.16743437e-03 -5.08909821e-04 9.99966516e-01 -7.77523110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.881400513 meters Centerline goodness [0,1] 0.998837184263227 Centerline is valid? [True, True] Translation: X:105.30, Y:6.12, Z:-0.08 [[ 9.90297472e-01 -1.38634174e-01 -9.56462901e-03 1.05302759e+02] [ 1.38633534e-01 9.90343479e-01 -7.33057171e-04 6.12244315e+00] [ 9.57389474e-03 -6.00033657e-04 9.99953989e-01 -7.89921945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.911400513 meters Centerline goodness [0,1] 0.9985570917861911 Centerline is valid? [True, True] Translation: X:105.33, Y:6.13, Z:-0.08 [[ 9.90120210e-01 -1.39661116e-01 -1.25196944e-02 1.05331669e+02] [ 1.39660093e-01 9.90199039e-01 -9.60287515e-04 6.13263994e+00] [ 1.25311042e-02 -7.97701606e-04 9.99921164e-01 -8.17857799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.941400513 meters Centerline goodness [0,1] 0.8778000129107224 Centerline is valid? [True, False] Translation: X:105.33, Y:6.13, Z:-0.08 [[ 9.90709399e-01 -1.35368556e-01 -1.30476425e-02 1.05332058e+02] [ 1.35434028e-01 9.90777173e-01 4.26812253e-03 6.12760885e+00] [ 1.23495368e-02 -5.99556389e-03 9.99905767e-01 -8.25459877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.971400513 meters Centerline goodness [0,1] 0.9966987442281966 Centerline is valid? [False, True] Translation: X:105.33, Y:6.13, Z:-0.08 [[ 9.90684159e-01 -1.35549198e-01 -1.30886306e-02 1.05332094e+02] [ 1.35609412e-01 9.90754997e-01 3.82400630e-03 6.12969089e+00] [ 1.24492852e-02 -5.56332397e-03 9.99907028e-01 -8.24895599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.001400513 meters Centerline goodness [0,1] 0.9866098338069405 Centerline is valid? [True, True] Translation: X:105.36, Y:6.13, Z:-0.08 [[ 9.90828093e-01 -1.34623509e-01 -1.16705028e-02 1.05360196e+02] [ 1.34622784e-01 9.90896554e-01 -8.51250313e-04 6.13065889e+00] [ 1.16788593e-02 -7.27672855e-04 9.99931535e-01 -8.16390941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.031400513 meters Centerline goodness [0,1] 0.9991406350706827 Centerline is valid? [True, True] Translation: X:105.39, Y:6.14, Z:-0.08 [[ 9.91360897e-01 -1.30864474e-01 -8.83525194e-03 1.05389207e+02] [ 1.30863908e-01 9.91400132e-01 -6.44642720e-04 6.14237291e+00] [ 8.84363077e-03 -5.17142015e-04 9.99960761e-01 -7.78694343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.061400513 meters Centerline goodness [0,1] 0.9995455430760242 Centerline is valid? [True, True] Translation: X:105.42, Y:6.15, Z:-0.08 [[ 9.91700449e-01 -1.28336555e-01 -7.74257626e-03 1.05419004e+02] [ 1.28336043e-01 9.91730579e-01 -5.64966598e-04 6.15047157e+00] [ 7.75105551e-03 -4.33373973e-04 9.99969866e-01 -7.61541704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.091400513 meters Centerline goodness [0,1] 0.9997421572840567 Centerline is valid? [True, True] Translation: X:105.45, Y:6.16, Z:-0.08 [[ 9.92154504e-01 -1.24776384e-01 -7.76486605e-03 1.05448675e+02] [ 1.24775761e-01 9.92184806e-01 -5.66611199e-04 6.15920377e+00] [ 7.77488181e-03 -4.06701215e-04 9.99969692e-01 -7.62643736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.121400513 meters Centerline goodness [0,1] 0.9999135266013792 Centerline is valid? [True, True] Translation: X:105.48, Y:6.17, Z:-0.07 [[ 9.92636091e-01 -1.20908273e-01 -7.40144921e-03 1.05478259e+02] [ 1.20907598e-01 9.92663619e-01 -5.40107379e-04 6.16543336e+00] [ 7.41245281e-03 -3.58761372e-04 9.99972463e-01 -7.49934488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.151400513 meters Centerline goodness [0,1] 0.9999781511503419 Centerline is valid? [True, True] Translation: X:105.51, Y:6.19, Z:-0.07 [[ 9.93670065e-01 -1.12187996e-01 -5.80140562e-03 1.05507824e+02] [ 1.12187434e-01 9.93686973e-01 -4.23383171e-04 6.18546812e+00] [ 5.81227970e-03 -2.30141624e-04 9.99983082e-01 -7.11262326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.181400513 meters Centerline goodness [0,1] 0.9999786939384255 Centerline is valid? [True, True] Translation: X:105.54, Y:6.19, Z:-0.07 [[ 9.94190162e-01 -1.07510334e-01 -5.23928053e-03 1.05536560e+02] [ 1.07509810e-01 9.94203950e-01 -3.82428850e-04 6.18961947e+00] [ 5.25002845e-03 -1.83067052e-04 9.99986202e-01 -7.03435602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.21140051299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.56, Y:6.21, Z:-0.07 [[ 9.95050863e-01 -9.92247518e-02 -5.31315543e-03 1.05564832e+02] [ 9.92240943e-02 9.95065037e-01 -3.87866068e-04 6.21128153e+00] [ 5.32542112e-03 -1.41246570e-04 9.99985810e-01 -6.95098547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.24140051299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.59, Y:6.22, Z:-0.07 [[ 9.95350306e-01 -9.61975969e-02 -4.87755612e-03 1.05593042e+02] [ 9.61970057e-02 9.95362250e-01 -3.56215765e-04 6.21786287e+00] [ 4.88920234e-03 -1.14646823e-04 9.99988041e-01 -6.96371125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.27140051299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.62, Y:6.23, Z:-0.07 [[ 9.95516347e-01 -9.45029820e-02 -4.04838284e-03 1.05623011e+02] [ 9.45025606e-02 9.95524575e-01 -2.95684328e-04 6.22955862e+00] [ 4.05820766e-03 -8.82239627e-05 9.99991762e-01 -6.78815709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.30140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.65, Y:6.23, Z:-0.07 [[ 9.95575912e-01 -9.39232321e-02 -2.65133656e-03 1.05653369e+02] [ 9.39230493e-02 9.95579441e-01 -1.93624886e-04 6.23274410e+00] [ 2.65780205e-03 -5.62533420e-05 9.99996466e-01 -6.63522909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.33140051299998 meters Centerline goodness [0,1] 0.9999137540697298 Centerline is valid? [True, True] Translation: X:105.68, Y:6.24, Z:-0.06 [[ 9.95492914e-01 -9.48232489e-02 -1.55234219e-03 1.05684142e+02] [ 9.48231874e-02 9.95494124e-01 -1.13334014e-04 6.23719638e+00] [ 1.55609422e-03 -3.43748264e-05 9.99998789e-01 -6.49331951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.36140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.72, Y:6.24, Z:-0.07 [[ 9.95425636e-01 -9.55138345e-02 -2.21608827e-03 1.05715663e+02] [ 9.55137111e-02 9.95428101e-01 -1.61700381e-04 6.23829057e+00] [ 2.22140117e-03 -5.07061104e-05 9.99997531e-01 -6.60190455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.39140051299998 meters Centerline goodness [0,1] 0.9999345335515548 Centerline is valid? [True, True] Translation: X:105.75, Y:6.24, Z:-0.07 [[ 9.95412707e-01 -9.55873835e-02 -4.07358294e-03 1.05747745e+02] [ 9.55869680e-02 9.95421038e-01 -2.97024605e-04 6.24408725e+00] [ 4.08332196e-03 -9.37193752e-05 9.99991659e-01 -6.88175945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.42140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.78, Y:6.25, Z:-0.07 [[ 9.95502179e-01 -9.46123570e-02 -4.89017766e-03 1.05778420e+02] [ 9.46117469e-02 9.95514184e-01 -3.56469808e-04 6.24529060e+00] [ 4.90196767e-03 -1.07801779e-04 9.99987979e-01 -7.08839725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.45140051299998 meters Centerline goodness [0,1] 0.9999566282826968 Centerline is valid? [True, True] Translation: X:105.81, Y:6.26, Z:-0.07 [[ 9.96061999e-01 -8.85513319e-02 -4.37663575e-03 1.05808611e+02] [ 8.85507849e-02 9.96071612e-01 -3.18984172e-04 6.26003602e+00] [ 4.38768910e-03 -6.98265182e-05 9.99990372e-01 -6.92726864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.48140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.84, Y:6.27, Z:-0.07 [[ 9.96445850e-01 -8.41862066e-02 -2.88960948e-03 1.05838251e+02] [ 8.41859499e-02 9.96450040e-01 -2.10573802e-04 6.26855540e+00] [ 2.89707889e-03 -3.34391282e-05 9.99995803e-01 -6.67542511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.51140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.87, Y:6.28, Z:-0.07 [[ 9.96803661e-01 -7.98561719e-02 -2.33533496e-03 1.05868249e+02] [ 7.98559924e-02 9.96806396e-01 -1.70156862e-04 6.27726014e+00] [ 2.34146490e-03 -1.68775077e-05 9.99997259e-01 -6.56891589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.54140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.90, Y:6.29, Z:-0.07 [[ 9.97371080e-01 -7.23709263e-02 -3.65753359e-03 1.05899515e+02] [ 7.23704362e-02 9.97377787e-01 -2.66342313e-04 6.29236844e+00] [ 3.66721820e-03 9.44818438e-07 9.99993276e-01 -6.74365086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.571400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.93, Y:6.30, Z:-0.07 [[ 9.97567259e-01 -6.95547419e-02 -4.65849560e-03 1.05931143e+02] [ 6.95539172e-02 9.97578136e-01 -3.38995649e-04 6.29920548e+00] [ 4.67079211e-03 1.41543434e-05 9.99989092e-01 -6.91321541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.601400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.96, Y:6.30, Z:-0.07 [[ 9.97733318e-01 -6.70739018e-02 -5.41467232e-03 1.05963377e+02] [ 6.70727526e-02 9.97748010e-01 -3.93749627e-04 6.30466952e+00] [ 5.42888885e-03 2.96801446e-05 9.99985263e-01 -7.04482750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.631400513 meters Centerline goodness [0,1] 0.9998916059660077 Centerline is valid? [True, True] Translation: X:105.99, Y:6.31, Z:-0.07 [[ 9.97984947e-01 -6.32509439e-02 -5.03631626e-03 1.05993829e+02] [ 6.32499023e-02 9.97997653e-01 -3.65991839e-04 6.31203192e+00] [ 5.04938114e-03 4.67078350e-05 9.99987251e-01 -7.12215729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.661400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.02, Y:6.32, Z:-0.07 [[ 9.98096145e-01 -6.15692931e-02 -3.64806815e-03 1.06024900e+02] [ 6.15687357e-02 9.98102811e-01 -2.65009321e-04 6.31556015e+00] [ 3.65746351e-03 3.98978376e-05 9.99993311e-01 -6.90314295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.691400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.06, Y:6.32, Z:-0.07 [[ 9.98200168e-01 -5.98981605e-02 -2.93853526e-03 1.06056152e+02] [ 5.98977919e-02 9.98204493e-01 -2.13373634e-04 6.32032816e+00] [ 2.94603978e-03 3.69778239e-05 9.99995660e-01 -6.77691695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.721400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.09, Y:6.32, Z:-0.07 [[ 9.98334691e-01 -5.75510738e-02 -3.96472718e-03 1.06086859e+02] [ 5.75503849e-02 9.98342562e-01 -2.87737057e-04 6.32385202e+00] [ 3.97471547e-03 5.90863112e-05 9.99992099e-01 -6.88824444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.751400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.12, Y:6.32, Z:-0.07 [[ 9.98409534e-01 -5.61129487e-02 -5.45333381e-03 1.06118620e+02] [ 5.61116253e-02 9.98424423e-01 -3.95502366e-04 6.32457178e+00] [ 5.46693446e-03 8.88779094e-05 9.99985052e-01 -7.05582562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.781400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.15, Y:6.33, Z:-0.07 [[ 9.98503628e-01 -5.42515490e-02 -6.87558787e-03 1.06149605e+02] [ 5.42494030e-02 9.98527293e-01 -4.98374343e-04 6.33216113e+00] [ 6.89249973e-03 1.24632052e-04 9.99976239e-01 -7.45089253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.811400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.18, Y:6.33, Z:-0.08 [[ 9.98683320e-01 -5.08590523e-02 -6.70687980e-03 1.06180294e+02] [ 5.08569352e-02 9.98705831e-01 -4.85943508e-04 6.33362696e+00] [ 6.72291459e-03 1.44212325e-04 9.99977391e-01 -7.50299402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.841400513 meters Centerline goodness [0,1] 0.9999349748569447 Centerline is valid? [True, True] Translation: X:106.21, Y:6.34, Z:-0.07 [[ 9.98748359e-01 -4.96484125e-02 -6.06226288e-03 1.06210857e+02] [ 4.96466607e-02 9.98766748e-01 -4.39216154e-04 6.33552556e+00] [ 6.07659297e-03 1.37695305e-04 9.99981528e-01 -7.44850549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.871400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.24, Y:6.34, Z:-0.07 [[ 9.98823272e-01 -4.81282299e-02 -5.97871565e-03 1.06241153e+02] [ 4.81264999e-02 9.98841155e-01 -4.32982880e-04 6.34016726e+00] [ 5.99262595e-03 1.44738718e-04 9.99982034e-01 -7.35194982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.901400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.27, Y:6.35, Z:-0.07 [[ 9.98948219e-01 -4.55021089e-02 -5.65799765e-03 1.06271049e+02] [ 4.55005178e-02 9.98964231e-01 -4.09670791e-04 6.34800554e+00] [ 5.67077816e-03 1.51798084e-04 9.99983909e-01 -7.29675849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.931400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.30, Y:6.35, Z:-0.07 [[ 9.98998824e-01 -4.45143183e-02 -4.45244097e-03 1.06302682e+02] [ 4.45133237e-02 9.99008739e-01 -3.22285325e-04 6.34803297e+00] [ 4.46237375e-03 1.23769715e-04 9.99990036e-01 -7.10918848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.96140051299997 meters Centerline goodness [0,1] 0.9998493327593629 Centerline is valid? [True, True] Translation: X:106.33, Y:6.35, Z:-0.07 [[ 9.99023917e-01 -4.40267704e-02 -3.58561896e-03 1.06333489e+02] [ 4.40261227e-02 9.99030346e-01 -2.59423884e-04 6.35129031e+00] [ 3.59356375e-03 1.01309764e-04 9.99993538e-01 -7.09118265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.99140051299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.37, Y:6.35, Z:-0.07 [[ 9.99047624e-01 -4.34878445e-02 -3.55702524e-03 1.06366043e+02] [ 4.34872042e-02 9.99053951e-01 -2.57193085e-04 6.35091280e+00] [ 3.56484489e-03 1.02263058e-04 9.99993641e-01 -7.10465410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.02140051299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.40, Y:6.35, Z:-0.07 [[ 9.99031427e-01 -4.36820280e-02 -5.29989598e-03 1.06398735e+02] [ 4.36806107e-02 9.99045473e-01 -3.82933133e-04 6.34926732e+00] [ 5.31156439e-03 1.51059541e-04 9.99985882e-01 -7.36126593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.05140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.43, Y:6.35, Z:-0.07 [[ 9.99048971e-01 -4.32723292e-02 -5.35350422e-03 1.06429188e+02] [ 4.32708795e-02 9.99063302e-01 -3.86378860e-04 6.35365539e+00] [ 5.36520912e-03 1.54360566e-04 9.99985595e-01 -7.35796189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.08140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.46, Y:6.36, Z:-0.07 [[ 9.99081736e-01 -4.25910023e-02 -4.65745348e-03 1.06459540e+02] [ 4.25898981e-02 9.99092582e-01 -3.36035849e-04 6.35703837e+00] [ 4.66753932e-03 1.37366810e-04 9.99989098e-01 -7.19850564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.11140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.49, Y:6.36, Z:-0.07 [[ 9.99093925e-01 -4.24255315e-02 -3.37686223e-03 1.06490707e+02] [ 4.24249504e-02 9.99099627e-01 -2.43572717e-04 6.35608204e+00] [ 3.38415550e-03 1.00088809e-04 9.99994269e-01 -7.00437557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.14140051299998 meters Centerline goodness [0,1] 0.9999785734181826 Centerline is valid? [True, True] Translation: X:106.52, Y:6.36, Z:-0.07 [[ 9.99089591e-01 -4.25086358e-02 -3.60634837e-03 1.06521707e+02] [ 4.25079739e-02 9.99096094e-01 -2.60004594e-04 6.36189908e+00] [ 3.61414101e-03 1.06469321e-04 9.99993463e-01 -7.11114885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.17140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.55, Y:6.35, Z:-0.07 [[ 9.99087982e-01 -4.25181050e-02 -3.92623114e-03 1.06554734e+02] [ 4.25173214e-02 9.99095690e-01 -2.82881737e-04 6.35418840e+00] [ 3.93470821e-03 1.15690912e-04 9.99992252e-01 -7.07159241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.20140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.58, Y:6.36, Z:-0.07 [[ 9.99120084e-01 -4.17318336e-02 -4.18459573e-03 1.06584400e+02] [ 4.17309367e-02 9.99128840e-01 -3.01452997e-04 6.35772519e+00] [ 4.19353046e-03 1.26560645e-04 9.99991199e-01 -7.13865358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.23140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.62, Y:6.36, Z:-0.07 [[ 9.99201857e-01 -3.97437477e-02 -4.01041825e-03 1.06615860e+02] [ 3.97429083e-02 9.99209897e-01 -2.88827762e-04 6.35645346e+00] [ 4.01872870e-03 1.29211552e-04 9.99991917e-01 -7.07903807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.26140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.65, Y:6.36, Z:-0.07 [[ 9.99255091e-01 -3.83771713e-02 -4.05669978e-03 1.06647254e+02] [ 3.83763015e-02 9.99263316e-01 -2.92059187e-04 6.35607479e+00] [ 4.06491968e-03 1.36160496e-04 9.99991729e-01 -7.06031442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.29140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.68, Y:6.36, Z:-0.07 [[ 9.99319166e-01 -3.66828390e-02 -3.94624313e-03 1.06677155e+02] [ 3.66820030e-02 9.99326948e-01 -2.84047555e-04 6.36299962e+00] [ 3.95400678e-03 1.39098063e-04 9.99992173e-01 -7.11036979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.321400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.71, Y:6.37, Z:-0.07 [[ 9.99320046e-01 -3.66588683e-02 -3.94624926e-03 1.06707938e+02] [ 3.66580324e-02 9.99327828e-01 -2.83962465e-04 6.36517178e+00] [ 3.95400644e-03 1.39107651e-04 9.99992173e-01 -7.10780001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.351400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.74, Y:6.37, Z:-0.07 [[ 9.99489877e-01 -3.16281175e-02 -4.43267470e-03 1.06737680e+02] [ 3.16270136e-02 9.99499690e-01 -3.18933315e-04 6.37188910e+00] [ 4.44054424e-03 1.78578356e-04 9.99990125e-01 -7.16152887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.381400513 meters Centerline goodness [0,1] 0.9999564089710338 Centerline is valid? [True, True] Translation: X:106.77, Y:6.37, Z:-0.07 [[ 9.99581946e-01 -2.84656142e-02 -5.06378603e-03 1.06768842e+02] [ 2.84641335e-02 9.99594748e-01 -3.64264407e-04 6.37487124e+00] [ 5.07210293e-03 2.19975844e-04 9.99987113e-01 -7.22716526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.411400513 meters Centerline goodness [0,1] 0.9998927084674477 Centerline is valid? [True, True] Translation: X:106.80, Y:6.38, Z:-0.07 [[ 9.99670780e-01 -2.49506114e-02 -5.98319008e-03 1.06797937e+02] [ 2.49484819e-02 9.99688646e-01 -4.30306706e-04 6.38487931e+00] [ 5.99206360e-03 2.80893532e-04 9.99982008e-01 -7.40939338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.441400513 meters Centerline goodness [0,1] 0.9997214186220936 Centerline is valid? [True, True] Translation: X:106.83, Y:6.39, Z:-0.07 [[ 9.99776363e-01 -2.03213323e-02 -5.85383747e-03 1.06827171e+02] [ 2.03192144e-02 9.99793455e-01 -4.21051186e-04 6.39322583e+00] [ 5.86118470e-03 3.02011645e-04 9.99982778e-01 -7.42887894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.471400513 meters Centerline goodness [0,1] 0.9994172745715889 Centerline is valid? [True, True] Translation: X:106.86, Y:6.40, Z:-0.07 [[ 9.99796629e-01 -1.94227772e-02 -5.42728601e-03 1.06856652e+02] [ 1.94209432e-02 9.99811319e-01 -3.90434072e-04 6.39680375e+00] [ 5.43384530e-03 2.84951656e-04 9.99985196e-01 -7.34977355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.501400513 meters Centerline goodness [0,1] 0.9981810789411739 Centerline is valid? [True, True] Translation: X:106.89, Y:6.40, Z:-0.07 [[ 9.99813098e-01 -1.87070801e-02 -4.87995347e-03 1.06886192e+02] [ 1.87055885e-02 9.99824974e-01 -3.51115921e-04 6.39977685e+00] [ 4.88566771e-03 2.59767895e-04 9.99988031e-01 -7.28705906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.531400513 meters Centerline goodness [0,1] 0.9995096785196554 Centerline is valid? [True, True] Translation: X:106.92, Y:6.39, Z:-0.07 [[ 9.99824426e-01 -1.82545968e-02 -4.22924772e-03 1.06916867e+02] [ 1.82534724e-02 9.99833345e-01 -3.04305670e-04 6.39314231e+00] [ 4.23409787e-03 2.27053785e-04 9.99991010e-01 -7.14651942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.561400513 meters Centerline goodness [0,1] 0.9998485929963447 Centerline is valid? [True, True] Translation: X:106.95, Y:6.39, Z:-0.07 [[ 9.99818752e-01 -1.86205294e-02 -3.96728700e-03 1.06947539e+02] [ 1.86195428e-02 9.99826601e-01 -2.85456896e-04 6.38690604e+00] [ 3.97191443e-03 2.11536087e-04 9.99992090e-01 -7.08193912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.591400513 meters Centerline goodness [0,1] 0.9998057498057498 Centerline is valid? [True, True] Translation: X:106.98, Y:6.39, Z:-0.07 [[ 9.99810947e-01 -1.89860480e-02 -4.19538175e-03 1.06978148e+02] [ 1.89849480e-02 9.99819724e-01 -3.01868923e-04 6.38614452e+00] [ 4.20035673e-03 2.22162750e-04 9.99991154e-01 -7.12590312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.621400513 meters Centerline goodness [0,1] 0.9994193548387097 Centerline is valid? [True, True] Translation: X:107.01, Y:6.39, Z:-0.07 [[ 9.99802668e-01 -1.94314919e-02 -4.12826811e-03 1.07007127e+02] [ 1.94304304e-02 9.99811167e-01 -2.97080126e-04 6.38844321e+00] [ 4.13326127e-03 2.16807477e-04 9.99991435e-01 -7.14340368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.651400513 meters Centerline goodness [0,1] 0.9999126980662622 Centerline is valid? [True, True] Translation: X:107.04, Y:6.38, Z:-0.07 [[ 9.99786477e-01 -2.02096502e-02 -4.30932626e-03 1.07038285e+02] [ 2.02085008e-02 9.99795739e-01 -3.10120080e-04 6.37645306e+00] [ 4.31471345e-03 2.22968839e-04 9.99990667e-01 -7.09831655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.681400513 meters Centerline goodness [0,1] 0.9996350678344496 Centerline is valid? [True, True] Translation: X:107.07, Y:6.38, Z:-0.07 [[ 9.99769274e-01 -2.07654232e-02 -5.49509322e-03 1.07067549e+02] [ 2.07635621e-02 9.99784336e-01 -3.95512118e-04 6.38493246e+00] [ 5.50212110e-03 2.81323154e-04 9.99984824e-01 -7.36258963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.71140051299997 meters Centerline goodness [0,1] 0.9998920039742537 Centerline is valid? [True, True] Translation: X:107.10, Y:6.38, Z:-0.07 [[ 9.99739963e-01 -2.17834252e-02 -6.74452090e-03 1.07097792e+02] [ 2.17806436e-02 9.99762656e-01 -4.85596362e-04 6.37768737e+00] [ 6.75349807e-03 3.38570083e-04 9.99977138e-01 -7.45979741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.74140051299997 meters Centerline goodness [0,1] 0.9999143285500107 Centerline is valid? [True, True] Translation: X:107.13, Y:6.37, Z:-0.07 [[ 9.99692761e-01 -2.37681896e-02 -7.03261387e-03 1.07128228e+02] [ 2.37652137e-02 9.99717439e-01 -5.06435416e-04 6.37135264e+00] [ 7.04266379e-03 3.39148247e-04 9.99975143e-01 -7.48882955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.77140051299997 meters Centerline goodness [0,1] 0.9996567554811859 Centerline is valid? [True, True] Translation: X:107.16, Y:6.38, Z:-0.07 [[ 9.99680879e-01 -2.47167128e-02 -5.21761668e-03 1.07156235e+02] [ 2.47150837e-02 9.99694465e-01 -3.76487678e-04 6.37538225e+00] [ 5.22532805e-03 2.47413700e-04 9.99986317e-01 -7.24254118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.80140051299998 meters Centerline goodness [0,1] 0.9999568946937368 Centerline is valid? [True, True] Translation: X:107.19, Y:6.37, Z:-0.07 [[ 9.99703501e-01 -2.43326597e-02 -9.11863433e-04 1.07186671e+02] [ 2.43326098e-02 9.99703916e-01 -6.58240193e-05 6.36813053e+00] [ 9.13195119e-04 4.36164855e-05 9.99999582e-01 -6.50259749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.83140051299998 meters Centerline goodness [0,1] 0.9998925216568861 Centerline is valid? [True, True] Translation: X:107.22, Y:6.37, Z:-0.06 [[ 9.99711558e-01 -2.39872558e-02 -1.18807235e-03 1.07217810e+02] [ 2.39871708e-02 9.99712263e-01 -8.57799146e-05 6.36672073e+00] [ 1.18978813e-03 5.72566776e-05 9.99999291e-01 -6.47904106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.86140051299998 meters Centerline goodness [0,1] 0.9999138988742278 Centerline is valid? [True, True] Translation: X:107.25, Y:6.37, Z:-0.07 [[ 9.99707617e-01 -2.40548627e-02 -2.45851876e-03 1.07249782e+02] [ 2.40544989e-02 9.99710633e-01 -1.77426724e-04 6.36533846e+00] [ 2.46207532e-03 1.18236410e-04 9.99996962e-01 -6.63660855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.89140051299998 meters Centerline goodness [0,1] 0.9998269447088345 Centerline is valid? [True, True] Translation: X:107.28, Y:6.37, Z:-0.07 [[ 9.99699097e-01 -2.41828986e-02 -4.11119392e-03 1.07280220e+02] [ 2.41818828e-02 9.99707532e-01 -2.96624097e-04 6.36637877e+00] [ 4.11716476e-03 1.97118432e-04 9.99991505e-01 -6.88988285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.92140051299998 meters Centerline goodness [0,1] 0.9997633288867851 Centerline is valid? [True, True] Translation: X:107.31, Y:6.37, Z:-0.07 [[ 9.99722765e-01 -2.32016513e-02 -4.00949861e-03 1.07309321e+02] [ 2.32006775e-02 9.99730786e-01 -2.89224321e-04 6.36518832e+00] [ 4.01512968e-03 1.96121054e-04 9.99991920e-01 -7.01994156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.95140051299998 meters Centerline goodness [0,1] 0.9997859359948624 Centerline is valid? [True, True] Translation: X:107.34, Y:6.37, Z:-0.07 [[ 9.99744002e-01 -2.24352749e-02 -2.93056043e-03 1.07340258e+02] [ 2.24347514e-02 9.99748287e-01 -2.11385291e-04 6.36529379e+00] [ 2.93456526e-03 1.45584782e-04 9.99995684e-01 -6.87385821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.98140051299998 meters Centerline goodness [0,1] 0.9998710841820291 Centerline is valid? [True, True] Translation: X:107.37, Y:6.36, Z:-0.07 [[ 9.99763542e-01 -2.16369634e-02 -2.16825784e-03 1.07371273e+02] [ 2.16366749e-02 9.99765888e-01 -1.56399373e-04 6.36375863e+00] [ 2.17113423e-03 1.09448501e-04 9.99997637e-01 -6.75816690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.01140051299998 meters Centerline goodness [0,1] 0.9995936263501229 Centerline is valid? [True, True] Translation: X:107.40, Y:6.37, Z:-0.07 [[ 9.99791128e-01 -2.02973949e-02 -2.39099764e-03 1.07401007e+02] [ 2.02970404e-02 9.99793979e-01 -1.72447162e-04 6.36942226e+00] [ 2.39400527e-03 1.23880967e-04 9.99997127e-01 -6.74173404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.04140051299999 meters Centerline goodness [0,1] 0.999763710179795 Centerline is valid? [True, True] Translation: X:107.43, Y:6.37, Z:-0.07 [[ 9.99849833e-01 -1.70741208e-02 -2.96412321e-03 1.07431783e+02] [ 1.70735619e-02 9.99854213e-01 -2.13772890e-04 6.36806290e+00] [ 2.96734106e-03 1.63132647e-04 9.99995584e-01 -6.80673464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.071400513 meters Centerline goodness [0,1] 0.9974009794655898 Centerline is valid? [True, True] Translation: X:107.46, Y:6.37, Z:-0.07 [[ 9.99871845e-01 -1.56161821e-02 -3.52541592e-03 1.07460852e+02] [ 1.56153822e-02 9.99878040e-01 -2.54286863e-04 6.37413271e+00] [ 3.52895696e-03 1.99203558e-04 9.99993753e-01 -6.88876094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.101400513 meters Centerline goodness [0,1] 0.99294992309007 Centerline is valid? [True, True] Translation: X:107.49, Y:6.38, Z:-0.07 [[ 9.99888466e-01 -1.43373725e-02 -4.18267460e-03 1.07490436e+02] [ 1.43362353e-02 9.99897185e-01 -3.01745515e-04 6.37756465e+00] [ 4.18657079e-03 2.41748053e-04 9.99991207e-01 -6.99410364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.131400513 meters Centerline goodness [0,1] 0.9972300953362535 Centerline is valid? [True, True] Translation: X:107.52, Y:6.38, Z:-0.07 [[ 9.99917424e-01 -1.20142014e-02 -4.56109022e-03 1.07521206e+02] [ 1.20128250e-02 9.99927789e-01 -3.29055619e-04 6.37703877e+00] [ 4.56471420e-03 2.74236868e-04 9.99989544e-01 -7.04437037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.161400513 meters Centerline goodness [0,1] 0.9888258589318206 Centerline is valid? [True, True] Translation: X:107.55, Y:6.38, Z:-0.07 [[ 9.99931672e-01 -1.08787833e-02 -4.27814532e-03 1.07549232e+02] [ 1.08775613e-02 9.99940790e-01 -3.08808399e-04 6.38142768e+00] [ 4.28125147e-03 2.62251511e-04 9.99990801e-01 -7.01746331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.191400513 meters Centerline goodness [0,1] 0.9911954018039739 Centerline is valid? [True, True] Translation: X:107.58, Y:6.38, Z:-0.07 [[ 9.99946758e-01 -9.55571623e-03 -3.89487957e-03 1.07578570e+02] [ 9.55469278e-03 9.99954313e-01 -2.81290325e-04 6.38093401e+00] [ 3.89738956e-03 2.44060971e-04 9.99992375e-01 -6.91240442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.221400513 meters Centerline goodness [0,1] 0.9754829282966974 Centerline is valid? [True, True] Translation: X:107.61, Y:6.38, Z:-0.07 [[ 9.99958826e-01 -8.25101236e-03 -3.77718907e-03 1.07606840e+02] [ 8.25004005e-03 9.99965931e-01 -2.72925509e-04 6.38492561e+00] [ 3.77931230e-03 2.41752310e-04 9.99992829e-01 -6.88353661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.251400513 meters Centerline goodness [0,1] 0.9021919520658663 Centerline is valid? [True, False] Translation: X:107.61, Y:6.39, Z:-0.07 [[ 9.99958310e-01 -8.33645190e-03 -3.72580439e-03 1.07606918e+02] [ 8.33425872e-03 9.99965087e-01 -6.03786417e-04 6.38654301e+00] [ 3.73070775e-03 5.72709427e-04 9.99992877e-01 -6.94075232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.281400513 meters Centerline goodness [0,1] 0.9568750399897626 Centerline is valid? [False, True] Translation: X:107.61, Y:6.39, Z:-0.07 [[ 9.99957925e-01 -8.34090294e-03 -3.81809534e-03 1.07607324e+02] [ 8.33824186e-03 9.99964983e-01 -7.12352653e-04 6.38710018e+00] [ 3.82390331e-03 6.80486479e-04 9.99992457e-01 -6.96470052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.311400513 meters Centerline goodness [0,1] 0.9848279131915261 Centerline is valid? [True, True] Translation: X:107.64, Y:6.38, Z:-0.07 [[ 9.99958854e-01 -7.89797505e-03 -4.46235371e-03 1.07636377e+02] [ 7.89653456e-03 9.99968764e-01 -3.40336063e-04 6.38437991e+00] [ 4.46490229e-03 3.05084929e-04 9.99989986e-01 -7.05916470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.341400513 meters Centerline goodness [0,1] 0.9459303813667775 Centerline is valid? [True, False] Translation: X:107.64, Y:6.38, Z:-0.08 [[ 9.99935231e-01 -1.00170589e-02 -5.40299246e-03 1.07643497e+02] [ 1.00030782e-02 9.99946566e-01 -2.60842983e-03 6.38305575e+00] [ 5.42883255e-03 2.55421433e-03 9.99982002e-01 -7.53349867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.371400513 meters Centerline goodness [0,1] 0.9505401647234999 Centerline is valid? [False, True] Translation: X:107.64, Y:6.38, Z:-0.08 [[ 9.99937314e-01 -9.74088245e-03 -5.52119248e-03 1.07644156e+02] [ 9.73026732e-03 9.99950766e-01 -1.94622744e-03 6.37995007e+00] [ 5.53987862e-03 1.89238276e-03 9.99982864e-01 -7.57929327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.401400513 meters Centerline goodness [0,1] 0.9600992704477868 Centerline is valid? [True, True] Translation: X:107.67, Y:6.38, Z:-0.08 [[ 9.99928159e-01 -1.09257799e-02 -4.92987216e-03 1.07673658e+02] [ 1.09240390e-02 9.99940259e-01 -3.79920057e-04 6.37807360e+00] [ 4.93372857e-03 3.26038647e-04 9.99987776e-01 -7.57244392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.431400513 meters Centerline goodness [0,1] 0.967592395695998 Centerline is valid? [True, True] Translation: X:107.70, Y:6.37, Z:-0.07 [[ 9.99915762e-01 -1.27573911e-02 -2.39121457e-03 1.07704288e+02] [ 1.27569870e-02 9.99918609e-01 -1.84155422e-04 6.37404944e+00] [ 2.39336929e-03 1.53635216e-04 9.99997124e-01 -7.24040416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.46140051299997 meters Centerline goodness [0,1] 0.9898040740500723 Centerline is valid? [True, True] Translation: X:107.73, Y:6.37, Z:-0.07 [[ 9.99902246e-01 -1.38975577e-02 -1.53476856e-03 1.07734909e+02] [ 1.38973926e-02 9.99903420e-01 -1.18179322e-04 6.37045485e+00] [ 1.53626273e-03 9.68384883e-05 9.99998815e-01 -7.02282819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.49140051299997 meters Centerline goodness [0,1] 0.9961495096474993 Centerline is valid? [True, True] Translation: X:107.77, Y:6.37, Z:-0.07 [[ 9.99851304e-01 -1.72176639e-02 -9.60692325e-04 1.07765288e+02] [ 1.72176007e-02 9.99851763e-01 -7.39784777e-05 6.36706667e+00] [ 9.61823652e-04 5.74266604e-05 9.99999536e-01 -6.92478245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.52140051299997 meters Centerline goodness [0,1] 0.9994830037482229 Centerline is valid? [True, True] Translation: X:107.80, Y:6.36, Z:-0.07 [[ 9.99816826e-01 -1.91051351e-02 -1.14352753e-03 1.07797143e+02] [ 1.91050469e-02 9.99817478e-01 -8.80116229e-05 6.35989282e+00] [ 1.14500029e-03 6.61483544e-05 9.99999342e-01 -6.93982879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.55140051299998 meters Centerline goodness [0,1] 0.9996559361761607 Centerline is valid? [True, True] Translation: X:107.83, Y:6.35, Z:-0.07 [[ 9.99781990e-01 -2.08616691e-02 -8.73992577e-04 1.07828546e+02] [ 2.08616183e-02 9.99782370e-01 -6.72722720e-05 6.35426441e+00] [ 8.75205782e-04 4.90247065e-05 9.99999616e-01 -6.94402841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.58140051299998 meters Centerline goodness [0,1] 0.9992964052705642 Centerline is valid? [True, True] Translation: X:107.86, Y:6.35, Z:-0.07 [[ 9.99749303e-01 -2.23868320e-02 -4.00368224e-04 1.07858886e+02] [ 2.23868215e-02 9.99749383e-01 -3.07882170e-05 6.35405066e+00] [ 4.00957136e-04 2.18175265e-05 9.99999919e-01 -6.92012986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.61140051299998 meters Centerline goodness [0,1] 0.9995910988679895 Centerline is valid? [True, True] Translation: X:107.89, Y:6.34, Z:-0.07 [[ 9.99721836e-01 -2.35849068e-02 5.82189561e-05 1.07890865e+02] [ 2.35849066e-02 9.99721837e-01 4.53797699e-06 6.34405459e+00] [-5.83097895e-05 -3.16362604e-06 9.99999998e-01 -6.74834239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.64140051299998 meters Centerline goodness [0,1] 0.997275668312617 Centerline is valid? [True, True] Translation: X:107.92, Y:6.35, Z:-0.07 [[ 9.99730883e-01 -2.31943871e-02 4.26428687e-04 1.07920529e+02] [ 2.31943752e-02 9.99730974e-01 3.28371755e-05 6.35033719e+00] [-4.27075605e-04 -2.29375915e-05 9.99999909e-01 -6.75081637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.67140051299998 meters Centerline goodness [0,1] 0.9981558519535103 Centerline is valid? [True, True] Translation: X:107.95, Y:6.35, Z:-0.07 [[ 9.99738362e-01 -2.28714987e-02 3.18472102e-04 1.07952401e+02] [ 2.28714920e-02 9.99738413e-01 2.45501871e-05 6.34766149e+00] [-3.18950293e-04 -1.72598317e-05 9.99999949e-01 -6.80245713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.70140051299998 meters Centerline goodness [0,1] 0.9987435580731717 Centerline is valid? [True, True] Translation: X:107.98, Y:6.34, Z:-0.07 [[ 9.99760565e-01 -2.18447068e-02 -1.27351014e-03 1.07983847e+02] [ 2.18445997e-02 9.99761373e-01 -9.79103609e-05 6.34082019e+00] [ 1.27534507e-03 7.00675985e-05 9.99999184e-01 -7.16990861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.73140051299998 meters Centerline goodness [0,1] 0.99955394124769 Centerline is valid? [True, True] Translation: X:108.01, Y:6.34, Z:-0.07 [[ 9.99775922e-01 -2.10449888e-02 -2.28364454e-03 1.08014909e+02] [ 2.10446423e-02 9.99778522e-01 -1.75620966e-04 6.33667317e+00] [ 2.28683470e-03 1.27523131e-04 9.99997377e-01 -7.32909664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.76140051299998 meters Centerline goodness [0,1] 0.9994619142937087 Centerline is valid? [True, True] Translation: X:108.04, Y:6.34, Z:-0.07 [[ 9.99802799e-01 -1.96654973e-02 -2.76265031e-03 1.08044872e+02] [ 1.96649849e-02 9.99806603e-01 -2.12518925e-04 6.33599091e+00] [ 2.76629531e-03 1.58149539e-04 9.99996161e-01 -7.36399017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.79140051299999 meters Centerline goodness [0,1] 0.9990574323600608 Centerline is valid? [True, True] Translation: X:108.08, Y:6.34, Z:-0.07 [[ 9.99838265e-01 -1.77475293e-02 -2.91019144e-03 1.08075226e+02] [ 1.77469527e-02 9.99842485e-01 -2.23838748e-04 6.33921798e+00] [ 2.91370563e-03 1.72155515e-04 9.99995740e-01 -7.38288319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.821400513 meters Centerline goodness [0,1] 0.9980018048214516 Centerline is valid? [True, True] Translation: X:108.11, Y:6.34, Z:-0.07 [[ 9.99905838e-01 -1.32799854e-02 -3.45776563e-03 1.08105427e+02] [ 1.32791446e-02 9.99911793e-01 -2.66020406e-04 6.33841839e+00] [ 3.46099337e-03 2.20079187e-04 9.99993987e-01 -7.48207522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.851400513 meters Centerline goodness [0,1] 0.9497740367110026 Centerline is valid? [True, False] Translation: X:108.11, Y:6.34, Z:-0.08 [[ 9.99908762e-01 -1.30744670e-02 -3.39505668e-03 1.08105369e+02] [ 1.30749572e-02 9.99914512e-01 1.22221916e-04 6.33665166e+00] [ 3.39316846e-03 -1.66600986e-04 9.99994229e-01 -7.51065010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.881400513 meters Centerline goodness [0,1] 0.9371266491899093 Centerline is valid? [False, False] Translation: X:108.11, Y:6.34, Z:-0.08 [[ 9.99910546e-01 -1.29617587e-02 -3.30047576e-03 1.08105011e+02] [ 1.29629491e-02 9.99915920e-01 3.39549588e-04 6.33565960e+00] [ 3.29579710e-03 -3.82303113e-04 9.99994496e-01 -7.50011395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.911400513 meters Centerline goodness [0,1] 0.8639283335839653 Centerline is valid? [False, False] Translation: X:108.10, Y:6.33, Z:-0.07 [[ 9.99959580e-01 -8.36575435e-03 -3.29427577e-03 1.08104796e+02] [ 8.38562783e-03 9.99946442e-01 6.06585155e-03 6.32862433e+00] [ 3.24335391e-03 -6.09323094e-03 9.99976176e-01 -7.46516361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.941400513 meters Centerline goodness [0,1] 0.9525786948383071 Centerline is valid? [False, True] Translation: X:108.10, Y:6.32, Z:-0.07 [[ 9.99962653e-01 -8.03090577e-03 -3.19340306e-03 1.08104216e+02] [ 8.05265162e-03 9.99944073e-01 6.85609025e-03 6.32493435e+00] [ 3.13816385e-03 -6.88154955e-03 9.99971398e-01 -7.40469639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.971400513 meters Centerline goodness [0,1] 0.9390050561316308 Centerline is valid? [True, False] Translation: X:108.10, Y:6.33, Z:-0.07 [[ 9.99919425e-01 -1.23128356e-02 -3.08844491e-03 1.08103958e+02] [ 1.23188080e-02 9.99922273e-01 1.92228442e-03 6.32818581e+00] [ 3.06453608e-03 -1.96017549e-03 9.99993383e-01 -7.41295792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.001400513 meters Centerline goodness [0,1] 0.9110241942378388 Centerline is valid? [False, False] Translation: X:108.10, Y:6.32, Z:-0.07 [[ 9.99922808e-01 -1.19952334e-02 -3.23927220e-03 1.08104656e+02] [ 1.20039227e-02 9.99924368e-01 2.67649465e-03 6.32462623e+00] [ 3.20692203e-03 -2.71517202e-03 9.99991172e-01 -7.44486315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.031400513 meters Centerline goodness [0,1] 0.7889250537154041 Centerline is valid? [False, False] Translation: X:108.11, Y:6.32, Z:-0.08 [[ 9.99926301e-01 -1.16364896e-02 -3.46200946e-03 1.08105874e+02] [ 1.16487599e-02 9.99925865e-01 3.54546588e-03 6.32049487e+00] [ 3.42049603e-03 -3.58553269e-03 9.99987722e-01 -7.52915497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.061400513 meters Centerline goodness [0,1] 0.988492867301642 Centerline is valid? [False, True] Translation: X:108.10, Y:6.33, Z:-0.08 [[ 9.99866532e-01 -1.60395936e-02 -3.10626706e-03 1.08104853e+02] [ 1.60345140e-02 9.99870072e-01 -1.65332313e-03 6.32500249e+00] [ 3.13238210e-03 1.60329498e-03 9.99993809e-01 -7.52810260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.091400513 meters Centerline goodness [0,1] 0.999055307454483 Centerline is valid? [True, True] Translation: X:108.13, Y:6.32, Z:-0.07 [[ 9.99855941e-01 -1.67011329e-02 -3.02795574e-03 1.08134698e+02] [ 1.67004513e-02 9.99860506e-01 -2.50231609e-04 6.31602211e+00] [ 3.03171251e-03 1.99627334e-04 9.99995384e-01 -7.40545771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.121400513 meters Centerline goodness [0,1] 0.9720011914386621 Centerline is valid? [True, True] Translation: X:108.16, Y:6.33, Z:-0.07 [[ 9.99839552e-01 -1.77117529e-02 -2.67675129e-03 1.08162358e+02] [ 1.77112243e-02 9.99843120e-01 -2.21076720e-04 6.32547266e+00] [ 2.68024702e-03 1.73632706e-04 9.99996393e-01 -7.43982265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.151400513 meters Centerline goodness [0,1] 0.99804890462961 Centerline is valid? [True, True] Translation: X:108.19, Y:6.32, Z:-0.07 [[ 9.99814939e-01 -1.90911812e-02 -2.36953413e-03 1.08192521e+02] [ 1.90907694e-02 9.99817735e-01 -1.96299077e-04 6.31833417e+00] [ 2.37284983e-03 1.51026520e-04 9.99997173e-01 -7.39122904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.181400513 meters Centerline goodness [0,1] 0.9955322787516032 Centerline is valid? [True, True] Translation: X:108.22, Y:6.32, Z:-0.07 [[ 9.99811059e-01 -1.93253620e-02 -2.09183657e-03 1.08222432e+02] [ 1.93250419e-02 9.99813239e-01 -1.73122128e-04 6.32074027e+00] [ 2.09479154e-03 1.32664589e-04 9.99997797e-01 -7.38312707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.21140051299997 meters Centerline goodness [0,1] 0.9918469538422032 Centerline is valid? [True, True] Translation: X:108.25, Y:6.32, Z:-0.07 [[ 9.99812218e-01 -1.93207813e-02 -1.49525936e-03 1.08251709e+02] [ 1.93206177e-02 9.99813332e-01 -1.23756262e-04 6.32247422e+00] [ 1.49737131e-03 9.48436885e-05 9.99998874e-01 -7.30061520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.24140051299997 meters Centerline goodness [0,1] 0.9918469538422032 Centerline is valid? [True, True] Translation: X:108.28, Y:6.32, Z:-0.07 [[ 9.99812218e-01 -1.93207813e-02 -1.49526128e-03 1.08281667e+02] [ 1.93206178e-02 9.99813332e-01 -1.23733173e-04 6.32495321e+00] [ 1.49737278e-03 9.48205668e-05 9.99998874e-01 -7.30665454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.27140051299997 meters Centerline goodness [0,1] 0.9992486206822524 Centerline is valid? [True, True] Translation: X:108.31, Y:6.32, Z:-0.07 [[ 9.99814068e-01 -1.92321396e-02 -1.39786414e-03 1.08312322e+02] [ 1.92319965e-02 9.99815041e-01 -1.15754607e-04 6.31577584e+00] [ 1.39983181e-03 8.88493665e-05 9.99999016e-01 -7.22185192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.30140051299998 meters Centerline goodness [0,1] 0.994244420285221 Centerline is valid? [True, True] Translation: X:108.34, Y:6.32, Z:-0.07 [[ 9.99811441e-01 -1.93868510e-02 -1.11010001e-03 1.08341505e+02] [ 1.93867608e-02 9.99812055e-01 -9.19242860e-05 6.32195137e+00] [ 1.11167349e-03 7.03857095e-05 9.99999380e-01 -7.16648885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.33140051299998 meters Centerline goodness [0,1] 0.9937874846836776 Centerline is valid? [True, True] Translation: X:108.37, Y:6.32, Z:-0.07 [[ 9.99811780e-01 -1.93575924e-02 -1.29948347e-03 1.08372396e+02] [ 1.93574688e-02 9.99812621e-01 -1.07578876e-04 6.32217687e+00] [ 1.30132244e-03 8.24039169e-05 9.99999150e-01 -7.14401424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.36140051299998 meters Centerline goodness [0,1] 0.9964949026480583 Centerline is valid? [True, True] Translation: X:108.40, Y:6.32, Z:-0.07 [[ 9.99814752e-01 -1.91903535e-02 -1.48072814e-03 1.08402581e+02] [ 1.91901928e-02 9.99815844e-01 -1.22663988e-04 6.32142190e+00] [ 1.48280942e-03 9.42258062e-05 9.99998896e-01 -7.15515554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.39140051299998 meters Centerline goodness [0,1] 0.996106689610669 Centerline is valid? [True, True] Translation: X:108.43, Y:6.32, Z:-0.07 [[ 9.99828516e-01 -1.83659617e-02 -2.37263794e-03 1.08432445e+02] [ 1.83655467e-02 9.99831320e-01 -1.96577404e-04 6.32158055e+00] [ 2.37584805e-03 1.52968901e-04 9.99997166e-01 -7.24232228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.42140051299998 meters Centerline goodness [0,1] 0.9965207680082471 Centerline is valid? [True, True] Translation: X:108.46, Y:6.32, Z:-0.07 [[ 9.99840076e-01 -1.76920820e-02 -2.60996639e-03 1.08461339e+02] [ 1.76915757e-02 9.99843468e-01 -2.16943324e-04 6.32197302e+00] [ 2.61339602e-03 1.70734212e-04 9.99996570e-01 -7.29355815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.45140051299998 meters Centerline goodness [0,1] 0.9936751070283759 Centerline is valid? [True, True] Translation: X:108.49, Y:6.32, Z:-0.07 [[ 9.99859535e-01 -1.65298016e-02 -2.77052123e-03 1.08491012e+02] [ 1.65292273e-02 9.99863357e-01 -2.30051887e-04 6.32433722e+00] [ 2.77394536e-03 1.84224997e-04 9.99996136e-01 -7.30276869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.48140051299998 meters Centerline goodness [0,1] 0.9941473565560445 Centerline is valid? [True, True] Translation: X:108.52, Y:6.32, Z:-0.07 [[ 9.99876917e-01 -1.54580888e-02 -2.68311211e-03 1.08520854e+02] [ 1.54575462e-02 9.99880500e-01 -2.22858267e-04 6.32484769e+00] [ 2.68623644e-03 1.81356507e-04 9.99996376e-01 -7.27340314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.51140051299998 meters Centerline goodness [0,1] 0.9873846813988415 Centerline is valid? [True, True] Translation: X:108.55, Y:6.33, Z:-0.07 [[ 9.99917639e-01 -1.26336751e-02 -2.25954357e-03 1.08551692e+02] [ 1.26332832e-02 9.99920179e-01 -1.87641378e-04 6.32549361e+00] [ 2.26173381e-03 1.59080470e-04 9.99997430e-01 -7.19802560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.54140051299999 meters Centerline goodness [0,1] 0.9813310470474762 Centerline is valid? [True, True] Translation: X:108.58, Y:6.33, Z:-0.07 [[ 9.99931487e-01 -1.15251197e-02 -2.04778963e-03 1.08581458e+02] [ 1.15247953e-02 9.99933573e-01 -1.70150710e-04 6.32794827e+00] [ 2.04961460e-03 1.46538696e-04 9.99997889e-01 -7.20739471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.571400513 meters Centerline goodness [0,1] 0.9871305485876323 Centerline is valid? [True, True] Translation: X:108.61, Y:6.33, Z:-0.07 [[ 9.99951718e-01 -9.62114697e-03 -1.99881094e-03 1.08611997e+02] [ 9.62083411e-03 9.99953705e-01 -1.66082935e-04 6.32692393e+00] [ 2.00031631e-03 1.46844688e-04 9.99997989e-01 -7.18911765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.601400513 meters Centerline goodness [0,1] 0.9082891275283564 Centerline is valid? [True, False] Translation: X:108.61, Y:6.33, Z:-0.07 [[ 9.99903437e-01 -1.37917443e-02 -1.70431889e-03 1.08611047e+02] [ 1.37821871e-02 9.99889908e-01 -5.49761197e-03 6.33260232e+00] [ 1.77995292e-03 5.47359187e-03 9.99983436e-01 -7.18361375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.631400513 meters Centerline goodness [0,1] 0.8874759564009403 Centerline is valid? [False, False] Translation: X:108.61, Y:6.33, Z:-0.07 [[ 9.99904766e-01 -1.36910355e-02 -1.73601601e-03 1.08611010e+02] [ 1.36816368e-02 9.99892276e-01 -5.31491571e-03 6.33176393e+00] [ 1.80859570e-03 5.29065801e-03 9.99984369e-01 -7.15780392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.661400513 meters Centerline goodness [0,1] 0.9130630534056557 Centerline is valid? [False, False] Translation: X:108.61, Y:6.32, Z:-0.07 [[ 9.99956551e-01 -9.12633204e-03 -1.89901577e-03 1.08611341e+02] [ 9.12728412e-03 9.99958224e-01 4.93294011e-04 6.32430041e+00] [ 1.89443447e-03 -5.10605434e-04 9.99998075e-01 -7.12446690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.691400513 meters Centerline goodness [0,1] 0.8094441585177561 Centerline is valid? [False, False] Translation: X:108.61, Y:6.32, Z:-0.07 [[ 9.99957866e-01 -8.99536838e-03 -1.83001390e-03 1.08610898e+02] [ 8.99678754e-03 9.99959233e-01 7.68746164e-04 6.32304346e+00] [ 1.82302414e-03 -7.85178020e-04 9.99998030e-01 -7.08071418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.721400513 meters Centerline goodness [0,1] 0.7753848143836503 Centerline is valid? [False, False] Translation: X:108.61, Y:6.32, Z:-0.07 [[ 9.99958099e-01 -8.97971685e-03 -1.77891932e-03 1.08610684e+02] [ 8.98114552e-03 9.99959351e-01 7.96760889e-04 6.32292494e+00] [ 1.77169232e-03 -8.12704238e-04 9.99998100e-01 -7.07276418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.751400513 meters Centerline goodness [0,1] 0.7758223790365956 Centerline is valid? [False, False] Translation: X:108.61, Y:6.32, Z:-0.07 [[ 9.99958013e-01 -8.99470074e-03 -1.75143373e-03 1.08610525e+02] [ 8.99601316e-03 9.99959259e-01 7.42912465e-04 6.32320475e+00] [ 1.74468010e-03 -7.58637194e-04 9.99998190e-01 -7.06025354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.781400513 meters Centerline goodness [0,1] 0.8018759112968161 Centerline is valid? [False, False] Translation: X:108.61, Y:6.33, Z:-0.07 [[ 9.99911241e-01 -1.32638559e-02 -1.25678691e-03 1.08609123e+02] [ 1.32577653e-02 9.99900894e-01 -4.73653013e-03 6.32948173e+00] [ 1.31948700e-03 4.71944754e-03 9.99987993e-01 -7.08690394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.811400513 meters Centerline goodness [0,1] 0.7013482954303025 Centerline is valid? [False, False] Translation: X:108.65, Y:6.33, Z:-0.07 [[ 9.99934119e-01 -1.14593836e-02 6.63260101e-04 1.08652940e+02] [ 1.14615770e-02 9.99928521e-01 -3.40356397e-03 6.33265315e+00] [-6.24209947e-04 3.41094175e-03 9.99993988e-01 -7.27882976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.841400513 meters Centerline goodness [0,1] 0.6988718296717279 Centerline is valid? [False, False] Translation: X:108.65, Y:6.33, Z:-0.07 [[ 9.99933105e-01 -1.15496369e-02 6.25465026e-04 1.08653259e+02] [ 1.15518425e-02 9.99926629e-01 -3.64576872e-03 6.33379990e+00] [-5.83311830e-04 3.65275011e-03 9.99993159e-01 -7.31912714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.871400513 meters Centerline goodness [0,1] 0.7754964877287313 Centerline is valid? [False, False] Translation: X:108.59, Y:6.33, Z:-0.08 [[ 9.99961702e-01 -8.42822259e-03 2.35779716e-03 1.08591424e+02] [ 8.44684243e-03 9.99932308e-01 -8.00190217e-03 6.33073528e+00] [-2.29019574e-03 8.02151165e-03 9.99965205e-01 -7.65275401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.901400513 meters Centerline goodness [0,1] 0.8208997046968293 Centerline is valid? [False, False] Translation: X:108.59, Y:6.32, Z:-0.08 [[ 9.99990579e-01 -3.95697066e-03 1.78425552e-03 1.08593149e+02] [ 3.96121204e-03 9.99989322e-01 -2.37987583e-03 6.32408310e+00] [-1.77481937e-03 2.38692122e-03 9.99995576e-01 -7.63806834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.931400513 meters Centerline goodness [0,1] 0.6648959050240881 Centerline is valid? [False, False] Translation: X:108.60, Y:6.32, Z:-0.08 [[ 9.99996501e-01 -2.46099980e-03 9.70487881e-04 1.08599533e+02] [ 2.46194286e-03 9.99996497e-01 -9.71745673e-04 6.32324843e+00] [-9.68093016e-04 9.74131558e-04 9.99999057e-01 -8.11277196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.96140051299997 meters Centerline goodness [0,1] 0.7983132117475811 Centerline is valid? [False, False] Translation: X:108.61, Y:6.32, Z:-0.09 [[ 9.99999768e-01 -6.71813477e-04 1.12009163e-04 1.08605988e+02] [ 6.71733793e-04 9.99999522e-01 7.09938164e-04 6.32281313e+00] [-1.12486056e-04 -7.09862759e-04 9.99999742e-01 -8.54089761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.99140051299997 meters Centerline goodness [0,1] 0.7166082933367925 Centerline is valid? [False, False] Translation: X:108.61, Y:6.32, Z:-0.09 [[ 9.99999617e-01 -8.50479043e-04 2.08887520e-04 1.08605590e+02] [ 8.50421215e-04 9.99999600e-01 2.76773226e-04 6.32485197e+00] [-2.09122826e-04 -2.76595478e-04 9.99999940e-01 -8.52953423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.02140051299997 meters Centerline goodness [0,1] 0.7565251266069342 Centerline is valid? [False, False] Translation: X:108.60, Y:6.33, Z:-0.08 [[ 9.99999505e-01 -8.94129752e-04 4.36684736e-04 1.08604020e+02] [ 8.94039252e-04 9.99999579e-01 2.07394505e-04 6.32524650e+00] [-4.36869990e-04 -2.07003989e-04 9.99999883e-01 -8.35987140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.05140051299998 meters Centerline goodness [0,1] 0.83740690009417 Centerline is valid? [False, False] Translation: X:108.64, Y:6.33, Z:-0.08 [[ 9.99992689e-01 -9.98185728e-04 3.69141017e-03 1.08643292e+02] [ 9.99255980e-04 9.99999459e-01 -2.88097504e-04 6.32871220e+00] [-3.69112060e-03 2.91784061e-04 9.99993145e-01 -8.28406396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.08140051299998 meters Centerline goodness [0,1] 0.8727896144224964 Centerline is valid? [False, False] Translation: X:108.64, Y:6.33, Z:-0.08 [[ 9.99993035e-01 -9.90333105e-04 3.59837627e-03 1.08643635e+02] [ 9.91059374e-04 9.99999489e-01 -2.00054888e-04 6.32827408e+00] [-3.59817631e-03 2.03619699e-04 9.99993506e-01 -8.28957128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.11140051299998 meters Centerline goodness [0,1] 0.7875517256089757 Centerline is valid? [False, False] Translation: X:108.64, Y:6.33, Z:-0.08 [[ 9.99993493e-01 -1.03372483e-03 3.45618029e-03 1.08644169e+02] [ 1.03409286e-03 9.99999460e-01 -1.04699592e-04 6.32772250e+00] [-3.45607020e-03 1.08272922e-04 9.99994022e-01 -8.30486521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.14140051299998 meters Centerline goodness [0,1] 0.9743176098599728 Centerline is valid? [False, True] Translation: X:108.64, Y:6.33, Z:-0.08 [[ 9.99978166e-01 -5.53826147e-03 3.60490484e-03 1.08643754e+02] [ 5.55597427e-03 9.99972451e-01 -4.92220225e-03 6.33000797e+00] [-3.57754509e-03 4.94212354e-03 9.99981388e-01 -8.31302384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.17140051299998 meters Centerline goodness [0,1] 0.9729944741877916 Centerline is valid? [True, True] Translation: X:108.67, Y:6.33, Z:-0.08 [[ 9.99967469e-01 -7.23722881e-03 3.56125615e-03 1.08674083e+02] [ 7.23629135e-03 9.99973780e-01 2.76052269e-04 6.32576375e+00] [-3.56316062e-03 -2.50273002e-04 9.99993621e-01 -8.28507601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.20140051299998 meters Centerline goodness [0,1] 0.9832250037539954 Centerline is valid? [True, True] Translation: X:108.71, Y:6.32, Z:-0.08 [[ 9.99955736e-01 -8.66039833e-03 3.67735736e-03 1.08705890e+02] [ 8.65940784e-03 9.99962466e-01 2.85185065e-04 6.32348962e+00] [-3.67968915e-03 -2.53328705e-04 9.99993198e-01 -8.18909663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.23140051299998 meters Centerline goodness [0,1] 0.9343037650473832 Centerline is valid? [True, False] Translation: X:108.71, Y:6.32, Z:-0.08 [[ 9.99959278e-01 -8.27933242e-03 3.59095197e-03 1.08705913e+02] [ 8.27462714e-03 9.99964889e-01 1.32319810e-03 6.31856845e+00] [-3.60178108e-03 -1.29343042e-03 9.99992677e-01 -8.12497461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.26140051299998 meters Centerline goodness [0,1] 0.9805879688544745 Centerline is valid? [False, True] Translation: X:108.71, Y:6.31, Z:-0.08 [[ 9.99918681e-01 -1.21895749e-02 3.74776360e-03 1.08705277e+02] [ 1.21975546e-02 9.99923373e-01 -2.11374151e-03 6.31444886e+00] [-3.72171081e-03 2.15928317e-03 9.99990743e-01 -8.06437796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.29140051299999 meters Centerline goodness [0,1] 0.963560155681964 Centerline is valid? [True, True] Translation: X:108.74, Y:6.31, Z:-0.08 [[ 9.99899585e-01 -1.35227236e-02 4.23752179e-03 1.08736298e+02] [ 1.35214782e-02 9.99908529e-01 3.22408421e-04 6.31229670e+00] [-4.24149402e-03 -2.65078487e-04 9.99990970e-01 -8.04878036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.321400513 meters Centerline goodness [0,1] 0.999105031004283 Centerline is valid? [True, True] Translation: X:108.77, Y:6.29, Z:-0.08 [[ 9.99866636e-01 -1.52555681e-02 5.82900460e-03 1.08769071e+02] [ 1.52532420e-02 9.99883564e-01 4.43309541e-04 6.29377129e+00] [-5.83508883e-03 -3.54339202e-04 9.99982913e-01 -7.86790330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.351400513 meters Centerline goodness [0,1] 0.9975505857294995 Centerline is valid? [True, True] Translation: X:108.80, Y:6.29, Z:-0.08 [[ 9.99867688e-01 -1.50902263e-02 6.07378577e-03 1.08800297e+02] [ 1.50876981e-02 9.99886068e-01 4.61854574e-04 6.29450929e+00] [-6.08006326e-03 -3.70154019e-04 9.99981448e-01 -7.80066979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.381400513 meters Centerline goodness [0,1] 0.9994444088296258 Centerline is valid? [True, True] Translation: X:108.83, Y:6.29, Z:-0.08 [[ 9.99884003e-01 -1.41878493e-02 5.53949450e-03 1.08833338e+02] [ 1.41857347e-02 9.99899289e-01 4.20828088e-04 6.28759222e+00] [-5.54490725e-03 -3.42197473e-04 9.99984568e-01 -7.82342181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.411400513 meters Centerline goodness [0,1] 0.989855103482225 Centerline is valid? [True, True] Translation: X:108.86, Y:6.30, Z:-0.08 [[ 9.99909827e-01 -1.25825438e-02 4.69235655e-03 1.08862507e+02] [ 1.25810101e-02 9.99920793e-01 3.56225686e-04 6.29621872e+00] [-4.69646711e-03 -2.97158979e-04 9.99988927e-01 -7.98844127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.441400513 meters Centerline goodness [0,1] 0.9985802176999526 Centerline is valid? [True, True] Translation: X:108.89, Y:6.28, Z:-0.08 [[ 9.99956281e-01 -8.86688210e-03 2.96888253e-03 1.08894225e+02] [ 8.86625177e-03 9.99960669e-01 2.25407161e-04 6.28418626e+00] [-2.97076442e-03 -1.99074446e-04 9.99995567e-01 -8.31420963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.471400513 meters Centerline goodness [0,1] 0.9544951472841818 Centerline is valid? [True, True] Translation: X:108.92, Y:6.29, Z:-0.09 [[ 9.99966528e-01 -7.77983921e-03 2.53304219e-03 1.08924141e+02] [ 7.77937687e-03 9.99969722e-01 1.92324771e-04 6.29308276e+00] [-2.53446175e-03 -1.72612844e-04 9.99996773e-01 -8.51232215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.501400513 meters Centerline goodness [0,1] 0.9969832164860846 Centerline is valid? [True, True] Translation: X:108.96, Y:6.28, Z:-0.09 [[ 9.99971490e-01 -7.25192216e-03 2.10466407e-03 1.08956568e+02] [ 7.25160174e-03 9.99973694e-01 1.59834193e-04 6.28190146e+00] [-2.10576781e-03 -1.44567451e-04 9.99997772e-01 -8.57049890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.531400513 meters Centerline goodness [0,1] 0.9975204295047327 Centerline is valid? [True, True] Translation: X:108.99, Y:6.28, Z:-0.09 [[ 9.99972354e-01 -7.19032741e-03 1.89486169e-03 1.08988737e+02] [ 7.19006745e-03 9.99974141e-01 1.43971432e-04 6.27854867e+00] [-1.89584789e-03 -1.30343269e-04 9.99998194e-01 -8.62833421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.561400513 meters Centerline goodness [0,1] 0.9985360917956556 Centerline is valid? [True, True] Translation: X:109.02, Y:6.27, Z:-0.08 [[ 9.99971569e-01 -6.93201354e-03 2.96790625e-03 1.09020997e+02] [ 6.93137575e-03 9.99975952e-01 2.25127246e-04 6.26781825e+00] [-2.96939546e-03 -2.04549172e-04 9.99995570e-01 -8.41351665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.591400513 meters Centerline goodness [0,1] 0.9929651249812902 Centerline is valid? [True, True] Translation: X:109.05, Y:6.27, Z:-0.08 [[ 9.99975756e-01 -6.10517294e-03 3.34885455e-03 1.09052432e+02] [ 6.10435652e-03 9.99981336e-01 2.53959430e-04 6.26942444e+00] [-3.35034251e-03 -2.33510671e-04 9.99994360e-01 -8.36138973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.621400513 meters Centerline goodness [0,1] 0.9966233544195588 Centerline is valid? [True, True] Translation: X:109.08, Y:6.27, Z:-0.08 [[ 9.99985339e-01 -4.75280992e-03 2.59456547e-03 1.09084292e+02] [ 4.75231554e-03 9.99988688e-01 1.96674452e-04 6.26630298e+00] [-2.59547088e-03 -1.84341375e-04 9.99996615e-01 -8.43312888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.651400513 meters Centerline goodness [0,1] 0.8791600463778073 Centerline is valid? [True, False] Translation: X:109.09, Y:6.26, Z:-0.09 [[ 9.99987747e-01 -4.27478048e-03 2.49656490e-03 1.09085425e+02] [ 4.27279732e-03 9.99990552e-01 7.99149852e-04 6.26365737e+00] [-2.49995750e-03 -7.88472744e-04 9.99996564e-01 -8.59668107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.681400513 meters Centerline goodness [0,1] 0.9552462848197628 Centerline is valid? [False, True] Translation: X:109.09, Y:6.26, Z:-0.09 [[ 9.99988292e-01 -4.12238925e-03 2.53426479e-03 1.09085403e+02] [ 4.11989668e-03 9.99991025e-01 9.87979387e-04 6.26283713e+00] [-2.53831488e-03 -9.77526910e-04 9.99996301e-01 -8.61940214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.71140051299997 meters Centerline goodness [0,1] 0.9552854212955051 Centerline is valid? [True, True] Translation: X:109.12, Y:6.26, Z:-0.09 [[ 9.99994285e-01 -1.41495178e-03 3.07059962e-03 1.09116331e+02] [ 1.41417798e-03 9.99998968e-01 2.54161933e-04 6.26348251e+00] [-3.07095607e-03 -2.49818106e-04 9.99995253e-01 -8.54273045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.74140051299997 meters Centerline goodness [0,1] 0.44402496836053973 Centerline is valid? [True, False] Translation: X:109.12, Y:6.26, Z:-0.09 [[ 9.99994129e-01 -1.30468283e-03 3.16845614e-03 1.09115968e+02] [ 1.30344793e-03 9.99999074e-01 3.91780156e-04 6.26292300e+00] [-3.16896435e-03 -3.87647938e-04 9.99994904e-01 -8.53250618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.77140051299997 meters Centerline goodness [0,1] 0.5208457796364256 Centerline is valid? [False, False] Translation: X:109.12, Y:6.26, Z:-0.09 [[ 9.99997310e-01 4.24551642e-04 2.28018989e-03 1.09121774e+02] [-4.29105023e-04 9.99997914e-01 1.99681282e-03 6.26019128e+00] [-2.27933738e-03 -1.99778589e-03 9.99995407e-01 -8.90806052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.80140051299998 meters Centerline goodness [0,1] 0.5345300635940191 Centerline is valid? [False, False] Translation: X:109.12, Y:6.26, Z:-0.09 [[ 9.99997345e-01 4.61127814e-04 2.25790332e-03 1.09122053e+02] [-4.65854757e-04 9.99997700e-01 2.09343141e-03 6.25967463e+00] [-2.25693279e-03 -2.09447771e-03 9.99995260e-01 -8.94971716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.83140051299998 meters Centerline goodness [0,1] 0.8678810088381117 Centerline is valid? [False, False] Translation: X:109.08, Y:6.26, Z:-0.09 [[ 9.99998494e-01 -1.38787628e-03 -1.04247963e-03 1.09082130e+02] [ 1.38958764e-03 9.99997685e-01 1.64268968e-03 6.25544070e+00] [ 1.04019736e-03 -1.64413582e-03 9.99998107e-01 -8.96800690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.86140051299998 meters Centerline goodness [0,1] 0.5831463795055872 Centerline is valid? [False, False] Translation: X:109.08, Y:6.25, Z:-0.09 [[ 9.99984329e-01 -5.51394435e-03 -9.68725852e-04 1.09081824e+02] [ 5.51175600e-03 9.99982285e-01 -2.24733144e-03 6.25341197e+00] [ 9.81100351e-04 2.24195684e-03 9.99997006e-01 -8.94664724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.89140051299998 meters Centerline goodness [0,1] 0.9085145894256014 Centerline is valid? [False, False] Translation: X:109.08, Y:6.25, Z:-0.09 [[ 9.99986066e-01 -5.15486001e-03 -1.13801653e-03 1.09082049e+02] [ 5.15349696e-03 9.99986004e-01 -1.19743879e-03 6.24841056e+00] [ 1.14417323e-03 1.19155734e-03 9.99998636e-01 -8.87467888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.92140051299998 meters Centerline goodness [0,1] 0.9607817813939472 Centerline is valid? [False, True] Translation: X:109.08, Y:6.24, Z:-0.09 [[ 9.99987432e-01 -4.84570070e-03 -1.28669495e-03 1.09082398e+02] [ 4.84529460e-03 9.99988211e-01 -3.18542548e-04 6.24422957e+00] [ 1.28822334e-03 3.12304128e-04 9.99999121e-01 -8.84168307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.95140051299998 meters Centerline goodness [0,1] 0.9870408974662053 Centerline is valid? [True, True] Translation: X:109.11, Y:6.24, Z:-0.09 [[ 9.99976501e-01 -6.74692064e-03 -1.21548597e-03 1.09113143e+02] [ 6.74680462e-03 9.99977235e-01 -9.95321720e-05 6.23964059e+00] [ 1.21612984e-03 9.13291867e-05 9.99999256e-01 -8.84859389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.98140051299998 meters Centerline goodness [0,1] 0.9391837255819891 Centerline is valid? [True, False] Translation: X:109.11, Y:6.24, Z:-0.09 [[ 9.99941195e-01 -1.07898898e-02 -1.08870550e-03 1.09112700e+02] [ 1.07855657e-02 9.99934219e-01 -3.90240377e-03 6.23724877e+00] [ 1.13074039e-03 3.89043198e-03 9.99991793e-01 -8.82120190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.01140051299998 meters Centerline goodness [0,1] 0.9601567324687493 Centerline is valid? [False, True] Translation: X:109.11, Y:6.23, Z:-0.09 [[ 9.99978479e-01 -6.45924696e-03 -1.14842399e-03 1.09112405e+02] [ 6.46175384e-03 9.99976719e-01 2.19274842e-03 6.22774950e+00] [ 1.13423375e-03 -2.20012206e-03 9.99996936e-01 -8.70106336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.04140051299999 meters Centerline goodness [0,1] 0.9701350176985524 Centerline is valid? [True, True] Translation: X:109.14, Y:6.23, Z:-0.09 [[ 9.99981849e-01 -6.00795294e-03 -4.54596063e-04 1.09141843e+02] [ 6.00793734e-03 9.99981952e-01 -3.56831173e-05 6.23062392e+00] [ 4.54802241e-04 3.29512849e-05 9.99999896e-01 -8.59796057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.071400513 meters Centerline goodness [0,1] 0.9740552016985138 Centerline is valid? [True, True] Translation: X:109.17, Y:6.23, Z:-0.09 [[ 9.99986305e-01 -5.19566286e-03 -6.28401456e-04 1.09171619e+02] [ 5.19563293e-03 9.99986501e-01 -4.92552630e-05 6.23294475e+00] [ 6.28648887e-04 4.59896451e-05 9.99999801e-01 -8.65498922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.101400513 meters Centerline goodness [0,1] 0.9608381779850508 Centerline is valid? [True, True] Translation: X:109.20, Y:6.24, Z:-0.09 [[ 9.99990543e-01 -4.10544234e-03 -1.43470521e-03 1.09201307e+02] [ 4.10528526e-03 9.99991567e-01 -1.12413863e-04 6.23557109e+00] [ 1.43515462e-03 1.06522925e-04 9.99998964e-01 -8.86683075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.131400513 meters Centerline goodness [0,1] 0.9608381779850508 Centerline is valid? [True, True] Translation: X:109.23, Y:6.24, Z:-0.09 [[ 9.99989887e-01 -4.26227905e-03 -1.43464242e-03 1.09229622e+02] [ 4.26212098e-03 9.99990911e-01 -1.13214760e-04 6.23789653e+00] [ 1.43511193e-03 1.07098996e-04 9.99998964e-01 -8.87810090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.161400513 meters Centerline goodness [0,1] 0.8948930989555522 Centerline is valid? [True, False] Translation: X:109.23, Y:6.24, Z:-0.09 [[ 9.99990377e-01 -4.15873221e-03 -1.39693776e-03 1.09229350e+02] [ 4.15889719e-03 9.99991345e-01 1.15212395e-04 6.23684187e+00] [ 1.39644653e-03 -1.21021006e-04 9.99999018e-01 -8.84858058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.191400513 meters Centerline goodness [0,1] 0.9445626729091297 Centerline is valid? [False, False] Translation: X:109.23, Y:6.24, Z:-0.09 [[ 9.99990788e-01 -4.07044240e-03 -1.36180964e-03 1.09228914e+02] [ 4.07090516e-03 9.99991657e-01 3.37214609e-04 6.23583832e+00] [ 1.36042566e-03 -3.42755301e-04 9.99999016e-01 -8.78529104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.221400513 meters Centerline goodness [0,1] 0.9768341409504379 Centerline is valid? [False, True] Translation: X:109.23, Y:6.23, Z:-0.09 [[ 9.99991888e-01 -3.72557733e-03 -1.53084065e-03 1.09229178e+02] [ 3.72750949e-03 9.99992257e-01 1.26124461e-03 6.23145792e+00] [ 1.52612994e-03 -1.26694060e-03 9.99998033e-01 -8.72540300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.251400513 meters Centerline goodness [0,1] 0.9787356566992279 Centerline is valid? [True, True] Translation: X:109.26, Y:6.23, Z:-0.09 [[ 9.99984581e-01 -5.20218190e-03 -1.94310761e-03 1.09259007e+02] [ 5.20190560e-03 9.99986459e-01 -1.47222342e-04 6.23133674e+00] [ 1.94384718e-03 1.37112209e-04 9.99998101e-01 -8.86971516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.281400513 meters Centerline goodness [0,1] 0.9975936748023376 Centerline is valid? [True, True] Translation: X:109.29, Y:6.22, Z:-0.09 [[ 9.99974807e-01 -6.74446095e-03 -2.21306517e-03 1.09289553e+02] [ 6.74410620e-03 9.99977244e-01 -1.67720116e-04 6.22186547e+00] [ 2.21414599e-03 1.52790744e-04 9.99997537e-01 -8.86634275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.311400513 meters Centerline goodness [0,1] 0.9978478585126784 Centerline is valid? [True, True] Translation: X:109.32, Y:6.22, Z:-0.09 [[ 9.99964359e-01 -8.23146098e-03 -1.87720759e-03 1.09319601e+02] [ 8.23120836e-03 9.99966113e-01 -1.42262198e-04 6.22121034e+00] [ 1.87831500e-03 1.26805441e-04 9.99998228e-01 -8.85716909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.341400513 meters Centerline goodness [0,1] 0.9101475857362225 Centerline is valid? [True, False] Translation: X:109.32, Y:6.22, Z:-0.09 [[ 9.99968773e-01 -7.67077158e-03 -1.90044648e-03 1.09319191e+02] [ 7.67293681e-03 9.99969919e-01 1.13466566e-03 6.21531979e+00] [ 1.89168555e-03 -1.14921223e-03 9.99997550e-01 -8.75333785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.371400513 meters Centerline goodness [0,1] 0.9987100380538774 Centerline is valid? [False, True] Translation: X:109.32, Y:6.21, Z:-0.09 [[ 9.99970337e-01 -7.46735588e-03 -1.88755209e-03 1.09319000e+02] [ 7.47031524e-03 9.99970871e-01 1.56566867e-03 6.21335377e+00] [ 1.87580570e-03 -1.57972283e-03 9.99996993e-01 -8.72148353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.401400513 meters Centerline goodness [0,1] 0.9841607150681331 Centerline is valid? [True, True] Translation: X:109.35, Y:6.23, Z:-0.09 [[ 9.99982668e-01 -5.55903162e-03 -1.93942937e-03 1.09347686e+02] [ 5.55875649e-03 9.99984539e-01 -1.47222930e-04 6.22525791e+00] [ 1.94021780e-03 1.36439563e-04 9.99998108e-01 -8.79584039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.431400513 meters Centerline goodness [0,1] 0.9230949739738885 Centerline is valid? [True, False] Translation: X:109.41, Y:6.23, Z:-0.09 [[ 9.99988571e-01 1.79464795e-03 -4.43148436e-03 1.09412503e+02] [-1.81663249e-03 9.99986039e-01 -4.96195769e-03 6.23050203e+00] [ 4.42251753e-03 4.96995135e-03 9.99977870e-01 -8.72823530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.46140051299997 meters Centerline goodness [0,1] 0.765289184936084 Centerline is valid? [False, False] Translation: X:109.41, Y:6.22, Z:-0.09 [[ 9.99967171e-01 6.72311035e-03 -4.52286274e-03 1.09412732e+02] [-6.71979478e-03 9.99977142e-01 7.47867404e-04 6.22403248e+00] [ 4.52778735e-03 -7.17450143e-04 9.99989492e-01 -8.70057820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.49140051299997 meters Centerline goodness [0,1] 0.6494052830511008 Centerline is valid? [False, False] Translation: X:109.41, Y:6.22, Z:-0.09 [[ 9.99921613e-01 1.16223600e-02 -4.65715546e-03 1.09412957e+02] [-1.15920717e-02 9.99911822e-01 6.47865268e-03 6.21740212e+00] [ 4.73204203e-03 -6.42415876e-03 9.99968168e-01 -8.62723461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.52140051299997 meters Centerline goodness [0,1] 0.5179739969002928 Centerline is valid? [False, False] Translation: X:109.41, Y:6.22, Z:-0.09 [[ 9.99922073e-01 1.16344392e-02 -4.52643268e-03 1.09412578e+02] [-1.16054581e-02 9.99912319e-01 6.37707807e-03 6.21792867e+00] [ 4.60022953e-03 -6.32404979e-03 9.99969422e-01 -8.63886805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.55140051299998 meters Centerline goodness [0,1] 0.37905379626096913 Centerline is valid? [False, False] Translation: X:109.45, Y:6.22, Z:-0.09 [[ 9.99899687e-01 1.40073594e-02 -2.10018889e-03 1.09454260e+02] [-1.39953547e-02 9.99886234e-01 5.62572773e-03 6.22173562e+00] [ 2.17875155e-03 -5.59577050e-03 9.99981970e-01 -8.78442162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.58140051299998 meters Centerline goodness [0,1] 0.5366331096196868 Centerline is valid? [False, False] Translation: X:109.45, Y:6.22, Z:-0.09 [[ 9.99899818e-01 1.40057434e-02 -2.04785182e-03 1.09454220e+02] [-1.39941488e-02 9.99886560e-01 5.57062143e-03 6.22199262e+00] [ 2.12564021e-03 -5.54140541e-03 9.99982387e-01 -8.81382793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.61140051299998 meters Centerline goodness [0,1] 0.5174736661446377 Centerline is valid? [False, False] Translation: X:109.45, Y:6.23, Z:-0.09 [[ 9.99949093e-01 9.93311763e-03 -1.77335990e-03 1.09453431e+02] [-9.93267953e-03 9.99950637e-01 2.55682869e-04 6.22770583e+00] [ 1.77581209e-03 -2.38055637e-04 9.99998395e-01 -8.90131961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.64140051299998 meters Centerline goodness [0,1] 0.48652351694461693 Centerline is valid? [False, False] Translation: X:109.45, Y:6.23, Z:-0.09 [[ 9.99948680e-01 1.00009163e-02 -1.61841971e-03 1.09452743e+02] [-1.00003447e-02 9.99949930e-01 3.60951208e-04 6.22727251e+00] [ 1.62194852e-03 -3.44747930e-04 9.99998625e-01 -8.86840578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.67140051299998 meters Centerline goodness [0,1] 0.4048596778654865 Centerline is valid? [False, False] Translation: X:109.45, Y:6.23, Z:-0.09 [[ 9.99949685e-01 9.89831281e-03 -1.62793815e-03 1.09452906e+02] [-9.89810079e-03 9.99951003e-01 1.38241804e-04 6.22827646e+00] [ 1.62922675e-03 -1.22121352e-04 9.99998665e-01 -8.89551271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.70140051299998 meters Centerline goodness [0,1] 0.4458310184195906 Centerline is valid? [False, False] Translation: X:109.45, Y:6.23, Z:-0.09 [[ 9.99950617e-01 9.78745061e-03 -1.72344934e-03 1.09453452e+02] [-9.78762210e-03 9.99952096e-01 -9.10975732e-05 6.22929400e+00] [ 1.72247516e-03 1.07961545e-04 9.99998511e-01 -8.94332103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.73140051299998 meters Centerline goodness [0,1] 0.4200855883667951 Centerline is valid? [False, False] Translation: X:109.45, Y:6.23, Z:-0.09 [[ 9.99951120e-01 9.70723599e-03 -1.87832274e-03 1.09454081e+02] [-9.70763699e-03 9.99952859e-01 -2.04490583e-04 6.22975116e+00] [ 1.87624916e-03 2.22714662e-04 9.99998215e-01 -8.96912980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.76140051299998 meters Centerline goodness [0,1] 0.5730051846911774 Centerline is valid? [False, False] Translation: X:109.45, Y:6.23, Z:-0.09 [[ 9.99951038e-01 9.66849083e-03 -2.10778513e-03 1.09454620e+02] [-9.66867660e-03 9.99953254e-01 -7.79631175e-05 6.22907516e+00] [ 2.10693282e-03 9.83387931e-05 9.99997776e-01 -8.92282882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.79140051299999 meters Centerline goodness [0,1] 0.4731895123997161 Centerline is valid? [False, False] Translation: X:109.45, Y:6.24, Z:-0.09 [[ 9.99986107e-01 4.94788188e-03 -1.81778219e-03 1.09453763e+02] [-4.95852743e-03 9.99970305e-01 -5.89927362e-03 6.23641901e+00] [ 1.78853930e-03 5.90820518e-03 9.99980947e-01 -8.97230673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.821400513 meters Centerline goodness [0,1] 0.4600178548654509 Centerline is valid? [False, False] Translation: X:109.47, Y:6.23, Z:-0.09 [[ 9.99991509e-01 3.82162753e-03 -1.54174867e-03 1.09473509e+02] [-3.81510981e-03 9.99983867e-01 4.20850675e-03 6.23126266e+00] [ 1.55780714e-03 -4.20258907e-03 9.99989956e-01 -8.64000195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.851400513 meters Centerline goodness [0,1] 0.6558043506023583 Centerline is valid? [False, False] Translation: X:109.47, Y:6.24, Z:-0.09 [[ 9.99998792e-01 -9.45012937e-04 -1.23387457e-03 1.09472666e+02] [ 9.43229407e-04 9.99998511e-01 -1.44525345e-03 6.23763988e+00] [ 1.23523852e-03 1.44408788e-03 9.99998194e-01 -8.68768251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.881400513 meters Centerline goodness [0,1] 0.6761310584839997 Centerline is valid? [False, False] Translation: X:109.47, Y:6.24, Z:-0.09 [[ 9.99998677e-01 -1.06395813e-03 -1.23070618e-03 1.09472557e+02] [ 1.06217624e-03 9.99998388e-01 -1.44760720e-03 6.23754352e+00] [ 1.23224439e-03 1.44629806e-03 9.99998195e-01 -8.66851430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.911400513 meters Centerline goodness [0,1] 0.9735354186821455 Centerline is valid? [False, True] Translation: X:109.43, Y:6.23, Z:-0.09 [[ 9.99993314e-01 -1.63541820e-03 -3.27072549e-03 1.09429584e+02] [ 1.63867632e-03 9.99998164e-01 9.93716918e-04 6.23232001e+00] [ 3.26909434e-03 -9.99069935e-04 9.99994157e-01 -8.53623041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.941400513 meters Centerline goodness [0,1] 0.9812041368064198 Centerline is valid? [True, True] Translation: X:109.46, Y:6.24, Z:-0.09 [[ 9.99987632e-01 -3.91921189e-03 -3.06180155e-03 1.09459361e+02] [ 3.91845628e-03 9.99992291e-01 -2.52745729e-04 6.23636284e+00] [ 3.06276851e-03 2.40745068e-04 9.99995281e-01 -8.53082908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.971400513 meters Centerline goodness [0,1] 0.8297795060251261 Centerline is valid? [True, False] Translation: X:109.46, Y:6.24, Z:-0.09 [[ 9.99987275e-01 -3.94700122e-03 -3.14173196e-03 1.09459494e+02] [ 3.94645966e-03 9.99992197e-01 -1.78557768e-04 6.23597204e+00] [ 3.14241221e-03 1.66156777e-04 9.99995049e-01 -8.50686408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.001400513 meters Centerline goodness [0,1] 0.9635857364876532 Centerline is valid? [False, True] Translation: X:109.45, Y:6.24, Z:-0.08 [[ 9.99973909e-01 -6.82345308e-03 -2.37113708e-03 1.09453518e+02] [ 6.81588298e-03 9.99971696e-01 -3.18614977e-03 6.23736961e+00] [ 2.39281051e-03 3.16990524e-03 9.99992113e-01 -8.11221676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.031400513 meters Centerline goodness [0,1] 0.9703320341618213 Centerline is valid? [True, True] Translation: X:109.48, Y:6.24, Z:-0.08 [[ 9.99937001e-01 -1.09727893e-02 -2.36456828e-03 1.09483177e+02] [ 1.09723757e-02 9.99939784e-01 -1.87850078e-04 6.23546787e+00] [ 2.36648714e-03 1.61893312e-04 9.99997187e-01 -8.09405419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.061400513 meters Centerline goodness [0,1] 0.9994643469317792 Centerline is valid? [True, True] Translation: X:109.52, Y:6.22, Z:-0.08 [[ 9.99797028e-01 -2.01350319e-02 -6.95816343e-04 1.09515590e+02] [ 2.01349982e-02 9.99797269e-01 -5.52827480e-05 6.21815951e+00] [ 6.96788400e-04 4.12612663e-05 9.99999756e-01 -7.80464223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.091400513 meters Centerline goodness [0,1] 0.99963956323545 Centerline is valid? [True, True] Translation: X:109.55, Y:6.22, Z:-0.08 [[ 9.99701276e-01 -2.44403517e-02 1.67802183e-04 1.09545178e+02] [ 2.44403498e-02 9.99701290e-01 1.32726411e-05 6.21589913e+00] [-1.68076447e-04 -9.16753224e-06 9.99999986e-01 -7.68897580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.121400513 meters Centerline goodness [0,1] 0.9995724028820046 Centerline is valid? [True, True] Translation: X:109.58, Y:6.21, Z:-0.08 [[ 9.99603110e-01 -2.81686983e-02 3.83481161e-04 1.09576409e+02] [ 2.81686887e-02 9.99603183e-01 3.04678584e-05 6.20938532e+00] [-3.84187229e-04 -1.96536046e-05 9.99999926e-01 -7.60750443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.151400513 meters Centerline goodness [0,1] 0.9999147757537019 Centerline is valid? [True, True] Translation: X:109.61, Y:6.20, Z:-0.08 [[ 9.99456269e-01 -3.29721972e-02 3.71856722e-05 1.09607086e+02] [ 3.29721972e-02 9.99456269e-01 2.89332612e-06 6.19816915e+00] [-3.72608525e-05 -1.66565961e-06 9.99999999e-01 -7.60073858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.181400513 meters Centerline goodness [0,1] 0.9998282377189969 Centerline is valid? [True, True] Translation: X:109.64, Y:6.20, Z:-0.08 [[ 9.99413505e-01 -3.42438912e-02 3.39132575e-05 1.09635858e+02] [ 3.42438911e-02 9.99413506e-01 2.55453496e-06 6.19715562e+00] [-3.39808447e-05 -1.39171485e-06 9.99999999e-01 -7.64760309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.21140051299997 meters Centerline goodness [0,1] 0.9999360068259385 Centerline is valid? [True, True] Translation: X:109.66, Y:6.20, Z:-0.08 [[ 9.99379824e-01 -3.52098946e-02 4.79674200e-04 1.09663462e+02] [ 3.52098805e-02 9.99379939e-01 3.79230299e-05 6.19720406e+00] [-4.80712039e-04 -2.10102397e-05 9.99999884e-01 -7.63038334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.24140051299997 meters Centerline goodness [0,1] 0.999893544540964 Centerline is valid? [True, True] Translation: X:109.69, Y:6.20, Z:-0.08 [[ 9.99372855e-01 -3.53938877e-02 1.08143947e-03 1.09691421e+02] [ 3.53938153e-02 9.99373439e-01 8.59971821e-05 6.20024588e+00] [-1.08380566e-03 -4.76669805e-05 9.99999412e-01 -7.56677992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.27140051299997 meters Centerline goodness [0,1] 0.9998726898512593 Centerline is valid? [True, True] Translation: X:109.72, Y:6.20, Z:-0.07 [[ 9.99368677e-01 -3.54883387e-02 1.68061043e-03 1.09718639e+02] [ 3.54881638e-02 9.99370088e-01 1.33749444e-04 6.20136990e+00] [-1.68429834e-03 -7.40232265e-05 9.99998579e-01 -7.47959080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.30140051299998 meters Centerline goodness [0,1] 0.9999572932459269 Centerline is valid? [True, True] Translation: X:109.75, Y:6.20, Z:-0.08 [[ 9.99366057e-01 -3.55854449e-02 1.07717474e-03 1.09746670e+02] [ 3.55853733e-02 9.99366636e-01 8.56197657e-05 6.20059701e+00] [-1.07953932e-03 -4.72338224e-05 9.99999416e-01 -7.50867448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.33140051299998 meters Centerline goodness [0,1] 0.9999786466229634 Centerline is valid? [True, True] Translation: X:109.78, Y:6.20, Z:-0.08 [[ 9.99351662e-01 -3.60016381e-02 3.72111637e-04 1.09775398e+02] [ 3.60016297e-02 9.99351731e-01 2.93385541e-05 6.19852874e+00] [-3.72926645e-04 -1.59229075e-05 9.99999930e-01 -7.64014273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.36140051299998 meters Centerline goodness [0,1] 0.9998305982001059 Centerline is valid? [True, True] Translation: X:109.80, Y:6.20, Z:-0.08 [[ 9.99321800e-01 -3.68206503e-02 4.23195751e-04 1.09803501e+02] [ 3.68206393e-02 9.99321890e-01 3.37720294e-05 6.19989642e+00] [-4.24152286e-04 -1.81667871e-05 9.99999910e-01 -7.66504479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.39140051299998 meters Centerline goodness [0,1] 0.9999574965465944 Centerline is valid? [True, True] Translation: X:109.83, Y:6.20, Z:-0.08 [[ 9.99272325e-01 -3.81234769e-02 1.19212549e-03 1.09831901e+02] [ 3.81233900e-02 9.99273035e-01 9.55402352e-05 6.20008935e+00] [-1.19490118e-03 -5.00228481e-05 9.99999285e-01 -7.51633352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.42140051299998 meters Centerline goodness [0,1] 0.9999573688024896 Centerline is valid? [True, True] Translation: X:109.86, Y:6.19, Z:-0.07 [[ 9.99148782e-01 -4.12288917e-02 1.37481777e-03 1.09862185e+02] [ 4.12287789e-02 9.99149726e-01 1.10301067e-04 6.19142855e+00] [-1.37819639e-03 -5.35251183e-05 9.99999049e-01 -7.39426605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.45140051299998 meters Centerline goodness [0,1] 0.9998709982584765 Centerline is valid? [True, True] Translation: X:109.89, Y:6.19, Z:-0.08 [[ 9.99074431e-01 -4.30142019e-02 2.43642494e-04 1.09891026e+02] [ 4.30141985e-02 9.99074461e-01 1.94317296e-05 6.19136121e+00] [-2.44252834e-04 -8.93365759e-06 9.99999970e-01 -7.58123063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.48140051299998 meters Centerline goodness [0,1] 0.9999786379560797 Centerline is valid? [True, True] Translation: X:109.92, Y:6.19, Z:-0.08 [[ 9.99004105e-01 -4.46161750e-02 -4.41598099e-04 1.09919815e+02] [ 4.46161636e-02 9.99004203e-01 -3.56349597e-05 6.18976613e+00] [ 4.42748252e-04 1.58970580e-05 9.99999902e-01 -7.74405078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.51140051299998 meters Centerline goodness [0,1] 0.9999574250681199 Centerline is valid? [True, True] Translation: X:109.95, Y:6.19, Z:-0.08 [[ 9.98941296e-01 -4.60023747e-02 -2.61919655e-04 1.09947854e+02] [ 4.60023706e-02 9.98941330e-01 -2.15886839e-05 6.19387411e+00] [ 2.62635499e-04 9.51690286e-06 9.99999965e-01 -7.78100287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.54140051299999 meters Centerline goodness [0,1] 0.9999572192513368 Centerline is valid? [True, True] Translation: X:109.98, Y:6.19, Z:-0.08 [[ 9.98868260e-01 -4.75583584e-02 6.34056913e-04 1.09977591e+02] [ 4.75583358e-02 9.98868461e-01 5.07093687e-05 6.19128391e+00] [-6.35751108e-04 -2.04972873e-05 9.99999798e-01 -7.63146255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.571400513 meters Centerline goodness [0,1] 0.9999786921224777 Centerline is valid? [True, True] Translation: X:110.01, Y:6.19, Z:-0.08 [[ 9.98840360e-01 -4.81422212e-02 -5.11167112e-04 1.10006670e+02] [ 4.81422061e-02 9.98840491e-01 -4.18176067e-05 6.19390370e+00] [ 5.12587602e-04 1.71604009e-05 9.99999868e-01 -7.79256052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.601400513 meters Centerline goodness [0,1] 0.9999575299413913 Centerline is valid? [True, True] Translation: X:110.03, Y:6.20, Z:-0.08 [[ 9.98833559e-01 -4.82441054e-02 -2.00716306e-03 1.10033653e+02] [ 4.82438760e-02 9.98835573e-01 -1.62573312e-04 6.20032825e+00] [ 2.01266907e-03 6.55503544e-05 9.99997972e-01 -8.06462998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.631400513 meters Centerline goodness [0,1] 0.9999566546021976 Centerline is valid? [True, True] Translation: X:110.06, Y:6.20, Z:-0.08 [[ 9.98836916e-01 -4.81116189e-02 -3.17615025e-03 1.10062614e+02] [ 4.81110414e-02 9.98841960e-01 -2.58010963e-04 6.20149284e+00] [ 3.18488547e-03 1.04902978e-04 9.99994923e-01 -8.17475904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.661400513 meters Centerline goodness [0,1] 0.9999570188257543 Centerline is valid? [True, True] Translation: X:110.09, Y:6.21, Z:-0.08 [[ 9.98836253e-01 -4.81018522e-02 -3.51459777e-03 1.10089709e+02] [ 4.81011449e-02 9.98842429e-01 -2.85536118e-04 6.20745195e+00] [ 3.52426419e-03 1.16147650e-04 9.99993783e-01 -8.27773476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.691400513 meters Centerline goodness [0,1] 0.9999567642353755 Centerline is valid? [True, True] Translation: X:110.12, Y:6.21, Z:-0.08 [[ 9.98773724e-01 -4.94750581e-02 -1.80761406e-03 1.10117231e+02] [ 4.94748730e-02 9.98775358e-01 -1.46995045e-04 6.20793829e+00] [ 1.81267296e-03 5.73833126e-05 9.99998355e-01 -8.02920793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.721400513 meters Centerline goodness [0,1] 0.9999575182140658 Centerline is valid? [True, True] Translation: X:110.15, Y:6.21, Z:-0.08 [[ 9.98705844e-01 -5.08404879e-02 -1.37157882e-03 1.10145138e+02] [ 5.08403825e-02 9.98706785e-01 -1.11655512e-04 6.20988878e+00] [ 1.37548170e-03 4.17794207e-05 9.99999053e-01 -7.99920206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.751400513 meters Centerline goodness [0,1] 0.9999786114557043 Centerline is valid? [True, True] Translation: X:110.17, Y:6.21, Z:-0.08 [[ 9.98645049e-01 -5.19986870e-02 -2.05022754e-03 1.10174223e+02] [ 5.19984527e-02 9.98647151e-01 -1.67449834e-04 6.21009916e+00] [ 2.05616107e-03 6.06142881e-05 9.99997884e-01 -8.15459562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.781400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.20, Y:6.21, Z:-0.08 [[ 9.98618323e-01 -5.24582561e-02 -3.09442290e-03 1.10202433e+02] [ 5.24577258e-02 9.98623114e-01 -2.52356957e-04 6.21154726e+00] [ 3.10340044e-03 8.96818934e-05 9.99995180e-01 -8.38457307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.811400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.23, Y:6.21, Z:-0.08 [[ 9.98690579e-01 -5.10460687e-02 -3.38037301e-03 1.10231264e+02] [ 5.10454248e-02 9.98696294e-01 -2.76554890e-04 6.21045737e+00] [ 3.39008304e-03 1.03640187e-04 9.99994248e-01 -8.26735888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.841400513 meters Centerline goodness [0,1] 0.9999573087431693 Centerline is valid? [True, True] Translation: X:110.26, Y:6.22, Z:-0.08 [[ 9.98826545e-01 -4.83710545e-02 -2.40305262e-03 1.10260670e+02] [ 4.83707219e-02 9.98829432e-01 -1.96371323e-04 6.21727705e+00] [ 2.40973837e-03 7.99035006e-05 9.99997093e-01 -8.07654670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.871400513 meters Centerline goodness [0,1] 0.9999571459181487 Centerline is valid? [True, True] Translation: X:110.29, Y:6.23, Z:-0.08 [[ 9.99022030e-01 -4.41957042e-02 -1.31244148e-03 1.10289066e+02] [ 4.41956014e-02 9.99022891e-01 -1.07259121e-04 6.22944169e+00] [ 1.31589948e-03 4.91500839e-05 9.99999133e-01 -7.91475832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.901400513 meters Centerline goodness [0,1] 0.9998096084280003 Centerline is valid? [True, True] Translation: X:110.32, Y:6.24, Z:-0.08 [[ 9.99240252e-01 -3.89731417e-02 -1.18119906e-04 1.10317039e+02] [ 3.89731409e-02 9.99240258e-01 -9.68692112e-06 6.24446610e+00] [ 1.18407695e-04 5.07605776e-06 9.99999993e-01 -7.79429775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.931400513 meters Centerline goodness [0,1] 0.9992271361099184 Centerline is valid? [True, True] Translation: X:110.34, Y:6.26, Z:-0.08 [[ 9.99452098e-01 -3.30896012e-02 7.62900617e-04 1.10344363e+02] [ 3.30895633e-02 9.99452389e-01 6.22898179e-05 6.26404716e+00] [-7.64543989e-04 -3.70116409e-05 9.99999707e-01 -7.69384360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.96140051299997 meters Centerline goodness [0,1] 0.999509312397329 Centerline is valid? [True, True] Translation: X:110.37, Y:6.27, Z:-0.08 [[ 9.99745279e-01 -2.25180569e-02 1.52114940e-03 1.10374082e+02] [ 2.25178937e-02 9.99746432e-01 1.24327760e-04 6.27345958e+00] [-1.52356331e-03 -9.00430108e-05 9.99998835e-01 -7.64456434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.99140051299997 meters Centerline goodness [0,1] 0.9996342670280969 Centerline is valid? [True, True] Translation: X:110.40, Y:6.28, Z:-0.08 [[ 9.99824198e-01 -1.87124531e-02 1.19027702e-03 1.10403773e+02] [ 1.87123505e-02 9.99824904e-01 9.72627201e-05 6.27710639e+00] [-1.19188864e-03 -7.49727403e-05 9.99999287e-01 -7.75243701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.02140051299997 meters Centerline goodness [0,1] 0.9972990216928966 Centerline is valid? [True, True] Translation: X:110.43, Y:6.29, Z:-0.08 [[ 9.99867874e-01 -1.62179378e-02 1.10125044e-03 1.10431438e+02] [ 1.62178484e-02 9.99868478e-01 9.00103231e-05 6.29262992e+00] [-1.10256538e-03 -7.21385177e-05 9.99999390e-01 -7.80779112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.05140051299998 meters Centerline goodness [0,1] 0.9972990216928966 Centerline is valid? [True, True] Translation: X:110.46, Y:6.30, Z:-0.08 [[ 9.99867514e-01 -1.62401368e-02 1.10125282e-03 1.10460567e+02] [ 1.62400475e-02 9.99868118e-01 8.99812148e-05 6.29505105e+00] [-1.10256889e-03 -7.20848954e-05 9.99999390e-01 -7.81659084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.08140051299998 meters Centerline goodness [0,1] 0.9985449254274281 Centerline is valid? [True, True] Translation: X:110.49, Y:6.30, Z:-0.08 [[ 9.99886814e-01 -1.50376888e-02 4.76414474e-04 1.10489187e+02] [ 1.50376720e-02 9.99886927e-01 3.88692206e-05 6.30072610e+00] [-4.76945108e-04 -3.17006565e-05 9.99999886e-01 -7.91809629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.11140051299998 meters Centerline goodness [0,1] 0.9990071871020655 Centerline is valid? [True, True] Translation: X:110.52, Y:6.30, Z:-0.08 [[ 9.99872067e-01 -1.59804236e-02 -6.89503108e-04 1.10518346e+02] [ 1.59803883e-02 9.99872304e-01 -5.65754702e-05 6.30042498e+00] [ 6.90319161e-04 4.55497049e-05 9.99999761e-01 -8.02963281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.14140051299998 meters Centerline goodness [0,1] 0.9954776346528924 Centerline is valid? [True, True] Translation: X:110.55, Y:6.31, Z:-0.08 [[ 9.99838042e-01 -1.79601163e-02 -1.15076932e-03 1.10546531e+02] [ 1.79600196e-02 9.99838701e-01 -9.42863223e-05 6.31082149e+00] [ 1.15227710e-03 7.36032122e-05 9.99999333e-01 -8.21689642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.17140051299998 meters Centerline goodness [0,1] 0.9994634847736978 Centerline is valid? [True, True] Translation: X:110.58, Y:6.30, Z:-0.08 [[ 9.99790586e-01 -2.04054981e-02 -1.54943504e-03 1.10577263e+02] [ 2.04053258e-02 9.99791782e-01 -1.26925736e-04 6.30365225e+00] [ 1.55170240e-03 9.52824292e-05 9.99998792e-01 -8.22748527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.20140051299998 meters Centerline goodness [0,1] 0.9997840032831501 Centerline is valid? [True, True] Translation: X:110.61, Y:6.30, Z:-0.08 [[ 9.99745115e-01 -2.25201117e-02 -1.59692169e-03 1.10607705e+02] [ 2.25199313e-02 9.99746386e-01 -1.30888283e-04 6.30261441e+00] [ 1.59946431e-03 9.48923545e-05 9.99998716e-01 -8.15542980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.23140051299998 meters Centerline goodness [0,1] 0.9995019704646833 Centerline is valid? [True, True] Translation: X:110.64, Y:6.31, Z:-0.08 [[ 9.99698293e-01 -2.45607178e-02 3.07668605e-04 1.10638502e+02] [ 2.45605468e-02 9.99698194e-01 5.47588288e-04 6.30667596e+00] [-3.21024911e-04 -5.39866568e-04 9.99999803e-01 -8.12068517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.26140051299998 meters Centerline goodness [0,1] 0.9998051695025328 Centerline is valid? [True, True] Translation: X:110.67, Y:6.30, Z:-0.08 [[ 9.99673471e-01 -2.55510529e-02 -3.08430922e-04 1.10666576e+02] [ 2.55508837e-02 9.99673377e-01 -5.40447432e-04 6.30455991e+00] [ 3.22139182e-04 5.32390278e-04 9.99999806e-01 -8.05410095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.29140051299999 meters Centerline goodness [0,1] 0.9995475990434951 Centerline is valid? [True, True] Translation: X:110.69, Y:6.31, Z:-0.08 [[ 9.99670415e-01 -2.56574244e-02 -8.70578188e-04 1.10693761e+02] [ 2.56573716e-02 9.99670793e-01 -7.17719465e-05 6.30825150e+00] [ 8.72133070e-04 4.94115435e-05 9.99999618e-01 -8.15026122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.321400513 meters Centerline goodness [0,1] 0.9997177226733834 Centerline is valid? [True, True] Translation: X:110.72, Y:6.31, Z:-0.08 [[ 9.99660160e-01 -2.60210270e-02 -1.57164045e-03 1.10721739e+02] [ 2.60208547e-02 9.99661392e-01 -1.29990215e-04 6.30731347e+00] [ 1.57449076e-03 8.90506113e-05 9.99998757e-01 -8.23175741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.351400513 meters Centerline goodness [0,1] 0.9995483482450104 Centerline is valid? [True, True] Translation: X:110.75, Y:6.32, Z:-0.08 [[ 9.99649167e-01 -2.64235866e-02 -1.82688007e-03 1.10748676e+02] [ 2.64233551e-02 9.99650831e-01 -1.50721322e-04 6.31740511e+00] [ 1.83022478e-03 1.02396143e-04 9.99998320e-01 -8.34508336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.381400513 meters Centerline goodness [0,1] 0.9996785806119826 Centerline is valid? [True, True] Translation: X:110.78, Y:6.32, Z:-0.08 [[ 9.99635612e-01 -2.69476115e-02 -1.57159795e-03 1.10777700e+02] [ 2.69474399e-02 9.99636843e-01 -1.30253097e-04 6.31583173e+00] [ 1.57453723e-03 8.78550930e-05 9.99998757e-01 -8.24732361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.411400513 meters Centerline goodness [0,1] 0.999675808856902 Centerline is valid? [True, True] Translation: X:110.81, Y:6.31, Z:-0.08 [[ 9.99607474e-01 -2.79723861e-02 -1.56338972e-03 1.10806629e+02] [ 2.79722171e-02 9.99608693e-01 -1.29850885e-04 6.31286922e+00] [ 1.56641019e-03 8.60684387e-05 9.99998769e-01 -8.14968369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.441400513 meters Centerline goodness [0,1] 0.9996971270335756 Centerline is valid? [True, True] Translation: X:110.83, Y:6.32, Z:-0.08 [[ 9.99586951e-01 -2.85558902e-02 -3.23872237e-03 1.10834461e+02] [ 2.85551703e-02 9.99592182e-01 -2.68329292e-04 6.31575124e+00] [ 3.24506394e-03 1.75736191e-04 9.99994719e-01 -8.37444075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.471400513 meters Centerline goodness [0,1] 0.9995905878296846 Centerline is valid? [True, True] Translation: X:110.86, Y:6.32, Z:-0.09 [[ 9.99560388e-01 -2.93838523e-02 -3.95221537e-03 1.10861842e+02] [ 2.93827859e-02 9.99568179e-01 -3.27634803e-04 6.32007125e+00] [ 3.96013589e-03 2.11363673e-04 9.99992136e-01 -8.60921183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.501400513 meters Centerline goodness [0,1] 0.9997187729849003 Centerline is valid? [True, True] Translation: X:110.89, Y:6.32, Z:-0.09 [[ 9.99527125e-01 -3.04452463e-02 -4.31430898e-03 1.10890836e+02] [ 3.04439809e-02 9.99536410e-01 -3.58672653e-04 6.31607049e+00] [ 4.32322879e-03 2.27158306e-04 9.99990629e-01 -8.62656740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.531400513 meters Centerline goodness [0,1] 0.9995041928043286 Centerline is valid? [True, True] Translation: X:110.92, Y:6.32, Z:-0.09 [[ 9.99482589e-01 -3.19895273e-02 -3.35028269e-03 1.10918916e+02] [ 3.19887735e-02 9.99488189e-01 -2.78365832e-04 6.32084705e+00] [ 3.35747277e-03 1.71050369e-04 9.99994349e-01 -8.55448889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.561400513 meters Centerline goodness [0,1] 0.9997447948788839 Centerline is valid? [True, True] Translation: X:110.95, Y:6.32, Z:-0.08 [[ 9.99474828e-01 -3.23281222e-02 -2.22738060e-03 1.10948505e+02] [ 3.23277881e-02 9.99477303e-01 -1.85840241e-04 6.31807509e+00] [ 2.23222423e-03 1.13736355e-04 9.99997502e-01 -8.36142307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.591400513 meters Centerline goodness [0,1] 0.9998285065060344 Centerline is valid? [True, True] Translation: X:110.98, Y:6.32, Z:-0.08 [[ 9.99483778e-01 -3.21031992e-02 -1.25014226e-03 1.10977684e+02] [ 3.21030932e-02 9.99484557e-01 -1.04735846e-04 6.31531183e+00] [ 1.25286024e-03 6.45483453e-05 9.99999213e-01 -8.21025925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.621400513 meters Centerline goodness [0,1] 0.9997402035072527 Centerline is valid? [True, True] Translation: X:111.01, Y:6.32, Z:-0.08 [[ 9.99513470e-01 -3.11897979e-02 -1.38651385e-04 1.11005570e+02] [ 3.11897965e-02 9.99513480e-01 -1.18438720e-05 6.31746576e+00] [ 1.38953336e-04 7.51360107e-06 9.99999990e-01 -8.06710245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.651400513 meters Centerline goodness [0,1] 0.9998919853100021 Centerline is valid? [True, True] Translation: X:111.03, Y:6.32, Z:-0.08 [[ 9.99564417e-01 -2.95086020e-02 4.67452237e-04 1.11034779e+02] [ 2.95085870e-02 9.99564526e-01 3.89299497e-05 6.31868399e+00] [-4.68397442e-04 -2.51191375e-05 9.99999890e-01 -7.92229186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.681400513 meters Centerline goodness [0,1] 0.9995734607263964 Centerline is valid? [True, True] Translation: X:111.06, Y:6.32, Z:-0.08 [[ 9.99697482e-01 -2.45730817e-02 -1.05309087e-03 1.11063728e+02] [ 2.45730026e-02 9.99698034e-01 -8.79375103e-05 6.32499919e+00] [ 1.05493376e-03 6.20333029e-05 9.99999442e-01 -8.10948331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.71140051299997 meters Centerline goodness [0,1] 0.9978324012658777 Centerline is valid? [True, True] Translation: X:111.09, Y:6.33, Z:-0.08 [[ 9.99757014e-01 -2.18942845e-02 -2.55991086e-03 1.11092321e+02] [ 2.18938084e-02 9.99760279e-01 -2.13851444e-04 6.33199676e+00] [ 2.56397932e-03 1.57753283e-04 9.99996701e-01 -8.35389076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.74140051299997 meters Centerline goodness [0,1] 0.9916757612719608 Centerline is valid? [True, True] Translation: X:111.12, Y:6.34, Z:-0.08 [[ 9.99807934e-01 -1.94053221e-02 -2.74387975e-03 1.11121219e+02] [ 1.94047659e-02 9.99811684e-01 -2.29186959e-04 6.33916695e+00] [ 2.74781048e-03 1.75898596e-04 9.99996209e-01 -8.44035807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.77140051299997 meters Centerline goodness [0,1] 0.9883947915996311 Centerline is valid? [True, True] Translation: X:111.15, Y:6.34, Z:-0.08 [[ 9.99848849e-01 -1.72822125e-02 -1.89835305e-03 1.11150520e+02] [ 1.72819423e-02 9.99850644e-01 -1.58612343e-04 6.34431225e+00] [ 1.90081069e-03 1.25781141e-04 9.99998186e-01 -8.40314340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.80140051299998 meters Centerline goodness [0,1] 0.9978890357797774 Centerline is valid? [True, True] Translation: X:111.18, Y:6.34, Z:-0.08 [[ 9.99912392e-01 -1.32353016e-02 1.85183854e-04 1.11181469e+02] [ 1.32352990e-02 9.99912409e-01 1.54722733e-05 6.34234932e+00] [-1.85372414e-04 -1.30199542e-05 9.99999983e-01 -8.01604163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.83140051299998 meters Centerline goodness [0,1] 0.9872863247863248 Centerline is valid? [True, True] Translation: X:111.21, Y:6.35, Z:-0.08 [[ 9.99925633e-01 -1.21938244e-02 1.99964325e-04 1.11209471e+02] [ 1.21938214e-02 9.99925652e-01 1.66077968e-05 6.35141551e+00] [-2.00151971e-04 -1.41682325e-05 9.99999980e-01 -8.02146329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.86140051299998 meters Centerline goodness [0,1] 0.9984695967063997 Centerline is valid? [True, True] Translation: X:111.24, Y:6.35, Z:-0.08 [[ 9.99926277e-01 -1.21073590e-02 -9.23556159e-04 1.11238989e+02] [ 1.21072922e-02 9.99926701e-01 -7.78218617e-05 6.34577909e+00] [ 9.24430681e-04 6.66343601e-05 9.99999570e-01 -8.17763866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.89140051299998 meters Centerline goodness [0,1] 0.9711667026094457 Centerline is valid? [True, True] Translation: X:111.27, Y:6.36, Z:-0.08 [[ 9.99914653e-01 -1.28687115e-02 -2.25435275e-03 1.11265957e+02] [ 1.28683178e-02 9.99917182e-01 -1.89065618e-04 6.35565585e+00] [ 2.25659908e-03 1.60039755e-04 9.99997441e-01 -8.47141394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.92140051299998 meters Centerline goodness [0,1] 0.9848688276538158 Centerline is valid? [True, True] Translation: X:111.30, Y:6.35, Z:-0.08 [[ 9.99882041e-01 -1.52451031e-02 -1.86830939e-03 1.11295911e+02] [ 1.52448369e-02 9.99883778e-01 -1.56611104e-04 6.35454987e+00] [ 1.87047981e-03 1.28110559e-04 9.99998242e-01 -8.39095043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.95140051299998 meters Centerline goodness [0,1] 0.9973389415854758 Centerline is valid? [True, True] Translation: X:111.33, Y:6.35, Z:-0.08 [[ 9.99863092e-01 -1.65101060e-02 -1.10171338e-03 1.11325876e+02] [ 1.65100142e-02 9.99863696e-01 -9.24201834e-05 6.35173582e+00] [ 1.10308908e-03 7.42182268e-05 9.99999389e-01 -8.21110480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.98140051299998 meters Centerline goodness [0,1] 0.9952320136228182 Centerline is valid? [True, True] Translation: X:111.35, Y:6.36, Z:-0.08 [[ 9.99844928e-01 -1.75854769e-02 -9.33600851e-04 1.11353426e+02] [ 1.75854113e-02 9.99845362e-01 -7.84827990e-05 6.35716793e+00] [ 9.34836638e-04 6.20528735e-05 9.99999561e-01 -8.14485841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.01140051299998 meters Centerline goodness [0,1] 0.9972273764582933 Centerline is valid? [True, True] Translation: X:111.38, Y:6.36, Z:-0.08 [[ 9.99827059e-01 -1.85654024e-02 -1.08507752e-03 1.11382613e+02] [ 1.85653139e-02 9.99827646e-01 -9.16148113e-05 6.35971083e+00] [ 1.08659137e-03 7.14541627e-05 9.99999407e-01 -8.14958839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.04140051299999 meters Centerline goodness [0,1] 0.9985614600107354 Centerline is valid? [True, True] Translation: X:111.41, Y:6.36, Z:-0.08 [[ 9.99812601e-01 -1.93150651e-02 -1.30040624e-03 1.11411325e+02] [ 1.93149383e-02 9.99813443e-01 -1.09957767e-04 6.36072830e+00] [ 1.30228748e-03 8.48198942e-05 9.99999148e-01 -8.23852563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.071400513 meters Centerline goodness [0,1] 0.9994849674885727 Centerline is valid? [True, True] Translation: X:111.44, Y:6.36, Z:-0.08 [[ 9.99796648e-01 -2.00625680e-02 -2.03871252e-03 1.11440112e+02] [ 2.00622579e-02 9.99798718e-01 -1.72461393e-04 6.35912352e+00] [ 2.04176218e-03 1.31525146e-04 9.99997907e-01 -8.31580881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.101400513 meters Centerline goodness [0,1] 0.9966198261017454 Centerline is valid? [True, True] Translation: X:111.47, Y:6.37, Z:-0.08 [[ 9.99783087e-01 -2.07599607e-02 -1.67444150e-03 1.11466943e+02] [ 2.07597527e-02 9.99784483e-01 -1.41514964e-04 6.36968923e+00] [ 1.67701848e-03 1.06723276e-04 9.99998588e-01 -8.33391158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.131400513 meters Centerline goodness [0,1] 0.9995491627307858 Centerline is valid? [True, True] Translation: X:111.50, Y:6.36, Z:-0.08 [[ 9.99753796e-01 -2.21607766e-02 -1.11725930e-03 1.11498024e+02] [ 2.21606849e-02 9.99754417e-01 -9.44468616e-05 6.36096078e+00] [ 1.11907794e-03 6.96643771e-05 9.99999371e-01 -8.18735344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.161400513 meters Centerline goodness [0,1] 0.9991648822269807 Centerline is valid? [True, True] Translation: X:111.53, Y:6.37, Z:-0.08 [[ 9.99660972e-01 -2.60270577e-02 -7.30099921e-04 1.11526533e+02] [ 2.60270195e-02 9.99661238e-01 -6.17612912e-05 6.36605460e+00] [ 7.31460056e-04 4.27380275e-05 9.99999732e-01 -8.12496439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.191400513 meters Centerline goodness [0,1] 0.9996336127933791 Centerline is valid? [True, True] Translation: X:111.56, Y:6.36, Z:-0.08 [[ 9.99599463e-01 -2.82760732e-02 -1.17342123e-03 1.11557344e+02] [ 2.82759762e-02 9.99600150e-01 -9.92298741e-05 6.36029560e+00] [ 1.17575787e-03 6.60104982e-05 9.99999307e-01 -8.15379121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.221400513 meters Centerline goodness [0,1] 0.9995702806067638 Centerline is valid? [True, True] Translation: X:111.59, Y:6.36, Z:-0.08 [[ 9.99533620e-01 -3.05110295e-02 -1.27253272e-03 1.11585827e+02] [ 3.05109172e-02 9.99534428e-01 -1.07599843e-04 6.36197392e+00] [ 1.27522324e-03 6.87235203e-05 9.99999185e-01 -8.18145654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.251400513 meters Centerline goodness [0,1] 0.9997208023710322 Centerline is valid? [True, True] Translation: X:111.62, Y:6.36, Z:-0.08 [[ 9.99483007e-01 -3.21361170e-02 -9.94749612e-04 1.11615490e+02] [ 3.21360491e-02 9.99483500e-01 -8.41647144e-05 6.36206756e+00] [ 9.96940551e-04 5.21538794e-05 9.99999502e-01 -8.13454618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.281400513 meters Centerline goodness [0,1] 0.9996361379251301 Centerline is valid? [True, True] Translation: X:111.64, Y:6.37, Z:-0.08 [[ 9.99487004e-01 -3.20196853e-02 6.84756032e-04 1.11642745e+02] [ 3.20196532e-02 9.99487238e-01 5.77542707e-05 6.36614420e+00] [-6.86254189e-04 -3.57989923e-05 9.99999764e-01 -7.94909049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.311400513 meters Centerline goodness [0,1] 0.999935339253384 Centerline is valid? [True, True] Translation: X:111.67, Y:6.37, Z:-0.08 [[ 9.99539499e-01 -3.03175309e-02 1.27960997e-03 1.11672230e+02] [ 3.03174171e-02 9.99540316e-01 1.08189927e-04 6.36662967e+00] [-1.28230180e-03 -6.93456359e-05 9.99999175e-01 -7.86927824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.341400513 meters Centerline goodness [0,1] 0.9995112518328056 Centerline is valid? [True, True] Translation: X:111.70, Y:6.38, Z:-0.08 [[ 9.99617271e-01 -2.76307726e-02 1.36071195e-03 1.11700679e+02] [ 2.76306414e-02 9.99618194e-01 1.15138931e-04 6.37744745e+00] [-1.36337380e-03 -7.74975205e-05 9.99999068e-01 -7.89309494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.371400513 meters Centerline goodness [0,1] 0.999337351972981 Centerline is valid? [True, True] Translation: X:111.73, Y:6.38, Z:-0.08 [[ 9.99689984e-01 -2.48822336e-02 9.00270765e-04 1.11729901e+02] [ 2.48821750e-02 9.99690388e-01 7.62024540e-05 6.38356755e+00] [-9.01888118e-04 -5.37781352e-05 9.99999592e-01 -7.95154736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.401400513 meters Centerline goodness [0,1] 0.9996098491416681 Centerline is valid? [True, True] Translation: X:111.76, Y:6.38, Z:-0.08 [[ 9.99749210e-01 -2.23888644e-02 -5.05261046e-04 1.11760246e+02] [ 2.23888456e-02 9.99749337e-01 -4.28276980e-05 6.38167992e+00] [ 5.06093260e-04 3.15047457e-05 9.99999871e-01 -8.10947889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.43140051299997 meters Centerline goodness [0,1] 0.9974043246953835 Centerline is valid? [True, True] Translation: X:111.79, Y:6.40, Z:-0.09 [[ 9.99852042e-01 -1.68013309e-02 -3.68909198e-03 1.11788396e+02] [ 1.68002924e-02 9.99858816e-01 -3.12326413e-04 6.39665104e+00] [ 3.69381864e-03 2.50302378e-04 9.99993147e-01 -8.57727396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.46140051299997 meters Centerline goodness [0,1] 0.9690401814369464 Centerline is valid? [True, True] Translation: X:111.82, Y:6.41, Z:-0.09 [[ 9.99890702e-01 -1.40840801e-02 -4.49701934e-03 1.11816770e+02] [ 1.40825095e-02 9.99900764e-01 -3.80723145e-04 6.40780812e+00] [ 4.50193521e-03 3.17352215e-04 9.99989816e-01 -8.79441411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.49140051299997 meters Centerline goodness [0,1] 0.9910000427551413 Centerline is valid? [True, True] Translation: X:111.85, Y:6.41, Z:-0.09 [[ 9.99916395e-01 -1.23308746e-02 -3.89269932e-03 1.11847379e+02] [ 1.23296846e-02 9.99923932e-01 -3.29562514e-04 6.40864989e+00] [ 3.89646700e-03 2.81539206e-04 9.99992369e-01 -8.67949586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.52140051299997 meters Centerline goodness [0,1] 0.9729996565934066 Centerline is valid? [True, True] Translation: X:111.87, Y:6.42, Z:-0.09 [[ 9.99929171e-01 -1.16210065e-02 -2.57007525e-03 1.11874474e+02] [ 1.16204842e-02 9.99932456e-01 -2.18078567e-04 6.41689764e+00] [ 2.57243595e-03 1.88197602e-04 9.99996674e-01 -8.51954536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.55140051299998 meters Centerline goodness [0,1] 0.9412911290493443 Centerline is valid? [True, False] Translation: X:111.91, Y:6.43, Z:-0.08 [[ 9.99923588e-01 -1.22875359e-02 1.35447221e-03 1.11910658e+02] [ 1.22924594e-02 9.99917641e-01 -3.68869785e-03 6.42713596e+00] [-1.30903565e-03 3.70506579e-03 9.99992279e-01 -8.36543554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.58140051299998 meters Centerline goodness [0,1] 0.9453094839788959 Centerline is valid? [False, False] Translation: X:111.91, Y:6.43, Z:-0.08 [[ 9.99924123e-01 -1.22515445e-02 1.28400999e-03 1.11910741e+02] [ 1.22560576e-02 9.99918526e-01 -3.56797383e-03 6.42655834e+00] [-1.24019218e-03 3.58344000e-03 9.99992810e-01 -8.34015862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.61140051299998 meters Centerline goodness [0,1] 0.9978000384459301 Centerline is valid? [False, True] Translation: X:111.91, Y:6.42, Z:-0.08 [[ 9.99926107e-01 -1.21099227e-02 1.06358462e-03 1.11911475e+02] [ 1.21131253e-02 9.99921957e-01 -3.05813843e-03 6.42404469e+00] [-1.02646779e-03 3.07079579e-03 9.99994758e-01 -8.34343891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.64140051299998 meters Centerline goodness [0,1] 0.9959893048128342 Centerline is valid? [True, True] Translation: X:111.94, Y:6.42, Z:-0.08 [[ 9.99892469e-01 -1.46645112e-02 5.10406984e-05 1.11940819e+02] [ 1.46645110e-02 9.99892470e-01 4.02903279e-06 6.42270949e+00] [-5.10942938e-05 -3.28011266e-06 9.99999999e-01 -8.46335421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.67140051299998 meters Centerline goodness [0,1] 0.9886431305827308 Centerline is valid? [True, True] Translation: X:111.97, Y:6.43, Z:-0.09 [[ 9.99851460e-01 -1.72338267e-02 -2.31350988e-04 1.11970362e+02] [ 1.72338229e-02 9.99851486e-01 -1.86113205e-05 6.42577915e+00] [ 2.31637374e-04 1.46214940e-05 9.99999973e-01 -8.63710638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.70140051299998 meters Centerline goodness [0,1] 0.9978980891719745 Centerline is valid? [True, True] Translation: X:112.00, Y:6.42, Z:-0.09 [[ 9.99803840e-01 -1.97980573e-02 -5.64235259e-04 1.12001385e+02] [ 1.97980349e-02 9.99803999e-01 -4.52520581e-05 6.42073919e+00] [ 5.65020571e-04 3.40724321e-05 9.99999840e-01 -8.67128389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.73140051299998 meters Centerline goodness [0,1] 0.9988901220865705 Centerline is valid? [True, True] Translation: X:112.03, Y:6.42, Z:-0.09 [[ 9.99757290e-01 -2.19800661e-02 -1.49596276e-03 1.12032076e+02] [ 2.19799111e-02 9.99758405e-01 -1.20014835e-04 6.41659004e+00] [ 1.49823928e-03 8.71045780e-05 9.99998874e-01 -8.77820190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.76140051299998 meters Centerline goodness [0,1] 0.9985048804972341 Centerline is valid? [True, True] Translation: X:112.06, Y:6.42, Z:-0.09 [[ 9.99767594e-01 -2.14315898e-02 -2.33349281e-03 1.12059524e+02] [ 2.14312103e-02 9.99770308e-01 -1.87513350e-04 6.42016789e+00] [ 2.33697554e-03 1.37460196e-04 9.99997260e-01 -8.89054497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.79140051299999 meters Centerline goodness [0,1] 0.9988545988934993 Centerline is valid? [True, True] Translation: X:112.09, Y:6.42, Z:-0.09 [[ 9.99795062e-01 -2.00390087e-02 -2.87600621e-03 1.12088674e+02] [ 2.00384263e-02 9.99799184e-01 -2.31169622e-04 6.42031034e+00] [ 2.88006107e-03 1.73491608e-04 9.99995838e-01 -8.87000757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.821400513 meters Centerline goodness [0,1] 0.9812497339633082 Centerline is valid? [True, True] Translation: X:112.12, Y:6.43, Z:-0.09 [[ 9.99836383e-01 -1.79417373e-02 -2.30238277e-03 1.12116911e+02] [ 1.79413586e-02 9.99839024e-01 -1.85035350e-04 6.43312512e+00] [ 2.30533200e-03 1.43697200e-04 9.99997332e-01 -8.89595711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.851400513 meters Centerline goodness [0,1] 0.9903920391181265 Centerline is valid? [True, True] Translation: X:112.15, Y:6.43, Z:-0.08 [[ 9.99907560e-01 -1.35959638e-02 1.48054017e-04 1.12147531e+02] [ 1.35959622e-02 9.99907571e-01 1.18964889e-05 6.43442835e+00] [-1.48202077e-04 -9.88245235e-06 9.99999989e-01 -8.37134566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.881400513 meters Centerline goodness [0,1] 0.9916696695423618 Centerline is valid? [True, True] Translation: X:112.18, Y:6.44, Z:-0.08 [[ 9.99933475e-01 -1.15064778e-02 8.03901214e-04 1.12177329e+02] [ 1.15064296e-02 9.99933797e-01 6.45280163e-05 6.43536836e+00] [-8.04590483e-04 -5.52736908e-05 9.99999675e-01 -8.21914044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.911400513 meters Centerline goodness [0,1] 0.9990066511185972 Centerline is valid? [True, True] Translation: X:112.21, Y:6.43, Z:-0.08 [[ 9.99951126e-01 -9.87282016e-03 5.23160648e-04 1.12208562e+02] [ 9.87279952e-03 9.99951262e-01 4.20264673e-05 6.42968853e+00] [-5.23550070e-04 -3.68593531e-05 9.99999862e-01 -8.20831833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.941400513 meters Centerline goodness [0,1] 0.9990066511185972 Centerline is valid? [True, True] Translation: X:112.24, Y:6.43, Z:-0.08 [[ 9.99950896e-01 -9.89606573e-03 5.23168135e-04 1.12237705e+02] [ 9.89604514e-03 9.99951032e-01 4.19332821e-05 6.43206717e+00] [-5.23557491e-04 -3.67539275e-05 9.99999862e-01 -8.22161175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.971400513 meters Centerline goodness [0,1] 0.9967631296891747 Centerline is valid? [True, True] Translation: X:112.27, Y:6.44, Z:-0.08 [[ 9.99964687e-01 -8.40382798e-03 2.77355565e-05 1.12266894e+02] [ 8.40382793e-03 9.99964687e-01 2.17627055e-06 6.43895367e+00] [-2.77528661e-05 -1.94310885e-06 1.00000000e+00 -8.33451138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.001400513 meters Centerline goodness [0,1] 0.9684298333796761 Centerline is valid? [True, True] Translation: X:112.29, Y:6.45, Z:-0.08 [[ 9.99975924e-01 -6.93380476e-03 -2.73132594e-04 1.12294948e+02] [ 6.93379899e-03 9.99975961e-01 -2.20614370e-05 6.44974217e+00] [ 2.73278998e-04 2.01670594e-05 9.99999962e-01 -8.40597279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.031400513 meters Centerline goodness [0,1] 0.9640161153519932 Centerline is valid? [True, True] Translation: X:112.32, Y:6.46, Z:-0.08 [[ 9.99994459e-01 -3.05898553e-03 1.31354917e-03 1.12324788e+02] [ 3.05884949e-03 9.99995316e-01 1.05563237e-04 6.45771515e+00] [-1.31386593e-03 -1.01544703e-04 9.99999132e-01 -8.21253464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.061400513 meters Centerline goodness [0,1] 0.5937611971756771 Centerline is valid? [True, False] Translation: X:112.33, Y:6.46, Z:-0.09 [[ 9.99999612e-01 -7.24869030e-04 4.99979973e-04 1.12331035e+02] [ 7.23714111e-04 9.99997079e-01 2.30625547e-03 6.45926599e+00] [-5.01650245e-04 -2.30589273e-03 9.99997216e-01 -8.60741135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.091400513 meters Centerline goodness [0,1] 0.7676179506868015 Centerline is valid? [False, False] Translation: X:112.31, Y:6.47, Z:-0.08 [[ 9.99996418e-01 1.76878299e-03 -2.00867269e-03 1.12307752e+02] [-1.78197027e-03 9.99976748e-01 -6.58246915e-03 6.46604053e+00] [ 1.99698303e-03 6.58602497e-03 9.99976318e-01 -8.34556739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.121400513 meters Centerline goodness [0,1] 0.6968447891214278 Centerline is valid? [False, False] Translation: X:112.31, Y:6.46, Z:-0.08 [[ 9.99978105e-01 6.24562424e-03 -2.18659047e-03 1.12307948e+02] [-6.24924686e-03 9.99979106e-01 -1.65385329e-03 6.46313717e+00] [ 2.17621544e-03 1.66748163e-03 9.99996242e-01 -8.25269128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.151400513 meters Centerline goodness [0,1] 0.9627689632688546 Centerline is valid? [False, True] Translation: X:112.26, Y:6.47, Z:-0.08 [[ 9.99977604e-01 5.48750621e-03 -3.83140358e-03 1.12263082e+02] [-5.49347001e-03 9.99983713e-01 -1.54777234e-03 6.46523059e+00] [ 3.82284777e-03 1.56878538e-03 9.99991462e-01 -8.08413351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.18140051299997 meters Centerline goodness [0,1] 0.7173228686014921 Centerline is valid? [True, False] Translation: X:112.26, Y:6.47, Z:-0.08 [[ 9.99978623e-01 5.26114037e-03 -3.88257032e-03 1.12263354e+02] [-5.26896090e-03 9.99984105e-01 -2.00679571e-03 6.46731825e+00] [ 3.87195057e-03 2.02720992e-03 9.99990449e-01 -8.10729077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.21140051299997 meters Centerline goodness [0,1] 0.9440071862434768 Centerline is valid? [False, False] Translation: X:112.26, Y:6.47, Z:-0.08 [[ 9.99979577e-01 5.02403577e-03 -3.95022396e-03 1.12263758e+02] [-5.03392888e-03 9.99984208e-01 -2.49850260e-03 6.46957492e+00] [ 3.93760901e-03 2.51833672e-03 9.99989077e-01 -8.14455830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.24140051299997 meters Centerline goodness [0,1] 0.9778946468274329 Centerline is valid? [False, True] Translation: X:112.26, Y:6.47, Z:-0.08 [[ 9.99980487e-01 4.84922232e-03 -3.93836958e-03 1.12263785e+02] [-4.86054849e-03 9.99984065e-01 -2.87139125e-03 6.47129554e+00] [ 3.92438281e-03 2.89047786e-03 9.99988122e-01 -8.16117427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.27140051299997 meters Centerline goodness [0,1] 0.8407590407633002 Centerline is valid? [True, False] Translation: X:112.26, Y:6.47, Z:-0.08 [[ 9.99981035e-01 4.73739405e-03 -3.93535056e-03 1.12263709e+02] [-4.74943466e-03 9.99984052e-01 -3.05591402e-03 6.47213305e+00] [ 3.92081073e-03 3.07454676e-03 9.99987587e-01 -8.14926775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.30140051299998 meters Centerline goodness [0,1] 0.9970894508763987 Centerline is valid? [False, True] Translation: X:112.26, Y:6.47, Z:-0.08 [[ 9.99991581e-01 3.01964710e-03 -2.77853098e-03 1.12257771e+02] [-3.03205320e-03 9.99985405e-01 -4.47166002e-03 6.47461676e+00] [ 2.76498759e-03 4.48004702e-03 9.99986142e-01 -7.84792572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.33140051299998 meters Centerline goodness [0,1] 0.9984274019819044 Centerline is valid? [True, True] Translation: X:112.29, Y:6.47, Z:-0.08 [[ 9.99996904e-01 1.28303494e-03 -2.13226262e-03 1.12288021e+02] [-1.28336464e-03 9.99999165e-01 -1.53261266e-04 6.47214763e+00] [ 2.13206419e-03 1.55997262e-04 9.99997715e-01 -7.68372316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.36140051299998 meters Centerline goodness [0,1] 0.9969011134619905 Centerline is valid? [True, True] Translation: X:112.32, Y:6.48, Z:-0.08 [[ 9.99998476e-01 3.03264304e-05 -1.74547489e-03 1.12316838e+02] [-3.05454741e-05 9.99999992e-01 -1.25465781e-04 6.47663901e+00] [ 1.74547107e-03 1.25518906e-04 9.99998469e-01 -7.63044305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.39140051299998 meters Centerline goodness [0,1] 0.990159534814373 Centerline is valid? [True, True] Translation: X:112.35, Y:6.48, Z:-0.08 [[ 9.99997106e-01 -1.20884848e-03 -2.08000860e-03 1.12345667e+02] [ 1.20853997e-03 9.99999259e-01 -1.49572329e-04 6.48283499e+00] [ 2.08018787e-03 1.47058123e-04 9.99997826e-01 -7.69522298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.42140051299998 meters Centerline goodness [0,1] 0.9986491991680783 Centerline is valid? [True, True] Translation: X:112.38, Y:6.48, Z:-0.08 [[ 9.99992236e-01 -2.27632340e-03 -3.21657443e-03 1.12375374e+02] [ 2.27559074e-03 9.99997384e-01 -2.31415775e-04 6.47816559e+00] [ 3.21709279e-03 2.24094371e-04 9.99994800e-01 -7.87653406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.45140051299998 meters Centerline goodness [0,1] 0.9968242387829109 Centerline is valid? [True, True] Translation: X:112.40, Y:6.48, Z:-0.08 [[ 9.99972553e-01 -3.78251061e-03 -6.37072353e-03 1.12404326e+02] [ 3.77966529e-03 9.99992752e-01 -4.58604876e-04 6.47971354e+00] [ 6.37241203e-03 4.34513086e-04 9.99979602e-01 -8.36025052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.48140051299998 meters Centerline goodness [0,1] 0.9805730109702844 Centerline is valid? [True, True] Translation: X:112.43, Y:6.49, Z:-0.09 [[ 9.99961698e-01 -4.42074347e-03 -7.55372749e-03 1.12432095e+02] [ 4.41675875e-03 9.99990098e-01 -5.44116912e-04 6.48529241e+00] [ 7.55605810e-03 5.10733080e-04 9.99971322e-01 -8.59634601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.51140051299998 meters Centerline goodness [0,1] 0.930961447948312 Centerline is valid? [True, False] Translation: X:112.43, Y:6.48, Z:-0.09 [[ 9.99961443e-01 -4.28988756e-03 -7.66219120e-03 1.12432591e+02] [ 4.28824960e-03 9.99990779e-01 -2.30187790e-04 6.48379672e+00] [ 7.66310803e-03 1.97321526e-04 9.99970618e-01 -8.62202213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.54140051299999 meters Centerline goodness [0,1] 0.9917867558757935 Centerline is valid? [False, True] Translation: X:112.43, Y:6.48, Z:-0.09 [[ 9.99961814e-01 -4.08344620e-03 -7.72628646e-03 1.12432734e+02] [ 4.08525323e-03 9.99991632e-01 2.18113764e-04 6.48172277e+00] [ 7.72533115e-03 -2.49669272e-04 9.99970128e-01 -8.60736224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.571400513 meters Centerline goodness [0,1] 0.9983992828787297 Centerline is valid? [True, True] Translation: X:112.46, Y:6.48, Z:-0.08 [[ 9.99970468e-01 -2.92205305e-03 -7.10804888e-03 1.12462865e+02] [ 2.91850810e-03 9.99995612e-01 -5.09045577e-04 6.47839809e+00] [ 7.10950514e-03 4.88285646e-04 9.99974608e-01 -8.44882385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.601400513 meters Centerline goodness [0,1] 0.9980866387186929 Centerline is valid? [True, True] Translation: X:112.49, Y:6.48, Z:-0.08 [[ 9.99976694e-01 -1.44039484e-03 -6.67363818e-03 1.12492050e+02] [ 1.43723574e-03 9.99998853e-01 -4.78143041e-04 6.48172774e+00] [ 6.67431924e-03 4.68540306e-04 9.99977617e-01 -8.36307136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.631400513 meters Centerline goodness [0,1] 0.9978195344064644 Centerline is valid? [True, True] Translation: X:112.52, Y:6.48, Z:-0.08 [[ 9.99979099e-01 1.43027810e-04 -6.46376418e-03 1.12522199e+02] [-1.46025002e-04 9.99999882e-01 -4.63221866e-04 6.48477689e+00] [ 6.46369716e-03 4.64156055e-04 9.99979002e-01 -8.32852991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.661400513 meters Centerline goodness [0,1] 0.9584398976982097 Centerline is valid? [True, True] Translation: X:112.55, Y:6.50, Z:-0.08 [[ 9.99974766e-01 1.45791066e-03 -6.95282501e-03 1.12549609e+02] [-1.46141199e-03 9.99998808e-01 -4.98529995e-04 6.49555311e+00] [ 6.95208991e-03 5.08678357e-04 9.99975705e-01 -8.48042347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.691400513 meters Centerline goodness [0,1] 0.9414188424670694 Centerline is valid? [True, False] Translation: X:112.55, Y:6.49, Z:-0.09 [[ 9.99973910e-01 1.66898873e-03 -7.02813158e-03 1.12550009e+02] [-1.66908866e-03 9.99998607e-01 -8.35310684e-06 6.49320490e+00] [ 7.02810785e-03 2.00834636e-05 9.99975302e-01 -8.51194380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.721400513 meters Centerline goodness [0,1] 0.9644444444444444 Centerline is valid? [False, True] Translation: X:112.55, Y:6.49, Z:-0.08 [[ 9.99973221e-01 1.93270185e-03 -7.05840251e-03 1.12549764e+02] [-1.92795916e-03 9.99997911e-01 6.78664311e-04 6.48995476e+00] [ 7.05969942e-03 -6.65037826e-04 9.99974859e-01 -8.44585409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.751400513 meters Centerline goodness [0,1] 0.9923956816039756 Centerline is valid? [True, True] Translation: X:112.58, Y:6.49, Z:-0.08 [[ 9.99983234e-01 -4.47797384e-04 -5.77328795e-03 1.12580095e+02] [ 4.45473364e-04 9.99999819e-01 -4.03826658e-04 6.48616275e+00] [ 5.77346774e-03 4.01248041e-04 9.99983253e-01 -8.25596134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.781400513 meters Centerline goodness [0,1] 0.9977239369509264 Centerline is valid? [True, True] Translation: X:112.61, Y:6.48, Z:-0.08 [[ 9.99983689e-01 -3.19319960e-03 -4.73542420e-03 1.12610897e+02] [ 3.19166666e-03 9.99994852e-01 -3.31239482e-04 6.48130857e+00] [ 4.73645753e-03 3.16120183e-04 9.99988733e-01 -8.07079614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.811400513 meters Centerline goodness [0,1] 0.9992507439042665 Centerline is valid? [True, True] Translation: X:112.64, Y:6.47, Z:-0.08 [[ 9.99948446e-01 -9.21704024e-03 -4.26049716e-03 1.12642246e+02] [ 9.21585378e-03 9.99957489e-01 -2.98028958e-04 6.46525027e+00] [ 4.26306299e-03 2.58749475e-04 9.99990880e-01 -7.93774925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.841400513 meters Centerline goodness [0,1] 0.9993178135925642 Centerline is valid? [True, True] Translation: X:112.67, Y:6.47, Z:-0.08 [[ 9.99927432e-01 -1.13237406e-02 -4.11139983e-03 1.12671498e+02] [ 1.13226532e-02 9.99935855e-01 -2.87667686e-04 6.46602318e+00] [ 4.11439358e-03 2.41094857e-04 9.99991507e-01 -7.98718664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.871400513 meters Centerline goodness [0,1] 0.9993839617631439 Centerline is valid? [True, True] Translation: X:112.70, Y:6.46, Z:-0.08 [[ 9.99907868e-01 -1.28052913e-02 -4.50330094e-03 1.12701998e+02] [ 1.28040014e-02 9.99917976e-01 -3.15156956e-04 6.46330148e+00] [ 4.50696724e-03 2.57467648e-04 9.99989810e-01 -8.03750632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.901400513 meters Centerline goodness [0,1] 0.9994878579659425 Centerline is valid? [True, True] Translation: X:112.73, Y:6.46, Z:-0.08 [[ 9.99897368e-01 -1.35647153e-02 -4.60988765e-03 1.12731202e+02] [ 1.35633691e-02 9.99907961e-01 -3.23166459e-04 6.45788067e+00] [ 4.61384702e-03 2.60607684e-04 9.99989322e-01 -8.02434403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.93140051299997 meters Centerline goodness [0,1] 0.9996543231214622 Centerline is valid? [True, True] Translation: X:112.76, Y:6.45, Z:-0.08 [[ 9.99884240e-01 -1.44790658e-02 -4.67591567e-03 1.12760775e+02] [ 1.44776871e-02 9.99895139e-01 -3.28566184e-04 6.44909065e+00] [ 4.68018268e-03 2.60831706e-04 9.99989014e-01 -7.98817421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.96140051299997 meters Centerline goodness [0,1] 0.9994704623922391 Centerline is valid? [True, True] Translation: X:112.79, Y:6.46, Z:-0.08 [[ 9.99874925e-01 -1.52108022e-02 -4.33198418e-03 1.12788478e+02] [ 1.52096241e-02 9.99884281e-01 -3.04774511e-04 6.45567840e+00] [ 4.33611875e-03 2.38848540e-04 9.99990570e-01 -7.99453425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.99140051299997 meters Centerline goodness [0,1] 0.9998285910181693 Centerline is valid? [True, True] Translation: X:112.82, Y:6.45, Z:-0.08 [[ 9.99863281e-01 -1.61459795e-02 -3.56752647e-03 1.12817996e+02] [ 1.61451859e-02 9.99869626e-01 -2.51160338e-04 6.44902273e+00] [ 3.57111659e-03 1.93527622e-04 9.99993605e-01 -7.84912458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.02140051299997 meters Centerline goodness [0,1] 0.9998917233314565 Centerline is valid? [True, True] Translation: X:112.85, Y:6.45, Z:-0.08 [[ 9.99853388e-01 -1.69471590e-02 -2.44891045e-03 1.12845689e+02] [ 1.69467871e-02 9.99856378e-01 -1.72516821e-04 6.45045437e+00] [ 2.45148240e-03 1.30990364e-04 9.99996987e-01 -7.66929569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.05140051299998 meters Centerline goodness [0,1] 0.9996797608881298 Centerline is valid? [True, True] Translation: X:112.87, Y:6.45, Z:-0.07 [[ 9.99830448e-01 -1.84052563e-02 -5.67866505e-04 1.12874590e+02] [ 1.84052366e-02 9.99830608e-01 -3.99881095e-05 6.44727395e+00] [ 5.68506305e-04 2.95296120e-05 9.99999838e-01 -7.37825598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.08140051299998 meters Centerline goodness [0,1] 0.9994706754181664 Centerline is valid? [True, True] Translation: X:112.90, Y:6.46, Z:-0.07 [[ 9.99799037e-01 -2.00283639e-02 -8.66634192e-04 1.12903049e+02] [ 2.00283185e-02 9.99799411e-01 -6.11083361e-05 6.45986133e+00] [ 8.67684255e-04 4.37388300e-05 9.99999623e-01 -7.43710579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.11140051299998 meters Centerline goodness [0,1] 0.9999785656106658 Centerline is valid? [True, True] Translation: X:112.93, Y:6.45, Z:-0.08 [[ 9.99753562e-01 -2.21380290e-02 -1.65038659e-03 1.12933818e+02] [ 2.21378669e-02 9.99754921e-01 -1.16433642e-04 6.44873318e+00] [ 1.65255973e-03 7.98689091e-05 9.99998631e-01 -7.57954393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.14140051299998 meters Centerline goodness [0,1] 0.9999354769330036 Centerline is valid? [True, True] Translation: X:112.96, Y:6.45, Z:-0.08 [[ 9.99619364e-01 -2.73401643e-02 -3.69354333e-03 1.12962435e+02] [ 2.73393875e-02 9.99626175e-01 -2.60652835e-04 6.44961461e+00] [ 3.69928888e-03 1.59574408e-04 9.99993145e-01 -7.86603298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.17140051299998 meters Centerline goodness [0,1] 0.9998923735927847 Centerline is valid? [True, True] Translation: X:112.99, Y:6.45, Z:-0.08 [[ 9.99519788e-01 -3.07388411e-02 -3.91378602e-03 1.12993177e+02] [ 3.07379945e-02 9.99527438e-01 -2.76283019e-04 6.44677007e+00] [ 3.92042914e-03 1.55848411e-04 9.99992303e-01 -7.83584399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.20140051299998 meters Centerline goodness [0,1] 0.9999782277378619 Centerline is valid? [True, True] Translation: X:113.02, Y:6.45, Z:-0.08 [[ 9.99391683e-01 -3.46916960e-02 -3.57079131e-03 1.13022984e+02] [ 3.46910162e-02 9.99398054e-01 -2.52152494e-04 6.44562377e+00] [ 3.57738948e-03 1.28124726e-04 9.99993593e-01 -7.79182462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.23140051299998 meters Centerline goodness [0,1] 0.9999360368427785 Centerline is valid? [True, True] Translation: X:113.05, Y:6.45, Z:-0.08 [[ 9.99228518e-01 -3.91523197e-02 -3.07662847e-03 1.13051503e+02] [ 3.91518361e-02 9.99233249e-01 -2.17278793e-04 6.44857427e+00] [ 3.08277643e-03 9.66555127e-05 9.99995244e-01 -7.77543573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.26140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.08, Y:6.44, Z:-0.08 [[ 9.99030248e-01 -4.39334860e-02 -2.90046858e-03 1.13082365e+02] [ 4.39330762e-02 9.99034455e-01 -2.04853459e-04 6.44430882e+00] [ 2.90666798e-03 7.72282945e-05 9.99995773e-01 -7.78414628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.29140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.11, Y:6.43, Z:-0.08 [[ 9.98547299e-01 -5.36764250e-02 -4.70459884e-03 1.13113686e+02] [ 5.36754551e-02 9.98558378e-01 -3.32266873e-04 6.43277404e+00] [ 4.71565149e-03 7.92627046e-05 9.99988878e-01 -8.13443373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.321400513 meters Centerline goodness [0,1] 0.9998473948114236 Centerline is valid? [True, True] Translation: X:113.14, Y:6.43, Z:-0.08 [[ 9.98230560e-01 -5.91301553e-02 -6.27493249e-03 1.13143064e+02] [ 5.91285361e-02 9.98250279e-01 -4.43395869e-04 6.42683773e+00] [ 6.29017118e-03 7.15837332e-05 9.99980214e-01 -8.27931304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.351400513 meters Centerline goodness [0,1] 0.9999341469839319 Centerline is valid? [True, True] Translation: X:113.17, Y:6.42, Z:-0.08 [[ 9.97929048e-01 -6.39922365e-02 -6.52756250e-03 1.13172455e+02] [ 6.39905819e-02 9.97950395e-01 -4.62231393e-04 6.42272620e+00] [ 6.54376280e-03 4.35716112e-05 9.99978588e-01 -8.26681890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.381400513 meters Centerline goodness [0,1] 0.9998490598585476 Centerline is valid? [True, True] Translation: X:113.20, Y:6.42, Z:-0.08 [[ 9.97705234e-01 -6.73343009e-02 -7.09631128e-03 1.13200543e+02] [ 6.73324256e-02 9.97730470e-01 -5.03112945e-04 6.42194660e+00] [ 7.11408275e-03 2.41465675e-05 9.99974694e-01 -8.30816514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.411400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.23, Y:6.42, Z:-0.08 [[ 9.97573921e-01 -6.92746287e-02 -6.87729889e-03 1.13228881e+02] [ 6.92729056e-02 9.97597627e-01 -4.88736728e-04 6.42228219e+00] [ 6.89463411e-03 1.11405370e-05 9.99976232e-01 -8.26391897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.441400513 meters Centerline goodness [0,1] 0.9999351897859102 Centerline is valid? [True, True] Translation: X:113.26, Y:6.42, Z:-0.08 [[ 9.97470329e-01 -7.08251766e-02 -6.06109801e-03 1.13256702e+02] [ 7.08238598e-02 9.97488744e-01 -4.31878515e-04 6.42307433e+00] [ 6.07646491e-03 1.51564850e-06 9.99981538e-01 -8.08628262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.471400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.28, Y:6.43, Z:-0.08 [[ 9.97572181e-01 -6.95085365e-02 -4.27875485e-03 1.13284141e+02] [ 6.95078650e-02 9.97581357e-01 -3.05643698e-04 6.42794311e+00] [ 4.28965091e-03 7.49453578e-06 9.99990799e-01 -7.88061962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.501400513 meters Centerline goodness [0,1] 0.9999568695952211 Centerline is valid? [True, True] Translation: X:113.31, Y:6.44, Z:-0.08 [[ 9.97719903e-01 -6.74024860e-02 -3.44962014e-03 1.13311865e+02] [ 6.74020357e-02 9.97725867e-01 -2.46751754e-04 6.43501938e+00] [ 3.45840693e-03 1.36777156e-05 9.99994020e-01 -7.72297800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.531400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.34, Y:6.44, Z:-0.08 [[ 9.97939359e-01 -6.41090084e-02 -2.65898063e-03 1.13338831e+02] [ 6.41087288e-02 9.97942902e-01 -1.90338946e-04 6.44341539e+00] [ 2.66571329e-03 1.94828581e-05 9.99996447e-01 -7.62575817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.561400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.37, Y:6.45, Z:-0.08 [[ 9.98131057e-01 -6.10420872e-02 -2.87352740e-03 1.13366944e+02] [ 6.10417470e-02 9.98135193e-01 -2.06040075e-04 6.45093437e+00] [ 2.88074594e-03 3.02498654e-05 9.99995850e-01 -7.64194173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.591400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.40, Y:6.46, Z:-0.08 [[ 9.98453743e-01 -5.54576514e-02 -3.81719931e-03 1.13395696e+02] [ 5.54570089e-02 9.98461038e-01 -2.74044915e-04 6.46193400e+00] [ 3.82652267e-03 6.19307152e-05 9.99992677e-01 -7.72849990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.621400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.42, Y:6.47, Z:-0.08 [[ 9.98593408e-01 -5.28673028e-02 -4.03171248e-03 1.13423834e+02] [ 5.28665629e-02 9.98601543e-01 -2.89942457e-04 6.46994808e+00] [ 4.04140278e-03 7.63918449e-05 9.99991831e-01 -7.76172317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.651400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.45, Y:6.48, Z:-0.08 [[ 9.98747397e-01 -4.98515895e-02 -4.29595741e-03 1.13451358e+02] [ 4.98507199e-02 9.98756632e-01 -3.09321718e-04 6.47967315e+00] [ 4.30603613e-03 9.47776910e-05 9.99990724e-01 -7.81252348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.68140051299997 meters Centerline goodness [0,1] 0.9999568881895196 Centerline is valid? [True, True] Translation: X:113.48, Y:6.49, Z:-0.08 [[ 9.98893241e-01 -4.67981445e-02 -4.71442571e-03 1.13480344e+02] [ 4.67970626e-02 9.98904360e-01 -3.39602232e-04 6.48807410e+00] [ 4.72515315e-03 1.18605099e-04 9.99988829e-01 -7.79610478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.71140051299997 meters Centerline goodness [0,1] 0.9999785407725322 Centerline is valid? [True, True] Translation: X:113.51, Y:6.50, Z:-0.08 [[ 9.99166146e-01 -4.05342194e-02 -4.89797239e-03 1.13510051e+02] [ 4.05329762e-02 9.99178139e-01 -3.52865508e-04 6.50288110e+00] [ 4.90825006e-03 1.54041872e-04 9.99987943e-01 -7.83184967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.74140051299997 meters Centerline goodness [0,1] 0.9999569262577532 Centerline is valid? [True, True] Translation: X:113.54, Y:6.52, Z:-0.08 [[ 9.99265033e-01 -3.79772105e-02 -5.20815116e-03 1.13537177e+02] [ 3.79757689e-02 9.99278590e-01 -3.75432029e-04 6.51564071e+00] [ 5.21865181e-03 1.77372554e-04 9.99986367e-01 -7.98222343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.77140051299997 meters Centerline goodness [0,1] 0.999957296893349 Centerline is valid? [True, True] Translation: X:113.57, Y:6.52, Z:-0.08 [[ 9.99353447e-01 -3.55839822e-02 -5.14475358e-03 1.13566488e+02] [ 3.55825431e-02 9.99366672e-01 -3.71022136e-04 6.52303952e+00] [ 5.15469771e-03 1.87718835e-04 9.99986697e-01 -8.01952950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.80140051299998 meters Centerline goodness [0,1] 0.9999781935540145 Centerline is valid? [True, True] Translation: X:113.60, Y:6.53, Z:-0.08 [[ 9.99420228e-01 -3.37158577e-02 -4.73797223e-03 1.13595812e+02] [ 3.37146157e-02 9.99431442e-01 -3.41795404e-04 6.53075122e+00] [ 4.74680235e-03 1.81858328e-04 9.99988717e-01 -8.06639067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.83140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.63, Y:6.54, Z:-0.08 [[ 9.99497794e-01 -3.14223208e-02 -4.09857913e-03 1.13625024e+02] [ 3.14213718e-02 9.99506183e-01 -2.95762342e-04 6.54091781e+00] [ 4.10584872e-03 1.66830830e-04 9.99991557e-01 -7.96819315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.86140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.65, Y:6.54, Z:-0.08 [[ 9.99491877e-01 -3.16099700e-02 -4.09853878e-03 1.13652476e+02] [ 3.16090202e-02 9.99500266e-01 -2.96320767e-04 6.54305084e+00] [ 4.10585729e-03 1.66619405e-04 9.99991557e-01 -7.96464748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.89140051299998 meters Centerline goodness [0,1] 0.9999574259744131 Centerline is valid? [True, True] Translation: X:113.68, Y:6.55, Z:-0.08 [[ 9.99509035e-01 -3.11255997e-02 -3.58968959e-03 1.13679715e+02] [ 3.11248667e-02 9.99515470e-01 -2.59878787e-04 6.55079117e+00] [ 3.59603916e-03 1.48022585e-04 9.99993523e-01 -7.86805243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.92140051299998 meters Centerline goodness [0,1] 0.9998941059364213 Centerline is valid? [True, True] Translation: X:113.71, Y:6.56, Z:-0.08 [[ 9.99512867e-01 -3.10048255e-02 -3.56783239e-03 1.13706869e+02] [ 3.10041000e-02 9.99519224e-01 -2.58501075e-04 6.55791100e+00] [ 3.57413184e-03 1.47757719e-04 9.99993602e-01 -7.87716147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.95140051299998 meters Centerline goodness [0,1] 0.9999357560442855 Centerline is valid? [True, True] Translation: X:113.74, Y:6.56, Z:-0.08 [[ 9.99501703e-01 -3.13447938e-02 -3.72147204e-03 1.13735193e+02] [ 3.13440047e-02 9.99508619e-01 -2.70168488e-04 6.55840480e+00] [ 3.72811176e-03 1.53388027e-04 9.99993039e-01 -7.87996382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.98140051299998 meters Centerline goodness [0,1] 0.9999361552703824 Centerline is valid? [True, True] Translation: X:113.76, Y:6.57, Z:-0.08 [[ 9.99485856e-01 -3.18444208e-02 -3.73571043e-03 1.13762774e+02] [ 3.18436278e-02 9.99492826e-01 -2.71589109e-04 6.56683155e+00] [ 3.74246438e-03 1.52490901e-04 9.99992985e-01 -7.90527610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.01140051299998 meters Centerline goodness [0,1] 0.9999570557416474 Centerline is valid? [True, True] Translation: X:113.79, Y:6.57, Z:-0.08 [[ 9.99439566e-01 -3.32641368e-02 -3.74851316e-03 1.13791545e+02] [ 3.32633465e-02 9.99446584e-01 -2.72988568e-04 6.56790014e+00] [ 3.75551940e-03 1.48147484e-04 9.99992937e-01 -7.94009928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.04140051299999 meters Centerline goodness [0,1] 0.9997426383854848 Centerline is valid? [True, True] Translation: X:113.82, Y:6.58, Z:-0.08 [[ 9.99412262e-01 -3.38072283e-02 -5.67462910e-03 1.13818974e+02] [ 3.37671098e-02 9.99405055e-01 -7.02270169e-03 6.57794090e+00] [ 5.90867109e-03 6.82695836e-03 9.99959239e-01 -8.01369201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.071400513 meters Centerline goodness [0,1] 0.9999786009287197 Centerline is valid? [True, True] Translation: X:113.85, Y:6.57, Z:-0.08 [[ 9.99371154e-01 -3.51391747e-02 -4.74710615e-03 1.13848991e+02] [ 3.51684782e-02 9.99361934e-01 6.23729993e-03 6.56788133e+00] [ 4.52490360e-03 -6.40032613e-03 9.99969280e-01 -7.87762693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.101400513 meters Centerline goodness [0,1] 0.9999351351351351 Centerline is valid? [True, True] Translation: X:113.88, Y:6.57, Z:-0.08 [[ 9.99347505e-01 -3.57938286e-02 -4.83377418e-03 1.13877622e+02] [ 3.57925366e-02 9.99359179e-01 -3.53558751e-04 6.57159151e+00] [ 4.84333181e-03 1.80315016e-04 9.99988255e-01 -7.96116058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.131400513 meters Centerline goodness [0,1] 0.9998936600097833 Centerline is valid? [True, True] Translation: X:113.91, Y:6.59, Z:-0.08 [[ 9.99402544e-01 -3.40221010e-02 -6.08696059e-03 1.13905698e+02] [ 3.40200166e-02 9.99421052e-01 -4.45669154e-04 6.58519161e+00] [ 6.09859916e-03 2.38324386e-04 9.99981375e-01 -8.28939976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.161400513 meters Centerline goodness [0,1] 0.9999565755476909 Centerline is valid? [True, True] Translation: X:113.94, Y:6.58, Z:-0.08 [[ 9.99448211e-01 -3.27503886e-02 -5.53947222e-03 1.13935065e+02] [ 3.27486387e-02 9.99463537e-01 -4.06343472e-04 6.57797525e+00] [ 5.54980840e-03 2.24709082e-04 9.99984574e-01 -8.12082299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.191400513 meters Centerline goodness [0,1] 0.9998297075226702 Centerline is valid? [True, True] Translation: X:113.96, Y:6.59, Z:-0.08 [[ 9.99480533e-01 -3.18954408e-02 -4.62002157e-03 1.13961896e+02] [ 3.18942120e-02 9.99491193e-01 -3.39427498e-04 6.58549397e+00] [ 4.62849706e-03 1.91899229e-04 9.99989270e-01 -7.99798583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.221400513 meters Centerline goodness [0,1] 0.9999786324786325 Centerline is valid? [True, True] Translation: X:113.99, Y:6.58, Z:-0.08 [[ 9.99499344e-01 -3.14730498e-02 -3.24161514e-03 1.13991366e+02] [ 3.14724412e-02 9.99504592e-01 -2.38578137e-04 6.58274124e+00] [ 3.24751799e-03 1.36437150e-04 9.99994717e-01 -7.77820321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.251400513 meters Centerline goodness [0,1] 0.9997425334706488 Centerline is valid? [True, True] Translation: X:114.02, Y:6.59, Z:-0.08 [[ 9.99528247e-01 -3.04723112e-02 -3.83685011e-03 1.14017854e+02] [ 3.04475841e-02 9.99516219e-01 -6.34605323e-03 6.59192025e+00] [ 4.02837282e-03 6.22623664e-03 9.99972503e-01 -7.86787870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.281400513 meters Centerline goodness [0,1] 0.9999141077947177 Centerline is valid? [True, True] Translation: X:114.05, Y:6.58, Z:-0.08 [[ 9.99531750e-01 -3.04321676e-02 -3.18807682e-03 1.14049943e+02] [ 3.04496748e-02 9.99520642e-01 5.59492696e-03 6.57791670e+00] [ 3.01628283e-03 -5.68938304e-03 9.99979266e-01 -7.68297629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.311400513 meters Centerline goodness [0,1] 0.9999568919064554 Centerline is valid? [True, True] Translation: X:114.08, Y:6.58, Z:-0.08 [[ 9.99565521e-01 -2.93825123e-02 -2.33189601e-03 1.14078325e+02] [ 2.93821902e-02 9.99568235e-01 -1.72259223e-04 6.58285511e+00] [ 2.33595059e-03 1.03668167e-04 9.99997266e-01 -7.66952346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.341400513 meters Centerline goodness [0,1] 0.9996750996361116 Centerline is valid? [True, True] Translation: X:114.11, Y:6.58, Z:-0.08 [[ 9.99595752e-01 -2.83149247e-02 -2.56866620e-03 1.14106977e+02] [ 2.83145296e-02 9.99599045e-01 -1.90076172e-04 6.58151680e+00] [ 2.57301828e-03 1.17268759e-04 9.99996683e-01 -7.65425720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.371400513 meters Centerline goodness [0,1] 0.9998707899043845 Centerline is valid? [True, True] Translation: X:114.14, Y:6.59, Z:-0.08 [[ 9.99679778e-01 -2.51322590e-02 -2.95137064e-03 1.14135956e+02] [ 2.51317231e-02 9.99684124e-01 -2.18510577e-04 6.59034579e+00] [ 2.95593003e-03 1.44267576e-04 9.99995621e-01 -7.69112582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.401400513 meters Centerline goodness [0,1] 0.9997855641806407 Centerline is valid? [True, True] Translation: X:114.16, Y:6.60, Z:-0.08 [[ 9.99732247e-01 -2.29110792e-02 -3.24298079e-03 1.14164350e+02] [ 2.29104205e-02 9.99737493e-01 -2.40131371e-04 6.59693057e+00] [ 3.24763116e-03 1.65769022e-04 9.99994713e-01 -7.71779166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.43140051299997 meters Centerline goodness [0,1] 0.9995705481952288 Centerline is valid? [True, True] Translation: X:114.19, Y:6.60, Z:-0.08 [[ 9.99791682e-01 -2.00655662e-02 -3.73695396e-03 1.14194472e+02] [ 2.00646715e-02 9.99798646e-01 -2.76756088e-04 6.60189329e+00] [ 3.74175478e-03 2.01717681e-04 9.99992979e-01 -7.77929669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.46140051299997 meters Centerline goodness [0,1] 0.9993790282863322 Centerline is valid? [True, True] Translation: X:114.22, Y:6.60, Z:-0.08 [[ 9.99846199e-01 -1.70219279e-02 -4.22288799e-03 1.14224868e+02] [ 1.70207582e-02 9.99855087e-01 -3.12779913e-04 6.60496924e+00] [ 4.22760015e-03 2.40855052e-04 9.99991035e-01 -7.80752356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.49140051299997 meters Centerline goodness [0,1] 0.9992969299273494 Centerline is valid? [True, True] Translation: X:114.25, Y:6.61, Z:-0.08 [[ 9.99881606e-01 -1.45478466e-02 -5.01331420e-03 1.14254382e+02] [ 1.45461668e-02 9.99894130e-01 -3.71372912e-04 6.60792966e+00] [ 5.01818612e-03 2.98404439e-04 9.99987364e-01 -7.89818778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.52140051299997 meters Centerline goodness [0,1] 0.9995063424266489 Centerline is valid? [True, True] Translation: X:114.28, Y:6.61, Z:-0.08 [[ 9.99929888e-01 -1.08587413e-02 -4.72308143e-03 1.14284370e+02] [ 1.08572092e-02 9.99940998e-01 -3.49901026e-04 6.61173536e+00] [ 4.72660224e-03 2.98597010e-04 9.99988785e-01 -7.92630674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.55140051299998 meters Centerline goodness [0,1] 0.999460218071899 Centerline is valid? [True, True] Translation: X:114.31, Y:6.61, Z:-0.08 [[ 9.99936713e-01 -1.04308605e-02 -4.21515250e-03 1.14313056e+02] [ 1.04296345e-02 9.99945561e-01 -3.12738068e-04 6.61486060e+00] [ 4.21818516e-03 2.68755776e-04 9.99991067e-01 -7.84010571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.58140051299998 meters Centerline goodness [0,1] 0.9996340544613066 Centerline is valid? [True, True] Translation: X:114.34, Y:6.62, Z:-0.08 [[ 9.99937769e-01 -1.05663429e-02 -3.57910710e-03 1.14341035e+02] [ 1.05654577e-02 9.99944149e-01 -2.66147819e-04 6.61580728e+00] [ 3.58171941e-03 2.28316352e-04 9.99993560e-01 -7.68611991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.61140051299998 meters Centerline goodness [0,1] 0.9991050882127334 Centerline is valid? [True, True] Translation: X:114.37, Y:6.62, Z:-0.08 [[ 9.99932939e-01 -1.11676600e-02 -3.06599238e-03 1.14368525e+02] [ 1.11670123e-02 9.99937621e-01 -2.28310278e-04 6.61900330e+00] [ 3.06835082e-03 1.94056993e-04 9.99995274e-01 -7.52999185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.64140051299998 meters Centerline goodness [0,1] 0.9992979022169269 Centerline is valid? [True, True] Translation: X:114.40, Y:6.62, Z:-0.08 [[ 9.99932368e-01 -1.10902861e-02 -3.50207781e-03 1.14396800e+02] [ 1.10894397e-02 9.99938476e-01 -2.60995560e-04 6.62083430e+00] [ 3.50475686e-03 2.22141827e-04 9.99993834e-01 -7.65769006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.67140051299998 meters Centerline goodness [0,1] 0.9994804969912118 Centerline is valid? [True, True] Translation: X:114.43, Y:6.62, Z:-0.08 [[ 9.99932078e-01 -1.08621278e-02 -4.22541771e-03 1.14426064e+02] [ 1.08608913e-02 9.99940969e-01 -3.15464432e-04 6.61904960e+00] [ 4.22859490e-03 2.69551203e-04 9.99991023e-01 -7.80609347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.70140051299998 meters Centerline goodness [0,1] 0.9991591565693588 Centerline is valid? [True, True] Translation: X:114.45, Y:6.62, Z:-0.08 [[ 9.99940580e-01 -9.88750700e-03 -4.59065160e-03 1.14454320e+02] [ 9.88603565e-03 9.99951073e-01 -3.43092353e-04 6.62355098e+00] [ 4.59381932e-03 2.97688621e-04 9.99989404e-01 -7.91330747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.73140051299998 meters Centerline goodness [0,1] 0.9950838083532877 Centerline is valid? [True, True] Translation: X:114.48, Y:6.64, Z:-0.08 [[ 9.99968160e-01 -7.12108020e-03 -3.60137111e-03 1.14483105e+02] [ 7.12015668e-03 9.99974615e-01 -2.69191471e-04 6.63760489e+00] [ 3.60319662e-03 2.43540573e-04 9.99993479e-01 -7.77358944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.76140051299998 meters Centerline goodness [0,1] 0.9968451550595557 Centerline is valid? [True, True] Translation: X:114.51, Y:6.64, Z:-0.08 [[ 9.99980927e-01 -5.25781594e-03 -3.24059618e-03 1.14512867e+02] [ 5.25705839e-03 9.99986152e-01 -2.42243916e-04 6.64056610e+00] [ 3.24182498e-03 2.25203293e-04 9.99994720e-01 -7.69664721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.79140051299999 meters Centerline goodness [0,1] 0.9947280442329948 Centerline is valid? [True, True] Translation: X:114.54, Y:6.65, Z:-0.08 [[ 9.99986143e-01 -3.36812996e-03 -4.04604415e-03 1.14543122e+02] [ 3.36693355e-03 9.99994286e-01 -3.02473120e-04 6.64646015e+00] [ 4.04703980e-03 2.88846167e-04 9.99991769e-01 -7.78130655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.821400513 meters Centerline goodness [0,1] 0.9980977086035452 Centerline is valid? [True, True] Translation: X:114.57, Y:6.65, Z:-0.08 [[ 9.99985805e-01 -1.94232395e-03 -4.96163432e-03 1.14573846e+02] [ 1.94050734e-03 9.99998048e-01 -3.70920573e-04 6.64573825e+00] [ 4.96234509e-03 3.61287220e-04 9.99987622e-01 -7.90374541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.851400513 meters Centerline goodness [0,1] 0.9909929093115857 Centerline is valid? [True, True] Translation: X:114.60, Y:6.65, Z:-0.08 [[ 9.99984376e-01 -1.24367727e-03 -5.44986107e-03 1.14601421e+02] [ 1.24147420e-03 9.99999146e-01 -4.07607131e-04 6.65290411e+00] [ 5.45036335e-03 4.00834900e-04 9.99985066e-01 -7.94999044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.881400513 meters Centerline goodness [0,1] 0.9080398472663667 Centerline is valid? [True, False] Translation: X:114.60, Y:6.65, Z:-0.08 [[ 9.99986068e-01 -1.34799243e-03 -5.10367750e-03 1.14599898e+02] [ 1.34425872e-03 9.99998826e-01 -7.34933397e-04 6.65459016e+00] [ 5.10466219e-03 7.28062495e-04 9.99986706e-01 -7.87810521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.911400513 meters Centerline goodness [0,1] 0.9860386915529827 Centerline is valid? [False, True] Translation: X:114.60, Y:6.66, Z:-0.08 [[ 9.99986597e-01 -1.56294486e-03 -4.93582141e-03 1.14599118e+02] [ 1.55681912e-03 9.99998014e-01 -1.24467612e-03 6.65704644e+00] [ 4.93775696e-03 1.23697525e-03 9.99987044e-01 -7.83868755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.941400513 meters Centerline goodness [0,1] 0.9497328024867466 Centerline is valid? [True, False] Translation: X:114.60, Y:6.66, Z:-0.08 [[ 9.99986615e-01 -1.83114851e-03 -4.83904133e-03 1.14598775e+02] [ 1.82214511e-03 9.99996602e-01 -1.86432923e-03 6.65997718e+00] [ 4.84243875e-03 1.85548684e-03 9.99986554e-01 -7.83688029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.971400513 meters Centerline goodness [0,1] 0.9360519791399504 Centerline is valid? [False, False] Translation: X:114.60, Y:6.66, Z:-0.08 [[ 9.99985982e-01 -2.09492483e-03 -4.86273987e-03 1.14599019e+02] [ 2.08300930e-03 9.99994819e-01 -2.45414625e-03 6.66271183e+00] [ 4.86785593e-03 2.44398272e-03 9.99985165e-01 -7.87200639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.001400513 meters Centerline goodness [0,1] 0.9969836687206446 Centerline is valid? [False, True] Translation: X:114.60, Y:6.67, Z:-0.08 [[ 9.99984152e-01 -2.46955156e-03 -5.05931278e-03 1.14600226e+02] [ 2.45311082e-03 9.99991699e-01 -3.25323170e-03 6.66632384e+00] [ 5.06730480e-03 3.24076908e-03 9.99981910e-01 -7.98772356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.031400513 meters Centerline goodness [0,1] 0.9619703930576825 Centerline is valid? [True, True] Translation: X:114.63, Y:6.68, Z:-0.08 [[ 9.99979650e-01 -3.27685702e-03 -5.47365682e-03 1.14627507e+02] [ 3.27464941e-03 9.99994553e-01 -4.12228865e-04 6.67537934e+00] [ 5.47497782e-03 3.94296169e-04 9.99984934e-01 -8.04120791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.061400513 meters Centerline goodness [0,1] 0.953406162822888 Centerline is valid? [True, True] Translation: X:114.65, Y:6.68, Z:-0.08 [[ 9.99978454e-01 -4.06162486e-03 -5.15696055e-03 1.14654837e+02] [ 4.05967394e-03 9.99991684e-01 -3.88721218e-04 6.67866704e+00] [ 5.15849650e-03 3.67777264e-04 9.99986627e-01 -8.00282281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.091400513 meters Centerline goodness [0,1] 0.9986151083028585 Centerline is valid? [True, True] Translation: X:114.68, Y:6.67, Z:-0.08 [[ 9.99978639e-01 -4.83660475e-03 -4.39634346e-03 1.14684141e+02] [ 4.83519342e-03 9.99988255e-01 -3.31593849e-04 6.66853252e+00] [ 4.39789562e-03 3.10329595e-04 9.99990281e-01 -7.84043005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.121400513 meters Centerline goodness [0,1] 0.9994560132297583 Centerline is valid? [True, True] Translation: X:114.71, Y:6.67, Z:-0.08 [[ 9.99962635e-01 -7.26239515e-03 -4.68888551e-03 1.14714093e+02] [ 7.26081549e-03 9.99973577e-01 -3.53829623e-04 6.66875250e+00] [ 4.69133127e-03 3.19771270e-04 9.99988945e-01 -7.81424458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.151400513 meters Centerline goodness [0,1] 0.9990693849283643 Centerline is valid? [True, True] Translation: X:114.74, Y:6.68, Z:-0.08 [[ 9.99947765e-01 -8.57752225e-03 -5.55819193e-03 1.14743026e+02] [ 8.57532215e-03 9.99963143e-01 -4.19540315e-04 6.67519682e+00] [ 5.56158569e-03 3.71855114e-04 9.99984465e-01 -7.95236902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.18140051299997 meters Centerline goodness [0,1] 0.9976709401709402 Centerline is valid? [True, True] Translation: X:114.77, Y:6.68, Z:-0.08 [[ 9.99935038e-01 -9.52924777e-03 -6.25406221e-03 1.14770925e+02] [ 9.52647938e-03 9.99954511e-01 -4.72296131e-04 6.68225911e+00] [ 6.25827834e-03 4.12686255e-04 9.99980332e-01 -8.10285333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.21140051299997 meters Centerline goodness [0,1] 0.9993538382010856 Centerline is valid? [True, True] Translation: X:114.80, Y:6.68, Z:-0.08 [[ 9.99927370e-01 -1.01495314e-02 -6.49940116e-03 1.14800869e+02] [ 1.01465517e-02 9.99948402e-01 -4.91274769e-04 6.67534109e+00] [ 6.50405201e-03 4.25292578e-04 9.99978758e-01 -8.10557202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.24140051299997 meters Centerline goodness [0,1] 0.9992922403809034 Centerline is valid? [True, True] Translation: X:114.83, Y:6.68, Z:-0.08 [[ 9.99931132e-01 -9.95391164e-03 -6.21693362e-03 1.14828375e+02] [ 9.95117879e-03 9.99950375e-01 -4.70360838e-04 6.68111696e+00] [ 6.22130703e-03 4.08462627e-04 9.99980564e-01 -8.08918608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.27140051299997 meters Centerline goodness [0,1] 0.9966567291311754 Centerline is valid? [True, True] Translation: X:114.86, Y:6.69, Z:-0.08 [[ 9.99951993e-01 -8.06384352e-03 -5.56646889e-03 1.14856562e+02] [ 8.06162228e-03 9.99967416e-01 -4.21363311e-04 6.69214851e+00] [ 5.56968532e-03 3.76468313e-04 9.99984418e-01 -8.05073418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.30140051299998 meters Centerline goodness [0,1] 0.9834103363060063 Centerline is valid? [True, True] Translation: X:114.88, Y:6.70, Z:-0.08 [[ 9.99955253e-01 -7.24998167e-03 -6.07704428e-03 1.14884336e+02] [ 7.24731794e-03 9.99973632e-01 -4.60234093e-04 6.69977064e+00] [ 6.08022072e-03 4.16171226e-04 9.99981429e-01 -8.11034685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.33140051299998 meters Centerline goodness [0,1] 0.9958273013710296 Centerline is valid? [True, True] Translation: X:114.91, Y:6.70, Z:-0.08 [[ 9.99953440e-01 -6.96309942e-03 -6.68076148e-03 1.14913396e+02] [ 6.95986877e-03 9.99975651e-01 -5.06702278e-04 6.69710388e+00] [ 6.68412703e-03 4.60181462e-04 9.99977555e-01 -8.10524789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.36140051299998 meters Centerline goodness [0,1] 0.9893377988807869 Centerline is valid? [True, True] Translation: X:114.94, Y:6.70, Z:-0.08 [[ 9.99953472e-01 -6.77328016e-03 -6.86858072e-03 1.14941262e+02] [ 6.76985605e-03 9.99976948e-01 -5.21645036e-04 6.70089863e+00] [ 6.87195563e-03 4.75121462e-04 9.99976275e-01 -8.09043176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.39140051299998 meters Centerline goodness [0,1] 0.9955519611807522 Centerline is valid? [True, True] Translation: X:114.97, Y:6.70, Z:-0.08 [[ 9.99952924e-01 -6.25757601e-03 -7.41566045e-03 1.14969707e+02] [ 6.25356738e-03 9.99980287e-01 -5.63627427e-04 6.70032695e+00] [ 7.41904121e-03 5.17226562e-04 9.99972345e-01 -8.19476226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.42140051299998 meters Centerline goodness [0,1] 0.9979338398295418 Centerline is valid? [True, True] Translation: X:115.00, Y:6.70, Z:-0.08 [[ 9.99948882e-01 -6.36680111e-03 -7.85478389e-03 1.14998297e+02] [ 6.36229933e-03 9.99979582e-01 -5.97980898e-04 6.70126344e+00] [ 7.85843073e-03 5.47975844e-04 9.99968972e-01 -8.21093868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.45140051299998 meters Centerline goodness [0,1] 0.9795326624594918 Centerline is valid? [True, True] Translation: X:115.03, Y:6.71, Z:-0.08 [[ 9.99956158e-01 -6.01536637e-03 -7.17623995e-03 1.15025335e+02] [ 6.01159393e-03 9.99981781e-01 -5.47138873e-04 6.71304229e+00] [ 7.17940044e-03 5.03974245e-04 9.99974101e-01 -8.26081307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.48140051299998 meters Centerline goodness [0,1] 0.9973823674555324 Centerline is valid? [True, True] Translation: X:115.06, Y:6.71, Z:-0.08 [[ 9.99964522e-01 -4.93387533e-03 -6.82720561e-03 1.15055057e+02] [ 4.93043323e-03 9.99987710e-01 -5.20913015e-04 6.70853322e+00] [ 6.82969182e-03 4.87233453e-04 9.99976559e-01 -8.20125981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.51140051299998 meters Centerline goodness [0,1] 0.9941666666666666 Centerline is valid? [True, True] Translation: X:115.08, Y:6.71, Z:-0.08 [[ 9.99964426e-01 -4.40733386e-03 -7.19180449e-03 1.15082449e+02] [ 4.40349720e-03 9.99990154e-01 -5.49224295e-04 6.71399874e+00] [ 7.19415430e-03 5.17535666e-04 9.99973988e-01 -8.28808626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.54140051299999 meters Centerline goodness [0,1] 0.9979483857034878 Centerline is valid? [True, True] Translation: X:115.11, Y:6.71, Z:-0.08 [[ 9.99965285e-01 -3.96249062e-03 -7.32984066e-03 1.15111678e+02] [ 3.95848609e-03 9.99992008e-01 -5.60758732e-04 6.71446736e+00] [ 7.33200408e-03 5.31724193e-04 9.99972979e-01 -8.29803098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.571400513 meters Centerline goodness [0,1] 0.9839879479177875 Centerline is valid? [True, True] Translation: X:115.14, Y:6.73, Z:-0.08 [[ 9.99967084e-01 -3.69662493e-03 -7.22256864e-03 1.15138531e+02] [ 3.69272362e-03 9.99993029e-01 -5.53415600e-04 6.72559178e+00] [ 7.22456406e-03 5.26726434e-04 9.99973764e-01 -8.36001977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.601400513 meters Centerline goodness [0,1] 0.9706345156077231 Centerline is valid? [True, True] Translation: X:115.17, Y:6.73, Z:-0.08 [[ 9.99966883e-01 -3.71282833e-03 -7.24208209e-03 1.15166001e+02] [ 3.70890263e-03 9.99992968e-01 -5.55421891e-04 6.73226907e+00] [ 7.24409335e-03 5.28543320e-04 9.99973622e-01 -8.38540031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.631400513 meters Centerline goodness [0,1] 0.9972263754360875 Centerline is valid? [True, True] Translation: X:115.20, Y:6.73, Z:-0.08 [[ 9.99960156e-01 -5.36013992e-03 -7.13833278e-03 1.15196459e+02] [ 5.35636566e-03 9.99985505e-01 -5.47744566e-04 6.72773303e+00] [ 7.14116530e-03 5.09487221e-04 9.99974372e-01 -8.29063616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.661400513 meters Centerline goodness [0,1] 0.9989977776809447 Centerline is valid? [True, True] Translation: X:115.23, Y:6.73, Z:-0.08 [[ 9.99953896e-01 -6.91402151e-03 -6.66347447e-03 1.15226184e+02] [ 6.91076594e-03 9.99975990e-01 -5.11470097e-04 6.72665486e+00] [ 6.66685080e-03 4.65396804e-04 9.99977668e-01 -8.19118194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.691400513 meters Centerline goodness [0,1] 0.9986304594380604 Centerline is valid? [True, True] Translation: X:115.25, Y:6.73, Z:-0.08 [[ 9.99942311e-01 -8.80585515e-03 -6.15072620e-03 1.15254828e+02] [ 8.80311611e-03 9.99961140e-01 -4.72251139e-04 6.73038592e+00] [ 6.15464576e-03 4.18078338e-04 9.99980973e-01 -8.11854390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.721400513 meters Centerline goodness [0,1] 0.9992106329870074 Centerline is valid? [True, True] Translation: X:115.28, Y:6.73, Z:-0.08 [[ 9.99925271e-01 -1.08112571e-02 -5.70688590e-03 1.15284969e+02] [ 1.08089311e-02 9.99941486e-01 -4.38268650e-04 6.72956072e+00] [ 5.71129020e-03 3.76550562e-04 9.99983620e-01 -8.09106007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.751400513 meters Centerline goodness [0,1] 0.9992106329870074 Centerline is valid? [True, True] Translation: X:115.31, Y:6.73, Z:-0.08 [[ 9.99923257e-01 -1.09960065e-02 -5.70684367e-03 1.15312436e+02] [ 1.09936804e-02 9.99939471e-01 -4.38817789e-04 6.73181283e+00] [ 5.71132349e-03 3.76044897e-04 9.99983620e-01 -8.08299657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.781400513 meters Centerline goodness [0,1] 0.9990405730976697 Centerline is valid? [True, True] Translation: X:115.34, Y:6.74, Z:-0.08 [[ 9.99900786e-01 -1.29118076e-02 -5.63049494e-03 1.15341623e+02] [ 1.29095702e-02 9.99916574e-01 -4.33544633e-04 6.73539076e+00] [ 5.63562305e-03 3.60814350e-04 9.99984055e-01 -8.15691786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.811400513 meters Centerline goodness [0,1] 0.9995050144191452 Centerline is valid? [True, True] Translation: X:115.37, Y:6.73, Z:-0.08 [[ 9.99859615e-01 -1.59237159e-02 -5.21400324e-03 1.15372747e+02] [ 1.59218377e-02 9.99873159e-01 -4.01541807e-04 6.73244435e+00] [ 5.21973593e-03 3.18468923e-04 9.99986326e-01 -8.03130317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.841400513 meters Centerline goodness [0,1] 0.9994688761419163 Centerline is valid? [True, True] Translation: X:115.40, Y:6.73, Z:-0.08 [[ 9.99842399e-01 -1.70249376e-02 -5.03271654e-03 1.15401658e+02] [ 1.70232011e-02 9.99855020e-01 -3.87682769e-04 6.73148498e+00] [ 5.03858717e-03 3.01948724e-04 9.99987261e-01 -7.92971714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.871400513 meters Centerline goodness [0,1] 0.999743123193835 Centerline is valid? [True, True] Translation: X:115.43, Y:6.73, Z:-0.08 [[ 9.99826541e-01 -1.78994255e-02 -5.14762611e-03 1.15430797e+02] [ 1.78976177e-02 9.99839746e-01 -3.97034411e-04 6.72988391e+00] [ 5.15390787e-03 3.04835298e-04 9.99986672e-01 -7.91232481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.901400513 meters Centerline goodness [0,1] 0.9996806676175676 Centerline is valid? [True, True] Translation: X:115.46, Y:6.74, Z:-0.08 [[ 9.99834636e-01 -1.72260740e-02 -5.82784562e-03 1.15458604e+02] [ 1.72237414e-02 9.99851559e-01 -4.50206205e-04 6.73624439e+00] [ 5.83473581e-03 3.49754452e-04 9.99982917e-01 -8.03228102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.93140051299997 meters Centerline goodness [0,1] 0.99956979995698 Centerline is valid? [True, True] Translation: X:115.49, Y:6.74, Z:-0.08 [[ 9.99860247e-01 -1.55961582e-02 -6.02041861e-03 1.15488023e+02] [ 1.55936380e-02 9.99878304e-01 -4.65328880e-04 6.74025970e+00] [ 6.02694329e-03 3.71383621e-04 9.99981769e-01 -8.03697738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.96140051299997 meters Centerline goodness [0,1] 0.9974335044330378 Centerline is valid? [True, True] Translation: X:115.52, Y:6.75, Z:-0.08 [[ 9.99887652e-01 -1.36346522e-02 -6.22735104e-03 1.15516897e+02] [ 1.36319172e-02 9.99906965e-01 -4.81430730e-04 6.75038747e+00] [ 6.23333582e-03 3.96485909e-04 9.99980494e-01 -8.06415796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.99140051299997 meters Centerline goodness [0,1] 0.9980967452204782 Centerline is valid? [True, True] Translation: X:115.55, Y:6.75, Z:-0.08 [[ 9.99908902e-01 -1.17534378e-02 -6.63662798e-03 1.15547029e+02] [ 1.17502897e-02 9.99930831e-01 -5.13149473e-04 6.75208930e+00] [ 6.64220020e-03 4.35120424e-04 9.99977846e-01 -8.07895305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.02140051299997 meters Centerline goodness [0,1] 0.9839086370551305 Centerline is valid? [True, True] Translation: X:115.58, Y:6.76, Z:-0.08 [[ 9.99944673e-01 -8.63971234e-03 -6.00057063e-03 1.15575996e+02] [ 8.63708273e-03 9.99962592e-01 -4.64002686e-04 6.76109986e+00] [ 6.00435501e-03 4.12149589e-04 9.99981889e-01 -8.02581894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.05140051299998 meters Centerline goodness [0,1] 0.9828073480923222 Centerline is valid? [True, True] Translation: X:115.60, Y:6.76, Z:-0.08 [[ 9.99956099e-01 -7.99301077e-03 -4.88996524e-03 1.15604957e+02] [ 7.99125526e-03 9.99967998e-01 -3.78436242e-04 6.76209680e+00] [ 4.89283359e-03 3.39342668e-04 9.99987972e-01 -7.86991912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.08140051299998 meters Centerline goodness [0,1] 0.9991438539414824 Centerline is valid? [True, True] Translation: X:115.63, Y:6.75, Z:-0.08 [[ 9.99958967e-01 -7.99318753e-03 -4.26308579e-03 1.15634178e+02] [ 7.99185062e-03 9.99968010e-01 -3.30542526e-04 6.75293058e+00] [ 4.26559151e-03 2.96459018e-04 9.99990858e-01 -7.74509293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.11140051299998 meters Centerline goodness [0,1] 0.9994827028774652 Centerline is valid? [True, True] Translation: X:115.66, Y:6.75, Z:-0.08 [[ 9.99948022e-01 -9.08482137e-03 -4.62808504e-03 1.15663242e+02] [ 9.08325459e-03 9.99958682e-01 -3.59444333e-04 6.75155804e+00] [ 4.63115930e-03 3.17387575e-04 9.99989226e-01 -7.72378628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.14140051299998 meters Centerline goodness [0,1] 0.9982383775887256 Centerline is valid? [True, True] Translation: X:115.69, Y:6.76, Z:-0.08 [[ 9.99944732e-01 -9.43448801e-03 -4.63933950e-03 1.15690630e+02] [ 9.43291624e-03 9.99955444e-01 -3.60556781e-04 6.75687191e+00] [ 4.64253446e-03 3.16774353e-04 9.99989173e-01 -7.75386385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.17140051299998 meters Centerline goodness [0,1] 0.924163347037897 Centerline is valid? [True, False] Translation: X:115.69, Y:6.76, Z:-0.08 [[ 9.99945405e-01 -9.34864878e-03 -4.66789927e-03 1.15690690e+02] [ 9.34791915e-03 9.99956291e-01 -1.78099863e-04 6.75603397e+00] [ 4.66936023e-03 1.34454994e-04 9.99989089e-01 -7.74835964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.20140051299998 meters Centerline goodness [0,1] 0.9765250134480904 Centerline is valid? [False, True] Translation: X:115.69, Y:6.76, Z:-0.08 [[ 9.99946438e-01 -9.24651264e-03 -4.65010482e-03 1.15690622e+02] [ 9.24677481e-03 9.99957247e-01 3.48823258e-05 6.75506550e+00] [ 4.64958347e-03 -7.78789295e-05 9.99989188e-01 -7.74469553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.23140051299998 meters Centerline goodness [0,1] 0.9508283998466714 Centerline is valid? [True, True] Translation: X:115.72, Y:6.76, Z:-0.08 [[ 9.99968700e-01 -6.18582892e-03 -4.93293857e-03 1.15721080e+02] [ 6.18398599e-03 9.99980803e-01 -3.88761847e-04 6.75889305e+00] [ 4.93524869e-03 3.58244456e-04 9.99987757e-01 -7.77774770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.26140051299998 meters Centerline goodness [0,1] 0.916446222336925 Centerline is valid? [True, False] Translation: X:115.72, Y:6.76, Z:-0.08 [[ 9.99967509e-01 -6.28873460e-03 -5.04299779e-03 1.15721877e+02] [ 6.28533454e-03 9.99980009e-01 -6.89778708e-04 6.76027040e+00] [ 5.04723481e-03 6.58059369e-04 9.99987046e-01 -7.86849210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.29140051299999 meters Centerline goodness [0,1] 0.8018978569143832 Centerline is valid? [False, False] Translation: X:115.72, Y:6.76, Z:-0.08 [[ 9.99966107e-01 -6.37325371e-03 -5.21213076e-03 1.15722892e+02] [ 6.36803255e-03 9.99979206e-01 -1.01771514e-03 6.76181290e+00] [ 5.21850853e-03 9.84489624e-04 9.99985899e-01 -7.96438501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.321400513 meters Centerline goodness [0,1] 0.8032420703299509 Centerline is valid? [False, False] Translation: X:115.72, Y:6.76, Z:-0.08 [[ 9.99965168e-01 -6.41402444e-03 -5.34067691e-03 1.15723573e+02] [ 6.40769172e-03 9.99978748e-01 -1.20202087e-03 6.76268717e+00] [ 5.34827321e-03 1.16775759e-03 9.99985016e-01 -8.01777755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.351400513 meters Centerline goodness [0,1] 0.8933478875048158 Centerline is valid? [False, False] Translation: X:115.72, Y:6.76, Z:-0.08 [[ 9.99965434e-01 -6.42554838e-03 -5.27661454e-03 1.15723340e+02] [ 6.41874699e-03 9.99978548e-01 -1.30489274e-03 6.76321648e+00] [ 5.28488600e-03 1.27097838e-03 9.99985227e-01 -8.01456326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.381400513 meters Centerline goodness [0,1] 0.9623272259723562 Centerline is valid? [False, True] Translation: X:115.72, Y:6.76, Z:-0.07 [[ 9.99980699e-01 -4.56553592e-03 -4.21386285e-03 1.15715739e+02] [ 4.56836697e-03 9.99989346e-01 6.62462333e-04 6.76102553e+00] [ 4.21079346e-03 -6.81700019e-04 9.99990902e-01 -7.49120008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.411400513 meters Centerline goodness [0,1] 0.880604641260379 Centerline is valid? [True, False] Translation: X:115.72, Y:6.76, Z:-0.08 [[ 9.99984983e-01 -2.29730832e-03 -4.97551199e-03 1.15721507e+02] [ 2.31187970e-03 9.99993050e-01 2.92485007e-03 6.75930456e+00] [ 4.96875813e-03 -2.93630894e-03 9.99983345e-01 -7.83219499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.441400513 meters Centerline goodness [0,1] 0.9245562130177515 Centerline is valid? [False, False] Translation: X:115.72, Y:6.76, Z:-0.08 [[ 9.99985222e-01 -2.37136294e-03 -4.89216577e-03 1.15721232e+02] [ 2.38470635e-03 9.99993448e-01 2.72347821e-03 6.76027125e+00] [ 4.88567536e-03 -2.73510434e-03 9.99984325e-01 -7.83350211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.471400513 meters Centerline goodness [0,1] 0.584654109515988 Centerline is valid? [False, False] Translation: X:115.72, Y:6.76, Z:-0.08 [[ 9.99985031e-01 -2.43899604e-03 -4.89779005e-03 1.15721475e+02] [ 2.45129486e-03 9.99993854e-01 2.50666522e-03 6.76126666e+00] [ 4.89164620e-03 -2.51863362e-03 9.99984864e-01 -7.87951241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.501400513 meters Centerline goodness [0,1] 0.4651073373918616 Centerline is valid? [False, False] Translation: X:115.72, Y:6.77, Z:-0.08 [[ 9.99984842e-01 -2.72796739e-03 -4.78258367e-03 1.15721551e+02] [ 2.73491762e-03 9.99995213e-01 1.44730040e-03 6.76638078e+00] [ 4.77861259e-03 -1.46035843e-03 9.99987516e-01 -7.98920168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.531400513 meters Centerline goodness [0,1] 0.49676837516909667 Centerline is valid? [False, False] Translation: X:115.72, Y:6.77, Z:-0.08 [[ 9.99984470e-01 -3.12076367e-03 -4.61739277e-03 1.15721175e+02] [ 3.12299688e-03 9.99995010e-01 4.76520708e-04 6.77094279e+00] [ 4.61588262e-03 -4.90933411e-04 9.99989226e-01 -8.02851533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.561400513 meters Centerline goodness [0,1] 0.4684398999050824 Centerline is valid? [False, False] Translation: X:115.72, Y:6.78, Z:-0.08 [[ 9.99983786e-01 -3.48261812e-03 -4.50546973e-03 1.15720789e+02] [ 3.48066002e-03 9.99993845e-01 -4.42372421e-04 6.77530557e+00] [ 4.50698261e-03 4.26683240e-04 9.99989752e-01 -8.03057227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.591400513 meters Centerline goodness [0,1] 0.5448774315310871 Centerline is valid? [False, False] Translation: X:115.73, Y:6.78, Z:-0.08 [[ 9.99984570e-01 -1.28040538e-03 -5.40558789e-03 1.15727305e+02] [ 1.28933374e-03 9.99997810e-01 1.64852955e-03 6.77527453e+00] [ 5.40346527e-03 -1.65547372e-03 9.99984031e-01 -8.42600088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.621400513 meters Centerline goodness [0,1] 0.5772653026134801 Centerline is valid? [False, False] Translation: X:115.73, Y:6.78, Z:-0.09 [[ 9.99983638e-01 -1.72853928e-03 -5.45310822e-03 1.15727805e+02] [ 1.73145029e-03 9.99998361e-01 5.29149803e-04 6.78048334e+00] [ 5.45218463e-03 -5.38582930e-04 9.99984992e-01 -8.50794205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.651400513 meters Centerline goodness [0,1] 0.6235606352467788 Centerline is valid? [False, False] Translation: X:115.73, Y:6.78, Z:-0.09 [[ 9.99983167e-01 -2.04408516e-03 -5.43015196e-03 1.15727753e+02] [ 2.04306989e-03 9.99997894e-01 -1.92509598e-04 6.78386327e+00] [ 5.43053403e-03 1.81412177e-04 9.99985238e-01 -8.51942880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.68140051299997 meters Centerline goodness [0,1] 0.4842803762401753 Centerline is valid? [False, False] Translation: X:115.73, Y:6.79, Z:-0.08 [[ 9.99983115e-01 -2.31388234e-03 -5.33068490e-03 1.15727302e+02] [ 2.30952261e-03 9.99996994e-01 -8.23866133e-04 6.78685244e+00] [ 5.33257521e-03 8.11540884e-04 9.99985452e-01 -8.49928810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.71140051299997 meters Centerline goodness [0,1] 0.450089568989705 Centerline is valid? [False, False] Translation: X:115.73, Y:6.79, Z:-0.08 [[ 9.99983075e-01 -2.51033740e-03 -5.24856432e-03 1.15726829e+02] [ 2.50361183e-03 9.99996037e-01 -1.28758927e-03 6.78906593e+00] [ 5.25177580e-03 1.27442711e-03 9.99985397e-01 -8.45992694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.74140051299997 meters Centerline goodness [0,1] 0.48228417841677507 Centerline is valid? [False, False] Translation: X:115.75, Y:6.81, Z:-0.09 [[ 9.99998457e-01 -1.65197082e-03 5.97677562e-04 1.15749777e+02] [ 1.65893100e-03 9.99928545e-01 -1.18385929e-02 6.80563109e+00] [-5.78077845e-04 1.18395662e-02 9.99929743e-01 -9.16681101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.77140051299997 meters Centerline goodness [0,1] 0.5798898659608982 Centerline is valid? [False, False] Translation: X:115.75, Y:6.80, Z:-0.09 [[ 9.99996381e-01 2.67210109e-03 3.11665154e-04 1.15750610e+02] [-2.66981228e-03 9.99971042e-01 -7.12650537e-03 6.80365520e+00] [-3.30698871e-04 7.12564750e-03 9.99974558e-01 -9.14577312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.80140051299998 meters Centerline goodness [0,1] 0.42391397115302554 Centerline is valid? [False, False] Translation: X:115.75, Y:6.81, Z:-0.09 [[ 9.99997419e-01 2.25315418e-03 2.90846802e-04 1.15750880e+02] [-2.25071758e-03 9.99964480e-01 -8.12241895e-03 6.80830869e+00] [-3.09137533e-04 8.12174338e-03 9.99966970e-01 -9.18796934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.83140051299998 meters Centerline goodness [0,1] 0.5975620280474649 Centerline is valid? [False, False] Translation: X:115.73, Y:6.80, Z:-0.09 [[ 9.99983737e-01 7.58075515e-04 -5.65248534e-03 1.15730957e+02] [-7.48915392e-04 9.99998403e-01 1.62248854e-03 6.80176127e+00] [ 5.65370628e-03 -1.61822892e-03 9.99982708e-01 -8.67260579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.86140051299998 meters Centerline goodness [0,1] 0.5132182559156763 Centerline is valid? [False, False] Translation: X:115.75, Y:6.80, Z:-0.09 [[ 9.99984613e-01 -8.79590065e-04 -5.47719281e-03 1.15752576e+02] [ 9.41293220e-04 9.99936014e-01 1.12731020e-02 6.79741306e+00] [ 5.46692663e-03 -1.12780842e-02 9.99921456e-01 -8.51805254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.89140051299998 meters Centerline goodness [0,1] 0.4449587270439178 Centerline is valid? [False, False] Translation: X:115.75, Y:6.80, Z:-0.09 [[ 9.99970525e-01 -5.72105880e-03 -5.12049910e-03 1.15751635e+02] [ 5.74940543e-03 9.99968135e-01 5.53841797e-03 6.80413143e+00] [ 5.08865031e-03 -5.56769455e-03 9.99971553e-01 -8.57717763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.92140051299998 meters Centerline goodness [0,1] 0.546547127622979 Centerline is valid? [False, False] Translation: X:115.75, Y:6.81, Z:-0.09 [[ 9.99932662e-01 -1.05773132e-02 -4.77404397e-03 1.15750762e+02] [ 1.05763193e-02 9.99944042e-01 -2.33399357e-04 6.81100949e+00] [ 4.77624556e-03 1.82891827e-04 9.99988577e-01 -8.62191992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.95140051299998 meters Centerline goodness [0,1] 0.47758284600389866 Centerline is valid? [False, False] Translation: X:115.79, Y:6.82, Z:-0.09 [[ 9.99922196e-01 -1.23666898e-02 -1.63297830e-03 1.15790958e+02] [ 1.23599348e-02 9.99915274e-01 -4.08381192e-03 6.81895864e+00] [ 1.68334317e-03 4.06331068e-03 9.99990328e-01 -8.71080966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.98140051299998 meters Centerline goodness [0,1] 0.4388267978707612 Centerline is valid? [False, False] Translation: X:115.79, Y:6.81, Z:-0.09 [[ 9.99954761e-01 -9.25860595e-03 -2.18040105e-03 1.15792818e+02] [ 9.26035868e-03 9.99956806e-01 7.95138110e-04 6.81276897e+00] [ 2.17294500e-03 -8.15293435e-04 9.99997307e-01 -8.68533016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.01140051299998 meters Centerline goodness [0,1] 0.9157355180474832 Centerline is valid? [False, False] Translation: X:115.79, Y:6.81, Z:-0.09 [[ 9.99953616e-01 -9.39664130e-03 -2.11379143e-03 1.15792430e+02] [ 9.39769115e-03 9.99955722e-01 4.87280907e-04 6.81422830e+00] [ 2.10911903e-03 -5.07123064e-04 9.99997647e-01 -8.65427942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.04140051299999 meters Centerline goodness [0,1] 0.6678749626849759 Centerline is valid? [False, False] Translation: X:115.79, Y:6.82, Z:-0.09 [[ 9.99952135e-01 -9.57563511e-03 -2.00865739e-03 1.15791736e+02] [ 9.57579805e-03 9.99954148e-01 7.15184240e-05 6.81623636e+00] [ 2.00788045e-03 -9.07494983e-05 9.99997980e-01 -8.59064826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.071400513 meters Centerline goodness [0,1] 0.693079495755081 Centerline is valid? [False, False] Translation: X:115.79, Y:6.82, Z:-0.09 [[ 9.99951254e-01 -9.69075753e-03 -1.89173314e-03 1.15791046e+02] [ 9.69035702e-03 9.99953023e-01 -2.20772003e-04 6.81767647e+00] [ 1.89378372e-03 2.02429671e-04 9.99998186e-01 -8.53363280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.101400513 meters Centerline goodness [0,1] 0.6174762239101296 Centerline is valid? [False, False] Translation: X:115.79, Y:6.82, Z:-0.08 [[ 9.99952988e-01 -9.51113162e-03 -1.88704288e-03 1.15790676e+02] [ 9.51139144e-03 9.99954757e-01 1.28763610e-04 6.81610704e+00] [ 1.88573281e-03 -1.46705960e-04 9.99998211e-01 -8.46383380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.131400513 meters Centerline goodness [0,1] 0.7663487883100057 Centerline is valid? [False, False] Translation: X:115.79, Y:6.81, Z:-0.08 [[ 9.99954201e-01 -9.36890605e-03 -1.95433524e-03 1.15790868e+02] [ 9.36985653e-03 9.99955988e-01 4.77758025e-04 6.81446379e+00] [ 1.94977315e-03 -4.96047985e-04 9.99997976e-01 -8.45520640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.161400513 meters Centerline goodness [0,1] 0.774260034421945 Centerline is valid? [False, False] Translation: X:115.79, Y:6.81, Z:-0.08 [[ 9.99954278e-01 -9.35156222e-03 -1.99774846e-03 1.15791035e+02] [ 9.35263121e-03 9.99956125e-01 5.26428246e-04 6.81423668e+00] [ 1.99273788e-03 -5.45088381e-04 9.99997866e-01 -8.45857726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.191400513 meters Centerline goodness [0,1] 0.7802727913082457 Centerline is valid? [False, False] Translation: X:115.79, Y:6.81, Z:-0.08 [[ 9.99953683e-01 -9.41940016e-03 -1.97647328e-03 1.15790963e+02] [ 9.42016422e-03 9.99955558e-01 3.77623630e-04 6.81493652e+00] [ 1.97282845e-03 -3.96224842e-04 9.99997975e-01 -8.45995391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.221400513 meters Centerline goodness [0,1] 0.9156098087933455 Centerline is valid? [False, False] Translation: X:115.79, Y:6.82, Z:-0.09 [[ 9.99906593e-01 -1.35743954e-02 -1.59405782e-03 1.15790139e+02] [ 1.35666311e-02 9.99896522e-01 -4.78455010e-03 6.81962489e+00] [ 1.65884025e-03 4.76247719e-03 9.99987283e-01 -8.53690272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.251400513 meters Centerline goodness [0,1] 0.7537605166992436 Centerline is valid? [False, False] Translation: X:115.83, Y:6.82, Z:-0.09 [[ 9.99928820e-01 -1.18615271e-02 1.28780119e-03 1.15830731e+02] [ 1.18662318e-02 9.99922714e-01 -3.70922985e-03 6.82052131e+00] [-1.24370453e-03 3.72424717e-03 9.99992292e-01 -8.56615428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.281400513 meters Centerline goodness [0,1] 0.716777780144412 Centerline is valid? [False, False] Translation: X:115.83, Y:6.81, Z:-0.08 [[ 9.99973231e-01 -7.22842549e-03 1.13486209e-03 1.15830853e+02] [ 7.22599300e-03 9.99971617e-01 2.13309021e-03 6.81301477e+00] [-1.15024877e-03 -2.12483261e-03 9.99997081e-01 -8.48914009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.311400513 meters Centerline goodness [0,1] 0.8289856321220085 Centerline is valid? [False, False] Translation: X:115.83, Y:6.81, Z:-0.08 [[ 9.99972942e-01 -7.25408073e-03 1.22251688e-03 1.15830420e+02] [ 7.25158545e-03 9.99971640e-01 2.03332282e-03 6.81353237e+00] [-1.23723210e-03 -2.02440261e-03 9.99997186e-01 -8.46004763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.341400513 meters Centerline goodness [0,1] 0.5943265731735865 Centerline is valid? [False, False] Translation: X:115.85, Y:6.82, Z:-0.09 [[ 9.99972146e-01 -4.74656702e-03 5.75996032e-03 1.15849525e+02] [ 4.78910794e-03 9.99961193e-01 -7.39444672e-03 6.82001345e+00] [-5.72463856e-03 7.42182582e-03 9.99956072e-01 -8.75017005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.371400513 meters Centerline goodness [0,1] 0.7587380745880312 Centerline is valid? [False, False] Translation: X:115.81, Y:6.81, Z:-0.09 [[ 9.99992110e-01 -2.31583932e-03 3.22753674e-03 1.15807768e+02] [ 2.31940448e-03 9.99996704e-01 -1.10130150e-03 6.80654712e+00] [-3.22497567e-03 1.10877878e-03 9.99994185e-01 -8.50838409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.401400513 meters Centerline goodness [0,1] 0.6360601725408592 Centerline is valid? [False, False] Translation: X:115.81, Y:6.80, Z:-0.09 [[ 9.99992737e-01 -2.07459314e-03 3.19727753e-03 1.15808029e+02] [ 2.07635367e-03 9.99997695e-01 -5.47414621e-04 6.80394302e+00] [-3.19613449e-03 5.54049324e-04 9.99994739e-01 -8.54023302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.43140051299997 meters Centerline goodness [0,1] 0.6725847457627119 Centerline is valid? [False, False] Translation: X:115.85, Y:6.81, Z:-0.09 [[ 9.99988233e-01 -8.05754908e-04 4.78384768e-03 1.15853111e+02] [ 8.07650727e-04 9.99999596e-01 -3.94377108e-04 6.80536670e+00] [-4.78352797e-03 3.98236145e-04 9.99988480e-01 -8.88997963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.46140051299997 meters Centerline goodness [0,1] 0.5448901928269234 Centerline is valid? [False, False] Translation: X:115.85, Y:6.81, Z:-0.09 [[ 9.99988269e-01 -7.69752779e-04 4.78228020e-03 1.15853287e+02] [ 7.71296378e-04 9.99999651e-01 -3.20938865e-04 6.80500623e+00] [-4.78203148e-03 3.24623655e-04 9.99988513e-01 -8.92544277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.49140051299997 meters Centerline goodness [0,1] 0.4315836507159727 Centerline is valid? [False, False] Translation: X:115.85, Y:6.80, Z:-0.09 [[ 9.99988527e-01 -6.86774341e-04 4.74062901e-03 1.15853390e+02] [ 6.87394743e-04 9.99999755e-01 -1.29240961e-04 6.80410656e+00] [-4.74053909e-03 1.32498161e-04 9.99988755e-01 -8.91820006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.52140051299997 meters Centerline goodness [0,1] 0.6836389190570498 Centerline is valid? [False, False] Translation: X:115.85, Y:6.80, Z:-0.09 [[ 9.99988837e-01 -5.09232203e-04 4.69755627e-03 1.15853413e+02] [ 5.07987467e-04 9.99999836e-01 2.66164515e-04 6.80228106e+00] [-4.69769103e-03 -2.63775244e-04 9.99988931e-01 -8.89364377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.55140051299998 meters Centerline goodness [0,1] 0.454148378574168 Centerline is valid? [False, False] Translation: X:115.85, Y:6.80, Z:-0.09 [[ 9.99989400e-01 -3.87179024e-04 4.58811301e-03 1.15853922e+02] [ 3.84860889e-04 9.99999798e-01 5.06120123e-04 6.80114790e+00] [-4.58830805e-03 -5.04348973e-04 9.99989346e-01 -8.91988166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.58140051299998 meters Centerline goodness [0,1] 0.5377290464879538 Centerline is valid? [False, False] Translation: X:115.85, Y:6.80, Z:-0.09 [[ 9.99989683e-01 -4.73064585e-04 4.51780900e-03 1.15854365e+02] [ 4.71890855e-04 9.99999855e-01 2.60863113e-04 6.80228721e+00] [-4.51793175e-03 -2.58728508e-04 9.99989761e-01 -8.96557732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.61140051299998 meters Centerline goodness [0,1] 0.41111583421891607 Centerline is valid? [False, False] Translation: X:115.85, Y:6.80, Z:-0.09 [[ 9.99989733e-01 -5.81585463e-04 4.49389382e-03 1.15854714e+02] [ 5.81654210e-04 9.99999831e-01 -1.39907794e-05 6.80355455e+00] [-4.49388492e-03 1.66045280e-05 9.99989902e-01 -9.02038609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.64140051299998 meters Centerline goodness [0,1] 0.41249625412046753 Centerline is valid? [False, False] Translation: X:115.85, Y:6.80, Z:-0.09 [[ 9.99989662e-01 -6.88417625e-04 4.49459930e-03 1.15854899e+02] [ 6.89636594e-04 9.99999726e-01 -2.69663346e-04 6.80473408e+00] [-4.49441243e-03 2.72760198e-04 9.99989863e-01 -9.06221961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.67140051299998 meters Centerline goodness [0,1] 0.41249625412046753 Centerline is valid? [False, False] Translation: X:115.85, Y:6.80, Z:-0.09 [[ 9.99989662e-01 -6.88417625e-04 4.49459930e-03 1.15854899e+02] [ 6.89636594e-04 9.99999726e-01 -2.69663346e-04 6.80473408e+00] [-4.49441243e-03 2.72760198e-04 9.99989863e-01 -9.06221961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.70140051299998 meters Centerline goodness [0,1] 0.5431425589469424 Centerline is valid? [False, False] Translation: X:115.85, Y:6.81, Z:-0.09 [[ 9.99989069e-01 -7.51136623e-04 4.61504709e-03 1.15854199e+02] [ 7.52972348e-04 9.99999638e-01 -3.96044832e-04 6.80536722e+00] [-4.61474793e-03 3.99515505e-04 9.99989272e-01 -9.00570561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.73140051299998 meters Centerline goodness [0,1] 0.48766728171194673 Centerline is valid? [False, False] Translation: X:115.85, Y:6.81, Z:-0.09 [[ 9.99988874e-01 -7.85141461e-04 4.65148852e-03 1.15853713e+02] [ 7.87176858e-04 9.99999595e-01 -4.35765126e-04 6.80558186e+00] [-4.65114450e-03 4.39421822e-04 9.99989087e-01 -8.93683948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.76140051299998 meters Centerline goodness [0,1] 0.4974967511024947 Centerline is valid? [False, False] Translation: X:115.85, Y:6.81, Z:-0.09 [[ 9.99988795e-01 -8.02088377e-04 4.66546190e-03 1.15853627e+02] [ 8.04141139e-04 9.99999581e-01 -4.38131966e-04 6.80559390e+00] [-4.66510853e-03 4.41878746e-04 9.99989021e-01 -8.92958392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.79140051299999 meters Centerline goodness [0,1] 0.560374149659864 Centerline is valid? [False, False] Translation: X:115.85, Y:6.81, Z:-0.09 [[ 9.99989636e-01 -8.99372185e-04 4.46299211e-03 1.15854252e+02] [ 9.01122591e-04 9.99999518e-01 -3.90209089e-04 6.80521287e+00] [-4.46263902e-03 3.94226748e-04 9.99989965e-01 -8.92267561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.821400513 meters Centerline goodness [0,1] 0.6592280880727706 Centerline is valid? [False, False] Translation: X:115.85, Y:6.81, Z:-0.09 [[ 9.99990031e-01 -9.67228033e-04 4.35927680e-03 1.15854678e+02] [ 9.69467283e-04 9.99999399e-01 -5.11590839e-04 6.80574661e+00] [-4.35877936e-03 5.15811915e-04 9.99990367e-01 -8.94028661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.851400513 meters Centerline goodness [0,1] 0.7133904591379971 Centerline is valid? [False, False] Translation: X:115.86, Y:6.81, Z:-0.09 [[ 9.99990572e-01 -1.06853047e-03 4.20883399e-03 1.15855313e+02] [ 1.07155520e-03 9.99999169e-01 -7.16470994e-04 6.80666750e+00] [-4.20806493e-03 7.20974237e-04 9.99990886e-01 -8.96820865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.881400513 meters Centerline goodness [0,1] 0.5759021328923377 Centerline is valid? [False, False] Translation: X:115.86, Y:6.81, Z:-0.09 [[ 9.99990652e-01 -1.30946561e-03 4.12075824e-03 1.15855635e+02] [ 1.31475464e-03 9.99998315e-01 -1.28106273e-03 6.80931642e+00] [-4.11907379e-03 1.28646855e-03 9.99990689e-01 -8.97811077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.911400513 meters Centerline goodness [0,1] 0.674234693877551 Centerline is valid? [False, False] Translation: X:115.86, Y:6.81, Z:-0.09 [[ 9.99990075e-01 -1.42532387e-03 4.22118060e-03 1.15855066e+02] [ 1.43195944e-03 9.99997743e-01 -1.56936739e-03 6.81072591e+00] [-4.21893422e-03 1.57539637e-03 9.99989859e-01 -8.93362701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.941400513 meters Centerline goodness [0,1] 0.609113373950833 Centerline is valid? [False, False] Translation: X:115.85, Y:6.81, Z:-0.09 [[ 9.99989215e-01 -1.62569062e-03 4.35042366e-03 1.15854459e+02] [ 1.63470521e-03 9.99996523e-01 -2.06936336e-03 6.81312060e+00] [-4.34704439e-03 2.07645270e-03 9.99988396e-01 -8.90288884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.971400513 meters Centerline goodness [0,1] 0.7815365498328906 Centerline is valid? [False, False] Translation: X:115.85, Y:6.82, Z:-0.09 [[ 9.99988332e-01 -1.91208531e-03 4.43625226e-03 1.15854234e+02] [ 1.92434422e-03 9.99994338e-01 -2.76072849e-03 6.81635797e+00] [-4.43094839e-03 2.76923315e-03 9.99986349e-01 -8.92048832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.001400513 meters Centerline goodness [0,1] 0.3612716146777254 Centerline is valid? [False, False] Translation: X:115.86, Y:6.82, Z:-0.09 [[ 9.99994161e-01 1.67337416e-04 3.41313382e-03 1.15861271e+02] [-1.63995506e-04 9.99999507e-01 -9.79388738e-04 6.82065754e+00] [-3.41329603e-03 9.78823281e-04 9.99993696e-01 -9.37013000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.031400513 meters Centerline goodness [0,1] 0.7979193141921727 Centerline is valid? [False, False] Translation: X:115.86, Y:6.82, Z:-0.09 [[ 9.99994109e-01 -9.67418177e-05 3.43125131e-03 1.15861155e+02] [ 1.02235739e-04 9.99998713e-01 -1.60100299e-03 6.82357278e+00] [-3.43109202e-03 1.60134435e-03 9.99992832e-01 -9.36200337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.061400513 meters Centerline goodness [0,1] 0.7088260497000857 Centerline is valid? [False, False] Translation: X:115.86, Y:6.83, Z:-0.09 [[ 9.99994029e-01 -2.74492678e-04 3.44474673e-03 1.15861052e+02] [ 2.81435970e-04 9.99997930e-01 -2.01529460e-03 6.82551245e+00] [-3.44418642e-03 2.01625204e-03 9.99992036e-01 -9.35563984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.091400513 meters Centerline goodness [0,1] 0.7025214764669337 Centerline is valid? [False, False] Translation: X:115.86, Y:6.83, Z:-0.09 [[ 9.99994222e-01 -3.91437268e-04 3.37670608e-03 1.15861287e+02] [ 3.99108608e-04 9.99997341e-01 -2.27146655e-03 6.82670201e+00] [-3.37580797e-03 2.27280110e-03 9.99991719e-01 -9.36084277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.121400513 meters Centerline goodness [0,1] 0.6458253501937241 Centerline is valid? [False, False] Translation: X:115.86, Y:6.83, Z:-0.09 [[ 9.99994816e-01 -6.18609142e-04 3.15999193e-03 1.15862138e+02] [ 6.26616630e-04 9.99996594e-01 -2.53366074e-03 6.82774960e+00] [-3.15841382e-03 2.53562771e-03 9.99991797e-01 -9.39324392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.151400513 meters Centerline goodness [0,1] 0.756191917008861 Centerline is valid? [False, False] Translation: X:115.82, Y:6.82, Z:-0.09 [[ 9.99999288e-01 -4.80372946e-04 1.09228535e-03 1.15819593e+02] [ 4.79883814e-04 9.99999784e-01 4.48024114e-04 6.82148929e+00] [-1.09250033e-03 -4.47499625e-04 9.99999303e-01 -9.23511904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.18140051299997 meters Centerline goodness [0,1] 0.5601072703085077 Centerline is valid? [False, False] Translation: X:115.86, Y:6.83, Z:-0.09 [[ 9.99993168e-01 -7.03595469e-04 3.62886865e-03 1.15861520e+02] [ 7.08052076e-04 9.99998997e-01 -1.22695976e-03 6.82738971e+00] [-3.62800173e-03 1.22952081e-03 9.99992663e-01 -9.35286619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.21140051299997 meters Centerline goodness [0,1] 0.9422609966263403 Centerline is valid? [False, False] Translation: X:115.82, Y:6.82, Z:-0.09 [[ 9.99998317e-01 -1.32436071e-03 1.26953437e-03 1.15818663e+02] [ 1.32430105e-03 9.99999122e-01 4.78349695e-05 6.82347310e+00] [-1.26959661e-03 -4.61536433e-05 9.99999193e-01 -9.20918997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.24140051299997 meters Centerline goodness [0,1] 0.8921721320219326 Centerline is valid? [False, False] Translation: X:115.82, Y:6.82, Z:-0.09 [[ 9.99998337e-01 -1.48693914e-03 1.05582523e-03 1.15819280e+02] [ 1.48678823e-03 9.99998884e-01 1.43704790e-04 6.82272489e+00] [-1.05603773e-03 -1.42134763e-04 9.99999432e-01 -9.19390274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.27140051299997 meters Centerline goodness [0,1] 0.9585123123378556 Centerline is valid? [False, True] Translation: X:115.82, Y:6.82, Z:-0.09 [[ 9.99998591e-01 -1.38546569e-03 9.47380748e-04 1.15819510e+02] [ 1.38497446e-03 9.99998906e-01 5.18976704e-04 6.82090674e+00] [-9.48098737e-04 -5.17663875e-04 9.99999417e-01 -9.17036523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.30140051299998 meters Centerline goodness [0,1] 0.9736594945355191 Centerline is valid? [True, True] Translation: X:115.85, Y:6.82, Z:-0.09 [[ 9.99993526e-01 -3.46937478e-03 9.55005344e-04 1.15849270e+02] [ 3.46930812e-03 9.99993979e-01 7.14428905e-05 6.82183562e+00] [-9.55247457e-04 -6.81292202e-05 9.99999541e-01 -9.26241352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.33140051299998 meters Centerline goodness [0,1] 0.9406850459482039 Centerline is valid? [True, False] Translation: X:115.85, Y:6.82, Z:-0.09 [[ 9.99994140e-01 -3.32446246e-03 8.17091574e-04 1.15849732e+02] [ 3.32408347e-03 9.99994367e-01 4.64754151e-04 6.81995667e+00] [-8.18632030e-04 -4.62035347e-04 9.99999558e-01 -9.26274413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.36140051299998 meters Centerline goodness [0,1] 0.9957589907254696 Centerline is valid? [False, True] Translation: X:115.85, Y:6.81, Z:-0.09 [[ 9.99995827e-01 -2.82739002e-03 5.92696790e-04 1.15850255e+02] [ 2.82631464e-03 9.99994373e-01 1.80742423e-03 6.81359145e+00] [-5.97803748e-04 -1.80574154e-03 9.99998191e-01 -9.21207386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.39140051299998 meters Centerline goodness [0,1] 0.9850581308848222 Centerline is valid? [True, True] Translation: X:115.88, Y:6.82, Z:-0.09 [[ 9.99994875e-01 -2.95813072e-03 1.22461655e-03 1.15880440e+02] [ 2.95802642e-03 9.99995621e-01 8.69721459e-05 6.81866388e+00] [-1.22486846e-03 -8.33492521e-05 9.99999246e-01 -9.15734536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.42140051299998 meters Centerline goodness [0,1] 0.9845899133978604 Centerline is valid? [True, True] Translation: X:115.91, Y:6.82, Z:-0.09 [[ 9.99993240e-01 -3.06423057e-03 2.03215536e-03 1.15912238e+02] [ 3.06394362e-03 9.99995296e-01 1.44304199e-04 6.81843255e+00] [-2.03258798e-03 -1.38076814e-04 9.99997925e-01 -9.00809860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.45140051299998 meters Centerline goodness [0,1] 0.9990810394939306 Centerline is valid? [True, True] Translation: X:115.95, Y:6.81, Z:-0.09 [[ 9.99991739e-01 -3.11857532e-03 2.60703902e-03 1.15945049e+02] [ 3.11810318e-03 9.99995122e-01 1.85144167e-04 6.80701939e+00] [-2.60760369e-03 -1.77013620e-04 9.99996585e-01 -8.82759222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.48140051299998 meters Centerline goodness [0,1] 0.9976769463566421 Centerline is valid? [True, True] Translation: X:115.98, Y:6.81, Z:-0.09 [[ 9.99992213e-01 -2.86220604e-03 2.71694042e-03 1.15975956e+02] [ 2.86169287e-03 9.99995887e-01 1.92746995e-04 6.80562778e+00] [-2.71748092e-03 -1.84970445e-04 9.99996291e-01 -8.81645639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.51140051299998 meters Centerline goodness [0,1] 0.9960714361555286 Centerline is valid? [True, True] Translation: X:116.01, Y:6.81, Z:-0.09 [[ 9.99992811e-01 -2.65502163e-03 2.70709048e-03 1.16007334e+02] [ 2.65451168e-03 9.99996458e-01 1.91951474e-04 6.80561810e+00] [-2.70759052e-03 -1.84764091e-04 9.99996317e-01 -8.83462364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.54140051299999 meters Centerline goodness [0,1] 0.9796915331612518 Centerline is valid? [True, True] Translation: X:116.04, Y:6.81, Z:-0.09 [[ 9.99991870e-01 -2.49489949e-03 3.16800229e-03 1.16038321e+02] [ 2.49420081e-03 9.99996864e-01 2.24475166e-04 6.80843092e+00] [-3.16855240e-03 -2.16571707e-04 9.99994957e-01 -8.83421136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.571400513 meters Centerline goodness [0,1] 0.9848993642949164 Centerline is valid? [True, True] Translation: X:116.07, Y:6.81, Z:-0.09 [[ 9.99987594e-01 -2.36314525e-03 4.38488417e-03 1.16071087e+02] [ 2.36180640e-03 9.99997163e-01 3.10484818e-04 6.80542748e+00] [-4.38560545e-03 -3.00124719e-04 9.99990338e-01 -8.64884449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.601400513 meters Centerline goodness [0,1] 0.998948385019852 Centerline is valid? [True, True] Translation: X:116.10, Y:6.79, Z:-0.08 [[ 9.99974442e-01 -2.03696922e-03 6.85313537e-03 1.16104676e+02] [ 2.03369461e-03 9.99997815e-01 4.84761920e-04 6.78810514e+00] [-6.85410784e-03 -4.70812347e-04 9.99976399e-01 -8.25664167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.631400513 meters Centerline goodness [0,1] 0.9981546648356364 Centerline is valid? [True, True] Translation: X:116.14, Y:6.79, Z:-0.08 [[ 9.99976300e-01 -1.81249688e-03 6.64184628e-03 1.16135273e+02] [ 1.80941831e-03 9.99998253e-01 4.69490959e-04 6.79001246e+00] [-6.64268563e-03 -4.57461954e-04 9.99977832e-01 -8.26163219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.661400513 meters Centerline goodness [0,1] 0.9934060791695913 Centerline is valid? [True, True] Translation: X:116.17, Y:6.79, Z:-0.09 [[ 9.99984075e-01 -1.53865191e-03 5.42975357e-03 1.16165966e+02] [ 1.53659083e-03 9.99998746e-01 3.83740437e-04 6.79389618e+00] [-5.43033721e-03 -3.75391016e-04 9.99985185e-01 -8.54014926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.691400513 meters Centerline goodness [0,1] 0.9991356210562711 Centerline is valid? [True, True] Translation: X:116.20, Y:6.79, Z:-0.09 [[ 9.99993484e-01 -1.34188972e-03 3.35128319e-03 1.16199214e+02] [ 1.34110334e-03 9.99999073e-01 2.36884912e-04 6.78510302e+00] [-3.35159795e-03 -2.32388952e-04 9.99994356e-01 -8.84500478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.721400513 meters Centerline goodness [0,1] 0.9973909480992733 Centerline is valid? [True, True] Translation: X:116.23, Y:6.78, Z:-0.09 [[ 9.99998987e-01 -5.53048659e-04 1.31133128e-03 1.16230389e+02] [ 5.52927272e-04 9.99999843e-01 9.29283854e-05 6.78463855e+00] [-1.31138247e-03 -9.22032205e-05 9.99999136e-01 -9.05893449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.751400513 meters Centerline goodness [0,1] 0.9626680257374021 Centerline is valid? [True, True] Translation: X:116.26, Y:6.80, Z:-0.09 [[ 9.99998237e-01 -4.82586226e-04 1.81455692e-03 1.16260699e+02] [ 4.82354466e-04 9.99999875e-01 1.28157935e-04 6.79506995e+00] [-1.81461854e-03 -1.27282449e-04 9.99998345e-01 -9.01402154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.781400513 meters Centerline goodness [0,1] 0.9814078155246868 Centerline is valid? [True, True] Translation: X:116.29, Y:6.79, Z:-0.09 [[ 9.99997403e-01 -1.00678303e-03 2.04436781e-03 1.16291932e+02] [ 1.00649030e-03 9.99999483e-01 1.44214897e-04 6.79314585e+00] [-2.04451195e-03 -1.42156886e-04 9.99997900e-01 -8.92294101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.811400513 meters Centerline goodness [0,1] 0.9993382572684968 Centerline is valid? [True, True] Translation: X:116.32, Y:6.78, Z:-0.09 [[ 9.99987887e-01 -4.45529751e-03 2.09189914e-03 1.16323209e+02] [ 4.45499888e-03 9.99990066e-01 1.47392385e-04 6.77835329e+00] [-2.09253504e-03 -1.38071191e-04 9.99997801e-01 -8.91451712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.841400513 meters Centerline goodness [0,1] 0.999163000321923 Centerline is valid? [True, True] Translation: X:116.35, Y:6.78, Z:-0.09 [[ 9.99971757e-01 -7.16073205e-03 2.28248990e-03 1.16352449e+02] [ 7.16038365e-03 9.99974351e-01 1.60775799e-04 6.77816458e+00] [-2.28358263e-03 -1.44427755e-04 9.99997382e-01 -9.04228986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.871400513 meters Centerline goodness [0,1] 0.9992559681979549 Centerline is valid? [True, True] Translation: X:116.38, Y:6.78, Z:-0.09 [[ 9.99944712e-01 -1.01503078e-02 2.74679146e-03 1.16381734e+02] [ 1.01498144e-02 9.99948471e-01 1.93515394e-04 6.78099865e+00] [-2.74861416e-03 -1.65625272e-04 9.99996209e-01 -9.06423011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.901400513 meters Centerline goodness [0,1] 0.9998073588903872 Centerline is valid? [True, True] Translation: X:116.41, Y:6.77, Z:-0.09 [[ 9.99849822e-01 -1.67247550e-02 4.54048719e-03 1.16413521e+02] [ 1.67234737e-02 9.99860102e-01 3.20017596e-04 6.77203827e+00] [-4.54520420e-03 -2.44036818e-04 9.99989641e-01 -8.75024593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.93140051299997 meters Centerline goodness [0,1] 0.9998064682607948 Centerline is valid? [True, True] Translation: X:116.44, Y:6.77, Z:-0.09 [[ 9.99795260e-01 -1.95598456e-02 5.18181119e-03 1.16444572e+02] [ 1.95582147e-02 9.99808653e-01 3.65237550e-04 6.76845056e+00] [-5.18796366e-03 -2.63815796e-04 9.99986508e-01 -8.64456303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.96140051299997 meters Centerline goodness [0,1] 0.9998503410087016 Centerline is valid? [True, True] Translation: X:116.47, Y:6.77, Z:-0.09 [[ 9.99737977e-01 -2.24525029e-02 4.45674555e-03 1.16474180e+02] [ 2.24513257e-02 9.99747888e-01 3.14020084e-04 6.76651496e+00] [-4.46267248e-03 -2.13877958e-04 9.99990019e-01 -8.71412088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.99140051299997 meters Centerline goodness [0,1] 0.9998488773747841 Centerline is valid? [True, True] Translation: X:116.51, Y:6.76, Z:-0.09 [[ 9.99672905e-01 -2.54526808e-02 2.49890764e-03 1.16505600e+02] [ 2.54523197e-02 9.99676022e-01 1.76180884e-04 6.76072058e+00] [-2.50258232e-03 -1.12520260e-04 9.99996862e-01 -8.97775591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.02140051299997 meters Centerline goodness [0,1] 0.9998082944597099 Centerline is valid? [True, True] Translation: X:116.54, Y:6.76, Z:-0.10 [[ 9.99475861e-01 -3.23690488e-02 -4.98881110e-04 1.16535322e+02] [ 3.23690352e-02 9.99475985e-01 -3.53141416e-05 6.75682104e+00] [ 4.99762774e-04 1.91473319e-05 9.99999875e-01 -9.67142622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.05140051299998 meters Centerline goodness [0,1] 0.9998703963710984 Centerline is valid? [True, True] Translation: X:116.57, Y:6.75, Z:-0.10 [[ 9.99362016e-01 -3.57142757e-02 -2.26288073e-04 1.16566309e+02] [ 3.57142730e-02 9.99362042e-01 -1.60447086e-05 6.74814048e+00] [ 2.26716736e-04 7.95275835e-06 9.99999974e-01 -9.57924577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.08140051299998 meters Centerline goodness [0,1] 0.9999573560767591 Centerline is valid? [True, True] Translation: X:116.60, Y:6.75, Z:-0.09 [[ 9.99262710e-01 -3.83712632e-02 1.29721754e-03 1.16595417e+02] [ 3.83711770e-02 9.99263551e-01 9.13013925e-05 6.75101316e+00] [-1.29976555e-03 -4.14583133e-05 9.99999154e-01 -9.46000672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.11140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.63, Y:6.75, Z:-0.09 [[ 9.99162426e-01 -4.08006895e-02 3.12264902e-03 1.16625401e+02] [ 4.08002006e-02 9.99167301e-01 2.20115562e-04 6.74637605e+00] [-3.12902966e-03 -9.25264920e-05 9.99995100e-01 -9.09657396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.14140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.66, Y:6.74, Z:-0.09 [[ 9.99023114e-01 -4.39804152e-02 4.30595703e-03 1.16656109e+02] [ 4.39795143e-02 9.99032387e-01 3.03733406e-04 6.74275760e+00] [-4.31514885e-03 -1.14062794e-04 9.99990683e-01 -8.78436158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.17140051299998 meters Centerline goodness [0,1] 0.9997610098420492 Centerline is valid? [True, True] Translation: X:116.68, Y:6.74, Z:-0.09 [[ 9.98998087e-01 -4.45624163e-02 4.12459381e-03 1.16684693e+02] [ 4.45765068e-02 9.99000223e-01 -3.38972456e-03 6.74180668e+00] [-3.96941582e-03 3.57018834e-03 9.99985749e-01 -8.90469786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.20140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.71, Y:6.74, Z:-0.09 [[ 9.98944923e-01 -4.58179408e-02 3.12357191e-03 1.16713114e+02] [ 4.58057114e-02 9.98942831e-01 3.88037275e-03 6.74299590e+00] [-3.29806046e-03 -3.73320122e-03 9.99987593e-01 -9.10222384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.23140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.74, Y:6.74, Z:-0.09 [[ 9.98831388e-01 -4.82604958e-02 2.60436150e-03 1.16741756e+02] [ 4.82601798e-02 9.98834782e-01 1.84095598e-04 6.74124621e+00] [-2.61021139e-03 -5.81935072e-05 9.99996592e-01 -9.42247417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.26140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.77, Y:6.74, Z:-0.09 [[ 9.98739465e-01 -5.01223484e-02 2.68922735e-03 1.16770971e+02] [ 5.01220194e-02 9.98743084e-01 1.89655592e-04 6.73956698e+00] [-2.69535320e-03 -5.46270184e-05 9.99996366e-01 -9.38924905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.29140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.80, Y:6.74, Z:-0.09 [[ 9.98644504e-01 -5.19823453e-02 2.64399547e-03 1.16799288e+02] [ 5.19820313e-02 9.98648003e-01 1.87409961e-04 6.73846215e+00] [-2.65016281e-03 -4.97156722e-05 9.99996487e-01 -9.31097187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.321400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.83, Y:6.74, Z:-0.09 [[ 9.98533512e-01 -5.40660715e-02 2.77219911e-03 1.16828546e+02] [ 5.40657351e-02 9.98537359e-01 1.96169138e-04 6.73550382e+00] [-2.77875048e-03 -4.60004749e-05 9.99996138e-01 -9.23193512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.351400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.86, Y:6.73, Z:-0.09 [[ 9.98355214e-01 -5.73035317e-02 1.78109377e-03 1.16857712e+02] [ 5.73033983e-02 9.98356802e-01 1.25873567e-04 6.72916063e+00] [-1.78538008e-03 -2.36038065e-05 9.99998406e-01 -9.33232039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.381400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.89, Y:6.73, Z:-0.09 [[ 9.98304063e-01 -5.81962746e-02 1.48063656e-03 1.16885549e+02] [ 5.81961824e-02 9.98305160e-01 1.05332328e-04 6.72866025e+00] [-1.48425707e-03 -1.89862953e-05 9.99998898e-01 -9.44276417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.411400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.91, Y:6.73, Z:-0.10 [[ 9.98261619e-01 -5.89246717e-02 1.27419380e-03 1.16914067e+02] [ 5.89246050e-02 9.98262432e-01 8.98199244e-05 6.72819532e+00] [-1.27727242e-03 -1.45824165e-05 9.99999184e-01 -9.50961118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.441400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.94, Y:6.73, Z:-0.10 [[ 9.98229260e-01 -5.94747361e-02 1.04923276e-03 1.16942511e+02] [ 5.94746913e-02 9.98229811e-01 7.39109228e-05 6.72892647e+00] [-1.05177125e-03 -1.13772514e-05 9.99999447e-01 -9.59648442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.471400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.97, Y:6.73, Z:-0.10 [[ 9.98150614e-01 -6.07793242e-02 1.10698272e-03 1.16970466e+02] [ 6.07792740e-02 9.98151228e-01 7.89402094e-05 6.72800475e+00] [-1.10973409e-03 -1.15126127e-05 9.99999384e-01 -9.60127037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.501400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.00, Y:6.73, Z:-0.09 [[ 9.98086664e-01 -6.18094451e-02 1.61351248e-03 1.16999841e+02] [ 6.18093399e-02 9.98087968e-01 1.15049189e-04 6.72688823e+00] [-1.61753852e-03 -1.50989199e-05 9.99998692e-01 -9.48049598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.531400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.03, Y:6.72, Z:-0.09 [[ 9.97930363e-01 -6.42620035e-02 2.32065132e-03 1.17028557e+02] [ 6.42617903e-02 9.97933061e-01 1.66425021e-04 6.72185369e+00] [-2.32654948e-03 -1.69513735e-05 9.99997293e-01 -9.47672075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.561400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.06, Y:6.72, Z:-0.09 [[ 9.97918185e-01 -6.44508394e-02 2.32063222e-03 1.17055998e+02] [ 6.44506260e-02 9.97920883e-01 1.66690672e-04 6.72400265e+00] [-2.32655071e-03 -1.67774531e-05 9.99997293e-01 -9.49751285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.591400513 meters Centerline goodness [0,1] 0.9999354241556708 Centerline is valid? [True, True] Translation: X:117.08, Y:6.72, Z:-0.10 [[ 9.97818270e-01 -6.60020421e-02 1.55902800e-03 1.17084652e+02] [ 6.60019480e-02 9.97819488e-01 1.11800553e-04 6.72094898e+00] [-1.56300759e-03 -8.65774923e-06 9.99998778e-01 -9.64457780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.621400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.11, Y:6.72, Z:-0.10 [[ 9.97688840e-01 -6.79375537e-02 1.21110656e-03 1.17113421e+02] [ 6.79374983e-02 9.97689575e-01 8.69051490e-05 6.71842160e+00] [-1.21421251e-03 -4.42474770e-06 9.99999263e-01 -9.75297616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.651400513 meters Centerline goodness [0,1] 0.9999568416736799 Centerline is valid? [True, True] Translation: X:117.14, Y:6.72, Z:-0.10 [[ 9.97562195e-01 -6.97761546e-02 9.77860188e-04 1.17142064e+02] [ 6.97761196e-02 9.97562674e-01 6.99264091e-05 6.71647223e+00] [-9.80356020e-04 -1.52465270e-06 9.99999519e-01 -9.85095676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.68140051299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.17, Y:6.72, Z:-0.10 [[ 9.97470046e-01 -7.10690765e-02 1.64103464e-03 1.17170603e+02] [ 7.10689775e-02 9.97471396e-01 1.18661382e-04 6.71581045e+00] [-1.64531827e-03 -1.73451982e-06 9.99998646e-01 -9.79327308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.71140051299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.20, Y:6.71, Z:-0.10 [[ 9.97368374e-01 -7.24466236e-02 2.79513040e-03 1.17199741e+02] [ 7.24463370e-02 9.97372291e-01 2.03790926e-04 6.71225851e+00] [-2.80254958e-03 -7.57665181e-07 9.99996073e-01 -9.53044259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.74140051299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.23, Y:6.71, Z:-0.09 [[ 9.97378892e-01 -7.22885969e-02 3.11527176e-03 1.17227762e+02] [ 7.22882383e-02 9.97383757e-01 2.27692783e-04 6.71285665e+00] [-3.12358104e-03 -1.89846809e-06 9.99995122e-01 -9.38286434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.77140051299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.26, Y:6.72, Z:-0.09 [[ 9.97468490e-01 -7.10108331e-02 3.75150517e-03 1.17255712e+02] [ 7.10103003e-02 9.97475544e-01 2.75214792e-04 6.71635882e+00] [-3.76157790e-03 -8.12257400e-06 9.99992925e-01 -9.27098336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.80140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.28, Y:6.72, Z:-0.09 [[ 9.97699581e-01 -6.76600064e-02 4.20343219e-03 1.17282650e+02] [ 6.76593016e-02 9.97708436e-01 3.09805240e-04 6.72459069e+00] [-4.21476118e-03 -2.46912720e-05 9.99991118e-01 -9.43688732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.83140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.31, Y:6.73, Z:-0.10 [[ 9.97732958e-01 -6.72029387e-02 3.56500117e-03 1.17310305e+02] [ 6.72024283e-02 9.97739327e-01 2.62904504e-04 6.72747821e+00] [-3.57460982e-03 -2.27317535e-05 9.99993611e-01 -9.61249598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.86140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.34, Y:6.73, Z:-0.10 [[ 9.97691130e-01 -6.78497384e-02 2.97015463e-03 1.17338253e+02] [ 6.78493886e-02 9.97695551e-01 2.18509245e-04 6.72782446e+00] [-2.97813586e-03 -1.64815595e-05 9.99995565e-01 -9.68402240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.89140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.37, Y:6.73, Z:-0.10 [[ 9.97484215e-01 -7.08503778e-02 2.33752373e-03 1.17365990e+02] [ 7.08501674e-02 9.97486954e-01 1.72811530e-04 6.72787503e+00] [-2.34389319e-03 -6.76282548e-06 9.99997253e-01 -9.67178558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.92140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.39, Y:6.73, Z:-0.10 [[ 9.97322984e-01 -7.30703671e-02 2.75427852e-03 1.17394040e+02] [ 7.30700827e-02 9.97326788e-01 2.03873131e-04 6.72926452e+00] [-2.76181283e-03 -2.07200071e-06 9.99996186e-01 -9.63355000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.95140051299998 meters Centerline goodness [0,1] 0.9999140801202878 Centerline is valid? [True, True] Translation: X:117.42, Y:6.73, Z:-0.10 [[ 9.97118903e-01 -7.57942458e-02 3.02097198e-03 1.17421754e+02] [ 7.57939173e-02 9.97123479e-01 2.23246290e-04 6.73002761e+00] [-3.02920288e-03 6.36820484e-06 9.99995412e-01 -9.59092703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.98140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.45, Y:6.73, Z:-0.10 [[ 9.96885069e-01 -7.87915921e-02 3.47045954e-03 1.17449838e+02] [ 7.87911718e-02 9.96891110e-01 2.57880978e-04 6.72973344e+00] [-3.47998912e-03 1.63638771e-05 9.99993945e-01 -9.53575640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.01140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.48, Y:6.73, Z:-0.10 [[ 9.96394868e-01 -8.47910337e-02 2.78343857e-03 1.17477410e+02] [ 8.47907871e-02 9.96398755e-01 2.06702296e-04 6.72654368e+00] [-2.79094123e-03 3.00528405e-05 9.99996105e-01 -9.62553080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.04140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.51, Y:6.73, Z:-0.10 [[ 9.96143985e-01 -8.77170256e-02 1.69816211e-03 1.17506341e+02] [ 8.77169388e-02 9.96145433e-01 1.25682421e-04 6.72789892e+00] [-1.70264091e-03 2.37597940e-05 9.99998550e-01 -9.76926163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.071400513 meters Centerline goodness [0,1] 0.99993564993565 Centerline is valid? [True, True] Translation: X:117.54, Y:6.73, Z:-0.10 [[ 9.95920973e-01 -9.02288313e-02 4.17259770e-04 1.17535198e+02] [ 9.02288267e-02 9.95921060e-01 2.99633953e-05 6.73023070e+00] [-4.18261355e-04 7.80768569e-06 9.99999912e-01 -9.90933375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.101400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.56, Y:6.73, Z:-0.10 [[ 9.95482226e-01 -9.49477051e-02 2.66197404e-04 1.17564122e+02] [ 9.49477032e-02 9.95482262e-01 1.96660254e-05 6.73128803e+00] [-2.66862037e-04 5.69765336e-06 9.99999964e-01 -1.00166753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.131400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.59, Y:6.73, Z:-0.10 [[ 9.95274860e-01 -9.70924304e-02 1.00618007e-03 1.17592582e+02] [ 9.70924049e-02 9.95275369e-01 7.42614863e-05 6.73466167e+00] [-1.00863647e-03 2.37818523e-05 9.99999491e-01 -9.85119782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.161400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.62, Y:6.74, Z:-0.10 [[ 9.95075362e-01 -9.91074056e-02 1.65727835e-03 1.17621663e+02] [ 9.91073375e-02 9.95076741e-01 1.23401254e-04 6.73746479e+00] [-1.66134911e-03 4.14548973e-05 9.99998619e-01 -9.75638240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.191400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.65, Y:6.74, Z:-0.10 [[ 9.94873050e-01 -1.01113951e-01 1.89290146e-03 1.17650666e+02] [ 1.01113865e-01 9.94874850e-01 1.41426853e-04 6.74085159e+00] [-1.89750029e-03 5.06968170e-05 9.99998198e-01 -9.61812756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.221400513 meters Centerline goodness [0,1] 0.9999136498067914 Centerline is valid? [True, True] Translation: X:117.68, Y:6.74, Z:-0.10 [[ 9.94512938e-01 -1.04605641e-01 1.29465375e-03 1.17679523e+02] [ 1.04605602e-01 9.94513780e-01 9.73999383e-05 6.74190947e+00] [-1.29773958e-03 3.85625365e-05 9.99999157e-01 -9.73751246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.251400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.71, Y:6.74, Z:-0.10 [[ 9.94348891e-01 -1.06145452e-01 1.85101203e-03 1.17706924e+02] [ 1.06145377e-01 9.94350612e-01 1.39040606e-04 6.74387763e+00] [-1.85531347e-03 5.82214975e-05 9.99998277e-01 -9.76608524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.281400513 meters Centerline goodness [0,1] 0.9999784478113752 Centerline is valid? [True, True] Translation: X:117.73, Y:6.75, Z:-0.10 [[ 9.94213051e-01 -1.07404181e-01 2.17988417e-03 1.17734575e+02] [ 1.07404079e-01 9.94215438e-01 1.64214145e-04 6.74572962e+00] [-2.18491178e-03 7.08646053e-05 9.99997611e-01 -9.77494710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.311400513 meters Centerline goodness [0,1] 0.9999784063917081 Centerline is valid? [True, True] Translation: X:117.76, Y:6.75, Z:-0.10 [[ 9.94116737e-01 -1.08290718e-01 2.24373899e-03 1.17762910e+02] [ 1.08290613e-01 9.94119266e-01 1.68807992e-04 6.75072997e+00] [-2.24882450e-03 7.51610197e-05 9.99997469e-01 -9.75400575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.341400513 meters Centerline goodness [0,1] 0.9998701944919196 Centerline is valid? [True, True] Translation: X:117.79, Y:6.76, Z:-0.10 [[ 9.94195760e-01 -1.07574948e-01 1.55601455e-03 1.17790764e+02] [ 1.07574895e-01 9.94196977e-01 1.17611548e-04 6.75616961e+00] [-1.55963702e-03 5.04592002e-05 9.99998782e-01 -9.79763042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.371400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.82, Y:6.76, Z:-0.10 [[ 9.94271646e-01 -1.06868462e-01 1.73958595e-03 1.17818933e+02] [ 1.06868397e-01 9.94273166e-01 1.30995554e-04 6.76210514e+00] [-1.74362292e-03 5.56615966e-05 9.99998478e-01 -9.75107512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.401400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.85, Y:6.76, Z:-0.10 [[ 9.94354172e-01 -1.06087697e-01 2.27627809e-03 1.17846907e+02] [ 1.06087580e-01 9.94356775e-01 1.72811666e-04 6.76449049e+00] [-2.28176573e-03 6.96488320e-05 9.99997394e-01 -9.72802611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.43140051299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.88, Y:6.78, Z:-0.10 [[ 9.94539656e-01 -1.04301159e-01 3.48435177e-03 1.17875502e+02] [ 1.04300871e-01 9.94545755e-01 2.64593043e-04 6.77566497e+00] [-3.49294463e-03 1.00272652e-04 9.99993895e-01 -9.58989390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.46140051299997 meters Centerline goodness [0,1] 0.9999784955485785 Centerline is valid? [True, True] Translation: X:117.90, Y:6.78, Z:-0.10 [[ 9.94571210e-01 -1.03982238e-01 3.97523894e-03 1.17904415e+02] [ 1.03981858e-01 9.94579148e-01 3.02638481e-04 6.78066402e+00] [-3.98515879e-03 1.12357211e-04 9.99992053e-01 -9.53925636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.49140051299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.93, Y:6.78, Z:-0.10 [[ 9.94612190e-01 -1.03564525e-01 4.58053767e-03 1.17932435e+02] [ 1.03564010e-01 9.94622729e-01 3.50047822e-04 6.78235991e+00] [-4.59215941e-03 1.26217019e-04 9.99989448e-01 -9.51742268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.52140051299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.96, Y:6.79, Z:-0.10 [[ 9.94590539e-01 -1.03814532e-01 3.49319647e-03 1.17959802e+02] [ 1.03814235e-01 9.94596669e-01 2.66498382e-04 6.79105030e+00] [-3.50198798e-03 9.75867517e-05 9.99993863e-01 -9.63178027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.55140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.99, Y:6.80, Z:-0.10 [[ 9.94608868e-01 -1.03697212e-01 2.95470969e-04 1.17987348e+02] [ 1.03697210e-01 9.94608912e-01 2.22181508e-05 6.79583576e+00] [-2.96182019e-04 8.54114523e-06 9.99999956e-01 -1.01813175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.58140051299998 meters Centerline goodness [0,1] 0.999913520992779 Centerline is valid? [True, True] Translation: X:118.02, Y:6.80, Z:-0.10 [[ 9.94629211e-01 -1.03497502e-01 -9.99948166e-04 1.18015198e+02] [ 1.03497477e-01 9.94629713e-01 -7.72925752e-05 6.80314538e+00] [ 1.00257775e-03 -2.66146588e-05 9.99999497e-01 -1.02996527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.61140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.04, Y:6.81, Z:-0.10 [[ 9.94664744e-01 -1.03159454e-01 -4.17797096e-04 1.18043842e+02] [ 1.03159449e-01 9.94664831e-01 -3.34453177e-05 6.81053011e+00] [ 4.19018279e-04 -9.83284002e-06 9.99999912e-01 -1.02369404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.64140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.07, Y:6.83, Z:-0.10 [[ 9.94764572e-01 -1.02179428e-01 1.67650083e-03 1.18071626e+02] [ 1.02179357e-01 9.94765984e-01 1.28091893e-04 6.82549538e+00] [-1.68081435e-03 4.38825004e-05 9.99998586e-01 -9.96797019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.67140051299998 meters Centerline goodness [0,1] 0.9999565934542929 Centerline is valid? [True, True] Translation: X:118.10, Y:6.83, Z:-0.10 [[ 9.94737849e-01 -1.02443800e-01 1.37085963e-03 1.18099452e+02] [ 1.02443752e-01 9.94738793e-01 1.05239942e-04 6.83071201e+00] [-1.37442843e-03 3.57498506e-05 9.99999055e-01 -1.00746376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.70140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.13, Y:6.84, Z:-0.10 [[ 9.94673069e-01 -1.03070981e-01 1.36312386e-03 1.18126718e+02] [ 1.03070934e-01 9.94674003e-01 1.04962360e-04 6.83581870e+00] [-1.36668244e-03 3.60952165e-05 9.99999065e-01 -1.01414565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.73140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.15, Y:6.84, Z:-0.10 [[ 9.94528509e-01 -1.04461553e-01 9.10409185e-04 1.18154778e+02] [ 1.04461533e-01 9.94528925e-01 7.00062255e-05 6.84127690e+00] [-9.12741227e-04 2.54795517e-05 9.99999583e-01 -1.02287921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.76140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.18, Y:6.85, Z:-0.10 [[ 9.94179985e-01 -1.07723222e-01 1.36564545e-03 1.18182812e+02] [ 1.07723179e-01 9.94180922e-01 1.05402684e-04 6.84687092e+00] [-1.36905297e-03 4.23224300e-05 9.99999062e-01 -1.01165354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.79140051299999 meters Centerline goodness [0,1] 0.9999783802481947 Centerline is valid? [True, True] Translation: X:118.21, Y:6.85, Z:-0.10 [[ 9.93957869e-01 -1.09749715e-01 1.65994223e-03 1.18211884e+02] [ 1.09749654e-01 9.93959253e-01 1.28347241e-04 6.85080754e+00] [-1.66400102e-03 5.46063352e-05 9.99998614e-01 -9.97958990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.821400513 meters Centerline goodness [0,1] 0.999978286359491 Centerline is valid? [True, True] Translation: X:118.24, Y:6.85, Z:-0.10 [[ 9.93700436e-01 -1.12061868e-01 1.25764357e-03 1.18240944e+02] [ 1.12061835e-01 9.93701231e-01 9.71240124e-05 6.85060530e+00] [-1.26060586e-03 4.44216729e-05 9.99999204e-01 -1.00379806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.851400513 meters Centerline goodness [0,1] 0.999934250898571 Centerline is valid? [True, True] Translation: X:118.27, Y:6.86, Z:-0.10 [[ 9.93127508e-01 -1.17033982e-01 8.94815027e-04 1.18270174e+02] [ 1.17033967e-01 9.93127910e-01 6.93302579e-05 6.86129076e+00] [-8.96779774e-04 3.58699662e-05 9.99999597e-01 -1.00783949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.881400513 meters Centerline goodness [0,1] 0.9997845616907598 Centerline is valid? [True, True] Translation: X:118.30, Y:6.86, Z:-0.10 [[ 9.92962886e-01 -1.18407199e-01 2.10781648e-03 1.18298135e+02] [ 1.18407119e-01 9.92965119e-01 1.63115699e-04 6.86260777e+00] [-2.11230231e-03 8.76126422e-05 9.99997765e-01 -1.00511602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.911400513 meters Centerline goodness [0,1] 0.9999574078412165 Centerline is valid? [True, True] Translation: X:118.33, Y:6.87, Z:-0.10 [[ 9.92921690e-01 -1.18726654e-01 3.24008153e-03 1.18325982e+02] [ 1.18726466e-01 9.92926968e-01 2.51204669e-04 6.86646177e+00] [-3.24698901e-03 1.35256864e-04 9.99994719e-01 -9.96829837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.941400513 meters Centerline goodness [0,1] 0.9998492159227985 Centerline is valid? [True, True] Translation: X:118.35, Y:6.87, Z:-0.10 [[ 9.92865215e-01 -1.19206858e-01 2.89637192e-03 1.18354841e+02] [ 1.19206710e-01 9.92869432e-01 2.24186220e-04 6.87282457e+00] [-2.90244367e-03 1.22680268e-04 9.99995780e-01 -9.98572517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.971400513 meters Centerline goodness [0,1] 0.9999358905866012 Centerline is valid? [True, True] Translation: X:118.38, Y:6.88, Z:-0.10 [[ 9.92693403e-01 -1.20642119e-01 2.29915604e-03 1.18383339e+02] [ 1.20642028e-01 9.92696061e-01 1.78771279e-04 6.87765828e+00] [-2.30393049e-03 9.99097773e-05 9.99997341e-01 -9.99767180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.001400513 meters Centerline goodness [0,1] 0.9999571348964807 Centerline is valid? [True, True] Translation: X:118.41, Y:6.88, Z:-0.10 [[ 9.92485347e-01 -1.22342589e-01 2.26414114e-03 1.18412356e+02] [ 1.22342505e-01 9.92487925e-01 1.76185893e-04 6.88430031e+00] [-2.26868778e-03 1.02138782e-04 9.99997421e-01 -9.98326921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.031400513 meters Centerline goodness [0,1] 0.9999131887926731 Centerline is valid? [True, True] Translation: X:118.44, Y:6.90, Z:-0.10 [[ 9.92224385e-01 -1.24438604e-01 2.40915120e-03 1.18440942e+02] [ 1.24438516e-01 9.92227303e-01 1.87385786e-04 6.89578870e+00] [-2.41374363e-03 1.13862453e-04 9.99997080e-01 -9.91652347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.061400513 meters Centerline goodness [0,1] 0.9999567623659633 Centerline is valid? [True, True] Translation: X:118.47, Y:6.90, Z:-0.10 [[ 9.91972978e-01 -1.26409724e-01 3.19263314e-03 1.18468964e+02] [ 1.26409577e-01 9.91978103e-01 2.48608592e-04 6.89776060e+00] [-3.19844871e-03 1.56966400e-04 9.99994873e-01 -9.87215563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.091400513 meters Centerline goodness [0,1] 0.9998069001029866 Centerline is valid? [True, True] Translation: X:118.50, Y:6.90, Z:-0.10 [[ 9.91506115e-01 -1.30032747e-01 2.66605262e-03 1.18498133e+02] [ 1.30032657e-01 9.91509690e-01 2.07889750e-04 6.90191160e+00] [-2.67044948e-03 1.40549948e-04 9.99996424e-01 -1.00289358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.121400513 meters Centerline goodness [0,1] 0.9998490175355348 Centerline is valid? [True, True] Translation: X:118.53, Y:6.91, Z:-0.10 [[ 9.91305578e-01 -1.31566294e-01 1.88714463e-03 1.18527517e+02] [ 1.31566252e-01 9.91307369e-01 1.47102307e-04 6.90659791e+00] [-1.89009408e-03 1.02461209e-04 9.99998209e-01 -1.01456550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.151400513 meters Centerline goodness [0,1] 0.9998479351769383 Centerline is valid? [True, True] Translation: X:118.56, Y:6.92, Z:-0.10 [[ 9.91064544e-01 -1.33380323e-01 8.71099349e-04 1.18555932e+02] [ 1.33380315e-01 9.91064926e-01 6.77403467e-05 6.91580936e+00] [-8.72351241e-04 4.90524497e-05 9.99999618e-01 -1.03282932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.18140051299997 meters Centerline goodness [0,1] 0.9998913964247703 Centerline is valid? [True, True] Translation: X:118.58, Y:6.92, Z:-0.10 [[ 9.91010831e-01 -1.33775619e-01 1.27143948e-03 1.18584031e+02] [ 1.33775602e-01 9.91011644e-01 9.81898942e-05 6.92200149e+00] [-1.27314674e-03 7.27803336e-05 9.99999187e-01 -1.02787635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.21140051299997 meters Centerline goodness [0,1] 0.999806746687853 Centerline is valid? [True, True] Translation: X:118.61, Y:6.92, Z:-0.10 [[ 9.91014173e-01 -1.33746145e-01 1.69616111e-03 1.18612334e+02] [ 1.33746114e-01 9.91015620e-01 1.32376541e-04 6.91862671e+00] [-1.69862700e-03 9.56679289e-05 9.99998553e-01 -1.02763186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.24140051299997 meters Centerline goodness [0,1] 0.9997023050097814 Centerline is valid? [True, True] Translation: X:118.64, Y:6.92, Z:-0.10 [[ 9.90982194e-01 -1.33975903e-01 2.17936255e-03 1.18639578e+02] [ 1.33975852e-01 9.90984582e-01 1.69677022e-04 6.92397129e+00] [-2.18244731e-03 1.23835047e-04 9.99997611e-01 -1.02467878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.27140051299997 meters Centerline goodness [0,1] 0.9999567108937036 Centerline is valid? [True, True] Translation: X:118.67, Y:6.94, Z:-0.10 [[ 9.90880539e-01 -1.34718788e-01 2.56998590e-03 1.18666682e+02] [ 1.34718717e-01 9.90883861e-01 2.01450850e-04 6.94070374e+00] [-2.57369676e-03 1.46611475e-04 9.99996677e-01 -1.01312781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.30140051299998 meters Centerline goodness [0,1] 0.9995733515370011 Centerline is valid? [True, True] Translation: X:118.69, Y:6.94, Z:-0.10 [[ 9.90889337e-01 -1.34648587e-01 2.84239245e-03 1.18694620e+02] [ 1.34648500e-01 9.90893401e-01 2.23030313e-04 6.93554571e+00] [-2.84653864e-03 1.61725520e-04 9.99995936e-01 -1.01665015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.33140051299998 meters Centerline goodness [0,1] 0.9997858672376874 Centerline is valid? [True, True] Translation: X:118.72, Y:6.94, Z:-0.10 [[ 9.90903212e-01 -1.34549961e-01 2.67056167e-03 1.18723152e+02] [ 1.34549884e-01 9.90906799e-01 2.09175517e-04 6.94268734e+00] [-2.67442227e-03 1.52051071e-04 9.99996412e-01 -1.01939703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.36140051299998 meters Centerline goodness [0,1] 0.999892236734342 Centerline is valid? [True, True] Translation: X:118.75, Y:6.95, Z:-0.10 [[ 9.90882774e-01 -1.34711677e-01 2.02315164e-03 1.18750389e+02] [ 1.34711634e-01 9.90884832e-01 1.58360710e-04 6.94815544e+00] [-2.02604332e-03 1.15625164e-04 9.99997941e-01 -1.03124623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.39140051299998 meters Centerline goodness [0,1] 0.9998281639316092 Centerline is valid? [True, True] Translation: X:118.78, Y:6.95, Z:-0.11 [[ 9.90741503e-01 -1.35756699e-01 1.18051598e-03 1.18778258e+02] [ 1.35756685e-01 9.90742204e-01 9.29317662e-05 6.95300441e+00] [-1.18220311e-03 6.81915776e-05 9.99999299e-01 -1.05324668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.42140051299998 meters Centerline goodness [0,1] 0.9997209162534081 Centerline is valid? [True, True] Translation: X:118.81, Y:6.96, Z:-0.11 [[ 9.90570833e-01 -1.36998279e-01 9.47292259e-04 1.18807826e+02] [ 1.36998270e-01 9.90571284e-01 7.47148852e-05 6.95683941e+00] [-9.48596320e-04 5.57670144e-05 9.99999549e-01 -1.06097169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.45140051299998 meters Centerline goodness [0,1] 0.9998489295580111 Centerline is valid? [True, True] Translation: X:118.84, Y:6.97, Z:-0.10 [[ 9.90384876e-01 -1.38334938e-01 1.11475735e-03 1.18837023e+02] [ 1.38334927e-01 9.90385501e-01 8.79737198e-05 6.96763609e+00] [-1.11620936e-03 6.70820352e-05 9.99999375e-01 -1.04824165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.48140051299998 meters Centerline goodness [0,1] 0.9998489295580111 Centerline is valid? [True, True] Translation: X:118.86, Y:6.97, Z:-0.11 [[ 9.90358027e-01 -1.38527023e-01 1.11484159e-03 1.18864480e+02] [ 1.38527012e-01 9.90358652e-01 8.69101239e-05 6.96995596e+00] [-1.11613241e-03 6.83635352e-05 9.99999375e-01 -1.05032564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.51140051299998 meters Centerline goodness [0,1] 0.9995288372989527 Centerline is valid? [True, True] Translation: X:118.89, Y:6.97, Z:-0.11 [[ 9.90057144e-01 -1.40665688e-01 1.29280509e-04 1.18894078e+02] [ 1.40665688e-01 9.90057152e-01 1.01328568e-05 6.96917672e+00] [-1.29420438e-04 8.15322459e-06 9.99999992e-01 -1.06564148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.54140051299999 meters Centerline goodness [0,1] 0.9997598882388894 Centerline is valid? [True, True] Translation: X:118.92, Y:6.98, Z:-0.11 [[ 9.89903913e-01 -1.41740051e-01 -2.99026008e-05 1.18922570e+02] [ 1.41740051e-01 9.89903914e-01 -3.66097334e-06 6.97788311e+00] [ 3.01196081e-05 -6.14384320e-07 1.00000000e+00 -1.06482761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.571400513 meters Centerline goodness [0,1] 0.9993992447648472 Centerline is valid? [True, True] Translation: X:118.95, Y:6.98, Z:-0.11 [[ 9.89924203e-01 -1.41598080e-01 2.35244291e-04 1.18950360e+02] [ 1.41598080e-01 9.89924231e-01 1.82511977e-05 6.97870915e+00] [-2.35458359e-04 1.52428376e-05 9.99999972e-01 -1.07167491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.601400513 meters Centerline goodness [0,1] 0.9994817757816549 Centerline is valid? [True, True] Translation: X:118.98, Y:6.99, Z:-0.11 [[ 9.90043961e-01 -1.40755922e-01 8.52440616e-04 1.18978903e+02] [ 1.40755916e-01 9.90044326e-01 6.74747309e-05 6.98538412e+00] [-8.53451463e-04 5.31831098e-05 9.99999634e-01 -1.06666642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.631400513 meters Centerline goodness [0,1] 0.9998481825279778 Centerline is valid? [True, True] Translation: X:119.01, Y:7.00, Z:-0.11 [[ 9.90542070e-01 -1.37198968e-01 1.68819074e-03 1.19007912e+02] [ 1.37198937e-01 9.90543504e-01 1.34281012e-04 7.00278243e+00] [-1.69064959e-03 9.86069851e-05 9.99998566e-01 -1.05242054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.661400513 meters Centerline goodness [0,1] 0.9998280642180146 Centerline is valid? [True, True] Translation: X:119.04, Y:7.00, Z:-0.11 [[ 9.90752531e-01 -1.35679984e-01 6.04248927e-04 1.19037294e+02] [ 1.35679980e-01 9.90752714e-01 4.79185726e-05 7.00278183e+00] [-6.05162856e-04 3.45090352e-05 9.99999816e-01 -1.07553132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.691400513 meters Centerline goodness [0,1] 0.9993805536568694 Centerline is valid? [True, True] Translation: X:119.07, Y:7.00, Z:-0.11 [[ 9.90852960e-01 -1.34945735e-01 -2.44907593e-04 1.19065652e+02] [ 1.34945734e-01 9.90852990e-01 -2.07544370e-05 7.00433368e+00] [ 2.45468143e-04 -1.24846395e-05 9.99999970e-01 -1.09870698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.721400513 meters Centerline goodness [0,1] 0.9996570791718462 Centerline is valid? [True, True] Translation: X:119.09, Y:7.02, Z:-0.11 [[ 9.90856271e-01 -1.34920274e-01 -6.07967255e-04 1.19093990e+02] [ 1.34920269e-01 9.90856457e-01 -4.98197687e-05 7.01651984e+00] [ 6.09129978e-04 -3.26628752e-05 9.99999814e-01 -1.09856104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.751400513 meters Centerline goodness [0,1] 0.9997419854221764 Centerline is valid? [True, True] Translation: X:119.12, Y:7.03, Z:-0.11 [[ 9.90658808e-01 -1.36355679e-01 1.50134023e-03 1.19122245e+02] [ 1.36355653e-01 9.90659942e-01 1.19780011e-04 7.03066839e+00] [-1.50365031e-03 8.60551053e-05 9.99998866e-01 -1.05701853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.781400513 meters Centerline goodness [0,1] 0.999742632865783 Centerline is valid? [True, True] Translation: X:119.15, Y:7.03, Z:-0.11 [[ 9.90568365e-01 -1.37000948e-01 2.24805310e-03 1.19150470e+02] [ 1.37000893e-01 9.90570908e-01 1.79448255e-04 7.02814741e+00] [-2.25144058e-03 1.30229516e-04 9.99997457e-01 -1.05048022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.811400513 meters Centerline goodness [0,1] 0.9998701158133997 Centerline is valid? [True, True] Translation: X:119.18, Y:7.04, Z:-0.11 [[ 9.90435791e-01 -1.37969013e-01 1.22239875e-03 1.19178455e+02] [ 1.37968999e-01 9.90436543e-01 9.67432640e-05 7.04273470e+00] [-1.22405597e-03 7.28351408e-05 9.99999248e-01 -1.05017111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.841400513 meters Centerline goodness [0,1] 0.9998486519210396 Centerline is valid? [True, True] Translation: X:119.21, Y:7.05, Z:-0.11 [[ 9.90324608e-01 -1.38769609e-01 4.08413434e-04 1.19206967e+02] [ 1.38769607e-01 9.90324692e-01 3.15358989e-05 7.04875505e+00] [-4.08838133e-04 2.54445951e-05 9.99999916e-01 -1.06078859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.871400513 meters Centerline goodness [0,1] 0.9996341332185515 Centerline is valid? [True, True] Translation: X:119.23, Y:7.05, Z:-0.11 [[ 9.90196219e-01 -1.39681135e-01 7.92498814e-04 1.19234422e+02] [ 1.39681129e-01 9.90196535e-01 6.30753605e-05 7.05129533e+00] [-7.93540018e-04 4.82401460e-05 9.99999684e-01 -1.06566151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.901400513 meters Centerline goodness [0,1] 0.9999565179580833 Centerline is valid? [True, True] Translation: X:119.26, Y:7.06, Z:-0.10 [[ 9.90205470e-01 -1.39595183e-01 2.51247815e-03 1.19262597e+02] [ 1.39595120e-01 9.90208646e-01 2.01288969e-04 7.06473747e+00] [-2.51597656e-03 1.51412253e-04 9.99996823e-01 -1.03633022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.93140051299997 meters Centerline goodness [0,1] 0.9998481891129907 Centerline is valid? [True, True] Translation: X:119.29, Y:7.08, Z:-0.10 [[ 9.90341629e-01 -1.38585022e-01 4.20109464e-03 1.19289729e+02] [ 1.38584829e-01 9.90350509e-01 3.38519134e-04 7.07600891e+00] [-4.20746990e-03 2.46958391e-04 9.99991118e-01 -1.01328899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.96140051299997 meters Centerline goodness [0,1] 0.9999136386208087 Centerline is valid? [True, True] Translation: X:119.32, Y:7.08, Z:-0.10 [[ 9.90356423e-01 -1.38499723e-01 3.46158774e-03 1.19318201e+02] [ 1.38499593e-01 9.90362451e-01 2.78616894e-04 7.08350944e+00] [-3.46681488e-03 2.03498461e-04 9.99993970e-01 -1.02566881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.99140051299997 meters Centerline goodness [0,1] 0.9996768286114402 Centerline is valid? [True, True] Translation: X:119.35, Y:7.09, Z:-0.10 [[ 9.90296772e-01 -1.38935630e-01 3.03205151e-03 1.19345860e+02] [ 1.38935529e-01 9.90301398e-01 2.44890401e-04 7.08611256e+00] [-3.03666885e-03 1.78745507e-04 9.99995373e-01 -1.04091485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.02140051299997 meters Centerline goodness [0,1] 0.999828909942471 Centerline is valid? [True, True] Translation: X:119.37, Y:7.09, Z:-0.10 [[ 9.90179158e-01 -1.39768598e-01 3.15802809e-03 1.19374562e+02] [ 1.39768494e-01 9.90184176e-01 2.54817645e-04 7.09263880e+00] [-3.16264495e-03 1.89077708e-04 9.99994981e-01 -1.04710236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.05140051299998 meters Centerline goodness [0,1] 0.9997613779339668 Centerline is valid? [True, True] Translation: X:119.40, Y:7.10, Z:-0.11 [[ 9.89818017e-01 -1.42301653e-01 3.24542856e-03 1.19404125e+02] [ 1.42301552e-01 9.89823317e-01 2.63092485e-04 7.10224330e+00] [-3.24983936e-03 2.01415841e-04 9.99994699e-01 -1.05664227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.08140051299998 meters Centerline goodness [0,1] 0.9989658515566089 Centerline is valid? [True, True] Translation: X:119.43, Y:7.11, Z:-0.11 [[ 9.89571054e-01 -1.43997589e-01 3.71790440e-03 1.19432385e+02] [ 1.43997470e-01 9.89578010e-01 3.01280270e-04 7.10540731e+00] [-3.72254007e-03 2.37230592e-04 9.99993043e-01 -1.05375245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.11140051299998 meters Centerline goodness [0,1] 0.9985078177375056 Centerline is valid? [True, True] Translation: X:119.46, Y:7.11, Z:-0.11 [[ 9.89213220e-01 -1.46432240e-01 3.84777127e-03 1.19462454e+02] [ 1.46432129e-01 9.89220670e-01 3.12199950e-04 7.11245197e+00] [-3.85201102e-03 2.54605022e-04 9.99992549e-01 -1.06084234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.14140051299998 meters Centerline goodness [0,1] 0.939160405026438 Centerline is valid? [True, False] Translation: X:119.46, Y:7.11, Z:-0.11 [[ 9.89717238e-01 -1.43002185e-01 3.18797762e-03 1.19463052e+02] [ 1.42986205e-01 9.89713149e-01 4.77775635e-03 7.11007830e+00] [-3.83841297e-03 -4.27279100e-03 9.99983505e-01 -1.06834129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.17140051299998 meters Centerline goodness [0,1] 0.9331779996152284 Centerline is valid? [False, False] Translation: X:119.47, Y:7.11, Z:-0.11 [[ 9.89590240e-01 -1.43886097e-01 2.81907400e-03 1.19465007e+02] [ 1.43874712e-01 9.89588247e-01 3.89459046e-03 7.11345742e+00] [-3.35009992e-03 -3.44845525e-03 9.99988442e-01 -1.08540475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.20140051299998 meters Centerline goodness [0,1] 0.9976343432589635 Centerline is valid? [False, True] Translation: X:119.43, Y:7.11, Z:-0.11 [[ 9.89421662e-01 -1.45067913e-01 -2.74592380e-04 1.19426114e+02] [ 1.45068149e-01 9.89420818e-01 1.29525244e-03 7.11301756e+00] [ 8.37878491e-05 -1.32138543e-03 9.99999123e-01 -1.09926119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.23140051299998 meters Centerline goodness [0,1] 0.9571515177759494 Centerline is valid? [True, True] Translation: X:119.46, Y:7.11, Z:-0.11 [[ 9.89180877e-01 -1.46698466e-01 -8.67933697e-04 1.19455495e+02] [ 1.46698470e-01 9.89181255e-01 -5.88093001e-05 7.10831423e+00] [ 8.67170978e-04 -6.91515106e-05 9.99999622e-01 -1.12352130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.26140051299998 meters Centerline goodness [0,1] 0.9091944880366317 Centerline is valid? [True, False] Translation: X:119.45, Y:7.10, Z:-0.11 [[ 9.89782792e-01 -1.42579541e-01 -1.04852588e-03 1.19454224e+02] [ 1.42583002e-01 9.89770579e-01 4.92824105e-03 7.10439188e+00] [ 3.35133718e-04 -5.02739015e-03 9.99987306e-01 -1.12262922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.29140051299999 meters Centerline goodness [0,1] 0.955276468808093 Centerline is valid? [False, True] Translation: X:119.45, Y:7.11, Z:-0.11 [[ 9.89752911e-01 -1.42786882e-01 -1.03994457e-03 1.19453841e+02] [ 1.42790077e-01 9.89743536e-01 4.32742076e-03 7.10720411e+00] [ 4.11379492e-04 -4.43157106e-03 9.99990096e-01 -1.11728193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.321400513 meters Centerline goodness [0,1] 0.9983216356423558 Centerline is valid? [True, True] Translation: X:119.48, Y:7.12, Z:-0.11 [[ 9.90107826e-01 -1.40306550e-01 -7.52133842e-04 1.19483163e+02] [ 1.40306553e-01 9.90108110e-01 -4.89851300e-05 7.12396228e+00] [ 7.51566752e-04 -5.70287463e-05 9.99999716e-01 -1.10638158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.351400513 meters Centerline goodness [0,1] 0.9973023135359116 Centerline is valid? [True, True] Translation: X:119.51, Y:7.13, Z:-0.11 [[ 9.91031040e-01 -1.33628274e-01 -9.80607432e-04 1.19511906e+02] [ 1.33628276e-01 9.91031523e-01 -6.40603691e-05 7.12814323e+00] [ 9.80373153e-04 -6.75510658e-05 9.99999517e-01 -1.12065139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.381400513 meters Centerline goodness [0,1] 0.9825801889824516 Centerline is valid? [True, True] Translation: X:119.54, Y:7.13, Z:-0.11 [[ 9.91523560e-01 -1.29924893e-01 -7.42644302e-04 1.19540802e+02] [ 1.29924893e-01 9.91523837e-01 -4.86324787e-05 7.12651465e+00] [ 7.42668098e-04 -4.82677331e-05 9.99999723e-01 -1.12661553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.411400513 meters Centerline goodness [0,1] 0.9992731625978024 Centerline is valid? [True, True] Translation: X:119.57, Y:7.14, Z:-0.11 [[ 9.92049026e-01 -1.25845600e-01 1.27113553e-03 1.19569992e+02] [ 1.25845597e-01 9.92049837e-01 8.27209567e-05 7.13863107e+00] [-1.27143986e-03 7.79035649e-05 9.99999189e-01 -1.09753709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.441400513 meters Centerline goodness [0,1] 0.9996157622849337 Centerline is valid? [True, True] Translation: X:119.60, Y:7.15, Z:-0.11 [[ 9.92856717e-01 -1.19274822e-01 3.00945144e-03 1.19600100e+02] [ 1.19274774e-01 9.92861264e-01 1.96105778e-04 7.15142124e+00] [-3.01135825e-03 1.64246701e-04 9.99995452e-01 -1.06811432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.471400513 meters Centerline goodness [0,1] 0.9998714542805724 Centerline is valid? [True, True] Translation: X:119.63, Y:7.16, Z:-0.11 [[ 9.93180155e-01 -1.16551040e-01 3.00563883e-03 1.19629885e+02] [ 1.16550979e-01 9.93184691e-01 1.95837362e-04 7.16004420e+00] [-3.00797952e-03 1.55808367e-04 9.99995464e-01 -1.06696364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.501400513 meters Centerline goodness [0,1] 0.9998289209186947 Centerline is valid? [True, True] Translation: X:119.66, Y:7.17, Z:-0.11 [[ 9.93437799e-01 -1.14342615e-01 2.66576127e-03 1.19659422e+02] [ 1.14342560e-01 9.93441367e-01 1.73709930e-04 7.16671938e+00] [-2.66813997e-03 1.32239958e-04 9.99996432e-01 -1.07422755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.531400513 meters Centerline goodness [0,1] 0.9998915283653325 Centerline is valid? [True, True] Translation: X:119.69, Y:7.18, Z:-0.11 [[ 9.93770787e-01 -1.11409767e-01 2.73629510e-03 1.19688111e+02] [ 1.11409698e-01 9.93774546e-01 1.78278252e-04 7.18023656e+00] [-2.73912236e-03 1.27682091e-04 9.99996240e-01 -1.07535069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.561400513 meters Centerline goodness [0,1] 0.9998289721224559 Centerline is valid? [True, True] Translation: X:119.72, Y:7.19, Z:-0.11 [[ 9.93867829e-01 -1.10517202e-01 3.56182177e-03 1.19717029e+02] [ 1.10517080e-01 9.93874198e-01 2.31632122e-04 7.18672616e+00] [-3.56560209e-03 1.63430427e-04 9.99993630e-01 -1.06469441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.591400513 meters Centerline goodness [0,1] 0.9999131171398162 Centerline is valid? [True, True] Translation: X:119.75, Y:7.20, Z:-0.10 [[ 9.93932111e-01 -1.09894421e-01 4.70912857e-03 1.19745003e+02] [ 1.09894196e-01 9.93943244e-01 3.07292500e-04 7.19703082e+00] [-4.71437626e-03 2.12078014e-04 9.99988865e-01 -1.04050891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.621400513 meters Centerline goodness [0,1] 0.9999783301189676 Centerline is valid? [True, True] Translation: X:119.77, Y:7.21, Z:-0.10 [[ 9.93876592e-01 -1.10338270e-01 5.89804479e-03 1.19774333e+02] [ 1.10337915e-01 9.93894056e-01 3.86553892e-04 7.21158752e+00] [-5.90468335e-03 2.66591098e-04 9.99982532e-01 -1.01564273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.651400513 meters Centerline goodness [0,1] 0.999913781954563 Centerline is valid? [True, True] Translation: X:119.80, Y:7.21, Z:-0.10 [[ 9.93724319e-01 -1.11672046e-01 6.42903412e-03 1.19803100e+02] [ 1.11671652e-01 9.93745070e-01 4.21315816e-04 7.21416678e+00] [-6.43587016e-03 2.99269087e-04 9.99979245e-01 -1.01173322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.68140051299997 meters Centerline goodness [0,1] 0.9998513105909342 Centerline is valid? [True, True] Translation: X:119.83, Y:7.21, Z:-0.10 [[ 9.93511122e-01 -1.13496588e-01 7.36041974e-03 1.19831943e+02] [ 1.13496120e-01 9.93538322e-01 4.82559680e-04 7.21451816e+00] [-7.36762796e-03 3.55950673e-04 9.99972795e-01 -1.00393038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.71140051299997 meters Centerline goodness [0,1] 0.999914346895075 Centerline is valid? [True, True] Translation: X:119.86, Y:7.23, Z:-0.10 [[ 9.93204176e-01 -1.16057676e-01 8.72237730e-03 1.19861868e+02] [ 1.16057116e-01 9.93242377e-01 5.72066627e-04 7.22698238e+00] [-8.72982748e-03 4.44114992e-04 9.99961796e-01 -9.90349674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.74140051299997 meters Centerline goodness [0,1] 0.9996985357450474 Centerline is valid? [True, True] Translation: X:119.89, Y:7.23, Z:-0.10 [[ 9.92290776e-01 -1.23642330e-01 8.46114951e-03 1.19891749e+02] [ 1.23642078e-01 9.92326725e-01 5.54881711e-04 7.22537914e+00] [-8.46483165e-03 4.95550105e-04 9.99964050e-01 -1.00105343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.77140051299997 meters Centerline goodness [0,1] 0.9994606140369803 Centerline is valid? [True, True] Translation: X:119.92, Y:7.23, Z:-0.10 [[ 9.91691721e-01 -1.28466861e-01 6.61780838e-03 1.19921975e+02] [ 1.28466814e-01 9.91713713e-01 4.33975650e-04 7.22976284e+00] [-6.61872281e-03 4.19798697e-04 9.99978008e-01 -1.03191317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.80140051299998 meters Centerline goodness [0,1] 0.9990704511554508 Centerline is valid? [True, True] Translation: X:119.95, Y:7.24, Z:-0.11 [[ 9.91004312e-01 -1.33751923e-01 4.56902276e-03 1.19951967e+02] [ 1.33751957e-01 9.91014795e-01 2.99663060e-04 7.23665285e+00] [-4.56804967e-03 3.14148349e-04 9.99989517e-01 -1.06519504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.83140051299998 meters Centerline goodness [0,1] 0.9982246470944834 Centerline is valid? [True, True] Translation: X:119.98, Y:7.24, Z:-0.11 [[ 9.90296725e-01 -1.38926445e-01 3.44076516e-03 1.19982336e+02] [ 1.38926494e-01 9.90302670e-01 2.25686579e-04 7.24005896e+00] [-3.43875276e-03 2.54516762e-04 9.99994055e-01 -1.07974076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.86140051299998 meters Centerline goodness [0,1] 0.7237516209264259 Centerline is valid? [True, False] Translation: X:120.00, Y:7.24, Z:-0.11 [[ 9.89311277e-01 -1.45665331e-01 6.69388381e-03 1.20004600e+02] [ 1.45628166e-01 9.89322732e-01 5.74195325e-03 7.24004766e+00] [-7.45881493e-03 -4.70576108e-03 9.99961110e-01 -1.13270735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.89140051299998 meters Centerline goodness [0,1] 0.9034412911845195 Centerline is valid? [False, False] Translation: X:119.96, Y:7.24, Z:-0.11 [[ 9.89165228e-01 -1.46744321e-01 4.27259644e-03 1.19962968e+02] [ 1.46736182e-01 9.89173302e-01 2.16158036e-03 7.24119767e+00] [-4.54353797e-03 -1.51121565e-03 9.99988536e-01 -1.12607004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.92140051299998 meters Centerline goodness [0,1] 0.7957308484126124 Centerline is valid? [False, False] Translation: X:119.96, Y:7.24, Z:-0.11 [[ 9.89688488e-01 -1.43172346e-01 4.28676200e-03 1.19961219e+02] [ 1.43143122e-01 9.89680733e-01 6.48799861e-03 7.23990019e+00] [-5.17142774e-03 -5.80747704e-03 9.99969764e-01 -1.12977182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.95140051299998 meters Centerline goodness [0,1] 0.6955693900691012 Centerline is valid? [False, False] Translation: X:119.96, Y:7.24, Z:-0.11 [[ 9.89664995e-01 -1.43337072e-01 4.20497413e-03 1.19961314e+02] [ 1.43310788e-01 9.89659544e-01 6.00036228e-03 7.24218296e+00] [-5.02156714e-03 -5.33573035e-03 9.99973157e-01 -1.12855389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.98140051299998 meters Centerline goodness [0,1] 0.9152725777479602 Centerline is valid? [False, False] Translation: X:119.96, Y:7.24, Z:-0.11 [[ 9.89655102e-01 -1.43405211e-01 4.21000306e-03 1.19961190e+02] [ 1.43379737e-01 9.89650556e-01 5.83334827e-03 7.24293261e+00] [-5.00296440e-03 -5.16937375e-03 9.99974124e-01 -1.12708820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.01140051299998 meters Centerline goodness [0,1] 0.7999566912083153 Centerline is valid? [False, False] Translation: X:119.96, Y:7.24, Z:-0.11 [[ 9.89653232e-01 -1.43416473e-01 4.26563290e-03 1.19960826e+02] [ 1.43390961e-01 9.89649219e-01 5.78406067e-03 7.24314667e+00] [-5.05100985e-03 -5.11256114e-03 9.99974174e-01 -1.12363023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.04140051299999 meters Centerline goodness [0,1] 0.8836854434868576 Centerline is valid? [False, False] Translation: X:119.96, Y:7.24, Z:-0.11 [[ 9.90281227e-01 -1.39024397e-01 3.91248769e-03 1.19960280e+02] [ 1.38973654e-01 9.90233381e-01 1.11433328e-02 7.23773668e+00] [-5.42347103e-03 -1.04913005e-02 9.99930257e-01 -1.12506405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.071400513 meters Centerline goodness [0,1] 0.9345942198535465 Centerline is valid? [False, False] Translation: X:119.94, Y:7.24, Z:-0.11 [[ 9.90495124e-01 -1.37546804e-01 5.34865620e-04 1.19939447e+02] [ 1.37546929e-01 9.90495230e-01 -2.04294631e-04 7.24472606e+00] [-5.01681771e-04 2.75921959e-04 9.99999836e-01 -1.08269810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.101400513 meters Centerline goodness [0,1] 0.8666368171932967 Centerline is valid? [False, False] Translation: X:119.94, Y:7.24, Z:-0.11 [[ 9.90511021e-01 -1.37432950e-01 3.17901438e-04 1.19940604e+02] [ 1.37432978e-01 9.90511066e-01 -6.98463619e-05 7.24424680e+00] [-3.05285701e-04 1.12873733e-04 9.99999947e-01 -1.09178198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.131400513 meters Centerline goodness [0,1] 0.9255392729001859 Centerline is valid? [False, False] Translation: X:119.90, Y:7.24, Z:-0.11 [[ 9.90888098e-01 -1.34653399e-01 -3.03949642e-03 1.19901515e+02] [ 1.34658275e-01 9.90891022e-01 1.46009572e-03 7.23839929e+00] [ 2.81520286e-03 -1.85608482e-03 9.99994315e-01 -1.10770781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.161400513 meters Centerline goodness [0,1] 0.900924112085853 Centerline is valid? [False, False] Translation: X:119.90, Y:7.24, Z:-0.11 [[ 9.90908609e-01 -1.34496294e-01 -3.29768171e-03 1.19902522e+02] [ 1.34502219e-01 9.90911927e-01 1.64514075e-03 7.23764719e+00] [ 3.04644680e-03 -2.07372964e-03 9.99993209e-01 -1.11144254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.191400513 meters Centerline goodness [0,1] 0.8789652969980839 Centerline is valid? [False, False] Translation: X:119.90, Y:7.23, Z:-0.11 [[ 9.91509910e-01 -1.29978425e-01 -3.70244413e-03 1.19902446e+02] [ 1.30002840e-01 9.91486233e-01 7.36962291e-03 7.23040797e+00] [ 2.71303041e-03 -7.78838240e-03 9.99965990e-01 -1.11551129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.221400513 meters Centerline goodness [0,1] 0.9828669580153502 Centerline is valid? [False, True] Translation: X:119.84, Y:7.23, Z:-0.11 [[ 9.92045025e-01 -1.25871328e-01 -1.75393058e-03 1.19836460e+02] [ 1.25869665e-01 9.92046254e-01 -1.02837982e-03 7.23053745e+00] [ 1.86942380e-03 7.99432428e-04 9.99997933e-01 -1.10778003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.251400513 meters Centerline goodness [0,1] 0.9812464810082724 Centerline is valid? [True, True] Translation: X:119.87, Y:7.23, Z:-0.11 [[ 9.92512512e-01 -1.22141948e-01 5.07260265e-04 1.19865679e+02] [ 1.22141952e-01 9.92512641e-01 2.36721666e-05 7.22790785e+00] [-5.06353590e-04 3.84628372e-05 9.99999871e-01 -1.06737605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.281400513 meters Centerline goodness [0,1] 0.9102027679433538 Centerline is valid? [True, False] Translation: X:119.87, Y:7.22, Z:-0.11 [[ 9.93069900e-01 -1.17525184e-01 6.77719063e-05 1.19865650e+02] [ 1.17523084e-01 9.93055287e-01 5.43345401e-03 7.22253590e+00] [-7.05868932e-04 -5.38783487e-03 9.99985236e-01 -1.06878479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.311400513 meters Centerline goodness [0,1] 0.9985779233371399 Centerline is valid? [False, True] Translation: X:119.87, Y:7.22, Z:-0.11 [[ 9.93052330e-01 -1.17673561e-01 5.65221859e-05 1.19865520e+02] [ 1.17671834e-01 9.93040137e-01 4.96245142e-03 7.22476051e+00] [-6.40078128e-04 -4.92132287e-03 9.99987685e-01 -1.06708164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.341400513 meters Centerline goodness [0,1] 0.9994395947839206 Centerline is valid? [True, True] Translation: X:119.89, Y:7.23, Z:-0.11 [[ 9.93466383e-01 -1.14123089e-01 -6.82426113e-04 1.19894965e+02] [ 1.14123094e-01 9.93466617e-01 -3.17565243e-05 7.23428829e+00] [ 6.81591714e-04 -4.63315403e-05 9.99999767e-01 -1.08702278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.371400513 meters Centerline goodness [0,1] 0.9994395947839206 Centerline is valid? [True, True] Translation: X:119.92, Y:7.24, Z:-0.11 [[ 9.93447782e-01 -1.14284903e-01 -6.82397357e-04 1.19923300e+02] [ 1.14284908e-01 9.93448015e-01 -3.23745099e-05 7.23569776e+00] [ 6.81626218e-04 -4.58253342e-05 9.99999767e-01 -1.08801770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.401400513 meters Centerline goodness [0,1] 0.9856982371240927 Centerline is valid? [True, True] Translation: X:119.95, Y:7.23, Z:-0.11 [[ 9.93567143e-01 -1.13237136e-01 -1.29720788e-03 1.19952170e+02] [ 1.13237152e-01 9.93567986e-01 -6.06779820e-05 7.22571724e+00] [ 1.29573522e-03 -8.66044774e-05 9.99999157e-01 -1.11162310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.43140051299997 meters Centerline goodness [0,1] 0.9991846543363515 Centerline is valid? [True, True] Translation: X:119.98, Y:7.24, Z:-0.11 [[ 9.93573644e-01 -1.13180882e-01 -1.22536673e-03 1.19980293e+02] [ 1.13180896e-01 9.93574396e-01 -5.79279191e-05 7.23506318e+00] [ 1.22404934e-03 -8.11324510e-05 9.99999248e-01 -1.10500448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.46140051299997 meters Centerline goodness [0,1] 0.9986470815616544 Centerline is valid? [True, True] Translation: X:120.01, Y:7.23, Z:-0.11 [[ 9.93327458e-01 -1.15325322e-01 -7.94937905e-04 1.20011010e+02] [ 1.15325329e-01 9.93327774e-01 -3.72623505e-05 7.22985433e+00] [ 7.93931192e-04 -5.46627593e-05 9.99999683e-01 -1.09679157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.49140051299997 meters Centerline goodness [0,1] 0.9964927473479108 Centerline is valid? [True, True] Translation: X:120.04, Y:7.22, Z:-0.11 [[ 9.93093584e-01 -1.17324799e-01 -1.58935019e-04 1.20040031e+02] [ 1.17324799e-01 9.93093597e-01 -7.52585988e-06 7.22433340e+00] [ 1.58720319e-04 -1.11731359e-05 9.99999987e-01 -1.08395322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.52140051299997 meters Centerline goodness [0,1] 0.9991730321429348 Centerline is valid? [True, True] Translation: X:120.07, Y:7.23, Z:-0.11 [[ 9.92821816e-01 -1.19599973e-01 8.28949212e-04 1.20069664e+02] [ 1.19599982e-01 9.92822161e-01 3.88060677e-05 7.22871581e+00] [-8.27640352e-04 6.06148006e-05 9.99999656e-01 -1.06717119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.55140051299998 meters Centerline goodness [0,1] 0.9970398859167711 Centerline is valid? [True, True] Translation: X:120.10, Y:7.22, Z:-0.11 [[ 9.92515903e-01 -1.22112065e-01 9.08288170e-04 1.20099669e+02] [ 1.22112077e-01 9.92516317e-01 4.25256576e-05 7.22385038e+00] [-9.06683725e-04 6.87055631e-05 9.99999587e-01 -1.05696957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.58140051299998 meters Centerline goodness [0,1] 0.9542208975705985 Centerline is valid? [True, True] Translation: X:120.13, Y:7.22, Z:-0.11 [[ 9.92545504e-01 -1.21870299e-01 1.02633054e-03 1.20127749e+02] [ 1.21870314e-01 9.92546031e-01 4.79603292e-05 7.21716990e+00] [-1.02452525e-03 7.74764161e-05 9.99999472e-01 -1.06440032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.61140051299998 meters Centerline goodness [0,1] 0.994640781714089 Centerline is valid? [True, True] Translation: X:120.16, Y:7.23, Z:-0.11 [[ 9.92733174e-01 -1.20317566e-01 2.12787788e-03 1.20157082e+02] [ 1.20317627e-01 9.92735442e-01 9.98256110e-05 7.22683468e+00] [-2.12443056e-03 1.56921021e-04 9.99997731e-01 -1.05203064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.64140051299998 meters Centerline goodness [0,1] 0.997937922886908 Centerline is valid? [True, True] Translation: X:120.19, Y:7.23, Z:-0.10 [[ 9.93021857e-01 -1.17871462e-01 3.72961814e-03 1.20186741e+02] [ 1.17871631e-01 9.93028825e-01 1.75109909e-04 7.23362311e+00] [-3.72425878e-03 2.65728206e-04 9.99993030e-01 -1.02704817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.67140051299998 meters Centerline goodness [0,1] 0.9997180716098111 Centerline is valid? [True, True] Translation: X:120.22, Y:7.25, Z:-0.10 [[ 9.93687256e-01 -1.12098814e-01 4.41514056e-03 1.20217025e+02] [ 1.12098995e-01 9.93697022e-01 2.07308252e-04 7.24700681e+00] [-4.41055104e-03 2.88933250e-04 9.99990232e-01 -1.00910195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.70140051299998 meters Centerline goodness [0,1] 0.9997422957156663 Centerline is valid? [True, True] Translation: X:120.25, Y:7.25, Z:-0.10 [[ 9.93970918e-01 -1.09584905e-01 3.60032557e-03 1.20246008e+02] [ 1.09585009e-01 9.93977413e-01 1.69062380e-04 7.25343758e+00] [-3.59716898e-03 2.26498620e-04 9.99993505e-01 -1.02745598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.73140051299998 meters Centerline goodness [0,1] 0.9999131887926731 Centerline is valid? [True, True] Translation: X:120.28, Y:7.26, Z:-0.10 [[ 9.94155876e-01 -1.07911062e-01 3.04904592e-03 1.20276644e+02] [ 1.07911129e-01 9.94160534e-01 1.43199916e-04 7.26107584e+00] [-3.04669398e-03 1.86662949e-04 9.99995341e-01 -1.04428528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.76140051299998 meters Centerline goodness [0,1] 0.9998263662803316 Centerline is valid? [True, True] Translation: X:120.31, Y:7.27, Z:-0.11 [[ 9.94203220e-01 -1.07474815e-01 3.02015871e-03 1.20307553e+02] [ 1.07474878e-01 9.94207790e-01 1.41814655e-04 7.27361683e+00] [-3.01790682e-03 1.83598603e-04 9.99995429e-01 -1.06486997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.79140051299999 meters Centerline goodness [0,1] 0.9998051863717045 Centerline is valid? [True, True] Translation: X:120.34, Y:7.28, Z:-0.11 [[ 9.94090805e-01 -1.08517356e-01 2.73025063e-03 1.20338156e+02] [ 1.08517411e-01 9.94094540e-01 1.28137112e-04 7.27800755e+00] [-2.72803235e-03 1.68899807e-04 9.99996265e-01 -1.06117154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.821400513 meters Centerline goodness [0,1] 0.9995658874346118 Centerline is valid? [True, True] Translation: X:120.37, Y:7.28, Z:-0.11 [[ 9.93873430e-01 -1.10506462e-01 1.98155015e-03 1.20367720e+02] [ 1.10506496e-01 9.93875397e-01 9.30116926e-05 7.27939202e+00] [-1.97969234e-03 1.26532313e-04 9.99998032e-01 -1.07788914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.851400513 meters Centerline goodness [0,1] 0.9986375432525951 Centerline is valid? [True, True] Translation: X:120.40, Y:7.28, Z:-0.11 [[ 9.93121843e-01 -1.17076539e-01 1.44549981e-03 1.20397628e+02] [ 1.17076564e-01 9.93122889e-01 6.77727986e-05 7.28417386e+00] [-1.44349355e-03 1.01927504e-04 9.99998953e-01 -1.08137184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.881400513 meters Centerline goodness [0,1] 0.9207874484459373 Centerline is valid? [True, False] Translation: X:120.44, Y:7.29, Z:-0.11 [[ 9.92734413e-01 -1.20232013e-01 4.75911190e-03 1.20436870e+02] [ 1.20239433e-01 9.92744065e-01 -1.30381548e-03 7.29018209e+00] [-4.56781974e-03 1.86657541e-03 9.99987825e-01 -1.08407102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.911400513 meters Centerline goodness [0,1] 0.9172509619495511 Centerline is valid? [False, False] Translation: X:120.44, Y:7.29, Z:-0.11 [[ 9.93062011e-01 -1.17500139e-01 4.64324532e-03 1.20435952e+02] [ 1.17487441e-01 9.93070076e-01 2.91974337e-03 7.28675495e+00] [-4.95413823e-03 -2.35396321e-03 9.99984958e-01 -1.09067004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.941400513 meters Centerline goodness [0,1] 0.7841363941236288 Centerline is valid? [False, False] Translation: X:120.44, Y:7.29, Z:-0.11 [[ 9.93036202e-01 -1.17721514e-01 4.55494540e-03 1.20436699e+02] [ 1.17710288e-01 9.93044417e-01 2.65980599e-03 7.28796147e+00] [-4.83637949e-03 -2.10511970e-03 9.99986089e-01 -1.10157945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.971400513 meters Centerline goodness [0,1] 0.9330086836604969 Centerline is valid? [False, False] Translation: X:120.44, Y:7.28, Z:-0.11 [[ 9.93413976e-01 -1.14503199e-01 4.20596311e-03 1.20436955e+02] [ 1.14471042e-01 9.93400323e-01 7.22351778e-03 7.28436958e+00] [-5.00532101e-03 -6.69448254e-03 9.99965065e-01 -1.11668320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.001400513 meters Centerline goodness [0,1] 0.8684957426679281 Centerline is valid? [False, False] Translation: X:120.44, Y:7.29, Z:-0.11 [[ 9.93375302e-01 -1.14834682e-01 4.30169941e-03 1.20436907e+02] [ 1.14803256e-01 9.93363915e-01 6.95300462e-03 7.28541909e+00] [-5.07159904e-03 -6.41309396e-03 9.99966575e-01 -1.12281511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.031400513 meters Centerline goodness [0,1] 0.7326170905874485 Centerline is valid? [False, False] Translation: X:120.44, Y:7.28, Z:-0.11 [[ 9.93374704e-01 -1.14834441e-01 4.44398868e-03 1.20436248e+02] [ 1.14801374e-01 9.93363145e-01 7.09276795e-03 7.28464359e+00] [-5.22898861e-03 -6.53560025e-03 9.99964971e-01 -1.11799984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.061400513 meters Centerline goodness [0,1] 0.7511456293969578 Centerline is valid? [False, False] Translation: X:120.44, Y:7.28, Z:-0.11 [[ 9.93370288e-01 -1.14867167e-01 4.58306860e-03 1.20435541e+02] [ 1.14833216e-01 9.93359496e-01 7.08823910e-03 7.28455755e+00] [-5.36684066e-03 -6.51495761e-03 9.99964376e-01 -1.11256982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.091400513 meters Centerline goodness [0,1] 0.7284038623549997 Centerline is valid? [False, False] Translation: X:120.43, Y:7.29, Z:-0.11 [[ 9.93318706e-01 -1.15310138e-01 4.63901110e-03 1.20434835e+02] [ 1.15281844e-01 9.93314917e-01 5.96420867e-03 7.28973271e+00] [-5.29573266e-03 -5.38956628e-03 9.99971453e-01 -1.10457228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.121400513 meters Centerline goodness [0,1] 0.8483729417387149 Centerline is valid? [False, False] Translation: X:120.43, Y:7.29, Z:-0.11 [[ 9.93284616e-01 -1.15604359e-01 4.61555329e-03 1.20434782e+02] [ 1.15580438e-01 9.93284765e-01 5.15148577e-03 7.29358336e+00] [-5.18009297e-03 -4.58342390e-03 9.99976079e-01 -1.10470726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.151400513 meters Centerline goodness [0,1] 0.906281048857402 Centerline is valid? [False, False] Translation: X:120.43, Y:7.30, Z:-0.11 [[ 9.93255502e-01 -1.15855027e-01 4.59569896e-03 1.20434756e+02] [ 1.15835202e-01 9.93258839e-01 4.36868758e-03 7.29736785e+00] [-5.07085303e-03 -3.80687926e-03 9.99979897e-01 -1.10566829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.18140051299997 meters Centerline goodness [0,1] 0.6250429258241759 Centerline is valid? [False, False] Translation: X:120.43, Y:7.31, Z:-0.11 [[ 9.93901052e-01 -1.09998436e-01 7.81305741e-03 1.20429733e+02] [ 1.10079876e-01 9.93863024e-01 -1.08954005e-02 7.31155020e+00] [-6.56663184e-03 1.16890104e-02 9.99910119e-01 -1.08369786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.21140051299997 meters Centerline goodness [0,1] 0.6943752375321988 Centerline is valid? [False, False] Translation: X:120.45, Y:7.30, Z:-0.12 [[ 9.94064188e-01 -1.08103074e-01 1.22521572e-02 1.20453302e+02] [ 1.08071088e-01 9.94137872e-01 3.24522483e-03 7.30038184e+00] [-1.25311523e-02 -1.90185782e-03 9.99919673e-01 -1.15956201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.24140051299997 meters Centerline goodness [0,1] 0.8723645141306902 Centerline is valid? [False, False] Translation: X:120.45, Y:7.30, Z:-0.12 [[ 9.94055985e-01 -1.08165985e-01 1.23619688e-02 1.20452602e+02] [ 1.08135296e-01 9.94131270e-01 3.12654120e-03 7.30084339e+00] [-1.26276052e-02 -1.77119183e-03 9.99918700e-01 -1.15308483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.27140051299997 meters Centerline goodness [0,1] 0.7142079714403884 Centerline is valid? [False, False] Translation: X:120.41, Y:7.30, Z:-0.11 [[ 9.94054099e-01 -1.08460796e-01 9.62826317e-03 1.20412379e+02] [ 1.08465342e-01 9.94100230e-01 5.03534581e-05 7.30205295e+00] [-9.57692000e-03 9.94278795e-04 9.99953646e-01 -1.14886170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.30140051299998 meters Centerline goodness [0,1] 0.716330791189127 Centerline is valid? [False, False] Translation: X:120.43, Y:7.31, Z:-0.11 [[ 9.94127274e-01 -1.07607315e-01 1.14729693e-02 1.20433387e+02] [ 1.07723016e-01 9.94130721e-01 -9.99310090e-03 7.30932315e+00] [-1.03303005e-02 1.11703170e-02 9.99884248e-01 -1.14332073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.33140051299998 meters Centerline goodness [0,1] 0.8252818380556389 Centerline is valid? [False, False] Translation: X:120.43, Y:7.30, Z:-0.12 [[ 9.94567895e-01 -1.03458559e-01 1.14468152e-02 1.20432641e+02] [ 1.03517695e-01 9.94616514e-01 -4.69864846e-03 7.30406081e+00] [-1.08990760e-02 5.85807283e-03 9.99923444e-01 -1.15404260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.36140051299998 meters Centerline goodness [0,1] 0.7164454433654213 Centerline is valid? [False, False] Translation: X:120.43, Y:7.30, Z:-0.12 [[ 9.95004651e-01 -9.91946654e-02 1.12322323e-02 1.20432404e+02] [ 9.91994962e-02 9.95067557e-01 1.27605010e-04 7.30152076e+00] [-1.11894877e-02 9.87264211e-04 9.99936908e-01 -1.16375735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.39140051299998 meters Centerline goodness [0,1] 0.5488827709840578 Centerline is valid? [False, False] Translation: X:120.43, Y:7.30, Z:-0.12 [[ 9.95440532e-01 -9.47507267e-02 1.09748539e-02 1.20432428e+02] [ 9.46962117e-02 9.95491647e-01 5.38592119e-03 7.29693495e+00] [-1.14356953e-02 -4.32208717e-03 9.99925269e-01 -1.17322719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.42140051299998 meters Centerline goodness [0,1] 0.7087972672042895 Centerline is valid? [False, False] Translation: X:120.41, Y:7.31, Z:-0.11 [[ 9.95655139e-01 -9.29164587e-02 6.11358509e-03 1.20407327e+02] [ 9.29441502e-02 9.95661547e-01 -4.41242851e-03 7.30563511e+00] [-5.67707435e-03 4.96147909e-03 9.99971577e-01 -1.09204832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.45140051299998 meters Centerline goodness [0,1] 0.9672681311018131 Centerline is valid? [False, True] Translation: X:120.41, Y:7.30, Z:-0.11 [[ 9.96078880e-01 -8.82947257e-02 5.55926426e-03 1.20408450e+02] [ 8.82903247e-02 9.96094249e-01 1.03262360e-03 7.30032099e+00] [-5.62872637e-03 -5.37745309e-04 9.99984014e-01 -1.10341759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.48140051299998 meters Centerline goodness [0,1] 0.7806922373263556 Centerline is valid? [True, False] Translation: X:120.43, Y:7.31, Z:-0.11 [[ 9.96172853e-01 -8.70491020e-02 7.88039348e-03 1.20429518e+02] [ 8.71159227e-02 9.96161277e-01 -8.57478043e-03 7.30670052e+00] [-7.10371589e-03 9.22847123e-03 9.99932184e-01 -1.10241240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.51140051299998 meters Centerline goodness [0,1] 0.7980929317390646 Centerline is valid? [False, False] Translation: X:120.39, Y:7.31, Z:-0.11 [[ 9.96247975e-01 -8.63757725e-02 5.40360320e-03 1.20387628e+02] [ 8.64292779e-02 9.96201519e-01 -1.06072353e-02 7.30825357e+00] [-4.46686957e-03 1.10344662e-02 9.99929141e-01 -1.09137822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.54140051299999 meters Centerline goodness [0,1] 0.6332691896514859 Centerline is valid? [False, False] Translation: X:120.39, Y:7.30, Z:-0.11 [[ 9.96609802e-01 -8.21060708e-02 5.24363473e-03 1.20387633e+02] [ 8.21333142e-02 9.96607732e-01 -5.21030447e-03 7.30264765e+00] [-4.79804929e-03 5.62331761e-03 9.99972678e-01 -1.10435097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.571400513 meters Centerline goodness [0,1] 0.8596309261420113 Centerline is valid? [False, False] Translation: X:120.39, Y:7.30, Z:-0.11 [[ 9.96970722e-01 -7.76129782e-02 5.06014952e-03 1.20387828e+02] [ 7.76120459e-02 9.96983563e-01 3.80643514e-04 7.29633674e+00] [-5.07442877e-03 1.32381178e-05 9.99987125e-01 -1.11746997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.601400513 meters Centerline goodness [0,1] 0.761258377086268 Centerline is valid? [False, False] Translation: X:120.39, Y:7.30, Z:-0.11 [[ 9.96969921e-01 -7.76330895e-02 4.90720797e-03 1.20388366e+02] [ 7.76329518e-02 9.96981984e-01 2.18833367e-04 7.29718493e+00] [-4.90938665e-03 1.62790755e-04 9.99987936e-01 -1.11893375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.631400513 meters Centerline goodness [0,1] 0.7542925567173434 Centerline is valid? [False, False] Translation: X:120.39, Y:7.29, Z:-0.11 [[ 9.97308502e-01 -7.31594804e-02 4.84182052e-03 1.20387953e+02] [ 7.31321418e-02 9.97306530e-01 5.60136099e-03 7.29188528e+00] [-5.23857189e-03 -5.23219223e-03 9.99972590e-01 -1.12518520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.661400513 meters Centerline goodness [0,1] 0.951492937217328 Centerline is valid? [False, True] Translation: X:120.38, Y:7.31, Z:-0.10 [[ 9.97631294e-01 -6.87703777e-02 1.56106906e-03 1.20380720e+02] [ 6.87831489e-02 9.97574767e-01 -1.06518852e-02 7.30573389e+00] [-8.24748936e-04 1.07340292e-02 9.99942049e-01 -1.03711956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.691400513 meters Centerline goodness [0,1] 0.7692504041521313 Centerline is valid? [True, False] Translation: X:120.38, Y:7.30, Z:-0.10 [[ 9.97944100e-01 -6.40743065e-02 1.43373008e-03 1.20380653e+02] [ 6.40808200e-02 9.97931755e-01 -5.08543336e-03 7.29981263e+00] [-1.10491916e-03 5.16685282e-03 9.99986041e-01 -1.04520709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.721400513 meters Centerline goodness [0,1] 0.8268518912479258 Centerline is valid? [False, False] Translation: X:120.38, Y:7.30, Z:-0.10 [[ 9.98230425e-01 -5.94478141e-02 1.40579420e-03 1.20380150e+02] [ 5.94476083e-02 9.98231409e-01 1.87760642e-04 7.29528249e+00] [-1.41446989e-03 -1.03857282e-04 9.99998994e-01 -1.04963711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.751400513 meters Centerline goodness [0,1] 0.9721249920448036 Centerline is valid? [False, True] Translation: X:120.38, Y:7.29, Z:-0.11 [[ 9.98486947e-01 -5.49703899e-02 1.43973722e-03 1.20379308e+02] [ 5.49622976e-02 9.98475098e-01 5.15979868e-03 7.29208639e+00] [-1.72117791e-03 -5.07286037e-03 9.99985652e-01 -1.05038601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.781400513 meters Centerline goodness [0,1] 0.9312453392990305 Centerline is valid? [True, False] Translation: X:120.38, Y:7.30, Z:-0.10 [[ 9.98471021e-01 -5.52536566e-02 1.62922932e-03 1.20377965e+02] [ 5.52467672e-02 9.98464689e-01 4.00742896e-03 7.29760339e+00] [-1.84815305e-03 -3.91129203e-03 9.99990643e-01 -1.03751141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.811400513 meters Centerline goodness [0,1] 0.999291951852726 Centerline is valid? [False, True] Translation: X:120.38, Y:7.30, Z:-0.10 [[ 9.98470312e-01 -5.52657451e-02 1.65355565e-03 1.20378009e+02] [ 5.52588088e-02 9.98464126e-01 3.98163469e-03 7.29776450e+00] [-1.87106400e-03 -3.88417052e-03 9.99990706e-01 -1.04019303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.841400513 meters Centerline goodness [0,1] 0.9952086882453152 Centerline is valid? [True, True] Translation: X:120.41, Y:7.30, Z:-0.11 [[ 9.98433131e-01 -5.59509257e-02 8.81579981e-04 1.20408842e+02] [ 5.59509576e-02 9.98433518e-01 -1.15106926e-05 7.29513941e+00] [-8.79554968e-04 6.08179010e-05 9.99999611e-01 -1.05244205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.871400513 meters Centerline goodness [0,1] 0.978456903045303 Centerline is valid? [True, True] Translation: X:120.44, Y:7.29, Z:-0.11 [[ 9.98366762e-01 -5.71270846e-02 -5.51184885e-04 1.20438979e+02] [ 5.71270973e-02 9.98366914e-01 7.33261835e-06 7.29298658e+00] [ 5.49865861e-04 -3.88082350e-05 9.99999848e-01 -1.07599735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.901400513 meters Centerline goodness [0,1] 0.7714395837348237 Centerline is valid? [True, False] Translation: X:120.44, Y:7.29, Z:-0.11 [[ 9.98586998e-01 -5.31357757e-02 -7.72887826e-04 1.20439426e+02] [ 5.31390818e-02 9.98573632e-01 5.19036494e-03 7.28789873e+00] [ 4.95991336e-04 -5.22410149e-03 9.99986231e-01 -1.08745971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.93140051299997 meters Centerline goodness [0,1] 0.9193750664257626 Centerline is valid? [False, False] Translation: X:120.44, Y:7.29, Z:-0.11 [[ 9.98589216e-01 -5.30946609e-02 -7.31589065e-04 1.20439223e+02] [ 5.30978763e-02 9.98574339e-01 5.46852595e-03 7.28649374e+00] [ 4.40196536e-04 -5.49965687e-03 9.99984780e-01 -1.08604701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.96140051299997 meters Centerline goodness [0,1] 0.8887666623527889 Centerline is valid? [False, False] Translation: X:120.44, Y:7.29, Z:-0.11 [[ 9.98328725e-01 -5.77888964e-02 -4.46895910e-04 1.20438379e+02] [ 5.77888498e-02 9.98328821e-01 -1.16502784e-04 7.29242080e+00] [ 4.52881634e-04 9.04824753e-05 9.99999893e-01 -1.07299450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.99140051299997 meters Centerline goodness [0,1] 0.9189079921695463 Centerline is valid? [False, False] Translation: X:120.46, Y:7.30, Z:-0.11 [[ 9.98347103e-01 -5.72839809e-02 4.64833290e-03 1.20458409e+02] [ 5.73272580e-02 9.98307509e-01 -9.78279614e-03 7.29888652e+00] [-4.08006813e-03 1.00331024e-02 9.99941343e-01 -1.10334364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.02140051299997 meters Centerline goodness [0,1] 0.9969748698113615 Centerline is valid? [False, True] Translation: X:120.42, Y:7.30, Z:-0.11 [[ 9.98331827e-01 -5.76808810e-02 2.54561492e-03 1.20415251e+02] [ 5.77102081e-02 9.98241419e-01 -1.35499782e-02 7.30409125e+00] [-1.75956357e-03 1.36742825e-02 9.99904954e-01 -1.07825632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.05140051299998 meters Centerline goodness [0,1] 0.9879722138844818 Centerline is valid? [True, True] Translation: X:120.44, Y:7.29, Z:-0.11 [[ 9.98080164e-01 -6.18239946e-02 3.71224144e-03 1.20444456e+02] [ 6.18246968e-02 9.98087021e-01 -7.45779093e-05 7.28509401e+00] [-3.70052930e-03 3.03942934e-04 9.99993107e-01 -1.10605931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.08140051299998 meters Centerline goodness [0,1] 0.7854409425119319 Centerline is valid? [True, False] Translation: X:120.44, Y:7.28, Z:-0.11 [[ 9.98095197e-01 -6.15671541e-02 3.93236642e-03 1.20443914e+02] [ 6.15644599e-02 9.98102787e-01 8.02669273e-04 7.28087046e+00] [-3.97432394e-03 -5.59046332e-04 9.99991946e-01 -1.10822983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.11140051299998 meters Centerline goodness [0,1] 0.7474635282055664 Centerline is valid? [False, False] Translation: X:120.44, Y:7.28, Z:-0.11 [[ 9.98109108e-01 -6.13318464e-02 4.07593699e-03 1.20443596e+02] [ 6.13254679e-02 9.98116422e-01 1.67201042e-03 7.27666383e+00] [-4.17080713e-03 -1.41889008e-03 9.99990296e-01 -1.11031400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.14140051299998 meters Centerline goodness [0,1] 0.6369690501600853 Centerline is valid? [False, False] Translation: X:120.44, Y:7.27, Z:-0.11 [[ 9.98128376e-01 -6.10181744e-02 4.06548996e-03 1.20443910e+02] [ 6.10079898e-02 9.98133933e-01 2.58385846e-03 7.27234211e+00] [-4.21556581e-03 -2.33099507e-03 9.99988398e-01 -1.11466937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.17140051299998 meters Centerline goodness [0,1] 0.39341941210033604 Centerline is valid? [False, False] Translation: X:120.45, Y:7.27, Z:-0.11 [[ 9.98155153e-01 -6.05900322e-02 3.89085512e-03 1.20445073e+02] [ 6.05755582e-02 9.98156623e-01 3.73605612e-03 7.26697050e+00] [-4.11005056e-03 -3.49347294e-03 9.99985451e-01 -1.12487664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.20140051299998 meters Centerline goodness [0,1] 0.5154784037355701 Centerline is valid? [False, False] Translation: X:120.38, Y:7.27, Z:-0.12 [[ 9.98310965e-01 -5.79006973e-02 4.76720813e-03 1.20384959e+02] [ 5.79300954e-02 9.98300898e-01 -6.27858182e-03 7.26590140e+00] [-4.39557389e-03 6.54414190e-03 9.99968926e-01 -1.16328643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.23140051299998 meters Centerline goodness [0,1] 0.5264626346739923 Centerline is valid? [False, False] Translation: X:120.39, Y:7.26, Z:-0.12 [[ 9.98578822e-01 -5.30956371e-02 4.60324800e-03 1.20385373e+02] [ 5.30955751e-02 9.98589426e-01 1.35754585e-04 7.25565427e+00] [-4.60396275e-03 1.08850446e-04 9.99989396e-01 -1.17562824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.26140051299998 meters Centerline goodness [0,1] 0.8968482616700963 Centerline is valid? [False, False] Translation: X:120.39, Y:7.25, Z:-0.12 [[ 9.98588138e-01 -5.29301987e-02 4.48609633e-03 1.20385536e+02] [ 5.29287424e-02 9.98598194e-01 4.42795878e-04 7.25420514e+00] [-4.50324496e-03 -2.04727274e-04 9.99989839e-01 -1.17056244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.29140051299999 meters Centerline goodness [0,1] 0.8968482616700963 Centerline is valid? [False, False] Translation: X:120.39, Y:7.25, Z:-0.12 [[ 9.98588138e-01 -5.29301987e-02 4.48609633e-03 1.20385536e+02] [ 5.29287424e-02 9.98598194e-01 4.42795878e-04 7.25420514e+00] [-4.50324496e-03 -2.04727274e-04 9.99989839e-01 -1.17056244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.321400513 meters Centerline goodness [0,1] 0.8003593275441674 Centerline is valid? [False, False] Translation: X:120.40, Y:7.25, Z:-0.11 [[ 9.98850374e-01 -4.75650048e-02 5.95825322e-03 1.20404052e+02] [ 4.75939523e-02 9.98855163e-01 -4.81456392e-03 7.25218048e+00] [-5.72242723e-03 5.09260580e-03 9.99970659e-01 -1.13526982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.351400513 meters Centerline goodness [0,1] 0.9088866276604766 Centerline is valid? [False, False] Translation: X:120.40, Y:7.24, Z:-0.11 [[ 9.99075008e-01 -4.25880231e-02 5.94888219e-03 1.20403754e+02] [ 4.25804107e-02 9.99092061e-01 1.40053773e-03 7.24316818e+00] [-6.00312710e-03 -1.14593639e-03 9.99981324e-01 -1.14081565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.381400513 meters Centerline goodness [0,1] 0.9982400034341397 Centerline is valid? [False, True] Translation: X:120.40, Y:7.24, Z:-0.11 [[ 9.99084685e-01 -4.23553259e-02 5.98483743e-03 1.20403677e+02] [ 4.23447803e-02 9.99101293e-01 1.87797243e-03 7.24097040e+00] [-6.05900094e-03 -1.62282687e-03 9.99980327e-01 -1.14154029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.411400513 meters Centerline goodness [0,1] 0.9978805476664829 Centerline is valid? [True, True] Translation: X:120.43, Y:7.24, Z:-0.11 [[ 9.99156603e-01 -4.05153954e-02 6.67719116e-03 1.20433255e+02] [ 4.05177636e-02 9.99178794e-01 -2.19721132e-04 7.23866596e+00] [-6.66280572e-03 4.90080673e-04 9.99977683e-01 -1.13595717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.441400513 meters Centerline goodness [0,1] 0.9958769493697928 Centerline is valid? [True, True] Translation: X:120.46, Y:7.23, Z:-0.11 [[ 9.99213530e-01 -3.90970173e-02 6.61403237e-03 1.20463482e+02] [ 3.90993100e-02 9.99235306e-01 -2.17633631e-04 7.23461769e+00] [-6.60046583e-03 4.76066570e-04 9.99978103e-01 -1.13653365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.471400513 meters Centerline goodness [0,1] 0.9981397536777283 Centerline is valid? [True, True] Translation: X:120.49, Y:7.24, Z:-0.12 [[ 9.99285192e-01 -3.75702602e-02 4.19295454e-03 1.20494706e+02] [ 3.75711681e-02 9.99293945e-01 -1.37946369e-04 7.23545228e+00] [-4.18481140e-03 2.95381964e-04 9.99991200e-01 -1.16915949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.501400513 meters Centerline goodness [0,1] 0.9737750319556882 Centerline is valid? [True, True] Translation: X:120.53, Y:7.22, Z:-0.12 [[ 9.99290403e-01 -3.75586251e-02 2.83559837e-03 1.20525447e+02] [ 3.75590401e-02 9.99294406e-01 -9.32458679e-05 7.22464955e+00] [-2.83009540e-03 1.99682054e-04 9.99995975e-01 -1.20002613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.531400513 meters Centerline goodness [0,1] 0.9974589228416995 Centerline is valid? [True, True] Translation: X:120.56, Y:7.23, Z:-0.12 [[ 9.99275424e-01 -3.80172179e-02 1.82169744e-03 1.20558167e+02] [ 3.80173898e-02 9.99277076e-01 -5.98089623e-05 7.23017674e+00] [-1.81810672e-03 1.29021808e-04 9.99998339e-01 -1.20832844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.561400513 meters Centerline goodness [0,1] 0.9632287565095897 Centerline is valid? [True, True] Translation: X:120.59, Y:7.22, Z:-0.12 [[ 9.99235074e-01 -3.90692013e-02 1.69240074e-03 1.20587693e+02] [ 3.90693511e-02 9.99236500e-01 -5.55527619e-05 7.21803733e+00] [-1.68893819e-03 1.21631267e-04 9.99998566e-01 -1.22051578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.591400513 meters Centerline goodness [0,1] 0.9548063586898539 Centerline is valid? [True, True] Translation: X:120.62, Y:7.21, Z:-0.12 [[ 9.99159471e-01 -4.09488847e-02 1.88159799e-03 1.20618683e+02] [ 4.09490739e-02 9.99161233e-01 -6.21268361e-05 7.21326547e+00] [-1.87747574e-03 1.39124312e-04 9.99998228e-01 -1.22108528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.621400513 meters Centerline goodness [0,1] 0.9313519313304721 Centerline is valid? [True, False] Translation: X:120.62, Y:7.21, Z:-0.12 [[ 9.99149182e-01 -4.11550835e-02 2.67802045e-03 1.20616092e+02] [ 4.11521847e-02 9.99152253e-01 1.12871645e-03 7.20631293e+00] [-2.72220258e-03 -1.01754972e-03 9.99995777e-01 -1.22061044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.651400513 meters Centerline goodness [0,1] 0.8053704137475778 Centerline is valid? [False, False] Translation: X:120.62, Y:7.20, Z:-0.12 [[ 9.99160955e-01 -4.08660823e-02 2.71113665e-03 1.20616155e+02] [ 4.08606741e-02 9.99162810e-01 2.02109619e-03 7.20204041e+00] [-2.79146120e-03 -1.90862153e-03 9.99994282e-01 -1.22389691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.68140051299997 meters Centerline goodness [0,1] 0.9408542087397413 Centerline is valid? [False, False] Translation: X:120.62, Y:7.20, Z:-0.12 [[ 9.99173071e-01 -4.05665322e-02 2.74411885e-03 1.20616214e+02] [ 4.05588432e-02 9.99173223e-01 2.80192093e-03 7.19837235e+00] [-2.85551429e-03 -2.68830566e-03 9.99992309e-01 -1.22636428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.71140051299997 meters Centerline goodness [0,1] 0.807666886979511 Centerline is valid? [False, False] Translation: X:120.62, Y:7.20, Z:-0.12 [[ 9.99183772e-01 -4.03061625e-02 2.68367206e-03 1.20616545e+02] [ 4.02968189e-02 9.99181800e-01 3.44917187e-03 7.19533175e+00] [-2.82049916e-03 -3.33821312e-03 9.99990451e-01 -1.22857973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.74140051299997 meters Centerline goodness [0,1] 0.9264990740543647 Centerline is valid? [False, False] Translation: X:120.62, Y:7.19, Z:-0.12 [[ 9.99193812e-01 -4.00615327e-02 2.60755468e-03 1.20616894e+02] [ 4.00509493e-02 9.99189665e-01 3.99175579e-03 7.19279407e+00] [-2.76535754e-03 -3.88410265e-03 9.99988633e-01 -1.22989263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.77140051299997 meters Centerline goodness [0,1] 0.8623074638265371 Centerline is valid? [False, False] Translation: X:120.62, Y:7.21, Z:-0.12 [[ 9.99307262e-01 -3.71227722e-02 2.62588586e-03 1.20616259e+02] [ 3.71576701e-02 9.99199818e-01 -1.47997262e-02 7.20725346e+00] [-2.07437781e-03 1.48870457e-02 9.99887030e-01 -1.21098703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.80140051299998 meters Centerline goodness [0,1] 0.5331085093747349 Centerline is valid? [False, False] Translation: X:120.62, Y:7.20, Z:-0.12 [[ 9.99466978e-01 -3.25351496e-02 2.68763891e-03 1.20615919e+02] [ 3.25589785e-02 9.99426012e-01 -9.35730368e-03 7.20182410e+00] [-2.38165496e-03 9.43982282e-03 9.99952608e-01 -1.21874716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.83140051299998 meters Centerline goodness [0,1] 0.894082332761578 Centerline is valid? [False, False] Translation: X:120.62, Y:7.20, Z:-0.12 [[ 9.99603980e-01 -2.80135581e-02 2.66889722e-03 1.20615744e+02] [ 2.80251654e-02 9.99597465e-01 -4.41575263e-03 7.19892625e+00] [-2.54412195e-03 4.48880019e-03 9.99986689e-01 -1.22279934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.86140051299998 meters Centerline goodness [0,1] 0.9843993094776327 Centerline is valid? [False, True] Translation: X:120.62, Y:7.19, Z:-0.12 [[ 9.99718583e-01 -2.35656445e-02 2.72291388e-03 1.20615502e+02] [ 2.35633054e-02 9.99721952e-01 8.87979941e-04 7.19402259e+00] [-2.74308260e-03 -8.23569197e-04 9.99995899e-01 -1.23017198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.89140051299998 meters Centerline goodness [0,1] 0.9897897897897898 Centerline is valid? [True, True] Translation: X:120.65, Y:7.20, Z:-0.12 [[ 9.99729026e-01 -2.30960425e-02 2.90644643e-03 1.20647868e+02] [ 2.30965967e-02 9.99733226e-01 -1.57259157e-04 7.19632434e+00] [-2.90203900e-03 2.24345565e-04 9.99995764e-01 -1.21809617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.92140051299998 meters Centerline goodness [0,1] 0.9706324331286763 Centerline is valid? [True, True] Translation: X:120.68, Y:7.19, Z:-0.12 [[ 9.99724838e-01 -2.31705806e-02 3.65685577e-03 1.20679281e+02] [ 2.31714595e-02 9.99731486e-01 -1.98141451e-04 7.19379197e+00] [-3.65128281e-03 2.82821616e-04 9.99993294e-01 -1.20712207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.95140051299998 meters Centerline goodness [0,1] 0.9847952455318411 Centerline is valid? [True, True] Translation: X:120.71, Y:7.20, Z:-0.12 [[ 9.99692728e-01 -2.44861476e-02 3.85734055e-03 1.20710237e+02] [ 2.44871360e-02 9.99700123e-01 -2.09212320e-04 7.19859281e+00] [-3.85106102e-03 3.03603258e-04 9.99992539e-01 -1.21318744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.98140051299998 meters Centerline goodness [0,1] 0.882331620578641 Centerline is valid? [True, False] Translation: X:120.73, Y:7.21, Z:-0.12 [[ 9.99683545e-01 -2.50885176e-02 1.83749727e-03 1.20729155e+02] [ 2.51074588e-02 9.99622741e-01 -1.11351200e-02 7.20659365e+00] [-1.55744041e-03 1.11777311e-02 9.99936314e-01 -1.15342940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.01140051299998 meters Centerline goodness [0,1] 0.9863662796958798 Centerline is valid? [False, True] Translation: X:120.73, Y:7.20, Z:-0.12 [[ 9.99772871e-01 -2.11863333e-02 2.31188184e-03 1.20727587e+02] [ 2.11996039e-02 9.99758000e-01 -5.87515652e-03 7.20067982e+00] [-2.18684934e-03 5.92283308e-03 9.99980069e-01 -1.16196685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.04140051299999 meters Centerline goodness [0,1] 0.6674618924967276 Centerline is valid? [True, False] Translation: X:120.77, Y:7.20, Z:-0.12 [[ 9.99758985e-01 -2.13843342e-02 4.96805957e-03 1.20768097e+02] [ 2.14011375e-02 9.99765343e-01 -3.35408960e-03 7.19695768e+00] [-4.89516881e-03 3.45960334e-03 9.99982034e-01 -1.17220355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.071400513 meters Centerline goodness [0,1] 0.9861029555686044 Centerline is valid? [False, True] Translation: X:120.70, Y:7.21, Z:-0.12 [[ 9.99796980e-01 -1.94952456e-02 5.09250662e-03 1.20703804e+02] [ 1.95743965e-02 9.99680611e-01 -1.59849561e-02 7.21160880e+00] [-4.77924949e-03 1.60813935e-02 9.99859264e-01 -1.15163708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.101400513 meters Centerline goodness [0,1] 0.7888876924733499 Centerline is valid? [True, False] Translation: X:120.70, Y:7.21, Z:-0.12 [[ 9.99861918e-01 -1.58326146e-02 5.04713845e-03 1.20704068e+02] [ 1.58866398e-02 9.99814929e-01 -1.08500384e-02 7.20611350e+00] [-4.87441989e-03 1.09287223e-02 9.99928399e-01 -1.16484346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.131400513 meters Centerline goodness [0,1] 0.516380554418765 Centerline is valid? [False, False] Translation: X:120.70, Y:7.20, Z:-0.12 [[ 9.99914758e-01 -1.19318441e-02 5.30170603e-03 1.20703352e+02] [ 1.19596898e-02 9.99914688e-01 -5.25191912e-03 7.19837051e+00] [-5.23858865e-03 5.31487819e-03 9.99972154e-01 -1.17580654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.161400513 meters Centerline goodness [0,1] 0.6071845856435749 Centerline is valid? [False, False] Translation: X:120.70, Y:7.20, Z:-0.12 [[ 9.99916126e-01 -1.18376893e-02 5.25459635e-03 1.20703529e+02] [ 1.18634324e-02 9.99917644e-01 -4.89532646e-03 7.19664649e+00] [-5.19621425e-03 4.95725342e-03 9.99974212e-01 -1.17704174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.191400513 meters Centerline goodness [0,1] 0.5757711506463586 Centerline is valid? [False, False] Translation: X:120.70, Y:7.19, Z:-0.12 [[ 9.99952452e-01 -7.98230510e-03 5.60151613e-03 1.20702397e+02] [ 7.98001837e-03 9.99968066e-01 4.30466348e-04 7.19039970e+00] [-5.60477336e-03 -3.85745679e-04 9.99984219e-01 -1.18385726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.221400513 meters Centerline goodness [0,1] 0.3571020744782084 Centerline is valid? [False, False] Translation: X:120.70, Y:7.19, Z:-0.12 [[ 9.99954734e-01 -7.86066541e-03 5.36087226e-03 1.20703670e+02] [ 7.85548688e-03 9.99968659e-01 9.86359624e-04 7.18777272e+00] [-5.36845769e-03 -9.44202714e-04 9.99985144e-01 -1.19383495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.251400513 meters Centerline goodness [0,1] 0.517153064738292 Centerline is valid? [False, False] Translation: X:120.66, Y:7.19, Z:-0.12 [[ 9.99968171e-01 -7.63454291e-03 2.31744691e-03 1.20663324e+02] [ 7.63626648e-03 9.99970573e-01 -7.35798936e-04 7.19062683e+00] [-2.31176123e-03 7.53472159e-04 9.99997044e-01 -1.19380502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.281400513 meters Centerline goodness [0,1] 0.7945208432124844 Centerline is valid? [False, False] Translation: X:120.66, Y:7.19, Z:-0.12 [[ 9.99969646e-01 -7.42570052e-03 2.35924672e-03 1.20663317e+02] [ 7.42634246e-03 9.99972390e-01 -2.63449043e-04 7.18844280e+00] [-2.35722528e-03 2.80961620e-04 9.99997182e-01 -1.19666643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.311400513 meters Centerline goodness [0,1] 0.7333188010899183 Centerline is valid? [False, False] Translation: X:120.64, Y:7.20, Z:-0.11 [[ 9.99985631e-01 -5.01236195e-03 -1.90120641e-03 1.20641208e+02] [ 4.99300782e-03 9.99937016e-01 -1.00516060e-02 7.19585222e+00] [ 1.95146895e-03 1.00419688e-02 9.99947674e-01 -1.14200116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.341400513 meters Centerline goodness [0,1] 0.8711123564023536 Centerline is valid? [False, False] Translation: X:120.68, Y:7.18, Z:-0.12 [[ 9.99999150e-01 5.96554996e-04 1.15941832e-03 1.20679897e+02] [-5.95786892e-04 9.99999603e-01 -6.62723624e-04 7.18247713e+00] [-1.15981321e-03 6.62032295e-04 9.99999108e-01 -1.15035669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.371400513 meters Centerline goodness [0,1] 0.9849467043724168 Centerline is valid? [False, True] Translation: X:120.67, Y:7.18, Z:-0.11 [[ 9.99992718e-01 3.18555469e-03 2.10133767e-03 1.20673051e+02] [-3.18970920e-03 9.99992959e-01 1.97669759e-03 7.18082923e+00] [-2.09502600e-03 -1.98338585e-03 9.99995839e-01 -1.10395060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.401400513 meters Centerline goodness [0,1] 0.8330446080554352 Centerline is valid? [True, False] Translation: X:120.67, Y:7.18, Z:-0.11 [[ 9.99992710e-01 3.22696545e-03 2.04129843e-03 1.20672893e+02] [-3.23064946e-03 9.99993154e-01 1.80402384e-03 7.18172506e+00] [-2.03546293e-03 -1.81060540e-03 9.99996289e-01 -1.09645140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.43140051299997 meters Centerline goodness [0,1] 0.9975356262723669 Centerline is valid? [False, True] Translation: X:120.71, Y:7.17, Z:-0.11 [[ 9.99965671e-01 5.35545409e-03 6.32266860e-03 1.20707901e+02] [-5.39256276e-03 9.99968250e-01 5.86676013e-03 7.17277456e+00] [-6.29104869e-03 -5.90065412e-03 9.99962802e-01 -1.07654360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.46140051299997 meters Centerline goodness [0,1] 0.9973984433308455 Centerline is valid? [True, True] Translation: X:120.74, Y:7.17, Z:-0.11 [[ 9.99953295e-01 6.78948837e-03 6.87821766e-03 1.20738614e+02] [-6.78587784e-03 9.99976825e-01 -5.48123609e-04 7.17308791e+00] [-6.88177974e-03 5.01423264e-04 9.99976195e-01 -1.06454940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.49140051299997 meters Centerline goodness [0,1] 0.9834777782521453 Centerline is valid? [True, True] Translation: X:120.77, Y:7.16, Z:-0.11 [[ 9.99949908e-01 7.63997263e-03 6.46618753e-03 1.20768833e+02] [-7.63680036e-03 9.99970707e-01 -5.15143625e-04 7.16388433e+00] [-6.46993380e-03 4.65736838e-04 9.99978961e-01 -1.06889905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.52140051299997 meters Centerline goodness [0,1] 0.9987018238311094 Centerline is valid? [True, True] Translation: X:120.80, Y:7.17, Z:-0.11 [[ 9.99953160e-01 8.07894748e-03 5.32989613e-03 1.20801459e+02] [-8.07679566e-03 9.99967292e-01 -4.25127905e-04 7.16873430e+00] [-5.33315639e-03 3.82059510e-04 9.99985706e-01 -1.08150733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.55140051299998 meters Centerline goodness [0,1] 0.9977605512489234 Centerline is valid? [True, True] Translation: X:120.83, Y:7.16, Z:-0.11 [[ 9.99969512e-01 7.28106491e-03 2.82144838e-03 1.20832768e+02] [-7.28045801e-03 9.99973472e-01 -2.25315411e-04 7.16325815e+00] [-2.82301407e-03 2.04767105e-04 9.99995994e-01 -1.11587819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.58140051299998 meters Centerline goodness [0,1] 0.9980763887404621 Centerline is valid? [True, True] Translation: X:120.86, Y:7.16, Z:-0.11 [[ 9.99975367e-01 6.42850823e-03 2.81757008e-03 1.20864269e+02] [-6.42790018e-03 9.99979316e-01 -2.24809521e-04 7.15849217e+00] [-2.81895699e-03 2.06692924e-04 9.99996005e-01 -1.11745397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.61140051299998 meters Centerline goodness [0,1] 0.9874277363478111 Centerline is valid? [True, True] Translation: X:120.89, Y:7.15, Z:-0.11 [[ 9.99978972e-01 5.47804121e-03 3.47074630e-03 1.20894850e+02] [-5.47710995e-03 9.99984962e-01 -2.77765439e-04 7.14760851e+00] [-3.47221572e-03 2.58749939e-04 9.99993938e-01 -1.11505300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.64140051299998 meters Centerline goodness [0,1] 0.9625062201163973 Centerline is valid? [True, True] Translation: X:120.93, Y:7.14, Z:-0.11 [[ 9.99978504e-01 4.94884230e-03 4.30133331e-03 1.20925276e+02] [-4.94740166e-03 9.99987702e-01 -3.45504233e-04 7.13891459e+00] [-4.30299026e-03 3.24216383e-04 9.99990690e-01 -1.10461059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.67140051299998 meters Centerline goodness [0,1] 0.8249115660842534 Centerline is valid? [True, False] Translation: X:120.92, Y:7.14, Z:-0.11 [[ 9.99977610e-01 5.04269211e-03 4.39887572e-03 1.20924923e+02] [-5.04236517e-03 9.99987284e-01 -8.54107061e-05 7.13766302e+00] [-4.39925048e-03 6.32280561e-05 9.99990321e-01 -1.10440627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.70140051299998 meters Centerline goodness [0,1] 0.9959278650378127 Centerline is valid? [False, True] Translation: X:120.92, Y:7.14, Z:-0.11 [[ 9.99977894e-01 4.98248014e-03 4.40307297e-03 1.20924890e+02] [-4.98152378e-03 9.99987566e-01 -2.28141970e-04 7.13833392e+00] [-4.40415494e-03 2.06202913e-04 9.99990280e-01 -1.10392497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.73140051299998 meters Centerline goodness [0,1] 0.9975589910496339 Centerline is valid? [True, True] Translation: X:120.96, Y:7.14, Z:-0.11 [[ 9.99968947e-01 5.93603419e-03 5.18341484e-03 1.20955758e+02] [-5.93395287e-03 9.99982307e-01 -4.16820816e-04 7.13738455e+00] [-5.18579739e-03 3.86049733e-04 9.99986479e-01 -1.09880527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.76140051299998 meters Centerline goodness [0,1] 0.9426524816682914 Centerline is valid? [True, False] Translation: X:120.96, Y:7.14, Z:-0.11 [[ 9.99969626e-01 5.79850424e-03 5.20804982e-03 1.20955410e+02] [-5.79434773e-03 9.99982882e-01 -8.12828441e-04 7.13924852e+00] [-5.21267386e-03 7.82626501e-04 9.99986108e-01 -1.09358415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.79140051299999 meters Centerline goodness [0,1] 0.9630660096848186 Centerline is valid? [False, True] Translation: X:120.96, Y:7.14, Z:-0.11 [[ 9.99970108e-01 5.69128793e-03 5.23384974e-03 1.20955166e+02] [-5.68574570e-03 9.99983260e-01 -1.07319134e-03 7.14044167e+00] [-5.23986997e-03 1.04340092e-03 9.99985727e-01 -1.09067009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.821400513 meters Centerline goodness [0,1] 0.9925328298000171 Centerline is valid? [True, True] Translation: X:120.99, Y:7.14, Z:-0.11 [[ 9.99973008e-01 6.62870365e-03 3.16915023e-03 1.20987129e+02] [-6.62794845e-03 9.99978004e-01 -2.48740401e-04 7.14256250e+00] [-3.17072934e-03 2.27728723e-04 9.99994947e-01 -1.12120701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.851400513 meters Centerline goodness [0,1] 0.9968084650644733 Centerline is valid? [True, True] Translation: X:121.02, Y:7.14, Z:-0.11 [[ 9.99975271e-01 6.72791067e-03 2.04741203e-03 1.21019786e+02] [-6.72759667e-03 9.99977357e-01 -1.60215428e-04 7.14432666e+00] [-2.04844358e-03 1.46437304e-04 9.99997891e-01 -1.13584518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.881400513 meters Centerline goodness [0,1] 0.9622074296757569 Centerline is valid? [True, True] Translation: X:121.05, Y:7.14, Z:-0.11 [[ 9.99976233e-01 6.65891847e-03 1.78671369e-03 1.21050566e+02] [-6.65867840e-03 9.99977821e-01 -1.40278337e-04 7.13513472e+00] [-1.78760816e-03 1.28377851e-04 9.99998394e-01 -1.13729643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.911400513 meters Centerline goodness [0,1] 0.9959910438213029 Centerline is valid? [True, True] Translation: X:121.08, Y:7.14, Z:-0.11 [[ 9.99976008e-01 6.66118933e-03 1.90044837e-03 1.21082399e+02] [-6.66091687e-03 9.99977805e-01 -1.49661133e-04 7.14082790e+00] [-1.90140311e-03 1.36998814e-04 9.99998183e-01 -1.12672601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.941400513 meters Centerline goodness [0,1] 0.9708899362350984 Centerline is valid? [True, True] Translation: X:121.11, Y:7.13, Z:-0.11 [[ 9.99972985e-01 7.08032365e-03 1.97449728e-03 1.21112771e+02] [-7.08003025e-03 9.99974924e-01 -1.55543379e-04 7.13301580e+00] [-1.97554906e-03 1.41559676e-04 9.99998039e-01 -1.12406598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.971400513 meters Centerline goodness [0,1] 0.9940899357601714 Centerline is valid? [True, True] Translation: X:121.14, Y:7.14, Z:-0.11 [[ 9.99971891e-01 7.33864916e-03 1.53681471e-03 1.21144451e+02] [-7.33847171e-03 9.99973066e-01 -1.21070152e-04 7.13725051e+00] [-1.53766181e-03 1.09788878e-04 9.99998812e-01 -1.12932865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.001400513 meters Centerline goodness [0,1] 0.9788820402024951 Centerline is valid? [True, True] Translation: X:121.17, Y:7.13, Z:-0.11 [[ 9.99971731e-01 7.43255839e-03 1.13809303e-03 1.21174874e+02] [-7.43246108e-03 9.99972375e-01 -8.97040368e-05 7.13343369e+00] [-1.13872832e-03 8.12426688e-05 9.99999348e-01 -1.14036497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.031400513 meters Centerline goodness [0,1] 0.9828416165678954 Centerline is valid? [True, True] Translation: X:121.21, Y:7.13, Z:-0.11 [[ 9.99970985e-01 7.49161421e-03 1.38040202e-03 1.21205587e+02] [-7.49147101e-03 9.99971933e-01 -1.08882960e-04 7.13280314e+00] [-1.38117899e-03 9.85385589e-05 9.99999041e-01 -1.14098822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.061400513 meters Centerline goodness [0,1] 0.9991499749351583 Centerline is valid? [True, True] Translation: X:121.24, Y:7.14, Z:-0.11 [[ 9.99969234e-01 7.59597416e-03 1.95759801e-03 1.21236422e+02] [-7.59568636e-03 9.99971140e-01 -1.54410861e-04 7.13958043e+00] [-1.95871441e-03 1.39536810e-04 9.99998072e-01 -1.12598981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.091400513 meters Centerline goodness [0,1] 0.9825255379265377 Centerline is valid? [True, True] Translation: X:121.27, Y:7.13, Z:-0.11 [[ 9.99973245e-01 7.12979002e-03 1.63574462e-03 1.21265653e+02] [-7.12958854e-03 9.99974576e-01 -1.28974914e-04 7.12877553e+00] [-1.63662260e-03 1.17309277e-04 9.99998654e-01 -1.13585223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.121400513 meters Centerline goodness [0,1] 0.9760854671576603 Centerline is valid? [True, True] Translation: X:121.30, Y:7.13, Z:-0.11 [[ 9.99980644e-01 6.19270755e-03 6.01645307e-04 1.21296781e+02] [-6.19268018e-03 9.99980824e-01 -4.73459218e-05 7.12713865e+00] [-6.01926969e-04 4.36192084e-05 9.99999818e-01 -1.14852937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.151400513 meters Centerline goodness [0,1] 0.9888733755772742 Centerline is valid? [True, True] Translation: X:121.33, Y:7.13, Z:-0.11 [[ 9.99991729e-01 3.98623575e-03 8.07175754e-04 1.21327511e+02] [-3.98618563e-03 9.99992053e-01 -6.36874495e-05 7.12955531e+00] [-8.07423212e-04 6.04693704e-05 9.99999672e-01 -1.14325519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.18140051299997 meters Centerline goodness [0,1] 0.9888733755772742 Centerline is valid? [True, True] Translation: X:121.36, Y:7.13, Z:-0.11 [[ 9.99991729e-01 3.98623580e-03 8.07175012e-04 1.21357501e+02] [-3.98618568e-03 9.99992053e-01 -6.36968451e-05 7.12718866e+00] [-8.07422508e-04 6.04787688e-05 9.99999672e-01 -1.14502113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.21140051299997 meters Centerline goodness [0,1] 0.9198551342138901 Centerline is valid? [True, False] Translation: X:121.36, Y:7.13, Z:-0.11 [[ 9.99991775e-01 3.96517045e-03 8.52690193e-04 1.21357325e+02] [-3.96511964e-03 9.99992137e-01 -6.12646394e-05 7.12714154e+00] [-8.52926413e-04 5.78831168e-05 9.99999635e-01 -1.14472747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.24140051299997 meters Centerline goodness [0,1] 0.9283753645565277 Centerline is valid? [False, False] Translation: X:121.36, Y:7.13, Z:-0.11 [[ 9.99991570e-01 4.00241716e-03 9.16783980e-04 1.21357040e+02] [-4.00246165e-03 9.99991989e-01 4.66978938e-05 7.12661465e+00] [-9.16589731e-04 -5.03668929e-05 9.99999579e-01 -1.14348118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.27140051299997 meters Centerline goodness [0,1] 0.884569352425732 Centerline is valid? [False, False] Translation: X:121.36, Y:7.13, Z:-0.11 [[ 9.99991427e-01 4.02094108e-03 9.88678778e-04 1.21356731e+02] [-4.02105251e-03 9.99991909e-01 1.10747991e-04 7.12628652e+00] [-9.88225468e-04 -1.14722571e-04 9.99999505e-01 -1.14217462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.30140051299998 meters Centerline goodness [0,1] 0.9512729798363466 Centerline is valid? [False, True] Translation: X:121.31, Y:7.13, Z:-0.11 [[ 9.99991420e-01 3.96345611e-03 -1.20433559e-03 1.21313783e+02] [-3.96642774e-03 9.99989070e-01 -2.47515395e-03 7.13223168e+00] [ 1.19451226e-03 2.47990962e-03 9.99996212e-01 -1.12557860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.33140051299998 meters Centerline goodness [0,1] 0.8697346886036695 Centerline is valid? [True, False] Translation: X:121.31, Y:7.13, Z:-0.11 [[ 9.99991198e-01 4.00470307e-03 -1.25127272e-03 1.21313866e+02] [-4.00758547e-03 9.99989302e-01 -2.30962597e-03 7.13142462e+00] [ 1.24200997e-03 2.31462022e-03 9.99996550e-01 -1.12465845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.36140051299998 meters Centerline goodness [0,1] 0.9816474513914141 Centerline is valid? [False, True] Translation: X:121.31, Y:7.13, Z:-0.11 [[ 9.99990610e-01 4.12445336e-03 -1.32990868e-03 1.21314422e+02] [-4.12712347e-03 9.99989461e-01 -2.01128268e-03 7.13008161e+00] [ 1.32159923e-03 2.01675249e-03 9.99997093e-01 -1.13095830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.39140051299998 meters Centerline goodness [0,1] 0.8168754684655745 Centerline is valid? [True, False] Translation: X:121.31, Y:7.13, Z:-0.11 [[ 9.99990048e-01 4.25271705e-03 -1.34855230e-03 1.21314616e+02] [-4.25501541e-03 9.99989492e-01 -1.70605421e-03 7.12867270e+00] [ 1.34128276e-03 1.71177534e-03 9.99997635e-01 -1.13391694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.42140051299998 meters Centerline goodness [0,1] 0.9876495228224726 Centerline is valid? [False, True] Translation: X:121.31, Y:7.13, Z:-0.11 [[ 9.99989847e-01 4.29893093e-03 -1.35123132e-03 1.21314670e+02] [-4.30108183e-03 9.99989482e-01 -1.59294938e-03 7.12814886e+00] [ 1.34436913e-03 1.59874496e-03 9.99997818e-01 -1.13501283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.45140051299998 meters Centerline goodness [0,1] 0.9942241379310345 Centerline is valid? [True, True] Translation: X:121.34, Y:7.13, Z:-0.11 [[ 9.99985999e-01 5.21409420e-03 -9.02841001e-04 1.21344054e+02] [-5.21402890e-03 9.99986404e-01 7.46682617e-05 7.12574543e+00] [ 9.03218054e-04 -6.99597772e-05 9.99999590e-01 -1.13114691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.48140051299998 meters Centerline goodness [0,1] 0.96959357318706 Centerline is valid? [True, True] Translation: X:121.37, Y:7.12, Z:-0.11 [[ 9.99975621e-01 6.83883261e-03 -1.41019062e-03 1.21372825e+02] [-6.83867488e-03 9.99976609e-01 1.16637779e-04 7.11813790e+00] [ 1.41095530e-03 -1.06991100e-04 9.99998999e-01 -1.14299179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.51140051299998 meters Centerline goodness [0,1] 0.994723580212349 Centerline is valid? [True, True] Translation: X:121.40, Y:7.12, Z:-0.12 [[ 9.99957563e-01 9.00072964e-03 -1.96450490e-03 1.21403472e+02] [-9.00042757e-03 9.99959482e-01 1.62554246e-04 7.12178796e+00] [ 1.96588841e-03 -1.44865963e-04 9.99998057e-01 -1.15026976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.54140051299999 meters Centerline goodness [0,1] 0.8939761623536991 Centerline is valid? [True, False] Translation: X:121.40, Y:7.12, Z:-0.11 [[ 9.99957979e-01 8.92178502e-03 -2.10742537e-03 1.21403863e+02] [-8.92214569e-03 9.99960184e-01 -1.61800468e-04 7.12337676e+00] [ 2.10589791e-03 1.80596425e-04 9.99997766e-01 -1.14882418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.571400513 meters Centerline goodness [0,1] 0.9994820889080708 Centerline is valid? [False, True] Translation: X:121.40, Y:7.13, Z:-0.11 [[ 9.99956699e-01 9.06259707e-03 -2.11413792e-03 1.21403727e+02] [-9.06502346e-03 9.99958261e-01 -1.14095456e-03 7.12880576e+00] [ 2.10370967e-03 1.16006987e-03 9.99997114e-01 -1.14250029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.601400513 meters Centerline goodness [0,1] 0.9967952164842019 Centerline is valid? [True, True] Translation: X:121.43, Y:7.12, Z:-0.11 [[ 9.99937388e-01 1.10993696e-02 -1.42280662e-03 1.21431731e+02] [-1.10992284e-02 9.99938396e-01 1.07110795e-04 7.11839617e+00] [ 1.42390783e-03 -9.13120334e-05 9.99998982e-01 -1.14453545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.631400513 meters Centerline goodness [0,1] 0.9996522419526614 Centerline is valid? [True, True] Translation: X:121.46, Y:7.13, Z:-0.11 [[ 9.99929178e-01 1.18893599e-02 -5.31915599e-04 1.21461928e+02] [-1.18893403e-02 9.99929318e-01 3.99354880e-05 7.13030857e+00] [ 5.32352810e-04 -3.36085341e-05 9.99999858e-01 -1.12863917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.661400513 meters Centerline goodness [0,1] 0.9996326707000864 Centerline is valid? [True, True] Translation: X:121.49, Y:7.12, Z:-0.11 [[ 9.99935022e-01 1.13971685e-02 -2.36650856e-04 1.21490279e+02] [-1.13971647e-02 9.99935050e-01 1.77255397e-05 7.12476657e+00] [ 2.36837507e-04 -1.50272392e-05 9.99999972e-01 -1.12018454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.691400513 meters Centerline goodness [0,1] 0.9995471698113207 Centerline is valid? [True, True] Translation: X:121.52, Y:7.12, Z:-0.11 [[ 9.99974282e-01 7.16476271e-03 -3.19090408e-04 1.21520578e+02] [-7.16475542e-03 9.99974333e-01 2.40040819e-05 7.12123077e+00] [ 3.19254201e-04 -2.17172598e-05 9.99999949e-01 -1.12698510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.721400513 meters Centerline goodness [0,1] 0.9930208311168798 Centerline is valid? [True, True] Translation: X:121.55, Y:7.11, Z:-0.11 [[ 9.99990100e-01 4.42766244e-03 4.43321178e-04 1.21548941e+02] [-4.42764808e-03 9.99990197e-01 -3.33706260e-05 7.10929045e+00] [-4.43464586e-04 3.14074254e-05 9.99999901e-01 -1.12170854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.751400513 meters Centerline goodness [0,1] 0.9993274029073552 Centerline is valid? [True, True] Translation: X:121.58, Y:7.11, Z:-0.11 [[ 9.99998268e-01 1.68183523e-03 7.96585907e-04 1.21580200e+02] [-1.68178805e-03 9.99998584e-01 -5.98999529e-05 7.11437228e+00] [-7.96685521e-04 5.85601606e-05 9.99999681e-01 -1.11139447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.781400513 meters Centerline goodness [0,1] 0.9880168921091557 Centerline is valid? [True, True] Translation: X:121.61, Y:7.11, Z:-0.11 [[ 9.99997865e-01 -2.04260686e-03 -3.13543981e-04 1.21608630e+02] [ 2.04261434e-03 9.99997914e-01 2.35210157e-05 7.10509829e+00] [ 3.13495283e-04 -2.41614149e-05 9.99999951e-01 -1.12538657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.811400513 meters Centerline goodness [0,1] 0.9854612227262908 Centerline is valid? [True, True] Translation: X:121.64, Y:7.10, Z:-0.12 [[ 9.99991648e-01 -3.31247039e-03 -2.39424794e-03 1.21639017e+02] [ 3.31291084e-03 9.99994496e-01 1.80020728e-04 7.10414068e+00] [ 2.39363845e-03 -1.87951155e-04 9.99997118e-01 -1.15742384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.841400513 meters Centerline goodness [0,1] 0.9892571329157968 Centerline is valid? [True, True] Translation: X:121.67, Y:7.10, Z:-0.12 [[ 9.99982379e-01 -4.16413338e-03 -4.23114761e-03 1.21668808e+02] [ 4.16551586e-03 9.99991274e-01 3.17977832e-04 7.10251308e+00] [ 4.22978659e-03 -3.35597141e-04 9.99990998e-01 -1.18653511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.871400513 meters Centerline goodness [0,1] 0.9448455284552846 Centerline is valid? [True, False] Translation: X:121.67, Y:7.10, Z:-0.12 [[ 9.99983645e-01 -3.84912844e-03 -4.23022575e-03 1.21669170e+02] [ 3.85371199e-03 9.99991996e-01 1.07590763e-03 7.09904060e+00] [ 4.22605058e-03 -1.09219210e-03 9.99990474e-01 -1.19410982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.901400513 meters Centerline goodness [0,1] 0.9571053145972244 Centerline is valid? [False, True] Translation: X:121.67, Y:7.10, Z:-0.12 [[ 9.99986256e-01 -3.59781941e-03 -3.81362715e-03 1.21667414e+02] [ 3.60453013e-03 9.99991965e-01 1.75425673e-03 7.09570577e+00] [ 3.80728501e-03 -1.76797896e-03 9.99991189e-01 -1.18561127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.93140051299997 meters Centerline goodness [0,1] 0.9852820755936732 Centerline is valid? [True, True] Translation: X:121.70, Y:7.10, Z:-0.12 [[ 9.99989734e-01 -3.55839023e-03 -2.80523405e-03 1.21696442e+02] [ 3.55900763e-03 9.99993644e-01 2.15127286e-04 7.09855479e+00] [ 2.80445071e-03 -2.25108926e-04 9.99996042e-01 -1.15864029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.96140051299997 meters Centerline goodness [0,1] 0.9949712799393086 Centerline is valid? [True, True] Translation: X:121.73, Y:7.10, Z:-0.12 [[ 9.99989792e-01 -2.83554960e-03 -3.51794297e-03 1.21725477e+02] [ 2.83651540e-03 9.99995941e-01 2.69577063e-04 7.10039554e+00] [ 3.51716429e-03 -2.79553011e-04 9.99993776e-01 -1.15499122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.99140051299997 meters Centerline goodness [0,1] 0.9309851026994678 Centerline is valid? [True, False] Translation: X:121.75, Y:7.11, Z:-0.11 [[ 9.99989550e-01 -1.55095047e-03 -4.30055992e-03 1.21747698e+02] [ 1.51048359e-03 9.99954706e-01 -9.39701242e-03 7.10542353e+00] [ 4.31493944e-03 9.39041829e-03 9.99946599e-01 -1.13050377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.02140051299997 meters Centerline goodness [0,1] 0.9091380203834859 Centerline is valid? [False, False] Translation: X:121.75, Y:7.10, Z:-0.11 [[ 9.99984795e-01 3.39238942e-03 -4.34747540e-03 1.21748671e+02] [-3.40826698e-03 9.99987531e-01 -3.64994240e-03 7.09897223e+00] [ 4.33503917e-03 3.66470427e-03 9.99983889e-01 -1.14786737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.05140051299998 meters Centerline goodness [0,1] 0.9967439437353477 Centerline is valid? [False, True] Translation: X:121.75, Y:7.10, Z:-0.11 [[ 9.99985273e-01 3.21537396e-03 -4.37205240e-03 1.21748614e+02] [-3.23357899e-03 9.99986105e-01 -4.16328254e-03 7.10138311e+00] [ 4.35860515e-03 4.17735860e-03 9.99981776e-01 -1.14474723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.08140051299998 meters Centerline goodness [0,1] 0.9979966395243635 Centerline is valid? [True, True] Translation: X:121.78, Y:7.10, Z:-0.11 [[ 9.99981690e-01 5.35317437e-03 -2.82187296e-03 1.21777301e+02] [-5.35258995e-03 9.99985652e-01 2.14613300e-04 7.09748221e+00] [ 2.82298134e-03 -1.99505041e-04 9.99995995e-01 -1.12836444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.11140051299998 meters Centerline goodness [0,1] 0.999782324771441 Centerline is valid? [True, True] Translation: X:121.81, Y:7.10, Z:-0.11 [[ 9.99971458e-01 7.46162386e-03 -1.18636327e-03 1.21808503e+02] [-7.46152213e-03 9.99972158e-01 9.01505826e-05 7.10405383e+00] [ 1.18700291e-03 -8.12959336e-05 9.99999292e-01 -1.10091457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.14140051299998 meters Centerline goodness [0,1] 0.9938974069408852 Centerline is valid? [True, True] Translation: X:121.84, Y:7.09, Z:-0.11 [[ 9.99951394e-01 9.85207557e-03 -3.82480314e-04 1.21837255e+02] [-9.85206518e-03 9.99951467e-01 2.90350917e-05 7.09353638e+00] [ 3.82747807e-04 -2.52654594e-05 9.99999926e-01 -1.09387563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.17140051299998 meters Centerline goodness [0,1] 0.9912950941789933 Centerline is valid? [True, True] Translation: X:121.87, Y:7.09, Z:-0.11 [[ 9.99950890e-01 9.88545765e-03 -7.03952843e-04 1.21866350e+02] [-9.88542247e-03 9.99951137e-01 5.34329478e-05 7.09376965e+00] [ 7.04446655e-04 -4.64714525e-05 9.99999751e-01 -1.09840830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.20140051299998 meters Centerline goodness [0,1] 0.9950539761730678 Centerline is valid? [True, True] Translation: X:121.90, Y:7.10, Z:-0.11 [[ 9.99952062e-01 9.68871498e-03 -1.41501759e-03 1.21896221e+02] [-9.68857262e-03 9.99953059e-01 1.07426750e-04 7.09947619e+00] [ 1.41599199e-03 -9.37121000e-05 9.99998993e-01 -1.10980113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.23140051299998 meters Centerline goodness [0,1] 0.9996326865736139 Centerline is valid? [True, True] Translation: X:121.93, Y:7.11, Z:-0.11 [[ 9.99956739e-01 9.11473163e-03 -1.85527053e-03 1.21926353e+02] [-9.11448615e-03 9.99958452e-01 1.40724728e-04 7.11029526e+00] [ 1.85647611e-03 -1.23808803e-04 9.99998269e-01 -1.11328003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.26140051299998 meters Centerline goodness [0,1] 0.986409966024915 Centerline is valid? [True, True] Translation: X:121.96, Y:7.10, Z:-0.11 [[ 9.99972601e-01 7.14888492e-03 -1.92115330e-03 1.21955441e+02] [-7.14861798e-03 9.99974438e-01 1.45781553e-04 7.10236039e+00] [ 1.92214637e-03 -1.32043968e-04 9.99998144e-01 -1.12459656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.29140051299999 meters Centerline goodness [0,1] 0.9981935483870967 Centerline is valid? [True, True] Translation: X:121.99, Y:7.11, Z:-0.11 [[ 9.99985927e-01 5.02333920e-03 -1.70641301e-03 1.21985981e+02] [-5.02312556e-03 9.99987376e-01 1.29464117e-04 7.10962026e+00] [ 1.70704181e-03 -1.20890768e-04 9.99998536e-01 -1.11482343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.321400513 meters Centerline goodness [0,1] 0.9979836086899961 Centerline is valid? [True, True] Translation: X:122.02, Y:7.11, Z:-0.11 [[ 9.99995675e-01 2.48794568e-03 -1.56848313e-03 1.22016632e+02] [-2.48776206e-03 9.99996898e-01 1.19009749e-04 7.11131749e+00] [ 1.56877435e-03 -1.15107222e-04 9.99998763e-01 -1.10886073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.351400513 meters Centerline goodness [0,1] 0.9721370197979451 Centerline is valid? [True, True] Translation: X:122.05, Y:7.10, Z:-0.11 [[ 9.99999043e-01 -5.27470522e-04 -1.27870297e-03 1.22045663e+02] [ 5.27594971e-04 9.99999856e-01 9.69895292e-05 7.10430202e+00] [ 1.27865163e-03 -9.76640737e-05 9.99999178e-01 -1.10462580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.381400513 meters Centerline goodness [0,1] 0.849092707258342 Centerline is valid? [True, False] Translation: X:122.05, Y:7.11, Z:-0.11 [[ 9.99998979e-01 -8.39131238e-04 -1.15655578e-03 1.22045300e+02] [ 8.38601224e-04 9.99999543e-01 -4.58677699e-04 7.10681186e+00] [ 1.15694014e-03 4.57707342e-04 9.99999226e-01 -1.10526126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.411400513 meters Centerline goodness [0,1] 0.9585346741543685 Centerline is valid? [False, True] Translation: X:122.02, Y:7.11, Z:-0.11 [[ 9.99969333e-01 -7.47250757e-03 -2.34390037e-03 1.22022915e+02] [ 7.48020300e-03 9.99966605e-01 3.29177374e-03 7.11130308e+00] [ 2.31922429e-03 -3.30920564e-03 9.99991835e-01 -1.10517737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.441400513 meters Centerline goodness [0,1] 0.6078254326561324 Centerline is valid? [True, False] Translation: X:122.04, Y:7.12, Z:-0.10 [[ 9.99920760e-01 -1.19217278e-02 -4.04315328e-03 1.22042065e+02] [ 1.18714754e-02 9.99854698e-01 -1.22332242e-02 7.12485928e+00] [ 4.18840697e-03 1.21842567e-02 9.99916997e-01 -1.03742788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.471400513 meters Centerline goodness [0,1] 0.7769059761998169 Centerline is valid? [False, False] Translation: X:122.00, Y:7.14, Z:-0.10 [[ 9.99841637e-01 -1.62944541e-02 -7.15478235e-03 1.22003566e+02] [ 1.61487286e-02 9.99670082e-01 -1.99736401e-02 7.13562570e+00] [ 7.47788142e-03 1.98549364e-02 9.99774906e-01 -1.04328607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.501400513 meters Centerline goodness [0,1] 0.42712873850934363 Centerline is valid? [False, False] Translation: X:122.03, Y:7.12, Z:-0.11 [[ 9.99871342e-01 -1.58433735e-02 -2.50750151e-03 1.22026526e+02] [ 1.58262068e-02 9.99852149e-01 -6.72399985e-03 7.12064459e+00] [ 2.61366161e-03 6.68345052e-03 9.99974250e-01 -1.12120596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.531400513 meters Centerline goodness [0,1] 0.5224907579545697 Centerline is valid? [False, False] Translation: X:122.03, Y:7.12, Z:-0.11 [[ 9.99874133e-01 -1.56666855e-02 -2.50445547e-03 1.22026553e+02] [ 1.56506602e-02 9.99857704e-01 -6.29515975e-03 7.11862453e+00] [ 2.60272338e-03 6.25517102e-03 9.99977049e-01 -1.12219516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.561400513 meters Centerline goodness [0,1] 0.4263330315961895 Centerline is valid? [False, False] Translation: X:122.02, Y:7.11, Z:-0.11 [[ 9.99936502e-01 -1.11119614e-02 -1.87491192e-03 1.22024620e+02] [ 1.11109094e-02 9.99938109e-01 -5.70551518e-04 7.11150158e+00] [ 1.88113582e-03 5.49683313e-04 9.99998080e-01 -1.12874854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.591400513 meters Centerline goodness [0,1] 0.3797929326078211 Centerline is valid? [False, False] Translation: X:122.05, Y:7.12, Z:-0.11 [[ 9.99952067e-01 -9.74112338e-03 -9.87391521e-04 1.22045463e+02] [ 9.73034346e-03 9.99898676e-01 -1.03903183e-02 7.11668428e+00] [ 1.08850485e-03 1.03802126e-02 9.99945532e-01 -1.10797480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.621400513 meters Centerline goodness [0,1] 0.8197123068726692 Centerline is valid? [False, False] Translation: X:122.05, Y:7.11, Z:-0.11 [[ 9.99986952e-01 -5.01197219e-03 -9.88009325e-04 1.22045522e+02] [ 5.00678238e-03 9.99974013e-01 -5.18709606e-03 7.11266067e+00] [ 1.01398123e-03 5.18208163e-03 9.99986059e-01 -1.11185375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.651400513 meters Centerline goodness [0,1] 0.39755514784315393 Centerline is valid? [False, False] Translation: X:122.05, Y:7.11, Z:-0.11 [[ 9.99999546e-01 -2.17636188e-04 -9.27165036e-04 1.22045700e+02] [ 2.17858829e-04 9.99999947e-01 2.40037023e-04 7.10756706e+00] [ 9.27112746e-04 -2.40238905e-04 9.99999541e-01 -1.12081076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.68140051299997 meters Centerline goodness [0,1] 0.7406011010903795 Centerline is valid? [False, False] Translation: X:122.05, Y:7.11, Z:-0.11 [[ 9.99999162e-01 -2.97385277e-04 -1.25969239e-03 1.22046640e+02] [ 2.96669368e-04 9.99999794e-01 -5.68469128e-04 7.11170614e+00] [ 1.25986119e-03 5.68094939e-04 9.99999045e-01 -1.11677304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.71140051299997 meters Centerline goodness [0,1] 0.9854805104609775 Centerline is valid? [False, True] Translation: X:122.01, Y:7.12, Z:-0.11 [[ 9.99989154e-01 2.45640304e-03 -3.95703648e-03 1.22006178e+02] [-2.46319987e-03 9.99995498e-01 -1.71370225e-03 7.12005078e+00] [ 3.95280912e-03 1.72343063e-03 9.99990703e-01 -1.10301992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.74140051299997 meters Centerline goodness [0,1] 0.9812277599028361 Centerline is valid? [True, True] Translation: X:122.04, Y:7.12, Z:-0.11 [[ 9.99934000e-01 1.12160639e-02 -2.48910853e-03 1.22035806e+02] [-1.12155931e-02 9.99937083e-01 2.03018520e-04 7.12027533e+00] [ 2.49122899e-03 -1.75088292e-04 9.99996882e-01 -1.09035157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.77140051299997 meters Centerline goodness [0,1] 0.9995686959522115 Centerline is valid? [True, True] Translation: X:122.07, Y:7.13, Z:-0.11 [[ 9.99885250e-01 1.50437628e-02 -1.78090160e-03 1.22067313e+02] [-1.50435278e-02 9.99886829e-01 1.45241700e-04 7.13187189e+00] [ 1.78288504e-03 -1.18433990e-04 9.99998404e-01 -1.08094967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.80140051299998 meters Centerline goodness [0,1] 0.9980934835696842 Centerline is valid? [True, True] Translation: X:122.10, Y:7.13, Z:-0.11 [[ 9.99828621e-01 1.84434808e-02 -1.60195124e-03 1.22096236e+02] [-1.84432951e-02 9.99829899e-01 1.30611409e-04 7.12749683e+00] [ 1.60408768e-03 -1.01043765e-04 9.99998708e-01 -1.08595830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.83140051299998 meters Centerline goodness [0,1] 0.9997409717875105 Centerline is valid? [True, True] Translation: X:122.13, Y:7.14, Z:-0.11 [[ 9.99764073e-01 2.16414532e-02 -1.85654578e-03 1.22128113e+02] [-2.16412093e-02 9.99765790e-01 1.51395607e-04 7.13912036e+00] [ 1.85938738e-03 -1.11181993e-04 9.99998265e-01 -1.08538744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.86140051299998 meters Centerline goodness [0,1] 0.9998915471878186 Centerline is valid? [True, True] Translation: X:122.16, Y:7.15, Z:-0.11 [[ 9.99696114e-01 2.45442614e-02 -2.29302045e-03 1.22158949e+02] [-2.45438969e-02 9.99698736e-01 1.86969654e-04 7.14737694e+00] [ 2.29691868e-03 -1.30633179e-04 9.99997354e-01 -1.09253382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.89140051299998 meters Centerline goodness [0,1] 0.9995050996255971 Centerline is valid? [True, True] Translation: X:122.19, Y:7.14, Z:-0.11 [[ 9.99568915e-01 2.92918387e-02 -1.99303482e-03 1.22188063e+02] [-2.92915728e-02 9.99570897e-01 1.62487960e-04 7.14483200e+00] [ 1.99693917e-03 -1.04038790e-04 9.99998001e-01 -1.10459168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.92140051299998 meters Centerline goodness [0,1] 0.9998493749058593 Centerline is valid? [True, True] Translation: X:122.22, Y:7.15, Z:-0.11 [[ 9.99534153e-01 3.05041038e-02 -9.88554361e-04 1.22218145e+02] [-3.05040390e-02 9.99534640e-01 8.04936697e-05 7.15173219e+00] [ 9.90549714e-04 -5.03012712e-05 9.99999508e-01 -1.08698857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.95140051299998 meters Centerline goodness [0,1] 0.9999135153834512 Centerline is valid? [True, True] Translation: X:122.25, Y:7.15, Z:-0.11 [[ 9.99516945e-01 3.10779161e-02 -2.00595561e-04 1.22246743e+02] [-3.10779134e-02 9.99516965e-01 1.62399241e-05 7.15165853e+00] [ 2.01003369e-04 -9.99798786e-06 9.99999980e-01 -1.07509321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.98140051299998 meters Centerline goodness [0,1] 0.999913120913968 Centerline is valid? [True, True] Translation: X:122.28, Y:7.16, Z:-0.11 [[ 9.99501971e-01 3.15246903e-02 1.41558976e-03 1.22276444e+02] [-3.15245585e-02 9.99502971e-01 -1.15334278e-04 7.15555637e+00] [-1.41852205e-03 7.06509961e-05 9.99998991e-01 -1.05548294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.01140051299998 meters Centerline goodness [0,1] 0.9997418466569142 Centerline is valid? [True, True] Translation: X:122.30, Y:7.15, Z:-0.11 [[ 9.99482752e-01 3.21211133e-02 1.56919896e-03 1.22303830e+02] [-3.21209521e-02 9.99483981e-01 -1.27799845e-04 7.14618184e+00] [-1.57249430e-03 7.73295756e-05 9.99998761e-01 -1.05249734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.04140051299999 meters Centerline goodness [0,1] 0.9998072598779313 Centerline is valid? [True, True] Translation: X:122.33, Y:7.15, Z:-0.11 [[ 9.99426133e-01 3.38592798e-02 9.76614211e-04 1.22334335e+02] [-3.38592183e-02 9.99426609e-01 -7.94869226e-05 7.15355341e+00] [-9.78745599e-04 4.63739139e-05 9.99999520e-01 -1.05812870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.071400513 meters Centerline goodness [0,1] 0.9999145426966052 Centerline is valid? [True, True] Translation: X:122.36, Y:7.16, Z:-0.11 [[ 9.99190010e-01 4.02342223e-02 -7.29104221e-04 1.22363506e+02] [-4.02341898e-02 9.99190275e-01 5.92111143e-05 7.15721492e+00] [ 7.30896161e-04 -2.98282363e-05 9.99999732e-01 -1.06966601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.101400513 meters Centerline goodness [0,1] 0.9999145426966052 Centerline is valid? [True, True] Translation: X:122.39, Y:7.16, Z:-0.11 [[ 9.99192767e-01 4.01656904e-02 -7.29114766e-04 1.22390927e+02] [-4.01656580e-02 9.99193033e-01 5.90813349e-05 7.15510062e+00] [ 7.30899437e-04 -2.97482682e-05 9.99999732e-01 -1.07026457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.131400513 meters Centerline goodness [0,1] 0.9999783577890318 Centerline is valid? [True, True] Translation: X:122.42, Y:7.16, Z:-0.11 [[ 9.99033079e-01 4.39515880e-02 -1.07975139e-03 1.22421089e+02] [-4.39515189e-02 9.99033661e-01 8.76405933e-05 7.16016581e+00] [ 1.08255993e-03 -4.00991380e-05 9.99999413e-01 -1.07249206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.161400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.45, Y:7.16, Z:-0.11 [[ 9.98864892e-01 4.76265842e-02 -7.97406873e-04 1.22450388e+02] [-4.76265477e-02 9.98865210e-01 6.47258112e-05 7.16096984e+00] [ 7.99584653e-04 -2.66746039e-05 9.99999680e-01 -1.07390044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.191400513 meters Centerline goodness [0,1] 0.9999787306448868 Centerline is valid? [True, True] Translation: X:122.48, Y:7.16, Z:-0.11 [[ 9.98694794e-01 5.10744859e-02 -3.25757466e-04 1.22478853e+02] [-5.10744800e-02 9.98694847e-01 2.63647743e-05 7.15897473e+00] [ 3.26678870e-04 -9.69246966e-06 9.99999947e-01 -1.07646727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.221400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.51, Y:7.17, Z:-0.11 [[ 9.98376674e-01 5.69525306e-02 6.52485873e-04 1.22510071e+02] [-5.69525081e-02 9.98376887e-01 -5.29650381e-05 7.16635304e+00] [-6.54443308e-04 1.57183516e-05 9.99999786e-01 -1.06312917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.251400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.54, Y:7.17, Z:-0.11 [[ 9.98244144e-01 5.92239837e-02 1.07201223e-03 1.22538493e+02] [-5.92239244e-02 9.98244719e-01 -8.70601885e-05 7.16530937e+00] [-1.07528660e-03 2.34185519e-05 9.99999422e-01 -1.05777302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.281400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.57, Y:7.17, Z:-0.11 [[ 9.98111595e-01 6.14264849e-02 1.77411849e-04 1.22567553e+02] [-6.14264832e-02 9.98111610e-01 -1.44849008e-05 7.16621389e+00] [-1.77966583e-04 3.55976140e-06 9.99999984e-01 -1.06559150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.311400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.60, Y:7.17, Z:-0.11 [[ 9.97982310e-01 6.34713957e-02 -1.64058647e-03 1.22596155e+02] [-6.34712630e-02 9.97983658e-01 1.32822881e-04 7.16590039e+00] [ 1.64570894e-03 -2.84247904e-05 9.99998645e-01 -1.09149092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.341400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.62, Y:7.17, Z:-0.11 [[ 9.97716720e-01 6.74013269e-02 -4.29031340e-03 1.22624492e+02] [-6.74004568e-02 9.97725943e-01 3.47234220e-04 7.16778827e+00] [ 4.30396103e-03 -5.72723043e-05 9.99990736e-01 -1.13857875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.371400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.65, Y:7.17, Z:-0.11 [[ 9.97568767e-01 6.96059874e-02 -3.40014793e-03 1.22652403e+02] [-6.96054545e-02 9.97574561e-01 2.74968018e-04 7.16801378e+00] [ 3.41104050e-03 -3.76306652e-05 9.99994182e-01 -1.13205228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.401400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.68, Y:7.17, Z:-0.11 [[ 9.97402328e-01 7.20121933e-02 -1.68506971e-03 1.22681740e+02] [-7.20120661e-02 9.97403752e-01 1.36150777e-04 7.17001693e+00] [ 1.69049937e-03 -1.44517511e-05 9.99998571e-01 -1.10543802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.43140051299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.71, Y:7.17, Z:-0.11 [[ 9.97227565e-01 7.44114782e-02 -3.40860081e-04 1.22709311e+02] [-7.44114732e-02 9.97227623e-01 2.74135126e-05 7.17045167e+00] [ 3.41954969e-04 -1.97360956e-06 9.99999942e-01 -1.08491821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.46140051299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.74, Y:7.18, Z:-0.11 [[ 9.96831102e-01 7.95408563e-02 -1.00325632e-03 1.22738756e+02] [-7.95408152e-02 9.96831607e-01 8.09129090e-05 7.17570706e+00] [ 1.00651349e-03 -8.56678844e-07 9.99999493e-01 -1.09671359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.49140051299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.77, Y:7.18, Z:-0.11 [[ 9.96727545e-01 8.08215264e-02 -1.44280009e-03 1.22766607e+02] [-8.08214434e-02 9.96728589e-01 1.15825859e-04 7.17649371e+00] [ 1.44744132e-03 1.16236217e-06 9.99998952e-01 -1.11457426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.52140051299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.79, Y:7.18, Z:-0.11 [[ 9.96721469e-01 8.09065578e-02 -6.65380962e-04 1.22794734e+02] [-8.09065404e-02 9.96721691e-01 5.30661533e-05 7.17535893e+00] [ 6.67493037e-04 9.41497404e-07 9.99999777e-01 -1.10686807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.55140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.82, Y:7.17, Z:-0.11 [[ 9.96779758e-01 8.01879037e-02 1.18373150e-04 1.22822478e+02] [-8.01879031e-02 9.96779765e-01 -9.90545138e-06 7.17277752e+00] [-1.18786258e-04 3.81458708e-07 9.99999993e-01 -1.08863925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.58140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.85, Y:7.17, Z:-0.11 [[ 9.96859956e-01 7.91835779e-02 4.33795173e-04 1.22848783e+02] [-7.91835702e-02 9.96860051e-01 -3.49271613e-05 7.16734819e+00] [-4.35198736e-04 4.68037998e-07 9.99999905e-01 -1.07689692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.61140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.88, Y:7.16, Z:-0.11 [[ 9.96905632e-01 7.86076142e-02 5.87789855e-05 1.22876627e+02] [-7.86076140e-02 9.96905634e-01 -4.85998011e-06 7.16308155e+00] [-5.89791332e-05 2.24465743e-07 9.99999998e-01 -1.07881450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.64140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.90, Y:7.16, Z:-0.11 [[ 9.96942200e-01 7.81424871e-02 4.12307302e-05 1.22903158e+02] [-7.81424871e-02 9.96942201e-01 -3.47759668e-06 7.15860672e+00] [-4.13764030e-05 2.45091083e-07 9.99999999e-01 -1.07876927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.67140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.93, Y:7.15, Z:-0.11 [[ 9.96892699e-01 7.87662810e-02 9.05576249e-04 1.22930397e+02] [-7.87662476e-02 9.96893110e-01 -7.24848015e-05 7.15247303e+00] [-9.08472082e-04 9.30726315e-07 9.99999587e-01 -1.07021545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.70140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.96, Y:7.15, Z:-0.11 [[ 9.96769354e-01 8.03122587e-02 8.91672594e-04 1.22957679e+02] [-8.03122270e-02 9.96769753e-01 -7.13856214e-05 7.15021771e+00] [-8.94525412e-04 -4.57212072e-07 9.99999600e-01 -1.07194082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.73140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.99, Y:7.15, Z:-0.11 [[ 9.96562282e-01 8.28442761e-02 6.66754433e-04 1.22985498e+02] [-8.28442590e-02 9.96562505e-01 -5.32565056e-05 7.15040878e+00] [-6.68874464e-04 -2.16335215e-06 9.99999776e-01 -1.07780513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.76140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.01, Y:7.15, Z:-0.11 [[ 9.96286073e-01 8.61025496e-02 6.41706438e-04 1.23014040e+02] [-8.61025345e-02 9.96286280e-01 -5.12211098e-05 7.15166582e+00] [-6.43733588e-04 -4.22167239e-06 9.99999793e-01 -1.07668519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.79140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.04, Y:7.16, Z:-0.11 [[ 9.95489217e-01 9.48697291e-02 -9.76589851e-04 1.23044307e+02] [-9.48696986e-02 9.95489696e-01 7.76878292e-05 7.15990805e+00] [ 9.79555357e-04 1.53113885e-05 9.99999520e-01 -1.08602924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.821400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.07, Y:7.16, Z:-0.11 [[ 9.94991033e-01 9.99483132e-02 -1.78310165e-03 1.23073430e+02] [-9.99482197e-02 9.94992630e-01 1.41738390e-04 7.16386131e+00] [ 1.78833951e-03 3.71894083e-05 9.99998400e-01 -1.10049917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.851400513 meters Centerline goodness [0,1] 0.9999786379560797 Centerline is valid? [True, True] Translation: X:123.10, Y:7.16, Z:-0.11 [[ 9.94501233e-01 1.04706049e-01 -1.98503602e-03 1.23103636e+02] [-1.04705942e-01 9.94503213e-01 1.57912550e-04 7.16468745e+00] [ 1.99065909e-03 5.08008411e-05 9.99998017e-01 -1.10469137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.881400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.14, Y:7.17, Z:-0.11 [[ 9.93731094e-01 1.11796743e-01 -2.35171283e-05 1.23135009e+02] [-1.11796743e-01 9.93731095e-01 1.86311961e-06 7.17144927e+00] [ 2.35779923e-05 7.77698448e-07 1.00000000e+00 -1.08313881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.911400513 meters Centerline goodness [0,1] 0.9999571615224795 Centerline is valid? [True, True] Translation: X:123.16, Y:7.18, Z:-0.11 [[ 9.93479573e-01 1.14007860e-01 7.39057563e-04 1.23163666e+02] [-1.14007848e-01 9.93479847e-01 -5.88597934e-05 7.17683729e+00] [-7.40949274e-04 -2.57823598e-05 9.99999725e-01 -1.07347244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.941400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.19, Y:7.18, Z:-0.11 [[ 9.93326272e-01 1.15335548e-01 7.92918906e-04 1.23192390e+02] [-1.15335534e-01 9.93326588e-01 -6.32645636e-05 7.17715939e+00] [-7.94924084e-04 -2.86093724e-05 9.99999684e-01 -1.07748791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.971400513 meters Centerline goodness [0,1] 0.9999785393909479 Centerline is valid? [True, True] Translation: X:123.22, Y:7.17, Z:-0.11 [[ 9.93249846e-01 1.15994576e-01 3.79854028e-05 1.23220706e+02] [-1.15994576e-01 9.93249847e-01 -3.37889863e-06 7.17219613e+00] [-3.81209294e-05 -1.05001015e-06 9.99999999e-01 -1.09083734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.001400513 meters Centerline goodness [0,1] 0.999957337883959 Centerline is valid? [True, True] Translation: X:123.25, Y:7.17, Z:-0.11 [[ 9.93221715e-01 1.16232634e-01 -7.74606341e-04 1.23248729e+02] [-1.16232621e-01 9.93222016e-01 6.11405399e-05 7.17443371e+00] [ 7.76462598e-04 2.93084136e-05 9.99999698e-01 -1.11155783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.031400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.28, Y:7.17, Z:-0.11 [[ 9.93263917e-01 1.15872949e-01 -5.00892395e-04 1.23276372e+02] [-1.15872944e-01 9.93264043e-01 3.90966732e-05 7.16730641e+00] [ 5.02048652e-04 1.92065617e-05 9.99999874e-01 -1.10241152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.061400513 meters Centerline goodness [0,1] 0.9999572603910675 Centerline is valid? [True, True] Translation: X:123.30, Y:7.17, Z:-0.11 [[ 9.93254235e-01 1.15956101e-01 4.54652203e-04 1.23304097e+02] [-1.15956097e-01 9.93254339e-01 -3.59789655e-05 7.17079212e+00] [-4.55757254e-04 -1.69834348e-05 9.99999896e-01 -1.08814367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.091400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.33, Y:7.16, Z:-0.11 [[ 9.93193168e-01 1.16474575e-01 1.00217771e-03 1.23332020e+02] [-1.16474555e-01 9.93193673e-01 -7.92223536e-05 7.16218609e+00] [-1.00458395e-03 -3.80451025e-05 9.99999495e-01 -1.07652055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.121400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.36, Y:7.16, Z:-0.11 [[ 9.93158691e-01 1.16771784e-01 4.06348663e-04 1.23360164e+02] [-1.16771781e-01 9.93158774e-01 -3.20768641e-05 7.16400177e+00] [-4.07314412e-04 -1.55926405e-05 9.99999917e-01 -1.08679542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.151400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.39, Y:7.16, Z:-0.11 [[ 9.93157360e-01 1.16761382e-01 -2.28872509e-03 1.23388690e+02] [-1.16761279e-01 9.93159993e-01 1.79121325e-04 7.15673771e+00] [ 2.29398464e-03 8.93388057e-05 9.99997365e-01 -1.12151717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.18140051299997 meters Centerline goodness [0,1] 0.9998936306003489 Centerline is valid? [True, True] Translation: X:123.42, Y:7.16, Z:-0.11 [[ 9.93173722e-01 1.16632618e-01 -1.67063743e-03 1.23417004e+02] [-1.16632563e-01 9.93175125e-01 1.30786518e-04 7.15931487e+00] [ 1.67448951e-03 6.49569913e-05 9.99998596e-01 -1.11753357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.21140051299997 meters Centerline goodness [0,1] 0.9999148356327713 Centerline is valid? [True, True] Translation: X:123.45, Y:7.16, Z:-0.11 [[ 9.93198881e-01 1.16430151e-01 4.93277236e-05 1.23445066e+02] [-1.16430151e-01 9.93198882e-01 -4.26428511e-06 7.15622332e+00] [-4.94887314e-05 -1.50795111e-06 9.99999999e-01 -1.08985853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.24140051299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.47, Y:7.15, Z:-0.10 [[ 9.93200850e-01 1.16383782e-01 2.62438946e-03 1.23471945e+02] [-1.16383645e-01 9.93204312e-01 -2.05081997e-04 7.14658207e+00] [-2.63042314e-03 -1.01748398e-04 9.99996535e-01 -1.04628432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.27140051299997 meters Centerline goodness [0,1] 0.9999567408560984 Centerline is valid? [True, True] Translation: X:123.50, Y:7.14, Z:-0.11 [[ 9.93184100e-01 1.16533222e-01 2.31335431e-03 1.23500374e+02] [-1.16533117e-01 9.93186790e-01 -1.80379622e-04 7.14009659e+00] [-2.31861316e-03 -9.04322156e-05 9.99997308e-01 -1.05224221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.30140051299998 meters Centerline goodness [0,1] 0.999935834367113 Centerline is valid? [True, True] Translation: X:123.53, Y:7.14, Z:-0.11 [[ 9.93113816e-01 1.17147406e-01 1.19740377e-03 1.23528384e+02] [-1.17147378e-01 9.93114537e-01 -9.32309967e-05 7.14040047e+00] [-1.20008086e-03 -4.76837219e-05 9.99999279e-01 -1.07482557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.33140051299998 meters Centerline goodness [0,1] 0.999957285949213 Centerline is valid? [True, True] Translation: X:123.56, Y:7.14, Z:-0.11 [[ 9.93002448e-01 1.18093511e-01 2.45684581e-04 1.23557196e+02] [-1.18093510e-01 9.93002479e-01 -1.94191233e-05 7.13648179e+00] [-2.46258670e-04 -9.73051741e-06 9.99999970e-01 -1.08853326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.36140051299998 meters Centerline goodness [0,1] 0.9999567099567099 Centerline is valid? [True, True] Translation: X:123.59, Y:7.13, Z:-0.11 [[ 9.92724660e-01 1.20405701e-01 4.66334849e-04 1.23585487e+02] [-1.20405698e-01 9.92724769e-01 -3.62425810e-05 7.12667018e+00] [-4.67305968e-04 -2.01704689e-05 9.99999891e-01 -1.07628707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.39140051299998 meters Centerline goodness [0,1] 0.999849569122988 Centerline is valid? [True, True] Translation: X:123.61, Y:7.12, Z:-0.11 [[ 9.92640816e-01 1.21091960e-01 9.73747228e-04 1.23612810e+02] [-1.21091944e-01 9.92641292e-01 -7.55844704e-05 7.12346479e+00] [-9.75734379e-04 -4.28847147e-05 9.99999523e-01 -1.06709379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.42140051299998 meters Centerline goodness [0,1] 0.999914679407875 Centerline is valid? [True, True] Translation: X:123.64, Y:7.12, Z:-0.11 [[ 9.92629658e-01 1.21178935e-01 1.42427090e-03 1.23641014e+02] [-1.21178901e-01 9.92630677e-01 -1.10489376e-04 7.11838395e+00] [-1.42716398e-03 -6.29165518e-05 9.99998980e-01 -1.06620958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.45140051299998 meters Centerline goodness [0,1] 0.9998706283151494 Centerline is valid? [True, True] Translation: X:123.67, Y:7.11, Z:-0.11 [[ 9.92659897e-01 1.20935768e-01 9.32388278e-04 1.23667904e+02] [-1.20935754e-01 9.92660334e-01 -7.23311930e-05 7.10826854e+00] [-9.34292287e-04 -4.09588046e-05 9.99999563e-01 -1.08959955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.48140051299998 meters Centerline goodness [0,1] 0.9998710176705792 Centerline is valid? [True, True] Translation: X:123.70, Y:7.10, Z:-0.11 [[ 9.92729167e-01 1.20369409e-01 7.75721158e-05 1.23695776e+02] [-1.20369409e-01 9.92729170e-01 -6.11005308e-06 7.10304866e+00] [-7.77435657e-05 -3.27168181e-06 9.99999997e-01 -1.10928593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.51140051299998 meters Centerline goodness [0,1] 0.999957111916454 Centerline is valid? [True, True] Translation: X:123.72, Y:7.10, Z:-0.11 [[ 9.92840925e-01 1.19442133e-01 -6.89495311e-04 1.23724413e+02] [-1.19442125e-01 9.92841163e-01 5.26393551e-05 7.09625411e+00] [ 6.90846684e-04 3.00922795e-05 9.99999761e-01 -1.12051555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.54140051299999 meters Centerline goodness [0,1] 0.9998504656925574 Centerline is valid? [True, True] Translation: X:123.75, Y:7.09, Z:-0.11 [[ 9.92974240e-01 1.18325780e-01 -1.08086781e-03 1.23753011e+02] [-1.18325760e-01 9.92974827e-01 8.25445589e-05 7.08992148e+00] [ 1.08304167e-03 4.59298836e-05 9.99999412e-01 -1.12874884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.571400513 meters Centerline goodness [0,1] 0.999956955922865 Centerline is valid? [True, True] Translation: X:123.78, Y:7.08, Z:-0.11 [[ 9.93295418e-01 1.15597370e-01 -1.20878114e-03 1.23781801e+02] [-1.15597343e-01 9.93296152e-01 9.26475859e-05 7.08110233e+00] [ 1.21138747e-03 4.77054652e-05 9.99999265e-01 -1.13968089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.601400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.81, Y:7.07, Z:-0.11 [[ 9.93524133e-01 1.13612359e-01 -1.42432977e-03 1.23810147e+02] [-1.13612320e-01 9.93525153e-01 1.08654828e-04 7.06811256e+00] [ 1.42745198e-03 5.38702158e-05 9.99998980e-01 -1.14284066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.631400513 meters Centerline goodness [0,1] 0.99997850340721 Centerline is valid? [True, True] Translation: X:123.84, Y:7.06, Z:-0.11 [[ 9.93735992e-01 1.11747682e-01 -1.11038382e-03 1.23838840e+02] [-1.11747657e-01 9.93736612e-01 8.44507948e-05 7.05936987e+00] [ 1.11286623e-03 4.01609955e-05 9.99999380e-01 -1.13849736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.661400513 meters Centerline goodness [0,1] 0.999978507565337 Centerline is valid? [True, True] Translation: X:123.87, Y:7.06, Z:-0.11 [[ 9.93866470e-01 1.10583929e-01 -7.96890348e-04 1.23866518e+02] [-1.10583916e-01 9.93866789e-01 6.05911188e-05 7.05768286e+00] [ 7.98703255e-04 2.79037740e-05 9.99999681e-01 -1.13451768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.691400513 meters Centerline goodness [0,1] 0.9999786484466745 Centerline is valid? [True, True] Translation: X:123.89, Y:7.05, Z:-0.11 [[ 9.93855626e-01 1.10679310e-01 -1.04118129e-03 1.23894540e+02] [-1.10679288e-01 9.93856171e-01 7.88946129e-05 7.04730504e+00] [ 1.04351645e-03 3.68273493e-05 9.99999455e-01 -1.13065139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.721400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.92, Y:7.04, Z:-0.11 [[ 9.93738118e-01 1.11729677e-01 -1.01610381e-03 1.23922731e+02] [-1.11729657e-01 9.93738637e-01 7.68074460e-05 7.04212635e+00] [ 1.01832328e-03 3.72024426e-05 9.99999481e-01 -1.12919424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.751400513 meters Centerline goodness [0,1] 0.9999786725814708 Centerline is valid? [True, True] Translation: X:123.95, Y:7.04, Z:-0.11 [[ 9.93581968e-01 1.13113569e-01 -4.40022199e-04 1.23951260e+02] [-1.13113565e-01 9.93582065e-01 3.29756271e-05 7.03976717e+00] [ 4.40928156e-04 1.70084913e-05 9.99999903e-01 -1.11537296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.781400513 meters Centerline goodness [0,1] 0.9999570206730563 Centerline is valid? [True, True] Translation: X:123.98, Y:7.04, Z:-0.11 [[ 9.93038670e-01 1.17788652e-01 1.83664918e-04 1.23982288e+02] [-1.17788651e-01 9.93038687e-01 -1.39269825e-05 7.04124646e+00] [-1.84026810e-04 -7.80361087e-06 9.99999983e-01 -1.09654952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.811400513 meters Centerline goodness [0,1] 0.999744832865527 Centerline is valid? [True, True] Translation: X:124.01, Y:7.05, Z:-0.11 [[ 9.92744132e-01 1.20245465e-01 -3.41561869e-04 1.24011095e+02] [-1.20245463e-01 9.92744191e-01 2.57587085e-05 7.04626858e+00] [ 3.42180929e-04 1.54994583e-05 9.99999941e-01 -1.10980190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.841400513 meters Centerline goodness [0,1] 0.9998299681190224 Centerline is valid? [True, True] Translation: X:124.04, Y:7.05, Z:-0.11 [[ 9.92451334e-01 1.22633080e-01 -1.21525326e-03 1.24041560e+02] [-1.22633059e-01 9.92452077e-01 9.20244526e-05 7.04599045e+00] [ 1.21736587e-03 5.77004342e-05 9.99999257e-01 -1.12291680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.871400513 meters Centerline goodness [0,1] 0.9998294824793248 Centerline is valid? [True, True] Translation: X:124.07, Y:7.05, Z:-0.11 [[ 9.92032185e-01 1.25975588e-01 -1.51520625e-03 1.24072016e+02] [-1.25975560e-01 9.92033339e-01 1.14698661e-04 7.04518960e+00] [ 1.51758434e-03 7.70941917e-05 9.99998845e-01 -1.13180523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.901400513 meters Centerline goodness [0,1] 0.9988736106093129 Centerline is valid? [True, True] Translation: X:124.10, Y:7.05, Z:-0.11 [[ 9.91969313e-01 1.26473957e-01 -1.10488849e-03 1.24100099e+02] [-1.26473943e-01 9.91969926e-01 8.34553430e-05 7.05097128e+00] [ 1.10657108e-03 5.69544646e-05 9.99999386e-01 -1.12944757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.93140051299997 meters Centerline goodness [0,1] 0.9996987238804365 Centerline is valid? [True, True] Translation: X:124.13, Y:7.04, Z:-0.11 [[ 9.92009096e-01 1.26165452e-01 -4.81786964e-04 1.24128020e+02] [-1.26165449e-01 9.92009213e-01 3.59934553e-05 7.04423790e+00] [ 4.82478238e-04 2.50790338e-05 9.99999883e-01 -1.11711740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.96140051299997 meters Centerline goodness [0,1] 0.9998292167452981 Centerline is valid? [True, True] Translation: X:124.16, Y:7.04, Z:-0.11 [[ 9.92095880e-01 1.25482036e-01 -1.53333731e-04 1.24156632e+02] [-1.25482036e-01 9.92095892e-01 1.11768011e-05 7.04320977e+00] [ 1.53524252e-04 8.15217041e-06 9.99999988e-01 -1.10912106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.99140051299997 meters Centerline goodness [0,1] 0.9998292167452981 Centerline is valid? [True, True] Translation: X:124.18, Y:7.04, Z:-0.11 [[ 9.92120250e-01 1.25289206e-01 -1.53339924e-04 1.24184038e+02] [-1.25289206e-01 9.92120262e-01 1.10939833e-05 7.04132325e+00] [ 1.53521601e-04 8.20527179e-06 9.99999988e-01 -1.10971970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.02140051299997 meters Centerline goodness [0,1] 0.9995723022967367 Centerline is valid? [True, True] Translation: X:124.21, Y:7.04, Z:-0.11 [[ 9.92312529e-01 1.23751549e-01 1.18291957e-03 1.24212641e+02] [-1.23751531e-01 9.92313232e-01 -8.89023473e-05 7.04279671e+00] [-1.18482855e-03 -5.81691948e-05 9.99999296e-01 -1.08860832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.05140051299998 meters Centerline goodness [0,1] 0.9995518374663878 Centerline is valid? [True, True] Translation: X:124.24, Y:7.04, Z:-0.11 [[ 9.92420148e-01 1.22868670e-01 2.35373691e-03 1.24240401e+02] [-1.22868595e-01 9.92422933e-01 -1.76675677e-04 7.04144655e+00] [-2.35761039e-03 -1.13863847e-04 9.99997214e-01 -1.07404547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.08140051299998 meters Centerline goodness [0,1] 0.9998509147445318 Centerline is valid? [True, True] Translation: X:124.27, Y:7.03, Z:-0.11 [[ 9.92503564e-01 1.22169600e-01 3.35634834e-03 1.24268266e+02] [-1.22169446e-01 9.92509226e-01 -2.51543837e-04 7.03401904e+00] [-3.36193770e-03 -1.60385063e-04 9.99994336e-01 -1.06457415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.11140051299998 meters Centerline goodness [0,1] 0.9974261890581129 Centerline is valid? [True, True] Translation: X:124.30, Y:7.04, Z:-0.11 [[ 9.92577883e-01 1.21553294e-01 3.73390691e-03 1.24296934e+02] [-1.21553102e-01 9.92584891e-01 -2.79327571e-04 7.03958059e+00] [-3.74017277e-03 -1.76613597e-04 9.99992990e-01 -1.06623047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.14140051299998 meters Centerline goodness [0,1] 0.9998287304645687 Centerline is valid? [True, True] Translation: X:124.33, Y:7.03, Z:-0.11 [[ 9.92748761e-01 1.20201364e-01 1.23683280e-03 1.24325024e+02] [-1.20201342e-01 9.92749530e-01 -9.25268837e-05 7.02712327e+00] [-1.23898704e-03 -5.68130129e-05 9.99999231e-01 -1.11309810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.17140051299998 meters Centerline goodness [0,1] 0.9999141520367429 Centerline is valid? [True, True] Translation: X:124.35, Y:7.02, Z:-0.11 [[ 9.92798379e-01 1.19795674e-01 6.11883045e-04 1.24353682e+02] [-1.19795668e-01 9.92798568e-01 -4.59899614e-05 7.02238337e+00] [-6.12986009e-04 -2.76421789e-05 9.99999812e-01 -1.12562456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.20140051299998 meters Centerline goodness [0,1] 0.9999141372944661 Centerline is valid? [True, True] Translation: X:124.38, Y:7.02, Z:-0.11 [[ 9.92786888e-01 1.19886798e-01 1.16185576e-03 1.24381672e+02] [-1.19886778e-01 9.92787567e-01 -8.66806589e-05 7.01892845e+00] [-1.16386782e-03 -5.32357229e-05 9.99999321e-01 -1.12094043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.23140051299998 meters Centerline goodness [0,1] 0.999702450532401 Centerline is valid? [True, True] Translation: X:124.41, Y:7.02, Z:-0.11 [[ 9.92713372e-01 1.20456813e-01 3.21202773e-03 1.24409459e+02] [-1.20456668e-01 9.92718557e-01 -2.39204977e-04 7.01559462e+00] [-3.21745340e-03 -1.49448178e-04 9.99994813e-01 -1.09151555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.26140051299998 meters Centerline goodness [0,1] 0.999680925740784 Centerline is valid? [True, True] Translation: X:124.44, Y:7.01, Z:-0.11 [[ 9.92714365e-01 1.20440163e-01 3.51525151e-03 1.24437460e+02] [-1.20439990e-01 9.92720575e-01 -2.61413902e-04 7.00791520e+00] [-3.52114723e-03 -1.63867521e-04 9.99993787e-01 -1.09062362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.29140051299999 meters Centerline goodness [0,1] 0.9999570492859444 Centerline is valid? [True, True] Translation: X:124.46, Y:7.00, Z:-0.11 [[ 9.92753587e-01 1.20132504e-01 2.91490796e-03 1.24464921e+02] [-1.20132386e-01 9.92757857e-01 -2.16315671e-04 7.00036437e+00] [-2.91978432e-03 -1.35426689e-04 9.99995728e-01 -1.10497300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.321400513 meters Centerline goodness [0,1] 0.9999138636461519 Centerline is valid? [True, True] Translation: X:124.49, Y:6.99, Z:-0.11 [[ 9.92810653e-01 1.19679329e-01 1.96592525e-03 1.24492949e+02] [-1.19679275e-01 9.92812596e-01 -1.45636373e-04 6.99489438e+00] [-1.96922502e-03 -9.06911661e-05 9.99998057e-01 -1.12085074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.351400513 meters Centerline goodness [0,1] 0.9999144037148787 Centerline is valid? [True, True] Translation: X:124.52, Y:6.99, Z:-0.11 [[ 9.92891217e-01 1.19015053e-01 1.56476663e-03 1.24520568e+02] [-1.19015018e-01 9.92892447e-01 -1.15724295e-04 6.98509257e+00] [-1.56741791e-03 -7.13290928e-05 9.99998769e-01 -1.11878252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.381400513 meters Centerline goodness [0,1] 0.9999136889349215 Centerline is valid? [True, True] Translation: X:124.55, Y:6.98, Z:-0.11 [[ 9.92941883e-01 1.18591442e-01 1.57699549e-03 1.24548789e+02] [-1.18591406e-01 9.92943133e-01 -1.16353923e-04 6.97659811e+00] [-1.57966542e-03 -7.14854292e-05 9.99998750e-01 -1.11210848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.411400513 meters Centerline goodness [0,1] 0.9998287524616833 Centerline is valid? [True, True] Translation: X:124.58, Y:6.97, Z:-0.11 [[ 9.92967212e-01 1.18387021e-01 7.93677065e-04 1.24575434e+02] [-1.18387012e-01 9.92967528e-01 -5.85556195e-05 6.97300803e+00] [-7.95027778e-04 -3.58172460e-05 9.99999683e-01 -1.12051031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.441400513 meters Centerline goodness [0,1] 0.9999566930838855 Centerline is valid? [True, True] Translation: X:124.60, Y:6.96, Z:-0.11 [[ 9.93009137e-01 1.18036988e-01 -3.52239788e-04 1.24603803e+02] [-1.18036986e-01 9.93009199e-01 2.57333411e-05 6.96247442e+00] [ 3.52814835e-04 1.60238801e-05 9.99999938e-01 -1.13953036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.471400513 meters Centerline goodness [0,1] 0.9997445721583652 Centerline is valid? [True, True] Translation: X:124.63, Y:6.96, Z:-0.12 [[ 9.92936674e-01 1.18574525e-01 -4.10417996e-03 1.24630928e+02] [-1.18574293e-01 9.92945138e-01 3.00508169e-04 6.95705947e+00] [ 4.11085815e-03 1.88264657e-04 9.99991533e-01 -1.21080732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.501400513 meters Centerline goodness [0,1] 0.9998710731015514 Centerline is valid? [True, True] Translation: X:124.66, Y:6.95, Z:-0.12 [[ 9.92807646e-01 1.19578521e-01 -5.82713911e-03 1.24659961e+02] [-1.19578072e-01 9.92824709e-01 4.26665705e-04 6.95275289e+00] [ 5.83634774e-03 2.73201086e-04 9.99982931e-01 -1.23829158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.531400513 meters Centerline goodness [0,1] 0.9996134518747584 Centerline is valid? [True, True] Translation: X:124.69, Y:6.95, Z:-0.13 [[ 9.92518761e-01 1.21896510e-01 -6.91009303e-03 1.24689756e+02] [-1.21895935e-01 9.92542757e-01 5.05942031e-04 6.94513443e+00] [ 6.92023536e-03 3.40155290e-04 9.99975997e-01 -1.25029275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.561400513 meters Centerline goodness [0,1] 0.9998492191707055 Centerline is valid? [True, True] Translation: X:124.72, Y:6.94, Z:-0.12 [[ 9.92430517e-01 1.22654451e-01 -6.12811992e-03 1.24718381e+02] [-1.22654021e-01 9.92449390e-01 4.47299723e-04 6.93984662e+00] [ 6.13671218e-03 3.07724656e-04 9.99981123e-01 -1.23490649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.591400513 meters Centerline goodness [0,1] 0.999678070137786 Centerline is valid? [True, True] Translation: X:124.75, Y:6.94, Z:-0.12 [[ 9.92408156e-01 1.22882472e-01 -5.09410280e-03 1.24746684e+02] [-1.22882179e-01 9.92421197e-01 3.71694892e-04 6.94071682e+00] [ 5.10117039e-03 2.57101408e-04 9.99986956e-01 -1.22221316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.621400513 meters Centerline goodness [0,1] 0.9997866439086835 Centerline is valid? [True, True] Translation: X:124.77, Y:6.93, Z:-0.12 [[ 9.92449494e-01 1.22596059e-01 -3.76940650e-03 1.24774669e+02] [-1.22595900e-01 9.92456634e-01 2.74152250e-04 6.93453534e+00] [ 3.77458247e-03 1.90031520e-04 9.99992858e-01 -1.20204519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.651400513 meters Centerline goodness [0,1] 0.999828432949452 Centerline is valid? [True, True] Translation: X:124.80, Y:6.92, Z:-0.12 [[ 9.92588283e-01 1.21506238e-01 -2.17603418e-03 1.24802500e+02] [-1.21506182e-01 9.92590662e-01 1.58264044e-04 6.92352189e+00] [ 2.17914128e-03 1.07310570e-04 9.99997620e-01 -1.18670987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.68140051299997 meters Centerline goodness [0,1] 0.9998296495038542 Centerline is valid? [True, True] Translation: X:124.83, Y:6.92, Z:-0.12 [[ 9.92716321e-01 1.20468194e-01 -1.31132756e-03 1.24830953e+02] [-1.20468173e-01 9.92717185e-01 9.48529667e-05 6.91678044e+00] [ 1.31320417e-03 6.38111471e-05 9.99999136e-01 -1.18194126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.71140051299997 meters Centerline goodness [0,1] 0.9999351687772832 Centerline is valid? [True, True] Translation: X:124.86, Y:6.91, Z:-0.12 [[ 9.92831748e-01 1.19520113e-01 -2.49989243e-04 1.24858984e+02] [-1.19520112e-01 9.92831780e-01 1.80326720e-05 6.90515929e+00] [ 2.50352532e-04 1.19753331e-05 9.99999969e-01 -1.16353606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.74140051299997 meters Centerline goodness [0,1] 0.9997225719712328 Centerline is valid? [True, True] Translation: X:124.89, Y:6.90, Z:-0.11 [[ 9.92929299e-01 1.18703950e-01 8.82608897e-04 1.24886773e+02] [-1.18703939e-01 9.92929691e-01 -6.41221576e-05 6.90382549e+00] [-8.83980132e-04 -4.11003840e-05 9.99999608e-01 -1.14571872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.77140051299997 meters Centerline goodness [0,1] 0.99974462651628 Centerline is valid? [True, True] Translation: X:124.91, Y:6.89, Z:-0.11 [[ 9.92985651e-01 1.18230764e-01 9.91725797e-04 1.24914986e+02] [-1.18230751e-01 9.92986145e-01 -7.19559171e-05 6.89465888e+00] [-9.93277379e-04 -4.58012926e-05 9.99999506e-01 -1.13985756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.80140051299998 meters Centerline goodness [0,1] 0.9998061765085928 Centerline is valid? [True, True] Translation: X:124.94, Y:6.89, Z:-0.11 [[ 9.92849587e-01 1.19371686e-01 3.14615755e-04 1.24944702e+02] [-1.19371685e-01 9.92849636e-01 -2.28387102e-05 6.88989710e+00] [-3.15092433e-04 -1.48808088e-05 9.99999950e-01 -1.14781852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.83140051299998 meters Centerline goodness [0,1] 0.9998084861897264 Centerline is valid? [True, True] Translation: X:124.97, Y:6.89, Z:-0.12 [[ 9.92600080e-01 1.21428324e-01 -4.93082097e-04 1.24973693e+02] [-1.21428321e-01 9.92600202e-01 3.56197232e-05 6.88646441e+00] [ 4.93758633e-04 2.45179912e-05 9.99999878e-01 -1.16487587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.86140051299998 meters Centerline goodness [0,1] 0.9989178407740621 Centerline is valid? [True, True] Translation: X:125.00, Y:6.88, Z:-0.12 [[ 9.91930334e-01 1.26783209e-01 -4.80758629e-04 1.25003286e+02] [-1.26783207e-01 9.91930450e-01 3.47761102e-05 6.88469512e+00] [ 4.81288150e-04 2.64566421e-05 9.99999884e-01 -1.17380683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.89140051299998 meters Centerline goodness [0,1] 0.9992027236683331 Centerline is valid? [True, True] Translation: X:125.03, Y:6.88, Z:-0.12 [[ 9.91571030e-01 1.29564106e-01 -1.88733711e-04 1.25033381e+02] [-1.29564106e-01 9.91571048e-01 1.36612929e-05 6.87726083e+00] [ 1.88912897e-04 1.09069722e-05 9.99999982e-01 -1.16659649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.92140051299998 meters Centerline goodness [0,1] 0.9901015336250478 Centerline is valid? [True, True] Translation: X:125.06, Y:6.88, Z:-0.12 [[ 9.91256097e-01 1.31952058e-01 6.90241966e-05 1.25062467e+02] [-1.31952057e-01 9.91256099e-01 -5.04652051e-06 6.87818541e+00] [-6.90865546e-05 -4.10549053e-06 9.99999998e-01 -1.16930959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.95140051299998 meters Centerline goodness [0,1] 0.940041821363035 Centerline is valid? [True, False] Translation: X:125.06, Y:6.88, Z:-0.12 [[ 9.91683305e-01 1.28701952e-01 -1.71796165e-04 1.25061728e+02] [-1.28701690e-01 9.91676283e-01 -3.74493112e-03 6.87682115e+00] [-3.11613763e-04 3.73589613e-03 9.99992973e-01 -1.17392223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.98140051299998 meters Centerline goodness [0,1] 0.9915633720552923 Centerline is valid? [False, True] Translation: X:125.06, Y:6.87, Z:-0.12 [[ 9.91631671e-01 1.29099300e-01 -2.65495520e-05 1.25061252e+02] [-1.29098848e-01 9.91627616e-01 -2.85630256e-03 6.87267711e+00] [-3.42419391e-04 2.83582759e-03 9.99995920e-01 -1.17662535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.01140051299998 meters Centerline goodness [0,1] 0.8506092365371507 Centerline is valid? [True, False] Translation: X:125.08, Y:6.86, Z:-0.12 [[ 9.91806935e-01 1.27618721e-01 5.69790432e-03 1.25084069e+02] [-1.27652268e-01 9.91801004e-01 5.97213992e-03 6.86165081e+00] [-4.88903037e-03 -6.65056019e-03 9.99965933e-01 -1.24650727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.04140051299999 meters Centerline goodness [0,1] 0.9781405585589436 Centerline is valid? [False, True] Translation: X:125.08, Y:6.87, Z:-0.12 [[ 9.92344787e-01 1.23380533e-01 5.39137822e-03 1.25083285e+02] [-1.23387447e-01 9.92358101e-01 9.67884746e-04 6.86531538e+00] [-5.23075972e-03 -1.62570378e-03 9.99984998e-01 -1.24395995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.071400513 meters Centerline goodness [0,1] 0.9859010070709235 Centerline is valid? [True, True] Translation: X:125.11, Y:6.86, Z:-0.12 [[ 9.92515805e-01 1.21997669e-01 5.38001803e-03 1.25112690e+02] [-1.21997697e-01 9.92530330e-01 -3.24236328e-04 6.85586759e+00] [-5.37938715e-03 -3.34540129e-04 9.99985475e-01 -1.24661480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.101400513 meters Centerline goodness [0,1] 0.9895403716144394 Centerline is valid? [True, True] Translation: X:125.14, Y:6.85, Z:-0.13 [[ 9.92670123e-01 1.20760828e-01 4.78014808e-03 1.25140174e+02] [-1.20760836e-01 9.92681589e-01 -2.88111077e-04 6.85103807e+00] [-4.77995753e-03 -2.91255418e-04 9.99988534e-01 -1.25614349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.131400513 meters Centerline goodness [0,1] 0.9798690531865142 Centerline is valid? [True, True] Translation: X:125.17, Y:6.85, Z:-0.13 [[ 9.92843046e-01 1.19343931e-01 4.43989497e-03 1.25169187e+02] [-1.19343924e-01 9.92852938e-01 -2.67301216e-04 6.84913392e+00] [-4.44006354e-03 -2.64486336e-04 9.99990108e-01 -1.26493872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.161400513 meters Centerline goodness [0,1] 0.9993795464270432 Centerline is valid? [True, True] Translation: X:125.20, Y:6.84, Z:-0.13 [[ 9.93057809e-01 1.17544801e-01 4.40531649e-03 1.25198500e+02] [-1.17544778e-01 9.93067548e-01 -2.65096105e-04 6.83535267e+00] [-4.40593752e-03 -2.54566190e-04 9.99990261e-01 -1.26386114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.191400513 meters Centerline goodness [0,1] 0.9996378972480191 Centerline is valid? [True, True] Translation: X:125.23, Y:6.82, Z:-0.13 [[ 9.93414652e-01 1.14505319e-01 3.98247386e-03 1.25226891e+02] [-1.14505276e-01 9.93422611e-01 -2.39617909e-04 6.82373850e+00] [-3.98371710e-03 -2.17974327e-04 9.99992041e-01 -1.26559531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.221400513 meters Centerline goodness [0,1] 0.999573624405739 Centerline is valid? [True, True] Translation: X:125.26, Y:6.82, Z:-0.13 [[ 9.93512995e-01 1.13665340e-01 3.48114957e-03 1.25255272e+02] [-1.13665302e-01 9.93519076e-01 -2.09509173e-04 6.81576647e+00] [-3.48240244e-03 -1.87535830e-04 9.99993919e-01 -1.27138389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.251400513 meters Centerline goodness [0,1] 0.9998064557751446 Centerline is valid? [True, True] Translation: X:125.28, Y:6.81, Z:-0.13 [[ 9.93545880e-01 1.13398710e-01 2.70500311e-03 1.25283197e+02] [-1.13398686e-01 9.93549552e-01 -1.62741188e-04 6.80672818e+00] [-2.70600926e-03 -1.45052962e-04 9.99996328e-01 -1.28074145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.281400513 meters Centerline goodness [0,1] 0.9995537327071424 Centerline is valid? [True, True] Translation: X:125.31, Y:6.81, Z:-0.13 [[ 9.93421180e-01 1.14517647e-01 2.61429866e-04 1.25311807e+02] [-1.14517647e-01 9.93421214e-01 -1.59916714e-05 6.81347104e+00] [-2.61541303e-04 -1.40518681e-05 9.99999966e-01 -1.33248132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.311400513 meters Centerline goodness [0,1] 0.9995347656910845 Centerline is valid? [True, True] Translation: X:125.34, Y:6.81, Z:-0.13 [[ 9.93243827e-01 1.16045193e-01 -4.62398393e-04 1.25340827e+02] [-1.16045193e-01 9.93243934e-01 2.74065702e-05 6.80744109e+00] [ 4.62454800e-04 2.64377041e-05 9.99999893e-01 -1.34015103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.341400513 meters Centerline goodness [0,1] 0.9993608590054966 Centerline is valid? [True, True] Translation: X:125.37, Y:6.80, Z:-0.13 [[ 9.93011839e-01 1.18014066e-01 -4.08819587e-04 1.25371039e+02] [-1.18014066e-01 9.93011923e-01 2.45096205e-05 6.80087026e+00] [ 4.08855205e-04 2.39081183e-05 9.99999916e-01 -1.33210288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.371400513 meters Centerline goodness [0,1] 0.9980909480909481 Centerline is valid? [True, True] Translation: X:125.40, Y:6.80, Z:-0.13 [[ 9.92489799e-01 1.22325382e-01 7.07531964e-04 1.25400450e+02] [-1.22325383e-01 9.92490050e-01 -4.25460310e-05 6.80274991e+00] [-7.07422894e-04 -4.43226168e-05 9.99999749e-01 -1.31317105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.401400513 meters Centerline goodness [0,1] 0.9919704581562111 Centerline is valid? [True, True] Translation: X:125.43, Y:6.80, Z:-0.13 [[ 9.92215376e-01 1.24530479e-01 8.98170179e-04 1.25430651e+02] [-1.24530481e-01 9.92215781e-01 -5.38906736e-05 6.80451926e+00] [-8.97889657e-04 -5.83784095e-05 9.99999595e-01 -1.31334723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.43140051299997 meters Centerline goodness [0,1] 0.9730990647805338 Centerline is valid? [True, True] Translation: X:125.46, Y:6.81, Z:-0.13 [[ 9.91805952e-01 1.27752687e-01 4.52786293e-04 1.25461404e+02] [-1.27752687e-01 9.91806055e-01 -2.71279893e-05 6.80532657e+00] [-4.52541860e-04 -3.09389644e-05 9.99999897e-01 -1.33135253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.46140051299997 meters Centerline goodness [0,1] 0.9092195540308747 Centerline is valid? [True, False] Translation: X:125.46, Y:6.81, Z:-0.13 [[ 9.92319961e-01 1.23697538e-01 1.21773399e-04 1.25460953e+02] [-1.23695134e-01 9.92305932e-01 -5.33388348e-03 6.81106598e+00] [-7.80624720e-04 5.27785627e-03 9.99985767e-01 -1.33122335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.49140051299997 meters Centerline goodness [0,1] 0.9282943682570635 Centerline is valid? [False, False] Translation: X:125.46, Y:6.81, Z:-0.13 [[ 9.92309024e-01 1.23785162e-01 1.87832875e-04 1.25460374e+02] [-1.23782563e-01 9.92296006e-01 -5.14903517e-03 6.81023155e+00] [-8.23759964e-04 5.08618363e-03 9.99986726e-01 -1.32558027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.52140051299997 meters Centerline goodness [0,1] 0.9199656504937741 Centerline is valid? [False, False] Translation: X:125.46, Y:6.81, Z:-0.13 [[ 9.92296647e-01 1.23884118e-01 2.99378378e-04 1.25459522e+02] [-1.23881161e-01 9.92284853e-01 -4.92225012e-03 6.80921339e+00] [-9.06857245e-04 4.84724495e-03 9.99987841e-01 -1.31651905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.55140051299998 meters Centerline goodness [0,1] 0.7988966046095514 Centerline is valid? [False, False] Translation: X:125.46, Y:6.81, Z:-0.13 [[ 9.92802329e-01 1.19764445e-01 1.17641004e-04 1.25457863e+02] [-1.19758307e-01 9.92760479e-01 -9.19668585e-03 6.80930019e+00] [-1.21822531e-03 9.11640264e-03 9.99957703e-01 -1.30684391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.58140051299998 meters Centerline goodness [0,1] 0.8445465131323586 Centerline is valid? [False, False] Translation: X:125.44, Y:6.80, Z:-0.14 [[ 9.93238700e-01 1.16042898e-01 3.30621543e-03 1.25438030e+02] [-1.16036881e-01 9.93242976e-01 -1.95792345e-03 6.80192074e+00] [-3.51107837e-03 1.56104241e-03 9.99992618e-01 -1.36699101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.61140051299998 meters Centerline goodness [0,1] 0.9748243435436965 Centerline is valid? [False, True] Translation: X:125.46, Y:6.79, Z:-0.14 [[ 9.93488240e-01 1.13592100e-01 8.82904358e-03 1.25459674e+02] [-1.13648085e-01 9.93502220e-01 6.11979627e-03 6.79166537e+00] [-8.07651388e-03 -7.08334952e-03 9.99942296e-01 -1.42673073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.64140051299998 meters Centerline goodness [0,1] 0.9673767317145836 Centerline is valid? [True, True] Translation: X:125.49, Y:6.79, Z:-0.14 [[ 9.93651924e-01 1.12189818e-01 8.32460631e-03 1.25488285e+02] [-1.12190348e-01 9.93686652e-01 -4.04735058e-04 6.79283372e+00] [-8.31745733e-03 -5.31774709e-04 9.99965268e-01 -1.43327270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.67140051299998 meters Centerline goodness [0,1] 0.9919591112251662 Centerline is valid? [True, True] Translation: X:125.52, Y:6.79, Z:-0.15 [[ 9.93603081e-01 1.12704919e-01 7.10758120e-03 1.25516860e+02] [-1.12705320e-01 9.93628397e-01 -3.45368211e-04 6.78597539e+00] [-7.10121922e-03 -4.57903294e-04 9.99974681e-01 -1.45427684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.70140051299998 meters Centerline goodness [0,1] 0.8955756725742701 Centerline is valid? [True, False] Translation: X:125.52, Y:6.79, Z:-0.15 [[ 9.94047638e-01 1.08741038e-01 6.68430233e-03 1.25516896e+02] [-1.08708601e-01 9.94060885e-01 -5.03946520e-03 6.78839454e+00] [-7.19260017e-03 4.28282732e-03 9.99964961e-01 -1.45719881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.73140051299998 meters Centerline goodness [0,1] 0.9391880450427568 Centerline is valid? [False, False] Translation: X:125.52, Y:6.79, Z:-0.15 [[ 9.94458944e-01 1.04915770e-01 6.64000804e-03 1.25515626e+02] [-1.04850034e-01 9.94441936e-01 -9.57629380e-03 6.79018742e+00] [-7.60780668e-03 8.82702595e-03 9.99932100e-01 -1.45741036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.76140051299998 meters Centerline goodness [0,1] 0.758749258537412 Centerline is valid? [False, False] Translation: X:125.51, Y:6.78, Z:-0.14 [[ 9.94359257e-01 1.05825444e-01 7.11638339e-03 1.25513317e+02] [-1.05771112e-01 9.94361291e-01 -7.62193711e-03 6.78117077e+00] [-7.88285106e-03 6.82623594e-03 9.99945630e-01 -1.44860393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.79140051299999 meters Centerline goodness [0,1] 0.8081338073414144 Centerline is valid? [False, False] Translation: X:125.51, Y:6.78, Z:-0.14 [[ 9.94308746e-01 1.06290533e-01 7.24158492e-03 1.25512759e+02] [-1.06243919e-01 9.94318561e-01 -6.54441790e-03 6.77614100e+00] [-7.89605196e-03 5.73779759e-03 9.99952364e-01 -1.44851818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.821400513 meters Centerline goodness [0,1] 0.8366111625702777 Centerline is valid? [False, False] Translation: X:125.51, Y:6.77, Z:-0.15 [[ 9.94256008e-01 1.06781535e-01 7.25911598e-03 1.25512726e+02] [-1.06743862e-01 9.94271921e-01 -5.39399793e-03 6.77076263e+00] [-7.79351456e-03 4.58814877e-03 9.99959104e-01 -1.45219987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.851400513 meters Centerline goodness [0,1] 0.8733724789379627 Centerline is valid? [False, False] Translation: X:125.51, Y:6.77, Z:-0.15 [[ 9.94207692e-01 1.07240813e-01 7.10449727e-03 1.25513368e+02] [-1.07212286e-01 9.94226929e-01 -4.28255099e-03 6.76552587e+00] [-7.52274675e-03 3.49605574e-03 9.99965592e-01 -1.45857286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.881400513 meters Centerline goodness [0,1] 0.7582426956707187 Centerline is valid? [False, False] Translation: X:125.51, Y:6.76, Z:-0.15 [[ 9.94562773e-01 1.03924923e-01 6.67085841e-03 1.25514000e+02] [-1.03872508e-01 9.94560231e-01 -7.77494944e-03 6.76259867e+00] [-7.44258150e-03 7.03975648e-03 9.99947524e-01 -1.47319585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.911400513 meters Centerline goodness [0,1] 0.7582426956707187 Centerline is valid? [False, False] Translation: X:125.51, Y:6.76, Z:-0.15 [[ 9.94562773e-01 1.03924923e-01 6.67085841e-03 1.25514000e+02] [-1.03872508e-01 9.94560231e-01 -7.77494944e-03 6.76259867e+00] [-7.44258150e-03 7.03975648e-03 9.99947524e-01 -1.47319585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.941400513 meters Centerline goodness [0,1] 0.9291492388373426 Centerline is valid? [False, False] Translation: X:125.51, Y:6.76, Z:-0.15 [[ 9.94526439e-01 1.04271971e-01 6.67217597e-03 1.25514168e+02] [-1.04225253e-01 9.94529052e-01 -7.00435484e-03 6.75894613e+00] [-7.36603073e-03 6.27060685e-03 9.99953209e-01 -1.47873076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.971400513 meters Centerline goodness [0,1] 0.9392367066895368 Centerline is valid? [False, False] Translation: X:125.51, Y:6.76, Z:-0.15 [[ 9.94495040e-01 1.04571449e-01 6.66544792e-03 1.25514293e+02] [-1.04529676e-01 9.94501588e-01 -6.33543451e-03 6.75580123e+00] [-7.29130411e-03 5.60382109e-03 9.99957716e-01 -1.48270137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.001400513 meters Centerline goodness [0,1] 0.9119911523246417 Centerline is valid? [False, False] Translation: X:125.51, Y:6.75, Z:-0.15 [[ 9.94422740e-01 1.05253918e-01 6.71022037e-03 1.25514099e+02] [-1.05221997e-01 9.94436459e-01 -4.94569702e-03 6.74937367e+00] [-7.19344177e-03 4.21205080e-03 9.99965256e-01 -1.48507858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.031400513 meters Centerline goodness [0,1] 0.8666552440513161 Centerline is valid? [False, False] Translation: X:125.51, Y:6.75, Z:-0.15 [[ 9.94395048e-01 1.05512285e-01 6.75619327e-03 1.25514063e+02] [-1.05484263e-01 9.94411332e-01 -4.37876942e-03 6.74669377e+00] [-7.18044912e-03 3.64155456e-03 9.99967590e-01 -1.48905548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.061400513 meters Centerline goodness [0,1] 0.715458916641845 Centerline is valid? [False, False] Translation: X:125.51, Y:6.75, Z:-0.15 [[ 9.94797151e-01 1.01662660e-01 6.58267312e-03 1.25513664e+02] [-1.01598554e-01 9.94780741e-01 -9.43455115e-03 6.75135771e+00] [-7.50745802e-03 8.71667454e-03 9.99933827e-01 -1.49621902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.091400513 meters Centerline goodness [0,1] 0.7865108981426512 Centerline is valid? [False, False] Translation: X:125.51, Y:6.75, Z:-0.15 [[ 9.94762205e-01 1.01995716e-01 6.71043054e-03 1.25513087e+02] [-1.01936065e-01 9.94752897e-01 -8.70126644e-03 6.74793679e+00] [-7.56271212e-03 7.97165610e-03 9.99939627e-01 -1.49576332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.121400513 meters Centerline goodness [0,1] 0.8062541328043344 Centerline is valid? [False, False] Translation: X:125.51, Y:6.74, Z:-0.15 [[ 9.94731569e-01 1.02284317e-01 6.85740591e-03 1.25512176e+02] [-1.02228953e-01 9.94728808e-01 -7.98993989e-03 6.74463666e+00] [-7.63850475e-03 7.24682002e-03 9.99944567e-01 -1.48884159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.151400513 meters Centerline goodness [0,1] 0.8837685280937608 Centerline is valid? [False, False] Translation: X:125.51, Y:6.74, Z:-0.15 [[ 9.94695985e-01 1.02620127e-01 7.00043120e-03 1.25511236e+02] [-1.02570646e-01 9.94700414e-01 -7.09569731e-03 6.74048056e+00] [-7.69149317e-03 6.34002288e-03 9.99950321e-01 -1.48120402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.18140051299997 meters Centerline goodness [0,1] 0.8088913682494046 Centerline is valid? [False, False] Translation: X:125.51, Y:6.73, Z:-0.15 [[ 9.95443660e-01 9.50716162e-02 7.30120733e-03 1.25508876e+02] [-9.51212305e-02 9.95442621e-01 6.77792124e-03 6.72780622e+00] [-6.62354503e-03 -7.44153855e-03 9.99950375e-01 -1.46542477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.21140051299997 meters Centerline goodness [0,1] 0.986201195472466 Centerline is valid? [False, True] Translation: X:125.51, Y:6.73, Z:-0.15 [[ 9.95875640e-01 9.04677071e-02 6.87771560e-03 1.25509047e+02] [-9.04801635e-02 9.95897096e-01 1.52143958e-03 6.73231311e+00] [-6.71185584e-03 -2.13746144e-03 9.99975191e-01 -1.46645107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.24140051299997 meters Centerline goodness [0,1] 0.9951450108598441 Centerline is valid? [True, True] Translation: X:125.54, Y:6.73, Z:-0.15 [[ 9.96120628e-01 8.77092801e-02 7.12577062e-03 1.25539631e+02] [-8.77104765e-02 9.96145999e-01 -1.45033092e-04 6.72945776e+00] [-7.11102864e-03 -4.80534282e-04 9.99974601e-01 -1.46474744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.27140051299997 meters Centerline goodness [0,1] 0.9968752693733299 Centerline is valid? [True, True] Translation: X:125.57, Y:6.72, Z:-0.14 [[ 9.96528733e-01 8.27128796e-02 9.43741642e-03 1.25569496e+02] [-8.27147549e-02 9.96573245e-01 -1.92100631e-04 6.72163900e+00] [-9.42096590e-03 -5.89179789e-04 9.99955448e-01 -1.42906837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.30140051299998 meters Centerline goodness [0,1] 0.9845387280270305 Centerline is valid? [True, True] Translation: X:125.60, Y:6.72, Z:-0.14 [[ 9.96717606e-01 8.02850987e-02 1.04075484e-02 1.25599347e+02] [-8.02872484e-02 9.96771746e-01 -2.11763699e-04 6.72406866e+00] [-1.03909516e-02 -6.24524813e-04 9.99945818e-01 -1.41661508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.33140051299998 meters Centerline goodness [0,1] 0.9996979112722251 Centerline is valid? [True, True] Translation: X:125.63, Y:6.71, Z:-0.14 [[ 9.96881880e-01 7.81994082e-02 1.05531922e-02 1.25629610e+02] [-7.82015021e-02 9.96937550e-01 -2.14721574e-04 6.70641113e+00] [-1.05376647e-02 -6.11223438e-04 9.99944290e-01 -1.41702553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.36140051299998 meters Centerline goodness [0,1] 0.9991089045891414 Centerline is valid? [True, True] Translation: X:125.66, Y:6.71, Z:-0.14 [[ 9.96979703e-01 7.69820724e-02 1.02582971e-02 1.25660128e+02] [-7.69839855e-02 9.97032308e-01 -2.08837219e-04 6.70974928e+00] [-1.02439304e-02 -5.81518130e-04 9.99947360e-01 -1.42862135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.39140051299998 meters Centerline goodness [0,1] 0.999446325518005 Centerline is valid? [True, True] Translation: X:125.69, Y:6.71, Z:-0.14 [[ 9.97039257e-01 7.62754680e-02 9.73513977e-03 1.25692731e+02] [-7.62771567e-02 9.97086634e-01 -1.98249990e-04 6.70541772e+00] [-9.72189936e-03 -5.44905759e-04 9.99952593e-01 -1.43785732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.42140051299998 meters Centerline goodness [0,1] 0.9994842037395228 Centerline is valid? [True, True] Translation: X:125.72, Y:6.70, Z:-0.14 [[ 9.97101973e-01 7.54590970e-02 9.67371364e-03 1.25724978e+02] [-7.54607221e-02 9.97148755e-01 -1.97427255e-04 6.69996051e+00] [-9.66102920e-03 -5.33130311e-04 9.99953189e-01 -1.44128158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.45140051299998 meters Centerline goodness [0,1] 0.9993849025388678 Centerline is valid? [True, True] Translation: X:125.76, Y:6.70, Z:-0.14 [[ 9.97085204e-01 7.56016892e-02 1.02703518e-02 1.25758168e+02] [-7.56035112e-02 9.97137937e-01 -2.11284806e-04 6.69752857e+00] [-1.02569309e-02 -5.65805703e-04 9.99947236e-01 -1.43483192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.48140051299998 meters Centerline goodness [0,1] 0.9998499721376827 Centerline is valid? [True, True] Translation: X:125.79, Y:6.69, Z:-0.14 [[ 9.97038969e-01 7.61552576e-02 1.06616885e-02 1.25789775e+02] [-7.61572317e-02 9.97095796e-01 -2.21303710e-04 6.68628514e+00] [-1.06475783e-02 -5.91316261e-04 9.99943138e-01 -1.42627102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.51140051299998 meters Centerline goodness [0,1] 0.9942702564539491 Centerline is valid? [True, True] Translation: X:125.82, Y:6.70, Z:-0.14 [[ 9.96960465e-01 7.71167680e-02 1.10831288e-02 1.25821260e+02] [-7.71189395e-02 9.97021873e-01 -2.31941345e-04 6.70047280e+00] [-1.10680084e-02 -6.23482786e-04 9.99938553e-01 -1.41480020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.54140051299999 meters Centerline goodness [0,1] 0.9995921521487142 Centerline is valid? [True, True] Translation: X:125.85, Y:6.68, Z:-0.14 [[ 9.96697095e-01 8.04539875e-02 1.10479437e-02 1.25851610e+02] [-8.04563316e-02 9.96758107e-01 -2.32835135e-04 6.68390769e+00] [-1.10308599e-02 -6.56810918e-04 9.99938943e-01 -1.42206693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.571400513 meters Centerline goodness [0,1] 0.9997640953054966 Centerline is valid? [True, True] Translation: X:125.88, Y:6.68, Z:-0.14 [[ 9.96561586e-01 8.21582652e-02 1.07249313e-02 1.25882571e+02] [-8.21605723e-02 9.96619079e-01 -2.26048815e-04 6.68278886e+00] [-1.07072430e-02 -6.55894930e-04 9.99942461e-01 -1.43538071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.601400513 meters Centerline goodness [0,1] 0.9980033984706882 Centerline is valid? [True, True] Translation: X:125.91, Y:6.69, Z:-0.14 [[ 9.96455037e-01 8.34396602e-02 1.07322830e-02 1.25912440e+02] [-8.34420431e-02 9.96512606e-01 -2.26330400e-04 6.68952295e+00] [-1.07137402e-02 -6.69995552e-04 9.99942382e-01 -1.44611572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.631400513 meters Centerline goodness [0,1] 0.9973719633356836 Centerline is valid? [True, True] Translation: X:125.94, Y:6.69, Z:-0.14 [[ 9.96389546e-01 8.41407625e-02 1.13227756e-02 1.25944147e+02] [-8.41434591e-02 9.96453622e-01 -2.38867402e-04 6.68840810e+00] [-1.13027192e-02 -7.14732520e-04 9.99935867e-01 -1.44488504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.661400513 meters Centerline goodness [0,1] 0.9900391622680061 Centerline is valid? [True, True] Translation: X:125.97, Y:6.69, Z:-0.14 [[ 9.96357036e-01 8.43950386e-02 1.22529454e-02 1.25974982e+02] [-8.43981921e-02 9.96432074e-01 -2.60411753e-04 6.68771398e+00] [-1.22312052e-02 -7.74663357e-04 9.99924896e-01 -1.42207541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.691400513 meters Centerline goodness [0,1] 0.9868698261369199 Centerline is valid? [True, True] Translation: X:126.01, Y:6.69, Z:-0.14 [[ 9.96352129e-01 8.45886953e-02 1.12777789e-02 1.26006770e+02] [-8.45913620e-02 9.96415698e-01 -2.41215129e-04 6.68745180e+00] [-1.12577600e-02 -7.13667473e-04 9.99936375e-01 -1.43199590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.721400513 meters Centerline goodness [0,1] 0.9966213326490463 Centerline is valid? [True, True] Translation: X:126.04, Y:6.68, Z:-0.15 [[ 9.96344843e-01 8.49422273e-02 9.04277506e-03 1.26038825e+02] [-8.49439455e-02 9.96385713e-01 -1.94583003e-04 6.68184801e+00] [-9.02662019e-03 -5.74257220e-04 9.99959094e-01 -1.47177142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.751400513 meters Centerline goodness [0,1] 0.9992949019272681 Centerline is valid? [True, True] Translation: X:126.07, Y:6.67, Z:-0.15 [[ 9.96275843e-01 8.58125493e-02 8.40546785e-03 1.26070728e+02] [-8.58140526e-02 9.96311154e-01 -1.82317267e-04 6.67166544e+00] [-8.39010648e-03 -5.39668971e-04 9.99964657e-01 -1.48771489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.781400513 meters Centerline goodness [0,1] 0.9953351651862739 Centerline is valid? [True, True] Translation: X:126.10, Y:6.68, Z:-0.15 [[ 9.96142362e-01 8.73255222e-02 8.63991334e-03 1.26101326e+02] [-8.73271629e-02 9.96179668e-01 -1.87894189e-04 6.67841629e+00] [-8.62331397e-03 -5.67329759e-04 9.99962658e-01 -1.49724740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.811400513 meters Centerline goodness [0,1] 0.9702498251859386 Centerline is valid? [True, True] Translation: X:126.13, Y:6.68, Z:-0.15 [[ 9.95904665e-01 8.99381621e-02 9.22089372e-03 1.26130719e+02] [-8.99401410e-02 9.95947153e-01 -2.00675847e-04 6.68256311e+00] [-9.20157126e-03 -6.29474470e-04 9.99957467e-01 -1.49574807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.841400513 meters Centerline goodness [0,1] 0.8674611155088681 Centerline is valid? [True, False] Translation: X:126.13, Y:6.69, Z:-0.15 [[ 9.95809569e-01 9.09314809e-02 9.73484201e-03 1.26129080e+02] [-9.09306109e-02 9.95857088e-01 -5.32858609e-04 6.68648195e+00] [-9.74296504e-03 -3.54569428e-04 9.99952473e-01 -1.49498206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.871400513 meters Centerline goodness [0,1] 0.8612788028228893 Centerline is valid? [False, False] Translation: X:126.13, Y:6.69, Z:-0.15 [[ 9.95822809e-01 9.08015926e-02 9.59181663e-03 1.26129928e+02] [-9.07920299e-02 9.95868850e-01 -1.42864674e-03 6.69095579e+00] [-9.68191480e-03 5.51818504e-04 9.99952977e-01 -1.50155570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.901400513 meters Centerline goodness [0,1] 0.5967913528235245 Centerline is valid? [False, False] Translation: X:126.13, Y:6.70, Z:-0.15 [[ 9.95846891e-01 9.05572415e-02 9.39978357e-03 1.26131087e+02] [-9.05393467e-02 9.95890193e-01 -2.31301915e-03 6.69513915e+00] [-9.57061291e-03 1.45236267e-03 9.99953146e-01 -1.51138208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.93140051299997 meters Centerline goodness [0,1] 0.4563883363663295 Centerline is valid? [False, False] Translation: X:126.13, Y:6.70, Z:-0.15 [[ 9.95863680e-01 9.03908633e-02 9.22074815e-03 1.26132121e+02] [-9.03672611e-02 9.95904152e-01 -2.94583758e-03 6.69813771e+00] [-9.44925817e-03 2.10039889e-03 9.99953149e-01 -1.51996773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.96140051299997 meters Centerline goodness [0,1] 0.5337648142988791 Centerline is valid? [False, False] Translation: X:126.13, Y:6.70, Z:-0.15 [[ 9.95862810e-01 9.03777903e-02 9.44024594e-03 1.26131223e+02] [-9.03521487e-02 9.95905027e-01 -3.10912421e-03 6.69897045e+00] [-9.68258416e-03 2.24331467e-03 9.99950606e-01 -1.51629347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.99140051299997 meters Centerline goodness [0,1] 0.604145558932793 Centerline is valid? [False, False] Translation: X:126.15, Y:6.69, Z:-0.15 [[ 9.95957295e-01 8.90522006e-02 1.17801584e-02 1.26149919e+02] [-8.91402462e-02 9.95993263e-01 7.17194275e-03 6.69128360e+00] [-1.10942811e-02 -8.19303493e-03 9.99904891e-01 -1.49985060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.02140051299997 meters Centerline goodness [0,1] 0.7509004248711368 Centerline is valid? [False, False] Translation: X:126.08, Y:6.69, Z:-0.15 [[ 9.96375003e-01 8.41903679e-02 1.21998256e-02 1.26084736e+02] [-8.43701170e-02 9.96320751e-01 1.50547246e-02 6.68703315e+00] [-1.08874766e-02 -1.60294520e-02 9.99812242e-01 -1.47892160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.05140051299998 meters Centerline goodness [0,1] 0.9412430585219992 Centerline is valid? [False, False] Translation: X:126.09, Y:6.70, Z:-0.15 [[ 9.97084593e-01 7.54555179e-02 1.13481061e-02 1.26085928e+02] [-7.55082441e-02 9.97135944e-01 4.29126908e-03 6.69814303e+00] [-1.09918046e-02 -5.13563385e-03 9.99926400e-01 -1.49175187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.08140051299998 meters Centerline goodness [0,1] 0.7216020035656677 Centerline is valid? [False, False] Translation: X:126.09, Y:6.70, Z:-0.15 [[ 9.97423361e-01 7.08536211e-02 1.12429656e-02 1.26085561e+02] [-7.08421637e-02 9.97486535e-01 -1.41457031e-03 6.70493987e+00] [-1.13149342e-02 6.14449464e-04 9.99935795e-01 -1.49639922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.11140051299998 meters Centerline goodness [0,1] 0.7933368700265252 Centerline is valid? [False, False] Translation: X:126.08, Y:6.71, Z:-0.15 [[ 9.97731370e-01 6.63592497e-02 1.13385688e-02 1.26084479e+02] [-6.62811115e-02 9.97775486e-01 -7.13392159e-03 6.71198639e+00] [-1.17867477e-02 6.36620442e-03 9.99910268e-01 -1.49823035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.14140051299998 meters Centerline goodness [0,1] 0.7718605485989399 Centerline is valid? [False, False] Translation: X:126.08, Y:6.70, Z:-0.15 [[ 9.97939656e-01 6.32083643e-02 1.10066219e-02 1.26082965e+02] [-6.33322685e-02 9.97928546e-01 1.12978514e-02 6.69852965e+00] [-1.02697035e-02 -1.19716483e-02 9.99875599e-01 -1.47798230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.17140051299998 meters Centerline goodness [0,1] 0.9817991497724894 Centerline is valid? [False, True] Translation: X:126.08, Y:6.71, Z:-0.15 [[ 9.98222471e-01 5.85948278e-02 1.08878221e-02 1.26082810e+02] [-5.86584092e-02 9.98262323e-01 5.61483042e-03 6.70513639e+00] [-1.05399026e-02 -6.24351222e-03 9.99924962e-01 -1.48353718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.20140051299998 meters Centerline goodness [0,1] 0.9239883416406184 Centerline is valid? [True, False] Translation: X:126.08, Y:6.71, Z:-0.15 [[ 9.98482968e-01 5.40378789e-02 1.05674250e-02 1.26083297e+02] [-5.40457331e-02 9.98538356e-01 4.58883049e-04 6.70910017e+00] [-1.05271821e-02 -1.02931114e-03 9.99944058e-01 -1.48796570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.23140051299998 meters Centerline goodness [0,1] 0.9984427045031795 Centerline is valid? [False, True] Translation: X:126.02, Y:6.70, Z:-0.15 [[ 9.98714539e-01 4.94762722e-02 1.10167099e-02 1.26018139e+02] [-4.95722648e-02 9.98733361e-01 8.61762942e-03 6.70222841e+00] [-1.05763875e-02 -9.15267505e-03 9.99902179e-01 -1.46949763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.26140051299998 meters Centerline goodness [0,1] 0.9522571645954857 Centerline is valid? [True, True] Translation: X:126.05, Y:6.72, Z:-0.15 [[ 9.98749168e-01 4.83892067e-02 1.25930009e-02 1.26048776e+02] [-4.83963955e-02 9.98828172e-01 2.66564587e-04 6.71865510e+00] [-1.25653453e-02 -8.75687014e-04 9.99920669e-01 -1.46299324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.29140051299999 meters Centerline goodness [0,1] 0.9927659574468085 Centerline is valid? [True, True] Translation: X:126.08, Y:6.71, Z:-0.14 [[ 9.98767795e-01 4.75236919e-02 1.42965493e-02 1.26080114e+02] [-4.75328638e-02 9.98869629e-01 3.02244901e-04 6.71010090e+00] [-1.42660251e-02 -9.81428405e-04 9.99897753e-01 -1.44393358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.321400513 meters Centerline goodness [0,1] 0.9436541737649063 Centerline is valid? [True, False] Translation: X:126.08, Y:6.71, Z:-0.14 [[ 9.98950066e-01 4.33815933e-02 1.47242322e-02 1.26078133e+02] [-4.33138047e-02 9.99049539e-01 -4.89212116e-03 6.71490383e+00] [-1.49224654e-02 4.24922224e-03 9.99879625e-01 -1.44331122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.351400513 meters Centerline goodness [0,1] 0.9458203348825365 Centerline is valid? [False, False] Translation: X:126.08, Y:6.71, Z:-0.14 [[ 9.98942945e-01 4.35209798e-02 1.47958644e-02 1.26077703e+02] [-4.34569007e-02 9.99044596e-01 -4.62530005e-03 6.71370966e+00] [-1.49830259e-02 3.97742844e-03 9.99879837e-01 -1.43960507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.381400513 meters Centerline goodness [0,1] 0.9073096252942299 Centerline is valid? [False, False] Translation: X:126.08, Y:6.71, Z:-0.14 [[ 9.98934127e-01 4.37390210e-02 1.47481450e-02 1.26078206e+02] [-4.36806193e-02 9.99036467e-01 -4.25923194e-03 6.71199500e+00] [-1.49202293e-02 3.61048404e-03 9.99882169e-01 -1.44705507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.411400513 meters Centerline goodness [0,1] 0.8217072244949601 Centerline is valid? [False, False] Translation: X:126.08, Y:6.71, Z:-0.15 [[ 9.98932940e-01 4.37883559e-02 1.46820293e-02 1.26078666e+02] [-4.37309775e-02 9.99034486e-01 -4.20676099e-03 6.71172833e+00] [-1.48520608e-02 3.56021263e-03 9.99883364e-01 -1.45213150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.441400513 meters Centerline goodness [0,1] 0.8083067771404291 Centerline is valid? [False, False] Translation: X:126.08, Y:6.71, Z:-0.15 [[ 9.98922781e-01 4.40303599e-02 1.46493843e-02 1.26079043e+02] [-4.39802190e-02 9.99025448e-01 -3.72761903e-03 6.70946948e+00] [-1.47992361e-02 3.07932044e-03 9.99885744e-01 -1.45834357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.471400513 meters Centerline goodness [0,1] 0.8576186334613182 Centerline is valid? [False, False] Translation: X:126.08, Y:6.71, Z:-0.15 [[ 9.98912356e-01 4.42729647e-02 1.46291006e-02 1.26079167e+02] [-4.42309980e-02 9.99016269e-01 -3.18007576e-03 6.70689096e+00] [-1.47555009e-02 2.52955725e-03 9.99887932e-01 -1.46003836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.501400513 meters Centerline goodness [0,1] 0.9246568098652622 Centerline is valid? [False, False] Translation: X:126.08, Y:6.70, Z:-0.15 [[ 9.98900701e-01 4.45561274e-02 1.45650714e-02 1.26079526e+02] [-4.45238887e-02 9.99005115e-01 -2.53040686e-03 6.70380744e+00] [-1.46633260e-02 1.87913157e-03 9.99890722e-01 -1.46365805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.531400513 meters Centerline goodness [0,1] 0.7784461685620151 Centerline is valid? [False, False] Translation: X:126.08, Y:6.70, Z:-0.15 [[ 9.98890024e-01 4.47999222e-02 1.45494598e-02 1.26079744e+02] [-4.47761603e-02 9.98995132e-01 -1.95500663e-03 6.70108058e+00] [-1.46224237e-02 1.30136767e-03 9.99892240e-01 -1.46774088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.561400513 meters Centerline goodness [0,1] 0.9382479451471403 Centerline is valid? [False, False] Translation: X:126.08, Y:6.70, Z:-0.15 [[ 9.98871858e-01 4.51784597e-02 1.46259719e-02 1.26079085e+02] [-4.51687564e-02 9.98978877e-01 -9.93259676e-04 6.69660230e+00] [-1.46559109e-02 3.31502178e-04 9.99892541e-01 -1.46014008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.591400513 meters Centerline goodness [0,1] 0.7112840797924376 Centerline is valid? [False, False] Translation: X:126.08, Y:6.69, Z:-0.15 [[ 9.98861436e-01 4.54022242e-02 1.46447935e-02 1.26078745e+02] [-4.54002900e-02 9.98968767e-01 -4.64670937e-04 6.69417646e+00] [-1.46507884e-02 -2.00735993e-04 9.99892651e-01 -1.45483083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.621400513 meters Centerline goodness [0,1] 0.9011493761750128 Centerline is valid? [False, False] Translation: X:126.08, Y:6.69, Z:-0.15 [[ 9.98852900e-01 4.56118634e-02 1.45753822e-02 1.26078930e+02] [-4.56172134e-02 9.98958992e-01 3.46314808e-05 6.69183821e+00] [-1.45586295e-02 -6.99480074e-04 9.99893773e-01 -1.45429922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.651400513 meters Centerline goodness [0,1] 0.7717125284641086 Centerline is valid? [False, False] Translation: X:126.08, Y:6.70, Z:-0.15 [[ 9.99023013e-01 4.17731703e-02 1.44229624e-02 1.26079361e+02] [-4.17036181e-02 9.99117060e-01 -5.08999986e-03 6.69676474e+00] [-1.46228532e-02 4.48353728e-03 9.99883028e-01 -1.46711187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.68140051299997 meters Centerline goodness [0,1] 0.6878440612616472 Centerline is valid? [False, False] Translation: X:126.08, Y:6.70, Z:-0.15 [[ 9.99024676e-01 4.17920472e-02 1.42520976e-02 1.26080490e+02] [-4.17234764e-02 9.99116306e-01 -5.07527765e-03 6.69660728e+00] [-1.44516093e-02 4.47568056e-03 9.99885553e-01 -1.47892010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.71140051299997 meters Centerline goodness [0,1] 0.7050268528464017 Centerline is valid? [False, False] Translation: X:126.08, Y:6.70, Z:-0.15 [[ 9.99027600e-01 4.17726476e-02 1.41032186e-02 1.26081502e+02] [-4.17033540e-02 9.99116649e-01 -5.17229330e-03 6.69698308e+00] [-1.43068208e-02 4.57911224e-03 9.99887167e-01 -1.49015691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.74140051299997 meters Centerline goodness [0,1] 0.6169281515625661 Centerline is valid? [False, False] Translation: X:126.08, Y:6.69, Z:-0.15 [[ 9.98817663e-01 4.65361122e-02 1.40594145e-02 1.26081922e+02] [-4.65493502e-02 9.98915802e-01 6.15628337e-04 6.69004755e+00] [-1.40155223e-02 -1.26935706e-03 9.99900972e-01 -1.48481181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.77140051299997 meters Centerline goodness [0,1] 0.7431861557266314 Centerline is valid? [False, False] Translation: X:126.05, Y:6.68, Z:-0.14 [[ 9.98845899e-01 4.71457176e-02 9.17339937e-03 1.26054944e+02] [-4.72607596e-02 9.98801128e-01 1.27564517e-02 6.67744572e+00] [-8.56098956e-03 -1.31752713e-02 9.99876553e-01 -1.38490646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.80140051299998 meters Centerline goodness [0,1] 0.7431861557266314 Centerline is valid? [False, False] Translation: X:126.05, Y:6.68, Z:-0.14 [[ 9.99033498e-01 4.29401323e-02 9.39232551e-03 1.26053902e+02] [-4.30098771e-02 9.99047580e-01 7.35415851e-03 6.68330219e+00] [-9.06759153e-03 -7.75101346e-03 9.99928848e-01 -1.39113012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.83140051299998 meters Centerline goodness [0,1] 0.39225910381957696 Centerline is valid? [False, False] Translation: X:126.05, Y:6.69, Z:-0.14 [[ 9.99184208e-01 3.92245197e-02 9.61021886e-03 1.26052697e+02] [-3.92471109e-02 9.99227172e-01 2.17347649e-03 6.68899245e+00] [-9.51753823e-03 -2.54887671e-03 9.99951459e-01 -1.39520866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.86140051299998 meters Centerline goodness [0,1] 0.34965301286391337 Centerline is valid? [False, False] Translation: X:126.05, Y:6.70, Z:-0.14 [[ 9.99322574e-01 3.54534466e-02 9.87151560e-03 1.26051485e+02] [-3.54237273e-02 9.99367357e-01 -3.16941344e-03 6.69545723e+00] [-9.97763708e-03 2.81758052e-03 9.99946253e-01 -1.40051884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.89140051299998 meters Centerline goodness [0,1] 0.41481872952119225 Centerline is valid? [False, False] Translation: X:126.05, Y:6.70, Z:-0.14 [[ 9.99324122e-01 3.53475360e-02 1.00921108e-02 1.26050814e+02] [-3.53126364e-02 9.99369774e-01 -3.61566347e-03 6.69765083e+00] [-1.02135553e-02 3.25684068e-03 9.99942536e-01 -1.40215044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.92140051299998 meters Centerline goodness [0,1] 0.5261720333738771 Centerline is valid? [False, False] Translation: X:126.05, Y:6.70, Z:-0.14 [[ 9.99325127e-01 3.53082266e-02 1.01300898e-02 1.26050689e+02] [-3.52722237e-02 9.99370851e-01 -3.71102587e-03 6.69809482e+00] [-1.02547462e-02 3.35121061e-03 9.99941803e-01 -1.40228330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.95140051299998 meters Centerline goodness [0,1] 0.39991472124506977 Centerline is valid? [False, False] Translation: X:126.05, Y:6.70, Z:-0.14 [[ 9.99324244e-01 3.53252503e-02 1.01578376e-02 1.26050397e+02] [-3.52896807e-02 9.99370424e-01 -3.65991603e-03 6.69789166e+00] [-1.02807299e-02 3.29897597e-03 9.99941710e-01 -1.39852805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.98140051299998 meters Centerline goodness [0,1] 0.3521171533929556 Centerline is valid? [False, False] Translation: X:126.05, Y:6.68, Z:-0.14 [[ 9.99436133e-01 3.17022912e-02 1.10626165e-02 1.26050183e+02] [-3.18598760e-02 9.99389013e-01 1.43718029e-02 6.68401541e+00] [-1.06002383e-02 -1.47161527e-02 9.99835521e-01 -1.39424277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.01140051299998 meters Centerline goodness [0,1] 0.4841330448432396 Centerline is valid? [False, False] Translation: X:126.05, Y:6.69, Z:-0.14 [[ 9.99645797e-01 2.41308400e-02 1.12242093e-02 1.26048737e+02] [-2.41833250e-02 9.99697122e-01 4.56405532e-03 6.69342907e+00] [-1.11106753e-02 -4.83387742e-03 9.99926591e-01 -1.39829447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.04140051299999 meters Centerline goodness [0,1] 0.5799048953424193 Centerline is valid? [False, False] Translation: X:126.05, Y:6.69, Z:-0.14 [[ 9.99743600e-01 1.97053158e-02 1.11550548e-02 1.26048798e+02] [-1.97054253e-02 9.99805824e-01 -1.00100962e-04 6.69495561e+00] [-1.11548613e-02 -1.19739804e-04 9.99937775e-01 -1.40116623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.071400513 meters Centerline goodness [0,1] 0.7001677531692608 Centerline is valid? [False, False] Translation: X:126.05, Y:6.69, Z:-0.14 [[ 9.99743523e-01 1.98093060e-02 1.09762780e-02 1.26049498e+02] [-1.98134320e-02 9.99803659e-01 2.67281847e-04 6.69314378e+00] [-1.09688282e-02 -4.84691032e-04 9.99939723e-01 -1.40337658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.101400513 meters Centerline goodness [0,1] 0.6775810580204777 Centerline is valid? [False, False] Translation: X:126.05, Y:6.69, Z:-0.14 [[ 9.99742404e-01 1.99127503e-02 1.08907654e-02 1.26049824e+02] [-1.99203824e-02 9.99801394e-01 5.92745232e-04 6.69156740e+00] [-1.08767992e-02 -8.09540754e-04 9.99940518e-01 -1.40423889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.131400513 meters Centerline goodness [0,1] 0.6127183579903637 Centerline is valid? [False, False] Translation: X:126.05, Y:6.70, Z:-0.14 [[ 9.99820246e-01 1.54372459e-02 1.10076006e-02 1.26049297e+02] [-1.53861842e-02 9.99870539e-01 -4.70846517e-03 6.69636845e+00] [-1.10788613e-02 4.53825383e-03 9.99928329e-01 -1.40719526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.161400513 meters Centerline goodness [0,1] 0.6305909863945578 Centerline is valid? [False, False] Translation: X:126.05, Y:6.69, Z:-0.14 [[ 9.99811587e-01 1.58874096e-02 1.11526410e-02 1.26048277e+02] [-1.58507954e-02 9.99868710e-01 -3.36376384e-03 6.69005180e+00] [-1.12046183e-02 3.18635183e-03 9.99932150e-01 -1.39566524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.191400513 meters Centerline goodness [0,1] 0.8582881999232377 Centerline is valid? [False, False] Translation: X:126.05, Y:6.69, Z:-0.14 [[ 9.99809144e-01 1.60740071e-02 1.11041073e-02 1.26048341e+02] [-1.60426828e-02 9.99867090e-01 -2.90430806e-03 6.68791562e+00] [-1.11493153e-02 2.72561408e-03 9.99934130e-01 -1.39383737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.221400513 meters Centerline goodness [0,1] 0.6844595593671448 Centerline is valid? [False, False] Translation: X:126.05, Y:6.69, Z:-0.14 [[ 9.99809518e-01 1.61569615e-02 1.09490265e-02 1.26049031e+02] [-1.61286104e-02 9.99866353e-01 -2.67274987e-03 6.68674894e+00] [-1.09907467e-02 2.49564817e-03 9.99936486e-01 -1.39750881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.251400513 meters Centerline goodness [0,1] 0.5385412919743552 Centerline is valid? [False, False] Translation: X:126.05, Y:6.69, Z:-0.14 [[ 9.99810184e-01 1.62277678e-02 1.07821503e-02 1.26049864e+02] [-1.62018022e-02 9.99865639e-01 -2.49120303e-03 6.68583417e+00] [-1.08211283e-02 2.31603989e-03 9.99938768e-01 -1.40303779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.281400513 meters Centerline goodness [0,1] 0.750253121835977 Centerline is valid? [False, False] Translation: X:126.05, Y:6.68, Z:-0.14 [[ 9.99809603e-01 1.63582480e-02 1.06379030e-02 1.26050528e+02] [-1.63359351e-02 9.99864181e-01 -2.18101871e-03 6.68431081e+00] [-1.06721358e-02 2.00682336e-03 9.99941037e-01 -1.40663795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.311400513 meters Centerline goodness [0,1] 0.9196606039881169 Centerline is valid? [False, False] Translation: X:126.02, Y:6.67, Z:-0.13 [[ 9.99848653e-01 1.67133253e-02 4.83066371e-03 1.26024577e+02] [-1.67576055e-02 9.99816551e-01 9.27615822e-03 6.66742456e+00] [-4.67474208e-03 -9.35570466e-03 9.99945307e-01 -1.31389301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.341400513 meters Centerline goodness [0,1] 0.6690429852766966 Centerline is valid? [False, False] Translation: X:126.02, Y:6.67, Z:-0.13 [[ 9.99908963e-01 1.25211701e-02 5.02849195e-03 1.26023903e+02] [-1.25422299e-02 9.99912612e-01 4.17864247e-03 6.67164506e+00] [-4.97573103e-03 -4.24133056e-03 9.99978626e-01 -1.31945133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.371400513 meters Centerline goodness [0,1] 0.8101343749336617 Centerline is valid? [False, False] Translation: X:126.02, Y:6.68, Z:-0.13 [[ 9.99950774e-01 8.29356583e-03 5.44665033e-03 1.26022597e+02] [-8.28815151e-03 9.99965137e-01 -1.01588448e-03 6.67629512e+00] [-5.45488575e-03 9.70691807e-04 9.99984651e-01 -1.32477540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.401400513 meters Centerline goodness [0,1] 0.8562588024412103 Centerline is valid? [False, False] Translation: X:126.02, Y:6.67, Z:-0.13 [[ 9.99948928e-01 8.46908493e-03 5.51506117e-03 1.26022152e+02] [-8.46571157e-03 9.99963964e-01 -6.34720005e-04 6.67456724e+00] [-5.52023792e-03 5.87998672e-04 9.99984590e-01 -1.32035481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.43140051299997 meters Centerline goodness [0,1] 0.7481657912085575 Centerline is valid? [False, False] Translation: X:126.02, Y:6.67, Z:-0.13 [[ 9.99944195e-01 8.91871706e-03 5.66245554e-03 1.26021292e+02] [-8.92084782e-03 9.99960147e-01 3.51150181e-04 6.67002136e+00] [-5.65909807e-03 -4.01644489e-04 9.99983907e-01 -1.31307880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.46140051299997 meters Centerline goodness [0,1] 0.4881842783779753 Centerline is valid? [False, False] Translation: X:126.02, Y:6.67, Z:-0.13 [[ 9.99969281e-01 4.93645267e-03 6.08837643e-03 1.26020131e+02] [-4.90756138e-03 9.99976671e-01 -4.75116527e-03 6.67469940e+00] [-6.11168830e-03 4.72114024e-03 9.99970179e-01 -1.32203573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.49140051299997 meters Centerline goodness [0,1] 0.7227163003430314 Centerline is valid? [False, False] Translation: X:126.02, Y:6.67, Z:-0.13 [[ 9.99969367e-01 4.96694228e-03 6.04935481e-03 1.26020544e+02] [-4.93849411e-03 9.99976720e-01 -4.70857179e-03 6.67445979e+00] [-6.07260119e-03 4.67855285e-03 9.99970617e-01 -1.32783619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.52140051299997 meters Centerline goodness [0,1] 0.8281240080414771 Centerline is valid? [False, False] Translation: X:126.02, Y:6.67, Z:-0.13 [[ 9.99969321e-01 4.98255670e-03 6.04407525e-03 1.26020625e+02] [-4.95425256e-03 9.99976734e-01 -4.68892358e-03 6.67437679e+00] [-6.06729746e-03 4.65883586e-03 9.99970741e-01 -1.32927517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.55140051299998 meters Centerline goodness [0,1] 0.6279637970595734 Centerline is valid? [False, False] Translation: X:126.02, Y:6.67, Z:-0.13 [[ 9.99966268e-01 5.36341988e-03 6.22059802e-03 1.26019492e+02] [-5.33917076e-03 9.99978109e-01 -3.90827513e-03 6.67088390e+00] [-6.24142357e-03 3.87493047e-03 9.99973014e-01 -1.31844580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.58140051299998 meters Centerline goodness [0,1] 0.498775854791051 Centerline is valid? [False, False] Translation: X:126.02, Y:6.67, Z:-0.13 [[ 9.99964329e-01 5.63588578e-03 6.29110990e-03 1.26018923e+02] [-5.61517252e-03 9.99978772e-01 -3.30528724e-03 6.66811383e+00] [-6.30960457e-03 3.26984367e-03 9.99974748e-01 -1.31214468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.61140051299998 meters Centerline goodness [0,1] 0.6602042326476247 Centerline is valid? [False, False] Translation: X:126.02, Y:6.67, Z:-0.13 [[ 9.99962885e-01 5.84898268e-03 6.32596604e-03 1.26018446e+02] [-5.83118450e-03 9.99978999e-01 -2.82830557e-03 6.66593975e+00] [-6.34237590e-03 2.79131272e-03 9.99975991e-01 -1.30544089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.64140051299998 meters Centerline goodness [0,1] 0.7021922285180705 Centerline is valid? [False, False] Translation: X:126.02, Y:6.66, Z:-0.13 [[ 9.99961733e-01 6.00922184e-03 6.35780998e-03 1.26018234e+02] [-5.99370046e-03 9.99979018e-01 -2.45755238e-03 6.66421899e+00] [-6.37244455e-03 2.41935153e-03 9.99976769e-01 -1.30356596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.67140051299998 meters Centerline goodness [0,1] 0.6838466904847473 Centerline is valid? [False, False] Translation: X:126.02, Y:6.66, Z:-0.13 [[ 9.99962753e-01 6.15334974e-03 6.05219906e-03 1.26019632e+02] [-6.14122970e-03 9.99979104e-01 -2.01913352e-03 6.66199246e+00] [-6.06449703e-03 1.98189037e-03 9.99979647e-01 -1.31095744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.70140051299998 meters Centerline goodness [0,1] 0.7557107000485119 Centerline is valid? [False, False] Translation: X:126.02, Y:6.66, Z:-0.13 [[ 9.99963136e-01 6.22331385e-03 5.91575493e-03 1.26020390e+02] [-6.21267497e-03 9.99979054e-01 -1.81507700e-03 6.66092043e+00] [-5.92692681e-03 1.77825742e-03 9.99980854e-01 -1.31694702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.73140051299998 meters Centerline goodness [0,1] 0.741738851459737 Centerline is valid? [False, False] Translation: X:126.00, Y:6.65, Z:-0.12 [[ 9.99985228e-01 5.42286859e-03 3.69371249e-04 1.25996573e+02] [-5.42596479e-03 9.99945026e-01 8.97243868e-03 6.64902608e+00] [-3.20694587e-04 -8.97431033e-03 9.99959679e-01 -1.23755190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.76140051299998 meters Centerline goodness [0,1] 0.9083800311081754 Centerline is valid? [False, False] Translation: X:126.00, Y:6.65, Z:-0.12 [[ 9.99999429e-01 8.55706417e-04 6.39943309e-04 1.25995955e+02] [-8.57909168e-04 9.99993681e-01 3.44978658e-03 6.65493257e+00] [-6.36987261e-04 -3.45033363e-03 9.99993845e-01 -1.24514338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.79140051299999 meters Centerline goodness [0,1] 0.7885633230300207 Centerline is valid? [False, False] Translation: X:126.00, Y:6.65, Z:-0.12 [[ 9.99999370e-01 9.65766301e-04 5.72235360e-04 1.25996124e+02] [-9.67911070e-04 9.99992464e-01 3.75970738e-03 6.65343400e+00] [-5.68600049e-04 -3.76025888e-03 9.99992769e-01 -1.24409116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.821400513 meters Centerline goodness [0,1] 0.5841176095685241 Centerline is valid? [False, False] Translation: X:125.99, Y:6.65, Z:-0.12 [[ 9.99998268e-01 -1.30888781e-03 1.32299515e-03 1.25990127e+02] [ 1.30681624e-03 9.99997921e-01 1.56547008e-03 6.65240902e+00] [-1.32504143e-03 -1.56373846e-03 9.99997899e-01 -1.20554122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.851400513 meters Centerline goodness [0,1] 0.8919377772118589 Centerline is valid? [False, False] Translation: X:125.99, Y:6.65, Z:-0.12 [[ 9.99998469e-01 -1.24652521e-03 1.22789496e-03 1.25990520e+02] [ 1.24441618e-03 9.99997752e-01 1.71686813e-03 6.65167030e+00] [-1.23003232e-03 -1.71533749e-03 9.99997772e-01 -1.20690929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.881400513 meters Centerline goodness [0,1] 0.8816945762495478 Centerline is valid? [False, False] Translation: X:125.99, Y:6.65, Z:-0.12 [[ 9.99998362e-01 -1.30743911e-03 1.25203215e-03 1.25990378e+02] [ 1.30548091e-03 9.99997926e-01 1.56355517e-03 6.65241091e+00] [-1.25407381e-03 -1.56191810e-03 9.99997994e-01 -1.20570990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.911400513 meters Centerline goodness [0,1] 0.8995074521844816 Centerline is valid? [False, False] Translation: X:125.99, Y:6.65, Z:-0.12 [[ 9.99997793e-01 -1.32960233e-03 1.62687097e-03 1.25988530e+02] [ 1.32743624e-03 9.99998232e-01 1.33179721e-03 6.65375795e+00] [-1.62863886e-03 -1.32963470e-03 9.99997790e-01 -1.19352039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.941400513 meters Centerline goodness [0,1] 0.7773077826913628 Centerline is valid? [False, False] Translation: X:125.99, Y:6.65, Z:-0.12 [[ 9.99997625e-01 -1.35845228e-03 1.70427120e-03 1.25988182e+02] [ 1.35636618e-03 9.99998330e-01 1.22460555e-03 6.65430784e+00] [-1.70593193e-03 -1.22229103e-03 9.99997798e-01 -1.19181248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.971400513 meters Centerline goodness [0,1] 0.7615340192073236 Centerline is valid? [False, False] Translation: X:125.99, Y:6.66, Z:-0.12 [[ 9.99997653e-01 -1.43740113e-03 1.62082259e-03 1.25988718e+02] [ 1.43583340e-03 9.99998501e-01 9.67993178e-04 6.65548418e+00] [-1.62221156e-03 -9.65663675e-04 9.99998218e-01 -1.19744613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.001400513 meters Centerline goodness [0,1] 0.5994107422951376 Centerline is valid? [False, False] Translation: X:125.99, Y:6.66, Z:-0.12 [[ 9.99997625e-01 -1.57552558e-03 1.50601933e-03 1.25989646e+02] [ 1.57475164e-03 9.99998627e-01 5.14941337e-04 6.65757795e+00] [-1.50682857e-03 -5.12568508e-04 9.99998733e-01 -1.20892045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.031400513 meters Centerline goodness [0,1] 0.4087332892688855 Centerline is valid? [False, False] Translation: X:125.98, Y:6.66, Z:-0.12 [[ 9.99997898e-01 3.05522996e-04 2.02727172e-03 1.25984800e+02] [-3.09653017e-04 9.99997877e-01 2.03722999e-03 6.66012830e+00] [-2.02664500e-03 -2.03785346e-03 9.99995870e-01 -1.18004727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.061400513 meters Centerline goodness [0,1] 0.47516601956166593 Centerline is valid? [False, False] Translation: X:125.98, Y:6.66, Z:-0.12 [[ 9.99997757e-01 5.62416521e-05 2.11726786e-03 1.25984639e+02] [-5.89893202e-05 9.99999156e-01 1.29770224e-03 6.66367791e+00] [-2.11719309e-03 -1.29782423e-03 9.99996917e-01 -1.18361294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.091400513 meters Centerline goodness [0,1] 0.5228261797081662 Centerline is valid? [False, False] Translation: X:125.98, Y:6.67, Z:-0.12 [[ 9.99997449e-01 -1.42226022e-04 2.25445954e-03 1.25984168e+02] [ 1.40605928e-04 9.99999732e-01 7.18759338e-04 6.66647449e+00] [-2.25456116e-03 -7.18440514e-04 9.99997200e-01 -1.18356040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.121400513 meters Centerline goodness [0,1] 0.4372313620868534 Centerline is valid? [False, False] Translation: X:125.99, Y:6.67, Z:-0.12 [[ 9.99996542e-01 2.22707586e-03 1.39833250e-03 1.25990514e+02] [-2.23138020e-03 9.99992754e-01 3.08421664e-03 6.66618342e+00] [-1.39145358e-03 -3.08732619e-03 9.99994266e-01 -1.22153593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.151400513 meters Centerline goodness [0,1] 0.42065695613173293 Centerline is valid? [False, False] Translation: X:125.99, Y:6.67, Z:-0.12 [[ 9.99996790e-01 1.99247524e-03 1.56506101e-03 1.25989871e+02] [-1.99634694e-03 9.99994942e-01 2.47617797e-03 6.66910938e+00] [-1.56011937e-03 -2.47929443e-03 9.99995710e-01 -1.22004376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.18140051299997 meters Centerline goodness [0,1] 0.38383261403063385 Centerline is valid? [False, False] Translation: X:126.00, Y:6.67, Z:-0.13 [[ 9.99990309e-01 4.33412085e-03 7.72841188e-04 1.25995903e+02] [-4.33788108e-03 9.99978429e-01 4.93204081e-03 6.66959301e+00] [-7.51448456e-04 -4.93534551e-03 9.99987539e-01 -1.25638509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.21140051299997 meters Centerline goodness [0,1] 0.4245993641038772 Centerline is valid? [False, False] Translation: X:126.00, Y:6.68, Z:-0.13 [[ 9.99992558e-01 3.76322487e-03 8.49904412e-04 1.25995927e+02] [-3.76628002e-03 9.99986347e-01 3.62217481e-03 6.67565746e+00] [-8.36261751e-04 -3.62534883e-03 9.99993079e-01 -1.26310078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.24140051299997 meters Centerline goodness [0,1] 0.37933810754693 Centerline is valid? [False, False] Translation: X:126.00, Y:6.68, Z:-0.13 [[ 9.99993400e-01 3.54827514e-03 7.81308636e-04 1.25996377e+02] [-3.55074763e-03 9.99988620e-01 3.18623814e-03 6.67764002e+00] [-7.69994095e-04 -3.18899134e-03 9.99994619e-01 -1.26774147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.27140051299997 meters Centerline goodness [0,1] 0.6570018242300676 Centerline is valid? [False, False] Translation: X:125.96, Y:6.68, Z:-0.13 [[ 9.99996553e-01 1.18167768e-03 -2.34455067e-03 1.25956078e+02] [-1.17749730e-03 9.99997716e-01 1.78360044e-03 6.67826067e+00] [ 2.34665296e-03 -1.78083359e-03 9.99995661e-01 -1.27140478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.30140051299998 meters Centerline goodness [0,1] 0.7021140431341596 Centerline is valid? [False, False] Translation: X:125.96, Y:6.68, Z:-0.13 [[ 9.99993742e-01 -9.13389812e-04 -3.41796796e-03 1.25961324e+02] [ 9.11950894e-04 9.99999495e-01 -4.22521300e-04 6.68388028e+00] [ 3.41835216e-03 4.19401636e-04 9.99994069e-01 -1.28960004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.33140051299998 meters Centerline goodness [0,1] 0.5362331152833234 Centerline is valid? [False, False] Translation: X:125.96, Y:6.68, Z:-0.13 [[ 9.99992741e-01 -9.83597314e-04 -3.68113606e-03 1.25961869e+02] [ 9.83191979e-04 9.99999510e-01 -1.11919253e-04 6.68220032e+00] [ 3.68124434e-03 1.08299177e-04 9.99993218e-01 -1.28318956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.36140051299998 meters Centerline goodness [0,1] 0.8710980458506048 Centerline is valid? [False, False] Translation: X:125.96, Y:6.68, Z:-0.13 [[ 9.99990932e-01 -1.09330533e-03 -4.11579918e-03 1.25963019e+02] [ 1.09478962e-03 9.99999336e-01 3.58396595e-04 6.67953394e+00] [ 4.11540461e-03 -3.62899280e-04 9.99991466e-01 -1.27738384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.39140051299998 meters Centerline goodness [0,1] 0.8953846153846154 Centerline is valid? [False, False] Translation: X:125.96, Y:6.68, Z:-0.13 [[ 9.99989558e-01 -1.15885054e-03 -4.42052230e-03 1.25963971e+02] [ 1.16265392e-03 9.99998956e-01 8.57918614e-04 6.67681289e+00] [ 4.41952348e-03 -8.63049193e-04 9.99989861e-01 -1.27575774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.42140051299998 meters Centerline goodness [0,1] 0.9958083201685097 Centerline is valid? [False, True] Translation: X:125.96, Y:6.68, Z:-0.13 [[ 9.99972553e-01 -5.85960061e-03 -4.53421207e-03 1.25964394e+02] [ 5.84125354e-03 9.99974742e-01 -4.04908329e-03 6.67939697e+00] [ 4.55782356e-03 4.02248667e-03 9.99981523e-01 -1.27569775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.45140051299998 meters Centerline goodness [0,1] 0.9967291803835779 Centerline is valid? [True, True] Translation: X:125.99, Y:6.68, Z:-0.13 [[ 9.99956977e-01 -8.53465870e-03 -3.63372595e-03 1.25993674e+02] [ 8.53373380e-03 9.99963551e-01 -2.69961838e-04 6.67785166e+00] [ 3.63589753e-03 2.38940973e-04 9.99993362e-01 -1.25261961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.48140051299998 meters Centerline goodness [0,1] 0.999277011078742 Centerline is valid? [True, True] Translation: X:126.02, Y:6.67, Z:-0.12 [[ 9.99945436e-01 -1.01777515e-02 -2.35337425e-03 1.26024137e+02] [ 1.01773680e-02 9.99948194e-01 -1.74866901e-04 6.67224844e+00] [ 2.35503208e-03 1.50906204e-04 9.99997216e-01 -1.22800017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.51140051299998 meters Centerline goodness [0,1] 0.9990085434025947 Centerline is valid? [True, True] Translation: X:126.05, Y:6.68, Z:-0.12 [[ 9.99940188e-01 -1.08563029e-02 -1.32707306e-03 1.26052345e+02] [ 1.08561813e-02 9.99941065e-01 -9.87995888e-05 6.67594552e+00] [ 1.32806745e-03 8.43867337e-05 9.99999115e-01 -1.21129544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.54140051299999 meters Centerline goodness [0,1] 0.9873436412344169 Centerline is valid? [True, True] Translation: X:126.08, Y:6.69, Z:-0.12 [[ 9.99946032e-01 -1.03361379e-02 -1.04790295e-03 1.26079542e+02] [ 1.03360617e-02 9.99946578e-01 -7.81101610e-05 6.68681596e+00] [ 1.04865433e-03 6.72747559e-05 9.99999448e-01 -1.21004907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.571400513 meters Centerline goodness [0,1] 0.9992312455956779 Centerline is valid? [True, True] Translation: X:126.11, Y:6.68, Z:-0.12 [[ 9.99956438e-01 -9.24925062e-03 -1.25401705e-03 1.26109941e+02] [ 9.24914059e-03 9.99957221e-01 -9.35137076e-05 6.67801698e+00] [ 1.25482834e-03 8.19110540e-05 9.99999209e-01 -1.21354242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.601400513 meters Centerline goodness [0,1] 0.9493521043397383 Centerline is valid? [True, False] Translation: X:126.11, Y:6.68, Z:-0.12 [[ 9.99958492e-01 -9.02198608e-03 -1.27196523e-03 1.26109870e+02] [ 9.02234458e-03 9.99959260e-01 2.76391355e-04 6.67637901e+00] [ 1.26941981e-03 -2.87855991e-04 9.99999153e-01 -1.21145933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.631400513 meters Centerline goodness [0,1] 0.9959690184243294 Centerline is valid? [False, True] Translation: X:126.11, Y:6.67, Z:-0.12 [[ 9.99960212e-01 -8.82635166e-03 -1.29188000e-03 1.26109836e+02] [ 8.82726643e-03 9.99960791e-01 7.04109602e-04 6.67438068e+00] [ 1.28561463e-03 -7.15485357e-04 9.99998918e-01 -1.20960599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.661400513 meters Centerline goodness [0,1] 0.9892225924832329 Centerline is valid? [True, True] Translation: X:126.14, Y:6.68, Z:-0.12 [[ 9.99959321e-01 -8.99922229e-03 -6.08659746e-04 1.26137030e+02] [ 8.99919558e-03 9.99959505e-01 -4.66076516e-05 6.67808105e+00] [ 6.09054531e-04 4.11283075e-05 9.99999814e-01 -1.20557527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.691400513 meters Centerline goodness [0,1] 0.9903180017372514 Centerline is valid? [True, True] Translation: X:126.17, Y:6.68, Z:-0.12 [[ 9.99957173e-01 -9.24713552e-03 3.76597580e-04 1.26165431e+02] [ 9.24712528e-03 9.99957244e-01 2.89377949e-05 6.67851169e+00] [-3.76849070e-04 -2.54541106e-05 9.99999929e-01 -1.19177688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.721400513 meters Centerline goodness [0,1] 0.9903180017372514 Centerline is valid? [True, True] Translation: X:126.19, Y:6.68, Z:-0.12 [[ 9.99956968e-01 -9.26931775e-03 3.76598957e-04 1.26194576e+02] [ 9.26930752e-03 9.99957039e-01 2.89198572e-05 6.68078875e+00] [-3.76850845e-04 -2.54278012e-05 9.99999929e-01 -1.19171926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.751400513 meters Centerline goodness [0,1] 0.9677852348993289 Centerline is valid? [True, True] Translation: X:126.22, Y:6.68, Z:-0.12 [[ 9.99970007e-01 -7.61850533e-03 1.39432218e-03 1.26224397e+02] [ 7.61836340e-03 9.99970974e-01 1.07074513e-04 6.68417450e+00] [-1.39509746e-03 -9.64488487e-05 9.99999022e-01 -1.18177990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.781400513 meters Centerline goodness [0,1] 0.969262077883535 Centerline is valid? [True, True] Translation: X:126.25, Y:6.69, Z:-0.12 [[ 9.99981773e-01 -5.99203082e-03 7.40766843e-04 1.26254988e+02] [ 5.99199032e-03 9.99982046e-01 5.68802015e-05 6.68587088e+00] [-7.41094372e-04 -5.24404970e-05 9.99999724e-01 -1.19034583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.811400513 meters Centerline goodness [0,1] 0.9835810724477192 Centerline is valid? [True, True] Translation: X:126.28, Y:6.69, Z:-0.12 [[ 9.99990671e-01 -4.28791437e-03 -5.21333436e-04 1.26284878e+02] [ 4.28789408e-03 9.99990806e-01 -4.00352514e-05 6.68633569e+00] [ 5.21500311e-04 3.77994554e-05 9.99999863e-01 -1.20541905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.841400513 meters Centerline goodness [0,1] 0.7640862944162436 Centerline is valid? [True, False] Translation: X:126.29, Y:6.68, Z:-0.12 [[ 9.99996294e-01 -2.36213117e-03 -1.35362805e-03 1.26291037e+02] [ 2.36467272e-03 9.99995439e-01 1.87907167e-03 6.68409919e+00] [ 1.34918327e-03 -1.88226559e-03 9.99997318e-01 -1.24531757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.871400513 meters Centerline goodness [0,1] 0.9147541679039579 Centerline is valid? [False, False] Translation: X:126.29, Y:6.69, Z:-0.13 [[ 9.99995964e-01 -2.44235601e-03 -1.45150205e-03 1.26291712e+02] [ 2.44469741e-03 9.99995710e-01 1.61351292e-03 6.68531191e+00] [ 1.44755505e-03 -1.61705489e-03 9.99997645e-01 -1.25250462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.901400513 meters Centerline goodness [0,1] 0.6708678429960389 Centerline is valid? [False, False] Translation: X:126.29, Y:6.69, Z:-0.13 [[ 9.99995624e-01 -2.39252946e-03 -1.73987046e-03 1.26293311e+02] [ 2.39447557e-03 9.99996509e-01 1.11731679e-03 6.68781642e+00] [ 1.73719117e-03 -1.12147798e-03 9.99997862e-01 -1.26743286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.93140051299997 meters Centerline goodness [0,1] 0.8334606083746977 Centerline is valid? [False, False] Translation: X:126.29, Y:6.69, Z:-0.13 [[ 9.99995447e-01 -2.50532205e-03 -1.68184330e-03 1.26293295e+02] [ 2.50667040e-03 9.99996538e-01 8.00081229e-04 6.68932189e+00] [ 1.67983302e-03 -8.04293413e-04 9.99998266e-01 -1.27101437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.96140051299997 meters Centerline goodness [0,1] 0.7198335350446949 Centerline is valid? [False, False] Translation: X:126.29, Y:6.69, Z:-0.13 [[ 9.99995248e-01 -2.62046453e-03 -1.62378264e-03 1.26293064e+02] [ 2.62128850e-03 9.99996437e-01 5.05519315e-04 6.69074894e+00] [ 1.62245215e-03 -5.09773316e-04 9.99998554e-01 -1.27049627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.99140051299997 meters Centerline goodness [0,1] 0.7400280659976186 Centerline is valid? [False, False] Translation: X:126.29, Y:6.69, Z:-0.13 [[ 9.99995170e-01 -2.67859279e-03 -1.57657423e-03 1.26292753e+02] [ 2.67917238e-03 9.99996344e-01 3.65627667e-04 6.69143468e+00] [ 1.57558910e-03 -3.69849815e-04 9.99998690e-01 -1.26790024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.02140051299997 meters Centerline goodness [0,1] 0.6823595167462058 Centerline is valid? [False, False] Translation: X:126.29, Y:6.70, Z:-0.13 [[ 9.99972346e-01 -7.33806009e-03 -1.20796884e-03 1.26291827e+02] [ 7.33144920e-03 9.99958603e-01 -5.38909530e-03 6.69851585e+00] [ 1.24746434e-03 5.38009011e-03 9.99984749e-01 -1.27361977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.05140051299998 meters Centerline goodness [0,1] 0.9030942723044577 Centerline is valid? [False, False] Translation: X:126.33, Y:6.70, Z:-0.13 [[ 9.99976787e-01 -6.58004131e-03 1.76879162e-03 1.26332733e+02] [ 6.59100517e-03 9.99958648e-01 -6.26583553e-03 6.70249706e+00] [-1.72748902e-03 6.27734820e-03 9.99978805e-01 -1.28228983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.08140051299998 meters Centerline goodness [0,1] 0.8164566314145189 Centerline is valid? [False, False] Translation: X:126.33, Y:6.70, Z:-0.13 [[ 9.99995330e-01 -2.81726070e-03 1.18408944e-03 1.26334535e+02] [ 2.81853917e-03 9.99995445e-01 -1.07943467e-03 6.69660443e+00] [-1.18104300e-03 1.08276703e-03 9.99998716e-01 -1.27717897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.11140051299998 meters Centerline goodness [0,1] 0.7884002280260963 Centerline is valid? [False, False] Translation: X:126.33, Y:6.70, Z:-0.13 [[ 9.99995381e-01 -2.80064786e-03 1.18107666e-03 1.26334465e+02] [ 2.80186056e-03 9.99995548e-01 -1.02637366e-03 6.69638089e+00] [-1.17819689e-03 1.02967813e-03 9.99998776e-01 -1.27583078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.14140051299998 meters Centerline goodness [0,1] 0.9025119871006068 Centerline is valid? [False, False] Translation: X:126.33, Y:6.70, Z:-0.13 [[ 9.99995438e-01 -2.78268166e-03 1.17482119e-03 1.26334287e+02] [ 2.78378609e-03 9.99995684e-01 -9.39495709e-04 6.69597695e+00] [-1.17220180e-03 9.42761874e-04 9.99998869e-01 -1.27206073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.17140051299998 meters Centerline goodness [0,1] 0.7624609275998986 Centerline is valid? [False, False] Translation: X:126.33, Y:6.70, Z:-0.13 [[ 9.99994948e-01 -2.97988917e-03 1.10649808e-03 1.26334208e+02] [ 2.98077650e-03 9.99995237e-01 -8.01144675e-04 6.69505211e+00] [-1.10410548e-03 8.04438851e-04 9.99999067e-01 -1.26566190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.20140051299998 meters Centerline goodness [0,1] 0.7698065334601967 Centerline is valid? [False, False] Translation: X:126.33, Y:6.70, Z:-0.13 [[ 9.99994912e-01 -3.00933147e-03 1.05808397e-03 1.26334163e+02] [ 3.01021804e-03 9.99995119e-01 -8.37306739e-04 6.69525192e+00] [-1.05555907e-03 8.40487542e-04 9.99999090e-01 -1.26166672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.23140051299998 meters Centerline goodness [0,1] 0.9491712238755352 Centerline is valid? [False, False] Translation: X:126.33, Y:6.70, Z:-0.13 [[ 9.99994708e-01 -3.07927344e-03 1.05018627e-03 1.26334112e+02] [ 3.08029857e-03 9.99994780e-01 -9.75924448e-04 6.69589980e+00] [-1.04717565e-03 9.79154171e-04 9.99998972e-01 -1.26022104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.26140051299998 meters Centerline goodness [0,1] 0.9981470043236566 Centerline is valid? [False, True] Translation: X:126.33, Y:6.70, Z:-0.13 [[ 9.99994497e-01 -3.17418133e-03 9.65092794e-04 1.26334408e+02] [ 3.17532210e-03 9.99994259e-01 -1.18281209e-03 6.69686308e+00] [-9.61332794e-04 1.18587006e-03 9.99998835e-01 -1.26035535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.29140051299999 meters Centerline goodness [0,1] 0.8041923813577356 Centerline is valid? [True, False] Translation: X:126.34, Y:6.70, Z:-0.13 [[ 9.99993531e-01 -3.50575276e-03 8.04278691e-04 1.26335345e+02] [ 3.50737748e-03 9.99991793e-01 -2.02766440e-03 6.70079286e+00] [-7.97163601e-04 2.03047220e-03 9.99997621e-01 -1.26884921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.321400513 meters Centerline goodness [0,1] 0.9377545824847251 Centerline is valid? [False, False] Translation: X:126.34, Y:6.70, Z:-0.13 [[ 9.99998704e-01 -1.60947800e-03 4.18277349e-05 1.26341374e+02] [ 1.60948681e-03 9.99998682e-01 -2.11393831e-04 6.69996092e+00] [-4.14874461e-05 2.11460878e-04 9.99999977e-01 -1.30893775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.351400513 meters Centerline goodness [0,1] 0.724710310411909 Centerline is valid? [False, False] Translation: X:126.34, Y:6.70, Z:-0.13 [[ 9.99998408e-01 -1.78194944e-03 9.47572690e-05 1.26341122e+02] [ 1.78200932e-03 9.99998210e-01 -6.35573085e-04 6.70199328e+00] [-9.36245403e-05 6.35740932e-04 9.99999794e-01 -1.30797059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.381400513 meters Centerline goodness [0,1] 0.9465485970340339 Centerline is valid? [False, False] Translation: X:126.34, Y:6.70, Z:-0.13 [[ 9.99998249e-01 -1.86072054e-03 1.97624542e-04 1.26340580e+02] [ 1.86088731e-03 9.99997910e-01 -8.47064175e-04 6.70304606e+00] [-1.96047979e-04 8.47430449e-04 9.99999622e-01 -1.30424385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.411400513 meters Centerline goodness [0,1] 0.880803968960692 Centerline is valid? [False, False] Translation: X:126.35, Y:6.70, Z:-0.13 [[ 9.99999643e-01 5.80328169e-04 -6.13579747e-04 1.26346591e+02] [-5.79277793e-04 9.99998369e-01 1.71067650e-03 6.70030978e+00] [ 6.14571500e-04 -1.71032045e-03 9.99998349e-01 -1.33954539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.441400513 meters Centerline goodness [0,1] 0.8508584372419925 Centerline is valid? [False, False] Translation: X:126.35, Y:6.70, Z:-0.13 [[ 9.99999659e-01 4.82532985e-04 -6.70308657e-04 1.26347030e+02] [-4.81549561e-04 9.99998809e-01 1.46650799e-03 6.70141128e+00] [ 6.71015497e-04 -1.46618471e-03 9.99998700e-01 -1.34462362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.471400513 meters Centerline goodness [0,1] 0.8083644384119444 Centerline is valid? [False, False] Translation: X:126.35, Y:6.70, Z:-0.14 [[ 9.99999668e-01 3.27678113e-04 -7.46017016e-04 1.26347679e+02] [-3.26865639e-04 9.99999354e-01 1.08894329e-03 6.70312006e+00] [ 7.46373356e-04 -1.08869908e-03 9.99999129e-01 -1.35261036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.501400513 meters Centerline goodness [0,1] 0.8368922925955159 Centerline is valid? [False, False] Translation: X:126.35, Y:6.70, Z:-0.14 [[ 9.99999703e-01 1.87579921e-04 -7.47499375e-04 1.26347995e+02] [-1.87012529e-04 9.99999694e-01 7.59052005e-04 6.70460991e+00] [ 7.47641530e-04 -7.58911988e-04 9.99999433e-01 -1.35888602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.531400513 meters Centerline goodness [0,1] 0.9431064721735039 Centerline is valid? [False, False] Translation: X:126.35, Y:6.70, Z:-0.14 [[ 9.99999756e-01 1.79782618e-04 -6.75017787e-04 1.26347689e+02] [-1.79299505e-04 9.99999728e-01 7.15695536e-04 6.70485003e+00] [ 6.75146273e-04 -7.15574331e-04 9.99999516e-01 -1.35770412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.561400513 meters Centerline goodness [0,1] 0.5923271590498267 Centerline is valid? [False, False] Translation: X:126.35, Y:6.70, Z:-0.14 [[ 9.99999794e-01 4.72018942e-04 -4.34502579e-04 1.26346525e+02] [-4.71474444e-04 9.99999105e-01 1.25240446e-03 6.70247050e+00] [ 4.35093349e-04 -1.25219935e-03 9.99999121e-01 -1.35033915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.591400513 meters Centerline goodness [0,1] 0.6706711380905888 Centerline is valid? [False, False] Translation: X:126.35, Y:6.70, Z:-0.14 [[ 9.99999775e-01 5.39040981e-04 -3.99212786e-04 1.26346436e+02] [-5.38485435e-04 9.99998888e-01 1.39040599e-03 6.70182945e+00] [ 3.99961828e-04 -1.39019070e-03 9.99998954e-01 -1.35102379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.621400513 meters Centerline goodness [0,1] 0.6818754941978501 Centerline is valid? [False, False] Translation: X:126.35, Y:6.70, Z:-0.14 [[ 9.99999738e-01 5.95339123e-04 -4.10741233e-04 1.26346549e+02] [-5.94717620e-04 9.99998681e-01 1.51159265e-03 6.70125533e+00] [ 4.11640601e-04 -1.51134798e-03 9.99998773e-01 -1.35242006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.651400513 meters Centerline goodness [0,1] 0.6559002510745138 Centerline is valid? [False, False] Translation: X:126.35, Y:6.70, Z:-0.14 [[ 9.99999660e-01 6.82750062e-04 -4.62152253e-04 1.26346791e+02] [-6.81962536e-04 9.99998319e-01 1.70205801e-03 6.70035130e+00] [ 4.63313556e-04 -1.70174226e-03 9.99998445e-01 -1.35380072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.68140051299997 meters Centerline goodness [0,1] 0.6390882948130792 Centerline is valid? [False, False] Translation: X:126.35, Y:6.70, Z:-0.14 [[ 9.99999419e-01 9.36662768e-04 -5.33681260e-04 1.26347200e+02] [-9.35461542e-04 9.99997039e-01 2.24665185e-03 6.69777890e+00] [ 5.35784035e-04 -2.24615130e-03 9.99997334e-01 -1.35670065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.71140051299997 meters Centerline goodness [0,1] 0.6390674552155653 Centerline is valid? [False, False] Translation: X:126.35, Y:6.70, Z:-0.14 [[ 9.99999458e-01 9.20018403e-04 -4.86806421e-04 1.26347204e+02] [-9.18942030e-04 9.99997143e-01 2.20671389e-03 6.69793007e+00] [ 4.88835248e-04 -2.20626535e-03 9.99997447e-01 -1.35969828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.74140051299997 meters Centerline goodness [0,1] 0.5517697228144989 Centerline is valid? [False, False] Translation: X:126.35, Y:6.70, Z:-0.14 [[ 9.99999605e-01 7.81850639e-04 -4.23218169e-04 1.26347200e+02] [-7.81070166e-04 9.99998000e-01 1.84117240e-03 6.69963003e+00] [ 4.24656844e-04 -1.84084111e-03 9.99998215e-01 -1.36405916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.77140051299997 meters Centerline goodness [0,1] 0.8276610051842693 Centerline is valid? [False, False] Translation: X:126.31, Y:6.70, Z:-0.14 [[ 9.99991959e-01 2.18483803e-04 -4.00425015e-03 1.26309705e+02] [-2.07334657e-04 9.99996102e-01 2.78453168e-03 6.69671246e+00] [ 4.00484292e-03 -2.78367907e-03 9.99988106e-01 -1.38796201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.80140051299998 meters Centerline goodness [0,1] 0.7003112873651444 Centerline is valid? [False, False] Translation: X:126.35, Y:6.70, Z:-0.14 [[ 9.99997848e-01 1.96999174e-04 -2.06541153e-03 1.26353541e+02] [-1.97215863e-04 9.99999975e-01 -1.04710087e-04 6.70295455e+00] [ 2.06539085e-03 1.05117193e-04 9.99997862e-01 -1.41905045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.83140051299998 meters Centerline goodness [0,1] 0.5300933786078099 Centerline is valid? [False, False] Translation: X:126.35, Y:6.70, Z:-0.14 [[ 9.99997773e-01 2.51768895e-04 -2.09536181e-03 1.26353735e+02] [-2.51721808e-04 9.99999968e-01 2.27356020e-05 6.70230613e+00] [ 2.09536746e-03 -2.22081031e-05 9.99997804e-01 -1.42093112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.86140051299998 meters Centerline goodness [0,1] 0.6198126693550108 Centerline is valid? [False, False] Translation: X:126.35, Y:6.70, Z:-0.14 [[ 9.99997859e-01 3.19038310e-04 -2.04433943e-03 1.26353364e+02] [-3.18670592e-04 9.99999933e-01 1.80194656e-04 6.70159489e+00] [ 2.04439678e-03 -1.79542800e-04 9.99997894e-01 -1.41726809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.89140051299998 meters Centerline goodness [0,1] 0.556225325805493 Centerline is valid? [False, False] Translation: X:126.35, Y:6.70, Z:-0.14 [[ 9.99998004e-01 2.93715124e-04 -1.97609666e-03 1.26352703e+02] [-2.93256742e-04 9.99999930e-01 2.32249067e-04 6.70138788e+00] [ 1.97616474e-03 -2.31669100e-04 9.99998021e-01 -1.40867198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.92140051299998 meters Centerline goodness [0,1] 0.5436971921140223 Centerline is valid? [False, False] Translation: X:126.35, Y:6.70, Z:-0.14 [[ 9.99997973e-01 2.30157899e-04 -2.00030915e-03 1.26352853e+02] [-2.29960337e-04 9.99999969e-01 9.89949824e-05 6.70198983e+00] [ 2.00033188e-03 -9.85347900e-05 9.99997994e-01 -1.41017001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.95140051299998 meters Centerline goodness [0,1] 0.5128683881097367 Centerline is valid? [False, False] Translation: X:126.35, Y:6.70, Z:-0.14 [[ 9.99997845e-01 9.19070080e-05 -2.07418667e-03 1.26353290e+02] [-9.23052568e-05 9.99999977e-01 -1.91907450e-04 6.70330083e+00] [ 2.07416898e-03 1.92098495e-04 9.99997830e-01 -1.41402005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.98140051299998 meters Centerline goodness [0,1] 0.5080818164440007 Centerline is valid? [False, False] Translation: X:126.35, Y:6.70, Z:-0.14 [[ 9.99997843e-01 -5.17128263e-05 -2.07617067e-03 1.26353293e+02] [ 5.06587573e-05 9.99999870e-01 -5.07748015e-04 6.70477366e+00] [ 2.07619666e-03 5.07641744e-04 9.99997716e-01 -1.41408078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.01140051299998 meters Centerline goodness [0,1] 0.6189114804463314 Centerline is valid? [False, False] Translation: X:126.35, Y:6.71, Z:-0.14 [[ 9.99997906e-01 -1.77239127e-04 -2.03857231e-03 1.26353073e+02] [ 1.75644313e-04 9.99999678e-01 -7.82471812e-04 6.70607728e+00] [ 2.03871034e-03 7.82112110e-04 9.99997616e-01 -1.41253120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.04140051299999 meters Centerline goodness [0,1] 0.6069234354476505 Centerline is valid? [False, False] Translation: X:126.35, Y:6.71, Z:-0.14 [[ 9.99997447e-01 -3.02295571e-04 -2.23953324e-03 1.26353533e+02] [ 3.00434661e-04 9.99999609e-01 -8.31226493e-04 6.70617541e+00] [ 2.23978364e-03 8.30551537e-04 9.99997147e-01 -1.40870063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.071400513 meters Centerline goodness [0,1] 0.7498510638297873 Centerline is valid? [False, False] Translation: X:126.35, Y:6.70, Z:-0.14 [[ 9.99997124e-01 -2.15573229e-04 -2.38875749e-03 1.26353891e+02] [ 2.14316610e-04 9.99999839e-01 -5.26298805e-04 6.70470808e+00] [ 2.38887056e-03 5.25785341e-04 9.99997008e-01 -1.40600160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.101400513 meters Centerline goodness [0,1] 0.9786728335581679 Centerline is valid? [False, True] Translation: X:126.35, Y:6.70, Z:-0.14 [[ 9.99996924e-01 -9.31917502e-05 -2.47837973e-03 1.26353926e+02] [ 9.28691668e-05 9.99999987e-01 -1.30273767e-04 6.70284674e+00] [ 2.47839184e-03 1.30043202e-04 9.99996920e-01 -1.40081210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.131400513 meters Centerline goodness [0,1] 0.9935132828336711 Centerline is valid? [True, True] Translation: X:126.38, Y:6.70, Z:-0.14 [[ 9.99994121e-01 -2.81615796e-03 -1.95618173e-03 1.26384730e+02] [ 2.81586752e-03 9.99996024e-01 -1.51212865e-04 6.70079857e+00] [ 1.95659979e-03 1.45703627e-04 9.99998075e-01 -1.39149744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.161400513 meters Centerline goodness [0,1] 0.9958348385999958 Centerline is valid? [True, True] Translation: X:126.41, Y:6.70, Z:-0.14 [[ 9.99970930e-01 -7.61426759e-03 -4.01646495e-04 1.26414315e+02] [ 7.61425571e-03 9.99971011e-01 -3.11011882e-05 6.70273836e+00] [ 4.01871665e-04 2.80420450e-05 9.99999919e-01 -1.36860715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.191400513 meters Centerline goodness [0,1] 0.9866058224532048 Centerline is valid? [True, True] Translation: X:126.44, Y:6.71, Z:-0.14 [[ 9.99958686e-01 -9.08611650e-03 -2.63586247e-04 1.26443013e+02] [ 9.08611142e-03 9.99958720e-01 -2.04623226e-05 6.70886111e+00] [ 2.63761290e-04 1.80665032e-05 9.99999965e-01 -1.36820120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.221400513 meters Centerline goodness [0,1] 0.987003886092884 Centerline is valid? [True, True] Translation: X:126.47, Y:6.71, Z:-0.14 [[ 9.99952081e-01 -9.77627229e-03 -5.09747648e-04 1.26472300e+02] [ 9.77625342e-03 9.99952211e-01 -3.95095109e-05 6.71095567e+00] [ 5.10109543e-04 3.45241955e-05 9.99999869e-01 -1.37294789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.251400513 meters Centerline goodness [0,1] 0.9886085903130513 Centerline is valid? [True, True] Translation: X:126.50, Y:6.71, Z:-0.14 [[ 9.99952330e-01 -9.70315019e-03 -1.08957785e-03 1.26501481e+02] [ 9.70306391e-03 9.99952921e-01 -8.44397114e-05 6.71214776e+00] [ 1.09034588e-03 7.38634426e-05 9.99999403e-01 -1.38821367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.281400513 meters Centerline goodness [0,1] 0.9610397932374992 Centerline is valid? [True, True] Translation: X:126.53, Y:6.72, Z:-0.14 [[ 9.99957588e-01 -9.09765462e-03 -1.43370121e-03 1.26529723e+02] [ 9.09750451e-03 9.99958611e-01 -1.11182582e-04 6.71908713e+00] [ 1.43465337e-03 9.81347629e-05 9.99998966e-01 -1.40545938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.311400513 meters Centerline goodness [0,1] 0.9918706107682486 Centerline is valid? [True, True] Translation: X:126.56, Y:6.72, Z:-0.14 [[ 9.99966089e-01 -8.16976526e-03 -1.03674221e-03 1.26559486e+02] [ 8.16968624e-03 9.99966624e-01 -8.04352744e-05 6.71512573e+00] [ 1.03736474e-03 7.19626883e-05 9.99999459e-01 -1.40003192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.341400513 meters Centerline goodness [0,1] 0.9978146569444144 Centerline is valid? [True, True] Translation: X:126.59, Y:6.71, Z:-0.14 [[ 9.99979149e-01 -6.42685168e-03 -6.30792266e-04 1.26589966e+02] [ 6.42682210e-03 9.99979347e-01 -4.89162703e-05 6.71238700e+00] [ 6.31093616e-04 4.48612607e-05 9.99999800e-01 -1.39326346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.371400513 meters Centerline goodness [0,1] 0.979703158695928 Centerline is valid? [True, True] Translation: X:126.62, Y:6.72, Z:-0.14 [[ 9.99985269e-01 -5.20287623e-03 -1.54634819e-03 1.26617954e+02] [ 5.20269687e-03 9.99986459e-01 -1.19990000e-04 6.72134901e+00] [ 1.54695155e-03 1.11943051e-04 9.99998797e-01 -1.41050430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.401400513 meters Centerline goodness [0,1] 0.9359110169491526 Centerline is valid? [True, False] Translation: X:126.62, Y:6.72, Z:-0.14 [[ 9.99985343e-01 -5.19279625e-03 -1.53273484e-03 1.26618088e+02] [ 5.19258145e-03 9.99986508e-01 -1.44084138e-04 6.72147147e+00] [ 1.53346236e-03 1.36123176e-04 9.99998815e-01 -1.41412562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.43140051299997 meters Centerline goodness [0,1] 0.9748877396837557 Centerline is valid? [False, True] Translation: X:126.62, Y:6.72, Z:-0.14 [[ 9.99986291e-01 -5.03563702e-03 -1.43558302e-03 1.26617565e+02] [ 5.03588362e-03 9.99987306e-01 1.68208853e-04 6.72006745e+00] [ 1.43471776e-03 -1.75435976e-04 9.99998955e-01 -1.41060750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.46140051299997 meters Centerline goodness [0,1] 0.6498091603053435 Centerline is valid? [True, False] Translation: X:126.62, Y:6.71, Z:-0.14 [[ 9.99989311e-01 -4.48569749e-03 -1.12102613e-03 1.26615767e+02] [ 4.48716555e-03 9.99989074e-01 1.31049786e-03 6.71493318e+00] [ 1.11513539e-03 -1.31551409e-03 9.99998513e-01 -1.39602779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.49140051299997 meters Centerline goodness [0,1] 0.9363274345705829 Centerline is valid? [False, False] Translation: X:126.62, Y:6.71, Z:-0.14 [[ 9.99990125e-01 -4.30416249e-03 -1.10652344e-03 1.26615648e+02] [ 4.30602674e-03 9.99989304e-01 1.68796227e-03 6.71319415e+00] [ 1.09924634e-03 -1.69271032e-03 9.99997963e-01 -1.39452281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.52140051299997 meters Centerline goodness [0,1] 0.932061700367062 Centerline is valid? [False, False] Translation: X:126.62, Y:6.71, Z:-0.14 [[ 9.99990310e-01 -4.24796668e-03 -1.15525931e-03 1.26616060e+02] [ 4.25002534e-03 9.99989375e-01 1.78541319e-03 6.71271078e+00] [ 1.14766266e-03 -1.79030577e-03 9.99997739e-01 -1.39939529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.55140051299998 meters Centerline goodness [0,1] 0.9591854196970994 Centerline is valid? [False, True] Translation: X:126.62, Y:6.71, Z:-0.14 [[ 9.99990275e-01 -4.23029888e-03 -1.24663599e-03 1.26616900e+02] [ 4.23248837e-03 9.99989496e-01 1.75894713e-03 6.71273761e+00] [ 1.23918202e-03 -1.76420640e-03 9.99997676e-01 -1.41019085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.58140051299998 meters Centerline goodness [0,1] 0.8606487771739131 Centerline is valid? [True, False] Translation: X:126.62, Y:6.71, Z:-0.14 [[ 9.99990656e-01 -4.15113882e-03 -1.20628432e-03 1.26616696e+02] [ 4.15341104e-03 9.99989594e-01 1.88728786e-03 6.71217732e+00] [ 1.19843737e-03 -1.89228042e-03 9.99997492e-01 -1.40897677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.61140051299998 meters Centerline goodness [0,1] 0.8606487771739131 Centerline is valid? [False, False] Translation: X:126.62, Y:6.71, Z:-0.14 [[ 9.99990656e-01 -4.15113882e-03 -1.20628432e-03 1.26616696e+02] [ 4.15341104e-03 9.99989594e-01 1.88728786e-03 6.71217732e+00] [ 1.19843737e-03 -1.89228042e-03 9.99997492e-01 -1.40897677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.64140051299998 meters Centerline goodness [0,1] 0.8536169850294938 Centerline is valid? [False, False] Translation: X:126.62, Y:6.71, Z:-0.14 [[ 9.99991320e-01 -4.01078829e-03 -1.12863950e-03 1.26616268e+02] [ 4.01324597e-03 9.99989562e-01 2.18378074e-03 6.71084776e+00] [ 1.11986904e-03 -2.18829130e-03 9.99996979e-01 -1.40566658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.67140051299998 meters Centerline goodness [0,1] 0.8200261780104712 Centerline is valid? [False, False] Translation: X:126.62, Y:6.72, Z:-0.14 [[ 9.99966538e-01 -8.14225861e-03 -7.91007961e-04 1.26615314e+02] [ 8.13978338e-03 9.99962117e-01 -3.08359523e-03 6.71622372e+00] [ 8.16085425e-04 3.07705341e-03 9.99994933e-01 -1.41047777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.70140051299998 meters Centerline goodness [0,1] 0.746365893512722 Centerline is valid? [False, False] Translation: X:126.62, Y:6.72, Z:-0.14 [[ 9.99966839e-01 -8.11035573e-03 -7.37481491e-04 1.26615072e+02] [ 8.10809425e-03 9.99962570e-01 -3.01944496e-03 6.71593307e+00] [ 7.61942660e-04 3.01336526e-03 9.99995170e-01 -1.40950107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.73140051299998 meters Centerline goodness [0,1] 0.8227702530028111 Centerline is valid? [False, False] Translation: X:126.62, Y:6.71, Z:-0.14 [[ 9.99967692e-01 -7.99457724e-03 -8.38134059e-04 1.26615214e+02] [ 7.99231311e-03 9.99964494e-01 -2.67081138e-03 6.71427851e+00] [ 8.59456308e-04 2.66402646e-03 9.99996082e-01 -1.40577587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.76140051299998 meters Centerline goodness [0,1] 0.964739008937904 Centerline is valid? [False, True] Translation: X:126.62, Y:6.71, Z:-0.14 [[ 9.99969149e-01 -7.80601785e-03 -8.76323486e-04 1.26615078e+02] [ 7.80408201e-03 9.99967147e-01 -2.19114492e-03 6.71205181e+00] [ 8.93398813e-04 2.18423842e-03 9.99997215e-01 -1.40097694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.79140051299999 meters Centerline goodness [0,1] 0.9356470363207448 Centerline is valid? [True, False] Translation: X:126.62, Y:6.71, Z:-0.14 [[ 9.99970268e-01 -7.65546039e-03 -9.25509268e-04 1.26615006e+02] [ 7.65385850e-03 9.99969226e-01 -1.72214147e-03 6.70983463e+00] [ 9.38664572e-04 1.71500655e-03 9.99998089e-01 -1.39608772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.821400513 meters Centerline goodness [0,1] 0.9765146358066712 Centerline is valid? [False, True] Translation: X:126.61, Y:6.71, Z:-0.14 [[ 9.99970973e-01 -7.56030023e-03 -9.45970985e-04 1.26614879e+02] [ 7.55899734e-03 9.99970487e-01 -1.37338347e-03 6.70819065e+00] [ 9.56326258e-04 1.36619301e-03 9.99998609e-01 -1.39248343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.851400513 meters Centerline goodness [0,1] 0.9694539249146757 Centerline is valid? [True, True] Translation: X:126.64, Y:6.71, Z:-0.14 [[ 9.99945897e-01 -1.03152213e-02 -1.34154364e-03 1.26644278e+02] [ 1.03150871e-02 9.99946792e-01 -1.06909562e-04 6.71174266e+00] [ 1.34257505e-03 9.30656387e-05 9.99999094e-01 -1.39633962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.881400513 meters Centerline goodness [0,1] 0.996011964107677 Centerline is valid? [True, True] Translation: X:126.68, Y:6.71, Z:-0.14 [[ 9.99910270e-01 -1.32622921e-02 -1.88779925e-03 1.26675387e+02] [ 1.32620316e-02 9.99912044e-01 -1.50424695e-04 6.70693653e+00] [ 1.88962818e-03 1.25375144e-04 9.99998207e-01 -1.41016526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.911400513 meters Centerline goodness [0,1] 0.999006489525863 Centerline is valid? [True, True] Translation: X:126.71, Y:6.70, Z:-0.14 [[ 9.99809239e-01 -1.94506804e-02 -1.77642560e-03 1.26705928e+02] [ 1.94504595e-02 9.99810812e-01 -1.41555856e-04 6.70338836e+00] [ 1.77884288e-03 1.06976558e-04 9.99998412e-01 -1.40823920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.941400513 meters Centerline goodness [0,1] 0.9994928470299854 Centerline is valid? [True, True] Translation: X:126.74, Y:6.70, Z:-0.14 [[ 9.99742382e-01 -2.26624172e-02 -1.25857073e-03 1.26736629e+02] [ 2.26623089e-02 9.99743172e-01 -1.00292747e-04 6.70241520e+00] [ 1.26052037e-03 7.17447914e-05 9.99999203e-01 -1.39523884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.971400513 meters Centerline goodness [0,1] 0.9996396549165907 Centerline is valid? [True, True] Translation: X:126.77, Y:6.70, Z:-0.14 [[ 9.99590095e-01 -2.86293084e-02 -6.64695677e-05 1.26766485e+02] [ 2.86293081e-02 9.99590097e-01 -5.31379713e-06 6.70271155e+00] [ 6.65944520e-05 3.40864124e-06 9.99999998e-01 -1.37028068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.001400513 meters Centerline goodness [0,1] 0.9998076429853808 Centerline is valid? [True, True] Translation: X:126.80, Y:6.70, Z:-0.14 [[ 9.99497414e-01 -3.16983950e-02 3.63272467e-04 1.26797180e+02] [ 3.16983866e-02 9.99497479e-01 2.89462796e-05 6.69717515e+00] [-3.64007466e-04 -1.74165805e-05 9.99999934e-01 -1.36379219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.031400513 meters Centerline goodness [0,1] 0.999978621515307 Centerline is valid? [True, True] Translation: X:126.83, Y:6.70, Z:-0.14 [[ 9.99406279e-01 -3.44464481e-02 7.29555606e-04 1.26827232e+02] [ 3.44464148e-02 9.99406544e-01 5.81366210e-05 6.69884933e+00] [-7.31125248e-04 -3.29715290e-05 9.99999732e-01 -1.36025487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.061400513 meters Centerline goodness [0,1] 0.9998298994280368 Centerline is valid? [True, True] Translation: X:126.86, Y:6.71, Z:-0.14 [[ 9.99325647e-01 -3.67105757e-02 7.65369298e-04 1.26855661e+02] [ 3.67105397e-02 9.99325939e-01 6.10135489e-05 6.70658867e+00] [-7.67093235e-04 -3.28752842e-05 9.99999705e-01 -1.35964230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.091400513 meters Centerline goodness [0,1] 0.9999157327041375 Centerline is valid? [True, True] Translation: X:126.89, Y:6.71, Z:-0.14 [[ 9.99224494e-01 -3.93526869e-02 1.33309651e-03 1.26885751e+02] [ 3.93525800e-02 9.99225382e-01 1.06323339e-04 6.71113043e+00] [-1.33624798e-03 -5.37800978e-05 9.99999106e-01 -1.35637199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.121400513 meters Centerline goodness [0,1] 0.9999361634216406 Centerline is valid? [True, True] Translation: X:126.91, Y:6.72, Z:-0.13 [[ 9.99171947e-01 -4.06359286e-02 2.03496650e-03 1.26914053e+02] [ 4.06356819e-02 9.99174016e-01 1.62449360e-04 6.71635831e+00] [-2.03988693e-03 -7.96225917e-05 9.99997916e-01 -1.34669904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.151400513 meters Centerline goodness [0,1] 0.9999789145194619 Centerline is valid? [True, True] Translation: X:126.94, Y:6.72, Z:-0.13 [[ 9.99135205e-01 -4.14742940e-02 2.95392795e-03 1.26942767e+02] [ 4.14737762e-02 9.99139565e-01 2.36369657e-04 6.72072488e+00] [-2.96118955e-03 -1.13654699e-04 9.99995609e-01 -1.33121592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.18140051299997 meters Centerline goodness [0,1] 0.9999574621945254 Centerline is valid? [True, True] Translation: X:126.97, Y:6.73, Z:-0.13 [[ 9.99114338e-01 -4.19430157e-02 3.36483539e-03 1.26970803e+02] [ 4.19423445e-02 9.99119996e-01 2.69823484e-04 6.72622083e+00] [-3.37319153e-03 -1.28455427e-04 9.99994303e-01 -1.31655201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.21140051299997 meters Centerline goodness [0,1] 0.9999361620632421 Centerline is valid? [True, True] Translation: X:127.00, Y:6.73, Z:-0.13 [[ 9.99121379e-01 -4.17882100e-02 3.19605898e-03 1.26998121e+02] [ 4.17876027e-02 9.99126484e-01 2.56594759e-04 6.73418623e+00] [-3.20398980e-03 -1.22813667e-04 9.99994860e-01 -1.31271171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.24140051299997 meters Centerline goodness [0,1] 0.9999151553717255 Centerline is valid? [True, True] Translation: X:127.03, Y:6.74, Z:-0.13 [[ 9.99095683e-01 -4.24561168e-02 2.30097650e-03 1.27026313e+02] [ 4.24558032e-02 9.99098329e-01 1.84956944e-04 6.74055272e+00] [-2.30675433e-03 -8.70998790e-05 9.99997336e-01 -1.32518102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.27140051299997 meters Centerline goodness [0,1] 0.9999787672250886 Centerline is valid? [True, True] Translation: X:127.05, Y:6.75, Z:-0.13 [[ 9.99042858e-01 -4.36925559e-02 2.08051674e-03 1.27054076e+02] [ 4.36923018e-02 9.99045021e-01 1.67465354e-04 6.74680144e+00] [-2.08584688e-03 -7.64025003e-05 9.99997822e-01 -1.33245597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.30140051299998 meters Centerline goodness [0,1] 0.9999152219066593 Centerline is valid? [True, True] Translation: X:127.08, Y:6.75, Z:-0.13 [[ 9.98958590e-01 -4.55829630e-02 1.98199719e-03 1.27082091e+02] [ 4.55827359e-02 9.98960554e-01 1.59636573e-04 6.75253472e+00] [-1.98721372e-03 -6.91254711e-05 9.99998023e-01 -1.34043368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.33140051299998 meters Centerline goodness [0,1] 0.9999362786745964 Centerline is valid? [True, True] Translation: X:127.11, Y:6.75, Z:-0.14 [[ 9.98843029e-01 -4.80644485e-02 1.55330792e-03 1.27111699e+02] [ 4.80643119e-02 9.98844235e-01 1.25159494e-04 6.75216032e+00] [-1.55752838e-03 -5.03560114e-05 9.99998786e-01 -1.35134010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.36140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.14, Y:6.75, Z:-0.14 [[ 9.98678501e-01 -5.13826469e-02 1.03720835e-03 1.27142308e+02] [ 5.13825878e-02 9.98679039e-01 8.35931980e-05 6.74915852e+00] [-1.04013348e-03 -3.01882806e-05 9.99999459e-01 -1.36183033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.39140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.17, Y:6.75, Z:-0.14 [[ 9.98301490e-01 -5.82550903e-02 6.92718060e-04 1.27171658e+02] [ 5.82550656e-02 9.98301730e-01 5.58212249e-05 6.74918557e+00] [-6.94793508e-04 -1.53720759e-05 9.99999759e-01 -1.36856692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.42140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.20, Y:6.74, Z:-0.14 [[ 9.98108949e-01 -6.14647870e-02 7.77854905e-04 1.27201429e+02] [ 6.14647568e-02 9.98109252e-01 6.26634933e-05 6.74386902e+00] [-7.80235776e-04 -1.47343308e-05 9.99999696e-01 -1.37178424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.45140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.23, Y:6.75, Z:-0.14 [[ 9.97924361e-01 -6.43891691e-02 1.00207681e-03 1.27229789e+02] [ 6.43891204e-02 9.97924864e-01 8.08209045e-05 6.74502662e+00] [-1.00520135e-03 -1.61303052e-05 9.99999495e-01 -1.37292612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.48140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.26, Y:6.74, Z:-0.14 [[ 9.97649904e-01 -6.85154797e-02 5.45136538e-04 1.27259506e+02] [ 6.85154658e-02 9.97650053e-01 4.40482606e-05 6.73862023e+00] [-5.46873484e-04 -6.59445918e-06 9.99999850e-01 -1.37247305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.51140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.29, Y:6.74, Z:-0.14 [[ 9.97541225e-01 -7.00777103e-02 7.86261095e-04 1.27288639e+02] [ 7.00776820e-02 9.97541535e-01 6.35380904e-05 6.73663941e+00] [-7.88780704e-04 -8.28250953e-06 9.99999689e-01 -1.36260461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.54140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.32, Y:6.74, Z:-0.14 [[ 9.97483363e-01 -7.08957669e-02 8.55124001e-04 1.27316093e+02] [ 7.08957336e-02 9.97483729e-01 6.92570207e-05 6.73829745e+00] [-8.57882307e-04 -8.45808258e-06 9.99999632e-01 -1.36143916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.571400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.34, Y:6.74, Z:-0.14 [[ 9.97477423e-01 -7.09820485e-02 5.82797081e-04 1.27342877e+02] [ 7.09820330e-02 9.97477593e-01 4.72784331e-05 6.74154877e+00] [-5.84682950e-04 -5.79104792e-06 9.99999829e-01 -1.37496984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.601400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.37, Y:6.74, Z:-0.14 [[ 9.97532613e-01 -7.02045496e-02 -8.89297229e-05 1.27371265e+02] [ 7.02045492e-02 9.97532617e-01 -7.45406272e-06 6.74468063e+00] [ 8.92336083e-05 1.19239956e-06 9.99999996e-01 -1.38602956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.631400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.40, Y:6.75, Z:-0.14 [[ 9.97600979e-01 -6.92234255e-02 -6.35460895e-04 1.27399763e+02] [ 6.92234063e-02 9.97601181e-01 -5.21382372e-05 6.74830559e+00] [ 6.37545727e-04 8.02438881e-06 9.99999797e-01 -1.38941334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.661400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.43, Y:6.75, Z:-0.14 [[ 9.97685635e-01 -6.79937387e-02 -4.73512150e-04 1.27427311e+02] [ 6.79937280e-02 9.97685748e-01 -3.87985422e-05 6.75453940e+00] [ 4.75054382e-04 6.51289194e-06 9.99999887e-01 -1.38743566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.691400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.46, Y:6.76, Z:-0.14 [[ 9.97763348e-01 -6.68448829e-02 2.50640785e-04 1.27455546e+02] [ 6.68448799e-02 9.97763380e-01 2.03335455e-05 6.75926405e+00] [-2.51439391e-04 -3.53401319e-06 9.99999968e-01 -1.37115810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.721400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.48, Y:6.77, Z:-0.13 [[ 9.97943764e-01 -6.40655749e-02 1.96095793e-03 1.27483407e+02] [ 6.40653825e-02 9.97945690e-01 1.60826637e-04 6.76965654e+00] [-1.96723297e-03 -3.48664195e-05 9.99998064e-01 -1.33593607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.751400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.51, Y:6.78, Z:-0.13 [[ 9.98033832e-01 -6.26672473e-02 1.13448474e-03 1.27510706e+02] [ 6.26671819e-02 9.98034476e-01 9.31545734e-05 6.77857646e+00] [-1.13809263e-03 -2.18764541e-05 9.99999352e-01 -1.34581265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.781400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.54, Y:6.79, Z:-0.14 [[ 9.98131608e-01 -6.10994269e-02 -3.92479389e-04 1.27538011e+02] [ 6.10994189e-02 9.98131685e-01 -3.23612658e-05 6.78829793e+00] [ 3.93723369e-04 8.32053967e-06 9.99999922e-01 -1.37337574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.811400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.57, Y:6.80, Z:-0.14 [[ 9.98214585e-01 -5.97088895e-02 -1.57794146e-03 1.27566103e+02] [ 5.97087582e-02 9.98215832e-01 -1.30284059e-04 6.79553143e+00] [ 1.58290526e-03 3.58345227e-05 9.99998747e-01 -1.39527085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.841400513 meters Centerline goodness [0,1] 0.9999785043313772 Centerline is valid? [True, True] Translation: X:127.59, Y:6.80, Z:-0.14 [[ 9.98286336e-01 -5.84885245e-02 -1.86627563e-03 1.27593786e+02] [ 5.84883385e-02 9.98288080e-01 -1.54132430e-04 6.80391025e+00] [ 1.87209569e-03 4.47129380e-05 9.99998247e-01 -1.40318990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.871400513 meters Centerline goodness [0,1] 0.9999786429746065 Centerline is valid? [True, True] Translation: X:127.62, Y:6.82, Z:-0.14 [[ 9.98332807e-01 -5.77002149e-02 -1.51393958e-03 1.27622073e+02] [ 5.77000910e-02 9.98333954e-01 -1.25396215e-04 6.81601993e+00] [ 1.51865268e-03 3.78327037e-05 9.99998846e-01 -1.39629142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.901400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.65, Y:6.82, Z:-0.14 [[ 9.98302216e-01 -5.82244834e-02 -1.61078353e-03 1.27649590e+02] [ 5.82243440e-02 9.98303515e-01 -1.33367472e-04 6.82364167e+00] [ 1.61581611e-03 3.93542281e-05 9.99998694e-01 -1.40070102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.93140051299997 meters Centerline goodness [0,1] 0.9999786447989408 Centerline is valid? [True, True] Translation: X:127.68, Y:6.83, Z:-0.14 [[ 9.98217492e-01 -5.96415019e-02 -2.17494998e-03 1.27678405e+02] [ 5.96412500e-02 9.98219860e-01 -1.80531603e-04 6.82838973e+00] [ 2.18184544e-03 5.04930677e-05 9.99997618e-01 -1.40675062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.96140051299997 meters Centerline goodness [0,1] 0.9998072970195272 Centerline is valid? [True, True] Translation: X:127.71, Y:6.83, Z:-0.14 [[ 9.98100269e-01 -6.15528137e-02 -2.66537033e-03 1.27707379e+02] [ 6.15524412e-02 9.98103826e-01 -2.21640560e-04 6.83080021e+00] [ 2.67395892e-03 5.71594519e-05 9.99996423e-01 -1.41839750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.99140051299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.73, Y:6.84, Z:-0.14 [[ 9.97914767e-01 -6.44970129e-02 -2.50070972e-03 1.27734896e+02] [ 6.44966942e-02 9.97917899e-01 -2.07975721e-04 6.83518590e+00] [ 2.50891680e-03 4.62545329e-05 9.99996852e-01 -1.41040132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.02140051299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.76, Y:6.84, Z:-0.14 [[ 9.97844648e-01 -6.56075089e-02 -1.30905680e-03 1.27763018e+02] [ 6.56074220e-02 9.97845506e-01 -1.09243804e-04 6.83839310e+00] [ 1.31340366e-03 2.31245034e-05 9.99999137e-01 -1.39024645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.05140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.79, Y:6.85, Z:-0.13 [[ 9.97874863e-01 -6.51484461e-02 1.19886873e-03 1.27789918e+02] [ 6.51483732e-02 9.97875583e-01 9.98614552e-05 6.84666037e+00] [-1.20282766e-03 -2.15448883e-05 9.99999276e-01 -1.34435780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.08140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.82, Y:6.86, Z:-0.13 [[ 9.97993078e-01 -6.32976662e-02 1.79492827e-03 1.27817888e+02] [ 6.32974991e-02 9.97994691e-01 1.49766743e-04 6.85574882e+00] [-1.80080877e-03 -3.58517024e-05 9.99998378e-01 -1.33613193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.11140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.85, Y:6.86, Z:-0.13 [[ 9.98180578e-01 -6.02781419e-02 1.44209261e-03 1.27847079e+02] [ 6.02780307e-02 9.98181619e-01 1.20490291e-04 6.86281475e+00] [-1.44673326e-03 -3.33445655e-05 9.99998953e-01 -1.34208241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.14140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.88, Y:6.87, Z:-0.14 [[ 9.98362372e-01 -5.72043561e-02 4.86383039e-04 1.27875803e+02] [ 5.72043431e-02 9.98362490e-01 4.06305232e-05 6.87231730e+00] [-4.87910825e-04 -1.27407633e-05 9.99999881e-01 -1.35556118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.17140051299998 meters Centerline goodness [0,1] 0.9999788234297573 Centerline is valid? [True, True] Translation: X:127.90, Y:6.89, Z:-0.14 [[ 9.98554133e-01 -5.37535606e-02 -4.44564443e-04 1.27903578e+02] [ 5.37535493e-02 9.98554232e-01 -3.72239396e-05 6.88558926e+00] [ 4.45922625e-04 1.32732021e-05 9.99999900e-01 -1.37648997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.20140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.93, Y:6.89, Z:-0.14 [[ 9.98707561e-01 -5.08214408e-02 -6.23786412e-04 1.27932501e+02] [ 5.08214181e-02 9.98707755e-01 -5.22353331e-05 6.88956122e+00] [ 6.25635002e-04 2.04661120e-05 9.99999804e-01 -1.37951704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.23140051299998 meters Centerline goodness [0,1] 0.9999572146753664 Centerline is valid? [True, True] Translation: X:127.96, Y:6.90, Z:-0.14 [[ 9.98955048e-01 -4.56897552e-02 1.12150800e-03 1.27962080e+02] [ 4.56896786e-02 9.98955677e-01 9.38341129e-05 6.90100572e+00] [-1.12462404e-03 -4.24947207e-05 9.99999367e-01 -1.35215120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.26140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.99, Y:6.91, Z:-0.13 [[ 9.99041495e-01 -4.37152408e-02 2.25142573e-03 1.27990431e+02] [ 4.37149270e-02 9.99044028e-01 1.88414036e-04 6.90795009e+00] [-2.25750999e-03 -8.98125292e-05 9.99997448e-01 -1.33407529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.29140051299999 meters Centerline goodness [0,1] 0.9998092614178234 Centerline is valid? [True, True] Translation: X:128.02, Y:6.92, Z:-0.13 [[ 9.99101811e-01 -4.22705004e-02 2.96259658e-03 1.28018363e+02] [ 4.22699504e-02 9.99106195e-01 2.48047726e-04 6.91841401e+00] [-2.97043370e-03 -1.22596122e-04 9.99995581e-01 -1.31856352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.321400513 meters Centerline goodness [0,1] 0.9999787514342782 Centerline is valid? [True, True] Translation: X:128.05, Y:6.93, Z:-0.13 [[ 9.99162002e-01 -4.08228240e-02 2.96478888e-03 1.28047848e+02] [ 4.08222666e-02 9.99166393e-01 2.48294407e-04 6.92545715e+00] [-2.97245349e-03 -1.27056935e-04 9.99995574e-01 -1.31683144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.351400513 meters Centerline goodness [0,1] 0.9998731554691134 Centerline is valid? [True, True] Translation: X:128.08, Y:6.93, Z:-0.13 [[ 9.99234715e-01 -3.90436759e-02 2.36120633e-03 1.28078069e+02] [ 3.90433174e-02 9.99237499e-01 1.97756929e-04 6.93219692e+00] [-2.36712707e-03 -1.05416260e-04 9.99997193e-01 -1.32649036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.381400513 meters Centerline goodness [0,1] 0.9998717455431576 Centerline is valid? [True, True] Translation: X:128.11, Y:6.94, Z:-0.14 [[ 9.99369346e-01 -3.54854817e-02 1.30016392e-03 1.28107808e+02] [ 3.54853700e-02 9.99370190e-01 1.08892338e-04 6.94140690e+00] [-1.30320916e-03 -6.26868667e-05 9.99999149e-01 -1.35684497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.411400513 meters Centerline goodness [0,1] 0.9998935672016689 Centerline is valid? [True, True] Translation: X:128.14, Y:6.95, Z:-0.14 [[ 9.99438117e-01 -3.34912759e-02 1.33567077e-03 1.28137517e+02] [ 3.34911562e-02 9.99439008e-01 1.11874652e-04 6.94835375e+00] [-1.33866829e-03 -6.70786329e-05 9.99999102e-01 -1.35494321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.441400513 meters Centerline goodness [0,1] 0.9996586739482891 Centerline is valid? [True, True] Translation: X:128.17, Y:6.96, Z:-0.13 [[ 9.99500305e-01 -3.15720768e-02 1.53092679e-03 1.28166331e+02] [ 3.15719173e-02 9.99501475e-01 1.28249186e-04 6.96014902e+00] [-1.53421267e-03 -7.98508072e-05 9.99998820e-01 -1.34413058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.471400513 meters Centerline goodness [0,1] 0.9994249691187119 Centerline is valid? [True, True] Translation: X:128.20, Y:6.97, Z:-0.14 [[ 9.99554631e-01 -2.98418155e-02 -6.97773784e-05 1.28196621e+02] [ 2.98418151e-02 9.99554634e-01 -5.84606644e-06 6.96719644e+00] [ 6.99207592e-05 3.76117916e-06 9.99999998e-01 -1.35851482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.501400513 meters Centerline goodness [0,1] 0.9997231155885924 Centerline is valid? [True, True] Translation: X:128.23, Y:6.97, Z:-0.14 [[ 9.99542516e-01 -3.02098573e-02 -1.45718887e-03 1.28226651e+02] [ 3.02097113e-02 9.99543575e-01 -1.22147997e-04 6.96838874e+00] [ 1.46021384e-03 7.80708610e-05 9.99998931e-01 -1.38181653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.531400513 meters Centerline goodness [0,1] 0.9997231155885924 Centerline is valid? [True, True] Translation: X:128.25, Y:6.97, Z:-0.14 [[ 9.99537636e-01 -3.03708972e-02 -1.45715482e-03 1.28254899e+02] [ 3.03707507e-02 9.99538695e-01 -1.22553794e-04 6.97088017e+00] [ 1.46020470e-03 7.82422434e-05 9.99998931e-01 -1.38216877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.561400513 meters Centerline goodness [0,1] 0.999534450651769 Centerline is valid? [True, True] Translation: X:128.28, Y:6.98, Z:-0.14 [[ 9.99519852e-01 -3.09006594e-02 -2.28345532e-03 1.28282829e+02] [ 3.09003015e-02 9.99522453e-01 -1.91865685e-04 6.97722632e+00] [ 2.28829364e-03 1.21214104e-04 9.99997375e-01 -1.39625947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.591400513 meters Centerline goodness [0,1] 0.9997232865048957 Centerline is valid? [True, True] Translation: X:128.31, Y:6.98, Z:-0.14 [[ 9.99492947e-01 -3.18264286e-02 -9.62635527e-04 1.28311462e+02] [ 3.18263651e-02 9.99493410e-01 -8.12255702e-05 6.97796243e+00] [ 9.64732985e-04 5.05471948e-05 9.99999533e-01 -1.36734537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.621400513 meters Centerline goodness [0,1] 0.9998304402195799 Centerline is valid? [True, True] Translation: X:128.34, Y:6.98, Z:-0.14 [[ 9.99494597e-01 -3.17873932e-02 -3.35323242e-04 1.28341050e+02] [ 3.17873855e-02 9.99494653e-01 -2.82602536e-05 6.98158725e+00] [ 3.36052107e-04 1.75869217e-05 9.99999943e-01 -1.35283204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.651400513 meters Centerline goodness [0,1] 0.9998500396323828 Centerline is valid? [True, True] Translation: X:128.37, Y:6.98, Z:-0.14 [[ 9.99507757e-01 -3.13699802e-02 -4.09663436e-04 1.28370302e+02] [ 3.13699686e-02 9.99507841e-01 -3.45290489e-05 6.98424846e+00] [ 4.10544992e-04 2.16609230e-05 9.99999915e-01 -1.35123382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.68140051299997 meters Centerline goodness [0,1] 0.9998072557502035 Centerline is valid? [True, True] Translation: X:128.40, Y:6.99, Z:-0.14 [[ 9.99535344e-01 -3.04675502e-02 -9.08503468e-04 1.28398466e+02] [ 3.04674931e-02 9.99535755e-01 -7.65853844e-05 6.99052551e+00] [ 9.10415069e-04 4.88699754e-05 9.99999584e-01 -1.36161532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.71140051299997 meters Centerline goodness [0,1] 0.999763323794565 Centerline is valid? [True, True] Translation: X:128.43, Y:6.99, Z:-0.14 [[ 9.99564611e-01 -2.94637142e-02 -1.57410518e-03 1.28427590e+02] [ 2.94635417e-02 9.99565847e-01 -1.32684099e-04 6.99488611e+00] [ 1.57733115e-03 8.62476160e-05 9.99998752e-01 -1.37466446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.74140051299997 meters Centerline goodness [0,1] 0.9994851663556213 Centerline is valid? [True, True] Translation: X:128.46, Y:7.00, Z:-0.14 [[ 9.99635532e-01 -2.69385482e-02 -1.76584543e-03 1.28457243e+02] [ 2.69383271e-02 9.99637086e-01 -1.48848775e-04 7.00224907e+00] [ 1.76921435e-03 1.01225602e-04 9.99998430e-01 -1.36875155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.77140051299997 meters Centerline goodness [0,1] 0.9975353621945993 Centerline is valid? [True, True] Translation: X:128.49, Y:7.01, Z:-0.14 [[ 9.99679563e-01 -2.52643318e-02 -1.57652023e-03 1.28485227e+02] [ 2.52641534e-02 9.99680801e-01 -1.32974470e-04 7.01227623e+00] [ 1.57937651e-03 9.31024108e-05 9.99998748e-01 -1.36223833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.80140051299998 meters Centerline goodness [0,1] 0.9986161084970938 Centerline is valid? [True, True] Translation: X:128.52, Y:7.01, Z:-0.13 [[ 9.99730604e-01 -2.31790600e-02 -1.20452735e-03 1.28515175e+02] [ 2.31789544e-02 9.99731327e-01 -1.01602267e-04 7.01401541e+00] [ 1.20655877e-03 7.36552118e-05 9.99999269e-01 -1.34649976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.83140051299998 meters Centerline goodness [0,1] 0.9959729243423872 Centerline is valid? [True, True] Translation: X:128.55, Y:7.02, Z:-0.13 [[ 9.99778605e-01 -2.10341915e-02 -5.51520156e-04 1.28545143e+02] [ 2.10341690e-02 9.99778756e-01 -4.65332362e-05 7.01958450e+00] [ 5.52376925e-04 3.49221658e-05 9.99999847e-01 -1.33629465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.86140051299998 meters Centerline goodness [0,1] 0.9962075210397358 Centerline is valid? [True, True] Translation: X:128.57, Y:7.02, Z:-0.13 [[ 9.99816132e-01 -1.91752942e-02 -1.00629950e-04 1.28574941e+02] [ 1.91752935e-02 9.99816137e-01 -8.50357375e-06 7.02265987e+00] [ 1.00774506e-04 6.57240139e-06 9.99999995e-01 -1.33319674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.89140051299998 meters Centerline goodness [0,1] 0.903510816365447 Centerline is valid? [True, False] Translation: X:128.58, Y:7.02, Z:-0.13 [[ 9.99891904e-01 -1.47011031e-02 -2.41691305e-04 1.28575329e+02] [ 1.47020982e-02 9.99880282e-01 4.82391245e-03 7.02019083e+00] [ 1.70745536e-04 -4.82694437e-03 9.99988336e-01 -1.33608294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.92140051299998 meters Centerline goodness [0,1] 0.9580654774575333 Centerline is valid? [False, True] Translation: X:128.57, Y:7.03, Z:-0.13 [[ 9.99825643e-01 -1.86720560e-02 1.93983018e-04 1.28574159e+02] [ 1.86722104e-02 9.99825317e-01 -8.26888490e-04 7.02823840e+00] [-1.78509424e-04 8.30366408e-04 9.99999639e-01 -1.34037885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.95140051299998 meters Centerline goodness [0,1] 0.8346473425845251 Centerline is valid? [True, False] Translation: X:128.58, Y:7.02, Z:-0.13 [[ 9.99897190e-01 -1.43336912e-02 -3.93763690e-04 1.28575867e+02] [ 1.43353271e-02 9.99887006e-01 4.52478575e-03 7.02275234e+00] [ 3.28862315e-04 -4.52996529e-03 9.99989686e-01 -1.33955763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.98140051299998 meters Centerline goodness [0,1] 0.8423953208471463 Centerline is valid? [False, False] Translation: X:128.58, Y:7.02, Z:-0.13 [[ 9.99900143e-01 -1.41246498e-02 -4.44920654e-04 1.28575790e+02] [ 1.41267334e-02 9.99887247e-01 5.09207827e-03 7.02004317e+00] [ 3.72946666e-04 -5.09785507e-03 9.99986936e-01 -1.33428565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.01140051299998 meters Centerline goodness [0,1] 0.9907796898236669 Centerline is valid? [False, True] Translation: X:128.58, Y:7.02, Z:-0.13 [[ 9.99901634e-01 -1.40209578e-02 -3.68244679e-04 1.28575276e+02] [ 1.40227464e-02 9.99887026e-01 5.41268609e-03 7.01853874e+00] [ 2.92312034e-04 -5.41731746e-03 9.99985284e-01 -1.32852662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.04140051299999 meters Centerline goodness [0,1] 0.9610052541621827 Centerline is valid? [True, True] Translation: X:128.60, Y:7.03, Z:-0.13 [[ 9.99879627e-01 -1.54866472e-02 9.46549454e-04 1.28603993e+02] [ 1.54865825e-02 9.99880073e-01 7.55747157e-05 7.02984362e+00] [-9.47606336e-04 -6.09068022e-05 9.99999549e-01 -1.31140898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.071400513 meters Centerline goodness [0,1] 0.962792775544068 Centerline is valid? [True, True] Translation: X:128.63, Y:7.03, Z:-0.13 [[ 9.99840781e-01 -1.78066455e-02 1.15583822e-03 1.28633727e+02] [ 1.78065507e-02 9.99841447e-01 9.22591477e-05 7.03257509e+00] [-1.15729779e-03 -7.16629663e-05 9.99999328e-01 -1.31228677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.101400513 meters Centerline goodness [0,1] 0.9991025449261737 Centerline is valid? [True, True] Translation: X:128.67, Y:7.02, Z:-0.13 [[ 9.99803522e-01 -1.98220813e-02 4.98621334e-05 1.28665216e+02] [ 1.98220812e-02 9.99803523e-01 3.97353088e-06 7.02296796e+00] [-4.99311003e-05 -2.98437891e-06 9.99999999e-01 -1.33649468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.131400513 meters Centerline goodness [0,1] 0.9987900144349156 Centerline is valid? [True, True] Translation: X:128.69, Y:7.02, Z:-0.13 [[ 9.99796919e-01 -2.01497557e-02 -3.30000741e-04 1.28694650e+02] [ 2.01497481e-02 9.99796973e-01 -2.63567494e-05 7.02383595e+00] [ 3.30464824e-04 1.97019650e-05 9.99999945e-01 -1.33954847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.161400513 meters Centerline goodness [0,1] 0.9988346716952349 Centerline is valid? [True, True] Translation: X:128.72, Y:7.02, Z:-0.13 [[ 9.99777226e-01 -2.11064482e-02 1.28490074e-04 1.28724998e+02] [ 2.11064470e-02 9.99777234e-01 1.02587218e-05 7.02344784e+00] [-1.28677976e-04 -7.54446745e-06 9.99999992e-01 -1.33283913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.191400513 meters Centerline goodness [0,1] 0.9992994969114182 Centerline is valid? [True, True] Translation: X:128.76, Y:7.02, Z:-0.13 [[ 9.99759916e-01 -2.19000182e-02 7.07290991e-04 1.28756104e+02] [ 2.18999837e-02 9.99760165e-01 5.64715060e-05 7.02163902e+00] [-7.08358085e-04 -4.09682869e-05 9.99999748e-01 -1.32343862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.221400513 meters Centerline goodness [0,1] 0.9892770001284191 Centerline is valid? [True, True] Translation: X:128.78, Y:7.01, Z:-0.13 [[ 9.99787547e-01 -2.05352482e-02 1.77892124e-03 1.28784567e+02] [ 2.05116661e-02 9.99712826e-01 1.23910431e-02 7.01160953e+00] [-2.03286353e-03 -1.23519219e-02 9.99921646e-01 -1.33270523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.251400513 meters Centerline goodness [0,1] 0.9977124459883081 Centerline is valid? [True, True] Translation: X:128.82, Y:7.03, Z:-0.13 [[ 9.99756104e-01 -2.20426820e-02 1.36136072e-03 1.28815942e+02] [ 2.20580441e-02 9.99677956e-01 -1.25469708e-02 7.03319427e+00] [-1.08435341e-03 1.25739396e-02 9.99920357e-01 -1.32028453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.281400513 meters Centerline goodness [0,1] 0.9980917649054364 Centerline is valid? [True, True] Translation: X:128.85, Y:7.02, Z:-0.13 [[ 9.99780524e-01 -2.09345331e-02 -8.05485363e-04 1.28846762e+02] [ 2.09344880e-02 9.99780848e-01 -6.43585712e-05 7.02428291e+00] [ 8.06656155e-04 4.74820224e-05 9.99999674e-01 -1.34274223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.311400513 meters Centerline goodness [0,1] 0.9964474887787445 Centerline is valid? [True, True] Translation: X:128.88, Y:7.03, Z:-0.14 [[ 9.99812406e-01 -1.93027554e-02 -1.59906075e-03 1.28876377e+02] [ 1.93025756e-02 9.99813680e-01 -1.27801262e-04 7.02797751e+00] [ 1.60122973e-03 9.69112964e-05 9.99998713e-01 -1.35477859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.341400513 meters Centerline goodness [0,1] 0.9698183988404808 Centerline is valid? [True, True] Translation: X:128.91, Y:7.03, Z:-0.14 [[ 9.99876686e-01 -1.56824731e-02 -8.19783960e-04 1.28906171e+02] [ 1.56824246e-02 9.99877021e-01 -6.55277100e-05 7.03271543e+00] [ 8.20710780e-04 5.26634294e-05 9.99999662e-01 -1.35509194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.371400513 meters Centerline goodness [0,1] 0.9512044208325332 Centerline is valid? [True, True] Translation: X:128.94, Y:7.03, Z:-0.14 [[ 9.99899420e-01 -1.41642274e-02 -7.24862263e-04 1.28935658e+02] [ 1.41641891e-02 9.99899681e-01 -5.79643849e-05 7.03451754e+00] [ 7.25610566e-04 4.76914687e-05 9.99999736e-01 -1.35630390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.40140051299997 meters Centerline goodness [0,1] 0.9508927619088252 Centerline is valid? [True, True] Translation: X:128.97, Y:7.04, Z:-0.14 [[ 9.99920221e-01 -1.25328835e-02 -1.57452910e-03 1.28966076e+02] [ 1.25327007e-02 9.99921455e-01 -1.25878972e-04 7.03635275e+00] [ 1.57598305e-03 1.06135827e-04 9.99998753e-01 -1.36706455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.43140051299997 meters Centerline goodness [0,1] 0.7810123373331079 Centerline is valid? [True, False] Translation: X:128.97, Y:7.04, Z:-0.14 [[ 9.99920018e-01 -1.25279847e-02 -1.73436747e-03 1.28966904e+02] [ 1.25275009e-02 9.99921486e-01 -2.89574655e-04 7.03720023e+00] [ 1.73785908e-03 2.67824204e-04 9.99998454e-01 -1.37348579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.46140051299997 meters Centerline goodness [0,1] 0.9323704333050128 Centerline is valid? [False, False] Translation: X:128.97, Y:7.04, Z:-0.14 [[ 9.99922660e-01 -1.23428812e-02 -1.52546939e-03 1.28966324e+02] [ 1.23417458e-02 9.99923555e-01 -7.51508011e-04 7.03992131e+00] [ 1.53462855e-03 7.32622934e-04 9.99998554e-01 -1.37653662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.49140051299997 meters Centerline goodness [0,1] 0.7560944398234052 Centerline is valid? [False, False] Translation: X:128.97, Y:7.04, Z:-0.14 [[ 9.99923839e-01 -1.22685660e-02 -1.34132360e-03 1.28965462e+02] [ 1.22676889e-02 9.99924531e-01 -6.60131073e-04 7.03956091e+00] [ 1.34932123e-03 6.43625856e-04 9.99998883e-01 -1.37156618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.52140051299997 meters Centerline goodness [0,1] 0.8414603174603175 Centerline is valid? [False, False] Translation: X:128.97, Y:7.04, Z:-0.14 [[ 9.99925974e-01 -1.21007358e-02 -1.27218281e-03 1.28965027e+02] [ 1.21002899e-02 9.99926725e-01 -3.57615076e-04 7.03820708e+00] [ 1.27641699e-03 3.42194822e-04 9.99999127e-01 -1.36739665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.55140051299998 meters Centerline goodness [0,1] 0.6978732454274776 Centerline is valid? [False, False] Translation: X:128.97, Y:7.04, Z:-0.14 [[ 9.99927415e-01 -1.19778651e-02 -1.30182157e-03 1.28965201e+02] [ 1.19777742e-02 9.99928261e-01 -7.76316326e-05 7.03688280e+00] [ 1.30265804e-03 6.20330730e-05 9.99999150e-01 -1.36858963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.58140051299998 meters Centerline goodness [0,1] 0.667592553326831 Centerline is valid? [False, False] Translation: X:128.97, Y:7.03, Z:-0.14 [[ 9.99930157e-01 -1.17207032e-02 -1.51869296e-03 1.28966374e+02] [ 1.17215217e-02 9.99931160e-01 5.31140332e-04 7.03396940e+00] [ 1.51236307e-03 -5.48904628e-04 9.99998706e-01 -1.37684606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.61140051299998 meters Centerline goodness [0,1] 0.8398385211940933 Centerline is valid? [False, False] Translation: X:128.97, Y:7.03, Z:-0.14 [[ 9.99931518e-01 -1.16032172e-02 -1.52454931e-03 1.28966469e+02] [ 1.16044286e-02 9.99932356e-01 7.88156476e-04 7.03275745e+00] [ 1.51530103e-03 -8.05794025e-04 9.99998527e-01 -1.37804814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.64140051299998 meters Centerline goodness [0,1] 0.655047821466525 Centerline is valid? [False, False] Translation: X:128.97, Y:7.03, Z:-0.14 [[ 9.99932712e-01 -1.15105201e-02 -1.44186399e-03 1.28966023e+02] [ 1.15119082e-02 9.99933277e-01 9.58133101e-04 7.03200338e+00] [ 1.43073918e-03 -9.74667236e-04 9.99998502e-01 -1.37482256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.67140051299998 meters Centerline goodness [0,1] 0.679050261580497 Centerline is valid? [False, False] Translation: X:128.97, Y:7.03, Z:-0.14 [[ 9.99933311e-01 -1.14681667e-02 -1.36163244e-03 1.28965496e+02] [ 1.14695297e-02 9.99933725e-01 9.97434677e-04 7.03187650e+00] [ 1.35010345e-03 -1.01298544e-03 9.99998576e-01 -1.36977537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.70140051299998 meters Centerline goodness [0,1] 0.6818268720127456 Centerline is valid? [False, False] Translation: X:128.96, Y:7.03, Z:-0.14 [[ 9.99935120e-01 -1.13290041e-02 -1.18738043e-03 1.28964773e+02] [ 1.13303731e-02 9.99935145e-01 1.15266770e-03 7.03127342e+00] [ 1.17424484e-03 -1.16604638e-03 9.99998631e-01 -1.36698182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.73140051299998 meters Centerline goodness [0,1] 0.6289014655572919 Centerline is valid? [False, False] Translation: X:128.97, Y:7.03, Z:-0.14 [[ 9.99936828e-01 -1.11729633e-02 -1.22650445e-03 1.28965040e+02] [ 1.11747696e-02 9.99936471e-01 1.47590375e-03 7.02974721e+00] [ 1.20993631e-03 -1.48951642e-03 9.99998159e-01 -1.36942328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.76140051299998 meters Centerline goodness [0,1] 0.7768529613146182 Centerline is valid? [False, False] Translation: X:128.94, Y:7.03, Z:-0.14 [[ 9.99946612e-01 -9.78446496e-03 -3.32237002e-03 1.28944032e+02] [ 9.75534450e-03 9.99914821e-01 -8.67087425e-03 7.03240698e+00] [ 3.40692689e-03 8.63800046e-03 9.99956888e-01 -1.36216028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.79140051299999 meters Centerline goodness [0,1] 0.8099400060425569 Centerline is valid? [False, False] Translation: X:128.94, Y:7.03, Z:-0.14 [[ 9.99946934e-01 -9.73457393e-03 -3.37155072e-03 1.28944366e+02] [ 9.70538239e-03 9.99916186e-01 -8.56895569e-03 7.03192302e+00] [ 3.45468327e-03 8.53577878e-03 9.99957602e-01 -1.36561273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.821400513 meters Centerline goodness [0,1] 0.6470463956731176 Centerline is valid? [False, False] Translation: X:128.99, Y:7.03, Z:-0.14 [[ 9.99967876e-01 -7.93624029e-03 -1.12388090e-03 1.28986550e+02] [ 7.92839968e-03 9.99945333e-01 -6.81696218e-03 7.03216701e+00] [ 1.17792051e-03 6.80783261e-03 9.99976133e-01 -1.36921808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.851400513 meters Centerline goodness [0,1] 0.5472112615975259 Centerline is valid? [False, False] Translation: X:128.99, Y:7.03, Z:-0.14 [[ 9.99969841e-01 -7.68564513e-03 -1.11742786e-03 1.28986416e+02] [ 7.67850201e-03 9.99950912e-01 -6.26208744e-03 7.02959421e+00] [ 1.16550119e-03 6.25331841e-03 9.99979769e-01 -1.36653628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.881400513 meters Centerline goodness [0,1] 0.7083650995340958 Centerline is valid? [False, False] Translation: X:128.99, Y:7.03, Z:-0.14 [[ 9.99972111e-01 -7.39187345e-03 -1.06696109e-03 1.28986014e+02] [ 7.38578471e-03 9.99957033e-01 -5.60200548e-03 7.02651187e+00] [ 1.10832456e-03 5.59396890e-03 9.99983739e-01 -1.36165189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.911400513 meters Centerline goodness [0,1] 0.8078804936133362 Centerline is valid? [False, False] Translation: X:128.94, Y:7.01, Z:-0.13 [[ 9.99979925e-01 -5.47935609e-03 -3.18202648e-03 1.28943025e+02] [ 5.47850787e-03 9.99984955e-01 -2.75222909e-04 7.01437864e+00] [ 3.18348665e-03 2.57784627e-04 9.99994899e-01 -1.33972883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.941400513 meters Centerline goodness [0,1] 0.6100571282401092 Centerline is valid? [False, False] Translation: X:128.98, Y:7.02, Z:-0.13 [[ 9.99989371e-01 -4.60934449e-03 -1.07832724e-04 1.28983117e+02] [ 4.60933605e-03 9.99989374e-01 -7.83421792e-05 7.01640023e+00] [ 1.08192684e-04 7.78443093e-05 9.99999991e-01 -1.33853048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.971400513 meters Centerline goodness [0,1] 0.7441209167094236 Centerline is valid? [False, False] Translation: X:128.98, Y:7.01, Z:-0.13 [[ 9.99989945e-01 -4.47600407e-03 -2.75275210e-04 1.28984080e+02] [ 4.47607238e-03 9.99989952e-01 2.48021769e-04 7.01479756e+00] [ 2.74162297e-04 -2.49251427e-04 9.99999931e-01 -1.34633106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.001400513 meters Centerline goodness [0,1] 0.7491370125719157 Centerline is valid? [False, False] Translation: X:128.98, Y:7.01, Z:-0.13 [[ 9.99990922e-01 -4.24184223e-03 -4.02928070e-04 1.28984543e+02] [ 4.24215212e-03 9.99990705e-01 7.71383240e-04 7.01233546e+00] [ 3.99652239e-04 -7.73085519e-04 9.99999621e-01 -1.34673277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.031400513 meters Centerline goodness [0,1] 0.6985239460550069 Centerline is valid? [False, False] Translation: X:128.98, Y:7.01, Z:-0.13 [[ 9.99992028e-01 -3.97028075e-03 -4.24639469e-04 1.28984527e+02] [ 3.97086341e-03 9.99991164e-01 1.38022226e-03 7.00948457e+00] [ 4.19155847e-04 -1.38189744e-03 9.99998957e-01 -1.34463357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.061400513 meters Centerline goodness [0,1] 0.635850823789859 Centerline is valid? [False, False] Translation: X:128.98, Y:7.01, Z:-0.13 [[ 9.99992812e-01 -3.77912799e-03 -3.07702504e-04 1.28983959e+02] [ 3.77966789e-03 9.99991285e-01 1.77335203e-03 7.00770021e+00] [ 3.00998098e-04 -1.77450230e-03 9.99998380e-01 -1.34061421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.091400513 meters Centerline goodness [0,1] 0.5604814783419514 Centerline is valid? [False, False] Translation: X:128.98, Y:7.01, Z:-0.13 [[ 9.99992605e-01 -3.83208424e-03 -3.25396023e-04 1.28984087e+02] [ 3.83260378e-03 9.99991357e-01 1.61133019e-03 7.00848173e+00] [ 3.19218457e-04 -1.61256539e-03 9.99998649e-01 -1.34228129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.121400513 meters Centerline goodness [0,1] 0.6078614681823011 Centerline is valid? [False, False] Translation: X:128.98, Y:7.01, Z:-0.13 [[ 9.99992179e-01 -3.94091422e-03 -3.34544103e-04 1.28984258e+02] [ 3.94135797e-03 9.99991340e-01 1.33631096e-03 7.00978479e+00] [ 3.29274919e-04 -1.33761906e-03 9.99999051e-01 -1.34542589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.15140051299997 meters Centerline goodness [0,1] 0.5955409247344008 Centerline is valid? [False, False] Translation: X:128.98, Y:7.01, Z:-0.13 [[ 9.99991795e-01 -4.03328891e-03 -3.76414442e-04 1.28984499e+02] [ 4.03370946e-03 9.99991234e-01 1.12325632e-03 7.01076611e+00] [ 3.71880725e-04 -1.12476545e-03 9.99999298e-01 -1.34760509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.18140051299997 meters Centerline goodness [0,1] 0.5305345945371454 Centerline is valid? [False, False] Translation: X:128.98, Y:7.01, Z:-0.13 [[ 9.99991344e-01 -4.14308169e-03 -3.83317665e-04 1.28984609e+02] [ 4.14342461e-03 9.99991013e-01 8.98193970e-04 7.01179786e+00] [ 3.79592929e-04 -8.99774443e-04 9.99999523e-01 -1.34985591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.21140051299997 meters Centerline goodness [0,1] 0.46582737650698813 Centerline is valid? [False, False] Translation: X:128.98, Y:7.01, Z:-0.13 [[ 9.99991513e-01 -4.10248211e-03 -3.80177352e-04 1.28984494e+02] [ 4.10287493e-03 9.99991044e-01 1.03829348e-03 7.01113009e+00] [ 3.75914367e-04 -1.03984449e-03 9.99999389e-01 -1.34777050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.24140051299997 meters Centerline goodness [0,1] 0.6686723850979388 Centerline is valid? [False, False] Translation: X:128.98, Y:7.01, Z:-0.13 [[ 9.99992169e-01 -3.93349128e-03 -4.36538882e-04 1.28984410e+02] [ 3.93415449e-03 9.99991092e-01 1.52892592e-03 7.00881027e+00] [ 4.30520977e-04 -1.53063136e-03 9.99998736e-01 -1.34201746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.27140051299997 meters Centerline goodness [0,1] 0.8436970827170814 Centerline is valid? [False, False] Translation: X:128.98, Y:7.00, Z:-0.13 [[ 9.99993199e-01 -3.65739875e-03 -4.73735794e-04 1.28984338e+02] [ 3.65850555e-03 9.99990530e-01 2.35692034e-03 7.00487404e+00] [ 4.65111110e-04 -2.35863748e-03 9.99997110e-01 -1.33718500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.30140051299998 meters Centerline goodness [0,1] 0.9470395587348099 Centerline is valid? [False, False] Translation: X:128.98, Y:7.00, Z:-0.13 [[ 9.99968310e-01 -7.94132131e-03 -5.60195960e-04 1.28984783e+02] [ 7.94028964e-03 9.99966818e-01 -1.82040128e-03 7.00411114e+00] [ 5.74633763e-04 1.81589548e-03 9.99998186e-01 -1.33867064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.33140051299998 meters Centerline goodness [0,1] 0.9837497071539625 Centerline is valid? [False, True] Translation: X:128.98, Y:7.01, Z:-0.13 [[ 9.99921460e-01 -1.25231991e-02 -4.93025746e-04 1.28984907e+02] [ 1.25194866e-02 9.99897650e-01 -6.92475871e-03 7.00784913e+00] [ 5.79695417e-04 6.91804241e-03 9.99975902e-01 -1.34370557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.36140051299998 meters Centerline goodness [0,1] 0.9613500964657493 Centerline is valid? [True, True] Translation: X:129.01, Y:7.01, Z:-0.13 [[ 9.99883075e-01 -1.52776482e-02 -6.55889869e-04 1.29014736e+02] [ 1.52776147e-02 9.99883289e-01 -5.60658643e-05 7.00699739e+00] [ 6.56669874e-04 4.60388761e-05 9.99999783e-01 -1.33795760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.39140051299998 meters Centerline goodness [0,1] 0.9748635510830633 Centerline is valid? [True, True] Translation: X:129.04, Y:7.01, Z:-0.13 [[ 9.99849362e-01 -1.73496968e-02 4.91831521e-04 1.29044857e+02] [ 1.73496782e-02 9.99849482e-01 4.20046224e-05 7.00572764e+00] [-4.92486259e-04 -3.34651763e-05 9.99999878e-01 -1.32103329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.42140051299998 meters Centerline goodness [0,1] 0.9748635510830633 Centerline is valid? [True, True] Translation: X:129.07, Y:7.01, Z:-0.13 [[ 9.99849362e-01 -1.73496968e-02 4.91830346e-04 1.29074817e+02] [ 1.73496783e-02 9.99849482e-01 4.20183684e-05 7.00828720e+00] [-4.92485323e-04 -3.34789406e-05 9.99999878e-01 -1.32181626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.45140051299998 meters Centerline goodness [0,1] 0.9968430196834545 Centerline is valid? [True, True] Translation: X:129.11, Y:7.00, Z:-0.13 [[ 9.99795618e-01 -2.01558249e-02 1.56984583e-03 1.29106249e+02] [ 2.01556391e-02 9.99796845e-01 1.34114027e-04 7.00132765e+00] [-1.57223009e-03 -1.02445371e-04 9.99998759e-01 -1.30767366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.48140051299998 meters Centerline goodness [0,1] 0.9994025009602663 Centerline is valid? [True, True] Translation: X:129.14, Y:7.00, Z:-0.13 [[ 9.99767885e-01 -2.15337173e-02 6.89900056e-04 1.29137901e+02] [ 2.15336817e-02 9.99768122e-01 5.89636662e-05 6.99584754e+00] [-6.91009790e-04 -4.40938916e-05 9.99999760e-01 -1.31745876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.51140051299998 meters Centerline goodness [0,1] 0.99948810920337 Centerline is valid? [True, True] Translation: X:129.17, Y:7.00, Z:-0.13 [[ 9.99737349e-01 -2.29154812e-02 -3.35958112e-04 1.29167767e+02] [ 2.29154728e-02 9.99737406e-01 -2.87670086e-05 6.99531718e+00] [ 3.36529101e-04 2.10608140e-05 9.99999943e-01 -1.32997448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.54140051299999 meters Centerline goodness [0,1] 0.9991922112155095 Centerline is valid? [True, True] Translation: X:129.20, Y:7.00, Z:-0.13 [[ 9.99700019e-01 -2.44864779e-02 -5.32471627e-04 1.29196602e+02] [ 2.44864571e-02 9.99700161e-01 -4.55703128e-05 6.99746161e+00] [ 5.33427828e-04 3.25182990e-05 9.99999857e-01 -1.33849361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.571400513 meters Centerline goodness [0,1] 0.999637178529506 Centerline is valid? [True, True] Translation: X:129.23, Y:6.99, Z:-0.13 [[ 9.99654105e-01 -2.62994069e-02 1.03047394e-04 1.29226828e+02] [ 2.62994061e-02 9.99654111e-01 8.74861771e-06 6.98981554e+00] [-1.03241834e-04 -6.03550636e-06 9.99999995e-01 -1.33177817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.601400513 meters Centerline goodness [0,1] 0.9995341746421614 Centerline is valid? [True, True] Translation: X:129.26, Y:6.99, Z:-0.13 [[ 9.99553505e-01 -2.98023221e-02 2.14749464e-03 1.29256308e+02] [ 2.98019962e-02 9.99555805e-01 1.83589814e-04 6.98746574e+00] [-2.15201214e-03 -1.19508215e-04 9.99997677e-01 -1.31451311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.631400513 meters Centerline goodness [0,1] 0.9997651830504857 Centerline is valid? [True, True] Translation: X:129.29, Y:6.98, Z:-0.13 [[ 9.99510854e-01 -3.11694742e-02 2.55283189e-03 1.29286962e+02] [ 3.11690181e-02 9.99514104e-01 2.18284609e-04 6.98289118e+00] [-2.55839530e-03 -1.38608573e-04 9.99996718e-01 -1.30926877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.661400513 meters Centerline goodness [0,1] 0.999701600699107 Centerline is valid? [True, True] Translation: X:129.32, Y:6.98, Z:-0.13 [[ 9.99483865e-01 -3.20148077e-02 2.65610752e-03 1.29315618e+02] [ 3.20143168e-02 9.99487385e-01 2.27148412e-04 6.97999445e+00] [-2.66201807e-03 -1.41997705e-04 9.99996447e-01 -1.30703633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.691400513 meters Centerline goodness [0,1] 0.9997665683424231 Centerline is valid? [True, True] Translation: X:129.35, Y:6.98, Z:-0.13 [[ 9.99478251e-01 -3.22112174e-02 2.37959645e-03 1.29345610e+02] [ 3.22108238e-02 9.99481076e-01 2.03575186e-04 6.97770476e+00] [-2.38491903e-03 -1.26820209e-04 9.99997148e-01 -1.30935118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.721400513 meters Centerline goodness [0,1] 0.9991733785502331 Centerline is valid? [True, True] Translation: X:129.37, Y:6.98, Z:-0.13 [[ 9.99566394e-01 -2.94185167e-02 1.25528823e-03 1.29374449e+02] [ 2.94184050e-02 9.99567179e-01 1.07393241e-04 6.97912426e+00] [-1.25790427e-03 -7.04180970e-05 9.99999206e-01 -1.32690792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.751400513 meters Centerline goodness [0,1] 0.9993401728321485 Centerline is valid? [True, True] Translation: X:129.40, Y:6.98, Z:-0.13 [[ 9.99643258e-01 -2.66804353e-02 1.22917158e-03 1.29404442e+02] [ 2.66803260e-02 9.99644011e-01 1.05203850e-04 6.98059355e+00] [-1.23154090e-03 -7.23716208e-05 9.99999239e-01 -1.33008914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.781400513 meters Centerline goodness [0,1] 0.9947830862163647 Centerline is valid? [True, True] Translation: X:129.43, Y:6.99, Z:-0.13 [[ 9.99730438e-01 -2.32058279e-02 7.35015874e-04 1.29432806e+02] [ 2.32057879e-02 9.99730707e-01 6.28990287e-05 6.99214115e+00] [-7.36277564e-04 -4.58254511e-05 9.99999728e-01 -1.34745004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.811400513 meters Centerline goodness [0,1] 0.998037626381127 Centerline is valid? [True, True] Translation: X:129.46, Y:6.98, Z:-0.14 [[ 9.99866620e-01 -1.62456663e-02 -1.67939806e-03 1.29463904e+02] [ 1.62454475e-02 9.99868024e-01 -1.43821533e-04 6.98450333e+00] [ 1.68151289e-03 1.16519777e-04 9.99998579e-01 -1.38841286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.841400513 meters Centerline goodness [0,1] 0.9174426215662677 Centerline is valid? [True, False] Translation: X:129.46, Y:6.99, Z:-0.14 [[ 9.99868729e-01 -1.61034368e-02 -1.79003426e-03 1.29464519e+02] [ 1.61030767e-02 9.99870314e-01 -2.15412452e-04 6.98500229e+00] [ 1.79327100e-03 1.86559116e-04 9.99998375e-01 -1.39420900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.871400513 meters Centerline goodness [0,1] 0.9683393578566872 Centerline is valid? [False, True] Translation: X:129.46, Y:6.99, Z:-0.14 [[ 9.99868841e-01 -1.61058826e-02 -1.70348180e-03 1.29464334e+02] [ 1.61052845e-02 9.99870235e-01 -3.64224105e-04 6.98575861e+00] [ 1.70912689e-03 3.36741275e-04 9.99998483e-01 -1.39668551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.90140051299997 meters Centerline goodness [0,1] 0.818039082557128 Centerline is valid? [True, False] Translation: X:129.46, Y:6.99, Z:-0.14 [[ 9.99867948e-01 -1.61689716e-02 -1.62823650e-03 1.29464065e+02] [ 1.61680323e-02 9.99869116e-01 -5.88420361e-04 6.98686884e+00] [ 1.63753755e-03 5.62017278e-04 9.99998501e-01 -1.39679630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.93140051299997 meters Centerline goodness [0,1] 0.8365890228707791 Centerline is valid? [False, False] Translation: X:129.46, Y:6.99, Z:-0.14 [[ 9.99867318e-01 -1.62297036e-02 -1.39395206e-03 1.29462809e+02] [ 1.62286130e-02 9.99867995e-01 -7.90156912e-04 6.98794645e+00] [ 1.40659206e-03 7.67430164e-04 9.99998716e-01 -1.38846471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.96140051299997 meters Centerline goodness [0,1] 0.6176028137381613 Centerline is valid? [False, False] Translation: X:129.46, Y:6.99, Z:-0.14 [[ 9.99869303e-01 -1.61158207e-02 -1.28740095e-03 1.29462098e+02] [ 1.61151709e-02 9.99870010e-01 -5.13552394e-04 6.98668641e+00] [ 1.29550992e-03 4.92738588e-04 9.99999039e-01 -1.38167867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.99140051299997 meters Centerline goodness [0,1] 0.9577301679212508 Centerline is valid? [False, True] Translation: X:129.46, Y:6.98, Z:-0.14 [[ 9.99872615e-01 -1.59103305e-02 -1.27121705e-03 1.29461757e+02] [ 1.59103632e-02 9.99873422e-01 1.56730488e-05 6.98424261e+00] [ 1.27080678e-03 -3.58965773e-05 9.99999192e-01 -1.37552972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.02140051299997 meters Centerline goodness [0,1] 0.9778159931212381 Centerline is valid? [True, True] Translation: X:129.49, Y:6.98, Z:-0.14 [[ 9.99840163e-01 -1.78027941e-02 -1.64584096e-03 1.29491593e+02] [ 1.78025709e-02 9.99841510e-01 -1.50189307e-04 6.98427465e+00] [ 1.64825390e-03 1.20865100e-04 9.99998634e-01 -1.37788974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.05140051299998 meters Centerline goodness [0,1] 0.9521983640081799 Centerline is valid? [True, True] Translation: X:129.52, Y:6.99, Z:-0.14 [[ 9.99760944e-01 -2.11241668e-02 -5.64126863e-03 1.29519027e+02] [ 2.11207547e-02 9.99776712e-01 -6.63738825e-04 6.98702171e+00] [ 5.65402993e-03 5.44432304e-04 9.99983868e-01 -1.42952318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.08140051299998 meters Centerline goodness [0,1] 0.9930981595092024 Centerline is valid? [True, True] Translation: X:129.55, Y:6.98, Z:-0.14 [[ 9.99693751e-01 -2.42791918e-02 -4.78810554e-03 1.29550976e+02] [ 2.42778086e-02 9.99705190e-01 -3.46795335e-04 6.98214276e+00] [ 4.79511387e-03 2.30444419e-04 9.99988477e-01 -1.43083223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.11140051299998 meters Centerline goodness [0,1] 0.9951351580016076 Centerline is valid? [True, True] Translation: X:129.58, Y:6.98, Z:-0.14 [[ 9.99638794e-01 -2.64846497e-02 -4.56565458e-03 1.29581107e+02] [ 2.64830204e-02 9.99649176e-01 -4.16950405e-04 6.97996429e+00] [ 4.57509563e-03 2.95887476e-04 9.99989490e-01 -1.42654691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.14140051299998 meters Centerline goodness [0,1] 0.9968285051403759 Centerline is valid? [True, True] Translation: X:129.61, Y:6.98, Z:-0.14 [[ 9.99592330e-01 -2.82692752e-02 -4.00276497e-03 1.29611038e+02] [ 2.82680368e-02 9.99600312e-01 -3.65634942e-04 6.97742197e+00] [ 4.01150135e-03 2.52335576e-04 9.99991922e-01 -1.41583897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.17140051299998 meters Centerline goodness [0,1] 0.9977023720880758 Centerline is valid? [True, True] Translation: X:129.64, Y:6.98, Z:-0.14 [[ 9.99558907e-01 -2.94754128e-02 -3.63196250e-03 1.29640383e+02] [ 2.94743992e-02 9.99565480e-01 -3.32288715e-04 6.97723535e+00] [ 3.64017869e-03 2.25092232e-04 9.99993349e-01 -1.40536446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.20140051299998 meters Centerline goodness [0,1] 0.9985658325663035 Centerline is valid? [True, True] Translation: X:129.67, Y:6.98, Z:-0.14 [[ 9.99572791e-01 -2.91226716e-02 -2.47076186e-03 1.29669512e+02] [ 2.91222005e-02 9.99575833e-01 -2.26438688e-04 6.97506283e+00] [ 2.47630834e-03 1.54387929e-04 9.99996922e-01 -1.38027532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.23140051299998 meters Centerline goodness [0,1] 0.9928987811340753 Centerline is valid? [True, True] Translation: X:129.70, Y:6.98, Z:-0.14 [[ 9.99629252e-01 -2.71695451e-02 -1.78169003e-03 1.29697807e+02] [ 2.71692970e-02 9.99630833e-01 -1.63304889e-04 6.98216047e+00] [ 1.78546921e-03 1.14837078e-04 9.99998399e-01 -1.36829746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.26140051299998 meters Centerline goodness [0,1] 0.9722745853896173 Centerline is valid? [True, True] Translation: X:129.73, Y:6.99, Z:-0.14 [[ 9.99697690e-01 -2.45558521e-02 -1.24080868e-03 1.29726670e+02] [ 2.45557298e-02 9.99698456e-01 -1.13744606e-04 6.98651107e+00] [ 1.24322762e-03 8.32412570e-05 9.99999224e-01 -1.35893475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.29140051299999 meters Centerline goodness [0,1] 0.9425226409892045 Centerline is valid? [True, False] Translation: X:129.73, Y:6.98, Z:-0.14 [[ 9.99808584e-01 -1.95071369e-02 -1.50545116e-03 1.29726918e+02] [ 1.95159244e-02 9.99791171e-01 6.06161380e-03 6.97772494e+00] [ 1.38689205e-03 -6.08983378e-03 9.99980495e-01 -1.35028948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.321400513 meters Centerline goodness [0,1] 0.6580760019498548 Centerline is valid? [False, False] Translation: X:129.73, Y:6.98, Z:-0.14 [[ 9.99947978e-01 -1.01591527e-02 -9.12561744e-04 1.29729922e+02] [ 1.01546460e-02 9.99936851e-01 -4.81435401e-03 6.97990294e+00] [ 9.61413874e-04 4.80483681e-03 9.99987995e-01 -1.38305633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.351400513 meters Centerline goodness [0,1] 0.5444330949948928 Centerline is valid? [False, False] Translation: X:129.73, Y:6.97, Z:-0.14 [[ 9.99985759e-01 -5.17827449e-03 -1.29150957e-03 1.29731002e+02] [ 5.17977646e-03 9.99985909e-01 1.16233871e-03 6.97205718e+00] [ 1.28547246e-03 -1.16901189e-03 9.99998490e-01 -1.38096135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.381400513 meters Centerline goodness [0,1] 0.8020614580208288 Centerline is valid? [False, False] Translation: X:129.73, Y:6.97, Z:-0.14 [[ 9.99986291e-01 -5.06063352e-03 -1.34474634e-03 1.29731409e+02] [ 5.06238508e-03 9.99986338e-01 1.30232625e-03 6.97140710e+00] [ 1.33813737e-03 -1.30911602e-03 9.99998248e-01 -1.38564960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.411400513 meters Centerline goodness [0,1] 0.7178258925720125 Centerline is valid? [False, False] Translation: X:129.74, Y:6.97, Z:-0.14 [[ 9.99992686e-01 -2.94854737e-03 -2.43578604e-03 1.29736512e+02] [ 2.95603774e-03 9.99990896e-01 3.07728076e-03 6.96746613e+00] [ 2.42669036e-03 -3.08445853e-03 9.99992299e-01 -1.40602261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.441400513 meters Centerline goodness [0,1] 0.4612567340246577 Centerline is valid? [False, False] Translation: X:129.74, Y:6.97, Z:-0.14 [[ 9.99992926e-01 -3.03113899e-03 -2.22733103e-03 1.29735845e+02] [ 3.03718731e-03 9.99991696e-01 2.71715741e-03 6.96927591e+00] [ 2.21907645e-03 -2.72390301e-03 9.99993828e-01 -1.40695307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.471400513 meters Centerline goodness [0,1] 0.35403844933697104 Centerline is valid? [False, False] Translation: X:129.74, Y:6.97, Z:-0.15 [[ 9.99995112e-01 -5.89153355e-04 -3.07056322e-03 1.29742438e+02] [ 6.04814052e-04 9.99986803e-01 5.10183791e-03 6.96907334e+00] [ 3.06751693e-03 -5.10367010e-03 9.99982271e-01 -1.45031513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.501400513 meters Centerline goodness [0,1] 0.41247711889659866 Centerline is valid? [False, False] Translation: X:129.74, Y:6.97, Z:-0.15 [[ 9.99995182e-01 -8.44761342e-04 -2.98703474e-03 1.29742499e+02] [ 8.57962492e-04 9.99989859e-01 4.42096704e-03 6.97225331e+00] [ 2.98326979e-03 -4.42350850e-03 9.99985766e-01 -1.45779369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.531400513 meters Centerline goodness [0,1] 0.4055246985280142 Centerline is valid? [False, False] Translation: X:129.74, Y:6.98, Z:-0.15 [[ 9.99994949e-01 -1.03105374e-03 -3.00649459e-03 1.29742992e+02] [ 1.04232492e-03 9.99992426e-01 3.74978750e-03 6.97544562e+00] [ 3.00260559e-03 -3.75290230e-03 9.99988450e-01 -1.46770165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.561400513 meters Centerline goodness [0,1] 0.35961689566565436 Centerline is valid? [False, False] Translation: X:129.74, Y:6.98, Z:-0.15 [[ 9.99994893e-01 -1.10108626e-03 -3.00024048e-03 1.29742884e+02] [ 1.11190253e-03 9.99992881e-01 3.60585493e-03 6.97612196e+00] [ 2.99624877e-03 -3.60917249e-03 9.99988998e-01 -1.46628945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.591400513 meters Centerline goodness [0,1] 0.3930833652170216 Centerline is valid? [False, False] Translation: X:129.74, Y:6.98, Z:-0.15 [[ 9.99994893e-01 -1.15835065e-03 -2.97868391e-03 1.29742590e+02] [ 1.16889147e-03 9.99993053e-01 3.53944912e-03 6.97644475e+00] [ 2.97456329e-03 -3.54291280e-03 9.99989300e-01 -1.46238973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.621400513 meters Centerline goodness [0,1] 0.5272055841355903 Centerline is valid? [False, False] Translation: X:129.74, Y:6.98, Z:-0.14 [[ 9.99991743e-01 -3.50390113e-03 -2.05829180e-03 1.29736158e+02] [ 3.50623683e-03 9.99993212e-01 1.13226593e-03 6.98030746e+00] [ 2.05431048e-03 -1.13947344e-03 9.99997241e-01 -1.42310668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.65140051299997 meters Centerline goodness [0,1] 0.40641257033655376 Centerline is valid? [False, False] Translation: X:129.74, Y:6.98, Z:-0.14 [[ 9.99990823e-01 -3.65147713e-03 -2.24086371e-03 1.29736522e+02] [ 3.65401992e-03 9.99992684e-01 1.13169383e-03 6.98016595e+00] [ 2.23671496e-03 -1.13987160e-03 9.99996849e-01 -1.41845229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.68140051299997 meters Centerline goodness [0,1] 0.9277206512425021 Centerline is valid? [False, False] Translation: X:129.74, Y:6.98, Z:-0.14 [[ 9.99961365e-01 -8.50969718e-03 -2.20290841e-03 1.29736529e+02] [ 8.50047186e-03 9.99955201e-01 -4.16382033e-03 6.98455034e+00] [ 2.23824257e-03 4.14493370e-03 9.99988905e-01 -1.42027914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.71140051299997 meters Centerline goodness [0,1] 0.9883552603567931 Centerline is valid? [False, True] Translation: X:129.74, Y:6.98, Z:-0.14 [[ 9.99959052e-01 -8.68660797e-03 -2.53734479e-03 1.29737522e+02] [ 8.67619101e-03 9.99954005e-01 -4.08801288e-03 6.98389743e+00] [ 2.57273904e-03 4.06583100e-03 9.99988425e-01 -1.41810566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.74140051299997 meters Centerline goodness [0,1] 0.9638809000169176 Centerline is valid? [True, True] Translation: X:129.77, Y:6.99, Z:-0.14 [[ 9.99918100e-01 -1.24663310e-02 -2.89558996e-03 1.29766631e+02] [ 1.24656814e-02 9.99922271e-01 -2.42270280e-04 6.98885584e+00] [ 2.89838511e-03 2.06154936e-04 9.99995778e-01 -1.41748858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.77140051299997 meters Centerline goodness [0,1] 0.9960614834369411 Centerline is valid? [True, True] Translation: X:129.80, Y:6.99, Z:-0.14 [[ 9.99868124e-01 -1.59722862e-02 -2.93621478e-03 1.29796583e+02] [ 1.59716332e-02 9.99872415e-01 -2.45720639e-04 6.98566845e+00] [ 2.93976488e-03 1.98792089e-04 9.99995659e-01 -1.41509017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.80140051299998 meters Centerline goodness [0,1] 0.9936598812553011 Centerline is valid? [True, True] Translation: X:129.83, Y:6.99, Z:-0.14 [[ 9.99764039e-01 -2.13042442e-02 -4.24206944e-03 1.29825638e+02] [ 2.13029290e-02 9.99773004e-01 -3.54993900e-04 6.98905056e+00] [ 4.24866938e-03 2.64541632e-04 9.99990939e-01 -1.43606359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.83140051299998 meters Centerline goodness [0,1] 0.9984856886917204 Centerline is valid? [True, True] Translation: X:129.86, Y:6.99, Z:-0.14 [[ 9.99714443e-01 -2.34438047e-02 -4.62828011e-03 1.29855641e+02] [ 2.34422614e-02 9.99725117e-01 -3.87432670e-04 6.98686856e+00] [ 4.63609077e-03 2.78824684e-04 9.99989214e-01 -1.43713258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.86140051299998 meters Centerline goodness [0,1] 0.9991931888150491 Centerline is valid? [True, True] Translation: X:129.89, Y:6.99, Z:-0.14 [[ 9.99673500e-01 -2.51961091e-02 -4.24851493e-03 1.29885968e+02] [ 2.51948242e-02 9.99682497e-01 -3.55683594e-04 6.98819665e+00] [ 4.25612785e-03 2.48526876e-04 9.99990912e-01 -1.43362098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.89140051299998 meters Centerline goodness [0,1] 0.9994877267876201 Centerline is valid? [True, True] Translation: X:129.92, Y:6.99, Z:-0.14 [[ 9.99634319e-01 -2.68556048e-02 -3.16293184e-03 1.29915790e+02] [ 2.68549007e-02 9.99639307e-01 -2.64881753e-04 6.98853668e+00] [ 3.16890455e-03 1.79844670e-04 9.99994963e-01 -1.41165206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.92140051299998 meters Centerline goodness [0,1] 0.9994688648579745 Centerline is valid? [True, True] Translation: X:129.94, Y:6.99, Z:-0.14 [[ 9.99572141e-01 -2.92265264e-02 -1.15938695e-03 1.29944165e+02] [ 2.92264334e-02 9.99572812e-01 -9.71057614e-05 6.99157292e+00] [ 1.16172974e-03 6.31794684e-05 9.99999323e-01 -1.38088366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.95140051299998 meters Centerline goodness [0,1] 0.9997675941771778 Centerline is valid? [True, True] Translation: X:129.97, Y:6.99, Z:-0.14 [[ 9.99545415e-01 -3.01210261e-02 -1.29907028e-03 1.29972992e+02] [ 3.01209096e-02 9.99546257e-01 -1.09129237e-04 6.98829399e+00] [ 1.30176792e-03 6.99504500e-05 9.99999150e-01 -1.37867751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.98140051299998 meters Centerline goodness [0,1] 0.9995133305120609 Centerline is valid? [True, True] Translation: X:130.00, Y:7.00, Z:-0.14 [[ 9.99527383e-01 -3.06729241e-02 -2.04507434e-03 1.30000513e+02] [ 3.06726366e-02 9.99529469e-01 -1.71769373e-04 6.99747549e+00] [ 2.04938074e-03 1.08960370e-04 9.99997894e-01 -1.39193534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.01140051299998 meters Centerline goodness [0,1] 0.9986172272214776 Centerline is valid? [True, True] Translation: X:130.03, Y:7.01, Z:-0.14 [[ 9.99570505e-01 -2.91606392e-02 -2.90890094e-03 1.30028173e+02] [ 2.91600512e-02 9.99574725e-01 -2.44384096e-04 7.00994156e+00] [ 2.91479026e-03 1.59455434e-04 9.99995739e-01 -1.40384506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.04140051299999 meters Centerline goodness [0,1] 0.9992600735698279 Centerline is valid? [True, True] Translation: X:130.06, Y:7.01, Z:-0.14 [[ 9.99614647e-01 -2.76323957e-02 -2.64732029e-03 1.30057563e+02] [ 2.76319030e-02 9.99618141e-01 -2.22498913e-04 7.01022807e+00] [ 2.65245756e-03 1.49262675e-04 9.99996471e-01 -1.39613974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.071400513 meters Centerline goodness [0,1] 0.9987172086460138 Centerline is valid? [True, True] Translation: X:130.09, Y:7.02, Z:-0.14 [[ 9.99648460e-01 -2.63485162e-02 -2.95156234e-03 1.30086254e+02] [ 2.63478979e-02 9.99652803e-01 -2.48164362e-04 7.01593178e+00] [ 2.95707633e-03 1.70309659e-04 9.99995613e-01 -1.40145702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.101400513 meters Centerline goodness [0,1] 0.9979648944288985 Centerline is valid? [True, True] Translation: X:130.11, Y:7.02, Z:-0.14 [[ 9.99674355e-01 -2.53195779e-02 -3.17845354e-03 1.30114320e+02] [ 2.53188552e-02 9.99679391e-01 -2.67387565e-04 7.02081633e+00] [ 3.18420464e-03 1.86825686e-04 9.99994913e-01 -1.40771684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.131400513 meters Centerline goodness [0,1] 0.9990016144107401 Centerline is valid? [True, True] Translation: X:130.14, Y:7.02, Z:-0.14 [[ 9.99685788e-01 -2.48014213e-02 -3.63514762e-03 1.30143129e+02] [ 2.48004703e-02 9.99692374e-01 -3.06459888e-04 7.02037476e+00] [ 3.64162999e-03 2.16210224e-04 9.99993346e-01 -1.41187050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.161400513 meters Centerline goodness [0,1] 0.9995085680099141 Centerline is valid? [True, True] Translation: X:130.17, Y:7.02, Z:-0.14 [[ 9.99681058e-01 -2.50748382e-02 -3.00590567e-03 1.30172403e+02] [ 2.50741877e-02 9.99685561e-01 -2.53929154e-04 7.01699443e+00] [ 3.01132773e-03 1.78477523e-04 9.99995450e-01 -1.40372112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.191400513 meters Centerline goodness [0,1] 0.9983763495276653 Centerline is valid? [True, True] Translation: X:130.20, Y:7.03, Z:-0.14 [[ 9.99671483e-01 -2.55377165e-02 -2.17991438e-03 1.30198948e+02] [ 2.55373753e-02 9.99673851e-01 -1.84233971e-04 7.03002503e+00] [ 2.18390832e-03 1.28504156e-04 9.99997607e-01 -1.39613584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.221400513 meters Centerline goodness [0,1] 0.9986425723254433 Centerline is valid? [True, True] Translation: X:130.23, Y:7.03, Z:-0.14 [[ 9.99652242e-01 -2.63250589e-02 -1.54502883e-03 1.30227663e+02] [ 2.63248879e-02 9.99653432e-01 -1.30892718e-04 7.03171705e+00] [ 1.54793913e-03 9.01744883e-05 9.99998798e-01 -1.38225648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.251400513 meters Centerline goodness [0,1] 0.9990918498806733 Centerline is valid? [True, True] Translation: X:130.26, Y:7.03, Z:-0.14 [[ 9.99626810e-01 -2.72450211e-02 -1.98729226e-03 1.30257073e+02] [ 2.72447399e-02 9.99628779e-01 -1.68436393e-04 7.03046774e+00] [ 1.99114359e-03 1.14230273e-04 9.99998011e-01 -1.38278227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.281400513 meters Centerline goodness [0,1] 0.9991097734161385 Centerline is valid? [True, True] Translation: X:130.29, Y:7.03, Z:-0.14 [[ 9.99627940e-01 -2.71435413e-02 -2.68503820e-03 1.30286501e+02] [ 2.71430264e-02 9.99631534e-01 -2.28032552e-04 7.02968932e+00] [ 2.69023846e-03 1.55067647e-04 9.99996369e-01 -1.39857544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.311400513 meters Centerline goodness [0,1] 0.9997856469176026 Centerline is valid? [True, True] Translation: X:130.32, Y:7.03, Z:-0.14 [[ 9.99651237e-01 -2.61880379e-02 -3.40462595e-03 1.30316171e+02] [ 2.61872043e-02 9.99657015e-01 -2.89199554e-04 7.02574590e+00] [ 3.41103178e-03 1.99941056e-04 9.99994162e-01 -1.40756694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.341400513 meters Centerline goodness [0,1] 0.9997856469176026 Centerline is valid? [True, True] Translation: X:130.34, Y:7.03, Z:-0.14 [[ 9.99646325e-01 -2.63748780e-02 -3.40456316e-03 1.30343611e+02] [ 2.63740430e-02 9.99652102e-01 -2.89937963e-04 7.02822244e+00] [ 3.41102580e-03 2.00043324e-04 9.99994162e-01 -1.40777043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.371400513 meters Centerline goodness [0,1] 0.9982057416267942 Centerline is valid? [True, True] Translation: X:130.37, Y:7.04, Z:-0.14 [[ 9.99687255e-01 -2.46952931e-02 -3.94138931e-03 1.30371163e+02] [ 2.46941609e-02 9.99694996e-01 -3.35657207e-04 7.04172165e+00] [ 3.94847632e-03 2.38222930e-04 9.99992176e-01 -1.43083966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.40140051299997 meters Centerline goodness [0,1] 0.98644168650119 Centerline is valid? [True, True] Translation: X:130.40, Y:7.05, Z:-0.14 [[ 9.99793081e-01 -1.98440948e-02 -4.47295244e-03 1.30400244e+02] [ 1.98425882e-02 9.99803044e-01 -3.80951804e-04 7.05309221e+00] [ 4.47963111e-03 2.92118024e-04 9.99989924e-01 -1.43990427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.43140051299997 meters Centerline goodness [0,1] 0.9984012619372442 Centerline is valid? [True, True] Translation: X:130.43, Y:7.05, Z:-0.14 [[ 9.99834847e-01 -1.75633510e-02 -4.66978652e-03 1.30430498e+02] [ 1.75616839e-02 9.99845703e-01 -3.97769887e-04 7.04981753e+00] [ 4.67605216e-03 3.15694880e-04 9.99989017e-01 -1.43132461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.46140051299997 meters Centerline goodness [0,1] 0.9755626326963907 Centerline is valid? [True, True] Translation: X:130.46, Y:7.06, Z:-0.14 [[ 9.99862990e-01 -1.57242294e-02 -5.17206449e-03 1.30458827e+02] [ 1.57221592e-02 9.99876302e-01 -4.40680795e-04 7.06269217e+00] [ 5.17835408e-03 3.59304396e-04 9.99986528e-01 -1.43820415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.49140051299997 meters Centerline goodness [0,1] 0.9700664238268695 Centerline is valid? [True, True] Translation: X:130.49, Y:7.07, Z:-0.14 [[ 9.99873960e-01 -1.47627190e-02 -5.84168976e-03 1.30488171e+02] [ 1.47600609e-02 9.99890940e-01 -4.97864976e-04 7.06634566e+00] [ 5.84840251e-03 4.11578528e-04 9.99982813e-01 -1.44308064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.52140051299997 meters Centerline goodness [0,1] 0.9573025081044191 Centerline is valid? [True, True] Translation: X:130.52, Y:7.07, Z:-0.15 [[ 9.99875189e-01 -1.47331236e-02 -5.70443579e-03 1.30515151e+02] [ 1.47305866e-02 9.99891381e-01 -4.86512433e-04 7.07204861e+00] [ 5.71098402e-03 4.02422026e-04 9.99983611e-01 -1.45146614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.55140051299998 meters Centerline goodness [0,1] 0.9733062588573725 Centerline is valid? [True, True] Translation: X:130.55, Y:7.07, Z:-0.14 [[ 9.99862972e-01 -1.58824959e-02 -4.66723158e-03 1.30545315e+02] [ 1.58808099e-02 9.99873813e-01 -3.98079053e-04 7.07350531e+00] [ 4.67296512e-03 3.23905088e-04 9.99989029e-01 -1.44094290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.58140051299998 meters Centerline goodness [0,1] 0.9945949383187078 Centerline is valid? [True, True] Translation: X:130.58, Y:7.07, Z:-0.14 [[ 9.99838190e-01 -1.76262241e-02 -3.59296626e-03 1.30575230e+02] [ 1.76252358e-02 9.99844616e-01 -3.06543631e-04 7.07165026e+00] [ 3.59781118e-03 2.43167152e-04 9.99993498e-01 -1.42623600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.61140051299998 meters Centerline goodness [0,1] 0.9976154803857435 Centerline is valid? [True, True] Translation: X:130.61, Y:7.07, Z:-0.14 [[ 9.99805487e-01 -1.95421919e-02 -2.66294138e-03 1.30605438e+02] [ 1.95416558e-02 9.99809018e-01 -2.27222152e-04 7.07057613e+00] [ 2.66687323e-03 1.75139670e-04 9.99996429e-01 -1.41313103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.64140051299998 meters Centerline goodness [0,1] 0.9994229782868866 Centerline is valid? [True, True] Translation: X:130.64, Y:7.06, Z:-0.14 [[ 9.99706724e-01 -2.39839099e-02 -3.35231860e-03 1.30636534e+02] [ 2.39830850e-02 9.99712324e-01 -2.86069175e-04 7.05953945e+00] [ 3.35821527e-03 2.05586336e-04 9.99994340e-01 -1.40300849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.67140051299998 meters Centerline goodness [0,1] 0.9953660403026954 Centerline is valid? [True, True] Translation: X:130.66, Y:7.07, Z:-0.14 [[ 9.99655169e-01 -2.59855818e-02 -3.78051748e-03 1.30664396e+02] [ 2.59845466e-02 9.99662293e-01 -3.22708322e-04 7.07398517e+00] [ 3.78762654e-03 2.24362010e-04 9.99992802e-01 -1.41215400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.70140051299998 meters Centerline goodness [0,1] 0.9992391901601927 Centerline is valid? [True, True] Translation: X:130.70, Y:7.07, Z:-0.14 [[ 9.99606082e-01 -2.78049850e-02 -3.81632064e-03 1.30695225e+02] [ 2.78039431e-02 9.99613343e-01 -3.25798090e-04 7.06943907e+00] [ 3.82390384e-03 2.19560991e-04 9.99992665e-01 -1.40682802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.73140051299998 meters Centerline goodness [0,1] 0.9994618100404719 Centerline is valid? [True, True] Translation: X:130.73, Y:7.06, Z:-0.14 [[ 9.99564214e-01 -2.92856042e-02 -3.70600589e-03 1.30725769e+02] [ 2.92846317e-02 9.99571063e-01 -3.16424407e-04 7.06337467e+00] [ 3.71368293e-03 2.07757497e-04 9.99993083e-01 -1.39589743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.76140051299998 meters Centerline goodness [0,1] 0.9997028042541448 Centerline is valid? [True, True] Translation: X:130.75, Y:7.06, Z:-0.14 [[ 9.99504289e-01 -3.14046517e-02 -2.21883869e-03 1.30754293e+02] [ 3.14043081e-02 9.99506745e-01 -1.89545880e-04 7.06414680e+00] [ 2.22369686e-03 1.19770827e-04 9.99997520e-01 -1.38705940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.79140051299999 meters Centerline goodness [0,1] 0.9996406147601632 Centerline is valid? [True, True] Translation: X:130.78, Y:7.07, Z:-0.14 [[ 9.99452868e-01 -3.30239536e-02 -1.83910247e-03 1.30782892e+02] [ 3.30237201e-02 9.99454556e-01 -1.57154325e-04 7.06558154e+00] [ 1.84328920e-03 9.63343353e-05 9.99998297e-01 -1.38609192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.821400513 meters Centerline goodness [0,1] 0.9996400897658466 Centerline is valid? [True, True] Translation: X:130.81, Y:7.06, Z:-0.14 [[ 9.99384367e-01 -3.50414829e-02 -1.72692733e-03 1.30813034e+02] [ 3.50412800e-02 9.99385855e-01 -1.47605355e-04 7.06186685e+00] [ 1.73103906e-03 8.70007397e-05 9.99998498e-01 -1.38218458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.851400513 meters Centerline goodness [0,1] 0.9998089658685685 Centerline is valid? [True, True] Translation: X:130.84, Y:7.05, Z:-0.14 [[ 9.99253179e-01 -3.86346748e-02 -6.67653378e-04 1.30844207e+02] [ 3.86346453e-02 9.99253402e-01 -5.70627031e-05 7.05348490e+00] [ 6.69359508e-04 3.12255360e-05 9.99999775e-01 -1.36379204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.881400513 meters Centerline goodness [0,1] 0.9998714129572877 Centerline is valid? [True, True] Translation: X:130.87, Y:7.05, Z:-0.13 [[ 9.99203848e-01 -3.98924059e-02 5.15739121e-04 1.30873325e+02] [ 3.98923884e-02 9.99203981e-01 4.40676380e-05 7.04892177e+00] [-5.17086547e-04 -2.34584881e-05 9.99999866e-01 -1.34457968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.911400513 meters Centerline goodness [0,1] 0.9998304186539481 Centerline is valid? [True, True] Translation: X:130.90, Y:7.05, Z:-0.13 [[ 9.99174582e-01 -4.05849861e-02 1.73593654e-03 1.30901166e+02] [ 4.05847891e-02 9.99176087e-01 1.48528088e-04 7.04997044e+00] [-1.74053429e-03 -7.79528722e-05 9.99998482e-01 -1.32803129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.941400513 meters Centerline goodness [0,1] 0.9999574522401395 Centerline is valid? [True, True] Translation: X:130.93, Y:7.04, Z:-0.13 [[ 9.99143522e-01 -4.13214479e-02 2.18180828e-03 1.30930756e+02] [ 4.13211379e-02 9.99145900e-01 1.86995425e-04 7.04182262e+00] [-2.18767172e-03 -9.66804670e-05 9.99997602e-01 -1.32666731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.971400513 meters Centerline goodness [0,1] 0.9997671957671957 Centerline is valid? [True, True] Translation: X:130.96, Y:7.05, Z:-0.13 [[ 9.99136960e-01 -4.15046843e-02 1.64221646e-03 1.30958441e+02] [ 4.15045087e-02 9.99138307e-01 1.40893684e-04 7.04763309e+00] [-1.64664913e-03 -7.26126993e-05 9.99998642e-01 -1.33469740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.001400513 meters Centerline goodness [0,1] 0.9996599290101809 Centerline is valid? [True, True] Translation: X:130.98, Y:7.04, Z:-0.14 [[ 9.99278321e-01 -3.79746543e-02 8.72927496e-04 1.30984847e+02] [ 3.79648641e-02 9.99235417e-01 9.34081661e-03 7.04079664e+00] [-1.22697435e-03 -9.30093496e-03 9.99955993e-01 -1.37524340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.031400513 meters Centerline goodness [0,1] 0.9997661365762395 Centerline is valid? [True, True] Translation: X:131.02, Y:7.06, Z:-0.14 [[ 9.99253321e-01 -3.86225212e-02 -1.04938498e-03 1.31016043e+02] [ 3.86115441e-02 9.99213786e-01 -8.99764702e-03 7.05643158e+00] [ 1.39607175e-03 8.95041029e-03 9.99958970e-01 -1.40078099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.061400513 meters Centerline goodness [0,1] 0.9996374261522384 Centerline is valid? [True, True] Translation: X:131.05, Y:7.06, Z:-0.13 [[ 9.99447213e-01 -3.32449078e-02 2.12475564e-04 1.31045024e+02] [ 3.32449047e-02 9.99447235e-01 1.82804997e-05 7.05862323e+00] [-2.12965849e-04 -1.12066646e-05 9.99999977e-01 -1.34364807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.091400513 meters Centerline goodness [0,1] 0.9995340266452036 Centerline is valid? [True, True] Translation: X:131.08, Y:7.06, Z:-0.13 [[ 9.99550308e-01 -2.99605867e-02 1.24298447e-03 1.31075135e+02] [ 2.99604768e-02 9.99551078e-01 1.06917910e-04 7.06324307e+00] [-1.24562979e-03 -6.96294228e-05 9.99999222e-01 -1.32828936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.121400513 meters Centerline goodness [0,1] 0.9994068173633032 Centerline is valid? [True, True] Translation: X:131.11, Y:7.07, Z:-0.13 [[ 9.99643355e-01 -2.66769752e-02 1.22567244e-03 1.31105242e+02] [ 2.66768660e-02 9.99644104e-01 1.05429969e-04 7.07070098e+00] [-1.22804878e-03 -7.26952683e-05 9.99999243e-01 -1.33014530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.15140051299997 meters Centerline goodness [0,1] 0.9990400204795631 Centerline is valid? [True, True] Translation: X:131.14, Y:7.08, Z:-0.14 [[ 9.99723686e-01 -2.35056343e-02 1.89343132e-04 1.31135639e+02] [ 2.35056317e-02 9.99723704e-01 1.62867454e-05 7.07811500e+00] [-1.89673647e-04 -1.18316153e-05 9.99999982e-01 -1.35200638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.18140051299997 meters Centerline goodness [0,1] 0.9787351913406631 Centerline is valid? [True, True] Translation: X:131.16, Y:7.09, Z:-0.14 [[ 9.99834506e-01 -1.78187560e-02 -3.66767492e-03 1.31164301e+02] [ 1.78177180e-02 9.99841202e-01 -3.15495319e-04 7.09279362e+00] [ 3.67271423e-03 2.50093509e-04 9.99993224e-01 -1.41644567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.21140051299997 meters Centerline goodness [0,1] 0.9443143100511073 Centerline is valid? [True, False] Translation: X:131.17, Y:7.10, Z:-0.14 [[ 9.99829734e-01 -1.80579547e-02 -3.79658856e-03 1.31165159e+02] [ 1.80542324e-02 9.99836496e-01 -1.01242324e-03 7.09605698e+00] [ 3.81425010e-03 9.43706368e-04 9.99992280e-01 -1.42577602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.24140051299997 meters Centerline goodness [0,1] 0.9919079340678111 Centerline is valid? [False, True] Translation: X:131.17, Y:7.09, Z:-0.14 [[ 9.99900382e-01 -1.35015832e-02 -4.11501316e-03 1.31165860e+02] [ 1.35183544e-02 9.99900318e-01 4.07540819e-03 7.09234142e+00] [ 4.05957851e-03 -4.13063041e-03 9.99983229e-01 -1.42258650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.27140051299997 meters Centerline goodness [0,1] 0.9583244556185282 Centerline is valid? [True, True] Translation: X:131.19, Y:7.11, Z:-0.14 [[ 9.99918383e-01 -1.21829348e-02 -3.84760408e-03 1.31193494e+02] [ 1.21817618e-02 9.99925746e-01 -3.28139837e-04 7.10661569e+00] [ 3.85131608e-03 2.81242459e-04 9.99992544e-01 -1.43301398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.30140051299998 meters Centerline goodness [0,1] 0.8854678759111714 Centerline is valid? [True, False] Translation: X:131.19, Y:7.11, Z:-0.14 [[ 9.99914157e-01 -1.25283347e-02 -3.83664127e-03 1.31193450e+02] [ 1.25224968e-02 9.99920402e-01 -1.54187492e-03 7.11257547e+00] [ 3.85565301e-03 1.49369824e-03 9.99991451e-01 -1.43419993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.33140051299998 meters Centerline goodness [0,1] 0.8753304340411018 Centerline is valid? [False, False] Translation: X:131.19, Y:7.12, Z:-0.14 [[ 9.99910153e-01 -1.28757415e-02 -3.72852483e-03 1.31193217e+02] [ 1.28665815e-02 9.99914170e-01 -2.47039064e-03 7.11701718e+00] [ 3.76001293e-03 2.42219531e-03 9.99989998e-01 -1.43721298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.36140051299998 meters Centerline goodness [0,1] 0.776623046087934 Centerline is valid? [False, False] Translation: X:131.19, Y:7.12, Z:-0.14 [[ 9.99956297e-01 -8.48729483e-03 -3.92032532e-03 1.31193438e+02] [ 8.49615212e-03 9.99961380e-01 2.24822352e-03 7.11504588e+00] [ 3.90109258e-03 -2.28143294e-03 9.99989788e-01 -1.43197143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.39140051299998 meters Centerline goodness [0,1] 0.48693556570268903 Centerline is valid? [False, False] Translation: X:131.19, Y:7.12, Z:-0.14 [[ 9.99953410e-01 -8.90058902e-03 -3.73585340e-03 1.31192753e+02] [ 8.90526348e-03 9.99959583e-01 1.23647848e-03 7.11988673e+00] [ 3.72469702e-03 -1.26968963e-03 9.99992257e-01 -1.43173420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.42140051299998 meters Centerline goodness [0,1] 0.7927099301652188 Centerline is valid? [False, False] Translation: X:131.19, Y:7.12, Z:-0.14 [[ 9.99951667e-01 -9.14291294e-03 -3.61544822e-03 1.31192061e+02] [ 9.14542694e-03 9.99957949e-01 6.79428932e-04 7.12257663e+00] [ 3.60908422e-03 -7.12460910e-04 9.99993233e-01 -1.42666820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.45140051299998 meters Centerline goodness [0,1] 0.9845589654506852 Centerline is valid? [False, True] Translation: X:131.19, Y:7.12, Z:-0.14 [[ 9.99949808e-01 -9.28745349e-03 -3.75828690e-03 1.31192014e+02] [ 9.29095010e-03 9.99956420e-01 9.13985757e-04 7.12121330e+00] [ 3.74963451e-03 -9.48857938e-04 9.99992520e-01 -1.41646346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.48140051299998 meters Centerline goodness [0,1] 0.9390262044928059 Centerline is valid? [True, False] Translation: X:131.19, Y:7.13, Z:-0.14 [[ 9.99894680e-01 -1.40456406e-02 -3.65353377e-03 1.31192055e+02] [ 1.40291935e-02 9.99891509e-01 -4.48903801e-03 7.12632065e+00] [ 3.71618881e-03 4.43730909e-03 9.99983250e-01 -1.42195024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.51140051299998 meters Centerline goodness [0,1] 0.9959568153468966 Centerline is valid? [False, True] Translation: X:131.19, Y:7.12, Z:-0.14 [[ 9.99895322e-01 -1.39492762e-02 -3.84221092e-03 1.31192590e+02] [ 1.39336772e-02 9.99894690e-01 -4.05718933e-03 7.12419280e+00] [ 3.89840115e-03 4.00322851e-03 9.99984388e-01 -1.42008199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.54140051299999 meters Centerline goodness [0,1] 0.9552159496684237 Centerline is valid? [True, True] Translation: X:131.22, Y:7.13, Z:-0.14 [[ 9.99857131e-01 -1.64293202e-02 -3.97437776e-03 1.31221603e+02] [ 1.64281410e-02 9.99864995e-01 -3.29150367e-04 7.13186535e+00] [ 3.97924892e-03 2.63811703e-04 9.99992048e-01 -1.42428882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.571400513 meters Centerline goodness [0,1] 0.9982483123985303 Centerline is valid? [True, True] Translation: X:131.25, Y:7.12, Z:-0.14 [[ 9.99797451e-01 -1.98153902e-02 -3.52237083e-03 1.31252408e+02] [ 1.98144847e-02 9.99803631e-01 -2.91779448e-04 7.12156235e+00] [ 3.52746087e-03 2.21926385e-04 9.99993754e-01 -1.40523482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.601400513 meters Centerline goodness [0,1] 0.9797497495363758 Centerline is valid? [True, True] Translation: X:131.28, Y:7.13, Z:-0.14 [[ 9.99786409e-01 -2.04594233e-02 -2.92389868e-03 1.31280009e+02] [ 2.04588001e-02 9.99790667e-01 -2.42888579e-04 7.13205744e+00] [ 2.92825597e-03 1.83017242e-04 9.99995696e-01 -1.40595534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.631400513 meters Centerline goodness [0,1] 0.9979999574459031 Centerline is valid? [True, True] Translation: X:131.31, Y:7.13, Z:-0.14 [[ 9.99787978e-01 -2.04362886e-02 -2.52128267e-03 1.31309459e+02] [ 2.04358241e-02 9.99791145e-01 -2.09871081e-04 7.12731194e+00] [ 2.52504507e-03 1.58302095e-04 9.99996800e-01 -1.40295868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.661400513 meters Centerline goodness [0,1] 0.9869893646615737 Centerline is valid? [True, True] Translation: X:131.34, Y:7.14, Z:-0.14 [[ 9.99820605e-01 -1.87938786e-02 -2.35540806e-03 1.31338345e+02] [ 1.87934691e-02 9.99823368e-01 -1.95883415e-04 7.13752958e+00] [ 2.35867343e-03 1.51581986e-04 9.99997207e-01 -1.41391031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.691400513 meters Centerline goodness [0,1] 0.9983279715543515 Centerline is valid? [True, True] Translation: X:131.37, Y:7.13, Z:-0.14 [[ 9.99833992e-01 -1.80953161e-02 -2.13267484e-03 1.31367453e+02] [ 1.80949776e-02 9.99836257e-01 -1.77927207e-04 7.13296799e+00] [ 2.13554528e-03 1.39306967e-04 9.99997710e-01 -1.39974730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.721400513 meters Centerline goodness [0,1] 0.9958480602989397 Centerline is valid? [True, True] Translation: X:131.40, Y:7.14, Z:-0.14 [[ 9.99846382e-01 -1.73852098e-02 -2.22860794e-03 1.31395009e+02] [ 1.73848385e-02 9.99848855e-01 -1.85889965e-04 7.13847728e+00] [ 2.23150283e-03 1.47117420e-04 9.99997499e-01 -1.39985131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.751400513 meters Centerline goodness [0,1] 0.9979365214431586 Centerline is valid? [True, True] Translation: X:131.43, Y:7.14, Z:-0.14 [[ 9.99859826e-01 -1.65070482e-02 -2.80105313e-03 1.31425088e+02] [ 1.65064582e-02 9.99863732e-01 -2.33629270e-04 7.13735101e+00] [ 2.80452797e-03 1.87361054e-04 9.99996050e-01 -1.40371243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.781400513 meters Centerline goodness [0,1] 0.9961090321483246 Centerline is valid? [True, True] Translation: X:131.46, Y:7.14, Z:-0.14 [[ 9.99893340e-01 -1.42391084e-02 -3.24896869e-03 1.31455182e+02] [ 1.42383027e-02 9.99898594e-01 -2.70990645e-04 7.14463289e+00] [ 3.25249789e-03 2.24701942e-04 9.99994685e-01 -1.41669951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.811400513 meters Centerline goodness [0,1] 0.9775004807589581 Centerline is valid? [True, True] Translation: X:131.48, Y:7.15, Z:-0.14 [[ 9.99909256e-01 -1.31886627e-02 -2.74565345e-03 1.31482444e+02] [ 1.31880828e-02 9.99913007e-01 -2.29206264e-04 7.15468635e+00] [ 2.74843752e-03 1.92975560e-04 9.99996204e-01 -1.42085896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.841400513 meters Centerline goodness [0,1] 0.8764237625439302 Centerline is valid? [True, False] Translation: X:131.48, Y:7.16, Z:-0.14 [[ 9.99907474e-01 -1.33406870e-02 -2.65903581e-03 1.31482159e+02] [ 1.33390148e-02 9.99910823e-01 -6.45612295e-04 7.15670010e+00] [ 2.66741160e-03 6.10083641e-04 9.99996256e-01 -1.42162147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.871400513 meters Centerline goodness [0,1] 0.9629338878044641 Centerline is valid? [False, True] Translation: X:131.48, Y:7.15, Z:-0.14 [[ 9.99955369e-01 -9.00587431e-03 -2.85566442e-03 1.31482363e+02] [ 9.01853640e-03 9.99949419e-01 4.45259063e-03 7.15268580e+00] [ 2.81542051e-03 -4.47814582e-03 9.99986010e-01 -1.41391869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.90140051299997 meters Centerline goodness [0,1] 0.9953343035698998 Centerline is valid? [True, True] Translation: X:131.51, Y:7.16, Z:-0.14 [[ 9.99954765e-01 -8.98311151e-03 -3.12590014e-03 1.31510658e+02] [ 8.98236943e-03 9.99959626e-01 -2.51355051e-04 7.15675207e+00] [ 3.12803189e-03 2.23265691e-04 9.99995083e-01 -1.41595256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.93140051299997 meters Centerline goodness [0,1] 0.9531316393303306 Centerline is valid? [True, True] Translation: X:131.54, Y:7.17, Z:-0.14 [[ 9.99951233e-01 -9.01810151e-03 -4.02564782e-03 1.31537233e+02] [ 9.01687077e-03 9.99959295e-01 -3.23769775e-04 7.16808371e+00] [ 4.02840375e-03 2.87455239e-04 9.99991845e-01 -1.43433404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.96140051299997 meters Centerline goodness [0,1] 0.9461025728114121 Centerline is valid? [True, False] Translation: X:131.54, Y:7.17, Z:-0.14 [[ 9.99976054e-01 -4.98107249e-03 -4.80418202e-03 1.31540246e+02] [ 5.00245389e-03 9.99977591e-01 4.44888104e-03 7.16504436e+00] [ 4.78191416e-03 -4.47280721e-03 9.99978563e-01 -1.44407978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.99140051299997 meters Centerline goodness [0,1] 0.9252542083226523 Centerline is valid? [False, False] Translation: X:131.54, Y:7.17, Z:-0.15 [[ 9.99974723e-01 -5.18630282e-03 -4.86364249e-03 1.31540790e+02] [ 5.20574350e-03 9.99978478e-01 3.99303965e-03 7.16711564e+00] [ 4.84282870e-03 -4.01825759e-03 9.99980200e-01 -1.45111555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.02140051299997 meters Centerline goodness [0,1] 0.9080833174087521 Centerline is valid? [False, False] Translation: X:131.54, Y:7.17, Z:-0.15 [[ 9.99973346e-01 -5.39003402e-03 -4.92488784e-03 1.31541154e+02] [ 5.40745731e-03 9.99979144e-01 3.53136521e-03 7.16924550e+00] [ 4.90575095e-03 -3.55790220e-03 9.99981637e-01 -1.45464080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.05140051299998 meters Centerline goodness [0,1] 0.8851391607796408 Centerline is valid? [False, False] Translation: X:131.54, Y:7.17, Z:-0.15 [[ 9.99971992e-01 -5.60061850e-03 -4.96470365e-03 1.31541405e+02] [ 5.61578797e-03 9.99979590e-01 3.04680775e-03 7.17151573e+00] [ 4.94753831e-03 -3.07460314e-03 9.99983034e-01 -1.45715918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.08140051299998 meters Centerline goodness [0,1] 0.9418604651162791 Centerline is valid? [False, False] Translation: X:131.54, Y:7.17, Z:-0.15 [[ 9.99971108e-01 -5.77106879e-03 -4.94761183e-03 1.31541279e+02] [ 5.78412501e-03 9.99979817e-01 2.62865743e-03 7.17351576e+00] [ 4.93234181e-03 -2.65719909e-03 9.99984306e-01 -1.45602853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.11140051299998 meters Centerline goodness [0,1] 0.843065228469509 Centerline is valid? [False, False] Translation: X:131.56, Y:7.19, Z:-0.15 [[ 9.99988740e-01 -4.68200615e-03 7.73691009e-04 1.31563483e+02] [ 4.68780457e-03 9.99959591e-01 -7.67079711e-03 7.18667887e+00] [-7.37745026e-04 7.67433765e-03 9.99970280e-01 -1.51893388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.14140051299998 meters Centerline goodness [0,1] 0.9266846476581899 Centerline is valid? [False, False] Translation: X:131.56, Y:7.19, Z:-0.15 [[ 9.99988049e-01 -4.80576034e-03 8.98423170e-04 1.31562884e+02] [ 4.81278377e-03 9.99956529e-01 -7.98601370e-03 7.18820454e+00] [-8.60005248e-04 7.99024217e-03 9.99967708e-01 -1.51565360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.17140051299998 meters Centerline goodness [0,1] 0.9595048932479603 Centerline is valid? [False, True] Translation: X:131.56, Y:7.18, Z:-0.15 [[ 9.99999615e-01 -4.59285425e-04 7.47480968e-04 1.31563142e+02] [ 4.61260640e-04 9.99996397e-01 -2.64447208e-03 7.18291441e+00] [-7.46263707e-04 2.64481584e-03 9.99996224e-01 -1.51019693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.20140051299998 meters Centerline goodness [0,1] 0.8754616070291609 Centerline is valid? [True, False] Translation: X:131.56, Y:7.18, Z:-0.15 [[ 9.99994032e-01 3.43450441e-03 3.74255169e-04 1.31564122e+02] [-3.43538508e-03 9.99991271e-01 2.37844740e-03 7.17830800e+00] [-3.66083114e-04 -2.37971892e-03 9.99997101e-01 -1.50316111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.23140051299998 meters Centerline goodness [0,1] 0.8754616070291609 Centerline is valid? [False, False] Translation: X:131.56, Y:7.18, Z:-0.15 [[ 9.99994032e-01 3.43450441e-03 3.74255169e-04 1.31564122e+02] [-3.43538508e-03 9.99991271e-01 2.37844740e-03 7.17830800e+00] [-3.66083114e-04 -2.37971892e-03 9.99997101e-01 -1.50316111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.26140051299998 meters Centerline goodness [0,1] 0.9769120693705816 Centerline is valid? [False, True] Translation: X:131.56, Y:7.18, Z:-0.15 [[ 9.99993999e-01 3.43726303e-03 4.32923166e-04 1.31563691e+02] [-3.43828952e-03 9.99991226e-01 2.39306695e-03 7.17826816e+00] [-4.24693767e-04 -2.39454111e-03 9.99997043e-01 -1.49863062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.29140051299999 meters Centerline goodness [0,1] 0.9177699167531614 Centerline is valid? [True, False] Translation: X:131.56, Y:7.18, Z:-0.15 [[ 9.99994052e-01 3.42374346e-03 4.16370524e-04 1.31563491e+02] [-3.42475028e-03 9.99991154e-01 2.44190106e-03 7.17801727e+00] [-4.08006398e-04 -2.44331250e-03 9.99996932e-01 -1.49385484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.321400513 meters Centerline goodness [0,1] 0.9862243703025528 Centerline is valid? [False, True] Translation: X:131.56, Y:7.18, Z:-0.15 [[ 9.99998717e-01 9.50899969e-04 1.28907852e-03 1.31557132e+02] [-9.50544138e-04 9.99999510e-01 -2.76619363e-04 7.18226600e+00] [-1.28934093e-03 2.75393682e-04 9.99999131e-01 -1.45455996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.351400513 meters Centerline goodness [0,1] 0.9879546128117194 Centerline is valid? [True, True] Translation: X:131.59, Y:7.18, Z:-0.15 [[ 9.99999176e-01 3.10213829e-04 1.24566886e-03 1.31588231e+02] [-3.10319662e-04 9.99999948e-01 8.47682741e-05 7.18423261e+00] [-1.24564249e-03 -8.51547598e-05 9.99999221e-01 -1.45845505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.381400513 meters Centerline goodness [0,1] 0.9938208689004969 Centerline is valid? [True, True] Translation: X:131.62, Y:7.19, Z:-0.15 [[ 9.99998838e-01 -2.40895640e-04 1.50513738e-03 1.31619396e+02] [ 2.40741834e-04 9.99999966e-01 1.02367679e-04 7.18517235e+00] [-1.50516199e-03 -1.02005210e-04 9.99998862e-01 -1.45449850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.411400513 meters Centerline goodness [0,1] 0.9908334568240997 Centerline is valid? [True, True] Translation: X:131.65, Y:7.19, Z:-0.14 [[ 9.99997400e-01 -5.33757840e-04 2.21683173e-03 1.31649965e+02] [ 5.33425147e-04 9.99999846e-01 1.50664551e-04 7.18913410e+00] [-2.21691181e-03 -1.49481646e-04 9.99997531e-01 -1.44729426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.441400513 meters Centerline goodness [0,1] 0.9987554716333362 Centerline is valid? [True, True] Translation: X:131.68, Y:7.19, Z:-0.14 [[ 9.99995216e-01 -4.61462686e-04 3.05849926e-03 1.31682098e+02] [ 4.60829250e-04 9.99999872e-01 2.07808088e-04 7.18509565e+00] [-3.05859477e-03 -2.06397648e-04 9.99995301e-01 -1.42851773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.471400513 meters Centerline goodness [0,1] 0.9807309110950948 Centerline is valid? [True, True] Translation: X:131.71, Y:7.20, Z:-0.14 [[ 9.99984765e-01 2.00107333e-04 5.51629842e-03 1.31712408e+02] [-2.02175410e-04 9.99999909e-01 3.74347861e-04 7.19602394e+00] [-5.51622301e-03 -3.75457418e-04 9.99984715e-01 -1.40264789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.501400513 meters Centerline goodness [0,1] 0.985806123098466 Centerline is valid? [True, True] Translation: X:131.74, Y:7.20, Z:-0.14 [[ 9.99982968e-01 6.40699307e-04 5.80116426e-03 1.31744154e+02] [-6.42992627e-04 9.99999716e-01 3.93464262e-04 7.19792856e+00] [-5.80091052e-03 -3.97187666e-04 9.99983096e-01 -1.39857265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.531400513 meters Centerline goodness [0,1] 0.8329233073055942 Centerline is valid? [True, False] Translation: X:131.74, Y:7.20, Z:-0.14 [[ 9.99983336e-01 4.72640784e-04 5.75363459e-03 1.31744391e+02] [-4.72630121e-04 9.99999888e-01 -3.21293562e-06 7.19978116e+00] [-5.75363547e-03 4.93541071e-07 9.99983448e-01 -1.40037749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.561400513 meters Centerline goodness [0,1] 0.9662980963093444 Centerline is valid? [False, True] Translation: X:131.75, Y:7.20, Z:-0.14 [[ 9.99986286e-01 1.79460594e-03 4.92008995e-03 1.31750607e+02] [-1.80009275e-03 9.99997763e-01 1.11098311e-03 7.19986784e+00] [-4.91808516e-03 -1.11982449e-03 9.99987279e-01 -1.44390404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.591400513 meters Centerline goodness [0,1] 0.9514497066575971 Centerline is valid? [True, True] Translation: X:131.78, Y:7.21, Z:-0.15 [[ 9.99990005e-01 2.62519935e-03 3.61911198e-03 1.31782397e+02] [-2.62610663e-03 9.99996522e-01 2.45960387e-04 7.20595780e+00] [-3.61845369e-03 -2.55462102e-04 9.99993421e-01 -1.47301764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.621400513 meters Centerline goodness [0,1] 0.9601035609693986 Centerline is valid? [True, True] Translation: X:131.81, Y:7.21, Z:-0.15 [[ 9.99989131e-01 3.46067133e-03 3.12430417e-03 1.31814185e+02] [-3.46135125e-03 9.99993987e-01 2.12241782e-04 7.20995461e+00] [-3.12355088e-03 -2.23053790e-04 9.99995097e-01 -1.48209982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.65140051299997 meters Centerline goodness [0,1] 0.966094484504286 Centerline is valid? [True, True] Translation: X:131.85, Y:7.21, Z:-0.15 [[ 9.99983386e-01 4.32048372e-03 3.81586602e-03 1.31845750e+02] [-4.32150473e-03 9.99990629e-01 2.59363951e-04 7.21446441e+00] [-3.81470968e-03 -2.75849925e-04 9.99992686e-01 -1.47586902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.68140051299997 meters Centerline goodness [0,1] 0.8881222485607856 Centerline is valid? [True, False] Translation: X:131.84, Y:7.22, Z:-0.15 [[ 9.99984796e-01 3.76710732e-03 4.02700234e-03 1.31844565e+02] [-3.76230332e-03 9.99992203e-01 -1.19985637e-03 7.22151160e+00] [-4.03149093e-03 1.18468733e-03 9.99991172e-01 -1.46729316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.71140051299997 meters Centerline goodness [0,1] 0.7967828418230563 Centerline is valid? [False, False] Translation: X:131.82, Y:7.21, Z:-0.14 [[ 9.99993106e-01 3.24598964e-03 -1.80293150e-03 1.31821016e+02] [-3.22917204e-03 9.99951969e-01 9.25379198e-03 7.21188407e+00] [ 1.83288262e-03 -9.24790622e-03 9.99955557e-01 -1.38938516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.74140051299997 meters Centerline goodness [0,1] 0.9416073893194606 Centerline is valid? [False, False] Translation: X:131.84, Y:7.22, Z:-0.14 [[ 9.99990354e-01 3.71177936e-03 2.34849425e-03 1.31843917e+02] [-3.70686438e-03 9.99990938e-01 -2.09372566e-03 7.22187594e+00] [-2.35624442e-03 2.08499991e-03 9.99995050e-01 -1.44652248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.77140051299997 meters Centerline goodness [0,1] 0.9341291925993584 Centerline is valid? [False, False] Translation: X:131.84, Y:7.22, Z:-0.15 [[ 9.99991048e-01 3.66945581e-03 2.10685676e-03 1.31844917e+02] [-3.66511527e-03 9.99991161e-01 -2.06037726e-03 7.22159906e+00] [-2.11439860e-03 2.05263694e-03 9.99995658e-01 -1.45078338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.80140051299998 meters Centerline goodness [0,1] 0.9987410916229249 Centerline is valid? [False, True] Translation: X:131.85, Y:7.22, Z:-0.15 [[ 9.99997708e-01 -8.97704614e-04 1.94353225e-03 1.31845773e+02] [ 9.11146703e-04 9.99975596e-01 -6.92651686e-03 7.22403998e+00] [-1.93726686e-03 6.92827183e-03 9.99974123e-01 -1.45771570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.83140051299998 meters Centerline goodness [0,1] 0.9970172618040277 Centerline is valid? [True, True] Translation: X:131.88, Y:7.22, Z:-0.15 [[ 9.99992442e-01 -3.71925532e-03 1.13301932e-03 1.31875255e+02] [ 3.71917392e-03 9.99993081e-01 7.39424137e-05 7.22049503e+00] [-1.13328650e-03 -6.97279589e-05 9.99999355e-01 -1.46851835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.86140051299998 meters Centerline goodness [0,1] 0.9981051735150096 Centerline is valid? [True, True] Translation: X:131.91, Y:7.22, Z:-0.15 [[ 9.99980323e-01 -6.24277032e-03 6.16916044e-04 1.31906353e+02] [ 6.24274659e-03 9.99980513e-01 4.03855421e-05 7.21595003e+00] [-6.17156140e-04 -3.65334970e-05 9.99999809e-01 -1.46963380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.89140051299998 meters Centerline goodness [0,1] 0.9966968747353265 Centerline is valid? [True, True] Translation: X:131.94, Y:7.22, Z:-0.15 [[ 9.99969298e-01 -7.83177773e-03 2.58514884e-04 1.31935671e+02] [ 7.83177365e-03 9.99969331e-01 1.67941553e-05 7.21693022e+00] [-2.58638484e-04 -1.47690096e-05 9.99999966e-01 -1.47888889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.92140051299998 meters Centerline goodness [0,1] 0.9994652863926081 Centerline is valid? [True, True] Translation: X:131.97, Y:7.21, Z:-0.15 [[ 9.99965358e-01 -8.32311626e-03 9.02935440e-05 1.31966789e+02] [ 8.32311576e-03 9.99965362e-01 5.89841401e-06 7.20847170e+00] [-9.03395096e-05 -5.14668606e-06 9.99999996e-01 -1.47219156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.95140051299998 meters Centerline goodness [0,1] 0.999105736064387 Centerline is valid? [True, True] Translation: X:132.00, Y:7.21, Z:-0.15 [[ 9.99975403e-01 -6.94275453e-03 9.95775227e-04 1.31996580e+02] [ 6.94269332e-03 9.99975897e-01 6.49152598e-05 7.20712155e+00] [-9.96201917e-04 -5.80003011e-05 9.99999502e-01 -1.45986290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.98140051299998 meters Centerline goodness [0,1] 0.9994628969191768 Centerline is valid? [True, True] Translation: X:132.03, Y:7.20, Z:-0.15 [[ 9.99984337e-01 -5.39030694e-03 1.50676382e-03 1.32027425e+02] [ 5.39016469e-03 9.99985468e-01 9.84567439e-05 7.20449584e+00] [-1.50727263e-03 -9.03334966e-05 9.99998860e-01 -1.45155146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.01140051299998 meters Centerline goodness [0,1] 0.9977175767918088 Centerline is valid? [True, True] Translation: X:132.06, Y:7.21, Z:-0.15 [[ 9.99991516e-01 -3.53274794e-03 2.11845680e-03 1.32057643e+02] [ 3.53246233e-03 9.99993751e-01 1.38548820e-04 7.20966777e+00] [-2.11893302e-03 -1.31064276e-04 9.99997746e-01 -1.45036458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.04140051299999 meters Centerline goodness [0,1] 0.9922300578522867 Centerline is valid? [True, True] Translation: X:132.09, Y:7.21, Z:-0.14 [[ 9.99997161e-01 -3.65266109e-04 2.35450369e-03 1.32086815e+02] [ 3.64904912e-04 9.99999922e-01 1.53834424e-04 7.21112404e+00] [-2.35455970e-03 -1.52974817e-04 9.99997216e-01 -1.44879108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.071400513 meters Centerline goodness [0,1] 0.9970277901619854 Centerline is valid? [True, True] Translation: X:132.12, Y:7.21, Z:-0.14 [[ 9.99996858e-01 8.59304093e-04 2.35504986e-03 1.32117886e+02] [-8.59668899e-04 9.99999619e-01 1.53895983e-04 7.20717417e+00] [-2.35491672e-03 -1.55920063e-04 9.99997215e-01 -1.44372094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.101400513 meters Centerline goodness [0,1] 0.9900027476592057 Centerline is valid? [True, True] Translation: X:132.15, Y:7.21, Z:-0.14 [[ 9.99994127e-01 2.03271997e-03 2.75920167e-03 1.32148363e+02] [-2.03322521e-03 9.99997917e-01 1.80318169e-04 7.21132344e+00] [-2.75882938e-03 -1.85927188e-04 9.99996177e-01 -1.43977179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.131400513 meters Centerline goodness [0,1] 0.9760679416311921 Centerline is valid? [True, True] Translation: X:132.18, Y:7.21, Z:-0.14 [[ 9.99988782e-01 3.35160689e-03 3.34692670e-03 1.32178346e+02] [-3.35235781e-03 9.99994357e-01 2.18775627e-04 7.21388943e+00] [-3.34617456e-03 -2.29993269e-04 9.99994375e-01 -1.43117354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.161400513 meters Centerline goodness [0,1] 0.9636817710427734 Centerline is valid? [True, True] Translation: X:132.21, Y:7.21, Z:-0.14 [[ 9.99969839e-01 5.62925951e-03 5.35086714e-03 1.32209075e+02] [-5.63120750e-03 9.99984084e-01 3.49055171e-04 7.21394921e+00] [-5.34881705e-03 -3.79176486e-04 9.99985623e-01 -1.40977279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.191400513 meters Centerline goodness [0,1] 0.9351031200423057 Centerline is valid? [True, False] Translation: X:132.21, Y:7.21, Z:-0.14 [[ 9.99969034e-01 5.64417049e-03 5.48404499e-03 1.32208593e+02] [-5.64616050e-03 9.99984000e-01 3.47458321e-04 7.21396968e+00] [-5.48199613e-03 -3.78411360e-04 9.99984902e-01 -1.40929959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.221400513 meters Centerline goodness [0,1] 0.8055537754993058 Centerline is valid? [False, False] Translation: X:132.21, Y:7.21, Z:-0.14 [[ 9.99930909e-01 1.03733713e-02 5.52903884e-03 1.32208046e+02] [-1.04079997e-02 9.99926168e-01 6.27146992e-03 7.20626379e+00] [-5.46357434e-03 -6.32858285e-03 9.99965049e-01 -1.39691844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.251400513 meters Centerline goodness [0,1] 0.9909044105028316 Centerline is valid? [False, True] Translation: X:132.21, Y:7.21, Z:-0.14 [[ 9.99960948e-01 6.47047803e-03 6.01950074e-03 1.32206260e+02] [-6.47877834e-03 9.99978087e-01 1.36042563e-03 7.21007218e+00] [-6.01056623e-03 -1.39937151e-03 9.99980957e-01 -1.39693955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.281400513 meters Centerline goodness [0,1] 0.7552636011453596 Centerline is valid? [True, False] Translation: X:132.25, Y:7.21, Z:-0.14 [[ 9.99946688e-01 6.59408749e-03 7.94598775e-03 1.32249603e+02] [-6.59178862e-03 9.99978224e-01 -3.15467441e-04 7.20980925e+00] [-7.94789493e-03 2.63072351e-04 9.99968380e-01 -1.41834805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.311400513 meters Centerline goodness [0,1] 0.8488344864289515 Centerline is valid? [False, False] Translation: X:132.23, Y:7.20, Z:-0.13 [[ 9.99978397e-01 6.26333236e-03 1.99429160e-03 1.32225785e+02] [-6.28374000e-03 9.99926209e-01 1.03967103e-02 7.19790944e+00] [-1.92902639e-03 -1.04090173e-02 9.99943964e-01 -1.34007024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.341400513 meters Centerline goodness [0,1] 0.5892165371832596 Centerline is valid? [False, False] Translation: X:132.23, Y:7.20, Z:-0.13 [[ 9.99995750e-01 1.95898501e-03 2.15924768e-03 1.32225492e+02] [-1.96952528e-03 9.99986103e-01 4.89018615e-03 7.20418113e+00] [-2.14963788e-03 -4.89441806e-03 9.99985712e-01 -1.34942990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.371400513 meters Centerline goodness [0,1] 0.8637401674701852 Centerline is valid? [False, False] Translation: X:132.22, Y:7.20, Z:-0.13 [[ 9.99994884e-01 2.31745654e-03 2.20498253e-03 1.32224884e+02] [-2.32993885e-03 9.99981181e-01 5.67532866e-03 7.20056860e+00] [-2.19178871e-03 -5.68043710e-03 9.99981464e-01 -1.34037540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.40140051299997 meters Centerline goodness [0,1] 0.8547626666666667 Centerline is valid? [False, False] Translation: X:132.20, Y:7.20, Z:-0.14 [[ 9.99991103e-01 2.81767169e-03 3.13930851e-03 1.32204752e+02] [-2.80290445e-03 9.99985034e-01 -4.69849081e-03 7.20432596e+00] [-3.15250033e-03 4.68964982e-03 9.99984034e-01 -1.38265223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.43140051299997 meters Centerline goodness [0,1] 0.8972528523169099 Centerline is valid? [False, False] Translation: X:132.21, Y:7.20, Z:-0.14 [[ 9.99990919e-01 3.02264011e-03 3.00426149e-03 1.32205323e+02] [-3.01002478e-03 9.99986671e-01 -4.19483287e-03 7.20189463e+00] [-3.01690092e-03 4.18575188e-03 9.99986689e-01 -1.38516179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.46140051299997 meters Centerline goodness [0,1] 0.893170100358575 Centerline is valid? [False, False] Translation: X:132.21, Y:7.20, Z:-0.14 [[ 9.99990515e-01 3.45715446e-03 2.64923585e-03 1.32206801e+02] [-3.44923313e-03 9.99989585e-01 -2.98880186e-03 7.19597783e+00] [-2.65954101e-03 2.97963567e-03 9.99992024e-01 -1.39130781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.49140051299997 meters Centerline goodness [0,1] 0.6851800759778433 Centerline is valid? [False, False] Translation: X:132.21, Y:7.19, Z:-0.14 [[ 9.99989615e-01 3.83394349e-03 2.46376633e-03 1.32207300e+02] [-3.82903102e-03 9.99990678e-01 -1.99551857e-03 7.19122854e+00] [-2.47139407e-03 1.98606401e-03 9.99994974e-01 -1.38906912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.52140051299997 meters Centerline goodness [0,1] 0.8525697875754888 Centerline is valid? [False, False] Translation: X:132.21, Y:7.19, Z:-0.14 [[ 9.99988556e-01 4.20038447e-03 2.29000197e-03 1.32207674e+02] [-4.19831909e-03 9.99990777e-01 -9.05974315e-04 7.18596157e+00] [-2.29378629e-03 8.96349788e-04 9.99996968e-01 -1.38503977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.55140051299998 meters Centerline goodness [0,1] 0.9907173354291905 Centerline is valid? [False, True] Translation: X:132.21, Y:7.19, Z:-0.14 [[ 9.99997135e-01 -2.26893854e-04 2.38301173e-03 1.32207485e+02] [ 2.40275053e-04 9.99984199e-01 -5.61646221e-03 7.18779342e+00] [-2.38169973e-03 5.61701869e-03 9.99981388e-01 -1.38801260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.58140051299998 meters Centerline goodness [0,1] 0.9230965927251806 Centerline is valid? [True, False] Translation: X:132.21, Y:7.18, Z:-0.14 [[ 9.99998188e-01 -7.00750562e-05 1.90260482e-03 1.32209110e+02] [ 7.75123519e-05 9.99992356e-01 -3.90921479e-03 7.17876365e+00] [-1.90231634e-03 3.90935518e-03 9.99990549e-01 -1.38759582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.61140051299998 meters Centerline goodness [0,1] 0.990911600450173 Centerline is valid? [False, True] Translation: X:132.21, Y:7.17, Z:-0.14 [[ 9.99998403e-01 3.45445655e-04 1.75356333e-03 1.32209615e+02] [-3.40473210e-04 9.99995923e-01 -2.83513033e-03 7.17360819e+00] [-1.75453557e-03 2.83452876e-03 9.99994444e-01 -1.38772936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.64140051299998 meters Centerline goodness [0,1] 0.9956252667520273 Centerline is valid? [True, True] Translation: X:132.24, Y:7.17, Z:-0.14 [[ 9.99998760e-01 -3.34767874e-04 1.53872967e-03 1.32241587e+02] [ 3.34615364e-04 9.99999939e-01 9.93706359e-05 7.16653635e+00] [-1.53876284e-03 -9.88556301e-05 9.99998811e-01 -1.38658609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.67140051299998 meters Centerline goodness [0,1] 0.9088542217894715 Centerline is valid? [True, False] Translation: X:132.24, Y:7.16, Z:-0.14 [[ 9.99998915e-01 1.50714711e-04 1.46520456e-03 1.32241651e+02] [-1.52525198e-04 9.99999225e-01 1.23562176e-03 7.16115933e+00] [-1.46501720e-03 -1.23584390e-03 9.99998163e-01 -1.38270058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.70140051299998 meters Centerline goodness [0,1] 0.9887052341597796 Centerline is valid? [False, True] Translation: X:132.24, Y:7.16, Z:-0.14 [[ 9.99998870e-01 5.17936573e-04 1.41134339e-03 1.32241800e+02] [-5.20841693e-04 9.99997745e-01 2.05881849e-03 7.15728083e+00] [-1.41027387e-03 -2.05955125e-03 9.99996885e-01 -1.38180355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.73140051299998 meters Centerline goodness [0,1] 0.9701648950959215 Centerline is valid? [True, True] Translation: X:132.27, Y:7.16, Z:-0.14 [[ 9.99993115e-01 3.61792530e-03 8.25164368e-04 1.32272813e+02] [-3.61797025e-03 9.99993454e-01 5.29852585e-05 7.15709499e+00] [-8.24967269e-04 -5.59703138e-05 9.99999658e-01 -1.38740708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.76140051299998 meters Centerline goodness [0,1] 0.7919776119402985 Centerline is valid? [True, False] Translation: X:132.27, Y:7.15, Z:-0.14 [[ 9.99992034e-01 3.90422921e-03 8.29725592e-04 1.32272699e+02] [-3.90470257e-03 9.99992214e-01 5.69657907e-04 7.15475956e+00] [-8.27495057e-04 -5.72893201e-04 9.99999494e-01 -1.38534568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.79140051299999 meters Centerline goodness [0,1] 0.9147364387294559 Centerline is valid? [False, False] Translation: X:132.27, Y:7.15, Z:-0.14 [[ 9.99991249e-01 4.07244639e-03 9.57313884e-04 1.32272254e+02] [-4.07326460e-03 9.99991339e-01 8.54305021e-04 7.15347198e+00] [-9.53826482e-04 -8.58196938e-04 9.99999177e-01 -1.38493003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.821400513 meters Centerline goodness [0,1] 0.7769285985728159 Centerline is valid? [False, False] Translation: X:132.28, Y:7.15, Z:-0.14 [[ 9.99976934e-01 6.78919268e-03 1.96726467e-04 1.32278264e+02] [-6.78990009e-03 9.99969532e-01 3.85123241e-03 7.15035921e+00] [-1.70573714e-04 -3.85247933e-03 9.99992565e-01 -1.42170494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.851400513 meters Centerline goodness [0,1] 0.76403825717322 Centerline is valid? [False, False] Translation: X:132.28, Y:7.15, Z:-0.14 [[ 9.99974264e-01 7.13667835e-03 7.33963090e-04 1.32276402e+02] [-7.13932251e-03 9.99967797e-01 3.66537320e-03 7.15190826e+00] [-7.07780865e-04 -3.67051887e-03 9.99993013e-01 -1.42058572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.881400513 meters Centerline goodness [0,1] 0.735337010969501 Centerline is valid? [False, False] Translation: X:132.28, Y:7.15, Z:-0.14 [[ 9.99973496e-01 7.24533503e-03 7.15529585e-04 1.32276547e+02] [-7.24801962e-03 9.99966423e-01 3.82340193e-03 7.15117294e+00] [-6.87803732e-04 -3.82848677e-03 9.99992435e-01 -1.42229672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.911400513 meters Centerline goodness [0,1] 0.705727842738519 Centerline is valid? [False, False] Translation: X:132.28, Y:7.16, Z:-0.14 [[ 9.99993794e-01 3.32566640e-03 1.16304454e-03 1.32275288e+02] [-3.32429921e-03 9.99993784e-01 -1.17549234e-03 7.15544797e+00] [-1.16694661e-03 1.17161874e-03 9.99998633e-01 -1.43102286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.941400513 meters Centerline goodness [0,1] 0.7042715855905461 Centerline is valid? [False, False] Translation: X:132.27, Y:7.15, Z:-0.14 [[ 9.99992377e-01 3.66408631e-03 1.34953454e-03 1.32274289e+02] [-3.66350501e-03 9.99993196e-01 -4.32961675e-04 7.15203997e+00] [-1.35111176e-03 4.28014348e-04 9.99998996e-01 -1.42377118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.971400513 meters Centerline goodness [0,1] 0.7419150553069324 Centerline is valid? [False, False] Translation: X:132.27, Y:7.15, Z:-0.14 [[ 9.99991945e-01 3.74437359e-03 1.44564143e-03 1.32273655e+02] [-3.74403118e-03 9.99992962e-01 -2.39489577e-04 7.15117211e+00] [-1.44652800e-03 2.34075121e-04 9.99998926e-01 -1.41796659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.001400513 meters Centerline goodness [0,1] 0.4354300057433367 Centerline is valid? [False, False] Translation: X:132.27, Y:7.15, Z:-0.14 [[ 9.99991412e-01 3.86919370e-03 1.48518702e-03 1.32273293e+02] [-3.86927688e-03 9.99992513e-01 5.31331174e-05 7.14982536e+00] [-1.48497032e-03 -5.88792608e-05 9.99998896e-01 -1.41364745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.031400513 meters Centerline goodness [0,1] 0.667221402991363 Centerline is valid? [False, False] Translation: X:132.27, Y:7.15, Z:-0.14 [[ 9.99991033e-01 3.97464012e-03 1.46177322e-03 1.32273214e+02] [-3.97515377e-03 9.99992038e-01 3.48653778e-04 7.14840749e+00] [-1.46037580e-03 -3.54461425e-04 9.99998871e-01 -1.41106360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.061400513 meters Centerline goodness [0,1] 0.5569310068021462 Centerline is valid? [False, False] Translation: X:132.27, Y:7.15, Z:-0.14 [[ 9.99990779e-01 4.03985556e-03 1.45653040e-03 1.32273106e+02] [-4.04061861e-03 9.99991701e-01 5.21324022e-04 7.14759723e+00] [-1.45441224e-03 -5.27204499e-04 9.99998803e-01 -1.40863966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.091400513 meters Centerline goodness [0,1] 0.92599171107164 Centerline is valid? [False, False] Translation: X:132.27, Y:7.15, Z:-0.14 [[ 9.99991362e-01 3.93954766e-03 1.32512298e-03 1.32273464e+02] [-3.94033693e-03 9.99992061e-01 5.93540124e-04 7.14709023e+00] [-1.32277418e-03 -5.98756428e-04 9.99998946e-01 -1.40717977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.121400513 meters Centerline goodness [0,1] 0.8558734747672293 Centerline is valid? [False, False] Translation: X:132.27, Y:7.15, Z:-0.14 [[ 9.99996661e-01 1.46978765e-03 2.12542206e-03 1.32267432e+02] [-1.46559215e-03 9.99996977e-01 -1.97417536e-03 7.14950652e+00] [-2.12831725e-03 1.97105377e-03 9.99995793e-01 -1.37097852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.15140051299997 meters Centerline goodness [0,1] 0.8558734747672293 Centerline is valid? [False, False] Translation: X:132.27, Y:7.15, Z:-0.14 [[ 9.99996661e-01 1.46978765e-03 2.12542206e-03 1.32267432e+02] [-1.46559215e-03 9.99996977e-01 -1.97417536e-03 7.14950652e+00] [-2.12831725e-03 1.97105377e-03 9.99995793e-01 -1.37097852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.18140051299997 meters Centerline goodness [0,1] 0.9720959029868272 Centerline is valid? [False, True] Translation: X:132.27, Y:7.15, Z:-0.14 [[ 9.99997104e-01 1.54680651e-03 1.84349216e-03 1.32268493e+02] [-1.54389849e-03 9.99997563e-01 -1.57783610e-03 7.14747371e+00] [-1.84592827e-03 1.57498537e-03 9.99997056e-01 -1.37393448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.21140051299997 meters Centerline goodness [0,1] 0.9935804159890439 Centerline is valid? [True, True] Translation: X:132.30, Y:7.14, Z:-0.14 [[ 9.99984365e-01 -5.59196295e-03 2.02256980e-05 1.32300010e+02] [ 5.59196292e-03 9.99984365e-01 1.47097048e-06 7.13957656e+00] [-2.02336074e-05 -1.35784612e-06 1.00000000e+00 -1.39373869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.24140051299997 meters Centerline goodness [0,1] 0.9946260540793135 Centerline is valid? [True, True] Translation: X:132.33, Y:7.14, Z:-0.14 [[ 9.99952482e-01 -9.74824798e-03 -6.84094963e-05 1.32329216e+02] [ 9.74824767e-03 9.99952485e-01 -4.94449919e-06 7.14006369e+00] [ 6.84544460e-05 4.27739152e-06 9.99999998e-01 -1.39730798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.27140051299997 meters Centerline goodness [0,1] 0.9991510314967315 Centerline is valid? [True, True] Translation: X:132.36, Y:7.13, Z:-0.14 [[ 9.99897903e-01 -1.42889486e-02 1.02159792e-04 1.32360520e+02] [ 1.42889479e-02 9.99897908e-01 7.33862962e-06 7.13449422e+00] [-1.02254223e-04 -5.87812442e-06 9.99999995e-01 -1.39622373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.30140051299998 meters Centerline goodness [0,1] 0.9992994225543478 Centerline is valid? [True, True] Translation: X:132.39, Y:7.13, Z:-0.14 [[ 9.99823252e-01 -1.87980905e-02 3.12089779e-04 1.32389842e+02] [ 1.87980845e-02 9.99823300e-01 2.22658744e-05 7.13327882e+00] [-3.12453189e-04 -1.63952489e-05 9.99999951e-01 -1.39833232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.33140051299998 meters Centerline goodness [0,1] 0.9995541117268616 Centerline is valid? [True, True] Translation: X:132.42, Y:7.13, Z:-0.14 [[ 9.99658584e-01 -2.61286380e-02 -1.03348844e-04 1.32419467e+02] [ 2.61286374e-02 9.99658589e-01 -7.39395255e-06 7.12537292e+00] [ 1.03506754e-04 4.69106366e-06 9.99999995e-01 -1.41135210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.36140051299998 meters Centerline goodness [0,1] 0.9998920785668034 Centerline is valid? [True, True] Translation: X:132.45, Y:7.12, Z:-0.14 [[ 9.99581139e-01 -2.89359329e-02 -5.07870196e-04 1.32449752e+02] [ 2.89359182e-02 9.99581268e-01 -3.63988489e-05 7.11814261e+00] [ 5.08710769e-04 2.16879124e-05 9.99999870e-01 -1.40995138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.39140051299998 meters Centerline goodness [0,1] 0.9998720709579753 Centerline is valid? [True, True] Translation: X:132.48, Y:7.12, Z:-0.14 [[ 9.99515061e-01 -3.11365787e-02 -3.94202014e-04 1.32478670e+02] [ 3.11365700e-02 9.99515139e-01 -2.82839306e-05 7.12139966e+00] [ 3.94891546e-04 1.59961160e-05 9.99999922e-01 -1.41047973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.42140051299998 meters Centerline goodness [0,1] 0.9999149062905525 Centerline is valid? [True, True] Translation: X:132.51, Y:7.12, Z:-0.14 [[ 9.99463315e-01 -3.27578350e-02 8.45130847e-05 1.32508005e+02] [ 3.27578346e-02 9.99463318e-01 5.84060517e-06 7.11705724e+00] [-8.46590537e-05 -3.06900495e-06 9.99999996e-01 -1.39725030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.45140051299998 meters Centerline goodness [0,1] 0.9999359083917279 Centerline is valid? [True, True] Translation: X:132.54, Y:7.12, Z:-0.14 [[ 9.99415524e-01 -3.41819150e-02 4.55174297e-04 1.32535635e+02] [ 3.41819038e-02 9.99415627e-01 3.23340850e-05 7.12043261e+00] [-4.56013547e-04 -1.67564625e-05 9.99999896e-01 -1.39580010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.48140051299998 meters Centerline goodness [0,1] 0.9999787011991225 Centerline is valid? [True, True] Translation: X:132.56, Y:7.12, Z:-0.14 [[ 9.99364203e-01 -3.56483652e-02 6.19190827e-04 1.32564326e+02] [ 3.56483449e-02 9.99364395e-01 4.37357218e-05 7.11863627e+00] [-6.20356373e-04 -2.16347866e-05 9.99999807e-01 -1.39506921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.51140051299998 meters Centerline goodness [0,1] 0.9998944167581721 Centerline is valid? [True, True] Translation: X:132.59, Y:7.12, Z:-0.14 [[ 9.99228827e-01 -3.92643537e-02 -2.48648233e-04 1.32592516e+02] [ 3.92643504e-02 9.99228858e-01 -1.80015439e-05 7.12313097e+00] [ 2.49163308e-04 8.22465031e-06 9.99999969e-01 -1.43756814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.54140051299999 meters Centerline goodness [0,1] 0.9999360368427785 Centerline is valid? [True, True] Translation: X:132.62, Y:7.11, Z:-0.14 [[ 9.99129738e-01 -4.17102316e-02 -1.51605027e-04 1.32622833e+02] [ 4.17102304e-02 9.99129750e-01 -1.09883915e-05 7.11496521e+00] [ 1.51931421e-04 4.65534812e-06 9.99999988e-01 -1.43504323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.571400513 meters Centerline goodness [0,1] 0.9999788400093104 Centerline is valid? [True, True] Translation: X:132.65, Y:7.10, Z:-0.14 [[ 9.98782205e-01 -4.93102624e-02 1.61425282e-03 1.32653481e+02] [ 4.93101395e-02 9.98783508e-01 1.15888714e-04 7.10234109e+00] [-1.61800360e-03 -3.61485532e-05 9.99998690e-01 -1.40154642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.601400513 meters Centerline goodness [0,1] 0.9998063558319169 Centerline is valid? [True, True] Translation: X:132.68, Y:7.09, Z:-0.14 [[ 9.98537762e-01 -5.40324713e-02 1.68227848e-03 1.32683993e+02] [ 5.40323445e-02 9.98539179e-01 1.20769360e-04 7.09251191e+00] [-1.68634644e-03 -2.96953163e-05 9.99998578e-01 -1.39736718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.631400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.71, Y:7.09, Z:-0.14 [[ 9.98302748e-01 -5.82251585e-02 1.20611777e-03 1.32712765e+02] [ 5.82250965e-02 9.98303476e-01 8.65099125e-05 7.08781546e+00] [-1.20910862e-03 -1.61367599e-05 9.99999269e-01 -1.40480199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.661400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.74, Y:7.08, Z:-0.14 [[ 9.98086951e-01 -6.18110240e-02 1.35488476e-03 1.32741083e+02] [ 6.18109490e-02 9.98087870e-01 9.72390795e-05 7.08372086e+00] [-1.35830449e-03 -1.33063435e-05 9.99999077e-01 -1.41263589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.691400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.77, Y:7.08, Z:-0.14 [[ 9.97899535e-01 -6.47399969e-02 2.29136501e-03 1.32770741e+02] [ 6.47397897e-02 9.97902166e-01 1.64548337e-04 7.07782428e+00] [-2.29721096e-03 -1.58602201e-05 9.99997361e-01 -1.40089286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.721400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.80, Y:7.07, Z:-0.14 [[ 9.97739453e-01 -6.70995345e-02 3.69288151e-03 1.32800456e+02] [ 6.70990087e-02 9.97746286e-01 2.66224339e-04 7.07124982e+00] [-3.70242234e-03 -1.78338378e-05 9.99993146e-01 -1.38116665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.751400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.83, Y:7.06, Z:-0.14 [[ 9.97610924e-01 -6.88964960e-02 5.07119214e-03 1.32829527e+02] [ 6.88955224e-02 9.97623813e-01 3.66634754e-04 7.06188981e+00] [-5.08440189e-03 -1.63764042e-05 9.99987074e-01 -1.35276487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.781400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.86, Y:7.06, Z:-0.14 [[ 9.97645819e-01 -6.84323911e-02 4.45284033e-03 1.32856632e+02] [ 6.84316348e-02 9.97655756e-01 3.22164892e-04 7.06194246e+00] [-4.46444830e-03 -1.66913143e-05 9.99990034e-01 -1.36354003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.811400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.89, Y:7.06, Z:-0.14 [[ 9.97727976e-01 -6.72874209e-02 3.35982257e-03 1.32885831e+02] [ 6.72869834e-02 9.97733633e-01 2.43193830e-04 7.06247874e+00] [-3.36857187e-03 -1.65689620e-05 9.99994326e-01 -1.38622327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.841400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.91, Y:7.06, Z:-0.14 [[ 9.97828968e-01 -6.58261819e-02 2.06496803e-03 1.32914331e+02] [ 6.58260134e-02 9.97831105e-01 1.49519620e-04 7.06272855e+00] [-2.07033163e-03 -1.32663949e-05 9.99997857e-01 -1.40731305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.871400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.94, Y:7.06, Z:-0.14 [[ 9.98057425e-01 -6.22903029e-02 1.13759569e-03 1.32941743e+02] [ 6.22902494e-02 9.98058073e-01 8.24378284e-05 7.06206753e+00] [-1.14052164e-03 -1.14165675e-05 9.99999350e-01 -1.42402093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.90140051299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.97, Y:7.06, Z:-0.14 [[ 9.98140846e-01 -6.09357755e-02 1.29691052e-03 1.32970594e+02] [ 6.09357048e-02 9.98141689e-01 9.39914494e-05 7.06360900e+00] [-1.30022790e-03 -1.47885481e-05 9.99999155e-01 -1.41574929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.93140051299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.00, Y:7.07, Z:-0.14 [[ 9.98219136e-01 -5.96166576e-02 2.09994779e-03 1.32998483e+02] [ 5.96164672e-02 9.98221345e-01 1.53238086e-04 7.06743209e+00] [-2.10534825e-03 -2.77737216e-05 9.99997783e-01 -1.41043179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.96140051299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.03, Y:7.07, Z:-0.14 [[ 9.98305780e-01 -5.81324327e-02 2.48783239e-03 1.33026717e+02] [ 5.81321604e-02 9.98308880e-01 1.81688205e-04 7.07039557e+00] [-2.49418714e-03 -3.67573139e-05 9.99996889e-01 -1.40498120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.99140051299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.06, Y:7.07, Z:-0.14 [[ 9.98442508e-01 -5.57341995e-02 2.50130081e-03 1.33055845e+02] [ 5.57339165e-02 9.98445641e-01 1.82750976e-04 7.07329634e+00] [-2.50759837e-03 -4.30590527e-05 9.99996855e-01 -1.40811716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.02140051299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.08, Y:7.07, Z:-0.14 [[ 9.98443152e-01 -5.57291679e-02 2.35206142e-03 1.33084147e+02] [ 5.57289169e-02 9.98445922e-01 1.72137000e-04 7.07470847e+00] [-2.35799918e-03 -4.07911729e-05 9.99997219e-01 -1.41523181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.05140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.11, Y:7.08, Z:-0.14 [[ 9.98393397e-01 -5.66314190e-02 1.87274876e-03 1.33112878e+02] [ 5.66312611e-02 9.98395153e-01 1.37293479e-04 7.07551110e+00] [-1.87751840e-03 -3.10167792e-05 9.99998237e-01 -1.42487636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.08140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.14, Y:7.08, Z:-0.14 [[ 9.98227277e-01 -5.94844095e-02 1.97706616e-03 1.33140557e+02] [ 5.94842379e-02 9.98229234e-01 1.45552565e-04 7.07564642e+00] [-1.98222335e-03 -2.76902671e-05 9.99998035e-01 -1.43260697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.11140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.17, Y:7.08, Z:-0.14 [[ 9.98108217e-01 -6.14445305e-02 2.13489185e-03 1.33169211e+02] [ 6.14443351e-02 9.98110499e-01 1.57082661e-04 7.07566370e+00] [-2.14050984e-03 -2.56084846e-05 9.99997709e-01 -1.42735692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.14140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.20, Y:7.08, Z:-0.14 [[ 9.97963977e-01 -6.37395392e-02 2.27420103e-03 1.33197695e+02] [ 6.37393223e-02 9.97966568e-01 1.67772748e-04 7.07616177e+00] [-2.28027035e-03 -2.24751264e-05 9.99997400e-01 -1.42298624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.17140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.23, Y:7.08, Z:-0.14 [[ 9.97816271e-01 -6.60080205e-02 2.37307679e-03 1.33227053e+02] [ 6.60077899e-02 9.97819092e-01 1.75451258e-04 7.07656462e+00] [-2.37948251e-03 -1.84265665e-05 9.99997169e-01 -1.42049668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.20140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.26, Y:7.08, Z:-0.14 [[ 9.97654648e-01 -6.84068426e-02 2.38901225e-03 1.33255696e+02] [ 6.84066150e-02 9.97657508e-01 1.76971484e-04 7.07705791e+00] [-2.39552207e-03 -1.31321826e-05 9.99997131e-01 -1.41794590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.23140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.29, Y:7.08, Z:-0.14 [[ 9.97347198e-01 -7.27338411e-02 2.89064781e-03 1.33285132e+02] [ 7.27335243e-02 9.97351387e-01 2.14732444e-04 7.07622795e+00] [-2.89860991e-03 -3.91579903e-06 9.99995799e-01 -1.40027886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.26140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.31, Y:7.08, Z:-0.14 [[ 9.97213443e-01 -7.45297925e-02 3.26486104e-03 1.33312633e+02] [ 7.45293959e-02 9.97218787e-01 2.43143183e-04 7.07785726e+00] [-3.27390218e-03 8.62470220e-07 9.99994641e-01 -1.39206666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.29140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.34, Y:7.08, Z:-0.14 [[ 9.97124197e-01 -7.56729264e-02 4.11633190e-03 1.33340462e+02] [ 7.56723016e-02 9.97132693e-01 3.07555409e-04 7.08095758e+00] [-4.12780273e-03 4.82136859e-06 9.99991481e-01 -1.38391745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.321400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.37, Y:7.09, Z:-0.14 [[ 9.97099827e-01 -7.59660839e-02 4.59226032e-03 1.33367792e+02] [ 7.59653050e-02 9.97110402e-01 3.44052818e-04 7.08540316e+00] [-4.60512688e-03 5.79745105e-06 9.99989396e-01 -1.38269099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.351400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.39, Y:7.09, Z:-0.14 [[ 9.97135466e-01 -7.55053968e-02 4.44940242e-03 1.33394757e+02] [ 7.55046575e-02 9.97145393e-01 3.34148392e-04 7.08987951e+00] [-4.46193113e-03 2.75939256e-06 9.99990046e-01 -1.39037894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.381400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.42, Y:7.10, Z:-0.14 [[ 9.97258679e-01 -7.39338558e-02 2.98515759e-03 1.33422293e+02] [ 7.39335156e-02 9.97263147e-01 2.24304034e-04 7.09613633e+00] [-2.99357132e-03 -2.98594888e-06 9.99995519e-01 -1.41797536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.411400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.45, Y:7.10, Z:-0.14 [[ 9.97322674e-01 -7.30797674e-02 2.61360474e-03 1.33450130e+02] [ 7.30795027e-02 9.97326099e-01 1.96762521e-04 7.10121348e+00] [-2.62099558e-03 -5.23478926e-06 9.99996565e-01 -1.42748525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.441400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.48, Y:7.11, Z:-0.14 [[ 9.97403968e-01 -7.19458198e-02 3.02061727e-03 1.33476506e+02] [ 7.19454587e-02 9.97408542e-01 2.28170251e-04 7.10743117e+00] [-3.02920536e-03 -1.02582189e-05 9.99995412e-01 -1.42273407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.471400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.50, Y:7.12, Z:-0.14 [[ 9.97587037e-01 -6.93599534e-02 3.04970139e-03 1.33504877e+02] [ 6.93595722e-02 9.97591698e-01 2.30710575e-04 7.11699499e+00] [-3.05835886e-03 -1.86278948e-05 9.99995323e-01 -1.42018732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.501400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.53, Y:7.12, Z:-0.14 [[ 9.97675312e-01 -6.81059709e-02 2.35544602e-03 1.33533542e+02] [ 6.81057395e-02 9.97678093e-01 1.78403144e-04 7.12134944e+00] [-2.36212721e-03 -1.75690190e-05 9.99997210e-01 -1.43200546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.531400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.56, Y:7.13, Z:-0.14 [[ 9.97741871e-01 -6.71448681e-02 1.65090015e-03 1.33560640e+02] [ 6.71447527e-02 9.97743237e-01 1.25267668e-04 7.12565060e+00] [-1.65558554e-03 -1.41355149e-05 9.99998629e-01 -1.44956640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.561400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.59, Y:7.13, Z:-0.15 [[ 9.97761299e-01 -6.68683722e-02 1.00519661e-03 1.33589441e+02] [ 6.68683295e-02 9.97761806e-01 7.60040082e-05 7.12865055e+00] [-1.00802905e-03 -8.61803994e-06 9.99999492e-01 -1.46188203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.591400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.62, Y:7.13, Z:-0.15 [[ 9.97684376e-01 -6.80040056e-02 1.15800699e-03 1.33618468e+02] [ 6.80039495e-02 9.97685048e-01 8.78481048e-05 7.13119280e+00] [-1.16130028e-03 -8.89563302e-06 9.99999326e-01 -1.47055173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.621400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.65, Y:7.13, Z:-0.15 [[ 9.97557406e-01 -6.98413596e-02 1.18567379e-03 1.33646807e+02] [ 6.98413018e-02 9.97558111e-01 9.01602268e-05 7.13237495e+00] [-1.18907542e-03 -7.13100069e-06 9.99999293e-01 -1.47429271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.65140051299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.68, Y:7.13, Z:-0.15 [[ 9.97394813e-01 -7.21169504e-02 1.65297965e-03 1.33676289e+02] [ 7.21168402e-02 9.97396183e-01 1.26254389e-04 7.13140289e+00] [-1.65778067e-03 -6.71780365e-06 9.99998626e-01 -1.46514774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.68140051299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.70, Y:7.13, Z:-0.15 [[ 9.97217772e-01 -7.45216742e-02 1.79849298e-03 1.33704936e+02] [ 7.45215470e-02 9.97219394e-01 1.37724450e-04 7.12992942e+00] [-1.80375554e-03 -3.31478965e-06 9.99998373e-01 -1.45156151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.71140051299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.73, Y:7.12, Z:-0.14 [[ 9.96760038e-01 -8.03925574e-02 2.54218217e-03 1.33733139e+02] [ 8.03923207e-02 9.96763280e-01 1.95327158e-04 7.12393795e+00] [-2.54965669e-03 9.67761877e-06 9.99996750e-01 -1.43663958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.74140051299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.76, Y:7.12, Z:-0.14 [[ 9.96464781e-01 -8.39525583e-02 3.14760472e-03 1.33761696e+02] [ 8.39522103e-02 9.96469752e-01 2.42781581e-04 7.12257606e+00] [-3.15687503e-03 2.23250778e-05 9.99995017e-01 -1.43625011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.77140051299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.79, Y:7.12, Z:-0.14 [[ 9.96125053e-01 -8.78704071e-02 3.69731002e-03 1.33790896e+02] [ 8.78699531e-02 9.96131914e-01 2.85369435e-04 7.12193556e+00] [-3.70808403e-03 4.06188139e-05 9.99993124e-01 -1.43648815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.80140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.82, Y:7.12, Z:-0.14 [[ 9.95800398e-01 -9.14709257e-02 3.82597113e-03 1.33819051e+02] [ 9.14704633e-02 9.95807746e-01 2.96024085e-04 7.11863987e+00] [-3.83700928e-03 5.51824504e-05 9.99992637e-01 -1.44770277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.83140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.85, Y:7.11, Z:-0.15 [[ 9.95281273e-01 -9.70132351e-02 1.90241540e-03 1.33848865e+02] [ 9.70131309e-02 9.95283091e-01 1.47194107e-04 7.11412002e+00] [-1.90772166e-03 3.80597362e-05 9.99998180e-01 -1.48091904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.86140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.88, Y:7.11, Z:-0.15 [[ 9.95148084e-01 -9.83835855e-02 9.80024404e-04 1.33877819e+02] [ 9.83835590e-02 9.95148567e-01 7.53634013e-05 7.11360585e+00] [-9.82684403e-04 2.14205443e-05 9.99999517e-01 -1.48638046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.89140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.91, Y:7.11, Z:-0.15 [[ 9.95116194e-01 -9.87064674e-02 8.90815731e-04 1.33905827e+02] [ 9.87064453e-02 9.95116593e-01 6.88634973e-05 7.11381985e+00] [-8.93262787e-04 1.94020728e-05 9.99999601e-01 -1.48429161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.92140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.93, Y:7.12, Z:-0.15 [[ 9.95149334e-01 -9.83676461e-02 1.26872090e-03 1.33933757e+02] [ 9.83676004e-02 9.95150142e-01 9.84653164e-05 7.11595187e+00] [-1.27225359e-03 2.68133366e-05 9.99999190e-01 -1.46914737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.95140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.96, Y:7.12, Z:-0.14 [[ 9.95245262e-01 -9.73716148e-02 2.37436072e-03 1.33962880e+02] [ 9.73714517e-02 9.95248093e-01 1.84453580e-04 7.12092791e+00] [-2.38103852e-03 4.76183983e-05 9.99997164e-01 -1.44556631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.98140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.99, Y:7.13, Z:-0.14 [[ 9.95576392e-01 -9.38287268e-02 4.88031749e-03 1.33991581e+02] [ 9.38279880e-02 9.95588351e-01 3.80634259e-04 7.13103707e+00] [-4.89450166e-03 7.89598879e-05 9.99988019e-01 -1.39850225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.01140051299998 meters Centerline goodness [0,1] 0.9999359398688903 Centerline is valid? [True, True] Translation: X:134.02, Y:7.14, Z:-0.14 [[ 9.95804845e-01 -9.13637589e-02 5.03723544e-03 1.34018700e+02] [ 9.13629364e-02 9.95817583e-01 3.93636500e-04 7.13624556e+00] [-5.05213173e-03 6.82314872e-05 9.99987236e-01 -1.39430466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.04140051299999 meters Centerline goodness [0,1] 0.9999359398688903 Centerline is valid? [True, True] Translation: X:134.05, Y:7.14, Z:-0.14 [[ 9.95787710e-01 -9.15503350e-02 5.03720478e-03 1.34046145e+02] [ 9.15495129e-02 9.95800448e-01 3.94028510e-04 7.13856579e+00] [-5.05212421e-03 6.87848959e-05 9.99987236e-01 -1.39550815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.071400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.07, Y:7.15, Z:-0.14 [[ 9.96056745e-01 -8.86084854e-02 4.41545806e-03 1.34074664e+02] [ 8.86078216e-02 9.96066531e-01 3.46122789e-04 7.14657380e+00] [-4.42875941e-03 4.64861812e-05 9.99990192e-01 -1.40328394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.101400513 meters Centerline goodness [0,1] 0.999869121368118 Centerline is valid? [True, True] Translation: X:134.10, Y:7.16, Z:-0.14 [[ 9.96629528e-01 -8.19987001e-02 2.40768805e-03 1.34102255e+02] [ 8.19984833e-02 9.96632436e-01 1.88789515e-04 7.16276703e+00] [-2.41506050e-03 9.27356332e-06 9.99997084e-01 -1.43174258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.131400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.13, Y:7.17, Z:-0.14 [[ 9.96896940e-01 -7.86918958e-02 2.01892009e-03 1.34128935e+02] [ 7.86917360e-02 9.96898985e-01 1.58621888e-04 7.17145934e+00] [-2.02514164e-03 7.42651826e-07 9.99997949e-01 -1.43977937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.161400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.16, Y:7.18, Z:-0.14 [[ 9.97089071e-01 -7.62113967e-02 2.28196041e-03 1.34156549e+02] [ 7.62111853e-02 9.97091682e-01 1.79558987e-04 7.17912798e+00] [-2.28900819e-03 -5.12539583e-06 9.99997380e-01 -1.43055218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.191400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.19, Y:7.19, Z:-0.14 [[ 9.97237145e-01 -7.42251166e-02 2.95105635e-03 1.34185074e+02] [ 7.42247520e-02 9.97241511e-01 2.33036294e-04 7.18574775e+00] [-2.96021304e-03 -1.33510227e-05 9.99995618e-01 -1.42188710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.221400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.21, Y:7.20, Z:-0.14 [[ 9.97469766e-01 -7.10364355e-02 2.80899704e-03 1.34212784e+02] [ 7.10360909e-02 9.97473721e-01 2.22359724e-04 7.19567147e+00] [-2.81769637e-03 -2.22569325e-05 9.99996030e-01 -1.43344510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.251400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.24, Y:7.20, Z:-0.15 [[ 9.97575031e-01 -6.95718833e-02 1.95225359e-03 1.34240427e+02] [ 6.95717138e-02 9.97576941e-01 1.54670710e-04 7.20230357e+00] [-1.95828390e-03 -1.84740098e-05 9.99998082e-01 -1.45633869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.281400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.27, Y:7.21, Z:-0.15 [[ 9.97673612e-01 -6.81586593e-02 1.32674100e-03 1.34268297e+02] [ 6.81585798e-02 9.97674494e-01 1.05116093e-04 7.20799726e+00] [-1.33082023e-03 -1.44427704e-05 9.99999114e-01 -1.47778554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.311400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.30, Y:7.21, Z:-0.15 [[ 9.97755825e-01 -6.69434799e-02 1.37293017e-03 1.34297388e+02] [ 6.69433939e-02 9.97756769e-01 1.08545602e-04 7.21181759e+00] [-1.37711679e-03 -1.63934015e-05 9.99999052e-01 -1.47863545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.341400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.33, Y:7.22, Z:-0.15 [[ 9.97827796e-01 -6.58547462e-02 1.68590984e-03 1.34326110e+02] [ 6.58546142e-02 9.97829220e-01 1.33733781e-04 7.21523158e+00] [-1.69105710e-03 -2.24183424e-05 9.99998570e-01 -1.47173950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.371400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.35, Y:7.22, Z:-0.15 [[ 9.97977411e-01 -6.35366185e-02 2.04574949e-03 1.34353124e+02] [ 6.35364180e-02 9.97979507e-01 1.62951282e-04 7.22248936e+00] [-2.05196944e-03 -3.26421040e-05 9.99997894e-01 -1.46458646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.40140051299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.38, Y:7.23, Z:-0.15 [[ 9.98046674e-01 -6.24406329e-02 2.00072057e-03 1.34381893e+02] [ 6.24404389e-02 9.98048679e-01 1.59360601e-04 7.22705237e+00] [-2.00676710e-03 -3.41234471e-05 9.99997986e-01 -1.47239469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.43140051299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.41, Y:7.23, Z:-0.15 [[ 9.98131502e-01 -6.10732153e-02 1.88889551e-03 1.34410910e+02] [ 6.10730394e-02 9.98133288e-01 1.50714770e-04 7.23159877e+00] [-1.89457412e-03 -3.50725704e-05 9.99998205e-01 -1.47694546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.46140051299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.44, Y:7.24, Z:-0.15 [[ 9.98233937e-01 -5.93680245e-02 2.10834313e-03 1.34439413e+02] [ 5.93678007e-02 9.98236162e-01 1.68644516e-04 7.23606208e+00] [-2.11463645e-03 -4.31789844e-05 9.99997763e-01 -1.47983310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.49140051299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.47, Y:7.25, Z:-0.15 [[ 9.98490622e-01 -5.48489419e-02 2.84115701e-03 1.34466621e+02] [ 5.48485146e-02 9.98494661e-01 2.28157442e-04 7.24725859e+00] [-2.84939430e-03 -7.19798246e-05 9.99995938e-01 -1.47891278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.52140051299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.50, Y:7.25, Z:-0.15 [[ 9.98616957e-01 -5.24859168e-02 3.06632948e-03 1.34495646e+02] [ 5.24854074e-02 9.98621661e-01 2.46412006e-04 7.24874996e+00] [-3.07503620e-03 -8.51336559e-05 9.99995268e-01 -1.47513353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.55140051299998 meters Centerline goodness [0,1] 0.9999786301955337 Centerline is valid? [True, True] Translation: X:134.52, Y:7.26, Z:-0.15 [[ 9.98728965e-01 -5.03187420e-02 2.91195657e-03 1.34523782e+02] [ 5.03182732e-02 9.98733206e-01 2.34085900e-04 7.25763018e+00] [-2.92004662e-03 -8.72637426e-05 9.99995733e-01 -1.48233009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.58140051299998 meters Centerline goodness [0,1] 0.9998725194407853 Centerline is valid? [True, True] Translation: X:134.55, Y:7.26, Z:-0.15 [[ 9.98918431e-01 -4.64840922e-02 1.09458479e-03 1.34553846e+02] [ 4.64840236e-02 9.98919030e-01 8.80692993e-05 7.26405066e+00] [-1.09749540e-03 -3.70933409e-05 9.99999397e-01 -1.50894807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.61140051299998 meters Centerline goodness [0,1] 0.9998292750592203 Centerline is valid? [True, True] Translation: X:134.58, Y:7.27, Z:-0.15 [[ 9.98969761e-01 -4.53804929e-02 1.66472640e-04 1.34582689e+02] [ 4.53804914e-02 9.98969775e-01 1.27157725e-05 7.26750287e+00] [-1.66878183e-04 -5.14806200e-06 9.99999986e-01 -1.52464698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.64140051299998 meters Centerline goodness [0,1] 0.9999787618137411 Centerline is valid? [True, True] Translation: X:134.61, Y:7.27, Z:-0.15 [[ 9.99011415e-01 -4.44542230e-02 -1.20814210e-04 1.34610542e+02] [ 4.44542222e-02 9.99011422e-01 -9.99835788e-06 7.27114709e+00] [ 1.21139245e-04 4.61777190e-06 9.99999993e-01 -1.53018078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.67140051299998 meters Centerline goodness [0,1] 0.9998717592493641 Centerline is valid? [True, True] Translation: X:134.64, Y:7.27, Z:-0.15 [[ 9.99034953e-01 -4.39200003e-02 4.43585537e-04 1.34639348e+02] [ 4.39199890e-02 9.99035051e-01 3.51436783e-05 7.27158414e+00] [-4.44701010e-04 -1.56274912e-05 9.99999901e-01 -1.52037967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.70140051299998 meters Centerline goodness [0,1] 0.9998943654532778 Centerline is valid? [True, True] Translation: X:134.67, Y:7.28, Z:-0.15 [[ 9.99054327e-01 -4.34581849e-02 1.35541913e-03 1.34666652e+02] [ 4.34580766e-02 9.99055246e-01 1.09312675e-04 7.28146520e+00] [-1.35888912e-03 -5.03053924e-05 9.99999075e-01 -1.51527759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.73140051299998 meters Centerline goodness [0,1] 0.9999786907603136 Centerline is valid? [True, True] Translation: X:134.70, Y:7.28, Z:-0.15 [[ 9.99075130e-01 -4.29237831e-02 2.53655826e-03 1.34695996e+02] [ 4.29234007e-02 9.99078345e-01 2.04993609e-04 7.27895705e+00] [-2.54301953e-03 -9.59263098e-05 9.99996762e-01 -1.49519749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.76140051299998 meters Centerline goodness [0,1] 0.9999356098817368 Centerline is valid? [True, True] Translation: X:134.72, Y:7.28, Z:-0.15 [[ 9.99117009e-01 -4.19320387e-02 2.62809248e-03 1.34724557e+02] [ 4.19316232e-02 9.99120460e-01 2.13013787e-04 7.27853796e+00] [-2.63471307e-03 -1.02625514e-04 9.99996524e-01 -1.49087432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.79140051299999 meters Centerline goodness [0,1] 0.9999783437283437 Centerline is valid? [True, True] Translation: X:134.75, Y:7.28, Z:-0.15 [[ 9.99180151e-01 -4.04021984e-02 2.58603109e-03 1.34753939e+02] [ 4.04017904e-02 9.99183492e-01 2.09815793e-04 7.28047168e+00] [-2.59239659e-03 -1.05163490e-04 9.99996634e-01 -1.49614957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.821400513 meters Centerline goodness [0,1] 0.9998488055639553 Centerline is valid? [True, True] Translation: X:134.78, Y:7.28, Z:-0.15 [[ 9.99274460e-01 -3.80494426e-02 1.67134089e-03 1.34783543e+02] [ 3.80492690e-02 9.99275855e-01 1.35606253e-04 7.28159857e+00] [-1.67529034e-03 -7.19145665e-05 9.99998594e-01 -1.51570645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.851400513 meters Centerline goodness [0,1] 0.9998504688868477 Centerline is valid? [True, True] Translation: X:134.81, Y:7.29, Z:-0.15 [[ 9.99290426e-01 -3.76241523e-02 1.75121719e-03 1.34810656e+02] [ 3.76239613e-02 9.99291958e-01 1.41918133e-04 7.28598157e+00] [-1.75531681e-03 -7.59297035e-05 9.99998457e-01 -1.51702952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.881400513 meters Centerline goodness [0,1] 0.999871503833469 Centerline is valid? [True, True] Translation: X:134.84, Y:7.29, Z:-0.15 [[ 9.99295677e-01 -3.74483031e-02 2.40297559e-03 1.34839999e+02] [ 3.74479421e-02 9.99298561e-01 1.95050573e-04 7.28601421e+00] [-2.40859436e-03 -1.04926704e-04 9.99997094e-01 -1.50713643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.911400513 meters Centerline goodness [0,1] 0.9998297510108534 Centerline is valid? [True, True] Translation: X:134.87, Y:7.29, Z:-0.15 [[ 9.99313193e-01 -3.69113991e-02 3.26975548e-03 1.34866998e+02] [ 3.69107248e-02 9.99318532e-01 2.66320068e-04 7.29333475e+00] [-3.27735749e-03 -1.45448113e-04 9.99994619e-01 -1.49332151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.941400513 meters Centerline goodness [0,1] 0.9995974064499724 Centerline is valid? [True, True] Translation: X:134.89, Y:7.30, Z:-0.15 [[ 9.99385402e-01 -3.47909968e-02 4.29008990e-03 1.34894278e+02] [ 3.47898153e-02 9.99394590e-01 3.49756564e-04 7.30362231e+00] [-4.29966101e-03 -2.00290169e-04 9.99990736e-01 -1.47801594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.971400513 meters Centerline goodness [0,1] 0.9997448437167765 Centerline is valid? [True, True] Translation: X:134.92, Y:7.30, Z:-0.15 [[ 9.99439294e-01 -3.32346382e-02 4.06902702e-03 1.34923990e+02] [ 3.32335616e-02 9.99447558e-01 3.31932006e-04 7.29980600e+00] [-4.07781076e-03 -1.96517630e-04 9.99991666e-01 -1.47945566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.001400513 meters Centerline goodness [0,1] 0.9998700398544447 Centerline is valid? [True, True] Translation: X:134.95, Y:7.30, Z:-0.15 [[ 9.99504764e-01 -3.13005304e-02 3.24096347e-03 1.34954164e+02] [ 3.12998368e-02 9.99510005e-01 2.64536965e-04 7.29647354e+00] [-3.24765556e-03 -1.62964329e-04 9.99994713e-01 -1.48782670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.031400513 meters Centerline goodness [0,1] 0.9993812673351824 Centerline is valid? [True, True] Translation: X:134.98, Y:7.31, Z:-0.15 [[ 9.99564433e-01 -2.94099685e-02 2.44927526e-03 1.34981701e+02] [ 2.94095666e-02 9.99567425e-01 1.99927572e-04 7.31413817e+00] [-2.45409563e-03 -1.27808367e-04 9.99996981e-01 -1.50814493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.061400513 meters Centerline goodness [0,1] 0.9994440999764812 Centerline is valid? [True, True] Translation: X:135.01, Y:7.32, Z:-0.15 [[ 9.99616614e-01 -2.76477626e-02 1.49231337e-03 1.35011157e+02] [ 2.76476114e-02 9.99617724e-01 1.21811025e-04 7.31543558e+00] [-1.49511070e-03 -8.05054241e-05 9.99998879e-01 -1.52987021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.091400513 meters Centerline goodness [0,1] 0.9985740433320563 Centerline is valid? [True, True] Translation: X:135.04, Y:7.33, Z:-0.15 [[ 9.99694085e-01 -2.46703727e-02 1.76304037e-03 1.35039393e+02] [ 2.46701568e-02 9.99695635e-01 1.44085375e-04 7.32575133e+00] [-1.76605841e-03 -1.00546815e-04 9.99998435e-01 -1.53569878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.121400513 meters Centerline goodness [0,1] 0.999786009287197 Centerline is valid? [True, True] Translation: X:135.07, Y:7.32, Z:-0.15 [[ 9.99710800e-01 -2.39230475e-02 2.45025495e-03 1.35068982e+02] [ 2.39226291e-02 9.99713793e-01 1.99929149e-04 7.31979204e+00] [-2.45433658e-03 -1.41254789e-04 9.99996978e-01 -1.52114188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.15140051299997 meters Centerline goodness [0,1] 0.999274759497451 Centerline is valid? [True, True] Translation: X:135.10, Y:7.33, Z:-0.15 [[ 9.99728127e-01 -2.32271283e-02 2.04244875e-03 1.35095474e+02] [ 2.32268353e-02 9.99730207e-01 1.67090261e-04 7.33032711e+00] [-2.04577873e-03 -1.19605213e-04 9.99997900e-01 -1.52508819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.18140051299997 meters Centerline goodness [0,1] 0.9980263995585926 Centerline is valid? [True, True] Translation: X:135.12, Y:7.34, Z:-0.15 [[ 9.99750813e-01 -2.23042175e-02 9.12829104e-04 1.35123474e+02] [ 2.23041585e-02 9.99751229e-01 7.46598338e-05 7.33597054e+00] [-9.14267247e-04 -5.42813445e-05 9.99999581e-01 -1.54281708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.21140051299997 meters Centerline goodness [0,1] 0.996664825593746 Centerline is valid? [True, True] Translation: X:135.15, Y:7.34, Z:-0.16 [[ 9.99776897e-01 -2.11208661e-02 2.55968135e-04 1.35152343e+02] [ 2.11208615e-02 9.99776930e-01 2.07927876e-05 7.34386882e+00] [-2.56350198e-04 -1.53818811e-05 9.99999967e-01 -1.56278651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.24140051299997 meters Centerline goodness [0,1] 0.9995916437414031 Centerline is valid? [True, True] Translation: X:135.18, Y:7.34, Z:-0.16 [[ 9.99769434e-01 -2.14470816e-02 1.04922103e-03 1.35182063e+02] [ 2.14470035e-02 9.99769983e-01 8.55457496e-05 7.33885374e+00] [-1.05081440e-03 -6.30233786e-05 9.99999446e-01 -1.55051818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.27140051299997 meters Centerline goodness [0,1] 0.9983024232907525 Centerline is valid? [True, True] Translation: X:135.21, Y:7.35, Z:-0.15 [[ 9.99748711e-01 -2.23419694e-02 1.83057674e-03 1.35208753e+02] [ 2.23417314e-02 9.99750381e-01 1.50357354e-04 7.34981571e+00] [-1.83347908e-03 -1.09421316e-04 9.99998313e-01 -1.54331276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.30140051299998 meters Centerline goodness [0,1] 0.9985592915104133 Centerline is valid? [True, True] Translation: X:135.24, Y:7.35, Z:-0.15 [[ 9.99661223e-01 -2.59922103e-02 1.35820471e-03 1.35238747e+02] [ 2.59920824e-02 9.99662143e-01 1.11741927e-04 7.34997238e+00] [-1.36065025e-03 -7.64015027e-05 9.99999071e-01 -1.54370280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.33140051299998 meters Centerline goodness [0,1] 0.9996155981719558 Centerline is valid? [True, True] Translation: X:135.27, Y:7.34, Z:-0.15 [[ 9.99593352e-01 -2.84995040e-02 9.53197120e-04 1.35269094e+02] [ 2.84994422e-02 9.99593805e-01 7.83481403e-05 7.34150354e+00] [-9.55042820e-04 -5.11506939e-05 9.99999543e-01 -1.54334419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.36140051299998 meters Centerline goodness [0,1] 0.9994489657511021 Centerline is valid? [True, True] Translation: X:135.30, Y:7.35, Z:-0.15 [[ 9.99524536e-01 -3.08193239e-02 9.33006133e-04 1.35297647e+02] [ 3.08192657e-02 9.99524971e-01 7.67083854e-05 7.34676669e+00] [-9.34927028e-04 -4.79173495e-05 9.99999562e-01 -1.54903259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.39140051299998 meters Centerline goodness [0,1] 0.9996794049756348 Centerline is valid? [True, True] Translation: X:135.33, Y:7.35, Z:-0.15 [[ 9.99470800e-01 -3.25161823e-02 9.03943028e-04 1.35327421e+02] [ 3.25161284e-02 9.99471208e-01 7.43389266e-05 7.34508253e+00] [-9.05882248e-04 -4.49068589e-05 9.99999589e-01 -1.54947978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.42140051299998 meters Centerline goodness [0,1] 0.9996813730696519 Centerline is valid? [True, True] Translation: X:135.36, Y:7.34, Z:-0.16 [[ 9.99409652e-01 -3.43452964e-02 8.65440123e-04 1.35357393e+02] [ 3.43452476e-02 9.99410025e-01 7.12270805e-05 7.34371717e+00] [-8.67375851e-04 -4.14612763e-05 9.99999623e-01 -1.55489114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.45140051299998 meters Centerline goodness [0,1] 0.9996585646913212 Centerline is valid? [True, True] Translation: X:135.39, Y:7.34, Z:-0.16 [[ 9.99407768e-01 -3.44043551e-02 6.72777611e-04 1.35386536e+02] [ 3.44043260e-02 9.99407994e-01 5.48219494e-05 7.34365407e+00] [-6.74265437e-04 -3.16430219e-05 9.99999772e-01 -1.55763000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.48140051299998 meters Centerline goodness [0,1] 0.9996174363988013 Centerline is valid? [True, True] Translation: X:135.42, Y:7.35, Z:-0.16 [[ 9.99433822e-01 -3.36395509e-02 6.45696023e-04 1.35415393e+02] [ 3.36395238e-02 9.99434030e-01 5.26955874e-05 7.34879498e+00] [-6.47103234e-04 -3.09448455e-05 9.99999790e-01 -1.56037814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.51140051299998 meters Centerline goodness [0,1] 0.999677731227844 Centerline is valid? [True, True] Translation: X:135.44, Y:7.35, Z:-0.16 [[ 9.99487588e-01 -3.19919737e-02 1.03700904e-03 1.35444904e+02] [ 3.19919021e-02 9.99488124e-01 8.55658831e-05 7.34800081e+00] [-1.03921564e-03 -5.23461465e-05 9.99999459e-01 -1.55542424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.54140051299999 meters Centerline goodness [0,1] 0.9996784359122773 Centerline is valid? [True, True] Translation: X:135.47, Y:7.35, Z:-0.15 [[ 9.99614355e-01 -2.77137798e-02 1.75721536e-03 1.35474762e+02] [ 2.77135670e-02 9.99615895e-01 1.45355107e-04 7.35362210e+00] [-1.76056874e-03 -9.66003461e-05 9.99998446e-01 -1.53500806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.571400513 meters Centerline goodness [0,1] 0.9993810560464421 Centerline is valid? [True, True] Translation: X:135.50, Y:7.36, Z:-0.15 [[ 9.99652258e-01 -2.62619459e-02 2.38188506e-03 1.35502786e+02] [ 2.62615508e-02 9.99655087e-01 1.96983492e-04 7.36336207e+00] [-2.38623668e-03 -1.34362997e-04 9.99997144e-01 -1.52468095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.601400513 meters Centerline goodness [0,1] 0.994723628781754 Centerline is valid? [True, True] Translation: X:135.53, Y:7.38, Z:-0.15 [[ 9.99662042e-01 -2.58111692e-02 3.09590531e-03 1.35530091e+02] [ 2.58104993e-02 9.99666821e-01 2.56127153e-04 7.37538285e+00] [-3.10148476e-03 -1.76133731e-04 9.99995175e-01 -1.51628762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.631400513 meters Centerline goodness [0,1] 0.9996378895350075 Centerline is valid? [True, True] Translation: X:135.56, Y:7.36, Z:-0.15 [[ 9.99608644e-01 -2.77092361e-02 3.84160781e-03 1.35561679e+02] [ 2.77082170e-02 9.99616003e-01 3.18264987e-04 7.36041823e+00] [-3.84895152e-03 -2.11696330e-04 9.99992570e-01 -1.51132136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.661400513 meters Centerline goodness [0,1] 0.9993624752959177 Centerline is valid? [True, True] Translation: X:135.59, Y:7.36, Z:-0.15 [[ 9.99575252e-01 -2.89258044e-02 3.55156063e-03 1.35589903e+02] [ 2.89249410e-02 9.99581543e-01 2.94244985e-04 7.36460896e+00] [-3.55858572e-03 -1.91391324e-04 9.99993650e-01 -1.52467821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.691400513 meters Centerline goodness [0,1] 0.9994697323208755 Centerline is valid? [True, True] Translation: X:135.62, Y:7.37, Z:-0.15 [[ 9.99551824e-01 -2.97696668e-02 3.14914272e-03 1.35617616e+02] [ 2.97689918e-02 9.99556771e-01 2.61015302e-04 7.36580525e+00] [-3.15551727e-03 -1.67151517e-04 9.99995007e-01 -1.52879667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.721400513 meters Centerline goodness [0,1] 0.9998283409149429 Centerline is valid? [True, True] Translation: X:135.65, Y:7.36, Z:-0.15 [[ 9.99556929e-01 -2.95527879e-02 3.54663417e-03 1.35646813e+02] [ 2.95519299e-02 9.99563203e-01 2.94104935e-04 7.35908306e+00] [-3.55377663e-03 -1.89164741e-04 9.99993667e-01 -1.51101542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.751400513 meters Centerline goodness [0,1] 0.9997447623099011 Centerline is valid? [True, True] Translation: X:135.67, Y:7.37, Z:-0.15 [[ 9.99595760e-01 -2.81599697e-02 3.91563763e-03 1.35674712e+02] [ 2.81589101e-02 9.99603406e-01 3.25472317e-04 7.36611260e+00] [-3.92325001e-03 -2.15080660e-04 9.99992281e-01 -1.50304511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.781400513 meters Centerline goodness [0,1] 0.9992371265098537 Centerline is valid? [True, True] Translation: X:135.70, Y:7.37, Z:-0.15 [[ 9.99658956e-01 -2.58676924e-02 3.58255648e-03 1.35704470e+02] [ 2.58667901e-02 9.99665354e-01 2.97986713e-04 7.37132807e+00] [-3.58906582e-03 -2.05215850e-04 9.99993538e-01 -1.50413734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.811400513 meters Centerline goodness [0,1] 0.9985039538362898 Centerline is valid? [True, True] Translation: X:135.73, Y:7.38, Z:-0.15 [[ 9.99736562e-01 -2.27941672e-02 2.68951792e-03 1.35733251e+02] [ 2.27936475e-02 9.99740166e-01 2.23756795e-04 7.37913341e+00] [-2.69391944e-03 -1.62393925e-04 9.99996358e-01 -1.52133021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.841400513 meters Centerline goodness [0,1] 0.9654450040204833 Centerline is valid? [True, True] Translation: X:135.76, Y:7.39, Z:-0.16 [[ 9.99890848e-01 -1.47746007e-02 -5.06162500e-05 1.35762244e+02] [ 1.47746005e-02 9.99890850e-01 -4.20771250e-06 7.39194080e+00] [ 5.06728925e-05 3.45941835e-06 9.99999999e-01 -1.57285156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.871400513 meters Centerline goodness [0,1] 0.9210201388001873 Centerline is valid? [True, False] Translation: X:135.76, Y:7.39, Z:-0.16 [[ 9.99947779e-01 -1.02159702e-02 -2.70470967e-04 1.35762872e+02] [ 1.02171662e-02 9.99935950e-01 4.86878063e-03 7.38933125e+00] [ 2.20714326e-04 -4.87128982e-03 9.99988111e-01 -1.57380286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.90140051299997 meters Centerline goodness [0,1] 0.8448896607226057 Centerline is valid? [False, False] Translation: X:135.76, Y:7.39, Z:-0.16 [[ 9.99946145e-01 -1.03756561e-02 -2.30521025e-04 1.35763160e+02] [ 1.03764798e-02 9.99938491e-01 3.91711811e-03 7.39406286e+00] [ 1.89864175e-04 -3.91929915e-03 9.99992301e-01 -1.58413747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.93140051299997 meters Centerline goodness [0,1] 0.6898477157360405 Centerline is valid? [False, False] Translation: X:135.76, Y:7.40, Z:-0.16 [[ 9.99943464e-01 -1.06327713e-02 -1.11055321e-04 1.35762964e+02] [ 1.06330564e-02 9.99938976e-01 2.99692685e-03 7.39854006e+00] [ 7.91829065e-05 -2.99793827e-03 9.99995503e-01 -1.58944163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.96140051299997 meters Centerline goodness [0,1] 0.6898477157360405 Centerline is valid? [False, False] Translation: X:135.76, Y:7.40, Z:-0.16 [[ 9.99943464e-01 -1.06327713e-02 -1.11055321e-04 1.35762964e+02] [ 1.06330564e-02 9.99938976e-01 2.99692685e-03 7.39854006e+00] [ 7.91829065e-05 -2.99793827e-03 9.99995503e-01 -1.58944163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.99140051299997 meters Centerline goodness [0,1] 0.6045611935194288 Centerline is valid? [False, False] Translation: X:135.76, Y:7.40, Z:-0.16 [[ 9.99941028e-01 -1.08595708e-02 9.68165242e-05 1.35762319e+02] [ 1.08593179e-02 9.99938361e-01 2.31289677e-03 7.40187436e+00] [-1.21927623e-04 -2.31170902e-03 9.99997321e-01 -1.59072713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.02140051299997 meters Centerline goodness [0,1] 0.6332575966704181 Centerline is valid? [False, False] Translation: X:135.76, Y:7.40, Z:-0.16 [[ 9.99939068e-01 -1.10372567e-02 1.97774262e-04 1.35762068e+02] [ 1.10368761e-02 9.99937414e-01 1.83192803e-03 7.40417576e+00] [-2.17981344e-04 -1.82963360e-03 9.99998302e-01 -1.59299512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.05140051299998 meters Centerline goodness [0,1] 0.6344136261309095 Centerline is valid? [False, False] Translation: X:135.76, Y:7.40, Z:-0.16 [[ 9.99938073e-01 -1.11275169e-02 1.71116099e-04 1.35762283e+02] [ 1.11272149e-02 9.99936689e-01 1.67447698e-03 7.40486189e+00] [-1.89738036e-04 -1.67246924e-03 9.99998583e-01 -1.59597224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.08140051299998 meters Centerline goodness [0,1] 0.8321989695312003 Centerline is valid? [False, False] Translation: X:135.76, Y:7.40, Z:-0.16 [[ 9.99938292e-01 -1.11089045e-02 6.73190103e-05 1.35762573e+02] [ 1.11087646e-02 9.99936658e-01 1.80955964e-03 7.40416151e+00] [-8.74169715e-05 -1.80870014e-03 9.99998360e-01 -1.59517769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.11140051299998 meters Centerline goodness [0,1] 0.8802702817922156 Centerline is valid? [False, False] Translation: X:135.76, Y:7.40, Z:-0.16 [[ 9.99938868e-01 -1.10566424e-02 1.00974833e-04 1.35762216e+02] [ 1.10564165e-02 9.99936844e-01 2.01582284e-03 7.40320622e+00] [-1.23256688e-04 -2.01458319e-03 9.99997963e-01 -1.59037568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.14140051299998 meters Centerline goodness [0,1] 0.9050701186623517 Centerline is valid? [False, False] Translation: X:135.76, Y:7.40, Z:-0.16 [[ 9.99939544e-01 -1.09950019e-02 1.33536466e-04 1.35761522e+02] [ 1.09946580e-02 9.99936798e-01 2.34901725e-03 7.40163813e+00] [-1.59355475e-04 -2.34740705e-03 9.99997232e-01 -1.57886931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.17140051299998 meters Centerline goodness [0,1] 0.9848110434152785 Centerline is valid? [False, True] Translation: X:135.76, Y:7.40, Z:-0.16 [[ 9.99938861e-01 -1.10570878e-02 1.26194400e-04 1.35760977e+02] [ 1.10566503e-02 9.99934197e-01 3.05816588e-03 7.39793495e+00] [-1.60000504e-04 -3.05658362e-03 9.99995316e-01 -1.56517099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.20140051299998 meters Centerline goodness [0,1] 0.9712581460018256 Centerline is valid? [True, True] Translation: X:135.79, Y:7.40, Z:-0.16 [[ 9.99918390e-01 -1.27754588e-02 -3.66186778e-05 1.35789694e+02] [ 1.27754587e-02 9.99918390e-01 -3.02107091e-06 7.40453872e+00] [ 3.66542849e-05 2.55300396e-06 9.99999999e-01 -1.57983166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.23140051299998 meters Centerline goodness [0,1] 0.9816131352883923 Centerline is valid? [True, True] Translation: X:135.82, Y:7.40, Z:-0.16 [[ 9.99886357e-01 -1.50593617e-02 -6.98472015e-04 1.35820351e+02] [ 1.50593259e-02 9.99886600e-01 -5.65051875e-05 7.40447465e+00] [ 6.99243740e-04 4.59802484e-05 9.99999754e-01 -1.59411846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.26140051299998 meters Centerline goodness [0,1] 0.9944545956741597 Centerline is valid? [True, True] Translation: X:135.85, Y:7.40, Z:-0.16 [[ 9.99871530e-01 -1.60276394e-02 -1.96220944e-04 1.35849527e+02] [ 1.60276366e-02 9.99871549e-01 -1.59996250e-05 7.40259012e+00] [ 1.96452175e-04 1.28526116e-05 9.99999981e-01 -1.58312322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.29140051299999 meters Centerline goodness [0,1] 0.9939727074004118 Centerline is valid? [True, True] Translation: X:135.88, Y:7.41, Z:-0.16 [[ 9.99860209e-01 -1.67092996e-02 6.02259043e-04 1.35877046e+02] [ 1.67092733e-02 9.99860389e-01 4.86276721e-05 7.40557322e+00] [-6.02987495e-04 -3.85575634e-05 9.99999817e-01 -1.56788066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.321400513 meters Centerline goodness [0,1] 0.9977435286103542 Centerline is valid? [True, True] Translation: X:135.91, Y:7.41, Z:-0.16 [[ 9.99845290e-01 -1.75301790e-02 1.44530576e-03 1.35905967e+02] [ 1.75300281e-02 9.99846330e-01 1.16998575e-04 7.40516107e+00] [-1.44713466e-03 -9.16442233e-05 9.99998949e-01 -1.55493780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.351400513 meters Centerline goodness [0,1] 0.9970604524347122 Centerline is valid? [True, True] Translation: X:135.93, Y:7.41, Z:-0.16 [[ 9.99823070e-01 -1.87065090e-02 1.97339420e-03 1.35933505e+02] [ 1.87062297e-02 9.99825010e-01 1.59872438e-04 7.40993283e+00] [-1.97603954e-03 -1.22929387e-04 9.99998040e-01 -1.55083256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.381400513 meters Centerline goodness [0,1] 0.9988501096654671 Centerline is valid? [True, True] Translation: X:135.96, Y:7.41, Z:-0.16 [[ 9.99773063e-01 -2.12364032e-02 1.68446367e-03 1.35963964e+02] [ 2.12362031e-02 9.99774477e-01 1.36588358e-04 7.40866638e+00] [-1.68698443e-03 -1.00785749e-04 9.99998572e-01 -1.55867871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.411400513 meters Centerline goodness [0,1] 0.999004764425622 Centerline is valid? [True, True] Translation: X:135.99, Y:7.41, Z:-0.16 [[ 9.99754123e-01 -2.21022370e-02 1.78460420e-03 1.35993321e+02] [ 2.21020140e-02 9.99755710e-01 1.44578670e-04 7.40787869e+00] [-1.78736375e-03 -1.05099774e-04 9.99998397e-01 -1.55361644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.441400513 meters Centerline goodness [0,1] 0.9988647560296449 Centerline is valid? [True, True] Translation: X:136.02, Y:7.41, Z:-0.15 [[ 9.99746483e-01 -2.23963491e-02 2.31801102e-03 1.36021413e+02] [ 2.23959724e-02 9.99749161e-01 1.88317593e-04 7.41143155e+00] [-2.32164720e-03 -1.36355740e-04 9.99997296e-01 -1.54479844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.471400513 meters Centerline goodness [0,1] 0.9993327593628928 Centerline is valid? [True, True] Translation: X:136.05, Y:7.41, Z:-0.15 [[ 9.99772766e-01 -2.10696611e-02 3.23830259e-03 1.36050526e+02] [ 2.10689184e-02 9.99777991e-01 2.63311527e-04 7.41113454e+00] [-3.24313155e-03 -1.95024161e-04 9.99994722e-01 -1.52496603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.501400513 meters Centerline goodness [0,1] 0.9987172909184197 Centerline is valid? [True, True] Translation: X:136.08, Y:7.42, Z:-0.15 [[ 9.99800267e-01 -1.98035782e-02 2.69165047e-03 1.36078495e+02] [ 1.98030603e-02 9.99803876e-01 2.18939848e-04 7.41876765e+00] [-2.69545836e-03 -1.65593202e-04 9.99996354e-01 -1.53619620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.531400513 meters Centerline goodness [0,1] 0.9983311938382542 Centerline is valid? [True, True] Translation: X:136.11, Y:7.42, Z:-0.16 [[ 9.99837219e-01 -1.80105367e-02 1.07495815e-03 1.36108644e+02] [ 1.80104530e-02 9.99837795e-01 8.74715225e-05 7.42048237e+00] [-1.07635919e-03 -6.80968006e-05 9.99999418e-01 -1.56136181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.561400513 meters Centerline goodness [0,1] 0.8839897351063604 Centerline is valid? [True, False] Translation: X:136.11, Y:7.42, Z:-0.16 [[ 9.99907664e-01 -1.35729630e-02 6.61817400e-04 1.36110102e+02] [ 1.35696891e-02 9.99896773e-01 4.72293830e-03 7.41889034e+00] [-7.25853350e-04 -4.71352155e-03 9.99988628e-01 -1.56680262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.591400513 meters Centerline goodness [0,1] 0.9655985220105753 Centerline is valid? [False, True] Translation: X:136.11, Y:7.43, Z:-0.16 [[ 9.99958734e-01 -8.91839077e-03 1.73017249e-03 1.36110709e+02] [ 8.93884483e-03 9.99885643e-01 -1.21982399e-02 7.43289589e+00] [-1.62118597e-03 1.22132022e-02 9.99924102e-01 -1.59111519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.621400513 meters Centerline goodness [0,1] 0.8346956151553853 Centerline is valid? [True, False] Translation: X:136.11, Y:7.43, Z:-0.16 [[ 9.99989616e-01 -4.24641943e-03 1.65395892e-03 1.36110160e+02] [ 4.25785412e-03 9.99966627e-01 -6.97247516e-03 7.42878222e+00] [-1.62429567e-03 6.97944507e-03 9.99974324e-01 -1.57747488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.65140051299997 meters Centerline goodness [0,1] 0.8673845762496291 Centerline is valid? [False, False] Translation: X:136.11, Y:7.42, Z:-0.16 [[ 9.99998737e-01 3.95297697e-04 1.53961635e-03 1.36109913e+02] [-3.92711806e-04 9.99998513e-01 -1.67950906e-03 7.42420785e+00] [-1.54027797e-03 1.67890231e-03 9.99997404e-01 -1.56524109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.68140051299997 meters Centerline goodness [0,1] 0.5005641538756307 Centerline is valid? [False, False] Translation: X:136.11, Y:7.43, Z:-0.16 [[ 9.99998594e-01 3.11232952e-04 1.64805075e-03 1.36109914e+02] [-3.06998419e-04 9.99996653e-01 -2.56904916e-03 7.42878317e+00] [-1.64884481e-03 2.56853959e-03 9.99995342e-01 -1.57371022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.71140051299997 meters Centerline goodness [0,1] 0.5119665236234762 Centerline is valid? [False, False] Translation: X:136.11, Y:7.43, Z:-0.16 [[ 9.99998690e-01 -2.25777138e-05 1.61860200e-03 1.36110540e+02] [ 2.80518652e-05 9.99994280e-01 -3.38208148e-03 7.43251815e+00] [-1.61851639e-03 3.38212245e-03 9.99992971e-01 -1.58436833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.74140051299997 meters Centerline goodness [0,1] 0.6511019957067863 Centerline is valid? [False, False] Translation: X:136.12, Y:7.43, Z:-0.16 [[ 9.99997343e-01 2.20750387e-03 6.63459118e-04 1.36117634e+02] [-2.20669198e-03 9.99996819e-01 -1.22197462e-03 7.43365725e+00] [-6.66154521e-04 1.22050732e-03 9.99999033e-01 -1.63114510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.77140051299997 meters Centerline goodness [0,1] 0.703710763756513 Centerline is valid? [False, False] Translation: X:136.12, Y:7.44, Z:-0.16 [[ 9.99997882e-01 1.88759760e-03 8.19826741e-04 1.36116948e+02] [-1.88598775e-03 9.99996301e-01 -1.95999673e-03 7.43718159e+00] [-8.23523393e-04 1.95844640e-03 9.99997743e-01 -1.62874617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.80140051299998 meters Centerline goodness [0,1] 0.6921326328774698 Centerline is valid? [False, False] Translation: X:136.12, Y:7.44, Z:-0.16 [[ 9.99997669e-01 1.98378642e-03 8.52899442e-04 1.36116476e+02] [-1.98232314e-03 9.99996568e-01 -1.71308427e-03 7.43607798e+00] [-8.56294908e-04 1.71138955e-03 9.99998169e-01 -1.62190751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.83140051299998 meters Centerline goodness [0,1] 0.8356510477484554 Centerline is valid? [False, False] Translation: X:136.12, Y:7.43, Z:-0.16 [[ 9.99997551e-01 2.06825352e-03 7.87019500e-04 1.36116392e+02] [-2.06714658e-03 9.99996877e-01 -1.40471748e-03 7.43461604e+00] [-7.89922354e-04 1.40308715e-03 9.99998704e-01 -1.61621652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.86140051299998 meters Centerline goodness [0,1] 0.9356532877882152 Centerline is valid? [False, False] Translation: X:136.11, Y:7.44, Z:-0.16 [[ 9.99998484e-01 -4.38874601e-04 1.68504391e-03 1.36109836e+02] [ 4.45559686e-04 9.99992024e-01 -3.96898263e-03 7.43641822e+00] [-1.68328858e-03 3.96972740e-03 9.99990704e-01 -1.57553789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.89140051299998 meters Centerline goodness [0,1] 0.9242961507241424 Centerline is valid? [False, False] Translation: X:136.11, Y:7.43, Z:-0.16 [[ 9.99999223e-01 -4.59526336e-04 1.15857940e-03 1.36111526e+02] [ 4.63262489e-04 9.99994687e-01 -3.22656735e-03 7.43240094e+00] [-1.15709056e-03 3.22710157e-03 9.99994123e-01 -1.57485836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.92140051299998 meters Centerline goodness [0,1] 0.9720600144921359 Centerline is valid? [False, True] Translation: X:136.11, Y:7.43, Z:-0.16 [[ 9.99999417e-01 -2.59348939e-04 1.04859108e-03 1.36111941e+02] [ 2.62183936e-04 9.99996309e-01 -2.70439200e-03 7.42988567e+00] [-1.04788583e-03 2.70466534e-03 9.99995793e-01 -1.57592183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.95140051299998 meters Centerline goodness [0,1] 0.8515390669871726 Centerline is valid? [True, False] Translation: X:136.11, Y:7.43, Z:-0.16 [[ 9.99999533e-01 -1.02198456e-04 9.61374649e-04 1.36112202e+02] [ 1.04422469e-04 9.99997318e-01 -2.31360228e-03 7.42802119e+00] [-9.61135625e-04 2.31370159e-03 9.99996861e-01 -1.57539668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.98140051299998 meters Centerline goodness [0,1] 0.9450417904704902 Centerline is valid? [False, False] Translation: X:136.11, Y:7.43, Z:-0.16 [[ 9.99999549e-01 -2.02902873e-05 9.49229597e-04 1.36112254e+02] [ 2.23041967e-05 9.99997749e-01 -2.12166274e-03 7.42711878e+00] [-9.49184411e-04 2.12168296e-03 9.99997299e-01 -1.57572699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.01140051299998 meters Centerline goodness [0,1] 0.7856793691951287 Centerline is valid? [False, False] Translation: X:136.11, Y:7.42, Z:-0.16 [[ 9.99999537e-01 1.88623582e-04 9.43196672e-04 1.36112002e+02] [-1.87083276e-04 9.99998649e-01 -1.63289220e-03 7.42485454e+00] [-9.43503400e-04 1.63271499e-03 9.99998222e-01 -1.57040222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.04140051299999 meters Centerline goodness [0,1] 0.9815459757910384 Centerline is valid? [False, True] Translation: X:136.11, Y:7.42, Z:-0.16 [[ 9.99999476e-01 3.60773619e-04 9.57905054e-04 1.36111609e+02] [-3.59571743e-04 9.99999148e-01 -1.25456877e-03 7.42314480e+00] [-9.58356854e-04 1.25422368e-03 9.99998754e-01 -1.56376503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.071400513 meters Centerline goodness [0,1] 0.997252044989775 Centerline is valid? [True, True] Translation: X:136.14, Y:7.42, Z:-0.16 [[ 9.99999288e-01 2.76135556e-04 1.16050045e-03 1.36143182e+02] [-2.76228213e-04 9.99999959e-01 7.96825924e-05 7.41681618e+00] [-1.16047840e-03 -8.00030987e-05 9.99999323e-01 -1.55067914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.101400513 meters Centerline goodness [0,1] 0.9773823560939008 Centerline is valid? [True, True] Translation: X:136.17, Y:7.42, Z:-0.16 [[ 9.99999944e-01 2.92186802e-04 1.64964503e-04 1.36174457e+02] [-2.92188695e-04 9.99999957e-01 1.14549614e-05 7.42295031e+00] [-1.64961149e-04 -1.15031615e-05 9.99999986e-01 -1.57753871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.131400513 meters Centerline goodness [0,1] 0.987766025232573 Centerline is valid? [True, True] Translation: X:136.21, Y:7.42, Z:-0.16 [[ 9.99999800e-01 6.32390718e-04 1.72958312e-05 1.36205369e+02] [-6.32390738e-04 9.99999800e-01 1.18550250e-06 7.42109718e+00] [-1.72950780e-05 -1.19643999e-06 1.00000000e+00 -1.58876894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.161400513 meters Centerline goodness [0,1] 0.9892923649906891 Centerline is valid? [True, True] Translation: X:136.24, Y:7.42, Z:-0.16 [[ 9.99999358e-01 1.00732891e-03 5.18885240e-04 1.36235492e+02] [-1.00734750e-03 9.99999492e-01 3.55657812e-05 7.42200462e+00] [-5.18849150e-04 -3.60884561e-05 9.99999865e-01 -1.58769458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.191400513 meters Centerline goodness [0,1] 0.9548191493872705 Centerline is valid? [True, True] Translation: X:136.27, Y:7.43, Z:-0.16 [[ 9.99998583e-01 1.43437324e-03 8.81678879e-04 1.36265079e+02] [-1.43442712e-03 9.99998969e-01 6.04709023e-05 7.42832367e+00] [-8.81591232e-04 -6.17355207e-05 9.99999609e-01 -1.58185846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.221400513 meters Centerline goodness [0,1] 0.9495026941835453 Centerline is valid? [True, False] Translation: X:136.27, Y:7.43, Z:-0.16 [[ 9.99998837e-01 1.28679220e-03 8.18925976e-04 1.36265503e+02] [-1.28655059e-03 9.99999129e-01 -2.95497772e-04 7.42995650e+00] [-8.19305507e-04 2.94443839e-04 9.99999621e-01 -1.58578681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.251400513 meters Centerline goodness [0,1] 0.971157966915231 Centerline is valid? [False, True] Translation: X:136.27, Y:7.43, Z:-0.16 [[ 9.99999107e-01 1.11315493e-03 7.39772064e-04 1.36266109e+02] [-1.11263275e-03 9.99999132e-01 -7.05903531e-04 7.43180247e+00] [-7.40557202e-04 7.05079805e-04 9.99999477e-01 -1.59259964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.281400513 meters Centerline goodness [0,1] 0.8768105185028099 Centerline is valid? [True, False] Translation: X:136.27, Y:7.43, Z:-0.16 [[ 9.99993372e-01 3.63562027e-03 -1.93557931e-04 1.36272943e+02] [-3.63519918e-03 9.99991117e-01 2.13315197e-03 7.42961360e+00] [ 2.01311542e-04 -2.13243422e-03 9.99997706e-01 -1.63481820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.311400513 meters Centerline goodness [0,1] 0.9014000468813264 Centerline is valid? [False, False] Translation: X:136.27, Y:7.43, Z:-0.16 [[ 9.99993823e-01 3.51461942e-03 -3.62885010e-05 1.36272405e+02] [-3.51454849e-03 9.99992208e-01 1.79801394e-03 7.43124535e+00] [ 4.26075530e-05 -1.79787530e-03 9.99998383e-01 -1.63471548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.341400513 meters Centerline goodness [0,1] 0.9286413344113016 Centerline is valid? [False, False] Translation: X:136.27, Y:7.43, Z:-0.16 [[ 9.99994077e-01 3.43735541e-03 1.73393446e-04 1.36271309e+02] [-3.43762811e-03 9.99992815e-01 1.59774645e-03 7.43231197e+00] [-1.67900178e-04 -1.59833305e-03 9.99998709e-01 -1.62721070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.371400513 meters Centerline goodness [0,1] 0.9615531670844131 Centerline is valid? [False, True] Translation: X:136.27, Y:7.43, Z:-0.16 [[ 9.99994258e-01 3.37593974e-03 2.93878457e-04 1.36270395e+02] [-3.37636619e-03 9.99993230e-01 1.46292040e-03 7.43307561e+00] [-2.88937736e-04 -1.46390424e-03 9.99998887e-01 -1.61761005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.40140051299997 meters Centerline goodness [0,1] 0.9819340442422813 Centerline is valid? [True, True] Translation: X:136.30, Y:7.43, Z:-0.16 [[ 9.99998605e-01 1.58630710e-03 5.22765817e-04 1.36301161e+02] [-1.58632633e-03 9.99998741e-01 3.63699770e-05 7.43417543e+00] [-5.22707465e-04 -3.71992035e-05 9.99999863e-01 -1.61088645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.43140051299997 meters Centerline goodness [0,1] 0.920169941582581 Centerline is valid? [True, False] Translation: X:136.31, Y:7.44, Z:-0.16 [[ 9.99999765e-01 -2.76081898e-04 -6.26810277e-04 1.36307648e+02] [ 2.75067104e-04 9.99998652e-01 -1.61849074e-03 7.43700230e+00] [ 6.27256269e-04 1.61831795e-03 9.99998494e-01 -1.64485722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.46140051299997 meters Centerline goodness [0,1] 0.9573400250941029 Centerline is valid? [False, True] Translation: X:136.31, Y:7.44, Z:-0.16 [[ 9.99999642e-01 -3.66843318e-04 -7.62798726e-04 1.36308192e+02] [ 3.65612575e-04 9.99998632e-01 -1.61297154e-03 7.43684504e+00] [ 7.63389391e-04 1.61269207e-03 9.99998408e-01 -1.64699381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.49140051299997 meters Centerline goodness [0,1] 0.9996115918261658 Centerline is valid? [True, True] Translation: X:136.34, Y:7.42, Z:-0.16 [[ 9.99994234e-01 -3.37672088e-03 -3.59239492e-04 1.36340142e+02] [ 3.37671300e-03 9.99994299e-01 -2.25403511e-05 7.41946249e+00] [ 3.59313556e-04 2.13271724e-05 9.99999935e-01 -1.63147939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.52140051299997 meters Centerline goodness [0,1] 0.9991688156688903 Centerline is valid? [True, True] Translation: X:136.37, Y:7.43, Z:-0.16 [[ 9.99985960e-01 -5.28659793e-03 3.62297182e-04 1.36368474e+02] [ 5.28659007e-03 9.99986026e-01 2.26556782e-05 7.42704135e+00] [-3.62411890e-04 -2.07400434e-05 9.99999934e-01 -1.62351842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.55140051299998 meters Centerline goodness [0,1] 0.9995700496592643 Centerline is valid? [True, True] Translation: X:136.40, Y:7.43, Z:-0.16 [[ 9.99980548e-01 -6.22241924e-03 4.30701643e-04 1.36398065e+02] [ 6.22240821e-03 9.99980640e-01 2.69596080e-05 7.42605876e+00] [-4.30861059e-04 -2.42790822e-05 9.99999907e-01 -1.61482111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.58140051299998 meters Centerline goodness [0,1] 0.9984041534566036 Centerline is valid? [True, True] Translation: X:136.43, Y:7.43, Z:-0.16 [[ 9.99982428e-01 -5.84543528e-03 -9.87287210e-04 1.36427599e+02] [ 5.84537689e-03 9.99982914e-01 -6.20201901e-05 7.43068409e+00] [ 9.87632876e-04 5.62480345e-05 9.99999511e-01 -1.62582592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.61140051299998 meters Centerline goodness [0,1] 0.9963995057309643 Centerline is valid? [True, True] Translation: X:136.46, Y:7.44, Z:-0.16 [[ 9.99987303e-01 -4.90195983e-03 -1.16824006e-03 1.36455708e+02] [ 4.90187730e-03 9.99987983e-01 -7.34924926e-05 7.43794127e+00] [ 1.16858628e-03 6.77649900e-05 9.99999315e-01 -1.63250873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.64140051299998 meters Centerline goodness [0,1] 0.9979593138192717 Centerline is valid? [True, True] Translation: X:136.48, Y:7.44, Z:-0.16 [[ 9.99992490e-01 -3.86607432e-03 -2.72255394e-04 1.36484784e+02] [ 3.86606977e-03 9.99992527e-01 -1.72211384e-05 7.44274925e+00] [ 2.72319938e-04 1.61684507e-05 9.99999963e-01 -1.62218806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.67140051299998 meters Centerline goodness [0,1] 0.9993179153788767 Centerline is valid? [True, True] Translation: X:136.51, Y:7.44, Z:-0.16 [[ 9.99995967e-01 -2.65469901e-03 1.00953786e-03 1.36514933e+02] [ 2.65463633e-03 9.99996474e-01 6.34207605e-05 7.44263616e+00] [-1.00970267e-03 -6.07405488e-05 9.99999488e-01 -1.60999631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.70140051299998 meters Centerline goodness [0,1] 0.9989357626324975 Centerline is valid? [True, True] Translation: X:136.54, Y:7.45, Z:-0.16 [[ 9.99999256e-01 -8.55841797e-04 8.69573995e-04 1.36543969e+02] [ 8.55794588e-04 9.99999632e-01 5.46609879e-05 7.45325468e+00] [-8.69620457e-04 -5.39167705e-05 9.99999620e-01 -1.61399121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.73140051299998 meters Centerline goodness [0,1] 0.99914412872304 Centerline is valid? [True, True] Translation: X:136.58, Y:7.45, Z:-0.16 [[ 9.99999834e-01 -4.35403501e-04 -3.77937773e-04 1.36575337e+02] [ 4.35394586e-04 9.99999905e-01 -2.36712771e-05 7.45321539e+00] [ 3.77948044e-04 2.35067211e-05 9.99999928e-01 -1.62819777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.76140051299998 meters Centerline goodness [0,1] 0.9957521292718851 Centerline is valid? [True, True] Translation: X:136.60, Y:7.46, Z:-0.16 [[ 9.99999131e-01 -4.56801313e-04 -1.23643191e-03 1.36604048e+02] [ 4.56705598e-04 9.99999893e-01 -7.76934899e-05 7.46413350e+00] [ 1.23646727e-03 7.71287370e-05 9.99999233e-01 -1.64749136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.79140051299999 meters Centerline goodness [0,1] 0.9950033382869203 Centerline is valid? [True, True] Translation: X:136.63, Y:7.47, Z:-0.16 [[ 9.99998088e-01 -1.11333252e-03 -1.60741530e-03 1.36633588e+02] [ 1.11317142e-03 9.99999375e-01 -1.01114683e-04 7.46755097e+00] [ 1.60752687e-03 9.93251611e-05 9.99998703e-01 -1.64707625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.821400513 meters Centerline goodness [0,1] 0.9968718079673136 Centerline is valid? [True, True] Translation: X:136.66, Y:7.47, Z:-0.16 [[ 9.99991972e-01 -3.91738810e-03 -8.42562455e-04 1.36662807e+02] [ 3.91734481e-03 9.99992326e-01 -5.30192244e-05 7.47139871e+00] [ 8.42763686e-04 4.97181911e-05 9.99999644e-01 -1.62562482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.851400513 meters Centerline goodness [0,1] 0.9968718079673136 Centerline is valid? [True, True] Translation: X:136.69, Y:7.47, Z:-0.16 [[ 9.99991885e-01 -3.93958855e-03 -8.42559504e-04 1.36691966e+02] [ 3.93954524e-03 9.99992239e-01 -5.30661349e-05 7.47327221e+00] [ 8.42762024e-04 4.97464030e-05 9.99999644e-01 -1.62658949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.881400513 meters Centerline goodness [0,1] 0.9987816868293934 Centerline is valid? [True, True] Translation: X:136.72, Y:7.47, Z:-0.16 [[ 9.99985661e-01 -5.34879057e-03 2.59702092e-04 1.36722247e+02] [ 5.34878652e-03 9.99985695e-01 1.62997727e-05 7.47254225e+00] [-2.59785561e-04 -1.49104479e-05 9.99999966e-01 -1.60688480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.911400513 meters Centerline goodness [0,1] 0.9994883711014944 Centerline is valid? [True, True] Translation: X:136.75, Y:7.47, Z:-0.16 [[ 9.99976364e-01 -6.68135802e-03 1.62199741e-03 1.36752007e+02] [ 6.68120134e-03 9.99977675e-01 1.01995687e-04 7.47236433e+00] [-1.62264267e-03 -9.11563850e-05 9.99998679e-01 -1.59232425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.941400513 meters Centerline goodness [0,1] 0.9997861008320678 Centerline is valid? [True, True] Translation: X:136.78, Y:7.47, Z:-0.16 [[ 9.99968711e-01 -7.57187956e-03 2.29005155e-03 1.36782816e+02] [ 7.57156933e-03 9.99971325e-01 1.44110211e-04 7.46900312e+00] [-2.29107706e-03 -1.26766418e-04 9.99997367e-01 -1.59011954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.971400513 meters Centerline goodness [0,1] 0.9996145940390545 Centerline is valid? [True, True] Translation: X:136.81, Y:7.47, Z:-0.16 [[ 9.99963061e-01 -8.54813662e-03 8.98279958e-04 1.36813859e+02] [ 8.54808923e-03 9.99963463e-01 5.65844466e-05 7.47026421e+00] [-8.98730829e-04 -4.89037792e-05 9.99999595e-01 -1.61733531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.001400513 meters Centerline goodness [0,1] 0.999424135136288 Centerline is valid? [True, True] Translation: X:136.84, Y:7.48, Z:-0.16 [[ 9.99965319e-01 -8.31232054e-03 -5.15599201e-04 1.36843499e+02] [ 8.31230490e-03 9.99965452e-01 -3.24785294e-05 7.47580495e+00] [ 5.15851360e-04 2.81915852e-05 9.99999867e-01 -1.64040355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.031400513 meters Centerline goodness [0,1] 0.9939941219065468 Centerline is valid? [True, True] Translation: X:136.87, Y:7.49, Z:-0.17 [[ 9.99969133e-01 -7.73137706e-03 -1.39971845e-03 1.36870987e+02] [ 7.73126104e-03 9.99970109e-01 -8.82801648e-05 7.48631863e+00] [ 1.40035914e-03 7.74558510e-05 9.99999016e-01 -1.65179823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.061400513 meters Centerline goodness [0,1] 0.9994011463769356 Centerline is valid? [True, True] Translation: X:136.90, Y:7.48, Z:-0.16 [[ 9.99973830e-01 -7.20607987e-03 -6.41879174e-04 1.36900559e+02] [ 7.20605500e-03 9.99974035e-01 -4.10398899e-05 7.48228321e+00] [ 6.42158245e-04 3.64133993e-05 9.99999793e-01 -1.63302858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.091400513 meters Centerline goodness [0,1] 0.9990036251086473 Centerline is valid? [True, True] Translation: X:136.93, Y:7.48, Z:-0.16 [[ 9.99980094e-01 -6.30908294e-03 -8.65765481e-05 1.36929585e+02] [ 6.30908248e-03 9.99980098e-01 -5.58039175e-06 7.48456371e+00] [ 8.66100321e-05 5.03406208e-06 9.99999996e-01 -1.63212986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.121400513 meters Centerline goodness [0,1] 0.9993563474865369 Centerline is valid? [True, True] Translation: X:136.96, Y:7.49, Z:-0.16 [[ 9.99983874e-01 -5.67677321e-03 -1.60075312e-04 1.36958940e+02] [ 5.67677165e-03 9.99983887e-01 -1.01886510e-05 7.48525480e+00] [ 1.60130572e-04 9.27977566e-06 9.99999987e-01 -1.63521244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.15140051299997 meters Centerline goodness [0,1] 0.9989322399470391 Centerline is valid? [True, True] Translation: X:136.99, Y:7.49, Z:-0.16 [[ 9.99980002e-01 -6.32172914e-03 1.78782360e-04 1.36987377e+02] [ 6.32172724e-03 9.99980018e-01 1.11892177e-05 7.48593198e+00] [-1.78849522e-04 -1.00587806e-05 9.99999984e-01 -1.64406831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.18140051299997 meters Centerline goodness [0,1] 0.9917539941590792 Centerline is valid? [True, True] Translation: X:137.02, Y:7.49, Z:-0.17 [[ 9.99974534e-01 -7.13498529e-03 1.50795394e-04 1.37016274e+02] [ 7.13498394e-03 9.99974546e-01 9.49706557e-06 7.49212547e+00] [-1.50859317e-04 -8.42090101e-06 9.99999989e-01 -1.65225770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.21140051299997 meters Centerline goodness [0,1] 0.9993209981327449 Centerline is valid? [True, True] Translation: X:137.05, Y:7.48, Z:-0.16 [[ 9.99970347e-01 -7.70049592e-03 8.12084920e-05 1.37046316e+02] [ 7.70049557e-03 9.99970351e-01 4.65875172e-06 7.48162998e+00] [-8.12419589e-05 -4.03326794e-06 9.99999997e-01 -1.64992956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.24140051299997 meters Centerline goodness [0,1] 0.9991284384167339 Centerline is valid? [True, True] Translation: X:137.08, Y:7.48, Z:-0.17 [[ 9.99969099e-01 -7.83858108e-03 -5.97746394e-04 1.37076537e+02] [ 7.83855978e-03 9.99969277e-01 -3.79681584e-05 7.48019947e+00] [ 5.98025646e-04 3.32815144e-05 9.99999821e-01 -1.65689843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.27140051299997 meters Centerline goodness [0,1] 0.999614536265713 Centerline is valid? [True, True] Translation: X:137.11, Y:7.47, Z:-0.17 [[ 9.99966927e-01 -8.02020508e-03 -1.34980556e-03 1.37106013e+02] [ 8.02009584e-03 9.99967835e-01 -8.63284007e-05 7.47087800e+00] [ 1.35045451e-03 7.54999756e-05 9.99999085e-01 -1.65991393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.30140051299998 meters Centerline goodness [0,1] 0.9989318978039818 Centerline is valid? [True, True] Translation: X:137.13, Y:7.48, Z:-0.17 [[ 9.99969565e-01 -7.60567151e-03 -1.73860981e-03 1.37133594e+02] [ 7.60549034e-03 9.99971072e-01 -1.10793596e-04 7.47511710e+00] [ 1.73940217e-03 9.75672439e-05 9.99998482e-01 -1.66951230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.33140051299998 meters Centerline goodness [0,1] 0.9976271911073108 Centerline is valid? [True, True] Translation: X:137.16, Y:7.48, Z:-0.17 [[ 9.99971131e-01 -7.25794385e-03 -2.24952125e-03 1.37161548e+02] [ 7.25763827e-03 9.99973653e-01 -1.43979006e-04 7.47694652e+00] [ 2.25050697e-03 1.27648638e-04 9.99997459e-01 -1.68129030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.36140051299998 meters Centerline goodness [0,1] 0.9971664749243683 Centerline is valid? [True, True] Translation: X:137.19, Y:7.48, Z:-0.17 [[ 9.99973757e-01 -6.74061496e-03 -2.65512954e-03 1.37190120e+02] [ 6.74018816e-03 9.99977270e-01 -1.69661390e-04 7.47589410e+00] [ 2.65621281e-03 1.51760865e-04 9.99996461e-01 -1.68719558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.39140051299998 meters Centerline goodness [0,1] 0.9948319859327086 Centerline is valid? [True, True] Translation: X:137.22, Y:7.47, Z:-0.17 [[ 9.99982577e-01 -5.20635419e-03 -2.78210685e-03 1.37220403e+02] [ 5.20587983e-03 9.99986434e-01 -1.77717257e-04 7.47122048e+00] [ 2.78299437e-03 1.63230847e-04 9.99996114e-01 -1.68585287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.42140051299998 meters Centerline goodness [0,1] 0.957741417216303 Centerline is valid? [True, True] Translation: X:137.25, Y:7.48, Z:-0.17 [[ 9.99989150e-01 -3.99978820e-03 -2.38780240e-03 1.37248175e+02] [ 3.99943486e-03 9.99991991e-01 -1.52731620e-04 7.47716552e+00] [ 2.38839417e-03 1.43180102e-04 9.99997138e-01 -1.68844564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.45140051299998 meters Centerline goodness [0,1] 0.9839637366631744 Centerline is valid? [True, True] Translation: X:137.28, Y:7.47, Z:-0.17 [[ 9.99996626e-01 -3.01605809e-04 -2.58008757e-03 1.37279089e+02] [ 3.01181282e-04 9.99999941e-01 -1.64926953e-04 7.46719897e+00] [ 2.58013716e-03 1.64149322e-04 9.99996658e-01 -1.67752954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.48140051299998 meters Centerline goodness [0,1] 0.9016348077823662 Centerline is valid? [True, False] Translation: X:137.28, Y:7.47, Z:-0.17 [[ 9.99996676e-01 -7.71737594e-05 -2.57708203e-03 1.37279140e+02] [ 7.78197166e-05 9.99999966e-01 2.50555179e-04 7.46527074e+00] [ 2.57706260e-03 -2.50754894e-04 9.99996648e-01 -1.67850156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.51140051299998 meters Centerline goodness [0,1] 0.8822481064222519 Centerline is valid? [False, False] Translation: X:137.28, Y:7.46, Z:-0.17 [[ 9.99996870e-01 4.40413317e-05 -2.50174555e-03 1.37278918e+02] [-4.30893524e-05 9.99999927e-01 3.80578651e-04 7.46472028e+00] [ 2.50176213e-03 -3.80469661e-04 9.99996798e-01 -1.67898547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.54140051299999 meters Centerline goodness [0,1] 0.9402170409369291 Centerline is valid? [False, False] Translation: X:137.24, Y:7.46, Z:-0.17 [[ 9.99986271e-01 1.98783764e-03 -4.84831178e-03 1.37236143e+02] [-1.95790466e-03 9.99979043e-01 6.17084824e-03 7.45558217e+00] [ 4.86047682e-03 -6.16127099e-03 9.99969207e-01 -1.65278623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.571400513 meters Centerline goodness [0,1] 0.8609773919023468 Centerline is valid? [False, False] Translation: X:137.23, Y:7.46, Z:-0.17 [[ 9.99987570e-01 2.25655609e-03 -4.44609793e-03 1.37234676e+02] [-2.22879483e-03 9.99978053e-01 6.23905148e-03 7.45564621e+00] [ 4.46007912e-03 -6.22906449e-03 9.99970653e-01 -1.65010076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.601400513 meters Centerline goodness [0,1] 0.7449823403760336 Centerline is valid? [False, False] Translation: X:137.27, Y:7.46, Z:-0.17 [[ 9.99997145e-01 1.52445003e-03 -1.84001171e-03 1.37274889e+02] [-1.52236557e-03 9.99998199e-01 1.13372004e-03 7.46307264e+00] [ 1.84173669e-03 -1.13091564e-03 9.99997665e-01 -1.66858360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.631400513 meters Centerline goodness [0,1] 0.8931297709923665 Centerline is valid? [False, False] Translation: X:137.27, Y:7.46, Z:-0.17 [[ 9.99997065e-01 1.65927652e-03 -1.76556078e-03 1.37274508e+02] [-1.65678660e-03 9.99997632e-01 1.41080033e-03 7.46180932e+00] [ 1.76789751e-03 -1.40787103e-03 9.99997446e-01 -1.66599176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.661400513 meters Centerline goodness [0,1] 0.8593763330773825 Centerline is valid? [False, False] Translation: X:137.27, Y:7.46, Z:-0.17 [[ 9.99996825e-01 1.81236265e-03 -1.75098639e-03 1.37274373e+02] [-1.80928699e-03 9.99996821e-01 1.75652215e-03 7.46019437e+00] [ 1.75416428e-03 -1.75334854e-03 9.99996924e-01 -1.66419731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.691400513 meters Centerline goodness [0,1] 0.9092862822634373 Centerline is valid? [False, False] Translation: X:137.27, Y:7.46, Z:-0.16 [[ 9.99999385e-01 -5.60797020e-04 -9.56990887e-04 1.37268448e+02] [ 5.60133128e-04 9.99999602e-01 -6.93856126e-04 7.46062323e+00] [ 9.57379619e-04 6.93319656e-04 9.99999301e-01 -1.62993360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.721400513 meters Centerline goodness [0,1] 0.8817931326833404 Centerline is valid? [False, False] Translation: X:137.31, Y:7.46, Z:-0.17 [[ 9.99998538e-01 1.66054471e-04 1.70218135e-03 1.37310467e+02] [-1.61886409e-04 9.99996989e-01 -2.44850468e-03 7.46435738e+00] [-1.70258281e-03 2.44822554e-03 9.99995554e-01 -1.65053102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.751400513 meters Centerline goodness [0,1] 0.9090425192156195 Centerline is valid? [False, False] Translation: X:137.31, Y:7.46, Z:-0.17 [[ 9.99998619e-01 2.39101110e-04 1.64464961e-03 1.37310722e+02] [-2.35449308e-04 9.99997508e-01 -2.22024907e-03 7.46324190e+00] [-1.64517637e-03 2.21985877e-03 9.99996183e-01 -1.65211708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.781400513 meters Centerline goodness [0,1] 0.8458366106162709 Centerline is valid? [False, False] Translation: X:137.31, Y:7.46, Z:-0.16 [[ 9.99998860e-01 3.46604963e-04 1.46931646e-03 1.37310966e+02] [-3.44424289e-04 9.99998839e-01 -1.48413486e-03 7.45952301e+00] [-1.46982916e-03 1.48362710e-03 9.99997819e-01 -1.64541009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.811400513 meters Centerline goodness [0,1] 0.9361918913181915 Centerline is valid? [False, False] Translation: X:137.31, Y:7.46, Z:-0.16 [[ 9.99998855e-01 5.02504613e-04 1.42728286e-03 1.37310929e+02] [-5.01018215e-04 9.99999332e-01 -1.04158483e-03 7.45740109e+00] [-1.42780531e-03 1.04086855e-03 9.99998439e-01 -1.64222030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.841400513 meters Centerline goodness [0,1] 0.9973525043586818 Centerline is valid? [False, True] Translation: X:137.27, Y:7.45, Z:-0.16 [[ 9.99999413e-01 -5.88825616e-04 -9.09990568e-04 1.37269497e+02] [ 5.90427353e-04 9.99998275e-01 1.76090437e-03 7.45042893e+00] [ 9.08952133e-04 -1.76144062e-03 9.99998036e-01 -1.63009385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.871400513 meters Centerline goodness [0,1] 0.9882516715530151 Centerline is valid? [True, True] Translation: X:137.30, Y:7.46, Z:-0.16 [[ 9.99986544e-01 -5.03018298e-03 -1.26863936e-03 1.37298555e+02] [ 5.03007608e-03 9.99987345e-01 -8.74392776e-05 7.45718712e+00] [ 1.26906314e-03 8.10567486e-05 9.99999191e-01 -1.64974095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.90140051299997 meters Centerline goodness [0,1] 0.9851023422663009 Centerline is valid? [True, True] Translation: X:137.33, Y:7.46, Z:-0.17 [[ 9.99973329e-01 -7.11758586e-03 -1.63739404e-03 1.37327087e+02] [ 7.11741043e-03 9.99974665e-01 -1.12943277e-04 7.45781795e+00] [ 1.63815644e-03 1.01286259e-04 9.99998653e-01 -1.65980872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.93140051299997 meters Centerline goodness [0,1] 0.9964535219091162 Centerline is valid? [True, True] Translation: X:137.36, Y:7.45, Z:-0.17 [[ 9.99960537e-01 -8.69469521e-03 -1.82398773e-03 1.37357217e+02] [ 8.69448011e-03 9.99962194e-01 -1.25825554e-04 7.45272394e+00] [ 1.82501278e-03 1.09961964e-04 9.99998329e-01 -1.65771695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.96140051299997 meters Centerline goodness [0,1] 0.9960698136330981 Centerline is valid? [True, True] Translation: X:137.38, Y:7.45, Z:-0.16 [[ 9.99953260e-01 -9.58394643e-03 -1.27503739e-03 1.37384898e+02] [ 9.58384174e-03 9.99954070e-01 -8.81943062e-05 7.45397689e+00] [ 1.27582408e-03 7.59704274e-05 9.99999183e-01 -1.64549130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.99140051299997 meters Centerline goodness [0,1] 0.9985746500446752 Centerline is valid? [True, True] Translation: X:137.41, Y:7.45, Z:-0.16 [[ 9.99955602e-01 -9.36474649e-03 -1.04675935e-03 1.37414214e+02] [ 9.36467544e-03 9.99956148e-01 -7.27646222e-05 7.45038276e+00] [ 1.04739487e-03 6.29588301e-05 9.99999449e-01 -1.62977059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.02140051299997 meters Centerline goodness [0,1] 0.9932001699957501 Centerline is valid? [True, True] Translation: X:137.44, Y:7.46, Z:-0.16 [[ 9.99961023e-01 -8.65666120e-03 -1.73657291e-03 1.37441314e+02] [ 8.65646506e-03 9.99962525e-01 -1.20429385e-04 7.45640028e+00] [ 1.73755035e-03 1.05392109e-04 9.99998485e-01 -1.63237478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.05140051299998 meters Centerline goodness [0,1] 0.9840237313274711 Centerline is valid? [True, True] Translation: X:137.47, Y:7.46, Z:-0.16 [[ 9.99963293e-01 -8.02278925e-03 -3.00800131e-03 1.37468978e+02] [ 8.02219780e-03 9.99967800e-01 -2.08639738e-04 7.45846115e+00] [ 3.00957832e-03 1.84501298e-04 9.99995454e-01 -1.64973388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.08140051299998 meters Centerline goodness [0,1] 0.9730686854549696 Centerline is valid? [True, True] Translation: X:137.50, Y:7.45, Z:-0.17 [[ 9.99955211e-01 -8.01192699e-03 -5.03841170e-03 1.37497660e+02] [ 8.01026641e-03 9.99967856e-01 -3.49676773e-04 7.45453057e+00] [ 5.04105133e-03 3.09302091e-04 9.99987246e-01 -1.67380460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.11140051299998 meters Centerline goodness [0,1] 0.947442726047616 Centerline is valid? [True, False] Translation: X:137.50, Y:7.45, Z:-0.17 [[ 9.99955976e-01 -7.85232256e-03 -5.13686183e-03 1.37498110e+02] [ 7.85249828e-03 9.99969169e-01 1.40402492e-05 7.45277883e+00] [ 5.13659321e-03 -5.43768299e-05 9.99986806e-01 -1.67604015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.14140051299998 meters Centerline goodness [0,1] 0.925073696265349 Centerline is valid? [False, False] Translation: X:137.50, Y:7.45, Z:-0.17 [[ 9.99956057e-01 -7.78250545e-03 -5.22657424e-03 1.37498532e+02] [ 7.78349727e-03 9.99969694e-01 1.69451176e-04 7.45199100e+00] [ 5.22509709e-03 -2.10124756e-04 9.99986327e-01 -1.67840400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.17140051299998 meters Centerline goodness [0,1] 0.9295768640163795 Centerline is valid? [False, False] Translation: X:137.50, Y:7.45, Z:-0.17 [[ 9.99956794e-01 -7.68293830e-03 -5.23293217e-03 1.37498591e+02] [ 7.68490980e-03 9.99970407e-01 3.56745206e-04 7.45112385e+00] [ 5.23003647e-03 -3.96944404e-04 9.99986244e-01 -1.67904625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.20140051299998 meters Centerline goodness [0,1] 0.9603320837833831 Centerline is valid? [False, True] Translation: X:137.52, Y:7.46, Z:-0.17 [[ 9.99988499e-01 -4.78658565e-03 -2.99685598e-04 1.37517348e+02] [ 4.78367861e-03 9.99947629e-01 -9.04741266e-03 7.45643345e+00] [ 3.42976118e-04 9.04587501e-03 9.99959026e-01 -1.71878850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.23140051299998 meters Centerline goodness [0,1] 0.8549949031600408 Centerline is valid? [True, False] Translation: X:137.52, Y:7.45, Z:-0.17 [[ 9.99999967e-01 1.03850849e-04 -2.33842524e-04 1.37516133e+02] [-1.04605487e-04 9.99994780e-01 -3.22942703e-03 7.44964773e+00] [ 2.33505924e-04 3.22945139e-03 9.99994758e-01 -1.70014667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.26140051299998 meters Centerline goodness [0,1] 0.9334821903242956 Centerline is valid? [False, False] Translation: X:137.52, Y:7.45, Z:-0.17 [[ 1.00000000e+00 1.06982194e-05 -2.40392821e-05 1.37515496e+02] [-1.07858586e-05 9.99993344e-01 -3.64862838e-03 7.45175657e+00] [ 2.40000882e-05 3.64862864e-03 9.99993343e-01 -1.70105850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.29140051299999 meters Centerline goodness [0,1] 0.848548026805659 Centerline is valid? [False, False] Translation: X:137.52, Y:7.45, Z:-0.17 [[ 9.99999997e-01 -7.02173839e-05 1.72898624e-05 1.37515681e+02] [ 7.02867781e-05 9.99991809e-01 -4.04682883e-03 7.45368336e+00] [-1.70055631e-05 4.04683004e-03 9.99991811e-01 -1.70757718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.321400513 meters Centerline goodness [0,1] 0.8282475281281964 Centerline is valid? [False, False] Translation: X:137.52, Y:7.45, Z:-0.17 [[ 9.99999953e-01 2.98337978e-04 6.60008585e-05 1.37515953e+02] [-2.98073370e-04 9.99992061e-01 -3.97348931e-03 7.45372666e+00] [-6.71857773e-05 3.97346945e-03 9.99992103e-01 -1.71784924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.351400513 meters Centerline goodness [0,1] 0.7012552655532271 Centerline is valid? [False, False] Translation: X:137.52, Y:7.45, Z:-0.18 [[ 9.99995364e-01 2.95506692e-03 -7.34540856e-04 1.37522013e+02] [-2.95574570e-03 9.99995204e-01 -9.24724872e-04 7.44997048e+00] [ 7.31804709e-04 9.26891701e-04 9.99999303e-01 -1.75360461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.381400513 meters Centerline goodness [0,1] 0.7931363405121248 Centerline is valid? [False, False] Translation: X:137.52, Y:7.45, Z:-0.17 [[ 9.99995284e-01 3.02407648e-03 -5.34930917e-04 1.37521116e+02] [-3.02450921e-03 9.99995098e-01 -8.09988175e-04 7.44952953e+00] [ 5.32478829e-04 8.11602259e-04 9.99999529e-01 -1.74960551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.411400513 meters Centerline goodness [0,1] 0.7833064104744091 Centerline is valid? [False, False] Translation: X:137.52, Y:7.45, Z:-0.17 [[ 9.99995135e-01 3.09582275e-03 -3.81314642e-04 1.37520251e+02] [-3.09607866e-03 9.99994981e-01 -6.72384279e-04 7.44898509e+00] [ 3.79231146e-04 6.73561588e-04 9.99999701e-01 -1.74325109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.441400513 meters Centerline goodness [0,1] 0.7501754385964912 Centerline is valid? [False, False] Translation: X:137.52, Y:7.45, Z:-0.17 [[ 9.99994470e-01 3.30876809e-03 -3.35890759e-04 1.37519836e+02] [-3.30877474e-03 9.99994526e-01 -1.92605974e-05 7.44586628e+00] [ 3.35825191e-04 2.03718777e-05 9.99999943e-01 -1.73839817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.471400513 meters Centerline goodness [0,1] 0.8048164650965415 Centerline is valid? [False, False] Translation: X:137.52, Y:7.44, Z:-0.17 [[ 9.99994016e-01 3.42398905e-03 -4.94729399e-04 1.37520436e+02] [-3.42381171e-03 9.99994074e-01 3.58870584e-04 7.44395331e+00] [ 4.95955236e-04 -3.57174576e-04 9.99999813e-01 -1.74016609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.501400513 meters Centerline goodness [0,1] 0.833635443891746 Centerline is valid? [False, False] Translation: X:137.52, Y:7.44, Z:-0.17 [[ 9.99993769e-01 3.46326854e-03 -6.83348980e-04 1.37521248e+02] [-3.46286130e-03 9.99993827e-01 5.96232751e-04 7.44265567e+00] [ 6.85409676e-04 -5.93862693e-04 9.99999589e-01 -1.74329750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.531400513 meters Centerline goodness [0,1] 0.8946876328091797 Centerline is valid? [False, False] Translation: X:137.52, Y:7.44, Z:-0.17 [[ 9.99993833e-01 3.39840845e-03 -8.86379020e-04 1.37522010e+02] [-3.39791949e-03 9.99994074e-01 5.52560291e-04 7.44275355e+00] [ 8.88251593e-04 -5.49545038e-04 9.99999455e-01 -1.74503598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.561400513 meters Centerline goodness [0,1] 0.9513163258737958 Centerline is valid? [False, True] Translation: X:137.52, Y:7.44, Z:-0.17 [[ 9.99994162e-01 3.29296910e-03 -9.11993735e-04 1.37522049e+02] [-3.29267134e-03 9.99994525e-01 3.27804796e-04 7.44381866e+00] [ 9.13068193e-04 -3.24799987e-04 9.99999530e-01 -1.74402203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.591400513 meters Centerline goodness [0,1] 0.831356021494047 Centerline is valid? [True, False] Translation: X:137.56, Y:7.45, Z:-0.18 [[ 9.99991772e-01 3.49128125e-03 2.06550300e-03 1.37561833e+02] [-3.48518268e-03 9.99989579e-01 -2.94885087e-03 7.44995535e+00] [-2.07577674e-03 2.94162795e-03 9.99993519e-01 -1.75233533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.621400513 meters Centerline goodness [0,1] 0.8876216610213095 Centerline is valid? [False, False] Translation: X:137.52, Y:7.44, Z:-0.17 [[ 9.99996785e-01 2.53038496e-03 1.62871455e-04 1.37517891e+02] [-2.53040865e-03 9.99996788e-01 1.45416360e-04 7.44374686e+00] [-1.62502973e-04 -1.45828024e-04 9.99999976e-01 -1.71971743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.65140051299997 meters Centerline goodness [0,1] 0.7689061373372355 Centerline is valid? [False, False] Translation: X:137.52, Y:7.44, Z:-0.17 [[ 9.99996489e-01 2.64457610e-03 -1.67078952e-04 1.37518859e+02] [-2.64444186e-03 9.99996185e-01 7.98578533e-04 7.44037818e+00] [ 1.69190216e-04 -7.98133899e-04 9.99999667e-01 -1.71754560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.68140051299997 meters Centerline goodness [0,1] 0.9291361950185479 Centerline is valid? [False, False] Translation: X:137.52, Y:7.44, Z:-0.17 [[ 9.99996052e-01 2.78600721e-03 -3.65506281e-04 1.37519635e+02] [-2.78555824e-03 9.99995372e-01 1.22316385e-03 7.43824181e+00] [ 3.68912333e-04 -1.22214088e-03 9.99999185e-01 -1.71977264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.71140051299997 meters Centerline goodness [0,1] 0.8500947958162026 Centerline is valid? [False, False] Translation: X:137.51, Y:7.44, Z:-0.17 [[ 9.99999860e-01 3.48175161e-04 3.99383283e-04 1.37513736e+02] [-3.47641303e-04 9.99999047e-01 -1.33599647e-03 7.44016802e+00] [-3.99848063e-04 1.33585744e-03 9.99999028e-01 -1.68397258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.74140051299997 meters Centerline goodness [0,1] 0.9025601834161253 Centerline is valid? [False, False] Translation: X:137.51, Y:7.44, Z:-0.17 [[ 9.99999907e-01 3.93026114e-04 1.76150732e-04 1.37514746e+02] [-3.92830911e-04 9.99999310e-01 -1.10682730e-03 7.43892838e+00] [-1.76585623e-04 1.10675800e-03 9.99999372e-01 -1.68925796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.77140051299997 meters Centerline goodness [0,1] 0.9025601834161253 Centerline is valid? [False, False] Translation: X:137.51, Y:7.44, Z:-0.17 [[ 9.99999907e-01 3.93026114e-04 1.76150732e-04 1.37514746e+02] [-3.92830911e-04 9.99999310e-01 -1.10682730e-03 7.43892838e+00] [-1.76585623e-04 1.10675800e-03 9.99999372e-01 -1.68925796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.80140051299998 meters Centerline goodness [0,1] 0.9078384191137326 Centerline is valid? [False, False] Translation: X:137.51, Y:7.44, Z:-0.17 [[ 9.99999895e-01 4.34685691e-04 1.44665860e-04 1.37514924e+02] [-4.34536964e-04 9.99999379e-01 -1.02651878e-03 7.43854051e+00] [-1.45111983e-04 1.02645581e-03 9.99999463e-01 -1.69088564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.83140051299998 meters Centerline goodness [0,1] 0.8857733805279543 Centerline is valid? [False, False] Translation: X:137.51, Y:7.44, Z:-0.17 [[ 9.99999874e-01 4.73676010e-04 1.68022099e-04 1.37514752e+02] [-4.73514290e-04 9.99999426e-01 -9.61224829e-04 7.43827969e+00] [-1.68477312e-04 9.61145147e-04 9.99999524e-01 -1.68904237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.86140051299998 meters Centerline goodness [0,1] 0.8596316891134744 Centerline is valid? [False, False] Translation: X:137.52, Y:7.44, Z:-0.17 [[ 9.99994723e-01 3.20459547e-03 -5.33443556e-04 1.37520154e+02] [-3.20345760e-03 9.99992621e-01 2.12042422e-03 7.43576223e+00] [ 5.40234722e-04 -2.11870416e-03 9.99997610e-01 -1.71890117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.89140051299998 meters Centerline goodness [0,1] 0.8264864406060348 Centerline is valid? [False, False] Translation: X:137.52, Y:7.44, Z:-0.17 [[ 9.99995205e-01 3.05873981e-03 -4.84448125e-04 1.37520032e+02] [-3.05789217e-03 9.99993809e-01 1.74089671e-03 7.43757890e+00] [ 4.89770076e-04 -1.73940697e-03 9.99998367e-01 -1.71941411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.92140051299998 meters Centerline goodness [0,1] 0.8341460325501868 Centerline is valid? [False, False] Translation: X:137.52, Y:7.44, Z:-0.17 [[ 9.99995814e-01 2.86261870e-03 -4.20666515e-04 1.37520021e+02] [-2.86211460e-03 9.99995191e-01 1.19409883e-03 7.44017252e+00] [ 4.24082742e-04 -1.19288984e-03 9.99999199e-01 -1.72327293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.95140051299998 meters Centerline goodness [0,1] 0.9437311742966397 Centerline is valid? [False, False] Translation: X:137.48, Y:7.44, Z:-0.17 [[ 9.99990502e-01 2.49851062e-03 -3.57126758e-03 1.37479457e+02] [-2.48614321e-03 9.99990912e-01 3.46328693e-03 7.43750718e+00] [ 3.57988819e-03 -3.45437536e-03 9.99987626e-01 -1.71645853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.98140051299998 meters Centerline goodness [0,1] 0.8581611438754295 Centerline is valid? [False, False] Translation: X:137.48, Y:7.44, Z:-0.17 [[ 9.99991897e-01 2.16113426e-03 -3.39643635e-03 1.37479098e+02] [-2.15255543e-03 9.99994489e-01 2.52746162e-03 7.44197753e+00] [ 3.40187982e-03 -2.52013013e-03 9.99991038e-01 -1.72143235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.01140051299998 meters Centerline goodness [0,1] 0.6931671771042349 Centerline is valid? [False, False] Translation: X:137.48, Y:7.44, Z:-0.17 [[ 9.99992327e-01 1.99693554e-03 -3.37019508e-03 1.37479061e+02] [-1.98961591e-03 9.99995658e-01 2.17382852e-03 7.44362117e+00] [ 3.37452144e-03 -2.16710645e-03 9.99991958e-01 -1.72248223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.04140051299999 meters Centerline goodness [0,1] 0.9058308356184768 Centerline is valid? [False, False] Translation: X:137.48, Y:7.44, Z:-0.17 [[ 9.99992458e-01 1.89573723e-03 -3.38979094e-03 1.37479111e+02] [-1.88899148e-03 9.99996232e-01 1.99211651e-03 7.44443595e+00] [ 3.39355469e-03 -1.98569819e-03 9.99992270e-01 -1.72256776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.071400513 meters Centerline goodness [0,1] 0.9432027009701269 Centerline is valid? [False, False] Translation: X:137.48, Y:7.45, Z:-0.17 [[ 9.99990417e-01 -2.79636386e-03 -3.36847014e-03 1.37479292e+02] [ 2.78592114e-03 9.99991312e-01 -3.10085114e-03 7.44792927e+00] [ 3.37711198e-03 3.09143713e-03 9.99989519e-01 -1.72784570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.101400513 meters Centerline goodness [0,1] 0.9840364394874633 Centerline is valid? [False, True] Translation: X:137.48, Y:7.44, Z:-0.17 [[ 9.99989773e-01 -2.62394663e-03 -3.68363265e-03 1.37479878e+02] [ 2.61587833e-03 9.99994173e-01 -2.19342471e-03 7.44341136e+00] [ 3.68936662e-03 2.18376634e-03 9.99990810e-01 -1.71908337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.131400513 meters Centerline goodness [0,1] 0.9215436810856659 Centerline is valid? [True, False] Translation: X:137.48, Y:7.44, Z:-0.17 [[ 9.99989245e-01 -2.56932347e-03 -3.86108351e-03 1.37480041e+02] [ 2.56413006e-03 9.99995802e-01 -1.34941457e-03 7.43904784e+00] [ 3.86453438e-03 1.33949974e-03 9.99991636e-01 -1.71034736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.161400513 meters Centerline goodness [0,1] 0.997632252559727 Centerline is valid? [False, True] Translation: X:137.48, Y:7.44, Z:-0.17 [[ 9.99989568e-01 -2.43914905e-03 -3.86187402e-03 1.37479625e+02] [ 2.43707609e-03 9.99996884e-01 -5.41390689e-04 7.43508539e+00] [ 3.86318252e-03 5.31973361e-04 9.99992396e-01 -1.70128997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.191400513 meters Centerline goodness [0,1] 0.9992979768970579 Centerline is valid? [True, True] Translation: X:137.51, Y:7.43, Z:-0.17 [[ 9.99965171e-01 -7.81381014e-03 -2.93269612e-03 1.37509132e+02] [ 7.81334701e-03 9.99969461e-01 -1.69341478e-04 7.42871055e+00] [ 2.93392976e-03 1.46421408e-04 9.99995685e-01 -1.68548690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.221400513 meters Centerline goodness [0,1] 0.9997866484606687 Centerline is valid? [True, True] Translation: X:137.54, Y:7.42, Z:-0.17 [[ 9.99954879e-01 -8.96093763e-03 -3.15293992e-03 1.37538333e+02] [ 8.96040755e-03 9.99959838e-01 -1.82210430e-04 7.42012775e+00] [ 3.15444607e-03 1.53950581e-04 9.99995013e-01 -1.68645198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.251400513 meters Centerline goodness [0,1] 0.9997001820323375 Centerline is valid? [True, True] Translation: X:137.57, Y:7.42, Z:-0.17 [[ 9.99952587e-01 -9.18049069e-03 -3.24693183e-03 1.37566063e+02] [ 9.17992762e-03 9.99957846e-01 -1.88275976e-04 7.41902676e+00] [ 3.24852343e-03 1.58460450e-04 9.99994711e-01 -1.68790158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.281400513 meters Centerline goodness [0,1] 0.9994693608982659 Centerline is valid? [True, True] Translation: X:137.59, Y:7.42, Z:-0.17 [[ 9.99974958e-01 -6.60419959e-03 -2.54328850e-03 1.37594948e+02] [ 6.60384584e-03 9.99978183e-01 -1.47464884e-04 7.42303922e+00] [ 2.54420690e-03 1.30665706e-04 9.99996755e-01 -1.67643627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.311400513 meters Centerline goodness [0,1] 0.9984159941777083 Centerline is valid? [True, True] Translation: X:137.62, Y:7.43, Z:-0.17 [[ 9.99986028e-01 -4.29514963e-03 -3.08137362e-03 1.37623731e+02] [ 4.29461921e-03 9.99990762e-01 -1.78735621e-04 7.42768645e+00] [ 3.08211285e-03 1.65499797e-04 9.99995237e-01 -1.68327639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.341400513 meters Centerline goodness [0,1] 0.9990597888798667 Centerline is valid? [True, True] Translation: X:137.65, Y:7.43, Z:-0.17 [[ 9.99990879e-01 -1.76585144e-03 -3.88887398e-03 1.37654108e+02] [ 1.76498735e-03 9.99998417e-01 -2.25615750e-04 7.42535448e+00] [ 3.88926623e-03 2.18749879e-04 9.99992413e-01 -1.69252411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.371400513 meters Centerline goodness [0,1] 0.9928137803805479 Centerline is valid? [True, True] Translation: X:137.68, Y:7.43, Z:-0.17 [[ 9.99989237e-01 2.11814571e-03 -4.12780944e-03 1.37683610e+02] [-2.11915226e-03 9.99997726e-01 -2.39487736e-04 7.43202096e+00] [ 4.12729279e-03 2.48232615e-04 9.99991452e-01 -1.70569571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.40140051299997 meters Centerline goodness [0,1] 0.970226963617817 Centerline is valid? [True, True] Translation: X:137.71, Y:7.44, Z:-0.17 [[ 9.99988101e-01 3.24867643e-03 -3.63932360e-03 1.37712165e+02] [-3.24946678e-03 9.99994698e-01 -2.11277991e-04 7.43923760e+00] [ 3.63861793e-03 2.23101338e-04 9.99993355e-01 -1.70619632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.43140051299997 meters Centerline goodness [0,1] 0.943767212484789 Centerline is valid? [True, False] Translation: X:137.71, Y:7.44, Z:-0.17 [[ 9.99987500e-01 3.41551510e-03 -3.65150847e-03 1.37712107e+02] [-3.41490475e-03 9.99994154e-01 1.73370602e-04 7.43744251e+00] [ 3.65207927e-03 -1.60898881e-04 9.99993318e-01 -1.70424081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.46140051299997 meters Centerline goodness [0,1] 0.9693070149317224 Centerline is valid? [False, True] Translation: X:137.72, Y:7.43, Z:-0.17 [[ 9.99987647e-01 2.38510143e-03 -4.36088793e-03 1.37717456e+02] [-2.38716506e-03 9.99997041e-01 -4.68070168e-04 7.43480460e+00] [ 4.35975864e-03 4.78474545e-04 9.99990382e-01 -1.73870505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.49140051299997 meters Centerline goodness [0,1] 0.9806730234745799 Centerline is valid? [True, True] Translation: X:137.75, Y:7.43, Z:-0.17 [[ 9.99988006e-01 2.00027667e-03 -4.47074358e-03 1.37746991e+02] [-2.00145601e-03 9.99997963e-01 -2.59330991e-04 7.43285718e+00] [ 4.47021574e-03 2.68275877e-04 9.99989973e-01 -1.73968873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.52140051299997 meters Centerline goodness [0,1] 0.9268245920497635 Centerline is valid? [True, False] Translation: X:137.75, Y:7.43, Z:-0.17 [[ 9.99987928e-01 2.07688056e-03 -4.45303605e-03 1.37746913e+02] [-2.07734931e-03 9.99997837e-01 -1.00644120e-04 7.43212042e+00] [ 4.45281740e-03 1.09893416e-04 9.99990080e-01 -1.73903529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.55140051299998 meters Centerline goodness [0,1] 0.9793012017277509 Centerline is valid? [False, True] Translation: X:137.75, Y:7.43, Z:-0.17 [[ 9.99989130e-01 2.10432458e-03 -4.16079803e-03 1.37746106e+02] [-2.10602130e-03 9.99997701e-01 -4.03446957e-04 7.43378037e+00] [ 4.15993948e-03 4.12205301e-04 9.99991262e-01 -1.74140330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.58140051299998 meters Centerline goodness [0,1] 0.9260705397751652 Centerline is valid? [True, False] Translation: X:137.75, Y:7.44, Z:-0.17 [[ 9.99989324e-01 2.05394410e-03 -4.13925121e-03 1.37746144e+02] [-2.05667279e-03 9.99997670e-01 -6.55074060e-04 7.43502682e+00] [ 4.13789608e-03 6.63580152e-04 9.99991219e-01 -1.74320054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.61140051299998 meters Centerline goodness [0,1] 0.9406091261761365 Centerline is valid? [False, False] Translation: X:137.75, Y:7.44, Z:-0.17 [[ 9.99989277e-01 2.00569374e-03 -4.17417807e-03 1.37746384e+02] [-2.00914469e-03 9.99997643e-01 -8.22709595e-04 7.43578671e+00] [ 4.17251813e-03 8.31087301e-04 9.99990950e-01 -1.74562294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.64140051299998 meters Centerline goodness [0,1] 0.8283154960743846 Centerline is valid? [False, False] Translation: X:137.75, Y:7.44, Z:-0.17 [[ 9.99989391e-01 1.96573617e-03 -4.16588003e-03 1.37746454e+02] [-1.96976080e-03 9.99997597e-01 -9.62211581e-04 7.43643908e+00] [ 4.16397856e-03 9.70407159e-04 9.99990860e-01 -1.74745505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.67140051299998 meters Centerline goodness [0,1] 0.8412449714164726 Centerline is valid? [False, False] Translation: X:137.75, Y:7.44, Z:-0.18 [[ 9.99989942e-01 1.83664898e-03 -4.09167447e-03 1.37746347e+02] [-1.84197830e-03 9.99997460e-01 -1.29909210e-03 7.43802521e+00] [ 4.08927810e-03 1.30661581e-03 9.99990785e-01 -1.75016669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.70140051299998 meters Centerline goodness [0,1] 0.8904208230086621 Centerline is valid? [False, False] Translation: X:137.75, Y:7.44, Z:-0.18 [[ 9.99991572e-01 1.41359557e-03 -3.85457249e-03 1.37745539e+02] [-1.42245624e-03 9.99996350e-01 -2.29697066e-03 7.44282689e+00] [ 3.85131144e-03 2.30243426e-03 9.99989933e-01 -1.75007330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.73140051299998 meters Centerline goodness [0,1] 0.9854376284756031 Centerline is valid? [False, True] Translation: X:137.70, Y:7.44, Z:-0.17 [[ 9.99982425e-01 6.57187429e-04 -5.89219140e-03 1.37701764e+02] [-6.53241977e-04 9.99999561e-01 6.71506352e-04 7.43876162e+00] [ 5.89263012e-03 -6.67645523e-04 9.99982415e-01 -1.72038923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.76140051299998 meters Centerline goodness [0,1] 0.9168553727835933 Centerline is valid? [True, False] Translation: X:137.74, Y:7.44, Z:-0.17 [[ 9.99995985e-01 1.11456636e-03 -2.60527044e-03 1.37740579e+02] [-1.11990529e-03 9.99997274e-01 -2.04871886e-03 7.44478777e+00] [ 2.60297991e-03 2.05162829e-03 9.99994508e-01 -1.72307958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.79140051299999 meters Centerline goodness [0,1] 0.9903593899968007 Centerline is valid? [False, True] Translation: X:137.74, Y:7.44, Z:-0.17 [[ 9.99995852e-01 9.40399798e-04 -2.72256065e-03 1.37740526e+02] [-9.45777710e-04 9.99997603e-01 -1.97470076e-03 7.44426391e+00] [ 2.72069711e-03 1.97726750e-03 9.99994344e-01 -1.71454712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.821400513 meters Centerline goodness [0,1] 0.9931721680500138 Centerline is valid? [True, True] Translation: X:137.77, Y:7.44, Z:-0.17 [[ 9.99996613e-01 -1.17265695e-03 -2.32373275e-03 1.37769781e+02] [ 1.17232033e-03 9.99999302e-01 -1.46219796e-04 7.44482343e+00] [ 2.32390259e-03 1.43495142e-04 9.99997289e-01 -1.70647248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.851400513 meters Centerline goodness [0,1] 0.9957008470608266 Centerline is valid? [True, True] Translation: X:137.80, Y:7.44, Z:-0.17 [[ 9.99993249e-01 -2.85811413e-03 -2.30925814e-03 1.37799945e+02] [ 2.85778603e-03 9.99995906e-01 -1.45366732e-04 7.44465934e+00] [ 2.30966416e-03 1.38766385e-04 9.99997323e-01 -1.70693580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.881400513 meters Centerline goodness [0,1] 0.9975334368155818 Centerline is valid? [True, True] Translation: X:137.83, Y:7.45, Z:-0.17 [[ 9.99976959e-01 -5.82922920e-03 -3.47886436e-03 1.37830798e+02] [ 5.82850237e-03 9.99982990e-01 -2.19030235e-04 7.44602004e+00] [ 3.48008197e-03 1.98748619e-04 9.99993925e-01 -1.72688497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.911400513 meters Centerline goodness [0,1] 0.9960978920134029 Centerline is valid? [True, True] Translation: X:137.86, Y:7.45, Z:-0.17 [[ 9.99966190e-01 -7.11781325e-03 -4.11763706e-03 1.37858516e+02] [ 7.11680511e-03 9.99974642e-01 -2.59434579e-04 7.44984147e+00] [ 4.11937925e-03 2.30121387e-04 9.99991489e-01 -1.74240797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.941400513 meters Centerline goodness [0,1] 0.9987387772552373 Centerline is valid? [True, True] Translation: X:137.89, Y:7.45, Z:-0.17 [[ 9.99956608e-01 -8.30354525e-03 -4.22303861e-03 1.37888075e+02] [ 8.30249406e-03 9.99965498e-01 -2.66386507e-04 7.44808188e+00] [ 4.22510486e-03 2.31313195e-04 9.99991047e-01 -1.74456952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.971400513 meters Centerline goodness [0,1] 0.9993595764665699 Centerline is valid? [True, True] Translation: X:137.92, Y:7.45, Z:-0.17 [[ 9.99951430e-01 -9.31341246e-03 -3.22469305e-03 1.37916930e+02] [ 9.31280427e-03 9.99956614e-01 -2.03569864e-04 7.44953360e+00] [ 3.22644907e-03 1.73529041e-04 9.99994780e-01 -1.73464694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.001400513 meters Centerline goodness [0,1] 0.9996149567895952 Centerline is valid? [True, True] Translation: X:137.95, Y:7.45, Z:-0.17 [[ 9.99940439e-01 -1.07032371e-02 -2.13540855e-03 1.37946092e+02] [ 1.07029731e-02 9.99942712e-01 -1.35026065e-04 7.45153718e+00] [ 2.13673143e-03 1.12162802e-04 9.99997711e-01 -1.72195520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.031400513 meters Centerline goodness [0,1] 0.9995941471750507 Centerline is valid? [True, True] Translation: X:137.98, Y:7.45, Z:-0.17 [[ 9.99934504e-01 -1.10908158e-02 -2.82522092e-03 1.37975054e+02] [ 1.10903538e-02 9.99938484e-01 -1.79126032e-04 7.45234528e+00] [ 2.82703378e-03 1.47781600e-04 9.99995993e-01 -1.73350919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.061400513 meters Centerline goodness [0,1] 0.9994428014229995 Centerline is valid? [True, True] Translation: X:138.00, Y:7.46, Z:-0.18 [[ 9.99933042e-01 -1.09268864e-02 -3.80983033e-03 1.38003372e+02] [ 1.09260426e-02 9.99940280e-01 -2.42206879e-04 7.45566646e+00] [ 3.81224937e-03 2.00564293e-04 9.99992713e-01 -1.75023337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.091400513 meters Centerline goodness [0,1] 0.9884426528292987 Centerline is valid? [True, True] Translation: X:138.03, Y:7.47, Z:-0.18 [[ 9.99959362e-01 -7.78725474e-03 -4.54230846e-03 1.38031728e+02] [ 7.78602215e-03 9.99969647e-01 -2.88978232e-04 7.46801660e+00] [ 4.54442094e-03 2.53599974e-04 9.99989642e-01 -1.75641706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.121400513 meters Centerline goodness [0,1] 0.9931212381771282 Centerline is valid? [True, True] Translation: X:138.06, Y:7.47, Z:-0.17 [[ 9.99975070e-01 -5.69876996e-03 -4.16943195e-03 1.38061646e+02] [ 5.69771313e-03 9.99983733e-01 -2.65303801e-04 7.47085363e+00] [ 4.17087603e-03 2.41540959e-04 9.99991273e-01 -1.74506756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.15140051299997 meters Centerline goodness [0,1] 0.9958856555093644 Centerline is valid? [True, True] Translation: X:138.09, Y:7.47, Z:-0.17 [[ 9.99985638e-01 -3.93707440e-03 -3.63634833e-03 1.38090452e+02] [ 3.93625857e-03 9.99992226e-01 -2.31485985e-04 7.47484280e+00] [ 3.63723144e-03 2.17169053e-04 9.99993362e-01 -1.73871061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.18140051299997 meters Centerline goodness [0,1] 0.9981678270428729 Centerline is valid? [True, True] Translation: X:138.12, Y:7.48, Z:-0.17 [[ 9.99989771e-01 -2.62818784e-03 -3.68107772e-03 1.38119498e+02] [ 2.62734250e-03 9.99996521e-01 -2.34461311e-04 7.47559307e+00] [ 3.68168112e-03 2.24787461e-04 9.99993197e-01 -1.73528973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.21140051299997 meters Centerline goodness [0,1] 0.9763264612836791 Centerline is valid? [True, True] Translation: X:138.15, Y:7.49, Z:-0.18 [[ 9.99988688e-01 -1.89876790e-03 -4.36111135e-03 1.38146126e+02] [ 1.89757275e-03 9.99998161e-01 -2.78169379e-04 7.48857981e+00] [ 4.36163150e-03 2.69890706e-04 9.99990452e-01 -1.75896877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.24140051299997 meters Centerline goodness [0,1] 0.9657252070503292 Centerline is valid? [True, True] Translation: X:138.17, Y:7.49, Z:-0.18 [[ 9.99985790e-01 -2.15339563e-03 -4.87673613e-03 1.38173477e+02] [ 2.15190263e-03 9.99997636e-01 -3.11373888e-04 7.49231007e+00] [ 4.87739512e-03 3.00875202e-04 9.99988060e-01 -1.77000979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.27140051299997 meters Centerline goodness [0,1] 0.9227001703577513 Centerline is valid? [True, False] Translation: X:138.17, Y:7.49, Z:-0.18 [[ 9.99985590e-01 -2.12755741e-03 -4.92891378e-03 1.38173615e+02] [ 2.12643349e-03 9.99997712e-01 -2.33255143e-04 7.49194615e+00] [ 4.92939876e-03 2.22770774e-04 9.99987826e-01 -1.76943879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.30140051299998 meters Centerline goodness [0,1] 0.9949054633044145 Centerline is valid? [False, True] Translation: X:138.17, Y:7.49, Z:-0.18 [[ 9.99985555e-01 -2.00213424e-03 -4.98815177e-03 1.38173367e+02] [ 2.00321503e-03 9.99997971e-01 2.11684954e-04 7.48986376e+00] [ 4.98771783e-03 -2.21674237e-04 9.99987537e-01 -1.76130707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.33140051299998 meters Centerline goodness [0,1] 0.9951764027917103 Centerline is valid? [True, True] Translation: X:138.20, Y:7.49, Z:-0.18 [[ 9.99984371e-01 -3.39922024e-03 -4.43874909e-03 1.38201951e+02] [ 3.39806246e-03 9.99994191e-01 -2.68351987e-04 7.49264835e+00] [ 4.43963549e-03 2.53264646e-04 9.99990113e-01 -1.75129723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.36140051299998 meters Centerline goodness [0,1] 0.999313319456664 Centerline is valid? [True, True] Translation: X:138.23, Y:7.49, Z:-0.17 [[ 9.99982294e-01 -4.63771919e-03 -3.72872592e-03 1.38231067e+02] [ 4.63691017e-03 9.99989224e-01 -2.25584621e-04 7.48815954e+00] [ 3.72973194e-03 2.08290859e-04 9.99993023e-01 -1.73681848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.39140051299998 meters Centerline goodness [0,1] 0.9990380093206208 Centerline is valid? [True, True] Translation: X:138.26, Y:7.49, Z:-0.17 [[ 9.99975330e-01 -5.99845611e-03 -3.65493757e-03 1.38259049e+02] [ 5.99768724e-03 9.99981989e-01 -2.21288950e-04 7.49178308e+00] [ 3.65619913e-03 1.99362318e-04 9.99993296e-01 -1.74237083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.42140051299998 meters Centerline goodness [0,1] 0.9958496509450026 Centerline is valid? [True, True] Translation: X:138.29, Y:7.50, Z:-0.18 [[ 9.99971523e-01 -6.15785543e-03 -4.36283095e-03 1.38286099e+02] [ 6.15675997e-03 9.99981012e-01 -2.64474333e-04 7.49765053e+00] [ 4.36437671e-03 2.37605899e-04 9.99990448e-01 -1.75992282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.45140051299998 meters Centerline goodness [0,1] 0.9960043822903912 Centerline is valid? [True, True] Translation: X:138.31, Y:7.50, Z:-0.18 [[ 9.99967308e-01 -6.33939055e-03 -5.01947970e-03 1.38313829e+02] [ 6.33793862e-03 9.99979869e-01 -3.05112047e-04 7.49665792e+00] [ 5.02131288e-03 2.73288918e-04 9.99987356e-01 -1.77291666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.48140051299998 meters Centerline goodness [0,1] 0.997152034261242 Centerline is valid? [True, True] Translation: X:138.34, Y:7.50, Z:-0.18 [[ 9.99966667e-01 -6.26866738e-03 -5.23148349e-03 1.38342996e+02] [ 6.26708476e-03 9.99980311e-01 -3.18856883e-04 7.49680807e+00] [ 5.23337930e-03 2.86060104e-04 9.99986265e-01 -1.77605592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.51140051299998 meters Centerline goodness [0,1] 0.9847072778107261 Centerline is valid? [True, True] Translation: X:138.37, Y:7.50, Z:-0.18 [[ 9.99972234e-01 -5.26619924e-03 -5.27250042e-03 1.38371571e+02] [ 5.26457631e-03 9.99986090e-01 -3.21642983e-04 7.50350415e+00] [ 5.27412092e-03 2.93876572e-04 9.99986049e-01 -1.78060776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.54140051299999 meters Centerline goodness [0,1] 0.9986725567427589 Centerline is valid? [True, True] Translation: X:138.40, Y:7.49, Z:-0.18 [[ 9.99969240e-01 -4.92885079e-03 -6.10128536e-03 1.38401046e+02] [ 4.92666576e-03 9.99987794e-01 -3.73104341e-04 7.49381076e+00] [ 6.10304987e-03 3.43033871e-04 9.99981317e-01 -1.77527002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.571400513 meters Centerline goodness [0,1] 0.9990069299022042 Centerline is valid? [True, True] Translation: X:138.43, Y:7.49, Z:-0.18 [[ 9.99970055e-01 -4.55851055e-03 -6.25373989e-03 1.38429533e+02] [ 4.55620481e-03 9.99989547e-01 -3.82894744e-04 7.49349021e+00] [ 6.25541995e-03 3.54389959e-04 9.99980372e-01 -1.77590556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.601400513 meters Centerline goodness [0,1] 0.9978761675660447 Centerline is valid? [True, True] Translation: X:138.46, Y:7.50, Z:-0.18 [[ 9.99971100e-01 -3.96924145e-03 -6.48412051e-03 1.38457477e+02] [ 3.96674784e-03 9.99992053e-01 -3.97387606e-04 7.49525537e+00] [ 6.48564631e-03 3.71655250e-04 9.99978899e-01 -1.78098882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.631400513 meters Centerline goodness [0,1] 0.9389550909630635 Centerline is valid? [True, False] Translation: X:138.50, Y:7.50, Z:-0.18 [[ 9.99989216e-01 -2.40975127e-03 -3.96998702e-03 1.38498857e+02] [ 2.40326420e-03 9.99995771e-01 -1.63798902e-03 7.49776883e+00] [ 3.97391738e-03 1.62843043e-03 9.99990778e-01 -1.79202537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.661400513 meters Centerline goodness [0,1] 0.9389550909630635 Centerline is valid? [False, False] Translation: X:138.50, Y:7.50, Z:-0.18 [[ 9.99989216e-01 -2.40975127e-03 -3.96998702e-03 1.38498857e+02] [ 2.40326420e-03 9.99995771e-01 -1.63798902e-03 7.49776883e+00] [ 3.97391738e-03 1.62843043e-03 9.99990778e-01 -1.79202537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.691400513 meters Centerline goodness [0,1] 0.9174087171403008 Centerline is valid? [False, False] Translation: X:138.50, Y:7.50, Z:-0.18 [[ 9.99989490e-01 -2.28870388e-03 -3.97253188e-03 1.38498769e+02] [ 2.28321796e-03 9.99996434e-01 -1.38495022e-03 7.49660902e+00] [ 3.97568745e-03 1.37586551e-03 9.99991150e-01 -1.79045055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.721400513 meters Centerline goodness [0,1] 0.9202706428828982 Centerline is valid? [False, False] Translation: X:138.50, Y:7.49, Z:-0.18 [[ 9.99990192e-01 -2.05002413e-03 -3.92603176e-03 1.38498364e+02] [ 2.04666160e-03 9.99997536e-01 -8.60294817e-04 7.49419824e+00] [ 3.92778571e-03 8.52251121e-04 9.99991923e-01 -1.78606021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.751400513 meters Centerline goodness [0,1] 0.9447179994409444 Centerline is valid? [False, False] Translation: X:138.46, Y:7.48, Z:-0.18 [[ 9.99979811e-01 -2.39286493e-03 -5.88651635e-03 1.38455794e+02] [ 2.41792316e-03 9.99988031e-01 4.25345936e-03 7.48084665e+00] [ 5.87626793e-03 -4.26760663e-03 9.99973628e-01 -1.75087445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.781400513 meters Centerline goodness [0,1] 0.9915039499180206 Centerline is valid? [False, True] Translation: X:138.48, Y:7.49, Z:-0.18 [[ 9.99998032e-01 -1.41797739e-03 -1.38751848e-03 1.38478808e+02] [ 1.40851364e-03 9.99975901e-01 -6.79800322e-03 7.48819580e+00] [ 1.39712446e-03 6.79603550e-03 9.99975931e-01 -1.82487837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.811400513 meters Centerline goodness [0,1] 0.9911664924147054 Centerline is valid? [True, True] Translation: X:138.51, Y:7.48, Z:-0.18 [[ 9.99995713e-01 -1.72901137e-03 -2.36328488e-03 1.38508212e+02] [ 1.72868735e-03 9.99998496e-01 -1.39143820e-04 7.48139641e+00] [ 2.36352190e-03 1.35057843e-04 9.99997198e-01 -1.81774038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.841400513 meters Centerline goodness [0,1] 0.9788566786386181 Centerline is valid? [True, True] Translation: X:138.54, Y:7.48, Z:-0.18 [[ 9.99994327e-01 -6.27749885e-04 -3.30943675e-03 1.38536718e+02] [ 6.27109778e-04 9.99999784e-01 -1.94453124e-04 7.48347041e+00] [ 3.30955811e-03 1.92376641e-04 9.99994505e-01 -1.82726480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.871400513 meters Centerline goodness [0,1] 0.9616054720268439 Centerline is valid? [True, True] Translation: X:138.57, Y:7.49, Z:-0.18 [[ 9.99994523e-01 1.18298422e-03 -3.09115555e-03 1.38566023e+02] [-1.18355123e-03 9.99999283e-01 -1.81606860e-04 7.48761753e+00] [ 3.09093850e-03 1.85264406e-04 9.99995206e-01 -1.81829117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.90140051299997 meters Centerline goodness [0,1] 0.9303757298806804 Centerline is valid? [True, False] Translation: X:138.61, Y:7.49, Z:-0.18 [[ 9.99995705e-01 2.91300692e-03 -3.23525455e-04 1.38606495e+02] [-2.91382743e-03 9.99992464e-01 -2.56532414e-03 7.49333052e+00] [ 3.16050210e-04 2.56625581e-03 9.99996657e-01 -1.83637019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.93140051299997 meters Centerline goodness [0,1] 0.8693625302055044 Centerline is valid? [False, False] Translation: X:138.61, Y:7.49, Z:-0.18 [[ 9.99924057e-01 1.23190491e-02 -3.47308247e-04 1.38605843e+02] [-1.23159604e-02 9.99893629e-01 7.81333240e-03 7.48550658e+00] [ 4.43524129e-04 -7.80846160e-03 9.99969415e-01 -1.81793808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.96140051299997 meters Centerline goodness [0,1] 0.788736005469618 Centerline is valid? [False, False] Translation: X:138.61, Y:7.49, Z:-0.18 [[ 9.99924409e-01 1.22939453e-02 -1.86047919e-04 1.38605869e+02] [-1.22923273e-02 9.99899563e-01 7.05426768e-03 7.48932836e+00] [ 2.72754014e-04 -7.05144748e-03 9.99975101e-01 -1.83023562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.99140051299997 meters Centerline goodness [0,1] 0.7654174018409472 Centerline is valid? [False, False] Translation: X:138.61, Y:7.50, Z:-0.18 [[ 9.99918268e-01 1.27849080e-02 5.50846975e-05 1.38605183e+02] [-1.27850058e-02 9.99899574e-01 6.11443254e-03 7.49540693e+00] [ 2.30932919e-05 -6.11463706e-03 9.99981305e-01 -1.83815644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.02140051299997 meters Centerline goodness [0,1] 0.7573745532976677 Centerline is valid? [False, False] Translation: X:138.60, Y:7.50, Z:-0.18 [[ 9.99921458e-01 1.25306654e-02 2.43983151e-04 1.38604520e+02] [-1.25317976e-02 9.99906980e-01 5.38381447e-03 7.49894843e+00] [-1.76497678e-04 -5.38644917e-03 9.99985477e-01 -1.83762101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.05140051299998 meters Centerline goodness [0,1] 0.7390011259108193 Centerline is valid? [False, False] Translation: X:138.60, Y:7.50, Z:-0.18 [[ 9.99924421e-01 1.22860550e-02 4.52255322e-04 1.38603601e+02] [-1.22880676e-02 9.99913194e-01 4.75479553e-03 7.50202160e+00] [-3.93798384e-04 -4.75999352e-03 9.99988594e-01 -1.83331255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.08140051299998 meters Centerline goodness [0,1] 0.6905953297408263 Centerline is valid? [False, False] Translation: X:138.60, Y:7.50, Z:-0.18 [[ 9.99927187e-01 1.20523084e-02 6.02554525e-04 1.38602965e+02] [-1.20547271e-02 9.99918577e-01 4.18600161e-03 7.50478843e+00] [-5.52054481e-04 -4.19296045e-03 9.99991057e-01 -1.83053629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.11140051299998 meters Centerline goodness [0,1] 0.7165524163409999 Centerline is valid? [False, False] Translation: X:138.60, Y:7.51, Z:-0.18 [[ 9.99970291e-01 7.64078894e-03 1.01803906e-03 1.38601938e+02] [-7.63895079e-03 9.99969207e-01 -1.79740046e-03 7.51355542e+00] [-1.03174127e-03 1.78957031e-03 9.99997866e-01 -1.84342030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.14140051299998 meters Centerline goodness [0,1] 0.7013014767166029 Centerline is valid? [False, False] Translation: X:138.60, Y:7.52, Z:-0.19 [[ 9.99974955e-01 7.00569930e-03 1.00436922e-03 1.38602700e+02] [-7.00247733e-03 9.99970438e-01 -3.17636395e-03 7.51978720e+00] [-1.02659218e-03 3.16925132e-03 9.99994451e-01 -1.85730695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.17140051299998 meters Centerline goodness [0,1] 0.6811289053361407 Centerline is valid? [False, False] Translation: X:138.60, Y:7.52, Z:-0.19 [[ 9.99977529e-01 6.64022228e-03 9.21308758e-04 1.38603271e+02] [-6.63654325e-03 9.99970214e-01 -3.94045894e-03 7.52325175e+00] [-9.47446839e-04 3.93425609e-03 9.99991812e-01 -1.86291609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.20140051299998 meters Centerline goodness [0,1] 0.7958478246954147 Centerline is valid? [False, False] Translation: X:138.60, Y:7.53, Z:-0.19 [[ 9.99979417e-01 6.36560361e-03 8.03000757e-04 1.38603866e+02] [-6.36191395e-03 9.99969563e-01 -4.51663088e-03 7.52586664e+00] [-8.31727397e-04 4.51142929e-03 9.99989478e-01 -1.86690757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.23140051299998 meters Centerline goodness [0,1] 0.8479242069406003 Centerline is valid? [False, False] Translation: X:138.60, Y:7.53, Z:-0.19 [[ 9.99981917e-01 5.98482316e-03 5.90135272e-04 1.38604432e+02] [-5.98181113e-03 9.99969708e-01 -4.98005347e-03 7.52776895e+00] [-6.19922135e-04 4.97643334e-03 9.99987425e-01 -1.86450309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.26140051299998 meters Centerline goodness [0,1] 0.8377372215922463 Centerline is valid? [False, False] Translation: X:138.60, Y:7.53, Z:-0.19 [[ 9.99982207e-01 5.93207168e-03 6.28983622e-04 1.38603964e+02] [-5.92888712e-03 9.99970175e-01 -4.94945898e-03 7.52762861e+00] [-6.58325408e-04 4.94564174e-03 9.99987554e-01 -1.85794454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.29140051299999 meters Centerline goodness [0,1] 0.8742239644030088 Centerline is valid? [False, False] Translation: X:138.60, Y:7.53, Z:-0.19 [[ 9.99982922e-01 5.82250296e-03 5.04137289e-04 1.38604208e+02] [-5.81996668e-03 9.99971087e-01 -4.89416254e-03 7.52719311e+00] [-5.32618989e-04 4.89114489e-03 9.99987896e-01 -1.85479308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.321400513 meters Centerline goodness [0,1] 0.9236665877134429 Centerline is valid? [False, False] Translation: X:138.58, Y:7.52, Z:-0.18 [[ 9.99985905e-01 7.44181834e-05 -5.30879198e-03 1.38581934e+02] [-7.02872046e-05 9.99999695e-01 7.78321463e-04 7.52044751e+00] [ 5.30884828e-03 -7.77937353e-04 9.99985605e-01 -1.78642612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.351400513 meters Centerline goodness [0,1] 0.9865128965058093 Centerline is valid? [False, True] Translation: X:138.58, Y:7.52, Z:-0.18 [[ 9.99983846e-01 1.37907583e-04 -5.68231422e-03 1.38583045e+02] [-1.30069938e-04 9.99999040e-01 1.37965152e-03 7.51729056e+00] [ 5.68249903e-03 -1.37889013e-03 9.99982904e-01 -1.78441557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.381400513 meters Centerline goodness [0,1] 0.9777380115464093 Centerline is valid? [True, True] Translation: X:138.61, Y:7.52, Z:-0.18 [[ 9.99982098e-01 -2.98151525e-03 -5.18793274e-03 1.38612173e+02] [ 2.97988306e-03 9.99995508e-01 -3.22314143e-04 7.52220553e+00] [ 5.18887042e-03 3.06848940e-04 9.99986491e-01 -1.79278385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.411400513 meters Centerline goodness [0,1] 0.9964736491280882 Centerline is valid? [True, True] Translation: X:138.64, Y:7.51, Z:-0.18 [[ 9.99974724e-01 -5.01246016e-03 -5.04239702e-03 1.38642829e+02] [ 5.01094331e-03 9.99987396e-01 -3.13408480e-04 7.51483820e+00] [ 5.04390442e-03 2.88133393e-04 9.99987238e-01 -1.78628423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.441400513 meters Centerline goodness [0,1] 0.9916577540106952 Centerline is valid? [True, True] Translation: X:138.67, Y:7.52, Z:-0.18 [[ 9.99969446e-01 -6.09293982e-03 -4.89724584e-03 1.38671076e+02] [ 6.09152087e-03 9.99981400e-01 -3.04608272e-04 7.51847564e+00] [ 4.89901071e-03 2.74767290e-04 9.99987962e-01 -1.78765452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.471400513 meters Centerline goodness [0,1] 0.9980579591308288 Centerline is valid? [True, True] Translation: X:138.70, Y:7.51, Z:-0.18 [[ 9.99972044e-01 -5.09270022e-03 -5.47504353e-03 1.38700963e+02] [ 5.09091099e-03 9.99986983e-01 -3.40685211e-04 7.51271460e+00] [ 5.47670727e-03 3.12802728e-04 9.99984954e-01 -1.78544521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.501400513 meters Centerline goodness [0,1] 0.9636228182205193 Centerline is valid? [True, True] Translation: X:138.73, Y:7.53, Z:-0.18 [[ 9.99978464e-01 -3.69606066e-03 -5.42310580e-03 1.38728930e+02] [ 3.69428327e-03 9.99993119e-01 -3.37723776e-04 7.52680435e+00] [ 5.42431673e-03 3.17682014e-04 9.99985238e-01 -1.79656419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.531400513 meters Centerline goodness [0,1] 0.9937559211092929 Centerline is valid? [True, True] Translation: X:138.76, Y:7.52, Z:-0.18 [[ 9.99982153e-01 -2.24915607e-03 -5.53484950e-03 1.38759176e+02] [ 2.24728183e-03 9.99997415e-01 -3.44820840e-04 7.52003486e+00] [ 5.53561075e-03 3.32376320e-04 9.99984623e-01 -1.79175471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.561400513 meters Centerline goodness [0,1] 0.9932854027678822 Centerline is valid? [True, True] Translation: X:138.79, Y:7.52, Z:-0.18 [[ 9.99985660e-01 6.38097847e-05 -5.35493118e-03 1.38789259e+02] [-6.55976514e-05 9.99999942e-01 -3.33697990e-04 7.52222925e+00] [ 5.35490958e-03 3.34044475e-04 9.99985607e-01 -1.79154392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.591400513 meters Centerline goodness [0,1] 0.9608477557490608 Centerline is valid? [True, True] Translation: X:138.82, Y:7.53, Z:-0.18 [[ 9.99981728e-01 1.83851801e-03 -5.75880396e-03 1.38817877e+02] [-1.84061529e-03 9.99998242e-01 -3.58908350e-04 7.52930174e+00] [ 5.75813398e-03 3.69501534e-04 9.99983354e-01 -1.80684779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.621400513 meters Centerline goodness [0,1] 0.9363450575454447 Centerline is valid? [True, False] Translation: X:138.82, Y:7.53, Z:-0.18 [[ 9.99980473e-01 1.90818945e-03 -5.95091665e-03 1.38818672e+02] [-1.90979162e-03 9.99998142e-01 -2.63558378e-04 7.52884600e+00] [ 5.95040267e-03 2.74918242e-04 9.99982258e-01 -1.81021019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.65140051299997 meters Centerline goodness [0,1] 0.9605780723677062 Centerline is valid? [False, True] Translation: X:138.82, Y:7.53, Z:-0.18 [[ 9.99979522e-01 1.96166332e-03 -6.09162408e-03 1.38819370e+02] [-1.96262772e-03 9.99998062e-01 -1.52342974e-04 7.52825052e+00] [ 6.09131343e-03 1.64295445e-04 9.99981434e-01 -1.81514346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.68140051299997 meters Centerline goodness [0,1] 0.9154989838485399 Centerline is valid? [True, False] Translation: X:138.86, Y:7.53, Z:-0.18 [[ 9.99989580e-01 3.63905525e-03 -2.75646128e-03 1.38857988e+02] [-3.64194735e-03 9.99992822e-01 -1.04491290e-03 7.53046383e+00] [ 2.75263900e-03 1.05494090e-03 9.99995655e-01 -1.81403686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.71140051299997 meters Centerline goodness [0,1] 0.8937994156067377 Centerline is valid? [False, False] Translation: X:138.86, Y:7.53, Z:-0.18 [[ 9.99990047e-01 3.64560903e-03 -2.57212312e-03 1.38856974e+02] [-3.64836741e-03 9.99992774e-01 -1.06853660e-03 7.53072107e+00] [ 2.56820906e-03 1.07791002e-03 9.99996121e-01 -1.80596275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.74140051299997 meters Centerline goodness [0,1] 0.9072514445320995 Centerline is valid? [False, False] Translation: X:138.86, Y:7.53, Z:-0.18 [[ 9.99990350e-01 3.62970899e-03 -2.47496630e-03 1.38856272e+02] [-3.63251752e-03 9.99992763e-01 -1.13122523e-03 7.53112142e+00] [ 2.47084237e-03 1.14020467e-03 9.99996297e-01 -1.79883513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.77140051299997 meters Centerline goodness [0,1] 0.9741664874166487 Centerline is valid? [False, True] Translation: X:138.86, Y:7.53, Z:-0.18 [[ 9.99990840e-01 3.59399533e-03 -2.32463690e-03 1.38855679e+02] [-3.59695098e-03 9.99992726e-01 -1.26851826e-03 7.53184446e+00] [ 2.32006095e-03 1.27686825e-03 9.99996493e-01 -1.79696456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.80140051299998 meters Centerline goodness [0,1] 0.8254977341551942 Centerline is valid? [True, False] Translation: X:138.86, Y:7.53, Z:-0.18 [[ 9.99991315e-01 3.46489486e-03 -2.31608779e-03 1.38855976e+02] [-3.46852473e-03 9.99992760e-01 -1.56506721e-03 7.53314631e+00] [ 2.31064823e-03 1.57308702e-03 9.99996093e-01 -1.80352533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.83140051299998 meters Centerline goodness [0,1] 0.909822383907554 Centerline is valid? [False, False] Translation: X:138.86, Y:7.54, Z:-0.18 [[ 9.99992090e-01 3.24020184e-03 -2.30694459e-03 1.38856268e+02] [-3.24500942e-03 9.99992565e-01 -2.08327661e-03 7.53549481e+00] [ 2.30017720e-03 2.09074619e-03 9.99995169e-01 -1.80992459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.86140051299998 meters Centerline goodness [0,1] 0.9071500031929159 Centerline is valid? [False, False] Translation: X:138.86, Y:7.54, Z:-0.18 [[ 9.99993124e-01 2.94294137e-03 -2.25640316e-03 1.38856350e+02] [-2.94919791e-03 9.99991802e-01 -2.77449823e-03 7.53871639e+00] [ 2.24821948e-03 2.78113373e-03 9.99993605e-01 -1.81481868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.89140051299998 meters Centerline goodness [0,1] 0.9324298367303383 Centerline is valid? [False, False] Translation: X:138.86, Y:7.54, Z:-0.18 [[ 9.99994741e-01 2.51354431e-03 -2.04946990e-03 1.38855404e+02] [-2.52133096e-03 9.99989580e-01 -3.80566123e-03 7.54370684e+00] [ 2.03988284e-03 3.81080861e-03 9.99990658e-01 -1.80974492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.92140051299998 meters Centerline goodness [0,1] 0.9565301184179533 Centerline is valid? [False, True] Translation: X:138.85, Y:7.55, Z:-0.18 [[ 9.99995279e-01 2.39118247e-03 -1.92957478e-03 1.38854751e+02] [-2.39906878e-03 9.99988737e-01 -4.09516079e-03 7.54516808e+00] [ 1.91976077e-03 4.09977064e-03 9.99989753e-01 -1.80498140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.95140051299998 meters Centerline goodness [0,1] 0.9719716702904011 Centerline is valid? [True, True] Translation: X:138.88, Y:7.55, Z:-0.18 [[ 9.99998800e-01 9.59964022e-04 -1.21597361e-03 1.38884673e+02] [-9.60061550e-04 9.99999536e-01 -7.96245533e-05 7.54540451e+00] [ 1.21589661e-03 8.07918673e-05 9.99999258e-01 -1.78114183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.98140051299998 meters Centerline goodness [0,1] 0.9853402471032584 Centerline is valid? [True, True] Translation: X:138.91, Y:7.55, Z:-0.18 [[ 9.99996802e-01 -2.27376795e-03 -1.10766017e-03 1.38914803e+02] [ 2.27368899e-03 9.99997413e-01 -7.25397631e-05 7.55280930e+00] [ 1.10782224e-03 7.00210563e-05 9.99999384e-01 -1.78665873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.01140051299998 meters Centerline goodness [0,1] 0.998368188259544 Centerline is valid? [True, True] Translation: X:138.95, Y:7.55, Z:-0.18 [[ 9.99990256e-01 -3.96578412e-03 -1.93893948e-03 1.38945260e+02] [ 3.96554531e-03 9.99992129e-01 -1.26996657e-04 7.54780870e+00] [ 1.93942786e-03 1.19306467e-04 9.99998112e-01 -1.79957403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.04140051299999 meters Centerline goodness [0,1] 0.9918025769444802 Centerline is valid? [True, True] Translation: X:138.97, Y:7.56, Z:-0.18 [[ 9.99980889e-01 -5.70887704e-03 -2.37291793e-03 1.38973767e+02] [ 5.70852413e-03 9.99983694e-01 -1.55470480e-04 7.55880998e+00] [ 2.37376680e-03 1.41921649e-04 9.99997173e-01 -1.80798261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.071400513 meters Centerline goodness [0,1] 0.9996732880292734 Centerline is valid? [True, True] Translation: X:139.00, Y:7.55, Z:-0.18 [[ 9.99970073e-01 -7.44215404e-03 -2.11351517e-03 1.39003984e+02] [ 7.44187782e-03 9.99972299e-01 -1.38523464e-04 7.55135704e+00] [ 2.11448754e-03 1.22790797e-04 9.99997757e-01 -1.79766078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.101400513 meters Centerline goodness [0,1] 0.9983326564203416 Centerline is valid? [True, True] Translation: X:139.03, Y:7.57, Z:-0.18 [[ 9.99946958e-01 -1.02721011e-02 -7.51419097e-04 1.39031854e+02] [ 1.02720670e-02 9.99947240e-01 -4.92563087e-05 7.56955739e+00] [ 7.51885418e-04 4.15350687e-05 9.99999716e-01 -1.77753418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.131400513 meters Centerline goodness [0,1] 0.9991499670612236 Centerline is valid? [True, True] Translation: X:139.06, Y:7.57, Z:-0.18 [[ 9.99931417e-01 -1.16949838e-02 -6.23408254e-04 1.39061503e+02] [ 1.16949606e-02 9.99931611e-01 -4.08730678e-05 7.56962270e+00] [ 6.23843630e-04 3.35795296e-05 9.99999805e-01 -1.77716971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.161400513 meters Centerline goodness [0,1] 0.9988284162317606 Centerline is valid? [True, True] Translation: X:139.09, Y:7.57, Z:-0.18 [[ 9.99910417e-01 -1.33047692e-02 -1.46324930e-03 1.39089835e+02] [ 1.33046430e-02 9.99911485e-01 -9.59997437e-05 7.57470768e+00] [ 1.46439703e-03 7.65231342e-05 9.99998925e-01 -1.78997625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.191400513 meters Centerline goodness [0,1] 0.9996551575498944 Centerline is valid? [True, True] Translation: X:139.12, Y:7.57, Z:-0.18 [[ 9.99888405e-01 -1.46578871e-02 -2.88509515e-03 1.39119067e+02] [ 1.46574013e-02 9.99892557e-01 -1.89433479e-04 7.56870208e+00] [ 2.88756186e-03 1.47124342e-04 9.99995820e-01 -1.81161465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.221400513 meters Centerline goodness [0,1] 0.9992244220867355 Centerline is valid? [True, True] Translation: X:139.15, Y:7.57, Z:-0.19 [[ 9.99824820e-01 -1.76799236e-02 -6.14411423e-03 1.39147539e+02] [ 1.76777760e-02 9.99843654e-01 -4.03681449e-04 7.57322831e+00] [ 6.15029068e-03 2.94996457e-04 9.99981043e-01 -1.85815662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.251400513 meters Centerline goodness [0,1] 0.9991320951223746 Centerline is valid? [True, True] Translation: X:139.18, Y:7.57, Z:-0.19 [[ 9.99786787e-01 -1.95202221e-02 -6.73359515e-03 1.39176421e+02] [ 1.95176827e-02 9.99809414e-01 -4.42646393e-04 7.57438985e+00] [ 6.74095238e-03 3.11127842e-04 9.99977231e-01 -1.87198766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.281400513 meters Centerline goodness [0,1] 0.9993133047210301 Centerline is valid? [True, True] Translation: X:139.21, Y:7.57, Z:-0.19 [[ 9.99760064e-01 -2.10108159e-02 -6.19359521e-03 1.39205173e+02] [ 2.10086942e-02 9.99779210e-01 -4.07423499e-04 7.57374298e+00] [ 6.20078802e-03 2.77206396e-04 9.99980737e-01 -1.87352008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.311400513 meters Centerline goodness [0,1] 0.999700053561864 Centerline is valid? [True, True] Translation: X:139.23, Y:7.57, Z:-0.18 [[ 9.99716863e-01 -2.32466258e-02 -5.07815115e-03 1.39234853e+02] [ 2.32452277e-02 9.99729737e-01 -3.34175336e-04 7.57238813e+00] [ 5.08454717e-03 2.16037939e-04 9.99987050e-01 -1.84591606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.341400513 meters Centerline goodness [0,1] 0.9998288587014654 Centerline is valid? [True, True] Translation: X:139.26, Y:7.57, Z:-0.18 [[ 9.99675978e-01 -2.52092279e-02 -3.52613966e-03 1.39264940e+02] [ 2.52085657e-02 9.99682187e-01 -2.32120463e-04 7.56790035e+00] [ 3.53087058e-03 1.43156327e-04 9.99993756e-01 -1.81356184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.371400513 meters Centerline goodness [0,1] 0.9997860916811054 Centerline is valid? [True, True] Translation: X:139.29, Y:7.57, Z:-0.18 [[ 9.99676877e-01 -2.51643597e-02 -3.59112781e-03 1.39292123e+02] [ 2.51636719e-02 9.99683317e-01 -2.36583709e-04 7.57221205e+00] [ 3.59594403e-03 1.46141302e-04 9.99993524e-01 -1.81419906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.40140051299997 meters Centerline goodness [0,1] 0.9997856423227798 Centerline is valid? [True, True] Translation: X:139.32, Y:7.57, Z:-0.18 [[ 9.99692118e-01 -2.45182110e-02 -3.81137722e-03 1.39321275e+02] [ 2.45174295e-02 9.99699371e-01 -2.51638457e-04 7.57217281e+00] [ 3.81640113e-03 1.58115810e-04 9.99992705e-01 -1.81681989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.43140051299997 meters Centerline goodness [0,1] 0.9998699017758408 Centerline is valid? [True, True] Translation: X:139.35, Y:7.57, Z:-0.18 [[ 9.99719245e-01 -2.33328642e-02 -4.12412059e-03 1.39349991e+02] [ 2.33319378e-02 9.99727736e-01 -2.72612422e-04 7.56748475e+00] [ 4.12935857e-03 1.76312160e-04 9.99991459e-01 -1.82175314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.46140051299997 meters Centerline goodness [0,1] 0.9997866712176807 Centerline is valid? [True, True] Translation: X:139.38, Y:7.58, Z:-0.18 [[ 9.99763424e-01 -2.15703708e-02 -2.79538130e-03 1.39377932e+02] [ 2.15699380e-02 9.99767325e-01 -1.84883430e-04 7.57644182e+00] [ 2.79871888e-03 1.24543490e-04 9.99996076e-01 -1.81095626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.49140051299997 meters Centerline goodness [0,1] 0.9993173915825849 Centerline is valid? [True, True] Translation: X:139.41, Y:7.58, Z:-0.18 [[ 9.99795023e-01 -2.00446182e-02 -2.85032493e-03 1.39406958e+02] [ 2.00441617e-02 9.99799078e-01 -1.88615665e-04 7.57954949e+00] [ 2.85353296e-03 1.31444629e-04 9.99995920e-01 -1.81712082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.52140051299997 meters Centerline goodness [0,1] 0.9998060135790494 Centerline is valid? [True, True] Translation: X:139.44, Y:7.58, Z:-0.18 [[ 9.99825458e-01 -1.83328092e-02 -3.60024447e-03 1.39436243e+02] [ 1.83320694e-02 9.99831925e-01 -2.38372990e-04 7.57677602e+00] [ 3.60400941e-03 1.72331453e-04 9.99993491e-01 -1.82054759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.55140051299998 meters Centerline goodness [0,1] 0.9992037359846773 Centerline is valid? [True, True] Translation: X:139.46, Y:7.58, Z:-0.18 [[ 9.99856551e-01 -1.64051282e-02 -4.21297816e-03 1.39464529e+02] [ 1.64040972e-02 9.99865405e-01 -2.79156799e-04 7.58265119e+00] [ 4.21699072e-03 2.10006651e-04 9.99991086e-01 -1.82533796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.58140051299998 meters Centerline goodness [0,1] 0.9992037359846773 Centerline is valid? [True, True] Translation: X:139.49, Y:7.58, Z:-0.18 [[ 9.99853538e-01 -1.65877695e-02 -4.21293300e-03 1.39492020e+02] [ 1.65867372e-02 9.99862391e-01 -2.79837381e-04 7.58461693e+00] [ 4.21699514e-03 2.09917582e-04 9.99991086e-01 -1.82514918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.61140051299998 meters Centerline goodness [0,1] 0.9970327685559474 Centerline is valid? [True, True] Translation: X:139.52, Y:7.59, Z:-0.18 [[ 9.99905755e-01 -1.30150197e-02 -4.36918676e-03 1.39521678e+02] [ 1.30138747e-02 9.99915274e-01 -2.90392226e-04 7.58959309e+00] [ 4.37259603e-03 2.33504809e-04 9.99990413e-01 -1.82455097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.64140051299998 meters Centerline goodness [0,1] 0.9968435292349316 Centerline is valid? [True, True] Translation: X:139.55, Y:7.59, Z:-0.18 [[ 9.99926930e-01 -1.14263488e-02 -3.94632697e-03 1.39551182e+02] [ 1.14254020e-02 9.99934694e-01 -2.62369723e-04 7.59139699e+00] [ 3.94906718e-03 2.17262180e-04 9.99992179e-01 -1.81906837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.67140051299998 meters Centerline goodness [0,1] 0.993009850733428 Centerline is valid? [True, True] Translation: X:139.58, Y:7.60, Z:-0.18 [[ 9.99946684e-01 -9.42254210e-03 -4.22429945e-03 1.39580927e+02] [ 9.42143920e-03 9.99955578e-01 -2.80907706e-04 7.59671550e+00] [ 4.22675866e-03 2.41093748e-04 9.99991038e-01 -1.82900127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.70140051299998 meters Centerline goodness [0,1] 0.9916727632654818 Centerline is valid? [True, True] Translation: X:139.61, Y:7.60, Z:-0.18 [[ 9.99953601e-01 -8.65972370e-03 -4.21962860e-03 1.39607973e+02] [ 8.65861543e-03 9.99962474e-01 -2.80845677e-04 7.60160244e+00] [ 4.22190230e-03 2.44296505e-04 9.99991058e-01 -1.83908321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.73140051299998 meters Centerline goodness [0,1] 0.9161016048464237 Centerline is valid? [True, False] Translation: X:139.63, Y:7.61, Z:-0.19 [[ 9.99975159e-01 -7.04851606e-03 2.02106888e-05 1.39632139e+02] [ 7.04831701e-03 9.99915634e-01 -1.09108317e-02 7.61228699e+00] [ 5.66961887e-05 1.09107031e-02 9.99940475e-01 -1.91800453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.76140051299998 meters Centerline goodness [0,1] 0.9876881857616739 Centerline is valid? [False, True] Translation: X:139.63, Y:7.61, Z:-0.19 [[ 9.99996950e-01 -2.46383186e-03 -1.73683469e-04 1.39632240e+02] [ 2.46283866e-03 9.99981821e-01 -5.50379566e-03 7.60703028e+00] [ 1.87240739e-04 5.50335112e-03 9.99984839e-01 -1.90821120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.79140051299999 meters Centerline goodness [0,1] 0.9947849323334196 Centerline is valid? [True, True] Translation: X:139.66, Y:7.60, Z:-0.19 [[ 9.99999712e-01 6.19983250e-04 4.37460922e-04 1.39662552e+02] [-6.19995359e-04 9.99999807e-01 2.75469530e-05 7.60330985e+00] [-4.37443759e-04 -2.78181688e-05 9.99999904e-01 -1.87898585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.821400513 meters Centerline goodness [0,1] 0.9706287683031869 Centerline is valid? [True, True] Translation: X:139.69, Y:7.61, Z:-0.19 [[ 9.99998480e-01 1.74084522e-03 9.27584841e-05 1.39692171e+02] [-1.74084577e-03 9.99998485e-01 5.88280204e-06 7.61324579e+00] [-9.27481025e-05 -6.04427131e-06 9.99999996e-01 -1.88698033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.851400513 meters Centerline goodness [0,1] 0.9888867476071176 Centerline is valid? [True, True] Translation: X:139.72, Y:7.61, Z:-0.19 [[ 9.99997151e-01 2.38476372e-03 -1.00635178e-04 1.39723139e+02] [-2.38476437e-03 9.99997156e-01 -6.33659259e-06 7.61205574e+00] [ 1.00619780e-04 6.57656573e-06 9.99999995e-01 -1.88861611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.881400513 meters Centerline goodness [0,1] 0.9915109253524482 Centerline is valid? [True, True] Translation: X:139.75, Y:7.61, Z:-0.19 [[ 9.99996636e-01 2.59211478e-03 -9.46231892e-05 1.39753316e+02] [-2.59211535e-03 9.99996640e-01 -5.95804183e-06 7.61415366e+00] [ 9.46074274e-05 6.20329601e-06 9.99999996e-01 -1.88814501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.911400513 meters Centerline goodness [0,1] 0.9527182725953742 Centerline is valid? [True, True] Translation: X:139.78, Y:7.63, Z:-0.19 [[ 9.99995824e-01 2.87764296e-03 2.68076050e-04 1.39782646e+02] [-2.87764760e-03 9.99995859e-01 1.69184906e-05 7.62662087e+00] [-2.68026255e-04 -1.76898483e-05 9.99999964e-01 -1.88847985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.941400513 meters Centerline goodness [0,1] 0.9629275750047773 Centerline is valid? [True, True] Translation: X:139.81, Y:7.63, Z:-0.19 [[ 9.99993387e-01 3.54920091e-03 7.93741202e-04 1.39813797e+02] [-3.54924173e-03 9.99993700e-01 5.00330659e-05 7.62882137e+00] [-7.93558624e-04 -5.28499144e-05 9.99999684e-01 -1.87670288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.971400513 meters Centerline goodness [0,1] 0.9429497292457255 Centerline is valid? [True, False] Translation: X:139.81, Y:7.63, Z:-0.19 [[ 9.99994013e-01 3.35350271e-03 8.52722002e-04 1.39813707e+02] [-3.35313715e-03 9.99994286e-01 -4.29772761e-04 7.63107575e+00] [-8.54158374e-04 4.26910894e-04 9.99999544e-01 -1.87863682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.001400513 meters Centerline goodness [0,1] 0.9197551853111187 Centerline is valid? [False, False] Translation: X:139.81, Y:7.63, Z:-0.19 [[ 9.99994936e-01 3.07330744e-03 8.25750339e-04 1.39814100e+02] [-3.07234544e-03 9.99994603e-01 -1.16376044e-03 7.63449937e+00] [-8.29322476e-04 1.16121756e-03 9.99998982e-01 -1.88484591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.031400513 meters Centerline goodness [0,1] 0.9022083368997689 Centerline is valid? [False, False] Translation: X:139.81, Y:7.64, Z:-0.19 [[ 9.99995802e-01 2.78511186e-03 7.98966466e-04 1.39814519e+02] [-2.78356876e-03 9.99994271e-01 -1.92602179e-03 7.63804150e+00] [-8.04326075e-04 1.92378973e-03 9.99997826e-01 -1.89183673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.061400513 meters Centerline goodness [0,1] 0.9291446425132145 Centerline is valid? [False, False] Translation: X:139.81, Y:7.64, Z:-0.19 [[ 9.99996417e-01 2.56161705e-03 7.76739904e-04 1.39814769e+02] [-2.55965762e-03 9.99993566e-01 -2.51321346e-03 7.64080065e+00] [-7.83172797e-04 2.51121627e-03 9.99996540e-01 -1.89559271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.091400513 meters Centerline goodness [0,1] 0.8581374360737462 Centerline is valid? [False, False] Translation: X:139.81, Y:7.64, Z:-0.19 [[ 9.99996811e-01 2.39957267e-03 7.87321843e-04 1.39814777e+02] [-2.39724330e-03 9.99992786e-01 -2.94632469e-03 7.64284721e+00] [-7.94386084e-04 2.94442789e-03 9.99995350e-01 -1.89678435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.121400513 meters Centerline goodness [0,1] 0.9463639284566777 Centerline is valid? [False, False] Translation: X:139.81, Y:7.64, Z:-0.19 [[ 9.99996876e-01 2.36412168e-03 8.11723322e-04 1.39814606e+02] [-2.36165667e-03 9.99992638e-01 -3.02440461e-03 7.64322444e+00] [-8.18867407e-04 3.02247815e-03 9.99995097e-01 -1.89532441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.15140051299997 meters Centerline goodness [0,1] 0.9855756679140196 Centerline is valid? [False, True] Translation: X:139.77, Y:7.64, Z:-0.19 [[ 9.99997185e-01 2.11142944e-03 -1.08244081e-03 1.39771682e+02] [-2.11120245e-03 9.99997749e-01 2.10802824e-04 7.63745794e+00] [ 1.08288346e-03 -2.08516979e-04 9.99999392e-01 -1.87755541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.18140051299997 meters Centerline goodness [0,1] 0.96593637454982 Centerline is valid? [True, True] Translation: X:139.80, Y:7.65, Z:-0.19 [[ 9.99998420e-01 1.73126401e-03 -4.02557505e-04 1.39800270e+02] [-1.73127545e-03 9.99998501e-01 -2.80646949e-05 7.64568126e+00] [ 4.02508314e-04 2.87615885e-05 9.99999919e-01 -1.87486063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.21140051299997 meters Centerline goodness [0,1] 0.974446227929374 Centerline is valid? [True, True] Translation: X:139.83, Y:7.65, Z:-0.19 [[ 9.99998960e-01 1.00080221e-03 -1.03883219e-03 1.39831139e+02] [-1.00087792e-03 9.99999497e-01 -7.23613844e-05 7.64599318e+00] [ 1.03875925e-03 7.34010533e-05 9.99999458e-01 -1.88487606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.24140051299997 meters Centerline goodness [0,1] 0.8289310859825048 Centerline is valid? [True, False] Translation: X:139.83, Y:7.65, Z:-0.19 [[ 9.99998865e-01 9.64610003e-04 -1.15773072e-03 1.39831793e+02] [-9.64765367e-04 9.99999526e-01 -1.33646451e-04 7.64619623e+00] [ 1.15760126e-03 1.34763238e-04 9.99999321e-01 -1.89008167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.27140051299997 meters Centerline goodness [0,1] 0.9716137925093149 Centerline is valid? [False, True] Translation: X:139.83, Y:7.65, Z:-0.19 [[ 9.99998868e-01 8.83770517e-04 -1.21748621e-03 1.39832148e+02] [-8.84150656e-04 9.99999561e-01 -3.11729478e-04 7.64698039e+00] [ 1.21721018e-03 3.12805566e-04 9.99999210e-01 -1.89327403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.30140051299998 meters Centerline goodness [0,1] 0.9742895512042974 Centerline is valid? [True, True] Translation: X:139.86, Y:7.65, Z:-0.19 [[ 9.99999166e-01 1.13872174e-03 -6.08579282e-04 1.39861918e+02] [-1.13874774e-03 9.99999351e-01 -4.23905704e-05 7.64982065e+00] [ 6.08530615e-04 4.30835533e-05 9.99999814e-01 -1.88462936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.33140051299998 meters Centerline goodness [0,1] 0.9125562930868888 Centerline is valid? [True, False] Translation: X:139.90, Y:7.65, Z:-0.19 [[ 9.99992772e-01 2.19000250e-03 3.10792395e-03 1.39898023e+02] [-2.18586480e-03 9.99996721e-01 -1.33411393e-03 7.65228477e+00] [-3.11083547e-03 1.32731078e-03 9.99994280e-01 -1.85861430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.36140051299998 meters Centerline goodness [0,1] 0.9065647424568277 Centerline is valid? [False, False] Translation: X:139.90, Y:7.65, Z:-0.19 [[ 9.99992260e-01 2.38320229e-03 3.13052134e-03 1.39897830e+02] [-2.38037303e-03 9.99996755e-01 -9.07183923e-04 7.65030578e+00] [-3.13267318e-03 8.99725092e-04 9.99994688e-01 -1.85637470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.39140051299998 meters Centerline goodness [0,1] 0.6476044591949621 Centerline is valid? [False, False] Translation: X:139.90, Y:7.65, Z:-0.19 [[ 9.99991934e-01 2.55722043e-03 3.09730279e-03 1.39898031e+02] [-2.55571019e-03 9.99996613e-01 -4.91457956e-04 7.64832445e+00] [-3.09854906e-03 4.83538184e-04 9.99995083e-01 -1.85816460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.42140051299998 meters Centerline goodness [0,1] 0.9086780383795309 Centerline is valid? [False, False] Translation: X:139.90, Y:7.65, Z:-0.19 [[ 9.99991920e-01 2.55503882e-03 3.10351508e-03 1.39898439e+02] [-2.55359801e-03 9.99996630e-01 -4.68126487e-04 7.64811583e+00] [-3.10470070e-03 4.60197574e-04 9.99995075e-01 -1.86686648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.45140051299998 meters Centerline goodness [0,1] 0.9795550983669795 Centerline is valid? [False, True] Translation: X:139.90, Y:7.65, Z:-0.19 [[ 9.99991691e-01 2.54002978e-03 3.18853540e-03 1.39897982e+02] [-2.53838161e-03 9.99996643e-01 -5.20846348e-04 7.64842574e+00] [-3.18984766e-03 5.12748300e-04 9.99994781e-01 -1.86345440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.48140051299998 meters Centerline goodness [0,1] 0.9448704839809134 Centerline is valid? [True, False] Translation: X:139.90, Y:7.65, Z:-0.19 [[ 9.99991095e-01 2.62143800e-03 3.30731981e-03 1.39897170e+02] [-2.62036381e-03 9.99996513e-01 -3.29084045e-04 7.64761401e+00] [-3.30817095e-03 3.20414733e-04 9.99994477e-01 -1.85541188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.51140051299998 meters Centerline goodness [0,1] 0.9268396972677129 Centerline is valid? [False, False] Translation: X:139.90, Y:7.65, Z:-0.18 [[ 9.99990489e-01 2.77567449e-03 3.36429359e-03 1.39896478e+02] [-2.77582757e-03 9.99996147e-01 4.08343272e-05 7.64597787e+00] [-3.36416728e-03 -5.01726377e-05 9.99994340e-01 -1.84545497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.54140051299999 meters Centerline goodness [0,1] 0.979213002566296 Centerline is valid? [False, True] Translation: X:139.90, Y:7.64, Z:-0.18 [[ 9.99990137e-01 2.97726473e-03 3.29574929e-03 1.39896507e+02] [-2.97932760e-03 9.99995369e-01 6.21185280e-04 7.64322981e+00] [-3.29388459e-03 -6.30998270e-04 9.99994376e-01 -1.84151689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.571400513 meters Centerline goodness [0,1] 0.9959758988971787 Centerline is valid? [True, True] Translation: X:139.93, Y:7.64, Z:-0.19 [[ 9.99994948e-01 2.68773346e-03 1.69685034e-03 1.39928812e+02] [-2.68793189e-03 9.99996381e-01 1.14674942e-04 7.63704912e+00] [-1.69653599e-03 -1.19235381e-04 9.99998554e-01 -1.87215253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.601400513 meters Centerline goodness [0,1] 0.9283333333333333 Centerline is valid? [True, False] Translation: X:139.97, Y:7.64, Z:-0.19 [[ 9.99992182e-01 3.17915479e-03 2.35133258e-03 1.39974912e+02] [-3.17272970e-03 9.99991237e-01 -2.73123240e-03 7.64176682e+00] [-2.35999498e-03 2.72375091e-03 9.99993506e-01 -1.91143599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.631400513 meters Centerline goodness [0,1] 0.8084829892844209 Centerline is valid? [False, False] Translation: X:139.98, Y:7.64, Z:-0.19 [[ 9.99992369e-01 3.24352957e-03 2.17764560e-03 1.39975831e+02] [-3.23787660e-03 9.99991392e-01 -2.59443548e-03 7.64103920e+00] [-2.18604199e-03 2.58736474e-03 9.99994263e-01 -1.91813482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.661400513 meters Centerline goodness [0,1] 0.9630002570914389 Centerline is valid? [False, True] Translation: X:139.98, Y:7.64, Z:-0.19 [[ 9.99992350e-01 3.27483726e-03 2.13899967e-03 1.39976111e+02] [-3.26938168e-03 9.99991407e-01 -2.54906712e-03 7.64080785e+00] [-2.14732907e-03 2.54205441e-03 9.99994463e-01 -1.92109680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.691400513 meters Centerline goodness [0,1] 0.8662399793121283 Centerline is valid? [True, False] Translation: X:139.98, Y:7.64, Z:-0.19 [[ 9.99992606e-01 3.07464061e-03 2.30964674e-03 1.39975766e+02] [-3.06732999e-03 9.99990296e-01 -3.16215349e-03 7.64374586e+00] [-2.31934682e-03 3.15504566e-03 9.99992333e-01 -1.92545483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.721400513 meters Centerline goodness [0,1] 0.8948689347462353 Centerline is valid? [False, False] Translation: X:139.98, Y:7.65, Z:-0.19 [[ 9.99992870e-01 2.95819794e-03 2.34717548e-03 1.39975731e+02] [-2.94999923e-03 9.99989563e-01 -3.48881638e-03 7.64530529e+00] [-2.35747159e-03 3.48186734e-03 9.99991159e-01 -1.92738594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.751400513 meters Centerline goodness [0,1] 0.7479896210837819 Centerline is valid? [False, False] Translation: X:139.98, Y:7.65, Z:-0.19 [[ 9.99992927e-01 2.95207408e-03 2.33056901e-03 1.39975860e+02] [-2.94380476e-03 9.99989388e-01 -3.54368946e-03 7.64556165e+00] [-2.34100552e-03 3.53680366e-03 9.99991005e-01 -1.92929077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.781400513 meters Centerline goodness [0,1] 0.8722756894393855 Centerline is valid? [False, False] Translation: X:139.98, Y:7.64, Z:-0.19 [[ 9.99992722e-01 3.03012510e-03 2.31818977e-03 1.39975896e+02] [-3.02228288e-03 9.99989724e-01 -3.37896180e-03 7.64481373e+00] [-2.32840463e-03 3.37193099e-03 9.99991604e-01 -1.92927874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.811400513 meters Centerline goodness [0,1] 0.8547041623667011 Centerline is valid? [False, False] Translation: X:139.98, Y:7.64, Z:-0.19 [[ 9.99992541e-01 3.12710564e-03 2.26710248e-03 1.39976019e+02] [-3.12010775e-03 9.99990378e-01 -3.08370388e-03 7.64337516e+00] [-2.27672374e-03 3.07660728e-03 9.99992675e-01 -1.92863895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.841400513 meters Centerline goodness [0,1] 0.8780247125450489 Centerline is valid? [False, False] Translation: X:139.98, Y:7.64, Z:-0.19 [[ 9.99992642e-01 3.11898349e-03 2.23337417e-03 1.39976139e+02] [-3.11216187e-03 9.99990502e-01 -3.05138994e-03 7.64318288e+00] [-2.24287019e-03 3.04441687e-03 9.99992851e-01 -1.92925468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.871400513 meters Centerline goodness [0,1] 0.9537456333290206 Centerline is valid? [False, True] Translation: X:139.98, Y:7.64, Z:-0.19 [[ 9.99992630e-01 3.15171627e-03 2.19246974e-03 1.39976218e+02] [-3.14521788e-03 9.99990670e-01 -2.96111999e-03 7.64275944e+00] [-2.20178190e-03 2.95420237e-03 9.99993212e-01 -1.92832173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.90140051299997 meters Centerline goodness [0,1] 0.9691011235955056 Centerline is valid? [True, True] Translation: X:140.01, Y:7.64, Z:-0.19 [[ 9.99998373e-01 8.67176902e-04 1.58168296e-03 1.40007091e+02] [-8.67353850e-04 9.99999618e-01 1.11190255e-04 7.63891963e+00] [-1.58158593e-03 -1.12561953e-04 9.99998743e-01 -1.93950792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.93140051299997 meters Centerline goodness [0,1] 0.9905471026222078 Centerline is valid? [True, True] Translation: X:140.04, Y:7.64, Z:-0.19 [[ 9.99999085e-01 -5.07259074e-04 1.25411565e-03 1.40038544e+02] [ 5.07148813e-04 9.99999868e-01 8.82364514e-05 7.63509657e+00] [-1.25416024e-03 -8.76003474e-05 9.99999210e-01 -1.94223937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.96140051299997 meters Centerline goodness [0,1] 0.9445533886434652 Centerline is valid? [True, False] Translation: X:140.04, Y:7.63, Z:-0.19 [[ 9.99999234e-01 -4.11652204e-04 1.16686485e-03 1.40038741e+02] [ 4.11225291e-04 9.99999848e-01 3.66079216e-04 7.63377486e+00] [-1.16701537e-03 -3.65599092e-04 9.99999252e-01 -1.94061086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.99140051299997 meters Centerline goodness [0,1] 0.8923453713450921 Centerline is valid? [False, False] Translation: X:140.04, Y:7.63, Z:-0.19 [[ 9.99999373e-01 -2.71059989e-04 1.08645145e-03 1.40038791e+02] [ 2.70287751e-04 9.99999711e-01 7.10872942e-04 7.63219215e+00] [-1.08664382e-03 -7.10578842e-04 9.99999157e-01 -1.93645676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.02140051299997 meters Centerline goodness [0,1] 0.9650591722377274 Centerline is valid? [False, True] Translation: X:140.04, Y:7.63, Z:-0.19 [[ 9.99999447e-01 -4.32767486e-05 1.05099398e-03 1.40038611e+02] [ 4.19499906e-05 9.99999202e-01 1.26237319e-03 7.62967236e+00] [-1.05104777e-03 -1.26232841e-03 9.99998651e-01 -1.93056062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.05140051299998 meters Centerline goodness [0,1] 0.9961563377240337 Centerline is valid? [True, True] Translation: X:140.07, Y:7.62, Z:-0.19 [[ 9.99997069e-01 -1.64721425e-03 1.77428407e-03 1.40069689e+02] [ 1.64700612e-03 9.99998637e-01 1.18759655e-04 7.62140904e+00] [-1.77447728e-03 -1.15837051e-04 9.99998419e-01 -1.92944814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.08140051299998 meters Centerline goodness [0,1] 0.9634736281299947 Centerline is valid? [True, True] Translation: X:140.10, Y:7.63, Z:-0.19 [[ 9.99995128e-01 -2.14098944e-03 2.27163619e-03 1.40099940e+02] [ 2.14064898e-03 9.99997697e-01 1.52297692e-04 7.63176406e+00] [-2.27195702e-03 -1.47434175e-04 9.99997408e-01 -1.93793483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.11140051299998 meters Centerline goodness [0,1] 0.9819329606563649 Centerline is valid? [True, True] Translation: X:140.13, Y:7.63, Z:-0.19 [[ 9.99988825e-01 -2.79297301e-03 3.81446025e-03 1.40131644e+02] [ 2.79202050e-03 9.99996070e-01 2.55012874e-04 7.62856087e+00] [-3.81515750e-03 -2.44359973e-04 9.99992692e-01 -1.91886899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.14140051299998 meters Centerline goodness [0,1] 0.9932100610667464 Centerline is valid? [True, True] Translation: X:140.16, Y:7.63, Z:-0.19 [[ 9.99987870e-01 -2.30885926e-03 4.35067862e-03 1.40164189e+02] [ 2.30761598e-03 9.99997295e-01 2.90765503e-04 7.62526976e+00] [-4.35133819e-03 -2.80722280e-04 9.99990493e-01 -1.90586991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.17140051299998 meters Centerline goodness [0,1] 0.9475234724371066 Centerline is valid? [True, False] Translation: X:140.16, Y:7.62, Z:-0.19 [[ 9.99988047e-01 -2.26195551e-03 4.33477194e-03 1.40164279e+02] [ 2.26039402e-03 9.99997379e-01 3.65089104e-04 7.62492677e+00] [-4.33558640e-03 -3.55286448e-04 9.99990538e-01 -1.90668989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.20140051299998 meters Centerline goodness [0,1] 0.9988755784284046 Centerline is valid? [False, True] Translation: X:140.12, Y:7.62, Z:-0.19 [[ 9.99994455e-01 -2.96251755e-03 1.52099482e-03 1.40123567e+02] [ 2.95875829e-03 9.99992578e-01 2.46791069e-03 7.62092506e+00] [-1.52829475e-03 -2.46339675e-03 9.99995798e-01 -1.90180940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.23140051299998 meters Centerline goodness [0,1] 0.9643963840745411 Centerline is valid? [True, True] Translation: X:140.15, Y:7.63, Z:-0.19 [[ 9.99996898e-01 -2.48374417e-03 1.86581566e-04 1.40153385e+02] [ 2.48374181e-03 9.99996915e-01 1.28663325e-05 7.63398462e+00] [-1.86612947e-04 -1.24028722e-05 9.99999983e-01 -1.94205527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.26140051299998 meters Centerline goodness [0,1] 0.9980783348447554 Centerline is valid? [True, True] Translation: X:140.18, Y:7.62, Z:-0.19 [[ 9.99995717e-01 -2.91667517e-03 -2.43910302e-04 1.40184576e+02] [ 2.91667118e-03 9.99995746e-01 -1.67174491e-05 7.62135824e+00] [ 2.43958024e-04 1.60059713e-05 9.99999970e-01 -1.94447702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.29140051299999 meters Centerline goodness [0,1] 0.9751989873634979 Centerline is valid? [True, True] Translation: X:140.21, Y:7.63, Z:-0.19 [[ 9.99993351e-01 -3.64084171e-03 2.03614152e-04 1.40213396e+02] [ 3.64083895e-03 9.99993372e-01 1.39188002e-05 7.63153564e+00] [-2.03663479e-04 -1.31773813e-05 9.99999979e-01 -1.93483776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.321400513 meters Centerline goodness [0,1] 0.99647349747339 Centerline is valid? [True, True] Translation: X:140.24, Y:7.63, Z:-0.19 [[ 9.99991010e-01 -3.87660374e-03 1.71815893e-03 1.40243239e+02] [ 3.87640713e-03 9.99992480e-01 1.17745262e-04 7.62872972e+00] [-1.71860246e-03 -1.11083920e-04 9.99998517e-01 -1.91260814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.351400513 meters Centerline goodness [0,1] 0.9812563537783802 Centerline is valid? [True, True] Translation: X:140.27, Y:7.64, Z:-0.19 [[ 9.99993400e-01 -1.45125432e-03 3.33065464e-03 1.40272423e+02] [ 1.45050161e-03 9.99998922e-01 2.28396617e-04 7.63999419e+00] [-3.33098251e-03 -2.23563990e-04 9.99994427e-01 -1.90138159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.381400513 meters Centerline goodness [0,1] 0.9584556381633921 Centerline is valid? [True, True] Translation: X:140.30, Y:7.65, Z:-0.19 [[ 9.99996800e-01 4.83370591e-04 2.48339090e-03 1.40302380e+02] [-4.83794886e-04 9.99999868e-01 1.70255510e-04 7.64500788e+00] [-2.48330828e-03 -1.71456417e-04 9.99996902e-01 -1.91530526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.411400513 meters Centerline goodness [0,1] 0.9374153116531165 Centerline is valid? [True, False] Translation: X:140.34, Y:7.65, Z:-0.19 [[ 9.99988233e-01 1.58696327e-03 4.58436242e-03 1.40344387e+02] [-1.57361736e-03 9.99994518e-01 -2.91332296e-03 7.65169465e+00] [-4.58896062e-03 2.90607465e-03 9.99985248e-01 -1.93962390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.441400513 meters Centerline goodness [0,1] 0.939666567176907 Centerline is valid? [False, False] Translation: X:140.34, Y:7.65, Z:-0.19 [[ 9.99980391e-01 3.52936076e-03 5.17313819e-03 1.40339127e+02] [-3.52294654e-03 9.99993015e-01 -1.24849816e-03 7.65267361e+00] [-5.17750846e-03 1.23024899e-03 9.99985840e-01 -1.90476430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.471400513 meters Centerline goodness [0,1] 0.939666567176907 Centerline is valid? [False, False] Translation: X:140.34, Y:7.65, Z:-0.19 [[ 9.99980391e-01 3.52936076e-03 5.17313819e-03 1.40339127e+02] [-3.52294654e-03 9.99993015e-01 -1.24849816e-03 7.65267361e+00] [-5.17750846e-03 1.23024899e-03 9.99985840e-01 -1.90476430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.501400513 meters Centerline goodness [0,1] 0.8352332047812839 Centerline is valid? [False, False] Translation: X:140.34, Y:7.65, Z:-0.19 [[ 9.99980872e-01 3.36697138e-03 5.18829945e-03 1.40339218e+02] [-3.35804732e-03 9.99992869e-01 -1.72778687e-03 7.65494306e+00] [-5.19407986e-03 1.71033127e-03 9.99985048e-01 -1.90767204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.531400513 meters Centerline goodness [0,1] 0.6581460852622885 Centerline is valid? [False, False] Translation: X:140.34, Y:7.66, Z:-0.19 [[ 9.99980705e-01 3.31017150e-03 5.25660425e-03 1.40338994e+02] [-3.29999193e-03 9.99992665e-01 -1.94402381e-03 7.65600514e+00] [-5.26300075e-03 1.92663955e-03 9.99984294e-01 -1.90806286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.561400513 meters Centerline goodness [0,1] 0.7033473684210526 Centerline is valid? [False, False] Translation: X:140.34, Y:7.66, Z:-0.19 [[ 9.99980527e-01 3.30354272e-03 5.29450108e-03 1.40338851e+02] [-3.29308069e-03 9.99992611e-01 -1.98351893e-03 7.65620030e+00] [-5.30101460e-03 1.96604509e-03 9.99984017e-01 -1.90803180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.591400513 meters Centerline goodness [0,1] 0.8753913988114257 Centerline is valid? [False, False] Translation: X:140.31, Y:7.64, Z:-0.18 [[ 9.99994229e-01 3.37541367e-03 -3.86330231e-04 1.40313113e+02] [-3.37168146e-03 9.99951211e-01 9.28476686e-03 7.64403804e+00] [ 4.17651311e-04 -9.28341069e-03 9.99956821e-01 -1.81410216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.621400513 meters Centerline goodness [0,1] 0.6637616926977904 Centerline is valid? [False, False] Translation: X:140.31, Y:7.65, Z:-0.18 [[ 9.99999268e-01 -1.20776347e-03 -7.26305200e-05 1.40312647e+02] [ 1.20801223e-03 9.99993045e-01 3.52843773e-03 7.65111563e+00] [ 6.83684967e-05 -3.52852289e-03 9.99993772e-01 -1.82760101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.65140051299997 meters Centerline goodness [0,1] 0.803733526986907 Centerline is valid? [False, False] Translation: X:140.31, Y:7.65, Z:-0.18 [[ 9.99999242e-01 -1.21741530e-03 -1.83156331e-04 1.40313177e+02] [ 1.21805557e-03 9.99993002e-01 3.53725152e-03 7.65099695e+00] [ 1.78848745e-04 -3.53747194e-03 9.99993727e-01 -1.83074248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.68140051299997 meters Centerline goodness [0,1] 0.5868073878627968 Centerline is valid? [False, False] Translation: X:140.35, Y:7.66, Z:-0.19 [[ 9.99995835e-01 -1.62110495e-03 2.38784780e-03 1.40354649e+02] [ 1.62361087e-03 9.99998133e-01 -1.04788203e-03 7.65943347e+00] [-2.38614461e-03 1.05175460e-03 9.99996600e-01 -1.85955910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.71140051299997 meters Centerline goodness [0,1] 0.8332754805397666 Centerline is valid? [False, False] Translation: X:140.29, Y:7.66, Z:-0.19 [[ 9.99996411e-01 1.25321798e-03 2.36811571e-03 1.40292165e+02] [-1.24371802e-03 9.99991191e-01 -4.00883430e-03 7.65761295e+00] [-2.37311879e-03 4.00587464e-03 9.99989161e-01 -1.87487992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.74140051299997 meters Centerline goodness [0,1] 0.8101378874681421 Centerline is valid? [False, False] Translation: X:140.29, Y:7.66, Z:-0.19 [[ 9.99996580e-01 1.05177416e-03 2.39450334e-03 1.40292134e+02] [-1.04096435e-03 9.99989283e-01 -4.51120722e-03 7.65997716e+00] [-2.39922245e-03 4.50869920e-03 9.99986958e-01 -1.87582441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.77140051299997 meters Centerline goodness [0,1] 0.7320830399624485 Centerline is valid? [False, False] Translation: X:140.33, Y:7.67, Z:-0.19 [[ 9.99982289e-01 2.79642000e-03 5.25366237e-03 1.40331791e+02] [-2.76631054e-03 9.99979759e-01 -5.72968920e-03 7.66574438e+00] [-5.26957865e-03 5.71505446e-03 9.99969784e-01 -1.87809964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.80140051299998 meters Centerline goodness [0,1] 0.5553102042549578 Centerline is valid? [False, False] Translation: X:140.33, Y:7.66, Z:-0.19 [[ 9.99961101e-01 7.23274042e-03 5.04808482e-03 1.40331855e+02] [-7.23038737e-03 9.99973743e-01 -4.84220736e-04 7.66119023e+00] [-5.05145451e-03 4.47702291e-04 9.99987141e-01 -1.86360988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.83140051299998 meters Centerline goodness [0,1] 0.76710949217913 Centerline is valid? [False, False] Translation: X:140.33, Y:7.67, Z:-0.19 [[ 9.99963868e-01 6.79371262e-03 5.10953776e-03 1.40331706e+02] [-6.78585920e-03 9.99975770e-01 -1.55278087e-03 7.66624774e+00] [-5.11996311e-03 1.51805216e-03 9.99985741e-01 -1.86479215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.86140051299998 meters Centerline goodness [0,1] 0.6431869932540273 Centerline is valid? [False, False] Translation: X:140.33, Y:7.67, Z:-0.19 [[ 9.99965383e-01 6.62837509e-03 5.02965076e-03 1.40332199e+02] [-6.61898539e-03 9.99976325e-01 -1.88122514e-03 7.66769673e+00] [-5.04200115e-03 1.84786884e-03 9.99985582e-01 -1.86952245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.89140051299998 meters Centerline goodness [0,1] 0.5712523133867983 Centerline is valid? [False, False] Translation: X:140.33, Y:7.67, Z:-0.19 [[ 9.99966401e-01 6.53051872e-03 4.95471370e-03 1.40332574e+02] [-6.52035367e-03 9.99976610e-01 -2.06498073e-03 7.66849135e+00] [-4.96808321e-03 2.03260486e-03 9.99985593e-01 -1.87222480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.92140051299998 meters Centerline goodness [0,1] 0.6623643926075211 Centerline is valid? [False, False] Translation: X:140.33, Y:7.67, Z:-0.19 [[ 9.99964315e-01 6.39452163e-03 5.52083838e-03 1.40330830e+02] [-6.38306079e-03 9.99977442e-01 -2.09105472e-03 7.66852781e+00] [-5.53408513e-03 2.05574025e-03 9.99982574e-01 -1.87116288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.95140051299998 meters Centerline goodness [0,1] 0.7026095415327356 Centerline is valid? [False, False] Translation: X:140.35, Y:7.67, Z:-0.18 [[ 9.99979873e-01 4.42945985e-03 4.54240019e-03 1.40346089e+02] [-4.45741110e-03 9.99971081e-01 6.16185852e-03 7.66503571e+00] [-4.51497512e-03 -6.18198185e-03 9.99970699e-01 -1.77856142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.98140051299998 meters Centerline goodness [0,1] 0.7505296161342259 Centerline is valid? [False, False] Translation: X:140.35, Y:7.67, Z:-0.18 [[ 9.99987970e-01 -1.44277315e-04 4.90302665e-03 1.40345167e+02] [ 1.42420266e-04 9.99999918e-01 3.79102512e-04 7.67239022e+00] [-4.90308094e-03 -3.78399661e-04 9.99987908e-01 -1.78622999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.01140051299998 meters Centerline goodness [0,1] 0.915866826634673 Centerline is valid? [False, False] Translation: X:140.33, Y:7.68, Z:-0.18 [[ 9.99986677e-01 -6.08302470e-05 5.16154530e-03 1.40325953e+02] [ 1.16208432e-04 9.99942432e-01 -1.07293717e-02 7.67946426e+00] [-5.16059549e-03 1.07298286e-02 9.99929117e-01 -1.83371453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.04140051299999 meters Centerline goodness [0,1] 0.8801193902569022 Centerline is valid? [False, False] Translation: X:140.33, Y:7.67, Z:-0.18 [[ 9.99981884e-01 3.97712850e-03 4.51818115e-03 1.40327840e+02] [-3.95221120e-03 9.99977007e-01 -5.51050295e-03 7.67408332e+00] [-4.53999324e-03 5.49254632e-03 9.99974610e-01 -1.82713138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.071400513 meters Centerline goodness [0,1] 0.9034114958097011 Centerline is valid? [False, False] Translation: X:140.33, Y:7.67, Z:-0.18 [[ 9.99981617e-01 4.03540196e-03 4.52559593e-03 1.40327649e+02] [-4.01150820e-03 9.99978033e-01 -5.27640114e-03 7.67296747e+00] [-4.54678892e-03 5.25814968e-03 9.99975839e-01 -1.82431829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.101400513 meters Centerline goodness [0,1] 0.7382785015244877 Centerline is valid? [False, False] Translation: X:140.31, Y:7.66, Z:-0.18 [[ 9.99996627e-01 2.58043650e-03 2.96538437e-04 1.40305118e+02] [-2.58222443e-03 9.99977470e-01 6.19604087e-03 7.66110997e+00] [-2.80543266e-04 -6.19678570e-03 9.99980760e-01 -1.75719186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.131400513 meters Centerline goodness [0,1] 0.9693936477382098 Centerline is valid? [False, True] Translation: X:140.30, Y:7.66, Z:-0.18 [[ 9.99997902e-01 -1.98470295e-03 5.06138278e-04 1.40304574e+02] [ 1.98411815e-03 9.99997367e-01 1.15331629e-03 7.66453417e+00] [-5.08425936e-04 -1.15230963e-03 9.99999207e-01 -1.76020613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.161400513 meters Centerline goodness [0,1] 0.9797630170729635 Centerline is valid? [True, True] Translation: X:140.33, Y:7.66, Z:-0.18 [[ 9.99988932e-01 -4.60336603e-03 9.72487732e-04 1.40334234e+02] [ 4.60330114e-03 9.99989402e-01 6.89549242e-05 7.66427415e+00] [-9.72794851e-04 -6.44775071e-05 9.99999525e-01 -1.75019385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.191400513 meters Centerline goodness [0,1] 0.9980531844340329 Centerline is valid? [True, True] Translation: X:140.37, Y:7.65, Z:-0.17 [[ 9.99955198e-01 -9.42920264e-03 8.31718083e-04 1.40365625e+02] [ 9.42915683e-03 9.99955543e-01 5.89776779e-05 7.65293163e+00] [-8.32237220e-04 -5.11326353e-05 9.99999652e-01 -1.73678992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.221400513 meters Centerline goodness [0,1] 0.9976435622545378 Centerline is valid? [True, True] Translation: X:140.39, Y:7.65, Z:-0.17 [[ 9.99944488e-01 -1.05301712e-02 3.68974444e-04 1.40394288e+02] [ 1.05301622e-02 9.99944556e-01 2.61565222e-05 7.65361163e+00] [-3.69229420e-04 -2.22697095e-05 9.99999932e-01 -1.73886676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.251400513 meters Centerline goodness [0,1] 0.9978810838577116 Centerline is valid? [True, True] Translation: X:140.42, Y:7.65, Z:-0.17 [[ 9.99946637e-01 -1.03303364e-02 -8.75299911e-05 1.40423519e+02] [ 1.03303359e-02 9.99946641e-01 -6.31554960e-06 7.65204418e+00] [ 8.75905623e-05 5.41099838e-06 9.99999996e-01 -1.74732532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.281400513 meters Centerline goodness [0,1] 0.9895605103750483 Centerline is valid? [True, True] Translation: X:140.45, Y:7.66, Z:-0.18 [[ 9.99963849e-01 -8.49401595e-03 -3.91394415e-04 1.40451893e+02] [ 8.49400570e-03 9.99963925e-01 -2.78510433e-05 7.65828494e+00] [ 3.91616862e-04 2.45255301e-05 9.99999923e-01 -1.75775212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.311400513 meters Centerline goodness [0,1] 0.9660640253023892 Centerline is valid? [True, True] Translation: X:140.48, Y:7.66, Z:-0.18 [[ 9.99993189e-01 -3.20061301e-03 -1.83796755e-03 1.40482029e+02] [ 3.20037811e-03 9.99994870e-01 -1.30729108e-04 7.66252665e+00] [ 1.83837654e-03 1.24846027e-04 9.99998302e-01 -1.77576838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.341400513 meters Centerline goodness [0,1] 0.9246465467456634 Centerline is valid? [True, False] Translation: X:140.48, Y:7.66, Z:-0.18 [[ 9.99993065e-01 -3.29388052e-03 -1.73764384e-03 1.40482011e+02] [ 3.29296566e-03 9.99994438e-01 -5.29091194e-04 7.66444399e+00] [ 1.73937694e-03 5.23365524e-04 9.99998350e-01 -1.78192722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.371400513 meters Centerline goodness [0,1] 0.9530920478026543 Centerline is valid? [False, True] Translation: X:140.48, Y:7.66, Z:-0.18 [[ 9.99997465e-01 1.35304332e-03 -1.79968399e-03 1.40481816e+02] [-1.34492600e-03 9.99988952e-01 4.50400634e-03 7.66120568e+00] [ 1.80575822e-03 -4.50157448e-03 9.99988237e-01 -1.77432662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.40140051299997 meters Centerline goodness [0,1] 0.8811110872966543 Centerline is valid? [True, False] Translation: X:140.48, Y:7.66, Z:-0.18 [[ 9.99997596e-01 1.28345492e-03 -1.77788545e-03 1.40481718e+02] [-1.27575763e-03 9.99989838e-01 4.32385445e-03 7.66206695e+00] [ 1.78341685e-03 -4.32157591e-03 9.99989072e-01 -1.77378847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.43140051299997 meters Centerline goodness [0,1] 0.965132974733729 Centerline is valid? [False, True] Translation: X:140.48, Y:7.66, Z:-0.18 [[ 9.99997494e-01 1.33548163e-03 -1.79678305e-03 1.40481813e+02] [-1.32748101e-03 9.99989233e-01 4.44659446e-03 7.66145981e+00] [ 1.80270205e-03 -4.44419812e-03 9.99988500e-01 -1.77459645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.46140051299997 meters Centerline goodness [0,1] 0.7230785676109033 Centerline is valid? [True, False] Translation: X:140.48, Y:7.66, Z:-0.18 [[ 9.99997252e-01 1.42333574e-03 -1.86308984e-03 1.40482072e+02] [-1.41455729e-03 9.99987933e-01 4.70464151e-03 7.66017449e+00] [ 1.86976364e-03 -4.70199313e-03 9.99987198e-01 -1.77576794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.49140051299997 meters Centerline goodness [0,1] 0.7929324108568387 Centerline is valid? [False, False] Translation: X:140.48, Y:7.66, Z:-0.18 [[ 9.99997032e-01 1.53440188e-03 -1.89240240e-03 1.40482110e+02] [-1.52482081e-03 9.99986066e-01 5.05400774e-03 7.65848517e+00] [ 1.90013091e-03 -5.05110717e-03 9.99985438e-01 -1.77435740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.52140051299997 meters Centerline goodness [0,1] 0.960113595114556 Centerline is valid? [False, True] Translation: X:140.48, Y:7.66, Z:-0.18 [[ 9.99994038e-01 -3.07782506e-03 -1.56548405e-03 1.40480961e+02] [ 3.07787469e-03 9.99995263e-01 2.92987338e-05 7.66184693e+00] [ 1.56538646e-03 -3.41169229e-05 9.99998774e-01 -1.77328791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.55140051299998 meters Centerline goodness [0,1] 0.9830574320678566 Centerline is valid? [True, True] Translation: X:140.51, Y:7.66, Z:-0.18 [[ 9.99985950e-01 -5.10924367e-03 -1.41282706e-03 1.40511018e+02] [ 5.10910329e-03 9.99986943e-01 -1.02952853e-04 7.65870596e+00] [ 1.41333462e-03 9.57331268e-05 9.99998997e-01 -1.76515206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.58140051299998 meters Centerline goodness [0,1] 0.9800337397766341 Centerline is valid? [True, True] Translation: X:140.54, Y:7.66, Z:-0.18 [[ 9.99978953e-01 -6.24985210e-03 -1.74172641e-03 1.40540139e+02] [ 6.24964041e-03 9.99980463e-01 -1.26956910e-04 7.66075959e+00] [ 1.74248584e-03 1.16069074e-04 9.99998475e-01 -1.76306742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.61140051299998 meters Centerline goodness [0,1] 0.9456050955414013 Centerline is valid? [True, False] Translation: X:140.54, Y:7.66, Z:-0.18 [[ 9.99979175e-01 -6.17062376e-03 -1.89018012e-03 1.40540721e+02] [ 6.17074564e-03 9.99980959e-01 5.86552415e-05 7.65983841e+00] [ 1.88978219e-03 -7.03178407e-05 9.99998212e-01 -1.76456587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.64140051299998 meters Centerline goodness [0,1] 0.9739213602550478 Centerline is valid? [False, True] Translation: X:140.54, Y:7.66, Z:-0.18 [[ 9.99978818e-01 -6.25291381e-03 -1.80684908e-03 1.40540479e+02] [ 6.25260832e-03 9.99980437e-01 -1.74673053e-04 7.66097899e+00] [ 1.80790594e-03 1.63371833e-04 9.99998352e-01 -1.76541305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.67140051299998 meters Centerline goodness [0,1] 0.9975766492848952 Centerline is valid? [True, True] Translation: X:140.57, Y:7.66, Z:-0.18 [[ 9.99983312e-01 -5.59557556e-03 -1.43743928e-03 1.40569281e+02] [ 5.59542881e-03 9.99984340e-01 -1.06090048e-04 7.65554335e+00] [ 1.43801041e-03 9.80451882e-05 9.99998961e-01 -1.75215454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.70140051299998 meters Centerline goodness [0,1] 0.9332892857904047 Centerline is valid? [True, False] Translation: X:140.61, Y:7.66, Z:-0.18 [[ 9.99993489e-01 -3.44859250e-03 1.06242104e-03 1.40610693e+02] [ 3.44987450e-03 9.99993320e-01 -1.20721522e-03 7.66132276e+00] [-1.05825075e-03 1.21087258e-03 9.99998707e-01 -1.76619092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.73140051299998 meters Centerline goodness [0,1] 0.9368761572349799 Centerline is valid? [False, False] Translation: X:140.61, Y:7.66, Z:-0.18 [[ 9.99993052e-01 -3.58796385e-03 1.01163465e-03 1.40611132e+02] [ 3.58954118e-03 9.99992338e-01 -1.56170900e-03 7.66295365e+00] [-1.00602355e-03 1.56532945e-03 9.99998269e-01 -1.77157536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.76140051299998 meters Centerline goodness [0,1] 0.7590643773166887 Centerline is valid? [False, False] Translation: X:140.61, Y:7.66, Z:-0.18 [[ 9.99992557e-01 -3.70919844e-03 1.06192256e-03 1.40611122e+02] [ 3.71120271e-03 9.99991324e-01 -1.89169335e-03 7.66451355e+00] [-1.05489668e-03 1.89562028e-03 9.99997647e-01 -1.77458203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.79140051299999 meters Centerline goodness [0,1] 0.9150176603259713 Centerline is valid? [False, False] Translation: X:140.61, Y:7.67, Z:-0.18 [[ 9.99992097e-01 -3.80169084e-03 1.16330879e-03 1.40610759e+02] [ 3.80423368e-03 9.99990362e-01 -2.19151707e-03 7.66599690e+00] [-1.15496611e-03 2.19592525e-03 9.99996922e-01 -1.77421081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.821400513 meters Centerline goodness [0,1] 0.9006973085590374 Centerline is valid? [False, False] Translation: X:140.61, Y:7.67, Z:-0.18 [[ 9.99991475e-01 -3.94712654e-03 1.21249561e-03 1.40610545e+02] [ 3.95022030e-03 9.99988921e-01 -2.55985568e-03 7.66777137e+00] [-1.20237810e-03 2.56462348e-03 9.99995988e-01 -1.77339527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.851400513 meters Centerline goodness [0,1] 0.883668759032766 Centerline is valid? [False, False] Translation: X:140.57, Y:7.66, Z:-0.18 [[ 9.99993850e-01 -2.88388805e-03 -1.99554002e-03 1.40570623e+02] [ 2.88615987e-03 9.99995189e-01 1.13650918e-03 7.66400520e+00] [ 1.99225286e-03 -1.14226164e-03 9.99997363e-01 -1.77023320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.881400513 meters Centerline goodness [0,1] 0.6596109839816934 Centerline is valid? [False, False] Translation: X:140.61, Y:7.67, Z:-0.18 [[ 9.99998428e-01 -1.77017788e-03 1.05801757e-04 1.40613702e+02] [ 1.77031469e-03 9.99997578e-01 -1.30730094e-03 7.67105347e+00] [-1.03487346e-04 1.30748618e-03 9.99999140e-01 -1.79947015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.911400513 meters Centerline goodness [0,1] 0.8757197594023589 Centerline is valid? [False, False] Translation: X:140.61, Y:7.67, Z:-0.18 [[ 9.99998106e-01 -1.92999406e-03 2.51870317e-04 1.40613324e+02] [ 1.93041571e-03 9.99996718e-01 -1.68471939e-03 7.67280976e+00] [-2.48617992e-04 1.68520242e-03 9.99998549e-01 -1.80188287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.941400513 meters Centerline goodness [0,1] 0.8591174340844231 Centerline is valid? [False, False] Translation: X:140.61, Y:7.67, Z:-0.18 [[ 9.99998288e-01 -1.82307297e-03 3.15476449e-04 1.40612861e+02] [ 1.82352499e-03 9.99997303e-01 -1.43851458e-03 7.67171079e+00] [-3.12853081e-04 1.43908740e-03 9.99998916e-01 -1.79705856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.971400513 meters Centerline goodness [0,1] 0.9879016605563942 Centerline is valid? [False, True] Translation: X:140.61, Y:7.68, Z:-0.18 [[ 9.99979713e-01 -6.31256749e-03 8.51038292e-04 1.40611513e+02] [ 6.31824601e-03 9.99956621e-01 -6.84361027e-03 7.67720019e+00] [-8.07800624e-04 6.84884851e-03 9.99976220e-01 -1.80441334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.001400513 meters Centerline goodness [0,1] 0.8807216695081684 Centerline is valid? [True, False] Translation: X:140.61, Y:7.67, Z:-0.18 [[ 9.99997645e-01 -2.14242222e-03 3.46214147e-04 1.40612881e+02] [ 2.14288282e-03 9.99996812e-01 -1.33554246e-03 7.67052770e+00] [-3.43351747e-04 1.33628121e-03 9.99999048e-01 -1.79707038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.031400513 meters Centerline goodness [0,1] 0.9720423587500271 Centerline is valid? [False, True] Translation: X:140.61, Y:7.67, Z:-0.18 [[ 9.99997794e-01 -2.09956819e-03 6.90772457e-05 1.40614136e+02] [ 2.09964436e-03 9.99997167e-01 -1.12167565e-03 7.66934587e+00] [-6.67220154e-05 1.12181821e-03 9.99999369e-01 -1.80469674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.061400513 meters Centerline goodness [0,1] 0.8844960078772182 Centerline is valid? [True, False] Translation: X:140.65, Y:7.67, Z:-0.18 [[ 9.99994982e-01 -9.17869150e-04 3.03224056e-03 1.40654337e+02] [ 9.24791707e-04 9.99996968e-01 -2.28237115e-03 7.67212773e+00] [-3.03013644e-03 2.28516389e-03 9.99992798e-01 -1.81044913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.091400513 meters Centerline goodness [0,1] 0.790806734405036 Centerline is valid? [False, False] Translation: X:140.69, Y:7.68, Z:-0.18 [[ 9.99977711e-01 2.96537291e-04 6.67000492e-03 1.40692622e+02] [-2.73366686e-04 9.99993927e-01 -3.47449472e-03 7.67502295e+00] [-6.67099472e-03 3.47259392e-03 9.99971719e-01 -1.80963963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.121400513 meters Centerline goodness [0,1] 0.9677446844773957 Centerline is valid? [False, True] Translation: X:140.69, Y:7.68, Z:-0.18 [[ 9.99976766e-01 3.27531396e-04 6.80889922e-03 1.40691922e+02] [-3.03986113e-04 9.99993972e-01 -3.45876345e-03 7.67505293e+00] [-6.80999103e-03 3.45661327e-03 9.99970837e-01 -1.80498891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.15140051299997 meters Centerline goodness [0,1] 0.9728126333760136 Centerline is valid? [True, True] Translation: X:140.72, Y:7.67, Z:-0.18 [[ 9.99970756e-01 2.97141915e-03 7.04678331e-03 1.40722872e+02] [-2.97516351e-03 9.99995439e-01 5.20933269e-04 7.67481123e+00] [-7.04520325e-03 -5.41883368e-04 9.99975035e-01 -1.79900869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.18140051299997 meters Centerline goodness [0,1] 0.8822562043483833 Centerline is valid? [True, False] Translation: X:140.72, Y:7.68, Z:-0.18 [[ 9.99971390e-01 2.85076792e-03 7.00652424e-03 1.40723354e+02] [-2.85220062e-03 9.99995914e-01 1.94497550e-04 7.67627465e+00] [-7.00594114e-03 -2.14475999e-04 9.99975435e-01 -1.80602607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.21140051299997 meters Centerline goodness [0,1] 0.929704039749406 Centerline is valid? [False, False] Translation: X:140.68, Y:7.67, Z:-0.18 [[ 9.99989375e-01 2.90329827e-03 3.58067452e-03 1.40684827e+02] [-2.91313735e-03 9.99991987e-01 2.74568148e-03 7.67203376e+00] [-3.57267430e-03 -2.75608330e-03 9.99989820e-01 -1.81089574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.24140051299997 meters Centerline goodness [0,1] 0.5523616157298568 Centerline is valid? [False, False] Translation: X:140.68, Y:7.67, Z:-0.18 [[ 9.99989672e-01 2.78914180e-03 3.58851617e-03 1.40684931e+02] [-2.79750590e-03 9.99993377e-01 2.32789088e-03 7.67407180e+00] [-3.58199959e-03 -2.33790573e-03 9.99990852e-01 -1.81392885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.27140051299997 meters Centerline goodness [0,1] 0.7088710714745101 Centerline is valid? [False, False] Translation: X:140.68, Y:7.68, Z:-0.18 [[ 9.99990050e-01 2.44333933e-03 3.73223312e-03 1.40684574e+02] [-2.44833416e-03 9.99996113e-01 1.33431345e-03 7.67880673e+00] [-3.72895843e-03 -1.34343793e-03 9.99992145e-01 -1.81695286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.30140051299998 meters Centerline goodness [0,1] 0.6709106006089123 Centerline is valid? [False, False] Translation: X:140.68, Y:7.68, Z:-0.18 [[ 9.99990358e-01 2.26925859e-03 3.75950230e-03 1.40684536e+02] [-2.27271135e-03 9.99996999e-01 9.14392815e-04 7.68078524e+00] [-3.75741602e-03 -9.22928263e-04 9.99992515e-01 -1.81816835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.33140051299998 meters Centerline goodness [0,1] 0.9402171580618858 Centerline is valid? [False, False] Translation: X:140.68, Y:7.68, Z:-0.18 [[ 9.99990435e-01 2.16868919e-03 3.79833866e-03 1.40684349e+02] [-2.17126280e-03 9.99997416e-01 6.73569741e-04 7.68194189e+00] [-3.79686808e-03 -6.81810490e-04 9.99992559e-01 -1.81692210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.36140051299998 meters Centerline goodness [0,1] 0.6019868679116569 Centerline is valid? [False, False] Translation: X:140.68, Y:7.68, Z:-0.18 [[ 9.99990356e-01 2.07373872e-03 3.87141096e-03 1.40684090e+02] [-2.07553517e-03 9.99997740e-01 4.60069408e-04 7.68293411e+00] [-3.87044815e-03 -4.68100221e-04 9.99992400e-01 -1.81688703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.39140051299998 meters Centerline goodness [0,1] 0.6019868679116569 Centerline is valid? [False, False] Translation: X:140.68, Y:7.68, Z:-0.18 [[ 9.99990356e-01 2.07373872e-03 3.87141096e-03 1.40684090e+02] [-2.07553517e-03 9.99997740e-01 4.60069408e-04 7.68293411e+00] [-3.87044815e-03 -4.68100221e-04 9.99992400e-01 -1.81688703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.42140051299998 meters Centerline goodness [0,1] 0.7560334885310325 Centerline is valid? [False, False] Translation: X:140.68, Y:7.68, Z:-0.18 [[ 9.99990642e-01 2.02711378e-03 3.82175540e-03 1.40684210e+02] [-2.02868186e-03 9.99997860e-01 4.06471198e-04 7.68313285e+00] [-3.82092326e-03 -4.14220520e-04 9.99992614e-01 -1.81630050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.45140051299998 meters Centerline goodness [0,1] 0.9280188578163506 Centerline is valid? [False, False] Translation: X:140.68, Y:7.68, Z:-0.18 [[ 9.99990797e-01 2.08881397e-03 3.74748148e-03 1.40684429e+02] [-2.09105158e-03 9.99997638e-01 5.93279561e-04 7.68221319e+00] [-3.74623338e-03 -6.01110277e-04 9.99992802e-01 -1.81589654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.48140051299998 meters Centerline goodness [0,1] 0.6224202527358551 Centerline is valid? [False, False] Translation: X:140.72, Y:7.69, Z:-0.18 [[ 9.99975049e-01 1.58156998e-03 6.88479072e-03 1.40724773e+02] [-1.56204772e-03 9.99994747e-01 -2.84001789e-03 7.68825237e+00] [-6.88924624e-03 2.82919266e-03 9.99972267e-01 -1.83148935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.51140051299998 meters Centerline goodness [0,1] 0.8342048991171427 Centerline is valid? [False, False] Translation: X:140.72, Y:7.69, Z:-0.18 [[ 9.99975561e-01 1.64567728e-03 6.79476219e-03 1.40724586e+02] [-1.62916631e-03 9.99995709e-01 -2.43477620e-03 7.68631486e+00] [-6.79873989e-03 2.42364690e-03 9.99973951e-01 -1.82217281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.54140051299999 meters Centerline goodness [0,1] 0.8888347044355864 Centerline is valid? [False, False] Translation: X:140.72, Y:7.69, Z:-0.18 [[ 9.99975414e-01 1.69110186e-03 6.80526729e-03 1.40724433e+02] [-1.67546488e-03 9.99995945e-01 -2.30282177e-03 7.68571466e+00] [-6.80913400e-03 2.29136317e-03 9.99974192e-01 -1.81990960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.571400513 meters Centerline goodness [0,1] 0.9250925113901307 Centerline is valid? [False, False] Translation: X:140.70, Y:7.67, Z:-0.17 [[ 9.99998716e-01 6.04741857e-04 1.48412133e-03 1.40700561e+02] [-6.17236683e-04 9.99964251e-01 8.43303894e-03 7.67493590e+00] [-1.47896847e-03 -8.43394416e-03 9.99963340e-01 -1.73621466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.601400513 meters Centerline goodness [0,1] 0.9656726991691892 Centerline is valid? [False, True] Translation: X:140.70, Y:7.68, Z:-0.17 [[ 9.99990594e-01 -3.90261327e-03 1.89258658e-03 1.40699783e+02] [ 3.89722117e-03 9.99988360e-01 2.84443098e-03 7.68132547e+00] [-1.90366527e-03 -2.83702839e-03 9.99994164e-01 -1.74857790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.631400513 meters Centerline goodness [0,1] 0.7876831230417478 Centerline is valid? [True, False] Translation: X:140.74, Y:7.69, Z:-0.18 [[ 9.99984986e-01 -3.33062152e-03 4.35146381e-03 1.40741810e+02] [ 3.33101138e-03 9.99994449e-01 -8.23475462e-05 7.68844682e+00] [-4.35116538e-03 9.68410853e-05 9.99990529e-01 -1.77430290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.661400513 meters Centerline goodness [0,1] 0.8805178765358489 Centerline is valid? [False, False] Translation: X:140.74, Y:7.69, Z:-0.18 [[ 9.99984562e-01 -3.38898614e-03 4.40343170e-03 1.40741409e+02] [ 3.39005171e-03 9.99994226e-01 -2.34544769e-04 7.68923452e+00] [-4.40261140e-03 2.49469009e-04 9.99990277e-01 -1.77010037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.691400513 meters Centerline goodness [0,1] 0.9514040040514622 Centerline is valid? [False, True] Translation: X:140.72, Y:7.70, Z:-0.18 [[ 9.99983280e-01 -2.89298181e-03 5.00698616e-03 1.40720639e+02] [ 2.94703118e-03 9.99937105e-01 -1.08212903e-02 7.69570095e+00] [-4.97536545e-03 1.08358651e-02 9.99928912e-01 -1.80746404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.721400513 meters Centerline goodness [0,1] 0.9000042272573554 Centerline is valid? [True, False] Translation: X:140.76, Y:7.70, Z:-0.18 [[ 9.99966569e-01 -7.37486624e-04 8.14356030e-03 1.40760069e+02] [ 8.26445078e-04 9.99939970e-01 -1.09258227e-02 7.69889905e+00] [-8.13501380e-03 1.09321876e-02 9.99907150e-01 -1.80849340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.751400513 meters Centerline goodness [0,1] 0.7408900048530374 Centerline is valid? [False, False] Translation: X:140.76, Y:7.70, Z:-0.18 [[ 9.99962103e-01 3.76514114e-03 7.84954065e-03 1.40761275e+02] [-3.71863637e-03 9.99975499e-01 -5.93072261e-03 7.69553686e+00] [-7.87167833e-03 5.90130827e-03 9.99951604e-01 -1.81289457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.781400513 meters Centerline goodness [0,1] 0.8394168351601575 Centerline is valid? [False, False] Translation: X:140.74, Y:7.69, Z:-0.17 [[ 9.99991788e-01 3.16902262e-03 2.52618226e-03 1.40739299e+02] [-3.18267427e-03 9.99980255e-01 5.41848754e-03 7.68613931e+00] [-2.50896108e-03 -5.42648305e-03 9.99982129e-01 -1.74433166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.811400513 meters Centerline goodness [0,1] 0.7822225981055481 Centerline is valid? [False, False] Translation: X:140.74, Y:7.69, Z:-0.17 [[ 9.99992134e-01 3.03315373e-03 2.55592586e-03 1.40739308e+02] [-3.04610146e-03 9.99982472e-01 5.07719421e-03 7.68772528e+00] [-2.54048114e-03 -5.08493988e-03 9.99983845e-01 -1.74673593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.841400513 meters Centerline goodness [0,1] 0.6777580565831961 Centerline is valid? [False, False] Translation: X:140.72, Y:7.69, Z:-0.18 [[ 9.99990747e-01 3.37225488e-03 2.67097671e-03 1.40719476e+02] [-3.35662016e-03 9.99977334e-01 -5.83656796e-03 7.69485834e+00] [-2.69059856e-03 5.82754850e-03 9.99979400e-01 -1.78783676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.871400513 meters Centerline goodness [0,1] 0.7306651898868985 Centerline is valid? [False, False] Translation: X:140.72, Y:7.70, Z:-0.18 [[ 9.99991489e-01 3.27850301e-03 2.50457881e-03 1.40720044e+02] [-3.26351089e-03 9.99976874e-01 -5.96670264e-03 7.69539214e+00] [-2.52408274e-03 5.95847814e-03 9.99979063e-01 -1.78837231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.90140051299997 meters Centerline goodness [0,1] 0.8137321694698744 Centerline is valid? [False, False] Translation: X:140.72, Y:7.69, Z:-0.18 [[ 9.99991713e-01 3.33634158e-03 2.33275848e-03 1.40720791e+02] [-3.32288686e-03 9.99977959e-01 -5.74800876e-03 7.69425850e+00] [-2.35188438e-03 5.74020963e-03 9.99980759e-01 -1.79222143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.93140051299997 meters Centerline goodness [0,1] 0.8027961579509071 Centerline is valid? [False, False] Translation: X:140.72, Y:7.69, Z:-0.18 [[ 9.99991909e-01 3.45118167e-03 2.06681556e-03 1.40721809e+02] [-3.44023495e-03 9.99980160e-01 -5.27675739e-03 7.69187162e+00] [-2.08498561e-03 5.26960436e-03 9.99983942e-01 -1.79557309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.96140051299997 meters Centerline goodness [0,1] 0.850371130933282 Centerline is valid? [False, False] Translation: X:140.72, Y:7.69, Z:-0.18 [[ 9.99991823e-01 3.62481083e-03 1.79277898e-03 1.40722688e+02] [-3.61658182e-03 9.99983007e-01 -4.57222441e-03 7.68836050e+00] [-1.80932196e-03 4.56570329e-03 9.99987940e-01 -1.79588991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.99140051299997 meters Centerline goodness [0,1] 0.9593177538092792 Centerline is valid? [False, True] Translation: X:140.72, Y:7.68, Z:-0.18 [[ 9.99994101e-01 3.01103972e-03 1.65248249e-03 1.40722881e+02] [-3.00484628e-03 9.99988500e-01 -3.73773370e-03 7.68250266e+00] [-1.66371795e-03 3.73274620e-03 9.99991649e-01 -1.78554257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.02140051299997 meters Centerline goodness [0,1] 0.9959181919738764 Centerline is valid? [True, True] Translation: X:140.75, Y:7.67, Z:-0.18 [[ 9.99996502e-01 2.18188933e-04 2.63586317e-03 1.40753899e+02] [-2.18631475e-04 9.99999962e-01 1.67605673e-04 7.67148019e+00] [-2.63582650e-03 -1.68181369e-04 9.99996512e-01 -1.75548681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.05140051299998 meters Centerline goodness [0,1] 0.9971539456662355 Centerline is valid? [True, True] Translation: X:140.78, Y:7.67, Z:-0.17 [[ 9.99994186e-01 -1.64229685e-03 2.98849743e-03 1.40783945e+02] [ 1.64173631e-03 9.99998634e-01 1.90008656e-04 7.67293590e+00] [-2.98880540e-03 -1.85101227e-04 9.99995516e-01 -1.74795411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.08140051299998 meters Centerline goodness [0,1] 0.996199098887489 Centerline is valid? [True, True] Translation: X:140.81, Y:7.68, Z:-0.18 [[ 9.99992598e-01 -2.47915942e-03 2.94223412e-03 1.40813879e+02] [ 2.47861910e-03 9.99996911e-01 1.87275969e-04 7.67553637e+00] [-2.94268932e-03 -1.79981905e-04 9.99995654e-01 -1.75114243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.11140051299998 meters Centerline goodness [0,1] 0.9902384484723387 Centerline is valid? [True, True] Translation: X:140.85, Y:7.68, Z:-0.18 [[ 9.99993150e-01 -3.08484462e-03 2.04521111e-03 1.40845575e+02] [ 3.08458500e-03 9.99995234e-01 1.30081182e-04 7.67672304e+00] [-2.04560264e-03 -1.23771663e-04 9.99997900e-01 -1.76973234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.14140051299998 meters Centerline goodness [0,1] 0.9940775266725107 Centerline is valid? [True, True] Translation: X:140.88, Y:7.67, Z:-0.18 [[ 9.99992488e-01 -3.38045718e-03 1.89625854e-03 1.40877426e+02] [ 3.38023483e-03 9.99994280e-01 1.20446443e-04 7.67391957e+00] [-1.89665485e-03 -1.14035739e-04 9.99998195e-01 -1.77422935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.17140051299998 meters Centerline goodness [0,1] 0.9993494665625813 Centerline is valid? [True, True] Translation: X:140.91, Y:7.66, Z:-0.18 [[ 9.99983882e-01 -4.91340301e-03 2.84499772e-03 1.40909712e+02] [ 4.91290907e-03 9.99987915e-01 1.80578676e-04 7.66005653e+00] [-2.84585059e-03 -1.66598550e-04 9.99995937e-01 -1.75153874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.20140051299998 meters Centerline goodness [0,1] 0.9992176804224526 Centerline is valid? [True, True] Translation: X:140.94, Y:7.66, Z:-0.18 [[ 9.99977998e-01 -6.01399590e-03 2.79913265e-03 1.40939704e+02] [ 6.01352235e-03 9.99981903e-01 1.77564007e-04 7.66185392e+00] [-2.80014987e-03 -1.60727453e-04 9.99996067e-01 -1.75094237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.23140051299998 meters Centerline goodness [0,1] 0.9986408353469106 Centerline is valid? [True, True] Translation: X:140.97, Y:7.66, Z:-0.18 [[ 9.99975019e-01 -6.74041735e-03 2.12816728e-03 1.40970438e+02] [ 6.74014517e-03 9.99977276e-01 1.35038055e-04 7.66304971e+00] [-2.12902913e-03 -1.20690525e-04 9.99997726e-01 -1.76714115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.26140051299998 meters Centerline goodness [0,1] 0.9991401732550891 Centerline is valid? [True, True] Translation: X:141.00, Y:7.66, Z:-0.18 [[ 9.99973619e-01 -7.06919306e-03 1.66945885e-03 1.41001240e+02] [ 7.06902621e-03 9.99975009e-01 1.05821565e-04 7.66185597e+00] [-1.67016520e-03 -9.40173253e-05 9.99998601e-01 -1.77975470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.29140051299999 meters Centerline goodness [0,1] 0.9994795281054824 Centerline is valid? [True, True] Translation: X:141.03, Y:7.66, Z:-0.18 [[ 9.99973629e-01 -6.49772044e-03 3.24344875e-03 1.41032090e+02] [ 6.49708766e-03 9.99978873e-01 2.05591665e-04 7.65995608e+00] [-3.24471610e-03 -1.84513272e-04 9.99994719e-01 -1.77075452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.321400513 meters Centerline goodness [0,1] 0.9984387698361777 Centerline is valid? [True, True] Translation: X:141.06, Y:7.67, Z:-0.18 [[ 9.99974588e-01 -5.40419489e-03 4.64946428e-03 1.41062249e+02] [ 5.40288273e-03 9.99985361e-01 2.94731177e-04 7.66921180e+00] [-4.65098900e-03 -2.69603177e-04 9.99989148e-01 -1.75776020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.351400513 meters Centerline goodness [0,1] 0.998317430567388 Centerline is valid? [True, True] Translation: X:141.09, Y:7.67, Z:-0.17 [[ 9.99975521e-01 -4.12937630e-03 5.64848283e-03 1.41093750e+02] [ 4.12741984e-03 9.99991418e-01 3.57982207e-04 7.66986596e+00] [-5.64991260e-03 -3.34659784e-04 9.99983983e-01 -1.74438768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.381400513 meters Centerline goodness [0,1] 0.9992909630011603 Centerline is valid? [True, True] Translation: X:141.13, Y:7.67, Z:-0.17 [[ 9.99978295e-01 -3.35175584e-03 5.67233992e-03 1.41126259e+02] [ 3.34977103e-03 9.99994325e-01 3.59375610e-04 7.66603695e+00] [-5.67351227e-03 -3.40366770e-04 9.99983848e-01 -1.73837929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.411400513 meters Centerline goodness [0,1] 0.9962126885631754 Centerline is valid? [True, True] Translation: X:141.16, Y:7.67, Z:-0.18 [[ 9.99985791e-01 -4.12883580e-03 3.37197394e-03 1.41157171e+02] [ 4.12813906e-03 9.99991456e-01 2.13560303e-04 7.67045491e+00] [-3.37282689e-03 -1.99637292e-04 9.99994292e-01 -1.76946394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.441400513 meters Centerline goodness [0,1] 0.9945443352368013 Centerline is valid? [True, True] Translation: X:141.19, Y:7.67, Z:-0.18 [[ 9.99983984e-01 -5.25772630e-03 2.09486983e-03 1.41187654e+02] [ 5.25746004e-03 9.99986171e-01 1.32590449e-04 7.67290021e+00] [-2.09553799e-03 -1.21574631e-04 9.99997797e-01 -1.79472210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.471400513 meters Centerline goodness [0,1] 0.9990767777396083 Centerline is valid? [True, True] Translation: X:141.22, Y:7.67, Z:-0.18 [[ 9.99974525e-01 -6.80214889e-03 2.16355440e-03 1.41218781e+02] [ 6.80186854e-03 9.99976858e-01 1.36912572e-04 7.66912931e+00] [-2.16443563e-03 -1.22192871e-04 9.99997650e-01 -1.79992287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.501400513 meters Centerline goodness [0,1] 0.9986871082500424 Centerline is valid? [True, True] Translation: X:141.25, Y:7.67, Z:-0.18 [[ 9.99956045e-01 -8.63466733e-03 3.65371204e-03 1.41247789e+02] [ 8.63388052e-03 9.99962701e-01 2.31065981e-04 7.67432177e+00] [-3.65557094e-03 -1.99510112e-04 9.99993298e-01 -1.78689582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.531400513 meters Centerline goodness [0,1] 0.9996556992532978 Centerline is valid? [True, True] Translation: X:141.28, Y:7.67, Z:-0.18 [[ 9.99873774e-01 -1.49151045e-02 5.47503463e-03 1.41278649e+02] [ 1.49134310e-02 9.99888729e-01 3.46356714e-04 7.66781662e+00] [-5.47959136e-03 -2.64661443e-04 9.99984952e-01 -1.75945235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.561400513 meters Centerline goodness [0,1] 0.9997841711091446 Centerline is valid? [True, True] Translation: X:141.31, Y:7.66, Z:-0.18 [[ 9.99811271e-01 -1.88925345e-02 4.52698411e-03 1.41309774e+02] [ 1.88914312e-02 9.99821500e-01 2.86355478e-04 7.66027971e+00] [-4.53158603e-03 -2.00780226e-04 9.99989712e-01 -1.77373031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.591400513 meters Centerline goodness [0,1] 0.9997847471855694 Centerline is valid? [True, True] Translation: X:141.34, Y:7.66, Z:-0.18 [[ 9.99729627e-01 -2.30950504e-02 2.70041094e-03 1.41340223e+02] [ 2.30946732e-02 9.99733268e-01 1.70794741e-04 7.65728255e+00] [-2.70363517e-03 -1.08383454e-04 9.99996339e-01 -1.80003913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.621400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.37, Y:7.65, Z:-0.18 [[ 9.99536894e-01 -3.03986009e-02 1.38678977e-03 1.41369193e+02] [ 3.03985086e-02 9.99537855e-01 8.75791170e-05 7.65271397e+00] [-1.38881115e-03 -4.53822178e-05 9.99999035e-01 -1.82615651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.65140051299997 meters Centerline goodness [0,1] 0.9999786174011589 Centerline is valid? [True, True] Translation: X:141.40, Y:7.65, Z:-0.18 [[ 9.99454348e-01 -3.29250327e-02 2.63604059e-03 1.41399218e+02] [ 3.29247073e-02 9.99457821e-01 1.66752199e-04 7.65089120e+00] [-2.64010170e-03 -7.98703451e-05 9.99996512e-01 -1.80025320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.68140051299997 meters Centerline goodness [0,1] 0.9999783610672321 Centerline is valid? [True, True] Translation: X:141.43, Y:7.65, Z:-0.18 [[ 9.99391314e-01 -3.46168230e-02 4.32172212e-03 1.41428368e+02] [ 3.46159635e-02 9.99400651e-01 2.73533003e-04 7.65009419e+00] [-4.32860075e-03 -1.23765931e-04 9.99990624e-01 -1.77370778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.71140051299997 meters Centerline goodness [0,1] 0.9998501327395736 Centerline is valid? [True, True] Translation: X:141.46, Y:7.65, Z:-0.18 [[ 9.99370935e-01 -3.51329452e-02 4.83846463e-03 1.41455615e+02] [ 3.51318728e-02 9.99382638e-01 3.06487698e-04 7.65391815e+00] [-4.84624536e-03 -1.36310574e-04 9.99988248e-01 -1.76498734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.74140051299997 meters Centerline goodness [0,1] 0.9998709344346928 Centerline is valid? [True, True] Translation: X:141.48, Y:7.66, Z:-0.18 [[ 9.99374296e-01 -3.50982012e-02 4.37399894e-03 1.41483594e+02] [ 3.50973235e-02 9.99383861e-01 2.77293039e-04 7.65917302e+00] [-4.38103643e-03 -1.23603880e-04 9.99990396e-01 -1.77474657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.77140051299997 meters Centerline goodness [0,1] 0.9998718441625016 Centerline is valid? [True, True] Translation: X:141.51, Y:7.67, Z:-0.18 [[ 9.99442535e-01 -3.32945986e-02 2.46742709e-03 1.41512394e+02] [ 3.32943136e-02 9.99445578e-01 1.56496139e-04 7.66538020e+00] [-2.47126957e-03 -7.42576065e-05 9.99996944e-01 -1.79956977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.80140051299998 meters Centerline goodness [0,1] 0.9999783310580944 Centerline is valid? [True, True] Translation: X:141.54, Y:7.67, Z:-0.18 [[ 9.99472595e-01 -3.23969311e-02 2.22972099e-03 1.41541277e+02] [ 3.23966972e-02 9.99475079e-01 1.40973350e-04 7.67012195e+00] [-2.23311767e-03 -6.86634043e-05 9.99997504e-01 -1.80198815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.83140051299998 meters Centerline goodness [0,1] 0.9999352974162101 Centerline is valid? [True, True] Translation: X:141.57, Y:7.68, Z:-0.18 [[ 9.99503205e-01 -3.14089214e-02 2.61188558e-03 1.41569502e+02] [ 3.14085954e-02 9.99506615e-01 1.65743365e-04 7.67674767e+00] [-2.61580273e-03 -8.36253671e-05 9.99996575e-01 -1.79767364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.86140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.60, Y:7.68, Z:-0.18 [[ 9.99517410e-01 -3.09012912e-02 3.17134577e-03 1.41596908e+02] [ 3.09008047e-02 9.99522436e-01 2.02294110e-04 7.68214923e+00] [-3.17608240e-03 -1.04199348e-04 9.99994951e-01 -1.79264709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.89140051299998 meters Centerline goodness [0,1] 0.9999146120183584 Centerline is valid? [True, True] Translation: X:141.63, Y:7.68, Z:-0.18 [[ 9.99495646e-01 -3.16983315e-02 1.91535988e-03 1.41625045e+02] [ 3.16981555e-02 9.99497480e-01 1.22148808e-04 7.68478136e+00] [-1.91826929e-03 -6.13738260e-05 9.99998158e-01 -1.81651229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.92140051299998 meters Centerline goodness [0,1] 0.9998505869797225 Centerline is valid? [True, True] Translation: X:141.65, Y:7.69, Z:-0.18 [[ 9.99461910e-01 -3.27882184e-02 9.07676135e-04 1.41654156e+02] [ 3.27881800e-02 9.99462321e-01 5.72056260e-05 7.68604705e+00] [-9.09063768e-04 -2.74137957e-05 9.99999586e-01 -1.83196056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.95140051299998 meters Centerline goodness [0,1] 0.9999136870724813 Centerline is valid? [True, True] Translation: X:141.68, Y:7.69, Z:-0.18 [[ 9.99420659e-01 -3.40200312e-02 9.92276021e-04 1.41682782e+02] [ 3.40199856e-02 9.99421151e-01 6.27771292e-05 7.68782940e+00] [-9.93837322e-04 -2.89835439e-05 9.99999506e-01 -1.83156279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.98140051299998 meters Centerline goodness [0,1] 0.9999567679737149 Centerline is valid? [True, True] Translation: X:141.71, Y:7.69, Z:-0.18 [[ 9.99317963e-01 -3.68147145e-02 2.87838636e-03 1.41713099e+02] [ 3.68143342e-02 9.99322106e-01 1.85014089e-04 7.68922848e+00] [-2.88324636e-03 -7.89220254e-05 9.99995840e-01 -1.79435379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.01140051299998 meters Centerline goodness [0,1] 0.9997190039771745 Centerline is valid? [True, True] Translation: X:141.74, Y:7.69, Z:-0.18 [[ 9.99231432e-01 -3.90002021e-02 3.94071281e-03 1.41740736e+02] [ 3.89995063e-02 9.99239198e-01 2.53295309e-04 7.69086266e+00] [-3.94759328e-03 -9.94147803e-05 9.99992203e-01 -1.78126214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.04140051299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.77, Y:7.69, Z:-0.18 [[ 9.99095438e-01 -4.23083719e-02 4.27869399e-03 1.41769619e+02] [ 4.23075809e-02 9.99104596e-01 2.75252016e-04 7.68859742e+00] [-4.28650829e-03 -9.39818417e-05 9.99990808e-01 -1.77568753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.071400513 meters Centerline goodness [0,1] 0.9998711118748926 Centerline is valid? [True, True] Translation: X:141.80, Y:7.69, Z:-0.18 [[ 9.98932466e-01 -4.60099513e-02 4.12460187e-03 1.41797384e+02] [ 4.60092473e-02 9.98940979e-01 2.65448396e-04 7.68699255e+00] [-4.13244709e-03 -7.53951932e-05 9.99991459e-01 -1.78397895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.101400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.83, Y:7.68, Z:-0.18 [[ 9.98567088e-01 -5.33718176e-02 3.90128967e-03 1.41827956e+02] [ 5.33712420e-02 9.98574708e-01 2.51570985e-04 7.68171210e+00] [-3.90915599e-03 -4.29938315e-05 9.99992358e-01 -1.80562177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.131400513 meters Centerline goodness [0,1] 0.999891453010008 Centerline is valid? [True, True] Translation: X:141.86, Y:7.68, Z:-0.18 [[ 9.98396692e-01 -5.64919703e-02 3.56395442e-03 1.41857259e+02] [ 5.64915113e-02 9.98403053e-01 2.29397502e-04 7.67873439e+00] [-3.57122209e-03 -2.76965358e-05 9.99993623e-01 -1.80763777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.161400513 meters Centerline goodness [0,1] 0.9999138172494775 Centerline is valid? [True, True] Translation: X:141.88, Y:7.68, Z:-0.18 [[ 9.98264254e-01 -5.87980769e-02 3.35639224e-03 1.41884961e+02] [ 5.87976802e-02 9.98269896e-01 2.16834283e-04 7.67633497e+00] [-3.36333477e-03 -1.91098366e-05 9.99994344e-01 -1.80873499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.191400513 meters Centerline goodness [0,1] 0.9998925054822204 Centerline is valid? [True, True] Translation: X:141.91, Y:7.67, Z:-0.18 [[ 9.98175850e-01 -6.02420412e-02 3.98349644e-03 1.41914077e+02] [ 6.02414935e-02 9.98183799e-01 2.57424245e-04 7.67468227e+00] [-3.99176937e-03 -1.69828898e-05 9.99992033e-01 -1.78982927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.221400513 meters Centerline goodness [0,1] 0.9999353504008275 Centerline is valid? [True, True] Translation: X:141.94, Y:7.68, Z:-0.18 [[ 9.98191536e-01 -5.98709073e-02 5.39743493e-03 1.41941651e+02] [ 5.98698898e-02 9.98206128e-01 3.50050514e-04 7.67956419e+00] [-5.40871046e-03 -2.62736259e-05 9.99985372e-01 -1.76636748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.251400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.97, Y:7.68, Z:-0.18 [[ 9.98271955e-01 -5.85263780e-02 5.26941028e-03 1.41970316e+02] [ 5.85253841e-02 9.98285862e-01 3.42757774e-04 7.68494532e+00] [-5.28043816e-03 -3.37712124e-05 9.99986058e-01 -1.77668551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.281400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.00, Y:7.69, Z:-0.18 [[ 9.98260648e-01 -5.87189329e-02 5.26935359e-03 1.41997784e+02] [ 5.87179370e-02 9.98274554e-01 3.43626942e-04 7.68689021e+00] [-5.28043902e-03 -3.36236809e-05 9.99986058e-01 -1.77835923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.311400513 meters Centerline goodness [0,1] 0.9998254989639 Centerline is valid? [True, True] Translation: X:142.03, Y:7.69, Z:-0.18 [[ 9.98387450e-01 -5.66366717e-02 3.84544929e-03 1.42026167e+02] [ 5.66361241e-02 9.98394855e-01 2.51243906e-04 7.69215928e+00] [-3.85350641e-03 -3.30474194e-05 9.99992575e-01 -1.79571354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.341400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.05, Y:7.70, Z:-0.18 [[ 9.98645162e-01 -5.20094225e-02 1.69101949e-03 1.42053797e+02] [ 5.20093096e-02 9.98646594e-01 1.10729582e-04 7.70315471e+00] [-1.69448984e-03 -2.26308049e-05 9.99998564e-01 -1.83123028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.371400513 meters Centerline goodness [0,1] 0.9999786411499605 Centerline is valid? [True, True] Translation: X:142.08, Y:7.71, Z:-0.18 [[ 9.98753558e-01 -4.98788987e-02 1.85092681e-03 1.42082309e+02] [ 4.98787605e-02 9.98755273e-01 1.20822808e-04 7.71038726e+00] [-1.85464942e-03 -2.83502741e-05 9.99998280e-01 -1.83016372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.40140051299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.11, Y:7.72, Z:-0.18 [[ 9.98847385e-01 -4.79227274e-02 2.70453815e-03 1.42110525e+02] [ 4.79224225e-02 9.98851045e-01 1.77457014e-04 7.71789515e+00] [-2.70993498e-03 -4.76444540e-05 9.99996327e-01 -1.81899298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.43140051299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.14, Y:7.73, Z:-0.18 [[ 9.98934866e-01 -4.60052684e-02 3.55643657e-03 1.42137567e+02] [ 4.60047250e-02 9.98941195e-01 2.34472322e-04 7.72771638e+00] [-3.56345796e-03 -7.06096911e-05 9.99993648e-01 -1.81324562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.46140051299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.17, Y:7.73, Z:-0.18 [[ 9.99010461e-01 -4.44410628e-02 1.75811490e-03 1.42165703e+02] [ 4.44409275e-02 9.99012007e-01 1.15928057e-04 7.73232225e+00] [-1.76152986e-03 -3.76810851e-05 9.99998448e-01 -1.82775008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.49140051299997 meters Centerline goodness [0,1] 0.9998485733445822 Centerline is valid? [True, True] Translation: X:142.19, Y:7.74, Z:-0.18 [[ 9.98988541e-01 -4.49633007e-02 4.42669211e-04 1.42193270e+02] [ 4.49632926e-02 9.98988639e-01 2.82001189e-05 7.73539771e+00] [-4.43489484e-04 -8.26773039e-06 9.99999902e-01 -1.84169159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.52140051299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.22, Y:7.74, Z:-0.18 [[ 9.98922289e-01 -4.64112333e-02 5.06933673e-04 1.42222465e+02] [ 4.64112227e-02 9.98922418e-01 3.26553643e-05 7.73635384e+00] [-5.07902986e-04 -9.09275973e-06 9.99999871e-01 -1.83638423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.55140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.25, Y:7.74, Z:-0.18 [[ 9.98867512e-01 -4.75431572e-02 1.82820023e-03 1.42249653e+02] [ 4.75430147e-02 9.98869184e-01 1.21331638e-04 7.74112622e+00] [-1.83190136e-03 -3.42760806e-05 9.99998321e-01 -1.82436313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.58140051299998 meters Centerline goodness [0,1] 0.9998930641401288 Centerline is valid? [True, True] Translation: X:142.28, Y:7.74, Z:-0.18 [[ 9.98739600e-01 -4.98227046e-02 6.07524307e-03 1.42277542e+02] [ 4.98211659e-02 9.98758073e-01 4.04448132e-04 7.74248536e+00] [-6.08784876e-03 -1.01262673e-04 9.99981464e-01 -1.75464930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.61140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.31, Y:7.74, Z:-0.17 [[ 9.98681940e-01 -5.09022932e-02 6.58323577e-03 1.42306021e+02] [ 5.09005055e-02 9.98703633e-01 4.38921713e-04 7.74320755e+00] [-6.59704360e-03 -1.03253160e-04 9.99978234e-01 -1.74990521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.64140051299998 meters Centerline goodness [0,1] 0.9998908487600419 Centerline is valid? [True, True] Translation: X:142.34, Y:7.74, Z:-0.18 [[ 9.98655829e-01 -5.16135000e-02 4.75202682e-03 1.42335307e+02] [ 5.16125742e-02 9.98667132e-01 3.17325685e-04 7.74373994e+00] [-4.76207129e-03 -7.16348083e-05 9.99988659e-01 -1.78194628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.67140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.36, Y:7.75, Z:-0.18 [[ 9.98655743e-01 -5.17787069e-02 2.38157291e-03 1.42364190e+02] [ 5.17784751e-02 9.98658582e-01 1.58919592e-04 7.74543609e+00] [-2.38660688e-03 -3.53917496e-05 9.99997151e-01 -1.82798506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.70140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.39, Y:7.75, Z:-0.19 [[ 9.98819180e-01 -4.85817631e-02 2.41958360e-04 1.42392766e+02] [ 4.85817607e-02 9.98819209e-01 1.60408024e-05 7.75255158e+00] [-2.42451948e-04 -4.26709796e-06 9.99999971e-01 -1.86034623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.73140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.42, Y:7.76, Z:-0.18 [[ 9.98951282e-01 -4.57667857e-02 1.31844680e-03 1.42421583e+02] [ 4.57667097e-02 9.98952151e-01 8.77881917e-05 7.75529501e+00] [-1.32108305e-03 -2.73551545e-05 9.99999127e-01 -1.82838423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.76140051299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.45, Y:7.76, Z:-0.18 [[ 9.99082548e-01 -4.27199740e-02 3.01093265e-03 1.42450867e+02] [ 4.27195569e-02 9.99087082e-01 2.02741777e-04 7.76164129e+00] [-3.01684504e-03 -7.39300632e-05 9.99995447e-01 -1.79834897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.79140051299999 meters Centerline goodness [0,1] 0.999956835153451 Centerline is valid? [True, True] Translation: X:142.48, Y:7.77, Z:-0.18 [[ 9.99207720e-01 -3.95407661e-02 4.52323337e-03 1.42478797e+02] [ 3.95397915e-02 9.99217950e-01 3.04735776e-04 7.77041709e+00] [-4.53174547e-03 -1.25646636e-04 9.99989724e-01 -1.77512354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.821400513 meters Centerline goodness [0,1] 0.9999573269608262 Centerline is valid? [True, True] Translation: X:142.51, Y:7.78, Z:-0.18 [[ 9.99432100e-01 -3.34853777e-02 3.76915161e-03 1.42509010e+02] [ 3.34846572e-02 9.99439199e-01 2.54110319e-04 7.78016661e+00] [-3.77554685e-03 -1.27757260e-04 9.99992864e-01 -1.80510339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.851400513 meters Centerline goodness [0,1] 0.999892264598147 Centerline is valid? [True, True] Translation: X:142.54, Y:7.79, Z:-0.18 [[ 9.99519228e-01 -3.09025700e-02 2.51874334e-03 1.42537343e+02] [ 3.09022404e-02 9.99522397e-01 1.69691377e-04 7.78644393e+00] [-2.52278428e-03 -9.17749818e-05 9.99996814e-01 -1.83242300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.881400513 meters Centerline goodness [0,1] 0.9999357023447212 Centerline is valid? [True, True] Translation: X:142.57, Y:7.79, Z:-0.18 [[ 9.99574821e-01 -2.90815911e-02 2.10683933e-03 1.42566742e+02] [ 2.90813562e-02 9.99577038e-01 1.42025426e-04 7.78909455e+00] [-2.11007854e-03 -8.06952946e-05 9.99997771e-01 -1.83743200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.911400513 meters Centerline goodness [0,1] 0.9999140468874229 Centerline is valid? [True, True] Translation: X:142.60, Y:7.79, Z:-0.18 [[ 9.99601508e-01 -2.79041071e-02 4.26455589e-03 1.42595317e+02] [ 2.79031334e-02 9.99610590e-01 2.87653940e-04 7.78724541e+00] [-4.27092196e-03 -1.68544841e-04 9.99990865e-01 -1.80174014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.941400513 meters Centerline goodness [0,1] 0.9999350691513538 Centerline is valid? [True, True] Translation: X:142.62, Y:7.79, Z:-0.18 [[ 9.99569402e-01 -2.87396624e-02 5.91963419e-03 1.42624266e+02] [ 2.87377981e-02 9.99586904e-01 3.99769083e-04 7.78752672e+00] [-5.92867804e-03 -2.29479691e-04 9.99982399e-01 -1.77721076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.971400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.65, Y:7.79, Z:-0.18 [[ 9.99529069e-01 -2.98620043e-02 7.06401117e-03 1.42652622e+02] [ 2.98593687e-02 9.99553995e-01 4.78291599e-04 7.78917765e+00] [-7.07514334e-03 -2.67139443e-04 9.99974935e-01 -1.76088973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.001400513 meters Centerline goodness [0,1] 0.9999785227980499 Centerline is valid? [True, True] Translation: X:142.68, Y:7.78, Z:-0.18 [[ 9.99488483e-01 -3.12195808e-02 6.93612564e-03 1.42682299e+02] [ 3.12170701e-02 9.99512518e-01 4.69975547e-04 7.78476386e+00] [-6.94741684e-03 -2.53209626e-04 9.99975834e-01 -1.76713784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.031400513 meters Centerline goodness [0,1] 0.9999782476289916 Centerline is valid? [True, True] Translation: X:142.71, Y:7.78, Z:-0.18 [[ 9.99445534e-01 -3.27595447e-02 5.95283634e-03 1.42711242e+02] [ 3.27577180e-02 9.99463240e-01 4.04130505e-04 7.78186126e+00] [-5.96288023e-03 -2.08905094e-04 9.99982200e-01 -1.78255089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.061400513 meters Centerline goodness [0,1] 0.9998043818466353 Centerline is valid? [True, True] Translation: X:142.74, Y:7.77, Z:-0.18 [[ 9.99405915e-01 -3.42688005e-02 3.66956908e-03 1.42740376e+02] [ 3.42681158e-02 9.99412645e-01 2.49333212e-04 7.77466964e+00] [-3.67595809e-03 -1.23435868e-04 9.99993236e-01 -1.82147419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.091400513 meters Centerline goodness [0,1] 0.9999135135135135 Centerline is valid? [True, True] Translation: X:142.77, Y:7.77, Z:-0.18 [[ 9.99420806e-01 -3.38959712e-02 3.01925304e-03 1.42768683e+02] [ 3.38955040e-02 9.99425361e-01 2.05801705e-04 7.77491744e+00] [-3.02449390e-03 -1.03343403e-04 9.99995421e-01 -1.83035363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.121400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.80, Y:7.77, Z:-0.18 [[ 9.99431495e-01 -3.35894237e-02 2.90461181e-03 1.42797762e+02] [ 3.35889905e-02 9.99435711e-01 1.97804799e-04 7.77349424e+00] [-2.90961692e-03 -1.00129367e-04 9.99995762e-01 -1.82822610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.15140051299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.83, Y:7.78, Z:-0.18 [[ 9.99460337e-01 -3.27179931e-02 2.92720984e-03 1.42825161e+02] [ 3.27175469e-02 9.99464618e-01 2.00182029e-04 7.77568299e+00] [-2.93219221e-03 -1.04302873e-04 9.99995696e-01 -1.82343861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.18140051299997 meters Centerline goodness [0,1] 0.999957034522761 Centerline is valid? [True, True] Translation: X:142.85, Y:7.78, Z:-0.18 [[ 9.99546917e-01 -2.99500263e-02 2.99277334e-03 1.42853430e+02] [ 2.99495469e-02 9.99551391e-01 2.04889489e-04 7.77785485e+00] [-2.99756720e-03 -1.15164452e-04 9.99995501e-01 -1.82084210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.21140051299997 meters Centerline goodness [0,1] 0.9998702955100629 Centerline is valid? [True, True] Translation: X:142.88, Y:7.78, Z:-0.18 [[ 9.99595791e-01 -2.83054245e-02 2.65671604e-03 1.42883040e+02] [ 2.83050405e-02 9.99599315e-01 1.82054655e-04 7.77616463e+00] [-2.66080467e-03 -1.06782612e-04 9.99996454e-01 -1.82602053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.24140051299997 meters Centerline goodness [0,1] 0.9998501936781732 Centerline is valid? [True, True] Translation: X:142.91, Y:7.78, Z:-0.18 [[ 9.99639364e-01 -2.67102929e-02 2.77539570e-03 1.42911856e+02] [ 2.67098675e-02 9.99643210e-01 1.90221207e-04 7.77976040e+00] [-2.77948633e-03 -1.16022155e-04 9.99996130e-01 -1.82702886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.27140051299997 meters Centerline goodness [0,1] 0.9998080450454293 Centerline is valid? [True, True] Translation: X:142.94, Y:7.78, Z:-0.18 [[ 9.99702057e-01 -2.42299202e-02 2.95107614e-03 1.42942120e+02] [ 2.42294280e-02 9.99706404e-01 2.02452268e-04 7.77976543e+00] [-2.95511512e-03 -1.30889062e-04 9.99995625e-01 -1.83030575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.30140051299998 meters Centerline goodness [0,1] 0.9999145299145299 Centerline is valid? [True, True] Translation: X:142.97, Y:7.78, Z:-0.18 [[ 9.99727824e-01 -2.30947921e-02 3.30289329e-03 1.42971024e+02] [ 2.30941705e-02 9.99733268e-01 2.26218637e-04 7.77859514e+00] [-3.30723677e-03 -1.49879485e-04 9.99994520e-01 -1.82699710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.33140051299998 meters Centerline goodness [0,1] 0.9997641812802812 Centerline is valid? [True, True] Translation: X:143.00, Y:7.78, Z:-0.18 [[ 9.99758325e-01 -2.16914632e-02 3.57382873e-03 1.42999114e+02] [ 2.16907232e-02 9.99764698e-01 2.45711085e-04 7.78119207e+00] [-3.57831764e-03 -1.68132773e-04 9.99993584e-01 -1.82318191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.36140051299998 meters Centerline goodness [0,1] 0.9995935568057843 Centerline is valid? [True, True] Translation: X:143.03, Y:7.78, Z:-0.18 [[ 9.99783813e-01 -2.03919480e-02 4.06151431e-03 1.43028415e+02] [ 2.03909804e-02 9.99792043e-01 2.79514688e-04 7.78178855e+00] [-4.06636954e-03 -1.96636002e-04 9.99991713e-01 -1.81889491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.39140051299998 meters Centerline goodness [0,1] 0.99968078314535 Centerline is valid? [True, True] Translation: X:143.06, Y:7.78, Z:-0.18 [[ 9.99817267e-01 -1.84294884e-02 5.07803377e-03 1.43058509e+02] [ 1.84279493e-02 9.99830130e-01 3.49706556e-04 7.77858669e+00] [-5.08361608e-03 -2.56064904e-04 9.99987046e-01 -1.81242328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.42140051299998 meters Centerline goodness [0,1] 0.9998286314075788 Centerline is valid? [True, True] Translation: X:143.09, Y:7.78, Z:-0.18 [[ 9.99834326e-01 -1.74089743e-02 5.31489765e-03 1.43087529e+02] [ 1.74072732e-02 9.99848415e-01 3.66147150e-04 7.78070645e+00] [-5.32046624e-03 -2.73568613e-04 9.99985809e-01 -1.81238332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.45140051299998 meters Centerline goodness [0,1] 0.9997414963055513 Centerline is valid? [True, True] Translation: X:143.12, Y:7.78, Z:-0.18 [[ 9.99852693e-01 -1.63609880e-02 5.18753768e-03 1.43118205e+02] [ 1.63593527e-02 9.99866113e-01 3.57508342e-04 7.77655524e+00] [-5.19269233e-03 -2.72590920e-04 9.99986481e-01 -1.81495201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.48140051299998 meters Centerline goodness [0,1] 0.9997006564177126 Centerline is valid? [True, True] Translation: X:143.15, Y:7.78, Z:-0.18 [[ 9.99873344e-01 -1.52299454e-02 4.62010120e-03 1.43147243e+02] [ 1.52286364e-02 9.99883987e-01 3.18385458e-04 7.78127923e+00] [-4.62441420e-03 -2.47987291e-04 9.99989277e-01 -1.82052878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.51140051299998 meters Centerline goodness [0,1] 0.9993792409615343 Centerline is valid? [True, True] Translation: X:143.18, Y:7.78, Z:-0.18 [[ 9.99920801e-01 -1.23048642e-02 2.64219054e-03 1.43177717e+02] [ 1.23044258e-02 9.99924281e-01 1.82107792e-04 7.78077101e+00] [-2.64423129e-03 -1.49582732e-04 9.99996493e-01 -1.83973616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.54140051299999 meters Centerline goodness [0,1] 0.9992494424429577 Centerline is valid? [True, True] Translation: X:143.21, Y:7.78, Z:-0.19 [[ 9.99936716e-01 -1.10607904e-02 2.05519470e-03 1.43207350e+02] [ 1.10605227e-02 9.99938821e-01 1.41577546e-04 7.78331637e+00] [-2.05663492e-03 -1.18837058e-04 9.99997878e-01 -1.85300769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.571400513 meters Centerline goodness [0,1] 0.9815971852009809 Centerline is valid? [True, True] Translation: X:143.24, Y:7.79, Z:-0.19 [[ 9.99947468e-01 -1.00445650e-02 2.04174033e-03 1.43235349e+02] [ 1.00442986e-02 9.99949545e-01 1.40650533e-04 7.79445660e+00] [-2.04305008e-03 -1.20135294e-04 9.99997906e-01 -1.86351209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.601400513 meters Centerline goodness [0,1] 0.9983141271873667 Centerline is valid? [True, True] Translation: X:143.27, Y:7.79, Z:-0.18 [[ 9.99945293e-01 -9.73858709e-03 3.81711314e-03 1.43265998e+02] [ 9.73765273e-03 9.99952553e-01 2.63292351e-04 7.78730559e+00] [-3.81949613e-03 -2.26108225e-04 9.99992680e-01 -1.83312956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.631400513 meters Centerline goodness [0,1] 0.9992932408121306 Centerline is valid? [True, True] Translation: X:143.30, Y:7.78, Z:-0.18 [[ 9.99934681e-01 -1.05118801e-02 4.48720897e-03 1.43297379e+02] [ 1.05105959e-02 9.99944714e-01 3.09691999e-04 7.78406736e+00] [-4.49021634e-03 -2.62508530e-04 9.99989884e-01 -1.82373514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.661400513 meters Centerline goodness [0,1] 0.9993441651857493 Centerline is valid? [True, True] Translation: X:143.33, Y:7.79, Z:-0.18 [[ 9.99920302e-01 -1.16556719e-02 4.85121271e-03 1.43327671e+02] [ 1.16541845e-02 9.99932032e-01 3.34753065e-04 7.78809470e+00] [-4.85478476e-03 -2.78189458e-04 9.99988177e-01 -1.82772928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.691400513 meters Centerline goodness [0,1] 0.997111837250975 Centerline is valid? [True, True] Translation: X:143.36, Y:7.80, Z:-0.18 [[ 9.99900106e-01 -1.33311635e-02 4.69652739e-03 1.43357165e+02] [ 1.33297882e-02 9.99911102e-01 3.24011396e-04 7.79675598e+00] [-4.70042932e-03 -2.61375314e-04 9.99988919e-01 -1.83948435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.721400513 meters Centerline goodness [0,1] 0.9994891878086157 Centerline is valid? [True, True] Translation: X:143.39, Y:7.79, Z:-0.19 [[ 9.99827516e-01 -1.84574294e-02 2.06440743e-03 1.43388179e+02] [ 1.84571745e-02 9.99829642e-01 1.42459953e-04 7.78716103e+00] [-2.06668519e-03 -1.04332253e-04 9.99997859e-01 -1.87614457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.751400513 meters Centerline goodness [0,1] 0.9996795419586395 Centerline is valid? [True, True] Translation: X:143.42, Y:7.78, Z:-0.19 [[ 9.99763675e-01 -2.17147441e-02 1.03109165e-03 1.43418864e+02] [ 2.17146823e-02 9.99764206e-01 7.10855453e-05 7.78491357e+00] [-1.03239213e-03 -4.86789185e-05 9.99999466e-01 -1.87983625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.781400513 meters Centerline goodness [0,1] 0.9998914270824285 Centerline is valid? [True, True] Translation: X:143.45, Y:7.78, Z:-0.19 [[ 9.99678878e-01 -2.53174933e-02 1.07923054e-03 1.43449765e+02] [ 2.53174277e-02 9.99679460e-01 7.44272621e-05 7.78289571e+00] [-1.08076891e-03 -4.70800208e-05 9.99999415e-01 -1.87118144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.811400513 meters Centerline goodness [0,1] 0.9998935875880562 Centerline is valid? [True, True] Translation: X:143.48, Y:7.78, Z:-0.19 [[ 9.99581446e-01 -2.88427391e-02 2.24258081e-03 1.43478905e+02] [ 2.88424646e-02 9.99583958e-01 1.54663943e-04 7.78394038e+00] [-2.24610874e-03 -8.99176500e-05 9.99997473e-01 -1.85173566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.841400513 meters Centerline goodness [0,1] 0.9999352988116549 Centerline is valid? [True, True] Translation: X:143.51, Y:7.78, Z:-0.18 [[ 9.99394747e-01 -3.44692510e-02 4.69143559e-03 1.43510041e+02] [ 3.44681104e-02 9.99405746e-01 3.23780560e-04 7.78096090e+00] [-4.69980815e-03 -1.61879671e-04 9.99988943e-01 -1.80648284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.871400513 meters Centerline goodness [0,1] 0.9999787906424314 Centerline is valid? [True, True] Translation: X:143.54, Y:7.78, Z:-0.18 [[ 9.99302295e-01 -3.69631179e-02 5.35276219e-03 1.43538936e+02] [ 3.69616697e-02 9.99316616e-01 3.69256581e-04 7.78378876e+00] [-5.36275307e-03 -1.71151921e-04 9.99985606e-01 -1.79713333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.90140051299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.57, Y:7.78, Z:-0.18 [[ 9.99194753e-01 -3.97496669e-02 5.45986608e-03 1.43568536e+02] [ 3.97482010e-02 9.99209657e-01 3.76775784e-04 7.78462035e+00] [-5.47052763e-03 -1.59452532e-04 9.99985024e-01 -1.79860832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.93140051299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.60, Y:7.78, Z:-0.18 [[ 9.99075236e-01 -4.26768042e-02 5.23089577e-03 1.43598628e+02] [ 4.26754982e-02 9.99088921e-01 3.61088526e-04 7.78284149e+00] [-5.24154011e-03 -1.37523522e-04 9.99986254e-01 -1.80290996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.96140051299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.63, Y:7.78, Z:-0.18 [[ 9.98929923e-01 -4.59996375e-02 4.80024670e-03 1.43627586e+02] [ 4.59985755e-02 9.98941450e-01 3.31462609e-04 7.78369225e+00] [-4.81041256e-03 -1.10303408e-04 9.99988424e-01 -1.81160516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.99140051299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.66, Y:7.78, Z:-0.18 [[ 9.98561595e-01 -5.34148310e-02 4.64715663e-03 1.43658246e+02] [ 5.34139153e-02 9.98572406e-01 3.21013056e-04 7.77524864e+00] [-4.65766924e-03 -7.23284789e-05 9.99989150e-01 -1.80708804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.021400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.69, Y:7.77, Z:-0.18 [[ 9.98366958e-01 -5.68855740e-02 5.23918036e-03 1.43687020e+02] [ 5.68844583e-02 9.98380703e-01 3.61850739e-04 7.77322771e+00] [-5.25128066e-03 -6.32318844e-05 9.99986210e-01 -1.79878971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.05140051300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.72, Y:7.77, Z:-0.18 [[ 9.98209102e-01 -5.95385894e-02 5.80911426e-03 1.43715141e+02] [ 5.95372562e-02 9.98226003e-01 4.02319388e-04 7.77318746e+00] [-5.82276244e-03 -5.57401510e-05 9.99983046e-01 -1.79081786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.081400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.74, Y:7.77, Z:-0.18 [[ 9.98138685e-01 -6.05701880e-02 7.10059703e-03 1.43743612e+02] [ 6.05682176e-02 9.98163939e-01 4.92397496e-04 7.77415872e+00] [-7.11738450e-03 -6.14104831e-05 9.99974669e-01 -1.78475213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.11140051300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.77, Y:7.78, Z:-0.18 [[ 9.98230544e-01 -5.90372197e-02 7.09845949e-03 1.43772006e+02] [ 5.90352024e-02 9.98255779e-01 4.93564921e-04 7.77749253e+00] [-7.11521691e-03 -7.36325869e-05 9.99974684e-01 -1.78793420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.141400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.80, Y:7.78, Z:-0.18 [[ 9.98377316e-01 -5.65126006e-02 7.00432997e-03 1.43799585e+02] [ 5.65105670e-02 9.98401882e-01 4.88065620e-04 7.78247358e+00] [-7.02071808e-03 -9.14549858e-05 9.99975350e-01 -1.79012638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.17140051300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.83, Y:7.78, Z:-0.18 [[ 9.98521594e-01 -5.39334330e-02 6.76835117e-03 1.43827878e+02] [ 5.39314721e-02 9.98544528e-01 4.72027140e-04 7.78481903e+00] [-6.78395806e-03 -1.06302150e-04 9.99976983e-01 -1.79363453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.201400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.86, Y:7.79, Z:-0.18 [[ 9.98511592e-01 -5.41183102e-02 6.76830496e-03 1.43855344e+02] [ 5.41163491e-02 9.98534525e-01 4.72688753e-04 7.78688994e+00] [-6.78396730e-03 -1.05709246e-04 9.99976983e-01 -1.79530982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.23140051300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.88, Y:7.79, Z:-0.18 [[ 9.98777005e-01 -4.91605303e-02 5.26660523e-03 1.43883493e+02] [ 4.91592695e-02 9.98790884e-01 3.68654188e-04 7.79207161e+00] [-5.27836053e-03 -1.09300859e-04 9.99986063e-01 -1.80884917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.261400513 meters Centerline goodness [0,1] 0.9999572155906388 Centerline is valid? [True, True] Translation: X:143.91, Y:7.79, Z:-0.18 [[ 9.98847759e-01 -4.77816792e-02 4.47935147e-03 1.43911990e+02] [ 4.77807526e-02 9.98857798e-01 3.13694845e-04 7.79166185e+00] [-4.48922402e-03 -9.93066082e-05 9.99989918e-01 -1.81966549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.291400513 meters Centerline goodness [0,1] 0.999978742852284 Centerline is valid? [True, True] Translation: X:143.94, Y:7.79, Z:-0.18 [[ 9.98892302e-01 -4.68516736e-02 4.36908957e-03 1.43939432e+02] [ 4.68507823e-02 9.98901852e-01 3.06167301e-04 7.79341413e+00] [-4.37863611e-03 -1.01132896e-04 9.99990409e-01 -1.82387412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.321400513 meters Centerline goodness [0,1] 0.9999787973878382 Centerline is valid? [True, True] Translation: X:143.97, Y:7.79, Z:-0.18 [[ 9.98922480e-01 -4.59693837e-02 6.37916676e-03 1.43967487e+02] [ 4.59674608e-02 9.98942837e-01 4.47803038e-04 7.79323009e+00] [-6.39300817e-03 -1.54086423e-04 9.99979553e-01 -1.79990429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.351400513 meters Centerline goodness [0,1] 0.9999786484466745 Centerline is valid? [True, True] Translation: X:144.00, Y:7.79, Z:-0.18 [[ 9.98962461e-01 -4.50352196e-02 6.76978114e-03 1.43996106e+02] [ 4.50330294e-02 9.98985385e-01 4.75699731e-04 7.79277040e+00] [-6.78433567e-03 -1.70342421e-04 9.99976972e-01 -1.79484827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.381400513 meters Centerline goodness [0,1] 0.9999363395225465 Centerline is valid? [True, True] Translation: X:144.03, Y:7.79, Z:-0.18 [[ 9.99036583e-01 -4.33904899e-02 6.57053711e-03 1.44025172e+02] [ 4.33883844e-02 9.99058173e-01 4.62722529e-04 7.79349440e+00] [-6.58442656e-03 -1.77191745e-04 9.99978307e-01 -1.79782668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.411400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.05, Y:7.80, Z:-0.18 [[ 9.99132832e-01 -4.12320732e-02 5.78796402e-03 1.44053670e+02] [ 4.12303982e-02 9.99149582e-01 4.08461017e-04 7.79608061e+00] [-5.79988353e-03 -1.69466751e-04 9.99983166e-01 -1.81138966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.441400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.08, Y:7.80, Z:-0.18 [[ 9.99292675e-01 -3.73377007e-02 4.47734006e-03 1.44084132e+02] [ 3.73366587e-02 9.99302694e-01 3.16108647e-04 7.79512002e+00] [-4.48602076e-03 -1.48716137e-04 9.99989927e-01 -1.84337628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.471400513 meters Centerline goodness [0,1] 0.9999568714553727 Centerline is valid? [True, True] Translation: X:144.11, Y:7.80, Z:-0.19 [[ 9.99337244e-01 -3.61150149e-02 4.55834926e-03 1.44112062e+02] [ 3.61139222e-02 9.99347628e-01 3.21823546e-04 7.79968409e+00] [-4.56699818e-03 -1.56990385e-04 9.99989559e-01 -1.85063593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.501400513 meters Centerline goodness [0,1] 0.9999567735800121 Centerline is valid? [True, True] Translation: X:144.14, Y:7.80, Z:-0.19 [[ 9.99366934e-01 -3.53031779e-02 4.40648242e-03 1.44140886e+02] [ 3.53021486e-02 9.99376636e-01 3.11171257e-04 7.79659279e+00] [-4.41472091e-03 -1.55415967e-04 9.99990243e-01 -1.85304863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.531400513 meters Centerline goodness [0,1] 0.999914334054355 Centerline is valid? [True, True] Translation: X:144.17, Y:7.79, Z:-0.19 [[ 9.99426433e-01 -3.37142166e-02 3.18686334e-03 1.44169497e+02] [ 3.37136683e-02 9.99431507e-01 2.25628583e-04 7.79457604e+00] [-3.19265852e-03 -1.18058317e-04 9.99994896e-01 -1.86819724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.561400513 meters Centerline goodness [0,1] 0.9997871978209056 Centerline is valid? [True, True] Translation: X:144.20, Y:7.80, Z:-0.19 [[ 9.99462286e-01 -3.26635972e-02 2.86839298e-03 1.44197296e+02] [ 3.26631485e-02 9.99466396e-01 2.03155281e-04 7.79892954e+00] [-2.87349818e-03 -1.09355296e-04 9.99995866e-01 -1.87984353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.591400513 meters Centerline goodness [0,1] 0.9999785384697929 Centerline is valid? [True, True] Translation: X:144.23, Y:7.79, Z:-0.19 [[ 9.99493893e-01 -3.17066567e-02 2.57812987e-03 1.44226824e+02] [ 3.17062917e-02 9.99497213e-01 1.82331815e-04 7.79393064e+00] [-2.58261475e-03 -1.00496598e-04 9.99996660e-01 -1.88220588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.621400513 meters Centerline goodness [0,1] 0.9999146156637565 Centerline is valid? [True, True] Translation: X:144.25, Y:7.80, Z:-0.19 [[ 9.99543060e-01 -3.01106582e-02 2.64929201e-03 1.44254827e+02] [ 3.01102649e-02 9.99546565e-01 1.88240147e-04 7.79693114e+00] [-2.65375876e-03 -1.08383248e-04 9.99996473e-01 -1.88647862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.651400513 meters Centerline goodness [0,1] 0.999574277868835 Centerline is valid? [True, True] Translation: X:144.28, Y:7.80, Z:-0.19 [[ 9.99618485e-01 -2.74415323e-02 3.13796718e-03 1.44283215e+02] [ 2.74409665e-02 9.99623401e-01 2.23232295e-04 7.80400640e+00] [-3.14291126e-03 -1.37038277e-04 9.99995052e-01 -1.88642494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.681400513 meters Centerline goodness [0,1] 0.9998925678434069 Centerline is valid? [True, True] Translation: X:144.31, Y:7.80, Z:-0.19 [[ 9.99646537e-01 -2.63244185e-02 3.71830278e-03 1.44312975e+02] [ 2.63236172e-02 9.99653439e-01 2.64297323e-04 7.79521051e+00] [-3.72397163e-03 -1.66324725e-04 9.99993052e-01 -1.87591525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.711400513 meters Centerline goodness [0,1] 0.9997225542086392 Centerline is valid? [True, True] Translation: X:144.34, Y:7.80, Z:-0.19 [[ 9.99681678e-01 -2.48759707e-02 4.21052268e-03 1.44340953e+02] [ 2.48749260e-02 9.99690526e-01 3.00318677e-04 7.80132522e+00] [-4.21669035e-03 -1.95486639e-04 9.99991091e-01 -1.87522547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.74140051300003 meters Centerline goodness [0,1] 0.9996408045977011 Centerline is valid? [True, True] Translation: X:144.37, Y:7.81, Z:-0.19 [[ 9.99751738e-01 -2.19200053e-02 3.99701472e-03 1.44370389e+02] [ 2.19190392e-02 9.99759708e-01 2.85346906e-04 7.80517504e+00] [-4.00230908e-03 -1.97665343e-04 9.99991971e-01 -1.88227857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.771400513 meters Centerline goodness [0,1] 0.9996389585014654 Centerline is valid? [True, True] Translation: X:144.40, Y:7.80, Z:-0.19 [[ 9.99788397e-01 -2.03287640e-02 3.14678164e-03 1.44400632e+02] [ 2.03281574e-02 9.99793336e-01 2.24636151e-04 7.80111821e+00] [-3.15069789e-03 -1.60620345e-04 9.99995024e-01 -1.89011098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.80140051300003 meters Centerline goodness [0,1] 0.9995752272534194 Centerline is valid? [True, True] Translation: X:144.43, Y:7.80, Z:-0.19 [[ 9.99819563e-01 -1.87945156e-02 2.75819955e-03 1.44430078e+02] [ 1.87940436e-02 9.99823357e-01 1.96942572e-04 7.80324838e+00] [-2.76141377e-03 -1.45069314e-04 9.99996177e-01 -1.89510306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.831400513 meters Centerline goodness [0,1] 0.999403150512651 Centerline is valid? [True, True] Translation: X:144.46, Y:7.81, Z:-0.19 [[ 9.99846066e-01 -1.72630327e-02 3.13548353e-03 1.44458516e+02] [ 1.72624153e-02 9.99850968e-01 2.23882742e-04 7.80667452e+00] [-3.13888114e-03 -1.69722260e-04 9.99995059e-01 -1.89177470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.86140051300004 meters Centerline goodness [0,1] 0.99888378482806 Centerline is valid? [True, True] Translation: X:144.49, Y:7.81, Z:-0.19 [[ 9.99884163e-01 -1.48620007e-02 3.28364152e-03 1.44488460e+02] [ 1.48613097e-02 9.99889537e-01 2.34755139e-04 7.80757661e+00] [-3.28676773e-03 -1.85928732e-04 9.99994581e-01 -1.88871733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.891400513 meters Centerline goodness [0,1] 0.997375883523088 Centerline is valid? [True, True] Translation: X:144.52, Y:7.81, Z:-0.19 [[ 9.99902107e-01 -1.36086639e-02 3.25267152e-03 1.44516529e+02] [ 1.36079794e-02 9.99907380e-01 2.32492690e-04 7.81143866e+00] [-3.25553417e-03 -1.88207643e-04 9.99994683e-01 -1.89226179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.92140051300004 meters Centerline goodness [0,1] 0.9983229668626743 Centerline is valid? [True, True] Translation: X:144.55, Y:7.81, Z:-0.19 [[ 9.99918051e-01 -1.23874507e-02 3.23149422e-03 1.44546114e+02] [ 1.23867679e-02 9.99923254e-01 2.31211389e-04 7.81030521e+00] [-3.23411033e-03 -1.91164672e-04 9.99994752e-01 -1.89325260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.951400513 meters Centerline goodness [0,1] 0.9946920764852594 Centerline is valid? [True, True] Translation: X:144.57, Y:7.82, Z:-0.19 [[ 9.99932021e-01 -1.12221168e-02 3.16507942e-03 1.44574551e+02] [ 1.12214559e-02 9.99937012e-01 2.26495336e-04 7.81506829e+00] [-3.16742181e-03 -1.90963140e-04 9.99994965e-01 -1.89850961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.98140051300004 meters Centerline goodness [0,1] 0.9962512513578564 Centerline is valid? [True, True] Translation: X:144.61, Y:7.82, Z:-0.19 [[ 9.99958146e-01 -7.87544612e-03 4.65651015e-03 1.44605080e+02] [ 7.87397805e-03 9.99968944e-01 3.33522578e-04 7.81750658e+00] [-4.65899217e-03 -2.96843360e-04 9.99989103e-01 -1.87834052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.011400513 meters Centerline goodness [0,1] 0.9904733614818273 Centerline is valid? [True, True] Translation: X:144.64, Y:7.82, Z:-0.19 [[ 9.99967459e-01 -5.99803965e-03 5.39478691e-03 1.44635172e+02] [ 5.99604190e-03 9.99981949e-01 3.86407683e-04 7.82311800e+00] [-5.39700721e-03 -3.54047741e-04 9.99985373e-01 -1.86870323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.041400513 meters Centerline goodness [0,1] 0.995083537299138 Centerline is valid? [True, True] Translation: X:144.67, Y:7.82, Z:-0.19 [[ 9.99976009e-01 -4.21876731e-03 5.49401072e-03 1.44666505e+02] [ 4.21666898e-03 9.99991032e-01 3.93458765e-04 7.82445348e+00] [-5.49562136e-03 -3.70282901e-04 9.99984830e-01 -1.87129810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.071400513 meters Centerline goodness [0,1] 0.9705863477870238 Centerline is valid? [True, True] Translation: X:144.70, Y:7.83, Z:-0.19 [[ 9.99986116e-01 -1.91452494e-03 4.90934301e-03 1.44695535e+02] [ 1.91282247e-03 9.99998109e-01 3.51454324e-04 7.83195475e+00] [-4.91000660e-03 -3.42058743e-04 9.99987887e-01 -1.89090260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.101400513 meters Centerline goodness [0,1] 0.9935522311833678 Centerline is valid? [True, True] Translation: X:144.73, Y:7.83, Z:-0.19 [[ 9.99983937e-01 -1.70120066e-03 5.40662348e-03 1.44727441e+02] [ 1.69913227e-03 9.99998482e-01 3.87136572e-04 7.82958233e+00] [-5.40727387e-03 -3.77943785e-04 9.99985309e-01 -1.88992778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.131400513 meters Centerline goodness [0,1] 0.9767097093010764 Centerline is valid? [True, True] Translation: X:144.76, Y:7.83, Z:-0.19 [[ 9.99980465e-01 -1.71665222e-03 6.01027135e-03 1.44758303e+02] [ 1.71409781e-03 9.99998438e-01 4.30131668e-04 7.83488860e+00] [-6.01100035e-03 -4.19821072e-04 9.99981846e-01 -1.88092789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.161400513 meters Centerline goodness [0,1] 0.9938675213675213 Centerline is valid? [True, True] Translation: X:144.79, Y:7.83, Z:-0.19 [[ 9.99979762e-01 -1.51018918e-03 6.18026351e-03 1.44790375e+02] [ 1.50748565e-03 9.99998766e-01 4.42080252e-04 7.83253124e+00] [-6.18092351e-03 -4.32754647e-04 9.99980804e-01 -1.87991675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.191400513 meters Centerline goodness [0,1] 0.8484055009154 Centerline is valid? [True, False] Translation: X:144.79, Y:7.84, Z:-0.19 [[ 9.99980324e-01 -1.90187435e-03 5.97777858e-03 1.44791965e+02] [ 1.90429185e-03 9.99998107e-01 -3.98747817e-04 7.83617130e+00] [-5.97700890e-03 4.10123407e-04 9.99982053e-01 -1.89767064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.221400513 meters Centerline goodness [0,1] 0.9583681336331513 Centerline is valid? [False, True] Translation: X:144.79, Y:7.84, Z:-0.19 [[ 9.99980622e-01 -2.10728272e-03 5.85796777e-03 1.44792847e+02] [ 2.11234977e-03 9.99997400e-01 -8.58932247e-04 7.83818798e+00] [-5.85614253e-03 8.71289679e-04 9.99982473e-01 -1.90748200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.251400513 meters Centerline goodness [0,1] 0.9962178517397882 Centerline is valid? [True, True] Translation: X:144.83, Y:7.83, Z:-0.19 [[ 9.99983450e-01 -2.41890915e-03 5.21995038e-03 1.44825974e+02] [ 2.41697278e-03 9.99997008e-01 3.77231499e-04 7.83175858e+00] [-5.22084725e-03 -3.64608778e-04 9.99986305e-01 -1.91486821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.281400513 meters Centerline goodness [0,1] 0.9458766739998719 Centerline is valid? [True, False] Translation: X:144.87, Y:7.84, Z:-0.19 [[ 9.99966246e-01 -1.63740369e-03 8.05140408e-03 1.44865707e+02] [ 1.66009528e-03 9.99994667e-01 -2.81246525e-03 7.83769500e+00] [-8.04675601e-03 2.82573642e-03 9.99963632e-01 -1.92800385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.311400513 meters Centerline goodness [0,1] 0.9974893948575881 Centerline is valid? [False, True] Translation: X:144.84, Y:7.82, Z:-0.18 [[ 9.99992251e-01 -2.73362423e-03 2.83283341e-03 1.44835913e+02] [ 2.71372550e-03 9.99971786e-01 7.00451490e-03 7.82394723e+00] [-2.85190120e-03 -6.99677310e-03 9.99971456e-01 -1.80862555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.341400513 meters Centerline goodness [0,1] 0.9671241140099532 Centerline is valid? [True, True] Translation: X:144.87, Y:7.84, Z:-0.18 [[ 9.99992584e-01 -3.03633185e-03 2.36930210e-03 1.44866212e+02] [ 3.03594232e-03 9.99995377e-01 1.67986307e-04 7.83872711e+00] [-2.36980121e-03 -1.60791997e-04 9.99997179e-01 -1.84364470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.371400513 meters Centerline goodness [0,1] 0.9906014227204138 Centerline is valid? [True, True] Translation: X:144.90, Y:7.84, Z:-0.19 [[ 9.99995670e-01 -2.76708227e-03 1.00129280e-03 1.44897295e+02] [ 2.76701276e-03 9.99996169e-01 7.07976857e-05 7.83626319e+00] [-1.00148487e-03 -6.80267892e-05 9.99999496e-01 -1.85748764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.401400513 meters Centerline goodness [0,1] 0.737197080913172 Centerline is valid? [True, False] Translation: X:144.94, Y:7.84, Z:-0.19 [[ 9.99993129e-01 -1.05760698e-03 3.55292472e-03 1.44938080e+02] [ 1.06758732e-03 9.99995487e-01 -2.80832834e-03 7.84393782e+00] [-3.54993858e-03 2.81210210e-03 9.99989745e-01 -1.88088368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.431400513 meters Centerline goodness [0,1] 0.9941718123713574 Centerline is valid? [False, True] Translation: X:144.90, Y:7.84, Z:-0.19 [[ 9.99999370e-01 4.07525204e-04 1.04576931e-03 1.44895920e+02] [-4.10346306e-04 9.99996274e-01 2.69883811e-03 7.83830445e+00] [-1.04466557e-03 -2.69926553e-03 9.99995811e-01 -1.85363419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.461400513 meters Centerline goodness [0,1] 0.7996517159361196 Centerline is valid? [True, False] Translation: X:144.94, Y:7.85, Z:-0.19 [[ 9.99994003e-01 1.62971037e-03 3.05569132e-03 1.44937880e+02] [-1.62539386e-03 9.99997679e-01 -1.41456715e-03 7.84768058e+00] [-3.05798956e-03 1.40959197e-03 9.99994331e-01 -1.88875742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.49140051300003 meters Centerline goodness [0,1] 0.8057639836289222 Centerline is valid? [False, False] Translation: X:144.94, Y:7.85, Z:-0.19 [[ 9.99993989e-01 1.46423182e-03 3.14299927e-03 1.44937745e+02] [-1.45822563e-03 9.99997108e-01 -1.91241499e-03 7.85007134e+00] [-3.14579040e-03 1.90782029e-03 9.99993232e-01 -1.89158133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.521400513 meters Centerline goodness [0,1] 0.7292617193302633 Centerline is valid? [False, False] Translation: X:144.94, Y:7.85, Z:-0.19 [[ 9.99993055e-01 1.45114607e-03 3.43273763e-03 1.44936467e+02] [-1.44298994e-03 9.99996133e-01 -2.37726938e-03 7.85267119e+00] [-3.43617412e-03 2.37229947e-03 9.99991282e-01 -1.88581929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.55140051300003 meters Centerline goodness [0,1] 0.8022847471969536 Centerline is valid? [False, False] Translation: X:144.94, Y:7.85, Z:-0.19 [[ 9.99993051e-01 1.36992612e-03 3.46715808e-03 1.44936228e+02] [-1.36095152e-03 9.99995721e-01 -2.58949700e-03 7.85373453e+00] [-3.47069066e-03 2.58476037e-03 9.99990637e-01 -1.88360129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.581400513 meters Centerline goodness [0,1] 0.8556515478761699 Centerline is valid? [False, False] Translation: X:144.94, Y:7.85, Z:-0.19 [[ 9.99992949e-01 1.32065915e-03 3.51550165e-03 1.44935947e+02] [-1.31109642e-03 9.99995438e-01 -2.72107575e-03 7.85442908e+00] [-3.51907923e-03 2.71644741e-03 9.99990118e-01 -1.88179161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.61140051300004 meters Centerline goodness [0,1] 0.8501211271197247 Centerline is valid? [False, False] Translation: X:144.94, Y:7.86, Z:-0.19 [[ 9.99992798e-01 1.22350905e-03 3.59250698e-03 1.44935444e+02] [-1.21294100e-03 9.99994936e-01 -2.94239796e-03 7.85558686e+00] [-3.59608884e-03 2.93801928e-03 9.99989218e-01 -1.87744556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.641400513 meters Centerline goodness [0,1] 0.7886038324514619 Centerline is valid? [False, False] Translation: X:144.94, Y:7.85, Z:-0.19 [[ 9.99988934e-01 3.50216971e-03 3.14096889e-03 1.44940298e+02] [-3.50142989e-03 9.99993841e-01 -2.41007538e-04 7.85313924e+00] [-3.14179360e-03 2.30006989e-04 9.99995038e-01 -1.90991134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.67140051300004 meters Centerline goodness [0,1] 0.7890937739545183 Centerline is valid? [False, False] Translation: X:144.92, Y:7.84, Z:-0.18 [[ 9.99996698e-01 2.29955501e-03 -1.14721010e-03 1.44917991e+02] [-2.28642655e-03 9.99933349e-01 1.13167923e-02 7.84493717e+00] [ 1.17315723e-03 -1.13141319e-02 9.99935305e-01 -1.84190205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.701400513 meters Centerline goodness [0,1] 0.952871084157253 Centerline is valid? [False, True] Translation: X:144.92, Y:7.85, Z:-0.19 [[ 9.99997256e-01 -2.25648249e-03 -6.30256226e-04 1.44917193e+02] [ 2.25973306e-03 9.99983899e-01 5.20534441e-03 7.85417955e+00] [ 6.18500310e-04 -5.20675434e-03 9.99986253e-01 -1.86336471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.73140051300004 meters Centerline goodness [0,1] 0.8671236376021798 Centerline is valid? [True, False] Translation: X:144.92, Y:7.86, Z:-0.19 [[ 9.99996182e-01 -2.67811286e-03 -6.80634672e-04 1.44917972e+02] [ 2.68100273e-03 9.99987243e-01 4.28100971e-03 7.85834373e+00] [ 6.69160962e-04 -4.28281815e-03 9.99990605e-01 -1.87549156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.761400513 meters Centerline goodness [0,1] 0.7451017852215076 Centerline is valid? [False, False] Translation: X:144.92, Y:7.87, Z:-0.19 [[ 9.99993649e-01 -3.51432128e-03 -5.92539352e-04 1.44918179e+02] [ 3.51570654e-03 9.99991051e-01 2.35321921e-03 7.86736107e+00] [ 5.84264081e-04 -2.35528746e-03 9.99997056e-01 -1.88508984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.791400513 meters Centerline goodness [0,1] 0.8816703353065629 Centerline is valid? [False, False] Translation: X:144.92, Y:7.87, Z:-0.19 [[ 9.99992628e-01 -3.80800819e-03 -4.92513055e-04 1.44917786e+02] [ 3.80881638e-03 9.99991384e-01 1.65056103e-03 7.87074802e+00] [ 4.86223462e-04 -1.65242475e-03 9.99998517e-01 -1.88381030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.821400513 meters Centerline goodness [0,1] 0.8110577536016319 Centerline is valid? [False, False] Translation: X:144.92, Y:7.87, Z:-0.19 [[ 9.99991603e-01 -4.07109332e-03 -4.69548278e-04 1.44917584e+02] [ 4.07158116e-03 9.99991167e-01 1.04273379e-03 7.87367481e+00] [ 4.65299064e-04 -1.04463683e-03 9.99999346e-01 -1.88166803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.851400513 meters Centerline goodness [0,1] 0.950784472128917 Centerline is valid? [False, True] Translation: X:144.92, Y:7.88, Z:-0.19 [[ 9.99990313e-01 -4.37968747e-03 -4.38294815e-04 1.44917579e+02] [ 4.37985087e-03 9.99990339e-01 3.72546538e-04 7.87681636e+00] [ 4.36658943e-04 -3.74462595e-04 9.99999835e-01 -1.88373040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.881400513 meters Centerline goodness [0,1] 0.9656245338107111 Centerline is valid? [True, True] Translation: X:144.95, Y:7.89, Z:-0.19 [[ 9.99979675e-01 -6.37459944e-03 -1.22080914e-04 1.44945759e+02] [ 6.37459829e-03 9.99979682e-01 -9.77033468e-06 7.88776161e+00] [ 1.22140716e-04 8.99191931e-06 9.99999993e-01 -1.88326737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.911400513 meters Centerline goodness [0,1] 0.8297517168515584 Centerline is valid? [True, False] Translation: X:144.95, Y:7.89, Z:-0.19 [[ 9.99977576e-01 -6.69673530e-03 -4.32989607e-05 1.44945423e+02] [ 6.69670281e-03 9.99977324e-01 -7.11300889e-04 7.89110986e+00] [ 4.80613726e-05 7.10994978e-04 9.99999746e-01 -1.88220990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.941400513 meters Centerline goodness [0,1] 0.991910044848823 Centerline is valid? [False, True] Translation: X:144.93, Y:7.90, Z:-0.19 [[ 9.99974691e-01 -7.05626083e-03 9.09118682e-04 1.44925554e+02] [ 7.06668471e-03 9.99902737e-01 -1.20241190e-02 7.90038597e+00] [-8.24184938e-04 1.20302391e-02 9.99927294e-01 -1.93607778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.971400513 meters Centerline goodness [0,1] 0.9829582881791717 Centerline is valid? [True, True] Translation: X:144.95, Y:7.90, Z:-0.19 [[ 9.99968799e-01 -7.88023992e-03 5.50922506e-04 1.44954180e+02] [ 7.88021725e-03 9.99968950e-01 4.33172084e-05 7.89864578e+00] [-5.51246750e-04 -3.89744679e-05 9.99999847e-01 -1.89336462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.001400513 meters Centerline goodness [0,1] 0.9875956828735608 Centerline is valid? [True, True] Translation: X:144.98, Y:7.90, Z:-0.19 [[ 9.99962147e-01 -8.69925373e-03 1.68272245e-04 1.44983151e+02] [ 8.69925160e-03 9.99962161e-01 1.33478376e-05 7.90307913e+00] [-1.68381994e-04 -1.18834897e-05 9.99999986e-01 -1.90251116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.031400513 meters Centerline goodness [0,1] 0.9694055201698514 Centerline is valid? [True, True] Translation: X:145.01, Y:7.91, Z:-0.20 [[ 9.99956797e-01 -8.86377355e-03 -2.79956305e-03 1.45011713e+02] [ 8.86319026e-03 9.99960697e-01 -2.20688773e-04 7.91245915e+00] [ 2.80140915e-03 1.95866179e-04 9.99996057e-01 -1.95161686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.061400513 meters Centerline goodness [0,1] 0.9620885454467831 Centerline is valid? [True, True] Translation: X:145.04, Y:7.92, Z:-0.20 [[ 9.99949277e-01 -9.04280178e-03 -4.43516759e-03 1.45039063e+02] [ 9.04133585e-03 9.99959065e-01 -3.50463012e-04 7.91645199e+00] [ 4.43815521e-03 3.10345395e-04 9.99990103e-01 -1.97710663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.091400513 meters Centerline goodness [0,1] 0.9620885454467831 Centerline is valid? [True, True] Translation: X:145.07, Y:7.92, Z:-0.20 [[ 9.99947660e-01 -9.21998190e-03 -4.43510541e-03 1.45066561e+02] [ 9.21851424e-03 9.99957447e-01 -3.51248968e-04 7.91876208e+00] [ 4.43815519e-03 3.10345501e-04 9.99990103e-01 -1.97691033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.121400513 meters Centerline goodness [0,1] 0.9507223557948041 Centerline is valid? [True, True] Translation: X:145.09, Y:7.92, Z:-0.20 [[ 9.99930588e-01 -1.01483980e-02 -5.98567474e-03 1.45094658e+02] [ 1.01457354e-02 9.99948418e-01 -4.75019188e-04 7.92481049e+00] [ 5.99018667e-03 4.14257144e-04 9.99981973e-01 -2.00022086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.151400513 meters Centerline goodness [0,1] 0.9858140738185581 Centerline is valid? [True, True] Translation: X:145.12, Y:7.92, Z:-0.20 [[ 9.99915994e-01 -1.14492328e-02 -6.07614880e-03 1.45124361e+02] [ 1.14465116e-02 9.99934370e-01 -4.82429808e-04 7.92400038e+00] [ 6.08127347e-03 4.12838574e-04 9.99981424e-01 -1.99695986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.181400513 meters Centerline goodness [0,1] 0.9616347491173639 Centerline is valid? [True, True] Translation: X:145.15, Y:7.93, Z:-0.20 [[ 9.99896935e-01 -1.32425787e-02 -5.54553356e-03 1.45153224e+02] [ 1.32403388e-02 9.99912246e-01 -4.40424117e-04 7.93179651e+00] [ 5.55087926e-03 3.66953981e-04 9.99984526e-01 -1.99505056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.211400513 meters Centerline goodness [0,1] 0.9986765992870712 Centerline is valid? [True, True] Translation: X:145.18, Y:7.92, Z:-0.20 [[ 9.99868444e-01 -1.54602167e-02 -4.90671121e-03 1.45184305e+02] [ 1.54584894e-02 9.99880434e-01 -3.89749925e-04 7.92331882e+00] [ 4.91215015e-03 3.13848307e-04 9.99987886e-01 -1.97996979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.24140051300003 meters Centerline goodness [0,1] 0.9912420891133414 Centerline is valid? [True, True] Translation: X:145.21, Y:7.93, Z:-0.20 [[ 9.99826204e-01 -1.80556979e-02 -4.64263491e-03 1.45213400e+02] [ 1.80541791e-02 9.99836942e-01 -3.68835836e-04 7.92979582e+00] [ 4.64853748e-03 2.84952771e-04 9.99989155e-01 -1.97918621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.271400513 meters Centerline goodness [0,1] 0.9871010242679247 Centerline is valid? [True, True] Translation: X:145.24, Y:7.93, Z:-0.20 [[ 9.99752426e-01 -2.18479257e-02 -4.21356715e-03 1.45242895e+02] [ 2.18467080e-02 9.99761276e-01 -3.34816490e-04 7.92958151e+00] [ 4.21987632e-03 2.42681027e-04 9.99991067e-01 -1.97922229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.30140051300003 meters Centerline goodness [0,1] 0.9996146270446177 Centerline is valid? [True, True] Translation: X:145.27, Y:7.91, Z:-0.20 [[ 9.99727251e-01 -2.29318912e-02 -4.42169121e-03 1.45272953e+02] [ 2.29305600e-02 9.99736998e-01 -3.51539256e-04 7.91435852e+00] [ 4.42858976e-03 2.50051519e-04 9.99990162e-01 -1.96950472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.331400513 meters Centerline goodness [0,1] 0.9994677113718142 Centerline is valid? [True, True] Translation: X:145.30, Y:7.92, Z:-0.20 [[ 9.99719610e-01 -2.33196819e-02 -4.11014746e-03 1.45300955e+02] [ 2.33185336e-02 9.99728033e-01 -3.27092849e-04 7.91718629e+00] [ 4.11665733e-03 2.31158524e-04 9.99991500e-01 -1.96313020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.36140051300004 meters Centerline goodness [0,1] 0.999043102898335 Centerline is valid? [True, True] Translation: X:145.33, Y:7.92, Z:-0.19 [[ 9.99747648e-01 -2.23786198e-02 -1.95924239e-03 1.45328895e+02] [ 2.23783569e-02 9.99749561e-01 -1.56019402e-04 7.91699334e+00] [ 1.96224322e-03 1.12135404e-04 9.99998069e-01 -1.92172120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.391400513 meters Centerline goodness [0,1] 0.9996557881375987 Centerline is valid? [True, True] Translation: X:145.36, Y:7.91, Z:-0.19 [[ 9.99757818e-01 -2.19856983e-02 -9.66229179e-04 1.45358214e+02] [ 2.19856341e-02 9.99758284e-01 -7.70048053e-05 7.91070741e+00] [ 9.67688630e-04 5.57429950e-05 9.99999530e-01 -1.90620163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.42140051300004 meters Centerline goodness [0,1] 0.9990052278451542 Centerline is valid? [True, True] Translation: X:145.39, Y:7.92, Z:-0.19 [[ 9.99784353e-01 -2.07473528e-02 -8.91996491e-04 1.45386663e+02] [ 2.07472975e-02 9.99784749e-01 -7.12021969e-05 7.91736746e+00] [ 8.93281745e-04 5.26803258e-05 9.99999600e-01 -1.91253974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.451400513 meters Centerline goodness [0,1] 0.990602660104792 Centerline is valid? [True, True] Translation: X:145.41, Y:7.93, Z:-0.19 [[ 9.99804596e-01 -1.97086194e-02 -1.52978375e-03 1.45414609e+02] [ 1.97084554e-02 9.99805762e-01 -1.22182534e-04 7.92760352e+00] [ 1.53189465e-03 9.20089838e-05 9.99998822e-01 -1.92677791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.48140051300004 meters Centerline goodness [0,1] 0.9974636600025577 Centerline is valid? [True, True] Translation: X:145.44, Y:7.92, Z:-0.20 [[ 9.99830009e-01 -1.81424127e-02 -3.28727175e-03 1.45444374e+02] [ 1.81416467e-02 9.99835392e-01 -2.62687830e-04 7.91981929e+00] [ 3.29149643e-03 2.03006653e-04 9.99994562e-01 -1.95348885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.511400513 meters Centerline goodness [0,1] 0.9986987499466701 Centerline is valid? [True, True] Translation: X:145.47, Y:7.92, Z:-0.20 [[ 9.99836935e-01 -1.76570144e-02 -3.78584769e-03 1.45473489e+02] [ 1.76559930e-02 9.99844075e-01 -3.03047098e-04 7.91695317e+00] [ 3.79060829e-03 2.36154781e-04 9.99992788e-01 -1.95733005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.541400513 meters Centerline goodness [0,1] 0.99737758479859 Centerline is valid? [True, True] Translation: X:145.50, Y:7.92, Z:-0.20 [[ 9.99845539e-01 -1.71809493e-02 -3.70316690e-03 1.45500852e+02] [ 1.71799677e-02 9.99852369e-01 -2.96709520e-04 7.91960559e+00] [ 3.70771795e-03 2.33043402e-04 9.99993099e-01 -1.95604939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.571400513 meters Centerline goodness [0,1] 0.9824071133693236 Centerline is valid? [True, True] Translation: X:145.53, Y:7.93, Z:-0.19 [[ 9.99860466e-01 -1.64275313e-02 -3.03054484e-03 1.45528338e+02] [ 1.64268700e-02 9.99865040e-01 -2.42980038e-04 7.92804850e+00] [ 3.03412740e-03 1.93163768e-04 9.99995378e-01 -1.94778283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.601400513 meters Centerline goodness [0,1] 0.9654055896387185 Centerline is valid? [True, True] Translation: X:145.56, Y:7.93, Z:-0.19 [[ 9.99890707e-01 -1.46440190e-02 -2.03159126e-03 1.45557410e+02] [ 1.46437181e-02 9.99892762e-01 -1.62942387e-04 7.93108779e+00] [ 2.03375952e-03 1.33174529e-04 9.99997923e-01 -1.93267623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.631400513 meters Centerline goodness [0,1] 0.9948916606359882 Centerline is valid? [True, True] Translation: X:145.59, Y:7.92, Z:-0.19 [[ 9.99903621e-01 -1.36925986e-02 -2.29387017e-03 1.45587365e+02] [ 1.36922123e-02 9.99906240e-01 -1.84049523e-04 7.92453646e+00] [ 2.29617521e-03 1.52623628e-04 9.99997352e-01 -1.93480669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.661400513 meters Centerline goodness [0,1] 0.998628169678263 Centerline is valid? [True, True] Translation: X:145.62, Y:7.92, Z:-0.19 [[ 9.99918966e-01 -1.23734953e-02 -2.99295294e-03 1.45616802e+02] [ 1.23728313e-02 9.99923425e-01 -2.40251992e-04 7.92206192e+00] [ 2.99569651e-03 2.03201222e-04 9.99995492e-01 -1.94607766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.691400513 meters Centerline goodness [0,1] 0.9973597218048341 Centerline is valid? [True, True] Translation: X:145.65, Y:7.93, Z:-0.20 [[ 9.99937388e-01 -1.06749435e-02 -3.35650310e-03 1.45645294e+02] [ 1.06740986e-02 9.99942994e-01 -2.69524302e-04 7.92746935e+00] [ 3.35918891e-03 2.33679781e-04 9.99994331e-01 -1.96372230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.721400513 meters Centerline goodness [0,1] 0.9622709997010719 Centerline is valid? [True, True] Translation: X:145.67, Y:7.94, Z:-0.20 [[ 9.99970883e-01 -7.21108044e-03 -2.49661555e-03 1.45673149e+02] [ 7.21060229e-03 9.99973983e-01 -2.00467225e-04 7.94313282e+00] [ 2.49799618e-03 1.82459287e-04 9.99996863e-01 -1.96956681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.751400513 meters Centerline goodness [0,1] 0.8965113805573283 Centerline is valid? [True, False] Translation: X:145.68, Y:7.94, Z:-0.20 [[ 9.99982938e-01 -4.87522822e-03 -3.21807133e-03 1.45678656e+02] [ 4.88260291e-03 9.99985463e-01 2.28778396e-03 7.94042787e+00] [ 3.20687108e-03 -2.30345749e-03 9.99992205e-01 -2.00215170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.781400513 meters Centerline goodness [0,1] 0.9732159979544438 Centerline is valid? [False, True] Translation: X:145.68, Y:7.94, Z:-0.20 [[ 9.99982712e-01 -4.91847979e-03 -3.22235444e-03 1.45678594e+02] [ 4.92551607e-03 9.99985495e-01 2.17929657e-03 7.94096589e+00] [ 3.21158887e-03 -2.19513065e-03 9.99992434e-01 -2.00080950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.811400513 meters Centerline goodness [0,1] 0.9181463560207193 Centerline is valid? [True, False] Translation: X:145.68, Y:7.94, Z:-0.20 [[ 9.99982127e-01 -4.98584541e-03 -3.29940882e-03 1.45679007e+02] [ 4.99263302e-03 9.99985431e-01 2.05219153e-03 7.94150843e+00] [ 3.28912884e-03 -2.06862759e-03 9.99992451e-01 -2.00395689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.841400513 meters Centerline goodness [0,1] 0.9757143771740754 Centerline is valid? [False, True] Translation: X:145.68, Y:7.94, Z:-0.20 [[ 9.99980250e-01 -5.24342922e-03 -3.46497194e-03 1.45679958e+02] [ 5.24893115e-03 9.99984975e-01 1.58068971e-03 7.94354574e+00] [ 3.45663165e-03 -1.59884590e-03 9.99992748e-01 -2.01220198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.871400513 meters Centerline goodness [0,1] 0.9854893617021276 Centerline is valid? [True, True] Translation: X:145.71, Y:7.95, Z:-0.20 [[ 9.99971252e-01 -6.82501612e-03 -3.30377244e-03 1.45710098e+02] [ 6.82421842e-03 9.99976683e-01 -2.52665813e-04 7.94718984e+00] [ 3.30541985e-03 2.30112885e-04 9.99994511e-01 -2.01942435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.901400513 meters Centerline goodness [0,1] 0.8770808561236623 Centerline is valid? [True, False] Translation: X:145.71, Y:7.95, Z:-0.20 [[ 9.99970470e-01 -6.96603292e-03 -3.24550078e-03 1.45709915e+02] [ 6.96434189e-03 9.99975607e-01 -5.32046397e-04 7.94850261e+00] [ 3.24912787e-03 5.09427908e-04 9.99994592e-01 -2.02001096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.931400513 meters Centerline goodness [0,1] 0.9961086147958635 Centerline is valid? [False, True] Translation: X:145.70, Y:7.95, Z:-0.20 [[ 9.99950059e-01 -9.74545329e-03 -2.21482306e-03 1.45703191e+02] [ 9.73707502e-03 9.99945515e-01 -3.76262741e-03 7.95319090e+00] [ 2.25137089e-03 3.74087361e-03 9.99990469e-01 -1.98254228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.961400513 meters Centerline goodness [0,1] 0.9991019692531378 Centerline is valid? [True, True] Translation: X:145.73, Y:7.95, Z:-0.20 [[ 9.99930973e-01 -1.15462909e-02 -2.17544097e-03 1.45733433e+02] [ 1.15459574e-02 9.99933329e-01 -1.65812736e-04 7.94942054e+00] [ 2.17721045e-03 1.40683742e-04 9.99997620e-01 -1.96142528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.99140051300003 meters Centerline goodness [0,1] 0.9528566902524026 Centerline is valid? [True, True] Translation: X:145.76, Y:7.97, Z:-0.20 [[ 9.99924995e-01 -1.20290106e-02 -2.30376537e-03 1.45759533e+02] [ 1.20286374e-02 9.99927638e-01 -1.75786315e-04 7.96781699e+00] [ 2.30571320e-03 1.48061971e-04 9.99997331e-01 -1.95747104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.021400513 meters Centerline goodness [0,1] 0.9991617049631365 Centerline is valid? [True, True] Translation: X:145.79, Y:7.96, Z:-0.19 [[ 9.99921916e-01 -1.23261570e-02 -2.05619452e-03 1.45789370e+02] [ 1.23258597e-02 9.99924021e-01 -1.57220311e-04 7.95928714e+00] [ 2.05797621e-03 1.31863670e-04 9.99997874e-01 -1.93494255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.05140051300003 meters Centerline goodness [0,1] 0.9992267044722258 Centerline is valid? [True, True] Translation: X:145.82, Y:7.97, Z:-0.19 [[ 9.99936599e-01 -1.12072038e-02 -1.09352741e-03 1.45818012e+02] [ 1.12071189e-02 9.99937195e-01 -8.36718652e-05 7.96616222e+00] [ 1.09439646e-03 7.14112686e-05 9.99999399e-01 -1.92453661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.081400513 meters Centerline goodness [0,1] 0.9988008565310492 Centerline is valid? [True, True] Translation: X:145.85, Y:7.98, Z:-0.19 [[ 9.99946144e-01 -1.03696995e-02 -4.23216800e-04 1.45846329e+02] [ 1.03696867e-02 9.99946233e-01 -3.23958036e-05 7.97581959e+00] [ 4.23529979e-04 2.80054333e-05 9.99999910e-01 -1.91574564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.11140051300004 meters Centerline goodness [0,1] 0.9981642367707644 Centerline is valid? [True, True] Translation: X:145.87, Y:7.98, Z:-0.19 [[ 9.99951881e-01 -9.80992177e-03 1.28565786e-05 1.45873152e+02] [ 9.80992176e-03 9.99951882e-01 9.91750594e-07 7.98250394e+00] [-1.28656889e-05 -8.65580845e-07 1.00000000e+00 -1.90724964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.141400513 meters Centerline goodness [0,1] 0.9980427614083608 Centerline is valid? [True, True] Translation: X:145.90, Y:7.99, Z:-0.19 [[ 9.99954756e-01 -9.51236847e-03 -4.37831124e-06 1.45901079e+02] [ 9.51236847e-03 9.99954756e-01 -3.30223171e-07 7.98847559e+00] [ 4.38125435e-06 2.88560117e-07 1.00000000e+00 -1.90635085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.17140051300004 meters Centerline goodness [0,1] 0.996037410255864 Centerline is valid? [True, True] Translation: X:145.93, Y:8.00, Z:-0.19 [[ 9.99958019e-01 -9.11018214e-03 -9.82351474e-04 1.45929462e+02] [ 9.11011238e-03 9.99958499e-01 -7.54633897e-05 7.99665028e+00] [ 9.82998191e-04 6.65108894e-05 9.99999515e-01 -1.92187209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.201400513 meters Centerline goodness [0,1] 0.9973032658088079 Centerline is valid? [True, True] Translation: X:145.96, Y:8.00, Z:-0.19 [[ 9.99958194e-01 -9.08580859e-03 -1.02840515e-03 1.45958706e+02] [ 9.08573196e-03 9.99958721e-01 -7.91645557e-05 7.99882348e+00] [ 1.02908198e-03 6.98174326e-05 9.99999468e-01 -1.92838499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.23140051300004 meters Centerline goodness [0,1] 0.9991595370988945 Centerline is valid? [True, True] Translation: X:145.99, Y:8.00, Z:-0.19 [[ 9.99959678e-01 -8.91785558e-03 -1.05602273e-03 1.45988016e+02] [ 8.91777450e-03 9.99960233e-01 -8.14614052e-05 7.99812467e+00] [ 1.05670720e-03 7.20407479e-05 9.99999439e-01 -1.92655106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.261400513 meters Centerline goodness [0,1] 0.9929043463526223 Centerline is valid? [True, True] Translation: X:146.02, Y:8.01, Z:-0.19 [[ 9.99973046e-01 -7.31825264e-03 -5.91977195e-04 1.46016281e+02] [ 7.31822687e-03 9.99973220e-01 -4.56766064e-05 8.01216339e+00] [ 5.92295615e-04 4.13431518e-05 9.99999824e-01 -1.91376147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.291400513 meters Centerline goodness [0,1] 0.9902846718425183 Centerline is valid? [True, True] Translation: X:146.04, Y:8.02, Z:-0.19 [[ 9.99980508e-01 -6.23379672e-03 -3.50872653e-04 1.46044914e+02] [ 6.23378760e-03 9.99980569e-01 -2.70818445e-05 8.01886551e+00] [ 3.51034658e-04 2.48940511e-05 9.99999938e-01 -1.90957840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.321400513 meters Centerline goodness [0,1] 0.9913718174302008 Centerline is valid? [True, True] Translation: X:146.07, Y:8.02, Z:-0.19 [[ 9.99988767e-01 -4.73957131e-03 -4.61519064e-05 1.46074879e+02] [ 4.73957115e-03 9.99988768e-01 -3.56199547e-06 8.02413129e+00] [ 4.61682704e-05 3.34321522e-06 9.99999999e-01 -1.90693200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.351400513 meters Centerline goodness [0,1] 0.909510560263058 Centerline is valid? [True, False] Translation: X:146.08, Y:8.02, Z:-0.19 [[ 9.99997079e-01 -2.25239176e-03 -8.77054980e-04 1.46080998e+02] [ 2.25455514e-03 9.99994399e-01 2.47352369e-03 8.02370319e+00] [ 8.71478724e-04 -2.47549383e-03 9.99996556e-01 -1.94282121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.381400513 meters Centerline goodness [0,1] 0.6714155483474316 Centerline is valid? [False, False] Translation: X:146.08, Y:8.03, Z:-0.19 [[ 9.99998201e-01 -1.88580593e-03 -2.02471725e-04 1.46078720e+02] [ 1.88615838e-03 9.99996681e-01 1.75487430e-03 8.02840984e+00] [ 1.99161701e-04 -1.75525304e-03 9.99998440e-01 -1.94485785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.411400513 meters Centerline goodness [0,1] 0.8998933219543418 Centerline is valid? [False, False] Translation: X:146.08, Y:8.03, Z:-0.20 [[ 9.99997651e-01 -2.16728096e-03 -3.20136716e-05 1.46078538e+02] [ 2.16731007e-03 9.99997210e-01 9.39059022e-04 8.03229241e+00] [ 2.99783775e-05 -9.39126200e-04 9.99999559e-01 -1.95263758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.441400513 meters Centerline goodness [0,1] 0.9262029578485275 Centerline is valid? [False, False] Translation: X:146.08, Y:8.04, Z:-0.20 [[ 9.99996836e-01 -2.51544762e-03 -2.66311420e-05 1.46078963e+02] [ 2.51544892e-03 9.99996835e-01 4.86993716e-05 8.03644005e+00] [ 2.65085570e-05 -4.87662067e-05 9.99999998e-01 -1.96214692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.471400513 meters Centerline goodness [0,1] 0.47815209786503277 Centerline is valid? [False, False] Translation: X:146.09, Y:8.04, Z:-0.20 [[ 9.99999374e-01 -6.42136502e-04 -9.16710196e-04 1.46085902e+02] [ 6.43785348e-04 9.99998174e-01 1.79949544e-03 8.03660111e+00] [ 9.15553000e-04 -1.80008448e-03 9.99997961e-01 -2.01028234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.501400513 meters Centerline goodness [0,1] 0.7835922247686954 Centerline is valid? [False, False] Translation: X:146.09, Y:8.04, Z:-0.20 [[ 9.99999303e-01 -6.25741361e-04 -1.00107933e-03 1.46086198e+02] [ 6.27614881e-04 9.99998050e-01 1.87228169e-03 8.03621533e+00] [ 9.99905818e-04 -1.87290868e-03 9.99997746e-01 -2.01068710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.531400513 meters Centerline goodness [0,1] 0.9593313692839759 Centerline is valid? [False, True] Translation: X:146.08, Y:8.04, Z:-0.20 [[ 9.99995343e-01 -3.05073630e-03 -8.44665193e-05 1.46079708e+02] [ 3.05068063e-03 9.99995134e-01 -6.51546412e-04 8.03883186e+00] [ 8.64538046e-05 6.51285697e-04 9.99999784e-01 -1.97193096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.561400513 meters Centerline goodness [0,1] 0.6451565237582589 Centerline is valid? [True, False] Translation: X:146.12, Y:8.05, Z:-0.20 [[ 9.99985087e-01 -4.51951458e-03 3.06578500e-03 1.46120383e+02] [ 4.53636270e-03 9.99974525e-01 -5.51102161e-03 8.04635641e+00] [-3.04079976e-03 5.52484694e-03 9.99980115e-01 -1.99412767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.591400513 meters Centerline goodness [0,1] 0.9789040336170304 Centerline is valid? [False, True] Translation: X:146.10, Y:8.04, Z:-0.19 [[ 9.99953791e-01 -9.29807479e-03 -2.44180132e-03 1.46097580e+02] [ 9.30228440e-03 9.99955256e-01 1.71831278e-03 8.03569314e+00] [ 2.42571507e-03 -1.74094771e-03 9.99995542e-01 -1.91990509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.621400513 meters Centerline goodness [0,1] 0.9886832588810891 Centerline is valid? [True, True] Translation: X:146.13, Y:8.04, Z:-0.19 [[ 9.99915898e-01 -1.27215866e-02 -2.52137568e-03 1.46126984e+02] [ 1.27210966e-02 9.99919061e-01 -2.10312062e-04 8.03510996e+00] [ 2.52384711e-03 1.78219711e-04 9.99996799e-01 -1.92799189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.651400513 meters Centerline goodness [0,1] 0.9968353753715227 Centerline is valid? [True, True] Translation: X:146.16, Y:8.03, Z:-0.19 [[ 9.99867062e-01 -1.61488801e-02 -2.25226595e-03 1.46157362e+02] [ 1.61484976e-02 9.99869587e-01 -1.87909265e-04 8.03245890e+00] [ 2.25500675e-03 1.51513574e-04 9.99997446e-01 -1.92548532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.681400513 meters Centerline goodness [0,1] 0.9977840153641602 Centerline is valid? [True, True] Translation: X:146.19, Y:8.03, Z:-0.19 [[ 9.99813523e-01 -1.92465206e-02 -1.57795822e-03 1.46187006e+02] [ 1.92463367e-02 9.99814763e-01 -1.31672118e-04 8.03182008e+00] [ 1.58020015e-03 1.01277649e-04 9.99998746e-01 -1.91703579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.711400513 meters Centerline goodness [0,1] 0.9992979768970579 Centerline is valid? [True, True] Translation: X:146.22, Y:8.02, Z:-0.19 [[ 9.99719103e-01 -2.36880541e-02 -7.69141334e-04 1.46218401e+02] [ 2.36880117e-02 9.99719398e-01 -6.41853855e-05 8.02438628e+00] [ 7.70445938e-04 4.59479271e-05 9.99999702e-01 -1.90047689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.74140051300003 meters Centerline goodness [0,1] 0.9993843802407285 Centerline is valid? [True, True] Translation: X:146.25, Y:8.02, Z:-0.19 [[ 9.99695840e-01 -2.46558529e-02 -5.62459906e-04 1.46247483e+02] [ 2.46558303e-02 9.99695998e-01 -4.69402758e-05 8.02235776e+00] [ 5.63446269e-04 3.30580824e-05 9.99999841e-01 -1.88948723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.771400513 meters Centerline goodness [0,1] 0.9975934135528816 Centerline is valid? [True, True] Translation: X:146.27, Y:8.03, Z:-0.19 [[ 9.99691167e-01 -2.48445412e-02 -5.64544150e-04 1.46274236e+02] [ 2.48445185e-02 9.99691326e-01 -4.71402390e-05 8.03015510e+00] [ 5.65541068e-04 3.30998530e-05 9.99999840e-01 -1.88866480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.80140051300003 meters Centerline goodness [0,1] 0.9919271109227672 Centerline is valid? [True, True] Translation: X:146.30, Y:8.03, Z:-0.19 [[ 9.99728645e-01 -2.31517416e-02 -2.57563208e-03 1.46304546e+02] [ 2.31512632e-02 9.99731950e-01 -2.15402247e-04 8.03102143e+00] [ 2.57992862e-03 1.55714660e-04 9.99996660e-01 -1.92379243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.831400513 meters Centerline goodness [0,1] 0.9984137055837563 Centerline is valid? [True, True] Translation: X:146.34, Y:8.02, Z:-0.19 [[ 9.99746880e-01 -2.20748793e-02 -4.34453645e-03 1.46335061e+02] [ 2.20735076e-02 9.99756284e-01 -3.63433188e-04 8.02284397e+00] [ 4.35150036e-03 2.67442037e-04 9.99990496e-01 -1.94488933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.86140051300004 meters Centerline goodness [0,1] 0.9957655069688265 Centerline is valid? [True, True] Translation: X:146.36, Y:8.02, Z:-0.20 [[ 9.99767900e-01 -2.09434148e-02 -5.05170543e-03 1.46363183e+02] [ 2.09415447e-02 9.99780612e-01 -4.22806429e-04 8.02490622e+00] [ 5.05945216e-03 3.16917781e-04 9.99987151e-01 -1.95242680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.891400513 meters Centerline goodness [0,1] 0.9988513815327675 Centerline is valid? [True, True] Translation: X:146.39, Y:8.02, Z:-0.19 [[ 9.99812918e-01 -1.92523449e-02 -1.86425000e-03 1.46392504e+02] [ 1.92520872e-02 9.99814649e-01 -1.56082886e-04 8.02354968e+00] [ 1.86690942e-03 1.20162982e-04 9.99998250e-01 -1.89596071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.92140051300004 meters Centerline goodness [0,1] 0.9990010626992561 Centerline is valid? [True, True] Translation: X:146.42, Y:8.03, Z:-0.19 [[ 9.99830719e-01 -1.83976143e-02 2.46197481e-04 1.46422257e+02] [ 1.83976097e-02 9.99830749e-01 2.06331166e-05 8.02596616e+00] [-2.46535412e-04 -1.61001786e-05 9.99999969e-01 -1.86173872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.951400513 meters Centerline goodness [0,1] 0.9978377920040701 Centerline is valid? [True, True] Translation: X:146.45, Y:8.03, Z:-0.18 [[ 9.99849412e-01 -1.73232350e-02 1.02878789e-03 1.46450124e+02] [ 1.73231554e-02 9.99849939e-01 8.62469520e-05 8.03276363e+00] [-1.03012758e-03 -6.84121118e-05 9.99999467e-01 -1.84435892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.98140051300004 meters Centerline goodness [0,1] 0.9930994824611846 Centerline is valid? [True, True] Translation: X:146.48, Y:8.03, Z:-0.19 [[ 9.99903589e-01 -1.38848338e-02 -1.52392609e-04 1.46480346e+02] [ 1.38848320e-02 9.99903601e-01 -1.27673864e-05 8.03398374e+00] [ 1.52555192e-04 1.06502098e-05 9.99999988e-01 -1.86443107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.011400513 meters Centerline goodness [0,1] 0.9857694265354597 Centerline is valid? [True, True] Translation: X:146.51, Y:8.04, Z:-0.19 [[ 9.99929432e-01 -1.18654587e-02 -5.85047394e-04 1.46509945e+02] [ 1.18654321e-02 9.99929602e-01 -4.90372312e-05 8.03702761e+00] [ 5.85588057e-04 4.20919306e-05 9.99999828e-01 -1.87686370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.041400513 meters Centerline goodness [0,1] 0.9857694265354597 Centerline is valid? [True, True] Translation: X:146.54, Y:8.04, Z:-0.19 [[ 9.99927321e-01 -1.20420633e-02 -5.85046416e-04 1.46537436e+02] [ 1.20420366e-02 9.99927491e-01 -4.90488984e-05 8.03946883e+00] [ 5.85594644e-04 4.20001832e-05 9.99999828e-01 -1.87671040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.071400513 meters Centerline goodness [0,1] 0.9798394822557639 Centerline is valid? [True, True] Translation: X:146.57, Y:8.04, Z:-0.19 [[ 9.99958238e-01 -9.13868458e-03 8.06497140e-05 1.46567604e+02] [ 9.13868406e-03 9.99958241e-01 6.77480627e-06 8.04285609e+00] [-8.07082590e-05 -6.03749108e-06 9.99999997e-01 -1.87666338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.101400513 meters Centerline goodness [0,1] 0.9873620050296237 Centerline is valid? [True, True] Translation: X:146.60, Y:8.04, Z:-0.19 [[ 9.99962182e-01 -8.68822163e-03 3.87182038e-04 1.46596830e+02] [ 8.68820963e-03 9.99962256e-01 3.26734497e-05 8.04269465e+00] [-3.87451299e-04 -2.93082953e-05 9.99999925e-01 -1.87086030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.131400513 meters Centerline goodness [0,1] 0.9935623235520575 Centerline is valid? [True, True] Translation: X:146.63, Y:8.04, Z:-0.19 [[ 9.99959514e-01 -8.99028851e-03 3.80294306e-04 1.46626205e+02] [ 8.99027693e-03 9.99959586e-01 3.21551801e-05 8.04212456e+00] [-3.80568021e-04 -2.87349271e-05 9.99999927e-01 -1.86456345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.161400513 meters Centerline goodness [0,1] 0.9701429057502552 Centerline is valid? [True, True] Translation: X:146.65, Y:8.05, Z:-0.19 [[ 9.99953517e-01 -9.63013062e-03 4.73013366e-04 1.46654132e+02] [ 9.63011281e-03 9.99953629e-01 3.99201646e-05 8.04851017e+00] [-4.73375868e-04 -3.53631369e-05 9.99999887e-01 -1.86089591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.191400513 meters Centerline goodness [0,1] 0.9900023599579498 Centerline is valid? [True, True] Translation: X:146.68, Y:8.05, Z:-0.19 [[ 9.99935692e-01 -1.13218294e-02 6.54319805e-04 1.46684218e+02] [ 1.13217956e-02 9.99935905e-01 5.52091339e-05 8.04638153e+00] [-6.54902935e-04 -4.77975083e-05 9.99999784e-01 -1.86598585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.221400513 meters Centerline goodness [0,1] 0.9861381941500635 Centerline is valid? [True, True] Translation: X:146.71, Y:8.05, Z:-0.19 [[ 9.99932551e-01 -1.15907909e-02 7.39939679e-04 1.46711709e+02] [ 1.15907478e-02 9.99932823e-01 6.24981490e-05 8.05056811e+00] [-7.40614375e-04 -5.39174793e-05 9.99999724e-01 -1.86636060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.251400513 meters Centerline goodness [0,1] 0.769827312215277 Centerline is valid? [True, False] Translation: X:146.71, Y:8.05, Z:-0.19 [[ 9.99973779e-01 -7.23916311e-03 1.91860302e-04 1.46713197e+02] [ 7.23801808e-03 9.99959141e-01 5.41555378e-03 8.04501714e+00] [-2.31056540e-04 -5.41402309e-03 9.99985317e-01 -1.86079453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.281400513 meters Centerline goodness [0,1] 0.9814194594363974 Centerline is valid? [False, True] Translation: X:146.71, Y:8.05, Z:-0.19 [[ 9.99973157e-01 -7.32498143e-03 1.72439522e-04 1.46713545e+02] [ 7.32398343e-03 9.99959599e-01 5.21146753e-03 8.04592509e+00] [-2.10606458e-04 -5.21006469e-03 9.99986405e-01 -1.86625048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.311400513 meters Centerline goodness [0,1] 0.9893867419865623 Centerline is valid? [True, True] Translation: X:146.74, Y:8.05, Z:-0.19 [[ 9.99983587e-01 -5.52608437e-03 1.51253321e-03 1.46741359e+02] [ 5.52312830e-03 9.99982843e-01 1.95163275e-03 8.04920587e+00] [-1.52329214e-03 -1.94324680e-03 9.99996952e-01 -1.86097167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.341400513 meters Centerline goodness [0,1] 0.9087702897934903 Centerline is valid? [True, False] Translation: X:146.74, Y:8.05, Z:-0.19 [[ 9.99983594e-01 -5.50097501e-03 1.59746231e-03 1.46740735e+02] [ 5.49777137e-03 9.99982881e-01 2.00297091e-03 8.04906127e+00] [-1.60845325e-03 -1.99415557e-03 9.99996718e-01 -1.85442321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.371400513 meters Centerline goodness [0,1] 0.8207938950608176 Centerline is valid? [False, False] Translation: X:146.74, Y:8.05, Z:-0.18 [[ 9.99983515e-01 -5.50553398e-03 1.63066199e-03 1.46740297e+02] [ 5.50227214e-03 9.99982866e-01 1.99809810e-03 8.04915994e+00] [-1.64163465e-03 -1.98909282e-03 9.99996674e-01 -1.84807676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.401400513 meters Centerline goodness [0,1] 0.9964918248889078 Centerline is valid? [False, True] Translation: X:146.74, Y:8.05, Z:-0.18 [[ 9.99983150e-01 -5.56395593e-03 1.65613328e-03 1.46740031e+02] [ 5.56084522e-03 9.99982777e-01 1.87701371e-03 8.04976620e+00] [-1.66654838e-03 -1.86777258e-03 9.99996867e-01 -1.84470824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.431400513 meters Centerline goodness [0,1] 0.9990830969998081 Centerline is valid? [True, True] Translation: X:146.77, Y:8.05, Z:-0.19 [[ 9.99977751e-01 -6.41937156e-03 1.81373623e-03 1.46770529e+02] [ 6.41912262e-03 9.99979387e-01 1.43042901e-04 8.04880473e+00] [-1.81461709e-03 -1.31397123e-04 9.99998345e-01 -1.85035433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.461400513 meters Centerline goodness [0,1] 0.997816871555744 Centerline is valid? [True, True] Translation: X:146.80, Y:8.06, Z:-0.19 [[ 9.99973294e-01 -7.10331190e-03 1.71868110e-03 1.46799710e+02] [ 7.10308931e-03 9.99974764e-01 1.35582100e-04 8.05740040e+00] [-1.71960081e-03 -1.23370534e-04 9.99998514e-01 -1.85041728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.49140051300003 meters Centerline goodness [0,1] 0.9969016431975042 Centerline is valid? [True, True] Translation: X:146.83, Y:8.06, Z:-0.18 [[ 9.99966845e-01 -7.99747881e-03 1.53269417e-03 1.46829135e+02] [ 7.99730280e-03 9.99968014e-01 1.20928488e-04 8.06140181e+00] [-1.53361227e-03 -1.08667059e-04 9.99998818e-01 -1.84992536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.521400513 meters Centerline goodness [0,1] 0.9749344276165496 Centerline is valid? [True, True] Translation: X:146.86, Y:8.07, Z:-0.18 [[ 9.99957816e-01 -9.06759546e-03 1.46428832e-03 1.46857627e+02] [ 9.06743588e-03 9.99958883e-01 1.15579738e-04 8.07173402e+00] [-1.46527615e-03 -1.02297522e-04 9.99998921e-01 -1.84243332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.55140051300003 meters Centerline goodness [0,1] 0.9983945199614684 Centerline is valid? [True, True] Translation: X:146.89, Y:8.06, Z:-0.18 [[ 9.99958489e-01 -9.05906020e-03 9.76090834e-04 1.46887716e+02] [ 9.05898926e-03 9.99958964e-01 7.70779392e-05 8.06480617e+00] [-9.76749032e-04 -6.82323433e-05 9.99999521e-01 -1.84978796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.581400513 meters Centerline goodness [0,1] 0.9991863303498779 Centerline is valid? [True, True] Translation: X:146.92, Y:8.07, Z:-0.19 [[ 9.99967155e-01 -8.09702432e-03 -3.56176285e-04 1.46917489e+02] [ 8.09701483e-03 9.99967218e-01 -2.80898992e-05 8.06548829e+00] [ 3.56392054e-04 2.52050119e-05 9.99999936e-01 -1.87147486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.61140051300004 meters Centerline goodness [0,1] 0.9992511607009136 Centerline is valid? [True, True] Translation: X:146.95, Y:8.07, Z:-0.19 [[ 9.99971122e-01 -7.54385502e-03 -9.19841421e-04 1.46946372e+02] [ 7.54379146e-03 9.99971543e-01 -7.25479113e-05 8.07002055e+00] [ 9.20362535e-04 6.56067244e-05 9.99999574e-01 -1.88194178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.641400513 meters Centerline goodness [0,1] 0.9801831206816158 Centerline is valid? [True, True] Translation: X:146.97, Y:8.09, Z:-0.19 [[ 9.99976888e-01 -6.76922136e-03 -6.32676082e-04 1.46973732e+02] [ 6.76919105e-03 9.99977088e-01 -5.00299031e-05 8.08745292e+00] [ 6.33000250e-04 4.57460415e-05 9.99999799e-01 -1.88083037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.67140051300004 meters Centerline goodness [0,1] 0.9760989186088508 Centerline is valid? [True, True] Translation: X:147.00, Y:8.09, Z:-0.19 [[ 9.99981934e-01 -6.00962877e-03 1.27858745e-04 1.47002839e+02] [ 6.00962752e-03 9.99981942e-01 1.01542131e-05 8.09421592e+00] [-1.27917460e-04 -9.38564617e-06 9.99999992e-01 -1.86791271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.701400513 meters Centerline goodness [0,1] 0.9821006704267319 Centerline is valid? [True, True] Translation: X:147.03, Y:8.10, Z:-0.18 [[ 9.99988761e-01 -4.50736833e-03 1.47023850e-03 1.47031960e+02] [ 4.50720198e-03 9.99989836e-01 1.16439204e-04 8.10361135e+00] [-1.47074839e-03 -1.09811234e-04 9.99998912e-01 -1.83336473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.73140051300004 meters Centerline goodness [0,1] 0.9887521222410866 Centerline is valid? [True, True] Translation: X:147.06, Y:8.11, Z:-0.18 [[ 9.99991346e-01 -3.93022226e-03 1.36437606e-03 1.47062572e+02] [ 3.93007853e-03 9.99992271e-01 1.08009956e-04 8.10850556e+00] [-1.36479002e-03 -1.02646916e-04 9.99999063e-01 -1.83062580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.761400513 meters Centerline goodness [0,1] 0.8988976444850364 Centerline is valid? [True, False] Translation: X:147.06, Y:8.12, Z:-0.18 [[ 9.99986926e-01 -4.92281763e-03 1.38344919e-03 1.47063505e+02] [ 4.92567436e-03 9.99985728e-01 -2.06916553e-03 8.11849043e+00] [-1.37324332e-03 2.07595290e-03 9.99996902e-01 -1.84921899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.791400513 meters Centerline goodness [0,1] 0.7931372967436302 Centerline is valid? [False, False] Translation: X:147.06, Y:8.12, Z:-0.19 [[ 9.99984283e-01 -5.39532177e-03 1.52466613e-03 1.47063216e+02] [ 5.40008517e-03 9.99980497e-01 -3.13757396e-03 8.12350325e+00] [-1.50770817e-03 3.14575797e-03 9.99993915e-01 -1.85313829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.821400513 meters Centerline goodness [0,1] 0.9985660474274463 Centerline is valid? [False, True] Translation: X:147.06, Y:8.13, Z:-0.18 [[ 9.99982135e-01 -5.72754687e-03 1.71046033e-03 1.47062363e+02] [ 5.73418851e-03 9.99975940e-01 -3.90363254e-03 8.12720373e+00] [-1.68806094e-03 3.91337090e-03 9.99990918e-01 -1.84865191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.851400513 meters Centerline goodness [0,1] 0.9954313642158946 Centerline is valid? [True, True] Translation: X:147.09, Y:8.13, Z:-0.18 [[ 9.99956964e-01 -8.28632707e-03 4.17226112e-03 1.47092076e+02] [ 8.28503170e-03 9.99965625e-01 3.27660506e-04 8.13215978e+00] [-4.17483280e-03 -2.93079089e-04 9.99991242e-01 -1.79599671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.881400513 meters Centerline goodness [0,1] 0.9954953993296471 Centerline is valid? [True, True] Translation: X:147.12, Y:8.14, Z:-0.18 [[ 9.99953734e-01 -8.76759601e-03 3.95718983e-03 1.47122856e+02] [ 8.76643517e-03 9.99961526e-01 3.10601270e-04 8.13605929e+00] [-3.95976081e-03 -2.75896451e-04 9.99992122e-01 -1.79126866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.911400513 meters Centerline goodness [0,1] 0.9979596174282678 Centerline is valid? [True, True] Translation: X:147.15, Y:8.14, Z:-0.18 [[ 9.99954775e-01 -8.98179280e-03 3.12658573e-03 1.47153718e+02] [ 8.98106943e-03 9.99959639e-01 2.45323634e-04 8.13882382e+00] [-3.12866298e-03 -2.17232456e-04 9.99995082e-01 -1.80325016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.941400513 meters Centerline goodness [0,1] 0.999034500514933 Centerline is valid? [True, True] Translation: X:147.18, Y:8.14, Z:-0.18 [[ 9.99955482e-01 -9.21490106e-03 2.02944084e-03 1.47184369e+02] [ 9.21459680e-03 9.99957532e-01 1.59223522e-04 8.14427806e+00] [-2.03082188e-03 -1.40515955e-04 9.99997928e-01 -1.83055572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.971400513 meters Centerline goodness [0,1] 0.9977550933965861 Centerline is valid? [True, True] Translation: X:147.21, Y:8.15, Z:-0.18 [[ 9.99959669e-01 -8.73597462e-03 2.08406366e-03 1.47213441e+02] [ 8.73565255e-03 9.99961830e-01 1.63593418e-04 8.14954070e+00] [-2.08541326e-03 -1.45381164e-04 9.99997815e-01 -1.82476348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.001400513 meters Centerline goodness [0,1] 0.9968065402056588 Centerline is valid? [True, True] Translation: X:147.24, Y:8.15, Z:-0.18 [[ 9.99956490e-01 -8.88135676e-03 2.85291457e-03 1.47244231e+02] [ 8.88075392e-03 9.99960540e-01 2.23905044e-04 8.15310836e+00] [-2.85479058e-03 -1.98559270e-04 9.99995905e-01 -1.81820023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.031400513 meters Centerline goodness [0,1] 0.9983282609627502 Centerline is valid? [True, True] Translation: X:147.28, Y:8.15, Z:-0.18 [[ 9.99949650e-01 -9.40473686e-03 3.49986775e-03 1.47275798e+02] [ 9.40383329e-03 9.99955745e-01 2.74541273e-04 8.15407917e+00] [-3.50229485e-03 -2.41615277e-04 9.99993838e-01 -1.81209313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.061400513 meters Centerline goodness [0,1] 0.9984388699985031 Centerline is valid? [True, True] Translation: X:147.31, Y:8.16, Z:-0.18 [[ 9.99956489e-01 -8.99707497e-03 2.46433333e-03 1.47307390e+02] [ 8.99662594e-03 9.99959511e-01 1.93237029e-04 8.15534796e+00] [-2.46597212e-03 -1.71057936e-04 9.99996945e-01 -1.82284059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.091400513 meters Centerline goodness [0,1] 0.9980880759671149 Centerline is valid? [True, True] Translation: X:147.34, Y:8.16, Z:-0.18 [[ 9.99967886e-01 -7.91294146e-03 1.26953570e-03 1.47337960e+02] [ 7.91282143e-03 9.99968688e-01 9.95356305e-05 8.15906222e+00] [-1.27028357e-03 -8.94868247e-05 9.99999189e-01 -1.84003759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.121400513 meters Centerline goodness [0,1] 0.9957399439128294 Centerline is valid? [True, True] Translation: X:147.37, Y:8.16, Z:-0.19 [[ 9.99989933e-01 -4.48628646e-03 -8.21997033e-05 1.47368065e+02] [ 4.48628594e-03 9.99989937e-01 -6.44872747e-06 8.16362494e+00] [ 8.22278069e-05 6.07989118e-06 9.99999997e-01 -1.86031165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.151400513 meters Centerline goodness [0,1] 0.9721785000212703 Centerline is valid? [True, True] Translation: X:147.40, Y:8.17, Z:-0.18 [[ 9.99996855e-01 -2.42602615e-03 6.35743766e-04 1.47396736e+02] [ 2.42599493e-03 9.99997056e-01 4.98679723e-05 8.17229673e+00] [-6.35862875e-04 -4.83255043e-05 9.99999797e-01 -1.84925662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.181400513 meters Centerline goodness [0,1] 0.9341471181403248 Centerline is valid? [True, False] Translation: X:147.40, Y:8.18, Z:-0.18 [[ 9.99995824e-01 -2.69639516e-03 1.03995495e-03 1.47395304e+02] [ 2.69766915e-03 9.99995610e-01 -1.22559261e-03 8.17879157e+00] [-1.03664570e-03 1.22839294e-03 9.99998708e-01 -1.84902374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.211400513 meters Centerline goodness [0,1] 0.9935385866193115 Centerline is valid? [False, True] Translation: X:147.40, Y:8.18, Z:-0.18 [[ 9.99995403e-01 -2.83538818e-03 1.07459449e-03 1.47395150e+02] [ 2.83708643e-03 9.99994724e-01 -1.58215010e-03 8.18050758e+00] [-1.07010281e-03 1.58519154e-03 9.99998171e-01 -1.84806655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.24140051300003 meters Centerline goodness [0,1] 0.6937949831778885 Centerline is valid? [True, False] Translation: X:147.40, Y:8.18, Z:-0.18 [[ 9.99995360e-01 -2.86055255e-03 1.04753093e-03 1.47395321e+02] [ 2.86226738e-03 9.99994560e-01 -1.63919950e-03 8.18073926e+00] [-1.04283622e-03 1.64219021e-03 9.99998108e-01 -1.84981637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.271400513 meters Centerline goodness [0,1] 0.9874496905699571 Centerline is valid? [False, True] Translation: X:147.35, Y:8.17, Z:-0.18 [[ 9.99994948e-01 -2.84121000e-03 -1.42495847e-03 1.47353953e+02] [ 2.84399649e-03 9.99994040e-01 1.95729085e-03 8.17329490e+00] [ 1.41938890e-03 -1.96133354e-03 9.99997069e-01 -1.83987311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.30140051300003 meters Centerline goodness [0,1] 0.9966825760332171 Centerline is valid? [True, True] Translation: X:147.38, Y:8.17, Z:-0.18 [[ 9.99983880e-01 -5.66140199e-03 -4.33215140e-04 1.47384223e+02] [ 5.66138687e-03 9.99983974e-01 -3.61139428e-05 8.17296046e+00] [ 4.33412653e-04 3.36607622e-05 9.99999906e-01 -1.84403495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.331400513 meters Centerline goodness [0,1] 0.9743331332018184 Centerline is valid? [True, True] Translation: X:147.41, Y:8.18, Z:-0.18 [[ 9.99970085e-01 -7.71796720e-03 5.11397960e-04 1.47412437e+02] [ 7.71794632e-03 9.99970215e-01 4.27860783e-05 8.18065902e+00] [-5.11712950e-04 -3.88378563e-05 9.99999868e-01 -1.82682240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.36140051300004 meters Centerline goodness [0,1] 0.9779321704607847 Centerline is valid? [True, True] Translation: X:147.44, Y:8.18, Z:-0.18 [[ 9.99954627e-01 -9.47510939e-03 9.83363072e-04 1.47442300e+02] [ 9.47503325e-03 9.99955107e-01 8.20624934e-05 8.18183289e+00] [-9.84096477e-04 -7.27413722e-05 9.99999513e-01 -1.81959131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.391400513 meters Centerline goodness [0,1] 0.9944015444015444 Centerline is valid? [True, True] Translation: X:147.47, Y:8.18, Z:-0.18 [[ 9.99930973e-01 -1.17305819e-02 6.64882466e-04 1.47472927e+02] [ 1.17305476e-02 9.99931193e-01 5.54720929e-05 8.18277063e+00] [-6.65487438e-04 -4.76688285e-05 9.99999777e-01 -1.82082895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.42140051300004 meters Centerline goodness [0,1] 0.9954098221306076 Centerline is valid? [True, True] Translation: X:147.50, Y:8.19, Z:-0.18 [[ 9.99927681e-01 -1.19603804e-02 1.25813992e-03 1.47501991e+02] [ 1.19602565e-02 9.99928468e-01 1.05905223e-04 8.18633130e+00] [-1.25931659e-03 -9.08498875e-05 9.99999203e-01 -1.81447422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.451400513 meters Centerline goodness [0,1] 0.8992635232371117 Centerline is valid? [True, False] Translation: X:147.50, Y:8.19, Z:-0.18 [[ 9.99923101e-01 -1.23251420e-02 1.37225449e-03 1.47501535e+02] [ 1.23262602e-02 9.99923701e-01 -8.09371023e-04 8.19073212e+00] [-1.36217418e-03 8.26223549e-04 9.99998731e-01 -1.81344930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.48140051300004 meters Centerline goodness [0,1] 0.9974414737111423 Centerline is valid? [False, True] Translation: X:147.50, Y:8.19, Z:-0.18 [[ 9.99920742e-01 -1.25051369e-02 1.45958163e-03 1.47501346e+02] [ 1.25069457e-02 9.99921020e-01 -1.23676236e-03 8.19273440e+00] [-1.44400047e-03 1.25491924e-03 9.99998170e-01 -1.81554686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.511400513 meters Centerline goodness [0,1] 0.9900964902979535 Centerline is valid? [True, True] Translation: X:147.53, Y:8.20, Z:-0.18 [[ 9.99928686e-01 -1.18382884e-02 1.57408738e-03 1.47529756e+02] [ 1.18380896e-02 9.99929918e-01 1.35570889e-04 8.19931625e+00] [-1.57558200e-03 -1.16927033e-04 9.99998752e-01 -1.80681988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.541400513 meters Centerline goodness [0,1] 0.9200212089077413 Centerline is valid? [True, False] Translation: X:147.53, Y:8.20, Z:-0.18 [[ 9.99969666e-01 -7.65812511e-03 1.42118650e-03 1.47530120e+02] [ 7.65200991e-03 9.99961651e-01 4.25956366e-03 8.20022211e+00] [-1.45375227e-03 -4.24855952e-03 9.99989918e-01 -1.80679716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.571400513 meters Centerline goodness [0,1] 0.9157212661992776 Centerline is valid? [False, False] Translation: X:147.53, Y:8.21, Z:-0.18 [[ 9.99966127e-01 -8.09344960e-03 1.49714108e-03 1.47530026e+02] [ 8.08863377e-03 9.99962181e-01 3.19524769e-03 8.20525140e+00] [-1.52294504e-03 -3.18302963e-03 9.99993774e-01 -1.81059468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.601400513 meters Centerline goodness [0,1] 0.8505857294994675 Centerline is valid? [False, False] Translation: X:147.53, Y:8.21, Z:-0.18 [[ 9.99962298e-01 -8.53836390e-03 1.58106774e-03 1.47529983e+02] [ 8.53498567e-03 9.99961305e-01 2.13123199e-03 8.21023235e+00] [-1.59920380e-03 -2.11765725e-03 9.99996479e-01 -1.81594509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.631400513 meters Centerline goodness [0,1] 0.7956922946079266 Centerline is valid? [False, False] Translation: X:147.53, Y:8.21, Z:-0.18 [[ 9.99988011e-01 -4.71527045e-03 1.32035991e-03 1.47530517e+02] [ 4.70750005e-03 9.99971939e-01 5.82759666e-03 8.21290046e+00] [-1.34780155e-03 -5.82131120e-03 9.99982148e-01 -1.81214505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.661400513 meters Centerline goodness [0,1] 0.9780398447831082 Centerline is valid? [False, True] Translation: X:147.51, Y:8.22, Z:-0.18 [[ 9.99983950e-01 -4.98164330e-03 -2.69866757e-03 1.47507220e+02] [ 4.96714246e-03 9.99973333e-01 -5.35364535e-03 8.22181004e+00] [ 2.72526556e-03 5.34015476e-03 9.99982028e-01 -1.76744477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.691400513 meters Centerline goodness [0,1] 0.8494660256137514 Centerline is valid? [True, False] Translation: X:147.55, Y:8.23, Z:-0.18 [[ 9.99986871e-01 -5.09300347e-03 5.64260345e-04 1.47545742e+02] [ 5.09717465e-03 9.99957706e-01 -7.65544993e-03 8.22792541e+00] [-5.25247246e-04 7.65822556e-03 9.99970537e-01 -1.76017818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.721400513 meters Centerline goodness [0,1] 0.8563576945929887 Centerline is valid? [False, False] Translation: X:147.55, Y:8.22, Z:-0.18 [[ 9.99985872e-01 -5.30125082e-03 3.90635843e-04 1.47545913e+02] [ 5.30389739e-03 9.99960601e-01 -7.11787970e-03 8.22481016e+00] [-3.52886787e-04 7.11985103e-03 9.99974591e-01 -1.75100666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.751400513 meters Centerline goodness [0,1] 0.999373338807615 Centerline is valid? [False, True] Translation: X:147.50, Y:8.22, Z:-0.17 [[ 9.99986998e-01 -4.81712707e-03 -1.67313560e-03 1.47503967e+02] [ 4.81338957e-03 9.99985927e-01 -2.23072009e-03 8.21567096e+00] [ 1.68385771e-03 2.22263764e-03 9.99996112e-01 -1.73146976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.781400513 meters Centerline goodness [0,1] 0.9512493927296538 Centerline is valid? [True, True] Translation: X:147.53, Y:8.23, Z:-0.17 [[ 9.99962417e-01 -8.56297296e-03 -1.35654560e-03 1.47532044e+02] [ 8.56285045e-03 9.99963334e-01 -9.60907017e-05 8.23061773e+00] [ 1.35731868e-03 8.44711932e-05 9.99999075e-01 -1.70198366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.811400513 meters Centerline goodness [0,1] 0.9976644443500785 Centerline is valid? [True, True] Translation: X:147.56, Y:8.23, Z:-0.17 [[ 9.99953382e-01 -9.64346373e-03 -4.88011907e-04 1.47561931e+02] [ 9.64344868e-03 9.99953500e-01 -3.31869848e-05 8.22540501e+00] [ 4.88309252e-04 2.84793199e-05 9.99999880e-01 -1.70744145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.841400513 meters Centerline goodness [0,1] 0.9991210770022295 Centerline is valid? [True, True] Translation: X:147.59, Y:8.22, Z:-0.17 [[ 9.99947851e-01 -1.02078114e-02 3.09045315e-04 1.47590723e+02] [ 1.02078045e-02 9.99947899e-01 2.37741479e-05 8.22488934e+00] [-3.09271895e-04 -2.06182340e-05 9.99999952e-01 -1.69810386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.871400513 meters Centerline goodness [0,1] 0.9953663357918677 Centerline is valid? [True, True] Translation: X:147.62, Y:8.23, Z:-0.17 [[ 9.99948217e-01 -1.00412607e-02 1.65410083e-03 1.47619283e+02] [ 1.00410784e-02 9.99949580e-01 1.18477012e-04 8.23021797e+00] [-1.65520709e-03 -1.01861921e-04 9.99998625e-01 -1.67390284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.901400513 meters Centerline goodness [0,1] 0.9953663357918677 Centerline is valid? [True, True] Translation: X:147.65, Y:8.23, Z:-0.17 [[ 9.99948217e-01 -1.00412646e-02 1.65412676e-03 1.47649264e+02] [ 1.00410829e-02 9.99949580e-01 1.18113922e-04 8.23235906e+00] [-1.65522937e-03 -1.01498581e-04 9.99998625e-01 -1.67064307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.931400513 meters Centerline goodness [0,1] 0.9993980048159615 Centerline is valid? [True, True] Translation: X:147.68, Y:8.23, Z:-0.17 [[ 9.99951261e-01 -9.65761739e-03 2.05074982e-03 1.47680384e+02] [ 9.65733730e-03 9.99953356e-01 1.46435031e-04 8.23047397e+00] [-2.05206837e-03 -1.26623111e-04 9.99997886e-01 -1.67037832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.961400513 meters Centerline goodness [0,1] 0.999379134642146 Centerline is valid? [True, True] Translation: X:147.71, Y:8.23, Z:-0.17 [[ 9.99950963e-01 -9.68855501e-03 2.05041637e-03 1.47710827e+02] [ 9.68827509e-03 9.99953057e-01 1.46411221e-04 8.23461672e+00] [-2.05173863e-03 -1.26539044e-04 9.99997887e-01 -1.66650095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.99140051300003 meters Centerline goodness [0,1] 0.9997807498355624 Centerline is valid? [True, True] Translation: X:147.74, Y:8.23, Z:-0.17 [[ 9.99947202e-01 -1.02511777e-02 7.11958589e-04 1.47741322e+02] [ 1.02511441e-02 9.99947454e-01 5.08378337e-05 8.23173652e+00] [-7.12442326e-04 -4.35367595e-05 9.99999745e-01 -1.69382308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.021400513 meters Centerline goodness [0,1] 0.9994641976896205 Centerline is valid? [True, True] Translation: X:147.77, Y:8.24, Z:-0.17 [[ 9.99953714e-01 -9.59259150e-03 -7.42781016e-04 1.47768807e+02] [ 9.59255501e-03 9.99953989e-01 -5.26719961e-05 8.24493315e+00] [ 7.43252100e-04 4.55443904e-05 9.99999723e-01 -1.69588605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.05140051300003 meters Centerline goodness [0,1] 0.9989559140014064 Centerline is valid? [True, True] Translation: X:147.80, Y:8.25, Z:-0.17 [[ 9.99954709e-01 -9.30606174e-03 -1.99429862e-03 1.47796004e+02] [ 9.30579704e-03 9.99956690e-01 -1.41967516e-04 8.25225075e+00] [ 1.99553340e-03 1.23402548e-04 9.99998001e-01 -1.71870629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.081400513 meters Centerline goodness [0,1] 0.9996136924562722 Centerline is valid? [True, True] Translation: X:147.82, Y:8.25, Z:-0.17 [[ 9.99954787e-01 -9.21821445e-03 -2.33422420e-03 1.47824658e+02] [ 9.21785290e-03 9.99957501e-01 -1.65601401e-04 8.25263531e+00] [ 2.33565155e-03 1.44077378e-04 9.99997262e-01 -1.73824708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.11140051300004 meters Centerline goodness [0,1] 0.9356267029972752 Centerline is valid? [True, False] Translation: X:147.82, Y:8.26, Z:-0.17 [[ 9.99949510e-01 -9.79100775e-03 -2.26152052e-03 1.47824455e+02] [ 9.78761534e-03 9.99950966e-01 -1.50628751e-03 8.25898593e+00] [ 2.27615770e-03 1.48407657e-03 9.99996308e-01 -1.73993490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.141400513 meters Centerline goodness [0,1] 0.9986216548623775 Centerline is valid? [False, True] Translation: X:147.83, Y:8.25, Z:-0.17 [[ 9.99980280e-01 -5.62338603e-03 -2.79573673e-03 1.47825839e+02] [ 5.63357547e-03 9.99977469e-01 3.65021575e-03 8.25419224e+00] [ 2.77514717e-03 -3.66589377e-03 9.99989430e-01 -1.73291281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.17140051300004 meters Centerline goodness [0,1] 0.9995727043541426 Centerline is valid? [True, True] Translation: X:147.85, Y:8.25, Z:-0.18 [[ 9.99980322e-01 -5.75561035e-03 -2.49564602e-03 1.47852922e+02] [ 5.76586674e-03 9.99974881e-01 4.12218081e-03 8.25348669e+00] [ 2.47185767e-03 -4.13648926e-03 9.99988390e-01 -1.75694065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.201400513 meters Centerline goodness [0,1] 0.9998484586075511 Centerline is valid? [True, True] Translation: X:147.89, Y:8.26, Z:-0.18 [[ 9.99949926e-01 -9.34034696e-03 -3.59225643e-03 1.47886051e+02] [ 9.32434910e-03 9.99946649e-01 -4.44468536e-03 8.26191894e+00] [ 3.63357969e-03 4.41096734e-03 9.99983670e-01 -1.78151452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.23140051300004 meters Centerline goodness [0,1] 0.9999135153834512 Centerline is valid? [True, True] Translation: X:147.92, Y:8.26, Z:-0.18 [[ 9.99905388e-01 -1.27869640e-02 -5.07032715e-03 1.47916626e+02] [ 1.27853787e-02 9.99918204e-01 -3.44947104e-04 8.26274384e+00] [ 5.07432325e-03 2.80088414e-04 9.99987086e-01 -1.80116749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.261400513 meters Centerline goodness [0,1] 0.999871761990254 Centerline is valid? [True, True] Translation: X:147.95, Y:8.27, Z:-0.18 [[ 9.99870280e-01 -1.50463916e-02 -5.74702963e-03 1.47945050e+02] [ 1.50443932e-02 9.99886750e-01 -3.90802638e-04 8.26672888e+00] [ 5.75225895e-03 3.04291370e-04 9.99983409e-01 -1.80651903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.291400513 meters Centerline goodness [0,1] 0.9998102106661606 Centerline is valid? [True, True] Translation: X:147.97, Y:8.28, Z:-0.18 [[ 9.99835191e-01 -1.71613028e-02 -5.92281709e-03 1.47973634e+02] [ 1.71592157e-02 9.99852689e-01 -4.03038717e-04 8.27606897e+00] [ 5.92886126e-03 3.01341398e-04 9.99982379e-01 -1.79686267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.321400513 meters Centerline goodness [0,1] 0.9999354408315221 Centerline is valid? [True, True] Translation: X:148.00, Y:8.27, Z:-0.18 [[ 9.99751530e-01 -2.16658375e-02 -5.24111705e-03 1.48004947e+02] [ 2.16642637e-02 9.99765239e-01 -3.56881621e-04 8.26828188e+00] [ 5.24761877e-03 2.43248006e-04 9.99986202e-01 -1.77604205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.351400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.03, Y:8.27, Z:-0.18 [[ 9.99706499e-01 -2.38324652e-02 -4.35070601e-03 1.48034963e+02] [ 2.38314019e-02 9.99715948e-01 -2.96086160e-04 8.26597299e+00] [ 4.35652665e-03 1.92315835e-04 9.99990492e-01 -1.75649826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.381400513 meters Centerline goodness [0,1] 0.9999362461747705 Centerline is valid? [True, True] Translation: X:148.06, Y:8.27, Z:-0.17 [[ 9.99663770e-01 -2.56967215e-02 -3.46765118e-03 1.48062510e+02] [ 2.56960581e-02 9.99669774e-01 -2.35743786e-04 8.26844504e+00] [ 3.47256391e-03 1.46559556e-04 9.99993960e-01 -1.73785201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.411400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.09, Y:8.27, Z:-0.17 [[ 9.99607009e-01 -2.78582551e-02 -3.12157083e-03 1.48091774e+02] [ 2.78577300e-02 9.99611876e-01 -2.11574532e-04 8.26898202e+00] [ 3.12625337e-03 1.24531508e-04 9.99995106e-01 -1.73842252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.441400513 meters Centerline goodness [0,1] 0.9999576127500848 Centerline is valid? [True, True] Translation: X:148.12, Y:8.27, Z:-0.17 [[ 9.99480384e-01 -3.20411044e-02 -3.51125675e-03 1.48121148e+02] [ 3.20404594e-02 9.99486544e-01 -2.39811168e-04 8.27454154e+00] [ 3.51713769e-03 1.27184279e-04 9.99993807e-01 -1.74626443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.471400513 meters Centerline goodness [0,1] 0.9999789407181215 Centerline is valid? [True, True] Translation: X:148.15, Y:8.27, Z:-0.18 [[ 9.99405914e-01 -3.41880331e-02 -4.35852168e-03 1.48150768e+02] [ 3.41870631e-02 9.99415407e-01 -2.96891433e-04 8.27328724e+00] [ 4.36612385e-03 1.47709999e-04 9.99990458e-01 -1.76053925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.501400513 meters Centerline goodness [0,1] 0.999957312387945 Centerline is valid? [True, True] Translation: X:148.18, Y:8.27, Z:-0.18 [[ 9.99317648e-01 -3.65253695e-02 -5.48962444e-03 1.48181057e+02] [ 3.65238553e-02 9.99332711e-01 -3.75864000e-04 8.26860389e+00] [ 5.49968984e-03 1.75105280e-04 9.99984861e-01 -1.78038780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.531400513 meters Centerline goodness [0,1] 0.9999787563996346 Centerline is valid? [True, True] Translation: X:148.21, Y:8.27, Z:-0.18 [[ 9.99313358e-01 -3.66330732e-02 -5.55244478e-03 1.48209176e+02] [ 3.66315303e-02 9.99328768e-01 -3.79367321e-04 8.26996079e+00] [ 5.56261519e-03 1.75712283e-04 9.99984513e-01 -1.78091778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.561400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.24, Y:8.28, Z:-0.18 [[ 9.99366298e-01 -3.50492515e-02 -6.20906034e-03 1.48237059e+02] [ 3.50472785e-02 9.99385564e-01 -4.26306701e-04 8.27590411e+00] [ 6.22018701e-03 2.08425883e-04 9.99980633e-01 -1.78783504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.591400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.27, Y:8.28, Z:-0.18 [[ 9.99400140e-01 -3.40176234e-02 -6.49326133e-03 1.48265699e+02] [ 3.40154445e-02 9.99421208e-01 -4.45733809e-04 8.27820744e+00] [ 6.50466589e-03 2.24595260e-04 9.99978819e-01 -1.79005895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.621400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.29, Y:8.28, Z:-0.18 [[ 9.99427733e-01 -3.31260170e-02 -6.84643049e-03 1.48294095e+02] [ 3.31235653e-02 9.99451153e-01 -4.71201945e-04 8.28097590e+00] [ 6.85828190e-03 2.44154104e-04 9.99976452e-01 -1.79630470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.651400513 meters Centerline goodness [0,1] 0.9999783863228651 Centerline is valid? [True, True] Translation: X:148.32, Y:8.28, Z:-0.18 [[ 9.99441605e-01 -3.26892358e-02 -6.92043602e-03 1.48322382e+02] [ 3.26867091e-02 9.99465532e-01 -4.77922267e-04 8.28279038e+00] [ 6.93236019e-03 2.51449118e-04 9.99975939e-01 -1.80361878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.681400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.35, Y:8.29, Z:-0.18 [[ 9.99441144e-01 -3.29547359e-02 -5.60224157e-03 1.48348828e+02] [ 3.29530854e-02 9.99456825e-01 -3.86701101e-04 8.28824002e+00] [ 5.61194221e-03 2.01873846e-04 9.99984233e-01 -1.78000542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.711400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.38, Y:8.29, Z:-0.18 [[ 9.99422242e-01 -3.36328437e-02 -4.90038287e-03 1.48378100e+02] [ 3.36315853e-02 9.99434241e-01 -3.38997738e-04 8.29025699e+00] [ 4.90901190e-03 1.73994235e-04 9.99987936e-01 -1.76708907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.74140051300003 meters Centerline goodness [0,1] 0.9999572640441035 Centerline is valid? [True, True] Translation: X:148.41, Y:8.29, Z:-0.18 [[ 9.99399844e-01 -3.43596209e-02 -4.40091286e-03 1.48406204e+02] [ 3.43586109e-02 9.99409522e-01 -3.04930551e-04 8.29235891e+00] [ 4.40879152e-03 1.53538293e-04 9.99990269e-01 -1.76125229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.771400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.44, Y:8.29, Z:-0.18 [[ 9.99382397e-01 -3.49129966e-02 -3.98845653e-03 1.48435468e+02] [ 3.49121738e-02 9.99390346e-01 -2.75744793e-04 8.29041112e+00] [ 3.99565203e-03 1.36328804e-04 9.99992008e-01 -1.76787774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.80140051300003 meters Centerline goodness [0,1] 0.9999568602920558 Centerline is valid? [True, True] Translation: X:148.46, Y:8.29, Z:-0.18 [[ 9.99359239e-01 -3.57245150e-02 -2.20682024e-03 1.48463418e+02] [ 3.57242667e-02 9.99361673e-01 -1.51881721e-04 8.29131274e+00] [ 2.21083747e-03 7.29473666e-05 9.99997553e-01 -1.75943449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.831400513 meters Centerline goodness [0,1] 0.9999787405927123 Centerline is valid? [True, True] Translation: X:148.49, Y:8.30, Z:-0.17 [[ 9.99359482e-01 -3.57651358e-02 -1.21674470e-03 1.48491393e+02] [ 3.57650596e-02 9.99360222e-01 -8.43253684e-05 8.29641450e+00] [ 1.21898217e-03 4.07544096e-05 9.99999256e-01 -1.73843652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.86140051300004 meters Centerline goodness [0,1] 0.9997811864072996 Centerline is valid? [True, True] Translation: X:148.52, Y:8.30, Z:-0.17 [[ 9.99335298e-01 -3.64282537e-02 -1.39411278e-03 1.48520102e+02] [ 3.64281556e-02 9.99336270e-01 -9.57210890e-05 8.29572355e+00] [ 1.39667442e-03 4.48725056e-05 9.99999024e-01 -1.74738678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.891400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.55, Y:8.30, Z:-0.18 [[ 9.99335830e-01 -3.63643159e-02 -2.35281896e-03 1.48548308e+02] [ 3.63640300e-02 9.99338596e-01 -1.64209131e-04 8.29625705e+00] [ 2.35723415e-03 7.85420892e-05 9.99997219e-01 -1.75115348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.92140051300004 meters Centerline goodness [0,1] 0.9999788561158685 Centerline is valid? [True, True] Translation: X:148.58, Y:8.30, Z:-0.18 [[ 9.99285123e-01 -3.76636250e-02 -3.27032817e-03 1.48575630e+02] [ 3.76630780e-02 9.99290468e-01 -2.28706183e-04 8.30343547e+00] [ 3.27662168e-03 1.05372061e-04 9.99994626e-01 -1.75059218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.951400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.60, Y:8.30, Z:-0.18 [[ 9.99199747e-01 -3.97647294e-02 -4.31654912e-03 1.48604843e+02] [ 3.97637936e-02 9.99209062e-01 -3.02430947e-04 8.29960590e+00] [ 4.32516108e-03 1.30546557e-04 9.99990638e-01 -1.78031341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.98140051300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.63, Y:8.30, Z:-0.18 [[ 9.99007809e-01 -4.41417645e-02 -5.90780539e-03 1.48633939e+02] [ 4.41400846e-02 9.99025266e-01 -4.14510331e-04 8.29850172e+00] [ 5.92034407e-03 1.53328027e-04 9.99982463e-01 -1.80170446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.011400513 meters Centerline goodness [0,1] 0.9999788579039726 Centerline is valid? [True, True] Translation: X:148.66, Y:8.29, Z:-0.18 [[ 9.99005200e-01 -4.43899589e-02 -4.25932007e-03 1.48659267e+02] [ 4.44112464e-02 9.99000617e-01 5.04064754e-03 8.29421919e+00] [ 4.03130924e-03 -5.22479482e-03 9.99978225e-01 -1.78879972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.041400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.69, Y:8.30, Z:-0.18 [[ 9.98853468e-01 -4.74899143e-02 -6.03803198e-03 1.48691473e+02] [ 4.74572422e-02 9.98858435e-01 -5.44390959e-03 8.30164322e+00] [ 6.28966998e-03 5.15111963e-03 9.99966952e-01 -1.80183369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.071400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.72, Y:8.30, Z:-0.18 [[ 9.98867520e-01 -4.71264099e-02 -6.54054517e-03 1.48719055e+02] [ 4.71244143e-02 9.98888922e-01 -4.58970909e-04 8.30399329e+00] [ 6.55490776e-03 1.50231774e-04 9.99978505e-01 -1.79391102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.101400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.75, Y:8.31, Z:-0.18 [[ 9.98895424e-01 -4.65016176e-02 -6.74763717e-03 1.48747736e+02] [ 4.64994797e-02 9.98918202e-01 -4.73457024e-04 8.30755983e+00] [ 6.76235410e-03 1.59172437e-04 9.99977122e-01 -1.80329967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.131400513 meters Centerline goodness [0,1] 0.9999571899481998 Centerline is valid? [True, True] Translation: X:148.77, Y:8.32, Z:-0.18 [[ 9.98904429e-01 -4.62726766e-02 -6.98429976e-03 1.48774678e+02] [ 4.62703689e-02 9.98928832e-01 -4.91724999e-04 8.31569282e+00] [ 6.99957183e-03 1.68020153e-04 9.99975489e-01 -1.80756616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.161400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.80, Y:8.32, Z:-0.18 [[ 9.98984069e-01 -4.43098860e-02 -8.21369492e-03 1.48803053e+02] [ 4.43066256e-02 9.99017812e-01 -5.78574319e-04 8.32143005e+00] [ 8.23126409e-03 2.14065422e-04 9.99966100e-01 -1.82607091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.191400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.83, Y:8.33, Z:-0.18 [[ 9.99000358e-01 -4.36542077e-02 -9.62266774e-03 1.48830489e+02] [ 4.36496821e-02 9.99046667e-01 -6.79919426e-04 8.32837786e+00] [ 9.64317547e-03 2.59213362e-04 9.99953470e-01 -1.83610317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.221400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.86, Y:8.33, Z:-0.19 [[ 9.99000154e-01 -4.33183484e-02 -1.10549578e-02 1.48859054e+02] [ 4.33123462e-02 9.99061274e-01 -7.81890295e-04 8.33375628e+00] [ 1.10784504e-02 3.02292366e-04 9.99938586e-01 -1.85311188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.251400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.89, Y:8.34, Z:-0.19 [[ 9.98951579e-01 -4.40379034e-02 -1.25062488e-02 1.48887274e+02] [ 4.40302488e-02 9.99029805e-01 -8.86869718e-04 8.34151425e+00] [ 1.25331711e-02 3.35286661e-04 9.99921401e-01 -1.86872097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.281400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.92, Y:8.35, Z:-0.19 [[ 9.98881376e-01 -4.57109084e-02 -1.21040948e-02 1.48915125e+02] [ 4.57038372e-02 9.98954663e-01 -8.60312435e-04 8.34845893e+00] [ 1.21307676e-02 3.06146491e-04 9.99926373e-01 -1.86070810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.311400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.94, Y:8.35, Z:-0.18 [[ 9.98870122e-01 -4.64721912e-02 -9.94054962e-03 1.48940100e+02] [ 4.65060216e-02 9.98912886e-01 3.19950609e-03 8.34513062e+00] [ 9.78105505e-03 -3.65818645e-03 9.99945473e-01 -1.83904508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.341400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.97, Y:8.36, Z:-0.18 [[ 9.98573793e-01 -5.23979002e-02 -1.02391546e-02 1.48971714e+02] [ 5.23520853e-02 9.98617664e-01 -4.69261210e-03 8.35991894e+00] [ 1.04708836e-02 4.14987837e-03 9.99936568e-01 -1.82853688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.371400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.00, Y:8.36, Z:-0.18 [[ 9.98430910e-01 -5.49320329e-02 -1.08714945e-02 1.49000727e+02] [ 5.49268330e-02 9.98490080e-01 -7.76528300e-04 8.35609149e+00] [ 1.08977357e-02 1.78173095e-04 9.99940602e-01 -1.82773560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.401400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.03, Y:8.36, Z:-0.18 [[ 9.98308667e-01 -5.70392870e-02 -1.12394332e-02 1.49028071e+02] [ 5.70338426e-02 9.98371921e-01 -8.04589054e-04 8.35833069e+00] [ 1.12670277e-02 1.62200159e-04 9.99936512e-01 -1.83317216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.431400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.06, Y:8.36, Z:-0.18 [[ 9.98206020e-01 -5.87572389e-02 -1.15034492e-02 1.49056667e+02] [ 5.87516411e-02 9.98272290e-01 -8.24246506e-04 8.35917145e+00] [ 1.15320050e-02 1.46921307e-04 9.99933493e-01 -1.83815092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.461400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.08, Y:8.36, Z:-0.18 [[ 9.98106489e-01 -6.04940168e-02 -1.11315314e-02 1.49084017e+02] [ 6.04888627e-02 9.98168552e-01 -7.99416363e-04 8.36419600e+00] [ 1.11595045e-02 1.24568986e-04 9.99937723e-01 -1.83361350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.49140051300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.11, Y:8.37, Z:-0.18 [[ 9.98087180e-01 -6.08362109e-02 -1.09970908e-02 1.49112006e+02] [ 6.08311942e-02 9.98147755e-01 -7.90417438e-04 8.36788651e+00] [ 1.10248075e-02 1.19939344e-04 9.99939218e-01 -1.82375191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.521400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.14, Y:8.38, Z:-0.18 [[ 9.98181533e-01 -5.92081176e-02 -1.13148770e-02 1.49140389e+02] [ 5.92026777e-02 9.98245650e-01 -8.15412811e-04 8.37880741e+00] [ 1.13433058e-02 1.44058997e-04 9.99935652e-01 -1.82710395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.55140051300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.17, Y:8.39, Z:-0.18 [[ 9.98246519e-01 -5.80978235e-02 -1.13371529e-02 1.49169283e+02] [ 5.80922693e-02 9.98310882e-01 -8.18884354e-04 8.38535225e+00] [ 1.13655786e-02 1.58847513e-04 9.99935397e-01 -1.82740257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.581400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.20, Y:8.39, Z:-0.18 [[ 9.98301391e-01 -5.71907183e-02 -1.11155186e-02 1.49197348e+02] [ 5.71853027e-02 9.98363257e-01 -8.04699919e-04 8.39168598e+00] [ 1.11433468e-02 1.67688750e-04 9.99937897e-01 -1.81920966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.61140051300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.22, Y:8.40, Z:-0.18 [[ 9.98283366e-01 -5.74272885e-02 -1.15076952e-02 1.49224972e+02] [ 5.74214767e-02 9.98349677e-01 -8.35083871e-04 8.40060197e+00] [ 1.15366604e-02 1.72861483e-04 9.99933436e-01 -1.82138785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.641400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.25, Y:8.41, Z:-0.18 [[ 9.98231658e-01 -5.82880369e-02 -1.16645583e-02 1.49252495e+02] [ 5.82820990e-02 9.98299793e-01 -8.48628532e-04 8.40602843e+00] [ 1.16941910e-02 1.67292924e-04 9.99931607e-01 -1.82796272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.67140051300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.28, Y:8.41, Z:-0.18 [[ 9.98166965e-01 -5.93503777e-02 -1.18424445e-02 1.49280190e+02] [ 5.93443236e-02 9.98237200e-01 -8.62280096e-04 8.40990790e+00] [ 1.18727453e-02 1.57917647e-04 9.99929504e-01 -1.83438502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.701400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.31, Y:8.41, Z:-0.18 [[ 9.98034313e-01 -6.13789269e-02 -1.26545326e-02 1.49308932e+02] [ 6.13721649e-02 9.98114526e-01 -9.22366761e-04 8.41177928e+00] [ 1.26872867e-02 1.43917615e-04 9.99919503e-01 -1.84242044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.73140051300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.34, Y:8.42, Z:-0.18 [[ 9.98000909e-01 -6.17580042e-02 -1.34214529e-02 1.49337192e+02] [ 6.17503994e-02 9.98091141e-01 -9.80684157e-04 8.41554570e+00] [ 1.34563984e-02 1.49943602e-04 9.99909447e-01 -1.84937884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.761400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.36, Y:8.42, Z:-0.19 [[ 9.97985537e-01 -6.18515187e-02 -1.41158860e-02 1.49364807e+02] [ 6.18430757e-02 9.98085349e-01 -1.03425875e-03 8.42038396e+00] [ 1.41528295e-02 1.59205471e-04 9.99899831e-01 -1.85181814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.791400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.39, Y:8.43, Z:-0.19 [[ 9.97999265e-01 -6.14893700e-02 -1.47147434e-02 1.49392061e+02] [ 6.14801142e-02 9.98107723e-01 -1.08097282e-03 8.42853962e+00] [ 1.47533673e-02 1.74145981e-04 9.99891148e-01 -1.86490577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.821400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.42, Y:8.44, Z:-0.19 [[ 9.98097285e-01 -5.94383483e-02 -1.63979424e-02 1.49419809e+02] [ 5.94265378e-02 9.98231952e-01 -1.20700827e-03 8.43687003e+00] [ 1.64406926e-02 2.30238733e-04 9.99864816e-01 -1.88017181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.851400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.45, Y:8.44, Z:-0.19 [[ 9.98085855e-01 -5.96300032e-02 -1.63978171e-02 1.49447222e+02] [ 5.96181906e-02 9.98220522e-01 -1.20870813e-03 8.43905887e+00] [ 1.64407128e-02 2.28786301e-04 9.99864816e-01 -1.87713958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.881400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.47, Y:8.45, Z:-0.19 [[ 9.98149422e-01 -5.85317162e-02 -1.64854594e-02 1.49474992e+02] [ 5.85195838e-02 9.98285518e-01 -1.21779478e-03 8.44703347e+00] [ 1.65284750e-02 2.50818933e-04 9.99863364e-01 -1.89059088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.911400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.50, Y:8.45, Z:-0.19 [[ 9.98201143e-01 -5.76395845e-02 -1.64971562e-02 1.49503924e+02] [ 5.76272816e-02 9.98337421e-01 -1.22056104e-03 8.45064899e+00] [ 1.65400810e-02 2.67679161e-04 9.99863168e-01 -1.88325501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.941400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.53, Y:8.45, Z:-0.19 [[ 9.98331181e-01 -5.61367498e-02 -1.35468839e-02 1.49529503e+02] [ 5.61932049e-02 9.98412594e-01 3.82306208e-03 8.45306422e+00] [ 1.33107652e-02 -4.57792491e-03 9.99900928e-01 -1.88656552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.971400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.56, Y:8.47, Z:-0.19 [[ 9.98358097e-01 -5.48025703e-02 -1.66670111e-02 1.49559092e+02] [ 5.47057765e-02 9.98483211e-01 -6.20935658e-03 8.46540030e+00] [ 1.69820195e-02 5.28737963e-03 9.99841815e-01 -1.89863572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.001400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.59, Y:8.47, Z:-0.19 [[ 9.98407831e-01 -5.36082061e-02 -1.75488757e-02 1.49586862e+02] [ 5.35935667e-02 9.98561981e-01 -1.30377199e-03 8.46558219e+00] [ 1.75935329e-02 3.61189329e-04 9.99845157e-01 -1.90239229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.031400513 meters Centerline goodness [0,1] 0.9999785103365282 Centerline is valid? [True, True] Translation: X:149.62, Y:8.47, Z:-0.19 [[ 9.98437088e-01 -5.28260083e-02 -1.82426557e-02 1.49615548e+02] [ 5.28100240e-02 9.98603655e-01 -1.35717227e-03 8.46716634e+00] [ 1.82888766e-02 3.91656042e-04 9.99832668e-01 -1.90444402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.061400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.64, Y:8.47, Z:-0.19 [[ 9.98494571e-01 -5.13493443e-02 -1.92830876e-02 1.49643610e+02] [ 5.13311622e-02 9.98680653e-01 -1.43700666e-03 8.47089204e+00] [ 1.93314359e-02 4.45020052e-04 9.99813031e-01 -1.91909102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.091400513 meters Centerline goodness [0,1] 0.9998925493735629 Centerline is valid? [True, True] Translation: X:149.67, Y:8.47, Z:-0.19 [[ 9.98457010e-01 -5.15625191e-02 -2.06132642e-02 1.49672520e+02] [ 5.15417391e-02 9.98669656e-01 -1.53844964e-03 8.47196850e+00] [ 2.06651678e-02 4.73632338e-04 9.99786340e-01 -1.93288295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.121400513 meters Centerline goodness [0,1] 0.9999575299413913 Centerline is valid? [True, True] Translation: X:149.70, Y:8.48, Z:-0.19 [[ 9.98522709e-01 -5.01206289e-02 -2.09838497e-02 1.49699904e+02] [ 5.00987179e-02 9.98743039e-01 -1.56890881e-03 8.47898974e+00] [ 2.10361085e-02 5.15327113e-04 9.99778584e-01 -1.94324140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.151400513 meters Centerline goodness [0,1] 0.9999787025599522 Centerline is valid? [True, True] Translation: X:149.73, Y:8.48, Z:-0.19 [[ 9.98607736e-01 -4.85289679e-02 -2.06767735e-02 1.49728711e+02] [ 4.85073003e-02 9.98821628e-01 -1.54847040e-03 8.48471722e+00] [ 2.07275542e-02 5.43340057e-04 9.99785014e-01 -1.93055435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.181400513 meters Centerline goodness [0,1] 0.9999786830380935 Centerline is valid? [True, True] Translation: X:149.76, Y:8.50, Z:-0.19 [[ 9.98915004e-01 -4.19199375e-02 -2.02862706e-02 1.49758572e+02] [ 4.18976832e-02 9.99120749e-01 -1.52097412e-03 8.49811982e+00] [ 2.03321930e-02 6.69376129e-04 9.99793056e-01 -1.91257637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.211400513 meters Centerline goodness [0,1] 0.9998499624906226 Centerline is valid? [True, True] Translation: X:149.79, Y:8.51, Z:-0.19 [[ 9.99032556e-01 -3.80685304e-02 -2.20168103e-02 1.49787592e+02] [ 3.80413793e-02 9.99274801e-01 -1.65086754e-03 8.50855386e+00] [ 2.20636898e-02 8.11720589e-04 9.99756238e-01 -1.94000584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.24140051300003 meters Centerline goodness [0,1] 0.9997427818146744 Centerline is valid? [True, True] Translation: X:149.82, Y:8.53, Z:-0.20 [[ 9.99155852e-01 -3.11412385e-02 -2.67919083e-02 1.49816612e+02] [ 3.10985355e-02 9.99514304e-01 -2.00917534e-03 8.52712519e+00] [ 2.68414638e-02 1.17429019e-03 9.99639013e-01 -2.02784746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.271400513 meters Centerline goodness [0,1] 0.9994844031967002 Centerline is valid? [True, True] Translation: X:149.85, Y:8.54, Z:-0.20 [[ 9.99189285e-01 -2.88502411e-02 -2.80791225e-02 1.49846153e+02] [ 2.88024228e-02 9.99582906e-01 -2.10603344e-03 8.53546994e+00] [ 2.81281705e-02 1.29557929e-03 9.99603485e-01 -2.04376582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.30140051300003 meters Centerline goodness [0,1] 0.9993294832695261 Centerline is valid? [True, True] Translation: X:149.87, Y:8.54, Z:-0.20 [[ 9.99240759e-01 -2.79945869e-02 -2.70962903e-02 1.49873025e+02] [ 2.79497152e-02 9.99607262e-01 -2.03340482e-03 8.54425207e+00] [ 2.71425729e-02 1.27452738e-03 9.99630760e-01 -2.02820860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.331400513 meters Centerline goodness [0,1] 0.999503904059359 Centerline is valid? [True, True] Translation: X:149.90, Y:8.54, Z:-0.20 [[ 9.99207711e-01 -2.96158903e-02 -2.65866510e-02 1.49902605e+02] [ 2.95731832e-02 9.99560621e-01 -1.99818509e-03 8.54139566e+00] [ 2.66341474e-02 1.21035005e-03 9.99644515e-01 -2.00267016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.36140051300004 meters Centerline goodness [0,1] 0.9994641976896205 Centerline is valid? [True, True] Translation: X:149.93, Y:8.54, Z:-0.20 [[ 9.99155326e-01 -3.11387398e-02 -2.68144393e-02 1.49931583e+02] [ 3.10957331e-02 9.99514371e-01 -2.01945642e-03 8.54475690e+00] [ 2.68643008e-02 1.18393599e-03 9.99638388e-01 -1.99927399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.391400513 meters Centerline goodness [0,1] 0.9997646756803013 Centerline is valid? [True, True] Translation: X:149.96, Y:8.55, Z:-0.20 [[ 9.99098268e-01 -3.22988406e-02 -2.75578535e-02 1.49960336e+02] [ 3.22537315e-02 9.99477549e-01 -2.07994178e-03 8.54877268e+00] [ 2.76106355e-02 1.18922262e-03 9.99618046e-01 -1.99632857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.42140051300004 meters Centerline goodness [0,1] 0.999402488209812 Centerline is valid? [True, True] Translation: X:149.99, Y:8.56, Z:-0.21 [[ 9.98991347e-01 -3.38902205e-02 -2.94574585e-02 1.49987865e+02] [ 3.38392185e-02 9.99424806e-01 -2.22831829e-03 8.56080991e+00] [ 2.95160330e-02 1.22925331e-03 9.99563551e-01 -2.05559120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.451400513 meters Centerline goodness [0,1] 0.9991807696453595 Centerline is valid? [True, True] Translation: X:150.02, Y:8.56, Z:-0.21 [[ 9.98959123e-01 -3.38290193e-02 -3.05984831e-02 1.50016229e+02] [ 3.37738670e-02 9.99426813e-01 -2.31764310e-03 8.56268548e+00] [ 3.06593480e-02 1.28180162e-03 9.99529070e-01 -2.06457156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.48140051300004 meters Centerline goodness [0,1] 0.9995097412286311 Centerline is valid? [True, True] Translation: X:150.05, Y:8.56, Z:-0.21 [[ 9.98958280e-01 -3.34833205e-02 -3.10035724e-02 1.50045459e+02] [ 3.34264097e-02 9.99438413e-01 -2.35224673e-03 8.56321380e+00] [ 3.10649222e-02 1.31345823e-03 9.99516506e-01 -2.05186238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.511400513 meters Centerline goodness [0,1] 0.9992559365632773 Centerline is valid? [True, True] Translation: X:150.07, Y:8.57, Z:-0.21 [[ 9.98973009e-01 -3.28732626e-02 -3.11813285e-02 1.50072907e+02] [ 3.28153064e-02 9.99458626e-01 -2.36873971e-03 8.56984606e+00] [ 3.12423159e-02 1.34308218e-03 9.99510937e-01 -2.05466984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.541400513 meters Centerline goodness [0,1] 0.9984587721551502 Centerline is valid? [True, True] Translation: X:150.10, Y:8.58, Z:-0.21 [[ 9.98997101e-01 -3.10582336e-02 -3.22517818e-02 1.50101841e+02] [ 3.09952389e-02 9.99516526e-01 -2.45145999e-03 8.57614624e+00] [ 3.23123269e-02 1.44934974e-03 9.99476770e-01 -2.05364835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.571400513 meters Centerline goodness [0,1] 0.9983203772691057 Centerline is valid? [True, True] Translation: X:150.13, Y:8.58, Z:-0.21 [[ 9.99007580e-01 -3.00804311e-02 -3.28484957e-02 1.50131172e+02] [ 3.00145258e-02 9.99546342e-01 -2.49771421e-03 8.57978782e+00] [ 3.29087260e-02 1.50930341e-03 9.99457222e-01 -2.05145300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.601400513 meters Centerline goodness [0,1] 0.9799556483734149 Centerline is valid? [True, True] Translation: X:150.16, Y:8.59, Z:-0.21 [[ 9.99063364e-01 -2.72486768e-02 -3.36140609e-02 1.50159677e+02] [ 2.71780367e-02 9.99627339e-01 -2.55671342e-03 8.58861428e+00] [ 3.36712013e-02 1.64075453e-03 9.99431618e-01 -2.07874567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.631400513 meters Centerline goodness [0,1] 0.9933284865072917 Centerline is valid? [True, True] Translation: X:150.19, Y:8.59, Z:-0.21 [[ 9.99122076e-01 -2.51985286e-02 -3.34680558e-02 1.50189256e+02] [ 2.51273279e-02 9.99681016e-01 -2.54638766e-03 8.58877666e+00] [ 3.35215452e-02 1.70318931e-03 9.99436544e-01 -2.05481097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.661400513 meters Centerline goodness [0,1] 0.988408053807392 Centerline is valid? [True, True] Translation: X:150.22, Y:8.60, Z:-0.20 [[ 9.99185797e-01 -2.30888028e-02 -3.30854841e-02 1.50217821e+02] [ 2.30180227e-02 9.99731878e-01 -2.51865205e-03 8.59519049e+00] [ 3.31347658e-02 1.75503894e-03 9.99449352e-01 -2.04950735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.691400513 meters Centerline goodness [0,1] 0.9289797666202761 Centerline is valid? [True, False] Translation: X:150.24, Y:8.60, Z:-0.21 [[ 9.99459841e-01 -1.90474603e-02 -2.67809894e-02 1.50240263e+02] [ 1.88302459e-02 9.99787913e-01 -8.33972203e-03 8.60283923e+00] [ 2.69341601e-02 7.83092463e-03 9.99606536e-01 -2.10905567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.721400513 meters Centerline goodness [0,1] 0.9965844484316565 Centerline is valid? [False, True] Translation: X:150.24, Y:8.60, Z:-0.21 [[ 9.99463876e-01 -1.90579073e-02 -2.66224951e-02 1.50239376e+02] [ 1.88405373e-02 9.99787281e-01 -8.39203434e-03 8.60312268e+00] [ 2.67767666e-02 7.88595306e-03 9.99610332e-01 -2.10239523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.751400513 meters Centerline goodness [0,1] 0.9832929418577219 Centerline is valid? [True, True] Translation: X:150.27, Y:8.60, Z:-0.21 [[ 9.99496021e-01 -1.83675977e-02 -2.58908248e-02 1.50266888e+02] [ 1.83229636e-02 9.99830199e-01 -1.96013960e-03 8.60391521e+00] [ 2.59224316e-02 1.48475509e-03 9.99662855e-01 -2.09454016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.781400513 meters Centerline goodness [0,1] 0.9833393620869417 Centerline is valid? [True, True] Translation: X:150.30, Y:8.60, Z:-0.21 [[ 9.99501445e-01 -1.79700847e-02 -2.59603056e-02 1.50295762e+02] [ 1.79249903e-02 9.99837396e-01 -1.96873734e-03 8.60390523e+00] [ 2.59914627e-02 1.50241759e-03 9.99661036e-01 -2.08368549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.811400513 meters Centerline goodness [0,1] 0.9990958992573458 Centerline is valid? [True, True] Translation: X:150.32, Y:8.60, Z:-0.20 [[ 9.99544943e-01 -1.58641109e-02 -2.56561264e-02 1.50324566e+02] [ 1.56838082e-02 9.99850979e-01 -7.21370210e-03 8.60019127e+00] [ 2.57667420e-02 6.80803369e-03 9.99644800e-01 -2.03848320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.841400513 meters Centerline goodness [0,1] 0.9968058652032241 Centerline is valid? [True, True] Translation: X:150.35, Y:8.60, Z:-0.20 [[ 9.99555638e-01 -1.52397221e-02 -2.56179224e-02 1.50354561e+02] [ 1.53279580e-02 9.99877233e-01 3.25146045e-03 8.59990534e+00] [ 2.55652260e-02 -3.64268606e-03 9.99666519e-01 -2.03443653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.871400513 meters Centerline goodness [0,1] 0.978195600792113 Centerline is valid? [True, True] Translation: X:150.38, Y:8.61, Z:-0.20 [[ 9.99634283e-01 -1.30010316e-02 -2.37123103e-02 1.50383203e+02] [ 1.29619429e-02 9.99914368e-01 -1.80141884e-03 8.61473617e+00] [ 2.37337000e-02 1.49340242e-03 9.99717201e-01 -2.01679069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.901400513 meters Centerline goodness [0,1] 0.9825471698113207 Centerline is valid? [True, True] Translation: X:150.41, Y:8.62, Z:-0.20 [[ 9.99746884e-01 -7.07759637e-03 -2.13559224e-02 1.50412813e+02] [ 7.04454405e-03 9.99973871e-01 -1.62252302e-03 8.62167766e+00] [ 2.13668479e-02 1.47166959e-03 9.99770620e-01 -1.96506030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.931400513 meters Centerline goodness [0,1] 0.9175264352069866 Centerline is valid? [True, False] Translation: X:150.43, Y:8.63, Z:-0.20 [[ 9.99820530e-01 -2.62756836e-03 -1.87617500e-02 1.50430643e+02] [ 2.45148729e-03 9.99952796e-01 -9.40194842e-03 8.62928133e+00] [ 1.87855686e-02 9.35426687e-03 9.99779776e-01 -1.95429235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.961400513 meters Centerline goodness [0,1] 0.7975058622894905 Centerline is valid? [False, False] Translation: X:150.47, Y:8.63, Z:-0.20 [[ 9.99865607e-01 3.46857417e-03 -1.60229841e-02 1.50472846e+02] [-3.53791315e-03 9.99984492e-01 -4.30115258e-03 8.63250592e+00] [ 1.60078167e-02 4.35726246e-03 9.99862373e-01 -1.96167777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.99140051300003 meters Centerline goodness [0,1] 0.6615466439740454 Centerline is valid? [False, False] Translation: X:150.47, Y:8.64, Z:-0.20 [[ 9.99867459e-01 3.21170238e-03 -1.59608443e-02 1.50472689e+02] [-3.29225884e-03 9.99981963e-01 -5.02342012e-03 8.63597326e+00] [ 1.59444227e-02 5.07530154e-03 9.99859999e-01 -1.96351786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.021400513 meters Centerline goodness [0,1] 0.966322136089578 Centerline is valid? [False, True] Translation: X:150.47, Y:8.64, Z:-0.20 [[ 9.99870806e-01 3.00946800e-03 -1.57896699e-02 1.50471680e+02] [-3.09534927e-03 9.99980535e-01 -5.41746294e-03 8.63782777e+00] [ 1.57730589e-02 5.46563758e-03 9.99860659e-01 -1.95576097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.05140051300003 meters Centerline goodness [0,1] 0.9826987380002157 Centerline is valid? [True, True] Translation: X:150.50, Y:8.64, Z:-0.19 [[ 9.99888995e-01 -2.83147299e-03 -1.46281036e-02 1.50502968e+02] [ 2.82800078e-03 9.99995968e-01 -2.58045626e-04 8.63532166e+00] [ 1.46287753e-02 2.16648693e-04 9.99892970e-01 -1.94246497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.081400513 meters Centerline goodness [0,1] 0.9894055578101971 Centerline is valid? [True, True] Translation: X:150.53, Y:8.64, Z:-0.19 [[ 9.99882952e-01 -7.54459321e-03 -1.33101983e-02 1.50532793e+02] [ 7.53146355e-03 9.99971101e-01 -1.03628620e-03 8.63680006e+00] [ 1.33176320e-02 9.35919636e-04 9.99910878e-01 -1.93381093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.11140051300004 meters Centerline goodness [0,1] 0.9939656838533726 Centerline is valid? [True, True] Translation: X:150.56, Y:8.64, Z:-0.19 [[ 9.99836823e-01 -1.25930992e-02 -1.29515141e-02 1.50562247e+02] [ 1.25810870e-02 9.99920346e-01 -1.00853791e-03 8.63621950e+00] [ 1.29631831e-02 8.45429212e-04 9.99915617e-01 -1.93443828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.141400513 meters Centerline goodness [0,1] 0.999146794078751 Centerline is valid? [True, True] Translation: X:150.59, Y:8.62, Z:-0.20 [[ 9.99686945e-01 -2.05902584e-02 -1.42145678e-02 1.50594115e+02] [ 2.05765929e-02 9.99787667e-01 -1.10696892e-03 8.62353620e+00] [ 1.42343424e-02 8.14135000e-04 9.99898355e-01 -1.95203148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.17140051300004 meters Centerline goodness [0,1] 0.9995694573009278 Centerline is valid? [True, True] Translation: X:150.62, Y:8.62, Z:-0.19 [[ 9.99634616e-01 -2.25057742e-02 -1.49708056e-02 1.50624128e+02] [ 2.24908250e-02 9.99746369e-01 -1.16619737e-03 8.61690426e+00] [ 1.49932547e-02 8.29065489e-04 9.99887251e-01 -1.94803508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.201400513 meters Centerline goodness [0,1] 0.9994572886139151 Centerline is valid? [True, True] Translation: X:150.65, Y:8.62, Z:-0.19 [[ 9.99635778e-01 -2.26340270e-02 -1.46973247e-02 1.50651851e+02] [ 2.26196206e-02 9.99743487e-01 -1.14572755e-03 8.62118179e+00] [ 1.47194871e-02 8.12862341e-04 9.99891332e-01 -1.94795646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.23140051300004 meters Centerline goodness [0,1] 0.9998497628399116 Centerline is valid? [True, True] Translation: X:150.68, Y:8.62, Z:-0.19 [[ 9.99738386e-01 -1.84976431e-02 -1.34534816e-02 1.50679110e+02] [ 1.84715507e-02 9.99827262e-01 -2.06114207e-03 8.61908336e+00] [ 1.34892839e-02 1.81209618e-03 9.99907373e-01 -1.91751833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.261400513 meters Centerline goodness [0,1] 0.9971487541757984 Centerline is valid? [True, True] Translation: X:150.71, Y:8.63, Z:-0.19 [[ 9.99792744e-01 -1.58628254e-02 -1.27608978e-02 1.50710327e+02] [ 1.58634202e-02 9.99874167e-01 -5.46204726e-05 8.63063452e+00] [ 1.27601585e-02 -1.47822331e-04 9.99918575e-01 -1.91611539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.291400513 meters Centerline goodness [0,1] 0.9977388233267293 Centerline is valid? [True, True] Translation: X:150.74, Y:8.63, Z:-0.19 [[ 9.99829522e-01 -1.37223301e-02 -1.23541237e-02 1.50740633e+02] [ 1.37114462e-02 9.99905528e-01 -9.65265081e-04 8.62981375e+00] [ 1.23662023e-02 7.95707621e-04 9.99923219e-01 -1.91481632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.321400513 meters Centerline goodness [0,1] 0.9907789734922231 Centerline is valid? [True, True] Translation: X:150.77, Y:8.63, Z:-0.19 [[ 9.99875882e-01 -1.03068779e-02 -1.19158983e-02 1.50769999e+02] [ 1.02965093e-02 9.99946556e-01 -9.31165526e-04 8.63191511e+00] [ 1.19248589e-02 8.08357794e-04 9.99928570e-01 -1.91265834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.351400513 meters Centerline goodness [0,1] 0.9583847233445328 Centerline is valid? [True, True] Translation: X:150.80, Y:8.64, Z:-0.19 [[ 9.99895311e-01 -9.23217623e-03 -1.11415765e-02 1.50797717e+02] [ 9.22303987e-03 9.99957087e-01 -8.71127350e-04 8.63812004e+00] [ 1.11491408e-02 7.68276948e-04 9.99937551e-01 -1.90538928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.381400513 meters Centerline goodness [0,1] 0.9501293813220418 Centerline is valid? [True, True] Translation: X:150.83, Y:8.64, Z:-0.19 [[ 9.99909293e-01 -8.53503187e-03 -1.04191232e-02 1.50826325e+02] [ 8.52698864e-03 9.99963312e-01 -8.16148266e-04 8.63946238e+00] [ 1.04257067e-02 7.27230491e-04 9.99945386e-01 -1.88571667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.411400513 meters Centerline goodness [0,1] 0.9599392031266963 Centerline is valid? [True, True] Translation: X:150.86, Y:8.64, Z:-0.19 [[ 9.99910107e-01 -6.23700553e-03 -1.18692117e-02 1.50856790e+02] [ 6.22640358e-03 9.99980183e-01 -9.29974461e-04 8.63953699e+00] [ 1.18747768e-02 8.55988360e-04 9.99929126e-01 -1.89913975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.441400513 meters Centerline goodness [0,1] 0.9567248955095917 Centerline is valid? [True, True] Translation: X:150.89, Y:8.64, Z:-0.19 [[ 9.99895175e-01 -4.50393042e-03 -1.37605950e-02 1.50886536e+02] [ 4.48951477e-03 9.99989341e-01 -1.07831545e-03 8.64256686e+00] [ 1.37653050e-02 1.01642402e-03 9.99904737e-01 -1.92103262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.471400513 meters Centerline goodness [0,1] 0.8243647874069638 Centerline is valid? [True, False] Translation: X:150.89, Y:8.64, Z:-0.19 [[ 9.99894230e-01 -4.64315619e-03 -1.37829646e-02 1.50886847e+02] [ 4.62264404e-03 9.99988161e-01 -1.51971098e-03 8.64468800e+00] [ 1.37898577e-02 1.45583650e-03 9.99903856e-01 -1.92623785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.501400513 meters Centerline goodness [0,1] 0.915203802020894 Centerline is valid? [False, False] Translation: X:150.88, Y:8.64, Z:-0.19 [[ 9.99913173e-01 -3.20533925e-03 -1.27817505e-02 1.50880254e+02] [ 3.20234253e-03 9.99994840e-01 -2.54913146e-04 8.64356874e+00] [ 1.27825016e-02 2.13959470e-04 9.99918278e-01 -1.88430460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.531400513 meters Centerline goodness [0,1] 0.9321081965096512 Centerline is valid? [False, False] Translation: X:150.88, Y:8.64, Z:-0.19 [[ 9.99915003e-01 -3.24108876e-03 -1.26286151e-02 1.50879268e+02] [ 3.23691586e-03 9.99994700e-01 -3.50858007e-04 8.64407179e+00] [ 1.26296853e-02 3.09950421e-04 9.99920194e-01 -1.87502051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.561400513 meters Centerline goodness [0,1] 0.7195718392037411 Centerline is valid? [False, False] Translation: X:150.88, Y:8.64, Z:-0.19 [[ 9.99915153e-01 -3.21019455e-03 -1.26246718e-02 1.50879074e+02] [ 3.20717277e-03 9.99994823e-01 -2.59593786e-04 8.64364190e+00] [ 1.26254398e-02 2.19082257e-04 9.99920272e-01 -1.87152705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.591400513 meters Centerline goodness [0,1] 0.8383514840913944 Centerline is valid? [False, False] Translation: X:150.88, Y:8.64, Z:-0.19 [[ 9.99909786e-01 -3.13912896e-03 -1.30601068e-02 1.50880663e+02] [ 3.14444005e-03 9.99994982e-01 3.86150134e-04 8.64023505e+00] [ 1.30588291e-02 -4.27182021e-04 9.99914639e-01 -1.87476264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.621400513 meters Centerline goodness [0,1] 0.9273591744488507 Centerline is valid? [False, False] Translation: X:150.88, Y:8.64, Z:-0.19 [[ 9.99909166e-01 -2.94168428e-03 -1.31532079e-02 1.50880992e+02] [ 2.95499089e-03 9.99995142e-01 9.92343084e-04 8.63729972e+00] [ 1.31502249e-02 -1.03112055e-03 9.99913000e-01 -1.87471687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.651400513 meters Centerline goodness [0,1] 0.9649868969368904 Centerline is valid? [False, True] Translation: X:150.88, Y:8.63, Z:-0.19 [[ 9.99909792e-01 -2.77667290e-03 -1.31414634e-02 1.50880726e+02] [ 2.79691910e-03 9.99994930e-01 1.52250763e-03 8.63476633e+00] [ 1.31371692e-02 -1.55912589e-03 9.99912488e-01 -1.86951051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.681400513 meters Centerline goodness [0,1] 0.9503529461943656 Centerline is valid? [True, True] Translation: X:150.91, Y:8.64, Z:-0.19 [[ 9.99919732e-01 -4.87774993e-03 -1.16934938e-02 1.50909494e+02] [ 4.86807872e-03 9.99987785e-01 -8.55380011e-04 8.64072031e+00] [ 1.16975233e-02 7.98386502e-04 9.99931263e-01 -1.85754434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.711400513 meters Centerline goodness [0,1] 0.9503529461943656 Centerline is valid? [True, True] Translation: X:150.94, Y:8.64, Z:-0.19 [[ 9.99918844e-01 -5.05675205e-03 -1.16933721e-02 1.50936953e+02] [ 5.04707368e-03 9.99986896e-01 -8.57041758e-04 8.64289548e+00] [ 1.16975527e-02 7.97954893e-04 9.99931263e-01 -1.85682109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.74140051300003 meters Centerline goodness [0,1] 0.9948188747109703 Centerline is valid? [True, True] Translation: X:150.97, Y:8.64, Z:-0.18 [[ 9.99929820e-01 -7.19347290e-03 -9.41327308e-03 1.50967741e+02] [ 7.18729159e-03 9.99973933e-01 -6.90323260e-04 8.63545212e+00] [ 9.41799352e-03 6.22618874e-04 9.99955456e-01 -1.79480670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.771400513 meters Centerline goodness [0,1] 0.9932181701855406 Centerline is valid? [True, True] Translation: X:151.00, Y:8.64, Z:-0.18 [[ 9.99929002e-01 -7.20049360e-03 -9.49438113e-03 1.50996642e+02] [ 7.19419498e-03 9.99973878e-01 -6.97391820e-04 8.63874808e+00] [ 9.49915469e-03 6.29037878e-04 9.99954684e-01 -1.79371095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.80140051300003 meters Centerline goodness [0,1] 0.9753168208920138 Centerline is valid? [True, True] Translation: X:151.02, Y:8.64, Z:-0.18 [[ 9.99928073e-01 -6.80989575e-03 -9.87291414e-03 1.51023550e+02] [ 6.80305658e-03 9.99976595e-01 -7.26138445e-04 8.64494403e+00] [ 9.87762799e-03 6.58920222e-04 9.99950998e-01 -1.80800578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.831400513 meters Centerline goodness [0,1] 0.9870762436680088 Centerline is valid? [True, True] Translation: X:151.05, Y:8.63, Z:-0.18 [[ 9.99965289e-01 -5.08120623e-04 -8.31644118e-03 1.51045554e+02] [ 5.08102248e-04 9.99999871e-01 -4.32237620e-06 8.63193807e+00] [ 8.31644231e-03 9.66237089e-08 9.99965418e-01 -1.78014758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.86140051300004 meters Centerline goodness [0,1] 0.9484674329501915 Centerline is valid? [True, False] Translation: X:151.08, Y:8.63, Z:-0.18 [[ 9.99988709e-01 9.51394581e-05 -4.75117676e-03 1.51083395e+02] [-9.50344039e-05 9.99999995e-01 2.23369581e-05 8.63284473e+00] [ 4.75117886e-03 -2.18851807e-05 9.99988713e-01 -1.76298449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.891400513 meters Centerline goodness [0,1] 0.9726535689773507 Centerline is valid? [False, True] Translation: X:151.08, Y:8.63, Z:-0.17 [[ 9.99990026e-01 4.09965573e-04 -4.44742759e-03 1.51081764e+02] [-4.06408799e-04 9.99999597e-01 8.00611442e-04 8.62926490e+00] [ 4.44775402e-03 -7.98795983e-04 9.99989790e-01 -1.74972721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.92140051300004 meters Centerline goodness [0,1] 0.8666142000255244 Centerline is valid? [True, False] Translation: X:151.08, Y:8.63, Z:-0.17 [[ 9.99989699e-01 5.61772968e-04 -4.50407984e-03 1.51081904e+02] [-5.56701081e-04 9.99999210e-01 1.12723974e-03 8.62773669e+00] [ 4.50470953e-03 -1.12472070e-03 9.99989221e-01 -1.74892333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.951400513 meters Centerline goodness [0,1] 0.9557261296410169 Centerline is valid? [False, True] Translation: X:151.08, Y:8.63, Z:-0.18 [[ 9.99989231e-01 7.28147110e-04 -4.58337962e-03 1.51082404e+02] [-7.21358004e-04 9.99998641e-01 1.48272343e-03 8.62604370e+00] [ 4.58445303e-03 -1.47940121e-03 9.99988397e-01 -1.75323352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.98140051300004 meters Centerline goodness [0,1] 0.8395132396277216 Centerline is valid? [True, False] Translation: X:151.08, Y:8.63, Z:-0.18 [[ 9.99988564e-01 8.94865020e-04 -4.69806362e-03 1.51083397e+02] [-8.87434288e-04 9.99998352e-01 1.58350487e-03 8.62563208e+00] [ 4.69947290e-03 -1.57931753e-03 9.99987710e-01 -1.76512242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.011400513 meters Centerline goodness [0,1] 0.8723163600665842 Centerline is valid? [False, False] Translation: X:151.08, Y:8.63, Z:-0.18 [[ 9.99988942e-01 7.96530640e-04 -4.63477079e-03 1.51083303e+02] [-7.90984857e-04 9.99998969e-01 1.19827032e-03 8.62750078e+00] [ 4.63572047e-03 -1.19459104e-03 9.99988541e-01 -1.76800531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.041400513 meters Centerline goodness [0,1] 0.719365555674633 Centerline is valid? [False, False] Translation: X:151.08, Y:8.63, Z:-0.18 [[ 9.99989542e-01 7.33143547e-04 -4.51423804e-03 1.51082859e+02] [-7.29188262e-04 9.99999349e-01 8.77763583e-04 8.62910745e+00] [ 4.51487863e-03 -8.74462674e-04 9.99989426e-01 -1.76749368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.071400513 meters Centerline goodness [0,1] 0.7321269841269842 Centerline is valid? [False, False] Translation: X:151.12, Y:8.63, Z:-0.18 [[ 9.99997663e-01 1.76754173e-03 -1.24511808e-03 1.51122381e+02] [-1.76701472e-03 9.99998349e-01 4.24231026e-04 8.63291644e+00] [ 1.24586587e-03 -4.22029892e-04 9.99999135e-01 -1.76330434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.101400513 meters Centerline goodness [0,1] 0.7919722032742156 Centerline is valid? [False, False] Translation: X:151.12, Y:8.63, Z:-0.18 [[ 9.99997493e-01 1.85050976e-03 -1.26044794e-03 1.51122484e+02] [-1.84978062e-03 9.99998121e-01 5.79400806e-04 8.63218333e+00] [ 1.26151776e-03 -5.77067801e-04 9.99999038e-01 -1.76454975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.131400513 meters Centerline goodness [0,1] 0.7217633808859809 Centerline is valid? [False, False] Translation: X:151.12, Y:8.63, Z:-0.17 [[ 9.99999757e-01 -3.10947094e-04 -6.24029987e-04 1.51117328e+02] [ 3.10047127e-04 9.99998913e-01 -1.44176424e-03 8.63034309e+00] [ 6.24477621e-04 1.44157042e-03 9.99998766e-01 -1.73605335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.161400513 meters Centerline goodness [0,1] 0.8756506651243493 Centerline is valid? [False, False] Translation: X:151.12, Y:8.63, Z:-0.17 [[ 9.99999606e-01 -5.68086282e-05 -8.85356183e-04 1.51118408e+02] [ 5.62445979e-05 9.99999795e-01 -6.37077898e-04 8.62641525e+00] [ 8.85392194e-04 6.37027851e-04 9.99999405e-01 -1.74065786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.191400513 meters Centerline goodness [0,1] 0.9854386681866087 Centerline is valid? [False, True] Translation: X:151.12, Y:8.62, Z:-0.17 [[ 9.99990700e-01 -4.22720209e-03 -8.54794374e-04 1.51118436e+02] [ 4.22325558e-03 9.99980652e-01 -4.56717943e-03 8.62451082e+00] [ 8.74084226e-04 4.56352694e-03 9.99989205e-01 -1.74275814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.221400513 meters Centerline goodness [0,1] 0.9288448788416708 Centerline is valid? [True, False] Translation: X:151.12, Y:8.62, Z:-0.17 [[ 9.99991434e-01 -4.03283207e-03 -9.32035384e-04 1.51118546e+02] [ 4.02919577e-03 9.99984391e-01 -3.87095376e-03 8.62113217e+00] [ 9.47631742e-04 3.86716524e-03 9.99992073e-01 -1.73931129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.251400513 meters Centerline goodness [0,1] 0.92624659632403 Centerline is valid? [False, False] Translation: X:151.12, Y:8.62, Z:-0.17 [[ 9.99991821e-01 -3.93263797e-03 -9.44663780e-04 1.51118356e+02] [ 3.92936887e-03 9.99986370e-01 -3.43787139e-03 8.61903341e+00] [ 9.58170808e-04 3.43413134e-03 9.99993644e-01 -1.73411660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.281400513 meters Centerline goodness [0,1] 0.9897469644221788 Centerline is valid? [False, True] Translation: X:151.12, Y:8.62, Z:-0.17 [[ 9.99991688e-01 -3.96566118e-03 -9.46927674e-04 1.51118363e+02] [ 3.96228604e-03 9.99985884e-01 -3.53996326e-03 8.61954040e+00] [ 9.60952602e-04 3.53618184e-03 9.99993286e-01 -1.73405743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.311400513 meters Centerline goodness [0,1] 0.9521703662358851 Centerline is valid? [True, True] Translation: X:151.15, Y:8.63, Z:-0.17 [[ 9.99992817e-01 -3.59470934e-03 -1.20179880e-03 1.51146811e+02] [ 3.59460810e-03 9.99993536e-01 -8.63898740e-05 8.62595123e+00] [ 1.20210157e-03 8.20692577e-05 9.99999274e-01 -1.73791934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.341400513 meters Centerline goodness [0,1] 0.9904031532496466 Centerline is valid? [True, True] Translation: X:151.18, Y:8.62, Z:-0.17 [[ 9.99996548e-01 -2.43218197e-03 -9.94203329e-04 1.51176772e+02] [ 2.43211208e-03 9.99997040e-01 -7.14938570e-05 8.61925553e+00] [ 9.94374272e-04 6.90755963e-05 9.99999503e-01 -1.71845507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.371400513 meters Centerline goodness [0,1] 0.963964539913907 Centerline is valid? [True, True] Translation: X:151.21, Y:8.63, Z:-0.17 [[ 9.99997124e-01 -2.20153585e-03 -9.51525154e-04 1.51205999e+02] [ 2.20147181e-03 9.99997574e-01 -6.83460088e-05 8.62734477e+00] [ 9.51673312e-04 6.62510564e-05 9.99999545e-01 -1.71291103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.401400513 meters Centerline goodness [0,1] 0.9870996535821308 Centerline is valid? [True, True] Translation: X:151.24, Y:8.63, Z:-0.17 [[ 9.99997061e-01 -2.34774034e-03 -6.05086452e-04 1.51235488e+02] [ 2.34771442e-03 9.99997243e-01 -4.35407146e-05 8.62524007e+00] [ 6.05187006e-04 4.21200165e-05 9.99999816e-01 -1.70419949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.431400513 meters Centerline goodness [0,1] 0.9696236387951347 Centerline is valid? [True, True] Translation: X:151.26, Y:8.63, Z:-0.17 [[ 9.99994513e-01 -3.31176549e-03 8.36885336e-05 1.51264407e+02] [ 3.31176500e-03 9.99994516e-01 5.91622361e-06 8.63077702e+00] [-8.37076678e-05 -5.63903439e-06 9.99999996e-01 -1.70011223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.461400513 meters Centerline goodness [0,1] 0.9294025056899156 Centerline is valid? [True, False] Translation: X:151.26, Y:8.63, Z:-0.17 [[ 9.99994755e-01 -3.23652239e-03 1.20754774e-04 1.51264201e+02] [ 3.23650137e-03 9.99994747e-01 1.73862581e-04 8.63001792e+00] [-1.21316850e-04 -1.73470846e-04 9.99999978e-01 -1.69847389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.49140051300003 meters Centerline goodness [0,1] 0.8940581164463992 Centerline is valid? [False, False] Translation: X:151.26, Y:8.63, Z:-0.17 [[ 9.99994009e-01 -3.44928999e-03 2.89878670e-04 1.51263391e+02] [ 3.44939443e-03 9.99993986e-01 -3.60570839e-04 8.63259761e+00] [-2.88633213e-04 3.61568585e-04 9.99999893e-01 -1.69377858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.521400513 meters Centerline goodness [0,1] 0.7649195530010042 Centerline is valid? [False, False] Translation: X:151.26, Y:8.63, Z:-0.17 [[ 9.99993442e-01 -3.61016845e-03 2.87458387e-04 1.51263316e+02] [ 3.61039789e-03 9.99993161e-01 -8.01702578e-04 8.63470309e+00] [-2.84562140e-04 8.02735160e-04 9.99999637e-01 -1.69243750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.55140051300003 meters Centerline goodness [0,1] 0.9000064318332869 Centerline is valid? [False, False] Translation: X:151.26, Y:8.64, Z:-0.17 [[ 9.99993024e-01 -3.72539111e-03 2.71507355e-04 1.51263449e+02] [ 3.72569395e-03 9.99992428e-01 -1.12358271e-03 8.63623057e+00] [-2.67319514e-04 1.12458643e-03 9.99999332e-01 -1.69424682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.581400513 meters Centerline goodness [0,1] 0.810181802552972 Centerline is valid? [False, False] Translation: X:151.26, Y:8.64, Z:-0.17 [[ 9.99992953e-01 -3.74569723e-03 2.51176584e-04 1.51263794e+02] [ 3.74606085e-03 9.99991913e-01 -1.46315842e-03 8.63793816e+00] [-2.45694005e-04 1.46408903e-03 9.99998898e-01 -1.70119224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.61140051300004 meters Centerline goodness [0,1] 0.8063200815494393 Centerline is valid? [False, False] Translation: X:151.30, Y:8.64, Z:-0.17 [[ 9.99991888e-01 -2.35275896e-03 3.26929807e-03 1.51304497e+02] [ 2.35617580e-03 9.99996682e-01 -1.04167313e-03 8.64090946e+00] [-3.26683641e-03 1.04936772e-03 9.99994113e-01 -1.70825647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.641400513 meters Centerline goodness [0,1] 0.739801567024357 Centerline is valid? [False, False] Translation: X:151.30, Y:8.64, Z:-0.17 [[ 9.99991178e-01 -2.42157506e-03 3.43228956e-03 1.51303919e+02] [ 2.42583054e-03 9.99996294e-01 -1.23621772e-03 8.64186185e+00] [-3.42928325e-03 1.24453297e-03 9.99993346e-01 -1.70790220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.67140051300004 meters Centerline goodness [0,1] 0.8411388752324562 Centerline is valid? [False, False] Translation: X:151.30, Y:8.64, Z:-0.17 [[ 9.99990576e-01 -2.46684107e-03 3.57236156e-03 1.51303266e+02] [ 2.47169542e-03 9.99996027e-01 -1.35508611e-03 8.64246212e+00] [-3.56900458e-03 1.36390313e-03 9.99992701e-01 -1.70433035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.701400513 meters Centerline goodness [0,1] 0.7714084416832128 Centerline is valid? [False, False] Translation: X:151.30, Y:8.64, Z:-0.17 [[ 9.99991072e-01 -2.15876177e-03 3.63252985e-03 1.51302503e+02] [ 2.16076445e-03 9.99997516e-01 -5.47484143e-04 8.63869154e+00] [-3.63133894e-03 5.55328296e-04 9.99993252e-01 -1.69261212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.73140051300004 meters Centerline goodness [0,1] 0.833365288340683 Centerline is valid? [False, False] Translation: X:151.30, Y:8.64, Z:-0.17 [[ 9.99992071e-01 -1.89664827e-03 3.50141542e-03 1.51302903e+02] [ 1.89619452e-03 9.99998193e-01 1.32903465e-04 8.63545031e+00] [-3.50166116e-03 -1.26263046e-04 9.99993861e-01 -1.69133468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.761400513 meters Centerline goodness [0,1] 0.9152106995011146 Centerline is valid? [False, False] Translation: X:151.30, Y:8.63, Z:-0.17 [[ 9.99994236e-01 -1.46648009e-03 3.06223180e-03 1.51304728e+02] [ 1.46264529e-03 9.99998144e-01 1.25415519e-03 8.63003853e+00] [-3.06406530e-03 -1.24966900e-03 9.99994525e-01 -1.69829495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.791400513 meters Centerline goodness [0,1] 0.9753832958078696 Centerline is valid? [False, True] Translation: X:151.29, Y:8.63, Z:-0.17 [[ 9.99996477e-01 -8.24496943e-04 2.52329475e-03 1.51285434e+02] [ 8.49096350e-04 9.99951976e-01 -9.76342993e-03 8.63441215e+00] [-2.51512365e-03 9.76553805e-03 9.99949153e-01 -1.73061798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.821400513 meters Centerline goodness [0,1] 0.8127317676143386 Centerline is valid? [True, False] Translation: X:151.29, Y:8.63, Z:-0.17 [[ 9.99992094e-01 3.43719609e-03 1.99944964e-03 1.51287207e+02] [-3.42922888e-03 9.99986221e-01 -3.97457740e-03 8.62626353e+00] [-2.01308349e-03 3.96768941e-03 9.99990102e-01 -1.72991597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.851400513 meters Centerline goodness [0,1] 0.8576462751670642 Centerline is valid? [False, False] Translation: X:151.29, Y:8.62, Z:-0.17 [[ 9.99990502e-01 3.84729410e-03 2.04811717e-03 1.51286763e+02] [-3.84107608e-03 9.99988029e-01 -3.03129375e-03 8.62190393e+00] [-2.05975493e-03 3.02339798e-03 9.99993308e-01 -1.72388323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.881400513 meters Centerline goodness [0,1] 0.9069866940486887 Centerline is valid? [False, False] Translation: X:151.29, Y:8.62, Z:-0.17 [[ 9.99990021e-01 3.97167016e-03 2.04531076e-03 1.51286670e+02] [-3.96605362e-03 9.99988374e-01 -2.74283136e-03 8.62056360e+00] [-2.05618060e-03 2.73469218e-03 9.99994147e-01 -1.72157692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.911400513 meters Centerline goodness [0,1] 0.827518396346105 Centerline is valid? [False, False] Translation: X:151.29, Y:8.61, Z:-0.17 [[ 9.99963723e-01 8.34823021e-03 1.69122800e-03 1.51287730e+02] [-8.35298830e-03 9.99961119e-01 2.82614412e-03 8.61396881e+00] [-1.66756894e-03 -2.84016840e-03 9.99994576e-01 -1.71673765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.941400513 meters Centerline goodness [0,1] 0.7959768894175623 Centerline is valid? [False, False] Translation: X:151.29, Y:8.61, Z:-0.17 [[ 9.99963652e-01 8.36332014e-03 1.65787976e-03 1.51287886e+02] [-8.36803829e-03 9.99960898e-01 2.85968285e-03 8.61379124e+00] [-1.63389849e-03 -2.87345211e-03 9.99994537e-01 -1.71753010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.971400513 meters Centerline goodness [0,1] 0.8613177584038539 Centerline is valid? [False, False] Translation: X:151.29, Y:8.62, Z:-0.17 [[ 9.99988798e-01 4.38830778e-03 1.77371673e-03 1.51287763e+02] [-4.38474906e-03 9.99988376e-01 -2.00530060e-03 8.61715234e+00] [-1.78249599e-03 1.99750084e-03 9.99996416e-01 -1.72688790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.001400513 meters Centerline goodness [0,1] 0.8338547319585434 Centerline is valid? [False, False] Translation: X:151.29, Y:8.62, Z:-0.17 [[ 9.99988208e-01 4.53081365e-03 1.74828888e-03 1.51288003e+02] [-4.52786746e-03 9.99988329e-01 -1.68548188e-03 8.61562585e+00] [-1.75590508e-03 1.67754598e-03 9.99997051e-01 -1.73003292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.031400513 meters Centerline goodness [0,1] 0.895821821736728 Centerline is valid? [False, False] Translation: X:151.29, Y:8.61, Z:-0.17 [[ 9.99987392e-01 4.67803596e-03 1.82526575e-03 1.51287637e+02] [-4.67565003e-03 9.99988212e-01 -1.30925472e-03 8.61386056e+00] [-1.83136897e-03 1.30070390e-03 9.99997477e-01 -1.72809320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.061400513 meters Centerline goodness [0,1] 0.8057324162603011 Centerline is valid? [False, False] Translation: X:151.29, Y:8.61, Z:-0.17 [[ 9.99987354e-01 4.71000119e-03 1.76294676e-03 1.51287837e+02] [-4.70784665e-03 9.99988169e-01 -1.22428770e-03 8.61344422e+00] [-1.76869229e-03 1.21597253e-03 9.99997697e-01 -1.72784746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.091400513 meters Centerline goodness [0,1] 0.8268713437806909 Centerline is valid? [False, False] Translation: X:151.29, Y:8.61, Z:-0.17 [[ 9.99987520e-01 4.72422568e-03 1.62501578e-03 1.51288446e+02] [-4.72235414e-03 9.99988184e-01 -1.15361829e-03 8.61306502e+00] [-1.63044653e-03 1.14592999e-03 9.99998014e-01 -1.73085298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.121400513 meters Centerline goodness [0,1] 0.9414935549163737 Centerline is valid? [False, False] Translation: X:151.29, Y:8.61, Z:-0.17 [[ 9.99988636e-01 4.57681139e-03 1.33463848e-03 1.51289989e+02] [-4.57493246e-03 9.99988544e-01 -1.40748621e-03 8.61412289e+00] [-1.34106499e-03 1.40136433e-03 9.99998119e-01 -1.74251094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.151400513 meters Centerline goodness [0,1] 0.9140705458290422 Centerline is valid? [False, False] Translation: X:151.29, Y:8.61, Z:-0.17 [[ 9.99988843e-01 4.53545216e-03 1.32069585e-03 1.51290043e+02] [-4.53350465e-03 9.99988637e-01 -1.47388850e-03 8.61441725e+00] [-1.32736560e-03 1.46788467e-03 9.99998042e-01 -1.74293989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.181400513 meters Centerline goodness [0,1] 0.9677744209466264 Centerline is valid? [False, True] Translation: X:151.29, Y:8.61, Z:-0.17 [[ 9.99988983e-01 4.48333784e-03 1.39045101e-03 1.51289360e+02] [-4.48156280e-03 9.99989142e-01 -1.27709369e-03 8.61336179e+00] [-1.39616156e-03 1.27084823e-03 9.99998218e-01 -1.73348699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.211400513 meters Centerline goodness [0,1] 0.9967844289699526 Centerline is valid? [True, True] Translation: X:151.32, Y:8.61, Z:-0.17 [[ 9.99992957e-01 3.01753351e-03 2.23146702e-03 1.51320421e+02] [-3.01786389e-03 9.99995436e-01 1.44702154e-04 8.60686182e+00] [-2.23102020e-03 -1.51435399e-04 9.99997500e-01 -1.71609286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.24140051300003 meters Centerline goodness [0,1] 0.9510281958872164 Centerline is valid? [True, True] Translation: X:151.35, Y:8.62, Z:-0.17 [[ 9.99994186e-01 1.72997855e-03 2.93865275e-03 1.51350172e+02] [-1.73054674e-03 9.99998484e-01 1.90818826e-04 8.61863667e+00] [-2.93831818e-03 -1.95903193e-04 9.99995664e-01 -1.71415627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.271400513 meters Centerline goodness [0,1] 0.9967676080299421 Centerline is valid? [True, True] Translation: X:151.38, Y:8.61, Z:-0.17 [[ 9.99992891e-01 4.79490413e-04 3.74013579e-03 1.51382128e+02] [-4.80400159e-04 9.99999855e-01 2.42344148e-04 8.61193498e+00] [-3.74001904e-03 -2.44139187e-04 9.99992976e-01 -1.69749209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.30140051300003 meters Centerline goodness [0,1] 0.9983004036541322 Centerline is valid? [True, True] Translation: X:151.41, Y:8.61, Z:-0.17 [[ 9.99980414e-01 -1.68970804e-03 6.02627084e-03 1.51413412e+02] [ 1.68738689e-03 9.99998500e-01 3.90235878e-04 8.61178388e+00] [-6.02692119e-03 -3.80059584e-04 9.99981766e-01 -1.65830326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.331400513 meters Centerline goodness [0,1] 0.9991657932450643 Centerline is valid? [True, True] Translation: X:151.45, Y:8.61, Z:-0.17 [[ 9.99975003e-01 -2.98353956e-03 6.41036948e-03 1.51445330e+02] [ 2.98093999e-03 9.99995471e-01 4.15041454e-04 8.61016410e+00] [-6.41157874e-03 -3.95922152e-04 9.99979367e-01 -1.65345265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.36140051300004 meters Centerline goodness [0,1] 0.9963921005992067 Centerline is valid? [True, True] Translation: X:151.48, Y:8.62, Z:-0.17 [[ 9.99973193e-01 -3.95651618e-03 6.16110699e-03 1.51475327e+02] [ 3.95413521e-03 9.99992103e-01 3.98584714e-04 8.61888859e+00] [-6.16263535e-03 -3.74212179e-04 9.99980941e-01 -1.66452787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.391400513 meters Centerline goodness [0,1] 0.9995709535557225 Centerline is valid? [True, True] Translation: X:151.51, Y:8.61, Z:-0.17 [[ 9.99957977e-01 -7.14502111e-03 5.74394310e-03 1.51506325e+02] [ 7.14300449e-03 9.99974419e-01 3.71524906e-04 8.61042772e+00] [-5.74645072e-03 -3.30480282e-04 9.99983434e-01 -1.67271075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.42140051300004 meters Centerline goodness [0,1] 0.9997018612377018 Centerline is valid? [True, True] Translation: X:151.54, Y:8.61, Z:-0.17 [[ 9.99945189e-01 -8.45450644e-03 6.17584647e-03 1.51538257e+02] [ 8.45219995e-03 9.99964200e-01 3.99474578e-04 8.60690407e+00] [-6.17900274e-03 -3.47253193e-04 9.99980849e-01 -1.66243601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.451400513 meters Centerline goodness [0,1] 0.9996808103162106 Centerline is valid? [True, True] Translation: X:151.57, Y:8.61, Z:-0.16 [[ 9.99936084e-01 -9.12815422e-03 6.67125131e-03 1.51569189e+02] [ 9.12547944e-03 9.99958269e-01 4.31271384e-04 8.60818952e+00] [-6.67490963e-03 -3.70365452e-04 9.99977654e-01 -1.64965651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.48140051300004 meters Centerline goodness [0,1] 0.999121359535392 Centerline is valid? [True, True] Translation: X:151.60, Y:8.61, Z:-0.16 [[ 9.99937180e-01 -8.17997228e-03 7.66313212e-03 1.51600395e+02] [ 8.17641748e-03 9.99966450e-01 4.95097379e-04 8.61270452e+00] [-7.66692491e-03 -4.32409309e-04 9.99970515e-01 -1.62233136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.511400513 meters Centerline goodness [0,1] 0.974911615623802 Centerline is valid? [True, True] Translation: X:151.63, Y:8.62, Z:-0.16 [[ 9.99948586e-01 -6.33830479e-03 7.91521392e-03 1.51630012e+02] [ 6.33445672e-03 9.99979806e-01 5.11136661e-04 8.62447945e+00] [-7.91829382e-03 -4.60971802e-04 9.99968544e-01 -1.62111969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.541400513 meters Centerline goodness [0,1] 0.9727247484995408 Centerline is valid? [True, True] Translation: X:151.66, Y:8.63, Z:-0.16 [[ 9.99963014e-01 -4.19816039e-03 7.50642609e-03 1.51660598e+02] [ 4.19464005e-03 9.99991085e-01 4.84659924e-04 8.62716896e+00] [-7.50839385e-03 -4.53155243e-04 9.99971709e-01 -1.62682118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.571400513 meters Centerline goodness [0,1] 0.977259636922158 Centerline is valid? [True, True] Translation: X:151.69, Y:8.63, Z:-0.17 [[ 9.99978024e-01 4.82482051e-04 6.61203540e-03 1.51691045e+02] [-4.85314958e-04 9.99999791e-01 4.26849219e-04 8.62736660e+00] [-6.61182807e-03 -4.30048758e-04 9.99978049e-01 -1.65203167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.601400513 meters Centerline goodness [0,1] 0.9773695874531196 Centerline is valid? [True, True] Translation: X:151.72, Y:8.63, Z:-0.17 [[ 9.99968950e-01 2.65052921e-03 7.42116097e-03 1.51722191e+02] [-2.65415730e-03 9.99996363e-01 4.79079056e-04 8.62854240e+00] [-7.41986416e-03 -4.98761109e-04 9.99972348e-01 -1.65046210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.631400513 meters Centerline goodness [0,1] 0.8801480599046971 Centerline is valid? [True, False] Translation: X:151.72, Y:8.63, Z:-0.17 [[ 9.99967847e-01 2.57477338e-03 7.59438091e-03 1.51721621e+02] [-2.57482601e-03 9.99996685e-01 -2.84652692e-06 8.63095686e+00] [-7.59436307e-03 -1.67077741e-05 9.99971162e-01 -1.65126140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.661400513 meters Centerline goodness [0,1] 0.8801480599046971 Centerline is valid? [False, False] Translation: X:151.72, Y:8.63, Z:-0.17 [[ 9.99967847e-01 2.57477338e-03 7.59438091e-03 1.51721621e+02] [-2.57482601e-03 9.99996685e-01 -2.84652692e-06 8.63095686e+00] [-7.59436307e-03 -1.67077741e-05 9.99971162e-01 -1.65126140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.691400513 meters Centerline goodness [0,1] 0.8960054948593016 Centerline is valid? [False, False] Translation: X:151.70, Y:8.63, Z:-0.16 [[ 9.99964323e-01 7.61227719e-03 3.66132105e-03 1.51697798e+02] [-7.59124929e-03 9.99954808e-01 -5.72326375e-03 8.63327185e+00] [-3.70472266e-03 5.69526556e-03 9.99976919e-01 -1.59611704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.721400513 meters Centerline goodness [0,1] 0.885402397260274 Centerline is valid? [False, False] Translation: X:151.70, Y:8.63, Z:-0.16 [[ 9.99965431e-01 7.52898185e-03 3.52873098e-03 1.51698519e+02] [-7.50764757e-03 9.99953693e-01 -6.02062377e-03 8.63466137e+00] [-3.57389674e-03 5.99392317e-03 9.99975650e-01 -1.60234243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.751400513 meters Centerline goodness [0,1] 0.759915164369035 Centerline is valid? [False, False] Translation: X:151.71, Y:8.63, Z:-0.16 [[ 9.99944547e-01 1.02062590e-02 2.59521000e-03 1.51705526e+02] [-1.01977225e-02 9.99942617e-01 -3.28157647e-03 8.63486050e+00] [-2.62855370e-03 3.25492927e-03 9.99991248e-01 -1.64969679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.781400513 meters Centerline goodness [0,1] 0.6596341694972467 Centerline is valid? [False, False] Translation: X:151.71, Y:8.64, Z:-0.17 [[ 9.99945670e-01 1.00797008e-02 2.65659739e-03 1.51705410e+02] [-1.00700310e-02 9.99942713e-01 -3.62851197e-03 8.63650540e+00] [-2.69301952e-03 3.60156281e-03 9.99989888e-01 -1.65186976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.811400513 meters Centerline goodness [0,1] 0.6479061479061479 Centerline is valid? [False, False] Translation: X:151.71, Y:8.64, Z:-0.17 [[ 9.99945800e-01 1.00443813e-02 2.73991328e-03 1.51705077e+02] [-1.00341316e-02 9.99942703e-01 -3.72932967e-03 8.63700373e+00] [-2.77721510e-03 3.70163490e-03 9.99989292e-01 -1.65100683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.841400513 meters Centerline goodness [0,1] 0.435450798012895 Centerline is valid? [False, False] Translation: X:151.71, Y:8.64, Z:-0.17 [[ 9.99947042e-01 9.93577782e-03 2.68211074e-03 1.51705346e+02] [-9.92507553e-03 9.99942846e-01 -3.97449733e-03 8.63813006e+00] [-2.72144717e-03 3.94766669e-03 9.99988505e-01 -1.65276927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.871400513 meters Centerline goodness [0,1] 0.8168685528399606 Centerline is valid? [False, False] Translation: X:151.68, Y:8.63, Z:-0.16 [[ 9.99954671e-01 8.99285607e-03 -3.12788318e-03 1.51683071e+02] [-8.97359435e-03 9.99941017e-01 6.11853548e-03 8.62964257e+00] [ 3.18272180e-03 -6.09018978e-03 9.99976390e-01 -1.58934477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.901400513 meters Centerline goodness [0,1] 0.7014644575093533 Centerline is valid? [False, False] Translation: X:151.68, Y:8.64, Z:-0.16 [[ 9.99986065e-01 4.18839118e-03 -3.21349231e-03 1.51683693e+02] [-4.18866119e-03 9.99991225e-01 -7.72983918e-05 8.63874368e+00] [ 3.21314035e-03 9.07575452e-05 9.99994834e-01 -1.60125532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.931400513 meters Centerline goodness [0,1] 0.874871904355252 Centerline is valid? [False, False] Translation: X:151.68, Y:8.64, Z:-0.16 [[ 9.99986138e-01 4.06728773e-03 -3.34381521e-03 1.51684321e+02] [-4.06830820e-03 9.99991680e-01 -2.98434989e-04 8.63971127e+00] [ 3.34257357e-03 3.12034522e-04 9.99994365e-01 -1.60518636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.961400513 meters Centerline goodness [0,1] 0.8190337937365242 Centerline is valid? [False, False] Translation: X:151.68, Y:8.64, Z:-0.16 [[ 9.99986042e-01 3.91626806e-03 -3.54667064e-03 1.51684973e+02] [-3.91798641e-03 9.99992211e-01 -4.77677438e-04 8.64044185e+00] [ 3.54477230e-03 4.91566577e-04 9.99993596e-01 -1.60475183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.99140051300003 meters Centerline goodness [0,1] 0.8602864500202175 Centerline is valid? [False, False] Translation: X:151.69, Y:8.64, Z:-0.16 [[ 9.99986647e-01 3.66956570e-03 -3.63873066e-03 1.51685234e+02] [-3.67314211e-03 9.99992777e-01 -9.76678228e-04 8.64274685e+00] [ 3.63512039e-03 9.90030761e-04 9.99992903e-01 -1.60405715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.021400513 meters Centerline goodness [0,1] 0.867409079294779 Centerline is valid? [False, False] Translation: X:151.69, Y:8.65, Z:-0.16 [[ 9.99987884e-01 3.11956633e-03 -3.80796391e-03 1.51685695e+02] [-3.12737194e-03 9.99993018e-01 -2.04558062e-03 8.64766223e+00] [ 3.80155600e-03 2.05746475e-03 9.99990657e-01 -1.60242021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.05140051300003 meters Centerline goodness [0,1] 0.9906542056074766 Centerline is valid? [False, True] Translation: X:151.69, Y:8.65, Z:-0.16 [[ 9.99988109e-01 2.97476763e-03 -3.86434681e-03 1.51685823e+02] [-2.98375961e-03 9.99992850e-01 -2.32322986e-03 8.64894876e+00] [ 3.85740811e-03 2.33473251e-03 9.99989835e-01 -1.60116122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.081400513 meters Centerline goodness [0,1] 0.8038257173219978 Centerline is valid? [True, False] Translation: X:151.69, Y:8.65, Z:-0.16 [[ 9.99988639e-01 2.81809993e-03 -3.84439716e-03 1.51685751e+02] [-2.82825494e-03 9.99992519e-01 -2.63863559e-03 8.65041076e+00] [ 3.83693246e-03 2.64947855e-03 9.99989129e-01 -1.60123320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.11140051300004 meters Centerline goodness [0,1] 0.9852574618121391 Centerline is valid? [False, True] Translation: X:151.69, Y:8.66, Z:-0.16 [[ 9.99990511e-01 2.27702009e-03 -3.71379569e-03 1.51685099e+02] [-2.29123083e-03 9.99990053e-01 -3.82671854e-03 8.65600200e+00] [ 3.70504524e-03 3.83519140e-03 9.99985782e-01 -1.59764962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.141400513 meters Centerline goodness [0,1] 0.9448163369063255 Centerline is valid? [True, False] Translation: X:151.69, Y:8.65, Z:-0.16 [[ 9.99973085e-01 6.19440442e-03 -3.93185903e-03 1.51685445e+02] [-6.19067890e-03 9.99980378e-01 9.58985501e-04 8.65285965e+00] [ 3.93772222e-03 -9.34618813e-04 9.99991810e-01 -1.58804175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.17140051300004 meters Centerline goodness [0,1] 0.9579345460691724 Centerline is valid? [False, True] Translation: X:151.68, Y:8.66, Z:-0.16 [[ 9.99974941e-01 5.92443935e-03 -3.87547003e-03 1.51684824e+02] [-5.92291103e-03 9.99982377e-01 4.05715981e-04 8.65548520e+00] [ 3.87780538e-03 -3.82751750e-04 9.99992408e-01 -1.57991706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.201400513 meters Centerline goodness [0,1] 0.9981480298869659 Centerline is valid? [True, True] Translation: X:151.72, Y:8.65, Z:-0.16 [[ 9.99989652e-01 3.64655131e-03 -2.72005882e-03 1.51715330e+02] [-3.64700481e-03 9.99993337e-01 -1.61781127e-04 8.65332843e+00] [ 2.71945075e-03 1.71699520e-04 9.99996288e-01 -1.55876116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.23140051300004 meters Centerline goodness [0,1] 0.9926037383969821 Centerline is valid? [True, True] Translation: X:151.74, Y:8.66, Z:-0.16 [[ 9.99993848e-01 2.48140887e-03 -2.47922233e-03 1.51743397e+02] [-2.48178212e-03 9.99996909e-01 -1.47485442e-04 8.66039555e+00] [ 2.47884870e-03 1.53637424e-04 9.99996916e-01 -1.56228981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.261400513 meters Centerline goodness [0,1] 0.9955143604243287 Centerline is valid? [True, True] Translation: X:151.77, Y:8.66, Z:-0.16 [[ 9.99998237e-01 4.67908214e-04 -1.81868696e-03 1.51773751e+02] [-4.68105839e-04 9.99999885e-01 -1.08239713e-04 8.66058407e+00] [ 1.81863610e-03 1.09090860e-04 9.99998340e-01 -1.56268748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.291400513 meters Centerline goodness [0,1] 0.9974768891527436 Centerline is valid? [True, True] Translation: X:151.80, Y:8.66, Z:-0.15 [[ 9.99999228e-01 -8.09163935e-05 -1.23979063e-03 1.51802384e+02] [ 8.08249971e-05 9.99999994e-01 -7.37692101e-05 8.65970632e+00] [ 1.23979660e-03 7.36689471e-05 9.99999229e-01 -1.54974460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.321400513 meters Centerline goodness [0,1] 0.9989421123899797 Centerline is valid? [True, True] Translation: X:151.83, Y:8.66, Z:-0.15 [[ 9.99999535e-01 -1.86136130e-04 -9.46149254e-04 1.51832638e+02] [ 1.86082901e-04 9.99999981e-01 -5.63457192e-05 8.65666774e+00] [ 9.46159724e-04 5.61696308e-05 9.99999551e-01 -1.53468739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.351400513 meters Centerline goodness [0,1] 0.9818459450288429 Centerline is valid? [True, True] Translation: X:151.86, Y:8.67, Z:-0.15 [[ 9.99998673e-01 1.17493353e-03 -1.12832729e-03 1.51861524e+02] [-1.17501015e-03 9.99999307e-01 -6.72456024e-05 8.66516230e+00] [ 1.12824750e-03 6.85713092e-05 9.99999361e-01 -1.53158862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.381400513 meters Centerline goodness [0,1] 0.9984470728386657 Centerline is valid? [True, True] Translation: X:151.89, Y:8.66, Z:-0.15 [[ 9.99996235e-01 2.24752262e-03 -1.57431950e-03 1.51891782e+02] [-2.24767315e-03 9.99997470e-01 -9.38555904e-05 8.65997562e+00] [ 1.57410457e-03 9.73937927e-05 9.99998756e-01 -1.53991845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.411400513 meters Centerline goodness [0,1] 0.9990223790194036 Centerline is valid? [True, True] Translation: X:151.92, Y:8.66, Z:-0.15 [[ 9.99992090e-01 3.65909902e-03 -1.55917111e-03 1.51920993e+02] [-3.65924838e-03 9.99993301e-01 -9.29478439e-05 8.66034150e+00] [ 1.55882056e-03 9.86525030e-05 9.99998780e-01 -1.54828670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.441400513 meters Centerline goodness [0,1] 0.9874355807317177 Centerline is valid? [True, True] Translation: X:151.95, Y:8.67, Z:-0.15 [[ 9.99974017e-01 7.02817382e-03 -1.60292362e-03 1.51949970e+02] [-7.02833610e-03 9.99975296e-01 -9.56326183e-05 8.66901971e+00] [ 1.60221190e-03 1.06896020e-04 9.99998711e-01 -1.54757674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.471400513 meters Centerline goodness [0,1] 0.9869207375428001 Centerline is valid? [True, True] Translation: X:151.98, Y:8.67, Z:-0.15 [[ 9.99960005e-01 8.74507156e-03 -1.87405469e-03 1.51980396e+02] [-8.74529645e-03 9.99961753e-01 -1.11839667e-04 8.67095451e+00] [ 1.87300497e-03 1.28224358e-04 9.99998238e-01 -1.54644900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.501400513 meters Centerline goodness [0,1] 0.99847344657063 Centerline is valid? [True, True] Translation: X:152.01, Y:8.66, Z:-0.15 [[ 9.99943069e-01 1.05171563e-02 -1.80221619e-03 1.52010738e+02] [-1.05173671e-02 9.99944685e-01 -1.07545968e-04 8.66488021e+00] [ 1.80098542e-03 1.26494414e-04 9.99998370e-01 -1.52650143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.531400513 meters Centerline goodness [0,1] 0.8443187355664314 Centerline is valid? [True, False] Translation: X:152.03, Y:8.66, Z:-0.16 [[ 9.99950822e-01 9.79151863e-03 1.57445365e-03 1.52032324e+02] [-9.80751350e-03 9.99896837e-01 1.04942381e-02 8.65850924e+00] [-1.47153670e-03 -1.05091635e-02 9.99943694e-01 -1.55538855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.561400513 meters Centerline goodness [0,1] 0.9126371996440226 Centerline is valid? [False, False] Translation: X:152.03, Y:8.66, Z:-0.16 [[ 9.99984148e-01 5.32106458e-03 1.84139535e-03 1.52031380e+02] [-5.33045036e-03 9.99972633e-01 5.13029821e-03 8.66374303e+00] [-1.81404631e-03 -5.14003235e-03 9.99985145e-01 -1.55782557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.591400513 meters Centerline goodness [0,1] 0.9474386678530571 Centerline is valid? [False, False] Translation: X:152.03, Y:8.66, Z:-0.16 [[ 9.99997392e-01 1.06788153e-03 2.01888840e-03 1.52030807e+02] [-1.06968339e-03 9.99999030e-01 8.91630429e-04 8.66331623e+00] [-2.01793429e-03 -8.93787675e-04 9.99997565e-01 -1.55929561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.621400513 meters Centerline goodness [0,1] 0.9953931793460874 Centerline is valid? [False, True] Translation: X:152.02, Y:8.66, Z:-0.15 [[ 9.99995552e-01 -1.08724546e-03 2.77743894e-03 1.52024834e+02] [ 1.09023912e-03 9.99998826e-01 -1.07656302e-03 8.66134024e+00] [-2.77626519e-03 1.07958630e-03 9.99995563e-01 -1.52134425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.651400513 meters Centerline goodness [0,1] 0.994264514615893 Centerline is valid? [True, True] Translation: X:152.05, Y:8.66, Z:-0.15 [[ 9.99994868e-01 -2.88408802e-03 1.39520474e-03 1.52054193e+02] [ 2.88396133e-03 9.99995837e-01 9.28063239e-05 8.66115162e+00] [-1.39546660e-03 -8.87821311e-05 9.99999022e-01 -1.54163992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.681400513 meters Centerline goodness [0,1] 0.9995722657085419 Centerline is valid? [True, True] Translation: X:152.09, Y:8.65, Z:-0.16 [[ 9.99988910e-01 -4.69750779e-03 3.36722106e-04 1.52085602e+02] [ 4.69750050e-03 9.99988966e-01 2.24177647e-05 8.65214304e+00] [-3.36823699e-04 -2.08357638e-05 9.99999943e-01 -1.55123204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.711400513 meters Centerline goodness [0,1] 0.9994254463430724 Centerline is valid? [True, True] Translation: X:152.12, Y:8.65, Z:-0.15 [[ 9.99968915e-01 -7.69924636e-03 1.69992233e-03 1.52115354e+02] [ 7.69906521e-03 9.99970355e-01 1.13079341e-04 8.65058211e+00] [-1.70074256e-03 -9.99880128e-05 9.99998549e-01 -1.52246851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.74140051300003 meters Centerline goodness [0,1] 0.9987245982484483 Centerline is valid? [True, True] Translation: X:152.15, Y:8.65, Z:-0.15 [[ 9.99966492e-01 -7.57282257e-03 3.10935790e-03 1.52146461e+02] [ 7.57221591e-03 9.99971309e-01 2.06832715e-04 8.64971456e+00] [-3.11083499e-03 -1.83281055e-04 9.99995145e-01 -1.49279714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.771400513 meters Centerline goodness [0,1] 0.9405753778964998 Centerline is valid? [True, False] Translation: X:152.15, Y:8.64, Z:-0.15 [[ 9.99970166e-01 -7.02855794e-03 3.20399673e-03 1.52146102e+02] [ 7.02412192e-03 9.99974359e-01 1.39368302e-03 8.64418183e+00] [-3.21371016e-03 -1.37113618e-03 9.99993896e-01 -1.49135647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.80140051300003 meters Centerline goodness [0,1] 0.9935842963970088 Centerline is valid? [False, True] Translation: X:152.15, Y:8.64, Z:-0.15 [[ 9.99972342e-01 -6.71976756e-03 3.18733229e-03 1.52146322e+02] [ 6.71320722e-03 9.99975335e-01 2.06450630e-03 8.64103848e+00] [-3.20112668e-03 -2.04305197e-03 9.99992789e-01 -1.49432168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.831400513 meters Centerline goodness [0,1] 0.9960844074756069 Centerline is valid? [True, True] Translation: X:152.18, Y:8.64, Z:-0.15 [[ 9.99977191e-01 -5.93127104e-03 3.23069108e-03 1.52178305e+02] [ 5.93058809e-03 9.99982390e-01 2.20931668e-04 8.63942165e+00] [-3.23194459e-03 -2.01766730e-04 9.99994757e-01 -1.50704002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.86140051300004 meters Centerline goodness [0,1] 0.9959144792548688 Centerline is valid? [True, True] Translation: X:152.21, Y:8.63, Z:-0.15 [[ 9.99982946e-01 -4.57281268e-03 3.63286502e-03 1.52209681e+02] [ 4.57194042e-03 9.99989518e-01 2.48370728e-04 8.63235096e+00] [-3.63396270e-03 -2.31757249e-04 9.99993370e-01 -1.50033399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.891400513 meters Centerline goodness [0,1] 0.9829275000528888 Centerline is valid? [True, True] Translation: X:152.24, Y:8.63, Z:-0.15 [[ 9.99985788e-01 -3.92973795e-03 3.60281907e-03 1.52240468e+02] [ 3.92887654e-03 9.99992252e-01 2.46137552e-04 8.63428828e+00] [-3.60375841e-03 -2.31979023e-04 9.99993480e-01 -1.50022611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.92140051300004 meters Centerline goodness [0,1] 0.9746464517772965 Centerline is valid? [True, True] Translation: X:152.27, Y:8.63, Z:-0.15 [[ 9.99988746e-01 -1.25697833e-03 4.57477323e-03 1.52269000e+02] [ 1.22885049e-03 9.99980358e-01 6.14609305e-03 8.62646143e+00] [-4.58240888e-03 -6.14040217e-03 9.99970648e-01 -1.51022340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.951400513 meters Centerline goodness [0,1] 0.9928283471249735 Centerline is valid? [True, True] Translation: X:152.30, Y:8.63, Z:-0.15 [[ 9.99995559e-01 5.44073077e-04 2.93002571e-03 1.52303732e+02] [-5.27773046e-04 9.99984398e-01 -5.56100434e-03 8.63189348e+00] [-2.93300559e-03 5.55943325e-03 9.99980245e-01 -1.52452439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.98140051300004 meters Centerline goodness [0,1] 0.8161125319693094 Centerline is valid? [True, False] Translation: X:152.30, Y:8.63, Z:-0.15 [[ 9.99995229e-01 8.43387665e-04 2.97162273e-03 1.52303669e+02] [-8.28652438e-04 9.99987374e-01 -4.95639366e-03 8.62909616e+00] [-2.97576537e-03 4.95390757e-03 9.99983302e-01 -1.52604311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.011400513 meters Centerline goodness [0,1] 0.8021614047007367 Centerline is valid? [False, False] Translation: X:152.30, Y:8.63, Z:-0.15 [[ 9.99994681e-01 1.14703741e-03 3.05317314e-03 1.52303385e+02] [-1.13369006e-03 9.99989810e-01 -4.36978131e-03 8.62640484e+00] [-3.05815433e-03 4.36629672e-03 9.99985791e-01 -1.52587859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.041400513 meters Centerline goodness [0,1] 0.7454179468164001 Centerline is valid? [False, False] Translation: X:152.30, Y:8.62, Z:-0.15 [[ 9.99992932e-01 1.73635202e-03 3.33488857e-03 1.52302257e+02] [-1.72522466e-03 9.99992945e-01 -3.33663325e-03 8.62176042e+00] [-3.34065861e-03 3.33085624e-03 9.99988873e-01 -1.52247182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.071400513 meters Centerline goodness [0,1] 0.7690428650324992 Centerline is valid? [False, False] Translation: X:152.30, Y:8.62, Z:-0.15 [[ 9.99991985e-01 2.05835402e-03 3.43419190e-03 1.52301762e+02] [-2.04923871e-03 9.99994374e-01 -2.65569369e-03 8.61863579e+00] [-3.43963894e-03 2.64863492e-03 9.99990577e-01 -1.51920513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.101400513 meters Centerline goodness [0,1] 0.6243503450626224 Centerline is valid? [False, False] Translation: X:152.30, Y:8.61, Z:-0.15 [[ 9.99990406e-01 2.69023372e-03 3.45691137e-03 1.52301634e+02] [-2.68576238e-03 9.99995552e-01 -1.29744117e-03 8.61233483e+00] [-3.46038642e-03 1.28814428e-03 9.99993183e-01 -1.51791910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.131400513 meters Centerline goodness [0,1] 0.5654773302695688 Centerline is valid? [False, False] Translation: X:152.30, Y:8.61, Z:-0.15 [[ 9.99990060e-01 2.85405050e-03 3.42552908e-03 1.52301876e+02] [-2.85081550e-03 9.99995486e-01 -9.48890833e-04 8.61068847e+00] [-3.42822180e-03 9.39115850e-04 9.99993683e-01 -1.52067473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.161400513 meters Centerline goodness [0,1] 0.6678300100019152 Centerline is valid? [False, False] Translation: X:152.30, Y:8.61, Z:-0.15 [[ 9.99989993e-01 2.93371060e-03 3.37760352e-03 1.52302196e+02] [-2.93111373e-03 9.99995405e-01 -7.73543204e-04 8.60983071e+00] [-3.37985735e-03 7.63635323e-04 9.99993997e-01 -1.52405204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.191400513 meters Centerline goodness [0,1] 0.6069762984731362 Centerline is valid? [False, False] Translation: X:152.30, Y:8.61, Z:-0.15 [[ 9.99988949e-01 3.31231046e-03 3.33609820e-03 1.52302436e+02] [-3.31263575e-03 9.99994509e-01 9.19845382e-05 8.60573252e+00] [-3.33577520e-03 -1.03034800e-04 9.99994431e-01 -1.52600014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.221400513 meters Centerline goodness [0,1] 0.6683247582246323 Centerline is valid? [False, False] Translation: X:152.30, Y:8.60, Z:-0.15 [[ 9.99987978e-01 3.59092418e-03 3.33892559e-03 1.52302347e+02] [-3.59348197e-03 9.99993254e-01 7.60367912e-04 8.60258696e+00] [-3.33617265e-03 -7.72357140e-04 9.99994137e-01 -1.52424209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.251400513 meters Centerline goodness [0,1] 0.6739606587759572 Centerline is valid? [False, False] Translation: X:152.34, Y:8.61, Z:-0.15 [[ 9.99974065e-01 3.44991870e-03 6.32202314e-03 1.52342758e+02] [-3.44167069e-03 9.99993213e-01 -1.31506134e-03 8.60566115e+00] [-6.32651709e-03 1.29326892e-03 9.99979151e-01 -1.52870471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.281400513 meters Centerline goodness [0,1] 0.6742607955754094 Centerline is valid? [False, False] Translation: X:152.32, Y:8.59, Z:-0.15 [[ 9.99996252e-01 2.37819106e-03 1.35635051e-03 1.52318936e+02] [-2.39116381e-03 9.99950633e-01 9.64440932e-03 8.59306038e+00] [-1.33334731e-03 -9.64761643e-03 9.99952572e-01 -1.45473731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.311400513 meters Centerline goodness [0,1] 0.6794830648094657 Centerline is valid? [False, False] Translation: X:152.32, Y:8.60, Z:-0.15 [[ 9.99996158e-01 -2.17627671e-03 1.71679587e-03 1.52318271e+02] [ 2.16942341e-03 9.99989712e-01 3.98372487e-03 8.59973098e+00] [-1.72544790e-03 -3.97998511e-03 9.99990591e-01 -1.46732828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.341400513 meters Centerline goodness [0,1] 0.6907207742592749 Centerline is valid? [False, False] Translation: X:152.32, Y:8.60, Z:-0.15 [[ 9.99996216e-01 -2.21196801e-03 1.63568994e-03 1.52318842e+02] [ 2.20550522e-03 9.99989797e-01 3.94241084e-03 8.59982675e+00] [-1.64439374e-03 -3.93878840e-03 9.99990891e-01 -1.47346304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.371400513 meters Centerline goodness [0,1] 0.6216554032582675 Centerline is valid? [False, False] Translation: X:152.32, Y:8.60, Z:-0.15 [[ 9.99995887e-01 -2.36647680e-03 1.62033471e-03 1.52319166e+02] [ 2.36054779e-03 9.99990548e-01 3.65131487e-03 8.60112813e+00] [-1.62896015e-03 -3.64747498e-03 9.99992021e-01 -1.47920139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.401400513 meters Centerline goodness [0,1] 0.7044493101762292 Centerline is valid? [False, False] Translation: X:152.32, Y:8.60, Z:-0.15 [[ 9.99995636e-01 -2.46134394e-03 1.63405357e-03 1.52319152e+02] [ 2.45565468e-03 9.99990948e-01 3.47460803e-03 8.60192878e+00] [-1.64259099e-03 -3.47058019e-03 9.99992628e-01 -1.47985352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.431400513 meters Centerline goodness [0,1] 0.8716566188333192 Centerline is valid? [False, False] Translation: X:152.32, Y:8.60, Z:-0.15 [[ 9.99995486e-01 -2.54533105e-03 1.59694055e-03 1.52319278e+02] [ 2.54001347e-03 9.99991253e-01 3.32309319e-03 8.60260564e+00] [-1.60538495e-03 -3.31902194e-03 9.99993203e-01 -1.48003651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.461400513 meters Centerline goodness [0,1] 0.8169455398060321 Centerline is valid? [False, False] Translation: X:152.32, Y:8.60, Z:-0.15 [[ 9.99995467e-01 -2.57875148e-03 1.55431760e-03 1.52319164e+02] [ 2.57330035e-03 9.99990568e-01 3.49894456e-03 8.60169713e+00] [-1.56332585e-03 -3.49492897e-03 9.99992671e-01 -1.47461893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.49140051300003 meters Centerline goodness [0,1] 0.8727592118351711 Centerline is valid? [False, False] Translation: X:152.32, Y:8.60, Z:-0.15 [[ 9.99995604e-01 -2.52780502e-03 1.54997708e-03 1.52318969e+02] [ 2.52192742e-03 9.99989667e-01 3.78235712e-03 8.60030645e+00] [-1.55952212e-03 -3.77843156e-03 9.99991646e-01 -1.47052963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.521400513 meters Centerline goodness [0,1] 0.8727592118351711 Centerline is valid? [False, False] Translation: X:152.32, Y:8.60, Z:-0.15 [[ 9.99995604e-01 -2.52780502e-03 1.54997708e-03 1.52318969e+02] [ 2.52192742e-03 9.99989667e-01 3.78235712e-03 8.60030645e+00] [-1.55952212e-03 -3.77843156e-03 9.99991646e-01 -1.47052963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.55140051300003 meters Centerline goodness [0,1] 0.7715676686933968 Centerline is valid? [False, False] Translation: X:152.32, Y:8.60, Z:-0.15 [[ 9.99972190e-01 -7.22709389e-03 1.84071887e-03 1.52318046e+02] [ 7.22969602e-03 9.99972870e-01 -1.41094189e-03 8.60437480e+00] [-1.83047192e-03 1.42421049e-03 9.99997310e-01 -1.47089482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.581400513 meters Centerline goodness [0,1] 0.952840209032587 Centerline is valid? [False, True] Translation: X:152.32, Y:8.60, Z:-0.15 [[ 9.99973198e-01 -7.09667903e-03 1.80002531e-03 1.52317987e+02] [ 7.09844209e-03 9.99974330e-01 -9.74971755e-04 8.60229353e+00] [-1.79306005e-03 9.87722999e-04 9.99997905e-01 -1.46695177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.61140051300004 meters Centerline goodness [0,1] 0.9617185172575222 Centerline is valid? [True, True] Translation: X:152.35, Y:8.60, Z:-0.15 [[ 9.99957354e-01 -8.97518117e-03 2.17647029e-03 1.52348354e+02] [ 8.97485661e-03 9.99959713e-01 1.58842006e-04 8.60146659e+00] [-2.17780825e-03 -1.39301723e-04 9.99997619e-01 -1.45829829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.641400513 meters Centerline goodness [0,1] 0.9958231739637443 Centerline is valid? [True, True] Translation: X:152.38, Y:8.60, Z:-0.15 [[ 9.99931662e-01 -1.15645140e-02 1.71259341e-03 1.52379688e+02] [ 1.15643168e-02 9.99933123e-01 1.24965983e-04 8.59538953e+00] [-1.71392405e-03 -1.05152471e-04 9.99998526e-01 -1.46987566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.67140051300004 meters Centerline goodness [0,1] 0.9339493497604381 Centerline is valid? [True, False] Translation: X:152.38, Y:8.59, Z:-0.15 [[ 9.99934820e-01 -1.13050870e-02 1.59733160e-03 1.52380130e+02] [ 1.13039015e-02 9.99935828e-01 7.49303953e-04 8.59244325e+00] [-1.60570005e-03 -7.31199034e-04 9.99998444e-01 -1.47093632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.701400513 meters Centerline goodness [0,1] 0.9990426957687153 Centerline is valid? [False, True] Translation: X:152.38, Y:8.59, Z:-0.15 [[ 9.99937676e-01 -1.10651410e-02 1.48546169e-03 1.52380499e+02] [ 1.10631508e-02 9.99937902e-01 1.34138779e-03 8.58962509e+00] [-1.50021210e-03 -1.32487030e-03 9.99997997e-01 -1.47072204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.73140051300004 meters Centerline goodness [0,1] 0.9984350547730829 Centerline is valid? [True, True] Translation: X:152.41, Y:8.59, Z:-0.15 [[ 9.99930930e-01 -1.17073875e-02 1.03536334e-03 1.52410108e+02] [ 1.17073179e-02 9.99931464e-01 7.32134254e-05 8.59194864e+00] [-1.03614952e-03 -6.10870407e-05 9.99999461e-01 -1.47765067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.761400513 meters Centerline goodness [0,1] 0.9992583803025809 Centerline is valid? [True, True] Translation: X:152.44, Y:8.59, Z:-0.15 [[ 9.99935083e-01 -1.13821124e-02 5.25736063e-04 1.52440437e+02] [ 1.13820943e-02 9.99935221e-01 3.72671406e-05 8.58968417e+00] [-5.26126186e-04 -3.12807439e-05 9.99999861e-01 -1.48376491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.791400513 meters Centerline goodness [0,1] 0.9992381274866672 Centerline is valid? [True, True] Translation: X:152.47, Y:8.59, Z:-0.15 [[ 9.99944831e-01 -1.05040572e-02 -2.31135382e-05 1.52469939e+02] [ 1.05040571e-02 9.99944831e-01 -1.52837757e-06 8.59153096e+00] [ 2.31283172e-05 1.28550733e-06 1.00000000e+00 -1.49014755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.821400513 meters Centerline goodness [0,1] 0.995165789978065 Centerline is valid? [True, True] Translation: X:152.50, Y:8.60, Z:-0.15 [[ 9.99957418e-01 -9.22658564e-03 1.80771591e-04 1.52498379e+02] [ 9.22658346e-03 9.99957434e-01 1.28914280e-05 8.59802340e+00] [-1.80882840e-04 -1.12229749e-05 9.99999984e-01 -1.48202773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.851400513 meters Centerline goodness [0,1] 0.9625158562367865 Centerline is valid? [True, True] Translation: X:152.53, Y:8.60, Z:-0.14 [[ 9.99980645e-01 -5.15246470e-03 3.48732500e-03 1.52528637e+02] [ 5.15163536e-03 9.99986700e-01 2.46758863e-04 8.60066607e+00] [-3.48855004e-03 -2.28788660e-04 9.99993889e-01 -1.43385858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.881400513 meters Centerline goodness [0,1] 0.8714614107530544 Centerline is valid? [True, False] Translation: X:152.53, Y:8.60, Z:-0.14 [[ 9.99979992e-01 -5.13543483e-03 3.69359590e-03 1.52527686e+02] [ 5.13476533e-03 9.99986799e-01 1.90719534e-04 8.60104289e+00] [-3.69452656e-03 -1.71749970e-04 9.99993160e-01 -1.42871479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.911400513 meters Centerline goodness [0,1] 0.9152747930807038 Centerline is valid? [False, False] Translation: X:152.53, Y:8.60, Z:-0.14 [[ 9.99980082e-01 -5.08568658e-03 3.73795059e-03 1.52527561e+02] [ 5.08468858e-03 9.99987035e-01 2.76445812e-04 8.60065813e+00] [-3.73930804e-03 -2.57433991e-04 9.99992976e-01 -1.42940194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.941400513 meters Centerline goodness [0,1] 0.9722968826056592 Centerline is valid? [False, True] Translation: X:152.53, Y:8.60, Z:-0.14 [[ 9.99980941e-01 -4.99760329e-03 3.62501632e-03 1.52528207e+02] [ 4.99581030e-03 9.99987394e-01 5.03500282e-04 8.59952126e+00] [-3.62748692e-03 -4.85380792e-04 9.99993303e-01 -1.43481639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.971400513 meters Centerline goodness [0,1] 0.8824054398640034 Centerline is valid? [True, False] Translation: X:152.53, Y:8.60, Z:-0.14 [[ 9.99982539e-01 -4.85567132e-03 3.36808393e-03 1.52529378e+02] [ 4.85201436e-03 9.99987631e-01 1.09308961e-03 8.59653376e+00] [-3.37334996e-03 -1.07672853e-03 9.99993731e-01 -1.44185535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.001400513 meters Centerline goodness [0,1] 0.9937923728813559 Centerline is valid? [False, True] Translation: X:152.53, Y:8.59, Z:-0.14 [[ 9.99984132e-01 -4.62662421e-03 3.21394780e-03 1.52529655e+02] [ 4.62074203e-03 9.99987640e-01 1.83522521e-03 8.59292658e+00] [-3.22239898e-03 -1.82034526e-03 9.99993151e-01 -1.43759791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.031400513 meters Centerline goodness [0,1] 0.9982450947225981 Centerline is valid? [True, True] Translation: X:152.56, Y:8.59, Z:-0.14 [[ 9.99962433e-01 -7.71346029e-03 3.95401431e-03 1.52560609e+02] [ 7.71246348e-03 9.99970223e-01 2.67287840e-04 8.59005053e+00] [-3.95595829e-03 -2.36782608e-04 9.99992147e-01 -1.42717548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.061400513 meters Centerline goodness [0,1] 0.9998719344304284 Centerline is valid? [True, True] Translation: X:152.59, Y:8.58, Z:-0.14 [[ 9.99901212e-01 -1.35297566e-02 3.80937217e-03 1.52590323e+02] [ 1.35288729e-02 9.99908447e-01 2.57669222e-04 8.58181124e+00] [-3.81250962e-03 -2.06107255e-04 9.99992711e-01 -1.42412129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.091400513 meters Centerline goodness [0,1] 0.9997018866317449 Centerline is valid? [True, True] Translation: X:152.62, Y:8.58, Z:-0.14 [[ 9.99879115e-01 -1.51590996e-02 3.45783578e-03 1.52621470e+02] [ 1.51583814e-02 9.99885078e-01 2.33799177e-04 8.58187875e+00] [-3.46098258e-03 -1.81355721e-04 9.99993994e-01 -1.42957194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.121400513 meters Centerline goodness [0,1] 0.9997214066819535 Centerline is valid? [True, True] Translation: X:152.65, Y:8.58, Z:-0.14 [[ 9.99876579e-01 -1.54102711e-02 3.05781992e-03 1.52652737e+02] [ 1.54097112e-02 9.99881242e-01 2.06597709e-04 8.58296850e+00] [-3.06064051e-03 -1.59452088e-04 9.99995304e-01 -1.43726336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.151400513 meters Centerline goodness [0,1] 0.999658579262958 Centerline is valid? [True, True] Translation: X:152.68, Y:8.58, Z:-0.14 [[ 9.99896429e-01 -1.39972211e-02 3.34805187e-03 1.52683022e+02] [ 1.39965416e-02 9.99902018e-01 2.26310501e-04 8.58493588e+00] [-3.35089154e-03 -1.79425915e-04 9.99994370e-01 -1.43625968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.181400513 meters Centerline goodness [0,1] 0.9975962561157201 Centerline is valid? [True, True] Translation: X:152.71, Y:8.59, Z:-0.14 [[ 9.99957838e-01 -8.26372384e-03 4.00412717e-03 1.52712358e+02] [ 8.26270620e-03 9.99965827e-01 2.70624523e-04 8.59345001e+00] [-4.00622670e-03 -2.37528186e-04 9.99991947e-01 -1.42627348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.211400513 meters Centerline goodness [0,1] 0.9965064577598983 Centerline is valid? [True, True] Translation: X:152.74, Y:8.60, Z:-0.14 [[ 9.99977019e-01 -5.52209036e-03 3.93292245e-03 1.52742897e+02] [ 5.52108747e-03 9.99984723e-01 2.65810267e-04 8.59724048e+00] [-3.93433019e-03 -2.44090150e-04 9.99992231e-01 -1.42719637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.24140051300003 meters Centerline goodness [0,1] 0.9994816638590126 Centerline is valid? [True, True] Translation: X:152.77, Y:8.59, Z:-0.14 [[ 9.99987823e-01 -3.64210625e-03 3.32994368e-03 1.52774506e+02] [ 3.64137749e-03 9.99993345e-01 2.24886865e-04 8.59411414e+00] [-3.33074058e-03 -2.12758545e-04 9.99994430e-01 -1.44904644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.271400513 meters Centerline goodness [0,1] 0.9840960176428177 Centerline is valid? [True, True] Translation: X:152.80, Y:8.61, Z:-0.15 [[ 9.99993257e-01 -2.78360219e-03 2.39521632e-03 1.52804562e+02] [ 2.78322307e-03 9.99996114e-01 1.61597804e-04 8.60876119e+00] [-2.39565684e-03 -1.54930293e-04 9.99997118e-01 -1.45646851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.30140051300003 meters Centerline goodness [0,1] 0.9993406780381981 Centerline is valid? [True, True] Translation: X:152.84, Y:8.60, Z:-0.15 [[ 9.99995386e-01 -2.81854623e-03 1.13259726e-03 1.52836861e+02] [ 2.81846168e-03 9.99996025e-01 7.62356549e-05 8.60303801e+00] [-1.13280764e-03 -7.30431212e-05 9.99999356e-01 -1.48591876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.331400513 meters Centerline goodness [0,1] 0.9991291048897574 Centerline is valid? [True, True] Translation: X:152.87, Y:8.61, Z:-0.15 [[ 9.99994122e-01 -3.32529548e-03 -8.36278847e-04 1.52866852e+02] [ 3.32524931e-03 9.99994470e-01 -5.65956054e-05 8.60855616e+00] [ 8.36462419e-04 5.38144370e-05 9.99999649e-01 -1.50480435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.36140051300004 meters Centerline goodness [0,1] 0.9988146392058083 Centerline is valid? [True, True] Translation: X:152.90, Y:8.61, Z:-0.15 [[ 9.99993264e-01 -3.46067169e-03 -1.22297501e-03 1.52895089e+02] [ 3.46057353e-03 9.99994009e-01 -8.23705075e-05 8.61196772e+00] [ 1.22325274e-03 7.81377577e-05 9.99999249e-01 -1.50890158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.391400513 meters Centerline goodness [0,1] 0.9986163147138964 Centerline is valid? [True, True] Translation: X:152.92, Y:8.62, Z:-0.15 [[ 9.99991817e-01 -3.79463698e-03 -1.40254525e-03 1.52924465e+02] [ 3.79450806e-03 9.99992796e-01 -9.45658232e-05 8.61596099e+00] [ 1.40289399e-03 8.92430801e-05 9.99999012e-01 -1.51127461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.42140051300004 meters Centerline goodness [0,1] 0.9889251228189057 Centerline is valid? [True, True] Translation: X:152.95, Y:8.63, Z:-0.15 [[ 9.99990279e-01 -4.17576934e-03 -1.41558496e-03 1.52952424e+02] [ 4.17563840e-03 9.99991277e-01 -9.54464411e-05 8.62643887e+00] [ 1.41597118e-03 8.95345424e-05 9.99998994e-01 -1.51169183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.451400513 meters Centerline goodness [0,1] 0.9989850291804111 Centerline is valid? [True, True] Translation: X:152.98, Y:8.62, Z:-0.15 [[ 9.99983813e-01 -5.56275114e-03 -1.19560110e-03 1.52982048e+02] [ 5.56265910e-03 9.99984525e-01 -8.02971281e-05 8.62375986e+00] [ 1.19602928e-03 7.36451070e-05 9.99999282e-01 -1.52062374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.48140051300004 meters Centerline goodness [0,1] 0.9987928076752017 Centerline is valid? [True, True] Translation: X:153.01, Y:8.63, Z:-0.15 [[ 9.99975263e-01 -6.95231042e-03 -1.06700382e-03 1.53010765e+02] [ 6.95223744e-03 9.99975830e-01 -7.20981377e-05 8.62641865e+00] [ 1.06747928e-03 6.46782903e-05 9.99999428e-01 -1.51590852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.511400513 meters Centerline goodness [0,1] 0.9992954889946841 Centerline is valid? [True, True] Translation: X:153.04, Y:8.63, Z:-0.15 [[ 9.99960212e-01 -8.81440195e-03 -1.37168600e-03 1.53040934e+02] [ 8.81428287e-03 9.99961149e-01 -9.28343904e-05 8.62568052e+00] [ 1.37245099e-03 8.07402682e-05 9.99999055e-01 -1.51550011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.541400513 meters Centerline goodness [0,1] 0.9997245937758193 Centerline is valid? [True, True] Translation: X:153.07, Y:8.62, Z:-0.15 [[ 9.99942656e-01 -1.05514856e-02 -1.83072954e-03 1.53071324e+02] [ 1.05512763e-02 9.99944326e-01 -1.23937816e-04 8.62497445e+00] [ 1.83193534e-03 1.04614175e-04 9.99998317e-01 -1.52017341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.571400513 meters Centerline goodness [0,1] 0.9995571955719558 Centerline is valid? [True, True] Translation: X:153.10, Y:8.63, Z:-0.15 [[ 9.99912716e-01 -1.28590432e-02 -3.03396216e-03 1.53099986e+02] [ 1.28584789e-02 9.99917305e-01 -2.05446791e-04 8.62713149e+00] [ 3.03635312e-03 1.66416720e-04 9.99995376e-01 -1.53432232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.601400513 meters Centerline goodness [0,1] 0.9996378201031147 Centerline is valid? [True, True] Translation: X:153.13, Y:8.63, Z:-0.15 [[ 9.99899644e-01 -1.37962609e-02 -3.21945020e-03 1.53128630e+02] [ 1.37956304e-02 9.99904812e-01 -2.17949383e-04 8.62694738e+00] [ 3.22215064e-03 1.73513165e-04 9.99994794e-01 -1.53555320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.631400513 meters Centerline goodness [0,1] 0.9997664444350078 Centerline is valid? [True, True] Translation: X:153.16, Y:8.63, Z:-0.15 [[ 9.99893216e-01 -1.42459089e-02 -3.25730272e-03 1.53156299e+02] [ 1.42452639e-02 9.99898507e-01 -2.21132732e-04 8.63151792e+00] [ 3.26012236e-03 1.74707982e-04 9.99994671e-01 -1.53587580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.661400513 meters Centerline goodness [0,1] 0.9992808646544977 Centerline is valid? [True, True] Translation: X:153.18, Y:8.64, Z:-0.15 [[ 9.99888471e-01 -1.46953843e-02 -2.66292916e-03 1.53183318e+02] [ 1.46949547e-02 9.99892007e-01 -1.80845924e-04 8.64213932e+00] [ 2.66529918e-03 1.41694131e-04 9.99996438e-01 -1.52742680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.691400513 meters Centerline goodness [0,1] 0.9996609379304499 Centerline is valid? [True, True] Translation: X:153.21, Y:8.64, Z:-0.15 [[ 9.99885533e-01 -1.47914892e-02 -3.18306721e-03 1.53211717e+02] [ 1.47908750e-02 9.99890586e-01 -2.16405886e-04 8.63928138e+00] [ 3.18591991e-03 1.69300765e-04 9.99994911e-01 -1.53430736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.721400513 meters Centerline goodness [0,1] 0.9997448708408632 Centerline is valid? [True, True] Translation: X:153.24, Y:8.64, Z:-0.16 [[ 9.99874795e-01 -1.51749871e-02 -4.48485492e-03 1.53241085e+02] [ 1.51737667e-02 9.99884825e-01 -3.06007116e-04 8.63865462e+00] [ 4.48898204e-03 2.37916660e-04 9.99989896e-01 -1.55256322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.751400513 meters Centerline goodness [0,1] 0.99949261114987 Centerline is valid? [True, True] Translation: X:153.27, Y:8.65, Z:-0.16 [[ 9.99855369e-01 -1.60041771e-02 -5.75395181e-03 1.53268751e+02] [ 1.60021766e-02 9.99871880e-01 -3.93540542e-04 8.64555902e+00] [ 5.75951290e-03 3.01407870e-04 9.99983368e-01 -1.57534715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.781400513 meters Centerline goodness [0,1] 0.9997464985106788 Centerline is valid? [True, True] Translation: X:153.30, Y:8.65, Z:-0.16 [[ 9.99831024e-01 -1.70559759e-02 -6.85689772e-03 1.53298224e+02] [ 1.70531550e-02 9.99854474e-01 -4.69643174e-04 8.64545208e+00] [ 6.86391008e-03 3.52632076e-04 9.99976381e-01 -1.59253822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.811400513 meters Centerline goodness [0,1] 0.9995969196172858 Centerline is valid? [True, True] Translation: X:153.33, Y:8.65, Z:-0.16 [[ 9.99789246e-01 -1.90488687e-02 -7.65535885e-03 1.53326644e+02] [ 1.90454051e-02 9.99818482e-01 -5.25094529e-04 8.65030877e+00] [ 7.66397172e-03 3.79184452e-04 9.99970559e-01 -1.60949540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.841400513 meters Centerline goodness [0,1] 0.9998090104619825 Centerline is valid? [True, True] Translation: X:153.36, Y:8.65, Z:-0.16 [[ 9.99766537e-01 -2.02240359e-02 -7.60653016e-03 1.53355631e+02] [ 2.02206484e-02 9.99795406e-01 -5.21993235e-04 8.64977530e+00] [ 7.61553071e-03 3.68062397e-04 9.99970934e-01 -1.60883540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.871400513 meters Centerline goodness [0,1] 0.999935857689594 Centerline is valid? [True, True] Translation: X:153.38, Y:8.65, Z:-0.16 [[ 9.99747351e-01 -2.09773989e-02 -8.07363893e-03 1.53384772e+02] [ 2.09736003e-02 9.99779876e-01 -5.54887846e-04 8.64654601e+00] [ 8.08350183e-03 3.85414378e-04 9.99967254e-01 -1.60908947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.901400513 meters Centerline goodness [0,1] 0.9996592772418492 Centerline is valid? [True, True] Translation: X:153.41, Y:8.66, Z:-0.16 [[ 9.99739392e-01 -2.10025847e-02 -8.94645957e-03 1.53411444e+02] [ 2.09979100e-02 9.99779330e-01 -6.16140138e-04 8.65748552e+00] [ 8.95742589e-03 4.28122614e-04 9.99959790e-01 -1.62933366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.931400513 meters Centerline goodness [0,1] 0.9996602467458009 Centerline is valid? [True, True] Translation: X:153.44, Y:8.66, Z:-0.16 [[ 9.99744264e-01 -2.05142174e-02 -9.51700777e-03 1.53440488e+02] [ 2.05088929e-02 9.99789455e-01 -6.56739459e-04 8.66158803e+00] [ 9.52847651e-03 4.61388214e-04 9.99954497e-01 -1.63773271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.961400513 meters Centerline goodness [0,1] 0.9997037413238531 Centerline is valid? [True, True] Translation: X:153.47, Y:8.67, Z:-0.16 [[ 9.99798193e-01 -1.78167027e-02 -9.28103871e-03 1.53469686e+02] [ 1.78115165e-02 9.99841157e-01 -6.41163891e-04 8.67029934e+00] [ 9.29098790e-03 4.75725126e-04 9.99956725e-01 -1.62269636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.99140051300003 meters Centerline goodness [0,1] 0.9997867076188038 Centerline is valid? [True, True] Translation: X:153.50, Y:8.67, Z:-0.16 [[ 9.99830090e-01 -1.61589272e-02 -8.87022895e-03 1.53498984e+02] [ 1.61541230e-02 9.99869326e-01 -6.12991235e-04 8.67169402e+00] [ 8.87897512e-03 4.69596312e-04 9.99960471e-01 -1.60093725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.021400513 meters Centerline goodness [0,1] 0.9996188055908514 Centerline is valid? [True, True] Translation: X:153.53, Y:8.68, Z:-0.16 [[ 9.99863018e-01 -1.42440286e-02 -8.42932891e-03 1.53526775e+02] [ 1.42396195e-02 9.99898442e-01 -5.82854876e-04 8.68020897e+00] [ 8.43677505e-03 4.62744598e-04 9.99964303e-01 -1.59131602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.05140051300003 meters Centerline goodness [0,1] 0.9978595432265246 Centerline is valid? [True, True] Translation: X:153.55, Y:8.70, Z:-0.16 [[ 9.99883440e-01 -1.06252007e-02 -1.09641295e-02 1.53554858e+02] [ 1.06175211e-02 9.99943345e-01 -7.58396026e-04 8.69721215e+00] [ 1.09715665e-02 6.41895750e-04 9.99939605e-01 -1.63821668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.081400513 meters Centerline goodness [0,1] 0.9915124114987631 Centerline is valid? [True, True] Translation: X:153.58, Y:8.71, Z:-0.17 [[ 9.99884703e-01 -8.75886526e-03 -1.24041145e-02 1.53583167e+02] [ 8.74889170e-03 9.99961360e-01 -8.58088365e-04 8.70748232e+00] [ 1.24111511e-02 7.49467176e-04 9.99922698e-01 -1.67188910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.11140051300004 meters Centerline goodness [0,1] 0.9731397535873539 Centerline is valid? [True, True] Translation: X:153.61, Y:8.72, Z:-0.17 [[ 9.99893640e-01 -7.23311094e-03 -1.26645585e-02 1.53610621e+02] [ 7.22258599e-03 9.99973533e-01 -8.76596006e-04 8.71846369e+00] [ 1.26705639e-02 7.85031908e-04 9.99919417e-01 -1.68840887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.141400513 meters Centerline goodness [0,1] 0.9024619191876093 Centerline is valid? [True, False] Translation: X:153.61, Y:8.72, Z:-0.17 [[ 9.99891717e-01 -7.67560958e-03 -1.25554672e-02 1.53610236e+02] [ 7.65239511e-03 9.99968923e-01 -1.89595150e-03 8.72331609e+00] [ 1.25696295e-02 1.79966681e-03 9.99919380e-01 -1.68862000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.17140051300004 meters Centerline goodness [0,1] 0.9827013915485765 Centerline is valid? [False, True] Translation: X:153.61, Y:8.72, Z:-0.17 [[ 9.99912401e-01 -3.33628544e-03 -1.28085499e-02 1.53610578e+02] [ 3.37691161e-03 9.99989332e-01 3.15148405e-03 8.71946790e+00] [ 1.27978990e-02 -3.19446133e-03 9.99913001e-01 -1.67891870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.201400513 meters Centerline goodness [0,1] 0.9663417831243789 Centerline is valid? [True, True] Translation: X:153.64, Y:8.73, Z:-0.17 [[ 9.99883772e-01 -5.11951153e-03 -1.43608000e-02 1.53638864e+02] [ 5.10632928e-03 9.99986507e-01 -9.54450100e-04 8.72843541e+00] [ 1.43654925e-02 8.81008193e-04 9.99896423e-01 -1.70844455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.23140051300004 meters Centerline goodness [0,1] 0.9941432360742706 Centerline is valid? [True, True] Translation: X:153.67, Y:8.72, Z:-0.17 [[ 9.99853886e-01 -7.13331391e-03 -1.55345337e-02 1.53669062e+02] [ 7.11812431e-03 9.99974132e-01 -1.03286893e-03 8.72229607e+00] [ 1.55414997e-02 9.22141267e-04 9.99878798e-01 -1.71382043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.261400513 meters Centerline goodness [0,1] 0.9876015482114755 Centerline is valid? [True, True] Translation: X:153.70, Y:8.72, Z:-0.17 [[ 9.99825192e-01 -9.18874170e-03 -1.62835038e-02 1.53698132e+02] [ 9.17231744e-03 9.99957347e-01 -1.08304236e-03 8.72353930e+00] [ 1.62927610e-02 9.33495570e-04 9.99866828e-01 -1.73292165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.291400513 meters Centerline goodness [0,1] 0.9982067375432304 Centerline is valid? [True, True] Translation: X:153.73, Y:8.72, Z:-0.17 [[ 9.99809397e-01 -1.12716299e-02 -1.59411287e-02 1.53728908e+02] [ 1.12561494e-02 9.99936085e-01 -1.06049806e-03 8.71859072e+00] [ 1.59520634e-02 8.80860202e-04 9.99872370e-01 -1.72174916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.321400513 meters Centerline goodness [0,1] 0.9985538991557323 Centerline is valid? [True, True] Translation: X:153.76, Y:8.72, Z:-0.17 [[ 9.99807123e-01 -1.40622851e-02 -1.37101496e-02 1.53758323e+02] [ 1.40510940e-02 9.99900862e-01 -9.12254035e-04 8.71870359e+00] [ 1.37216188e-02 7.19435482e-04 9.99905595e-01 -1.70155288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.351400513 meters Centerline goodness [0,1] 0.9989731082728964 Centerline is valid? [True, True] Translation: X:153.79, Y:8.72, Z:-0.17 [[ 9.99806330e-01 -1.44707575e-02 -1.33379018e-02 1.53787593e+02] [ 1.44601819e-02 9.99895051e-01 -8.89001890e-04 8.71819384e+00] [ 1.33493665e-02 6.95961231e-04 9.99910651e-01 -1.69106175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.381400513 meters Centerline goodness [0,1] 0.9967495910433175 Centerline is valid? [True, True] Translation: X:153.82, Y:8.72, Z:-0.17 [[ 9.99816229e-01 -1.35451254e-02 -1.35660509e-02 1.53816055e+02] [ 1.35340864e-02 9.99908000e-01 -9.05197279e-04 8.72369655e+00] [ 1.35770639e-02 7.21426824e-04 9.99907567e-01 -1.70193827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.411400513 meters Centerline goodness [0,1] 0.9925083299730469 Centerline is valid? [True, True] Translation: X:153.85, Y:8.73, Z:-0.17 [[ 9.99814903e-01 -1.17698046e-02 -1.52194118e-02 1.53845804e+02] [ 1.17557012e-02 9.99930383e-01 -1.01579952e-03 8.72662465e+00] [ 1.52303080e-02 8.36696638e-04 9.99883662e-01 -1.72422166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.441400513 meters Centerline goodness [0,1] 0.9982598981718189 Centerline is valid? [True, True] Translation: X:153.88, Y:8.72, Z:-0.17 [[ 9.99815635e-01 -9.40764920e-03 -1.67389487e-02 1.53875731e+02] [ 9.39025440e-03 9.99955286e-01 -1.11747650e-03 8.72392245e+00] [ 1.67487131e-02 9.60087485e-04 9.99859270e-01 -1.72896542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.471400513 meters Centerline goodness [0,1] 0.9982598981718189 Centerline is valid? [True, True] Translation: X:153.90, Y:8.73, Z:-0.17 [[ 9.99813865e-01 -9.59421112e-03 -1.67387871e-02 1.53903207e+02] [ 9.57680204e-03 9.99953514e-01 -1.11989401e-03 8.72590546e+00] [ 1.67487535e-02 9.59381505e-04 9.99859270e-01 -1.72782132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.501400513 meters Centerline goodness [0,1] 0.9587818937017886 Centerline is valid? [True, True] Translation: X:153.93, Y:8.74, Z:-0.17 [[ 9.99825577e-01 -7.09999412e-03 -1.72743970e-02 1.53931797e+02] [ 7.08106287e-03 9.99974260e-01 -1.15683312e-03 8.73954240e+00] [ 1.72821659e-02 1.03431025e-03 9.99850117e-01 -1.74726701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.531400513 meters Centerline goodness [0,1] 0.8940975156329221 Centerline is valid? [True, False] Translation: X:153.95, Y:8.75, Z:-0.17 [[ 9.99886516e-01 -2.11630637e-03 -1.49156388e-02 1.53950349e+02] [ 1.98284287e-03 9.99957919e-01 -8.95700609e-03 8.74909678e+00] [ 1.49339669e-02 8.92641425e-03 9.99848636e-01 -1.74409518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.561400513 meters Centerline goodness [0,1] 0.9022773441676467 Centerline is valid? [False, False] Translation: X:153.95, Y:8.74, Z:-0.17 [[ 9.99882201e-01 2.46606398e-03 -1.51493539e-02 1.53950933e+02] [-2.52272893e-03 9.99989890e-01 -3.72244933e-03 8.74456693e+00] [ 1.51400209e-02 3.76022855e-03 9.99878313e-01 -1.74030725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.591400513 meters Centerline goodness [0,1] 0.8756604136809908 Centerline is valid? [False, False] Translation: X:153.95, Y:8.75, Z:-0.17 [[ 9.99881161e-01 2.38619051e-03 -1.52305309e-02 1.53951259e+02] [-2.44576266e-03 9.99989428e-01 -3.89393686e-03 8.74535003e+00] [ 1.52210782e-02 3.93072437e-03 9.99876426e-01 -1.74162907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.621400513 meters Centerline goodness [0,1] 0.872194473622157 Centerline is valid? [False, False] Translation: X:153.95, Y:8.74, Z:-0.17 [[ 9.99879772e-01 2.45966669e-03 -1.53098435e-02 1.53951583e+02] [-2.51629886e-03 9.99990060e-01 -3.68090577e-03 8.74430813e+00] [ 1.53006376e-02 3.71898736e-03 9.99876022e-01 -1.74296810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.651400513 meters Centerline goodness [0,1] 0.9642651419793912 Centerline is valid? [False, True] Translation: X:153.97, Y:8.74, Z:-0.17 [[ 9.99885561e-01 -2.48956704e-03 -1.49220549e-02 1.53970455e+02] [ 2.53078195e-03 9.99993033e-01 2.74376620e-03 8.73956056e+00] [ 1.49151202e-02 -2.78121668e-03 9.99884895e-01 -1.70128344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.681400513 meters Centerline goodness [0,1] 0.9534544831133207 Centerline is valid? [True, True] Translation: X:154.00, Y:8.74, Z:-0.17 [[ 9.99874672e-01 -6.12843468e-03 -1.45973493e-02 1.53999503e+02] [ 6.11608341e-03 9.99980900e-01 -8.90623308e-04 8.74276854e+00] [ 1.46025286e-02 8.01233082e-04 9.99893056e-01 -1.70843569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.711400513 meters Centerline goodness [0,1] 0.9975807660193967 Centerline is valid? [True, True] Translation: X:154.03, Y:8.73, Z:-0.17 [[ 9.99832981e-01 -1.00477388e-02 -1.52660977e-02 1.54031073e+02] [ 1.00346849e-02 9.99949217e-01 -9.31450218e-04 8.72991366e+00] [ 1.52746815e-02 7.78104167e-04 9.99883032e-01 -1.69253451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.74140051300003 meters Centerline goodness [0,1] 0.9937808552926845 Centerline is valid? [True, True] Translation: X:154.06, Y:8.73, Z:-0.17 [[ 9.99779475e-01 -1.36516006e-02 -1.59573148e-02 1.54060498e+02] [ 1.36377918e-02 9.99906527e-01 -9.73864000e-04 8.72962654e+00] [ 1.59691180e-02 7.56026702e-04 9.99872200e-01 -1.71963737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.771400513 meters Centerline goodness [0,1] 0.9989226459814695 Centerline is valid? [True, True] Translation: X:154.09, Y:8.72, Z:-0.17 [[ 9.99776854e-01 -1.47965182e-02 -1.50766548e-02 1.54086664e+02] [ 1.48038692e-02 9.99890346e-01 3.76078401e-04 8.71916717e+00] [ 1.50694370e-02 -5.99187307e-04 9.99886270e-01 -1.70558835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.80140051300003 meters Centerline goodness [0,1] 0.998246364414029 Centerline is valid? [True, True] Translation: X:154.12, Y:8.72, Z:-0.17 [[ 9.99701051e-01 -1.86964999e-02 -1.57559547e-02 1.54119063e+02] [ 1.86616141e-02 9.99823076e-01 -2.35827482e-03 8.72067794e+00] [ 1.57972585e-02 2.06353827e-03 9.99873086e-01 -1.70051075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.831400513 meters Centerline goodness [0,1] 0.9987440395095368 Centerline is valid? [True, True] Translation: X:154.15, Y:8.72, Z:-0.17 [[ 9.99710501e-01 -1.84460408e-02 -1.54485567e-02 1.54147682e+02] [ 1.84336099e-02 9.99829638e-01 -9.46690371e-04 8.71873534e+00] [ 1.54633876e-02 6.61643637e-04 9.99880216e-01 -1.68519749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.86140051300004 meters Centerline goodness [0,1] 0.9995032504697523 Centerline is valid? [True, True] Translation: X:154.17, Y:8.71, Z:-0.17 [[ 9.99784622e-01 -1.57143087e-02 -1.35561695e-02 1.54173277e+02] [ 1.57676428e-02 9.99868323e-01 3.83643046e-03 8.70916191e+00] [ 1.34940977e-02 -4.04935301e-03 9.99900751e-01 -1.66160244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.891400513 meters Centerline goodness [0,1] 0.9813337894759349 Centerline is valid? [True, True] Translation: X:154.20, Y:8.73, Z:-0.17 [[ 9.99731158e-01 -1.59690837e-02 -1.68107237e-02 1.54204175e+02] [ 1.58738185e-02 9.99857266e-01 -5.78520390e-03 8.72934478e+00] [ 1.69007086e-02 5.51679821e-03 9.99841953e-01 -1.72492158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.92140051300004 meters Centerline goodness [0,1] 0.9793818824682102 Centerline is valid? [True, True] Translation: X:154.23, Y:8.73, Z:-0.17 [[ 9.99743424e-01 -1.41420444e-02 -1.76943387e-02 1.54233633e+02] [ 1.41249881e-02 9.99899645e-01 -1.08855281e-03 8.72584999e+00] [ 1.77079573e-02 8.38341191e-04 9.99842850e-01 -1.72688256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.951400513 meters Centerline goodness [0,1] 0.9713578349767362 Centerline is valid? [True, True] Translation: X:154.26, Y:8.73, Z:-0.17 [[ 9.99779510e-01 -1.19287302e-02 -1.72811181e-02 1.54262855e+02] [ 1.19121215e-02 9.99928482e-01 -1.06370831e-03 8.72930082e+00] [ 1.72925709e-02 8.57618993e-04 9.99850105e-01 -1.72126289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.98140051300004 meters Centerline goodness [0,1] 0.9851796725494365 Centerline is valid? [True, True] Translation: X:154.29, Y:8.73, Z:-0.16 [[ 9.99886241e-01 -7.41556990e-03 -1.31345069e-02 1.54292723e+02] [ 7.40558737e-03 9.99972251e-01 -8.08497346e-04 8.73230410e+00] [ 1.31401379e-02 7.11136633e-04 9.99913412e-01 -1.64610555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.011400513 meters Centerline goodness [0,1] 0.9863675875082155 Centerline is valid? [True, True] Translation: X:154.32, Y:8.73, Z:-0.16 [[ 9.99908394e-01 -5.90370161e-03 -1.21799291e-02 1.54322430e+02] [ 5.89500215e-03 9.99982343e-01 -7.50023963e-04 8.73339936e+00] [ 1.21841419e-02 6.78154548e-04 9.99925541e-01 -1.62134340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.041400513 meters Centerline goodness [0,1] 0.8677030389383918 Centerline is valid? [True, False] Translation: X:154.32, Y:8.73, Z:-0.16 [[ 9.99908768e-01 -5.77163236e-03 -1.22124808e-02 1.54322653e+02] [ 5.76603231e-03 9.99983254e-01 -4.93711975e-04 8.73219556e+00] [ 1.22151258e-02 4.23249374e-04 9.99925303e-01 -1.62356556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.071400513 meters Centerline goodness [0,1] 0.9392176018349403 Centerline is valid? [False, False] Translation: X:154.32, Y:8.73, Z:-0.16 [[ 9.99908184e-01 -5.72331700e-03 -1.22828267e-02 1.54323320e+02] [ 5.71873432e-03 9.99983565e-01 -4.08186320e-04 8.73172549e+00] [ 1.22849610e-02 3.37906619e-04 9.99924480e-01 -1.63193060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.101400513 meters Centerline goodness [0,1] 0.879573138326141 Centerline is valid? [False, False] Translation: X:154.32, Y:8.73, Z:-0.16 [[ 9.99909400e-01 -5.57804566e-03 -1.22506358e-02 1.54323358e+02] [ 5.57759161e-03 9.99984443e-01 -7.12295281e-05 8.73012829e+00] [ 1.22508426e-02 2.89403100e-06 9.99924956e-01 -1.63496948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.131400513 meters Centerline goodness [0,1] 0.9559686888454012 Centerline is valid? [False, True] Translation: X:154.32, Y:8.73, Z:-0.16 [[ 9.99910958e-01 -5.45178660e-03 -1.21800640e-02 1.54322766e+02] [ 5.45475043e-03 9.99985101e-01 2.10126165e-04 8.72886603e+00] [ 1.21787370e-02 -2.76546664e-04 9.99925798e-01 -1.62826369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.161400513 meters Centerline goodness [0,1] 0.9889785348941725 Centerline is valid? [True, True] Translation: X:154.35, Y:8.73, Z:-0.16 [[ 9.99917417e-01 -5.81474372e-03 -1.14606958e-02 1.54352092e+02] [ 5.80697903e-03 9.99982887e-01 -7.10667335e-04 8.72589519e+00] [ 1.14646320e-02 6.44056626e-04 9.99934072e-01 -1.60272128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.191400513 meters Centerline goodness [0,1] 0.9549607240437159 Centerline is valid? [True, True] Translation: X:154.38, Y:8.73, Z:-0.16 [[ 9.99916654e-01 -5.95388525e-03 -1.14558278e-02 1.54379190e+02] [ 5.94612710e-03 9.99982069e-01 -7.11163800e-04 8.73127028e+00] [ 1.14598566e-02 6.42986719e-04 9.99934127e-01 -1.60691460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.221400513 meters Centerline goodness [0,1] 0.994515344231508 Centerline is valid? [True, True] Translation: X:154.41, Y:8.72, Z:-0.16 [[ 9.99908641e-01 -6.08356434e-03 -1.20706319e-02 1.54408578e+02] [ 6.07493548e-03 9.99981265e-01 -7.51400640e-04 8.72263519e+00] [ 1.20749769e-02 6.78003683e-04 9.99926865e-01 -1.58881811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.251400513 meters Centerline goodness [0,1] 0.9718609650709862 Centerline is valid? [True, True] Translation: X:154.44, Y:8.73, Z:-0.16 [[ 9.99902331e-01 -5.91296948e-03 -1.26635178e-02 1.54435870e+02] [ 5.90345118e-03 9.99982263e-01 -7.88880716e-04 8.72750009e+00] [ 1.26679579e-02 7.14045208e-04 9.99919503e-01 -1.60917378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.281400513 meters Centerline goodness [0,1] 0.9796640710470429 Centerline is valid? [True, True] Translation: X:154.47, Y:8.73, Z:-0.16 [[ 9.99911432e-01 -4.60404029e-03 -1.24872612e-02 1.54465401e+02] [ 4.59467842e-03 9.99989142e-01 -7.78298255e-04 8.72619449e+00] [ 1.24907090e-02 7.20854372e-04 9.99921728e-01 -1.60435769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.311400513 meters Centerline goodness [0,1] 0.9865867701624942 Centerline is valid? [True, True] Translation: X:154.49, Y:8.73, Z:-0.16 [[ 9.99927706e-01 -3.69166076e-03 -1.14435239e-02 1.54493983e+02] [ 3.68371605e-03 9.99992959e-01 -7.15254421e-04 8.72792308e+00] [ 1.14460838e-02 6.73048020e-04 9.99934265e-01 -1.58835240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.341400513 meters Centerline goodness [0,1] 0.950966455199338 Centerline is valid? [True, True] Translation: X:154.52, Y:8.74, Z:-0.16 [[ 9.99940394e-01 -2.39763780e-03 -1.06517295e-02 1.54522209e+02] [ 2.39067919e-03 9.99996921e-01 -6.65969132e-04 8.73536866e+00] [ 1.06532935e-02 6.40464568e-04 9.99943047e-01 -1.57774717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.371400513 meters Centerline goodness [0,1] 0.9106621535857838 Centerline is valid? [True, False] Translation: X:154.52, Y:8.74, Z:-0.16 [[ 9.99941105e-01 -2.45227769e-03 -1.05722999e-02 1.54521844e+02] [ 2.44272556e-03 9.99996597e-01 -9.16324511e-04 8.73663495e+00] [ 1.05745110e-02 8.90445316e-04 9.99943692e-01 -1.57582210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.401400513 meters Centerline goodness [0,1] 0.9562282414876454 Centerline is valid? [False, True] Translation: X:154.52, Y:8.74, Z:-0.16 [[ 9.99942015e-01 -2.54139455e-03 -1.04646317e-02 1.54521445e+02] [ 2.52783740e-03 9.99995949e-01 -1.30854380e-03 8.73862244e+00] [ 1.04679148e-02 1.28201503e-03 9.99944388e-01 -1.57503039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.431400513 meters Centerline goodness [0,1] 0.9247472059606173 Centerline is valid? [True, False] Translation: X:154.52, Y:8.74, Z:-0.16 [[ 9.99942290e-01 -2.65656078e-03 -1.04096099e-02 1.54521424e+02] [ 2.63862089e-03 9.99995011e-01 -1.73675231e-03 8.74069383e+00] [ 1.04141718e-02 1.70918507e-03 9.99944310e-01 -1.57854371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.461400513 meters Centerline goodness [0,1] 0.9137931034482758 Centerline is valid? [False, False] Translation: X:154.52, Y:8.74, Z:-0.16 [[ 9.99942063e-01 -2.67114157e-03 -1.04276347e-02 1.54521780e+02] [ 2.65004094e-03 9.99994414e-01 -2.03682287e-03 8.74219003e+00] [ 1.04330171e-02 2.00907121e-03 9.99943556e-01 -1.58515772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.49140051300003 meters Centerline goodness [0,1] 0.8753378306484221 Centerline is valid? [False, False] Translation: X:154.52, Y:8.74, Z:-0.16 [[ 9.99942320e-01 -2.62299178e-03 -1.04152417e-02 1.54521643e+02] [ 2.60289921e-03 9.99994726e-01 -1.94223745e-03 8.74176151e+00] [ 1.04202812e-02 1.91501559e-03 9.99943874e-01 -1.58354795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.521400513 meters Centerline goodness [0,1] 0.9211250900156733 Centerline is valid? [False, False] Translation: X:154.52, Y:8.74, Z:-0.16 [[ 9.99942878e-01 -2.60716398e-03 -1.03655256e-02 1.54521322e+02] [ 2.58752204e-03 9.99994832e-01 -1.90788851e-03 8.74162863e+00] [ 1.03704462e-02 1.88095850e-03 9.99944456e-01 -1.58088122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.55140051300003 meters Centerline goodness [0,1] 0.8654393663705449 Centerline is valid? [False, False] Translation: X:154.52, Y:8.74, Z:-0.16 [[ 9.99943352e-01 -2.51861423e-03 -1.03416617e-02 1.54520816e+02] [ 2.50216598e-03 9.99995585e-01 -1.60311507e-03 8.74020716e+00] [ 1.03456537e-02 1.57714771e-03 9.99945239e-01 -1.57248036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.581400513 meters Centerline goodness [0,1] 0.9463353295965559 Centerline is valid? [False, False] Translation: X:154.52, Y:8.74, Z:-0.16 [[ 9.99942756e-01 -2.40647314e-03 -1.04256582e-02 1.54520963e+02] [ 2.39290723e-03 9.99996274e-01 -1.31348274e-03 8.73884297e+00] [ 1.04287802e-02 1.28845992e-03 9.99944789e-01 -1.56988744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.61140051300004 meters Centerline goodness [0,1] 0.9018624179136613 Centerline is valid? [False, False] Translation: X:154.52, Y:8.74, Z:-0.16 [[ 9.99942432e-01 -2.41598843e-03 -1.04545032e-02 1.54521055e+02] [ 2.40204139e-03 9.99996209e-01 -1.34642097e-03 8.73900945e+00] [ 1.04577165e-02 1.32123130e-03 9.99944444e-01 -1.56973394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.641400513 meters Centerline goodness [0,1] 0.9008816685523985 Centerline is valid? [False, False] Translation: X:154.54, Y:8.75, Z:-0.16 [[ 9.99986035e-01 -1.15859061e-03 -5.15629482e-03 1.54544429e+02] [ 1.09864251e-03 9.99931953e-01 -1.16138818e-02 8.75027185e+00] [ 5.16939969e-03 1.16080547e-02 9.99919262e-01 -1.64168879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.67140051300004 meters Centerline goodness [0,1] 0.8832233681378515 Centerline is valid? [False, False] Translation: X:154.54, Y:8.75, Z:-0.16 [[ 9.99979818e-01 3.53239873e-03 -5.28064433e-03 1.54544607e+02] [-3.56584782e-03 9.99973555e-01 -6.33834415e-03 8.74576577e+00] [ 5.25811512e-03 6.35704620e-03 9.99965970e-01 -1.63664909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.701400513 meters Centerline goodness [0,1] 0.8822388473261291 Centerline is valid? [False, False] Translation: X:154.54, Y:8.75, Z:-0.16 [[ 9.99980830e-01 3.35787875e-03 -5.20233143e-03 1.54544589e+02] [-3.39398616e-03 9.99970107e-01 -6.94740978e-03 8.74872574e+00] [ 5.17884736e-03 6.96493324e-03 9.99962334e-01 -1.64190772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.73140051300004 meters Centerline goodness [0,1] 0.6506488282986516 Centerline is valid? [False, False] Translation: X:154.55, Y:8.75, Z:-0.16 [[ 9.99954053e-01 7.96391466e-03 -5.33554124e-03 1.54545084e+02] [-7.97464082e-03 9.99966218e-01 -1.99207290e-03 8.74573677e+00] [ 5.31949629e-03 2.03453040e-03 9.99983782e-01 -1.64101624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.761400513 meters Centerline goodness [0,1] 0.7502652913960695 Centerline is valid? [False, False] Translation: X:154.54, Y:8.75, Z:-0.16 [[ 9.99955828e-01 7.79016386e-03 -5.25891576e-03 1.54544949e+02] [-7.80315533e-03 9.99966543e-01 -2.45438923e-03 8.74794112e+00] [ 5.23961972e-03 2.49531695e-03 9.99983160e-01 -1.64371475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.791400513 meters Centerline goodness [0,1] 0.7132786465008972 Centerline is valid? [False, False] Translation: X:154.55, Y:8.75, Z:-0.16 [[ 9.99957579e-01 7.57854545e-03 -5.23507018e-03 1.54545082e+02] [-7.59409101e-03 9.99966795e-01 -2.95603542e-03 8.75028567e+00] [ 5.21249390e-03 2.99566562e-03 9.99981928e-01 -1.64798088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.821400513 meters Centerline goodness [0,1] 0.7560309801929914 Centerline is valid? [False, False] Translation: X:154.56, Y:8.75, Z:-0.16 [[ 9.99956878e-01 7.51224190e-03 -5.45978118e-03 1.54563150e+02] [-7.46882193e-03 9.99940664e-01 7.93004303e-03 8.74592051e+00] [ 5.51902962e-03 -7.88892293e-03 9.99953652e-01 -1.59504028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.851400513 meters Centerline goodness [0,1] 0.5309232338689109 Centerline is valid? [False, False] Translation: X:154.56, Y:8.75, Z:-0.16 [[ 9.99984096e-01 2.97142588e-03 -4.79361263e-03 1.54560809e+02] [-2.96095771e-03 9.99993220e-01 2.18939692e-03 8.75329584e+00] [ 4.80008576e-03 -2.17516842e-03 9.99986114e-01 -1.59503905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.881400513 meters Centerline goodness [0,1] 0.8272806476975711 Centerline is valid? [False, False] Translation: X:154.56, Y:8.75, Z:-0.16 [[ 9.99984721e-01 2.93001438e-03 -4.68743045e-03 1.54559984e+02] [-2.92009200e-03 9.99993485e-01 2.12225181e-03 8.75367596e+00] [ 4.69361814e-03 -2.10853166e-03 9.99986762e-01 -1.58596119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.911400513 meters Centerline goodness [0,1] 0.8268375002687189 Centerline is valid? [False, False] Translation: X:154.56, Y:8.75, Z:-0.16 [[ 9.99985152e-01 2.90137959e-03 -4.61269834e-03 1.54559442e+02] [-2.89184687e-03 9.99993672e-01 2.07195250e-03 8.75395190e+00] [ 4.61868068e-03 -2.05858252e-03 9.99987215e-01 -1.58006921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.941400513 meters Centerline goodness [0,1] 0.8741583468771768 Centerline is valid? [False, False] Translation: X:154.60, Y:8.76, Z:-0.16 [[ 9.99997423e-01 1.29702305e-03 -1.86333577e-03 1.54601106e+02] [-1.30072855e-03 9.99997176e-01 -1.98880362e-03 8.76073313e+00] [ 1.86075098e-03 1.99122219e-03 9.99996286e-01 -1.59656437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.971400513 meters Centerline goodness [0,1] 0.8478623456138499 Centerline is valid? [False, False] Translation: X:154.60, Y:8.76, Z:-0.16 [[ 9.99996945e-01 1.45315479e-03 -1.99934458e-03 1.54601679e+02] [-1.45627830e-03 9.99997720e-01 -1.56170287e-03 8.75865526e+00] [ 1.99707062e-03 1.56460970e-03 9.99996782e-01 -1.59862057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.001400513 meters Centerline goodness [0,1] 0.9099709996588196 Centerline is valid? [False, False] Translation: X:154.60, Y:8.76, Z:-0.16 [[ 9.99996411e-01 1.62738864e-03 -2.12845898e-03 1.54602022e+02] [-1.62977736e-03 9.99998044e-01 -1.12102420e-03 8.75656162e+00] [ 2.12663047e-03 1.12448909e-03 9.99997106e-01 -1.59684883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.031400513 meters Centerline goodness [0,1] 0.9351100811123986 Centerline is valid? [False, False] Translation: X:154.60, Y:8.75, Z:-0.16 [[ 9.99996019e-01 1.77290627e-03 -2.19531676e-03 1.54602041e+02] [-1.77454498e-03 9.99998148e-01 -7.44732045e-04 8.75478595e+00] [ 2.19399236e-03 7.48624769e-04 9.99997313e-01 -1.59260895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.061400513 meters Centerline goodness [0,1] 0.9575451601908657 Centerline is valid? [False, True] Translation: X:154.60, Y:8.75, Z:-0.16 [[ 9.99995732e-01 1.94169809e-03 -2.18287592e-03 1.54601610e+02] [-1.94238293e-03 9.99998065e-01 -3.11657631e-04 8.75276527e+00] [ 2.18226655e-03 3.15896282e-04 9.99997569e-01 -1.58489678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.091400513 meters Centerline goodness [0,1] 0.677991703010318 Centerline is valid? [True, False] Translation: X:154.60, Y:8.75, Z:-0.16 [[ 9.99995303e-01 2.21085952e-03 -2.12262444e-03 1.54600962e+02] [-2.21010166e-03 9.99997493e-01 3.59320492e-04 8.74964005e+00] [ 2.12341353e-03 -3.54627589e-04 9.99997683e-01 -1.57585580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.121400513 meters Centerline goodness [0,1] 0.9572489120232102 Centerline is valid? [False, True] Translation: X:154.60, Y:8.74, Z:-0.16 [[ 9.99994231e-01 2.68923089e-03 -2.07504501e-03 1.54600416e+02] [-2.68584740e-03 9.99995062e-01 1.63162868e-03 8.74361596e+00] [ 2.07942259e-03 -1.62604602e-03 9.99996516e-01 -1.56760924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.151400513 meters Centerline goodness [0,1] 0.9370082071241221 Centerline is valid? [True, False] Translation: X:154.60, Y:8.74, Z:-0.16 [[ 9.99993911e-01 2.73123721e-03 -2.17202109e-03 1.54600860e+02] [-2.72738376e-03 9.99994705e-01 1.77511560e-03 8.74288779e+00] [ 2.17685785e-03 -1.76918085e-03 9.99996066e-01 -1.56976179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.181400513 meters Centerline goodness [0,1] 0.8103521067297137 Centerline is valid? [False, False] Translation: X:154.60, Y:8.74, Z:-0.16 [[ 9.99994030e-01 2.60152517e-03 -2.27439341e-03 1.54601431e+02] [-2.59809887e-03 9.99995488e-01 1.50812554e-03 8.74406535e+00] [ 2.27830657e-03 -1.50220744e-03 9.99996276e-01 -1.57403078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.211400513 meters Centerline goodness [0,1] 0.7910225605477471 Centerline is valid? [False, False] Translation: X:154.60, Y:8.75, Z:-0.16 [[ 9.99994323e-01 2.39356522e-03 -2.37162556e-03 1.54602091e+02] [-2.39153836e-03 9.99996773e-01 8.57096253e-04 8.74713231e+00] [ 2.37366942e-03 -8.51419554e-04 9.99996820e-01 -1.58090218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.24140051300003 meters Centerline goodness [0,1] 0.8331607531539909 Centerline is valid? [False, False] Translation: X:154.60, Y:8.75, Z:-0.16 [[ 9.99994464e-01 2.32389571e-03 -2.38168507e-03 1.54602226e+02] [-2.32281807e-03 9.99997199e-01 4.55139328e-04 8.74913154e+00] [ 2.38273609e-03 -4.49604587e-04 9.99997060e-01 -1.58331551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.271400513 meters Centerline goodness [0,1] 0.8429915694456271 Centerline is valid? [False, False] Translation: X:154.60, Y:8.75, Z:-0.16 [[ 9.99995076e-01 2.17574302e-03 -2.26126805e-03 1.54602039e+02] [-2.17600019e-03 9.99997626e-01 -1.11274232e-04 8.75189764e+00] [ 2.26102058e-03 1.16194204e-04 9.99997437e-01 -1.58770073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.30140051300003 meters Centerline goodness [0,1] 0.9359342827728209 Centerline is valid? [False, False] Translation: X:154.60, Y:8.76, Z:-0.16 [[ 9.99995842e-01 1.96739357e-03 -2.10819470e-03 1.54601810e+02] [-1.96919425e-03 9.99997698e-01 -8.52398423e-04 8.75549278e+00] [ 2.10651285e-03 8.56546324e-04 9.99997414e-01 -1.59381822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.331400513 meters Centerline goodness [0,1] 0.9359342827728209 Centerline is valid? [False, False] Translation: X:154.60, Y:8.76, Z:-0.16 [[ 9.99995842e-01 1.96739357e-03 -2.10819470e-03 1.54601810e+02] [-1.96919425e-03 9.99997698e-01 -8.52398423e-04 8.75549278e+00] [ 2.10651285e-03 8.56546324e-04 9.99997414e-01 -1.59381822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.36140051300004 meters Centerline goodness [0,1] 0.734375 Centerline is valid? [False, False] Translation: X:154.61, Y:8.76, Z:-0.16 [[ 9.99983306e-01 4.97657810e-03 -2.93606352e-03 1.54607296e+02] [-4.96958035e-03 9.99984805e-01 2.38587824e-03 8.75556563e+00] [ 2.94789242e-03 -2.37124741e-03 9.99992844e-01 -1.62466848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.391400513 meters Centerline goodness [0,1] 0.7794371418223652 Centerline is valid? [False, False] Translation: X:154.61, Y:8.76, Z:-0.16 [[ 9.99984265e-01 4.80535618e-03 -2.89455685e-03 1.54607298e+02] [-4.79971576e-03 9.99986575e-01 1.95243383e-03 8.75759954e+00] [ 2.90390013e-03 -1.93851006e-03 9.99993905e-01 -1.62779690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.42140051300004 meters Centerline goodness [0,1] 0.4848478408704522 Centerline is valid? [False, False] Translation: X:154.61, Y:8.76, Z:-0.17 [[ 9.99988783e-01 2.97618254e-03 -3.68470701e-03 1.54613338e+02] [-2.97567199e-03 9.99995562e-01 1.44033648e-04 8.75736311e+00] [ 3.68511933e-03 -1.33067553e-04 9.99993201e-01 -1.66539263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.451400513 meters Centerline goodness [0,1] 0.7625470381802038 Centerline is valid? [False, False] Translation: X:154.62, Y:8.76, Z:-0.17 [[ 9.99989283e-01 1.21503948e-03 -4.46741739e-03 1.54619217e+02] [-1.22148608e-03 9.99998216e-01 -1.44058178e-03 8.75755508e+00] [ 4.46565905e-03 1.44602323e-03 9.99988983e-01 -1.70063189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.48140051300004 meters Centerline goodness [0,1] 0.9319977006110414 Centerline is valid? [False, False] Translation: X:154.62, Y:8.76, Z:-0.17 [[ 9.99985303e-01 -3.42343491e-03 -4.20401393e-03 1.54618309e+02] [ 3.39577570e-03 9.99972659e-01 -6.56884525e-03 8.76140175e+00] [ 4.22638700e-03 6.55447282e-03 9.99969588e-01 -1.69997867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.511400513 meters Centerline goodness [0,1] 0.9006440132192187 Centerline is valid? [False, False] Translation: X:154.62, Y:8.76, Z:-0.17 [[ 9.99985425e-01 -3.28296164e-03 -4.28632271e-03 1.54618218e+02] [ 3.25936859e-03 9.99979565e-01 -5.49969503e-03 8.75594099e+00] [ 4.30429041e-03 5.48564417e-03 9.99975690e-01 -1.69159883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.541400513 meters Centerline goodness [0,1] 0.9014338821030271 Centerline is valid? [False, False] Translation: X:154.62, Y:8.75, Z:-0.17 [[ 9.99985651e-01 -3.04439969e-03 -4.40781008e-03 1.54618596e+02] [ 3.02259891e-03 9.99983209e-01 -4.94418514e-03 8.75331646e+00] [ 4.42278815e-03 4.93079116e-03 9.99978063e-01 -1.69098042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.571400513 meters Centerline goodness [0,1] 0.8649119823114211 Centerline is valid? [False, False] Translation: X:154.62, Y:8.75, Z:-0.17 [[ 9.99985952e-01 -2.84988405e-03 -4.46932545e-03 1.54618865e+02] [ 2.82977662e-03 9.99985876e-01 -4.49887509e-03 8.75119255e+00] [ 4.48208360e-03 4.48616470e-03 9.99979892e-01 -1.69231552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.601400513 meters Centerline goodness [0,1] 0.9197288771421264 Centerline is valid? [False, False] Translation: X:154.62, Y:8.75, Z:-0.17 [[ 9.99986138e-01 -2.69827615e-03 -4.52133558e-03 1.54618981e+02] [ 2.67945354e-03 9.99987741e-01 -4.16396392e-03 8.74962378e+00] [ 4.53251568e-03 4.15179149e-03 9.99981109e-01 -1.69105697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.631400513 meters Centerline goodness [0,1] 0.9346551540347511 Centerline is valid? [False, False] Translation: X:154.62, Y:8.75, Z:-0.17 [[ 9.99986346e-01 -2.55283618e-03 -4.55959654e-03 1.54618996e+02] [ 2.53527114e-03 9.99989360e-01 -3.85395889e-03 8.74818662e+00] [ 4.56938655e-03 3.84234646e-03 9.99982178e-01 -1.68900579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.661400513 meters Centerline goodness [0,1] 0.9788378995921331 Centerline is valid? [False, True] Translation: X:154.62, Y:8.75, Z:-0.17 [[ 9.99986465e-01 -2.39757818e-03 -4.61756047e-03 1.54619104e+02] [ 2.38133687e-03 9.99990971e-01 -3.51958540e-03 8.74664462e+00] [ 4.62595726e-03 3.50854180e-03 9.99983145e-01 -1.68731226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.691400513 meters Centerline goodness [0,1] 0.8429674501941044 Centerline is valid? [True, False] Translation: X:154.62, Y:8.74, Z:-0.17 [[ 9.99986811e-01 -2.14001996e-03 -4.66880711e-03 1.54619317e+02] [ 2.12597228e-03 9.99993205e-01 -3.01172970e-03 8.74429782e+00] [ 4.67522055e-03 3.00176423e-03 9.99984566e-01 -1.68822838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.721400513 meters Centerline goodness [0,1] 0.8967028737598358 Centerline is valid? [False, False] Translation: X:154.62, Y:8.74, Z:-0.17 [[ 9.99987639e-01 -1.95300226e-03 -4.57253659e-03 1.54618794e+02] [ 1.94087770e-03 9.99994593e-01 -2.65454418e-03 8.74270708e+00] [ 4.57769620e-03 2.64563663e-03 9.99986023e-01 -1.68419944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.751400513 meters Centerline goodness [0,1] 0.6856786099765084 Centerline is valid? [False, False] Translation: X:154.64, Y:8.73, Z:-0.17 [[ 9.99998943e-01 -1.42132636e-03 -3.07829167e-04 1.54638944e+02] [ 1.42404494e-03 9.99958314e-01 9.01905425e-03 8.73380636e+00] [ 2.94997315e-04 -9.01948308e-03 9.99959280e-01 -1.70676540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.781400513 meters Centerline goodness [0,1] 0.8838646645285985 Centerline is valid? [False, False] Translation: X:154.64, Y:8.74, Z:-0.17 [[ 9.99985305e-01 -5.40059043e-03 4.73018988e-04 1.54636272e+02] [ 5.39869360e-03 9.99977730e-01 3.92350492e-03 8.73870912e+00] [-4.94197697e-04 -3.92089358e-03 9.99992191e-01 -1.70633815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.811400513 meters Centerline goodness [0,1] 0.8659570399643062 Centerline is valid? [False, False] Translation: X:154.64, Y:8.74, Z:-0.17 [[ 9.99985255e-01 -5.40221163e-03 5.53461126e-04 1.54635872e+02] [ 5.40001436e-03 9.99977825e-01 3.89745571e-03 8.73887299e+00] [-5.74503734e-04 -3.89440954e-03 9.99992252e-01 -1.70390795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.841400513 meters Centerline goodness [0,1] 0.8605072078018866 Centerline is valid? [False, False] Translation: X:154.64, Y:8.74, Z:-0.17 [[ 9.99983517e-01 -5.70692613e-03 6.30169835e-04 1.54635921e+02] [ 5.70493728e-03 9.99978878e-01 3.11399410e-03 8.74255541e+00] [-6.47927859e-04 -3.11034769e-03 9.99994953e-01 -1.71036946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.871400513 meters Centerline goodness [0,1] 0.5479203193983819 Centerline is valid? [False, False] Translation: X:154.64, Y:8.74, Z:-0.17 [[ 9.99983097e-01 -5.77582693e-03 6.67756059e-04 1.54635802e+02] [ 5.77386752e-03 9.99979126e-01 2.89992795e-03 8.74359681e+00] [-6.84491603e-04 -2.89602340e-03 9.99995572e-01 -1.71090709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.901400513 meters Centerline goodness [0,1] 0.494732370433305 Centerline is valid? [False, False] Translation: X:154.64, Y:8.74, Z:-0.17 [[ 9.99982892e-01 -5.79935241e-03 7.63301227e-04 1.54635360e+02] [ 5.79717911e-03 9.99979222e-01 2.81930971e-03 8.74402487e+00] [-7.79635538e-04 -2.81483649e-03 9.99995734e-01 -1.70878608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.931400513 meters Centerline goodness [0,1] 0.7644795896559093 Centerline is valid? [False, False] Translation: X:154.63, Y:8.74, Z:-0.17 [[ 9.99982512e-01 -5.84967150e-03 8.70569741e-04 1.54634929e+02] [ 5.84732488e-03 9.99979329e-01 2.67406517e-03 8.74473980e+00] [-8.86194148e-04 -2.66892790e-03 9.99996046e-01 -1.70750427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.961400513 meters Centerline goodness [0,1] 0.6869827256907601 Centerline is valid? [False, False] Translation: X:154.63, Y:8.75, Z:-0.17 [[ 9.99981988e-01 -5.93653925e-03 8.83930391e-04 1.54634853e+02] [ 5.93437790e-03 9.99979444e-01 2.42803522e-03 8.74593016e+00] [-8.98326347e-04 -2.42274591e-03 9.99996662e-01 -1.70726929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.99140051300003 meters Centerline goodness [0,1] 0.8428033125412471 Centerline is valid? [False, False] Translation: X:154.63, Y:8.75, Z:-0.17 [[ 9.99980908e-01 -6.11459251e-03 8.92239945e-04 1.54634984e+02] [ 6.11282299e-03 9.99979371e-01 1.97265996e-03 8.74805602e+00] [-9.04283551e-04 -1.96716819e-03 9.99997656e-01 -1.71092306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.021400513 meters Centerline goodness [0,1] 0.6415114287526695 Centerline is valid? [False, False] Translation: X:154.64, Y:8.75, Z:-0.17 [[ 9.99980519e-01 -6.18411334e-03 8.47341036e-04 1.54635192e+02] [ 6.18255884e-03 9.99979222e-01 1.82505915e-03 8.74873984e+00] [-8.58609803e-04 -1.81978486e-03 9.99997976e-01 -1.71225839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.05140051300003 meters Centerline goodness [0,1] 0.4606575939496229 Centerline is valid? [False, False] Translation: X:154.63, Y:8.76, Z:-0.17 [[ 9.99941399e-01 -1.07446189e-02 1.32376322e-03 1.54634036e+02] [ 1.07497545e-02 9.99934475e-01 -3.93551750e-03 8.75601091e+00] [-1.28139084e-03 3.94951701e-03 9.99991380e-01 -1.72004529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.081400513 meters Centerline goodness [0,1] 0.9463976205251108 Centerline is valid? [False, False] Translation: X:154.63, Y:8.75, Z:-0.17 [[ 9.99976446e-01 -6.78641714e-03 1.02543888e-03 1.54634485e+02] [ 6.78500297e-03 9.99976034e-01 1.37633029e-03 8.75004988e+00] [-1.03475466e-03 -1.36934027e-03 9.99998527e-01 -1.70798403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.11140051300004 meters Centerline goodness [0,1] 0.5147240045893001 Centerline is valid? [False, False] Translation: X:154.63, Y:8.75, Z:-0.17 [[ 9.99976907e-01 -6.71399236e-03 1.05282476e-03 1.54634168e+02] [ 6.71233555e-03 9.99976240e-01 1.56939762e-03 8.74916069e+00] [-1.06333667e-03 -1.56229446e-03 9.99998214e-01 -1.70374995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.141400513 meters Centerline goodness [0,1] 0.5489987217724754 Centerline is valid? [False, False] Translation: X:154.63, Y:8.75, Z:-0.17 [[ 9.99977484e-01 -6.63435775e-03 1.00842038e-03 1.54634305e+02] [ 6.63257736e-03 9.99976458e-01 1.75873300e-03 8.74826880e+00] [-1.02006471e-03 -1.75200498e-03 9.99997945e-01 -1.70354409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.17140051300004 meters Centerline goodness [0,1] 0.724767525795083 Centerline is valid? [False, False] Translation: X:154.63, Y:8.75, Z:-0.17 [[ 9.99977558e-01 -6.63524485e-03 9.26019226e-04 1.54634669e+02] [ 6.63359790e-03 9.99976430e-01 1.77041450e-03 8.74819272e+00] [-9.37744534e-04 -1.76423193e-03 9.99998004e-01 -1.70531921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.201400513 meters Centerline goodness [0,1] 0.8181953702323402 Centerline is valid? [False, False] Translation: X:154.63, Y:8.75, Z:-0.17 [[ 9.99977090e-01 -6.70770872e-03 9.08728135e-04 1.54634850e+02] [ 6.70624020e-03 9.99976218e-01 1.60954040e-03 8.74893121e+00] [-9.19502851e-04 -1.60340937e-03 9.99998292e-01 -1.70781045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.23140051300004 meters Centerline goodness [0,1] 0.6415780518928116 Centerline is valid? [False, False] Translation: X:154.64, Y:8.75, Z:-0.17 [[ 9.99976382e-01 -6.81866628e-03 8.60967447e-04 1.54635091e+02] [ 6.81748106e-03 9.99975819e-01 1.37213327e-03 8.75001634e+00] [-8.70302747e-04 -1.36623123e-03 9.99998688e-01 -1.70966810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.261400513 meters Centerline goodness [0,1] 0.7942591882798858 Centerline is valid? [False, False] Translation: X:154.64, Y:8.75, Z:-0.17 [[ 9.99975385e-01 -6.98332825e-03 6.79773877e-04 1.54635952e+02] [ 6.98262791e-03 9.99975094e-01 1.02722525e-03 8.75156055e+00] [-6.86930397e-04 -1.02245336e-03 9.99999241e-01 -1.71496528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.291400513 meters Centerline goodness [0,1] 0.8187338859176237 Centerline is valid? [False, False] Translation: X:154.64, Y:8.75, Z:-0.17 [[ 9.99975421e-01 -6.98669872e-03 5.86122379e-04 1.54636404e+02] [ 6.98608929e-03 9.99975061e-01 1.03544857e-03 8.75148174e+00] [-5.93342129e-04 -1.03132842e-03 9.99999292e-01 -1.71799595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.321400513 meters Centerline goodness [0,1] 0.9274430487545242 Centerline is valid? [False, False] Translation: X:154.64, Y:8.75, Z:-0.17 [[ 9.99976043e-01 -6.90570744e-03 4.73514004e-04 1.54636729e+02] [ 6.90511313e-03 9.99975384e-01 1.24546196e-03 8.75048528e+00] [-4.82103144e-04 -1.24216246e-03 9.99999112e-01 -1.71710944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.351400513 meters Centerline goodness [0,1] 0.8310698977210033 Centerline is valid? [False, False] Translation: X:154.64, Y:8.75, Z:-0.17 [[ 9.99977549e-01 -6.68195974e-03 5.03537957e-04 1.54636002e+02] [ 6.68100999e-03 9.99975943e-01 1.86478941e-03 8.74761930e+00] [-5.15986291e-04 -1.86138340e-03 9.99998135e-01 -1.70442951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.381400513 meters Centerline goodness [0,1] 0.9904253951934199 Centerline is valid? [False, True] Translation: X:154.63, Y:8.75, Z:-0.17 [[ 9.99957349e-01 -9.12598485e-03 1.41981943e-03 1.54629223e+02] [ 9.12718360e-03 9.99957993e-01 -8.40119663e-04 8.74934917e+00] [-1.41209287e-03 8.53042784e-04 9.99998639e-01 -1.66018189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.411400513 meters Centerline goodness [0,1] 0.891755754394168 Centerline is valid? [True, False] Translation: X:154.63, Y:8.75, Z:-0.17 [[ 9.99958333e-01 -9.02596811e-03 1.36554081e-03 1.54629247e+02] [ 9.02677268e-03 9.99959087e-01 -5.84180992e-04 8.74815296e+00] [-1.36021214e-03 5.96483077e-04 9.99998897e-01 -1.65739904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.441400513 meters Centerline goodness [0,1] 0.8889999574630992 Centerline is valid? [False, False] Translation: X:154.63, Y:8.74, Z:-0.17 [[ 9.99987453e-01 -4.91392884e-03 9.72986369e-04 1.54630301e+02] [ 4.90922900e-03 9.99976548e-01 4.77518930e-03 8.74222045e+00] [-9.96428492e-04 -4.77035277e-03 9.99988125e-01 -1.65168603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.471400513 meters Centerline goodness [0,1] 0.9277849672232005 Centerline is valid? [False, False] Translation: X:154.63, Y:8.75, Z:-0.17 [[ 9.99985188e-01 -5.32732374e-03 1.11486326e-03 1.54630011e+02] [ 5.32304488e-03 9.99978588e-01 3.80641436e-03 8.74678328e+00] [-1.13511739e-03 -3.80042351e-03 9.99992134e-01 -1.65625392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.501400513 meters Centerline goodness [0,1] 0.9513371609075193 Centerline is valid? [False, True] Translation: X:154.63, Y:8.75, Z:-0.17 [[ 9.99983583e-01 -5.60133237e-03 1.20796372e-03 1.54629712e+02] [ 5.59752197e-03 9.99979419e-01 3.13503518e-03 8.74997026e+00] [-1.22549923e-03 -3.12822211e-03 9.99994356e-01 -1.65686030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.531400513 meters Centerline goodness [0,1] 0.893030794165316 Centerline is valid? [True, False] Translation: X:154.63, Y:8.75, Z:-0.17 [[ 9.99982410e-01 -5.79964435e-03 1.24270369e-03 1.54629558e+02] [ 5.79634162e-03 9.99979703e-01 2.64502122e-03 8.75230690e+00] [-1.25801865e-03 -2.63777156e-03 9.99995730e-01 -1.65626166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.561400513 meters Centerline goodness [0,1] 0.6388859427698703 Centerline is valid? [False, False] Translation: X:154.63, Y:8.75, Z:-0.17 [[ 9.99981489e-01 -5.95343737e-03 1.25630856e-03 1.54629412e+02] [ 5.95057612e-03 9.99979721e-01 2.26907978e-03 8.75411509e+00] [-1.26979191e-03 -2.26156202e-03 9.99996636e-01 -1.65468289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.591400513 meters Centerline goodness [0,1] 0.9358394393118827 Centerline is valid? [False, False] Translation: X:154.63, Y:8.76, Z:-0.17 [[ 9.99980088e-01 -6.17257965e-03 1.31294881e-03 1.54629125e+02] [ 6.17028376e-03 9.99979440e-01 1.74557552e-03 8.75662042e+00] [-1.32369652e-03 -1.73743949e-03 9.99997615e-01 -1.65281427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.621400513 meters Centerline goodness [0,1] 0.8139035386185778 Centerline is valid? [False, False] Translation: X:154.62, Y:8.76, Z:-0.16 [[ 9.99985599e-01 -4.86509147e-03 2.26569122e-03 1.54621926e+02] [ 4.85897857e-03 9.99984561e-01 2.69576209e-03 8.75980487e+00] [-2.27877137e-03 -2.68471432e-03 9.99993800e-01 -1.60302708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.651400513 meters Centerline goodness [0,1] 0.7952705852438869 Centerline is valid? [False, False] Translation: X:154.62, Y:8.76, Z:-0.16 [[ 9.99984375e-01 -5.05626119e-03 2.38416901e-03 1.54621292e+02] [ 5.05102149e-03 9.99984826e-01 2.19862761e-03 8.76223006e+00] [-2.39524967e-03 -2.18655077e-03 9.99994741e-01 -1.59885671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.681400513 meters Centerline goodness [0,1] 0.7779477699156414 Centerline is valid? [False, False] Translation: X:154.62, Y:8.76, Z:-0.16 [[ 9.99983782e-01 -5.16958906e-03 2.38987669e-03 1.54621234e+02] [ 5.16495141e-03 9.99984775e-01 1.94265623e-03 8.76345039e+00] [-2.39988304e-03 -1.93028112e-03 9.99995257e-01 -1.59824493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.711400513 meters Centerline goodness [0,1] 0.9541625108757932 Centerline is valid? [False, True] Translation: X:154.62, Y:8.76, Z:-0.16 [[ 9.99983770e-01 -5.23829751e-03 2.24049500e-03 1.54621961e+02] [ 5.23424989e-03 9.99984666e-01 1.80863679e-03 8.76401030e+00] [-2.24993482e-03 -1.79688013e-03 9.99995854e-01 -1.60312811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.74140051300003 meters Centerline goodness [0,1] 0.9118583619921029 Centerline is valid? [True, False] Translation: X:154.62, Y:8.76, Z:-0.16 [[ 9.99984247e-01 -5.23750669e-03 2.01838235e-03 1.54622876e+02] [ 5.23374185e-03 9.99984563e-01 1.86606501e-03 8.76368076e+00] [-2.02812472e-03 -1.85547192e-03 9.99996222e-01 -1.60685626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.771400513 meters Centerline goodness [0,1] 0.9382650459027542 Centerline is valid? [False, False] Translation: X:154.62, Y:8.76, Z:-0.16 [[ 9.99985092e-01 -5.23270003e-03 1.56053044e-03 1.54624373e+02] [ 5.22869347e-03 9.99983052e-01 2.56055215e-03 8.75996435e+00] [-1.57390259e-03 -2.55235444e-03 9.99995504e-01 -1.60628600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.80140051300003 meters Centerline goodness [0,1] 0.9814397596824375 Centerline is valid? [False, True] Translation: X:154.62, Y:8.76, Z:-0.16 [[ 9.99949882e-01 -9.83565656e-03 1.86931347e-03 1.54623574e+02] [ 9.84080343e-03 9.99947757e-01 -2.76438920e-03 8.76483539e+00] [-1.84202623e-03 2.78264620e-03 9.99994432e-01 -1.60855251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.831400513 meters Centerline goodness [0,1] 0.9855891855126679 Centerline is valid? [True, True] Translation: X:154.65, Y:8.76, Z:-0.16 [[ 9.99944635e-01 -1.02231378e-02 2.49282616e-03 1.54654215e+02] [ 1.02226678e-02 9.99947727e-01 2.01209982e-04 8.76121309e+00] [-2.49475285e-03 -1.75715509e-04 9.99996873e-01 -1.58914456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.86140051300004 meters Centerline goodness [0,1] 0.9971631205673759 Centerline is valid? [True, True] Translation: X:154.69, Y:8.76, Z:-0.16 [[ 9.99958201e-01 -8.93658515e-03 1.93223892e-03 1.54685618e+02] [ 8.93630029e-03 9.99960058e-01 1.56004690e-04 8.75541935e+00] [-1.93355590e-03 -1.38731102e-04 9.99998121e-01 -1.59463194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.891400513 meters Centerline goodness [0,1] 0.9199414050060506 Centerline is valid? [True, False] Translation: X:154.69, Y:8.76, Z:-0.16 [[ 9.99957949e-01 -8.96821926e-03 1.91630001e-03 1.54686010e+02] [ 8.96846409e-03 9.99959775e-01 -1.19207669e-04 8.75678760e+00] [-1.91515385e-03 1.36388924e-04 9.99998157e-01 -1.60168754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.92140051300004 meters Centerline goodness [0,1] 0.6160369757876436 Centerline is valid? [False, False] Translation: X:154.69, Y:8.75, Z:-0.16 [[ 9.99988958e-01 -4.37245545e-03 1.72182602e-03 1.54686548e+02] [ 4.36386911e-03 9.99978181e-01 4.95934044e-03 8.75318907e+00] [-1.74347294e-03 -4.95177185e-03 9.99986220e-01 -1.60100190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.951400513 meters Centerline goodness [0,1] 0.7883157107764606 Centerline is valid? [False, False] Translation: X:154.67, Y:8.76, Z:-0.17 [[ 9.99996607e-01 -1.94412933e-04 2.59769877e-03 1.54667829e+02] [ 1.99009270e-04 9.99998415e-01 -1.76924647e-03 8.75793031e+00] [-2.59735069e-03 1.76975744e-03 9.99995061e-01 -1.65337848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.98140051300004 meters Centerline goodness [0,1] 0.7701380653904795 Centerline is valid? [False, False] Translation: X:154.67, Y:8.76, Z:-0.17 [[ 9.99995696e-01 2.37052202e-03 1.72897952e-03 1.54674273e+02] [-2.37190802e-03 9.99996867e-01 8.00017233e-04 8.75847960e+00] [-1.72707764e-03 -8.04114770e-04 9.99998185e-01 -1.69429933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.011400513 meters Centerline goodness [0,1] 0.6399175186871724 Centerline is valid? [False, False] Translation: X:154.64, Y:8.76, Z:-0.17 [[ 9.99994438e-01 2.60964395e-03 -2.07697103e-03 1.54636897e+02] [-2.60502046e-03 9.99994130e-01 2.22567217e-03 8.75685030e+00] [ 2.08276705e-03 -2.22024924e-03 9.99995366e-01 -1.71405844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.041400513 meters Centerline goodness [0,1] 0.6105544422177689 Centerline is valid? [False, False] Translation: X:154.64, Y:8.76, Z:-0.17 [[ 9.99994543e-01 2.50443987e-03 -2.15462913e-03 1.54637357e+02] [-2.50010864e-03 9.99994854e-01 2.01054958e-03 8.75778665e+00] [ 2.15965334e-03 -2.00515180e-03 9.99995658e-01 -1.71810863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.071400513 meters Centerline goodness [0,1] 0.9265716137394686 Centerline is valid? [False, False] Translation: X:154.64, Y:8.76, Z:-0.17 [[ 9.99994736e-01 2.42887244e-03 -2.15159395e-03 1.54637247e+02] [-2.42482966e-03 9.99995294e-01 1.87959182e-03 8.75839201e+00] [ 2.15614912e-03 -1.87436468e-03 9.99995919e-01 -1.71635312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.101400513 meters Centerline goodness [0,1] 0.8666123569009132 Centerline is valid? [False, False] Translation: X:154.64, Y:8.76, Z:-0.17 [[ 9.99994847e-01 2.42404424e-03 -2.10475027e-03 1.54636760e+02] [-2.41980679e-03 9.99995045e-01 2.01350009e-03 8.75773864e+00] [ 2.10962065e-03 -2.00839663e-03 9.99995758e-01 -1.70984884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.131400513 meters Centerline goodness [0,1] 0.8891333419610888 Centerline is valid? [False, False] Translation: X:154.63, Y:8.76, Z:-0.17 [[ 9.99999423e-01 4.24364282e-05 -1.07348029e-03 1.54629441e+02] [-4.28224413e-05 9.99999934e-01 -3.59569869e-04 8.75909156e+00] [ 1.07346497e-03 3.59615631e-04 9.99999359e-01 -1.66228445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.161400513 meters Centerline goodness [0,1] 0.9707578691978632 Centerline is valid? [False, True] Translation: X:154.67, Y:8.77, Z:-0.17 [[ 9.99989528e-01 -4.15849766e-03 1.91052979e-03 1.54670463e+02] [ 4.17051501e-03 9.99971270e-01 -6.32973818e-03 8.76547003e+00] [-1.88415270e-03 6.33763979e-03 9.99978142e-01 -1.67607682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.191400513 meters Centerline goodness [0,1] 0.9814941156404571 Centerline is valid? [True, True] Translation: X:154.70, Y:8.76, Z:-0.17 [[ 9.99970494e-01 -7.66679183e-03 4.82026110e-04 1.54701266e+02] [ 7.66677509e-03 9.99970609e-01 3.65666234e-05 8.75901071e+00] [-4.82292292e-04 -3.28699587e-05 9.99999883e-01 -1.68613433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.221400513 meters Centerline goodness [0,1] 0.912568422397819 Centerline is valid? [True, False] Translation: X:154.70, Y:8.76, Z:-0.17 [[ 9.99971456e-01 -7.55390103e-03 1.59048991e-04 1.54702225e+02] [ 7.55380034e-03 9.99971275e-01 6.24431367e-04 8.75606824e+00] [-1.63761315e-04 -6.23212119e-04 9.99999792e-01 -1.68432747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.251400513 meters Centerline goodness [0,1] 0.9994206878795031 Centerline is valid? [False, True] Translation: X:154.70, Y:8.75, Z:-0.17 [[ 9.99932610e-01 -1.16077251e-02 1.90090569e-04 1.54701932e+02] [ 1.16082322e-02 9.99928333e-01 -2.92873048e-03 8.75240597e+00] [-1.56081047e-04 2.93073972e-03 9.99995693e-01 -1.67746620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.281400513 meters Centerline goodness [0,1] 0.9994206878795031 Centerline is valid? [True, True] Translation: X:154.73, Y:8.75, Z:-0.17 [[ 9.99932152e-01 -1.16486464e-02 -1.45375717e-05 1.54731255e+02] [ 1.16486464e-02 9.99932152e-01 -1.15457680e-06 8.75194172e+00] [ 1.45500346e-05 9.85155437e-07 1.00000000e+00 -1.67569103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.311400513 meters Centerline goodness [0,1] 0.9998267010376275 Centerline is valid? [True, True] Translation: X:154.76, Y:8.74, Z:-0.17 [[ 9.99890629e-01 -1.47891745e-02 -9.83978107e-05 1.54762629e+02] [ 1.47891739e-02 9.99890634e-01 -6.89428120e-06 8.74279193e+00] [ 9.84890101e-05 5.43830483e-06 9.99999995e-01 -1.67043181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.341400513 meters Centerline goodness [0,1] 0.9993833723155433 Centerline is valid? [True, True] Translation: X:154.79, Y:8.75, Z:-0.17 [[ 9.99844487e-01 -1.76349999e-02 9.09138792e-05 1.54791482e+02] [ 1.76349994e-02 9.99844491e-01 6.22581249e-06 8.74589039e+00] [-9.10095335e-05 -4.62157809e-06 9.99999996e-01 -1.67822006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.371400513 meters Centerline goodness [0,1] 0.9998497692885503 Centerline is valid? [True, True] Translation: X:154.82, Y:8.74, Z:-0.17 [[ 9.99798423e-01 -2.00632264e-02 7.62201193e-04 1.54822270e+02] [ 2.00631916e-02 9.99798712e-01 5.33188654e-05 8.73528373e+00] [-7.63117520e-04 -3.80159290e-05 9.99999708e-01 -1.66292118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.401400513 meters Centerline goodness [0,1] 0.9997434526990914 Centerline is valid? [True, True] Translation: X:154.85, Y:8.74, Z:-0.16 [[ 9.99761004e-01 -2.17557795e-02 2.14952208e-03 1.54850714e+02] [ 2.17555066e-02 9.99763310e-01 1.50234943e-04 8.73579626e+00] [-2.15228179e-03 -1.03435096e-04 9.99997678e-01 -1.64725991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.431400513 meters Centerline goodness [0,1] 0.9997016324964835 Centerline is valid? [True, True] Translation: X:154.88, Y:8.73, Z:-0.16 [[ 9.99746865e-01 -2.22417487e-02 3.39286554e-03 1.54880224e+02] [ 2.22410720e-02 9.99752609e-01 2.37060081e-04 8.73310945e+00] [-3.39729881e-03 -1.61539106e-04 9.99994216e-01 -1.62717690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.461400513 meters Centerline goodness [0,1] 0.9997030249034831 Centerline is valid? [True, True] Translation: X:154.91, Y:8.73, Z:-0.16 [[ 9.99783137e-01 -2.03251817e-02 4.53497678e-03 1.54909896e+02] [ 2.03239474e-02 9.99793397e-01 3.18110340e-04 8.73103466e+00] [-4.54050549e-03 -2.25872724e-04 9.99989666e-01 -1.60643672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.49140051300003 meters Centerline goodness [0,1] 0.9998293478956463 Centerline is valid? [True, True] Translation: X:154.94, Y:8.73, Z:-0.16 [[ 9.99821995e-01 -1.82991981e-02 4.59538828e-03 1.54940234e+02] [ 1.82979091e-02 9.99832527e-01 3.22394397e-04 8.72652497e+00] [-4.60051824e-03 -2.38251012e-04 9.99989389e-01 -1.60663308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.521400513 meters Centerline goodness [0,1] 0.9993660989730804 Centerline is valid? [True, True] Translation: X:154.97, Y:8.73, Z:-0.16 [[ 9.99870466e-01 -1.56240039e-02 3.86548052e-03 1.54969386e+02] [ 1.56230716e-02 9.99877916e-01 2.71260757e-04 8.73427149e+00] [-3.86924678e-03 -2.10834941e-04 9.99992492e-01 -1.62008771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.55140051300003 meters Centerline goodness [0,1] 0.9985959836623554 Centerline is valid? [True, True] Translation: X:155.00, Y:8.74, Z:-0.16 [[ 9.99918858e-01 -1.25129282e-02 2.38816766e-03 1.54998519e+02] [ 1.25125635e-02 9.99921701e-01 1.67612209e-04 8.73999132e+00] [-2.39007799e-03 -1.37716510e-04 9.99997134e-01 -1.64700250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.581400513 meters Centerline goodness [0,1] 0.991538331358944 Centerline is valid? [True, True] Translation: X:155.03, Y:8.74, Z:-0.17 [[ 9.99977994e-01 -6.61903203e-03 4.47562219e-04 1.55028646e+02] [ 6.61901864e-03 9.99978094e-01 3.14079669e-05 8.74363159e+00] [-4.47760304e-04 -2.84448531e-05 9.99999899e-01 -1.68317536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.61140051300004 meters Centerline goodness [0,1] 0.9884862492313564 Centerline is valid? [True, True] Translation: X:155.06, Y:8.74, Z:-0.17 [[ 9.99988294e-01 -4.75834288e-03 8.77159691e-04 1.55059249e+02] [ 4.75829071e-03 9.99988677e-01 6.15585287e-05 8.74463015e+00] [-8.77442676e-04 -5.73840273e-05 9.99999613e-01 -1.67835158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.641400513 meters Centerline goodness [0,1] 0.994627993884831 Centerline is valid? [True, True] Translation: X:155.09, Y:8.74, Z:-0.17 [[ 9.99990479e-01 -3.83384817e-03 2.08426530e-03 1.55090147e+02] [ 3.83355159e-03 9.99992641e-01 1.46272460e-04 8.74294469e+00] [-2.08481075e-03 -1.38280928e-04 9.99997817e-01 -1.66106643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.67140051300004 meters Centerline goodness [0,1] 0.9968324629740605 Centerline is valid? [True, True] Translation: X:155.12, Y:8.74, Z:-0.17 [[ 9.99984156e-01 -4.83145219e-03 2.88877151e-03 1.55121769e+02] [ 4.83088641e-03 9.99988311e-01 2.02800362e-04 8.73708498e+00] [-2.88971756e-03 -1.88841822e-04 9.99995807e-01 -1.65274036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.701400513 meters Centerline goodness [0,1] 0.9888933979794527 Centerline is valid? [True, True] Translation: X:155.15, Y:8.74, Z:-0.17 [[ 9.99976218e-01 -6.62392125e-03 1.92035142e-03 1.55151488e+02] [ 6.62367469e-03 9.99978054e-01 1.34725714e-04 8.73804321e+00] [-1.92120169e-03 -1.22002727e-04 9.99998147e-01 -1.68006032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.73140051300004 meters Centerline goodness [0,1] 0.9991851438864348 Centerline is valid? [True, True] Translation: X:155.18, Y:8.72, Z:-0.17 [[ 9.99961836e-01 -8.67533280e-03 1.03250506e-03 1.55183045e+02] [ 8.67526261e-03 9.99962367e-01 7.24372534e-05 8.72476476e+00] [-1.03309462e-03 -6.34772363e-05 9.99999464e-01 -1.69218740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.761400513 meters Centerline goodness [0,1] 0.9994812381117067 Centerline is valid? [True, True] Translation: X:155.21, Y:8.72, Z:-0.17 [[ 9.99941766e-01 -1.07715594e-02 6.61190808e-04 1.55213925e+02] [ 1.07715312e-02 9.99941984e-01 4.63250596e-05 8.71952116e+00] [-6.61651442e-04 -3.92003245e-05 9.99999780e-01 -1.70112133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.791400513 meters Centerline goodness [0,1] 0.9970653128547865 Centerline is valid? [True, True] Translation: X:155.24, Y:8.73, Z:-0.17 [[ 9.99923599e-01 -1.23213976e-02 9.89151558e-04 1.55241908e+02] [ 1.23213351e-02 9.99924087e-01 6.92339003e-05 8.72703390e+00] [-9.89929527e-04 -5.70409429e-05 9.99999508e-01 -1.70732597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.821400513 meters Centerline goodness [0,1] 0.9994234341967584 Centerline is valid? [True, True] Translation: X:155.27, Y:8.72, Z:-0.17 [[ 9.99911044e-01 -1.32362868e-02 1.64457213e-03 1.55271236e+02] [ 1.32361151e-02 9.99912392e-01 1.15258397e-04 8.71753574e+00] [-1.64595365e-03 -9.34803984e-05 9.99998641e-01 -1.69115173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.851400513 meters Centerline goodness [0,1] 0.998787569395699 Centerline is valid? [True, True] Translation: X:155.30, Y:8.72, Z:-0.17 [[ 9.99914623e-01 -1.29859348e-02 1.45336194e-03 1.55299852e+02] [ 1.29858003e-02 9.99915676e-01 1.01946104e-04 8.71659465e+00] [-1.45456326e-03 -8.30643319e-05 9.99998939e-01 -1.69334741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.881400513 meters Centerline goodness [0,1] 0.9994452859977385 Centerline is valid? [True, True] Translation: X:155.33, Y:8.71, Z:-0.17 [[ 9.99928439e-01 -1.19506862e-02 5.44983646e-04 1.55329649e+02] [ 1.19506672e-02 9.99928587e-01 3.81787621e-05 8.71181839e+00] [-5.45400990e-04 -3.16631118e-05 9.99999851e-01 -1.70894388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.911400513 meters Centerline goodness [0,1] 0.9952407494747674 Centerline is valid? [True, True] Translation: X:155.36, Y:8.72, Z:-0.17 [[ 9.99943178e-01 -1.06551616e-02 -3.28214714e-04 1.55357595e+02] [ 1.06551545e-02 9.99943232e-01 -2.32927984e-05 8.72107817e+00] [ 3.28444270e-04 1.97942964e-05 9.99999946e-01 -1.72946435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.941400513 meters Centerline goodness [0,1] 0.9940321576540798 Centerline is valid? [True, True] Translation: X:155.39, Y:8.72, Z:-0.17 [[ 9.99976328e-01 -6.85358346e-03 -6.09309854e-04 1.55388405e+02] [ 6.85355862e-03 9.99976513e-01 -4.28548980e-05 8.72095464e+00] [ 6.09589253e-04 3.86779428e-05 9.99999813e-01 -1.74307551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.971400513 meters Centerline goodness [0,1] 0.9971358341348723 Centerline is valid? [True, True] Translation: X:155.42, Y:8.72, Z:-0.17 [[ 9.99987790e-01 -4.89059250e-03 -7.08742494e-04 1.55418690e+02] [ 4.89055834e-03 9.99988040e-01 -4.99311615e-05 8.72021046e+00] [ 7.08978211e-04 4.64644053e-05 9.99999748e-01 -1.74203567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.001400513 meters Centerline goodness [0,1] 0.9276006550822044 Centerline is valid? [True, False] Translation: X:155.42, Y:8.72, Z:-0.18 [[ 9.99995062e-01 -2.75347717e-03 -1.51476654e-03 1.55424328e+02] [ 2.75676690e-03 9.99993837e-01 2.17399068e-03 8.71676382e+00] [ 1.50877117e-03 -2.17815580e-03 9.99996490e-01 -1.77517216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.031400513 meters Centerline goodness [0,1] 0.8487204682359978 Centerline is valid? [False, False] Translation: X:155.42, Y:8.72, Z:-0.18 [[ 9.99995372e-01 -2.69132278e-03 -1.41883747e-03 1.55423902e+02] [ 2.69454015e-03 9.99993792e-01 2.27059782e-03 8.71636607e+00] [ 1.41271775e-03 -2.27441043e-03 9.99996416e-01 -1.77316911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.061400513 meters Centerline goodness [0,1] 0.9859041311085637 Centerline is valid? [False, True] Translation: X:155.42, Y:8.71, Z:-0.18 [[ 9.99996234e-01 -2.41532832e-03 -1.30309267e-03 1.55423103e+02] [ 2.41910319e-03 9.99992860e-01 2.90310139e-03 8.71344541e+00] [ 1.29607142e-03 -2.90624277e-03 9.99994937e-01 -1.76536458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.091400513 meters Centerline goodness [0,1] 0.9743431418472938 Centerline is valid? [True, True] Translation: X:155.45, Y:8.72, Z:-0.18 [[ 9.99994347e-01 -3.32541574e-03 -4.97502939e-04 1.55451686e+02] [ 3.32539865e-03 9.99994470e-01 -3.51809743e-05 8.71958968e+00] [ 4.97617180e-04 3.35263798e-05 9.99999876e-01 -1.76194483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.121400513 meters Centerline goodness [0,1] 0.9894966056103497 Centerline is valid? [True, True] Translation: X:155.48, Y:8.72, Z:-0.18 [[ 9.99990736e-01 -4.30283856e-03 -1.15231005e-04 1.55481217e+02] [ 4.30283765e-03 9.99990743e-01 -8.21790239e-06 8.71876896e+00] [ 1.15265298e-04 7.72200595e-06 9.99999993e-01 -1.75375588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.151400513 meters Centerline goodness [0,1] 0.9660589357642569 Centerline is valid? [True, True] Translation: X:155.51, Y:8.73, Z:-0.18 [[ 9.99988406e-01 -4.81015192e-03 2.25987341e-04 1.55510096e+02] [ 4.81014844e-03 9.99988431e-01 1.59336082e-05 8.72645960e+00] [-2.26061370e-04 -1.48463908e-05 9.99999974e-01 -1.75455301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.181400513 meters Centerline goodness [0,1] 0.9935957248282297 Centerline is valid? [True, True] Translation: X:155.54, Y:8.72, Z:-0.18 [[ 9.99987355e-01 -4.99610661e-03 5.74003744e-04 1.55540031e+02] [ 4.99608418e-03 9.99987519e-01 4.05042747e-05 8.72277355e+00] [-5.74198944e-04 -3.76359915e-05 9.99999834e-01 -1.75656944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.211400513 meters Centerline goodness [0,1] 0.993810412073936 Centerline is valid? [True, True] Translation: X:155.57, Y:8.72, Z:-0.18 [[ 9.99986917e-01 -5.10551200e-03 3.16073212e-04 1.55569808e+02] [ 5.10550521e-03 9.99986967e-01 2.22763921e-05 8.72233332e+00] [-3.16182825e-04 -2.06623873e-05 9.99999950e-01 -1.75595173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.24140051300003 meters Centerline goodness [0,1] 0.9899183256763655 Centerline is valid? [True, True] Translation: X:155.60, Y:8.72, Z:-0.18 [[ 9.99986478e-01 -5.19269911e-03 -2.81158932e-04 1.55599443e+02] [ 5.19269371e-03 9.99986518e-01 -1.99237129e-05 8.72336539e+00] [ 2.81258599e-04 1.84634713e-05 9.99999960e-01 -1.75598817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.271400513 meters Centerline goodness [0,1] 0.9813036457890711 Centerline is valid? [True, True] Translation: X:155.63, Y:8.73, Z:-0.18 [[ 9.99987965e-01 -4.87109569e-03 -5.84714655e-04 1.55627644e+02] [ 4.87107226e-03 9.99988135e-01 -4.14877163e-05 8.72628270e+00] [ 5.84909809e-04 3.86390297e-05 9.99999828e-01 -1.75507344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.30140051300003 meters Centerline goodness [0,1] 0.9501709819247679 Centerline is valid? [True, True] Translation: X:155.66, Y:8.73, Z:-0.18 [[ 9.99999037e-01 -1.30845403e-03 -4.62388422e-04 1.55657641e+02] [ 1.30843904e-03 9.99999143e-01 -3.27167067e-05 8.73318412e+00] [ 4.62430834e-04 3.21116681e-05 9.99999893e-01 -1.75123487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.331400513 meters Centerline goodness [0,1] 0.8343615510186775 Centerline is valid? [True, False] Translation: X:155.66, Y:8.74, Z:-0.18 [[ 9.99999089e-01 -1.33097727e-03 -2.25307948e-04 1.55656920e+02] [ 1.33084467e-03 9.99998942e-01 -5.87644518e-04 8.73608907e+00] [ 2.26089851e-04 5.87344133e-04 9.99999802e-01 -1.75290100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.36140051300004 meters Centerline goodness [0,1] 0.9487692700792096 Centerline is valid? [False, False] Translation: X:155.65, Y:8.74, Z:-0.17 [[ 9.99999636e-01 2.00576918e-04 8.29183218e-04 1.55650862e+02] [-2.01055542e-04 9.99999813e-01 5.77181052e-04 8.73572098e+00] [-8.29067294e-04 -5.77347554e-04 9.99999490e-01 -1.72286257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.391400513 meters Centerline goodness [0,1] 0.5155626666666666 Centerline is valid? [False, False] Translation: X:155.65, Y:8.74, Z:-0.17 [[ 9.99999406e-01 1.53906301e-04 1.07904136e-03 1.55650244e+02] [-1.53861414e-04 9.99999987e-01 -4.16818471e-05 8.73888674e+00] [-1.07904776e-03 4.15157995e-05 9.99999417e-01 -1.72770453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.42140051300004 meters Centerline goodness [0,1] 0.5170263482739539 Centerline is valid? [False, False] Translation: X:155.65, Y:8.74, Z:-0.17 [[ 9.99999335e-01 1.21329610e-04 1.14692760e-03 1.55650205e+02] [-1.20638911e-04 9.99999811e-01 -6.02266009e-04 8.74174491e+00] [-1.14700046e-03 6.02127244e-04 9.99999161e-01 -1.73270217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.451400513 meters Centerline goodness [0,1] 0.42051860202931224 Centerline is valid? [False, False] Translation: X:155.65, Y:8.74, Z:-0.17 [[ 9.99998603e-01 6.79960601e-04 1.52717244e-03 1.55648736e+02] [-6.78822111e-04 9.99999491e-01 -7.45883612e-04 8.74343993e+00] [-1.52767884e-03 7.44845891e-04 9.99998556e-01 -1.73146254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.48140051300004 meters Centerline goodness [0,1] 0.5652312871540282 Centerline is valid? [False, False] Translation: X:155.65, Y:8.74, Z:-0.17 [[ 9.99998286e-01 7.05748314e-04 1.71151093e-03 1.55647981e+02] [-7.04457610e-04 9.99999467e-01 -7.54617192e-04 8.74356980e+00] [-1.71204258e-03 7.53410212e-04 9.99998251e-01 -1.72899118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.511400513 meters Centerline goodness [0,1] 0.5503774064964804 Centerline is valid? [False, False] Translation: X:155.65, Y:8.74, Z:-0.17 [[ 9.99998209e-01 6.83542712e-04 1.76470614e-03 1.55647775e+02] [-6.82107045e-04 9.99999436e-01 -8.14018214e-04 8.74386107e+00] [-1.76526156e-03 8.12813038e-04 9.99998112e-01 -1.72874546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.541400513 meters Centerline goodness [0,1] 0.5339557677277624 Centerline is valid? [False, False] Translation: X:155.65, Y:8.74, Z:-0.17 [[ 9.99999056e-01 4.49845169e-04 1.29815744e-03 1.55650193e+02] [-4.48422886e-04 9.99999299e-01 -1.09569982e-03 8.74473979e+00] [-1.29864943e-03 1.09511666e-03 9.99998557e-01 -1.74564513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.571400513 meters Centerline goodness [0,1] 0.49467372584040314 Centerline is valid? [False, False] Translation: X:155.65, Y:8.74, Z:-0.18 [[ 9.99999416e-01 4.91607213e-04 9.62376677e-04 1.55651723e+02] [-4.90762449e-04 9.99999494e-01 -8.77828329e-04 8.74351060e+00] [-9.62807737e-04 8.77355518e-04 9.99999152e-01 -1.75370154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.601400513 meters Centerline goodness [0,1] 0.5591939546599496 Centerline is valid? [False, False] Translation: X:155.65, Y:8.74, Z:-0.18 [[ 9.99999540e-01 5.62604945e-04 7.77235560e-04 1.55652585e+02] [-5.62089221e-04 9.99999622e-01 -6.63595086e-04 8.74238869e+00] [-7.77608608e-04 6.63157905e-04 9.99999478e-01 -1.75845335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.631400513 meters Centerline goodness [0,1] 0.6251677637885857 Centerline is valid? [False, False] Translation: X:155.65, Y:8.74, Z:-0.18 [[ 9.99999568e-01 5.51927003e-04 7.47246266e-04 1.55652749e+02] [-5.51427667e-04 9.99999625e-01 -6.68274851e-04 8.74237849e+00] [-7.47614824e-04 6.67862511e-04 9.99999498e-01 -1.75971655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.661400513 meters Centerline goodness [0,1] 0.7262485997505971 Centerline is valid? [False, False] Translation: X:155.65, Y:8.74, Z:-0.18 [[ 9.99999449e-01 4.60386000e-04 9.43350533e-04 1.55651675e+02] [-4.59556609e-04 9.99999508e-01 -8.79225098e-04 8.74350833e+00] [-9.43754852e-04 8.78791091e-04 9.99999169e-01 -1.75210110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.691400513 meters Centerline goodness [0,1] 0.6121989072432341 Centerline is valid? [False, False] Translation: X:155.65, Y:8.74, Z:-0.18 [[ 9.99999414e-01 3.42447593e-04 1.02693212e-03 1.55651356e+02] [-3.41258670e-04 9.99999272e-01 -1.15769514e-03 8.74485789e+00] [-1.02732783e-03 1.15734401e-03 9.99998803e-01 -1.75160271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.721400513 meters Centerline goodness [0,1] 0.649144072301967 Centerline is valid? [False, False] Translation: X:155.65, Y:8.75, Z:-0.18 [[ 9.99999424e-01 2.19914029e-04 1.05047551e-03 1.55651334e+02] [-2.18395746e-04 9.99998932e-01 -1.44522549e-03 8.74620990e+00] [-1.05079221e-03 1.44499524e-03 9.99998404e-01 -1.75302517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.751400513 meters Centerline goodness [0,1] 0.7380113211577486 Centerline is valid? [False, False] Translation: X:155.65, Y:8.75, Z:-0.18 [[ 9.99999427e-01 1.10807643e-04 1.06457938e-03 1.55651278e+02] [-1.09005912e-04 9.99998562e-01 -1.69234397e-03 8.74737006e+00] [-1.06476538e-03 1.69222695e-03 9.99998001e-01 -1.75301788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.781400513 meters Centerline goodness [0,1] 0.6974887066732322 Centerline is valid? [False, False] Translation: X:155.65, Y:8.75, Z:-0.18 [[ 9.99999451e-01 8.72807174e-05 1.04454425e-03 1.55651209e+02] [-8.54850829e-05 9.99998519e-01 -1.71898150e-03 8.74751027e+00] [-1.04469274e-03 1.71889126e-03 9.99997977e-01 -1.75066952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.811400513 meters Centerline goodness [0,1] 0.7638463501786625 Centerline is valid? [False, False] Translation: X:155.65, Y:8.75, Z:-0.17 [[ 9.99999445e-01 1.38430416e-04 1.04450852e-03 1.55650961e+02] [-1.36846678e-04 9.99998841e-01 -1.51617090e-03 8.74656454e+00] [-1.04471719e-03 1.51602712e-03 9.99998305e-01 -1.74579023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.841400513 meters Centerline goodness [0,1] 0.6651692569725356 Centerline is valid? [False, False] Translation: X:155.65, Y:8.75, Z:-0.17 [[ 9.99999479e-01 8.10164025e-05 1.01726327e-03 1.55650593e+02] [-7.95603379e-05 9.99998973e-01 -1.43131358e-03 8.74616671e+00] [-1.01737818e-03 1.43123190e-03 9.99998458e-01 -1.73650464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.871400513 meters Centerline goodness [0,1] 0.8595380267323998 Centerline is valid? [False, False] Translation: X:155.65, Y:8.75, Z:-0.17 [[ 9.99999593e-01 -1.51711178e-04 8.89930302e-04 1.55651151e+02] [ 1.53407676e-04 9.99998171e-01 -1.90656777e-03 8.74833062e+00] [-8.89639426e-04 1.90670352e-03 9.99997787e-01 -1.73898863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.901400513 meters Centerline goodness [0,1] 0.6461230487467258 Centerline is valid? [False, False] Translation: X:155.65, Y:8.75, Z:-0.17 [[ 9.99999615e-01 -4.27727204e-04 7.66520228e-04 1.55651863e+02] [ 4.29655652e-04 9.99996739e-01 -2.51745109e-03 8.75112270e+00] [-7.65440946e-04 2.51777946e-03 9.99996537e-01 -1.74487627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.931400513 meters Centerline goodness [0,1] 0.9713468882677988 Centerline is valid? [False, True] Translation: X:155.65, Y:8.76, Z:-0.17 [[ 9.99999289e-01 -9.20367540e-04 7.58884261e-04 1.55652035e+02] [ 9.23110653e-04 9.99993013e-01 -3.62227337e-03 8.75628565e+00] [-7.55545136e-04 3.62297133e-03 9.99993152e-01 -1.74790069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.961400513 meters Centerline goodness [0,1] 0.7234970364098221 Centerline is valid? [True, False] Translation: X:155.66, Y:8.76, Z:-0.18 [[ 9.99998525e-01 1.70651904e-03 -1.93654678e-04 1.55657287e+02] [-1.70660534e-03 9.99998444e-01 -4.46339241e-04 8.75611066e+00] [ 1.92892691e-04 4.46669075e-04 9.99999882e-01 -1.76789524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.99140051300003 meters Centerline goodness [0,1] 0.9350759568870406 Centerline is valid? [False, False] Translation: X:155.66, Y:8.76, Z:-0.18 [[ 9.99999076e-01 1.35609021e-03 -9.10354442e-05 1.55656754e+02] [-1.35620310e-03 9.99998297e-01 -1.25165180e-03 8.75997067e+00] [ 8.93379364e-05 1.25177411e-03 9.99999213e-01 -1.76447810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.021400513 meters Centerline goodness [0,1] 0.9547038327526133 Centerline is valid? [False, True] Translation: X:155.66, Y:8.76, Z:-0.18 [[ 9.99999449e-01 1.04826244e-03 -5.10427906e-05 1.55656550e+02] [-1.04835932e-03 9.99997576e-01 -1.93645511e-03 8.76320147e+00] [ 4.90127537e-05 1.93650755e-03 9.99998124e-01 -1.76323461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.05140051300003 meters Centerline goodness [0,1] 0.9680869122390087 Centerline is valid? [True, True] Translation: X:155.69, Y:8.76, Z:-0.18 [[ 9.99995143e-01 -2.40912146e-03 -1.97726894e-03 1.55687069e+02] [ 2.40883814e-03 9.99997088e-01 -1.45658462e-04 8.76367049e+00] [ 1.97761409e-03 1.40894834e-04 9.99998035e-01 -1.78820533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.081400513 meters Centerline goodness [0,1] 0.883081359597973 Centerline is valid? [True, False] Translation: X:155.69, Y:8.76, Z:-0.18 [[ 9.99994692e-01 -2.46158558e-03 -2.13457878e-03 1.55687588e+02] [ 2.46141383e-03 9.99996967e-01 -8.30863460e-05 8.76325701e+00] [ 2.13477683e-03 7.78318233e-05 9.99997718e-01 -1.78843393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.11140051300004 meters Centerline goodness [0,1] 0.9943327743934796 Centerline is valid? [False, True] Translation: X:155.69, Y:8.76, Z:-0.18 [[ 9.99994420e-01 -2.57487856e-03 -2.12856590e-03 1.55687235e+02] [ 2.57484925e-03 9.99996685e-01 -1.65072064e-05 8.76284872e+00] [ 2.12860135e-03 1.10263779e-05 9.99997734e-01 -1.78163009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.141400513 meters Centerline goodness [0,1] 0.9943327743934796 Centerline is valid? [True, True] Translation: X:155.72, Y:8.76, Z:-0.18 [[ 9.99994027e-01 -2.72948751e-03 -2.12011124e-03 1.55715559e+02] [ 2.72919113e-03 9.99996266e-01 -1.42672726e-04 8.76496463e+00] [ 2.12049274e-03 1.36885685e-04 9.99997742e-01 -1.78233111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.17140051300004 meters Centerline goodness [0,1] 0.9995960283205408 Centerline is valid? [True, True] Translation: X:155.75, Y:8.76, Z:-0.17 [[ 9.99963048e-01 -8.42367220e-03 1.71612988e-03 1.55746067e+02] [ 8.42348674e-03 9.99964515e-01 1.15268152e-04 8.75948451e+00] [-1.71703997e-03 -1.00808095e-04 9.99998521e-01 -1.71743555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.201400513 meters Centerline goodness [0,1] 0.9994904458598726 Centerline is valid? [True, True] Translation: X:155.78, Y:8.76, Z:-0.17 [[ 9.99946623e-01 -9.84895193e-03 3.12240373e-03 1.55775746e+02] [ 9.84834488e-03 9.99951482e-01 2.09731182e-04 8.76329545e+00] [-3.12431787e-03 -1.78969479e-04 9.99995103e-01 -1.68479185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.231400513 meters Centerline goodness [0,1] 0.9995122571889049 Centerline is valid? [True, True] Translation: X:155.81, Y:8.76, Z:-0.17 [[ 9.99938394e-01 -1.03612362e-02 3.98157217e-03 1.55807383e+02] [ 1.03602534e-02 9.99946295e-01 2.67391088e-04 8.76351607e+00] [-3.98412884e-03 -2.26124519e-04 9.99992038e-01 -1.66353301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.261400513 meters Centerline goodness [0,1] 0.9989456370460967 Centerline is valid? [True, True] Translation: X:155.84, Y:8.77, Z:-0.17 [[ 9.99943892e-01 -9.88286072e-03 3.81347497e-03 1.55837545e+02] [ 9.88195598e-03 9.99951140e-01 2.56018287e-04 8.77301039e+00] [-3.81581884e-03 -2.18319330e-04 9.99992696e-01 -1.66293066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.291400513 meters Centerline goodness [0,1] 0.9994674846103052 Centerline is valid? [True, True] Translation: X:155.87, Y:8.77, Z:-0.17 [[ 9.99962806e-01 -8.18238812e-03 2.72666738e-03 1.55868533e+02] [ 8.18191941e-03 9.99966511e-01 1.83009402e-04 8.77236259e+00] [-2.72807352e-03 -1.60693223e-04 9.99996266e-01 -1.68777409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.321400513 meters Centerline goodness [0,1] 0.9968390682676397 Centerline is valid? [True, True] Translation: X:155.90, Y:8.78, Z:-0.17 [[ 9.99997635e-01 -2.17393245e-03 5.77474564e-05 1.55897939e+02] [ 2.17393223e-03 9.99997637e-01 3.86880124e-06 8.78479703e+00] [-5.77557305e-05 -3.74325304e-06 9.99999998e-01 -1.74173737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.351400513 meters Centerline goodness [0,1] 0.992084933935582 Centerline is valid? [True, True] Translation: X:155.93, Y:8.79, Z:-0.17 [[ 9.99999526e-01 9.26869567e-04 -2.99204404e-04 1.55928102e+02] [-9.26875619e-04 9.99999570e-01 -2.00898619e-05 8.79072313e+00] [ 2.99185655e-04 2.03671777e-05 9.99999955e-01 -1.74564485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.381400513 meters Centerline goodness [0,1] 0.9107169410515136 Centerline is valid? [True, False] Translation: X:155.93, Y:8.79, Z:-0.17 [[ 9.99999689e-01 7.73832686e-04 -1.49971732e-04 1.55927632e+02] [-7.73917958e-04 9.99999538e-01 -5.69367757e-04 8.79342620e+00] [ 1.49531068e-04 5.69483646e-04 9.99999827e-01 -1.74630536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.411400513 meters Centerline goodness [0,1] 0.8872303380329539 Centerline is valid? [False, False] Translation: X:155.93, Y:8.80, Z:-0.17 [[ 9.99999855e-01 5.28186325e-04 -1.05013166e-04 1.55927579e+02] [-5.28317226e-04 9.99999079e-01 -1.25042113e-03 8.79669015e+00] [ 1.04352614e-04 1.25047643e-03 9.99999213e-01 -1.74847167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.441400513 meters Centerline goodness [0,1] 0.9940217274850544 Centerline is valid? [False, True] Translation: X:155.92, Y:8.80, Z:-0.17 [[ 9.99997358e-01 2.14464837e-03 8.27741233e-04 1.55920956e+02] [-2.14467712e-03 9.99997700e-01 3.38415156e-05 8.79975761e+00] [-8.27666751e-04 -3.56166639e-05 9.99999657e-01 -1.70842503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.471400513 meters Centerline goodness [0,1] 0.957382265591854 Centerline is valid? [True, True] Translation: X:155.95, Y:8.81, Z:-0.17 [[ 9.99995738e-01 2.83819537e-03 6.84263679e-04 1.55951133e+02] [-2.83823003e-03 9.99995971e-01 4.96866692e-05 8.80928198e+00] [-6.84119902e-04 -5.16285552e-05 9.99999765e-01 -1.71982250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.501400513 meters Centerline goodness [0,1] 0.9302360132439087 Centerline is valid? [True, False] Translation: X:155.95, Y:8.81, Z:-0.17 [[ 9.99995649e-01 2.88193846e-03 6.30244106e-04 1.55951412e+02] [-2.88203190e-03 9.99995836e-01 1.47410918e-04 8.80878768e+00] [-6.29816653e-04 -1.49226660e-04 9.99999791e-01 -1.72195011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.531400513 meters Centerline goodness [0,1] 0.9732957337264201 Centerline is valid? [False, True] Translation: X:155.95, Y:8.81, Z:-0.17 [[ 9.99995417e-01 2.98597146e-03 4.99919436e-04 1.55951948e+02] [-2.98616892e-03 9.99995463e-01 3.94707853e-04 8.80758658e+00] [-4.98738581e-04 -3.96198888e-04 9.99999797e-01 -1.72380393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.561400513 meters Centerline goodness [0,1] 0.9285593542661539 Centerline is valid? [True, False] Translation: X:155.96, Y:8.81, Z:-0.18 [[ 9.99985431e-01 5.37964624e-03 -4.45046849e-04 1.55959141e+02] [-5.37827968e-03 9.99980986e-01 3.01682906e-03 8.80567367e+00] [ 4.61267860e-04 -3.01439152e-03 9.99995350e-01 -1.77143563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.591400513 meters Centerline goodness [0,1] 0.7820796460176991 Centerline is valid? [False, False] Translation: X:155.96, Y:8.81, Z:-0.18 [[ 9.99986752e-01 5.13255563e-03 -3.90075275e-04 1.55959080e+02] [-5.13159233e-03 9.99983877e-01 2.43166034e-03 8.80842329e+00] [ 4.02549618e-04 -2.42962642e-03 9.99996967e-01 -1.77403911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.621400513 meters Centerline goodness [0,1] 0.8610590040927695 Centerline is valid? [False, False] Translation: X:155.96, Y:8.81, Z:-0.18 [[ 9.99987541e-01 4.97986707e-03 -3.44616993e-04 1.55959037e+02] [-4.97915372e-03 9.99985522e-01 2.04075148e-03 8.81025957e+00] [ 3.54774675e-04 -2.03901015e-03 9.99997858e-01 -1.77647216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.651400513 meters Centerline goodness [0,1] 0.7606334165652944 Centerline is valid? [False, False] Translation: X:155.96, Y:8.81, Z:-0.18 [[ 9.99987710e-01 4.94365240e-03 -3.74033487e-04 1.55959206e+02] [-4.94293015e-03 9.99985964e-01 1.90786881e-03 8.81088754e+00] [ 3.83460077e-04 -1.90599654e-03 9.99998110e-01 -1.77770186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.681400513 meters Centerline goodness [0,1] 0.46642622255224353 Centerline is valid? [False, False] Translation: X:155.96, Y:8.81, Z:-0.18 [[ 9.99986494e-01 5.18153827e-03 -4.05505887e-04 1.55959769e+02] [-5.18089464e-03 9.99985343e-01 1.57251604e-03 8.81292570e+00] [ 4.13647995e-04 -1.57039392e-03 9.99998681e-01 -1.78781691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.711400513 meters Centerline goodness [0,1] 0.5288752512961592 Centerline is valid? [False, False] Translation: X:155.96, Y:8.82, Z:-0.18 [[ 9.99987866e-01 4.90487249e-03 -4.58662739e-04 1.55960479e+02] [-4.90456112e-03 9.99987743e-01 6.77561483e-04 8.81716110e+00] [ 4.61980470e-04 -6.75303722e-04 9.99999665e-01 -1.79934963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.74140051300003 meters Centerline goodness [0,1] 0.6321543271582619 Centerline is valid? [False, False] Translation: X:155.96, Y:8.82, Z:-0.18 [[ 9.99989572e-01 4.54909969e-03 -4.00806957e-04 1.55960732e+02] [-4.54920200e-03 9.99989620e-01 -2.54721581e-04 8.82151615e+00] [ 3.99644043e-04 2.56542277e-04 9.99999887e-01 -1.80876102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.771400513 meters Centerline goodness [0,1] 0.5093444968922873 Centerline is valid? [False, False] Translation: X:155.96, Y:8.82, Z:-0.18 [[ 9.99990404e-01 4.36908217e-03 -3.20929958e-04 1.55960578e+02] [-4.36931401e-03 9.99990191e-01 -7.25281696e-04 8.82373701e+00] [ 3.17757995e-04 7.26676980e-04 9.99999685e-01 -1.81117268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.80140051300003 meters Centerline goodness [0,1] 0.3760252633363711 Centerline is valid? [False, False] Translation: X:155.96, Y:8.83, Z:-0.18 [[ 9.99990865e-01 4.27424966e-03 3.38327833e-05 1.55958769e+02] [-4.27421289e-03 9.99990344e-01 -1.02104123e-03 8.82531315e+00] [-3.81966418e-05 1.02088730e-03 9.99999478e-01 -1.79949887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.831400513 meters Centerline goodness [0,1] 0.46549123738714815 Centerline is valid? [False, False] Translation: X:155.96, Y:8.83, Z:-0.18 [[ 9.99991743e-01 4.05861965e-03 2.05301431e-04 1.55957953e+02] [-4.05830728e-03 9.99990640e-01 -1.49970365e-03 8.82762199e+00] [-2.11386236e-04 1.49885809e-03 9.99998854e-01 -1.79505628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.86140051300004 meters Centerline goodness [0,1] 0.5137599189599865 Centerline is valid? [False, False] Translation: X:155.96, Y:8.83, Z:-0.18 [[ 9.99992563e-01 3.84667004e-03 2.77205909e-04 1.55957460e+02] [-3.84612561e-03 9.99990725e-01 -1.93845927e-03 8.82972746e+00] [-2.84659951e-04 1.93737869e-03 9.99998083e-01 -1.79037686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.891400513 meters Centerline goodness [0,1] 0.6991524519117867 Centerline is valid? [False, False] Translation: X:155.94, Y:8.82, Z:-0.17 [[ 9.99987914e-01 1.95382436e-03 -4.51169210e-03 1.55935149e+02] [-1.91653831e-03 9.99964099e-01 8.25390370e-03 8.82224378e+00] [ 4.52765680e-03 -8.24515710e-03 9.99955758e-01 -1.72369118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.92140051300004 meters Centerline goodness [0,1] 0.4712057524484179 Centerline is valid? [False, False] Translation: X:155.93, Y:8.83, Z:-0.17 [[ 9.99987647e-01 -2.72188585e-03 -4.15888243e-03 1.55934402e+02] [ 2.73201260e-03 9.99993313e-01 2.43123153e-03 8.82970714e+00] [ 4.15223708e-03 -2.44256362e-03 9.99988396e-01 -1.73377218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.951400513 meters Centerline goodness [0,1] 0.6227834156056016 Centerline is valid? [False, False] Translation: X:155.93, Y:8.83, Z:-0.17 [[ 9.99986818e-01 -2.85461561e-03 -4.26784368e-03 1.55934832e+02] [ 2.86418386e-03 9.99993395e-01 2.23751278e-03 8.83054403e+00] [ 4.26142825e-03 -2.24970717e-03 9.99988389e-01 -1.73533098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.981400513 meters Centerline goodness [0,1] 0.8310347763163496 Centerline is valid? [False, False] Translation: X:155.94, Y:8.83, Z:-0.17 [[ 9.99985471e-01 -3.01512500e-03 -4.46834900e-03 1.55935302e+02] [ 3.02483667e-03 9.99993074e-01 2.16827577e-03 8.83071954e+00] [ 4.46178043e-03 -2.18176030e-03 9.99987666e-01 -1.73180201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.011400513 meters Centerline goodness [0,1] 0.9061135371179039 Centerline is valid? [False, False] Translation: X:155.94, Y:8.83, Z:-0.17 [[ 9.99984997e-01 -2.89018212e-03 -4.65322437e-03 1.55935773e+02] [ 2.90214539e-03 9.99992496e-01 2.56626731e-03 8.82879730e+00] [ 4.64577247e-03 -2.57973315e-03 9.99985881e-01 -1.72891796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.041400513 meters Centerline goodness [0,1] 0.8532420304957149 Centerline is valid? [False, False] Translation: X:155.94, Y:8.83, Z:-0.17 [[ 9.99984189e-01 -2.80021613e-03 -4.87647772e-03 1.55936545e+02] [ 2.81456583e-03 9.99991722e-01 2.93826480e-03 8.82691786e+00] [ 4.86820958e-03 -2.95194351e-03 9.99983793e-01 -1.72943577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.071400513 meters Centerline goodness [0,1] 0.9358349612519589 Centerline is valid? [False, False] Translation: X:155.94, Y:8.83, Z:-0.17 [[ 9.99961545e-01 -7.50243414e-03 -4.54121533e-03 1.55935951e+02] [ 7.49020018e-03 9.99968289e-01 -2.70502275e-03 8.83333209e+00] [ 4.56136558e-03 2.67090412e-03 9.99986030e-01 -1.73924130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.101400513 meters Centerline goodness [0,1] 0.8522936751774552 Centerline is valid? [False, False] Translation: X:155.98, Y:8.84, Z:-0.17 [[ 9.99971493e-01 -7.46193488e-03 -1.15411180e-03 1.55975304e+02] [ 7.45606794e-03 9.99959668e-01 -5.00691429e-03 8.83972558e+00] [ 1.19142652e-03 4.99816643e-03 9.99986799e-01 -1.74439494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.131400513 meters Centerline goodness [0,1] 0.9289346554792779 Centerline is valid? [False, False] Translation: X:155.98, Y:8.83, Z:-0.17 [[ 9.99993312e-01 -3.40765030e-03 -1.32827303e-03 1.55975175e+02] [ 3.40784947e-03 9.99994182e-01 1.47707182e-04 8.83494711e+00] [ 1.32776197e-03 -1.52232748e-04 9.99999107e-01 -1.72922745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.161400513 meters Centerline goodness [0,1] 0.889215478959611 Centerline is valid? [False, False] Translation: X:155.97, Y:8.84, Z:-0.17 [[ 9.99993266e-01 -3.45159197e-03 -1.24687177e-03 1.55974761e+02] [ 3.45166489e-03 9.99994041e-01 5.63323089e-05 8.83540648e+00] [ 1.24666991e-03 -6.06357131e-05 9.99999221e-01 -1.72667156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.191400513 meters Centerline goodness [0,1] 0.934074814452502 Centerline is valid? [False, False] Translation: X:155.97, Y:8.84, Z:-0.17 [[ 9.99993351e-01 -3.43864017e-03 -1.21389328e-03 1.55974662e+02] [ 3.43873702e-03 9.99994085e-01 7.77013298e-05 8.83531246e+00] [ 1.21361891e-03 -8.18750729e-05 9.99999260e-01 -1.72719456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.221400513 meters Centerline goodness [0,1] 0.9511844331641286 Centerline is valid? [False, True] Translation: X:155.97, Y:8.84, Z:-0.17 [[ 9.99993338e-01 -3.43529156e-03 -1.23358507e-03 1.55974771e+02] [ 3.43543210e-03 9.99994093e-01 1.11826505e-04 8.83513338e+00] [ 1.23319362e-03 -1.16063658e-04 9.99999233e-01 -1.72808613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.251400513 meters Centerline goodness [0,1] 0.9265396825396826 Centerline is valid? [True, False] Translation: X:155.97, Y:8.83, Z:-0.17 [[ 9.99993293e-01 -3.42924457e-03 -1.28603633e-03 1.55974956e+02] [ 3.42943103e-03 9.99994109e-01 1.42814119e-04 8.83497083e+00] [ 1.28553901e-03 -1.47223534e-04 9.99999163e-01 -1.72840235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.281400513 meters Centerline goodness [0,1] 0.940989929290765 Centerline is valid? [False, False] Translation: X:155.96, Y:8.84, Z:-0.18 [[ 9.99991827e-01 -3.95362480e-03 -8.44868002e-04 1.55957236e+02] [ 3.94355357e-03 9.99924860e-01 -1.16070089e-02 8.84253382e+00] [ 8.90694277e-04 1.16035822e-02 9.99932279e-01 -1.78336078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.311400513 meters Centerline goodness [0,1] 0.9592765984736741 Centerline is valid? [False, True] Translation: X:155.96, Y:8.84, Z:-0.18 [[ 9.99999306e-01 1.41842077e-04 -1.16971907e-03 1.55957927e+02] [-1.49113982e-04 9.99980650e-01 -6.21905423e-03 8.83644644e+00] [ 1.16881431e-03 6.21922434e-03 9.99979977e-01 -1.77389312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.341400513 meters Centerline goodness [0,1] 0.9870530992172626 Centerline is valid? [True, True] Translation: X:155.99, Y:8.83, Z:-0.17 [[ 9.99999804e-01 -4.61350903e-04 -4.22949224e-04 1.55987749e+02] [ 4.61338388e-04 9.99999893e-01 -2.96879390e-05 8.83070721e+00] [ 4.22962875e-04 2.94928104e-05 9.99999910e-01 -1.74863752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.371400513 meters Centerline goodness [0,1] 0.9684304703476483 Centerline is valid? [True, True] Translation: X:156.02, Y:8.84, Z:-0.17 [[ 9.99997044e-01 2.68228933e-04 2.41650992e-03 1.56017166e+02] [-2.68634885e-04 9.99999950e-01 1.67668043e-04 8.83816443e+00] [-2.41646482e-03 -1.68316706e-04 9.99997066e-01 -1.71264769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.401400513 meters Centerline goodness [0,1] 0.8420172337137171 Centerline is valid? [True, False] Translation: X:156.02, Y:8.84, Z:-0.17 [[ 9.99996973e-01 8.53099336e-05 2.45916475e-03 1.56017245e+02] [-8.45096419e-05 9.99999943e-01 -3.25534414e-04 8.84049627e+00] [-2.45919238e-03 3.25325606e-04 9.99996923e-01 -1.71733493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.431400513 meters Centerline goodness [0,1] 0.9821315154337977 Centerline is valid? [False, True] Translation: X:156.02, Y:8.84, Z:-0.17 [[ 9.99997359e-01 -1.34104186e-04 2.29418045e-03 1.56018266e+02] [ 1.36135273e-04 9.99999599e-01 -8.85187895e-04 8.84304049e+00] [-2.29406082e-03 8.85497877e-04 9.99996977e-01 -1.72705203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.461400513 meters Centerline goodness [0,1] 0.9673554068930477 Centerline is valid? [True, True] Translation: X:156.05, Y:8.85, Z:-0.18 [[ 9.99999584e-01 9.12216316e-04 2.60876452e-05 1.56049565e+02] [-9.12216368e-04 9.99999584e-01 1.97213296e-06 8.84672567e+00] [-2.60858353e-05 -1.99592972e-06 1.00000000e+00 -1.76118799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.49140051300003 meters Centerline goodness [0,1] 0.7149955026341714 Centerline is valid? [True, False] Translation: X:156.01, Y:8.84, Z:-0.18 [[ 9.99991310e-01 2.61910786e-04 -4.16070170e-03 1.56014265e+02] [-2.58674309e-04 9.99999664e-01 7.78387286e-04 8.84477184e+00] [ 4.16090417e-03 -7.77304255e-04 9.99991041e-01 -1.79773963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.521400513 meters Centerline goodness [0,1] 0.8811628697721863 Centerline is valid? [False, False] Translation: X:156.01, Y:8.84, Z:-0.18 [[ 9.99991246e-01 2.80629029e-04 -4.17475482e-03 1.56014349e+02] [-2.76998555e-04 9.99999583e-01 8.70178652e-04 8.84428284e+00] [ 4.17499728e-03 -8.69014634e-04 9.99990907e-01 -1.79870490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.55140051300003 meters Centerline goodness [0,1] 0.9550130180545477 Centerline is valid? [False, True] Translation: X:156.01, Y:8.84, Z:-0.18 [[ 9.99991366e-01 3.74184434e-04 -4.13849028e-03 1.56013905e+02] [-3.69590594e-04 9.99999315e-01 1.11073702e-03 8.84319102e+00] [ 4.13890306e-03 -1.10919789e-03 9.99990820e-01 -1.79253357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.581400513 meters Centerline goodness [0,1] 0.9926683387999228 Centerline is valid? [True, True] Translation: X:156.04, Y:8.84, Z:-0.18 [[ 9.99994263e-01 -1.34792239e-03 -3.10754000e-03 1.56044310e+02] [ 1.34723747e-03 9.99999068e-01 -2.22487840e-04 8.84017364e+00] [ 3.10783700e-03 2.18299969e-04 9.99995147e-01 -1.77508886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.61140051300004 meters Centerline goodness [0,1] 0.9016083053227247 Centerline is valid? [True, False] Translation: X:156.04, Y:8.84, Z:-0.18 [[ 9.99994273e-01 -1.40968739e-03 -3.07668525e-03 1.56043752e+02] [ 1.40937376e-03 9.99999001e-01 -1.04103591e-04 8.83955211e+00] [ 3.07682893e-03 9.97667958e-05 9.99995262e-01 -1.76550406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.641400513 meters Centerline goodness [0,1] 0.9894365448787434 Centerline is valid? [False, True] Translation: X:156.04, Y:8.84, Z:-0.18 [[ 9.99994057e-01 -1.62795314e-03 -3.03904137e-03 1.56043575e+02] [ 1.62610269e-03 9.99998491e-01 -6.11264521e-04 8.84196177e+00] [ 3.04003190e-03 6.06319094e-04 9.99995195e-01 -1.76458498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.67140051300004 meters Centerline goodness [0,1] 0.9850077509502877 Centerline is valid? [True, True] Translation: X:156.07, Y:8.85, Z:-0.18 [[ 9.99996060e-01 -1.83525149e-04 -2.80116024e-03 1.56072872e+02] [ 1.82981752e-04 9.99999964e-01 -1.94245018e-04 8.84818402e+00] [ 2.80119579e-03 1.93731691e-04 9.99996058e-01 -1.76025687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.701400513 meters Centerline goodness [0,1] 0.976232917409388 Centerline is valid? [True, True] Translation: X:156.10, Y:8.86, Z:-0.18 [[ 9.99980989e-01 5.56620818e-03 -2.65314589e-03 1.56103091e+02] [-5.56671580e-03 9.99984489e-01 -1.83981836e-04 8.85659768e+00] [ 2.65208065e-03 1.98747648e-04 9.99996463e-01 -1.75310641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.731400513 meters Centerline goodness [0,1] 0.7791383701188455 Centerline is valid? [True, False] Translation: X:156.10, Y:8.86, Z:-0.18 [[ 9.99982608e-01 5.29357197e-03 -2.60049283e-03 1.56103090e+02] [-5.29648513e-03 9.99985352e-01 -1.11462991e-03 8.86108272e+00] [ 2.59455437e-03 1.12838399e-03 9.99995998e-01 -1.75699887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.761400513 meters Centerline goodness [0,1] 0.7530354902502817 Centerline is valid? [False, False] Translation: X:156.10, Y:8.87, Z:-0.18 [[ 9.99984566e-01 4.93489249e-03 -2.55245780e-03 1.56103248e+02] [-4.94058459e-03 9.99985312e-01 -2.22856952e-03 8.86642383e+00] [ 2.54142256e-03 2.24114576e-03 9.99994259e-01 -1.76359094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.791400513 meters Centerline goodness [0,1] 0.6720236073369565 Centerline is valid? [False, False] Translation: X:156.10, Y:8.88, Z:-0.18 [[ 9.99987833e-01 4.24161638e-03 -2.51841046e-03 1.56103526e+02] [-4.25233571e-03 9.99981858e-01 -4.26639977e-03 8.87616005e+00] [ 2.50026834e-03 4.27705699e-03 9.99987728e-01 -1.77327768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.821400513 meters Centerline goodness [0,1] 0.7026272859963939 Centerline is valid? [False, False] Translation: X:156.10, Y:8.88, Z:-0.18 [[ 9.99988830e-01 4.03615263e-03 -2.45936259e-03 1.56103205e+02] [-4.04776777e-03 9.99980591e-01 -4.73629552e-03 8.87838253e+00] [ 2.44019844e-03 4.74619754e-03 9.99985759e-01 -1.77106791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.851400513 meters Centerline goodness [0,1] 0.4568759642411818 Centerline is valid? [False, False] Translation: X:156.12, Y:8.87, Z:-0.17 [[ 9.99993859e-01 2.82765806e-03 -2.07021553e-03 1.56122774e+02] [-2.81662789e-03 9.99981926e-01 5.31169745e-03 8.87427556e+00] [ 2.08519777e-03 -5.30583380e-03 9.99983750e-01 -1.73895893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.881400513 meters Centerline goodness [0,1] 0.8835472131775521 Centerline is valid? [False, False] Translation: X:156.12, Y:8.88, Z:-0.17 [[ 9.99999393e-01 1.11383184e-04 -1.09632245e-03 1.56115769e+02] [-1.08831078e-04 9.99997285e-01 2.32766353e-03 8.87757030e+00] [ 1.09657873e-03 -2.32754280e-03 9.99996690e-01 -1.69625219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.911400513 meters Centerline goodness [0,1] 0.9782954955720262 Centerline is valid? [False, True] Translation: X:156.12, Y:8.88, Z:-0.17 [[ 9.99999083e-01 -1.66733086e-04 -1.34394444e-03 1.56116337e+02] [ 1.69847129e-04 9.99997301e-01 2.31731121e-03 8.87727176e+00] [ 1.34355444e-03 -2.31753735e-03 9.99996412e-01 -1.69117113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.941400513 meters Centerline goodness [0,1] 0.9889514546540398 Centerline is valid? [True, True] Translation: X:156.15, Y:8.88, Z:-0.17 [[ 9.99998091e-01 -1.22438906e-03 -1.52282267e-03 1.56146553e+02] [ 1.22422016e-03 9.99999244e-01 -1.11834578e-04 8.87933738e+00] [ 1.52295845e-03 1.09970094e-04 9.99998834e-01 -1.69535565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.971400513 meters Centerline goodness [0,1] 0.9499075510594436 Centerline is valid? [True, False] Translation: X:156.15, Y:8.88, Z:-0.17 [[ 9.99997980e-01 -1.19277193e-03 -1.61793668e-03 1.56146922e+02] [ 1.19273032e-03 9.99999288e-01 -2.66819382e-05 8.87891352e+00] [ 1.61796735e-03 2.47521222e-05 9.99998691e-01 -1.69666641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.001400513 meters Centerline goodness [0,1] 0.9638164199765733 Centerline is valid? [False, True] Translation: X:156.15, Y:8.88, Z:-0.17 [[ 9.99997845e-01 -1.27248784e-03 -1.64005556e-03 1.56147007e+02] [ 1.27215736e-03 9.99999170e-01 -2.02533552e-04 8.87973568e+00] [ 1.64031193e-03 2.00446707e-04 9.99998635e-01 -1.69687174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.031400513 meters Centerline goodness [0,1] 0.9100245118755811 Centerline is valid? [True, False] Translation: X:156.15, Y:8.88, Z:-0.17 [[ 9.99996647e-01 9.64188979e-04 -2.40336513e-03 1.56152935e+02] [-9.59374158e-04 9.99997532e-01 2.00371501e-03 8.87934799e+00] [ 2.40529116e-03 -2.00140257e-03 9.99995104e-01 -1.73181325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.061400513 meters Centerline goodness [0,1] 0.9497684740626934 Centerline is valid? [False, False] Translation: X:156.15, Y:8.88, Z:-0.17 [[ 9.99996751e-01 8.78170298e-04 -2.39296063e-03 1.56153000e+02] [-8.73878601e-04 9.99998009e-01 1.79392334e-03 8.88032098e+00] [ 2.39453123e-03 -1.79182636e-03 9.99995528e-01 -1.73386678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.091400513 meters Centerline goodness [0,1] 0.9497684740626934 Centerline is valid? [False, False] Translation: X:156.15, Y:8.88, Z:-0.17 [[ 9.99996751e-01 8.78170298e-04 -2.39296063e-03 1.56153000e+02] [-8.73878601e-04 9.99998009e-01 1.79392334e-03 8.88032098e+00] [ 2.39453123e-03 -1.79182636e-03 9.99995528e-01 -1.73386678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.121400513 meters Centerline goodness [0,1] 0.8241547948118222 Centerline is valid? [False, False] Translation: X:156.15, Y:8.88, Z:-0.17 [[ 9.99996793e-01 7.24159281e-04 -2.42693793e-03 1.56153468e+02] [-7.20828942e-04 9.99998798e-01 1.37283283e-03 8.88225999e+00] [ 2.42792916e-03 -1.37107902e-03 9.99996113e-01 -1.74129331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.151400513 meters Centerline goodness [0,1] 0.7783767785036257 Centerline is valid? [False, False] Translation: X:156.15, Y:8.89, Z:-0.18 [[ 9.99996986e-01 5.06065315e-04 -2.40263342e-03 1.56153874e+02] [-5.04211039e-04 9.99999575e-01 7.72311335e-04 8.88505705e+00] [ 2.40302324e-03 -7.71097572e-04 9.99996815e-01 -1.75138138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.181400513 meters Centerline goodness [0,1] 0.6824623276691247 Centerline is valid? [False, False] Translation: X:156.12, Y:8.88, Z:-0.18 [[ 9.99979321e-01 2.00284408e-03 -6.11108126e-03 1.56115578e+02] [-1.98235079e-03 9.99992398e-01 3.35767957e-03 8.88336042e+00] [ 6.11775971e-03 -3.34549583e-03 9.99975690e-01 -1.76592795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.211400513 meters Centerline goodness [0,1] 0.884155567394779 Centerline is valid? [False, False] Translation: X:156.12, Y:8.88, Z:-0.18 [[ 9.99979111e-01 1.94234301e-03 -6.16483414e-03 1.56115740e+02] [-1.92251002e-03 9.99992963e-01 3.22141297e-03 8.88398132e+00] [ 6.17104785e-03 -3.20949372e-03 9.99975808e-01 -1.76557809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.24140051300003 meters Centerline goodness [0,1] 0.722574738097266 Centerline is valid? [False, False] Translation: X:156.12, Y:8.88, Z:-0.18 [[ 9.99978852e-01 1.96045620e-03 -6.20103471e-03 1.56115769e+02] [-1.94013331e-03 9.99992733e-01 3.28165857e-03 8.88367569e+00] [ 6.20742319e-03 -3.26955833e-03 9.99975389e-01 -1.76390424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.271400513 meters Centerline goodness [0,1] 0.8388559322033898 Centerline is valid? [False, False] Translation: X:156.12, Y:8.88, Z:-0.18 [[ 9.99978251e-01 1.85274258e-03 -6.32972688e-03 1.56116126e+02] [-1.83203287e-03 9.99992956e-01 3.27604985e-03 8.88355768e+00] [ 6.33575196e-03 -3.26438233e-03 9.99974601e-01 -1.76261619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.30140051300003 meters Centerline goodness [0,1] 0.7945391046671606 Centerline is valid? [False, False] Translation: X:156.12, Y:8.88, Z:-0.18 [[ 9.99978176e-01 1.74248563e-03 -6.37267968e-03 1.56116269e+02] [-1.72271080e-03 9.99993689e-01 3.10723797e-03 8.88429390e+00] [ 6.37805378e-03 -3.09619187e-03 9.99974867e-01 -1.76279985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.331400513 meters Centerline goodness [0,1] 0.8607314684719206 Centerline is valid? [False, False] Translation: X:156.12, Y:8.89, Z:-0.18 [[ 9.99978091e-01 1.63783380e-03 -6.41361979e-03 1.56116426e+02] [-1.61917661e-03 9.99994446e-01 2.91310790e-03 8.88516805e+00] [ 6.41835535e-03 -2.90265930e-03 9.99975189e-01 -1.76335305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.36140051300004 meters Centerline goodness [0,1] 0.7981847760938436 Centerline is valid? [False, False] Translation: X:156.12, Y:8.89, Z:-0.18 [[ 9.99977848e-01 1.57188220e-03 -6.46781153e-03 1.56116566e+02] [-1.55392479e-03 9.99994927e-01 2.78051741e-03 8.88577615e+00] [ 6.47214936e-03 -2.77040532e-03 9.99975218e-01 -1.76262192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.391400513 meters Centerline goodness [0,1] 0.9426617233444132 Centerline is valid? [False, False] Translation: X:156.12, Y:8.89, Z:-0.18 [[ 9.99978897e-01 1.29203324e-03 -6.36683473e-03 1.56116127e+02] [-1.27850989e-03 9.99996919e-01 2.12764291e-03 8.88888140e+00] [ 6.36956410e-03 -2.11945795e-03 9.99977468e-01 -1.76082757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.42140051300004 meters Centerline goodness [0,1] 0.9746532963516108 Centerline is valid? [False, True] Translation: X:156.12, Y:8.89, Z:-0.18 [[ 9.99979617e-01 9.23878014e-04 -6.31764466e-03 1.56116050e+02] [-9.15770751e-04 9.99998754e-01 1.28604555e-03 8.89281899e+00] [ 6.31882493e-03 -1.28023383e-03 9.99979217e-01 -1.76297379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.451400513 meters Centerline goodness [0,1] 0.9056241020873828 Centerline is valid? [True, False] Translation: X:156.14, Y:8.91, Z:-0.18 [[ 9.99999277e-01 7.46840524e-04 -9.42598422e-04 1.56141248e+02] [-7.56429060e-04 9.99947556e-01 -1.02134223e-02 8.90940348e+00] [ 9.34921190e-04 1.02141279e-02 9.99947397e-01 -1.84438120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.481400513 meters Centerline goodness [0,1] 0.9640845978592615 Centerline is valid? [False, True] Translation: X:156.10, Y:8.91, Z:-0.18 [[ 9.99989484e-01 2.29937220e-03 -3.96788247e-03 1.56100605e+02] [-2.32493617e-03 9.99976495e-01 -6.45018225e-03 8.90559485e+00] [ 3.95295783e-03 6.45933949e-03 9.99971325e-01 -1.83618349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.511400513 meters Centerline goodness [0,1] 0.8893599708785679 Centerline is valid? [True, False] Translation: X:156.10, Y:8.91, Z:-0.18 [[ 9.99989431e-01 2.09634390e-03 -4.09177121e-03 1.56100991e+02] [-2.12427078e-03 9.99974400e-01 -6.83275978e-03 8.90733050e+00] [ 4.07734265e-03 6.84137960e-03 9.99968285e-01 -1.83632955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.541400513 meters Centerline goodness [0,1] 0.9984378677965376 Centerline is valid? [False, True] Translation: X:156.10, Y:8.91, Z:-0.18 [[ 9.99990073e-01 1.27918026e-03 -4.26831151e-03 1.56101289e+02] [-1.30886059e-03 9.99974935e-01 -6.95811230e-03 8.90662152e+00] [ 4.25930384e-03 6.96362985e-03 9.99966683e-01 -1.82954797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.571400513 meters Centerline goodness [0,1] 0.9981838771018952 Centerline is valid? [True, True] Translation: X:156.13, Y:8.91, Z:-0.18 [[ 9.99989844e-01 -2.93572983e-03 -3.41951280e-03 1.56130887e+02] [ 2.93499803e-03 9.99995669e-01 -2.19004627e-04 8.90546920e+00] [ 3.42014093e-03 2.08966139e-04 9.99994129e-01 -1.81782459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.601400513 meters Centerline goodness [0,1] 0.995589669649294 Centerline is valid? [True, True] Translation: X:156.16, Y:8.91, Z:-0.18 [[ 9.99972492e-01 -7.08278170e-03 -2.20216935e-03 1.56159366e+02] [ 7.08248800e-03 9.99974909e-01 -1.41139899e-04 8.91292502e+00] [ 2.20311376e-03 1.25539178e-04 9.99997565e-01 -1.81105647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.631400513 meters Centerline goodness [0,1] 0.9997234866210065 Centerline is valid? [True, True] Translation: X:156.19, Y:8.90, Z:-0.18 [[ 9.99910702e-01 -1.33177022e-02 -1.10766869e-03 1.56190891e+02] [ 1.33176318e-02 9.99911314e-01 -7.09756122e-05 8.89792191e+00] [ 1.10851569e-03 5.62177504e-05 9.99999384e-01 -1.77973642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.661400513 meters Centerline goodness [0,1] 0.9997241262228636 Centerline is valid? [True, True] Translation: X:156.22, Y:8.90, Z:-0.18 [[ 9.99894633e-01 -1.44675874e-02 -1.18802544e-03 1.56219560e+02] [ 1.44675070e-02 9.99895337e-01 -7.62618436e-05 8.89659642e+00] [ 1.18900443e-03 5.90660418e-05 9.99999291e-01 -1.77489811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.691400513 meters Centerline goodness [0,1] 0.9996159016708277 Centerline is valid? [True, True] Translation: X:156.25, Y:8.90, Z:-0.18 [[ 9.99901869e-01 -1.39177688e-02 -1.59602870e-03 1.56246827e+02] [ 1.39176228e-02 9.99903140e-01 -1.02535081e-04 8.90438960e+00] [ 1.59730116e-03 8.03120943e-05 9.99998721e-01 -1.77931868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.721400513 meters Centerline goodness [0,1] 0.9996127949749393 Centerline is valid? [True, True] Translation: X:156.28, Y:8.90, Z:-0.18 [[ 9.99931405e-01 -1.15543292e-02 -1.91929646e-03 1.56277049e+02] [ 1.15541140e-02 9.99933241e-01 -1.23211420e-04 8.90402955e+00] [ 1.92059196e-03 1.01027199e-04 9.99998151e-01 -1.78020324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.751400513 meters Centerline goodness [0,1] 0.9996989700475197 Centerline is valid? [True, True] Translation: X:156.31, Y:8.91, Z:-0.18 [[ 9.99965436e-01 -7.96733393e-03 -2.37642606e-03 1.56307222e+02] [ 7.96699386e-03 9.99968251e-01 -1.52530769e-04 8.91072641e+00] [ 2.37756588e-03 1.33592525e-04 9.99997165e-01 -1.78857150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.781400513 meters Centerline goodness [0,1] 0.9973575416613392 Centerline is valid? [True, True] Translation: X:156.34, Y:8.93, Z:-0.18 [[ 9.99993647e-01 2.27638550e-04 -3.55732787e-03 1.56335201e+02] [-2.28452287e-04 9.99999948e-01 -2.28344801e-04 8.92831211e+00] [ 3.55727570e-03 2.29156030e-04 9.99993647e-01 -1.80660898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.811400513 meters Centerline goodness [0,1] 0.9953556064465039 Centerline is valid? [True, True] Translation: X:156.37, Y:8.93, Z:-0.18 [[ 9.99983688e-01 3.67859045e-03 -4.36935283e-03 1.56365192e+02] [-3.67985098e-03 9.99993190e-01 -2.80489685e-04 8.93276008e+00] [ 4.36829127e-03 2.96563677e-04 9.99990415e-01 -1.81230257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.841400513 meters Centerline goodness [0,1] 0.9198635248960444 Centerline is valid? [True, False] Translation: X:156.37, Y:8.94, Z:-0.18 [[ 9.99984842e-01 3.41069434e-03 -4.32245704e-03 1.56365341e+02] [-3.41949432e-03 9.99992093e-01 -2.03012073e-03 8.94165755e+00] [ 4.31549874e-03 2.04487058e-03 9.99988597e-01 -1.82142394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.871400513 meters Centerline goodness [0,1] 0.9002011814057016 Centerline is valid? [False, False] Translation: X:156.37, Y:8.95, Z:-0.18 [[ 9.99986170e-01 3.09726923e-03 -4.25041653e-03 1.56365046e+02] [-3.10901030e-03 9.99991362e-01 -2.75851392e-03 8.94507590e+00] [ 4.24183596e-03 2.77169036e-03 9.99987162e-01 -1.82062275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.901400513 meters Centerline goodness [0,1] 0.9924049549645921 Centerline is valid? [False, True] Translation: X:156.36, Y:8.95, Z:-0.18 [[ 9.99986616e-01 2.95016382e-03 -4.25033577e-03 1.56364946e+02] [-2.96330677e-03 9.99990838e-01 -3.08924360e-03 8.94662261e+00] [ 4.24118306e-03 3.10179731e-03 9.99986196e-01 -1.81898083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.931400513 meters Centerline goodness [0,1] 0.9450033390060533 Centerline is valid? [True, False] Translation: X:156.36, Y:8.95, Z:-0.18 [[ 9.99986464e-01 3.00873534e-03 -4.24483999e-03 1.56364774e+02] [-3.02129889e-03 9.99991066e-01 -2.95642168e-03 8.94601731e+00] [ 4.23590698e-03 2.96920660e-03 9.99986620e-01 -1.81602867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.961400513 meters Centerline goodness [0,1] 0.909950301364069 Centerline is valid? [False, False] Translation: X:156.41, Y:8.95, Z:-0.18 [[ 9.99991929e-01 3.69301882e-03 -1.58256844e-03 1.56406044e+02] [-3.69767157e-03 9.99988820e-01 -2.94722884e-03 8.94776165e+00] [ 1.57166658e-03 2.95305687e-03 9.99994405e-01 -1.81879203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.99140051300003 meters Centerline goodness [0,1] 0.9972278494509009 Centerline is valid? [False, True] Translation: X:156.41, Y:8.95, Z:-0.18 [[ 9.99991928e-01 3.69972571e-03 -1.56702517e-03 1.56405789e+02] [-3.70424929e-03 9.99988952e-01 -2.89373338e-03 8.94752942e+00] [ 1.55630183e-03 2.89951467e-03 9.99994585e-01 -1.81484855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.021400513 meters Centerline goodness [0,1] 0.9957118899526609 Centerline is valid? [True, True] Translation: X:156.43, Y:8.95, Z:-0.18 [[ 9.99999954e-01 -4.28418150e-05 -2.99519359e-04 1.56434746e+02] [ 4.28358493e-05 9.99999999e-01 -1.99240345e-05 8.95179541e+00] [ 2.99520212e-04 1.99112035e-05 9.99999955e-01 -1.79610469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.05140051300003 meters Centerline goodness [0,1] 0.9921132284605875 Centerline is valid? [True, True] Translation: X:156.46, Y:8.96, Z:-0.18 [[ 9.99998360e-01 -1.80498764e-03 1.49138876e-04 1.56464662e+02] [ 1.80498618e-03 9.99998371e-01 9.88922226e-06 8.95603030e+00] [-1.49156483e-04 -9.62001243e-06 9.99999989e-01 -1.79276188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.081400513 meters Centerline goodness [0,1] 0.9982222793377455 Centerline is valid? [True, True] Translation: X:156.50, Y:8.95, Z:-0.18 [[ 9.99995376e-01 -3.04000820e-03 -7.54059186e-05 1.56495128e+02] [ 3.04000784e-03 9.99995379e-01 -5.00007716e-06 8.95291331e+00] [ 7.54207704e-05 4.77081946e-06 9.99999997e-01 -1.79931177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.11140051300004 meters Centerline goodness [0,1] 0.9983977440235852 Centerline is valid? [True, True] Translation: X:156.53, Y:8.95, Z:-0.18 [[ 9.99991480e-01 -4.08381326e-03 -6.02674746e-04 1.56525644e+02] [ 4.08378992e-03 9.99991660e-01 -3.99626487e-05 8.95430804e+00] [ 6.02832920e-04 3.75011111e-05 9.99999818e-01 -1.80241868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.141400513 meters Centerline goodness [0,1] 0.999064367278372 Centerline is valid? [True, True] Translation: X:156.56, Y:8.95, Z:-0.18 [[ 9.99987756e-01 -4.58384607e-03 -1.86421064e-03 1.56555381e+02] [ 4.58362333e-03 9.99989487e-01 -1.23738081e-04 8.95445950e+00] [ 1.86475824e-03 1.15191726e-04 9.99998255e-01 -1.81919733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.17140051300004 meters Centerline goodness [0,1] 0.9918685342075014 Centerline is valid? [True, True] Translation: X:156.58, Y:8.96, Z:-0.18 [[ 9.99986632e-01 -4.34957570e-03 -2.79581350e-03 1.56583050e+02] [ 4.34907347e-03 9.99990525e-01 -1.85693577e-04 8.96377219e+00] [ 2.79659470e-03 1.73531896e-04 9.99996074e-01 -1.84036122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.201400513 meters Centerline goodness [0,1] 0.9831733316379512 Centerline is valid? [True, True] Translation: X:156.61, Y:8.97, Z:-0.18 [[ 9.99988044e-01 -3.83646483e-03 -3.03205146e-03 1.56610353e+02] [ 3.83587112e-03 9.99992623e-01 -2.01604148e-04 8.96805307e+00] [ 3.03280254e-03 1.89971179e-04 9.99995383e-01 -1.84571850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.231400513 meters Centerline goodness [0,1] 0.9962510118007925 Centerline is valid? [True, True] Translation: X:156.64, Y:8.96, Z:-0.18 [[ 9.99997954e-01 -2.02200619e-03 -6.18576832e-05 1.56638694e+02] [ 2.02219081e-03 9.99993006e-01 3.14629387e-03 8.96332889e+00] [ 5.54954249e-05 -3.14641253e-03 9.99995048e-01 -1.83612769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.261400513 meters Centerline goodness [0,1] 0.9953969836455041 Centerline is valid? [True, True] Translation: X:156.67, Y:8.97, Z:-0.18 [[ 9.99997899e-01 -1.09479701e-03 -1.73324552e-03 1.56668325e+02] [ 1.08913889e-03 9.99994086e-01 -3.26205510e-03 8.97317380e+00] [ 1.73680656e-03 3.26016050e-03 9.99993177e-01 -1.82286664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.291400513 meters Centerline goodness [0,1] 0.9978193479422769 Centerline is valid? [True, True] Translation: X:156.70, Y:8.97, Z:-0.18 [[ 9.99998315e-01 7.70418827e-05 -1.83398108e-03 1.56698209e+02] [-7.72658307e-05 9.99999990e-01 -1.22039745e-04 8.97163099e+00] [ 1.83397166e-03 1.22181243e-04 9.99998311e-01 -1.82453262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.321400513 meters Centerline goodness [0,1] 0.9890044323218548 Centerline is valid? [True, True] Translation: X:156.73, Y:8.98, Z:-0.18 [[ 9.99997343e-01 1.34656070e-03 -1.87117038e-03 1.56726413e+02] [-1.34679623e-03 9.99999085e-01 -1.24617988e-04 8.97898274e+00] [ 1.87100086e-03 1.27137743e-04 9.99998242e-01 -1.83060557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.351400513 meters Centerline goodness [0,1] 0.9808080374393543 Centerline is valid? [True, True] Translation: X:156.76, Y:8.98, Z:-0.18 [[ 9.99993393e-01 2.83263000e-03 -2.27798981e-03 1.56756975e+02] [-2.83298258e-03 9.99995976e-01 -1.51564628e-04 8.98233860e+00] [ 2.27755131e-03 1.58017132e-04 9.99997394e-01 -1.83980850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.381400513 meters Centerline goodness [0,1] 0.9002986985278429 Centerline is valid? [True, False] Translation: X:156.76, Y:8.98, Z:-0.18 [[ 9.99993139e-01 2.89933290e-03 -2.30572048e-03 1.56757208e+02] [-2.89948787e-03 9.99995794e-01 -6.38735528e-05 8.98192308e+00] [ 2.30552559e-03 7.05585231e-05 9.99997340e-01 -1.84275902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.411400513 meters Centerline goodness [0,1] 0.9453498502007947 Centerline is valid? [False, False] Translation: X:156.76, Y:8.98, Z:-0.18 [[ 9.99992905e-01 2.92657531e-03 -2.37154892e-03 1.56757576e+02] [-2.92670356e-03 9.99995716e-01 -5.06090994e-05 8.98185982e+00] [ 2.37139064e-03 5.75495610e-05 9.99997187e-01 -1.84591205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.441400513 meters Centerline goodness [0,1] 0.8976641899393629 Centerline is valid? [False, False] Translation: X:156.76, Y:8.98, Z:-0.18 [[ 9.99993530e-01 2.74704430e-03 -2.32233152e-03 1.56757557e+02] [-2.74832552e-03 9.99996073e-01 -5.48682920e-04 8.98421474e+00] [ 2.32081515e-03 5.55061893e-04 9.99997153e-01 -1.84918531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.471400513 meters Centerline goodness [0,1] 0.8617915440475938 Centerline is valid? [False, False] Translation: X:156.76, Y:8.98, Z:-0.19 [[ 9.99982197e-01 5.08361381e-03 -3.12451103e-03 1.56763932e+02] [-5.07723265e-03 9.99985016e-01 2.04684231e-03 8.98201077e+00] [ 3.13486957e-03 -2.03094200e-03 9.99993024e-01 -1.88923294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.501400513 meters Centerline goodness [0,1] 0.7728055809600782 Centerline is valid? [False, False] Translation: X:156.76, Y:8.98, Z:-0.19 [[ 9.99982160e-01 5.12438063e-03 -3.06937240e-03 1.56763590e+02] [-5.11788764e-03 9.99984657e-01 2.11954667e-03 8.98169203e+00] [ 3.08018667e-03 -2.10380015e-03 9.99993043e-01 -1.88615996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.531400513 meters Centerline goodness [0,1] 0.7096459407284839 Centerline is valid? [False, False] Translation: X:156.76, Y:8.98, Z:-0.19 [[ 9.99982019e-01 5.33948008e-03 -2.72988472e-03 1.56762123e+02] [-5.33281065e-03 9.99982792e-01 2.44458760e-03 8.98031948e+00] [ 2.74289057e-03 -2.42998568e-03 9.99993286e-01 -1.87941039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.561400513 meters Centerline goodness [0,1] 0.643418759828297 Centerline is valid? [False, False] Translation: X:156.76, Y:8.98, Z:-0.19 [[ 9.99983065e-01 5.22516444e-03 -2.56251669e-03 1.56761489e+02] [-5.21961938e-03 9.99984032e-01 2.16584534e-03 8.98164516e+00] [ 2.57379267e-03 -2.15243330e-03 9.99994371e-01 -1.87825631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.591400513 meters Centerline goodness [0,1] 0.683177768349597 Centerline is valid? [False, False] Translation: X:156.76, Y:8.98, Z:-0.19 [[ 9.99984238e-01 5.01341726e-03 -2.52769091e-03 1.56761466e+02] [-5.00918475e-03 9.99986046e-01 1.67801450e-03 8.98390290e+00] [ 2.53606823e-03 -1.66532638e-03 9.99995398e-01 -1.88061418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.621400513 meters Centerline goodness [0,1] 0.9287350416372316 Centerline is valid? [False, False] Translation: X:156.76, Y:8.99, Z:-0.19 [[ 9.99984780e-01 4.87020434e-03 -2.59260806e-03 1.56761846e+02] [-4.86666880e-03 9.99987222e-01 1.36826999e-03 8.98530879e+00] [ 2.59923869e-03 -1.35563180e-03 9.99995703e-01 -1.88421415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.651400513 meters Centerline goodness [0,1] 0.8909456654326008 Centerline is valid? [False, False] Translation: X:156.76, Y:8.98, Z:-0.19 [[ 9.99983701e-01 4.99106777e-03 -2.77267702e-03 1.56762378e+02] [-4.98617232e-03 9.99986003e-01 1.76971967e-03 8.98334878e+00] [ 2.78147100e-03 -1.75586578e-03 9.99994590e-01 -1.88294690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.681400513 meters Centerline goodness [0,1] 0.909015873015873 Centerline is valid? [False, False] Translation: X:156.78, Y:8.98, Z:-0.19 [[ 9.99995507e-01 2.65730126e-03 1.38764241e-03 1.56784090e+02] [-2.67138356e-03 9.99943929e-01 1.02470879e-02 8.97891251e+00] [-1.36033500e-03 -1.02507488e-02 9.99946534e-01 -1.92209132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.711400513 meters Centerline goodness [0,1] 0.872490193999788 Centerline is valid? [False, False] Translation: X:156.78, Y:8.99, Z:-0.19 [[ 9.99996196e-01 -2.07458566e-03 1.81753894e-03 1.56782452e+02] [ 2.06622042e-03 9.99987320e-01 4.59236108e-03 8.98537459e+00] [-1.82704314e-03 -4.58858818e-03 9.99987803e-01 -1.91938422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.74140051300003 meters Centerline goodness [0,1] 0.8893410483033425 Centerline is valid? [False, False] Translation: X:156.78, Y:8.99, Z:-0.19 [[ 9.99996149e-01 -2.12160192e-03 1.78919442e-03 1.56782356e+02] [ 2.11340302e-03 9.99987315e-01 4.57196495e-03 8.98543649e+00] [-1.79887161e-03 -4.56816605e-03 9.99987948e-01 -1.91564737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.771400513 meters Centerline goodness [0,1] 0.9825289928351658 Centerline is valid? [False, True] Translation: X:156.76, Y:8.99, Z:-0.19 [[ 9.99992982e-01 -2.72926943e-03 -2.56637982e-03 1.56759378e+02] [ 2.71096785e-03 9.99971064e-01 -7.10791914e-03 8.99304370e+00] [ 2.58570499e-03 7.10091189e-03 9.99971445e-01 -1.86537180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.80140051300003 meters Centerline goodness [0,1] 0.9864743397680092 Centerline is valid? [True, True] Translation: X:156.79, Y:8.99, Z:-0.19 [[ 9.99975234e-01 -4.41034837e-03 -5.48446504e-03 1.56788335e+02] [ 4.40820157e-03 9.99990202e-01 -4.03459457e-04 8.98914801e+00] [ 5.48619071e-03 3.79272838e-04 9.99984879e-01 -1.91124375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.831400513 meters Centerline goodness [0,1] 0.9935344366182106 Centerline is valid? [True, True] Translation: X:156.82, Y:8.99, Z:-0.19 [[ 9.99969071e-01 -5.05249906e-03 -6.02741474e-03 1.56817235e+02] [ 5.04991199e-03 9.99987150e-01 -4.44359420e-04 8.98791769e+00] [ 6.02958242e-03 4.13907762e-04 9.99981736e-01 -1.91938474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.86140051300004 meters Centerline goodness [0,1] 0.9971416382252559 Centerline is valid? [True, True] Translation: X:156.85, Y:8.99, Z:-0.19 [[ 9.99966791e-01 -5.51647311e-03 -5.99886189e-03 1.56845808e+02] [ 5.51391287e-03 9.99984700e-01 -4.43243386e-04 8.98683934e+00] [ 6.00121525e-03 4.10151465e-04 9.99981908e-01 -1.91091818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.891400513 meters Centerline goodness [0,1] 0.991104033970276 Centerline is valid? [True, True] Translation: X:156.87, Y:8.99, Z:-0.19 [[ 9.99967393e-01 -5.74079823e-03 -5.67939910e-03 1.56872948e+02] [ 5.73850504e-03 9.99983446e-01 -4.19987199e-04 8.99380157e+00] [ 5.68171614e-03 3.87382245e-04 9.99983784e-01 -1.90514121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.92140051300004 meters Centerline goodness [0,1] 0.9800734362586159 Centerline is valid? [True, True] Translation: X:156.90, Y:9.00, Z:-0.19 [[ 9.99973033e-01 -4.78333273e-03 -5.57259842e-03 1.56901586e+02] [ 4.78110910e-03 9.99988485e-01 -4.12283763e-04 9.00208784e+00] [ 5.57450634e-03 3.85629444e-04 9.99984388e-01 -1.89383126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.951400513 meters Centerline goodness [0,1] 0.9800734362586159 Centerline is valid? [True, True] Translation: X:156.93, Y:9.00, Z:-0.19 [[ 9.99972144e-01 -4.96579519e-03 -5.57252484e-03 1.56929051e+02] [ 4.96356886e-03 9.99987596e-01 -4.13277031e-04 9.00427597e+00] [ 5.57450797e-03 3.85605908e-04 9.99984388e-01 -1.89378747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.981400513 meters Centerline goodness [0,1] 0.8645730264573026 Centerline is valid? [True, False] Translation: X:156.93, Y:9.01, Z:-0.19 [[ 9.99971445e-01 -5.19655858e-03 -5.48677694e-03 1.56928773e+02] [ 5.19117676e-03 9.99986031e-01 -9.94657778e-04 9.00701726e+00] [ 5.49186910e-03 9.66146547e-04 9.99984453e-01 -1.89445331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.011400513 meters Centerline goodness [0,1] 0.8469719852800408 Centerline is valid? [False, False] Translation: X:156.95, Y:9.02, Z:-0.20 [[ 9.99991420e-01 -4.14071589e-03 -1.19797100e-04 1.56951364e+02] [ 4.13909718e-03 9.99927540e-01 -1.13040760e-02 9.01922919e+00] [ 1.66595386e-04 1.13034832e-02 9.99936100e-01 -1.95864175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.041400513 meters Centerline goodness [0,1] 0.8450948486275853 Centerline is valid? [False, False] Translation: X:156.95, Y:9.02, Z:-0.20 [[ 9.99999890e-01 3.88325794e-04 -2.64362179e-04 1.56951750e+02] [-3.89952460e-04 9.99980820e-01 -6.18118528e-03 9.01535074e+00] [ 2.61956795e-04 6.18128769e-03 9.99980861e-01 -1.95711350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.071400513 meters Centerline goodness [0,1] 0.9433780985118603 Centerline is valid? [False, False] Translation: X:156.96, Y:9.02, Z:-0.20 [[ 9.99994565e-01 3.05487079e-03 -1.24023120e-03 1.56957582e+02] [-3.05933246e-03 9.99988798e-01 -3.61164178e-03 9.01904546e+00] [ 1.22918421e-03 3.61541643e-03 9.99992709e-01 -1.98953017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.101400513 meters Centerline goodness [0,1] 0.7539091507012072 Centerline is valid? [False, False] Translation: X:156.96, Y:9.02, Z:-0.20 [[ 9.99995265e-01 2.76334364e-03 -1.35452688e-03 1.56958189e+02] [-2.76909276e-03 9.99987088e-01 -4.26104176e-03 9.02205783e+00] [ 1.34273467e-03 4.26477239e-03 9.99990004e-01 -1.99422756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.131400513 meters Centerline goodness [0,1] 0.9003286104472517 Centerline is valid? [False, False] Translation: X:156.96, Y:9.02, Z:-0.20 [[ 9.99995739e-01 2.53421867e-03 -1.44934958e-03 1.56958612e+02] [-2.54111231e-03 9.99985373e-01 -4.77447131e-03 9.02444118e+00] [ 1.43722882e-03 4.77813392e-03 9.99987552e-01 -1.99660314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.161400513 meters Centerline goodness [0,1] 0.9084890799948913 Centerline is valid? [False, False] Translation: X:156.96, Y:9.03, Z:-0.20 [[ 9.99995972e-01 2.37414091e-03 -1.55562160e-03 1.56959094e+02] [-2.38210397e-03 9.99983967e-01 -5.13719533e-03 9.02612418e+00] [ 1.54340023e-03 5.14088029e-03 9.99985595e-01 -1.99911587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.191400513 meters Centerline goodness [0,1] 0.9642758297673032 Centerline is valid? [False, True] Translation: X:156.96, Y:9.03, Z:-0.20 [[ 9.99996248e-01 2.22937058e-03 -1.59194495e-03 1.56959317e+02] [-2.23800150e-03 9.99982696e-01 -5.44058181e-03 9.02752217e+00] [ 1.57978833e-03 5.44412417e-03 9.99983933e-01 -2.00131102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.221400513 meters Centerline goodness [0,1] 0.9847357537254567 Centerline is valid? [True, True] Translation: X:156.99, Y:9.03, Z:-0.20 [[ 9.99995878e-01 -8.47237783e-04 -2.74339034e-03 1.56989702e+02] [ 8.46712856e-04 9.99999623e-01 -1.92498229e-04 9.02582735e+00] [ 2.74355240e-03 1.90174572e-04 9.99996218e-01 -2.01216304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.251400513 meters Centerline goodness [0,1] 0.925809199318569 Centerline is valid? [True, False] Translation: X:156.99, Y:9.03, Z:-0.20 [[ 9.99995414e-01 -1.08264148e-03 -2.82831154e-03 1.56989981e+02] [ 1.08078824e-03 9.99999200e-01 -6.56693666e-04 9.02796409e+00] [ 2.82902024e-03 6.53633848e-04 9.99995785e-01 -2.01233867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.281400513 meters Centerline goodness [0,1] 0.9213230571612074 Centerline is valid? [False, False] Translation: X:156.99, Y:9.03, Z:-0.20 [[ 9.99994965e-01 -1.25938498e-03 -2.91276058e-03 1.56990242e+02] [ 1.25644720e-03 9.99998700e-01 -1.01019775e-03 9.02960000e+00] [ 2.91402902e-03 1.00653294e-03 9.99995248e-01 -2.01229961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.311400513 meters Centerline goodness [0,1] 0.9929705749983927 Centerline is valid? [False, True] Translation: X:156.99, Y:9.03, Z:-0.20 [[ 9.99994687e-01 -1.35847461e-03 -2.96319708e-03 1.56990358e+02] [ 1.35490631e-03 9.99998355e-01 -1.20588128e-03 9.03050232e+00] [ 2.96483036e-03 1.20186002e-03 9.99994883e-01 -2.01137742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.341400513 meters Centerline goodness [0,1] 0.9932586666666666 Centerline is valid? [True, True] Translation: X:157.02, Y:9.03, Z:-0.20 [[ 9.99995701e-01 -1.95905278e-03 -2.18183279e-03 1.57018146e+02] [ 1.95874145e-03 9.99998071e-01 -1.44819696e-04 9.03366309e+00] [ 2.18211230e-03 1.40545427e-04 9.99997609e-01 -2.00552860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.371400513 meters Centerline goodness [0,1] 0.9936969439728354 Centerline is valid? [True, True] Translation: X:157.05, Y:9.04, Z:-0.20 [[ 9.99998060e-01 -1.95969119e-03 -1.98243606e-04 1.57046111e+02] [ 1.95968858e-03 9.99998080e-01 -1.33778499e-05 9.04014753e+00] [ 1.98269441e-04 1.29893282e-05 9.99999980e-01 -1.97532381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.401400513 meters Centerline goodness [0,1] 0.9562106162554737 Centerline is valid? [True, True] Translation: X:157.08, Y:9.05, Z:-0.20 [[ 9.99999097e-01 -1.21356174e-03 -5.76448514e-04 1.57075141e+02] [ 1.21354020e-03 9.99999263e-01 -3.77208020e-05 9.05296551e+00] [ 5.76493865e-04 3.70212245e-05 9.99999833e-01 -1.98181216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.431400513 meters Centerline goodness [0,1] 0.9929224038090336 Centerline is valid? [True, True] Translation: X:157.11, Y:9.05, Z:-0.20 [[ 9.99999204e-01 -2.52800744e-04 -1.23629080e-03 1.57105882e+02] [ 2.52699818e-04 9.99999965e-01 -8.17914024e-05 9.05225877e+00] [ 1.23631144e-03 8.14789268e-05 9.99999232e-01 -1.97356555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.461400513 meters Centerline goodness [0,1] 0.9888354882613134 Centerline is valid? [True, True] Translation: X:157.13, Y:9.06, Z:-0.20 [[ 9.99998898e-01 9.24124173e-04 -1.16208095e-03 1.57134966e+02] [-9.24214364e-04 9.99999570e-01 -7.70770127e-05 9.05896428e+00] [ 1.16200922e-03 7.81509397e-05 9.99999322e-01 -1.97141245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.49140051300003 meters Centerline goodness [0,1] 0.9897751823568418 Centerline is valid? [True, True] Translation: X:157.16, Y:9.06, Z:-0.20 [[ 9.99997325e-01 2.24313202e-03 -5.64237101e-04 1.57164281e+02] [-2.24315355e-03 9.99997483e-01 -3.75241377e-05 9.06370081e+00] [ 5.64151509e-04 3.87897078e-05 9.99999840e-01 -1.96078568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.521400513 meters Centerline goodness [0,1] 0.9593485509104899 Centerline is valid? [True, True] Translation: X:157.19, Y:9.07, Z:-0.19 [[ 9.99984387e-01 5.00787397e-03 2.47924661e-03 1.57194194e+02] [-5.00829620e-03 9.99987445e-01 1.64127195e-04 9.07299322e+00] [-2.47839356e-03 -1.76541434e-04 9.99996913e-01 -1.91969827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.55140051300003 meters Centerline goodness [0,1] 0.7157861234882241 Centerline is valid? [True, False] Translation: X:157.19, Y:9.08, Z:-0.19 [[ 9.99985223e-01 4.73957526e-03 2.66273416e-03 1.57193361e+02] [-4.73819150e-03 9.99988637e-01 -5.25745800e-04 9.07629167e+00] [-2.66519571e-03 5.13121486e-04 9.99996317e-01 -1.91577906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.581400513 meters Centerline goodness [0,1] 0.8849661476687811 Centerline is valid? [False, False] Translation: X:157.19, Y:9.08, Z:-0.19 [[ 9.99986036e-01 4.51091644e-03 2.75313818e-03 1.57192906e+02] [-4.50804893e-03 9.99989291e-01 -1.04686070e-03 9.07872028e+00] [-2.75783100e-03 1.03443480e-03 9.99995662e-01 -1.91303493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.61140051300004 meters Centerline goodness [0,1] 0.7740910164723063 Centerline is valid? [False, False] Translation: X:157.19, Y:9.08, Z:-0.19 [[ 9.99986353e-01 4.44464095e-03 2.74565939e-03 1.57192864e+02] [-4.44138068e-03 9.99989426e-01 -1.19238561e-03 9.07940749e+00] [-2.75093009e-03 1.18017482e-03 9.99995520e-01 -1.91193154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.641400513 meters Centerline goodness [0,1] 0.9247463119297348 Centerline is valid? [False, False] Translation: X:157.19, Y:9.08, Z:-0.19 [[ 9.99986194e-01 4.51358690e-03 2.69058825e-03 1.57192973e+02] [-4.51102643e-03 9.99989367e-01 -9.56953020e-04 9.07826360e+00] [-2.69487893e-03 9.44802494e-04 9.99995922e-01 -1.91046539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.67140051300004 meters Centerline goodness [0,1] 0.9367604184530955 Centerline is valid? [False, False] Translation: X:157.19, Y:9.08, Z:-0.19 [[ 9.99986035e-01 4.52314780e-03 2.73323586e-03 1.57192784e+02] [-4.52062754e-03 9.99989352e-01 -9.27556782e-04 9.07812954e+00] [-2.73740223e-03 9.15187888e-04 9.99995835e-01 -1.90955899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.701400513 meters Centerline goodness [0,1] 0.7633172555935661 Centerline is valid? [False, False] Translation: X:157.19, Y:9.08, Z:-0.19 [[ 9.99985946e-01 4.53428223e-03 2.74747911e-03 1.57192747e+02] [-4.53185365e-03 9.99989335e-01 -8.89511298e-04 9.07796320e+00] [-2.75148311e-03 8.77047623e-04 9.99995830e-01 -1.90986669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.731400513 meters Centerline goodness [0,1] 0.9485414757835972 Centerline is valid? [False, False] Translation: X:157.19, Y:9.08, Z:-0.19 [[ 9.99985878e-01 4.56548384e-03 2.72045523e-03 1.57192933e+02] [-4.56329134e-03 9.99989259e-01 -8.11596586e-04 9.07757768e+00] [-2.72413134e-03 7.99170895e-04 9.99995970e-01 -1.91186108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.761400513 meters Centerline goodness [0,1] 0.8159628789965464 Centerline is valid? [False, False] Translation: X:157.19, Y:9.08, Z:-0.19 [[ 9.99985870e-01 4.65371610e-03 2.56969724e-03 1.57193642e+02] [-4.65221075e-03 9.99989003e-01 -5.91472641e-04 9.07651228e+00] [-2.57242153e-03 5.79509511e-04 9.99996523e-01 -1.91581605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.791400513 meters Centerline goodness [0,1] 0.7947868204703333 Centerline is valid? [False, False] Translation: X:157.19, Y:9.07, Z:-0.19 [[ 9.99985425e-01 4.84811866e-03 2.37595965e-03 1.57194537e+02] [-4.84791682e-03 9.99988245e-01 -9.07016845e-05 9.07410839e+00] [-2.37637145e-03 7.91819078e-05 9.99997173e-01 -1.92063426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.821400513 meters Centerline goodness [0,1] 0.8507171348553 Centerline is valid? [False, False] Translation: X:157.19, Y:9.07, Z:-0.19 [[ 9.99984848e-01 4.96468774e-03 2.37795127e-03 1.57194384e+02] [-4.96515904e-03 9.99987655e-01 1.92337252e-04 9.07278814e+00] [-2.37696702e-03 -2.04141244e-04 9.99997154e-01 -1.91767283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.851400513 meters Centerline goodness [0,1] 0.9538892663043478 Centerline is valid? [False, True] Translation: X:157.19, Y:9.07, Z:-0.19 [[ 9.99983843e-01 5.13593866e-03 2.43653664e-03 1.57194014e+02] [-5.13743439e-03 9.99986618e-01 6.08015462e-04 9.07082678e+00] [-2.43338130e-03 -6.20523185e-04 9.99996847e-01 -1.91430459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.881400513 meters Centerline goodness [0,1] 0.9688175231962038 Centerline is valid? [True, True] Translation: X:157.23, Y:9.06, Z:-0.19 [[ 9.99980428e-01 5.46440275e-03 3.04688913e-03 1.57226924e+02] [-5.46502837e-03 9.99985047e-01 1.97042222e-04 9.06452589e+00] [-3.04576686e-03 -2.13689701e-04 9.99995339e-01 -1.90854590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.911400513 meters Centerline goodness [0,1] 0.9413094458411679 Centerline is valid? [True, False] Translation: X:157.23, Y:9.06, Z:-0.19 [[ 9.99978874e-01 5.79277423e-03 2.94875966e-03 1.57227392e+02] [-5.79559821e-03 9.99982754e-01 9.50041444e-04 9.06098231e+00] [-2.94320543e-03 -9.67111200e-04 9.99995201e-01 -1.91066818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.941400513 meters Centerline goodness [0,1] 0.8783598029056612 Centerline is valid? [False, False] Translation: X:157.23, Y:9.06, Z:-0.19 [[ 9.99978044e-01 5.98505540e-03 2.84454600e-03 1.57227981e+02] [-5.98901672e-03 9.99981105e-01 1.38612718e-03 9.05892031e+00] [-2.83619621e-03 -1.40313277e-03 9.99994994e-01 -1.91529165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.971400513 meters Centerline goodness [0,1] 0.9860111309280787 Centerline is valid? [False, True] Translation: X:157.19, Y:9.06, Z:-0.19 [[ 9.99987115e-01 5.06749430e-03 -3.00174221e-04 1.57187786e+02] [-5.06717865e-03 9.99986618e-01 1.04312315e-03 9.05575215e+00] [ 3.05456225e-04 -1.04158868e-03 9.99999411e-01 -1.91958042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.001400513 meters Centerline goodness [0,1] 0.9657338175603504 Centerline is valid? [True, True] Translation: X:157.22, Y:9.06, Z:-0.19 [[ 9.99977727e-01 6.66951543e-03 2.51530260e-04 1.57217300e+02] [-6.66951978e-03 9.99977758e-01 1.64438865e-05 9.05581143e+00] [-2.51414993e-04 -1.81211063e-05 9.99999968e-01 -1.92708808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.031400513 meters Centerline goodness [0,1] 0.880917582766728 Centerline is valid? [True, False] Translation: X:157.22, Y:9.05, Z:-0.19 [[ 9.99976250e-01 6.88519023e-03 3.04460366e-04 1.57217162e+02] [-6.88532512e-03 9.99976197e-01 4.44211234e-04 9.05383983e+00] [-3.01394640e-04 -4.46296993e-04 9.99999855e-01 -1.92773087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.061400513 meters Centerline goodness [0,1] 0.917989417989418 Centerline is valid? [False, False] Translation: X:157.22, Y:9.05, Z:-0.19 [[ 9.99976370e-01 6.86631610e-03 3.37111767e-04 1.57217189e+02] [-6.86643858e-03 9.99976360e-01 3.63518049e-04 9.05421829e+00] [-3.34607767e-04 -3.65824217e-04 9.99999877e-01 -1.93042993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.091400513 meters Centerline goodness [0,1] 0.9161545495141089 Centerline is valid? [False, False] Translation: X:157.22, Y:9.06, Z:-0.19 [[ 9.99977500e-01 6.70197028e-03 2.87250060e-04 1.57217606e+02] [-6.70193261e-03 9.99977533e-01 -1.31900218e-04 9.05656908e+00] [-2.88127598e-04 1.29972120e-04 9.99999950e-01 -1.93594539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.121400513 meters Centerline goodness [0,1] 0.6399710478136842 Centerline is valid? [False, False] Translation: X:157.22, Y:9.06, Z:-0.19 [[ 9.99978519e-01 6.54939742e-03 2.56840232e-04 1.57217854e+02] [-6.54924648e-03 9.99978383e-01 -5.84167103e-04 9.05870763e+00] [-2.60660622e-04 5.82472445e-04 9.99999796e-01 -1.93944212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.151400513 meters Centerline goodness [0,1] 0.6615495679130305 Centerline is valid? [False, False] Translation: X:157.22, Y:9.06, Z:-0.19 [[ 9.99979028e-01 6.47140028e-03 2.54707402e-04 1.57217969e+02] [-6.47118062e-03 9.99978697e-01 -8.53948639e-04 9.05999770e+00] [-2.60228219e-04 8.52282473e-04 9.99999603e-01 -1.94186680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.181400513 meters Centerline goodness [0,1] 0.5306542254267841 Centerline is valid? [False, False] Translation: X:157.22, Y:9.06, Z:-0.19 [[ 9.99978785e-01 6.50534784e-03 3.32640051e-04 1.57217585e+02] [-6.50506555e-03 9.99978487e-01 -8.42796722e-04 9.05997454e+00] [-3.38115581e-04 8.40614996e-04 9.99999590e-01 -1.93996391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.211400513 meters Centerline goodness [0,1] 0.5699605585758447 Centerline is valid? [False, False] Translation: X:157.22, Y:9.06, Z:-0.19 [[ 9.99979114e-01 6.44838789e-03 4.36346572e-04 1.57217042e+02] [-6.44796405e-03 9.99978745e-01 -9.65872352e-04 9.06055917e+00] [-4.42565617e-04 9.63038632e-04 9.99999438e-01 -1.93623422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.24140051300003 meters Centerline goodness [0,1] 0.62958401460939 Centerline is valid? [False, False] Translation: X:157.22, Y:9.06, Z:-0.19 [[ 9.99979597e-01 6.36957912e-03 4.83489613e-04 1.57216745e+02] [-6.36903797e-03 9.99979098e-01 -1.11265879e-03 9.06123987e+00] [-4.90566676e-04 1.10955672e-03 9.99999264e-01 -1.93372716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.271400513 meters Centerline goodness [0,1] 0.6470803548359314 Centerline is valid? [False, False] Translation: X:157.19, Y:9.05, Z:-0.19 [[ 9.99974187e-01 5.17577697e-03 -4.98363915e-03 1.57194371e+02] [-5.13101875e-03 9.99946763e-01 8.95231889e-03 9.05167748e+00] [ 5.02970904e-03 -8.92651666e-03 9.99947508e-01 -1.87142774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.30140051300003 meters Centerline goodness [0,1] 0.8022804774083546 Centerline is valid? [False, False] Translation: X:157.22, Y:9.06, Z:-0.19 [[ 9.99995583e-01 2.96931448e-03 1.29542976e-04 1.57218608e+02] [-2.96869709e-03 9.99985329e-01 -4.53086826e-03 9.06376241e+00] [-1.42994648e-04 4.53046367e-03 9.99989727e-01 -1.94627475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.331400513 meters Centerline goodness [0,1] 0.6201352207901965 Centerline is valid? [False, False] Translation: X:157.22, Y:9.06, Z:-0.19 [[ 9.99976496e-01 6.85367169e-03 -1.88058853e-04 1.57219548e+02] [-6.85350557e-03 9.99976136e-01 8.70221048e-04 9.05700430e+00] [ 1.94018575e-04 -8.68911732e-04 9.99999604e-01 -1.94058969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.36140051300004 meters Centerline goodness [0,1] 0.7055231692268413 Centerline is valid? [False, False] Translation: X:157.22, Y:9.06, Z:-0.19 [[ 9.99976490e-01 6.85563985e-03 -1.37744893e-04 1.57219024e+02] [-6.85551428e-03 9.99976103e-01 8.92271027e-04 9.05692870e+00] [ 1.43858690e-04 -8.91305738e-04 9.99999592e-01 -1.93361176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.391400513 meters Centerline goodness [0,1] 0.6738296564731812 Centerline is valid? [False, False] Translation: X:157.22, Y:9.06, Z:-0.19 [[ 9.99976664e-01 6.83020112e-03 -1.38510968e-04 1.57218836e+02] [-6.83007797e-03 9.99976296e-01 8.70890499e-04 9.05702279e+00] [ 1.44456042e-04 -8.69924136e-04 9.99999611e-01 -1.92994888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.42140051300004 meters Centerline goodness [0,1] 0.8829269334244352 Centerline is valid? [False, False] Translation: X:157.22, Y:9.06, Z:-0.19 [[ 9.99976579e-01 6.83236815e-03 -4.00155653e-04 1.57219815e+02] [-6.83197838e-03 9.99976194e-01 9.67442745e-04 9.05649307e+00] [ 4.06756051e-04 -9.64686232e-04 9.99999452e-01 -1.93232118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.451400513 meters Centerline goodness [0,1] 0.7495748299319728 Centerline is valid? [False, False] Translation: X:157.22, Y:9.06, Z:-0.19 [[ 9.99975848e-01 6.93384492e-03 -4.74162824e-04 1.57220011e+02] [-6.93324820e-03 9.99975185e-01 1.24874002e-03 9.05514672e+00] [ 4.82809628e-04 -1.24542237e-03 9.99999108e-01 -1.93119116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.481400513 meters Centerline goodness [0,1] 0.9272118134095856 Centerline is valid? [False, False] Translation: X:157.22, Y:9.05, Z:-0.19 [[ 9.99974946e-01 7.06562379e-03 -4.28540829e-04 1.57219606e+02] [-7.06493299e-03 9.99973775e-01 1.59264739e-03 9.05353577e+00] [ 4.39782638e-04 -1.58957988e-03 9.99998640e-01 -1.92600761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.511400513 meters Centerline goodness [0,1] 0.847716929125446 Centerline is valid? [False, False] Translation: X:157.22, Y:9.06, Z:-0.19 [[ 9.99996716e-01 2.56286390e-03 2.20632133e-05 1.57217877e+02] [-2.56276571e-03 9.99989986e-01 -3.66874153e-03 9.05825252e+00] [-3.14654776e-05 3.66867294e-03 9.99993270e-01 -1.92232389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.541400513 meters Centerline goodness [0,1] 0.9616449442030838 Centerline is valid? [False, True] Translation: X:157.22, Y:9.05, Z:-0.19 [[ 9.99995859e-01 2.86994421e-03 -2.11930142e-04 1.57218287e+02] [-2.87042202e-03 9.99993259e-01 -2.28978416e-03 9.05142043e+00] [ 2.05357161e-04 2.29038301e-03 9.99997356e-01 -1.91456720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.571400513 meters Centerline goodness [0,1] 0.9208365869615684 Centerline is valid? [True, False] Translation: X:157.22, Y:9.05, Z:-0.19 [[ 9.99994927e-01 3.15074156e-03 -4.68218405e-04 1.57219317e+02] [-3.15143358e-03 9.99993932e-01 -1.48465122e-03 9.04750548e+00] [ 4.63537812e-04 1.48611924e-03 9.99998788e-01 -1.91771467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.601400513 meters Centerline goodness [0,1] 0.9875995133716091 Centerline is valid? [False, True] Translation: X:157.20, Y:9.03, Z:-0.19 [[ 9.99978246e-01 2.18670913e-03 -6.22293121e-03 1.57197724e+02] [-2.13076774e-03 9.99957391e-01 8.98203337e-03 9.03482555e+00] [ 6.24230715e-03 -8.96857836e-03 9.99940297e-01 -1.85883265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.631400513 meters Centerline goodness [0,1] 0.9958615099089105 Centerline is valid? [True, True] Translation: X:157.23, Y:9.04, Z:-0.19 [[ 9.99984467e-01 8.75328572e-04 -5.50456113e-03 1.57227346e+02] [-8.77275971e-04 9.99999553e-01 -3.51374532e-04 9.03838263e+00] [ 5.50425111e-03 3.56198094e-04 9.99984788e-01 -1.86201050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.661400513 meters Centerline goodness [0,1] 0.997821722974416 Centerline is valid? [True, True] Translation: X:157.26, Y:9.03, Z:-0.18 [[ 9.99993138e-01 -2.22875525e-03 -2.95908948e-03 1.57257515e+02] [ 2.22820590e-03 9.99997500e-01 -1.88929163e-04 9.03244525e+00] [ 2.95950315e-03 1.82334405e-04 9.99995604e-01 -1.81776598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.691400513 meters Centerline goodness [0,1] 0.9959959107173283 Centerline is valid? [True, True] Translation: X:157.29, Y:9.03, Z:-0.18 [[ 9.99989845e-01 -3.62379923e-03 -2.67927984e-03 1.57286629e+02] [ 3.62335368e-03 9.99993421e-01 -1.71129899e-04 9.03262583e+00] [ 2.67988235e-03 1.61420183e-04 9.99996396e-01 -1.80371618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.721400513 meters Centerline goodness [0,1] 0.997921265242269 Centerline is valid? [True, True] Translation: X:157.32, Y:9.03, Z:-0.18 [[ 9.99984742e-01 -4.20701954e-03 -3.58011245e-03 1.57315422e+02] [ 4.20622547e-03 9.99991128e-01 -2.29300578e-04 9.02821982e+00] [ 3.58104536e-03 2.14238319e-04 9.99993565e-01 -1.81230038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.751400513 meters Centerline goodness [0,1] 0.9990345833690895 Centerline is valid? [True, True] Translation: X:157.34, Y:9.02, Z:-0.18 [[ 9.99979733e-01 -3.64110797e-03 -5.22255979e-03 1.57344224e+02] [ 3.63940932e-03 9.99993321e-01 -3.34718921e-04 9.02400344e+00] [ 5.22374366e-03 3.15705105e-04 9.99986306e-01 -1.82691455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.781400513 meters Centerline goodness [0,1] 0.9919279263929119 Centerline is valid? [True, True] Translation: X:157.37, Y:9.03, Z:-0.19 [[ 9.99977796e-01 -2.08567215e-03 -6.32915236e-03 1.57371911e+02] [ 2.08314454e-03 9.99997748e-01 -4.05925106e-04 9.03195836e+00] [ 6.32998473e-03 3.92731553e-04 9.99979888e-01 -1.85208239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.811400513 meters Centerline goodness [0,1] 0.848215433394747 Centerline is valid? [True, False] Translation: X:157.37, Y:9.03, Z:-0.19 [[ 9.99980945e-01 -1.67177677e-03 -5.94261385e-03 1.57370653e+02] [ 1.67135780e-03 9.99998600e-01 -7.54682415e-05 9.03081296e+00] [ 5.94273169e-03 6.55345695e-05 9.99982340e-01 -1.85225784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.841400513 meters Centerline goodness [0,1] 0.8966792805816574 Centerline is valid? [False, False] Translation: X:157.37, Y:9.03, Z:-0.19 [[ 9.99981433e-01 -1.43494545e-03 -5.92235278e-03 1.57370557e+02] [ 1.43677094e-03 9.99998922e-01 3.03993627e-04 9.02913408e+00] [ 5.92191018e-03 -3.12497048e-04 9.99982417e-01 -1.85174293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.871400513 meters Centerline goodness [0,1] 0.6069757099595519 Centerline is valid? [False, False] Translation: X:157.37, Y:9.03, Z:-0.19 [[ 9.99981266e-01 -1.23168844e-03 -5.99594022e-03 1.57371102e+02] [ 1.23573643e-03 9.99999011e-01 6.71464474e-04 9.02739180e+00] [ 5.99510725e-03 -6.78861296e-04 9.99981799e-01 -1.85743111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.901400513 meters Centerline goodness [0,1] 0.6069757099595519 Centerline is valid? [False, False] Translation: X:157.37, Y:9.03, Z:-0.19 [[ 9.99981266e-01 -1.23168844e-03 -5.99594022e-03 1.57371102e+02] [ 1.23573643e-03 9.99999011e-01 6.71464474e-04 9.02739180e+00] [ 5.99510725e-03 -6.78861296e-04 9.99981799e-01 -1.85743111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.931400513 meters Centerline goodness [0,1] 0.8303601839237057 Centerline is valid? [False, False] Translation: X:157.37, Y:9.03, Z:-0.19 [[ 9.99980953e-01 -1.13345972e-03 -6.06704667e-03 1.57371709e+02] [ 1.13849602e-03 9.99999010e-01 8.26717266e-04 9.02665832e+00] [ 6.06610362e-03 -8.33608828e-04 9.99981254e-01 -1.86452374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.961400513 meters Centerline goodness [0,1] 0.9412636371445752 Centerline is valid? [False, False] Translation: X:157.37, Y:9.03, Z:-0.19 [[ 9.99981003e-01 -1.16813788e-03 -6.05227365e-03 1.57371815e+02] [ 1.17204553e-03 9.99999107e-01 6.42143735e-04 9.02755260e+00] [ 6.05151813e-03 -6.49225076e-04 9.99981479e-01 -1.86758639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.99140051300003 meters Centerline goodness [0,1] 0.6563183023872678 Centerline is valid? [False, False] Translation: X:157.39, Y:9.04, Z:-0.19 [[ 9.99992161e-01 3.91400354e-03 5.99188187e-04 1.57392144e+02] [-3.91118156e-03 9.99981584e-01 -4.64054654e-03 9.03587183e+00] [-6.17340268e-04 4.63816663e-03 9.99989053e-01 -1.92098982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.021400513 meters Centerline goodness [0,1] 0.6128984401492031 Centerline is valid? [False, False] Translation: X:157.39, Y:9.04, Z:-0.19 [[ 9.99992295e-01 3.81217369e-03 9.37024335e-04 1.57390755e+02] [-3.80724267e-03 9.99979185e-01 -5.20904058e-03 9.03877627e+00] [-9.56862598e-04 5.20543296e-03 9.99985994e-01 -1.91619483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.05140051300003 meters Centerline goodness [0,1] 0.5709071618037136 Centerline is valid? [False, False] Translation: X:157.39, Y:9.04, Z:-0.19 [[ 9.99992598e-01 3.66020335e-03 1.18648487e-03 1.57389917e+02] [-3.65332520e-03 9.99976805e-01 -5.74831783e-03 9.04142016e+00] [-1.20749736e-03 5.74394066e-03 9.99982774e-01 -1.91648368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.081400513 meters Centerline goodness [0,1] 0.5502207623232303 Centerline is valid? [False, False] Translation: X:157.39, Y:9.04, Z:-0.19 [[ 9.99965349e-01 8.27187092e-03 9.36597302e-04 1.57390758e+02] [-8.27157150e-03 9.99965738e-01 -3.23110350e-04 9.03608242e+00] [-9.39237939e-04 3.15352023e-04 9.99999509e-01 -1.91456247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.11140051300004 meters Centerline goodness [0,1] 0.5609508716323297 Centerline is valid? [False, False] Translation: X:157.39, Y:9.04, Z:-0.19 [[ 9.99965390e-01 8.27611266e-03 8.51493370e-04 1.57391235e+02] [-8.27581349e-03 9.99965692e-01 -3.54268735e-04 9.03620823e+00] [-8.54396125e-04 3.47209673e-04 9.99999575e-01 -1.91887270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.141400513 meters Centerline goodness [0,1] 0.5166072792059049 Centerline is valid? [False, False] Translation: X:157.39, Y:9.03, Z:-0.19 [[ 9.99964536e-01 8.39369100e-03 6.87634544e-04 1.57391878e+02] [-8.39367634e-03 9.99964772e-01 -2.41905475e-05 9.03460487e+00] [-6.87813368e-04 1.84179078e-05 9.99999763e-01 -1.92064056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.17140051300004 meters Centerline goodness [0,1] 0.8199125562441634 Centerline is valid? [False, False] Translation: X:157.39, Y:9.04, Z:-0.19 [[ 9.99991878e-01 3.98630107e-03 5.95020643e-04 1.57391974e+02] [-3.98359944e-03 9.99982055e-01 -4.47454502e-03 9.03512729e+00] [-6.12846848e-04 4.47213835e-03 9.99989812e-01 -1.91878691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.201400513 meters Centerline goodness [0,1] 0.7472199275592553 Centerline is valid? [False, False] Translation: X:157.39, Y:9.03, Z:-0.19 [[ 9.99992157e-01 3.94878378e-03 3.06439839e-04 1.57392607e+02] [-3.94762770e-03 9.99985416e-01 -3.68573754e-03 9.03092333e+00] [-3.20989550e-04 3.68449892e-03 9.99993161e-01 -1.91194004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.231400513 meters Centerline goodness [0,1] 0.98125053569898 Centerline is valid? [False, True] Translation: X:157.37, Y:9.02, Z:-0.19 [[ 9.99990991e-01 -1.38594351e-03 -4.01205954e-03 1.57369625e+02] [ 1.39746780e-03 9.99994902e-01 2.87103577e-03 9.02257829e+00] [ 4.00806000e-03 -2.87661663e-03 9.99987830e-01 -1.85326263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.261400513 meters Centerline goodness [0,1] 0.9931062363029001 Centerline is valid? [True, True] Translation: X:157.40, Y:9.02, Z:-0.18 [[ 9.99964379e-01 -7.88506598e-03 -3.01104864e-03 1.57399560e+02] [ 7.88443219e-03 9.99968893e-01 -2.22298541e-04 9.01624476e+00] [ 3.01270782e-03 1.98550213e-04 9.99995442e-01 -1.84292294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.291400513 meters Centerline goodness [0,1] 0.9930186383142253 Centerline is valid? [True, True] Translation: X:157.43, Y:9.01, Z:-0.18 [[ 9.99947313e-01 -9.71624478e-03 -3.31136404e-03 1.57428203e+02] [ 9.71548786e-03 9.99952774e-01 -2.44594030e-04 9.01480296e+00] [ 3.31358419e-03 2.12409626e-04 9.99994488e-01 -1.84729120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.321400513 meters Centerline goodness [0,1] 0.998159994865102 Centerline is valid? [True, True] Translation: X:157.46, Y:9.01, Z:-0.18 [[ 9.99933969e-01 -1.08693812e-02 -3.73015837e-03 1.57457196e+02] [ 1.08684280e-02 9.99940899e-01 -2.75707357e-04 9.00978733e+00] [ 3.73293468e-03 2.35148194e-04 9.99993005e-01 -1.84513454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.351400513 meters Centerline goodness [0,1] 0.9832183320555413 Centerline is valid? [True, True] Translation: X:157.48, Y:9.02, Z:-0.19 [[ 9.99925918e-01 -1.14052416e-02 -4.25191485e-03 1.57484087e+02] [ 1.14040069e-02 9.99934923e-01 -3.14522474e-04 9.01902375e+00] [ 4.25522535e-03 2.66010307e-04 9.99990911e-01 -1.85501474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.381400513 meters Centerline goodness [0,1] 0.9943155105355388 Centerline is valid? [True, True] Translation: X:157.51, Y:9.01, Z:-0.19 [[ 9.99925020e-01 -1.14227233e-02 -4.41321431e-03 1.57513114e+02] [ 1.14213900e-02 9.99934720e-01 -3.27216819e-04 9.01462590e+00] [ 4.41666393e-03 2.76787243e-04 9.99990208e-01 -1.85650624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.411400513 meters Centerline goodness [0,1] 0.9730468501684572 Centerline is valid? [True, True] Translation: X:157.54, Y:9.02, Z:-0.19 [[ 9.99927122e-01 -1.12375107e-02 -4.41236773e-03 1.57540563e+02] [ 1.12361752e-02 9.99936819e-01 -3.27342595e-04 9.01976457e+00] [ 4.41576747e-03 2.77740602e-04 9.99990212e-01 -1.86376069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.441400513 meters Centerline goodness [0,1] 0.9968680089485459 Centerline is valid? [True, True] Translation: X:157.57, Y:9.01, Z:-0.19 [[ 9.99934737e-01 -1.06779019e-02 -4.06249619e-03 1.57570638e+02] [ 1.06767623e-02 9.99942956e-01 -3.02113792e-04 9.00869636e+00] [ 4.06549039e-03 2.58719769e-04 9.99991702e-01 -1.85297711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.471400513 meters Centerline goodness [0,1] 0.9768978313563139 Centerline is valid? [True, True] Translation: X:157.60, Y:9.02, Z:-0.19 [[ 9.99941362e-01 -1.00984995e-02 -3.91062480e-03 1.57598156e+02] [ 1.00974384e-02 9.99948977e-01 -2.90985780e-04 9.01758005e+00] [ 3.91336379e-03 2.51481424e-04 9.99992311e-01 -1.85891745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.501400513 meters Centerline goodness [0,1] 0.9830555496276062 Centerline is valid? [True, True] Translation: X:157.63, Y:9.02, Z:-0.19 [[ 9.99951638e-01 -9.03533415e-03 -3.88375470e-03 1.57627238e+02] [ 9.03427915e-03 9.99959148e-01 -2.89103502e-04 9.01871729e+00] [ 3.88620819e-03 2.54002596e-04 9.99992416e-01 -1.85505173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.531400513 meters Centerline goodness [0,1] 0.9552251432922315 Centerline is valid? [True, True] Translation: X:157.66, Y:9.02, Z:-0.19 [[ 9.99963354e-01 -7.76088861e-03 -3.61376011e-03 1.57655650e+02] [ 7.75996623e-03 9.99969855e-01 -2.69192986e-04 9.02435896e+00] [ 3.61574034e-03 2.41140465e-04 9.99993434e-01 -1.85451796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.561400513 meters Centerline goodness [0,1] 0.9759826266448783 Centerline is valid? [True, True] Translation: X:157.69, Y:9.02, Z:-0.19 [[ 9.99977882e-01 -5.10448417e-03 -4.26366108e-03 1.57686259e+02] [ 5.10317624e-03 9.99986928e-01 -3.17586654e-04 9.02244037e+00] [ 4.26522646e-03 2.95821416e-04 9.99990860e-01 -1.86542310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.591400513 meters Centerline goodness [0,1] 0.9531923980354473 Centerline is valid? [True, True] Translation: X:157.71, Y:9.03, Z:-0.19 [[ 9.99978736e-01 -4.56226671e-03 -4.65964841e-03 1.57713715e+02] [ 4.56069729e-03 9.99989540e-01 -3.47380347e-04 9.02657145e+00] [ 4.66118451e-03 3.26121714e-04 9.99989083e-01 -1.87502972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.621400513 meters Centerline goodness [0,1] 0.9815575975381438 Centerline is valid? [True, True] Translation: X:157.74, Y:9.02, Z:-0.19 [[ 9.99975923e-01 -4.57862839e-03 -5.21426976e-03 1.57743211e+02] [ 4.57665861e-03 9.99989451e-01 -3.89636818e-04 9.02372517e+00] [ 5.21599876e-03 3.65763504e-04 9.99986330e-01 -1.88144973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.651400513 meters Centerline goodness [0,1] 0.9828753229560353 Centerline is valid? [True, True] Translation: X:157.77, Y:9.02, Z:-0.19 [[ 9.99972736e-01 -4.85403348e-03 -5.56469655e-03 1.57770918e+02] [ 4.85178846e-03 9.99988143e-01 -4.16867947e-04 9.02394203e+00] [ 5.56665406e-03 3.89857851e-04 9.99984430e-01 -1.88846609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.681400513 meters Centerline goodness [0,1] 0.9782488046448088 Centerline is valid? [True, True] Translation: X:157.80, Y:9.02, Z:-0.19 [[ 9.99964377e-01 -5.44822046e-03 -6.44686304e-03 1.57799419e+02] [ 5.44521294e-03 9.99985058e-01 -4.83968790e-04 9.02475371e+00] [ 6.44940347e-03 4.48847007e-04 9.99979102e-01 -1.90145021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.711400513 meters Centerline goodness [0,1] 0.9423196550762565 Centerline is valid? [True, False] Translation: X:157.80, Y:9.02, Z:-0.19 [[ 9.99964936e-01 -5.16202331e-03 -6.59389914e-03 1.57799957e+02] [ 5.16393568e-03 9.99986630e-01 2.73027945e-04 9.02114506e+00] [ 6.59240160e-03 -3.07068842e-04 9.99978223e-01 -1.90228081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.74140051300003 meters Centerline goodness [0,1] 0.9522436862711354 Centerline is valid? [False, True] Translation: X:157.80, Y:9.02, Z:-0.19 [[ 9.99965581e-01 -5.07833418e-03 -6.56097211e-03 1.57799616e+02] [ 5.08144641e-03 9.99986985e-01 4.57772065e-04 9.02033779e+00] [ 6.55856200e-03 -4.91095538e-04 9.99978372e-01 -1.89787227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.771400513 meters Centerline goodness [0,1] 0.9794470638662666 Centerline is valid? [True, True] Translation: X:157.83, Y:9.02, Z:-0.19 [[ 9.99972343e-01 -4.71784956e-03 -5.74935281e-03 1.57828687e+02] [ 4.71553242e-03 9.99988795e-01 -4.16515261e-04 9.01888769e+00] [ 5.75125344e-03 3.89392481e-04 9.99983386e-01 -1.88494300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.80140051300003 meters Centerline goodness [0,1] 0.995421801770526 Centerline is valid? [True, True] Translation: X:157.86, Y:9.02, Z:-0.19 [[ 9.99977665e-01 -4.38523369e-03 -5.04370020e-03 1.57857304e+02] [ 4.38344510e-03 9.99990326e-01 -3.65617814e-04 9.01578151e+00] [ 5.04525473e-03 3.43500865e-04 9.99987214e-01 -1.86198136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.831400513 meters Centerline goodness [0,1] 0.8867495966714783 Centerline is valid? [True, False] Translation: X:157.90, Y:9.02, Z:-0.19 [[ 9.99995623e-01 -1.32837092e-03 -2.64365894e-03 1.57899282e+02] [ 1.33009398e-03 9.99998904e-01 6.50121021e-04 9.01934881e+00] [ 2.64279244e-03 -6.53634490e-04 9.99996294e-01 -1.87549207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.86140051300004 meters Centerline goodness [0,1] 0.802608268766942 Centerline is valid? [False, False] Translation: X:157.90, Y:9.02, Z:-0.19 [[ 9.99995585e-01 -1.56656746e-03 -2.52511353e-03 1.57899216e+02] [ 1.56612685e-03 9.99998758e-01 -1.76457667e-04 9.02332690e+00] [ 2.52538682e-03 1.72502240e-04 9.99996796e-01 -1.88250773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.891400513 meters Centerline goodness [0,1] 0.9408182519941676 Centerline is valid? [False, False] Translation: X:157.89, Y:9.02, Z:-0.18 [[ 9.99998519e-01 2.88015735e-04 -1.69678931e-03 1.57892937e+02] [-2.85549820e-04 9.99998903e-01 1.45334575e-03 9.02432358e+00] [ 1.69720604e-03 -1.45285908e-03 9.99997504e-01 -1.84242693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.92140051300004 meters Centerline goodness [0,1] 0.6482058109820259 Centerline is valid? [False, False] Translation: X:157.89, Y:9.03, Z:-0.18 [[ 9.99998840e-01 -2.35423392e-05 -1.52295021e-03 1.57892586e+02] [ 2.40816698e-05 9.99999937e-01 3.54118033e-04 9.02963822e+00] [ 1.52294178e-03 -3.54154297e-04 9.99998778e-01 -1.84774946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.951400513 meters Centerline goodness [0,1] 0.5643496066386464 Centerline is valid? [False, False] Translation: X:157.89, Y:9.03, Z:-0.18 [[ 9.99999049e-01 -3.05259891e-04 -1.34501763e-03 1.57892016e+02] [ 3.04447009e-04 9.99999771e-01 -6.04528236e-04 9.03429369e+00] [ 1.34520186e-03 6.04118174e-04 9.99998913e-01 -1.84888998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.981400513 meters Centerline goodness [0,1] 0.7817815241404458 Centerline is valid? [False, False] Translation: X:157.90, Y:9.04, Z:-0.19 [[ 9.99995712e-01 1.90914173e-03 -2.22058506e-03 1.57898138e+02] [-1.90618740e-03 9.99997296e-01 1.33178604e-03 9.03838568e+00] [ 2.22312163e-03 -1.32754748e-03 9.99996648e-01 -1.88669335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.011400513 meters Centerline goodness [0,1] 0.5784795521558908 Centerline is valid? [False, False] Translation: X:157.90, Y:9.04, Z:-0.19 [[ 9.99996348e-01 1.52207818e-03 -2.23325223e-03 1.57898470e+02] [-1.52096795e-03 9.99998719e-01 4.98750040e-04 9.04220933e+00] [ 2.23400850e-03 -4.95351513e-04 9.99997382e-01 -1.89302505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.041400513 meters Centerline goodness [0,1] 0.7962157088612996 Centerline is valid? [False, False] Translation: X:157.90, Y:9.04, Z:-0.19 [[ 9.99996468e-01 1.20298311e-03 -2.36996170e-03 1.57899040e+02] [-1.20312743e-03 9.99999274e-01 -5.94704344e-05 9.04468838e+00] [ 2.36988844e-03 6.23215903e-05 9.99997190e-01 -1.89601718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.071400513 meters Centerline goodness [0,1] 0.774817479631785 Centerline is valid? [False, False] Translation: X:157.90, Y:9.05, Z:-0.19 [[ 9.99993876e-01 -7.14610564e-04 -3.42587911e-03 1.57904922e+02] [ 7.07879862e-04 9.99997818e-01 -1.96547444e-03 9.04848709e+00] [ 3.42727619e-03 1.96303729e-03 9.99992200e-01 -1.92387440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.101400513 meters Centerline goodness [0,1] 0.9776545878726911 Centerline is valid? [False, True] Translation: X:157.86, Y:9.04, Z:-0.19 [[ 9.99979857e-01 -2.57762568e-03 -5.80020805e-03 1.57862244e+02] [ 2.57103501e-03 9.99996041e-01 -1.14344995e-03 9.04321654e+00] [ 5.80313248e-03 1.12851438e-03 9.99982525e-01 -1.90403657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.131400513 meters Centerline goodness [0,1] 0.9892671618082686 Centerline is valid? [True, True] Translation: X:157.89, Y:9.05, Z:-0.19 [[ 9.99940425e-01 -1.00913126e-02 -4.16080997e-03 1.57891282e+02] [ 1.00900954e-02 9.99949045e-01 -3.13413491e-04 9.04520481e+00] [ 4.16376070e-03 2.71411850e-04 9.99991295e-01 -1.87042636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.161400513 meters Centerline goodness [0,1] 0.9951444787328169 Centerline is valid? [True, True] Translation: X:157.92, Y:9.05, Z:-0.19 [[ 9.99914226e-01 -1.25482146e-02 -3.75266384e-03 1.57921432e+02] [ 1.25472417e-02 9.99921240e-01 -2.82679169e-04 9.04574201e+00] [ 3.75591540e-03 2.35569342e-04 9.99992919e-01 -1.86516628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.191400513 meters Centerline goodness [0,1] 0.9991612181693049 Centerline is valid? [True, True] Translation: X:157.95, Y:9.04, Z:-0.19 [[ 9.99867467e-01 -1.59294480e-02 -3.36178397e-03 1.57951786e+02] [ 1.59286862e-02 9.99873098e-01 -2.53241663e-04 9.04379906e+00] [ 3.36539136e-03 1.99659298e-04 9.99994317e-01 -1.85893555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.221400513 meters Centerline goodness [0,1] 0.9989362381124609 Centerline is valid? [True, True] Translation: X:157.98, Y:9.04, Z:-0.19 [[ 9.99854225e-01 -1.67540642e-02 -3.29096569e-03 1.57980715e+02] [ 1.67533365e-02 9.99859622e-01 -2.48583962e-04 9.04275273e+00] [ 3.29466850e-03 1.93413069e-04 9.99994554e-01 -1.85783220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.251400513 meters Centerline goodness [0,1] 0.9990946129470348 Centerline is valid? [True, True] Translation: X:158.01, Y:9.04, Z:-0.19 [[ 9.99848916e-01 -1.70601355e-02 -3.33133943e-03 1.58009910e+02] [ 1.70593896e-02 9.99854446e-01 -2.52182635e-04 9.04260882e+00] [ 3.33515681e-03 1.95313916e-04 9.99994419e-01 -1.86061689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.281400513 meters Centerline goodness [0,1] 0.9976395862838505 Centerline is valid? [True, True] Translation: X:158.04, Y:9.05, Z:-0.19 [[ 9.99849068e-01 -1.69858024e-02 -3.65025080e-03 1.58037621e+02] [ 1.69849060e-02 9.99855708e-01 -2.76436184e-04 9.04808267e+00] [ 3.65441958e-03 2.14395295e-04 9.99993300e-01 -1.86370739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.311400513 meters Centerline goodness [0,1] 0.9855270752720354 Centerline is valid? [True, True] Translation: X:158.06, Y:9.06, Z:-0.19 [[ 9.99848233e-01 -1.69570806e-02 -3.99611916e-03 1.58064793e+02] [ 1.69560052e-02 9.99856191e-01 -3.02850493e-04 9.05622668e+00] [ 4.00067994e-03 2.35046313e-04 9.99991970e-01 -1.87671230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.341400513 meters Centerline goodness [0,1] 0.9939670425717879 Centerline is valid? [True, True] Translation: X:158.09, Y:9.05, Z:-0.19 [[ 9.99839093e-01 -1.73137152e-02 -4.69297375e-03 1.58094063e+02] [ 1.73122320e-02 9.99850069e-01 -3.56476829e-04 9.05388010e+00] [ 4.69844207e-03 2.75173619e-04 9.99988924e-01 -1.88665834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.371400513 meters Centerline goodness [0,1] 0.9948829778046463 Centerline is valid? [True, True] Translation: X:158.12, Y:9.05, Z:-0.19 [[ 9.99845786e-01 -1.66966527e-02 -5.44294221e-03 1.58123384e+02] [ 1.66946439e-02 9.99860549e-01 -4.14306721e-04 9.05029891e+00] [ 5.44910073e-03 3.23374848e-04 9.99985101e-01 -1.91328833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.401400513 meters Centerline goodness [0,1] 0.9932475746826788 Centerline is valid? [True, True] Translation: X:158.15, Y:9.05, Z:-0.19 [[ 9.99857253e-01 -1.62809178e-02 -4.51714027e-03 1.58151252e+02] [ 1.62795291e-02 9.99867420e-01 -3.44032334e-04 9.05460884e+00] [ 4.52214256e-03 2.70446308e-04 9.99989738e-01 -1.89960976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.431400513 meters Centerline goodness [0,1] 0.9972067634704365 Centerline is valid? [True, True] Translation: X:158.18, Y:9.05, Z:-0.19 [[ 9.99888843e-01 -1.44173952e-02 -3.80009467e-03 1.58181703e+02] [ 1.44163989e-02 9.99896036e-01 -2.89434670e-04 9.05348429e+00] [ 3.80387250e-03 2.34618816e-04 9.99992738e-01 -1.88397157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.461400513 meters Centerline goodness [0,1] 0.9945589981647415 Centerline is valid? [True, True] Translation: X:158.21, Y:9.06, Z:-0.19 [[ 9.99920547e-01 -1.21101974e-02 -3.49895187e-03 1.58211425e+02] [ 1.21093385e-02 9.99926644e-01 -2.66539180e-04 9.05751603e+00] [ 3.50192304e-03 2.24148010e-04 9.99993843e-01 -1.87581193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.49140051300003 meters Centerline goodness [0,1] 0.948160251241353 Centerline is valid? [True, False] Translation: X:158.23, Y:9.06, Z:-0.19 [[ 9.99980773e-01 -6.18466899e-03 4.51684250e-04 1.58233923e+02] [ 6.18716659e-03 9.99964299e-01 -5.75498183e-03 9.06068855e+00] [-4.16075466e-04 5.75766582e-03 9.99983338e-01 -1.92307501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.521400513 meters Centerline goodness [0,1] 0.9660148578259756 Centerline is valid? [False, True] Translation: X:158.23, Y:9.06, Z:-0.19 [[ 9.99990722e-01 -4.12457886e-03 1.24262849e-03 1.58227798e+02] [ 4.12883971e-03 9.99985539e-01 -3.44607378e-03 9.05708475e+00] [-1.22839692e-03 3.45117242e-03 9.99993290e-01 -1.88195706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.55140051300003 meters Centerline goodness [0,1] 0.8892848759043087 Centerline is valid? [True, False] Translation: X:158.23, Y:9.05, Z:-0.19 [[ 9.99999238e-01 5.86808846e-04 1.08610471e-03 1.58228137e+02] [-5.89061080e-04 9.99997675e-01 2.07452260e-03 9.05135586e+00] [-1.08488484e-03 -2.07516080e-03 9.99997258e-01 -1.87831614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.581400513 meters Centerline goodness [0,1] 0.6733509122613023 Centerline is valid? [False, False] Translation: X:158.23, Y:9.05, Z:-0.19 [[ 9.99999224e-01 3.69412364e-04 1.18993587e-03 1.58228051e+02] [-3.71142505e-04 9.99998874e-01 1.45408563e-03 9.05428802e+00] [-1.18939737e-03 -1.45452614e-03 9.99998235e-01 -1.88395729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.61140051300004 meters Centerline goodness [0,1] 0.7278574644625972 Centerline is valid? [False, False] Translation: X:158.23, Y:9.06, Z:-0.19 [[ 9.99999134e-01 7.40603607e-05 1.31431961e-03 1.58227781e+02] [-7.49830366e-05 9.99999751e-01 7.01982521e-04 9.05781898e+00] [-1.31426729e-03 -7.02080464e-04 9.99998890e-01 -1.88739770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.641400513 meters Centerline goodness [0,1] 0.8411852483479002 Centerline is valid? [False, False] Translation: X:158.23, Y:9.06, Z:-0.19 [[ 9.99998981e-01 -1.03301819e-04 1.42381135e-03 1.58227259e+02] [ 1.02955570e-04 9.99999965e-01 2.43255818e-04 9.06001615e+00] [-1.42383643e-03 -2.43108981e-04 9.99998957e-01 -1.88469898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.67140051300004 meters Centerline goodness [0,1] 0.8282334180924881 Centerline is valid? [False, False] Translation: X:158.22, Y:9.06, Z:-0.18 [[ 9.99993404e-01 -2.60398647e-03 2.53205026e-03 1.58219500e+02] [ 2.60992191e-03 9.99993848e-01 -2.34365189e-03 9.06005347e+00] [-2.52593185e-03 2.35024489e-03 9.99994048e-01 -1.83106857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.701400513 meters Centerline goodness [0,1] 0.7310713365954159 Centerline is valid? [False, False] Translation: X:158.22, Y:9.06, Z:-0.18 [[ 9.99994210e-01 -2.33908645e-03 2.47161606e-03 1.58219400e+02] [ 2.34299631e-03 9.99996007e-01 -1.58019475e-03 9.05644199e+00] [-2.46790997e-03 1.58597659e-03 9.99995697e-01 -1.82513293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.731400513 meters Centerline goodness [0,1] 0.7653828286667511 Centerline is valid? [False, False] Translation: X:158.26, Y:9.06, Z:-0.18 [[ 9.99974475e-01 -4.07181917e-03 5.87115770e-03 1.58258793e+02] [ 4.09883286e-03 9.99981036e-01 -4.59641636e-03 9.06044198e+00] [-5.85233058e-03 4.62036393e-03 9.99972201e-01 -1.82873424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.761400513 meters Centerline goodness [0,1] 0.9860622749417496 Centerline is valid? [False, True] Translation: X:158.26, Y:9.06, Z:-0.18 [[ 9.99975940e-01 -3.89946848e-03 5.73705144e-03 1.58259272e+02] [ 3.92226764e-03 9.99984435e-01 -3.96815055e-03 9.05738114e+00] [-5.72148846e-03 3.99055732e-03 9.99975670e-01 -1.82955516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.791400513 meters Centerline goodness [0,1] 0.9860622749417496 Centerline is valid? [True, True] Translation: X:158.29, Y:9.06, Z:-0.18 [[ 9.99977804e-01 -3.88127977e-03 5.41541133e-03 1.58291214e+02] [ 3.87917583e-03 9.99992396e-01 3.98960199e-04 9.05589319e+00] [-5.41691863e-03 -3.77944012e-04 9.99985257e-01 -1.82934404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.821400513 meters Centerline goodness [0,1] 0.9988883900895701 Centerline is valid? [True, True] Translation: X:158.32, Y:9.05, Z:-0.19 [[ 9.99949382e-01 -8.88932143e-03 4.71304166e-03 1.58322972e+02] [ 8.88778436e-03 9.99960443e-01 3.46975182e-04 9.04636372e+00] [-4.71593960e-03 -3.05069120e-04 9.99988833e-01 -1.87082631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.851400513 meters Centerline goodness [0,1] 0.9984662903397593 Centerline is valid? [True, True] Translation: X:158.35, Y:9.05, Z:-0.19 [[ 9.99926865e-01 -1.14284826e-02 3.95652690e-03 1.58352969e+02] [ 1.14274193e-02 9.99934662e-01 2.91238394e-04 9.04736346e+00] [-3.95959681e-03 -2.46004202e-04 9.99992131e-01 -1.87575790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.881400513 meters Centerline goodness [0,1] 0.9991221120698884 Centerline is valid? [True, True] Translation: X:158.38, Y:9.04, Z:-0.19 [[ 9.99903294e-01 -1.35897045e-02 2.95340611e-03 1.58384577e+02] [ 1.35891212e-02 9.99907640e-01 2.17446715e-04 9.04212234e+00] [-2.95608837e-03 -1.77291492e-04 9.99995615e-01 -1.88573590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.911400513 meters Centerline goodness [0,1] 0.9954385814630804 Centerline is valid? [True, True] Translation: X:158.41, Y:9.04, Z:-0.19 [[ 9.99887973e-01 -1.48857173e-02 1.56726657e-03 1.58414531e+02] [ 1.48855547e-02 9.99889197e-01 1.15407113e-04 9.04476595e+00] [-1.56881083e-03 -9.20645522e-05 9.99998765e-01 -1.90441175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.941400513 meters Centerline goodness [0,1] 0.9987741671863911 Centerline is valid? [True, True] Translation: X:158.45, Y:9.04, Z:-0.19 [[ 9.99874983e-01 -1.57889019e-02 8.53323066e-04 1.58445369e+02] [ 1.57888541e-02 9.99875346e-01 6.27956197e-05 9.03860174e+00] [-8.54208170e-04 -4.93147758e-05 9.99999634e-01 -1.90072586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.971400513 meters Centerline goodness [0,1] 0.9988585704132836 Centerline is valid? [True, True] Translation: X:158.48, Y:9.04, Z:-0.19 [[ 9.99898264e-01 -1.42187409e-02 1.13506106e-03 1.58475330e+02] [ 1.42186554e-02 9.99898906e-01 8.34085252e-05 9.03775684e+00] [-1.13613228e-03 -6.72609976e-05 9.99999352e-01 -1.90312701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.001400513 meters Centerline goodness [0,1] 0.9906839547567006 Centerline is valid? [True, True] Translation: X:158.50, Y:9.05, Z:-0.19 [[ 9.99921575e-01 -1.23052543e-02 2.32917474e-03 1.58503367e+02] [ 1.23048882e-02 9.99924277e-01 1.71434861e-04 9.04904309e+00] [-2.33110792e-03 -1.42761181e-04 9.99997273e-01 -1.89769040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.031400513 meters Centerline goodness [0,1] 0.9976050977205663 Centerline is valid? [True, True] Translation: X:158.53, Y:9.05, Z:-0.19 [[ 9.99941105e-01 -1.03084231e-02 3.39442219e-03 1.58534003e+02] [ 1.03076340e-02 9.99946844e-01 2.49893723e-04 9.04769311e+00] [-3.39681776e-03 -2.14890544e-04 9.99994208e-01 -1.88502391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.061400513 meters Centerline goodness [0,1] 0.9981537933107208 Centerline is valid? [True, True] Translation: X:158.56, Y:9.05, Z:-0.19 [[ 9.99958248e-01 -8.32757256e-03 3.76220565e-03 1.58564903e+02] [ 8.32658908e-03 9.99965295e-01 2.76998485e-04 9.04945124e+00] [-3.76438181e-03 -2.45660579e-04 9.99992885e-01 -1.87892174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.091400513 meters Centerline goodness [0,1] 0.9952818049240799 Centerline is valid? [True, True] Translation: X:158.60, Y:9.05, Z:-0.19 [[ 9.99979872e-01 -5.59142494e-03 2.99846635e-03 1.58595276e+02] [ 5.59078814e-03 9.99984347e-01 2.20715733e-04 9.05403957e+00] [-2.99965353e-03 -2.03947500e-04 9.99995480e-01 -1.89262997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.121400513 meters Centerline goodness [0,1] 0.960011043153245 Centerline is valid? [True, True] Translation: X:158.63, Y:9.06, Z:-0.19 [[ 9.99981088e-01 -5.55790468e-03 2.63328160e-03 1.58625828e+02] [ 5.55741313e-03 9.99984539e-01 1.93949058e-04 9.06250118e+00] [-2.63431884e-03 -1.79311156e-04 9.99996514e-01 -1.90607834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.151400513 meters Centerline goodness [0,1] 0.9613686060969858 Centerline is valid? [True, True] Translation: X:158.66, Y:9.06, Z:-0.19 [[ 9.99973035e-01 -6.80865866e-03 2.75170019e-03 1.58656807e+02] [ 6.80812703e-03 9.99976804e-01 2.02520125e-04 9.06205764e+00] [-2.75301526e-03 -1.83780740e-04 9.99996194e-01 -1.90942070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.181400513 meters Centerline goodness [0,1] 0.9758156562937439 Centerline is valid? [True, True] Translation: X:158.69, Y:9.06, Z:-0.19 [[ 9.99949274e-01 -9.47341991e-03 3.42092800e-03 1.58686727e+02] [ 9.47261447e-03 9.99955102e-01 2.51573141e-04 9.05925491e+00] [-3.42315767e-03 -2.19155248e-04 9.99994117e-01 -1.90563508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.211400513 meters Centerline goodness [0,1] 0.9991830767907817 Centerline is valid? [True, True] Translation: X:158.72, Y:9.04, Z:-0.19 [[ 9.99900548e-01 -1.35748107e-02 3.82343198e-03 1.58719048e+02] [ 1.35738341e-02 9.99907832e-01 2.81255745e-04 9.04267567e+00] [-3.82689758e-03 -2.29329142e-04 9.99992651e-01 -1.89998065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.24140051300003 meters Centerline goodness [0,1] 0.9995492981929004 Centerline is valid? [True, True] Translation: X:158.75, Y:9.04, Z:-0.19 [[ 9.99819514e-01 -1.86624822e-02 3.55679009e-03 1.58748890e+02] [ 1.86616694e-02 9.99825822e-01 2.61572635e-04 9.03625448e+00] [-3.56105217e-03 -1.95149784e-04 9.99993640e-01 -1.90948593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.271400513 meters Centerline goodness [0,1] 0.9996792267225525 Centerline is valid? [True, True] Translation: X:158.78, Y:9.02, Z:-0.19 [[ 9.99618598e-01 -2.75330900e-02 2.14181696e-03 1.58779571e+02] [ 2.75328155e-02 9.99620888e-01 1.57555249e-04 9.02327202e+00] [-2.14534295e-03 -9.85249063e-05 9.99997694e-01 -1.94250116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.30140051300003 meters Centerline goodness [0,1] 0.9997630586968228 Centerline is valid? [True, True] Translation: X:158.81, Y:9.01, Z:-0.19 [[ 9.99534888e-01 -3.04019110e-02 2.39393499e-03 1.58810546e+02] [ 3.04015765e-02 9.99537750e-01 1.76008279e-04 9.01160408e+00] [-2.39817938e-03 -1.03147017e-04 9.99997119e-01 -1.94656227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.331400513 meters Centerline goodness [0,1] 0.9998925493735629 Centerline is valid? [True, True] Translation: X:158.84, Y:9.00, Z:-0.19 [[ 9.99461038e-01 -3.26306643e-02 3.58779891e-03 1.58841479e+02] [ 3.26299265e-02 9.99467467e-01 2.64003829e-04 9.00489191e+00] [-3.59450291e-03 -1.46791926e-04 9.99993529e-01 -1.93149954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.36140051300004 meters Centerline goodness [0,1] 0.9999572877736252 Centerline is valid? [True, True] Translation: X:158.87, Y:9.01, Z:-0.19 [[ 9.99422625e-01 -3.35821294e-02 5.16301252e-03 1.58868955e+02] [ 3.35806140e-02 9.99435940e-01 3.79957656e-04 9.00576190e+00] [-5.17286006e-03 -2.06361148e-04 9.99986599e-01 -1.90332925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.391400513 meters Centerline goodness [0,1] 0.9999128407382389 Centerline is valid? [True, True] Translation: X:158.90, Y:9.00, Z:-0.19 [[ 9.99505474e-01 -3.09999251e-02 5.27371140e-03 1.58898833e+02] [ 3.09983061e-02 9.99519362e-01 3.88458974e-04 9.00384166e+00] [-5.28321885e-03 -2.24790750e-04 9.99986018e-01 -1.89676277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.42140051300004 meters Centerline goodness [0,1] 0.9998927774918511 Centerline is valid? [True, True] Translation: X:158.93, Y:9.01, Z:-0.19 [[ 9.99568296e-01 -2.90312211e-02 4.51764998e-03 1.58927532e+02] [ 2.90300127e-02 9.99578485e-01 3.32852666e-04 9.00750851e+00] [-4.52540884e-03 -2.01561536e-04 9.99989740e-01 -1.90809333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.451400513 meters Centerline goodness [0,1] 0.9997649221037335 Centerline is valid? [True, True] Translation: X:158.96, Y:9.02, Z:-0.19 [[ 9.99606726e-01 -2.77707162e-02 3.89632812e-03 1.58955537e+02] [ 2.77698076e-02 9.99614303e-01 2.87121026e-04 9.01622827e+00] [-3.90279887e-03 -1.78807827e-04 9.99992368e-01 -1.92090698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.481400513 meters Centerline goodness [0,1] 0.9997213529386548 Centerline is valid? [True, True] Translation: X:158.99, Y:9.01, Z:-0.19 [[ 9.99618308e-01 -2.73595347e-02 3.83337581e-03 1.58985043e+02] [ 2.73586515e-02 9.99625642e-01 2.82644359e-04 9.01402028e+00] [-3.83967377e-03 -1.77660483e-04 9.99992613e-01 -1.92277240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.511400513 meters Centerline goodness [0,1] 0.9999574359410913 Centerline is valid? [True, True] Translation: X:159.02, Y:9.01, Z:-0.19 [[ 9.99541229e-01 -2.99525679e-02 4.49176259e-03 1.59015514e+02] [ 2.99513808e-02 9.99551302e-01 3.31336481e-04 9.01069136e+00] [-4.49967152e-03 -1.96649982e-04 9.99989857e-01 -1.92753887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.541400513 meters Centerline goodness [0,1] 0.99985005890543 Centerline is valid? [True, True] Translation: X:159.05, Y:9.01, Z:-0.19 [[ 9.99455049e-01 -3.27569665e-02 4.07249174e-03 1.59045474e+02] [ 3.27560139e-02 9.99463333e-01 3.00423822e-04 9.00857173e+00] [-4.08014714e-03 -1.66861510e-04 9.99991662e-01 -1.94780457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.571400513 meters Centerline goodness [0,1] 0.9998932490712669 Centerline is valid? [True, True] Translation: X:159.07, Y:9.01, Z:-0.20 [[ 9.99329851e-01 -3.64513075e-02 3.33931626e-03 1.59074320e+02] [ 3.64506875e-02 9.99335423e-01 2.46356740e-04 9.00621592e+00] [-3.34607705e-03 -1.24471271e-04 9.99994394e-01 -1.95317594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.601400513 meters Centerline goodness [0,1] 0.9999785683669096 Centerline is valid? [True, True] Translation: X:159.10, Y:9.00, Z:-0.20 [[ 9.99191466e-01 -4.01100008e-02 2.75721093e-03 1.59103160e+02] [ 4.01095917e-02 9.99195266e-01 2.03531539e-04 9.00322768e+00] [-2.76315576e-03 -9.27763721e-05 9.99996178e-01 -1.96036895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.631400513 meters Centerline goodness [0,1] 0.9999784045264113 Centerline is valid? [True, True] Translation: X:159.13, Y:9.00, Z:-0.20 [[ 9.99058463e-01 -4.33263063e-02 2.24010678e-03 1.59133478e+02] [ 4.33260442e-02 9.99060972e-01 1.65405955e-04 9.00129361e+00] [-2.24516969e-03 -6.81952535e-05 9.99997477e-01 -1.96251108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.661400513 meters Centerline goodness [0,1] 0.9999783033195921 Centerline is valid? [True, True] Translation: X:159.16, Y:9.00, Z:-0.20 [[ 9.98801156e-01 -4.89141889e-02 1.91129536e-03 1.59164254e+02] [ 4.89140083e-02 9.98802984e-01 1.41151944e-04 8.99760418e+00] [-1.91591184e-03 -4.74936079e-05 9.99998164e-01 -1.97502342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.691400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.19, Y:9.00, Z:-0.20 [[ 9.98696412e-01 -5.10084636e-02 1.90100471e-03 1.59192963e+02] [ 5.10082900e-02 9.98698220e-01 1.39723914e-04 8.99724619e+00] [-1.90565713e-03 -4.25747719e-05 9.99998183e-01 -1.98005813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.721400513 meters Centerline goodness [0,1] 0.9999783835195953 Centerline is valid? [True, True] Translation: X:159.22, Y:9.00, Z:-0.20 [[ 9.98621507e-01 -5.24648277e-02 1.58969911e-03 1.59221557e+02] [ 5.24647080e-02 9.98622772e-01 1.16927588e-04 8.99666068e+00] [-1.59364432e-03 -3.33633050e-05 9.99998730e-01 -1.98678847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.751400513 meters Centerline goodness [0,1] 0.9999784445594068 Centerline is valid? [True, True] Translation: X:159.25, Y:9.00, Z:-0.20 [[ 9.98585277e-01 -5.31635634e-02 1.03961841e-03 1.59248850e+02] [ 5.31635122e-02 9.98585818e-01 7.68444777e-05 8.99882096e+00] [-1.04223353e-03 -2.14659981e-05 9.99999457e-01 -2.00124361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.781400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.28, Y:9.00, Z:-0.20 [[ 9.98564075e-01 -5.35688883e-02 4.01694741e-04 1.59276434e+02] [ 5.35688808e-02 9.98564156e-01 2.94939498e-05 9.00278978e+00] [-4.02697929e-04 -7.93326106e-06 9.99999919e-01 -2.01628250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.811400513 meters Centerline goodness [0,1] 0.9999785278708236 Centerline is valid? [True, True] Translation: X:159.30, Y:9.00, Z:-0.20 [[ 9.98545288e-01 -5.39189176e-02 2.42557523e-04 1.59304835e+02] [ 5.39189151e-02 9.98545317e-01 1.68976290e-05 9.00439125e+00] [-2.43115780e-04 -3.79460934e-06 9.99999970e-01 -2.01804638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.841400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.33, Y:9.01, Z:-0.20 [[ 9.98471932e-01 -5.52510538e-02 1.05903834e-03 1.59333518e+02] [ 5.52510021e-02 9.98472494e-01 7.80597765e-05 9.00571814e+00] [-1.06173354e-03 -1.94275664e-05 9.99999436e-01 -2.00991570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.871400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.36, Y:9.01, Z:-0.20 [[ 9.98393749e-01 -5.66131032e-02 2.20870621e-03 1.59361487e+02] [ 5.66128773e-02 9.98396191e-01 1.64732178e-04 9.00673713e+00] [-2.21448987e-03 -3.94263630e-05 9.99997547e-01 -1.99664227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.901400513 meters Centerline goodness [0,1] 0.9998930504160339 Centerline is valid? [True, True] Translation: X:159.39, Y:9.01, Z:-0.20 [[ 9.98273012e-01 -5.86500244e-02 3.34183637e-03 1.59390257e+02] [ 5.86495183e-02 9.98278604e-01 2.49320902e-04 9.00647725e+00] [-3.35070642e-03 -5.28932339e-05 9.99994385e-01 -1.99041402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.931400513 meters Centerline goodness [0,1] 0.9999143157037894 Centerline is valid? [True, True] Translation: X:159.42, Y:9.01, Z:-0.20 [[ 9.98126803e-01 -6.10600692e-02 3.81497911e-03 1.59418530e+02] [ 6.10594243e-02 9.98134092e-01 2.85408616e-04 9.00716490e+00] [-3.82528778e-03 -5.19335610e-05 9.99992682e-01 -1.98637802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.961400513 meters Centerline goodness [0,1] 0.9999568649441402 Centerline is valid? [True, True] Translation: X:159.45, Y:9.00, Z:-0.20 [[ 9.97799023e-01 -6.62350800e-02 3.16608567e-03 1.59446794e+02] [ 6.62346596e-02 9.97804046e-01 2.37550300e-04 9.00127267e+00] [-3.17486725e-03 -2.73228510e-05 9.99994960e-01 -2.00269583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.99140051300003 meters Centerline goodness [0,1] 0.9999571091571949 Centerline is valid? [True, True] Translation: X:159.48, Y:9.00, Z:-0.20 [[ 9.97633893e-01 -6.86738730e-02 3.24261052e-03 1.59476420e+02] [ 6.86734453e-02 9.97639163e-01 2.43191590e-04 8.99879165e+00] [-3.25165616e-03 -1.99349359e-05 9.99994713e-01 -2.00107796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.021400513 meters Centerline goodness [0,1] 0.9998476737607173 Centerline is valid? [True, True] Translation: X:159.51, Y:9.00, Z:-0.20 [[ 9.97468614e-01 -7.09604417e-02 4.58031864e-03 1.59505308e+02] [ 7.09596074e-02 9.97479130e-01 3.44617612e-04 8.99794268e+00] [-4.59322647e-03 -1.87276399e-05 9.99989451e-01 -1.98862716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.05140051300003 meters Centerline goodness [0,1] 0.99989166233316 Centerline is valid? [True, True] Translation: X:159.53, Y:9.00, Z:-0.20 [[ 9.97313409e-01 -7.30641836e-02 5.25247316e-03 1.59533025e+02] [ 7.30631102e-02 9.97327241e-01 3.96198962e-04 8.99725679e+00] [-5.26738251e-03 -1.13725127e-05 9.99986127e-01 -1.97422766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.081400513 meters Centerline goodness [0,1] 0.9999569651848346 Centerline is valid? [True, True] Translation: X:159.56, Y:9.00, Z:-0.20 [[ 9.97146789e-01 -7.51839603e-02 6.75666763e-03 1.59560453e+02] [ 7.51822219e-02 9.97169681e-01 5.11268364e-04 8.99648146e+00] [-6.77598329e-03 -1.82832265e-06 9.99977043e-01 -1.95063798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.11140051300004 meters Centerline goodness [0,1] 0.9998703851720637 Centerline is valid? [True, True] Translation: X:159.59, Y:9.00, Z:-0.20 [[ 9.97082974e-01 -7.59958891e-02 7.08287109e-03 1.59588237e+02] [ 7.59939942e-02 9.97108131e-01 5.36666028e-04 8.99763817e+00] [-7.10317276e-03 3.15510514e-06 9.99974772e-01 -1.95035989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.141400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.62, Y:9.00, Z:-0.19 [[ 9.97012015e-01 -7.69284568e-02 7.00391862e-03 1.59616594e+02] [ 7.69266177e-02 9.97036615e-01 5.31992374e-04 8.99856132e+00] [-7.02408867e-03 8.38498194e-06 9.99975331e-01 -1.94250122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.17140051300004 meters Centerline goodness [0,1] 0.9998699722607489 Centerline is valid? [True, True] Translation: X:159.64, Y:9.00, Z:-0.20 [[ 9.96920448e-01 -7.81010814e-02 7.05984597e-03 1.59644790e+02] [ 7.80992323e-02 9.96945445e-01 5.37641071e-04 9.00096283e+00] [-7.08027163e-03 1.53831735e-05 9.99974934e-01 -1.95723864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.201400513 meters Centerline goodness [0,1] 0.9999130415878607 Centerline is valid? [True, True] Translation: X:159.67, Y:9.00, Z:-0.20 [[ 9.96818813e-01 -7.93895655e-02 7.03918251e-03 1.59672703e+02] [ 7.93877503e-02 9.96843667e-01 5.37363186e-04 9.00274492e+00] [-7.05962553e-03 2.31711296e-05 9.99975080e-01 -1.95600200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.231400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.70, Y:9.00, Z:-0.19 [[ 9.96702160e-01 -8.08412546e-02 7.03538836e-03 1.59700508e+02] [ 8.08394744e-02 9.96726989e-01 5.37509342e-04 9.00330174e+00] [-7.05581439e-03 3.30003755e-05 9.99975107e-01 -1.94652732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.261400513 meters Centerline goodness [0,1] 0.9999568081200735 Centerline is valid? [True, True] Translation: X:159.73, Y:9.00, Z:-0.20 [[ 9.96462487e-01 -8.37865593e-02 6.50577187e-03 1.59729121e+02] [ 8.37850972e-02 9.96483723e-01 4.97446369e-04 9.00197821e+00] [-6.52457509e-03 4.94000824e-05 9.99978714e-01 -1.95790310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.291400513 meters Centerline goodness [0,1] 0.9999130812690135 Centerline is valid? [True, True] Translation: X:159.76, Y:9.00, Z:-0.20 [[ 9.96369204e-01 -8.49346976e-02 5.87424441e-03 1.59757085e+02] [ 8.49335200e-02 9.96386519e-01 4.50091354e-04 9.00246409e+00] [-5.89124631e-03 5.04630906e-05 9.99982645e-01 -1.96694907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.321400513 meters Centerline goodness [0,1] 0.9999134723544172 Centerline is valid? [True, True] Translation: X:159.79, Y:9.01, Z:-0.20 [[ 9.96210240e-01 -8.68042895e-02 5.49291195e-03 1.59785946e+02] [ 8.68032870e-02 9.96225382e-01 4.21100302e-04 9.00547269e+00] [-5.50873162e-03 5.72983792e-05 9.99984825e-01 -1.97414899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.351400513 meters Centerline goodness [0,1] 0.9999129147435339 Centerline is valid? [True, True] Translation: X:159.81, Y:9.01, Z:-0.20 [[ 9.96009517e-01 -8.90703883e-02 5.61312339e-03 1.59814669e+02] [ 8.90693719e-02 9.96025331e-01 4.31290278e-04 9.00727450e+00] [-5.62922828e-03 7.03881529e-05 9.99984153e-01 -1.97223853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.381400513 meters Centerline goodness [0,1] 0.9999782821153219 Centerline is valid? [True, True] Translation: X:159.84, Y:9.01, Z:-0.20 [[ 9.95770287e-01 -9.17024142e-02 5.67476109e-03 1.59843387e+02] [ 9.17014126e-02 9.95786453e-01 4.36999170e-04 9.00836046e+00] [-5.69092410e-03 8.52328192e-05 9.99983803e-01 -1.96609551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.411400513 meters Centerline goodness [0,1] 0.9998487598306111 Centerline is valid? [True, True] Translation: X:159.87, Y:9.01, Z:-0.20 [[ 9.95482895e-01 -9.47854192e-02 5.43412221e-03 1.59871216e+02] [ 9.47845414e-02 9.95497722e-01 4.19443753e-04 9.00727104e+00] [-5.44941343e-03 9.75216989e-05 9.99985147e-01 -1.97367781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.441400513 meters Centerline goodness [0,1] 0.9998050977759491 Centerline is valid? [True, True] Translation: X:159.90, Y:9.01, Z:-0.20 [[ 9.94901029e-01 -1.00733245e-01 4.97543869e-03 1.59901944e+02] [ 1.00732582e-01 9.94913463e-01 3.84387208e-04 9.00525831e+00] [-4.98885151e-03 1.18761556e-04 9.99987549e-01 -1.98518126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.471400513 meters Centerline goodness [0,1] 0.9998285763263907 Centerline is valid? [True, True] Translation: X:159.93, Y:9.01, Z:-0.20 [[ 9.94697221e-01 -1.02724376e-01 5.01405991e-03 1.59930086e+02] [ 1.02723728e-01 9.94709850e-01 3.87297080e-04 9.00530285e+00] [-5.02731963e-03 1.29819599e-04 9.99987355e-01 -1.98821290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.501400513 meters Centerline goodness [0,1] 0.9998699750785567 Centerline is valid? [True, True] Translation: X:159.96, Y:9.01, Z:-0.20 [[ 9.94552881e-01 -1.04098826e-01 5.29161595e-03 1.59958855e+02] [ 1.04098123e-01 9.94566948e-01 4.08976507e-04 9.00906740e+00] [-5.30544030e-03 1.44098523e-04 9.99985916e-01 -1.98478754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.531400513 meters Centerline goodness [0,1] 0.999826241827936 Centerline is valid? [True, True] Translation: X:159.99, Y:9.01, Z:-0.20 [[ 9.94504182e-01 -1.04588966e-01 4.75194071e-03 1.59987200e+02] [ 1.04588401e-01 9.94515526e-01 3.67963492e-04 9.01346007e+00] [-4.76436374e-03 1.31056649e-04 9.99988642e-01 -1.98896865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.561400513 meters Centerline goodness [0,1] 0.999870418763363 Centerline is valid? [True, True] Translation: X:160.02, Y:9.01, Z:-0.20 [[ 9.94534463e-01 -1.04327540e-01 4.11903275e-03 1.60015484e+02] [ 1.04327110e-01 9.94542986e-01 3.19768614e-04 9.01365064e+00] [-4.12991581e-03 1.11705877e-04 9.99991466e-01 -2.00433996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.591400513 meters Centerline goodness [0,1] 0.9998272436727995 Centerline is valid? [True, True] Translation: X:160.04, Y:9.02, Z:-0.20 [[ 9.94544861e-01 -1.04268916e-01 2.91761487e-03 1.60043363e+02] [ 1.04268701e-01 9.94549138e-01 2.26118450e-04 9.01872287e+00] [-2.92528847e-03 7.93309683e-05 9.99995718e-01 -2.01860590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.621400513 meters Centerline goodness [0,1] 0.9998713964205337 Centerline is valid? [True, True] Translation: X:160.07, Y:9.02, Z:-0.20 [[ 9.94521508e-01 -1.04504979e-01 2.38304358e-03 1.60071370e+02] [ 1.04504835e-01 9.94524361e-01 1.85339042e-04 9.02320980e+00] [-2.38936374e-03 6.47159113e-05 9.99997143e-01 -2.03517087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.651400513 meters Centerline goodness [0,1] 0.9998486944492478 Centerline is valid? [True, True] Translation: X:160.10, Y:9.03, Z:-0.20 [[ 9.94553882e-01 -1.04195974e-01 2.40291053e-03 1.60100242e+02] [ 1.04195826e-01 9.94556783e-01 1.86800190e-04 9.02906312e+00] [-2.40929480e-03 6.45903939e-05 9.99997096e-01 -2.03767499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.681400513 meters Centerline goodness [0,1] 0.999828182384399 Centerline is valid? [True, True] Translation: X:160.13, Y:9.03, Z:-0.20 [[ 9.94684745e-01 -1.02946087e-01 2.08824122e-03 1.60127790e+02] [ 1.02945971e-01 9.94686936e-01 1.63025403e-04 9.03055461e+00] [-2.09392909e-03 5.28171382e-05 9.99997806e-01 -2.04533128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.711400513 meters Centerline goodness [0,1] 0.999828182384399 Centerline is valid? [True, True] Translation: X:160.16, Y:9.03, Z:-0.20 [[ 9.94665443e-01 -1.03132419e-01 2.08827203e-03 1.60155224e+02] [ 1.03132305e-01 9.94667634e-01 1.62632625e-04 9.03288894e+00] [-2.09390929e-03 5.36032563e-05 9.99997806e-01 -2.04705012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.74140051300003 meters Centerline goodness [0,1] 0.9998500299940012 Centerline is valid? [True, True] Translation: X:160.18, Y:9.04, Z:-0.20 [[ 9.94858922e-01 -1.01257726e-01 1.61179585e-03 1.60183517e+02] [ 1.01257655e-01 9.94860227e-01 1.25633920e-04 9.04230037e+00] [-1.61623299e-03 3.82186421e-05 9.99998693e-01 -2.04812307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.771400513 meters Centerline goodness [0,1] 0.9998704691176789 Centerline is valid? [True, True] Translation: X:160.21, Y:9.05, Z:-0.21 [[ 9.95040707e-01 -9.94622513e-02 1.11934385e-03 1.60211173e+02] [ 9.94622156e-02 9.95041336e-01 8.76831057e-05 9.04781281e+00] [-1.12251456e-03 2.40841598e-05 9.99999370e-01 -2.05633192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.80140051300003 meters Centerline goodness [0,1] 0.9998259052924791 Centerline is valid? [True, True] Translation: X:160.24, Y:9.06, Z:-0.21 [[ 9.95200680e-01 -9.78490073e-02 1.08575457e-03 1.60239615e+02] [ 9.78489733e-02 9.95201272e-01 8.45412544e-05 9.05564008e+00] [-1.08881661e-03 2.21044563e-05 9.99999407e-01 -2.05310886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.831400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.27, Y:9.07, Z:-0.20 [[ 9.95448618e-01 -9.52569686e-02 2.85652291e-03 1.60267998e+02] [ 9.52567149e-02 9.95452715e-01 2.25061547e-04 9.06650370e+00] [-2.86497217e-03 4.80657827e-05 9.99995895e-01 -2.01753965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.86140051300004 meters Centerline goodness [0,1] 0.9998278940687993 Centerline is valid? [True, True] Translation: X:160.30, Y:9.07, Z:-0.20 [[ 9.95495294e-01 -9.47556746e-02 3.23756031e-03 1.60296448e+02] [ 9.47553465e-02 9.95500557e-01 2.54920746e-04 9.07251214e+00] [-3.24714828e-03 5.30037459e-05 9.99994727e-01 -2.02643017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.891400513 meters Centerline goodness [0,1] 0.9998923851749817 Centerline is valid? [True, True] Translation: X:160.32, Y:9.08, Z:-0.20 [[ 9.95488191e-01 -9.48348499e-02 3.10032866e-03 1.60324579e+02] [ 9.48345482e-02 9.95493018e-01 2.44517088e-04 9.07828729e+00] [-3.10954428e-03 5.06043944e-05 9.99995164e-01 -2.03110147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.92140051300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.35, Y:9.08, Z:-0.20 [[ 9.95395823e-01 -9.58131794e-02 2.64396334e-03 1.60352388e+02] [ 9.58129613e-02 9.95399333e-01 2.09343075e-04 9.08248310e+00] [-2.65185717e-03 4.49467351e-05 9.99996483e-01 -2.03065332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.951400513 meters Centerline goodness [0,1] 0.9999566452060437 Centerline is valid? [True, True] Translation: X:160.38, Y:9.09, Z:-0.20 [[ 9.95218431e-01 -9.76381684e-02 2.65766631e-03 1.60381277e+02] [ 9.76379551e-02 9.95221978e-01 2.10186063e-04 9.08807489e+00] [-2.66549010e-03 5.03080603e-05 9.99996446e-01 -2.03772123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.981400513 meters Centerline goodness [0,1] 0.9998275490407416 Centerline is valid? [True, True] Translation: X:160.41, Y:9.09, Z:-0.20 [[ 9.94952825e-01 -1.00290739e-01 3.26253844e-03 1.60408662e+02] [ 1.00290428e-01 9.94958171e-01 2.59031291e-04 9.09032952e+00] [-3.27206772e-03 6.94774621e-05 9.99994644e-01 -2.03474042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.011400513 meters Centerline goodness [0,1] 0.9998921065124509 Centerline is valid? [True, True] Translation: X:160.44, Y:9.09, Z:-0.20 [[ 9.94223404e-01 -1.07200471e-01 5.28034221e-03 1.60438425e+02] [ 1.07199749e-01 9.94237415e-01 4.20312197e-04 9.08562663e+00] [-5.29497145e-03 1.48167138e-04 9.99985971e-01 -2.00539580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.041400513 meters Centerline goodness [0,1] 0.999892530897367 Centerline is valid? [True, True] Translation: X:160.47, Y:9.08, Z:-0.20 [[ 9.93840413e-01 -1.10643502e-01 6.26491382e-03 1.60468036e+02] [ 1.10642553e-01 9.93860139e-01 4.98858324e-04 9.08362670e+00] [-6.28164355e-03 1.97380497e-04 9.99980251e-01 -1.98749823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.071400513 meters Centerline goodness [0,1] 0.9998055231427461 Centerline is valid? [True, True] Translation: X:160.50, Y:9.08, Z:-0.20 [[ 9.93512162e-01 -1.13544926e-01 6.41361212e-03 1.60497051e+02] [ 1.13543991e-01 9.93532838e-01 5.10934763e-04 9.08147695e+00] [-6.43014831e-03 2.20607214e-04 9.99979302e-01 -1.98156025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.101400513 meters Centerline goodness [0,1] 0.9998909201972163 Centerline is valid? [True, True] Translation: X:160.53, Y:9.09, Z:-0.20 [[ 9.93215734e-01 -1.16124856e-01 6.12570763e-03 1.60526464e+02] [ 1.16124050e-01 9.93234598e-01 4.88208438e-04 9.08681024e+00] [-6.14095789e-03 2.26445678e-04 9.99981119e-01 -1.98383296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.131400513 meters Centerline goodness [0,1] 0.9998923782259627 Centerline is valid? [True, True] Translation: X:160.55, Y:9.09, Z:-0.20 [[ 9.92950064e-01 -1.18393021e-01 5.76747405e-03 1.60554859e+02] [ 1.18392345e-01 9.92966788e-01 4.59780475e-04 9.08625500e+00] [-5.78134498e-03 2.26285724e-04 9.99983262e-01 -1.98996495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.161400513 meters Centerline goodness [0,1] 0.9999567782508159 Centerline is valid? [True, True] Translation: X:160.58, Y:9.08, Z:-0.20 [[ 9.92485688e-01 -1.22210671e-01 6.05893056e-03 1.60584606e+02] [ 1.22209993e-01 9.92504148e-01 4.83332566e-04 9.08257754e+00] [-6.07258211e-03 2.60761207e-04 9.99981528e-01 -1.99270164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.191400513 meters Centerline goodness [0,1] 0.9998475277717273 Centerline is valid? [True, True] Translation: X:160.61, Y:9.09, Z:-0.20 [[ 9.92335905e-01 -1.23411056e-01 6.25803170e-03 1.60612932e+02] [ 1.23410356e-01 9.92355599e-01 4.99377173e-04 9.09182527e+00] [-6.27182146e-03 2.76756020e-04 9.99980294e-01 -1.99214839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.221400513 meters Centerline goodness [0,1] 0.9999784645202972 Centerline is valid? [True, True] Translation: X:160.64, Y:9.09, Z:-0.20 [[ 9.92232723e-01 -1.24234650e-01 6.32256311e-03 1.60641237e+02] [ 1.24233946e-01 9.92252826e-01 5.05624522e-04 9.09170409e+00] [-6.33639720e-03 2.83779764e-04 9.99979885e-01 -1.98719083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.251400513 meters Centerline goodness [0,1] 0.9997850941287716 Centerline is valid? [True, True] Translation: X:160.67, Y:9.10, Z:-0.20 [[ 9.92236140e-01 -1.24227809e-01 5.90709022e-03 1.60669217e+02] [ 1.24227192e-01 9.92253688e-01 4.72702214e-04 9.09867918e+00] [-5.92005481e-03 2.64789009e-04 9.99982441e-01 -1.99107895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.281400513 meters Centerline goodness [0,1] 0.9999569253300596 Centerline is valid? [True, True] Translation: X:160.70, Y:9.10, Z:-0.20 [[ 9.92304429e-01 -1.23685421e-01 5.81690704e-03 1.60696661e+02] [ 1.23684807e-01 9.92321445e-01 4.66506371e-04 9.09940728e+00] [-5.82994164e-03 2.56546690e-04 9.99982973e-01 -1.98217667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.311400513 meters Centerline goodness [0,1] 0.999785384697929 Centerline is valid? [True, True] Translation: X:160.73, Y:9.11, Z:-0.20 [[ 9.92387108e-01 -1.23062019e-01 4.85452890e-03 1.60725419e+02] [ 1.23061584e-01 9.92398960e-01 3.89426047e-04 9.10775156e+00] [-4.86555299e-03 2.10944625e-04 9.99988141e-01 -2.00008676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.341400513 meters Centerline goodness [0,1] 0.9998279384880094 Centerline is valid? [True, True] Translation: X:160.75, Y:9.12, Z:-0.20 [[ 9.92482029e-01 -1.22346624e-01 3.27504939e-03 1.60753964e+02] [ 1.22346421e-01 9.92487423e-01 2.62872137e-04 9.11649693e+00] [-3.28260684e-03 1.39794700e-04 9.99994602e-01 -2.02557427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.371400513 meters Centerline goodness [0,1] 0.9998929657062122 Centerline is valid? [True, True] Translation: X:160.78, Y:9.12, Z:-0.21 [[ 9.92626739e-01 -1.21200336e-01 1.62318443e-03 1.60781444e+02] [ 1.21200284e-01 9.92628064e-01 1.30532663e-04 9.11864722e+00] [-1.62703902e-03 6.71602032e-05 9.99998674e-01 -2.06087568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.401400513 meters Centerline goodness [0,1] 0.9997835732063629 Centerline is valid? [True, True] Translation: X:160.81, Y:9.13, Z:-0.21 [[ 9.92778255e-01 -1.19963540e-01 2.93735030e-04 1.60809564e+02] [ 1.19963539e-01 9.92778298e-01 2.26834763e-05 9.13160258e+00] [-2.94334953e-04 1.27178316e-05 9.99999957e-01 -2.08028805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.431400513 meters Centerline goodness [0,1] 0.9998077374975968 Centerline is valid? [True, True] Translation: X:160.84, Y:9.14, Z:-0.21 [[ 9.92908417e-01 -1.18881760e-01 5.81736287e-05 1.60837246e+02] [ 1.18881760e-01 9.92908418e-01 4.32885630e-06 9.13765483e+00] [-5.82757077e-05 2.61762548e-06 9.99999998e-01 -2.08442234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.461400513 meters Centerline goodness [0,1] 0.999870862209978 Centerline is valid? [True, True] Translation: X:160.86, Y:9.14, Z:-0.20 [[ 9.92822504e-01 -1.19576423e-01 2.22582798e-03 1.60864447e+02] [ 1.19576320e-01 9.92824995e-01 1.79665552e-04 9.14391411e+00] [-2.23134142e-03 8.77803151e-05 9.99997507e-01 -2.04805191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.49140051300003 meters Centerline goodness [0,1] 0.9999785057174791 Centerline is valid? [True, True] Translation: X:160.89, Y:9.15, Z:-0.20 [[ 9.92648036e-01 -1.20993707e-01 3.22487703e-03 1.60892682e+02] [ 1.20993497e-01 9.92653266e-01 2.60940707e-04 9.14724960e+00] [-3.23275690e-03 1.31166869e-04 9.99994766e-01 -2.02611439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.521400513 meters Centerline goodness [0,1] 0.9998496725008054 Centerline is valid? [True, True] Translation: X:160.92, Y:9.15, Z:-0.20 [[ 9.92464929e-01 -1.22492336e-01 2.99877475e-03 1.60921898e+02] [ 1.22492160e-01 9.92469451e-01 2.42910743e-04 9.15343219e+00] [-3.00594703e-03 1.26246003e-04 9.99995474e-01 -2.03812692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.55140051300003 meters Centerline goodness [0,1] 0.9997407759440076 Centerline is valid? [True, True] Translation: X:160.95, Y:9.16, Z:-0.21 [[ 9.92200027e-01 -1.24637541e-01 2.14225470e-03 1.60950116e+02] [ 1.24637456e-01 9.92202335e-01 1.73441123e-04 9.15562320e+00] [-2.14716739e-03 9.49168897e-05 9.99997690e-01 -2.05946484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.581400513 meters Centerline goodness [0,1] 0.9998919292785199 Centerline is valid? [True, True] Translation: X:160.98, Y:9.16, Z:-0.21 [[ 9.91864383e-01 -1.27286685e-01 1.77383982e-03 1.60980025e+02] [ 1.27286631e-01 9.91865965e-01 1.43798674e-04 9.15921991e+00] [-1.77771500e-03 8.31573107e-05 9.99998416e-01 -2.06399362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.61140051300004 meters Centerline goodness [0,1] 0.9997851172185572 Centerline is valid? [True, True] Translation: X:161.01, Y:9.16, Z:-0.21 [[ 9.91448261e-01 -1.30489837e-01 1.65769885e-03 1.61009819e+02] [ 1.30489794e-01 9.91449644e-01 1.34388442e-04 9.15909684e+00] [-1.66106126e-03 8.30735933e-05 9.99998617e-01 -2.06768176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.641400513 meters Centerline goodness [0,1] 0.9996974019798556 Centerline is valid? [True, True] Translation: X:161.04, Y:9.15, Z:-0.21 [[ 9.90467844e-01 -1.37732188e-01 1.81492236e-03 1.61039355e+02] [ 1.37732149e-01 9.90469502e-01 1.47225905e-04 9.15485568e+00] [-1.81790299e-03 1.04150633e-04 9.99998342e-01 -2.06592053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.67140051300004 meters Centerline goodness [0,1] 0.9966451557758879 Centerline is valid? [True, True] Translation: X:161.07, Y:9.15, Z:-0.21 [[ 9.90054434e-01 -1.40664346e-01 2.39971347e-03 1.61068834e+02] [ 1.40664286e-01 9.90057332e-01 1.94631363e-04 9.15373186e+00] [-2.40323161e-03 1.44858337e-04 9.99997102e-01 -2.05529277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.701400513 meters Centerline goodness [0,1] 0.9973178170491661 Centerline is valid? [True, True] Translation: X:161.10, Y:9.16, Z:-0.20 [[ 9.89849601e-01 -1.42082105e-01 3.23155173e-03 1.61098344e+02] [ 1.42082003e-01 9.89854856e-01 2.62192611e-04 9.15923724e+00] [-3.23602005e-03 1.99614091e-04 9.99994744e-01 -2.04405179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.731400513 meters Centerline goodness [0,1] 0.9814763379980771 Centerline is valid? [True, True] Translation: X:161.13, Y:9.16, Z:-0.20 [[ 9.89856843e-01 -1.42009163e-01 4.10220484e-03 1.61126171e+02] [ 1.42008999e-01 9.89865311e-01 3.32833866e-04 9.15783747e+00] [-4.10789573e-03 2.53092122e-04 9.99991531e-01 -2.03480907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.761400513 meters Centerline goodness [0,1] 0.9907822191592005 Centerline is valid? [True, True] Translation: X:161.15, Y:9.17, Z:-0.20 [[ 9.89987407e-01 -1.41076359e-01 4.73229932e-03 1.61154915e+02] [ 1.41076127e-01 9.89998676e-01 3.84372947e-04 9.16554595e+00] [-4.73919599e-03 2.87090083e-04 9.99988729e-01 -2.02912950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.791400513 meters Centerline goodness [0,1] 0.9977366299497747 Centerline is valid? [True, True] Translation: X:161.18, Y:9.17, Z:-0.20 [[ 9.90219506e-01 -1.39429715e-01 4.96839544e-03 1.61184435e+02] [ 1.39429435e-01 9.90231927e-01 4.04537012e-04 9.17437276e+00] [-4.97626827e-03 2.92160126e-04 9.99987576e-01 -2.03258991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.821400513 meters Centerline goodness [0,1] 0.9974983429194552 Centerline is valid? [True, True] Translation: X:161.21, Y:9.18, Z:-0.20 [[ 9.90602789e-01 -1.36684937e-01 4.83139356e-03 1.61213745e+02] [ 1.36684639e-01 9.90614534e-01 3.93427715e-04 9.17931082e+00] [-4.83982432e-03 2.70646693e-04 9.99988251e-01 -2.04932262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.851400513 meters Centerline goodness [0,1] 0.9995303560754846 Centerline is valid? [True, True] Translation: X:161.24, Y:9.19, Z:-0.21 [[ 9.90641036e-01 -1.36421851e-01 4.40639082e-03 1.61242522e+02] [ 1.36421600e-01 9.90650805e-01 3.58764835e-04 9.18705101e+00] [-4.41413798e-03 2.45719719e-04 9.99990227e-01 -2.06113118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.881400513 meters Centerline goodness [0,1] 0.9990767579173376 Centerline is valid? [True, True] Translation: X:161.27, Y:9.19, Z:-0.21 [[ 9.90586820e-01 -1.36833780e-01 3.77748522e-03 1.61270025e+02] [ 1.36833598e-01 9.90593999e-01 3.07894254e-04 9.18874455e+00] [-3.78408453e-03 2.11890903e-04 9.99992818e-01 -2.07633611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.911400513 meters Centerline goodness [0,1] 0.9996347463635777 Centerline is valid? [True, True] Translation: X:161.30, Y:9.20, Z:-0.21 [[ 9.90484669e-01 -1.37581243e-01 3.39441862e-03 1.61297854e+02] [ 1.37581100e-01 9.90490467e-01 2.76827090e-04 9.19670562e+00] [-3.40022550e-03 1.92814857e-04 9.99994201e-01 -2.08401475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.941400513 meters Centerline goodness [0,1] 0.9970609210554752 Centerline is valid? [True, True] Translation: X:161.33, Y:9.19, Z:-0.21 [[ 9.90339774e-01 -1.38621693e-01 3.34046043e-03 1.61325623e+02] [ 1.38621560e-01 9.90345389e-01 2.72491422e-04 9.19131197e+00] [-3.34598280e-03 1.93200741e-04 9.99994384e-01 -2.09190001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.971400513 meters Centerline goodness [0,1] 0.9995479496286729 Centerline is valid? [True, True] Translation: X:161.35, Y:9.20, Z:-0.21 [[ 9.90216285e-01 -1.39499502e-01 3.40560225e-03 1.61354134e+02] [ 1.39499368e-01 9.90222121e-01 2.78005049e-04 9.19771417e+00] [-3.41108425e-03 1.99794234e-04 9.99994162e-01 -2.08745002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.001400513 meters Centerline goodness [0,1] 0.9987253165103919 Centerline is valid? [True, True] Translation: X:161.38, Y:9.20, Z:-0.21 [[ 9.90002267e-01 -1.41010989e-01 3.37812000e-03 1.61383686e+02] [ 1.41010862e-01 9.90008010e-01 2.76731237e-04 9.20148270e+00] [-3.38338801e-03 2.02387063e-04 9.99994256e-01 -2.07153638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.031400513 meters Centerline goodness [0,1] 0.994867481831317 Centerline is valid? [True, True] Translation: X:161.41, Y:9.20, Z:-0.21 [[ 9.89980425e-01 -1.41163787e-01 3.39752376e-03 1.61410586e+02] [ 1.41163660e-01 9.89986234e-01 2.78101781e-04 9.20169207e+00] [-3.40275965e-03 2.04291571e-04 9.99994190e-01 -2.07090585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.061400513 meters Centerline goodness [0,1] 0.9997412566302989 Centerline is valid? [True, True] Translation: X:161.44, Y:9.21, Z:-0.21 [[ 9.89985883e-01 -1.41124913e-01 3.42191862e-03 1.61438690e+02] [ 1.41124784e-01 9.89991776e-01 2.80436582e-04 9.21387044e+00] [-3.42724788e-03 2.05289270e-04 9.99994106e-01 -2.06724135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.091400513 meters Centerline goodness [0,1] 0.9939939293479431 Centerline is valid? [True, True] Translation: X:161.47, Y:9.21, Z:-0.21 [[ 9.90028998e-01 -1.40826781e-01 3.22509528e-03 1.61467252e+02] [ 1.40826662e-01 9.90034232e-01 2.65131427e-04 9.20881832e+00] [-3.23029234e-03 1.91691604e-04 9.99994764e-01 -2.07928556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.121400513 meters Centerline goodness [0,1] 0.9998271578265097 Centerline is valid? [True, True] Translation: X:161.49, Y:9.22, Z:-0.21 [[ 9.90007744e-01 -1.40971651e-01 3.41460844e-03 1.61494184e+02] [ 1.40971519e-01 9.90013612e-01 2.80561238e-04 9.22200726e+00] [-3.42006002e-03 2.03604740e-04 9.99994131e-01 -2.08203224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.151400513 meters Centerline goodness [0,1] 0.9987261421538993 Centerline is valid? [True, True] Translation: X:161.52, Y:9.22, Z:-0.21 [[ 9.89922315e-01 -1.41561988e-01 3.74362445e-03 1.61521597e+02] [ 1.41561829e-01 9.89929368e-01 3.08750918e-04 9.22244980e+00] [-3.74963118e-03 2.24314899e-04 9.99992945e-01 -2.09530588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.181400513 meters Centerline goodness [0,1] 0.9961794163356933 Centerline is valid? [True, True] Translation: X:161.55, Y:9.22, Z:-0.21 [[ 9.89861097e-01 -1.42005828e-01 3.05832250e-03 1.61549273e+02] [ 1.42005724e-01 9.89865804e-01 2.52320932e-04 9.22295377e+00] [-3.06315991e-03 1.84536625e-04 9.99995291e-01 -2.10647076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.211400513 meters Centerline goodness [0,1] 0.9962478559176673 Centerline is valid? [True, True] Translation: X:161.58, Y:9.23, Z:-0.21 [[ 9.89738307e-01 -1.42875017e-01 2.19406712e-03 1.61577909e+02] [ 1.42874966e-01 9.89740729e-01 1.80756497e-04 9.22574080e+00] [-2.19738318e-03 1.34575636e-04 9.99997577e-01 -2.12157927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.24140051300003 meters Centerline goodness [0,1] 0.9971298474287318 Centerline is valid? [True, True] Translation: X:161.61, Y:9.23, Z:-0.21 [[ 9.89595409e-01 -1.43871517e-01 1.38325996e-03 1.61607180e+02] [ 1.43871497e-01 9.89596372e-01 1.14484718e-04 9.22923181e+00] [-1.38534012e-03 8.57181293e-05 9.99999037e-01 -2.12755512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.271400513 meters Centerline goodness [0,1] 0.9997822299651568 Centerline is valid? [True, True] Translation: X:161.64, Y:9.24, Z:-0.21 [[ 9.89374509e-01 -1.45384764e-01 1.16215952e-03 1.61636126e+02] [ 1.45384751e-01 9.89375189e-01 9.61811120e-05 9.24274252e+00] [-1.16379506e-03 7.38011322e-05 9.99999320e-01 -2.12211535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.30140051300003 meters Centerline goodness [0,1] 0.9987924528301887 Centerline is valid? [True, True] Translation: X:161.66, Y:9.24, Z:-0.21 [[ 9.89137063e-01 -1.46987868e-01 1.56095183e-03 1.61664456e+02] [ 1.46987846e-01 9.89138290e-01 1.29162569e-04 9.23967645e+00] [-1.56298255e-03 1.01681463e-04 9.99998773e-01 -2.12411258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.331400513 meters Centerline goodness [0,1] 0.9462784853998787 Centerline is valid? [True, False] Translation: X:161.66, Y:9.24, Z:-0.21 [[ 9.89702553e-01 -1.43132119e-01 1.43263619e-03 1.61662948e+02] [ 1.43123584e-01 9.89692658e-01 4.90737479e-03 9.23645169e+00] [-2.12027247e-03 -4.65179734e-03 9.99986933e-01 -2.12044317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.36140051300004 meters Centerline goodness [0,1] 0.968148753927603 Centerline is valid? [False, True] Translation: X:161.66, Y:9.23, Z:-0.21 [[ 9.90312736e-01 -1.38851260e-01 1.00580750e-03 1.61662358e+02] [ 1.38834435e-01 9.90265151e-01 9.99652005e-03 9.23225210e+00] [-2.38404552e-03 -9.76004040e-03 9.99949528e-01 -2.11637420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.391400513 meters Centerline goodness [0,1] 0.9704970948999354 Centerline is valid? [True, True] Translation: X:161.69, Y:9.25, Z:-0.21 [[ 9.90377121e-01 -1.38371851e-01 2.52773354e-03 1.61690052e+02] [ 1.38371826e-01 9.90380333e-01 1.85707753e-04 9.24603269e+00] [-2.52911431e-03 1.65846397e-04 9.99996788e-01 -2.11957631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.42140051300004 meters Centerline goodness [0,1] 0.995088984984463 Centerline is valid? [True, True] Translation: X:161.72, Y:9.26, Z:-0.21 [[ 9.90426999e-01 -1.37995508e-01 3.40576741e-03 1.61718271e+02] [ 1.37995457e-01 9.90432830e-01 2.51041012e-04 9.25632429e+00] [-3.40782639e-03 2.21342636e-04 9.99994169e-01 -2.10560882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.451400513 meters Centerline goodness [0,1] 0.9791971746059092 Centerline is valid? [True, True] Translation: X:161.75, Y:9.26, Z:-0.21 [[ 9.90351663e-01 -1.38539271e-01 3.23336906e-03 1.61746206e+02] [ 1.38539226e-01 9.90356918e-01 2.39018831e-04 9.25930109e+00] [-3.23530291e-03 2.11235750e-04 9.99994744e-01 -2.10890976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.481400513 meters Centerline goodness [0,1] 0.9985218676636815 Centerline is valid? [True, True] Translation: X:161.77, Y:9.27, Z:-0.21 [[ 9.90182434e-01 -1.39769283e-01 1.81524311e-03 1.61774912e+02] [ 1.39769271e-01 9.90184090e-01 1.34238786e-04 9.26868374e+00] [-1.81618730e-03 1.20794317e-04 9.99998343e-01 -2.12471020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.511400513 meters Centerline goodness [0,1] 0.9267634009902052 Centerline is valid? [True, False] Translation: X:161.78, Y:9.26, Z:-0.21 [[ 9.90709939e-01 -1.35989904e-01 7.49977257e-04 1.61776981e+02] [ 1.35984083e-01 9.90696806e-01 5.30739099e-03 9.26304176e+00] [-1.46475166e-03 -5.15610003e-03 9.99985634e-01 -2.13071203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.541400513 meters Centerline goodness [0,1] 0.9767666781292985 Centerline is valid? [False, True] Translation: X:161.78, Y:9.26, Z:-0.21 [[ 9.90714264e-01 -1.35958581e-01 7.15233756e-04 1.61777265e+02] [ 1.35952742e-01 9.90700361e-01 5.44484836e-03 9.26237963e+00] [-1.44885619e-03 -5.29705095e-03 9.99984921e-01 -2.13395505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.571400513 meters Centerline goodness [0,1] 0.9803942901906171 Centerline is valid? [True, True] Translation: X:161.81, Y:9.27, Z:-0.21 [[ 9.90544954e-01 -1.37181950e-01 1.34420735e-03 1.61806161e+02] [ 1.37181953e-01 9.90545861e-01 9.00972123e-05 9.27122113e+00] [-1.34385874e-03 9.51556507e-05 9.99999092e-01 -2.12917374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.601400513 meters Centerline goodness [0,1] 0.9803942901906171 Centerline is valid? [True, True] Translation: X:161.83, Y:9.27, Z:-0.21 [[ 9.90518841e-01 -1.37370370e-01 1.34425577e-03 1.61833665e+02] [ 1.37370375e-01 9.90519748e-01 8.93779113e-05 9.27321470e+00] [-1.34378977e-03 9.61304145e-05 9.99999092e-01 -2.13091817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.631400513 meters Centerline goodness [0,1] 0.9293518317797529 Centerline is valid? [True, False] Translation: X:161.83, Y:9.27, Z:-0.21 [[ 9.91090625e-01 -1.33183912e-01 1.19125808e-03 1.61832074e+02] [ 1.33175907e-01 9.91078324e-01 5.28516608e-03 9.26829134e+00] [-1.88452916e-03 -5.07943168e-03 9.99985324e-01 -2.12098189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.661400513 meters Centerline goodness [0,1] 0.953968391052768 Centerline is valid? [False, True] Translation: X:161.83, Y:9.26, Z:-0.21 [[ 9.91678293e-01 -1.28738739e-01 7.07159899e-04 1.61831863e+02] [ 1.28724341e-01 9.91624981e-01 1.04852521e-02 9.26378757e+00] [-2.05109556e-03 -1.03069682e-02 9.99944778e-01 -2.11865377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.691400513 meters Centerline goodness [0,1] 0.9793379582048647 Centerline is valid? [True, True] Translation: X:161.86, Y:9.28, Z:-0.21 [[ 9.91943124e-01 -1.26680163e-01 9.87465080e-04 1.61860491e+02] [ 1.26680167e-01 9.91943613e-01 5.86581342e-05 9.27931421e+00] [-9.86940502e-04 6.69067086e-05 9.99999511e-01 -2.13816634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.721400513 meters Centerline goodness [0,1] 0.9944818735964068 Centerline is valid? [True, True] Translation: X:161.89, Y:9.29, Z:-0.22 [[ 9.92311900e-01 -1.23762114e-01 1.78701746e-04 1.61889142e+02] [ 1.23762114e-01 9.92311916e-01 1.05629778e-05 9.28550081e+00] [-1.78635168e-04 1.16347373e-05 9.99999984e-01 -2.15647406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.751400513 meters Centerline goodness [0,1] 0.9987115892546544 Centerline is valid? [True, True] Translation: X:161.92, Y:9.29, Z:-0.22 [[ 9.92727709e-01 -1.20381330e-01 1.77341289e-04 1.61918942e+02] [ 1.20381330e-01 9.92727725e-01 1.05176506e-05 9.29398500e+00] [-1.77317743e-04 1.09074170e-05 9.99999984e-01 -2.16270760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.781400513 meters Centerline goodness [0,1] 0.9995677264573022 Centerline is valid? [True, True] Translation: X:161.95, Y:9.30, Z:-0.22 [[ 9.93085773e-01 -1.17387685e-01 8.82527473e-04 1.61948936e+02] [ 1.17387684e-01 9.93086164e-01 5.25306810e-05 9.30260881e+00] [-8.82592278e-04 5.14303846e-05 9.99999609e-01 -2.15059807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.811400513 meters Centerline goodness [0,1] 0.9993603275123137 Centerline is valid? [True, True] Translation: X:161.98, Y:9.31, Z:-0.21 [[ 9.93552495e-01 -1.13325090e-01 3.29612620e-03 1.61977359e+02] [ 1.13325061e-01 9.93557946e-01 1.96219869e-04 9.31182585e+00] [-3.29712901e-03 1.78578960e-04 9.99994549e-01 -2.10811458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.841400513 meters Centerline goodness [0,1] 0.9996991123815255 Centerline is valid? [True, True] Translation: X:162.01, Y:9.33, Z:-0.21 [[ 9.93631898e-01 -1.12623238e-01 3.41431451e-03 1.62005072e+02] [ 1.12623203e-01 9.93637747e-01 2.03177260e-04 9.32785043e+00] [-3.41547426e-03 1.82647631e-04 9.99994151e-01 -2.10241671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.871400513 meters Centerline goodness [0,1] 0.9998914152930701 Centerline is valid? [True, True] Translation: X:162.03, Y:9.33, Z:-0.21 [[ 9.93652116e-01 -1.12465564e-01 2.63983177e-03 1.62032339e+02] [ 1.12465541e-01 9.93655613e-01 1.57581656e-04 9.33092314e+00] [-2.64080616e-03 1.40308763e-04 9.99996503e-01 -2.11883750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.901400513 meters Centerline goodness [0,1] 0.9998496498990507 Centerline is valid? [True, True] Translation: X:162.06, Y:9.34, Z:-0.21 [[ 9.93582296e-01 -1.13099068e-01 1.67963331e-03 1.62060564e+02] [ 1.13099060e-01 9.93583712e-01 9.99430864e-05 9.33761666e+00] [-1.68015977e-03 9.06632671e-05 9.99998584e-01 -2.14352609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.931400513 meters Centerline goodness [0,1] 0.9998914341548149 Centerline is valid? [True, True] Translation: X:162.09, Y:9.35, Z:-0.22 [[ 9.93432516e-01 -1.14407376e-01 1.66967516e-03 1.62089091e+02] [ 1.14407369e-01 9.93433915e-01 1.00013792e-04 9.35073380e+00] [-1.67015424e-03 9.16661890e-05 9.99998601e-01 -2.15126420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.961400513 meters Centerline goodness [0,1] 0.999785375485588 Centerline is valid? [True, True] Translation: X:162.12, Y:9.36, Z:-0.21 [[ 9.93335921e-01 -1.15235631e-01 2.12058075e-03 1.62116315e+02] [ 1.15235621e-01 9.93338178e-01 1.27082909e-04 9.35579848e+00] [-2.12109830e-03 1.18130422e-04 9.99997743e-01 -2.14903311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.99140051300003 meters Centerline goodness [0,1] 0.9998920948701902 Centerline is valid? [True, True] Translation: X:162.14, Y:9.37, Z:-0.21 [[ 9.93386199e-01 -1.14807344e-01 1.77018783e-03 1.62142882e+02] [ 1.14805582e-01 9.93387407e-01 1.06707646e-03 9.37259623e+00] [-1.88099051e-03 -8.56791586e-04 9.99997864e-01 -2.14689994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.021400513 meters Centerline goodness [0,1] 0.999891744430251 Centerline is valid? [True, True] Translation: X:162.17, Y:9.37, Z:-0.21 [[ 9.93116771e-01 -1.17109842e-01 2.08923298e-03 1.62172530e+02] [ 1.17111781e-01 9.93118392e-01 -8.30582813e-04 9.37232319e+00] [-1.97758627e-03 1.06953952e-03 9.99997473e-01 -2.14907425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.05140051300003 meters Centerline goodness [0,1] 0.999739859957944 Centerline is valid? [True, True] Translation: X:162.20, Y:9.38, Z:-0.22 [[ 9.92993492e-01 -1.18157481e-01 1.65346667e-03 1.62201250e+02] [ 1.18157479e-01 9.92994864e-01 9.91347072e-05 9.38040903e+00] [-1.65359742e-03 9.69293351e-05 9.99998628e-01 -2.15575826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.081400513 meters Centerline goodness [0,1] 0.9996750151659589 Centerline is valid? [True, True] Translation: X:162.23, Y:9.39, Z:-0.22 [[ 9.92892757e-01 -1.19008944e-01 9.18583884e-04 1.62229250e+02] [ 1.19008944e-01 9.92893181e-01 5.48664457e-05 9.38945012e+00] [-9.18585272e-04 5.48432012e-05 9.99999577e-01 -2.16904719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.11140051300004 meters Centerline goodness [0,1] 0.999761538294782 Centerline is valid? [True, True] Translation: X:162.26, Y:9.40, Z:-0.22 [[ 9.92506590e-01 -1.22189970e-01 5.29944410e-04 1.62259522e+02] [ 1.22189970e-01 9.92506731e-01 3.21076709e-05 9.39541903e+00] [-5.29896629e-04 3.28868166e-05 9.99999859e-01 -2.18473940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.141400513 meters Centerline goodness [0,1] 0.9998045135645865 Centerline is valid? [True, True] Translation: X:162.29, Y:9.40, Z:-0.22 [[ 9.92235684e-01 -1.24370621e-01 5.43436573e-04 1.62289406e+02] [ 1.24370622e-01 9.92235833e-01 3.28782686e-05 9.40122443e+00] [-5.43306331e-04 3.49645531e-05 9.99999852e-01 -2.18528814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.17140051300004 meters Centerline goodness [0,1] 0.9994130945135206 Centerline is valid? [True, True] Translation: X:162.32, Y:9.40, Z:-0.22 [[ 9.91958639e-01 -1.26561744e-01 4.27680603e-04 1.62319789e+02] [ 1.26561744e-01 9.91958731e-01 2.59202758e-05 9.40380714e+00] [-4.27522023e-04 2.84161617e-05 9.99999908e-01 -2.19126391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.201400513 meters Centerline goodness [0,1] 0.996565491778646 Centerline is valid? [True, True] Translation: X:162.35, Y:9.40, Z:-0.22 [[ 9.91751292e-01 -1.28176885e-01 2.47964006e-04 1.62348780e+02] [ 1.28176885e-01 9.91751323e-01 1.48687748e-05 9.39755112e+00] [-2.47824464e-04 1.70371272e-05 9.99999969e-01 -2.20171056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.231400513 meters Centerline goodness [0,1] 0.9968294772922023 Centerline is valid? [True, True] Translation: X:162.38, Y:9.40, Z:-0.22 [[ 9.91596295e-01 -1.29370291e-01 3.41140305e-04 1.62377697e+02] [ 1.29370292e-01 9.91596353e-01 2.05341785e-05 9.40053916e+00] [-3.40929995e-04 2.37718055e-05 9.99999942e-01 -2.20035233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.261400513 meters Centerline goodness [0,1] 0.9882289649236067 Centerline is valid? [True, True] Translation: X:162.41, Y:9.40, Z:-0.22 [[ 9.91560964e-01 -1.29641066e-01 2.20255442e-04 1.62405323e+02] [ 1.29641066e-01 9.91560988e-01 1.31034306e-05 9.39954688e+00] [-2.20095447e-04 1.55613000e-05 9.99999976e-01 -2.20073309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.291400513 meters Centerline goodness [0,1] 0.9996513933372552 Centerline is valid? [True, True] Translation: X:162.43, Y:9.42, Z:-0.22 [[ 9.91732222e-01 -1.28324295e-01 -2.72938962e-04 1.62434253e+02] [ 1.28324295e-01 9.91732260e-01 -1.66972803e-05 9.41537493e+00] [ 2.72825040e-04 -1.84654690e-05 9.99999963e-01 -2.19352175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.321400513 meters Centerline goodness [0,1] 0.9997185050452557 Centerline is valid? [True, True] Translation: X:162.46, Y:9.42, Z:-0.22 [[ 9.91886720e-01 -1.27124141e-01 4.32801614e-04 1.62463421e+02] [ 1.27124142e-01 9.91886814e-01 2.61923397e-05 9.42120411e+00] [-4.32619893e-04 2.90396999e-05 9.99999906e-01 -2.18044837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.351400513 meters Centerline goodness [0,1] 0.9596479467162597 Centerline is valid? [True, True] Translation: X:162.49, Y:9.41, Z:-0.22 [[ 9.92001927e-01 -1.26213758e-01 1.50448541e-03 1.62492709e+02] [ 1.26213764e-01 9.92003063e-01 9.12918434e-05 9.40616303e+00] [-1.50397642e-03 9.93250824e-05 9.99998864e-01 -2.17761894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.381400513 meters Centerline goodness [0,1] 0.9983427316947182 Centerline is valid? [True, True] Translation: X:162.52, Y:9.42, Z:-0.22 [[ 9.92002259e-01 -1.26210263e-01 1.57708005e-03 1.62520532e+02] [ 1.26210270e-01 9.92003507e-01 9.54257789e-05 9.41991026e+00] [-1.57651265e-03 1.04381111e-04 9.99998752e-01 -2.17778714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.411400513 meters Centerline goodness [0,1] 0.9892535268554792 Centerline is valid? [True, True] Translation: X:162.55, Y:9.42, Z:-0.22 [[ 9.91831842e-01 -1.27547519e-01 1.10750634e-03 1.62549054e+02] [ 1.27547523e-01 9.91832458e-01 6.73835660e-05 9.41621542e+00] [-1.10705534e-03 7.44265243e-05 9.99999384e-01 -2.19642355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.441400513 meters Centerline goodness [0,1] 0.980529345058519 Centerline is valid? [True, True] Translation: X:162.58, Y:9.41, Z:-0.22 [[ 9.91119897e-01 -1.32969016e-01 7.68189884e-04 1.62579785e+02] [ 1.32969019e-01 9.91120193e-01 4.68890957e-05 9.41434652e+00] [-7.67603303e-04 5.56727395e-05 9.99999704e-01 -2.20671434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.471400513 meters Centerline goodness [0,1] 0.9164656731845982 Centerline is valid? [True, False] Translation: X:162.58, Y:9.41, Z:-0.22 [[ 9.91148685e-01 -1.32753698e-01 8.60350972e-04 1.62579449e+02] [ 1.32752899e-01 9.91148732e-01 9.26858915e-04 9.41002778e+00] [-9.75779723e-04 -8.04440909e-04 9.99999200e-01 -2.20267555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.501400513 meters Centerline goodness [0,1] 0.898508888068934 Centerline is valid? [False, False] Translation: X:162.58, Y:9.41, Z:-0.22 [[ 9.91177019e-01 -1.32540710e-01 1.03789500e-03 1.62578845e+02] [ 1.32538704e-01 9.91176181e-01 1.80820110e-03 9.40572691e+00] [-1.26839706e-03 -1.65468612e-03 9.99997827e-01 -2.19828148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.531400513 meters Centerline goodness [0,1] 0.9620748077674964 Centerline is valid? [False, True] Translation: X:162.58, Y:9.40, Z:-0.22 [[ 9.91212219e-01 -1.32277416e-01 1.01099086e-03 1.62579013e+02] [ 1.32274396e-01 9.91209660e-01 2.62582506e-03 9.40182761e+00] [-1.34944126e-03 -2.46902168e-03 9.99996041e-01 -2.19722708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.561400513 meters Centerline goodness [0,1] 0.7452285364649305 Centerline is valid? [True, False] Translation: X:162.58, Y:9.39, Z:-0.22 [[ 9.91738085e-01 -1.28278998e-01 2.62627270e-04 1.62580261e+02] [ 1.28272273e-01 9.91703317e-01 8.41157060e-03 9.39313336e+00] [-1.33947618e-03 -8.30838713e-03 9.99964588e-01 -2.20398065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.591400513 meters Centerline goodness [0,1] 0.7672618277483072 Centerline is valid? [False, False] Translation: X:162.58, Y:9.39, Z:-0.22 [[ 9.91760676e-01 -1.28104493e-01 3.17437015e-05 1.62581494e+02] [ 1.28099274e-01 9.91722446e-01 8.78445222e-03 9.39144620e+00] [-1.15680874e-03 -8.70800793e-03 9.99961415e-01 -2.21270476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.621400513 meters Centerline goodness [0,1] 0.9906193836847411 Centerline is valid? [False, True] Translation: X:162.54, Y:9.39, Z:-0.22 [[ 9.92566359e-01 -1.21697346e-01 -1.33363105e-03 1.62541152e+02] [ 1.21689726e-01 9.92556654e-01 -4.78535464e-03 9.39497239e+00] [ 1.90606933e-03 4.58749283e-03 9.99987661e-01 -2.23014664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.651400513 meters Centerline goodness [0,1] 0.9304249143405862 Centerline is valid? [True, False] Translation: X:162.54, Y:9.39, Z:-0.22 [[ 9.93138079e-01 -1.16932923e-01 -1.85657303e-03 1.62541456e+02] [ 1.16935057e-01 9.93138970e-01 1.08561389e-03 9.38738838e+00] [ 1.71689103e-03 -1.29526297e-03 9.99997687e-01 -2.23158949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.681400513 meters Centerline goodness [0,1] 0.9810687022900764 Centerline is valid? [False, True] Translation: X:162.54, Y:9.38, Z:-0.22 [[ 9.93675670e-01 -1.12267783e-01 -2.14671280e-03 1.62540841e+02] [ 1.12280062e-01 9.93652775e-01 6.88118924e-03 9.38004261e+00] [ 1.36055127e-03 -7.07870337e-03 9.99974020e-01 -2.22734748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.711400513 meters Centerline goodness [0,1] 0.9958144477456572 Centerline is valid? [True, True] Translation: X:162.57, Y:9.39, Z:-0.22 [[ 9.93834599e-01 -1.10870257e-01 -7.59435730e-04 1.62570406e+02] [ 1.10870268e-01 9.93834887e-01 -2.76439790e-05 9.39118491e+00] [ 7.57818618e-04 -5.67253002e-05 9.99999711e-01 -2.20680879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.74140051300003 meters Centerline goodness [0,1] 0.969750468275669 Centerline is valid? [True, True] Translation: X:162.60, Y:9.39, Z:-0.22 [[ 9.93968200e-01 -1.09668589e-01 1.32667665e-04 1.62599077e+02] [ 1.09668590e-01 9.93968209e-01 4.61219670e-06 9.38616073e+00] [-1.32373254e-04 9.96509884e-06 9.99999991e-01 -2.19823892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.771400513 meters Centerline goodness [0,1] 0.9681285113109607 Centerline is valid? [True, True] Translation: X:162.63, Y:9.39, Z:-0.22 [[ 9.94066523e-01 -1.08773658e-01 -1.97301989e-04 1.62627167e+02] [ 1.08773658e-01 9.94066543e-01 -7.66255387e-06 9.38534185e+00] [ 1.96964790e-04 -1.38441708e-05 9.99999981e-01 -2.20818970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.80140051300003 meters Centerline goodness [0,1] 0.989900509272192 Centerline is valid? [True, True] Translation: X:162.66, Y:9.38, Z:-0.22 [[ 9.93927392e-01 -1.10017898e-01 -2.09789465e-03 1.62656936e+02] [ 1.10017980e-01 9.93929594e-01 -7.66010245e-05 9.38420857e+00] [ 2.09358706e-03 -1.54670275e-04 9.99997796e-01 -2.23712227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.831400513 meters Centerline goodness [0,1] 0.9975991968222097 Centerline is valid? [True, True] Translation: X:162.69, Y:9.39, Z:-0.22 [[ 9.93765973e-01 -1.11465164e-01 -2.16979553e-03 1.62686061e+02] [ 1.11465255e-01 9.93768328e-01 -7.93755282e-05 9.38771740e+00] [ 2.16512168e-03 -1.62976113e-04 9.99997643e-01 -2.23091958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.86140051300004 meters Centerline goodness [0,1] 0.9400396432111001 Centerline is valid? [True, False] Translation: X:162.69, Y:9.39, Z:-0.22 [[ 9.93779452e-01 -1.11347030e-01 -2.05907085e-03 1.62685532e+02] [ 1.11347919e-01 9.93781433e-01 3.21769500e-04 9.38576620e+00] [ 2.01043831e-03 -5.49041171e-04 9.99997828e-01 -2.22668018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.891400513 meters Centerline goodness [0,1] 0.9714130788417742 Centerline is valid? [False, True] Translation: X:162.68, Y:9.38, Z:-0.22 [[ 9.93789965e-01 -1.11255636e-01 -1.92068411e-03 1.62684784e+02] [ 1.11256967e-01 9.93791491e-01 6.00347455e-04 9.38442504e+00] [ 1.84196749e-03 -8.10308765e-04 9.99997975e-01 -2.21962215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.92140051300004 meters Centerline goodness [0,1] 0.8466542552053241 Centerline is valid? [True, False] Translation: X:162.71, Y:9.39, Z:-0.23 [[ 9.93812337e-01 -1.10997925e-01 4.06206935e-03 1.62706255e+02] [ 1.11030535e-01 9.93776669e-01 -8.95275976e-03 9.38975055e+00] [-3.04305200e-03 9.34837683e-03 9.99951673e-01 -2.27212639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.951400513 meters Centerline goodness [0,1] 0.8323342889410129 Centerline is valid? [False, False] Translation: X:162.71, Y:9.38, Z:-0.23 [[ 9.94306726e-01 -1.06492027e-01 3.68554937e-03 1.62706368e+02] [ 1.06503316e-01 9.94307774e-01 -3.01549528e-03 9.38151556e+00] [-3.34344419e-03 3.39085047e-03 9.99988662e-01 -2.27659225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.981400513 meters Centerline goodness [0,1] 0.9023563205978272 Centerline is valid? [False, False] Translation: X:162.71, Y:9.37, Z:-0.23 [[ 9.94798293e-01 -1.01814560e-01 3.18617626e-03 1.62706942e+02] [ 1.01805916e-01 9.94800431e-01 2.76722078e-03 9.37437565e+00] [-3.45135289e-03 -2.42845491e-03 9.99991095e-01 -2.28202077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.011400513 meters Centerline goodness [0,1] 0.9611770577895445 Centerline is valid? [False, True] Translation: X:162.71, Y:9.37, Z:-0.23 [[ 9.95267556e-01 -9.71340318e-02 2.73341912e-03 1.62707312e+02] [ 9.71083438e-02 9.95238912e-01 8.33535667e-03 9.36836705e+00] [-3.53005187e-03 -8.03047225e-03 9.99961524e-01 -2.28556165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.041400513 meters Centerline goodness [0,1] 0.9793481072691214 Centerline is valid? [True, True] Translation: X:162.74, Y:9.38, Z:-0.23 [[ 9.95398555e-01 -9.57939359e-02 2.28883146e-03 1.62736905e+02] [ 9.57940734e-02 9.95401172e-01 4.97472701e-05 9.37716160e+00] [-2.28307100e-03 1.69738128e-04 9.99997379e-01 -2.30637856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.071400513 meters Centerline goodness [0,1] 0.9271027636628717 Centerline is valid? [True, False] Translation: X:162.74, Y:9.37, Z:-0.23 [[ 9.95821159e-01 -9.13016410e-02 2.05684481e-03 1.62736424e+02] [ 9.12881663e-02 9.95807054e-01 5.89769778e-03 9.36929651e+00] [-2.58669006e-03 -5.68528664e-03 9.99980493e-01 -2.30447212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.101400513 meters Centerline goodness [0,1] 0.959394267171444 Centerline is valid? [False, True] Translation: X:162.74, Y:9.37, Z:-0.23 [[ 9.95839637e-01 -9.10996496e-02 2.06680142e-03 1.62736426e+02] [ 9.10848713e-02 9.95822727e-01 6.37519702e-03 9.36707888e+00] [-2.63894604e-03 -6.16041954e-03 9.99977542e-01 -2.30414094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.131400513 meters Centerline goodness [0,1] 0.9067842399878969 Centerline is valid? [True, False] Translation: X:162.74, Y:9.37, Z:-0.23 [[ 9.95853304e-01 -9.09502637e-02 2.06085233e-03 1.62736483e+02] [ 9.09345095e-02 9.95833942e-01 6.75834419e-03 9.36528339e+00] [-2.66693988e-03 -6.54291679e-03 9.99975039e-01 -2.30425406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.161400513 meters Centerline goodness [0,1] 0.918022487488897 Centerline is valid? [False, False] Translation: X:162.74, Y:9.36, Z:-0.23 [[ 9.95860109e-01 -9.08761255e-02 2.04268271e-03 1.62736560e+02] [ 9.08600301e-02 9.95839546e-01 6.93210717e-03 9.36447611e+00] [-2.66414727e-03 -6.71781079e-03 9.99973886e-01 -2.30422177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.191400513 meters Centerline goodness [0,1] 0.9402904086992382 Centerline is valid? [False, False] Translation: X:162.74, Y:9.36, Z:-0.23 [[ 9.95863822e-01 -9.08358912e-02 2.02206221e-03 1.62736587e+02] [ 9.08197706e-02 9.95842783e-01 6.99427605e-03 9.36419352e+00] [-2.64898736e-03 -6.78170325e-03 9.99973495e-01 -2.30313028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.221400513 meters Centerline goodness [0,1] 0.9789034148047746 Centerline is valid? [False, True] Translation: X:162.72, Y:9.37, Z:-0.23 [[ 9.96362221e-01 -8.51802429e-02 2.57876401e-03 1.62716579e+02] [ 8.51779860e-02 9.96365276e-01 9.72918869e-04 9.36605943e+00] [-2.65226439e-03 -7.49725680e-04 9.99996202e-01 -2.33147381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.251400513 meters Centerline goodness [0,1] 0.999205411789971 Centerline is valid? [True, True] Translation: X:162.75, Y:9.37, Z:-0.23 [[ 9.96633058e-01 -8.19487189e-02 2.63721959e-03 1.62746906e+02] [ 8.19488967e-02 9.96636532e-01 4.07426422e-05 9.37456136e+00] [-2.63168820e-03 1.75511772e-04 9.99996522e-01 -2.33030098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.281400513 meters Centerline goodness [0,1] 0.9998475775721285 Centerline is valid? [True, True] Translation: X:162.78, Y:9.38, Z:-0.24 [[ 9.96907577e-01 -7.85744879e-02 1.15480785e-03 1.62777429e+02] [ 7.85745198e-02 9.96908243e-01 1.78145372e-05 9.38475201e+00] [-1.15263723e-03 7.29790248e-05 9.99999333e-01 -2.35009802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.311400513 meters Centerline goodness [0,1] 0.9997192649059538 Centerline is valid? [True, True] Translation: X:162.81, Y:9.38, Z:-0.24 [[ 9.97161795e-01 -7.52853612e-02 -6.85481601e-04 1.62807016e+02] [ 7.52853716e-02 9.97162029e-01 -1.07030548e-05 9.38306327e+00] [ 6.84342008e-04 -4.09340598e-05 9.99999765e-01 -2.39258733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.341400513 meters Centerline goodness [0,1] 0.9998708371902784 Centerline is valid? [True, True] Translation: X:162.84, Y:9.40, Z:-0.24 [[ 9.97550198e-01 -6.99390201e-02 -1.46128432e-03 1.62837398e+02] [ 6.99390618e-02 9.97551265e-01 -2.26188774e-05 9.39604347e+00] [ 1.45928796e-03 -7.96373886e-05 9.99998932e-01 -2.40536306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.371400513 meters Centerline goodness [0,1] 0.9996328055813551 Centerline is valid? [True, True] Translation: X:162.87, Y:9.40, Z:-0.24 [[ 9.97667045e-01 -6.82612272e-02 -9.34060688e-04 1.62866400e+02] [ 6.82612434e-02 9.97667481e-01 -1.46314133e-05 9.39562050e+00] [ 9.32880731e-04 -4.91628650e-05 9.99999564e-01 -2.39998988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.401400513 meters Centerline goodness [0,1] 0.9997847240161888 Centerline is valid? [True, True] Translation: X:162.90, Y:9.40, Z:-0.24 [[ 9.97723796e-01 -6.74330530e-02 1.00718637e-04 1.62895431e+02] [ 6.74330532e-02 9.97723801e-01 1.25909259e-06 9.39846797e+00] [-1.00574286e-04 5.53553859e-06 9.99999995e-01 -2.38220607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.431400513 meters Centerline goodness [0,1] 0.9998060595612637 Centerline is valid? [True, True] Translation: X:162.92, Y:9.41, Z:-0.24 [[ 9.97736952e-01 -6.72366197e-02 4.60364789e-04 1.62924305e+02] [ 6.72366240e-02 9.97737058e-01 6.11945497e-06 9.40683557e+00] [-4.59734461e-04 2.48477679e-05 9.99999894e-01 -2.37046035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.461400513 meters Centerline goodness [0,1] 0.9998700764383621 Centerline is valid? [True, True] Translation: X:162.95, Y:9.41, Z:-0.24 [[ 9.97770265e-01 -6.67376676e-02 7.62849146e-04 1.62952415e+02] [ 6.67376782e-02 9.97770556e-01 1.16387793e-05 9.40939998e+00] [-7.61925162e-04 3.92979530e-05 9.99999709e-01 -2.36444345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.49140051300003 meters Centerline goodness [0,1] 0.9997639890147614 Centerline is valid? [True, True] Translation: X:162.98, Y:9.41, Z:-0.24 [[ 9.97799011e-01 -6.63085049e-02 5.61998002e-04 1.62980526e+02] [ 6.63085107e-02 9.97799169e-01 8.33061572e-06 9.40654625e+00] [-5.61313530e-04 2.89529705e-05 9.99999842e-01 -2.37938487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.521400513 meters Centerline goodness [0,1] 0.9997639890147614 Centerline is valid? [True, True] Translation: X:163.01, Y:9.41, Z:-0.24 [[ 9.97786885e-01 -6.64907255e-02 5.62006369e-04 1.63008044e+02] [ 6.64907317e-02 9.97787043e-01 7.80954341e-06 9.40714471e+00] [-5.61281935e-04 2.95759547e-05 9.99999842e-01 -2.38120459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.55140051300003 meters Centerline goodness [0,1] 0.9998706812940492 Centerline is valid? [True, True] Translation: X:163.04, Y:9.42, Z:-0.24 [[ 9.97816277e-01 -6.60487171e-02 4.93909851e-04 1.63036669e+02] [ 6.60487217e-02 9.97816399e-01 6.92264060e-06 9.41679582e+00] [-4.93288580e-04 2.57145908e-05 9.99999878e-01 -2.38802211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.581400513 meters Centerline goodness [0,1] 0.999827187695764 Centerline is valid? [True, True] Translation: X:163.07, Y:9.42, Z:-0.24 [[ 9.97842727e-01 -6.56437353e-02 8.89535999e-04 1.63065320e+02] [ 6.56437493e-02 9.97843123e-01 1.34675219e-05 9.42306925e+00] [-8.88501438e-04 4.49540093e-05 9.99999604e-01 -2.38534062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.61140051300004 meters Centerline goodness [0,1] 0.9998051610668514 Centerline is valid? [True, True] Translation: X:163.09, Y:9.43, Z:-0.24 [[ 9.97866891e-01 -6.52527339e-02 1.93593178e-03 1.63094470e+02] [ 6.52527957e-02 9.97868765e-01 3.12750608e-05 9.43158591e+00] [-1.93384664e-03 9.51166134e-05 9.99998126e-01 -2.37129187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.641400513 meters Centerline goodness [0,1] 0.9997880637504238 Centerline is valid? [True, True] Translation: X:163.12, Y:9.43, Z:-0.24 [[ 9.97893974e-01 -6.47610400e-02 3.69118668e-03 1.63122496e+02] [ 6.47612578e-02 9.97900785e-01 6.06001082e-05 9.42735283e+00] [-3.68736260e-03 1.78573409e-04 9.99993186e-01 -2.35723756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.67140051300004 meters Centerline goodness [0,1] 0.9999361973628244 Centerline is valid? [True, True] Translation: X:163.15, Y:9.44, Z:-0.23 [[ 9.97920770e-01 -6.43007002e-02 4.42222049e-03 1.63151474e+02] [ 6.43010078e-02 9.97930546e-01 7.27246870e-05 9.43801303e+00] [-4.41774515e-03 2.11779758e-04 9.99990219e-01 -2.33766701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.701400513 meters Centerline goodness [0,1] 0.9999144933732365 Centerline is valid? [True, True] Translation: X:163.18, Y:9.44, Z:-0.23 [[ 9.97938941e-01 -6.39998661e-02 4.67841960e-03 1.63179939e+02] [ 6.40002021e-02 9.97949883e-01 7.80126826e-05 9.43825127e+00] [-4.67382109e-03 2.21567906e-04 9.99989053e-01 -2.33432573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.731400513 meters Centerline goodness [0,1] 0.9998301882787459 Centerline is valid? [True, True] Translation: X:163.21, Y:9.45, Z:-0.23 [[ 9.97827795e-01 -6.57270451e-02 4.43248481e-03 1.63209959e+02] [ 6.57273628e-02 9.97837616e-01 7.41055379e-05 9.44785429e+00] [-4.42777082e-03 2.17390972e-04 9.99990174e-01 -2.34724615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.761400513 meters Centerline goodness [0,1] 0.9998930527036276 Centerline is valid? [True, True] Translation: X:163.24, Y:9.46, Z:-0.24 [[ 9.97677052e-01 -6.79837828e-02 4.32489770e-03 1.63240262e+02] [ 6.79841061e-02 9.97686402e-01 7.23790627e-05 9.45604564e+00] [-4.31981223e-03 2.21813374e-04 9.99990645e-01 -2.35602851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.791400513 meters Centerline goodness [0,1] 0.9999141741406686 Centerline is valid? [True, True] Translation: X:163.27, Y:9.46, Z:-0.24 [[ 9.97438707e-01 -7.13655238e-02 4.79447306e-03 1.63270875e+02] [ 7.13659602e-02 9.97450196e-01 8.02339569e-05 9.45938629e+00] [-4.78797403e-03 2.62133719e-04 9.99988503e-01 -2.36061982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.821400513 meters Centerline goodness [0,1] 0.9997440600605725 Centerline is valid? [True, True] Translation: X:163.30, Y:9.46, Z:-0.24 [[ 9.97131801e-01 -7.55009673e-02 5.27023810e-03 1.63300737e+02] [ 7.55015521e-02 9.97145680e-01 8.81956463e-05 9.45754321e+00] [-5.26185401e-03 3.09968473e-04 9.99986108e-01 -2.36337255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.851400513 meters Centerline goodness [0,1] 0.9889670712782467 Centerline is valid? [True, True] Translation: X:163.33, Y:9.45, Z:-0.24 [[ 9.96398418e-01 -8.46747642e-02 4.51410197e-03 1.63330178e+02] [ 8.46752867e-02 9.96408596e-01 7.55969268e-05 9.45168967e+00] [-4.50429116e-03 3.06908220e-04 9.99989809e-01 -2.38074932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.881400513 meters Centerline goodness [0,1] 0.9485167464114832 Centerline is valid? [True, False] Translation: X:163.33, Y:9.45, Z:-0.24 [[ 9.96642024e-01 -8.17669703e-02 4.34028412e-03 1.63330171e+02] [ 8.17470146e-02 9.96642533e-01 4.59195971e-03 9.44725502e+00] [-4.70118239e-03 -4.22173475e-03 9.99980038e-01 -2.39072901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.911400513 meters Centerline goodness [0,1] 0.945604537251869 Centerline is valid? [False, False] Translation: X:163.33, Y:9.45, Z:-0.24 [[ 9.96627646e-01 -8.19525739e-02 4.13663538e-03 1.63331315e+02] [ 8.19340223e-02 9.96627726e-01 4.47116791e-03 9.44775564e+00] [-4.48910924e-03 -4.11715837e-03 9.99981448e-01 -2.40118072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.941400513 meters Centerline goodness [0,1] 0.5847418039748599 Centerline is valid? [False, False] Translation: X:163.33, Y:9.45, Z:-0.24 [[ 9.96615952e-01 -8.21090440e-02 3.84042200e-03 1.63332786e+02] [ 8.20917749e-02 9.96614808e-01 4.45699902e-03 9.44773321e+00] [-4.19338137e-03 -4.12664926e-03 9.99982693e-01 -2.41164602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.971400513 meters Centerline goodness [0,1] 0.8920175720561448 Centerline is valid? [False, False] Translation: X:163.33, Y:9.45, Z:-0.24 [[ 9.96615614e-01 -8.21155639e-02 3.78833732e-03 1.63333246e+02] [ 8.20979313e-02 9.96613667e-01 4.59650201e-03 9.44707010e+00] [-4.15295311e-03 -4.26993102e-03 9.99982260e-01 -2.41764521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.001400513 meters Centerline goodness [0,1] 0.7534592008276219 Centerline is valid? [False, False] Translation: X:163.33, Y:9.45, Z:-0.24 [[ 9.96614009e-01 -8.21305737e-02 3.88406676e-03 1.63332906e+02] [ 8.21121428e-02 9.96612069e-01 4.68817628e-03 9.44658147e+00] [-4.25595042e-03 -4.35337311e-03 9.99981467e-01 -2.41661596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.031400513 meters Centerline goodness [0,1] 0.8570002820507258 Centerline is valid? [False, False] Translation: X:163.33, Y:9.45, Z:-0.24 [[ 9.96588661e-01 -8.24072607e-02 4.48158103e-03 1.63330547e+02] [ 8.23870810e-02 9.96590177e-01 4.51531625e-03 9.44705297e+00] [-4.83839448e-03 -4.13068860e-03 9.99979763e-01 -2.40660614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.061400513 meters Centerline goodness [0,1] 0.6793750402957168 Centerline is valid? [False, False] Translation: X:163.33, Y:9.45, Z:-0.24 [[ 9.96580232e-01 -8.25005044e-02 4.63767366e-03 1.63329845e+02] [ 8.24801466e-02 9.96582897e-01 4.42204775e-03 9.44739813e+00] [-4.98664742e-03 -4.02440937e-03 9.99979469e-01 -2.40284347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.091400513 meters Centerline goodness [0,1] 0.5816957244554328 Centerline is valid? [False, False] Translation: X:163.33, Y:9.45, Z:-0.24 [[ 9.96577230e-01 -8.25358092e-02 4.65461835e-03 1.63329781e+02] [ 8.25154742e-02 9.96580053e-01 4.40389211e-03 9.44746458e+00] [-5.00217860e-03 -4.00474056e-03 9.99979470e-01 -2.40284244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.121400513 meters Centerline goodness [0,1] 0.4888956694200466 Centerline is valid? [False, False] Translation: X:163.28, Y:9.45, Z:-0.24 [[ 9.96469738e-01 -8.38122214e-02 4.85510822e-03 1.63281943e+02] [ 8.38197996e-02 9.96479975e-01 -1.37865200e-03 9.45393450e+00] [-4.72247023e-03 1.78073920e-03 9.99987264e-01 -2.40577978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.151400513 meters Centerline goodness [0,1] 0.6540869751041778 Centerline is valid? [False, False] Translation: X:163.31, Y:9.46, Z:-0.24 [[ 9.96533926e-01 -8.31359085e-02 2.92497317e-03 1.63305088e+02] [ 8.31637502e-02 9.96472648e-01 -1.12272996e-02 9.46021704e+00] [-1.98126401e-03 1.14316366e-02 9.99932694e-01 -2.37975538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.181400513 meters Centerline goodness [0,1] 0.47099753033394176 Centerline is valid? [False, False] Translation: X:163.31, Y:9.45, Z:-0.24 [[ 9.96899022e-01 -7.86525385e-02 2.47335520e-03 1.63305996e+02] [ 7.86650535e-02 9.96886194e-01 -5.45214959e-03 9.45283837e+00] [-2.03682824e-03 5.62980922e-03 9.99982078e-01 -2.39095520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.211400513 meters Centerline goodness [0,1] 0.6247322761395842 Centerline is valid? [False, False] Translation: X:163.30, Y:9.45, Z:-0.24 [[ 9.97251167e-01 -7.40525584e-02 2.51584311e-03 1.63304838e+02] [ 7.40518393e-02 9.97254322e-01 3.77945049e-04 9.44524989e+00] [-2.53692322e-03 -1.90603331e-04 9.99996764e-01 -2.38900411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.24140051300003 meters Centerline goodness [0,1] 0.7783757871570828 Centerline is valid? [False, False] Translation: X:163.30, Y:9.45, Z:-0.24 [[ 9.97253434e-01 -7.40189451e-02 2.60456648e-03 1.63304186e+02] [ 7.40181215e-02 9.97256812e-01 4.11336332e-04 9.44505738e+00] [-2.62786835e-03 -2.17421451e-04 9.99996524e-01 -2.38104199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.271400513 meters Centerline goodness [0,1] 0.6644820523876254 Centerline is valid? [False, False] Translation: X:163.30, Y:9.44, Z:-0.24 [[ 9.97256475e-01 -7.39756254e-02 2.67012915e-03 1.63303706e+02] [ 7.39747438e-02 9.97260023e-01 4.27582619e-04 9.44498598e+00] [-2.69444376e-03 -2.28887415e-04 9.99996344e-01 -2.37566454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.30140051300003 meters Centerline goodness [0,1] 0.4973416180898085 Centerline is valid? [False, False] Translation: X:163.30, Y:9.45, Z:-0.24 [[ 9.97255152e-01 -7.39941399e-02 2.65129675e-03 1.63303632e+02] [ 7.39936702e-02 9.97258673e-01 2.74942372e-04 9.44576397e+00] [-2.66437280e-03 -7.80085192e-05 9.99996448e-01 -2.37366968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.331400513 meters Centerline goodness [0,1] 0.5385257301808066 Centerline is valid? [False, False] Translation: X:163.30, Y:9.44, Z:-0.24 [[ 9.97586442e-01 -6.93875582e-02 2.58011936e-03 1.63303209e+02] [ 6.93714768e-02 9.97573611e-01 5.87268902e-03 9.43951174e+00] [-2.98135054e-03 -5.67952826e-03 9.99979427e-01 -2.37937792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.36140051300004 meters Centerline goodness [0,1] 0.8358397330309967 Centerline is valid? [False, False] Translation: X:163.30, Y:9.45, Z:-0.23 [[ 9.97856669e-01 -6.53870062e-02 -2.57057471e-03 1.63299334e+02] [ 6.53603023e-02 9.97817693e-01 -9.37459336e-03 9.44976737e+00] [ 3.17794152e-03 9.18648696e-03 9.99952753e-01 -2.32122990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.391400513 meters Centerline goodness [0,1] 0.7973125492450861 Centerline is valid? [False, False] Translation: X:163.30, Y:9.44, Z:-0.23 [[ 9.98145917e-01 -6.08014575e-02 -2.81284289e-03 1.63299604e+02] [ 6.07910576e-02 9.98143855e-01 -3.64586061e-03 9.44272514e+00] [ 3.02929548e-03 3.46810519e-03 9.99989398e-01 -2.32845504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.42140051300004 meters Centerline goodness [0,1] 0.8949107162135901 Centerline is valid? [False, False] Translation: X:163.30, Y:9.44, Z:-0.23 [[ 9.98144474e-01 -6.08239712e-02 -2.83783827e-03 1.63299685e+02] [ 6.08132841e-02 9.98142259e-01 -3.71147436e-03 9.44303647e+00] [ 3.05831291e-03 3.53200936e-03 9.99989086e-01 -2.32848366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.451400513 meters Centerline goodness [0,1] 0.8455153832782896 Centerline is valid? [False, False] Translation: X:163.30, Y:9.44, Z:-0.23 [[ 9.98410920e-01 -5.62837739e-02 -2.78780392e-03 1.63298902e+02] [ 5.62891674e-02 9.98412709e-01 1.89548361e-03 9.43658702e+00] [ 2.67669389e-03 -2.04939469e-03 9.99994318e-01 -2.33098062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.481400513 meters Centerline goodness [0,1] 0.7754993737926935 Centerline is valid? [False, False] Translation: X:163.32, Y:9.44, Z:-0.23 [[ 9.98520339e-01 -5.43591862e-02 -1.48687699e-03 1.63320010e+02] [ 5.43462218e-02 9.98492540e-01 -7.68998568e-03 9.44118750e+00] [ 1.90265694e-03 7.59780096e-03 9.99969326e-01 -2.31412757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.511400513 meters Centerline goodness [0,1] 0.8797979149273222 Centerline is valid? [False, False] Translation: X:163.32, Y:9.43, Z:-0.23 [[ 9.98769143e-01 -4.95776315e-02 -1.50229890e-03 1.63319383e+02] [ 4.95744951e-02 9.98768309e-01 -2.05764617e-03 9.43492508e+00] [ 1.60246176e-03 1.98063779e-03 9.99996755e-01 -2.31406878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.541400513 meters Centerline goodness [0,1] 0.9866800865151937 Centerline is valid? [False, True] Translation: X:163.32, Y:9.43, Z:-0.23 [[ 9.98987117e-01 -4.49712539e-02 -1.52518633e-03 1.63318823e+02] [ 4.49757520e-02 9.98983406e-01 3.05561757e-03 9.43115018e+00] [ 1.38622089e-03 -3.12111899e-03 9.99994168e-01 -2.31393119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.571400513 meters Centerline goodness [0,1] 0.9970803230824968 Centerline is valid? [True, True] Translation: X:163.35, Y:9.44, Z:-0.23 [[ 9.99139839e-01 -4.14453524e-02 -1.36558472e-03 1.63348884e+02] [ 4.14454429e-02 9.99140768e-01 3.80378176e-05 9.44167403e+00] [ 1.36283488e-03 -9.46023625e-05 9.99999067e-01 -2.30500913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.601400513 meters Centerline goodness [0,1] 0.9927783221848239 Centerline is valid? [True, True] Translation: X:163.38, Y:9.44, Z:-0.23 [[ 9.99299946e-01 -3.74014869e-02 -8.64453467e-04 1.63377465e+02] [ 3.74015215e-02 9.99300318e-01 2.39608575e-05 9.44242278e+00] [ 8.62952453e-04 -5.62759586e-05 9.99999626e-01 -2.30379459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.631400513 meters Centerline goodness [0,1] 0.9995935394159803 Centerline is valid? [True, True] Translation: X:163.41, Y:9.46, Z:-0.23 [[ 9.99435778e-01 -3.35875783e-02 -2.07407629e-05 1.63407403e+02] [ 3.35875784e-02 9.99435778e-01 5.45307337e-07 9.45709545e+00] [ 2.07107450e-05 -1.24163166e-06 1.00000000e+00 -2.29214363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.661400513 meters Centerline goodness [0,1] 0.9998280568272186 Centerline is valid? [True, True] Translation: X:163.44, Y:9.47, Z:-0.23 [[ 9.99628714e-01 -2.71833156e-02 1.87144274e-03 1.63438384e+02] [ 2.71834608e-02 9.99630460e-01 -5.21879122e-05 9.47045754e+00] [-1.86933253e-03 1.03040826e-04 9.99998247e-01 -2.26541078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.691400513 meters Centerline goodness [0,1] 0.999892765993952 Centerline is valid? [True, True] Translation: X:163.47, Y:9.47, Z:-0.23 [[ 9.99678716e-01 -2.52428836e-02 2.29389674e-03 1.63468250e+02] [ 2.52430967e-02 9.99681340e-01 -6.39520241e-05 9.47242370e+00] [-2.29155144e-03 1.21836535e-04 9.99997367e-01 -2.26008001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.721400513 meters Centerline goodness [0,1] 0.9997614089883741 Centerline is valid? [True, True] Translation: X:163.50, Y:9.48, Z:-0.23 [[ 9.99705839e-01 -2.42112349e-02 1.43211811e-03 1.63499909e+02] [ 2.42113168e-02 9.99706862e-01 -3.98480532e-05 9.48273378e+00] [-1.43073353e-03 7.45097967e-05 9.99998974e-01 -2.26742627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.751400513 meters Centerline goodness [0,1] 0.999847208276946 Centerline is valid? [True, True] Translation: X:163.53, Y:9.49, Z:-0.23 [[ 9.99705963e-01 -2.42334201e-02 8.53990546e-04 1.63532651e+02] [ 2.42334491e-02 9.99706327e-01 -2.36393217e-05 9.49040658e+00] [-8.53166890e-04 4.43275073e-05 9.99999635e-01 -2.27455296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.781400513 meters Centerline goodness [0,1] 0.9998048568950564 Centerline is valid? [True, True] Translation: X:163.56, Y:9.49, Z:-0.23 [[ 9.99677365e-01 -2.53885858e-02 7.65680463e-04 1.63562500e+02] [ 2.53886094e-02 9.99677657e-01 -2.11794577e-05 9.48709327e+00] [-7.64895935e-04 4.06121867e-05 9.99999707e-01 -2.28060614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.811400513 meters Centerline goodness [0,1] 0.999913476097772 Centerline is valid? [True, True] Translation: X:163.59, Y:9.49, Z:-0.23 [[ 9.99619333e-01 -2.75538563e-02 1.40504320e-03 1.63593086e+02] [ 2.75539387e-02 9.99620317e-01 -3.93113418e-05 9.48632003e+00] [-1.40342655e-03 7.80108515e-05 9.99999012e-01 -2.27163690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.841400513 meters Centerline goodness [0,1] 0.9996777381515061 Centerline is valid? [True, True] Translation: X:163.62, Y:9.49, Z:-0.22 [[ 9.99423998e-01 -3.37998330e-02 3.04028507e-03 1.63623633e+02] [ 3.38002479e-02 9.99428605e-01 -8.51785733e-05 9.48634447e+00] [-3.03566884e-03 1.87891899e-04 9.99995375e-01 -2.23814887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.871400513 meters Centerline goodness [0,1] 0.999096404982681 Centerline is valid? [True, True] Translation: X:163.65, Y:9.48, Z:-0.22 [[ 9.99315495e-01 -3.68949096e-02 2.70332499e-03 1.63653466e+02] [ 3.68952489e-02 9.99319136e-01 -7.57352868e-05 9.48409341e+00] [-2.69869015e-03 1.75423294e-04 9.99996343e-01 -2.24341005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.901400513 meters Centerline goodness [0,1] 0.9991384323777113 Centerline is valid? [True, True] Translation: X:163.68, Y:9.49, Z:-0.23 [[ 9.99217518e-01 -3.95108816e-02 1.80059008e-03 1.63684396e+02] [ 3.95110364e-02 9.99219133e-01 -5.04580739e-05 9.48812426e+00] [-1.79719042e-03 1.21561772e-04 9.99998378e-01 -2.25069688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.931400513 meters Centerline goodness [0,1] 0.9963694515278558 Centerline is valid? [True, True] Translation: X:163.72, Y:9.49, Z:-0.23 [[ 9.99081141e-01 -4.28583771e-02 -1.84372485e-04 1.63715982e+02] [ 4.28583788e-02 9.99081158e-01 5.25766046e-06 9.49240353e+00] [ 1.83977741e-04 -1.31547352e-05 9.99999983e-01 -2.28637591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.961400513 meters Centerline goodness [0,1] 0.9729589296152764 Centerline is valid? [True, True] Translation: X:163.75, Y:9.49, Z:-0.23 [[ 9.99032574e-01 -4.39753352e-02 -2.93432500e-04 1.63745566e+02] [ 4.39753395e-02 9.99032617e-01 8.22998248e-06 9.48766684e+00] [ 2.92786722e-04 -2.11258144e-05 9.99999957e-01 -2.29750146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.99140051300003 meters Centerline goodness [0,1] 0.9964735845360152 Centerline is valid? [True, True] Translation: X:163.78, Y:9.50, Z:-0.23 [[ 9.99005613e-01 -4.45838823e-02 2.50049256e-04 1.63776984e+02] [ 4.45838855e-02 9.99005644e-01 -6.90817264e-06 9.49760787e+00] [-2.49492625e-04 1.80494706e-05 9.99999969e-01 -2.29176437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.021400513 meters Centerline goodness [0,1] 0.9950207112656407 Centerline is valid? [True, True] Translation: X:163.81, Y:9.50, Z:-0.23 [[ 9.98972225e-01 -4.53088037e-02 1.26746325e-03 1.63807607e+02] [ 4.53088850e-02 9.98973024e-01 -3.55378117e-05 9.49815846e+00] [-1.26455142e-03 9.29286335e-05 9.99999196e-01 -2.28084751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.05140051300003 meters Centerline goodness [0,1] 0.9962379345185631 Centerline is valid? [True, True] Translation: X:163.84, Y:9.50, Z:-0.23 [[ 9.98924296e-01 -4.63204826e-02 2.15934505e-03 1.63838908e+02] [ 4.63207212e-02 9.98926617e-01 -6.05789451e-05 9.50098728e+00] [-2.15422120e-03 1.60536200e-04 9.99997667e-01 -2.27030331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.081400513 meters Centerline goodness [0,1] 0.9967999651696889 Centerline is valid? [True, True] Translation: X:163.87, Y:9.51, Z:-0.23 [[ 9.98761503e-01 -4.97330490e-02 1.44352579e-03 1.63869779e+02] [ 4.97331592e-02 9.98762540e-01 -4.04879135e-05 9.50528935e+00] [-1.43972590e-03 1.12228867e-04 9.99998957e-01 -2.27388102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.11140051300004 meters Centerline goodness [0,1] 0.9459552718411007 Centerline is valid? [True, False] Translation: X:163.87, Y:9.50, Z:-0.23 [[ 9.98760218e-01 -4.97613891e-02 1.35300565e-03 1.63870436e+02] [ 4.97612869e-02 9.98761134e-01 1.09182031e-04 9.50456310e+00] [-1.35676251e-03 -4.17193665e-05 9.99999079e-01 -2.28176308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.141400513 meters Centerline goodness [0,1] 0.7946344591705857 Centerline is valid? [False, False] Translation: X:163.87, Y:9.50, Z:-0.23 [[ 9.98758716e-01 -4.97933894e-02 1.28267541e-03 1.63871042e+02] [ 4.97930994e-02 9.98759521e-01 2.57038867e-04 9.50385624e+00] [-1.29388312e-03 -1.92851424e-04 9.99999144e-01 -2.28962054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.17140051300004 meters Centerline goodness [0,1] 0.8670235546038544 Centerline is valid? [False, False] Translation: X:163.87, Y:9.50, Z:-0.23 [[ 9.98755668e-01 -4.98546346e-02 1.27743013e-03 1.63871150e+02] [ 4.98543911e-02 9.98756472e-01 2.21778763e-04 9.50399309e+00] [-1.28689831e-03 -1.57817295e-04 9.99999159e-01 -2.29125496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.201400513 meters Centerline goodness [0,1] 0.6534380214796115 Centerline is valid? [False, False] Translation: X:163.87, Y:9.50, Z:-0.23 [[ 9.98923856e-01 -4.63569516e-02 1.47075897e-03 1.63869908e+02] [ 4.63488696e-02 9.98912185e-01 5.12141284e-03 9.49902253e+00] [-1.70657214e-03 -5.04773344e-03 9.99985804e-01 -2.29507525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.231400513 meters Centerline goodness [0,1] 0.7332563263385313 Centerline is valid? [False, False] Translation: X:163.87, Y:9.50, Z:-0.23 [[ 9.98925078e-01 -4.63303922e-02 1.47788248e-03 1.63870067e+02] [ 4.63220759e-02 9.98912828e-01 5.23705486e-03 9.49847727e+00] [-1.71891057e-03 -5.16296684e-03 9.99985194e-01 -2.29845473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.261400513 meters Centerline goodness [0,1] 0.7634385528207549 Centerline is valid? [False, False] Translation: X:163.87, Y:9.50, Z:-0.23 [[ 9.98925620e-01 -4.63191385e-02 1.46403611e-03 1.63870354e+02] [ 4.63107905e-02 9.98913032e-01 5.29766192e-03 9.49821695e+00] [-1.70782788e-03 -5.22416955e-03 9.99984896e-01 -2.30343398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.291400513 meters Centerline goodness [0,1] 0.6947263422673259 Centerline is valid? [False, False] Translation: X:163.87, Y:9.50, Z:-0.23 [[ 9.98918835e-01 -4.64623812e-02 1.55194380e-03 1.63870119e+02] [ 4.64541357e-02 9.98907996e-01 4.98281754e-03 9.49967970e+00] [-1.78176264e-03 -4.90533609e-03 9.99986381e-01 -2.30470684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.321400513 meters Centerline goodness [0,1] 0.7938442292345189 Centerline is valid? [False, False] Translation: X:163.87, Y:9.51, Z:-0.23 [[ 9.99070806e-01 -4.27655346e-02 5.35095085e-03 1.63871195e+02] [ 4.28244814e-02 9.99017174e-01 -1.14345485e-02 9.51159224e+00] [-4.85668722e-03 1.16530753e-02 9.99920306e-01 -2.32959844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.351400513 meters Centerline goodness [0,1] 0.6355542238298055 Centerline is valid? [False, False] Translation: X:163.87, Y:9.51, Z:-0.23 [[ 9.99247555e-01 -3.84257635e-02 5.27113281e-03 1.63871195e+02] [ 3.84578996e-02 9.99241375e-01 -6.13707380e-03 9.50657723e+00] [-5.03131225e-03 6.33517268e-03 9.99967275e-01 -2.33770220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.381400513 meters Centerline goodness [0,1] 0.6949806118052564 Centerline is valid? [False, False] Translation: X:163.87, Y:9.50, Z:-0.23 [[ 9.99403380e-01 -3.41064876e-02 5.44352371e-03 1.63870537e+02] [ 3.41121091e-02 9.99417568e-01 -9.43188564e-04 9.50209485e+00] [-5.40818437e-03 1.12831591e-03 9.99984739e-01 -2.34657562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.411400513 meters Centerline goodness [0,1] 0.6949806118052564 Centerline is valid? [False, False] Translation: X:163.87, Y:9.50, Z:-0.23 [[ 9.99403380e-01 -3.41064876e-02 5.44352371e-03 1.63870537e+02] [ 3.41121091e-02 9.99417568e-01 -9.43188564e-04 9.50209485e+00] [-5.40818437e-03 1.12831591e-03 9.99984739e-01 -2.34657562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.441400513 meters Centerline goodness [0,1] 0.8466410460098331 Centerline is valid? [False, False] Translation: X:163.88, Y:9.50, Z:-0.24 [[ 9.99464160e-01 -3.24379448e-02 4.37863566e-03 1.63877538e+02] [ 3.24358020e-02 9.99473664e-01 5.59529371e-04 9.50385742e+00] [-4.39448101e-03 -4.17204994e-04 9.99990257e-01 -2.39136196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.471400513 meters Centerline goodness [0,1] 0.7489324263427823 Centerline is valid? [False, False] Translation: X:163.88, Y:9.51, Z:-0.24 [[ 9.99458547e-01 -3.26167466e-02 4.33141143e-03 1.63877410e+02] [ 3.26172041e-02 9.99467917e-01 -3.49995817e-05 9.50666871e+00] [-4.32796518e-03 1.76259162e-04 9.99990619e-01 -2.38544533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.501400513 meters Centerline goodness [0,1] 0.7131393965610469 Centerline is valid? [False, False] Translation: X:163.88, Y:9.51, Z:-0.24 [[ 9.99454173e-01 -3.27454754e-02 4.36923093e-03 1.63877060e+02] [ 3.27481262e-02 9.99463492e-01 -5.36516641e-04 9.50905408e+00] [-4.34931831e-03 6.79307921e-04 9.99990311e-01 -2.38039138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.531400513 meters Centerline goodness [0,1] 0.7922578422718367 Centerline is valid? [False, False] Translation: X:163.88, Y:9.52, Z:-0.24 [[ 9.99596448e-01 -2.80830622e-02 4.27577964e-03 1.63876712e+02] [ 2.81535937e-02 9.99451437e-01 -1.74413584e-02 9.52261712e+00] [-3.78362735e-03 1.75546985e-02 9.99838745e-01 -2.36459916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.561400513 meters Centerline goodness [0,1] 0.8724301867397636 Centerline is valid? [False, False] Translation: X:163.88, Y:9.51, Z:-0.24 [[ 9.99791499e-01 -1.99519043e-02 4.34501777e-03 1.63876237e+02] [ 1.99842821e-02 9.99771860e-01 -7.54032698e-03 9.51482898e+00] [-4.19358261e-03 7.62558688e-03 9.99962131e-01 -2.37851944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.591400513 meters Centerline goodness [0,1] 0.8440129449838187 Centerline is valid? [False, False] Translation: X:163.88, Y:9.51, Z:-0.24 [[ 9.99869691e-01 -1.55699758e-02 4.26347304e-03 1.63876810e+02] [ 1.55826216e-02 9.99874234e-01 -2.94909652e-03 9.51368837e+00] [-4.21701948e-03 3.01514832e-03 9.99986563e-01 -2.39041267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.621400513 meters Centerline goodness [0,1] 0.9088821987827858 Centerline is valid? [False, False] Translation: X:163.88, Y:9.52, Z:-0.24 [[ 9.99925537e-01 -1.15282048e-02 4.00266564e-03 1.63878125e+02] [ 1.15255088e-02 9.99933337e-01 6.95977356e-04 9.51710164e+00] [-4.01042218e-03 -6.49792773e-04 9.99991747e-01 -2.40469679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.651400513 meters Centerline goodness [0,1] 0.8362555464610347 Centerline is valid? [False, False] Translation: X:163.88, Y:9.52, Z:-0.24 [[ 9.99921667e-01 -1.18854764e-02 3.92363059e-03 1.63878111e+02] [ 1.18867308e-02 9.99929306e-01 -2.96530579e-04 9.52180331e+00] [-3.91982881e-03 3.43146492e-04 9.99992259e-01 -2.39924166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.681400513 meters Centerline goodness [0,1] 0.9915600800487253 Centerline is valid? [False, True] Translation: X:163.88, Y:9.53, Z:-0.24 [[ 9.99914954e-01 -1.23848169e-02 4.08661995e-03 1.63877082e+02] [ 1.23911702e-02 9.99922051e-01 -1.53301765e-03 9.52747358e+00] [-4.06731526e-03 1.58352527e-03 9.99990475e-01 -2.38833491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.711400513 meters Centerline goodness [0,1] 0.9960390006093846 Centerline is valid? [True, True] Translation: X:163.91, Y:9.53, Z:-0.24 [[ 9.99913695e-01 -1.16936304e-02 5.98852858e-03 1.63908543e+02] [ 1.16958961e-02 9.99931542e-01 -3.43464982e-04 9.53042683e+00] [-5.98410226e-03 4.13476547e-04 9.99982010e-01 -2.36661146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.74140051300003 meters Centerline goodness [0,1] 0.9969294425087109 Centerline is valid? [True, True] Translation: X:163.94, Y:9.53, Z:-0.23 [[ 9.99908727e-01 -1.10282548e-02 7.80484892e-03 1.63939551e+02] [ 1.10320822e-02 9.99939045e-01 -4.47503813e-04 9.53229758e+00] [-7.79943799e-03 5.33566703e-04 9.99969442e-01 -2.34492187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.771400513 meters Centerline goodness [0,1] 0.9987299537186525 Centerline is valid? [True, True] Translation: X:163.97, Y:9.54, Z:-0.23 [[ 9.99887652e-01 -1.09001896e-02 1.02893145e-02 1.63972039e+02] [ 1.09068508e-02 9.99940344e-01 -5.91503358e-04 9.53568009e+00] [-1.02822531e-02 7.03660921e-04 9.99946889e-01 -2.32252806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.80140051300003 meters Centerline goodness [0,1] 0.9744880546075085 Centerline is valid? [True, True] Translation: X:164.00, Y:9.52, Z:-0.23 [[ 9.99872288e-01 -1.18705568e-02 1.07003378e-02 1.64002812e+02] [ 1.18778222e-02 9.99929267e-01 -6.15690839e-04 9.52420169e+00] [-1.06922723e-02 7.42708918e-04 9.99942560e-01 -2.33089072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.831400513 meters Centerline goodness [0,1] 0.9744982290436836 Centerline is valid? [True, True] Translation: X:164.03, Y:9.52, Z:-0.23 [[ 9.99848951e-01 -1.37090624e-02 1.06835254e-02 1.64033778e+02] [ 1.37164141e-02 9.99905736e-01 -6.15164218e-04 9.52411119e+00] [-1.06740850e-02 7.61610957e-04 9.99942740e-01 -2.32972121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.86140051300004 meters Centerline goodness [0,1] 0.9971732985431616 Centerline is valid? [True, True] Translation: X:164.07, Y:9.53, Z:-0.23 [[ 9.99816541e-01 -1.57337157e-02 1.09240132e-02 1.64065338e+02] [ 1.57415234e-02 9.99875897e-01 -6.29105492e-04 9.53277674e+00] [-1.09127593e-02 8.00950686e-04 9.99940133e-01 -2.32301442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.891400513 meters Centerline goodness [0,1] 0.9971203850947694 Centerline is valid? [True, True] Translation: X:164.10, Y:9.53, Z:-0.23 [[ 9.99781285e-01 -1.73721472e-02 1.16443500e-02 1.64096830e+02] [ 1.73811323e-02 9.99848712e-01 -6.70865311e-04 9.53088666e+00] [-1.16309340e-02 8.73110571e-04 9.99931977e-01 -2.31402880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.92140051300004 meters Centerline goodness [0,1] 0.8950633127994524 Centerline is valid? [True, False] Translation: X:164.10, Y:9.53, Z:-0.23 [[ 9.99778270e-01 -1.75058507e-02 1.17028052e-02 1.64096547e+02] [ 1.75180171e-02 9.99846108e-01 -9.37907072e-04 9.53210307e+00] [-1.16845854e-02 1.14270905e-03 9.99931080e-01 -2.31213562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.951400513 meters Centerline goodness [0,1] 0.9123217660195843 Centerline is valid? [False, False] Translation: X:164.10, Y:9.54, Z:-0.23 [[ 9.99771958e-01 -1.79549752e-02 1.15607893e-02 1.64097181e+02] [ 1.79791985e-02 9.99836371e-01 -1.99477892e-03 9.53711933e+00] [-1.15230814e-02 2.20217775e-03 9.99931182e-01 -2.31564889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.981400513 meters Centerline goodness [0,1] 0.9150679071757031 Centerline is valid? [False, False] Translation: X:164.10, Y:9.53, Z:-0.23 [[ 9.99840226e-01 -1.37080533e-02 1.14722442e-02 1.64097760e+02] [ 1.36765850e-02 9.99902503e-01 2.81697108e-03 9.53468735e+00] [-1.15097409e-02 -2.65961988e-03 9.99930224e-01 -2.32752371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.011400513 meters Centerline goodness [0,1] 0.98469685507403 Centerline is valid? [False, True] Translation: X:164.07, Y:9.55, Z:-0.22 [[ 9.99911342e-01 -1.19782638e-02 5.81623692e-03 1.64073252e+02] [ 1.20174253e-02 9.99905035e-01 -6.74552505e-03 9.54762244e+00] [-5.73488490e-03 6.81482320e-03 9.99960334e-01 -2.24543408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.041400513 meters Centerline goodness [0,1] 0.9573094901153566 Centerline is valid? [True, True] Translation: X:164.10, Y:9.54, Z:-0.23 [[ 9.99920734e-01 -1.11588350e-02 5.83153352e-03 1.64103379e+02] [ 1.11611927e-02 9.99937643e-01 -3.71906761e-04 9.53874492e+00] [-5.82701983e-03 4.36964150e-04 9.99982927e-01 -2.26879871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.071400513 meters Centerline goodness [0,1] 0.9561552521234276 Centerline is valid? [True, True] Translation: X:164.13, Y:9.54, Z:-0.23 [[ 9.99926927e-01 -1.03546848e-02 6.23868202e-03 1.64134132e+02] [ 1.03573686e-02 9.99946282e-01 -3.98038575e-04 9.53710944e+00] [-6.23422533e-03 4.62625818e-04 9.99980460e-01 -2.26970385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.101400513 meters Centerline goodness [0,1] 0.9810123832283294 Centerline is valid? [True, True] Translation: X:164.17, Y:9.54, Z:-0.23 [[ 9.99928074e-01 -1.00974850e-02 6.47213145e-03 1.64166759e+02] [ 1.01003673e-02 9.99948905e-01 -4.12815468e-04 9.54036229e+00] [-6.46763235e-03 4.78156680e-04 9.99978970e-01 -2.26838024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.131400513 meters Centerline goodness [0,1] 0.8974232655771414 Centerline is valid? [True, False] Translation: X:164.17, Y:9.55, Z:-0.23 [[ 9.99901981e-01 -1.28392740e-02 5.58408438e-03 1.64173183e+02] [ 1.28596105e-02 9.99910754e-01 -3.62133429e-03 9.54513678e+00] [-5.53709072e-03 3.69278848e-03 9.99977852e-01 -2.30813445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.161400513 meters Centerline goodness [0,1] 0.9573857552785987 Centerline is valid? [False, True] Translation: X:164.17, Y:9.54, Z:-0.23 [[ 9.99943215e-01 -9.00823699e-03 5.69375608e-03 1.64172952e+02] [ 8.99862647e-03 9.99958047e-01 1.71127611e-03 9.53881154e+00] [-5.70893279e-03 -1.65994295e-03 9.99982326e-01 -2.31904376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.191400513 meters Centerline goodness [0,1] 0.8946583044982699 Centerline is valid? [True, False] Translation: X:164.15, Y:9.55, Z:-0.22 [[ 9.99943117e-01 -1.06566803e-02 4.45148394e-04 1.64148412e+02] [ 1.06612098e-02 9.99872875e-01 -1.18563060e-02 9.55176641e+00] [-3.18742942e-04 1.18603774e-02 9.99929612e-01 -2.22927010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.221400513 meters Centerline goodness [0,1] 0.8381174036720972 Centerline is valid? [False, False] Translation: X:164.15, Y:9.54, Z:-0.22 [[ 9.99973133e-01 -7.28879756e-03 7.79198840e-04 1.64147174e+02] [ 7.29376627e-03 9.99951775e-01 -6.57630626e-03 9.54387929e+00] [-7.31227899e-04 6.58181286e-03 9.99978072e-01 -2.23756467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.251400513 meters Centerline goodness [0,1] 0.8940807290547221 Centerline is valid? [False, False] Translation: X:164.15, Y:9.54, Z:-0.23 [[ 9.99994597e-01 -3.11882819e-03 1.03835515e-03 1.64146752e+02] [ 3.11992026e-03 9.99994580e-01 -1.05176937e-03 9.53724371e+00] [-1.03506924e-03 1.05500327e-03 9.99998908e-01 -2.25127942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.281400513 meters Centerline goodness [0,1] 0.7046941007441083 Centerline is valid? [False, False] Translation: X:164.15, Y:9.54, Z:-0.23 [[ 9.99994713e-01 -3.12765052e-03 8.89359207e-04 1.64147566e+02] [ 3.12863878e-03 9.99994488e-01 -1.11199957e-03 9.53764315e+00] [-8.85876358e-04 1.11477618e-03 9.99998986e-01 -2.25768971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.311400513 meters Centerline goodness [0,1] 0.8156355142189744 Centerline is valid? [False, False] Translation: X:164.15, Y:9.54, Z:-0.23 [[ 9.99994608e-01 -3.20972459e-03 6.93541271e-04 1.64148491e+02] [ 3.21067675e-03 9.99993899e-01 -1.37616270e-03 9.53904339e+00] [-6.89119937e-04 1.37838202e-03 9.99998813e-01 -2.26319157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.341400513 meters Centerline goodness [0,1] 0.7886229473006332 Centerline is valid? [False, False] Translation: X:164.15, Y:9.54, Z:-0.23 [[ 9.99994377e-01 -3.31215474e-03 5.25612503e-04 1.64149104e+02] [ 3.31305014e-03 9.99993047e-01 -1.71191299e-03 9.54072361e+00] [-5.19938727e-04 1.71364474e-03 9.99998397e-01 -2.26420789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.371400513 meters Centerline goodness [0,1] 0.9314252285825714 Centerline is valid? [False, False] Translation: X:164.14, Y:9.54, Z:-0.22 [[ 9.99998476e-01 -9.25882540e-04 1.47987630e-03 1.64142331e+02] [ 9.24707980e-04 9.99999257e-01 7.94175106e-04 9.53875855e+00] [-1.48061052e-03 -7.92805442e-04 9.99998590e-01 -2.22150850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.401400513 meters Centerline goodness [0,1] 0.8488421955403087 Centerline is valid? [False, False] Translation: X:164.16, Y:9.55, Z:-0.21 [[ 9.99999899e-01 4.42931513e-04 7.71824333e-05 1.64156837e+02] [-4.42291853e-04 9.99967101e-01 -8.09941661e-03 9.54535870e+00] [-8.07673809e-05 8.09938165e-03 9.99967196e-01 -2.12155578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.431400513 meters Centerline goodness [0,1] 0.9873163786966932 Centerline is valid? [False, True] Translation: X:164.16, Y:9.54, Z:-0.21 [[ 9.99987324e-01 5.00929085e-03 5.07928655e-04 1.64155793e+02] [-5.00789020e-03 9.99983755e-01 -2.72233348e-03 9.54020008e+00] [-5.21557364e-04 2.71975532e-03 9.99996165e-01 -2.12922445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.461400513 meters Centerline goodness [0,1] 0.9787872938249362 Centerline is valid? [True, True] Translation: X:164.19, Y:9.53, Z:-0.21 [[ 9.99980699e-01 6.11122475e-03 1.12024330e-03 1.64185017e+02] [-6.11112739e-03 9.99981323e-01 -9.03107149e-05 9.53464197e+00] [-1.12077428e-03 8.34630224e-05 9.99999368e-01 -2.14025131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.49140051300003 meters Centerline goodness [0,1] 0.9335531596416253 Centerline is valid? [True, False] Translation: X:164.17, Y:9.53, Z:-0.22 [[ 9.99986803e-01 5.12172276e-03 -4.01320864e-04 1.64165160e+02] [-5.11748166e-03 9.99937515e-01 9.93869001e-03 9.53053599e+00] [ 4.52199002e-04 -9.93650510e-03 9.99950529e-01 -2.15738828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.521400513 meters Centerline goodness [0,1] 0.9865474762891093 Centerline is valid? [False, True] Translation: X:164.17, Y:9.54, Z:-0.22 [[ 9.99999209e-01 8.04721852e-04 -9.66700601e-04 1.64166792e+02] [-8.00397013e-04 9.99989707e-01 4.46590133e-03 9.53674470e+00] [ 9.70284460e-04 -4.46512405e-03 9.99989561e-01 -2.15374937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.55140051300003 meters Centerline goodness [0,1] 0.9814690682638874 Centerline is valid? [True, True] Translation: X:164.20, Y:9.54, Z:-0.22 [[ 9.99995934e-01 1.48309599e-03 -2.43572856e-03 1.64196793e+02] [-1.48266072e-03 9.99998885e-01 1.80499555e-04 9.53812609e+00] [ 2.43599354e-03 -1.76887462e-04 9.99997017e-01 -2.16094923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.581400513 meters Centerline goodness [0,1] 0.9838832129454893 Centerline is valid? [True, True] Translation: X:164.23, Y:9.54, Z:-0.22 [[ 9.99985813e-01 3.86764880e-03 -3.66261457e-03 1.64226997e+02] [-3.86668007e-03 9.99992487e-01 2.71535736e-04 9.53981127e+00] [ 3.66363726e-03 -2.57369725e-04 9.99993256e-01 -2.16506623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.61140051300004 meters Centerline goodness [0,1] 0.9921965940935547 Centerline is valid? [True, True] Translation: X:164.26, Y:9.54, Z:-0.22 [[ 9.99979227e-01 5.82535205e-03 -2.75876417e-03 1.64257552e+02] [-5.82481028e-03 9.99983015e-01 2.04375455e-04 9.54050075e+00] [ 2.75990787e-03 -1.88301932e-04 9.99996174e-01 -2.15143938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.641400513 meters Centerline goodness [0,1] 0.9995698647224552 Centerline is valid? [True, True] Translation: X:164.29, Y:9.54, Z:-0.21 [[ 9.99944315e-01 1.05196183e-02 8.39637587e-04 1.64287966e+02] [-1.05195698e-02 9.99944666e-01 -6.22421403e-05 9.54295746e+00] [-8.40245890e-04 5.34060482e-05 9.99999646e-01 -2.10414159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.67140051300004 meters Centerline goodness [0,1] 0.9995484550712795 Centerline is valid? [True, True] Translation: X:164.32, Y:9.54, Z:-0.21 [[ 9.99930123e-01 1.17126922e-02 1.60064523e-03 1.64317509e+02] [-1.17125171e-02 9.99931399e-01 -1.18719582e-04 9.54248912e+00] [-1.60192595e-03 9.99637017e-05 9.99998712e-01 -2.09954304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.701400513 meters Centerline goodness [0,1] 0.9979796677198186 Centerline is valid? [True, True] Translation: X:164.35, Y:9.54, Z:-0.21 [[ 9.99922471e-01 1.23637002e-02 1.48021116e-03 1.64346507e+02] [-1.23635515e-02 9.99923562e-01 -1.09606808e-04 9.53577056e+00] [-1.48145316e-03 9.12976436e-05 9.99998898e-01 -2.10351571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.731400513 meters Centerline goodness [0,1] 0.9996107603148516 Centerline is valid? [True, True] Translation: X:164.38, Y:9.54, Z:-0.21 [[ 9.99916096e-01 1.29122233e-02 1.03739935e-03 1.64376746e+02] [-1.29121504e-02 9.99916632e-01 -7.69819356e-05 9.54044216e+00] [-1.03830687e-03 6.35804201e-05 9.99999459e-01 -2.09559406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.761400513 meters Centerline goodness [0,1] 0.9965517979910475 Centerline is valid? [True, True] Translation: X:164.41, Y:9.53, Z:-0.21 [[ 9.99906960e-01 1.36020975e-02 1.02646661e-03 1.64405285e+02] [-1.36020265e-02 9.99907485e-01 -7.61475707e-05 9.53193456e+00] [-1.02740741e-03 6.21784599e-05 9.99999470e-01 -2.10806568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.791400513 meters Centerline goodness [0,1] 0.9998058713142512 Centerline is valid? [True, True] Translation: X:164.44, Y:9.54, Z:-0.21 [[ 9.99888339e-01 1.49045462e-02 1.07933956e-03 1.64435405e+02] [-1.49044684e-02 9.99888919e-01 -8.00403231e-05 9.53958921e+00] [-1.08041263e-03 6.39444033e-05 9.99999414e-01 -2.09388768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.821400513 meters Centerline goodness [0,1] 0.9996515831192021 Centerline is valid? [True, True] Translation: X:164.47, Y:9.54, Z:-0.21 [[ 9.99867154e-01 1.62420676e-02 1.36732660e-03 1.64465325e+02] [-1.62419442e-02 9.99868086e-01 -1.01336409e-04 9.54396166e+00] [-1.36879214e-03 7.91149044e-05 9.99999060e-01 -2.08974810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.851400513 meters Centerline goodness [0,1] 0.9997411450019414 Centerline is valid? [True, True] Translation: X:164.49, Y:9.54, Z:-0.21 [[ 9.99827464e-01 1.84368381e-02 2.26371067e-03 1.64494888e+02] [-1.84365057e-02 9.99830019e-01 -1.67637988e-04 9.54432719e+00] [-2.26641659e-03 1.25874150e-04 9.99997424e-01 -2.07472977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.881400513 meters Centerline goodness [0,1] 0.9996987951807229 Centerline is valid? [True, True] Translation: X:164.52, Y:9.54, Z:-0.21 [[ 9.99800511e-01 1.98222079e-02 2.45309475e-03 1.64523849e+02] [-1.98218219e-02 9.99803512e-01 -1.81592584e-04 9.54227824e+00] [-2.45621231e-03 1.32931552e-04 9.99996975e-01 -2.07825768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.911400513 meters Centerline goodness [0,1] 0.9998274597765604 Centerline is valid? [True, True] Translation: X:164.55, Y:9.55, Z:-0.21 [[ 9.99771959e-01 2.12064712e-02 2.51307817e-03 1.64554588e+02] [-2.12060705e-02 9.99775109e-01 -1.85977149e-04 9.55141257e+00] [-2.51645691e-03 1.32642225e-04 9.99996825e-01 -2.08436793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.941400513 meters Centerline goodness [0,1] 0.9999568993384048 Centerline is valid? [True, True] Translation: X:164.58, Y:9.55, Z:-0.21 [[ 9.99743221e-01 2.25132974e-02 2.57733635e-03 1.64584594e+02] [-2.25128804e-02 9.99746535e-01 -1.90660987e-04 9.55413983e+00] [-2.58097549e-03 1.32588765e-04 9.99996660e-01 -2.07971227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.971400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.61, Y:9.56, Z:-0.21 [[ 9.99734861e-01 2.28792242e-02 2.59768574e-03 1.64614376e+02] [-2.28788020e-02 9.99738227e-01 -1.92133052e-04 9.55897207e+00] [-2.60140159e-03 1.32650173e-04 9.99996608e-01 -2.07251204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.001400513 meters Centerline goodness [0,1] 0.9998042201435718 Centerline is valid? [True, True] Translation: X:164.64, Y:9.56, Z:-0.21 [[ 9.99744722e-01 2.24405606e-02 2.62890724e-03 1.64643333e+02] [-2.24401269e-02 9.99748170e-01 -1.94346883e-04 9.55955019e+00] [-2.63260645e-03 1.35304258e-04 9.99996526e-01 -2.07330952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.031400513 meters Centerline goodness [0,1] 0.9996779388083736 Centerline is valid? [True, True] Translation: X:164.67, Y:9.56, Z:-0.21 [[ 9.99817039e-01 1.89285572e-02 2.75645599e-03 1.64673650e+02] [-1.89280676e-02 9.99820827e-01 -2.03596354e-04 9.56062006e+00] [-2.75981590e-03 1.51384718e-04 9.99996180e-01 -2.08222843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.061400513 meters Centerline goodness [0,1] 0.9996754721879665 Centerline is valid? [True, True] Translation: X:164.70, Y:9.56, Z:-0.21 [[ 9.99866460e-01 1.60627688e-02 3.00810070e-03 1.64702427e+02] [-1.60621727e-02 9.99870970e-01 -2.22213166e-04 9.55585086e+00] [-3.01128193e-03 1.73866859e-04 9.99995451e-01 -2.08926706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.091400513 meters Centerline goodness [0,1] 0.9982847713752225 Centerline is valid? [True, True] Translation: X:164.73, Y:9.55, Z:-0.21 [[ 9.99913467e-01 1.27173745e-02 3.36546804e-03 1.64731057e+02] [-1.27166098e-02 9.99919110e-01 -2.48526817e-04 9.54772382e+00] [-3.36835641e-03 2.05707968e-04 9.99994306e-01 -2.08772168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.121400513 meters Centerline goodness [0,1] 0.999654643959507 Centerline is valid? [True, True] Translation: X:164.76, Y:9.55, Z:-0.21 [[ 9.99953384e-01 9.01050367e-03 3.46984113e-03 1.64762068e+02] [-9.00966875e-03 9.99959379e-01 -2.56177691e-04 9.55109600e+00] [-3.47200848e-03 2.24903630e-04 9.99993947e-01 -2.08950675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.151400513 meters Centerline goodness [0,1] 0.9577643764807237 Centerline is valid? [True, True] Translation: X:164.79, Y:9.54, Z:-0.21 [[ 9.99997161e-01 1.65117011e-03 1.71816636e-03 1.64791039e+02] [-1.65095458e-03 9.99998629e-01 -1.26852373e-04 9.53632623e+00] [-1.71837346e-03 1.24015398e-04 9.99998516e-01 -2.11507452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.181400513 meters Centerline goodness [0,1] 0.972490931076179 Centerline is valid? [True, True] Translation: X:164.82, Y:9.54, Z:-0.21 [[ 9.99998482e-01 -1.67172411e-03 4.92065524e-04 1.64822477e+02] [ 1.67174215e-03 9.99998602e-01 -3.62478672e-05 9.53678274e+00] [-4.92004240e-04 3.70704188e-05 9.99999878e-01 -2.13248865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.211400513 meters Centerline goodness [0,1] 0.9567061894920048 Centerline is valid? [True, True] Translation: X:164.85, Y:9.53, Z:-0.21 [[ 9.99988506e-01 -4.70999917e-03 -8.97070151e-04 1.64853027e+02] [ 4.71006064e-03 9.99988905e-01 6.64168851e-05 9.53149997e+00] [ 8.96747375e-04 -7.06413765e-05 9.99999595e-01 -2.14398177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.24140051300003 meters Centerline goodness [0,1] 0.8021039924118306 Centerline is valid? [True, False] Translation: X:164.86, Y:9.53, Z:-0.22 [[ 9.99971108e-01 -7.34742473e-03 -1.94875734e-03 1.64860040e+02] [ 7.34213784e-03 9.99969384e-01 -2.70637414e-03 9.53195469e+00] [ 1.96858255e-03 2.69198790e-03 9.99994439e-01 -2.18579625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.271400513 meters Centerline goodness [0,1] 0.8434642280796127 Centerline is valid? [False, False] Translation: X:164.86, Y:9.53, Z:-0.22 [[ 9.99972065e-01 -7.21173261e-03 -1.96484867e-03 1.64860237e+02] [ 7.20704395e-03 9.99971190e-01 -2.38299206e-03 9.53048364e+00] [ 1.98197757e-03 2.36876474e-03 9.99995230e-01 -2.18835160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.30140051300003 meters Centerline goodness [0,1] 0.8920060914141089 Centerline is valid? [False, False] Translation: X:164.86, Y:9.53, Z:-0.22 [[ 9.99972756e-01 -7.11799896e-03 -1.95471333e-03 1.64860048e+02] [ 7.11374730e-03 9.99972335e-01 -2.17348629e-03 9.52947329e+00] [ 1.97013012e-03 2.15952174e-03 9.99995728e-01 -2.18520911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.331400513 meters Centerline goodness [0,1] 0.8920060914141089 Centerline is valid? [False, False] Translation: X:164.86, Y:9.52, Z:-0.22 [[ 9.99994350e-01 -3.21936589e-03 -9.66970249e-04 1.64856961e+02] [ 3.22207914e-03 9.99990840e-01 2.81760610e-03 9.52466789e+00] [ 9.57890487e-04 -2.82070584e-03 9.99995563e-01 -2.19003621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.36140051300004 meters Centerline goodness [0,1] 0.7504177556879044 Centerline is valid? [False, False] Translation: X:164.86, Y:9.52, Z:-0.22 [[ 9.99995631e-01 -2.80645345e-03 -9.28755305e-04 1.64856554e+02] [ 2.80987767e-03 9.99989184e-01 3.70635714e-03 9.52044761e+00] [ 9.18343541e-04 -3.70895063e-03 9.99992700e-01 -2.18475090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.391400513 meters Centerline goodness [0,1] 0.9721571744688164 Centerline is valid? [False, True] Translation: X:164.86, Y:9.52, Z:-0.22 [[ 9.99996325e-01 -2.54924310e-03 -9.22451250e-04 1.64856652e+02] [ 2.55315395e-03 9.99987652e-01 4.26357899e-03 9.51787545e+00] [ 9.11570959e-04 -4.26591848e-03 9.99990485e-01 -2.18726535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.42140051300004 meters Centerline goodness [0,1] 0.9116406534352453 Centerline is valid? [True, False] Translation: X:164.86, Y:9.52, Z:-0.22 [[ 9.99996672e-01 -2.38824996e-03 -9.75531255e-04 1.64856763e+02] [ 2.39267597e-03 9.99986735e-01 4.56133835e-03 9.51652011e+00] [ 9.64624698e-04 -4.56365730e-03 9.99989121e-01 -2.18617750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.451400513 meters Centerline goodness [0,1] 0.9930892100402042 Centerline is valid? [False, True] Translation: X:164.81, Y:9.52, Z:-0.22 [[ 9.99994739e-01 -2.00154673e-03 -2.55261500e-03 1.64813298e+02] [ 2.00275744e-03 9.99997883e-01 4.71833644e-04 9.52305398e+00] [ 2.55166520e-03 -4.76943430e-04 9.99996631e-01 -2.15659022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.481400513 meters Centerline goodness [0,1] 0.9582232074345639 Centerline is valid? [True, True] Translation: X:164.84, Y:9.51, Z:-0.21 [[ 9.99998957e-01 1.11893679e-03 -9.13504369e-04 1.64841631e+02] [-1.11887759e-03 9.99999372e-01 6.53138864e-05 9.51106457e+00] [ 9.13576878e-04 -6.42917187e-05 9.99999581e-01 -2.13117565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.511400513 meters Centerline goodness [0,1] 0.9919059549046059 Centerline is valid? [True, True] Translation: X:164.87, Y:9.51, Z:-0.21 [[ 9.99974554e-01 7.11115436e-03 -5.68729629e-04 1.64872033e+02] [-7.11113237e-03 9.99974715e-01 4.06874792e-05 9.51448186e+00] [ 5.69004583e-04 -3.66421322e-05 9.99999837e-01 -2.11823429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.541400513 meters Centerline goodness [0,1] 0.9969199620918411 Centerline is valid? [True, True] Translation: X:164.90, Y:9.52, Z:-0.22 [[ 9.99954628e-01 9.15849992e-03 -2.62006250e-03 1.64901987e+02] [-9.15804034e-03 9.99958047e-01 1.87352328e-04 9.51868953e+00] [ 2.62166845e-03 -1.63349189e-04 9.99996550e-01 -2.15131968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.571400513 meters Centerline goodness [0,1] 0.9976795628036086 Centerline is valid? [True, True] Translation: X:164.93, Y:9.52, Z:-0.22 [[ 9.99930557e-01 1.10225229e-02 -4.16953630e-03 1.64931635e+02] [-1.10213755e-02 9.99939218e-01 2.98073966e-04 9.52029306e+00] [ 4.17256840e-03 -2.52099241e-04 9.99991263e-01 -2.17697103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.601400513 meters Centerline goodness [0,1] 0.9939457695528028 Centerline is valid? [True, True] Translation: X:164.96, Y:9.51, Z:-0.22 [[ 9.99913789e-01 1.25060255e-02 -4.00166317e-03 1.64960215e+02] [-1.25049808e-02 9.99921769e-01 2.85982002e-04 9.51462366e+00] [ 4.00492662e-03 -2.35916626e-04 9.99991952e-01 -2.18727822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.631400513 meters Centerline goodness [0,1] 0.9992027408476805 Centerline is valid? [True, True] Translation: X:164.99, Y:9.52, Z:-0.22 [[ 9.99906328e-01 1.34394490e-02 -2.59163126e-03 1.64989158e+02] [-1.34390143e-02 9.99909675e-01 1.85055584e-04 9.51571010e+00] [ 2.59388422e-03 -1.50209280e-04 9.99996625e-01 -2.16340127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.661400513 meters Centerline goodness [0,1] 0.9998713412672885 Centerline is valid? [True, True] Translation: X:165.02, Y:9.52, Z:-0.21 [[ 9.99898746e-01 1.42163959e-02 -6.25717166e-04 1.65018601e+02] [-1.42163707e-02 9.99898941e-01 4.46256682e-05 9.51860211e+00] [ 6.26288348e-04 -3.57257225e-05 9.99999803e-01 -2.12733825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.691400513 meters Centerline goodness [0,1] 0.9998269521955441 Centerline is valid? [True, True] Translation: X:165.05, Y:9.52, Z:-0.21 [[ 9.99906927e-01 1.35810595e-02 1.30088518e-03 1.65047793e+02] [-1.35809502e-02 9.99907770e-01 -9.28771984e-05 9.51790915e+00] [-1.30202657e-03 7.52012973e-05 9.99999150e-01 -2.09888819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.721400513 meters Centerline goodness [0,1] 0.9997609631013951 Centerline is valid? [True, True] Translation: X:165.08, Y:9.52, Z:-0.21 [[ 9.99910051e-01 1.34013299e-02 5.41951122e-04 1.65077606e+02] [-1.34013109e-02 9.99910198e-01 -3.86858096e-05 9.52018424e+00] [-5.42420895e-04 3.14194744e-05 9.99999852e-01 -2.10895766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.751400513 meters Centerline goodness [0,1] 0.9995504559660915 Centerline is valid? [True, True] Translation: X:165.11, Y:9.51, Z:-0.21 [[ 9.99912670e-01 1.31851127e-02 -8.97669624e-04 1.65105988e+02] [-1.31850606e-02 9.99913071e-01 6.39471509e-05 9.51452859e+00] [ 8.98434742e-04 -5.21057379e-05 9.99999595e-01 -2.14180746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.781400513 meters Centerline goodness [0,1] 0.9997424892703862 Centerline is valid? [True, True] Translation: X:165.14, Y:9.52, Z:-0.22 [[ 9.99908106e-01 1.34018623e-02 -2.04209606e-03 1.65135406e+02] [-1.34015931e-02 9.99910184e-01 1.45422007e-04 9.51818805e+00] [ 2.04386157e-03 -1.18041303e-04 9.99997904e-01 -2.16203631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.811400513 meters Centerline goodness [0,1] 0.9850695187165776 Centerline is valid? [True, True] Translation: X:165.16, Y:9.50, Z:-0.22 [[ 9.99887580e-01 1.47339244e-02 -2.78183578e-03 1.65163192e+02] [-1.47334303e-02 9.99891438e-01 1.98042621e-04 9.50472746e+00] [ 2.78445172e-03 -1.57034373e-04 9.99996111e-01 -2.16861590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.841400513 meters Centerline goodness [0,1] 0.9994641287805714 Centerline is valid? [True, True] Translation: X:165.19, Y:9.52, Z:-0.22 [[ 9.99880402e-01 1.52238562e-02 -2.72304591e-03 1.65192998e+02] [-1.52233849e-02 9.99884099e-01 1.93717820e-04 9.51781025e+00] [ 2.72567943e-03 -1.52240676e-04 9.99996274e-01 -2.15508578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.871400513 meters Centerline goodness [0,1] 0.9998041988469487 Centerline is valid? [True, True] Translation: X:165.22, Y:9.52, Z:-0.21 [[ 9.99878743e-01 1.54410397e-02 -2.01813624e-03 1.65222330e+02] [-1.54407815e-02 9.99880774e-01 1.43459098e-04 9.52313922e+00] [ 2.02011078e-03 -1.12280102e-04 9.99997953e-01 -2.13324368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.901400513 meters Centerline goodness [0,1] 0.9952096580168414 Centerline is valid? [True, True] Translation: X:165.25, Y:9.51, Z:-0.21 [[ 9.99886483e-01 1.50027682e-02 -1.39205300e-03 1.65249710e+02] [-1.50026451e-02 9.99887449e-01 9.88386283e-05 9.51154298e+00] [ 1.39337918e-03 -7.79429314e-05 9.99999026e-01 -2.12787678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.931400513 meters Centerline goodness [0,1] 0.9993132752478647 Centerline is valid? [True, True] Translation: X:165.28, Y:9.52, Z:-0.21 [[ 9.99895373e-01 1.44343579e-02 -9.44276030e-04 1.65279352e+02] [-1.44343011e-02 9.99895818e-01 6.69965923e-05 9.51935218e+00] [ 9.45144707e-04 -5.33596182e-05 9.99999552e-01 -2.11289335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.961400513 meters Centerline goodness [0,1] 0.9988208811233787 Centerline is valid? [True, True] Translation: X:165.31, Y:9.52, Z:-0.21 [[ 9.99906621e-01 1.36480771e-02 -6.92810933e-04 1.65307504e+02] [-1.36480464e-02 9.99906860e-01 4.90861076e-05 9.51950500e+00] [ 6.93416336e-04 -3.96260082e-05 9.99999759e-01 -2.11597549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.99140051300003 meters Centerline goodness [0,1] 0.9987323550265346 Centerline is valid? [True, True] Translation: X:165.34, Y:9.52, Z:-0.21 [[ 9.99923430e-01 1.22830377e-02 -1.50381635e-03 1.65337735e+02] [-1.22828911e-02 9.99924557e-01 1.06644541e-04 9.52437523e+00] [ 1.50501281e-03 -8.81651629e-05 9.99998864e-01 -2.14181806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.021400513 meters Centerline goodness [0,1] 0.9990933033979534 Centerline is valid? [True, True] Translation: X:165.37, Y:9.53, Z:-0.22 [[ 9.99935204e-01 1.11810402e-02 -2.13809041e-03 1.65367705e+02] [-1.11807416e-02 9.99937482e-01 1.51588111e-04 9.52611751e+00] [ 2.13965165e-03 -1.27672853e-04 9.99997703e-01 -2.15352522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.05140051300003 meters Centerline goodness [0,1] 0.9990251511015793 Centerline is valid? [True, True] Translation: X:165.40, Y:9.53, Z:-0.22 [[ 9.99950569e-01 9.55024415e-03 -2.76614467e-03 1.65396967e+02] [-9.54973833e-03 9.99954381e-01 1.96013883e-04 9.52661013e+00] [ 2.76789046e-03 -1.69588236e-04 9.99996155e-01 -2.16564136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.081400513 meters Centerline goodness [0,1] 0.9993025587376313 Centerline is valid? [True, True] Translation: X:165.43, Y:9.53, Z:-0.22 [[ 9.99964604e-01 7.59302471e-03 -3.62444398e-03 1.65427889e+02] [-7.59214325e-03 9.99971146e-01 2.56895487e-04 9.52933267e+00] [ 3.62629001e-03 -2.29369097e-04 9.99993399e-01 -2.17229715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.11140051300004 meters Centerline goodness [0,1] 0.979195710455764 Centerline is valid? [True, True] Translation: X:165.46, Y:9.52, Z:-0.22 [[ 9.99974523e-01 5.64537344e-03 -4.36849887e-03 1.65456219e+02] [-5.64407463e-03 9.99984024e-01 3.09583876e-04 9.51782810e+00] [ 4.37017679e-03 -2.84919855e-04 9.99990410e-01 -2.18525586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.141400513 meters Centerline goodness [0,1] 0.9956423255312264 Centerline is valid? [True, True] Translation: X:165.49, Y:9.52, Z:-0.22 [[ 9.99980590e-01 4.09290364e-03 -4.69770646e-03 1.65486354e+02] [-4.09138523e-03 9.99991575e-01 3.32787406e-04 9.52308233e+00] [ 4.69902895e-03 -3.13560820e-04 9.99988910e-01 -2.18193447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.17140051300004 meters Centerline goodness [0,1] 0.9960308853511474 Centerline is valid? [True, True] Translation: X:165.52, Y:9.52, Z:-0.22 [[ 9.99988398e-01 2.43640874e-03 -4.15537544e-03 1.65515598e+02] [-2.43520713e-03 9.99996992e-01 2.94205781e-04 9.52415813e+00] [ 4.15607975e-03 -2.84083168e-04 9.99991323e-01 -2.16711824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.201400513 meters Centerline goodness [0,1] 0.9955020534103995 Centerline is valid? [True, True] Translation: X:165.54, Y:9.52, Z:-0.22 [[ 9.99990825e-01 2.25673980e-03 -3.64096538e-03 1.65543617e+02] [-2.25581701e-03 9.99997422e-01 2.57534685e-04 9.52444944e+00] [ 3.64153719e-03 -2.49318970e-04 9.99993339e-01 -2.16070616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.231400513 meters Centerline goodness [0,1] 0.9754660588728579 Centerline is valid? [True, True] Translation: X:165.57, Y:9.52, Z:-0.22 [[ 9.99992840e-01 2.63817836e-03 -2.71294351e-03 1.65571304e+02] [-2.63766790e-03 9.99996503e-01 1.91715112e-04 9.51926682e+00] [ 2.71343980e-03 -1.84557895e-04 9.99996302e-01 -2.16027548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.261400513 meters Centerline goodness [0,1] 0.9983267188673174 Centerline is valid? [True, True] Translation: X:165.60, Y:9.53, Z:-0.21 [[ 9.99992326e-01 3.40087001e-03 -1.94462428e-03 1.65600437e+02] [-3.40060937e-03 9.99994208e-01 1.37324383e-04 9.52743439e+00] [ 1.94508004e-03 -1.30710422e-04 9.99998100e-01 -2.14053483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.291400513 meters Centerline goodness [0,1] 0.9842377260981913 Centerline is valid? [True, True] Translation: X:165.63, Y:9.52, Z:-0.21 [[ 9.99989086e-01 4.40725131e-03 -1.55046743e-03 1.65628867e+02] [-4.40708690e-03 9.99990283e-01 1.09439625e-04 9.52028001e+00] [ 1.55093469e-03 -1.02605386e-04 9.99998792e-01 -2.14590294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.321400513 meters Centerline goodness [0,1] 0.9994605209209987 Centerline is valid? [True, True] Translation: X:165.66, Y:9.53, Z:-0.21 [[ 9.99983969e-01 5.49754200e-03 -1.35598929e-03 1.65658375e+02] [-5.49741736e-03 9.99984885e-01 9.56277282e-05 9.53252644e+00] [ 1.35649451e-03 -8.81717562e-05 9.99999076e-01 -2.12841126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.351400513 meters Centerline goodness [0,1] 0.988679815938992 Centerline is valid? [True, True] Translation: X:165.69, Y:9.52, Z:-0.21 [[ 9.99982957e-01 5.72411532e-03 -1.14903249e-03 1.65685503e+02] [-5.72402609e-03 9.99983614e-01 8.09348459e-05 9.52374345e+00] [ 1.14947694e-03 -7.43563746e-05 9.99999337e-01 -2.13349068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.381400513 meters Centerline goodness [0,1] 0.9958728316244276 Centerline is valid? [True, True] Translation: X:165.72, Y:9.53, Z:-0.21 [[ 9.99983172e-01 5.75879052e-03 -7.02039419e-04 1.65715104e+02] [-5.75875724e-03 9.99983417e-01 4.94075625e-05 9.52721159e+00] [ 7.02312304e-04 -4.53638564e-05 9.99999752e-01 -2.12954282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.411400513 meters Centerline goodness [0,1] 0.9980877076126426 Centerline is valid? [True, True] Translation: X:165.74, Y:9.53, Z:-0.21 [[ 9.99984323e-01 5.55570086e-03 -6.98864433e-04 1.65744221e+02] [-5.55566786e-03 9.99984566e-01 4.91504581e-05 9.53017150e+00] [ 6.99126711e-04 -4.52670289e-05 9.99999755e-01 -2.13071244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.441400513 meters Centerline goodness [0,1] 0.9990054269096884 Centerline is valid? [True, True] Translation: X:165.77, Y:9.53, Z:-0.21 [[ 9.99986294e-01 5.02012802e-03 -1.48661445e-03 1.65774042e+02] [-5.01997801e-03 9.99987394e-01 1.04618184e-04 9.52957587e+00] [ 1.48712090e-03 -9.71539783e-05 9.99998890e-01 -2.13435813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.471400513 meters Centerline goodness [0,1] 0.9901266966379143 Centerline is valid? [True, True] Translation: X:165.80, Y:9.52, Z:-0.21 [[ 9.99988786e-01 4.36132973e-03 -1.84573666e-03 1.65801690e+02] [-4.36109758e-03 9.99990482e-01 1.29783370e-04 9.52070179e+00] [ 1.84628512e-03 -1.21732477e-04 9.99998288e-01 -2.14965644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.501400513 meters Centerline goodness [0,1] 0.9985965063804979 Centerline is valid? [True, True] Translation: X:165.83, Y:9.53, Z:-0.21 [[ 9.99994689e-01 3.19555089e-03 -6.41293031e-04 1.65831466e+02] [-3.19552266e-03 9.99994893e-01 4.50451303e-05 9.52531060e+00] [ 6.41433701e-04 -4.29956246e-05 9.99999793e-01 -2.13375378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.531400513 meters Centerline goodness [0,1] 0.9971183415410422 Centerline is valid? [True, True] Translation: X:165.86, Y:9.52, Z:-0.21 [[ 9.99996133e-01 2.67747355e-03 7.51127177e-04 1.65859415e+02] [-2.67743462e-03 9.99996414e-01 -5.28351633e-05 9.51840107e+00] [-7.51265949e-04 5.08238651e-05 9.99999717e-01 -2.11328453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.561400513 meters Centerline goodness [0,1] 0.9988869386531958 Centerline is valid? [True, True] Translation: X:165.89, Y:9.52, Z:-0.21 [[ 9.99996146e-01 2.17875102e-03 1.72066194e-03 1.65889923e+02] [-2.17854616e-03 9.99997620e-01 -1.20927337e-04 9.51504462e+00] [-1.72092131e-03 1.17178329e-04 9.99998512e-01 -2.09961570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.591400513 meters Centerline goodness [0,1] 0.9966462431473718 Centerline is valid? [True, True] Translation: X:165.92, Y:9.51, Z:-0.21 [[ 9.99996708e-01 1.83175092e-03 1.79688779e-03 1.65919761e+02] [-1.83152693e-03 9.99998315e-01 -1.26289517e-04 9.50657641e+00] [-1.79711609e-03 1.22998053e-04 9.99998378e-01 -2.09590518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.621400513 meters Centerline goodness [0,1] 0.9938948631164046 Centerline is valid? [True, True] Translation: X:165.95, Y:9.50, Z:-0.21 [[ 9.99997557e-01 1.70229234e-03 1.41012316e-03 1.65950399e+02] [-1.70215425e-03 9.99998546e-01 -9.91200805e-05 9.50112179e+00] [-1.41028984e-03 9.67195912e-05 9.99999001e-01 -2.10624542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.651400513 meters Centerline goodness [0,1] 0.9983921795613866 Centerline is valid? [True, True] Translation: X:165.98, Y:9.50, Z:-0.21 [[ 9.99997838e-01 1.97418781e-03 6.52511844e-04 1.65982153e+02] [-1.97415830e-03 9.99998050e-01 -4.58643402e-05 9.50233666e+00] [-6.52601116e-04 4.45760794e-05 9.99999786e-01 -2.10758168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.681400513 meters Centerline goodness [0,1] 0.9982236109922096 Centerline is valid? [True, True] Translation: X:166.01, Y:9.50, Z:-0.21 [[ 9.99991577e-01 4.06414925e-03 5.73475323e-04 1.66011762e+02] [-4.06412679e-03 9.99991741e-01 -4.03357971e-05 9.49950996e+00] [-5.73634517e-04 3.80047809e-05 9.99999835e-01 -2.12250607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.711400513 meters Centerline goodness [0,1] 0.9994981562697738 Centerline is valid? [True, True] Translation: X:166.04, Y:9.50, Z:-0.21 [[ 9.99980002e-01 6.27389134e-03 7.96448374e-04 1.66041866e+02] [-6.27384871e-03 9.99980318e-01 -5.60186887e-05 9.50341270e+00] [-7.96784153e-04 5.10207718e-05 9.99999681e-01 -2.12538430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.74140051300003 meters Centerline goodness [0,1] 0.9996574829276647 Centerline is valid? [True, True] Translation: X:166.07, Y:9.50, Z:-0.21 [[ 9.99964507e-01 8.37078556e-03 9.56709421e-04 1.66070520e+02] [-8.37072499e-03 9.99964963e-01 -6.73013044e-05 9.49843647e+00] [-9.57239265e-04 5.92905642e-05 9.99999540e-01 -2.12740337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.771400513 meters Centerline goodness [0,1] 0.9995480955455133 Centerline is valid? [True, True] Translation: X:166.10, Y:9.50, Z:-0.22 [[ 9.99938882e-01 1.09565238e-02 -1.47879687e-03 1.66101192e+02] [-1.09563820e-02 9.99939972e-01 1.03915877e-04 9.49950575e+00] [ 1.47984666e-03 -8.77072624e-05 9.99998901e-01 -2.15076193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.80140051300003 meters Centerline goodness [0,1] 0.9970645370170516 Centerline is valid? [True, True] Translation: X:166.13, Y:9.49, Z:-0.22 [[ 9.99930253e-01 1.13882590e-02 -3.13006528e-03 1.66128543e+02] [-1.13876267e-02 9.99935135e-01 2.19751979e-04 9.49353874e+00] [ 3.13236484e-03 -1.84092636e-04 9.99995077e-01 -2.16860447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.831400513 meters Centerline goodness [0,1] 0.9988916361156108 Centerline is valid? [True, True] Translation: X:166.16, Y:9.49, Z:-0.22 [[ 9.99932474e-01 1.11246573e-02 -3.35997682e-03 1.66157303e+02] [-1.11239276e-02 9.99938099e-01 2.35763211e-04 9.49451421e+00] [ 3.36239162e-03 -1.98371152e-04 9.99994327e-01 -2.17590976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.86140051300004 meters Centerline goodness [0,1] 0.998452910462193 Centerline is valid? [True, True] Translation: X:166.19, Y:9.49, Z:-0.22 [[ 9.99947661e-01 9.83962328e-03 -2.80308572e-03 1.66187080e+02] [-9.83911056e-03 9.99951575e-01 1.96643985e-04 9.49127969e+00] [ 2.80488488e-03 -1.69053823e-04 9.99996052e-01 -2.18249443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.891400513 meters Centerline goodness [0,1] 0.9978624714105551 Centerline is valid? [True, True] Translation: X:166.22, Y:9.48, Z:-0.22 [[ 9.99970150e-01 7.52193346e-03 -1.76609208e-03 1.66215706e+02] [-7.52172642e-03 9.99971704e-01 1.23845458e-04 9.48373765e+00] [ 1.76697367e-03 -1.10557700e-04 9.99998433e-01 -2.16864789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.92140051300004 meters Centerline goodness [0,1] 0.9976034578679334 Centerline is valid? [True, True] Translation: X:166.25, Y:9.48, Z:-0.22 [[ 9.99987377e-01 4.83046749e-03 -1.38262295e-03 1.66246009e+02] [-4.83033801e-03 9.99988329e-01 9.69731138e-05 9.47916258e+00] [ 1.38307524e-03 -9.02933536e-05 9.99999039e-01 -2.16501648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.951400513 meters Centerline goodness [0,1] 0.9986422413793103 Centerline is valid? [True, True] Translation: X:166.28, Y:9.48, Z:-0.22 [[ 9.99998032e-01 -4.79235680e-05 -1.98358395e-03 1.66276698e+02] [ 4.81996729e-05 9.99999989e-01 1.39147400e-04 9.47713117e+00] [ 1.98357726e-03 -1.39242734e-04 9.99998023e-01 -2.16124276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.981400513 meters Centerline goodness [0,1] 0.8247298661682886 Centerline is valid? [True, False] Translation: X:166.28, Y:9.47, Z:-0.22 [[ 9.99998091e-01 2.08553792e-04 -1.94283160e-03 1.66276714e+02] [-2.06949096e-04 9.99999637e-01 8.26121451e-04 9.47388878e+00] [ 1.94300319e-03 -8.25717807e-04 9.99997771e-01 -2.16424265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.011400513 meters Centerline goodness [0,1] 0.9955810679085888 Centerline is valid? [False, True] Translation: X:166.28, Y:9.47, Z:-0.22 [[ 9.99998245e-01 4.60450556e-04 -1.81625940e-03 1.66276420e+02] [-4.57722791e-04 9.99998767e-01 1.50198859e-03 9.47066705e+00] [ 1.81694876e-03 -1.50115461e-03 9.99997223e-01 -2.16656819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.041400513 meters Centerline goodness [0,1] 0.9762012060344643 Centerline is valid? [True, True] Translation: X:166.30, Y:9.46, Z:-0.22 [[ 9.99997472e-01 -1.13638848e-03 -1.94047810e-03 1.66304808e+02] [ 1.13666771e-03 9.99999344e-01 1.42799817e-04 9.46217441e+00] [ 1.94031455e-03 -1.45005135e-04 9.99998107e-01 -2.16886432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.071400513 meters Centerline goodness [0,1] 0.9534768887266794 Centerline is valid? [True, True] Translation: X:166.33, Y:9.46, Z:-0.22 [[ 9.99993810e-01 -2.61071839e-03 -2.35878945e-03 1.66333820e+02] [ 2.61113511e-03 9.99996576e-01 1.73607666e-04 9.45616024e+00] [ 2.35832814e-03 -1.79765709e-04 9.99997203e-01 -2.16590302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.101400513 meters Centerline goodness [0,1] 0.9656620021528526 Centerline is valid? [True, True] Translation: X:166.36, Y:9.46, Z:-0.22 [[ 9.99988375e-01 -3.95321929e-03 -2.76091250e-03 1.66363576e+02] [ 3.95379506e-03 9.99992163e-01 2.03115404e-04 9.45558289e+00] [ 2.76008790e-03 -2.14029125e-04 9.99996168e-01 -2.16405548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.131400513 meters Centerline goodness [0,1] 0.919978563772776 Centerline is valid? [True, False] Translation: X:166.36, Y:9.45, Z:-0.22 [[ 9.99990105e-01 -3.50515639e-03 -2.73917926e-03 1.66363629e+02] [ 3.50887882e-03 9.99992925e-01 1.35533481e-03 9.45011943e+00] [ 2.73440923e-03 -1.36493285e-03 9.99995330e-01 -2.16646125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.161400513 meters Centerline goodness [0,1] 0.9706936765722184 Centerline is valid? [False, True] Translation: X:166.36, Y:9.45, Z:-0.22 [[ 9.99991013e-01 -3.23447273e-03 -2.74099446e-03 1.66363781e+02] [ 3.23995762e-03 9.99992753e-01 1.99898323e-03 9.44711139e+00] [ 2.73450894e-03 -2.00784597e-03 9.99994245e-01 -2.16927645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.191400513 meters Centerline goodness [0,1] 0.7425664434111172 Centerline is valid? [True, False] Translation: X:166.38, Y:9.45, Z:-0.21 [[ 9.99989165e-01 -3.07886587e-03 -3.49153090e-03 1.66382613e+02] [ 3.05006410e-03 9.99961526e-01 -8.22457670e-03 9.45217168e+00] [ 3.51671893e-03 8.21383820e-03 9.99960082e-01 -2.11526143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.221400513 meters Centerline goodness [0,1] 0.7425664434111172 Centerline is valid? [False, False] Translation: X:166.38, Y:9.45, Z:-0.21 [[ 9.99995850e-01 1.09180188e-03 -2.66618830e-03 1.66380357e+02] [-1.09973741e-03 9.99994965e-01 -2.97670844e-03 9.44676382e+00] [ 2.66292490e-03 2.97962820e-03 9.99992015e-01 -2.12495894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.251400513 meters Centerline goodness [0,1] 0.9754796280568803 Centerline is valid? [False, True] Translation: X:166.34, Y:9.45, Z:-0.21 [[ 9.99985396e-01 2.03384308e-03 -5.00706152e-03 1.66338398e+02] [-2.06191184e-03 9.99982154e-01 -5.60706863e-03 9.45247551e+00] [ 4.99556827e-03 5.61731086e-03 9.99971745e-01 -2.11182418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.281400513 meters Centerline goodness [0,1] 0.9853266590757729 Centerline is valid? [True, True] Translation: X:166.37, Y:9.45, Z:-0.21 [[ 9.99987305e-01 3.07261619e-03 -3.99348104e-03 1.66367798e+02] [-3.07135759e-03 9.99995232e-01 3.21256721e-04 9.44586880e+00] [ 3.99444910e-03 -3.08987235e-04 9.99991974e-01 -2.11140080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.311400513 meters Centerline goodness [0,1] 0.9785881638320028 Centerline is valid? [True, True] Translation: X:166.40, Y:9.44, Z:-0.21 [[ 9.99984750e-01 4.27340556e-03 -3.49827620e-03 1.66396649e+02] [-4.27244733e-03 9.99990833e-01 2.81342005e-04 9.44267070e+00] [ 3.49944642e-03 -2.66391514e-04 9.99993841e-01 -2.09862012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.341400513 meters Centerline goodness [0,1] 0.9733129757859877 Centerline is valid? [True, True] Translation: X:166.43, Y:9.44, Z:-0.21 [[ 9.99968360e-01 7.26149378e-03 -3.24792003e-03 1.66425890e+02] [-7.26068366e-03 9.99973607e-01 2.61149047e-04 9.43892200e+00] [ 3.24973064e-03 -2.37558665e-04 9.99994691e-01 -2.09368356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.371400513 meters Centerline goodness [0,1] 0.9571502101741443 Centerline is valid? [True, True] Translation: X:166.45, Y:9.44, Z:-0.21 [[ 9.99954195e-01 8.89407480e-03 -3.53604489e-03 1.66454363e+02] [-8.89312489e-03 9.99960415e-01 2.84270489e-04 9.43641269e+00] [ 3.53843324e-03 -2.52810979e-04 9.99993708e-01 -2.10535454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.401400513 meters Centerline goodness [0,1] 0.9792096663226694 Centerline is valid? [True, True] Translation: X:166.48, Y:9.44, Z:-0.21 [[ 9.99937937e-01 1.04708033e-02 -3.80587186e-03 1.66484095e+02] [-1.04697145e-02 9.99945144e-01 3.05886344e-04 9.43847240e+00] [ 3.80886596e-03 -2.66020968e-04 9.99992711e-01 -2.11304026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.431400513 meters Centerline goodness [0,1] 0.9969919642473465 Centerline is valid? [True, True] Translation: X:166.51, Y:9.44, Z:-0.21 [[ 9.99894616e-01 1.42672674e-02 -2.68363717e-03 1.66514341e+02] [-1.42667398e-02 9.99898202e-01 2.15641082e-04 9.44359648e+00] [ 2.68644059e-03 -1.77331604e-04 9.99996376e-01 -2.11136414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.461400513 meters Centerline goodness [0,1] 0.9994805419678802 Centerline is valid? [True, True] Translation: X:166.54, Y:9.45, Z:-0.21 [[ 9.99867491e-01 1.61380547e-02 -2.13635793e-03 1.66544711e+02] [-1.61377246e-02 9.99869764e-01 1.71637146e-04 9.44859918e+00] [ 2.13884959e-03 -1.37138447e-04 9.99997703e-01 -2.09481282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.49140051300003 meters Centerline goodness [0,1] 0.9961190729137307 Centerline is valid? [True, True] Translation: X:166.57, Y:9.44, Z:-0.21 [[ 9.99837798e-01 1.78984753e-02 -2.00544649e-03 1.66573336e+02] [-1.78981880e-02 9.99839802e-01 1.61083711e-04 9.44125476e+00] [ 2.00800837e-03 -1.25163724e-04 9.99997976e-01 -2.09068316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.521400513 meters Centerline goodness [0,1] 0.9994143294071712 Centerline is valid? [True, True] Translation: X:166.60, Y:9.44, Z:-0.21 [[ 9.99806441e-01 1.95720627e-02 -2.00394083e-03 1.66603089e+02] [-1.95717794e-02 9.99808441e-01 1.60917572e-04 9.44413769e+00] [ 2.00670644e-03 -1.21665737e-04 9.99997979e-01 -2.07891990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.55140051300003 meters Centerline goodness [0,1] 0.9992020530958183 Centerline is valid? [True, True] Translation: X:166.63, Y:9.44, Z:-0.21 [[ 9.99774333e-01 2.10944897e-02 -2.51091049e-03 1.66632851e+02] [-2.10940498e-02 9.99777475e-01 2.01566643e-04 9.44435523e+00] [ 2.51460369e-03 -1.48555885e-04 9.99996827e-01 -2.08802553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.581400513 meters Centerline goodness [0,1] 0.9996995385771006 Centerline is valid? [True, True] Translation: X:166.66, Y:9.45, Z:-0.21 [[ 9.99706614e-01 2.39083279e-02 -3.88295121e-03 1.66663522e+02] [-2.39072972e-02 9.99714131e-01 3.11662955e-04 9.44745920e+00] [ 3.88929253e-03 -2.18740649e-04 9.99992413e-01 -2.11519386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.61140051300004 meters Centerline goodness [0,1] 0.9997632728603094 Centerline is valid? [True, True] Translation: X:166.69, Y:9.45, Z:-0.21 [[ 9.99678402e-01 2.50727166e-02 -3.80141687e-03 1.66693234e+02] [-2.50717375e-02 9.99685608e-01 3.05011716e-04 9.45031999e+00] [ 3.80786920e-03 -2.09605500e-04 9.99992728e-01 -2.11384205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.641400513 meters Centerline goodness [0,1] 0.9996750010833297 Centerline is valid? [True, True] Translation: X:166.72, Y:9.45, Z:-0.21 [[ 9.99652998e-01 2.61059721e-02 -3.51593409e-03 1.66722243e+02] [-2.61051414e-02 9.99659163e-01 2.81956044e-04 9.45184909e+00] [ 3.52209646e-03 -1.90074249e-04 9.99993779e-01 -2.10874113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.67140051300004 meters Centerline goodness [0,1] 0.9998494688400499 Centerline is valid? [True, True] Translation: X:166.75, Y:9.45, Z:-0.21 [[ 9.99643811e-01 2.65227444e-02 -2.96561448e-03 1.66750952e+02] [-2.65221556e-02 9.99648198e-01 2.37693122e-04 9.45375089e+00] [ 2.97087544e-03 -1.58953970e-04 9.99995574e-01 -2.10124781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.701400513 meters Centerline goodness [0,1] 0.9997862928215758 Centerline is valid? [True, True] Translation: X:166.78, Y:9.45, Z:-0.21 [[ 9.99650554e-01 2.62856592e-02 -2.79901491e-03 1.66777886e+02] [-2.62851343e-02 9.99654461e-01 2.24144386e-04 9.44760785e+00] [ 2.80393953e-03 -1.50493577e-04 9.99996058e-01 -2.10742543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.731400513 meters Centerline goodness [0,1] 0.9998047934063551 Centerline is valid? [True, True] Translation: X:166.81, Y:9.45, Z:-0.21 [[ 9.99672649e-01 2.53357624e-02 -3.56291164e-03 1.66806519e+02] [-2.53349068e-02 9.99678979e-01 2.85074971e-04 9.45010438e+00] [ 3.56899046e-03 -1.94715617e-04 9.99993612e-01 -2.12316753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.761400513 meters Centerline goodness [0,1] 0.9995261071859383 Centerline is valid? [True, True] Translation: X:166.84, Y:9.45, Z:-0.21 [[ 9.99767975e-01 2.10305376e-02 -4.65977840e-03 1.66836739e+02] [-2.10290280e-02 9.99778796e-01 3.72733254e-04 9.45055627e+00] [ 4.66658642e-03 -2.74656160e-04 9.99989074e-01 -2.14695397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.791400513 meters Centerline goodness [0,1] 0.9993560158849415 Centerline is valid? [True, True] Translation: X:166.87, Y:9.45, Z:-0.22 [[ 9.99830095e-01 1.77522651e-02 -4.96363344e-03 1.66867114e+02] [-1.77505120e-02 9.99842368e-01 3.97028082e-04 9.44551564e+00] [ 4.96989916e-03 -3.08853590e-04 9.99987602e-01 -2.15449899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.821400513 meters Centerline goodness [0,1] 0.9982098179622121 Centerline is valid? [True, True] Translation: X:166.90, Y:9.44, Z:-0.22 [[ 9.99886578e-01 1.41023892e-02 -5.28703893e-03 1.66895781e+02] [-1.41003490e-02 9.99900496e-01 4.22970859e-04 9.43820724e+00] [ 5.29247775e-03 -3.48373792e-04 9.99985934e-01 -2.15566603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.851400513 meters Centerline goodness [0,1] 0.9840163934426229 Centerline is valid? [True, True] Translation: X:166.92, Y:9.43, Z:-0.22 [[ 9.99929922e-01 1.04633300e-02 -5.53810105e-03 1.66924064e+02] [-1.04610364e-02 9.99945184e-01 4.42967004e-04 9.42855980e+00] [ 5.54243239e-03 -3.85001685e-04 9.99984566e-01 -2.16378678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.881400513 meters Centerline goodness [0,1] 0.9072439490582651 Centerline is valid? [True, False] Translation: X:166.92, Y:9.42, Z:-0.22 [[ 9.99928878e-01 1.06129196e-02 -5.44102180e-03 1.66924067e+02] [-1.06062602e-02 9.99942969e-01 1.25131226e-03 9.42454760e+00] [ 5.45399157e-03 -1.19351438e-03 9.99984415e-01 -2.17100335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.911400513 meters Centerline goodness [0,1] 0.8761594546788041 Centerline is valid? [False, False] Translation: X:166.92, Y:9.43, Z:-0.22 [[ 9.99965347e-01 6.19392517e-03 -5.56241317e-03 1.66924265e+02] [-6.21190655e-03 9.99975518e-01 -3.22122042e-03 9.42517547e+00] [ 5.54232499e-03 3.25566198e-03 9.99979341e-01 -2.16921309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.941400513 meters Centerline goodness [0,1] 0.9542200694414678 Centerline is valid? [False, True] Translation: X:166.92, Y:9.42, Z:-0.22 [[ 9.99931950e-01 1.04842321e-02 -5.11626955e-03 1.66923387e+02] [-1.04712101e-02 9.99941885e-01 2.56540297e-03 9.41712997e+00] [ 5.14286850e-03 -2.51165486e-03 9.99983621e-01 -2.18297341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.971400513 meters Centerline goodness [0,1] 0.8979618274462389 Centerline is valid? [True, False] Translation: X:166.92, Y:9.42, Z:-0.22 [[ 9.99930956e-01 1.06058066e-02 -5.05964659e-03 1.66923059e+02] [-1.05914560e-02 9.99939834e-01 2.85471040e-03 9.41570841e+00] [ 5.08961868e-03 -2.80092427e-03 9.99983125e-01 -2.18014578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.001400513 meters Centerline goodness [0,1] 0.9255378778079593 Centerline is valid? [False, False] Translation: X:166.92, Y:9.42, Z:-0.22 [[ 9.99963900e-01 6.65571603e-03 -5.28200052e-03 1.66923232e+02] [-6.66840673e-03 9.99974913e-01 -2.38866718e-03 9.42133850e+00] [ 5.26596972e-03 2.42380348e-03 9.99983197e-01 -2.16567148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.031400513 meters Centerline goodness [0,1] 0.9809126668529544 Centerline is valid? [False, True] Translation: X:166.92, Y:9.42, Z:-0.22 [[ 9.99964206e-01 6.54541352e-03 -5.36131072e-03 1.66923145e+02] [-6.56068776e-03 9.99974456e-01 -2.83636114e-03 9.42345884e+00] [ 5.34260861e-03 2.87143350e-03 9.99981606e-01 -2.15872139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.061400513 meters Centerline goodness [0,1] 0.9970813571689164 Centerline is valid? [True, True] Translation: X:166.95, Y:9.43, Z:-0.22 [[ 9.99936017e-01 1.01215312e-02 -5.05138697e-03 1.66953809e+02] [-1.01196415e-02 9.99948715e-01 3.99526665e-04 9.42651020e+00] [ 5.05517173e-03 -3.48382877e-04 9.99987162e-01 -2.15995373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.091400513 meters Centerline goodness [0,1] 0.9987837984580302 Centerline is valid? [True, True] Translation: X:166.98, Y:9.43, Z:-0.22 [[ 9.99816060e-01 1.75516745e-02 -7.73211529e-03 1.66984620e+02] [-1.75474683e-02 9.99845844e-01 6.11504788e-04 9.43439112e+00] [ 7.74165628e-03 -4.75713260e-04 9.99969920e-01 -2.19645484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.121400513 meters Centerline goodness [0,1] 0.9996295408485694 Centerline is valid? [True, True] Translation: X:167.02, Y:9.44, Z:-0.22 [[ 9.99755293e-01 2.03378536e-02 -8.70208398e-03 1.67015473e+02] [-2.03326315e-02 9.99793034e-01 6.88164750e-04 9.43839428e+00] [ 8.71427874e-03 -5.11060085e-04 9.99961899e-01 -2.20488661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.151400513 meters Centerline goodness [0,1] 0.9980359147025814 Centerline is valid? [True, True] Translation: X:167.04, Y:9.43, Z:-0.22 [[ 9.99721563e-01 2.17675113e-02 -9.10888741e-03 1.67043821e+02] [-2.17618508e-02 9.99762924e-01 7.20089302e-04 9.43145212e+00] [ 9.12240246e-03 -5.21662553e-04 9.99958254e-01 -2.21939813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.181400513 meters Centerline goodness [0,1] 0.9990288957465634 Centerline is valid? [True, True] Translation: X:167.07, Y:9.43, Z:-0.22 [[ 9.99727131e-01 2.17221509e-02 -8.59132187e-03 1.67072707e+02] [-2.17171169e-02 9.99763925e-01 6.78815604e-04 9.43276197e+00] [ 8.60403901e-03 -4.92051636e-04 9.99962864e-01 -2.20212902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.211400513 meters Centerline goodness [0,1] 0.9985628485628486 Centerline is valid? [True, True] Translation: X:167.10, Y:9.43, Z:-0.22 [[ 9.99757855e-01 2.05222940e-02 -7.94151726e-03 1.67102509e+02] [-2.05179567e-02 9.99789288e-01 6.27242591e-04 9.43144956e+00] [ 7.95271634e-03 -4.64147000e-04 9.99968269e-01 -2.19594658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.24140051300003 meters Centerline goodness [0,1] 0.9994324135522179 Centerline is valid? [True, True] Translation: X:167.13, Y:9.43, Z:-0.22 [[ 9.99861893e-01 1.55883885e-02 -5.76174956e-03 1.67132850e+02] [-1.55860243e-02 9.99878427e-01 4.55002260e-04 9.43371665e+00] [ 5.76814184e-03 -3.65136652e-04 9.99983297e-01 -2.15970178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.271400513 meters Centerline goodness [0,1] 0.9882385766102204 Centerline is valid? [True, True] Translation: X:167.16, Y:9.42, Z:-0.22 [[ 9.99905259e-01 1.25734281e-02 -5.60195767e-03 1.67161760e+02] [-1.25711462e-02 9.99920882e-01 4.42358832e-04 9.42241506e+00] [ 5.60707642e-03 -3.71893894e-04 9.99984211e-01 -2.16086905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.30140051300003 meters Centerline goodness [0,1] 0.9988972257659956 Centerline is valid? [True, True] Translation: X:167.19, Y:9.43, Z:-0.22 [[ 9.99937630e-01 9.56856417e-03 -5.76017805e-03 1.67193148e+02] [-9.56610197e-03 9.99954140e-01 4.54853934e-04 9.42820897e+00] [ 5.76426619e-03 -3.99723114e-04 9.99983307e-01 -2.15006802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.331400513 meters Centerline goodness [0,1] 0.9760565505053771 Centerline is valid? [True, True] Translation: X:167.22, Y:9.42, Z:-0.22 [[ 9.99955660e-01 7.12994982e-03 -6.15149214e-03 1.67221952e+02] [-7.12709577e-03 9.99974484e-01 4.85758928e-04 9.41845247e+00] [ 6.15479862e-03 -4.41895117e-04 9.99980961e-01 -2.15316466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.36140051300004 meters Centerline goodness [0,1] 0.9806779879344769 Centerline is valid? [True, True] Translation: X:167.25, Y:9.42, Z:-0.22 [[ 9.99964810e-01 5.82818657e-03 -6.03412245e-03 1.67251505e+02] [-5.82541748e-03 9.99982919e-01 4.76378951e-04 9.41846774e+00] [ 6.03679580e-03 -4.41210905e-04 9.99981681e-01 -2.15247005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.391400513 meters Centerline goodness [0,1] 0.9925373134328358 Centerline is valid? [True, True] Translation: X:167.28, Y:9.42, Z:-0.22 [[ 9.99972730e-01 5.11207229e-03 -5.32968304e-03 1.67280385e+02] [-5.10990298e-03 9.99986856e-01 4.20563192e-04 9.41926747e+00] [ 5.33176294e-03 -3.93317561e-04 9.99985709e-01 -2.15106312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.42140051300004 meters Centerline goodness [0,1] 0.9973731806045991 Centerline is valid? [True, True] Translation: X:167.31, Y:9.42, Z:-0.21 [[ 9.99985084e-01 4.33485674e-03 -3.32283693e-03 1.67309416e+02] [-4.33400962e-03 9.99990574e-01 2.62096719e-04 9.41898898e+00] [ 3.32394176e-03 -2.47691602e-04 9.99994445e-01 -2.14539667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.451400513 meters Centerline goodness [0,1] 0.9828432949452057 Centerline is valid? [True, True] Translation: X:167.34, Y:9.41, Z:-0.22 [[ 9.99982199e-01 4.41718373e-03 -4.01120137e-03 1.67337264e+02] [-4.41595083e-03 9.99990200e-01 3.16167855e-04 9.41275316e+00] [ 4.01255863e-03 -2.98448959e-04 9.99991905e-01 -2.15478120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.481400513 meters Centerline goodness [0,1] 0.9689189189189189 Centerline is valid? [True, True] Translation: X:167.37, Y:9.41, Z:-0.22 [[ 9.99971317e-01 4.90783122e-03 -5.76872746e-03 1.67366000e+02] [-4.90529138e-03 9.99987866e-01 4.54342429e-04 9.41319832e+00] [ 5.77088730e-03 -4.26032108e-04 9.99983258e-01 -2.16899420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.511400513 meters Centerline goodness [0,1] 0.9952862677572105 Centerline is valid? [True, True] Translation: X:167.40, Y:9.42, Z:-0.22 [[ 9.99955185e-01 5.82426620e-03 -7.46363366e-03 1.67395854e+02] [-5.82004238e-03 9.99982891e-01 5.87514260e-04 9.42085868e+00] [ 7.46692780e-03 -5.44049266e-04 9.99971974e-01 -2.17700028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.541400513 meters Centerline goodness [0,1] 0.9693768416457492 Centerline is valid? [True, True] Translation: X:167.42, Y:9.42, Z:-0.22 [[ 9.99935048e-01 6.92752057e-03 -9.05037347e-03 1.67423604e+02] [-6.92135909e-03 9.99975794e-01 7.11942185e-04 9.41646223e+00] [ 9.05508639e-03 -6.49255059e-04 9.99958791e-01 -2.19692346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.571400513 meters Centerline goodness [0,1] 0.9773625429553264 Centerline is valid? [True, True] Translation: X:167.45, Y:9.41, Z:-0.22 [[ 9.99924445e-01 7.96160039e-03 -9.36578289e-03 1.67452993e+02] [-7.95505063e-03 9.99968087e-01 7.36375088e-04 9.41438411e+00] [ 9.37134673e-03 -6.61814174e-04 9.99955869e-01 -2.20226210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.601400513 meters Centerline goodness [0,1] 0.9775154581225407 Centerline is valid? [True, True] Translation: X:167.48, Y:9.41, Z:-0.22 [[ 9.99922532e-01 9.20901515e-03 -8.37405513e-03 1.67481587e+02] [-9.20382489e-03 9.99957427e-01 6.58129517e-04 9.41417560e+00] [ 8.37975935e-03 -5.81005196e-04 9.99964720e-01 -2.18961271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.631400513 meters Centerline goodness [0,1] 0.9835595776772247 Centerline is valid? [True, True] Translation: X:167.51, Y:9.41, Z:-0.22 [[ 9.99932351e-01 9.32481659e-03 -6.95281734e-03 1.67510474e+02] [-9.32124328e-03 9.99956407e-01 5.46165457e-04 9.41463215e+00] [ 6.95760714e-03 -4.81319608e-04 9.99975680e-01 -2.17259627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.661400513 meters Centerline goodness [0,1] 0.9755209123826456 Centerline is valid? [True, True] Translation: X:167.54, Y:9.41, Z:-0.21 [[ 9.99941205e-01 9.18044256e-03 -5.77105950e-03 1.67537156e+02] [-9.17798032e-03 9.99957779e-01 4.52992630e-04 9.41260587e+00] [ 5.77497451e-03 -3.99999326e-04 9.99983245e-01 -2.14950802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.691400513 meters Centerline goodness [0,1] 0.994986277094634 Centerline is valid? [True, True] Translation: X:167.57, Y:9.41, Z:-0.21 [[ 9.99950998e-01 8.57281747e-03 -4.95061883e-03 1.67566257e+02] [-8.57099954e-03 9.99963193e-01 3.88313435e-04 9.41474659e+00] [ 4.95376555e-03 -3.45862655e-04 9.99987670e-01 -2.13160666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.721400513 meters Centerline goodness [0,1] 0.9972273567467652 Centerline is valid? [True, True] Translation: X:167.59, Y:9.42, Z:-0.21 [[ 9.99951646e-01 8.02058425e-03 -5.69002785e-03 1.67594845e+02] [-8.01817581e-03 9.99967754e-01 4.45959794e-04 9.41576038e+00] [ 5.69342123e-03 -4.00314586e-04 9.99983712e-01 -2.13616591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.751400513 meters Centerline goodness [0,1] 0.9924795828215571 Centerline is valid? [True, True] Translation: X:167.62, Y:9.42, Z:-0.22 [[ 9.99927636e-01 9.18149538e-03 -7.77328004e-03 1.67623079e+02] [-9.17703912e-03 9.99957705e-01 6.08753566e-04 9.41530376e+00] [ 7.77854054e-03 -5.37373819e-04 9.99969602e-01 -2.16494952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.781400513 meters Centerline goodness [0,1] 0.99119831694646 Centerline is valid? [True, True] Translation: X:167.65, Y:9.42, Z:-0.22 [[ 9.99909749e-01 1.02927467e-02 -8.63445214e-03 1.67652733e+02] [-1.02872924e-02 9.99946856e-01 6.75861542e-04 9.41607067e+00] [ 8.64094974e-03 -5.86975410e-04 9.99962494e-01 -2.17665153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.811400513 meters Centerline goodness [0,1] 0.9712019498011716 Centerline is valid? [True, True] Translation: X:167.68, Y:9.41, Z:-0.22 [[ 9.99891662e-01 1.13827421e-02 -9.33255761e-03 1.67680119e+02] [-1.13764219e-02 9.99935020e-01 7.30032910e-04 9.41327401e+00] [ 9.34026096e-03 -6.23782707e-04 9.99956184e-01 -2.18423202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.841400513 meters Centerline goodness [0,1] 0.9628417653390743 Centerline is valid? [True, True] Translation: X:167.71, Y:9.41, Z:-0.22 [[ 9.99872008e-01 1.22335256e-02 -1.03105754e-02 1.67709549e+02] [-1.22258606e-02 9.99924936e-01 8.06119415e-04 9.41306224e+00] [ 1.03196632e-02 -6.79960581e-04 9.99946520e-01 -2.19346002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.871400513 meters Centerline goodness [0,1] 0.9926327193932828 Centerline is valid? [True, True] Translation: X:167.74, Y:9.42, Z:-0.22 [[ 9.99856770e-01 1.26425353e-02 -1.12519574e-02 1.67738847e+02] [-1.26334379e-02 9.99919808e-01 8.79229466e-04 9.41822240e+00] [ 1.12621708e-02 -7.36952628e-04 9.99936308e-01 -2.19491571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.901400513 meters Centerline goodness [0,1] 0.9508189673702764 Centerline is valid? [True, True] Translation: X:167.77, Y:9.41, Z:-0.22 [[ 9.99845077e-01 1.30345019e-02 -1.18289213e-02 1.67766176e+02] [-1.30244826e-02 9.99914751e-01 9.23661494e-04 9.41199673e+00] [ 1.18399524e-02 -7.69452818e-04 9.99929609e-01 -2.21411616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.931400513 meters Centerline goodness [0,1] 0.9917169488959536 Centerline is valid? [True, True] Translation: X:167.80, Y:9.42, Z:-0.22 [[ 9.99854609e-01 1.33481294e-02 -1.06107413e-02 1.67795792e+02] [-1.33400905e-02 9.99910674e-01 8.28041444e-04 9.41945122e+00] [ 1.06208462e-02 -6.86372806e-04 9.99943362e-01 -2.18579772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.961400513 meters Centerline goodness [0,1] 0.9780940301395189 Centerline is valid? [True, True] Translation: X:167.82, Y:9.41, Z:-0.22 [[ 9.99870264e-01 1.33135184e-02 -9.06673743e-03 1.67822974e+02] [-1.33076517e-02 9.99911199e-01 7.07082102e-04 9.41464645e+00] [ 9.07534604e-03 -5.86333384e-04 9.99958646e-01 -2.16763243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.99140051300003 meters Centerline goodness [0,1] 0.9421984053242292 Centerline is valid? [True, False] Translation: X:167.82, Y:9.42, Z:-0.22 [[ 9.99875400e-01 1.29709325e-02 -8.99663316e-03 1.67822267e+02] [-1.29718585e-02 9.99915861e-01 -4.45808401e-05 9.41800675e+00] [ 8.99529794e-03 1.61278338e-04 9.99959528e-01 -2.15829589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.021400513 meters Centerline goodness [0,1] 0.994182789675529 Centerline is valid? [False, True] Translation: X:167.82, Y:9.42, Z:-0.22 [[ 9.99879304e-01 1.26914719e-02 -8.96125454e-03 1.67821861e+02] [-1.26980898e-02 9.99919143e-01 -6.81998239e-04 9.42093631e+00] [ 8.95187441e-03 7.95706739e-04 9.99959615e-01 -2.15281056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.05140051300003 meters Centerline goodness [0,1] 0.9993026955176396 Centerline is valid? [True, True] Translation: X:167.85, Y:9.43, Z:-0.21 [[ 9.99896294e-01 1.18924435e-02 -8.12222149e-03 1.67851615e+02] [-1.18877267e-02 9.99929141e-01 6.28768140e-04 9.42713379e+00] [ 8.12912355e-03 -5.32148184e-04 9.99966817e-01 -2.14387940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.081400513 meters Centerline goodness [0,1] 0.9943992072724139 Centerline is valid? [True, True] Translation: X:167.88, Y:9.42, Z:-0.21 [[ 9.99914223e-01 1.05888932e-02 -7.70863003e-03 1.67879246e+02] [-1.05846087e-02 9.99943804e-01 5.96401806e-04 9.41968307e+00] [ 7.71451206e-03 -5.14757816e-04 9.99970110e-01 -2.14314962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.11140051300004 meters Centerline goodness [0,1] 0.997546223551949 Centerline is valid? [True, True] Translation: X:167.91, Y:9.42, Z:-0.21 [[ 9.99956161e-01 7.11386390e-03 -6.08835506e-03 1.67910315e+02] [-7.11112805e-03 9.99974605e-01 4.70888087e-04 9.42167550e+00] [ 6.09155028e-03 -4.27572371e-04 9.99981355e-01 -2.12886450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.141400513 meters Centerline goodness [0,1] 0.997546223551949 Centerline is valid? [True, True] Translation: X:167.94, Y:9.42, Z:-0.21 [[ 9.99956640e-01 7.04622405e-03 -6.08836419e-03 1.67937779e+02] [-7.04348767e-03 9.99975084e-01 4.70769925e-04 9.41965648e+00] [ 6.09152964e-03 -4.27866194e-04 9.99981355e-01 -2.12767899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.17140051300004 meters Centerline goodness [0,1] 0.9941130972842901 Centerline is valid? [True, True] Translation: X:167.97, Y:9.42, Z:-0.21 [[ 9.99967277e-01 5.62538519e-03 -5.81370329e-03 1.67966054e+02] [-5.62286826e-03 9.99984091e-01 4.49184750e-04 9.41619111e+00] [ 5.81613763e-03 -4.16480364e-04 9.99982999e-01 -2.12827747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.201400513 meters Centerline goodness [0,1] 0.9813785918916572 Centerline is valid? [True, True] Translation: X:167.99, Y:9.41, Z:-0.21 [[ 9.99973964e-01 4.30977842e-03 -5.78761897e-03 1.67993720e+02] [-4.30726362e-03 9.99990624e-01 4.46909282e-04 9.41148891e+00] [ 5.78949078e-03 -4.21968846e-04 9.99983152e-01 -2.12338501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.231400513 meters Centerline goodness [0,1] 0.9890794282377874 Centerline is valid? [True, True] Translation: X:168.02, Y:9.41, Z:-0.21 [[ 9.99969418e-01 3.76632388e-03 -6.85396818e-03 1.68022665e+02] [-3.76278665e-03 9.99992781e-01 5.28906411e-04 9.41362121e+00] [ 6.85591073e-03 -5.03100216e-04 9.99976371e-01 -2.13752630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.261400513 meters Centerline goodness [0,1] 0.9337547571437786 Centerline is valid? [True, False] Translation: X:168.02, Y:9.41, Z:-0.21 [[ 9.99968514e-01 3.67830271e-03 -7.03143720e-03 1.68023591e+02] [-3.67608968e-03 9.99993189e-01 3.27631250e-04 9.41471822e+00] [ 7.03259444e-03 -3.01772741e-04 9.99975225e-01 -2.14450405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.291400513 meters Centerline goodness [0,1] 0.9455172857234713 Centerline is valid? [False, False] Translation: X:168.02, Y:9.42, Z:-0.21 [[ 9.99967515e-01 3.56250473e-03 -7.23030734e-03 1.68024450e+02] [-3.56229621e-03 9.99993654e-01 4.17169096e-05 9.41617707e+00] [ 7.23041007e-03 -1.59590580e-05 9.99973860e-01 -2.14838139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.321400513 meters Centerline goodness [0,1] 0.8975050136933129 Centerline is valid? [False, False] Translation: X:168.02, Y:9.42, Z:-0.21 [[ 9.99968141e-01 3.17893224e-03 -7.32202821e-03 1.68024480e+02] [-3.18487986e-03 9.99994608e-01 -8.00773912e-04 9.42004125e+00] [ 7.31944312e-03 8.24068180e-04 9.99972873e-01 -2.14308979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.351400513 meters Centerline goodness [0,1] 0.966612536537837 Centerline is valid? [False, True] Translation: X:168.02, Y:9.42, Z:-0.21 [[ 9.99969532e-01 2.96801704e-03 -7.21976091e-03 1.68023546e+02] [-2.97704701e-03 9.99994799e-01 -1.24030322e-03 9.42186986e+00] [ 7.21604212e-03 1.26175900e-03 9.99973168e-01 -2.13115940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.381400513 meters Centerline goodness [0,1] 0.9372645547945205 Centerline is valid? [True, False] Translation: X:168.05, Y:9.41, Z:-0.22 [[ 9.99997911e-01 1.87760545e-03 -8.08097126e-04 1.68049267e+02] [-1.87188140e-03 9.99973560e-01 7.02677550e-03 9.41298577e+00] [ 8.21269272e-04 -7.02524816e-03 9.99974985e-01 -2.20766359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.411400513 meters Centerline goodness [0,1] 0.9901166663085749 Centerline is valid? [False, True] Translation: X:168.05, Y:9.41, Z:-0.22 [[ 9.99998125e-01 1.82393203e-03 -6.50179860e-04 1.68048394e+02] [-1.81937063e-03 9.99974204e-01 6.94848247e-03 9.41318005e+00] [ 6.62836648e-04 -6.94728652e-03 9.99975648e-01 -2.20097673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.441400513 meters Centerline goodness [0,1] 0.9694330674714378 Centerline is valid? [True, True] Translation: X:168.08, Y:9.41, Z:-0.22 [[ 9.99997616e-01 2.14149605e-03 -4.26366132e-04 1.68076725e+02] [-2.14148221e-03 9.99997706e-01 3.29211293e-05 9.41143867e+00] [ 4.26435654e-04 -3.20079953e-05 9.99999909e-01 -2.17262577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.471400513 meters Centerline goodness [0,1] 0.9768895787522097 Centerline is valid? [True, True] Translation: X:168.11, Y:9.41, Z:-0.22 [[ 9.99995054e-01 3.09848579e-03 -5.39563377e-04 1.68106467e+02] [-3.09846377e-03 9.99995199e-01 4.16489816e-05 9.41028487e+00] [ 5.39689835e-04 -3.99769581e-05 9.99999854e-01 -2.17752948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.501400513 meters Centerline goodness [0,1] 0.989538620823537 Centerline is valid? [True, True] Translation: X:168.14, Y:9.41, Z:-0.22 [[ 9.99972541e-01 7.12014468e-03 -2.05447457e-03 1.68137279e+02] [-7.11983387e-03 9.99974641e-01 1.58557962e-04 9.41312800e+00] [ 2.05555142e-03 -1.43926090e-04 9.99997877e-01 -2.19179815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.531400513 meters Centerline goodness [0,1] 0.9917058037830152 Centerline is valid? [True, True] Translation: X:168.17, Y:9.41, Z:-0.22 [[ 9.99950498e-01 9.62972854e-03 -2.50396310e-03 1.68167414e+02] [-9.62927469e-03 9.99953619e-01 1.93246354e-04 9.41286483e+00] [ 2.50570787e-03 -1.69125440e-04 9.99996846e-01 -2.19619369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.561400513 meters Centerline goodness [0,1] 0.9983080975735121 Centerline is valid? [True, True] Translation: X:168.20, Y:9.42, Z:-0.22 [[ 9.99923202e-01 1.20538567e-02 -2.88014987e-03 1.68197831e+02] [-1.20532662e-02 9.99927332e-01 2.22271621e-04 9.41704696e+00] [ 2.88261981e-03 -1.87539337e-04 9.99995828e-01 -2.19223077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.591400513 meters Centerline goodness [0,1] 0.9985642959693145 Centerline is valid? [True, True] Translation: X:168.23, Y:9.41, Z:-0.22 [[ 9.99902285e-01 1.38040424e-02 -2.20645611e-03 1.68226366e+02] [-1.38037002e-02 9.99904710e-01 1.70218833e-04 9.41428656e+00] [ 2.20859556e-03 -1.39744941e-04 9.99997551e-01 -2.17620194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.621400513 meters Centerline goodness [0,1] 0.9998682245453747 Centerline is valid? [True, True] Translation: X:168.26, Y:9.42, Z:-0.22 [[ 9.99883305e-01 1.51573813e-02 -1.90542845e-03 1.68256768e+02] [-1.51571287e-02 9.99885113e-01 1.46948633e-04 9.42275973e+00] [ 1.90743690e-03 -1.18050661e-04 9.99998174e-01 -2.16342349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.651400513 meters Centerline goodness [0,1] 0.9996742671009772 Centerline is valid? [True, True] Translation: X:168.29, Y:9.42, Z:-0.22 [[ 9.99873548e-01 1.57494481e-02 -2.20082243e-03 1.68286098e+02] [-1.57491126e-02 9.99875961e-01 1.69655558e-04 9.42089752e+00] [ 2.20322143e-03 -1.34973104e-04 9.99997564e-01 -2.16300365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.681400513 meters Centerline goodness [0,1] 0.9985192179754061 Centerline is valid? [True, True] Translation: X:168.31, Y:9.41, Z:-0.22 [[ 9.99885990e-01 1.48708742e-02 -2.62006269e-03 1.68312932e+02] [-1.48703963e-02 9.99889409e-01 2.01790360e-04 9.40648917e+00] [ 2.62277373e-03 -1.62805984e-04 9.99996547e-01 -2.17674065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.711400513 meters Centerline goodness [0,1] 0.996726536589568 Centerline is valid? [True, True] Translation: X:168.34, Y:9.40, Z:-0.22 [[ 9.99904261e-01 1.36059448e-02 -2.51940158e-03 1.68342277e+02] [-1.36054994e-02 9.99907422e-01 1.93866504e-04 9.40020354e+00] [ 2.52180608e-03 -1.59570227e-04 9.99996808e-01 -2.18183255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.74140051300003 meters Centerline goodness [0,1] 0.9967880316454332 Centerline is valid? [True, True] Translation: X:168.37, Y:9.39, Z:-0.22 [[ 9.99926244e-01 1.19196830e-02 -2.32955884e-03 1.68372147e+02] [-1.19192977e-02 9.99928947e-01 1.79210719e-04 9.39437747e+00] [ 2.33152945e-03 -1.51430796e-04 9.99997271e-01 -2.17663620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.771400513 meters Centerline goodness [0,1] 0.9900210761753193 Centerline is valid? [True, True] Translation: X:168.40, Y:9.39, Z:-0.22 [[ 9.99962466e-01 8.28257726e-03 -2.54276019e-03 1.68402361e+02] [-8.28210650e-03 9.99965684e-01 1.95608887e-04 9.38657959e+00] [ 2.54429308e-03 -1.74542134e-04 9.99996748e-01 -2.17549863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.80140051300003 meters Centerline goodness [0,1] 0.8766211457528128 Centerline is valid? [True, False] Translation: X:168.40, Y:9.39, Z:-0.22 [[ 9.99988510e-01 3.76976569e-03 -2.96111204e-03 1.68403143e+02] [-3.78439421e-03 9.99980587e-01 -4.95024298e-03 9.39062195e+00] [ 2.94239330e-03 4.96139212e-03 9.99983363e-01 -2.16525418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.831400513 meters Centerline goodness [0,1] 0.9735318982896534 Centerline is valid? [False, True] Translation: X:168.40, Y:9.38, Z:-0.22 [[ 9.99968526e-01 7.58770698e-03 -2.31819820e-03 1.68401181e+02] [-7.58663385e-03 9.99971110e-01 4.71359334e-04 9.38286193e+00] [ 2.32170776e-03 -4.53757177e-04 9.99997202e-01 -2.17493586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.86140051300004 meters Centerline goodness [0,1] 0.9701431842989534 Centerline is valid? [True, True] Translation: X:168.43, Y:9.38, Z:-0.22 [[ 9.99975665e-01 6.61561705e-03 -2.21410712e-03 1.68429891e+02] [-6.61524515e-03 9.99978104e-01 1.75252857e-04 9.37787155e+00] [ 2.21521804e-03 -1.60601731e-04 9.99997534e-01 -2.17107895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.891400513 meters Centerline goodness [0,1] 0.9948391873353222 Centerline is valid? [True, True] Translation: X:168.46, Y:9.38, Z:-0.22 [[ 9.99979347e-01 6.03995854e-03 -2.19661650e-03 1.68458870e+02] [-6.03959133e-03 9.99981746e-01 1.73764738e-04 9.38004540e+00] [ 2.19762594e-03 -1.60494483e-04 9.99997572e-01 -2.16639077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.92140051300004 meters Centerline goodness [0,1] 0.9816610409992905 Centerline is valid? [True, True] Translation: X:168.49, Y:9.37, Z:-0.22 [[ 9.99983331e-01 5.47170162e-03 -1.84334203e-03 1.68485149e+02] [-5.47144233e-03 9.99985021e-01 1.45680556e-04 9.36629435e+00] [ 1.84411154e-03 -1.35592388e-04 9.99998290e-01 -2.17102480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.951400513 meters Centerline goodness [0,1] 0.9966524124227895 Centerline is valid? [True, True] Translation: X:168.51, Y:9.37, Z:-0.22 [[ 9.99982560e-01 5.57085192e-03 -1.96101392e-03 1.68514165e+02] [-5.57055880e-03 9.99984472e-01 1.54899517e-04 9.36811758e+00] [ 1.96184639e-03 -1.43972872e-04 9.99998065e-01 -2.16786649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.981400513 meters Centerline goodness [0,1] 0.9763823284245624 Centerline is valid? [True, True] Translation: X:168.54, Y:9.36, Z:-0.22 [[ 9.99981236e-01 5.86260478e-03 -1.77684248e-03 1.68541524e+02] [-5.86236479e-03 9.99982806e-01 1.40243788e-04 9.35785172e+00] [ 1.77763412e-03 -1.29824658e-04 9.99998412e-01 -2.16146600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.011400513 meters Centerline goodness [0,1] 0.998072633562163 Centerline is valid? [True, True] Translation: X:168.57, Y:9.36, Z:-0.21 [[ 9.99979645e-01 6.23649454e-03 -1.34754388e-03 1.68570736e+02] [-6.23635693e-03 9.99980548e-01 1.06296740e-04 9.36382471e+00] [ 1.34818059e-03 -9.78908112e-05 9.99999086e-01 -2.14960822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.041400513 meters Centerline goodness [0,1] 0.9857530384262126 Centerline is valid? [True, True] Translation: X:168.60, Y:9.35, Z:-0.22 [[ 9.99976469e-01 6.77208266e-03 -1.09560129e-03 1.68597900e+02] [-6.77199209e-03 9.99977066e-01 8.63525213e-05 9.35148109e+00] [ 1.09616095e-03 -7.89310860e-05 9.99999396e-01 -2.15008057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.071400513 meters Centerline goodness [0,1] 0.9991372802760703 Centerline is valid? [True, True] Translation: X:168.63, Y:9.36, Z:-0.22 [[ 9.99971312e-01 7.39973771e-03 -1.61840555e-03 1.68627508e+02] [-7.39954100e-03 9.99972615e-01 1.27497155e-04 9.35676748e+00] [ 1.61930468e-03 -1.15518039e-04 9.99998682e-01 -2.16104018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.101400513 meters Centerline goodness [0,1] 0.9912865748709122 Centerline is valid? [True, True] Translation: X:168.65, Y:9.34, Z:-0.22 [[ 9.99964052e-01 8.02376633e-03 -2.74118238e-03 1.68654043e+02] [-8.02320476e-03 9.99967790e-01 2.15797811e-04 9.34064229e+00] [ 2.74282560e-03 -1.93796986e-04 9.99996220e-01 -2.18365700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.131400513 meters Centerline goodness [0,1] 0.8801461894012684 Centerline is valid? [True, False] Translation: X:168.65, Y:9.34, Z:-0.22 [[ 9.99988354e-01 3.73092356e-03 -3.06149927e-03 1.68654456e+02] [-3.74545847e-03 9.99981677e-01 -4.75572558e-03 9.34403010e+00] [ 3.04369993e-03 4.76713691e-03 9.99984005e-01 -2.17141731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.161400513 meters Centerline goodness [0,1] 0.9821521063535912 Centerline is valid? [False, True] Translation: X:168.65, Y:9.34, Z:-0.22 [[ 9.99987608e-01 3.98128389e-03 -2.98899743e-03 1.68654166e+02] [-3.99366969e-03 9.99983417e-01 -4.14932808e-03 9.34112058e+00] [ 2.97242821e-03 4.16121373e-03 9.99986924e-01 -2.17036711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.191400513 meters Centerline goodness [0,1] 0.973303979823024 Centerline is valid? [True, True] Translation: X:168.68, Y:9.33, Z:-0.22 [[ 9.99992666e-01 3.30610336e-03 -1.93346820e-03 1.68680645e+02] [-3.30582958e-03 9.99994525e-01 1.44780220e-04 9.32834378e+00] [ 1.93393628e-03 -1.38387442e-04 9.99998120e-01 -2.17378423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.221400513 meters Centerline goodness [0,1] 0.9914348274085523 Centerline is valid? [True, True] Translation: X:168.71, Y:9.33, Z:-0.22 [[ 9.99995053e-01 2.58882860e-03 -1.78643267e-03 1.68709579e+02] [-2.58859387e-03 9.99996641e-01 1.33695944e-04 9.32916900e+00] [ 1.78677278e-03 -1.29070934e-04 9.99998395e-01 -2.16601971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.251400513 meters Centerline goodness [0,1] 0.974499677211104 Centerline is valid? [True, True] Translation: X:168.74, Y:9.32, Z:-0.22 [[ 9.99996705e-01 1.83419748e-03 -1.79585956e-03 1.68737173e+02] [-1.83395920e-03 9.99998309e-01 1.34321258e-04 9.32090489e+00] [ 1.79610289e-03 -1.31027283e-04 9.99998378e-01 -2.16359465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.281400513 meters Centerline goodness [0,1] 0.9825354781747313 Centerline is valid? [True, True] Translation: X:168.77, Y:9.32, Z:-0.22 [[ 9.99996385e-01 -1.21010520e-04 -2.68623833e-03 1.68766581e+02] [ 1.21550639e-04 9.99999972e-01 2.00906597e-04 9.31578539e+00] [ 2.68621395e-03 -2.01232385e-04 9.99996372e-01 -2.17956904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.311400513 meters Centerline goodness [0,1] 0.9322318678241389 Centerline is valid? [True, False] Translation: X:168.77, Y:9.31, Z:-0.22 [[ 9.99996556e-01 2.39844561e-04 -2.61342715e-03 1.68766645e+02] [-2.36926721e-04 9.99999348e-01 1.11673293e-03 9.31150362e+00] [ 2.61369329e-03 -1.11610989e-03 9.99995961e-01 -2.18541422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.341400513 meters Centerline goodness [0,1] 0.993428140486964 Centerline is valid? [False, True] Translation: X:168.77, Y:9.31, Z:-0.22 [[ 9.99996719e-01 6.35176762e-04 -2.48171507e-03 1.68766431e+02] [-6.29879521e-04 9.99997523e-01 2.13470695e-03 9.30668139e+00] [ 2.48306484e-03 -2.13313676e-03 9.99994642e-01 -2.18959069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.371400513 meters Centerline goodness [0,1] 0.9842081320538093 Centerline is valid? [True, True] Translation: X:168.79, Y:9.30, Z:-0.22 [[ 9.99997703e-01 -9.68744193e-04 -1.91175929e-03 1.68794609e+02] [ 9.69031666e-04 9.99999519e-01 1.49450229e-04 9.29841423e+00] [ 1.91161359e-03 -1.51302442e-04 9.99998161e-01 -2.17662417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.401400513 meters Centerline goodness [0,1] 0.8746892945915831 Centerline is valid? [True, False] Translation: X:168.79, Y:9.30, Z:-0.22 [[ 9.99983750e-01 -5.31439747e-03 -2.06306127e-03 1.68794621e+02] [ 5.30508819e-03 9.99975839e-01 -4.49191122e-03 9.29995135e+00] [ 2.08688323e-03 4.48089350e-03 9.99987783e-01 -2.16597089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.431400513 meters Centerline goodness [0,1] 0.9121506475800955 Centerline is valid? [False, False] Translation: X:168.79, Y:9.29, Z:-0.22 [[ 9.99986171e-01 -4.85866752e-03 -2.01282530e-03 1.68794815e+02] [ 4.85204566e-03 9.99982844e-01 -3.28175927e-03 9.29422837e+00] [ 2.02873574e-03 3.27194757e-03 9.99992589e-01 -2.17315905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.461400513 meters Centerline goodness [0,1] 0.864356563184336 Centerline is valid? [False, False] Translation: X:168.79, Y:9.28, Z:-0.22 [[ 9.99989712e-01 -4.20174933e-03 -1.70888255e-03 1.68794467e+02] [ 4.20001092e-03 9.99990660e-01 -1.01959854e-03 9.28324403e+00] [ 1.71315069e-03 1.01241072e-03 9.99998020e-01 -2.18656588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.49140051300003 meters Centerline goodness [0,1] 0.7730462761018376 Centerline is valid? [False, False] Translation: X:168.79, Y:9.28, Z:-0.22 [[ 9.99991635e-01 -3.71060975e-03 -1.72113434e-03 1.68794950e+02] [ 3.71084881e-03 9.99993106e-01 1.35727865e-04 9.27794164e+00] [ 1.72061884e-03 -1.42113599e-04 9.99998510e-01 -2.19527073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.521400513 meters Centerline goodness [0,1] 0.9114074522348059 Centerline is valid? [False, False] Translation: X:168.80, Y:9.27, Z:-0.22 [[ 9.99993029e-01 -3.30691617e-03 -1.73392108e-03 1.68795266e+02] [ 3.30875421e-03 9.99993966e-01 1.05825464e-03 9.27370541e+00] [ 1.73041106e-03 -1.06398438e-03 9.99997937e-01 -2.20039687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.55140051300003 meters Centerline goodness [0,1] 0.8329210316862778 Centerline is valid? [False, False] Translation: X:168.80, Y:9.27, Z:-0.22 [[ 9.99993966e-01 -3.00675151e-03 -1.73986838e-03 1.68795307e+02] [ 3.00969969e-03 9.99994035e-01 1.69435275e-03 9.27076165e+00] [ 1.73476350e-03 -1.69957901e-03 9.99997051e-01 -2.20047846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.581400513 meters Centerline goodness [0,1] 0.9062114889844983 Centerline is valid? [False, False] Translation: X:168.79, Y:9.26, Z:-0.22 [[ 9.99999107e-01 -1.14001745e-03 -6.97622817e-04 1.68790152e+02] [ 1.14262231e-03 9.99992335e-01 3.74496038e-03 9.26422245e+00] [ 6.93348150e-04 -3.74575415e-03 9.99992744e-01 -2.17227316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.61140051300004 meters Centerline goodness [0,1] 0.8011250614933801 Centerline is valid? [False, False] Translation: X:168.79, Y:9.27, Z:-0.22 [[ 9.99990037e-01 -4.29065070e-03 -1.23153245e-03 1.68791948e+02] [ 4.28994926e-03 9.99990635e-01 -5.71644021e-04 9.26693607e+00] [ 1.23397364e-03 5.66355114e-04 9.99999078e-01 -2.16574180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.641400513 meters Centerline goodness [0,1] 0.9985492811363242 Centerline is valid? [False, True] Translation: X:168.77, Y:9.27, Z:-0.21 [[ 9.99984890e-01 -1.10161848e-03 -5.38566306e-03 1.68769787e+02] [ 1.04941085e-03 9.99952529e-01 -9.68704976e-03 9.27188899e+00] [ 5.39607883e-03 9.68125162e-03 9.99938576e-01 -2.10866670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.67140051300004 meters Centerline goodness [0,1] 0.9983704275483511 Centerline is valid? [True, True] Translation: X:168.80, Y:9.26, Z:-0.21 [[ 9.99988995e-01 1.14379355e-03 -4.54981119e-03 1.68797713e+02] [-1.14230119e-03 9.99999293e-01 3.30589553e-04 9.25770790e+00] [ 4.55018610e-03 -3.25388660e-04 9.99989595e-01 -2.13869768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.701400513 meters Centerline goodness [0,1] 0.9992894821832274 Centerline is valid? [True, True] Translation: X:168.83, Y:9.26, Z:-0.21 [[ 9.99986730e-01 2.59602439e-03 -4.44986799e-03 1.68827593e+02] [-2.59461164e-03 9.99996582e-01 3.23223585e-04 9.25732710e+00] [ 4.45069188e-03 -3.11673616e-04 9.99990047e-01 -2.13622726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.731400513 meters Centerline goodness [0,1] 0.9981663894929854 Centerline is valid? [True, True] Translation: X:168.86, Y:9.25, Z:-0.21 [[ 9.99982796e-01 4.37845374e-03 -3.90347908e-03 1.68855834e+02] [-4.37738032e-03 9.99990379e-01 2.83492250e-04 9.25338743e+00] [ 3.90468278e-03 -2.66400360e-04 9.99992341e-01 -2.11995409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.761400513 meters Centerline goodness [0,1] 0.9993498331238351 Centerline is valid? [True, True] Translation: X:168.88, Y:9.25, Z:-0.21 [[ 9.99985135e-01 4.10200517e-03 -3.59209319e-03 1.68884450e+02] [-4.10109481e-03 9.99991556e-01 2.60765665e-04 9.25469017e+00] [ 3.59313252e-03 -2.46030274e-04 9.99993514e-01 -2.10825538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.791400513 meters Centerline goodness [0,1] 0.9985661394910865 Centerline is valid? [True, True] Translation: X:168.91, Y:9.25, Z:-0.21 [[ 9.99987586e-01 3.11314937e-03 -3.89060473e-03 1.68913024e+02] [-3.11207471e-03 9.99995118e-01 2.82244272e-04 9.24916319e+00] [ 3.89146440e-03 -2.70132916e-04 9.99992392e-01 -2.10754057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.821400513 meters Centerline goodness [0,1] 0.9993084221218473 Centerline is valid? [True, True] Translation: X:168.94, Y:9.25, Z:-0.21 [[ 9.99989640e-01 1.37726157e-03 -4.33850324e-03 1.68943174e+02] [-1.37590961e-03 9.99999004e-01 3.14587062e-04 9.25030932e+00] [ 4.33893219e-03 -3.08614415e-04 9.99990539e-01 -2.11511218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.851400513 meters Centerline goodness [0,1] 0.9936179911867498 Centerline is valid? [True, True] Translation: X:168.97, Y:9.24, Z:-0.21 [[ 9.99984929e-01 -6.63638797e-04 -5.44985330e-03 1.68971560e+02] [ 6.65801748e-04 9.99999700e-01 3.95077676e-04 9.24100535e+00] [ 5.44958948e-03 -3.98700243e-04 9.99985071e-01 -2.13504100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.881400513 meters Centerline goodness [0,1] 0.9653335624382491 Centerline is valid? [True, True] Translation: X:169.00, Y:9.23, Z:-0.22 [[ 9.99976767e-01 -3.35189260e-03 -5.93553440e-03 1.69000101e+02] [ 3.35450464e-03 9.99994281e-01 4.30167369e-04 9.23194517e+00] [ 5.93405858e-03 -4.50068152e-04 9.99982292e-01 -2.15084580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.911400513 meters Centerline goodness [0,1] 0.8226375553322071 Centerline is valid? [True, False] Translation: X:169.00, Y:9.23, Z:-0.22 [[ 9.99954247e-01 -7.32654255e-03 -6.15029070e-03 1.69001467e+02] [ 7.30833656e-03 9.99968861e-01 -2.97745682e-03 9.22780010e+00] [ 6.17191365e-03 2.93237220e-03 9.99976654e-01 -2.16260196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.941400513 meters Centerline goodness [0,1] 0.9460311334105236 Centerline is valid? [False, False] Translation: X:169.00, Y:9.22, Z:-0.22 [[ 9.99957620e-01 -6.88677860e-03 -6.10984476e-03 1.69001843e+02] [ 6.87564884e-03 9.99974668e-01 -1.84074970e-03 9.22252152e+00] [ 6.12236682e-03 1.79866254e-03 9.99979641e-01 -2.17244437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.971400513 meters Centerline goodness [0,1] 0.8239623006907236 Centerline is valid? [False, False] Translation: X:169.00, Y:9.22, Z:-0.22 [[ 9.99959407e-01 -6.67948657e-03 -6.04722798e-03 1.69001780e+02] [ 6.67150641e-03 9.99976849e-01 -1.33885172e-03 9.22017375e+00] [ 6.05603082e-03 1.29845325e-03 9.99980819e-01 -2.17496838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.001400513 meters Centerline goodness [0,1] 0.8430714652077278 Centerline is valid? [False, False] Translation: X:169.00, Y:9.22, Z:-0.22 [[ 9.99958590e-01 -6.73326462e-03 -6.12213771e-03 1.69001864e+02] [ 6.72412687e-03 9.99976250e-01 -1.51193514e-03 9.22099054e+00] [ 6.13217257e-03 1.47070650e-03 9.99980117e-01 -2.17166078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.031400513 meters Centerline goodness [0,1] 0.8430714652077278 Centerline is valid? [False, False] Translation: X:169.00, Y:9.22, Z:-0.22 [[ 9.99958590e-01 -6.73326462e-03 -6.12213771e-03 1.69001864e+02] [ 6.72412687e-03 9.99976250e-01 -1.51193514e-03 9.22099054e+00] [ 6.13217257e-03 1.47070650e-03 9.99980117e-01 -2.17166078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.061400513 meters Centerline goodness [0,1] 0.9078736626305337 Centerline is valid? [False, False] Translation: X:169.00, Y:9.22, Z:-0.22 [[ 9.99980359e-01 -2.04386185e-03 -5.92489015e-03 1.69001582e+02] [ 2.06684431e-03 9.99990354e-01 3.87544391e-03 9.21593893e+00] [ 5.91691213e-03 -3.88761362e-03 9.99974938e-01 -2.18028634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.091400513 meters Centerline goodness [0,1] 0.973370752817173 Centerline is valid? [False, True] Translation: X:169.00, Y:9.22, Z:-0.22 [[ 9.99978946e-01 -2.09445330e-03 -6.14180152e-03 1.69002199e+02] [ 2.11617670e-03 9.99991521e-01 3.53261152e-03 9.21768166e+00] [ 6.13435055e-03 -3.54553428e-03 9.99974899e-01 -2.17857443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.121400513 meters Centerline goodness [0,1] 0.9668689554607253 Centerline is valid? [True, True] Translation: X:169.03, Y:9.22, Z:-0.22 [[ 9.99970184e-01 3.32721293e-03 -6.96855932e-03 1.69031401e+02] [-3.32356624e-03 9.99994334e-01 5.34821161e-04 9.21556385e+00] [ 6.97029930e-03 -5.11644747e-04 9.99975576e-01 -2.19974345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.151400513 meters Centerline goodness [0,1] 0.9633606664063517 Centerline is valid? [True, True] Translation: X:169.06, Y:9.21, Z:-0.22 [[ 9.99961114e-01 5.13102282e-03 -7.17242883e-03 1.69060716e+02] [-5.12720666e-03 9.99986704e-01 5.50346483e-04 9.21318801e+00] [ 7.17515731e-03 -5.13550557e-04 9.99974126e-01 -2.20804132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.181400513 meters Centerline goodness [0,1] 0.9990951980869902 Centerline is valid? [True, True] Translation: X:169.09, Y:9.22, Z:-0.22 [[ 9.99959602e-01 6.06675686e-03 -6.63237438e-03 1.69090216e+02] [-6.06351593e-03 9.99981487e-01 5.08652529e-04 9.22208731e+00] [ 6.63533747e-03 -4.68416473e-04 9.99977876e-01 -2.19766616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.211400513 meters Centerline goodness [0,1] 0.9967432991236903 Centerline is valid? [True, True] Translation: X:169.12, Y:9.21, Z:-0.22 [[ 9.99961329e-01 6.55043030e-03 -5.86797093e-03 1.69117155e+02] [-6.54790347e-03 9.99978461e-01 4.49723488e-04 9.21437688e+00] [ 5.87079042e-03 -4.11283189e-04 9.99982682e-01 -2.18960440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.24140051300003 meters Centerline goodness [0,1] 0.9995645926764488 Centerline is valid? [True, True] Translation: X:169.15, Y:9.22, Z:-0.22 [[ 9.99965680e-01 6.37558408e-03 -5.29063790e-03 1.69145836e+02] [-6.37352894e-03 9.99979607e-01 4.05216610e-04 9.21712590e+00] [ 5.29311350e-03 -3.71482669e-04 9.99985922e-01 -2.17925014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.271400513 meters Centerline goodness [0,1] 0.9980524960508947 Centerline is valid? [True, True] Translation: X:169.17, Y:9.21, Z:-0.22 [[ 9.99968047e-01 5.86697657e-03 -5.42996124e-03 1.69172991e+02] [-5.86480592e-03 9.99982716e-01 4.15589991e-04 9.20797092e+00] [ 5.43230564e-03 -3.83731042e-04 9.99985171e-01 -2.17497992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.30140051300003 meters Centerline goodness [0,1] 0.9912055143801725 Centerline is valid? [True, True] Translation: X:169.20, Y:9.20, Z:-0.22 [[ 9.99971167e-01 3.83570491e-03 -6.55376538e-03 1.69201121e+02] [-3.83250071e-03 9.99992530e-01 5.01399217e-04 9.19844235e+00] [ 6.55563965e-03 -4.76267450e-04 9.99978398e-01 -2.17836081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.331400513 meters Centerline goodness [0,1] 0.9670012492999612 Centerline is valid? [True, True] Translation: X:169.23, Y:9.19, Z:-0.22 [[ 9.99972274e-01 2.50161530e-03 -7.01383529e-03 1.69229218e+02] [-2.49791416e-03 9.99996736e-01 5.36402345e-04 9.18860201e+00] [ 7.01515427e-03 -5.18867514e-04 9.99975259e-01 -2.19950031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.36140051300004 meters Centerline goodness [0,1] 0.7884751582787852 Centerline is valid? [True, False] Translation: X:169.24, Y:9.19, Z:-0.22 [[ 9.99968786e-01 1.07010555e-04 -7.90037777e-03 1.69235527e+02] [-1.20468759e-04 9.99998543e-01 -1.70303234e-03 9.18621085e+00] [ 7.90018402e-03 1.70393093e-03 9.99967341e-01 -2.23832477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.391400513 meters Centerline goodness [0,1] 0.9949123676892233 Centerline is valid? [False, True] Translation: X:169.23, Y:9.18, Z:-0.22 [[ 9.99970849e-01 6.31577730e-04 -7.60940386e-03 1.69234920e+02] [-6.33981354e-04 9.99999750e-01 -3.13467443e-04 9.17963434e+00] [ 7.60920398e-03 3.18282525e-04 9.99970999e-01 -2.24536841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.42140051300004 meters Centerline goodness [0,1] 0.9835724502622339 Centerline is valid? [True, True] Translation: X:169.26, Y:9.17, Z:-0.22 [[ 9.99978443e-01 -6.67463401e-04 -6.53201073e-03 1.69262043e+02] [ 6.70804700e-04 9.99999645e-01 5.09349317e-04 9.16634426e+00] [ 6.53166844e-03 -5.13720040e-04 9.99978536e-01 -2.23432281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.451400513 meters Centerline goodness [0,1] 0.9929798196650923 Centerline is valid? [True, True] Translation: X:169.29, Y:9.16, Z:-0.22 [[ 9.99977684e-01 -1.24264202e-03 -6.56416118e-03 1.69289866e+02] [ 1.24602642e-03 9.99999093e-01 5.11523009e-04 9.16011113e+00] [ 6.56351958e-03 -5.19690712e-04 9.99978325e-01 -2.22012814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.481400513 meters Centerline goodness [0,1] 0.9911441955977668 Centerline is valid? [True, True] Translation: X:169.32, Y:9.16, Z:-0.22 [[ 9.99973002e-01 -5.38846958e-04 -7.32834198e-03 1.69318066e+02] [ 5.43043474e-04 9.99999690e-01 5.70664123e-04 9.15548798e+00] [ 7.32803221e-03 -5.74628325e-04 9.99972985e-01 -2.22558523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.511400513 meters Centerline goodness [0,1] 0.9582860203535083 Centerline is valid? [True, True] Translation: X:169.35, Y:9.14, Z:-0.22 [[ 9.99971189e-01 7.80410374e-04 -7.55066489e-03 1.69346674e+02] [-7.75994777e-04 9.99999526e-01 5.87707861e-04 9.14463250e+00] [ 7.55111997e-03 -5.81831652e-04 9.99971321e-01 -2.22414000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.541400513 meters Centerline goodness [0,1] 0.988452902811932 Centerline is valid? [True, True] Translation: X:169.38, Y:9.15, Z:-0.22 [[ 9.99969853e-01 2.26076739e-03 -7.42843886e-03 1.69376890e+02] [-2.25653516e-03 9.99997287e-01 5.78066429e-04 9.14505295e+00] [ 7.42972558e-03 -5.61286468e-04 9.99972242e-01 -2.21925235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.571400513 meters Centerline goodness [0,1] 0.9973416900799654 Centerline is valid? [True, True] Translation: X:169.41, Y:9.15, Z:-0.22 [[ 9.99960678e-01 4.00891222e-03 -7.91012574e-03 1.69407284e+02] [-4.00416883e-03 9.99991794e-01 6.15407148e-04 9.14732985e+00] [ 7.91252794e-03 -5.83709471e-04 9.99968525e-01 -2.21470194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.601400513 meters Centerline goodness [0,1] 0.990601139907517 Centerline is valid? [True, True] Translation: X:169.44, Y:9.14, Z:-0.22 [[ 9.99933622e-01 8.01330138e-03 -8.27881640e-03 1.69436246e+02] [-8.00824324e-03 9.99967726e-01 6.43944735e-04 9.14258615e+00] [ 8.28370934e-03 -5.77603215e-04 9.99965523e-01 -2.22095427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.631400513 meters Centerline goodness [0,1] 0.9992865944613788 Centerline is valid? [True, True] Translation: X:169.47, Y:9.15, Z:-0.22 [[ 9.99914625e-01 1.03501157e-02 -7.97601574e-03 1.69466696e+02] [-1.03454955e-02 9.99946292e-01 6.20293380e-04 9.14814784e+00] [ 7.98200747e-03 -5.37724587e-04 9.99967999e-01 -2.21824239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.661400513 meters Centerline goodness [0,1] 0.997591294249215 Centerline is valid? [True, True] Translation: X:169.50, Y:9.14, Z:-0.22 [[ 9.99897861e-01 1.21333107e-02 -7.55320779e-03 1.69495470e+02] [-1.21292191e-02 9.99926266e-01 5.87274688e-04 9.13986664e+00] [ 7.55977645e-03 -4.95600192e-04 9.99971302e-01 -2.21809744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.691400513 meters Centerline goodness [0,1] 0.9979031602370713 Centerline is valid? [True, True] Translation: X:169.52, Y:9.14, Z:-0.22 [[ 9.99889379e-01 1.30449636e-02 -7.14548393e-03 1.69524466e+02] [-1.30413266e-02 9.99914804e-01 5.55344906e-04 9.13824610e+00] [ 7.15211962e-03 -4.62096883e-04 9.99974316e-01 -2.21464384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.721400513 meters Centerline goodness [0,1] 0.9996126949973104 Centerline is valid? [True, True] Translation: X:169.55, Y:9.14, Z:-0.22 [[ 9.99894630e-01 1.26339867e-02 -7.14917800e-03 1.69553752e+02] [-1.26303379e-02 9.99920080e-01 5.55306916e-04 9.14393304e+00] [ 7.15562238e-03 -4.64951870e-04 9.99974290e-01 -2.21145062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.751400513 meters Centerline goodness [0,1] 0.9992079292702246 Centerline is valid? [True, True] Translation: X:169.58, Y:9.14, Z:-0.22 [[ 9.99907781e-01 1.13125110e-02 -7.51381044e-03 1.69582441e+02] [-1.13084457e-02 9.99935887e-01 5.83312385e-04 9.13997704e+00] [ 7.51992743e-03 -4.98289075e-04 9.99971601e-01 -2.21646335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.781400513 meters Centerline goodness [0,1] 0.9989190124097376 Centerline is valid? [True, True] Translation: X:169.61, Y:9.14, Z:-0.22 [[ 9.99936132e-01 6.83483023e-03 -9.00093507e-03 1.69612254e+02] [-6.82881789e-03 9.99976439e-01 6.98532626e-04 9.13570263e+00] [ 9.00549736e-03 -6.37022266e-04 9.99959247e-01 -2.23441381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.811400513 meters Centerline goodness [0,1] 0.9908919058257433 Centerline is valid? [True, True] Translation: X:169.64, Y:9.13, Z:-0.22 [[ 9.99950098e-01 3.37956327e-03 -9.40104786e-03 1.69640413e+02] [-3.37285256e-03 9.99994046e-01 7.29589522e-04 9.12554243e+00] [ 9.40345758e-03 -6.97844766e-04 9.99955543e-01 -2.24147663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.841400513 meters Centerline goodness [0,1] 0.9909737594291977 Centerline is valid? [True, True] Translation: X:169.67, Y:9.12, Z:-0.22 [[ 9.99959061e-01 -3.01232554e-04 -9.04351268e-03 1.69670501e+02] [ 3.07592142e-04 9.99999706e-01 7.01838414e-04 9.12215158e+00] [ 9.04329861e-03 -7.04591395e-04 9.99958860e-01 -2.22645595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.871400513 meters Centerline goodness [0,1] 0.8595192902386487 Centerline is valid? [True, False] Translation: X:169.69, Y:9.11, Z:-0.23 [[ 9.99987767e-01 -3.61632238e-03 -3.37460372e-03 1.69692681e+02] [ 3.64590517e-03 9.99954618e-01 8.80171719e-03 9.11334064e+00] [ 3.34262073e-03 -8.81391301e-03 9.99955570e-01 -2.29288732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.901400513 meters Centerline goodness [0,1] 0.9326347949567537 Centerline is valid? [False, False] Translation: X:169.69, Y:9.11, Z:-0.23 [[ 9.99963121e-01 -7.97300571e-03 -3.19170243e-03 1.69691568e+02] [ 7.98734710e-03 9.99957948e-01 4.50609311e-03 9.11297154e+00] [ 3.15564110e-03 -4.53142017e-03 9.99984754e-01 -2.28086749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.931400513 meters Centerline goodness [0,1] 0.7871099634172585 Centerline is valid? [False, False] Translation: X:169.69, Y:9.11, Z:-0.23 [[ 9.99966774e-01 -7.55328830e-03 -3.06562863e-03 1.69691499e+02] [ 7.57043784e-03 9.99955542e-01 5.62162424e-03 9.10771163e+00] [ 3.02303059e-03 -5.64464560e-03 9.99979499e-01 -2.28747295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.961400513 meters Centerline goodness [0,1] 0.8927803902376747 Centerline is valid? [False, False] Translation: X:169.69, Y:9.11, Z:-0.23 [[ 9.99924360e-01 -1.18084898e-02 -3.44002981e-03 1.69692735e+02] [ 1.18114984e-02 9.99929876e-01 8.55581146e-04 9.11018973e+00] [ 3.42968546e-03 -8.96148336e-04 9.99993717e-01 -2.28435940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.99140051300003 meters Centerline goodness [0,1] 0.6965527539570802 Centerline is valid? [False, False] Translation: X:169.69, Y:9.11, Z:-0.23 [[ 9.99926641e-01 -1.16062309e-02 -3.46530911e-03 1.69692949e+02] [ 1.16107558e-02 9.99931763e-01 1.28852231e-03 9.10820458e+00] [ 3.45011776e-03 -1.32866265e-03 9.99993166e-01 -2.28671132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.021400513 meters Centerline goodness [0,1] 0.954035344197446 Centerline is valid? [False, True] Translation: X:169.69, Y:9.11, Z:-0.22 [[ 9.99959374e-01 -8.60578567e-03 -2.68146380e-03 1.69686375e+02] [ 8.61767829e-03 9.99952941e-01 4.45559201e-03 9.10604394e+00] [ 2.64299374e-03 -4.47851899e-03 9.99986479e-01 -2.23814426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.05140051300003 meters Centerline goodness [0,1] 0.9873188405797102 Centerline is valid? [True, True] Translation: X:169.72, Y:9.11, Z:-0.22 [[ 9.99980016e-01 -5.97747012e-03 -2.05858202e-03 1.69717617e+02] [ 5.97780357e-03 9.99982121e-01 1.55865524e-04 9.10975531e+00] [ 2.05761353e-03 -1.68168209e-04 9.99997869e-01 -2.21461394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.081400513 meters Centerline goodness [0,1] 0.9983108108108109 Centerline is valid? [True, True] Translation: X:169.75, Y:9.11, Z:-0.22 [[ 9.99992596e-01 -3.20433105e-03 -2.13075265e-03 1.69748072e+02] [ 3.20468207e-03 9.99994852e-01 1.61347507e-04 9.11071883e+00] [ 2.13022467e-03 -1.68174698e-04 9.99997717e-01 -2.21285243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.11140051300004 meters Centerline goodness [0,1] 0.9969542042858697 Centerline is valid? [True, True] Translation: X:169.78, Y:9.10, Z:-0.22 [[ 9.99995571e-01 7.51122001e-06 -2.97636112e-03 1.69777045e+02] [-6.84051466e-06 9.99999975e-01 2.25354194e-04 9.10421779e+00] [ 2.97636274e-03 -2.25332836e-04 9.99995545e-01 -2.22486385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.141400513 meters Centerline goodness [0,1] 0.9879207147814018 Centerline is valid? [True, True] Translation: X:169.81, Y:9.10, Z:-0.22 [[ 9.99986955e-01 3.13714884e-03 -4.03091740e-03 1.69805671e+02] [-3.13594428e-03 9.99995036e-01 3.05115640e-04 9.09764172e+00] [ 4.03185459e-03 -2.92470927e-04 9.99991829e-01 -2.23746732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.17140051300004 meters Centerline goodness [0,1] 0.9955271289353702 Centerline is valid? [True, True] Translation: X:169.84, Y:9.10, Z:-0.22 [[ 9.99974123e-01 5.88200743e-03 -4.14183317e-03 1.69836036e+02] [-5.88075925e-03 9.99982659e-01 3.13474312e-04 9.09871782e+00] [ 4.14360520e-03 -2.89109077e-04 9.99991373e-01 -2.23964105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.201400513 meters Centerline goodness [0,1] 0.9973392841816153 Centerline is valid? [True, True] Translation: X:169.87, Y:9.10, Z:-0.22 [[ 9.99962814e-01 7.77027379e-03 -3.74085370e-03 1.69866152e+02] [-7.76926883e-03 9.99969779e-01 2.83102172e-04 9.09896169e+00] [ 3.74294043e-03 -2.54027946e-04 9.99992963e-01 -2.23452212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.231400513 meters Centerline goodness [0,1] 0.9993519958527735 Centerline is valid? [True, True] Translation: X:169.90, Y:9.10, Z:-0.22 [[ 9.99943607e-01 1.03600094e-02 -2.33514512e-03 1.69896792e+02] [-1.03596249e-02 9.99946322e-01 1.76706312e-04 9.10274872e+00] [ 2.33685045e-03 -1.52505120e-04 9.99997258e-01 -2.21297107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.261400513 meters Centerline goodness [0,1] 0.9993569958847737 Centerline is valid? [True, True] Translation: X:169.93, Y:9.10, Z:-0.22 [[ 9.99940958e-01 1.06443971e-02 -2.18550045e-03 1.69925783e+02] [-1.06440610e-02 9.99943337e-01 1.65363458e-04 9.10204010e+00] [ 2.18713681e-03 -1.42091094e-04 9.99997598e-01 -2.20854482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.291400513 meters Centerline goodness [0,1] 0.999419379811621 Centerline is valid? [True, True] Translation: X:169.95, Y:9.10, Z:-0.22 [[ 9.99942740e-01 1.02964295e-02 -2.91558679e-03 1.69952896e+02] [-1.02958304e-02 9.99946972e-01 2.20421666e-04 9.09828642e+00] [ 2.91770174e-03 -1.90390658e-04 9.99995725e-01 -2.22272550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.321400513 meters Centerline goodness [0,1] 0.9995042996616307 Centerline is valid? [True, True] Translation: X:169.98, Y:9.10, Z:-0.22 [[ 9.99949130e-01 9.30222925e-03 -3.89944553e-03 1.69982731e+02] [-9.30115087e-03 9.99956700e-01 2.94589118e-04 9.09920908e+00] [ 3.90201702e-03 -2.58304801e-04 9.99992354e-01 -2.23864994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.351400513 meters Centerline goodness [0,1] 0.9995687889437486 Centerline is valid? [True, True] Translation: X:170.01, Y:9.10, Z:-0.23 [[ 9.99958040e-01 7.85938538e-03 -4.70626041e-03 1.70012203e+02] [-7.85779908e-03 9.99969064e-01 3.55457538e-04 9.09754501e+00] [ 4.70890850e-03 -3.18461774e-04 9.99988862e-01 -2.25306637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.381400513 meters Centerline goodness [0,1] 0.9993337488448064 Centerline is valid? [True, True] Translation: X:170.04, Y:9.09, Z:-0.23 [[ 9.99971553e-01 5.72253649e-03 -4.91382729e-03 1.70041889e+02] [-5.72078178e-03 9.99983567e-01 3.71077122e-04 9.09354794e+00] [ 4.91587004e-03 -3.42955632e-04 9.99987858e-01 -2.26151669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.411400513 meters Centerline goodness [0,1] 0.9963481826335796 Centerline is valid? [True, True] Translation: X:170.07, Y:9.08, Z:-0.23 [[ 9.99989534e-01 -1.55789095e-04 -4.57245308e-03 1.70070705e+02] [ 1.57369431e-04 9.99999928e-01 3.45263188e-04 9.08223719e+00] [ 4.57239896e-03 -3.45979139e-04 9.99989487e-01 -2.26124574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.441400513 meters Centerline goodness [0,1] 0.9045497386684945 Centerline is valid? [True, False] Translation: X:170.07, Y:9.08, Z:-0.23 [[ 9.99990356e-01 2.25654318e-05 -4.39176995e-03 1.70070172e+02] [-1.80322555e-05 9.99999467e-01 1.03223490e-03 9.07885783e+00] [ 4.39179090e-03 -1.03214575e-03 9.99989823e-01 -2.26279747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.471400513 meters Centerline goodness [0,1] 0.9669112110324649 Centerline is valid? [False, True] Translation: X:170.07, Y:9.08, Z:-0.23 [[ 9.99990705e-01 2.42292553e-04 -4.30489933e-03 1.70070019e+02] [-2.34920660e-04 9.99998505e-01 1.71286578e-03 9.07558741e+00] [ 4.30530792e-03 -1.71183855e-03 9.99989267e-01 -2.26555495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.501400513 meters Centerline goodness [0,1] 0.8688686115752046 Centerline is valid? [True, False] Translation: X:170.07, Y:9.07, Z:-0.23 [[ 9.99990539e-01 4.50072947e-04 -4.32661547e-03 1.70070249e+02] [-4.40277442e-04 9.99997339e-01 2.26469696e-03 9.07298115e+00] [ 4.32762323e-03 -2.26277062e-03 9.99988076e-01 -2.26881490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.531400513 meters Centerline goodness [0,1] 0.9908994617496379 Centerline is valid? [False, True] Translation: X:170.07, Y:9.07, Z:-0.23 [[ 9.99990152e-01 6.36466273e-04 -4.39209692e-03 1.70070684e+02] [-6.24642032e-04 9.99996179e-01 2.69300989e-03 9.07102158e+00] [ 4.39379414e-03 -2.69023988e-03 9.99986729e-01 -2.27302127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.561400513 meters Centerline goodness [0,1] 0.7952570523522109 Centerline is valid? [True, False] Translation: X:170.09, Y:9.08, Z:-0.22 [[ 9.99980942e-01 5.99021455e-04 -6.14460735e-03 1.70090025e+02] [-6.45991219e-04 9.99970568e-01 -7.64492829e-03 9.07608725e+00] [ 6.13984703e-03 7.64875196e-03 9.99951898e-01 -2.21265648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.591400513 meters Centerline goodness [0,1] 0.9878761822871883 Centerline is valid? [False, True] Translation: X:170.08, Y:9.07, Z:-0.22 [[ 9.99979197e-01 3.69713714e-03 -5.28545405e-03 1.70083660e+02] [-3.71883807e-03 9.99984672e-01 -4.10186817e-03 9.07131315e+00] [ 5.27020787e-03 4.12143859e-03 9.99977619e-01 -2.17257033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.621400513 meters Centerline goodness [0,1] 0.9977059794610124 Centerline is valid? [True, True] Translation: X:170.11, Y:9.07, Z:-0.22 [[ 9.99972119e-01 6.14592923e-03 -4.24123012e-03 1.70114294e+02] [-6.14450048e-03 9.99981061e-01 3.49819417e-04 9.06916132e+00] [ 4.24329976e-03 -3.23749424e-04 9.99990945e-01 -2.16472065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.651400513 meters Centerline goodness [0,1] 0.9980861038234915 Centerline is valid? [True, True] Translation: X:170.14, Y:9.07, Z:-0.22 [[ 9.99955901e-01 8.52469557e-03 -3.94036602e-03 1.70143872e+02] [-8.52348081e-03 9.99963622e-01 3.24976144e-04 9.06766589e+00] [ 3.94299300e-03 -2.91376179e-04 9.99992184e-01 -2.15694910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.681400513 meters Centerline goodness [0,1] 0.9993092730098428 Centerline is valid? [True, True] Translation: X:170.17, Y:9.07, Z:-0.22 [[ 9.99931078e-01 1.07819503e-02 -4.64637534e-03 1.70174892e+02] [-1.07802857e-02 9.99941818e-01 3.83161261e-04 9.07102562e+00] [ 4.65023622e-03 -3.33045600e-04 9.99989132e-01 -2.16814385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.711400513 meters Centerline goodness [0,1] 0.9414477898782831 Centerline is valid? [True, False] Translation: X:170.18, Y:9.07, Z:-0.22 [[ 9.99929630e-01 1.08241939e-02 -4.85510256e-03 1.70175727e+02] [-1.08230175e-02 9.99941393e-01 2.68508770e-04 9.07175349e+00] [ 4.85772441e-03 -2.15943015e-04 9.99988178e-01 -2.17128588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.74140051300003 meters Centerline goodness [0,1] 0.9996956124711919 Centerline is valid? [False, True] Translation: X:170.15, Y:9.06, Z:-0.21 [[ 9.99864614e-01 1.36598233e-02 -9.17401654e-03 1.70154952e+02] [-1.35289906e-02 9.99808000e-01 1.41749965e-02 9.06188882e+00] [ 9.36588307e-03 -1.40489622e-02 9.99857443e-01 -2.14718988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.771400513 meters Centerline goodness [0,1] 0.999527886864525 Centerline is valid? [True, True] Translation: X:170.18, Y:9.07, Z:-0.21 [[ 9.99842554e-01 1.47311713e-02 -9.89242868e-03 1.70184862e+02] [-1.47240287e-02 9.99891280e-01 7.94472509e-04 9.06900091e+00] [ 9.90305668e-03 -6.48691019e-04 9.99950753e-01 -2.11524633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.80140051300003 meters Centerline goodness [0,1] 0.9998915424828095 Centerline is valid? [True, True] Translation: X:170.21, Y:9.07, Z:-0.21 [[ 9.99847285e-01 1.51520974e-02 -8.70754138e-03 1.70213951e+02] [-1.51465815e-02 9.99885040e-01 6.99061093e-04 9.06977099e+00] [ 8.71713260e-03 -5.67064850e-04 9.99961844e-01 -2.09474859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.831400513 meters Centerline goodness [0,1] 0.9996744367756218 Centerline is valid? [True, True] Translation: X:170.24, Y:9.07, Z:-0.21 [[ 9.99852139e-01 1.57169188e-02 -6.97702572e-03 1.70243233e+02] [-1.57133930e-02 9.99876380e-01 5.59872250e-04 9.06960996e+00] [ 6.98496268e-03 -4.50156719e-04 9.99975504e-01 -2.07184854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.86140051300004 meters Centerline goodness [0,1] 0.9990562395435632 Centerline is valid? [True, True] Translation: X:170.27, Y:9.06, Z:-0.21 [[ 9.99858141e-01 1.55342387e-02 -6.51043578e-03 1.70270358e+02] [-1.55311664e-02 9.99879248e-01 5.22201959e-04 9.05661597e+00] [ 6.51776164e-03 -4.21013219e-04 9.99978671e-01 -2.07162582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.891400513 meters Centerline goodness [0,1] 0.999829030603522 Centerline is valid? [True, True] Translation: X:170.30, Y:9.06, Z:-0.21 [[ 9.99864463e-01 1.50880075e-02 -6.58838069e-03 1.70299991e+02] [-1.50848540e-02 9.99886078e-01 5.28071499e-04 9.06140927e+00] [ 6.59559767e-03 -4.28615165e-04 9.99978157e-01 -2.07553948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.92140051300004 meters Centerline goodness [0,1] 0.9994800918504397 Centerline is valid? [True, True] Translation: X:170.33, Y:9.06, Z:-0.21 [[ 9.99871566e-01 1.43436176e-02 -7.14932306e-03 1.70328804e+02] [-1.43398879e-02 9.99897015e-01 5.72679533e-04 9.06042485e+00] [ 7.15680108e-03 -4.70085490e-04 9.99974279e-01 -2.09218613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.951400513 meters Centerline goodness [0,1] 0.9994800918504397 Centerline is valid? [True, True] Translation: X:170.36, Y:9.06, Z:-0.21 [[ 9.99872555e-01 1.42744371e-02 -7.14935163e-03 1.70356267e+02] [-1.42707082e-02 9.99898004e-01 5.72322762e-04 9.05833700e+00] [ 7.15679201e-03 -4.70223512e-04 9.99974279e-01 -2.09054145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.981400513 meters Centerline goodness [0,1] 0.9995061728395062 Centerline is valid? [True, True] Translation: X:170.38, Y:9.05, Z:-0.21 [[ 9.99889588e-01 1.28172925e-02 -7.51853301e-03 1.70384100e+02] [-1.28131313e-02 9.99917728e-01 6.01365608e-04 9.05447372e+00] [ 7.52562232e-03 -5.04963259e-04 9.99971555e-01 -2.09708627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.011400513 meters Centerline goodness [0,1] 0.9991833752390776 Centerline is valid? [True, True] Translation: X:170.41, Y:9.05, Z:-0.21 [[ 9.99901766e-01 1.15361422e-02 -7.96090842e-03 1.70412238e+02] [-1.15314395e-02 9.99933308e-01 6.36377156e-04 9.04897695e+00] [ 7.96771883e-03 -5.44513908e-04 9.99968109e-01 -2.10713174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.041400513 meters Centerline goodness [0,1] 0.998003992015968 Centerline is valid? [True, True] Translation: X:170.44, Y:9.04, Z:-0.21 [[ 9.99920040e-01 9.47447475e-03 -8.37542372e-03 1.70440753e+02] [-9.46919982e-03 9.99954942e-01 6.69242101e-04 9.04446468e+00] [ 8.38138706e-03 -5.89880028e-04 9.99964702e-01 -2.10015929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.071400513 meters Centerline goodness [0,1] 0.9986044015029523 Centerline is valid? [True, True] Translation: X:170.47, Y:9.04, Z:-0.21 [[ 9.99925372e-01 8.94511215e-03 -8.32074345e-03 1.70469227e+02] [-8.93988988e-03 9.99959818e-01 6.64603993e-04 9.04400995e+00] [ 8.32635405e-03 -5.90167865e-04 9.99965161e-01 -2.09573876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.101400513 meters Centerline goodness [0,1] 0.9989342497335625 Centerline is valid? [True, True] Translation: X:170.50, Y:9.05, Z:-0.21 [[ 9.99925227e-01 8.39432226e-03 -8.89240041e-03 1.70497839e+02] [-8.38834144e-03 9.99964565e-01 7.09661570e-04 9.04565120e+00] [ 8.89804244e-03 -6.35016016e-04 9.99960210e-01 -2.10303857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.131400513 meters Centerline goodness [0,1] 0.997193899408791 Centerline is valid? [True, True] Translation: X:170.53, Y:9.04, Z:-0.21 [[ 9.99926230e-01 7.69479562e-03 -9.39813977e-03 1.70525770e+02] [-7.68809109e-03 9.99970165e-01 7.49308665e-04 9.04256088e+00] [ 9.40362515e-03 -6.76999634e-04 9.99955556e-01 -2.11664688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.161400513 meters Centerline goodness [0,1] 0.9988778108679701 Centerline is valid? [True, True] Translation: X:170.55, Y:9.04, Z:-0.21 [[ 9.99921723e-01 6.98298941e-03 -1.03820313e-02 1.70554754e+02] [-6.97477542e-03 9.99975334e-01 8.27170843e-04 9.04493079e+00] [ 1.03875513e-02 -7.54693758e-04 9.99945763e-01 -2.13200372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.191400513 meters Centerline goodness [0,1] 0.9979578535737562 Centerline is valid? [True, True] Translation: X:170.58, Y:9.04, Z:-0.21 [[ 9.99922686e-01 5.81921214e-03 -1.09890626e-02 1.70583216e+02] [-5.80994474e-03 9.99982739e-01 8.75065926e-04 9.04011388e+00] [ 1.09939651e-02 -8.11152425e-04 9.99939236e-01 -2.14087305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.221400513 meters Centerline goodness [0,1] 0.9988052049616579 Centerline is valid? [True, True] Translation: X:170.61, Y:9.04, Z:-0.21 [[ 9.99939062e-01 3.34801842e-03 -1.05196309e-02 1.70613895e+02] [-3.33939211e-03 9.99994074e-01 8.37478800e-04 9.04194887e+00] [ 1.05223725e-02 -8.02298593e-04 9.99944316e-01 -2.11988114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.251400513 meters Centerline goodness [0,1] 0.9966020774640315 Centerline is valid? [True, True] Translation: X:170.64, Y:9.03, Z:-0.21 [[ 9.99948136e-01 1.80026029e-03 -1.00241498e-02 1.70642737e+02] [-1.79235055e-03 9.99998075e-01 7.97996504e-04 9.03498263e+00] [ 1.00255671e-02 -7.79988327e-04 9.99949439e-01 -2.11114784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.281400513 meters Centerline goodness [0,1] 0.9124581293481062 Centerline is valid? [True, False] Translation: X:170.64, Y:9.03, Z:-0.21 [[ 9.99948326e-01 2.00547169e-03 -9.96616128e-03 1.70642674e+02] [-1.99178423e-03 9.99997060e-01 1.38312914e-03 9.03219884e+00] [ 9.96890581e-03 -1.36320722e-03 9.99949380e-01 -2.11373056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.311400513 meters Centerline goodness [0,1] 0.9646839750861497 Centerline is valid? [False, True] Translation: X:170.64, Y:9.03, Z:-0.21 [[ 9.99948306e-01 2.32885462e-03 -9.89752109e-03 1.70642669e+02] [-2.30670837e-03 9.99994812e-01 2.24838192e-03 9.02807800e+00] [ 9.90270589e-03 -2.22543500e-03 9.99948491e-01 -2.11866206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.341400513 meters Centerline goodness [0,1] 0.9346971747958605 Centerline is valid? [True, False] Translation: X:170.60, Y:9.03, Z:-0.21 [[ 9.99922510e-01 1.54070639e-03 -1.23531594e-02 1.70600459e+02] [-1.55362855e-03 9.99998256e-01 -1.03653294e-03 9.03227602e+00] [ 1.23515409e-02 1.05564484e-03 9.99923160e-01 -2.11170204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.371400513 meters Centerline goodness [0,1] 0.98366104767866 Centerline is valid? [False, True] Translation: X:170.63, Y:9.02, Z:-0.22 [[ 9.99978133e-01 3.69008244e-04 -6.60289346e-03 1.70626125e+02] [-3.15102015e-04 9.99966631e-01 8.16320997e-03 9.02071586e+00] [ 6.60568542e-03 -8.16095087e-03 9.99944880e-01 -2.19319717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.401400513 meters Centerline goodness [0,1] 0.8437706984595005 Centerline is valid? [True, False] Translation: X:170.65, Y:9.02, Z:-0.22 [[ 9.99976647e-01 1.76937000e-03 -6.60104555e-03 1.70647229e+02] [-1.77743425e-03 9.99997681e-01 -1.21599573e-03 9.02254757e+00] [ 6.59887869e-03 1.22770025e-03 9.99977474e-01 -2.16558994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.431400513 meters Centerline goodness [0,1] 0.9792310518467291 Centerline is valid? [False, True] Translation: X:170.65, Y:9.02, Z:-0.22 [[ 9.99975390e-01 1.95635875e-03 -6.73730533e-03 1.70647774e+02] [-1.96241757e-03 9.99997676e-01 -8.92800625e-04 9.02114317e+00] [ 6.73554303e-03 9.06000060e-04 9.99976906e-01 -2.16759839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.461400513 meters Centerline goodness [0,1] 0.993676603432701 Centerline is valid? [True, True] Translation: X:170.68, Y:9.02, Z:-0.22 [[ 9.99962044e-01 5.13196424e-03 -7.04090964e-03 1.70677933e+02] [-5.12812976e-03 9.99986693e-01 5.62545840e-04 9.02070783e+00] [ 7.04370291e-03 -5.26417790e-04 9.99975054e-01 -2.17665458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.49140051300003 meters Centerline goodness [0,1] 0.9979185442684864 Centerline is valid? [True, True] Translation: X:170.71, Y:9.02, Z:-0.22 [[ 9.99891604e-01 1.33159858e-02 -6.28210518e-03 1.70707339e+02] [-1.33130943e-02 9.99911251e-01 5.01866803e-04 9.01892943e+00] [ 6.28823050e-03 -4.18178144e-04 9.99980141e-01 -2.16431216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.521400513 meters Centerline goodness [0,1] 0.9996117677508412 Centerline is valid? [True, True] Translation: X:170.74, Y:9.02, Z:-0.21 [[ 9.99822091e-01 1.82111550e-02 -4.91336615e-03 1.70738315e+02] [-1.82094452e-02 9.99834117e-01 3.92499363e-04 9.02286470e+00] [ 4.91969898e-03 -3.02959862e-04 9.99987852e-01 -2.14019444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.55140051300003 meters Centerline goodness [0,1] 0.9997216691288243 Centerline is valid? [True, True] Translation: X:170.77, Y:9.03, Z:-0.21 [[ 9.99724320e-01 2.32044371e-02 -3.58299927e-03 1.70768745e+02] [-2.32035599e-02 9.99730720e-01 2.86201248e-04 9.02603016e+00] [ 3.58867558e-03 -2.02984010e-04 9.99993540e-01 -2.11377066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.581400513 meters Centerline goodness [0,1] 0.999806009397767 Centerline is valid? [True, True] Translation: X:170.80, Y:9.02, Z:-0.21 [[ 9.99623222e-01 2.73152570e-02 -2.70016079e-03 1.70797104e+02] [-2.73147738e-02 9.99626859e-01 2.15648120e-04 9.02236514e+00] [ 2.70504373e-03 -1.41812587e-04 9.99996331e-01 -2.09705642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.61140051300004 meters Centerline goodness [0,1] 0.9999356789091143 Centerline is valid? [True, True] Translation: X:170.83, Y:9.03, Z:-0.21 [[ 9.99511004e-01 3.11596422e-02 -2.61330663e-03 1.70828709e+02] [-3.11592030e-02 9.99514412e-01 2.08650124e-04 9.02990229e+00] [ 2.61853911e-03 -1.27119543e-04 9.99996564e-01 -2.09605509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.641400513 meters Centerline goodness [0,1] 0.9999785181843569 Centerline is valid? [True, True] Translation: X:170.86, Y:9.03, Z:-0.21 [[ 9.99397066e-01 3.46184547e-02 -2.65834340e-03 1.70857702e+02] [-3.46180124e-02 9.99400594e-01 2.12224845e-04 9.02911117e+00] [ 2.66409687e-03 -1.20070323e-04 9.99996444e-01 -2.10152279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.67140051300004 meters Centerline goodness [0,1] 0.9999569873973074 Centerline is valid? [True, True] Translation: X:170.89, Y:9.03, Z:-0.21 [[ 9.99229712e-01 3.92040759e-02 -1.73860029e-03 1.70888896e+02] [-3.92038936e-02 9.99231222e-01 1.38790138e-04 9.03355942e+00] [ 1.74270483e-03 -7.05233286e-05 9.99998479e-01 -2.09926561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.701400513 meters Centerline goodness [0,1] 0.9999145573000107 Centerline is valid? [True, True] Translation: X:170.92, Y:9.03, Z:-0.21 [[ 9.99154464e-01 4.10925514e-02 -1.32624437e-03 1.70916767e+02] [-4.10924470e-02 9.99155343e-01 1.05904088e-04 9.02909869e+00] [ 1.32947602e-03 -5.13159161e-05 9.99999115e-01 -2.09561699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.731400513 meters Centerline goodness [0,1] 0.9999785462970909 Centerline is valid? [True, True] Translation: X:170.95, Y:9.03, Z:-0.21 [[ 9.99106905e-01 4.22407959e-02 -1.05254648e-03 1.70945837e+02] [-4.22407308e-02 9.99107458e-01 8.40194319e-05 9.03027721e+00] [ 1.05515608e-03 -3.94840622e-05 9.99999443e-01 -2.08426528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.761400513 meters Centerline goodness [0,1] 0.9998709649669886 Centerline is valid? [True, True] Translation: X:170.97, Y:9.03, Z:-0.21 [[ 9.99065119e-01 4.32112002e-02 -1.29640450e-03 1.70973694e+02] [-4.32111024e-02 9.99065959e-01 1.03410764e-04 9.02522987e+00] [ 1.29966211e-03 -4.72950199e-05 9.99999154e-01 -2.08555224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.791400513 meters Centerline goodness [0,1] 0.9998920203001835 Centerline is valid? [True, True] Translation: X:171.00, Y:9.03, Z:-0.21 [[ 9.99025919e-01 4.40901944e-02 -1.80780524e-03 1.71003580e+02] [-4.40900059e-02 9.99027552e-01 1.44044583e-04 9.03031008e+00] [ 1.81239820e-03 -6.41981281e-05 9.99998356e-01 -2.09501373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.821400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.03, Y:9.03, Z:-0.21 [[ 9.98991907e-01 4.48404718e-02 -2.12191900e-03 1.71031305e+02] [-4.48402139e-02 9.98994157e-01 1.68983705e-04 9.02850746e+00] [ 2.12736199e-03 -7.36660518e-05 9.99997734e-01 -2.10058981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.851400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.06, Y:9.03, Z:-0.21 [[ 9.98873005e-01 4.74052328e-02 -2.33744468e-03 1.71059859e+02] [-4.74049272e-02 9.98875737e-01 1.86004004e-04 9.02722479e+00] [ 2.34363434e-03 -7.49879839e-05 9.99997251e-01 -2.11003168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.881400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.09, Y:9.02, Z:-0.21 [[ 9.98784604e-01 4.92180086e-02 -2.62737151e-03 1.71087578e+02] [-4.92176290e-02 9.98788056e-01 2.08967574e-04 9.02067864e+00] [ 2.63447225e-03 -7.94005998e-05 9.99996527e-01 -2.11189428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.911400513 meters Centerline goodness [0,1] 0.9998045729919874 Centerline is valid? [True, True] Translation: X:171.12, Y:9.03, Z:-0.21 [[ 9.98673735e-01 5.13808685e-02 -3.28283952e-03 1.71117699e+02] [-5.13802881e-02 9.98679127e-01 2.60949879e-04 9.03064664e+00] [ 3.29191113e-03 -9.19305497e-05 9.99994577e-01 -2.12449601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.941400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.15, Y:9.03, Z:-0.21 [[ 9.98581997e-01 5.31160539e-02 -3.56103194e-03 1.71145560e+02] [-5.31153825e-02 9.98588342e-01 2.82916411e-04 9.02773313e+00] [ 3.57103239e-03 -9.33696612e-05 9.99993619e-01 -2.12407793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.971400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.17, Y:9.03, Z:-0.21 [[ 9.98485109e-01 5.49150111e-02 -3.43918267e-03 1.71173376e+02] [-5.49143962e-02 9.98491029e-01 2.73032444e-04 9.02570634e+00] [ 3.44898663e-03 -8.37581899e-05 9.99994049e-01 -2.12436483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.001400513 meters Centerline goodness [0,1] 0.9999785412330208 Centerline is valid? [True, True] Translation: X:171.20, Y:9.03, Z:-0.21 [[ 9.98263109e-01 5.88224681e-02 -3.26831340e-03 1.71203849e+02] [-5.88219342e-02 9.98268457e-01 2.59337741e-04 9.02953954e+00] [ 3.27790906e-03 -6.66387841e-05 9.99994625e-01 -2.11767432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.031400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.23, Y:9.03, Z:-0.21 [[ 9.98146110e-01 6.07643193e-02 -3.47002193e-03 1.71231692e+02] [-6.07637295e-02 9.98152139e-01 2.75236641e-04 9.02994848e+00] [ 3.48033438e-03 -6.38749091e-05 9.99993942e-01 -2.11384688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.061400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.26, Y:9.03, Z:-0.21 [[ 9.97994847e-01 6.31642671e-02 -4.06958752e-03 1.71261030e+02] [-6.31634768e-02 9.98003142e-01 3.22556813e-04 9.03331001e+00] [ 4.08183520e-03 -6.48607398e-05 9.99991667e-01 -2.11629050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.091400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.29, Y:9.03, Z:-0.21 [[ 9.97817971e-01 6.58726993e-02 -4.48162645e-03 1.71289172e+02] [-6.58717693e-02 9.97828033e-01 3.54962505e-04 9.03451567e+00] [ 4.49527485e-03 -5.89753028e-05 9.99989894e-01 -2.12038841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.121400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.32, Y:9.04, Z:-0.21 [[ 9.97632689e-01 6.86358058e-02 -4.25949975e-03 1.71318259e+02] [-6.86349919e-02 9.97641782e-01 3.37145795e-04 9.03763695e+00] [ 4.27259519e-03 -4.39969357e-05 9.99990871e-01 -2.11998087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.151400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.35, Y:9.04, Z:-0.21 [[ 9.97187071e-01 7.48771630e-02 -3.36980362e-03 1.71347187e+02] [-7.48766896e-02 9.97192765e-01 2.66582588e-04 9.04440865e+00] [ 3.38030474e-03 -1.35129698e-05 9.99994287e-01 -2.11923382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.181400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.38, Y:9.05, Z:-0.21 [[ 9.96968384e-01 7.77305396e-02 -3.46461554e-03 1.71375141e+02] [-7.77300571e-02 9.96974404e-01 2.73897703e-04 9.04756345e+00] [ 3.47542323e-03 -3.76258634e-06 9.99993961e-01 -2.12199837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.211400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.40, Y:9.05, Z:-0.21 [[ 9.96745565e-01 8.05133827e-02 -3.98426614e-03 1.71402916e+02] [-8.05127684e-02 9.96753528e-01 3.14591829e-04 9.05140209e+00] [ 3.99666018e-03 7.21628696e-06 9.99992013e-01 -2.12492852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.24140051300003 meters Centerline goodness [0,1] 0.9999565821465787 Centerline is valid? [True, True] Translation: X:171.43, Y:9.06, Z:-0.21 [[ 9.96489102e-01 8.35652016e-02 -5.13093341e-03 1.71432527e+02] [-8.35642277e-02 9.96502311e-01 4.04271310e-04 9.05501841e+00] [ 5.14677002e-03 2.59105331e-05 9.99986755e-01 -2.13192053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.271400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.46, Y:9.06, Z:-0.21 [[ 9.96279043e-01 8.60359088e-02 -5.08821910e-03 1.71460660e+02] [-8.60349860e-02 9.96292036e-01 4.00378895e-04 9.05976241e+00] [ 5.10379913e-03 3.88757565e-05 9.99986975e-01 -2.13139531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.30140051300003 meters Centerline goodness [0,1] 0.9998499946426658 Centerline is valid? [True, True] Translation: X:171.49, Y:9.06, Z:-0.21 [[ 9.96060921e-01 8.85580994e-02 -4.48387868e-03 1.71490025e+02] [-8.85574106e-02 9.96071012e-01 3.52321490e-04 9.06172769e+00] [ 4.49746250e-03 4.61470180e-05 9.99989885e-01 -2.12672842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.331400513 meters Centerline goodness [0,1] 0.9999355490149742 Centerline is valid? [True, True] Translation: X:171.52, Y:9.06, Z:-0.21 [[ 9.95812910e-01 9.13808940e-02 -2.48613786e-03 1.71518271e+02] [-9.13806916e-02 9.95816013e-01 1.95135306e-04 9.06039119e+00] [ 2.49356753e-03 3.28667402e-05 9.99996891e-01 -2.11429783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.36140051300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.55, Y:9.06, Z:-0.21 [[ 9.95818663e-01 9.13266279e-02 -2.15363239e-03 1.71545402e+02] [-9.13264762e-02 9.95820991e-01 1.68915689e-04 9.06061735e+00] [ 2.16005884e-03 2.84742621e-05 9.99997667e-01 -2.12016629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.391400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.57, Y:9.06, Z:-0.21 [[ 9.95805410e-01 9.14446574e-02 -3.07567412e-03 1.71574457e+02] [-9.14443498e-02 9.95810159e-01 2.40788116e-04 9.05822564e+00] [ 3.08480633e-03 4.14749120e-05 9.99995241e-01 -2.14090912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.42140051300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.60, Y:9.05, Z:-0.22 [[ 9.95822307e-01 9.12229520e-02 -4.03817248e-03 1.71602006e+02] [-9.12224220e-02 9.95830493e-01 3.15634453e-04 9.05435158e+00] [ 4.05012840e-03 5.40560455e-05 9.99991797e-01 -2.15368319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.451400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.63, Y:9.05, Z:-0.22 [[ 9.95823459e-01 9.11578060e-02 -5.08855280e-03 1.71629414e+02] [-9.11569670e-02 9.95836457e-01 3.97048337e-04 9.05305690e+00] [ 5.10356044e-03 6.84669908e-05 9.99986974e-01 -2.17235730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.481400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.66, Y:9.05, Z:-0.22 [[ 9.95824886e-01 9.11126986e-02 -5.59226141e-03 1.71657027e+02] [-9.11116891e-02 9.95840585e-01 4.35538711e-04 9.04807080e+00] [ 5.60868398e-03 7.58000963e-05 9.99984268e-01 -2.17812638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.511400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.68, Y:9.04, Z:-0.22 [[ 9.95639210e-01 9.31839766e-02 -4.39421321e-03 1.71684325e+02] [-9.31833754e-02 9.95648905e-01 3.41780730e-04 9.04479099e+00] [ 4.40694206e-03 6.91773226e-05 9.99990287e-01 -2.15310264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.541400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.71, Y:9.04, Z:-0.21 [[ 9.95516232e-01 9.45346700e-02 -3.26015393e-03 1.71712882e+02] [-9.45343473e-02 9.95521568e-01 2.53282862e-04 9.04297823e+00] [ 3.26949757e-03 5.60493238e-05 9.99994654e-01 -2.12938511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.571400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.74, Y:9.04, Z:-0.21 [[ 9.95213200e-01 9.76892091e-02 -2.73966771e-03 1.71741327e+02] [-9.76889941e-02 9.95216969e-01 2.12519371e-04 9.04452658e+00] [ 2.74732465e-03 5.61332998e-05 9.99996225e-01 -2.11927804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.601400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.77, Y:9.04, Z:-0.21 [[ 9.95100896e-01 9.88148951e-02 -3.13413197e-03 1.71769778e+02] [-9.88146202e-02 9.95105829e-01 2.42819317e-04 9.04012999e+00] [ 3.14278716e-03 6.80683403e-05 9.99995059e-01 -2.12707110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.631400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.80, Y:9.04, Z:-0.21 [[ 9.95019569e-01 9.96379250e-02 -2.88802140e-03 1.71797099e+02] [-9.96376962e-02 9.95023758e-01 2.23344888e-04 9.03863934e+00] [ 2.89590353e-03 6.55232646e-05 9.99995805e-01 -2.12449557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.661400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.82, Y:9.04, Z:-0.21 [[ 9.94810973e-01 1.01731975e-01 -1.31616369e-03 1.71822967e+02] [-1.01737799e-01 9.94795495e-01 -5.59857914e-03 9.03712952e+00] [ 7.39759199e-04 5.70343156e-03 9.99983462e-01 -2.08346839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.691400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.85, Y:9.02, Z:-0.21 [[ 9.94956924e-01 1.00298120e-01 -1.00279194e-03 1.71852519e+02] [-1.00290771e-01 9.94941539e-01 5.75292597e-03 9.02377537e+00] [ 1.57472702e-03 -5.62334275e-03 9.99982949e-01 -2.11407892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.721400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.88, Y:9.02, Z:-0.21 [[ 9.94980275e-01 1.00057937e-01 -1.63133840e-03 1.71880975e+02] [-1.00057866e-01 9.94981612e-01 1.25687836e-04 9.02302801e+00] [ 1.63572778e-03 3.81713211e-05 9.99998661e-01 -2.10121096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.751400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.91, Y:9.01, Z:-0.21 [[ 9.95058082e-01 9.92443492e-02 -3.15794160e-03 1.71908683e+02] [-9.92440773e-02 9.95063090e-01 2.43062395e-04 9.01025664e+00] [ 3.16647370e-03 7.15457995e-05 9.99994984e-01 -2.13313031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.781400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.94, Y:9.01, Z:-0.21 [[ 9.95116630e-01 9.86610863e-02 -2.98040757e-03 1.71936052e+02] [-9.86608421e-02 9.95121091e-01 2.29218461e-04 9.00700589e+00] [ 2.98848138e-03 6.59504185e-05 9.99995532e-01 -2.13444190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.811400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.96, Y:9.00, Z:-0.21 [[ 9.95178363e-01 9.80646722e-02 -1.82928173e-03 1.71964167e+02] [-9.80645793e-02 9.95180043e-01 1.40582295e-04 8.99989310e+00] [ 1.83425083e-03 3.94832855e-05 9.99998317e-01 -2.11326076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.841400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.99, Y:9.00, Z:-0.21 [[ 9.95185372e-01 9.79935182e-02 -1.82928801e-03 1.71991581e+02] [-9.79934254e-02 9.95187052e-01 1.40500498e-04 8.99791451e+00] [ 1.83425189e-03 3.94341578e-05 9.99998317e-01 -2.11268930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.871400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.02, Y:8.99, Z:-0.21 [[ 9.95239984e-01 9.74542002e-02 -2.32604728e-04 1.72020253e+02] [-9.74541986e-02 9.95240011e-01 1.79358798e-05 8.99159106e+00] [ 2.33245459e-04 4.81780269e-06 9.99999973e-01 -2.08944929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.901400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.05, Y:8.98, Z:-0.21 [[ 9.95270265e-01 9.71382344e-02 1.12359733e-03 1.72047717e+02] [-9.71381993e-02 9.95270899e-01 -8.59181102e-05 8.98463429e+00] [-1.12662966e-03 -2.36324814e-05 9.99999365e-01 -2.07081728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.931400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.07, Y:8.98, Z:-0.21 [[ 9.95306217e-01 9.67730101e-02 7.20523720e-04 1.72074573e+02] [-9.67729956e-02 9.95306478e-01 -5.50244666e-05 8.97580063e+00] [-7.22466809e-04 -1.49610450e-05 9.99999739e-01 -2.07706508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.961400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.10, Y:8.97, Z:-0.21 [[ 9.95278590e-01 9.70535479e-02 -1.06596577e-03 1.72101933e+02] [-9.70535161e-02 9.95279161e-01 8.16510708e-05 8.97262367e+00] [ 1.06885804e-03 2.21901635e-05 9.99999429e-01 -2.10132560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.99140051300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.13, Y:8.97, Z:-0.21 [[ 9.95197217e-01 9.78342741e-02 -3.30976938e-03 1.72130516e+02] [-9.78339732e-02 9.95202718e-01 2.53079588e-04 8.96838186e+00] [ 3.31865135e-03 7.19437875e-05 9.99994491e-01 -2.14000142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.021400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.16, Y:8.96, Z:-0.22 [[ 9.95066644e-01 9.90364968e-02 -5.84344802e-03 1.72158815e+02] [-9.90355844e-02 9.95083792e-01 4.46006628e-04 8.96438328e+00] [ 5.85889135e-03 1.34902971e-04 9.99982827e-01 -2.18092815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.05140051300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.19, Y:8.96, Z:-0.22 [[ 9.94725630e-01 1.02244710e-01 -8.18172473e-03 1.72187599e+02] [-1.02243035e-01 9.94759254e-01 6.23765886e-04 8.95939913e+00] [ 8.20262315e-03 2.16048457e-04 9.99966335e-01 -2.21847484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.081400513 meters Centerline goodness [0,1] 0.999762280379487 Centerline is valid? [True, True] Translation: X:172.22, Y:8.96, Z:-0.22 [[ 9.94541907e-01 1.04081895e-01 -7.30443946e-03 1.72216589e+02] [-1.04080616e-01 9.94568709e-01 5.55923286e-04 8.95756524e+00] [ 7.32262847e-03 2.07361557e-04 9.99973168e-01 -2.20550409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.11140051300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.24, Y:8.96, Z:-0.22 [[ 9.94359077e-01 1.05921112e-01 -5.54465147e-03 1.72244260e+02] [-1.05920407e-01 9.94374522e-01 4.21511372e-04 8.95719746e+00] [ 5.55810710e-03 1.68158080e-04 9.99984539e-01 -2.17502793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.141400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.27, Y:8.96, Z:-0.22 [[ 9.94066460e-01 1.08678422e-01 -4.56879482e-03 1.72274092e+02] [-1.08677973e-01 9.94076948e-01 3.47161798e-04 8.95799997e+00] [ 4.57946261e-03 1.51425463e-04 9.99989503e-01 -2.16060659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.17140051300004 meters Centerline goodness [0,1] 0.9999359508102222 Centerline is valid? [True, True] Translation: X:172.30, Y:8.96, Z:-0.22 [[ 9.93638488e-01 1.12516981e-01 -4.74183783e-03 1.72304143e+02] [-1.12516541e-01 9.93649787e-01 3.60226643e-04 8.96228403e+00] [ 4.75225776e-03 1.75600134e-04 9.99988693e-01 -2.16315109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.201400513 meters Centerline goodness [0,1] 0.9999357326478149 Centerline is valid? [True, True] Translation: X:172.33, Y:8.96, Z:-0.22 [[ 9.93163395e-01 1.16602786e-01 -5.50107867e-03 1.72334141e+02] [-1.16602257e-01 9.93178604e-01 4.17834641e-04 8.96234678e+00] [ 5.51227431e-03 2.26460118e-04 9.99984782e-01 -2.17202362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.231400513 meters Centerline goodness [0,1] 0.999659769919408 Centerline is valid? [True, True] Translation: X:172.36, Y:8.97, Z:-0.22 [[ 9.92255225e-01 1.24041006e-01 -6.58772601e-03 1.72364696e+02] [-1.24040412e-01 9.92277041e-01 5.00300203e-04 8.97267657e+00] [ 6.59890701e-03 3.20718755e-04 9.99978176e-01 -2.18845974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.261400513 meters Centerline goodness [0,1] 0.9984962082966337 Centerline is valid? [True, True] Translation: X:172.39, Y:8.98, Z:-0.22 [[ 9.91950605e-01 1.26468138e-01 -6.30931989e-03 1.72394622e+02] [-1.26467642e-01 9.91970618e-01 4.79087990e-04 8.97705846e+00] [ 6.31924931e-03 3.22693187e-04 9.99979981e-01 -2.18536165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.291400513 meters Centerline goodness [0,1] 0.9836597817032274 Centerline is valid? [True, True] Translation: X:172.42, Y:8.98, Z:-0.22 [[ 9.91793501e-01 1.27732397e-01 -5.48500250e-03 1.72423658e+02] [-1.27732043e-01 9.91808627e-01 4.16313371e-04 8.98010943e+00] [ 5.49324950e-03 2.87713678e-04 9.99984871e-01 -2.17660809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.321400513 meters Centerline goodness [0,1] 0.9983734269326257 Centerline is valid? [True, True] Translation: X:172.45, Y:8.97, Z:-0.22 [[ 9.91810689e-01 1.27640447e-01 -4.41289901e-03 1.72450852e+02] [-1.27640219e-01 9.91820479e-01 3.34414854e-04 8.97062650e+00] [ 4.41948847e-03 2.31587169e-04 9.99990207e-01 -2.15920551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.351400513 meters Centerline goodness [0,1] 0.9982703395259449 Centerline is valid? [True, True] Translation: X:172.48, Y:8.97, Z:-0.22 [[ 9.91884484e-01 1.27078279e-01 -4.03514379e-03 1.72479782e+02] [-1.27078086e-01 9.91892669e-01 3.05099527e-04 8.96784673e+00] [ 4.04120106e-03 2.10154863e-04 9.99991812e-01 -2.16058088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.381400513 meters Centerline goodness [0,1] 0.998683931224793 Centerline is valid? [True, True] Translation: X:172.51, Y:8.96, Z:-0.22 [[ 9.92005095e-01 1.26135662e-01 -3.96053918e-03 1.72508138e+02] [-1.26135472e-01 9.92012981e-01 2.98805388e-04 8.96362371e+00] [ 3.96659629e-03 2.03148010e-04 9.99992112e-01 -2.16185164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.411400513 meters Centerline goodness [0,1] 0.9993968766828217 Centerline is valid? [True, True] Translation: X:172.54, Y:8.96, Z:-0.22 [[ 9.92198529e-01 1.24625417e-01 -3.25332373e-03 1.72536555e+02] [-1.24625282e-01 9.92203850e-01 2.45108416e-04 8.95701376e+00] [ 3.25850706e-03 1.62250177e-04 9.99994678e-01 -2.15245769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.441400513 meters Centerline goodness [0,1] 0.9996581415721214 Centerline is valid? [True, True] Translation: X:172.56, Y:8.95, Z:-0.21 [[ 9.92241281e-01 1.24289386e-01 -3.06414946e-03 1.72564916e+02] [-1.24289265e-01 9.92246001e-01 2.30592265e-04 8.95087030e+00] [ 3.06905022e-03 1.52037719e-04 9.99995279e-01 -2.14015603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.471400513 meters Centerline goodness [0,1] 0.9986087924318309 Centerline is valid? [True, True] Translation: X:172.59, Y:8.95, Z:-0.21 [[ 9.92324258e-01 1.23636606e-01 -2.56077430e-03 1.72593156e+02] [-1.23636520e-01 9.92327554e-01 1.92384195e-04 8.95298720e+00] [ 2.56491262e-03 1.25697721e-04 9.99996703e-01 -2.13294314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.501400513 meters Centerline goodness [0,1] 0.9992797373159623 Centerline is valid? [True, True] Translation: X:172.62, Y:8.95, Z:-0.21 [[ 9.92549033e-01 1.21837642e-01 -1.41656929e-03 1.72622208e+02] [-1.21837614e-01 9.92550041e-01 1.06453931e-04 8.94867831e+00] [ 1.41898600e-03 6.69306762e-05 9.99998991e-01 -2.11983914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.531400513 meters Centerline goodness [0,1] 0.9994682887404823 Centerline is valid? [True, True] Translation: X:172.65, Y:8.94, Z:-0.21 [[ 9.92727980e-01 1.20377659e-01 -6.13472038e-04 1.72651148e+02] [-1.20377653e-01 9.92728169e-01 4.59996105e-05 8.94192563e+00] [ 6.14548298e-04 2.81832238e-05 9.99999811e-01 -2.11303449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.561400513 meters Centerline goodness [0,1] 0.9997866211458445 Centerline is valid? [True, True] Translation: X:172.68, Y:8.93, Z:-0.21 [[ 9.92982134e-01 1.18264118e-01 2.81788869e-04 1.72680543e+02] [-1.18264116e-01 9.92982174e-01 -2.10782070e-05 8.93244093e+00] [-2.82304119e-04 -1.23952286e-05 9.99999960e-01 -2.10253015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.591400513 meters Centerline goodness [0,1] 0.9999137670848963 Centerline is valid? [True, True] Translation: X:172.71, Y:8.92, Z:-0.21 [[ 9.93125113e-01 1.17056709e-01 -4.87194784e-04 1.72708729e+02] [-1.17056705e-01 9.93125232e-01 3.67632894e-05 8.92028553e+00] [ 4.88148823e-04 2.05188702e-05 9.99999881e-01 -2.11628298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.621400513 meters Centerline goodness [0,1] 0.9998083312036801 Centerline is valid? [True, True] Translation: X:172.74, Y:8.92, Z:-0.21 [[ 9.93264452e-01 1.15858443e-01 -1.59661592e-03 1.72736787e+02] [-1.15858401e-01 9.93265733e-01 1.19319757e-04 8.91940890e+00] [ 1.59968809e-03 6.64652952e-05 9.99998718e-01 -2.13354113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.651400513 meters Centerline goodness [0,1] 0.9998936487003871 Centerline is valid? [True, True] Translation: X:172.77, Y:8.91, Z:-0.21 [[ 9.93428187e-01 1.14435549e-01 -2.22331498e-03 1.72765517e+02] [-1.14435464e-01 9.93430671e-01 1.65952883e-04 8.91055263e+00] [ 2.22770020e-03 8.95638092e-05 9.99997515e-01 -2.14997520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.681400513 meters Centerline goodness [0,1] 0.9999351421467949 Centerline is valid? [True, True] Translation: X:172.79, Y:8.90, Z:-0.22 [[ 9.93583596e-01 1.13086225e-01 -1.77270302e-03 1.72793758e+02] [-1.13086169e-01 9.93585175e-01 1.32113477e-04 8.90103700e+00] [ 1.77627165e-03 6.92024100e-05 9.99998420e-01 -2.15084519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.711400513 meters Centerline goodness [0,1] 0.999914381729061 Centerline is valid? [True, True] Translation: X:172.82, Y:8.89, Z:-0.21 [[ 9.93523475e-01 1.13623276e-01 -9.25441642e-04 1.72821562e+02] [-1.13623261e-01 9.93523905e-01 6.88559228e-05 8.89464323e+00] [ 9.27272029e-04 3.67417215e-05 9.99999569e-01 -2.13776409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.74140051300003 meters Centerline goodness [0,1] 0.9999784306112764 Centerline is valid? [True, True] Translation: X:172.85, Y:8.88, Z:-0.22 [[ 9.93297604e-01 1.15556289e-01 -2.57173672e-03 1.72850241e+02] [-1.15556182e-01 9.93300927e-01 1.90981244e-04 8.88442150e+00] [ 2.57657756e-03 1.07478863e-04 9.99996675e-01 -2.15667405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.771400513 meters Centerline goodness [0,1] 0.9999575821845175 Centerline is valid? [True, True] Translation: X:172.88, Y:8.89, Z:-0.22 [[ 9.92963647e-01 1.18325794e-01 -4.71185775e-03 1.72879847e+02] [-1.18325464e-01 9.92974804e-01 3.49737324e-04 8.88569738e+00] [ 4.72013898e-03 2.10256307e-04 9.99988838e-01 -2.18686470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.80140051300003 meters Centerline goodness [0,1] 0.999784445594068 Centerline is valid? [True, True] Translation: X:172.91, Y:8.88, Z:-0.22 [[ 9.92579085e-01 1.21393200e-01 -7.10293531e-03 1.72909295e+02] [-1.21392529e-01 9.92604441e-01 5.27116228e-04 8.88167355e+00] [ 7.11439346e-03 3.39038735e-04 9.99974635e-01 -2.22004428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.831400513 meters Centerline goodness [0,1] 0.9996808985895718 Centerline is valid? [True, True] Translation: X:172.94, Y:8.88, Z:-0.22 [[ 9.92153643e-01 1.24776336e-01 -7.87496197e-03 1.72938740e+02] [-1.24775618e-01 9.92184813e-01 5.84356971e-04 8.88181887e+00] [ 7.88633160e-03 4.02831348e-04 9.99968821e-01 -2.23452737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.86140051300004 meters Centerline goodness [0,1] 0.9991100752198326 Centerline is valid? [True, True] Translation: X:172.97, Y:8.88, Z:-0.22 [[ 9.91680707e-01 1.28488403e-01 -7.75279860e-03 1.72969406e+02] [-1.28487820e-01 9.91710920e-01 5.75269347e-04 8.88027411e+00] [ 7.76245047e-03 4.25656681e-04 9.99969781e-01 -2.23002623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.891400513 meters Centerline goodness [0,1] 0.9802143977314228 Centerline is valid? [True, True] Translation: X:173.00, Y:8.88, Z:-0.22 [[ 9.90749303e-01 1.35524375e-01 -6.99734352e-03 1.72999734e+02] [-1.35524075e-01 9.90773917e-01 5.19178355e-04 8.87757392e+00] [ 7.00314678e-03 4.33932914e-04 9.99975384e-01 -2.21588124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.92140051300004 meters Centerline goodness [0,1] 0.8401579316054257 Centerline is valid? [True, False] Translation: X:173.00, Y:8.88, Z:-0.22 [[ 9.90716238e-01 1.35768015e-01 -6.95573900e-03 1.72999665e+02] [-1.35765663e-01 9.90740645e-01 8.11313304e-04 8.87629546e+00] [ 7.00148375e-03 1.40569257e-04 9.99975479e-01 -2.21853924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.951400513 meters Centerline goodness [0,1] 0.795816328710925 Centerline is valid? [False, False] Translation: X:173.00, Y:8.88, Z:-0.22 [[ 9.91170076e-01 1.32401726e-01 -7.18768927e-03 1.72998903e+02] [-1.32431512e-01 9.91184730e-01 -3.83744700e-03 8.88012909e+00] [ 6.61624324e-03 4.75543920e-03 9.99966805e-01 -2.21824845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.981400513 meters Centerline goodness [0,1] 0.6917847629195525 Centerline is valid? [False, False] Translation: X:173.00, Y:8.88, Z:-0.22 [[ 9.91082401e-01 1.33066132e-01 -7.00562910e-03 1.72998514e+02] [-1.33090317e-01 9.91099049e-01 -3.10529911e-03 8.87709961e+00] [ 6.53006219e-03 4.00998870e-03 9.99970639e-01 -2.22325690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.011400513 meters Centerline goodness [0,1] 0.6620688193914739 Centerline is valid? [False, False] Translation: X:173.00, Y:8.88, Z:-0.22 [[ 9.91487769e-01 1.30008863e-01 -7.04983506e-03 1.72997183e+02] [-1.30063372e-01 9.91474059e-01 -7.91887770e-03 8.88300284e+00] [ 5.96020430e-03 8.76839570e-03 9.99943794e-01 -2.22029641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.041400513 meters Centerline goodness [0,1] 0.7121776749764414 Centerline is valid? [False, False] Translation: X:173.00, Y:8.89, Z:-0.22 [[ 9.91501789e-01 1.29904151e-01 -7.00819225e-03 1.72997255e+02] [-1.29963023e-01 9.91480456e-01 -8.72451916e-03 8.88705713e+00] [ 5.81513440e-03 9.56118220e-03 9.99937382e-01 -2.22196579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.071400513 meters Centerline goodness [0,1] 0.6212137337959514 Centerline is valid? [False, False] Translation: X:173.00, Y:8.89, Z:-0.22 [[ 9.91522599e-01 1.29746639e-01 -6.98184355e-03 1.72997357e+02] [-1.29811757e-01 9.91489627e-01 -9.86038734e-03 8.89281705e+00] [ 5.64307334e-03 1.06831223e-02 9.99927011e-01 -2.22170987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.101400513 meters Centerline goodness [0,1] 0.6572310424285985 Centerline is valid? [False, False] Translation: X:173.00, Y:8.90, Z:-0.22 [[ 9.91552065e-01 1.29527872e-01 -6.85808749e-03 1.72997004e+02] [-1.29597775e-01 9.91505860e-01 -1.09793470e-02 8.89842242e+00] [ 5.37770247e-03 1.17753871e-02 9.99916207e-01 -2.21908197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.131400513 meters Centerline goodness [0,1] 0.6256608117326057 Centerline is valid? [False, False] Translation: X:173.00, Y:8.90, Z:-0.22 [[ 9.90953791e-01 1.34059139e-01 -6.22341568e-03 1.72996591e+02] [-1.34096347e-01 9.90950111e-01 -6.00388522e-03 8.89514117e+00] [ 5.36221878e-03 6.78411013e-03 9.99962611e-01 -2.21735743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.161400513 meters Centerline goodness [0,1] 0.6895036194415718 Centerline is valid? [False, False] Translation: X:173.00, Y:8.90, Z:-0.22 [[ 9.90999247e-01 1.33727252e-01 -6.12498177e-03 1.72996240e+02] [-1.33767904e-01 9.90989413e-01 -6.79204120e-03 8.89879450e+00] [ 5.16151108e-03 7.55023368e-03 9.99958176e-01 -2.21511051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.191400513 meters Centerline goodness [0,1] 0.6761106170329902 Centerline is valid? [False, False] Translation: X:173.02, Y:8.89, Z:-0.23 [[ 9.91376936e-01 1.31026242e-01 -1.97367827e-03 1.73019322e+02] [-1.31023979e-01 9.91378429e-01 1.23606094e-03 8.89423854e+00] [ 2.11861848e-03 -9.66803124e-04 9.99997288e-01 -2.26707421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.221400513 meters Centerline goodness [0,1] 0.6908017666043825 Centerline is valid? [False, False] Translation: X:173.02, Y:8.90, Z:-0.23 [[ 9.92013366e-01 1.26108592e-01 -2.47057568e-03 1.73018943e+02] [-1.26119078e-01 9.92004041e-01 -4.68627676e-03 8.90196786e+00] [ 1.85984129e-03 4.96043592e-03 9.99985967e-01 -2.25993664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.251400513 meters Centerline goodness [0,1] 0.7069680896569424 Centerline is valid? [False, False] Translation: X:173.02, Y:8.90, Z:-0.23 [[ 9.92019175e-01 1.26062831e-01 -2.47381923e-03 1.73018700e+02] [-1.26073063e-01 9.92010560e-01 -4.54211610e-03 8.90120020e+00] [ 1.88146279e-03 4.81774823e-03 9.99986625e-01 -2.25516219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.281400513 meters Centerline goodness [0,1] 0.7237047992626412 Centerline is valid? [False, False] Translation: X:173.02, Y:8.90, Z:-0.22 [[ 9.92590861e-01 1.21464283e-01 -3.13222532e-03 1.73018852e+02] [-1.21488842e-01 9.92547780e-01 -9.45334710e-03 8.90407409e+00] [ 1.96063926e-03 9.76383636e-03 9.99950410e-01 -2.24852881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.311400513 meters Centerline goodness [0,1] 0.7393352804485471 Centerline is valid? [False, False] Translation: X:173.02, Y:8.89, Z:-0.23 [[ 9.93183973e-01 1.16555460e-01 -6.48577142e-04 1.73019750e+02] [-1.16549008e-01 9.93164475e-01 6.37605289e-03 8.89105368e+00] [ 1.38730755e-03 -6.25700252e-03 9.99979462e-01 -2.27999738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.341400513 meters Centerline goodness [0,1] 0.7491184093129966 Centerline is valid? [False, False] Translation: X:173.02, Y:8.90, Z:-0.23 [[ 9.94050950e-01 1.08910385e-01 -1.11213209e-03 1.73018134e+02] [-1.08913562e-01 9.94045498e-01 -3.37389893e-03 8.90042212e+00] [ 7.38057261e-04 3.47495371e-03 9.99993690e-01 -2.26959028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.371400513 meters Centerline goodness [0,1] 0.7235534651157863 Centerline is valid? [False, False] Translation: X:173.02, Y:8.91, Z:-0.23 [[ 9.94546330e-01 1.04285488e-01 -1.46093018e-03 1.73017611e+02] [-1.04294368e-01 9.94507183e-01 -8.84008584e-03 8.90610702e+00] [ 5.31012898e-04 8.94424172e-03 9.99959858e-01 -2.26303012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.401400513 meters Centerline goodness [0,1] 0.8120671967171069 Centerline is valid? [False, False] Translation: X:173.02, Y:8.91, Z:-0.23 [[ 9.94538796e-01 1.04357535e-01 -1.44523352e-03 1.73017313e+02] [-1.04366163e-01 9.94501483e-01 -8.63161333e-03 8.90514052e+00] [ 5.36512991e-04 8.73530780e-03 9.99961703e-01 -2.25865578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.431400513 meters Centerline goodness [0,1] 0.7774176932652272 Centerline is valid? [False, False] Translation: X:173.02, Y:8.90, Z:-0.23 [[ 9.94521213e-01 1.04525768e-01 -1.38590310e-03 1.73016918e+02] [-1.04533679e-01 9.94487191e-01 -8.24237548e-03 8.90332533e+00] [ 5.16722247e-04 8.34209081e-03 9.99965071e-01 -2.25560279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.461400513 meters Centerline goodness [0,1] 0.7493058225468836 Centerline is valid? [False, False] Translation: X:173.02, Y:8.90, Z:-0.23 [[ 9.94508292e-01 1.04647230e-01 -1.48830056e-03 1.73017501e+02] [-1.04655848e-01 9.94476197e-01 -8.01548197e-03 8.90228912e+00] [ 6.41281494e-04 8.12722264e-03 9.99966768e-01 -2.26120478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.49140051300003 meters Centerline goodness [0,1] 0.7421275329038294 Centerline is valid? [False, False] Translation: X:173.02, Y:8.90, Z:-0.23 [[ 9.94496143e-01 1.04761434e-01 -1.56948077e-03 1.73018094e+02] [-1.04770552e-01 9.94465822e-01 -7.80127613e-03 8.90130165e+00] [ 7.43522109e-04 7.92277439e-03 9.99968338e-01 -2.26838269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.521400513 meters Centerline goodness [0,1] 0.7257476139978791 Centerline is valid? [False, False] Translation: X:173.02, Y:8.90, Z:-0.23 [[ 9.94488877e-01 1.04829559e-01 -1.62383370e-03 1.73018515e+02] [-1.04839008e-01 9.94459556e-01 -7.67941968e-03 8.90074362e+00] [ 8.09806764e-04 7.80733857e-03 9.99969194e-01 -2.27339747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.55140051300003 meters Centerline goodness [0,1] 0.8145118111922558 Centerline is valid? [False, False] Translation: X:173.02, Y:8.90, Z:-0.23 [[ 9.94453488e-01 1.05166011e-01 -1.53950502e-03 1.73018359e+02] [-1.05174224e-01 9.94429626e-01 -6.93551158e-03 8.89726167e+00] [ 8.01549313e-04 7.05895993e-03 9.99974764e-01 -2.27784453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.581400513 meters Centerline goodness [0,1] 0.7651494174529809 Centerline is valid? [False, False] Translation: X:173.02, Y:8.89, Z:-0.23 [[ 9.94425286e-01 1.05433108e-01 -1.48676888e-03 1.73018297e+02] [-1.05440487e-01 9.94405347e-01 -6.34896873e-03 8.89451479e+00] [ 8.09059419e-04 6.47034068e-03 9.99978740e-01 -2.28132178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.61140051300004 meters Centerline goodness [0,1] 0.7456054060989692 Centerline is valid? [False, False] Translation: X:173.02, Y:8.89, Z:-0.23 [[ 9.94402611e-01 1.05648068e-01 -1.39026471e-03 1.73017949e+02] [-1.05654461e-01 9.94385614e-01 -5.86400246e-03 8.89224086e+00] [ 7.62938694e-04 5.97806703e-03 9.99981840e-01 -2.28210826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.641400513 meters Centerline goodness [0,1] 0.7399487477657902 Centerline is valid? [False, False] Translation: X:173.02, Y:8.89, Z:-0.23 [[ 9.94392096e-01 1.05747812e-01 -1.32620529e-03 1.73017610e+02] [-1.05753651e-01 9.94376441e-01 -5.62667622e-03 8.89113249e+00] [ 7.23738597e-04 5.73537341e-03 9.99983291e-01 -2.27999016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.67140051300004 meters Centerline goodness [0,1] 0.7039654914689615 Centerline is valid? [False, False] Translation: X:173.02, Y:8.89, Z:-0.23 [[ 9.94388478e-01 1.05781230e-01 -1.37325230e-03 1.73017662e+02] [-1.05787295e-01 9.94373182e-01 -5.56986991e-03 8.89089565e+00] [ 7.76337569e-04 5.68388711e-03 9.99983545e-01 -2.27843133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.701400513 meters Centerline goodness [0,1] 0.7637386319555192 Centerline is valid? [False, False] Translation: X:173.02, Y:8.89, Z:-0.23 [[ 9.94381020e-01 1.05849584e-01 -1.50063614e-03 1.73018390e+02] [-1.05856228e-01 9.94366722e-01 -5.41120805e-03 8.89015924e+00] [ 9.19408523e-04 5.53965427e-03 9.99984233e-01 -2.28517265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.731400513 meters Centerline goodness [0,1] 0.7637386319555192 Centerline is valid? [False, False] Translation: X:173.02, Y:8.89, Z:-0.23 [[ 9.94381020e-01 1.05849584e-01 -1.50063614e-03 1.73018390e+02] [-1.05856228e-01 9.94366722e-01 -5.41120805e-03 8.89015924e+00] [ 9.19408523e-04 5.53965427e-03 9.99984233e-01 -2.28517265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.761400513 meters Centerline goodness [0,1] 0.6406389586080742 Centerline is valid? [False, False] Translation: X:173.02, Y:8.89, Z:-0.23 [[ 9.94350735e-01 1.06127699e-01 -1.87798566e-03 1.73020300e+02] [-1.06135618e-01 9.94340110e-01 -4.79342717e-03 8.88728811e+00] [ 1.35864107e-03 4.96566900e-03 9.99986748e-01 -2.30071752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.791400513 meters Centerline goodness [0,1] 0.8223300348372481 Centerline is valid? [False, False] Translation: X:173.02, Y:8.89, Z:-0.23 [[ 9.94343485e-01 1.06196666e-01 -1.81690330e-03 1.73019858e+02] [-1.06204075e-01 9.94333551e-01 -4.63501799e-03 8.88654502e+00] [ 1.31438445e-03 4.80176248e-03 9.99987608e-01 -2.29652054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.821400513 meters Centerline goodness [0,1] 0.6510145295886813 Centerline is valid? [False, False] Translation: X:173.02, Y:8.89, Z:-0.23 [[ 9.94332413e-01 1.06302107e-01 -1.70722971e-03 1.73019020e+02] [-1.06308755e-01 9.94323240e-01 -4.44321548e-03 8.88570291e+00] [ 1.22521501e-03 4.59952663e-03 9.99988672e-01 -2.28767516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.851400513 meters Centerline goodness [0,1] 0.7532100062163727 Centerline is valid? [False, False] Translation: X:173.02, Y:8.88, Z:-0.23 [[ 9.94317369e-01 1.06445104e-01 -1.55249209e-03 1.73018091e+02] [-1.06450687e-01 9.94309455e-01 -4.11824445e-03 8.88419562e+00] [ 1.10529060e-03 4.26010583e-03 9.99990315e-01 -2.28018087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.881400513 meters Centerline goodness [0,1] 0.7097129774875991 Centerline is valid? [False, False] Translation: X:173.02, Y:8.88, Z:-0.23 [[ 9.94262350e-01 1.06960058e-01 -1.38749298e-03 1.73017393e+02] [-1.06963732e-01 9.94258638e-01 -2.91904946e-03 8.87851750e+00] [ 1.06730518e-03 3.05071240e-03 9.99994777e-01 -2.28053450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.911400513 meters Centerline goodness [0,1] 0.7266698145604396 Centerline is valid? [False, False] Translation: X:173.02, Y:8.88, Z:-0.23 [[ 9.94243186e-01 1.07138506e-01 -1.35166853e-03 1.73017447e+02] [-1.07141641e-01 9.94240597e-01 -2.51081579e-03 8.87657938e+00] [ 1.07487867e-03 2.64118147e-03 9.99995934e-01 -2.28496095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.941400513 meters Centerline goodness [0,1] 0.7554112554112554 Centerline is valid? [False, False] Translation: X:173.02, Y:8.88, Z:-0.23 [[ 9.94703030e-01 1.02777247e-01 -1.64915287e-03 1.73017370e+02] [-1.02787279e-01 9.94670620e-01 -8.07051840e-03 8.88313105e+00] [ 8.10898242e-04 8.19728104e-03 9.99966073e-01 -2.28938245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.971400513 meters Centerline goodness [0,1] 0.6652255001695491 Centerline is valid? [False, False] Translation: X:173.02, Y:8.88, Z:-0.23 [[ 9.94706564e-01 1.02741604e-01 -1.73597625e-03 1.73017708e+02] [-1.02752428e-01 9.94673503e-01 -8.15845913e-03 8.88356940e+00] [ 8.88516398e-04 8.29364863e-03 9.99965212e-01 -2.29058875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.001400513 meters Centerline goodness [0,1] 0.7506020758295859 Centerline is valid? [False, False] Translation: X:173.02, Y:8.88, Z:-0.23 [[ 9.94697825e-01 1.02825948e-01 -1.74980312e-03 1.73017575e+02] [-1.02836694e-01 9.94666467e-01 -7.95195459e-03 8.88261667e+00] [ 9.22803220e-04 8.08973590e-03 9.99966852e-01 -2.28759206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.031400513 meters Centerline goodness [0,1] 0.755817153987847 Centerline is valid? [False, False] Translation: X:173.02, Y:8.87, Z:-0.23 [[ 9.95020945e-01 9.96441542e-02 2.08823255e-03 1.73017578e+02] [-9.96596174e-02 9.94976211e-01 9.50262213e-03 8.86748213e+00] [-1.13086097e-03 -9.66342052e-03 9.99952669e-01 -2.31782385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.061400513 meters Centerline goodness [0,1] 0.8983388704318936 Centerline is valid? [False, False] Translation: X:173.02, Y:8.87, Z:-0.23 [[ 9.95431785e-01 9.54552098e-02 1.96604101e-03 1.73015891e+02] [-9.54645855e-02 9.95418124e-01 5.41025777e-03 8.86648046e+00] [-1.44059557e-03 -5.57322984e-03 9.99983432e-01 -2.30415453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.091400513 meters Centerline goodness [0,1] 0.7249851480947127 Centerline is valid? [False, False] Translation: X:173.02, Y:8.87, Z:-0.23 [[ 9.95842986e-01 9.10696626e-02 1.75039428e-03 1.73015168e+02] [-9.10704594e-02 9.95844379e-01 3.80884675e-04 8.87015153e+00] [-1.70843326e-03 -5.38710543e-04 9.99998396e-01 -2.30058509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.121400513 meters Centerline goodness [0,1] 0.7429842865051314 Centerline is valid? [False, False] Translation: X:173.01, Y:8.87, Z:-0.23 [[ 9.96230514e-01 8.67310440e-02 1.57736820e-03 1.73014623e+02] [-8.67229066e-02 9.96221618e-01 -4.65026767e-03 8.87382752e+00] [-1.97473087e-03 4.49594460e-03 9.99987943e-01 -2.30138752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.151400513 meters Centerline goodness [0,1] 0.7553006898302933 Centerline is valid? [False, False] Translation: X:173.02, Y:8.87, Z:-0.23 [[ 9.96196800e-01 8.71190142e-02 1.48729184e-03 1.73015388e+02] [-8.71128659e-02 9.96191231e-01 -3.79195204e-03 8.86979020e+00] [-1.81197822e-03 3.64796824e-03 9.99991704e-01 -2.31184862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.181400513 meters Centerline goodness [0,1] 0.7911704661449472 Centerline is valid? [False, False] Translation: X:173.02, Y:8.87, Z:-0.23 [[ 9.96191692e-01 8.71775882e-02 1.47666444e-03 1.73015704e+02] [-8.71715786e-02 9.96186306e-01 -3.73624497e-03 8.86954790e+00] [-1.79674972e-03 3.59329303e-03 9.99991930e-01 -2.31760554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.211400513 meters Centerline goodness [0,1] 0.7429435910456603 Centerline is valid? [False, False] Translation: X:173.02, Y:8.87, Z:-0.23 [[ 9.96192815e-01 8.71641472e-02 1.51209978e-03 1.73015687e+02] [-8.71575624e-02 9.96186591e-01 -3.97937735e-03 8.87077344e+00] [-1.85319256e-03 3.83243620e-03 9.99990939e-01 -2.31939146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.24140051300003 meters Centerline goodness [0,1] 0.7274729930099555 Centerline is valid? [False, False] Translation: X:173.02, Y:8.87, Z:-0.23 [[ 9.96203484e-01 8.70404286e-02 1.60710867e-03 1.73015378e+02] [-8.70326463e-02 9.96195726e-01 -4.40383502e-03 8.87280669e+00] [-1.98430648e-03 4.24724487e-03 9.99989012e-01 -2.31905425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.271400513 meters Centerline goodness [0,1] 0.7068049475071194 Centerline is valid? [False, False] Translation: X:173.02, Y:8.87, Z:-0.23 [[ 9.96213001e-01 8.69304640e-02 1.65839832e-03 1.73015249e+02] [-8.69217287e-02 9.96203758e-01 -4.76285631e-03 8.87452028e+00] [-2.06613995e-03 4.60066853e-03 9.99987282e-01 -2.31922999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.30140051300003 meters Centerline goodness [0,1] 0.756906671253198 Centerline is valid? [False, False] Translation: X:173.02, Y:8.87, Z:-0.23 [[ 9.96201988e-01 8.70574476e-02 1.61225305e-03 1.73015757e+02] [-8.70493887e-02 9.96193691e-01 -4.53150161e-03 8.87343089e+00] [-2.00061728e-03 4.37394527e-03 9.99988433e-01 -2.32727208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.331400513 meters Centerline goodness [0,1] 0.6695617004065819 Centerline is valid? [False, False] Translation: X:173.02, Y:8.87, Z:-0.23 [[ 9.96183159e-01 8.72741963e-02 1.52576731e-03 1.73016230e+02] [-8.72676180e-02 9.96177083e-01 -3.94743848e-03 8.87063727e+00] [-1.86444395e-03 3.79922166e-03 9.99991045e-01 -2.33285370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.36140051300004 meters Centerline goodness [0,1] 0.7188607513370706 Centerline is valid? [False, False] Translation: X:173.02, Y:8.87, Z:-0.23 [[ 9.96160474e-01 8.75323099e-02 1.55092490e-03 1.73016019e+02] [-8.75269495e-02 9.96156882e-01 -3.24026261e-03 8.86728290e+00] [-1.82859219e-03 3.09207381e-03 9.99993548e-01 -2.33140204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.391400513 meters Centerline goodness [0,1] 0.7356723659399563 Centerline is valid? [False, False] Translation: X:173.04, Y:8.86, Z:-0.24 [[ 9.96410486e-01 8.43769113e-02 6.83227398e-03 1.73037421e+02] [-8.44074124e-02 9.96422024e-01 4.30576389e-03 8.85994427e+00] [-6.44452121e-03 -4.86700286e-03 9.99967390e-01 -2.38578931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.42140051300004 meters Centerline goodness [0,1] 0.7675222112537019 Centerline is valid? [False, False] Translation: X:173.03, Y:8.86, Z:-0.23 [[ 9.96884535e-01 7.85241705e-02 7.42823322e-03 1.73029565e+02] [-7.85155735e-02 9.96911844e-01 -1.44241343e-03 8.85968897e+00] [-7.51855799e-03 8.54687650e-04 9.99971370e-01 -2.32746823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.451400513 meters Centerline goodness [0,1] 0.7768424161866785 Centerline is valid? [False, False] Translation: X:173.05, Y:8.85, Z:-0.24 [[ 9.97129684e-01 7.47965640e-02 1.17416853e-02 1.73051633e+02] [-7.48708612e-02 9.97175064e-01 6.02039860e-03 8.85195475e+00] [-1.12582106e-02 -6.88222825e-03 9.99912940e-01 -2.37890788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.481400513 meters Centerline goodness [0,1] 0.8923831567324231 Centerline is valid? [False, False] Translation: X:173.05, Y:8.86, Z:-0.24 [[ 9.97462690e-01 7.02651350e-02 1.14451986e-02 1.73051669e+02] [-7.02813520e-02 9.97526686e-01 1.02044214e-03 8.85515340e+00] [-1.13451895e-02 -1.82223699e-03 9.99933981e-01 -2.38002485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.511400513 meters Centerline goodness [0,1] 0.8945639504079687 Centerline is valid? [False, False] Translation: X:173.05, Y:8.86, Z:-0.24 [[ 9.97772883e-01 6.57783396e-02 1.10672562e-02 1.73052081e+02] [-6.57386756e-02 9.97829210e-01 -3.91070154e-03 8.85806047e+00] [-1.13004710e-02 3.17444518e-03 9.99931109e-01 -2.38232314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.541400513 meters Centerline goodness [0,1] 0.9971144257495067 Centerline is valid? [False, True] Translation: X:173.05, Y:8.86, Z:-0.24 [[ 9.98053957e-01 6.14152215e-02 1.07920951e-02 1.73052316e+02] [-6.13242426e-02 9.98081120e-01 -8.56831816e-03 8.85968017e+00] [-1.12976115e-02 7.88982678e-03 9.99905053e-01 -2.38660211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.571400513 meters Centerline goodness [0,1] 0.9788932170378525 Centerline is valid? [True, True] Translation: X:173.08, Y:8.85, Z:-0.24 [[ 9.98120589e-01 6.04589849e-02 1.00000948e-02 1.73084084e+02] [-6.04619412e-02 9.98170503e-01 -6.70154279e-06 8.85374688e+00] [-9.98220486e-03 -5.97936198e-04 9.99949998e-01 -2.41588343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.601400513 meters Centerline goodness [0,1] 0.9904584199143378 Centerline is valid? [True, True] Translation: X:173.12, Y:8.85, Z:-0.24 [[ 9.98148787e-01 6.01520678e-02 8.98490928e-03 1.73115573e+02] [-6.01544250e-02 9.98189083e-01 -7.90563288e-06 8.84676149e+00] [-8.96911389e-03 -5.32591054e-04 9.99959635e-01 -2.42858219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.631400513 meters Centerline goodness [0,1] 0.9973464102237507 Centerline is valid? [True, True] Translation: X:173.15, Y:8.84, Z:-0.24 [[ 9.98082093e-01 6.13673153e-02 8.13556806e-03 1.73147020e+02] [-6.13692869e-02 9.98115129e-01 -7.30931771e-06 8.84287918e+00] [-8.12068211e-03 -4.91978711e-04 9.99966906e-01 -2.43804835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.661400513 meters Centerline goodness [0,1] 0.9676073931361548 Centerline is valid? [True, True] Translation: X:173.18, Y:8.85, Z:-0.25 [[ 9.97962701e-01 6.33491536e-02 7.57184108e-03 1.73176927e+02] [-6.33509162e-02 9.97991313e-01 -7.08269583e-06 8.84935453e+00] [-7.55708030e-03 -4.72614803e-04 9.99971333e-01 -2.45394268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.691400513 meters Centerline goodness [0,1] 0.990278608665926 Centerline is valid? [True, True] Translation: X:173.21, Y:8.84, Z:-0.25 [[ 9.97828528e-01 6.55236617e-02 6.69915793e-03 1.73207097e+02] [-6.55250893e-02 9.97850922e-01 -6.38847496e-06 8.84410111e+00] [-6.68517951e-03 -4.32588319e-04 9.99977560e-01 -2.46210195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.721400513 meters Centerline goodness [0,1] 0.9453414561410983 Centerline is valid? [True, False] Translation: X:173.21, Y:8.85, Z:-0.25 [[ 9.98060974e-01 6.18966063e-02 6.56516891e-03 1.73206941e+02] [-6.18646202e-02 9.98072184e-01 -4.96832618e-03 8.84875571e+00] [-6.86003500e-03 4.55254079e-03 9.99966107e-01 -2.46637142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.751400513 meters Centerline goodness [0,1] 0.8482605635304907 Centerline is valid? [False, False] Translation: X:173.21, Y:8.85, Z:-0.25 [[ 9.98055709e-01 6.19739388e-02 6.63575979e-03 1.73206871e+02] [-6.19423240e-02 9.98067857e-01 -4.86850073e-03 8.84830706e+00] [-6.92465872e-03 4.44800056e-03 9.99966132e-01 -2.47008679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.781400513 meters Centerline goodness [0,1] 0.9260345597143403 Centerline is valid? [False, False] Translation: X:173.21, Y:8.85, Z:-0.25 [[ 9.98056398e-01 6.19570716e-02 6.68939557e-03 1.73206921e+02] [-6.19235826e-02 9.98067850e-01 -5.10262650e-03 8.84946441e+00] [-6.99261445e-03 4.67847768e-03 9.99964607e-01 -2.47490070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.811400513 meters Centerline goodness [0,1] 0.9107024907847356 Centerline is valid? [False, False] Translation: X:173.21, Y:8.85, Z:-0.25 [[ 9.98055957e-01 6.19622013e-02 6.70760901e-03 1.73206896e+02] [-6.19283755e-02 9.98067368e-01 -5.13852131e-03 8.84963733e+00] [-7.01303977e-03 4.71314048e-03 9.99964301e-01 -2.47583323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.841400513 meters Centerline goodness [0,1] 0.6919872476089266 Centerline is valid? [False, False] Translation: X:173.21, Y:8.85, Z:-0.25 [[ 9.98045367e-01 6.21285030e-02 6.74495276e-03 1.73206686e+02] [-6.20968850e-02 9.98058583e-01 -4.80022016e-03 8.84806712e+00] [-7.03008848e-03 4.37199694e-03 9.99965731e-01 -2.47456587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.871400513 meters Centerline goodness [0,1] 0.6518895658472157 Centerline is valid? [False, False] Translation: X:173.21, Y:8.84, Z:-0.25 [[ 9.98016412e-01 6.25573688e-02 7.05818133e-03 1.73205002e+02] [-6.25309459e-02 9.98035389e-01 -3.90435317e-03 8.84395398e+00] [-7.28856081e-03 3.45525378e-03 9.99967469e-01 -2.46247563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.901400513 meters Centerline goodness [0,1] 0.8040524637867215 Centerline is valid? [False, False] Translation: X:173.20, Y:8.84, Z:-0.25 [[ 9.98008979e-01 6.26512892e-02 7.27276563e-03 1.73203758e+02] [-6.26255571e-02 9.98030184e-01 -3.71376505e-03 8.84310741e+00] [-7.49111179e-03 3.25090986e-03 9.99966657e-01 -2.45186625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.931400513 meters Centerline goodness [0,1] 0.7515385106790742 Centerline is valid? [False, False] Translation: X:173.20, Y:8.84, Z:-0.24 [[ 9.98004524e-01 6.26946046e-02 7.50711733e-03 1.73202539e+02] [-6.26684672e-02 9.98027660e-01 -3.66794860e-03 8.84293320e+00] [-7.72227133e-03 3.19016976e-03 9.99965094e-01 -2.44293290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.961400513 meters Centerline goodness [0,1] 0.6985566128514915 Centerline is valid? [False, False] Translation: X:173.20, Y:8.84, Z:-0.24 [[ 9.98001979e-01 6.27189011e-02 7.64125257e-03 1.73201781e+02] [-6.26925630e-02 9.98026252e-01 -3.63917637e-03 8.84283249e+00] [-7.85441580e-03 3.15285551e-03 9.99964183e-01 -2.43652784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.99140051300003 meters Centerline goodness [0,1] 0.7168271376649875 Centerline is valid? [False, False] Translation: X:173.20, Y:8.84, Z:-0.24 [[ 9.98003000e-01 6.26985744e-02 7.67462286e-03 1.73201788e+02] [-6.26713894e-02 9.98027235e-01 -3.73309810e-03 8.84328025e+00] [-7.89354255e-03 3.24466382e-03 9.99963581e-01 -2.43903550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.021400513 meters Centerline goodness [0,1] 0.6340194041678268 Centerline is valid? [False, False] Translation: X:173.20, Y:8.84, Z:-0.24 [[ 9.98009273e-01 6.26070888e-02 7.60543193e-03 1.73202276e+02] [-6.25783309e-02 9.98032190e-01 -3.96234916e-03 8.84433243e+00] [-7.83853704e-03 3.47852597e-03 9.99963228e-01 -2.44435588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.05140051300003 meters Centerline goodness [0,1] 0.7086444049885554 Centerline is valid? [False, False] Translation: X:173.20, Y:8.85, Z:-0.25 [[ 9.98019781e-01 6.24656826e-02 7.38614815e-03 1.73203566e+02] [-6.24342512e-02 9.98039326e-01 -4.41230912e-03 8.84644175e+00] [-7.64728422e-03 3.94242315e-03 9.99962987e-01 -2.45601263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.081400513 meters Centerline goodness [0,1] 0.6250616674888998 Centerline is valid? [False, False] Translation: X:173.20, Y:8.85, Z:-0.25 [[ 9.98023478e-01 6.24091637e-02 7.36434016e-03 1.73203643e+02] [-6.23767622e-02 9.98042300e-01 -4.55058735e-03 8.84708391e+00] [-7.63392134e-03 4.08222932e-03 9.99962529e-01 -2.45618586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.11140051300004 meters Centerline goodness [0,1] 0.6573167896171976 Centerline is valid? [False, False] Translation: X:173.23, Y:8.84, Z:-0.25 [[ 9.98059843e-01 6.12620626e-02 1.11134659e-02 1.73226301e+02] [-6.13266083e-02 9.98102250e-01 5.56285291e-03 8.84095003e+00] [-1.07515835e-02 -6.23361127e-03 9.99922770e-01 -2.50316144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.141400513 meters Centerline goodness [0,1] 0.7182457329210961 Centerline is valid? [False, False] Translation: X:173.23, Y:8.85, Z:-0.25 [[ 9.98327701e-01 5.67310824e-02 1.11078957e-02 1.73225504e+02] [-5.67337843e-02 9.98389339e-01 -7.19655179e-05 8.84746430e+00] [-1.10940873e-02 -5.58347788e-04 9.99938303e-01 -2.50296414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.17140051300004 meters Centerline goodness [0,1] 0.664496915549883 Centerline is valid? [False, False] Translation: X:173.23, Y:8.85, Z:-0.25 [[ 9.98583333e-01 5.20729324e-02 1.09423909e-02 1.73225543e+02] [-5.20171341e-02 9.98632003e-01 -5.32365846e-03 8.85178131e+00] [-1.12046402e-02 4.74692479e-03 9.99925959e-01 -2.50799747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.201400513 meters Centerline goodness [0,1] 0.7867829630101228 Centerline is valid? [False, False] Translation: X:173.22, Y:8.84, Z:-0.25 [[ 9.98836367e-01 4.74566534e-02 8.58939086e-03 1.73224116e+02] [-4.75517174e-02 9.98805714e-01 1.12240815e-02 8.83860625e+00] [-8.04647532e-03 -1.16194611e-02 9.99900116e-01 -2.48610763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.231400513 meters Centerline goodness [0,1] 0.8824685704410938 Centerline is valid? [False, False] Translation: X:173.18, Y:8.84, Z:-0.25 [[ 9.99066869e-01 4.26893137e-02 6.55847798e-03 1.73180971e+02] [-4.27230941e-02 9.99073936e-01 5.09984429e-03 8.84338908e+00] [-6.33469556e-03 -5.37528394e-03 9.99965488e-01 -2.47938850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.261400513 meters Centerline goodness [0,1] 0.7064862244145113 Centerline is valid? [False, False] Translation: X:173.22, Y:8.85, Z:-0.25 [[ 9.99148497e-01 4.02558326e-02 9.04146628e-03 1.73222590e+02] [-4.02717871e-02 9.99187498e-01 1.58943338e-03 8.84636660e+00] [-8.97013611e-03 -1.95219598e-03 9.99957862e-01 -2.48939588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.291400513 meters Centerline goodness [0,1] 0.8799491040186619 Centerline is valid? [False, False] Translation: X:173.22, Y:8.85, Z:-0.25 [[ 9.99319312e-01 3.57545720e-02 9.08423564e-03 1.73221887e+02] [-3.57234215e-02 9.99355343e-01 -3.56855463e-03 8.85041453e+00] [-9.20597157e-03 3.24160558e-03 9.99952370e-01 -2.48870022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.321400513 meters Centerline goodness [0,1] 0.8348647599327035 Centerline is valid? [False, False] Translation: X:173.20, Y:8.84, Z:-0.24 [[ 9.99382409e-01 3.48855039e-02 4.21929004e-03 1.73200590e+02] [-3.49171921e-02 9.99360657e-01 7.68552310e-03 8.83836702e+00] [-3.94847912e-03 -7.82810235e-03 9.99961564e-01 -2.43980207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.351400513 meters Centerline goodness [0,1] 0.984957111765459 Centerline is valid? [False, True] Translation: X:173.20, Y:8.84, Z:-0.24 [[ 9.99518677e-01 3.07740543e-02 3.92070376e-03 1.73201404e+02] [-3.07832346e-02 9.99523431e-01 2.30304841e-03 8.84436632e+00] [-3.84796113e-03 -2.42263184e-03 9.99989662e-01 -2.44735141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.381400513 meters Centerline goodness [0,1] 0.6823850685932997 Centerline is valid? [True, False] Translation: X:173.20, Y:8.85, Z:-0.25 [[ 9.99636426e-01 2.66836719e-02 3.87268405e-03 1.73201461e+02] [-2.66719164e-02 9.99639570e-01 -3.05605561e-03 8.85026354e+00] [-3.95283500e-03 2.95165260e-03 9.99987831e-01 -2.45448854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.411400513 meters Centerline goodness [0,1] 0.9660545713177292 Centerline is valid? [False, True] Translation: X:173.20, Y:8.85, Z:-0.25 [[ 9.99634892e-01 2.67509028e-02 3.80409461e-03 1.73202004e+02] [-2.67399143e-02 9.99638187e-01 -2.91071505e-03 8.84956748e+00] [-3.88058249e-03 2.80793116e-03 9.99988528e-01 -2.46123962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.441400513 meters Centerline goodness [0,1] 0.9635909372397446 Centerline is valid? [True, True] Translation: X:173.23, Y:8.85, Z:-0.25 [[ 9.99631657e-01 2.69144362e-02 3.48755310e-03 1.73233019e+02] [-2.69151281e-02 9.99637711e-01 1.51581235e-04 8.84734341e+00] [-3.48220987e-03 -2.45393340e-04 9.99993907e-01 -2.47283703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.471400513 meters Centerline goodness [0,1] 0.7976195563912988 Centerline is valid? [True, False] Translation: X:173.23, Y:8.85, Z:-0.25 [[ 9.99737476e-01 2.26071382e-02 3.72786887e-03 1.73231812e+02] [-2.25882753e-02 9.99732215e-01 -5.02671719e-03 8.85184372e+00] [-3.84051029e-03 4.94119142e-03 9.99980417e-01 -2.47082001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.501400513 meters Centerline goodness [0,1] 0.8714258381343141 Centerline is valid? [False, False] Translation: X:173.25, Y:8.84, Z:-0.24 [[ 9.99772419e-01 2.01641553e-02 6.96547465e-03 1.73246952e+02] [-2.01994562e-02 9.99783290e-01 5.03535141e-03 8.84152901e+00] [-6.86243155e-03 -5.17490426e-03 9.99963063e-01 -2.44379262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.531400513 meters Centerline goodness [0,1] 0.8252287360216876 Centerline is valid? [False, False] Translation: X:173.25, Y:8.84, Z:-0.24 [[ 9.99851252e-01 1.57177196e-02 7.10117955e-03 1.73245942e+02] [-1.57183753e-02 9.99876458e-01 3.65339765e-05 8.84487897e+00] [-7.09972802e-03 -1.48147548e-04 9.99974786e-01 -2.43806246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.561400513 meters Centerline goodness [0,1] 0.9186870411473451 Centerline is valid? [False, False] Translation: X:173.25, Y:8.84, Z:-0.24 [[ 9.99847075e-01 1.60294803e-02 6.99160663e-03 1.73246319e+02] [-1.60361686e-02 9.99871006e-01 9.01609330e-04 8.84077528e+00] [-6.97625243e-03 -1.01359003e-03 9.99975152e-01 -2.43794115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.591400513 meters Centerline goodness [0,1] 0.9976711889755367 Centerline is valid? [False, True] Translation: X:173.25, Y:8.84, Z:-0.24 [[ 9.99909288e-01 1.15777267e-02 6.88274514e-03 1.73246920e+02] [-1.15496604e-02 9.99924880e-01 -4.10362279e-03 8.84407337e+00] [-6.92973873e-03 4.02375717e-03 9.99967894e-01 -2.44759309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.621400513 meters Centerline goodness [0,1] 0.9881010664339386 Centerline is valid? [True, True] Translation: X:173.28, Y:8.84, Z:-0.25 [[ 9.99934040e-01 1.06330948e-02 4.34191792e-03 1.73278834e+02] [-1.06341674e-02 9.99943431e-01 2.24012961e-04 8.84137697e+00] [-4.33929035e-03 -2.70170867e-04 9.99990549e-01 -2.50228314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.651400513 meters Centerline goodness [0,1] 0.9881010664339386 Centerline is valid? [True, True] Translation: X:173.31, Y:8.84, Z:-0.25 [[ 9.99932114e-01 1.08127617e-02 4.34194640e-03 1.73311387e+02] [-1.08138336e-02 9.99941504e-01 2.23458432e-04 8.84287021e+00] [-4.33927621e-03 -2.70396348e-04 9.99990549e-01 -2.50630509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.681400513 meters Centerline goodness [0,1] 0.9873767426045563 Centerline is valid? [True, True] Translation: X:173.34, Y:8.84, Z:-0.25 [[ 9.99926357e-01 1.12949288e-02 4.43905305e-03 1.73343752e+02] [-1.12960493e-02 9.99936172e-01 2.27426927e-04 8.84252715e+00] [-4.43620094e-03 -2.77553941e-04 9.99990121e-01 -2.50850518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.711400513 meters Centerline goodness [0,1] 0.9779603157670151 Centerline is valid? [True, True] Translation: X:173.38, Y:8.84, Z:-0.25 [[ 9.99915119e-01 1.22655373e-02 4.39436539e-03 1.73375502e+02] [-1.22666413e-02 9.99924737e-01 2.24369592e-04 8.84464165e+00] [-4.39128264e-03 -2.78254652e-04 9.99990320e-01 -2.50665140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.74140051300003 meters Centerline goodness [0,1] 0.9946129795504479 Centerline is valid? [True, True] Translation: X:173.41, Y:8.84, Z:-0.25 [[ 9.99894772e-01 1.36718100e-02 4.85042164e-03 1.73407066e+02] [-1.36731628e-02 9.99906488e-01 2.45850620e-04 8.84034023e+00] [-4.84660684e-03 -3.12145355e-04 9.99988206e-01 -2.49313780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.771400513 meters Centerline goodness [0,1] 0.9956807150341053 Centerline is valid? [True, True] Translation: X:173.44, Y:8.84, Z:-0.25 [[ 9.99868285e-01 1.54239145e-02 5.05124359e-03 1.73438131e+02] [-1.54254028e-02 9.99880989e-01 2.55817986e-04 8.84141703e+00] [-5.04669672e-03 -3.33701758e-04 9.99987210e-01 -2.48673936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.80140051300003 meters Centerline goodness [0,1] 0.9206841924987156 Centerline is valid? [True, False] Translation: X:173.44, Y:8.84, Z:-0.25 [[ 9.99869884e-01 1.52847115e-02 5.15680796e-03 1.73437833e+02] [-1.52840299e-02 9.99883178e-01 -1.71560974e-04 8.84347013e+00] [-5.15882779e-03 9.27218436e-05 9.99986689e-01 -2.48793690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.831400513 meters Centerline goodness [0,1] 0.8160374348612145 Centerline is valid? [False, False] Translation: X:173.44, Y:8.85, Z:-0.25 [[ 9.99871488e-01 1.50916750e-02 5.40818212e-03 1.73436798e+02] [-1.50879558e-02 9.99885905e-01 -7.27837685e-04 8.84615361e+00] [-5.41854937e-03 6.46145737e-04 9.99985111e-01 -2.48444840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.86140051300004 meters Centerline goodness [0,1] 0.8456631842166606 Centerline is valid? [False, False] Translation: X:173.44, Y:8.84, Z:-0.25 [[ 9.99869086e-01 1.52522194e-02 5.40190652e-03 1.73436569e+02] [-1.52508075e-02 9.99883654e-01 -3.02482229e-04 8.84413518e+00] [-5.40589156e-03 2.20059194e-04 9.99985364e-01 -2.47958296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.891400513 meters Centerline goodness [0,1] 0.969652015428305 Centerline is valid? [False, True] Translation: X:173.44, Y:8.84, Z:-0.25 [[ 9.99863998e-01 1.55631730e-02 5.45642511e-03 1.73436114e+02] [-1.55664909e-02 9.99878675e-01 5.66120935e-04 8.84001729e+00] [-5.44695247e-03 -6.50981333e-04 9.99984953e-01 -2.47388743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.92140051300004 meters Centerline goodness [0,1] 0.9737008738232935 Centerline is valid? [True, True] Translation: X:173.47, Y:8.84, Z:-0.25 [[ 9.99888252e-01 1.36432551e-02 6.11112078e-03 1.73466410e+02] [-1.36454192e-02 9.99906848e-01 3.12559928e-04 8.83827976e+00] [-6.10628718e-03 -3.95913805e-04 9.99981278e-01 -2.46380074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.951400513 meters Centerline goodness [0,1] 0.9966827180310326 Centerline is valid? [True, True] Translation: X:173.50, Y:8.83, Z:-0.24 [[ 9.99928642e-01 9.42499366e-03 7.34026104e-03 1.73497751e+02] [-9.42800272e-03 9.99955485e-01 3.75443512e-04 8.83025772e+00] [-7.33639574e-03 -4.44620722e-04 9.99972989e-01 -2.44157213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.981400513 meters Centerline goodness [0,1] 0.9995298241114744 Centerline is valid? [True, True] Translation: X:173.53, Y:8.82, Z:-0.24 [[ 9.99940051e-01 7.44445798e-03 8.02963675e-03 1.73529097e+02] [-7.44799466e-03 9.99972179e-01 4.10640399e-04 8.82323016e+00] [-8.02635636e-03 -4.70420473e-04 9.99967678e-01 -2.43696513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.011400513 meters Centerline goodness [0,1] 0.9992756247736327 Centerline is valid? [True, True] Translation: X:173.56, Y:8.82, Z:-0.24 [[ 9.99948923e-01 5.76608286e-03 8.30080601e-03 1.73559839e+02] [-5.76980397e-03 9.99983264e-01 4.24405184e-04 8.82291348e+00] [-8.29821993e-03 -4.72277530e-04 9.99965458e-01 -2.43715435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.041400513 meters Centerline goodness [0,1] 0.9996332729312278 Centerline is valid? [True, True] Translation: X:173.59, Y:8.82, Z:-0.24 [[ 9.99958825e-01 4.42311842e-03 7.92369863e-03 1.73591352e+02] [-4.42646568e-03 9.99990121e-01 4.04949758e-04 8.81671536e+00] [-7.92182921e-03 -4.40007064e-04 9.99968525e-01 -2.44527831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.071400513 meters Centerline goodness [0,1] 0.9996160245744272 Centerline is valid? [True, True] Translation: X:173.62, Y:8.81, Z:-0.25 [[ 9.99968002e-01 3.53667559e-03 7.17548197e-03 1.73623777e+02] [-3.53939913e-03 9.99993669e-01 3.66898163e-04 8.81392543e+00] [-7.17413894e-03 -3.92283317e-04 9.99974189e-01 -2.46141233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.101400513 meters Centerline goodness [0,1] 0.9996806336228922 Centerline is valid? [True, True] Translation: X:173.66, Y:8.81, Z:-0.25 [[ 9.99985634e-01 2.32469809e-03 4.82984145e-03 1.73656056e+02] [-2.32591364e-03 9.99997265e-01 2.46072893e-04 8.80636932e+00] [-4.82925619e-03 -2.57303153e-04 9.99988306e-01 -2.49288935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.131400513 meters Centerline goodness [0,1] 0.9995556119857796 Centerline is valid? [True, True] Translation: X:173.69, Y:8.81, Z:-0.25 [[ 9.99988680e-01 2.00500213e-03 4.31514765e-03 1.73687038e+02] [-2.00597158e-03 9.99997964e-01 2.20346279e-04 8.80631904e+00] [-4.31469707e-03 -2.28999848e-04 9.99990665e-01 -2.50570321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.161400513 meters Centerline goodness [0,1] 0.9998086043000234 Centerline is valid? [True, True] Translation: X:173.72, Y:8.80, Z:-0.25 [[ 9.99987928e-01 1.57134022e-03 4.65560979e-03 1.73719629e+02] [-1.57246046e-03 9.99998736e-01 2.36971240e-04 8.80014596e+00] [-4.65523154e-03 -2.44289142e-04 9.99989135e-01 -2.49942346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.191400513 meters Centerline goodness [0,1] 0.9996803545933045 Centerline is valid? [True, True] Translation: X:173.75, Y:8.80, Z:-0.25 [[ 9.99980758e-01 2.79036672e-03 5.54059902e-03 1.73750619e+02] [-2.79196341e-03 9.99996063e-01 2.80466080e-04 8.79503872e+00] [-5.53979461e-03 -2.95929832e-04 9.99984611e-01 -2.48926794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.221400513 meters Centerline goodness [0,1] 0.9993590976094341 Centerline is valid? [True, True] Translation: X:173.78, Y:8.80, Z:-0.25 [[ 9.99978592e-01 4.28774216e-03 4.94276259e-03 1.73780655e+02] [-4.28902789e-03 9.99990771e-01 2.49554640e-04 8.79746828e+00] [-4.94164695e-03 -2.70748944e-04 9.99987753e-01 -2.50378297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.251400513 meters Centerline goodness [0,1] 0.9995316059528625 Centerline is valid? [True, True] Translation: X:173.81, Y:8.79, Z:-0.25 [[ 9.99974660e-01 6.05630565e-03 3.74168771e-03 1.73811568e+02] [-6.05705513e-03 9.99981638e-01 1.89005201e-04 8.79383461e+00] [-3.74047434e-03 -2.11664020e-04 9.99992982e-01 -2.52511644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.281400513 meters Centerline goodness [0,1] 0.9972080237103217 Centerline is valid? [True, True] Translation: X:173.84, Y:8.80, Z:-0.26 [[ 9.99961912e-01 8.51088405e-03 1.93352054e-03 1.73840856e+02] [-8.51108835e-03 9.99963775e-01 9.74581053e-05 8.79701018e+00] [-1.93262105e-03 -1.13910758e-04 9.99998126e-01 -2.55739732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.311400513 meters Centerline goodness [0,1] 0.9664218258132214 Centerline is valid? [True, True] Translation: X:173.87, Y:8.80, Z:-0.26 [[ 9.99928557e-01 1.19289097e-02 7.62809573e-04 1.73869654e+02] [-1.19289424e-02 9.99928847e-01 3.82946513e-05 8.80392510e+00] [-7.62298483e-04 -4.73914269e-05 9.99999708e-01 -2.58302582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.341400513 meters Centerline goodness [0,1] 0.9897761515281963 Centerline is valid? [True, True] Translation: X:173.90, Y:8.80, Z:-0.26 [[ 9.99873466e-01 1.58887003e-02 7.74807881e-04 1.73901242e+02] [-1.58887355e-02 9.99873765e-01 3.92940553e-05 8.79802883e+00] [-7.74085742e-04 -5.15998007e-05 9.99999699e-01 -2.57191344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.371400513 meters Centerline goodness [0,1] 0.5522835776754405 Centerline is valid? [True, False] Translation: X:173.94, Y:8.79, Z:-0.25 [[ 9.99744307e-01 2.20816364e-02 4.87057115e-03 1.73937268e+02] [-2.21091988e-02 9.99739429e-01 5.67964168e-03 8.79436105e+00] [-4.74388624e-03 -5.78587386e-03 9.99972009e-01 -2.54882504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.401400513 meters Centerline goodness [0,1] 0.6055991516436903 Centerline is valid? [False, False] Translation: X:173.94, Y:8.80, Z:-0.26 [[ 9.99802175e-01 1.91839487e-02 5.25232413e-03 1.73935533e+02] [-1.91890104e-02 9.99815455e-01 9.15003598e-04 8.80088134e+00] [-5.23380146e-03 -1.01560949e-03 9.99985788e-01 -2.55024182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.431400513 meters Centerline goodness [0,1] 0.5394901885749517 Centerline is valid? [False, False] Translation: X:173.94, Y:8.80, Z:-0.26 [[ 9.99801450e-01 1.92012822e-02 5.32640217e-03 1.73935500e+02] [-1.92052593e-02 9.99815319e-01 6.96527160e-04 8.80198974e+00] [-5.31204427e-03 -7.98683800e-04 9.99985572e-01 -2.55529513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.461400513 meters Centerline goodness [0,1] 0.6288444311734847 Centerline is valid? [False, False] Translation: X:173.94, Y:8.80, Z:-0.26 [[ 9.99798758e-01 1.93010709e-02 5.46922480e-03 1.73935211e+02] [-1.93059663e-02 9.99813266e-01 8.43707158e-04 8.80131880e+00] [-5.45191906e-03 -9.49126038e-04 9.99984688e-01 -2.55927851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.49140051300003 meters Centerline goodness [0,1] 0.5251383517446209 Centerline is valid? [False, False] Translation: X:173.93, Y:8.80, Z:-0.26 [[ 9.99795247e-01 1.94301835e-02 5.65092123e-03 1.73934505e+02] [-1.94367674e-02 9.99810469e-01 1.11250980e-03 8.80009664e+00] [-5.62823393e-03 -1.22211765e-03 9.99983415e-01 -2.55749728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.521400513 meters Centerline goodness [0,1] 0.6144225877564864 Centerline is valid? [False, False] Translation: X:173.93, Y:8.80, Z:-0.25 [[ 9.99866050e-01 1.51601941e-02 6.16846587e-03 1.73931780e+02] [-1.51392972e-02 9.99879544e-01 -3.42041441e-03 8.80136418e+00] [-6.21957699e-03 3.32657001e-03 9.99975125e-01 -2.54283512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.55140051300003 meters Centerline goodness [0,1] 0.7095129877025679 Centerline is valid? [False, False] Translation: X:173.91, Y:8.79, Z:-0.26 [[ 9.99931026e-01 1.07351946e-02 4.76438181e-03 1.73913739e+02] [-1.07597506e-02 9.99928805e-01 5.15873433e-03 8.79255053e+00] [-4.70866259e-03 -5.20964207e-03 9.99975344e-01 -2.55797275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.581400513 meters Centerline goodness [0,1] 0.7510961863409835 Centerline is valid? [False, False] Translation: X:173.91, Y:8.79, Z:-0.26 [[ 9.99969206e-01 6.23271884e-03 4.76861960e-03 1.73913811e+02] [-6.23457994e-03 9.99980494e-01 3.75514968e-04 8.79462936e+00] [-4.76618611e-03 -4.05233744e-04 9.99988560e-01 -2.56252480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.61140051300004 meters Centerline goodness [0,1] 0.9535862302292143 Centerline is valid? [False, True] Translation: X:173.92, Y:8.79, Z:-0.26 [[ 9.99972072e-01 6.10778262e-03 4.30707352e-03 1.73915449e+02] [-6.11193458e-03 9.99980869e-01 9.51482716e-04 8.79135557e+00] [-4.30117968e-03 -9.77780694e-04 9.99990272e-01 -2.56443366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.641400513 meters Centerline goodness [0,1] 0.997194891302038 Centerline is valid? [True, True] Translation: X:173.95, Y:8.78, Z:-0.26 [[ 9.99992024e-01 1.19875369e-03 3.80974633e-03 1.73946929e+02] [-1.19969265e-03 9.99999251e-01 2.44187619e-04 8.78497823e+00] [-3.80945076e-03 -2.48756196e-04 9.99992713e-01 -2.58193582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.67140051300004 meters Centerline goodness [0,1] 0.9939718118526065 Centerline is valid? [True, True] Translation: X:173.98, Y:8.79, Z:-0.26 [[ 9.99992416e-01 2.52090726e-04 3.88638828e-03 1.73976828e+02] [-2.53061466e-04 9.99999937e-01 2.49289765e-04 8.79045627e+00] [-3.88632519e-03 -2.50271369e-04 9.99992417e-01 -2.58428982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.701400513 meters Centerline goodness [0,1] 0.994737288854936 Centerline is valid? [True, True] Translation: X:174.01, Y:8.79, Z:-0.26 [[ 9.99991463e-01 -5.64330073e-06 4.13210044e-03 1.74009438e+02] [ 4.54957957e-06 9.99999965e-01 2.64698261e-04 8.79231978e+00] [-4.13210179e-03 -2.64677201e-04 9.99991428e-01 -2.57841569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.731400513 meters Centerline goodness [0,1] 0.9994651834420794 Centerline is valid? [True, True] Translation: X:174.04, Y:8.78, Z:-0.26 [[ 9.99991206e-01 -1.99305330e-04 4.18902080e-03 1.74042227e+02] [ 1.98182591e-04 9.99999944e-01 2.68432718e-04 8.78493785e+00] [-4.18907407e-03 -2.67600166e-04 9.99991190e-01 -2.57092804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.761400513 meters Centerline goodness [0,1] 0.9989527229204069 Centerline is valid? [True, True] Translation: X:174.07, Y:8.79, Z:-0.26 [[ 9.99992325e-01 -8.13004948e-04 3.83264887e-03 1.74072881e+02] [ 8.12072565e-04 9.99999640e-01 2.44823858e-04 8.79162708e+00] [-3.83284653e-03 -2.41709590e-04 9.99992625e-01 -2.57575932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.791400513 meters Centerline goodness [0,1] 0.9950898766064643 Centerline is valid? [True, True] Translation: X:174.10, Y:8.80, Z:-0.26 [[ 9.99993942e-01 -2.10454499e-03 2.77241470e-03 1.74103267e+02] [ 2.10406314e-03 9.99997771e-01 1.76707633e-04 8.80024662e+00] [-2.77278041e-03 -1.70873227e-04 9.99996141e-01 -2.59800905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.821400513 meters Centerline goodness [0,1] 0.996390662708498 Centerline is valid? [True, True] Translation: X:174.13, Y:8.80, Z:-0.26 [[ 9.99979923e-01 -6.29268356e-03 7.44914368e-04 1.74134113e+02] [ 6.29264997e-03 9.99980200e-01 4.74297939e-05 8.79748115e+00] [-7.45198080e-04 -4.27413563e-05 9.99999721e-01 -2.63572138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.851400513 meters Centerline goodness [0,1] 0.9993177845051806 Centerline is valid? [True, True] Translation: X:174.17, Y:8.79, Z:-0.26 [[ 9.99958245e-01 -9.11100476e-03 7.05600119e-04 1.74165519e+02] [ 9.11097528e-03 9.99958493e-01 4.49801763e-05 8.78951580e+00] [-7.05980646e-04 -3.85495929e-05 9.99999750e-01 -2.63250458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.881400513 meters Centerline goodness [0,1] 0.9992072164727561 Centerline is valid? [True, True] Translation: X:174.19, Y:8.79, Z:-0.26 [[ 9.99921371e-01 -1.24492923e-02 1.50582946e-03 1.74194977e+02] [ 1.24491620e-02 9.99922502e-01 9.58202037e-05 8.79425297e+00] [-1.50690566e-03 -7.70663544e-05 9.99998862e-01 -2.62880043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.911400513 meters Centerline goodness [0,1] 0.9996579515573893 Centerline is valid? [True, True] Translation: X:174.23, Y:8.79, Z:-0.26 [[ 9.99867424e-01 -1.60951532e-02 2.46594777e-03 1.74225498e+02] [ 1.60948147e-02 9.99870458e-01 1.57038193e-04 8.79186774e+00] [-2.46815588e-03 -1.17328401e-04 9.99996947e-01 -2.61501476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.941400513 meters Centerline goodness [0,1] 0.9998720845947213 Centerline is valid? [True, True] Translation: X:174.26, Y:8.78, Z:-0.26 [[ 9.99710995e-01 -2.38427012e-02 3.07451125e-03 1.74256965e+02] [ 2.38422116e-02 9.99715715e-01 1.95806625e-04 8.77749371e+00] [-3.07830577e-03 -1.22446888e-04 9.99995255e-01 -2.59810677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.971400513 meters Centerline goodness [0,1] 0.9999150400373824 Centerline is valid? [True, True] Translation: X:174.29, Y:8.78, Z:-0.26 [[ 9.99602364e-01 -2.80490770e-02 2.89183681e-03 1.74286336e+02] [ 2.80486615e-02 9.99606542e-01 1.84126515e-04 8.77686706e+00] [-2.89586357e-03 -1.02941148e-04 9.99995802e-01 -2.60867507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.001400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.32, Y:8.77, Z:-0.26 [[ 9.99468478e-01 -3.24501126e-02 3.12277277e-03 1.74316748e+02] [ 3.24496498e-02 9.99473352e-01 1.98767774e-04 8.76665894e+00] [-3.12757820e-03 -9.73292416e-05 9.99995104e-01 -2.60437356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.031400513 meters Centerline goodness [0,1] 0.9999573424336141 Centerline is valid? [True, True] Translation: X:174.35, Y:8.76, Z:-0.26 [[ 9.99303021e-01 -3.71090651e-02 4.04835775e-03 1.74345518e+02] [ 3.71083250e-02 9.99311216e-01 2.57804256e-04 8.76367444e+00] [-4.05513618e-03 -1.07396797e-04 9.99991772e-01 -2.59816739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.061400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.38, Y:8.76, Z:-0.26 [[ 9.99112145e-01 -4.17490844e-02 5.65116926e-03 1.74376303e+02] [ 4.17477153e-02 9.99128119e-01 3.60064011e-04 8.75741806e+00] [-5.66127445e-03 -1.23820921e-04 9.99983967e-01 -2.57632751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.091400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.41, Y:8.75, Z:-0.26 [[ 9.98917673e-01 -4.59449516e-02 7.24865515e-03 1.74406932e+02] [ 4.59428074e-02 9.98943965e-01 4.62126516e-04 8.74871802e+00] [-7.26223269e-03 -1.28602776e-04 9.99973621e-01 -2.55548104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.121400513 meters Centerline goodness [0,1] 0.9998936419135946 Centerline is valid? [True, True] Translation: X:174.44, Y:8.74, Z:-0.25 [[ 9.98596774e-01 -5.22876861e-02 8.39527321e-03 1.74437105e+02] [ 5.22850329e-02 9.98632059e-01 5.35354638e-04 8.73621034e+00] [-8.41178142e-03 -9.56562782e-05 9.99964616e-01 -2.53779141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.151400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.47, Y:8.73, Z:-0.25 [[ 9.98507370e-01 -5.39789123e-02 8.32517033e-03 1.74466427e+02] [ 5.39763590e-02 9.98542072e-01 5.31239539e-04 8.73182651e+00] [-8.34170857e-03 -8.10842129e-05 9.99965204e-01 -2.53229925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.181400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.49, Y:8.73, Z:-0.25 [[ 9.98502689e-01 -5.41999958e-02 7.39869255e-03 1.74494191e+02] [ 5.41979774e-02 9.98530097e-01 4.73190197e-04 8.73068433e+00] [-7.41346410e-03 -7.14875131e-05 9.99972517e-01 -2.54113827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.211400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.52, Y:8.73, Z:-0.26 [[ 9.98581016e-01 -5.28872702e-02 6.23632497e-03 1.74522825e+02] [ 5.28858093e-02 9.98600487e-01 3.99044861e-04 8.73032057e+00] [-6.24870155e-03 -6.86655290e-05 9.99980474e-01 -2.55793085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.24140051300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.55, Y:8.73, Z:-0.26 [[ 9.98704120e-01 -5.06369432e-02 5.09709556e-03 1.74551787e+02] [ 5.06359348e-02 9.98717125e-01 3.26783741e-04 8.73157996e+00] [-5.10710395e-03 -6.82640704e-05 9.99986956e-01 -2.57753183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.271400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.58, Y:8.74, Z:-0.26 [[ 9.98864905e-01 -4.74729327e-02 3.90157612e-03 1.74579574e+02] [ 4.74723148e-02 9.98872523e-01 2.50867589e-04 8.73649108e+00] [-3.90908660e-03 -6.53659809e-05 9.99992357e-01 -2.60456085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.30140051300003 meters Centerline goodness [0,1] 0.9999787928913771 Centerline is valid? [True, True] Translation: X:174.61, Y:8.74, Z:-0.26 [[ 9.99181586e-01 -4.03792704e-02 2.38158234e-03 1.74609207e+02] [ 4.03790196e-02 9.99184423e-01 1.53317457e-04 8.74279725e+00] [-2.38583083e-03 -5.70260201e-05 9.99997152e-01 -2.63846595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.331400513 meters Centerline goodness [0,1] 0.9999785080272519 Centerline is valid? [True, True] Translation: X:174.64, Y:8.74, Z:-0.26 [[ 9.99298353e-01 -3.73931777e-02 2.13334922e-03 1.74638340e+02] [ 3.73929699e-02 9.99300629e-01 1.37256036e-04 8.74250490e+00] [-2.13698965e-03 -5.73874676e-05 9.99997715e-01 -2.63463014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.36140051300004 meters Centerline goodness [0,1] 0.9999784454886408 Centerline is valid? [True, True] Translation: X:174.67, Y:8.75, Z:-0.26 [[ 9.99390712e-01 -3.48587237e-02 1.75309342e-03 1.74666474e+02] [ 3.48585795e-02 9.99392249e-01 1.12743801e-04 8.74575012e+00] [-1.75595808e-03 -5.15647609e-05 9.99998457e-01 -2.63744716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.391400513 meters Centerline goodness [0,1] 0.9999360122856411 Centerline is valid? [True, True] Translation: X:174.70, Y:8.75, Z:-0.27 [[ 9.99452920e-01 -3.30412118e-02 1.46280450e-03 1.74695183e+02] [ 3.30411093e-02 9.99453989e-01 9.41593124e-05 8.75018159e+00] [-1.46511693e-03 -4.57751161e-05 9.99998926e-01 -2.65002652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.42140051300004 meters Centerline goodness [0,1] 0.9999570271373628 Centerline is valid? [True, True] Translation: X:174.72, Y:8.74, Z:-0.26 [[ 9.99493290e-01 -3.17768748e-02 1.84219874e-03 1.74724390e+02] [ 3.17767112e-02 9.99494986e-01 1.18015950e-04 8.74441865e+00] [-1.84501858e-03 -5.94171331e-05 9.99998296e-01 -2.64913393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.451400513 meters Centerline goodness [0,1] 0.9999784487403288 Centerline is valid? [True, True] Translation: X:174.75, Y:8.74, Z:-0.26 [[ 9.99501775e-01 -3.14614076e-02 2.52610458e-03 1.74753034e+02] [ 3.14610968e-02 9.99504964e-01 1.62691626e-04 8.74374567e+00] [-2.52997257e-03 -8.31365481e-05 9.99996796e-01 -2.64292020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.481400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.78, Y:8.74, Z:-0.26 [[ 9.99516531e-01 -3.09199796e-02 3.26474611e-03 1.74781407e+02] [ 3.09194533e-02 9.99521857e-01 2.11587872e-04 8.74411871e+00] [-3.26972739e-03 -1.10541411e-04 9.99994648e-01 -2.64567043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.511400513 meters Centerline goodness [0,1] 0.9999362366894089 Centerline is valid? [True, True] Translation: X:174.81, Y:8.75, Z:-0.27 [[ 9.99541064e-01 -3.01444355e-02 2.99585977e-03 1.74809203e+02] [ 3.01439882e-02 9.99545548e-01 1.94386205e-04 8.74979933e+00] [-3.00035796e-03 -1.03989833e-04 9.99995494e-01 -2.66291642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.541400513 meters Centerline goodness [0,1] 0.9999362366894089 Centerline is valid? [True, True] Translation: X:174.84, Y:8.75, Z:-0.27 [[ 9.99536304e-01 -3.03018524e-02 2.99588387e-03 1.74837490e+02] [ 3.03014068e-02 9.99540788e-01 1.94016104e-04 8.75176340e+00] [-3.00038717e-03 -1.03146644e-04 9.99995494e-01 -2.66496065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.571400513 meters Centerline goodness [0,1] 0.9998936373885852 Centerline is valid? [True, True] Translation: X:174.87, Y:8.75, Z:-0.27 [[ 9.99575316e-01 -2.90665233e-02 2.07965393e-03 1.74865959e+02] [ 2.90663052e-02 9.99577477e-01 1.35015564e-04 8.74968003e+00] [-2.08269966e-03 -7.45103697e-05 9.99997828e-01 -2.68229853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.601400513 meters Centerline goodness [0,1] 0.9997007587902106 Centerline is valid? [True, True] Translation: X:174.90, Y:8.75, Z:-0.27 [[ 9.99692909e-01 -2.47615092e-02 9.77730919e-04 1.74896018e+02] [ 2.47614587e-02 9.99693386e-01 6.37583552e-05 8.75441708e+00] [-9.79009886e-04 -3.95287318e-05 9.99999520e-01 -2.69971058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.631400513 meters Centerline goodness [0,1] 0.9997212274569511 Centerline is valid? [True, True] Translation: X:174.92, Y:8.76, Z:-0.27 [[ 9.99750707e-01 -2.22894545e-02 1.30530287e-03 1.74924810e+02] [ 2.22893625e-02 9.99751558e-01 8.49468444e-05 8.75966837e+00] [-1.30687200e-03 -5.58312989e-05 9.99999144e-01 -2.69190636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.661400513 meters Centerline goodness [0,1] 0.9996181829752031 Centerline is valid? [True, True] Translation: X:174.96, Y:8.77, Z:-0.27 [[ 9.99801861e-01 -1.98063664e-02 1.98663918e-03 1.74955196e+02] [ 1.98061478e-02 9.99803831e-01 1.29661653e-04 8.76596439e+00] [-1.98881759e-03 -9.02882930e-05 9.99998018e-01 -2.68433564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.691400513 meters Centerline goodness [0,1] 0.9998705278149411 Centerline is valid? [True, True] Translation: X:174.99, Y:8.76, Z:-0.27 [[ 9.99845787e-01 -1.73991039e-02 2.38194284e-03 1.74985787e+02] [ 1.73987828e-02 9.99848618e-01 1.55461872e-04 8.76499809e+00] [-2.38428715e-03 -1.13994992e-04 9.99997151e-01 -2.67169660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.721400513 meters Centerline goodness [0,1] 0.9996166297495315 Centerline is valid? [True, True] Translation: X:175.01, Y:8.78, Z:-0.27 [[ 9.99882364e-01 -1.50709558e-02 2.85033904e-03 1.75013944e+02] [ 1.50704868e-02 9.99886416e-01 1.85929212e-04 8.77633866e+00] [-2.85281742e-03 -1.42951344e-04 9.99995920e-01 -2.67303095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.751400513 meters Centerline goodness [0,1] 0.9997428810181912 Centerline is valid? [True, True] Translation: X:175.04, Y:8.78, Z:-0.27 [[ 9.99931217e-01 -1.12780321e-02 3.21980843e-03 1.75044458e+02] [ 1.12774135e-02 9.99936386e-01 2.10221390e-04 8.77761101e+00] [-3.22197449e-03 -1.73895820e-04 9.99994794e-01 -2.66698831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.781400513 meters Centerline goodness [0,1] 0.9993003434677522 Centerline is valid? [True, True] Translation: X:175.07, Y:8.79, Z:-0.27 [[ 9.99942230e-01 -1.01282707e-02 3.59938117e-03 1.75073600e+02] [ 1.01274902e-02 9.99948688e-01 2.35007639e-04 8.78727840e+00] [-3.60157670e-03 -1.98541365e-04 9.99993495e-01 -2.66755583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.811400513 meters Centerline goodness [0,1] 0.9993394980184941 Centerline is valid? [True, True] Translation: X:175.10, Y:8.79, Z:-0.27 [[ 9.99943456e-01 -9.87897099e-03 3.93586468e-03 1.75104711e+02] [ 9.87803551e-03 9.99951178e-01 2.57050530e-04 8.78798198e+00] [-3.93821191e-03 -2.18157384e-04 9.99992221e-01 -2.66640195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.841400513 meters Centerline goodness [0,1] 0.9992114909214901 Centerline is valid? [True, True] Translation: X:175.14, Y:8.79, Z:-0.27 [[ 9.99938620e-01 -1.03425925e-02 3.97337652e-03 1.75136151e+02] [ 1.03416431e-02 9.99946490e-01 2.59409245e-04 8.78841317e+00] [-3.97584687e-03 -2.18302080e-04 9.99992072e-01 -2.66707590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.871400513 meters Centerline goodness [0,1] 0.9993351206434317 Centerline is valid? [True, True] Translation: X:175.17, Y:8.79, Z:-0.27 [[ 9.99930337e-01 -1.11679696e-02 3.82067065e-03 1.75168101e+02] [ 1.11670979e-02 9.99937615e-01 2.49398042e-04 8.78803804e+00] [-3.82321757e-03 -2.06714865e-04 9.99992670e-01 -2.67450631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.901400513 meters Centerline goodness [0,1] 0.9994914176732359 Centerline is valid? [True, True] Translation: X:175.20, Y:8.79, Z:-0.27 [[ 9.99918410e-01 -1.23304960e-02 3.33638282e-03 1.75199363e+02] [ 1.23298382e-02 9.99923961e-01 2.17659816e-04 8.78711209e+00] [-3.33881298e-03 -1.76504997e-04 9.99994411e-01 -2.68479989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.931400513 meters Centerline goodness [0,1] 0.9997217287068947 Centerline is valid? [True, True] Translation: X:175.23, Y:8.78, Z:-0.27 [[ 9.99898141e-01 -1.39198940e-02 3.15337213e-03 1.75230569e+02] [ 1.39193146e-02 9.99903101e-01 2.05612621e-04 8.78219819e+00] [-3.15592868e-03 -1.61698899e-04 9.99995007e-01 -2.67842923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.961400513 meters Centerline goodness [0,1] 0.9994017860957997 Centerline is valid? [True, True] Translation: X:175.26, Y:8.79, Z:-0.27 [[ 9.99905002e-01 -1.32879334e-02 3.66299892e-03 1.75260314e+02] [ 1.32871477e-02 9.99911693e-01 2.38747370e-04 8.78573157e+00] [-3.66584791e-03 -1.90053882e-04 9.99993263e-01 -2.66991550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.99140051300003 meters Centerline goodness [0,1] 0.9995100336585574 Centerline is valid? [True, True] Translation: X:175.29, Y:8.78, Z:-0.27 [[ 9.99923399e-01 -1.18572817e-02 3.54983914e-03 1.75291989e+02] [ 1.18565346e-02 9.99929682e-01 2.31456383e-04 8.78299114e+00] [-3.55233397e-03 -1.89349862e-04 9.99993673e-01 -2.66451043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.021400513 meters Centerline goodness [0,1] 0.9988687299893276 Centerline is valid? [True, True] Translation: X:175.32, Y:8.79, Z:-0.27 [[ 9.99944550e-01 -1.01419060e-02 2.83512735e-03 1.75321365e+02] [ 1.01414229e-02 9.99948557e-01 1.84722499e-04 8.78833744e+00] [-2.83685494e-03 -1.55960031e-04 9.99995964e-01 -2.67478810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.05140051300003 meters Centerline goodness [0,1] 0.9903464663823648 Centerline is valid? [True, True] Translation: X:175.35, Y:8.80, Z:-0.27 [[ 9.99963175e-01 -8.24130516e-03 2.39350298e-03 1.75350586e+02] [ 8.24095500e-03 9.99966031e-01 1.56124904e-04 8.79807704e+00] [-2.39470835e-03 -1.36394404e-04 9.99997123e-01 -2.69008809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.081400513 meters Centerline goodness [0,1] 0.998426971069022 Centerline is valid? [True, True] Translation: X:175.38, Y:8.79, Z:-0.27 [[ 9.99975540e-01 -6.47811287e-03 2.63677302e-03 1.75382443e+02] [ 6.47768229e-03 9.99979005e-01 1.71805530e-04 8.79102595e+00] [-2.63783064e-03 -1.54721150e-04 9.99996509e-01 -2.68123981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.11140051300004 meters Centerline goodness [0,1] 0.9949976484672282 Centerline is valid? [True, True] Translation: X:175.41, Y:8.80, Z:-0.27 [[ 9.99986991e-01 -3.65554392e-03 3.55723452e-03 1.75411881e+02] [ 3.65474306e-03 9.99993295e-01 2.31607907e-04 8.79840379e+00] [-3.55805732e-03 -2.18604116e-04 9.99993646e-01 -2.66997489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.141400513 meters Centerline goodness [0,1] 0.9734132869086767 Centerline is valid? [True, True] Translation: X:175.44, Y:8.81, Z:-0.27 [[ 9.99989638e-01 -2.72650284e-03 3.64553906e-03 1.75442864e+02] [ 2.72565551e-03 9.99996257e-01 2.37377661e-04 8.80573422e+00] [-3.64617263e-03 -2.27438718e-04 9.99993327e-01 -2.66714200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.17140051300004 meters Centerline goodness [0,1] 0.9992909782351803 Centerline is valid? [True, True] Translation: X:175.48, Y:8.79, Z:-0.27 [[ 9.99991425e-01 -2.33616703e-03 3.41925602e-03 1.75476203e+02] [ 2.33541951e-03 9.99997248e-01 2.22598947e-04 8.78898121e+00] [-3.41976664e-03 -2.14611641e-04 9.99994130e-01 -2.66005086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.201400513 meters Centerline goodness [0,1] 0.9984013982436696 Centerline is valid? [True, True] Translation: X:175.51, Y:8.80, Z:-0.27 [[ 9.99992149e-01 -2.66226003e-03 2.93488683e-03 1.75507422e+02] [ 2.66171097e-03 9.99996439e-01 1.90973179e-04 8.79586116e+00] [-2.93538480e-03 -1.83159859e-04 9.99995675e-01 -2.67133390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.231400513 meters Centerline goodness [0,1] 0.9983733921195129 Centerline is valid? [True, True] Translation: X:175.54, Y:8.80, Z:-0.27 [[ 9.99990088e-01 -4.18413131e-03 1.52210874e-03 1.75538665e+02] [ 4.18398545e-03 9.99991242e-01 9.89983367e-05 8.79534854e+00] [-1.52250964e-03 -9.26288746e-05 9.99998837e-01 -2.69210527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.261400513 meters Centerline goodness [0,1] 0.9989078059749438 Centerline is valid? [True, True] Translation: X:175.57, Y:8.79, Z:-0.27 [[ 9.99985003e-01 -5.34646384e-03 1.18668387e-03 1.75570307e+02] [ 5.34637599e-03 9.99985705e-01 7.71930433e-05 8.79489440e+00] [-1.18707961e-03 -7.08474276e-05 9.99999293e-01 -2.70108303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.291400513 meters Centerline goodness [0,1] 0.9988341035316064 Centerline is valid? [True, True] Translation: X:175.60, Y:8.80, Z:-0.27 [[ 9.99972666e-01 -7.19954539e-03 1.68362736e-03 1.75599789e+02] [ 7.19937157e-03 9.99974078e-01 1.09280053e-04 8.79877092e+00] [-1.68437048e-03 -9.71560070e-05 9.99998577e-01 -2.70016519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.321400513 meters Centerline goodness [0,1] 0.9988265665336775 Centerline is valid? [True, True] Translation: X:175.63, Y:8.80, Z:-0.27 [[ 9.99951286e-01 -9.55017566e-03 2.49386419e-03 1.75630225e+02] [ 9.54980157e-03 9.99954387e-01 1.61870505e-04 8.79758724e+00] [-2.49529633e-03 -1.38046712e-04 9.99996877e-01 -2.69015448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.351400513 meters Centerline goodness [0,1] 0.9995117809382297 Centerline is valid? [True, True] Translation: X:175.66, Y:8.79, Z:-0.27 [[ 9.99916438e-01 -1.25531518e-02 3.08807226e-03 1.75661210e+02] [ 1.25525925e-02 9.99921193e-01 2.00452655e-04 8.79498430e+00] [-3.09034521e-03 -1.61672592e-04 9.99995212e-01 -2.68443528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.381400513 meters Centerline goodness [0,1] 0.9998294897480711 Centerline is valid? [True, True] Translation: X:175.69, Y:8.78, Z:-0.27 [[ 9.99847105e-01 -1.73769417e-02 1.95137998e-03 1.75693012e+02] [ 1.73767275e-02 9.99849005e-01 1.26637509e-04 8.78364540e+00] [-1.95328590e-03 -9.27095484e-05 9.99998088e-01 -2.69631608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.411400513 meters Centerline goodness [0,1] 0.9995107736158084 Centerline is valid? [True, True] Translation: X:175.72, Y:8.79, Z:-0.27 [[ 9.99830396e-01 -1.83807042e-02 1.15298674e-03 1.75721449e+02] [ 1.83806303e-02 9.99831059e-01 7.46259938e-05 8.78968049e+00] [-1.15416363e-03 -5.34207138e-05 9.99999333e-01 -2.71325728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.441400513 meters Centerline goodness [0,1] 0.9997013524467767 Centerline is valid? [True, True] Translation: X:175.75, Y:8.79, Z:-0.27 [[ 9.99826382e-01 -1.86237746e-02 6.00560500e-04 1.75750048e+02] [ 1.86237552e-02 9.99826562e-01 3.79369556e-05 8.78811485e+00] [-6.01162869e-04 -2.67456773e-05 9.99999819e-01 -2.71478757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.471400513 meters Centerline goodness [0,1] 0.9995718353278671 Centerline is valid? [True, True] Translation: X:175.78, Y:8.79, Z:-0.27 [[ 9.99840519e-01 -1.78521029e-02 4.88055313e-04 1.75778234e+02] [ 1.78520897e-02 9.99840638e-01 3.13885610e-05 8.79150576e+00] [-4.88537888e-04 -2.26707478e-05 9.99999880e-01 -2.71708925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.501400513 meters Centerline goodness [0,1] 0.999554518455664 Centerline is valid? [True, True] Translation: X:175.81, Y:8.80, Z:-0.27 [[ 9.99856267e-01 -1.69081169e-02 1.24951042e-03 1.75805997e+02] [ 1.69080287e-02 9.99857046e-01 8.10802885e-05 8.79800326e+00] [-1.25070271e-03 -5.99418766e-05 9.99999216e-01 -2.70808631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.531400513 meters Centerline goodness [0,1] 0.9998502481601916 Centerline is valid? [True, True] Translation: X:175.84, Y:8.80, Z:-0.27 [[ 9.99875057e-01 -1.56677634e-02 2.09567568e-03 1.75835373e+02] [ 1.56675116e-02 9.99877248e-01 1.36496036e-04 8.79544380e+00] [-2.09755702e-03 -1.03644959e-04 9.99997795e-01 -2.69504961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.561400513 meters Centerline goodness [0,1] 0.9997862654156069 Centerline is valid? [True, True] Translation: X:175.86, Y:8.80, Z:-0.27 [[ 9.99902235e-01 -1.38117341e-02 2.18110365e-03 1.75864200e+02] [ 1.38114566e-02 9.99904607e-01 1.42206867e-04 8.79943249e+00] [-2.18285971e-03 -1.12068746e-04 9.99997611e-01 -2.70421841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.591400513 meters Centerline goodness [0,1] 0.9998488186255453 Centerline is valid? [True, True] Translation: X:175.89, Y:8.79, Z:-0.27 [[ 9.99899592e-01 -1.41175809e-02 1.22460132e-03 1.75894774e+02] [ 1.41174935e-02 9.99900340e-01 7.99377908e-05 8.79259410e+00] [-1.22560780e-03 -6.26414632e-05 9.99999247e-01 -2.71200717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.621400513 meters Centerline goodness [0,1] 0.999487234269843 Centerline is valid? [True, True] Translation: X:175.92, Y:8.80, Z:-0.27 [[ 9.99885855e-01 -1.50996613e-02 5.26908872e-04 1.75923330e+02] [ 1.50996454e-02 9.99885993e-01 3.41562786e-05 8.79837101e+00] [-5.27364549e-04 -2.61962427e-05 9.99999861e-01 -2.73178772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.651400513 meters Centerline goodness [0,1] 0.9993783627360614 Centerline is valid? [True, True] Translation: X:175.95, Y:8.79, Z:-0.27 [[ 9.99864368e-01 -1.64695489e-02 1.74413756e-05 1.75952127e+02] [ 1.64695488e-02 9.99864368e-01 8.04373308e-07 8.79486149e+00] [-1.74522577e-05 -5.17012622e-07 1.00000000e+00 -2.73749186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.681400513 meters Centerline goodness [0,1] 0.9998268585650903 Centerline is valid? [True, True] Translation: X:175.98, Y:8.79, Z:-0.27 [[ 9.99845579e-01 -1.75694601e-02 3.64224699e-04 1.75980980e+02] [ 1.75694530e-02 9.99845645e-01 2.26809777e-05 8.79435859e+00] [-3.64566972e-04 -1.62782465e-05 9.99999933e-01 -2.72663534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.711400513 meters Centerline goodness [0,1] 0.9997621570196112 Centerline is valid? [True, True] Translation: X:176.01, Y:8.79, Z:-0.27 [[ 9.99836663e-01 -1.79975006e-02 1.65433681e-03 1.76009790e+02] [ 1.79973474e-02 9.99838029e-01 1.07463931e-04 8.79122120e+00] [-1.65600294e-03 -7.76727035e-05 9.99998626e-01 -2.70053373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.74140051300003 meters Centerline goodness [0,1] 0.9997202616629368 Centerline is valid? [True, True] Translation: X:176.04, Y:8.79, Z:-0.27 [[ 9.99879178e-01 -1.52204816e-02 3.15691622e-03 1.76038874e+02] [ 1.52199028e-02 9.99884149e-01 2.07288148e-04 8.79305441e+00] [-3.15970552e-03 -1.59215145e-04 9.99994995e-01 -2.66745436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.771400513 meters Centerline goodness [0,1] 0.9998066636592124 Centerline is valid? [True, True] Translation: X:176.07, Y:8.79, Z:-0.27 [[ 9.99915855e-01 -1.25812319e-02 3.16153016e-03 1.76069224e+02] [ 1.25806379e-02 9.99920839e-01 2.07715098e-04 8.79468191e+00] [-3.16389320e-03 -1.67923554e-04 9.99994981e-01 -2.66644461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.80140051300003 meters Centerline goodness [0,1] 0.9997845152670933 Centerline is valid? [True, True] Translation: X:176.10, Y:8.80, Z:-0.27 [[ 9.99950489e-01 -9.43779921e-03 3.15393527e-03 1.76098580e+02] [ 9.43719204e-03 9.99955447e-01 2.07338438e-04 8.80075164e+00] [-3.15575157e-03 -1.77563880e-04 9.99995005e-01 -2.67372886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.831400513 meters Centerline goodness [0,1] 0.9981901415948047 Centerline is valid? [True, True] Translation: X:176.13, Y:8.81, Z:-0.27 [[ 9.99975566e-01 -6.06102185e-03 3.48299779e-03 1.76127154e+02] [ 6.06026110e-03 9.99981610e-01 2.28928240e-04 8.81398187e+00] [-3.48432128e-03 -2.07814770e-04 9.99993908e-01 -2.68067059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.86140051300004 meters Centerline goodness [0,1] 0.9963947435788036 Centerline is valid? [True, True] Translation: X:176.16, Y:8.82, Z:-0.27 [[ 9.99986078e-01 -3.20203572e-03 4.19406904e-03 1.76157034e+02] [ 3.20090785e-03 9.99994839e-01 2.75605223e-04 8.81960022e+00] [-4.19492989e-03 -2.62176558e-04 9.99991167e-01 -2.67873041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.891400513 meters Centerline goodness [0,1] 0.9967138254059706 Centerline is valid? [True, True] Translation: X:176.19, Y:8.82, Z:-0.27 [[ 9.99993517e-01 2.96888802e-04 3.58862265e-03 1.76187699e+02] [-2.97737003e-04 9.99999928e-01 2.35826191e-04 8.81779407e+00] [-3.58855237e-03 -2.36893128e-04 9.99993533e-01 -2.69287933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.92140051300004 meters Centerline goodness [0,1] 0.9843414706694712 Centerline is valid? [True, True] Translation: X:176.22, Y:8.82, Z:-0.27 [[ 9.99994903e-01 1.49109210e-03 2.82333827e-03 1.76217771e+02] [-1.49162191e-03 9.99998870e-01 1.85554919e-04 8.82247015e+00] [-2.82305840e-03 -1.89765326e-04 9.99995997e-01 -2.70935963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.951400513 meters Centerline goodness [0,1] 0.9910276451315874 Centerline is valid? [True, True] Translation: X:176.25, Y:8.82, Z:-0.27 [[ 9.99994107e-01 2.77928517e-03 2.01546374e-03 1.76248866e+02] [-2.77955777e-03 9.99996128e-01 1.32461360e-04 8.81958570e+00] [-2.01508779e-03 -1.38062678e-04 9.99997960e-01 -2.71580678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.981400513 meters Centerline goodness [0,1] 0.971584839550485 Centerline is valid? [True, True] Translation: X:176.28, Y:8.82, Z:-0.27 [[ 9.99987188e-01 4.53332550e-03 2.25230030e-03 1.76278224e+02] [-4.53367065e-03 9.99989712e-01 1.48162054e-04 8.82470705e+00] [-2.25160546e-03 -1.58371344e-04 9.99997453e-01 -2.71279663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.011400513 meters Centerline goodness [0,1] 0.9928060662360388 Centerline is valid? [True, True] Translation: X:176.31, Y:8.82, Z:-0.27 [[ 9.99970573e-01 7.11189331e-03 2.87643013e-03 1.76308776e+02] [-7.11246567e-03 9.99974688e-01 1.88804810e-04 8.82187171e+00] [-2.87501456e-03 -2.09257764e-04 9.99995845e-01 -2.69465729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.041400513 meters Centerline goodness [0,1] 0.8838882921589688 Centerline is valid? [True, False] Translation: X:176.31, Y:8.83, Z:-0.27 [[ 9.99963180e-01 7.82315333e-03 3.52648299e-03 1.76306360e+02] [-7.82271282e-03 9.99969392e-01 -1.38691251e-04 8.82511596e+00] [-3.52746005e-03 1.11099481e-04 9.99993772e-01 -2.69057062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.071400513 meters Centerline goodness [0,1] 0.7642715802463882 Centerline is valid? [False, False] Translation: X:176.31, Y:8.82, Z:-0.27 [[ 9.99916517e-01 1.24356446e-02 3.50903638e-03 1.76306152e+02] [-1.24531413e-02 9.99909910e-01 5.00918531e-03 8.82127113e+00] [-3.44642781e-03 -5.05246565e-03 9.99981297e-01 -2.68236230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.101400513 meters Centerline goodness [0,1] 0.6054119291113511 Centerline is valid? [False, False] Translation: X:176.31, Y:8.82, Z:-0.27 [[ 9.99917412e-01 1.23174850e-02 3.66712222e-03 1.76305996e+02] [-1.23332226e-02 9.99914696e-01 4.30031746e-03 8.82476239e+00] [-3.61384031e-03 -4.34518974e-03 9.99984030e-01 -2.69059168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.131400513 meters Centerline goodness [0,1] 0.40133173188359994 Centerline is valid? [False, False] Translation: X:176.31, Y:8.83, Z:-0.27 [[ 9.99919862e-01 1.21455252e-02 3.57139406e-03 1.76306815e+02] [-1.21582704e-02 9.99919717e-01 3.56887620e-03 8.82821777e+00] [-3.52776146e-03 -3.61201217e-03 9.99987254e-01 -2.70162484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.161400513 meters Centerline goodness [0,1] 0.516652124874976 Centerline is valid? [False, False] Translation: X:176.31, Y:8.83, Z:-0.27 [[ 9.99922678e-01 1.19114930e-02 3.57132604e-03 1.76307245e+02] [-1.19217684e-02 9.99924815e-01 2.86983369e-03 8.83148188e+00] [-3.53687352e-03 -2.91218831e-03 9.99989505e-01 -2.71075857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.191400513 meters Centerline goodness [0,1] 0.3452805604801674 Centerline is valid? [False, False] Translation: X:176.31, Y:8.84, Z:-0.27 [[ 9.99958396e-01 8.21552706e-03 3.96364832e-03 1.76306022e+02] [-8.20528950e-03 9.99962976e-01 -2.59224689e-03 8.83921947e+00] [-3.98479825e-03 2.55961616e-03 9.99988785e-01 -2.72113548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.221400513 meters Centerline goodness [0,1] 0.4301525575830093 Centerline is valid? [False, False] Translation: X:176.31, Y:8.84, Z:-0.27 [[ 9.99961769e-01 7.79973070e-03 3.95291078e-03 1.76306338e+02] [-7.78577243e-03 9.99963445e-01 -3.53430883e-03 8.84355962e+00] [-3.98033293e-03 3.50339725e-03 9.99985941e-01 -2.72719099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.251400513 meters Centerline goodness [0,1] 0.5759413913154916 Centerline is valid? [False, False] Translation: X:176.31, Y:8.85, Z:-0.27 [[ 9.99962913e-01 7.64456860e-03 3.96641463e-03 1.76306181e+02] [-7.62929596e-03 9.99963479e-01 -3.85143722e-03 8.84502931e+00] [-3.99571235e-03 3.82103343e-03 9.99984717e-01 -2.72535677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.281400513 meters Centerline goodness [0,1] 0.5240665671004907 Centerline is valid? [False, False] Translation: X:176.31, Y:8.85, Z:-0.27 [[ 9.99963894e-01 7.53362643e-03 3.93134385e-03 1.76306173e+02] [-7.51773205e-03 9.99963571e-01 -4.04222316e-03 8.84591020e+00] [-3.96165323e-03 4.01252242e-03 9.99984102e-01 -2.72313114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.311400513 meters Centerline goodness [0,1] 0.5290453333333334 Centerline is valid? [False, False] Translation: X:176.31, Y:8.85, Z:-0.27 [[ 9.99965300e-01 7.40483356e-03 3.81672925e-03 1.76306570e+02] [-7.38867496e-03 9.99963755e-01 -4.23047887e-03 8.84672324e+00] [-3.84791690e-03 4.20213150e-03 9.99983768e-01 -2.72339170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.341400513 meters Centerline goodness [0,1] 0.7763104559127856 Centerline is valid? [False, False] Translation: X:176.31, Y:8.85, Z:-0.27 [[ 9.99966529e-01 7.34846555e-03 3.59736065e-03 1.76307353e+02] [-7.33315462e-03 9.99964076e-01 -4.25100346e-03 8.84671083e+00] [-3.62846977e-03 4.22448117e-03 9.99984494e-01 -2.72496013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.371400513 meters Centerline goodness [0,1] 0.676147854899092 Centerline is valid? [False, False] Translation: X:176.29, Y:8.84, Z:-0.27 [[ 9.99982474e-01 5.71740031e-03 -1.53707966e-03 1.76286889e+02] [-5.70748150e-03 9.99963348e-01 6.38176626e-03 8.83698321e+00] [ 1.57351044e-03 -6.37288156e-03 9.99978455e-01 -2.67276975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.401400513 meters Centerline goodness [0,1] 0.7423039361385928 Centerline is valid? [False, False] Translation: X:176.33, Y:8.85, Z:-0.27 [[ 9.99995995e-01 2.67431446e-03 9.26676931e-04 1.76328327e+02] [-2.67393488e-03 9.99996341e-01 -4.10602551e-04 8.84616734e+00] [-9.27771620e-04 4.08123033e-04 9.99999486e-01 -2.69452885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.431400513 meters Centerline goodness [0,1] 0.9389162561576354 Centerline is valid? [False, False] Translation: X:176.33, Y:8.84, Z:-0.27 [[ 9.99995530e-01 2.82637780e-03 9.75381630e-04 1.76327855e+02] [-2.82632313e-03 9.99996004e-01 -5.74243192e-05 8.84457350e+00] [-9.75540036e-04 5.46673188e-05 9.99999523e-01 -2.68805845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.461400513 meters Centerline goodness [0,1] 0.9389162561576354 Centerline is valid? [False, False] Translation: X:176.33, Y:8.84, Z:-0.27 [[ 9.99995530e-01 2.82637780e-03 9.75381630e-04 1.76327855e+02] [-2.82632313e-03 9.99996004e-01 -5.74243192e-05 8.84457350e+00] [-9.75540036e-04 5.46673188e-05 9.99999523e-01 -2.68805845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.49140051300003 meters Centerline goodness [0,1] 0.7767717630942443 Centerline is valid? [False, False] Translation: X:176.33, Y:8.84, Z:-0.27 [[ 9.99995213e-01 2.91013729e-03 1.05132100e-03 1.76327317e+02] [-2.91027612e-03 9.99995757e-01 1.30551507e-04 8.84373583e+00] [-1.05093662e-03 -1.33610516e-04 9.99999439e-01 -2.68231866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.521400513 meters Centerline goodness [0,1] 0.7214048813674632 Centerline is valid? [False, False] Translation: X:176.33, Y:8.84, Z:-0.27 [[ 9.99995200e-01 2.88344644e-03 1.13377861e-03 1.76326966e+02] [-2.88348526e-03 9.99995842e-01 3.26072915e-05 8.84423358e+00] [-1.13367987e-03 -3.58763689e-05 9.99999357e-01 -2.68093741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.55140051300003 meters Centerline goodness [0,1] 0.6737913486005089 Centerline is valid? [False, False] Translation: X:176.33, Y:8.85, Z:-0.27 [[ 9.99995639e-01 2.68999991e-03 1.21903064e-03 1.76326802e+02] [-2.68948175e-03 9.99996292e-01 -4.26502306e-04 8.84637594e+00] [-1.22017341e-03 4.23221885e-04 9.99999166e-01 -2.68350012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.581400513 meters Centerline goodness [0,1] 0.5032173397680129 Centerline is valid? [False, False] Translation: X:176.33, Y:8.85, Z:-0.27 [[ 9.99996353e-01 2.39820514e-03 1.24195543e-03 1.76326925e+02] [-2.39680048e-03 9.99996488e-01 -1.13126955e-03 8.84967851e+00] [-1.24466408e-03 1.12828871e-03 9.99998589e-01 -2.68752455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.61140051300004 meters Centerline goodness [0,1] 0.8950127302680845 Centerline is valid? [False, False] Translation: X:176.30, Y:8.84, Z:-0.26 [[ 9.99972122e-01 5.83364035e-03 -4.66083636e-03 1.76303358e+02] [-5.76956915e-03 9.99890272e-01 1.36438888e-02 8.83785022e+00] [ 4.73991848e-03 -1.36166174e-02 9.99896055e-01 -2.60337690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.641400513 meters Centerline goodness [0,1] 0.8586818621653586 Centerline is valid? [False, False] Translation: X:176.30, Y:8.85, Z:-0.26 [[ 9.99989669e-01 2.05419271e-03 -4.05482019e-03 1.76301335e+02] [-2.02093081e-03 9.99964418e-01 8.19017586e-03 8.84546708e+00] [ 4.07150011e-03 -8.18189674e-03 9.99958239e-01 -2.60960424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.67140051300004 meters Centerline goodness [0,1] 0.5391486569438859 Centerline is valid? [False, False] Translation: X:176.34, Y:8.86, Z:-0.27 [[ 9.99996558e-01 1.12472797e-03 -2.37059497e-03 1.76343591e+02] [-1.12226305e-03 9.99998829e-01 1.04086671e-03 8.86263651e+00] [ 2.37176288e-03 -1.03820269e-03 9.99996648e-01 -2.65819915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.701400513 meters Centerline goodness [0,1] 0.6216453742604819 Centerline is valid? [False, False] Translation: X:176.30, Y:8.86, Z:-0.27 [[ 9.99987901e-01 -3.87582793e-05 -4.91890905e-03 1.76301669e+02] [ 4.38265445e-05 9.99999468e-01 1.03026006e-03 8.86267487e+00] [ 4.91886651e-03 -1.03046318e-03 9.99987371e-01 -2.65725731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.731400513 meters Centerline goodness [0,1] 0.8475142677343055 Centerline is valid? [False, False] Translation: X:176.30, Y:8.86, Z:-0.27 [[ 9.99988385e-01 -1.85600039e-04 -4.81622808e-03 1.76301091e+02] [ 1.88971369e-04 9.99999737e-01 6.99548185e-04 8.86425329e+00] [ 4.81609698e-03 -7.00450189e-04 9.99988157e-01 -2.65271768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.761400513 meters Centerline goodness [0,1] 0.6835720985759359 Centerline is valid? [False, False] Translation: X:176.34, Y:8.87, Z:-0.26 [[ 9.99999202e-01 -1.10953016e-04 -1.25836889e-03 1.76338156e+02] [ 1.09682086e-04 9.99999484e-01 -1.01000568e-03 8.86889423e+00] [ 1.25848030e-03 1.00986685e-03 9.99998698e-01 -2.63144676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.791400513 meters Centerline goodness [0,1] 0.5713528863270323 Centerline is valid? [False, False] Translation: X:176.34, Y:8.87, Z:-0.26 [[ 9.99999340e-01 -1.29208018e-05 -1.14909492e-03 1.76337062e+02] [ 1.22073228e-05 9.99999807e-01 -6.20910075e-04 8.86711219e+00] [ 1.14910272e-03 6.20895638e-04 9.99999147e-01 -2.61679058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.821400513 meters Centerline goodness [0,1] 0.4748337476363482 Centerline is valid? [False, False] Translation: X:176.34, Y:8.87, Z:-0.26 [[ 9.99999289e-01 1.10573380e-04 -1.18749823e-03 1.76336588e+02] [-1.10784589e-04 9.99999978e-01 -1.77796328e-04 8.86505872e+00] [ 1.18747854e-03 1.77927758e-04 9.99999279e-01 -2.60458008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.851400513 meters Centerline goodness [0,1] 0.8849756781443168 Centerline is valid? [False, False] Translation: X:176.34, Y:8.86, Z:-0.26 [[ 9.99998217e-01 -5.38341112e-04 -1.80981541e-03 1.76338874e+02] [ 5.38468087e-04 9.99999853e-01 6.96725611e-05 8.86253400e+00] [ 1.80977764e-03 -7.06469647e-05 9.99998360e-01 -2.60781790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.881400513 meters Centerline goodness [0,1] 0.9194958411135631 Centerline is valid? [False, False] Translation: X:176.34, Y:8.86, Z:-0.26 [[ 9.99997313e-01 -4.81756129e-04 -2.26736149e-03 1.76340712e+02] [ 4.83248447e-04 9.99999667e-01 6.57672267e-04 8.85939689e+00] [ 2.26704390e-03 -6.58766199e-04 9.99997213e-01 -2.61411302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.911400513 meters Centerline goodness [0,1] 0.9939782356230376 Centerline is valid? [False, True] Translation: X:176.30, Y:8.85, Z:-0.26 [[ 9.99983751e-01 -2.10689151e-03 -5.29707186e-03 1.76301265e+02] [ 2.11791142e-03 9.99995603e-01 2.07562865e-03 8.85214034e+00] [ 5.29267544e-03 -2.08681365e-03 9.99983816e-01 -2.61767390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.941400513 meters Centerline goodness [0,1] 0.836138907734057 Centerline is valid? [True, False] Translation: X:176.34, Y:8.86, Z:-0.26 [[ 9.99992731e-01 -3.28426068e-03 -1.93691792e-03 1.76340888e+02] [ 3.28255236e-03 9.99994221e-01 -8.84498652e-04 8.85528224e+00] [ 1.93981165e-03 8.78134188e-04 9.99997733e-01 -2.62302077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.971400513 meters Centerline goodness [0,1] 0.9975367329299913 Centerline is valid? [False, True] Translation: X:176.30, Y:8.85, Z:-0.26 [[ 9.99987703e-01 -3.54476175e-03 -3.46826748e-03 1.76295943e+02] [ 3.55359258e-03 9.99990452e-01 2.54333888e-03 8.84653983e+00] [ 3.45921884e-03 -2.55563242e-03 9.99990751e-01 -2.58926695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.001400513 meters Centerline goodness [0,1] 0.9997606354041998 Centerline is valid? [True, True] Translation: X:176.33, Y:8.84, Z:-0.26 [[ 9.99988939e-01 -3.97306651e-03 -2.51709328e-03 1.76325558e+02] [ 3.97262218e-03 9.99992093e-01 -1.81498739e-04 8.83716086e+00] [ 2.51779449e-03 1.71497271e-04 9.99996816e-01 -2.57201135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.031400513 meters Centerline goodness [0,1] 0.9980488432427796 Centerline is valid? [True, True] Translation: X:176.35, Y:8.85, Z:-0.26 [[ 9.99991562e-01 -3.22938973e-03 -2.53899536e-03 1.76352149e+02] [ 3.22893493e-03 9.99994770e-01 -1.83204003e-04 8.84832167e+00] [ 2.53957372e-03 1.75004207e-04 9.99996760e-01 -2.57522944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.061400513 meters Centerline goodness [0,1] 0.9979730895290667 Centerline is valid? [True, True] Translation: X:176.38, Y:8.85, Z:-0.26 [[ 9.99994570e-01 -2.27020464e-03 -2.38892612e-03 1.76381742e+02] [ 2.26979923e-03 9.99997409e-01 -1.72403921e-04 8.85043109e+00] [ 2.38931132e-03 1.66980602e-04 9.99997132e-01 -2.58006928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.091400513 meters Centerline goodness [0,1] 0.9987816607887143 Centerline is valid? [True, True] Translation: X:176.41, Y:8.85, Z:-0.26 [[ 9.99997877e-01 -6.39260925e-04 -1.95914589e-03 1.76412438e+02] [ 6.38985168e-04 9.99999786e-01 -1.41376318e-04 8.85041043e+00] [ 1.95923585e-03 1.40124152e-04 9.99998071e-01 -2.57601456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.121400513 meters Centerline goodness [0,1] 0.995559117889173 Centerline is valid? [True, True] Translation: X:176.44, Y:8.86, Z:-0.26 [[ 9.99997656e-01 1.55495342e-03 -1.50692769e-03 1.76440931e+02] [-1.55511911e-03 9.99998785e-01 -1.08786259e-04 8.85698250e+00] [ 1.50675670e-03 1.11129456e-04 9.99998859e-01 -2.57178329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.151400513 meters Centerline goodness [0,1] 0.9855175077239959 Centerline is valid? [True, True] Translation: X:176.47, Y:8.86, Z:-0.26 [[ 9.99980264e-01 6.16206491e-03 -1.22472612e-03 1.76471171e+02] [-6.16217778e-03 9.99981010e-01 -8.84085376e-05 8.86262624e+00] [ 1.22415808e-03 9.59537729e-05 9.99999246e-01 -2.56615316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.181400513 meters Centerline goodness [0,1] 0.881062232900304 Centerline is valid? [True, False] Translation: X:176.48, Y:8.86, Z:-0.26 [[ 9.99959055e-01 8.79165991e-03 -2.14343338e-03 1.76477775e+02] [-8.78572935e-03 9.99957594e-01 2.76074411e-03 8.86125148e+00] [ 2.16761401e-03 -2.74179944e-03 9.99993892e-01 -2.60560943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.211400513 meters Centerline goodness [0,1] 0.9454016172506738 Centerline is valid? [False, False] Translation: X:176.44, Y:8.86, Z:-0.26 [[ 9.99951404e-01 8.21566241e-03 -5.44907564e-03 1.76438527e+02] [-8.19578405e-03 9.99959715e-01 3.66037601e-03 8.85960665e+00] [ 5.47892854e-03 -3.61553868e-03 9.99978454e-01 -2.61475296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.24140051300003 meters Centerline goodness [0,1] 0.9403432190696281 Centerline is valid? [False, False] Translation: X:176.44, Y:8.86, Z:-0.26 [[ 9.99952379e-01 8.07509983e-03 -5.48023611e-03 1.76438913e+02] [-8.05701287e-03 9.99962049e-01 3.31449014e-03 8.86116444e+00] [ 5.50679297e-03 -3.27017797e-03 9.99979490e-01 -2.62082723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.271400513 meters Centerline goodness [0,1] 0.8916638034701941 Centerline is valid? [False, False] Translation: X:176.44, Y:8.86, Z:-0.26 [[ 9.99952378e-01 8.04796488e-03 -5.52008611e-03 1.76439165e+02] [-8.03000218e-03 9.99962417e-01 3.26854280e-03 8.86134020e+00] [ 5.54618377e-03 -3.22406084e-03 9.99979422e-01 -2.62337862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.30140051300003 meters Centerline goodness [0,1] 0.8375234361683995 Centerline is valid? [False, False] Translation: X:176.44, Y:8.86, Z:-0.26 [[ 9.99950474e-01 8.02713644e-03 -5.88348673e-03 1.76440196e+02] [-8.00535491e-03 9.99961051e-01 3.71639441e-03 8.85891321e+00] [ 5.91308957e-03 -3.66911095e-03 9.99975786e-01 -2.62042450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.331400513 meters Centerline goodness [0,1] 0.9883634034376001 Centerline is valid? [False, True] Translation: X:176.44, Y:8.86, Z:-0.26 [[ 9.99978852e-01 3.26085280e-03 -5.62697663e-03 1.76439518e+02] [-3.27117435e-03 9.99992982e-01 -1.82607149e-03 8.86473764e+00] [ 5.62098259e-03 1.84443970e-03 9.99982501e-01 -2.62528450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.36140051300004 meters Centerline goodness [0,1] 0.9602842989446478 Centerline is valid? [True, True] Translation: X:176.47, Y:8.87, Z:-0.26 [[ 9.99987888e-01 1.43024349e-03 -4.70937560e-03 1.76468685e+02] [-1.43189222e-03 9.99998915e-01 -3.46740681e-04 8.86997192e+00] [ 4.70887457e-03 3.53479799e-04 9.99988851e-01 -2.61423368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.391400513 meters Centerline goodness [0,1] 0.948725115019134 Centerline is valid? [True, False] Translation: X:176.47, Y:8.87, Z:-0.26 [[ 9.99987767e-01 1.61072303e-03 -4.67661539e-03 1.76468162e+02] [-1.61000822e-03 9.99998692e-01 1.56606527e-04 8.86764680e+00] [ 4.67686152e-03 -1.49075222e-04 9.99989052e-01 -2.60581164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.42140051300004 meters Centerline goodness [0,1] 0.9982941417805705 Centerline is valid? [False, True] Translation: X:176.47, Y:8.86, Z:-0.26 [[ 9.99987424e-01 1.85800750e-03 -4.65832807e-03 1.76467737e+02] [-1.85437554e-03 9.99997973e-01 7.83868428e-04 8.86476809e+00] [ 4.65977506e-03 -7.75220280e-04 9.99988843e-01 -2.59826695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.451400513 meters Centerline goodness [0,1] 0.9989691607250236 Centerline is valid? [True, True] Translation: X:176.50, Y:8.86, Z:-0.26 [[ 9.99988842e-01 1.94375659e-04 -4.72007242e-03 1.76497270e+02] [-1.95945641e-04 9.99999926e-01 -3.32158114e-04 8.86463855e+00] [ 4.72000751e-03 3.33079286e-04 9.99988805e-01 -2.59534636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.481400513 meters Centerline goodness [0,1] 0.9955748428748556 Centerline is valid? [True, True] Translation: X:176.53, Y:8.87, Z:-0.26 [[ 9.99982241e-01 -1.69206793e-03 -5.71448680e-03 1.76526039e+02] [ 1.68979654e-03 9.99998491e-01 -4.02284231e-04 8.86965055e+00] [ 5.71515887e-03 3.92620767e-04 9.99983591e-01 -2.60658220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.511400513 meters Centerline goodness [0,1] 0.9344380556321742 Centerline is valid? [True, False] Translation: X:176.53, Y:8.87, Z:-0.26 [[ 9.99981791e-01 -1.54354843e-03 -5.83387944e-03 1.76526429e+02] [ 1.54359012e-03 9.99998809e-01 2.64219231e-06 8.86769169e+00] [ 5.83386841e-03 -1.16472628e-05 9.99982983e-01 -2.60638070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.541400513 meters Centerline goodness [0,1] 0.9972781014757793 Centerline is valid? [False, True] Translation: X:176.53, Y:8.86, Z:-0.26 [[ 9.99982296e-01 -1.23207675e-03 -5.82147365e-03 1.76526111e+02] [ 1.23627999e-03 9.99998978e-01 7.18480549e-04 8.86437866e+00] [ 5.82058248e-03 -7.25664800e-04 9.99982797e-01 -2.60103090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.571400513 meters Centerline goodness [0,1] 0.9997191860716291 Centerline is valid? [True, True] Translation: X:176.56, Y:8.86, Z:-0.26 [[ 9.99987367e-01 -2.02265803e-03 -4.60160225e-03 1.76556030e+02] [ 2.02122714e-03 9.99997908e-01 -3.15584127e-04 8.85695133e+00] [ 4.60223094e-03 3.06279257e-04 9.99989363e-01 -2.58349186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.601400513 meters Centerline goodness [0,1] 0.994627993884831 Centerline is valid? [True, True] Translation: X:176.58, Y:8.87, Z:-0.26 [[ 9.99988983e-01 -2.80061570e-03 -3.76700897e-03 1.76583600e+02] [ 2.79966162e-03 9.99996048e-01 -2.58520365e-04 8.86910214e+00] [ 3.76771810e-03 2.47971166e-04 9.99992871e-01 -2.57075776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.631400513 meters Centerline goodness [0,1] 0.999418942475305 Centerline is valid? [True, True] Translation: X:176.61, Y:8.85, Z:-0.26 [[ 9.99983278e-01 -3.75320951e-03 -4.39973264e-03 1.76613826e+02] [ 3.75191419e-03 9.99992916e-01 -3.02625564e-04 8.85419741e+00] [ 4.40083729e-03 2.86113084e-04 9.99990275e-01 -2.58340629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.661400513 meters Centerline goodness [0,1] 0.9989742932239246 Centerline is valid? [True, True] Translation: X:176.64, Y:8.85, Z:-0.26 [[ 9.99976196e-01 -4.38290777e-03 -5.32889717e-03 1.76642749e+02] [ 4.38101372e-03 9.99990336e-01 -3.67051756e-04 8.85018238e+00] [ 5.33045443e-03 3.43697047e-04 9.99985734e-01 -2.59992515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.691400513 meters Centerline goodness [0,1] 0.9990811573144152 Centerline is valid? [True, True] Translation: X:176.67, Y:8.85, Z:-0.26 [[ 9.99974709e-01 -4.73047617e-03 -5.31064600e-03 1.76670489e+02] [ 4.72859623e-03 9.99988753e-01 -3.66495674e-04 8.85094770e+00] [ 5.31231997e-03 3.41374504e-04 9.99985831e-01 -2.60021356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.721400513 meters Centerline goodness [0,1] 0.9993156836747786 Centerline is valid? [True, True] Translation: X:176.70, Y:8.85, Z:-0.26 [[ 9.99982646e-01 -4.54913353e-03 -3.74327669e-03 1.76699992e+02] [ 4.54819726e-03 9.99989623e-01 -2.58594623e-04 8.84843309e+00] [ 3.74441423e-03 2.41564975e-04 9.99992960e-01 -2.57581401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.751400513 meters Centerline goodness [0,1] 0.9992714025500911 Centerline is valid? [True, True] Translation: X:176.73, Y:8.85, Z:-0.25 [[ 9.99990006e-01 -3.92219723e-03 -2.14595501e-03 1.76728573e+02] [ 3.92188758e-03 9.99992298e-01 -1.48487296e-04 8.84623729e+00] [ 2.14652087e-03 1.40069618e-04 9.99997686e-01 -2.54897484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.781400513 meters Centerline goodness [0,1] 0.9982282372027494 Centerline is valid? [True, True] Translation: X:176.76, Y:8.85, Z:-0.25 [[ 9.99997763e-01 -1.93507585e-03 -8.54634825e-04 1.76757110e+02] [ 1.93502598e-03 9.99998126e-01 -5.91771643e-05 8.84914762e+00] [ 8.54747736e-04 5.75232913e-05 9.99999633e-01 -2.51831274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.811400513 meters Centerline goodness [0,1] 0.9991673249781156 Centerline is valid? [True, True] Translation: X:176.79, Y:8.84, Z:-0.25 [[ 9.99997864e-01 -8.43203481e-04 -1.88690750e-03 1.76786959e+02] [ 8.42958305e-04 9.99999636e-01 -1.30727284e-04 8.84431759e+00] [ 1.88701704e-03 1.29136421e-04 9.99998211e-01 -2.53824032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.841400513 meters Centerline goodness [0,1] 0.9634221814379308 Centerline is valid? [True, True] Translation: X:176.81, Y:8.86, Z:-0.26 [[ 9.99993012e-01 2.27352727e-04 -3.73154303e-03 1.76814488e+02] [-2.28319643e-04 9.99999940e-01 -2.58695765e-04 8.85548467e+00] [ 3.73148400e-03 2.59545941e-04 9.99993004e-01 -2.57114881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.871400513 meters Centerline goodness [0,1] 0.9874609482923512 Centerline is valid? [True, True] Translation: X:176.85, Y:8.85, Z:-0.26 [[ 9.99986157e-01 1.24888759e-03 -5.11139880e-03 1.76845019e+02] [-1.25071637e-03 9.99999155e-01 -3.54603744e-04 8.84734711e+00] [ 5.11095162e-03 3.60991745e-04 9.99986874e-01 -2.59767167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.901400513 meters Centerline goodness [0,1] 0.9645342985029876 Centerline is valid? [True, True] Translation: X:176.87, Y:8.85, Z:-0.26 [[ 9.99978092e-01 1.82571849e-03 -6.36255724e-03 1.76872509e+02] [-1.82856618e-03 9.99998231e-01 -4.41782088e-04 8.84679573e+00] [ 6.36173941e-03 4.53406766e-04 9.99979661e-01 -2.61750570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.931400513 meters Centerline goodness [0,1] 0.9627660714668496 Centerline is valid? [True, True] Translation: X:176.90, Y:8.84, Z:-0.26 [[ 9.99975073e-01 1.80619726e-03 -6.82579695e-03 1.76902022e+02] [-1.80947760e-03 9.99998250e-01 -4.74434194e-04 8.84394513e+00] [ 6.82492808e-03 4.86773494e-04 9.99976591e-01 -2.62697135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.961400513 meters Centerline goodness [0,1] 0.9960578468130691 Centerline is valid? [True, True] Translation: X:176.93, Y:8.83, Z:-0.26 [[ 9.99963630e-01 4.81677135e-04 -8.51508479e-03 1.76933564e+02] [-4.86736412e-04 9.99999706e-01 -5.92092285e-04 8.82665288e+00] [ 8.51479709e-03 5.96215353e-04 9.99963571e-01 -2.64674120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.99140051300003 meters Centerline goodness [0,1] 0.7890714315958843 Centerline is valid? [True, False] Translation: X:176.95, Y:8.82, Z:-0.26 [[ 9.99955615e-01 3.48318920e-04 -9.41519130e-03 1.76953467e+02] [-2.50990621e-04 9.99946545e-01 1.03365738e-02 8.81553548e+00] [ 9.41828844e-03 -1.03337519e-02 9.99902250e-01 -2.59626820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.021400513 meters Centerline goodness [0,1] 0.9751456393247439 Centerline is valid? [False, True] Translation: X:176.95, Y:8.82, Z:-0.26 [[ 9.99953262e-01 -3.73346562e-03 -8.91820627e-03 1.76952283e+02] [ 3.78422564e-03 9.99976699e-01 5.68165193e-03 8.81766272e+00] [ 8.89678621e-03 -5.71513489e-03 9.99944091e-01 -2.60561005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.05140051300003 meters Centerline goodness [0,1] 0.9181256656017039 Centerline is valid? [True, False] Translation: X:176.95, Y:8.81, Z:-0.26 [[ 9.99954455e-01 -3.44934116e-03 -8.89891319e-03 1.76952018e+02] [ 3.50524673e-03 9.99974172e-01 6.27436253e-03 8.81495568e+00] [ 8.87704094e-03 -6.30526965e-03 9.99940719e-01 -2.60138819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.081400513 meters Centerline goodness [0,1] 0.9559795512395457 Centerline is valid? [False, True] Translation: X:176.95, Y:8.81, Z:-0.26 [[ 9.99955971e-01 -3.31492078e-03 -8.77875545e-03 1.76951433e+02] [ 3.37230411e-03 9.99972994e-01 6.52989845e-03 8.81383545e+00] [ 8.75687227e-03 -6.55921558e-03 9.99940145e-01 -2.59757066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.11140051300004 meters Centerline goodness [0,1] 0.9784570973092914 Centerline is valid? [True, True] Translation: X:176.98, Y:8.82, Z:-0.26 [[ 9.99972003e-01 -1.55798798e-03 -7.31887234e-03 1.76980944e+02] [ 1.55395203e-03 9.99998637e-01 -5.57098077e-04 8.81845249e+00] [ 7.31973032e-03 5.45709304e-04 9.99973062e-01 -2.59863373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.141400513 meters Centerline goodness [0,1] 0.8402012201648292 Centerline is valid? [True, False] Translation: X:176.99, Y:8.81, Z:-0.26 [[ 9.99964251e-01 1.36506434e-03 -8.34464491e-03 1.76987321e+02] [-1.34304327e-03 9.99995603e-01 2.64397994e-03 8.81186404e+00] [ 8.34821742e-03 -2.63267820e-03 9.99961687e-01 -2.63190829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.17140051300004 meters Centerline goodness [0,1] 0.808619476948654 Centerline is valid? [False, False] Translation: X:176.99, Y:8.81, Z:-0.26 [[ 9.99964266e-01 1.51486260e-03 -8.31701211e-03 1.76987171e+02] [-1.49062149e-03 9.99994626e-01 2.92006740e-03 8.81060887e+00] [ 8.32139091e-03 -2.90756554e-03 9.99961150e-01 -2.63073316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.201400513 meters Centerline goodness [0,1] 0.7554124970786326 Centerline is valid? [False, False] Translation: X:176.99, Y:8.81, Z:-0.26 [[ 9.99965015e-01 1.49784377e-03 -8.22950279e-03 1.76986916e+02] [-1.47459596e-03 9.99994908e-01 2.83027629e-03 8.81106132e+00] [ 8.23370020e-03 -2.81804208e-03 9.99962132e-01 -2.63147474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.231400513 meters Centerline goodness [0,1] 0.9730924384173032 Centerline is valid? [False, True] Translation: X:176.99, Y:8.81, Z:-0.26 [[ 9.99967504e-01 1.24729496e-03 -7.96464032e-03 1.76985892e+02] [-1.22982291e-03 9.99996828e-01 2.19822301e-03 8.81414646e+00] [ 7.96735689e-03 -2.18835648e-03 9.99965866e-01 -2.62886204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.261400513 meters Centerline goodness [0,1] 0.636854475004764 Centerline is valid? [True, False] Translation: X:177.02, Y:8.82, Z:-0.26 [[ 9.99989791e-01 8.72988801e-04 -4.43344950e-03 1.77024020e+02] [-8.78958257e-04 9.99998710e-01 -1.34468876e-03 8.82051414e+00] [ 4.43226988e-03 1.34857185e-03 9.99989268e-01 -2.63027799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.291400513 meters Centerline goodness [0,1] 0.8285768847206603 Centerline is valid? [False, False] Translation: X:177.02, Y:8.82, Z:-0.26 [[ 9.99989334e-01 1.02974832e-03 -4.50249125e-03 1.77024080e+02] [-1.03387926e-03 9.99999047e-01 -9.15245374e-04 8.81848295e+00] [ 4.50154448e-03 9.19890644e-04 9.99989445e-01 -2.62708998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.321400513 meters Centerline goodness [0,1] 0.6821887906867257 Centerline is valid? [False, False] Translation: X:177.02, Y:8.82, Z:-0.26 [[ 9.99988551e-01 1.15087425e-03 -4.64475016e-03 1.77024625e+02] [-1.15348482e-03 9.99999178e-01 -5.59408050e-04 8.81672485e+00] [ 4.64410253e-03 5.64759294e-04 9.99989057e-01 -2.62855455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.351400513 meters Centerline goodness [0,1] 0.6821887906867257 Centerline is valid? [False, False] Translation: X:177.02, Y:8.82, Z:-0.26 [[ 9.99988551e-01 1.15087425e-03 -4.64475016e-03 1.77024625e+02] [-1.15348482e-03 9.99999178e-01 -5.59408050e-04 8.81672485e+00] [ 4.64410253e-03 5.64759294e-04 9.99989057e-01 -2.62855455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.381400513 meters Centerline goodness [0,1] 0.9798086911357341 Centerline is valid? [False, True] Translation: X:177.03, Y:8.82, Z:-0.26 [[ 9.99988026e-01 1.14663229e-03 -4.75750341e-03 1.77025174e+02] [-1.14909238e-03 9.99999207e-01 -5.14395755e-04 8.81642172e+00] [ 4.75690982e-03 5.19856406e-04 9.99988551e-01 -2.63261838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.411400513 meters Centerline goodness [0,1] 0.9541769173173601 Centerline is valid? [True, True] Translation: X:177.05, Y:8.82, Z:-0.26 [[ 9.99984108e-01 -4.16544881e-04 -5.62234831e-03 1.77054257e+02] [ 4.14146826e-04 9.99999823e-01 -4.27679475e-04 8.82168629e+00] [ 5.62252546e-03 4.25344200e-04 9.99984103e-01 -2.64814241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.441400513 meters Centerline goodness [0,1] 0.9171630243550883 Centerline is valid? [True, False] Translation: X:177.06, Y:8.82, Z:-0.27 [[ 9.99976427e-01 -2.13485440e-03 -6.52594301e-03 1.77060495e+02] [ 2.12133962e-03 9.99995593e-01 -2.07715175e-03 8.82236424e+00] [ 6.53034866e-03 2.06325904e-03 9.99976548e-01 -2.68357671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.471400513 meters Centerline goodness [0,1] 0.9711873777324147 Centerline is valid? [False, True] Translation: X:177.06, Y:8.82, Z:-0.27 [[ 9.99976512e-01 -1.97624268e-03 -6.56275886e-03 1.77060285e+02] [ 1.96500742e-03 9.99996594e-01 -1.71797964e-03 8.82076380e+00] [ 6.56613165e-03 1.70504342e-03 9.99976989e-01 -2.67702439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.501400513 meters Centerline goodness [0,1] 0.9724858696811347 Centerline is valid? [True, True] Translation: X:177.09, Y:8.82, Z:-0.27 [[ 9.99973684e-01 -2.65033285e-03 -6.75334815e-03 1.77088188e+02] [ 2.64701732e-03 9.99996372e-01 -4.99836405e-04 8.82210929e+00] [ 6.75464838e-03 4.81947022e-04 9.99977071e-01 -2.66499065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.531400513 meters Centerline goodness [0,1] 0.9638597759306108 Centerline is valid? [True, True] Translation: X:177.12, Y:8.83, Z:-0.27 [[ 9.99970902e-01 -2.80423485e-03 -7.09442308e-03 1.77115408e+02] [ 2.80057694e-03 9.99995940e-01 -5.25484337e-04 8.82683773e+00] [ 7.09586786e-03 5.05600569e-04 9.99974696e-01 -2.67032269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.561400513 meters Centerline goodness [0,1] 0.9662266085619072 Centerline is valid? [True, True] Translation: X:177.14, Y:8.83, Z:-0.27 [[ 9.99970433e-01 -2.62720088e-03 -7.22716380e-03 1.77143822e+02] [ 2.62339372e-03 9.99996415e-01 -5.36215242e-04 8.83140027e+00] [ 7.22854664e-03 5.17239692e-04 9.99973740e-01 -2.67772678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.591400513 meters Centerline goodness [0,1] 0.950084151771448 Centerline is valid? [True, True] Translation: X:177.17, Y:8.84, Z:-0.27 [[ 9.99977193e-01 -2.08778977e-03 -6.42303313e-03 1.77171021e+02] [ 2.08476805e-03 9.99997713e-01 -4.77109923e-04 8.83766234e+00] [ 6.42401455e-03 4.63708507e-04 9.99979258e-01 -2.66935831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.621400513 meters Centerline goodness [0,1] 0.9718826666666667 Centerline is valid? [True, True] Translation: X:177.20, Y:8.84, Z:-0.26 [[ 9.99996525e-01 4.01775739e-05 -2.63613483e-03 1.77201136e+02] [-4.06940599e-05 9.99999980e-01 -1.95872144e-04 8.84233611e+00] [ 2.63612691e-03 1.95978739e-04 9.99996506e-01 -2.60422577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.651400513 meters Centerline goodness [0,1] 0.9699461117382692 Centerline is valid? [True, True] Translation: X:177.23, Y:8.85, Z:-0.26 [[ 9.99997105e-01 1.30392933e-03 -2.02217868e-03 1.77230015e+02] [-1.30423584e-03 9.99999138e-01 -1.50261931e-04 8.84636320e+00] [ 2.02198101e-03 1.52898894e-04 9.99997944e-01 -2.59084664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.681400513 meters Centerline goodness [0,1] 0.9735003408316292 Centerline is valid? [True, True] Translation: X:177.26, Y:8.85, Z:-0.26 [[ 9.99994162e-01 2.65767835e-03 -2.14784822e-03 1.77259882e+02] [-2.65802742e-03 9.99996455e-01 -1.59681479e-04 8.85028160e+00] [ 2.14741622e-03 1.65389586e-04 9.99997681e-01 -2.59486634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.711400513 meters Centerline goodness [0,1] 0.8811996856347841 Centerline is valid? [True, False] Translation: X:177.26, Y:8.86, Z:-0.26 [[ 9.99995585e-01 1.98135337e-03 -2.21440965e-03 1.77261023e+02] [-1.98575284e-03 9.99996056e-01 -1.98631601e-03 8.85868010e+00] [ 2.21046532e-03 1.99070451e-03 9.99995575e-01 -2.61319279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.74140051300003 meters Centerline goodness [0,1] 0.9852527786186913 Centerline is valid? [False, True] Translation: X:177.22, Y:8.86, Z:-0.26 [[ 9.99986922e-01 1.45791297e-03 -4.90202055e-03 1.77219764e+02] [-1.45796459e-03 9.99998937e-01 -6.95760695e-06 8.85637210e+00] [ 4.90200520e-03 1.41044884e-05 9.99987985e-01 -2.61082624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.771400513 meters Centerline goodness [0,1] 0.9056837871949002 Centerline is valid? [True, False] Translation: X:177.24, Y:8.85, Z:-0.26 [[ 9.99983886e-01 1.36562864e-03 -5.51026631e-03 1.77238581e+02] [-1.30843878e-03 9.99945384e-01 1.03690751e-02 8.85228913e+00] [ 5.52412566e-03 -1.03616981e-02 9.99931057e-01 -2.55920617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.80140051300003 meters Centerline goodness [0,1] 0.7085716706919198 Centerline is valid? [False, False] Translation: X:177.26, Y:8.87, Z:-0.26 [[ 9.99998947e-01 1.44291288e-03 -1.52578705e-04 1.77261452e+02] [-1.44311418e-03 9.99998078e-01 -1.32749976e-03 8.86529803e+00] [ 1.50662945e-04 1.32771855e-03 9.99999107e-01 -2.63414483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.831400513 meters Centerline goodness [0,1] 0.9497277985709425 Centerline is valid? [False, False] Translation: X:177.26, Y:8.87, Z:-0.26 [[ 9.99999059e-01 1.36493525e-03 -1.35608005e-04 1.77261088e+02] [-1.36513080e-03 9.99998013e-01 -1.45253369e-03 8.86591473e+00] [ 1.33625121e-04 1.45271745e-03 9.99998936e-01 -2.62853244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.86140051300004 meters Centerline goodness [0,1] 0.9714030953442456 Centerline is valid? [False, True] Translation: X:177.26, Y:8.87, Z:-0.26 [[ 9.99999061e-01 1.35609000e-03 -1.95590474e-04 1.77260891e+02] [-1.35634183e-03 9.99998244e-01 -1.29317468e-03 8.86513239e+00] [ 1.93836469e-04 1.29343875e-03 9.99999145e-01 -2.62116179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.891400513 meters Centerline goodness [0,1] 0.9836062083501884 Centerline is valid? [True, True] Translation: X:177.29, Y:8.86, Z:-0.26 [[ 9.99982120e-01 -5.95432655e-03 -5.53084965e-04 1.77290659e+02] [ 5.95430536e-03 9.99982272e-01 -3.99422950e-05 8.86480285e+00] [ 5.53312990e-04 3.66483440e-05 9.99999846e-01 -2.61402552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.92140051300004 meters Centerline goodness [0,1] 0.9994385904301261 Centerline is valid? [True, True] Translation: X:177.32, Y:8.85, Z:-0.26 [[ 9.99944519e-01 -1.05123996e-02 -6.70347768e-04 1.77322399e+02] [ 1.05123695e-02 9.99944742e-01 -4.84110359e-05 8.85284195e+00] [ 6.70819643e-04 4.13614066e-05 9.99999774e-01 -2.61988335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.951400513 meters Centerline goodness [0,1] 0.9984056191153341 Centerline is valid? [True, True] Translation: X:177.35, Y:8.86, Z:-0.26 [[ 9.99886898e-01 -1.50221504e-02 -7.25181914e-04 1.77350915e+02] [ 1.50221163e-02 9.99887160e-01 -5.23670105e-05 8.86257871e+00] [ 7.25886750e-04 4.14673206e-05 9.99999736e-01 -2.62418131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.981400513 meters Centerline goodness [0,1] 0.999513670099169 Centerline is valid? [True, True] Translation: X:177.38, Y:8.86, Z:-0.26 [[ 9.99816707e-01 -1.91328279e-02 -6.97769024e-04 1.77381542e+02] [ 1.91327974e-02 9.99816950e-01 -5.03931100e-05 8.85519969e+00] [ 6.98605460e-04 3.70335999e-05 9.99999755e-01 -2.62786495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.011400513 meters Centerline goodness [0,1] 0.9997447297326044 Centerline is valid? [True, True] Translation: X:177.41, Y:8.85, Z:-0.26 [[ 9.99743409e-01 -2.26266627e-02 -1.07208571e-03 1.77412595e+02] [ 2.26265926e-02 9.99743983e-01 -7.74401594e-05 8.85436569e+00] [ 1.07356345e-03 5.31626423e-05 9.99999422e-01 -2.63231660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.041400513 meters Centerline goodness [0,1] 0.999723504264415 Centerline is valid? [True, True] Translation: X:177.44, Y:8.85, Z:-0.26 [[ 9.99631698e-01 -2.70170442e-02 -2.55901029e-03 1.77442600e+02] [ 2.70166594e-02 9.99634966e-01 -1.84830115e-04 8.85377132e+00] [ 2.56306973e-03 1.15626132e-04 9.99996709e-01 -2.63850742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.071400513 meters Centerline goodness [0,1] 0.9998725356900068 Centerline is valid? [True, True] Translation: X:177.47, Y:8.86, Z:-0.26 [[ 9.99596826e-01 -2.82411732e-02 -2.93623315e-03 1.77471494e+02] [ 2.82406715e-02 9.99601130e-01 -2.12177812e-04 8.85513700e+00] [ 2.94105413e-03 1.29171072e-04 9.99995667e-01 -2.63815543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.101400513 meters Centerline goodness [0,1] 0.9997440928090079 Centerline is valid? [True, True] Translation: X:177.50, Y:8.86, Z:-0.26 [[ 9.99574637e-01 -2.90433673e-02 -2.65108604e-03 1.77499717e+02] [ 2.90429603e-02 9.99578146e-01 -1.91912656e-04 8.85962647e+00] [ 2.65554146e-03 1.14835636e-04 9.99996467e-01 -2.62925153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.131400513 meters Centerline goodness [0,1] 0.9997010654880106 Centerline is valid? [True, True] Translation: X:177.53, Y:8.87, Z:-0.26 [[ 9.99574531e-01 -2.91036227e-02 -1.93289021e-03 1.77526522e+02] [ 2.91034061e-02 9.99576396e-01 -1.40099241e-04 8.86692785e+00] [ 1.93614882e-03 8.37859447e-05 9.99998122e-01 -2.61498115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.161400513 meters Centerline goodness [0,1] 0.9998297002724795 Centerline is valid? [True, True] Translation: X:177.56, Y:8.87, Z:-0.26 [[ 9.99579899e-01 -2.89734708e-02 -7.50630660e-04 1.77555260e+02] [ 2.89734380e-02 9.99580180e-01 -5.44400069e-05 8.86946815e+00] [ 7.51892847e-04 3.26687856e-05 9.99999717e-01 -2.60104536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.191400513 meters Centerline goodness [0,1] 0.9999147884623578 Centerline is valid? [True, True] Translation: X:177.58, Y:8.88, Z:-0.26 [[ 9.99573927e-01 -2.91878505e-02 -1.82247104e-04 1.77583259e+02] [ 2.91878486e-02 9.99573944e-01 -1.31606420e-05 8.87542785e+00] [ 1.82553587e-04 7.83563370e-06 9.99999983e-01 -2.59996199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.221400513 meters Centerline goodness [0,1] 0.9997448871125473 Centerline is valid? [True, True] Translation: X:177.61, Y:8.88, Z:-0.26 [[ 9.99545084e-01 -3.01545421e-02 -5.73626712e-04 1.77611784e+02] [ 3.01545230e-02 9.99545248e-01 -4.17647753e-05 8.87871759e+00] [ 5.74625252e-04 2.44483359e-05 9.99999835e-01 -2.60795763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.251400513 meters Centerline goodness [0,1] 0.9997438907267101 Centerline is valid? [True, True] Translation: X:177.64, Y:8.88, Z:-0.26 [[ 9.99525272e-01 -3.07700965e-02 -1.55926392e-03 1.77640416e+02] [ 3.07699561e-02 9.99526486e-01 -1.13957463e-04 8.88159489e+00] [ 1.56203207e-03 6.59248814e-05 9.99998778e-01 -2.62417618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.281400513 meters Centerline goodness [0,1] 0.9999788735369924 Centerline is valid? [True, True] Translation: X:177.67, Y:8.89, Z:-0.26 [[ 9.99509719e-01 -3.11558940e-02 -3.10346873e-03 1.77668161e+02] [ 3.11553386e-02 9.99514529e-01 -2.27166882e-04 8.88810978e+00] [ 3.10903967e-03 1.30365887e-04 9.99995158e-01 -2.64947559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.311400513 meters Centerline goodness [0,1] 0.9997646454704952 Centerline is valid? [True, True] Translation: X:177.70, Y:8.90, Z:-0.27 [[ 9.99472900e-01 -3.20892506e-02 -4.91951085e-03 1.77695087e+02] [ 3.20878647e-02 9.99484987e-01 -3.60397017e-04 8.89634018e+00] [ 4.92854211e-03 2.02350453e-04 9.99987834e-01 -2.68659359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.341400513 meters Centerline goodness [0,1] 0.999893166958677 Centerline is valid? [True, True] Translation: X:177.73, Y:8.89, Z:-0.27 [[ 9.99321949e-01 -3.63159616e-02 -6.06576456e-03 1.77726291e+02] [ 3.63139321e-02 9.99340333e-01 -4.44432385e-04 8.89249621e+00] [ 6.07790316e-03 2.23859275e-04 9.99981504e-01 -2.69481886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.371400513 meters Centerline goodness [0,1] 0.999915131969787 Centerline is valid? [True, True] Translation: X:177.75, Y:8.89, Z:-0.27 [[ 9.99213316e-01 -3.93063236e-02 -5.26888694e-03 1.77754890e+02] [ 3.93048330e-02 9.99227192e-01 -3.86205108e-04 8.89433324e+00] [ 5.27999540e-03 1.78808566e-04 9.99986045e-01 -2.68047841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.401400513 meters Centerline goodness [0,1] 0.9998934628824683 Centerline is valid? [True, True] Translation: X:177.78, Y:8.90, Z:-0.27 [[ 9.99086125e-01 -4.25499299e-02 -4.05206526e-03 1.77783548e+02] [ 4.25490744e-02 9.99094334e-01 -2.97144523e-04 8.89690457e+00] [ 4.06103892e-03 1.24461344e-04 9.99991746e-01 -2.66414899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.431400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.81, Y:8.89, Z:-0.26 [[ 9.98953892e-01 -4.56325229e-02 -2.96540567e-03 1.77813740e+02] [ 4.56320781e-02 9.98958290e-01 -2.17528547e-04 8.89021565e+00] [ 2.97224296e-03 8.19833654e-05 9.99995580e-01 -2.64079177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.461400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.84, Y:8.89, Z:-0.26 [[ 9.98675529e-01 -5.14106255e-02 -2.03344493e-03 1.77843159e+02] [ 5.14104282e-02 9.98677598e-01 -1.49207004e-04 8.89008189e+00] [ 2.03842672e-03 4.44691094e-05 9.99997921e-01 -2.62986946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.49140051300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.87, Y:8.89, Z:-0.26 [[ 9.98564846e-01 -5.35050215e-02 -2.33709109e-03 1.77871640e+02] [ 5.35047659e-02 9.98567579e-01 -1.71775057e-04 8.89081845e+00] [ 2.34293422e-03 4.64830209e-05 9.99997254e-01 -2.63785480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.521400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.90, Y:8.90, Z:-0.27 [[ 9.98485552e-01 -5.49111871e-02 -3.37105081e-03 1.77899194e+02] [ 5.49106623e-02 9.98491241e-01 -2.48082893e-04 8.89559509e+00] [ 3.37958723e-03 6.26005515e-05 9.99994287e-01 -2.65629345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.55140051300003 meters Centerline goodness [0,1] 0.9998501006467087 Centerline is valid? [True, True] Translation: X:177.93, Y:8.90, Z:-0.27 [[ 9.98414574e-01 -5.60760931e-02 -4.87950933e-03 1.77928616e+02] [ 5.60750041e-02 9.98426494e-01 -3.59803400e-04 8.89594957e+00] [ 4.89200776e-03 8.56144524e-05 9.99988030e-01 -2.67282091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.581400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.96, Y:8.90, Z:-0.27 [[ 9.98380183e-01 -5.66211701e-02 -5.57258472e-03 1.77956455e+02] [ 5.66197524e-02 9.98395730e-01 -4.11966903e-04 8.90029822e+00] [ 5.58697083e-03 9.57812250e-05 9.99984388e-01 -2.68131517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.61140051300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.98, Y:8.91, Z:-0.27 [[ 9.98343148e-01 -5.72225382e-02 -6.04478703e-03 1.77983750e+02] [ 5.72208782e-02 9.98361443e-01 -4.47334240e-04 8.90694388e+00] [ 6.06047990e-03 1.00705051e-04 9.99981630e-01 -2.69035952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.641400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.01, Y:8.91, Z:-0.27 [[ 9.98215440e-01 -5.95503575e-02 -4.43742853e-03 1.78012076e+02] [ 5.95494830e-02 9.98225301e-01 -3.29056395e-04 8.91197840e+00] [ 4.44914885e-03 6.42225990e-05 9.99990100e-01 -2.65356082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.67140051300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.04, Y:8.92, Z:-0.26 [[ 9.98102317e-01 -6.15019356e-02 -3.04593082e-03 1.78039253e+02] [ 6.15015319e-02 9.98106963e-01 -2.26093100e-04 8.91775553e+00] [ 3.05406992e-03 3.83346358e-05 9.99995336e-01 -2.63153302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.701400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.07, Y:8.92, Z:-0.26 [[ 9.97935228e-01 -6.42038850e-02 -1.77235064e-03 1.78068052e+02] [ 6.42037522e-02 9.97936802e-01 -1.31759467e-04 8.91994752e+00] [ 1.77715340e-03 1.76958525e-05 9.99998421e-01 -2.60990507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.731400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.10, Y:8.92, Z:-0.26 [[ 9.97709313e-01 -6.76321051e-02 -1.42305911e-03 1.78096827e+02] [ 6.76320227e-02 9.97710328e-01 -1.06004764e-04 8.92070853e+00] [ 1.42697010e-03 9.51757400e-06 9.99998982e-01 -2.60279327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.761400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.13, Y:8.92, Z:-0.26 [[ 9.97442703e-01 -7.14541189e-02 -1.53736363e-03 1.78125446e+02] [ 7.14540269e-02 9.97443888e-01 -1.14785717e-04 8.92202300e+00] [ 1.54163587e-03 4.64135363e-06 9.99998812e-01 -2.60627769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.791400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.15, Y:8.92, Z:-0.26 [[ 9.97133965e-01 -7.56321267e-02 -1.90704509e-03 1.78152000e+02] [ 7.56319920e-02 9.97135789e-01 -1.42764651e-04 8.92311087e+00] [ 1.91238050e-03 -1.87813590e-06 9.99998171e-01 -2.61213275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.821400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.18, Y:8.92, Z:-0.26 [[ 9.96545421e-01 -8.30093466e-02 -2.58323332e-03 1.78180583e+02] [ 8.30091235e-02 9.96548768e-01 -1.93675516e-04 8.92170876e+00] [ 2.59039486e-03 -2.14254846e-05 9.99996645e-01 -2.62136934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.851400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.21, Y:8.92, Z:-0.26 [[ 9.96353501e-01 -8.52604070e-02 -3.21931411e-03 1.78208666e+02] [ 8.52600715e-02 9.96358701e-01 -2.41569393e-04 8.92154545e+00] [ 3.22818793e-03 -3.37904402e-05 9.99994789e-01 -2.62674368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.881400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.24, Y:8.92, Z:-0.26 [[ 9.96178763e-01 -8.72651922e-02 -3.55796439e-03 1.78237673e+02] [ 8.72647932e-02 9.96185115e-01 -2.67538121e-04 8.92483677e+00] [ 3.56773794e-03 -4.39692330e-05 9.99993635e-01 -2.62256955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.911400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.27, Y:8.93, Z:-0.26 [[ 9.96021732e-01 -8.90560840e-02 -3.11816608e-03 1.78265091e+02] [ 8.90557854e-02 9.96026612e-01 -2.34726907e-04 8.92873454e+00] [ 3.12668026e-03 -4.38976287e-05 9.99995111e-01 -2.61211303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.941400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.29, Y:8.93, Z:-0.26 [[ 9.96036089e-01 -8.88844866e-02 -3.41431634e-03 1.78292164e+02] [ 8.88841267e-02 9.96041940e-01 -2.57301673e-04 8.93261719e+00] [ 3.42367240e-03 -4.71967740e-05 9.99994138e-01 -2.62304339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.971400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.32, Y:8.94, Z:-0.26 [[ 9.96099498e-01 -8.81438206e-02 -4.05661808e-03 1.78320404e+02] [ 8.81433039e-02 9.96107757e-01 -3.06342473e-04 8.93878928e+00] [ 4.06783093e-03 -5.24161366e-05 9.99991725e-01 -2.63618469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.001400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.35, Y:8.94, Z:-0.26 [[ 9.96145304e-01 -8.76040259e-02 -4.47961790e-03 1.78348163e+02] [ 8.76033863e-02 9.96155375e-01 -3.39157701e-04 8.94321138e+00] [ 4.49210703e-03 -5.45793469e-05 9.99989909e-01 -2.64361710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.031400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.38, Y:8.95, Z:-0.26 [[ 9.96170874e-01 -8.73274258e-02 -4.18465073e-03 1.78375850e+02] [ 8.73268639e-02 9.96179662e-01 -3.17161812e-04 8.94552745e+00] [ 4.19636087e-03 -4.94850653e-05 9.99991194e-01 -2.64049976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.061400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.40, Y:8.95, Z:-0.26 [[ 9.96176271e-01 -8.72895006e-02 -3.65786620e-03 1.78403122e+02] [ 8.72890699e-02 9.96182986e-01 -2.77523560e-04 8.94711876e+00] [ 3.66812896e-03 -4.28293527e-05 9.99993271e-01 -2.63269646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.091400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.43, Y:8.95, Z:-0.26 [[ 9.96152747e-01 -8.75477801e-02 -3.88458208e-03 1.78430825e+02] [ 8.75472937e-02 9.96160320e-01 -2.95409578e-04 8.95279557e+00] [ 3.89552898e-03 -4.58115855e-05 9.99992411e-01 -2.61635350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.121400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.46, Y:8.96, Z:-0.26 [[ 9.96167184e-01 -8.73448880e-02 -4.67026662e-03 1.78457803e+02] [ 8.73441795e-02 9.96178130e-01 -3.55845602e-04 8.95692332e+00] [ 4.68349877e-03 -5.34388949e-05 9.99989031e-01 -2.62546564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.151400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.49, Y:8.96, Z:-0.26 [[ 9.96151906e-01 -8.74550659e-02 -5.74384587e-03 1.78485938e+02] [ 8.74539897e-02 9.96168463e-01 -4.38743214e-04 8.96243457e+00] [ 5.76020843e-03 -6.52673482e-05 9.99983408e-01 -2.63395153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.181400513 meters Centerline goodness [0,1] 0.9999135807803655 Centerline is valid? [True, True] Translation: X:178.51, Y:8.97, Z:-0.26 [[ 9.96142572e-01 -8.75529064e-02 -5.87074416e-03 1.78512843e+02] [ 8.75517770e-02 9.96159869e-01 -4.49598627e-04 8.97464561e+00] [ 5.88756340e-03 -6.61297505e-05 9.99982666e-01 -2.62874066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.211400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.54, Y:8.98, Z:-0.26 [[ 9.96192932e-01 -8.70494365e-02 -4.69444482e-03 1.78540013e+02] [ 8.70487070e-02 9.96203992e-01 -3.59868330e-04 8.98070545e+00] [ 4.70795100e-03 -5.01470650e-05 9.99988916e-01 -2.62074630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.24140051300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.57, Y:8.99, Z:-0.26 [[ 9.96205045e-01 -8.69770315e-02 -3.24091343e-03 1.78567197e+02] [ 8.69766826e-02 9.96210317e-01 -2.48700300e-04 8.98656556e+00] [ 3.25026261e-03 -3.41274051e-05 9.99994717e-01 -2.60140214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.271400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.59, Y:8.99, Z:-0.26 [[ 9.96188746e-01 -8.71635149e-02 -3.24087191e-03 1.78594620e+02] [ 8.71631653e-02 9.96194017e-01 -2.49240688e-04 8.98885499e+00] [ 3.25026190e-03 -3.41938856e-05 9.99994717e-01 -2.60121689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.30140051300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.62, Y:8.99, Z:-0.26 [[ 9.96115665e-01 -8.80239164e-02 -2.31785711e-03 1.78622762e+02] [ 8.80237389e-02 9.96118361e-01 -1.78660072e-04 8.99313725e+00] [ 2.32458638e-03 -2.60603528e-05 9.99997298e-01 -2.58723845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.331400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.65, Y:9.00, Z:-0.26 [[ 9.95960589e-01 -8.97658650e-02 -2.14352385e-03 1.78651433e+02] [ 8.97657165e-02 9.95962895e-01 -1.65597370e-04 8.99777658e+00] [ 2.14973521e-03 -2.74864995e-05 9.99997689e-01 -2.58028537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.36140051300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.68, Y:9.00, Z:-0.26 [[ 9.95715375e-01 -9.24269974e-02 -2.85332276e-03 1.78678969e+02] [ 9.24267442e-02 9.95719463e-01 -2.20750623e-04 8.99713798e+00] [ 2.86151232e-03 -4.39185436e-05 9.99995905e-01 -2.59777171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.391400513 meters Centerline goodness [0,1] 0.9999572302296736 Centerline is valid? [True, True] Translation: X:178.71, Y:9.00, Z:-0.27 [[ 9.95039333e-01 -9.93015763e-02 -5.99360260e-03 1.78708616e+02] [ 9.93005827e-02 9.95057375e-01 -4.63869590e-04 8.99924029e+00] [ 6.01004145e-03 -1.33599744e-04 9.99981931e-01 -2.65075552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.42140051300004 meters Centerline goodness [0,1] 0.9999787469183031 Centerline is valid? [True, True] Translation: X:178.74, Y:9.00, Z:-0.27 [[ 9.94638375e-01 -1.03192949e-01 -6.76146463e-03 1.78738049e+02] [ 1.03191773e-01 9.94661341e-01 -5.23522648e-04 8.99951813e+00] [ 6.77939132e-03 -1.77011805e-04 9.99977004e-01 -2.66428375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.451400513 meters Centerline goodness [0,1] 0.9999144732622036 Centerline is valid? [True, True] Translation: X:178.77, Y:9.00, Z:-0.27 [[ 9.94236737e-01 -1.06975791e-01 -7.03495885e-03 1.78766797e+02] [ 1.06974610e-01 9.94261603e-01 -5.45019209e-04 8.99748191e+00] [ 7.05289332e-03 -2.10683861e-04 9.99975106e-01 -2.67340940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.481400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.80, Y:9.00, Z:-0.27 [[ 9.93945475e-01 -1.09636942e-01 -7.22041990e-03 1.78796110e+02] [ 1.09635767e-01 9.93971672e-01 -5.59574233e-04 9.00049498e+00] [ 7.23824285e-03 -2.35429999e-04 9.99973776e-01 -2.66492960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.511400513 meters Centerline goodness [0,1] 0.9999787442077966 Centerline is valid? [True, True] Translation: X:178.82, Y:9.01, Z:-0.27 [[ 9.93835716e-01 -1.10624836e-01 -7.26052422e-03 1.78824247e+02] [ 1.10623666e-01 9.93862207e-01 -5.63797777e-04 9.00711209e+00] [ 7.27833066e-03 -2.42863437e-04 9.99973483e-01 -2.65232229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.541400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.85, Y:9.01, Z:-0.26 [[ 9.93970006e-01 -1.09461504e-01 -6.46573548e-03 1.78851850e+02] [ 1.09460548e-01 9.93991014e-01 -5.02524343e-04 9.01236357e+00] [ 6.48189003e-03 -2.08248826e-04 9.99978971e-01 -2.63880131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.571400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.88, Y:9.02, Z:-0.26 [[ 9.94216358e-01 -1.07261296e-01 -5.37093264e-03 1.78878918e+02] [ 1.07260603e-01 9.94230853e-01 -4.17742964e-04 9.02102990e+00] [ 5.38475459e-03 -1.60762587e-04 9.99985489e-01 -2.62066567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.601400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.91, Y:9.03, Z:-0.26 [[ 9.94556163e-01 -1.04118109e-01 -4.17835929e-03 1.78908462e+02] [ 1.04117661e-01 9.94564934e-01 -3.25058146e-04 9.03258625e+00] [ 4.18949407e-03 -1.11752415e-04 9.99991218e-01 -2.60038838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.631400513 meters Centerline goodness [0,1] 0.9999134423959145 Centerline is valid? [True, True] Translation: X:178.94, Y:9.05, Z:-0.26 [[ 9.94964277e-01 -1.00154148e-01 -3.90312521e-03 1.78937504e+02] [ 1.00153727e-01 9.94971929e-01 -3.03692515e-04 9.04732234e+00] [ 3.91391608e-03 -8.87493325e-05 9.99992337e-01 -2.59207970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.661400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.97, Y:9.06, Z:-0.26 [[ 9.95487535e-01 -9.48087556e-02 -3.98344589e-03 1.78965704e+02] [ 9.48082738e-02 9.95495502e-01 -3.10030280e-04 9.06067310e+00] [ 3.99489605e-03 -6.90323490e-05 9.99992018e-01 -2.59828790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.691400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.99, Y:9.09, Z:-0.26 [[ 9.96429840e-01 -8.42294855e-02 -5.74175472e-03 1.78993588e+02] [ 8.42283083e-02 9.96446382e-01 -4.46963105e-04 9.08688592e+00] [ 5.75899819e-03 -3.82509121e-05 9.99983416e-01 -2.63097984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.721400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.02, Y:9.10, Z:-0.26 [[ 9.96704608e-01 -8.09451288e-02 -5.27350271e-03 1.79022012e+02] [ 8.09440856e-02 9.96718559e-01 -4.11310653e-04 9.09891003e+00] [ 5.28949162e-03 -1.69036314e-05 9.99986010e-01 -2.62764643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.751400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.05, Y:9.11, Z:-0.26 [[ 9.96837882e-01 -7.93499141e-02 -4.22237099e-03 1.79048948e+02] [ 7.93492297e-02 9.96846824e-01 -3.29635690e-04 9.10779826e+00] [ 4.23521368e-03 -6.44854262e-06 9.99991031e-01 -2.61084173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.781400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.08, Y:9.11, Z:-0.26 [[ 9.96832181e-01 -7.94652090e-02 -3.29893491e-03 1.79076688e+02] [ 7.94647900e-02 9.96837640e-01 -2.58092999e-04 9.11333866e+00] [ 3.30901190e-03 -4.87376247e-06 9.99994525e-01 -2.59129252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.811400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.10, Y:9.11, Z:-0.26 [[ 9.96639517e-01 -8.18260169e-02 -3.76508950e-03 1.79104545e+02] [ 8.18254867e-02 9.96646629e-01 -2.94902232e-04 9.11465634e+00] [ 3.77659444e-03 -1.41690629e-05 9.99992869e-01 -2.58776636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.841400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.13, Y:9.11, Z:-0.26 [[ 9.96507737e-01 -8.33706311e-02 -4.65491781e-03 1.79132802e+02] [ 8.33698362e-02 9.96518609e-01 -3.64890498e-04 9.11444656e+00] [ 4.66913337e-03 -2.44635307e-05 9.99989099e-01 -2.60977672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.871400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.16, Y:9.12, Z:-0.26 [[ 9.96444509e-01 -8.40902136e-02 -5.21314432e-03 1.79160980e+02] [ 8.40892217e-02 9.96458145e-01 -4.09568809e-04 9.11756055e+00] [ 5.22912085e-03 -3.02566580e-05 9.99986328e-01 -2.61827083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.901400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.19, Y:9.12, Z:-0.26 [[ 9.96466179e-01 -8.38342094e-02 -5.19412857e-03 1.79188112e+02] [ 8.38332185e-02 9.96479716e-01 -4.08582012e-04 9.12097605e+00] [ 5.21009691e-03 -2.83023592e-05 9.99986427e-01 -2.62439902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.931400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.22, Y:9.13, Z:-0.26 [[ 9.96602310e-01 -8.22539673e-02 -4.25684031e-03 1.79215655e+02] [ 8.22532858e-02 9.96611401e-01 -3.35213155e-04 9.12638206e+00] [ 4.26998819e-03 -1.60648975e-05 9.99990883e-01 -2.60848816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.961400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.24, Y:9.14, Z:-0.26 [[ 9.97043181e-01 -7.67616672e-02 -3.54151791e-03 1.79242755e+02] [ 7.67611587e-02 9.97049470e-01 -2.79492455e-04 9.13654931e+00] [ 3.55252286e-03 6.81502829e-06 9.99993690e-01 -2.57818111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.99140051300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.27, Y:9.14, Z:-0.26 [[ 9.97290110e-01 -7.34472923e-02 -4.23470392e-03 1.79271147e+02] [ 7.34465321e-02 9.97299100e-01 -3.34967368e-04 9.14315850e+00] [ 4.24786886e-03 2.30353254e-05 9.99990977e-01 -2.58573418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.021400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.30, Y:9.15, Z:-0.26 [[ 9.97562087e-01 -6.96050378e-02 -5.00221044e-03 1.79298622e+02] [ 6.96039267e-02 9.97574627e-01 -3.96078034e-04 9.15145936e+00] [ 5.01764724e-03 4.69389419e-05 9.99987410e-01 -2.60542545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.05140051300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.33, Y:9.16, Z:-0.26 [[ 9.97813095e-01 -6.58460271e-02 -5.77301114e-03 1.79326486e+02] [ 6.58444814e-02 9.97829793e-01 -4.57606061e-04 9.15851159e+00] [ 5.79061405e-03 7.64843954e-05 9.99983231e-01 -2.62010355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.081400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.36, Y:9.17, Z:-0.26 [[ 9.98064930e-01 -6.18780046e-02 -6.12446205e-03 1.79355455e+02] [ 6.18761891e-02 9.98083715e-01 -4.85653218e-04 9.16559244e+00] [ 6.14277708e-03 1.05755073e-04 9.99981127e-01 -2.62923127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.11140051300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.39, Y:9.18, Z:-0.26 [[ 9.98532155e-01 -5.38872279e-02 -5.44989786e-03 1.79385339e+02] [ 5.38856710e-02 9.98547018e-01 -4.32206170e-04 9.17686812e+00] [ 5.46526966e-03 1.37900355e-04 9.99985056e-01 -2.62689504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.141400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.41, Y:9.18, Z:-0.26 [[ 9.98726844e-01 -5.02122509e-02 -4.83948127e-03 1.79413853e+02] [ 5.02109794e-02 9.98738559e-01 -3.83949401e-04 9.18483567e+00] [ 4.85265552e-03 1.40465479e-04 9.99988216e-01 -2.61958127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.17140051300004 meters Centerline goodness [0,1] 0.9999575740862519 Centerline is valid? [True, True] Translation: X:179.44, Y:9.20, Z:-0.26 [[ 9.98868244e-01 -4.73383087e-02 -4.61686497e-03 1.79441467e+02] [ 4.73371199e-02 9.98878903e-01 -3.66497448e-04 9.19615460e+00] [ 4.62903839e-03 1.47533572e-04 9.99989275e-01 -2.61717194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.201400513 meters Centerline goodness [0,1] 0.9999576522401965 Centerline is valid? [True, True] Translation: X:179.47, Y:9.20, Z:-0.26 [[ 9.98975318e-01 -4.49607895e-02 -5.18090115e-03 1.79470434e+02] [ 4.49592595e-02 9.98988737e-01 -4.11462850e-04 9.20132433e+00] [ 5.19416159e-03 1.78111752e-04 9.99986494e-01 -2.62132298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.231400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.50, Y:9.21, Z:-0.26 [[ 9.99127254e-01 -4.13818348e-02 -5.68106414e-03 1.79500047e+02] [ 4.13799368e-02 9.99143382e-01 -4.51269113e-04 9.20664498e+00] [ 5.69487198e-03 2.15793194e-04 9.99983761e-01 -2.61511468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.261400513 meters Centerline goodness [0,1] 0.999893800046728 Centerline is valid? [True, True] Translation: X:179.53, Y:9.21, Z:-0.26 [[ 9.99169389e-01 -4.04611768e-02 -4.83999283e-03 1.79527129e+02] [ 4.04597873e-02 9.99181094e-01 -3.84706729e-04 9.21251557e+00] [ 4.85159502e-03 1.88562107e-04 9.99988213e-01 -2.60471980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.291400513 meters Centerline goodness [0,1] 0.9999576298116645 Centerline is valid? [True, True] Translation: X:179.56, Y:9.21, Z:-0.26 [[ 9.99187641e-01 -4.01013016e-02 -3.99284118e-03 1.79556376e+02] [ 4.01003508e-02 9.99195607e-01 -3.17934592e-04 9.21325423e+00] [ 4.00237896e-03 1.57561983e-04 9.99991978e-01 -2.59224528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.321400513 meters Centerline goodness [0,1] 0.9998939734509521 Centerline is valid? [True, True] Translation: X:179.58, Y:9.21, Z:-0.26 [[ 9.99186720e-01 -4.01974486e-02 -3.17223067e-03 1.79584848e+02] [ 4.01968472e-02 9.99191748e-01 -2.53148392e-04 9.21139465e+00] [ 3.17984263e-03 1.25428841e-04 9.99994936e-01 -2.58047085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.351400513 meters Centerline goodness [0,1] 0.9999788350829665 Centerline is valid? [True, True] Translation: X:179.61, Y:9.21, Z:-0.26 [[ 9.99174627e-01 -4.05311648e-02 -2.70006248e-03 1.79612962e+02] [ 4.05307297e-02 9.99178269e-01 -2.15694504e-04 9.21226208e+00] [ 2.70658610e-03 1.06080973e-04 9.99996332e-01 -2.57827968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.381400513 meters Centerline goodness [0,1] 0.9999789260726629 Centerline is valid? [True, True] Translation: X:179.64, Y:9.22, Z:-0.26 [[ 9.99152166e-01 -4.10583347e-02 -3.02690213e-03 1.79641146e+02] [ 4.10577890e-02 9.99156744e-01 -2.42229511e-04 9.21503371e+00] [ 3.03429522e-03 1.17746232e-04 9.99995390e-01 -2.58632939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.411400513 meters Centerline goodness [0,1] 0.999788292579655 Centerline is valid? [True, True] Translation: X:179.67, Y:9.22, Z:-0.26 [[ 9.99135574e-01 -4.12637714e-02 -5.04050877e-03 1.79668074e+02] [ 4.12622581e-02 9.99148269e-01 -4.03895835e-04 9.21619939e+00] [ 5.05288188e-03 1.95563923e-04 9.99987215e-01 -2.62359022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.441400513 meters Centerline goodness [0,1] 0.9998942716373094 Centerline is valid? [True, True] Translation: X:179.70, Y:9.21, Z:-0.26 [[ 9.99136038e-01 -4.12171867e-02 -5.32166518e-03 1.79697486e+02] [ 4.12154949e-02 9.99150189e-01 -4.27241522e-04 9.21449808e+00] [ 5.33475246e-03 2.07537338e-04 9.99985749e-01 -2.62341689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.471400513 meters Centerline goodness [0,1] 0.9999573588043409 Centerline is valid? [True, True] Translation: X:179.73, Y:9.21, Z:-0.26 [[ 9.99138575e-01 -4.11772972e-02 -5.15157619e-03 1.79726710e+02] [ 4.11757069e-02 9.99151835e-01 -4.14433981e-04 9.21479176e+00] [ 5.16427207e-03 2.01957186e-04 9.99986645e-01 -2.62023505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.501400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.76, Y:9.22, Z:-0.26 [[ 9.99144066e-01 -4.10914662e-02 -4.75673060e-03 1.79755549e+02] [ 4.10901056e-02 9.99155371e-01 -3.83448802e-04 9.21506128e+00] [ 4.76846940e-03 1.87666033e-04 9.99988613e-01 -2.61582316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.531400513 meters Centerline goodness [0,1] 0.9999152757773447 Centerline is valid? [True, True] Translation: X:179.78, Y:9.22, Z:-0.26 [[ 9.99209613e-01 -3.93845926e-02 -5.38540780e-03 1.79783945e+02] [ 3.93828218e-02 9.99224101e-01 -4.34495217e-04 9.21892931e+00] [ 5.39834169e-03 2.22059241e-04 9.99985404e-01 -2.62971153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.561400513 meters Centerline goodness [0,1] 0.999978647990776 Centerline is valid? [True, True] Translation: X:179.81, Y:9.22, Z:-0.26 [[ 9.99226953e-01 -3.87945268e-02 -6.36253231e-03 1.79812398e+02] [ 3.87920408e-02 9.99247173e-01 -5.13705583e-04 9.21778798e+00] [ 6.37767140e-03 2.66492851e-04 9.99979627e-01 -2.64467757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.591400513 meters Centerline goodness [0,1] 0.9998301882787459 Centerline is valid? [True, True] Translation: X:179.84, Y:9.22, Z:-0.27 [[ 9.99211529e-01 -3.90702888e-02 -7.05920465e-03 1.79840050e+02] [ 3.90672326e-02 9.99236421e-01 -5.70372667e-04 9.22372695e+00] [ 7.07609902e-03 2.94139354e-04 9.99974921e-01 -2.66642750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.621400513 meters Centerline goodness [0,1] 0.9999147212450699 Centerline is valid? [True, True] Translation: X:179.87, Y:9.22, Z:-0.27 [[ 9.99163091e-01 -4.02173120e-02 -7.46220806e-03 1.79869790e+02] [ 4.02139207e-02 9.99190911e-01 -6.04021203e-04 9.22069525e+00] [ 7.48046257e-03 3.03431049e-04 9.99971975e-01 -2.67063458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.651400513 meters Centerline goodness [0,1] 0.9999362867943763 Centerline is valid? [True, True] Translation: X:179.90, Y:9.22, Z:-0.27 [[ 9.99106578e-01 -4.16127482e-02 -7.37731443e-03 1.79899188e+02] [ 4.16094668e-02 9.99133772e-01 -5.97786759e-04 9.22182869e+00] [ 7.39579955e-03 2.90286563e-04 9.99972609e-01 -2.67287403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.681400513 meters Centerline goodness [0,1] 0.9999364985288826 Centerline is valid? [True, True] Translation: X:179.93, Y:9.22, Z:-0.27 [[ 9.99046222e-01 -4.31347040e-02 -6.78553857e-03 1.79927416e+02] [ 4.31319608e-02 9.99069232e-01 -5.50172210e-04 9.22444578e+00] [ 6.80295433e-03 2.56973884e-04 9.99976827e-01 -2.66715180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.711400513 meters Centerline goodness [0,1] 0.9998087100682267 Centerline is valid? [True, True] Translation: X:179.96, Y:9.22, Z:-0.27 [[ 9.98921047e-01 -4.57989741e-02 -7.69394691e-03 1.79956436e+02] [ 4.57955239e-02 9.98950640e-01 -6.24102010e-04 9.22344296e+00] [ 7.71445642e-03 2.71080303e-04 9.99970206e-01 -2.68198856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.74140051300003 meters Centerline goodness [0,1] 0.9998521459952687 Centerline is valid? [True, True] Translation: X:179.99, Y:9.22, Z:-0.27 [[ 9.98845155e-01 -4.72665473e-02 -8.61561777e-03 1.79985989e+02] [ 4.72622642e-02 9.98882269e-01 -7.00162465e-04 9.21997856e+00] [ 8.63908209e-03 2.92160282e-04 9.99962640e-01 -2.69053273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.771400513 meters Centerline goodness [0,1] 0.9998515502396403 Centerline is valid? [True, True] Translation: X:180.01, Y:9.22, Z:-0.27 [[ 9.98778621e-01 -4.85510832e-02 -9.16835916e-03 1.80013219e+02] [ 4.85462815e-02 9.98820656e-01 -7.45679996e-04 9.22399179e+00] [ 9.19375008e-03 2.99679493e-04 9.99957692e-01 -2.70913799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.80140051300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.04, Y:9.21, Z:-0.27 [[ 9.98728632e-01 -4.98363847e-02 -7.57984147e-03 1.80042984e+02] [ 4.98331370e-02 9.98757367e-01 -6.16837865e-04 9.21323370e+00] [ 7.60116347e-03 2.38326358e-04 9.99971082e-01 -2.65361368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.831400513 meters Centerline goodness [0,1] 0.9999788041289557 Centerline is valid? [True, True] Translation: X:180.07, Y:9.22, Z:-0.26 [[ 9.98773296e-01 -4.90601559e-02 -6.70857437e-03 1.80070372e+02] [ 4.90575919e-02 9.98795802e-01 -5.46314613e-04 9.21607593e+00] [ 6.72729820e-03 2.16537943e-04 9.99977348e-01 -2.63560185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.86140051300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.10, Y:9.22, Z:-0.26 [[ 9.98840615e-01 -4.77006598e-02 -6.48643543e-03 1.80098970e+02] [ 4.76982278e-02 9.98861652e-01 -5.29209193e-04 9.21697084e+00] [ 6.50429524e-03 2.19204161e-04 9.99978823e-01 -2.62281632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.891400513 meters Centerline goodness [0,1] 0.999978793790822 Centerline is valid? [True, True] Translation: X:180.13, Y:9.22, Z:-0.26 [[ 9.98931552e-01 -4.57530758e-02 -6.51226521e-03 1.80128311e+02] [ 4.57505815e-02 9.98952753e-01 -5.31563196e-04 9.21919886e+00] [ 6.52976591e-03 2.33055329e-04 9.99978654e-01 -2.61782560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.92140051300004 meters Centerline goodness [0,1] 0.9999149135308758 Centerline is valid? [True, True] Translation: X:180.16, Y:9.23, Z:-0.26 [[ 9.99014866e-01 -4.39081509e-02 -6.43210586e-03 1.80156162e+02] [ 4.39056779e-02 9.99035543e-01 -5.25236826e-04 9.23038973e+00] [ 6.44896454e-03 2.42313429e-04 9.99979176e-01 -2.62749037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.951400513 meters Centerline goodness [0,1] 0.9999788646066703 Centerline is valid? [True, True] Translation: X:180.19, Y:9.23, Z:-0.26 [[ 9.99099915e-01 -4.20109194e-02 -5.86868827e-03 1.80186509e+02] [ 4.20088272e-02 9.99117125e-01 -4.79371898e-04 9.22563574e+00] [ 5.88364580e-03 2.32403711e-04 9.99982664e-01 -2.60734815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.981400513 meters Centerline goodness [0,1] 0.9999366192719668 Centerline is valid? [True, True] Translation: X:180.22, Y:9.23, Z:-0.26 [[ 9.99261376e-01 -3.82976518e-02 -3.16121169e-03 1.80215386e+02] [ 3.82970261e-02 9.99266366e-01 -2.58254801e-04 9.23042709e+00] [ 3.16878307e-03 1.36999041e-04 9.99994970e-01 -2.56870990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.011400513 meters Centerline goodness [0,1] 0.9999785931412425 Centerline is valid? [True, True] Translation: X:180.24, Y:9.23, Z:-0.25 [[ 9.99346977e-01 -3.60828777e-02 -1.90932331e-03 1.80244855e+02] [ 3.60826454e-02 9.99348797e-01 -1.56031168e-04 9.22805304e+00] [ 1.91371000e-03 8.70358406e-05 9.99998165e-01 -2.54376454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.041400513 meters Centerline goodness [0,1] 0.9998930961493233 Centerline is valid? [True, True] Translation: X:180.27, Y:9.23, Z:-0.25 [[ 9.99435710e-01 -3.35668246e-02 -1.23665297e-03 1.80274835e+02] [ 3.35667252e-02 9.99436474e-01 -1.01082481e-04 9.23103947e+00] [ 1.23934910e-03 5.95150510e-05 9.99999230e-01 -2.53615526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.071400513 meters Centerline goodness [0,1] 0.9998517200474496 Centerline is valid? [True, True] Translation: X:180.30, Y:9.24, Z:-0.26 [[ 9.99595224e-01 -2.83526006e-02 -2.34887416e-03 1.80303622e+02] [ 2.83522275e-02 9.99597976e-01 -1.91994865e-04 9.23827088e+00] [ 2.35337341e-03 1.25321336e-04 9.99997223e-01 -2.55689048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.101400513 meters Centerline goodness [0,1] 0.9995121330391991 Centerline is valid? [True, True] Translation: X:180.33, Y:9.25, Z:-0.26 [[ 9.99670352e-01 -2.54772970e-02 -3.17709700e-03 1.80332071e+02] [ 2.54765999e-02 9.99675385e-01 -2.59699333e-04 9.25002041e+00] [ 3.18268211e-03 1.78672095e-04 9.99994919e-01 -2.57739396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.131400513 meters Centerline goodness [0,1] 0.9994256296800544 Centerline is valid? [True, True] Translation: X:180.36, Y:9.25, Z:-0.26 [[ 9.99742347e-01 -2.23586831e-02 -3.91522469e-03 1.80362794e+02] [ 2.23576006e-02 9.99749986e-01 -3.20043042e-04 9.25099363e+00] [ 3.92140157e-03 2.32425552e-04 9.99992284e-01 -2.58276453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.161400513 meters Centerline goodness [0,1] 0.9994256296800544 Centerline is valid? [True, True] Translation: X:180.39, Y:9.25, Z:-0.26 [[ 9.99738259e-01 -2.25407553e-02 -3.91517628e-03 1.80390231e+02] [ 2.25396719e-02 9.99745898e-01 -3.20634570e-04 9.25339367e+00] [ 3.92140877e-03 2.32303858e-04 9.99992284e-01 -2.58257902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.191400513 meters Centerline goodness [0,1] 0.9996804975717816 Centerline is valid? [True, True] Translation: X:180.42, Y:9.26, Z:-0.26 [[ 9.99803296e-01 -1.93692044e-02 -4.26644964e-03 1.80420366e+02] [ 1.93678885e-02 9.99812364e-01 -3.49538786e-04 9.25530102e+00] [ 4.27241939e-03 2.66837909e-04 9.99990838e-01 -2.58363966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.221400513 meters Centerline goodness [0,1] 0.9989351960304108 Centerline is valid? [True, True] Translation: X:180.45, Y:9.26, Z:-0.26 [[ 9.99848598e-01 -1.67125673e-02 -4.84468618e-03 1.80449341e+02] [ 1.67108391e-02 9.99860285e-01 -3.96971683e-04 9.26010112e+00] [ 4.85064372e-03 3.15952809e-04 9.99988186e-01 -2.58695382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.251400513 meters Centerline goodness [0,1] 0.996585293431462 Centerline is valid? [True, True] Translation: X:180.48, Y:9.27, Z:-0.26 [[ 9.99885506e-01 -1.37202096e-02 -6.38213643e-03 1.80477838e+02] [ 1.37171490e-02 9.99905779e-01 -5.23093381e-04 9.26665867e+00] [ 6.38871205e-03 4.35488773e-04 9.99979497e-01 -2.60769891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.281400513 meters Centerline goodness [0,1] 0.9992549228312932 Centerline is valid? [True, True] Translation: X:180.51, Y:9.26, Z:-0.26 [[ 9.99911658e-01 -1.19709339e-02 -5.77695493e-03 1.80505261e+02] [ 1.19786452e-02 9.99927406e-01 1.30208949e-03 9.25944739e+00] [ 5.76094833e-03 -1.37117455e-03 9.99982466e-01 -2.61643031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.311400513 meters Centerline goodness [0,1] 0.9930074388947928 Centerline is valid? [True, True] Translation: X:180.54, Y:9.27, Z:-0.26 [[ 9.99874204e-01 -1.39840546e-02 -7.48478629e-03 1.80535351e+02] [ 1.39664069e-02 9.99899573e-01 -2.40490827e-03 9.27021721e+00] [ 7.51766499e-03 2.30007017e-03 9.99969097e-01 -2.63762653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.341400513 meters Centerline goodness [0,1] 0.9967117126673314 Centerline is valid? [True, True] Translation: X:180.57, Y:9.27, Z:-0.26 [[ 9.99852122e-01 -1.51608574e-02 -8.11677651e-03 1.80565110e+02] [ 1.51559327e-02 9.99884919e-01 -6.67896837e-04 9.26539444e+00] [ 8.12596831e-03 5.44780751e-04 9.99966835e-01 -2.64272494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.371400513 meters Centerline goodness [0,1] 0.9969582234323151 Centerline is valid? [True, True] Translation: X:180.60, Y:9.26, Z:-0.27 [[ 9.99825531e-01 -1.67294327e-02 -8.30864713e-03 1.80595311e+02] [ 1.67243248e-02 9.99859905e-01 -6.83873135e-04 9.26440776e+00] [ 8.31892394e-03 5.44797307e-04 9.99965249e-01 -2.65211135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.401400513 meters Centerline goodness [0,1] 0.9970123772940674 Centerline is valid? [True, True] Translation: X:180.62, Y:9.26, Z:-0.26 [[ 9.99785032e-01 -1.90452701e-02 -8.19560398e-03 1.80624897e+02] [ 1.90403771e-02 9.99818488e-01 -6.74642821e-04 9.26204719e+00] [ 8.20696513e-03 5.18450404e-04 9.99966188e-01 -2.64567877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.431400513 meters Centerline goodness [0,1] 0.9946816400042378 Centerline is valid? [True, True] Translation: X:180.65, Y:9.26, Z:-0.26 [[ 9.99776082e-01 -1.96787704e-02 -7.78022835e-03 1.80653059e+02] [ 1.96743711e-02 9.99806235e-01 -6.41575657e-04 9.26392950e+00] [ 7.79134623e-03 4.88360896e-04 9.99969528e-01 -2.64168394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.461400513 meters Centerline goodness [0,1] 0.9993590976094341 Centerline is valid? [True, True] Translation: X:180.68, Y:9.25, Z:-0.26 [[ 9.99784604e-01 -1.92298110e-02 -7.80765949e-03 1.80683111e+02] [ 1.92253571e-02 9.99814968e-01 -6.45109286e-04 9.25343537e+00] [ 7.81862015e-03 4.94865291e-04 9.99969312e-01 -2.62389724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.49140051300003 meters Centerline goodness [0,1] 0.9905411163187048 Centerline is valid? [True, True] Translation: X:180.71, Y:9.26, Z:-0.26 [[ 9.99818209e-01 -1.72432645e-02 -8.13750809e-03 1.80711398e+02] [ 1.72383585e-02 9.99851182e-01 -6.72649899e-04 9.26258333e+00] [ 8.14789576e-03 5.32250336e-04 9.99966664e-01 -2.63068973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.521400513 meters Centerline goodness [0,1] 0.9882154522747166 Centerline is valid? [True, True] Translation: X:180.74, Y:9.26, Z:-0.26 [[ 9.99857284e-01 -1.44137797e-02 -8.81215200e-03 1.80741845e+02] [ 1.44079169e-02 9.99895935e-01 -7.28435220e-04 9.26398354e+00] [ 8.82173447e-03 6.01366506e-04 9.99960907e-01 -2.63747090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.55140051300003 meters Centerline goodness [0,1] 0.9601767092156405 Centerline is valid? [True, True] Translation: X:180.77, Y:9.27, Z:-0.26 [[ 9.99894246e-01 -1.12891139e-02 -9.16798149e-03 1.80771681e+02] [ 1.12826374e-02 9.99936062e-01 -7.57843696e-04 9.27127054e+00] [ 9.17595069e-03 6.54324541e-04 9.99957686e-01 -2.64680872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.581400513 meters Centerline goodness [0,1] 0.7946235189196076 Centerline is valid? [True, False] Translation: X:180.77, Y:9.27, Z:-0.26 [[ 9.99938781e-01 -6.56481847e-03 -8.90717787e-03 1.80769926e+02] [ 6.60320118e-03 9.99969011e-01 4.28664465e-03 9.26811197e+00] [ 8.87876080e-03 -4.34519812e-03 9.99951142e-01 -2.63246448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.61140051300004 meters Centerline goodness [0,1] 0.8794705358279241 Centerline is valid? [False, False] Translation: X:180.77, Y:9.27, Z:-0.26 [[ 9.99941802e-01 -6.53803781e-03 -8.58175795e-03 1.80768339e+02] [ 6.57387323e-03 9.99969763e-01 4.15422195e-03 9.26894266e+00] [ 8.55433800e-03 -4.21039557e-03 9.99954547e-01 -2.62287428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.641400513 meters Centerline goodness [0,1] 0.8891739353514623 Centerline is valid? [False, False] Translation: X:180.77, Y:9.27, Z:-0.26 [[ 9.99943249e-01 -6.53595712e-03 -8.41309188e-03 1.80767432e+02] [ 6.57022385e-03 9.99970207e-01 4.05185054e-03 9.26953890e+00] [ 8.38635851e-03 -4.10689649e-03 9.99956400e-01 -2.61607223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.67140051300004 meters Centerline goodness [0,1] 0.900597397055686 Centerline is valid? [False, False] Translation: X:180.77, Y:9.27, Z:-0.26 [[ 9.99940753e-01 -6.70238984e-03 -8.57719845e-03 1.80768469e+02] [ 6.73232775e-03 9.99971330e-01 3.46630547e-03 9.27231947e+00] [ 8.55372001e-03 -3.52384462e-03 9.99957207e-01 -2.62685109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.701400513 meters Centerline goodness [0,1] 0.7430329970935203 Centerline is valid? [False, False] Translation: X:180.77, Y:9.27, Z:-0.26 [[ 9.99939287e-01 -6.75701055e-03 -8.70429086e-03 1.80769235e+02] [ 6.78636790e-03 9.99971369e-01 3.34763603e-03 9.27282258e+00] [ 8.68142164e-03 -3.40650330e-03 9.99956513e-01 -2.63365067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.731400513 meters Centerline goodness [0,1] 0.9608709782255443 Centerline is valid? [False, True] Translation: X:180.77, Y:9.28, Z:-0.26 [[ 9.99901003e-01 -1.13143275e-02 -8.36486016e-03 1.80768452e+02] [ 1.12966638e-02 9.99933867e-01 -2.15589128e-03 9.27877104e+00] [ 8.38869942e-03 2.06118284e-03 9.99962690e-01 -2.63948108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.761400513 meters Centerline goodness [0,1] 0.9399192590833532 Centerline is valid? [True, False] Translation: X:180.77, Y:9.27, Z:-0.26 [[ 9.99934328e-01 -7.31607905e-03 -8.82127278e-03 1.80769515e+02] [ 7.34541742e-03 9.99967583e-01 3.29806616e-03 9.27173482e+00] [ 8.79685791e-03 -3.36264550e-03 9.99955653e-01 -2.62981563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.791400513 meters Centerline goodness [0,1] 0.9831061375272743 Centerline is valid? [False, True] Translation: X:180.77, Y:9.27, Z:-0.26 [[ 9.99936791e-01 -7.18521231e-03 -8.64791072e-03 1.80768211e+02] [ 7.22172196e-03 9.99965111e-01 4.19799168e-03 9.26729705e+00] [ 8.61744554e-03 -4.26017913e-03 9.99953794e-01 -2.61261473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.821400513 meters Centerline goodness [0,1] 0.9092523264520269 Centerline is valid? [True, False] Translation: X:180.79, Y:9.28, Z:-0.27 [[ 9.99966554e-01 -7.69108728e-03 -2.78158503e-03 1.80790528e+02] [ 7.67160369e-03 9.99946430e-01 -6.94861348e-03 9.27646940e+00] [ 2.83487842e-03 6.92704186e-03 9.99971989e-01 -2.67528113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.851400513 meters Centerline goodness [0,1] 0.9975706761259808 Centerline is valid? [False, True] Translation: X:180.79, Y:9.27, Z:-0.27 [[ 9.99987334e-01 -4.02783213e-03 -3.01804607e-03 1.80791002e+02] [ 4.02353661e-03 9.99990886e-01 -1.42800047e-03 9.26812122e+00] [ 3.02377031e-03 1.41583916e-03 9.99994426e-01 -2.66550664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.881400513 meters Centerline goodness [0,1] 0.9965516507375636 Centerline is valid? [True, True] Translation: X:180.82, Y:9.27, Z:-0.27 [[ 9.99974322e-01 -6.35147159e-03 -3.31877136e-03 1.80819890e+02] [ 6.35065459e-03 9.99979801e-01 -2.56655584e-04 9.26933074e+00] [ 3.32033447e-03 2.35572623e-04 9.99994460e-01 -2.66856791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.911400513 meters Centerline goodness [0,1] 0.9988835451734799 Centerline is valid? [True, True] Translation: X:180.85, Y:9.27, Z:-0.27 [[ 9.99957290e-01 -8.55573501e-03 -3.49523023e-03 1.80850188e+02] [ 8.55484222e-03 9.99963370e-01 -2.70302884e-04 9.26777360e+00] [ 3.49741484e-03 2.40390197e-04 9.99993855e-01 -2.67480056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.941400513 meters Centerline goodness [0,1] 0.9994004411040449 Centerline is valid? [True, True] Translation: X:180.88, Y:9.27, Z:-0.27 [[ 9.99937658e-01 -1.07818133e-02 -2.90381616e-03 1.80880669e+02] [ 1.07812064e-02 9.99941856e-01 -2.24582459e-04 9.26640787e+00] [ 2.90606872e-03 1.93261817e-04 9.99995759e-01 -2.67288059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.971400513 meters Centerline goodness [0,1] 0.9995738242877539 Centerline is valid? [True, True] Translation: X:180.91, Y:9.26, Z:-0.27 [[ 9.99885625e-01 -1.51102277e-02 -6.46952633e-04 1.80910781e+02] [ 1.51101985e-02 9.99885833e-01 -5.00353500e-05 9.26478543e+00] [ 6.47634818e-04 4.02540445e-05 9.99999789e-01 -2.65992953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.001400513 meters Centerline goodness [0,1] 0.9996976307207188 Centerline is valid? [True, True] Translation: X:180.94, Y:9.26, Z:-0.27 [[ 9.99847014e-01 -1.74719556e-02 -8.24005587e-04 1.80940301e+02] [ 1.74719090e-02 9.99847353e-01 -6.37605579e-05 9.26330917e+00] [ 8.24993826e-04 4.93538528e-05 9.99999658e-01 -2.65688521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.031400513 meters Centerline goodness [0,1] 0.9998471415469276 Centerline is valid? [True, True] Translation: X:180.97, Y:9.26, Z:-0.27 [[ 9.99803330e-01 -1.97206339e-02 -2.09707247e-03 1.80971095e+02] [ 1.97203367e-02 9.99805522e-01 -1.62306210e-04 9.25602088e+00] [ 2.09986542e-03 1.20919314e-04 9.99997788e-01 -2.66647529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.061400513 meters Centerline goodness [0,1] 0.9993833854266335 Centerline is valid? [True, True] Translation: X:181.00, Y:9.26, Z:-0.27 [[ 9.99767777e-01 -2.12272101e-02 -3.71440161e-03 1.80998381e+02] [ 2.12262868e-02 9.99774656e-01 -2.87819478e-04 9.26336869e+00] [ 3.71967420e-03 2.08909686e-04 9.99993060e-01 -2.69345778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.091400513 meters Centerline goodness [0,1] 0.9993429001420183 Centerline is valid? [True, True] Translation: X:181.03, Y:9.26, Z:-0.27 [[ 9.99757690e-01 -2.12605652e-02 -5.70516670e-03 1.81027794e+02] [ 2.12583823e-02 9.99773917e-01 -4.42997584e-04 9.26047751e+00] [ 5.71329524e-03 3.21607627e-04 9.99983627e-01 -2.72858173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.121400513 meters Centerline goodness [0,1] 0.9992331288343558 Centerline is valid? [True, True] Translation: X:181.06, Y:9.27, Z:-0.27 [[ 9.99795778e-01 -1.94464234e-02 -5.49907835e-03 1.81056923e+02] [ 1.94443681e-02 9.99810849e-01 -4.26976133e-04 9.26641760e+00] [ 5.50634136e-03 3.19962832e-04 9.99984789e-01 -2.73013898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.151400513 meters Centerline goodness [0,1] 0.9912977034427134 Centerline is valid? [True, True] Translation: X:181.09, Y:9.28, Z:-0.27 [[ 9.99835671e-01 -1.72928772e-02 -5.43945778e-03 1.81085738e+02] [ 1.72908341e-02 9.99850413e-01 -4.22407153e-04 9.27663628e+00] [ 5.44594875e-03 3.28284977e-04 9.99985117e-01 -2.73727862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.181400513 meters Centerline goodness [0,1] 0.996536065054388 Centerline is valid? [True, True] Translation: X:181.12, Y:9.28, Z:-0.27 [[ 9.99867374e-01 -1.49912069e-02 -6.36386463e-03 1.81116048e+02] [ 1.49883635e-02 9.99887546e-01 -4.94260584e-04 9.27560273e+00] [ 6.37055855e-03 3.98811116e-04 9.99979628e-01 -2.74329148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.211400513 meters Centerline goodness [0,1] 0.9996278866148627 Centerline is valid? [True, True] Translation: X:181.15, Y:9.26, Z:-0.27 [[ 9.99893485e-01 -1.25019702e-02 -7.53129360e-03 1.81147641e+02] [ 1.24979170e-02 9.99921727e-01 -5.85006872e-04 9.26443333e+00] [ 7.53801784e-03 4.90819077e-04 9.99971468e-01 -2.73894909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.24140051300003 meters Centerline goodness [0,1] 0.9829836480144017 Centerline is valid? [True, True] Translation: X:181.17, Y:9.28, Z:-0.28 [[ 9.99952400e-01 -7.41544908e-03 -6.34105844e-03 1.81173412e+02] [ 7.44293565e-03 9.99962960e-01 4.32214176e-03 9.27558996e+00] [ 6.30877294e-03 -4.36913212e-03 9.99970555e-01 -2.75302484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.271400513 meters Centerline goodness [0,1] 0.99663631494376 Centerline is valid? [True, True] Translation: X:181.21, Y:9.28, Z:-0.28 [[ 9.99931754e-01 -8.86957198e-03 -7.60379996e-03 1.81205936e+02] [ 8.82538810e-03 9.99944091e-01 -5.82475605e-03 9.27809759e+00] [ 7.65503793e-03 5.75725205e-03 9.99954126e-01 -2.75059547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.30140051300003 meters Centerline goodness [0,1] 0.998976 Centerline is valid? [True, True] Translation: X:181.23, Y:9.27, Z:-0.27 [[ 9.99955821e-01 -7.49509033e-03 -5.67277434e-03 1.81232327e+02] [ 7.52156316e-03 9.99960855e-01 4.65978801e-03 9.26563112e+00] [ 5.63762675e-03 -4.70225027e-03 9.99973053e-01 -2.72589820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.331400513 meters Centerline goodness [0,1] 0.9995274000558527 Centerline is valid? [True, True] Translation: X:181.26, Y:9.27, Z:-0.27 [[ 9.99955292e-01 -7.96170605e-03 -5.10141689e-03 1.81260935e+02] [ 7.95801358e-03 9.99968058e-01 -7.43703677e-04 9.26572681e+00] [ 5.10717509e-03 7.03073283e-04 9.99986711e-01 -2.72862720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.36140051300004 meters Centerline goodness [0,1] 0.9899624400984328 Centerline is valid? [True, True] Translation: X:181.29, Y:9.28, Z:-0.27 [[ 9.99965109e-01 -6.40508152e-03 -5.36245423e-03 1.81288386e+02] [ 6.40408148e-03 9.99979473e-01 -2.03639861e-04 9.27571682e+00] [ 5.36364849e-03 1.69291162e-04 9.99985601e-01 -2.73696833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.391400513 meters Centerline goodness [0,1] 0.9996966611054536 Centerline is valid? [True, True] Translation: X:181.32, Y:9.26, Z:-0.27 [[ 9.99969606e-01 -4.85318590e-03 -6.10192832e-03 1.81318834e+02] [ 4.84100943e-03 9.99986265e-01 -2.00870011e-03 9.26344874e+00] [ 6.11159311e-03 1.97909956e-03 9.99979366e-01 -2.71527350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.42140051300004 meters Centerline goodness [0,1] 0.9468902568456803 Centerline is valid? [True, False] Translation: X:181.36, Y:9.27, Z:-0.27 [[ 9.99991810e-01 -2.08443712e-03 -3.46924594e-03 1.81360038e+02] [ 2.07979095e-03 9.99996936e-01 -1.34231366e-03 9.26700476e+00] [ 3.47203328e-03 1.33508736e-03 9.99993081e-01 -2.72400742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.451400513 meters Centerline goodness [0,1] 0.636379083301474 Centerline is valid? [False, False] Translation: X:181.36, Y:9.27, Z:-0.27 [[ 9.99992268e-01 -2.21017798e-03 -3.25252605e-03 1.81359396e+02] [ 2.20387034e-03 9.99995687e-01 -1.94161220e-03 9.27001210e+00] [ 3.25680333e-03 1.93442904e-03 9.99992826e-01 -2.72579537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.481400513 meters Centerline goodness [0,1] 0.8626793645370687 Centerline is valid? [False, False] Translation: X:181.35, Y:9.27, Z:-0.27 [[ 9.99997097e-01 -5.06872641e-04 -2.35580339e-03 1.81353145e+02] [ 5.06334358e-04 9.99999846e-01 -2.29082972e-04 9.26814853e+00] [ 2.35591914e-03 2.27889483e-04 9.99997199e-01 -2.68597127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.511400513 meters Centerline goodness [0,1] 0.99499379666108 Centerline is valid? [False, True] Translation: X:181.31, Y:9.26, Z:-0.27 [[ 9.99990850e-01 -6.45247951e-04 -4.22890032e-03 1.81308852e+02] [ 6.52852410e-04 9.99998172e-01 1.79707832e-03 9.26271187e+00] [ 4.22773303e-03 -1.79982272e-03 9.99989443e-01 -2.66173920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.541400513 meters Centerline goodness [0,1] 0.898740999439486 Centerline is valid? [True, False] Translation: X:181.33, Y:9.27, Z:-0.27 [[ 9.99998949e-01 7.54252665e-04 1.23825854e-03 1.81330541e+02] [-7.44389212e-04 9.99968147e-01 -7.94681304e-03 9.26966319e+00] [-1.24421300e-03 7.94588294e-03 9.99967657e-01 -2.72045543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.571400513 meters Centerline goodness [0,1] 0.9866620624163681 Centerline is valid? [False, True] Translation: X:181.33, Y:9.27, Z:-0.27 [[ 9.99998866e-01 8.26226413e-04 1.25871572e-03 1.81330437e+02] [-8.16413794e-04 9.99969430e-01 -7.77640767e-03 9.26889657e+00] [-1.26510232e-03 7.77537123e-03 9.99968971e-01 -2.72008020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.601400513 meters Centerline goodness [0,1] 0.9866446931917899 Centerline is valid? [True, True] Translation: X:181.36, Y:9.27, Z:-0.27 [[ 9.99992405e-01 -2.77799689e-03 2.73358766e-03 1.81361337e+02] [ 2.77418892e-03 9.99995178e-01 1.39583631e-03 9.26503968e+00] [-2.73745211e-03 -1.38824222e-03 9.99995290e-01 -2.70196292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.631400513 meters Centerline goodness [0,1] 0.9956337541068649 Centerline is valid? [True, True] Translation: X:181.39, Y:9.27, Z:-0.27 [[ 9.99980933e-01 -5.35448393e-03 3.07611186e-03 1.81393238e+02] [ 5.36232729e-03 9.99982378e-01 -2.54720083e-03 9.26966649e+00] [-3.06241871e-03 2.56364739e-03 9.99992025e-01 -2.70327259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.661400513 meters Centerline goodness [0,1] 0.9582615808506975 Centerline is valid? [True, True] Translation: X:181.42, Y:9.28, Z:-0.27 [[ 9.99981552e-01 -5.49825332e-03 2.58177036e-03 1.81423541e+02] [ 5.49772141e-03 9.99984865e-01 2.13074569e-04 9.27787103e+00] [-2.58290282e-03 -1.98876784e-04 9.99996645e-01 -2.70933118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.691400513 meters Centerline goodness [0,1] 0.9670435979017973 Centerline is valid? [True, True] Translation: X:181.45, Y:9.27, Z:-0.27 [[ 9.99991511e-01 -3.05626252e-03 2.76342229e-03 1.81451004e+02] [ 3.04474322e-03 9.99986699e-01 4.16313561e-03 9.27400795e+00] [-2.77610917e-03 -4.15468636e-03 9.99987516e-01 -2.71438086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.721400513 meters Centerline goodness [0,1] 0.9770147252794776 Centerline is valid? [True, True] Translation: X:181.48, Y:9.29, Z:-0.27 [[ 9.99992239e-01 -3.89717198e-03 5.77328095e-04 1.81484322e+02] [ 3.89936439e-03 9.99985000e-01 -3.84633974e-03 9.28522529e+00] [-5.62329588e-04 3.84856110e-03 9.99992436e-01 -2.73647654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.751400513 meters Centerline goodness [0,1] 0.837481073934276 Centerline is valid? [True, False] Translation: X:181.52, Y:9.29, Z:-0.27 [[ 9.99991311e-01 -2.18151541e-03 3.55230193e-03 1.81524790e+02] [ 2.19570715e-03 9.99989605e-01 -3.99609784e-03 9.28932928e+00] [-3.54354746e-03 4.00386293e-03 9.99985706e-01 -2.74373635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.781400513 meters Centerline goodness [0,1] 0.8898275936196741 Centerline is valid? [False, False] Translation: X:181.52, Y:9.29, Z:-0.27 [[ 9.99990405e-01 -2.31188371e-03 3.72091258e-03 1.81524014e+02] [ 2.32802814e-03 9.99987871e-01 -4.34037155e-03 9.29100036e+00] [-3.71083301e-03 4.34899229e-03 9.99983658e-01 -2.73956495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.811400513 meters Centerline goodness [0,1] 0.8651651194643128 Centerline is valid? [False, False] Translation: X:181.50, Y:9.28, Z:-0.27 [[ 9.99994138e-01 -2.95725340e-03 -1.72565520e-03 1.81499453e+02] [ 2.96814118e-03 9.99975489e-01 6.34128089e-03 9.27933937e+00] [ 1.70686013e-03 -6.34636571e-03 9.99978405e-01 -2.65593222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.841400513 meters Centerline goodness [0,1] 0.9841849671236409 Centerline is valid? [False, True] Translation: X:181.52, Y:9.29, Z:-0.27 [[ 9.99991730e-01 -2.45185135e-03 3.24477004e-03 1.81522504e+02] [ 2.46641320e-03 9.99986872e-01 -4.49142603e-03 9.28802035e+00] [-3.23371513e-03 4.49939183e-03 9.99984649e-01 -2.72495803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.871400513 meters Centerline goodness [0,1] 0.9282577183531295 Centerline is valid? [True, False] Translation: X:181.52, Y:9.29, Z:-0.27 [[ 9.99992706e-01 -2.26782198e-03 3.07333981e-03 1.81523060e+02] [ 2.28005826e-03 9.99989465e-01 -3.98378926e-03 9.28560510e+00] [-3.06427291e-03 3.99076760e-03 9.99987342e-01 -2.72520002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.901400513 meters Centerline goodness [0,1] 0.9603633539032495 Centerline is valid? [False, True] Translation: X:181.52, Y:9.28, Z:-0.27 [[ 9.99994433e-01 -2.05518343e-03 2.62856889e-03 1.81524646e+02] [ 2.06366864e-03 9.99992656e-01 -3.22944465e-03 9.28184550e+00] [-2.62191249e-03 3.23485117e-03 9.99991331e-01 -2.72830273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.931400513 meters Centerline goodness [0,1] 0.9965771740293079 Centerline is valid? [True, True] Translation: X:181.56, Y:9.27, Z:-0.27 [[ 9.99993063e-01 -2.48528908e-03 2.77450118e-03 1.81557736e+02] [ 2.48471059e-03 9.99996891e-01 2.11933055e-04 9.27274338e+00] [-2.77501926e-03 -2.05037753e-04 9.99996129e-01 -2.71106044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.961400513 meters Centerline goodness [0,1] 0.9680608201240524 Centerline is valid? [True, True] Translation: X:181.59, Y:9.28, Z:-0.27 [[ 9.99990583e-01 -2.23448808e-03 3.72024959e-03 1.81588434e+02] [ 2.23344769e-03 9.99997466e-01 2.83785891e-04 9.28258178e+00] [-3.72087428e-03 -2.75474236e-04 9.99993040e-01 -2.70424505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.99140051300003 meters Centerline goodness [0,1] 0.9525684967960317 Centerline is valid? [True, True] Translation: X:181.62, Y:9.29, Z:-0.27 [[ 9.99987407e-01 -1.56866974e-03 4.76700719e-03 1.81620506e+02] [ 1.56695500e-03 9.99998706e-01 3.63422458e-04 9.28715386e+00] [-4.76757111e-03 -3.55948196e-04 9.99988572e-01 -2.69162576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.021400513 meters Centerline goodness [0,1] 0.9240154244895379 Centerline is valid? [True, False] Translation: X:181.62, Y:9.29, Z:-0.27 [[ 9.99987064e-01 -1.65275931e-03 4.81037487e-03 1.81620406e+02] [ 1.65217027e-03 9.99998627e-01 1.26423565e-04 9.28828545e+00] [-4.81057721e-03 -1.18474371e-04 9.99988422e-01 -2.69280433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.05140051300003 meters Centerline goodness [0,1] 0.9674591636021551 Centerline is valid? [False, True] Translation: X:181.58, Y:9.28, Z:-0.27 [[ 9.99996890e-01 -2.14725495e-03 1.26867658e-03 1.81581424e+02] [ 2.14547558e-03 9.99996715e-01 1.40223868e-03 9.28440787e+00] [-1.27168338e-03 -1.39951240e-03 9.99998212e-01 -2.69509878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.081400513 meters Centerline goodness [0,1] 0.9674591636021551 Centerline is valid? [True, True] Translation: X:181.61, Y:9.29, Z:-0.27 [[ 9.99996821e-01 -2.11706294e-03 1.36967894e-03 1.81612168e+02] [ 2.11691850e-03 9.99997754e-01 1.06898350e-04 9.28787548e+00] [-1.36990218e-03 -1.03998512e-04 9.99999056e-01 -2.69840237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.11140051300004 meters Centerline goodness [0,1] 0.9269683315893997 Centerline is valid? [True, False] Translation: X:181.61, Y:9.28, Z:-0.27 [[ 9.99997852e-01 -1.68914066e-03 1.20094329e-03 1.81612888e+02] [ 1.68782082e-03 9.99997972e-01 1.09916942e-03 9.28314705e+00] [-1.20279750e-03 -1.09714008e-03 9.99998675e-01 -2.70175533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.141400513 meters Centerline goodness [0,1] 0.9883386274969621 Centerline is valid? [False, True] Translation: X:181.61, Y:9.28, Z:-0.27 [[ 9.99998430e-01 -1.35938332e-03 1.13706304e-03 1.81612794e+02] [ 1.35724086e-03 9.99997306e-01 1.88286257e-03 9.27949030e+00] [-1.13961951e-03 -1.88131635e-03 9.99997581e-01 -2.69544565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.17140051300004 meters Centerline goodness [0,1] 0.8799949364952108 Centerline is valid? [True, False] Translation: X:181.65, Y:9.28, Z:-0.27 [[ 9.99988726e-01 -1.83930284e-03 4.37782866e-03 1.81652283e+02] [ 1.84260477e-03 9.99998021e-01 -7.50325468e-04 9.28286595e+00] [-4.37643992e-03 7.58383617e-04 9.99990136e-01 -2.69815768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.201400513 meters Centerline goodness [0,1] 0.9968591343257895 Centerline is valid? [False, True] Translation: X:181.61, Y:9.27, Z:-0.27 [[ 9.99995070e-01 -2.31531948e-03 2.12126409e-03 1.81609359e+02] [ 2.31102426e-03 9.99995279e-01 2.02505578e-03 9.27467252e+00] [-2.12594273e-03 -2.02014350e-03 9.99995700e-01 -2.67372539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.231400513 meters Centerline goodness [0,1] 0.9922049476035045 Centerline is valid? [True, True] Translation: X:181.64, Y:9.28, Z:-0.27 [[ 9.99995734e-01 -2.43093711e-03 1.61935172e-03 1.81641054e+02] [ 2.43073814e-03 9.99997038e-01 1.24826998e-04 9.27799396e+00] [-1.61965037e-03 -1.20890246e-04 9.99998681e-01 -2.68995599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.261400513 meters Centerline goodness [0,1] 0.9754239266537915 Centerline is valid? [True, True] Translation: X:181.67, Y:9.28, Z:-0.27 [[ 9.99997032e-01 -1.18307791e-03 2.12965900e-03 1.81670731e+02] [ 1.18273141e-03 9.99999287e-01 1.63951221e-04 9.28160713e+00] [-2.12985145e-03 -1.61431920e-04 9.99997719e-01 -2.69180281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.291400513 meters Centerline goodness [0,1] 0.9563206139415903 Centerline is valid? [True, True] Translation: X:181.70, Y:9.28, Z:-0.27 [[ 9.99988314e-01 8.21097920e-04 4.76419055e-03 1.81701816e+02] [-8.22850917e-04 9.99999594e-01 3.66004252e-04 9.27920533e+00] [-4.76388809e-03 -3.69920193e-04 9.99988584e-01 -2.66244539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.321400513 meters Centerline goodness [0,1] 0.8404381541590745 Centerline is valid? [True, False] Translation: X:181.70, Y:9.28, Z:-0.27 [[ 9.99987387e-01 1.05675512e-03 4.91012243e-03 1.81701044e+02] [-1.06075544e-03 9.99999108e-01 8.12176950e-04 9.27723162e+00] [-4.90925977e-03 -8.17375145e-04 9.99987615e-01 -2.65676828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.351400513 meters Centerline goodness [0,1] 0.7910495608129768 Centerline is valid? [False, False] Translation: X:181.70, Y:9.28, Z:-0.27 [[ 9.99986628e-01 1.18732245e-03 5.03326662e-03 1.81700690e+02] [-1.19231653e-03 9.99998800e-01 9.89329605e-04 9.27648836e+00] [-5.03208592e-03 -9.95317623e-04 9.99986844e-01 -2.65755205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.381400513 meters Centerline goodness [0,1] 0.9431481878618915 Centerline is valid? [False, False] Translation: X:181.70, Y:9.28, Z:-0.27 [[ 9.99986683e-01 1.22894591e-03 5.01229689e-03 1.81701105e+02] [-1.23354447e-03 9.99998821e-01 9.14469096e-04 9.27683523e+00] [-5.01116715e-03 -9.20639809e-04 9.99987020e-01 -2.66496379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.411400513 meters Centerline goodness [0,1] 0.46406160260364593 Centerline is valid? [False, False] Translation: X:181.70, Y:9.28, Z:-0.27 [[ 9.99987316e-01 1.29117504e-03 4.86824194e-03 1.81702057e+02] [-1.29499239e-03 9.99998856e-01 7.81063513e-04 9.27748977e+00] [-4.86722789e-03 -7.87357943e-04 9.99987845e-01 -2.67527658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.441400513 meters Centerline goodness [0,1] 0.5334957369062119 Centerline is valid? [False, False] Translation: X:181.70, Y:9.28, Z:-0.27 [[ 9.99987757e-01 1.39970291e-03 4.74625487e-03 1.81703205e+02] [-1.40233999e-03 9.99998864e-01 5.52330343e-04 9.27864551e+00] [-4.74547638e-03 -5.58979444e-04 9.99988584e-01 -2.69157469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.471400513 meters Centerline goodness [0,1] 0.42890025575447566 Centerline is valid? [False, False] Translation: X:181.70, Y:9.28, Z:-0.27 [[ 9.99987731e-01 1.27574955e-03 4.78653018e-03 1.81703167e+02] [-1.27688487e-03 9.99999157e-01 2.34140660e-04 9.28014347e+00] [-4.78622744e-03 -2.40249635e-04 9.99988517e-01 -2.69379428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.501400513 meters Centerline goodness [0,1] 0.5208333333333333 Centerline is valid? [False, False] Translation: X:181.70, Y:9.28, Z:-0.27 [[ 9.99986890e-01 1.21216457e-03 4.97489096e-03 1.81702386e+02] [-1.21226710e-03 9.99999265e-01 1.75939227e-05 9.28125426e+00] [-4.97486597e-03 -2.36245887e-05 9.99987625e-01 -2.69067537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.531400513 meters Centerline goodness [0,1] 0.42254299623716496 Centerline is valid? [False, False] Translation: X:181.71, Y:9.28, Z:-0.27 [[ 9.99984133e-01 3.60746110e-03 4.32673583e-03 1.81707676e+02] [-3.61941716e-03 9.99989645e-01 2.75865620e-03 9.27825826e+00] [-4.31673928e-03 -2.77427269e-03 9.99986834e-01 -2.72200628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.561400513 meters Centerline goodness [0,1] 0.36781657818481783 Centerline is valid? [False, False] Translation: X:181.71, Y:9.28, Z:-0.27 [[ 9.99983994e-01 3.72922622e-03 4.25494180e-03 1.81707916e+02] [-3.74237888e-03 9.99988231e-01 3.08738469e-03 9.27665643e+00] [-4.24337817e-03 -3.10325888e-03 9.99986182e-01 -2.72213874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.591400513 meters Centerline goodness [0,1] 0.41651529074861626 Centerline is valid? [False, False] Translation: X:181.67, Y:9.27, Z:-0.27 [[ 9.99998308e-01 1.82616161e-03 2.22100060e-04 1.81671725e+02] [-1.82677479e-03 9.99994432e-01 2.79267656e-03 9.27478895e+00] [-2.16998945e-04 -2.79307756e-03 9.99996076e-01 -2.74848804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.621400513 meters Centerline goodness [0,1] 0.7218057994603161 Centerline is valid? [False, False] Translation: X:181.67, Y:9.28, Z:-0.28 [[ 9.99998559e-01 1.69496799e-03 9.98445843e-05 1.81672509e+02] [-1.69521780e-03 9.99995293e-01 2.55738701e-03 9.27573960e+00] [-9.55094252e-05 -2.55755258e-03 9.99996725e-01 -2.75627498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.651400513 meters Centerline goodness [0,1] 0.5877269907813403 Centerline is valid? [False, False] Translation: X:181.67, Y:9.28, Z:-0.28 [[ 9.99998766e-01 1.57082385e-03 -2.22007939e-05 1.81672856e+02] [-1.57076652e-03 9.99995930e-01 2.38167260e-03 9.27649105e+00] [ 2.59418917e-05 -2.38163479e-03 9.99997164e-01 -2.75547732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.681400513 meters Centerline goodness [0,1] 0.5075444069523143 Centerline is valid? [False, False] Translation: X:181.67, Y:9.28, Z:-0.28 [[ 9.99998894e-01 1.47956235e-03 -1.50240105e-04 1.81673079e+02] [-1.47920017e-03 9.99996067e-01 2.38287758e-03 9.27639434e+00] [ 1.53765130e-04 -2.38265271e-03 9.99997150e-01 -2.75127532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.711400513 meters Centerline goodness [0,1] 0.4452634913929665 Centerline is valid? [False, False] Translation: X:181.67, Y:9.28, Z:-0.27 [[ 9.99998881e-01 1.45780685e-03 -3.36886049e-04 1.81673345e+02] [-1.45693787e-03 9.99995648e-01 2.56545415e-03 9.27544932e+00] [ 3.40624520e-04 -2.56496045e-03 9.99996652e-01 -2.74456895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.74140051300003 meters Centerline goodness [0,1] 0.7537173132797812 Centerline is valid? [False, False] Translation: X:181.63, Y:9.27, Z:-0.27 [[ 9.99993198e-01 -1.98102493e-03 -3.11127293e-03 1.81633138e+02] [ 1.98793538e-03 9.99995561e-01 2.21958148e-03 9.27116608e+00] [ 3.10686207e-03 -2.22575139e-03 9.99992697e-01 -2.74037591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.771400513 meters Centerline goodness [0,1] 0.8050441630307545 Centerline is valid? [False, False] Translation: X:181.63, Y:9.27, Z:-0.27 [[ 9.99992993e-01 -1.89323320e-03 -3.22946029e-03 1.81633555e+02] [ 1.90128426e-03 9.99995088e-01 2.49175844e-03 9.26982246e+00] [ 3.22472694e-03 -2.49788111e-03 9.99991681e-01 -2.74078581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.80140051300003 meters Centerline goodness [0,1] 0.7750196086744536 Centerline is valid? [False, False] Translation: X:181.63, Y:9.27, Z:-0.27 [[ 9.99993129e-01 -1.84202920e-03 -3.21681800e-03 1.81633551e+02] [ 1.85047967e-03 9.99994840e-01 2.62596805e-03 9.26914508e+00] [ 3.21196430e-03 -2.63190267e-03 9.99991378e-01 -2.74155827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.831400513 meters Centerline goodness [0,1] 0.8107409291285181 Centerline is valid? [False, False] Translation: X:181.63, Y:9.27, Z:-0.27 [[ 9.99993197e-01 -1.85629248e-03 -3.18741314e-03 1.81633426e+02] [ 1.86452015e-03 9.99994933e-01 2.58027105e-03 9.26936399e+00] [ 3.18260725e-03 -2.58619649e-03 9.99991591e-01 -2.74117368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.86140051300004 meters Centerline goodness [0,1] 0.8130165727122451 Centerline is valid? [False, False] Translation: X:181.63, Y:9.27, Z:-0.27 [[ 9.99993060e-01 -1.95549823e-03 -3.17125689e-03 1.81633369e+02] [ 1.96293062e-03 9.99995330e-01 2.34225586e-03 9.27047425e+00] [ 3.16666181e-03 -2.34846456e-03 9.99992228e-01 -2.74109542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.891400513 meters Centerline goodness [0,1] 0.7344063099552334 Centerline is valid? [False, False] Translation: X:181.63, Y:9.27, Z:-0.27 [[ 9.99992769e-01 -2.11570164e-03 -3.16006220e-03 1.81633359e+02] [ 2.12177920e-03 9.99995904e-01 1.92112604e-03 9.27248744e+00] [ 3.15598473e-03 -1.92781710e-03 9.99993162e-01 -2.74177020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.92140051300004 meters Centerline goodness [0,1] 0.7269723604786614 Centerline is valid? [False, False] Translation: X:181.63, Y:9.27, Z:-0.27 [[ 9.99991682e-01 2.47720696e-03 -3.24024339e-03 1.81633138e+02] [-2.45477072e-03 9.99973113e-01 6.90999151e-03 9.26940778e+00] [ 3.25727375e-03 -6.90197998e-03 9.99970876e-01 -2.73189822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.951400513 meters Centerline goodness [0,1] 0.596480013636751 Centerline is valid? [False, False] Translation: X:181.63, Y:9.27, Z:-0.27 [[ 9.99992879e-01 2.23106175e-03 -3.04382588e-03 1.81632666e+02] [-2.21199384e-03 9.99978000e-01 6.25350487e-03 9.27251688e+00] [ 3.05771087e-03 -6.24672742e-03 9.99975814e-01 -2.73576447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.981400513 meters Centerline goodness [0,1] 0.6269970932082918 Centerline is valid? [False, False] Translation: X:181.63, Y:9.28, Z:-0.27 [[ 9.99993789e-01 1.93161708e-03 -2.94794035e-03 1.81632444e+02] [-1.91553697e-03 9.99983326e-01 5.44780468e-03 9.27635005e+00] [ 2.95841427e-03 -5.44212395e-03 9.99980815e-01 -2.73819786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.011400513 meters Centerline goodness [0,1] 0.5798718303561924 Centerline is valid? [False, False] Translation: X:181.63, Y:9.28, Z:-0.27 [[ 9.99995109e-01 1.65052021e-03 -2.65678947e-03 1.81631301e+02] [-1.63831728e-03 9.99988130e-01 4.58875609e-03 9.28056027e+00] [ 2.66433176e-03 -4.58438098e-03 9.99985942e-01 -2.73529235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.041400513 meters Centerline goodness [0,1] 0.5540549190296358 Centerline is valid? [False, False] Translation: X:181.63, Y:9.28, Z:-0.27 [[ 9.99995109e-01 1.73705822e-03 -2.60107124e-03 1.81630763e+02] [-1.72460404e-03 9.99987076e-01 4.78270750e-03 9.27971501e+00] [ 2.60934547e-03 -4.77819829e-03 9.99985180e-01 -2.72849048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.071400513 meters Centerline goodness [0,1] 0.6151005073125173 Centerline is valid? [False, False] Translation: X:181.63, Y:9.28, Z:-0.27 [[ 9.99994735e-01 1.91540984e-03 -2.61943849e-03 1.81630503e+02] [-1.90166414e-03 9.99984463e-01 5.24003454e-03 9.27758573e+00] [ 2.62943460e-03 -5.23502566e-03 9.99982840e-01 -2.72219143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.101400513 meters Centerline goodness [0,1] 0.5530674131094004 Centerline is valid? [False, False] Translation: X:181.63, Y:9.28, Z:-0.27 [[ 9.99994263e-01 2.05163557e-03 -2.69536455e-03 1.81630543e+02] [-2.03637363e-03 9.99981949e-01 5.65288555e-03 9.27560569e+00] [ 2.70691356e-03 -5.64736435e-03 9.99980390e-01 -2.71809701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.131400513 meters Centerline goodness [0,1] 0.8104941416199695 Centerline is valid? [False, False] Translation: X:181.62, Y:9.28, Z:-0.27 [[ 9.99998252e-01 -5.47353841e-04 -1.78759217e-03 1.81623949e+02] [ 5.52637734e-04 9.99995476e-01 2.95671687e-03 9.27746631e+00] [ 1.78596572e-03 -2.95769960e-03 9.99994031e-01 -2.67817534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.161400513 meters Centerline goodness [0,1] 0.824201544779454 Centerline is valid? [False, False] Translation: X:181.62, Y:9.28, Z:-0.27 [[ 9.99998314e-01 -5.02182444e-04 -1.76610777e-03 1.81623718e+02] [ 5.07748480e-04 9.99994902e-01 3.15254856e-03 9.27654230e+00] [ 1.76451562e-03 -3.15343999e-03 9.99993471e-01 -2.67487525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.191400513 meters Centerline goodness [0,1] 0.8677525118984664 Centerline is valid? [False, False] Translation: X:181.62, Y:9.28, Z:-0.27 [[ 9.99998187e-01 -4.16708532e-04 -1.85778527e-03 1.81623834e+02] [ 4.23064241e-04 9.99994055e-01 3.42204260e-03 9.27524996e+00] [ 1.85634823e-03 -3.42282236e-03 9.99992419e-01 -2.67100233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.221400513 meters Centerline goodness [0,1] 0.6606568623247437 Centerline is valid? [False, False] Translation: X:181.58, Y:9.27, Z:-0.27 [[ 9.99985067e-01 -1.71537242e-03 -5.18878380e-03 1.81584615e+02] [ 1.73560702e-03 9.99990898e-01 3.89769528e-03 9.27145931e+00] [ 5.18205057e-03 -3.90664277e-03 9.99978942e-01 -2.67846973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.251400513 meters Centerline goodness [0,1] 0.6053321957982297 Centerline is valid? [False, False] Translation: X:181.58, Y:9.27, Z:-0.27 [[ 9.99984881e-01 -1.71072354e-03 -5.22605243e-03 1.81584819e+02] [ 1.73110391e-03 9.99990905e-01 3.89773315e-03 9.27142187e+00] [ 5.21933696e-03 -3.90672106e-03 9.99978748e-01 -2.68003550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.281400513 meters Centerline goodness [0,1] 0.7960649328573857 Centerline is valid? [False, False] Translation: X:181.58, Y:9.27, Z:-0.27 [[ 9.99984807e-01 -1.81170830e-03 -5.20613348e-03 1.81584870e+02] [ 1.83063959e-03 9.99991722e-01 3.63388201e-03 9.27264970e+00] [ 5.19950685e-03 -3.64335735e-03 9.99979845e-01 -2.68255512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.311400513 meters Centerline goodness [0,1] 0.42641326562862136 Centerline is valid? [False, False] Translation: X:181.61, Y:9.28, Z:-0.27 [[ 9.99998830e-01 -5.38715219e-04 -1.43195019e-03 1.81606165e+02] [ 5.27624134e-04 9.99969949e-01 -7.73456646e-03 9.28353493e+00] [ 1.43607388e-03 7.73380188e-03 9.99969063e-01 -2.72708776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.341400513 meters Centerline goodness [0,1] 0.6281296335522135 Centerline is valid? [False, False] Translation: X:181.61, Y:9.28, Z:-0.27 [[ 9.99998716e-01 -6.72117198e-04 -1.45446350e-03 1.81606424e+02] [ 6.60387996e-04 9.99967382e-01 -8.04979087e-03 9.28498847e+00] [ 1.45982646e-03 8.04882003e-03 9.99966542e-01 -2.73070095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.371400513 meters Centerline goodness [0,1] 0.681883176473099 Centerline is valid? [False, False] Translation: X:181.61, Y:9.28, Z:-0.27 [[ 9.99991004e-01 3.80583538e-03 -1.87282924e-03 1.81607808e+02] [-3.81102796e-03 9.99988882e-01 -2.77687374e-03 9.28012009e+00] [ 1.86224009e-03 2.78398617e-03 9.99994391e-01 -2.73042701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.401400513 meters Centerline goodness [0,1] 0.6028821868964493 Centerline is valid? [False, False] Translation: X:181.61, Y:9.28, Z:-0.27 [[ 9.99991577e-01 3.67573431e-03 -1.82634190e-03 1.81607799e+02] [-3.68132322e-03 9.99988523e-01 -3.06628865e-03 9.28145809e+00] [ 1.81505008e-03 3.07298618e-03 9.99993631e-01 -2.73334787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.431400513 meters Centerline goodness [0,1] 0.6895868402548422 Centerline is valid? [False, False] Translation: X:181.61, Y:9.28, Z:-0.27 [[ 9.99992287e-01 3.52265345e-03 -1.73709993e-03 1.81607630e+02] [-3.52854224e-03 9.99987999e-01 -3.39867680e-03 9.28299442e+00] [ 1.72510672e-03 3.40478001e-03 9.99992716e-01 -2.73604660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.461400513 meters Centerline goodness [0,1] 0.928516443570115 Centerline is valid? [False, False] Translation: X:181.61, Y:9.28, Z:-0.27 [[ 9.99992483e-01 3.44509593e-03 -1.77885642e-03 1.81607835e+02] [-3.45141720e-03 9.99987697e-01 -3.56280191e-03 9.28373498e+00] [ 1.76656034e-03 3.56891471e-03 9.99992071e-01 -2.73763037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.49140051300003 meters Centerline goodness [0,1] 0.856839602615267 Centerline is valid? [False, False] Translation: X:181.61, Y:9.28, Z:-0.27 [[ 9.99992265e-01 3.46904956e-03 -1.85356372e-03 1.81608108e+02] [-3.47540847e-03 9.99988049e-01 -3.43850692e-03 9.28309771e+00] [ 1.84161321e-03 3.44492221e-03 9.99992370e-01 -2.73832285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.521400513 meters Centerline goodness [0,1] 0.8478589206322193 Centerline is valid? [False, False] Translation: X:181.61, Y:9.28, Z:-0.27 [[ 9.99991780e-01 3.45494838e-03 -2.12225051e-03 1.81608922e+02] [-3.46162977e-03 9.99989039e-01 -3.15269365e-03 9.28156916e+00] [ 2.11133486e-03 3.16001418e-03 9.99992778e-01 -2.73656038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.55140051300003 meters Centerline goodness [0,1] 0.7532892639275618 Centerline is valid? [False, False] Translation: X:181.61, Y:9.28, Z:-0.27 [[ 9.99991657e-01 3.42188087e-03 -2.23096412e-03 1.81609322e+02] [-3.42896125e-03 9.99989072e-01 -3.17762390e-03 9.28164078e+00] [ 2.22006629e-03 3.18524728e-03 9.99992463e-01 -2.73736617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.581400513 meters Centerline goodness [0,1] 0.8572309131100153 Centerline is valid? [False, False] Translation: X:181.61, Y:9.28, Z:-0.27 [[ 9.99991781e-01 3.36070742e-03 -2.26799770e-03 1.81609387e+02] [-3.36813716e-03 9.99988948e-01 -3.28007080e-03 9.28211529e+00] [ 2.25694928e-03 3.28768277e-03 9.99992049e-01 -2.73640540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.61140051300004 meters Centerline goodness [0,1] 0.9420138962667063 Centerline is valid? [False, False] Translation: X:181.61, Y:9.28, Z:-0.27 [[ 9.99991715e-01 3.41684771e-03 -2.21228046e-03 1.81608867e+02] [-3.42373466e-03 9.99989282e-01 -3.11678951e-03 9.28138682e+00] [ 2.20160715e-03 3.12433795e-03 9.99992696e-01 -2.73034014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.641400513 meters Centerline goodness [0,1] 0.6839608530279071 Centerline is valid? [False, False] Translation: X:181.61, Y:9.28, Z:-0.27 [[ 9.99991165e-01 3.57920951e-03 -2.20456774e-03 1.81608522e+02] [-3.58510775e-03 9.99989989e-01 -2.67734903e-03 9.27934702e+00] [ 2.19496287e-03 2.68522899e-03 9.99993986e-01 -2.72398345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.67140051300004 meters Centerline goodness [0,1] 0.9981605851905719 Centerline is valid? [False, True] Translation: X:181.61, Y:9.27, Z:-0.27 [[ 9.99989883e-01 3.75036071e-03 -2.48370566e-03 1.81609070e+02] [-3.75387704e-03 9.99991956e-01 -1.41261255e-03 9.27288760e+00] [ 2.47838788e-03 1.42192178e-03 9.99995918e-01 -2.71617722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.701400513 meters Centerline goodness [0,1] 0.9982086496630556 Centerline is valid? [True, True] Translation: X:181.64, Y:9.27, Z:-0.27 [[ 9.99987479e-01 3.86136216e-03 -3.18311202e-03 1.81638045e+02] [-3.86868069e-03 9.99989880e-01 -2.29623282e-03 9.26848839e+00] [ 3.17421322e-03 2.30851851e-03 9.99992298e-01 -2.72191368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.731400513 meters Centerline goodness [0,1] 0.9947267292912041 Centerline is valid? [True, True] Translation: X:181.67, Y:9.27, Z:-0.27 [[ 9.99996396e-01 7.08783890e-04 -2.58958595e-03 1.81668553e+02] [-7.03830788e-04 9.99997922e-01 1.91311094e-03 9.27111161e+00] [ 2.59093655e-03 -1.91128141e-03 9.99994817e-01 -2.71644884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.761400513 meters Centerline goodness [0,1] 0.9992918758851551 Centerline is valid? [True, True] Translation: X:181.70, Y:9.27, Z:-0.27 [[ 9.99998940e-01 1.15923256e-04 -1.45108146e-03 1.81697635e+02] [-1.16064447e-04 9.99999989e-01 -9.72165807e-05 9.26670038e+00] [ 1.45107018e-03 9.73848967e-05 9.99998942e-01 -2.69796867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.791400513 meters Centerline goodness [0,1] 0.9992314261315115 Centerline is valid? [True, True] Translation: X:181.73, Y:9.27, Z:-0.27 [[ 9.99999834e-01 5.67168665e-04 1.02320847e-04 1.81726930e+02] [-5.67169362e-04 9.99999839e-01 6.78063963e-06 9.26970727e+00] [-1.02316985e-04 -6.83867176e-06 9.99999995e-01 -2.67951097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.821400513 meters Centerline goodness [0,1] 0.9902546502266854 Centerline is valid? [True, True] Translation: X:181.76, Y:9.28, Z:-0.26 [[ 9.99991538e-01 2.83820894e-03 2.97794139e-03 1.81756250e+02] [-2.83881497e-03 9.99995951e-01 1.99299912e-04 9.28050246e+00] [-2.97736367e-03 -2.07752050e-04 9.99995546e-01 -2.63990434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.851400513 meters Centerline goodness [0,1] 0.9899522945075357 Centerline is valid? [True, True] Translation: X:181.79, Y:9.28, Z:-0.26 [[ 9.99983891e-01 4.17828577e-03 3.84191919e-03 1.81787767e+02] [-4.17930394e-03 9.99991234e-01 2.57025739e-04 9.27909091e+00] [-3.84081159e-03 -2.73078146e-04 9.99992587e-01 -2.63005965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.881400513 meters Centerline goodness [0,1] 0.994549651605181 Centerline is valid? [True, True] Translation: X:181.82, Y:9.28, Z:-0.26 [[ 9.99977678e-01 5.33452303e-03 4.02331740e-03 1.81819221e+02] [-5.33564855e-03 9.99985729e-01 2.69067607e-04 9.27628942e+00] [-4.02182463e-03 -2.90528608e-04 9.99991870e-01 -2.62471952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.911400513 meters Centerline goodness [0,1] 0.9966484239107378 Centerline is valid? [True, True] Translation: X:181.85, Y:9.27, Z:-0.26 [[ 9.99953166e-01 8.93627020e-03 3.71614568e-03 1.81847055e+02] [-8.93567960e-03 9.99960061e-01 -1.75503300e-04 9.27088049e+00] [-3.71756560e-03 1.42288794e-04 9.99993080e-01 -2.62855353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.941400513 meters Centerline goodness [0,1] 0.9974528564395642 Centerline is valid? [True, True] Translation: X:181.88, Y:9.27, Z:-0.26 [[ 9.99972033e-01 7.04691369e-03 2.50468994e-03 1.81880660e+02] [-7.04847659e-03 9.99974970e-01 6.15712642e-04 9.27245625e+00] [-2.50028837e-03 -6.33349671e-04 9.99996674e-01 -2.63667437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.971400513 meters Centerline goodness [0,1] 0.9974528564395642 Centerline is valid? [True, True] Translation: X:181.91, Y:9.27, Z:-0.26 [[ 9.99970643e-01 7.23110462e-03 2.53447792e-03 1.81913149e+02] [-7.23155636e-03 9.99973838e-01 1.69116756e-04 9.27486575e+00] [-2.53318871e-03 -1.87440012e-04 9.99996774e-01 -2.63831534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.001400513 meters Centerline goodness [0,1] 0.8515744355796978 Centerline is valid? [True, False] Translation: X:181.91, Y:9.27, Z:-0.26 [[ 9.99969506e-01 7.42774270e-03 2.41155060e-03 1.81913656e+02] [-7.42926671e-03 9.99972208e-01 6.23622030e-04 9.27267732e+00] [-2.40685148e-03 -6.41519066e-04 9.99996898e-01 -2.64067419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.031400513 meters Centerline goodness [0,1] 0.9974595990863095 Centerline is valid? [False, True] Translation: X:181.91, Y:9.27, Z:-0.26 [[ 9.99979451e-01 5.61086196e-03 3.10101048e-03 1.81907641e+02] [-5.60717730e-03 9.99983565e-01 -1.19563216e-03 9.27096436e+00] [-3.10766804e-03 1.17821967e-03 9.99994477e-01 -2.60005709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.061400513 meters Centerline goodness [0,1] 0.9190353875220243 Centerline is valid? [True, False] Translation: X:181.91, Y:9.27, Z:-0.26 [[ 9.99977553e-01 5.87685517e-03 3.21815501e-03 1.81907016e+02] [-5.87484159e-03 9.99982541e-01 -6.34789480e-04 9.26840139e+00] [-3.22182939e-03 6.15869080e-04 9.99994620e-01 -2.59543062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.091400513 meters Centerline goodness [0,1] 0.9533490036634691 Centerline is valid? [False, True] Translation: X:181.91, Y:9.27, Z:-0.26 [[ 9.99975721e-01 6.14507858e-03 3.28561592e-03 1.81906675e+02] [-6.14489053e-03 9.99981118e-01 -6.73254730e-05 9.26577601e+00] [-3.28596760e-03 4.71340882e-05 9.99994600e-01 -2.59321628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.121400513 meters Centerline goodness [0,1] 0.8003034965329736 Centerline is valid? [True, False] Translation: X:181.91, Y:9.26, Z:-0.26 [[ 9.99974243e-01 6.37995701e-03 3.28768526e-03 1.81906735e+02] [-6.38139877e-03 9.99979547e-01 4.28231402e-04 9.26342474e+00] [-3.28488592e-03 -4.49200403e-04 9.99994504e-01 -2.59460988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.151400513 meters Centerline goodness [0,1] 0.9643788196076756 Centerline is valid? [False, True] Translation: X:181.87, Y:9.26, Z:-0.26 [[ 9.99978080e-01 6.61633758e-03 -2.52618643e-04 1.81868738e+02] [-6.61540372e-03 9.99971873e-01 3.53410248e-03 9.25577822e+00] [ 2.75994353e-04 -3.53235383e-03 9.99993723e-01 -2.60167509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.181400513 meters Centerline goodness [0,1] 0.6847412480974124 Centerline is valid? [True, False] Translation: X:181.87, Y:9.25, Z:-0.26 [[ 9.99975911e-01 6.92954892e-03 -3.97380139e-04 1.81869767e+02] [-6.92791967e-03 9.99968143e-01 3.96442193e-03 9.25371610e+00] [ 4.24839135e-04 -3.96157342e-03 9.99992063e-01 -2.61299937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.211400513 meters Centerline goodness [0,1] 0.7753801194358562 Centerline is valid? [False, False] Translation: X:181.87, Y:9.26, Z:-0.26 [[ 9.99995266e-01 3.07591689e-03 8.59479223e-05 1.81868272e+02] [-3.07581812e-03 9.99994635e-01 -1.12664386e-03 9.25874102e+00] [-8.94129240e-05 1.12637416e-03 9.99999362e-01 -2.61997238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.24140051300003 meters Centerline goodness [0,1] 0.8539939592571172 Centerline is valid? [False, False] Translation: X:181.83, Y:9.25, Z:-0.26 [[ 9.99991965e-01 3.17538019e-03 -2.44663035e-03 1.81826336e+02] [-3.17057930e-03 9.99993046e-01 1.96363532e-03 9.25200724e+00] [ 2.45284863e-03 -1.95586231e-03 9.99995079e-01 -2.60501190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.271400513 meters Centerline goodness [0,1] 0.7522863584159258 Centerline is valid? [False, False] Translation: X:181.83, Y:9.25, Z:-0.26 [[ 9.99992195e-01 3.15357789e-03 -2.37998186e-03 1.81826198e+02] [-3.14924585e-03 9.99993382e-01 1.82175898e-03 9.25267158e+00] [ 2.38571117e-03 -1.81424961e-03 9.99995508e-01 -2.60669144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.30140051300003 meters Centerline goodness [0,1] 0.6062307936844336 Centerline is valid? [False, False] Translation: X:181.83, Y:9.25, Z:-0.26 [[ 9.99992685e-01 3.02192182e-03 -2.34471996e-03 1.81826488e+02] [-3.01863627e-03 9.99994459e-01 1.40353241e-03 9.25460813e+00] [ 2.34894834e-03 -1.39644429e-03 9.99996266e-01 -2.61477914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.331400513 meters Centerline goodness [0,1] 0.2971396952413382 Centerline is valid? [False, False] Translation: X:181.83, Y:9.26, Z:-0.26 [[ 9.99993674e-01 2.76550724e-03 -2.23693148e-03 1.81826586e+02] [-2.76393853e-03 9.99995932e-01 7.04062955e-04 9.25783316e+00] [ 2.23886947e-03 -6.97875760e-04 9.99997250e-01 -2.62433570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.36140051300004 meters Centerline goodness [0,1] 0.42604226156482006 Centerline is valid? [False, False] Translation: X:181.83, Y:9.26, Z:-0.26 [[ 9.99995338e-01 2.27243005e-03 -2.03964697e-03 1.81826107e+02] [-2.27363411e-03 9.99997242e-01 -5.88204412e-04 9.26398656e+00] [ 2.03830469e-03 5.92839080e-04 9.99997747e-01 -2.62868730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.391400513 meters Centerline goodness [0,1] 0.2646142763311228 Centerline is valid? [False, False] Translation: X:181.83, Y:9.27, Z:-0.26 [[ 9.99995562e-01 2.14938407e-03 -2.06313310e-03 1.81826122e+02] [-2.15113526e-03 9.99997328e-01 -8.46960703e-04 9.26519053e+00] [ 2.06130715e-03 8.51395023e-04 9.99997513e-01 -2.62771871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.42140051300004 meters Centerline goodness [0,1] 0.42448762875650414 Centerline is valid? [False, False] Translation: X:181.83, Y:9.27, Z:-0.26 [[ 9.99995422e-01 2.07744357e-03 -2.20000675e-03 1.81826539e+02] [-2.07955606e-03 9.99997378e-01 -9.58369273e-04 9.26566063e+00] [ 2.19801002e-03 9.62939923e-04 9.99997121e-01 -2.62732839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.451400513 meters Centerline goodness [0,1] 0.6234075586465047 Centerline is valid? [False, False] Translation: X:181.83, Y:9.27, Z:-0.26 [[ 9.99995204e-01 2.02694813e-03 -2.34183424e-03 1.81826964e+02] [-2.02922349e-03 9.99997471e-01 -9.69645292e-04 9.26564339e+00] [ 2.33986290e-03 9.74392747e-04 9.99996788e-01 -2.62651461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.481400513 meters Centerline goodness [0,1] 0.48748910478539087 Centerline is valid? [False, False] Translation: X:181.83, Y:9.27, Z:-0.26 [[ 9.99995067e-01 1.93281203e-03 -2.47574460e-03 1.81827431e+02] [-1.93538155e-03 9.99997591e-01 -1.03590312e-03 9.26584607e+00] [ 2.47373643e-03 1.04068952e-03 9.99996399e-01 -2.62723074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.511400513 meters Centerline goodness [0,1] 0.7484286109986577 Centerline is valid? [False, False] Translation: X:181.83, Y:9.27, Z:-0.26 [[ 9.99994774e-01 1.89148712e-03 -2.62188680e-03 1.81827773e+02] [-1.89411546e-03 9.99997706e-01 -1.00034136e-03 9.26561228e+00] [ 2.61998865e-03 1.00530229e-03 9.99996063e-01 -2.62464416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.541400513 meters Centerline goodness [0,1] 0.8282731232385345 Centerline is valid? [False, False] Translation: X:181.83, Y:9.26, Z:-0.26 [[ 9.99994660e-01 1.68869072e-03 -2.79801119e-03 1.81828147e+02] [-1.69077322e-03 9.99998295e-01 -7.42082450e-04 9.26397602e+00] [ 2.79675327e-03 7.46809289e-04 9.99995810e-01 -2.61960421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.571400513 meters Centerline goodness [0,1] 0.8499039077514414 Centerline is valid? [False, False] Translation: X:181.83, Y:9.26, Z:-0.26 [[ 9.99994656e-01 1.73571934e-03 -2.77051679e-03 1.81827936e+02] [-1.73722487e-03 9.99998345e-01 -5.41099510e-04 9.26301306e+00] [ 2.76957301e-03 5.45909629e-04 9.99996016e-01 -2.61736357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.601400513 meters Centerline goodness [0,1] 0.9947846818655938 Centerline is valid? [False, True] Translation: X:181.83, Y:9.26, Z:-0.26 [[ 9.99994740e-01 1.71010339e-03 -2.75596042e-03 1.81827738e+02] [-1.71156284e-03 9.99998396e-01 -5.27289324e-04 9.26293242e+00] [ 2.75505428e-03 5.32003550e-04 9.99996063e-01 -2.61455302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.631400513 meters Centerline goodness [0,1] 0.9249699753481806 Centerline is valid? [True, False] Translation: X:181.83, Y:9.26, Z:-0.26 [[ 9.99979464e-01 5.52794028e-03 -3.24252139e-03 1.81829138e+02] [-5.51324324e-03 9.99974568e-01 4.52415809e-03 9.25793047e+00] [ 3.26744820e-03 -4.50618837e-03 9.99984509e-01 -2.60577939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.661400513 meters Centerline goodness [0,1] 0.9675536334391445 Centerline is valid? [False, True] Translation: X:181.83, Y:9.26, Z:-0.26 [[ 9.99980918e-01 5.22774438e-03 -3.29141712e-03 1.81829448e+02] [-5.21498068e-03 9.99978896e-01 3.87458733e-03 9.26092999e+00] [ 3.31160301e-03 -3.85734872e-03 9.99987077e-01 -2.60878198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.691400513 meters Centerline goodness [0,1] 0.9578698524600544 Centerline is valid? [True, True] Translation: X:181.86, Y:9.27, Z:-0.26 [[ 9.99976702e-01 5.72283917e-03 -3.72079287e-03 1.81858746e+02] [-5.72384881e-03 9.99983585e-01 -2.60760687e-04 9.26886490e+00] [ 3.71923950e-03 2.82051867e-04 9.99993044e-01 -2.62531894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.721400513 meters Centerline goodness [0,1] 0.9532030126089532 Centerline is valid? [True, True] Translation: X:181.89, Y:9.27, Z:-0.26 [[ 9.99971173e-01 6.52903244e-03 -3.87614359e-03 1.81887782e+02] [-6.53013461e-03 9.99978642e-01 -2.71758632e-04 9.27207870e+00] [ 3.87428648e-03 2.97062537e-04 9.99992451e-01 -2.62816249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.751400513 meters Centerline goodness [0,1] 0.9235496037631903 Centerline is valid? [True, False] Translation: X:181.89, Y:9.27, Z:-0.26 [[ 9.99972266e-01 6.37680310e-03 -3.84756573e-03 1.81887851e+02] [-6.37930657e-03 9.99979448e-01 -6.38741948e-04 9.27377042e+00] [ 3.84341353e-03 6.63269035e-04 9.99992394e-01 -2.63148315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.781400513 meters Centerline goodness [0,1] 0.5850569320653333 Centerline is valid? [False, False] Translation: X:181.89, Y:9.28, Z:-0.26 [[ 9.99973544e-01 6.21241551e-03 -3.78387907e-03 1.81887908e+02] [-6.21641929e-03 9.99980129e-01 -1.04727335e-03 9.27566036e+00] [ 3.77729778e-03 1.07076782e-03 9.99992293e-01 -2.63671294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.811400513 meters Centerline goodness [0,1] 0.7620633338282393 Centerline is valid? [False, False] Translation: X:181.89, Y:9.28, Z:-0.26 [[ 9.99974423e-01 6.08377639e-03 -3.76057317e-03 1.81888071e+02] [-6.08895727e-03 9.99980527e-01 -1.36777329e-03 9.27713413e+00] [ 3.75217871e-03 1.39063627e-03 9.99991994e-01 -2.64182332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.841400513 meters Centerline goodness [0,1] 0.8680152510061427 Centerline is valid? [False, False] Translation: X:181.89, Y:9.28, Z:-0.26 [[ 9.99975869e-01 5.90146017e-03 -3.66527145e-03 1.81887902e+02] [-5.90823613e-03 9.99980852e-01 -1.84062455e-03 9.27936155e+00] [ 3.65433890e-03 1.86223543e-03 9.99991589e-01 -2.64470491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.871400513 meters Centerline goodness [0,1] 0.7771363076792461 Centerline is valid? [False, False] Translation: X:181.89, Y:9.28, Z:-0.26 [[ 9.99976266e-01 5.86294666e-03 -3.61837963e-03 1.81887587e+02] [-5.87005861e-03 9.99980854e-01 -1.95802580e-03 9.27995570e+00] [ 3.60683056e-03 1.97921943e-03 9.99991537e-01 -2.64177929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.901400513 meters Centerline goodness [0,1] 0.6828778983823964 Centerline is valid? [False, False] Translation: X:181.89, Y:9.28, Z:-0.26 [[ 9.99976675e-01 5.83474163e-03 -3.55052102e-03 1.81887274e+02] [-5.84220063e-03 9.99980742e-01 -2.09408629e-03 9.28064421e+00] [ 3.53823419e-03 2.11478030e-03 9.99991504e-01 -2.64025747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.931400513 meters Centerline goodness [0,1] 0.5623563463011834 Centerline is valid? [False, False] Translation: X:181.89, Y:9.28, Z:-0.26 [[ 9.99940724e-01 1.03215888e-02 -3.46589201e-03 1.81886671e+02] [-1.03126167e-02 9.99943452e-01 2.59665080e-03 9.27906169e+00] [ 3.49249759e-03 -2.56075447e-03 9.99990622e-01 -2.63149945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.961400513 meters Centerline goodness [0,1] 0.5274528022975884 Centerline is valid? [False, False] Translation: X:181.89, Y:9.28, Z:-0.26 [[ 9.99943982e-01 1.00595077e-02 -3.29216324e-03 1.81886246e+02] [-1.00543260e-02 9.99948195e-01 1.58672066e-03 9.28403137e+00] [ 3.30795432e-03 -1.55353129e-03 9.99993322e-01 -2.63564251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.99140051300003 meters Centerline goodness [0,1] 0.5558469575516592 Centerline is valid? [False, False] Translation: X:181.89, Y:9.29, Z:-0.26 [[ 9.99947440e-01 9.77583530e-03 -3.09024127e-03 1.81885900e+02] [-9.77442761e-03 9.99952119e-01 4.70302660e-04 9.28946799e+00] [ 3.09469090e-03 -4.40072601e-04 9.99995115e-01 -2.64260966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.021400513 meters Centerline goodness [0,1] 0.4415077530068091 Centerline is valid? [False, False] Translation: X:181.89, Y:9.30, Z:-0.27 [[ 9.99950749e-01 9.49354627e-03 -2.89347663e-03 1.81885650e+02] [-9.49553670e-03 9.99954689e-01 -6.74944181e-04 9.29508724e+00] [ 2.88693791e-03 7.02386053e-04 9.99995586e-01 -2.65138996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.05140051300003 meters Centerline goodness [0,1] 0.3438236605720838 Centerline is valid? [False, False] Translation: X:181.89, Y:9.30, Z:-0.27 [[ 9.99955094e-01 9.05324609e-03 -2.80143771e-03 1.81885736e+02] [-9.05881893e-03 9.99957002e-01 -1.98302533e-03 9.30129349e+00] [ 2.78336444e-03 2.00831400e-03 9.99994110e-01 -2.66018977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.081400513 meters Centerline goodness [0,1] 0.39703473655101995 Centerline is valid? [False, False] Translation: X:181.89, Y:9.31, Z:-0.27 [[ 9.99959856e-01 8.54798770e-03 -2.68673647e-03 1.81885799e+02] [-8.55686615e-03 9.99957909e-01 -3.31060976e-03 9.30753697e+00] [ 2.65832434e-03 3.33346690e-03 9.99990911e-01 -2.66981850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.11140051300004 meters Centerline goodness [0,1] 0.43869024897145525 Centerline is valid? [False, False] Translation: X:181.89, Y:9.32, Z:-0.27 [[ 9.99968529e-01 7.47884761e-03 -2.64738508e-03 1.81886343e+02] [-7.49395133e-03 9.99955434e-01 -5.74195900e-03 9.31872857e+00] [ 2.60432386e-03 5.76161766e-03 9.99980010e-01 -2.68305715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.141400513 meters Centerline goodness [0,1] 0.4194488155488453 Centerline is valid? [False, False] Translation: X:181.89, Y:9.32, Z:-0.27 [[ 9.99971319e-01 7.10731367e-03 -2.61689481e-03 1.81886217e+02] [-7.12430328e-03 9.99953227e-01 -6.54122861e-03 9.32245127e+00] [ 2.57028185e-03 6.55968455e-03 9.99975182e-01 -2.68288755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.17140051300004 meters Centerline goodness [0,1] 0.44498467392453234 Centerline is valid? [False, False] Translation: X:181.89, Y:9.32, Z:-0.27 [[ 9.99941946e-01 1.03096571e-02 -3.13314058e-03 1.81887998e+02] [-1.03165301e-02 9.99944395e-01 -2.18546339e-03 9.31983912e+00] [ 3.11043499e-03 2.21765965e-03 9.99992704e-01 -2.67767089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.201400513 meters Centerline goodness [0,1] 0.49350068189567 Centerline is valid? [False, False] Translation: X:181.89, Y:9.32, Z:-0.27 [[ 9.99943792e-01 1.00925752e-02 -3.24845401e-03 1.81888238e+02] [-1.01007969e-02 9.99945799e-01 -2.52458751e-03 9.32134983e+00] [ 3.22279835e-03 2.55725758e-03 9.99991537e-01 -2.67486607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.231400513 meters Centerline goodness [0,1] 0.6984842364846191 Centerline is valid? [False, False] Translation: X:181.89, Y:9.32, Z:-0.27 [[ 9.99946130e-01 9.80071319e-03 -3.41807770e-03 1.81888666e+02] [-9.81087135e-03 9.99947468e-01 -2.96789755e-03 9.32329417e+00] [ 3.38881062e-03 3.00127199e-03 9.99989754e-01 -2.67240046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.261400513 meters Centerline goodness [0,1] 0.7853910519125683 Centerline is valid? [False, False] Translation: X:181.89, Y:9.33, Z:-0.27 [[ 9.99949311e-01 9.45628025e-03 -3.45750747e-03 1.81888756e+02] [-9.46890327e-03 9.99948497e-01 -3.65294282e-03 9.32645612e+00] [ 3.42278615e-03 3.68549646e-03 9.99987351e-01 -2.67161869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.291400513 meters Centerline goodness [0,1] 0.5934575481685369 Centerline is valid? [False, False] Translation: X:181.89, Y:9.34, Z:-0.27 [[ 9.99933023e-01 1.07558907e-02 -4.27331375e-03 1.81894618e+02] [-1.07671864e-02 9.99938576e-01 -2.62916612e-03 9.33504247e+00] [ 4.24477224e-03 2.67500159e-03 9.99987413e-01 -2.70643722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.321400513 meters Centerline goodness [0,1] 0.8282290846404324 Centerline is valid? [False, False] Translation: X:181.90, Y:9.34, Z:-0.27 [[ 9.99938261e-01 1.02301920e-02 -4.33799901e-03 1.81895075e+02] [-1.02465471e-02 9.99940415e-01 -3.76486976e-03 9.34027842e+00] [ 4.29922519e-03 3.80908683e-03 9.99983504e-01 -2.71119348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.351400513 meters Centerline goodness [0,1] 0.7957042420072671 Centerline is valid? [False, False] Translation: X:181.90, Y:9.34, Z:-0.27 [[ 9.99941553e-01 9.87985715e-03 -4.39084954e-03 1.81895336e+02] [-9.89973868e-03 9.99940738e-01 -4.52951426e-03 9.34381417e+00] [ 4.34583837e-03 4.57271779e-03 9.99980102e-01 -2.71291091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.381400513 meters Centerline goodness [0,1] 0.8705421209330221 Centerline is valid? [False, False] Translation: X:181.90, Y:9.34, Z:-0.27 [[ 9.99896456e-01 1.35166208e-02 -4.93737673e-03 1.81897114e+02] [-1.35159672e-02 9.99908641e-01 1.65725103e-04 9.34037895e+00] [ 4.93916570e-03 -9.89745218e-05 9.99987797e-01 -2.70765570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.411400513 meters Centerline goodness [0,1] 0.8599443969204448 Centerline is valid? [False, False] Translation: X:181.90, Y:9.34, Z:-0.27 [[ 9.99897482e-01 1.33989240e-02 -5.04928086e-03 1.81897233e+02] [-1.33988967e-02 9.99910230e-01 3.92335714e-05 9.34090344e+00] [ 5.04935328e-03 2.84252435e-05 9.99987252e-01 -2.70300488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.441400513 meters Centerline goodness [0,1] 0.9749957583983713 Centerline is valid? [False, True] Translation: X:181.91, Y:9.34, Z:-0.26 [[ 9.99932695e-01 8.03832081e-03 -8.36604120e-03 1.81913074e+02] [-8.01321185e-03 9.99963302e-01 3.03050039e-03 9.34019764e+00] [ 8.39009431e-03 -2.96325756e-03 9.99960412e-01 -2.60412571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.471400513 meters Centerline goodness [0,1] 0.9847373302976642 Centerline is valid? [True, True] Translation: X:181.94, Y:9.34, Z:-0.26 [[ 9.99964493e-01 4.33416955e-03 -7.22687725e-03 1.81942121e+02] [-4.33749124e-03 9.99990494e-01 -4.44020137e-04 9.34279633e+00] [ 7.22488410e-03 4.75350888e-04 9.99973787e-01 -2.59029247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.501400513 meters Centerline goodness [0,1] 0.9994894377433148 Centerline is valid? [True, True] Translation: X:181.97, Y:9.33, Z:-0.26 [[ 9.99978836e-01 6.02716154e-04 -6.47792638e-03 1.81972731e+02] [-6.05307736e-04 9.99999738e-01 -3.98110369e-04 9.33274572e+00] [ 6.47768473e-03 4.02023083e-04 9.99978939e-01 -2.58313383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.531400513 meters Centerline goodness [0,1] 0.9979923922231615 Centerline is valid? [True, True] Translation: X:182.00, Y:9.34, Z:-0.26 [[ 9.99978729e-01 -2.29339441e-03 -6.10583532e-03 1.82001899e+02] [ 2.29114514e-03 9.99997305e-01 -3.75349574e-04 9.33670289e+00] [ 6.10667969e-03 3.61352235e-04 9.99981289e-01 -2.57712167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.561400513 meters Centerline goodness [0,1] 0.9998513863530211 Centerline is valid? [True, True] Translation: X:182.03, Y:9.32, Z:-0.26 [[ 9.99956914e-01 -6.03655784e-03 -7.05194266e-03 1.82033304e+02] [ 6.03364938e-03 9.99981703e-01 -4.33636482e-04 9.31995069e+00] [ 7.05443130e-03 3.91068849e-04 9.99975041e-01 -2.59912134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.591400513 meters Centerline goodness [0,1] 0.9996389124893797 Centerline is valid? [True, True] Translation: X:182.06, Y:9.32, Z:-0.26 [[ 9.99944042e-01 -6.71929836e-03 -8.17088759e-03 1.82061064e+02] [ 6.71541619e-03 9.99977325e-01 -5.02466470e-04 9.32472155e+00] [ 8.17407854e-03 4.47567443e-04 9.99966492e-01 -2.60996964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.621400513 meters Centerline goodness [0,1] 0.9998502032955275 Centerline is valid? [True, True] Translation: X:182.09, Y:9.32, Z:-0.26 [[ 9.99937544e-01 -7.20167468e-03 -8.54657750e-03 1.82090200e+02] [ 7.19743998e-03 9.99973960e-01 -5.26139396e-04 9.31644578e+00] [ 8.55014402e-03 4.64593057e-04 9.99963339e-01 -2.61172941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.651400513 meters Centerline goodness [0,1] 0.9996167195451738 Centerline is valid? [True, True] Translation: X:182.12, Y:9.32, Z:-0.26 [[ 9.99943155e-01 -6.78079027e-03 -8.22845162e-03 1.82117450e+02] [ 6.77684023e-03 9.99976908e-01 -5.07833594e-04 9.31850465e+00] [ 8.23170513e-03 4.52041824e-04 9.99966017e-01 -2.59964292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.681400513 meters Centerline goodness [0,1] 0.9996804158854611 Centerline is valid? [True, True] Translation: X:182.15, Y:9.32, Z:-0.26 [[ 9.99956758e-01 -5.54563056e-03 -7.46514055e-03 1.82145757e+02] [ 5.54234149e-03 9.99984535e-01 -4.61206610e-04 9.32040858e+00] [ 7.46758279e-03 4.19812308e-04 9.99972029e-01 -2.57967511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.711400513 meters Centerline goodness [0,1] 0.9996179317371371 Centerline is valid? [True, True] Translation: X:182.17, Y:9.32, Z:-0.26 [[ 9.99973222e-01 -4.07928043e-03 -6.07570913e-03 1.82174222e+02] [ 4.07707339e-03 9.99991618e-01 -3.75597022e-04 9.32338213e+00] [ 6.07719037e-03 3.50815852e-04 9.99981472e-01 -2.56124405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.74140051300003 meters Centerline goodness [0,1] 0.9993157714676703 Centerline is valid? [True, True] Translation: X:182.20, Y:9.32, Z:-0.26 [[ 9.99982206e-01 1.17712160e-03 -5.84829072e-03 1.82204420e+02] [-1.17925745e-03 9.99999239e-01 -3.61773560e-04 9.31960552e+00] [ 5.84786042e-03 3.68663762e-04 9.99982833e-01 -2.55454645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.771400513 meters Centerline goodness [0,1] 0.9919986452732737 Centerline is valid? [True, True] Translation: X:182.23, Y:9.33, Z:-0.26 [[ 9.99975343e-01 3.63867189e-03 -6.00605102e-03 1.82233343e+02] [-3.64096928e-03 9.99993303e-01 -3.71623023e-04 9.33013933e+00] [ 6.00465859e-03 3.93481707e-04 9.99981894e-01 -2.55997518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.80140051300003 meters Centerline goodness [0,1] 0.998481218447848 Centerline is valid? [True, True] Translation: X:182.26, Y:9.32, Z:-0.26 [[ 9.99968457e-01 5.54719307e-03 -5.68446320e-03 1.82264147e+02] [-5.54928183e-03 9.99984541e-01 -3.51742676e-04 9.32489805e+00] [ 5.68242414e-03 3.83276270e-04 9.99983781e-01 -2.56019773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.831400513 meters Centerline goodness [0,1] 0.9341211225997046 Centerline is valid? [True, False] Translation: X:182.28, Y:9.32, Z:-0.26 [[ 9.99977536e-01 6.30751417e-03 -2.26791509e-03 1.82284238e+02] [-6.28060279e-03 9.99912019e-01 1.16836524e-02 9.31738215e+00] [ 2.34141036e-03 -1.16691460e-02 9.99929172e-01 -2.57328186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.86140051300004 meters Centerline goodness [0,1] 0.9880866272390758 Centerline is valid? [False, True] Translation: X:182.28, Y:9.32, Z:-0.26 [[ 9.99995935e-01 2.21482604e-03 -1.79568514e-03 1.82282624e+02] [-2.20338691e-03 9.99977427e-01 6.34748450e-03 9.32329785e+00] [ 1.80970318e-03 -6.34350211e-03 9.99978242e-01 -2.57635705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.891400513 meters Centerline goodness [0,1] 0.9880866272390758 Centerline is valid? [True, True] Translation: X:182.31, Y:9.33, Z:-0.26 [[ 9.99996744e-01 2.15783111e-03 -1.36189708e-03 1.82311430e+02] [-2.15795796e-03 9.99997667e-01 -9.16845288e-05 9.33073966e+00] [ 1.36169606e-03 9.46231470e-05 9.99999068e-01 -2.58226467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.92140051300004 meters Centerline goodness [0,1] 0.9660107713837411 Centerline is valid? [True, True] Translation: X:182.34, Y:9.34, Z:-0.26 [[ 9.99995122e-01 2.42898031e-03 -1.96380469e-03 1.82340120e+02] [-2.42924478e-03 9.99997041e-01 -1.32302032e-04 9.33654908e+00] [ 1.96347752e-03 1.37071949e-04 9.99998063e-01 -2.58452108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.951400513 meters Centerline goodness [0,1] 0.9990613934041555 Centerline is valid? [True, True] Translation: X:182.37, Y:9.33, Z:-0.26 [[ 9.99981880e-01 1.47399220e-03 -5.83672296e-03 1.82370815e+02] [-1.47631441e-03 9.99998833e-01 -3.93573588e-04 9.32770423e+00] [ 5.83613603e-03 4.02183294e-04 9.99982889e-01 -2.64742271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.981400513 meters Centerline goodness [0,1] 0.9961180288920473 Centerline is valid? [True, True] Translation: X:182.40, Y:9.33, Z:-0.27 [[ 9.99978444e-01 2.77234492e-04 -6.56006231e-03 1.82399127e+02] [-2.80143099e-04 9.99999863e-01 -4.42466254e-04 9.33424045e+00] [ 6.55993875e-03 4.44294472e-04 9.99978385e-01 -2.66376864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.011400513 meters Centerline goodness [0,1] 0.9989376168621452 Centerline is valid? [True, True] Translation: X:182.43, Y:9.33, Z:-0.27 [[ 9.99979676e-01 -1.46485815e-03 -6.20493846e-03 1.82429039e+02] [ 1.46228812e-03 9.99998843e-01 -4.18706585e-04 9.33241413e+00] [ 6.20554463e-03 4.09624667e-04 9.99980662e-01 -2.65803251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.041400513 meters Centerline goodness [0,1] 0.9995927815165674 Centerline is valid? [True, True] Translation: X:182.46, Y:9.33, Z:-0.26 [[ 9.99979666e-01 -3.81717985e-03 -5.10856946e-03 1.82459125e+02] [ 3.81546788e-03 9.99992662e-01 -3.44819828e-04 9.32620058e+00] [ 5.10984821e-03 3.25321234e-04 9.99986892e-01 -2.64142590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.071400513 meters Centerline goodness [0,1] 0.998915055204544 Centerline is valid? [True, True] Translation: X:182.49, Y:9.33, Z:-0.26 [[ 9.99954521e-01 -8.25201869e-03 -4.78131789e-03 1.82487772e+02] [ 8.25056906e-03 9.99965911e-01 -3.22830904e-04 9.33163522e+00] [ 4.78381891e-03 2.83367628e-04 9.99988517e-01 -2.62534082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.101400513 meters Centerline goodness [0,1] 0.9994035954673256 Centerline is valid? [True, True] Translation: X:182.52, Y:9.33, Z:-0.26 [[ 9.99936062e-01 -9.85733816e-03 -5.54113874e-03 1.82517533e+02] [ 9.85541465e-03 9.99951364e-01 -3.74330608e-04 9.32818953e+00] [ 5.54455914e-03 3.19696454e-04 9.99984578e-01 -2.63196029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.131400513 meters Centerline goodness [0,1] 0.9995116772823779 Centerline is valid? [True, True] Translation: X:182.55, Y:9.33, Z:-0.26 [[ 9.99920829e-01 -1.10556477e-02 -6.00897060e-03 1.82545412e+02] [ 1.10534061e-02 9.99938827e-01 -4.06131377e-04 9.33089039e+00] [ 6.01309306e-03 3.39679632e-04 9.99981864e-01 -2.64260297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.161400513 meters Centerline goodness [0,1] 0.9983228600543478 Centerline is valid? [True, True] Translation: X:182.57, Y:9.34, Z:-0.26 [[ 9.99914910e-01 -1.16953430e-02 -5.77863395e-03 1.82572798e+02] [ 1.16932781e-02 9.99931555e-01 -3.90994985e-04 9.33760233e+00] [ 5.78281125e-03 3.23390542e-04 9.99983227e-01 -2.63641707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.191400513 meters Centerline goodness [0,1] 0.9996380591453937 Centerline is valid? [True, True] Translation: X:182.60, Y:9.33, Z:-0.26 [[ 9.99919780e-01 -1.17261792e-02 -4.78848825e-03 1.82602574e+02] [ 1.17247608e-02 9.99931210e-01 -3.24181490e-04 9.32570600e+00] [ 4.79196026e-03 2.68011605e-04 9.99988483e-01 -2.61385465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.221400513 meters Centerline goodness [0,1] 0.9994512915752153 Centerline is valid? [True, True] Translation: X:182.63, Y:9.33, Z:-0.26 [[ 9.99941014e-01 -1.01937468e-02 -3.74913342e-03 1.82631473e+02] [ 1.01928644e-02 9.99948019e-01 -2.54400141e-04 9.32554541e+00] [ 3.75153183e-03 2.16170727e-04 9.99992940e-01 -2.58803653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.251400513 meters Centerline goodness [0,1] 0.9997226311634556 Centerline is valid? [True, True] Translation: X:182.66, Y:9.32, Z:-0.26 [[ 9.99944553e-01 -9.52569500e-03 -4.48900734e-03 1.82660910e+02] [ 9.52442274e-03 9.99954595e-01 -3.04709565e-04 9.31802128e+00] [ 4.49170609e-03 2.61937467e-04 9.99989878e-01 -2.60281663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.281400513 meters Centerline goodness [0,1] 0.9995105341562035 Centerline is valid? [True, True] Translation: X:182.69, Y:9.33, Z:-0.26 [[ 9.99951851e-01 -8.10488594e-03 -5.53225366e-03 1.82689039e+02] [ 8.10292612e-03 9.99967100e-01 -3.76575355e-04 9.32788552e+00] [ 5.53512375e-03 3.31729781e-04 9.99984626e-01 -2.62223403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.311400513 meters Centerline goodness [0,1] 0.9992997941819262 Centerline is valid? [True, True] Translation: X:182.72, Y:9.33, Z:-0.26 [[ 9.99963165e-01 -5.99615663e-03 -6.14115626e-03 1.82718759e+02] [ 5.99370074e-03 9.99981950e-01 -4.18232934e-04 9.32986872e+00] [ 6.14355321e-03 3.81409276e-04 9.99981055e-01 -2.63514045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.341400513 meters Centerline goodness [0,1] 0.994103497456202 Centerline is valid? [True, True] Translation: X:182.75, Y:9.34, Z:-0.26 [[ 9.99984069e-01 2.01422109e-04 -5.64094061e-03 1.82747219e+02] [-2.03592758e-04 9.99999905e-01 -3.84231143e-04 9.33857251e+00] [ 5.64086268e-03 3.85373477e-04 9.99984016e-01 -2.61901449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.371400513 meters Centerline goodness [0,1] 0.9854393732970027 Centerline is valid? [True, True] Translation: X:182.78, Y:9.34, Z:-0.26 [[ 9.99981181e-01 3.94697383e-03 -4.69670163e-03 1.82777473e+02] [-3.94852014e-03 9.99992153e-01 -3.20006223e-04 9.34207427e+00] [ 4.69540172e-03 3.38545222e-04 9.99988919e-01 -2.59877579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.401400513 meters Centerline goodness [0,1] 0.7439945530755974 Centerline is valid? [True, False] Translation: X:182.78, Y:9.34, Z:-0.26 [[ 9.99982606e-01 3.95393428e-03 -4.37657909e-03 1.82776399e+02] [-3.95766524e-03 9.99991812e-01 -8.44152522e-04 9.34486838e+00] [ 4.37320553e-03 8.61458873e-04 9.99990066e-01 -2.59850331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.431400513 meters Centerline goodness [0,1] 0.8157296205760443 Centerline is valid? [False, False] Translation: X:182.78, Y:9.35, Z:-0.26 [[ 9.99983481e-01 3.90059743e-03 -4.22179765e-03 1.82776120e+02] [-3.90707129e-03 9.99991203e-01 -1.52627754e-03 9.34833940e+00] [ 4.21580712e-03 1.54274719e-03 9.99989923e-01 -2.60409466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.461400513 meters Centerline goodness [0,1] 0.42801729619738016 Centerline is valid? [False, False] Translation: X:182.78, Y:9.35, Z:-0.26 [[ 9.99983583e-01 3.80184200e-03 -4.28713512e-03 1.82776799e+02] [-3.81129114e-03 9.99990321e-01 -2.19805635e-03 9.35159414e+00] [ 4.27873696e-03 2.21435978e-03 9.99988394e-01 -2.61456719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.49140051300003 meters Centerline goodness [0,1] 0.6455693520362757 Centerline is valid? [False, False] Translation: X:182.78, Y:9.35, Z:-0.26 [[ 9.99983920e-01 3.67036258e-03 -4.32288240e-03 1.82777419e+02] [-3.68200054e-03 9.99989611e-01 -2.68730081e-03 9.35387004e+00] [ 4.31297412e-03 2.70317445e-03 9.99987045e-01 -2.62484723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.521400513 meters Centerline goodness [0,1] 0.5567311354691269 Centerline is valid? [False, False] Translation: X:182.78, Y:9.36, Z:-0.26 [[ 9.99984992e-01 3.52087135e-03 -4.19757383e-03 1.82777222e+02] [-3.53407728e-03 9.99988816e-01 -3.14282949e-03 9.35602204e+00] [ 4.18646139e-03 3.15761687e-03 9.99986251e-01 -2.62978114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.55140051300003 meters Centerline goodness [0,1] 0.6120719178082192 Centerline is valid? [False, False] Translation: X:182.78, Y:9.36, Z:-0.26 [[ 9.99985339e-01 3.50338559e-03 -4.12884747e-03 1.82776913e+02] [-3.51653690e-03 9.99988753e-01 -3.18228133e-03 9.35622585e+00] [ 4.11765227e-03 3.19675392e-03 9.99986413e-01 -2.62843859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.581400513 meters Centerline goodness [0,1] 0.5967632172174726 Centerline is valid? [False, False] Translation: X:182.78, Y:9.35, Z:-0.26 [[ 9.99962365e-01 7.38023639e-03 -4.56085110e-03 1.82778240e+02] [-7.37110185e-03 9.99970800e-01 2.01638876e-03 9.35052187e+00] [ 4.57559935e-03 -1.98269437e-03 9.99987566e-01 -2.62097989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.61140051300004 meters Centerline goodness [0,1] 0.7813343535463028 Centerline is valid? [False, False] Translation: X:182.78, Y:9.36, Z:-0.26 [[ 9.99987299e-01 2.57922100e-03 -4.33004447e-03 1.82777654e+02] [-2.59456111e-03 9.99990365e-01 -3.54084211e-03 9.35636771e+00] [ 4.32087013e-03 3.55203171e-03 9.99984356e-01 -2.62673771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.641400513 meters Centerline goodness [0,1] 0.835120501114768 Centerline is valid? [False, False] Translation: X:182.78, Y:9.36, Z:-0.26 [[ 9.99986947e-01 2.57583457e-03 -4.41252864e-03 1.82777884e+02] [-2.59119730e-03 9.99990590e-01 -3.47944448e-03 9.35605431e+00] [ 4.40352464e-03 3.49083279e-03 9.99984211e-01 -2.62586423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.67140051300004 meters Centerline goodness [0,1] 0.9662264837446226 Centerline is valid? [False, True] Translation: X:182.78, Y:9.36, Z:-0.26 [[ 9.99986647e-01 2.57571598e-03 -4.48004430e-03 1.82778075e+02] [-2.59111544e-03 9.99990744e-01 -3.43494394e-03 9.35582340e+00] [ 4.47115539e-03 3.44650639e-03 9.99984065e-01 -2.62523832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.701400513 meters Centerline goodness [0,1] 0.8393031447608539 Centerline is valid? [True, False] Translation: X:182.78, Y:9.35, Z:-0.26 [[ 9.99965363e-01 6.60045418e-03 -5.07017446e-03 1.82779848e+02] [-6.59071134e-03 9.99976407e-01 1.93591007e-03 9.34945271e+00] [ 5.08283273e-03 -1.90242696e-03 9.99985273e-01 -2.61753932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.731400513 meters Centerline goodness [0,1] 0.8648781216011602 Centerline is valid? [False, False] Translation: X:182.77, Y:9.35, Z:-0.26 [[ 9.99981518e-01 4.33566729e-03 -4.26215423e-03 1.82773424e+02] [-4.33749589e-03 9.99990505e-01 -4.19882234e-04 9.35054161e+00] [ 4.26029329e-03 4.38361550e-04 9.99990829e-01 -2.57644381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.761400513 meters Centerline goodness [0,1] 0.8643112396834851 Centerline is valid? [False, False] Translation: X:182.77, Y:9.35, Z:-0.26 [[ 9.99979919e-01 4.63620392e-03 -4.32049044e-03 1.82773424e+02] [-4.63497957e-03 9.99989215e-01 2.93352183e-04 9.34719418e+00] [ 4.32180388e-03 -2.73320907e-04 9.99990624e-01 -2.57275572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.791400513 meters Centerline goodness [0,1] 0.9967502619032348 Centerline is valid? [False, True] Translation: X:182.77, Y:9.35, Z:-0.26 [[ 9.99991274e-01 5.03904227e-04 -4.14706917e-03 1.82772592e+02] [-5.18800826e-04 9.99993415e-01 -3.59178737e-03 9.34519025e+00] [ 4.14523195e-03 3.59390753e-03 9.99984950e-01 -2.56857216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.821400513 meters Centerline goodness [0,1] 0.9440076906643879 Centerline is valid? [True, False] Translation: X:182.77, Y:9.34, Z:-0.26 [[ 9.99990385e-01 9.45564785e-04 -4.28197040e-03 1.82772790e+02] [-9.55969516e-04 9.99996594e-01 -2.42849875e-03 9.33969555e+00] [ 4.27965951e-03 2.43256883e-03 9.99987883e-01 -2.56363200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.851400513 meters Centerline goodness [0,1] 0.9824993628408801 Centerline is valid? [False, True] Translation: X:182.77, Y:9.33, Z:-0.26 [[ 9.99988757e-01 1.42019635e-03 -4.52427781e-03 1.82773433e+02] [-1.42552201e-03 9.99998295e-01 -1.17412170e-03 9.33370283e+00] [ 4.52260261e-03 1.18055795e-03 9.99989076e-01 -2.56035749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.881400513 meters Centerline goodness [0,1] 0.9924310073563805 Centerline is valid? [True, True] Translation: X:182.80, Y:9.33, Z:-0.26 [[ 9.99985615e-01 5.05046600e-04 -5.33991239e-03 1.82802576e+02] [-5.07077728e-04 9.99999800e-01 -3.79020257e-04 9.32814680e+00] [ 5.33971990e-03 3.81722555e-04 9.99985671e-01 -2.56761415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.911400513 meters Centerline goodness [0,1] 0.9728057215048929 Centerline is valid? [True, True] Translation: X:182.83, Y:9.33, Z:-0.26 [[ 9.99982414e-01 1.14310148e-04 -5.92941294e-03 1.82830763e+02] [-1.16809370e-04 9.99999904e-01 -4.21151252e-04 9.33026871e+00] [ 5.92936424e-03 4.21836456e-04 9.99982332e-01 -2.57634440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.941400513 meters Centerline goodness [0,1] 0.9912471235940558 Centerline is valid? [True, True] Translation: X:182.86, Y:9.33, Z:-0.26 [[ 9.99982750e-01 1.93696185e-04 -5.87041632e-03 1.82860128e+02] [-1.96149416e-04 9.99999894e-01 -4.17324534e-04 9.32552472e+00] [ 5.87033486e-03 4.18468814e-04 9.99982682e-01 -2.57996699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.971400513 meters Centerline goodness [0,1] 0.980734139613834 Centerline is valid? [True, True] Translation: X:182.89, Y:9.32, Z:-0.26 [[ 9.99984557e-01 2.03481588e-03 -5.17157461e-03 1.82890135e+02] [-2.03674780e-03 9.99997858e-01 -3.68327272e-04 9.32356274e+00] [ 5.17081406e-03 3.78854777e-04 9.99986559e-01 -2.57619848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.001400513 meters Centerline goodness [0,1] 0.9920299249750271 Centerline is valid? [True, True] Translation: X:182.92, Y:9.32, Z:-0.26 [[ 9.99980300e-01 2.68039136e-03 -5.67583941e-03 1.82919235e+02] [-2.68272929e-03 9.99996320e-01 -4.04335575e-04 9.31912545e+00] [ 5.67473475e-03 4.19554350e-04 9.99983811e-01 -2.57472641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.031400513 meters Centerline goodness [0,1] 0.7170599025871339 Centerline is valid? [True, False] Translation: X:182.92, Y:9.32, Z:-0.26 [[ 9.99978458e-01 3.02417718e-03 -5.82557468e-03 1.82919713e+02] [-3.02202740e-03 9.99995362e-01 3.77792327e-04 9.31540947e+00] [ 5.82669018e-03 -3.60179142e-04 9.99982960e-01 -2.57421155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.061400513 meters Centerline goodness [0,1] 0.9552067381316999 Centerline is valid? [False, True] Translation: X:182.92, Y:9.31, Z:-0.26 [[ 9.99976322e-01 3.34567860e-03 -6.01353090e-03 1.82920406e+02] [-3.33912045e-03 9.99993820e-01 1.10027583e-03 9.31198346e+00] [ 6.01717491e-03 -1.08016987e-03 9.99981313e-01 -2.57522239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.091400513 meters Centerline goodness [0,1] 0.9716680814940577 Centerline is valid? [True, True] Translation: X:182.95, Y:9.31, Z:-0.26 [[ 9.99970046e-01 4.80632571e-03 -6.06682452e-03 1.82951548e+02] [-4.80904816e-03 9.99988342e-01 -4.34235761e-04 9.30708264e+00] [ 6.06466672e-03 4.63398406e-04 9.99981502e-01 -2.58551048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.121400513 meters Centerline goodness [0,1] 0.9362344733707674 Centerline is valid? [True, False] Translation: X:182.95, Y:9.30, Z:-0.26 [[ 9.99968907e-01 5.19481181e-03 -5.93280005e-03 1.82950627e+02] [-5.19263962e-03 9.99986445e-01 3.81477367e-04 9.30339223e+00] [ 5.93470134e-03 -3.50658614e-04 9.99982328e-01 -2.57660526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.151400513 meters Centerline goodness [0,1] 0.6252428824871167 Centerline is valid? [False, False] Translation: X:182.95, Y:9.30, Z:-0.26 [[ 9.99968045e-01 5.52476822e-03 -5.77807205e-03 1.82949703e+02] [-5.51863106e-03 9.99984192e-01 1.07755112e-03 9.30023952e+00] [ 5.78393393e-03 -1.04562964e-03 9.99982726e-01 -2.56887187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.181400513 meters Centerline goodness [0,1] 0.6246499193753713 Centerline is valid? [False, False] Translation: X:182.95, Y:9.30, Z:-0.26 [[ 9.99967211e-01 5.74847667e-03 -5.70370549e-03 1.82949252e+02] [-5.73980803e-03 9.99982349e-01 1.53503271e-03 9.29817106e+00] [ 5.71242891e-03 -1.50224420e-03 9.99982556e-01 -2.56502255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.211400513 meters Centerline goodness [0,1] 0.5939897562323337 Centerline is valid? [False, False] Translation: X:182.95, Y:9.30, Z:-0.26 [[ 9.99966892e-01 5.76953234e-03 -5.73816039e-03 1.82949594e+02] [-5.76062087e-03 9.99982178e-01 1.56833600e-03 9.29796332e+00] [ 5.74710669e-03 -1.53522871e-03 9.99982307e-01 -2.56934832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.24140051300003 meters Centerline goodness [0,1] 0.8337583949672702 Centerline is valid? [False, False] Translation: X:182.95, Y:9.30, Z:-0.26 [[ 9.99966918e-01 5.69680980e-03 -5.80599110e-03 1.82950255e+02] [-5.68888743e-03 9.99982866e-01 1.38011821e-03 9.29874106e+00] [ 5.81375389e-03 -1.34704293e-03 9.99982193e-01 -2.57785764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.271400513 meters Centerline goodness [0,1] 0.8981538526906163 Centerline is valid? [False, False] Translation: X:182.95, Y:9.30, Z:-0.26 [[ 9.99966654e-01 5.72559092e-03 -5.82315994e-03 1.82950627e+02] [-5.71757289e-03 9.99982685e-01 1.39263778e-03 9.29862398e+00] [ 5.83103278e-03 -1.35929700e-03 9.99982076e-01 -2.58396219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.30140051300003 meters Centerline goodness [0,1] 0.6001815533365703 Centerline is valid? [False, False] Translation: X:182.95, Y:9.30, Z:-0.26 [[ 9.99966463e-01 5.81570679e-03 -5.76637358e-03 1.82950208e+02] [-5.80684334e-03 9.99981935e-01 1.55264654e-03 9.29791310e+00] [ 5.77529915e-03 -1.51911004e-03 9.99982169e-01 -2.57993293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.331400513 meters Centerline goodness [0,1] 0.784442243250648 Centerline is valid? [False, False] Translation: X:182.95, Y:9.30, Z:-0.26 [[ 9.99967046e-01 5.80143794e-03 -5.67893848e-03 1.82949792e+02] [-5.79298695e-03 9.99982090e-01 1.50344903e-03 9.29820280e+00] [ 5.68755894e-03 -1.47050147e-03 9.99982745e-01 -2.57756940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.36140051300004 meters Centerline goodness [0,1] 0.46920301458186553 Centerline is valid? [False, False] Translation: X:182.91, Y:9.30, Z:-0.26 [[ 9.99954718e-01 4.63335862e-03 -8.31224344e-03 1.82907953e+02] [-4.61263079e-03 9.99986209e-01 2.51109050e-03 9.29610308e+00] [ 8.32376359e-03 -2.47263548e-03 9.99962300e-01 -2.57241828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.391400513 meters Centerline goodness [0,1] 0.6007562561074054 Centerline is valid? [False, False] Translation: X:182.91, Y:9.30, Z:-0.26 [[ 9.99956452e-01 4.28580275e-03 -8.29008398e-03 1.82908164e+02] [-4.27188567e-03 9.99989438e-01 1.69574199e-03 9.29988860e+00] [ 8.29726404e-03 -1.66025385e-03 9.99964199e-01 -2.57802373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.42140051300004 meters Centerline goodness [0,1] 0.8085986033160533 Centerline is valid? [False, False] Translation: X:182.91, Y:9.30, Z:-0.26 [[ 9.99958213e-01 3.92626409e-03 -8.25571723e-03 1.82908377e+02] [-3.91929911e-03 9.99991950e-01 8.59664251e-04 9.30376644e+00] [ 8.25902605e-03 -8.27271703e-04 9.99965551e-01 -2.58449705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.451400513 meters Centerline goodness [0,1] 0.8465791439854841 Centerline is valid? [False, False] Translation: X:182.91, Y:9.31, Z:-0.26 [[ 9.99961605e-01 3.65162268e-03 -7.96586783e-03 1.82907671e+02] [-3.65590634e-03 9.99993180e-01 -5.23255614e-04 9.31074502e+00] [ 7.96390277e-03 5.52357990e-04 9.99968135e-01 -2.59042679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.481400513 meters Centerline goodness [0,1] 0.35113939035217523 Centerline is valid? [False, False] Translation: X:182.92, Y:9.30, Z:-0.25 [[ 9.99930485e-01 5.68437133e-03 -1.03302341e-02 1.82924738e+02] [-5.57117479e-03 9.99924486e-01 1.09537278e-02 9.30494404e+00] [ 1.03917191e-02 -1.08954148e-02 9.99886645e-01 -2.51015007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.511400513 meters Centerline goodness [0,1] 0.37203801478352694 Centerline is valid? [False, False] Translation: X:182.92, Y:9.31, Z:-0.25 [[ 9.99950024e-01 1.48803380e-03 -9.88613680e-03 1.82923677e+02] [-1.43887151e-03 9.99986574e-01 4.97810529e-03 9.31434475e+00] [ 9.89341166e-03 -4.96363163e-03 9.99938740e-01 -2.52526169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.541400513 meters Centerline goodness [0,1] 0.3540408459420815 Centerline is valid? [False, False] Translation: X:182.92, Y:9.32, Z:-0.25 [[ 9.99949254e-01 8.86473536e-04 -1.00350913e-02 1.82924771e+02] [-8.49385102e-04 9.99992796e-01 3.69953296e-03 9.32015527e+00] [ 1.00382985e-02 -3.69082157e-03 9.99942804e-01 -2.53725041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.571400513 meters Centerline goodness [0,1] 0.4816395879791866 Centerline is valid? [False, False] Translation: X:182.93, Y:9.32, Z:-0.25 [[ 9.99948570e-01 6.88214163e-04 -1.01184584e-02 1.82925157e+02] [-6.54686122e-04 9.99994286e-01 3.31649130e-03 9.32189035e+00] [ 1.01206830e-02 -3.30969632e-03 9.99943307e-01 -2.53943439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.601400513 meters Centerline goodness [0,1] 0.5799794924378365 Centerline is valid? [False, False] Translation: X:182.93, Y:9.32, Z:-0.25 [[ 9.99948264e-01 5.54722692e-04 -1.01568559e-02 1.82925303e+02] [-5.23696455e-04 9.99995190e-01 3.05711358e-03 9.32306564e+00] [ 1.01585029e-02 -3.05163630e-03 9.99943745e-01 -2.53998881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.631400513 meters Centerline goodness [0,1] 0.3607164916615194 Centerline is valid? [False, False] Translation: X:182.93, Y:9.32, Z:-0.25 [[ 9.99947788e-01 3.58183960e-04 -1.02123553e-02 1.82925608e+02] [-3.31040365e-04 9.99996409e-01 2.65948378e-03 9.32485986e+00] [ 1.02132712e-02 -2.65596422e-03 9.99944316e-01 -2.54228673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.661400513 meters Centerline goodness [0,1] 0.6778809300740993 Centerline is valid? [False, False] Translation: X:182.93, Y:9.33, Z:-0.25 [[ 9.99948305e-01 9.88148342e-05 -1.01675043e-02 1.82925604e+02] [-7.76415180e-05 9.99997828e-01 2.08282335e-03 9.32754009e+00] [ 1.01676880e-02 -2.08192625e-03 9.99946140e-01 -2.54522206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.691400513 meters Centerline goodness [0,1] 0.5350607805502239 Centerline is valid? [False, False] Translation: X:182.93, Y:9.33, Z:-0.25 [[ 9.99949057e-01 -2.06296497e-04 -1.00916195e-02 1.82925452e+02] [ 2.20250724e-04 9.99999021e-01 1.38166222e-03 9.33082542e+00] [ 1.00913245e-02 -1.38381452e-03 9.99948124e-01 -2.54753884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.721400513 meters Centerline goodness [0,1] 0.5133292525909197 Centerline is valid? [False, False] Translation: X:182.97, Y:9.35, Z:-0.26 [[ 9.99969868e-01 -1.79089266e-03 -7.55346817e-03 1.82965987e+02] [ 1.74846005e-03 9.99982676e-01 -5.62050021e-03 9.34667740e+00] [ 7.56340303e-03 5.60712392e-03 9.99955677e-01 -2.57700107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.751400513 meters Centerline goodness [0,1] 0.5236049676760803 Centerline is valid? [False, False] Translation: X:182.97, Y:9.35, Z:-0.26 [[ 9.99969249e-01 -1.97934646e-03 -7.58831098e-03 1.82966213e+02] [ 1.93377909e-03 9.99980085e-01 -6.00758445e-03 9.34845058e+00] [ 7.60005094e-03 5.99272559e-03 9.99953162e-01 -2.57943427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.781400513 meters Centerline goodness [0,1] 0.5236049676760803 Centerline is valid? [False, False] Translation: X:182.97, Y:9.35, Z:-0.26 [[ 9.99969249e-01 -1.97934646e-03 -7.58831098e-03 1.82966213e+02] [ 1.93377909e-03 9.99980085e-01 -6.00758445e-03 9.34845058e+00] [ 7.60005094e-03 5.99272559e-03 9.99953162e-01 -2.57943427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.811400513 meters Centerline goodness [0,1] 0.6889839162624458 Centerline is valid? [False, False] Translation: X:182.97, Y:9.34, Z:-0.26 [[ 9.99966080e-01 1.81320396e-03 -8.03432289e-03 1.82967634e+02] [-1.82157466e-03 9.99997806e-01 -1.03467329e-03 9.34385074e+00] [ 8.03242919e-03 1.04927332e-03 9.99967189e-01 -2.57458774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.841400513 meters Centerline goodness [0,1] 0.8512660925910137 Centerline is valid? [False, False] Translation: X:182.97, Y:9.35, Z:-0.26 [[ 9.99966821e-01 1.54031056e-03 -7.99902197e-03 1.82967169e+02] [-1.55173587e-03 9.99997785e-01 -1.42232929e-03 9.34562854e+00] [ 7.99681342e-03 1.43469446e-03 9.99966996e-01 -2.56795479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.871400513 meters Centerline goodness [0,1] 0.7793410318889713 Centerline is valid? [False, False] Translation: X:182.97, Y:9.35, Z:-0.26 [[ 9.99966729e-01 1.45538018e-03 -8.02634073e-03 1.82966791e+02] [-1.46719498e-03 9.99997849e-01 -1.46631129e-03 9.34581045e+00] [ 8.02418942e-03 1.47803871e-03 9.99966713e-01 -2.55913312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.901400513 meters Centerline goodness [0,1] 0.9015070657046493 Centerline is valid? [False, False] Translation: X:182.97, Y:9.35, Z:-0.26 [[ 9.99966390e-01 1.46026769e-03 -8.06760600e-03 1.82966560e+02] [-1.47095771e-03 9.99998048e-01 -1.31928049e-03 9.34511635e+00] [ 8.06566375e-03 1.33110325e-03 9.99966586e-01 -2.55201309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.931400513 meters Centerline goodness [0,1] 0.8145207637129903 Centerline is valid? [False, False] Translation: X:182.97, Y:9.34, Z:-0.25 [[ 9.99964949e-01 1.48219631e-03 -8.24033735e-03 1.82966966e+02] [-1.49105934e-03 9.99998316e-01 -1.06952675e-03 9.34384630e+00] [ 8.23873823e-03 1.08177609e-03 9.99965476e-01 -2.54862596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.961400513 meters Centerline goodness [0,1] 0.993706546467374 Centerline is valid? [False, True] Translation: X:182.97, Y:9.34, Z:-0.25 [[ 9.99963732e-01 1.05213412e-03 -8.45151948e-03 1.82967708e+02] [-1.05850167e-03 9.99999159e-01 -7.48983103e-04 9.34144270e+00] [ 8.45072435e-03 7.57901886e-04 9.99964005e-01 -2.54759439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.99140051300003 meters Centerline goodness [0,1] 0.9967333347383507 Centerline is valid? [True, True] Translation: X:183.00, Y:9.34, Z:-0.25 [[ 9.99973997e-01 -1.92935847e-03 -6.94860923e-03 1.82997198e+02] [ 1.92608529e-03 9.99998031e-01 -4.77717698e-04 9.34185105e+00] [ 6.94951723e-03 4.64321662e-04 9.99975744e-01 -2.52879446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.021400513 meters Centerline goodness [0,1] 0.9991405427472551 Centerline is valid? [True, True] Translation: X:183.03, Y:9.34, Z:-0.25 [[ 9.99972157e-01 -5.33292549e-03 -5.21970467e-03 1.83027342e+02] [ 5.33112445e-03 9.99985725e-01 -3.58898896e-04 9.33624780e+00] [ 5.22154414e-03 3.31062008e-04 9.99986313e-01 -2.49714617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.05140051300003 meters Centerline goodness [0,1] 0.9985460828522061 Centerline is valid? [True, True] Translation: X:183.06, Y:9.34, Z:-0.25 [[ 9.99957558e-01 -8.60454076e-03 -3.29303422e-03 1.83056607e+02] [ 8.60384152e-03 9.99962961e-01 -2.26448919e-04 9.34025029e+00] [ 3.29486074e-03 1.98106563e-04 9.99994552e-01 -2.46512448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.081400513 meters Centerline goodness [0,1] 0.997856900356476 Centerline is valid? [True, True] Translation: X:183.09, Y:9.34, Z:-0.24 [[ 9.99931653e-01 -1.14500361e-02 -2.36356880e-03 1.83086182e+02] [ 1.14496837e-02 9.99934437e-01 -1.62543207e-04 9.34248454e+00] [ 2.36527496e-03 1.35469982e-04 9.99997194e-01 -2.44525570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.11140051300004 meters Centerline goodness [0,1] 0.9998718140449078 Centerline is valid? [True, True] Translation: X:183.12, Y:9.32, Z:-0.25 [[ 9.99878175e-01 -1.51655321e-02 -3.69348410e-03 1.83118276e+02] [ 1.51646966e-02 9.99884977e-01 -2.54123456e-04 9.32183323e+00] [ 3.69691319e-03 1.98081931e-04 9.99993147e-01 -2.47823761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.141400513 meters Centerline goodness [0,1] 0.9996411458003505 Centerline is valid? [True, True] Translation: X:183.15, Y:9.33, Z:-0.25 [[ 9.99864309e-01 -1.56947416e-02 -5.00385343e-03 1.83145447e+02] [ 1.56932151e-02 9.99876795e-01 -3.44184719e-04 9.32815461e+00] [ 5.00863882e-03 2.65611468e-04 9.99987421e-01 -2.49608617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.17140051300004 meters Centerline goodness [0,1] 0.9996598639455783 Centerline is valid? [True, True] Translation: X:183.17, Y:9.33, Z:-0.25 [[ 9.99860587e-01 -1.52767204e-02 -6.74011723e-03 1.83172782e+02] [ 1.52739360e-02 9.99883239e-01 -4.64380559e-04 9.33324188e+00] [ 6.74642446e-03 3.61367699e-04 9.99977177e-01 -2.51420859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.201400513 meters Centerline goodness [0,1] 0.9995722840034217 Centerline is valid? [True, True] Translation: X:183.20, Y:9.34, Z:-0.25 [[ 9.99870516e-01 -1.41855193e-02 -7.59747956e-03 1.83202040e+02] [ 1.41819469e-02 9.99899294e-01 -5.23881795e-04 9.33713957e+00] [ 7.60414599e-03 4.16066909e-04 9.99971002e-01 -2.52192116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.231400513 meters Centerline goodness [0,1] 0.9876595564225435 Centerline is valid? [True, True] Translation: X:183.23, Y:9.36, Z:-0.25 [[ 9.99920896e-01 -1.04158866e-02 -7.05058282e-03 1.83230390e+02] [ 1.04127157e-02 9.99945668e-01 -4.86301876e-04 9.35727233e+00] [ 7.05526502e-03 4.12847693e-04 9.99975026e-01 -2.51049040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.261400513 meters Centerline goodness [0,1] 0.9986001230194922 Centerline is valid? [True, True] Translation: X:183.26, Y:9.35, Z:-0.25 [[ 9.99937740e-01 -8.23462075e-03 -7.53038668e-03 1.83260825e+02] [ 8.23094167e-03 9.99965990e-01 -5.19425729e-04 9.35311649e+00] [ 7.53440785e-03 4.57411216e-04 9.99971511e-01 -2.51451035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.291400513 meters Centerline goodness [0,1] 0.9986888019456487 Centerline is valid? [True, True] Translation: X:183.29, Y:9.35, Z:-0.25 [[ 9.99945208e-01 -6.30597690e-03 -8.35554712e-03 1.83290989e+02] [ 6.30137942e-03 9.99979980e-01 -5.76442732e-04 9.35345430e+00] [ 8.35901487e-03 5.23759675e-04 9.99964926e-01 -2.52874116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.321400513 meters Centerline goodness [0,1] 0.9722618110654954 Centerline is valid? [True, True] Translation: X:183.32, Y:9.37, Z:-0.25 [[ 9.99944639e-01 -4.82114244e-03 -9.35285553e-03 1.83318922e+02] [ 4.81531553e-03 9.99988198e-01 -6.45427267e-04 9.36722110e+00] [ 9.35585684e-03 6.00354585e-04 9.99956053e-01 -2.54569643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.351400513 meters Centerline goodness [0,1] 0.9547813510294367 Centerline is valid? [True, True] Translation: X:183.35, Y:9.37, Z:-0.26 [[ 9.99943960e-01 -4.08643022e-03 -9.76621107e-03 1.83347771e+02] [ 4.08003874e-03 9.99991449e-01 -6.74283067e-04 9.37232883e+00] [ 9.76888297e-03 6.34398760e-04 9.99952082e-01 -2.55699225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.381400513 meters Centerline goodness [0,1] 0.9971736404785685 Centerline is valid? [True, True] Translation: X:183.38, Y:9.37, Z:-0.26 [[ 9.99947794e-01 -3.85094142e-03 -9.46464375e-03 1.83376759e+02] [ 3.84492156e-03 9.99992394e-01 -6.54150351e-04 9.36827761e+00] [ 9.46709086e-03 6.17725388e-04 9.99954995e-01 -2.55180387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.411400513 meters Centerline goodness [0,1] 0.9645528731723904 Centerline is valid? [True, True] Translation: X:183.40, Y:9.38, Z:-0.25 [[ 9.99964829e-01 -4.54184441e-03 -7.05068232e-03 1.83404234e+02] [ 4.53851486e-03 9.99989582e-01 -4.88159920e-04 9.38080494e+00] [ 7.05282601e-03 4.56143124e-04 9.99975024e-01 -2.51000418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.441400513 meters Centerline goodness [0,1] 0.9992579715061058 Centerline is valid? [True, True] Translation: X:183.44, Y:9.37, Z:-0.25 [[ 9.99960882e-01 -5.87428564e-03 -6.61273001e-03 1.83435434e+02] [ 5.87137975e-03 9.99982658e-01 -4.58765707e-04 9.36863623e+00] [ 6.61531025e-03 4.19921912e-04 9.99978030e-01 -2.49893234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.471400513 meters Centerline goodness [0,1] 0.9987080650626906 Centerline is valid? [True, True] Translation: X:183.46, Y:9.37, Z:-0.25 [[ 9.99943626e-01 -7.59134667e-03 -7.42403933e-03 1.83464148e+02] [ 7.58773025e-03 9.99971080e-01 -5.15168002e-04 9.37009837e+00] [ 7.42773545e-03 4.58807352e-04 9.99972309e-01 -2.50973717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.501400513 meters Centerline goodness [0,1] 0.9962606497121125 Centerline is valid? [True, True] Translation: X:183.49, Y:9.38, Z:-0.25 [[ 9.99920471e-01 -9.39941640e-03 -8.40847589e-03 1.83492422e+02] [ 9.39483836e-03 9.99955697e-01 -5.83789019e-04 9.37680679e+00] [ 8.41359065e-03 5.04746319e-04 9.99964478e-01 -2.52521181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.531400513 meters Centerline goodness [0,1] 0.9991724664742828 Centerline is valid? [True, True] Translation: X:183.52, Y:9.37, Z:-0.25 [[ 9.99916041e-01 -1.05618567e-02 -7.50720727e-03 1.83522002e+02] [ 1.05582375e-02 9.99944124e-01 -5.21574494e-04 9.37183724e+00] [ 7.51229660e-03 4.42267826e-04 9.99971684e-01 -2.51106944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.561400513 meters Centerline goodness [0,1] 0.9992624436296202 Centerline is valid? [True, True] Translation: X:183.55, Y:9.37, Z:-0.25 [[ 9.99926272e-01 -1.02574920e-02 -6.49882296e-03 1.83550435e+02] [ 1.02547680e-02 9.99947316e-01 -4.52332991e-04 9.37304738e+00] [ 6.50312038e-03 3.85655719e-04 9.99978780e-01 -2.48363071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.591400513 meters Centerline goodness [0,1] 0.9996815557065217 Centerline is valid? [True, True] Translation: X:183.58, Y:9.37, Z:-0.25 [[ 9.99936661e-01 -9.65249297e-03 -5.78828826e-03 1.83579523e+02] [ 9.65031742e-03 9.99953353e-01 -4.03666079e-04 9.36951452e+00] [ 5.79191464e-03 3.47781692e-04 9.99983166e-01 -2.46315644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.621400513 meters Centerline goodness [0,1] 0.9976754015215553 Centerline is valid? [True, True] Translation: X:183.61, Y:9.38, Z:-0.25 [[ 9.99950068e-01 -8.41695492e-03 -5.38673984e-03 1.83606898e+02] [ 8.41504809e-03 9.99964522e-01 -3.76553372e-04 9.38176513e+00] [ 5.38971816e-03 3.31204895e-04 9.99985421e-01 -2.45527888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.651400513 meters Centerline goodness [0,1] 0.999293573661001 Centerline is valid? [True, True] Translation: X:183.64, Y:9.38, Z:-0.25 [[ 9.99962791e-01 -6.74913380e-03 -5.37268267e-03 1.83637385e+02] [ 6.74721135e-03 9.99977167e-01 -3.75864721e-04 9.37825196e+00] [ 5.37509675e-03 3.39600110e-04 9.99985496e-01 -2.45839871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.681400513 meters Centerline goodness [0,1] 0.999443802678304 Centerline is valid? [True, True] Translation: X:183.67, Y:9.38, Z:-0.25 [[ 9.99979278e-01 -3.18426958e-03 -5.59493404e-03 1.83668151e+02] [ 3.18212881e-03 9.99994860e-01 -3.91487540e-04 9.37741522e+00] [ 5.59615189e-03 3.73675627e-04 9.99984272e-01 -2.47289451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.711400513 meters Centerline goodness [0,1] 0.9902111769793887 Centerline is valid? [True, True] Translation: X:183.70, Y:9.39, Z:-0.25 [[ 9.99984986e-01 -1.21323788e-03 -5.34374378e-03 1.83696112e+02] [ 1.21125714e-03 9.99999197e-01 -3.73885311e-04 9.39280816e+00] [ 5.34419310e-03 3.67407049e-04 9.99985652e-01 -2.47214326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.74140051300003 meters Centerline goodness [0,1] 0.9965590938234665 Centerline is valid? [True, True] Translation: X:183.73, Y:9.39, Z:-0.25 [[ 9.99983306e-01 7.49469813e-04 -5.72938252e-03 1.83725993e+02] [-7.51779670e-04 9.99999637e-01 -4.01016731e-04 9.39359912e+00] [ 5.72907989e-03 4.05317270e-04 9.99983507e-01 -2.47396593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.771400513 meters Centerline goodness [0,1] 0.9750784097651946 Centerline is valid? [True, True] Translation: X:183.75, Y:9.40, Z:-0.25 [[ 9.99976157e-01 2.23920822e-03 -6.53226495e-03 1.83754217e+02] [-2.24224301e-03 9.99997382e-01 -4.57298835e-04 9.40316768e+00] [ 6.53122386e-03 4.71934857e-04 9.99978560e-01 -2.48410914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.80140051300003 meters Centerline goodness [0,1] 0.9777565935811884 Centerline is valid? [True, True] Translation: X:183.78, Y:9.41, Z:-0.25 [[ 9.99954682e-01 3.41604020e-03 -8.88615891e-03 1.83783388e+02] [-3.42170504e-03 9.99993952e-01 -6.22364889e-04 9.40651608e+00] [ 8.88397915e-03 6.52742499e-04 9.99960324e-01 -2.51284207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.831400513 meters Centerline goodness [0,1] 0.9783449506970419 Centerline is valid? [True, True] Translation: X:183.81, Y:9.41, Z:-0.25 [[ 9.99949533e-01 3.34148878e-03 -9.47448746e-03 1.83810999e+02] [-3.34792941e-03 9.99994175e-01 -6.64007527e-04 9.40780285e+00] [ 9.47221350e-03 6.95693932e-04 9.99954896e-01 -2.51576432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.86140051300004 meters Centerline goodness [0,1] 0.9601756768225409 Centerline is valid? [True, True] Translation: X:183.84, Y:9.41, Z:-0.25 [[ 9.99954613e-01 3.12839139e-03 -8.99916346e-03 1.83839083e+02] [-3.13419807e-03 9.99994889e-01 -6.31216660e-04 9.41229919e+00] [ 8.99714277e-03 6.59393172e-04 9.99959307e-01 -2.49974283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.891400513 meters Centerline goodness [0,1] 0.9873137975732591 Centerline is valid? [True, True] Translation: X:183.87, Y:9.41, Z:-0.25 [[ 9.99965552e-01 2.64599212e-03 -7.86728898e-03 1.83868400e+02] [-2.65041743e-03 9.99996335e-01 -5.52122494e-04 9.41214514e+00] [ 7.86579923e-03 5.72955074e-04 9.99968900e-01 -2.48036820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.92140051300004 meters Centerline goodness [0,1] 0.9916391873204978 Centerline is valid? [True, True] Translation: X:183.90, Y:9.41, Z:-0.25 [[ 9.99972631e-01 1.98572612e-03 -7.12696888e-03 1.83897009e+02] [-1.98934270e-03 9.99997896e-01 -5.00396225e-04 9.41475511e+00] [ 7.12596024e-03 5.14560513e-04 9.99974478e-01 -2.46567019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.951400513 meters Centerline goodness [0,1] 0.9587620064034151 Centerline is valid? [True, True] Translation: X:183.92, Y:9.42, Z:-0.25 [[ 9.99977204e-01 1.56290880e-03 -6.56883983e-03 1.83924440e+02] [-1.56597385e-03 9.99998667e-01 -4.61485911e-04 9.42262130e+00] [ 6.56810981e-03 4.71762022e-04 9.99978318e-01 -2.46277130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.981400513 meters Centerline goodness [0,1] 0.9847009145500456 Centerline is valid? [True, True] Translation: X:183.95, Y:9.42, Z:-0.25 [[ 9.99966944e-01 2.79907356e-03 -7.63381883e-03 1.83954061e+02] [-2.80325254e-03 9.99995927e-01 -5.36784768e-04 9.42304386e+00] [ 7.63228524e-03 5.58166546e-04 9.99970718e-01 -2.49236175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.011400513 meters Centerline goodness [0,1] 0.9734558339875661 Centerline is valid? [True, True] Translation: X:183.98, Y:9.43, Z:-0.25 [[ 9.99951384e-01 3.67189529e-03 -9.15131135e-03 1.83983321e+02] [-3.67793940e-03 9.99993029e-01 -6.43722262e-04 9.42663663e+00] [ 9.14888388e-03 6.77348935e-04 9.99957919e-01 -2.51454216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.041400513 meters Centerline goodness [0,1] 0.7478801823682304 Centerline is valid? [True, False] Translation: X:183.98, Y:9.43, Z:-0.25 [[ 9.99950667e-01 3.58205539e-03 -9.26459584e-03 1.83983923e+02] [-3.59018928e-03 9.99993184e-01 -8.61472588e-04 9.42762413e+00] [ 9.26144686e-03 8.94691742e-04 9.99956712e-01 -2.51884760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.071400513 meters Centerline goodness [0,1] 0.9016299259511448 Centerline is valid? [False, False] Translation: X:183.98, Y:9.43, Z:-0.25 [[ 9.99950748e-01 3.60809031e-03 -9.24570772e-03 1.83983558e+02] [-3.61607954e-03 9.99993103e-01 -8.47530528e-04 9.42763645e+00] [ 9.24258598e-03 8.80922000e-04 9.99956898e-01 -2.51305704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.101400513 meters Centerline goodness [0,1] 0.7910845821691643 Centerline is valid? [False, False] Translation: X:183.98, Y:9.43, Z:-0.25 [[ 9.99950739e-01 3.67718759e-03 -9.21948279e-03 1.83983241e+02] [-3.68376911e-03 9.99992972e-01 -6.96990613e-04 9.42696163e+00] [ 9.21685503e-03 7.30918724e-04 9.99957257e-01 -2.50868554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.131400513 meters Centerline goodness [0,1] 0.8991081501032332 Centerline is valid? [False, False] Translation: X:183.98, Y:9.43, Z:-0.25 [[ 9.99951113e-01 3.74339846e-03 -9.15201114e-03 1.83982870e+02] [-3.74866382e-03 9.99992818e-01 -5.58236613e-04 9.42634959e+00] [ 9.14985571e-03 5.92517135e-04 9.99957964e-01 -2.50587586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.161400513 meters Centerline goodness [0,1] 0.9592784273635337 Centerline is valid? [False, True] Translation: X:183.98, Y:9.43, Z:-0.25 [[ 9.99951784e-01 3.77093944e-03 -9.06693875e-03 1.83982577e+02] [-3.77579501e-03 9.99992737e-01 -5.18466646e-04 9.42618236e+00] [ 9.06491779e-03 5.52676550e-04 9.99958760e-01 -2.50523625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.191400513 meters Centerline goodness [0,1] 0.8124114000380848 Centerline is valid? [True, False] Translation: X:183.98, Y:9.43, Z:-0.25 [[ 9.99952517e-01 3.75917793e-03 -8.99070078e-03 1.83982251e+02] [-3.76452474e-03 9.99992747e-01 -5.77855087e-04 9.42650008e+00] [ 8.98846332e-03 6.11673365e-04 9.99959416e-01 -2.50423288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.221400513 meters Centerline goodness [0,1] 0.841095368193659 Centerline is valid? [False, False] Translation: X:183.98, Y:9.43, Z:-0.25 [[ 9.99953688e-01 3.72703705e-03 -8.87301324e-03 1.83981808e+02] [-3.73323692e-03 9.99992799e-01 -6.82272906e-04 9.42701688e+00] [ 8.87040649e-03 7.15366370e-04 9.99960401e-01 -2.50349870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.251400513 meters Centerline goodness [0,1] 0.9522269807280513 Centerline is valid? [False, True] Translation: X:183.98, Y:9.43, Z:-0.25 [[ 9.99954004e-01 3.86428263e-03 -8.77823660e-03 1.83981369e+02] [-3.86812536e-03 9.99992430e-01 -4.20820802e-04 9.42585776e+00] [ 8.77654398e-03 4.54756765e-04 9.99961382e-01 -2.50109645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.281400513 meters Centerline goodness [0,1] 0.6928262121632287 Centerline is valid? [True, False] Translation: X:183.98, Y:9.43, Z:-0.25 [[ 9.99952851e-01 3.86356002e-03 -8.90893614e-03 1.83982066e+02] [-3.86744362e-03 9.99992434e-01 -4.18735275e-04 9.42577474e+00] [ 8.90725093e-03 4.53170341e-04 9.99960227e-01 -2.50606598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.311400513 meters Centerline goodness [0,1] 0.8810865019417061 Centerline is valid? [False, False] Translation: X:183.98, Y:9.43, Z:-0.25 [[ 9.99952626e-01 3.71818029e-03 -8.99565490e-03 1.83982868e+02] [-3.72507102e-03 9.99992781e-01 -7.49372087e-04 9.42721385e+00] [ 8.99280366e-03 7.82846039e-04 9.99959257e-01 -2.51585661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.341400513 meters Centerline goodness [0,1] 0.7064169533273879 Centerline is valid? [False, False] Translation: X:183.98, Y:9.43, Z:-0.25 [[ 9.99951993e-01 3.50553986e-03 -9.14997035e-03 1.83983900e+02] [-3.51789116e-03 9.99992922e-01 -1.33412835e-03 9.42985810e+00] [ 9.14522875e-03 1.36625290e-03 9.99957248e-01 -2.52637182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.371400513 meters Centerline goodness [0,1] 0.6031863262291624 Centerline is valid? [False, False] Translation: X:183.99, Y:9.42, Z:-0.25 [[ 9.99924253e-01 7.69146704e-03 -9.60878874e-03 1.83985084e+02] [-7.65050488e-03 9.99961521e-01 4.29249766e-03 9.42243868e+00] [ 9.64143461e-03 -4.21866043e-03 9.99944621e-01 -2.51515484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.401400513 meters Centerline goodness [0,1] 0.7087048832271763 Centerline is valid? [False, False] Translation: X:183.98, Y:9.43, Z:-0.25 [[ 9.99952707e-01 3.13634505e-03 -9.20577785e-03 1.83983821e+02] [-3.14474900e-03 9.99994652e-01 -8.98566237e-04 9.42673675e+00] [ 9.20291040e-03 9.27473603e-04 9.99957222e-01 -2.51859739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.431400513 meters Centerline goodness [0,1] 0.6503775256253428 Centerline is valid? [False, False] Translation: X:183.99, Y:9.42, Z:-0.25 [[ 9.99930311e-01 6.78121689e-03 -9.66378739e-03 1.83985293e+02] [-6.73836130e-03 9.99967349e-01 4.46033961e-03 9.41917918e+00] [ 9.69371839e-03 -4.39491069e-03 9.99943357e-01 -2.50991145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.461400513 meters Centerline goodness [0,1] 0.9060814699550231 Centerline is valid? [False, False] Translation: X:183.98, Y:9.42, Z:-0.25 [[ 9.99954812e-01 3.85671550e-03 -8.68905278e-03 1.83978352e+02] [-3.84445611e-03 9.99991592e-01 1.42716158e-03 9.42048301e+00] [ 8.69448387e-03 -1.39369240e-03 9.99961231e-01 -2.46758827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.49140051300003 meters Centerline goodness [0,1] 0.9871149543968336 Centerline is valid? [False, True] Translation: X:183.98, Y:9.42, Z:-0.25 [[ 9.99955531e-01 3.85580711e-03 -8.60637728e-03 1.83977769e+02] [-3.84367578e-03 9.99991597e-01 1.42567062e-03 9.42055398e+00] [ 8.61180207e-03 -1.39252710e-03 9.99961948e-01 -2.46141428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.521400513 meters Centerline goodness [0,1] 0.859689145683645 Centerline is valid? [True, False] Translation: X:184.01, Y:9.42, Z:-0.24 [[ 9.99978974e-01 4.62033845e-03 -4.55025296e-03 1.84013717e+02] [-4.61967907e-03 9.99989317e-01 1.55410322e-04 9.42468339e+00] [ 4.55092240e-03 -1.34386346e-04 9.99989635e-01 -2.44057408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.55140051300003 meters Centerline goodness [0,1] 0.8549034520640555 Centerline is valid? [False, False] Translation: X:184.01, Y:9.42, Z:-0.24 [[ 9.99947838e-01 8.97119953e-03 -4.88260344e-03 1.84014354e+02] [-8.94350193e-03 9.99943958e-01 5.66528594e-03 9.41840397e+00] [ 4.93315422e-03 -5.62132285e-03 9.99972032e-01 -2.42757560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.581400513 meters Centerline goodness [0,1] 0.7896449830842363 Centerline is valid? [False, False] Translation: X:183.97, Y:9.42, Z:-0.24 [[ 9.99939771e-01 7.72479595e-03 -7.79621946e-03 1.83973364e+02] [-7.67574082e-03 9.99950679e-01 6.30259706e-03 9.41563810e+00] [ 7.84452122e-03 -6.24237571e-03 9.99949747e-01 -2.42550689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.61140051300004 meters Centerline goodness [0,1] 0.757711038961039 Centerline is valid? [False, False] Translation: X:183.97, Y:9.42, Z:-0.24 [[ 9.99963392e-01 3.40091190e-03 -7.85163192e-03 1.83974336e+02] [-3.39712957e-03 9.99994107e-01 4.95011550e-04 9.42350583e+00] [ 7.85326914e-03 -4.68320418e-04 9.99969053e-01 -2.44677426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.641400513 meters Centerline goodness [0,1] 0.38729316928298685 Centerline is valid? [False, False] Translation: X:183.97, Y:9.42, Z:-0.25 [[ 9.99963345e-01 3.26090315e-03 -7.91682551e-03 1.83974885e+02] [-3.25958857e-03 9.99994672e-01 1.78946852e-04 9.42492009e+00] [ 7.91736685e-03 -1.53134699e-04 9.99968645e-01 -2.45340123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.67140051300004 meters Centerline goodness [0,1] 0.9627833779932797 Centerline is valid? [False, True] Translation: X:183.98, Y:9.43, Z:-0.25 [[ 9.99963216e-01 3.23327188e-03 -7.94436962e-03 1.83975043e+02] [-3.23244604e-03 9.99994769e-01 1.16791250e-04 9.42519427e+00] [ 7.94470568e-03 -9.11072081e-05 9.99968436e-01 -2.45458512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.701400513 meters Centerline goodness [0,1] 0.9627833779932797 Centerline is valid? [True, True] Translation: X:184.00, Y:9.43, Z:-0.25 [[ 9.99963879e-01 3.16063374e-03 -7.88988242e-03 1.84002499e+02] [-3.16546494e-03 9.99994810e-01 -5.99915629e-04 9.42801188e+00] [ 7.88794535e-03 6.24869106e-04 9.99968694e-01 -2.45369120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.731400513 meters Centerline goodness [0,1] 0.8818712209610693 Centerline is valid? [True, False] Translation: X:184.00, Y:9.43, Z:-0.25 [[ 9.99963568e-01 3.24492074e-03 -7.89516770e-03 1.84002396e+02] [-3.24835474e-03 9.99994635e-01 -4.22165538e-04 9.42720611e+00] [ 7.89375545e-03 4.47796463e-04 9.99968744e-01 -2.45139771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.761400513 meters Centerline goodness [0,1] 0.5943015366405275 Centerline is valid? [False, False] Translation: X:184.00, Y:9.43, Z:-0.25 [[ 9.99962805e-01 3.32543369e-03 -7.95799752e-03 1.84002558e+02] [-3.32733021e-03 9.99994439e-01 -2.25087592e-04 9.42624649e+00] [ 7.95720475e-03 2.51558106e-04 9.99968309e-01 -2.45048365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.791400513 meters Centerline goodness [0,1] 0.7789186655873206 Centerline is valid? [False, False] Translation: X:184.00, Y:9.43, Z:-0.25 [[ 9.99962745e-01 3.07526148e-03 -8.06542778e-03 1.84003617e+02] [-3.08272966e-03 9.99994831e-01 -9.13680980e-04 9.42938979e+00] [ 8.06257628e-03 9.38510475e-04 9.99967056e-01 -2.46424650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.821400513 meters Centerline goodness [0,1] 0.4912477986887611 Centerline is valid? [False, False] Translation: X:184.00, Y:9.43, Z:-0.25 [[ 9.99963850e-01 2.79546052e-03 -8.03016235e-03 1.84003868e+02] [-2.80951977e-03 9.99994539e-01 -1.74005853e-03 9.43328885e+00] [ 8.02525424e-03 1.76255653e-03 9.99966244e-01 -2.47182813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.851400513 meters Centerline goodness [0,1] 0.4922317286000085 Centerline is valid? [False, False] Translation: X:184.00, Y:9.44, Z:-0.25 [[ 9.99967454e-01 2.94180350e-03 -7.51240067e-03 1.84002261e+02] [-2.96196574e-03 9.99992038e-01 -2.67414662e-03 9.43860639e+00] [ 7.50447404e-03 2.69631106e-03 9.99968206e-01 -2.47539343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.881400513 meters Centerline goodness [0,1] 0.44038624787775893 Centerline is valid? [False, False] Translation: X:184.00, Y:9.44, Z:-0.25 [[ 9.99968986e-01 2.74628714e-03 -7.38145388e-03 1.84001868e+02] [-2.77026634e-03 9.99990913e-01 -3.24031510e-03 9.44133584e+00] [ 7.37248797e-03 3.26066320e-03 9.99967507e-01 -2.47661043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.911400513 meters Centerline goodness [0,1] 0.4452576422919451 Centerline is valid? [False, False] Translation: X:184.00, Y:9.44, Z:-0.25 [[ 9.99970238e-01 2.45452893e-03 -7.31422099e-03 1.84001864e+02] [-2.48348876e-03 9.99989103e-01 -3.95293830e-03 9.44467074e+00] [ 7.30443869e-03 3.97098544e-03 9.99965438e-01 -2.48124825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.941400513 meters Centerline goodness [0,1] 0.5138645962202978 Centerline is valid? [False, False] Translation: X:184.00, Y:9.45, Z:-0.25 [[ 9.99970825e-01 2.20749473e-03 -7.31273720e-03 1.84002107e+02] [-2.24051735e-03 9.99987317e-01 -4.51065688e-03 9.44723088e+00] [ 7.30268720e-03 4.52690960e-03 9.99963088e-01 -2.48628599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.971400513 meters Centerline goodness [0,1] 0.4587695366199268 Centerline is valid? [False, False] Translation: X:184.00, Y:9.44, Z:-0.25 [[ 9.99949819e-01 6.04103141e-03 -7.99163719e-03 1.84004358e+02] [-6.03743022e-03 9.99981662e-01 4.74667923e-04 9.44254658e+00] [ 7.99435812e-03 -4.26395151e-04 9.99967954e-01 -2.48257385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.001400513 meters Centerline goodness [0,1] 0.5407163354235307 Centerline is valid? [False, False] Translation: X:184.00, Y:9.44, Z:-0.25 [[ 9.99949897e-01 5.99530849e-03 -8.01620553e-03 1.84004355e+02] [-5.99178668e-03 9.99981942e-01 4.63279832e-04 9.44255759e+00] [ 8.01883828e-03 -4.15225227e-04 9.99967762e-01 -2.48111019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.031400513 meters Centerline goodness [0,1] 0.7293009209043153 Centerline is valid? [False, False] Translation: X:184.00, Y:9.45, Z:-0.25 [[ 9.99970035e-01 1.00771739e-03 -7.67553652e-03 1.84003080e+02] [-1.04815668e-03 9.99985583e-01 -5.26639609e-03 9.44919061e+00] [ 7.67011883e-03 5.27428345e-03 9.99956675e-01 -2.48011298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.061400513 meters Centerline goodness [0,1] 0.8663641592637567 Centerline is valid? [False, False] Translation: X:184.00, Y:9.45, Z:-0.25 [[ 9.99970217e-01 1.00509787e-03 -7.65212204e-03 1.84002650e+02] [-1.04384698e-03 9.99986646e-01 -5.06152909e-03 9.44820459e+00] [ 7.64693252e-03 5.06936599e-03 9.99957912e-01 -2.47282708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.091400513 meters Centerline goodness [0,1] 0.8981660637671406 Centerline is valid? [False, False] Translation: X:184.02, Y:9.44, Z:-0.25 [[ 9.99987675e-01 -1.40515438e-03 -4.76184632e-03 1.84023792e+02] [ 1.42166717e-03 9.99992982e-01 3.46612003e-03 9.44457223e+00] [ 4.75694247e-03 -3.47284707e-03 9.99982655e-01 -2.48599158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.121400513 meters Centerline goodness [0,1] 0.9982827827505527 Centerline is valid? [False, True] Translation: X:183.98, Y:9.44, Z:-0.25 [[ 9.99967680e-01 -3.49220698e-03 -7.24176972e-03 1.83981117e+02] [ 3.51701923e-03 9.99987979e-01 3.41636843e-03 9.44183232e+00] [ 7.22975200e-03 -3.44172745e-03 9.99967942e-01 -2.47606672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.151400513 meters Centerline goodness [0,1] 0.9595128793675083 Centerline is valid? [True, True] Translation: X:184.01, Y:9.46, Z:-0.25 [[ 9.99950190e-01 -5.44452869e-03 -8.36508684e-03 1.84009094e+02] [ 5.43921083e-03 9.99984991e-01 -6.58339281e-04 9.46123828e+00] [ 8.36854563e-03 6.12807018e-04 9.99964795e-01 -2.50006193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.181400513 meters Centerline goodness [0,1] 0.9971791858104498 Centerline is valid? [True, True] Translation: X:184.04, Y:9.46, Z:-0.25 [[ 9.99946202e-01 -5.90981289e-03 -8.52451252e-03 1.84038883e+02] [ 5.90430302e-03 9.99982344e-01 -6.71378292e-04 9.45564286e+00] [ 8.52832974e-03 6.21010868e-04 9.99963440e-01 -2.49352362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.211400513 meters Centerline goodness [0,1] 0.981764656048797 Centerline is valid? [True, True] Translation: X:184.07, Y:9.46, Z:-0.25 [[ 9.99952930e-01 -6.20447911e-03 -7.45937351e-03 1.84066417e+02] [ 6.20026104e-03 9.99980605e-01 -5.88464264e-04 9.46350018e+00] [ 7.46287995e-03 5.42186502e-04 9.99972005e-01 -2.47847886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.24140051300003 meters Centerline goodness [0,1] 0.9902582209554601 Centerline is valid? [True, True] Translation: X:184.10, Y:9.46, Z:-0.25 [[ 9.99956369e-01 -7.01565545e-03 -6.16765033e-03 1.84095135e+02] [ 7.01278551e-03 9.99975292e-01 -4.86825302e-04 9.46231641e+00] [ 6.17091333e-03 4.43551653e-04 9.99980861e-01 -2.45150906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.271400513 meters Centerline goodness [0,1] 0.998244900580039 Centerline is valid? [True, True] Translation: X:184.12, Y:9.46, Z:-0.24 [[ 9.99954855e-01 -7.78794224e-03 -5.44386309e-03 1.84124525e+02] [ 7.78571376e-03 9.99969598e-01 -4.30429398e-04 9.45699828e+00] [ 5.44704974e-03 3.88025607e-04 9.99985089e-01 -2.43716931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.30140051300003 meters Centerline goodness [0,1] 0.9973366288112842 Centerline is valid? [True, True] Translation: X:184.15, Y:9.46, Z:-0.24 [[ 9.99946262e-01 -8.57531497e-03 -5.82549665e-03 1.84151932e+02] [ 8.57277010e-03 9.99963147e-01 -4.61680717e-04 9.46085296e+00] [ 5.82924102e-03 4.11715264e-04 9.99982925e-01 -2.43799519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.331400513 meters Centerline goodness [0,1] 0.993681755539065 Centerline is valid? [True, True] Translation: X:184.18, Y:9.47, Z:-0.25 [[ 9.99931105e-01 -9.06800583e-03 -7.45361788e-03 1.84179759e+02] [ 9.06384788e-03 9.99958748e-01 -5.91434332e-04 9.46505681e+00] [ 7.45867353e-03 5.23835127e-04 9.99972047e-01 -2.46712113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.36140051300004 meters Centerline goodness [0,1] 0.9965995069285046 Centerline is valid? [True, True] Translation: X:184.21, Y:9.46, Z:-0.25 [[ 9.99933331e-01 -8.74665206e-03 -7.53853536e-03 1.84208420e+02] [ 8.74238562e-03 9.99961605e-01 -5.98718624e-04 9.46469741e+00] [ 7.54348271e-03 5.32773925e-04 9.99971406e-01 -2.46755095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.391400513 meters Centerline goodness [0,1] 0.9640573552841211 Centerline is valid? [True, True] Translation: X:184.24, Y:9.47, Z:-0.25 [[ 9.99945692e-01 -7.60699373e-03 -7.12362910e-03 1.84236570e+02] [ 7.60314812e-03 9.99970935e-01 -5.66764817e-04 9.47464237e+00] [ 7.12773343e-03 5.12572030e-04 9.99974466e-01 -2.46364321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.42140051300004 meters Centerline goodness [0,1] 0.976820271570619 Centerline is valid? [True, True] Translation: X:184.27, Y:9.48, Z:-0.25 [[ 9.99958008e-01 -5.47977573e-03 -7.34540821e-03 1.84266525e+02] [ 5.47562740e-03 9.99984838e-01 -5.84742562e-04 9.47510103e+00] [ 7.34850110e-03 5.44497289e-04 9.99972851e-01 -2.46634032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.451400513 meters Centerline goodness [0,1] 0.9443981095357242 Centerline is valid? [True, False] Translation: X:184.27, Y:9.48, Z:-0.25 [[ 9.99962881e-01 -4.82564098e-03 -7.13790731e-03 1.84266237e+02] [ 4.81972755e-03 9.99988028e-01 -8.45423998e-04 9.47766861e+00] [ 7.14190156e-03 8.10989848e-04 9.99974167e-01 -2.47736697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.481400513 meters Centerline goodness [0,1] 0.8682472733469666 Centerline is valid? [False, False] Translation: X:184.27, Y:9.48, Z:-0.25 [[ 9.99963814e-01 -2.35190102e-03 -8.17553503e-03 1.84273458e+02] [ 2.36535574e-03 9.99995864e-01 1.63644949e-03 9.47568022e+00] [ 8.17165245e-03 -1.65572833e-03 9.99965241e-01 -2.52176155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.511400513 meters Centerline goodness [0,1] 0.64525282696821 Centerline is valid? [False, False] Translation: X:184.27, Y:9.48, Z:-0.25 [[ 9.99964329e-01 -2.48267792e-03 -8.07326339e-03 1.84273387e+02] [ 2.49258844e-03 9.99996152e-01 1.21774331e-03 9.47767425e+00] [ 8.07020906e-03 -1.23782319e-03 9.99966669e-01 -2.52736468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.541400513 meters Centerline goodness [0,1] 0.47066084920719375 Centerline is valid? [False, False] Translation: X:184.27, Y:9.48, Z:-0.25 [[ 9.99964987e-01 -2.66998435e-03 -7.93074233e-03 1.84273045e+02] [ 2.67544520e-03 9.99996191e-01 6.78038495e-04 9.48024495e+00] [ 7.92890177e-03 -6.99233021e-04 9.99968321e-01 -2.53044415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.571400513 meters Centerline goodness [0,1] 0.5067178910279541 Centerline is valid? [False, False] Translation: X:184.27, Y:9.48, Z:-0.25 [[ 9.99965712e-01 -2.84769773e-03 -7.77594265e-03 1.84272500e+02] [ 2.84938766e-03 9.99995919e-01 2.06258332e-04 9.48252879e+00] [ 7.77532356e-03 -2.28407934e-04 9.99969746e-01 -2.53044410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.601400513 meters Centerline goodness [0,1] 0.5870544685351666 Centerline is valid? [False, False] Translation: X:184.27, Y:9.48, Z:-0.25 [[ 9.99966326e-01 -2.97564048e-03 -7.64803256e-03 1.84271557e+02] [ 2.97522843e-03 9.99995572e-01 -6.52530582e-05 9.48389907e+00] [ 7.64819286e-03 4.24962170e-05 9.99970751e-01 -2.52109253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.631400513 meters Centerline goodness [0,1] 0.6516415299613882 Centerline is valid? [False, False] Translation: X:184.27, Y:9.48, Z:-0.25 [[ 9.99966262e-01 -2.95038194e-03 -7.66622617e-03 1.84271534e+02] [ 2.95060579e-03 9.99995647e-01 1.78898432e-05 9.48351398e+00] [ 7.66614001e-03 -4.05092509e-05 9.99970614e-01 -2.51959455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.661400513 meters Centerline goodness [0,1] 0.9302199705551225 Centerline is valid? [False, False] Translation: X:184.23, Y:9.48, Z:-0.25 [[ 9.99942669e-01 -3.65627959e-03 -1.00642943e-02 1.84229982e+02] [ 3.67877411e-03 9.99990775e-01 2.21747670e-03 9.47747138e+00] [ 1.00560938e-02 -2.25437384e-03 9.99946895e-01 -2.51455721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.691400513 meters Centerline goodness [0,1] 0.6334405144694534 Centerline is valid? [False, False] Translation: X:184.27, Y:9.48, Z:-0.25 [[ 9.99964404e-01 -4.37681633e-03 -7.21346600e-03 1.84270402e+02] [ 4.36976839e-03 9.99989960e-01 -9.92524679e-04 9.48459692e+00] [ 7.21773767e-03 9.60968173e-04 9.99973490e-01 -2.52189848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.721400513 meters Centerline goodness [0,1] 0.9495975469528555 Centerline is valid? [False, False] Translation: X:184.27, Y:9.49, Z:-0.25 [[ 9.99964029e-01 -4.45336212e-03 -7.21856732e-03 1.84270351e+02] [ 4.44553915e-03 9.99989514e-01 -1.09941307e-03 9.48507422e+00] [ 7.22338772e-03 1.06728310e-03 9.99973341e-01 -2.52082784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.751400513 meters Centerline goodness [0,1] 0.9894871461395066 Centerline is valid? [False, True] Translation: X:184.23, Y:9.48, Z:-0.25 [[ 9.99930781e-01 -6.79629587e-03 -9.60434772e-03 1.84228443e+02] [ 6.79032139e-03 9.99976731e-01 -6.54532321e-04 9.48142831e+00] [ 9.60857263e-03 5.89270408e-04 9.99953663e-01 -2.51222731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.781400513 meters Centerline goodness [0,1] 0.9940092759598042 Centerline is valid? [True, True] Translation: X:184.26, Y:9.48, Z:-0.25 [[ 9.99910757e-01 -9.43494839e-03 -9.45835210e-03 1.84257716e+02] [ 9.42796575e-03 9.99955250e-01 -7.82567344e-04 9.48238673e+00] [ 9.46531232e-03 6.93324486e-04 9.99954963e-01 -2.50103768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.811400513 meters Centerline goodness [0,1] 0.9984284514865127 Centerline is valid? [True, True] Translation: X:184.29, Y:9.48, Z:-0.25 [[ 9.99870337e-01 -1.28724567e-02 -9.67516707e-03 1.84288100e+02] [ 1.28653090e-02 9.99916918e-01 -8.00651816e-04 9.47825824e+00] [ 9.68466959e-03 6.76073987e-04 9.99952874e-01 -2.49383683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.841400513 meters Centerline goodness [0,1] 0.9960934164460763 Centerline is valid? [True, True] Translation: X:184.32, Y:9.49, Z:-0.25 [[ 9.99812552e-01 -1.65289894e-02 -1.00823783e-02 1.84316740e+02] [ 1.65214104e-02 9.99863164e-01 -8.34540522e-04 9.48597148e+00] [ 1.00947928e-02 6.67808979e-04 9.99948823e-01 -2.49627407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.871400513 meters Centerline goodness [0,1] 0.9991168170949745 Centerline is valid? [True, True] Translation: X:184.35, Y:9.48, Z:-0.25 [[ 9.99746432e-01 -1.98708393e-02 -1.05934871e-02 1.84348336e+02] [ 1.98626579e-02 9.99802333e-01 -8.76963115e-04 9.47979499e+00] [ 1.06088191e-02 6.66325934e-04 9.99943503e-01 -2.49561242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.901400513 meters Centerline goodness [0,1] 0.9995931303267805 Centerline is valid? [True, True] Translation: X:184.38, Y:9.47, Z:-0.25 [[ 9.99606338e-01 -2.60258039e-02 -1.04798137e-02 1.84379495e+02] [ 2.60181348e-02 9.99661095e-01 -8.67489044e-04 9.47362661e+00] [ 1.04988391e-02 5.94482342e-04 9.99944709e-01 -2.50084469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.931400513 meters Centerline goodness [0,1] 0.9995095739690392 Centerline is valid? [True, True] Translation: X:184.41, Y:9.48, Z:-0.25 [[ 9.99530949e-01 -2.88581842e-02 -1.02512318e-02 1.84408535e+02] [ 2.88509939e-02 9.99583363e-01 -8.48629148e-04 9.47662065e+00] [ 1.02714506e-02 5.52472873e-04 9.99947095e-01 -2.50034896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.961400513 meters Centerline goodness [0,1] 0.9997648517497167 Centerline is valid? [True, True] Translation: X:184.44, Y:9.48, Z:-0.25 [[ 9.99451073e-01 -3.16542515e-02 -9.77552186e-03 1.84438026e+02] [ 3.16478450e-02 9.99498754e-01 -8.09398385e-04 9.47616976e+00] [ 9.79624282e-03 4.99579884e-04 9.99951891e-01 -2.49144312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.99140051300003 meters Centerline goodness [0,1] 0.999869633234834 Centerline is valid? [True, True] Translation: X:184.47, Y:9.47, Z:-0.25 [[ 9.99376617e-01 -3.40830821e-02 -9.20441923e-03 1.84468810e+02] [ 3.40775038e-02 9.99418903e-01 -7.62254067e-04 9.46951067e+00] [ 9.22505053e-03 4.48115260e-04 9.99957348e-01 -2.47804570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.021400513 meters Centerline goodness [0,1] 0.9999785352451275 Centerline is valid? [True, True] Translation: X:184.50, Y:9.47, Z:-0.25 [[ 9.99251236e-01 -3.77697335e-02 -8.39129931e-03 1.84499256e+02] [ 3.77652262e-02 9.99286398e-01 -6.94999285e-04 9.46709127e+00] [ 8.41156120e-03 3.77579578e-04 9.99964551e-01 -2.45812389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.05140051300003 meters Centerline goodness [0,1] 0.9999356733923709 Centerline is valid? [True, True] Translation: X:184.53, Y:9.47, Z:-0.25 [[ 9.99209635e-01 -3.89061780e-02 -8.14956761e-03 1.84527325e+02] [ 3.89019639e-02 9.99242804e-01 -6.75030081e-04 9.46908473e+00] [ 8.16965964e-03 3.57462375e-04 9.99966564e-01 -2.45291286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.081400513 meters Centerline goodness [0,1] 0.9999570455960998 Centerline is valid? [True, True] Translation: X:184.56, Y:9.47, Z:-0.25 [[ 9.99166757e-01 -3.98985126e-02 -8.59656691e-03 1.84556368e+02] [ 3.98938548e-02 9.99203669e-01 -7.12696750e-04 9.46798477e+00] [ 8.61815673e-03 3.69152709e-04 9.99962795e-01 -2.45687310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.11140051300004 meters Centerline goodness [0,1] 0.9998503026025962 Centerline is valid? [True, True] Translation: X:184.58, Y:9.47, Z:-0.25 [[ 9.99116939e-01 -4.09726331e-02 -9.30508242e-03 1.84583991e+02] [ 4.09672085e-02 9.99160193e-01 -7.72909953e-04 9.47013545e+00] [ 9.32893610e-03 3.91024175e-04 9.99956408e-01 -2.46747975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.141400513 meters Centerline goodness [0,1] 0.9999785343236165 Centerline is valid? [True, True] Translation: X:184.61, Y:9.47, Z:-0.25 [[ 9.99051491e-01 -4.23722905e-02 -1.00352610e-02 1.84612640e+02] [ 4.23660456e-02 9.99101808e-01 -8.34163993e-04 9.47108688e+00] [ 1.00615928e-02 4.08218457e-04 9.99949298e-01 -2.47911860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.17140051300004 meters Centerline goodness [0,1] 0.9999361471170424 Centerline is valid? [True, True] Translation: X:184.64, Y:9.47, Z:-0.25 [[ 9.98912206e-01 -4.53483181e-02 -1.08597982e-02 1.84641855e+02] [ 4.53411751e-02 9.98971152e-01 -9.03169956e-04 9.47198614e+00] [ 1.08895824e-02 4.09791480e-04 9.99940623e-01 -2.48708799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.201400513 meters Centerline goodness [0,1] 0.9999785380091857 Centerline is valid? [True, True] Translation: X:184.67, Y:9.47, Z:-0.25 [[ 9.98829077e-01 -4.70760232e-02 -1.11500546e-02 1.84670737e+02] [ 4.70685969e-02 9.98891229e-01 -9.27665266e-04 9.47211963e+00] [ 1.11813625e-02 4.01761617e-04 9.99937406e-01 -2.48334347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.231400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.70, Y:9.47, Z:-0.25 [[ 9.98730080e-01 -4.92180255e-02 -1.07616931e-02 1.84699868e+02] [ 4.92112226e-02 9.98787992e-01 -8.96203576e-04 9.47359604e+00] [ 1.07927592e-02 3.65469396e-04 9.99941690e-01 -2.47049745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.261400513 meters Centerline goodness [0,1] 0.9999573506205485 Centerline is valid? [True, True] Translation: X:184.73, Y:9.48, Z:-0.25 [[ 9.98629607e-01 -5.15021162e-02 -9.29732967e-03 1.84727287e+02] [ 5.14971271e-02 9.98672842e-01 -7.75375902e-04 9.48111580e+00] [ 9.32492414e-03 2.95527565e-04 9.99956478e-01 -2.45333075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.291400513 meters Centerline goodness [0,1] 0.9999787829924467 Centerline is valid? [True, True] Translation: X:184.76, Y:9.48, Z:-0.24 [[ 9.98457331e-01 -5.50847626e-02 -6.97335817e-03 1.84757437e+02] [ 5.50820409e-02 9.98481662e-01 -5.81892094e-04 9.48292633e+00] [ 6.99482365e-03 1.96887626e-04 9.99975517e-01 -2.41266264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.321400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.79, Y:9.48, Z:-0.24 [[ 9.98366737e-01 -5.66838352e-02 -7.12743672e-03 1.84786922e+02] [ 5.66810325e-02 9.98392161e-01 -5.94771822e-04 9.48187901e+00] [ 7.14969089e-03 1.89809931e-04 9.99974423e-01 -2.41261436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.351400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.82, Y:9.48, Z:-0.24 [[ 9.98252410e-01 -5.85527957e-02 -7.98092515e-03 1.84815652e+02] [ 5.85493304e-02 9.98284293e-01 -6.67356344e-04 9.48326053e+00] [ 8.00630781e-03 1.98912255e-04 9.99967929e-01 -2.42150712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.381400513 meters Centerline goodness [0,1] 0.9999346262802353 Centerline is valid? [True, True] Translation: X:184.84, Y:9.48, Z:-0.24 [[ 9.98093301e-01 -6.10223883e-02 -9.27522977e-03 1.84844327e+02] [ 6.10177978e-02 9.98136375e-01 -7.77356949e-04 9.48276022e+00] [ 9.30538041e-03 2.09920668e-04 9.99956682e-01 -2.43525172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.411400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.87, Y:9.49, Z:-0.24 [[ 9.97927390e-01 -6.36676132e-02 -9.34657599e-03 1.84872265e+02] [ 6.36630523e-02 9.97971142e-01 -7.84991721e-04 9.48802169e+00] [ 9.37759166e-03 1.88333183e-04 9.99956012e-01 -2.43931116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.441400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.90, Y:9.49, Z:-0.24 [[ 9.97717190e-01 -6.69703919e-02 -8.68188142e-03 1.84900072e+02] [ 6.69665702e-02 9.97754952e-01 -7.30482394e-04 9.49089416e+00] [ 8.71131087e-03 1.47419020e-04 9.99962045e-01 -2.43051286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.471400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.93, Y:9.49, Z:-0.24 [[ 9.97180696e-01 -7.46034689e-02 -8.06116713e-03 1.84930708e+02] [ 7.46004183e-02 9.97213275e-01 -6.78879124e-04 9.48658787e+00] [ 8.08934962e-03 7.55987166e-05 9.99967278e-01 -2.41366732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.501400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.96, Y:9.49, Z:-0.24 [[ 9.96866427e-01 -7.85869245e-02 -9.02336854e-03 1.84959891e+02] [ 7.85832585e-02 9.96907264e-01 -7.60657489e-04 9.48656090e+00] [ 9.05523937e-03 4.91882114e-05 9.99958999e-01 -2.42195258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.531400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.99, Y:9.49, Z:-0.24 [[ 9.96540088e-01 -8.25459918e-02 -9.69602675e-03 1.84988702e+02] [ 8.25419290e-02 9.96587256e-01 -8.19126074e-04 9.48685513e+00] [ 9.73055227e-03 1.59632171e-05 9.99952657e-01 -2.43340118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.561400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.02, Y:9.49, Z:-0.24 [[ 9.95973320e-01 -8.91839923e-02 -9.13020955e-03 1.85016963e+02] [ 8.91806564e-02 9.96015167e-01 -7.72656734e-04 9.48723015e+00] [ 9.16273581e-03 -4.46925881e-05 9.99958020e-01 -2.43082167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.591400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.04, Y:9.49, Z:-0.24 [[ 9.95956121e-01 -8.93758623e-02 -9.13014444e-03 1.85044368e+02] [ 8.93725275e-02 9.95997968e-01 -7.73425351e-04 9.48972072e+00] [ 9.16273087e-03 -4.56863715e-05 9.99958020e-01 -2.42873951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.621400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.07, Y:9.49, Z:-0.24 [[ 9.95735516e-01 -9.18762719e-02 -8.33862594e-03 1.85071747e+02] [ 9.18735662e-02 9.95770429e-01 -7.07769071e-04 9.49042913e+00] [ 8.36838431e-03 -6.13485018e-05 9.99964983e-01 -2.41838971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.651400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.10, Y:9.49, Z:-0.24 [[ 9.95562927e-01 -9.37369330e-02 -8.23689435e-03 1.85100389e+02] [ 9.37343511e-02 9.95596998e-01 -6.99791360e-04 9.49431365e+00] [ 8.26622358e-03 -7.53936117e-05 9.99965831e-01 -2.41556431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.681400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.13, Y:9.50, Z:-0.24 [[ 9.95407422e-01 -9.53381203e-02 -8.64329840e-03 1.85127880e+02] [ 9.53353252e-02 9.95444943e-01 -7.35768043e-04 9.49732382e+00] [ 8.67407443e-03 -9.16226921e-05 9.99962375e-01 -2.42040034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.711400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.16, Y:9.50, Z:-0.24 [[ 9.95287807e-01 -9.65335794e-02 -9.13504427e-03 1.85155785e+02] [ 9.65304999e-02 9.95329723e-01 -7.78447236e-04 9.50071591e+00] [ 9.16752737e-03 -1.07031348e-04 9.99957972e-01 -2.42800675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.74140051300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.18, Y:9.51, Z:-0.24 [[ 9.95131592e-01 -9.80714816e-02 -9.75188295e-03 1.85183916e+02] [ 9.80680377e-02 9.95179365e-01 -8.31869040e-04 9.50899313e+00] [ 9.78645531e-03 -1.28528862e-04 9.99952103e-01 -2.43662522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.771400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.21, Y:9.51, Z:-0.24 [[ 9.95071071e-01 -9.86782289e-02 -9.80663887e-03 1.85211088e+02] [ 9.86747617e-02 9.95119384e-01 -8.37958519e-04 9.51308944e+00] [ 9.84146470e-03 -1.33839473e-04 9.99951563e-01 -2.43417587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.80140051300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.24, Y:9.52, Z:-0.24 [[ 9.95014156e-01 -9.92637716e-02 -9.67119842e-03 1.85239161e+02] [ 9.92604188e-02 9.95061146e-01 -8.27244797e-04 9.51896884e+00] [ 9.70554922e-03 -1.36846921e-04 9.99952891e-01 -2.42592481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.831400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.27, Y:9.52, Z:-0.24 [[ 9.94944728e-01 -9.99567132e-02 -9.67692445e-03 1.85267684e+02] [ 9.99533714e-02 9.94991777e-01 -8.29563342e-04 9.52463997e+00] [ 9.71138067e-03 -1.41871549e-04 9.99952833e-01 -2.42218827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.86140051300004 meters Centerline goodness [0,1] 0.999956955922865 Centerline is valid? [True, True] Translation: X:185.30, Y:9.53, Z:-0.24 [[ 9.94867612e-01 -1.00752449e-01 -9.34762605e-03 1.85295101e+02] [ 1.00749353e-01 9.94911515e-01 -8.02701729e-04 9.52794773e+00] [ 9.38093496e-03 -1.43185324e-04 9.99955988e-01 -2.41773263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.891400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.32, Y:9.53, Z:-0.24 [[ 9.94796470e-01 -1.01491566e-01 -8.91315579e-03 1.85322887e+02] [ 1.01488777e-01 9.94836389e-01 -7.65916249e-04 9.53138206e+00] [ 8.94486576e-03 -1.42654495e-04 9.99959984e-01 -2.41458319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.92140051300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.35, Y:9.53, Z:-0.25 [[ 9.94619314e-01 -1.03077011e-01 -1.03706531e-02 1.85350740e+02] [ 1.03073312e-01 9.94673362e-01 -8.91932051e-04 9.53275911e+00] [ 1.04073501e-02 -1.81804721e-04 9.99945826e-01 -2.45003883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.951400513 meters Centerline goodness [0,1] 0.9998084902649218 Centerline is valid? [True, True] Translation: X:185.38, Y:9.53, Z:-0.25 [[ 9.94660663e-01 -1.02939006e-01 -7.32987893e-03 1.85378026e+02] [ 1.03006547e-01 9.94635075e-01 9.52464712e-03 9.52718718e+00] [ 6.31009697e-03 -1.02288173e-02 9.99927774e-01 -2.45254188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.981400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.41, Y:9.55, Z:-0.25 [[ 9.94622582e-01 -1.03024908e-01 -1.05729545e-02 1.85406009e+02] [ 1.02919334e-01 9.94638556e-01 -1.00873090e-02 9.55010666e+00] [ 1.15555123e-02 8.94490391e-03 9.99893224e-01 -2.47864459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.011400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.43, Y:9.54, Z:-0.25 [[ 9.94714963e-01 -1.02103791e-01 -1.08147496e-02 1.85434314e+02] [ 1.02099688e-01 9.94773735e-01 -9.32316543e-04 9.54318327e+00] [ 1.08534219e-02 -1.76793337e-04 9.99941084e-01 -2.45793692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.041400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.46, Y:9.55, Z:-0.24 [[ 9.94884726e-01 -1.00564511e-01 -9.54778050e-03 1.85462751e+02] [ 1.00561234e-01 9.94930530e-01 -8.23900482e-04 9.55225551e+00] [ 9.58223347e-03 -1.40450586e-04 9.99954079e-01 -2.42519897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.071400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.49, Y:9.56, Z:-0.24 [[ 9.95446410e-01 -9.49986603e-02 -7.85486891e-03 1.85490857e+02] [ 9.49962610e-02 9.95477398e-01 -6.78839293e-04 9.56396412e+00] [ 7.88383329e-03 -7.04350402e-05 9.99968920e-01 -2.39166812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.101400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.52, Y:9.57, Z:-0.24 [[ 9.95744464e-01 -9.18488078e-02 -7.53388114e-03 1.85518172e+02] [ 9.18465076e-02 9.95772963e-01 -6.51457895e-04 9.57094129e+00] [ 7.56187078e-03 -4.32750797e-05 9.99971408e-01 -2.38920634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.131400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.55, Y:9.58, Z:-0.24 [[ 9.96019866e-01 -8.87583395e-02 -8.14756074e-03 1.85546431e+02] [ 8.87555406e-02 9.96053190e-01 -7.05173682e-04 9.57905327e+00] [ 8.17799391e-03 -2.07741618e-05 9.99966559e-01 -2.40767297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.161400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.57, Y:9.59, Z:-0.24 [[ 9.96274060e-01 -8.57577378e-02 -9.14375204e-03 1.85572962e+02] [ 8.57540722e-02 9.96316019e-01 -7.92924297e-04 9.58602592e+00] [ 9.17806603e-03 5.85593567e-06 9.99957881e-01 -2.42916377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.191400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.60, Y:9.59, Z:-0.24 [[ 9.96518545e-01 -8.28136370e-02 -9.62763719e-03 1.85601035e+02] [ 8.28094253e-02 9.96565051e-01 -8.35963855e-04 9.59179683e+00] [ 9.66379596e-03 3.57943811e-05 9.99953304e-01 -2.42996868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.221400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.63, Y:9.60, Z:-0.24 [[ 9.96929075e-01 -7.78249717e-02 -8.70022820e-03 1.85629580e+02] [ 7.78213302e-02 9.96967034e-01 -7.56828673e-04 9.59826827e+00] [ 8.73274088e-03 7.74411772e-05 9.99961866e-01 -2.39760466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.251400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.66, Y:9.60, Z:-0.24 [[ 9.97080627e-01 -7.58988395e-02 -8.34206064e-03 1.85657019e+02] [ 7.58954134e-02 9.97115519e-01 -7.26959903e-04 9.60414950e+00] [ 8.37317353e-03 9.17134952e-05 9.99964940e-01 -2.38231705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.281400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.68, Y:9.61, Z:-0.24 [[ 9.97233014e-01 -7.38096202e-02 -8.85756255e-03 1.85684300e+02] [ 7.38056682e-02 9.97272343e-01 -7.72674585e-04 9.61059120e+00] [ 8.89043298e-03 1.16798282e-04 9.99960472e-01 -2.38662212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.311400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.71, Y:9.62, Z:-0.24 [[ 9.97402596e-01 -7.14241256e-02 -9.30887039e-03 1.85713171e+02] [ 7.14196491e-02 9.97446025e-01 -8.12858147e-04 9.61608268e+00] [ 9.34315345e-03 1.45910570e-04 9.99956341e-01 -2.39091328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.341400513 meters Centerline goodness [0,1] 0.9998926762256375 Centerline is valid? [True, True] Translation: X:185.74, Y:9.63, Z:-0.24 [[ 9.97868389e-01 -6.46568736e-02 -8.84121440e-03 1.85741282e+02] [ 6.46525597e-02 9.97907535e-01 -7.73173328e-04 9.63035224e+00] [ 8.87270544e-03 1.99918081e-04 9.99960617e-01 -2.37837183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.371400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.77, Y:9.64, Z:-0.24 [[ 9.98128248e-01 -6.05855504e-02 -8.33017683e-03 1.85770163e+02] [ 6.05815783e-02 9.98162983e-01 -7.28577132e-04 9.63927453e+00] [ 8.35901541e-03 2.22558157e-04 9.99965038e-01 -2.36067990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.401400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.80, Y:9.65, Z:-0.24 [[ 9.98362837e-01 -5.65651315e-02 -8.48712691e-03 1.85799504e+02] [ 5.65608615e-02 9.98398877e-01 -7.42494024e-04 9.64981580e+00] [ 8.51553725e-03 2.61239231e-04 9.99963708e-01 -2.35590964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.431400513 meters Centerline goodness [0,1] 0.9998925424457339 Centerline is valid? [True, True] Translation: X:185.83, Y:9.66, Z:-0.24 [[ 9.98577322e-01 -5.25672130e-02 -8.94534074e-03 1.85829082e+02] [ 5.25623084e-02 9.98617340e-01 -7.82670324e-04 9.66133659e+00] [ 8.97411517e-03 3.11369078e-04 9.99959683e-01 -2.36220397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.461400513 meters Centerline goodness [0,1] 0.9997022670239463 Centerline is valid? [True, True] Translation: X:185.86, Y:9.67, Z:-0.24 [[ 9.98743302e-01 -4.91994597e-02 -9.55144178e-03 1.85857072e+02] [ 4.91937139e-02 9.98788907e-01 -8.35717695e-04 9.67495087e+00] [ 9.58099095e-03 3.64796556e-04 9.99954035e-01 -2.37212564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.49140051300003 meters Centerline goodness [0,1] 0.9999784849071623 Centerline is valid? [True, True] Translation: X:185.89, Y:9.69, Z:-0.24 [[ 9.98995979e-01 -4.35571419e-02 -1.04789773e-02 1.85886335e+02] [ 4.35499155e-02 9.99050832e-01 -9.16923041e-04 9.68844819e+00] [ 1.05089696e-02 4.59643854e-04 9.99944674e-01 -2.37628677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.521400513 meters Centerline goodness [0,1] 0.9999147793851333 Centerline is valid? [True, True] Translation: X:185.91, Y:9.70, Z:-0.24 [[ 9.99058185e-01 -4.21647735e-02 -1.02408293e-02 1.85913789e+02] [ 4.21577977e-02 9.99110563e-01 -8.96193424e-04 9.70135549e+00] [ 1.02695085e-02 4.63618566e-04 9.99947160e-01 -2.37537413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.55140051300003 meters Centerline goodness [0,1] 0.9998938789370915 Centerline is valid? [True, True] Translation: X:185.94, Y:9.71, Z:-0.24 [[ 9.99080406e-01 -4.17627619e-02 -9.70637924e-03 1.85942261e+02] [ 4.17564698e-02 9.99127457e-01 -8.50091579e-04 9.70633400e+00] [ 9.73341218e-03 4.44005708e-04 9.99952531e-01 -2.36265997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.581400513 meters Centerline goodness [0,1] 0.9997438852605968 Centerline is valid? [True, True] Translation: X:185.97, Y:9.72, Z:-0.23 [[ 9.99072879e-01 -4.21697554e-02 -8.66568776e-03 1.85968904e+02] [ 4.21647458e-02 9.99110383e-01 -7.60061968e-04 9.71804843e+00] [ 8.69003024e-03 3.93970777e-04 9.99962163e-01 -2.34624472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.61140051300004 meters Centerline goodness [0,1] 0.9999357174998393 Centerline is valid? [True, True] Translation: X:186.00, Y:9.72, Z:-0.23 [[ 9.99007496e-01 -4.40270441e-02 -6.75585413e-03 1.85998564e+02] [ 4.40240396e-02 9.99030296e-01 -5.92861171e-04 9.71908211e+00] [ 6.77540488e-03 2.94852764e-04 9.99977003e-01 -2.30727004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.641400513 meters Centerline goodness [0,1] 0.9998730239349882 Centerline is valid? [True, True] Translation: X:186.03, Y:9.73, Z:-0.23 [[ 9.98977479e-01 -4.47396830e-02 -6.50826483e-03 1.86025514e+02] [ 4.47369090e-02 9.98998640e-01 -5.71262847e-04 9.72856150e+00] [ 6.52730584e-03 2.79519067e-04 9.99978658e-01 -2.30309016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.67140051300004 meters Centerline goodness [0,1] 0.9999576190375283 Centerline is valid? [True, True] Translation: X:186.05, Y:9.73, Z:-0.23 [[ 9.98954786e-01 -4.51682694e-02 -7.01166134e-03 1.86054233e+02] [ 4.51650571e-02 9.98979348e-01 -6.15889778e-04 9.73464111e+00] [ 7.03232356e-03 2.98563956e-04 9.99975228e-01 -2.30682556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.701400513 meters Centerline goodness [0,1] 0.9999573869689351 Centerline is valid? [True, True] Translation: X:186.08, Y:9.74, Z:-0.23 [[ 9.98947721e-01 -4.52371968e-02 -7.55298008e-03 1.86081995e+02] [ 4.52334614e-02 9.98976222e-01 -6.64744959e-04 9.73791239e+00] [ 7.57531870e-03 3.22398029e-04 9.99971255e-01 -2.31491296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.731400513 meters Centerline goodness [0,1] 0.9998726493186738 Centerline is valid? [True, True] Translation: X:186.11, Y:9.75, Z:-0.23 [[ 9.98951986e-01 -4.50821548e-02 -7.90750519e-03 1.86109124e+02] [ 4.50780443e-02 9.98983225e-01 -6.97375120e-04 9.74740895e+00] [ 7.93090421e-03 3.40189393e-04 9.99968492e-01 -2.32146233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.761400513 meters Centerline goodness [0,1] 0.9998515754208896 Centerline is valid? [True, True] Translation: X:186.14, Y:9.75, Z:-0.23 [[ 9.98951900e-01 -4.50127182e-02 -8.30397805e-03 1.86137572e+02] [ 4.50081775e-02 9.98986350e-01 -7.32975463e-04 9.74812884e+00] [ 8.32855394e-03 3.58460314e-04 9.99965253e-01 -2.32159804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.791400513 meters Centerline goodness [0,1] 0.9998713964205337 Centerline is valid? [True, True] Translation: X:186.17, Y:9.76, Z:-0.23 [[ 9.99023303e-01 -4.34043131e-02 -8.27684151e-03 1.86166909e+02] [ 4.33997371e-02 9.99057520e-01 -7.31756204e-04 9.75648822e+00] [ 8.30080212e-03 3.71828754e-04 9.99965479e-01 -2.31303221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.821400513 meters Centerline goodness [0,1] 0.9998296059637912 Centerline is valid? [True, True] Translation: X:186.20, Y:9.76, Z:-0.23 [[ 9.99088526e-01 -4.19082895e-02 -8.11254264e-03 1.86196240e+02] [ 4.19038427e-02 9.99121391e-01 -7.17415834e-04 9.76138708e+00] [ 8.13548056e-03 3.76815217e-04 9.99966835e-01 -2.30937730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.851400513 meters Centerline goodness [0,1] 0.9995791334357442 Centerline is valid? [True, True] Translation: X:186.22, Y:9.77, Z:-0.23 [[ 9.99173424e-01 -3.99289965e-02 -7.62518051e-03 1.86223274e+02] [ 3.99250090e-02 9.99202451e-01 -6.74498715e-04 9.77420582e+00] [ 7.64603111e-03 3.69505790e-04 9.99970700e-01 -2.30217735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.881400513 meters Centerline goodness [0,1] 0.999722914934885 Centerline is valid? [True, True] Translation: X:186.25, Y:9.78, Z:-0.23 [[ 9.99362676e-01 -3.47681473e-02 -8.08810335e-03 1.86253591e+02] [ 3.47634896e-02 9.99395311e-01 -7.15793572e-04 9.77940905e+00] [ 8.10809938e-03 4.34166683e-04 9.99967035e-01 -2.30509891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.911400513 meters Centerline goodness [0,1] 0.9995043957938287 Centerline is valid? [True, True] Translation: X:186.28, Y:9.79, Z:-0.23 [[ 9.99437964e-01 -3.23819845e-02 -8.66965137e-03 1.86282068e+02] [ 3.23765432e-02 9.99475448e-01 -7.67268659e-04 9.78854649e+00] [ 8.68994937e-03 4.86144084e-04 9.99962124e-01 -2.31113026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.941400513 meters Centerline goodness [0,1] 0.9994890790650147 Centerline is valid? [True, True] Translation: X:186.31, Y:9.79, Z:-0.23 [[ 9.99503194e-01 -3.00259775e-02 -9.58150197e-03 1.86311601e+02] [ 3.00192225e-02 9.99548962e-01 -8.48085215e-04 9.79208261e+00] [ 9.60264493e-03 5.60034642e-04 9.99953737e-01 -2.31845984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.971400513 meters Centerline goodness [0,1] 0.9993809239176842 Centerline is valid? [True, True] Translation: X:186.34, Y:9.80, Z:-0.23 [[ 9.99560641e-01 -2.77011621e-02 -1.05437743e-02 1.86340425e+02] [ 2.76928514e-02 9.99616044e-01 -9.33417743e-04 9.80086831e+00] [ 1.05655827e-02 6.41020464e-04 9.99943977e-01 -2.33336959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.001400513 meters Centerline goodness [0,1] 0.9992306705987947 Centerline is valid? [True, True] Translation: X:186.37, Y:9.81, Z:-0.23 [[ 9.99590450e-01 -2.64487944e-02 -1.09267094e-02 1.86370041e+02] [ 2.64397926e-02 9.99649939e-01 -9.67494827e-04 9.80620949e+00] [ 1.09484735e-02 6.78198658e-04 9.99939834e-01 -2.33639004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.031400513 meters Centerline goodness [0,1] 0.9991288273165757 Centerline is valid? [True, True] Translation: X:186.40, Y:9.81, Z:-0.23 [[ 9.99604333e-01 -2.60645888e-02 -1.05742418e-02 1.86398254e+02] [ 2.60561331e-02 9.99660043e-01 -9.36652331e-04 9.80922649e+00] [ 1.05950604e-02 6.60757878e-04 9.99943652e-01 -2.32610701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.061400513 meters Centerline goodness [0,1] 0.9951012899223479 Centerline is valid? [True, True] Translation: X:186.43, Y:9.82, Z:-0.23 [[ 9.99589646e-01 -2.70723591e-02 -9.36094638e-03 1.86425325e+02] [ 2.70657722e-02 9.99633311e-01 -8.29654020e-04 9.82224898e+00] [ 9.37997451e-03 5.75952327e-04 9.99955841e-01 -2.31257235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.091400513 meters Centerline goodness [0,1] 0.9830599105939726 Centerline is valid? [True, True] Translation: X:186.45, Y:9.83, Z:-0.23 [[ 9.99564910e-01 -2.79988729e-02 -9.27655635e-03 1.86452242e+02] [ 2.79924398e-02 9.99607796e-01 -8.22625399e-04 9.83022951e+00] [ 9.29595063e-03 5.62594037e-04 9.99956633e-01 -2.31447767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.121400513 meters Centerline goodness [0,1] 0.9992380468601181 Centerline is valid? [True, True] Translation: X:186.48, Y:9.82, Z:-0.23 [[ 9.99535895e-01 -2.89857659e-02 -9.37124511e-03 1.86481777e+02] [ 2.89792368e-02 9.99579668e-01 -8.31791607e-04 9.82327080e+00] [ 9.39141619e-03 5.59834038e-04 9.99955743e-01 -2.30955190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.151400513 meters Centerline goodness [0,1] 0.9993383420131478 Centerline is valid? [True, True] Translation: X:186.51, Y:9.83, Z:-0.23 [[ 9.99503626e-01 -3.00227541e-02 -9.54650692e-03 1.86509597e+02] [ 3.00160133e-02 9.99549058e-01 -8.48629084e-04 9.82515540e+00] [ 9.56768018e-03 5.61659768e-04 9.99954071e-01 -2.31107452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.181400513 meters Centerline goodness [0,1] 0.9994066665253968 Centerline is valid? [True, True] Translation: X:186.54, Y:9.82, Z:-0.23 [[ 9.99446739e-01 -3.22327822e-02 -8.20138330e-03 1.86539326e+02] [ 3.22278783e-02 9.99480281e-01 -7.29420310e-04 9.82349554e+00] [ 8.22063213e-03 4.64703567e-04 9.99966102e-01 -2.28753899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.211400513 meters Centerline goodness [0,1] 0.998477575962616 Centerline is valid? [True, True] Translation: X:186.57, Y:9.83, Z:-0.23 [[ 9.99399505e-01 -3.38593744e-02 -7.36019722e-03 1.86568096e+02] [ 3.38554683e-02 9.99426525e-01 -6.54687139e-04 9.83022623e+00] [ 7.37814362e-03 4.05111079e-04 9.99972699e-01 -2.26876279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.24140051300003 meters Centerline goodness [0,1] 0.99940521709576 Centerline is valid? [True, True] Translation: X:186.60, Y:9.83, Z:-0.23 [[ 9.99326213e-01 -3.60066605e-02 -7.11626925e-03 1.86598308e+02] [ 3.60030621e-02 9.99351479e-01 -6.33149771e-04 9.82630336e+00] [ 7.13445181e-03 3.76515679e-04 9.99974479e-01 -2.26589240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.271400513 meters Centerline goodness [0,1] 0.99985121261717 Centerline is valid? [True, True] Translation: X:186.63, Y:9.82, Z:-0.23 [[ 9.99236486e-01 -3.83235304e-02 -7.59948977e-03 1.86628580e+02] [ 3.83194922e-02 9.99265310e-01 -6.76325309e-04 9.81949997e+00] [ 7.61982567e-03 3.84600336e-04 9.99970895e-01 -2.27465704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.30140051300003 meters Centerline goodness [0,1] 0.9999361443987995 Centerline is valid? [True, True] Translation: X:186.66, Y:9.82, Z:-0.23 [[ 9.99141122e-01 -4.05873893e-02 -8.34762915e-03 1.86658907e+02] [ 4.05825940e-02 9.99175911e-01 -7.43102150e-04 9.81692802e+00] [ 8.37091054e-03 4.03695471e-04 9.99964882e-01 -2.28150032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.331400513 meters Centerline goodness [0,1] 0.9996800818990339 Centerline is valid? [True, True] Translation: X:186.69, Y:9.82, Z:-0.23 [[ 9.99059360e-01 -4.25057098e-02 -8.58255426e-03 1.86688001e+02] [ 4.25007104e-02 9.99096144e-01 -7.64135726e-04 9.81948229e+00] [ 8.60727700e-03 3.98652296e-04 9.99962877e-01 -2.28234804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.36140051300004 meters Centerline goodness [0,1] 0.9998085106382979 Centerline is valid? [True, True] Translation: X:186.72, Y:9.81, Z:-0.23 [[ 9.98972944e-01 -4.44435425e-02 -8.82208491e-03 1.86718892e+02] [ 4.44383339e-02 9.99011820e-01 -7.85650994e-04 9.81345104e+00] [ 8.84828421e-03 3.92805332e-04 9.99960776e-01 -2.27669135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.391400513 meters Centerline goodness [0,1] 0.999957264957265 Centerline is valid? [True, True] Translation: X:186.75, Y:9.81, Z:-0.23 [[ 9.98960110e-01 -4.46508618e-02 -9.21946026e-03 1.86747359e+02] [ 4.46451776e-02 9.99002569e-01 -8.21536209e-04 9.80766294e+00] [ 9.24694679e-03 4.09077462e-04 9.99957162e-01 -2.27189989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.42140051300004 meters Centerline goodness [0,1] 0.9998492678725237 Centerline is valid? [True, True] Translation: X:186.77, Y:9.81, Z:-0.23 [[ 9.98995529e-01 -4.37457900e-02 -9.70764715e-03 1.86774578e+02] [ 4.37394287e-02 9.99042597e-01 -8.66731651e-04 9.80908661e+00] [ 9.73626888e-03 4.41254105e-04 9.99952504e-01 -2.27844143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.451400513 meters Centerline goodness [0,1] 0.9998070698192887 Centerline is valid? [True, True] Translation: X:186.80, Y:9.81, Z:-0.23 [[ 9.99084500e-01 -4.15756951e-02 -1.00808705e-02 1.86804067e+02] [ 4.15687164e-02 9.99135241e-01 -9.00906709e-04 9.81103993e+00] [ 1.01096088e-02 4.81033084e-04 9.99948781e-01 -2.28136767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.481400513 meters Centerline goodness [0,1] 0.9998070698192887 Centerline is valid? [True, True] Translation: X:186.83, Y:9.81, Z:-0.23 [[ 9.99076611e-01 -4.17648595e-02 -1.00808041e-02 1.86831460e+02] [ 4.17578829e-02 9.99127352e-01 -9.01648114e-04 9.81364827e+00] [ 1.01096643e-02 4.79862503e-04 9.99948781e-01 -2.27942190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.511400513 meters Centerline goodness [0,1] 0.9997226252453699 Centerline is valid? [True, True] Translation: X:186.86, Y:9.83, Z:-0.23 [[ 9.99194421e-01 -3.88309750e-02 -1.01323326e-02 1.86859324e+02] [ 3.88237620e-02 9.99245661e-01 -9.07681217e-04 9.82574169e+00] [ 1.01599355e-02 5.13574740e-04 9.99948255e-01 -2.28118990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.541400513 meters Centerline goodness [0,1] 0.9992819278126254 Centerline is valid? [True, True] Translation: X:186.89, Y:9.83, Z:-0.23 [[ 9.99328961e-01 -3.53854213e-02 -9.46044370e-03 1.86889610e+02] [ 3.53789777e-02 9.99373609e-01 -8.47650638e-04 9.83053640e+00] [ 9.48451224e-03 5.12381004e-04 9.99954890e-01 -2.26573869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.571400513 meters Centerline goodness [0,1] 0.9994460778047637 Centerline is valid? [True, True] Translation: X:186.92, Y:9.83, Z:-0.22 [[ 9.99544286e-01 -2.90896524e-02 -8.06299330e-03 1.86919910e+02] [ 2.90847676e-02 9.99576688e-01 -7.22451685e-04 9.83187396e+00] [ 8.08059600e-03 4.87612168e-04 9.99967233e-01 -2.23405699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.601400513 meters Centerline goodness [0,1] 0.9988315523358331 Centerline is valid? [True, True] Translation: X:186.95, Y:9.83, Z:-0.22 [[ 9.99614247e-01 -2.65717627e-02 -8.08078482e-03 1.86949446e+02] [ 2.65667740e-02 9.99646779e-01 -7.24086206e-04 9.83465652e+00] [ 8.09717076e-03 5.09126503e-04 9.99967088e-01 -2.23388763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.631400513 meters Centerline goodness [0,1] 0.9966937565324971 Centerline is valid? [True, True] Translation: X:186.98, Y:9.84, Z:-0.22 [[ 9.99675010e-01 -2.40071262e-02 -8.57506085e-03 1.86979576e+02] [ 2.40014138e-02 9.99711629e-01 -7.68471518e-04 9.83968850e+00] [ 8.59103685e-03 5.62408189e-04 9.99962938e-01 -2.24149394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.661400513 meters Centerline goodness [0,1] 0.9909934787688255 Centerline is valid? [True, True] Translation: X:187.01, Y:9.84, Z:-0.23 [[ 9.99732033e-01 -2.11596279e-02 -9.38785417e-03 1.87010081e+02] [ 2.11526556e-02 9.99775904e-01 -8.41370360e-04 9.84425030e+00] [ 9.40355347e-03 6.42566855e-04 9.99955579e-01 -2.25497838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.691400513 meters Centerline goodness [0,1] 0.9249883390577959 Centerline is valid? [True, False] Translation: X:187.01, Y:9.85, Z:-0.23 [[ 9.99730023e-01 -2.12484155e-02 -9.40138541e-03 1.87010366e+02] [ 2.12376482e-02 9.99773682e-01 -1.24365309e-03 9.84622401e+00] [ 9.42568337e-03 1.04365402e-03 9.99955033e-01 -2.26046433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.721400513 meters Centerline goodness [0,1] 0.9028391032614492 Centerline is valid? [False, False] Translation: X:187.01, Y:9.84, Z:-0.23 [[ 9.99818864e-01 -1.64599475e-02 -9.55557969e-03 1.87010577e+02] [ 1.65001920e-02 9.99855258e-01 4.14817682e-03 9.84122864e+00] [ 9.48591783e-03 -4.30509434e-03 9.99945740e-01 -2.25866818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.751400513 meters Centerline goodness [0,1] 0.8037634978891317 Centerline is valid? [False, False] Translation: X:187.03, Y:9.85, Z:-0.22 [[ 9.99910719e-01 -1.07069444e-02 -7.99472549e-03 1.87027843e+02] [ 1.06873914e-02 9.99939802e-01 -2.48446688e-03 9.84832189e+00] [ 8.02084527e-03 2.39880230e-03 9.99964955e-01 -2.22840837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.781400513 meters Centerline goodness [0,1] 0.7815131438341526 Centerline is valid? [False, False] Translation: X:187.03, Y:9.85, Z:-0.22 [[ 9.99908891e-01 -1.09027635e-02 -7.95859434e-03 1.87027838e+02] [ 1.08792063e-02 9.99936328e-01 -2.99728264e-03 9.85072128e+00] [ 7.99076626e-03 2.91042637e-03 9.99963838e-01 -2.23141487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.811400513 meters Centerline goodness [0,1] 0.7396554294354409 Centerline is valid? [False, False] Translation: X:187.03, Y:9.85, Z:-0.22 [[ 9.99944388e-01 -6.29959808e-03 -8.45792707e-03 1.87029404e+02] [ 6.31972976e-03 9.99977256e-01 2.35560121e-03 9.84563771e+00] [ 8.44289536e-03 -2.40892202e-03 9.99961457e-01 -2.23178022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.841400513 meters Centerline goodness [0,1] 0.7042280507536405 Centerline is valid? [False, False] Translation: X:187.03, Y:9.85, Z:-0.22 [[ 9.99941951e-01 -6.66015022e-03 -8.46973971e-03 1.87029722e+02] [ 6.67287356e-03 9.99976649e-01 1.47484038e-03 9.84975803e+00] [ 8.45971927e-03 -1.53127226e-03 9.99963043e-01 -2.23845773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.871400513 meters Centerline goodness [0,1] 0.8209948070898245 Centerline is valid? [False, False] Translation: X:187.03, Y:9.85, Z:-0.22 [[ 9.99941455e-01 -6.83462541e-03 -8.38893493e-03 1.87029358e+02] [ 6.84391202e-03 9.99975998e-01 1.07879858e-03 9.85161054e+00] [ 8.38136040e-03 -1.13614855e-03 9.99964230e-01 -2.23702522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.901400513 meters Centerline goodness [0,1] 0.6264073041479559 Centerline is valid? [False, False] Translation: X:187.05, Y:9.86, Z:-0.23 [[ 9.99975649e-01 -6.63587441e-03 -2.16038363e-03 1.87051318e+02] [ 6.61550280e-03 9.99934833e-01 -9.30402659e-03 9.86405107e+00] [ 2.22198319e-03 9.28950800e-03 9.99954383e-01 -2.29762937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.931400513 meters Centerline goodness [0,1] 0.7452988510693231 Centerline is valid? [False, False] Translation: X:187.01, Y:9.86, Z:-0.23 [[ 9.99980790e-01 -4.43329295e-03 -4.33185354e-03 1.87008707e+02] [ 4.41453812e-03 9.99980883e-01 -4.32952736e-03 9.85594557e+00] [ 4.35096479e-03 4.31032105e-03 9.99981245e-01 -2.27906470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.961400513 meters Centerline goodness [0,1] 0.7408671901672925 Centerline is valid? [False, False] Translation: X:187.01, Y:9.86, Z:-0.23 [[ 9.99984788e-01 -2.29635815e-03 -5.01512410e-03 1.87014408e+02] [ 2.28614045e-03 9.99995302e-01 -2.04216067e-03 9.85548840e+00] [ 5.01979007e-03 2.03066433e-03 9.99985339e-01 -2.31525649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.99140051300003 meters Centerline goodness [0,1] 0.7691960931630353 Centerline is valid? [False, False] Translation: X:187.01, Y:9.86, Z:-0.23 [[ 9.99984249e-01 -2.60263674e-03 -4.97281028e-03 1.87014229e+02] [ 2.58885991e-03 9.99992799e-01 -2.77486240e-03 9.85891980e+00] [ 4.97999643e-03 2.76194479e-03 9.99983786e-01 -2.31487884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.021400513 meters Centerline goodness [0,1] 0.6948489551223453 Centerline is valid? [False, False] Translation: X:187.02, Y:9.86, Z:-0.23 [[ 9.99985580e-01 1.46592300e-03 -5.16627518e-03 1.87015064e+02] [-1.46075694e-03 9.99998429e-01 1.00359145e-03 9.86143034e+00] [ 5.16773825e-03 -9.96030303e-04 9.99986151e-01 -2.31923708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.05140051300003 meters Centerline goodness [0,1] 0.592220000850738 Centerline is valid? [False, False] Translation: X:187.02, Y:9.87, Z:-0.23 [[ 9.99986506e-01 1.04572840e-03 -5.08869024e-03 1.87015061e+02] [-1.04600876e-03 9.99999452e-01 -5.24331911e-05 9.86639539e+00] [ 5.08863262e-03 5.77552981e-05 9.99987051e-01 -2.32504584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.081400513 meters Centerline goodness [0,1] 0.6037224469053719 Centerline is valid? [False, False] Translation: X:187.02, Y:9.87, Z:-0.23 [[ 9.99987112e-01 6.77578544e-04 -5.03166356e-03 1.87015037e+02] [-6.82479842e-04 9.99999294e-01 -9.72437894e-04 9.87071597e+00] [ 5.03100111e-03 9.75859369e-04 9.99986868e-01 -2.32950146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.11140051300004 meters Centerline goodness [0,1] 0.6650676900117258 Centerline is valid? [False, False] Translation: X:187.02, Y:9.87, Z:-0.23 [[ 9.99987521e-01 3.68787779e-04 -4.98211387e-03 1.87015032e+02] [-3.77239352e-04 9.99998491e-01 -1.69554972e-03 9.87409809e+00] [ 4.98148105e-03 1.69740801e-03 9.99986152e-01 -2.33348395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.141400513 meters Centerline goodness [0,1] 0.6242743951527477 Centerline is valid? [False, False] Translation: X:187.02, Y:9.88, Z:-0.23 [[ 9.99987546e-01 7.12085696e-05 -4.99028850e-03 1.87015186e+02] [-8.30903473e-05 9.99997162e-01 -2.38081324e-03 9.87729933e+00] [ 4.99010480e-03 2.38119824e-03 9.99984714e-01 -2.33654080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.17140051300004 meters Centerline goodness [0,1] 0.6799880065107513 Centerline is valid? [False, False] Translation: X:187.02, Y:9.88, Z:-0.23 [[ 9.99987620e-01 -2.38836872e-04 -4.97024329e-03 1.87015177e+02] [ 2.23534252e-04 9.99995234e-01 -3.07917508e-03 9.88053187e+00] [ 4.97095502e-03 3.07802594e-03 9.99982908e-01 -2.33813624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.201400513 meters Centerline goodness [0,1] 0.6740936395007029 Centerline is valid? [False, False] Translation: X:187.02, Y:9.89, Z:-0.23 [[ 9.99987008e-01 -7.78703742e-04 -5.03753963e-03 1.87015397e+02] [ 7.57284193e-04 9.99990671e-01 -4.25249722e-03 9.88597742e+00] [ 5.04080407e-03 4.24862712e-03 9.99978269e-01 -2.33912187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.231400513 meters Centerline goodness [0,1] 0.7102587205560561 Centerline is valid? [False, False] Translation: X:187.02, Y:9.89, Z:-0.23 [[ 9.99986958e-01 -1.02871244e-03 -5.00254791e-03 1.87015284e+02] [ 1.00459157e-03 9.99987870e-01 -4.82184172e-03 9.88862808e+00] [ 5.00744752e-03 4.81675331e-03 9.99975862e-01 -2.33964478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.261400513 meters Centerline goodness [0,1] 0.7312583523731517 Centerline is valid? [False, False] Translation: X:187.01, Y:9.89, Z:-0.23 [[ 9.99986964e-01 -1.60534176e-03 -4.84718387e-03 1.87014801e+02] [ 1.57559486e-03 9.99979942e-01 -6.13453934e-03 9.89473418e+00] [ 4.85693468e-03 6.12682217e-03 9.99969436e-01 -2.34119256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.291400513 meters Centerline goodness [0,1] 0.6433213304071762 Centerline is valid? [False, False] Translation: X:187.04, Y:9.89, Z:-0.24 [[ 9.99995618e-01 -2.21116568e-03 -1.96863661e-03 1.87037185e+02] [ 2.21989566e-03 9.99987664e-01 4.44344262e-03 9.89268472e+00] [ 1.95878714e-03 -4.44779331e-03 9.99988190e-01 -2.37617838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.321400513 meters Centerline goodness [0,1] 0.6478834290576473 Centerline is valid? [False, False] Translation: X:187.04, Y:9.90, Z:-0.24 [[ 9.99994914e-01 -2.49809590e-03 -1.98260058e-03 1.87037094e+02] [ 2.50564456e-03 9.99989587e-01 3.81414686e-03 9.89561269e+00] [ 1.97305183e-03 -3.81909516e-03 9.99990761e-01 -2.37418349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.351400513 meters Centerline goodness [0,1] 0.8430018713299348 Centerline is valid? [False, False] Translation: X:187.02, Y:9.90, Z:-0.24 [[ 9.99994200e-01 -1.59762407e-03 -3.00785114e-03 1.87016677e+02] [ 1.57561234e-03 9.99972067e-01 -7.30629151e-03 9.90240698e+00] [ 3.01943983e-03 7.30150992e-03 9.99968785e-01 -2.38165429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.381400513 meters Centerline goodness [0,1] 0.74467586676889 Centerline is valid? [False, False] Translation: X:187.04, Y:9.90, Z:-0.24 [[ 9.99987160e-01 -2.81840359e-03 -4.21155149e-03 1.87038338e+02] [ 2.82999932e-03 9.99992215e-01 2.74989723e-03 9.89855040e+00] [ 4.20376838e-03 -2.76178061e-03 9.99987350e-01 -2.35495375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.411400513 meters Centerline goodness [0,1] 0.7652330132386594 Centerline is valid? [False, False] Translation: X:187.04, Y:9.90, Z:-0.24 [[ 9.99986271e-01 -2.94683753e-03 -4.33288817e-03 1.87038949e+02] [ 2.95775512e-03 9.99992462e-01 2.51545790e-03 9.89959316e+00] [ 4.32544286e-03 -2.52823898e-03 9.99987449e-01 -2.35954421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.441400513 meters Centerline goodness [0,1] 0.8659474126235545 Centerline is valid? [False, False] Translation: X:187.04, Y:9.90, Z:-0.24 [[ 9.99984348e-01 -3.31700341e-03 -4.50563217e-03 1.87039585e+02] [ 3.32595308e-03 9.99992508e-01 1.98029054e-03 9.90188340e+00] [ 4.49902978e-03 -1.99524506e-03 9.99987889e-01 -2.36173100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.471400513 meters Centerline goodness [0,1] 0.9065059726962458 Centerline is valid? [False, False] Translation: X:187.06, Y:9.91, Z:-0.24 [[ 9.99992546e-01 -3.56464527e-03 1.48391455e-03 1.87060891e+02] [ 3.57782378e-03 9.99953323e-01 -8.97506389e-03 9.91390079e+00] [-1.45185237e-03 8.98030617e-03 9.99958622e-01 -2.41789644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.501400513 meters Centerline goodness [0,1] 0.9126271438907094 Centerline is valid? [False, False] Translation: X:187.06, Y:9.91, Z:-0.24 [[ 9.99999401e-01 -9.34203012e-05 1.09099593e-03 1.87061966e+02] [ 9.78251951e-05 9.99991842e-01 -4.03814285e-03 9.90881804e+00] [-1.09060979e-03 4.03824716e-03 9.99991252e-01 -2.41275372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.531400513 meters Centerline goodness [0,1] 0.9285063269675067 Centerline is valid? [False, False] Translation: X:187.06, Y:9.91, Z:-0.24 [[ 9.99999460e-01 -1.03106946e-04 1.03370439e-03 1.87061866e+02] [ 1.07120991e-04 9.99992452e-01 -3.88386188e-03 9.90803150e+00] [-1.03329614e-03 3.88397052e-03 9.99991924e-01 -2.40706417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.561400513 meters Centerline goodness [0,1] 0.9855964022825141 Centerline is valid? [False, True] Translation: X:187.06, Y:9.90, Z:-0.24 [[ 9.99999454e-01 -4.33311652e-04 9.50591874e-04 1.87061715e+02] [ 4.36479953e-04 9.99994343e-01 -3.33530633e-03 9.90466764e+00] [-9.49141269e-04 3.33571943e-03 9.99993986e-01 -2.39762413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.591400513 meters Centerline goodness [0,1] 0.9991917988855332 Centerline is valid? [True, True] Translation: X:187.09, Y:9.90, Z:-0.24 [[ 9.99993858e-01 -3.16445475e-03 1.50697193e-03 1.87093469e+02] [ 3.16430988e-03 9.99994989e-01 9.85084692e-05 9.89500242e+00] [-1.50727611e-03 -9.37393380e-05 9.99998860e-01 -2.38637226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.621400513 meters Centerline goodness [0,1] 0.9995284838612886 Centerline is valid? [True, True] Translation: X:187.12, Y:9.89, Z:-0.24 [[ 9.99984069e-01 -5.12129491e-03 2.37378177e-03 1.87124313e+02] [ 5.12094099e-03 9.99986876e-01 1.55151553e-04 9.89225816e+00] [-2.37454519e-03 -1.42993085e-04 9.99997171e-01 -2.37282186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.651400513 meters Centerline goodness [0,1] 0.9986343753334045 Centerline is valid? [True, True] Translation: X:187.15, Y:9.89, Z:-0.24 [[ 9.99973289e-01 -6.32985224e-03 3.65446312e-03 1.87154424e+02] [ 6.32902143e-03 9.99979943e-01 2.38861330e-04 9.89408232e+00] [-3.65590178e-03 -2.15725774e-04 9.99993294e-01 -2.35506254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.681400513 meters Centerline goodness [0,1] 0.9988816001720615 Centerline is valid? [True, True] Translation: X:187.19, Y:9.89, Z:-0.23 [[ 9.99966280e-01 -6.90658781e-03 4.44264716e-03 1.87187236e+02] [ 6.90536602e-03 9.99976116e-01 2.90293066e-04 9.89336939e+00] [-4.44454598e-03 -2.59605173e-04 9.99990089e-01 -2.34106663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.711400513 meters Centerline goodness [0,1] 0.998883976477658 Centerline is valid? [True, True] Translation: X:187.22, Y:9.89, Z:-0.23 [[ 9.99965203e-01 -6.78884562e-03 4.84821404e-03 1.87219004e+02] [ 6.78739058e-03 9.99976915e-01 3.16508881e-04 9.89304088e+00] [-4.85025085e-03 -2.83591145e-04 9.99988197e-01 -2.33845965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.74140051300003 meters Centerline goodness [0,1] 0.9856081411935024 Centerline is valid? [True, True] Translation: X:187.25, Y:9.90, Z:-0.24 [[ 9.99980824e-01 -4.73777369e-03 3.98804246e-03 1.87248384e+02] [ 4.73677336e-03 9.99988748e-01 2.60238415e-04 9.89789490e+00] [-3.98923054e-03 -2.41342972e-04 9.99992014e-01 -2.36530541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.771400513 meters Centerline goodness [0,1] 0.9982513330886639 Centerline is valid? [True, True] Translation: X:187.28, Y:9.89, Z:-0.24 [[ 9.99991087e-01 -2.61988201e-03 3.31095208e-03 1.87280193e+02] [ 2.61918090e-03 9.99996547e-01 2.16070805e-04 9.89118014e+00] [-3.31150673e-03 -2.07396897e-04 9.99994495e-01 -2.38328511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.80140051300003 meters Centerline goodness [0,1] 0.9145673837731492 Centerline is valid? [True, False] Translation: X:187.28, Y:9.89, Z:-0.24 [[ 9.99991655e-01 -2.43078556e-03 3.28354581e-03 1.87280360e+02] [ 2.42924579e-03 9.99996938e-01 4.72842431e-04 9.89008293e+00] [-3.28468514e-03 -4.64861945e-04 9.99994497e-01 -2.38491678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.831400513 meters Centerline goodness [0,1] 0.9709992712307627 Centerline is valid? [False, True] Translation: X:187.28, Y:9.89, Z:-0.24 [[ 9.99991872e-01 -2.25604410e-03 3.34160752e-03 1.87280200e+02] [ 2.25363110e-03 9.99997197e-01 7.25696256e-04 9.88899957e+00] [-3.34323536e-03 -7.18159606e-04 9.99994153e-01 -2.38519967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.86140051300004 meters Centerline goodness [0,1] 0.8755920361758214 Centerline is valid? [True, False] Translation: X:187.28, Y:9.89, Z:-0.24 [[ 9.99993051e-01 -1.55525913e-03 3.38809328e-03 1.87280211e+02] [ 1.55129090e-03 9.99998108e-01 1.17353897e-03 9.88766433e+00] [-3.38991203e-03 -1.16827490e-03 9.99993572e-01 -2.38907730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.891400513 meters Centerline goodness [0,1] 0.938948054770702 Centerline is valid? [False, False] Translation: X:187.26, Y:9.89, Z:-0.23 [[ 9.99998807e-01 1.54365402e-03 5.60746082e-05 1.87257147e+02] [-1.54322749e-03 9.99974707e-01 -6.94289669e-03 9.89016028e+00] [-6.67906203e-05 6.94280187e-03 9.99975896e-01 -2.34802950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.92140051300004 meters Centerline goodness [0,1] 0.7985565011310999 Centerline is valid? [False, False] Translation: X:187.26, Y:9.88, Z:-0.24 [[ 9.99980591e-01 6.22829699e-03 -1.64004986e-04 1.87258106e+02] [-6.22852596e-03 9.99979573e-01 -1.43468718e-03 9.88444564e+00] [ 1.55065979e-04 1.43568084e-03 9.99998957e-01 -2.35171287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.951400513 meters Centerline goodness [0,1] 0.7497661166865113 Centerline is valid? [False, False] Translation: X:187.28, Y:9.88, Z:-0.24 [[ 9.99976957e-01 6.70534445e-03 1.06026333e-03 1.87279312e+02] [-6.71640189e-03 9.99919186e-01 1.07940709e-02 9.87815284e+00] [-9.87799680e-04 -1.08009434e-02 9.99941180e-01 -2.35862117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.981400513 meters Centerline goodness [0,1] 0.7509782303218973 Centerline is valid? [False, False] Translation: X:187.24, Y:9.88, Z:-0.24 [[ 9.99979123e-01 6.29223025e-03 -1.47002387e-03 1.87237787e+02] [-6.27668049e-03 9.99926703e-01 1.03533059e-02 9.87619189e+00] [ 1.53506150e-03 -1.03438629e-02 9.99945323e-01 -2.36038682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.011400513 meters Centerline goodness [0,1] 0.7011342316220365 Centerline is valid? [False, False] Translation: X:187.28, Y:9.88, Z:-0.24 [[ 9.99978857e-01 6.49913037e-03 -2.18634065e-04 1.87281851e+02] [-6.49724717e-03 9.99949039e-01 7.72693775e-03 9.88342017e+00] [ 2.68841299e-04 -7.72535385e-03 9.99970123e-01 -2.38354846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.041400513 meters Centerline goodness [0,1] 0.6628248203121677 Centerline is valid? [False, False] Translation: X:187.28, Y:9.89, Z:-0.24 [[ 9.99997044e-01 2.42354960e-03 -1.95086197e-04 1.87281880e+02] [-2.42312907e-03 9.99994801e-01 2.12776719e-03 9.89071798e+00] [ 2.00241932e-04 -2.12728819e-03 9.99997717e-01 -2.39041363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.071400513 meters Centerline goodness [0,1] 0.5099938138612172 Centerline is valid? [False, False] Translation: X:187.28, Y:9.89, Z:-0.24 [[ 9.99997362e-01 2.28487418e-03 -2.33161439e-04 1.87282184e+02] [-2.28444797e-03 9.99995749e-01 1.81217426e-03 9.89215804e+00] [ 2.37301038e-04 -1.81163684e-03 9.99998331e-01 -2.39433206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.101400513 meters Centerline goodness [0,1] 0.6566944474510228 Centerline is valid? [False, False] Translation: X:187.24, Y:9.89, Z:-0.24 [[ 9.99996347e-01 1.18409314e-03 -2.42980841e-03 1.87239588e+02] [-1.18218673e-03 9.99998992e-01 7.85877597e-04 9.89036907e+00] [ 2.43073652e-03 -7.83002239e-04 9.99996739e-01 -2.38975161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.131400513 meters Centerline goodness [0,1] 0.7016579350192959 Centerline is valid? [False, False] Translation: X:187.24, Y:9.89, Z:-0.24 [[ 9.99996319e-01 1.22688408e-03 -2.42019879e-03 1.87239373e+02] [-1.22462623e-03 9.99998814e-01 9.34178235e-04 9.88966441e+00] [ 2.42134205e-03 -9.31210957e-04 9.99996635e-01 -2.38596141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.161400513 meters Centerline goodness [0,1] 0.6846439390707002 Centerline is valid? [False, False] Translation: X:187.26, Y:9.89, Z:-0.24 [[ 9.99998765e-01 -1.19530748e-03 1.02081971e-03 1.87261969e+02] [ 1.18544148e-03 9.99953108e-01 9.61130380e-03 9.88586594e+00] [-1.03226030e-03 -9.61008181e-03 9.99953289e-01 -2.42714685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.191400513 meters Centerline goodness [0,1] 0.8115838937747888 Centerline is valid? [False, False] Translation: X:187.26, Y:9.90, Z:-0.24 [[ 9.99952815e-01 -9.55346711e-03 1.76061309e-03 1.87259387e+02] [ 9.55453357e-03 9.99954175e-01 -5.98322685e-04 9.89520350e+00] [-1.75481635e-03 6.15116290e-04 9.99998271e-01 -2.42391121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.221400513 meters Centerline goodness [0,1] 0.6939047901527511 Centerline is valid? [False, False] Translation: X:187.30, Y:9.90, Z:-0.24 [[ 9.99953217e-01 -8.85090084e-03 3.90194170e-03 1.87301268e+02] [ 8.84875461e-03 9.99960688e-01 5.66962681e-04 9.89615359e+00] [-3.90680644e-03 -5.32408832e-04 9.99992227e-01 -2.42661736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.251400513 meters Centerline goodness [0,1] 0.8158797825855271 Centerline is valid? [False, False] Translation: X:187.30, Y:9.89, Z:-0.24 [[ 9.99955035e-01 -8.68193469e-03 3.81471162e-03 1.87301579e+02] [ 8.67826371e-03 9.99961865e-01 9.77824129e-04 9.89422580e+00] [-3.82305555e-03 -9.44675088e-04 9.99992246e-01 -2.42657135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.281400513 meters Centerline goodness [0,1] 0.9801829599530649 Centerline is valid? [False, True] Translation: X:187.28, Y:9.90, Z:-0.24 [[ 9.99966414e-01 -8.19579423e-03 -2.81886124e-05 1.87278349e+02] [ 8.19513526e-03 9.99919374e-01 -9.69975061e-03 9.89823627e+00] [ 1.07683500e-04 9.69919382e-03 9.99952956e-01 -2.37586870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.311400513 meters Centerline goodness [0,1] 0.7871353070081211 Centerline is valid? [True, False] Translation: X:187.30, Y:9.89, Z:-0.24 [[ 9.99966272e-01 -7.01703022e-03 4.26802271e-03 1.87302230e+02] [ 7.00593227e-03 9.99972053e-01 2.60967174e-03 9.89086535e+00] [-4.28621557e-03 -2.57968224e-03 9.99987487e-01 -2.44269035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.341400513 meters Centerline goodness [0,1] 0.7305570994912138 Centerline is valid? [False, False] Translation: X:187.30, Y:9.89, Z:-0.24 [[ 9.99965164e-01 -7.07431296e-03 4.42990304e-03 1.87301494e+02] [ 7.06364811e-03 9.99972127e-01 2.41850338e-03 9.89181548e+00] [-4.44688882e-03 -2.38712785e-03 9.99987263e-01 -2.43876833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.371400513 meters Centerline goodness [0,1] 0.6550362782757149 Centerline is valid? [False, False] Translation: X:187.30, Y:9.89, Z:-0.24 [[ 9.99964496e-01 -7.10473436e-03 4.53087206e-03 1.87300906e+02] [ 7.09439805e-03 9.99972205e-01 2.29331370e-03 9.89244420e+00] [-4.54703951e-03 -2.26108847e-03 9.99987106e-01 -2.43411214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.401400513 meters Centerline goodness [0,1] 0.6550362782757149 Centerline is valid? [False, False] Translation: X:187.30, Y:9.89, Z:-0.24 [[ 9.99964496e-01 -7.10473436e-03 4.53087206e-03 1.87300906e+02] [ 7.09439805e-03 9.99972205e-01 2.29331370e-03 9.89244420e+00] [-4.54703951e-03 -2.26108847e-03 9.99987106e-01 -2.43411214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.431400513 meters Centerline goodness [0,1] 0.7404322908841143 Centerline is valid? [False, False] Translation: X:187.30, Y:9.89, Z:-0.24 [[ 9.99964924e-01 -7.07421291e-03 4.48399476e-03 1.87301047e+02] [ 7.06368921e-03 9.99972271e-01 2.35845576e-03 9.89214379e+00] [-4.50055464e-03 -2.32669949e-03 9.99987166e-01 -2.43377886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.461400513 meters Centerline goodness [0,1] 0.7124034142914919 Centerline is valid? [False, False] Translation: X:187.30, Y:9.89, Z:-0.24 [[ 9.99966055e-01 -7.00225166e-03 4.34257832e-03 1.87301810e+02] [ 6.99136355e-03 9.99972391e-01 2.51742307e-03 9.89136226e+00] [-4.36008605e-03 -2.48697708e-03 9.99987402e-01 -2.43975780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.49140051300003 meters Centerline goodness [0,1] 0.6568446509259849 Centerline is valid? [False, False] Translation: X:187.30, Y:9.89, Z:-0.24 [[ 9.99967146e-01 -6.92300210e-03 4.21661547e-03 1.87302498e+02] [ 6.91157714e-03 9.99972421e-01 2.71808157e-03 9.89038695e+00] [-4.23531646e-03 -2.68884881e-03 9.99987416e-01 -2.44516212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.521400513 meters Centerline goodness [0,1] 0.8042734490994772 Centerline is valid? [False, False] Translation: X:187.28, Y:9.90, Z:-0.24 [[ 9.99958558e-01 -8.30749678e-03 3.72401576e-03 1.87277814e+02] [ 8.34610880e-03 9.99910298e-01 -1.04756092e-02 9.89526801e+00] [-3.63665561e-03 1.05062561e-02 9.99938195e-01 -2.42235426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.55140051300003 meters Centerline goodness [0,1] 0.6920716112531969 Centerline is valid? [False, False] Translation: X:187.28, Y:9.89, Z:-0.24 [[ 9.99983382e-01 -4.64077656e-03 3.42050307e-03 1.87278386e+02] [ 4.65757732e-03 9.99977049e-01 -4.92029260e-03 9.88697782e+00] [-3.39759058e-03 4.93614209e-03 9.99982045e-01 -2.41206094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.581400513 meters Centerline goodness [0,1] 0.7081484940462293 Centerline is valid? [False, False] Translation: X:187.28, Y:9.88, Z:-0.24 [[ 9.99984760e-01 -4.38759813e-03 3.35082113e-03 1.87278358e+02] [ 4.40151226e-03 9.99981675e-01 -4.15642926e-03 9.88331978e+00] [-3.33252299e-03 4.17111459e-03 9.99985748e-01 -2.40641505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.61140051300004 meters Centerline goodness [0,1] 0.9405477621910487 Centerline is valid? [False, False] Translation: X:187.24, Y:9.88, Z:-0.24 [[ 9.99980513e-01 -6.22489821e-03 4.73553078e-04 1.87238062e+02] [ 6.22675459e-03 9.99972512e-01 -4.02521097e-03 9.87571418e+00] [-4.48483532e-04 4.02808123e-03 9.99991787e-01 -2.40482598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.641400513 meters Centerline goodness [0,1] 0.8742526518804243 Centerline is valid? [False, False] Translation: X:187.24, Y:9.87, Z:-0.24 [[ 9.99981964e-01 -5.99511384e-03 3.60530615e-04 1.87238431e+02] [ 5.99632331e-03 9.99976061e-01 -3.45280724e-03 9.87303140e+00] [-3.39822012e-04 3.45490682e-03 9.99993974e-01 -2.40463387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.67140051300004 meters Centerline goodness [0,1] 0.9352294709095934 Centerline is valid? [False, False] Translation: X:187.24, Y:9.87, Z:-0.24 [[ 9.99983613e-01 -5.71774020e-03 2.84587075e-04 1.87238567e+02] [ 5.71850434e-03 9.99979838e-01 -2.76087634e-03 9.86976843e+00] [-2.68795364e-04 2.76245851e-03 9.99996148e-01 -2.40207739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.701400513 meters Centerline goodness [0,1] 0.7930309146924466 Centerline is valid? [False, False] Translation: X:187.24, Y:9.87, Z:-0.24 [[ 9.99985660e-01 -5.35067268e-03 2.23502986e-04 1.87238659e+02] [ 5.35108116e-03 9.99983936e-01 -1.86887937e-03 9.86558841e+00] [-2.13499634e-04 1.87004856e-03 9.99998229e-01 -2.39943230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.731400513 meters Centerline goodness [0,1] 0.9685614005050721 Centerline is valid? [False, True] Translation: X:187.24, Y:9.86, Z:-0.24 [[ 9.99987727e-01 -4.95247429e-03 1.33721061e-04 1.87238924e+02] [ 4.95259284e-03 9.99987330e-01 -9.01276453e-04 9.86105930e+00] [-1.29255818e-04 9.01927658e-04 9.99999585e-01 -2.39831359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.761400513 meters Centerline goodness [0,1] 0.9843616475816099 Centerline is valid? [True, True] Translation: X:187.27, Y:9.86, Z:-0.24 [[ 9.99978296e-01 -6.58703864e-03 -1.35499597e-04 1.87270429e+02] [ 6.58703736e-03 9.99978305e-01 -9.91682607e-06 9.85823898e+00] [ 1.35561979e-04 9.02406993e-06 9.99999991e-01 -2.39984078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.791400513 meters Centerline goodness [0,1] 0.9705536679701691 Centerline is valid? [True, True] Translation: X:187.30, Y:9.86, Z:-0.24 [[ 9.99956936e-01 -9.27849797e-03 -1.87856012e-04 1.87300046e+02] [ 9.27849554e-03 9.99956954e-01 -1.37930964e-05 9.85642231e+00] [ 1.87975905e-04 1.20494813e-05 9.99999982e-01 -2.40133928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.821400513 meters Centerline goodness [0,1] 0.9921076271548959 Centerline is valid? [True, True] Translation: X:187.33, Y:9.85, Z:-0.24 [[ 9.99942317e-01 -1.07398309e-02 -1.38530327e-04 1.87330895e+02] [ 1.07398296e-02 9.99942326e-01 -1.01799109e-05 9.85108786e+00] [ 1.38631668e-04 8.69153162e-06 9.99999990e-01 -2.40004950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.851400513 meters Centerline goodness [0,1] 0.9994041285379868 Centerline is valid? [True, True] Translation: X:187.36, Y:9.84, Z:-0.24 [[ 9.99927039e-01 -1.20795992e-02 -2.49402757e-05 1.87362143e+02] [ 1.20795991e-02 9.99927039e-01 -1.82935088e-06 9.84081941e+00] [ 2.49605539e-05 1.52794888e-06 1.00000000e+00 -2.39807156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.881400513 meters Centerline goodness [0,1] 0.9996536496666378 Centerline is valid? [True, True] Translation: X:187.39, Y:9.83, Z:-0.24 [[ 9.99917683e-01 -1.28218424e-02 -4.76523293e-04 1.87393006e+02] [ 1.28218272e-02 9.99917796e-01 -3.49785666e-05 9.83368068e+00] [ 4.76932611e-04 2.88657879e-05 9.99999886e-01 -2.40295342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.911400513 meters Centerline goodness [0,1] 0.9994249568717654 Centerline is valid? [True, True] Translation: X:187.42, Y:9.84, Z:-0.24 [[ 9.99925118e-01 -1.20854627e-02 -1.92367775e-03 1.87422693e+02] [ 1.20852134e-02 9.99926961e-01 -1.41166636e-04 9.83656078e+00] [ 1.92524331e-03 1.17908009e-04 9.99998140e-01 -2.42927001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.941400513 meters Centerline goodness [0,1] 0.99946382996976 Centerline is valid? [True, True] Translation: X:187.45, Y:9.84, Z:-0.24 [[ 9.99935975e-01 -1.10319294e-02 -2.51824993e-03 1.87452602e+02] [ 1.10314987e-02 9.99939134e-01 -1.84871286e-04 9.83556369e+00] [ 2.52013615e-03 1.57079379e-04 9.99996812e-01 -2.43377005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.971400513 meters Centerline goodness [0,1] 0.9985138319780896 Centerline is valid? [True, True] Translation: X:187.48, Y:9.84, Z:-0.24 [[ 9.99949768e-01 -9.65881785e-03 -2.67758771e-03 1.87480715e+02] [ 9.65832568e-03 9.99953338e-01 -1.96680051e-04 9.84150462e+00] [ 2.67936246e-03 1.70809157e-04 9.99996396e-01 -2.43951082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.001400513 meters Centerline goodness [0,1] 0.9982229644378787 Centerline is valid? [True, True] Translation: X:187.51, Y:9.84, Z:-0.24 [[ 9.99960220e-01 -8.40172112e-03 -2.99502598e-03 1.87510585e+02] [ 8.40109960e-03 9.99964686e-01 -2.20039103e-04 9.84365962e+00] [ 2.99676892e-03 1.94868838e-04 9.99995491e-01 -2.44190811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.031400513 meters Centerline goodness [0,1] 0.9985755908060862 Centerline is valid? [True, True] Translation: X:187.54, Y:9.85, Z:-0.24 [[ 9.99968458e-01 -7.39955513e-03 -2.88596154e-03 1.87540242e+02] [ 7.39897370e-03 9.99972605e-01 -2.12095144e-04 9.84535566e+00] [ 2.88745189e-03 1.90735301e-04 9.99995813e-01 -2.44703890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.061400513 meters Centerline goodness [0,1] 0.999223585739858 Centerline is valid? [True, True] Translation: X:187.57, Y:9.84, Z:-0.25 [[ 9.99973939e-01 -6.67333184e-03 -2.75445309e-03 1.87569190e+02] [ 6.67279753e-03 9.99977716e-01 -2.03127790e-04 9.84420869e+00] [ 2.75574725e-03 1.84742589e-04 9.99996186e-01 -2.45140809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.091400513 meters Centerline goodness [0,1] 0.9481969028904935 Centerline is valid? [True, False] Translation: X:187.59, Y:9.85, Z:-0.25 [[ 9.99988472e-01 -4.61929628e-03 1.31049670e-03 1.87590489e+02] [ 4.63198735e-03 9.99940737e-01 -9.85231786e-03 9.84981458e+00] [-1.26490826e-03 9.85827449e-03 9.99950606e-01 -2.49521734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.121400513 meters Centerline goodness [0,1] 0.9953523238380809 Centerline is valid? [False, True] Translation: X:187.59, Y:9.84, Z:-0.25 [[ 9.99999447e-01 -4.86856269e-05 1.05086047e-03 1.87591049e+02] [ 5.28450881e-05 9.99992164e-01 -3.95848317e-03 9.84191846e+00] [-1.05065951e-03 3.95853651e-03 9.99991613e-01 -2.48889398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.151400513 meters Centerline goodness [0,1] 0.994359007356884 Centerline is valid? [True, True] Translation: X:187.62, Y:9.84, Z:-0.25 [[ 9.99999905e-01 4.34931485e-04 -3.89256557e-05 1.87622810e+02] [-4.34931586e-04 9.99999905e-01 -2.57801705e-06 9.84038375e+00] [ 3.89245307e-05 2.59494680e-06 9.99999999e-01 -2.49199784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.181400513 meters Centerline goodness [0,1] 0.9894957086126649 Centerline is valid? [True, True] Translation: X:187.65, Y:9.84, Z:-0.25 [[ 9.99999698e-01 4.88915074e-04 -6.03324263e-04 1.87652202e+02] [-4.88940460e-04 9.99999880e-01 -4.19305124e-05 9.84422100e+00] [ 6.03303690e-04 4.22254894e-05 9.99999817e-01 -2.50158593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.211400513 meters Centerline goodness [0,1] 0.9974900783009761 Centerline is valid? [True, True] Translation: X:187.68, Y:9.84, Z:-0.25 [[ 9.99999476e-01 2.74944126e-04 -9.86505668e-04 1.87682459e+02] [-2.75011942e-04 9.99999960e-01 -6.86086168e-05 9.84053530e+00] [ 9.86486765e-04 6.88798817e-05 9.99999511e-01 -2.51268027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.24140051300003 meters Centerline goodness [0,1] 0.9947879953006515 Centerline is valid? [True, True] Translation: X:187.71, Y:9.84, Z:-0.25 [[ 9.99998971e-01 1.83112791e-04 -1.42311183e-03 1.87711955e+02] [-1.83253683e-04 9.99999978e-01 -9.88726668e-05 9.84384589e+00] [ 1.42309369e-03 9.91333555e-05 9.99998982e-01 -2.52825911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.271400513 meters Centerline goodness [0,1] 0.9658871486805407 Centerline is valid? [True, True] Translation: X:187.74, Y:9.85, Z:-0.25 [[ 9.99997390e-01 9.99914045e-04 -2.05444913e-03 1.87739493e+02] [-1.00533140e-03 9.99996016e-01 -2.63754956e-03 9.85189837e+00] [ 2.05180362e-03 2.63960808e-03 9.99994411e-01 -2.54063795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.30140051300003 meters Centerline goodness [0,1] 0.9961966564957669 Centerline is valid? [True, True] Translation: X:187.77, Y:9.84, Z:-0.25 [[ 9.99999028e-01 7.52049059e-04 -1.17399465e-03 1.87770142e+02] [-7.49333499e-04 9.99997047e-01 2.31182281e-03 9.84287879e+00] [ 1.17572979e-03 -2.31094085e-03 9.99996639e-01 -2.52949415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.331400513 meters Centerline goodness [0,1] 0.9930407887106127 Centerline is valid? [True, True] Translation: X:187.80, Y:9.85, Z:-0.25 [[ 9.99998279e-01 1.59268593e-03 9.51347752e-04 1.87799500e+02] [-1.59274957e-03 9.99998729e-01 6.61346972e-05 9.84529422e+00] [-9.51241212e-04 -6.76498421e-05 9.99999545e-01 -2.49547437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.36140051300004 meters Centerline goodness [0,1] 0.9857757053325062 Centerline is valid? [True, True] Translation: X:187.83, Y:9.85, Z:-0.25 [[ 9.99996426e-01 2.13319905e-03 1.61135089e-03 1.87831039e+02] [-2.13338260e-03 9.99997718e-01 1.12202683e-04 9.84698255e+00] [-1.61110787e-03 -1.15639910e-04 9.99998695e-01 -2.48475103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.391400513 meters Centerline goodness [0,1] 0.9975975066014459 Centerline is valid? [True, True] Translation: X:187.86, Y:9.84, Z:-0.25 [[ 9.99995065e-01 2.75885305e-03 1.50260170e-03 1.87863138e+02] [-2.75901334e-03 9.99996188e-01 1.04606760e-04 9.84094625e+00] [-1.50230738e-03 -1.08751941e-04 9.99998866e-01 -2.48183643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.42140051300004 meters Centerline goodness [0,1] 0.9935747286988288 Centerline is valid? [True, True] Translation: X:187.89, Y:9.85, Z:-0.25 [[ 9.99991853e-01 3.86288376e-03 1.17169135e-03 1.87892806e+02] [-3.86298186e-03 9.99992535e-01 8.14723872e-05 9.84522993e+00] [-1.17136788e-03 -8.59979458e-05 9.99999310e-01 -2.49254118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.451400513 meters Centerline goodness [0,1] 0.9692907786134517 Centerline is valid? [True, True] Translation: X:187.92, Y:9.85, Z:-0.25 [[ 9.99972865e-01 7.34888144e-03 5.12282104e-04 1.87922776e+02] [-7.34890066e-03 9.99972996e-01 3.56575749e-05 9.84849231e+00] [-5.12006227e-04 -3.94213176e-05 9.99999868e-01 -2.51224764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.481400513 meters Centerline goodness [0,1] 0.9351939451277199 Centerline is valid? [True, False] Translation: X:187.92, Y:9.85, Z:-0.25 [[ 9.99972134e-01 7.44415819e-03 5.62681850e-04 1.87922710e+02] [-7.44425465e-03 9.99972277e-01 1.69527863e-04 9.84789435e+00] [-5.61404259e-04 -1.73711886e-04 9.99999827e-01 -2.51429325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.511400513 meters Centerline goodness [0,1] 0.7643138507399128 Centerline is valid? [False, False] Translation: X:187.93, Y:9.84, Z:-0.26 [[ 9.99949925e-01 1.00036078e-02 -2.76252515e-04 1.87929075e+02] [-1.00027284e-02 9.99945412e-01 3.01974761e-03 9.84473191e+00] [ 3.06445805e-04 -3.01683312e-03 9.99995402e-01 -2.55326770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.541400513 meters Centerline goodness [0,1] 0.5954308787588991 Centerline is valid? [False, False] Translation: X:187.93, Y:9.85, Z:-0.26 [[ 9.99978670e-01 6.53099792e-03 7.47241674e-05 1.87927646e+02] [-6.53082815e-03 9.99976505e-01 -2.08271410e-03 9.85094311e+00] [-8.83246132e-05 2.08218167e-03 9.99997828e-01 -2.55372561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.571400513 meters Centerline goodness [0,1] 0.5307225710333086 Centerline is valid? [False, False] Translation: X:187.93, Y:9.85, Z:-0.26 [[ 9.99979329e-01 6.42624956e-03 2.11815490e-04 1.87927148e+02] [-6.42568760e-03 9.99976092e-01 -2.55478765e-03 9.85326777e+00] [-2.28228129e-04 2.55337378e-03 9.99996714e-01 -2.55307047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.601400513 meters Centerline goodness [0,1] 0.4529656941327348 Centerline is valid? [False, False] Translation: X:187.93, Y:9.86, Z:-0.26 [[ 9.99976229e-01 6.86948879e-03 5.92658554e-04 1.87926108e+02] [-6.86762664e-03 9.99971647e-01 -3.08884216e-03 9.85688176e+00] [-6.13860517e-04 3.08469857e-03 9.99995054e-01 -2.55847445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.631400513 meters Centerline goodness [0,1] 0.5918654173764906 Centerline is valid? [False, False] Translation: X:187.93, Y:9.86, Z:-0.26 [[ 9.99977052e-01 6.74316246e-03 6.52386370e-04 1.87926092e+02] [-6.74078894e-03 9.99970892e-01 -3.57445701e-03 9.85922540e+00] [-6.76470524e-04 3.56997738e-03 9.99993399e-01 -2.56294825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.661400513 meters Centerline goodness [0,1] 0.5268778241964363 Centerline is valid? [False, False] Translation: X:187.93, Y:9.86, Z:-0.26 [[ 9.99978558e-01 6.50370625e-03 7.64980128e-04 1.87925935e+02] [-6.50044018e-03 9.99970064e-01 -4.19717206e-03 9.86215023e+00] [-7.92254401e-04 4.19210936e-03 9.99990899e-01 -2.56770805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.691400513 meters Centerline goodness [0,1] 0.44139365133254116 Centerline is valid? [False, False] Translation: X:187.93, Y:9.87, Z:-0.26 [[ 9.99980589e-01 6.18226464e-03 7.74931699e-04 1.87926111e+02] [-6.17834056e-03 9.99968574e-01 -4.96782033e-03 9.86576617e+00] [-8.05619726e-04 4.96293611e-03 9.99987360e-01 -2.57219393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.721400513 meters Centerline goodness [0,1] 0.49863551083063273 Centerline is valid? [False, False] Translation: X:187.93, Y:9.87, Z:-0.26 [[ 9.99982520e-01 5.85850080e-03 7.98475020e-04 1.87926168e+02] [-5.85384840e-03 9.99966567e-01 -5.70944519e-03 9.86920287e+00] [-8.31897114e-04 5.70467124e-03 9.99983382e-01 -2.57529742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.751400513 meters Centerline goodness [0,1] 0.4156049946124105 Centerline is valid? [False, False] Translation: X:187.93, Y:9.87, Z:-0.26 [[ 9.99953790e-01 9.60946311e-03 2.75598669e-04 1.87927607e+02] [-9.60910011e-03 9.99953000e-01 -1.28953776e-03 9.86780228e+00] [-2.87977481e-04 1.28682992e-03 9.99999131e-01 -2.56736028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.781400513 meters Centerline goodness [0,1] 0.5772660523123417 Centerline is valid? [False, False] Translation: X:187.93, Y:9.87, Z:-0.26 [[ 9.99955545e-01 9.42534310e-03 2.67417558e-04 1.87927372e+02] [-9.42488929e-03 9.99954223e-01 -1.65034620e-03 9.86948728e+00] [-2.82960396e-04 1.64775245e-03 9.99998602e-01 -2.56227396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.811400513 meters Centerline goodness [0,1] 0.48828199833968366 Centerline is valid? [False, False] Translation: X:187.93, Y:9.87, Z:-0.26 [[ 9.99957554e-01 9.21136699e-03 2.02875517e-04 1.87927412e+02] [-9.21093664e-03 9.99955520e-01 -2.02884759e-03 9.87119780e+00] [-2.21554953e-04 2.02689280e-03 9.99997921e-01 -2.55902845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.841400513 meters Centerline goodness [0,1] 0.6093593005109348 Centerline is valid? [False, False] Translation: X:187.93, Y:9.87, Z:-0.26 [[ 9.99959498e-01 9.00011213e-03 -1.27441936e-05 1.87928046e+02] [-9.00011708e-03 9.99956696e-01 -2.36747077e-03 9.87269780e+00] [-8.56386062e-06 2.36748958e-03 9.99997197e-01 -2.55773228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.871400513 meters Centerline goodness [0,1] 0.7038943978303246 Centerline is valid? [False, False] Translation: X:187.93, Y:9.87, Z:-0.26 [[ 9.99961445e-01 8.76965581e-03 -4.49561080e-04 1.87929525e+02] [-8.77073988e-03 9.99958488e-01 -2.46896380e-03 9.87287294e+00] [ 4.27890455e-04 2.47281159e-03 9.99996851e-01 -2.55911553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.901400513 meters Centerline goodness [0,1] 0.7087501850715963 Centerline is valid? [False, False] Translation: X:187.93, Y:9.88, Z:-0.26 [[ 9.99992229e-01 3.89884178e-03 -5.84336925e-04 1.87929867e+02] [-3.90331861e-03 9.99961438e-01 -7.86676074e-03 9.87777869e+00] [ 5.53643137e-04 7.86898046e-03 9.99968886e-01 -2.55901008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.931400513 meters Centerline goodness [0,1] 0.8201190450973331 Centerline is valid? [False, False] Translation: X:187.93, Y:9.88, Z:-0.26 [[ 9.99992573e-01 3.81600259e-03 -5.39764391e-04 1.87929331e+02] [-3.82004680e-03 9.99963049e-01 -7.70120840e-03 9.87685804e+00] [ 5.10356615e-04 7.70321313e-03 9.99970200e-01 -2.55109637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.961400513 meters Centerline goodness [0,1] 0.9855050870546167 Centerline is valid? [False, True] Translation: X:187.93, Y:9.88, Z:-0.25 [[ 9.99992993e-01 3.70968359e-03 -5.02418727e-04 1.87928784e+02] [-3.71342891e-03 9.99963683e-01 -7.67094529e-03 9.87662591e+00] [ 4.73943700e-04 7.67275723e-03 9.99970452e-01 -2.54214649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.99140051300003 meters Centerline goodness [0,1] 0.9713813033109168 Centerline is valid? [True, True] Translation: X:187.96, Y:9.88, Z:-0.25 [[ 9.99999369e-01 8.41516184e-04 -7.43678279e-04 1.87958364e+02] [-8.41553406e-04 9.99999645e-01 -4.97394305e-05 9.87610365e+00] [ 7.43636158e-04 5.03652441e-05 9.99999722e-01 -2.53835286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.021400513 meters Centerline goodness [0,1] 0.9987558453816122 Centerline is valid? [True, True] Translation: X:187.99, Y:9.87, Z:-0.25 [[ 9.99996962e-01 -1.76561084e-03 -1.72007311e-03 1.87989675e+02] [ 1.76541574e-03 9.99998435e-01 -1.14940333e-04 9.86823487e+00] [ 1.72027336e-03 1.11903340e-04 9.99998514e-01 -2.54384916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.05140051300003 meters Centerline goodness [0,1] 0.9962988466173179 Centerline is valid? [True, True] Translation: X:188.02, Y:9.88, Z:-0.26 [[ 9.99996745e-01 -1.65556626e-03 -1.94159959e-03 1.88018279e+02] [ 1.65531708e-03 9.99998622e-01 -1.29938443e-04 9.87562177e+00] [ 1.94181204e-03 1.26724057e-04 9.99998107e-01 -2.55233565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.081400513 meters Centerline goodness [0,1] 0.9987587476191495 Centerline is valid? [True, True] Translation: X:188.05, Y:9.87, Z:-0.25 [[ 9.99998263e-01 -9.99952811e-04 -1.57268623e-03 1.88046981e+02] [ 9.99787261e-04 9.99999495e-01 -1.06048417e-04 9.87432258e+00] [ 1.57279147e-03 1.04475881e-04 9.99998758e-01 -2.53762805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.11140051300004 meters Centerline goodness [0,1] 0.9729335876390288 Centerline is valid? [True, True] Translation: X:188.08, Y:9.89, Z:-0.25 [[ 9.99999713e-01 6.55113801e-04 3.80756062e-04 1.88075049e+02] [-6.55123559e-04 9.99999785e-01 2.55044410e-05 9.88919643e+00] [-3.80739272e-04 -2.57538759e-05 9.99999927e-01 -2.52021705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.141400513 meters Centerline goodness [0,1] 0.9922721906192981 Centerline is valid? [True, True] Translation: X:188.11, Y:9.89, Z:-0.25 [[ 9.99998884e-01 7.04681235e-04 1.31755094e-03 1.88105511e+02] [-7.04798188e-04 9.99999748e-01 8.83038146e-05 9.88671498e+00] [-1.31748838e-03 -8.92323235e-05 9.99999128e-01 -2.50586451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.17140051300004 meters Centerline goodness [0,1] 0.9621841614380193 Centerline is valid? [True, True] Translation: X:188.14, Y:9.89, Z:-0.25 [[ 9.99997278e-01 3.81470005e-04 2.30186002e-03 1.88135949e+02] [-3.81826214e-04 9.99999915e-01 1.54311048e-04 9.89351221e+00] [-2.30180096e-03 -1.55189539e-04 9.99997339e-01 -2.49623803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.201400513 meters Centerline goodness [0,1] 0.9936467870283221 Centerline is valid? [True, True] Translation: X:188.17, Y:9.89, Z:-0.25 [[ 9.99995992e-01 -2.57850987e-04 2.81961548e-03 1.88168279e+02] [ 2.57318840e-04 9.99999949e-01 1.89091301e-04 9.88895937e+00] [-2.81966410e-03 -1.88365003e-04 9.99996007e-01 -2.49055368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.231400513 meters Centerline goodness [0,1] 0.9981099250413454 Centerline is valid? [True, True] Translation: X:188.20, Y:9.89, Z:-0.25 [[ 9.99996467e-01 -9.04842570e-04 2.49929166e-03 1.88200506e+02] [ 9.04427305e-04 9.99999577e-01 1.67278423e-04 9.88690030e+00] [-2.49944196e-03 -1.65017404e-04 9.99996863e-01 -2.49805667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.261400513 meters Centerline goodness [0,1] 0.998102426335764 Centerline is valid? [True, True] Translation: X:188.23, Y:9.89, Z:-0.25 [[ 9.99998081e-01 -1.66034947e-03 1.03977017e-03 1.88231962e+02] [ 1.66027800e-03 9.99998619e-01 6.95949758e-05 9.88768550e+00] [-1.03988428e-03 -6.78685347e-05 9.99999457e-01 -2.52247420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.291400513 meters Centerline goodness [0,1] 0.998102426335764 Centerline is valid? [True, True] Translation: X:188.26, Y:9.89, Z:-0.25 [[ 9.99998119e-01 -1.63731747e-03 1.03979023e-03 1.88262796e+02] [ 1.63724630e-03 9.99998657e-01 6.92936490e-05 9.88969858e+00] [-1.03990229e-03 -6.75911260e-05 9.99999457e-01 -2.52369451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.321400513 meters Centerline goodness [0,1] 0.9987170166360176 Centerline is valid? [True, True] Translation: X:188.29, Y:9.88, Z:-0.26 [[ 9.99990339e-01 -4.19634491e-03 -1.30833639e-03 1.88294608e+02] [ 4.19623464e-03 9.99991192e-01 -8.70152216e-05 9.88181803e+00] [ 1.30869002e-03 8.15242945e-05 9.99999140e-01 -2.55880369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.351400513 meters Centerline goodness [0,1] 0.99350068189567 Centerline is valid? [True, True] Translation: X:188.32, Y:9.89, Z:-0.26 [[ 9.99982784e-01 -5.82497432e-03 -7.07738437e-04 1.88323040e+02] [ 5.82494236e-03 9.99983034e-01 -4.72026144e-05 9.88999638e+00] [ 7.08001383e-04 4.30792661e-05 9.99999748e-01 -2.56055639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.381400513 meters Centerline goodness [0,1] 0.9991722205713801 Centerline is valid? [True, True] Translation: X:188.35, Y:9.88, Z:-0.25 [[ 9.99975245e-01 -7.03548990e-03 -1.07207284e-04 1.88353598e+02] [ 7.03548917e-03 9.99975251e-01 -7.22935782e-06 9.88075821e+00] [ 1.07255493e-04 6.47492317e-06 9.99999994e-01 -2.54913570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.411400513 meters Centerline goodness [0,1] 0.9991087154892515 Centerline is valid? [True, True] Translation: X:188.38, Y:9.88, Z:-0.26 [[ 9.99973853e-01 -7.22767085e-03 -2.33820118e-04 1.88383916e+02] [ 7.22766740e-03 9.99973880e-01 -1.55698409e-05 9.87949197e+00] [ 2.33926544e-04 1.38794597e-05 9.99999973e-01 -2.55623255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.441400513 meters Centerline goodness [0,1] 0.9992057529247612 Centerline is valid? [True, True] Translation: X:188.41, Y:9.87, Z:-0.26 [[ 9.99982032e-01 -5.56542523e-03 -2.22729887e-03 1.88414722e+02] [ 5.56510840e-03 9.99984504e-01 -1.48419598e-04 9.87184557e+00] [ 2.22809037e-03 1.36021772e-04 9.99997509e-01 -2.58750011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.471400513 meters Centerline goodness [0,1] 0.9811224489795919 Centerline is valid? [True, True] Translation: X:188.44, Y:9.88, Z:-0.26 [[ 9.99986536e-01 -4.35859711e-03 -2.81623751e-03 1.88442128e+02] [ 4.35808515e-03 9.99990486e-01 -1.87898871e-04 9.88445741e+00] [ 2.81702969e-03 1.75622938e-04 9.99996017e-01 -2.61305814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.501400513 meters Centerline goodness [0,1] 0.9960355521452778 Centerline is valid? [True, True] Translation: X:188.47, Y:9.88, Z:-0.26 [[ 9.99987480e-01 -3.73581897e-03 -3.32911478e-03 1.88471701e+02] [ 3.73509694e-03 9.99993000e-01 -2.23074054e-04 9.87782629e+00] [ 3.32992483e-03 2.10636695e-04 9.99994434e-01 -2.61361616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.531400513 meters Centerline goodness [0,1] 0.9771166560034122 Centerline is valid? [True, True] Translation: X:188.50, Y:9.88, Z:-0.26 [[ 9.99991158e-01 -3.21055897e-03 -2.71590379e-03 1.88499446e+02] [ 3.21007688e-03 9.99994831e-01 -1.81847385e-04 9.88337998e+00] [ 2.71647358e-03 1.73127517e-04 9.99996295e-01 -2.61625644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.561400513 meters Centerline goodness [0,1] 0.9985761439389036 Centerline is valid? [True, True] Translation: X:188.53, Y:9.87, Z:-0.26 [[ 9.99990216e-01 -3.67840172e-03 -2.45711291e-03 1.88528907e+02] [ 3.67800647e-03 9.99993222e-01 -1.65357742e-04 9.87297289e+00] [ 2.45770451e-03 1.56318847e-04 9.99996968e-01 -2.60277346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.591400513 meters Centerline goodness [0,1] 0.9978481794746149 Centerline is valid? [True, True] Translation: X:188.56, Y:9.87, Z:-0.26 [[ 9.99989757e-01 -3.97079089e-03 -2.17234344e-03 1.88556289e+02] [ 3.97048310e-03 9.99992107e-01 -1.45979176e-04 9.87406919e+00] [ 2.17290595e-03 1.37352428e-04 9.99997630e-01 -2.59886787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.621400513 meters Centerline goodness [0,1] 0.9880866272390758 Centerline is valid? [True, True] Translation: X:188.58, Y:9.88, Z:-0.26 [[ 9.99989608e-01 -4.01255604e-03 -2.16389723e-03 1.88583399e+02] [ 4.01225047e-03 9.99991940e-01 -1.45535889e-04 9.88027513e+00] [ 2.16446376e-03 1.36852279e-04 9.99997648e-01 -2.60197442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.651400513 meters Centerline goodness [0,1] 0.9867859191434216 Centerline is valid? [True, True] Translation: X:188.61, Y:9.88, Z:-0.26 [[ 9.99989068e-01 -3.93576469e-03 -2.52446809e-03 1.88612696e+02] [ 3.93534666e-03 9.99992242e-01 -1.70538937e-04 9.88039458e+00] [ 2.52511971e-03 1.60602416e-04 9.99996799e-01 -2.60529101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.681400513 meters Centerline goodness [0,1] 0.9937958624820828 Centerline is valid? [True, True] Translation: X:188.64, Y:9.88, Z:-0.26 [[ 9.99988269e-01 -3.69747355e-03 -3.12897915e-03 1.88641948e+02] [ 3.69682905e-03 9.99993144e-01 -2.11738032e-04 9.87836007e+00] [ 3.12974060e-03 2.00168247e-04 9.99995082e-01 -2.61004414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.711400513 meters Centerline goodness [0,1] 0.9620526728393753 Centerline is valid? [True, True] Translation: X:188.67, Y:9.88, Z:-0.26 [[ 9.99990857e-01 -2.15547468e-03 -3.69330370e-03 1.88671337e+02] [ 2.15456868e-03 9.99997648e-01 -2.49268859e-04 9.88452764e+00] [ 3.69383230e-03 2.41309104e-04 9.99993149e-01 -2.62898554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.74140051300003 meters Centerline goodness [0,1] 0.9939512657137937 Centerline is valid? [True, True] Translation: X:188.70, Y:9.88, Z:-0.26 [[ 9.99989765e-01 -1.36078655e-03 -4.31495596e-03 1.88701853e+02] [ 1.35954191e-03 9.99999033e-01 -2.91366767e-04 9.87702438e+00] [ 4.31534828e-03 2.85497421e-04 9.99990648e-01 -2.62536268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.771400513 meters Centerline goodness [0,1] 0.9939117199391172 Centerline is valid? [True, True] Translation: X:188.73, Y:9.88, Z:-0.26 [[ 9.99988498e-01 -7.00210925e-04 -4.74494475e-03 1.88730062e+02] [ 6.98696515e-04 9.99999704e-01 -3.20812884e-04 9.87799797e+00] [ 4.74516798e-03 3.17493918e-04 9.99988691e-01 -2.62500763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.80140051300003 meters Centerline goodness [0,1] 0.9591918934961418 Centerline is valid? [True, True] Translation: X:188.76, Y:9.89, Z:-0.26 [[ 9.99989974e-01 2.14718349e-05 -4.47780107e-03 1.88757378e+02] [-2.28289587e-05 9.99999954e-01 -3.03027304e-04 9.88655476e+00] [ 4.47779436e-03 3.03126490e-04 9.99989929e-01 -2.62595289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.831400513 meters Centerline goodness [0,1] 0.9831117191842319 Centerline is valid? [True, True] Translation: X:188.79, Y:9.89, Z:-0.26 [[ 9.99993091e-01 3.09597398e-03 -2.05721412e-03 1.88788006e+02] [-3.09626668e-03 9.99995197e-01 -1.39114657e-04 9.88766272e+00] [ 2.05677354e-03 1.45483380e-04 9.99997874e-01 -2.58288332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.86140051300004 meters Centerline goodness [0,1] 0.9802972471586668 Centerline is valid? [True, True] Translation: X:188.82, Y:9.89, Z:-0.26 [[ 9.99985969e-01 5.28201861e-03 -4.02719503e-04 1.88817864e+02] [-5.28203002e-03 9.99986050e-01 -2.72826549e-05 9.89116683e+00] [ 4.02569778e-04 2.94094486e-05 9.99999919e-01 -2.56170675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.891400513 meters Centerline goodness [0,1] 0.9809406368985808 Centerline is valid? [True, True] Translation: X:188.85, Y:9.89, Z:-0.25 [[ 9.99972061e-01 7.45799288e-03 5.05587134e-04 1.88848034e+02] [-7.45801112e-03 9.99972188e-01 3.42057138e-05 9.89239420e+00] [-5.05317967e-04 -3.79754326e-05 9.99999872e-01 -2.54660235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.92140051300004 meters Centerline goodness [0,1] 0.8311674363655891 Centerline is valid? [True, False] Translation: X:188.85, Y:9.89, Z:-0.25 [[ 9.99972014e-01 7.46134229e-03 5.46774495e-04 1.88847964e+02] [-7.46128173e-03 9.99972158e-01 -1.12725396e-04 9.89314310e+00] [-5.47600355e-04 1.08642603e-04 9.99999844e-01 -2.54822319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.951400513 meters Centerline goodness [0,1] 0.8695717505634861 Centerline is valid? [False, False] Translation: X:188.85, Y:9.89, Z:-0.26 [[ 9.99971924e-01 7.47612002e-03 5.09361312e-04 1.88848220e+02] [-7.47603509e-03 9.99972040e-01 -1.68450058e-04 9.89340018e+00] [-5.10606423e-04 1.64637325e-04 9.99999856e-01 -2.55124590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.981400513 meters Centerline goodness [0,1] 0.7931276745225777 Centerline is valid? [False, False] Translation: X:188.85, Y:9.89, Z:-0.26 [[ 9.99969717e-01 7.76420848e-03 5.31426148e-04 1.88848273e+02] [-7.76430457e-03 9.99969841e-01 1.78983607e-04 9.89192164e+00] [-5.30020454e-04 -1.83104342e-04 9.99999843e-01 -2.55416423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.011400513 meters Centerline goodness [0,1] 0.597289034271909 Centerline is valid? [False, False] Translation: X:188.85, Y:9.89, Z:-0.26 [[ 9.99969359e-01 7.80782446e-03 5.64942421e-04 1.88848123e+02] [-7.80795626e-03 9.99969491e-01 2.31472356e-04 9.89170090e+00] [-5.63117890e-04 -2.35876310e-04 9.99999814e-01 -2.55332672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.041400513 meters Centerline goodness [0,1] 0.4322743360956277 Centerline is valid? [False, False] Translation: X:188.85, Y:9.89, Z:-0.26 [[ 9.99969844e-01 7.74510599e-03 5.69024870e-04 1.88848295e+02] [-7.74512702e-03 9.99970005e-01 3.47578578e-05 9.89261433e+00] [-5.68738599e-04 -3.91639796e-05 9.99999838e-01 -2.55741617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.071400513 meters Centerline goodness [0,1] 0.6427179943251599 Centerline is valid? [False, False] Translation: X:188.85, Y:9.89, Z:-0.26 [[ 9.99970674e-01 7.64110864e-03 5.14402579e-04 1.88848719e+02] [-7.64098972e-03 9.99970780e-01 -2.32737495e-04 9.89382733e+00] [-5.16165920e-04 2.28800125e-04 9.99999841e-01 -2.56225629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.101400513 meters Centerline goodness [0,1] 0.6595907765026507 Centerline is valid? [False, False] Translation: X:188.85, Y:9.89, Z:-0.26 [[ 9.99971265e-01 7.56534506e-03 4.85315365e-04 1.88849039e+02] [-7.56512637e-03 9.99971282e-01 -4.50872650e-04 9.89482944e+00] [-4.88712436e-04 4.47188222e-04 9.99999781e-01 -2.56676478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.131400513 meters Centerline goodness [0,1] 0.5399798762604098 Centerline is valid? [False, False] Translation: X:188.85, Y:9.90, Z:-0.26 [[ 9.99970065e-01 7.69816069e-03 7.78977391e-04 1.88848270e+02] [-7.69764222e-03 9.99970151e-01 -6.66405654e-04 9.89613575e+00] [-7.84084237e-04 6.60389416e-04 9.99999475e-01 -2.57069018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.161400513 meters Centerline goodness [0,1] 0.5178620939706102 Centerline is valid? [False, False] Translation: X:188.85, Y:9.90, Z:-0.26 [[ 9.99971172e-01 7.54198894e-03 8.79335092e-04 1.88848113e+02] [-7.54090664e-03 9.99970813e-01 -1.22770033e-03 9.89883168e+00] [-8.88568730e-04 1.22103396e-03 9.99998860e-01 -2.57477985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.191400513 meters Centerline goodness [0,1] 0.42231956789860925 Centerline is valid? [False, False] Translation: X:188.85, Y:9.90, Z:-0.26 [[ 9.99973352e-01 7.24054713e-03 9.32862719e-04 1.88848234e+02] [-7.23853913e-03 9.99971515e-01 -2.13820257e-03 9.90313574e+00] [-9.48317904e-04 2.13139302e-03 9.99997279e-01 -2.58199932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.221400513 meters Centerline goodness [0,1] 0.44980184940554824 Centerline is valid? [False, False] Translation: X:188.85, Y:9.91, Z:-0.26 [[ 9.99975997e-01 6.85537004e-03 1.00437665e-03 1.88848456e+02] [-6.85221759e-03 9.99971689e-01 -3.10924157e-03 9.90764267e+00] [-1.02566322e-03 3.10228473e-03 9.99994662e-01 -2.59197002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.251400513 meters Centerline goodness [0,1] 0.40485899105484513 Centerline is valid? [False, False] Translation: X:188.85, Y:9.91, Z:-0.26 [[ 9.99978126e-01 6.53479207e-03 1.02146409e-03 1.88848636e+02] [-6.53078857e-03 9.99971167e-01 -3.87476620e-03 9.91119241e+00] [-1.04675543e-03 3.86801048e-03 9.99991971e-01 -2.59740175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.281400513 meters Centerline goodness [0,1] 0.505907073479277 Centerline is valid? [False, False] Translation: X:188.85, Y:9.92, Z:-0.26 [[ 9.99980621e-01 6.13204096e-03 1.07460814e-03 1.88848380e+02] [-6.12686837e-03 9.99969938e-01 -4.75240315e-03 9.91526658e+00] [-1.10371777e-03 4.74572707e-03 9.99988130e-01 -2.59625635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.311400513 meters Centerline goodness [0,1] 0.4180075172093416 Centerline is valid? [False, False] Translation: X:188.87, Y:9.91, Z:-0.26 [[ 9.99988046e-01 4.81152698e-03 8.70196761e-04 1.88869138e+02] [-4.81598571e-03 9.99974901e-01 5.19643523e-03 9.91169011e+00] [-8.45172132e-04 -5.20056397e-03 9.99986120e-01 -2.56948557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.341400513 meters Centerline goodness [0,1] 0.451229819048651 Centerline is valid? [False, False] Translation: X:188.83, Y:9.91, Z:-0.26 [[ 9.99995512e-01 1.97963644e-03 -2.24866741e-03 1.88829343e+02] [-1.97280385e-03 9.99993443e-01 3.03667160e-03 9.91171775e+00] [ 2.25466418e-03 -3.03222179e-03 9.99992861e-01 -2.57968532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.371400513 meters Centerline goodness [0,1] 0.5628832728584463 Centerline is valid? [False, False] Translation: X:188.87, Y:9.92, Z:-0.26 [[ 9.99999972e-01 -2.33190930e-04 5.02946023e-05 1.88871986e+02] [ 2.33267886e-04 9.99998794e-01 -1.53556512e-03 9.92084561e+00] [-4.99364618e-05 1.53557681e-03 9.99998820e-01 -2.60245901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.401400513 meters Centerline goodness [0,1] 0.487764705882353 Centerline is valid? [False, False] Translation: X:188.87, Y:9.92, Z:-0.26 [[ 9.99995839e-01 -2.72842342e-03 9.37298662e-04 1.88865475e+02] [ 2.73219099e-03 9.99988098e-01 -4.04212272e-03 9.92302462e+00] [-9.26258884e-04 4.04466678e-03 9.99991391e-01 -2.56173129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.431400513 meters Centerline goodness [0,1] 0.7035364130667465 Centerline is valid? [False, False] Translation: X:188.87, Y:9.92, Z:-0.26 [[ 9.99995861e-01 -2.75219687e-03 8.38978697e-04 1.88865472e+02] [ 2.75533004e-03 9.99989148e-01 -3.75650418e-03 9.92154898e+00] [-8.28630954e-04 3.75880029e-03 9.99992592e-01 -2.55515286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.461400513 meters Centerline goodness [0,1] 0.9416058394160584 Centerline is valid? [False, False] Translation: X:188.86, Y:9.92, Z:-0.25 [[ 9.99992923e-01 -3.66091006e-03 8.66743422e-04 1.88864668e+02] [ 3.66393863e-03 9.99987097e-01 -3.51877654e-03 9.91857156e+00] [-8.53850314e-04 3.52192733e-03 9.99993433e-01 -2.53773505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.49140051300003 meters Centerline goodness [0,1] 0.9445596512759744 Centerline is valid? [False, False] Translation: X:188.90, Y:9.92, Z:-0.25 [[ 9.99970613e-01 -6.45556162e-03 4.13502217e-03 1.88904871e+02] [ 6.48636637e-03 9.99950986e-01 -7.48014054e-03 9.92313252e+00] [-4.08653099e-03 7.50674199e-03 9.99963474e-01 -2.54372569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.521400513 meters Centerline goodness [0,1] 0.9751754255792754 Centerline is valid? [False, True] Translation: X:188.91, Y:9.92, Z:-0.25 [[ 9.99973686e-01 -6.25087210e-03 3.68161148e-03 1.88906432e+02] [ 6.27509986e-03 9.99958489e-01 -6.60637870e-03 9.91879970e+00] [-3.64016302e-03 6.62930733e-03 9.99971400e-01 -2.54505259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.55140051300003 meters Centerline goodness [0,1] 0.9677016762421191 Centerline is valid? [True, True] Translation: X:188.94, Y:9.91, Z:-0.26 [[ 9.99958493e-01 -8.92640670e-03 1.82526319e-03 1.88936917e+02] [ 8.92617217e-03 9.99960152e-01 1.36594629e-04 9.91287705e+00] [-1.82640976e-03 -1.20296346e-04 9.99998325e-01 -2.56212557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.581400513 meters Centerline goodness [0,1] 0.97951882083253 Centerline is valid? [True, True] Translation: X:188.97, Y:9.91, Z:-0.26 [[ 9.99927700e-01 -1.18107647e-02 2.25844110e-03 1.88966704e+02] [ 1.18104129e-02 9.99930240e-01 1.69015881e-04 9.91338414e+00] [-2.26027976e-03 -1.42330539e-04 9.99997435e-01 -2.55059125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.61140051300004 meters Centerline goodness [0,1] 0.9980869677363885 Centerline is valid? [True, True] Translation: X:189.00, Y:9.91, Z:-0.25 [[ 9.99913708e-01 -1.26740976e-02 3.45601877e-03 1.88998517e+02] [ 1.26732779e-02 9.99919657e-01 2.58981026e-04 9.90747819e+00] [-3.45902345e-03 -2.15159592e-04 9.99993994e-01 -2.52026766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.641400513 meters Centerline goodness [0,1] 0.9983253177602198 Centerline is valid? [True, True] Translation: X:189.03, Y:9.91, Z:-0.25 [[ 9.99895587e-01 -1.35896432e-02 4.91284378e-03 1.89028897e+02] [ 1.35879992e-02 9.99907611e-01 3.67862880e-04 9.90930785e+00] [-4.91738902e-03 -3.01068753e-04 9.99987864e-01 -2.49890028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.67140051300004 meters Centerline goodness [0,1] 0.9986087924318309 Centerline is valid? [True, True] Translation: X:189.06, Y:9.91, Z:-0.25 [[ 9.99855441e-01 -1.61506893e-02 5.31523535e-03 1.89059399e+02] [ 1.61488018e-02 9.99869520e-01 3.97852347e-04 9.90561541e+00] [-5.32096741e-03 -3.11960152e-04 9.99985795e-01 -2.48983652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.701400513 meters Centerline goodness [0,1] 0.9993360889212516 Centerline is valid? [True, True] Translation: X:189.09, Y:9.90, Z:-0.25 [[ 9.99836479e-01 -1.74204662e-02 4.85206587e-03 1.89091347e+02] [ 1.74189074e-02 9.99848213e-01 3.63330944e-04 9.89963041e+00] [-4.85765878e-03 -2.78753845e-04 9.99988163e-01 -2.49502575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.731400513 meters Centerline goodness [0,1] 0.9992667356797792 Centerline is valid? [True, True] Translation: X:189.12, Y:9.90, Z:-0.25 [[ 9.99821182e-01 -1.84351648e-02 4.21286550e-03 1.89123356e+02] [ 1.84339986e-02 9.99830030e-01 3.15474686e-04 9.89653718e+00] [-4.21796527e-03 -2.37758317e-04 9.99991076e-01 -2.50927061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.761400513 meters Centerline goodness [0,1] 0.9994165189955483 Centerline is valid? [True, True] Translation: X:189.16, Y:9.89, Z:-0.25 [[ 9.99799307e-01 -1.96384128e-02 3.95968020e-03 1.89155714e+02] [ 1.96373925e-02 9.99807124e-01 2.96398278e-04 9.89222086e+00] [-3.96473726e-03 -2.18580999e-04 9.99992117e-01 -2.51684492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.791400513 meters Centerline goodness [0,1] 0.9994384327955247 Centerline is valid? [True, True] Translation: X:189.19, Y:9.89, Z:-0.25 [[ 9.99782270e-01 -2.03623584e-02 4.55922867e-03 1.89187291e+02] [ 2.03610145e-02 9.99792635e-01 3.40986385e-04 9.88936738e+00] [-4.56522654e-03 -2.48081621e-04 9.99989549e-01 -2.51319531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.821400513 meters Centerline goodness [0,1] 0.9992514809983105 Centerline is valid? [True, True] Translation: X:189.22, Y:9.89, Z:-0.25 [[ 9.99775082e-01 -2.01417700e-02 6.64042436e-03 1.89217210e+02] [ 2.01389164e-02 9.99797068e-01 4.96323458e-04 9.89053202e+00] [-6.64907364e-03 -3.62480875e-04 9.99977829e-01 -2.50308579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.851400513 meters Centerline goodness [0,1] 0.9995712111142079 Centerline is valid? [True, True] Translation: X:189.25, Y:9.88, Z:-0.25 [[ 9.99784602e-01 -1.94691750e-02 7.19032906e-03 1.89250028e+02] [ 1.94658117e-02 9.99810379e-01 5.37448060e-04 9.88397359e+00] [-7.19942930e-03 -3.97366703e-04 9.99974005e-01 -2.49185844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.881400513 meters Centerline goodness [0,1] 0.9989100468038725 Centerline is valid? [True, True] Translation: X:189.28, Y:9.89, Z:-0.25 [[ 9.99814824e-01 -1.79015171e-02 7.06073147e-03 1.89280032e+02] [ 1.78982381e-02 9.99839675e-01 5.27313570e-04 9.88975628e+00] [-7.06903917e-03 -4.00841271e-04 9.99974934e-01 -2.50349732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.911400513 meters Centerline goodness [0,1] 0.9993974218262422 Centerline is valid? [True, True] Translation: X:189.31, Y:9.89, Z:-0.25 [[ 9.99854940e-01 -1.59057629e-02 6.09142116e-03 1.89311578e+02] [ 1.59032859e-02 9.99873431e-01 4.54868423e-04 9.88653878e+00] [-6.09788520e-03 -3.57928828e-04 9.99981344e-01 -2.51018669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.941400513 meters Centerline goodness [0,1] 0.9958687415715907 Centerline is valid? [True, True] Translation: X:189.34, Y:9.89, Z:-0.25 [[ 9.99946425e-01 -9.38095794e-03 4.37557003e-03 1.89342057e+02] [ 9.37961793e-03 9.99955957e-01 3.26670178e-04 9.88889723e+00] [-4.37844179e-03 -2.85611501e-04 9.99990374e-01 -2.53299373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.971400513 meters Centerline goodness [0,1] 0.9875458976616349 Centerline is valid? [True, True] Translation: X:189.37, Y:9.90, Z:-0.25 [[ 9.99971350e-01 -6.10118175e-03 4.48038910e-03 1.89371240e+02] [ 6.09974440e-03 9.99981340e-01 3.34403959e-04 9.89500897e+00] [-4.48234576e-03 -3.07065151e-04 9.99989907e-01 -2.53902425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.001400513 meters Centerline goodness [0,1] 0.9528548644338118 Centerline is valid? [True, True] Translation: X:189.40, Y:9.90, Z:-0.25 [[ 9.99978044e-01 -3.23629957e-03 5.78251973e-03 1.89400420e+02] [ 3.23385670e-03 9.99994678e-01 4.31757349e-04 9.90182431e+00] [-5.78388625e-03 -4.13048029e-04 9.99983188e-01 -2.54032664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.031400513 meters Centerline goodness [0,1] 0.8961300409054891 Centerline is valid? [True, False] Translation: X:189.40, Y:9.90, Z:-0.25 [[ 9.99977881e-01 -3.04203586e-03 5.91461762e-03 1.89399783e+02] [ 3.03725169e-03 9.99995053e-01 8.17685649e-04 9.90009888e+00] [-5.91707579e-03 -7.99703381e-04 9.99982174e-01 -2.53599944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.061400513 meters Centerline goodness [0,1] 0.9777134277134277 Centerline is valid? [False, True] Translation: X:189.40, Y:9.89, Z:-0.25 [[ 9.99980155e-01 -2.41627451e-03 5.81822466e-03 1.89400190e+02] [ 2.40305334e-03 9.99994517e-01 2.27829152e-03 9.89325283e+00] [-5.82369774e-03 -2.26426480e-03 9.99980479e-01 -2.53762684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.091400513 meters Centerline goodness [0,1] 0.9875032375032375 Centerline is valid? [True, True] Translation: X:189.43, Y:9.89, Z:-0.26 [[ 9.99982674e-01 -3.34412923e-03 4.84436904e-03 1.89431818e+02] [ 3.34237615e-03 9.99994346e-01 3.69929861e-04 9.88980915e+00] [-4.84557874e-03 -3.53731749e-04 9.99988198e-01 -2.55207132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.121400513 meters Centerline goodness [0,1] 0.9736763000815906 Centerline is valid? [True, True] Translation: X:189.46, Y:9.89, Z:-0.26 [[ 9.99981055e-01 -4.25983375e-03 4.44342778e-03 1.89461853e+02] [ 4.25836859e-03 9.99990876e-01 3.39146912e-04 9.89346361e+00] [-4.44483194e-03 -3.20218733e-04 9.99990070e-01 -2.56206207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.151400513 meters Centerline goodness [0,1] 0.9865950006475845 Centerline is valid? [True, True] Translation: X:189.49, Y:9.89, Z:-0.26 [[ 9.99979069e-01 -4.43288211e-03 4.71288403e-03 1.89493941e+02] [ 4.43123498e-03 9.99990117e-01 3.59880190e-04 9.89317445e+00] [-4.71443276e-03 -3.38988761e-04 9.99988830e-01 -2.55704722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.181400513 meters Centerline goodness [0,1] 0.939318566803182 Centerline is valid? [True, False] Translation: X:189.49, Y:9.89, Z:-0.26 [[ 9.99978556e-01 -4.48501529e-03 4.77211200e-03 1.89493512e+02] [ 4.48423428e-03 9.99989931e-01 1.74349117e-04 9.89413813e+00] [-4.77284590e-03 -1.52946110e-04 9.99988598e-01 -2.55214975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.211400513 meters Centerline goodness [0,1] 0.939318566803182 Centerline is valid? [False, False] Translation: X:189.49, Y:9.89, Z:-0.26 [[ 9.99978556e-01 -4.48501529e-03 4.77211200e-03 1.89493512e+02] [ 4.48423428e-03 9.99989931e-01 1.74349117e-04 9.89413813e+00] [-4.77284590e-03 -1.52946110e-04 9.99988598e-01 -2.55214975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.24140051300003 meters Centerline goodness [0,1] 0.9192633957116672 Centerline is valid? [False, False] Translation: X:189.49, Y:9.90, Z:-0.26 [[ 9.99977691e-01 -4.32047633e-03 5.09425839e-03 1.89492323e+02] [ 4.32223474e-03 9.99990603e-01 -3.34217393e-04 9.89715204e+00] [-5.09276654e-03 3.56228518e-04 9.99986968e-01 -2.55009042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.271400513 meters Centerline goodness [0,1] 0.702447175278665 Centerline is valid? [False, False] Translation: X:189.49, Y:9.90, Z:-0.26 [[ 9.99977305e-01 -4.39290571e-03 5.10800242e-03 1.89492483e+02] [ 4.39740417e-03 9.99989953e-01 -8.69771933e-04 9.89981843e+00] [-5.10413027e-03 8.92214145e-04 9.99986576e-01 -2.55512688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.30140051300003 meters Centerline goodness [0,1] 0.4466709346991037 Centerline is valid? [False, False] Translation: X:189.47, Y:9.90, Z:-0.26 [[ 9.99983414e-01 -3.99745737e-04 5.74551499e-03 1.89474181e+02] [ 4.44191104e-04 9.99969974e-01 -7.73646979e-03 9.90289044e+00] [-5.74224986e-03 7.73889358e-03 9.99953567e-01 -2.60699534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.331400513 meters Centerline goodness [0,1] 0.5781336749946615 Centerline is valid? [False, False] Translation: X:189.48, Y:9.90, Z:-0.26 [[ 9.99976799e-01 4.21883219e-03 5.34823557e-03 1.89475448e+02] [-4.20630953e-03 9.99988391e-01 -2.35054624e-03 9.89771925e+00] [-5.35809004e-03 2.32799537e-03 9.99982936e-01 -2.60617057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.36140051300004 meters Centerline goodness [0,1] 0.5580384987633078 Centerline is valid? [False, False] Translation: X:189.48, Y:9.90, Z:-0.26 [[ 9.99977487e-01 4.14433155e-03 5.27735887e-03 1.89476164e+02] [-4.13090561e-03 9.99988210e-01 -2.55242807e-03 9.89858236e+00] [-5.28787476e-03 2.53057034e-03 9.99982817e-01 -2.61652755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.391400513 meters Centerline goodness [0,1] 0.8246644655031945 Centerline is valid? [False, False] Translation: X:189.48, Y:9.90, Z:-0.26 [[ 9.99978395e-01 4.07793497e-03 5.15558198e-03 1.89476661e+02] [-4.06445503e-03 9.99988302e-01 -2.62240961e-03 9.89881572e+00] [-5.16621569e-03 2.60139832e-03 9.99983271e-01 -2.61878474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.42140051300004 meters Centerline goodness [0,1] 0.5678904553004813 Centerline is valid? [False, False] Translation: X:189.48, Y:9.90, Z:-0.26 [[ 9.99979149e-01 4.03054951e-03 5.04535451e-03 1.89476902e+02] [-4.01716302e-03 9.99988392e-01 -2.66055947e-03 9.89896751e+00] [-5.05601946e-03 2.64023599e-03 9.99983733e-01 -2.61640168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.451400513 meters Centerline goodness [0,1] 0.6088900188563318 Centerline is valid? [False, False] Translation: X:189.48, Y:9.90, Z:-0.26 [[ 9.99979455e-01 3.98036697e-03 5.02462253e-03 1.89476691e+02] [-3.96676259e-03 9.99988448e-01 -2.71461055e-03 9.89922370e+00] [-5.03536963e-03 2.69462329e-03 9.99983692e-01 -2.61103726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.481400513 meters Centerline goodness [0,1] 0.8378424330010839 Centerline is valid? [False, False] Translation: X:189.47, Y:9.90, Z:-0.26 [[ 9.99978293e-01 3.85838170e-03 5.34093441e-03 1.89474959e+02] [-3.84264469e-03 9.99988255e-01 -2.95362115e-03 9.90050042e+00] [-5.35226788e-03 2.93303372e-03 9.99981375e-01 -2.59750146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.511400513 meters Centerline goodness [0,1] 0.7878892064378882 Centerline is valid? [False, False] Translation: X:189.45, Y:9.89, Z:-0.25 [[ 9.99994589e-01 3.21331555e-03 7.05100509e-04 1.89450670e+02] [-3.21894679e-03 9.99961720e-01 8.13618829e-03 9.89164827e+00] [-6.78929377e-04 -8.13841394e-03 9.99966652e-01 -2.52212361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.541400513 meters Centerline goodness [0,1] 0.7152779257302342 Centerline is valid? [False, False] Translation: X:189.45, Y:9.90, Z:-0.25 [[ 9.99999095e-01 -8.24256082e-04 1.06304931e-03 1.89449531e+02] [ 8.21632083e-04 9.99996621e-01 2.46644928e-03 9.89958349e+00] [-1.06507870e-03 -2.46557362e-03 9.99996393e-01 -2.52803935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.571400513 meters Centerline goodness [0,1] 0.5953805039450242 Centerline is valid? [False, False] Translation: X:189.45, Y:9.90, Z:-0.25 [[ 9.99998999e-01 -9.52116042e-04 1.04705287e-03 1.89449362e+02] [ 9.49847761e-04 9.99997206e-01 2.16471564e-03 9.90103274e+00] [-1.04911100e-03 -2.16371893e-03 9.99997109e-01 -2.52393796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.601400513 meters Centerline goodness [0,1] 0.8963637930291672 Centerline is valid? [False, False] Translation: X:189.41, Y:9.90, Z:-0.25 [[ 9.99996214e-01 -2.28277644e-03 -1.53643107e-03 1.89407424e+02] [ 2.28659438e-03 9.99994291e-01 2.48779112e-03 9.89694878e+00] [ 1.53074323e-03 -2.49129489e-03 9.99995725e-01 -2.51667131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.631400513 meters Centerline goodness [0,1] 0.897345057196517 Centerline is valid? [False, False] Translation: X:189.41, Y:9.90, Z:-0.25 [[ 9.99976082e-01 -6.78306942e-03 -1.35083843e-03 1.89407050e+02] [ 6.77904449e-03 9.99972635e-01 -2.96219277e-03 9.90264549e+00] [ 1.37089422e-03 2.95296453e-03 9.99994700e-01 -2.52220345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.661400513 meters Centerline goodness [0,1] 0.599850873455475 Centerline is valid? [False, False] Translation: X:189.41, Y:9.90, Z:-0.25 [[ 9.99994357e-01 -2.79701646e-03 -1.86103003e-03 1.89408545e+02] [ 2.80123559e-03 9.99993504e-01 2.26836284e-03 9.89709734e+00] [ 1.85467329e-03 -2.27356322e-03 9.99995696e-01 -2.51702834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.691400513 meters Centerline goodness [0,1] 0.9069998059801238 Centerline is valid? [False, False] Translation: X:189.41, Y:9.90, Z:-0.25 [[ 9.99973086e-01 -7.22270139e-03 -1.28804796e-03 1.89407076e+02] [ 7.21815085e-03 9.99967812e-01 -3.50323304e-03 9.90473321e+00] [ 1.31330931e-03 3.49384143e-03 9.99993034e-01 -2.52518327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.721400513 meters Centerline goodness [0,1] 0.8730634254900282 Centerline is valid? [False, False] Translation: X:189.41, Y:9.91, Z:-0.25 [[ 9.99971960e-01 -7.36976545e-03 -1.32884299e-03 1.89407408e+02] [ 7.36458342e-03 9.99965418e-01 -3.86326465e-03 9.90641174e+00] [ 1.35726839e-03 3.85336995e-03 9.99991655e-01 -2.52979476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.751400513 meters Centerline goodness [0,1] 0.8011206878114507 Centerline is valid? [False, False] Translation: X:189.41, Y:9.90, Z:-0.25 [[ 9.99994152e-01 -2.90185640e-03 -1.80964868e-03 1.89409026e+02] [ 2.90420328e-03 9.99994944e-01 1.29559588e-03 9.90216848e+00] [ 1.80587989e-03 -1.30084390e-03 9.99997523e-01 -2.53162816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.781400513 meters Centerline goodness [0,1] 0.5863452953296704 Centerline is valid? [False, False] Translation: X:189.41, Y:9.90, Z:-0.25 [[ 9.99993562e-01 -3.05923028e-03 -1.87517386e-03 1.89409386e+02] [ 3.06096779e-03 9.99994888e-01 9.24420058e-04 9.90387684e+00] [ 1.87233626e-03 -9.30153953e-04 9.99997815e-01 -2.53464443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.811400513 meters Centerline goodness [0,1] 0.5572066655213881 Centerline is valid? [False, False] Translation: X:189.41, Y:9.91, Z:-0.25 [[ 9.99993178e-01 -3.17050572e-03 -1.89510056e-03 1.89409531e+02] [ 3.17170961e-03 9.99994770e-01 6.32595637e-04 9.90524266e+00] [ 1.89308500e-03 -6.38602030e-04 9.99998004e-01 -2.53658697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.841400513 meters Centerline goodness [0,1] 0.6032083951573017 Centerline is valid? [False, False] Translation: X:189.41, Y:9.91, Z:-0.25 [[ 9.99992819e-01 -3.28424732e-03 -1.89072546e-03 1.89409543e+02] [ 3.28490986e-03 9.99994544e-01 3.47417268e-04 9.90658378e+00] [ 1.88957414e-03 -3.53625636e-04 9.99998152e-01 -2.53725993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.871400513 meters Centerline goodness [0,1] 0.5950294590251741 Centerline is valid? [False, False] Translation: X:189.41, Y:9.91, Z:-0.25 [[ 9.99992143e-01 -3.54937634e-03 -1.76534958e-03 1.89409190e+02] [ 3.54888055e-03 9.99993662e-01 -2.83897693e-04 9.90956518e+00] [ 1.76634605e-03 2.77630448e-04 9.99998401e-01 -2.53906589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.901400513 meters Centerline goodness [0,1] 0.6382026801387164 Centerline is valid? [False, False] Translation: X:189.41, Y:9.91, Z:-0.25 [[ 9.99991725e-01 -3.63738824e-03 -1.82187967e-03 1.89409497e+02] [ 3.63651690e-03 9.99993272e-01 -4.81350601e-04 9.91047171e+00] [ 1.82361827e-03 4.74721322e-04 9.99998225e-01 -2.54181421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.931400513 meters Centerline goodness [0,1] 0.9033106536530227 Centerline is valid? [False, False] Translation: X:189.37, Y:9.90, Z:-0.25 [[ 9.99983766e-01 -3.85806778e-03 -4.19325277e-03 1.89367611e+02] [ 3.86468464e-03 9.99991298e-01 1.57102126e-03 9.90498694e+00] [ 4.18715517e-03 -1.58720135e-03 9.99989974e-01 -2.53691820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.961400513 meters Centerline goodness [0,1] 0.640044205470427 Centerline is valid? [False, False] Translation: X:189.41, Y:9.91, Z:-0.25 [[ 9.99992502e-01 -3.48768073e-03 -1.68289350e-03 1.89409104e+02] [ 3.48807196e-03 9.99993890e-01 2.29599533e-04 9.90968486e+00] [ 1.68208245e-03 -2.35467865e-04 9.99998558e-01 -2.54459522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.99140051300003 meters Centerline goodness [0,1] 0.9390374790709656 Centerline is valid? [False, False] Translation: X:189.41, Y:9.91, Z:-0.25 [[ 9.99992388e-01 -3.52003757e-03 -1.68312235e-03 1.89408950e+02] [ 3.52035572e-03 9.99993786e-01 1.86098148e-04 9.90988439e+00] [ 1.68245681e-03 -1.92021921e-04 9.99998566e-01 -2.54164392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.021400513 meters Centerline goodness [0,1] 0.66693840774033 Centerline is valid? [False, False] Translation: X:189.41, Y:9.91, Z:-0.25 [[ 9.99992503e-01 -3.49270011e-03 -1.67181943e-03 1.89408430e+02] [ 3.49335393e-03 9.99993823e-01 3.88326460e-04 9.90895529e+00] [ 1.67045279e-03 -3.94163806e-04 9.99998527e-01 -2.53219245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.05140051300003 meters Centerline goodness [0,1] 0.7267554608417688 Centerline is valid? [False, False] Translation: X:189.41, Y:9.91, Z:-0.25 [[ 9.99992851e-01 -3.33275881e-03 -1.78604688e-03 1.89408639e+02] [ 3.33425828e-03 9.99994091e-01 8.37228619e-04 9.90682533e+00] [ 1.78324604e-03 -8.43177775e-04 9.99998055e-01 -2.52876025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.081400513 meters Centerline goodness [0,1] 0.9530767069401518 Centerline is valid? [False, True] Translation: X:189.37, Y:9.90, Z:-0.25 [[ 9.99983148e-01 -4.18762611e-03 -4.02082074e-03 1.89366238e+02] [ 4.19898176e-03 9.99987208e-01 2.81993507e-03 9.89959917e+00] [ 4.00896047e-03 -2.83677091e-03 9.99987940e-01 -2.51546358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.11140051300004 meters Centerline goodness [0,1] 0.9271479421105356 Centerline is valid? [True, False] Translation: X:189.39, Y:9.91, Z:-0.26 [[ 9.99988316e-01 -4.57470010e-03 1.56210399e-03 1.89390000e+02] [ 4.58752963e-03 9.99954943e-01 -8.31061794e-03 9.90917761e+00] [-1.52401502e-03 8.31768704e-03 9.99964246e-01 -2.59062542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.141400513 meters Centerline goodness [0,1] 0.9602820363542273 Centerline is valid? [False, True] Translation: X:189.36, Y:9.89, Z:-0.25 [[ 9.99981107e-01 -4.69830491e-03 -3.96381494e-03 1.89364251e+02] [ 4.70985907e-03 9.99984673e-01 2.91062756e-03 9.89357773e+00] [ 3.95007917e-03 -2.92924158e-03 9.99987908e-01 -2.49961140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.17140051300004 meters Centerline goodness [0,1] 0.9674921929215823 Centerline is valid? [True, True] Translation: X:189.39, Y:9.90, Z:-0.25 [[ 9.99983119e-01 -4.43080177e-03 -3.75884247e-03 1.89393367e+02] [ 4.42973609e-03 9.99990146e-01 -2.91792066e-04 9.89614296e+00] [ 3.76009831e-03 2.75136460e-04 9.99992893e-01 -2.50358267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.201400513 meters Centerline goodness [0,1] 0.9755231970404147 Centerline is valid? [True, True] Translation: X:189.42, Y:9.90, Z:-0.25 [[ 9.99984920e-01 -3.54761589e-03 -4.19222050e-03 1.89422966e+02] [ 3.54628360e-03 9.99993659e-01 -3.25192590e-04 9.89503866e+00] [ 4.19334758e-03 3.10320883e-04 9.99991160e-01 -2.50652682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.231400513 meters Centerline goodness [0,1] 0.9264352011000344 Centerline is valid? [True, False] Translation: X:189.42, Y:9.89, Z:-0.25 [[ 9.99985029e-01 -3.49927961e-03 -4.20685868e-03 1.89423105e+02] [ 3.49826962e-03 9.99993850e-01 -2.47415672e-04 9.89468961e+00] [ 4.20769859e-03 2.32695242e-04 9.99991121e-01 -2.50836185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.261400513 meters Centerline goodness [0,1] 0.7724622260055332 Centerline is valid? [False, False] Translation: X:189.44, Y:9.90, Z:-0.26 [[ 9.99998335e-01 1.68977825e-03 6.88777679e-04 1.89443620e+02] [-1.68534484e-03 9.99978182e-01 -6.38718441e-03 9.89828620e+00] [-6.99555576e-04 6.38601295e-03 9.99979365e-01 -2.55411603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.291400513 meters Centerline goodness [0,1] 0.6469707982384882 Centerline is valid? [False, False] Translation: X:189.44, Y:9.90, Z:-0.25 [[ 9.99991593e-01 3.78511372e-03 1.57690423e-03 1.89437115e+02] [-3.77862728e-03 9.99984471e-01 -4.09627346e-03 9.89566278e+00] [-1.59238460e-03 4.09028049e-03 9.99990367e-01 -2.51185889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.321400513 meters Centerline goodness [0,1] 0.5627924866978653 Centerline is valid? [False, False] Translation: X:189.44, Y:9.90, Z:-0.25 [[ 9.99991544e-01 3.76457174e-03 1.65497409e-03 1.89437176e+02] [-3.75678302e-03 9.99981971e-01 -4.68443126e-03 9.89867128e+00] [-1.67257913e-03 4.67817427e-03 9.99987659e-01 -2.51926605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.351400513 meters Centerline goodness [0,1] 0.49397384756500784 Centerline is valid? [False, False] Translation: X:189.44, Y:9.90, Z:-0.25 [[ 9.99991883e-01 3.69262653e-03 1.61187092e-03 1.89437626e+02] [-3.68377445e-03 9.99978305e-01 -5.46065429e-03 9.90256966e+00] [-1.63200010e-03 5.45467220e-03 9.99983791e-01 -2.52736053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.381400513 meters Centerline goodness [0,1] 0.46458257655078095 Centerline is valid? [False, False] Translation: X:189.44, Y:9.91, Z:-0.25 [[ 9.99992446e-01 3.49240569e-03 1.70624246e-03 1.89437561e+02] [-3.48171608e-03 9.99974543e-01 -6.22830492e-03 9.90626224e+00] [-1.72795079e-03 6.22231722e-03 9.99979148e-01 -2.53311503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.411400513 meters Centerline goodness [0,1] 0.6178609416719126 Centerline is valid? [False, False] Translation: X:189.41, Y:9.90, Z:-0.24 [[ 9.99982743e-01 4.27982186e-03 -4.02457264e-03 1.89412679e+02] [-4.25790979e-03 9.99976152e-01 5.43746533e-03 9.89506790e+00] [ 4.04774805e-03 -5.42023523e-03 9.99977118e-01 -2.44776546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.441400513 meters Centerline goodness [0,1] 0.5956421133821828 Centerline is valid? [False, False] Translation: X:189.45, Y:9.90, Z:-0.24 [[ 9.99998204e-01 1.88207249e-03 -2.23588620e-04 1.89447823e+02] [-1.88204125e-03 9.99998219e-01 1.39832610e-04 9.90484608e+00] [ 2.23851397e-04 -1.39411556e-04 9.99999965e-01 -2.42365425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.471400513 meters Centerline goodness [0,1] 0.4993066666666667 Centerline is valid? [False, False] Translation: X:189.45, Y:9.90, Z:-0.24 [[ 9.99998207e-01 1.88425042e-03 -1.90565446e-04 1.89447516e+02] [-1.88419382e-03 9.99998181e-01 2.96753863e-04 9.90404797e+00] [ 1.91124258e-04 -2.96394269e-04 9.99999938e-01 -2.41973807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.501400513 meters Centerline goodness [0,1] 0.547641193138803 Centerline is valid? [False, False] Translation: X:189.41, Y:9.90, Z:-0.24 [[ 9.99984669e-01 -4.14759044e-03 -3.66863482e-03 1.89409426e+02] [ 4.13148982e-03 9.99981849e-01 -4.38546551e-03 9.90417268e+00] [ 3.68675734e-03 4.37024135e-03 9.99983654e-01 -2.43746366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.531400513 meters Centerline goodness [0,1] 0.9277439750557565 Centerline is valid? [False, False] Translation: X:189.41, Y:9.90, Z:-0.24 [[ 9.99981956e-01 -4.20196516e-03 -4.29310257e-03 1.89411431e+02] [ 4.18645135e-03 9.99984698e-01 -3.61627612e-03 9.89993521e+00] [ 4.30823234e-03 3.59823800e-03 9.99984246e-01 -2.43769397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.561400513 meters Centerline goodness [0,1] 0.9173489781445425 Centerline is valid? [False, False] Translation: X:189.41, Y:9.89, Z:-0.24 [[ 9.99978531e-01 -4.32168594e-03 -4.92549346e-03 1.89413496e+02] [ 4.30846154e-03 9.99987094e-01 -2.69234245e-03 9.89470843e+00] [ 4.93706535e-03 2.67106334e-03 9.99984245e-01 -2.43738834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.591400513 meters Centerline goodness [0,1] 0.9258901758901759 Centerline is valid? [False, False] Translation: X:189.41, Y:9.89, Z:-0.24 [[ 9.99976014e-01 -4.36658379e-03 -5.37628070e-03 1.89414924e+02] [ 4.35709511e-03 9.99988932e-01 -1.77536454e-03 9.88970896e+00] [ 5.38397347e-03 1.75189699e-03 9.99983972e-01 -2.43640853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.621400513 meters Centerline goodness [0,1] 0.9819980849026492 Centerline is valid? [False, True] Translation: X:189.42, Y:9.89, Z:-0.24 [[ 9.99972941e-01 -4.49896540e-03 -5.82028522e-03 1.89416216e+02] [ 4.49291044e-03 9.99989352e-01 -1.05297663e-03 9.88561151e+00] [ 5.82496055e-03 1.02679812e-03 9.99982508e-01 -2.43273347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.651400513 meters Centerline goodness [0,1] 0.9977416440831075 Centerline is valid? [True, True] Translation: X:189.45, Y:9.87, Z:-0.24 [[ 9.99910154e-01 -1.21838490e-02 -5.58908037e-03 1.89447520e+02] [ 1.21818602e-02 9.99925722e-01 -3.89743088e-04 9.87365090e+00] [ 5.59341380e-03 3.21622675e-04 9.99984305e-01 -2.42820120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.681400513 meters Centerline goodness [0,1] 0.9987702795995858 Centerline is valid? [True, True] Translation: X:189.48, Y:9.87, Z:-0.24 [[ 9.99868832e-01 -1.51593540e-02 -5.70192621e-03 1.89477333e+02] [ 1.51573319e-02 9.99885042e-01 -3.97694149e-04 9.87187621e+00] [ 5.70729952e-03 3.11215996e-04 9.99983665e-01 -2.42212696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.711400513 meters Centerline goodness [0,1] 0.9994822788359903 Centerline is valid? [True, True] Translation: X:189.51, Y:9.87, Z:-0.24 [[ 9.99829583e-01 -1.75560742e-02 -5.70864504e-03 1.89508127e+02] [ 1.75540859e-02 9.99845836e-01 -3.98227296e-04 9.86676517e+00] [ 5.71475628e-03 2.97949386e-04 9.99983626e-01 -2.41725227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.74140051300003 meters Centerline goodness [0,1] 0.9996147342736671 Centerline is valid? [True, True] Translation: X:189.54, Y:9.86, Z:-0.24 [[ 9.99788931e-01 -1.98500571e-02 -5.29793513e-03 1.89537231e+02] [ 1.98483759e-02 9.99802933e-01 -3.69713412e-04 9.86446179e+00] [ 5.30422992e-03 2.64479969e-04 9.99985897e-01 -2.40759689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.771400513 meters Centerline goodness [0,1] 0.9996329641384373 Centerline is valid? [True, True] Translation: X:189.57, Y:9.86, Z:-0.24 [[ 9.99740541e-01 -2.23976284e-02 -4.14679966e-03 1.89567723e+02] [ 2.23966194e-02 9.99749122e-01 -2.89604663e-04 9.86076357e+00] [ 4.15224578e-03 1.96655229e-04 9.99991360e-01 -2.40441888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.80140051300003 meters Centerline goodness [0,1] 0.999657270156799 Centerline is valid? [True, True] Translation: X:189.60, Y:9.86, Z:-0.24 [[ 9.99618088e-01 -2.74001160e-02 -3.59341687e-03 1.89597313e+02] [ 2.73993905e-02 9.99624535e-01 -2.50982613e-04 9.86049297e+00] [ 3.59894462e-03 1.52429328e-04 9.99993512e-01 -2.41291331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.831400513 meters Centerline goodness [0,1] 0.9995301253710942 Centerline is valid? [True, True] Translation: X:189.63, Y:9.85, Z:-0.24 [[ 9.99549414e-01 -2.96624347e-02 -4.59434886e-03 1.89627643e+02] [ 2.96612721e-02 9.99559956e-01 -3.21005248e-04 9.85472332e+00] [ 4.60184895e-03 1.84586376e-04 9.99989394e-01 -2.42946055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.86140051300004 meters Centerline goodness [0,1] 0.9996148084742136 Centerline is valid? [True, True] Translation: X:189.66, Y:9.86, Z:-0.24 [[ 9.99478421e-01 -3.18318485e-02 -5.44234387e-03 1.89656424e+02] [ 3.18302481e-02 9.99493217e-01 -3.80451492e-04 9.85652406e+00] [ 5.45169626e-03 2.07021900e-04 9.99985118e-01 -2.44294884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.891400513 meters Centerline goodness [0,1] 0.9999354838709678 Centerline is valid? [True, True] Translation: X:189.69, Y:9.85, Z:-0.24 [[ 9.99401414e-01 -3.41524560e-02 -5.51580411e-03 1.89686730e+02] [ 3.41508468e-02 9.99416615e-01 -3.85707223e-04 9.84788396e+00] [ 5.52575912e-03 1.97106963e-04 9.99984713e-01 -2.41094609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.921400513 meters Centerline goodness [0,1] 0.9998698170930157 Centerline is valid? [True, True] Translation: X:189.72, Y:9.84, Z:-0.24 [[ 9.99253864e-01 -3.84058884e-02 -4.08695200e-03 1.89717057e+02] [ 3.84050402e-02 9.99262213e-01 -2.85832462e-04 9.84478907e+00] [ 4.09491435e-03 1.28659637e-04 9.99991608e-01 -2.38986159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.951400513 meters Centerline goodness [0,1] 0.9998919853100021 Centerline is valid? [True, True] Translation: X:189.75, Y:9.84, Z:-0.24 [[ 9.99186286e-01 -4.02322265e-02 -2.85210576e-03 1.89746157e+02] [ 4.02318203e-02 9.99190353e-01 -1.99645660e-04 9.84338656e+00] [ 2.85782875e-03 8.47377986e-05 9.99995913e-01 -2.37567331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.981400513 meters Centerline goodness [0,1] 0.9998489165155832 Centerline is valid? [True, True] Translation: X:189.78, Y:9.84, Z:-0.24 [[ 9.99130961e-01 -4.16335022e-02 -1.99373611e-03 1.89775606e+02] [ 4.16333057e-02 9.99132948e-01 -1.39989251e-04 9.84312788e+00] [ 1.99783568e-03 5.68617696e-05 9.99998003e-01 -2.36413250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.011400513 meters Centerline goodness [0,1] 0.9998488577967786 Centerline is valid? [True, True] Translation: X:189.80, Y:9.84, Z:-0.23 [[ 9.99110649e-01 -4.21610953e-02 -5.94096815e-04 1.89804362e+02] [ 4.21610778e-02 9.99110826e-01 -4.19323001e-05 9.84185547e+00] [ 5.95336471e-04 1.68472455e-05 9.99999823e-01 -2.33157224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.041400513 meters Centerline goodness [0,1] 0.9999347230079638 Centerline is valid? [True, True] Translation: X:189.83, Y:9.84, Z:-0.23 [[ 9.99114054e-01 -4.20788940e-02 -6.88649325e-04 1.89831802e+02] [ 4.20788705e-02 9.99114291e-01 -4.85177195e-05 9.84484398e+00] [ 6.90080954e-04 1.94971496e-05 9.99999762e-01 -2.33082646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.071400513 meters Centerline goodness [0,1] 0.9999350241493579 Centerline is valid? [True, True] Translation: X:189.86, Y:9.85, Z:-0.23 [[ 9.99100144e-01 -4.24074282e-02 -7.16392326e-04 1.89860156e+02] [ 4.24074027e-02 9.99100400e-01 -5.07306416e-05 9.84750842e+00] [ 7.17899215e-04 2.03046535e-05 9.99999742e-01 -2.33106216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.101400513 meters Centerline goodness [0,1] 0.9999350241493579 Centerline is valid? [True, True] Translation: X:189.89, Y:9.85, Z:-0.23 [[ 9.99092069e-01 -4.25972445e-02 -7.16382682e-04 1.89887602e+02] [ 4.25972189e-02 9.99092325e-01 -5.08668815e-05 9.84960091e+00] [ 7.17899229e-04 2.03047879e-05 9.99999742e-01 -2.33132410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.131400513 meters Centerline goodness [0,1] 0.999934829361545 Centerline is valid? [True, True] Translation: X:189.92, Y:9.85, Z:-0.23 [[ 9.99066176e-01 -4.32025719e-02 -5.59283235e-04 1.89916060e+02] [ 4.32025564e-02 9.99066333e-01 -3.98249718e-05 9.85145901e+00] [ 5.60481592e-04 1.56253168e-05 9.99999843e-01 -2.33458498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.161400513 meters Centerline goodness [0,1] 0.9999134910679528 Centerline is valid? [True, True] Translation: X:189.94, Y:9.85, Z:-0.23 [[ 9.99033733e-01 -4.39479548e-02 -4.20358660e-04 1.89944082e+02] [ 4.39479462e-02 9.99033822e-01 -2.98942012e-05 9.85427186e+00] [ 4.21266308e-04 1.13914157e-05 9.99999911e-01 -2.33612466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.191400513 meters Centerline goodness [0,1] 0.9999566855806298 Centerline is valid? [True, True] Translation: X:189.97, Y:9.85, Z:-0.23 [[ 9.98973630e-01 -4.52939604e-02 -3.79783618e-04 1.89973199e+02] [ 4.52939533e-02 9.98973702e-01 -2.71840386e-05 9.85261690e+00] [ 3.80625120e-04 9.95423627e-06 9.99999928e-01 -2.33750965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.221400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.00, Y:9.85, Z:-0.24 [[ 9.98742487e-01 -5.01092332e-02 -1.58418659e-03 1.90002948e+02] [ 5.01091173e-02 9.98743743e-01 -1.12777626e-04 9.84727663e+00] [ 1.58784765e-03 3.32536143e-05 9.99998739e-01 -2.35123096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.251400513 meters Centerline goodness [0,1] 0.9998708761056233 Centerline is valid? [True, True] Translation: X:190.03, Y:9.84, Z:-0.24 [[ 9.98579304e-01 -5.32400227e-02 -2.20783683e-03 1.90032595e+02] [ 5.32398042e-02 9.98581743e-01 -1.57635972e-04 9.84439969e+00] [ 2.21309809e-03 3.98672185e-05 9.99997550e-01 -2.38098629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.281400513 meters Centerline goodness [0,1] 0.9998690242305174 Centerline is valid? [True, True] Translation: X:190.06, Y:9.84, Z:-0.24 [[ 9.98394557e-01 -5.65901908e-02 -2.42038999e-03 1.90061463e+02] [ 5.65899371e-02 9.98397490e-01 -1.73205333e-04 9.84067752e+00] [ 2.42631302e-03 3.59575444e-05 9.99997056e-01 -2.38344739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.311400513 meters Centerline goodness [0,1] 0.9998484422023514 Centerline is valid? [True, True] Translation: X:190.09, Y:9.84, Z:-0.24 [[ 9.98239237e-01 -5.92772581e-02 -2.15237282e-03 1.90089511e+02] [ 5.92770636e-02 9.98241557e-01 -1.54073622e-04 9.83819602e+00] [ 2.15772106e-03 2.62159938e-05 9.99997672e-01 -2.38186675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.341400513 meters Centerline goodness [0,1] 0.9999357298941686 Centerline is valid? [True, True] Translation: X:190.12, Y:9.83, Z:-0.24 [[ 9.98055791e-01 -6.23125598e-02 -1.33530670e-03 1.90117885e+02] [ 6.23124876e-02 9.98056684e-01 -9.56861015e-05 9.83397451e+00] [ 1.33867422e-03 1.22937855e-05 9.99999104e-01 -2.36317801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.371400513 meters Centerline goodness [0,1] 0.9998719508291184 Centerline is valid? [True, True] Translation: X:190.15, Y:9.83, Z:-0.24 [[ 9.97996015e-01 -6.32677013e-02 -1.07349142e-03 1.90146298e+02] [ 6.32676549e-02 9.97996592e-01 -7.72134745e-05 9.83470827e+00] [ 1.07622590e-03 9.14145494e-06 9.99999421e-01 -2.36453089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.401400513 meters Centerline goodness [0,1] 0.9999359904412393 Centerline is valid? [True, True] Translation: X:190.17, Y:9.84, Z:-0.24 [[ 9.97972193e-01 -6.36319705e-02 -1.57280139e-03 1.90173026e+02] [ 6.36318713e-02 9.97973433e-01 -1.13104981e-04 9.83738605e+00] [ 1.57681110e-03 1.27953306e-05 9.99998757e-01 -2.37342451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.431400513 meters Centerline goodness [0,1] 0.9998922854865464 Centerline is valid? [True, True] Translation: X:190.20, Y:9.84, Z:-0.24 [[ 9.97953276e-01 -6.38913672e-02 -2.67424506e-03 1.90201331e+02] [ 6.38910797e-02 9.97956859e-01 -1.92883009e-04 9.83964729e+00] [ 2.68110476e-03 2.16278270e-05 9.99996406e-01 -2.38686242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.461400513 meters Centerline goodness [0,1] 0.9998265319398065 Centerline is valid? [True, True] Translation: X:190.23, Y:9.84, Z:-0.24 [[ 9.97928399e-01 -6.42534683e-02 -3.22529609e-03 1.90229728e+02] [ 6.42530501e-02 9.97933611e-01 -2.33221354e-04 9.84211915e+00] [ 3.23361665e-03 2.55031014e-05 9.99994772e-01 -2.39963024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.49140051300003 meters Centerline goodness [0,1] 0.9998704551342948 Centerline is valid? [True, True] Translation: X:190.26, Y:9.84, Z:-0.24 [[ 9.97770841e-01 -6.66713145e-02 -2.87838187e-03 1.90257639e+02] [ 6.66709910e-02 9.97774992e-01 -2.08315298e-04 9.84301473e+00] [ 2.88586611e-03 1.59463579e-05 9.99995836e-01 -2.39092525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.521400513 meters Centerline goodness [0,1] 0.9998492678725237 Centerline is valid? [True, True] Translation: X:190.29, Y:9.84, Z:-0.24 [[ 9.97649970e-01 -6.84741825e-02 -2.41328624e-03 1.90286562e+02] [ 6.84739592e-02 9.97652889e-01 -1.75141706e-04 9.84453485e+00] [ 2.41961468e-03 9.48285414e-06 9.99997073e-01 -2.37604473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.55140051300003 meters Centerline goodness [0,1] 0.9998497176839348 Centerline is valid? [True, True] Translation: X:190.31, Y:9.85, Z:-0.24 [[ 9.97468634e-01 -7.10728000e-02 -2.23174757e-03 1.90314637e+02] [ 7.10726145e-02 9.97471131e-01 -1.62433046e-04 9.84568558e+00] [ 2.23764835e-03 3.40573357e-06 9.99997496e-01 -2.37289498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.581400513 meters Centerline goodness [0,1] 0.9998282414067029 Centerline is valid? [True, True] Translation: X:190.34, Y:9.85, Z:-0.24 [[ 9.97248129e-01 -7.40853909e-02 -2.74282206e-03 1.90341283e+02] [ 7.40851218e-02 9.97251901e-01 -1.99714425e-04 9.84538803e+00] [ 2.75008043e-03 -4.03746926e-06 9.99996219e-01 -2.38812146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.61140051300004 meters Centerline goodness [0,1] 0.9998500332069328 Centerline is valid? [True, True] Translation: X:190.37, Y:9.84, Z:-0.24 [[ 9.96782035e-01 -8.00648366e-02 -3.89829964e-03 1.90370375e+02] [ 8.00643360e-02 9.96789657e-01 -2.84553965e-04 9.84341499e+00] [ 3.90856753e-03 -2.84764918e-05 9.99992361e-01 -2.40081706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.641400513 meters Centerline goodness [0,1] 0.9999567146412726 Centerline is valid? [True, True] Translation: X:190.40, Y:9.84, Z:-0.24 [[ 9.96559536e-01 -8.27852694e-02 -3.96110478e-03 1.90399232e+02] [ 8.27847713e-02 9.96567407e-01 -2.89810638e-04 9.84465025e+00] [ 3.97149997e-03 -3.91055989e-05 9.99992113e-01 -2.39679124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.671400513 meters Centerline goodness [0,1] 0.9998273704199214 Centerline is valid? [True, True] Translation: X:190.43, Y:9.85, Z:-0.24 [[ 9.96402277e-01 -8.46812502e-02 -3.40408664e-03 1.90428020e+02] [ 8.46808914e-02 9.96408091e-01 -2.49659873e-04 9.84771503e+00] [ 3.41300098e-03 -3.94994251e-05 9.99994175e-01 -2.39959241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.701400513 meters Centerline goodness [0,1] 0.999893219434063 Centerline is valid? [True, True] Translation: X:190.46, Y:9.85, Z:-0.24 [[ 9.96319581e-01 -8.56687522e-02 -2.85598185e-03 1.90455392e+02] [ 8.56685034e-02 9.96323674e-01 -2.09555774e-04 9.85120070e+00] [ 2.86343472e-03 -3.58831703e-05 9.99995900e-01 -2.39525569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.731400513 meters Centerline goodness [0,1] 0.9999354324946732 Centerline is valid? [True, True] Translation: X:190.48, Y:9.86, Z:-0.24 [[ 9.96206145e-01 -8.69911510e-02 -2.42003076e-03 1.90483435e+02] [ 8.69909750e-02 9.96209084e-01 -1.78094846e-04 9.85812526e+00] [ 2.42634930e-03 -3.31016550e-05 9.99997056e-01 -2.37892498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.761400513 meters Centerline goodness [0,1] 0.9998721690776999 Centerline is valid? [True, True] Translation: X:190.51, Y:9.86, Z:-0.24 [[ 9.96101144e-01 -8.82000877e-02 -1.80439841e-03 1.90511320e+02] [ 8.81999917e-02 9.96102778e-01 -1.32835533e-04 9.86143754e+00] [ 1.80908237e-03 -2.68302982e-05 9.99998363e-01 -2.37399782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.791400513 meters Centerline goodness [0,1] 0.9998923666422698 Centerline is valid? [True, True] Translation: X:190.54, Y:9.86, Z:-0.24 [[ 9.95955410e-01 -8.98429457e-02 -1.03310030e-03 1.90538889e+02] [ 8.98429150e-02 9.95955945e-01 -7.61404656e-05 9.86363197e+00] [ 1.03576307e-03 -1.69842343e-05 9.99999463e-01 -2.36678662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.821400513 meters Centerline goodness [0,1] 0.9999570391373459 Centerline is valid? [True, True] Translation: X:190.57, Y:9.87, Z:-0.24 [[ 9.95785176e-01 -9.17162925e-02 -7.44492409e-05 1.90567088e+02] [ 9.17162923e-02 9.95785178e-01 -5.54358492e-06 9.86524655e+00] [ 7.46438877e-05 -1.30798866e-06 9.99999997e-01 -2.35802989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.851400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.60, Y:9.87, Z:-0.23 [[ 9.95429269e-01 -9.55015638e-02 1.47373157e-04 1.90596823e+02] [ 9.55015633e-02 9.95429280e-01 1.08426668e-05 9.86525929e+00] [-1.47735047e-04 3.28125898e-06 9.99999989e-01 -2.34028234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.881400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.63, Y:9.87, Z:-0.23 [[ 9.95257431e-01 -9.72735149e-02 -7.13978055e-04 1.90625602e+02] [ 9.72735020e-02 9.95257687e-01 -5.29254579e-05 9.86656158e+00] [ 7.15740393e-04 -1.67766905e-05 9.99999744e-01 -2.34959401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.911400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.65, Y:9.87, Z:-0.24 [[ 9.95132936e-01 -9.85265755e-02 -1.71864114e-03 1.90654183e+02] [ 9.85265022e-02 9.95134419e-01 -1.27466763e-04 9.86922550e+00] [ 1.72283781e-03 -4.24853261e-05 9.99998515e-01 -2.36053445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.941400513 meters Centerline goodness [0,1] 0.9998483601230449 Centerline is valid? [True, True] Translation: X:190.68, Y:9.87, Z:-0.24 [[ 9.95117952e-01 -9.86632555e-02 -2.41315025e-03 1.90682271e+02] [ 9.86631104e-02 9.95120876e-01 -1.79414944e-04 9.87441672e+00] [ 2.41907785e-03 -5.95498782e-05 9.99997072e-01 -2.38429257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.971400513 meters Centerline goodness [0,1] 0.999849885269456 Centerline is valid? [True, True] Translation: X:190.71, Y:9.88, Z:-0.24 [[ 9.95185086e-01 -9.79900718e-02 -2.14267370e-03 1.90709685e+02] [ 9.79899557e-02 9.95187391e-01 -1.59328182e-04 9.87687022e+00] [ 2.14797442e-03 -5.13994699e-05 9.99997692e-01 -2.38785219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.001400513 meters Centerline goodness [0,1] 0.9998921344436295 Centerline is valid? [True, True] Translation: X:190.74, Y:9.89, Z:-0.24 [[ 9.95529052e-01 -9.44556758e-02 1.81415849e-04 1.90738765e+02] [ 9.44556749e-02 9.95529068e-01 1.34659448e-05 9.88736306e+00] [-1.81876686e-04 3.73001722e-06 9.99999983e-01 -2.35338225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.031400513 meters Centerline goodness [0,1] 0.9998491606869653 Centerline is valid? [True, True] Translation: X:190.77, Y:9.89, Z:-0.23 [[ 9.95745299e-01 -9.21450486e-02 7.67391054e-04 1.90766290e+02] [ 9.21450320e-02 9.95745595e-01 5.70496793e-05 9.89240494e+00] [-7.69383107e-04 1.39043232e-05 9.99999704e-01 -2.34612420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.061400513 meters Centerline goodness [0,1] 0.9998709982584765 Centerline is valid? [True, True] Translation: X:190.79, Y:9.90, Z:-0.24 [[ 9.95975971e-01 -8.96205857e-02 1.25937147e-04 1.90794691e+02] [ 8.96205852e-02 9.95975979e-01 9.22944849e-06 9.90018582e+00] [-1.26257522e-04 2.09425193e-06 9.99999992e-01 -2.35423584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.091400513 meters Centerline goodness [0,1] 0.999956979995698 Centerline is valid? [True, True] Translation: X:190.82, Y:9.91, Z:-0.24 [[ 9.96216115e-01 -8.68992373e-02 -1.40515460e-03 1.90822054e+02] [ 8.68991757e-02 9.96217106e-01 -1.04957425e-04 9.90528040e+00] [ 1.40895977e-03 -1.75464983e-05 9.99999007e-01 -2.37912794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.121400513 meters Centerline goodness [0,1] 0.9999785274097615 Centerline is valid? [True, True] Translation: X:190.85, Y:9.91, Z:-0.24 [[ 9.96482890e-01 -8.37169382e-02 -3.65013335e-03 1.90850942e+02] [ 8.37165001e-02 9.96489575e-01 -2.72915371e-04 9.91200681e+00] [ 3.66016747e-03 -3.36208906e-05 9.99993301e-01 -2.40563315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.151400513 meters Centerline goodness [0,1] 0.9998276419261015 Centerline is valid? [True, True] Translation: X:190.88, Y:9.92, Z:-0.24 [[ 9.96502578e-01 -8.34871718e-02 -3.53623950e-03 1.90878462e+02] [ 8.34867564e-02 9.96508852e-01 -2.65200573e-04 9.91518126e+00] [ 3.54603481e-03 -3.09561109e-05 9.99993712e-01 -2.41228144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.181400513 meters Centerline goodness [0,1] 0.9998075319176236 Centerline is valid? [True, True] Translation: X:190.91, Y:9.92, Z:-0.24 [[ 9.96530525e-01 -8.31624605e-02 -3.30433095e-03 1.90906374e+02] [ 8.31620957e-02 9.96536003e-01 -2.47893526e-04 9.91746458e+00] [ 3.31350019e-03 -2.77616212e-05 9.99994510e-01 -2.41031342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.211400513 meters Centerline goodness [0,1] 0.9998491444334296 Centerline is valid? [True, True] Translation: X:190.94, Y:9.92, Z:-0.24 [[ 9.96636532e-01 -8.18877665e-02 -3.16491888e-03 1.90935270e+02] [ 8.18874234e-02 9.96641557e-01 -2.38072846e-04 9.92007693e+00] [ 3.17378494e-03 -2.18949569e-05 9.99994963e-01 -2.40736457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.24140051300003 meters Centerline goodness [0,1] 0.9998492159227985 Centerline is valid? [True, True] Translation: X:190.96, Y:9.92, Z:-0.24 [[ 9.96753308e-01 -8.04476598e-02 -3.31910689e-03 1.90964137e+02] [ 8.04472725e-02 9.96758834e-01 -2.50241611e-04 9.92187862e+00] [ 3.32848047e-03 -1.75839428e-05 9.99994460e-01 -2.40087012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.271400513 meters Centerline goodness [0,1] 0.9997406190558533 Centerline is valid? [True, True] Translation: X:190.99, Y:9.92, Z:-0.24 [[ 9.96909542e-01 -7.84813824e-02 -3.46947836e-03 1.90991607e+02] [ 7.84809469e-02 9.96915579e-01 -2.61677821e-04 9.92420289e+00] [ 3.47931387e-03 -1.14188298e-05 9.99993947e-01 -2.40171874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.30140051300003 meters Centerline goodness [0,1] 0.9997851956867294 Centerline is valid? [True, True] Translation: X:191.02, Y:9.93, Z:-0.24 [[ 9.97059735e-01 -7.65584515e-02 -3.26919390e-03 1.91019799e+02] [ 7.65580521e-02 9.97065095e-01 -2.47333153e-04 9.92859981e+00] [ 3.27853456e-03 -3.67718859e-06 9.99994626e-01 -2.39698218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.331400513 meters Centerline goodness [0,1] 0.9999138543708138 Centerline is valid? [True, True] Translation: X:191.05, Y:9.93, Z:-0.24 [[ 9.97262575e-01 -7.38749808e-02 -3.13751972e-03 1.91047564e+02] [ 7.38745977e-02 9.97267510e-01 -2.38000284e-04 9.93468555e+00] [ 3.14652875e-03 5.56576853e-06 9.99995050e-01 -2.38610324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.36140051300004 meters Centerline goodness [0,1] 0.9999353308902781 Centerline is valid? [True, True] Translation: X:191.07, Y:9.95, Z:-0.24 [[ 9.97711637e-01 -6.75568021e-02 -2.75109210e-03 1.91074839e+02] [ 6.75564833e-02 9.97715429e-01 -2.08749901e-04 9.94523294e+00] [ 2.75890951e-03 2.24180981e-05 9.99996194e-01 -2.37208316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.391400513 meters Centerline goodness [0,1] 0.9998497531659154 Centerline is valid? [True, True] Translation: X:191.10, Y:9.95, Z:-0.24 [[ 9.97884464e-01 -6.49650109e-02 -2.47882219e-03 1.91103689e+02] [ 6.49647428e-02 9.97887542e-01 -1.88621151e-04 9.94936566e+00] [ 2.48583956e-03 2.71860695e-05 9.99996910e-01 -2.36650220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.421400513 meters Centerline goodness [0,1] 0.9998496305207081 Centerline is valid? [True, True] Translation: X:191.13, Y:9.96, Z:-0.24 [[ 9.98015533e-01 -6.29156509e-02 -2.57218334e-03 1.91131319e+02] [ 6.29153553e-02 9.98018847e-01 -1.95769517e-04 9.95512704e+00] [ 2.57940442e-03 3.35511910e-05 9.99996673e-01 -2.36909504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.451400513 meters Centerline goodness [0,1] 0.9999144842330304 Centerline is valid? [True, True] Translation: X:191.16, Y:9.96, Z:-0.24 [[ 9.98108791e-01 -6.14202748e-02 -2.52792961e-03 1.91159800e+02] [ 6.14199831e-02 9.98111992e-01 -1.92934332e-04 9.95766384e+00] [ 2.53500694e-03 3.73040583e-05 9.99996786e-01 -2.36793007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.481400513 meters Centerline goodness [0,1] 0.9999784226993204 Centerline is valid? [True, True] Translation: X:191.19, Y:9.96, Z:-0.24 [[ 9.98220596e-01 -5.95754396e-02 -2.53163774e-03 1.91188585e+02] [ 5.95751400e-02 9.98223805e-01 -1.93644436e-04 9.96049975e+00] [ 2.53867751e-03 4.24771914e-05 9.99996777e-01 -2.35451553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.511400513 meters Centerline goodness [0,1] 0.9999356954536686 Centerline is valid? [True, True] Translation: X:191.22, Y:9.96, Z:-0.23 [[ 9.98305940e-01 -5.81597498e-02 -1.64142803e-03 1.91216922e+02] [ 5.81596214e-02 9.98307289e-01 -1.25885535e-04 9.96394821e+00] [ 1.64597103e-03 3.02074452e-05 9.99998645e-01 -2.34413081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.541400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.24, Y:9.97, Z:-0.23 [[ 9.98391666e-01 -5.66866696e-02 -8.38609618e-04 1.91244710e+02] [ 5.66866355e-02 9.98392018e-01 -6.43403986e-05 9.96851176e+00] [ 8.40908391e-04 1.66989600e-05 9.99999646e-01 -2.32285141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.571400513 meters Centerline goodness [0,1] 0.9999564393526887 Centerline is valid? [True, True] Translation: X:191.27, Y:9.97, Z:-0.23 [[ 9.98553662e-01 -5.37439439e-02 -1.47412988e-03 1.91273904e+02] [ 5.37438356e-02 9.98554749e-01 -1.13057889e-04 9.97337449e+00] [ 1.47807557e-03 3.36689752e-05 9.99998907e-01 -2.33816778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.601400513 meters Centerline goodness [0,1] 0.9999784640565104 Centerline is valid? [True, True] Translation: X:191.30, Y:9.98, Z:-0.23 [[ 9.98797945e-01 -4.89966935e-02 -1.41061385e-03 1.91302691e+02] [ 4.89965895e-02 9.98798940e-01 -1.08221339e-04 9.98128779e+00] [ 1.41422211e-03 3.89759830e-05 9.99998999e-01 -2.34222436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.631400513 meters Centerline goodness [0,1] 0.9999570925941818 Centerline is valid? [True, True] Translation: X:191.33, Y:9.99, Z:-0.23 [[ 9.98927877e-01 -4.62759085e-02 -1.27905982e-03 1.91332105e+02] [ 4.62758207e-02 9.98928696e-01 -9.81612752e-05 9.98638573e+00] [ 1.28223206e-03 3.88664916e-05 9.99999177e-01 -2.34973823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.661400513 meters Centerline goodness [0,1] 0.9999786352177071 Centerline is valid? [True, True] Translation: X:191.36, Y:9.99, Z:-0.23 [[ 9.98999682e-01 -4.46987673e-02 -1.28679280e-03 1.91360702e+02] [ 4.46986767e-02 9.99000510e-01 -9.91058013e-05 9.99052075e+00] [ 1.28993657e-03 4.14887287e-05 9.99999167e-01 -2.34478656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.691400513 meters Centerline goodness [0,1] 0.999956934605198 Centerline is valid? [True, True] Translation: X:191.39, Y:9.99, Z:-0.24 [[ 9.99081771e-01 -4.27869581e-02 -2.21164448e-03 1.91390524e+02] [ 4.27866862e-02 9.99084216e-01 -1.70139900e-04 9.99169681e+00] [ 2.21689886e-03 7.53547340e-05 9.99997540e-01 -2.35660476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.721400513 meters Centerline goodness [0,1] 0.9997401810072316 Centerline is valid? [True, True] Translation: X:191.42, Y:9.99, Z:-0.24 [[ 9.99223959e-01 -3.92182660e-02 -3.66160552e-03 1.91419560e+02] [ 3.92174965e-02 9.99230658e-01 -2.81757840e-04 9.99498961e+00] [ 3.66983854e-03 1.37940183e-04 9.99993257e-01 -2.39440423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.751400513 meters Centerline goodness [0,1] 0.9998069456659302 Centerline is valid? [True, True] Translation: X:191.45, Y:10.00, Z:-0.24 [[ 9.99252432e-01 -3.85242267e-02 -3.23435454e-03 1.91447529e+02] [ 3.85236219e-02 9.99257659e-01 -2.49110162e-04 9.99827016e+00] [ 3.24155032e-03 1.24324883e-04 9.99994738e-01 -2.38047416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.781400513 meters Centerline goodness [0,1] 0.9997190221972464 Centerline is valid? [True, True] Translation: X:191.48, Y:10.00, Z:-0.24 [[ 9.99344519e-01 -3.60696568e-02 -3.08416563e-03 1.91476741e+02] [ 3.60690947e-02 9.99349270e-01 -2.37694741e-04 1.00024641e+01] [ 3.09073224e-03 1.26295874e-04 9.99995216e-01 -2.38978839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.811400513 meters Centerline goodness [0,1] 0.999763486636995 Centerline is valid? [True, True] Translation: X:191.51, Y:10.00, Z:-0.24 [[ 9.99415823e-01 -3.40902126e-02 -2.42286762e-03 1.91506194e+02] [ 3.40898598e-02 9.99418754e-01 -1.86770842e-04 1.00042109e+01] [ 2.42782639e-03 1.04066517e-04 9.99997047e-01 -2.37023388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.841400513 meters Centerline goodness [0,1] 0.9997618789912328 Centerline is valid? [True, True] Translation: X:191.54, Y:10.01, Z:-0.24 [[ 9.99518423e-01 -3.09385379e-02 -2.39357932e-03 1.91535922e+02] [ 3.09381845e-02 9.99521283e-01 -1.84530382e-04 1.00090792e+01] [ 2.39814257e-03 1.10388518e-04 9.99997118e-01 -2.37430677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.871400513 meters Centerline goodness [0,1] 0.9986968596453749 Centerline is valid? [True, True] Translation: X:191.56, Y:10.02, Z:-0.24 [[ 9.99702018e-01 -2.42936014e-02 -2.38673789e-03 1.91564892e+02] [ 2.42932310e-02 9.99704859e-01 -1.84057596e-04 1.00183600e+01] [ 2.39050488e-03 1.26021176e-04 9.99997135e-01 -2.38088221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.901400513 meters Centerline goodness [0,1] 0.9978114405870488 Centerline is valid? [True, True] Translation: X:191.59, Y:10.03, Z:-0.24 [[ 9.99763181e-01 -2.15985955e-02 -2.66132534e-03 1.91593949e+02] [ 2.15981254e-02 9.99766712e-01 -2.05253511e-04 1.00255265e+01] [ 2.66513768e-03 1.47725265e-04 9.99996438e-01 -2.37370567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.931400513 meters Centerline goodness [0,1] 0.9991182985312144 Centerline is valid? [True, True] Translation: X:191.62, Y:10.03, Z:-0.24 [[ 9.99833853e-01 -1.80701001e-02 -2.39522469e-03 1.91624211e+02] [ 1.80697092e-02 9.99836712e-01 -1.84721772e-04 1.00258557e+01] [ 2.39817152e-03 1.41410067e-04 9.99997114e-01 -2.37020606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.961400513 meters Centerline goodness [0,1] 0.997029702970297 Centerline is valid? [True, True] Translation: X:191.65, Y:10.03, Z:-0.24 [[ 9.99892708e-01 -1.44834484e-02 -2.19136399e-03 1.91653346e+02] [ 1.44831127e-02 9.99895100e-01 -1.69004336e-04 1.00319039e+01] [ 2.19358188e-03 1.37248431e-04 9.99997585e-01 -2.37252819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.99140051300003 meters Centerline goodness [0,1] 0.9923830485068186 Centerline is valid? [True, True] Translation: X:191.68, Y:10.04, Z:-0.24 [[ 9.99955218e-01 -9.20558041e-03 -2.19544410e-03 1.91683602e+02] [ 9.20523072e-03 9.99957617e-01 -1.69329683e-04 1.00377864e+01] [ 2.19690983e-03 1.49112531e-04 9.99997576e-01 -2.37319675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.021400513 meters Centerline goodness [0,1] 0.9923830485068186 Centerline is valid? [True, True] Translation: X:191.71, Y:10.04, Z:-0.24 [[ 9.99953473e-01 -9.39323908e-03 -2.19539880e-03 1.91711079e+02] [ 9.39288856e-03 9.99955871e-01 -1.69916322e-04 1.00400440e+01] [ 2.19689799e-03 1.49287280e-04 9.99997576e-01 -2.37345941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.05140051300003 meters Centerline goodness [0,1] 0.9840652173913044 Centerline is valid? [True, True] Translation: X:191.74, Y:10.05, Z:-0.24 [[ 9.99963265e-01 -8.28149818e-03 -2.21040316e-03 1.91739120e+02] [ 8.28114020e-03 9.99965696e-01 -1.71054461e-04 1.00460851e+01] [ 2.21174392e-03 1.52743519e-04 9.99997542e-01 -2.37202921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.081400513 meters Centerline goodness [0,1] 0.9678844266143144 Centerline is valid? [True, True] Translation: X:191.77, Y:10.05, Z:-0.24 [[ 9.99964914e-01 -8.16066078e-03 -1.89043679e-03 1.91767007e+02] [ 8.16039849e-03 9.99966693e-01 -1.46417507e-04 1.00518844e+01] [ 1.89156869e-03 1.30985653e-04 9.99998202e-01 -2.37409649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.11140051300004 meters Centerline goodness [0,1] 0.9356736364217662 Centerline is valid? [True, False] Translation: X:191.77, Y:10.05, Z:-0.24 [[ 9.99965722e-01 -8.04564813e-03 -1.95491226e-03 1.91767083e+02] [ 8.04595936e-03 9.99967619e-01 1.51393590e-04 1.00504791e+01] [ 1.95363090e-03 -1.67117546e-04 9.99998078e-01 -2.37141847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.141400513 meters Centerline goodness [0,1] 0.972090833208484 Centerline is valid? [False, True] Translation: X:191.77, Y:10.05, Z:-0.24 [[ 9.99966701e-01 -7.91643188e-03 -1.98167251e-03 1.91766942e+02] [ 7.91741066e-03 9.99968538e-01 4.86562895e-04 1.00489200e+01] [ 1.97775832e-03 -5.02236408e-04 9.99997918e-01 -2.36686527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.171400513 meters Centerline goodness [0,1] 0.9881561411805168 Centerline is valid? [True, True] Translation: X:191.80, Y:10.05, Z:-0.24 [[ 9.99953663e-01 -9.55142791e-03 -1.20067602e-03 1.91796955e+02] [ 9.55132681e-03 9.99954381e-01 -8.99123362e-05 1.00488026e+01] [ 1.20148004e-03 7.84401209e-05 9.99999275e-01 -2.35232465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.201400513 meters Centerline goodness [0,1] 0.9977666702116346 Centerline is valid? [True, True] Translation: X:191.83, Y:10.05, Z:-0.23 [[ 9.99935003e-01 -1.13971173e-02 3.07690795e-04 1.91827326e+02] [ 1.13971108e-02 9.99935051e-01 2.30319848e-05 1.00455965e+01] [-3.07933309e-04 -1.95237017e-05 9.99999952e-01 -2.32771065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.231400513 meters Centerline goodness [0,1] 0.9921024316763504 Centerline is valid? [True, True] Translation: X:191.86, Y:10.05, Z:-0.23 [[ 9.99935630e-01 -1.13445102e-02 -1.95069266e-04 1.91855569e+02] [ 1.13445075e-02 9.99935649e-01 -1.46460818e-05 1.00523966e+01] [ 1.95222865e-04 1.24321743e-05 9.99999981e-01 -2.33586714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.261400513 meters Centerline goodness [0,1] 0.9972907304276776 Centerline is valid? [True, True] Translation: X:191.88, Y:10.05, Z:-0.23 [[ 9.99937804e-01 -1.11175172e-02 -8.88077444e-04 1.91884238e+02] [ 1.11174623e-02 9.99938197e-01 -6.68289393e-05 1.00507289e+01] [ 8.88765530e-04 5.69516154e-05 9.99999603e-01 -2.34789684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.291400513 meters Centerline goodness [0,1] 0.9935783166169111 Centerline is valid? [True, True] Translation: X:191.91, Y:10.06, Z:-0.24 [[ 9.99942376e-01 -1.05752433e-02 -1.84624184e-03 1.91911459e+02] [ 1.05750049e-02 9.99944073e-01 -1.38865494e-04 1.00587087e+01] [ 1.84760713e-03 1.19333475e-04 9.99998286e-01 -2.36712500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.321400513 meters Centerline goodness [0,1] 0.9763876045676437 Centerline is valid? [True, True] Translation: X:191.94, Y:10.07, Z:-0.24 [[ 9.99947899e-01 -9.81810158e-03 -2.79375573e-03 1.91939706e+02] [ 9.81755262e-03 9.99951785e-01 -2.10143567e-04 1.00688530e+01] [ 2.79568424e-03 1.82704774e-04 9.99996075e-01 -2.38945102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.351400513 meters Centerline goodness [0,1] 0.9672298157738348 Centerline is valid? [True, True] Translation: X:191.97, Y:10.08, Z:-0.24 [[ 9.99963183e-01 -7.92058405e-03 -3.30094016e-03 1.91969608e+02] [ 7.91980749e-03 9.99968607e-01 -2.48257038e-04 1.00770647e+01] [ 3.30280288e-03 2.22105088e-04 9.99994521e-01 -2.39684097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.381400513 meters Centerline goodness [0,1] 0.988919075020857 Centerline is valid? [True, True] Translation: X:192.00, Y:10.08, Z:-0.24 [[ 9.99971562e-01 -6.96766317e-03 -2.88571480e-03 1.91999214e+02] [ 6.96706549e-03 9.99975706e-01 -2.17117072e-04 1.00753237e+01] [ 2.88715749e-03 1.97005933e-04 9.99995813e-01 -2.38415831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.411400513 meters Centerline goodness [0,1] 0.9831539440477988 Centerline is valid? [True, True] Translation: X:192.03, Y:10.08, Z:-0.24 [[ 9.99979103e-01 -6.00482528e-03 -2.39499487e-03 1.92027713e+02] [ 6.00441061e-03 9.99981957e-01 -1.80293240e-04 1.00822729e+01] [ 2.39603429e-03 1.65908940e-04 9.99997116e-01 -2.37149103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.441400513 meters Centerline goodness [0,1] 0.8789829556501264 Centerline is valid? [True, False] Translation: X:192.02, Y:10.08, Z:-0.23 [[ 9.99988007e-01 -4.61637538e-03 -1.63569694e-03 1.92022096e+02] [ 4.61792747e-03 9.99988889e-01 9.46383731e-04 1.00834456e+01] [ 1.63130990e-03 -9.53925911e-04 9.99998214e-01 -2.33581560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.471400513 meters Centerline goodness [0,1] 0.9409337722861174 Centerline is valid? [False, False] Translation: X:192.04, Y:10.10, Z:-0.24 [[ 9.99998013e-01 -1.50991462e-04 1.98764525e-03 1.92042934e+02] [ 1.65189105e-04 9.99974463e-01 -7.14472098e-03 1.00963583e+01] [-1.98651570e-03 7.14503512e-03 9.99972501e-01 -2.37166052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.501400513 meters Centerline goodness [0,1] 0.6285573143753087 Centerline is valid? [False, False] Translation: X:192.04, Y:10.10, Z:-0.24 [[ 9.99997771e-01 -3.81166375e-04 2.07678827e-03 1.92042670e+02] [ 3.97185161e-04 9.99970135e-01 -7.71830472e-03 1.00990697e+01] [-2.07378429e-03 7.71911238e-03 9.99968057e-01 -2.37233496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.531400513 meters Centerline goodness [0,1] 0.8755630872195289 Centerline is valid? [False, False] Translation: X:192.04, Y:10.09, Z:-0.24 [[ 9.99990625e-01 3.93891595e-03 1.79837928e-03 1.92043319e+02] [-3.93422166e-03 9.99988864e-01 -2.60640757e-03 1.00949282e+01] [-1.80862568e-03 2.59930791e-03 9.99994986e-01 -2.36669479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.561400513 meters Centerline goodness [0,1] 0.8768922672753504 Centerline is valid? [False, False] Translation: X:192.04, Y:10.10, Z:-0.24 [[ 9.99991280e-01 3.68619993e-03 1.96256276e-03 1.92042780e+02] [-3.67988458e-03 9.99988071e-01 -3.21185177e-03 1.00977804e+01] [-1.97437888e-03 3.20460176e-03 9.99992916e-01 -2.36681989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.591400513 meters Centerline goodness [0,1] 0.9833164921634812 Centerline is valid? [False, True] Translation: X:192.04, Y:10.10, Z:-0.24 [[ 9.99992140e-01 3.43099268e-03 1.98707977e-03 1.92042805e+02] [-3.42341307e-03 9.99986900e-01 -3.80536862e-03 1.01005445e+01] [-2.00010993e-03 3.79853612e-03 9.99990785e-01 -2.36909378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.621400513 meters Centerline goodness [0,1] 0.9659889014133356 Centerline is valid? [True, True] Translation: X:192.07, Y:10.10, Z:-0.24 [[ 9.99993221e-01 3.68164713e-03 6.12857141e-05 1.92073760e+02] [-3.68164740e-03 9.99993223e-01 4.35705702e-06 1.01031042e+01] [-6.12692576e-05 -4.58265987e-06 9.99999998e-01 -2.38486087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.651400513 meters Centerline goodness [0,1] 0.8255764121025113 Centerline is valid? [True, False] Translation: X:192.08, Y:10.10, Z:-0.24 [[ 9.99993100e-01 3.70183030e-03 -3.10643692e-04 1.92075300e+02] [-3.70179894e-03 9.99993143e-01 1.01474471e-04 1.01025467e+01] [ 3.11017203e-04 -1.00323831e-04 9.99999947e-01 -2.39179799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.681400513 meters Centerline goodness [0,1] 0.8342250585530415 Centerline is valid? [False, False] Translation: X:192.08, Y:10.10, Z:-0.24 [[ 9.99993006e-01 3.72566931e-03 -3.26930025e-04 1.92075306e+02] [-3.72561847e-03 9.99993048e-01 1.56002134e-04 1.01023005e+01] [ 3.27508964e-04 -1.54783027e-04 9.99999934e-01 -2.39092993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.711400513 meters Centerline goodness [0,1] 0.9714193409433556 Centerline is valid? [False, True] Translation: X:192.07, Y:10.10, Z:-0.24 [[ 9.99993140e-01 3.69573597e-03 -2.47748634e-04 1.92074892e+02] [-3.69571448e-03 9.99993167e-01 8.71261918e-05 1.01026421e+01] [ 2.48068936e-04 -8.62099859e-05 9.99999966e-01 -2.38782092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.74140051300003 meters Centerline goodness [0,1] 0.9863722615145765 Centerline is valid? [True, True] Translation: X:192.11, Y:10.10, Z:-0.24 [[ 9.99993317e-01 3.56112866e-03 8.27293471e-04 1.92105439e+02] [-3.56117715e-03 9.99993657e-01 5.71543118e-05 1.01036303e+01] [-8.27084690e-04 -6.01000685e-05 9.99999656e-01 -2.36304666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.771400513 meters Centerline goodness [0,1] 0.5483727810650887 Centerline is valid? [True, False] Translation: X:192.15, Y:10.11, Z:-0.24 [[ 9.99983180e-01 4.55175112e-03 3.59459674e-03 1.92145916e+02] [-4.54844399e-03 9.99989225e-01 -9.27668258e-04 1.01067092e+01] [-3.59878053e-03 9.11302832e-04 9.99993109e-01 -2.36821088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.80140051300003 meters Centerline goodness [0,1] 0.8746067511266049 Centerline is valid? [False, False] Translation: X:192.15, Y:10.11, Z:-0.24 [[ 9.99983278e-01 4.53885991e-03 3.58364824e-03 1.92146147e+02] [-4.53536542e-03 9.99989232e-01 -9.82646015e-04 1.01069350e+01] [-3.58806975e-03 9.66376428e-04 9.99993096e-01 -2.37195087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.831400513 meters Centerline goodness [0,1] 0.7154360409235567 Centerline is valid? [False, False] Translation: X:192.15, Y:10.11, Z:-0.24 [[ 9.99984172e-01 4.39371062e-03 3.51444997e-03 1.92146885e+02] [-4.38892161e-03 9.99989431e-01 -1.36921729e-03 1.01087083e+01] [-3.52042877e-03 1.35377097e-03 9.99992887e-01 -2.38226272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.86140051300004 meters Centerline goodness [0,1] 0.663732281786209 Centerline is valid? [False, False] Translation: X:192.15, Y:10.11, Z:-0.24 [[ 9.99985393e-01 4.16871673e-03 3.44024228e-03 1.92147538e+02] [-4.16176257e-03 9.99989287e-01 -2.02610758e-03 1.01117866e+01] [-3.44865170e-03 2.01176051e-03 9.99992030e-01 -2.39090333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.891400513 meters Centerline goodness [0,1] 0.6587067004061496 Centerline is valid? [False, False] Translation: X:192.15, Y:10.11, Z:-0.24 [[ 9.99985949e-01 4.01246194e-03 3.46436943e-03 1.92147575e+02] [-4.00359788e-03 9.99988704e-01 -2.56179214e-03 1.01143626e+01] [-3.47460940e-03 2.54788621e-03 9.99990718e-01 -2.39394948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.921400513 meters Centerline goodness [0,1] 0.6881487613831752 Centerline is valid? [False, False] Translation: X:192.15, Y:10.12, Z:-0.24 [[ 9.99985200e-01 3.88761993e-03 3.80617127e-03 1.92145926e+02] [-3.87593071e-03 9.99987765e-01 -3.07369672e-03 1.01169694e+01] [-3.81807407e-03 3.05889878e-03 9.99988033e-01 -2.38431890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.951400513 meters Centerline goodness [0,1] 0.562761906787773 Centerline is valid? [False, False] Translation: X:192.15, Y:10.12, Z:-0.24 [[ 9.99985780e-01 3.77917461e-03 3.76268026e-03 1.92145889e+02] [-3.76666526e-03 9.99987374e-01 -3.32614068e-03 1.01181848e+01] [-3.77520282e-03 3.31192062e-03 9.99987389e-01 -2.38108962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.981400513 meters Centerline goodness [0,1] 0.7694409189665928 Centerline is valid? [False, False] Translation: X:192.12, Y:10.11, Z:-0.23 [[ 9.99995535e-01 2.34917841e-03 -1.84677614e-03 1.92124075e+02] [-2.33693104e-03 9.99975448e-01 6.60617893e-03 1.01101231e+01] [ 1.86224989e-03 -6.60183364e-03 9.99976474e-01 -2.31707499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.011400513 meters Centerline goodness [0,1] 0.8488292453234023 Centerline is valid? [False, False] Translation: X:192.13, Y:10.11, Z:-0.23 [[ 9.99995079e-01 2.32034177e-03 -2.11153264e-03 1.92125035e+02] [-2.30614798e-03 9.99974897e-01 6.69981959e-03 1.01095408e+01] [ 2.12702551e-03 -6.69491711e-03 9.99975327e-01 -2.31918032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.041400513 meters Centerline goodness [0,1] 0.7061330605634404 Centerline is valid? [False, False] Translation: X:192.13, Y:10.11, Z:-0.23 [[ 9.99995811e-01 -2.06263852e-03 -2.03044416e-03 1.92125019e+02] [ 2.06719414e-03 9.99995345e-01 2.24411966e-03 1.01100940e+01] [ 2.02580590e-03 -2.24830758e-03 9.99995421e-01 -2.32428877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.071400513 meters Centerline goodness [0,1] 0.596301375733939 Centerline is valid? [False, False] Translation: X:192.12, Y:10.11, Z:-0.23 [[ 9.99991303e-01 -4.03901102e-03 -1.03984341e-03 1.92117992e+02] [ 4.03944923e-03 9.99991753e-01 4.19668687e-04 1.01098814e+01] [ 1.03813979e-03 -4.23865432e-04 9.99999371e-01 -2.27922641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.101400513 meters Centerline goodness [0,1] 0.8374884777808742 Centerline is valid? [False, False] Translation: X:192.12, Y:10.11, Z:-0.23 [[ 9.99991941e-01 -3.91018496e-03 -9.09830682e-04 1.92117230e+02] [ 3.91087076e-03 9.99992069e-01 7.53212468e-04 1.01083609e+01] [ 9.06878266e-04 -7.56764629e-04 9.99999302e-01 -2.27228445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.131400513 meters Centerline goodness [0,1] 0.8442403367776502 Centerline is valid? [False, False] Translation: X:192.12, Y:10.11, Z:-0.23 [[ 9.99992063e-01 -3.88864920e-03 -8.66988350e-04 1.92116943e+02] [ 3.88934498e-03 9.99992115e-01 8.02290948e-04 1.01081578e+01] [ 8.63861686e-04 -8.05656598e-04 9.99999302e-01 -2.26935284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.161400513 meters Centerline goodness [0,1] 0.7684563758389262 Centerline is valid? [False, False] Translation: X:192.12, Y:10.11, Z:-0.23 [[ 9.99967777e-01 -8.02059812e-03 -3.39152045e-04 1.92115536e+02] [ 8.01894730e-03 9.99957189e-01 -4.61694183e-03 1.01144804e+01] [ 3.76168160e-04 4.61407342e-03 9.99989284e-01 -2.27549030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.191400513 meters Centerline goodness [0,1] 0.9418482569475691 Centerline is valid? [False, False] Translation: X:192.12, Y:10.11, Z:-0.23 [[ 9.99993443e-01 -3.48550724e-03 -9.82064912e-04 1.92117583e+02] [ 3.48640425e-03 9.99993506e-01 9.13160125e-04 1.01082939e+01] [ 9.78875708e-04 -9.16578013e-04 9.99999101e-01 -2.27604224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.221400513 meters Centerline goodness [0,1] 0.6453790127939512 Centerline is valid? [False, False] Translation: X:192.12, Y:10.10, Z:-0.23 [[ 9.99998396e-01 1.15633301e-03 -1.36780287e-03 1.92119425e+02] [-1.14805423e-03 9.99981112e-01 6.03799149e-03 1.01043822e+01] [ 1.37475896e-03 -6.03641149e-03 9.99980836e-01 -2.28710689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.251400513 meters Centerline goodness [0,1] 0.6381302184543766 Centerline is valid? [False, False] Translation: X:192.12, Y:10.11, Z:-0.23 [[ 9.99998807e-01 9.79714031e-04 -1.19412023e-03 1.92118932e+02] [-9.73209127e-04 9.99984752e-01 5.43590685e-03 1.01072927e+01] [ 1.19942766e-03 -5.43473823e-03 9.99984512e-01 -2.28918879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.281400513 meters Centerline goodness [0,1] 0.593879132231405 Centerline is valid? [False, False] Translation: X:192.12, Y:10.11, Z:-0.23 [[ 9.99999221e-01 8.69746025e-04 -8.95085998e-04 1.92117616e+02] [-8.65288032e-04 9.99987281e-01 4.96891233e-03 1.01096761e+01] [ 8.99396305e-04 -4.96813396e-03 9.99987254e-01 -2.28265765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.311400513 meters Centerline goodness [0,1] 0.5069140182521532 Centerline is valid? [False, False] Translation: X:192.12, Y:10.11, Z:-0.23 [[ 9.99999437e-01 8.58734888e-04 -6.23386118e-04 1.92116304e+02] [-8.55788322e-04 9.99988534e-01 4.71168907e-03 1.01110808e+01] [ 6.27425062e-04 -4.71115293e-03 9.99988706e-01 -2.27477059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.341400513 meters Centerline goodness [0,1] 0.4936808343422757 Centerline is valid? [False, False] Translation: X:192.12, Y:10.11, Z:-0.23 [[ 9.99999520e-01 8.82228761e-04 -4.26382391e-04 1.92115602e+02] [-8.80285750e-04 9.99989325e-01 4.53587149e-03 1.01120492e+01] [ 4.30379516e-04 -4.53549398e-03 9.99989622e-01 -2.27467981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.371400513 meters Centerline goodness [0,1] 0.5094942778594719 Centerline is valid? [False, False] Translation: X:192.12, Y:10.11, Z:-0.23 [[ 9.99999589e-01 7.85783489e-04 -4.51261865e-04 1.92116084e+02] [-7.83831479e-04 9.99990406e-01 4.30967829e-03 1.01130487e+01] [ 4.54644010e-04 -4.30932280e-03 9.99990611e-01 -2.28274494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.401400513 meters Centerline goodness [0,1] 0.634587475902701 Centerline is valid? [False, False] Translation: X:192.08, Y:10.11, Z:-0.23 [[ 9.99993738e-01 -5.01747363e-04 -3.50326199e-03 1.92076800e+02] [ 5.15321029e-04 9.99992360e-01 3.87475217e-03 1.01119790e+01] [ 3.50129108e-03 -3.87653321e-03 9.99986357e-01 -2.30186553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.431400513 meters Centerline goodness [0,1] 0.626302195436935 Centerline is valid? [False, False] Translation: X:192.08, Y:10.11, Z:-0.23 [[ 9.99993658e-01 -6.46152396e-04 -3.50237636e-03 1.92076970e+02] [ 6.58402372e-04 9.99993667e-01 3.49759454e-03 1.01137282e+01] [ 3.50009420e-03 -3.49987833e-03 9.99987750e-01 -2.30578525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.461400513 meters Centerline goodness [0,1] 0.4652915679115154 Centerline is valid? [False, False] Translation: X:192.10, Y:10.12, Z:-0.23 [[ 9.99995917e-01 1.43498318e-03 -2.47114047e-03 1.92095518e+02] [-1.45273302e-03 9.99973052e-01 -7.19610418e-03 1.01223990e+01] [ 2.46074759e-03 7.19966471e-03 9.99971054e-01 -2.28486446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.49140051300003 meters Centerline goodness [0,1] 0.48243469308969245 Centerline is valid? [False, False] Translation: X:192.10, Y:10.12, Z:-0.23 [[ 9.99995732e-01 1.51222090e-03 -2.49997465e-03 1.92095407e+02] [-1.52982097e-03 9.99973955e-01 -7.05324299e-03 1.01217683e+01] [ 2.48924348e-03 7.05703740e-03 9.99972001e-01 -2.28090104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.521400513 meters Centerline goodness [0,1] 0.5733538369535038 Centerline is valid? [False, False] Translation: X:192.10, Y:10.12, Z:-0.23 [[ 9.99995673e-01 1.56817270e-03 -2.48912684e-03 1.92095250e+02] [-1.58537493e-03 9.99974771e-01 -6.92408943e-03 1.01211704e+01] [ 2.47820588e-03 6.92800567e-03 9.99972930e-01 -2.27863315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.55140051300003 meters Centerline goodness [0,1] 0.4651809988654122 Centerline is valid? [False, False] Translation: X:192.10, Y:10.12, Z:-0.23 [[ 9.99995558e-01 1.65233203e-03 -2.48077124e-03 1.92095238e+02] [-1.66891425e-03 9.99976181e-01 -6.69717741e-03 1.01200899e+01] [ 2.46964619e-03 6.70128785e-03 9.99974496e-01 -2.27927977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.581400513 meters Centerline goodness [0,1] 0.497772308736793 Centerline is valid? [False, False] Translation: X:192.12, Y:10.11, Z:-0.23 [[ 9.99997963e-01 -1.95608335e-03 -4.98570786e-04 1.92116273e+02] [ 1.95662957e-03 9.99997484e-01 1.09745381e-03 1.01149181e+01] [ 4.96422820e-04 -1.09842709e-03 9.99999274e-01 -2.28985620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.61140051300004 meters Centerline goodness [0,1] 0.5056272652126915 Centerline is valid? [False, False] Translation: X:192.12, Y:10.11, Z:-0.23 [[ 9.99998484e-01 -1.65087862e-03 -5.52911480e-04 1.92116168e+02] [ 1.65196061e-03 9.99996710e-01 1.96218157e-03 1.01108035e+01] [ 5.49670338e-04 -1.96309198e-03 9.99997922e-01 -2.28382075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.641400513 meters Centerline goodness [0,1] 0.6717813887332442 Centerline is valid? [False, False] Translation: X:192.07, Y:10.10, Z:-0.23 [[ 9.99991722e-01 -3.02171443e-03 -2.72474282e-03 1.92072922e+02] [ 3.03040378e-03 9.99990318e-01 3.19058607e-03 1.01034682e+01] [ 2.71507540e-03 -3.19881673e-03 9.99991198e-01 -2.26580126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.671400513 meters Centerline goodness [0,1] 0.6441665238992633 Centerline is valid? [False, False] Translation: X:192.07, Y:10.10, Z:-0.23 [[ 9.99991803e-01 -2.83143320e-03 -2.89439100e-03 1.92073265e+02] [ 2.84208693e-03 9.99989178e-01 3.68335612e-03 1.01011459e+01] [ 2.88393050e-03 -3.69155204e-03 9.99989028e-01 -2.26120956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.701400513 meters Centerline goodness [0,1] 0.6796587702043958 Centerline is valid? [False, False] Translation: X:192.07, Y:10.10, Z:-0.23 [[ 9.99991936e-01 -2.66496752e-03 -3.00416923e-03 1.92073580e+02] [ 2.67721672e-03 9.99988090e-01 4.08077941e-03 1.00992611e+01] [ 2.99325831e-03 -4.08878931e-03 9.99987161e-01 -2.25970717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.731400513 meters Centerline goodness [0,1] 0.7377407399472997 Centerline is valid? [False, False] Translation: X:192.07, Y:10.10, Z:-0.23 [[ 9.99992298e-01 -2.50248124e-03 -3.02364096e-03 1.92073736e+02] [ 2.51591159e-03 9.99986951e-01 4.44617388e-03 1.00975502e+01] [ 3.01247504e-03 -4.45374685e-03 9.99985544e-01 -2.26120842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.761400513 meters Centerline goodness [0,1] 0.49492364313211223 Centerline is valid? [False, False] Translation: X:192.10, Y:10.11, Z:-0.23 [[ 9.99997036e-01 -1.54812825e-03 1.87940444e-03 1.92097357e+02] [ 1.55943334e-03 9.99980611e-01 -6.02876708e-03 1.01061086e+01] [-1.87003470e-03 6.03168001e-03 9.99980061e-01 -2.33530571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.791400513 meters Centerline goodness [0,1] 0.614379502920237 Centerline is valid? [False, False] Translation: X:192.10, Y:10.10, Z:-0.23 [[ 9.99997352e-01 -1.27789270e-03 1.91407823e-03 1.92097881e+02] [ 1.28836808e-03 9.99984146e-01 -5.48160872e-03 1.01035104e+01] [-1.90704298e-03 5.48406024e-03 9.99983144e-01 -2.34782409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.821400513 meters Centerline goodness [0,1] 0.657272628960744 Centerline is valid? [False, False] Translation: X:192.06, Y:10.09, Z:-0.23 [[ 9.99999760e-01 2.12727007e-04 -6.59917666e-04 1.92057179e+02] [-2.13067600e-04 9.99999844e-01 -5.16087268e-04 1.00935078e+01] [ 6.59807777e-04 5.16227751e-04 9.99999649e-01 -2.33881850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.851400513 meters Centerline goodness [0,1] 0.3870117727060224 Centerline is valid? [False, False] Translation: X:192.10, Y:10.10, Z:-0.23 [[ 9.99998168e-01 8.92390524e-04 1.69359653e-03 1.92099211e+02] [-8.90078028e-04 9.99998671e-01 -1.36569754e-03 1.00963555e+01] [-1.69481302e-03 1.36418760e-03 9.99997633e-01 -2.34776456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.881400513 meters Centerline goodness [0,1] 0.7601551556944295 Centerline is valid? [False, False] Translation: X:192.06, Y:10.09, Z:-0.23 [[ 9.99999728e-01 3.95472660e-04 -6.23080109e-04 1.92057559e+02] [-3.94648896e-04 9.99999049e-01 1.32165324e-03 1.00881182e+01] [ 6.23602194e-04 -1.32140699e-03 9.99998933e-01 -2.33638768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.911400513 meters Centerline goodness [0,1] 0.7601551556944295 Centerline is valid? [False, False] Translation: X:192.06, Y:10.09, Z:-0.23 [[ 9.99999728e-01 3.95472660e-04 -6.23080109e-04 1.92057559e+02] [-3.94648896e-04 9.99999049e-01 1.32165324e-03 1.00881182e+01] [ 6.23602194e-04 -1.32140699e-03 9.99998933e-01 -2.33638768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.941400513 meters Centerline goodness [0,1] 0.626845608944269 Centerline is valid? [False, False] Translation: X:192.08, Y:10.08, Z:-0.23 [[ 9.99989486e-01 -4.46405223e-03 1.04904932e-03 1.92076088e+02] [ 4.45564840e-03 9.99959016e-01 7.88115531e-03 1.00826468e+01] [-1.08418821e-03 -7.87639825e-03 9.99968393e-01 -2.31512125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.971400513 meters Centerline goodness [0,1] 0.6323406085367165 Centerline is valid? [False, False] Translation: X:192.07, Y:10.09, Z:-0.23 [[ 9.99958736e-01 -8.95815185e-03 1.50937070e-03 1.92074671e+02] [ 8.95375192e-03 9.99955718e-01 2.89704104e-03 1.00858960e+01] [-1.53525600e-03 -2.88340696e-03 9.99994664e-01 -2.31527305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.001400513 meters Centerline goodness [0,1] 0.7990004954440687 Centerline is valid? [False, False] Translation: X:192.07, Y:10.08, Z:-0.23 [[ 9.99961388e-01 -8.65650968e-03 1.51263816e-03 1.92074406e+02] [ 8.65087486e-03 9.99955762e-01 3.69282189e-03 1.00821800e+01] [-1.54453820e-03 -3.67959365e-03 9.99992037e-01 -2.30954430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.031400513 meters Centerline goodness [0,1] 0.9127839815171351 Centerline is valid? [False, False] Translation: X:192.07, Y:10.08, Z:-0.23 [[ 9.99964132e-01 -8.36361650e-03 1.33621151e-03 1.92074951e+02] [ 8.35751399e-03 9.99954909e-01 4.50913238e-03 1.00782410e+01] [-1.37386392e-03 -4.49780324e-03 9.99988941e-01 -2.30822171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.061400513 meters Centerline goodness [0,1] 0.891068143902126 Centerline is valid? [False, False] Translation: X:192.08, Y:10.07, Z:-0.23 [[ 9.99969985e-01 -7.66655162e-03 1.11910134e-03 1.92075574e+02] [ 7.65945607e-03 9.99951367e-01 6.21265967e-03 1.00701983e+01] [-1.16667659e-03 -6.20390149e-03 9.99980075e-01 -2.30521559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.091400513 meters Centerline goodness [0,1] 0.8868077135924397 Centerline is valid? [False, False] Translation: X:192.08, Y:10.07, Z:-0.23 [[ 9.99971588e-01 -7.45877871e-03 1.09052643e-03 1.92075621e+02] [ 7.45133909e-03 9.99949967e-01 6.67396611e-03 1.00680348e+01] [-1.14025151e-03 -6.66565060e-03 9.99977134e-01 -2.30389506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.121400513 meters Centerline goodness [0,1] 0.7047332992501705 Centerline is valid? [False, False] Translation: X:192.07, Y:10.07, Z:-0.23 [[ 9.99934314e-01 -1.13458252e-02 1.62461224e-03 1.92074323e+02] [ 1.13432399e-02 9.99934396e-01 1.59181504e-03 1.00729451e+01] [-1.64256612e-03 -1.57328212e-03 9.99997413e-01 -2.31365238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.151400513 meters Centerline goodness [0,1] 0.6563514437040834 Centerline is valid? [False, False] Translation: X:192.08, Y:10.07, Z:-0.23 [[ 9.99934863e-01 -1.13142530e-02 1.50229342e-03 1.92075094e+02] [ 1.13118212e-02 9.99934711e-01 1.61751620e-03 1.00727817e+01] [-1.52049633e-03 -1.60041717e-03 9.99997563e-01 -2.32086358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.181400513 meters Centerline goodness [0,1] 0.4780143361506366 Centerline is valid? [False, False] Translation: X:192.08, Y:10.07, Z:-0.23 [[ 9.99936235e-01 -1.11997111e-02 1.44644464e-03 1.92075490e+02] [ 1.11970920e-02 9.99935679e-01 1.80630066e-03 1.00718954e+01] [-1.46658165e-03 -1.78998951e-03 9.99997323e-01 -2.32514014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.211400513 meters Centerline goodness [0,1] 0.7264968207229121 Centerline is valid? [False, False] Translation: X:192.08, Y:10.07, Z:-0.23 [[ 9.99938231e-01 -1.10179902e-02 1.46213437e-03 1.92075421e+02] [ 1.10148962e-02 9.99937113e-01 2.10750396e-03 1.00705425e+01] [-1.48526288e-03 -2.09126852e-03 9.99996710e-01 -2.32453319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.24140051300003 meters Centerline goodness [0,1] 0.5134086548710297 Centerline is valid? [False, False] Translation: X:192.07, Y:10.08, Z:-0.23 [[ 9.99981070e-01 -4.17042941e-03 4.52408534e-03 1.92072738e+02] [ 4.22349714e-03 9.99921639e-01 -1.17846077e-02 1.00770403e+01] [-4.47458395e-03 1.18034921e-02 9.99920325e-01 -2.33418193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.271400513 meters Centerline goodness [0,1] 0.6134710565956532 Centerline is valid? [False, False] Translation: X:192.05, Y:10.06, Z:-0.23 [[ 9.99999232e-01 -7.52403030e-04 -9.85312980e-04 1.92048925e+02] [ 7.55870159e-04 9.99993508e-01 3.52317829e-03 1.00611751e+01] [ 9.82655733e-04 -3.52392035e-03 9.99993308e-01 -2.25190328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.30140051300003 meters Centerline goodness [0,1] 0.39889818836741175 Centerline is valid? [False, False] Translation: X:192.09, Y:10.07, Z:-0.23 [[ 9.99999283e-01 -1.47159688e-04 1.18804265e-03 1.92090042e+02] [ 1.47390331e-04 9.99999970e-01 -1.94052086e-04 1.00701771e+01] [-1.18801406e-03 1.94227053e-04 9.99999275e-01 -2.27467837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.331400513 meters Centerline goodness [0,1] 0.4460308639336553 Centerline is valid? [False, False] Translation: X:192.09, Y:10.07, Z:-0.23 [[ 9.99999164e-01 -1.61891542e-04 1.28273697e-03 1.92089935e+02] [ 1.62432255e-04 9.99999898e-01 -4.21438136e-04 1.00713113e+01] [-1.28266861e-03 4.21646141e-04 9.99999088e-01 -2.27913978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.36140051300004 meters Centerline goodness [0,1] 0.39231369900597257 Centerline is valid? [False, False] Translation: X:192.13, Y:10.08, Z:-0.23 [[ 9.99994730e-01 2.18264671e-03 2.40316416e-03 1.92134015e+02] [-2.17791714e-03 9.99995690e-01 -1.96892302e-03 1.00779880e+01] [-2.40745126e-03 1.96367875e-03 9.99995174e-01 -2.30991706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.391400513 meters Centerline goodness [0,1] 0.4402832041789885 Centerline is valid? [False, False] Translation: X:192.09, Y:10.07, Z:-0.23 [[ 9.99997333e-01 2.25595499e-03 -4.95135798e-04 1.92093227e+02] [-2.25584430e-03 9.99997430e-01 2.23994678e-04 1.00728773e+01] [ 4.95639847e-04 -2.22877132e-04 9.99999852e-01 -2.30603852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.421400513 meters Centerline goodness [0,1] 0.4086857044183988 Centerline is valid? [False, False] Translation: X:192.09, Y:10.07, Z:-0.23 [[ 9.99997722e-01 2.09872251e-03 -3.88779433e-04 1.92092948e+02] [-2.09879025e-03 9.99997782e-01 -1.73912996e-04 1.00747473e+01] [ 3.88413575e-04 1.74728566e-04 9.99999909e-01 -2.30765095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.451400513 meters Centerline goodness [0,1] 0.3774294135235573 Centerline is valid? [False, False] Translation: X:192.09, Y:10.07, Z:-0.23 [[ 9.99979893e-01 6.27948089e-03 -8.84297217e-04 1.92094213e+02] [-6.27505252e-03 9.99968186e-01 4.92454679e-03 1.00703200e+01] [ 9.15192681e-04 -4.91889876e-03 9.99987483e-01 -2.29844558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.481400513 meters Centerline goodness [0,1] 0.41155591885903586 Centerline is valid? [False, False] Translation: X:192.09, Y:10.07, Z:-0.23 [[ 9.99982100e-01 5.92634375e-03 -8.22944452e-04 1.92094022e+02] [-5.92288857e-03 9.99973892e-01 4.13937263e-03 1.00739699e+01] [ 8.47454312e-04 -4.13442433e-03 9.99991094e-01 -2.29936416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.511400513 meters Centerline goodness [0,1] 0.41030769885517304 Centerline is valid? [False, False] Translation: X:192.09, Y:10.08, Z:-0.23 [[ 9.99983199e-01 5.73202129e-03 -8.63761351e-04 1.92094225e+02] [-5.72873312e-03 9.99976513e-01 3.76237562e-03 1.00756720e+01] [ 8.85307080e-04 -3.75736415e-03 9.99992549e-01 -2.30113103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.541400513 meters Centerline goodness [0,1] 0.43876045253320217 Centerline is valid? [False, False] Translation: X:192.09, Y:10.08, Z:-0.23 [[ 9.99984133e-01 5.56627841e-03 -8.66363717e-04 1.92094259e+02] [-5.56329586e-03 9.99978718e-01 3.40777299e-03 1.00773205e+01] [ 8.85313892e-04 -3.40289908e-03 9.99993818e-01 -2.30183633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.571400513 meters Centerline goodness [0,1] 0.42505696683264416 Centerline is valid? [False, False] Translation: X:192.11, Y:10.07, Z:-0.23 [[ 9.99987234e-01 4.95188622e-03 -1.00543339e-03 1.92113637e+02] [-4.93758793e-03 9.99893169e-01 1.37575544e-02 1.00737450e+01] [ 1.07345182e-03 -1.37524143e-02 9.99904855e-01 -2.26129171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.601400513 meters Centerline goodness [0,1] 0.43935015732357285 Centerline is valid? [False, False] Translation: X:192.09, Y:10.08, Z:-0.22 [[ 9.99983076e-01 4.34217651e-03 -3.87213703e-03 1.92088532e+02] [-4.33494390e-03 9.99988848e-01 1.87430188e-03 1.00820351e+01] [ 3.88023240e-03 -1.85748466e-03 9.99990747e-01 -2.21753554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.631400513 meters Centerline goodness [0,1] 0.43635124486188315 Centerline is valid? [False, False] Translation: X:192.09, Y:10.09, Z:-0.22 [[ 9.99985260e-01 3.95203401e-03 -3.72318675e-03 1.92087899e+02] [-3.94841123e-03 9.99991725e-01 9.79880713e-04 1.00862697e+01] [ 3.72702847e-03 -9.65165596e-04 9.99992589e-01 -2.21526346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.661400513 meters Centerline goodness [0,1] 0.48656978361834646 Centerline is valid? [False, False] Translation: X:192.09, Y:10.09, Z:-0.22 [[ 9.99986149e-01 3.72431614e-03 -3.71892262e-03 1.92088076e+02] [-3.72261033e-03 9.99992963e-01 4.65502465e-04 1.00886187e+01] [ 3.72063013e-03 -4.51651918e-04 9.99992976e-01 -2.21945244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.691400513 meters Centerline goodness [0,1] 0.4464202052898335 Centerline is valid? [False, False] Translation: X:192.09, Y:10.09, Z:-0.22 [[ 9.99986691e-01 3.50822557e-03 -3.78278236e-03 1.92088582e+02] [-3.50834177e-03 9.99993845e-01 -2.40836082e-05 1.00908548e+01] [ 3.78267459e-03 3.73545810e-05 9.99992845e-01 -2.22556533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.721400513 meters Centerline goodness [0,1] 0.3812380809530952 Centerline is valid? [False, False] Translation: X:192.09, Y:10.09, Z:-0.22 [[ 9.99987181e-01 3.32359270e-03 -3.81998347e-03 1.92088950e+02] [-3.32528851e-03 9.99994375e-01 -4.37663811e-04 1.00927454e+01] [ 3.81850737e-03 4.50360747e-04 9.99992608e-01 -2.23049014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.751400513 meters Centerline goodness [0,1] 0.47867483175729775 Centerline is valid? [False, False] Translation: X:192.09, Y:10.10, Z:-0.22 [[ 9.99988129e-01 3.05216175e-03 -3.79830150e-03 1.92088945e+02] [-3.05625159e-03 9.99994756e-01 -1.07141813e-03 1.00956887e+01] [ 3.79501144e-03 1.08301398e-03 9.99992212e-01 -2.23232723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.781400513 meters Centerline goodness [0,1] 0.4203704887979365 Centerline is valid? [False, False] Translation: X:192.11, Y:10.09, Z:-0.22 [[ 9.99983481e-01 2.99780018e-03 -4.90419257e-03 1.92108017e+02] [-2.95060567e-03 9.99949543e-01 9.60239423e-03 1.00908083e+01] [ 4.93273118e-03 -9.58776527e-03 9.99941870e-01 -2.17987341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.811400513 meters Centerline goodness [0,1] 0.4593492463384431 Centerline is valid? [False, False] Translation: X:192.11, Y:10.10, Z:-0.22 [[ 9.99990087e-01 -1.28707234e-03 -4.26260963e-03 1.92106147e+02] [ 1.30358196e-03 9.99991652e-01 3.87261328e-03 1.00986316e+01] [ 4.25758972e-03 -3.87813155e-03 9.99983416e-01 -2.18781978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.841400513 meters Centerline goodness [0,1] 0.49457234367274994 Centerline is valid? [False, False] Translation: X:192.11, Y:10.10, Z:-0.22 [[ 9.99989958e-01 -1.54209924e-03 -4.20794079e-03 1.92106205e+02] [ 1.55598871e-03 9.99993346e-01 3.29950124e-03 1.01012604e+01] [ 4.20282463e-03 -3.30601561e-03 9.99985703e-01 -2.19280601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.871400513 meters Centerline goodness [0,1] 0.42646685830233344 Centerline is valid? [False, False] Translation: X:192.15, Y:10.11, Z:-0.22 [[ 9.99997349e-01 -1.34295371e-03 -1.87035689e-03 1.92148295e+02] [ 1.34316808e-03 9.99999092e-01 1.13361077e-04 1.01110896e+01] [ 1.87020295e-03 -1.15872981e-04 9.99998244e-01 -2.21640867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.901400513 meters Centerline goodness [0,1] 0.41340221591272974 Centerline is valid? [False, False] Translation: X:192.15, Y:10.11, Z:-0.22 [[ 9.99996835e-01 -1.68074060e-03 -1.87217576e-03 1.92148501e+02] [ 1.67953439e-03 9.99998381e-01 -6.45664181e-04 1.01145972e+01] [ 1.87325792e-03 6.42517754e-04 9.99998039e-01 -2.22077597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.931400513 meters Centerline goodness [0,1] 0.43054965593407524 Centerline is valid? [False, False] Translation: X:192.15, Y:10.12, Z:-0.22 [[ 9.99996605e-01 -1.77115255e-03 -1.91151042e-03 1.92148596e+02] [ 1.76956275e-03 9.99998087e-01 -8.33065275e-04 1.01154717e+01] [ 1.91298225e-03 8.29679908e-04 9.99997826e-01 -2.22019241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.961400513 meters Centerline goodness [0,1] 0.4224719583995874 Centerline is valid? [False, False] Translation: X:192.11, Y:10.11, Z:-0.22 [[ 9.99988334e-01 -2.23449294e-03 -4.28247655e-03 1.92106479e+02] [ 2.23928602e-03 9.99996871e-01 1.11476277e-03 1.01099817e+01] [ 4.27997222e-03 -1.12433945e-03 9.99990209e-01 -2.21075738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.99140051300003 meters Centerline goodness [0,1] 0.42367514601741507 Centerline is valid? [False, False] Translation: X:192.11, Y:10.11, Z:-0.22 [[ 9.99987652e-01 -2.31735630e-03 -4.39607094e-03 1.92106884e+02] [ 2.32167996e-03 9.99996826e-01 9.78679673e-04 1.01105858e+01] [ 4.39378904e-03 -9.88873858e-04 9.99989858e-01 -2.21145098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.021400513 meters Centerline goodness [0,1] 0.4169703389830508 Centerline is valid? [False, False] Translation: X:192.13, Y:10.12, Z:-0.23 [[ 9.99996887e-01 -2.34208636e-03 8.60108919e-04 1.92130433e+02] [ 2.35084051e-03 9.99943963e-01 -1.03220447e-02 1.01223979e+01] [-8.35885601e-04 1.03240346e-02 9.99946356e-01 -2.28248935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.05140051300003 meters Centerline goodness [0,1] 0.3983575516456397 Centerline is valid? [False, False] Translation: X:192.13, Y:10.12, Z:-0.23 [[ 9.99996871e-01 -2.46687150e-03 4.16390431e-04 1.92131772e+02] [ 2.47083196e-03 9.99948974e-01 -9.79513366e-03 1.01193678e+01] [-3.92205848e-04 9.79613184e-03 9.99951940e-01 -2.28039557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.081400513 meters Centerline goodness [0,1] 0.6472185701661746 Centerline is valid? [False, False] Translation: X:192.11, Y:10.11, Z:-0.22 [[ 9.99980616e-01 -3.77491485e-03 -4.95153631e-03 1.92107918e+02] [ 3.77835621e-03 9.99992627e-01 6.85838010e-04 1.01064780e+01] [ 4.94891082e-03 -7.04533383e-04 9.99987506e-01 -2.20258447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.11140051300004 meters Centerline goodness [0,1] 0.46579476861167 Centerline is valid? [False, False] Translation: X:192.11, Y:10.10, Z:-0.22 [[ 9.99980355e-01 -3.66298975e-03 -5.08645574e-03 1.92108189e+02] [ 3.66908203e-03 9.99992562e-01 1.18893100e-03 1.01040027e+01] [ 5.08206287e-03 -1.20757026e-03 9.99986357e-01 -2.19887387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.141400513 meters Centerline goodness [0,1] 0.4661710037174721 Centerline is valid? [False, False] Translation: X:192.11, Y:10.10, Z:-0.22 [[ 9.99966377e-01 -5.72201372e-03 -5.87398669e-03 1.92114288e+02] [ 5.71808507e-03 9.99983417e-01 -6.85397850e-04 1.01045606e+01] [ 5.87781113e-03 6.51786849e-04 9.99982513e-01 -2.23663866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.171400513 meters Centerline goodness [0,1] 0.48955965758225883 Centerline is valid? [False, False] Translation: X:192.11, Y:10.10, Z:-0.22 [[ 9.99966478e-01 -5.64494309e-03 -5.93104608e-03 1.92114521e+02] [ 5.64217831e-03 9.99983966e-01 -4.82782372e-04 1.01035948e+01] [ 5.93367626e-03 4.49302169e-04 9.99982295e-01 -2.23744030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.201400513 meters Centerline goodness [0,1] 0.6682210156499521 Centerline is valid? [False, False] Translation: X:192.11, Y:10.10, Z:-0.22 [[ 9.99966059e-01 -5.64765622e-03 -5.99877433e-03 1.92114947e+02] [ 5.64487669e-03 9.99983952e-01 -4.80181383e-04 1.01035504e+01] [ 6.00138996e-03 4.46302744e-04 9.99981892e-01 -2.24112977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.231400513 meters Centerline goodness [0,1] 0.6006529532263571 Centerline is valid? [False, False] Translation: X:192.12, Y:10.10, Z:-0.22 [[ 9.99964938e-01 -5.75403889e-03 -6.08390283e-03 1.92115537e+02] [ 5.74978819e-03 9.99983214e-01 -7.15939253e-04 1.01046145e+01] [ 6.08792025e-03 6.80932998e-04 9.99981237e-01 -2.24699914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.261400513 meters Centerline goodness [0,1] 0.8644536356428005 Centerline is valid? [False, False] Translation: X:192.12, Y:10.11, Z:-0.23 [[ 9.99963388e-01 -5.98106907e-03 -6.11960170e-03 1.92115914e+02] [ 5.97341418e-03 9.99981355e-01 -1.26839354e-03 1.01071834e+01] [ 6.12707395e-03 1.23179218e-03 9.99980471e-01 -2.25226885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.291400513 meters Centerline goodness [0,1] 0.44148097652422136 Centerline is valid? [False, False] Translation: X:192.12, Y:10.11, Z:-0.23 [[ 9.99968258e-01 -3.72621945e-03 -7.04259528e-03 1.92122536e+02] [ 3.73288194e-03 9.99992597e-01 9.33120189e-04 1.01080316e+01] [ 7.03906614e-03 -9.59379747e-04 9.99974765e-01 -2.29205802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.321400513 meters Centerline goodness [0,1] 0.4624967945978289 Centerline is valid? [False, False] Translation: X:192.12, Y:10.11, Z:-0.23 [[ 9.99968984e-01 -4.19978111e-03 -6.66283626e-03 1.92120893e+02] [ 4.19702608e-03 9.99991101e-01 -4.27420936e-04 1.01146978e+01] [ 6.66457204e-03 3.99443581e-04 9.99977712e-01 -2.28490938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.351400513 meters Centerline goodness [0,1] 0.7683270075482963 Centerline is valid? [False, False] Translation: X:192.12, Y:10.12, Z:-0.23 [[ 9.99969967e-01 -4.33442452e-03 -6.42477254e-03 1.92119684e+02] [ 4.32941383e-03 9.99990313e-01 -7.93604463e-04 1.01165376e+01] [ 6.42815012e-03 7.65765130e-04 9.99979046e-01 -2.27720383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.381400513 meters Centerline goodness [0,1] 0.6166752268447184 Centerline is valid? [False, False] Translation: X:192.12, Y:10.12, Z:-0.23 [[ 9.99970612e-01 -4.47696762e-03 -6.22357373e-03 1.92118758e+02] [ 4.46990458e-03 9.99989351e-01 -1.14833194e-03 1.01182891e+01] [ 6.22864850e-03 1.12047941e-03 9.99979974e-01 -2.27243421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.411400513 meters Centerline goodness [0,1] 0.5778204307954788 Centerline is valid? [False, False] Translation: X:192.12, Y:10.12, Z:-0.23 [[ 9.99970036e-01 -4.68520106e-03 -6.16242177e-03 1.92118483e+02] [ 4.67532008e-03 9.99987764e-01 -1.61685399e-03 1.01204983e+01] [ 6.16992164e-03 1.58799425e-03 9.99979705e-01 -2.27150727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.441400513 meters Centerline goodness [0,1] 0.739652870493992 Centerline is valid? [False, False] Translation: X:192.12, Y:10.12, Z:-0.23 [[ 9.99968760e-01 -4.97032027e-03 -6.14615458e-03 1.92118541e+02] [ 4.95655370e-03 9.99985178e-01 -2.25307453e-03 1.01234401e+01] [ 6.15726199e-03 2.22254040e-03 9.99978574e-01 -2.27399736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.471400513 meters Centerline goodness [0,1] 0.8223363231565716 Centerline is valid? [False, False] Translation: X:192.14, Y:10.12, Z:-0.22 [[ 9.99959450e-01 -6.26454546e-03 -6.46947021e-03 1.92139756e+02] [ 6.31213339e-03 9.99952980e-01 7.36173598e-03 1.01214405e+01] [ 6.42304809e-03 -7.40227362e-03 9.99951974e-01 -2.24974407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.501400513 meters Centerline goodness [0,1] 0.8211788852543134 Centerline is valid? [False, False] Translation: X:192.13, Y:10.13, Z:-0.22 [[ 9.99943291e-01 -9.11003789e-03 -5.51561134e-03 1.92132950e+02] [ 9.13344091e-03 9.99949330e-01 4.23283486e-03 1.01269235e+01] [ 5.47677058e-03 -4.28297133e-03 9.99975830e-01 -2.20695510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.531400513 meters Centerline goodness [0,1] 0.8643255150965401 Centerline is valid? [False, False] Translation: X:192.13, Y:10.13, Z:-0.22 [[ 9.99921898e-01 -1.16488480e-02 -4.52797353e-03 1.92126094e+02] [ 1.16554737e-02 9.99931036e-01 1.43966867e-03 1.01297995e+01] [ 4.51089079e-03 -1.49233191e-03 9.99988712e-01 -2.16450620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.561400513 meters Centerline goodness [0,1] 0.871527927772258 Centerline is valid? [False, False] Translation: X:192.13, Y:10.13, Z:-0.22 [[ 9.99921646e-01 -1.16444134e-02 -4.59443188e-03 1.92126276e+02] [ 1.16514394e-02 9.99930986e-01 1.50544842e-03 1.01294787e+01] [ 4.57658474e-03 -1.55886221e-03 9.99988312e-01 -2.16364190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.591400513 meters Centerline goodness [0,1] 0.9539147670961348 Centerline is valid? [False, True] Translation: X:192.13, Y:10.13, Z:-0.22 [[ 9.99918337e-01 -1.18350635e-02 -4.82186119e-03 1.92127474e+02] [ 1.18408127e-02 9.99929216e-01 1.16553110e-03 1.01309324e+01] [ 4.80772575e-03 -1.22253067e-03 9.99987696e-01 -2.17313869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.621400513 meters Centerline goodness [0,1] 0.9730740140464613 Centerline is valid? [True, True] Translation: X:192.16, Y:10.13, Z:-0.22 [[ 9.99906409e-01 -1.23986409e-02 -5.78339992e-03 1.92156403e+02] [ 1.23959956e-02 9.99923045e-01 -4.93026515e-04 1.01335575e+01] [ 5.78906772e-03 4.21289372e-04 9.99983154e-01 -2.19103952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.651400513 meters Centerline goodness [0,1] 0.684784680887119 Centerline is valid? [True, False] Translation: X:192.20, Y:10.14, Z:-0.22 [[ 9.99933488e-01 -1.10224874e-02 -3.39476467e-03 1.92198301e+02] [ 1.10222760e-02 9.99939250e-01 -8.09864813e-05 1.01357681e+01] [ 3.39545111e-03 4.35630615e-05 9.99994234e-01 -2.19586325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.681400513 meters Centerline goodness [0,1] 0.9457729079385541 Centerline is valid? [False, False] Translation: X:192.20, Y:10.13, Z:-0.22 [[ 9.99934693e-01 -1.09202705e-02 -3.37004852e-03 1.92198108e+02] [ 1.09207633e-02 9.99940359e-01 1.27859348e-04 1.01348192e+01] [ 3.36845127e-03 -1.64654500e-04 9.99994313e-01 -2.19352321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.711400513 meters Centerline goodness [0,1] 0.9318426144915072 Centerline is valid? [False, False] Translation: X:192.20, Y:10.13, Z:-0.22 [[ 9.99975078e-01 -6.14293425e-03 -3.47970007e-03 1.92197963e+02] [ 6.16355309e-03 9.99963327e-01 5.94606256e-03 1.01276261e+01] [ 3.44304619e-03 -5.96736168e-03 9.99976268e-01 -2.18347218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.74140051300003 meters Centerline goodness [0,1] 0.6873285910181693 Centerline is valid? [False, False] Translation: X:192.21, Y:10.13, Z:-0.21 [[ 9.99994077e-01 -9.08468398e-04 -3.31959394e-03 1.92213426e+02] [ 9.05281904e-04 9.99999128e-01 -9.61281424e-04 1.01325254e+01] [ 3.32046434e-03 9.58270562e-04 9.99994028e-01 -2.12661802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.771400513 meters Centerline goodness [0,1] 0.6979914221410676 Centerline is valid? [False, False] Translation: X:192.22, Y:10.13, Z:-0.22 [[ 9.99990357e-01 1.38820092e-03 -4.16632260e-03 1.92219703e+02] [-1.38246661e-03 9.99998094e-01 1.37891222e-03 1.01302605e+01] [ 4.16822886e-03 -1.37313912e-03 9.99990370e-01 -2.16518643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.80140051300003 meters Centerline goodness [0,1] 0.6980621805792164 Centerline is valid? [False, False] Translation: X:192.22, Y:10.13, Z:-0.22 [[ 9.99990381e-01 1.42018902e-03 -4.14975996e-03 1.92219736e+02] [-1.41441897e-03 9.99998029e-01 1.39305751e-03 1.01302107e+01] [ 4.15173018e-03 -1.38717461e-03 9.99990419e-01 -2.16712248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.831400513 meters Centerline goodness [0,1] 0.6980621805792164 Centerline is valid? [False, False] Translation: X:192.22, Y:10.13, Z:-0.22 [[ 9.99990381e-01 1.42018902e-03 -4.14975996e-03 1.92219736e+02] [-1.41441897e-03 9.99998029e-01 1.39305751e-03 1.01302107e+01] [ 4.15173018e-03 -1.38717461e-03 9.99990419e-01 -2.16712248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.86140051300004 meters Centerline goodness [0,1] 0.5239928973322209 Centerline is valid? [False, False] Translation: X:192.22, Y:10.13, Z:-0.22 [[ 9.99990278e-01 1.54417316e-03 -4.13029087e-03 1.92219869e+02] [-1.53732520e-03 9.99997439e-01 1.66064715e-03 1.01289384e+01] [ 4.13284462e-03 -1.65428141e-03 9.99990091e-01 -2.17086736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.891400513 meters Centerline goodness [0,1] 0.5481765018607123 Centerline is valid? [False, False] Translation: X:192.22, Y:10.12, Z:-0.22 [[ 9.99988471e-01 1.94998701e-03 -4.38817866e-03 1.92221064e+02] [-1.93817590e-03 9.99994492e-01 2.69421983e-03 1.01239278e+01] [ 4.39340819e-03 -2.68568371e-03 9.99986742e-01 -2.17748914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.921400513 meters Centerline goodness [0,1] 0.5291522823168393 Centerline is valid? [False, False] Translation: X:192.22, Y:10.12, Z:-0.22 [[ 9.99987648e-01 2.19560016e-03 -4.45900499e-03 1.92221294e+02] [-2.18091937e-03 9.99992195e-01 3.29459078e-03 1.01210725e+01] [ 4.46620379e-03 -3.28482535e-03 9.99984631e-01 -2.17680345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.951400513 meters Centerline goodness [0,1] 0.5112901854056813 Centerline is valid? [False, False] Translation: X:192.22, Y:10.12, Z:-0.22 [[ 9.99986601e-01 2.49757421e-03 -4.53433888e-03 1.92221334e+02] [-2.47931784e-03 9.99988816e-01 4.02741386e-03 1.01176115e+01] [ 4.54434693e-03 -4.01611783e-03 9.99981610e-01 -2.17212799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.981400513 meters Centerline goodness [0,1] 0.7001261411498086 Centerline is valid? [False, False] Translation: X:192.21, Y:10.12, Z:-0.21 [[ 9.99993459e-01 2.01737826e-04 -3.61119857e-03 1.92214612e+02] [-1.95697161e-04 9.99998581e-01 1.67303412e-03 1.01171062e+01] [ 3.61153096e-03 -1.67231648e-03 9.99992080e-01 -2.13026777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.011400513 meters Centerline goodness [0,1] 0.5629895353526777 Centerline is valid? [False, False] Translation: X:192.21, Y:10.11, Z:-0.21 [[ 9.99993204e-01 4.42304546e-04 -3.66017783e-03 1.92214626e+02] [-4.34042882e-04 9.99997357e-01 2.25766201e-03 1.01143390e+01] [ 3.66116673e-03 -2.25605799e-03 9.99990753e-01 -2.12706474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.041400513 meters Centerline goodness [0,1] 0.5857133702176746 Centerline is valid? [False, False] Translation: X:192.21, Y:10.11, Z:-0.21 [[ 9.99993041e-01 6.06396043e-04 -3.68104432e-03 1.92214661e+02] [-5.96702207e-04 9.99996353e-01 2.63397462e-03 1.01125718e+01] [ 3.68262812e-03 -2.63175981e-03 9.99989756e-01 -2.12626238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.071400513 meters Centerline goodness [0,1] 0.6497902872107135 Centerline is valid? [False, False] Translation: X:192.21, Y:10.11, Z:-0.21 [[ 9.99992998e-01 6.28348063e-04 -3.68909958e-03 1.92214795e+02] [-6.18425054e-04 9.99996190e-01 2.69034340e-03 1.01122865e+01] [ 3.69077600e-03 -2.68804313e-03 9.99989576e-01 -2.12806224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.101400513 meters Centerline goodness [0,1] 0.7124087903622708 Centerline is valid? [False, False] Translation: X:192.21, Y:10.11, Z:-0.21 [[ 9.99993407e-01 5.71601149e-04 -3.58605332e-03 1.92214468e+02] [-5.62469545e-04 9.99996598e-01 2.54691383e-03 1.01129557e+01] [ 3.58749694e-03 -2.54487999e-03 9.99990327e-01 -2.12856735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.131400513 meters Centerline goodness [0,1] 0.5989630920255827 Centerline is valid? [False, False] Translation: X:192.21, Y:10.11, Z:-0.21 [[ 9.99993207e-01 5.64359859e-04 -3.64238090e-03 1.92214673e+02] [-5.55111348e-04 9.99996621e-01 2.53965049e-03 1.01129840e+01] [ 3.64380187e-03 -2.53761131e-03 9.99990142e-01 -2.12907106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.161400513 meters Centerline goodness [0,1] 0.5507249494471453 Centerline is valid? [False, False] Translation: X:192.17, Y:10.11, Z:-0.21 [[ 9.99978569e-01 -8.24627788e-04 -6.49470938e-03 1.92173708e+02] [ 8.41835315e-04 9.99996142e-01 2.64718035e-03 1.01093603e+01] [ 6.49250138e-03 -2.65259109e-03 9.99975405e-01 -2.13038481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.191400513 meters Centerline goodness [0,1] 0.6463981409759876 Centerline is valid? [False, False] Translation: X:192.17, Y:10.10, Z:-0.21 [[ 9.99975826e-01 -6.31560746e-04 -6.92450818e-03 1.92174983e+02] [ 6.56658796e-04 9.99993222e-01 3.62285033e-03 1.01044137e+01] [ 6.92217320e-03 -3.62730979e-03 9.99969463e-01 -2.12766829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.221400513 meters Centerline goodness [0,1] 0.6940666955391945 Centerline is valid? [False, False] Translation: X:192.17, Y:10.11, Z:-0.21 [[ 9.99977476e-01 -3.12899338e-03 -5.93775837e-03 1.92168091e+02] [ 3.13565183e-03 9.99994465e-01 1.11239659e-03 1.01050939e+01] [ 5.93424482e-03 -1.13099027e-03 9.99981753e-01 -2.08476238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.251400513 meters Centerline goodness [0,1] 0.77382903109106 Centerline is valid? [False, False] Translation: X:192.21, Y:10.11, Z:-0.21 [[ 9.99985343e-01 -4.90725172e-03 -2.28735137e-03 1.92205525e+02] [ 4.90208813e-03 9.99985436e-01 -2.25761927e-03 1.01102872e+01] [ 2.29839676e-03 2.24637339e-03 9.99994836e-01 -2.07282821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.281400513 meters Centerline goodness [0,1] 0.8335250021296533 Centerline is valid? [False, False] Translation: X:192.20, Y:10.11, Z:-0.21 [[ 9.99986550e-01 -4.75284968e-03 -2.07620230e-03 1.92204290e+02] [ 4.74936224e-03 9.99987308e-01 -1.68143599e-03 1.01075802e+01] [ 2.08416756e-03 1.67155273e-03 9.99996431e-01 -2.06154859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.311400513 meters Centerline goodness [0,1] 0.9513570521512666 Centerline is valid? [False, True] Translation: X:192.20, Y:10.11, Z:-0.21 [[ 9.99955916e-01 -9.23852740e-03 -1.67791789e-03 1.92202739e+02] [ 9.22757430e-03 9.99936801e-01 -6.42225812e-03 1.01096158e+01] [ 1.73714405e-03 6.40649189e-03 9.99977969e-01 -2.05463200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.341400513 meters Centerline goodness [0,1] 0.9369574559518694 Centerline is valid? [True, False] Translation: X:192.20, Y:10.10, Z:-0.21 [[ 9.99984873e-01 -5.01880284e-03 -2.25056228e-03 1.92204499e+02] [ 5.01694323e-03 9.99987070e-01 -8.31171935e-04 1.01025126e+01] [ 2.25470467e-03 8.19868419e-04 9.99997122e-01 -2.05280587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.371400513 meters Centerline goodness [0,1] 0.967193091477918 Centerline is valid? [False, True] Translation: X:192.21, Y:10.10, Z:-0.21 [[ 9.99984191e-01 -5.03793550e-03 -2.49751314e-03 1.92205667e+02] [ 5.03585863e-03 9.99986970e-01 -8.37167132e-04 1.01024478e+01] [ 2.50169819e-03 8.24576774e-04 9.99996531e-01 -2.06003786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.401400513 meters Centerline goodness [0,1] 0.9970708344914584 Centerline is valid? [True, True] Translation: X:192.24, Y:10.10, Z:-0.21 [[ 9.99979495e-01 -4.58016867e-03 -4.47568728e-03 1.92235129e+02] [ 4.57880108e-03 9.99989467e-01 -3.15757543e-04 1.00957028e+01] [ 4.47708637e-03 2.95257787e-04 9.99989934e-01 -2.07810307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.431400513 meters Centerline goodness [0,1] 0.9962358845671268 Centerline is valid? [True, True] Translation: X:192.27, Y:10.10, Z:-0.21 [[ 9.99981158e-01 -3.00147679e-03 -5.35483512e-03 1.92265759e+02] [ 2.99949414e-03 9.99995430e-01 -3.78245341e-04 1.00977246e+01] [ 5.35594595e-03 3.62176418e-04 9.99985591e-01 -2.08253355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.461400513 meters Centerline goodness [0,1] 0.9820005584552269 Centerline is valid? [True, True] Translation: X:192.30, Y:10.10, Z:-0.21 [[ 9.99990442e-01 1.81495970e-03 -3.97759872e-03 1.92295248e+02] [-1.81609160e-03 9.99998311e-01 -2.80974418e-04 1.01036845e+01] [ 3.97708204e-03 2.88195416e-04 9.99992050e-01 -2.05916394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.49140051300003 meters Centerline goodness [0,1] 0.8076139846948618 Centerline is valid? [True, False] Translation: X:192.29, Y:10.11, Z:-0.21 [[ 9.99991248e-01 1.65491942e-03 -3.84245514e-03 1.92294952e+02] [-1.65826465e-03 9.99998249e-01 -8.67572530e-04 1.01065367e+01] [ 3.84101264e-03 8.73936745e-04 9.99992241e-01 -2.06235126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.521400513 meters Centerline goodness [0,1] 0.9382798960138649 Centerline is valid? [False, False] Translation: X:192.29, Y:10.11, Z:-0.21 [[ 9.99992041e-01 1.45336750e-03 -3.71551202e-03 1.92294860e+02] [-1.45941723e-03 9.99997613e-01 -1.62604349e-03 1.01102128e+01] [ 3.71313991e-03 1.63145303e-03 9.99991775e-01 -2.06927080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.55140051300003 meters Centerline goodness [0,1] 0.6501445332426459 Centerline is valid? [False, False] Translation: X:192.34, Y:10.12, Z:-0.21 [[ 9.99992458e-01 3.37240669e-03 -1.92651646e-03 1.92338916e+02] [-3.37757616e-03 9.99990688e-01 -2.68640711e-03 1.01170587e+01] [ 1.91743886e-03 2.69289381e-03 9.99994536e-01 -2.09758414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.581400513 meters Centerline goodness [0,1] 0.4959330551060387 Centerline is valid? [False, False] Translation: X:192.34, Y:10.12, Z:-0.21 [[ 9.99991609e-01 3.83851172e-03 -1.43079348e-03 1.92337450e+02] [-3.84359454e-03 9.99986252e-01 -3.56679093e-03 1.01228635e+01] [ 1.41708264e-03 3.57226039e-03 9.99992615e-01 -2.10338565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.61140051300004 meters Centerline goodness [0,1] 0.5333390195534895 Centerline is valid? [False, False] Translation: X:192.34, Y:10.13, Z:-0.21 [[ 9.99992796e-01 3.58185105e-03 -1.25632594e-03 1.92336899e+02] [-3.58740417e-03 9.99983681e-01 -4.44608177e-03 1.01271646e+01] [ 1.24038023e-03 4.45055669e-03 9.99989327e-01 -2.10437759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.641400513 meters Centerline goodness [0,1] 0.4549011314370308 Centerline is valid? [False, False] Translation: X:192.34, Y:10.12, Z:-0.21 [[ 9.99966814e-01 8.01055126e-03 -1.48396150e-03 1.92337519e+02] [-8.00990994e-03 9.99967824e-01 4.37610123e-04 1.01243442e+01] [ 1.48741925e-03 -4.25709203e-04 9.99998803e-01 -2.10027038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.671400513 meters Centerline goodness [0,1] 0.45549704734900975 Centerline is valid? [False, False] Translation: X:192.34, Y:10.13, Z:-0.21 [[ 9.99969224e-01 7.71580300e-03 -1.42038769e-03 1.92337344e+02] [-7.71618094e-03 9.99970196e-01 -2.60792324e-04 1.01276250e+01] [ 1.41833313e-03 2.71744266e-04 9.99998957e-01 -2.10139403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.701400513 meters Centerline goodness [0,1] 0.4671226455297025 Centerline is valid? [False, False] Translation: X:192.34, Y:10.13, Z:-0.21 [[ 9.99970649e-01 7.50028269e-03 -1.56455954e-03 1.92337976e+02] [-7.50132777e-03 9.99971645e-01 -6.63171207e-04 1.01294050e+01] [ 1.55954121e-03 6.74888016e-04 9.99998556e-01 -2.10482604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.731400513 meters Centerline goodness [0,1] 0.5098539051454523 Centerline is valid? [False, False] Translation: X:192.34, Y:10.13, Z:-0.21 [[ 9.99971140e-01 7.42606505e-03 -1.60375068e-03 1.92338132e+02] [-7.42727173e-03 9.99972138e-01 -7.47768006e-04 1.01297478e+01] [ 1.59815302e-03 7.59657918e-04 9.99998434e-01 -2.10533178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.761400513 meters Centerline goodness [0,1] 0.4847912823372946 Centerline is valid? [False, False] Translation: X:192.34, Y:10.13, Z:-0.21 [[ 9.99972036e-01 7.28820643e-03 -1.67612373e-03 1.92338396e+02] [-7.28985454e-03 9.99972949e-01 -9.79285681e-04 1.01307821e+01] [ 1.66894116e-03 9.91476994e-04 9.99998116e-01 -2.10588104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.791400513 meters Centerline goodness [0,1] 0.5068085739171075 Centerline is valid? [False, False] Translation: X:192.34, Y:10.13, Z:-0.21 [[ 9.99973692e-01 7.04261907e-03 -1.73710552e-03 1.92338593e+02] [-7.04513395e-03 9.99974137e-01 -1.44589537e-03 1.01329306e+01] [ 1.72687770e-03 1.45809548e-03 9.99997446e-01 -2.10604357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.821400513 meters Centerline goodness [0,1] 0.6984137164357791 Centerline is valid? [False, False] Translation: X:192.34, Y:10.13, Z:-0.21 [[ 9.99974978e-01 6.85096157e-03 -1.76307753e-03 1.92338522e+02] [-6.85421316e-03 9.99974808e-01 -1.84488382e-03 1.01348013e+01] [ 1.75039389e-03 1.85692217e-03 9.99996744e-01 -2.10307958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.851400513 meters Centerline goodness [0,1] 0.680028099455041 Centerline is valid? [False, False] Translation: X:192.34, Y:10.14, Z:-0.21 [[ 9.99975844e-01 6.71745631e-03 -1.78547367e-03 1.92338235e+02] [-6.72109687e-03 9.99975331e-01 -2.04087041e-03 1.01357229e+01] [ 1.77172016e-03 2.05282145e-03 9.99996323e-01 -2.09593428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.881400513 meters Centerline goodness [0,1] 0.9106021505376344 Centerline is valid? [False, False] Translation: X:192.34, Y:10.14, Z:-0.21 [[ 9.99976118e-01 6.66876657e-03 -1.81386809e-03 1.92338212e+02] [-6.67262910e-03 9.99975465e-01 -2.13179309e-03 1.01361439e+01] [ 1.79960716e-03 2.14384545e-03 9.99996083e-01 -2.09386981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.911400513 meters Centerline goodness [0,1] 0.9099925883942974 Centerline is valid? [False, False] Translation: X:192.32, Y:10.13, Z:-0.21 [[ 9.99972590e-01 4.68616753e-03 -5.73235181e-03 1.92317699e+02] [-4.63970144e-03 9.99956491e-01 8.09255545e-03 1.01291674e+01] [ 5.77002548e-03 -8.06573723e-03 9.99950824e-01 -2.06028354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.941400513 meters Centerline goodness [0,1] 0.6221149141653726 Centerline is valid? [False, False] Translation: X:192.36, Y:10.14, Z:-0.21 [[ 9.99989882e-01 2.71507138e-03 -3.58663803e-03 1.92360108e+02] [-2.70504041e-03 9.99992425e-01 2.79865718e-03 1.01389695e+01] [ 3.59420942e-03 -2.78892687e-03 9.99989652e-01 -2.08322118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.971400513 meters Centerline goodness [0,1] 0.7926086862993955 Centerline is valid? [False, False] Translation: X:192.32, Y:10.14, Z:-0.21 [[ 9.99979613e-01 1.39925654e-03 -6.23023514e-03 1.92318899e+02] [-1.38450393e-03 9.99996229e-01 2.37158921e-03 1.01371689e+01] [ 6.23353011e-03 -2.36291508e-03 9.99977780e-01 -2.08929684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.001400513 meters Centerline goodness [0,1] 0.6064290615886087 Centerline is valid? [False, False] Translation: X:192.32, Y:10.14, Z:-0.21 [[ 9.99980065e-01 1.24818015e-03 -6.18958136e-03 1.92318766e+02] [-1.23588305e-03 9.99997256e-01 1.99016834e-03 1.01389560e+01] [ 6.19204846e-03 -1.98247907e-03 9.99978864e-01 -2.08963040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.031400513 meters Centerline goodness [0,1] 0.808307119471015 Centerline is valid? [False, False] Translation: X:192.32, Y:10.14, Z:-0.21 [[ 9.99981158e-01 9.80163575e-04 -6.05997852e-03 1.92318415e+02] [-9.72451280e-04 9.99998714e-01 1.27547593e-03 1.01423645e+01] [ 6.06122091e-03 -1.26955886e-03 9.99980825e-01 -2.09144079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.061400513 meters Centerline goodness [0,1] 0.45921482628138977 Centerline is valid? [False, False] Translation: X:192.32, Y:10.15, Z:-0.21 [[ 9.99982095e-01 7.74112687e-04 -5.93387329e-03 1.92317978e+02] [-7.70572486e-04 9.99999524e-01 5.98871904e-04 1.01456825e+01] [ 5.93433406e-03 -5.94288701e-04 9.99982215e-01 -2.09146084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.091400513 meters Centerline goodness [0,1] 0.5563900203665988 Centerline is valid? [False, False] Translation: X:192.36, Y:10.15, Z:-0.21 [[ 9.99994674e-01 2.07913853e-03 -2.51573720e-03 1.92356417e+02] [-2.07985916e-03 9.99997797e-01 -2.83863872e-04 1.01514689e+01] [ 2.51514146e-03 2.89094739e-04 9.99996795e-01 -2.08724942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.121400513 meters Centerline goodness [0,1] 0.48050311779277355 Centerline is valid? [False, False] Translation: X:192.36, Y:10.15, Z:-0.21 [[ 9.99994928e-01 2.23076554e-03 -2.27333038e-03 1.92355559e+02] [-2.23116323e-03 9.99997496e-01 -1.72417499e-04 1.01511026e+01] [ 2.27294007e-03 1.77488795e-04 9.99997401e-01 -2.08651585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.151400513 meters Centerline goodness [0,1] 0.5294607581420181 Centerline is valid? [False, False] Translation: X:192.36, Y:10.15, Z:-0.21 [[ 9.99994786e-01 2.35663102e-03 -2.20756319e-03 1.92355244e+02] [-2.35637761e-03 9.99997217e-01 1.17384882e-04 1.01497509e+01] [ 2.20783368e-03 -1.12182417e-04 9.99997556e-01 -2.08473939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.181400513 meters Centerline goodness [0,1] 0.6054252168168937 Centerline is valid? [False, False] Translation: X:192.36, Y:10.15, Z:-0.21 [[ 9.99994306e-01 2.49317706e-03 -2.27404356e-03 1.92355467e+02] [-2.49204477e-03 9.99996770e-01 5.00618250e-04 1.01479104e+01] [ 2.27528435e-03 -4.94948381e-04 9.99997289e-01 -2.08441101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.211400513 meters Centerline goodness [0,1] 0.6041785858072172 Centerline is valid? [False, False] Translation: X:192.36, Y:10.15, Z:-0.21 [[ 9.99994678e-01 1.10633296e-03 -3.06925476e-03 1.92361251e+02] [-1.10881592e-03 9.99999059e-01 -8.07393612e-04 1.01485434e+01] [ 3.06835863e-03 8.10792553e-04 9.99994964e-01 -2.12173732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.24140051300003 meters Centerline goodness [0,1] 0.3980804678065213 Centerline is valid? [False, False] Translation: X:192.36, Y:10.14, Z:-0.21 [[ 9.99993025e-01 1.00328352e-03 -3.59764363e-03 1.92363152e+02] [-1.00063786e-03 9.99999228e-01 7.37111173e-04 1.01396952e+01] [ 3.59838038e-03 -7.33506094e-04 9.99993257e-01 -2.12175562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.271400513 meters Centerline goodness [0,1] 0.648692879914984 Centerline is valid? [False, False] Translation: X:192.36, Y:10.14, Z:-0.21 [[ 9.99992391e-01 1.34191552e-03 -3.66292595e-03 1.92363174e+02] [-1.33575223e-03 9.99997689e-01 1.68454094e-03 1.01351733e+01] [ 3.66517800e-03 -1.67963536e-03 9.99991873e-01 -2.11718214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.30140051300003 meters Centerline goodness [0,1] 0.715309111904711 Centerline is valid? [False, False] Translation: X:192.36, Y:10.13, Z:-0.21 [[ 9.99995796e-01 -8.82625493e-04 -2.76187952e-03 1.92356585e+02] [ 8.81450807e-04 9.99999521e-01 -4.26509652e-04 1.01349264e+01] [ 2.76225465e-03 4.24073398e-04 9.99996095e-01 -2.07628653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.331400513 meters Centerline goodness [0,1] 0.6542822368842482 Centerline is valid? [False, False] Translation: X:192.36, Y:10.13, Z:-0.21 [[ 9.99995526e-01 -5.70281528e-04 -2.93652161e-03 1.92357240e+02] [ 5.71386974e-04 9.99999766e-01 3.75622397e-04 1.01310844e+01] [ 2.93630672e-03 -3.77298607e-04 9.99995618e-01 -2.07730258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.36140051300004 meters Centerline goodness [0,1] 0.7267527165245498 Centerline is valid? [False, False] Translation: X:192.36, Y:10.13, Z:-0.21 [[ 9.99995006e-01 -1.75980917e-04 -3.15554720e-03 1.92358060e+02] [ 1.80240647e-04 9.99999073e-01 1.34968440e-03 1.01264011e+01] [ 3.15530675e-03 -1.35024641e-03 9.99994110e-01 -2.07874457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.391400513 meters Centerline goodness [0,1] 0.770449963539656 Centerline is valid? [False, False] Translation: X:192.35, Y:10.12, Z:-0.20 [[ 9.99994351e-01 -2.48258580e-03 -2.26617138e-03 1.92351859e+02] [ 2.48020460e-03 9.99996370e-01 -1.05296105e-03 1.01248772e+01] [ 2.26877722e-03 1.04733453e-03 9.99996878e-01 -2.04144715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.421400513 meters Centerline goodness [0,1] 0.657042720064967 Centerline is valid? [False, False] Translation: X:192.35, Y:10.12, Z:-0.20 [[ 9.99995307e-01 -2.20912691e-03 -2.12258136e-03 1.92351246e+02] [ 2.20807225e-03 9.99997438e-01 -4.99089669e-04 1.01223463e+01] [ 2.12367848e-03 4.94400513e-04 9.99997623e-01 -2.03845161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.451400513 meters Centerline goodness [0,1] 0.702812960550204 Centerline is valid? [False, False] Translation: X:192.35, Y:10.12, Z:-0.20 [[ 9.99995216e-01 -2.30039393e-03 -2.06790803e-03 1.92351157e+02] [ 2.29885698e-03 9.99997080e-01 -7.45307785e-04 1.01235176e+01] [ 2.06961650e-03 7.40550395e-04 9.99997584e-01 -2.04064515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.481400513 meters Centerline goodness [0,1] 0.7263164646270284 Centerline is valid? [False, False] Translation: X:192.35, Y:10.12, Z:-0.20 [[ 9.99995199e-01 -2.30483365e-03 -2.07109857e-03 1.92351335e+02] [ 2.30323894e-03 9.99997050e-01 -7.72036624e-04 1.01236345e+01] [ 2.07287188e-03 7.67262683e-04 9.99997557e-01 -2.04410478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.511400513 meters Centerline goodness [0,1] 0.6004128765886072 Centerline is valid? [False, False] Translation: X:192.35, Y:10.12, Z:-0.20 [[ 9.99995558e-01 -2.13197684e-03 -2.08313783e-03 1.92351382e+02] [ 2.13116699e-03 9.99997653e-01 -3.90904224e-04 1.01218677e+01] [ 2.08396634e-03 3.86462973e-04 9.99997754e-01 -2.04442854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.541400513 meters Centerline goodness [0,1] 0.7903266810728359 Centerline is valid? [False, False] Translation: X:192.39, Y:10.12, Z:-0.21 [[ 9.99999193e-01 -1.24788242e-03 2.39293802e-04 1.92393535e+02] [ 1.24789477e-03 9.99999220e-01 -5.14539228e-05 1.01207791e+01] [-2.39229406e-04 5.17524948e-05 9.99999970e-01 -2.05246039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.571400513 meters Centerline goodness [0,1] 0.737025323172932 Centerline is valid? [False, False] Translation: X:192.39, Y:10.12, Z:-0.21 [[ 9.99999171e-01 -1.25629122e-03 2.83456733e-04 1.92393352e+02] [ 1.25630622e-03 9.99999209e-01 -5.27198152e-05 1.01207960e+01] [-2.83390277e-04 5.30758799e-05 9.99999958e-01 -2.05183145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.601400513 meters Centerline goodness [0,1] 0.689186313728828 Centerline is valid? [False, False] Translation: X:192.39, Y:10.12, Z:-0.21 [[ 9.99999056e-01 -1.34459511e-03 2.83157333e-04 1.92393283e+02] [ 1.34465807e-03 9.99999071e-01 -2.22279799e-04 1.01216133e+01] [-2.82858194e-04 2.22660339e-04 9.99999935e-01 -2.05063437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.631400513 meters Centerline goodness [0,1] 0.8670116097581835 Centerline is valid? [False, False] Translation: X:192.39, Y:10.12, Z:-0.20 [[ 9.99999024e-01 -1.39553921e-03 6.46636735e-05 1.92393934e+02] [ 1.39555131e-03 9.99999009e-01 -1.87317982e-04 1.01213715e+01] [-6.44021998e-05 1.87408041e-04 9.99999980e-01 -2.04939071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.661400513 meters Centerline goodness [0,1] 0.8191007171280829 Centerline is valid? [False, False] Translation: X:192.39, Y:10.12, Z:-0.20 [[ 9.99999140e-01 -1.31150884e-03 2.64980673e-07 1.92393977e+02] [ 1.31150883e-03 9.99999140e-01 2.58393132e-05 1.01203833e+01] [-2.98868934e-07 -2.58389434e-05 1.00000000e+00 -2.04601077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.691400513 meters Centerline goodness [0,1] 0.871068051530472 Centerline is valid? [False, False] Translation: X:192.39, Y:10.12, Z:-0.20 [[ 9.99999079e-01 -1.35521022e-03 7.19353072e-05 1.92393588e+02] [ 1.35521633e-03 9.99999078e-01 -8.49735071e-05 1.01209503e+01] [-7.18200839e-05 8.50709168e-05 9.99999994e-01 -2.04327013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.721400513 meters Centerline goodness [0,1] 0.871068051530472 Centerline is valid? [False, False] Translation: X:192.39, Y:10.12, Z:-0.20 [[ 9.99999079e-01 -1.35521022e-03 7.19353072e-05 1.92393588e+02] [ 1.35521633e-03 9.99999078e-01 -8.49735071e-05 1.01209503e+01] [-7.18200839e-05 8.50709168e-05 9.99999994e-01 -2.04327013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.751400513 meters Centerline goodness [0,1] 0.9782473185306193 Centerline is valid? [False, True] Translation: X:192.35, Y:10.12, Z:-0.20 [[ 9.99997419e-01 -1.82725210e-03 -1.35004028e-03 1.92348528e+02] [ 1.82831212e-03 9.99998021e-01 7.84357528e-04 1.01188259e+01] [ 1.34860439e-03 -7.86823799e-04 9.99998781e-01 -2.02417262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.781400513 meters Centerline goodness [0,1] 0.6025829237675795 Centerline is valid? [True, False] Translation: X:192.37, Y:10.13, Z:-0.21 [[ 9.99991960e-01 -7.89599345e-04 3.93138959e-03 1.92371076e+02] [ 8.28215304e-04 9.99951336e-01 -9.83055102e-03 1.01311453e+01] [-3.92343607e-03 9.83372802e-03 9.99943951e-01 -2.09093649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.811400513 meters Centerline goodness [0,1] 0.9568871026671538 Centerline is valid? [False, True] Translation: X:192.35, Y:10.12, Z:-0.20 [[ 9.99995824e-01 2.06541324e-03 -2.02115992e-03 1.92349015e+02] [-2.05672136e-03 9.99988669e-01 4.29311368e-03 1.01208463e+01] [ 2.03000407e-03 -4.28893880e-03 9.99988742e-01 -2.02285905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.841400513 meters Centerline goodness [0,1] 0.6666169228473362 Centerline is valid? [True, False] Translation: X:192.35, Y:10.12, Z:-0.20 [[ 9.99996338e-01 1.80874732e-03 -2.01330403e-03 1.92349134e+02] [-1.80145881e-03 9.99991839e-01 3.61611869e-03 1.01240591e+01] [ 2.01982825e-03 -3.61247857e-03 9.99991435e-01 -2.02626971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.871400513 meters Centerline goodness [0,1] 0.6687668384989075 Centerline is valid? [False, False] Translation: X:192.35, Y:10.13, Z:-0.20 [[ 9.99996797e-01 1.56178748e-03 -1.99155371e-03 1.92349117e+02] [-1.55578259e-03 9.99994250e-01 3.01317083e-03 1.01268918e+01] [ 1.99624819e-03 -3.01006275e-03 9.99993477e-01 -2.02785874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.901400513 meters Centerline goodness [0,1] 0.6592338968542693 Centerline is valid? [False, False] Translation: X:192.35, Y:10.13, Z:-0.20 [[ 9.99997202e-01 1.37443592e-03 -1.92523017e-03 1.92348954e+02] [-1.36949548e-03 9.99995772e-01 2.56512467e-03 1.01289888e+01] [ 1.92874763e-03 -2.56248090e-03 9.99994857e-01 -2.02936637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.931400513 meters Centerline goodness [0,1] 0.6818754403569827 Centerline is valid? [False, False] Translation: X:192.35, Y:10.13, Z:-0.20 [[ 9.99997588e-01 1.12144394e-03 -1.88825923e-03 1.92348761e+02] [-1.11775598e-03 9.99997468e-01 1.95302646e-03 1.01318822e+01] [ 1.89044466e-03 -1.95091113e-03 9.99996310e-01 -2.02838261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.961400513 meters Centerline goodness [0,1] 0.6110957417377796 Centerline is valid? [False, False] Translation: X:192.35, Y:10.13, Z:-0.20 [[ 9.99997696e-01 9.59025746e-04 -1.92042680e-03 1.92348974e+02] [-9.55937548e-04 9.99998250e-01 1.60835142e-03 1.01334596e+01] [ 1.92196589e-03 -1.60651191e-03 9.99996863e-01 -2.03044375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.99140051300003 meters Centerline goodness [0,1] 0.5815010072435816 Centerline is valid? [False, False] Translation: X:192.35, Y:10.14, Z:-0.20 [[ 9.99997903e-01 7.77201101e-04 -1.89495604e-03 1.92348988e+02] [-7.74918015e-04 9.99998973e-01 1.20525933e-03 1.01353211e+01] [ 1.89589083e-03 -1.20378837e-03 9.99997478e-01 -2.03263148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.021400513 meters Centerline goodness [0,1] 0.6412480191871173 Centerline is valid? [False, False] Translation: X:192.35, Y:10.14, Z:-0.20 [[ 9.99998020e-01 6.56418597e-04 -1.87868365e-03 1.92348861e+02] [-6.54677186e-04 9.99999356e-01 9.27396774e-04 1.01366186e+01] [ 1.87929120e-03 -9.26165006e-04 9.99997805e-01 -2.03159246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.05140051300003 meters Centerline goodness [0,1] 0.6957957249748086 Centerline is valid? [False, False] Translation: X:192.35, Y:10.14, Z:-0.20 [[ 9.99998328e-01 5.85313210e-04 -1.73261770e-03 1.92348091e+02] [-5.84018434e-04 9.99999550e-01 7.47706180e-04 1.01375087e+01] [ 1.73305456e-03 -7.46693049e-04 9.99998219e-01 -2.02595435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.081400513 meters Centerline goodness [0,1] 0.846120754554645 Centerline is valid? [False, False] Translation: X:192.35, Y:10.14, Z:-0.20 [[ 9.99998370e-01 5.73238914e-04 -1.71222168e-03 1.92347995e+02] [-5.72043255e-04 9.99999592e-01 6.98716748e-04 1.01377587e+01] [ 1.71262151e-03 -6.97736144e-04 9.99998290e-01 -2.02544974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.11140051300004 meters Centerline goodness [0,1] 0.7197478007114406 Centerline is valid? [False, False] Translation: X:192.35, Y:10.14, Z:-0.20 [[ 9.99998205e-01 5.49897902e-04 -1.81291695e-03 1.92348537e+02] [-5.48728427e-04 9.99999641e-01 6.45513396e-04 1.01379793e+01] [ 1.81327127e-03 -6.44517438e-04 9.99998148e-01 -2.02981118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.141400513 meters Centerline goodness [0,1] 0.8088439590502041 Centerline is valid? [False, False] Translation: X:192.35, Y:10.14, Z:-0.20 [[ 9.99997991e-01 4.73694809e-04 -1.94779617e-03 1.92349274e+02] [-4.72659623e-04 9.99999747e-01 5.31891299e-04 1.01384301e+01] [ 1.94804763e-03 -5.30969585e-04 9.99997962e-01 -2.03568735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.171400513 meters Centerline goodness [0,1] 0.6220675817021367 Centerline is valid? [False, False] Translation: X:192.35, Y:10.14, Z:-0.20 [[ 9.99997949e-01 5.93393656e-04 -1.93659011e-03 1.92348878e+02] [-5.91759673e-04 9.99999469e-01 8.44206006e-04 1.01369793e+01] [ 1.93709003e-03 -8.43058278e-04 9.99997768e-01 -2.02864308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.201400513 meters Centerline goodness [0,1] 0.6872179495328291 Centerline is valid? [False, False] Translation: X:192.35, Y:10.13, Z:-0.20 [[ 9.99997784e-01 7.93202132e-04 -1.95016723e-03 1.92348450e+02] [-7.90333430e-04 9.99998605e-01 1.47133404e-03 1.01339646e+01] [ 1.95133158e-03 -1.46978950e-03 9.99997016e-01 -2.01901845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.231400513 meters Centerline goodness [0,1] 0.9014502026018341 Centerline is valid? [False, False] Translation: X:192.34, Y:10.13, Z:-0.20 [[ 9.99998480e-01 -1.42674890e-03 -1.00171845e-03 1.92341378e+02] [ 1.42612363e-03 9.99998788e-01 -6.24631058e-04 1.01333284e+01] [ 1.00260843e-03 6.23201535e-04 9.99999303e-01 -1.97218830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.261400513 meters Centerline goodness [0,1] 0.9653645556146887 Centerline is valid? [False, True] Translation: X:192.34, Y:10.13, Z:-0.20 [[ 9.99998757e-01 -1.10526257e-03 -1.12471113e-03 1.92341667e+02] [ 1.10552865e-03 9.99999361e-01 2.35978227e-04 1.01292456e+01] [ 1.12444959e-03 -2.37221334e-04 9.99999340e-01 -1.96943497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.291400513 meters Centerline goodness [0,1] 0.9742869999357175 Centerline is valid? [True, True] Translation: X:192.37, Y:10.13, Z:-0.20 [[ 9.99993185e-01 -2.68497567e-03 -2.53392369e-03 1.92371216e+02] [ 2.68450584e-03 9.99996379e-01 -1.88798119e-04 1.01281164e+01] [ 2.53442143e-03 1.81994500e-04 9.99996772e-01 -1.99571938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.321400513 meters Centerline goodness [0,1] 0.9852208283210173 Centerline is valid? [True, True] Translation: X:192.40, Y:10.13, Z:-0.20 [[ 9.99991371e-01 -2.63291494e-03 -3.21327294e-03 1.92399746e+02] [ 2.63215729e-03 9.99996507e-01 -2.39993382e-04 1.01273865e+01] [ 3.21389360e-03 2.31533472e-04 9.99994809e-01 -2.00862556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.351400513 meters Centerline goodness [0,1] 0.6490015360983103 Centerline is valid? [True, False] Translation: X:192.40, Y:10.13, Z:-0.20 [[ 9.99991463e-01 -2.55791017e-03 -3.24524454e-03 1.92399908e+02] [ 2.55754127e-03 9.99996723e-01 -1.17819499e-04 1.01268231e+01] [ 3.24553528e-03 1.09518647e-04 9.99994727e-01 -2.01003122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.381400513 meters Centerline goodness [0,1] 0.9680170575692963 Centerline is valid? [False, True] Translation: X:192.40, Y:10.13, Z:-0.20 [[ 9.99991886e-01 -2.47297200e-03 -3.18011187e-03 1.92399587e+02] [ 2.47308625e-03 9.99996941e-01 3.19922719e-05 1.01261715e+01] [ 3.18002303e-03 -3.98567032e-05 9.99994943e-01 -2.00803932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.411400513 meters Centerline goodness [0,1] 0.6876497636163461 Centerline is valid? [True, False] Translation: X:192.38, Y:10.13, Z:-0.20 [[ 9.99994169e-01 -2.99010736e-03 1.64945859e-03 1.92382630e+02] [ 2.99884949e-03 9.99981335e-01 -5.32323253e-03 1.01287912e+01] [-1.63351077e-03 5.32814797e-03 9.99984471e-01 -2.04869586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.441400513 meters Centerline goodness [0,1] 0.6978284404253965 Centerline is valid? [False, False] Translation: X:192.42, Y:10.13, Z:-0.21 [[ 9.99990233e-01 -7.06557982e-04 4.36286712e-03 1.92423623e+02] [ 7.24288652e-04 9.99991481e-01 -4.06375322e-03 1.01297531e+01] [-4.35995867e-03 4.06687350e-03 9.99982225e-01 -2.05434026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.471400513 meters Centerline goodness [0,1] 0.6713412672885173 Centerline is valid? [False, False] Translation: X:192.40, Y:10.12, Z:-0.20 [[ 9.99998691e-01 -3.93239599e-04 -1.56975771e-03 1.92400305e+02] [ 4.04494471e-04 9.99974171e-01 7.17594755e-03 1.01188088e+01] [ 1.56689530e-03 -7.17657311e-03 9.99973020e-01 -1.97972895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.501400513 meters Centerline goodness [0,1] 0.5950544560749248 Centerline is valid? [False, False] Translation: X:192.42, Y:10.13, Z:-0.20 [[ 9.99993511e-01 1.36485702e-03 3.33396006e-03 1.92422841e+02] [-1.35523049e-03 9.99994911e-01 -2.88797039e-03 1.01292776e+01] [-3.33788476e-03 2.88343337e-03 9.99990272e-01 -2.04683582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.531400513 meters Centerline goodness [0,1] 0.550274890473327 Centerline is valid? [False, False] Translation: X:192.38, Y:10.12, Z:-0.20 [[ 9.99995385e-01 3.03038726e-03 2.17213377e-04 1.92382459e+02] [-3.03050867e-03 9.99995251e-01 5.60817187e-04 1.01236635e+01] [-2.15512852e-04 -5.61472866e-04 9.99999819e-01 -2.04318427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.561400513 meters Centerline goodness [0,1] 0.5367562746846732 Centerline is valid? [False, False] Translation: X:192.40, Y:10.11, Z:-0.20 [[ 9.99974553e-01 7.13246641e-03 1.44931706e-04 1.92400712e+02] [-7.13388046e-03 9.99842136e-01 1.62729845e-02 1.01142305e+01] [-2.88423114e-05 -1.62736043e-02 9.99867576e-01 -1.99267531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.591400513 meters Centerline goodness [0,1] 0.5268534052538809 Centerline is valid? [False, False] Translation: X:192.40, Y:10.12, Z:-0.20 [[ 9.99994326e-01 3.32706849e-03 5.28075202e-04 1.92399570e+02] [-3.33254936e-03 9.99936754e-01 1.07416369e-02 1.01220196e+01] [-4.92303642e-04 -1.07433358e-02 9.99942168e-01 -2.00220228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.621400513 meters Centerline goodness [0,1] 0.39406779661016944 Centerline is valid? [False, False] Translation: X:192.40, Y:10.13, Z:-0.20 [[ 9.99999619e-01 -5.39295286e-04 6.86851338e-04 1.92399503e+02] [ 5.35834444e-04 9.99987211e-01 5.02896235e-03 1.01306435e+01] [-6.89554649e-04 -5.02859239e-03 9.99987119e-01 -2.01766086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.651400513 meters Centerline goodness [0,1] 0.50470192757755 Centerline is valid? [False, False] Translation: X:192.40, Y:10.13, Z:-0.20 [[ 9.99999462e-01 -8.18453432e-04 6.37349407e-04 1.92400141e+02] [ 8.15658199e-04 9.99990103e-01 4.37369478e-03 1.01336357e+01] [-6.40922764e-04 -4.37317256e-03 9.99990232e-01 -2.02752696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.681400513 meters Centerline goodness [0,1] 0.43696359869783963 Centerline is valid? [False, False] Translation: X:192.40, Y:10.13, Z:-0.20 [[ 9.99999427e-01 -9.04222120e-04 5.72688918e-04 1.92400539e+02] [ 9.01841434e-04 9.99991008e-01 4.14373713e-03 1.01346824e+01] [-5.76430627e-04 -4.14321829e-03 9.99991251e-01 -2.03144858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.711400513 meters Centerline goodness [0,1] 0.3802513774104683 Centerline is valid? [False, False] Translation: X:192.36, Y:10.13, Z:-0.20 [[ 9.99995918e-01 -2.51188574e-03 -1.36158376e-03 1.92356063e+02] [ 2.51836076e-03 9.99985429e-01 4.77483863e-03 1.01282820e+01] [ 1.34957007e-03 -4.77824810e-03 9.99987673e-01 -2.00446510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.74140051300003 meters Centerline goodness [0,1] 0.4529114517814119 Centerline is valid? [False, False] Translation: X:192.35, Y:10.13, Z:-0.20 [[ 9.99973900e-01 -7.15731413e-03 -9.85974660e-04 1.92354816e+02] [ 7.15671892e-03 9.99974207e-01 -6.05889873e-04 1.01334693e+01] [ 9.90285773e-04 5.98817716e-04 9.99999330e-01 -2.00433439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.771400513 meters Centerline goodness [0,1] 0.6521349274124679 Centerline is valid? [False, False] Translation: X:192.35, Y:10.13, Z:-0.20 [[ 9.99974524e-01 -7.05775459e-03 -1.06735865e-03 1.92354702e+02] [ 7.05763524e-03 9.99975088e-01 -1.15549488e-04 1.01310899e+01] [ 1.06814758e-03 1.08013516e-04 9.99999424e-01 -1.99663982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.80140051300003 meters Centerline goodness [0,1] 0.5379994887961148 Centerline is valid? [False, False] Translation: X:192.36, Y:10.13, Z:-0.20 [[ 9.99974902e-01 -6.96276524e-03 -1.30980836e-03 1.92355234e+02] [ 6.96346315e-03 9.99975615e-01 5.29026045e-04 1.01278640e+01] [ 1.30609294e-03 -5.38133570e-04 9.99999002e-01 -1.99111479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.831400513 meters Centerline goodness [0,1] 0.809812533476165 Centerline is valid? [False, False] Translation: X:192.36, Y:10.12, Z:-0.20 [[ 9.99971720e-01 -7.37556206e-03 -1.46990278e-03 1.92355684e+02] [ 7.37767308e-03 9.99971754e-01 1.43595343e-03 1.01221891e+01] [ 1.45927029e-03 -1.44675728e-03 9.99997889e-01 -1.98586326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.86140051300004 meters Centerline goodness [0,1] 0.7827561048882022 Centerline is valid? [False, False] Translation: X:192.36, Y:10.12, Z:-0.20 [[ 9.99972203e-01 -7.29230929e-03 -1.55405534e-03 1.92355911e+02] [ 7.29496863e-03 9.99971925e-01 1.71248664e-03 1.01208536e+01] [ 1.54152373e-03 -1.72377583e-03 9.99997326e-01 -1.98465368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.891400513 meters Centerline goodness [0,1] 0.8749601885470413 Centerline is valid? [False, False] Translation: X:192.36, Y:10.13, Z:-0.20 [[ 9.99928980e-01 -1.18486169e-02 -1.28278264e-03 1.92355391e+02] [ 1.18434801e-02 9.99922099e-01 -3.94053586e-03 1.01276272e+01] [ 1.32937261e-03 3.92506339e-03 9.99991413e-01 -1.99117487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.921400513 meters Centerline goodness [0,1] 0.7572965973976353 Centerline is valid? [False, False] Translation: X:192.36, Y:10.12, Z:-0.20 [[ 9.99969057e-01 -7.63267158e-03 -1.90465484e-03 1.92357268e+02] [ 7.63545821e-03 9.99969783e-01 1.46010371e-03 1.01216216e+01] [ 1.89345280e-03 -1.47460145e-03 9.99997120e-01 -1.98866538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.951400513 meters Centerline goodness [0,1] 0.9877502240812668 Centerline is valid? [False, True] Translation: X:192.36, Y:10.12, Z:-0.20 [[ 9.99967480e-01 -7.78234778e-03 -2.11499762e-03 1.92358634e+02] [ 7.78473412e-03 9.99969069e-01 1.12241253e-03 1.01230654e+01] [ 2.10619719e-03 -1.13884072e-03 9.99997133e-01 -2.00192614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.981400513 meters Centerline goodness [0,1] 0.9773049645390071 Centerline is valid? [True, True] Translation: X:192.39, Y:10.13, Z:-0.20 [[ 9.99967358e-01 -7.75006209e-03 -2.28459023e-03 1.92386023e+02] [ 7.74964982e-03 9.99969953e-01 -1.89255699e-04 1.01290091e+01] [ 2.28598833e-03 1.71544747e-04 9.99997372e-01 -2.00846863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.011400513 meters Centerline goodness [0,1] 0.6313251983957675 Centerline is valid? [True, False] Translation: X:192.39, Y:10.13, Z:-0.20 [[ 9.99967117e-01 -7.77597046e-03 -2.30186257e-03 1.92386001e+02] [ 7.77539650e-03 9.99969738e-01 -2.58191425e-04 1.01293528e+01] [ 2.30380060e-03 2.40285041e-04 9.99997317e-01 -2.00721817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.041400513 meters Centerline goodness [0,1] 0.9665660601938446 Centerline is valid? [False, True] Translation: X:192.39, Y:10.13, Z:-0.20 [[ 9.99967277e-01 -7.74944850e-03 -2.32204863e-03 1.92386002e+02] [ 7.74905052e-03 9.99969959e-01 -1.80339271e-04 1.01289835e+01] [ 2.32337640e-03 1.62339697e-04 9.99997288e-01 -2.00601599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.071400513 meters Centerline goodness [0,1] 0.721791705697011 Centerline is valid? [True, False] Translation: X:192.39, Y:10.13, Z:-0.20 [[ 9.99968145e-01 -7.62932541e-03 -2.34550441e-03 1.92385918e+02] [ 7.62962448e-03 9.99970887e-01 1.18587348e-04 1.01275954e+01] [ 2.34453139e-03 -1.36478888e-04 9.99997242e-01 -2.00272366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.101400513 meters Centerline goodness [0,1] 0.9952708512467756 Centerline is valid? [False, True] Translation: X:192.38, Y:10.13, Z:-0.20 [[ 9.99947152e-01 -1.02032855e-02 -1.25979394e-03 1.92378642e+02] [ 1.02001436e-02 9.99944912e-01 -2.47570090e-03 1.01280279e+01] [ 1.28498483e-03 2.46271998e-03 9.99996142e-01 -1.95746375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.131400513 meters Centerline goodness [0,1] 0.9915638080927337 Centerline is valid? [True, True] Translation: X:192.41, Y:10.13, Z:-0.20 [[ 9.99935704e-01 -1.12935733e-02 -1.02121271e-03 1.92407489e+02] [ 1.12934943e-02 9.99936223e-01 -8.30704171e-05 1.01308392e+01] [ 1.02208574e-03 7.15320161e-05 9.99999475e-01 -1.95479006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.161400513 meters Centerline goodness [0,1] 0.9914971409136322 Centerline is valid? [True, True] Translation: X:192.44, Y:10.13, Z:-0.20 [[ 9.99926601e-01 -1.20757175e-02 -9.85125143e-04 1.92436362e+02] [ 1.20756443e-02 9.99927084e-01 -8.02177545e-05 1.01334776e+01] [ 9.86021998e-04 6.83158457e-05 9.99999512e-01 -1.95373701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.191400513 meters Centerline goodness [0,1] 0.9965301430517711 Centerline is valid? [True, True] Translation: X:192.47, Y:10.13, Z:-0.20 [[ 9.99916772e-01 -1.28471846e-02 -1.18261684e-03 1.92465470e+02] [ 1.28470792e-02 9.99917468e-01 -9.66636509e-05 1.01324216e+01] [ 1.18376109e-03 8.14624336e-05 9.99999296e-01 -1.95250643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.221400513 meters Centerline goodness [0,1] 0.9944176549806681 Centerline is valid? [True, True] Translation: X:192.49, Y:10.13, Z:-0.20 [[ 9.99923243e-01 -1.21291095e-02 -2.52852060e-03 1.92494626e+02] [ 1.21286264e-02 9.99926424e-01 -2.06327332e-04 1.01348805e+01] [ 2.53083713e-03 1.75644014e-04 9.99996782e-01 -1.96995295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.251400513 meters Centerline goodness [0,1] 0.7552465449581982 Centerline is valid? [True, False] Translation: X:192.52, Y:10.15, Z:-0.20 [[ 9.99937163e-01 -1.09451708e-02 2.42355951e-03 1.92518267e+02] [ 1.09700872e-02 9.99884507e-01 -1.05180296e-02 1.01470145e+01] [-2.30815798e-03 1.05439553e-02 9.99941747e-01 -2.04094521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.281400513 meters Centerline goodness [0,1] 0.9888960342979636 Centerline is valid? [False, True] Translation: X:192.52, Y:10.14, Z:-0.20 [[ 9.99977370e-01 -6.34406767e-03 2.23881349e-03 1.92518478e+02] [ 6.35594877e-03 9.99965541e-01 -5.34027472e-03 1.01429851e+01] [-2.20485728e-03 5.35438365e-03 9.99983234e-01 -2.03471863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.311400513 meters Centerline goodness [0,1] 0.6879695247823958 Centerline is valid? [True, False] Translation: X:192.52, Y:10.14, Z:-0.20 [[ 9.99996067e-01 -1.71704462e-03 2.21764319e-03 1.92517720e+02] [ 1.71772770e-03 9.99998478e-01 -3.06154725e-04 1.01397857e+01] [-2.21711413e-03 3.09962828e-04 9.99997494e-01 -2.01909837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.341400513 meters Centerline goodness [0,1] 0.6858183677382246 Centerline is valid? [False, False] Translation: X:192.52, Y:10.14, Z:-0.20 [[ 9.99995872e-01 -1.71721528e-03 2.30377936e-03 1.92517427e+02] [ 1.71829100e-03 9.99998416e-01 -4.65039374e-04 1.01406255e+01] [-2.30297714e-03 4.68996018e-04 9.99997238e-01 -2.01916121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.371400513 meters Centerline goodness [0,1] 0.6988715903788232 Centerline is valid? [False, False] Translation: X:192.52, Y:10.14, Z:-0.21 [[ 9.99998925e-01 1.39457631e-04 1.45930169e-03 1.92523211e+02] [-1.41339504e-04 9.99999159e-01 1.28954758e-03 1.01382782e+01] [-1.45912062e-03 -1.28975246e-03 9.99998104e-01 -2.05451196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.401400513 meters Centerline goodness [0,1] 0.797036496976455 Centerline is valid? [False, False] Translation: X:192.50, Y:10.14, Z:-0.20 [[ 9.99994223e-01 2.50347626e-03 -2.29923263e-03 1.92500453e+02] [-2.51999587e-03 9.99970830e-01 -7.21026867e-03 1.01420939e+01] [ 2.28111482e-03 7.21602107e-03 9.99971362e-01 -2.01724694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.431400513 meters Centerline goodness [0,1] 0.4832457084943308 Centerline is valid? [False, False] Translation: X:192.52, Y:10.14, Z:-0.20 [[ 9.99992287e-01 3.74551447e-03 -1.18223134e-03 1.92522700e+02] [-3.73902281e-03 9.99978179e-01 5.44627756e-03 1.01358856e+01] [ 1.20260465e-03 -5.44181516e-03 9.99984470e-01 -2.02397425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.461400513 meters Centerline goodness [0,1] 0.48405539321560154 Centerline is valid? [False, False] Translation: X:192.52, Y:10.14, Z:-0.20 [[ 9.99992653e-01 3.73831980e-03 -8.47598603e-04 1.92521576e+02] [-3.73416697e-03 9.99981270e-01 4.84928111e-03 1.01390601e+01] [ 8.65710891e-04 -4.84608041e-03 9.99987883e-01 -2.02454736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.49140051300003 meters Centerline goodness [0,1] 0.5690792291220557 Centerline is valid? [False, False] Translation: X:192.48, Y:10.14, Z:-0.20 [[ 9.99991619e-01 3.05703718e-03 -2.72317594e-03 1.92477678e+02] [-3.04341736e-03 9.99982910e-01 4.99162863e-03 1.01365924e+01] [ 2.73838900e-03 -4.98329903e-03 9.99983834e-01 -2.01312524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.521400513 meters Centerline goodness [0,1] 0.436384385160304 Centerline is valid? [False, False] Translation: X:192.48, Y:10.14, Z:-0.20 [[ 9.99992051e-01 2.96979868e-03 -2.66062002e-03 1.92477483e+02] [-2.95710528e-03 9.99984289e-01 4.76214217e-03 1.01376796e+01] [ 2.67472082e-03 -4.75423658e-03 9.99985121e-01 -2.01359905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.55140051300003 meters Centerline goodness [0,1] 0.4619048631637145 Centerline is valid? [False, False] Translation: X:192.52, Y:10.15, Z:-0.20 [[ 9.99998754e-01 1.57206396e-03 -1.41449121e-04 1.92518010e+02] [-1.57211855e-03 9.99998689e-01 -3.86617288e-04 1.01476208e+01] [ 1.40841149e-04 3.86839182e-04 9.99999915e-01 -2.03152569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.581400513 meters Centerline goodness [0,1] 0.4772954889300859 Centerline is valid? [False, False] Translation: X:192.52, Y:10.15, Z:-0.20 [[ 9.99998603e-01 1.64239333e-03 -3.11390035e-04 1.92518817e+02] [-1.64244148e-03 9.99998639e-01 -1.54445168e-04 1.01464287e+01] [ 3.11135951e-04 1.54956392e-04 9.99999940e-01 -2.03659210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.61140051300004 meters Centerline goodness [0,1] 0.44405838859346203 Centerline is valid? [False, False] Translation: X:192.52, Y:10.14, Z:-0.20 [[ 9.99998323e-01 1.75790540e-03 -5.13658947e-04 1.92519620e+02] [-1.75778720e-03 9.99998429e-01 2.30462231e-04 1.01444895e+01] [ 5.14063271e-04 -2.29558942e-04 9.99999842e-01 -2.03914719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.641400513 meters Centerline goodness [0,1] 0.44405838859346203 Centerline is valid? [False, False] Translation: X:192.52, Y:10.14, Z:-0.20 [[ 9.99998323e-01 1.75790540e-03 -5.13658947e-04 1.92519620e+02] [-1.75778720e-03 9.99998429e-01 2.30462231e-04 1.01444895e+01] [ 5.14063271e-04 -2.29558942e-04 9.99999842e-01 -2.03914719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.671400513 meters Centerline goodness [0,1] 0.49115156646909397 Centerline is valid? [False, False] Translation: X:192.52, Y:10.14, Z:-0.20 [[ 9.99997906e-01 1.90517260e-03 -7.47275778e-04 1.92520467e+02] [-1.90464543e-03 9.99997937e-01 7.05540604e-04 1.01421173e+01] [ 7.48618413e-04 -7.04115832e-04 9.99999472e-01 -2.04027909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.701400513 meters Centerline goodness [0,1] 0.5076760190577025 Centerline is valid? [False, False] Translation: X:192.52, Y:10.14, Z:-0.20 [[ 9.99997363e-01 2.10218988e-03 -9.24304287e-04 1.92521028e+02] [-2.10096248e-03 9.99996913e-01 1.32689076e-03 1.01390677e+01] [ 9.27090810e-04 -1.32494533e-03 9.99998693e-01 -2.03945922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.731400513 meters Centerline goodness [0,1] 0.8873078498587845 Centerline is valid? [False, False] Translation: X:192.48, Y:10.13, Z:-0.20 [[ 9.99996069e-01 -1.07290355e-03 -2.59062861e-03 1.92477035e+02] [ 1.07750116e-03 9.99997846e-01 1.77396487e-03 1.01301181e+01] [ 2.58871974e-03 -1.77674930e-03 9.99995071e-01 -2.01348262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.761400513 meters Centerline goodness [0,1] 0.8482482740821988 Centerline is valid? [False, False] Translation: X:192.48, Y:10.13, Z:-0.20 [[ 9.99996132e-01 -8.64020756e-04 -2.64365989e-03 1.92476832e+02] [ 8.70647316e-04 9.99996480e-01 2.50646240e-03 1.01265895e+01] [ 2.64148494e-03 -2.50875440e-03 9.99993364e-01 -2.00532514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.791400513 meters Centerline goodness [0,1] 0.4968870441743255 Centerline is valid? [False, False] Translation: X:192.52, Y:10.13, Z:-0.20 [[ 9.99998403e-01 -1.57154431e-03 8.50672794e-04 1.92515448e+02] [ 1.57127466e-03 9.99998715e-01 3.17554310e-04 1.01299802e+01] [-8.51170752e-04 -3.16217162e-04 9.99999588e-01 -1.99913889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.821400513 meters Centerline goodness [0,1] 0.9534883720930233 Centerline is valid? [False, True] Translation: X:192.52, Y:10.13, Z:-0.20 [[ 9.99998566e-01 -1.45992287e-03 8.58584882e-04 1.92515239e+02] [ 1.45942426e-03 9.99998766e-01 5.81071413e-04 1.01287826e+01] [-8.59432142e-04 -5.79817540e-04 9.99999463e-01 -1.99544102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.851400513 meters Centerline goodness [0,1] 0.9065622064725471 Centerline is valid? [True, False] Translation: X:192.52, Y:10.13, Z:-0.20 [[ 9.99998505e-01 -1.56258646e-03 7.41057455e-04 1.92516110e+02] [ 1.56235139e-03 9.99998729e-01 3.17679938e-04 1.01299532e+01] [-7.41552916e-04 -3.16521671e-04 9.99999675e-01 -2.00482894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.881400513 meters Centerline goodness [0,1] 0.4843468109943755 Centerline is valid? [False, False] Translation: X:192.52, Y:10.13, Z:-0.20 [[ 9.99998407e-01 -1.64205257e-03 7.00159877e-04 1.92516556e+02] [ 1.64200402e-03 9.99998649e-01 6.99118608e-05 1.01310970e+01] [-7.00273730e-04 -6.87620840e-05 9.99999752e-01 -2.01111877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.911400513 meters Centerline goodness [0,1] 0.6605306131105126 Centerline is valid? [False, False] Translation: X:192.52, Y:10.13, Z:-0.20 [[ 9.99998359e-01 -1.66575958e-03 7.11849861e-04 1.92516576e+02] [ 1.66577665e-03 9.99998612e-01 -2.33912697e-05 1.01315320e+01] [-7.11809909e-04 2.45770142e-05 9.99999746e-01 -2.01249511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.941400513 meters Centerline goodness [0,1] 0.71603471323389 Centerline is valid? [False, False] Translation: X:192.52, Y:10.13, Z:-0.20 [[ 9.99998416e-01 -1.58756487e-03 8.04262832e-04 1.92515958e+02] [ 1.58746681e-03 9.99998732e-01 1.22537113e-04 1.01309224e+01] [-8.04456348e-04 -1.21260178e-04 9.99999669e-01 -2.00656600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.971400513 meters Centerline goodness [0,1] 0.9419479681788863 Centerline is valid? [False, False] Translation: X:192.47, Y:10.12, Z:-0.20 [[ 9.99994639e-01 -2.59409529e-03 1.99824454e-03 1.92466028e+02] [ 2.58996489e-03 9.99994510e-01 2.06683411e-03 1.01237926e+01] [-2.00359514e-03 -2.06164765e-03 9.99995868e-01 -1.96099616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.001400513 meters Centerline goodness [0,1] 0.6019429859059119 Centerline is valid? [False, False] Translation: X:192.47, Y:10.13, Z:-0.20 [[ 9.99972393e-01 -7.06274673e-03 2.30870976e-03 1.92465097e+02] [ 7.07034845e-03 9.99969556e-01 -3.30121632e-03 1.01291438e+01] [-2.28532382e-03 3.31744857e-03 9.99991886e-01 -1.96285418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.031400513 meters Centerline goodness [0,1] 0.9696525342684094 Centerline is valid? [False, True] Translation: X:192.47, Y:10.12, Z:-0.20 [[ 9.99991728e-01 -3.65867543e-03 1.77723240e-03 1.92467151e+02] [ 3.65565962e-03 9.99991878e-01 1.69721206e-03 1.01229879e+01] [-1.78342752e-03 -1.69070107e-03 9.99996980e-01 -1.96425018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.061400513 meters Centerline goodness [0,1] 0.8673591009705431 Centerline is valid? [True, False] Translation: X:192.47, Y:10.12, Z:-0.20 [[ 9.99992438e-01 -3.54164691e-03 1.60635920e-03 1.92467949e+02] [ 3.53826116e-03 9.99991523e-01 2.10568696e-03 1.01209452e+01] [-1.61380318e-03 -2.09998732e-03 9.99996493e-01 -1.96891297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.091400513 meters Centerline goodness [0,1] 0.9796386394324539 Centerline is valid? [False, True] Translation: X:192.47, Y:10.12, Z:-0.20 [[ 9.99966547e-01 -8.00253727e-03 1.69232817e-03 1.92467804e+02] [ 8.00689616e-03 9.99964604e-01 -2.58478101e-03 1.01226509e+01] [-1.67158346e-03 2.59824484e-03 9.99995227e-01 -1.97031005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.121400513 meters Centerline goodness [0,1] 0.9638014783526927 Centerline is valid? [True, True] Translation: X:192.50, Y:10.12, Z:-0.19 [[ 9.99952780e-01 -9.44348800e-03 2.29307661e-03 1.92497619e+02] [ 9.44310208e-03 9.99955397e-01 1.79066018e-04 1.01225471e+01] [-2.29466534e-03 -1.57403806e-04 9.99997355e-01 -1.94976187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.151400513 meters Centerline goodness [0,1] 0.9676890308839191 Centerline is valid? [True, True] Translation: X:192.53, Y:10.12, Z:-0.19 [[ 9.99940939e-01 -1.06446731e-02 2.19303463e-03 1.92527766e+02] [ 1.06443230e-02 9.99943333e-01 1.71262056e-04 1.01231394e+01] [-2.19473339e-03 -1.47908572e-04 9.99997581e-01 -1.94674214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.181400513 meters Centerline goodness [0,1] 0.9988839046167715 Centerline is valid? [True, True] Translation: X:192.56, Y:10.11, Z:-0.20 [[ 9.99931757e-01 -1.16095867e-02 1.30363044e-03 1.92560068e+02] [ 1.16094637e-02 9.99932603e-01 1.01824189e-04 1.01135652e+01] [-1.30472472e-03 -8.66827902e-05 9.99999145e-01 -1.95677926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.211400513 meters Centerline goodness [0,1] 0.995300328333226 Centerline is valid? [True, True] Translation: X:192.59, Y:10.12, Z:-0.20 [[ 9.99915325e-01 -1.30074154e-02 -3.87915221e-04 1.92589010e+02] [ 1.30074046e-02 9.99915400e-01 -3.03176639e-05 1.01213620e+01] [ 3.88276758e-04 2.52693265e-05 9.99999924e-01 -1.99993705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.24140051300003 meters Centerline goodness [0,1] 0.9865801597700664 Centerline is valid? [True, True] Translation: X:192.62, Y:10.13, Z:-0.20 [[ 9.99911085e-01 -1.33292753e-02 -3.89835515e-04 1.92617780e+02] [ 1.33292644e-02 9.99911161e-01 -3.05719315e-05 1.01267320e+01] [ 3.90208384e-04 2.53729926e-05 9.99999924e-01 -2.00590689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.271400513 meters Centerline goodness [0,1] 0.9869229624274384 Centerline is valid? [True, True] Translation: X:192.65, Y:10.13, Z:-0.20 [[ 9.99907553e-01 -1.35972029e-02 -4.99444396e-05 1.92647069e+02] [ 1.35972027e-02 9.99907554e-01 -4.36541773e-06 1.01277045e+01] [ 4.99991799e-05 3.68590949e-06 9.99999999e-01 -1.99978713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.30140051300003 meters Centerline goodness [0,1] 0.9663629252204063 Centerline is valid? [True, True] Translation: X:192.68, Y:10.13, Z:-0.20 [[ 9.99901954e-01 -1.39929126e-02 5.30460776e-04 1.92675506e+02] [ 1.39928926e-02 9.99902094e-01 4.14360428e-05 1.01319579e+01] [-5.30988652e-04 -3.40092994e-05 9.99999858e-01 -1.98693765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.331400513 meters Centerline goodness [0,1] 0.9976067864697964 Centerline is valid? [True, True] Translation: X:192.71, Y:10.12, Z:-0.20 [[ 9.99890239e-01 -1.48064631e-02 5.28581478e-04 1.92705615e+02] [ 1.48064433e-02 9.99890378e-01 4.13322091e-05 1.01240537e+01] [-5.29135518e-04 -3.35012607e-05 9.99999859e-01 -1.98036194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.36140051300004 meters Centerline goodness [0,1] 0.9984861407249467 Centerline is valid? [True, True] Translation: X:192.74, Y:10.12, Z:-0.20 [[ 9.99867946e-01 -1.62447482e-02 -4.44808776e-04 1.92735629e+02] [ 1.62447343e-02 9.99868045e-01 -3.49145656e-05 1.01205396e+01] [ 4.45317259e-04 2.76841546e-05 9.99999900e-01 -1.99317736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.391400513 meters Centerline goodness [0,1] 0.9991637720313907 Centerline is valid? [True, True] Translation: X:192.76, Y:10.12, Z:-0.20 [[ 9.99856991e-01 -1.69039623e-02 -5.02903940e-04 1.92764587e+02] [ 1.69039444e-02 9.99857117e-01 -3.99604968e-05 1.01178815e+01] [ 5.03507575e-04 3.14537219e-05 9.99999873e-01 -2.00031663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.421400513 meters Centerline goodness [0,1] 0.9967724126215654 Centerline is valid? [True, True] Translation: X:192.79, Y:10.12, Z:-0.20 [[ 9.99859015e-01 -1.67721727e-02 -8.02691152e-04 1.92791864e+02] [ 1.67721274e-02 9.99859336e-01 -6.32328810e-05 1.01242093e+01] [ 8.03638795e-04 4.97611279e-05 9.99999676e-01 -2.01036487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.451400513 meters Centerline goodness [0,1] 0.9965987831671456 Centerline is valid? [True, True] Translation: X:192.82, Y:10.13, Z:-0.20 [[ 9.99871730e-01 -1.60094660e-02 -4.68862609e-04 1.92820140e+02] [ 1.60094504e-02 9.99871840e-01 -3.70267478e-05 1.01255656e+01] [ 4.69395298e-04 2.95157657e-05 9.99999889e-01 -2.01194732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.481400513 meters Centerline goodness [0,1] 0.9919174910545149 Centerline is valid? [True, True] Translation: X:192.85, Y:10.13, Z:-0.20 [[ 9.99893659e-01 -1.45829292e-02 -8.89382782e-05 1.92848610e+02] [ 1.45829287e-02 9.99893663e-01 -7.14233755e-06 1.01295598e+01] [ 8.90329770e-05 5.84459747e-06 9.99999996e-01 -2.00545781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.511400513 meters Centerline goodness [0,1] 0.9975924150420795 Centerline is valid? [True, True] Translation: X:192.88, Y:10.13, Z:-0.20 [[ 9.99944385e-01 -1.05408441e-02 3.43645545e-04 1.92879296e+02] [ 1.05408354e-02 9.99944443e-01 2.70371797e-05 1.01273771e+01] [-3.43911447e-04 -2.34133649e-05 9.99999941e-01 -1.98949889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.541400513 meters Centerline goodness [0,1] 0.9889132396545056 Centerline is valid? [True, True] Translation: X:192.91, Y:10.14, Z:-0.20 [[ 9.99964201e-01 -8.45698216e-03 -2.75393905e-04 1.92908262e+02] [ 8.45697650e-03 9.99964239e-01 -2.17232767e-05 1.01355363e+01] [ 2.75567770e-04 1.93934993e-05 9.99999962e-01 -1.99755915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.571400513 meters Centerline goodness [0,1] 0.7221467102748163 Centerline is valid? [True, False] Translation: X:192.91, Y:10.14, Z:-0.20 [[ 9.99962906e-01 -8.60989305e-03 -2.38798003e-04 1.92908481e+02] [ 8.60974929e-03 9.99962757e-01 -5.96647595e-04 1.01383277e+01] [ 2.43926181e-04 5.94569472e-04 9.99999793e-01 -2.00496602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.601400513 meters Centerline goodness [0,1] 0.8319347418640314 Centerline is valid? [False, False] Translation: X:192.91, Y:10.14, Z:-0.20 [[ 9.99991601e-01 -4.08399617e-03 -3.44159223e-04 1.92908827e+02] [ 4.08541083e-03 9.99982770e-01 4.21523799e-03 1.01360031e+01] [ 3.26938277e-04 -4.21660862e-03 9.99991057e-01 -2.00624386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.631400513 meters Centerline goodness [0,1] 0.7324584724674055 Centerline is valid? [False, False] Translation: X:192.91, Y:10.14, Z:-0.20 [[ 9.99991266e-01 -4.17260920e-03 -2.38339565e-04 1.92908392e+02] [ 4.17351404e-03 9.99983563e-01 3.93124840e-03 1.01373871e+01] [ 2.21932084e-04 -3.93220878e-03 9.99992244e-01 -2.00495859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.661400513 meters Centerline goodness [0,1] 0.5053985561258172 Centerline is valid? [False, False] Translation: X:192.91, Y:10.14, Z:-0.20 [[ 9.99991322e-01 -4.16424967e-03 -1.22721825e-04 1.92907802e+02] [ 4.16469941e-03 9.99983620e-01 3.92607595e-03 1.01374639e+01] [ 1.06370654e-04 -3.92655298e-03 9.99992285e-01 -2.00096380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.691400513 meters Centerline goodness [0,1] 0.9325655434712934 Centerline is valid? [False, False] Translation: X:192.91, Y:10.14, Z:-0.20 [[ 9.99991803e-01 -4.04700611e-03 -1.23151690e-04 1.92907540e+02] [ 4.04748627e-03 9.99983044e-01 4.18676856e-03 1.01362821e+01] [ 1.06205724e-04 -4.18723269e-03 9.99991228e-01 -1.99571180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.721400513 meters Centerline goodness [0,1] 0.8693629972565158 Centerline is valid? [False, False] Translation: X:192.91, Y:10.14, Z:-0.20 [[ 9.99992131e-01 -3.96488892e-03 -1.32217210e-04 1.92907412e+02] [ 3.96543741e-03 9.99982262e-01 4.44431944e-03 1.01350505e+01] [ 1.14593632e-04 -4.44480877e-03 9.99990115e-01 -1.99251533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.751400513 meters Centerline goodness [0,1] 0.9272955653488323 Centerline is valid? [False, False] Translation: X:192.91, Y:10.14, Z:-0.20 [[ 9.99962727e-01 -8.63330824e-03 -1.00430391e-04 1.92907838e+02] [ 8.63323776e-03 9.99962500e-01 -6.82195444e-04 1.01387658e+01] [ 1.06316228e-04 6.81302977e-04 9.99999762e-01 -2.00181514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.781400513 meters Centerline goodness [0,1] 0.970061276848377 Centerline is valid? [False, True] Translation: X:192.91, Y:10.14, Z:-0.20 [[ 9.99964101e-01 -8.46477961e-03 -3.78666459e-04 1.92908779e+02] [ 8.46475844e-03 9.99964172e-01 -5.74542157e-05 1.01356526e+01] [ 3.79139229e-04 5.42468331e-05 9.99999927e-01 -2.00205958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.811400513 meters Centerline goodness [0,1] 0.9986464129944352 Centerline is valid? [True, True] Translation: X:192.94, Y:10.12, Z:-0.20 [[ 9.99918458e-01 -1.27477370e-02 -7.57052264e-04 1.92940686e+02] [ 1.27476960e-02 9.99918743e-01 -5.90102216e-05 1.01204013e+01] [ 7.57742995e-04 4.93547377e-05 9.99999712e-01 -1.99640864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.841400513 meters Centerline goodness [0,1] 0.9963633288227334 Centerline is valid? [True, True] Translation: X:192.97, Y:10.13, Z:-0.20 [[ 9.99905267e-01 -1.37227585e-02 1.06920753e-03 1.92968119e+02] [ 1.37226773e-02 9.99905836e-01 8.32276965e-05 1.01263766e+01] [-1.07024896e-03 -6.85474222e-05 9.99999425e-01 -1.97604727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.871400513 meters Centerline goodness [0,1] 0.9971774193548387 Centerline is valid? [True, True] Translation: X:193.00, Y:10.13, Z:-0.19 [[ 9.99905626e-01 -1.34980480e-02 2.55783668e-03 1.92997880e+02] [ 1.34975814e-02 9.99908884e-01 1.99578591e-04 1.01278630e+01] [-2.56029754e-03 -1.65035147e-04 9.99996709e-01 -1.94834171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.901400513 meters Centerline goodness [0,1] 0.9933937133724028 Centerline is valid? [True, True] Translation: X:193.03, Y:10.13, Z:-0.19 [[ 9.99925432e-01 -1.16830240e-02 3.55488031e-03 1.93027767e+02] [ 1.16821110e-02 9.99931723e-01 2.77485364e-04 1.01320840e+01] [-3.55787947e-03 -2.35936166e-04 9.99993643e-01 -1.93578817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.931400513 meters Centerline goodness [0,1] 0.9524174164592772 Centerline is valid? [True, True] Translation: X:193.06, Y:10.14, Z:-0.19 [[ 9.99954429e-01 -8.97762106e-03 3.24701682e-03 1.93056368e+02] [ 8.97684499e-03 9.99959675e-01 2.53507134e-04 1.01400063e+01] [-3.24916178e-03 -2.24347615e-04 9.99994696e-01 -1.94508786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.961400513 meters Centerline goodness [0,1] 0.6763987165593591 Centerline is valid? [True, False] Translation: X:193.06, Y:10.13, Z:-0.19 [[ 9.99987041e-01 -4.05557423e-03 3.07747658e-03 1.93057063e+02] [ 4.03721181e-03 9.99974151e-01 5.94964880e-03 1.01335004e+01] [-3.10152627e-03 -5.93714727e-03 9.99977565e-01 -1.94834847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.99140051300003 meters Centerline goodness [0,1] 0.9318907187539895 Centerline is valid? [False, False] Translation: X:193.06, Y:10.13, Z:-0.20 [[ 9.99986754e-01 -4.05334133e-03 3.17214467e-03 1.93056908e+02] [ 4.03473512e-03 9.99974748e-01 5.85008037e-03 1.01339669e+01] [-3.19577694e-03 -5.83720412e-03 9.99977857e-01 -1.95165964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.021400513 meters Centerline goodness [0,1] 0.9854831751509923 Centerline is valid? [False, True] Translation: X:193.03, Y:10.14, Z:-0.19 [[ 9.99995811e-01 -2.09594566e-03 1.99617742e-03 1.93034132e+02] [ 2.10271273e-03 9.99992030e-01 -3.39396903e-03 1.01370945e+01] [-1.98904794e-03 3.39815220e-03 9.99992248e-01 -1.94589406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.05140051300003 meters Centerline goodness [0,1] 0.7172324972552994 Centerline is valid? [True, False] Translation: X:193.07, Y:10.14, Z:-0.19 [[ 9.99988098e-01 -5.26651722e-05 4.87854054e-03 1.93074391e+02] [ 6.63433590e-05 9.99996068e-01 -2.80362625e-03 1.01382774e+01] [-4.87837370e-03 2.80391654e-03 9.99984170e-01 -1.94615985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.081400513 meters Centerline goodness [0,1] 0.6826737809396769 Centerline is valid? [False, False] Translation: X:193.07, Y:10.14, Z:-0.19 [[ 9.99988221e-01 9.58326518e-05 4.85263551e-03 1.93074431e+02] [-8.37332503e-05 9.99996888e-01 -2.49350884e-03 1.01368445e+01] [-4.85285937e-03 2.49307314e-03 9.99985117e-01 -1.94498166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.11140051300004 meters Centerline goodness [0,1] 0.7531853634429857 Centerline is valid? [False, False] Translation: X:193.04, Y:10.13, Z:-0.20 [[ 9.99998701e-01 3.53242407e-04 1.57260940e-03 1.93035629e+02] [-3.53917793e-04 9.99999845e-01 4.29211342e-04 1.01294812e+01] [-1.57245754e-03 -4.29767359e-04 9.99998671e-01 -1.95247687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.141400513 meters Centerline goodness [0,1] 0.6417837481667269 Centerline is valid? [False, False] Translation: X:193.08, Y:10.14, Z:-0.20 [[ 9.99990909e-01 6.83093031e-04 4.20886557e-03 1.93076961e+02] [-6.75105772e-04 9.99997969e-01 -1.89885115e-03 1.01355060e+01] [-4.21015411e-03 1.89599246e-03 9.99989340e-01 -1.96650464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.171400513 meters Centerline goodness [0,1] 0.793636208222925 Centerline is valid? [False, False] Translation: X:193.08, Y:10.14, Z:-0.20 [[ 9.99990699e-01 7.07172666e-04 4.25453467e-03 1.93076706e+02] [-6.99344763e-04 9.99998061e-01 -1.84110275e-03 1.01352678e+01] [-4.25582839e-03 1.83811024e-03 9.99989255e-01 -1.96475946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.201400513 meters Centerline goodness [0,1] 0.6384192820338117 Centerline is valid? [False, False] Translation: X:193.08, Y:10.13, Z:-0.20 [[ 9.99990657e-01 8.51739940e-04 4.23790848e-03 1.93076515e+02] [-8.45658344e-04 9.99998610e-01 -1.43663164e-03 1.01333549e+01] [-4.23912623e-03 1.43303440e-03 9.99989988e-01 -1.95985225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.231400513 meters Centerline goodness [0,1] 0.9811605926430518 Centerline is valid? [False, True] Translation: X:193.08, Y:10.13, Z:-0.20 [[ 9.99992341e-01 1.08688814e-03 3.75976073e-03 1.93077849e+02] [-1.08602263e-03 9.99999383e-01 -2.32236549e-04 1.01271768e+01] [-3.76001083e-03 2.28151585e-04 9.99992905e-01 -1.95494816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.261400513 meters Centerline goodness [0,1] 0.9061942769805553 Centerline is valid? [True, False] Translation: X:193.08, Y:10.12, Z:-0.20 [[ 9.99992905e-01 1.26240323e-03 3.54909761e-03 1.93078471e+02] [-1.26359887e-03 9.99999146e-01 3.34663592e-04 1.01243975e+01] [-3.54867210e-03 -3.39145854e-04 9.99993646e-01 -1.95350411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.291400513 meters Centerline goodness [0,1] 0.8877858002406739 Centerline is valid? [False, False] Translation: X:193.04, Y:10.12, Z:-0.20 [[ 9.99999961e-01 -2.56591359e-05 2.78251481e-04 1.93039351e+02] [ 2.52406364e-05 9.99998869e-01 1.50393268e-03 1.01194817e+01] [-2.78289755e-04 -1.50392560e-03 9.99998830e-01 -1.95727893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.321400513 meters Centerline goodness [0,1] 0.9906809118631779 Centerline is valid? [False, True] Translation: X:193.04, Y:10.12, Z:-0.20 [[ 9.99999985e-01 -8.69847219e-05 1.52518819e-04 1.93039810e+02] [ 8.67455741e-05 9.99998768e-01 1.56729510e-03 1.01190149e+01] [-1.52654962e-04 -1.56728185e-03 9.99998760e-01 -1.95794260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.351400513 meters Centerline goodness [0,1] 0.9743006063184767 Centerline is valid? [True, True] Translation: X:193.07, Y:10.13, Z:-0.20 [[ 9.99999906e-01 -3.40966513e-04 2.65994828e-04 1.93069353e+02] [ 3.40961517e-04 9.99999942e-01 1.88272205e-05 1.01254060e+01] [-2.66001232e-04 -1.87365248e-05 9.99999964e-01 -1.96714011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.381400513 meters Centerline goodness [0,1] 0.9912342440335274 Centerline is valid? [True, True] Translation: X:193.10, Y:10.12, Z:-0.20 [[ 9.99999944e-01 -3.29059493e-04 5.62005132e-05 1.93099907e+02] [ 3.29059271e-04 9.99999946e-01 3.97122251e-06 1.01235606e+01] [-5.62018169e-05 -3.95272899e-06 9.99999998e-01 -1.97279701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.411400513 meters Centerline goodness [0,1] 0.9972518035039505 Centerline is valid? [True, True] Translation: X:193.13, Y:10.12, Z:-0.20 [[ 9.99999973e-01 1.99069333e-04 -1.16029470e-04 1.93130138e+02] [-1.99070290e-04 9.99999980e-01 -8.23285684e-06 1.01203499e+01] [ 1.16027829e-04 8.25595464e-06 9.99999993e-01 -1.97432600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.441400513 meters Centerline goodness [0,1] 0.9485839978003849 Centerline is valid? [True, False] Translation: X:193.17, Y:10.13, Z:-0.20 [[ 9.99996611e-01 1.18711333e-03 2.31711121e-03 1.93171889e+02] [-1.18315682e-03 9.99997841e-01 -1.70814147e-03 1.01252704e+01] [-2.31913396e-03 1.70539418e-03 9.99995857e-01 -1.98739083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.471400513 meters Centerline goodness [0,1] 0.9302251756539406 Centerline is valid? [False, False] Translation: X:193.17, Y:10.13, Z:-0.20 [[ 9.99996801e-01 1.01185496e-03 2.31814898e-03 1.93172097e+02] [-1.00655853e-03 9.99996883e-01 -2.28479382e-03 1.01280425e+01] [-2.32045363e-03 2.28245316e-03 9.99994703e-01 -1.99200090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.501400513 meters Centerline goodness [0,1] 0.9877889972888159 Centerline is valid? [False, True] Translation: X:193.17, Y:10.13, Z:-0.20 [[ 9.99996736e-01 9.40377974e-04 2.37573956e-03 1.93171896e+02] [-9.34484561e-04 9.99996487e-01 -2.48055804e-03 1.01289961e+01] [-2.37806387e-03 2.47832985e-03 9.99994101e-01 -1.99178478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.531400513 meters Centerline goodness [0,1] 0.9877889972888159 Centerline is valid? [True, True] Translation: X:193.20, Y:10.13, Z:-0.20 [[ 9.99997152e-01 9.72640724e-04 2.17954934e-03 1.93203737e+02] [-9.72996051e-04 9.99999514e-01 1.61973296e-04 1.01290162e+01] [-2.17939073e-03 -1.64093527e-04 9.99997612e-01 -1.98998909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.561400513 meters Centerline goodness [0,1] 0.8676319835981547 Centerline is valid? [True, False] Translation: X:193.20, Y:10.13, Z:-0.20 [[ 9.99997078e-01 9.29885034e-04 2.23145674e-03 1.93203528e+02] [-9.29970814e-04 9.99999567e-01 3.74037634e-05 1.01296047e+01] [-2.23142099e-03 -3.94788437e-05 9.99997510e-01 -1.98930925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.591400513 meters Centerline goodness [0,1] 0.8195913512595047 Centerline is valid? [False, False] Translation: X:193.20, Y:10.13, Z:-0.20 [[ 9.99996891e-01 8.89880310e-04 2.32949549e-03 1.93203210e+02] [-8.89594951e-04 9.99999597e-01 -1.23531427e-04 1.01303723e+01] [-2.32960448e-03 1.21458735e-04 9.99997279e-01 -1.98940385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.621400513 meters Centerline goodness [0,1] 0.9046078011144449 Centerline is valid? [False, False] Translation: X:193.20, Y:10.13, Z:-0.20 [[ 9.99992150e-01 2.26916550e-03 3.24809697e-03 1.93197758e+02] [-2.27250210e-03 9.99996894e-01 1.02392481e-03 1.01298011e+01] [-3.24576342e-03 -1.03129808e-03 9.99994201e-01 -1.96058120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.651400513 meters Centerline goodness [0,1] 0.6523696279938849 Centerline is valid? [False, False] Translation: X:193.20, Y:10.13, Z:-0.20 [[ 9.99986636e-01 4.64505764e-03 2.26950815e-03 1.93204573e+02] [-4.65314665e-03 9.99982794e-01 3.57202474e-03 1.01288780e+01] [-2.25287685e-03 -3.58253736e-03 9.99991045e-01 -2.00029183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.681400513 meters Centerline goodness [0,1] 0.7982197745901639 Centerline is valid? [False, False] Translation: X:193.20, Y:10.13, Z:-0.20 [[ 9.99987346e-01 4.49042723e-03 2.26784911e-03 1.93204722e+02] [-4.49772124e-03 9.99984696e-01 3.22147367e-03 1.01304859e+01] [-2.25334861e-03 -3.23163306e-03 9.99992239e-01 -2.00323873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.711400513 meters Centerline goodness [0,1] 0.6733543925552805 Centerline is valid? [False, False] Translation: X:193.21, Y:10.13, Z:-0.20 [[ 9.99987889e-01 4.41162973e-03 2.18157933e-03 1.93205212e+02] [-4.41824928e-03 9.99985622e-01 3.03884020e-03 1.01312750e+01] [-2.16814173e-03 -3.04844216e-03 9.99993003e-01 -2.00742516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.74140051300003 meters Centerline goodness [0,1] 0.6473423769302961 Centerline is valid? [False, False] Translation: X:193.21, Y:10.13, Z:-0.20 [[ 9.99987484e-01 4.52182338e-03 2.14127459e-03 1.93205364e+02] [-4.52885065e-03 9.99984338e-01 3.28841831e-03 1.01300609e+01] [-2.12637141e-03 -3.29807466e-03 9.99992301e-01 -2.00773263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.771400513 meters Centerline goodness [0,1] 0.461823494537139 Centerline is valid? [False, False] Translation: X:193.21, Y:10.13, Z:-0.20 [[ 9.99986735e-01 4.66047824e-03 2.19294171e-03 1.93205024e+02] [-4.66838871e-03 9.99982565e-01 3.61605853e-03 1.01285116e+01] [-2.17605091e-03 -3.62624806e-03 9.99991058e-01 -2.00436343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.80140051300003 meters Centerline goodness [0,1] 0.641452025270987 Centerline is valid? [False, False] Translation: X:193.20, Y:10.13, Z:-0.20 [[ 9.99985906e-01 4.80688333e-03 2.25425387e-03 1.93204589e+02] [-4.81578586e-03 9.99980561e-01 3.96055534e-03 1.01269150e+01] [-2.23517213e-03 -3.97135552e-03 9.99989616e-01 -1.99971155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.831400513 meters Centerline goodness [0,1] 0.9249180188237298 Centerline is valid? [False, False] Translation: X:193.20, Y:10.13, Z:-0.20 [[ 9.99992115e-01 2.44026938e-03 3.13293873e-03 1.93198037e+02] [-2.44446252e-03 9.99996121e-01 1.33527329e-03 1.01285098e+01] [-3.12966815e-03 -1.34292111e-03 9.99994201e-01 -1.95953685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.86140051300004 meters Centerline goodness [0,1] 0.7644887568943572 Centerline is valid? [False, False] Translation: X:193.20, Y:10.13, Z:-0.20 [[ 9.99991754e-01 2.58633388e-03 3.13101164e-03 1.93198092e+02] [-2.59167748e-03 9.99995190e-01 1.70381610e-03 1.01267328e+01] [-3.12658995e-03 -1.71191662e-03 9.99993647e-01 -1.96006620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.891400513 meters Centerline goodness [0,1] 0.6229650485847958 Centerline is valid? [False, False] Translation: X:193.20, Y:10.13, Z:-0.20 [[ 9.99992023e-01 2.49514376e-03 3.11895491e-03 1.93198162e+02] [-2.49978031e-03 9.99995775e-01 1.48355847e-03 1.01277485e+01] [-3.11524004e-03 -1.49134334e-03 9.99994036e-01 -1.96044828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.921400513 meters Centerline goodness [0,1] 0.8896062113932739 Centerline is valid? [False, False] Translation: X:193.16, Y:10.13, Z:-0.20 [[ 9.99998418e-01 1.61580168e-03 7.43375979e-04 1.93155528e+02] [-1.61720044e-03 9.99996916e-01 1.88489397e-03 1.01263601e+01] [-7.40328071e-04 -1.88609317e-03 9.99997947e-01 -1.95155159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.951400513 meters Centerline goodness [0,1] 0.8678254185172531 Centerline is valid? [False, False] Translation: X:193.16, Y:10.13, Z:-0.20 [[ 9.99998649e-01 1.41197711e-03 8.41999679e-04 1.93155229e+02] [-1.41305889e-03 9.99998175e-01 1.28557407e-03 1.01292465e+01] [-8.40182941e-04 -1.28676213e-03 9.99998819e-01 -1.95218429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.981400513 meters Centerline goodness [0,1] 0.6036429484448231 Centerline is valid? [False, False] Translation: X:193.16, Y:10.14, Z:-0.20 [[ 9.99998945e-01 1.16171486e-03 8.71512049e-04 1.93155387e+02] [-1.16171928e-03 9.99999325e-01 4.56626533e-06 1.01356515e+01] [-8.71506156e-04 -5.57871286e-06 9.99999620e-01 -1.95950700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.011400513 meters Centerline goodness [0,1] 0.43843805375862 Centerline is valid? [False, False] Translation: X:193.16, Y:10.14, Z:-0.20 [[ 9.99999189e-01 9.34369488e-04 8.65764066e-04 1.93155648e+02] [-9.33896776e-04 9.99999415e-01 -5.46248829e-04 1.01382042e+01] [-8.66273957e-04 5.45439851e-04 9.99999476e-01 -1.96438466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.041400513 meters Centerline goodness [0,1] 0.4631127529032121 Centerline is valid? [False, False] Translation: X:193.16, Y:10.14, Z:-0.20 [[ 9.99999287e-01 7.46030697e-04 9.32106628e-04 1.93155508e+02] [-7.45084554e-04 9.99999207e-01 -1.01499459e-03 1.01404184e+01] [-9.32863106e-04 1.01429937e-03 9.99999050e-01 -1.96635990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.071400513 meters Centerline goodness [0,1] 0.5057519967797293 Centerline is valid? [False, False] Translation: X:193.15, Y:10.14, Z:-0.20 [[ 9.99999258e-01 5.96168899e-04 1.06263496e-03 1.93154742e+02] [-5.94726062e-04 9.99998902e-01 -1.35759056e-03 1.01421062e+01] [-1.06344314e-03 1.35695758e-03 9.99998514e-01 -1.96030913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.101400513 meters Centerline goodness [0,1] 0.6992807592458612 Centerline is valid? [False, False] Translation: X:193.15, Y:10.14, Z:-0.19 [[ 9.99998683e-01 4.90057626e-04 1.54706207e-03 1.93151823e+02] [-4.87707295e-04 9.99998727e-01 -1.51923411e-03 1.01431941e+01] [-1.54780461e-03 1.51847759e-03 9.99997649e-01 -1.93517229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.131400513 meters Centerline goodness [0,1] 0.6051161799189938 Centerline is valid? [False, False] Translation: X:193.15, Y:10.14, Z:-0.19 [[ 9.99998745e-01 4.61729756e-04 1.51525483e-03 1.93151628e+02] [-4.59416266e-04 9.99998729e-01 -1.52679270e-03 1.01432671e+01] [-1.51595787e-03 1.52609465e-03 9.99997686e-01 -1.92912776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.161400513 meters Centerline goodness [0,1] 0.6548497963340123 Centerline is valid? [False, False] Translation: X:193.15, Y:10.14, Z:-0.19 [[ 9.99998959e-01 3.69473798e-04 1.39452860e-03 1.93152136e+02] [-3.67148877e-04 9.99998543e-01 -1.66706107e-03 1.01438486e+01] [-1.39514250e-03 1.66654733e-03 9.99997638e-01 -1.93151636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.191400513 meters Centerline goodness [0,1] 0.6847126314671199 Centerline is valid? [False, False] Translation: X:193.15, Y:10.14, Z:-0.19 [[ 9.99999119e-01 2.51473249e-04 1.30365059e-03 1.93152631e+02] [-2.49003706e-04 9.99998175e-01 -1.89414555e-03 1.01448750e+01] [-1.30412454e-03 1.89381926e-03 9.99997356e-01 -1.93515043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.221400513 meters Centerline goodness [0,1] 0.6690354687697693 Centerline is valid? [False, False] Translation: X:193.15, Y:10.15, Z:-0.19 [[ 9.99999189e-01 1.09597440e-04 1.26849428e-03 1.93152739e+02] [-1.06845180e-04 9.99997641e-01 -2.16957072e-03 1.01461436e+01] [-1.26872907e-03 2.16943343e-03 9.99996842e-01 -1.93502298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.251400513 meters Centerline goodness [0,1] 0.6690805447060065 Centerline is valid? [False, False] Translation: X:193.15, Y:10.15, Z:-0.19 [[ 9.99999210e-01 -5.68961523e-05 1.25546685e-03 1.93152599e+02] [ 6.00753313e-05 9.99996792e-01 -2.53237602e-03 1.01478873e+01] [-1.25531874e-03 2.53244945e-03 9.99996005e-01 -1.93150365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.281400513 meters Centerline goodness [0,1] 0.6893574805808849 Centerline is valid? [False, False] Translation: X:193.15, Y:10.15, Z:-0.19 [[ 9.99999360e-01 -5.49464264e-05 1.12983569e-03 1.93153008e+02] [ 5.78038509e-05 9.99996800e-01 -2.52918497e-03 1.01478657e+01] [-1.12969310e-03 2.52924866e-03 9.99996163e-01 -1.93121671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.311400513 meters Centerline goodness [0,1] 0.7125137816979052 Centerline is valid? [False, False] Translation: X:193.15, Y:10.15, Z:-0.19 [[ 9.99999461e-01 -2.71952941e-05 1.03757276e-03 1.93153510e+02] [ 2.97635963e-05 9.99996936e-01 -2.47536320e-03 1.01475779e+01] [-1.03750227e-03 2.47539275e-03 9.99996398e-01 -1.93485201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.341400513 meters Centerline goodness [0,1] 0.4800823010351264 Centerline is valid? [False, False] Translation: X:193.15, Y:10.15, Z:-0.19 [[ 9.99999569e-01 -1.13754266e-04 9.21004767e-04 1.93154519e+02] [ 1.16189302e-04 9.99996497e-01 -2.64426846e-03 1.01482445e+01] [-9.20700745e-04 2.64437433e-03 9.99996080e-01 -1.94716405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.371400513 meters Centerline goodness [0,1] 0.5021633085896076 Centerline is valid? [False, False] Translation: X:193.15, Y:10.15, Z:-0.20 [[ 9.99999598e-01 -1.49567865e-04 8.84126114e-04 1.93154866e+02] [ 1.51965155e-04 9.99996311e-01 -2.71203388e-03 1.01485189e+01] [-8.83717219e-04 2.71216714e-03 9.99995932e-01 -1.95168274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.401400513 meters Centerline goodness [0,1] 0.8610594009138602 Centerline is valid? [False, False] Translation: X:193.16, Y:10.15, Z:-0.20 [[ 9.99999823e-01 -7.99577793e-05 5.89943218e-04 1.93155810e+02] [ 8.12730139e-05 9.99997511e-01 -2.22973869e-03 1.01460171e+01] [-5.89763465e-04 2.22978624e-03 9.99997340e-01 -1.95102401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.431400513 meters Centerline goodness [0,1] 0.618554956098593 Centerline is valid? [False, False] Translation: X:193.16, Y:10.14, Z:-0.19 [[ 9.99999885e-01 1.61339409e-04 4.52519409e-04 1.93156188e+02] [-1.60625518e-04 9.99998743e-01 -1.57718350e-03 1.01428895e+01] [-4.52773302e-04 1.57711063e-03 9.99998654e-01 -1.94927648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.461400513 meters Centerline goodness [0,1] 0.9944674965421854 Centerline is valid? [False, True] Translation: X:193.15, Y:10.14, Z:-0.19 [[ 9.99996786e-01 -2.20288780e-03 1.25542737e-03 1.93150009e+02] [ 2.20772419e-03 9.99990097e-01 -3.86411093e-03 1.01417505e+01] [-1.24690274e-03 3.86687015e-03 9.99991746e-01 -1.90931317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.49140051300003 meters Centerline goodness [0,1] 0.8736131108664351 Centerline is valid? [True, False] Translation: X:193.15, Y:10.14, Z:-0.19 [[ 9.99997723e-01 -1.87036791e-03 1.02766341e-03 1.93150693e+02] [ 1.87337979e-03 9.99993930e-01 -2.93769909e-03 1.01372621e+01] [-1.02216259e-03 2.93961760e-03 9.99995157e-01 -1.90766678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.521400513 meters Centerline goodness [0,1] 0.804625503925313 Centerline is valid? [False, False] Translation: X:193.15, Y:10.13, Z:-0.19 [[ 9.99998385e-01 -1.56476031e-03 8.83970274e-04 1.93151283e+02] [ 1.56667693e-03 9.99996415e-01 -2.17167883e-03 1.01335786e+01] [-8.80568948e-04 2.17306021e-03 9.99997251e-01 -1.90986604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.55140051300003 meters Centerline goodness [0,1] 0.9787324362185338 Centerline is valid? [False, True] Translation: X:193.15, Y:10.13, Z:-0.19 [[ 9.99999104e-01 -1.08781702e-03 7.80031102e-04 1.93151729e+02] [ 1.08860354e-03 9.99998899e-01 -1.00860823e-03 1.01280265e+01] [-7.78933062e-04 1.00945647e-03 9.99999187e-01 -1.91155594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.581400513 meters Centerline goodness [0,1] 0.9865844583820559 Centerline is valid? [True, True] Translation: X:193.18, Y:10.12, Z:-0.19 [[ 9.99998754e-01 -1.22003591e-03 1.00160952e-03 1.93182769e+02] [ 1.21996331e-03 9.99999253e-01 7.30922919e-05 1.01247562e+01] [-1.00169794e-03 -7.18702739e-05 9.99999496e-01 -1.91091003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.61140051300004 meters Centerline goodness [0,1] 0.8463015722274981 Centerline is valid? [True, False] Translation: X:193.18, Y:10.12, Z:-0.19 [[ 9.99999177e-01 -8.36986809e-04 9.72838864e-04 1.93182674e+02] [ 8.36062313e-04 9.99999199e-01 9.50325907e-04 1.01206131e+01] [-9.73633495e-04 -9.49511771e-04 9.99999075e-01 -1.90709854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.641400513 meters Centerline goodness [0,1] 0.9516860873825703 Centerline is valid? [False, True] Translation: X:193.18, Y:10.12, Z:-0.19 [[ 9.99986979e-01 -4.84333346e-03 1.60751433e-03 1.93180859e+02] [ 4.84953242e-03 9.99980733e-01 -3.87501190e-03 1.01238809e+01] [-1.58871538e-03 3.88275713e-03 9.99991200e-01 -1.91248857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.671400513 meters Centerline goodness [0,1] 0.9616153366717531 Centerline is valid? [True, True] Translation: X:193.21, Y:10.12, Z:-0.19 [[ 9.99994585e-01 -2.87127754e-03 1.60811581e-03 1.93212086e+02] [ 2.87108094e-03 9.99995871e-01 1.24545632e-04 1.01209378e+01] [-1.60846677e-03 -1.19927926e-04 9.99998699e-01 -1.89969802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.701400513 meters Centerline goodness [0,1] 0.8254722988749734 Centerline is valid? [True, False] Translation: X:193.25, Y:10.13, Z:-0.19 [[ 9.99991588e-01 -1.55708791e-03 3.79468868e-03 1.93254624e+02] [ 1.56254644e-03 9.99997748e-01 -1.43592644e-03 1.01261108e+01] [-3.79244427e-03 1.44184374e-03 9.99991769e-01 -1.91914312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.731400513 meters Centerline goodness [0,1] 0.6077628284028691 Centerline is valid? [False, False] Translation: X:193.26, Y:10.13, Z:-0.19 [[ 9.99991759e-01 -1.63088041e-03 3.71780876e-03 1.93255173e+02] [ 1.63716582e-03 9.99997235e-01 -1.68820453e-03 1.01272972e+01] [-3.71504522e-03 1.69427728e-03 9.99991664e-01 -1.92497839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.761400513 meters Centerline goodness [0,1] 0.492001188152423 Centerline is valid? [False, False] Translation: X:193.26, Y:10.13, Z:-0.19 [[ 9.99991602e-01 -1.65556797e-03 3.74905611e-03 1.93255131e+02] [ 1.66243209e-03 9.99996946e-01 -1.82851596e-03 1.01279830e+01] [-3.74601743e-03 1.83473315e-03 9.99991301e-01 -1.92644378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.791400513 meters Centerline goodness [0,1] 0.946992755176405 Centerline is valid? [False, False] Translation: X:193.25, Y:10.13, Z:-0.19 [[ 9.99990963e-01 -1.65844945e-03 3.91464123e-03 1.93254466e+02] [ 1.66595599e-03 9.99996779e-01 -1.91507597e-03 1.01284807e+01] [-3.91145257e-03 1.92158028e-03 9.99990504e-01 -1.92390074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.821400513 meters Centerline goodness [0,1] 0.9660397635679742 Centerline is valid? [False, True] Translation: X:193.25, Y:10.13, Z:-0.19 [[ 9.99988121e-01 -4.34786180e-04 4.85469090e-03 1.93248474e+02] [ 4.39591031e-04 9.99999415e-01 -9.88710439e-04 1.01290696e+01] [-4.85425818e-03 9.90832773e-04 9.99987727e-01 -1.88724027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.851400513 meters Centerline goodness [0,1] 0.6076959074278907 Centerline is valid? [True, False] Translation: X:193.25, Y:10.13, Z:-0.19 [[ 9.99990183e-01 1.98506240e-03 3.96143334e-03 1.93254902e+02] [-1.99164765e-03 9.99996640e-01 1.65909014e-03 1.01279051e+01] [-3.95812663e-03 -1.66696363e-03 9.99990777e-01 -1.92596166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.881400513 meters Centerline goodness [0,1] 0.6183796650514324 Centerline is valid? [False, False] Translation: X:193.26, Y:10.13, Z:-0.19 [[ 9.99990626e-01 1.96196855e-03 3.85974722e-03 1.93255412e+02] [-1.96816903e-03 9.99996778e-01 1.60330508e-03 1.01281062e+01] [-3.85658914e-03 -1.61088669e-03 9.99991266e-01 -1.92957430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.911400513 meters Centerline goodness [0,1] 0.6020468829624597 Centerline is valid? [False, False] Translation: X:193.26, Y:10.13, Z:-0.19 [[ 9.99991072e-01 2.04618082e-03 3.69723559e-03 1.93256053e+02] [-2.05297510e-03 9.99996209e-01 1.83480594e-03 1.01269256e+01] [-3.69346723e-03 -1.84237990e-03 9.99991482e-01 -1.93146909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.941400513 meters Centerline goodness [0,1] 0.7519558506364443 Centerline is valid? [False, False] Translation: X:193.26, Y:10.13, Z:-0.19 [[ 9.99990688e-01 2.05340948e-03 3.79577649e-03 1.93255597e+02] [-2.06099874e-03 9.99995883e-01 1.99656886e-03 1.01260897e+01] [-3.79166108e-03 -2.00437336e-03 9.99990803e-01 -1.92896688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.971400513 meters Centerline goodness [0,1] 0.7508356904088455 Centerline is valid? [False, False] Translation: X:193.21, Y:10.12, Z:-0.19 [[ 9.99998201e-01 5.21308427e-04 1.82401451e-03 1.93211950e+02] [-5.24902729e-04 9.99997921e-01 1.97062132e-03 1.01246306e+01] [-1.82298341e-03 -1.97157521e-03 9.99996395e-01 -1.91615547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.001400513 meters Centerline goodness [0,1] 0.8767632562882393 Centerline is valid? [False, False] Translation: X:193.21, Y:10.13, Z:-0.19 [[ 9.99997996e-01 4.33029749e-04 1.95464537e-03 1.93211454e+02] [-4.36411437e-04 9.99998408e-01 1.72998238e-03 1.01258100e+01] [-1.95389312e-03 -1.73083195e-03 9.99996593e-01 -1.91510564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.031400513 meters Centerline goodness [0,1] 0.6698966685246324 Centerline is valid? [False, False] Translation: X:193.19, Y:10.13, Z:-0.20 [[ 9.99987928e-01 4.80831597e-03 1.01141519e-03 1.93193002e+02] [-4.80315672e-03 9.99975748e-01 -5.04305709e-03 1.01286130e+01] [-1.03563927e-03 5.03813823e-03 9.99986772e-01 -1.95059572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.061400513 meters Centerline goodness [0,1] 0.578161386117461 Centerline is valid? [False, False] Translation: X:193.20, Y:10.13, Z:-0.20 [[ 9.99973023e-01 7.34505606e-03 -6.57873558e-05 1.93200315e+02] [-7.34519293e-03 9.99970138e-01 -2.40253145e-03 1.01287282e+01] [ 4.81386631e-05 2.40294985e-03 9.99997112e-01 -1.99535802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.091400513 meters Centerline goodness [0,1] 0.5117602267439401 Centerline is valid? [False, False] Translation: X:193.21, Y:10.13, Z:-0.20 [[ 9.99948700e-01 1.00713380e-02 -1.07917926e-03 1.93206828e+02] [-1.00707412e-02 9.99949134e-01 5.57047314e-04 1.01288572e+01] [ 1.08473458e-03 -5.46150603e-04 9.99999263e-01 -2.03013835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.121400513 meters Centerline goodness [0,1] 0.49342021208636766 Centerline is valid? [False, False] Translation: X:193.21, Y:10.13, Z:-0.20 [[ 9.99951208e-01 9.82899945e-03 -9.85766405e-04 1.93206580e+02] [-9.82905663e-03 9.99951692e-01 -5.31797343e-05 1.01317516e+01] [ 9.85196081e-04 6.28662934e-05 9.99999513e-01 -2.03169357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.151400513 meters Centerline goodness [0,1] 0.528211053341036 Centerline is valid? [False, False] Translation: X:193.21, Y:10.13, Z:-0.20 [[ 9.99952959e-01 9.66518092e-03 -8.15264417e-04 1.93205933e+02] [-9.66554525e-03 9.99953189e-01 -4.44134678e-04 1.01336324e+01] [ 8.10933611e-04 4.51993760e-04 9.99999569e-01 -2.03028689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.181400513 meters Centerline goodness [0,1] 0.4095696019403017 Centerline is valid? [False, False] Translation: X:193.21, Y:10.13, Z:-0.20 [[ 9.99953517e-01 9.60512975e-03 -8.39809947e-04 1.93206097e+02] [-9.60556435e-03 9.99953733e-01 -5.15000864e-04 1.01338932e+01] [ 8.34824441e-04 5.23043774e-04 9.99999515e-01 -2.03212571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.211400513 meters Centerline goodness [0,1] 0.5226173300517696 Centerline is valid? [False, False] Translation: X:193.21, Y:10.13, Z:-0.20 [[ 9.99953881e-01 9.55579754e-03 -9.60556676e-04 1.93206511e+02] [-9.55628159e-03 9.99954212e-01 -5.00605198e-04 1.01337390e+01] [ 9.55729012e-04 5.09761461e-04 9.99999413e-01 -2.03270154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.24140051300003 meters Centerline goodness [0,1] 0.6219962446465115 Centerline is valid? [False, False] Translation: X:193.21, Y:10.13, Z:-0.20 [[ 9.99953878e-01 9.53400040e-03 -1.15984436e-03 1.93207133e+02] [-9.53437036e-03 9.99954498e-01 -3.13863224e-04 1.01326892e+01] [ 1.15679922e-03 3.24907134e-04 9.99999278e-01 -2.03182528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.271400513 meters Centerline goodness [0,1] 0.6039335941630538 Centerline is valid? [False, False] Translation: X:193.20, Y:10.13, Z:-0.20 [[ 9.99975697e-01 6.96336320e-03 -3.42221257e-04 1.93200724e+02] [-6.96432873e-03 9.99971526e-01 -2.90616874e-03 1.01338492e+01] [ 3.21974804e-04 2.90848145e-03 9.99995719e-01 -1.99132491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.30140051300003 meters Centerline goodness [0,1] 0.5827234042553191 Centerline is valid? [False, False] Translation: X:193.20, Y:10.13, Z:-0.20 [[ 9.99974383e-01 7.13927154e-03 -5.14886660e-04 1.93201099e+02] [-7.14045611e-03 9.99971776e-01 -2.33671690e-03 1.01310756e+01] [ 4.98189672e-04 2.34033356e-03 9.99997137e-01 -1.98754138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.331400513 meters Centerline goodness [0,1] 0.6847719208242486 Centerline is valid? [False, False] Translation: X:193.20, Y:10.13, Z:-0.20 [[ 9.99972732e-01 7.35372044e-03 -6.76916395e-04 1.93201535e+02] [-7.35465168e-03 9.99971997e-01 -1.38365110e-03 1.01263329e+01] [ 6.66722456e-04 1.38859186e-03 9.99998814e-01 -1.98503961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.36140051300004 meters Centerline goodness [0,1] 0.695866329801915 Centerline is valid? [False, False] Translation: X:193.20, Y:10.12, Z:-0.20 [[ 9.99971949e-01 7.45546114e-03 -7.19100198e-04 1.93201652e+02] [-7.45624607e-03 9.99971602e-01 -1.09511944e-03 1.01249199e+01] [ 7.10915156e-04 1.10045051e-03 9.99999142e-01 -1.98448475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.391400513 meters Centerline goodness [0,1] 0.9216045698695541 Centerline is valid? [False, False] Translation: X:193.20, Y:10.12, Z:-0.20 [[ 9.99971699e-01 7.48913323e-03 -7.17326127e-04 1.93201634e+02] [-7.48987308e-03 9.99971416e-01 -1.03433291e-03 1.01246430e+01] [ 7.09559366e-04 1.03967632e-03 9.99999208e-01 -1.98423036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.421400513 meters Centerline goodness [0,1] 0.8923306031273269 Centerline is valid? [False, False] Translation: X:193.20, Y:10.13, Z:-0.20 [[ 9.99970605e-01 7.64228322e-03 -6.20005551e-04 1.93201366e+02] [-7.64303052e-03 9.99970057e-01 -1.21202731e-03 1.01258000e+01] [ 6.10724330e-04 1.21673040e-03 9.99999073e-01 -1.98513476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.451400513 meters Centerline goodness [0,1] 0.8923306031273269 Centerline is valid? [False, False] Translation: X:193.20, Y:10.13, Z:-0.20 [[ 9.99970605e-01 7.64228322e-03 -6.20005551e-04 1.93201366e+02] [-7.64303052e-03 9.99970057e-01 -1.21202731e-03 1.01258000e+01] [ 6.10724330e-04 1.21673040e-03 9.99999073e-01 -1.98513476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.481400513 meters Centerline goodness [0,1] 0.8580006387735548 Centerline is valid? [False, False] Translation: X:193.20, Y:10.13, Z:-0.20 [[ 9.99970952e-01 7.60328325e-03 -5.34750420e-04 1.93201217e+02] [-7.60404630e-03 9.99970052e-01 -1.43966939e-03 1.01269085e+01] [ 5.23788192e-04 1.44369383e-03 9.99998821e-01 -1.98763235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.511400513 meters Centerline goodness [0,1] 0.624802110817942 Centerline is valid? [False, False] Translation: X:193.21, Y:10.12, Z:-0.20 [[ 9.99946051e-01 1.02971687e-02 -1.36524920e-03 1.93207480e+02] [-1.02950164e-02 9.99945766e-01 1.57424873e-03 1.01244833e+01] [ 1.38138546e-03 -1.56010854e-03 9.99997829e-01 -2.02483935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.541400513 meters Centerline goodness [0,1] 0.8680988779355718 Centerline is valid? [False, False] Translation: X:193.21, Y:10.13, Z:-0.20 [[ 9.99946698e-01 1.02504283e-02 -1.23694360e-03 1.93207176e+02] [-1.02486580e-02 9.99946460e-01 1.42916546e-03 1.01251692e+01] [ 1.25152693e-03 -1.41641227e-03 9.99998214e-01 -2.02749823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.571400513 meters Centerline goodness [0,1] 0.6653529887946827 Centerline is valid? [False, False] Translation: X:193.21, Y:10.13, Z:-0.20 [[ 9.99978105e-01 6.52748073e-03 -1.08730580e-03 1.93206942e+02] [-6.53160528e-03 9.99971319e-01 -3.83402221e-03 1.01316215e+01] [ 1.06224811e-03 3.84104011e-03 9.99992059e-01 -2.04080588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.601400513 meters Centerline goodness [0,1] 0.5672431375881704 Centerline is valid? [False, False] Translation: X:193.21, Y:10.13, Z:-0.20 [[ 9.99978243e-01 6.50010181e-03 -1.12361315e-03 1.93207207e+02] [-6.50447421e-03 9.99971113e-01 -3.93253867e-03 1.01320630e+01] [ 1.09801879e-03 3.93976163e-03 9.99991636e-01 -2.04351580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.631400513 meters Centerline goodness [0,1] 0.5282157410765719 Centerline is valid? [False, False] Translation: X:193.21, Y:10.13, Z:-0.20 [[ 9.99978348e-01 6.48825217e-03 -1.09849245e-03 1.93207245e+02] [-6.49257922e-03 9.99970993e-01 -3.98243666e-03 1.01323005e+01] [ 1.07262153e-03 3.98948248e-03 9.99991467e-01 -2.04588503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.661400513 meters Centerline goodness [0,1] 0.5516572524778856 Centerline is valid? [False, False] Translation: X:193.21, Y:10.13, Z:-0.20 [[ 9.99978167e-01 6.51799146e-03 -1.08652513e-03 1.93207201e+02] [-6.52222425e-03 9.99970973e-01 -3.93878925e-03 1.01321155e+01] [ 1.06082060e-03 3.94578982e-03 9.99991653e-01 -2.04594000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.691400513 meters Centerline goodness [0,1] 0.6380184381082757 Centerline is valid? [False, False] Translation: X:193.21, Y:10.13, Z:-0.20 [[ 9.99978570e-01 6.48074384e-03 -9.27257811e-04 1.93206646e+02] [-6.48443984e-03 9.99970815e-01 -4.04006537e-03 1.01326266e+01] [ 9.01048119e-04 4.04599154e-03 9.99991409e-01 -2.04577282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.721400513 meters Centerline goodness [0,1] 0.4196108226752775 Centerline is valid? [False, False] Translation: X:193.23, Y:10.13, Z:-0.20 [[ 9.99978636e-01 6.38627413e-03 -1.39373240e-03 1.93225451e+02] [-6.37666629e-03 9.99956599e-01 6.79247922e-03 1.01268409e+01] [ 1.43705054e-03 -6.78344674e-03 9.99975960e-01 -1.99775738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.751400513 meters Centerline goodness [0,1] 0.49938535882328006 Centerline is valid? [False, False] Translation: X:193.22, Y:10.14, Z:-0.20 [[ 9.99997017e-01 2.31797221e-03 -7.70381494e-04 1.93223594e+02] [-2.31714848e-03 9.99996745e-01 1.06842268e-03 1.01351983e+01] [ 7.72855561e-04 -1.06663440e-03 9.99999132e-01 -2.00804960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.781400513 meters Centerline goodness [0,1] 0.4725626563758959 Centerline is valid? [False, False] Translation: X:193.22, Y:10.14, Z:-0.20 [[ 9.99997451e-01 2.11403178e-03 -7.92477913e-04 1.93223805e+02] [-2.11354370e-03 9.99997577e-01 6.16225095e-04 1.01372781e+01] [ 7.93778712e-04 -6.14548588e-04 9.99999496e-01 -2.01096142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.811400513 meters Centerline goodness [0,1] 0.6829315045152496 Centerline is valid? [False, False] Translation: X:193.22, Y:10.14, Z:-0.20 [[ 9.99997730e-01 1.97332823e-03 -8.03436996e-04 1.93223868e+02] [-1.97307401e-03 9.99998003e-01 3.17087615e-04 1.01386666e+01] [ 8.04061109e-04 -3.15501654e-04 9.99999627e-01 -2.01174340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.841400513 meters Centerline goodness [0,1] 0.6348472966958438 Centerline is valid? [False, False] Translation: X:193.22, Y:10.14, Z:-0.20 [[ 9.99997785e-01 1.92609913e-03 -8.48653711e-04 1.93223715e+02] [-1.92586344e-03 9.99998107e-01 2.78453189e-04 1.01388350e+01] [ 8.49188433e-04 -2.76818181e-04 9.99999601e-01 -2.00600843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.871400513 meters Centerline goodness [0,1] 0.6040499968059962 Centerline is valid? [False, False] Translation: X:193.22, Y:10.14, Z:-0.20 [[ 9.99995647e-01 -2.88791457e-03 -6.05213669e-04 1.93222665e+02] [ 2.88474521e-03 9.99982455e-01 -5.17379389e-03 1.01441910e+01] [ 6.20144525e-04 5.17202548e-03 9.99986433e-01 -2.00203285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.901400513 meters Centerline goodness [0,1] 0.7590741603489899 Centerline is valid? [False, False] Translation: X:193.22, Y:10.14, Z:-0.20 [[ 9.99995367e-01 -2.94067563e-03 -7.86328784e-04 1.93223239e+02] [ 2.93670884e-03 9.99983192e-01 -4.99914363e-03 1.01431904e+01] [ 8.01016427e-04 4.99681125e-03 9.99987195e-01 -2.00152864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.931400513 meters Centerline goodness [0,1] 0.7927422610321456 Centerline is valid? [False, False] Translation: X:193.22, Y:10.14, Z:-0.20 [[ 9.99995264e-01 -2.91103378e-03 -9.98532422e-04 1.93223860e+02] [ 2.90633578e-03 9.99984851e-01 -4.67453061e-03 1.01415215e+01] [ 1.01212501e-03 4.67160641e-03 9.99988576e-01 -1.99980424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.961400513 meters Centerline goodness [0,1] 0.9121362940275651 Centerline is valid? [False, False] Translation: X:193.22, Y:10.14, Z:-0.20 [[ 9.99995262e-01 -2.83096893e-03 -1.20905125e-03 1.93224451e+02] [ 2.82595389e-03 9.99987480e-01 -4.12967702e-03 1.01387401e+01] [ 1.22072710e-03 4.12624073e-03 9.99990742e-01 -1.99765577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.99140051300003 meters Centerline goodness [0,1] 0.98895788737469 Centerline is valid? [False, True] Translation: X:193.22, Y:10.14, Z:-0.20 [[ 9.99995317e-01 -2.72153914e-03 -1.39958696e-03 1.93224803e+02] [ 2.71670703e-03 9.99990383e-01 -3.44291193e-03 1.01352770e+01] [ 1.40894352e-03 3.43909354e-03 9.99993094e-01 -1.99189549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.021400513 meters Centerline goodness [0,1] 0.9762253186570804 Centerline is valid? [True, True] Translation: X:193.25, Y:10.14, Z:-0.20 [[ 9.99956034e-01 -9.35338240e-03 -6.66420782e-04 1.93254344e+02] [ 9.35335156e-03 9.99956255e-01 -4.93684540e-05 1.01378241e+01] [ 6.66853391e-04 4.31330156e-05 9.99999777e-01 -1.96702500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.05140051300003 meters Centerline goodness [0,1] 0.9993018828009308 Centerline is valid? [True, True] Translation: X:193.29, Y:10.13, Z:-0.20 [[ 9.99926713e-01 -1.20991200e-02 -4.23906839e-04 1.93285546e+02] [ 1.20991078e-02 9.99926803e-01 -3.14011951e-05 1.01279318e+01] [ 4.24255737e-04 2.62699992e-05 9.99999910e-01 -1.96187769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.081400513 meters Centerline goodness [0,1] 0.9995536188755447 Centerline is valid? [True, True] Translation: X:193.32, Y:10.12, Z:-0.20 [[ 9.99892393e-01 -1.46609115e-02 -5.09982364e-04 1.93316797e+02] [ 1.46608941e-02 9.99892523e-01 -3.77778893e-05 1.01225338e+01] [ 5.10481411e-04 3.02970267e-05 9.99999869e-01 -1.96204971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.11140051300004 meters Centerline goodness [0,1] 0.999681088551079 Centerline is valid? [True, True] Translation: X:193.35, Y:10.13, Z:-0.20 [[ 9.99852819e-01 -1.70963573e-02 -1.43316985e-03 1.93345264e+02] [ 1.70962226e-02 9.99853843e-01 -1.06183642e-04 1.01258767e+01] [ 1.43477573e-03 8.16662229e-05 9.99998967e-01 -1.97604705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.141400513 meters Centerline goodness [0,1] 0.9997018104366348 Centerline is valid? [True, True] Translation: X:193.38, Y:10.13, Z:-0.20 [[ 9.99806582e-01 -1.95257496e-02 -2.35471425e-03 1.93375181e+02] [ 1.95253925e-02 9.99809346e-01 -1.74543544e-04 1.01265445e+01] [ 2.35767341e-03 1.28533064e-04 9.99997212e-01 -1.98552413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.171400513 meters Centerline goodness [0,1] 0.9997429471113681 Centerline is valid? [True, True] Translation: X:193.41, Y:10.12, Z:-0.20 [[ 9.99674795e-01 -2.53759565e-02 -2.52295415e-03 1.93405718e+02] [ 2.53755651e-02 9.99677971e-01 -1.87041855e-04 1.01208511e+01] [ 2.52688805e-03 1.22959640e-04 9.99996800e-01 -1.98844496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.201400513 meters Centerline goodness [0,1] 0.9995358258080851 Centerline is valid? [True, True] Translation: X:193.43, Y:10.13, Z:-0.20 [[ 9.99594126e-01 -2.84342562e-02 -1.75417802e-03 1.93434254e+02] [ 2.84340716e-02 9.99595662e-01 -1.30068400e-04 1.01326510e+01] [ 1.75716714e-03 8.01371850e-05 9.99998453e-01 -1.97811452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.231400513 meters Centerline goodness [0,1] 0.9999145791957631 Centerline is valid? [True, True] Translation: X:193.46, Y:10.12, Z:-0.20 [[ 9.99499584e-01 -3.16169674e-02 -9.74565850e-04 1.93464799e+02] [ 3.16169119e-02 9.99500058e-01 -7.22721740e-05 1.01240018e+01] [ 9.76363651e-04 4.14232452e-05 9.99999522e-01 -1.96385472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.261400513 meters Centerline goodness [0,1] 0.9999783554468518 Centerline is valid? [True, True] Translation: X:193.50, Y:10.12, Z:-0.20 [[ 9.99348161e-01 -3.60561505e-02 -1.79097525e-03 1.93496130e+02] [ 3.60559702e-02 9.99349763e-01 -1.32866466e-04 1.01176840e+01] [ 1.79460135e-03 6.82045081e-05 9.99998387e-01 -1.96863438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.291400513 meters Centerline goodness [0,1] 0.999956930895622 Centerline is valid? [True, True] Translation: X:193.52, Y:10.12, Z:-0.20 [[ 9.99291963e-01 -3.75316487e-02 -2.63594735e-03 1.93524786e+02] [ 3.75312631e-02 9.99295435e-01 -1.95623356e-04 1.01192831e+01] [ 2.64143222e-03 9.65544139e-05 9.99996507e-01 -1.97795141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.321400513 meters Centerline goodness [0,1] 0.9999784110535406 Centerline is valid? [True, True] Translation: X:193.55, Y:10.12, Z:-0.20 [[ 9.99243622e-01 -3.87672318e-02 -3.04738440e-03 1.93553309e+02] [ 3.87667210e-02 9.99248262e-01 -2.26528337e-04 1.01232514e+01] [ 3.05387544e-03 1.08219895e-04 9.99995331e-01 -1.98095196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.351400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.58, Y:10.13, Z:-0.20 [[ 9.99182223e-01 -4.02964660e-02 -3.32874277e-03 1.93580814e+02] [ 4.02958637e-02 9.99187761e-01 -2.47840346e-04 1.01265057e+01] [ 3.33602613e-03 1.13503102e-04 9.99994429e-01 -1.97963206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.381400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.61, Y:10.13, Z:-0.20 [[ 9.98999392e-01 -4.45855244e-02 -3.51355100e-03 1.93611378e+02] [ 4.45848792e-02 9.99005566e-01 -2.61765915e-04 1.01257580e+01] [ 3.52172797e-03 1.04852743e-04 9.99993793e-01 -1.98160672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.411400513 meters Centerline goodness [0,1] 0.9999787455631363 Centerline is valid? [True, True] Translation: X:193.64, Y:10.13, Z:-0.20 [[ 9.98870521e-01 -4.73422394e-02 -4.04896703e-03 1.93639504e+02] [ 4.73414046e-02 9.98878722e-01 -3.01827913e-04 1.01284510e+01] [ 4.05871622e-03 1.09803219e-04 9.99991757e-01 -1.99271320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.441400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.67, Y:10.13, Z:-0.20 [[ 9.98715115e-01 -5.04719542e-02 -4.54975258e-03 1.93669034e+02] [ 5.04709299e-02 9.98725473e-01 -3.39733030e-04 1.01286405e+01] [ 4.56110079e-03 1.09666269e-04 9.99989592e-01 -2.00402582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.471400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.70, Y:10.13, Z:-0.20 [[ 9.98484679e-01 -5.48568224e-02 -4.36750105e-03 1.93697815e+02] [ 5.48559194e-02 9.98494227e-01 -3.26379334e-04 1.01285906e+01] [ 4.37882872e-03 8.63014792e-05 9.99990409e-01 -1.99482071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.501400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.73, Y:10.13, Z:-0.20 [[ 9.98405794e-01 -5.63134756e-02 -3.82930615e-03 1.93726956e+02] [ 5.63127904e-02 9.98413135e-01 -2.86621703e-04 1.01286668e+01] [ 3.83937022e-03 7.05258544e-05 9.99992627e-01 -1.97893131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.531400513 meters Centerline goodness [0,1] 0.9998706645685586 Centerline is valid? [True, True] Translation: X:193.75, Y:10.13, Z:-0.20 [[ 9.98325310e-01 -5.77400343e-02 -3.55868725e-03 1.93754513e+02] [ 5.77394501e-02 9.98331651e-01 -2.66761127e-04 1.01324672e+01] [ 3.56815291e-03 6.08377395e-05 9.99993632e-01 -1.97551055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.561400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.78, Y:10.13, Z:-0.20 [[ 9.98279999e-01 -5.85730909e-02 -2.49731519e-03 1.93783546e+02] [ 5.85728051e-02 9.98283122e-01 -1.87491537e-04 1.01344744e+01] [ 2.50400956e-03 4.08942953e-05 9.99996864e-01 -1.96843750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.591400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.81, Y:10.14, Z:-0.20 [[ 9.98221487e-01 -5.96013268e-02 -1.24289010e-03 1.93811405e+02] [ 5.96012567e-02 9.98222261e-01 -9.34170831e-05 1.01401532e+01] [ 1.24624834e-03 1.91731278e-05 9.99999223e-01 -1.95853908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.621400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.84, Y:10.14, Z:-0.19 [[ 9.98131316e-01 -6.11041407e-02 -3.98817935e-04 1.93840775e+02] [ 6.11041336e-02 9.98131396e-01 -2.98702401e-05 1.01401154e+01] [ 3.99897897e-04 5.44499770e-06 9.99999920e-01 -1.94686006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.651400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.87, Y:10.14, Z:-0.20 [[ 9.97958679e-01 -6.38464052e-02 -1.45296364e-03 1.93868357e+02] [ 6.38463134e-02 9.97959737e-01 -1.09533546e-04 1.01432029e+01] [ 1.45699254e-03 1.65435804e-05 9.99998938e-01 -1.95815925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.681400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.90, Y:10.14, Z:-0.20 [[ 9.97837681e-01 -6.56469397e-02 -3.23130432e-03 1.93897476e+02] [ 6.56464934e-02 9.97842913e-01 -2.44096499e-04 1.01448870e+01] [ 3.24035830e-03 3.14448866e-05 9.99994750e-01 -1.98447576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.711400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.93, Y:10.15, Z:-0.20 [[ 9.97674111e-01 -6.80162769e-02 -4.48927257e-03 1.93925402e+02] [ 6.80154373e-02 9.97684211e-01 -3.39605971e-04 1.01452424e+01] [ 4.50197509e-03 3.34762485e-05 9.99989865e-01 -2.01333695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.74140051300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.95, Y:10.14, Z:-0.20 [[ 9.97429987e-01 -7.14597202e-02 -5.18927717e-03 1.93954693e+02] [ 7.14586410e-02 9.97443486e-01 -3.93311309e-04 1.01417475e+01] [ 5.20411663e-03 2.14817995e-05 9.99986458e-01 -2.01777429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.771400513 meters Centerline goodness [0,1] 0.9999353810364882 Centerline is valid? [True, True] Translation: X:193.98, Y:10.13, Z:-0.20 [[ 9.96878896e-01 -7.88452272e-02 -3.98709777e-03 1.93984155e+02] [ 7.88446467e-02 9.96886869e-01 -3.02824768e-04 1.01344501e+01] [ 3.99856171e-03 -1.24816948e-05 9.99992006e-01 -1.99907332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.80140051300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.01, Y:10.13, Z:-0.20 [[ 9.96671732e-01 -8.14389191e-02 -3.62795559e-03 1.94012149e+02] [ 8.14384544e-02 9.96678334e-01 -2.75883811e-04 1.01312619e+01] [ 3.63837242e-03 -2.04895008e-05 9.99993381e-01 -1.99765845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.831400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.04, Y:10.13, Z:-0.20 [[ 9.96504333e-01 -8.34506903e-02 -3.88550216e-03 1.94040663e+02] [ 8.34501704e-02 9.96511907e-01 -2.96001070e-04 1.01330826e+01] [ 3.89665066e-03 -2.92794684e-05 9.99992408e-01 -1.99814962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.86140051300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.07, Y:10.13, Z:-0.20 [[ 9.96389173e-01 -8.47822126e-02 -4.53788372e-03 1.94069443e+02] [ 8.47815137e-02 9.96399506e-01 -3.46512975e-04 1.01325223e+01] [ 4.55092323e-03 -3.94668738e-05 9.99989644e-01 -2.00722910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.891400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.10, Y:10.13, Z:-0.20 [[ 9.96357467e-01 -8.51503034e-02 -4.60696736e-03 1.94097826e+02] [ 8.51495829e-02 9.96368117e-01 -3.52666100e-04 1.01345192e+01] [ 4.62026502e-03 -4.08998472e-05 9.99989326e-01 -2.00228962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.921400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.12, Y:10.14, Z:-0.20 [[ 9.96375212e-01 -8.49362747e-02 -4.71860917e-03 1.94124953e+02] [ 8.49355139e-02 9.96386385e-01 -3.61756773e-04 1.01378678e+01] [ 4.73228421e-03 -4.03320138e-05 9.99988802e-01 -2.00318462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.951400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.15, Y:10.14, Z:-0.20 [[ 9.96391693e-01 -8.47150374e-02 -5.19206441e-03 1.94153024e+02] [ 8.47141087e-02 9.96405219e-01 -3.98934130e-04 1.01429716e+01] [ 5.20719579e-03 -4.23464555e-05 9.99986442e-01 -2.00802600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.981400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.18, Y:10.15, Z:-0.20 [[ 9.96418475e-01 -8.43974055e-02 -5.22496794e-03 1.94179395e+02] [ 8.43964576e-02 9.96432173e-01 -4.02034866e-04 1.01474986e+01] [ 5.24025686e-03 -4.03738161e-05 9.99986269e-01 -2.00906561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.011400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.21, Y:10.15, Z:-0.20 [[ 9.96406994e-01 -8.46239208e-02 -3.44870356e-03 1.94206935e+02] [ 8.46235075e-02 9.96412962e-01 -2.65854613e-04 1.01529232e+01] [ 3.45883059e-03 -2.69419952e-05 9.99994018e-01 -1.98219580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.041400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.23, Y:10.16, Z:-0.20 [[ 9.96327525e-01 -8.55855972e-02 -2.56301255e-03 1.94234987e+02] [ 8.55853710e-02 9.96330821e-01 -1.98009987e-04 1.01562226e+01] [ 2.57055520e-03 -2.20735796e-05 9.99996696e-01 -1.96829491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.071400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.26, Y:10.16, Z:-0.20 [[ 9.96213035e-01 -8.69270013e-02 -1.81229800e-03 1.94263895e+02] [ 8.69268899e-02 9.96214684e-01 -1.40280725e-04 1.01605678e+01] [ 1.81763206e-03 -1.77879420e-05 9.99998348e-01 -1.95679012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.101400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.29, Y:10.16, Z:-0.20 [[ 9.96087923e-01 -8.83596655e-02 -1.19112816e-03 1.94292870e+02] [ 8.83596182e-02 9.96088635e-01 -9.23331549e-05 1.01636246e+01] [ 1.19462775e-03 -1.32756891e-05 9.99999286e-01 -1.95041418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.131400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.32, Y:10.17, Z:-0.19 [[ 9.95834303e-01 -9.11755772e-02 -1.02725463e-03 1.94321068e+02] [ 9.11755434e-02 9.95834833e-01 -7.98002274e-05 1.01656612e+01] [ 1.03025177e-03 -1.41926950e-05 9.99999469e-01 -1.94460180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.161400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.35, Y:10.17, Z:-0.20 [[ 9.95702342e-01 -9.26032520e-02 -1.21790865e-03 1.94348831e+02] [ 9.26032055e-02 9.95703087e-01 -9.47005454e-05 1.01662200e+01] [ 1.22144498e-03 -1.84886903e-05 9.99999254e-01 -1.95066643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.191400513 meters Centerline goodness [0,1] 0.9998699638065929 Centerline is valid? [True, True] Translation: X:194.38, Y:10.17, Z:-0.20 [[ 9.95547481e-01 -9.42510132e-02 -1.40003584e-03 1.94377346e+02] [ 9.42509531e-02 9.95548465e-01 -1.08980027e-04 1.01691676e+01] [ 1.40407501e-03 -2.34599209e-05 9.99999014e-01 -1.95390567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.221400513 meters Centerline goodness [0,1] 0.9998506794086904 Centerline is valid? [True, True] Translation: X:194.40, Y:10.17, Z:-0.20 [[ 9.95526992e-01 -9.44664043e-02 -1.45118645e-03 1.94404784e+02] [ 9.44686960e-02 9.95526545e-01 1.60125623e-03 1.01689246e+01] [ 1.29342971e-03 -1.73118549e-03 9.99997665e-01 -1.95301651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.251400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.43, Y:10.18, Z:-0.20 [[ 9.95614647e-01 -9.35247302e-02 -2.14471473e-03 1.94433287e+02] [ 9.35208823e-02 9.95615638e-01 -1.82945281e-03 1.01779684e+01] [ 2.30641060e-03 1.62085440e-03 9.99996027e-01 -1.96431019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.281400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.46, Y:10.18, Z:-0.20 [[ 9.95763521e-01 -9.19015144e-02 -3.02029665e-03 1.94461416e+02] [ 9.19012205e-02 9.95768100e-01 -2.36254353e-04 1.01795878e+01] [ 3.02922720e-03 -4.23154820e-05 9.99995411e-01 -1.97174765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.311400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.49, Y:10.19, Z:-0.20 [[ 9.95976565e-01 -8.95353463e-02 -3.75560819e-03 1.94490060e+02] [ 8.95348730e-02 9.95983644e-01 -2.94298141e-04 1.01862763e+01] [ 3.76687442e-03 -4.31438504e-05 9.99992904e-01 -1.98496286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.341400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.52, Y:10.19, Z:-0.20 [[ 9.95959272e-01 -8.97275010e-02 -3.75555357e-03 1.94517479e+02] [ 8.97270265e-02 9.95966352e-01 -2.94993984e-04 1.01886030e+01] [ 3.76687407e-03 -4.31726610e-05 9.99992904e-01 -1.98463276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.371400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.55, Y:10.19, Z:-0.20 [[ 9.96270000e-01 -8.62523334e-02 -2.57317372e-03 1.94545661e+02] [ 8.62648652e-02 9.96258465e-01 5.23869439e-03 1.01903325e+01] [ 2.11169648e-03 -5.44112854e-03 9.99982967e-01 -1.99260327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.401400513 meters Centerline goodness [0,1] 0.9998924476757943 Centerline is valid? [True, True] Translation: X:194.57, Y:10.21, Z:-0.20 [[ 9.96963957e-01 -7.77601578e-02 -4.02810153e-03 1.94572761e+02] [ 7.77366668e-02 9.96957674e-01 -5.69278224e-03 1.02138802e+01] [ 4.45851838e-03 5.36236753e-03 9.99975683e-01 -1.99592826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.431400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.60, Y:10.22, Z:-0.20 [[ 9.97316610e-01 -7.31284412e-02 -3.43666259e-03 1.94601514e+02] [ 7.31279405e-02 9.97322531e-01 -2.71296358e-04 1.02176167e+01] [ 3.44730051e-03 1.92523064e-05 9.99994058e-01 -1.96607194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.461400513 meters Centerline goodness [0,1] 0.9997387442306017 Centerline is valid? [True, True] Translation: X:194.63, Y:10.23, Z:-0.20 [[ 9.97598810e-01 -6.92392511e-02 -1.59361511e-03 1.94629323e+02] [ 6.92417288e-02 9.97598698e-01 1.55595876e-03 1.02255877e+01] [ 1.48205494e-03 -1.66256727e-03 9.99997520e-01 -1.95373524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.49140051300003 meters Centerline goodness [0,1] 0.9998487304159913 Centerline is valid? [True, True] Translation: X:194.66, Y:10.24, Z:-0.20 [[ 9.97839403e-01 -6.56541518e-02 -2.46137207e-03 1.94656945e+02] [ 6.56496437e-02 9.97840983e-01 -1.86974490e-03 1.02366268e+01] [ 2.57881444e-03 1.70411694e-03 9.99995223e-01 -1.96354604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.521400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.69, Y:10.25, Z:-0.20 [[ 9.98236941e-01 -5.92151270e-02 -4.07170788e-03 1.94685813e+02] [ 5.92143031e-02 9.98245241e-01 -3.22697613e-04 1.02464828e+01] [ 4.08367159e-03 8.10253341e-05 9.99991658e-01 -1.99044841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.55140051300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.71, Y:10.25, Z:-0.20 [[ 9.98348433e-01 -5.72963304e-02 -4.18780655e-03 1.94712954e+02] [ 5.72954411e-02 9.98357212e-01 -3.32113548e-04 1.02528065e+01] [ 4.19995576e-03 9.16228158e-05 9.99991176e-01 -1.99374666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.581400513 meters Centerline goodness [0,1] 0.9999352205739457 Centerline is valid? [True, True] Translation: X:194.74, Y:10.26, Z:-0.20 [[ 9.98437356e-01 -5.57603771e-02 -3.69144440e-03 1.94741234e+02] [ 5.57596738e-02 9.98444176e-01 -2.93247542e-04 1.02585072e+01] [ 3.70205275e-03 8.69555653e-05 9.99993144e-01 -1.97536541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.61140051300004 meters Centerline goodness [0,1] 0.999870429956594 Centerline is valid? [True, True] Translation: X:194.77, Y:10.26, Z:-0.20 [[ 9.98421135e-01 -5.60467904e-02 -3.74088511e-03 1.94768792e+02] [ 5.60460688e-02 9.98428139e-01 -2.97537948e-04 1.02617619e+01] [ 3.75168101e-03 8.74062709e-05 9.99992959e-01 -1.96935039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.641400513 meters Centerline goodness [0,1] 0.9998249414648023 Centerline is valid? [True, True] Translation: X:194.80, Y:10.26, Z:-0.20 [[ 9.98351225e-01 -5.72883725e-02 -3.58811080e-03 1.94797953e+02] [ 5.72877149e-02 9.98357669e-01 -2.85875324e-04 1.02618376e+01] [ 3.59859527e-03 7.98493114e-05 9.99993522e-01 -1.96906254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.671400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.83, Y:10.26, Z:-0.20 [[ 9.98277803e-01 -5.85513150e-02 -3.62931123e-03 1.94825700e+02] [ 5.85506492e-02 9.98284397e-01 -2.89516377e-04 1.02642250e+01] [ 3.64003634e-03 7.65192434e-05 9.99993372e-01 -1.97198051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.701400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.85, Y:10.26, Z:-0.20 [[ 9.98179747e-01 -6.02043120e-02 -3.55450195e-03 1.94854482e+02] [ 6.02036822e-02 9.98186073e-01 -2.84017459e-04 1.02631064e+01] [ 3.56515342e-03 6.95063695e-05 9.99993642e-01 -1.97421272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.731400513 meters Centerline goodness [0,1] 0.9999351323300467 Centerline is valid? [True, True] Translation: X:194.88, Y:10.26, Z:-0.20 [[ 9.98043374e-01 -6.24153120e-02 -3.70847220e-03 1.94883660e+02] [ 6.24146393e-02 9.98050262e-01 -2.96956539e-04 1.02595770e+01] [ 3.71977629e-03 6.49125508e-05 9.99993080e-01 -1.97526851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.761400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.91, Y:10.26, Z:-0.20 [[ 9.98072324e-01 -6.19510269e-02 -3.70227519e-03 1.94911522e+02] [ 6.19503519e-02 9.98079188e-01 -2.96813667e-04 1.02606329e+01] [ 3.71355173e-03 6.68842558e-05 9.99993103e-01 -1.97377829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.791400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.94, Y:10.26, Z:-0.20 [[ 9.98121524e-01 -6.11600308e-02 -3.58814749e-03 1.94940149e+02] [ 6.11593900e-02 9.98127971e-01 -2.88141902e-04 1.02622875e+01] [ 3.59905314e-03 6.81517224e-05 9.99993521e-01 -1.96984475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.821400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.97, Y:10.27, Z:-0.20 [[ 9.98218266e-01 -5.95835544e-02 -3.17703060e-03 1.94968634e+02] [ 5.95830424e-02 9.98223320e-01 -2.55644204e-04 1.02655445e+01] [ 3.18661822e-03 6.58915651e-05 9.99994921e-01 -1.96134991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.851400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.00, Y:10.27, Z:-0.20 [[ 9.98343745e-01 -5.74686028e-02 -2.66944566e-03 1.94996373e+02] [ 5.74682331e-02 9.98347312e-01 -2.15058455e-04 1.02708247e+01] [ 2.67739300e-03 6.12939380e-05 9.99996414e-01 -1.95481275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.881400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.02, Y:10.28, Z:-0.20 [[ 9.98596774e-01 -5.28195705e-02 -3.81778765e-03 1.95024854e+02] [ 5.28187799e-02 9.98604067e-01 -3.07691272e-04 1.02778488e+01] [ 3.82871039e-03 1.05608627e-04 9.99992665e-01 -1.96320956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.911400513 meters Centerline goodness [0,1] 0.9999137689438852 Centerline is valid? [True, True] Translation: X:195.05, Y:10.28, Z:-0.20 [[ 9.98675405e-01 -5.12092043e-02 -5.00528219e-03 1.95053735e+02] [ 5.12078219e-02 9.98687937e-01 -4.04047085e-04 1.02812529e+01] [ 5.01940588e-03 1.47202287e-04 9.99987392e-01 -1.98384283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.941400513 meters Centerline goodness [0,1] 0.9999570649607145 Centerline is valid? [True, True] Translation: X:195.08, Y:10.29, Z:-0.20 [[ 9.98763442e-01 -4.92753563e-02 -6.59745079e-03 1.95081590e+02] [ 4.92729089e-02 9.98785210e-01 -5.33092766e-04 1.02880225e+01] [ 6.61570461e-03 2.07357974e-04 9.99978094e-01 -2.01333548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.971400513 meters Centerline goodness [0,1] 0.9999570953555722 Centerline is valid? [True, True] Translation: X:195.11, Y:10.29, Z:-0.20 [[ 9.98856570e-01 -4.73054448e-02 -6.91001489e-03 1.95110966e+02] [ 4.73027105e-02 9.98880444e-01 -5.58683411e-04 1.02874747e+01] [ 6.92870751e-03 2.31182162e-04 9.99975969e-01 -2.00827111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.001400513 meters Centerline goodness [0,1] 0.9999575245295842 Centerline is valid? [True, True] Translation: X:195.14, Y:10.30, Z:-0.20 [[ 9.99064275e-01 -4.30918215e-02 -3.69712786e-03 1.95139316e+02] [ 4.30910097e-02 9.99071106e-01 -2.98986689e-04 1.03023808e+01] [ 3.70657750e-03 1.39393947e-04 9.99993121e-01 -1.96533461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.031400513 meters Centerline goodness [0,1] 0.9999785439955372 Centerline is valid? [True, True] Translation: X:195.17, Y:10.30, Z:-0.19 [[ 9.99136562e-01 -4.14682963e-02 -2.55183523e-03 1.95169121e+02] [ 4.14679041e-02 9.99139815e-01 -2.06412223e-04 1.02990657e+01] [ 2.55819975e-03 1.00414740e-04 9.99996723e-01 -1.93479065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.061400513 meters Centerline goodness [0,1] 0.9999783942615159 Centerline is valid? [True, True] Translation: X:195.20, Y:10.30, Z:-0.19 [[ 9.99184619e-01 -4.03031079e-02 -2.39936107e-03 1.95197715e+02] [ 4.03027573e-02 9.99187495e-01 -1.94310918e-04 1.03021223e+01] [ 2.40524291e-03 9.74516134e-05 9.99997103e-01 -1.92780725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.091400513 meters Centerline goodness [0,1] 0.9999784941611648 Centerline is valid? [True, True] Translation: X:195.22, Y:10.31, Z:-0.19 [[ 9.99218892e-01 -3.94252856e-02 -2.69296761e-03 1.95224618e+02] [ 3.94248397e-02 9.99222515e-01 -2.18468292e-04 1.03079968e+01] [ 2.69948704e-03 1.12127829e-04 9.99996350e-01 -1.93107110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.121400513 meters Centerline goodness [0,1] 0.9999359056531214 Centerline is valid? [True, True] Translation: X:195.25, Y:10.31, Z:-0.20 [[ 9.99281437e-01 -3.77933827e-02 -2.87563101e-03 1.95253982e+02] [ 3.77928671e-02 9.99285567e-01 -2.33458146e-04 1.03097548e+01] [ 2.88239974e-03 1.24612051e-04 9.99995838e-01 -1.95391313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.151400513 meters Centerline goodness [0,1] 0.9999361443987995 Centerline is valid? [True, True] Translation: X:195.28, Y:10.32, Z:-0.20 [[ 9.99304195e-01 -3.71957105e-02 -2.75764382e-03 1.95281588e+02] [ 3.71952337e-02 9.99307993e-01 -2.24000031e-04 1.03168067e+01] [ 2.76406735e-03 1.21272964e-04 9.99996173e-01 -1.95737162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.181400513 meters Centerline goodness [0,1] 0.9998934492605379 Centerline is valid? [True, True] Translation: X:195.31, Y:10.32, Z:-0.20 [[ 9.99333824e-01 -3.63759920e-02 -2.94891784e-03 1.95310719e+02] [ 3.63754421e-02 9.99338166e-01 -2.39896847e-04 1.03168655e+01] [ 2.95569263e-03 1.32468843e-04 9.99995623e-01 -1.95487390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.211400513 meters Centerline goodness [0,1] 0.9999360518406412 Centerline is valid? [True, True] Translation: X:195.34, Y:10.32, Z:-0.20 [[ 9.99357372e-01 -3.56909587e-02 -3.31638055e-03 1.95340053e+02] [ 3.56902577e-02 9.99362863e-01 -2.70355255e-04 1.03166870e+01] [ 3.32391680e-03 1.51819041e-04 9.99994464e-01 -1.95547729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.24140051300003 meters Centerline goodness [0,1] 0.9997405180988626 Centerline is valid? [True, True] Translation: X:195.37, Y:10.32, Z:-0.20 [[ 9.99364064e-01 -3.54606018e-02 -3.74353553e-03 1.95368315e+02] [ 3.54597045e-02 9.99371060e-01 -3.05819524e-04 1.03206736e+01] [ 3.75202562e-03 1.72880378e-04 9.99992946e-01 -1.96269262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.271400513 meters Centerline goodness [0,1] 0.9999355088352896 Centerline is valid? [True, True] Translation: X:195.40, Y:10.32, Z:-0.20 [[ 9.99393237e-01 -3.46000616e-02 -3.99916539e-03 1.95397030e+02] [ 3.45990279e-02 9.99401221e-01 -3.27387024e-04 1.03203980e+01] [ 4.00809838e-03 1.88821143e-04 9.99991950e-01 -1.95977158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.30140051300003 meters Centerline goodness [0,1] 0.99991462113127 Centerline is valid? [True, True] Translation: X:195.43, Y:10.33, Z:-0.20 [[ 9.99508477e-01 -3.11255772e-02 -3.74215919e-03 1.95425237e+02] [ 3.11246469e-02 9.99515464e-01 -3.06577159e-04 1.03308290e+01] [ 3.74988837e-03 1.89953085e-04 9.99992951e-01 -1.95565956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.331400513 meters Centerline goodness [0,1] 0.9996175176898069 Centerline is valid? [True, True] Translation: X:195.45, Y:10.34, Z:-0.20 [[ 9.99585344e-01 -2.85375156e-02 -3.84062608e-03 1.95453532e+02] [ 2.85365165e-02 9.99592701e-01 -3.14692532e-04 1.03435856e+01] [ 3.84804234e-03 2.04963953e-04 9.99992575e-01 -1.96096109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.36140051300004 meters Centerline goodness [0,1] 0.9995933828407558 Centerline is valid? [True, True] Translation: X:195.48, Y:10.35, Z:-0.20 [[ 9.99724473e-01 -2.29688763e-02 -4.83822244e-03 1.95483308e+02] [ 2.29672255e-02 9.99736140e-01 -3.96488070e-04 1.03462314e+01] [ 4.84605272e-03 2.85258280e-04 9.99988217e-01 -1.96760582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.391400513 meters Centerline goodness [0,1] 0.9983593983040013 Centerline is valid? [True, True] Translation: X:195.51, Y:10.36, Z:-0.20 [[ 9.99772679e-01 -2.08341914e-02 -4.53068419e-03 1.95511710e+02] [ 2.08327217e-02 9.99782906e-01 -3.71336648e-04 1.03619088e+01] [ 4.53743711e-03 2.76865752e-04 9.99989667e-01 -1.97093678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.421400513 meters Centerline goodness [0,1] 0.9998275713423571 Centerline is valid? [True, True] Translation: X:195.54, Y:10.35, Z:-0.20 [[ 9.99799883e-01 -1.95021643e-02 -4.45629894e-03 1.95541453e+02] [ 1.95007287e-02 9.99809776e-01 -3.65370056e-04 1.03548321e+01] [ 4.46257676e-03 2.78395863e-04 9.99990004e-01 -1.95179640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.451400513 meters Centerline goodness [0,1] 0.9995277449822905 Centerline is valid? [True, True] Translation: X:195.57, Y:10.36, Z:-0.19 [[ 9.99807894e-01 -1.91807497e-02 -4.03419777e-03 1.95568456e+02] [ 1.91795696e-02 9.99816000e-01 -3.31001863e-04 1.03604397e+01] [ 4.03980434e-03 2.53564098e-04 9.99991808e-01 -1.94706097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.481400513 meters Centerline goodness [0,1] 0.9974885067256939 Centerline is valid? [True, True] Translation: X:195.60, Y:10.37, Z:-0.19 [[ 9.99798253e-01 -1.97019624e-02 -3.90983572e-03 1.95595077e+02] [ 1.97008570e-02 9.99805868e-01 -3.21036628e-04 1.03727326e+01] [ 3.91540175e-03 2.43944746e-04 9.99992305e-01 -1.94934025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.511400513 meters Centerline goodness [0,1] 0.9991852137741756 Centerline is valid? [True, True] Translation: X:195.62, Y:10.37, Z:-0.19 [[ 9.99776212e-01 -2.07904833e-02 -3.90930774e-03 1.95624460e+02] [ 2.07893858e-02 9.99783826e-01 -3.21184910e-04 1.03704837e+01] [ 3.91514024e-03 2.39840925e-04 9.99992307e-01 -1.94709558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.541400513 meters Centerline goodness [0,1] 0.9993332759807295 Centerline is valid? [True, True] Translation: X:195.65, Y:10.37, Z:-0.19 [[ 9.99705527e-01 -2.39764015e-02 -3.74042647e-03 1.95654720e+02] [ 2.39754187e-02 9.99712501e-01 -3.07365938e-04 1.03677799e+01] [ 3.74672063e-03 2.17597137e-04 9.99992957e-01 -1.94846933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.571400513 meters Centerline goodness [0,1] 0.999677211103938 Centerline is valid? [True, True] Translation: X:195.69, Y:10.36, Z:-0.19 [[ 9.99664098e-01 -2.56841513e-02 -3.46637154e-03 1.95685093e+02] [ 2.56833174e-02 9.99670089e-01 -2.84873822e-04 1.03641180e+01] [ 3.47254469e-03 1.95750212e-04 9.99993952e-01 -1.94056678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.601400513 meters Centerline goodness [0,1] 0.9994846688997681 Centerline is valid? [True, True] Translation: X:195.71, Y:10.36, Z:-0.19 [[ 9.99627640e-01 -2.71330589e-02 -2.89468503e-03 1.95714430e+02] [ 2.71324833e-02 9.99631818e-01 -2.37941165e-04 1.03640546e+01] [ 2.90007533e-03 1.59312572e-04 9.99995782e-01 -1.92825508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.631400513 meters Centerline goodness [0,1] 0.9998713026318612 Centerline is valid? [True, True] Translation: X:195.74, Y:10.35, Z:-0.19 [[ 9.99601046e-01 -2.81382335e-02 -2.44698499e-03 1.95744440e+02] [ 2.81378249e-02 9.99604033e-01 -2.01222323e-04 1.03547096e+01] [ 2.45167811e-03 1.32289209e-04 9.99996986e-01 -1.91991344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.661400513 meters Centerline goodness [0,1] 0.9998492354081413 Centerline is valid? [True, True] Translation: X:195.77, Y:10.35, Z:-0.19 [[ 9.99580246e-01 -2.88569902e-02 -2.57032776e-03 1.95773249e+02] [ 2.88565410e-02 9.99583541e-01 -2.11654351e-04 1.03521750e+01] [ 2.57536503e-03 1.37394739e-04 9.99996674e-01 -1.92118237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.691400513 meters Centerline goodness [0,1] 0.9996983603731713 Centerline is valid? [True, True] Translation: X:195.80, Y:10.35, Z:-0.19 [[ 9.99583238e-01 -2.87401893e-02 -2.71157476e-03 1.95800977e+02] [ 2.87396882e-02 9.99586905e-01 -2.23581699e-04 1.03544532e+01] [ 2.71688040e-03 1.45558706e-04 9.99996299e-01 -1.93952288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.721400513 meters Centerline goodness [0,1] 0.9996135182719973 Centerline is valid? [True, True] Translation: X:195.83, Y:10.35, Z:-0.19 [[ 9.99592313e-01 -2.84522526e-02 -2.38287280e-03 1.95830919e+02] [ 2.84518642e-02 9.99595144e-01 -1.96739739e-04 1.03472855e+01] [ 2.38750577e-03 1.28862358e-04 9.99997142e-01 -1.93912379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.751400513 meters Centerline goodness [0,1] 0.9994483695075637 Centerline is valid? [True, True] Translation: X:195.86, Y:10.36, Z:-0.19 [[ 9.99628277e-01 -2.71819323e-02 -2.10982654e-03 1.95859007e+02] [ 2.71816246e-02 9.99630496e-01 -1.74416639e-04 1.03554366e+01] [ 2.11378793e-03 1.17003292e-04 9.99997759e-01 -1.93395142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.781400513 meters Centerline goodness [0,1] 0.9996323449901598 Centerline is valid? [True, True] Translation: X:195.89, Y:10.35, Z:-0.19 [[ 9.99672343e-01 -2.54683834e-02 -2.56273235e-03 1.95888411e+02] [ 2.54679234e-02 9.99675617e-01 -2.11979464e-04 1.03539552e+01] [ 2.56729981e-03 1.46642536e-04 9.99996694e-01 -1.93613049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.811400513 meters Centerline goodness [0,1] 0.999786893979755 Centerline is valid? [True, True] Translation: X:195.92, Y:10.36, Z:-0.19 [[ 9.99726772e-01 -2.31736722e-02 -3.05978343e-03 1.95918700e+02] [ 2.31730055e-02 9.99731438e-01 -2.53164434e-04 1.03553475e+01] [ 3.06482843e-03 1.82190884e-04 9.99995287e-01 -1.94177968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.841400513 meters Centerline goodness [0,1] 0.9996153599589718 Centerline is valid? [True, True] Translation: X:195.95, Y:10.36, Z:-0.20 [[ 9.99783772e-01 -2.04100129e-02 -3.97993776e-03 1.95948992e+02] [ 2.04088630e-02 9.99791663e-01 -3.29329174e-04 1.03587061e+01] [ 3.98583021e-03 2.48031959e-04 9.99992026e-01 -1.95022559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.871400513 meters Centerline goodness [0,1] 0.9985461697988156 Centerline is valid? [True, True] Translation: X:195.98, Y:10.37, Z:-0.20 [[ 9.99873252e-01 -1.48798940e-02 -5.66299003e-03 1.95977417e+02] [ 1.48774784e-02 9.99889214e-01 -4.68453087e-04 1.03667494e+01] [ 5.66933318e-03 3.84142699e-04 9.99983855e-01 -1.97205719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.901400513 meters Centerline goodness [0,1] 0.9987196995561625 Centerline is valid? [True, True] Translation: X:196.01, Y:10.37, Z:-0.20 [[ 9.99900567e-01 -1.25245285e-02 -6.48008448e-03 1.96007511e+02] [ 1.25213163e-02 9.99921462e-01 -5.36024657e-04 1.03675135e+01] [ 6.48628900e-03 4.54832171e-04 9.99978860e-01 -1.98720922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.931400513 meters Centerline goodness [0,1] 0.890008754884585 Centerline is valid? [True, False] Translation: X:196.01, Y:10.36, Z:-0.20 [[ 9.99947438e-01 -7.76291831e-03 -6.69759033e-03 1.96008188e+02] [ 7.79502654e-03 9.99958188e-01 4.78128592e-03 1.03627795e+01] [ 6.66019355e-03 -4.83324250e-03 9.99966140e-01 -1.98874684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.961400513 meters Centerline goodness [0,1] 0.9943489522015541 Centerline is valid? [False, True] Translation: X:196.01, Y:10.36, Z:-0.20 [[ 9.99948337e-01 -7.69939717e-03 -6.63639329e-03 1.96007963e+02] [ 7.73197453e-03 9.99958116e-01 4.89729748e-03 1.03622648e+01] [ 6.59840909e-03 -4.94835689e-03 9.99965987e-01 -1.98819760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.99140051300003 meters Centerline goodness [0,1] 0.9923210570343837 Centerline is valid? [True, True] Translation: X:196.04, Y:10.37, Z:-0.20 [[ 9.99950783e-01 -7.87485886e-03 -6.03471105e-03 1.96035700e+02] [ 7.87200373e-03 9.99968892e-01 -4.96725054e-04 1.03698747e+01] [ 6.03843496e-03 4.49195339e-04 9.99981668e-01 -1.98815179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.021400513 meters Centerline goodness [0,1] 0.9317213757443472 Centerline is valid? [True, False] Translation: X:196.06, Y:10.38, Z:-0.21 [[ 9.99970145e-01 -7.72472291e-03 -1.94296113e-04 1.96059296e+02] [ 7.72207338e-03 9.99907894e-01 -1.11612169e-02 1.03810494e+01] [ 2.80495524e-04 1.11593833e-02 9.99937693e-01 -2.06182117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.05140051300003 meters Centerline goodness [0,1] 0.9379325166559209 Centerline is valid? [False, False] Translation: X:196.02, Y:10.37, Z:-0.20 [[ 9.99977673e-01 -6.25930906e-03 -2.33975028e-03 1.96016682e+02] [ 6.24602569e-03 9.99964576e-01 -5.64209785e-03 1.03719520e+01] [ 2.37498303e-03 5.62735774e-03 9.99981346e-01 -2.03458934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.081400513 meters Centerline goodness [0,1] 0.9962241611024596 Centerline is valid? [False, True] Translation: X:196.02, Y:10.37, Z:-0.20 [[ 9.99977266e-01 -6.29108480e-03 -2.42686164e-03 1.96016884e+02] [ 6.27718074e-03 9.99964082e-01 -5.69492679e-03 1.03722022e+01] [ 2.46260174e-03 5.67956347e-03 9.99980839e-01 -2.03287749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.11140051300004 meters Centerline goodness [0,1] 0.9452337842155714 Centerline is valid? [True, False] Translation: X:196.02, Y:10.37, Z:-0.20 [[ 9.99993153e-01 -1.91906676e-03 -3.16405457e-03 1.96019429e+02] [ 1.91814317e-03 9.99998117e-01 -2.94911401e-04 1.03663569e+01] [ 3.16461457e-03 2.88840272e-04 9.99994951e-01 -2.03532909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.141400513 meters Centerline goodness [0,1] 0.9485457181849198 Centerline is valid? [False, False] Translation: X:196.02, Y:10.37, Z:-0.20 [[ 9.99992783e-01 -2.08689073e-03 -3.17478374e-03 1.96019772e+02] [ 2.08462301e-03 9.99997570e-01 -7.17432210e-04 1.03683109e+01] [ 3.17627322e-03 7.10808805e-04 9.99994703e-01 -2.04142651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.171400513 meters Centerline goodness [0,1] 0.8802243919150394 Centerline is valid? [False, False] Translation: X:196.02, Y:10.37, Z:-0.20 [[ 9.99992703e-01 -2.36109646e-03 -3.00303717e-03 1.96019339e+02] [ 2.35671751e-03 9.99996156e-01 -1.46087815e-03 1.03718729e+01] [ 3.00647490e-03 1.45379018e-03 9.99994424e-01 -2.04449335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.201400513 meters Centerline goodness [0,1] 0.9230093990194189 Centerline is valid? [False, False] Translation: X:196.02, Y:10.38, Z:-0.20 [[ 9.99993083e-01 -2.62196725e-03 -2.63785655e-03 1.96017954e+02] [ 2.61619228e-03 9.99994179e-01 -2.19033932e-03 1.03754687e+01] [ 2.64358419e-03 2.18342303e-03 9.99994122e-01 -2.04102554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.231400513 meters Centerline goodness [0,1] 0.9204547865006469 Centerline is valid? [False, False] Translation: X:196.05, Y:10.38, Z:-0.20 [[ 9.99997072e-01 -9.91168855e-04 2.20748470e-03 1.96049352e+02] [ 9.96498582e-04 9.99996588e-01 -2.41459927e-03 1.03818895e+01] [-2.20508390e-03 2.41679195e-03 9.99994648e-01 -1.98731379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.261400513 meters Centerline goodness [0,1] 0.712115762973619 Centerline is valid? [False, False] Translation: X:196.05, Y:10.38, Z:-0.20 [[ 9.99997008e-01 -1.06445038e-03 2.20229134e-03 1.96049151e+02] [ 1.07015756e-03 9.99996068e-01 -2.59192173e-03 1.03827765e+01] [-2.19952371e-03 2.59427078e-03 9.99994216e-01 -1.98309891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.291400513 meters Centerline goodness [0,1] 0.712115762973619 Centerline is valid? [False, False] Translation: X:196.05, Y:10.38, Z:-0.20 [[ 9.99997008e-01 -1.06445038e-03 2.20229134e-03 1.96049151e+02] [ 1.07015756e-03 9.99996068e-01 -2.59192173e-03 1.03827765e+01] [-2.19952371e-03 2.59427078e-03 9.99994216e-01 -1.98309891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.321400513 meters Centerline goodness [0,1] 0.7860799014506297 Centerline is valid? [False, False] Translation: X:196.05, Y:10.38, Z:-0.20 [[ 9.99997103e-01 -1.11688638e-03 2.13247736e-03 1.96049479e+02] [ 1.12267990e-03 9.99995677e-01 -2.71753809e-03 1.03833547e+01] [-2.12943296e-03 2.71992431e-03 9.99994034e-01 -1.98512968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.351400513 meters Centerline goodness [0,1] 0.8072322492763494 Centerline is valid? [False, False] Translation: X:196.05, Y:10.38, Z:-0.20 [[ 9.99997242e-01 -1.14933378e-03 2.04831839e-03 1.96049996e+02] [ 1.15507622e-03 9.99995400e-01 -2.80451579e-03 1.03837479e+01] [-2.04508565e-03 2.80687402e-03 9.99993970e-01 -1.98965063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.381400513 meters Centerline goodness [0,1] 0.8903536569907466 Centerline is valid? [False, False] Translation: X:196.06, Y:10.38, Z:-0.20 [[ 9.99998678e-01 1.14365378e-03 1.15596482e-03 1.96056656e+02] [-1.14327329e-03 9.99999292e-01 -3.29760442e-04 1.03815192e+01] [-1.15634114e-03 3.28438423e-04 9.99999278e-01 -2.03133626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.411400513 meters Centerline goodness [0,1] 0.9249280838091967 Centerline is valid? [False, False] Translation: X:196.01, Y:10.38, Z:-0.20 [[ 9.99999301e-01 4.99353919e-04 -1.07201084e-03 1.96013559e+02] [-4.98856507e-04 9.99999768e-01 4.64216861e-04 1.03787045e+01] [ 1.07224240e-03 -4.63681757e-04 9.99999318e-01 -2.02120936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.441400513 meters Centerline goodness [0,1] 0.6944744706555606 Centerline is valid? [False, False] Translation: X:196.05, Y:10.38, Z:-0.20 [[ 9.99997345e-01 1.31288456e-03 1.89379955e-03 1.96053824e+02] [-1.31074045e-03 9.99998499e-01 -1.13297073e-03 1.03846595e+01] [-1.89528417e-03 1.13048544e-03 9.99997565e-01 -2.02844915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.471400513 meters Centerline goodness [0,1] 0.7701706296083806 Centerline is valid? [False, False] Translation: X:196.05, Y:10.39, Z:-0.20 [[ 9.99997196e-01 1.26992342e-03 1.99869810e-03 1.96053344e+02] [-1.26741714e-03 9.99998410e-01 -1.25472500e-03 1.03852871e+01] [-2.00028833e-03 1.25218830e-03 9.99997215e-01 -2.02635188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.501400513 meters Centerline goodness [0,1] 0.6781106817845908 Centerline is valid? [False, False] Translation: X:196.05, Y:10.38, Z:-0.20 [[ 9.99997089e-01 1.36489386e-03 1.98998459e-03 1.96053248e+02] [-1.36285170e-03 9.99998544e-01 -1.02721433e-03 1.03842212e+01] [-1.99138373e-03 1.02449928e-03 9.99997492e-01 -2.02403432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.531400513 meters Centerline goodness [0,1] 0.7636441220396842 Centerline is valid? [False, False] Translation: X:196.03, Y:10.37, Z:-0.19 [[ 9.99992586e-01 7.23530946e-04 -3.78209216e-03 1.96029311e+02] [-6.86568407e-04 9.99952083e-01 9.76521930e-03 1.03702466e+01] [ 3.78897638e-03 -9.76255024e-03 9.99945167e-01 -1.94242009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.561400513 meters Centerline goodness [0,1] 0.9220078866034317 Centerline is valid? [False, False] Translation: X:196.03, Y:10.37, Z:-0.19 [[ 9.99987053e-01 -3.30959179e-03 -3.86530116e-03 1.96029795e+02] [ 3.33348019e-03 9.99975284e-01 6.19021452e-03 1.03665990e+01] [ 3.84471854e-03 -6.20301928e-03 9.99973370e-01 -1.94547937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.591400513 meters Centerline goodness [0,1] 0.9906386252885355 Centerline is valid? [False, True] Translation: X:196.03, Y:10.37, Z:-0.20 [[ 9.99962244e-01 -7.85476510e-03 -3.71656206e-03 1.96029770e+02] [ 7.85955447e-03 9.99968299e-01 1.27581029e-03 1.03693500e+01] [ 3.70642305e-03 -1.30497264e-03 9.99992280e-01 -1.95397922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.621400513 meters Centerline goodness [0,1] 0.9209389831957926 Centerline is valid? [True, False] Translation: X:196.03, Y:10.37, Z:-0.20 [[ 9.99964137e-01 -7.58148067e-03 -3.77448561e-03 1.96029983e+02] [ 7.58911471e-03 9.99969177e-01 2.01233837e-03 1.03658508e+01] [ 3.75911277e-03 -2.04091120e-03 9.99990852e-01 -1.95370217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.651400513 meters Centerline goodness [0,1] 0.9757477423624602 Centerline is valid? [False, True] Translation: X:196.03, Y:10.36, Z:-0.20 [[ 9.99966872e-01 -7.15302433e-03 -3.88444388e-03 1.96030329e+02] [ 7.16475014e-03 9.99969793e-01 3.01317916e-03 1.03611123e+01] [ 3.86277320e-03 -3.04091041e-03 9.99987916e-01 -1.95266084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.681400513 meters Centerline goodness [0,1] 0.951157031850397 Centerline is valid? [True, True] Translation: X:196.06, Y:10.37, Z:-0.20 [[ 9.99973577e-01 -5.67994045e-03 -4.53696683e-03 1.96058924e+02] [ 5.67835420e-03 9.99983812e-01 -3.62432970e-04 1.03665907e+01] [ 4.53895199e-03 3.36660889e-04 9.99989642e-01 -1.96428855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.711400513 meters Centerline goodness [0,1] 0.9282757437316346 Centerline is valid? [True, False] Translation: X:196.06, Y:10.36, Z:-0.20 [[ 9.99974071e-01 -5.47007608e-03 -4.68348283e-03 1.96059680e+02] [ 5.47058426e-03 9.99985032e-01 9.56995775e-05 1.03643780e+01] [ 4.68288924e-03 -1.21318484e-04 9.99989028e-01 -1.96942652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.74140051300003 meters Centerline goodness [0,1] 0.991978322114454 Centerline is valid? [False, True] Translation: X:196.06, Y:10.36, Z:-0.20 [[ 9.99974308e-01 -5.32251367e-03 -4.80147194e-03 1.96060390e+02] [ 5.32442611e-03 9.99985751e-01 3.85607713e-04 1.03629700e+01] [ 4.79935112e-03 -4.11162889e-04 9.99988399e-01 -1.97577814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.771400513 meters Centerline goodness [0,1] 0.882009320705281 Centerline is valid? [True, False] Translation: X:196.06, Y:10.36, Z:-0.20 [[ 9.99975182e-01 -5.18425008e-03 -4.77060109e-03 1.96060590e+02] [ 5.18701211e-03 9.99986387e-01 5.66778486e-04 1.03621480e+01] [ 4.76759783e-03 -5.91509585e-04 9.99988460e-01 -1.98177263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.80140051300003 meters Centerline goodness [0,1] 0.889731646867789 Centerline is valid? [False, False] Translation: X:196.06, Y:10.36, Z:-0.20 [[ 9.99976249e-01 -5.06984214e-03 -4.66874911e-03 1.96059981e+02] [ 5.07351525e-03 9.99986829e-01 7.75236035e-04 1.03612372e+01] [ 4.66475729e-03 -7.98904592e-04 9.99988801e-01 -1.97665924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.831400513 meters Centerline goodness [0,1] 0.8612137427273113 Centerline is valid? [False, False] Translation: X:196.06, Y:10.36, Z:-0.20 [[ 9.99977881e-01 -4.84722966e-03 -4.55439006e-03 1.96058999e+02] [ 4.85309266e-03 9.99987408e-01 1.27716101e-03 1.03589792e+01] [ 4.54814202e-03 -1.29923563e-03 9.99988813e-01 -1.96517775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.86140051300004 meters Centerline goodness [0,1] 0.9539148836115683 Centerline is valid? [False, True] Translation: X:196.06, Y:10.36, Z:-0.20 [[ 9.99979573e-01 -4.61012872e-03 -4.42721295e-03 1.96058083e+02] [ 4.61816420e-03 9.99987704e-01 1.80651654e-03 1.03566210e+01] [ 4.41883024e-03 -1.82692523e-03 9.99988568e-01 -1.95520725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.891400513 meters Centerline goodness [0,1] 0.9143169586379913 Centerline is valid? [True, False] Translation: X:196.06, Y:10.36, Z:-0.19 [[ 9.99980160e-01 -4.47420394e-03 -4.43409524e-03 1.96057817e+02] [ 4.48366961e-03 9.99987686e-01 2.12711011e-03 1.03551587e+01] [ 4.42452351e-03 -2.14694893e-03 9.99987907e-01 -1.94941215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.921400513 meters Centerline goodness [0,1] 0.8709396997710118 Centerline is valid? [False, False] Translation: X:196.08, Y:10.36, Z:-0.20 [[ 9.99993212e-01 -3.62399403e-03 -6.64988565e-04 1.96082228e+02] [ 3.61786326e-03 9.99952955e-01 -8.99991791e-03 1.03642974e+01] [ 6.97572930e-04 8.99745099e-03 9.99959279e-01 -2.01926413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.951400513 meters Centerline goodness [0,1] 0.9635596306690375 Centerline is valid? [False, True] Translation: X:196.06, Y:10.35, Z:-0.19 [[ 9.99970159e-01 -3.26889467e-03 -6.99971121e-03 1.96057900e+02] [ 3.28141193e-03 9.99993036e-01 1.77751527e-03 1.03509318e+01] [ 6.99385196e-03 -1.80043116e-03 9.99973922e-01 -1.94166399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.981400513 meters Centerline goodness [0,1] 0.8868250447837585 Centerline is valid? [True, False] Translation: X:196.06, Y:10.35, Z:-0.19 [[ 9.99969932e-01 -3.20050590e-03 -7.06338219e-03 1.96058293e+02] [ 3.21399833e-03 9.99993031e-01 1.89967011e-03 1.03503179e+01] [ 7.05725306e-03 -1.92231469e-03 9.99973250e-01 -1.94506988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.011400513 meters Centerline goodness [0,1] 0.6784926158546936 Centerline is valid? [False, False] Translation: X:196.06, Y:10.35, Z:-0.19 [[ 9.99969782e-01 -3.28038740e-03 -7.04804232e-03 1.96058367e+02] [ 3.29206924e-03 9.99993226e-01 1.64649818e-03 1.03515052e+01] [ 7.04259342e-03 -1.66965107e-03 9.99973807e-01 -1.94752518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.041400513 meters Centerline goodness [0,1] 0.6914619334768064 Centerline is valid? [False, False] Translation: X:196.06, Y:10.36, Z:-0.20 [[ 9.99970772e-01 -3.56306644e-03 -6.76460590e-03 1.96057570e+02] [ 3.56687518e-03 9.99993487e-01 5.51057895e-04 1.03569743e+01] [ 6.76259839e-03 -5.75170294e-04 9.99976968e-01 -1.95131439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.071400513 meters Centerline goodness [0,1] 0.3294341618191433 Centerline is valid? [False, False] Translation: X:196.06, Y:10.36, Z:-0.20 [[ 9.99970320e-01 -3.72387848e-03 -6.74473873e-03 1.96057540e+02] [ 3.72488698e-03 9.99993053e-01 1.36968836e-04 1.03589536e+01] [ 6.74418182e-03 -1.62088160e-04 9.99977245e-01 -1.95243094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.101400513 meters Centerline goodness [0,1] 0.8842858668945626 Centerline is valid? [False, False] Translation: X:196.06, Y:10.36, Z:-0.20 [[ 9.99970550e-01 -3.71081606e-03 -6.71775350e-03 1.96057347e+02] [ 3.71190453e-03 9.99993100e-01 1.49568071e-04 1.03589370e+01] [ 6.71715213e-03 -1.74499326e-04 9.99977424e-01 -1.95048385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.131400513 meters Centerline goodness [0,1] 0.6526988332834737 Centerline is valid? [False, False] Translation: X:196.06, Y:10.36, Z:-0.19 [[ 9.99971681e-01 -3.56297679e-03 -6.62897768e-03 1.96056689e+02] [ 3.56612854e-03 9.99993534e-01 4.63691159e-04 1.03575482e+01] [ 6.62728269e-03 -4.87317814e-04 9.99977921e-01 -1.94346897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.161400513 meters Centerline goodness [0,1] 0.8065440193519638 Centerline is valid? [False, False] Translation: X:196.06, Y:10.36, Z:-0.19 [[ 9.99972950e-01 -3.42850594e-03 -6.50731778e-03 1.96055806e+02] [ 3.43365225e-03 9.99993801e-01 7.79841699e-04 1.03561368e+01] [ 6.50460374e-03 -8.02164470e-04 9.99978523e-01 -1.93447830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.191400513 meters Centerline goodness [0,1] 0.6368785265623337 Centerline is valid? [False, False] Translation: X:196.05, Y:10.36, Z:-0.19 [[ 9.99974286e-01 -3.37476349e-03 -6.32750925e-03 1.96054786e+02] [ 3.38041609e-03 9.99993897e-01 8.82855100e-04 1.03557723e+01] [ 6.32449121e-03 -9.04222013e-04 9.99979591e-01 -1.92630845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.221400513 meters Centerline goodness [0,1] 0.7225060385182651 Centerline is valid? [False, False] Translation: X:196.05, Y:10.36, Z:-0.19 [[ 9.99975091e-01 -3.70224573e-03 -6.00923218e-03 1.96053735e+02] [ 3.70200793e-03 9.99993146e-01 -5.06947229e-05 1.03603509e+01] [ 6.00937868e-03 2.84472349e-05 9.99981943e-01 -1.92645917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.251400513 meters Centerline goodness [0,1] 0.6247221928246376 Centerline is valid? [False, False] Translation: X:196.08, Y:10.37, Z:-0.20 [[ 9.99997100e-01 -2.24363935e-03 -8.74934311e-04 1.96076764e+02] [ 2.23431359e-03 9.99942188e-01 -1.05179674e-02 1.03735794e+01] [ 8.98482255e-04 1.05159820e-02 9.99944302e-01 -1.99601521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.281400513 meters Centerline goodness [0,1] 0.5052543893374344 Centerline is valid? [False, False] Translation: X:196.08, Y:10.37, Z:-0.20 [[ 9.99996776e-01 2.29709636e-03 -1.08187493e-03 1.96077272e+02] [-2.30314287e-03 9.99981548e-01 -5.62123183e-03 1.03708730e+01] [ 1.06894246e-03 5.62370542e-03 9.99983616e-01 -1.99219065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.311400513 meters Centerline goodness [0,1] 0.33947469080708914 Centerline is valid? [False, False] Translation: X:196.08, Y:10.37, Z:-0.20 [[ 9.99977612e-01 6.59256861e-03 -1.14581891e-03 1.96077595e+02] [-6.59423046e-03 9.99977203e-01 -1.45268117e-03 1.03716276e+01] [ 1.13621589e-03 1.46020444e-03 9.99998288e-01 -1.99298278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.341400513 meters Centerline goodness [0,1] 0.3602489731972731 Centerline is valid? [False, False] Translation: X:196.08, Y:10.37, Z:-0.20 [[ 9.99978772e-01 6.40545744e-03 -1.19440508e-03 1.96078127e+02] [-6.40783033e-03 9.99977482e-01 -1.99354785e-03 1.03741477e+01] [ 1.18160860e-03 2.00115907e-03 9.99997300e-01 -2.00071423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.371400513 meters Centerline goodness [0,1] 0.44357594396036226 Centerline is valid? [False, False] Translation: X:196.08, Y:10.38, Z:-0.20 [[ 9.99979453e-01 6.29621730e-03 -1.20477360e-03 1.96078428e+02] [-6.29892555e-03 9.99977613e-01 -2.25749876e-03 1.03753365e+01] [ 1.19053292e-03 2.26504115e-03 9.99996726e-01 -2.00609150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.401400513 meters Centerline goodness [0,1] 0.3961359892167141 Centerline is valid? [False, False] Translation: X:196.08, Y:10.38, Z:-0.20 [[ 9.99979914e-01 6.21579586e-03 -1.23896447e-03 1.96078676e+02] [-6.21879737e-03 9.99977702e-01 -2.43364054e-03 1.03761259e+01] [ 1.22380983e-03 2.44129653e-03 9.99996271e-01 -2.00891881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.431400513 meters Centerline goodness [0,1] 0.5186404673393521 Centerline is valid? [False, False] Translation: X:196.08, Y:10.38, Z:-0.20 [[ 9.99980586e-01 6.10910916e-03 -1.22698298e-03 1.96078693e+02] [-6.11233936e-03 9.99977818e-01 -2.64636852e-03 1.03770859e+01] [ 1.21078881e-03 2.65381688e-03 9.99995746e-01 -2.01023267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.461400513 meters Centerline goodness [0,1] 0.4794240871100147 Centerline is valid? [False, False] Translation: X:196.08, Y:10.38, Z:-0.20 [[ 9.99982231e-01 5.84690095e-03 -1.16267257e-03 1.96078438e+02] [-5.85060301e-03 9.99977744e-01 -3.20660315e-03 1.03797103e+01] [ 1.14389800e-03 3.21334851e-03 9.99994183e-01 -2.00973475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.49140051300003 meters Centerline goodness [0,1] 0.4261333559192835 Centerline is valid? [False, False] Translation: X:196.08, Y:10.38, Z:-0.20 [[ 9.99983118e-01 5.69151781e-03 -1.17021415e-03 1.96078467e+02] [-5.69562010e-03 9.99977540e-01 -3.53266587e-03 1.03812260e+01] [ 1.15008164e-03 3.53927133e-03 9.99993075e-01 -2.01020821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.521400513 meters Centerline goodness [0,1] 0.4259460149320401 Centerline is valid? [False, False] Translation: X:196.08, Y:10.38, Z:-0.20 [[ 9.99983846e-01 5.56796703e-03 -1.14253947e-03 1.96078446e+02] [-5.57228527e-03 9.99977210e-01 -3.81178881e-03 1.03825377e+01] [ 1.12128952e-03 3.81809379e-03 9.99992082e-01 -2.01157643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.55140051300003 meters Centerline goodness [0,1] 0.35900375820115926 Centerline is valid? [False, False] Translation: X:196.08, Y:10.38, Z:-0.20 [[ 9.99984183e-01 5.50002486e-03 -1.17618339e-03 1.96078620e+02] [-5.50463049e-03 9.99977052e-01 -3.94902977e-03 1.03831461e+01] [ 1.15443663e-03 3.95544176e-03 9.99991511e-01 -2.01287879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.581400513 meters Centerline goodness [0,1] 0.4799931819150296 Centerline is valid? [False, False] Translation: X:196.08, Y:10.38, Z:-0.20 [[ 9.99984667e-01 5.38186027e-03 -1.30449531e-03 1.96079138e+02] [-5.38711151e-03 9.99977264e-01 -4.05597371e-03 1.03835384e+01] [ 1.28263697e-03 4.06293898e-03 9.99990924e-01 -2.01501278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.61140051300004 meters Centerline goodness [0,1] 0.4719965979162237 Centerline is valid? [False, False] Translation: X:196.08, Y:10.38, Z:-0.20 [[ 9.99985108e-01 5.27240284e-03 -1.40901789e-03 1.96079471e+02] [-5.27827039e-03 9.99977277e-01 -4.19352845e-03 1.03841184e+01] [ 1.38687591e-03 4.20090318e-03 9.99990214e-01 -2.01486440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.641400513 meters Centerline goodness [0,1] 0.6110459537264101 Centerline is valid? [False, False] Translation: X:196.08, Y:10.39, Z:-0.20 [[ 9.99985637e-01 5.14150110e-03 -1.51336275e-03 1.96079821e+02] [-5.14813505e-03 9.99977012e-01 -4.41282143e-03 1.03851033e+01] [ 1.49063943e-03 4.42054904e-03 9.99989118e-01 -2.01505565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.671400513 meters Centerline goodness [0,1] 0.49351475076297047 Centerline is valid? [False, False] Translation: X:196.08, Y:10.39, Z:-0.20 [[ 9.99985772e-01 5.06744236e-03 -1.66653868e-03 1.96080279e+02] [-5.07486262e-03 9.99977093e-01 -4.47882407e-03 1.03853536e+01] [ 1.64380432e-03 4.48721780e-03 9.99988581e-01 -2.01416762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.701400513 meters Centerline goodness [0,1] 0.614449410120094 Centerline is valid? [False, False] Translation: X:196.08, Y:10.38, Z:-0.20 [[ 9.99985574e-01 4.90038062e-03 -2.19933217e-03 1.96082128e+02] [-4.90915968e-03 9.99979933e-01 -4.00420292e-03 1.03824856e+01] [ 2.17966591e-03 4.01494203e-03 9.99989565e-01 -2.01538666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.731400513 meters Centerline goodness [0,1] 0.6383500793231094 Centerline is valid? [False, False] Translation: X:196.08, Y:10.38, Z:-0.20 [[ 9.99984928e-01 4.98382084e-03 -2.30318492e-03 1.96082302e+02] [-4.99211816e-03 9.99981020e-01 -3.61094298e-03 1.03805229e+01] [ 2.28514492e-03 3.62238633e-03 9.99990828e-01 -2.01180321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.761400513 meters Centerline goodness [0,1] 0.7227526533395848 Centerline is valid? [False, False] Translation: X:196.08, Y:10.38, Z:-0.20 [[ 9.99985170e-01 4.99686726e-03 -2.16605603e-03 1.96081416e+02] [-5.00442958e-03 9.99981353e-01 -3.50003898e-03 1.03800425e+01] [ 2.14852641e-03 3.51082695e-03 9.99991529e-01 -2.00330843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.791400513 meters Centerline goodness [0,1] 0.8500160102465578 Centerline is valid? [False, False] Translation: X:196.08, Y:10.38, Z:-0.20 [[ 9.99985975e-01 4.89528489e-03 -2.02138480e-03 1.96080421e+02] [-4.90271080e-03 9.99981191e-01 -3.68520726e-03 1.03809943e+01] [ 2.00330664e-03 3.69506584e-03 9.99991167e-01 -1.99328020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.821400513 meters Centerline goodness [0,1] 0.7790889426680658 Centerline is valid? [False, False] Translation: X:196.08, Y:10.38, Z:-0.20 [[ 9.99986911e-01 4.74841578e-03 -1.90534048e-03 1.96079783e+02] [-4.75602068e-03 9.99980662e-01 -4.00688550e-03 1.03825401e+01] [ 1.88627727e-03 4.01589490e-03 9.99990157e-01 -1.98799738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.851400513 meters Centerline goodness [0,1] 0.9467017004186961 Centerline is valid? [False, False] Translation: X:196.08, Y:10.38, Z:-0.20 [[ 9.99987332e-01 4.64827938e-03 -1.93089599e-03 1.96079882e+02] [-4.65643798e-03 9.99980159e-01 -4.24250686e-03 1.03836323e+01] [ 1.91113732e-03 4.25144421e-03 9.99989136e-01 -1.98824178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.881400513 meters Centerline goodness [0,1] 0.6292142033072683 Centerline is valid? [False, False] Translation: X:196.08, Y:10.38, Z:-0.20 [[ 9.99987411e-01 4.59183350e-03 -2.02294368e-03 1.96080432e+02] [-4.60085090e-03 9.99979400e-01 -4.47569237e-03 1.03847427e+01] [ 2.00235037e-03 4.48494329e-03 9.99987938e-01 -1.99313774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.911400513 meters Centerline goodness [0,1] 0.7007505687737875 Centerline is valid? [False, False] Translation: X:196.08, Y:10.38, Z:-0.20 [[ 9.99955351e-01 9.14089131e-03 -2.39569798e-03 1.96081515e+02] [-9.13856392e-03 9.99957762e-01 9.80638033e-04 1.03789773e+01] [ 2.40456070e-03 -9.58701010e-04 9.99996649e-01 -1.98810084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.941400513 meters Centerline goodness [0,1] 0.6763200917216926 Centerline is valid? [False, False] Translation: X:196.08, Y:10.39, Z:-0.20 [[ 9.99983534e-01 5.36882563e-03 -2.02676495e-03 1.96080239e+02] [-5.37763226e-03 9.99976014e-01 -4.36501564e-03 1.03858754e+01] [ 2.00328133e-03 4.37584296e-03 9.99988419e-01 -1.99296168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.971400513 meters Centerline goodness [0,1] 0.6481824570369897 Centerline is valid? [False, False] Translation: X:196.08, Y:10.39, Z:-0.20 [[ 9.99984291e-01 5.29945658e-03 -1.82594791e-03 1.96079313e+02] [-5.30792444e-03 9.99975035e-01 -4.66430785e-03 1.03874318e+01] [ 1.80118403e-03 4.67392657e-03 9.99987455e-01 -1.98807248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.001400513 meters Centerline goodness [0,1] 0.48716160527483676 Centerline is valid? [False, False] Translation: X:196.08, Y:10.38, Z:-0.20 [[ 9.99950088e-01 9.74836127e-03 -2.18878687e-03 1.96080355e+02] [-9.74639935e-03 9.99952093e-01 9.05236218e-04 1.03808694e+01] [ 2.19750658e-03 -8.83858245e-04 9.99997195e-01 -1.98183027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.031400513 meters Centerline goodness [0,1] 0.7036533270992285 Centerline is valid? [False, False] Translation: X:196.08, Y:10.38, Z:-0.20 [[ 9.99950826e-01 9.69117228e-03 -2.10401829e-03 1.96080193e+02] [-9.68959425e-03 9.99952767e-01 7.58909811e-04 1.03815428e+01] [ 2.11127364e-03 -7.38485408e-04 9.99997499e-01 -1.98420803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.061400513 meters Centerline goodness [0,1] 0.6248858495975534 Centerline is valid? [False, False] Translation: X:196.08, Y:10.39, Z:-0.20 [[ 9.99983123e-01 5.53601550e-03 -1.76217844e-03 1.96079208e+02] [-5.54442567e-03 9.99973090e-01 -4.80403690e-03 1.03886590e+01] [ 1.73553579e-03 4.81372610e-03 9.99986908e-01 -1.99217839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.091400513 meters Centerline goodness [0,1] 0.5616269165247019 Centerline is valid? [False, False] Translation: X:196.08, Y:10.39, Z:-0.20 [[ 9.99984015e-01 5.38993924e-03 -1.70815796e-03 1.96079209e+02] [-5.39867300e-03 9.99972164e-01 -5.15028405e-03 1.03902692e+01] [ 1.68035069e-03 5.15942351e-03 9.99985278e-01 -1.99572176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.121400513 meters Centerline goodness [0,1] 0.6220784196858105 Centerline is valid? [False, False] Translation: X:196.08, Y:10.39, Z:-0.20 [[ 9.99985960e-01 5.04992904e-03 -1.60559518e-03 1.96078977e+02] [-5.05947684e-03 9.99969205e-01 -5.99919280e-03 1.03943057e+01] [ 1.57525024e-03 6.00723204e-03 9.99980716e-01 -1.99837539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.151400513 meters Centerline goodness [0,1] 0.6220784196858105 Centerline is valid? [False, False] Translation: X:196.08, Y:10.39, Z:-0.20 [[ 9.99985960e-01 5.04992904e-03 -1.60559518e-03 1.96078977e+02] [-5.05947684e-03 9.99969205e-01 -5.99919280e-03 1.03943057e+01] [ 1.57525024e-03 6.00723204e-03 9.99980716e-01 -1.99837539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.181400513 meters Centerline goodness [0,1] 0.4052550297234975 Centerline is valid? [False, False] Translation: X:196.08, Y:10.39, Z:-0.20 [[ 9.99954566e-01 9.32455123e-03 -1.97932522e-03 1.96080103e+02] [-9.32659798e-03 9.99955979e-01 -1.02736485e-03 1.03907610e+01] [ 1.96965838e-03 1.04577854e-03 9.99997513e-01 -1.99331854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.211400513 meters Centerline goodness [0,1] 0.5664490334106038 Centerline is valid? [False, False] Translation: X:196.08, Y:10.39, Z:-0.20 [[ 9.99958096e-01 8.92857456e-03 -2.02177072e-03 1.96080526e+02] [-8.93245530e-03 9.99958264e-01 -1.91865246e-03 1.03948884e+01] [ 2.00455551e-03 1.93663144e-03 9.99996116e-01 -1.99899309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.24140051300003 meters Centerline goodness [0,1] 0.5548702679710762 Centerline is valid? [False, False] Translation: X:196.08, Y:10.40, Z:-0.20 [[ 9.99961371e-01 8.50956957e-03 -2.20102536e-03 1.96081684e+02] [-8.51582858e-03 9.99959678e-01 -2.85011636e-03 1.03991172e+01] [ 2.17668335e-03 2.86874982e-03 9.99993516e-01 -2.01008010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.271400513 meters Centerline goodness [0,1] 0.3684676705048716 Centerline is valid? [False, False] Translation: X:196.08, Y:10.40, Z:-0.20 [[ 9.99963684e-01 8.18886484e-03 -2.36094813e-03 1.96082773e+02] [-8.19725846e-03 9.99960037e-01 -3.56770486e-03 1.04023991e+01] [ 2.33163833e-03 3.58692860e-03 9.99990849e-01 -2.02100190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.30140051300003 meters Centerline goodness [0,1] 0.6296551279017233 Centerline is valid? [False, False] Translation: X:196.04, Y:10.40, Z:-0.20 [[ 9.99961445e-01 7.45397424e-03 -4.64179163e-03 1.96039841e+02] [-7.46856598e-03 9.99967198e-01 -3.13419830e-03 1.04033692e+01] [ 4.61827713e-03 3.16874499e-03 9.99984315e-01 -2.01466592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.331400513 meters Centerline goodness [0,1] 0.6942147003167989 Centerline is valid? [False, False] Translation: X:196.06, Y:10.40, Z:-0.20 [[ 9.99972013e-01 6.63485664e-03 -3.45727168e-03 1.96058416e+02] [-6.60988715e-03 9.99952346e-01 7.18436803e-03 1.04009969e+01] [ 3.50477418e-03 -7.16131478e-03 9.99968216e-01 -1.98507775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.36140051300004 meters Centerline goodness [0,1] 0.5915475028641745 Centerline is valid? [False, False] Translation: X:196.06, Y:10.41, Z:-0.20 [[ 9.99993298e-01 1.94577351e-03 -3.10127753e-03 1.96057044e+02] [-1.94282943e-03 9.99997660e-01 9.52041494e-04 1.04108057e+01] [ 3.10312273e-03 -9.46009860e-04 9.99994738e-01 -1.98539242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.391400513 meters Centerline goodness [0,1] 0.6551716842617471 Centerline is valid? [False, False] Translation: X:196.06, Y:10.42, Z:-0.20 [[ 9.99993693e-01 1.46697336e-03 -3.23457459e-03 1.96057599e+02] [-1.46698861e-03 9.99998924e-01 -2.34251143e-06 1.04151851e+01] [ 3.23456767e-03 7.08758073e-06 9.99994769e-01 -1.98826062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.421400513 meters Centerline goodness [0,1] 0.750408314773571 Centerline is valid? [False, False] Translation: X:196.06, Y:10.42, Z:-0.20 [[ 9.99993633e-01 1.32138921e-03 -3.31476418e-03 1.96058081e+02] [-1.32238386e-03 9.99999081e-01 -2.97893994e-04 1.04165209e+01] [ 3.31436751e-03 3.02275488e-04 9.99994462e-01 -1.99265750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.451400513 meters Centerline goodness [0,1] 0.701513738127544 Centerline is valid? [False, False] Translation: X:196.06, Y:10.42, Z:-0.20 [[ 9.99993625e-01 1.20995969e-03 -3.35948360e-03 1.96058384e+02] [-1.21167021e-03 9.99999137e-01 -5.07170209e-04 1.04174548e+01] [ 3.35886704e-03 5.11237562e-04 9.99994228e-01 -1.99579870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.481400513 meters Centerline goodness [0,1] 0.7491733084619299 Centerline is valid? [False, False] Translation: X:196.06, Y:10.42, Z:-0.20 [[ 9.99993628e-01 1.09941505e-03 -3.39649154e-03 1.96058551e+02] [-1.10192220e-03 9.99999122e-01 -7.36375664e-04 1.04185116e+01] [ 3.39567897e-03 7.40113641e-04 9.99993961e-01 -1.99679886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.511400513 meters Centerline goodness [0,1] 0.6547342648486639 Centerline is valid? [False, False] Translation: X:196.06, Y:10.42, Z:-0.20 [[ 9.99993761e-01 9.47559557e-04 -3.40290676e-03 1.96058547e+02] [-9.51128070e-04 9.99998999e-01 -1.04720092e-03 1.04199584e+01] [ 3.40191107e-03 1.05043099e-03 9.99993662e-01 -1.99631069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.541400513 meters Centerline goodness [0,1] 0.795316547068065 Centerline is valid? [False, False] Translation: X:196.06, Y:10.42, Z:-0.20 [[ 9.99993962e-01 8.64249002e-04 -3.36588939e-03 1.96058198e+02] [-8.68357356e-04 9.99998880e-01 -1.21931504e-03 1.04207771e+01] [ 3.36483182e-03 1.22223047e-03 9.99993592e-01 -1.99237446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.571400513 meters Centerline goodness [0,1] 0.7325017471780427 Centerline is valid? [False, False] Translation: X:196.06, Y:10.42, Z:-0.20 [[ 9.99993049e-01 1.03573493e-03 -3.58178716e-03 1.96058612e+02] [-1.03803722e-03 9.99999256e-01 -6.40979279e-04 1.04179628e+01] [ 3.58112061e-03 6.44692852e-04 9.99993380e-01 -1.98630837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.601400513 meters Centerline goodness [0,1] 0.7950476756779715 Centerline is valid? [False, False] Translation: X:196.06, Y:10.42, Z:-0.20 [[ 9.99992106e-01 1.22999215e-03 -3.77836148e-03 1.96059367e+02] [-1.23036390e-03 9.99999238e-01 -9.60683558e-05 1.04152965e+01] [ 3.77824044e-03 1.00716357e-04 9.99992857e-01 -1.98832177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.631400513 meters Centerline goodness [0,1] 0.8651752296699557 Centerline is valid? [False, False] Translation: X:196.06, Y:10.41, Z:-0.20 [[ 9.99991195e-01 1.41714167e-03 -3.94977232e-03 1.96060038e+02] [-1.41549431e-03 9.99998910e-01 4.19840857e-04 1.04127871e+01] [ 3.95036299e-03 -4.14246280e-04 9.99992111e-01 -1.99024734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.661400513 meters Centerline goodness [0,1] 0.9661114302125215 Centerline is valid? [False, True] Translation: X:196.06, Y:10.41, Z:-0.20 [[ 9.99990721e-01 1.59529637e-03 -4.00171926e-03 1.96060143e+02] [-1.59150865e-03 9.99998283e-01 9.49530751e-04 1.04102412e+01] [ 4.00322717e-03 -9.43153169e-04 9.99991542e-01 -1.98877115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.691400513 meters Centerline goodness [0,1] 0.9981473989054748 Centerline is valid? [True, True] Translation: X:196.09, Y:10.40, Z:-0.20 [[ 9.99995492e-01 -1.66823141e-03 -2.49662818e-03 1.96091111e+02] [ 1.66779961e-03 9.99998594e-01 -1.75027774e-04 1.04002935e+01] [ 2.49691666e-03 1.70863109e-04 9.99996868e-01 -1.96183687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.721400513 meters Centerline goodness [0,1] 0.8639876024285653 Centerline is valid? [True, False] Translation: X:196.09, Y:10.40, Z:-0.20 [[ 9.99995864e-01 -1.35146714e-03 -2.53893115e-03 1.96090997e+02] [ 1.35300542e-03 9.99998902e-01 6.04253556e-04 1.03966211e+01] [ 2.53811173e-03 -6.07686245e-04 9.99996594e-01 -1.95673817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.751400513 meters Centerline goodness [0,1] 0.9917192682144004 Centerline is valid? [False, True] Translation: X:196.08, Y:10.40, Z:-0.19 [[ 9.99992968e-01 -3.28911159e-03 -1.80160394e-03 1.96084924e+02] [ 3.28660713e-03 9.99993631e-01 -1.39132806e-03 1.03972457e+01] [ 1.80616870e-03 1.38539711e-03 9.99997409e-01 -1.91606488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.781400513 meters Centerline goodness [0,1] 0.9843379613951914 Centerline is valid? [True, True] Translation: X:196.11, Y:10.40, Z:-0.19 [[ 9.99993741e-01 -3.25113331e-03 -1.39607216e-03 1.96113110e+02] [ 3.25099934e-03 9.99994711e-01 -9.82159703e-05 1.03984597e+01] [ 1.39638409e-03 9.36767258e-05 9.99999021e-01 -1.91191947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.811400513 meters Centerline goodness [0,1] 0.9954942509192153 Centerline is valid? [True, True] Translation: X:196.14, Y:10.39, Z:-0.19 [[ 9.99995643e-01 -2.72221051e-03 -1.14192502e-03 1.96143042e+02] [ 2.72212051e-03 9.99996292e-01 -8.03602360e-05 1.03949245e+01] [ 1.14213954e-03 7.72514283e-05 9.99999345e-01 -1.90646845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.841400513 meters Centerline goodness [0,1] 0.942255449089186 Centerline is valid? [True, False] Translation: X:196.14, Y:10.39, Z:-0.19 [[ 9.99996649e-01 -2.36564519e-03 -1.05178654e-03 1.96142501e+02] [ 2.36625268e-03 9.99997034e-01 5.76709931e-04 1.03919388e+01] [ 1.05041912e-03 -5.79196791e-04 9.99999281e-01 -1.90187620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.871400513 meters Centerline goodness [0,1] 0.9940823309160551 Centerline is valid? [False, True] Translation: X:196.10, Y:10.39, Z:-0.19 [[ 9.99992760e-01 -2.45564394e-03 -2.90668819e-03 1.96098075e+02] [ 2.46297230e-03 9.99993791e-01 2.52031728e-03 1.03858828e+01] [ 2.90048114e-03 -2.52745813e-03 9.99992600e-01 -1.88103144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.901400513 meters Centerline goodness [0,1] 0.9716391671785314 Centerline is valid? [True, True] Translation: X:196.13, Y:10.39, Z:-0.19 [[ 9.99997079e-01 -8.10385531e-04 -2.27707996e-03 1.96126539e+02] [ 8.10007510e-04 9.99999658e-01 -1.66928596e-04 1.03930304e+01] [ 2.27721446e-03 1.65083656e-04 9.99997394e-01 -1.87020332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.931400513 meters Centerline goodness [0,1] 0.9474379460956642 Centerline is valid? [True, False] Translation: X:196.13, Y:10.39, Z:-0.19 [[ 9.99997240e-01 -5.08273462e-04 -2.29396993e-03 1.96126792e+02] [ 5.09326333e-04 9.99999765e-01 4.58412753e-04 1.03900848e+01] [ 2.29373640e-03 -4.59579866e-04 9.99997264e-01 -1.87390855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.961400513 meters Centerline goodness [0,1] 0.819505746391181 Centerline is valid? [False, False] Translation: X:196.13, Y:10.39, Z:-0.19 [[ 9.99997366e-01 -2.22866666e-04 -2.28453929e-03 1.96126634e+02] [ 2.25355398e-04 9.99999381e-01 1.08918045e-03 1.03871359e+01] [ 2.28429514e-03 -1.08969242e-03 9.99996797e-01 -1.87122231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.99140051300003 meters Centerline goodness [0,1] 0.9410938497552671 Centerline is valid? [False, False] Translation: X:196.13, Y:10.38, Z:-0.19 [[ 9.99997482e-01 6.30414472e-05 -2.24303047e-03 1.96126356e+02] [-5.91459541e-05 9.99998490e-01 1.73673378e-03 1.03841000e+01] [ 2.24313657e-03 -1.73659675e-03 9.99995976e-01 -1.86811928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.021400513 meters Centerline goodness [0,1] 0.9301733906313472 Centerline is valid? [False, False] Translation: X:196.13, Y:10.38, Z:-0.19 [[ 9.99997510e-01 3.27207751e-04 -2.20732172e-03 1.96125985e+02] [-3.22060858e-04 9.99997230e-01 2.33168923e-03 1.03813488e+01] [ 2.20807856e-03 -2.33097254e-03 9.99994845e-01 -1.86303326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.05140051300003 meters Centerline goodness [0,1] 0.8569521832164573 Centerline is valid? [False, False] Translation: X:196.15, Y:10.39, Z:-0.19 [[ 9.99995374e-01 1.44482097e-03 2.67681530e-03 1.96147026e+02] [-1.42274741e-03 9.99965122e-01 -8.22983605e-03 1.03886542e+01] [-2.68861257e-03 8.22598954e-03 9.99962552e-01 -1.91496542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.081400513 meters Centerline goodness [0,1] 0.7776788553259142 Centerline is valid? [False, False] Translation: X:196.15, Y:10.39, Z:-0.19 [[ 9.99994530e-01 1.75852990e-03 2.80137109e-03 1.96146397e+02] [-1.73737295e-03 9.99970087e-01 -7.53697193e-03 1.03854490e+01] [-2.81454128e-03 7.53206367e-03 9.99967673e-01 -1.91133641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.11140051300004 meters Centerline goodness [0,1] 0.7597083767296533 Centerline is valid? [False, False] Translation: X:196.15, Y:10.38, Z:-0.19 [[ 9.99993912e-01 2.04027787e-03 2.83064689e-03 1.96146160e+02] [-2.02070220e-03 9.99974144e-01 -6.90132700e-03 1.03824931e+01] [-2.84465433e-03 6.89556509e-03 9.99972179e-01 -1.90887364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.141400513 meters Centerline goodness [0,1] 0.7835854045478583 Centerline is valid? [False, False] Translation: X:196.15, Y:10.38, Z:-0.19 [[ 9.99993335e-01 2.35180078e-03 2.79280625e-03 1.96146304e+02] [-2.33447301e-03 9.99978107e-01 -6.19156702e-03 1.03791351e+01] [-2.80730644e-03 6.18500602e-03 9.99976932e-01 -1.90956495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.171400513 meters Centerline goodness [0,1] 0.8707455429497569 Centerline is valid? [False, False] Translation: X:196.13, Y:10.36, Z:-0.19 [[ 9.99992608e-01 2.01398960e-03 -3.27532156e-03 1.96125362e+02] [-1.99733951e-03 9.99985108e-01 5.07884817e-03 1.03644374e+01] [ 3.28550153e-03 -5.07226870e-03 9.99981739e-01 -1.85368423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.201400513 meters Centerline goodness [0,1] 0.8602684277801449 Centerline is valid? [False, False] Translation: X:196.13, Y:10.36, Z:-0.19 [[ 9.99991799e-01 2.13261708e-03 -3.44281120e-03 1.96126199e+02] [-2.11397524e-03 9.99983135e-01 5.40930405e-03 1.03627445e+01] [ 3.45428911e-03 -5.40198168e-03 9.99979443e-01 -1.85914232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.231400513 meters Centerline goodness [0,1] 0.9785988504040554 Centerline is valid? [False, True] Translation: X:196.13, Y:10.36, Z:-0.19 [[ 9.99990914e-01 2.26823013e-03 -3.60937053e-03 1.96126962e+02] [-2.24750004e-03 9.99981017e-01 5.73713787e-03 1.03611107e+01] [ 3.62231516e-03 -5.72897368e-03 9.99977029e-01 -1.86293567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.261400513 meters Centerline goodness [0,1] 0.9229457529574763 Centerline is valid? [True, False] Translation: X:196.13, Y:10.36, Z:-0.19 [[ 9.99990398e-01 2.36097624e-03 -3.69170848e-03 1.96127398e+02] [-2.33896364e-03 9.99979529e-01 5.95570293e-03 1.03600310e+01] [ 3.70569418e-03 -5.94701098e-03 9.99975450e-01 -1.86568903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.291400513 meters Centerline goodness [0,1] 0.8861364070559765 Centerline is valid? [False, False] Translation: X:196.13, Y:10.36, Z:-0.19 [[ 9.99990113e-01 2.40411790e-03 -3.74075481e-03 1.96127722e+02] [-2.38156653e-03 9.99979035e-01 6.02138138e-03 1.03596877e+01] [ 3.75515250e-03 -6.01241299e-03 9.99974875e-01 -1.86879941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.321400513 meters Centerline goodness [0,1] 0.9366781565172986 Centerline is valid? [False, False] Translation: X:196.12, Y:10.36, Z:-0.19 [[ 9.99995674e-01 -4.67660916e-04 -2.90395114e-03 1.96123408e+02] [ 4.73570302e-04 9.99997818e-01 2.03459249e-03 1.03635341e+01] [ 2.90299330e-03 -2.03595891e-03 9.99993714e-01 -1.85495908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.351400513 meters Centerline goodness [0,1] 0.5067812513327932 Centerline is valid? [False, False] Translation: X:196.12, Y:10.37, Z:-0.19 [[ 9.99996028e-01 -6.00282238e-04 -2.75391044e-03 1.96123209e+02] [ 6.04522041e-04 9.99998633e-01 1.53898306e-03 1.03659281e+01] [ 2.75298285e-03 -1.54064175e-03 9.99995024e-01 -1.86157347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.381400513 meters Centerline goodness [0,1] 0.701629349762789 Centerline is valid? [False, False] Translation: X:196.12, Y:10.37, Z:-0.19 [[ 9.99996157e-01 -6.99935086e-04 -2.68262608e-03 1.96123099e+02] [ 7.03332407e-04 9.99998952e-01 1.26568192e-03 1.03672271e+01] [ 2.68173738e-03 -1.26756383e-03 9.99995601e-01 -1.86436455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.411400513 meters Centerline goodness [0,1] 0.6999724570435815 Centerline is valid? [False, False] Translation: X:196.16, Y:10.37, Z:-0.19 [[ 9.99999970e-01 -2.36674041e-04 -6.91044755e-05 1.96163696e+02] [ 2.36605263e-04 9.99999478e-01 -9.93598290e-04 1.03732591e+01] [ 6.93395984e-05 9.93581909e-04 9.99999504e-01 -1.86967047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.441400513 meters Centerline goodness [0,1] 0.5207172074687918 Centerline is valid? [False, False] Translation: X:196.16, Y:10.37, Z:-0.19 [[ 9.99999972e-01 -2.29963720e-04 -5.22687915e-05 1.96163552e+02] [ 2.29912404e-04 9.99999494e-01 -9.79673611e-04 1.03732123e+01] [ 5.24940544e-05 9.79661567e-04 9.99999519e-01 -1.86809817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.471400513 meters Centerline goodness [0,1] 0.7772712816707305 Centerline is valid? [False, False] Translation: X:196.16, Y:10.37, Z:-0.19 [[ 9.99999997e-01 -2.18166068e-05 -7.96218491e-05 1.96163319e+02] [ 2.17837138e-05 9.99999914e-01 -4.13092886e-04 1.03705168e+01] [ 7.96308545e-05 4.13091150e-04 9.99999912e-01 -1.86205260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.501400513 meters Centerline goodness [0,1] 0.8712786829309904 Centerline is valid? [False, False] Translation: X:196.16, Y:10.37, Z:-0.19 [[ 9.99999985e-01 1.53838178e-04 -7.92205228e-05 1.96163140e+02] [-1.53836773e-04 9.99999988e-01 1.77363604e-05 1.03685053e+01] [ 7.92232504e-05 -1.77241731e-05 9.99999997e-01 -1.85855186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.531400513 meters Centerline goodness [0,1] 0.9205522327266491 Centerline is valid? [False, False] Translation: X:196.16, Y:10.37, Z:-0.19 [[ 9.99999920e-01 3.94801306e-04 -6.67783197e-05 1.96162965e+02] [-3.94760297e-04 9.99999734e-01 6.13003034e-04 1.03657241e+01] [ 6.70203164e-05 -6.12976624e-04 9.99999810e-01 -1.85589675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.561400513 meters Centerline goodness [0,1] 0.8889126529215502 Centerline is valid? [False, False] Translation: X:196.16, Y:10.36, Z:-0.19 [[ 9.99999811e-01 6.03635387e-04 -1.14019644e-04 1.96163082e+02] [-6.03505691e-04 9.99999175e-01 1.13411761e-03 1.03632468e+01] [ 1.14704144e-04 -1.13404858e-03 9.99999350e-01 -1.85509491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.591400513 meters Centerline goodness [0,1] 0.8567109908462466 Centerline is valid? [False, False] Translation: X:196.20, Y:10.37, Z:-0.19 [[ 9.99995968e-01 9.55317153e-04 2.67417493e-03 1.96204196e+02] [-9.53533593e-04 9.99999322e-01 -6.68152488e-04 1.03664976e+01] [-2.67481141e-03 6.65599878e-04 9.99996201e-01 -1.86552320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.621400513 meters Centerline goodness [0,1] 0.85774450163781 Centerline is valid? [False, False] Translation: X:196.20, Y:10.37, Z:-0.19 [[ 9.99995883e-01 1.06547991e-03 2.66425077e-03 1.96204186e+02] [-1.06431379e-03 9.99999337e-01 -4.39071594e-04 1.03654420e+01] [-2.66471683e-03 4.36234188e-04 9.99996354e-01 -1.86478630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.651400513 meters Centerline goodness [0,1] 0.9029757547047931 Centerline is valid? [False, False] Translation: X:196.16, Y:10.36, Z:-0.18 [[ 9.99998939e-01 1.21557608e-03 8.03194517e-04 1.96159482e+02] [-1.21694595e-03 9.99997802e-01 1.70723971e-03 1.03596462e+01] [-8.01117472e-04 -1.70821535e-03 9.99998220e-01 -1.83860265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.681400513 meters Centerline goodness [0,1] 0.8933605939954805 Centerline is valid? [False, False] Translation: X:196.16, Y:10.36, Z:-0.18 [[ 9.99998768e-01 1.24445176e-03 9.56431310e-04 1.96158845e+02] [-1.24603597e-03 9.99997850e-01 1.65756953e-03 1.03599635e+01] [-9.54366488e-04 -1.65875924e-03 9.99998169e-01 -1.83603671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.711400513 meters Centerline goodness [0,1] 0.6945899151401149 Centerline is valid? [False, False] Translation: X:196.16, Y:10.36, Z:-0.18 [[ 9.99998701e-01 1.24362088e-03 1.02581911e-03 1.96158755e+02] [-1.24508266e-03 9.99998209e-01 1.42558117e-03 1.03611594e+01] [-1.02404439e-03 -1.42685655e-03 9.99998458e-01 -1.83932716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.74140051300003 meters Centerline goodness [0,1] 0.5520665706784111 Centerline is valid? [False, False] Translation: X:196.17, Y:10.36, Z:-0.19 [[ 9.99992388e-01 3.89992451e-03 1.16490708e-04 1.96165460e+02] [-3.90038000e-03 9.99983548e-01 4.20600422e-03 1.03592105e+01] [-1.00085692e-04 -4.20642656e-03 9.99991148e-01 -1.88128461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.771400513 meters Centerline goodness [0,1] 0.4787998639108616 Centerline is valid? [False, False] Translation: X:196.17, Y:10.36, Z:-0.19 [[ 9.99992052e-01 3.97700007e-03 2.83166459e-04 1.96165238e+02] [-3.97799608e-03 9.99985578e-01 3.60827437e-03 1.03624209e+01] [-2.68812268e-04 -3.60937212e-03 9.99993450e-01 -1.88953619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.80140051300003 meters Centerline goodness [0,1] 0.31966606784317875 Centerline is valid? [False, False] Translation: X:196.17, Y:10.36, Z:-0.19 [[ 9.99992399e-01 3.88481822e-03 3.31997817e-04 1.96165076e+02] [-3.88589709e-03 9.99986961e-01 3.31321586e-03 1.03638577e+01] [-3.19122247e-04 -3.31448078e-03 9.99994456e-01 -1.88996476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.831400513 meters Centerline goodness [0,1] 0.4477706871329531 Centerline is valid? [False, False] Translation: X:196.16, Y:10.36, Z:-0.19 [[ 9.99992589e-01 3.82575338e-03 4.31474395e-04 1.96164730e+02] [-3.82709350e-03 9.99987718e-01 3.14906905e-03 1.03646390e+01] [-4.19421534e-04 -3.15069700e-03 9.99994949e-01 -1.89001266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.86140051300004 meters Centerline goodness [0,1] 0.5176221256755325 Centerline is valid? [False, False] Translation: X:196.16, Y:10.36, Z:-0.19 [[ 9.99992623e-01 3.81645947e-03 4.33694374e-04 1.96164685e+02] [-3.81780479e-03 9.99987768e-01 3.14470056e-03 1.03646335e+01] [-4.21687447e-04 -3.14633312e-03 9.99994961e-01 -1.88945468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.891400513 meters Centerline goodness [0,1] 0.5307360588508857 Centerline is valid? [False, False] Translation: X:196.16, Y:10.36, Z:-0.19 [[ 9.99992771e-01 3.77355037e-03 4.67710040e-04 1.96164526e+02] [-3.77499023e-03 9.99988017e-01 3.11685585e-03 1.03647299e+01] [-4.55942823e-04 -3.11859892e-03 9.99995033e-01 -1.88855776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.921400513 meters Centerline goodness [0,1] 0.39348705244659 Centerline is valid? [False, False] Translation: X:196.16, Y:10.36, Z:-0.19 [[ 9.99992785e-01 3.77226165e-03 4.47999430e-04 1.96164639e+02] [-3.77366095e-03 9.99987872e-01 3.16478319e-03 1.03644523e+01] [-4.36055607e-04 -3.16645096e-03 9.99994892e-01 -1.88974974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.951400513 meters Centerline goodness [0,1] 0.6445455318425304 Centerline is valid? [False, False] Translation: X:196.16, Y:10.37, Z:-0.19 [[ 9.99998309e-01 1.37732360e-03 1.21855524e-03 1.96158603e+02] [-1.37815530e-03 9.99998818e-01 6.81953821e-04 1.03664007e+01] [-1.21761453e-03 -6.83632027e-04 9.99999025e-01 -1.85206576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.981400513 meters Centerline goodness [0,1] 0.5743346329886421 Centerline is valid? [False, False] Translation: X:196.16, Y:10.36, Z:-0.19 [[ 9.99998350e-01 1.49300408e-03 1.03526673e-03 1.96159193e+02] [-1.49415179e-03 9.99998269e-01 1.10872445e-03 1.03642675e+01] [-1.03360960e-03 -1.11026946e-03 9.99998849e-01 -1.85187073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.011400513 meters Centerline goodness [0,1] 0.5603536867346065 Centerline is valid? [False, False] Translation: X:196.12, Y:10.36, Z:-0.19 [[ 9.99997493e-01 -7.16767683e-04 -2.12150377e-03 1.96119669e+02] [ 7.19419907e-04 9.99998960e-01 1.24966328e-03 1.03596767e+01] [ 2.12060585e-03 -1.25118640e-03 9.99996969e-01 -1.85587160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.041400513 meters Centerline goodness [0,1] 0.5752782160064811 Centerline is valid? [False, False] Translation: X:196.12, Y:10.36, Z:-0.19 [[ 9.99997119e-01 -6.07049911e-04 -2.32219283e-03 1.96120302e+02] [ 6.11073716e-04 9.99998313e-01 1.73244386e-03 1.03572488e+01] [ 2.32113723e-03 -1.73385790e-03 9.99995803e-01 -1.85487741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.071400513 meters Centerline goodness [0,1] 0.7411245725864325 Centerline is valid? [False, False] Translation: X:196.16, Y:10.36, Z:-0.19 [[ 9.99992045e-01 -3.96908900e-03 3.96149077e-04 1.96162700e+02] [ 3.97052595e-03 9.99985291e-01 -3.69492889e-03 1.03627940e+01] [-3.81477748e-04 3.69647242e-03 9.99993095e-01 -1.87711106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.101400513 meters Centerline goodness [0,1] 0.7411245725864325 Centerline is valid? [False, False] Translation: X:196.16, Y:10.36, Z:-0.19 [[ 9.99992045e-01 -3.96908900e-03 3.96149077e-04 1.96162700e+02] [ 3.97052595e-03 9.99985291e-01 -3.69492889e-03 1.03627940e+01] [-3.81477748e-04 3.69647242e-03 9.99993095e-01 -1.87711106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.131400513 meters Centerline goodness [0,1] 0.9051425640148762 Centerline is valid? [False, False] Translation: X:196.12, Y:10.35, Z:-0.19 [[ 9.99992023e-01 -3.60399535e-03 -1.72191506e-03 1.96121091e+02] [ 3.60606509e-03 9.99992778e-01 1.20040869e-03 1.03516145e+01] [ 1.71757635e-03 -1.20660845e-03 9.99997797e-01 -1.85918752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.161400513 meters Centerline goodness [0,1] 0.6283021287509618 Centerline is valid? [False, False] Translation: X:196.12, Y:10.35, Z:-0.19 [[ 9.99992750e-01 -3.35431292e-03 -1.80237763e-03 1.96121278e+02] [ 3.35759221e-03 9.99992708e-01 1.81948924e-03 1.03486970e+01] [ 1.79626135e-03 -1.82552770e-03 9.99996720e-01 -1.85721590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.191400513 meters Centerline goodness [0,1] 0.9516803102111159 Centerline is valid? [False, True] Translation: X:196.12, Y:10.35, Z:-0.18 [[ 9.99982893e-01 -5.76869475e-03 -9.67313559e-04 1.96115120e+02] [ 5.76787387e-03 9.99983005e-01 -8.49271725e-04 1.03495912e+01] [ 9.72196309e-04 8.43677854e-04 9.99999172e-01 -1.81925677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.221400513 meters Centerline goodness [0,1] 0.8208723404255319 Centerline is valid? [True, False] Translation: X:196.12, Y:10.35, Z:-0.18 [[ 9.99984317e-01 -5.48240026e-03 -1.14399575e-03 1.96115967e+02] [ 5.48197744e-03 9.99984905e-01 -3.72404282e-04 1.03473735e+01] [ 1.14602015e-03 3.66127082e-04 9.99999276e-01 -1.82434272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.251400513 meters Centerline goodness [0,1] 0.5801311489416238 Centerline is valid? [False, False] Translation: X:196.12, Y:10.35, Z:-0.18 [[ 9.99984471e-01 -5.47186004e-03 -1.05706197e-03 1.96115946e+02] [ 5.47134685e-03 9.99984913e-01 -4.87767668e-04 1.03479545e+01] [ 1.05971501e-03 4.81976540e-04 9.99999322e-01 -1.82956684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.281400513 meters Centerline goodness [0,1] 0.6060715269975196 Centerline is valid? [False, False] Translation: X:196.12, Y:10.35, Z:-0.18 [[ 9.99984473e-01 -5.48940573e-03 -9.59194087e-04 1.96115734e+02] [ 5.48857231e-03 9.99984560e-01 -8.69363524e-04 1.03499253e+01] [ 9.63951566e-04 8.64085419e-04 9.99999162e-01 -1.83300863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.311400513 meters Centerline goodness [0,1] 0.63183371902932 Centerline is valid? [False, False] Translation: X:196.12, Y:10.35, Z:-0.18 [[ 9.99999054e-01 -8.10335087e-04 -1.11132160e-03 1.96115848e+02] [ 8.15238220e-04 9.99989905e-01 4.41865053e-03 1.03453784e+01] [ 1.10772979e-03 -4.41955234e-03 9.99989620e-01 -1.82534310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.341400513 meters Centerline goodness [0,1] 0.39668184501222703 Centerline is valid? [False, False] Translation: X:196.12, Y:10.35, Z:-0.18 [[ 9.99999081e-01 -9.49570587e-04 -9.67463345e-04 1.96115515e+02] [ 9.53229936e-04 9.99992367e-01 3.78900255e-03 1.03485227e+01] [ 9.63858035e-04 -3.78992129e-03 9.99992354e-01 -1.82908904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.371400513 meters Centerline goodness [0,1] 0.373353564729932 Centerline is valid? [False, False] Translation: X:196.12, Y:10.35, Z:-0.18 [[ 9.99998858e-01 -1.18300663e-03 -9.40297694e-04 1.96115706e+02] [ 1.18588671e-03 9.99994590e-01 3.06831563e-03 1.03519478e+01] [ 9.36662768e-04 -3.06942721e-03 9.99994851e-01 -1.83526367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.401400513 meters Centerline goodness [0,1] 0.41833219935363153 Centerline is valid? [False, False] Translation: X:196.12, Y:10.36, Z:-0.18 [[ 9.99998610e-01 -1.42655470e-03 -8.62828346e-04 1.96115856e+02] [ 1.42861451e-03 9.99996120e-01 2.39138780e-03 1.03551077e+01] [ 8.59413553e-04 -2.39261712e-03 9.99996768e-01 -1.84404967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.431400513 meters Centerline goodness [0,1] 0.46232482855560764 Centerline is valid? [False, False] Translation: X:196.11, Y:10.36, Z:-0.18 [[ 9.99998834e-01 -1.48200685e-03 -3.67297639e-04 1.96114215e+02] [ 1.48251487e-03 9.99997940e-01 1.38675075e-03 1.03604859e+01] [ 3.65241708e-04 -1.38729366e-03 9.99998971e-01 -1.84555224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.461400513 meters Centerline goodness [0,1] 0.467028157889119 Centerline is valid? [False, False] Translation: X:196.11, Y:10.36, Z:-0.18 [[ 9.99998634e-01 -1.64759734e-03 -1.35619023e-04 1.96113193e+02] [ 1.64772258e-03 9.99998211e-01 9.28643827e-04 1.03627607e+01] [ 1.34088750e-04 -9.28866020e-04 9.99999560e-01 -1.84108615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.49140051300003 meters Centerline goodness [0,1] 0.4418446498778026 Centerline is valid? [False, False] Translation: X:196.11, Y:10.36, Z:-0.18 [[ 9.99998367e-01 -1.80682487e-03 3.74967188e-05 1.96112430e+02] [ 1.80680590e-03 9.99998243e-01 4.99844723e-04 1.03648746e+01] [-3.83997848e-05 -4.99776157e-04 9.99999874e-01 -1.83807271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.521400513 meters Centerline goodness [0,1] 0.5806686825795107 Centerline is valid? [False, False] Translation: X:196.11, Y:10.37, Z:-0.18 [[ 9.99997925e-01 -2.03471023e-03 9.83976160e-05 1.96112172e+02] [ 2.03471082e-03 9.99997930e-01 -5.92336041e-06 1.03672281e+01] [-9.83853600e-05 6.12355881e-06 9.99999995e-01 -1.83758619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.55140051300003 meters Centerline goodness [0,1] 0.49040198975361915 Centerline is valid? [False, False] Translation: X:196.11, Y:10.37, Z:-0.18 [[ 9.99996312e-01 -2.71205134e-03 -1.47382211e-04 1.96113447e+02] [ 2.71187204e-03 9.99995599e-01 -1.20341829e-03 1.03725076e+01] [ 1.50645295e-04 1.20301417e-03 9.99999265e-01 -1.84784294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.581400513 meters Centerline goodness [0,1] 0.49555753942949454 Centerline is valid? [False, False] Translation: X:196.11, Y:10.37, Z:-0.19 [[ 9.99995558e-01 -2.95574283e-03 -3.84288039e-04 1.96114347e+02] [ 2.95515631e-03 9.99994481e-01 -1.51796390e-03 1.03737906e+01] [ 3.88772629e-04 1.51682152e-03 9.99998774e-01 -1.85043457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.61140051300004 meters Centerline goodness [0,1] 0.390142732551956 Centerline is valid? [False, False] Translation: X:196.11, Y:10.37, Z:-0.18 [[ 9.99995238e-01 -3.03451441e-03 -5.62061887e-04 1.96114740e+02] [ 3.03370600e-03 9.99994371e-01 -1.43361259e-03 1.03732925e+01] [ 5.66409042e-04 1.43190063e-03 9.99998814e-01 -1.84656921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.641400513 meters Centerline goodness [0,1] 0.5739387243445375 Centerline is valid? [False, False] Translation: X:196.11, Y:10.37, Z:-0.18 [[ 9.99994771e-01 -3.14976618e-03 -7.32223153e-04 1.96114880e+02] [ 3.14885187e-03 9.99994265e-01 -1.24649019e-03 1.03722190e+01] [ 7.36145106e-04 1.24417801e-03 9.99998955e-01 -1.83824215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.671400513 meters Centerline goodness [0,1] 0.8705904867209594 Centerline is valid? [False, False] Translation: X:196.11, Y:10.37, Z:-0.18 [[ 9.99990726e-01 -4.25578760e-03 -6.60988718e-04 1.96114154e+02] [ 4.25481003e-03 9.99989863e-01 -1.47338348e-03 1.03715051e+01] [ 6.67252425e-04 1.47055743e-03 9.99998696e-01 -1.82475456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.701400513 meters Centerline goodness [0,1] 0.9938681874705201 Centerline is valid? [False, True] Translation: X:196.11, Y:10.37, Z:-0.18 [[ 9.99990716e-01 -4.25747657e-03 -6.65415922e-04 1.96113884e+02] [ 4.25661439e-03 9.99990106e-01 -1.29179046e-03 1.03706289e+01] [ 6.70909107e-04 1.28894605e-03 9.99998944e-01 -1.81889601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.731400513 meters Centerline goodness [0,1] 0.9032675029666045 Centerline is valid? [True, False] Translation: X:196.14, Y:10.38, Z:-0.19 [[ 9.99972452e-01 -4.98891846e-03 5.49593995e-03 1.96138349e+02] [ 5.05637952e-03 9.99911198e-01 -1.23299726e-02 1.03825008e+01] [-5.43393867e-03 1.23574225e-02 9.99908879e-01 -1.90017886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.761400513 meters Centerline goodness [0,1] 0.9884162511933807 Centerline is valid? [False, True] Translation: X:196.14, Y:10.38, Z:-0.19 [[ 9.99986702e-01 -8.93717873e-04 5.07911358e-03 1.96139624e+02] [ 9.29298571e-04 9.99975017e-01 -7.00725964e-03 1.03767948e+01] [-5.07272417e-03 7.01188647e-03 9.99962550e-01 -1.89689511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.791400513 meters Centerline goodness [0,1] 0.9739708286448271 Centerline is valid? [True, True] Translation: X:196.17, Y:10.38, Z:-0.19 [[ 9.99993598e-01 -4.08863006e-04 3.55473947e-03 1.96171063e+02] [ 4.07956571e-04 9.99999884e-01 2.55714579e-04 1.03775203e+01] [-3.55484361e-03 -2.54262762e-04 9.99993649e-01 -1.90222561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.821400513 meters Centerline goodness [0,1] 0.8934004759476457 Centerline is valid? [True, False] Translation: X:196.17, Y:10.38, Z:-0.19 [[ 9.99993398e-01 -8.23867502e-04 3.53923229e-03 1.96171538e+02] [ 8.26576403e-04 9.99999367e-01 -7.63997747e-04 1.03822679e+01] [-3.53860062e-03 7.66918148e-04 9.99993445e-01 -1.91156942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.851400513 meters Centerline goodness [0,1] 0.8122002970507108 Centerline is valid? [False, False] Translation: X:196.17, Y:10.39, Z:-0.19 [[ 9.99992867e-01 -1.34091209e-03 3.53097427e-03 1.96171932e+02] [ 1.35143839e-03 9.99994645e-01 -2.98043446e-03 1.03933393e+01] [-3.52695886e-03 2.98518509e-03 9.99989325e-01 -1.92213314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.881400513 meters Centerline goodness [0,1] 0.8029308373215874 Centerline is valid? [False, False] Translation: X:196.17, Y:10.40, Z:-0.19 [[ 9.99992422e-01 -1.58833451e-03 3.55437228e-03 1.96171870e+02] [ 1.60120075e-03 9.99992166e-01 -3.61992199e-03 1.03963791e+01] [-3.54859478e-03 3.62558582e-03 9.99987131e-01 -1.92303290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.911400513 meters Centerline goodness [0,1] 0.9188216248455673 Centerline is valid? [False, False] Translation: X:196.17, Y:10.40, Z:-0.19 [[ 9.99992425e-01 -1.63696105e-03 3.53120040e-03 1.96171897e+02] [ 1.65012925e-03 9.99991684e-01 -3.72941361e-03 1.03968838e+01] [-3.52506613e-03 3.73521230e-03 9.99986811e-01 -1.92231374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.941400513 meters Centerline goodness [0,1] 0.8841384572991076 Centerline is valid? [False, False] Translation: X:196.17, Y:10.40, Z:-0.19 [[ 9.99993350e-01 -1.76190466e-03 3.19297223e-03 1.96173335e+02] [ 1.77408703e-03 9.99991143e-01 -3.81656163e-03 1.03971061e+01] [-3.18621954e-03 3.82220086e-03 9.99987619e-01 -1.92865488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.971400513 meters Centerline goodness [0,1] 0.8434477065385348 Centerline is valid? [False, False] Translation: X:196.17, Y:10.40, Z:-0.19 [[ 9.99993265e-01 -1.93056788e-03 3.12134489e-03 1.96173657e+02] [ 1.94355702e-03 9.99989443e-01 -4.16372838e-03 1.03987097e+01] [-3.11327358e-03 4.16976685e-03 9.99986460e-01 -1.93029936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.001400513 meters Centerline goodness [0,1] 0.7966881519803239 Centerline is valid? [False, False] Translation: X:196.17, Y:10.40, Z:-0.19 [[ 9.99992579e-01 -2.13255919e-03 3.20860339e-03 1.96173217e+02] [ 2.14737445e-03 9.99987017e-01 -4.62101434e-03 1.04008993e+01] [-3.19870714e-03 4.62787012e-03 9.99984175e-01 -1.92782186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.031400513 meters Centerline goodness [0,1] 0.9299360359215487 Centerline is valid? [False, False] Translation: X:196.18, Y:10.40, Z:-0.20 [[ 9.99996627e-01 4.63758748e-05 2.59692257e-03 1.96178810e+02] [-4.06358965e-05 9.99997556e-01 -2.21030929e-03 1.04005337e+01] [-2.59701873e-03 2.21019630e-03 9.99994185e-01 -1.96585150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.061400513 meters Centerline goodness [0,1] 0.9295840906660965 Centerline is valid? [False, False] Translation: X:196.16, Y:10.39, Z:-0.19 [[ 9.99996485e-01 -2.86487964e-04 -2.63600698e-03 1.96155748e+02] [ 3.09617304e-04 9.99961423e-01 8.77816449e-03 1.03933692e+01] [ 2.63339045e-03 -8.77894979e-03 9.99957997e-01 -1.89455854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.091400513 meters Centerline goodness [0,1] 0.8142764996774887 Centerline is valid? [False, False] Translation: X:196.14, Y:10.40, Z:-0.20 [[ 9.99999576e-01 2.94313163e-04 8.72176596e-04 1.96139554e+02] [-2.94599579e-04 9.99999903e-01 3.28282252e-04 1.04039265e+01] [-8.72079894e-04 -3.28539056e-04 9.99999566e-01 -1.97997210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.121400513 meters Centerline goodness [0,1] 0.7174277291140851 Centerline is valid? [False, False] Translation: X:196.18, Y:10.42, Z:-0.20 [[ 9.99992184e-01 3.49755009e-03 1.84385576e-03 1.96182976e+02] [-3.49352726e-03 9.99991520e-01 -2.18047073e-03 1.04196184e+01] [-1.85146643e-03 2.17401213e-03 9.99995923e-01 -2.01630202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.151400513 meters Centerline goodness [0,1] 0.595688883203275 Centerline is valid? [False, False] Translation: X:196.18, Y:10.43, Z:-0.20 [[ 9.99993080e-01 3.16068429e-03 1.96232909e-03 1.96182691e+02] [-3.15417592e-03 9.99989544e-01 -3.31093664e-03 1.04251055e+01] [-1.97277340e-03 3.30472419e-03 9.99992593e-01 -2.01967831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.181400513 meters Centerline goodness [0,1] 0.5658219568290677 Centerline is valid? [False, False] Translation: X:196.18, Y:10.42, Z:-0.20 [[ 9.99969803e-01 7.56606686e-03 1.77426522e-03 1.96183071e+02] [-7.56889801e-03 9.99970084e-01 1.59443054e-03 1.04221813e+01] [-1.76214857e-03 -1.60781163e-03 9.99997155e-01 -2.01314975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.211400513 meters Centerline goodness [0,1] 0.6569230769230769 Centerline is valid? [False, False] Translation: X:196.16, Y:10.41, Z:-0.19 [[ 9.99973028e-01 6.71313890e-03 -2.97960336e-03 1.96159983e+02] [-6.67578059e-03 9.99901133e-01 1.23756963e-02 1.04149774e+01] [ 3.06238855e-03 -1.23554713e-02 9.99918979e-01 -1.94582651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.24140051300003 meters Centerline goodness [0,1] 0.637926230737907 Centerline is valid? [False, False] Translation: X:196.16, Y:10.42, Z:-0.19 [[ 9.99994983e-01 2.05674279e-03 -2.40916778e-03 1.96158016e+02] [-2.04161076e-03 9.99978280e-01 6.26672863e-03 1.04240740e+01] [ 2.42200450e-03 -6.26177860e-03 9.99977462e-01 -1.94781945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.271400513 meters Centerline goodness [0,1] 0.6360882184699477 Centerline is valid? [False, False] Translation: X:196.20, Y:10.44, Z:-0.20 [[ 9.99999085e-01 -9.06781103e-04 1.00341857e-03 1.96195614e+02] [ 9.07257090e-04 9.99999476e-01 -4.74012148e-04 1.04377877e+01] [-1.00298822e-03 4.74922073e-04 9.99999384e-01 -1.95067315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.30140051300003 meters Centerline goodness [0,1] 0.669651021840376 Centerline is valid? [False, False] Translation: X:196.20, Y:10.44, Z:-0.19 [[ 9.99998705e-01 -1.30720899e-03 9.39082218e-04 1.96195471e+02] [ 1.30835608e-03 9.99998398e-01 -1.22193052e-03 1.04412818e+01] [-9.37483395e-04 1.22315759e-03 9.99998813e-01 -1.94442097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.331400513 meters Centerline goodness [0,1] 0.700944675082606 Centerline is valid? [False, False] Translation: X:196.20, Y:10.44, Z:-0.19 [[ 9.99998631e-01 -1.44192136e-03 8.11429108e-04 1.96195909e+02] [ 1.44310063e-03 9.99997901e-01 -1.45462424e-03 1.04423177e+01] [-8.09329950e-04 1.45579322e-03 9.99998613e-01 -1.94473040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.36140051300004 meters Centerline goodness [0,1] 0.7582023239917977 Centerline is valid? [False, False] Translation: X:196.20, Y:10.44, Z:-0.19 [[ 9.99998480e-01 -1.57277473e-03 7.52637992e-04 1.96196124e+02] [ 1.57406725e-03 9.99997282e-01 -1.71981613e-03 1.04435220e+01] [-7.49931063e-04 1.72099821e-03 9.99998238e-01 -1.94537860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.391400513 meters Centerline goodness [0,1] 0.8612784435598885 Centerline is valid? [False, False] Translation: X:196.20, Y:10.44, Z:-0.19 [[ 9.99998267e-01 -1.70156957e-03 7.54821014e-04 1.96196013e+02] [ 1.70305324e-03 9.99996611e-01 -1.96932039e-03 1.04446736e+01] [-7.51467520e-04 1.97060248e-03 9.99997776e-01 -1.94352862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.421400513 meters Centerline goodness [0,1] 0.705495577661357 Centerline is valid? [False, False] Translation: X:196.20, Y:10.44, Z:-0.19 [[ 9.99998124e-01 -1.74216938e-03 8.46145129e-04 1.96195364e+02] [ 1.74380303e-03 9.99996610e-01 -1.93380354e-03 1.04444903e+01] [-8.42773247e-04 1.93527542e-03 9.99997772e-01 -1.93685168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.451400513 meters Centerline goodness [0,1] 0.9316235638366539 Centerline is valid? [False, False] Translation: X:196.15, Y:10.44, Z:-0.19 [[ 9.99998029e-01 -1.51474697e-03 -1.28318948e-03 1.96153422e+02] [ 1.51601696e-03 9.99998361e-01 9.89321101e-04 1.04374389e+01] [ 1.28168880e-03 -9.91264489e-04 9.99998687e-01 -1.93366656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.481400513 meters Centerline goodness [0,1] 0.8102469606472656 Centerline is valid? [False, False] Translation: X:196.20, Y:10.44, Z:-0.20 [[ 9.99998916e-01 -1.42416089e-03 3.73473014e-04 1.96197617e+02] [ 1.42408928e-03 9.99998968e-01 1.91951491e-04 1.04405961e+01] [-3.73745998e-04 -1.91419424e-04 9.99999912e-01 -1.95299512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.511400513 meters Centerline goodness [0,1] 0.9965732887860875 Centerline is valid? [False, True] Translation: X:196.18, Y:10.45, Z:-0.19 [[ 9.99986704e-01 -2.49649852e-03 -4.51209321e-03 1.96175928e+02] [ 2.44359901e-03 9.99928664e-01 -1.16916719e-02 1.04475838e+01] [ 4.54095958e-03 1.16804907e-02 9.99921470e-01 -1.91086497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.541400513 meters Centerline goodness [0,1] 0.9634804025648648 Centerline is valid? [True, True] Translation: X:196.20, Y:10.45, Z:-0.19 [[ 9.99970158e-01 -4.12610835e-03 -6.53136235e-03 1.96204715e+02] [ 4.12314034e-03 9.99991390e-01 -4.67823920e-04 1.04481114e+01] [ 6.53323641e-03 4.40880235e-04 9.99978561e-01 -1.93191849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.571400513 meters Centerline goodness [0,1] 0.9989529019574322 Centerline is valid? [True, True] Translation: X:196.24, Y:10.44, Z:-0.19 [[ 9.99953640e-01 -6.55607977e-03 -7.05242117e-03 1.96235750e+02] [ 6.55267816e-03 9.99978403e-01 -5.05330025e-04 1.04383701e+01] [ 7.05558185e-03 4.59094351e-04 9.99975004e-01 -1.92877281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.601400513 meters Centerline goodness [0,1] 0.9980534759358288 Centerline is valid? [True, True] Translation: X:196.26, Y:10.44, Z:-0.19 [[ 9.99952989e-01 -7.29956000e-03 -6.38245163e-03 1.96263439e+02] [ 7.29678841e-03 9.99973273e-01 -4.57430059e-04 1.04403776e+01] [ 6.38562008e-03 4.10837155e-04 9.99979527e-01 -1.91362287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.631400513 meters Centerline goodness [0,1] 0.9955453247223821 Centerline is valid? [True, True] Translation: X:196.29, Y:10.44, Z:-0.19 [[ 9.99955304e-01 -7.25743028e-03 -6.05972128e-03 1.96291174e+02] [ 7.25492884e-03 9.99973588e-01 -4.34677097e-04 1.04428651e+01] [ 6.06271587e-03 3.90694821e-04 9.99981545e-01 -1.90893385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.661400513 meters Centerline goodness [0,1] 0.993625701172871 Centerline is valid? [True, True] Translation: X:196.32, Y:10.44, Z:-0.19 [[ 9.99957551e-01 -6.86135477e-03 -6.14970939e-03 1.96320330e+02] [ 6.85876700e-03 9.99976381e-01 -4.41786913e-04 1.04449208e+01] [ 6.15259540e-03 3.99588736e-04 9.99980993e-01 -1.90731527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.691400513 meters Centerline goodness [0,1] 0.9889874838518393 Centerline is valid? [True, True] Translation: X:196.35, Y:10.45, Z:-0.19 [[ 9.99963556e-01 -5.87475126e-03 -6.19474680e-03 1.96349458e+02] [ 5.87210160e-03 9.99982660e-01 -4.45828517e-04 1.04479082e+01] [ 6.19725852e-03 4.09436087e-04 9.99980713e-01 -1.90875648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.721400513 meters Centerline goodness [0,1] 0.9618291440217391 Centerline is valid? [True, True] Translation: X:196.38, Y:10.45, Z:-0.19 [[ 9.99968095e-01 -4.81603715e-03 -6.37301884e-03 1.96377313e+02] [ 4.81320987e-03 9.99988311e-01 -4.58896712e-04 1.04533867e+01] [ 6.37515441e-03 4.28207394e-04 9.99979587e-01 -1.91382406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.751400513 meters Centerline goodness [0,1] 0.947742661261223 Centerline is valid? [True, False] Translation: X:196.38, Y:10.46, Z:-0.19 [[ 9.99968329e-01 -4.83845660e-03 -6.31897468e-03 1.96377335e+02] [ 4.83359084e-03 9.99988010e-01 -7.85069479e-04 1.04550484e+01] [ 6.32269744e-03 7.54501277e-04 9.99979727e-01 -1.91820418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.781400513 meters Centerline goodness [0,1] 0.9236271294042958 Centerline is valid? [False, False] Translation: X:196.38, Y:10.46, Z:-0.19 [[ 9.99968612e-01 -4.83258337e-03 -6.27862650e-03 1.96377114e+02] [ 4.82751954e-03 9.99988010e-01 -8.21423438e-04 1.04552654e+01] [ 6.28252081e-03 7.91087463e-04 9.99979952e-01 -1.91675612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.811400513 meters Centerline goodness [0,1] 0.8906429026098026 Centerline is valid? [False, False] Translation: X:196.38, Y:10.46, Z:-0.19 [[ 9.99969184e-01 -4.81212298e-03 -6.20270294e-03 1.96376660e+02] [ 4.80711187e-03 9.99988107e-01 -8.22547937e-04 1.04553252e+01] [ 6.20658738e-03 7.92705503e-04 9.99980425e-01 -1.91258046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.841400513 meters Centerline goodness [0,1] 0.852909985577331 Centerline is valid? [False, False] Translation: X:196.38, Y:10.46, Z:-0.19 [[ 9.99969511e-01 -4.80654165e-03 -6.15421356e-03 1.96376441e+02] [ 4.80107508e-03 9.99988067e-01 -9.02731317e-04 1.04557697e+01] [ 6.15847914e-03 8.73156953e-04 9.99980655e-01 -1.91146065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.871400513 meters Centerline goodness [0,1] 0.6890188157754864 Centerline is valid? [False, False] Translation: X:196.38, Y:10.46, Z:-0.19 [[ 9.99969901e-01 -4.78632707e-03 -6.10636685e-03 1.96376872e+02] [ 4.77843976e-03 9.99987731e-01 -1.30558950e-03 1.04578489e+01] [ 6.11254091e-03 1.27637130e-03 9.99980504e-01 -1.92410125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.901400513 meters Centerline goodness [0,1] 0.9352991452991453 Centerline is valid? [False, False] Translation: X:196.38, Y:10.46, Z:-0.19 [[ 9.99969479e-01 -4.86960967e-03 -6.10966473e-03 1.96377283e+02] [ 4.86034734e-03 9.99987018e-01 -1.52994535e-03 1.04588745e+01] [ 6.11703565e-03 1.50020357e-03 9.99980165e-01 -1.93246695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.931400513 meters Centerline goodness [0,1] 0.7001379017715074 Centerline is valid? [False, False] Translation: X:196.38, Y:10.46, Z:-0.19 [[ 9.99969580e-01 -4.79650198e-03 -6.15084171e-03 1.96377511e+02] [ 4.78822827e-03 9.99987613e-01 -1.35915529e-03 1.04580626e+01] [ 6.15728471e-03 1.32966231e-03 9.99980160e-01 -1.93431739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.961400513 meters Centerline goodness [0,1] 0.7001379017715074 Centerline is valid? [False, False] Translation: X:196.38, Y:10.46, Z:-0.19 [[ 9.99969580e-01 -4.79650198e-03 -6.15084171e-03 1.96377511e+02] [ 4.78822827e-03 9.99987613e-01 -1.35915529e-03 1.04580626e+01] [ 6.15728471e-03 1.32966231e-03 9.99980160e-01 -1.93431739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.99140051300003 meters Centerline goodness [0,1] 0.8273343214058861 Centerline is valid? [False, False] Translation: X:196.38, Y:10.46, Z:-0.19 [[ 9.99970812e-01 -4.53707180e-03 -6.14742339e-03 1.96377246e+02] [ 4.53251006e-03 9.99989443e-01 -7.55785502e-04 1.04552516e+01] [ 6.15078755e-03 7.27900184e-04 9.99980819e-01 -1.92930776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.021400513 meters Centerline goodness [0,1] 0.7276405541668431 Centerline is valid? [False, False] Translation: X:196.38, Y:10.45, Z:-0.19 [[ 9.99972266e-01 -4.18043661e-03 -6.16369117e-03 1.96376919e+02] [ 4.18114061e-03 9.99991254e-01 1.01336137e-04 1.04512380e+01] [ 6.16321363e-03 -1.27104586e-04 9.99980999e-01 -1.92132464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.05140051300003 meters Centerline goodness [0,1] 0.7711600750085237 Centerline is valid? [False, False] Translation: X:196.38, Y:10.45, Z:-0.19 [[ 9.99973252e-01 -3.83124013e-03 -6.23025482e-03 1.96376914e+02] [ 3.83726675e-03 9.99992181e-01 9.55649253e-04 1.04472240e+01] [ 6.22654478e-03 -9.79530841e-04 9.99980135e-01 -1.91622530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.081400513 meters Centerline goodness [0,1] 0.8929266847273959 Centerline is valid? [False, False] Translation: X:196.38, Y:10.45, Z:-0.20 [[ 9.99960872e-01 -5.31588108e-03 -7.07079511e-03 1.96383378e+02] [ 5.31438788e-03 9.99985852e-01 -2.29950639e-04 1.04451372e+01] [ 7.07191746e-03 1.92364694e-04 9.99974975e-01 -1.95722894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.11140051300004 meters Centerline goodness [0,1] 0.6125274210380593 Centerline is valid? [False, False] Translation: X:196.38, Y:10.44, Z:-0.20 [[ 9.99961724e-01 -5.05790228e-03 -7.13916099e-03 1.96383631e+02] [ 5.06049765e-03 9.99987136e-01 3.45522197e-04 1.04424449e+01] [ 7.13732153e-03 -3.81636679e-04 9.99974456e-01 -1.95731756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.141400513 meters Centerline goodness [0,1] 0.9092921766897286 Centerline is valid? [False, False] Translation: X:196.38, Y:10.44, Z:-0.20 [[ 9.99963077e-01 -4.77350295e-03 -7.14544356e-03 1.96383504e+02] [ 4.78051837e-03 9.99988108e-01 9.65044686e-04 1.04395652e+01] [ 7.14075194e-03 -9.99167978e-04 9.99974005e-01 -1.95440539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.171400513 meters Centerline goodness [0,1] 0.8450236063768974 Centerline is valid? [False, False] Translation: X:196.38, Y:10.44, Z:-0.20 [[ 9.99964341e-01 -4.54893145e-03 -7.11502610e-03 1.96383186e+02] [ 4.55921130e-03 9.99988585e-01 1.42925749e-03 1.04374410e+01] [ 7.10844329e-03 -1.46164543e-03 9.99973666e-01 -1.95005857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.201400513 meters Centerline goodness [0,1] 0.815143246930423 Centerline is valid? [False, False] Translation: X:196.38, Y:10.44, Z:-0.19 [[ 9.99965471e-01 -4.50106577e-03 -6.98555433e-03 1.96382720e+02] [ 4.51165168e-03 9.99988697e-01 1.50038119e-03 1.04371509e+01] [ 6.97872206e-03 -1.53184577e-03 9.99974475e-01 -1.94944264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.231400513 meters Centerline goodness [0,1] 0.8185253593189393 Centerline is valid? [False, False] Translation: X:196.38, Y:10.44, Z:-0.19 [[ 9.99966199e-01 -4.53074404e-03 -6.86102195e-03 1.96382175e+02] [ 4.54024073e-03 9.99988756e-01 1.36920835e-03 1.04378359e+01] [ 6.85474127e-03 -1.40031276e-03 9.99975526e-01 -1.94731898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.261400513 meters Centerline goodness [0,1] 0.6060477723191597 Centerline is valid? [False, False] Translation: X:196.38, Y:10.44, Z:-0.19 [[ 9.99967041e-01 -4.43653398e-03 -6.79956407e-03 1.96381685e+02] [ 4.44730496e-03 9.99988879e-01 1.56976817e-03 1.04369341e+01] [ 6.79252411e-03 -1.59995617e-03 9.99975651e-01 -1.94201433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.291400513 meters Centerline goodness [0,1] 0.8549283230129782 Centerline is valid? [False, False] Translation: X:196.38, Y:10.44, Z:-0.19 [[ 9.99967316e-01 -4.33774015e-03 -6.82278422e-03 1.96381631e+02] [ 4.35025543e-03 9.99988880e-01 1.82056666e-03 1.04357617e+01] [ 6.81481120e-03 -1.85018801e-03 9.99975067e-01 -1.93943726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.321400513 meters Centerline goodness [0,1] 0.8232606570614985 Centerline is valid? [False, False] Translation: X:196.38, Y:10.43, Z:-0.19 [[ 9.99966897e-01 -4.27306239e-03 -6.92434302e-03 1.96381934e+02] [ 4.28697063e-03 9.99988821e-01 1.99500529e-03 1.04349391e+01] [ 6.91574083e-03 -2.02462370e-03 9.99974036e-01 -1.93865039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.351400513 meters Centerline goodness [0,1] 0.9429229096954326 Centerline is valid? [False, False] Translation: X:196.38, Y:10.43, Z:-0.19 [[ 9.99965275e-01 -4.14277306e-03 -7.23093867e-03 1.96382803e+02] [ 4.16296302e-03 9.99987472e-01 2.77934839e-03 1.04309616e+01] [ 7.21933387e-03 -2.80935401e-03 9.99969994e-01 -1.93526940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.381400513 meters Centerline goodness [0,1] 0.9750430109810752 Centerline is valid? [False, True] Translation: X:196.38, Y:10.43, Z:-0.19 [[ 9.99966229e-01 -3.89437588e-03 -7.23708071e-03 1.96382546e+02] [ 3.92037001e-03 9.99985903e-01 3.58108842e-03 1.04270839e+01] [ 7.22303259e-03 -3.60933951e-03 9.99967400e-01 -1.92933825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.411400513 meters Centerline goodness [0,1] 0.9741755217814656 Centerline is valid? [True, True] Translation: X:196.41, Y:10.43, Z:-0.19 [[ 9.99965108e-01 -6.47599347e-03 -5.27671818e-03 1.96411934e+02] [ 6.47404962e-03 9.99978969e-01 -3.85381256e-04 1.04304993e+01] [ 5.27910293e-03 3.51206074e-04 9.99986004e-01 -1.90838965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.441400513 meters Centerline goodness [0,1] 0.9884287324782507 Centerline is valid? [True, True] Translation: X:196.44, Y:10.43, Z:-0.19 [[ 9.99951768e-01 -8.76530051e-03 -4.43080904e-03 1.96442553e+02] [ 8.76395202e-03 9.99961543e-01 -3.23668126e-04 1.04292511e+01] [ 4.43347569e-03 2.84821117e-04 9.99990132e-01 -1.89355311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.471400513 meters Centerline goodness [0,1] 0.9981174054424097 Centerline is valid? [True, True] Translation: X:196.47, Y:10.43, Z:-0.19 [[ 9.99939946e-01 -1.01125291e-02 -4.22382775e-03 1.96472078e+02] [ 1.01113173e-02 9.99948832e-01 -3.08172706e-04 1.04265506e+01] [ 4.22672803e-03 2.65445737e-04 9.99991032e-01 -1.89197216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.501400513 meters Centerline goodness [0,1] 0.9914678296953401 Centerline is valid? [True, True] Translation: X:196.50, Y:10.43, Z:-0.19 [[ 9.99934734e-01 -1.03480556e-02 -4.84198652e-03 1.96499512e+02] [ 1.03464609e-02 9.99946411e-01 -3.54277185e-04 1.04334621e+01] [ 4.84539312e-03 3.04156639e-04 9.99988215e-01 -1.89588363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.531400513 meters Centerline goodness [0,1] 0.998281823388414 Centerline is valid? [True, True] Translation: X:196.53, Y:10.43, Z:-0.19 [[ 9.99939589e-01 -7.81858050e-03 -7.72583859e-03 1.96530084e+02] [ 7.81443820e-03 9.99969307e-01 -5.66204093e-04 1.04322931e+01] [ 7.73002837e-03 5.05796800e-04 9.99969995e-01 -1.93089233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.561400513 meters Centerline goodness [0,1] 0.9942815994578109 Centerline is valid? [True, True] Translation: X:196.56, Y:10.44, Z:-0.19 [[ 9.99948817e-01 -5.30240419e-03 -8.61668645e-03 1.96560103e+02] [ 5.29715813e-03 9.99985771e-01 -6.31534043e-04 1.04377112e+01] [ 8.61991249e-03 5.85857768e-04 9.99962676e-01 -1.94137743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.591400513 meters Centerline goodness [0,1] 0.945783260661491 Centerline is valid? [True, False] Translation: X:196.56, Y:10.44, Z:-0.19 [[ 9.99949006e-01 -5.45952122e-03 -8.49581678e-03 1.96559971e+02] [ 5.44939846e-03 9.99984415e-01 -1.21419259e-03 1.04405631e+01] [ 8.50231328e-03 1.16783358e-03 9.99963173e-01 -1.94710991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.621400513 meters Centerline goodness [0,1] 0.9483704901293397 Centerline is valid? [False, False] Translation: X:196.56, Y:10.44, Z:-0.20 [[ 9.99948835e-01 -5.60511448e-03 -8.42086233e-03 1.96559958e+02] [ 5.59104851e-03 9.99982937e-01 -1.69298488e-03 1.04428748e+01] [ 8.43020801e-03 1.64581680e-03 9.99963111e-01 -1.95247763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.651400513 meters Centerline goodness [0,1] 0.8444331145242496 Centerline is valid? [False, False] Translation: X:196.56, Y:10.44, Z:-0.20 [[ 9.99948618e-01 -5.67555321e-03 -8.39935022e-03 1.96560091e+02] [ 5.65970400e-03 9.99982161e-01 -1.90952512e-03 1.04438922e+01] [ 8.41003799e-03 1.86188917e-03 9.99962902e-01 -1.95666212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.681400513 meters Centerline goodness [0,1] 0.8272009124704292 Centerline is valid? [False, False] Translation: X:196.56, Y:10.44, Z:-0.20 [[ 9.99950021e-01 -5.56554439e-03 -8.30542532e-03 1.96559852e+02] [ 5.55115573e-03 9.99983053e-01 -1.75449045e-03 1.04432134e+01] [ 8.31504927e-03 1.70829805e-03 9.99963970e-01 -1.95842613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.711400513 meters Centerline goodness [0,1] 0.7811097641379017 Centerline is valid? [False, False] Translation: X:196.56, Y:10.44, Z:-0.20 [[ 9.99950402e-01 -5.66865087e-03 -8.18896508e-03 1.96559349e+02] [ 5.65207474e-03 9.99981934e-01 -2.04592998e-03 1.04446527e+01] [ 8.20041480e-03 1.99954387e-03 9.99964377e-01 -1.95644921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.74140051300003 meters Centerline goodness [0,1] 0.8877776362169278 Centerline is valid? [False, False] Translation: X:196.56, Y:10.44, Z:-0.19 [[ 9.99963614e-01 -1.10838046e-03 -8.45825267e-03 1.96559880e+02] [ 1.13511659e-03 9.99994373e-01 3.15680675e-03 1.04403199e+01] [ 8.45470613e-03 -3.16629298e-03 9.99959245e-01 -1.94911349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.771400513 meters Centerline goodness [0,1] 0.7943116065350578 Centerline is valid? [False, False] Translation: X:196.56, Y:10.44, Z:-0.20 [[ 9.99963053e-01 -1.31260575e-03 -8.49533264e-03 1.96560233e+02] [ 1.33473023e-03 9.99995731e-01 2.59916466e-03 1.04429624e+01] [ 8.49188470e-03 -2.61040760e-03 9.99960536e-01 -1.95416307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.80140051300003 meters Centerline goodness [0,1] 0.8820298251260594 Centerline is valid? [False, False] Translation: X:196.56, Y:10.45, Z:-0.20 [[ 9.99962408e-01 -1.51105330e-03 -8.53815281e-03 1.96560686e+02] [ 1.52889684e-03 9.99996660e-01 2.08371810e-03 1.04453704e+01] [ 8.53497569e-03 -2.09669372e-03 9.99961378e-01 -1.96082516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.831400513 meters Centerline goodness [0,1] 0.8357121490534593 Centerline is valid? [False, False] Translation: X:196.56, Y:10.45, Z:-0.20 [[ 9.99961610e-01 -1.72089069e-03 -8.59168718e-03 1.96561305e+02] [ 1.73182341e-03 9.99997700e-01 1.26519977e-03 1.04493336e+01] [ 8.58949014e-03 -1.28003048e-03 9.99962290e-01 -1.97084111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.86140051300004 meters Centerline goodness [0,1] 0.5161972874039906 Centerline is valid? [False, False] Translation: X:196.58, Y:10.46, Z:-0.20 [[ 9.99993571e-01 -9.89872357e-04 -3.44633334e-03 1.96584743e+02] [ 9.56828054e-04 9.99953684e-01 -9.57673097e-03 1.04616635e+01] [ 3.45565346e-03 9.57337186e-03 9.99948203e-01 -2.03957437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.891400513 meters Centerline goodness [0,1] 0.6315222442857746 Centerline is valid? [False, False] Translation: X:196.59, Y:10.46, Z:-0.20 [[ 9.99987045e-01 3.40544342e-03 -3.78331980e-03 1.96585672e+02] [-3.42142340e-03 9.99985220e-01 -4.22538452e-03 1.04563028e+01] [ 3.76887457e-03 4.23827411e-03 9.99983916e-01 -2.03414151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.921400513 meters Centerline goodness [0,1] 0.5108350557200998 Centerline is valid? [False, False] Translation: X:196.59, Y:10.46, Z:-0.20 [[ 9.99987544e-01 3.28243345e-03 -3.75990706e-03 1.96585527e+02] [-3.29937665e-03 9.99984391e-01 -4.50897749e-03 1.04576467e+01] [ 3.74504796e-03 4.52132667e-03 9.99982766e-01 -2.03308422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.951400513 meters Centerline goodness [0,1] 0.755486163454291 Centerline is valid? [False, False] Translation: X:196.59, Y:10.46, Z:-0.20 [[ 9.99988136e-01 3.20966751e-03 -3.66419527e-03 1.96585045e+02] [-3.22682738e-03 9.99983810e-01 -4.68685257e-03 1.04585249e+01] [ 3.64909271e-03 4.69862069e-03 9.99982303e-01 -2.02991908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.981400513 meters Centerline goodness [0,1] 0.5997973229742853 Centerline is valid? [False, False] Translation: X:196.62, Y:10.47, Z:-0.20 [[ 9.99992191e-01 3.92564178e-03 4.54288919e-04 1.96620540e+02] [-3.92298634e-03 9.99976028e-01 -5.70556734e-03 1.04659129e+01] [-4.76676042e-04 5.70374062e-03 9.99983620e-01 -2.00883743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.011400513 meters Centerline goodness [0,1] 0.6158753109783326 Centerline is valid? [False, False] Translation: X:196.62, Y:10.47, Z:-0.20 [[ 9.99993258e-01 3.61006297e-03 6.71575498e-04 1.96619565e+02] [-3.60565759e-03 9.99972703e-01 -6.44923389e-03 1.04694823e+01] [-6.94839306e-04 6.44676894e-03 9.99978978e-01 -2.00408117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.041400513 meters Centerline goodness [0,1] 0.6869389683460035 Centerline is valid? [False, False] Translation: X:196.62, Y:10.47, Z:-0.20 [[ 9.99994337e-01 3.25498935e-03 8.55567553e-04 1.96618752e+02] [-3.24866967e-03 9.99968173e-01 -7.28694592e-03 1.04734586e+01] [-8.79259254e-04 7.28412520e-03 9.99973084e-01 -2.00011078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.071400513 meters Centerline goodness [0,1] 0.6432753518278014 Centerline is valid? [False, False] Translation: X:196.62, Y:10.47, Z:-0.20 [[ 9.99971661e-01 7.51372889e-03 4.70722388e-04 1.96619808e+02] [-7.51259225e-03 9.99968968e-01 -2.37161769e-03 1.04702528e+01] [-4.88527473e-04 2.36801414e-03 9.99997077e-01 -1.99401831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.101400513 meters Centerline goodness [0,1] 0.5503795428522964 Centerline is valid? [False, False] Translation: X:196.62, Y:10.47, Z:-0.20 [[ 9.99974297e-01 7.16925967e-03 8.52673127e-05 1.96621641e+02] [-7.16896315e-03 9.99969561e-01 -3.07931053e-03 1.04734179e+01] [-1.07341094e-04 3.07862011e-03 9.99995255e-01 -2.00521932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.131400513 meters Centerline goodness [0,1] 0.6619534804246139 Centerline is valid? [False, False] Translation: X:196.62, Y:10.47, Z:-0.20 [[ 9.99975006e-01 7.07013837e-03 -3.75653457e-05 1.96622183e+02] [-7.07022289e-03 9.99969776e-01 -3.23392497e-03 1.04740792e+01] [ 1.46999132e-05 3.23410974e-03 9.99994770e-01 -2.00798534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.161400513 meters Centerline goodness [0,1] 0.6242113983473883 Centerline is valid? [False, False] Translation: X:196.62, Y:10.47, Z:-0.20 [[ 9.99975873e-01 6.94639512e-03 -3.13353503e-05 1.96622049e+02] [-6.94646166e-03 9.99970024e-01 -3.42025570e-03 1.04749108e+01] [ 7.57596350e-06 3.42039085e-03 9.99994150e-01 -2.00588216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.191400513 meters Centerline goodness [0,1] 0.6838789323570729 Centerline is valid? [False, False] Translation: X:196.62, Y:10.48, Z:-0.20 [[ 9.99976628e-01 6.83642347e-03 7.61548855e-05 1.96621253e+02] [-6.83610634e-03 9.99970200e-01 -3.58706166e-03 1.04757116e+01] [-1.00675289e-04 3.58645722e-03 9.99993564e-01 -1.99714737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.221400513 meters Centerline goodness [0,1] 0.8079440258342303 Centerline is valid? [False, False] Translation: X:196.62, Y:10.48, Z:-0.20 [[ 9.99976950e-01 6.78582553e-03 2.28550359e-04 1.96620162e+02] [-6.78495838e-03 9.99970493e-01 -3.60235291e-03 1.04758179e+01] [-2.52988553e-04 3.60071917e-03 9.99993485e-01 -1.98512730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.251400513 meters Centerline goodness [0,1] 0.9021715806188576 Centerline is valid? [False, False] Translation: X:196.62, Y:10.47, Z:-0.20 [[ 9.99976577e-01 6.83835047e-03 2.87438880e-04 1.96619462e+02] [-6.83736204e-03 9.99971148e-01 -3.30950432e-03 1.04744250e+01] [-3.10062138e-04 3.30746148e-03 9.99994482e-01 -1.97452397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.281400513 meters Centerline goodness [0,1] 0.8038748137108793 Centerline is valid? [False, False] Translation: X:196.62, Y:10.47, Z:-0.20 [[ 9.99977314e-01 6.73149933e-03 -2.40687185e-04 1.96621370e+02] [-6.73217830e-03 9.99973013e-01 -2.94119922e-03 1.04722527e+01] [ 2.20882009e-04 2.94275285e-03 9.99995646e-01 -1.97829110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.311400513 meters Centerline goodness [0,1] 0.7917020914810406 Centerline is valid? [False, False] Translation: X:196.62, Y:10.47, Z:-0.20 [[ 9.99978004e-01 6.61108252e-03 -5.34879764e-04 1.96623009e+02] [-6.61273773e-03 9.99973161e-01 -3.15433219e-03 1.04731363e+01] [ 5.14011857e-04 3.15779982e-03 9.99994882e-01 -1.99117936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.341400513 meters Centerline goodness [0,1] 0.9957041504849102 Centerline is valid? [False, True] Translation: X:196.58, Y:10.47, Z:-0.20 [[ 9.99974473e-01 5.99152118e-03 -3.89285006e-03 1.96584431e+02] [-6.00250918e-03 9.99978017e-01 -2.81708479e-03 1.04720904e+01] [ 3.87588586e-03 2.84037975e-03 9.99988455e-01 -2.01174318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.371400513 meters Centerline goodness [0,1] 0.9967863570143114 Centerline is valid? [True, True] Translation: X:196.61, Y:10.47, Z:-0.20 [[ 9.99965436e-01 6.84799897e-03 -4.71497948e-03 1.96614345e+02] [-6.84953418e-03 9.99976494e-01 -3.09533111e-04 1.04732110e+01] [ 4.71274897e-03 3.41817825e-04 9.99988837e-01 -2.02209811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.401400513 meters Centerline goodness [0,1] 0.8246592844974446 Centerline is valid? [True, False] Translation: X:196.61, Y:10.48, Z:-0.20 [[ 9.99967600e-01 6.58910773e-03 -4.62415819e-03 1.96614015e+02] [-6.59380119e-03 9.99977760e-01 -1.00047688e-03 1.04765351e+01] [ 4.61746310e-03 1.03093524e-03 9.99988808e-01 -2.02198727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.431400513 meters Centerline goodness [0,1] 0.8759977012962136 Centerline is valid? [False, False] Translation: X:196.61, Y:10.48, Z:-0.20 [[ 9.99971136e-01 6.17626540e-03 -4.42500975e-03 1.96613190e+02] [-6.18650897e-03 9.99978207e-01 -2.30499155e-03 1.04828780e+01] [ 4.41067707e-03 2.33230038e-03 9.99987553e-01 -2.01905856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.461400513 meters Centerline goodness [0,1] 0.7821809586678308 Centerline is valid? [False, False] Translation: X:196.61, Y:10.49, Z:-0.20 [[ 9.99972428e-01 5.93261235e-03 -4.46624374e-03 1.96613411e+02] [-5.94543629e-03 9.99978226e-01 -2.86352187e-03 1.04855011e+01] [ 4.44915833e-03 2.88999668e-03 9.99985926e-01 -2.02081987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.49140051300003 meters Centerline goodness [0,1] 0.9431924284865462 Centerline is valid? [False, False] Translation: X:196.61, Y:10.49, Z:-0.20 [[ 9.99973760e-01 5.64764622e-03 -4.53700334e-03 1.96613740e+02] [-5.66370118e-03 9.99977718e-01 -3.53365103e-03 1.04886553e+01] [ 4.51694543e-03 3.55925454e-03 9.99983464e-01 -2.02311889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.521400513 meters Centerline goodness [0,1] 0.7092328696987797 Centerline is valid? [False, False] Translation: X:196.61, Y:10.49, Z:-0.20 [[ 9.99977401e-01 5.19280804e-03 -4.26991762e-03 1.96612792e+02] [-5.21254948e-03 9.99975718e-01 -4.62531783e-03 1.04938289e+01] [ 4.24579555e-03 4.64747046e-03 9.99980187e-01 -2.02243978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.55140051300003 meters Centerline goodness [0,1] 0.7781268574339815 Centerline is valid? [False, False] Translation: X:196.61, Y:10.50, Z:-0.20 [[ 9.99978686e-01 5.05614990e-03 -4.13075951e-03 1.96612114e+02] [-5.07647083e-03 9.99974992e-01 -4.92383368e-03 1.04952533e+01] [ 4.10576057e-03 4.94469841e-03 9.99979346e-01 -2.01877096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.581400513 meters Centerline goodness [0,1] 0.7237653018151118 Centerline is valid? [False, False] Translation: X:196.61, Y:10.49, Z:-0.20 [[ 9.99948649e-01 9.11578818e-03 -4.42744148e-03 1.96612840e+02] [-9.11416270e-03 9.99958390e-01 3.87177563e-04 1.04894055e+01] [ 4.43078668e-03 -3.46805259e-04 9.99990124e-01 -2.01060720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.61140051300004 meters Centerline goodness [0,1] 0.7060033941450997 Centerline is valid? [False, False] Translation: X:196.61, Y:10.49, Z:-0.20 [[ 9.99947478e-01 9.26330480e-03 -4.38543269e-03 1.96612315e+02] [-9.26013279e-03 9.99956848e-01 7.43060362e-04 1.04877663e+01] [ 4.39212665e-03 -7.02411646e-04 9.99990108e-01 -2.00330745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.641400513 meters Centerline goodness [0,1] 0.8504354491833996 Centerline is valid? [False, False] Translation: X:196.61, Y:10.49, Z:-0.20 [[ 9.99966764e-01 7.30599591e-03 -3.61858684e-03 1.96605972e+02] [-7.30996154e-03 9.99972694e-01 -1.08389566e-03 1.04881314e+01] [ 3.61056910e-03 1.11031136e-03 9.99992865e-01 -1.95969497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.671400513 meters Centerline goodness [0,1] 0.7548969402125207 Centerline is valid? [False, False] Translation: X:196.61, Y:10.49, Z:-0.20 [[ 9.99964404e-01 7.54974447e-03 -3.76723889e-03 1.96606429e+02] [-7.55146370e-03 9.99971389e-01 -4.42346901e-04 1.04850825e+01] [ 3.76379150e-03 4.70779323e-04 9.99992806e-01 -1.95863003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.701400513 meters Centerline goodness [0,1] 0.8493203139957879 Centerline is valid? [False, False] Translation: X:196.61, Y:10.48, Z:-0.20 [[ 9.99961071e-01 7.73473213e-03 -4.24627727e-03 1.96608654e+02] [-7.73426486e-03 9.99970082e-01 1.26452648e-04 1.04822003e+01] [ 4.24712831e-03 -9.36058921e-05 9.99990977e-01 -1.97088223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.731400513 meters Centerline goodness [0,1] 0.9118190114391223 Centerline is valid? [False, False] Translation: X:196.61, Y:10.48, Z:-0.20 [[ 9.99960620e-01 7.71785045e-03 -4.38106795e-03 1.96609482e+02] [-7.71753282e-03 9.99970215e-01 8.94020471e-05 1.04823303e+01] [ 4.38162745e-03 -5.55874907e-05 9.99990399e-01 -1.97808006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.761400513 meters Centerline goodness [0,1] 0.9818789358694255 Centerline is valid? [False, True] Translation: X:196.61, Y:10.48, Z:-0.20 [[ 9.99960493e-01 7.74034572e-03 -4.37040027e-03 1.96609604e+02] [-7.73989121e-03 9.99970039e-01 1.20903053e-04 1.04821697e+01] [ 4.37120516e-03 -8.70718538e-05 9.99990442e-01 -1.98125741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.791400513 meters Centerline goodness [0,1] 0.9194024149566029 Centerline is valid? [True, False] Translation: X:196.61, Y:10.48, Z:-0.20 [[ 9.99959595e-01 7.86954396e-03 -4.34491432e-03 1.96609402e+02] [-7.86792263e-03 9.99968971e-01 3.90122248e-04 1.04809357e+01] [ 4.34784959e-03 -3.55921035e-04 9.99990485e-01 -1.97911763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.821400513 meters Centerline goodness [0,1] 0.9317779531253332 Centerline is valid? [False, False] Translation: X:196.61, Y:10.48, Z:-0.20 [[ 9.99958599e-01 8.03469415e-03 -4.27129951e-03 1.96608989e+02] [-8.03149168e-03 9.99967453e-01 7.66389661e-04 1.04791729e+01] [ 4.27731820e-03 -7.32053026e-04 9.99990584e-01 -1.97604967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.851400513 meters Centerline goodness [0,1] 0.9731513615943109 Centerline is valid? [False, True] Translation: X:196.61, Y:10.48, Z:-0.20 [[ 9.99986079e-01 3.46541418e-03 -3.97904995e-03 1.96607824e+02] [-3.48234134e-03 9.99984884e-01 -4.25505179e-03 1.04825570e+01] [ 3.96424428e-03 4.26884897e-03 9.99983031e-01 -1.97403026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.881400513 meters Centerline goodness [0,1] 0.9156667517658071 Centerline is valid? [True, False] Translation: X:196.61, Y:10.48, Z:-0.20 [[ 9.99985380e-01 3.67433321e-03 -3.96717515e-03 1.96607679e+02] [-3.68911199e-03 9.99986260e-01 -3.72439812e-03 1.04800541e+01] [ 3.95343596e-03 3.73897902e-03 9.99985195e-01 -1.97160108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.911400513 meters Centerline goodness [0,1] 0.9156667517658071 Centerline is valid? [False, False] Translation: X:196.61, Y:10.48, Z:-0.20 [[ 9.99985380e-01 3.67433321e-03 -3.96717515e-03 1.96607679e+02] [-3.68911199e-03 9.99986260e-01 -3.72439812e-03 1.04800541e+01] [ 3.95343596e-03 3.73897902e-03 9.99985195e-01 -1.97160108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.941400513 meters Centerline goodness [0,1] 0.9909611712285169 Centerline is valid? [False, True] Translation: X:196.61, Y:10.48, Z:-0.20 [[ 9.99984651e-01 3.81690729e-03 -4.01604061e-03 1.96607787e+02] [-3.83031809e-03 9.99987097e-01 -3.33693267e-03 1.04782016e+01] [ 4.00325203e-03 3.35226416e-03 9.99986368e-01 -1.97055845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.971400513 meters Centerline goodness [0,1] 0.9885984544571598 Centerline is valid? [True, True] Translation: X:196.64, Y:10.48, Z:-0.20 [[ 9.99985379e-01 3.10401879e-03 -4.42801930e-03 1.96635511e+02] [-3.10530928e-03 9.99995138e-01 -2.84593388e-04 1.04775794e+01] [ 4.42711439e-03 2.98339596e-04 9.99990156e-01 -1.97165393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.001400513 meters Centerline goodness [0,1] 0.9663825859219028 Centerline is valid? [True, True] Translation: X:196.66, Y:10.48, Z:-0.20 [[ 9.99983929e-01 2.73170852e-03 -4.96794376e-03 1.96663399e+02] [-2.73332986e-03 9.99996213e-01 -3.19599770e-04 1.04835042e+01] [ 4.96705189e-03 3.33173663e-04 9.99987609e-01 -1.98017367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.031400513 meters Centerline goodness [0,1] 0.8043941664380236 Centerline is valid? [True, False] Translation: X:196.71, Y:10.49, Z:-0.20 [[ 9.99989171e-01 3.53513028e-03 -3.02655876e-03 1.96707665e+02] [-3.53982194e-03 9.99992539e-01 -1.54621061e-03 1.04877744e+01] [ 3.02107012e-03 1.55690734e-03 9.99994225e-01 -2.00797014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.061400513 meters Centerline goodness [0,1] 0.9973931623931624 Centerline is valid? [False, True] Translation: X:196.67, Y:10.48, Z:-0.20 [[ 9.99977715e-01 3.47471618e-03 -5.70046203e-03 1.96665701e+02] [-3.47535099e-03 9.99993956e-01 -1.01459065e-04 1.04831265e+01] [ 5.70007503e-03 1.21267910e-04 9.99983747e-01 -2.00312597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.091400513 meters Centerline goodness [0,1] 0.9628409260007228 Centerline is valid? [True, True] Translation: X:196.69, Y:10.49, Z:-0.20 [[ 9.99977517e-01 3.81620784e-03 -5.51373669e-03 1.96692727e+02] [-3.81827936e-03 9.99992644e-01 -3.65224860e-04 1.04918368e+01] [ 5.51230236e-03 3.86269635e-04 9.99984733e-01 -2.00432384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.121400513 meters Centerline goodness [0,1] 0.9084997974715927 Centerline is valid? [True, False] Translation: X:196.69, Y:10.49, Z:-0.20 [[ 9.99976987e-01 3.95245199e-03 -5.51395877e-03 1.96692645e+02] [-3.95292524e-03 9.99992184e-01 -7.49313931e-05 1.04904857e+01] [ 5.51361951e-03 9.67259354e-05 9.99984795e-01 -2.00260607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.151400513 meters Centerline goodness [0,1] 0.9272421786937195 Centerline is valid? [False, False] Translation: X:196.69, Y:10.49, Z:-0.20 [[ 9.99976313e-01 4.04312121e-03 -5.57021491e-03 1.96692846e+02] [-4.04251917e-03 9.99991822e-01 1.19336693e-04 1.04895713e+01] [ 5.57065185e-03 -9.68161657e-05 9.99984479e-01 -2.00281865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.181400513 meters Centerline goodness [0,1] 0.8292631221911303 Centerline is valid? [False, False] Translation: X:196.69, Y:10.49, Z:-0.20 [[ 9.99976041e-01 4.13639287e-03 -5.55040383e-03 1.96692850e+02] [-4.13478795e-03 9.99991407e-01 3.00597356e-04 1.04887213e+01] [ 5.55159952e-03 -2.77640412e-04 9.99984551e-01 -2.00391098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.211400513 meters Centerline goodness [0,1] 0.8752910299284595 Centerline is valid? [False, False] Translation: X:196.69, Y:10.49, Z:-0.20 [[ 9.99975774e-01 4.22128294e-03 -5.53462241e-03 1.96692899e+02] [-4.21881316e-03 9.99990996e-01 4.57841091e-04 1.04879772e+01] [ 5.53650526e-03 -4.34480461e-04 9.99984579e-01 -2.00599241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.24140051300003 meters Centerline goodness [0,1] 0.7581893353122018 Centerline is valid? [False, False] Translation: X:196.69, Y:10.49, Z:-0.20 [[ 9.99975646e-01 4.29186470e-03 -5.50346558e-03 1.96692959e+02] [-4.28868472e-03 9.99990630e-01 5.89484985e-04 1.04873611e+01] [ 5.50594401e-03 -5.65868000e-04 9.99984682e-01 -2.00919835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.271400513 meters Centerline goodness [0,1] 0.7995812271314059 Centerline is valid? [False, False] Translation: X:196.69, Y:10.49, Z:-0.20 [[ 9.99975505e-01 4.29785673e-03 -5.52428146e-03 1.96693242e+02] [-4.29472278e-03 9.99990610e-01 5.79043255e-04 1.04873878e+01] [ 5.52671823e-03 -5.55303814e-04 9.99984573e-01 -2.01314722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.30140051300003 meters Centerline goodness [0,1] 0.7167525120324243 Centerline is valid? [False, False] Translation: X:196.69, Y:10.49, Z:-0.20 [[ 9.99974492e-01 4.39790054e-03 -5.62790893e-03 1.96693932e+02] [-4.39411951e-03 9.99990112e-01 6.84023883e-04 1.04868895e+01] [ 5.63086155e-03 -6.59276730e-04 9.99983929e-01 -2.01982575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.331400513 meters Centerline goodness [0,1] 0.6892382874747689 Centerline is valid? [False, False] Translation: X:196.69, Y:10.48, Z:-0.20 [[ 9.99973451e-01 4.66452234e-03 -5.59823083e-03 1.96693696e+02] [-4.65753030e-03 9.99988358e-01 1.26136173e-03 1.04842094e+01] [ 5.60404931e-03 -1.23525432e-03 9.99983534e-01 -2.01719774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.36140051300004 meters Centerline goodness [0,1] 0.9037801419951815 Centerline is valid? [False, False] Translation: X:196.69, Y:10.48, Z:-0.20 [[ 9.99985081e-01 2.73140361e-03 -4.73054387e-03 1.96686916e+02] [-2.73386367e-03 9.99996131e-01 -5.13648578e-04 1.04826336e+01] [ 4.72912258e-03 5.26573576e-04 9.99988679e-01 -1.97310001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.391400513 meters Centerline goodness [0,1] 0.7468416040630621 Centerline is valid? [False, False] Translation: X:196.69, Y:10.48, Z:-0.20 [[ 9.99984166e-01 1.13410846e-03 -5.51193352e-03 1.96693040e+02] [-1.14467655e-03 9.99997512e-01 -1.91453432e-03 1.04815147e+01] [ 5.50974852e-03 1.92081338e-03 9.99982976e-01 -2.01274108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.421400513 meters Centerline goodness [0,1] 0.8858758022697326 Centerline is valid? [False, False] Translation: X:196.69, Y:10.47, Z:-0.20 [[ 9.99983178e-01 1.56940904e-03 -5.58401824e-03 1.96693241e+02] [-1.57123637e-03 9.99998713e-01 -3.22870868e-04 1.04736894e+01] [ 5.58350434e-03 3.31639249e-04 9.99984357e-01 -2.01018102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.451400513 meters Centerline goodness [0,1] 0.9651385519090793 Centerline is valid? [False, True] Translation: X:196.69, Y:10.47, Z:-0.20 [[ 9.99982553e-01 1.84254754e-03 -5.61245390e-03 1.96693190e+02] [-1.84081255e-03 9.99998256e-01 3.14281897e-04 1.04706951e+01] [ 5.61302319e-03 -3.03944938e-04 9.99984201e-01 -2.00707031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.481400513 meters Centerline goodness [0,1] 0.9938327904451683 Centerline is valid? [True, True] Translation: X:196.72, Y:10.46, Z:-0.20 [[ 9.99985313e-01 2.35477107e-03 -4.88143259e-03 1.96722587e+02] [-2.35652352e-03 9.99997161e-01 -3.53284406e-04 1.04645195e+01] [ 4.88058682e-03 3.64782428e-04 9.99988023e-01 -1.99387958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.511400513 meters Centerline goodness [0,1] 0.7189872877740807 Centerline is valid? [True, False] Translation: X:196.76, Y:10.47, Z:-0.20 [[ 9.99992595e-01 3.14087844e-03 -2.22347710e-03 1.96763888e+02] [-3.14342568e-03 9.99994406e-01 -1.14304585e-03 1.04667492e+01] [ 2.21987449e-03 1.15002672e-03 9.99996875e-01 -2.00022842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.541400513 meters Centerline goodness [0,1] 0.7957243139757498 Centerline is valid? [False, False] Translation: X:196.76, Y:10.47, Z:-0.20 [[ 9.99992580e-01 3.16843643e-03 -2.19090128e-03 1.96763848e+02] [-3.17089284e-03 9.99994347e-01 -1.11862129e-03 1.04666475e+01] [ 2.18734462e-03 1.12556010e-03 9.99996974e-01 -2.00168514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.571400513 meters Centerline goodness [0,1] 0.7338567264526287 Centerline is valid? [False, False] Translation: X:196.76, Y:10.47, Z:-0.20 [[ 9.99992797e-01 3.12083555e-03 -2.16014235e-03 1.96763728e+02] [-3.12350991e-03 9.99994358e-01 -1.23578039e-03 1.04672004e+01] [ 2.15627349e-03 1.24251871e-03 9.99996903e-01 -2.00152019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.601400513 meters Centerline goodness [0,1] 0.8827044562062489 Centerline is valid? [False, False] Translation: X:196.76, Y:10.46, Z:-0.20 [[ 9.99991886e-01 3.33337829e-03 -2.26195676e-03 1.96763751e+02] [-3.33507869e-03 9.99994159e-01 -7.48381593e-04 1.04649419e+01] [ 2.25944891e-03 7.55919325e-04 9.99997162e-01 -1.99550020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.631400513 meters Centerline goodness [0,1] 0.9543706033621661 Centerline is valid? [False, True] Translation: X:196.76, Y:10.46, Z:-0.20 [[ 9.99990775e-01 3.60062940e-03 -2.34195525e-03 1.96763841e+02] [-3.60081915e-03 9.99993514e-01 -7.68128273e-05 1.04617554e+01] [ 2.34166349e-03 8.52450761e-05 9.99997255e-01 -1.99206240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.661400513 meters Centerline goodness [0,1] 0.9425401942900776 Centerline is valid? [True, False] Translation: X:196.76, Y:10.46, Z:-0.20 [[ 9.99989552e-01 3.90456570e-03 -2.37704838e-03 1.96763800e+02] [-3.90297167e-03 9.99992156e-01 6.74863528e-04 1.04582046e+01] [ 2.37966478e-03 -6.65578924e-04 9.99996947e-01 -1.98876690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.691400513 meters Centerline goodness [0,1] 0.945009232336524 Centerline is valid? [False, False] Translation: X:196.76, Y:10.45, Z:-0.20 [[ 9.99989144e-01 4.15296562e-03 -2.11305610e-03 1.96762565e+02] [-4.14965233e-03 9.99990158e-01 1.56998317e-03 1.04539002e+01] [ 2.11955539e-03 -1.56119768e-03 9.99996535e-01 -1.98044726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.721400513 meters Centerline goodness [0,1] 0.9057423737395046 Centerline is valid? [False, False] Translation: X:196.76, Y:10.45, Z:-0.20 [[ 9.99988989e-01 4.22754909e-03 -2.03725090e-03 1.96762037e+02] [-4.22388362e-03 9.99989459e-01 1.80017850e-03 1.04528084e+01] [ 2.04483977e-03 -1.79155356e-03 9.99996304e-01 -1.97530500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.751400513 meters Centerline goodness [0,1] 0.9917154722606751 Centerline is valid? [False, True] Translation: X:196.76, Y:10.45, Z:-0.20 [[ 9.99988642e-01 4.31423262e-03 -2.02563407e-03 1.96761784e+02] [-4.31016012e-03 9.99988690e-01 2.01055895e-03 1.04518419e+01] [ 2.03428518e-03 -2.00180531e-03 9.99995927e-01 -1.97096135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.781400513 meters Centerline goodness [0,1] 0.9739298358545221 Centerline is valid? [True, True] Translation: X:196.79, Y:10.46, Z:-0.20 [[ 9.99986662e-01 4.63028764e-03 -2.28818804e-03 1.96790486e+02] [-4.63065128e-03 9.99989267e-01 -1.53649632e-04 1.04578186e+01] [ 2.28745204e-03 1.64243383e-04 9.99997370e-01 -1.97201895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.811400513 meters Centerline goodness [0,1] 0.9394300805043234 Centerline is valid? [True, False] Translation: X:196.79, Y:10.46, Z:-0.20 [[ 9.99985904e-01 4.74009575e-03 -2.39239753e-03 1.96791000e+02] [-4.74000825e-03 9.99988765e-01 4.22410664e-05 1.04568840e+01] [ 2.39257088e-03 -3.09004870e-05 9.99997137e-01 -1.97546246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.841400513 meters Centerline goodness [0,1] 0.8431297871440058 Centerline is valid? [False, False] Translation: X:196.79, Y:10.46, Z:-0.20 [[ 9.99986056e-01 4.65851841e-03 -2.48703987e-03 1.96791676e+02] [-4.65906845e-03 9.99989123e-01 -2.15412455e-04 1.04580721e+01] [ 2.48600932e-03 2.26996741e-04 9.99996884e-01 -1.98237724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.871400513 meters Centerline goodness [0,1] 0.705093720216033 Centerline is valid? [False, False] Translation: X:196.79, Y:10.46, Z:-0.20 [[ 9.99987033e-01 4.49790897e-03 -2.38818893e-03 1.96791919e+02] [-4.50166625e-03 9.99988635e-01 -1.57023715e-03 1.04649788e+01] [ 2.38109900e-03 1.58096762e-03 9.99995915e-01 -1.99551866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.901400513 meters Centerline goodness [0,1] 0.8738931946066462 Centerline is valid? [False, False] Translation: X:196.79, Y:10.47, Z:-0.20 [[ 9.99988049e-01 4.30167351e-03 -2.32304736e-03 1.96791757e+02] [-4.30644472e-03 9.99988620e-01 -2.05277800e-03 1.04672592e+01] [ 2.31419055e-03 2.06275754e-03 9.99995195e-01 -1.99700077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.931400513 meters Centerline goodness [0,1] 0.664888870001275 Centerline is valid? [False, False] Translation: X:196.79, Y:10.47, Z:-0.20 [[ 9.99988264e-01 4.26299919e-03 -2.30205518e-03 1.96791692e+02] [-4.26793242e-03 9.99988598e-01 -2.14232293e-03 1.04676754e+01] [ 2.29289621e-03 2.15212280e-03 9.99995055e-01 -1.99725795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.961400513 meters Centerline goodness [0,1] 0.8844519063203978 Centerline is valid? [False, False] Translation: X:196.79, Y:10.47, Z:-0.20 [[ 9.99988342e-01 4.26396510e-03 -2.26609422e-03 1.96791529e+02] [-4.26881385e-03 9.99988600e-01 -2.13918205e-03 1.04676601e+01] [ 2.25694699e-03 2.14883065e-03 9.99995144e-01 -1.99658034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.99140051300003 meters Centerline goodness [0,1] 0.7095268406535116 Centerline is valid? [False, False] Translation: X:196.79, Y:10.47, Z:-0.20 [[ 9.99989120e-01 4.01561977e-03 -2.37386754e-03 1.96792151e+02] [-4.02187160e-03 9.99988441e-01 -2.63472386e-03 1.04699027e+01] [ 2.36326005e-03 2.64424258e-03 9.99993711e-01 -2.00175223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.021400513 meters Centerline goodness [0,1] 0.6757156438153586 Centerline is valid? [False, False] Translation: X:196.79, Y:10.47, Z:-0.20 [[ 9.99988845e-01 3.98921668e-03 -2.52921119e-03 1.96792736e+02] [-3.99590579e-03 9.99988518e-01 -2.64522665e-03 1.04698938e+01] [ 2.51862977e-03 2.65530364e-03 9.99993303e-01 -2.00316226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.05140051300003 meters Centerline goodness [0,1] 0.8256116936765173 Centerline is valid? [False, False] Translation: X:196.79, Y:10.47, Z:-0.20 [[ 9.99987812e-01 4.13029963e-03 -2.70480218e-03 1.96793203e+02] [-4.13635604e-03 9.99988942e-01 -2.23737867e-03 1.04679253e+01] [ 2.69553123e-03 2.24853943e-03 9.99993839e-01 -2.00101545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.081400513 meters Centerline goodness [0,1] 0.9389538592387837 Centerline is valid? [False, False] Translation: X:196.79, Y:10.47, Z:-0.20 [[ 9.99986972e-01 4.30692833e-03 -2.73976104e-03 1.96793096e+02] [-4.31155564e-03 9.99989285e-01 -1.68528734e-03 1.04652870e+01] [ 2.73247327e-03 1.69707801e-03 9.99994827e-01 -1.99639317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.11140051300004 meters Centerline goodness [0,1] 0.9732821169440887 Centerline is valid? [False, True] Translation: X:196.79, Y:10.46, Z:-0.20 [[ 9.99986432e-01 4.39025058e-03 -2.80387129e-03 1.96793115e+02] [-4.39391147e-03 9.99989501e-01 -1.30083371e-03 1.04634088e+01] [ 2.79813087e-03 1.31313602e-03 9.99995223e-01 -1.99238475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.141400513 meters Centerline goodness [0,1] 0.9982508159303739 Centerline is valid? [True, True] Translation: X:196.82, Y:10.46, Z:-0.20 [[ 9.99995669e-01 1.49972742e-03 -2.53252197e-03 1.96823880e+02] [-1.50015938e-03 9.99998861e-01 -1.68672703e-04 1.04566838e+01] [ 2.53226612e-03 1.72471159e-04 9.99996779e-01 -1.98528138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.171400513 meters Centerline goodness [0,1] 0.9993379887671643 Centerline is valid? [True, True] Translation: X:196.85, Y:10.45, Z:-0.20 [[ 9.99991158e-01 -3.73415243e-03 -1.93400004e-03 1.96853095e+02] [ 3.73391020e-03 9.99993021e-01 -1.28845533e-04 1.04540632e+01] [ 1.93446767e-03 1.21623011e-04 9.99998122e-01 -1.98661050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.201400513 meters Centerline goodness [0,1] 0.992143039157394 Centerline is valid? [True, True] Translation: X:196.88, Y:10.46, Z:-0.20 [[ 9.99979695e-01 -6.04697880e-03 -2.01070221e-03 1.96881126e+02] [ 6.04672147e-03 9.99981709e-01 -1.34039109e-04 1.04633611e+01] [ 2.01147596e-03 1.21878231e-04 9.99997970e-01 -1.99269728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.231400513 meters Centerline goodness [0,1] 0.9994231139029549 Centerline is valid? [True, True] Translation: X:196.91, Y:10.45, Z:-0.20 [[ 9.99963071e-01 -8.27049163e-03 -2.33556664e-03 1.96911559e+02] [ 8.27015037e-03 9.99965790e-01 -1.55734969e-04 1.04501879e+01] [ 2.33677474e-03 1.36413730e-04 9.99997260e-01 -1.98535146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.261400513 meters Centerline goodness [0,1] 0.9997221984785024 Centerline is valid? [True, True] Translation: X:196.94, Y:10.44, Z:-0.20 [[ 9.99948167e-01 -9.83051744e-03 -2.65049776e-03 1.96942220e+02] [ 9.83008335e-03 9.99951668e-01 -1.76754784e-04 1.04415808e+01] [ 2.65210725e-03 1.50691008e-04 9.99996472e-01 -1.97955383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.291400513 meters Centerline goodness [0,1] 0.9995758128486288 Centerline is valid? [True, True] Translation: X:196.97, Y:10.45, Z:-0.20 [[ 9.99934809e-01 -1.10378113e-02 -2.92303445e-03 1.96969698e+02] [ 1.10372879e-02 9.99939068e-01 -1.95134611e-04 1.04463765e+01] [ 2.92501021e-03 1.62859517e-04 9.99995709e-01 -1.98919392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.321400513 meters Centerline goodness [0,1] 0.999402220324509 Centerline is valid? [True, True] Translation: X:197.00, Y:10.44, Z:-0.20 [[ 9.99929811e-01 -1.15218187e-02 -2.76049173e-03 1.96999099e+02] [ 1.15213523e-02 9.99933610e-01 -1.84796524e-04 1.04441140e+01] [ 2.76243765e-03 1.52978956e-04 9.99996173e-01 -1.99595825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.351400513 meters Centerline goodness [0,1] 0.9995522197108618 Centerline is valid? [True, True] Translation: X:197.03, Y:10.44, Z:-0.20 [[ 9.99943563e-01 -1.04233269e-02 -2.05542170e-03 1.97028404e+02] [ 1.04230659e-02 9.99945669e-01 -1.37650304e-04 1.04430698e+01] [ 2.05674480e-03 1.16218740e-04 9.99997878e-01 -1.98571267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.381400513 meters Centerline goodness [0,1] 0.9994690227895419 Centerline is valid? [True, True] Translation: X:197.06, Y:10.44, Z:-0.20 [[ 9.99960722e-01 -8.81166442e-03 -9.52999579e-04 1.97057409e+02] [ 8.81160754e-03 9.99961175e-01 -6.38625402e-05 1.04437295e+01] [ 9.53525314e-04 5.54625736e-05 9.99999544e-01 -1.96463144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.411400513 meters Centerline goodness [0,1] 0.9967067522202864 Centerline is valid? [True, True] Translation: X:197.09, Y:10.45, Z:-0.19 [[ 9.99995198e-01 -3.09903866e-03 2.28860073e-05 1.97086459e+02] [ 3.09903862e-03 9.99995198e-01 1.53396121e-06 1.04534880e+01] [-2.28906512e-05 -1.46302922e-06 1.00000000e+00 -1.93312987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.441400513 meters Centerline goodness [0,1] 0.969137235861603 Centerline is valid? [True, True] Translation: X:197.12, Y:10.46, Z:-0.19 [[ 9.99999751e-01 5.90750489e-04 -3.85958087e-04 1.97115344e+02] [-5.90760516e-04 9.99999825e-01 -2.58643227e-05 1.04625940e+01] [ 3.85942741e-04 2.60923251e-05 9.99999925e-01 -1.94083600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.471400513 meters Centerline goodness [0,1] 0.9394087622288387 Centerline is valid? [True, False] Translation: X:197.11, Y:10.46, Z:-0.19 [[ 9.99996585e-01 2.57570052e-03 4.43263855e-04 1.97109157e+02] [-2.57650585e-03 9.99995014e-01 1.82592939e-03 1.04620838e+01] [-4.38558597e-04 -1.82706523e-03 9.99998235e-01 -1.90266989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.501400513 meters Centerline goodness [0,1] 0.9295116772823779 Centerline is valid? [False, False] Translation: X:197.11, Y:10.47, Z:-0.19 [[ 9.99996786e-01 2.49240622e-03 4.65662177e-04 1.97109364e+02] [-2.49296505e-03 9.99996169e-01 1.20337005e-03 1.04651765e+01] [-4.62661106e-04 -1.20452706e-03 9.99999168e-01 -1.90968188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.531400513 meters Centerline goodness [0,1] 0.70068865839143 Centerline is valid? [False, False] Translation: X:197.11, Y:10.47, Z:-0.19 [[ 9.99997078e-01 2.36775638e-03 4.86816078e-04 1.97109567e+02] [-2.36807060e-03 9.99996988e-01 6.45901551e-04 1.04678814e+01] [-4.85285274e-04 -6.47052479e-04 9.99999673e-01 -1.91591061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.561400513 meters Centerline goodness [0,1] 0.6662703551941572 Centerline is valid? [False, False] Translation: X:197.11, Y:10.47, Z:-0.19 [[ 9.99997408e-01 2.20615678e-03 5.62563290e-04 1.97109579e+02] [-2.20620626e-03 9.99997563e-01 8.73348250e-05 1.04705536e+01] [-5.62369244e-04 -8.85757293e-05 9.99999838e-01 -1.92172790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.591400513 meters Centerline goodness [0,1] 0.6422182846053242 Centerline is valid? [False, False] Translation: X:197.11, Y:10.47, Z:-0.19 [[ 9.99978342e-01 6.56078255e-03 5.21040984e-04 1.97109738e+02] [-6.56309483e-03 9.99968031e-01 4.56755708e-03 1.04698093e+01] [-4.91057578e-04 -4.57087780e-03 9.99989433e-01 -1.92096275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.621400513 meters Centerline goodness [0,1] 0.6193698949824971 Centerline is valid? [False, False] Translation: X:197.11, Y:10.47, Z:-0.19 [[ 9.99980037e-01 6.29306194e-03 5.68944212e-04 1.97109627e+02] [-6.29526214e-03 9.99972376e-01 3.95183265e-03 1.04726933e+01] [-5.44059368e-04 -3.95533541e-03 9.99992030e-01 -1.92233368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.651400513 meters Centerline goodness [0,1] 0.4928262017960908 Centerline is valid? [False, False] Translation: X:197.11, Y:10.47, Z:-0.19 [[ 9.99981421e-01 6.07275428e-03 5.28504063e-04 1.97109741e+02] [-6.07455697e-03 9.99975498e-01 3.47893974e-03 1.04749026e+01] [-5.07364368e-04 -3.48208553e-03 9.99993809e-01 -1.92224972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.681400513 meters Centerline goodness [0,1] 0.6239540191023583 Centerline is valid? [False, False] Translation: X:197.11, Y:10.48, Z:-0.19 [[ 9.99998767e-01 1.43812863e-03 6.31123333e-04 1.97109703e+02] [-1.43648108e-03 9.99995580e-01 -2.60323735e-03 1.04837976e+01] [-6.34864333e-04 2.60232754e-03 9.99996412e-01 -1.93206571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.711400513 meters Centerline goodness [0,1] 0.7229359775813753 Centerline is valid? [False, False] Translation: X:197.07, Y:10.49, Z:-0.20 [[ 9.99995222e-01 -4.20071964e-04 -3.06272236e-03 1.97072085e+02] [ 4.09032259e-04 9.99993421e-01 -3.60427569e-03 1.04868983e+01] [ 3.06421626e-03 3.60300571e-03 9.99988814e-01 -1.95544246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.74140051300003 meters Centerline goodness [0,1] 0.7072638250068887 Centerline is valid? [False, False] Translation: X:197.11, Y:10.49, Z:-0.20 [[ 9.99999988e-01 -1.18294708e-04 -1.04127896e-04 1.97112867e+02] [ 1.17733319e-04 9.99985548e-01 -5.37493697e-03 1.04945033e+01] [ 1.04762217e-04 5.37492465e-03 9.99985550e-01 -1.96459426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.771400513 meters Centerline goodness [0,1] 0.7072638250068887 Centerline is valid? [False, False] Translation: X:197.11, Y:10.49, Z:-0.20 [[ 9.99999988e-01 -1.18294708e-04 -1.04127896e-04 1.97112867e+02] [ 1.17733319e-04 9.99985548e-01 -5.37493697e-03 1.04945033e+01] [ 1.04762217e-04 5.37492465e-03 9.99985550e-01 -1.96459426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.80140051300003 meters Centerline goodness [0,1] 0.8904577788221221 Centerline is valid? [False, False] Translation: X:197.11, Y:10.50, Z:-0.20 [[ 9.99999934e-01 -3.62154346e-04 -1.58618703e-05 1.97112279e+02] [ 3.62054384e-04 9.99982505e-01 -5.90410424e-03 1.04970279e+01] [ 1.79997899e-05 5.90409811e-03 9.99982570e-01 -1.95910279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.831400513 meters Centerline goodness [0,1] 0.8111762341042297 Centerline is valid? [False, False] Translation: X:197.13, Y:10.49, Z:-0.19 [[ 9.99995794e-01 -1.89060920e-03 2.19925974e-03 1.97130607e+02] [ 1.88199640e-03 9.99990578e-01 3.91172567e-03 1.04941956e+01] [-2.20663456e-03 -3.90757022e-03 9.99989931e-01 -1.93996310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.86140051300004 meters Centerline goodness [0,1] 0.8710905109178662 Centerline is valid? [False, False] Translation: X:197.13, Y:10.49, Z:-0.19 [[ 9.99995268e-01 -1.97324553e-03 2.36014035e-03 1.97129509e+02] [ 1.96427433e-03 9.99990861e-01 3.79742840e-03 1.04947853e+01] [-2.36761203e-03 -3.79277447e-03 9.99990005e-01 -1.92915106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.891400513 meters Centerline goodness [0,1] 0.9052987598647125 Centerline is valid? [False, False] Translation: X:197.13, Y:10.49, Z:-0.19 [[ 9.99995245e-01 -1.99491719e-03 2.35148856e-03 1.97129232e+02] [ 1.98587970e-03 9.99990658e-01 3.83939424e-03 1.04945757e+01] [-2.35912587e-03 -3.83470622e-03 9.99989865e-01 -1.92319279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.921400513 meters Centerline goodness [0,1] 0.9975970228601807 Centerline is valid? [False, True] Translation: X:197.13, Y:10.50, Z:-0.19 [[ 9.99995387e-01 -2.32762598e-03 1.95125021e-03 1.97131071e+02] [ 2.32099219e-03 9.99991543e-01 3.39516129e-03 1.04963828e+01] [-1.95913638e-03 -3.39061679e-03 9.99992333e-01 -1.93389335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.951400513 meters Centerline goodness [0,1] 0.9866956632979403 Centerline is valid? [True, True] Translation: X:197.16, Y:10.51, Z:-0.20 [[ 9.99994664e-01 -3.21125761e-03 6.00057239e-04 1.97160800e+02] [ 3.21123274e-03 9.99994843e-01 4.23987158e-05 1.05102507e+01] [-6.00190298e-04 -4.04715661e-05 9.99999819e-01 -1.96538751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.981400513 meters Centerline goodness [0,1] 0.9986777846495063 Centerline is valid? [True, True] Translation: X:197.19, Y:10.51, Z:-0.20 [[ 9.99995227e-01 -3.07995865e-03 -2.42842389e-04 1.97191272e+02] [ 3.07995458e-03 9.99995257e-01 -1.71224678e-05 1.05086776e+01] [ 2.42893973e-04 1.63744426e-05 9.99999970e-01 -1.97976509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.011400513 meters Centerline goodness [0,1] 0.9876826855574702 Centerline is valid? [True, True] Translation: X:197.22, Y:10.52, Z:-0.20 [[ 9.99997583e-01 -2.18734315e-03 -2.21325496e-04 1.97219745e+02] [ 2.18733975e-03 9.99997608e-01 -1.56406462e-05 1.05227745e+01] [ 2.21359178e-04 1.51564944e-05 9.99999975e-01 -1.98879258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.041400513 meters Centerline goodness [0,1] 0.9796362704918032 Centerline is valid? [True, True] Translation: X:197.25, Y:10.53, Z:-0.20 [[ 9.99999699e-01 -7.01364009e-04 3.32122359e-04 1.97250058e+02] [ 7.01356269e-04 9.99999754e-01 2.34203143e-05 1.05290335e+01] [-3.32138703e-04 -2.31873711e-05 9.99999945e-01 -1.97782439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.071400513 meters Centerline goodness [0,1] 0.9076867816091954 Centerline is valid? [True, False] Translation: X:197.29, Y:10.54, Z:-0.20 [[ 9.99993841e-01 1.08720892e-03 3.33697848e-03 1.97289707e+02] [-1.08347186e-03 9.99998784e-01 -1.12149797e-03 1.05376487e+01] [-3.33819373e-03 1.11787554e-03 9.99993803e-01 -1.98039622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.101400513 meters Centerline goodness [0,1] 0.8169068040096197 Centerline is valid? [False, False] Translation: X:197.29, Y:10.54, Z:-0.20 [[ 9.99993882e-01 8.27471627e-04 3.39873836e-03 1.97289724e+02] [-8.21517166e-04 9.99998126e-01 -1.75298484e-03 1.05406056e+01] [-3.40018254e-03 1.75018199e-03 9.99992688e-01 -1.98516945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.131400513 meters Centerline goodness [0,1] 0.9550557011097621 Centerline is valid? [False, True] Translation: X:197.29, Y:10.54, Z:-0.20 [[ 9.99993831e-01 5.60442351e-04 3.46753266e-03 1.97289642e+02] [-5.52139762e-04 9.99996980e-01 -2.39487361e-03 1.05436333e+01] [-3.46886438e-03 2.39294428e-03 9.99991120e-01 -1.98860699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.161400513 meters Centerline goodness [0,1] 0.8357335829309281 Centerline is valid? [True, False] Translation: X:197.29, Y:10.55, Z:-0.20 [[ 9.99993787e-01 4.30926237e-04 3.49851805e-03 1.97289411e+02] [-4.21480004e-04 9.99996265e-01 -2.70035555e-03 1.05450881e+01] [-3.49966864e-03 2.69886422e-03 9.99990234e-01 -1.98654023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.191400513 meters Centerline goodness [0,1] 0.9248748621362518 Centerline is valid? [False, False] Translation: X:197.29, Y:10.54, Z:-0.20 [[ 9.99993852e-01 5.52810985e-04 3.46258131e-03 1.97289147e+02] [-5.45570420e-04 9.99997664e-01 -2.09168415e-03 1.05420985e+01] [-3.46372952e-03 2.08978221e-03 9.99991818e-01 -1.97900036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.221400513 meters Centerline goodness [0,1] 0.9421874668870663 Centerline is valid? [False, False] Translation: X:197.29, Y:10.54, Z:-0.20 [[ 9.99994032e-01 6.95644283e-04 3.38408979e-03 1.97289327e+02] [-6.90322440e-04 9.99998524e-01 -1.57352103e-03 1.05395725e+01] [-3.38517940e-03 1.57117553e-03 9.99993036e-01 -1.97733262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.251400513 meters Centerline goodness [0,1] 0.9863821483115561 Centerline is valid? [False, True] Translation: X:197.29, Y:10.54, Z:-0.20 [[ 9.99994461e-01 8.06342303e-04 3.22936026e-03 1.97289766e+02] [-8.02603236e-04 9.99999006e-01 -1.15896393e-03 1.05375414e+01] [-3.23029157e-03 1.15636562e-03 9.99994114e-01 -1.97597308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.281400513 meters Centerline goodness [0,1] 0.9953013713192304 Centerline is valid? [True, True] Translation: X:197.32, Y:10.54, Z:-0.20 [[ 9.99995320e-01 -1.65591796e-03 2.57272229e-03 1.97320580e+02] [ 1.65548620e-03 9.99998615e-01 1.69943182e-04 1.05356797e+01] [-2.57300014e-03 -1.65683281e-04 9.99996676e-01 -1.98191584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.311400513 meters Centerline goodness [0,1] 0.9973758320532514 Centerline is valid? [True, True] Translation: X:197.35, Y:10.53, Z:-0.20 [[ 9.99991364e-01 -3.81613798e-03 1.64597618e-03 1.97350567e+02] [ 3.81596420e-03 9.99992713e-01 1.08706068e-04 1.05348762e+01] [-1.64637903e-03 -1.02424143e-04 9.99998639e-01 -1.99939446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.341400513 meters Centerline goodness [0,1] 0.9984649824112568 Centerline is valid? [True, True] Translation: X:197.38, Y:10.53, Z:-0.20 [[ 9.99984086e-01 -5.62319893e-03 4.54653794e-04 1.97382095e+02] [ 5.62318583e-03 9.99984189e-01 3.00788877e-05 1.05313140e+01] [-4.54815745e-04 -2.75218063e-05 9.99999896e-01 -2.01378278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.371400513 meters Centerline goodness [0,1] 0.9991952221610403 Centerline is valid? [True, True] Translation: X:197.41, Y:10.53, Z:-0.20 [[ 9.99973531e-01 -7.27029246e-03 2.83511812e-04 1.97412865e+02] [ 7.27028744e-03 9.99973571e-01 1.87209510e-05 1.05253081e+01] [-2.83640426e-04 -1.66592431e-05 9.99999960e-01 -2.00881398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.401400513 meters Centerline goodness [0,1] 0.9991031198616243 Centerline is valid? [True, True] Translation: X:197.44, Y:10.53, Z:-0.20 [[ 9.99974020e-01 -7.08941037e-03 1.30377891e-03 1.97442504e+02] [ 7.08930419e-03 9.99974867e-01 8.60487458e-05 1.05290746e+01] [-1.30435618e-03 -7.68036250e-05 9.99999146e-01 -1.99238896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.431400513 meters Centerline goodness [0,1] 0.9995737061983119 Centerline is valid? [True, True] Translation: X:197.47, Y:10.52, Z:-0.20 [[ 9.99977303e-01 -6.26737054e-03 2.47266221e-03 1.97474588e+02] [ 6.26698568e-03 9.99980349e-01 1.63365017e-04 1.05233579e+01] [-2.47363749e-03 -1.47865170e-04 9.99996930e-01 -1.97151848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.461400513 meters Centerline goodness [0,1] 0.998471564735602 Centerline is valid? [True, True] Translation: X:197.50, Y:10.53, Z:-0.20 [[ 9.99982703e-01 -5.17394602e-03 2.79723854e-03 1.97504612e+02] [ 5.17344953e-03 9.99986601e-01 1.84701238e-04 1.05322035e+01] [-2.79815669e-03 -1.70226671e-04 9.99996071e-01 -1.97457115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.49140051300003 meters Centerline goodness [0,1] 0.9976656834242302 Centerline is valid? [True, True] Translation: X:197.54, Y:10.53, Z:-0.20 [[ 9.99988802e-01 -4.20979741e-03 2.16166221e-03 1.97535122e+02] [ 4.20949827e-03 9.99991130e-01 1.42916260e-04 1.05336901e+01] [-2.16224469e-03 -1.33815146e-04 9.99997653e-01 -1.98778891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.521400513 meters Centerline goodness [0,1] 0.9977571359048687 Centerline is valid? [True, True] Translation: X:197.57, Y:10.53, Z:-0.20 [[ 9.99992774e-01 -3.59940416e-03 1.22280492e-03 1.97566335e+02] [ 3.59930816e-03 9.99993519e-01 8.07073264e-05 1.05322233e+01] [-1.22308749e-03 -7.63054915e-05 9.99999249e-01 -2.00542252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.55140051300003 meters Centerline goodness [0,1] 0.9963299249013535 Centerline is valid? [True, True] Translation: X:197.60, Y:10.53, Z:-0.20 [[ 9.99997493e-01 -2.23690261e-03 -1.05073311e-04 1.97598297e+02] [ 2.23690191e-03 9.99997498e-01 -6.80839179e-06 1.05274631e+01] [ 1.05088278e-04 6.57333603e-06 9.99999994e-01 -2.02851918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.581400513 meters Centerline goodness [0,1] 0.9977584639133836 Centerline is valid? [True, True] Translation: X:197.63, Y:10.52, Z:-0.20 [[ 9.99999141e-01 -1.26178055e-03 -3.56071994e-04 1.97629267e+02] [ 1.26177228e-03 9.99999204e-01 -2.34603368e-05 1.05246362e+01] [ 3.56101312e-04 2.30110348e-05 9.99999936e-01 -2.02938911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.61140051300004 meters Centerline goodness [0,1] 0.9526550826472517 Centerline is valid? [True, True] Translation: X:197.66, Y:10.53, Z:-0.20 [[ 9.99999821e-01 2.43607289e-04 -5.46384862e-04 1.97658376e+02] [-2.43627029e-04 9.99999970e-01 -3.60630445e-05 1.05343943e+01] [ 5.46376060e-04 3.61961522e-05 9.99999850e-01 -2.03794828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.641400513 meters Centerline goodness [0,1] 0.9882403067746058 Centerline is valid? [True, True] Translation: X:197.69, Y:10.53, Z:-0.20 [[ 9.99997764e-01 2.09142731e-03 -3.13983648e-04 1.97689335e+02] [-2.09143391e-03 9.99997813e-01 -2.06908209e-05 1.05295737e+01] [ 3.13939688e-04 2.13474507e-05 9.99999950e-01 -2.02997826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.671400513 meters Centerline goodness [0,1] 0.982058384828468 Centerline is valid? [True, True] Translation: X:197.72, Y:10.53, Z:-0.20 [[ 9.99977113e-01 6.59687963e-03 1.50130274e-03 1.97719684e+02] [-6.59703549e-03 9.99978234e-01 9.88838052e-05 1.05306900e+01] [-1.50061774e-03 -1.08785689e-04 9.99998868e-01 -1.99810807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.701400513 meters Centerline goodness [0,1] 0.9547256682440209 Centerline is valid? [True, True] Translation: X:197.75, Y:10.53, Z:-0.20 [[ 9.99952747e-01 9.53394825e-03 1.89943797e-03 1.97749641e+02] [-9.53420317e-03 9.99954541e-01 1.25201529e-04 1.05347787e+01] [-1.89815795e-03 -1.43305241e-04 9.99998188e-01 -1.99302179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.731400513 meters Centerline goodness [0,1] 0.8203007039108521 Centerline is valid? [True, False] Translation: X:197.75, Y:10.54, Z:-0.20 [[ 9.99952443e-01 9.55592524e-03 1.94829937e-03 1.97749489e+02] [-9.55591404e-03 9.99954341e-01 -1.50608346e-05 1.05355011e+01] [-1.94835434e-03 -3.55766299e-06 9.99998102e-01 -1.99344288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.761400513 meters Centerline goodness [0,1] 0.4775137034136844 Centerline is valid? [False, False] Translation: X:197.75, Y:10.54, Z:-0.20 [[ 9.99951864e-01 9.60800298e-03 1.98895313e-03 1.97749437e+02] [-9.60787379e-03 9.99953841e-01 -7.45011361e-05 1.05358506e+01] [-1.98957713e-03 5.53879393e-05 9.99998019e-01 -1.99568791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.791400513 meters Centerline goodness [0,1] 0.6716230321879726 Centerline is valid? [False, False] Translation: X:197.75, Y:10.54, Z:-0.20 [[ 9.99951961e-01 9.58939986e-03 2.02967683e-03 1.97749398e+02] [-9.58905743e-03 9.99954008e-01 -1.78378888e-04 1.05363542e+01] [-2.03129403e-03 1.58907631e-04 9.99997924e-01 -1.99759010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.821400513 meters Centerline goodness [0,1] 0.7819633730834753 Centerline is valid? [False, False] Translation: X:197.75, Y:10.54, Z:-0.20 [[ 9.99951498e-01 9.63852298e-03 2.02521893e-03 1.97749636e+02] [-9.63837824e-03 9.99953546e-01 -8.12200054e-05 1.05358536e+01] [-2.02590769e-03 6.16962399e-05 9.99997946e-01 -2.00253390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.851400513 meters Centerline goodness [0,1] 0.7880804558598401 Centerline is valid? [False, False] Translation: X:197.75, Y:10.54, Z:-0.20 [[ 9.99984545e-01 5.16318484e-03 2.06183281e-03 1.97749721e+02] [-5.15220376e-03 9.99972702e-01 -5.29614655e-03 1.05402374e+01] [-2.08912151e-03 5.28544172e-03 9.99983850e-01 -2.01083172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.881400513 meters Centerline goodness [0,1] 0.7257474265414001 Centerline is valid? [False, False] Translation: X:197.75, Y:10.54, Z:-0.20 [[ 9.99983108e-01 5.51010484e-03 1.84995690e-03 1.97750330e+02] [-5.50207692e-03 9.99975545e-01 -4.31691812e-03 1.05355457e+01] [-1.87369833e-03 4.30666659e-03 9.99988971e-01 -2.00917940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.911400513 meters Centerline goodness [0,1] 0.7816847641669494 Centerline is valid? [False, False] Translation: X:197.75, Y:10.53, Z:-0.20 [[ 9.99982136e-01 5.75050055e-03 1.63059970e-03 1.97750985e+02] [-5.74494815e-03 9.99977753e-01 -3.38960609e-03 1.05309342e+01] [-1.65005536e-03 3.38017783e-03 9.99992926e-01 -2.00768041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.941400513 meters Centerline goodness [0,1] 0.813006238764936 Centerline is valid? [False, False] Translation: X:197.75, Y:10.53, Z:-0.20 [[ 9.99981353e-01 5.92435541e-03 1.48176547e-03 1.97751410e+02] [-5.92023618e-03 9.99978641e-01 -2.76905554e-03 1.05278788e+01] [-1.49813869e-03 2.76023150e-03 9.99995068e-01 -2.00620533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.971400513 meters Centerline goodness [0,1] 0.9335516383508048 Centerline is valid? [False, False] Translation: X:197.75, Y:10.53, Z:-0.20 [[ 9.99981154e-01 5.97648544e-03 1.40471844e-03 1.97751505e+02] [-5.97290929e-03 9.99978945e-01 -2.53636956e-03 1.05267528e+01] [-1.41984744e-03 2.52793150e-03 9.99995797e-01 -2.00295427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.001400513 meters Centerline goodness [0,1] 0.998634083875787 Centerline is valid? [False, True] Translation: X:197.75, Y:10.53, Z:-0.20 [[ 9.99986693e-01 4.51832631e-03 2.48979082e-03 1.97745797e+02] [-4.50948854e-03 9.99983553e-01 -3.54385930e-03 1.05276422e+01] [-2.50576218e-03 3.53258446e-03 9.99990621e-01 -1.97177844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.031400513 meters Centerline goodness [0,1] 0.9840156442630617 Centerline is valid? [True, True] Translation: X:197.78, Y:10.53, Z:-0.20 [[ 9.99985973e-01 4.28993061e-03 3.10657167e-03 1.97776646e+02] [-4.29058998e-03 9.99990774e-01 2.05617477e-04 1.05344578e+01] [-3.10566092e-03 -2.18943618e-04 9.99995153e-01 -1.96094971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.061400513 meters Centerline goodness [0,1] 0.8754492030609224 Centerline is valid? [True, False] Translation: X:197.78, Y:10.53, Z:-0.20 [[ 9.99985158e-01 4.44226951e-03 3.15446900e-03 1.97776219e+02] [-4.44403462e-03 9.99989972e-01 5.52769220e-04 1.05328550e+01] [-3.15198182e-03 -5.66779585e-04 9.99994872e-01 -1.95587017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.091400513 meters Centerline goodness [0,1] 0.9866282174516715 Centerline is valid? [False, True] Translation: X:197.75, Y:10.52, Z:-0.19 [[ 9.99991137e-01 3.84860606e-03 -1.70696062e-03 1.97752847e+02] [-3.82812086e-03 9.99922504e-01 1.18461322e-02 1.05219244e+01] [ 1.75241944e-03 -1.18394928e-02 9.99928375e-01 -1.88540752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.121400513 meters Centerline goodness [0,1] 0.9960954541488526 Centerline is valid? [True, True] Translation: X:197.78, Y:10.53, Z:-0.19 [[ 9.99984260e-01 5.21995052e-03 -2.05710718e-03 1.97782923e+02] [-5.22024517e-03 9.99986365e-01 -1.37893840e-04 1.05293211e+01] [ 2.05635933e-03 1.48630273e-04 9.99997875e-01 -1.92037707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.151400513 meters Centerline goodness [0,1] 0.9330948651737714 Centerline is valid? [True, False] Translation: X:197.84, Y:10.53, Z:-0.19 [[ 9.99981806e-01 4.48702716e-03 -4.03178052e-03 1.97843373e+02] [-4.46809619e-03 9.99979009e-01 4.69224108e-03 1.05284894e+01] [ 4.05275010e-03 -4.67414132e-03 9.99980864e-01 -1.88577939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.181400513 meters Centerline goodness [0,1] 0.9854304073971963 Centerline is valid? [False, True] Translation: X:197.84, Y:10.53, Z:-0.19 [[ 9.99993594e-01 2.17172205e-04 -3.57276742e-03 1.97841997e+02] [-2.19714511e-04 9.99999723e-01 -7.11202036e-04 1.05344097e+01] [ 3.57261198e-03 7.11982469e-04 9.99993365e-01 -1.89060279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.211400513 meters Centerline goodness [0,1] 0.997218180261919 Centerline is valid? [True, True] Translation: X:197.87, Y:10.53, Z:-0.19 [[ 9.99992944e-01 2.53570551e-04 -3.74797510e-03 1.97871328e+02] [-2.54591808e-04 9.99999931e-01 -2.72007714e-04 1.05313203e+01] [ 3.74790586e-03 2.72959999e-04 9.99992939e-01 -1.87981548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.24140051300003 meters Centerline goodness [0,1] 0.9442731699019837 Centerline is valid? [True, False] Translation: X:197.87, Y:10.53, Z:-0.19 [[ 9.99992916e-01 1.10769147e-04 -3.76248207e-03 1.97871307e+02] [-1.13143180e-04 9.99999795e-01 -6.30768214e-04 1.05330463e+01] [ 3.76241143e-03 6.31189445e-04 9.99992723e-01 -1.87853623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.271400513 meters Centerline goodness [0,1] 0.8796856363946157 Centerline is valid? [False, False] Translation: X:197.87, Y:10.54, Z:-0.19 [[ 9.99993922e-01 -1.55216091e-04 -3.48309615e-03 1.97870517e+02] [ 1.49246507e-04 9.99998520e-01 -1.71406716e-03 1.05384364e+01] [ 3.48335704e-03 1.71353690e-03 9.99992465e-01 -1.88143251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.30140051300003 meters Centerline goodness [0,1] 0.7675404780262143 Centerline is valid? [False, False] Translation: X:197.87, Y:10.54, Z:-0.19 [[ 9.99994064e-01 -3.15508969e-04 -3.43110071e-03 1.97870589e+02] [ 3.07897436e-04 9.99997491e-01 -2.21869606e-03 1.05408249e+01] [ 3.43179212e-03 2.21762646e-03 9.99991652e-01 -1.88665566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.331400513 meters Centerline goodness [0,1] 0.6596913926123874 Centerline is valid? [False, False] Translation: X:197.87, Y:10.54, Z:-0.19 [[ 9.99994321e-01 -4.45131799e-04 -3.34062828e-03 1.97870607e+02] [ 4.36418101e-04 9.99996502e-01 -2.60867685e-03 1.05426500e+01] [ 3.34177780e-03 2.60720412e-03 9.99991017e-01 -1.89322218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.36140051300004 meters Centerline goodness [0,1] 0.8565191463986028 Centerline is valid? [False, False] Translation: X:197.89, Y:10.54, Z:-0.18 [[ 9.99983824e-01 6.37258915e-04 -5.65198195e-03 1.97888484e+02] [-5.89440206e-04 9.99964055e-01 8.45815471e-03 1.05358402e+01] [ 5.65716882e-03 -8.45468639e-03 9.99948256e-01 -1.82619552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.391400513 meters Centerline goodness [0,1] 0.8226253085757218 Centerline is valid? [False, False] Translation: X:197.89, Y:10.54, Z:-0.18 [[ 9.99984924e-01 2.86620083e-04 -5.48360529e-03 1.97887769e+02] [-2.44864428e-04 9.99970985e-01 7.61379203e-03 1.05398456e+01] [ 5.48562845e-03 -7.61233451e-03 9.99955979e-01 -1.82383753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.421400513 meters Centerline goodness [0,1] 0.6818181818181819 Centerline is valid? [False, False] Translation: X:197.89, Y:10.54, Z:-0.18 [[ 9.99984134e-01 2.41365224e-04 -5.62797663e-03 1.97888228e+02] [-1.98772728e-04 9.99971348e-01 7.56732614e-03 1.05400218e+01] [ 5.62964186e-03 -7.56608738e-03 9.99955530e-01 -1.82373053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.451400513 meters Centerline goodness [0,1] 0.69024982946794 Centerline is valid? [False, False] Translation: X:197.89, Y:10.54, Z:-0.18 [[ 9.99982443e-01 3.18238427e-04 -5.91711968e-03 1.97889281e+02] [-2.71556034e-04 9.99968848e-01 7.88850820e-03 1.05383696e+01] [ 5.91944578e-03 -7.88676287e-03 9.99951378e-01 -1.82542057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.481400513 meters Centerline goodness [0,1] 0.7679271286446445 Centerline is valid? [False, False] Translation: X:197.89, Y:10.54, Z:-0.18 [[ 9.99973900e-01 -4.34648772e-03 -5.77125328e-03 1.97889239e+02] [ 4.36146834e-03 9.99987146e-01 2.58568735e-03 1.05429824e+01] [ 5.75994043e-03 -2.61079100e-03 9.99980003e-01 -1.83495867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.511400513 meters Centerline goodness [0,1] 0.8263896349455319 Centerline is valid? [False, False] Translation: X:197.89, Y:10.54, Z:-0.18 [[ 9.99974231e-01 -4.15401621e-03 -5.85502331e-03 1.97889422e+02] [ 4.17288373e-03 9.99986129e-01 3.21392498e-03 1.05399446e+01] [ 5.84159140e-03 -3.23827450e-03 9.99977694e-01 -1.83265432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.541400513 meters Centerline goodness [0,1] 0.9683422046703297 Centerline is valid? [False, True] Translation: X:197.89, Y:10.54, Z:-0.18 [[ 9.99975085e-01 -3.98721299e-03 -5.82511586e-03 1.97889141e+02] [ 4.00904758e-03 9.99984964e-01 3.74149618e-03 1.05374335e+01] [ 5.81011013e-03 -3.76475613e-03 9.99976034e-01 -1.82834063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.571400513 meters Centerline goodness [0,1] 0.9977322322536477 Centerline is valid? [True, True] Translation: X:197.92, Y:10.53, Z:-0.18 [[ 9.99960994e-01 -7.38612331e-03 -4.84313151e-03 1.97919154e+02] [ 7.38436692e-03 9.99972663e-01 -3.80436786e-04 1.05338514e+01] [ 4.84580907e-03 3.44658486e-04 9.99988200e-01 -1.81331832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.601400513 meters Centerline goodness [0,1] 0.980837732286168 Centerline is valid? [True, True] Translation: X:197.95, Y:10.54, Z:-0.18 [[ 9.99946350e-01 -8.77862761e-03 -5.49847718e-03 1.97947785e+02] [ 8.77638398e-03 9.99961393e-01 -4.32041869e-04 1.05403254e+01] [ 5.50205763e-03 3.83761943e-04 9.99984790e-01 -1.82389175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.631400513 meters Centerline goodness [0,1] 0.9813218699623858 Centerline is valid? [True, True] Translation: X:197.98, Y:10.54, Z:-0.18 [[ 9.99924597e-01 -1.05259253e-02 -6.32504215e-03 1.97978801e+02] [ 1.05250303e-02 9.99944595e-01 -1.74773258e-04 1.05383701e+01] [ 6.32653136e-03 1.08188819e-04 9.99979981e-01 -1.83868681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.661400513 meters Centerline goodness [0,1] 0.9982477883670242 Centerline is valid? [True, True] Translation: X:198.01, Y:10.53, Z:-0.18 [[ 9.99904439e-01 -1.19981457e-02 -6.86716165e-03 1.98008766e+02] [ 1.19927939e-02 9.99927748e-01 -8.19990008e-04 1.05271316e+01] [ 6.87650384e-03 7.37555195e-04 9.99976085e-01 -1.83792316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.691400513 meters Centerline goodness [0,1] 0.9959924965893588 Centerline is valid? [True, True] Translation: X:198.04, Y:10.52, Z:-0.18 [[ 9.99867214e-01 -1.48125931e-02 -6.79267792e-03 1.98038036e+02] [ 1.48093015e-02 9.99890193e-01 -5.34614368e-04 1.05243752e+01] [ 6.79985106e-03 4.33948563e-04 9.99976787e-01 -1.83454427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.721400513 meters Centerline goodness [0,1] 0.9959924965893588 Centerline is valid? [True, True] Translation: X:198.07, Y:10.53, Z:-0.18 [[ 9.99864510e-01 -1.49940598e-02 -6.79258499e-03 1.98065500e+02] [ 1.49907644e-02 9.99887489e-01 -5.35793787e-04 1.05266875e+01] [ 6.79985447e-03 4.33895151e-04 9.99976787e-01 -1.83445624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.751400513 meters Centerline goodness [0,1] 0.9990116029222175 Centerline is valid? [True, True] Translation: X:198.09, Y:10.52, Z:-0.18 [[ 9.99852722e-01 -1.58898621e-02 -6.48440447e-03 1.98094865e+02] [ 1.58868755e-02 9.99873665e-01 -5.11830355e-04 1.05193684e+01] [ 6.49171817e-03 4.08738047e-04 9.99978845e-01 -1.81958979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.781400513 meters Centerline goodness [0,1] 0.9983018056749785 Centerline is valid? [True, True] Translation: X:198.12, Y:10.52, Z:-0.18 [[ 9.99849760e-01 -1.63822431e-02 -5.66396221e-03 1.98122577e+02] [ 1.63799698e-02 9.99865739e-01 -4.47525698e-04 1.05235288e+01] [ 5.67053323e-03 3.54682932e-04 9.99983859e-01 -1.81285155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.811400513 meters Centerline goodness [0,1] 0.9980320855614974 Centerline is valid? [True, True] Translation: X:198.15, Y:10.53, Z:-0.18 [[ 9.99852410e-01 -1.64524890e-02 -4.94718604e-03 1.98150835e+02] [ 1.64507541e-02 9.99864601e-01 -3.91179075e-04 1.05251706e+01] [ 4.95295206e-03 3.09736400e-04 9.99987686e-01 -1.80405622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.841400513 meters Centerline goodness [0,1] 0.9985372254608815 Centerline is valid? [True, True] Translation: X:198.18, Y:10.52, Z:-0.18 [[ 9.99865140e-01 -1.58682053e-02 -4.23095547e-03 1.98180047e+02] [ 1.58669284e-02 9.99874056e-01 -3.35185918e-04 1.05249581e+01] [ 4.23574140e-03 2.68008448e-04 9.99990993e-01 -1.79294152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.871400513 meters Centerline goodness [0,1] 0.9992682821848233 Centerline is valid? [True, True] Translation: X:198.21, Y:10.52, Z:-0.18 [[ 9.99886859e-01 -1.45730839e-02 -3.72762547e-03 1.98210008e+02] [ 1.45720833e-02 9.99893778e-01 -2.95435694e-04 1.05204030e+01] [ 3.73153493e-03 2.41082999e-04 9.99993009e-01 -1.77893730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.901400513 meters Centerline goodness [0,1] 0.9987211167468678 Centerline is valid? [True, True] Translation: X:198.24, Y:10.52, Z:-0.18 [[ 9.99932661e-01 -1.11686810e-02 -3.15192805e-03 1.98240836e+02] [ 1.11679488e-02 9.99937605e-01 -2.49813457e-04 1.05225719e+01] [ 3.15452147e-03 2.14596064e-04 9.99995001e-01 -1.77021662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.931400513 meters Centerline goodness [0,1] 0.9989401509744122 Centerline is valid? [True, True] Translation: X:198.27, Y:10.52, Z:-0.18 [[ 9.99946649e-01 -9.67978416e-03 -3.60566238e-03 1.98270872e+02] [ 9.67881604e-03 9.99953118e-01 -2.85852175e-04 1.05207991e+01] [ 3.60826033e-03 2.50938382e-04 9.99993459e-01 -1.77650661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.961400513 meters Centerline goodness [0,1] 0.9521453205663732 Centerline is valid? [True, True] Translation: X:198.30, Y:10.54, Z:-0.18 [[ 9.99952825e-01 -8.71269265e-03 -4.29385170e-03 1.98298187e+02] [ 8.71130999e-03 9.99961998e-01 -3.40608324e-04 1.05353386e+01] [ 4.29665614e-03 3.03187183e-04 9.99990723e-01 -1.79773821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.99140051300003 meters Centerline goodness [0,1] 0.9703008735037205 Centerline is valid? [True, True] Translation: X:198.33, Y:10.53, Z:-0.18 [[ 9.99952998e-01 -8.16274434e-03 -5.23170210e-03 1.98327679e+02] [ 8.16068007e-03 9.99966615e-01 -4.15796210e-04 1.05307239e+01] [ 5.23492147e-03 3.73082420e-04 9.99986228e-01 -1.81213035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.021400513 meters Centerline goodness [0,1] 0.9974098856032808 Centerline is valid? [True, True] Translation: X:198.36, Y:10.52, Z:-0.18 [[ 9.99950666e-01 -8.37552663e-03 -5.34003780e-03 1.98356142e+02] [ 8.37337364e-03 9.99964852e-01 -4.25408187e-04 1.05209255e+01] [ 5.34341313e-03 3.80673068e-04 9.99985651e-01 -1.80872449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.05140051300003 meters Centerline goodness [0,1] 0.9669095455721307 Centerline is valid? [True, True] Translation: X:198.38, Y:10.53, Z:-0.18 [[ 9.99950075e-01 -8.46000814e-03 -5.31752622e-03 1.98382947e+02] [ 8.45787194e-03 9.99964142e-01 -4.24087495e-04 1.05291465e+01] [ 5.32092333e-03 3.79091366e-04 9.99985772e-01 -1.81411608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.081400513 meters Centerline goodness [0,1] 0.9480508310576903 Centerline is valid? [True, False] Translation: X:198.38, Y:10.53, Z:-0.18 [[ 9.99953184e-01 -8.06767942e-03 -5.34256295e-03 1.98382820e+02] [ 8.07027971e-03 9.99967326e-01 4.65333950e-04 1.05250153e+01] [ 5.33863422e-03 -5.08428142e-04 9.99985620e-01 -1.80983617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.11140051300004 meters Centerline goodness [0,1] 0.9962441516075031 Centerline is valid? [False, True] Translation: X:198.38, Y:10.52, Z:-0.18 [[ 9.99955681e-01 -7.75004836e-03 -5.34543213e-03 1.98382733e+02] [ 7.75631780e-03 9.99969254e-01 1.15312733e-03 1.05218368e+01] [ 5.33633099e-03 -1.19453710e-03 9.99985048e-01 -1.80772725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.141400513 meters Centerline goodness [0,1] 0.9897735101619015 Centerline is valid? [True, True] Translation: X:198.41, Y:10.52, Z:-0.18 [[ 9.99963312e-01 -6.12600739e-03 -5.98713743e-03 1.98413264e+02] [ 6.12325700e-03 9.99981139e-01 -4.77606864e-04 1.05249883e+01] [ 5.98995033e-03 4.40928561e-04 9.99981963e-01 -1.82283313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.171400513 meters Centerline goodness [0,1] 0.9959180165857431 Centerline is valid? [True, True] Translation: X:198.44, Y:10.52, Z:-0.18 [[ 9.99964929e-01 -5.29138530e-03 -6.49171502e-03 1.98443506e+02] [ 5.28813343e-03 9.99985884e-01 -5.17988246e-04 1.05222051e+01] [ 6.49436426e-03 4.83641024e-04 9.99978794e-01 -1.82884387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.201400513 meters Centerline goodness [0,1] 0.958748282967033 Centerline is valid? [True, True] Translation: X:198.47, Y:10.53, Z:-0.18 [[ 9.99968992e-01 -4.50523464e-03 -6.45895931e-03 1.98471454e+02] [ 4.50199781e-03 9.99989733e-01 -5.15590633e-04 1.05303064e+01] [ 6.46121585e-03 4.86496425e-04 9.99979008e-01 -1.83555576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.231400513 meters Centerline goodness [0,1] 0.8852943064381539 Centerline is valid? [True, False] Translation: X:198.47, Y:10.53, Z:-0.18 [[ 9.99970014e-01 -4.27582933e-03 -6.45671466e-03 1.98471296e+02] [ 4.27577924e-03 9.99990859e-01 -2.15614608e-05 1.05280371e+01] [ 6.45674783e-03 -6.04667224e-06 9.99979155e-01 -1.83261178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.261400513 meters Centerline goodness [0,1] 0.9057370877879838 Centerline is valid? [False, False] Translation: X:198.47, Y:10.53, Z:-0.18 [[ 9.99971076e-01 -4.06687044e-03 -6.42718525e-03 1.98470961e+02] [ 4.06959089e-03 9.99991635e-01 4.10250301e-04 1.05261030e+01] [ 6.42546305e-03 -4.36394449e-04 9.99979261e-01 -1.82790954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.291400513 meters Centerline goodness [0,1] 0.9507096608207195 Centerline is valid? [False, True] Translation: X:198.47, Y:10.52, Z:-0.18 [[ 9.99971853e-01 -3.89288497e-03 -6.41389612e-03 1.98470730e+02] [ 3.89802471e-03 9.99992091e-01 7.89038287e-04 1.05243750e+01] [ 6.41077376e-03 -8.14017604e-04 9.99979119e-01 -1.82418862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.321400513 meters Centerline goodness [0,1] 0.8475443962953522 Centerline is valid? [True, False] Translation: X:198.49, Y:10.53, Z:-0.19 [[ 9.99994852e-01 -2.68536044e-03 -1.75629214e-03 1.98493838e+02] [ 2.66827691e-03 9.99949799e-01 -9.65810483e-03 1.05310635e+01] [ 1.78213947e-03 9.65336884e-03 9.99951817e-01 -1.89115985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.351400513 meters Centerline goodness [0,1] 0.9543506815098728 Centerline is valid? [False, True] Translation: X:198.45, Y:10.52, Z:-0.19 [[ 9.99990781e-01 -1.07646189e-03 -4.15683975e-03 1.98452640e+02] [ 1.06193805e-03 9.99993330e-01 -3.49458893e-03 1.05199309e+01] [ 4.16057381e-03 3.49014241e-03 9.99985254e-01 -1.87436240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.381400513 meters Centerline goodness [0,1] 0.9632563445767054 Centerline is valid? [True, True] Translation: X:198.48, Y:10.52, Z:-0.19 [[ 9.99987964e-01 -1.97892878e-03 -4.48940085e-03 1.98481384e+02] [ 1.97736215e-03 9.99997983e-01 -3.53371950e-04 1.05178102e+01] [ 4.49009109e-03 3.44490525e-04 9.99989860e-01 -1.87507665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.411400513 meters Centerline goodness [0,1] 0.8707656909114151 Centerline is valid? [True, False] Translation: X:198.48, Y:10.52, Z:-0.19 [[ 9.99987817e-01 -1.90180098e-03 -4.55503467e-03 1.98481518e+02] [ 1.90143535e-03 9.99998189e-01 -8.45982205e-05 1.05164796e+01] [ 4.55518730e-03 7.59360859e-05 9.99989622e-01 -1.87348049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.441400513 meters Centerline goodness [0,1] 0.8016686835233424 Centerline is valid? [False, False] Translation: X:198.48, Y:10.51, Z:-0.19 [[ 9.99987846e-01 -1.70318022e-03 -4.62677913e-03 1.98481657e+02] [ 1.70507010e-03 9.99998465e-01 4.04550986e-04 1.05141512e+01] [ 4.62608300e-03 -4.12435052e-04 9.99989215e-01 -1.87155938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.471400513 meters Centerline goodness [0,1] 0.910680771199454 Centerline is valid? [False, False] Translation: X:198.48, Y:10.51, Z:-0.19 [[ 9.99987489e-01 -1.43847576e-03 -4.79080008e-03 1.98482084e+02] [ 1.44351465e-03 9.99998408e-01 1.04849301e-03 1.05111126e+01] [ 4.78928422e-03 -1.05539549e-03 9.99987974e-01 -1.86916809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.501400513 meters Centerline goodness [0,1] 0.9945349335619375 Centerline is valid? [False, True] Translation: X:198.48, Y:10.51, Z:-0.19 [[ 9.99987795e-01 -1.03426951e-03 -4.83106948e-03 1.98481938e+02] [ 1.04431108e-03 9.99997299e-01 2.07647943e-03 1.05062846e+01] [ 4.82890879e-03 -2.08149923e-03 9.99986174e-01 -1.86340905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.531400513 meters Centerline goodness [0,1] 0.9945237839579083 Centerline is valid? [True, True] Translation: X:198.51, Y:10.51, Z:-0.19 [[ 9.99990963e-01 -1.62575481e-03 -3.92809786e-03 1.98509480e+02] [ 1.62463666e-03 9.99998639e-01 -2.87829681e-04 1.05102476e+01] [ 3.92856046e-03 2.81445348e-04 9.99992244e-01 -1.85422535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.561400513 meters Centerline goodness [0,1] 0.979950194751293 Centerline is valid? [True, True] Translation: X:198.54, Y:10.52, Z:-0.18 [[ 9.99993757e-01 -2.05561890e-03 -2.87393937e-03 1.98536615e+02] [ 2.05502162e-03 9.99997866e-01 -2.10765880e-04 1.05175628e+01] [ 2.87436649e-03 2.04858556e-04 9.99995848e-01 -1.84230408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.591400513 meters Centerline goodness [0,1] 0.9978936055883934 Centerline is valid? [True, True] Translation: X:198.57, Y:10.51, Z:-0.18 [[ 9.99994700e-01 -2.39066102e-03 -2.21000522e-03 1.98566163e+02] [ 2.39030763e-03 9.99997130e-01 -1.62535224e-04 1.05131488e+01] [ 2.21038744e-03 1.57251770e-04 9.99997545e-01 -1.82938999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.621400513 meters Centerline goodness [0,1] 0.9444078877544523 Centerline is valid? [True, False] Translation: X:198.61, Y:10.52, Z:-0.18 [[ 9.99998598e-01 -1.40584994e-03 9.09541458e-04 1.98605930e+02] [ 1.40737255e-03 9.99997606e-01 -1.67557683e-03 1.05172509e+01] [-9.07183671e-04 1.67685455e-03 9.99998183e-01 -1.83165103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.651400513 meters Centerline goodness [0,1] 0.9927127409496944 Centerline is valid? [False, True] Translation: X:198.61, Y:10.52, Z:-0.18 [[ 9.99998479e-01 -1.46537485e-03 9.45702058e-04 1.98605778e+02] [ 1.46713768e-03 9.99997183e-01 -1.86605508e-03 1.05182037e+01] [-9.42964923e-04 1.86743972e-03 9.99997812e-01 -1.83103199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.681400513 meters Centerline goodness [0,1] 0.967389671965845 Centerline is valid? [True, True] Translation: X:198.64, Y:10.52, Z:-0.19 [[ 9.99997962e-01 1.97682315e-03 -4.11148115e-04 1.98635676e+02] [-1.97683588e-03 9.99998046e-01 -3.05719862e-05 1.05235118e+01] [ 4.11086876e-04 3.13846962e-05 9.99999915e-01 -1.85012027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.711400513 meters Centerline goodness [0,1] 0.9681873648605254 Centerline is valid? [True, True] Translation: X:198.67, Y:10.53, Z:-0.19 [[ 9.99993776e-01 3.32773980e-03 -1.17212226e-03 1.98665266e+02] [-3.32784420e-03 9.99994459e-01 -8.71273176e-05 1.05268528e+01] [ 1.17182583e-03 9.10274157e-05 9.99999309e-01 -1.86543177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.74140051300003 meters Centerline goodness [0,1] 0.9268787794610996 Centerline is valid? [True, False] Translation: X:198.67, Y:10.53, Z:-0.19 [[ 9.99994760e-01 3.04607545e-03 -1.09584896e-03 1.98665280e+02] [-3.04693226e-03 9.99995053e-01 -7.81053248e-04 1.05300987e+01] [ 1.09346439e-03 7.84388133e-04 9.99999095e-01 -1.87083141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.771400513 meters Centerline goodness [0,1] 0.8380583100262734 Centerline is valid? [False, False] Translation: X:198.67, Y:10.53, Z:-0.19 [[ 9.99972079e-01 7.35514959e-03 -1.32037776e-03 1.98665514e+02] [-7.34949312e-03 9.99964008e-01 4.23889836e-03 1.05264333e+01] [ 1.35150797e-03 -4.22907589e-03 9.99990144e-01 -1.85848457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.80140051300003 meters Centerline goodness [0,1] 0.8502385749125225 Centerline is valid? [False, False] Translation: X:198.66, Y:10.54, Z:-0.18 [[ 9.99992792e-01 3.72383203e-03 -7.41563354e-04 1.98662246e+02] [-3.72462851e-03 9.99992485e-01 -1.07558326e-03 1.05358810e+01] [ 7.37552489e-04 1.07833756e-03 9.99999147e-01 -1.84662849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.831400513 meters Centerline goodness [0,1] 0.8458844509378425 Centerline is valid? [False, False] Translation: X:198.62, Y:10.53, Z:-0.18 [[ 9.99990784e-01 2.75828555e-03 -3.28991580e-03 1.98620457e+02] [-2.75706759e-03 9.99996129e-01 3.74688715e-04 1.05328787e+01] [ 3.29093656e-03 -3.65614741e-04 9.99994518e-01 -1.84167719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.86140051300004 meters Centerline goodness [0,1] 0.6530322005476428 Centerline is valid? [False, False] Translation: X:198.64, Y:10.53, Z:-0.18 [[ 9.99987528e-01 2.37554408e-03 -4.39335349e-03 1.98640752e+02] [-2.32930211e-03 9.99942152e-01 1.05007709e-02 1.05279723e+01] [ 4.41804439e-03 -1.04904065e-02 9.99935214e-01 -1.79849910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.891400513 meters Centerline goodness [0,1] 0.8088693771075905 Centerline is valid? [False, False] Translation: X:198.64, Y:10.54, Z:-0.18 [[ 9.99988885e-01 -2.37412541e-03 -4.07361236e-03 1.98640380e+02] [ 2.39202428e-03 9.99987483e-01 4.39462452e-03 1.05367779e+01] [ 4.06312798e-03 -4.40431985e-03 9.99982046e-01 -1.81432457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.921400513 meters Centerline goodness [0,1] 0.9798050881794724 Centerline is valid? [False, True] Translation: X:198.64, Y:10.54, Z:-0.18 [[ 9.99988038e-01 -2.62318607e-03 -4.12830283e-03 1.98640678e+02] [ 2.63916788e-03 9.99989027e-01 3.87060366e-03 1.05391794e+01] [ 4.11810422e-03 -3.88145265e-03 9.99983988e-01 -1.81692218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.951400513 meters Centerline goodness [0,1] 0.977626066058402 Centerline is valid? [True, True] Translation: X:198.67, Y:10.55, Z:-0.18 [[ 9.99985475e-01 -3.89079210e-03 -3.72981844e-03 1.98668906e+02] [ 3.88971331e-03 9.99992391e-01 -2.96443865e-04 1.05474133e+01] [ 3.73094346e-03 2.81931635e-04 9.99993000e-01 -1.82397826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.981400513 meters Centerline goodness [0,1] 0.972305261359754 Centerline is valid? [True, True] Translation: X:198.70, Y:10.55, Z:-0.18 [[ 9.99966505e-01 -7.60246357e-03 -3.03187048e-03 1.98698145e+02] [ 7.60176775e-03 9.99971077e-01 -2.40960660e-04 1.05533514e+01] [ 3.03361468e-03 2.17905014e-04 9.99995375e-01 -1.80970621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.011400513 meters Centerline goodness [0,1] 0.9940485046868026 Centerline is valid? [True, True] Translation: X:198.73, Y:10.55, Z:-0.18 [[ 9.99942786e-01 -1.02493039e-02 -3.06212931e-03 1.98728975e+02] [ 1.02486065e-02 9.99947452e-01 -2.43371760e-04 1.05505913e+01] [ 3.06446280e-03 2.11975278e-04 9.99995282e-01 -1.80419653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.041400513 meters Centerline goodness [0,1] 0.9928809645972293 Centerline is valid? [True, True] Translation: X:198.76, Y:10.55, Z:-0.18 [[ 9.99911309e-01 -1.28409636e-02 -3.53314442e-03 1.98758076e+02] [ 1.28400510e-02 9.99917524e-01 -2.80861011e-04 1.05532297e+01] [ 3.53645955e-03 2.35470347e-04 9.99993719e-01 -1.81433945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.071400513 meters Centerline goodness [0,1] 0.9846612697060076 Centerline is valid? [True, True] Translation: X:198.79, Y:10.56, Z:-0.18 [[ 9.99875837e-01 -1.51812908e-02 -4.22352820e-03 1.98787026e+02] [ 1.51800072e-02 9.99884721e-01 -3.35806869e-04 1.05578330e+01] [ 4.22813929e-03 2.71651986e-04 9.99991024e-01 -1.82702316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.101400513 meters Centerline goodness [0,1] 0.9929544487015751 Centerline is valid? [True, True] Translation: X:198.82, Y:10.56, Z:-0.18 [[ 9.99843678e-01 -1.70943317e-02 -4.51708208e-03 1.98817244e+02] [ 1.70928829e-02 9.99853842e-01 -3.59137484e-04 1.05567119e+01] [ 4.52256109e-03 2.81871387e-04 9.99989733e-01 -1.82408994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.131400513 meters Centerline goodness [0,1] 0.9990523164401559 Centerline is valid? [True, True] Translation: X:198.85, Y:10.55, Z:-0.18 [[ 9.99812844e-01 -1.88882697e-02 -4.18459847e-03 1.98847522e+02] [ 1.88870416e-02 9.99821569e-01 -3.32813977e-04 1.05513005e+01] [ 4.19013808e-03 2.53717003e-04 9.99991189e-01 -1.81550574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.161400513 meters Centerline goodness [0,1] 0.9993379746294794 Centerline is valid? [True, True] Translation: X:198.88, Y:10.55, Z:-0.18 [[ 9.99768812e-01 -2.12357681e-02 -3.37102546e-03 1.98877594e+02] [ 2.12349841e-02 9.99774476e-01 -2.68188773e-04 1.05530781e+01] [ 3.37596041e-03 1.96543099e-04 9.99994282e-01 -1.80841714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.191400513 meters Centerline goodness [0,1] 0.9986556558478971 Centerline is valid? [True, True] Translation: X:198.90, Y:10.56, Z:-0.18 [[ 9.99751939e-01 -2.20810731e-02 -2.91313784e-03 1.98904815e+02] [ 2.20804896e-02 9.99756169e-01 -2.32313998e-04 1.05617456e+01] [ 2.91755727e-03 1.67932861e-04 9.99995730e-01 -1.81023163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.221400513 meters Centerline goodness [0,1] 0.9993146724348403 Centerline is valid? [True, True] Translation: X:198.93, Y:10.56, Z:-0.18 [[ 9.99729290e-01 -2.30740372e-02 -2.98927118e-03 1.98934303e+02] [ 2.30734258e-02 9.99733745e-01 -2.38880109e-04 1.05569028e+01] [ 2.99398719e-03 1.69842715e-04 9.99995504e-01 -1.81306963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.251400513 meters Centerline goodness [0,1] 0.9995302257051952 Centerline is valid? [True, True] Translation: X:198.96, Y:10.56, Z:-0.18 [[ 9.99698941e-01 -2.42715923e-02 -3.59413474e-03 1.98961961e+02] [ 2.42707156e-02 9.99705381e-01 -2.87346859e-04 1.05584678e+01] [ 3.60005021e-03 2.00028128e-04 9.99993500e-01 -1.81864015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.281400513 meters Centerline goodness [0,1] 0.9993787223102961 Centerline is valid? [True, True] Translation: X:198.99, Y:10.57, Z:-0.18 [[ 9.99652160e-01 -2.60639992e-02 -4.02819987e-03 1.98990712e+02] [ 2.60629124e-02 9.99660253e-01 -3.22065803e-04 1.05660880e+01] [ 4.03522563e-03 2.16967155e-04 9.99991835e-01 -1.83318209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.311400513 meters Centerline goodness [0,1] 0.9988522604093605 Centerline is valid? [True, True] Translation: X:199.02, Y:10.57, Z:-0.18 [[ 9.99522269e-01 -3.07392890e-02 -3.21391413e-03 1.99019473e+02] [ 3.07386210e-02 9.99527424e-01 -2.57066903e-04 1.05669092e+01] [ 3.22029736e-03 1.58152806e-04 9.99994802e-01 -1.82445205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.341400513 meters Centerline goodness [0,1] 0.9998497596153846 Centerline is valid? [True, True] Translation: X:199.05, Y:10.55, Z:-0.18 [[ 9.99452362e-01 -3.30054341e-02 -2.37007123e-03 1.99050719e+02] [ 3.30050771e-02 9.99455166e-01 -1.89593670e-04 1.05544102e+01] [ 2.37503755e-03 1.11265457e-04 9.99997173e-01 -1.80665218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.371400513 meters Centerline goodness [0,1] 0.9998083638531641 Centerline is valid? [True, True] Translation: X:199.08, Y:10.55, Z:-0.18 [[ 9.99382635e-01 -3.50955240e-02 -1.62911567e-03 1.99079602e+02] [ 3.50953580e-02 9.99383960e-01 -1.30393120e-04 1.05540437e+01] [ 1.63268829e-03 7.31382225e-05 9.99998664e-01 -1.79836667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.401400513 meters Centerline goodness [0,1] 0.9998937074829932 Centerline is valid? [True, True] Translation: X:199.11, Y:10.55, Z:-0.18 [[ 9.99303087e-01 -3.72953671e-02 -1.54771544e-03 1.99109771e+02] [ 3.72952199e-02 9.99304284e-01 -1.23883625e-04 1.05524174e+01] [ 1.55125895e-03 6.60749016e-05 9.99998795e-01 -1.80508054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.431400513 meters Centerline goodness [0,1] 0.9999142789790626 Centerline is valid? [True, True] Translation: X:199.14, Y:10.54, Z:-0.18 [[ 9.99078174e-01 -4.28975074e-02 -1.61458244e-03 1.99140330e+02] [ 4.28973545e-02 9.99079476e-01 -1.29234401e-04 1.05435060e+01] [ 1.61864001e-03 5.98539538e-05 9.99998688e-01 -1.80645304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.461400513 meters Centerline goodness [0,1] 0.9999575299413913 Centerline is valid? [True, True] Translation: X:199.17, Y:10.54, Z:-0.18 [[ 9.98930818e-01 -4.62056747e-02 -1.50233456e-03 1.99169828e+02] [ 4.62055460e-02 9.98931946e-01 -1.20296462e-04 1.05389875e+01] [ 1.50628837e-03 5.07516542e-05 9.99998864e-01 -1.79989803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.49140051300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.20, Y:10.53, Z:-0.18 [[ 9.98774856e-01 -4.94458439e-02 -1.97384469e-03 1.99200211e+02] [ 4.94456279e-02 9.98776804e-01 -1.58095119e-04 1.05283584e+01] [ 1.97924744e-03 6.03034399e-05 9.99998039e-01 -1.79857635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.521400513 meters Centerline goodness [0,1] 0.9999358302496203 Centerline is valid? [True, True] Translation: X:199.23, Y:10.53, Z:-0.18 [[ 9.98613360e-01 -5.25871213e-02 -2.43974238e-03 1.99229524e+02] [ 5.25868005e-02 9.98616338e-01 -1.95466065e-04 1.05260584e+01] [ 2.44664560e-03 6.68967780e-05 9.99997005e-01 -1.81035323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.55140051300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.26, Y:10.52, Z:-0.18 [[ 9.98452353e-01 -5.55393101e-02 -2.87801417e-03 1.99259239e+02] [ 5.55388756e-02 9.98456499e-01 -2.30721772e-04 1.05191346e+01] [ 2.88638608e-03 7.05230257e-05 9.99995832e-01 -1.82219869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.581400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.29, Y:10.52, Z:-0.18 [[ 9.98442142e-01 -5.57225806e-02 -2.87796545e-03 1.99286673e+02] [ 5.57221451e-02 9.98446288e-01 -2.31328729e-04 1.05214916e+01] [ 2.88638416e-03 7.06019431e-05 9.99995832e-01 -1.82235626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.61140051300004 meters Centerline goodness [0,1] 0.9998938721796532 Centerline is valid? [True, True] Translation: X:199.32, Y:10.51, Z:-0.18 [[ 9.98295907e-01 -5.82821388e-02 -2.91108427e-03 1.99316094e+02] [ 5.82817039e-02 9.98300149e-01 -2.34045371e-04 1.05149439e+01] [ 2.91977652e-03 6.39835839e-05 9.99995735e-01 -1.82659803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.641400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.35, Y:10.50, Z:-0.18 [[ 9.98090940e-01 -6.17062842e-02 -2.60951739e-03 1.99346458e+02] [ 6.17059453e-02 9.98094350e-01 -2.10257522e-04 1.05018582e+01] [ 2.61751878e-03 4.88333904e-05 9.99996573e-01 -1.81798661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.671400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.37, Y:10.50, Z:-0.18 [[ 9.98057920e-01 -6.22163513e-02 -3.08436842e-03 1.99374436e+02] [ 6.22158785e-02 9.98062685e-01 -2.49110931e-04 1.04981172e+01] [ 3.09389180e-03 5.67304471e-05 9.99995212e-01 -1.82549902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.701400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.40, Y:10.50, Z:-0.18 [[ 9.98079585e-01 -6.18367077e-02 -3.65559357e-03 1.99402215e+02] [ 6.18360405e-02 9.98086277e-01 -2.95366954e-04 1.04993250e+01] [ 3.66686229e-03 6.87522957e-05 9.99993275e-01 -1.83769702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.731400513 meters Centerline goodness [0,1] 0.9999787847929396 Centerline is valid? [True, True] Translation: X:199.43, Y:10.50, Z:-0.18 [[ 9.98143961e-01 -6.08002549e-02 -3.45876067e-03 1.99431424e+02] [ 6.07996492e-02 9.98149951e-01 -2.80089247e-04 1.05002733e+01] [ 3.46939129e-03 6.92779550e-05 9.99993979e-01 -1.83569395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.761400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.46, Y:10.50, Z:-0.18 [[ 9.98227593e-01 -5.94537266e-02 -2.63196740e-03 1.99459398e+02] [ 5.94533707e-02 9.98231061e-01 -2.13341696e-04 1.05046865e+01] [ 2.63999557e-03 5.64842342e-05 9.99996514e-01 -1.82380119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.791400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.49, Y:10.50, Z:-0.18 [[ 9.98294657e-01 -5.83454159e-02 -1.89489733e-03 1.99488566e+02] [ 5.83452287e-02 9.98296454e-01 -1.53972522e-04 1.05027279e+01] [ 1.90065288e-03 4.31517275e-05 9.99998193e-01 -1.80306226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.821400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.52, Y:10.50, Z:-0.18 [[ 9.98325417e-01 -5.78378677e-02 -1.06900256e-03 1.99517270e+02] [ 5.78378076e-02 9.98325989e-01 -8.70834818e-05 1.05007252e+01] [ 1.07224976e-03 2.51088891e-05 9.99999425e-01 -1.79119395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.851400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.55, Y:10.50, Z:-0.18 [[ 9.98271690e-01 -5.87612587e-02 -8.65077745e-04 1.99546728e+02] [ 5.87612195e-02 9.98272064e-01 -7.06370144e-05 1.04996401e+01] [ 8.67733666e-04 1.96819084e-05 9.99999623e-01 -1.79153931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.881400513 meters Centerline goodness [0,1] 0.9998722071947349 Centerline is valid? [True, True] Translation: X:199.57, Y:10.50, Z:-0.18 [[ 9.98207838e-01 -5.98372822e-02 -7.81661853e-04 1.99573892e+02] [ 5.98372506e-02 9.98208144e-01 -6.38589310e-05 1.05038245e+01] [ 7.84082373e-04 1.69719893e-05 9.99999692e-01 -1.80037687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.911400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.60, Y:10.50, Z:-0.18 [[ 9.98159154e-01 -6.06403866e-02 -1.02294883e-03 1.99603186e+02] [ 6.06403326e-02 9.98159678e-01 -8.37597812e-05 1.05026523e+01] [ 1.02614550e-03 2.15736352e-05 9.99999473e-01 -1.80123883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.941400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.63, Y:10.50, Z:-0.18 [[ 9.98109466e-01 -6.14463635e-02 -1.35595269e-03 1.99632008e+02] [ 6.14462691e-02 9.98110387e-01 -1.11213280e-04 1.05026588e+01] [ 1.36022412e-03 2.76847932e-05 9.99999075e-01 -1.80520678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.971400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.66, Y:10.50, Z:-0.18 [[ 9.98006600e-01 -6.30793040e-02 -1.95640690e-03 1.99661044e+02] [ 6.30791100e-02 9.98008517e-01 -1.60739100e-04 1.05013268e+01] [ 1.96265006e-03 3.70102764e-05 9.99998073e-01 -1.80552484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.001400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.69, Y:10.50, Z:-0.18 [[ 9.97949646e-01 -6.39678517e-02 -2.14887729e-03 1.99689193e+02] [ 6.39676197e-02 9.97951959e-01 -1.76606981e-04 1.05040662e+01] [ 2.15577347e-03 3.87863093e-05 9.99997676e-01 -1.80872280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.031400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.72, Y:10.51, Z:-0.18 [[ 9.97903645e-01 -6.46702150e-02 -2.46531064e-03 1.99716762e+02] [ 6.46699114e-02 9.97906690e-01 -2.02748133e-04 1.05077247e+01] [ 2.47326175e-03 4.28916805e-05 9.99996941e-01 -1.81451265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.061400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.75, Y:10.51, Z:-0.18 [[ 9.97771615e-01 -6.66365169e-02 -3.37324243e-03 1.99745589e+02] [ 6.66359579e-02 9.97777316e-01 -2.77960426e-04 1.05074393e+01] [ 3.38426709e-03 5.25617831e-05 9.99994272e-01 -1.82963985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.091400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.78, Y:10.51, Z:-0.18 [[ 9.97665070e-01 -6.82394934e-02 -2.78905144e-03 1.99775000e+02] [ 6.82391163e-02 9.97668968e-01 -2.30268133e-04 1.05073904e+01] [ 2.79826345e-03 3.94080677e-05 9.99996084e-01 -1.81876719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.121400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.80, Y:10.51, Z:-0.18 [[ 9.97528671e-01 -7.02454861e-02 -1.45709436e-03 1.99803720e+02] [ 7.02453848e-02 9.97529735e-01 -1.20593989e-04 1.05074912e+01] [ 1.46196613e-03 1.79418079e-05 9.99998931e-01 -1.79722891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.151400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.83, Y:10.51, Z:-0.18 [[ 9.97376740e-01 -7.23820848e-02 -6.87342592e-04 1.99831667e+02] [ 7.23820628e-02 9.97376977e-01 -5.69165136e-05 1.05086432e+01] [ 6.89659412e-04 7.01593215e-06 9.99999762e-01 -1.79098062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.181400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.86, Y:10.51, Z:-0.18 [[ 9.97159963e-01 -7.53125511e-02 -1.65616859e-04 1.99860766e+02] [ 7.53125499e-02 9.97159977e-01 -1.38262547e-05 1.05068055e+01] [ 1.66187794e-04 1.31395967e-06 9.99999986e-01 -1.78415345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.211400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.89, Y:10.50, Z:-0.18 [[ 9.96898914e-01 -7.86926770e-02 -1.35535581e-04 1.99888610e+02] [ 7.86926762e-02 9.96898923e-01 -1.12796787e-05 1.05047219e+01] [ 1.36002903e-04 5.79041856e-07 9.99999991e-01 -1.78588658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.24140051300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.92, Y:10.50, Z:-0.18 [[ 9.96278141e-01 -8.61801218e-02 -1.68864247e-03 1.99917033e+02] [ 8.61800073e-02 9.96279573e-01 -1.40557918e-04 1.04980544e+01] [ 1.69447330e-03 -5.49243967e-06 9.99998564e-01 -1.81136896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.271400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.95, Y:10.50, Z:-0.18 [[ 9.95997197e-01 -8.93314286e-02 -3.07881334e-03 1.99945050e+02] [ 8.93310632e-02 9.96001956e-01 -2.56290501e-04 1.04956369e+01] [ 3.08939890e-03 -1.97690481e-05 9.99995228e-01 -1.83790443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.30140051300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.97, Y:10.49, Z:-0.19 [[ 9.95738453e-01 -9.21221169e-02 -4.29523752e-03 1.99973622e+02] [ 9.21214299e-02 9.95747716e-01 -3.57932453e-04 1.04920271e+01] [ 4.30994645e-03 -3.92763161e-05 9.99990711e-01 -1.85373423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.331400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.00, Y:10.49, Z:-0.19 [[ 9.95543679e-01 -9.41767104e-02 -4.85090745e-03 2.00002407e+02] [ 9.41758545e-02 9.95555495e-01 -4.05073347e-04 1.04893488e+01] [ 4.86749604e-03 -5.35701440e-05 9.99988152e-01 -1.85513086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.36140051300004 meters Centerline goodness [0,1] 0.999829143796852 Centerline is valid? [True, True] Translation: X:200.03, Y:10.49, Z:-0.19 [[ 9.95455677e-01 -9.51170493e-02 -4.55428142e-03 2.00030907e+02] [ 9.51163030e-02 9.95466094e-01 -3.80669458e-04 1.04888532e+01] [ 4.56984089e-03 -5.42468384e-05 9.99989557e-01 -1.85381684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.391400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.06, Y:10.49, Z:-0.18 [[ 9.95478170e-01 -9.48935366e-02 -4.29300216e-03 2.00058698e+02] [ 9.48928675e-02 9.95487425e-01 -3.59732067e-04 1.04922204e+01] [ 4.30776592e-03 -4.92698651e-05 9.99990720e-01 -1.83341935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.421400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.09, Y:10.50, Z:-0.18 [[ 9.95693956e-01 -9.26418846e-02 -3.32072877e-03 2.00087287e+02] [ 9.26414698e-02 9.95699493e-01 -2.78836801e-04 1.04993039e+01] [ 3.33227992e-03 -3.00010773e-05 9.99994447e-01 -1.82356721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.451400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.11, Y:10.50, Z:-0.18 [[ 9.95863852e-01 -9.07974821e-02 -3.31737552e-03 2.00114642e+02] [ 9.07970571e-02 9.95869377e-01 -2.78807399e-04 1.05035137e+01] [ 3.32898771e-03 -2.35537246e-05 9.99994459e-01 -1.82716065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.481400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.14, Y:10.51, Z:-0.18 [[ 9.96037984e-01 -8.88762661e-02 -3.05664234e-03 2.00143245e+02] [ 8.88758945e-02 9.96042674e-01 -2.57456761e-04 1.05089373e+01] [ 3.06742801e-03 -1.52251092e-05 9.99995295e-01 -1.81680007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.511400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.17, Y:10.51, Z:-0.18 [[ 9.96219945e-01 -8.68381401e-02 -2.22681532e-03 2.00170514e+02] [ 8.68379375e-02 9.96222434e-01 -1.87658347e-04 1.05140709e+01] [ 2.23469928e-03 -6.42306129e-06 9.99997503e-01 -1.80260103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.541400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.20, Y:10.53, Z:-0.18 [[ 9.96504150e-01 -8.35396301e-02 7.80526805e-04 2.00198855e+02] [ 8.35396042e-02 9.96504456e-01 6.57990507e-05 1.05255583e+01] [-7.83295267e-04 -3.64126805e-07 9.99999693e-01 -1.76199472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.571400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.23, Y:10.53, Z:-0.17 [[ 9.96635238e-01 -8.19291965e-02 2.41031844e-03 2.00225951e+02] [ 8.19289437e-02 9.96638152e-01 2.03586466e-04 1.05325434e+01] [-2.41889500e-03 -5.42660224e-06 9.99997074e-01 -1.74107805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.601400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.25, Y:10.54, Z:-0.17 [[ 9.96727440e-01 -8.07709272e-02 3.23527383e-03 2.00253886e+02] [ 8.07704650e-02 9.96732691e-01 2.73464958e-04 1.05385979e+01] [-3.24679121e-03 -1.12554566e-05 9.99994729e-01 -1.72879261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.631400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.28, Y:10.54, Z:-0.17 [[ 9.96756880e-01 -8.04418989e-02 2.19633994e-03 2.00281386e+02] [ 8.04416844e-02 9.96759299e-01 1.85988882e-04 1.05428142e+01] [-2.20418356e-03 -8.70841294e-06 9.99997571e-01 -1.74634075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.661400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.31, Y:10.55, Z:-0.18 [[ 9.96729122e-01 -8.08145126e-02 2.67050337e-04 2.00308381e+02] [ 8.08145094e-02 9.96729158e-01 2.25872550e-05 1.05474056e+01] [-2.68002236e-04 -9.31832887e-07 9.99999964e-01 -1.78107296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.691400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.34, Y:10.55, Z:-0.18 [[ 9.96632131e-01 -8.19726790e-02 -2.20788233e-03 2.00336569e+02] [ 8.19724639e-02 9.96634577e-01 -1.87886143e-04 1.05500851e+01] [ 2.21585340e-03 6.26781316e-06 9.99997545e-01 -1.82112129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.721400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.37, Y:10.55, Z:-0.19 [[ 9.96344658e-01 -8.52910463e-02 -4.77071192e-03 2.00365748e+02] [ 8.52900770e-02 9.96356080e-01 -4.06628649e-04 1.05488045e+01] [ 4.78800961e-03 -1.75210411e-06 9.99988537e-01 -1.85048686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.751400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.39, Y:10.55, Z:-0.19 [[ 9.96182820e-01 -8.71344979e-02 -5.23140605e-03 2.00393390e+02] [ 8.71333566e-02 9.96196556e-01 -4.46132880e-04 1.05477843e+01] [ 5.25038225e-03 -1.14000574e-05 9.99986217e-01 -1.85252727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.781400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.42, Y:10.55, Z:-0.19 [[ 9.95999201e-01 -8.91795966e-02 -5.70884456e-03 2.00422713e+02] [ 8.91782652e-02 9.96015562e-01 -4.87854477e-04 1.05475417e+01] [ 5.72960469e-03 -2.32021847e-05 9.99983585e-01 -1.85837450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.811400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.45, Y:10.55, Z:-0.19 [[ 9.95894639e-01 -9.02735522e-02 -6.67492270e-03 2.00451434e+02] [ 9.02717498e-02 9.95917007e-01 -5.71429166e-04 1.05495120e+01] [ 6.69925398e-03 -3.34737103e-05 9.99977559e-01 -1.88429677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.841400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.48, Y:10.55, Z:-0.19 [[ 9.96021456e-01 -8.88924012e-02 -6.27689624e-03 2.00480314e+02] [ 8.88907732e-02 9.96041234e-01 -5.38424093e-04 1.05542759e+01] [ 6.29990928e-03 -2.16762109e-05 9.99980155e-01 -1.88210573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.871400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.51, Y:10.56, Z:-0.19 [[ 9.96253106e-01 -8.63453581e-02 -4.92219734e-03 2.00507561e+02] [ 8.63443247e-02 9.96265265e-01 -4.22471836e-04 1.05596116e+01] [ 4.94029272e-03 -4.11492591e-06 9.99987797e-01 -1.85776762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.901400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.54, Y:10.57, Z:-0.18 [[ 9.96500609e-01 -8.35052847e-02 -3.66098206e-03 2.00535519e+02] [ 8.35046909e-02 9.96507334e-01 -3.14999821e-04 1.05653111e+01] [ 3.67449962e-03 8.18833846e-06 9.99993249e-01 -1.82959245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.931400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.56, Y:10.57, Z:-0.18 [[ 9.96762544e-01 -8.03535662e-02 -2.78109923e-03 2.00563237e+02] [ 8.03532110e-02 9.96766424e-01 -2.39407235e-04 1.05717888e+01] [ 2.79134356e-03 1.51619116e-05 9.99996104e-01 -1.81335515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.961400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.59, Y:10.58, Z:-0.18 [[ 9.97009664e-01 -7.72263079e-02 -2.79785484e-03 2.00591247e+02] [ 7.72259345e-02 9.97013589e-01 -2.41379108e-04 1.05783780e+01] [ 2.80814012e-03 2.45903480e-05 9.99996057e-01 -1.81110973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.99140051300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.62, Y:10.59, Z:-0.18 [[ 9.97523248e-01 -7.02338014e-02 -3.81874170e-03 2.00619742e+02] [ 7.02330546e-02 9.97530556e-01 -3.29483598e-04 1.05901472e+01] [ 3.83245241e-03 6.04656548e-05 9.99992654e-01 -1.83536989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.021400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.65, Y:10.60, Z:-0.18 [[ 9.97743060e-01 -6.69996004e-02 -4.45428791e-03 2.00647211e+02] [ 6.69985510e-02 9.97752999e-01 -3.84550688e-04 1.05983570e+01] [ 4.47004386e-03 8.52519437e-05 9.99990006e-01 -1.84942210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.05140051300003 meters Centerline goodness [0,1] 0.9999787039206082 Centerline is valid? [True, True] Translation: X:200.68, Y:10.60, Z:-0.18 [[ 9.97941271e-01 -6.39712123e-02 -4.57202953e-03 2.00675776e+02] [ 6.39700740e-02 9.97951739e-01 -3.94923364e-04 1.06047693e+01] [ 4.58792855e-03 1.01637256e-04 9.99989470e-01 -1.84551607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.081400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.70, Y:10.61, Z:-0.18 [[ 9.98113572e-01 -6.12297508e-02 -4.49604652e-03 2.00704708e+02] [ 6.12286213e-02 9.98123692e-01 -3.88576169e-04 1.06083836e+01] [ 4.51140298e-03 1.12556418e-04 9.99989817e-01 -1.83092617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.11140051300004 meters Centerline goodness [0,1] 0.9999345092560251 Centerline is valid? [True, True] Translation: X:200.73, Y:10.62, Z:-0.18 [[ 9.98445686e-01 -5.56162709e-02 -3.61156999e-03 2.00733497e+02] [ 5.56155053e-02 9.98452211e-01 -3.12162102e-04 1.06210890e+01] [ 3.62334133e-03 1.10817614e-04 9.99993430e-01 -1.81971604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.141400513 meters Centerline goodness [0,1] 0.9998484126640391 Centerline is valid? [True, True] Translation: X:200.76, Y:10.63, Z:-0.18 [[ 9.98596577e-01 -5.29024551e-02 -2.49116458e-03 2.00761123e+02] [ 5.29020820e-02 9.98599681e-01 -2.15461100e-04 1.06284819e+01] [ 2.49907458e-03 8.33709235e-05 9.99996874e-01 -1.80548236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.171400513 meters Centerline goodness [0,1] 0.9998697181569461 Centerline is valid? [True, True] Translation: X:200.79, Y:10.63, Z:-0.18 [[ 9.98723222e-01 -5.05021728e-02 -1.20673319e-03 2.00790568e+02] [ 5.05020835e-02 9.98723950e-01 -1.04400580e-04 1.06307016e+01] [ 1.21046580e-03 4.33247434e-05 9.99999266e-01 -1.78228087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.201400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.82, Y:10.64, Z:-0.18 [[ 9.98813356e-01 -4.87013815e-02 -2.36119493e-04 2.00818133e+02] [ 4.87013780e-02 9.98813384e-01 -2.04641336e-05 1.06388622e+01] [ 2.36835941e-04 8.94050532e-06 9.99999972e-01 -1.76808699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.231400513 meters Centerline goodness [0,1] 0.9998281343989001 Centerline is valid? [True, True] Translation: X:200.85, Y:10.64, Z:-0.18 [[ 9.98848932e-01 -4.79667682e-02 -2.06491961e-05 2.00846816e+02] [ 4.79667682e-02 9.98848932e-01 -1.88414219e-06 1.06404134e+01] [ 2.07158037e-05 8.91498207e-07 1.00000000e+00 -1.76607971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.261400513 meters Centerline goodness [0,1] 0.9998702366019292 Centerline is valid? [True, True] Translation: X:200.88, Y:10.64, Z:-0.18 [[ 9.98873515e-01 -4.74516400e-02 -2.09287563e-04 2.00875646e+02] [ 4.74516372e-02 9.98873536e-01 -1.82771429e-05 1.06427190e+01] [ 2.09919088e-04 8.32551648e-06 9.99999978e-01 -1.78026028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.291400513 meters Centerline goodness [0,1] 0.9998284035091483 Centerline is valid? [True, True] Translation: X:200.90, Y:10.64, Z:-0.18 [[ 9.98847133e-01 -4.80007298e-02 -5.78679132e-04 2.00903261e+02] [ 4.80007087e-02 9.98847300e-01 -5.03433482e-05 1.06446274e+01] [ 5.80428607e-04 2.25083006e-05 9.99999831e-01 -1.79290073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.321400513 meters Centerline goodness [0,1] 0.9999564127710581 Centerline is valid? [True, True] Translation: X:200.93, Y:10.64, Z:-0.18 [[ 9.98826577e-01 -4.84119193e-02 -1.32455638e-03 2.00932649e+02] [ 4.84118087e-02 9.98827454e-01 -1.15480464e-04 1.06392901e+01] [ 1.32859391e-03 5.12207865e-05 9.99999116e-01 -1.79711100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.351400513 meters Centerline goodness [0,1] 0.9998495949807696 Centerline is valid? [True, True] Translation: X:200.96, Y:10.65, Z:-0.18 [[ 9.98803641e-01 -4.88559680e-02 -2.09292735e-03 2.00959902e+02] [ 4.88556928e-02 9.98805831e-01 -1.82478168e-04 1.06477939e+01] [ 2.09934319e-03 8.00084426e-05 9.99997793e-01 -1.81034649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.381400513 meters Centerline goodness [0,1] 0.9998918123593561 Centerline is valid? [True, True] Translation: X:200.99, Y:10.65, Z:-0.18 [[ 9.98796940e-01 -4.89391100e-02 -3.10417768e-03 2.00988645e+02] [ 4.89385032e-02 9.98801757e-01 -2.71193491e-04 1.06464851e+01] [ 3.11373009e-03 1.18953420e-04 9.99995145e-01 -1.82283537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.411400513 meters Centerline goodness [0,1] 0.9999569855471439 Centerline is valid? [True, True] Translation: X:201.02, Y:10.65, Z:-0.18 [[ 9.98821711e-01 -4.83811884e-02 -3.80140223e-03 2.01017698e+02] [ 4.83802720e-02 9.98828934e-01 -3.32718307e-04 1.06468078e+01] [ 3.81304785e-03 1.48413395e-04 9.99992719e-01 -1.82544636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.441400513 meters Centerline goodness [0,1] 0.9996995772622905 Centerline is valid? [True, True] Translation: X:201.05, Y:10.65, Z:-0.18 [[ 9.98961452e-01 -4.53856554e-02 -4.01991861e-03 2.01046980e+02] [ 4.53846063e-02 9.98969526e-01 -3.51852273e-04 1.06489041e+01] [ 4.03174524e-03 1.69044434e-04 9.99991858e-01 -1.82966013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.471400513 meters Centerline goodness [0,1] 0.9997227021607901 Centerline is valid? [True, True] Translation: X:201.07, Y:10.66, Z:-0.18 [[ 9.99031853e-01 -4.38767834e-02 -3.19143778e-03 2.01074824e+02] [ 4.38761140e-02 9.99036941e-01 -2.79507748e-04 1.06557560e+01] [ 3.20062814e-03 1.39209256e-04 9.99994868e-01 -1.81455857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.501400513 meters Centerline goodness [0,1] 0.9999352163772999 Centerline is valid? [True, True] Translation: X:201.10, Y:10.65, Z:-0.18 [[ 9.99082685e-01 -4.27132779e-02 -3.06020843e-03 2.01103752e+02] [ 4.27126563e-02 9.99087362e-01 -2.68202569e-04 1.06504077e+01] [ 3.06887138e-03 1.37246912e-04 9.99995282e-01 -1.80295092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.531400513 meters Centerline goodness [0,1] 0.9999352163772999 Centerline is valid? [True, True] Translation: X:201.13, Y:10.65, Z:-0.18 [[ 9.99074641e-01 -4.29010166e-02 -3.06015151e-03 2.01131194e+02] [ 4.29003939e-02 9.99079318e-01 -2.68851381e-04 1.06529508e+01] [ 3.06886808e-03 1.37320891e-04 9.99995282e-01 -1.80310861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.561400513 meters Centerline goodness [0,1] 0.999742306783774 Centerline is valid? [True, True] Translation: X:201.16, Y:10.66, Z:-0.18 [[ 9.99106072e-01 -4.21610674e-02 -3.08254449e-03 2.01158944e+02] [ 4.21604317e-02 9.99110817e-01 -2.70924658e-04 1.06597131e+01] [ 3.09122602e-03 1.40721064e-04 9.99995212e-01 -1.81041967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.591400513 meters Centerline goodness [0,1] 0.9997851541518961 Centerline is valid? [True, True] Translation: X:201.19, Y:10.66, Z:-0.18 [[ 9.99130977e-01 -4.15015024e-02 -3.86206460e-03 2.01188155e+02] [ 4.15004971e-02 9.99138425e-01 -3.40106764e-04 1.06577744e+01] [ 3.87285209e-03 1.79533602e-04 9.99992484e-01 -1.83321698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.621400513 meters Centerline goodness [0,1] 0.9997648266130756 Centerline is valid? [True, True] Translation: X:201.22, Y:10.66, Z:-0.18 [[ 9.99136216e-01 -4.13278118e-02 -4.33980641e-03 2.01215500e+02] [ 4.13265391e-02 9.99145620e-01 -3.82565972e-04 1.06593874e+01] [ 4.35190919e-03 2.02886338e-04 9.99990510e-01 -1.84366184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.651400513 meters Centerline goodness [0,1] 0.9997186999610508 Centerline is valid? [True, True] Translation: X:201.24, Y:10.66, Z:-0.18 [[ 9.99136759e-01 -4.12857509e-02 -4.60685992e-03 2.01244850e+02] [ 4.12843127e-02 9.99147356e-01 -4.06894679e-04 1.06565044e+01] [ 4.61973086e-03 2.16352385e-04 9.99989306e-01 -1.84661346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.681400513 meters Centerline goodness [0,1] 0.9997858947458571 Centerline is valid? [True, True] Translation: X:201.27, Y:10.66, Z:-0.18 [[ 9.99151485e-01 -4.08852572e-02 -4.97048181e-03 2.01272889e+02] [ 4.08835769e-02 9.99163821e-01 -4.39231932e-04 1.06591848e+01] [ 4.98428371e-03 2.35648162e-04 9.99987551e-01 -1.84948194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.711400513 meters Centerline goodness [0,1] 0.9996972056406264 Centerline is valid? [True, True] Translation: X:201.30, Y:10.66, Z:-0.19 [[ 9.99179753e-01 -4.01369106e-02 -5.37126241e-03 2.01300428e+02] [ 4.01349359e-02 9.99194156e-01 -4.74952349e-04 1.06624711e+01] [ 5.38599713e-03 2.58987497e-04 9.99985462e-01 -1.85420299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.74140051300003 meters Centerline goodness [0,1] 0.9989986791086114 Centerline is valid? [True, True] Translation: X:201.33, Y:10.67, Z:-0.19 [[ 9.99218193e-01 -3.91189677e-02 -5.71914591e-03 2.01328703e+02] [ 3.91167114e-02 9.99234521e-01 -5.05894024e-04 1.06677896e+01] [ 5.73455807e-03 2.81784333e-04 9.99983518e-01 -1.86238003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.771400513 meters Centerline goodness [0,1] 0.9996327500540073 Centerline is valid? [True, True] Translation: X:201.36, Y:10.66, Z:-0.19 [[ 9.99269886e-01 -3.77455501e-02 -5.91340022e-03 2.01358962e+02] [ 3.77431131e-02 9.99287338e-01 -5.23209314e-04 1.06638902e+01] [ 5.92893479e-03 2.99637178e-04 9.99982379e-01 -1.85673126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.80140051300003 meters Centerline goodness [0,1] 0.9997846312887664 Centerline is valid? [True, True] Translation: X:201.39, Y:10.67, Z:-0.18 [[ 9.99290039e-01 -3.73504983e-02 -4.93538612e-03 2.01387834e+02] [ 3.73487915e-02 9.99302195e-01 -4.37575490e-04 1.06660851e+01] [ 4.94828585e-03 2.52934122e-04 9.99987725e-01 -1.84037863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.831400513 meters Centerline goodness [0,1] 0.9996772805507745 Centerline is valid? [True, True] Translation: X:201.42, Y:10.67, Z:-0.18 [[ 9.99319329e-01 -3.67335284e-02 -3.39513176e-03 2.01415673e+02] [ 3.67327162e-02 9.99325081e-01 -3.01299208e-04 1.06719250e+01] [ 3.40390810e-03 1.76381711e-04 9.99994191e-01 -1.81954788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.86140051300004 meters Centerline goodness [0,1] 0.9993550051599587 Centerline is valid? [True, True] Translation: X:201.44, Y:10.68, Z:-0.18 [[ 9.99350324e-01 -3.59927175e-02 -1.85878221e-03 2.01442872e+02] [ 3.59924725e-02 9.99352047e-01 -1.65070151e-04 1.06782456e+01] [ 1.86351913e-03 9.80607417e-05 9.99998259e-01 -1.79905496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.891400513 meters Centerline goodness [0,1] 0.9994593542527195 Centerline is valid? [True, True] Translation: X:201.47, Y:10.68, Z:-0.18 [[ 9.99370957e-01 -3.54565062e-02 -7.25549882e-04 2.01470053e+02] [ 3.54564686e-02 9.99371220e-01 -6.45303276e-05 1.06827314e+01] [ 7.27381691e-04 3.87642986e-05 9.99999735e-01 -1.77420100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.921400513 meters Centerline goodness [0,1] 0.9990217761143246 Centerline is valid? [True, True] Translation: X:201.50, Y:10.69, Z:-0.18 [[ 9.99387406e-01 -3.49796985e-02 -1.11059112e-03 2.01496841e+02] [ 3.49796101e-02 9.99388021e-01 -9.88437920e-05 1.06921202e+01] [ 1.11336898e-03 5.99351966e-05 9.99999378e-01 -1.78352171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.951400513 meters Centerline goodness [0,1] 0.9995712938352054 Centerline is valid? [True, True] Translation: X:201.53, Y:10.69, Z:-0.18 [[ 9.99393030e-01 -3.47955293e-02 -1.68601015e-03 2.01526665e+02] [ 3.47953250e-02 9.99394448e-01 -1.50351637e-04 1.06859978e+01] [ 1.69022075e-03 9.15951066e-05 9.99998567e-01 -1.78807843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.981400513 meters Centerline goodness [0,1] 0.9995476477683957 Centerline is valid? [True, True] Translation: X:201.55, Y:10.69, Z:-0.18 [[ 9.99402296e-01 -3.44993431e-02 -2.20137219e-03 2.01554274e+02] [ 3.44989941e-02 9.99404713e-01 -1.96348413e-04 1.06946974e+01] [ 2.20683563e-03 1.20285929e-04 9.99997558e-01 -1.79370085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.011400513 meters Centerline goodness [0,1] 0.9998050724480735 Centerline is valid? [True, True] Translation: X:201.58, Y:10.69, Z:-0.18 [[ 9.99403357e-01 -3.44675391e-02 -2.21774611e-03 2.01582893e+02] [ 3.44671838e-02 9.99405810e-01 -1.98232738e-04 1.06941617e+01] [ 2.22326094e-03 1.21675002e-04 9.99997521e-01 -1.79115007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.041400513 meters Centerline goodness [0,1] 0.9982758253687818 Centerline is valid? [True, True] Translation: X:201.61, Y:10.71, Z:-0.18 [[ 9.99418205e-01 -3.40748563e-02 -1.46839295e-03 2.01608763e+02] [ 3.40747000e-02 9.99419280e-01 -1.31308414e-04 1.07133413e+01] [ 1.47201454e-03 8.11969703e-05 9.99998913e-01 -1.78484067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.071400513 meters Centerline goodness [0,1] 0.9992085222897237 Centerline is valid? [True, True] Translation: X:201.64, Y:10.71, Z:-0.18 [[ 9.99424780e-01 -3.38775965e-02 -1.55483632e-03 2.01637425e+02] [ 3.38774206e-02 9.99425986e-01 -1.39339848e-04 1.07134378e+01] [ 1.55866432e-03 8.65858533e-05 9.99998782e-01 -1.78148172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.101400513 meters Centerline goodness [0,1] 0.9993382290154555 Centerline is valid? [True, True] Translation: X:201.67, Y:10.72, Z:-0.18 [[ 9.99429543e-01 -3.37143372e-02 -1.98271359e-03 2.01666123e+02] [ 3.37140503e-02 9.99431504e-01 -1.77975295e-04 1.07168660e+01] [ 1.98758675e-03 1.11028462e-04 9.99998019e-01 -1.78289468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.131400513 meters Centerline goodness [0,1] 0.9980535911243755 Centerline is valid? [True, True] Translation: X:201.69, Y:10.72, Z:-0.18 [[ 9.99433791e-01 -3.35032514e-02 -3.10319182e-03 2.01693160e+02] [ 3.35025472e-02 9.99438593e-01 -2.78659860e-04 1.07221391e+01] [ 3.11078568e-03 1.74537250e-04 9.99995146e-01 -1.79977137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.161400513 meters Centerline goodness [0,1] 0.9992530943235168 Centerline is valid? [True, True] Translation: X:201.72, Y:10.72, Z:-0.18 [[ 9.99450040e-01 -3.29549608e-02 -3.68615581e-03 2.01721437e+02] [ 3.29539626e-02 9.99456816e-01 -3.31207499e-04 1.07234845e+01] [ 3.69506847e-03 2.09551908e-04 9.99993151e-01 -1.80997320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.191400513 meters Centerline goodness [0,1] 0.9991886929416286 Centerline is valid? [True, True] Translation: X:201.75, Y:10.73, Z:-0.18 [[ 9.99460720e-01 -3.26943240e-02 -3.05771320e-03 2.01749626e+02] [ 3.26936354e-02 9.99465382e-01 -2.74923001e-04 1.07265299e+01] [ 3.06506692e-03 1.74806979e-04 9.99995287e-01 -1.80356539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.221400513 meters Centerline goodness [0,1] 0.9971727210418094 Centerline is valid? [True, True] Translation: X:201.78, Y:10.74, Z:-0.18 [[ 9.99494051e-01 -3.16977783e-02 -2.62529963e-03 2.01777573e+02] [ 3.16972671e-02 9.99497487e-01 -2.36125902e-04 1.07357396e+01] [ 2.63146505e-03 1.52791611e-04 9.99996526e-01 -1.79527204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.251400513 meters Centerline goodness [0,1] 0.9988001885418005 Centerline is valid? [True, True] Translation: X:201.81, Y:10.73, Z:-0.18 [[ 9.99528632e-01 -3.05749168e-02 -2.77273425e-03 2.01807816e+02] [ 3.05743420e-02 9.99532464e-01 -2.49442415e-04 1.07337541e+01] [ 2.77906458e-03 1.64550310e-04 9.99996125e-01 -1.78953301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.281400513 meters Centerline goodness [0,1] 0.9978561474970522 Centerline is valid? [True, True] Translation: X:201.84, Y:10.74, Z:-0.18 [[ 9.99561119e-01 -2.94073740e-02 -3.57437900e-03 2.01836819e+02] [ 2.94064110e-02 9.99567486e-01 -3.21685781e-04 1.07380312e+01] [ 3.58229297e-03 2.16434941e-04 9.99993560e-01 -1.80027369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.311400513 meters Centerline goodness [0,1] 0.9855069374880112 Centerline is valid? [True, True] Translation: X:201.86, Y:10.75, Z:-0.18 [[ 9.99591268e-01 -2.82628607e-02 -4.30204846e-03 2.01864532e+02] [ 2.82614541e-02 9.99600490e-01 -3.87409495e-04 1.07469304e+01] [ 4.31127905e-03 2.65669004e-04 9.99990671e-01 -1.82075166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.341400513 meters Centerline goodness [0,1] 0.9860800238749974 Centerline is valid? [True, True] Translation: X:201.90, Y:10.75, Z:-0.18 [[ 9.99648117e-01 -2.61974476e-02 -4.16371038e-03 2.01895152e+02] [ 2.61961123e-02 9.99656753e-01 -3.74922527e-04 1.07489921e+01] [ 4.17210321e-03 2.65717574e-04 9.99991261e-01 -1.82061385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.371400513 meters Centerline goodness [0,1] 0.9907773669275088 Centerline is valid? [True, True] Translation: X:201.92, Y:10.75, Z:-0.18 [[ 9.99667760e-01 -2.55398918e-02 -3.47620324e-03 2.01923610e+02] [ 2.55389563e-02 9.99673779e-01 -3.13244899e-04 1.07490781e+01] [ 3.48306946e-03 2.24362224e-04 9.99993909e-01 -1.80470004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.401400513 meters Centerline goodness [0,1] 0.9917463729177861 Centerline is valid? [True, True] Translation: X:201.95, Y:10.75, Z:-0.18 [[ 9.99680797e-01 -2.50557716e-02 -3.24225178e-03 2.01952389e+02] [ 2.50549534e-02 9.99686033e-01 -2.92742189e-04 1.07488860e+01] [ 3.24856870e-03 2.11414277e-04 9.99994701e-01 -1.79382155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.431400513 meters Centerline goodness [0,1] 0.9657816605079351 Centerline is valid? [True, True] Translation: X:201.98, Y:10.75, Z:-0.18 [[ 9.99686520e-01 -2.46377205e-02 -4.45470270e-03 2.01979902e+02] [ 2.46361710e-02 9.99696403e-01 -4.02374178e-04 1.07513158e+01] [ 4.46326385e-03 2.92501225e-04 9.99989997e-01 -1.81824223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.461400513 meters Centerline goodness [0,1] 0.9730720849412617 Centerline is valid? [True, True] Translation: X:202.01, Y:10.75, Z:-0.18 [[ 9.99679540e-01 -2.47765561e-02 -5.19039356e-03 2.02008959e+02] [ 2.47744499e-02 9.99692956e-01 -4.69697447e-04 1.07499113e+01] [ 5.20043736e-03 3.40957782e-04 9.99986420e-01 -1.83206702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.49140051300003 meters Centerline goodness [0,1] 0.9433665219981278 Centerline is valid? [True, False] Translation: X:202.01, Y:10.75, Z:-0.18 [[ 9.99683682e-01 -2.45927433e-02 -5.26626613e-03 2.02009219e+02] [ 2.45927589e-02 9.99697550e-01 -6.17948125e-05 1.07479793e+01] [ 5.26619305e-03 -6.77367476e-05 9.99986131e-01 -1.83219477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.521400513 meters Centerline goodness [0,1] 0.9438567422890645 Centerline is valid? [False, False] Translation: X:202.01, Y:10.75, Z:-0.18 [[ 9.99687496e-01 -2.44367266e-02 -5.26837289e-03 2.02009109e+02] [ 2.44384698e-02 9.99701300e-01 2.66753756e-04 1.07464582e+01] [ 5.26028064e-03 -3.95421366e-04 9.99986086e-01 -1.82974720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.55140051300003 meters Centerline goodness [0,1] 0.9673727729946296 Centerline is valid? [False, True] Translation: X:202.01, Y:10.76, Z:-0.19 [[ 9.99789182e-01 -2.04413411e-02 -1.93496376e-03 2.02011407e+02] [ 2.04076384e-02 9.99662493e-01 -1.60757109e-02 1.07572540e+01] [ 2.26291979e-03 1.60328338e-02 9.99868905e-01 -1.88009617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.581400513 meters Centerline goodness [0,1] 0.8046893418204419 Centerline is valid? [True, False] Translation: X:202.01, Y:10.75, Z:-0.19 [[ 9.99930369e-01 -1.15695626e-02 -2.32436869e-03 2.02011319e+02] [ 1.15572243e-02 9.99919413e-01 -5.25332052e-03 1.07459905e+01] [ 2.38496000e-03 5.22609147e-03 9.99983500e-01 -1.85761136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.61140051300004 meters Centerline goodness [0,1] 0.7682988925192006 Centerline is valid? [False, False] Translation: X:202.01, Y:10.75, Z:-0.19 [[ 9.99930149e-01 -1.15876001e-02 -2.32919492e-03 2.02011437e+02] [ 1.15746729e-02 9.99917946e-01 -5.48897390e-03 1.07471852e+01] [ 2.39260783e-03 5.46163082e-03 9.99982223e-01 -1.85999396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.641400513 meters Centerline goodness [0,1] 0.9008666107562953 Centerline is valid? [False, False] Translation: X:202.01, Y:10.75, Z:-0.19 [[ 9.99930536e-01 -1.15567881e-02 -2.31607976e-03 2.02011402e+02] [ 1.15440111e-02 9.99918480e-01 -5.45609508e-03 1.07470459e+01] [ 2.37894589e-03 5.42897922e-03 9.99982433e-01 -1.86027323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.671400513 meters Centerline goodness [0,1] 0.8827485128028278 Centerline is valid? [False, False] Translation: X:202.01, Y:10.74, Z:-0.18 [[ 9.99971752e-01 -6.97719764e-03 -2.79516557e-03 2.02012249e+02] [ 6.97838207e-03 9.99975565e-01 4.14213565e-04 1.07392698e+01] [ 2.79220722e-03 -4.33707598e-04 9.99996008e-01 -1.84704783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.701400513 meters Centerline goodness [0,1] 0.965270026616296 Centerline is valid? [False, True] Translation: X:202.01, Y:10.74, Z:-0.18 [[ 9.99972453e-01 -6.79316856e-03 -2.99101017e-03 2.02012971e+02] [ 6.79629339e-03 9.99976368e-01 1.03582060e-03 1.07361644e+01] [ 2.98390298e-03 -1.05611985e-03 9.99994990e-01 -1.84924456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.731400513 meters Centerline goodness [0,1] 0.889447558731653 Centerline is valid? [True, False] Translation: X:202.01, Y:10.73, Z:-0.18 [[ 9.99973182e-01 -6.65712671e-03 -3.05262501e-03 2.02013049e+02] [ 6.66161824e-03 9.99976740e-01 1.46356550e-03 1.07340920e+01] [ 3.04281087e-03 -1.48386168e-03 9.99994270e-01 -1.84731889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.761400513 meters Centerline goodness [0,1] 0.9325440763137722 Centerline is valid? [False, False] Translation: X:202.01, Y:10.73, Z:-0.18 [[ 9.99974251e-01 -6.46343115e-03 -3.11794259e-03 2.02013007e+02] [ 6.46993597e-03 9.99976905e-01 2.08069963e-03 1.07311441e+01] [ 3.10442212e-03 -2.10081895e-03 9.99992975e-01 -1.84202822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.791400513 meters Centerline goodness [0,1] 0.9622889345564712 Centerline is valid? [False, True] Translation: X:202.01, Y:10.73, Z:-0.18 [[ 9.99975482e-01 -6.22975694e-03 -3.19788446e-03 2.02012955e+02] [ 6.23846015e-03 9.99976845e-01 2.71882895e-03 1.07281097e+01] [ 3.18087277e-03 -2.73871216e-03 9.99991191e-01 -1.83580298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.821400513 meters Centerline goodness [0,1] 0.9858319464003755 Centerline is valid? [True, True] Translation: X:202.04, Y:10.73, Z:-0.18 [[ 9.99970568e-01 -7.02100258e-03 -3.09327901e-03 2.02042270e+02] [ 7.02032338e-03 9.99975331e-01 -2.30375850e-04 1.07266406e+01] [ 3.09482017e-03 2.08653251e-04 9.99995189e-01 -1.83601981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.851400513 meters Centerline goodness [0,1] 0.9348842127524585 Centerline is valid? [True, False] Translation: X:202.04, Y:10.73, Z:-0.18 [[ 9.99970811e-01 -6.94080886e-03 -3.19416036e-03 2.02042621e+02] [ 6.94056103e-03 9.99975910e-01 -8.86659322e-05 1.07259681e+01] [ 3.19469883e-03 6.64940791e-05 9.99994895e-01 -1.83617803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.881400513 meters Centerline goodness [0,1] 0.796952067788036 Centerline is valid? [False, False] Translation: X:202.04, Y:10.72, Z:-0.18 [[ 9.99991710e-01 -2.30294567e-03 -3.35817235e-03 2.02042891e+02] [ 2.31932291e-03 9.99985398e-01 4.88111923e-03 1.07229935e+01] [ 3.34688236e-03 -4.88886745e-03 9.99982449e-01 -1.83129143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.911400513 meters Centerline goodness [0,1] 0.8421865614004977 Centerline is valid? [False, False] Translation: X:201.98, Y:10.72, Z:-0.19 [[ 9.99998741e-01 1.17730330e-03 -1.06408410e-03 2.01979406e+02] [-1.17468987e-03 9.99996301e-01 2.45333369e-03 1.07216729e+01] [ 1.06696848e-03 -2.45208064e-03 9.99996424e-01 -1.87245780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.941400513 meters Centerline goodness [0,1] 0.6295555177111717 Centerline is valid? [False, False] Translation: X:201.98, Y:10.72, Z:-0.19 [[ 9.99982907e-01 5.73146397e-03 -1.15621779e-03 2.01979317e+02] [-5.72285161e-03 9.99956837e-01 7.31937876e-03 1.07192287e+01] [ 1.19811864e-03 -7.31263679e-03 9.99972545e-01 -1.86341943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.971400513 meters Centerline goodness [0,1] 0.7092579565560316 Centerline is valid? [False, False] Translation: X:201.98, Y:10.73, Z:-0.19 [[ 9.99975930e-01 6.86553763e-03 -1.00147231e-03 2.01978787e+02] [-6.85893095e-03 9.99955626e-01 6.45761326e-03 1.07272132e+01] [ 1.04576286e-03 -6.45058880e-03 9.99978648e-01 -1.87515883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.001400513 meters Centerline goodness [0,1] 0.63307301087396 Centerline is valid? [False, False] Translation: X:201.98, Y:10.73, Z:-0.19 [[ 9.99977714e-01 6.61796038e-03 -8.79593211e-04 2.01978847e+02] [-6.61311937e-03 9.99963568e-01 5.39712988e-03 1.07323537e+01] [ 9.15279158e-04 -5.39119275e-03 9.99985049e-01 -1.88575862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.031400513 meters Centerline goodness [0,1] 0.42402370621229757 Centerline is valid? [False, False] Translation: X:201.98, Y:10.74, Z:-0.19 [[ 9.99979783e-01 6.30635637e-03 -8.14756930e-04 2.01978921e+02] [-6.30272019e-03 9.99970497e-01 4.39093924e-03 1.07371784e+01] [ 8.42423720e-04 -4.38571528e-03 9.99990028e-01 -1.89223071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.061400513 meters Centerline goodness [0,1] 0.38749014006438276 Centerline is valid? [False, False] Translation: X:201.98, Y:10.74, Z:-0.19 [[ 9.99981974e-01 5.96812077e-03 -6.58814884e-04 2.01978565e+02] [-5.96580384e-03 9.99976203e-01 3.46447299e-03 1.07415985e+01] [ 6.79475599e-04 -3.46048018e-03 9.99993782e-01 -1.89587648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.091400513 meters Centerline goodness [0,1] 0.42158047622076633 Centerline is valid? [False, False] Translation: X:201.98, Y:10.75, Z:-0.19 [[ 9.99984518e-01 5.53806142e-03 -5.42189678e-04 2.01978362e+02] [-5.53674391e-03 9.99981787e-01 2.40205759e-03 1.07466225e+01] [ 5.55482545e-04 -2.39901843e-03 9.99996968e-01 -1.89984260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.121400513 meters Centerline goodness [0,1] 0.3735947324963479 Centerline is valid? [False, False] Translation: X:201.98, Y:10.75, Z:-0.19 [[ 9.99987069e-01 5.06602561e-03 -4.43336070e-04 2.01978280e+02] [-5.06543625e-03 9.99986299e-01 1.32056140e-03 1.07516878e+01] [ 4.50019994e-04 -1.31829863e-03 9.99999030e-01 -1.90518895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.151400513 meters Centerline goodness [0,1] 0.4469822636212837 Centerline is valid? [False, False] Translation: X:201.98, Y:10.76, Z:-0.19 [[ 9.99991340e-01 4.15587064e-03 -2.22598560e-04 2.01977820e+02] [-4.15602747e-03 9.99991112e-01 -7.08808272e-04 1.07611789e+01] [ 2.19650866e-04 7.09727259e-04 9.99999724e-01 -1.91160893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.181400513 meters Centerline goodness [0,1] 0.46301847481769676 Centerline is valid? [False, False] Translation: X:201.98, Y:10.76, Z:-0.19 [[ 9.99992710e-01 3.81531142e-03 -1.55852036e-04 2.01977464e+02] [-3.81553412e-03 9.99991663e-01 -1.45454382e-03 1.07646961e+01] [ 1.50301199e-04 1.45512788e-03 9.99998930e-01 -1.90946204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.211400513 meters Centerline goodness [0,1] 0.5317664183577361 Centerline is valid? [False, False] Translation: X:201.98, Y:10.77, Z:-0.19 [[ 9.99993654e-01 3.55986494e-03 -1.42026549e-04 2.01977238e+02] [-3.56013863e-03 9.99991711e-01 -1.97571332e-03 1.07671422e+01] [ 1.34992099e-04 1.97620641e-03 9.99998038e-01 -1.90643228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.24140051300003 meters Centerline goodness [0,1] 0.4726605349759514 Centerline is valid? [False, False] Translation: X:202.00, Y:10.77, Z:-0.19 [[ 9.99998299e-01 1.46755224e-03 1.11757655e-03 2.01997548e+02] [-1.47494820e-03 9.99976827e-01 6.64604475e-03 1.07664766e+01] [-1.10779724e-03 -6.64768181e-03 9.99977290e-01 -1.88959087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.271400513 meters Centerline goodness [0,1] 0.876949072786773 Centerline is valid? [False, False] Translation: X:201.96, Y:10.77, Z:-0.19 [[ 9.99986455e-01 -4.90905135e-03 -1.72948179e-03 2.01956018e+02] [ 4.91134981e-03 9.99987058e-01 1.32725898e-03 1.07743066e+01] [ 1.72294383e-03 -1.33573509e-03 9.99997624e-01 -1.88527372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.30140051300003 meters Centerline goodness [0,1] 0.7582604988275421 Centerline is valid? [False, False] Translation: X:201.96, Y:10.78, Z:-0.19 [[ 9.99984858e-01 -5.16901786e-03 -1.88810729e-03 2.01956496e+02] [ 5.17067946e-03 9.99986248e-01 8.76217569e-04 1.07763342e+01] [ 1.88355214e-03 -8.85967099e-04 9.99997834e-01 -1.88468134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.331400513 meters Centerline goodness [0,1] 0.8724562789605176 Centerline is valid? [False, False] Translation: X:201.96, Y:10.78, Z:-0.19 [[ 9.99983603e-01 -5.38676063e-03 -1.94353187e-03 2.01956670e+02] [ 5.38759209e-03 9.99985397e-01 4.22830083e-04 1.07784393e+01] [ 1.94122580e-03 -4.33294106e-04 9.99998022e-01 -1.88467035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.36140051300004 meters Centerline goodness [0,1] 0.9780926172765189 Centerline is valid? [False, True] Translation: X:201.96, Y:10.78, Z:-0.19 [[ 9.99982346e-01 -5.59788776e-03 -1.99261474e-03 2.01956843e+02] [ 5.59781325e-03 9.99984331e-01 -4.29714247e-05 1.07806051e+01] [ 1.99282407e-03 3.18163809e-05 9.99998014e-01 -1.88510923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.391400513 meters Centerline goodness [0,1] 0.9780926172765189 Centerline is valid? [True, True] Translation: X:201.98, Y:10.78, Z:-0.19 [[ 9.99981318e-01 -5.78215587e-03 -1.98246251e-03 2.01984331e+02] [ 5.78183964e-03 9.99983271e-01 -1.65205013e-04 1.07831180e+01] [ 1.98338458e-03 1.53739646e-04 9.99998021e-01 -1.88561643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.421400513 meters Centerline goodness [0,1] 0.8908577902229442 Centerline is valid? [True, False] Translation: X:201.98, Y:10.79, Z:-0.19 [[ 9.99979701e-01 -6.03353892e-03 -2.04794561e-03 2.01984708e+02] [ 6.03213744e-03 9.99981569e-01 -6.89823965e-04 1.07855188e+01] [ 2.05206994e-03 6.77456473e-04 9.99997665e-01 -1.88912029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.451400513 meters Centerline goodness [0,1] 0.9863175277188017 Centerline is valid? [False, True] Translation: X:201.99, Y:10.79, Z:-0.19 [[ 9.99977368e-01 -6.38619515e-03 -2.11667979e-03 2.01985229e+02] [ 6.38309940e-03 9.99978553e-01 -1.46609195e-03 1.07890702e+01] [ 2.12599714e-03 1.45254779e-03 9.99996685e-01 -1.89514906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.481400513 meters Centerline goodness [0,1] 0.7510057348283832 Centerline is valid? [True, False] Translation: X:201.99, Y:10.79, Z:-0.19 [[ 9.99992019e-01 -2.65445214e-03 -2.98605254e-03 2.01988043e+02] [ 2.66253043e-03 9.99992798e-01 2.70462651e-03 1.07887780e+01] [ 2.97885173e-03 -2.71255538e-03 9.99991884e-01 -1.89522302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.511400513 meters Centerline goodness [0,1] 0.8929867247193409 Centerline is valid? [False, False] Translation: X:201.99, Y:10.79, Z:-0.19 [[ 9.99991512e-01 -2.78367164e-03 -3.03767949e-03 2.01988195e+02] [ 2.79108640e-03 9.99993129e-01 2.43942614e-03 1.07899963e+01] [ 3.03086805e-03 -2.44788386e-03 9.99992411e-01 -1.89498294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.541400513 meters Centerline goodness [0,1] 0.7842052634938196 Centerline is valid? [False, False] Translation: X:201.99, Y:10.79, Z:-0.19 [[ 9.99991157e-01 -2.84401187e-03 -3.09783707e-03 2.01988303e+02] [ 2.85125734e-03 9.99993204e-01 2.33698152e-03 1.07904536e+01] [ 3.09116961e-03 -2.34579359e-03 9.99992471e-01 -1.89318283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.571400513 meters Centerline goodness [0,1] 0.9828788431418825 Centerline is valid? [False, True] Translation: X:201.98, Y:10.79, Z:-0.19 [[ 9.99982770e-01 -5.43368516e-03 -2.22140587e-03 2.01981899e+02] [ 5.43236428e-03 9.99985064e-01 -6.00214519e-04 1.07935307e+01] [ 2.22463407e-03 5.88136691e-04 9.99997353e-01 -1.85444845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.601400513 meters Centerline goodness [0,1] 0.9075343933484764 Centerline is valid? [True, False] Translation: X:201.98, Y:10.79, Z:-0.19 [[ 9.99982543e-01 -5.42541098e-03 -2.34074766e-03 2.01982221e+02] [ 5.42429605e-03 9.99985172e-01 -4.82399220e-04 1.07929237e+01] [ 2.34333016e-03 4.69693890e-04 9.99997144e-01 -1.85309420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.631400513 meters Centerline goodness [0,1] 0.9245558321174148 Centerline is valid? [False, False] Translation: X:201.98, Y:10.79, Z:-0.19 [[ 9.99982945e-01 -5.34002691e-03 -2.36532912e-03 2.01982158e+02] [ 5.33938399e-03 9.99985707e-01 -2.78042299e-04 1.07919846e+01] [ 2.36678007e-03 2.65408156e-04 9.99997164e-01 -1.85025846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.661400513 meters Centerline goodness [0,1] 0.8351246039222403 Centerline is valid? [False, False] Translation: X:201.98, Y:10.79, Z:-0.18 [[ 9.99983706e-01 -5.19408261e-03 -2.36853643e-03 2.01982097e+02] [ 5.19419195e-03 9.99986509e-01 4.00139729e-05 1.07905153e+01] [ 2.36829664e-03 -5.23159538e-05 9.99997194e-01 -1.84863224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.691400513 meters Centerline goodness [0,1] 0.9914438735522076 Centerline is valid? [False, True] Translation: X:201.94, Y:10.78, Z:-0.18 [[ 9.99976012e-01 -4.99431966e-03 -4.79912481e-03 2.01940123e+02] [ 5.01108060e-03 9.99981365e-01 3.48684377e-03 1.07831272e+01] [ 4.78162097e-03 -3.51080893e-03 9.99982405e-01 -1.83545817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.721400513 meters Centerline goodness [0,1] 0.9131291075289534 Centerline is valid? [True, False] Translation: X:201.96, Y:10.79, Z:-0.19 [[ 9.99993399e-01 -3.63137302e-03 -1.21587363e-04 2.01963982e+02] [ 3.63044695e-03 9.99969572e-01 -6.90476366e-03 1.07926599e+01] [ 1.46657436e-04 6.90427667e-03 9.99976154e-01 -1.91171124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.751400513 meters Centerline goodness [0,1] 0.7362379448664333 Centerline is valid? [False, False] Translation: X:201.97, Y:10.79, Z:-0.19 [[ 9.99999334e-01 1.05559160e-03 -4.66109977e-04 2.01965406e+02] [-1.05638310e-03 9.99997995e-01 -1.70113149e-03 1.07883912e+01] [ 4.64313342e-04 1.70162275e-03 9.99998444e-01 -1.91726297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.781400513 meters Centerline goodness [0,1] 0.806605786464112 Centerline is valid? [False, False] Translation: X:201.97, Y:10.79, Z:-0.19 [[ 9.99999506e-01 9.00594828e-04 -4.20784308e-04 2.01965540e+02] [-9.01550599e-04 9.99997002e-01 -2.27676328e-03 1.07911518e+01] [ 4.18732605e-04 2.27714151e-03 9.99997320e-01 -1.92306173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.811400513 meters Centerline goodness [0,1] 0.7765328552830953 Centerline is valid? [False, False] Translation: X:201.97, Y:10.79, Z:-0.19 [[ 9.99999683e-01 7.50559954e-04 -2.67627819e-04 2.01965078e+02] [-7.51316028e-04 9.99995696e-01 -2.83627744e-03 1.07939181e+01] [ 2.65497871e-04 2.83647761e-03 9.99995942e-01 -1.92443877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.841400513 meters Centerline goodness [0,1] 0.7600365739559412 Centerline is valid? [False, False] Translation: X:201.96, Y:10.80, Z:-0.19 [[ 9.99999792e-01 6.28773254e-04 -1.42159012e-04 2.01964572e+02] [-6.29233585e-04 9.99994483e-01 -3.26162369e-03 1.07960372e+01] [ 1.40107406e-04 3.26171246e-03 9.99994671e-01 -1.92283253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.871400513 meters Centerline goodness [0,1] 0.7838166570642084 Centerline is valid? [False, False] Translation: X:201.96, Y:10.80, Z:-0.19 [[ 9.99997132e-01 2.23327984e-03 8.65404182e-04 2.01957541e+02] [-2.23164096e-03 9.99995724e-01 -1.89014093e-03 1.07968178e+01] [-8.69621695e-04 1.88820424e-03 9.99997839e-01 -1.87789767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.901400513 meters Centerline goodness [0,1] 0.5714773624778534 Centerline is valid? [False, False] Translation: X:201.96, Y:10.80, Z:-0.19 [[ 9.99997433e-01 2.03129047e-03 1.00392205e-03 2.01957021e+02] [-2.02886315e-03 9.99995031e-01 -2.41297405e-03 1.07993385e+01] [-1.00881851e-03 2.41093103e-03 9.99996585e-01 -1.87704788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.931400513 meters Centerline goodness [0,1] 0.535960801022582 Centerline is valid? [False, False] Translation: X:201.96, Y:10.80, Z:-0.19 [[ 9.99997693e-01 1.83400438e-03 1.11787772e-03 2.01956446e+02] [-1.83078652e-03 9.99994198e-01 -2.87280421e-03 1.08015528e+01] [-1.12313997e-03 2.87075099e-03 9.99995249e-01 -1.87359644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.961400513 meters Centerline goodness [0,1] 0.4995983256521923 Centerline is valid? [False, False] Translation: X:201.96, Y:10.80, Z:-0.19 [[ 9.99983295e-01 5.73542254e-03 7.17904405e-04 2.01957387e+02] [-5.73692818e-03 9.99981311e-01 2.11308687e-03 1.07973108e+01] [-7.05771542e-04 -2.11717014e-03 9.99997510e-01 -1.86220315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.99140051300003 meters Centerline goodness [0,1] 0.5898107900792636 Centerline is valid? [False, False] Translation: X:201.96, Y:10.80, Z:-0.19 [[ 9.99984448e-01 5.53234548e-03 7.04417591e-04 2.01957431e+02] [-5.53353117e-03 9.99983258e-01 1.69254994e-03 1.07992559e+01] [-6.95042026e-04 -1.69642154e-03 9.99998320e-01 -1.86243321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.021400513 meters Centerline goodness [0,1] 0.6787448875255624 Centerline is valid? [False, False] Translation: X:201.96, Y:10.81, Z:-0.19 [[ 9.99987743e-01 4.92413965e-03 5.15558032e-04 2.01958438e+02] [-4.92436191e-03 9.99987782e-01 4.30739589e-04 1.08050025e+01] [-5.13430711e-04 -4.33273104e-04 9.99999774e-01 -1.87006143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.05140051300003 meters Centerline goodness [0,1] 0.6672257845343752 Centerline is valid? [False, False] Translation: X:201.96, Y:10.81, Z:-0.19 [[ 9.99989572e-01 4.54006839e-03 4.92796877e-04 2.01958566e+02] [-4.53987828e-03 9.99989620e-01 -3.86221255e-04 1.08088031e+01] [-4.94545233e-04 3.83979990e-04 9.99999804e-01 -1.87121511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.081400513 meters Centerline goodness [0,1] 0.6961521926053311 Centerline is valid? [False, False] Translation: X:201.94, Y:10.80, Z:-0.18 [[ 9.99985537e-01 3.12929801e-03 -4.37425623e-03 2.01935024e+02] [-3.08611508e-03 9.99946782e-01 9.84419602e-03 1.08028299e+01] [ 4.40482887e-03 -9.83055418e-03 9.99941977e-01 -1.79750348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.11140051300004 meters Centerline goodness [0,1] 0.7700398134940067 Centerline is valid? [False, False] Translation: X:201.96, Y:10.82, Z:-0.19 [[ 9.99995376e-01 2.37362328e-03 1.90113015e-03 2.01957994e+02] [-2.36998757e-03 9.99995363e-01 -1.91236681e-03 1.08214145e+01] [-1.90566058e-03 1.90785231e-03 9.99996364e-01 -1.87152281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.141400513 meters Centerline goodness [0,1] 0.7205807653234 Centerline is valid? [False, False] Translation: X:201.96, Y:10.82, Z:-0.19 [[ 9.99988927e-01 4.56581350e-03 1.13957369e-03 2.01963972e+02] [-4.56633259e-03 9.99989471e-01 4.53328053e-04 1.08220764e+01] [-1.13749188e-03 -4.58526706e-04 9.99999248e-01 -1.90758701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.171400513 meters Centerline goodness [0,1] 0.8361763827881786 Centerline is valid? [False, False] Translation: X:201.96, Y:10.83, Z:-0.19 [[ 9.99990706e-01 4.15630767e-03 1.14544002e-03 2.01964162e+02] [-4.15580456e-03 9.99991267e-01 -4.41260546e-04 1.08262103e+01] [-1.14726403e-03 4.36496221e-04 9.99999247e-01 -1.91178391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.201400513 meters Centerline goodness [0,1] 0.8449744463373083 Centerline is valid? [False, False] Translation: X:201.96, Y:10.83, Z:-0.19 [[ 9.99992423e-01 3.74068343e-03 1.07723459e-03 2.01964641e+02] [-3.73919503e-03 9.99992056e-01 -1.38040645e-03 1.08305605e+01] [-1.08238969e-03 1.37636800e-03 9.99998467e-01 -1.91715733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.231400513 meters Centerline goodness [0,1] 0.8174196553330229 Centerline is valid? [False, False] Translation: X:201.97, Y:10.84, Z:-0.19 [[ 9.99994590e-01 3.12992089e-03 1.01174464e-03 2.01965180e+02] [-3.12715535e-03 9.99991402e-01 -2.72356180e-03 1.08367949e+01] [-1.02026047e-03 2.72038318e-03 9.99995779e-01 -1.92358746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.261400513 meters Centerline goodness [0,1] 0.7824287321432362 Centerline is valid? [False, False] Translation: X:201.97, Y:10.84, Z:-0.19 [[ 9.99995115e-01 2.94822566e-03 1.03787755e-03 2.01965109e+02] [-2.94495783e-03 9.99990746e-01 -3.13614718e-03 1.08387326e+01] [-1.04711401e-03 3.13307536e-03 9.99994544e-01 -1.92398671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.291400513 meters Centerline goodness [0,1] 0.8081411473556205 Centerline is valid? [False, False] Translation: X:201.96, Y:10.84, Z:-0.19 [[ 9.99995659e-01 2.74502752e-03 1.07117416e-03 2.01964946e+02] [-2.74115963e-03 9.99989778e-01 -3.59580160e-03 1.08409031e+01] [-1.08103379e-03 3.59284973e-03 9.99992961e-01 -1.92310963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.321400513 meters Centerline goodness [0,1] 0.8534171515949539 Centerline is valid? [False, False] Translation: X:201.97, Y:10.84, Z:-0.20 [[ 9.99987951e-01 4.89837831e-03 3.22589668e-04 2.01971106e+02] [-4.89795736e-03 9.99987169e-01 -1.29303358e-03 1.08402171e+01] [-3.28919297e-04 1.29143797e-03 9.99999112e-01 -1.96277690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.351400513 meters Centerline goodness [0,1] 0.8121654605404016 Centerline is valid? [False, False] Translation: X:201.97, Y:10.84, Z:-0.20 [[ 9.99989341e-01 4.60517773e-03 3.31048106e-04 2.01971207e+02] [-4.60452049e-03 9.99987479e-01 -1.95941000e-03 1.08433191e+01] [-3.40067392e-04 1.95786480e-03 9.99998026e-01 -1.96537607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.381400513 meters Centerline goodness [0,1] 0.7876799863678964 Centerline is valid? [False, False] Translation: X:201.97, Y:10.85, Z:-0.20 [[ 9.99991958e-01 4.00984519e-03 7.71606620e-05 2.01972623e+02] [-4.00956603e-03 9.99986417e-01 -3.32994678e-03 1.08496170e+01] [-9.05121850e-05 3.32961062e-03 9.99994453e-01 -1.97712551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.411400513 meters Centerline goodness [0,1] 0.7398429498122225 Centerline is valid? [False, False] Translation: X:201.97, Y:10.85, Z:-0.20 [[ 9.99992521e-01 3.86748109e-03 -2.18211708e-06 2.01973132e+02] [-3.86746312e-03 9.99985807e-01 -3.66446936e-03 1.08511570e+01] [-1.19901799e-05 3.66445040e-03 9.99993286e-01 -1.98197532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.441400513 meters Centerline goodness [0,1] 0.7499570962759567 Centerline is valid? [False, False] Translation: X:201.97, Y:10.85, Z:-0.20 [[ 9.99992929e-01 3.76006843e-03 -6.92728110e-05 2.01973536e+02] [-3.76030964e-03 9.99985351e-01 -3.89336065e-03 1.08521766e+01] [ 5.46324937e-05 3.89359361e-03 9.99992418e-01 -1.98556321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.471400513 meters Centerline goodness [0,1] 0.8088520055325035 Centerline is valid? [False, False] Translation: X:201.98, Y:10.85, Z:-0.20 [[ 9.99967969e-01 7.97469310e-03 -6.81833441e-04 2.01975412e+02] [-7.97371687e-03 9.99967197e-01 1.42268879e-03 1.08465880e+01] [ 6.93156582e-04 -1.41720647e-03 9.99998756e-01 -1.98034398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.501400513 meters Centerline goodness [0,1] 0.7844880899068092 Centerline is valid? [False, False] Translation: X:201.98, Y:10.85, Z:-0.20 [[ 9.99968818e-01 7.86779224e-03 -6.79401675e-04 2.01975373e+02] [-7.86698683e-03 9.99968358e-01 1.18011387e-03 1.08477286e+01] [ 6.88665069e-04 -1.17473223e-03 9.99999073e-01 -1.97987930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.531400513 meters Centerline goodness [0,1] 0.7839167092488503 Centerline is valid? [False, False] Translation: X:201.98, Y:10.85, Z:-0.20 [[ 9.99969991e-01 7.70733121e-03 -7.83648913e-04 2.01975811e+02] [-7.70665149e-03 9.99969928e-01 8.66733925e-04 1.08491479e+01] [ 7.90305553e-04 -8.60668606e-04 9.99999317e-01 -1.98189989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.561400513 meters Centerline goodness [0,1] 0.6664036172844772 Centerline is valid? [False, False] Translation: X:201.98, Y:10.85, Z:-0.20 [[ 9.99970437e-01 7.64422775e-03 -8.30976708e-04 2.01976034e+02] [-7.64360890e-03 9.99970509e-01 7.45364248e-04 1.08496861e+01] [ 8.36649936e-04 -7.38990552e-04 9.99999377e-01 -1.98298493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.591400513 meters Centerline goodness [0,1] 0.9248621865682847 Centerline is valid? [False, False] Translation: X:201.98, Y:10.85, Z:-0.20 [[ 9.99971004e-01 7.57392698e-03 -7.92091709e-04 2.01975892e+02] [-7.57344625e-03 9.99971136e-01 6.08154710e-04 1.08503090e+01] [ 7.96674966e-04 -6.02138212e-04 9.99999501e-01 -1.98278994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.621400513 meters Centerline goodness [0,1] 0.9064514751718543 Centerline is valid? [False, False] Translation: X:201.97, Y:10.85, Z:-0.20 [[ 9.99972683e-01 7.37669576e-03 -4.67141832e-04 2.01974200e+02] [-7.37660710e-03 9.99972774e-01 1.91245901e-04 1.08523974e+01] [ 4.68539877e-04 -1.87794754e-04 9.99999873e-01 -1.97096130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.651400513 meters Centerline goodness [0,1] 0.9821187077385425 Centerline is valid? [False, True] Translation: X:201.97, Y:10.85, Z:-0.20 [[ 9.99972829e-01 7.36540694e-03 -3.01836691e-04 2.01973197e+02] [-7.36535068e-03 9.99972858e-01 1.87084481e-04 1.08524973e+01] [ 3.03206452e-04 -1.84856265e-04 9.99999937e-01 -1.96188257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.681400513 meters Centerline goodness [0,1] 0.7152657209400805 Centerline is valid? [True, False] Translation: X:201.99, Y:10.85, Z:-0.19 [[ 9.99979611e-01 6.34683122e-03 7.04451409e-04 2.01992591e+02] [-6.35395136e-03 9.99923496e-01 1.06127204e-02 1.08466941e+01] [-6.37040370e-04 -1.06169801e-02 9.99943435e-01 -1.93361383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.711400513 meters Centerline goodness [0,1] 0.8929446088975019 Centerline is valid? [False, False] Translation: X:201.99, Y:10.85, Z:-0.19 [[ 9.99998232e-01 1.65687298e-03 8.89618046e-04 2.01992343e+02] [-1.66123255e-03 9.99986505e-01 4.92232574e-03 1.08533001e+01] [-8.81450373e-04 -4.92379489e-03 9.99987490e-01 -1.94319199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.74140051300003 meters Centerline goodness [0,1] 0.9147852656594806 Centerline is valid? [False, False] Translation: X:201.99, Y:10.85, Z:-0.19 [[ 9.99998504e-01 1.57973896e-03 7.04368699e-04 2.01993275e+02] [-1.58312178e-03 9.99987091e-01 4.82821860e-03 1.08536156e+01] [-6.96732281e-04 -4.82932648e-03 9.99988096e-01 -1.94936668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.771400513 meters Centerline goodness [0,1] 0.9119827184548266 Centerline is valid? [False, False] Translation: X:201.99, Y:10.86, Z:-0.20 [[ 9.99998858e-01 1.40487941e-03 5.57385736e-04 2.01994131e+02] [-1.40737240e-03 9.99988895e-01 4.49775986e-03 1.08550456e+01] [-5.51060736e-04 -4.49853917e-03 9.99989730e-01 -1.95663719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.80140051300003 meters Centerline goodness [0,1] 0.9432077200008521 Centerline is valid? [False, False] Translation: X:201.99, Y:10.86, Z:-0.20 [[ 9.99999326e-01 1.04986602e-03 4.96668692e-04 2.01994160e+02] [-1.05172686e-03 9.99992373e-01 3.76132826e-03 1.08584739e+01] [-4.92716013e-04 -3.76184808e-03 9.99992803e-01 -1.95377087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.831400513 meters Centerline goodness [0,1] 0.9843163995908626 Centerline is valid? [False, True] Translation: X:201.99, Y:10.86, Z:-0.19 [[ 9.99999359e-01 1.02102472e-03 4.88897709e-04 2.01993917e+02] [-1.02284466e-03 9.99992495e-01 3.73686922e-03 1.08586086e+01] [-4.85078603e-04 -3.73736690e-03 9.99992898e-01 -1.94857322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.86140051300004 meters Centerline goodness [0,1] 0.9890530230985439 Centerline is valid? [True, True] Translation: X:202.02, Y:10.86, Z:-0.19 [[ 9.99998748e-01 -7.09242442e-04 1.41422914e-03 2.02023238e+02] [ 7.09117003e-04 9.99999745e-01 8.91972492e-05 1.08631698e+01] [-1.41429204e-03 -8.81942836e-05 9.99998996e-01 -1.94253222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.891400513 meters Centerline goodness [0,1] 0.9939144215530903 Centerline is valid? [True, True] Translation: X:202.05, Y:10.86, Z:-0.19 [[ 9.99993736e-01 -2.58972334e-03 2.41282273e-03 2.02053679e+02] [ 2.58936331e-03 9.99996636e-01 1.52327780e-04 1.08648751e+01] [-2.41320910e-03 -1.46079151e-04 9.99997078e-01 -1.93247240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.921400513 meters Centerline goodness [0,1] 0.9902076072780142 Centerline is valid? [True, True] Translation: X:202.08, Y:10.87, Z:-0.19 [[ 9.99984122e-01 -4.73850647e-03 3.04984710e-03 2.02082855e+02] [ 4.73794135e-03 9.99988757e-01 1.92492987e-04 1.08699040e+01] [-3.05072495e-03 -1.78039934e-04 9.99995331e-01 -1.92755516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.951400513 meters Centerline goodness [0,1] 0.9990458622225049 Centerline is valid? [True, True] Translation: X:202.11, Y:10.86, Z:-0.19 [[ 9.99952016e-01 -8.74432293e-03 4.41627481e-03 2.02113643e+02] [ 8.74317631e-03 9.99961739e-01 2.78875456e-04 1.08630432e+01] [-4.41854441e-03 -2.40249805e-04 9.99990209e-01 -1.91109883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.981400513 meters Centerline goodness [0,1] 0.9995749564330344 Centerline is valid? [True, True] Translation: X:202.14, Y:10.85, Z:-0.19 [[ 9.99928910e-01 -1.08622573e-02 4.91790817e-03 2.02144566e+02] [ 1.08608612e-02 9.99940971e-01 3.10512875e-04 1.08543090e+01] [-4.92099074e-03 -2.57078083e-04 9.99987859e-01 -1.90405464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.011400513 meters Centerline goodness [0,1] 0.9995116254379446 Centerline is valid? [True, True] Translation: X:202.17, Y:10.85, Z:-0.19 [[ 9.99905494e-01 -1.28343759e-02 4.92774351e-03 2.02174778e+02] [ 1.28329979e-02 9.99917605e-01 3.11165955e-04 1.08536392e+01] [-4.93133111e-03 -2.47898826e-04 9.99987810e-01 -1.90797291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.041400513 meters Centerline goodness [0,1] 0.9997453256648061 Centerline is valid? [True, True] Translation: X:202.21, Y:10.85, Z:-0.19 [[ 9.99889360e-01 -1.42648709e-02 4.21672762e-03 2.02205530e+02] [ 1.42638745e-02 9.99898230e-01 2.66270706e-04 1.08530219e+01] [-4.22009680e-03 -2.06094372e-04 9.99991074e-01 -1.91884567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.071400513 meters Centerline goodness [0,1] 0.99947158166177 Centerline is valid? [True, True] Translation: X:202.24, Y:10.85, Z:-0.19 [[ 9.99883294e-01 -1.49704962e-02 3.04676673e-03 2.02235433e+02] [ 1.49699796e-02 9.99887925e-01 1.92317152e-04 1.08543312e+01] [-3.04930435e-03 -1.46684672e-04 9.99995340e-01 -1.94025337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.101400513 meters Centerline goodness [0,1] 0.9995727682481362 Centerline is valid? [True, True] Translation: X:202.27, Y:10.85, Z:-0.20 [[ 9.99899704e-01 -1.41192270e-02 1.10911334e-03 2.02266538e+02] [ 1.41191580e-02 9.99900317e-01 7.00532064e-05 1.08503461e+01] [-1.10999188e-03 -5.43864338e-05 9.99999382e-01 -1.96463289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.131400513 meters Centerline goodness [0,1] 0.9991760331276938 Centerline is valid? [True, True] Translation: X:202.30, Y:10.85, Z:-0.20 [[ 9.99924720e-01 -1.21671034e-02 1.58635529e-03 2.02295501e+02] [ 1.21669602e-02 9.99925975e-01 9.99304880e-05 1.08541082e+01] [-1.58745373e-03 -8.06218435e-05 9.99998737e-01 -1.95838847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.161400513 meters Centerline goodness [0,1] 0.999551646099321 Centerline is valid? [True, True] Translation: X:202.33, Y:10.85, Z:-0.19 [[ 9.99947306e-01 -1.00552198e-02 2.06812425e-03 2.02326460e+02] [ 1.00549713e-02 9.99949439e-01 1.30508116e-04 1.08506024e+01] [-2.06933197e-03 -1.09706309e-04 9.99997853e-01 -1.93629947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.191400513 meters Centerline goodness [0,1] 0.9870604900945091 Centerline is valid? [True, True] Translation: X:202.35, Y:10.87, Z:-0.19 [[ 9.99981045e-01 -5.17207978e-03 3.34039567e-03 2.02354996e+02] [ 5.17140456e-03 9.99986606e-01 2.10743733e-04 1.08650061e+01] [-3.34144091e-03 -1.93465201e-04 9.99994399e-01 -1.93137009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.221400513 meters Centerline goodness [0,1] 0.9929504193651131 Centerline is valid? [True, True] Translation: X:202.39, Y:10.86, Z:-0.19 [[ 9.99989064e-01 -2.97185561e-03 3.61101978e-03 2.02386207e+02] [ 2.97105174e-03 9.99995560e-01 2.27959466e-04 1.08619200e+01] [-3.61168121e-03 -2.17228446e-04 9.99993454e-01 -1.92659158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.251400513 meters Centerline goodness [0,1] 0.9890374217718932 Centerline is valid? [True, True] Translation: X:202.42, Y:10.86, Z:-0.19 [[ 9.99994164e-01 -6.19362713e-04 3.35973576e-03 2.02416847e+02] [ 6.18653777e-04 9.99999786e-01 2.12044539e-04 1.08628222e+01] [-3.35986638e-03 -2.09964788e-04 9.99994334e-01 -1.93362667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.281400513 meters Centerline goodness [0,1] 0.8971790808240887 Centerline is valid? [True, False] Translation: X:202.42, Y:10.86, Z:-0.19 [[ 9.99994194e-01 -5.08471720e-04 3.36952550e-03 2.02417045e+02] [ 5.07388374e-04 9.99999819e-01 3.22359912e-04 1.08623326e+01] [-3.36968880e-03 -3.20648382e-04 9.99994271e-01 -1.93825420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.311400513 meters Centerline goodness [0,1] 0.9706976052357579 Centerline is valid? [False, True] Translation: X:202.42, Y:10.86, Z:-0.19 [[ 9.99993896e-01 -5.00685648e-04 3.45803603e-03 2.02416925e+02] [ 4.99859345e-04 9.99999846e-01 2.39811774e-04 1.08627608e+01] [-3.45815557e-03 -2.38081778e-04 9.99993992e-01 -1.94167462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.341400513 meters Centerline goodness [0,1] 0.9706976052357579 Centerline is valid? [True, True] Translation: X:202.45, Y:10.86, Z:-0.19 [[ 9.99993916e-01 -4.55719173e-04 3.45842656e-03 2.02448593e+02] [ 4.54912486e-04 9.99999869e-01 2.34035654e-04 1.08648275e+01] [-3.45853276e-03 -2.32460949e-04 9.99993992e-01 -1.94429883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.371400513 meters Centerline goodness [0,1] 0.9610846308653744 Centerline is valid? [True, True] Translation: X:202.48, Y:10.87, Z:-0.19 [[ 9.99992395e-01 1.61763320e-03 3.54858779e-03 2.02479494e+02] [-1.61849433e-03 9.99998661e-01 2.39808203e-04 1.08681065e+01] [-3.54819511e-03 -2.45549749e-04 9.99993675e-01 -1.94338574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.401400513 meters Centerline goodness [0,1] 0.9355933650705548 Centerline is valid? [True, False] Translation: X:202.48, Y:10.86, Z:-0.19 [[ 9.99991778e-01 2.01197077e-03 3.52083629e-03 2.02479556e+02] [-2.01527279e-03 9.99997533e-01 9.34553871e-04 1.08649477e+01] [-3.51894731e-03 -9.41641633e-04 9.99993365e-01 -1.94263990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.431400513 meters Centerline goodness [0,1] 0.6263293073804419 Centerline is valid? [False, False] Translation: X:202.48, Y:10.86, Z:-0.19 [[ 9.99991618e-01 2.25475471e-03 3.41754414e-03 2.02480004e+02] [-2.25967118e-03 9.99996417e-01 1.43542082e-03 1.08625594e+01] [-3.41429537e-03 -1.44313132e-03 9.99993130e-01 -1.94453805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.461400513 meters Centerline goodness [0,1] 0.8575665105084455 Centerline is valid? [False, False] Translation: X:202.44, Y:10.86, Z:-0.19 [[ 9.99997201e-01 2.35786089e-03 1.96865016e-04 2.02440112e+02] [-2.35860186e-03 9.99989798e-01 3.85251088e-03 1.08558262e+01] [-1.87779322e-04 -3.85296442e-03 9.99992560e-01 -1.94287318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.49140051300003 meters Centerline goodness [0,1] 0.7508468437759646 Centerline is valid? [False, False] Translation: X:202.44, Y:10.85, Z:-0.19 [[ 9.99996321e-01 2.67079152e-03 4.74507661e-04 2.02439152e+02] [-2.67276318e-03 9.99987590e-01 4.20430181e-03 1.08544067e+01] [-4.63272959e-04 -4.20555459e-03 9.99991049e-01 -1.94209299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.521400513 meters Centerline goodness [0,1] 0.6125029167815702 Centerline is valid? [False, False] Translation: X:202.44, Y:10.85, Z:-0.19 [[ 9.99996010e-01 2.76244311e-03 5.90721939e-04 2.02438733e+02] [-2.76496688e-03 9.99986867e-01 4.31509011e-03 1.08539251e+01] [-5.78793991e-04 -4.31670622e-03 9.99990515e-01 -1.94140175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.55140051300003 meters Centerline goodness [0,1] 0.5736806466629989 Centerline is valid? [False, False] Translation: X:202.44, Y:10.85, Z:-0.19 [[ 9.99995893e-01 2.78194652e-03 6.88994022e-04 2.02438509e+02] [-2.78485194e-03 9.99987081e-01 4.25246092e-03 1.08542409e+01] [-6.77155001e-04 -4.25436220e-03 9.99990721e-01 -1.94346403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.581400513 meters Centerline goodness [0,1] 0.5731135093631361 Centerline is valid? [False, False] Translation: X:202.44, Y:10.86, Z:-0.19 [[ 9.99996120e-01 2.66974715e-03 7.95578979e-04 2.02438422e+02] [-2.67281308e-03 9.99988909e-01 3.87789340e-03 1.08560024e+01] [-7.85217160e-04 -3.88000478e-03 9.99992164e-01 -1.94879247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.61140051300004 meters Centerline goodness [0,1] 0.5034800322539574 Centerline is valid? [False, False] Translation: X:202.44, Y:10.86, Z:-0.20 [[ 9.99996689e-01 2.46540714e-03 7.37859046e-04 2.02438973e+02] [-2.46780273e-03 9.99991630e-01 3.26356349e-03 1.08588633e+01] [-7.29806857e-04 -3.26537358e-03 9.99994402e-01 -1.95626366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.641400513 meters Centerline goodness [0,1] 0.4523054663063599 Centerline is valid? [False, False] Translation: X:202.44, Y:10.86, Z:-0.20 [[ 9.99997287e-01 2.22267036e-03 6.97562299e-04 2.02439600e+02] [-2.22451091e-03 9.99994017e-01 2.64895007e-03 1.08616659e+01] [-6.91670383e-04 -2.65049462e-03 9.99996248e-01 -1.96636420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.671400513 meters Centerline goodness [0,1] 0.5379212881675304 Centerline is valid? [False, False] Translation: X:202.44, Y:10.87, Z:-0.20 [[ 9.99998066e-01 1.90531948e-03 4.88372136e-04 2.02441307e+02] [-1.90619296e-03 9.99996573e-01 1.79438862e-03 1.08654235e+01] [-4.84951579e-04 -1.79531608e-03 9.99998271e-01 -1.98767485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.701400513 meters Centerline goodness [0,1] 0.5647549353301566 Centerline is valid? [False, False] Translation: X:202.44, Y:10.87, Z:-0.20 [[ 9.99998311e-01 1.78482767e-03 4.38600141e-04 2.02441760e+02] [-1.78549427e-03 9.99997244e-01 1.52417790e-03 1.08666195e+01] [-4.35878537e-04 -1.52495844e-03 9.99998742e-01 -1.99339041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.731400513 meters Centerline goodness [0,1] 0.435898520979243 Centerline is valid? [False, False] Translation: X:202.44, Y:10.87, Z:-0.20 [[ 9.99998554e-01 1.64540094e-03 4.30674528e-04 2.02441792e+02] [-1.64592917e-03 9.99997890e-01 1.22903584e-03 1.08679778e+01] [-4.28651363e-04 -1.22974292e-03 9.99999152e-01 -1.99391811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.761400513 meters Centerline goodness [0,1] 0.37855431394584504 Centerline is valid? [False, False] Translation: X:202.44, Y:10.87, Z:-0.20 [[ 9.99998680e-01 1.54091929e-03 5.14616719e-04 2.02441314e+02] [-1.54143903e-03 9.99998301e-01 1.01109133e-03 1.08690352e+01] [-5.13057834e-04 -1.01188325e-03 9.99999356e-01 -1.99048109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.791400513 meters Centerline goodness [0,1] 0.604211869814933 Centerline is valid? [False, False] Translation: X:202.44, Y:10.87, Z:-0.20 [[ 9.99994262e-01 -3.26661815e-03 8.97612536e-04 2.02439409e+02] [ 3.27059584e-03 9.99984678e-01 -4.46625423e-03 1.08746114e+01] [-8.83009236e-04 4.46916433e-03 9.99989623e-01 -1.97890382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.821400513 meters Centerline goodness [0,1] 0.4720983793606187 Centerline is valid? [False, False] Translation: X:202.44, Y:10.87, Z:-0.20 [[ 9.99994452e-01 -3.22380112e-03 8.38526167e-04 2.02439093e+02] [ 3.22710460e-03 9.99986918e-01 -3.96856482e-03 1.08721357e+01] [-8.25721334e-04 3.97124881e-03 9.99991774e-01 -1.96879008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.851400513 meters Centerline goodness [0,1] 0.8244670716992315 Centerline is valid? [False, False] Translation: X:202.44, Y:10.87, Z:-0.20 [[ 9.99994762e-01 -3.13830491e-03 7.91492547e-04 2.02438969e+02] [ 3.14097214e-03 9.99989316e-01 -3.39145659e-03 1.08692880e+01] [-7.80840666e-04 3.39392488e-03 9.99993936e-01 -1.96294241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.881400513 meters Centerline goodness [0,1] 0.8233437149092142 Centerline is valid? [False, False] Translation: X:202.44, Y:10.87, Z:-0.20 [[ 9.99995274e-01 -3.00932599e-03 6.29050088e-04 2.02439337e+02] [ 3.01108185e-03 9.99991521e-01 -2.80922739e-03 1.08664306e+01] [-6.20590874e-04 2.81110823e-03 9.99995856e-01 -1.95959649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.911400513 meters Centerline goodness [0,1] 0.9459793375226329 Centerline is valid? [False, False] Translation: X:202.44, Y:10.86, Z:-0.20 [[ 9.99993812e-01 -3.50951826e-03 2.42969327e-04 2.02440752e+02] [ 3.51006458e-03 9.99991227e-01 -2.28581788e-03 1.08627354e+01] [-2.34945076e-04 2.28665657e-03 9.99997358e-01 -1.96003434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.941400513 meters Centerline goodness [0,1] 0.9471194637705752 Centerline is valid? [False, False] Translation: X:202.44, Y:10.86, Z:-0.20 [[ 9.99994419e-01 -3.34088792e-03 2.63305450e-05 2.02441225e+02] [ 3.34092632e-03 9.99993097e-01 -1.62591858e-03 1.08595073e+01] [-2.08983515e-05 1.62599747e-03 9.99998678e-01 -1.95529806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.971400513 meters Centerline goodness [0,1] 0.9581128371457835 Centerline is valid? [False, True] Translation: X:202.44, Y:10.86, Z:-0.19 [[ 9.99995180e-01 -3.10343334e-03 -9.44695406e-05 2.02441277e+02] [ 3.10335498e-03 9.99994850e-01 -8.18608037e-04 1.08556393e+01] [ 9.70095495e-05 8.18310919e-04 9.99999660e-01 -1.94809344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.001400513 meters Centerline goodness [0,1] 0.972819739664069 Centerline is valid? [True, True] Translation: X:202.47, Y:10.85, Z:-0.19 [[ 9.99981298e-01 -6.11587342e-03 -2.08015679e-05 2.02472212e+02] [ 6.11587340e-03 9.99981298e-01 -1.43114504e-06 1.08523669e+01] [ 2.08099315e-05 1.30389852e-06 1.00000000e+00 -1.93931488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.031400513 meters Centerline goodness [0,1] 0.9989718324943772 Centerline is valid? [True, True] Translation: X:202.50, Y:10.84, Z:-0.19 [[ 9.99938993e-01 -1.10439723e-02 2.01596868e-04 2.02503824e+02] [ 1.10439698e-02 9.99939013e-01 1.38041514e-05 1.08393550e+01] [-2.01737026e-04 -1.15768795e-05 9.99999980e-01 -1.92034814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.061400513 meters Centerline goodness [0,1] 0.9954144995223437 Centerline is valid? [True, True] Translation: X:202.53, Y:10.85, Z:-0.19 [[ 9.99925613e-01 -1.21792584e-02 6.58438676e-04 2.02531827e+02] [ 1.21792316e-02 9.99925829e-01 4.46083679e-05 1.08461724e+01] [-6.58933136e-04 -3.65857725e-05 9.99999782e-01 -1.92498088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.091400513 meters Centerline goodness [0,1] 0.9978095359618901 Centerline is valid? [True, True] Translation: X:202.56, Y:10.84, Z:-0.19 [[ 9.99918851e-01 -1.27017708e-02 9.77849283e-04 2.02561790e+02] [ 1.27017118e-02 9.99919328e-01 6.65725762e-05 1.08440894e+01] [-9.78615987e-04 -5.41468141e-05 9.99999520e-01 -1.93144904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.121400513 meters Centerline goodness [0,1] 0.996493316047861 Centerline is valid? [True, True] Translation: X:202.59, Y:10.85, Z:-0.19 [[ 9.99916209e-01 -1.29209346e-02 7.90035602e-04 2.02590651e+02] [ 1.29208962e-02 9.99916520e-01 5.36636262e-05 1.08460133e+01] [-7.90663034e-04 -4.34511617e-05 9.99999686e-01 -1.92785335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.151400513 meters Centerline goodness [0,1] 0.9859881226620454 Centerline is valid? [True, True] Translation: X:202.62, Y:10.85, Z:-0.19 [[ 9.99925496e-01 -1.20269483e-02 2.08667967e-03 2.02619092e+02] [ 1.20266775e-02 9.99927667e-01 1.42317454e-04 1.08510171e+01] [-2.08824038e-03 -1.17211028e-04 9.99997813e-01 -1.91678533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.181400513 meters Centerline goodness [0,1] 0.9992117093124827 Centerline is valid? [True, True] Translation: X:202.65, Y:10.84, Z:-0.19 [[ 9.99933741e-01 -1.11759284e-02 2.75905641e-03 2.02650429e+02] [ 1.11754508e-02 9.99937535e-01 1.88464967e-04 1.08404837e+01] [-2.76099034e-03 -1.57618780e-04 9.99996176e-01 -1.89587396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.211400513 meters Centerline goodness [0,1] 0.9979635561400904 Centerline is valid? [True, True] Translation: X:202.68, Y:10.84, Z:-0.19 [[ 9.99944455e-01 -1.01469483e-02 2.85054183e-03 2.02679995e+02] [ 1.01464343e-02 9.99948505e-01 1.94714131e-04 1.08443779e+01] [-2.85237080e-03 -1.65780481e-04 9.99995918e-01 -1.89422933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.24140051300003 meters Centerline goodness [0,1] 0.9985258615164398 Centerline is valid? [True, True] Translation: X:202.71, Y:10.84, Z:-0.19 [[ 9.99958855e-01 -8.80661371e-03 2.17539065e-03 2.02710669e+02] [ 8.80631121e-03 9.99961213e-01 1.48596065e-04 1.08418095e+01] [-2.17661490e-03 -1.29432784e-04 9.99997623e-01 -1.90172215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.271400513 meters Centerline goodness [0,1] 0.9881073302861012 Centerline is valid? [True, True] Translation: X:202.74, Y:10.85, Z:-0.19 [[ 9.99976637e-01 -6.71584024e-03 1.27427292e-03 2.02740267e+02] [ 6.71573474e-03 9.99977445e-01 8.70516839e-05 1.08500039e+01] [-1.27482881e-03 -7.84919712e-05 9.99999184e-01 -1.91842862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.30140051300003 meters Centerline goodness [0,1] 0.9642015915119363 Centerline is valid? [True, True] Translation: X:202.77, Y:10.86, Z:-0.19 [[ 9.99999266e-01 -8.62442015e-04 8.51203453e-04 2.02770556e+02] [ 8.62392855e-04 9.99999626e-01 5.81191419e-05 1.08550315e+01] [-8.51253259e-04 -5.73850274e-05 9.99999636e-01 -1.92063016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.331400513 meters Centerline goodness [0,1] 0.8144011912359073 Centerline is valid? [True, False] Translation: X:202.77, Y:10.86, Z:-0.19 [[ 9.99999045e-01 -8.44260825e-04 1.09444517e-03 2.02769758e+02] [ 8.44428928e-04 9.99999632e-01 -1.53144162e-04 1.08562071e+01] [-1.09431547e-03 1.54068196e-04 9.99999389e-01 -1.92042033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.36140051300004 meters Centerline goodness [0,1] 0.8825046904315197 Centerline is valid? [False, False] Translation: X:202.77, Y:10.86, Z:-0.19 [[ 9.99998725e-01 -9.59200305e-04 1.27646224e-03 2.02769266e+02] [ 9.60018870e-04 9.99999334e-01 -6.40818706e-04 1.08586249e+01] [-1.27584672e-03 6.42043317e-04 9.99998980e-01 -1.92278694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.391400513 meters Centerline goodness [0,1] 0.7306929848869184 Centerline is valid? [False, False] Translation: X:202.77, Y:10.86, Z:-0.19 [[ 9.99998332e-01 -1.17028045e-03 1.40196002e-03 2.02769142e+02] [ 1.17223315e-03 9.99998343e-01 -1.39282225e-03 1.08622478e+01] [-1.40032770e-03 1.39446335e-03 9.99998047e-01 -1.92901859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.421400513 meters Centerline goodness [0,1] 0.8569293507269893 Centerline is valid? [False, False] Translation: X:202.77, Y:10.87, Z:-0.19 [[ 9.99997907e-01 -1.38303961e-03 1.50774652e-03 2.02769028e+02] [ 1.38614968e-03 9.99996910e-01 -2.06363512e-03 1.08654738e+01] [-1.50488777e-03 2.06572076e-03 9.99996734e-01 -1.93406207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.451400513 meters Centerline goodness [0,1] 0.659603859395588 Centerline is valid? [False, False] Translation: X:202.78, Y:10.87, Z:-0.20 [[ 9.99999267e-01 1.08356666e-03 5.40275784e-04 2.02775852e+02] [-1.08379504e-03 9.99999323e-01 4.22594611e-04 1.08650717e+01] [-5.39817509e-04 -4.23179850e-04 9.99999765e-01 -1.97547717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.481400513 meters Centerline goodness [0,1] 0.703087784960871 Centerline is valid? [False, False] Translation: X:202.78, Y:10.87, Z:-0.20 [[ 9.99999602e-01 7.08973320e-04 5.40882409e-04 2.02776251e+02] [-7.08459777e-04 9.99999299e-01 -9.49054899e-04 1.08717215e+01] [-5.41554884e-04 9.48671328e-04 9.99999403e-01 -1.98513711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.511400513 meters Centerline goodness [0,1] 0.4456466502921995 Centerline is valid? [False, False] Translation: X:202.78, Y:10.88, Z:-0.20 [[ 9.99999786e-01 3.18309744e-04 5.72423457e-04 2.02776359e+02] [-3.17217543e-04 9.99998131e-01 -1.90711001e-03 1.08762423e+01] [-5.73029439e-04 1.90692801e-03 9.99998018e-01 -1.98972723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.541400513 meters Centerline goodness [0,1] 0.45679825027074084 Centerline is valid? [False, False] Translation: X:202.78, Y:10.88, Z:-0.20 [[ 9.99999780e-01 -1.14879172e-04 6.53852659e-04 2.02776318e+02] [ 1.16795476e-04 9.99995696e-01 -2.93150584e-03 1.08810621e+01] [-6.53513076e-04 2.93158156e-03 9.99995489e-01 -1.99446862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.571400513 meters Centerline goodness [0,1] 0.545551753635586 Centerline is valid? [False, False] Translation: X:202.78, Y:10.89, Z:-0.20 [[ 9.99999568e-01 -5.31402052e-04 7.62851855e-04 2.02776012e+02] [ 5.34382785e-04 9.99992203e-01 -3.91248271e-03 1.08856827e+01] [-7.60766806e-04 3.91288867e-03 9.99992055e-01 -1.99590524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.601400513 meters Centerline goodness [0,1] 0.5515187738809315 Centerline is valid? [False, False] Translation: X:202.78, Y:10.89, Z:-0.20 [[ 9.99994025e-01 3.38885204e-03 6.81912827e-04 2.02775672e+02] [-3.38882561e-03 9.99994257e-01 -3.99167414e-05 1.08876714e+01] [-6.82044183e-04 3.76056192e-05 9.99999767e-01 -1.98382270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.631400513 meters Centerline goodness [0,1] 0.5929412269228296 Centerline is valid? [False, False] Translation: X:202.78, Y:10.89, Z:-0.20 [[ 9.99995213e-01 3.00868250e-03 7.22677004e-04 2.02775503e+02] [-3.00802533e-03 9.99995063e-01 -9.08718422e-04 1.08917538e+01] [-7.25407481e-04 9.06540241e-04 9.99999326e-01 -1.98338636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.661400513 meters Centerline goodness [0,1] 0.5973576329148877 Centerline is valid? [False, False] Translation: X:202.78, Y:10.89, Z:-0.20 [[ 9.99986239e-01 5.24313066e-03 -1.77959475e-04 2.02781918e+02] [-5.24285251e-03 9.99985087e-01 1.52906110e-03 1.08923376e+01] [ 1.85973888e-04 -1.52810705e-03 9.99998815e-01 -2.02003283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.691400513 meters Centerline goodness [0,1] 0.451984689238057 Centerline is valid? [False, False] Translation: X:202.78, Y:10.89, Z:-0.20 [[ 9.99987580e-01 4.97858715e-03 -2.29500327e-04 2.02782203e+02] [-4.97836216e-03 9.99987137e-01 9.70733163e-04 1.08949216e+01] [ 2.34330255e-04 -9.69578571e-04 9.99999503e-01 -2.02213182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.721400513 meters Centerline goodness [0,1] 0.5564814421155564 Centerline is valid? [False, False] Translation: X:202.78, Y:10.90, Z:-0.20 [[ 9.99989526e-01 4.56888598e-03 -2.68684759e-04 2.02782225e+02] [-4.56884814e-03 9.99989553e-01 1.41250720e-04 1.08987862e+01] [ 2.69327311e-04 -1.40021660e-04 9.99999954e-01 -2.02059826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.751400513 meters Centerline goodness [0,1] 0.5678110129163834 Centerline is valid? [False, False] Translation: X:202.78, Y:10.90, Z:-0.20 [[ 9.99990423e-01 4.36815624e-03 -2.70732596e-04 2.02782049e+02] [-4.36822043e-03 9.99990431e-01 -2.36965666e-04 1.09005448e+01] [ 2.69694902e-04 2.38146016e-04 9.99999935e-01 -2.01733187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.781400513 meters Centerline goodness [0,1] 0.6999061873694086 Centerline is valid? [False, False] Translation: X:202.78, Y:10.90, Z:-0.20 [[ 9.99991026e-01 4.22636481e-03 -2.91560647e-04 2.02781958e+02] [-4.22649843e-03 9.99990963e-01 -4.59198603e-04 1.09015659e+01] [ 2.89617271e-04 4.60426763e-04 9.99999852e-01 -2.01455070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.811400513 meters Centerline goodness [0,1] 0.7414203699766106 Centerline is valid? [False, False] Translation: X:202.78, Y:10.90, Z:-0.20 [[ 9.99991303e-01 4.14015298e-03 -5.02407715e-04 2.02782530e+02] [-4.14038054e-03 9.99991326e-01 -4.52734998e-04 1.09014225e+01] [ 5.00528965e-04 4.54811219e-04 9.99999771e-01 -2.01217131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.841400513 meters Centerline goodness [0,1] 0.9377432734233755 Centerline is valid? [False, False] Translation: X:202.78, Y:10.90, Z:-0.20 [[ 9.99993691e-01 3.35476516e-03 -1.16781550e-03 2.02784960e+02] [-3.35479544e-03 9.99994372e-01 -2.39678033e-05 1.08972908e+01] [ 1.16772852e-03 2.78854342e-05 9.99999318e-01 -2.01366012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.871400513 meters Centerline goodness [0,1] 0.9276655407558473 Centerline is valid? [False, False] Translation: X:202.79, Y:10.89, Z:-0.20 [[ 9.99992917e-01 3.48518411e-03 -1.42136486e-03 2.02785541e+02] [-3.48406638e-03 9.99993620e-01 7.88098317e-04 1.08931774e+01] [ 1.42410246e-03 -7.83140605e-04 9.99998679e-01 -2.00829033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.901400513 meters Centerline goodness [0,1] 0.9505451131829916 Centerline is valid? [False, True] Translation: X:202.78, Y:10.90, Z:-0.20 [[ 9.99998609e-01 -1.12302847e-03 -1.23286035e-03 2.02784857e+02] [ 1.11779605e-03 9.99990401e-01 -4.23665455e-03 1.08965012e+01] [ 1.23760640e-03 4.23527057e-03 9.99990265e-01 -2.00738887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.931400513 meters Centerline goodness [0,1] 0.9829327024629293 Centerline is valid? [True, True] Translation: X:202.82, Y:10.89, Z:-0.20 [[ 9.99994343e-01 -3.35455530e-03 -2.45367966e-04 2.02815133e+02] [ 3.35455161e-03 9.99994373e-01 -1.54736721e-05 1.08898433e+01] [ 2.45418492e-04 1.46504850e-05 9.99999970e-01 -1.97796961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.961400513 meters Centerline goodness [0,1] 0.9959489267837448 Centerline is valid? [True, True] Translation: X:202.85, Y:10.88, Z:-0.20 [[ 9.99989684e-01 -4.53233302e-03 2.98088337e-04 2.02845740e+02] [ 4.53232764e-03 9.99989729e-01 1.87476170e-05 1.08839420e+01] [-2.98170246e-04 -1.73963896e-05 9.99999955e-01 -1.96487001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.99140051300003 meters Centerline goodness [0,1] 0.9980719113502977 Centerline is valid? [True, True] Translation: X:202.88, Y:10.88, Z:-0.20 [[ 9.99990203e-01 -4.39576491e-03 5.19851577e-04 2.02876289e+02] [ 4.39574848e-03 9.99990338e-01 3.27390238e-05 1.08787775e+01] [-5.19990467e-04 -3.04535663e-05 9.99999864e-01 -1.96198379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.021400513 meters Centerline goodness [0,1] 0.9381382144824372 Centerline is valid? [True, False] Translation: X:202.88, Y:10.87, Z:-0.20 [[ 9.99992254e-01 -3.91544554e-03 4.01271404e-04 2.02877124e+02] [ 3.91506257e-03 9.99991884e-01 9.50778593e-04 1.08744410e+01] [-4.04990869e-04 -9.49200226e-04 9.99999468e-01 -1.96916067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.05140051300003 meters Centerline goodness [0,1] 0.9980835073968001 Centerline is valid? [False, True] Translation: X:202.84, Y:10.87, Z:-0.20 [[ 9.99994963e-01 -1.62842491e-03 -2.72420139e-03 2.02837026e+02] [ 1.64430442e-03 9.99981613e-01 5.83700306e-03 1.08661378e+01] [ 2.71464618e-03 -5.84145308e-03 9.99979254e-01 -1.96695628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.081400513 meters Centerline goodness [0,1] 0.9227931099913559 Centerline is valid? [True, False] Translation: X:202.88, Y:10.87, Z:-0.20 [[ 9.99999728e-01 4.43081509e-04 -5.89667713e-04 2.02879145e+02] [-4.40478560e-04 9.99990192e-01 4.40709745e-03 1.08710055e+01] [ 5.91614632e-04 -4.40683651e-03 9.99990115e-01 -1.98869574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.11140051300004 meters Centerline goodness [0,1] 0.8368207039688255 Centerline is valid? [False, False] Translation: X:202.88, Y:10.87, Z:-0.20 [[ 9.99999691e-01 7.32436303e-04 -2.85347572e-04 2.02878395e+02] [-7.31268291e-04 9.99991441e-01 4.07212210e-03 1.08731749e+01] [ 2.88327700e-04 -4.07191217e-03 9.99991668e-01 -1.99424678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.141400513 meters Centerline goodness [0,1] 0.46436138655818293 Centerline is valid? [False, False] Translation: X:202.88, Y:10.87, Z:-0.20 [[ 9.99982726e-01 5.87021489e-03 -2.96458703e-04 2.02878958e+02] [-5.86745008e-03 9.99945843e-01 8.59563272e-03 1.08733263e+01] [ 3.46900859e-04 -8.59374478e-03 9.99963013e-01 -2.00497416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.171400513 meters Centerline goodness [0,1] 0.4858131194159716 Centerline is valid? [False, False] Translation: X:202.88, Y:10.88, Z:-0.20 [[ 9.99982030e-01 5.99433195e-03 -8.72482556e-05 2.02878650e+02] [-5.99347068e-03 9.99951710e-01 7.78818003e-03 1.08777053e+01] [ 1.33928979e-04 -7.78751716e-03 9.99969668e-01 -2.01448564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.201400513 meters Centerline goodness [0,1] 0.4858131194159716 Centerline is valid? [False, False] Translation: X:202.88, Y:10.88, Z:-0.20 [[ 9.99998198e-01 1.83483537e-03 4.86692851e-04 2.02876930e+02] [-1.83604737e-03 9.99995185e-01 2.50163114e-03 1.08832682e+01] [-4.82100427e-04 -2.50252022e-03 9.99996752e-01 -2.02098740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.231400513 meters Centerline goodness [0,1] 0.41315431679129844 Centerline is valid? [False, False] Translation: X:202.88, Y:10.89, Z:-0.20 [[ 9.99998084e-01 1.79858379e-03 7.72377981e-04 2.02876263e+02] [-1.79993328e-03 9.99996849e-01 1.75005674e-03 1.08871216e+01] [-7.69227923e-04 -1.75144361e-03 9.99998170e-01 -2.02799037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.261400513 meters Centerline goodness [0,1] 0.5252131442526027 Centerline is valid? [False, False] Translation: X:202.88, Y:10.89, Z:-0.20 [[ 9.99998126e-01 1.66577443e-03 9.86843924e-04 2.02875772e+02] [-1.66696398e-03 9.99997884e-01 1.20582018e-03 1.08897786e+01] [-9.84833211e-04 -1.20746295e-03 9.99998786e-01 -2.03269954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.291400513 meters Centerline goodness [0,1] 0.4471084234732987 Centerline is valid? [False, False] Translation: X:202.88, Y:10.89, Z:-0.20 [[ 9.99998123e-01 1.59920054e-03 1.09397682e-03 2.02875578e+02] [-1.60025679e-03 9.99998254e-01 9.65319510e-04 1.08909033e+01] [-1.09243117e-03 -9.67068342e-04 9.99998936e-01 -2.03637403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.321400513 meters Centerline goodness [0,1] 0.38355119594923837 Centerline is valid? [False, False] Translation: X:202.88, Y:10.89, Z:-0.20 [[ 9.99998158e-01 1.54154378e-03 1.14361237e-03 2.02875513e+02] [-1.54248946e-03 9.99998469e-01 8.26500386e-04 1.08915310e+01] [-1.14233653e-03 -8.28262874e-04 9.99999005e-01 -2.03841603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.351400513 meters Centerline goodness [0,1] 0.41479181729256154 Centerline is valid? [False, False] Translation: X:202.88, Y:10.89, Z:-0.20 [[ 9.99998649e-01 1.23305032e-03 1.08661333e-03 2.02875840e+02] [-1.23324873e-03 9.99999223e-01 1.81939731e-04 1.08944918e+01] [-1.08638815e-03 -1.83279550e-04 9.99999393e-01 -2.04133681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.381400513 meters Centerline goodness [0,1] 0.4550340456511498 Centerline is valid? [False, False] Translation: X:202.88, Y:10.90, Z:-0.20 [[ 9.99998900e-01 9.55066532e-04 1.13454682e-03 2.02875660e+02] [-9.54596883e-04 9.99999458e-01 -4.14422118e-04 1.08972695e+01] [-1.13494201e-03 4.13338627e-04 9.99999271e-01 -2.04153338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.411400513 meters Centerline goodness [0,1] 0.4248848121063533 Centerline is valid? [False, False] Translation: X:202.91, Y:10.91, Z:-0.20 [[ 9.99988470e-01 1.00512613e-03 4.69570791e-03 2.02914374e+02] [-9.92133319e-04 9.99995676e-01 -2.76846601e-03 1.09056007e+01] [-4.69847026e-03 2.76377532e-03 9.99985143e-01 -2.04356986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.441400513 meters Centerline goodness [0,1] 0.4378226783096437 Centerline is valid? [False, False] Translation: X:202.91, Y:10.91, Z:-0.20 [[ 9.99988749e-01 6.49828236e-04 4.69890037e-03 2.02913933e+02] [-6.33299675e-04 9.99993611e-01 -3.51817080e-03 1.09091958e+01] [-4.70115656e-03 3.51515540e-03 9.99982771e-01 -2.03584136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.471400513 meters Centerline goodness [0,1] 0.40457399864222676 Centerline is valid? [False, False] Translation: X:202.91, Y:10.91, Z:-0.20 [[ 9.99989060e-01 4.19590053e-04 4.65873526e-03 2.02913926e+02] [-4.00750953e-04 9.99991743e-01 -4.04402026e-03 1.09116884e+01] [-4.66039363e-03 4.04210903e-03 9.99980971e-01 -2.03347579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.501400513 meters Centerline goodness [0,1] 0.5375931750613986 Centerline is valid? [False, False] Translation: X:202.87, Y:10.91, Z:-0.20 [[ 9.99997080e-01 1.35336266e-03 2.00196008e-03 2.02872479e+02] [-1.35312787e-03 9.99999077e-01 -1.18630839e-04 1.09064905e+01] [-2.00211878e-03 1.15921585e-04 9.99997989e-01 -2.01653227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.531400513 meters Centerline goodness [0,1] 0.4659912249093876 Centerline is valid? [False, False] Translation: X:202.91, Y:10.92, Z:-0.20 [[ 9.99990729e-01 6.54337352e-04 4.25598467e-03 2.02914267e+02] [-6.32680845e-04 9.99986857e-01 -5.08784084e-03 1.09223770e+01] [-4.25925789e-03 5.08510099e-03 9.99978000e-01 -2.04325849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.561400513 meters Centerline goodness [0,1] 0.5119657025851037 Centerline is valid? [False, False] Translation: X:202.91, Y:10.93, Z:-0.20 [[ 9.99991130e-01 3.08368732e-04 4.20048163e-03 2.02914609e+02] [-2.83818854e-04 9.99982884e-01 -5.84388162e-03 1.09258738e+01] [-4.20221180e-03 5.84263761e-03 9.99974102e-01 -2.04658341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.591400513 meters Centerline goodness [0,1] 0.5044251580413586 Centerline is valid? [False, False] Translation: X:202.91, Y:10.93, Z:-0.20 [[ 9.99991266e-01 -1.49680990e-05 4.17952049e-03 2.02914674e+02] [ 4.23851419e-05 9.99978483e-01 -6.55984217e-03 1.09292318e+01] [-4.17933237e-03 6.55996203e-03 9.99969750e-01 -2.04679372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.621400513 meters Centerline goodness [0,1] 0.4775894298581018 Centerline is valid? [False, False] Translation: X:202.92, Y:10.93, Z:-0.20 [[ 9.99986923e-01 3.55990972e-03 3.67160948e-03 2.02916080e+02] [-3.55263988e-03 9.99991720e-01 -1.98464107e-03 1.09264741e+01] [-3.67864422e-03 1.97157121e-03 9.99991290e-01 -2.03842581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.651400513 meters Centerline goodness [0,1] 0.4804510641899039 Centerline is valid? [False, False] Translation: X:202.91, Y:10.93, Z:-0.20 [[ 9.99989038e-01 2.84268984e-03 3.72066510e-03 2.02914954e+02] [-2.83053152e-03 9.99990651e-01 -3.26898053e-03 1.09324141e+01] [-3.72992301e-03 3.25841324e-03 9.99987735e-01 -2.02184593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.681400513 meters Centerline goodness [0,1] 0.5089001907183726 Centerline is valid? [False, False] Translation: X:202.91, Y:10.94, Z:-0.20 [[ 9.99989959e-01 2.55832435e-03 3.67920497e-03 2.02914817e+02] [-2.54427040e-03 9.99989469e-01 -3.81945321e-03 1.09350046e+01] [-3.68893762e-03 3.81005396e-03 9.99985938e-01 -2.01681473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.711400513 meters Centerline goodness [0,1] 0.7066612734975412 Centerline is valid? [False, False] Translation: X:202.91, Y:10.94, Z:-0.20 [[ 9.99990918e-01 2.27955053e-03 3.60091610e-03 2.02914927e+02] [-2.26378155e-03 9.99987858e-01 -4.37717842e-03 1.09376143e+01] [-3.61085037e-03 4.36898698e-03 9.99983937e-01 -2.01442099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.74140051300003 meters Centerline goodness [0,1] 0.6575484911506303 Centerline is valid? [False, False] Translation: X:202.92, Y:10.94, Z:-0.20 [[ 9.99991765e-01 1.99226422e-03 3.53555848e-03 2.02915192e+02] [-1.97481956e-03 9.99985894e-01 -4.93071262e-03 1.09401523e+01] [-3.54533189e-03 4.92368993e-03 9.99981594e-01 -2.01552778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.771400513 meters Centerline goodness [0,1] 0.8036199482253268 Centerline is valid? [False, False] Translation: X:202.90, Y:10.94, Z:-0.20 [[ 9.99999862e-01 -5.14605800e-04 -1.01730992e-04 2.02895037e+02] [ 5.15095672e-04 9.99987982e-01 4.87546179e-03 1.09354088e+01] [ 9.92208287e-05 -4.87551352e-03 9.99988110e-01 -1.98532324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.80140051300003 meters Centerline goodness [0,1] 0.958703830369357 Centerline is valid? [False, True] Translation: X:202.90, Y:10.94, Z:-0.20 [[ 9.99999698e-01 -7.48357568e-04 -2.09189577e-04 2.02895376e+02] [ 7.49273517e-04 9.99989981e-01 4.41331992e-03 1.09374998e+01] [ 2.05884740e-04 -4.41347533e-03 9.99990239e-01 -1.98504985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.831400513 meters Centerline goodness [0,1] 0.9019661967046033 Centerline is valid? [True, False] Translation: X:202.90, Y:10.94, Z:-0.20 [[ 9.99999141e-01 -1.24471937e-03 -4.10460220e-04 2.02896019e+02] [ 1.24613762e-03 9.99993192e-01 3.47331501e-03 1.09417862e+01] [ 4.06134123e-04 -3.47382352e-03 9.99993884e-01 -1.98532850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.86140051300004 meters Centerline goodness [0,1] 0.9762132720580413 Centerline is valid? [False, True] Translation: X:202.90, Y:10.94, Z:-0.20 [[ 9.99998794e-01 -1.49090941e-03 -4.34286526e-04 2.02896065e+02] [ 1.49218135e-03 9.99994555e-01 2.94335004e-03 1.09442488e+01] [ 4.29895893e-04 -2.94399453e-03 9.99995574e-01 -1.98499195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.891400513 meters Centerline goodness [0,1] 0.9231651863499214 Centerline is valid? [True, False] Translation: X:202.90, Y:10.95, Z:-0.20 [[ 9.99998489e-01 -1.69275261e-03 -3.94847889e-04 2.02895791e+02] [ 1.69374577e-03 9.99995369e-01 2.52867305e-03 1.09461916e+01] [ 3.90565642e-04 -2.52933800e-03 9.99996725e-01 -1.98270475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.921400513 meters Centerline goodness [0,1] 0.9477898036557728 Centerline is valid? [False, False] Translation: X:202.90, Y:10.95, Z:-0.20 [[ 9.99998187e-01 -1.86605865e-03 -3.80135149e-04 2.02895649e+02] [ 1.86688111e-03 9.99995892e-01 2.17484074e-03 1.09478473e+01] [ 3.76075207e-04 -2.17554647e-03 9.99997563e-01 -1.98142151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.951400513 meters Centerline goodness [0,1] 0.968682505399568 Centerline is valid? [False, True] Translation: X:202.90, Y:10.95, Z:-0.20 [[ 9.99997661e-01 -2.11274994e-03 -4.61902729e-04 2.02896299e+02] [ 2.11352379e-03 9.99996353e-01 1.68131285e-03 1.09500782e+01] [ 4.58348851e-04 -1.68228516e-03 9.99998480e-01 -1.98872590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.981400513 meters Centerline goodness [0,1] 0.998162042943326 Centerline is valid? [True, True] Translation: X:202.93, Y:10.94, Z:-0.20 [[ 9.99994849e-01 -2.78564750e-03 -1.59462764e-03 2.02927178e+02] [ 2.78548450e-03 9.99996115e-01 -1.04427258e-04 1.09423451e+01] [ 1.59491234e-03 9.99849097e-05 9.99998723e-01 -1.99939877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.011400513 meters Centerline goodness [0,1] 0.9951413898182283 Centerline is valid? [True, True] Translation: X:202.96, Y:10.95, Z:-0.20 [[ 9.99992537e-01 -3.41650817e-03 -1.80347006e-03 2.02955292e+02] [ 3.41630036e-03 9.99994157e-01 -1.18294750e-04 1.09483565e+01] [ 1.80386368e-03 1.12132672e-04 9.99998367e-01 -2.01420048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.041400513 meters Centerline goodness [0,1] 0.9981909028256375 Centerline is valid? [True, True] Translation: X:202.98, Y:10.95, Z:-0.20 [[ 9.99989832e-01 -3.78299986e-03 -2.45451128e-03 2.02984042e+02] [ 3.78261398e-03 9.99992833e-01 -1.61835918e-04 1.09455883e+01] [ 2.45510591e-03 1.52549804e-04 9.99996975e-01 -2.01373985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.071400513 meters Centerline goodness [0,1] 0.9930482770422023 Centerline is valid? [True, True] Translation: X:203.01, Y:10.95, Z:-0.20 [[ 9.99990129e-01 -3.68898679e-03 -2.47645048e-03 2.03011974e+02] [ 3.68859384e-03 9.99993184e-01 -1.63224013e-04 1.09512678e+01] [ 2.47703573e-03 1.54087782e-04 9.99996920e-01 -2.01529770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.101400513 meters Centerline goodness [0,1] 0.968037115429842 Centerline is valid? [True, True] Translation: X:203.04, Y:10.96, Z:-0.20 [[ 9.99992060e-01 -2.78208668e-03 -2.85301289e-03 2.03040237e+02] [ 2.78156189e-03 9.99996114e-01 -1.87894170e-04 1.09588681e+01] [ 2.85352454e-03 1.79956846e-04 9.99995912e-01 -2.01852370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.131400513 meters Centerline goodness [0,1] 0.9751020495394414 Centerline is valid? [True, True] Translation: X:203.07, Y:10.96, Z:-0.20 [[ 9.99992696e-01 -2.41223120e-03 -2.96462204e-03 2.03068920e+02] [ 2.41166023e-03 9.99997073e-01 -1.96154693e-04 1.09586957e+01] [ 2.96508653e-03 1.89003599e-04 9.99995586e-01 -2.02132018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.161400513 meters Centerline goodness [0,1] 0.9683802876840583 Centerline is valid? [True, True] Translation: X:203.10, Y:10.96, Z:-0.20 [[ 9.99994043e-01 -2.07140105e-03 -2.76087616e-03 2.03097596e+02] [ 2.07090327e-03 9.99997839e-01 -1.83145377e-04 1.09608278e+01] [ 2.76124956e-03 1.77426779e-04 9.99996172e-01 -2.02201256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.191400513 meters Centerline goodness [0,1] 0.9586035660009846 Centerline is valid? [True, True] Translation: X:203.13, Y:10.96, Z:-0.20 [[ 9.99996283e-01 -1.40430888e-03 -2.33721805e-03 2.03125423e+02] [ 1.40395067e-03 9.99999002e-01 -1.54895315e-04 1.09625992e+01] [ 2.33743324e-03 1.51613401e-04 9.99997257e-01 -2.01798846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.221400513 meters Centerline goodness [0,1] 0.8616116967018022 Centerline is valid? [True, False] Translation: X:203.12, Y:10.96, Z:-0.20 [[ 9.99997058e-01 -1.03208375e-03 -2.19528553e-03 2.03124577e+02] [ 1.03347017e-03 9.99999267e-01 6.30504580e-04 1.09589827e+01] [ 2.19463319e-03 -6.32771487e-04 9.99997392e-01 -2.01045092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.251400513 meters Centerline goodness [0,1] 0.9039737231918593 Centerline is valid? [False, False] Translation: X:203.12, Y:10.96, Z:-0.20 [[ 9.99997075e-01 -9.58810227e-04 -2.22046169e-03 2.03124712e+02] [ 9.60600281e-04 9.99999214e-01 8.05237155e-04 1.09581427e+01] [ 2.21968787e-03 -8.07367776e-04 9.99997211e-01 -2.01129259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.281400513 meters Centerline goodness [0,1] 0.953674663049928 Centerline is valid? [False, True] Translation: X:203.17, Y:10.96, Z:-0.20 [[ 9.99999525e-01 -6.18437537e-04 -7.52981536e-04 2.03168820e+02] [ 6.17540088e-04 9.99999099e-01 -1.19151025e-03 1.09629378e+01] [ 7.53717732e-04 1.19104468e-03 9.99999007e-01 -2.03230057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.311400513 meters Centerline goodness [0,1] 0.8813289459717653 Centerline is valid? [True, False] Translation: X:203.17, Y:10.96, Z:-0.20 [[ 9.99999394e-01 -6.52133965e-04 -8.86772553e-04 2.03169751e+02] [ 6.50944567e-04 9.99998889e-01 -1.34089444e-03 1.09636159e+01] [ 8.87646011e-04 1.34031639e-03 9.99998708e-01 -2.04161692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.341400513 meters Centerline goodness [0,1] 0.9296512498129023 Centerline is valid? [False, False] Translation: X:203.16, Y:10.96, Z:-0.20 [[ 9.99999085e-01 1.35085927e-03 -6.86055729e-05 2.03164581e+02] [-1.35083677e-03 9.99999034e-01 3.26885818e-04 1.09623536e+01] [ 6.90470834e-05 -3.26792844e-04 9.99999944e-01 -2.01661420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.371400513 meters Centerline goodness [0,1] 0.7815895286166481 Centerline is valid? [False, False] Translation: X:203.16, Y:10.96, Z:-0.20 [[ 9.99999189e-01 1.27028274e-03 9.19829264e-05 2.03164015e+02] [-1.27028303e-03 9.99999193e-01 3.07363950e-06 1.09639387e+01] [-9.19789478e-05 -3.19048136e-06 9.99999996e-01 -2.01592679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.401400513 meters Centerline goodness [0,1] 0.6471474338573824 Centerline is valid? [False, False] Translation: X:203.17, Y:10.96, Z:-0.21 [[ 9.99993005e-01 3.66821607e-03 -7.30549098e-04 2.03170027e+02] [-3.66640069e-03 9.99990226e-01 2.47098074e-03 1.09617918e+01] [ 7.39606049e-04 -2.46828497e-03 9.99996680e-01 -2.05024952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.431400513 meters Centerline goodness [0,1] 0.7550933242215863 Centerline is valid? [False, False] Translation: X:203.17, Y:10.96, Z:-0.20 [[ 9.99993332e-01 3.61206680e-03 -5.37517700e-04 2.03169189e+02] [-3.61083961e-03 9.99990912e-01 2.26678806e-03 1.09628381e+01] [ 5.45700605e-04 -2.26483206e-03 9.99997286e-01 -2.04645963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.461400513 meters Centerline goodness [0,1] 0.5575642852585235 Centerline is valid? [False, False] Translation: X:203.17, Y:10.96, Z:-0.20 [[ 9.99993468e-01 3.58818809e-03 -4.34423489e-04 2.03168711e+02] [-3.58725031e-03 9.99991275e-01 2.14053906e-03 1.09634761e+01] [ 4.42100356e-04 -2.13896670e-03 9.99997615e-01 -2.04409921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.49140051300003 meters Centerline goodness [0,1] 0.6242289239204935 Centerline is valid? [False, False] Translation: X:203.17, Y:10.97, Z:-0.20 [[ 9.99993962e-01 3.46843293e-03 -2.15275068e-04 2.03168087e+02] [-3.46804303e-03 9.99992392e-01 1.78584455e-03 1.09651543e+01] [ 2.21467512e-04 -1.78508719e-03 9.99998382e-01 -2.04649140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.521400513 meters Centerline goodness [0,1] 0.6024670532419609 Centerline is valid? [False, False] Translation: X:203.21, Y:10.97, Z:-0.21 [[ 9.99993035e-01 3.05034439e-03 2.15061599e-03 2.03209767e+02] [-3.04682092e-03 9.99994014e-01 -1.63972855e-03 1.09731280e+01] [-2.15560486e-03 1.63316458e-03 9.99996343e-01 -2.06143028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.55140051300003 meters Centerline goodness [0,1] 0.5574921018595085 Centerline is valid? [False, False] Translation: X:203.21, Y:10.97, Z:-0.21 [[ 9.99993141e-01 2.99584959e-03 2.17769870e-03 2.03209656e+02] [-2.99200766e-03 9.99993966e-01 -1.76533756e-03 1.09737211e+01] [-2.18297424e-03 1.75880976e-03 9.99996071e-01 -2.06124642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.581400513 meters Centerline goodness [0,1] 0.530692225772098 Centerline is valid? [False, False] Translation: X:203.21, Y:10.97, Z:-0.21 [[ 9.99993176e-01 2.97495257e-03 2.19029335e-03 2.03209496e+02] [-2.97105183e-03 9.99993999e-01 -1.78202689e-03 1.09737670e+01] [-2.19558165e-03 1.77550725e-03 9.99996013e-01 -2.05922942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.61140051300004 meters Centerline goodness [0,1] 0.6336410909476813 Centerline is valid? [False, False] Translation: X:203.21, Y:10.97, Z:-0.21 [[ 9.99993221e-01 2.93802983e-03 2.21930243e-03 2.03209353e+02] [-2.93401988e-03 9.99994061e-01 -1.80795116e-03 1.09738464e+01] [-2.22460107e-03 1.80142743e-03 9.99995903e-01 -2.05848857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.641400513 meters Centerline goodness [0,1] 0.6089039045460377 Centerline is valid? [False, False] Translation: X:203.21, Y:10.97, Z:-0.21 [[ 9.99993242e-01 2.90738016e-03 2.25009393e-03 2.03209171e+02] [-2.90320595e-03 9.99994063e-01 -1.85617412e-03 1.09740578e+01] [-2.25547718e-03 1.84962909e-03 9.99995746e-01 -2.05714102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.671400513 meters Centerline goodness [0,1] 0.6023958927552766 Centerline is valid? [False, False] Translation: X:203.21, Y:10.97, Z:-0.21 [[ 9.99993444e-01 2.87019056e-03 2.20754208e-03 2.03209343e+02] [-2.86606595e-03 9.99994146e-01 -1.86931871e-03 1.09740568e+01] [-2.21289445e-03 1.86297950e-03 9.99995816e-01 -2.05794547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.701400513 meters Centerline goodness [0,1] 0.6092645128509124 Centerline is valid? [False, False] Translation: X:203.21, Y:10.97, Z:-0.21 [[ 9.99993641e-01 2.85511998e-03 2.13681757e-03 2.03209679e+02] [-2.85111942e-03 9.99994182e-01 -1.87291286e-03 1.09740425e+01] [-2.14215253e-03 1.86680863e-03 9.99995963e-01 -2.05984282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.731400513 meters Centerline goodness [0,1] 0.6936212098517107 Centerline is valid? [False, False] Translation: X:203.19, Y:10.97, Z:-0.20 [[ 9.99992535e-01 1.77575079e-03 -3.43177773e-03 2.03188515e+02] [-1.74660483e-03 9.99962541e-01 8.47737877e-03 1.09652564e+01] [ 3.44670289e-03 -8.47132153e-03 9.99958178e-01 -2.00402123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.761400513 meters Centerline goodness [0,1] 0.6230054469721243 Centerline is valid? [False, False] Translation: X:203.19, Y:10.97, Z:-0.20 [[ 9.99993046e-01 1.24765804e-03 -3.51451611e-03 2.03189215e+02] [-1.22228650e-03 9.99973246e-01 7.21199294e-03 1.09711452e+01] [ 3.52342019e-03 -7.20764704e-03 9.99967817e-01 -2.01335043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.791400513 meters Centerline goodness [0,1] 0.489331800178868 Centerline is valid? [False, False] Translation: X:203.19, Y:10.98, Z:-0.20 [[ 9.99993910e-01 8.87800159e-04 -3.37519489e-03 2.03188855e+02] [-8.66629062e-04 9.99979975e-01 6.26885184e-03 1.09756444e+01] [ 3.38069279e-03 -6.26588862e-03 9.99974654e-01 -2.01628574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.821400513 meters Centerline goodness [0,1] 0.6588303740734356 Centerline is valid? [False, False] Translation: X:203.17, Y:10.98, Z:-0.20 [[ 9.99985670e-01 3.46738628e-03 -4.07891403e-03 2.03165073e+02] [-3.47880013e-03 9.99990044e-01 -2.79449855e-03 1.09817298e+01] [ 4.06918382e-03 2.80864823e-03 9.99987777e-01 -2.00873607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.851400513 meters Centerline goodness [0,1] 0.44578008351259013 Centerline is valid? [False, False] Translation: X:203.21, Y:10.99, Z:-0.20 [[ 9.99986189e-01 5.12212809e-03 -1.17672244e-03 2.03205538e+02] [-5.12596028e-03 9.99981493e-01 -3.27706018e-03 1.09884418e+01] [ 1.15991514e-03 3.28304675e-03 9.99993938e-01 -2.01254623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.881400513 meters Centerline goodness [0,1] 0.42840749713119974 Centerline is valid? [False, False] Translation: X:203.21, Y:10.99, Z:-0.20 [[ 9.99956582e-01 9.25610874e-03 -1.07655102e-03 2.03205177e+02] [-9.25542353e-03 9.99956963e-01 6.39730869e-04 1.09903749e+01] [ 1.08242611e-03 -6.29739158e-04 9.99999216e-01 -2.01043741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.911400513 meters Centerline goodness [0,1] 0.4394705532421178 Centerline is valid? [False, False] Translation: X:203.21, Y:11.00, Z:-0.20 [[ 9.99960614e-01 8.81785321e-03 -1.00817473e-03 2.03205007e+02] [-8.81825837e-03 9.99961039e-01 -3.98133213e-04 1.09952841e+01] [ 1.00462477e-03 4.07007877e-04 9.99999413e-01 -2.01209006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.941400513 meters Centerline goodness [0,1] 0.40264096921005965 Centerline is valid? [False, False] Translation: X:203.20, Y:11.00, Z:-0.20 [[ 9.99964576e-01 8.36628421e-03 -9.23365488e-04 2.03204779e+02] [-8.36762798e-03 9.99963923e-01 -1.46115829e-03 1.10002910e+01] [ 9.11107710e-04 1.46883291e-03 9.99998506e-01 -2.01371060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.971400513 meters Centerline goodness [0,1] 0.4760944761581394 Centerline is valid? [False, False] Translation: X:203.20, Y:11.00, Z:-0.20 [[ 9.99967786e-01 7.97495773e-03 -9.09160544e-04 2.03204747e+02] [-7.97708343e-03 9.99965400e-01 -2.35894047e-03 1.10045313e+01] [ 8.90316637e-04 2.36611693e-03 9.99996804e-01 -2.01433653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.001400513 meters Centerline goodness [0,1] 0.4497819367404835 Centerline is valid? [False, False] Translation: X:203.21, Y:11.01, Z:-0.20 [[ 9.99971966e-01 7.41935541e-03 -1.00986934e-03 2.03205335e+02] [-7.42289854e-03 9.99966144e-01 -3.55117311e-03 1.10100663e+01] [ 9.83487735e-04 3.55856971e-03 9.99993185e-01 -2.01977288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.031400513 meters Centerline goodness [0,1] 0.5159420905154114 Centerline is valid? [False, False] Translation: X:203.21, Y:11.01, Z:-0.20 [[ 9.99973704e-01 7.16665152e-03 -1.10932143e-03 2.03205757e+02] [-7.17112716e-03 9.99965945e-01 -4.08459532e-03 1.10125298e+01] [ 1.08001078e-03 4.09244299e-03 9.99991043e-01 -2.02159527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.061400513 meters Centerline goodness [0,1] 0.5906235932174323 Centerline is valid? [False, False] Translation: X:203.21, Y:11.01, Z:-0.20 [[ 9.99975260e-01 6.93830941e-03 -1.15735359e-03 2.03205970e+02] [-6.94350431e-03 9.99965557e-01 -4.54665282e-03 1.10146499e+01] [ 1.12576764e-03 4.55457643e-03 9.99988994e-01 -2.02297237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.091400513 meters Centerline goodness [0,1] 0.7824937081431558 Centerline is valid? [False, False] Translation: X:203.21, Y:11.02, Z:-0.20 [[ 9.99976800e-01 6.69438038e-03 -1.25900131e-03 2.03206210e+02] [-6.70054514e-03 9.99965261e-01 -4.95778538e-03 1.10164998e+01] [ 1.22576827e-03 4.96610636e-03 9.99986918e-01 -2.02146120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.121400513 meters Centerline goodness [0,1] 0.7342438102600443 Centerline is valid? [False, False] Translation: X:203.21, Y:11.02, Z:-0.20 [[ 9.99977835e-01 6.50850197e-03 -1.40328938e-03 2.03206611e+02] [-6.51578078e-03 9.99965010e-01 -5.24633118e-03 1.10177865e+01] [ 1.36909452e-03 5.25535842e-03 9.99985253e-01 -2.02005872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.151400513 meters Centerline goodness [0,1] 0.7342438102600443 Centerline is valid? [False, False] Translation: X:203.21, Y:11.02, Z:-0.20 [[ 9.99977835e-01 6.50850197e-03 -1.40328938e-03 2.03206611e+02] [-6.51578078e-03 9.99965010e-01 -5.24633118e-03 1.10177865e+01] [ 1.36909452e-03 5.25535842e-03 9.99985253e-01 -2.02005872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.181400513 meters Centerline goodness [0,1] 0.8370079575596817 Centerline is valid? [False, False] Translation: X:203.23, Y:11.02, Z:-0.20 [[ 9.99995368e-01 1.67220328e-03 -2.54330951e-03 2.03226570e+02] [-1.67095200e-03 9.99998482e-01 4.94036663e-04 1.10180779e+01] [ 2.54413178e-03 -4.89784627e-04 9.99996644e-01 -1.97703640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.211400513 meters Centerline goodness [0,1] 0.7602478346625504 Centerline is valid? [False, False] Translation: X:203.23, Y:11.02, Z:-0.20 [[ 9.99995196e-01 1.67414403e-03 -2.60857941e-03 2.03226541e+02] [-1.67264326e-03 9.99998434e-01 5.77397252e-04 1.10176407e+01] [ 2.60954197e-03 -5.73031255e-04 9.99996431e-01 -1.97210170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.24140051300003 meters Centerline goodness [0,1] 0.94783980893078 Centerline is valid? [False, False] Translation: X:203.23, Y:11.02, Z:-0.20 [[ 9.99995232e-01 1.60698177e-03 -2.63713654e-03 2.03226423e+02] [-1.60568485e-03 9.99998589e-01 4.93834395e-04 1.10180025e+01] [ 2.63792640e-03 -4.89597630e-04 9.99996401e-01 -1.96796765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.271400513 meters Centerline goodness [0,1] 0.7919036042701617 Centerline is valid? [False, False] Translation: X:203.23, Y:11.02, Z:-0.20 [[ 9.99995471e-01 1.44465892e-03 -2.64036448e-03 2.03226283e+02] [-1.44421516e-03 9.99998943e-01 1.69966285e-04 1.10194938e+01] [ 2.64060723e-03 -1.66152261e-04 9.99996500e-01 -1.96506882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.30140051300003 meters Centerline goodness [0,1] 0.8196455609818516 Centerline is valid? [False, False] Translation: X:203.23, Y:11.02, Z:-0.20 [[ 9.99995779e-01 1.23970985e-03 -2.62783177e-03 2.03226278e+02] [-1.24046762e-03 9.99999190e-01 -2.86752419e-04 1.10216343e+01] [ 2.62747415e-03 2.90010949e-04 9.99996506e-01 -1.96606630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.331400513 meters Centerline goodness [0,1] 0.7153659367811196 Centerline is valid? [False, False] Translation: X:203.23, Y:11.02, Z:-0.20 [[ 9.99995983e-01 1.02859796e-03 -2.64120128e-03 2.03226591e+02] [-1.03074228e-03 9.99999140e-01 -8.10640452e-04 1.10240838e+01] [ 2.64036519e-03 8.13359593e-04 9.99996183e-01 -1.97151731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.36140051300004 meters Centerline goodness [0,1] 0.9457639516371928 Centerline is valid? [False, False] Translation: X:203.23, Y:11.02, Z:-0.20 [[ 9.99995989e-01 1.06823074e-03 -2.62321727e-03 2.03226495e+02] [-1.07010162e-03 9.99999174e-01 -7.11898158e-04 1.10236093e+01] [ 2.62245464e-03 7.14702411e-04 9.99996306e-01 -1.97079763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.391400513 meters Centerline goodness [0,1] 0.9012649630698701 Centerline is valid? [False, False] Translation: X:203.27, Y:11.03, Z:-0.20 [[ 9.99998179e-01 1.81378366e-03 5.94129434e-04 2.03266107e+02] [-1.81347887e-03 9.99998224e-01 -5.13131877e-04 1.10255941e+01] [-5.95059089e-04 5.12053502e-04 9.99999692e-01 -1.96688860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.421400513 meters Centerline goodness [0,1] 0.8661033818266523 Centerline is valid? [False, False] Translation: X:203.26, Y:11.03, Z:-0.20 [[ 9.99998074e-01 1.74251037e-03 9.03385916e-04 2.03264261e+02] [-1.74189416e-03 9.99998250e-01 -6.82459085e-04 1.10264736e+01] [-9.04573527e-04 6.80884168e-04 9.99999359e-01 -1.95144729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.451400513 meters Centerline goodness [0,1] 0.7669019474445106 Centerline is valid? [False, False] Translation: X:203.26, Y:11.03, Z:-0.19 [[ 9.99998060e-01 1.66457093e-03 1.05290225e-03 2.03263429e+02] [-1.66367099e-03 9.99998251e-01 -8.55022060e-04 1.10273219e+01] [-1.05432366e-03 8.53268719e-04 9.99999080e-01 -1.94529166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.481400513 meters Centerline goodness [0,1] 0.7595079250414312 Centerline is valid? [False, False] Translation: X:203.26, Y:11.03, Z:-0.19 [[ 9.99997998e-01 1.67918209e-03 1.08807298e-03 2.03263275e+02] [-1.67829071e-03 9.99998256e-01 -8.19631420e-04 1.10271501e+01] [-1.08944739e-03 8.17803677e-04 9.99999072e-01 -1.94472524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.511400513 meters Centerline goodness [0,1] 0.8199983012698009 Centerline is valid? [False, False] Translation: X:203.26, Y:11.03, Z:-0.19 [[ 9.99997981e-01 1.72679862e-03 1.02811117e-03 2.03263687e+02] [-1.72607760e-03 9.99998264e-01 -7.01782216e-04 1.10265513e+01] [-1.02932122e-03 7.00006199e-04 9.99999225e-01 -1.94879408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.541400513 meters Centerline goodness [0,1] 0.8910252315554136 Centerline is valid? [False, False] Translation: X:203.26, Y:11.03, Z:-0.20 [[ 9.99997927e-01 1.78353286e-03 9.82675580e-04 2.03263930e+02] [-1.78297181e-03 9.99998247e-01 -5.71520079e-04 1.10259311e+01] [-9.83693182e-04 5.69766811e-04 9.99999354e-01 -1.95056167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.571400513 meters Centerline goodness [0,1] 0.7930485032611698 Centerline is valid? [False, False] Translation: X:203.26, Y:11.03, Z:-0.20 [[ 9.99998012e-01 1.73289367e-03 9.86389620e-04 2.03263906e+02] [-1.73222923e-03 9.99998273e-01 -6.74063253e-04 1.10264003e+01] [-9.87555995e-04 6.72353260e-04 9.99999286e-01 -1.95051426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.601400513 meters Centerline goodness [0,1] 0.757386084467326 Centerline is valid? [False, False] Translation: X:203.26, Y:11.03, Z:-0.20 [[ 9.99998116e-01 1.66821460e-03 9.92656899e-04 2.03263894e+02] [-1.66741442e-03 9.99998285e-01 -8.06381175e-04 1.10269903e+01] [-9.94000413e-04 8.04724485e-04 9.99999182e-01 -1.95087666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.631400513 meters Centerline goodness [0,1] 0.8615636216893571 Centerline is valid? [False, False] Translation: X:203.26, Y:11.03, Z:-0.20 [[ 9.99998269e-01 1.64058798e-03 8.78149257e-04 2.03264526e+02] [-1.63982611e-03 9.99998279e-01 -8.67609765e-04 1.10272414e+01] [-8.79571136e-04 8.66168251e-04 9.99999238e-01 -1.95603682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.661400513 meters Centerline goodness [0,1] 0.7637910239319494 Centerline is valid? [False, False] Translation: X:203.27, Y:11.03, Z:-0.20 [[ 9.99998460e-01 1.61242978e-03 6.92470503e-04 2.03265568e+02] [-1.61179636e-03 9.99998283e-01 -9.14309796e-04 1.10273738e+01] [-6.93943574e-04 9.13192267e-04 9.99999342e-01 -1.96414251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.691400513 meters Centerline goodness [0,1] 0.7755780500799148 Centerline is valid? [False, False] Translation: X:203.27, Y:11.03, Z:-0.20 [[ 9.99998539e-01 1.61159685e-03 5.69927918e-04 2.03266456e+02] [-1.61107940e-03 9.99998291e-01 -9.07222076e-04 1.10272774e+01] [-5.71389020e-04 9.06302551e-04 9.99999426e-01 -1.97347321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.721400513 meters Centerline goodness [0,1] 0.7176801064481382 Centerline is valid? [False, False] Translation: X:203.27, Y:11.02, Z:-0.20 [[ 9.99983836e-01 5.68333028e-03 1.68659123e-04 2.03267566e+02] [-5.68402357e-03 9.99973977e-01 4.44272040e-03 1.10211171e+01] [-1.43405287e-04 -4.44360724e-03 9.99990117e-01 -1.96694126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.751400513 meters Centerline goodness [0,1] 0.9270742264963644 Centerline is valid? [False, False] Translation: X:203.27, Y:11.02, Z:-0.20 [[ 9.99983298e-01 5.77445134e-03 2.45613141e-04 2.03266902e+02] [-5.77553664e-03 9.99972393e-01 4.67501815e-03 1.10200581e+01] [-2.18610696e-04 -4.67635861e-03 9.99989042e-01 -1.95895181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.781400513 meters Centerline goodness [0,1] 0.9849664257302938 Centerline is valid? [False, True] Translation: X:203.27, Y:11.02, Z:-0.20 [[ 9.99999055e-01 1.24023327e-03 5.92695464e-04 2.03265652e+02] [-1.23990327e-03 9.99999076e-01 -5.56825039e-04 1.10245795e+01] [-5.93385510e-04 5.56089628e-04 9.99999669e-01 -1.95799802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.811400513 meters Centerline goodness [0,1] 0.7983262711864407 Centerline is valid? [True, False] Translation: X:203.27, Y:11.02, Z:-0.20 [[ 9.99998826e-01 1.47020248e-03 4.30707889e-04 2.03265981e+02] [-1.47031094e-03 9.99998887e-01 2.51613750e-04 1.10205840e+01] [-4.30337486e-04 -2.52246729e-04 9.99999876e-01 -1.95381349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.841400513 meters Centerline goodness [0,1] 0.9774854915914771 Centerline is valid? [False, True] Translation: X:203.27, Y:11.01, Z:-0.20 [[ 9.99999707e-01 7.33410773e-04 2.20491754e-04 2.03266879e+02] [-7.33702287e-04 9.99998853e-01 1.32494858e-03 1.10125355e+01] [-2.19519769e-04 -1.32510996e-03 9.99999098e-01 -1.95399780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.871400513 meters Centerline goodness [0,1] 0.998616903566261 Centerline is valid? [True, True] Translation: X:203.30, Y:11.00, Z:-0.20 [[ 9.99996609e-01 -2.49774902e-03 7.36557537e-04 2.03297969e+02] [ 2.49771563e-03 9.99996880e-01 4.62431285e-05 1.10019136e+01] [-7.36670742e-04 -4.44032604e-05 9.99999728e-01 -1.95597105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.901400513 meters Centerline goodness [0,1] 0.9987680282079059 Centerline is valid? [True, True] Translation: X:203.33, Y:11.00, Z:-0.20 [[ 9.99994304e-01 -3.37000632e-03 -1.84985202e-04 2.03326703e+02] [ 3.36876741e-03 9.99974276e-01 -6.33242484e-03 1.10013630e+01] [ 2.06320755e-04 6.33176560e-03 9.99979933e-01 -1.95711055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.931400513 meters Centerline goodness [0,1] 0.9993392727737755 Centerline is valid? [True, True] Translation: X:203.36, Y:10.99, Z:-0.20 [[ 9.99968081e-01 -7.98979703e-03 9.81438210e-06 2.03359129e+02] [ 7.98957618e-03 9.99948189e-01 6.30767885e-03 1.09891112e+01] [-6.02109473e-05 -6.30739910e-03 9.99980106e-01 -1.96720706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.961400513 meters Centerline goodness [0,1] 0.9990806465406653 Centerline is valid? [True, True] Translation: X:203.39, Y:10.99, Z:-0.20 [[ 9.99952416e-01 -9.73856676e-03 -5.71238631e-04 2.03388640e+02] [ 9.73854783e-03 9.99952579e-01 -3.58970652e-05 1.09900555e+01] [ 5.71561128e-04 3.03323223e-05 9.99999836e-01 -1.98655521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.99140051300003 meters Centerline goodness [0,1] 0.9996578125668335 Centerline is valid? [True, True] Translation: X:203.42, Y:10.98, Z:-0.20 [[ 9.99961303e-01 -8.71097587e-03 -1.22939525e-03 2.03418569e+02] [ 8.71088742e-03 9.99962057e-01 -7.72824217e-05 1.09822202e+01] [ 1.23002181e-03 6.65703075e-05 9.99999241e-01 -1.98862527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.021400513 meters Centerline goodness [0,1] 0.9987622441793466 Centerline is valid? [True, True] Translation: X:203.45, Y:10.99, Z:-0.20 [[ 9.99977691e-01 -6.42258177e-03 -1.83522098e-03 2.03447107e+02] [ 6.42238088e-03 9.99979370e-01 -1.15332600e-04 1.09880418e+01] [ 1.83592385e-03 1.03543539e-04 9.99998309e-01 -1.99968819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.05140051300003 meters Centerline goodness [0,1] 0.992913519477213 Centerline is valid? [True, True] Translation: X:203.48, Y:11.00, Z:-0.20 [[ 9.99992939e-01 -3.15260320e-03 -2.04523399e-03 2.03476390e+02] [ 3.15234686e-03 9.99995023e-01 -1.28547842e-04 1.09959665e+01] [ 2.04562907e-03 1.22099647e-04 9.99997900e-01 -2.00972685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.081400513 meters Centerline goodness [0,1] 0.9823914563600534 Centerline is valid? [True, True] Translation: X:203.51, Y:11.00, Z:-0.20 [[ 9.99998378e-01 3.27492822e-04 -1.77081180e-03 2.03506945e+02] [-3.27690373e-04 9.99999940e-01 -1.11270660e-04 1.10011307e+01] [ 1.77077525e-03 1.11850757e-04 9.99998426e-01 -2.00768755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.11140051300004 meters Centerline goodness [0,1] 0.9677378219841877 Centerline is valid? [True, True] Translation: X:203.54, Y:11.00, Z:-0.20 [[ 9.99993206e-01 3.48455469e-03 -1.20282003e-03 2.03537142e+02] [-3.48464811e-03 9.99993926e-01 -7.55808039e-05 1.10042135e+01] [ 1.20254936e-03 7.97716949e-05 9.99999274e-01 -2.00247240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.141400513 meters Centerline goodness [0,1] 0.9567957753976535 Centerline is valid? [True, True] Translation: X:203.57, Y:11.00, Z:-0.20 [[ 9.99973522e-01 7.26212402e-03 4.65989408e-04 2.03567943e+02] [-7.26213845e-03 9.99973630e-01 2.92831020e-05 1.10016782e+01] [-4.65764463e-04 -3.26664062e-05 9.99999891e-01 -1.97606505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.171400513 meters Centerline goodness [0,1] 0.8192546452255345 Centerline is valid? [True, False] Translation: X:203.57, Y:11.00, Z:-0.20 [[ 9.99971075e-01 7.58800260e-03 5.20615309e-04 2.03567427e+02] [-7.58840226e-03 9.99970911e-01 7.70043432e-04 1.09982153e+01] [-5.14757073e-04 -7.73971797e-04 9.99999568e-01 -1.96966250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.201400513 meters Centerline goodness [0,1] 0.888179527693556 Centerline is valid? [False, False] Translation: X:203.57, Y:10.99, Z:-0.20 [[ 9.99968073e-01 7.97103437e-03 5.62559778e-04 2.03567147e+02] [-7.97196080e-03 9.99966838e-01 1.66425505e-03 1.09940154e+01] [-5.49275289e-04 -1.66868662e-03 9.99998457e-01 -1.96648200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.231400513 meters Centerline goodness [0,1] 0.9446576620512712 Centerline is valid? [False, False] Translation: X:203.57, Y:10.99, Z:-0.20 [[ 9.99965275e-01 8.31809172e-03 5.07810406e-04 2.03567343e+02] [-8.31934573e-03 9.99962220e-01 2.51942244e-03 1.09899126e+01] [-4.86834434e-04 -2.52355960e-03 9.99996697e-01 -1.96641398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.261400513 meters Centerline goodness [0,1] 0.9272118134095856 Centerline is valid? [False, False] Translation: X:203.56, Y:10.99, Z:-0.19 [[ 9.99981161e-01 5.96634705e-03 1.44204852e-03 2.03561720e+02] [-5.96682317e-03 9.99982145e-01 3.26098119e-04 1.09854703e+01] [-1.44007716e-03 -3.34696424e-04 9.99998907e-01 -1.93928338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.291400513 meters Centerline goodness [0,1] 0.9509617642663478 Centerline is valid? [False, True] Translation: X:203.56, Y:10.98, Z:-0.19 [[ 9.99979421e-01 6.25648111e-03 1.41898230e-03 2.03561817e+02] [-6.25788083e-03 9.99979935e-01 9.84144013e-04 1.09823531e+01] [-1.41279655e-03 -9.93003583e-04 9.99998509e-01 -1.93932504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.321400513 meters Centerline goodness [0,1] 0.8353919088415995 Centerline is valid? [True, False] Translation: X:203.56, Y:10.98, Z:-0.19 [[ 9.99977726e-01 6.52729801e-03 1.39372278e-03 2.03561950e+02] [-6.52948564e-03 9.99977449e-01 1.57089276e-03 1.09795960e+01] [-1.38343767e-03 -1.57995806e-03 9.99997795e-01 -1.94014407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.351400513 meters Centerline goodness [0,1] 0.7232578878083995 Centerline is valid? [False, False] Translation: X:203.56, Y:10.98, Z:-0.19 [[ 9.99975460e-01 6.87851022e-03 1.32866802e-03 2.03562501e+02] [-6.88136929e-03 9.99973992e-01 2.15938022e-03 1.09768847e+01] [-1.31378015e-03 -2.16847028e-03 9.99996786e-01 -1.94627204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.381400513 meters Centerline goodness [0,1] 0.8642051763901939 Centerline is valid? [False, False] Translation: X:203.56, Y:10.98, Z:-0.20 [[ 9.99975491e-01 6.87491853e-03 1.32383128e-03 2.03562857e+02] [-6.87763662e-03 9.99974228e-01 2.05971592e-03 1.09773619e+01] [-1.30963678e-03 -2.06877027e-03 9.99997003e-01 -1.95284983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.411400513 meters Centerline goodness [0,1] 0.6528809518741618 Centerline is valid? [False, False] Translation: X:203.56, Y:10.98, Z:-0.20 [[ 9.99975866e-01 6.82080520e-03 1.32079282e-03 2.03563180e+02] [-6.82308079e-03 9.99975233e-01 1.72613059e-03 1.09789902e+01] [-1.30898651e-03 -1.73510081e-03 9.99997638e-01 -1.95952138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.441400513 meters Centerline goodness [0,1] 0.571419445509135 Centerline is valid? [False, False] Translation: X:203.56, Y:10.98, Z:-0.20 [[ 9.99976249e-01 6.74846434e-03 1.39991343e-03 2.03563206e+02] [-6.75027770e-03 9.99976379e-01 1.29467857e-03 1.09811025e+01] [-1.39114326e-03 -1.30409762e-03 9.99998182e-01 -1.96586099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.471400513 meters Centerline goodness [0,1] 0.5479070558472756 Centerline is valid? [False, False] Translation: X:203.56, Y:10.98, Z:-0.20 [[ 9.99977028e-01 6.60396317e-03 1.52690127e-03 2.03562987e+02] [-6.60515037e-03 9.99977886e-01 7.73787675e-04 1.09836463e+01] [-1.52175744e-03 -7.83855312e-04 9.99998535e-01 -1.97040658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.501400513 meters Centerline goodness [0,1] 0.5159604969735585 Centerline is valid? [False, False] Translation: X:203.56, Y:10.99, Z:-0.20 [[ 9.99977380e-01 6.48979715e-03 1.76679466e-03 2.03562101e+02] [-6.49045710e-03 9.99978869e-01 3.68055364e-04 1.09856444e+01] [-1.76436872e-03 -3.79514344e-04 9.99998371e-01 -1.96974576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.531400513 meters Centerline goodness [0,1] 0.786069438491213 Centerline is valid? [False, False] Translation: X:203.56, Y:10.99, Z:-0.20 [[ 9.99976777e-01 6.55491386e-03 1.86485818e-03 2.03561547e+02] [-6.55586891e-03 9.99978382e-01 5.06482636e-04 1.09850395e+01] [-1.86149791e-03 -5.18696640e-04 9.99998133e-01 -1.96552026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.561400513 meters Centerline goodness [0,1] 0.5599593710984616 Centerline is valid? [False, False] Translation: X:203.56, Y:10.98, Z:-0.20 [[ 9.99944910e-01 1.03949554e-02 1.45642234e-03 2.03562794e+02] [-1.04033520e-02 9.99928587e-01 5.88140986e-03 1.09782366e+01] [-1.39518134e-03 -5.89623753e-03 9.99981644e-01 -1.95769872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.591400513 meters Centerline goodness [0,1] 0.6930566231104278 Centerline is valid? [False, False] Translation: X:203.56, Y:10.98, Z:-0.20 [[ 9.99943840e-01 1.05119160e-02 1.34782117e-03 2.03563153e+02] [-1.05201125e-02 9.99925281e-01 6.22569711e-03 1.09765664e+01] [-1.28227646e-03 -6.23952670e-03 9.99979712e-01 -1.95747753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.621400513 meters Centerline goodness [0,1] 0.590926444387885 Centerline is valid? [False, False] Translation: X:203.56, Y:10.98, Z:-0.20 [[ 9.99944112e-01 1.05118875e-02 1.12833075e-03 2.03564015e+02] [-1.05189349e-02 9.99923981e-01 6.43305365e-03 1.09754124e+01] [-1.06062144e-03 -6.44456295e-03 9.99978671e-01 -1.96015064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.651400513 meters Centerline goodness [0,1] 0.6228830883776979 Centerline is valid? [False, False] Translation: X:203.52, Y:10.98, Z:-0.20 [[ 9.99986273e-01 5.08611751e-03 -1.25866451e-03 2.03522306e+02] [-5.08464149e-03 9.99986385e-01 1.17312437e-03 1.09786081e+01] [ 1.26461403e-03 -1.16670841e-03 9.99998520e-01 -1.96689785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.681400513 meters Centerline goodness [0,1] 0.7279986408426775 Centerline is valid? [False, False] Translation: X:203.54, Y:10.97, Z:-0.19 [[ 9.99991681e-01 3.94288025e-03 -1.04475121e-03 2.03542008e+02] [-3.93066233e-03 9.99926728e-01 1.14493532e-02 1.09724010e+01] [ 1.08981809e-03 -1.14451514e-02 9.99933908e-01 -1.93524547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.711400513 meters Centerline goodness [0,1] 0.961869804598942 Centerline is valid? [False, True] Translation: X:203.52, Y:10.98, Z:-0.19 [[ 9.99982956e-01 3.10806490e-03 -4.94234733e-03 2.03517523e+02] [-3.10904952e-03 9.99995149e-01 -1.91551820e-04 1.09783253e+01] [ 4.94172800e-03 2.06914558e-04 9.99987768e-01 -1.88103247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.74140051300003 meters Centerline goodness [0,1] 0.8270765150056686 Centerline is valid? [True, False] Translation: X:203.52, Y:10.97, Z:-0.19 [[ 9.99959581e-01 7.07205048e-03 -5.55171613e-03 2.03519571e+02] [-7.04241223e-03 9.99960943e-01 5.34009275e-03 1.09706299e+01] [ 5.58926470e-03 -5.30077944e-03 9.99970330e-01 -1.87685761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.771400513 meters Centerline goodness [0,1] 0.7939344648246046 Centerline is valid? [False, False] Translation: X:203.52, Y:10.98, Z:-0.19 [[ 9.99983001e-01 2.69292229e-03 -5.17162440e-03 2.03518552e+02] [-2.69391937e-03 9.99996354e-01 -1.85842979e-04 1.09770705e+01] [ 5.17110509e-03 1.99771759e-04 9.99986610e-01 -1.88455865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.80140051300003 meters Centerline goodness [0,1] 0.8286416301285717 Centerline is valid? [False, False] Translation: X:203.54, Y:10.97, Z:-0.18 [[ 9.99975680e-01 2.53534770e-03 -6.49699539e-03 2.03538348e+02] [-2.46727723e-03 9.99942208e-01 1.04639050e-02 1.09706796e+01] [ 6.52314955e-03 -1.04476207e-02 9.99924145e-01 -1.83794454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.831400513 meters Centerline goodness [0,1] 0.5826985041503958 Centerline is valid? [False, False] Translation: X:203.54, Y:10.98, Z:-0.18 [[ 9.99980318e-01 -1.73078100e-03 -6.03059848e-03 2.03537077e+02] [ 1.76193678e-03 9.99985110e-01 5.16480625e-03 1.09761332e+01] [ 6.02156954e-03 -5.17533013e-03 9.99968478e-01 -1.84496953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.86140051300004 meters Centerline goodness [0,1] 0.8621494826588976 Centerline is valid? [False, False] Translation: X:203.54, Y:10.98, Z:-0.18 [[ 9.99980718e-01 -1.62874116e-03 -5.99254548e-03 2.03536749e+02] [ 1.66090126e-03 9.99984226e-01 5.36562711e-03 1.09752261e+01] [ 5.98371174e-03 -5.37547667e-03 9.99967649e-01 -1.84087063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.891400513 meters Centerline goodness [0,1] 0.9165040214477211 Centerline is valid? [False, False] Translation: X:203.54, Y:10.98, Z:-0.18 [[ 9.99981236e-01 -1.77253022e-03 -5.86387147e-03 2.03536282e+02] [ 1.80175235e-03 9.99985967e-01 4.98189472e-03 1.09770665e+01] [ 5.85495862e-03 -4.99236649e-03 9.99970397e-01 -1.84050587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.921400513 meters Centerline goodness [0,1] 0.6977666637923601 Centerline is valid? [False, False] Translation: X:203.54, Y:10.98, Z:-0.18 [[ 9.99981460e-01 -1.97348212e-03 -5.76061504e-03 2.03535968e+02] [ 1.99908160e-03 9.99988138e-01 4.44150806e-03 1.09796557e+01] [ 5.75178148e-03 -4.45294165e-03 9.99973544e-01 -1.84146559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.951400513 meters Centerline goodness [0,1] 0.7441571783237737 Centerline is valid? [False, False] Translation: X:203.56, Y:10.99, Z:-0.19 [[ 9.99997039e-01 4.81096481e-04 -2.38527859e-03 2.03555265e+02] [-4.94662708e-04 9.99983689e-01 -5.69015736e-03 1.09888301e+01] [ 2.38250217e-03 5.69132042e-03 9.99980966e-01 -1.85958305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.981400513 meters Centerline goodness [0,1] 0.6491284561222738 Centerline is valid? [False, False] Translation: X:203.55, Y:10.99, Z:-0.19 [[ 9.99997509e-01 3.25795376e-04 -2.20828811e-03 2.03554702e+02] [-3.39335669e-04 9.99981129e-01 -6.13398020e-03 1.09909747e+01] [ 2.20624802e-03 6.13471427e-03 9.99978749e-01 -1.86043625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.011400513 meters Centerline goodness [0,1] 0.5969148507288506 Centerline is valid? [False, False] Translation: X:203.58, Y:10.99, Z:-0.19 [[ 9.99996050e-01 2.27872545e-03 1.64538485e-03 2.03577252e+02] [-2.28949985e-03 9.99975755e-01 6.57633572e-03 1.09856135e+01] [-1.63035929e-03 -6.58007686e-03 9.99977022e-01 -1.90138008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.041400513 meters Centerline goodness [0,1] 0.5969148507288506 Centerline is valid? [False, False] Translation: X:203.58, Y:10.99, Z:-0.19 [[ 9.99996611e-01 -1.76382920e-03 1.91485681e-03 2.03576427e+02] [ 1.76120838e-03 9.99997511e-01 1.36949878e-03 1.09909670e+01] [-1.91726761e-03 -1.36612168e-03 9.99997229e-01 -1.90599308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.071400513 meters Centerline goodness [0,1] 0.6280416657827185 Centerline is valid? [False, False] Translation: X:203.58, Y:10.99, Z:-0.19 [[ 9.99996216e-01 -1.87667096e-03 2.01138608e-03 2.03576010e+02] [ 1.87452576e-03 9.99997673e-01 1.06787876e-03 1.09924356e+01] [-2.01338546e-03 -1.06410432e-03 9.99997407e-01 -1.90458220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.101400513 meters Centerline goodness [0,1] 0.5363103389250257 Centerline is valid? [False, False] Translation: X:203.58, Y:10.99, Z:-0.19 [[ 9.99995983e-01 -1.93817759e-03 2.06841772e-03 2.03575777e+02] [ 1.93628268e-03 9.99997704e-01 9.17725094e-04 1.09931380e+01] [-2.07019168e-03 -9.13716366e-04 9.99997440e-01 -1.90413146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.131400513 meters Centerline goodness [0,1] 0.5323486093619928 Centerline is valid? [False, False] Translation: X:203.58, Y:10.99, Z:-0.19 [[ 9.99996138e-01 -1.89828998e-03 2.03001239e-03 2.03575893e+02] [ 1.89623730e-03 9.99997689e-01 1.01261556e-03 1.09926932e+01] [-2.03192993e-03 -1.00876226e-03 9.99997427e-01 -1.90392605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.161400513 meters Centerline goodness [0,1] 0.5476649942107294 Centerline is valid? [False, False] Translation: X:203.58, Y:10.99, Z:-0.19 [[ 9.99996430e-01 -1.80925960e-03 1.96659009e-03 2.03576215e+02] [ 1.80686556e-03 9.99997625e-01 1.21845204e-03 1.09917046e+01] [-1.96878992e-03 -1.21489432e-03 9.99997324e-01 -1.90595029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.191400513 meters Centerline goodness [0,1] 0.5141473362222788 Centerline is valid? [False, False] Translation: X:203.58, Y:10.99, Z:-0.19 [[ 9.99996564e-01 -1.86790823e-03 1.83948108e-03 2.03576800e+02] [ 1.86580965e-03 9.99997607e-01 1.14190858e-03 1.09919810e+01] [-1.84160966e-03 -1.13847254e-03 9.99997656e-01 -1.90917240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.221400513 meters Centerline goodness [0,1] 0.7214546541672895 Centerline is valid? [False, False] Translation: X:203.58, Y:10.99, Z:-0.19 [[ 9.99996231e-01 -2.04026907e-03 1.83736897e-03 2.03576932e+02] [ 2.03893562e-03 9.99997657e-01 7.27320459e-04 1.09939386e+01] [-1.83884859e-03 -7.23571440e-04 9.99998048e-01 -1.91199449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.251400513 meters Centerline goodness [0,1] 0.551008099259004 Centerline is valid? [False, False] Translation: X:203.58, Y:11.00, Z:-0.19 [[ 9.99995495e-01 -2.31819598e-03 1.90688925e-03 2.03576889e+02] [ 2.31813789e-03 9.99997313e-01 3.26741163e-05 1.09972000e+01] [-1.90695987e-03 -2.82535369e-05 9.99998181e-01 -1.91640148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.281400513 meters Centerline goodness [0,1] 0.4985015622011095 Centerline is valid? [False, False] Translation: X:203.62, Y:11.00, Z:-0.19 [[ 9.99990190e-01 -1.52518650e-03 4.15863011e-03 2.03619557e+02] [ 1.53038620e-03 9.99998051e-01 -1.24744313e-03 1.10029264e+01] [-4.15671942e-03 1.25379521e-03 9.99990575e-01 -1.93418364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.311400513 meters Centerline goodness [0,1] 0.6261099726775956 Centerline is valid? [False, False] Translation: X:203.62, Y:11.00, Z:-0.19 [[ 9.99990051e-01 -1.63609281e-03 4.14989723e-03 2.03619724e+02] [ 1.64235188e-03 9.99997518e-01 -1.50528766e-03 1.10041358e+01] [-4.14742414e-03 1.51208827e-03 9.99990256e-01 -1.93708158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.341400513 meters Centerline goodness [0,1] 0.6410748970139378 Centerline is valid? [False, False] Translation: X:203.62, Y:11.01, Z:-0.19 [[ 9.99989842e-01 -1.78991630e-03 4.13658504e-03 2.03619839e+02] [ 1.79761360e-03 9.99996659e-01 -1.85781860e-03 1.10057758e+01] [-4.13324588e-03 1.86523571e-03 9.99989719e-01 -1.93888825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.371400513 meters Centerline goodness [0,1] 0.563529638595514 Centerline is valid? [False, False] Translation: X:203.62, Y:11.01, Z:-0.19 [[ 9.99989656e-01 -1.92110987e-03 4.12276470e-03 2.03619928e+02] [ 1.92991502e-03 9.99995863e-01 -2.13282528e-03 1.10070505e+01] [-4.11865026e-03 2.14075980e-03 9.99989227e-01 -1.94005294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.401400513 meters Centerline goodness [0,1] 0.7699605585758448 Centerline is valid? [False, False] Translation: X:203.62, Y:11.01, Z:-0.19 [[ 9.99990191e-01 -1.95878767e-03 3.97244804e-03 2.03620514e+02] [ 1.96747708e-03 9.99995678e-01 -2.18469412e-03 1.10072421e+01] [-3.96815152e-03 2.19248839e-03 9.99989723e-01 -1.94175054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.431400513 meters Centerline goodness [0,1] 0.47220787048996815 Centerline is valid? [False, False] Translation: X:203.60, Y:11.00, Z:-0.19 [[ 9.99991435e-01 -3.32788177e-03 -2.46077762e-03 2.03600124e+02] [ 3.34605529e-03 9.99966885e-01 7.41841410e-03 1.09970036e+01] [ 2.43600853e-03 -7.42658446e-03 9.99969455e-01 -1.88683120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.461400513 meters Centerline goodness [0,1] 0.6155041069072648 Centerline is valid? [False, False] Translation: X:203.62, Y:11.01, Z:-0.19 [[ 9.99994513e-01 -2.46560511e-03 2.21223880e-03 2.03622985e+02] [ 2.47308794e-03 9.99991209e-01 -3.38613602e-03 1.10075762e+01] [-2.20387048e-03 3.39158850e-03 9.99991820e-01 -1.94982683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.49140051300003 meters Centerline goodness [0,1] 0.7140227720229433 Centerline is valid? [False, False] Translation: X:203.62, Y:11.01, Z:-0.19 [[ 9.99994198e-01 -2.56888130e-03 2.23711474e-03 2.03622882e+02] [ 2.57704013e-03 9.99990011e-01 -3.65181836e-03 1.10088579e+01] [-2.22771131e-03 3.65756230e-03 9.99990830e-01 -1.94959022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.521400513 meters Centerline goodness [0,1] 0.5190285481763861 Centerline is valid? [False, False] Translation: X:203.62, Y:11.01, Z:-0.19 [[ 9.99993692e-01 -2.67130418e-03 2.34096601e-03 2.03622437e+02] [ 2.68047376e-03 9.99988714e-01 -3.92266323e-03 1.10101788e+01] [-2.33046097e-03 3.92891338e-03 9.99989566e-01 -1.94786302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.55140051300003 meters Centerline goodness [0,1] 0.5802526906878802 Centerline is valid? [False, False] Translation: X:203.62, Y:11.01, Z:-0.19 [[ 9.99993815e-01 -2.55421990e-03 2.41776373e-03 2.03621623e+02] [ 2.56316547e-03 9.99989855e-01 -3.70409909e-03 1.10092525e+01] [-2.40827812e-03 3.71027331e-03 9.99990217e-01 -1.93690070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.581400513 meters Centerline goodness [0,1] 0.7003608557436205 Centerline is valid? [False, False] Translation: X:203.62, Y:11.01, Z:-0.19 [[ 9.99993890e-01 -2.44413410e-03 2.49922496e-03 2.03621042e+02] [ 2.45279316e-03 9.99990980e-01 -3.46752184e-03 1.10082120e+01] [-2.49072733e-03 3.47363073e-03 9.99990865e-01 -1.93060079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.61140051300004 meters Centerline goodness [0,1] 0.72741904332711 Centerline is valid? [False, False] Translation: X:203.62, Y:11.01, Z:-0.19 [[ 9.99993714e-01 -2.36097053e-03 2.64522869e-03 2.03620241e+02] [ 2.36960839e-03 9.99991856e-01 -3.26708786e-03 1.10073286e+01] [-2.63749365e-03 3.27333548e-03 9.99991164e-01 -1.92430664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.641400513 meters Centerline goodness [0,1] 0.5201893682065217 Centerline is valid? [False, False] Translation: X:203.62, Y:11.00, Z:-0.19 [[ 9.99996279e-01 1.62891545e-03 2.18815677e-03 2.03621432e+02] [-1.63350712e-03 9.99996464e-01 2.09827153e-03 1.10008671e+01] [-2.18473113e-03 -2.10183809e-03 9.99995405e-01 -1.91556453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.671400513 meters Centerline goodness [0,1] 0.6474161551368918 Centerline is valid? [False, False] Translation: X:203.62, Y:11.00, Z:-0.19 [[ 9.99995704e-01 1.85004578e-03 2.27351398e-03 2.03620662e+02] [-1.85646455e-03 9.99994288e-01 2.82441811e-03 1.09974009e+01] [-2.26827569e-03 -2.82862668e-03 9.99993427e-01 -1.90556276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.701400513 meters Centerline goodness [0,1] 0.638484398216939 Centerline is valid? [False, False] Translation: X:203.62, Y:10.99, Z:-0.19 [[ 9.99995406e-01 2.05463814e-03 2.22835472e-03 2.03620593e+02] [-2.06209047e-03 9.99992272e-01 3.34719386e-03 1.09949341e+01] [-2.22146023e-03 -3.35177355e-03 9.99991915e-01 -1.90099432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.731400513 meters Centerline goodness [0,1] 0.790027144292218 Centerline is valid? [False, False] Translation: X:203.61, Y:11.00, Z:-0.19 [[ 9.99994977e-01 -2.51499781e-04 3.15962197e-03 2.03613835e+02] [ 2.48392225e-04 9.99999485e-01 9.83875177e-04 1.09953793e+01] [-3.15986779e-03 -9.83085409e-04 9.99994524e-01 -1.85812450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.761400513 meters Centerline goodness [0,1] 0.8542217635296394 Centerline is valid? [False, False] Translation: X:203.61, Y:10.99, Z:-0.19 [[ 9.99995169e-01 -1.06846975e-04 3.10653282e-03 2.03613875e+02] [ 1.02550920e-04 9.99999038e-01 1.38303645e-03 1.09934831e+01] [-3.10667761e-03 -1.38271119e-03 9.99994218e-01 -1.85548446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.791400513 meters Centerline goodness [0,1] 0.8275743288337747 Centerline is valid? [False, False] Translation: X:203.61, Y:10.99, Z:-0.19 [[ 9.99995564e-01 2.75836258e-04 2.96563648e-03 2.03614265e+02] [-2.83227410e-04 9.99996855e-01 2.49213369e-03 1.09881323e+01] [-2.96493973e-03 -2.49296259e-03 9.99992497e-01 -1.85295058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.821400513 meters Centerline goodness [0,1] 0.7706641792626826 Centerline is valid? [False, False] Translation: X:203.66, Y:10.99, Z:-0.19 [[ 9.99988529e-01 1.70299054e-04 4.78678665e-03 2.03657628e+02] [-1.74346645e-04 9.99999628e-01 8.45171214e-04 1.09900936e+01] [-4.78664094e-03 -8.45996079e-04 9.99988186e-01 -1.86805690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.851400513 meters Centerline goodness [0,1] 0.9454902214459754 Centerline is valid? [False, False] Translation: X:203.62, Y:10.98, Z:-0.19 [[ 9.99998208e-01 -6.68952656e-04 1.77128278e-03 2.03617152e+02] [ 6.65606419e-04 9.99997994e-01 1.88907667e-03 1.09833147e+01] [-1.77254293e-03 -1.88789431e-03 9.99996647e-01 -1.86630872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.881400513 meters Centerline goodness [0,1] 0.7399919212534813 Centerline is valid? [False, False] Translation: X:203.66, Y:10.99, Z:-0.19 [[ 9.99991229e-01 -2.39294545e-04 4.18149245e-03 2.03659034e+02] [ 2.38268539e-04 9.99999941e-01 2.45864919e-04 1.09864512e+01] [-4.18155104e-03 -2.44866444e-04 9.99991227e-01 -1.88055076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.911400513 meters Centerline goodness [0,1] 0.9192297638755772 Centerline is valid? [False, False] Translation: X:203.62, Y:10.98, Z:-0.19 [[ 9.99998765e-01 5.28583752e-04 1.47979220e-03 2.03617878e+02] [-5.33094589e-04 9.99995208e-01 3.04955786e-03 1.09797063e+01] [-1.47817316e-03 -3.05034297e-03 9.99994255e-01 -1.87601745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.941400513 meters Centerline goodness [0,1] 0.5660405613554681 Centerline is valid? [False, False] Translation: X:203.66, Y:10.98, Z:-0.19 [[ 9.99988937e-01 2.50485275e-03 3.98138918e-03 2.03659210e+02] [-2.51576198e-03 9.99993089e-01 2.73741454e-03 1.09831719e+01] [-3.97450484e-03 -2.74740049e-03 9.99988327e-01 -1.88832712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.971400513 meters Centerline goodness [0,1] 0.6074241680363737 Centerline is valid? [False, False] Translation: X:203.66, Y:10.98, Z:-0.19 [[ 9.99988629e-01 2.61635872e-03 3.98705808e-03 2.03659381e+02] [-2.62814340e-03 9.99992185e-01 2.95336512e-03 1.09820988e+01] [-3.97929986e-03 -2.96381010e-03 9.99987690e-01 -1.89199001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.001400513 meters Centerline goodness [0,1] 0.748449553774013 Centerline is valid? [False, False] Translation: X:203.64, Y:10.98, Z:-0.19 [[ 9.99992429e-01 3.88800023e-03 1.56743877e-04 2.03637874e+02] [-3.88689507e-03 9.99971169e-01 -6.52332341e-03 1.09839810e+01] [-1.82102041e-04 6.52266478e-03 9.99978711e-01 -1.86066925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.031400513 meters Centerline goodness [0,1] 0.6260012057531651 Centerline is valid? [False, False] Translation: X:203.64, Y:10.98, Z:-0.19 [[ 9.99991767e-01 4.00082674e-03 -6.77467873e-04 2.03641190e+02] [-4.00457134e-03 9.99976193e-01 -5.61926221e-03 1.09790265e+01] [ 6.54970050e-04 5.62192891e-03 9.99983982e-01 -1.87351283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.061400513 meters Centerline goodness [0,1] 0.5745043103448275 Centerline is valid? [False, False] Translation: X:203.64, Y:10.98, Z:-0.19 [[ 9.99990580e-01 4.25809704e-03 -8.41730834e-04 2.03641822e+02] [-4.26217943e-03 9.99978867e-01 -4.90920779e-03 1.09755791e+01] [ 8.20809162e-04 4.91274915e-03 9.99987596e-01 -1.87566077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.091400513 meters Centerline goodness [0,1] 0.9092855002354553 Centerline is valid? [False, False] Translation: X:203.64, Y:10.97, Z:-0.19 [[ 9.99989255e-01 4.52041957e-03 -1.02702417e-03 2.03642342e+02] [-4.52461807e-03 9.99981264e-01 -4.12315109e-03 1.09717388e+01] [ 1.00836655e-03 4.12775369e-03 9.99990972e-01 -1.87374058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.121400513 meters Centerline goodness [0,1] 0.734332891303418 Centerline is valid? [False, False] Translation: X:203.64, Y:10.97, Z:-0.19 [[ 9.99987879e-01 4.81749237e-03 -1.01664151e-03 2.03642257e+02] [-4.82088502e-03 9.99982730e-01 -3.36148135e-03 1.09681276e+01] [ 1.00043004e-03 3.36634172e-03 9.99993833e-01 -1.87246561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.151400513 meters Centerline goodness [0,1] 0.8908440074179497 Centerline is valid? [False, False] Translation: X:203.64, Y:10.97, Z:-0.19 [[ 9.99987550e-01 4.89686995e-03 -9.59591208e-04 2.03642179e+02] [-4.89988505e-03 9.99982986e-01 -3.16531212e-03 1.09671857e+01] [ 9.44074760e-04 3.16997460e-03 9.99994530e-01 -1.87451062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.181400513 meters Centerline goodness [0,1] 0.8615142023056106 Centerline is valid? [False, False] Translation: X:203.66, Y:10.96, Z:-0.18 [[ 9.99987315e-01 4.72945423e-03 -1.73237728e-03 2.03661473e+02] [-4.71624788e-03 9.99960379e-01 7.54961845e-03 1.09619380e+01] [ 1.76801422e-03 -7.54135236e-03 9.99970001e-01 -1.82863705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.211400513 meters Centerline goodness [0,1] 0.860697584623965 Centerline is valid? [False, False] Translation: X:203.66, Y:10.97, Z:-0.18 [[ 9.99999095e-01 6.17526741e-04 -1.19552399e-03 2.03659854e+02] [-6.15003433e-04 9.99997585e-01 2.10984812e-03 1.09684858e+01] [ 1.19682399e-03 -2.10911096e-03 9.99997060e-01 -1.83497082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.24140051300003 meters Centerline goodness [0,1] 0.8682641153252102 Centerline is valid? [False, False] Translation: X:203.66, Y:10.97, Z:-0.18 [[ 9.99999067e-01 6.16664927e-04 -1.21881387e-03 2.03659874e+02] [-6.14098919e-04 9.99997597e-01 2.10458692e-03 1.09685080e+01] [ 1.22010877e-03 -2.10383648e-03 9.99997043e-01 -1.83387845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.271400513 meters Centerline goodness [0,1] 0.9042081829381633 Centerline is valid? [False, False] Translation: X:203.66, Y:10.97, Z:-0.18 [[ 9.99999118e-01 6.17874734e-04 -1.17564432e-03 2.03659692e+02] [-6.15393786e-04 9.99997586e-01 2.10948054e-03 1.09684777e+01] [ 1.17694487e-03 -2.10875519e-03 9.99997084e-01 -1.83306061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.30140051300003 meters Centerline goodness [0,1] 0.7609191968762669 Centerline is valid? [False, False] Translation: X:203.70, Y:10.97, Z:-0.18 [[ 9.99999028e-01 -9.68001562e-05 1.39102133e-03 2.03701380e+02] [ 9.76120675e-05 9.99999825e-01 -5.83623940e-04 1.09734575e+01] [-1.39096459e-03 5.83759153e-04 9.99998862e-01 -1.84390477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.331400513 meters Centerline goodness [0,1] 0.5074012456275061 Centerline is valid? [False, False] Translation: X:203.70, Y:10.97, Z:-0.18 [[ 9.99999252e-01 6.58968237e-06 1.22320409e-03 2.03701930e+02] [-6.32314917e-06 9.99999976e-01 -2.17901314e-04 1.09716424e+01] [-1.22320549e-03 2.17893417e-04 9.99999228e-01 -1.84389938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.36140051300004 meters Centerline goodness [0,1] 0.7434844889145447 Centerline is valid? [False, False] Translation: X:203.70, Y:10.97, Z:-0.18 [[ 9.99999328e-01 9.33666524e-05 1.15529244e-03 2.03702070e+02] [-9.35304674e-05 9.99999986e-01 1.41742097e-04 1.09698984e+01] [-1.15527919e-03 -1.41850056e-04 9.99999323e-01 -1.84200947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.391400513 meters Centerline goodness [0,1] 0.8638642910487571 Centerline is valid? [False, False] Translation: X:203.70, Y:10.97, Z:-0.18 [[ 9.99999365e-01 1.53970658e-04 1.11627993e-03 2.03701877e+02] [-1.54431159e-04 9.99999903e-01 4.12457822e-04 1.09685876e+01] [-1.11621631e-03 -4.12629948e-04 9.99999292e-01 -1.83558410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.421400513 meters Centerline goodness [0,1] 0.9951565473101539 Centerline is valid? [False, True] Translation: X:203.66, Y:10.96, Z:-0.18 [[ 9.99998292e-01 -1.84768940e-03 4.21386457e-05 2.03656315e+02] [ 1.84761521e-03 9.99996852e-01 1.69763937e-03 1.09627431e+01] [-4.52752233e-05 -1.69755862e-03 9.99998558e-01 -1.80060282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.451400513 meters Centerline goodness [0,1] 0.9926729813532685 Centerline is valid? [True, True] Translation: X:203.69, Y:10.97, Z:-0.18 [[ 9.99994524e-01 -3.15301469e-03 1.00522409e-03 2.03686301e+02] [ 3.15294505e-03 9.99995027e-01 7.08502604e-05 1.09665584e+01] [-1.00544249e-03 -6.76804561e-05 9.99999492e-01 -1.79379885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.481400513 meters Centerline goodness [0,1] 0.9203095273722237 Centerline is valid? [True, False] Translation: X:203.69, Y:10.96, Z:-0.18 [[ 9.99995565e-01 -2.83083716e-03 9.25573254e-04 2.03686447e+02] [ 2.83005965e-03 9.99995642e-01 8.40262471e-04 1.09629328e+01] [-9.27947867e-04 -8.37639317e-04 9.99999219e-01 -1.79113767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.511400513 meters Centerline goodness [0,1] 0.988007320486597 Centerline is valid? [False, True] Translation: X:203.69, Y:10.96, Z:-0.18 [[ 9.99974625e-01 -7.02877155e-03 1.16036847e-03 2.03685938e+02] [ 7.03288412e-03 9.99968864e-01 -3.57899571e-03 1.09635755e+01] [-1.13517640e-03 3.58706563e-03 9.99992922e-01 -1.79487564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.541400513 meters Centerline goodness [0,1] 0.9657649951887095 Centerline is valid? [True, True] Translation: X:203.72, Y:10.96, Z:-0.18 [[ 9.99974253e-01 -6.84388669e-03 2.15739275e-03 2.03715603e+02] [ 6.84356320e-03 9.99976570e-01 1.57289473e-04 1.09643075e+01] [-2.15841867e-03 -1.42521169e-04 9.99997660e-01 -1.76741209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.571400513 meters Centerline goodness [0,1] 0.9843005148414161 Centerline is valid? [True, True] Translation: X:203.75, Y:10.96, Z:-0.17 [[ 9.99977285e-01 -5.74034195e-03 3.53241170e-03 2.03747047e+02] [ 5.73946770e-03 9.99983496e-01 2.57580357e-04 1.09598657e+01] [-3.53383200e-03 -2.37300343e-04 9.99993728e-01 -1.74853783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.601400513 meters Centerline goodness [0,1] 0.8722379663761692 Centerline is valid? [True, False] Translation: X:203.75, Y:10.96, Z:-0.17 [[ 9.99978239e-01 -5.53979629e-03 3.58229651e-03 2.03746872e+02] [ 5.53741340e-03 9.99984441e-01 6.74762849e-04 1.09579273e+01] [-3.58597882e-03 -6.54911509e-04 9.99993356e-01 -1.74802227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.631400513 meters Centerline goodness [0,1] 0.8954373441128408 Centerline is valid? [False, False] Translation: X:203.75, Y:10.96, Z:-0.18 [[ 9.99949740e-01 -9.10316561e-03 4.20107549e-03 2.03745109e+02] [ 9.12036498e-03 9.99950031e-01 -4.09320638e-03 1.09620415e+01] [-4.16360444e-03 4.13131600e-03 9.99982798e-01 -1.75484286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.661400513 meters Centerline goodness [0,1] 0.7249609259493939 Centerline is valid? [False, False] Translation: X:203.79, Y:10.96, Z:-0.18 [[ 9.99978885e-01 -3.81934609e-03 5.25758988e-03 2.03790674e+02] [ 3.82016307e-03 9.99992693e-01 -1.45356672e-04 1.09611286e+01] [-5.25699629e-03 1.65438453e-04 9.99986168e-01 -1.78450325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.691400513 meters Centerline goodness [0,1] 0.8907218706424971 Centerline is valid? [False, False] Translation: X:203.77, Y:10.96, Z:-0.17 [[ 9.99997621e-01 -8.80178267e-04 1.99583231e-03 2.03767488e+02] [ 8.96480338e-04 9.99966126e-01 -8.18192670e-03 1.09645417e+01] [-1.98856315e-03 8.18369646e-03 9.99964536e-01 -1.74709230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.721400513 meters Centerline goodness [0,1] 0.57464143257235 Centerline is valid? [False, False] Translation: X:203.77, Y:10.96, Z:-0.17 [[ 9.99991402e-01 3.74616598e-03 1.77806760e-03 2.03767916e+02] [-3.74113120e-03 9.99989007e-01 -2.82653213e-03 1.09594582e+01] [-1.78863671e-03 2.81985584e-03 9.99994425e-01 -1.74094533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.751400513 meters Centerline goodness [0,1] 0.5883092260826961 Centerline is valid? [False, False] Translation: X:203.77, Y:10.96, Z:-0.17 [[ 9.99991407e-01 3.67721446e-03 1.91399818e-03 2.03767433e+02] [-3.67122972e-03 9.99988391e-01 -3.12100582e-03 1.09609292e+01] [-1.92545257e-03 3.11395227e-03 9.99993298e-01 -1.74038556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.781400513 meters Centerline goodness [0,1] 0.5840830893509713 Centerline is valid? [False, False] Translation: X:203.77, Y:10.96, Z:-0.17 [[ 9.99991635e-01 3.59280732e-03 1.95511502e-03 2.03767320e+02] [-3.58621434e-03 9.99987907e-01 -3.36529313e-03 1.09621119e+01] [-1.96718222e-03 3.35825351e-03 9.99992426e-01 -1.74093808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.811400513 meters Centerline goodness [0,1] 0.7376476105213796 Centerline is valid? [False, False] Translation: X:203.77, Y:10.96, Z:-0.17 [[ 9.99991821e-01 3.56789522e-03 1.90470334e-03 2.03767552e+02] [-3.56142589e-03 9.99987915e-01 -3.38915738e-03 1.09621737e+01] [-1.91677248e-03 3.38234620e-03 9.99992443e-01 -1.74263413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.841400513 meters Centerline goodness [0,1] 0.533105700712589 Centerline is valid? [False, False] Translation: X:203.77, Y:10.96, Z:-0.17 [[ 9.99992095e-01 3.54025546e-03 1.81002073e-03 2.03767979e+02] [-3.53413583e-03 9.99988066e-01 -3.37306857e-03 1.09620098e+01] [-1.82194065e-03 3.36664504e-03 9.99992673e-01 -1.74470261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.871400513 meters Centerline goodness [0,1] 0.8459546232876712 Centerline is valid? [False, False] Translation: X:203.75, Y:10.96, Z:-0.18 [[ 9.99998936e-01 -7.02023637e-04 1.27885823e-03 2.03750562e+02] [ 6.95809283e-04 9.99987981e-01 4.85327941e-03 1.09580036e+01] [-1.28224998e-03 -4.85238440e-03 9.99987405e-01 -1.78329129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.901400513 meters Centerline goodness [0,1] 0.6729387983312546 Centerline is valid? [False, False] Translation: X:203.75, Y:10.96, Z:-0.18 [[ 9.99998747e-01 -1.00774517e-03 1.22122124e-03 2.03750749e+02] [ 1.00244164e-03 9.99990098e-01 4.33567265e-03 1.09602997e+01] [-1.22557840e-03 -4.33444301e-03 9.99989855e-01 -1.78392606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.931400513 meters Centerline goodness [0,1] 0.9975614973262033 Centerline is valid? [False, True] Translation: X:203.75, Y:10.96, Z:-0.18 [[ 9.99998747e-01 -1.13543687e-03 1.10273316e-03 2.03751034e+02] [ 1.13080681e-03 9.99990581e-01 4.19030251e-03 1.09608802e+01] [-1.10748060e-03 -4.18905028e-03 9.99990613e-01 -1.78206911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.961400513 meters Centerline goodness [0,1] 0.9975614973262033 Centerline is valid? [True, True] Translation: X:203.78, Y:10.97, Z:-0.18 [[ 9.99998330e-01 -1.06097274e-03 1.48836954e-03 2.03781540e+02] [ 1.06060460e-03 9.99999407e-01 2.48108644e-04 1.09665774e+01] [-1.48863189e-03 -2.46529658e-04 9.99998862e-01 -1.78750326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.99140051300003 meters Centerline goodness [0,1] 0.8572738125692846 Centerline is valid? [True, False] Translation: X:203.78, Y:10.97, Z:-0.18 [[ 9.99998663e-01 -1.08307623e-03 1.22505698e-03 2.03782313e+02] [ 1.08256938e-03 9.99999328e-01 4.14324295e-04 1.09656593e+01] [-1.22550490e-03 -4.12997532e-04 9.99999164e-01 -1.78591677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.021400513 meters Centerline goodness [0,1] 0.8472017594431277 Centerline is valid? [False, False] Translation: X:203.78, Y:10.96, Z:-0.18 [[ 9.99999108e-01 -9.87408583e-04 8.99486253e-04 2.03783345e+02] [ 9.86629137e-04 9.99999138e-01 8.66576739e-04 1.09633649e+01] [-9.00341143e-04 -8.65688507e-04 9.99999220e-01 -1.78508548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.05140051300003 meters Centerline goodness [0,1] 0.9922200851468459 Centerline is valid? [False, True] Translation: X:203.76, Y:10.97, Z:-0.17 [[ 9.99989922e-01 -2.73318146e-03 -3.56154901e-03 2.03760937e+02] [ 2.69186588e-03 9.99929626e-01 -1.15540652e-02 1.09695361e+01] [ 3.59287773e-03 1.15443615e-02 9.99926907e-01 -1.74105097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.081400513 meters Centerline goodness [0,1] 0.981787270215705 Centerline is valid? [True, True] Translation: X:203.79, Y:10.96, Z:-0.17 [[ 9.99972039e-01 -6.17114877e-03 -4.22342320e-03 2.03790289e+02] [ 6.16994121e-03 9.99980921e-01 -2.98890213e-04 1.09634909e+01] [ 4.22518711e-03 2.72823583e-04 9.99991037e-01 -1.73079595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.11140051300004 meters Centerline goodness [0,1] 0.9973229128435416 Centerline is valid? [True, True] Translation: X:203.82, Y:10.96, Z:-0.17 [[ 9.99968803e-01 -6.97646337e-03 -3.70438332e-03 2.03820113e+02] [ 6.97553873e-03 9.99975636e-01 -2.62468758e-04 1.09585821e+01] [ 3.70612417e-03 2.36620500e-04 9.99993104e-01 -1.71787519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.141400513 meters Centerline goodness [0,1] 0.9947517760757792 Centerline is valid? [True, True] Translation: X:203.85, Y:10.96, Z:-0.17 [[ 9.99971133e-01 -6.93289942e-03 -3.10926279e-03 2.03847599e+02] [ 6.93224725e-03 9.99975947e-01 -2.20480254e-04 1.09627716e+01] [ 3.11071658e-03 1.98919711e-04 9.99995142e-01 -1.70956383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.171400513 meters Centerline goodness [0,1] 0.971037207205273 Centerline is valid? [True, True] Translation: X:203.88, Y:10.97, Z:-0.17 [[ 9.99973264e-01 -6.77057167e-03 -2.76228780e-03 2.03875163e+02] [ 6.77005588e-03 9.99977064e-01 -1.96033635e-04 1.09704527e+01] [ 2.76355170e-03 1.77327551e-04 9.99996166e-01 -1.70625212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.201400513 meters Centerline goodness [0,1] 0.998561892292172 Centerline is valid? [True, True] Translation: X:203.90, Y:10.96, Z:-0.17 [[ 9.99977336e-01 -6.30619272e-03 -2.35797654e-03 2.03904819e+02] [ 6.30581463e-03 9.99980104e-01 -1.67745572e-04 1.09592734e+01] [ 2.35898746e-03 1.52872808e-04 9.99997206e-01 -1.69211108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.231400513 meters Centerline goodness [0,1] 0.9860365426649407 Centerline is valid? [True, True] Translation: X:203.93, Y:10.96, Z:-0.17 [[ 9.99986714e-01 -4.79227534e-03 -1.89897432e-03 2.03933276e+02] [ 4.79202730e-03 9.99988509e-01 -1.35145633e-04 1.09648296e+01] [ 1.89960015e-03 1.26043900e-04 9.99998188e-01 -1.68964187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.261400513 meters Centerline goodness [0,1] 0.8820947799299489 Centerline is valid? [True, False] Translation: X:203.93, Y:10.96, Z:-0.17 [[ 9.99988097e-01 -4.46974726e-03 -1.95635221e-03 2.03933477e+02] [ 4.47087167e-03 9.99989843e-01 5.70756003e-04 1.09615101e+01] [ 1.95378121e-03 -5.79495809e-04 9.99997923e-01 -1.68979411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.291400513 meters Centerline goodness [0,1] 0.9069065856476529 Centerline is valid? [False, False] Translation: X:203.93, Y:10.96, Z:-0.17 [[ 9.99961968e-01 -8.59152659e-03 -1.49945746e-03 2.03932383e+02] [ 8.58504462e-03 9.99954001e-01 -4.27705819e-03 1.09646551e+01] [ 1.53613495e-03 4.26402261e-03 9.99989729e-01 -1.69661067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.321400513 meters Centerline goodness [0,1] 0.8616530534512675 Centerline is valid? [False, False] Translation: X:203.93, Y:10.96, Z:-0.17 [[ 9.99964626e-01 -8.27046390e-03 -1.53166076e-03 2.03932499e+02] [ 8.26493665e-03 9.99959435e-01 -3.58050992e-03 1.09613754e+01] [ 1.56121111e-03 3.56772419e-03 9.99992417e-01 -1.69668655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.351400513 meters Centerline goodness [0,1] 0.9373283661522086 Centerline is valid? [False, False] Translation: X:203.93, Y:10.96, Z:-0.17 [[ 9.99968736e-01 -7.76442097e-03 -1.49692658e-03 2.03932156e+02] [ 7.76065503e-03 9.99966747e-01 -2.50538753e-03 1.09564047e+01] [ 1.51632969e-03 2.49369207e-03 9.99995741e-01 -1.69173430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.381400513 meters Centerline goodness [0,1] 0.9900358794795314 Centerline is valid? [False, True] Translation: X:203.91, Y:10.96, Z:-0.17 [[ 9.99977805e-01 -5.82092274e-03 -3.24138772e-03 2.03910288e+02] [ 5.78305658e-03 9.99916326e-01 -1.15714199e-02 1.09581602e+01] [ 3.30847284e-03 1.15524179e-02 9.99927795e-01 -1.68748522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.411400513 meters Centerline goodness [0,1] 0.6148791363529689 Centerline is valid? [True, False] Translation: X:203.93, Y:10.95, Z:-0.17 [[ 9.99991781e-01 -4.03006360e-03 4.43520592e-04 2.03932842e+02] [ 4.02950614e-03 9.99991099e-01 1.25069214e-03 1.09487444e+01] [-4.48557013e-04 -1.24889469e-03 9.99999120e-01 -1.72494311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.441400513 meters Centerline goodness [0,1] 0.5113973392085416 Centerline is valid? [False, False] Translation: X:203.93, Y:10.94, Z:-0.17 [[ 9.99999349e-01 1.08515948e-03 3.52411103e-04 2.03932892e+02] [-1.08771971e-03 9.99972413e-01 7.34782574e-03 1.09404046e+01] [-3.44427818e-04 -7.34820428e-03 9.99972942e-01 -1.71927009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.471400513 meters Centerline goodness [0,1] 0.7437187000532766 Centerline is valid? [False, False] Translation: X:203.93, Y:10.95, Z:-0.17 [[ 9.99997468e-01 -2.10980102e-03 7.82886327e-04 2.03931452e+02] [ 2.10771225e-03 9.99994243e-01 2.65934158e-03 1.09453720e+01] [-7.88492501e-04 -2.65768474e-03 9.99996157e-01 -1.72677462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.501400513 meters Centerline goodness [0,1] 0.4793664292548102 Centerline is valid? [False, False] Translation: X:203.93, Y:10.95, Z:-0.17 [[ 9.99997409e-01 -2.11558663e-03 8.40562952e-04 2.03931530e+02] [ 2.11351145e-03 9.99994736e-01 2.46206660e-03 1.09463532e+01] [-8.45767242e-04 -2.46028368e-03 9.99996616e-01 -1.73210354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.531400513 meters Centerline goodness [0,1] 0.7337264201328804 Centerline is valid? [False, False] Translation: X:203.93, Y:10.95, Z:-0.17 [[ 9.99997439e-01 -2.05505638e-03 9.48311361e-04 2.03931438e+02] [ 2.05289318e-03 9.99995302e-01 2.27647022e-03 1.09473634e+01] [-9.52985180e-04 -2.27451761e-03 9.99996959e-01 -1.73799080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.561400513 meters Centerline goodness [0,1] 0.4807529431693064 Centerline is valid? [False, False] Translation: X:203.93, Y:10.95, Z:-0.17 [[ 9.99997495e-01 -2.01783840e-03 9.68372996e-04 2.03931367e+02] [ 2.01557693e-03 9.99995253e-01 2.33065499e-03 1.09471187e+01] [-9.73071284e-04 -2.32869732e-03 9.99996815e-01 -1.73826968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.591400513 meters Centerline goodness [0,1] 0.4792234913058302 Centerline is valid? [False, False] Translation: X:203.93, Y:10.95, Z:-0.17 [[ 9.99997649e-01 -1.95421315e-03 9.39505097e-04 2.03931436e+02] [ 1.95186019e-03 9.99994973e-01 2.49888888e-03 1.09463050e+01] [-9.44383735e-04 -2.49704923e-03 9.99996436e-01 -1.73762075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.621400513 meters Centerline goodness [0,1] 0.5430555259738876 Centerline is valid? [False, False] Translation: X:203.93, Y:10.95, Z:-0.17 [[ 9.99997706e-01 -1.94186878e-03 9.03929554e-04 2.03931576e+02] [ 1.93955897e-03 9.99994870e-01 2.54920304e-03 1.09460409e+01] [-9.08875134e-04 -2.54744397e-03 9.99996342e-01 -1.73785306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.651400513 meters Centerline goodness [0,1] 0.5975821119075639 Centerline is valid? [False, False] Translation: X:203.93, Y:10.95, Z:-0.17 [[ 9.99997551e-01 -2.00628147e-03 9.34229861e-04 2.03931474e+02] [ 2.00402074e-03 9.99995077e-01 2.41456289e-03 1.09466717e+01] [-9.39069555e-04 -2.41268476e-03 9.99996649e-01 -1.73803778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.681400513 meters Centerline goodness [0,1] 0.49698827235383014 Centerline is valid? [False, False] Translation: X:203.93, Y:10.95, Z:-0.17 [[ 9.99997164e-01 -2.22876289e-03 8.39643680e-04 2.03931886e+02] [ 2.22709702e-03 9.99995560e-01 1.97976487e-03 1.09486534e+01] [-8.44052378e-04 -1.97788929e-03 9.99997688e-01 -1.74041846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.711400513 meters Centerline goodness [0,1] 0.6030152890892466 Centerline is valid? [False, False] Translation: X:203.93, Y:10.95, Z:-0.17 [[ 9.99997063e-01 -2.30422490e-03 7.51669293e-04 2.03932298e+02] [ 2.30283699e-03 9.99995652e-01 1.84209633e-03 1.09492412e+01] [-7.55910629e-04 -1.84035995e-03 9.99998021e-01 -1.74299936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.74140051300003 meters Centerline goodness [0,1] 0.7771614588910544 Centerline is valid? [False, False] Translation: X:203.93, Y:10.95, Z:-0.17 [[ 9.99996865e-01 -2.39595332e-03 7.28023270e-04 2.03932412e+02] [ 2.39472928e-03 9.99995726e-01 1.67756321e-03 1.09499746e+01] [-7.32039521e-04 -1.67581453e-03 9.99998328e-01 -1.74402111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.771400513 meters Centerline goodness [0,1] 0.8973580062038721 Centerline is valid? [False, False] Translation: X:203.93, Y:10.95, Z:-0.17 [[ 9.99996618e-01 -2.50632861e-03 6.93964573e-04 2.03932386e+02] [ 2.50528763e-03 9.99995741e-01 1.49688075e-03 1.09508031e+01] [-6.97713293e-04 -1.49513710e-03 9.99998639e-01 -1.74155378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.80140051300003 meters Centerline goodness [0,1] 0.5647591004139462 Centerline is valid? [False, False] Translation: X:203.93, Y:10.95, Z:-0.17 [[ 9.99996367e-01 -2.61604577e-03 6.49995589e-04 2.03932347e+02] [ 2.61517655e-03 9.99995690e-01 1.33454497e-03 1.09515228e+01] [-6.53484019e-04 -1.33284027e-03 9.99998898e-01 -1.73836762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.831400513 meters Centerline goodness [0,1] 0.8283726570644427 Centerline is valid? [False, False] Translation: X:203.93, Y:10.95, Z:-0.17 [[ 9.99995419e-01 -3.02659134e-03 4.97680895e-05 2.03934480e+02] [ 3.02652933e-03 9.99994698e-01 1.20211683e-03 1.09514789e+01] [-5.34061420e-05 -1.20196070e-03 9.99999276e-01 -1.74179588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.86140051300004 meters Centerline goodness [0,1] 0.8852802847336977 Centerline is valid? [False, False] Translation: X:203.94, Y:10.95, Z:-0.17 [[ 9.99995362e-01 -3.04064827e-03 -1.75046583e-04 2.03935376e+02] [ 3.04088596e-03 9.99994433e-01 1.37403417e-03 1.09504932e+01] [ 1.70867654e-04 -1.37456009e-03 9.99999041e-01 -1.74506272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.891400513 meters Centerline goodness [0,1] 0.9098114824335904 Centerline is valid? [False, False] Translation: X:203.94, Y:10.96, Z:-0.18 [[ 9.99969649e-01 -7.79113645e-03 8.72223614e-06 2.03935218e+02] [ 7.79110670e-03 9.99961239e-01 -4.10108627e-03 1.09559609e+01] [ 2.32302247e-05 4.10102976e-03 9.99991590e-01 -1.75318641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.921400513 meters Centerline goodness [0,1] 0.976072904524743 Centerline is valid? [False, True] Translation: X:203.94, Y:10.95, Z:-0.17 [[ 9.99970495e-01 -7.68093728e-03 -1.07902909e-04 2.03935244e+02] [ 7.68051249e-03 9.99964375e-01 -3.50107924e-03 1.09529334e+01] [ 1.34790635e-04 3.50014719e-03 9.99993865e-01 -1.74583418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.951400513 meters Centerline goodness [0,1] 0.9608210145698182 Centerline is valid? [True, True] Translation: X:203.96, Y:10.95, Z:-0.17 [[ 9.99939565e-01 -1.09655289e-02 7.89524278e-04 2.03964331e+02] [ 1.09654855e-02 9.99939876e-01 5.92448383e-05 1.09527964e+01] [-7.90126459e-04 -5.05837408e-05 9.99999687e-01 -1.71012319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.981400513 meters Centerline goodness [0,1] 0.8761155971100723 Centerline is valid? [True, False] Translation: X:203.96, Y:10.95, Z:-0.17 [[ 9.99940502e-01 -1.08864468e-02 6.91144568e-04 2.03964661e+02] [ 1.08862753e-02 9.99940711e-01 2.51475495e-04 1.09518672e+01] [-6.93841265e-04 -2.43936542e-04 9.99999730e-01 -1.70972004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.011400513 meters Centerline goodness [0,1] 0.9487646126835952 Centerline is valid? [False, False] Translation: X:203.97, Y:10.95, Z:-0.17 [[ 9.99940743e-01 -1.08650655e-02 6.78655008e-04 2.03965029e+02] [ 1.08649652e-02 9.99940963e-01 1.51359367e-04 1.09523812e+01] [-6.80259472e-04 -1.43976835e-04 9.99999758e-01 -1.71600802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.041400513 meters Centerline goodness [0,1] 0.9414486449604469 Centerline is valid? [False, False] Translation: X:203.96, Y:10.95, Z:-0.17 [[ 9.99940134e-01 -1.09160080e-02 7.54082909e-04 2.03964958e+02] [ 1.09161464e-02 9.99940401e-01 -1.79663970e-04 1.09540340e+01] [-7.52076753e-04 1.87884893e-04 9.99999700e-01 -1.71992363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.071400513 meters Centerline goodness [0,1] 0.8510274338743131 Centerline is valid? [False, False] Translation: X:203.96, Y:10.95, Z:-0.17 [[ 9.99980871e-01 -6.15146304e-03 6.45858831e-04 2.03964842e+02] [ 6.14797185e-03 9.99967187e-01 5.27507022e-03 1.09487133e+01] [-6.78287039e-04 -5.27099859e-03 9.99985878e-01 -1.71174608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.101400513 meters Centerline goodness [0,1] 0.8526239809782609 Centerline is valid? [False, False] Translation: X:203.96, Y:10.95, Z:-0.17 [[ 9.99980836e-01 -6.14440150e-03 7.57347543e-04 2.03964462e+02] [ 6.14057830e-03 9.99968889e-01 4.95111600e-03 1.09504581e+01] [-7.87745626e-04 -4.94637057e-03 9.99987456e-01 -1.71265370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.131400513 meters Centerline goodness [0,1] 0.7668216921961002 Centerline is valid? [False, False] Translation: X:203.96, Y:10.95, Z:-0.17 [[ 9.99980459e-01 -6.18071337e-03 9.38397950e-04 2.03963676e+02] [ 6.17623781e-03 9.99969883e-01 4.69961236e-03 1.09517850e+01] [-9.67416646e-04 -4.69372476e-03 9.99988516e-01 -1.70931972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.161400513 meters Centerline goodness [0,1] 0.7147211413748379 Centerline is valid? [False, False] Translation: X:203.94, Y:10.95, Z:-0.17 [[ 9.99994928e-01 -3.17550646e-03 -2.43685806e-04 2.03939151e+02] [ 3.17471069e-03 9.99989843e-01 -3.19924620e-03 1.09538315e+01] [ 2.53842558e-04 3.19845634e-03 9.99994853e-01 -1.68456813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.191400513 meters Centerline goodness [0,1] 0.7454564914909558 Centerline is valid? [False, False] Translation: X:203.95, Y:10.95, Z:-0.17 [[ 9.99999181e-01 -7.77466220e-04 -1.01647983e-03 2.03945088e+02] [ 7.76914864e-04 9.99999551e-01 -5.42699584e-04 1.09509506e+01] [ 1.01690130e-03 5.41909422e-04 9.99999336e-01 -1.72184531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.221400513 meters Centerline goodness [0,1] 0.5624719053021384 Centerline is valid? [False, False] Translation: X:203.95, Y:10.95, Z:-0.17 [[ 9.99999128e-01 -8.79268732e-04 -9.85448015e-04 2.03945106e+02] [ 8.78510327e-04 9.99999318e-01 -7.69773706e-04 1.09520036e+01] [ 9.86124181e-04 7.68907308e-04 9.99999218e-01 -1.72429030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.251400513 meters Centerline goodness [0,1] 0.738152955057385 Centerline is valid? [False, False] Translation: X:203.95, Y:10.95, Z:-0.17 [[ 9.99999039e-01 -9.97493921e-04 -9.62694717e-04 2.03945180e+02] [ 9.96489047e-04 9.99998959e-01 -1.04372956e-03 1.09532639e+01] [ 9.63734828e-04 1.04276924e-03 9.99998992e-01 -1.72753601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.281400513 meters Centerline goodness [0,1] 0.7785351797694822 Centerline is valid? [False, False] Translation: X:203.95, Y:10.95, Z:-0.17 [[ 9.99998954e-01 -1.06594728e-03 -9.78057235e-04 2.03945281e+02] [ 1.06475148e-03 9.99998686e-01 -1.22233600e-03 1.09541138e+01] [ 9.79358896e-04 1.22129333e-03 9.99998775e-01 -1.72854924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.311400513 meters Centerline goodness [0,1] 0.8179177693151746 Centerline is valid? [False, False] Translation: X:203.95, Y:10.96, Z:-0.17 [[ 9.99998749e-01 -1.20228744e-03 -1.02744861e-03 2.03945233e+02] [ 1.20070188e-03 9.99998090e-01 -1.54242657e-03 1.09556788e+01] [ 1.02930109e-03 1.54119098e-03 9.99998283e-01 -1.72467872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.341400513 meters Centerline goodness [0,1] 0.5957762851976234 Centerline is valid? [False, False] Translation: X:203.95, Y:10.96, Z:-0.17 [[ 9.99998535e-01 -1.31737698e-03 -1.09289482e-03 2.03945518e+02] [ 1.31540905e-03 9.99997516e-01 -1.79942875e-03 1.09568714e+01] [ 1.09526263e-03 1.79798851e-03 9.99997784e-01 -1.72613624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.371400513 meters Centerline goodness [0,1] 0.7094520199881427 Centerline is valid? [False, False] Translation: X:203.99, Y:10.96, Z:-0.17 [[ 9.99998646e-01 -3.76029356e-04 1.60193093e-03 2.03987116e+02] [ 3.81458943e-04 9.99994180e-01 -3.39044506e-03 1.09632700e+01] [-1.60064670e-03 3.39105154e-03 9.99992969e-01 -1.74248776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.401400513 meters Centerline goodness [0,1] 0.6420015455950541 Centerline is valid? [False, False] Translation: X:203.95, Y:10.96, Z:-0.17 [[ 9.99999689e-01 2.83982348e-04 -7.36001329e-04 2.03945250e+02] [-2.83670660e-04 9.99999870e-01 4.23557937e-04 1.09571395e+01] [ 7.36121517e-04 -4.23349023e-04 9.99999639e-01 -1.72980319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.431400513 meters Centerline goodness [0,1] 0.6631173201013694 Centerline is valid? [False, False] Translation: X:203.95, Y:10.96, Z:-0.17 [[ 9.99999744e-01 1.55211474e-04 -6.98960488e-04 2.03945086e+02] [-1.55110360e-04 9.99999977e-01 1.44714272e-04 1.09584534e+01] [ 6.98982934e-04 -1.44605818e-04 9.99999745e-01 -1.72948100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.461400513 meters Centerline goodness [0,1] 0.6315465056963101 Centerline is valid? [False, False] Translation: X:203.95, Y:10.96, Z:-0.17 [[ 9.99999746e-01 -1.69519394e-05 -7.12087780e-04 2.03945351e+02] [ 1.67841611e-05 9.99999972e-01 -2.35619867e-04 1.09602090e+01] [ 7.12091754e-04 2.35607855e-04 9.99999719e-01 -1.73380871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.49140051300003 meters Centerline goodness [0,1] 0.6748260757536717 Centerline is valid? [False, False] Translation: X:203.90, Y:10.96, Z:-0.17 [[ 9.99993044e-01 -8.70720205e-04 -3.62681287e-03 2.03904785e+02] [ 8.73604399e-04 9.99999303e-01 7.93733749e-04 1.09584064e+01] [ 3.62611923e-03 -7.96896627e-04 9.99993108e-01 -1.73761207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.521400513 meters Centerline goodness [0,1] 0.713140273809016 Centerline is valid? [False, False] Translation: X:203.91, Y:10.96, Z:-0.17 [[ 9.99992677e-01 -1.11677338e-03 -3.66042180e-03 2.03905015e+02] [ 1.11766914e-03 9.99999346e-01 2.42679454e-04 1.09609853e+01] [ 3.66014839e-03 -2.46768817e-04 9.99993271e-01 -1.74024155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.55140051300003 meters Centerline goodness [0,1] 0.707644983651695 Centerline is valid? [False, False] Translation: X:203.90, Y:10.96, Z:-0.17 [[ 9.99992257e-01 -1.47856608e-03 -3.64682892e-03 2.03904876e+02] [ 1.47638263e-03 9.99998729e-01 -6.01346073e-04 1.09649761e+01] [ 3.64771341e-03 5.95957302e-04 9.99993169e-01 -1.73872836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.581400513 meters Centerline goodness [0,1] 0.9471584816641647 Centerline is valid? [False, False] Translation: X:203.90, Y:10.97, Z:-0.17 [[ 9.99992232e-01 -1.63347334e-03 -3.58704290e-03 2.03904595e+02] [ 1.62990436e-03 9.99998174e-01 -9.97662875e-04 1.09668930e+01] [ 3.58866601e-03 9.91808589e-04 9.99993069e-01 -1.73717607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.61140051300004 meters Centerline goodness [0,1] 0.7262666695207312 Centerline is valid? [False, False] Translation: X:203.90, Y:10.97, Z:-0.17 [[ 9.99992317e-01 -1.84447757e-03 -3.45898532e-03 2.03904114e+02] [ 1.83920394e-03 9.99997143e-01 -1.52718092e-03 1.09694733e+01] [ 3.46179228e-03 1.52080741e-03 9.99992852e-01 -1.73636791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.641400513 meters Centerline goodness [0,1] 0.7519789487306688 Centerline is valid? [False, False] Translation: X:203.90, Y:10.97, Z:-0.17 [[ 9.99991601e-01 -2.23557064e-03 -3.43526465e-03 2.03904150e+02] [ 2.22723819e-03 9.99994573e-01 -2.42747459e-03 1.09736815e+01] [ 3.44067280e-03 2.41980305e-03 9.99991153e-01 -1.73941389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.671400513 meters Centerline goodness [0,1] 0.6951681667456182 Centerline is valid? [False, False] Translation: X:203.90, Y:10.97, Z:-0.17 [[ 9.99991305e-01 -2.28255100e-03 -3.48986910e-03 2.03904454e+02] [ 2.27368113e-03 9.99994181e-01 -2.54346456e-03 1.09742172e+01] [ 3.49565438e-03 2.53550760e-03 9.99990676e-01 -1.74218755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.701400513 meters Centerline goodness [0,1] 0.9055982202066443 Centerline is valid? [False, False] Translation: X:203.90, Y:10.97, Z:-0.17 [[ 9.99990936e-01 -2.30647644e-03 -3.57896778e-03 2.03904904e+02] [ 2.29720274e-03 9.99993999e-01 -2.59311728e-03 1.09744206e+01] [ 3.58492727e-03 2.58487216e-03 9.99990233e-01 -1.74530694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.731400513 meters Centerline goodness [0,1] 0.7242588528892905 Centerline is valid? [False, False] Translation: X:203.90, Y:10.98, Z:-0.17 [[ 9.99990649e-01 -2.45202578e-03 -3.56227142e-03 2.03904945e+02] [ 2.44159228e-03 9.99992726e-01 -2.93028954e-03 1.09760121e+01] [ 3.56943065e-03 2.92156452e-03 9.99989362e-01 -1.74724768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.761400513 meters Centerline goodness [0,1] 0.9100839616175462 Centerline is valid? [False, False] Translation: X:203.91, Y:10.98, Z:-0.17 [[ 9.99991517e-01 1.69180319e-03 -3.75560211e-03 2.03905317e+02] [-1.68715110e-03 9.99997806e-01 1.24152972e-03 1.09766053e+01] [ 3.75769430e-03 -1.23518292e-03 9.99992177e-01 -1.74181190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.791400513 meters Centerline goodness [0,1] 0.6498225813347014 Centerline is valid? [False, False] Translation: X:203.91, Y:10.98, Z:-0.17 [[ 9.99992406e-01 1.28906593e-03 -3.67791775e-03 2.03905054e+02] [-1.28811459e-03 9.99999136e-01 2.61021747e-04 1.09812634e+01] [ 3.67825105e-03 -2.56282185e-04 9.99993202e-01 -1.74215537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.821400513 meters Centerline goodness [0,1] 0.6868661150010609 Centerline is valid? [False, False] Translation: X:203.90, Y:10.99, Z:-0.17 [[ 9.99992918e-01 9.69224669e-04 -3.63665726e-03 2.03904902e+02] [-9.71263467e-04 9.99999372e-01 -5.58900037e-04 1.09852130e+01] [ 3.63611328e-03 5.62428231e-04 9.99993231e-01 -1.74234885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.851400513 meters Centerline goodness [0,1] 0.6868661150010609 Centerline is valid? [False, False] Translation: X:203.90, Y:10.99, Z:-0.17 [[ 9.99992918e-01 9.69224669e-04 -3.63665726e-03 2.03904902e+02] [-9.71263467e-04 9.99999372e-01 -5.58900037e-04 1.09852130e+01] [ 3.63611328e-03 5.62428231e-04 9.99993231e-01 -1.74234885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.881400513 meters Centerline goodness [0,1] 0.5748575302417219 Centerline is valid? [False, False] Translation: X:203.90, Y:10.99, Z:-0.17 [[ 9.99993321e-01 6.42950371e-04 -3.59792528e-03 2.03904942e+02] [-6.47969216e-04 9.99998819e-01 -1.39393570e-03 1.09891601e+01] [ 3.59702480e-03 1.39625773e-03 9.99992556e-01 -1.74617617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.911400513 meters Centerline goodness [0,1] 0.5794689202522414 Centerline is valid? [False, False] Translation: X:203.86, Y:10.99, Z:-0.18 [[ 9.99978066e-01 6.25619751e-04 -6.59360247e-03 2.03864244e+02] [-6.28350371e-04 9.99999718e-01 -4.12068335e-04 1.09886183e+01] [ 6.59334281e-03 4.16202390e-04 9.99978177e-01 -1.75214750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.941400513 meters Centerline goodness [0,1] 0.5460763215647839 Centerline is valid? [False, False] Translation: X:203.87, Y:10.99, Z:-0.18 [[ 9.99965263e-01 4.66323917e-03 -6.90844730e-03 2.03865294e+02] [-4.63850177e-03 9.99982789e-01 3.59245300e-03 1.09898109e+01] [ 6.92508087e-03 -3.56028336e-03 9.99969683e-01 -1.75224046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.971400513 meters Centerline goodness [0,1] 0.5150555012120954 Centerline is valid? [False, False] Translation: X:203.87, Y:10.99, Z:-0.18 [[ 9.99966592e-01 4.38895714e-03 -6.89580542e-03 2.03865247e+02] [-4.36829373e-03 9.99985933e-01 3.00872850e-03 1.09925492e+01] [ 6.90891360e-03 -2.97850508e-03 9.99971697e-01 -1.75235893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.001400513 meters Centerline goodness [0,1] 0.5934864353848441 Centerline is valid? [False, False] Translation: X:203.87, Y:11.00, Z:-0.17 [[ 9.99967719e-01 4.13097251e-03 -6.89175766e-03 2.03865067e+02] [-4.11396717e-03 9.99988463e-01 2.47984317e-03 1.09950524e+01] [ 6.90192231e-03 -2.45141065e-03 9.99973177e-01 -1.74924332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.031400513 meters Centerline goodness [0,1] 0.5614708877949415 Centerline is valid? [False, False] Translation: X:203.86, Y:11.00, Z:-0.17 [[ 9.99968388e-01 3.91288302e-03 -6.92191886e-03 2.03864999e+02] [-3.89877770e-03 9.99990298e-01 2.05009697e-03 1.09970644e+01] [ 6.92987349e-03 -2.02304514e-03 9.99973942e-01 -1.74612975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.061400513 meters Centerline goodness [0,1] 0.8702567260527042 Centerline is valid? [False, False] Translation: X:203.86, Y:11.00, Z:-0.17 [[ 9.99969330e-01 3.62549041e-03 -6.94221458e-03 2.03864724e+02] [-3.61304245e-03 9.99991844e-01 1.80478373e-03 1.09980311e+01] [ 6.94870118e-03 -1.77964586e-03 9.99974274e-01 -1.73943788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.091400513 meters Centerline goodness [0,1] 0.9748966651518103 Centerline is valid? [False, True] Translation: X:203.82, Y:11.00, Z:-0.17 [[ 9.99951263e-01 1.35425015e-03 -9.77940673e-03 2.03823517e+02] [-1.34456158e-03 9.99998599e-01 9.97217878e-04 1.09962008e+01] [ 9.78074351e-03 -9.84020263e-04 9.99951683e-01 -1.74073947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.121400513 meters Centerline goodness [0,1] 0.9439870312699971 Centerline is valid? [True, False] Translation: X:203.85, Y:10.99, Z:-0.18 [[ 9.99970612e-01 -1.23151019e-03 -7.56694096e-03 2.03846677e+02] [ 1.30194454e-03 9.99955811e-01 9.31030167e-03 1.09929962e+01] [ 7.55514085e-03 -9.31987980e-03 9.99928027e-01 -1.76716893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.151400513 meters Centerline goodness [0,1] 0.9605154223363831 Centerline is valid? [False, True] Translation: X:203.85, Y:11.00, Z:-0.18 [[ 9.99952859e-01 -6.10768511e-03 -7.54819134e-03 2.03846850e+02] [ 6.13627472e-03 9.99974065e-01 3.77027276e-03 1.09987319e+01] [ 7.52496794e-03 -3.81641280e-03 9.99964404e-01 -1.77173128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.181400513 meters Centerline goodness [0,1] 0.975355027701713 Centerline is valid? [True, True] Translation: X:203.88, Y:11.00, Z:-0.18 [[ 9.99944591e-01 -7.55769615e-03 -7.32783394e-03 2.03876725e+02] [ 7.55382398e-03 9.99971315e-01 -5.55952569e-04 1.10011967e+01] [ 7.33182546e-03 5.00568596e-04 9.99972997e-01 -1.77162941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.211400513 meters Centerline goodness [0,1] 0.960239898172718 Centerline is valid? [True, True] Translation: X:203.90, Y:11.00, Z:-0.18 [[ 9.99932909e-01 -8.63772551e-03 -7.71797468e-03 2.03904975e+02] [ 8.63346012e-03 9.99962559e-01 -5.85803882e-04 1.10030780e+01] [ 7.72274572e-03 5.19131754e-04 9.99970044e-01 -1.77930131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.24140051300003 meters Centerline goodness [0,1] 0.9603006812309138 Centerline is valid? [True, True] Translation: X:203.93, Y:11.00, Z:-0.18 [[ 9.99921887e-01 -9.49997613e-03 -8.12225323e-03 2.03933868e+02] [ 9.49527271e-03 9.99954728e-01 -6.17445846e-04 1.10033692e+01] [ 8.12775125e-03 5.40274606e-04 9.99966823e-01 -1.77944581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.271400513 meters Centerline goodness [0,1] 0.9938816102391145 Centerline is valid? [True, True] Translation: X:203.96, Y:11.00, Z:-0.18 [[ 9.99918231e-01 -9.64405678e-03 -8.39778368e-03 2.03962549e+02] [ 9.63902127e-03 9.99953339e-01 -6.39892200e-04 1.09958840e+01] [ 8.40356298e-03 5.58893462e-04 9.99964533e-01 -1.77417772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.30140051300003 meters Centerline goodness [0,1] 0.9864624611759666 Centerline is valid? [True, True] Translation: X:203.99, Y:11.00, Z:-0.18 [[ 9.99930556e-01 -7.66522792e-03 -8.95138690e-03 2.03993164e+02] [ 7.65942249e-03 9.99970433e-01 -6.82653056e-04 1.09979175e+01] [ 8.95635493e-03 6.14043196e-04 9.99959703e-01 -1.79391730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.331400513 meters Centerline goodness [0,1] 0.9050601896239481 Centerline is valid? [True, False] Translation: X:203.99, Y:11.00, Z:-0.18 [[ 9.99930993e-01 -7.54880047e-03 -9.00133364e-03 2.03993502e+02] [ 7.54486257e-03 9.99971426e-01 -4.71358154e-04 1.09969138e+01] [ 9.00463462e-03 4.03411802e-04 9.99959376e-01 -1.79720264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.36140051300004 meters Centerline goodness [0,1] 0.9286959109070815 Centerline is valid? [False, False] Translation: X:203.99, Y:10.99, Z:-0.18 [[ 9.99935830e-01 -7.02431617e-03 -8.88787791e-03 2.03992701e+02] [ 7.03026919e-03 9.99975083e-01 6.38725945e-04 1.09917913e+01] [ 8.88316984e-03 -7.01169133e-04 9.99960298e-01 -1.78896634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.391400513 meters Centerline goodness [0,1] 0.9865249450217757 Centerline is valid? [False, True] Translation: X:203.99, Y:10.99, Z:-0.17 [[ 9.99925305e-01 -9.28411901e-03 -7.94914839e-03 2.03985906e+02] [ 9.27044667e-03 9.99955488e-01 -1.75509904e-03 1.09917615e+01] [ 7.96508911e-03 1.68127579e-03 9.99966865e-01 -1.74542604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.421400513 meters Centerline goodness [0,1] 0.9645842217484009 Centerline is valid? [True, True] Translation: X:204.01, Y:10.99, Z:-0.17 [[ 9.99927239e-01 -9.43821361e-03 -7.51241712e-03 2.04013237e+02] [ 9.43397421e-03 9.99955319e-01 -5.99556419e-04 1.09948326e+01] [ 7.51774020e-03 5.28640845e-04 9.99971602e-01 -1.74361795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.451400513 meters Centerline goodness [0,1] 0.9569721284680209 Centerline is valid? [True, True] Translation: X:204.04, Y:10.99, Z:-0.17 [[ 9.99918253e-01 -1.01554108e-02 -7.76889121e-03 2.04042081e+02] [ 1.01508916e-02 9.99948286e-01 -6.20922454e-04 1.09947570e+01] [ 7.77479517e-03 5.42010522e-04 9.99969629e-01 -1.74925752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.481400513 meters Centerline goodness [0,1] 0.9432689032697548 Centerline is valid? [True, False] Translation: X:204.04, Y:10.99, Z:-0.18 [[ 9.99923831e-01 -9.59461617e-03 -7.76371897e-03 2.04042230e+02] [ 9.59962965e-03 9.99953737e-01 6.08749784e-04 1.09889566e+01] [ 7.75751908e-03 -6.83232244e-04 9.99969677e-01 -1.75178412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.511400513 meters Centerline goodness [0,1] 0.9464262827359337 Centerline is valid? [False, False] Translation: X:204.04, Y:10.99, Z:-0.18 [[ 9.99926616e-01 -9.35218385e-03 -7.70063182e-03 2.04042013e+02] [ 9.36082868e-03 9.99955595e-01 1.08733544e-03 1.09867515e+01] [ 7.69012092e-03 -1.15933994e-03 9.99969759e-01 -1.75141358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.541400513 meters Centerline goodness [0,1] 0.9017258623991828 Centerline is valid? [False, False] Translation: X:204.04, Y:10.99, Z:-0.18 [[ 9.99928646e-01 -9.13744617e-03 -7.69476781e-03 2.04042056e+02] [ 9.14889003e-03 9.99957092e-01 1.45334211e-03 1.09850802e+01] [ 7.68115781e-03 -1.52363699e-03 9.99969339e-01 -1.75236917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.571400513 meters Centerline goodness [0,1] 0.7663178129004699 Centerline is valid? [False, False] Translation: X:204.04, Y:10.98, Z:-0.18 [[ 9.99929710e-01 -9.01944707e-03 -7.69579223e-03 2.04042287e+02] [ 9.03208514e-03 9.99957915e-01 1.60903263e-03 1.09843801e+01] [ 7.68095577e-03 -1.67842858e-03 9.99969092e-01 -1.75665879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.601400513 meters Centerline goodness [0,1] 0.6195035612231843 Centerline is valid? [False, False] Translation: X:204.04, Y:10.98, Z:-0.18 [[ 9.99936130e-01 -8.48990360e-03 -7.46033185e-03 2.04041878e+02] [ 8.50268917e-03 9.99962434e-01 1.68376417e-03 1.09848160e+01] [ 7.44575660e-03 -1.74708951e-03 9.99970754e-01 -1.76500243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.631400513 meters Centerline goodness [0,1] 0.5724220572186678 Centerline is valid? [False, False] Translation: X:204.04, Y:10.99, Z:-0.18 [[ 9.99936967e-01 -8.50064272e-03 -7.33492505e-03 2.04041555e+02] [ 8.51142908e-03 9.99962739e-01 1.44058777e-03 1.09860842e+01] [ 7.32240582e-03 -1.50292766e-03 9.99972061e-01 -1.76679466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.661400513 meters Centerline goodness [0,1] 0.683918471881336 Centerline is valid? [False, False] Translation: X:204.04, Y:10.99, Z:-0.18 [[ 9.99938824e-01 -8.44536362e-03 -7.14313894e-03 2.04040957e+02] [ 8.45466929e-03 9.99963448e-01 1.27355026e-03 1.09870626e+01] [ 7.13212225e-03 -1.33386523e-03 9.99973676e-01 -1.76796809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.691400513 meters Centerline goodness [0,1] 0.46168675719763574 Centerline is valid? [False, False] Translation: X:204.06, Y:10.99, Z:-0.17 [[ 9.99968173e-01 -3.47200818e-03 -7.18322637e-03 2.04058151e+02] [ 3.42891936e-03 9.99976108e-01 -6.00217693e-03 1.09919850e+01] [ 7.20389436e-03 5.97735519e-03 9.99956187e-01 -1.72271672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.721400513 meters Centerline goodness [0,1] 0.41361924819707707 Centerline is valid? [False, False] Translation: X:204.06, Y:10.99, Z:-0.17 [[ 9.99973206e-01 1.04318293e-03 -7.24561013e-03 2.04058452e+02] [-1.05294340e-03 9.99998543e-01 -1.34340389e-03 1.09904253e+01] [ 7.24419816e-03 1.35099712e-03 9.99972848e-01 -1.72466970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.751400513 meters Centerline goodness [0,1] 0.4122494053686714 Centerline is valid? [False, False] Translation: X:204.06, Y:10.99, Z:-0.17 [[ 9.99973587e-01 7.47129550e-04 -7.22966200e-03 2.04058794e+02] [-7.62646198e-04 9.99997411e-01 -2.14372922e-03 1.09942069e+01] [ 7.22804165e-03 2.14918627e-03 9.99971568e-01 -1.73309809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.781400513 meters Centerline goodness [0,1] 0.42168185990905405 Centerline is valid? [False, False] Translation: X:204.06, Y:11.00, Z:-0.17 [[ 9.99973578e-01 5.14838921e-04 -7.25106459e-03 2.04059157e+02] [-5.34446021e-04 9.99996206e-01 -2.70235246e-03 1.09968120e+01] [ 7.24964580e-03 2.70615636e-03 9.99970059e-01 -1.73912999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.811400513 meters Centerline goodness [0,1] 0.3768174647166673 Centerline is valid? [False, False] Translation: X:204.06, Y:11.00, Z:-0.17 [[ 9.99973572e-01 4.13071452e-04 -7.25837497e-03 2.04059255e+02] [-4.34304474e-04 9.99995631e-01 -2.92398089e-03 1.09978251e+01] [ 7.25713545e-03 2.92705596e-03 9.99969383e-01 -1.74081959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.841400513 meters Centerline goodness [0,1] 0.5304626365121679 Centerline is valid? [False, False] Translation: X:204.06, Y:11.00, Z:-0.17 [[ 9.99965500e-01 -4.45517286e-03 -7.01065933e-03 2.04058441e+02] [ 4.39568410e-03 9.99954399e-01 -8.47812511e-03 1.10036647e+01] [ 7.04811114e-03 8.44701597e-03 9.99939484e-01 -1.74120474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.871400513 meters Centerline goodness [0,1] 0.4953332765086942 Centerline is valid? [False, False] Translation: X:204.08, Y:11.00, Z:-0.17 [[ 9.99958204e-01 -7.06824228e-03 -5.79914768e-03 2.04080678e+02] [ 7.06917860e-03 9.99975003e-01 1.40975431e-04 1.10005553e+01] [ 5.79800627e-03 -1.81964749e-04 9.99983175e-01 -1.74281858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.901400513 meters Centerline goodness [0,1] 0.683120270212493 Centerline is valid? [False, False] Translation: X:204.08, Y:11.00, Z:-0.17 [[ 9.99955616e-01 -7.14571569e-03 -6.14043300e-03 2.04081626e+02] [ 7.14905022e-03 9.99974309e-01 5.21266678e-04 1.09984084e+01] [ 6.13655043e-03 -5.65141806e-04 9.99981012e-01 -1.73922497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.931400513 meters Centerline goodness [0,1] 0.6831493966590803 Centerline is valid? [False, False] Translation: X:204.08, Y:10.99, Z:-0.17 [[ 9.99953773e-01 -7.19571235e-03 -6.37753052e-03 2.04082153e+02] [ 7.20323776e-03 9.99973386e-01 1.15780341e-03 1.09949561e+01] [ 6.36902957e-03 -1.20368875e-03 9.99978993e-01 -1.73311117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.961400513 meters Centerline goodness [0,1] 0.9650452001721911 Centerline is valid? [False, True] Translation: X:204.08, Y:10.99, Z:-0.17 [[ 9.99945314e-01 -8.34156993e-03 -6.30776483e-03 2.04081578e+02] [ 8.35282556e-03 9.99963565e-01 1.76017504e-03 1.09884018e+01] [ 6.29285239e-03 -1.81276644e-03 9.99978557e-01 -1.71864299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.99140051300003 meters Centerline goodness [0,1] 0.9767248545303409 Centerline is valid? [True, True] Translation: X:204.11, Y:10.99, Z:-0.17 [[ 9.99920960e-01 -1.13499658e-02 -5.40857124e-03 2.04110947e+02] [ 1.13476940e-02 9.99935511e-01 -4.50550767e-04 1.09900801e+01] [ 5.41333619e-03 3.89140344e-04 9.99985272e-01 -1.70931352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.021400513 meters Centerline goodness [0,1] 0.9599923020998161 Centerline is valid? [True, True] Translation: X:204.14, Y:10.99, Z:-0.17 [[ 9.99895667e-01 -1.34705231e-02 -5.21530334e-03 2.04139914e+02] [ 1.34684388e-02 9.99909202e-01 -4.34562411e-04 1.09931610e+01] [ 5.22068358e-03 3.64275078e-04 9.99986306e-01 -1.70981858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.05140051300003 meters Centerline goodness [0,1] 0.9930956619914022 Centerline is valid? [True, True] Translation: X:204.17, Y:10.99, Z:-0.17 [[ 9.99874199e-01 -1.48846333e-02 -5.48030437e-03 2.04170171e+02] [ 1.48823523e-02 9.99889147e-01 -4.56773130e-04 1.09871112e+01] [ 5.48649577e-03 3.75155847e-04 9.99984879e-01 -1.70160563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.081400513 meters Centerline goodness [0,1] 0.978760341206224 Centerline is valid? [True, True] Translation: X:204.20, Y:10.99, Z:-0.17 [[ 9.99872177e-01 -1.53151955e-02 -4.59065850e-03 2.04197452e+02] [ 1.53135982e-02 9.99882667e-01 -3.82896867e-04 1.09942740e+01] [ 4.59598400e-03 3.12548424e-04 9.99989390e-01 -1.69625181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.11140051300004 meters Centerline goodness [0,1] 0.9306010464077588 Centerline is valid? [True, False] Translation: X:204.20, Y:11.00, Z:-0.17 [[ 9.99871988e-01 -1.53572254e-02 -4.49027277e-03 2.04196955e+02] [ 1.53548841e-02 9.99881953e-01 -5.55434649e-04 1.09951868e+01] [ 4.49827264e-03 4.86415929e-04 9.99989764e-01 -1.69353460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.141400513 meters Centerline goodness [0,1] 0.9809305387441337 Centerline is valid? [False, True] Translation: X:204.20, Y:11.00, Z:-0.17 [[ 9.99870832e-01 -1.54833139e-02 -4.31107641e-03 2.04196221e+02] [ 1.54793705e-02 9.99879739e-01 -9.46584342e-04 1.09971264e+01] [ 4.32521422e-03 8.79729325e-04 9.99990259e-01 -1.69111924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.171400513 meters Centerline goodness [0,1] 0.9938872683596431 Centerline is valid? [True, True] Translation: X:204.23, Y:11.00, Z:-0.17 [[ 9.99894988e-01 -1.40887174e-02 -3.39440506e-03 2.04225891e+02] [ 1.40878094e-02 9.99900719e-01 -2.91278505e-04 1.09967702e+01] [ 3.39817180e-03 2.43428186e-04 9.99994197e-01 -1.67515311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.201400513 meters Centerline goodness [0,1] 0.9886534254214748 Centerline is valid? [True, True] Translation: X:204.26, Y:11.00, Z:-0.17 [[ 9.99904660e-01 -1.32045681e-02 -4.03857103e-03 2.04255431e+02] [ 1.32032751e-02 9.99912773e-01 -3.46658401e-04 1.09999370e+01] [ 4.04279623e-03 2.93302986e-04 9.99991785e-01 -1.68779474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.231400513 meters Centerline goodness [0,1] 0.7402817022005308 Centerline is valid? [True, False] Translation: X:204.26, Y:11.00, Z:-0.17 [[ 9.99906483e-01 -1.30236728e-02 -4.17243122e-03 2.04256010e+02] [ 1.30243041e-02 9.99915172e-01 1.24169929e-04 1.09976525e+01] [ 4.17046013e-03 -1.78501330e-04 9.99991288e-01 -1.69049267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.261400513 meters Centerline goodness [0,1] 0.9354066985645932 Centerline is valid? [False, False] Translation: X:204.26, Y:10.99, Z:-0.17 [[ 9.99908811e-01 -1.27951869e-02 -4.31879384e-03 2.04256494e+02] [ 1.27985491e-02 9.99917813e-01 7.51785664e-04 1.09946086e+01] [ 4.30881965e-03 -8.06991405e-04 9.99990391e-01 -1.69055159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.291400513 meters Centerline goodness [0,1] 0.9994556104784095 Centerline is valid? [False, True] Translation: X:204.26, Y:10.99, Z:-0.17 [[ 9.99845246e-01 -1.70987932e-02 -4.13703803e-03 2.04256064e+02] [ 1.70842994e-02 9.99847879e-01 -3.51374689e-03 1.09943163e+01] [ 4.19648952e-03 3.44252472e-03 9.99985269e-01 -1.68937819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.321400513 meters Centerline goodness [0,1] 0.9986999761662297 Centerline is valid? [True, True] Translation: X:204.28, Y:11.00, Z:-0.17 [[ 9.99825683e-01 -1.82537003e-02 -3.92498244e-03 2.04284202e+02] [ 1.82525474e-02 9.99833354e-01 -3.29352152e-04 1.09967848e+01] [ 3.93034025e-03 2.57653812e-04 9.99992243e-01 -1.68421540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.351400513 meters Centerline goodness [0,1] 0.9985516018850793 Centerline is valid? [True, True] Translation: X:204.31, Y:11.00, Z:-0.17 [[ 9.99808414e-01 -1.92519504e-02 -3.53533725e-03 2.04311841e+02] [ 1.92510206e-02 9.99814638e-01 -2.96845927e-04 1.09969183e+01] [ 3.54039679e-03 2.28730205e-04 9.99993707e-01 -1.68095927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.381400513 meters Centerline goodness [0,1] 0.9985072043615595 Centerline is valid? [True, True] Translation: X:204.34, Y:11.00, Z:-0.17 [[ 9.99798921e-01 -1.96885834e-02 -3.80479789e-03 2.04340870e+02] [ 1.96875077e-02 9.99806131e-01 -3.19973751e-04 1.09956170e+01] [ 3.81036008e-03 2.45002424e-04 9.99992711e-01 -1.68959972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.411400513 meters Centerline goodness [0,1] 0.996023130333842 Centerline is valid? [True, True] Translation: X:204.37, Y:10.99, Z:-0.17 [[ 9.99817322e-01 -1.83402443e-02 -5.38123227e-03 2.04370429e+02] [ 1.83380707e-02 9.99831741e-01 -4.52979630e-04 1.09923150e+01] [ 5.38863459e-03 3.54215463e-04 9.99985418e-01 -1.72185568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.441400513 meters Centerline goodness [0,1] 0.95896212218926 Centerline is valid? [True, True] Translation: X:204.40, Y:11.00, Z:-0.17 [[ 9.99841314e-01 -1.67798719e-02 -5.98186487e-03 2.04399191e+02] [ 1.67771579e-02 9.99859127e-01 -5.03600351e-04 1.09994778e+01] [ 5.98947254e-03 4.03161746e-04 9.99981982e-01 -1.73677073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.471400513 meters Centerline goodness [0,1] 0.9707578691978632 Centerline is valid? [True, True] Translation: X:204.43, Y:11.00, Z:-0.17 [[ 9.99867221e-01 -1.50755305e-02 -6.18623665e-03 2.04429437e+02] [ 1.50725951e-02 9.99886266e-01 -5.20866532e-04 1.09969411e+01] [ 6.19338541e-03 4.27554732e-04 9.99980729e-01 -1.73647616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.501400513 meters Centerline goodness [0,1] 0.8805488644184446 Centerline is valid? [True, False] Translation: X:204.43, Y:10.99, Z:-0.17 [[ 9.99870666e-01 -1.48453787e-02 -6.18596690e-03 2.04429442e+02] [ 1.48453003e-02 9.99889801e-01 -5.85860513e-05 1.09948090e+01] [ 6.18615494e-03 -3.32540623e-05 9.99980865e-01 -1.73641127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.531400513 meters Centerline goodness [0,1] 0.8604301721547246 Centerline is valid? [False, False] Translation: X:204.43, Y:10.99, Z:-0.17 [[ 9.99876574e-01 -1.43874872e-02 -6.31173194e-03 2.04430136e+02] [ 1.43924395e-02 9.99896150e-01 7.39894952e-04 1.09911053e+01] [ 6.30043124e-03 -8.30644849e-04 9.99979807e-01 -1.74140875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.561400513 meters Centerline goodness [0,1] 0.787714892795055 Centerline is valid? [False, False] Translation: X:204.43, Y:10.99, Z:-0.17 [[ 9.99879088e-01 -1.42076874e-02 -6.32067876e-03 2.04430373e+02] [ 1.42147447e-02 9.99898390e-01 1.07302456e-03 1.09895299e+01] [ 6.30479132e-03 -1.16274165e-03 9.99979449e-01 -1.74528455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.591400513 meters Centerline goodness [0,1] 0.7258826031475968 Centerline is valid? [False, False] Translation: X:204.45, Y:10.99, Z:-0.18 [[ 9.99937270e-01 -1.10464205e-02 -1.85278735e-03 2.04449796e+02] [ 1.10315657e-02 9.99908378e-01 -7.84480650e-03 1.09938069e+01] [ 1.93927462e-03 7.82387525e-03 9.99967513e-01 -1.78404122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.621400513 meters Centerline goodness [0,1] 0.7508250117858827 Centerline is valid? [False, False] Translation: X:204.45, Y:10.99, Z:-0.18 [[ 9.99977085e-01 -6.40284981e-03 -2.19827568e-03 2.04450418e+02] [ 6.39851839e-03 9.99977585e-01 -1.97178212e-03 1.09860079e+01] [ 2.21085144e-03 1.95767123e-03 9.99995640e-01 -1.77478665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.651400513 meters Centerline goodness [0,1] 0.8122654384169226 Centerline is valid? [False, False] Translation: X:204.45, Y:10.98, Z:-0.18 [[ 9.99977925e-01 -6.23248831e-03 -2.30327894e-03 2.04450865e+02] [ 6.22882368e-03 9.99979329e-01 -1.59481072e-03 1.09842171e+01] [ 2.31317097e-03 1.58042880e-03 9.99996076e-01 -1.77647552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.681400513 meters Centerline goodness [0,1] 0.8428343100692595 Centerline is valid? [False, False] Translation: X:204.45, Y:10.98, Z:-0.18 [[ 9.99979002e-01 -6.01050135e-03 -2.42283060e-03 2.04451331e+02] [ 6.00788953e-03 9.99981365e-01 -1.08384627e-03 1.09817639e+01] [ 2.42929991e-03 1.06926742e-03 9.99996478e-01 -1.77779061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.711400513 meters Centerline goodness [0,1] 0.7799004035373915 Centerline is valid? [False, False] Translation: X:204.45, Y:10.98, Z:-0.18 [[ 9.99980212e-01 -5.78648169e-03 -2.46827145e-03 2.04451570e+02] [ 5.78509494e-03 9.99983105e-01 -5.68602409e-04 1.09793054e+01] [ 2.47151995e-03 5.54311972e-04 9.99996792e-01 -1.77946614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.74140051300003 meters Centerline goodness [0,1] 0.7372647856639398 Centerline is valid? [False, False] Translation: X:204.45, Y:10.98, Z:-0.18 [[ 9.99982469e-01 -5.44972300e-03 -2.31571079e-03 2.04450838e+02] [ 5.45006822e-03 9.99985138e-01 1.42792302e-04 1.09760499e+01] [ 2.31489820e-03 -1.55410581e-04 9.99997309e-01 -1.77506845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.771400513 meters Centerline goodness [0,1] 0.7372647856639398 Centerline is valid? [False, False] Translation: X:204.45, Y:10.98, Z:-0.18 [[ 9.99982469e-01 -5.44972300e-03 -2.31571079e-03 2.04450838e+02] [ 5.45006822e-03 9.99985138e-01 1.42792302e-04 1.09760499e+01] [ 2.31489820e-03 -1.55410581e-04 9.99997309e-01 -1.77506845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.80140051300003 meters Centerline goodness [0,1] 0.688754933928265 Centerline is valid? [False, False] Translation: X:204.45, Y:10.98, Z:-0.18 [[ 9.99983192e-01 -5.39115043e-03 -2.13313075e-03 2.04449866e+02] [ 5.39158196e-03 9.99985446e-01 1.96600212e-04 1.09759477e+01] [ 2.13203980e-03 -2.08097857e-04 9.99997706e-01 -1.76780420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.831400513 meters Centerline goodness [0,1] 0.44718339867053003 Centerline is valid? [False, False] Translation: X:204.46, Y:10.97, Z:-0.18 [[ 9.99990790e-01 -3.16911045e-03 -2.89417333e-03 2.04455426e+02] [ 3.17586180e-03 9.99992240e-01 2.33112914e-03 1.09739990e+01] [ 2.88676326e-03 -2.34029917e-03 9.99993095e-01 -1.80031409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.86140051300004 meters Centerline goodness [0,1] 0.5033287811539775 Centerline is valid? [False, False] Translation: X:204.45, Y:10.98, Z:-0.18 [[ 9.99992086e-01 -3.09692295e-03 -2.49735672e-03 2.04454404e+02] [ 3.09984922e-03 9.99994512e-01 1.16873138e-03 1.09805811e+01] [ 2.49372354e-03 -1.17646356e-03 9.99996199e-01 -1.80881912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.891400513 meters Centerline goodness [0,1] 0.47529960759359424 Centerline is valid? [False, False] Translation: X:204.46, Y:10.98, Z:-0.18 [[ 9.99995110e-01 1.33253639e-03 -2.82910333e-03 2.04455360e+02] [-1.31573961e-03 9.99981548e-01 5.93072208e-03 1.09783726e+01] [ 2.83695403e-03 -5.92697072e-03 9.99978411e-01 -1.80588092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.921400513 meters Centerline goodness [0,1] 0.6903350101680402 Centerline is valid? [False, False] Translation: X:204.45, Y:10.99, Z:-0.18 [[ 9.99995356e-01 -2.19205208e-03 -2.11726406e-03 2.04452452e+02] [ 2.19342028e-03 9.99997387e-01 6.44106080e-04 1.09866608e+01] [ 2.11584661e-03 -6.48747139e-04 9.99997551e-01 -1.80494147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.951400513 meters Centerline goodness [0,1] 0.4349795625974464 Centerline is valid? [False, False] Translation: X:204.49, Y:10.99, Z:-0.18 [[ 9.99997951e-01 -1.44926256e-03 1.41354227e-03 2.04490611e+02] [ 1.45117620e-03 9.99998031e-01 -1.35370647e-03 1.09942461e+01] [-1.41157761e-03 1.35575500e-03 9.99998085e-01 -1.80099121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.981400513 meters Centerline goodness [0,1] 0.5818396226415095 Centerline is valid? [False, False] Translation: X:204.44, Y:10.99, Z:-0.18 [[ 9.99996713e-01 -2.51696278e-03 4.89028973e-04 2.04443980e+02] [ 2.51608633e-03 9.99995242e-01 1.78463604e-03 1.09880242e+01] [-4.93518509e-04 -1.78339973e-03 9.99998288e-01 -1.75076607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.011400513 meters Centerline goodness [0,1] 0.5211589782691575 Centerline is valid? [False, False] Translation: X:204.48, Y:11.00, Z:-0.18 [[ 9.99981103e-01 -4.62749381e-03 4.04732887e-03 2.04482712e+02] [ 4.63914875e-03 9.99985106e-01 -2.87503045e-03 1.09959742e+01] [-4.03396440e-03 2.89375228e-03 9.99987677e-01 -1.75503914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.041400513 meters Centerline goodness [0,1] 0.5600695844029107 Centerline is valid? [False, False] Translation: X:204.48, Y:10.99, Z:-0.17 [[ 9.99981495e-01 -4.64261733e-03 3.93142697e-03 2.04482771e+02] [ 4.65223811e-03 9.99986198e-01 -2.44154838e-03 1.09937355e+01] [-3.92003753e-03 2.45979313e-03 9.99989291e-01 -1.74818409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.071400513 meters Centerline goodness [0,1] 0.9610414616404946 Centerline is valid? [False, True] Translation: X:204.48, Y:10.99, Z:-0.17 [[ 9.99981914e-01 -4.63098634e-03 3.83745930e-03 2.04482851e+02] [ 4.63867419e-03 9.99987247e-01 -1.99689672e-03 1.09914730e+01] [-3.82816277e-03 2.01466133e-03 9.99990643e-01 -1.74312751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.101400513 meters Centerline goodness [0,1] 0.9902448437031002 Centerline is valid? [True, True] Translation: X:204.51, Y:10.99, Z:-0.17 [[ 9.99936508e-01 -1.06475286e-02 3.68906028e-03 2.04514139e+02] [ 1.06464698e-02 9.99943278e-01 3.06537809e-04 1.09894880e+01] [-3.69211490e-03 -2.67242877e-04 9.99993148e-01 -1.74176025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.131400513 meters Centerline goodness [0,1] 0.9966647424796357 Centerline is valid? [True, True] Translation: X:204.54, Y:10.99, Z:-0.18 [[ 9.99917076e-01 -1.25441525e-02 2.91303422e-03 2.04544689e+02] [ 1.25435003e-02 9.99921298e-01 2.42060890e-04 1.09888175e+01] [-2.91584141e-03 -2.05501172e-04 9.99995728e-01 -1.75064464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.161400513 meters Centerline goodness [0,1] 0.9587703590005969 Centerline is valid? [True, True] Translation: X:204.57, Y:11.00, Z:-0.18 [[ 9.99909723e-01 -1.32700791e-02 2.10989097e-03 2.04573888e+02] [ 1.32697386e-02 9.99911938e-01 1.75323064e-04 1.09998268e+01] [-2.11203172e-03 -1.47309535e-04 9.99997759e-01 -1.76373132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.191400513 meters Centerline goodness [0,1] 0.7924870798274463 Centerline is valid? [True, False] Translation: X:204.58, Y:10.99, Z:-0.18 [[ 9.99961936e-01 -8.58677621e-03 1.54738641e-03 2.04575242e+02] [ 8.57746233e-03 9.99945639e-01 5.92843868e-03 1.09927349e+01] [-1.59820846e-03 -5.91494037e-03 9.99981229e-01 -1.75491191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.221400513 meters Centerline goodness [0,1] 0.9044149072570306 Centerline is valid? [False, False] Translation: X:204.58, Y:11.00, Z:-0.18 [[ 9.99987498e-01 -4.64963136e-03 1.83995737e-03 2.04575067e+02] [ 4.67057515e-03 9.99922423e-01 -1.15470627e-02 1.10046364e+01] [-1.78612505e-03 1.15555119e-02 9.99931638e-01 -1.76629804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.251400513 meters Centerline goodness [0,1] 0.8769099627064465 Centerline is valid? [False, False] Translation: X:204.58, Y:11.00, Z:-0.18 [[ 9.99998729e-01 7.44186406e-05 1.59241167e-03 2.04575339e+02] [-6.51202304e-05 9.99982954e-01 -5.83845533e-03 1.09979350e+01] [-1.59281902e-03 5.83834421e-03 9.99981688e-01 -1.75613599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.281400513 meters Centerline goodness [0,1] 0.8875326566448242 Centerline is valid? [False, False] Translation: X:204.58, Y:11.00, Z:-0.18 [[ 9.99998599e-01 6.90137493e-05 1.67240911e-03 2.04575047e+02] [-5.90702360e-05 9.99982327e-01 -5.94494277e-03 1.09985101e+01] [-1.67278983e-03 5.94483566e-03 9.99980930e-01 -1.75535263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.311400513 meters Centerline goodness [0,1] 0.7855747558226898 Centerline is valid? [False, False] Translation: X:204.57, Y:11.00, Z:-0.17 [[ 9.99995107e-01 1.95801034e-03 2.43973278e-03 2.04569349e+02] [-1.94772659e-03 9.99989239e-01 -4.21038492e-03 1.09979212e+01] [-2.44795051e-03 4.20561238e-03 9.99988160e-01 -1.72026490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.341400513 meters Centerline goodness [0,1] 0.8084240885024321 Centerline is valid? [False, False] Translation: X:204.57, Y:11.00, Z:-0.17 [[ 9.99995387e-01 1.70495707e-03 2.51375002e-03 2.04569434e+02] [-1.69257648e-03 9.99986469e-01 -4.91907781e-03 1.10012526e+01] [-2.52210282e-03 4.91480040e-03 9.99984742e-01 -1.72736352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.371400513 meters Centerline goodness [0,1] 0.6482983206691781 Centerline is valid? [False, False] Translation: X:204.57, Y:11.00, Z:-0.17 [[ 9.99978551e-01 6.13236744e-03 2.30047175e-03 2.04569924e+02] [-6.13245502e-03 9.99981196e-01 3.10184687e-05 1.09980913e+01] [-2.30023828e-03 -4.51253429e-05 9.99997353e-01 -1.72170422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.401400513 meters Centerline goodness [0,1] 0.6832565677243262 Centerline is valid? [False, False] Translation: X:204.57, Y:11.00, Z:-0.17 [[ 9.99979561e-01 5.92252692e-03 2.40865866e-03 2.04569628e+02] [-5.92131207e-03 9.99982338e-01 -5.11187662e-04 1.10006793e+01] [-2.41164364e-03 4.96914795e-04 9.99996969e-01 -1.72297304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.431400513 meters Centerline goodness [0,1] 0.7307444339379352 Centerline is valid? [False, False] Translation: X:204.57, Y:11.00, Z:-0.17 [[ 9.99979937e-01 5.83817630e-03 2.45781602e-03 2.04569732e+02] [-5.83593130e-03 9.99982548e-01 -9.19595447e-04 1.10026636e+01] [-2.46314188e-03 9.05233352e-04 9.99996557e-01 -1.72841652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.461400513 meters Centerline goodness [0,1] 0.5446504870962229 Centerline is valid? [False, False] Translation: X:204.57, Y:11.00, Z:-0.17 [[ 9.99981276e-01 5.64846204e-03 2.35423188e-03 2.04570476e+02] [-5.64519021e-03 9.99983094e-01 -1.39410145e-03 1.10048083e+01] [-2.36206661e-03 1.38078526e-03 9.99996257e-01 -1.73642319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.49140051300003 meters Centerline goodness [0,1] 0.6776797567555993 Centerline is valid? [False, False] Translation: X:204.57, Y:11.01, Z:-0.17 [[ 9.99982892e-01 5.37245308e-03 2.31340318e-03 2.04571114e+02] [-5.36770240e-03 9.99983482e-01 -2.05487775e-03 1.10078011e+01] [-2.32440470e-03 2.04242494e-03 9.99995213e-01 -1.74669720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.521400513 meters Centerline goodness [0,1] 0.5311622322749394 Centerline is valid? [False, False] Translation: X:204.57, Y:11.01, Z:-0.18 [[ 9.99983960e-01 5.16974057e-03 2.31365203e-03 2.04571271e+02] [-5.16387530e-03 9.99983457e-01 -2.53390573e-03 1.10100100e+01] [-2.32671339e-03 2.52191768e-03 9.99994113e-01 -1.75014114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.55140051300003 meters Centerline goodness [0,1] 0.4191059243670684 Centerline is valid? [False, False] Translation: X:204.57, Y:11.00, Z:-0.17 [[ 9.99956419e-01 9.15602061e-03 1.82385624e-03 2.04572250e+02] [-9.16114852e-03 9.99954050e-01 2.82334697e-03 1.10036319e+01] [-1.79792181e-03 -2.83993255e-03 9.99994351e-01 -1.73294233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.581400513 meters Centerline goodness [0,1] 0.42287621743815096 Centerline is valid? [False, False] Translation: X:204.57, Y:11.00, Z:-0.17 [[ 9.99956961e-01 9.07919230e-03 1.90923427e-03 2.04571789e+02] [-9.08425636e-03 9.99955198e-01 2.66067733e-03 1.10044412e+01] [-1.88499193e-03 -2.67790679e-03 9.99994638e-01 -1.72969926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.61140051300004 meters Centerline goodness [0,1] 0.41508831666311985 Centerline is valid? [False, False] Translation: X:204.57, Y:11.01, Z:-0.17 [[ 9.99959493e-01 8.78848096e-03 1.94284762e-03 2.04571874e+02] [-8.79239711e-03 9.99959313e-01 2.01640518e-03 1.10074420e+01] [-1.92504743e-03 -2.03340579e-03 9.99996080e-01 -1.73371782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.641400513 meters Centerline goodness [0,1] 0.5901977461194983 Centerline is valid? [False, False] Translation: X:204.57, Y:11.01, Z:-0.17 [[ 9.99962816e-01 8.40391104e-03 1.93406364e-03 2.04572335e+02] [-8.40612572e-03 9.99964018e-01 1.13982539e-03 1.10114847e+01] [-1.92441506e-03 -1.15604099e-03 9.99997480e-01 -1.74251983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.671400513 meters Centerline goodness [0,1] 0.6945784044462706 Centerline is valid? [False, False] Translation: X:204.53, Y:11.01, Z:-0.17 [[ 9.99977643e-01 6.65498112e-03 -6.52081970e-04 2.04530900e+02] [-6.65476924e-03 9.99977803e-01 3.26550888e-04 1.10132123e+01] [ 6.54240686e-04 -3.22204132e-04 9.99999734e-01 -1.74505493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.701400513 meters Centerline goodness [0,1] 0.8762258092510631 Centerline is valid? [False, False] Translation: X:204.53, Y:11.01, Z:-0.17 [[ 9.99978526e-01 6.52950890e-03 -5.60008871e-04 2.04530391e+02] [-6.52949869e-03 9.99978682e-01 2.00444600e-05 1.10146888e+01] [ 5.60127813e-04 -1.63874523e-05 9.99999843e-01 -1.74079001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.731400513 meters Centerline goodness [0,1] 0.536562954098641 Centerline is valid? [False, False] Translation: X:204.55, Y:11.01, Z:-0.17 [[ 9.99980337e-01 6.27069085e-03 -5.62924407e-05 2.04548404e+02] [-6.26971783e-03 9.99922077e-01 1.07949528e-02 1.10108976e+01] [ 1.23979866e-04 -1.07943876e-02 9.99941731e-01 -1.69542586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.761400513 meters Centerline goodness [0,1] 0.4979558462796402 Centerline is valid? [False, False] Translation: X:204.55, Y:11.02, Z:-0.17 [[ 9.99998652e-01 1.46487278e-03 7.41771489e-04 2.04545672e+02] [-1.46804893e-03 9.99989679e-01 4.29955658e-03 1.10220038e+01] [-7.35465530e-04 -4.30063975e-03 9.99990482e-01 -1.69600253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.791400513 meters Centerline goodness [0,1] 0.5695963306648546 Centerline is valid? [False, False] Translation: X:204.59, Y:11.03, Z:-0.17 [[ 9.99993897e-01 1.69513401e-04 3.48951550e-03 2.04585959e+02] [-1.68488386e-04 9.99999943e-01 -2.94033370e-04 1.10311044e+01] [-3.48956514e-03 2.93443633e-04 9.99993868e-01 -1.70662233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.821400513 meters Centerline goodness [0,1] 0.570223155009209 Centerline is valid? [False, False] Translation: X:204.59, Y:11.03, Z:-0.17 [[ 9.99994080e-01 1.61213474e-04 3.43707915e-03 2.04585893e+02] [-1.60333803e-04 9.99999954e-01 -2.56209560e-04 1.10309143e+01] [-3.43712030e-03 2.55656963e-04 9.99994060e-01 -1.70206214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.851400513 meters Centerline goodness [0,1] 0.6685576393886796 Centerline is valid? [False, False] Translation: X:204.63, Y:11.04, Z:-0.17 [[ 9.99977759e-01 -2.15592695e-04 6.66597529e-03 2.04626076e+02] [ 2.34400329e-04 9.99995994e-01 -2.82078509e-03 1.10370586e+01] [-6.66534044e-03 2.82228486e-03 9.99973804e-01 -1.71355862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.881400513 meters Centerline goodness [0,1] 0.9500149976432275 Centerline is valid? [False, True] Translation: X:204.60, Y:11.03, Z:-0.16 [[ 9.99994465e-01 -3.17520130e-03 9.93983237e-04 2.04604256e+02] [ 3.16962868e-03 9.99979527e-01 5.55861152e-03 1.10321736e+01] [-1.01161260e-03 -5.55543020e-03 9.99984057e-01 -1.64646491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.911400513 meters Centerline goodness [0,1] 0.8448121645796065 Centerline is valid? [True, False] Translation: X:204.60, Y:11.03, Z:-0.16 [[ 9.99994032e-01 -3.32932047e-03 9.23252000e-04 2.04604483e+02] [ 3.32438861e-03 9.99980467e-01 5.29289513e-03 1.10333631e+01] [-9.40855710e-04 -5.28979429e-03 9.99985566e-01 -1.64657569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.941400513 meters Centerline goodness [0,1] 0.9923101707657609 Centerline is valid? [False, True] Translation: X:204.60, Y:11.04, Z:-0.17 [[ 9.99967440e-01 -7.94506110e-03 1.41214453e-03 2.04603271e+02] [ 7.94584103e-03 9.99968281e-01 -5.47550926e-04 1.10410725e+01] [-1.40774941e-03 5.58753774e-04 9.99998853e-01 -1.65402071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.971400513 meters Centerline goodness [0,1] 0.9937222643143198 Centerline is valid? [True, True] Translation: X:204.63, Y:11.04, Z:-0.17 [[ 9.99960344e-01 -8.82201934e-03 1.21757933e-03 2.04633852e+02] [ 8.82190245e-03 9.99961081e-01 1.01339542e-04 1.10442530e+01] [-1.21842596e-03 -9.05941577e-05 9.99999254e-01 -1.65423535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.001400513 meters Centerline goodness [0,1] 0.9142032702789356 Centerline is valid? [True, False] Translation: X:204.63, Y:11.05, Z:-0.17 [[ 9.99905826e-01 -1.36482542e-02 1.43709442e-03 2.04633409e+02] [ 1.36567941e-02 9.99888070e-01 -6.11058087e-03 1.10536533e+01] [-1.35353480e-03 6.12963151e-03 9.99980298e-01 -1.65897635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.031400513 meters Centerline goodness [0,1] 0.9961615595281738 Centerline is valid? [False, True] Translation: X:204.63, Y:11.05, Z:-0.17 [[ 9.99904771e-01 -1.37247025e-02 1.44302959e-03 2.04633228e+02] [ 1.37335028e-02 9.99885992e-01 -6.27650607e-03 1.10544474e+01] [-1.35672189e-03 6.29572621e-03 9.99979261e-01 -1.65611117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.061400513 meters Centerline goodness [0,1] 0.9285880732973202 Centerline is valid? [True, False] Translation: X:204.67, Y:11.06, Z:-0.17 [[ 9.99898328e-01 -1.35340299e-02 4.49029231e-03 2.04673128e+02] [ 1.35688179e-02 9.99877441e-01 -7.80955991e-03 1.10595159e+01] [-4.38404717e-03 7.86969385e-03 9.99959423e-01 -1.65723817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.091400513 meters Centerline goodness [0,1] 0.991344575436502 Centerline is valid? [False, True] Translation: X:204.68, Y:11.05, Z:-0.17 [[ 9.99937800e-01 -1.04308626e-02 3.94870775e-03 2.04675053e+02] [ 1.04426401e-02 9.99941052e-01 -2.97386002e-03 1.10535012e+01] [-3.91745505e-03 3.01490998e-03 9.99987782e-01 -1.65693399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.121400513 meters Centerline goodness [0,1] 0.9709379968203498 Centerline is valid? [True, True] Translation: X:204.70, Y:11.06, Z:-0.17 [[ 9.99911068e-01 -1.29529314e-02 3.17465060e-03 2.04704205e+02] [ 1.29522264e-02 9.99916087e-01 2.42517040e-04 1.10576474e+01] [-3.17752551e-03 -2.01376679e-04 9.99994931e-01 -1.67220670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.151400513 meters Centerline goodness [0,1] 0.99890414491072 Centerline is valid? [True, True] Translation: X:204.74, Y:11.05, Z:-0.17 [[ 9.99877562e-01 -1.53731856e-02 2.91990119e-03 2.04735961e+02] [ 1.53725992e-02 9.99881810e-01 2.23141062e-04 1.10483657e+01] [-2.92298647e-03 -1.78227271e-04 9.99995712e-01 -1.67316646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.181400513 meters Centerline goodness [0,1] 0.997590155893455 Centerline is valid? [True, True] Translation: X:204.77, Y:11.06, Z:-0.17 [[ 9.99849624e-01 -1.70448192e-02 3.19426942e-03 2.04765536e+02] [ 1.70441263e-02 9.99854709e-01 2.44021474e-04 1.10551981e+01] [-3.19796462e-03 -1.89541248e-04 9.99994869e-01 -1.67415194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.211400513 meters Centerline goodness [0,1] 0.9993372386368495 Centerline is valid? [True, True] Translation: X:204.80, Y:11.06, Z:-0.17 [[ 9.99798249e-01 -1.94742080e-02 4.92094284e-03 2.04796569e+02] [ 1.94725928e-02 9.99810320e-01 3.75940631e-04 1.10568505e+01] [-4.92733058e-03 -2.80041269e-04 9.99987821e-01 -1.65111897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.24140051300003 meters Centerline goodness [0,1] 0.9996748742847235 Centerline is valid? [True, True] Translation: X:204.83, Y:11.05, Z:-0.17 [[ 9.99785228e-01 -2.01962869e-02 4.64849078e-03 2.04828295e+02] [ 2.01948534e-02 9.99796000e-01 3.55135539e-04 1.10526926e+01] [-4.65471491e-03 -2.61183676e-04 9.99989133e-01 -1.65025901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.271400513 meters Centerline goodness [0,1] 0.9998059592083136 Centerline is valid? [True, True] Translation: X:204.86, Y:11.06, Z:-0.17 [[ 9.99773021e-01 -2.09692425e-02 3.76803564e-03 2.04858019e+02] [ 2.09683060e-02 9.99780099e-01 2.87887472e-04 1.10565906e+01] [-3.77324383e-03 -2.08812804e-04 9.99992859e-01 -1.66430744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.30140051300003 meters Centerline goodness [0,1] 0.9993783494105037 Centerline is valid? [True, True] Translation: X:204.89, Y:11.06, Z:-0.17 [[ 9.99753709e-01 -2.20398690e-02 2.60119989e-03 2.04887127e+02] [ 2.20394270e-02 9.99757083e-01 1.98458680e-04 1.10625778e+01] [-2.60494201e-03 -1.41080846e-04 9.99996597e-01 -1.68561891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.331400513 meters Centerline goodness [0,1] 0.9994019138755981 Centerline is valid? [True, True] Translation: X:204.92, Y:11.06, Z:-0.17 [[ 9.99627711e-01 -2.71013056e-02 3.15582339e-03 2.04916243e+02] [ 2.71006800e-02 9.99632680e-01 2.40822059e-04 1.10648084e+01] [-3.16119079e-03 -1.55207443e-04 9.99994991e-01 -1.68610303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.36140051300004 meters Centerline goodness [0,1] 0.9997429305912596 Centerline is valid? [True, True] Translation: X:204.95, Y:11.06, Z:-0.17 [[ 9.99503136e-01 -3.13097353e-02 3.63053565e-03 2.04947059e+02] [ 3.13089347e-02 9.99509717e-01 2.77146874e-04 1.10620512e+01] [-3.63743305e-03 -1.63340966e-04 9.99993371e-01 -1.67252047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.391400513 meters Centerline goodness [0,1] 0.9999565491320689 Centerline is valid? [True, True] Translation: X:204.98, Y:11.05, Z:-0.17 [[ 9.99120780e-01 -4.17543435e-02 3.77371939e-03 2.04979262e+02] [ 4.17535533e-02 9.99127899e-01 2.87978450e-04 1.10457675e+01] [-3.78245267e-03 -1.30159060e-04 9.99992838e-01 -1.67027339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.421400513 meters Centerline goodness [0,1] 0.9998920808961602 Centerline is valid? [True, True] Translation: X:205.01, Y:11.04, Z:-0.17 [[ 9.98910869e-01 -4.65549982e-02 3.11574693e-03 2.05008471e+02] [ 4.65544824e-02 9.98915724e-01 2.37886736e-04 1.10416285e+01] [-3.12344342e-03 -9.25756606e-05 9.99995118e-01 -1.67930682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.451400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.04, Y:11.04, Z:-0.17 [[ 9.98709315e-01 -5.06544593e-02 3.71898058e-03 2.05039231e+02] [ 5.06537524e-02 9.98716234e-01 2.84100509e-04 1.10382431e+01] [-3.72859724e-03 -9.53535035e-05 9.99993044e-01 -1.67793356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.481400513 meters Centerline goodness [0,1] 0.9998292604844734 Centerline is valid? [True, True] Translation: X:205.07, Y:11.04, Z:-0.17 [[ 9.98561671e-01 -5.34658964e-02 3.99833879e-03 2.05066927e+02] [ 5.34651020e-02 9.98569672e-01 3.05360966e-04 1.10369971e+01] [-4.00894625e-03 -9.11501652e-05 9.99991960e-01 -1.67157348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.511400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.10, Y:11.03, Z:-0.17 [[ 9.98440484e-01 -5.56224948e-02 4.76844404e-03 2.05096454e+02] [ 5.56213888e-02 9.98451866e-01 3.64338399e-04 1.10340368e+01] [-4.78132726e-03 -9.85427271e-05 9.99988565e-01 -1.65900406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.541400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.12, Y:11.03, Z:-0.17 [[ 9.98415479e-01 -5.60696521e-02 4.76705291e-03 2.05124596e+02] [ 5.60685473e-02 9.98426855e-01 3.65182757e-04 1.10333404e+01] [-4.78002931e-03 -9.73223860e-05 9.99988571e-01 -1.66417659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.571400513 meters Centerline goodness [0,1] 0.9998698538024381 Centerline is valid? [True, True] Translation: X:205.15, Y:11.03, Z:-0.17 [[ 9.98480757e-01 -5.49526790e-02 4.04745721e-03 2.05153902e+02] [ 5.49518739e-02 9.98488956e-01 3.09929596e-04 1.10326439e+01] [-4.05837278e-03 -8.70433791e-05 9.99991761e-01 -1.66795008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.601400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.18, Y:11.04, Z:-0.17 [[ 9.98559600e-01 -5.34964199e-02 4.10578693e-03 2.05181767e+02] [ 5.34955750e-02 9.98568037e-01 3.15424702e-04 1.10357030e+01] [-4.11678169e-03 -9.53289320e-05 9.99991521e-01 -1.67309498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.631400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.21, Y:11.04, Z:-0.17 [[ 9.98731285e-01 -5.02704799e-02 2.94949656e-03 2.05210285e+02] [ 5.02700293e-02 9.98735637e-01 2.26754971e-04 1.10399257e+01] [-2.95716641e-03 -7.81960045e-05 9.99995625e-01 -1.69634875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.661400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.24, Y:11.04, Z:-0.17 [[ 9.98722125e-01 -5.04521195e-02 2.94953208e-03 2.05237712e+02] [ 5.04516711e-02 9.98726478e-01 2.26294247e-04 1.10422037e+01] [-2.95719281e-03 -7.71962488e-05 9.99995625e-01 -1.69822895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.691400513 meters Centerline goodness [0,1] 0.9999573306024919 Centerline is valid? [True, True] Translation: X:205.27, Y:11.04, Z:-0.17 [[ 9.98778307e-01 -4.93578502e-02 2.38677242e-03 2.05266581e+02] [ 4.93575527e-02 9.98781156e-01 1.83421018e-04 1.10445581e+01] [-2.39291659e-03 -6.53916879e-05 9.99997135e-01 -1.70987637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.721400513 meters Centerline goodness [0,1] 0.9998708232862556 Centerline is valid? [True, True] Translation: X:205.30, Y:11.04, Z:-0.17 [[ 9.98821603e-01 -4.84718975e-02 2.42509761e-03 2.05295169e+02] [ 4.84715857e-02 9.98824544e-01 1.87207417e-04 1.10419045e+01] [-2.43132132e-03 -6.94384860e-05 9.99997042e-01 -1.70953167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.751400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.32, Y:11.04, Z:-0.17 [[ 9.98846062e-01 -4.79299405e-02 3.04374140e-03 2.05324328e+02] [ 4.79294473e-02 9.98850696e-01 2.34844720e-04 1.10430090e+01] [-3.05149931e-03 -8.86888811e-05 9.99995340e-01 -1.70273226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.781400513 meters Centerline goodness [0,1] 0.9999361280844813 Centerline is valid? [True, True] Translation: X:205.35, Y:11.04, Z:-0.17 [[ 9.98816330e-01 -4.84446560e-02 4.36520156e-03 2.05352738e+02] [ 4.84436400e-02 9.98825860e-01 3.38231759e-04 1.10425786e+01] [-4.37646172e-03 -1.26365151e-04 9.99990415e-01 -1.69131940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.811400513 meters Centerline goodness [0,1] 0.9999784217681204 Centerline is valid? [True, True] Translation: X:205.38, Y:11.04, Z:-0.17 [[ 9.98761607e-01 -4.95717111e-02 4.23052770e-03 2.05382435e+02] [ 4.95707663e-02 9.98770560e-01 3.27959314e-04 1.10399008e+01] [-4.24158402e-03 -1.17842671e-04 9.99990997e-01 -1.69180873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.841400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.41, Y:11.04, Z:-0.17 [[ 9.98698546e-01 -5.08494965e-02 3.94233269e-03 2.05411687e+02] [ 5.08486840e-02 9.98706322e-01 3.06120918e-04 1.10379839e+01] [-3.95279867e-03 -1.05260087e-04 9.99992182e-01 -1.69603327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.871400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.44, Y:11.04, Z:-0.17 [[ 9.98609720e-01 -5.25880701e-02 3.62255056e-03 2.05440365e+02] [ 5.25873936e-02 9.98616286e-01 2.81808912e-04 1.10366597e+01] [-3.63235777e-03 -9.09166258e-05 9.99993399e-01 -1.70269327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.901400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.47, Y:11.04, Z:-0.17 [[ 9.98514376e-01 -5.43570274e-02 3.78869721e-03 2.05469614e+02] [ 5.43562976e-02 9.98521560e-01 2.95418837e-04 1.10350834e+01] [-3.79915394e-03 -8.90404026e-05 9.99992779e-01 -1.70703253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.931400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.50, Y:11.03, Z:-0.17 [[ 9.98281912e-01 -5.83506470e-02 5.33167560e-03 2.05500056e+02] [ 5.83492500e-02 9.98296144e-01 4.17313150e-04 1.10290097e+01] [-5.34694168e-03 -1.05496897e-04 9.99985699e-01 -1.68913352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.961400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.53, Y:11.03, Z:-0.17 [[ 9.98162262e-01 -6.02708188e-02 6.28711901e-03 2.05528030e+02] [ 6.02689134e-02 9.98182055e-01 4.92257554e-04 1.10270317e+01] [-6.30535814e-03 -1.12435082e-04 9.99980115e-01 -1.67264159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.99140051300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.56, Y:11.03, Z:-0.17 [[ 9.98075817e-01 -6.16405528e-02 6.71614127e-03 2.05555929e+02] [ 6.16384066e-02 9.98098407e-01 5.26277907e-04 1.10272176e+01] [-6.73580996e-03 -1.11293006e-04 9.99977308e-01 -1.66598883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.021400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.58, Y:11.03, Z:-0.17 [[ 9.98022412e-01 -6.25124628e-02 6.59218092e-03 2.05583743e+02] [ 6.25104116e-02 9.98044178e-01 5.16947497e-04 1.10276908e+01] [-6.61160345e-03 -1.03845246e-04 9.99978138e-01 -1.66268093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.05140051300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.61, Y:11.03, Z:-0.17 [[ 9.97994119e-01 -6.29640696e-02 6.57761047e-03 2.05611547e+02] [ 6.29620349e-02 9.98015789e-01 5.16156562e-04 1.10302477e+01] [-6.59705843e-03 -1.00981473e-04 9.99978234e-01 -1.66736787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.081400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.64, Y:11.03, Z:-0.17 [[ 9.98041798e-01 -6.21788032e-02 6.80926462e-03 2.05640238e+02] [ 6.21765955e-02 9.98065020e-01 5.35634796e-04 1.10326061e+01] [-6.82939396e-03 -1.11209023e-04 9.99976673e-01 -1.66636093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.11140051300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.67, Y:11.04, Z:-0.17 [[ 9.98092810e-01 -6.12940394e-02 7.33372523e-03 2.05668697e+02] [ 6.12914450e-02 9.98119745e-01 5.78198814e-04 1.10355858e+01] [-7.35537610e-03 -1.27601462e-04 9.99972941e-01 -1.66619641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.141400513 meters Centerline goodness [0,1] 0.9999786315654515 Centerline is valid? [True, True] Translation: X:205.70, Y:11.04, Z:-0.17 [[ 9.98183519e-01 -5.97436854e-02 7.76883392e-03 2.05696103e+02] [ 5.97407172e-02 9.98213740e-01 6.13772655e-04 1.10431304e+01] [-7.79162580e-03 -1.48542039e-04 9.99969634e-01 -1.66976247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.171400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.72, Y:11.05, Z:-0.17 [[ 9.98205211e-01 -5.94537341e-02 7.18402342e-03 2.05724382e+02] [ 5.94511854e-02 9.98231052e-01 5.68007083e-04 1.10458300e+01] [-7.20508540e-03 -1.39888923e-04 9.99974033e-01 -1.68622677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.201400513 meters Centerline goodness [0,1] 0.9999569577755778 Centerline is valid? [True, True] Translation: X:205.75, Y:11.05, Z:-0.17 [[ 9.98253372e-01 -5.88193709e-02 5.52144129e-03 2.05751756e+02] [ 5.88178512e-02 9.98268636e-01 4.37344968e-04 1.10507351e+01] [-5.53760602e-03 -1.11821777e-04 9.99984661e-01 -1.70882418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.231400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.78, Y:11.05, Z:-0.17 [[ 9.98273785e-01 -5.85918719e-02 4.05506790e-03 2.05780033e+02] [ 5.85910510e-02 9.98282017e-01 3.21036411e-04 1.10541829e+01] [-4.06691148e-03 -8.28915426e-05 9.99991727e-01 -1.73764451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.261400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.81, Y:11.06, Z:-0.18 [[ 9.98304302e-01 -5.81781285e-02 1.95589377e-03 2.05808885e+02] [ 5.81779372e-02 9.98306217e-01 1.54577383e-04 1.10586732e+01] [-1.96157393e-03 -4.05254018e-05 9.99998075e-01 -1.76748076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.291400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.84, Y:11.06, Z:-0.18 [[ 9.98278867e-01 -5.86051186e-02 2.17817415e-03 2.05836311e+02] [ 5.86048817e-02 9.98281242e-01 1.72509455e-04 1.10618469e+01] [-2.18454033e-03 -4.45609056e-05 9.99997613e-01 -1.76889653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.321400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.86, Y:11.07, Z:-0.18 [[ 9.98246279e-01 -5.91273989e-02 2.88401820e-03 2.05864660e+02] [ 5.91269825e-02 9.98250443e-01 2.29494995e-04 1.10663636e+01] [-2.89254189e-03 -5.85692308e-05 9.99995815e-01 -1.76163192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.351400513 meters Centerline goodness [0,1] 0.9999785389303802 Centerline is valid? [True, True] Translation: X:205.89, Y:11.07, Z:-0.18 [[ 9.98239767e-01 -5.91875198e-02 3.76887515e-03 2.05891525e+02] [ 5.91868045e-02 9.98246879e-01 3.01156874e-04 1.10729051e+01] [-3.78009258e-03 -7.75590911e-05 9.99992852e-01 -1.75284581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.381400513 meters Centerline goodness [0,1] 0.9998926900459286 Centerline is valid? [True, True] Translation: X:205.92, Y:11.08, Z:-0.17 [[ 9.98318865e-01 -5.78556879e-02 3.48751456e-03 2.05920175e+02] [ 5.78550673e-02 9.98324954e-01 2.78649889e-04 1.10777656e+01] [-3.49779429e-03 -7.64110512e-05 9.99993880e-01 -1.74225589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.411400513 meters Centerline goodness [0,1] 0.999869786015018 Centerline is valid? [True, True] Translation: X:205.95, Y:11.08, Z:-0.18 [[ 9.98342545e-01 -5.75007291e-02 2.41452923e-03 2.05948701e+02] [ 5.75004305e-02 9.98345463e-01 1.92970260e-04 1.10837041e+01] [-2.42163023e-03 -5.38139503e-05 9.99997066e-01 -1.76346644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.441400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.98, Y:11.09, Z:-0.18 [[ 9.98351704e-01 -5.73647918e-02 1.77653939e-03 2.05977536e+02] [ 5.73646299e-02 9.98353284e-01 1.41974069e-04 1.10906322e+01] [-1.78175825e-03 -3.98295292e-05 9.99998412e-01 -1.78511511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.471400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.00, Y:11.10, Z:-0.18 [[ 9.98362496e-01 -5.71871796e-02 1.39717123e-03 2.06004203e+02] [ 5.71870785e-02 9.98363474e-01 1.12235708e-04 1.11004956e+01] [-1.40130316e-03 -3.21517806e-05 9.99999018e-01 -1.80951944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.501400513 meters Centerline goodness [0,1] 0.9999139914421485 Centerline is valid? [True, True] Translation: X:206.03, Y:11.10, Z:-0.18 [[ 9.98359033e-01 -5.72507038e-02 1.26404636e-03 2.06032254e+02] [ 5.72506220e-02 9.98359833e-01 1.00864504e-04 1.11033312e+01] [-1.26774767e-03 -2.83315487e-05 9.99999196e-01 -1.80671385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.531400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.06, Y:11.10, Z:-0.18 [[ 9.98352445e-01 -5.73637533e-02 1.33999207e-03 2.06060220e+02] [ 5.73636611e-02 9.98353344e-01 1.07203849e-04 1.11039961e+01] [-1.34393517e-03 -3.01603745e-05 9.99999096e-01 -1.79552133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.561400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.09, Y:11.11, Z:-0.18 [[ 9.98361670e-01 -5.71986246e-02 1.51410784e-03 2.06088067e+02] [ 5.71985049e-02 9.98362818e-01 1.22331165e-04 1.11101179e+01] [-1.51862615e-03 -3.55260414e-05 9.99998846e-01 -1.78910305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.591400513 meters Centerline goodness [0,1] 0.9999355088352896 Centerline is valid? [True, True] Translation: X:206.12, Y:11.11, Z:-0.18 [[ 9.98396829e-01 -5.65641109e-02 2.06694604e-03 2.06117160e+02] [ 5.65638867e-02 9.98398968e-01 1.66768009e-04 1.11131932e+01] [-2.07306988e-03 -4.95861496e-05 9.99997850e-01 -1.78122841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.621400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.15, Y:11.12, Z:-0.18 [[ 9.98444098e-01 -5.56623995e-02 3.32869365e-03 2.06145859e+02] [ 5.56618090e-02 9.98449643e-01 2.69827927e-04 1.11170884e+01] [-3.33855225e-03 -8.41269914e-05 9.99994423e-01 -1.76336969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.651400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.17, Y:11.12, Z:-0.17 [[ 9.98532248e-01 -5.39554613e-02 4.70718256e-03 2.06174412e+02] [ 5.39542556e-02 9.98543335e-01 3.82844904e-04 1.11226323e+01] [-4.72098235e-03 -1.28310451e-04 9.99988848e-01 -1.74697912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.681400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.20, Y:11.13, Z:-0.17 [[ 9.98810687e-01 -4.84194899e-02 5.72407760e-03 2.06204264e+02] [ 4.84176082e-02 9.98827071e-01 4.66935335e-04 1.11323098e+01] [-5.73997244e-03 -1.89233856e-04 9.99983508e-01 -1.72878689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.711400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.23, Y:11.14, Z:-0.17 [[ 9.98970790e-01 -4.50754632e-02 5.05598238e-03 2.06233923e+02] [ 4.50739521e-02 9.98983568e-01 4.12473297e-04 1.11381417e+01] [-5.06943574e-03 -1.84155668e-04 9.99987133e-01 -1.73936369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.74140051300003 meters Centerline goodness [0,1] 0.9998920203001835 Centerline is valid? [True, True] Translation: X:206.26, Y:11.15, Z:-0.18 [[ 9.99122471e-01 -4.16873318e-02 4.05639625e-03 2.06262984e+02] [ 4.16863311e-02 9.99130692e-01 3.30964912e-04 1.11452884e+01] [-4.06666704e-03 -1.61578203e-04 9.99991718e-01 -1.75369095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.771400513 meters Centerline goodness [0,1] 0.9998711838206878 Centerline is valid? [True, True] Translation: X:206.29, Y:11.16, Z:-0.18 [[ 9.99257094e-01 -3.83810832e-02 3.48599848e-03 2.06290887e+02] [ 3.83803241e-02 9.99263163e-01 2.84417399e-04 1.11568285e+01] [-3.49434612e-03 -1.50412352e-04 9.99993883e-01 -1.77106608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.80140051300003 meters Centerline goodness [0,1] 0.9997644640486488 Centerline is valid? [True, True] Translation: X:206.32, Y:11.16, Z:-0.18 [[ 9.99422759e-01 -3.37394702e-02 3.97450981e-03 2.06320261e+02] [ 3.37384462e-02 9.99430644e-01 3.24427614e-04 1.11643948e+01] [-3.98319291e-03 -1.90146556e-04 9.99992049e-01 -1.77158971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.831400513 meters Centerline goodness [0,1] 0.9997229385562968 Centerline is valid? [True, True] Translation: X:206.35, Y:11.16, Z:-0.18 [[ 9.99447355e-01 -3.29015838e-02 4.74020479e-03 2.06349404e+02] [ 3.29001190e-02 9.99458570e-01 3.86688787e-04 1.11638974e+01] [-4.75036097e-03 -2.30521784e-04 9.99988690e-01 -1.76148911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.86140051300004 meters Centerline goodness [0,1] 0.9998067051824489 Centerline is valid? [True, True] Translation: X:206.38, Y:11.16, Z:-0.18 [[ 9.99453356e-01 -3.26608258e-02 5.12440223e-03 2.06379460e+02] [ 3.26591049e-02 9.99466461e-01 4.19172414e-04 1.11630832e+01] [-5.13535868e-03 -2.51584886e-04 9.99986782e-01 -1.75411361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.891400513 meters Centerline goodness [0,1] 0.9998917491177554 Centerline is valid? [True, True] Translation: X:206.41, Y:11.16, Z:-0.18 [[ 9.99466061e-01 -3.22126173e-02 5.47176511e-03 2.06409170e+02] [ 3.22106477e-02 9.99481002e-01 4.47723839e-04 1.11612763e+01] [-5.48334764e-03 -2.71235683e-04 9.99984930e-01 -1.75132882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.921400513 meters Centerline goodness [0,1] 0.9997635476451495 Centerline is valid? [True, True] Translation: X:206.44, Y:11.16, Z:-0.18 [[ 9.99488159e-01 -3.15913809e-02 5.04036731e-03 2.06438911e+02] [ 3.15897012e-02 9.99500836e-01 4.12530338e-04 1.11606259e+01] [-5.05088375e-03 -2.53095491e-04 9.99987212e-01 -1.76302771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.951400513 meters Centerline goodness [0,1] 0.9992484109259577 Centerline is valid? [True, True] Translation: X:206.47, Y:11.17, Z:-0.18 [[ 9.99525249e-01 -3.05445873e-02 4.03783323e-03 2.06466695e+02] [ 3.05435009e-02 9.99533384e-01 3.30464883e-04 1.11735850e+01] [-4.04604302e-03 -2.06978431e-04 9.99991793e-01 -1.78680199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.981400513 meters Centerline goodness [0,1] 0.9997000021428418 Centerline is valid? [True, True] Translation: X:206.50, Y:11.17, Z:-0.18 [[ 9.99578867e-01 -2.88727976e-02 2.90696401e-03 2.06496726e+02] [ 2.88722274e-02 9.99583082e-01 2.37950741e-04 1.11673459e+01] [-2.91262235e-03 -1.53920006e-04 9.99995746e-01 -1.80061774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.011400513 meters Centerline goodness [0,1] 0.9995640612058067 Centerline is valid? [True, True] Translation: X:206.53, Y:11.17, Z:-0.18 [[ 9.99703046e-01 -2.43004457e-02 1.81874588e-03 2.06526415e+02] [ 2.43002146e-02 9.99704695e-01 1.49077093e-04 1.11725331e+01] [-1.82183144e-03 -1.04836908e-04 9.99998335e-01 -1.82830247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.041400513 meters Centerline goodness [0,1] 0.9957047096340326 Centerline is valid? [True, True] Translation: X:206.55, Y:11.18, Z:-0.18 [[ 9.99755401e-01 -2.20740830e-02 1.36832075e-03 2.06554585e+02] [ 2.20739502e-02 9.99756334e-01 1.12059161e-04 1.11848099e+01] [-1.37046094e-03 -8.18275076e-05 9.99999058e-01 -1.84155559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.071400513 meters Centerline goodness [0,1] 0.9979534844059775 Centerline is valid? [True, True] Translation: X:206.58, Y:11.18, Z:-0.18 [[ 9.99790536e-01 -2.04279011e-02 1.25910736e-03 2.06584558e+02] [ 2.04277874e-02 9.99791326e-01 1.03134715e-04 1.11841752e+01] [-1.26095144e-03 -7.73923344e-05 9.99999202e-01 -1.83803130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.101400513 meters Centerline goodness [0,1] 0.9968880340587384 Centerline is valid? [True, True] Translation: X:206.61, Y:11.19, Z:-0.18 [[ 9.99804997e-01 -1.96951124e-02 1.43886186e-03 2.06612814e+02] [ 1.96949631e-02 9.99806028e-01 1.17853873e-04 1.11889263e+01] [-1.44090391e-03 -8.94925601e-05 9.99998958e-01 -1.83206936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.131400513 meters Centerline goodness [0,1] 0.9862827247400098 Centerline is valid? [True, True] Translation: X:206.64, Y:11.20, Z:-0.18 [[ 9.99794882e-01 -2.00242480e-02 3.03693956e-03 2.06640367e+02] [ 2.00235833e-02 9.99799477e-01 2.49117399e-04 1.12001231e+01] [-3.04131897e-03 -1.88255889e-04 9.99995357e-01 -1.81178473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.161400513 meters Centerline goodness [0,1] 0.996131363588054 Centerline is valid? [True, True] Translation: X:206.67, Y:11.20, Z:-0.18 [[ 9.99777402e-01 -2.07810814e-02 3.64588792e-03 2.06670753e+02] [ 2.07801275e-02 9.99784025e-01 2.99316190e-04 1.12001002e+01] [-3.65132061e-03 -2.23487547e-04 9.99993309e-01 -1.80686237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.191400513 meters Centerline goodness [0,1] 0.9991217359638412 Centerline is valid? [True, True] Translation: X:206.70, Y:11.20, Z:-0.18 [[ 9.99757599e-01 -2.17001364e-02 3.72132940e-03 2.06702239e+02] [ 2.16991485e-02 9.99764499e-01 3.05623531e-04 1.11968972e+01] [-3.72708509e-03 -2.24799768e-04 9.99993029e-01 -1.80775256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.221400513 meters Centerline goodness [0,1] 0.9952432755273991 Centerline is valid? [True, True] Translation: X:206.73, Y:11.21, Z:-0.18 [[ 9.99733254e-01 -2.29440832e-02 2.64401489e-03 2.06731113e+02] [ 2.29435891e-02 9.99736738e-01 2.17041652e-04 1.12053374e+01] [-2.64829864e-03 -1.56320566e-04 9.99996481e-01 -1.82357561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.251400513 meters Centerline goodness [0,1] 0.9929735386455375 Centerline is valid? [True, True] Translation: X:206.76, Y:11.21, Z:-0.18 [[ 9.99733784e-01 -2.29963894e-02 1.87783915e-03 2.06760654e+02] [ 2.29961404e-02 9.99735542e-01 1.54093953e-04 1.12086260e+01] [-1.88088614e-03 -1.10869878e-04 9.99998225e-01 -1.82772113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.281400513 meters Centerline goodness [0,1] 0.9990091758928187 Centerline is valid? [True, True] Translation: X:206.79, Y:11.20, Z:-0.18 [[ 9.99747389e-01 -2.24413089e-02 1.24297268e-03 2.06790282e+02] [ 2.24411995e-02 9.99748159e-01 1.01901498e-04 1.12040845e+01] [-1.24494645e-03 -7.39819584e-05 9.99999222e-01 -1.82599212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.311400513 meters Centerline goodness [0,1] 0.985721044256161 Centerline is valid? [True, True] Translation: X:206.82, Y:11.22, Z:-0.18 [[ 9.99807299e-01 -1.95925834e-02 1.22297851e-03 2.06818817e+02] [ 1.95924751e-02 9.99808044e-01 1.00417644e-04 1.12179207e+01] [-1.22471119e-03 -7.64371174e-05 9.99999247e-01 -1.83571767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.341400513 meters Centerline goodness [0,1] 0.9959269422054536 Centerline is valid? [True, True] Translation: X:206.85, Y:11.22, Z:-0.18 [[ 9.99842745e-01 -1.76730923e-02 1.46535493e-03 2.06849035e+02] [ 1.76729348e-02 9.99843814e-01 1.20375267e-04 1.12175493e+01] [-1.46725347e-03 -9.44592158e-05 9.99998919e-01 -1.82934907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.371400513 meters Centerline goodness [0,1] 0.9958860894402524 Centerline is valid? [True, True] Translation: X:206.88, Y:11.22, Z:-0.18 [[ 9.99873003e-01 -1.58054068e-02 2.04120982e-03 2.06879512e+02] [ 1.58050971e-02 9.99875078e-01 1.67790836e-04 1.12218371e+01] [-2.04360683e-03 -1.35508008e-04 9.99997903e-01 -1.82146204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.401400513 meters Centerline goodness [0,1] 0.9575228094336374 Centerline is valid? [True, True] Translation: X:206.91, Y:11.23, Z:-0.18 [[ 9.99893007e-01 -1.43989872e-02 2.57736822e-03 2.06907403e+02] [ 1.43984889e-02 9.99896314e-01 2.11766355e-04 1.12346408e+01] [-2.58015021e-03 -1.74633490e-04 9.99996656e-01 -1.81957040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.431400513 meters Centerline goodness [0,1] 0.9656542056074766 Centerline is valid? [True, True] Translation: X:206.94, Y:11.24, Z:-0.18 [[ 9.99907084e-01 -1.31156901e-02 3.71515767e-03 2.06937359e+02] [ 1.31146453e-02 9.99913953e-01 3.05442958e-04 1.12356699e+01] [-3.71884408e-03 -2.56691602e-04 9.99993052e-01 -1.80463610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.461400513 meters Centerline goodness [0,1] 0.9376916524701874 Centerline is valid? [True, False] Translation: X:206.94, Y:11.23, Z:-0.18 [[ 9.99909474e-01 -1.29249034e-02 3.74038692e-03 2.06937063e+02] [ 1.29223060e-02 9.99916246e-01 7.17757923e-04 1.12337952e+01] [-3.74935060e-03 -6.69358523e-04 9.99992747e-01 -1.80019489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.49140051300003 meters Centerline goodness [0,1] 0.988621997471555 Centerline is valid? [False, True] Translation: X:206.94, Y:11.23, Z:-0.18 [[ 9.99910490e-01 -1.28241366e-02 3.81479789e-03 2.06936688e+02] [ 1.28206512e-02 9.99917373e-01 9.36705589e-04 1.12328143e+01] [-3.82649513e-03 -8.87713551e-04 9.99992285e-01 -1.79743777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.521400513 meters Centerline goodness [0,1] 0.9296223170498694 Centerline is valid? [True, False] Translation: X:206.94, Y:11.23, Z:-0.18 [[ 9.99910702e-01 -1.27935184e-02 3.86187583e-03 2.06936560e+02] [ 1.27900227e-02 9.99917773e-01 9.28512139e-04 1.12329198e+01] [-3.87343722e-03 -8.79035745e-04 9.99992112e-01 -1.79793117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.55140051300003 meters Centerline goodness [0,1] 0.9831719489826387 Centerline is valid? [False, True] Translation: X:206.94, Y:11.23, Z:-0.18 [[ 9.99909987e-01 -1.27712898e-02 4.11231313e-03 2.06935901e+02] [ 1.27688832e-02 9.99918288e-01 6.10934865e-04 1.12346334e+01] [-4.11977953e-03 -5.58370227e-04 9.99991358e-01 -1.80141715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.581400513 meters Centerline goodness [0,1] 0.9831719489826387 Centerline is valid? [True, True] Translation: X:206.97, Y:11.24, Z:-0.18 [[ 9.99910209e-01 -1.27468852e-02 4.13411891e-03 2.06966686e+02] [ 1.27454984e-02 9.99918707e-01 3.61641803e-04 1.12375010e+01] [-4.13839264e-03 -3.08917925e-04 9.99991389e-01 -1.80339361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.61140051300004 meters Centerline goodness [0,1] 0.8899437188064139 Centerline is valid? [True, False] Translation: X:206.97, Y:11.24, Z:-0.18 [[ 9.99909545e-01 -1.27931453e-02 4.15183331e-03 2.06966828e+02] [ 1.27927748e-02 9.99918162e-01 1.15788786e-04 1.12387106e+01] [-4.15297483e-03 -6.26648440e-05 9.99991374e-01 -1.80776607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.641400513 meters Centerline goodness [0,1] 0.46588640129147374 Centerline is valid? [False, False] Translation: X:206.97, Y:11.23, Z:-0.18 [[ 9.99960301e-01 -8.09724008e-03 3.71915526e-03 2.06968053e+02] [ 8.07611115e-03 9.99951361e-01 5.66142384e-03 1.12327263e+01] [-3.76481628e-03 -5.63116278e-03 9.99977058e-01 -1.80571760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.671400513 meters Centerline goodness [0,1] 0.7084210750218025 Centerline is valid? [False, False] Translation: X:206.97, Y:11.24, Z:-0.18 [[ 9.99990735e-01 -3.91881743e-03 -1.78145019e-03 2.06966217e+02] [ 3.90210152e-03 9.99949216e-01 -9.29189962e-03 1.12423373e+01] [ 1.81777297e-03 9.28486212e-03 9.99955243e-01 -1.76670567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.701400513 meters Centerline goodness [0,1] 0.5285723346229467 Centerline is valid? [False, False] Translation: X:206.97, Y:11.24, Z:-0.18 [[ 9.99997505e-01 8.67978296e-04 -2.05827092e-03 2.06966957e+02] [-8.75682949e-04 9.99992603e-01 -3.74532309e-03 1.12364139e+01] [ 2.05500484e-03 3.74711614e-03 9.99990868e-01 -1.76365941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.731400513 meters Centerline goodness [0,1] 0.6158172831089143 Centerline is valid? [False, False] Translation: X:206.97, Y:11.24, Z:-0.18 [[ 9.99997428e-01 9.19216490e-04 -2.07348796e-03 2.06966999e+02] [-9.26760111e-04 9.99992945e-01 -3.64010892e-03 1.12359448e+01] [ 2.07012728e-03 3.64202119e-03 9.99991225e-01 -1.76352249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.761400513 meters Centerline goodness [0,1] 0.589878171072564 Centerline is valid? [False, False] Translation: X:206.97, Y:11.23, Z:-0.18 [[ 9.99997288e-01 1.02166549e-03 -2.09295673e-03 2.06967058e+02] [-1.02876986e-03 9.99993704e-01 -3.39615381e-03 1.12347859e+01] [ 2.08947382e-03 3.39829777e-03 9.99992043e-01 -1.76354230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.791400513 meters Centerline goodness [0,1] 0.6125458109605386 Centerline is valid? [False, False] Translation: X:206.97, Y:11.23, Z:-0.18 [[ 9.99997120e-01 1.15016336e-03 -2.10624511e-03 2.06967060e+02] [-1.15664945e-03 9.99994585e-01 -3.08082834e-03 1.12333183e+01] [ 2.10269025e-03 3.08325565e-03 9.99993036e-01 -1.76285922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.821400513 meters Centerline goodness [0,1] 0.6354751596725106 Centerline is valid? [False, False] Translation: X:206.97, Y:11.23, Z:-0.18 [[ 9.99996317e-01 1.44303246e-03 -2.29859481e-03 2.06967738e+02] [-1.44811779e-03 9.99996504e-01 -2.21223736e-03 1.12291020e+01] [ 2.29539444e-03 2.21555785e-03 9.99994911e-01 -1.76318590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.851400513 meters Centerline goodness [0,1] 0.6826613161433541 Centerline is valid? [False, False] Translation: X:206.97, Y:11.23, Z:-0.18 [[ 9.99995741e-01 1.64831440e-03 -2.40858266e-03 2.06968128e+02] [-1.65244541e-03 9.99997166e-01 -1.71414008e-03 1.12267201e+01] [ 2.40575039e-03 1.71811283e-03 9.99995630e-01 -1.76373129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.881400513 meters Centerline goodness [0,1] 0.6757403529763686 Centerline is valid? [False, False] Translation: X:206.97, Y:11.23, Z:-0.18 [[ 9.99995370e-01 1.76475963e-03 -2.47894734e-03 2.06968554e+02] [-1.76830249e-03 9.99997417e-01 -1.42771486e-03 1.12253232e+01] [ 2.47642137e-03 1.43209177e-03 9.99995908e-01 -1.76754021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.911400513 meters Centerline goodness [0,1] 0.7502070107645598 Centerline is valid? [False, False] Translation: X:206.97, Y:11.23, Z:-0.18 [[ 9.99995040e-01 1.64723557e-03 -2.68469466e-03 2.06969799e+02] [-1.65172482e-03 9.99997240e-01 -1.67080510e-03 1.12263394e+01] [ 2.68193504e-03 1.67523119e-03 9.99995000e-01 -1.77831927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.941400513 meters Centerline goodness [0,1] 0.7010495837857401 Centerline is valid? [False, False] Translation: X:206.97, Y:11.23, Z:-0.18 [[ 9.99994988e-01 1.58726363e-03 -2.73934745e-03 2.06970113e+02] [-1.59223496e-03 9.99997088e-01 -1.81355909e-03 1.12269825e+01] [ 2.73646088e-03 1.81791169e-03 9.99994603e-01 -1.78101664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.971400513 meters Centerline goodness [0,1] 0.7865946783109983 Centerline is valid? [False, False] Translation: X:206.97, Y:11.23, Z:-0.18 [[ 9.99994952e-01 1.56856241e-03 -2.76323939e-03 2.06970187e+02] [-1.57377231e-03 9.99996986e-01 -1.88426679e-03 1.12273327e+01] [ 2.76027548e-03 1.88860599e-03 9.99994407e-01 -1.78069334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.001400513 meters Centerline goodness [0,1] 0.7239164646335758 Centerline is valid? [False, False] Translation: X:206.99, Y:11.22, Z:-0.17 [[ 9.99990340e-01 2.10454612e-03 -3.85888476e-03 2.06987619e+02] [-2.06815887e-03 9.99953592e-01 9.40934209e-03 1.12204911e+01] [ 3.87850808e-03 -9.40127041e-03 9.99948285e-01 -1.71485624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.031400513 meters Centerline goodness [0,1] 0.6572486568633746 Centerline is valid? [False, False] Translation: X:206.99, Y:11.23, Z:-0.17 [[ 9.99992082e-01 1.71025538e-03 -3.59320054e-03 2.06986685e+02] [-1.68060927e-03 9.99964659e-01 8.23749774e-03 1.12261827e+01] [ 3.60716178e-03 -8.23139374e-03 9.99959615e-01 -1.71432047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.061400513 meters Centerline goodness [0,1] 0.655475348758441 Centerline is valid? [False, False] Translation: X:207.01, Y:11.24, Z:-0.18 [[ 9.99995293e-01 2.59227958e-03 1.64112317e-03 2.07010405e+02] [-2.58816403e-03 9.99993513e-01 -2.50494412e-03 1.12391712e+01] [-1.64760604e-03 2.50068484e-03 9.99995516e-01 -1.78925526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.091400513 meters Centerline goodness [0,1] 0.6608141669366159 Centerline is valid? [False, False] Translation: X:206.97, Y:11.24, Z:-0.18 [[ 9.99996590e-01 2.50816236e-03 -7.26957171e-04 2.06967478e+02] [-2.50876512e-03 9.99996509e-01 -8.29439386e-04 1.12358547e+01] [ 7.24874265e-04 8.31260323e-04 9.99999392e-01 -1.77592475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.121400513 meters Centerline goodness [0,1] 0.4810261892036344 Centerline is valid? [False, False] Translation: X:206.97, Y:11.23, Z:-0.18 [[ 9.99975499e-01 6.94075974e-03 -9.09470765e-04 2.06967813e+02] [-6.93674254e-03 9.99966487e-01 4.34818566e-03 1.12314830e+01] [ 9.39619997e-04 -4.34177036e-03 9.99990133e-01 -1.76807234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.151400513 meters Centerline goodness [0,1] 0.46528208971202223 Centerline is valid? [False, False] Translation: X:206.97, Y:11.24, Z:-0.18 [[ 9.99980397e-01 6.25001826e-03 -3.77141402e-04 2.06965890e+02] [-6.24900307e-03 9.99977002e-01 2.63547447e-03 1.12396760e+01] [ 3.93604492e-04 -2.63306605e-03 9.99996456e-01 -1.76580242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.181400513 meters Centerline goodness [0,1] 0.4847924896988234 Centerline is valid? [False, False] Translation: X:206.97, Y:11.24, Z:-0.18 [[ 9.99982204e-01 5.95764473e-03 -3.12834452e-04 2.06965599e+02] [-5.95700316e-03 9.99980230e-01 2.01319189e-03 1.12425872e+01] [ 3.24822150e-04 -2.01129251e-03 9.99997925e-01 -1.76464378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.211400513 meters Centerline goodness [0,1] 0.48086536803999314 Centerline is valid? [False, False] Translation: X:206.92, Y:11.24, Z:-0.18 [[ 9.99987549e-01 3.86836051e-03 -3.15247761e-03 2.06924204e+02] [-3.86474456e-03 9.99991868e-01 1.15230585e-03 1.12415752e+01] [ 3.15690951e-03 -1.14010799e-03 9.99994367e-01 -1.76063646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.24140051300003 meters Centerline goodness [0,1] 0.5623862144883356 Centerline is valid? [False, False] Translation: X:206.97, Y:11.25, Z:-0.18 [[ 9.99995885e-01 2.82899343e-03 -4.76711009e-04 2.06965178e+02] [-2.83009623e-03 9.99993284e-01 -2.32877394e-03 1.12486276e+01] [ 4.70119721e-04 2.33011349e-03 9.99997175e-01 -1.76678590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.271400513 meters Centerline goodness [0,1] 0.5111655715885324 Centerline is valid? [False, False] Translation: X:206.97, Y:11.25, Z:-0.18 [[ 9.99996351e-01 2.62852254e-03 -6.22845302e-04 2.06965421e+02] [-2.63009077e-03 9.99993339e-01 -2.53055419e-03 1.12494658e+01] [ 6.16189535e-04 2.53218310e-03 9.99996604e-01 -1.76157634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.30140051300003 meters Centerline goodness [0,1] 0.9573208789789726 Centerline is valid? [False, True] Translation: X:206.92, Y:11.25, Z:-0.17 [[ 9.99995491e-01 1.65299540e-03 -2.50692264e-03 2.06921207e+02] [-1.65638256e-03 9.99997717e-01 -1.34964792e-03 1.12464620e+01] [ 2.50468595e-03 1.35379426e-03 9.99995947e-01 -1.74088118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.331400513 meters Centerline goodness [0,1] 0.6356225453773485 Centerline is valid? [True, False] Translation: X:206.94, Y:11.24, Z:-0.17 [[ 9.99998001e-01 8.42420578e-04 -1.81364000e-03 2.06940354e+02] [-8.26039214e-04 9.99959030e-01 9.01419317e-03 1.12428092e+01] [ 1.82115944e-03 -9.01267701e-03 9.99957727e-01 -1.71023128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.36140051300004 meters Centerline goodness [0,1] 0.5034705166264443 Centerline is valid? [False, False] Translation: X:206.94, Y:11.25, Z:-0.17 [[ 9.99994095e-01 -3.28548361e-03 -1.00750751e-03 2.06937445e+02] [ 3.28853170e-03 9.99989976e-01 3.03879930e-03 1.12528356e+01] [ 9.97513486e-04 -3.04209458e-03 9.99994875e-01 -1.70984647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.391400513 meters Centerline goodness [0,1] 0.8656348852514701 Centerline is valid? [False, False] Translation: X:206.94, Y:11.26, Z:-0.17 [[ 9.99992915e-01 -3.63152161e-03 -9.90746409e-04 2.06937568e+02] [ 3.63371695e-03 9.99990927e-01 2.22311361e-03 1.12566702e+01] [ 9.82664135e-04 -2.22669795e-03 9.99997038e-01 -1.71403705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.421400513 meters Centerline goodness [0,1] 0.6877106696911237 Centerline is valid? [False, False] Translation: X:206.94, Y:11.26, Z:-0.17 [[ 9.99991552e-01 -3.98168254e-03 -1.02119334e-03 2.06937911e+02] [ 3.98312565e-03 9.99991066e-01 1.41504403e-03 1.12604515e+01] [ 1.01554996e-03 -1.41909962e-03 9.99998477e-01 -1.71927704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.451400513 meters Centerline goodness [0,1] 0.5906518282988871 Centerline is valid? [False, False] Translation: X:206.94, Y:11.26, Z:-0.17 [[ 9.99990582e-01 -4.20277798e-03 -1.08299408e-03 2.06938313e+02] [ 4.20375784e-03 9.99990755e-01 9.04087867e-04 1.12628338e+01] [ 1.07918439e-03 -9.08631997e-04 9.99999005e-01 -1.72346771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.481400513 meters Centerline goodness [0,1] 0.7266185523243474 Centerline is valid? [False, False] Translation: X:206.94, Y:11.26, Z:-0.17 [[ 9.99989738e-01 -4.37503552e-03 -1.17586063e-03 2.06938840e+02] [ 4.37567710e-03 9.99990279e-01 5.43610424e-04 1.12644827e+01] [ 1.17347089e-03 -5.48750032e-04 9.99999161e-01 -1.72801657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.511400513 meters Centerline goodness [0,1] 0.7251340083382967 Centerline is valid? [False, False] Translation: X:206.94, Y:11.26, Z:-0.17 [[ 9.99989402e-01 -4.42908215e-03 -1.25692270e-03 2.06939118e+02] [ 4.42965816e-03 9.99990085e-01 4.55860761e-04 1.12648785e+01] [ 1.25489119e-03 -4.61423667e-04 9.99999106e-01 -1.72811739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.541400513 meters Centerline goodness [0,1] 0.6976123387216373 Centerline is valid? [False, False] Translation: X:206.94, Y:11.27, Z:-0.17 [[ 9.99988821e-01 -4.51425718e-03 -1.40655173e-03 2.06939818e+02] [ 4.51469519e-03 9.99989761e-01 3.08386178e-04 1.12655214e+01] [ 1.40514519e-03 -3.14732883e-04 9.99998963e-01 -1.73205657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.571400513 meters Centerline goodness [0,1] 0.773553369300751 Centerline is valid? [False, False] Translation: X:206.94, Y:11.27, Z:-0.17 [[ 9.99988250e-01 -4.62274050e-03 -1.45954505e-03 2.06940163e+02] [ 4.62286653e-03 9.99989311e-01 8.29826409e-05 1.12665533e+01] [ 1.45914584e-03 -8.97289479e-05 9.99998931e-01 -1.73549364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.601400513 meters Centerline goodness [0,1] 0.7946848091846497 Centerline is valid? [False, False] Translation: X:206.94, Y:11.27, Z:-0.17 [[ 9.99987734e-01 -4.77219009e-03 -1.32627978e-03 2.06939505e+02] [ 4.77184114e-03 9.99988579e-01 -2.66140409e-04 1.12682504e+01] [ 1.32753471e-03 2.59808348e-04 9.99999085e-01 -1.73163201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.631400513 meters Centerline goodness [0,1] 0.8966878654658756 Centerline is valid? [False, False] Translation: X:206.94, Y:11.27, Z:-0.17 [[ 9.99987253e-01 -4.90346671e-03 -1.20413095e-03 2.06938898e+02] [ 4.90274462e-03 9.99987800e-01 -6.01900777e-04 1.12698891e+01] [ 1.20706766e-03 5.95989558e-04 9.99999094e-01 -1.72789834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.661400513 meters Centerline goodness [0,1] 0.6768232085086587 Centerline is valid? [False, False] Translation: X:206.94, Y:11.27, Z:-0.17 [[ 9.99986398e-01 -5.08364500e-03 -1.16618231e-03 2.06938741e+02] [ 5.08238962e-03 9.99986505e-01 -1.07693739e-03 1.12721800e+01] [ 1.17164134e-03 1.07099575e-03 9.99998740e-01 -1.72773685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.691400513 meters Centerline goodness [0,1] 0.768740781907958 Centerline is valid? [False, False] Translation: X:206.92, Y:11.28, Z:-0.17 [[ 9.99992311e-01 -6.73106843e-04 -3.86319030e-03 2.06919776e+02] [ 6.41455275e-04 9.99966268e-01 -8.18851593e-03 1.12772342e+01] [ 3.86857173e-03 8.18597491e-03 9.99959011e-01 -1.72766875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.721400513 meters Centerline goodness [0,1] 0.932116506520247 Centerline is valid? [False, False] Translation: X:206.92, Y:11.27, Z:-0.17 [[ 9.99984309e-01 3.69955622e-03 -4.20646503e-03 2.06920956e+02] [-3.71305350e-03 9.99987969e-01 -3.20542831e-03 1.12737910e+01] [ 4.19455576e-03 3.22099685e-03 9.99986015e-01 -1.72805149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.751400513 meters Centerline goodness [0,1] 0.6691710228354956 Centerline is valid? [False, False] Translation: X:206.92, Y:11.27, Z:-0.17 [[ 9.99957042e-01 7.82095170e-03 -4.97465012e-03 2.06923605e+02] [-7.81272848e-03 9.99968085e-01 1.67031533e-03 1.12703060e+01] [ 4.98755481e-03 -1.63137799e-03 9.99986231e-01 -1.72869848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.781400513 meters Centerline goodness [0,1] 0.6552317065404292 Centerline is valid? [False, False] Translation: X:206.92, Y:11.27, Z:-0.17 [[ 9.99958556e-01 7.59583092e-03 -5.01894505e-03 2.06923975e+02] [-7.59007774e-03 9.99970517e-01 1.16434829e-03 1.12726371e+01] [ 5.02764127e-03 -1.12620586e-03 9.99986727e-01 -1.73320528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.811400513 meters Centerline goodness [0,1] 0.7961538461538462 Centerline is valid? [False, False] Translation: X:206.92, Y:11.28, Z:-0.17 [[ 9.99961471e-01 7.24170045e-03 -4.96119869e-03 2.06923862e+02] [-7.23997990e-03 9.99973725e-01 3.64673905e-04 1.12763891e+01] [ 4.96370919e-03 -3.28740876e-04 9.99987627e-01 -1.73514083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.841400513 meters Centerline goodness [0,1] 0.7412293789164073 Centerline is valid? [False, False] Translation: X:206.92, Y:11.28, Z:-0.17 [[ 9.99963315e-01 6.99158901e-03 -4.94830883e-03 2.06923764e+02] [-6.99274978e-03 9.99975527e-01 -2.17316433e-04 1.12791411e+01] [ 4.94666834e-03 2.51910746e-04 9.99987733e-01 -1.73416734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.871400513 meters Centerline goodness [0,1] 0.5236281623013256 Centerline is valid? [False, False] Translation: X:206.92, Y:11.28, Z:-0.17 [[ 9.99965295e-01 6.71160157e-03 -4.93593902e-03 2.06923675e+02] [-6.71606465e-03 9.99977053e-01 -8.88181837e-04 1.12823211e+01] [ 4.92986463e-03 9.21301098e-04 9.99987424e-01 -1.73374783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.901400513 meters Centerline goodness [0,1] 0.5352778617384171 Centerline is valid? [False, False] Translation: X:206.92, Y:11.28, Z:-0.17 [[ 9.99924203e-01 1.11994606e-02 -5.11469714e-03 2.06924113e+02] [-1.11778552e-02 9.99928564e-01 4.23341106e-03 1.12783565e+01] [ 5.16174369e-03 -4.17591884e-03 9.99977959e-01 -1.72739660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.931400513 meters Centerline goodness [0,1] 0.6871193274427383 Centerline is valid? [False, False] Translation: X:206.92, Y:11.28, Z:-0.17 [[ 9.99927902e-01 1.08746564e-02 -5.09239785e-03 2.06924170e+02] [-1.08594031e-02 9.99936494e-01 3.01345228e-03 1.12843428e+01] [ 5.12484471e-03 -2.95793461e-03 9.99982493e-01 -1.73145163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.961400513 meters Centerline goodness [0,1] 0.5629207220340436 Centerline is valid? [False, False] Translation: X:206.92, Y:11.29, Z:-0.17 [[ 9.99965231e-01 6.89311960e-03 -4.69277811e-03 2.06922932e+02] [-6.90602216e-03 9.99972402e-01 -2.73882040e-03 1.12930542e+01] [ 4.67376958e-03 2.77113360e-03 9.99985238e-01 -1.73888351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.99140051300003 meters Centerline goodness [0,1] 0.6294841244284151 Centerline is valid? [False, False] Translation: X:206.92, Y:11.30, Z:-0.17 [[ 9.99967260e-01 6.64649723e-03 -4.61547239e-03 2.06922735e+02] [-6.66210819e-03 9.99972112e-01 -3.37521359e-03 1.12960643e+01] [ 4.59291032e-03 3.40585186e-03 9.99983653e-01 -1.74032569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.021400513 meters Centerline goodness [0,1] 0.4558692610962737 Centerline is valid? [False, False] Translation: X:206.94, Y:11.29, Z:-0.18 [[ 9.99966876e-01 8.11540265e-03 -6.22387676e-04 2.06944660e+02] [-8.10954830e-03 9.99927568e-01 8.89343363e-03 1.12912927e+01] [ 6.94516390e-04 -8.88809176e-03 9.99960259e-01 -1.77612655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.05140051300003 meters Centerline goodness [0,1] 0.49476242713643503 Centerline is valid? [False, False] Translation: X:206.90, Y:11.29, Z:-0.18 [[ 9.99972746e-01 6.96245804e-03 -2.45583259e-03 2.06900595e+02] [-6.94269522e-03 9.99944169e-01 7.96606039e-03 1.12909092e+01] [ 2.51115884e-03 -7.94879318e-03 9.99965255e-01 -1.76438549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.081400513 meters Centerline goodness [0,1] 0.5569235994650477 Centerline is valid? [False, False] Translation: X:206.94, Y:11.30, Z:-0.18 [[ 9.99983969e-01 5.65775768e-03 2.26397414e-04 2.06940722e+02] [-5.65836335e-03 9.99980153e-01 2.77054570e-03 1.13027785e+01] [-2.10717845e-04 -2.77178232e-03 9.99996136e-01 -1.78180534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.11140051300004 meters Centerline goodness [0,1] 0.5153793281209726 Centerline is valid? [False, False] Translation: X:206.90, Y:11.31, Z:-0.18 [[ 9.99967722e-01 7.58622096e-03 -2.64651767e-03 2.06899988e+02] [-7.57353945e-03 9.99959947e-01 4.76932806e-03 1.13051246e+01] [ 2.68259285e-03 -4.74913061e-03 9.99985125e-01 -1.78710567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.141400513 meters Centerline goodness [0,1] 0.4446122110456585 Centerline is valid? [False, False] Translation: X:206.90, Y:11.31, Z:-0.18 [[ 9.99970421e-01 7.22369481e-03 -2.64111454e-03 2.06900128e+02] [-7.21358587e-03 9.99966696e-01 3.81722578e-03 1.13096539e+01] [ 2.66860106e-03 -3.79806096e-03 9.99989227e-01 -1.79138980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.171400513 meters Centerline goodness [0,1] 0.49254657056697393 Centerline is valid? [False, False] Translation: X:206.90, Y:11.31, Z:-0.18 [[ 9.99972631e-01 6.92878280e-03 -2.59409474e-03 2.06900030e+02] [-6.92068733e-03 9.99971194e-01 3.11680910e-03 1.13129399e+01] [ 2.61561571e-03 -3.09877088e-03 9.99991778e-01 -1.79315870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.201400513 meters Centerline goodness [0,1] 0.41252786920055207 Centerline is valid? [False, False] Translation: X:206.90, Y:11.32, Z:-0.18 [[ 9.99974807e-01 6.62198055e-03 -2.55618397e-03 2.06899901e+02] [-6.61582381e-03 9.99975212e-01 2.40955368e-03 1.13162643e+01] [ 2.57207662e-03 -2.39258171e-03 9.99993830e-01 -1.79352469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.231400513 meters Centerline goodness [0,1] 0.4342957167260687 Centerline is valid? [False, False] Translation: X:206.90, Y:11.32, Z:-0.18 [[ 9.99978364e-01 6.06983318e-03 -2.53548428e-03 2.06899622e+02] [-6.06676462e-03 9.99980857e-01 1.21619146e-03 1.13218946e+01] [ 2.54281783e-03 -1.20078296e-03 9.99996046e-01 -1.79050499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.261400513 meters Centerline goodness [0,1] 0.4431360858548219 Centerline is valid? [False, False] Translation: X:206.90, Y:11.32, Z:-0.18 [[ 9.99979738e-01 5.85649071e-03 -2.49516237e-03 2.06899239e+02] [-5.85458253e-03 9.99982564e-01 7.71370460e-04 1.13239896e+01] [ 2.49963639e-03 -7.56746696e-04 9.99996590e-01 -1.78607843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.291400513 meters Centerline goodness [0,1] 0.5577004847350966 Centerline is valid? [False, False] Translation: X:206.90, Y:11.33, Z:-0.18 [[ 9.99980766e-01 5.66246323e-03 -2.53047412e-03 2.06899104e+02] [-5.66135368e-03 9.99983875e-01 4.45423076e-04 1.13254701e+01] [ 2.53295551e-03 -4.31088600e-04 9.99996699e-01 -1.78128917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.321400513 meters Centerline goodness [0,1] 0.5013587533438071 Centerline is valid? [False, False] Translation: X:206.90, Y:11.33, Z:-0.18 [[ 9.99981580e-01 5.49526180e-03 -2.57720414e-03 2.06899057e+02] [-5.49476940e-03 9.99984884e-01 1.98100885e-04 1.13265731e+01] [ 2.57825380e-03 -1.83936093e-04 9.99996659e-01 -1.77751174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.351400513 meters Centerline goodness [0,1] 0.6122496457500581 Centerline is valid? [False, False] Translation: X:206.91, Y:11.33, Z:-0.18 [[ 9.99987422e-01 3.37559167e-03 -3.70956127e-03 2.06905066e+02] [-3.38349556e-03 9.99992015e-01 -2.12647371e-03 1.13324540e+01] [ 3.70235354e-03 2.13899825e-03 9.99990859e-01 -1.80367323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.381400513 meters Centerline goodness [0,1] 0.6629586762688615 Centerline is valid? [False, False] Translation: X:206.86, Y:11.33, Z:-0.18 [[ 9.99973669e-01 2.49005776e-03 -6.81627078e-03 2.06864538e+02] [-2.50320448e-03 9.99995022e-01 -1.92087514e-03 1.13299278e+01] [ 6.81145376e-03 1.93788708e-03 9.99974924e-01 -1.80612927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.411400513 meters Centerline goodness [0,1] 0.7889285180360079 Centerline is valid? [False, False] Translation: X:206.87, Y:11.33, Z:-0.18 [[ 9.99973367e-01 2.03307999e-03 -7.00942051e-03 2.06865411e+02] [-2.05349518e-03 9.99993667e-01 -2.90657057e-03 1.13344922e+01] [ 7.00346683e-03 2.92088697e-03 9.99971210e-01 -1.81091047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.441400513 meters Centerline goodness [0,1] 0.4945003410641201 Centerline is valid? [False, False] Translation: X:206.87, Y:11.34, Z:-0.18 [[ 9.99974370e-01 1.62121778e-03 -6.97362886e-03 2.06865368e+02] [-1.64884278e-03 9.99990810e-01 -3.95742872e-03 1.13394996e+01] [ 6.96714891e-03 3.96882570e-03 9.99967853e-01 -1.81278961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.471400513 meters Centerline goodness [0,1] 0.4945003410641201 Centerline is valid? [False, False] Translation: X:206.87, Y:11.34, Z:-0.18 [[ 9.99974370e-01 1.62121778e-03 -6.97362886e-03 2.06865368e+02] [-1.64884278e-03 9.99990810e-01 -3.95742872e-03 1.13394996e+01] [ 6.96714891e-03 3.96882570e-03 9.99967853e-01 -1.81278961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.501400513 meters Centerline goodness [0,1] 0.5351072483623753 Centerline is valid? [False, False] Translation: X:206.86, Y:11.34, Z:-0.18 [[ 9.99975418e-01 3.43191001e-03 -6.11441528e-03 2.06858801e+02] [-3.44584522e-03 9.99991487e-01 -2.27000007e-03 1.13406524e+01] [ 6.10657279e-03 2.29101360e-03 9.99978730e-01 -1.76985182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.531400513 meters Centerline goodness [0,1] 0.6048081885429211 Centerline is valid? [False, False] Translation: X:206.86, Y:11.35, Z:-0.18 [[ 9.99977620e-01 3.06598508e-03 -5.94637008e-03 2.06858171e+02] [-3.08533195e-03 9.99989968e-01 -3.24712036e-03 1.13453110e+01] [ 5.93635480e-03 3.26539422e-03 9.99977048e-01 -1.76888996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.561400513 meters Centerline goodness [0,1] 0.543058633032214 Centerline is valid? [False, False] Translation: X:206.88, Y:11.34, Z:-0.17 [[ 9.99961533e-01 3.48596686e-03 -8.04869848e-03 2.06877147e+02] [-3.42472410e-03 9.99965177e-01 7.61031274e-03 1.13413686e+01] [ 8.07494749e-03 -7.58245542e-03 9.99938649e-01 -1.71118394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.591400513 meters Centerline goodness [0,1] 0.5733507037139867 Centerline is valid? [False, False] Translation: X:206.88, Y:11.35, Z:-0.17 [[ 9.99969955e-01 -9.23689715e-04 -7.69654487e-03 2.06875996e+02] [ 9.33840113e-04 9.99998699e-01 1.31533603e-03 1.13522003e+01] [ 7.69531989e-03 -1.32248385e-03 9.99969516e-01 -1.71582203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.621400513 meters Centerline goodness [0,1] 0.6214025481277081 Centerline is valid? [False, False] Translation: X:206.88, Y:11.35, Z:-0.17 [[ 9.99969350e-01 -1.11388919e-03 -7.74977754e-03 2.06876185e+02] [ 1.12098597e-03 9.99998956e-01 9.11456384e-04 1.13540565e+01] [ 7.74875419e-03 -9.20115840e-04 9.99969555e-01 -1.71641277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.651400513 meters Centerline goodness [0,1] 0.7135855546001719 Centerline is valid? [False, False] Translation: X:206.88, Y:11.36, Z:-0.17 [[ 9.99968487e-01 -1.24366267e-03 -7.84077704e-03 2.06876407e+02] [ 1.24910031e-03 9.99998983e-01 6.88648940e-04 1.13550490e+01] [ 7.83991262e-03 -6.98421156e-04 9.99969024e-01 -1.71527709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.681400513 meters Centerline goodness [0,1] 0.8828846112851996 Centerline is valid? [False, False] Translation: X:206.88, Y:11.36, Z:-0.17 [[ 9.99954149e-01 -3.67597872e-03 -8.84238793e-03 2.06882402e+02] [ 3.65773362e-03 9.99991150e-01 -2.07865501e-03 1.13616510e+01] [ 8.84995077e-03 2.04621661e-03 9.99958745e-01 -1.74534541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.711400513 meters Centerline goodness [0,1] 0.607432060033069 Centerline is valid? [False, False] Translation: X:206.88, Y:11.36, Z:-0.17 [[ 9.99952578e-01 -3.89958345e-03 -8.92389812e-03 2.06882584e+02] [ 3.87741487e-03 9.99989357e-01 -2.50013494e-03 1.13636070e+01] [ 8.93355263e-03 2.46541472e-03 9.99957056e-01 -1.74396244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.74140051300003 meters Centerline goodness [0,1] 0.8717761348005502 Centerline is valid? [False, False] Translation: X:206.84, Y:11.36, Z:-0.18 [[ 9.99914251e-01 -4.77084527e-03 -1.21954861e-02 2.06842850e+02] [ 4.73565885e-03 9.99984545e-01 -2.91245173e-03 1.13625319e+01] [ 1.22091924e-02 2.85444833e-03 9.99921391e-01 -1.75283978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.771400513 meters Centerline goodness [0,1] 0.8347866874187152 Centerline is valid? [False, False] Translation: X:206.87, Y:11.36, Z:-0.18 [[ 9.99902224e-01 -7.85263643e-03 -1.15705552e-02 2.06867098e+02] [ 7.91415777e-03 9.99954738e-01 5.28090098e-03 1.13609580e+01] [ 1.15285625e-02 -5.37195584e-03 9.99919114e-01 -1.77235233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.80140051300003 meters Centerline goodness [0,1] 0.9771300925433465 Centerline is valid? [False, True] Translation: X:206.87, Y:11.37, Z:-0.18 [[ 9.99857231e-01 -1.25727932e-02 -1.12890004e-02 2.06866287e+02] [ 1.25711093e-02 9.99920956e-01 -2.20114968e-04 1.13667222e+01] [ 1.12908755e-02 7.81682846e-05 9.99936253e-01 -1.77348909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.831400513 meters Centerline goodness [0,1] 0.9933448888318247 Centerline is valid? [True, True] Translation: X:206.90, Y:11.37, Z:-0.18 [[ 9.99839791e-01 -1.44631281e-02 -1.05456152e-02 2.06896253e+02] [ 1.44546511e-02 9.99895139e-01 -8.79619125e-04 1.13659288e+01] [ 1.05572314e-02 7.27045014e-04 9.99944007e-01 -1.76063412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.86140051300004 meters Centerline goodness [0,1] 0.9943045048143053 Centerline is valid? [True, True] Translation: X:206.93, Y:11.37, Z:-0.17 [[ 9.99813790e-01 -1.64342796e-02 -1.01143610e-02 2.06925131e+02] [ 1.64265802e-02 9.99864719e-01 -8.43848122e-04 1.13680664e+01] [ 1.01268608e-02 6.77546626e-04 9.99948492e-01 -1.74318628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.891400513 meters Centerline goodness [0,1] 0.9970477040057771 Centerline is valid? [True, True] Translation: X:206.96, Y:11.37, Z:-0.17 [[ 9.99792158e-01 -1.80497716e-02 -9.47875120e-03 2.06955384e+02] [ 1.80430804e-02 9.99836898e-01 -7.90958743e-04 1.13686694e+01] [ 9.49148182e-03 6.19768479e-04 9.99954763e-01 -1.72762837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.921400513 meters Centerline goodness [0,1] 0.9809795327858389 Centerline is valid? [True, True] Translation: X:206.98, Y:11.38, Z:-0.17 [[ 9.99761886e-01 -1.97328991e-02 -9.31577363e-03 2.06983583e+02] [ 1.97265072e-02 9.99805111e-01 -7.77537552e-04 1.13764676e+01] [ 9.32930116e-03 5.93584734e-04 9.99956305e-01 -1.73507783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.951400513 meters Centerline goodness [0,1] 0.9973615907677127 Centerline is valid? [True, True] Translation: X:207.01, Y:11.37, Z:-0.17 [[ 9.99765476e-01 -1.95540091e-02 -9.30769779e-03 2.07012353e+02] [ 1.95476164e-02 9.99808625e-01 -7.77301413e-04 1.13719672e+01] [ 9.32111588e-03 5.95175811e-04 9.99956380e-01 -1.73530690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.981400513 meters Centerline goodness [0,1] 0.998177373702719 Centerline is valid? [True, True] Translation: X:207.04, Y:11.37, Z:-0.17 [[ 9.99770871e-01 -1.93556904e-02 -9.14131332e-03 2.07041046e+02] [ 1.93495051e-02 9.99812488e-01 -7.64594176e-04 1.13728534e+01] [ 9.15439847e-03 5.87539096e-04 9.99957925e-01 -1.73942170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.011400513 meters Centerline goodness [0,1] 0.990345766171905 Centerline is valid? [True, True] Translation: X:207.07, Y:11.38, Z:-0.18 [[ 9.99798635e-01 -1.74970133e-02 -9.82568935e-03 2.07070149e+02] [ 1.74897717e-02 9.99846704e-01 -8.22455015e-04 1.13792634e+01] [ 9.83857362e-03 6.50440338e-04 9.99951389e-01 -1.75328067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.041400513 meters Centerline goodness [0,1] 0.9649818652300253 Centerline is valid? [True, True] Translation: X:207.10, Y:11.38, Z:-0.18 [[ 9.99820648e-01 -1.61624252e-02 -9.87152718e-03 2.07098301e+02] [ 1.61550473e-02 9.99869157e-01 -8.26680772e-04 1.13845433e+01] [ 9.88359673e-03 6.67057517e-04 9.99950934e-01 -1.75148110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.071400513 meters Centerline goodness [0,1] 0.9611689606175641 Centerline is valid? [True, True] Translation: X:207.13, Y:11.38, Z:-0.17 [[ 9.99865753e-01 -1.36480529e-02 -9.06673885e-03 2.07128548e+02] [ 1.36417247e-02 9.99906659e-01 -7.59437259e-04 1.13847589e+01] [ 9.07625739e-03 6.35649352e-04 9.99958608e-01 -1.72266605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.101400513 meters Centerline goodness [0,1] 0.9655606260928904 Centerline is valid? [True, True] Translation: X:207.16, Y:11.39, Z:-0.17 [[ 9.99874706e-01 -1.33007077e-02 -8.58270913e-03 2.07157243e+02] [ 1.32950165e-02 9.99911358e-01 -7.19817343e-04 1.13854032e+01] [ 8.59152243e-03 6.05619894e-04 9.99962909e-01 -1.71645076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.131400513 meters Centerline goodness [0,1] 0.8899152704338409 Centerline is valid? [True, False] Translation: X:207.16, Y:11.38, Z:-0.17 [[ 9.99875968e-01 -1.31971907e-02 -8.59556703e-03 2.07157305e+02] [ 1.31935354e-02 9.99912845e-01 -4.81817052e-04 1.13842932e+01] [ 8.60117652e-03 3.68351373e-04 9.99962941e-01 -1.71662843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.161400513 meters Centerline goodness [0,1] 0.9540320350556253 Centerline is valid? [False, True] Translation: X:207.16, Y:11.38, Z:-0.17 [[ 9.99882195e-01 -1.27038008e-02 -8.61444052e-03 2.07157312e+02] [ 1.27098298e-02 9.99919019e-01 6.45484760e-04 1.13789864e+01] [ 8.60554280e-03 -7.54896791e-04 9.99962687e-01 -1.71464732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.191400513 meters Centerline goodness [0,1] 0.9509024198850502 Centerline is valid? [True, True] Translation: X:207.19, Y:11.38, Z:-0.17 [[ 9.99876348e-01 -1.33014548e-02 -8.38803147e-03 2.07185375e+02] [ 1.32960706e-02 9.99911360e-01 -6.97331957e-04 1.13797040e+01] [ 8.39656349e-03 5.85717872e-04 9.99964577e-01 -1.71504121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.221400513 meters Centerline goodness [0,1] 0.9020891865058409 Centerline is valid? [True, False] Translation: X:207.19, Y:11.37, Z:-0.17 [[ 9.99881147e-01 -1.28800965e-02 -8.47313530e-03 2.07185527e+02] [ 1.28833338e-02 9.99916953e-01 3.27589575e-04 1.13748221e+01] [ 8.46821224e-03 -4.36712870e-04 9.99964049e-01 -1.71153326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.251400513 meters Centerline goodness [0,1] 0.9879153434642682 Centerline is valid? [False, True] Translation: X:207.19, Y:11.37, Z:-0.17 [[ 9.99888504e-01 -1.23145454e-02 -8.44581113e-03 2.07185307e+02] [ 1.23325168e-02 9.99921790e-01 2.07908154e-03 1.13663674e+01] [ 8.41954764e-03 -2.18300784e-03 9.99962172e-01 -1.70610604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.281400513 meters Centerline goodness [0,1] 0.9832404601987415 Centerline is valid? [True, True] Translation: X:207.21, Y:11.37, Z:-0.17 [[ 9.99871594e-01 -1.35399798e-02 -8.57116355e-03 2.07213116e+02] [ 1.35346951e-02 9.99908174e-01 -6.74275437e-04 1.13703861e+01] [ 8.57950617e-03 5.58180771e-04 9.99963040e-01 -1.70923310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.311400513 meters Centerline goodness [0,1] 0.977262072198781 Centerline is valid? [True, True] Translation: X:207.24, Y:11.37, Z:-0.17 [[ 9.99854980e-01 -1.42828680e-02 -9.27457760e-03 2.07240612e+02] [ 1.42767071e-02 9.99897816e-01 -7.30148960e-04 1.13715680e+01] [ 9.28405851e-03 5.97632646e-04 9.99956724e-01 -1.71919315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.341400513 meters Centerline goodness [0,1] 0.9975651431012388 Centerline is valid? [True, True] Translation: X:207.27, Y:11.36, Z:-0.17 [[ 9.99843334e-01 -1.48853776e-02 -9.57772053e-03 2.07270374e+02] [ 1.48788237e-02 9.99889019e-01 -7.55179630e-04 1.13638263e+01] [ 9.58789872e-03 6.12556104e-04 9.99953847e-01 -1.71861916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.371400513 meters Centerline goodness [0,1] 0.9866451859074914 Centerline is valid? [True, True] Translation: X:207.30, Y:11.36, Z:-0.17 [[ 9.99851494e-01 -1.48904242e-02 -8.67556848e-03 2.07297872e+02] [ 1.48850369e-02 9.99888977e-01 -6.85218584e-04 1.13645491e+01] [ 8.68480849e-03 5.55980668e-04 9.99962132e-01 -1.70692728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.401400513 meters Centerline goodness [0,1] 0.9983793581405267 Centerline is valid? [True, True] Translation: X:207.33, Y:11.36, Z:-0.17 [[ 9.99864438e-01 -1.43731239e-02 -8.03238957e-03 2.07326934e+02] [ 1.43684837e-02 9.99896566e-01 -6.35104566e-04 1.13570884e+01] [ 8.04068719e-03 5.19605211e-04 9.99967538e-01 -1.68649551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.431400513 meters Centerline goodness [0,1] 0.9675419171148371 Centerline is valid? [True, True] Translation: X:207.35, Y:11.37, Z:-0.17 [[ 9.99880369e-01 -1.34104391e-02 -7.70768159e-03 2.07354586e+02] [ 1.34061349e-02 9.99909948e-01 -6.09824084e-04 1.13667018e+01] [ 7.71516551e-03 5.06420911e-04 9.99970109e-01 -1.68637899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.461400513 meters Centerline goodness [0,1] 0.6470288624787777 Centerline is valid? [True, False] Translation: X:207.36, Y:11.37, Z:-0.17 [[ 9.99882527e-01 -1.31841216e-02 -7.81730072e-03 2.07355447e+02] [ 1.31821657e-02 9.99913066e-01 -3.01668708e-04 1.13653233e+01] [ 7.82059837e-03 1.98584317e-04 9.99969399e-01 -1.69583519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.49140051300003 meters Centerline goodness [0,1] 0.9650893483203365 Centerline is valid? [False, True] Translation: X:207.36, Y:11.36, Z:-0.17 [[ 9.99930728e-01 -8.42488351e-03 -8.21947276e-03 2.07356694e+02] [ 8.47087298e-03 9.99948572e-01 5.57650760e-03 1.13575934e+01] [ 8.17206862e-03 -5.64574742e-03 9.99950670e-01 -1.69553914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.521400513 meters Centerline goodness [0,1] 0.8906902428632296 Centerline is valid? [True, False] Translation: X:207.36, Y:11.36, Z:-0.17 [[ 9.99932109e-01 -8.26201275e-03 -8.21680866e-03 2.07356731e+02] [ 8.31055024e-03 9.99948116e-01 5.89060132e-03 1.13561507e+01] [ 8.16771412e-03 -5.95848760e-03 9.99948891e-01 -1.69643687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.55140051300003 meters Centerline goodness [0,1] 0.8942112787249024 Centerline is valid? [False, False] Translation: X:207.36, Y:11.35, Z:-0.17 [[ 9.99934732e-01 -8.00606115e-03 -8.15080150e-03 2.07356446e+02] [ 8.05861316e-03 9.99946822e-01 6.43516888e-03 1.13536284e+01] [ 8.09884770e-03 -6.50043303e-03 9.99946075e-01 -1.69467469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.581400513 meters Centerline goodness [0,1] 0.8992431007356381 Centerline is valid? [False, False] Translation: X:207.36, Y:11.35, Z:-0.17 [[ 9.99897463e-01 -1.20010176e-02 -7.81274495e-03 2.07355332e+02] [ 1.20183910e-02 9.99925399e-01 2.18059564e-03 1.13538124e+01] [ 7.78599275e-03 -2.27426867e-03 9.99967102e-01 -1.69277255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.61140051300004 meters Centerline goodness [0,1] 0.8235581415102353 Centerline is valid? [False, False] Translation: X:207.36, Y:11.35, Z:-0.17 [[ 9.99900713e-01 -1.17169145e-02 -7.82805805e-03 2.07355306e+02] [ 1.17394010e-02 9.99927078e-01 2.83280875e-03 1.13507291e+01] [ 7.79429544e-03 -2.92442420e-03 9.99965348e-01 -1.69081533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.641400513 meters Centerline goodness [0,1] 0.9514515475352489 Centerline is valid? [False, True] Translation: X:207.36, Y:11.35, Z:-0.17 [[ 9.99903271e-01 -1.14977349e-02 -7.82624099e-03 2.07355259e+02] [ 1.15239863e-02 9.99928093e-01 3.31749511e-03 1.13484725e+01] [ 7.78753455e-03 -3.40736371e-03 9.99963871e-01 -1.68957567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.671400513 meters Centerline goodness [0,1] 0.9805506066004921 Centerline is valid? [True, True] Translation: X:207.38, Y:11.35, Z:-0.17 [[ 9.99906219e-01 -1.15623535e-02 -7.33926616e-03 2.07383976e+02] [ 1.15581432e-02 9.99933013e-01 -6.15828416e-04 1.13498993e+01] [ 7.34589495e-03 5.30942375e-04 9.99972878e-01 -1.68251244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.701400513 meters Centerline goodness [0,1] 0.9568088675599346 Centerline is valid? [True, True] Translation: X:207.41, Y:11.35, Z:-0.17 [[ 9.99913028e-01 -1.00409986e-02 -8.55072314e-03 2.07413508e+02] [ 1.00352230e-02 9.99949388e-01 -7.18092025e-04 1.13521830e+01] [ 8.55750073e-03 6.32221157e-04 9.99963184e-01 -1.70087643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.731400513 meters Centerline goodness [0,1] 0.8353948012688139 Centerline is valid? [True, False] Translation: X:207.41, Y:11.35, Z:-0.17 [[ 9.99913537e-01 -9.92534255e-03 -8.62586270e-03 2.07414068e+02] [ 9.92152863e-03 9.99950663e-01 -4.84829565e-04 1.13510644e+01] [ 8.63024923e-03 3.99205902e-04 9.99962679e-01 -1.70653826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.761400513 meters Centerline goodness [0,1] 0.9253905092494603 Centerline is valid? [False, False] Translation: X:207.41, Y:11.35, Z:-0.17 [[ 9.99913748e-01 -9.87376617e-03 -8.66052058e-03 2.07414449e+02] [ 9.87029176e-03 9.99951189e-01 -4.43829489e-04 1.13508818e+01] [ 8.66448012e-03 3.58309343e-04 9.99962398e-01 -1.71167980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.791400513 meters Centerline goodness [0,1] 0.7472553291469093 Centerline is valid? [False, False] Translation: X:207.41, Y:11.35, Z:-0.17 [[ 9.99913501e-01 -9.98793089e-03 -8.55757681e-03 2.07414299e+02] [ 9.98112702e-03 9.99949837e-01 -8.37409965e-04 1.13527876e+01] [ 8.56551153e-03 7.51923268e-04 9.99963033e-01 -1.71599175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.821400513 meters Centerline goodness [0,1] 0.6553226943536499 Centerline is valid? [False, False] Translation: X:207.41, Y:11.35, Z:-0.17 [[ 9.99945366e-01 -5.62923249e-03 -8.80781564e-03 2.07414807e+02] [ 5.66935880e-03 9.99973635e-01 4.53744508e-03 1.13471629e+01] [ 8.78204108e-03 -4.58713185e-03 9.99950916e-01 -1.70995410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.851400513 meters Centerline goodness [0,1] 0.9218866398484559 Centerline is valid? [False, False] Translation: X:207.41, Y:11.35, Z:-0.17 [[ 9.99945366e-01 -5.60981885e-03 -8.82011634e-03 2.07414619e+02] [ 5.65058931e-03 9.99973435e-01 4.60433572e-03 1.13468524e+01] [ 8.79405255e-03 -4.65392303e-03 9.99950502e-01 -1.70561696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.881400513 meters Centerline goodness [0,1] 0.8752600959701049 Centerline is valid? [False, False] Translation: X:207.41, Y:11.35, Z:-0.17 [[ 9.99944981e-01 -5.57047771e-03 -8.88842647e-03 2.07414677e+02] [ 5.61416580e-03 9.99972246e-01 4.89780827e-03 1.13453992e+01] [ 8.86089664e-03 -4.94743990e-03 9.99948502e-01 -1.70198914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.911400513 meters Centerline goodness [0,1] 0.9602351387616878 Centerline is valid? [False, True] Translation: X:207.42, Y:11.34, Z:-0.17 [[ 9.99944276e-01 -5.51253850e-03 -9.00310203e-03 2.07415144e+02] [ 5.55834235e-03 9.99971697e-01 5.07048990e-03 1.13445367e+01] [ 8.97489595e-03 -5.12024968e-03 9.99946616e-01 -1.70351032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.941400513 meters Centerline goodness [0,1] 0.8575248848610905 Centerline is valid? [True, False] Translation: X:207.42, Y:11.34, Z:-0.17 [[ 9.99943561e-01 -5.42839735e-03 -9.13280402e-03 2.07415625e+02] [ 5.47734191e-03 9.99970726e-01 5.34275397e-03 1.13431851e+01] [ 9.10353407e-03 -5.39247592e-03 9.99944022e-01 -1.70393082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.971400513 meters Centerline goodness [0,1] 0.9813865310870783 Centerline is valid? [False, True] Translation: X:207.42, Y:11.35, Z:-0.17 [[ 9.99908953e-01 -1.01280201e-02 -8.91682370e-03 2.07415187e+02] [ 1.01274557e-02 9.99948710e-01 -1.08442388e-04 1.13486327e+01] [ 8.91746467e-03 1.81277777e-05 9.99960238e-01 -1.70861276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.001400513 meters Centerline goodness [0,1] 0.9227633646129676 Centerline is valid? [True, False] Translation: X:207.45, Y:11.35, Z:-0.17 [[ 9.99901459e-01 -1.29422319e-02 -5.43797989e-03 2.07454190e+02] [ 1.29207372e-02 9.99908645e-01 -3.96940871e-03 1.13536580e+01] [ 5.48885611e-03 3.89875485e-03 9.99977336e-01 -1.70495288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.031400513 meters Centerline goodness [0,1] 0.9925298910168237 Centerline is valid? [False, True] Translation: X:207.46, Y:11.35, Z:-0.17 [[ 9.99937373e-01 -9.46882962e-03 -5.96580000e-03 2.07455960e+02] [ 9.47666654e-03 9.99954267e-01 1.28674535e-03 1.13462100e+01] [ 5.95334320e-03 -1.34320066e-03 9.99981377e-01 -1.70315842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.061400513 meters Centerline goodness [0,1] 0.9927290560566323 Centerline is valid? [True, True] Translation: X:207.48, Y:11.35, Z:-0.17 [[ 9.99911380e-01 -1.17381004e-02 -6.28077958e-03 2.07484686e+02] [ 1.17354071e-02 9.99931029e-01 -4.65496496e-04 1.13476422e+01] [ 6.28581043e-03 3.91747738e-04 9.99980167e-01 -1.71584757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.091400513 meters Centerline goodness [0,1] 0.9932115553461679 Centerline is valid? [True, True] Translation: X:207.51, Y:11.35, Z:-0.17 [[ 9.99882708e-01 -1.37906807e-02 -6.66243378e-03 2.07514283e+02] [ 1.37876946e-02 9.99904823e-01 -4.93930492e-04 1.13470851e+01] [ 6.66861131e-03 4.02012955e-04 9.99977684e-01 -1.72208894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.121400513 meters Centerline goodness [0,1] 0.9989361928469607 Centerline is valid? [True, True] Translation: X:207.55, Y:11.34, Z:-0.17 [[ 9.99840399e-01 -1.66985088e-02 -6.35109771e-03 2.07545237e+02] [ 1.66958538e-02 9.99860504e-01 -4.70825399e-04 1.13400435e+01] [ 6.35807383e-03 3.64713256e-04 9.99979721e-01 -1.70582371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.151400513 meters Centerline goodness [0,1] 0.999106401991447 Centerline is valid? [True, True] Translation: X:207.57, Y:11.34, Z:-0.17 [[ 9.99830471e-01 -1.75403198e-02 -5.60050840e-03 2.07574108e+02] [ 1.75382665e-02 9.99846106e-01 -4.15531914e-04 1.13415116e+01] [ 5.60693508e-03 3.17238261e-04 9.99984231e-01 -1.69702918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.181400513 meters Centerline goodness [0,1] 0.9996131361760661 Centerline is valid? [True, True] Translation: X:207.60, Y:11.34, Z:-0.17 [[ 9.99819697e-01 -1.84118271e-02 -4.64530678e-03 2.07603560e+02] [ 1.84104227e-02 9.99830454e-01 -3.44903002e-04 1.13365975e+01] [ 4.65086948e-03 2.59318753e-04 9.99989151e-01 -1.66965198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.211400513 meters Centerline goodness [0,1] 0.998534534024297 Centerline is valid? [True, True] Translation: X:207.63, Y:11.35, Z:-0.17 [[ 9.99820564e-01 -1.84269418e-02 -4.39169996e-03 2.07629797e+02] [ 1.84256848e-02 9.99830179e-01 -3.26518250e-04 1.13471470e+01] [ 4.39697089e-03 2.45539582e-04 9.99990303e-01 -1.68113857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.24140051300003 meters Centerline goodness [0,1] 0.9982962047961835 Centerline is valid? [True, True] Translation: X:207.66, Y:11.35, Z:-0.17 [[ 9.99817927e-01 -1.84556147e-02 -4.84794043e-03 2.07658671e+02] [ 1.84540789e-02 9.99829644e-01 -3.61341011e-04 1.13476766e+01] [ 4.85378333e-03 2.71810945e-04 9.99988183e-01 -1.69029239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.271400513 meters Centerline goodness [0,1] 0.9938486339725098 Centerline is valid? [True, True] Translation: X:207.69, Y:11.35, Z:-0.17 [[ 9.99824689e-01 -1.79279529e-02 -5.40177212e-03 2.07686767e+02] [ 1.79260381e-02 9.99839235e-01 -4.02681671e-04 1.13503471e+01] [ 5.40812296e-03 3.05778704e-04 9.99985329e-01 -1.70231971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.30140051300003 meters Centerline goodness [0,1] 0.9992501339046599 Centerline is valid? [True, True] Translation: X:207.72, Y:11.34, Z:-0.17 [[ 9.99830252e-01 -1.77420411e-02 -4.96860563e-03 2.07716445e+02] [ 1.77404136e-02 9.99842557e-01 -3.71430738e-04 1.13431888e+01] [ 4.97441330e-03 2.83222569e-04 9.99987587e-01 -1.68111818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.331400513 meters Centerline goodness [0,1] 0.9994271529501623 Centerline is valid? [True, True] Translation: X:207.74, Y:11.35, Z:-0.17 [[ 9.99839999e-01 -1.74122654e-02 -4.09759815e-03 2.07743529e+02] [ 1.74111552e-02 9.99848367e-01 -3.06471242e-04 1.13469758e+01] [ 4.10231318e-03 2.35078289e-04 9.99991558e-01 -1.67109413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.36140051300004 meters Centerline goodness [0,1] 0.9936305732484076 Centerline is valid? [True, True] Translation: X:207.77, Y:11.35, Z:-0.17 [[ 9.99855108e-01 -1.66154685e-02 -3.70001010e-03 2.07771182e+02] [ 1.66145563e-02 9.99861930e-01 -2.77133748e-04 1.13544479e+01] [ 3.70410395e-03 2.15619567e-04 9.99993117e-01 -1.67453368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.391400513 meters Centerline goodness [0,1] 0.9936305732484076 Centerline is valid? [True, True] Translation: X:207.80, Y:11.36, Z:-0.17 [[ 9.99852179e-01 -1.67907698e-02 -3.69994871e-03 2.07798631e+02] [ 1.67898558e-02 9.99859002e-01 -2.77952695e-04 1.13566722e+01] [ 3.70409407e-03 2.15790003e-04 9.99993117e-01 -1.67509422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.421400513 meters Centerline goodness [0,1] 0.9992082851885137 Centerline is valid? [True, True] Translation: X:207.83, Y:11.35, Z:-0.17 [[ 9.99862765e-01 -1.61903172e-02 -3.51074331e-03 2.07828438e+02] [ 1.61894887e-02 9.99868907e-01 -2.64301688e-04 1.13485015e+01] [ 3.51456220e-03 2.07428278e-04 9.99993802e-01 -1.65972620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.451400513 meters Centerline goodness [0,1] 0.9929692992734943 Centerline is valid? [True, True] Translation: X:207.86, Y:11.36, Z:-0.17 [[ 9.99884633e-01 -1.48575911e-02 -3.15783234e-03 2.07855911e+02] [ 1.48569143e-02 9.99889602e-01 -2.37675469e-04 1.13585346e+01] [ 3.16101501e-03 1.90732405e-04 9.99994986e-01 -1.65873448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.481400513 meters Centerline goodness [0,1] 0.9976236447348878 Centerline is valid? [True, True] Translation: X:207.89, Y:11.36, Z:-0.16 [[ 9.99905895e-01 -1.34304542e-02 -2.79701639e-03 2.07886101e+02] [ 1.34299176e-02 9.99909792e-01 -2.10545367e-04 1.13560207e+01] [ 2.79959179e-03 1.72961854e-04 9.99996066e-01 -1.64616815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.511400513 meters Centerline goodness [0,1] 0.9871564346262522 Centerline is valid? [True, True] Translation: X:207.92, Y:11.36, Z:-0.16 [[ 9.99938243e-01 -1.09089403e-02 -2.12233342e-03 2.07915294e+02] [ 1.09086256e-02 9.99940486e-01 -1.59799907e-04 1.13621424e+01] [ 2.12395036e-03 1.36638298e-04 9.99997735e-01 -1.63278279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.541400513 meters Centerline goodness [0,1] 0.9957226951255664 Centerline is valid? [True, True] Translation: X:207.94, Y:11.36, Z:-0.16 [[ 9.99953181e-01 -9.59242669e-03 -1.27342340e-03 2.07944836e+02] [ 9.59231221e-03 9.99953988e-01 -9.59722472e-05 1.13592270e+01] [ 1.27428541e-03 8.37526791e-05 9.99999185e-01 -1.61833907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.571400513 meters Centerline goodness [0,1] 0.9859876386419439 Centerline is valid? [True, True] Translation: X:207.97, Y:11.36, Z:-0.16 [[ 9.99966106e-01 -8.18359157e-03 -9.02885390e-04 2.07973017e+02] [ 8.18353338e-03 9.99966512e-01 -6.81299791e-05 1.13638483e+01] [ 9.03412702e-04 6.07388772e-05 9.99999590e-01 -1.61471110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.601400513 meters Centerline goodness [0,1] 0.9154299827538485 Centerline is valid? [True, False] Translation: X:207.97, Y:11.36, Z:-0.16 [[ 9.99966948e-01 -8.08299502e-03 -8.76581753e-04 2.07973511e+02] [ 8.08284854e-03 9.99967319e-01 -1.70516835e-04 1.13644707e+01] [ 8.77931392e-04 1.63425921e-04 9.99999601e-01 -1.62637899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.631400513 meters Centerline goodness [0,1] 0.9344442332467423 Centerline is valid? [False, False] Translation: X:207.97, Y:11.37, Z:-0.16 [[ 9.99966762e-01 -8.08577069e-03 -1.04672541e-03 2.07974528e+02] [ 8.08537823e-03 9.99967241e-01 -3.78626626e-04 1.13654920e+01] [ 1.04975261e-03 3.70150871e-04 9.99999381e-01 -1.63575261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.661400513 meters Centerline goodness [0,1] 0.7907056210490346 Centerline is valid? [False, False] Translation: X:207.96, Y:11.37, Z:-0.16 [[ 9.99985439e-01 -4.20004142e-03 -3.38829615e-03 2.07955486e+02] [ 4.17354401e-03 9.99960949e-01 -7.78980401e-03 1.13665782e+01] [ 3.42088133e-03 7.77554939e-03 9.99963919e-01 -1.64212378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.691400513 meters Centerline goodness [0,1] 0.7758309713991239 Centerline is valid? [False, False] Translation: X:207.95, Y:11.36, Z:-0.16 [[ 9.99994320e-01 -2.16378791e-03 -2.58426380e-03 2.07949490e+02] [ 2.14939743e-03 9.99982242e-01 -5.55835873e-03 1.13635511e+01] [ 2.59624502e-03 5.55277254e-03 9.99981213e-01 -1.60359147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.721400513 meters Centerline goodness [0,1] 0.6499562685325426 Centerline is valid? [False, False] Translation: X:207.95, Y:11.36, Z:-0.16 [[ 9.99993132e-01 2.58517636e-03 -2.65572366e-03 2.07949367e+02] [-2.58587016e-03 9.99996623e-01 -2.57845554e-04 1.13589946e+01] [ 2.65504811e-03 2.64711140e-04 9.99996440e-01 -1.59609279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.751400513 meters Centerline goodness [0,1] 0.6280573697016263 Centerline is valid? [False, False] Translation: X:207.95, Y:11.36, Z:-0.16 [[ 9.99993657e-01 2.48591373e-03 -2.55062893e-03 2.07949050e+02] [-2.48727697e-03 9.99996766e-01 -5.31437918e-04 1.13603076e+01] [ 2.54929957e-03 5.37778668e-04 9.99996606e-01 -1.59700321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.781400513 meters Centerline goodness [0,1] 0.4935362669553588 Centerline is valid? [False, False] Translation: X:207.95, Y:11.36, Z:-0.16 [[ 9.99994105e-01 2.44503979e-03 -2.41082625e-03 2.07948521e+02] [-2.44665636e-03 9.99996784e-01 -6.67824860e-04 1.13609700e+01] [ 2.40918564e-03 6.73719387e-04 9.99996871e-01 -1.59617205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.811400513 meters Centerline goodness [0,1] 0.5027072937679159 Centerline is valid? [False, False] Translation: X:207.95, Y:11.36, Z:-0.16 [[ 9.99993962e-01 2.66589878e-03 -2.22912625e-03 2.07947811e+02] [-2.66645195e-03 9.99996415e-01 -2.45219677e-04 1.13590514e+01] [ 2.22846453e-03 2.51162054e-04 9.99997485e-01 -1.59410250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.841400513 meters Centerline goodness [0,1] 0.48157509079710303 Centerline is valid? [False, False] Translation: X:207.95, Y:11.36, Z:-0.16 [[ 9.99993413e-01 2.82572534e-03 -2.27815255e-03 2.07948090e+02] [-2.82547590e-03 9.99996002e-01 1.12703589e-04 1.13573391e+01] [ 2.27846192e-03 -1.06265981e-04 9.99997399e-01 -1.59606693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.871400513 meters Centerline goodness [0,1] 0.513055079092815 Centerline is valid? [False, False] Translation: X:207.95, Y:11.36, Z:-0.16 [[ 9.99993079e-01 2.87539055e-03 -2.36082913e-03 2.07948596e+02] [-2.87488285e-03 9.99995844e-01 2.18417472e-04 1.13567924e+01] [ 2.36144735e-03 -2.11628853e-04 9.99997189e-01 -1.60025646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.901400513 meters Centerline goodness [0,1] 0.4686341359471553 Centerline is valid? [False, False] Translation: X:207.95, Y:11.36, Z:-0.16 [[ 9.99993777e-01 2.68926372e-03 -2.28333801e-03 2.07948647e+02] [-2.69045900e-03 9.99996245e-01 -5.20567708e-04 1.13604136e+01] [ 2.28192949e-03 5.26707696e-04 9.99997258e-01 -1.60670860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.931400513 meters Centerline goodness [0,1] 0.4343763303533419 Centerline is valid? [False, False] Translation: X:207.95, Y:11.36, Z:-0.16 [[ 9.99994435e-01 2.55963015e-03 -2.13962848e-03 2.07948208e+02] [-2.56177278e-03 9.99996219e-01 -9.99265884e-04 1.13627486e+01] [ 2.13706264e-03 1.00474157e-03 9.99997212e-01 -1.60801916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.961400513 meters Centerline goodness [0,1] 0.44484053727162776 Centerline is valid? [False, False] Translation: X:207.95, Y:11.36, Z:-0.16 [[ 9.99994984e-01 2.45791428e-03 -1.99787895e-03 2.07947738e+02] [-2.46069567e-03 9.99996005e-01 -1.39090899e-03 1.13646842e+01] [ 1.99445224e-03 1.39581819e-03 9.99997037e-01 -1.60861171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.99140051300003 meters Centerline goodness [0,1] 0.4025800144514813 Centerline is valid? [False, False] Translation: X:207.95, Y:11.37, Z:-0.16 [[ 9.99996127e-01 2.19877903e-03 -1.70626418e-03 2.07946882e+02] [-2.20282670e-03 9.99994756e-01 -2.37400010e-03 1.13695684e+01] [ 1.70103533e-03 2.37774951e-03 9.99995726e-01 -1.61180216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.021400513 meters Centerline goodness [0,1] 0.4179349798279506 Centerline is valid? [False, False] Translation: X:207.95, Y:11.37, Z:-0.16 [[ 9.99996682e-01 1.96833181e-03 -1.66202128e-03 2.07946783e+02] [-1.97315824e-03 9.99993827e-01 -2.90732521e-03 1.13720729e+01] [ 1.65628844e-03 2.91059500e-03 9.99994393e-01 -1.61299214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.05140051300003 meters Centerline goodness [0,1] 0.4050382232064905 Centerline is valid? [False, False] Translation: X:207.95, Y:11.37, Z:-0.16 [[ 9.99996706e-01 1.85558618e-03 -1.77351292e-03 2.07947216e+02] [-1.86107530e-03 9.99993468e-01 -3.09843483e-03 1.13729159e+01] [ 1.76775192e-03 3.10172527e-03 9.99993627e-01 -1.61463144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.081400513 meters Centerline goodness [0,1] 0.480695555933935 Centerline is valid? [False, False] Translation: X:207.95, Y:11.37, Z:-0.16 [[ 9.99996618e-01 1.82822428e-03 -1.84967180e-03 2.07947406e+02] [-1.83392303e-03 9.99993563e-01 -3.08396085e-03 1.13728234e+01] [ 1.84402172e-03 3.08734257e-03 9.99993534e-01 -1.61334649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.11140051300004 meters Centerline goodness [0,1] 0.4419270110401674 Centerline is valid? [False, False] Translation: X:207.95, Y:11.37, Z:-0.16 [[ 9.99996800e-01 1.71944036e-03 -1.85557160e-03 2.07947274e+02] [-1.72546752e-03 9.99993225e-01 -3.25143967e-03 1.13735905e+01] [ 1.84996837e-03 3.25463099e-03 9.99992992e-01 -1.61051371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.141400513 meters Centerline goodness [0,1] 0.5512320548532248 Centerline is valid? [False, False] Translation: X:207.95, Y:11.37, Z:-0.16 [[ 9.99997043e-01 1.56542046e-03 -1.86078218e-03 2.07947072e+02] [-1.57183883e-03 9.99992804e-01 -3.45284014e-03 1.13744784e+01] [ 1.85536364e-03 3.45575478e-03 9.99992308e-01 -1.60641531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.171400513 meters Centerline goodness [0,1] 0.6265330541429853 Centerline is valid? [False, False] Translation: X:207.95, Y:11.37, Z:-0.16 [[ 9.99997055e-01 5.61900269e-04 -2.36086469e-03 2.07948321e+02] [-5.70806785e-04 9.99992717e-01 -3.77358697e-03 1.13743725e+01] [ 2.35872711e-03 3.77492345e-03 9.99990093e-01 -1.59751131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.201400513 meters Centerline goodness [0,1] 0.9537824099782154 Centerline is valid? [False, True] Translation: X:207.95, Y:11.37, Z:-0.16 [[ 9.99996656e-01 5.50353053e-04 -2.52687076e-03 2.07948641e+02] [-5.58278517e-04 9.99994924e-01 -3.13684023e-03 1.13710220e+01] [ 2.52513157e-03 3.13824044e-03 9.99991888e-01 -1.59235325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.231400513 meters Centerline goodness [0,1] 0.9217908031777811 Centerline is valid? [True, False] Translation: X:207.95, Y:11.37, Z:-0.16 [[ 9.99996208e-01 4.43892229e-04 -2.71797559e-03 2.07949059e+02] [-4.50734195e-04 9.99996730e-01 -2.51720759e-03 1.13676024e+01] [ 2.71684933e-03 2.51842313e-03 9.99993138e-01 -1.58711825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.261400513 meters Centerline goodness [0,1] 0.9860404463636753 Centerline is valid? [False, True] Translation: X:207.95, Y:11.36, Z:-0.16 [[ 9.99996134e-01 3.96811007e-04 -2.75216305e-03 2.07948790e+02] [-4.02134423e-04 9.99998049e-01 -1.93398272e-03 1.13645438e+01] [ 2.75139025e-03 1.93508198e-03 9.99994343e-01 -1.57846739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.291400513 meters Centerline goodness [0,1] 0.9917711264603053 Centerline is valid? [True, True] Translation: X:207.98, Y:11.36, Z:-0.16 [[ 9.99969671e-01 -7.46917388e-03 -2.20653817e-03 2.07977982e+02] [ 7.46885815e-03 9.99972096e-01 -1.51293572e-04 1.13630292e+01] [ 2.20760663e-03 1.34808663e-04 9.99997554e-01 -1.56210589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.321400513 meters Centerline goodness [0,1] 0.9986543349637952 Centerline is valid? [True, True] Translation: X:208.01, Y:11.35, Z:-0.16 [[ 9.99941341e-01 -1.06452777e-02 -1.99809305e-03 2.08009410e+02] [ 1.06450251e-02 9.99943331e-01 -1.37000752e-04 1.13540920e+01] [ 1.99943823e-03 1.15722966e-04 9.99997994e-01 -1.55834652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.351400513 meters Centerline goodness [0,1] 0.9994068173633032 Centerline is valid? [True, True] Translation: X:208.04, Y:11.35, Z:-0.16 [[ 9.99911763e-01 -1.31600570e-02 -1.81067198e-03 2.08040106e+02] [ 1.31598536e-02 9.99913398e-01 -1.24183281e-04 1.13465743e+01] [ 1.81214943e-03 1.00344145e-04 9.99998353e-01 -1.56125401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.381400513 meters Centerline goodness [0,1] 0.9993805271927201 Centerline is valid? [True, True] Translation: X:208.07, Y:11.35, Z:-0.16 [[ 9.99873688e-01 -1.58196018e-02 -1.53215150e-03 2.08069521e+02] [ 1.58194592e-02 9.99874859e-01 -1.05132891e-04 1.13451068e+01] [ 1.53362292e-03 8.08818032e-05 9.99998821e-01 -1.56300246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.411400513 meters Centerline goodness [0,1] 0.9995329781136562 Centerline is valid? [True, True] Translation: X:208.10, Y:11.34, Z:-0.16 [[ 9.99869379e-01 -1.60843882e-02 -1.58657875e-03 2.08098185e+02] [ 1.60842349e-02 9.99870634e-01 -1.09359857e-04 1.13429860e+01] [ 1.58813248e-03 8.38266675e-05 9.99998735e-01 -1.56410871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.441400513 meters Centerline goodness [0,1] 0.999508441974781 Centerline is valid? [True, True] Translation: X:208.13, Y:11.34, Z:-0.16 [[ 9.99872756e-01 -1.58108110e-02 -2.11883349e-03 2.08127462e+02] [ 1.58105364e-02 9.99874995e-01 -1.46284797e-04 1.13394553e+01] [ 2.12088151e-03 1.12766289e-04 9.99997745e-01 -1.56899557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.471400513 meters Centerline goodness [0,1] 0.9984331660632239 Centerline is valid? [True, True] Translation: X:208.16, Y:11.34, Z:-0.16 [[ 9.99898104e-01 -1.40910127e-02 -2.28563524e-03 2.08155627e+02] [ 1.40906888e-02 9.99900709e-01 -1.57776953e-04 1.13426161e+01] [ 2.28763153e-03 1.25554702e-04 9.99997375e-01 -1.58317132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.501400513 meters Centerline goodness [0,1] 0.9989582668962731 Centerline is valid? [True, True] Translation: X:208.19, Y:11.34, Z:-0.16 [[ 9.99916937e-01 -1.27703307e-02 -1.74293997e-03 2.08185685e+02] [ 1.27701403e-02 9.99918451e-01 -1.20328542e-04 1.13372339e+01] [ 1.74433447e-03 9.80609595e-05 9.99998474e-01 -1.57566157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.531400513 meters Centerline goodness [0,1] 0.9993406920606563 Centerline is valid? [True, True] Translation: X:208.21, Y:11.34, Z:-0.16 [[ 9.99934509e-01 -1.14081358e-02 -9.11811352e-04 2.08214971e+02] [ 1.14080831e-02 9.99934924e-01 -6.30092129e-05 1.13353459e+01] [ 9.12470833e-04 5.26030667e-05 9.99999582e-01 -1.56789267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.561400513 meters Centerline goodness [0,1] 0.9952519625221575 Centerline is valid? [True, True] Translation: X:208.24, Y:11.34, Z:-0.16 [[ 9.99950850e-01 -9.90228556e-03 -4.91874762e-04 2.08243485e+02] [ 9.90227001e-03 9.99950971e-01 -3.40268692e-05 1.13422947e+01] [ 4.92187590e-04 2.91545200e-05 9.99999878e-01 -1.56602069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.591400513 meters Centerline goodness [0,1] 0.9992118100675287 Centerline is valid? [True, True] Translation: X:208.27, Y:11.32, Z:-0.16 [[ 9.99972250e-01 -6.78949112e-03 -3.06612118e-03 2.08274925e+02] [ 6.78887321e-03 9.99976933e-01 -2.11890914e-04 1.13222984e+01] [ 3.06748909e-03 1.91069526e-04 9.99995277e-01 -1.59262925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.621400513 meters Centerline goodness [0,1] 0.9531908584500032 Centerline is valid? [True, True] Translation: X:208.30, Y:11.34, Z:-0.16 [[ 9.99978531e-01 -4.81313477e-03 -4.44645440e-03 2.08303492e+02] [ 4.81181562e-03 9.99988376e-01 -3.07325709e-04 1.13360413e+01] [ 4.44788192e-03 2.85923592e-04 9.99990067e-01 -1.62443959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.651400513 meters Centerline goodness [0,1] 0.8409332822412399 Centerline is valid? [True, False] Translation: X:208.30, Y:11.33, Z:-0.16 [[ 9.99982355e-01 -4.01395934e-03 -4.37929562e-03 2.08303283e+02] [ 4.01935391e-03 9.99991174e-01 1.22373148e-03 1.13290244e+01] [ 4.37434496e-03 -1.24131183e-03 9.99989662e-01 -1.62358874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.681400513 meters Centerline goodness [0,1] 0.9716813032964235 Centerline is valid? [False, True] Translation: X:208.30, Y:11.33, Z:-0.16 [[ 9.99984250e-01 -3.65080046e-03 -4.26273083e-03 2.08302716e+02] [ 3.65884342e-03 9.99991538e-01 1.88053827e-03 1.13260613e+01] [ 4.25582929e-03 -1.89610532e-03 9.99989146e-01 -1.61990615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.711400513 meters Centerline goodness [0,1] 0.9079380589247403 Centerline is valid? [True, False] Translation: X:208.30, Y:11.32, Z:-0.16 [[ 9.99985839e-01 -3.36165210e-03 -4.12554704e-03 2.08302269e+02] [ 3.37121533e-03 9.99991642e-01 2.31329116e-03 1.13241558e+01] [ 4.11773608e-03 -2.32716651e-03 9.99988814e-01 -1.61963173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.74140051300003 meters Centerline goodness [0,1] 0.6828320988178365 Centerline is valid? [False, False] Translation: X:208.30, Y:11.32, Z:-0.16 [[ 9.99990650e-01 -1.92910962e-03 -3.87021977e-03 2.08301769e+02] [ 1.94124646e-03 9.99993203e-01 3.13465498e-03 1.13224012e+01] [ 3.86414637e-03 -3.14213873e-03 9.99987598e-01 -1.62840188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.771400513 meters Centerline goodness [0,1] 0.4903274910674644 Centerline is valid? [False, False] Translation: X:208.30, Y:11.32, Z:-0.16 [[ 9.99991074e-01 -1.73555150e-03 -3.85234296e-03 2.08302099e+02] [ 1.74663893e-03 9.99994337e-01 2.87660406e-03 1.13239432e+01] [ 3.84732865e-03 -2.88330704e-03 9.99988442e-01 -1.63714107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.80140051300003 meters Centerline goodness [0,1] 0.4455310244694026 Centerline is valid? [False, False] Translation: X:208.30, Y:11.33, Z:-0.16 [[ 9.99992168e-01 -1.55710652e-03 -3.63869699e-03 2.08301582e+02] [ 1.56685700e-03 9.99995186e-01 2.67834896e-03 1.13252016e+01] [ 3.63450900e-03 -2.68402930e-03 9.99989793e-01 -1.64183348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.831400513 meters Centerline goodness [0,1] 0.42104032977774 Centerline is valid? [False, False] Translation: X:208.30, Y:11.33, Z:-0.16 [[ 9.99992946e-01 -1.51602715e-03 -3.43647865e-03 2.08300925e+02] [ 1.52426452e-03 9.99995969e-01 2.39568829e-03 1.13267530e+01] [ 3.43283287e-03 -2.40090949e-03 9.99991226e-01 -1.64307802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.86140051300004 meters Centerline goodness [0,1] 0.3875045296612879 Centerline is valid? [False, False] Translation: X:208.30, Y:11.33, Z:-0.16 [[ 9.99994966e-01 -1.46071693e-03 -2.81681819e-03 2.08298771e+02] [ 1.46595039e-03 9.99997202e-01 1.85676784e-03 1.13298042e+01] [ 2.81409810e-03 -1.86088780e-03 9.99994309e-01 -1.64156412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.891400513 meters Centerline goodness [0,1] 0.39873713751169315 Centerline is valid? [False, False] Translation: X:208.30, Y:11.33, Z:-0.16 [[ 9.99995085e-01 -1.58077182e-03 -2.70768390e-03 2.08298426e+02] [ 1.58499645e-03 9.99997529e-01 1.55880127e-03 1.13312130e+01] [ 2.70521310e-03 -1.56308528e-03 9.99995119e-01 -1.64213366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.921400513 meters Centerline goodness [0,1] 0.3851187177629055 Centerline is valid? [False, False] Translation: X:208.30, Y:11.33, Z:-0.16 [[ 9.99995432e-01 -1.58675899e-03 -2.57245401e-03 2.08297830e+02] [ 1.59070440e-03 9.99997561e-01 1.53239410e-03 1.13313800e+01] [ 2.57001619e-03 -1.53647911e-03 9.99995517e-01 -1.63970894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.951400513 meters Centerline goodness [0,1] 0.4993269949791689 Centerline is valid? [False, False] Translation: X:208.30, Y:11.33, Z:-0.16 [[ 9.99995965e-01 -1.53250334e-03 -2.39201697e-03 2.08296638e+02] [ 1.53713161e-03 9.99996948e-01 1.93424515e-03 1.13295058e+01] [ 2.38904543e-03 -1.93791419e-03 9.99995268e-01 -1.62728411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.981400513 meters Centerline goodness [0,1] 0.4849536790544138 Centerline is valid? [False, False] Translation: X:208.30, Y:11.33, Z:-0.16 [[ 9.99995424e-01 -1.51757992e-03 -2.61696277e-03 2.08297189e+02] [ 1.52332514e-03 9.99996431e-01 2.19478528e-03 1.13281400e+01] [ 2.61362267e-03 -2.19876172e-03 9.99994167e-01 -1.62353315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.011400513 meters Centerline goodness [0,1] 0.5687662034085597 Centerline is valid? [False, False] Translation: X:208.30, Y:11.33, Z:-0.16 [[ 9.99989532e-01 -2.81762330e-03 -3.60517206e-03 2.08301508e+02] [ 2.82521647e-03 9.99993798e-01 2.10283030e-03 1.13250440e+01] [ 3.59922472e-03 -2.11299368e-03 9.99991290e-01 -1.63661653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.041400513 meters Centerline goodness [0,1] 0.6616176786097404 Centerline is valid? [False, False] Translation: X:208.30, Y:11.33, Z:-0.16 [[ 9.99966360e-01 -7.38328115e-03 -3.57285356e-03 2.08301931e+02] [ 7.37342843e-03 9.99968999e-01 -2.76301990e-03 1.13274703e+01] [ 3.59314295e-03 2.73658277e-03 9.99989800e-01 -1.64624570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.071400513 meters Centerline goodness [0,1] 0.6671075085324232 Centerline is valid? [False, False] Translation: X:208.30, Y:11.32, Z:-0.16 [[ 9.99966543e-01 -7.22203205e-03 -3.84132487e-03 2.08302705e+02] [ 7.21472771e-03 9.99972146e-01 -1.91198546e-03 1.13231873e+01] [ 3.85502629e-03 1.88420737e-03 9.99990794e-01 -1.64359902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.101400513 meters Centerline goodness [0,1] 0.7916107167977492 Centerline is valid? [False, False] Translation: X:208.30, Y:11.32, Z:-0.16 [[ 9.99965108e-01 -7.42758350e-03 -3.82275771e-03 2.08302306e+02] [ 7.42414838e-03 9.99972025e-01 -9.12003919e-04 1.13174817e+01] [ 3.82942475e-03 8.83591377e-04 9.99992277e-01 -1.63306655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.131400513 meters Centerline goodness [0,1] 0.9143408960672369 Centerline is valid? [False, False] Translation: X:208.30, Y:11.31, Z:-0.16 [[ 9.99966498e-01 -7.21971049e-03 -3.85736807e-03 2.08302240e+02] [ 7.21846377e-03 9.99973890e-01 -3.37031268e-04 1.13147580e+01] [ 3.85970062e-03 3.09175705e-04 9.99992504e-01 -1.62916537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.161400513 meters Centerline goodness [0,1] 0.7173438460397195 Centerline is valid? [False, False] Translation: X:208.30, Y:11.31, Z:-0.16 [[ 9.99967510e-01 -7.02614698e-03 -3.95134990e-03 2.08302559e+02] [ 7.02665597e-03 9.99975306e-01 1.14947089e-04 1.13126244e+01] [ 3.95044469e-03 -1.42708131e-04 9.99992187e-01 -1.62918223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.191400513 meters Centerline goodness [0,1] 0.9147994467496542 Centerline is valid? [False, False] Translation: X:208.30, Y:11.31, Z:-0.16 [[ 9.99967786e-01 -6.97585074e-03 -3.97050833e-03 2.08302912e+02] [ 6.97638689e-03 9.99975657e-01 1.21199145e-04 1.13126276e+01] [ 3.96956621e-03 -1.48895043e-04 9.99992110e-01 -1.63417515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.221400513 meters Centerline goodness [0,1] 0.9430805717582206 Centerline is valid? [False, False] Translation: X:208.30, Y:11.31, Z:-0.16 [[ 9.99968159e-01 -7.02468100e-03 -3.78602421e-03 2.08302376e+02] [ 7.02414207e-03 9.99975318e-01 -1.55625723e-04 1.13140283e+01] [ 3.78702399e-03 1.29027196e-04 9.99992821e-01 -1.63550938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.251400513 meters Centerline goodness [0,1] 0.5159073555612115 Centerline is valid? [False, False] Translation: X:208.30, Y:11.32, Z:-0.16 [[ 9.99968623e-01 -7.03490112e-03 -3.64180534e-03 2.08301795e+02] [ 7.03329233e-03 9.99975163e-01 -4.54373160e-04 1.13156354e+01] [ 3.64491136e-03 4.28745022e-04 9.99993265e-01 -1.63399235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.281400513 meters Centerline goodness [0,1] 0.5159073555612115 Centerline is valid? [False, False] Translation: X:208.30, Y:11.32, Z:-0.16 [[ 9.99968623e-01 -7.03490112e-03 -3.64180534e-03 2.08301795e+02] [ 7.03329233e-03 9.99975163e-01 -4.54373160e-04 1.13156354e+01] [ 3.64491136e-03 4.28745022e-04 9.99993265e-01 -1.63399235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.311400513 meters Centerline goodness [0,1] 0.3670093969912772 Centerline is valid? [False, False] Translation: X:208.30, Y:11.32, Z:-0.16 [[ 9.99968725e-01 -7.09095291e-03 -3.50240830e-03 2.08301388e+02] [ 7.08803259e-03 9.99974522e-01 -8.45515251e-04 1.13176250e+01] [ 3.50831457e-03 8.20663623e-04 9.99993509e-01 -1.63601870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.341400513 meters Centerline goodness [0,1] 0.48296738435301645 Centerline is valid? [False, False] Translation: X:208.28, Y:11.32, Z:-0.17 [[ 9.99987259e-01 -2.98377656e-03 -4.07176061e-03 2.08283074e+02] [ 2.95143485e-03 9.99964233e-01 -7.92595573e-03 1.13220572e+01] [ 4.09526426e-03 7.91383721e-03 9.99960299e-01 -1.67969816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.371400513 meters Centerline goodness [0,1] 0.552252424300295 Centerline is valid? [False, False] Translation: X:208.29, Y:11.32, Z:-0.17 [[ 9.99987731e-01 1.17727421e-03 -4.81168030e-03 2.08285275e+02] [-1.19052152e-03 9.99995507e-01 -2.75121886e-03 1.13169988e+01] [ 4.80841974e-03 2.75691351e-03 9.99984639e-01 -1.67457245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.401400513 meters Centerline goodness [0,1] 0.42952892422192157 Centerline is valid? [False, False] Translation: X:208.29, Y:11.32, Z:-0.17 [[ 9.99987633e-01 1.24155279e-03 -4.81588072e-03 2.08285194e+02] [-1.25390798e-03 9.99995928e-01 -2.56333863e-03 1.13161054e+01] [ 4.81267859e-03 2.56934560e-03 9.99985118e-01 -1.67311063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.431400513 meters Centerline goodness [0,1] 0.7001628974592227 Centerline is valid? [False, False] Translation: X:208.29, Y:11.31, Z:-0.17 [[ 9.99986744e-01 9.82201423e-04 -5.05446304e-03 2.08285728e+02] [-9.92356361e-04 9.99997494e-01 -2.00698764e-03 1.13127324e+01] [ 5.05247910e-03 2.01197687e-03 9.99985212e-01 -1.66647537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.461400513 meters Centerline goodness [0,1] 0.788416151049308 Centerline is valid? [False, False] Translation: X:208.29, Y:11.31, Z:-0.17 [[ 9.99986315e-01 9.98117674e-04 -5.13546437e-03 2.08285801e+02] [-1.00723513e-03 9.99997921e-01 -1.77311095e-03 1.13115611e+01] [ 5.13368392e-03 1.77825930e-03 9.99985241e-01 -1.66271183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.49140051300003 meters Centerline goodness [0,1] 0.7458538867154278 Centerline is valid? [False, False] Translation: X:208.29, Y:11.31, Z:-0.17 [[ 9.99986475e-01 9.80634568e-04 -5.10770998e-03 2.08285419e+02] [-9.89136856e-04 9.99998129e-01 -1.66233883e-03 1.13110303e+01] [ 5.10607027e-03 1.66736857e-03 9.99985574e-01 -1.65690701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.521400513 meters Centerline goodness [0,1] 0.9569887889509356 Centerline is valid? [False, True] Translation: X:208.29, Y:11.31, Z:-0.17 [[ 9.99986701e-01 9.22087750e-04 -5.07413341e-03 2.08285059e+02] [-9.30391474e-04 9.99998232e-01 -1.63436403e-03 1.13108629e+01] [ 5.07261741e-03 1.63906322e-03 9.99985791e-01 -1.65168063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.55140051300003 meters Centerline goodness [0,1] 0.8012352729657127 Centerline is valid? [True, False] Translation: X:208.29, Y:11.31, Z:-0.17 [[ 9.99986494e-01 9.12000892e-04 -5.11674314e-03 2.08285239e+02] [-9.20348080e-04 9.99998249e-01 -1.62923060e-03 1.13107889e+01] [ 5.11524832e-03 1.63391777e-03 9.99985582e-01 -1.65251041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.581400513 meters Centerline goodness [0,1] 0.9297951740808278 Centerline is valid? [False, False] Translation: X:208.29, Y:11.31, Z:-0.17 [[ 9.99986580e-01 8.47624897e-04 -5.11083344e-03 2.08285286e+02] [-8.56615329e-04 9.99998089e-01 -1.75716077e-03 1.13113685e+01] [ 5.10933426e-03 1.76151521e-03 9.99985396e-01 -1.65391339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.61140051300004 meters Centerline goodness [0,1] 0.8949420464899456 Centerline is valid? [False, False] Translation: X:208.29, Y:11.31, Z:-0.17 [[ 9.99987011e-01 5.38195932e-04 -5.06834311e-03 2.08285166e+02] [-5.50410153e-04 9.99996947e-01 -2.40881774e-03 1.13144246e+01] [ 5.06703122e-03 2.41157612e-03 9.99984255e-01 -1.65448000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.641400513 meters Centerline goodness [0,1] 0.9815386580925409 Centerline is valid? [False, True] Translation: X:208.29, Y:11.31, Z:-0.17 [[ 9.99986801e-01 4.91784966e-04 -5.11426153e-03 2.08285355e+02] [-5.04471635e-04 9.99996798e-01 -2.47965117e-03 1.13147298e+01] [ 5.11302570e-03 2.48219845e-03 9.99983848e-01 -1.65546576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.671400513 meters Centerline goodness [0,1] 0.9957781615812704 Centerline is valid? [True, True] Translation: X:208.32, Y:11.31, Z:-0.17 [[ 9.99980481e-01 -8.00352652e-04 -6.19655973e-03 2.08315858e+02] [ 7.97714334e-04 9.99999590e-01 -4.28231265e-04 1.13085770e+01] [ 6.19689993e-03 4.23279822e-04 9.99980709e-01 -1.66724828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.701400513 meters Centerline goodness [0,1] 0.9846193283773391 Centerline is valid? [True, True] Translation: X:208.34, Y:11.31, Z:-0.17 [[ 9.99969673e-01 -3.07719477e-03 -7.15424138e-03 2.08344730e+02] [ 3.07373442e-03 9.99995154e-01 -4.94623293e-04 1.13137725e+01] [ 7.15572876e-03 4.72618055e-04 9.99974286e-01 -1.68405863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.731400513 meters Centerline goodness [0,1] 0.9902457724581505 Centerline is valid? [True, True] Translation: X:208.37, Y:11.32, Z:-0.17 [[ 9.99973208e-01 -3.79108620e-03 -6.26183065e-03 2.08373421e+02] [ 3.78844559e-03 9.99992730e-01 -4.33505749e-04 1.13169783e+01] [ 6.26342858e-03 4.09771530e-04 9.99980301e-01 -1.67230146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.761400513 meters Centerline goodness [0,1] 0.9954809967386439 Centerline is valid? [True, True] Translation: X:208.40, Y:11.32, Z:-0.17 [[ 9.99976315e-01 -3.97280520e-03 -5.62015602e-03 2.08401737e+02] [ 3.97067585e-03 9.99992041e-01 -3.89984921e-04 1.13201861e+01] [ 5.62166062e-03 3.67659866e-04 9.99984131e-01 -1.66003877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.791400513 meters Centerline goodness [0,1] 0.985581721274924 Centerline is valid? [True, True] Translation: X:208.43, Y:11.33, Z:-0.17 [[ 9.99976452e-01 -3.61600569e-03 -5.83270112e-03 2.08428745e+02] [ 3.61370182e-03 9.99993388e-01 -4.05483832e-04 1.13268905e+01] [ 5.83412879e-03 3.84396641e-04 9.99982907e-01 -1.66210670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.821400513 meters Centerline goodness [0,1] 0.9848411068532594 Centerline is valid? [True, True] Translation: X:208.46, Y:11.33, Z:-0.17 [[ 9.99972976e-01 -2.70966303e-03 -6.83417188e-03 2.08458134e+02] [ 2.70647680e-03 9.99996224e-01 -4.75426002e-04 1.13293470e+01] [ 6.83543432e-03 4.56916626e-04 9.99976534e-01 -1.67282440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.851400513 meters Centerline goodness [0,1] 0.9977368803108587 Centerline is valid? [True, True] Translation: X:208.49, Y:11.32, Z:-0.17 [[ 9.99972477e-01 -2.82585207e-03 -6.85995798e-03 2.08486559e+02] [ 2.82263901e-03 9.99995902e-01 -4.78016198e-04 1.13242907e+01] [ 6.86128067e-03 4.58639857e-04 9.99976356e-01 -1.67006447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.881400513 meters Centerline goodness [0,1] 0.9905350589144292 Centerline is valid? [True, True] Translation: X:208.51, Y:11.33, Z:-0.17 [[ 9.99971834e-01 -3.70827612e-03 -6.52527187e-03 2.08514486e+02] [ 3.70538314e-03 9.99993031e-01 -4.55384989e-04 1.13312509e+01] [ 6.52691509e-03 4.31193531e-04 9.99978606e-01 -1.67608674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.911400513 meters Centerline goodness [0,1] 0.9979675236221324 Centerline is valid? [True, True] Translation: X:208.55, Y:11.32, Z:-0.17 [[ 9.99955704e-01 -5.95472518e-03 -7.28909443e-03 2.08545310e+02] [ 5.95117320e-03 9.99982162e-01 -5.08893431e-04 1.13238512e+01] [ 7.29199472e-03 4.65492225e-04 9.99973305e-01 -1.68122889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.941400513 meters Centerline goodness [0,1] 0.9984072375127421 Centerline is valid? [True, True] Translation: X:208.58, Y:11.32, Z:-0.17 [[ 9.99942021e-01 -7.59207388e-03 -7.63645034e-03 2.08575920e+02] [ 7.58822216e-03 9.99971067e-01 -5.33234335e-04 1.13189336e+01] [ 7.64027775e-03 4.75256337e-04 9.99970700e-01 -1.68585413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.971400513 meters Centerline goodness [0,1] 0.9739220845357325 Centerline is valid? [True, True] Translation: X:208.60, Y:11.33, Z:-0.17 [[ 9.99930313e-01 -8.97599808e-03 -7.66809844e-03 2.08603984e+02] [ 8.97215337e-03 9.99959606e-01 -5.35643139e-04 1.13276254e+01] [ 7.67259663e-03 4.66806457e-04 9.99970456e-01 -1.69308009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.001400513 meters Centerline goodness [0,1] 0.997997443544951 Centerline is valid? [True, True] Translation: X:208.63, Y:11.31, Z:-0.17 [[ 9.99939768e-01 -8.94807653e-03 -6.35553149e-03 2.08633979e+02] [ 8.94543087e-03 9.99959890e-01 -4.44581978e-04 1.13143128e+01] [ 6.35925472e-03 3.87702233e-04 9.99979705e-01 -1.65990542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.031400513 meters Centerline goodness [0,1] 0.9965344219075563 Centerline is valid? [True, True] Translation: X:208.66, Y:11.32, Z:-0.16 [[ 9.99959758e-01 -6.81805251e-03 -5.83066447e-03 2.08664030e+02] [ 6.81578696e-03 9.99976689e-01 -4.08338975e-04 1.13163641e+01] [ 5.83331263e-03 3.68581976e-04 9.99982918e-01 -1.64763367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.061400513 meters Centerline goodness [0,1] 0.9921413694629936 Centerline is valid? [True, True] Translation: X:208.69, Y:11.32, Z:-0.16 [[ 9.99976507e-01 -3.91472807e-03 -5.62669114e-03 2.08694600e+02] [ 3.91257226e-03 9.99992268e-01 -3.94097629e-04 1.13201046e+01] [ 5.62819042e-03 3.72073535e-04 9.99984092e-01 -1.64179971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.091400513 meters Centerline goodness [0,1] 0.9600347523892268 Centerline is valid? [True, True] Translation: X:208.72, Y:11.33, Z:-0.16 [[ 9.99985602e-01 -1.34750127e-04 -5.36444070e-03 2.08723816e+02] [ 1.32736306e-04 9.99999921e-01 -3.75755956e-04 1.13282366e+01] [ 5.36449090e-03 3.75038490e-04 9.99985541e-01 -1.64546430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.121400513 meters Centerline goodness [0,1] 0.9264288912102672 Centerline is valid? [True, False] Translation: X:208.72, Y:11.33, Z:-0.16 [[ 9.99976023e-01 4.61888183e-03 -5.15942449e-03 2.08723294e+02] [-4.59506852e-03 9.99978780e-01 4.61785456e-03 1.13252510e+01] [ 5.18064433e-03 -4.59403592e-03 9.99976028e-01 -1.64730391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.151400513 meters Centerline goodness [0,1] 0.694989014703397 Centerline is valid? [False, False] Translation: X:208.75, Y:11.33, Z:-0.17 [[ 9.99974644e-01 7.12105611e-03 5.27742028e-05 2.08745275e+02] [-7.12072371e-03 9.99963289e-01 -4.76615611e-03 1.13341651e+01] [-8.67123305e-05 4.76565947e-03 9.99988640e-01 -1.71303002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.181400513 meters Centerline goodness [0,1] 0.5358986391365557 Centerline is valid? [False, False] Translation: X:208.75, Y:11.33, Z:-0.17 [[ 9.99927900e-01 1.20080818e-02 -1.17833865e-05 2.08745103e+02] [-1.20080649e-02 9.99927438e-01 9.61571016e-04 1.13276347e+01] [ 2.33291548e-05 -9.61360191e-04 9.99999538e-01 -1.70217738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.211400513 meters Centerline goodness [0,1] 0.519792799130268 Centerline is valid? [False, False] Translation: X:208.74, Y:11.33, Z:-0.17 [[ 9.99961197e-01 8.80787074e-03 1.58321928e-04 2.08744616e+02] [-8.80719721e-03 9.99953827e-01 -3.84397862e-03 1.13329322e+01] [-1.92171884e-04 3.84243509e-03 9.99992599e-01 -1.71324803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.24140051300003 meters Centerline goodness [0,1] 0.557952 Centerline is valid? [False, False] Translation: X:208.74, Y:11.33, Z:-0.17 [[ 9.99962150e-01 8.69710902e-03 2.43822363e-04 2.08744478e+02] [-8.69603340e-03 9.99953737e-01 -4.11124894e-03 1.13341619e+01] [-2.79567063e-04 4.10897304e-03 9.99991519e-01 -1.71645906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.271400513 meters Centerline goodness [0,1] 0.490366884974884 Centerline is valid? [False, False] Translation: X:208.74, Y:11.34, Z:-0.17 [[ 9.99963418e-01 8.54771889e-03 3.15251976e-04 2.08744253e+02] [-8.54624229e-03 9.99953710e-01 -4.42047029e-03 1.13355825e+01] [-3.53022320e-04 4.41761436e-03 9.99990180e-01 -1.71677848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.30140051300003 meters Centerline goodness [0,1] 0.6513966242931848 Centerline is valid? [False, False] Translation: X:208.74, Y:11.34, Z:-0.17 [[ 9.99964361e-01 8.44112153e-03 1.55216400e-04 2.08744881e+02] [-8.44031986e-03 9.99953835e-01 -4.59227033e-03 1.13363097e+01] [-1.93973146e-04 4.59079659e-03 9.99989443e-01 -1.71883248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.331400513 meters Centerline goodness [0,1] 0.6089463642145432 Centerline is valid? [False, False] Translation: X:208.75, Y:11.34, Z:-0.17 [[ 9.99964303e-01 8.44910403e-03 -7.26326218e-05 2.08745914e+02] [-8.44934448e-03 9.99954289e-01 -4.47522820e-03 1.13356114e+01] [ 3.48176331e-05 4.47568214e-03 9.99989983e-01 -1.72435106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.36140051300004 meters Centerline goodness [0,1] 0.6741036529969787 Centerline is valid? [False, False] Translation: X:208.75, Y:11.33, Z:-0.17 [[ 9.99964602e-01 8.40905626e-03 -2.86952870e-04 2.08746698e+02] [-8.41019077e-03 9.99955760e-01 -4.21263660e-03 1.13341030e+01] [ 2.51515877e-04 4.21490081e-03 9.99991086e-01 -1.72549356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.391400513 meters Centerline goodness [0,1] 0.7851762259426656 Centerline is valid? [False, False] Translation: X:208.75, Y:11.33, Z:-0.17 [[ 9.99963776e-01 8.50954823e-03 -1.82592256e-04 2.08746020e+02] [-8.51019926e-03 9.99956090e-01 -3.92352738e-03 1.13327733e+01] [ 1.49196793e-04 3.92493916e-03 9.99992286e-01 -1.71910335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.421400513 meters Centerline goodness [0,1] 0.827606005188619 Centerline is valid? [False, False] Translation: X:208.75, Y:11.33, Z:-0.17 [[ 9.99962542e-01 8.65332932e-03 -1.88180905e-04 2.08745751e+02] [-8.65394079e-03 9.99956301e-01 -3.53620047e-03 1.13309715e+01] [ 1.57572774e-04 3.53769652e-03 9.99993730e-01 -1.71346315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.451400513 meters Centerline goodness [0,1] 0.9457136153239052 Centerline is valid? [False, False] Translation: X:208.75, Y:11.33, Z:-0.17 [[ 9.99961616e-01 8.75657842e-03 -2.99509128e-04 2.08746188e+02] [-8.75750426e-03 9.99956391e-01 -3.24382636e-03 1.13295405e+01] [ 2.71091247e-04 3.24632480e-03 9.99994694e-01 -1.71515876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.481400513 meters Centerline goodness [0,1] 0.8706639393164579 Centerline is valid? [False, False] Translation: X:208.75, Y:11.33, Z:-0.17 [[ 9.99962496e-01 8.63118837e-03 -7.13741118e-04 2.08748349e+02] [-8.63357854e-03 9.99956894e-01 -3.41641801e-03 1.13300857e+01] [ 6.84222604e-04 3.42245202e-03 9.99993909e-01 -1.73066822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.511400513 meters Centerline goodness [0,1] 0.7617498883999745 Centerline is valid? [False, False] Translation: X:208.75, Y:11.33, Z:-0.17 [[ 9.99963625e-01 8.49639922e-03 -7.47806170e-04 2.08748741e+02] [-8.49913656e-03 9.99956900e-01 -3.73677277e-03 1.13315385e+01] [ 7.16024826e-04 3.74299255e-03 9.99992739e-01 -1.73624622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.541400513 meters Centerline goodness [0,1] 0.6522338957869044 Centerline is valid? [False, False] Translation: X:208.75, Y:11.33, Z:-0.17 [[ 9.99963928e-01 8.46463140e-03 -7.01414397e-04 2.08748457e+02] [-8.46724537e-03 9.99956888e-01 -3.81154542e-03 1.13319074e+01] [ 6.69120831e-04 3.81734697e-03 9.99992490e-01 -1.73388754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.571400513 meters Centerline goodness [0,1] 0.8860808292818745 Centerline is valid? [False, False] Translation: X:208.75, Y:11.33, Z:-0.17 [[ 9.99963078e-01 8.57149468e-03 -6.09873868e-04 2.08747804e+02] [-8.57362109e-03 9.99956859e-01 -3.57390500e-03 1.13308691e+01] [ 5.79213849e-04 3.57900187e-03 9.99993428e-01 -1.72715787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.601400513 meters Centerline goodness [0,1] 0.9320299536229417 Centerline is valid? [False, False] Translation: X:208.75, Y:11.33, Z:-0.17 [[ 9.99962485e-01 8.64722371e-03 -5.04740245e-04 2.08747165e+02] [-8.64879774e-03 9.99957464e-01 -3.20438298e-03 1.13290560e+01] [ 4.77009759e-04 3.20862816e-03 9.99994739e-01 -1.72151405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.631400513 meters Centerline goodness [0,1] 0.989588889125936 Centerline is valid? [False, True] Translation: X:208.75, Y:11.33, Z:-0.17 [[ 9.99962496e-01 8.64238097e-03 -5.62440436e-04 2.08747420e+02] [-8.64411313e-03 9.99957665e-01 -3.15382237e-03 1.13287757e+01] [ 5.35160091e-04 3.15856589e-03 9.99994869e-01 -1.72277543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.661400513 meters Centerline goodness [0,1] 0.9824300178677784 Centerline is valid? [True, True] Translation: X:208.78, Y:11.33, Z:-0.18 [[ 9.99974358e-01 6.48830879e-03 -3.03079901e-03 2.08777082e+02] [-6.48892909e-03 9.99978928e-01 -1.94875701e-04 1.13262371e+01] [ 3.02947073e-03 2.14537344e-04 9.99995388e-01 -1.75268602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.691400513 meters Centerline goodness [0,1] 0.9228144989339019 Centerline is valid? [True, False] Translation: X:208.78, Y:11.32, Z:-0.18 [[ 9.99972681e-01 6.67087478e-03 -3.18368047e-03 2.08777707e+02] [-6.67010018e-03 9.99977722e-01 2.53860091e-04 1.13240625e+01] [ 3.18530302e-03 -2.32617689e-04 9.99994900e-01 -1.75509754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.721400513 meters Centerline goodness [0,1] 0.8617108205745743 Centerline is valid? [False, False] Translation: X:208.78, Y:11.32, Z:-0.18 [[ 9.99972137e-01 6.71990837e-03 -3.25090068e-03 2.08778032e+02] [-6.71873902e-03 9.99977360e-01 3.70487065e-04 1.13234878e+01] [ 3.25331672e-03 -3.48634789e-04 9.99994647e-01 -1.75730130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.751400513 meters Centerline goodness [0,1] 0.9343039087458993 Centerline is valid? [False, False] Translation: X:208.78, Y:11.33, Z:-0.18 [[ 9.99973952e-01 6.50262730e-03 -3.13242163e-03 2.08777644e+02] [-6.50345073e-03 9.99978820e-01 -2.52758649e-04 1.13265028e+01] [ 3.13071169e-03 2.73123615e-04 9.99995062e-01 -1.75708120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.781400513 meters Centerline goodness [0,1] 0.9695042574532107 Centerline is valid? [False, True] Translation: X:208.78, Y:11.33, Z:-0.18 [[ 9.99974338e-01 6.50290032e-03 -3.00601615e-03 2.08776924e+02] [-6.50387275e-03 9.99978800e-01 -3.13834382e-04 1.13268920e+01] [ 3.00391159e-03 3.33377075e-04 9.99995433e-01 -1.75143724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.811400513 meters Centerline goodness [0,1] 0.9352862623736142 Centerline is valid? [True, False] Translation: X:208.78, Y:11.33, Z:-0.17 [[ 9.99974376e-01 6.54683898e-03 -2.89586777e-03 2.08776329e+02] [-6.54764683e-03 9.99978528e-01 -2.69572541e-04 1.13267568e+01] [ 2.89404074e-03 2.88526753e-04 9.99995771e-01 -1.74714008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.841400513 meters Centerline goodness [0,1] 0.9412607449856734 Centerline is valid? [False, False] Translation: X:208.78, Y:11.33, Z:-0.17 [[ 9.99975621e-01 6.45516221e-03 -2.66241172e-03 2.08775566e+02] [-6.45682458e-03 9.99978965e-01 -6.16263999e-04 1.13284928e+01] [ 2.65837763e-03 6.33439700e-04 9.99996266e-01 -1.74717117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.871400513 meters Centerline goodness [0,1] 0.9168812376311366 Centerline is valid? [False, False] Translation: X:208.78, Y:11.33, Z:-0.17 [[ 9.99976376e-01 6.35307557e-03 -2.62427720e-03 2.08775467e+02] [-6.35543750e-03 9.99979406e-01 -8.92671913e-04 1.13298096e+01] [ 2.61855194e-03 9.09329254e-04 9.99996158e-01 -1.74805357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.901400513 meters Centerline goodness [0,1] 0.8397392193625363 Centerline is valid? [False, False] Translation: X:208.78, Y:11.33, Z:-0.17 [[ 9.99977033e-01 6.27993424e-03 -2.54877999e-03 2.08775258e+02] [-6.28276401e-03 9.99979654e-01 -1.10375788e-03 1.13308265e+01] [ 2.54179660e-03 1.11974591e-03 9.99996143e-01 -1.74885225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.931400513 meters Centerline goodness [0,1] 0.8224015493867011 Centerline is valid? [False, False] Translation: X:208.77, Y:11.33, Z:-0.17 [[ 9.99977843e-01 6.23339094e-03 -2.33647877e-03 2.08774365e+02] [-6.23654141e-03 9.99979650e-01 -1.34353122e-03 1.13320942e+01] [ 2.32805647e-03 1.35807300e-03 9.99996368e-01 -1.74488724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.961400513 meters Centerline goodness [0,1] 0.9594890041582715 Centerline is valid? [False, True] Translation: X:208.77, Y:11.33, Z:-0.17 [[ 9.99978703e-01 6.12260242e-03 -2.25972389e-03 2.08774038e+02] [-6.12629781e-03 9.99979902e-01 -1.63204344e-03 1.13334866e+01] [ 2.24968612e-03 1.64585243e-03 9.99996115e-01 -1.74349907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.99140051300003 meters Centerline goodness [0,1] 0.7097070379227879 Centerline is valid? [True, False] Translation: X:208.77, Y:11.33, Z:-0.17 [[ 9.99979566e-01 6.00360685e-03 -2.19626013e-03 2.08773773e+02] [-6.00783875e-03 9.99980099e-01 -1.92536953e-03 1.13348760e+01] [ 2.18465726e-03 1.93852496e-03 9.99995735e-01 -1.74259242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.021400513 meters Centerline goodness [0,1] 0.722305690162304 Centerline is valid? [False, False] Translation: X:208.77, Y:11.33, Z:-0.17 [[ 9.99944240e-01 1.02405207e-02 -2.57854859e-03 2.08774804e+02] [-1.02318823e-02 9.99942070e-01 3.34130145e-03 1.13296449e+01] [ 2.61261588e-03 -3.31473174e-03 9.99991093e-01 -1.73445772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.05140051300003 meters Centerline goodness [0,1] 0.6784832604270432 Centerline is valid? [False, False] Translation: X:208.73, Y:11.33, Z:-0.17 [[ 9.99946326e-01 8.81645481e-03 -5.44201074e-03 2.08734470e+02] [-8.79803172e-03 9.99955516e-01 3.40005381e-03 1.13294401e+01] [ 5.47174508e-03 -3.35199233e-03 9.99979412e-01 -1.74465093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.081400513 meters Centerline goodness [0,1] 0.5987417653413545 Centerline is valid? [False, False] Translation: X:208.78, Y:11.34, Z:-0.18 [[ 9.99956763e-01 8.56032749e-03 -3.63225940e-03 2.08777568e+02] [-8.56246949e-03 9.99963176e-01 -5.74574463e-04 1.13377031e+01] [ 3.62720710e-03 6.05650730e-04 9.99993238e-01 -1.76790791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.11140051300004 meters Centerline goodness [0,1] 0.670870819164048 Centerline is valid? [False, False] Translation: X:208.74, Y:11.34, Z:-0.18 [[ 9.99951425e-01 7.26276799e-03 -6.66327974e-03 2.08737696e+02] [-7.26551347e-03 9.99973531e-01 -3.87917847e-04 1.13369820e+01] [ 6.66028601e-03 4.36311152e-04 9.99977725e-01 -1.78096807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.141400513 meters Centerline goodness [0,1] 0.7910946435073141 Centerline is valid? [False, False] Translation: X:208.74, Y:11.34, Z:-0.18 [[ 9.99954109e-01 6.84337825e-03 -6.70438426e-03 2.08738348e+02] [-6.85334718e-03 9.99975442e-01 -1.46508194e-03 1.13419957e+01] [ 6.69419350e-03 1.51096218e-03 9.99976452e-01 -1.79169708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.171400513 meters Centerline goodness [0,1] 0.7910946435073141 Centerline is valid? [False, False] Translation: X:208.74, Y:11.34, Z:-0.18 [[ 9.99954109e-01 6.84337825e-03 -6.70438426e-03 2.08738348e+02] [-6.85334718e-03 9.99975442e-01 -1.46508194e-03 1.13419957e+01] [ 6.69419350e-03 1.51096218e-03 9.99976452e-01 -1.79169708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.201400513 meters Centerline goodness [0,1] 0.7346704138988247 Centerline is valid? [False, False] Translation: X:208.74, Y:11.34, Z:-0.18 [[ 9.99955823e-01 6.56733061e-03 -6.72479105e-03 2.08738641e+02] [-6.58158458e-03 9.99976137e-01 -2.09968277e-03 1.13449415e+01] [ 6.71084126e-03 2.14384980e-03 9.99975184e-01 -1.79639199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.231400513 meters Centerline goodness [0,1] 0.9127101402719777 Centerline is valid? [False, False] Translation: X:208.74, Y:11.35, Z:-0.18 [[ 9.99957477e-01 6.29184165e-03 -6.74222227e-03 2.08738900e+02] [-6.31015813e-03 9.99976449e-01 -2.69886360e-03 1.13477097e+01] [ 6.72508265e-03 2.74129332e-03 9.99973629e-01 -1.80040275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.261400513 meters Centerline goodness [0,1] 0.7852191030469018 Centerline is valid? [False, False] Translation: X:208.74, Y:11.35, Z:-0.18 [[ 9.99959112e-01 5.92159954e-03 -6.83444449e-03 2.08739472e+02] [-5.94537282e-03 9.99976328e-01 -3.46339264e-03 1.13511930e+01] [ 6.81377388e-03 3.50388435e-03 9.99970647e-01 -1.80579321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.291400513 meters Centerline goodness [0,1] 0.8667699791222746 Centerline is valid? [False, False] Translation: X:208.74, Y:11.35, Z:-0.18 [[ 9.99958981e-01 5.84018976e-03 -6.92307334e-03 2.08739832e+02] [-5.86511621e-03 9.99976371e-01 -3.58567102e-03 1.13517001e+01] [ 6.90196875e-03 3.62612857e-03 9.99969607e-01 -1.80740919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.321400513 meters Centerline goodness [0,1] 0.7771108613120108 Centerline is valid? [False, False] Translation: X:208.76, Y:11.35, Z:-0.18 [[ 9.99972850e-01 3.78082831e-03 -6.32485482e-03 2.08761915e+02] [-3.74718865e-03 9.99978817e-01 5.32206767e-03 1.13481635e+01] [ 6.34484266e-03 -5.29822275e-03 9.99965835e-01 -1.79908605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.351400513 meters Centerline goodness [0,1] 0.8069798143258666 Centerline is valid? [False, False] Translation: X:208.76, Y:11.35, Z:-0.18 [[ 9.99980333e-01 -8.59264808e-04 -6.21256853e-03 2.08761663e+02] [ 8.62244127e-04 9.99999515e-01 4.76900773e-04 1.13505034e+01] [ 6.21215573e-03 -4.82248144e-04 9.99980588e-01 -1.80241355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.381400513 meters Centerline goodness [0,1] 0.9593763348996156 Centerline is valid? [False, True] Translation: X:208.76, Y:11.35, Z:-0.18 [[ 9.99979763e-01 -7.59892381e-04 -6.31629873e-03 2.08761815e+02] [ 7.66681036e-04 9.99999131e-01 1.07243188e-03 1.13475178e+01] [ 6.31547831e-03 -1.07725276e-03 9.99979477e-01 -1.79825779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.411400513 meters Centerline goodness [0,1] 0.9990413906226701 Centerline is valid? [True, True] Translation: X:208.79, Y:11.33, Z:-0.18 [[ 9.99968103e-01 -5.56259613e-03 -5.73155990e-03 2.08792874e+02] [ 5.56049206e-03 9.99984467e-01 -3.82972601e-04 1.13348260e+01] [ 5.73360120e-03 3.51090092e-04 9.99983501e-01 -1.77723576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.441400513 meters Centerline goodness [0,1] 0.9691558786642008 Centerline is valid? [True, True] Translation: X:208.82, Y:11.35, Z:-0.18 [[ 9.99964466e-01 -6.83870563e-03 -4.92941017e-03 2.08820576e+02] [ 6.83716424e-03 9.99976572e-01 -3.29476170e-04 1.13512837e+01] [ 4.93154788e-03 2.95761275e-04 9.99987796e-01 -1.76804386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.471400513 meters Centerline goodness [0,1] 0.9992965402570826 Centerline is valid? [True, True] Translation: X:208.85, Y:11.34, Z:-0.17 [[ 9.99963838e-01 -7.62649190e-03 -3.76278620e-03 2.08850862e+02] [ 7.62559871e-03 9.99970893e-01 -2.51665691e-04 1.13376716e+01] [ 3.76459600e-03 2.22963093e-04 9.99992889e-01 -1.73873877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.501400513 meters Centerline goodness [0,1] 0.9992316229830104 Centerline is valid? [True, True] Translation: X:208.88, Y:11.34, Z:-0.17 [[ 9.99968380e-01 -7.55592067e-03 -2.47941129e-03 2.08878331e+02] [ 7.55553230e-03 9.99971443e-01 -1.65967195e-04 1.13432622e+01] [ 2.48059452e-03 1.47228675e-04 9.99996912e-01 -1.71910448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.531400513 meters Centerline goodness [0,1] 0.9985427114139985 Centerline is valid? [True, True] Translation: X:208.91, Y:11.34, Z:-0.17 [[ 9.99981984e-01 -5.73162853e-03 -1.78337088e-03 2.08906376e+02] [ 5.74164745e-03 9.99967473e-01 5.66450382e-03 1.13428898e+01] [ 1.75084604e-03 -5.67464126e-03 9.99982366e-01 -1.70968662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.561400513 meters Centerline goodness [0,1] 0.9991119197695324 Centerline is valid? [True, True] Translation: X:208.94, Y:11.36, Z:-0.17 [[ 9.99991260e-01 -3.46985139e-03 -2.33258037e-03 2.08936986e+02] [ 3.45625392e-03 9.99977158e-01 -5.80834279e-03 1.13552221e+01] [ 2.35268117e-03 5.80023003e-03 9.99980411e-01 -1.72791068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.591400513 meters Centerline goodness [0,1] 0.9950334654900456 Centerline is valid? [True, True] Translation: X:208.97, Y:11.36, Z:-0.17 [[ 9.99991804e-01 -2.18456828e-03 -3.40883803e-03 2.08965190e+02] [ 2.18380223e-03 9.99997589e-01 -2.28430593e-04 1.13603496e+01] [ 3.40932883e-03 2.20984492e-04 9.99994164e-01 -1.73244781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.621400513 meters Centerline goodness [0,1] 0.9990778666552294 Centerline is valid? [True, True] Translation: X:208.99, Y:11.36, Z:-0.17 [[ 9.99991043e-01 -1.64937433e-03 -3.89799670e-03 2.08994427e+02] [ 1.64836735e-03 9.99998607e-01 -2.61531947e-04 1.13559144e+01] [ 3.89842264e-03 2.55104274e-04 9.99992369e-01 -1.73706194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.651400513 meters Centerline goodness [0,1] 0.9942031493337947 Centerline is valid? [True, True] Translation: X:209.02, Y:11.37, Z:-0.17 [[ 9.99988779e-01 -1.85610023e-03 -4.35856841e-03 2.09022024e+02] [ 1.85484069e-03 9.99998237e-01 -2.93005802e-04 1.13659814e+01] [ 4.35910457e-03 2.84918064e-04 9.99990458e-01 -1.74402231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.681400513 meters Centerline goodness [0,1] 0.9995509366179112 Centerline is valid? [True, True] Translation: X:209.05, Y:11.35, Z:-0.17 [[ 9.99991991e-01 -1.34775594e-03 -3.76857620e-03 2.09049594e+02] [ 1.39034196e-03 9.99934953e-01 1.13206004e-02 1.13459791e+01] [ 3.75307366e-03 -1.13257494e-02 9.99928818e-01 -1.72764868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.711400513 meters Centerline goodness [0,1] 0.9939491817398795 Centerline is valid? [True, True] Translation: X:209.08, Y:11.38, Z:-0.18 [[ 9.99992595e-01 -3.07521638e-03 -2.31375704e-03 2.09079418e+02] [ 3.04788372e-03 9.99926611e-01 -1.17253204e-02 1.13793495e+01] [ 2.34964513e-03 1.17181815e-02 9.99928579e-01 -1.75135752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.74140051300003 meters Centerline goodness [0,1] 0.9992487980769231 Centerline is valid? [True, True] Translation: X:209.11, Y:11.36, Z:-0.17 [[ 9.99987972e-01 -3.81753112e-03 -3.07927399e-03 2.09110009e+02] [ 3.81690989e-03 9.99992694e-01 -2.07595519e-04 1.13628636e+01] [ 3.08004400e-03 1.95839711e-04 9.99995237e-01 -1.73327737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.771400513 meters Centerline goodness [0,1] 0.9988465235501441 Centerline is valid? [True, True] Translation: X:209.14, Y:11.37, Z:-0.17 [[ 9.99982700e-01 -4.83927432e-03 -3.34387801e-03 2.09137458e+02] [ 4.83854587e-03 9.99988269e-01 -2.25900420e-04 1.13657270e+01] [ 3.34493198e-03 2.09717005e-04 9.99994384e-01 -1.73888096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.80140051300003 meters Centerline goodness [0,1] 0.9982650788211104 Centerline is valid? [True, True] Translation: X:209.17, Y:11.37, Z:-0.17 [[ 9.99976304e-01 -6.22711724e-03 -2.93517614e-03 2.09165733e+02] [ 6.22656152e-03 9.99980595e-01 -1.98431551e-04 1.13713958e+01] [ 2.93635484e-03 1.80150794e-04 9.99995673e-01 -1.73497546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.831400513 meters Centerline goodness [0,1] 0.9998077621376851 Centerline is valid? [True, True] Translation: X:209.19, Y:11.35, Z:-0.17 [[ 9.99979738e-01 -6.30298395e-03 -8.92407339e-04 2.09193049e+02] [ 6.31326027e-03 9.99907788e-01 1.20232157e-02 1.13504625e+01] [ 8.16542914e-04 -1.20286060e-02 9.99927320e-01 -1.70116802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.86140051300004 meters Centerline goodness [0,1] 0.9623802427081115 Centerline is valid? [True, True] Translation: X:209.22, Y:11.39, Z:-0.17 [[ 9.99970803e-01 -7.62451739e-03 5.09680923e-04 2.09221311e+02] [ 7.63009818e-03 9.99898518e-01 -1.20305968e-02 1.13933184e+01] [-4.17901705e-04 1.20341345e-02 9.99927500e-01 -1.70839001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.891400513 meters Centerline goodness [0,1] 0.9996536646608079 Centerline is valid? [True, True] Translation: X:209.25, Y:11.37, Z:-0.17 [[ 9.99970984e-01 -7.61724532e-03 -9.07348870e-05 2.09252379e+02] [ 7.61724480e-03 9.99970988e-01 -6.08686133e-06 1.13680493e+01] [ 9.07786197e-05 5.39553487e-06 9.99999996e-01 -1.69564798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.921400513 meters Centerline goodness [0,1] 0.9890718660059293 Centerline is valid? [True, True] Translation: X:209.28, Y:11.38, Z:-0.17 [[ 9.99970695e-01 -7.48170973e-03 -1.62270187e-03 2.09280080e+02] [ 7.48154123e-03 9.99972007e-01 -1.09887674e-04 1.13838659e+01] [ 1.62347860e-03 9.77441425e-05 9.99998677e-01 -1.71474700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.951400513 meters Centerline goodness [0,1] 0.9994638529670377 Centerline is valid? [True, True] Translation: X:209.31, Y:11.37, Z:-0.17 [[ 9.99968952e-01 -7.42634089e-03 -2.63508495e-03 2.09309428e+02] [ 7.42589593e-03 9.99972412e-01 -1.78603964e-04 1.13733230e+01] [ 2.63633863e-03 1.59030552e-04 9.99996512e-01 -1.73117816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.981400513 meters Centerline goodness [0,1] 0.997629066364782 Centerline is valid? [True, True] Translation: X:209.34, Y:11.38, Z:-0.17 [[ 9.99965845e-01 -7.53871885e-03 -3.38768607e-03 2.09335470e+02] [ 7.53798174e-03 9.99971562e-01 -2.30299163e-04 1.13832659e+01] [ 3.38932589e-03 2.04754982e-04 9.99994235e-01 -1.73808110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.011400513 meters Centerline goodness [0,1] 0.9978193945613135 Centerline is valid? [True, True] Translation: X:209.36, Y:11.38, Z:-0.17 [[ 9.99966882e-01 -7.40354884e-03 -3.37970123e-03 2.09364417e+02] [ 7.40281241e-03 9.99972572e-01 -2.30353995e-04 1.13845548e+01] [ 3.38131397e-03 2.05327072e-04 9.99994262e-01 -1.73644072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.041400513 meters Centerline goodness [0,1] 0.9513547706905641 Centerline is valid? [True, True] Translation: X:209.39, Y:11.40, Z:-0.17 [[ 9.99977646e-01 -5.89984580e-03 -3.14617156e-03 2.09391651e+02] [ 5.89919896e-03 9.99982576e-01 -2.14835675e-04 1.13969368e+01] [ 3.14738424e-03 1.96270981e-04 9.99995028e-01 -1.72765552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.071400513 meters Centerline goodness [0,1] 0.998547412043663 Centerline is valid? [True, True] Translation: X:209.42, Y:11.39, Z:-0.17 [[ 9.99983310e-01 -4.68357207e-03 -3.38275644e-03 2.09422129e+02] [ 4.68281688e-03 9.99989009e-01 -2.31131674e-04 1.13875359e+01] [ 3.38380178e-03 2.15286987e-04 9.99994252e-01 -1.72511654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.101400513 meters Centerline goodness [0,1] 0.9990572505999314 Centerline is valid? [True, True] Translation: X:209.45, Y:11.39, Z:-0.17 [[ 9.99992265e-01 -2.12326367e-03 -3.31078883e-03 2.09452029e+02] [ 2.12252610e-03 9.99997722e-01 -2.26274303e-04 1.13902320e+01] [ 3.31126173e-03 2.19245317e-04 9.99994494e-01 -1.71590950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.131400513 meters Centerline goodness [0,1] 0.9988988924153118 Centerline is valid? [True, True] Translation: X:209.48, Y:11.39, Z:-0.17 [[ 9.99993617e-01 -1.31832464e-03 -3.32087050e-03 2.09480977e+02] [ 1.31757803e-03 9.99999106e-01 -2.27001281e-04 1.13925331e+01] [ 3.32116679e-03 2.22624326e-04 9.99994460e-01 -1.70822767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.161400513 meters Centerline goodness [0,1] 0.9832229018008835 Centerline is valid? [True, True] Translation: X:209.51, Y:11.40, Z:-0.17 [[ 9.99994986e-01 -6.31704954e-04 -3.10289185e-03 2.09508459e+02] [ 6.31049492e-04 9.99999778e-01 -2.12216531e-04 1.14035776e+01] [ 3.10302522e-03 2.10257388e-04 9.99995164e-01 -1.70369325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.191400513 meters Centerline goodness [0,1] 0.9888685898797638 Centerline is valid? [True, True] Translation: X:209.54, Y:11.40, Z:-0.17 [[ 9.99995218e-01 -3.29315784e-04 -3.07497817e-03 2.09536745e+02] [ 3.28670099e-04 9.99999924e-01 -2.10483361e-04 1.14048938e+01] [ 3.07504725e-03 2.09471702e-04 9.99995250e-01 -1.69616316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.221400513 meters Centerline goodness [0,1] 0.9768285397285995 Centerline is valid? [True, True] Translation: X:209.56, Y:11.41, Z:-0.17 [[ 9.99998347e-01 -7.94558726e-04 -1.63544250e-03 2.09564215e+02] [ 7.94376660e-04 9.99999678e-01 -1.11971856e-04 1.14098690e+01] [ 1.63553095e-03 1.10672513e-04 9.99998656e-01 -1.66658165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.251400513 meters Centerline goodness [0,1] 0.948063829787234 Centerline is valid? [True, False] Translation: X:209.56, Y:11.41, Z:-0.17 [[ 9.99998488e-01 -7.97880753e-04 -1.54526609e-03 2.09563658e+02] [ 7.97750251e-04 9.99999678e-01 -8.50669202e-05 1.14097676e+01] [ 1.54533346e-03 8.38340552e-05 9.99998802e-01 -1.66191802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.281400513 meters Centerline goodness [0,1] 0.9819270689030498 Centerline is valid? [False, True] Translation: X:209.56, Y:11.41, Z:-0.17 [[ 9.99998628e-01 -7.27396301e-04 -1.48797388e-03 2.09563249e+02] [ 7.27595880e-04 9.99999726e-01 1.33590962e-04 1.14087605e+01] [ 1.48787630e-03 -1.34673422e-04 9.99998884e-01 -1.65787013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.311400513 meters Centerline goodness [0,1] 0.9974452321645271 Centerline is valid? [True, True] Translation: X:209.59, Y:11.40, Z:-0.17 [[ 9.99993665e-01 -3.31101769e-03 -1.30680541e-03 2.09593600e+02] [ 3.31090858e-03 9.99994515e-01 -8.56476817e-05 1.14045873e+01] [ 1.30708182e-03 8.13204259e-05 9.99999142e-01 -1.65717640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.341400513 meters Centerline goodness [0,1] 0.9997020008514261 Centerline is valid? [True, True] Translation: X:209.62, Y:11.39, Z:-0.17 [[ 9.99928803e-01 -1.16406535e-02 -2.62361322e-03 2.09624892e+02] [ 1.16402422e-02 9.99932235e-01 -1.71990847e-04 1.13946286e+01] [ 2.62543752e-03 1.41439109e-04 9.99996544e-01 -1.67157601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.371400513 meters Centerline goodness [0,1] 0.9998078483282804 Centerline is valid? [True, True] Translation: X:209.65, Y:11.39, Z:-0.17 [[ 9.99852743e-01 -1.68719038e-02 -3.13556164e-03 2.09654280e+02] [ 1.68713420e-02 9.99857648e-01 -2.05551136e-04 1.13894871e+01] [ 3.13858333e-03 1.52619734e-04 9.99995063e-01 -1.67409942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.401400513 meters Centerline goodness [0,1] 0.9998503378089455 Centerline is valid? [True, True] Translation: X:209.68, Y:11.38, Z:-0.17 [[ 9.99755190e-01 -2.19416342e-02 -2.85035649e-03 2.09684712e+02] [ 2.19411903e-02 9.99759246e-01 -1.86901104e-04 1.13837599e+01] [ 2.85377117e-03 1.24315134e-04 9.99995920e-01 -1.67123865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.431400513 meters Centerline goodness [0,1] 0.9999782424229238 Centerline is valid? [True, True] Translation: X:209.72, Y:11.37, Z:-0.17 [[ 9.99535387e-01 -3.04061709e-02 -2.11531061e-03 2.09716771e+02] [ 3.04059453e-02 9.99537623e-01 -1.38729856e-04 1.13657164e+01] [ 2.11855078e-03 7.43473822e-05 9.99997753e-01 -1.66664502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.461400513 meters Centerline goodness [0,1] 0.9999785384697929 Centerline is valid? [True, True] Translation: X:209.75, Y:11.37, Z:-0.17 [[ 9.99448470e-01 -3.31839641e-02 -1.25720576e-03 2.09745922e+02] [ 3.31838867e-02 9.99449260e-01 -8.24219040e-05 1.13666412e+01] [ 1.25924845e-03 4.06574723e-05 9.99999206e-01 -1.65085895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.49140051300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.78, Y:11.36, Z:-0.16 [[ 9.99381438e-01 -3.51522950e-02 -1.02836653e-03 2.09775610e+02] [ 3.51522443e-02 9.99381967e-01 -6.73432306e-05 1.13587767e+01] [ 1.03009823e-03 3.11521832e-05 9.99999469e-01 -1.64595811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.521400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.80, Y:11.36, Z:-0.16 [[ 9.99330291e-01 -3.65665351e-02 -1.36288177e-03 2.09804235e+02] [ 3.65664477e-02 9.99331220e-01 -8.90202359e-05 1.13564135e+01] [ 1.36522547e-03 3.91248732e-05 9.99999067e-01 -1.63928096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.55140051300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.83, Y:11.35, Z:-0.16 [[ 9.99333689e-01 -3.64408469e-02 -2.06000381e-03 2.09832959e+02] [ 3.64406454e-02 9.99335810e-01 -1.35272793e-04 1.13538996e+01] [ 2.06356504e-03 6.01147902e-05 9.99997869e-01 -1.64890214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.581400513 meters Centerline goodness [0,1] 0.9998711810550271 Centerline is valid? [True, True] Translation: X:209.86, Y:11.36, Z:-0.17 [[ 9.99345420e-01 -3.60823462e-02 -2.60690831e-03 2.09860708e+02] [ 3.60820203e-02 9.99348817e-01 -1.71952154e-04 1.13553715e+01] [ 2.61141517e-03 7.77770796e-05 9.99996587e-01 -1.65926958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.61140051300004 meters Centerline goodness [0,1] 0.9999787120808941 Centerline is valid? [True, True] Translation: X:209.89, Y:11.36, Z:-0.17 [[ 9.99352754e-01 -3.58350788e-02 -3.14967621e-03 2.09890017e+02] [ 3.58346009e-02 9.99357713e-01 -2.08039232e-04 1.13562358e+01] [ 3.15510832e-03 9.50371893e-05 9.99995018e-01 -1.66681613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.641400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.92, Y:11.36, Z:-0.17 [[ 9.99337565e-01 -3.60186372e-02 -5.20463062e-03 2.09917492e+02] [ 3.60173283e-02 9.99351106e-01 -3.45015894e-04 1.13575596e+01] [ 5.21368037e-03 1.57330453e-04 9.99986396e-01 -1.69086050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.671400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.95, Y:11.36, Z:-0.17 [[ 9.99315218e-01 -3.63971827e-02 -6.65887044e-03 2.09945578e+02] [ 3.63950437e-02 9.99337383e-01 -4.42168337e-04 1.13561664e+01] [ 6.67055184e-03 1.99515667e-04 9.99977732e-01 -1.70216178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.701400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.97, Y:11.36, Z:-0.17 [[ 9.99260396e-01 -3.72104730e-02 -9.69749192e-03 2.09972990e+02] [ 3.72059597e-02 9.99307410e-01 -6.45465382e-04 1.13591006e+01] [ 9.71479360e-03 2.84183499e-04 9.99952770e-01 -1.74960941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.731400513 meters Centerline goodness [0,1] 0.9999566715050153 Centerline is valid? [True, True] Translation: X:210.00, Y:11.36, Z:-0.18 [[ 9.99188368e-01 -3.88894602e-02 -1.04983206e-02 2.10002105e+02] [ 3.88842498e-02 9.99243476e-01 -7.00050925e-04 1.13598224e+01] [ 1.05176030e-02 2.91263420e-04 9.99944646e-01 -1.76398051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.761400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.03, Y:11.36, Z:-0.18 [[ 9.99090954e-01 -4.14114894e-02 -1.01170464e-02 2.10030556e+02] [ 4.14067699e-02 9.99142144e-01 -6.75595995e-04 1.13614458e+01] [ 1.01363449e-02 2.56067635e-04 9.99948593e-01 -1.76278535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.791400513 meters Centerline goodness [0,1] 0.9998697662303835 Centerline is valid? [True, True] Translation: X:210.06, Y:11.36, Z:-0.17 [[ 9.98965163e-01 -4.46025119e-02 -8.90045429e-03 2.10060076e+02] [ 4.45989779e-02 9.99004793e-01 -5.95237923e-04 1.13560499e+01] [ 8.91814561e-03 1.97670785e-04 9.99960213e-01 -1.73580045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.821400513 meters Centerline goodness [0,1] 0.9999358480882731 Centerline is valid? [True, True] Translation: X:210.09, Y:11.35, Z:-0.17 [[ 9.98650668e-01 -5.13552331e-02 -7.71250410e-03 2.10089605e+02] [ 5.13527756e-02 9.98680442e-01 -5.16470370e-04 1.13493598e+01] [ 7.72885046e-03 1.19714988e-04 9.99970125e-01 -1.71066697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.851400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.12, Y:11.35, Z:-0.17 [[ 9.98435198e-01 -5.54722781e-02 -7.06982497e-03 2.10118881e+02] [ 5.54703147e-02 9.98460224e-01 -4.73652767e-04 1.13453553e+01] [ 7.08521362e-03 8.07461783e-05 9.99974896e-01 -1.69798344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.881400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.15, Y:11.34, Z:-0.17 [[ 9.98181553e-01 -5.99845993e-02 -5.95280066e-03 2.10147326e+02] [ 5.99832859e-02 9.98199302e-01 -3.99077169e-04 1.13413956e+01] [ 5.96601995e-03 4.12829243e-05 9.99982202e-01 -1.68603559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.911400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.18, Y:11.34, Z:-0.17 [[ 9.97903516e-01 -6.45510241e-02 -4.66230100e-03 2.10176278e+02] [ 6.45502672e-02 9.97914408e-01 -3.12802046e-04 1.13372260e+01] [ 4.67276903e-03 1.11934867e-05 9.99989082e-01 -1.67336216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.941400513 meters Centerline goodness [0,1] 0.9999785094128771 Centerline is valid? [True, True] Translation: X:210.20, Y:11.33, Z:-0.17 [[ 9.97566188e-01 -6.96241267e-02 -3.76595059e-03 2.10203960e+02] [ 6.96236672e-02 9.97573296e-01 -2.53138729e-04 1.13320222e+01] [ 3.77443631e-03 -9.67665358e-06 9.99992877e-01 -1.65915119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.971400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.23, Y:11.33, Z:-0.17 [[ 9.97575944e-01 -6.94821386e-02 -3.80370306e-03 2.10232019e+02] [ 6.94816660e-02 9.97583196e-01 -2.56412411e-04 1.13343650e+01] [ 3.81232633e-03 -8.49677179e-06 9.99992733e-01 -1.65407857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.001400513 meters Centerline goodness [0,1] 0.9998931441272012 Centerline is valid? [True, True] Translation: X:210.26, Y:11.34, Z:-0.17 [[ 9.97653475e-01 -6.83322372e-02 -4.27200555e-03 2.10259061e+02] [ 6.83316265e-02 9.97662621e-01 -2.88925884e-04 1.13382458e+01] [ 4.28176321e-03 -3.66517538e-06 9.99990833e-01 -1.65897363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.031400513 meters Centerline goodness [0,1] 0.9998710010319918 Centerline is valid? [True, True] Translation: X:210.29, Y:11.34, Z:-0.17 [[ 9.97784902e-01 -6.64040286e-02 -3.97427630e-03 2.10286495e+02] [ 6.64034837e-02 9.97792817e-01 -2.69047505e-04 1.13442458e+01] [ 3.98337018e-03 4.54574755e-06 9.99992066e-01 -1.65369519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.061400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.31, Y:11.35, Z:-0.16 [[ 9.97760439e-01 -6.68012799e-02 -3.41998828e-03 2.10314757e+02] [ 6.68008769e-02 9.97766300e-01 -2.32059832e-04 1.13458335e+01] [ 3.42785095e-03 3.08190348e-06 9.99994125e-01 -1.64260466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.091400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.34, Y:11.35, Z:-0.16 [[ 9.97747381e-01 -6.69960325e-02 -3.41994278e-03 2.10342212e+02] [ 6.69956284e-02 9.97753242e-01 -2.32728175e-04 1.13478611e+01] [ 3.42785086e-03 3.08271082e-06 9.99994125e-01 -1.64138600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.121400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.37, Y:11.35, Z:-0.16 [[ 9.97677640e-01 -6.80535276e-02 -2.83607948e-03 2.10369271e+02] [ 6.80532523e-02 9.97681671e-01 -1.93580185e-04 1.13476185e+01] [ 2.84267833e-03 1.26190336e-07 9.99995960e-01 -1.63907907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.151400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.40, Y:11.34, Z:-0.16 [[ 9.97352196e-01 -7.26840694e-02 -2.37149596e-03 2.10398472e+02] [ 7.26838900e-02 9.97355015e-01 -1.61846267e-04 1.13395545e+01] [ 2.37698703e-03 -1.09518215e-05 9.99997175e-01 -1.63783452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.181400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.43, Y:11.34, Z:-0.16 [[ 9.97167919e-01 -7.51581893e-02 -2.71812060e-03 2.10426230e+02] [ 7.51579608e-02 9.97171623e-01 -1.86238392e-04 1.13359785e+01] [ 2.72443007e-03 -1.85774520e-05 9.99996289e-01 -1.63991693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.211400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.46, Y:11.33, Z:-0.17 [[ 9.96990550e-01 -7.74431937e-02 -3.52054033e-03 2.10455549e+02] [ 7.74428240e-02 9.96996766e-01 -2.41405370e-04 1.13336777e+01] [ 3.52866252e-03 -3.19617119e-05 9.99993774e-01 -1.65171478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.24140051300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.48, Y:11.33, Z:-0.17 [[ 9.96841126e-01 -7.92729119e-02 -4.85549838e-03 2.10483145e+02] [ 7.92722253e-02 9.96852949e-01 -3.33992018e-04 1.13319329e+01] [ 4.86669440e-03 -5.19691824e-05 9.99988156e-01 -1.66913682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.271400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.51, Y:11.33, Z:-0.17 [[ 9.96787333e-01 -7.98061465e-02 -6.78167715e-03 2.10511588e+02] [ 7.98048142e-02 9.96810400e-01 -4.67258582e-04 1.13308069e+01] [ 6.79733641e-03 -7.54530489e-05 9.99976895e-01 -1.69267646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.30140051300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.54, Y:11.33, Z:-0.17 [[ 9.96823998e-01 -7.93458589e-02 -6.79343468e-03 2.10539037e+02] [ 7.93445065e-02 9.96847145e-01 -4.68784499e-04 1.13335055e+01] [ 6.80921207e-03 -7.17260836e-05 9.99976814e-01 -1.69046941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.331400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.57, Y:11.34, Z:-0.17 [[ 9.96890335e-01 -7.85547638e-02 -6.22969896e-03 2.10567528e+02] [ 7.85536042e-02 9.96909798e-01 -4.30981230e-04 1.13370650e+01] [ 6.24430357e-03 -5.97242846e-05 9.99980502e-01 -1.67390594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.36140051300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.60, Y:11.34, Z:-0.17 [[ 9.97018090e-01 -7.70142208e-02 -4.87213682e-03 2.10595503e+02] [ 7.70134901e-02 9.97029994e-01 -3.37693266e-04 1.13409169e+01] [ 4.88367373e-03 -3.85339661e-05 9.99988074e-01 -1.65166261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.391400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.62, Y:11.34, Z:-0.16 [[ 9.97037718e-01 -7.67741306e-02 -4.63910094e-03 2.10623223e+02] [ 7.67734641e-02 9.97048510e-01 -3.21843080e-04 1.13428399e+01] [ 4.65011790e-03 -3.52701591e-05 9.99989188e-01 -1.64608618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.421400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.65, Y:11.34, Z:-0.16 [[ 9.97018847e-01 -7.70233757e-02 -4.56275103e-03 2.10650228e+02] [ 7.70227296e-02 9.97029287e-01 -3.17403381e-04 1.13419453e+01] [ 4.57364388e-03 -3.49783865e-05 9.99989540e-01 -1.64173082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.451400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.68, Y:11.34, Z:-0.16 [[ 9.96937535e-01 -7.80722550e-02 -4.50277151e-03 2.10679407e+02] [ 7.80716348e-02 9.96947702e-01 -3.13611913e-04 1.13423394e+01] [ 4.51351210e-03 -3.88872452e-05 9.99989813e-01 -1.63871310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.481400513 meters Centerline goodness [0,1] 0.999935266701191 Centerline is valid? [True, True] Translation: X:210.71, Y:11.34, Z:-0.16 [[ 9.96727043e-01 -8.07085115e-02 -4.61920744e-03 2.10708337e+02] [ 8.07078834e-02 9.96737746e-01 -3.22525041e-04 1.13404788e+01] [ 4.63016893e-03 -5.13370250e-05 9.99989279e-01 -1.64438040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.511400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.74, Y:11.34, Z:-0.17 [[ 9.96672546e-01 -8.13399615e-02 -5.25806343e-03 2.10736279e+02] [ 8.13391517e-02 9.96686414e-01 -3.68035070e-04 1.13392202e+01] [ 5.27057634e-03 -6.08759684e-05 9.99986109e-01 -1.65475937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.541400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.76, Y:11.34, Z:-0.17 [[ 9.96660257e-01 -8.13945460e-02 -6.57729899e-03 2.10763811e+02] [ 8.13932760e-02 9.96681956e-01 -4.60976788e-04 1.13428682e+01] [ 6.59299622e-03 -7.59106679e-05 9.99978263e-01 -1.66625708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.571400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.79, Y:11.34, Z:-0.17 [[ 9.96768000e-01 -8.00560339e-02 -6.67727150e-03 2.10792608e+02] [ 8.00546886e-02 9.96790363e-01 -4.68941202e-04 1.13382155e+01] [ 6.69338146e-03 -6.71213065e-05 9.99977597e-01 -1.67018286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.601400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.82, Y:11.34, Z:-0.16 [[ 9.96877102e-01 -7.87509313e-02 -5.85951301e-03 2.10821590e+02] [ 7.87498674e-02 9.96894322e-01 -4.12433841e-04 1.13421606e+01] [ 5.87379480e-03 -5.02900203e-05 9.99982748e-01 -1.64450956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.631400513 meters Centerline goodness [0,1] 0.9998917209866384 Centerline is valid? [True, True] Translation: X:210.85, Y:11.35, Z:-0.16 [[ 9.97059086e-01 -7.64530982e-02 -5.30127767e-03 2.10850090e+02] [ 7.64521905e-02 9.97073178e-01 -3.73965493e-04 1.13461217e+01] [ 5.31435260e-03 -3.24285979e-05 9.99985878e-01 -1.63938565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.661400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.88, Y:11.35, Z:-0.16 [[ 9.97329721e-01 -7.28593726e-02 -4.99385789e-03 2.10878268e+02] [ 7.28585180e-02 9.97342224e-01 -3.53086053e-04 1.13522142e+01] [ 5.00631096e-03 -1.17018702e-05 9.99987468e-01 -1.63337408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.691400513 meters Centerline goodness [0,1] 0.9998707704236576 Centerline is valid? [True, True] Translation: X:210.91, Y:11.36, Z:-0.16 [[ 9.97985465e-01 -6.32232177e-02 -5.27595873e-03 2.10905119e+02] [ 6.32221246e-02 9.97999410e-01 -3.73886899e-04 1.13646312e+01] [ 5.28904204e-03 3.95763703e-05 9.99986012e-01 -1.63747016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.721400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.93, Y:11.37, Z:-0.16 [[ 9.98264460e-01 -5.86953870e-02 -4.78749545e-03 2.10933317e+02] [ 5.86944334e-02 9.98275938e-01 -3.39575103e-04 1.13719088e+01] [ 4.79917300e-03 5.79864241e-05 9.99988482e-01 -1.62247712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.751400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.96, Y:11.38, Z:-0.16 [[ 9.98485932e-01 -5.48038372e-02 -4.73107917e-03 2.10961440e+02] [ 5.48028588e-02 9.98497137e-01 -3.36306041e-04 1.13763881e+01] [ 4.74239987e-03 7.65201875e-05 9.99988752e-01 -1.61491795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.781400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.99, Y:11.39, Z:-0.16 [[ 9.98822344e-01 -4.82397270e-02 -5.18204744e-03 2.10989935e+02] [ 4.82384632e-02 9.98835780e-01 -3.68662263e-04 1.13873675e+01] [ 5.19379857e-03 1.18254101e-04 9.99986505e-01 -1.62041265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.811400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.02, Y:11.39, Z:-0.16 [[ 9.98913568e-01 -4.62280481e-02 -5.88651987e-03 2.11018216e+02] [ 4.62263816e-02 9.98930902e-01 -4.18916264e-04 1.13881313e+01] [ 5.89959228e-03 1.46348626e-04 9.99982587e-01 -1.63005639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.841400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.05, Y:11.39, Z:-0.16 [[ 9.98956443e-01 -4.52513072e-02 -6.19230298e-03 2.11047439e+02] [ 4.52494408e-02 9.98975622e-01 -4.41254588e-04 1.13891838e+01] [ 6.20592706e-03 1.60595867e-04 9.99980730e-01 -1.63550325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.871400513 meters Centerline goodness [0,1] 0.9999782282118831 Centerline is valid? [True, True] Translation: X:211.08, Y:11.39, Z:-0.16 [[ 9.98997377e-01 -4.45368999e-02 -4.55032445e-03 2.11075335e+02] [ 4.45358821e-02 9.99007733e-01 -3.24806394e-04 1.13877226e+01] [ 4.56027518e-03 1.21828022e-04 9.99989594e-01 -1.61177670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.901400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.10, Y:11.39, Z:-0.16 [[ 9.98990728e-01 -4.47693639e-02 -3.63718774e-03 2.11103862e+02] [ 4.47687149e-02 9.98997345e-01 -2.59687889e-04 1.13864999e+01] [ 3.64516695e-03 9.65935720e-05 9.99993352e-01 -1.59601604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.931400513 meters Centerline goodness [0,1] 0.9999564365062078 Centerline is valid? [True, True] Translation: X:211.13, Y:11.38, Z:-0.16 [[ 9.98969952e-01 -4.52380115e-02 -3.54364379e-03 2.11132342e+02] [ 4.52373962e-02 9.98976233e-01 -2.53661898e-04 1.13830037e+01] [ 3.55149109e-03 9.30953961e-05 9.99993689e-01 -1.60085721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.961400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.16, Y:11.38, Z:-0.16 [[ 9.99020217e-01 -4.40918054e-02 -3.81036085e-03 2.11160588e+02] [ 4.40910822e-02 9.99027478e-01 -2.73632221e-04 1.13843027e+01] [ 3.81872013e-03 1.05361187e-04 9.99992703e-01 -1.61549483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.99140051300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.19, Y:11.38, Z:-0.16 [[ 9.99096809e-01 -4.23535571e-02 -3.42686154e-03 2.11189479e+02] [ 4.23529613e-02 9.99102680e-01 -2.46291123e-04 1.13821900e+01] [ 3.43421785e-03 1.00930941e-04 9.99994098e-01 -1.61348007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.021400513 meters Centerline goodness [0,1] 0.9999572338878673 Centerline is valid? [True, True] Translation: X:211.22, Y:11.39, Z:-0.16 [[ 9.99190069e-01 -4.01494680e-02 -2.68807663e-03 2.11217358e+02] [ 4.01490921e-02 9.99193681e-01 -1.93685904e-04 1.13860931e+01] [ 2.69368557e-03 8.56051957e-05 9.99996368e-01 -1.60016988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.05140051300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.25, Y:11.39, Z:-0.16 [[ 9.99278798e-01 -3.79036198e-02 -2.28014740e-03 2.11246989e+02] [ 3.79033432e-02 9.99281397e-01 -1.64419208e-04 1.13867366e+01] [ 2.28474096e-03 7.78754194e-05 9.99997387e-01 -1.58969468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.081400513 meters Centerline goodness [0,1] 0.999978605964657 Centerline is valid? [True, True] Translation: X:211.28, Y:11.39, Z:-0.16 [[ 9.99442342e-01 -3.31729318e-02 -3.81599065e-03 2.11277192e+02] [ 3.31721220e-02 9.99449616e-01 -2.75334729e-04 1.13859881e+01] [ 3.82302405e-03 1.48596679e-04 9.99992681e-01 -1.61818685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.111400513 meters Centerline goodness [0,1] 0.999956796923941 Centerline is valid? [True, True] Translation: X:211.31, Y:11.39, Z:-0.16 [[ 9.99515502e-01 -3.06513428e-02 -5.40893392e-03 2.11306405e+02] [ 3.06496786e-02 9.99530112e-01 -3.90322680e-04 1.13876491e+01] [ 5.41835624e-03 2.24351483e-04 9.99985295e-01 -1.64839190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.141400513 meters Centerline goodness [0,1] 0.9999349903569029 Centerline is valid? [True, True] Translation: X:211.34, Y:11.39, Z:-0.17 [[ 9.99580778e-01 -2.81072663e-02 -6.94619945e-03 2.11336805e+02] [ 2.81044587e-02 9.99604866e-01 -5.01480896e-04 1.13881457e+01] [ 6.95755002e-03 3.06051488e-04 9.99975749e-01 -1.67315862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.171400513 meters Centerline goodness [0,1] 0.9998284550230514 Centerline is valid? [True, True] Translation: X:211.37, Y:11.39, Z:-0.17 [[ 9.99639404e-01 -2.57569048e-02 -7.59236507e-03 2.11365713e+02] [ 2.57534820e-02 9.99668174e-01 -5.48260313e-04 1.13905706e+01] [ 7.60396722e-03 3.52532775e-04 9.99971027e-01 -1.69086921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.201400513 meters Centerline goodness [0,1] 0.9996099590456998 Centerline is valid? [True, True] Translation: X:211.40, Y:11.39, Z:-0.17 [[ 9.99730232e-01 -2.17669256e-02 -8.10334567e-03 2.11396177e+02] [ 2.17628949e-02 9.99762989e-01 -5.85269320e-04 1.13911911e+01] [ 8.11416460e-03 4.08759173e-04 9.99966996e-01 -1.69588322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.231400513 meters Centerline goodness [0,1] 0.999592990874427 Centerline is valid? [True, True] Translation: X:211.43, Y:11.40, Z:-0.17 [[ 9.99780945e-01 -1.95994965e-02 -7.34317311e-03 2.11425438e+02] [ 1.95961280e-02 9.99807837e-01 -5.30399742e-04 1.13963166e+01] [ 7.35215759e-03 3.86385795e-04 9.99972898e-01 -1.68741898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.261400513 meters Centerline goodness [0,1] 0.9996116504854369 Centerline is valid? [True, True] Translation: X:211.46, Y:11.39, Z:-0.17 [[ 9.99826317e-01 -1.70877262e-02 -7.43946260e-03 2.11456194e+02] [ 1.70841988e-02 9.99853910e-01 -5.37440817e-04 1.13928847e+01] [ 7.44755941e-03 4.10250214e-04 9.99972182e-01 -1.68025228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.291400513 meters Centerline goodness [0,1] 0.996012690790602 Centerline is valid? [True, True] Translation: X:211.48, Y:11.40, Z:-0.17 [[ 9.99902469e-01 -1.17823900e-02 -7.49852816e-03 2.11484667e+02] [ 1.17786568e-02 9.99930482e-01 -5.41826463e-04 1.14016123e+01] [ 7.50439089e-03 4.53451028e-04 9.99971739e-01 -1.68668539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.321400513 meters Centerline goodness [0,1] 0.9886572721172371 Centerline is valid? [True, True] Translation: X:211.52, Y:11.40, Z:-0.17 [[ 9.99911312e-01 -9.95045836e-03 -8.85192307e-03 2.11515223e+02] [ 9.94518337e-03 9.99950341e-01 -6.39733158e-04 1.14035641e+01] [ 8.85784912e-03 5.51642423e-04 9.99960616e-01 -1.70619056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.351400513 meters Centerline goodness [0,1] 0.9951043823326432 Centerline is valid? [True, True] Translation: X:211.54, Y:11.40, Z:-0.17 [[ 9.99921284e-01 -8.50541679e-03 -9.22407976e-03 2.11544646e+02] [ 8.49962614e-03 9.99963655e-01 -6.66795660e-04 1.14012174e+01] [ 9.22941589e-03 5.88341943e-04 9.99957235e-01 -1.70809410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.381400513 meters Centerline goodness [0,1] 0.8919809201942205 Centerline is valid? [True, False] Translation: X:211.57, Y:11.41, Z:-0.18 [[ 9.99967056e-01 -7.02628976e-03 -4.06430131e-03 2.11567640e+02] [ 6.98203057e-03 9.99917266e-01 -1.08033083e-02 1.14085892e+01] [ 4.13987223e-03 1.07745753e-02 9.99933383e-01 -1.78132866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.411400513 meters Centerline goodness [0,1] 0.9990685584317124 Centerline is valid? [False, True] Translation: X:211.52, Y:11.39, Z:-0.17 [[ 9.99972707e-01 -5.14608262e-03 -5.30124124e-03 2.11522953e+02] [ 5.13450303e-03 9.99984408e-01 -2.19561640e-03 1.13923945e+01] [ 5.31245740e-03 2.16833723e-03 9.99983538e-01 -1.72146232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.441400513 meters Centerline goodness [0,1] 0.9994412087085474 Centerline is valid? [True, True] Translation: X:211.55, Y:11.39, Z:-0.17 [[ 9.99966885e-01 -6.56732833e-03 -4.80620035e-03 2.11553265e+02] [ 6.56579214e-03 9.99978389e-01 -3.35335768e-04 1.13898625e+01] [ 4.80829875e-03 3.03768151e-04 9.99988394e-01 -1.70404122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.471400513 meters Centerline goodness [0,1] 0.9992450225414699 Centerline is valid? [True, True] Translation: X:211.58, Y:11.39, Z:-0.17 [[ 9.99948461e-01 -8.94172272e-03 -4.80838617e-03 2.11581909e+02] [ 8.94021178e-03 9.99959979e-01 -3.35631474e-04 1.13905527e+01] [ 4.81119485e-03 2.92626185e-04 9.99988383e-01 -1.70875022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.501400513 meters Centerline goodness [0,1] 0.9996505405700556 Centerline is valid? [True, True] Translation: X:211.61, Y:11.38, Z:-0.17 [[ 9.99882516e-01 -1.44041167e-02 -5.24180394e-03 2.11611712e+02] [ 1.44023952e-02 9.99896213e-01 -3.66014129e-04 1.13813743e+01] [ 5.24653202e-03 2.90476596e-04 9.99986195e-01 -1.72052785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.531400513 meters Centerline goodness [0,1] 0.9994595879898834 Centerline is valid? [True, True] Translation: X:211.64, Y:11.38, Z:-0.17 [[ 9.99855691e-01 -1.62530935e-02 -4.94304833e-03 2.11640414e+02] [ 1.62515846e-02 9.99867875e-01 -3.45282940e-04 1.13791053e+01] [ 4.94800714e-03 2.64900745e-04 9.99987723e-01 -1.71169651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.561400513 meters Centerline goodness [0,1] 0.9995711283612815 Centerline is valid? [True, True] Translation: X:211.67, Y:11.38, Z:-0.17 [[ 9.99845861e-01 -1.70281099e-02 -4.27769358e-03 2.11668766e+02] [ 1.70269863e-02 9.99854986e-01 -2.98956703e-04 1.13774943e+01] [ 4.28216392e-03 2.26074392e-04 9.99990806e-01 -1.70035597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.591400513 meters Centerline goodness [0,1] 0.9997622187155487 Centerline is valid? [True, True] Translation: X:211.70, Y:11.37, Z:-0.17 [[ 9.99899126e-01 -1.36133436e-02 -4.05153138e-03 2.11700072e+02] [ 1.36123070e-02 9.99907308e-01 -2.83330331e-04 1.13717240e+01] [ 4.05501291e-03 2.28151062e-04 9.99991752e-01 -1.68697572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.621400513 meters Centerline goodness [0,1] 0.9991598629930419 Centerline is valid? [True, True] Translation: X:211.73, Y:11.38, Z:-0.17 [[ 9.99947182e-01 -9.44727274e-03 -4.04741529e-03 2.11730110e+02] [ 9.44620418e-03 9.99955344e-01 -2.83045137e-04 1.13770115e+01] [ 4.04990855e-03 2.44797475e-04 9.99991769e-01 -1.68598503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.651400513 meters Centerline goodness [0,1] 0.9322037542735502 Centerline is valid? [True, False] Translation: X:211.73, Y:11.37, Z:-0.17 [[ 9.99980545e-01 -4.63937746e-03 -4.16966516e-03 2.11729957e+02] [ 4.66063237e-03 9.99976122e-01 5.10233397e-03 1.13721357e+01] [ 4.14589394e-03 -5.12166798e-03 9.99978290e-01 -1.67653952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.681400513 meters Centerline goodness [0,1] 0.9732715760846471 Centerline is valid? [False, True] Translation: X:211.75, Y:11.38, Z:-0.17 [[ 9.99999576e-01 8.20121665e-04 4.17804568e-04 2.11752635e+02] [-8.19481645e-04 9.99998494e-01 -1.52973931e-03 1.13785162e+01] [-4.19058512e-04 1.52939628e-03 9.99998743e-01 -1.74383076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.711400513 meters Centerline goodness [0,1] 0.9879061760275446 Centerline is valid? [True, True] Translation: X:211.78, Y:11.38, Z:-0.17 [[ 9.99956458e-01 9.26432692e-03 1.11956916e-03 2.11783052e+02] [-9.26442009e-03 9.99957081e-01 7.80631562e-05 1.13802772e+01] [-1.11879791e-03 -8.84319162e-05 9.99999370e-01 -1.72923131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.74140051300003 meters Centerline goodness [0,1] 0.8072709481163182 Centerline is valid? [True, False] Translation: X:211.79, Y:11.38, Z:-0.18 [[ 9.99928126e-01 1.19856250e-02 2.95289191e-04 2.11789028e+02] [-1.19864334e-02 9.99923932e-01 2.90788937e-03 1.13804454e+01] [-2.60413857e-04 -2.91121984e-03 9.99995728e-01 -1.76433843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.771400513 meters Centerline goodness [0,1] 0.8574196882266816 Centerline is valid? [False, False] Translation: X:211.79, Y:11.38, Z:-0.18 [[ 9.99931252e-01 1.17221695e-02 2.86402341e-04 2.11789541e+02] [-1.17227999e-02 9.99928621e-01 2.30848410e-03 1.13831158e+01] [-2.59321456e-04 -2.31168283e-03 9.99997294e-01 -1.77421677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.80140051300003 meters Centerline goodness [0,1] 0.8691524843923715 Centerline is valid? [False, False] Translation: X:211.79, Y:11.38, Z:-0.18 [[ 9.99931784e-01 1.16791122e-02 1.63143745e-04 2.11789968e+02] [-1.16794639e-02 9.99929025e-01 2.35287842e-03 1.13827822e+01] [-1.35652635e-04 -2.35462335e-03 9.99997219e-01 -1.77479892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.831400513 meters Centerline goodness [0,1] 0.9356488844946911 Centerline is valid? [False, False] Translation: X:211.79, Y:11.38, Z:-0.18 [[ 9.99932147e-01 1.16490244e-02 3.39155362e-05 2.11790357e+02] [-1.16490724e-02 9.99929212e-01 2.42302115e-03 1.13823514e+01] [-5.68730284e-06 -2.42325183e-03 9.99997064e-01 -1.77449282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.861400513 meters Centerline goodness [0,1] 0.9290703690927906 Centerline is valid? [False, False] Translation: X:211.79, Y:11.39, Z:-0.18 [[ 9.99977163e-01 6.75685465e-03 1.35820529e-04 2.11790599e+02] [-6.75637377e-03 9.99971815e-01 -3.27436310e-03 1.13886699e+01] [-1.57941096e-04 3.27337067e-03 9.99994630e-01 -1.78814544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.891400513 meters Centerline goodness [0,1] 0.989936349561328 Centerline is valid? [False, True] Translation: X:211.79, Y:11.39, Z:-0.18 [[ 9.99998063e-01 1.96837998e-03 1.31654751e-05 2.11791341e+02] [-1.96819953e-03 9.99962664e-01 -8.41407349e-03 1.13922192e+01] [-2.97270774e-05 8.41403127e-03 9.99964601e-01 -1.79652345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.921400513 meters Centerline goodness [0,1] 0.9983952756916362 Centerline is valid? [True, True] Translation: X:211.82, Y:11.38, Z:-0.18 [[ 9.99997593e-01 -2.11312461e-03 -5.90251445e-04 2.11823271e+02] [ 2.11310271e-03 9.99997767e-01 -3.77260493e-05 1.13795283e+01] [ 5.90329846e-04 3.64786966e-05 9.99999825e-01 -1.77393225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.951400513 meters Centerline goodness [0,1] 0.9995271054554834 Centerline is valid? [True, True] Translation: X:211.85, Y:11.38, Z:-0.18 [[ 9.99982193e-01 -5.94996637e-03 -4.60272113e-04 2.11853948e+02] [ 5.94995344e-03 9.99982298e-01 -2.94451186e-05 1.13756768e+01] [ 4.60439163e-04 2.67059967e-05 9.99999894e-01 -1.77296450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.981400513 meters Centerline goodness [0,1] 0.9995271054554834 Centerline is valid? [True, True] Translation: X:211.88, Y:11.38, Z:-0.18 [[ 9.99981231e-01 -6.10944177e-03 -4.60249579e-04 2.11882299e+02] [ 6.10942870e-03 9.99981337e-01 -2.97970306e-05 1.13775831e+01] [ 4.60423032e-04 2.69846094e-05 9.99999894e-01 -1.77347976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.011400513 meters Centerline goodness [0,1] 0.9995267494138146 Centerline is valid? [True, True] Translation: X:211.91, Y:11.37, Z:-0.18 [[ 9.99932692e-01 -1.15854012e-02 -6.24868498e-04 2.11912664e+02] [ 1.15853784e-02 9.99932886e-01 -4.00693870e-05 1.13719953e+01] [ 6.25290781e-04 3.28273519e-05 9.99999804e-01 -1.78129638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.041400513 meters Centerline goodness [0,1] 0.9997640801269678 Centerline is valid? [True, True] Translation: X:211.94, Y:11.37, Z:-0.18 [[ 9.99911702e-01 -1.32820323e-02 -4.19068760e-04 2.11942336e+02] [ 1.32820221e-02 9.99911790e-01 -2.72014328e-05 1.13676734e+01] [ 4.19393084e-04 2.16329504e-05 9.99999912e-01 -1.78115519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.071400513 meters Centerline goodness [0,1] 0.9998275490407416 Centerline is valid? [True, True] Translation: X:211.97, Y:11.36, Z:-0.18 [[ 9.99896292e-01 -1.43657400e-02 -1.01547460e-03 2.11971488e+02] [ 1.43656810e-02 9.99896806e-01 -6.53918256e-05 1.13632882e+01] [ 1.01630921e-03 5.07970598e-05 9.99999482e-01 -1.78554545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.101400513 meters Centerline goodness [0,1] 0.9995680625445436 Centerline is valid? [True, True] Translation: X:212.00, Y:11.37, Z:-0.18 [[ 9.99892831e-01 -1.46207055e-02 -7.49768162e-04 2.11998981e+02] [ 1.46206733e-02 9.99893111e-01 -4.84347208e-05 1.13708120e+01] [ 7.50396170e-04 3.74674148e-05 9.99999718e-01 -1.78124427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.131400513 meters Centerline goodness [0,1] 0.9995091134161438 Centerline is valid? [True, True] Translation: X:212.03, Y:11.38, Z:-0.18 [[ 9.99931000e-01 -1.17450985e-02 2.18170370e-04 2.12027883e+02] [ 1.17450957e-02 9.99931024e-01 1.40135076e-05 1.13780952e+01] [-2.18319912e-04 -1.14501088e-05 9.99999976e-01 -1.77122062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.161400513 meters Centerline goodness [0,1] 0.999120756578242 Centerline is valid? [True, True] Translation: X:212.06, Y:11.38, Z:-0.18 [[ 9.99952977e-01 -9.69695633e-03 -1.11099507e-04 2.12057993e+02] [ 9.69695560e-03 9.99952983e-01 -7.17822430e-06 1.13819625e+01] [ 1.11163891e-04 6.10055977e-06 9.99999994e-01 -1.77965890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.191400513 meters Centerline goodness [0,1] 0.9991591021798659 Centerline is valid? [True, True] Translation: X:212.09, Y:11.38, Z:-0.18 [[ 9.99969202e-01 -7.73545369e-03 -1.32584910e-03 2.12088486e+02] [ 7.73534721e-03 9.99970078e-01 -8.54235757e-05 1.13812376e+01] [ 1.32647022e-03 7.51650417e-05 9.99999117e-01 -1.79923313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.221400513 meters Centerline goodness [0,1] 0.9968188461869143 Centerline is valid? [True, True] Translation: X:212.12, Y:11.39, Z:-0.18 [[ 9.99979471e-01 -5.80182529e-03 -2.71970458e-03 2.12117747e+02] [ 5.80136995e-03 9.99983157e-01 -1.75280207e-04 1.13866681e+01] [ 2.72067572e-03 1.59498596e-04 9.99996286e-01 -1.83221396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.251400513 meters Centerline goodness [0,1] 0.998549828325265 Centerline is valid? [True, True] Translation: X:212.15, Y:11.39, Z:-0.18 [[ 9.99978656e-01 -6.00132991e-03 -2.58283485e-03 2.12145928e+02] [ 6.00091790e-03 9.99981980e-01 -1.67241183e-04 1.13866834e+01] [ 2.58379198e-03 1.51738233e-04 9.99996650e-01 -1.83704520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.281400513 meters Centerline goodness [0,1] 0.9986817936250675 Centerline is valid? [True, True] Translation: X:212.17, Y:11.39, Z:-0.18 [[ 9.99972141e-01 -7.23307328e-03 -1.84363216e-03 2.12173983e+02] [ 7.23286557e-03 9.99973835e-01 -1.19306407e-04 1.13884890e+01] [ 1.84444687e-03 1.05968340e-04 9.99998293e-01 -1.82987893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.311400513 meters Centerline goodness [0,1] 0.9990796232876712 Centerline is valid? [True, True] Translation: X:212.20, Y:11.39, Z:-0.18 [[ 9.99960615e-01 -8.85640282e-03 -5.75860014e-04 2.12204143e+02] [ 8.85638282e-03 9.99960781e-01 -3.72667608e-05 1.13873149e+01] [ 5.76167478e-04 3.21652564e-05 9.99999833e-01 -1.80980903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.341400513 meters Centerline goodness [0,1] 0.9997405405405405 Centerline is valid? [True, True] Translation: X:212.23, Y:11.37, Z:-0.18 [[ 9.99913898e-01 -1.31221088e-02 -8.39304336e-05 2.12234808e+02] [ 1.31221084e-02 9.99913901e-01 -5.46098249e-06 1.13748417e+01] [ 8.39948669e-05 4.35916804e-06 9.99999996e-01 -1.78472266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.371400513 meters Centerline goodness [0,1] 0.9998071235694999 Centerline is valid? [True, True] Translation: X:212.26, Y:11.38, Z:-0.18 [[ 9.99887333e-01 -1.50035082e-02 -4.64213551e-04 2.12263221e+02] [ 1.50034959e-02 9.99887441e-01 -3.01120157e-05 1.13769934e+01] [ 4.64613086e-04 2.31437970e-05 9.99999892e-01 -1.79272523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.401400513 meters Centerline goodness [0,1] 0.99971870604782 Centerline is valid? [True, True] Translation: X:212.29, Y:11.38, Z:-0.18 [[ 9.99863978e-01 -1.64778314e-02 -7.11528760e-04 2.12291670e+02] [ 1.64778027e-02 9.99864231e-01 -4.61720104e-05 1.13770039e+01] [ 7.12192971e-04 3.44412995e-05 9.99999746e-01 -1.80405488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.431400513 meters Centerline goodness [0,1] 0.9997636187815623 Centerline is valid? [True, True] Translation: X:212.32, Y:11.37, Z:-0.18 [[ 9.99843731e-01 -1.76736387e-02 3.95753187e-04 2.12321232e+02] [ 1.76736299e-02 9.99843809e-01 2.55713109e-05 1.13712211e+01] [-3.96143312e-04 -1.85729195e-05 9.99999921e-01 -1.79319605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.461400513 meters Centerline goodness [0,1] 0.9998280494357872 Centerline is valid? [True, True] Translation: X:212.35, Y:11.37, Z:-0.18 [[ 9.99836220e-01 -1.80904416e-02 5.18037458e-04 2.12349644e+02] [ 1.80904267e-02 9.99836354e-01 3.33762429e-05 1.13714367e+01] [-5.18556475e-04 -2.39992578e-05 9.99999865e-01 -1.78950743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.49140051300003 meters Centerline goodness [0,1] 0.9984627866262437 Centerline is valid? [True, True] Translation: X:212.38, Y:11.38, Z:-0.18 [[ 9.99840727e-01 -1.78455894e-02 2.34989202e-04 2.12376926e+02] [ 1.78455863e-02 9.99840755e-01 1.51818896e-05 1.13818811e+01] [-2.35222711e-04 -1.09859515e-05 9.99999972e-01 -1.79685163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.521400513 meters Centerline goodness [0,1] 0.9999126561271727 Centerline is valid? [True, True] Translation: X:212.41, Y:11.36, Z:-0.18 [[ 9.99879657e-01 -1.54984063e-02 -6.86738311e-04 2.12408423e+02] [ 1.54983793e-02 9.99879892e-01 -4.46912571e-05 1.13649774e+01] [ 6.87348471e-04 3.40425480e-05 9.99999763e-01 -1.79480594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.55140051300003 meters Centerline goodness [0,1] 0.9996979634104246 Centerline is valid? [True, True] Translation: X:212.44, Y:11.37, Z:-0.18 [[ 9.99908313e-01 -1.35394907e-02 -2.18201923e-04 2.12436799e+02] [ 1.35394879e-02 9.99908337e-01 -1.43088526e-05 1.13672748e+01] [ 2.18375657e-04 1.13531983e-05 9.99999976e-01 -1.78332722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.581400513 meters Centerline goodness [0,1] 0.9996363636363637 Centerline is valid? [True, True] Translation: X:212.47, Y:11.37, Z:-0.18 [[ 9.99931844e-01 -1.16322389e-02 9.99438959e-04 2.12466405e+02] [ 1.16321797e-02 9.99932342e-01 6.50395750e-05 1.13662120e+01] [-1.00012789e-03 -5.34094886e-05 9.99999498e-01 -1.76122177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.611400513 meters Centerline goodness [0,1] 0.9996983538739981 Centerline is valid? [True, True] Translation: X:212.50, Y:11.37, Z:-0.17 [[ 9.99944512e-01 -1.02673996e-02 2.35646729e-03 2.12496380e+02] [ 1.02670663e-02 9.99947281e-01 1.53509328e-04 1.13663276e+01] [-2.35791920e-03 -1.29306805e-04 9.99997212e-01 -1.74687958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.641400513 meters Centerline goodness [0,1] 0.9997224060985245 Centerline is valid? [True, True] Translation: X:212.52, Y:11.37, Z:-0.17 [[ 9.99955328e-01 -8.79390166e-03 3.46535786e-03 2.12524909e+02] [ 8.79317156e-03 9.99961314e-01 2.25864812e-04 1.13702462e+01] [-3.46721003e-03 -1.95383236e-04 9.99993970e-01 -1.73725890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.671400513 meters Centerline goodness [0,1] 0.9989961340481428 Centerline is valid? [True, True] Translation: X:212.55, Y:11.38, Z:-0.17 [[ 9.99981151e-01 -4.83908428e-03 3.77899022e-03 2.12554294e+02] [ 4.83818757e-03 9.99988266e-01 2.46395291e-04 1.13752124e+01] [-3.78013820e-03 -2.28107183e-04 9.99992829e-01 -1.73486873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.701400513 meters Centerline goodness [0,1] 0.9917000997686217 Centerline is valid? [True, True] Translation: X:212.58, Y:11.38, Z:-0.17 [[ 9.99990305e-01 -2.45490870e-03 3.65566701e-03 2.12583616e+02] [ 2.45405357e-03 9.99996960e-01 2.38387239e-04 1.13834941e+01] [-3.65624111e-03 -2.29413725e-04 9.99993290e-01 -1.73402009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.731400513 meters Centerline goodness [0,1] 0.978998040385107 Centerline is valid? [True, True] Translation: X:212.61, Y:11.39, Z:-0.17 [[ 9.99992265e-01 -3.27839686e-04 3.91942923e-03 2.12613114e+02] [ 3.26840630e-04 9.99999914e-01 2.55536044e-04 1.13884329e+01] [-3.91951267e-03 -2.54253039e-04 9.99992286e-01 -1.72605733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.761400513 meters Centerline goodness [0,1] 0.9919743178170144 Centerline is valid? [True, True] Translation: X:212.64, Y:11.39, Z:-0.17 [[ 9.99982079e-01 4.03483975e-03 4.42276396e-03 2.12643956e+02] [-4.03615399e-03 9.99991813e-01 2.88267172e-04 1.13878651e+01] [-4.42156463e-03 -3.06112963e-04 9.99990178e-01 -1.72563912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.791400513 meters Centerline goodness [0,1] 0.8945023856774902 Centerline is valid? [True, False] Translation: X:212.64, Y:11.39, Z:-0.17 [[ 9.99983039e-01 3.83043397e-03 4.38744118e-03 2.12644616e+02] [-3.82954396e-03 9.99992645e-01 -2.11235779e-04 1.13900640e+01] [-4.38821804e-03 1.94430298e-04 9.99990353e-01 -1.73579861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.821400513 meters Centerline goodness [0,1] 0.9573260818362846 Centerline is valid? [False, True] Translation: X:212.61, Y:11.39, Z:-0.17 [[ 9.99995236e-01 2.92622455e-03 9.82351771e-04 2.12606063e+02] [-2.92837564e-03 9.99993302e-01 2.19549396e-03 1.13867347e+01] [-9.75920683e-04 -2.19836020e-03 9.99997107e-01 -1.73990820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.851400513 meters Centerline goodness [0,1] 0.8301726517870416 Centerline is valid? [True, False] Translation: X:212.61, Y:11.39, Z:-0.18 [[ 9.99995840e-01 2.76740609e-03 8.13791718e-04 2.12607199e+02] [-2.76891638e-03 9.99994436e-01 1.86062917e-03 1.13880797e+01] [-8.08638073e-04 -1.86287475e-03 9.99997938e-01 -1.75121858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.881400513 meters Centerline goodness [0,1] 0.9845980145711729 Centerline is valid? [False, True] Translation: X:212.61, Y:11.39, Z:-0.17 [[ 9.99995690e-01 2.81110270e-03 8.46651359e-04 2.12606939e+02] [-2.81278528e-03 9.99994059e-01 1.99274345e-03 1.13874836e+01] [-8.41044522e-04 -1.99511631e-03 9.99997656e-01 -1.74847280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.911400513 meters Centerline goodness [0,1] 0.9642271226163843 Centerline is valid? [True, True] Translation: X:212.64, Y:11.40, Z:-0.17 [[ 9.99997697e-01 1.61422493e-03 1.41419878e-03 2.12637348e+02] [-1.61436520e-03 9.99998692e-01 9.80575092e-05 1.13953451e+01] [-1.41403865e-03 -1.00340317e-04 9.99998995e-01 -1.74349977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.941400513 meters Centerline goodness [0,1] 0.9758195668920654 Centerline is valid? [True, True] Translation: X:212.67, Y:11.39, Z:-0.17 [[ 9.99998612e-01 2.71281297e-04 1.64384463e-03 2.12669078e+02] [-2.71468956e-04 9.99999957e-01 1.13936547e-04 1.13944383e+01] [-1.64381365e-03 -1.14382641e-04 9.99998642e-01 -1.73365834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.971400513 meters Centerline goodness [0,1] 0.8076038828337875 Centerline is valid? [True, False] Translation: X:212.67, Y:11.39, Z:-0.17 [[ 9.99998648e-01 2.93678438e-04 1.61791516e-03 2.12669141e+02] [-2.94087819e-04 9.99999925e-01 2.52797737e-04 1.13937126e+01] [-1.61784080e-03 -2.53273204e-04 9.99998659e-01 -1.73343456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.001400513 meters Centerline goodness [0,1] 0.9951887967696207 Centerline is valid? [False, True] Translation: X:212.66, Y:11.40, Z:-0.17 [[ 9.99994137e-01 -2.43930867e-03 2.40347178e-03 2.12663871e+02] [ 2.44551151e-03 9.99993678e-01 -2.58123351e-03 1.13965732e+01] [-2.39716016e-03 2.58709609e-03 9.99993780e-01 -1.70762809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.031400513 meters Centerline goodness [0,1] 0.9956467927105117 Centerline is valid? [True, True] Translation: X:212.70, Y:11.40, Z:-0.17 [[ 9.99991677e-01 -3.79062047e-03 1.50903776e-03 2.12695356e+02] [ 3.79046996e-03 9.99992811e-01 1.02585028e-04 1.13953604e+01] [-1.50941578e-03 -9.68642123e-05 9.99998856e-01 -1.71608796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.061400513 meters Centerline goodness [0,1] 0.9808503386870021 Centerline is valid? [True, True] Translation: X:212.72, Y:11.40, Z:-0.17 [[ 9.99976363e-01 -6.71723129e-03 1.46678346e-03 2.12724343e+02] [ 6.71709237e-03 9.99977435e-01 9.96154272e-05 1.13978424e+01] [-1.46741950e-03 -8.97605527e-05 9.99998919e-01 -1.71936374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.091400513 meters Centerline goodness [0,1] 0.9969141714018175 Centerline is valid? [True, True] Translation: X:212.75, Y:11.39, Z:-0.17 [[ 9.99966065e-01 -8.00985454e-03 1.92639756e-03 2.12754710e+02] [ 8.00961728e-03 9.99967914e-01 1.30843853e-04 1.13920469e+01] [-1.92738379e-03 -1.15409706e-04 9.99998136e-01 -1.71231384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.121400513 meters Centerline goodness [0,1] 0.9989076890126365 Centerline is valid? [True, True] Translation: X:212.78, Y:11.39, Z:-0.17 [[ 9.99950351e-01 -9.77540027e-03 1.93339388e-03 2.12784948e+02] [ 9.77516449e-03 9.99952213e-01 1.31361927e-04 1.13867587e+01] [-1.93458560e-03 -1.12456162e-04 9.99998122e-01 -1.71044638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.151400513 meters Centerline goodness [0,1] 0.9993587277157882 Centerline is valid? [True, True] Translation: X:212.81, Y:11.38, Z:-0.17 [[ 9.99927661e-01 -1.18765909e-02 1.90220182e-03 2.12814978e+02] [ 1.18763664e-02 9.99929465e-01 1.29283677e-04 1.13810998e+01] [-1.90360310e-03 -1.06683079e-04 9.99998182e-01 -1.71323625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.181400513 meters Centerline goodness [0,1] 0.9994433620929585 Centerline is valid? [True, True] Translation: X:212.85, Y:11.37, Z:-0.17 [[ 9.99876657e-01 -1.55896992e-02 1.90575553e-03 2.12845032e+02] [ 1.55894804e-02 9.99878468e-01 1.29582911e-04 1.13706363e+01] [-1.90754408e-03 -9.98571895e-05 9.99998176e-01 -1.72126359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.211400513 meters Centerline goodness [0,1] 0.9995286050996357 Centerline is valid? [True, True] Translation: X:212.87, Y:11.37, Z:-0.17 [[ 9.99861803e-01 -1.65106496e-02 1.94273661e-03 2.12874950e+02] [ 1.65104244e-02 9.99863685e-01 1.31919774e-04 1.13650993e+01] [-1.94464986e-03 -9.98261369e-05 9.99998104e-01 -1.71815099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.24140051300003 meters Centerline goodness [0,1] 0.9996374648127613 Centerline is valid? [True, True] Translation: X:212.90, Y:11.36, Z:-0.17 [[ 9.99866130e-01 -1.62246829e-02 2.11701754e-03 2.12902527e+02] [ 1.62244139e-02 9.99868365e-01 1.44179872e-04 1.13634830e+01] [-2.11907814e-03 -1.09813202e-04 9.99997749e-01 -1.71457639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.271400513 meters Centerline goodness [0,1] 0.9996118765767514 Centerline is valid? [True, True] Translation: X:212.93, Y:11.36, Z:-0.17 [[ 9.99887497e-01 -1.48507696e-02 2.10906904e-03 2.12932588e+02] [ 1.48504989e-02 9.99889715e-01 1.43946610e-04 1.13608456e+01] [-2.11097415e-03 -1.12609688e-04 9.99997766e-01 -1.70711555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.30140051300003 meters Centerline goodness [0,1] 0.9842192338692572 Centerline is valid? [True, True] Translation: X:212.96, Y:11.37, Z:-0.17 [[ 9.99968195e-01 -7.61018674e-03 2.38637291e-03 2.12960699e+02] [ 7.60981939e-03 9.99971032e-01 1.62977780e-04 1.13732688e+01] [-2.38754407e-03 -1.44812729e-04 9.99997139e-01 -1.69755997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.331400513 meters Centerline goodness [0,1] 0.98608472948458 Centerline is valid? [True, True] Translation: X:212.99, Y:11.37, Z:-0.17 [[ 9.99995098e-01 -2.13991466e-03 2.28569002e-03 2.12991094e+02] [ 2.13956354e-03 9.99997699e-01 1.56048826e-04 1.13749246e+01] [-2.28601869e-03 -1.51157682e-04 9.99997376e-01 -1.69797743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.361400513 meters Centerline goodness [0,1] 0.9536733040549183 Centerline is valid? [True, True] Translation: X:213.02, Y:11.38, Z:-0.17 [[ 9.99988550e-01 4.04347127e-03 2.55931778e-03 2.13021492e+02] [-4.04393166e-03 9.99991808e-01 1.74740217e-04 1.13825614e+01] [-2.55859025e-03 -1.85087922e-04 9.99996710e-01 -1.69822957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.391400513 meters Centerline goodness [0,1] 0.8381157137383456 Centerline is valid? [True, False] Translation: X:213.02, Y:11.38, Z:-0.17 [[ 9.99951583e-01 9.37283312e-03 2.99682654e-03 2.13019624e+02] [-9.38699671e-03 9.99944671e-01 4.74758928e-03 1.13832473e+01] [-2.95216237e-03 -4.77549062e-03 9.99984240e-01 -1.69396911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.421400513 meters Centerline goodness [0,1] 0.6611195158850227 Centerline is valid? [False, False] Translation: X:213.02, Y:11.39, Z:-0.17 [[ 9.99950910e-01 9.35497202e-03 3.26527477e-03 2.13019013e+02] [-9.36849126e-03 9.99947504e-01 4.14986219e-03 1.13863547e+01] [-3.22628151e-03 -4.18024917e-03 9.99986058e-01 -1.70016449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.451400513 meters Centerline goodness [0,1] 0.6029017001150454 Centerline is valid? [False, False] Translation: X:213.02, Y:11.39, Z:-0.17 [[ 9.99978200e-01 5.52857826e-03 3.61018457e-03 2.13018215e+02] [-5.52378330e-03 9.99983850e-01 -1.33680014e-03 1.13936712e+01] [-3.61751687e-03 1.31682912e-03 9.99992590e-01 -1.71766598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.481400513 meters Centerline goodness [0,1] 0.7059322933248435 Centerline is valid? [False, False] Translation: X:213.02, Y:11.39, Z:-0.17 [[ 9.99979424e-01 5.36881279e-03 3.51104241e-03 2.13018840e+02] [-5.36325550e-03 9.99984353e-01 -1.59030867e-03 1.13946725e+01] [-3.51952554e-03 1.57144533e-03 9.99992572e-01 -1.72377208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.511400513 meters Centerline goodness [0,1] 0.8235569157527841 Centerline is valid? [False, False] Translation: X:213.02, Y:11.39, Z:-0.17 [[ 9.99979367e-01 5.41473299e-03 3.45629102e-03 2.13018767e+02] [-5.41034092e-03 9.99984546e-01 -1.27883607e-03 1.13931055e+01] [-3.46316217e-03 1.26010998e-03 9.99993209e-01 -1.71924020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.541400513 meters Centerline goodness [0,1] 0.747287905754725 Centerline is valid? [False, False] Translation: X:213.02, Y:11.39, Z:-0.17 [[ 9.99979589e-01 5.43147232e-03 3.36459742e-03 2.13018714e+02] [-5.42855765e-03 9.99984883e-01 -8.74804137e-04 1.13910575e+01] [-3.36929803e-03 8.56521371e-04 9.99993957e-01 -1.71203797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.571400513 meters Centerline goodness [0,1] 0.9241202733870797 Centerline is valid? [False, False] Translation: X:213.02, Y:11.39, Z:-0.17 [[ 9.99981211e-01 5.19247805e-03 3.25824970e-03 2.13018820e+02] [-5.18965342e-03 9.99986151e-01 -8.74773340e-04 1.13907733e+01] [-3.26274682e-03 8.57847717e-04 9.99994309e-01 -1.70608025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.601400513 meters Centerline goodness [0,1] 0.8282019440757076 Centerline is valid? [False, False] Translation: X:212.99, Y:11.38, Z:-0.16 [[ 9.99986102e-01 4.76594040e-03 -2.25430974e-03 2.12992765e+02] [-4.74290785e-03 9.99937600e-01 1.01144353e-02 1.13815668e+01] [ 2.30237387e-03 -1.01036028e-02 9.99946307e-01 -1.60499254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.631400513 meters Centerline goodness [0,1] 0.7661612813549173 Centerline is valid? [False, False] Translation: X:212.99, Y:11.39, Z:-0.16 [[ 9.99988695e-01 4.10853368e-03 -2.39374328e-03 2.12994472e+02] [-4.08843665e-03 9.99956856e-01 8.34090993e-03 1.13895866e+01] [ 2.42790891e-03 -8.33102897e-03 9.99962349e-01 -1.62811256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.661400513 meters Centerline goodness [0,1] 0.847241144414169 Centerline is valid? [False, False] Translation: X:213.00, Y:11.39, Z:-0.16 [[ 9.99990047e-01 3.74024078e-03 -2.43249071e-03 2.12995093e+02] [-3.72217211e-03 9.99965761e-01 7.39063752e-03 1.13939957e+01] [ 2.46005019e-03 -7.38150981e-03 9.99969730e-01 -1.63773790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.691400513 meters Centerline goodness [0,1] 0.7131535895638133 Centerline is valid? [False, False] Translation: X:213.00, Y:11.40, Z:-0.16 [[ 9.99991627e-01 3.32063872e-03 -2.39143148e-03 2.12995513e+02] [-3.30536910e-03 9.99974306e-01 6.36103176e-03 1.13987322e+01] [ 2.41249272e-03 -6.35307393e-03 9.99976909e-01 -1.64867297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.721400513 meters Centerline goodness [0,1] 0.7207285711249496 Centerline is valid? [False, False] Translation: X:213.00, Y:11.40, Z:-0.17 [[ 9.99993109e-01 2.85568480e-03 -2.37194347e-03 2.12995945e+02] [-2.84308551e-03 9.99981922e-01 5.29829325e-03 1.14036282e+01] [ 2.38703085e-03 -5.29151310e-03 9.99983151e-01 -1.65824581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.751400513 meters Centerline goodness [0,1] 0.7714424951267056 Centerline is valid? [False, False] Translation: X:213.00, Y:11.41, Z:-0.17 [[ 9.99994545e-01 2.12240742e-03 -2.53068354e-03 2.12997552e+02] [-2.11293993e-03 9.99990782e-01 3.73790398e-03 1.14105301e+01] [ 2.53859357e-03 -3.73253641e-03 9.99989812e-01 -1.67782753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.781400513 meters Centerline goodness [0,1] 0.7534657254635142 Centerline is valid? [False, False] Translation: X:213.00, Y:11.41, Z:-0.17 [[ 9.99994790e-01 1.91991097e-03 -2.59479026e-03 2.12997965e+02] [-1.91126386e-03 9.99992626e-01 3.33087199e-03 1.14123697e+01] [ 2.60116611e-03 -3.32589531e-03 9.99991086e-01 -1.68169401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.811400513 meters Centerline goodness [0,1] 0.8379637618636756 Centerline is valid? [False, False] Translation: X:212.96, Y:11.41, Z:-0.17 [[ 9.99986398e-01 -3.31249322e-04 -5.20516160e-03 2.12956281e+02] [ 3.55735092e-04 9.99988873e-01 4.70391094e-03 1.14102118e+01] [ 5.20354552e-03 -4.70569862e-03 9.99975389e-01 -1.66895959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.841400513 meters Centerline goodness [0,1] 0.8238591722761345 Centerline is valid? [False, False] Translation: X:213.00, Y:11.42, Z:-0.17 [[ 9.99997379e-01 -7.28922240e-04 -2.17063058e-03 2.12995845e+02] [ 7.27691812e-04 9.99999574e-01 -5.67588531e-04 1.14199315e+01] [ 2.17104338e-03 5.66007493e-04 9.99997483e-01 -1.69210815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.871400513 meters Centerline goodness [0,1] 0.8488278092158448 Centerline is valid? [False, False] Translation: X:212.99, Y:11.42, Z:-0.17 [[ 9.99997620e-01 -7.48270122e-04 -2.04947414e-03 2.12994840e+02] [ 7.47057429e-04 9.99999545e-01 -5.92410742e-04 1.14202760e+01] [ 2.04991649e-03 5.90878257e-04 9.99997724e-01 -1.68103499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.901400513 meters Centerline goodness [0,1] 0.8488278092158448 Centerline is valid? [False, False] Translation: X:212.99, Y:11.42, Z:-0.17 [[ 9.99997620e-01 -7.48270122e-04 -2.04947414e-03 2.12994840e+02] [ 7.47057429e-04 9.99999545e-01 -5.92410742e-04 1.14202760e+01] [ 2.04991649e-03 5.90878257e-04 9.99997724e-01 -1.68103499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.931400513 meters Centerline goodness [0,1] 0.8868056438286513 Centerline is valid? [False, False] Translation: X:212.99, Y:11.42, Z:-0.17 [[ 9.99997491e-01 -8.16124343e-04 -2.08594655e-03 2.12994993e+02] [ 8.14592035e-04 9.99999398e-01 -7.35330075e-04 1.14209378e+01] [ 2.08654542e-03 7.33629035e-04 9.99997554e-01 -1.68148834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.961400513 meters Centerline goodness [0,1] 0.8582040730188878 Centerline is valid? [False, False] Translation: X:213.00, Y:11.42, Z:-0.17 [[ 9.99997052e-01 -1.02918081e-03 -2.19910318e-03 2.12995768e+02] [ 1.02654667e-03 9.99998755e-01 -1.19862111e-03 1.14230021e+01] [ 2.20033404e-03 1.19636009e-03 9.99996864e-01 -1.68887063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.99140051300003 meters Centerline goodness [0,1] 0.7560161714689084 Centerline is valid? [False, False] Translation: X:212.96, Y:11.42, Z:-0.17 [[ 9.99980723e-01 -7.15492879e-04 -6.16777953e-03 2.12959279e+02] [ 7.26625103e-04 9.99998111e-01 1.80284786e-03 1.14238030e+01] [ 6.16647796e-03 -1.80729477e-03 9.99979354e-01 -1.71086475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.021400513 meters Centerline goodness [0,1] 0.73084266802444 Centerline is valid? [False, False] Translation: X:212.96, Y:11.43, Z:-0.17 [[ 9.99980577e-01 -1.02914814e-03 -6.14713174e-03 2.12959511e+02] [ 1.03554248e-03 9.99998926e-01 1.03712362e-03 1.14273831e+01] [ 6.14605778e-03 -1.04346909e-03 9.99980568e-01 -1.71706743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.05140051300003 meters Centerline goodness [0,1] 0.7228735558545284 Centerline is valid? [False, False] Translation: X:212.96, Y:11.43, Z:-0.17 [[ 9.99981506e-01 -1.16426599e-03 -5.96934073e-03 2.12958721e+02] [ 1.16831033e-03 9.99999090e-01 6.74075501e-04 1.14292516e+01] [ 5.96855050e-03 -6.81037077e-04 9.99981956e-01 -1.71348167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.081400513 meters Centerline goodness [0,1] 0.6815139086639608 Centerline is valid? [False, False] Translation: X:212.96, Y:11.43, Z:-0.17 [[ 9.99982418e-01 -1.24760261e-03 -5.79712049e-03 2.12957749e+02] [ 1.25028338e-03 9.99999113e-01 4.58830245e-04 1.14304233e+01] [ 5.79654291e-03 -4.66070221e-04 9.99983091e-01 -1.70600984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.111400513 meters Centerline goodness [0,1] 0.9849641850760394 Centerline is valid? [False, True] Translation: X:212.95, Y:11.44, Z:-0.17 [[ 9.99982304e-01 -3.74851427e-03 -4.61948634e-03 2.12949920e+02] [ 3.73768737e-03 9.99990253e-01 -2.35015340e-03 1.14351385e+01] [ 4.62825089e-03 2.33284561e-03 9.99986568e-01 -1.65658718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.141400513 meters Centerline goodness [0,1] 0.8040940619184571 Centerline is valid? [True, False] Translation: X:212.99, Y:11.44, Z:-0.17 [[ 9.99993518e-01 -3.30175706e-03 -1.43606459e-03 2.12989214e+02] [ 3.29370210e-03 9.99979031e-01 -5.57570836e-03 1.14413640e+01] [ 1.45444411e-03 5.57094225e-03 9.99983424e-01 -1.66490065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.171400513 meters Centerline goodness [0,1] 0.8389834122212272 Centerline is valid? [False, False] Translation: X:212.99, Y:11.44, Z:-0.17 [[ 9.99993275e-01 -3.32266179e-03 -1.55251299e-03 2.12989757e+02] [ 3.31395919e-03 9.99978969e-01 -5.57483847e-03 1.14412701e+01] [ 1.57100364e-03 5.56965601e-03 9.99983255e-01 -1.66818823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.201400513 meters Centerline goodness [0,1] 0.893025828688141 Centerline is valid? [False, False] Translation: X:212.99, Y:11.44, Z:-0.17 [[ 9.99997229e-01 -2.78397922e-04 -2.33776616e-03 2.12993795e+02] [ 2.74996312e-04 9.99998903e-01 -1.45526429e-03 1.14372277e+01] [ 2.33816873e-03 1.45461738e-03 9.99996209e-01 -1.67992005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.231400513 meters Centerline goodness [0,1] 0.9363422459893048 Centerline is valid? [False, False] Translation: X:212.99, Y:11.44, Z:-0.17 [[ 9.99997190e-01 -2.87379822e-04 -2.35309271e-03 2.12993618e+02] [ 2.83980192e-04 9.99998916e-01 -1.44495634e-03 1.14372348e+01] [ 2.35350541e-03 1.44428405e-03 9.99996188e-01 -1.67592523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.261400513 meters Centerline goodness [0,1] 0.8477870497517693 Centerline is valid? [False, False] Translation: X:213.01, Y:11.43, Z:-0.16 [[ 9.99996532e-01 -1.84029056e-04 -2.62715038e-03 2.13011659e+02] [ 2.07731776e-04 9.99959254e-01 9.02479672e-03 1.14319161e+01] [ 2.62538251e-03 -9.02531116e-03 9.99955825e-01 -1.61574626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.291400513 meters Centerline goodness [0,1] 0.9439930044575255 Centerline is valid? [False, False] Translation: X:213.01, Y:11.44, Z:-0.16 [[ 9.99990097e-01 -3.89467166e-03 -2.15346860e-03 2.13009983e+02] [ 3.90212340e-03 9.99986376e-01 3.46703388e-03 1.14409363e+01] [ 2.13993630e-03 -3.47540265e-03 9.99991671e-01 -1.62508717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.321400513 meters Centerline goodness [0,1] 0.8671724342537456 Centerline is valid? [False, False] Translation: X:213.01, Y:11.44, Z:-0.16 [[ 9.99989602e-01 -4.08259294e-03 -2.03201680e-03 2.13009667e+02] [ 4.08842190e-03 9.99987516e-01 2.87271528e-03 1.14438565e+01] [ 2.02026331e-03 -2.88099315e-03 9.99993809e-01 -1.62701402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.351400513 meters Centerline goodness [0,1] 0.8516524282958472 Centerline is valid? [False, False] Translation: X:213.01, Y:11.45, Z:-0.16 [[ 9.99988887e-01 -4.33189388e-03 -1.86017527e-03 2.13009304e+02] [ 4.33576128e-03 9.99988437e-01 2.08007764e-03 1.14477264e+01] [ 1.85114309e-03 -2.08811980e-03 9.99996107e-01 -1.63132626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.381400513 meters Centerline goodness [0,1] 0.9314295522324014 Centerline is valid? [False, False] Translation: X:212.99, Y:11.46, Z:-0.17 [[ 9.99998191e-01 -1.87792393e-03 -3.02652037e-04 2.12993083e+02] [ 1.87628214e-03 9.99984000e-01 -5.33662949e-03 1.14552455e+01] [ 3.12668979e-04 5.33605198e-03 9.99985714e-01 -1.71378954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.411400513 meters Centerline goodness [0,1] 0.7505351730569509 Centerline is valid? [False, False] Translation: X:212.99, Y:11.45, Z:-0.17 [[ 9.99996833e-01 2.40897302e-03 -7.27943867e-04 2.12994512e+02] [-2.40956895e-03 9.99996762e-01 -8.18887212e-04 1.14541072e+01] [ 7.25968832e-04 8.20638650e-04 9.99999400e-01 -1.71382256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.441400513 meters Centerline goodness [0,1] 0.7519776541077635 Centerline is valid? [False, False] Translation: X:212.99, Y:11.46, Z:-0.17 [[ 9.99993793e-01 3.49889391e-03 -4.14933509e-04 2.12991625e+02] [-3.49915039e-03 9.99993686e-01 -6.19010311e-04 1.14603937e+01] [ 4.12765037e-04 6.20458384e-04 9.99999722e-01 -1.70039992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.471400513 meters Centerline goodness [0,1] 0.7638346284291417 Centerline is valid? [False, False] Translation: X:212.99, Y:11.46, Z:-0.17 [[ 9.99994857e-01 3.18860745e-03 -3.44516996e-04 2.12991578e+02] [-3.18907150e-03 9.99993997e-01 -1.35492546e-03 1.14638468e+01] [ 3.40194602e-04 1.35601718e-03 9.99999023e-01 -1.70393063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.501400513 meters Centerline goodness [0,1] 0.5578471145472697 Centerline is valid? [False, False] Translation: X:212.99, Y:11.46, Z:-0.17 [[ 9.99973208e-01 7.29106891e-03 -6.50806082e-04 2.12991925e+02] [-7.28870640e-03 9.99967095e-01 3.56153662e-03 1.14603458e+01] [ 6.76752076e-04 -3.55669767e-03 9.99993446e-01 -1.68749185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.531400513 meters Centerline goodness [0,1] 0.727654876650673 Centerline is valid? [False, False] Translation: X:212.99, Y:11.47, Z:-0.17 [[ 9.99976375e-01 6.87077592e-03 -2.05580191e-04 2.12989906e+02] [-6.87022789e-03 9.99973130e-01 2.55726188e-03 1.14653741e+01] [ 2.23145040e-04 -2.55578908e-03 9.99996709e-01 -1.67749536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.561400513 meters Centerline goodness [0,1] 0.5953979518123487 Centerline is valid? [False, False] Translation: X:212.99, Y:11.47, Z:-0.17 [[ 9.99978156e-01 6.60870243e-03 -1.08371418e-04 2.12989680e+02] [-6.60847834e-03 9.99976259e-01 1.95202721e-03 1.14682380e+01] [ 1.21269212e-04 -1.95126840e-03 9.99998089e-01 -1.67949896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.591400513 meters Centerline goodness [0,1] 0.47172486772486777 Centerline is valid? [False, False] Translation: X:212.99, Y:11.47, Z:-0.17 [[ 9.99980284e-01 6.27837001e-03 -1.18738596e-04 2.12990062e+02] [-6.27822556e-03 9.99979595e-01 1.18009507e-03 1.14718264e+01] [ 1.26145246e-04 -1.17932634e-03 9.99999297e-01 -1.68606469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.621400513 meters Centerline goodness [0,1] 0.4895514130064692 Centerline is valid? [False, False] Translation: X:212.99, Y:11.48, Z:-0.17 [[ 9.99983948e-01 5.66378169e-03 1.57163877e-04 2.12989905e+02] [-5.66367102e-03 9.99983719e-01 -6.95869027e-04 1.14808102e+01] [-1.61102569e-04 6.94967732e-04 9.99999746e-01 -1.70117487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.651400513 meters Centerline goodness [0,1] 0.3814575156465472 Centerline is valid? [False, False] Translation: X:212.99, Y:11.49, Z:-0.17 [[ 9.99985995e-01 5.28729785e-03 2.32003097e-04 2.12989832e+02] [-5.28690938e-03 9.99984672e-01 -1.64423684e-03 1.14853140e+01] [-2.40693111e-04 1.64298723e-03 9.99998621e-01 -1.70463458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.681400513 meters Centerline goodness [0,1] 0.4832335456026403 Centerline is valid? [False, False] Translation: X:212.99, Y:11.49, Z:-0.17 [[ 9.99987708e-01 4.95481725e-03 1.83461781e-04 2.12990136e+02] [-4.95435302e-03 9.99984726e-01 -2.44986004e-03 1.14891046e+01] [-1.95597588e-04 2.44892100e-03 9.99996982e-01 -1.70753961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.711400513 meters Centerline goodness [0,1] 0.38655586568552824 Centerline is valid? [False, False] Translation: X:212.99, Y:11.49, Z:-0.17 [[ 9.99989354e-01 4.61231809e-03 1.37874136e-04 2.12990618e+02] [-4.61185025e-03 9.99984181e-01 -3.22014758e-03 1.14926468e+01] [-1.52724300e-04 3.21947744e-03 9.99994806e-01 -1.71391258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.74140051300003 meters Centerline goodness [0,1] 0.5593220338983051 Centerline is valid? [False, False] Translation: X:212.99, Y:11.50, Z:-0.17 [[ 9.99990961e-01 4.25048043e-03 1.07685201e-04 2.12991210e+02] [-4.25001077e-03 9.99982809e-01 -4.03963501e-03 1.14964070e+01] [-1.24853739e-04 4.03914083e-03 9.99991835e-01 -1.72314291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.771400513 meters Centerline goodness [0,1] 0.42714592046877986 Centerline is valid? [False, False] Translation: X:212.99, Y:11.50, Z:-0.17 [[ 9.99993507e-01 3.59900845e-03 1.82238901e-04 2.12991293e+02] [-3.59795337e-03 9.99978446e-01 -5.49207638e-03 1.15032170e+01] [-2.02001002e-04 5.49138504e-03 9.99984902e-01 -1.72976412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.80140051300003 meters Centerline goodness [0,1] 0.4686862244897959 Centerline is valid? [False, False] Translation: X:212.99, Y:11.50, Z:-0.17 [[ 9.99994037e-01 3.44448885e-03 2.47105240e-04 2.12990711e+02] [-3.44299008e-03 9.99977084e-01 -5.82897682e-03 1.15049106e+01] [-2.67177423e-04 5.82809128e-03 9.99982981e-01 -1.72303337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.831400513 meters Centerline goodness [0,1] 0.5245464924521122 Centerline is valid? [False, False] Translation: X:212.99, Y:11.51, Z:-0.17 [[ 9.99995840e-01 2.88389268e-03 -5.01191142e-05 2.12991337e+02] [-2.88415466e-03 9.99975304e-01 -6.40881243e-03 1.15072235e+01] [ 3.16355493e-05 6.40893032e-03 9.99979462e-01 -1.71624344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.861400513 meters Centerline goodness [0,1] 0.601794046832719 Centerline is valid? [False, False] Translation: X:212.97, Y:11.50, Z:-0.17 [[ 9.99996525e-01 -2.31096557e-03 -1.26824328e-03 2.12973281e+02] [ 2.31281039e-03 9.99996267e-01 1.45509324e-03 1.15035148e+01] [ 1.26487587e-03 -1.45802139e-03 9.99998137e-01 -1.72989092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.891400513 meters Centerline goodness [0,1] 0.7494595396549532 Centerline is valid? [False, False] Translation: X:212.97, Y:11.50, Z:-0.17 [[ 9.99995813e-01 -2.44847841e-03 -1.54236003e-03 2.12973939e+02] [ 2.45104617e-03 9.99995610e-01 1.66514076e-03 1.15022039e+01] [ 1.53827620e-03 -1.66891419e-03 9.99997424e-01 -1.72452906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.921400513 meters Centerline goodness [0,1] 0.8221691937323141 Centerline is valid? [False, False] Translation: X:212.97, Y:11.50, Z:-0.17 [[ 9.99995256e-01 -2.51374619e-03 -1.78020580e-03 2.12974368e+02] [ 2.51738873e-03 9.99994737e-01 2.04685922e-03 1.15001123e+01] [ 1.77505114e-03 -2.05133098e-03 9.99996321e-01 -1.71731617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.951400513 meters Centerline goodness [0,1] 0.9957410742663417 Centerline is valid? [False, True] Translation: X:212.97, Y:11.50, Z:-0.17 [[ 9.99993261e-01 -3.15236043e-03 -1.88184255e-03 2.12974330e+02] [ 3.15668413e-03 9.99992375e-01 2.29905592e-03 1.14977345e+01] [ 1.87458074e-03 -2.30498080e-03 9.99995586e-01 -1.70594575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.981400513 meters Centerline goodness [0,1] 0.9971920348101944 Centerline is valid? [True, True] Translation: X:213.00, Y:11.50, Z:-0.17 [[ 9.99981604e-01 -5.71292415e-03 -2.03839964e-03 2.13004171e+02] [ 5.71263688e-03 9.99983672e-01 -1.46723065e-04 1.15005953e+01] [ 2.03920457e-03 1.35075729e-04 9.99997912e-01 -1.71613812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.011400513 meters Centerline goodness [0,1] 0.9851531546883654 Centerline is valid? [True, True] Translation: X:213.03, Y:11.51, Z:-0.17 [[ 9.99969662e-01 -7.30039535e-03 -2.71654009e-03 2.13032778e+02] [ 7.29989088e-03 9.99973336e-01 -1.95570820e-04 1.15083495e+01] [ 2.71789540e-03 1.75734440e-04 9.99996291e-01 -1.72855600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.041400513 meters Centerline goodness [0,1] 0.9980002552865591 Centerline is valid? [True, True] Translation: X:213.06, Y:11.50, Z:-0.17 [[ 9.99962571e-01 -7.94991311e-03 -3.41409319e-03 2.13062494e+02] [ 7.94911895e-03 9.99968375e-01 -2.46121257e-04 1.15035254e+01] [ 3.41594186e-03 2.18973012e-04 9.99994142e-01 -1.74099009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.071400513 meters Centerline goodness [0,1] 0.9938389035410091 Centerline is valid? [True, True] Translation: X:213.09, Y:11.51, Z:-0.18 [[ 9.99965950e-01 -6.53797530e-03 -5.03522512e-03 2.13091799e+02] [ 6.53622811e-03 9.99978573e-01 -3.63371200e-04 1.15090478e+01] [ 5.03749294e-03 3.30447447e-04 9.99987257e-01 -1.75810213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.101400513 meters Centerline goodness [0,1] 0.997087544971732 Centerline is valid? [True, True] Translation: X:213.12, Y:11.51, Z:-0.18 [[ 9.99971867e-01 -5.28343455e-03 -5.32443435e-03 2.13121236e+02] [ 5.28146253e-03 9.99985979e-01 -3.84365285e-04 1.15105365e+01] [ 5.32639047e-03 3.56233672e-04 9.99985751e-01 -1.75766503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.131400513 meters Centerline goodness [0,1] 0.9950661775747045 Centerline is valid? [True, True] Translation: X:213.15, Y:11.52, Z:-0.18 [[ 9.99973737e-01 -4.45687123e-03 -5.71503343e-03 2.13149048e+02] [ 4.45458449e-03 9.99989993e-01 -4.12792927e-04 1.15164982e+01] [ 5.71681600e-03 3.87323987e-04 9.99983584e-01 -1.75917548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.161400513 meters Centerline goodness [0,1] 0.9867613405479393 Centerline is valid? [True, True] Translation: X:213.18, Y:11.53, Z:-0.18 [[ 9.99973670e-01 -5.22506792e-03 -5.03575318e-03 2.13176431e+02] [ 5.22330048e-03 9.99986292e-01 -3.64067254e-04 1.15267609e+01] [ 5.03758642e-03 3.37754416e-04 9.99987254e-01 -1.75610104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.191400513 meters Centerline goodness [0,1] 0.9976055396164549 Centerline is valid? [True, True] Translation: X:213.21, Y:11.53, Z:-0.18 [[ 9.99965967e-01 -6.56926029e-03 -4.99096491e-03 2.13206431e+02] [ 6.56753987e-03 9.99978368e-01 -3.61018518e-04 1.15257437e+01] [ 4.99322858e-03 3.28227871e-04 9.99987480e-01 -1.75657351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.221400513 meters Centerline goodness [0,1] 0.9961666240736008 Centerline is valid? [True, True] Translation: X:213.23, Y:11.53, Z:-0.18 [[ 9.99955567e-01 -8.20431240e-03 -4.64256934e-03 2.13234540e+02] [ 8.20284069e-03 9.99966300e-01 -3.35956626e-04 1.15320867e+01] [ 4.64516918e-03 2.97859442e-04 9.99989167e-01 -1.75694234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.251400513 meters Centerline goodness [0,1] 0.9986188143384337 Centerline is valid? [True, True] Translation: X:213.26, Y:11.53, Z:-0.18 [[ 9.99941246e-01 -9.93884149e-03 -4.32720015e-03 2.13264502e+02] [ 9.93757878e-03 9.99950572e-01 -3.13212261e-04 1.15316392e+01] [ 4.33009923e-03 2.70191966e-04 9.99990589e-01 -1.75021120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.281400513 meters Centerline goodness [0,1] 0.9996574902598793 Centerline is valid? [True, True] Translation: X:213.29, Y:11.53, Z:-0.17 [[ 9.99892804e-01 -1.42643835e-02 -3.30271429e-03 2.13294639e+02] [ 1.42636713e-02 9.99898240e-01 -2.39108357e-04 1.15284722e+01] [ 3.30578894e-03 1.91973895e-04 9.99994517e-01 -1.72504857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.311400513 meters Centerline goodness [0,1] 0.9980689181650432 Centerline is valid? [True, True] Translation: X:213.32, Y:11.54, Z:-0.17 [[ 9.99850105e-01 -1.69540947e-02 -3.51078905e-03 2.13323442e+02] [ 1.69533062e-02 9.99856250e-01 -2.54237627e-04 1.15420583e+01] [ 3.51459474e-03 1.94680036e-04 9.99993805e-01 -1.72790469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.341400513 meters Centerline goodness [0,1] 0.99929934818149 Centerline is valid? [True, True] Translation: X:213.35, Y:11.54, Z:-0.17 [[ 9.99799568e-01 -1.96583566e-02 -3.79112335e-03 2.13354103e+02] [ 1.96574564e-02 9.99806736e-01 -2.74576807e-04 1.15374703e+01] [ 3.79578839e-03 1.99997931e-04 9.99992776e-01 -1.72907946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.371400513 meters Centerline goodness [0,1] 0.9993575466849409 Centerline is valid? [True, True] Translation: X:213.38, Y:11.55, Z:-0.17 [[ 9.99745868e-01 -2.21535709e-02 -4.17369109e-03 2.13383109e+02] [ 2.21525012e-02 9.99754558e-01 -3.02355169e-04 1.15450468e+01] [ 4.17936494e-03 2.09820634e-04 9.99991244e-01 -1.73818748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.401400513 meters Centerline goodness [0,1] 0.9994460660033662 Centerline is valid? [True, True] Translation: X:213.41, Y:11.55, Z:-0.17 [[ 9.99674173e-01 -2.52244475e-02 -3.90825869e-03 2.13411948e+02] [ 2.52235327e-02 9.99681796e-01 -2.83189746e-04 1.15510304e+01] [ 3.91415837e-03 1.84517384e-04 9.99992323e-01 -1.72941218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.431400513 meters Centerline goodness [0,1] 0.999829030603522 Centerline is valid? [True, True] Translation: X:213.44, Y:11.54, Z:-0.17 [[ 9.99644181e-01 -2.64483881e-02 -3.46330969e-03 2.13441265e+02] [ 2.64476767e-02 9.99650167e-01 -2.51061636e-04 1.15439646e+01] [ 3.46873829e-03 1.59375809e-04 9.99993971e-01 -1.71598090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.461400513 meters Centerline goodness [0,1] 0.9999350944375933 Centerline is valid? [True, True] Translation: X:213.47, Y:11.55, Z:-0.17 [[ 9.99599366e-01 -2.81740828e-02 -2.70713734e-03 2.13470606e+02] [ 2.81736542e-02 9.99603025e-01 -1.96327047e-04 1.15455824e+01] [ 2.71159400e-03 1.19978440e-04 9.99996316e-01 -1.70220565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.49140051300003 meters Centerline goodness [0,1] 0.9998716577540107 Centerline is valid? [True, True] Translation: X:213.50, Y:11.55, Z:-0.17 [[ 9.99419692e-01 -3.40500589e-02 -9.34541206e-04 2.13499695e+02] [ 3.40500104e-02 9.99420128e-01 -6.77776514e-05 1.15487984e+01] [ 9.36307124e-04 3.59171817e-05 9.99999561e-01 -1.66923277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.521400513 meters Centerline goodness [0,1] 0.9998717647310266 Centerline is valid? [True, True] Translation: X:213.53, Y:11.55, Z:-0.17 [[ 9.99288591e-01 -3.77125578e-02 -2.73180097e-04 2.13528632e+02] [ 3.77125538e-02 9.99288628e-01 -1.97943219e-05 1.15527346e+01] [ 2.73732259e-04 9.47792095e-06 9.99999962e-01 -1.65666997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.55140051300003 meters Centerline goodness [0,1] 0.9999575118966689 Centerline is valid? [True, True] Translation: X:213.56, Y:11.55, Z:-0.17 [[ 9.99139323e-01 -4.14802552e-02 3.10061511e-05 2.13559329e+02] [ 4.14802551e-02 9.99139324e-01 2.28537281e-06 1.15477916e+01] [-3.10742627e-05 -9.97262789e-07 1.00000000e+00 -1.65318305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.581400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.59, Y:11.54, Z:-0.16 [[ 9.98837309e-01 -4.81967827e-02 1.04907170e-03 2.13590120e+02] [ 4.81967293e-02 9.98837859e-01 7.61862717e-05 1.15420594e+01] [-1.05152447e-03 -2.55358657e-05 9.99999447e-01 -1.64120736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.611400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.62, Y:11.54, Z:-0.16 [[ 9.98695177e-01 -5.10475570e-02 1.44593214e-03 2.13618973e+02] [ 5.10474583e-02 9.98696223e-01 1.05123149e-04 1.15409826e+01] [-1.44941325e-03 -3.11748213e-05 9.99998949e-01 -1.63456137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.641400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.65, Y:11.54, Z:-0.16 [[ 9.98569563e-01 -5.34502295e-02 1.37878755e-03 2.13647188e+02] [ 5.34501415e-02 9.98570514e-01 1.00635476e-04 1.15427971e+01] [-1.38219558e-03 -2.67951340e-05 9.99999044e-01 -1.62885977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.671400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.68, Y:11.54, Z:-0.16 [[ 9.98458983e-01 -5.54922775e-02 5.15903744e-04 2.13676292e+02] [ 5.54922653e-02 9.98459116e-01 3.78913741e-05 1.15411918e+01] [-5.17211475e-04 -9.20431537e-06 9.99999866e-01 -1.64291947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.701400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.70, Y:11.54, Z:-0.17 [[ 9.98278286e-01 -5.85996244e-02 -2.55872258e-03 2.13704306e+02] [ 5.85993379e-02 9.98281565e-01 -1.86860311e-04 1.15427042e+01] [ 2.56527552e-03 3.65991422e-05 9.99996709e-01 -1.68536798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.731400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.73, Y:11.54, Z:-0.17 [[ 9.98214476e-01 -5.96370269e-02 -3.35918221e-03 2.13732754e+02] [ 5.96365374e-02 9.98220128e-01 -2.45794278e-04 1.15446849e+01] [ 3.36786173e-03 4.50254109e-05 9.99994328e-01 -1.69895392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.761400513 meters Centerline goodness [0,1] 0.9999350817969359 Centerline is valid? [True, True] Translation: X:213.76, Y:11.55, Z:-0.17 [[ 9.98155633e-01 -6.06049232e-02 -3.51777989e-03 2.13761349e+02] [ 6.06043903e-02 9.98161831e-01 -2.57990673e-04 1.15457796e+01] [ 3.52694912e-03 4.43219382e-05 9.99993779e-01 -1.70097088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.791400513 meters Centerline goodness [0,1] 0.9999350817969359 Centerline is valid? [True, True] Translation: X:213.79, Y:11.55, Z:-0.17 [[ 9.98144076e-01 -6.07949690e-02 -3.51773314e-03 2.13788801e+02] [ 6.07944350e-02 9.98150274e-01 -2.58627119e-04 1.15479490e+01] [ 3.52694952e-03 4.42885279e-05 9.99993779e-01 -1.70058393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.821400513 meters Centerline goodness [0,1] 0.9999785167998625 Centerline is valid? [True, True] Translation: X:213.82, Y:11.55, Z:-0.17 [[ 9.98107717e-01 -6.14271983e-02 -2.77195026e-03 2.13816643e+02] [ 6.14268683e-02 9.98111566e-01 -2.04089509e-04 1.15513186e+01] [ 2.77925227e-03 3.34310898e-05 9.99996137e-01 -1.69051131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.851400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.84, Y:11.56, Z:-0.17 [[ 9.98070293e-01 -6.20890729e-02 -7.98484436e-04 2.13843875e+02] [ 6.20890458e-02 9.98070612e-01 -5.87025450e-05 1.15562726e+01] [ 8.00588637e-04 9.01212953e-06 9.99999679e-01 -1.66291393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.881400513 meters Centerline goodness [0,1] 0.99987085943049 Centerline is valid? [True, True] Translation: X:213.87, Y:11.56, Z:-0.17 [[ 9.98074339e-01 -6.20197986e-02 -1.07617226e-03 2.13871713e+02] [ 6.20197490e-02 9.98074919e-01 -7.94018311e-05 1.15600082e+01] [ 1.07902503e-03 1.25049967e-05 9.99999418e-01 -1.66567921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.911400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.90, Y:11.57, Z:-0.17 [[ 9.98161279e-01 -6.05727688e-02 -2.23627838e-03 2.13898716e+02] [ 6.05725498e-02 9.98163784e-01 -1.65610952e-04 1.15719363e+01] [ 2.24220360e-03 2.98493563e-05 9.99997486e-01 -1.68595551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.941400513 meters Centerline goodness [0,1] 0.9999784306112764 Centerline is valid? [True, True] Translation: X:213.93, Y:11.58, Z:-0.17 [[ 9.98174187e-01 -6.03175688e-02 -3.17545776e-03 2.13927414e+02] [ 6.03171246e-02 9.98179237e-01 -2.35577560e-04 1.15766898e+01] [ 3.18388547e-03 4.36129583e-05 9.99994930e-01 -1.69916868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.971400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.95, Y:11.58, Z:-0.17 [[ 9.98203352e-01 -5.98166786e-02 -3.46891551e-03 2.13954316e+02] [ 5.98161440e-02 9.98209378e-01 -2.57749393e-04 1.15840155e+01] [ 3.47812171e-03 4.97891586e-05 9.99993950e-01 -1.70316867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.001400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.98, Y:11.59, Z:-0.17 [[ 9.98224991e-01 -5.94533017e-02 -3.48882414e-03 2.13982823e+02] [ 5.94527572e-02 9.98231087e-01 -2.59672907e-04 1.15890197e+01] [ 3.49809113e-03 5.17917706e-05 9.99993880e-01 -1.70214580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.031400513 meters Centerline goodness [0,1] 0.999978315552086 Centerline is valid? [True, True] Translation: X:214.01, Y:11.59, Z:-0.17 [[ 9.98220658e-01 -5.95181372e-02 -3.62073839e-03 2.14010088e+02] [ 5.95175487e-02 9.98227223e-01 -2.70162384e-04 1.15945059e+01] [ 3.63039919e-03 5.41841987e-05 9.99993409e-01 -1.70138350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.061400513 meters Centerline goodness [0,1] 0.9998489719303545 Centerline is valid? [True, True] Translation: X:214.04, Y:11.60, Z:-0.17 [[ 9.98180604e-01 -6.01090426e-02 -4.73119250e-03 2.14037083e+02] [ 6.01080418e-02 9.98191814e-01 -3.53576212e-04 1.16039035e+01] [ 4.74389075e-03 6.85502008e-05 9.99988745e-01 -1.72166835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.091400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.07, Y:11.61, Z:-0.17 [[ 9.98121333e-01 -6.10376309e-02 -5.31147357e-03 2.14065938e+02] [ 6.10363787e-02 9.98135463e-01 -3.97687048e-04 1.16064805e+01] [ 5.32584401e-03 7.27468141e-05 9.99985815e-01 -1.73111633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.121400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.09, Y:11.61, Z:-0.17 [[ 9.98023211e-01 -6.26115258e-02 -5.42836556e-03 2.14093883e+02] [ 6.26102386e-02 9.98037971e-01 -4.06914928e-04 1.16101063e+01] [ 5.44319251e-03 6.62392807e-05 9.99985184e-01 -1.73593092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.151400513 meters Centerline goodness [0,1] 0.9998701832579675 Centerline is valid? [True, True] Translation: X:214.12, Y:11.61, Z:-0.17 [[ 9.97853493e-01 -6.53497228e-02 -4.22149361e-03 2.14122790e+02] [ 6.53489665e-02 9.97862421e-01 -3.16990321e-04 1.16125011e+01] [ 4.23318507e-03 4.04396546e-05 9.99991039e-01 -1.70542899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.181400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.15, Y:11.62, Z:-0.17 [[ 9.97851352e-01 -6.54378007e-02 -3.25159599e-03 2.14149943e+02] [ 6.54373514e-02 9.97856650e-01 -2.44501576e-04 1.16173957e+01] [ 3.26062633e-03 3.12003987e-05 9.99994684e-01 -1.69769577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.211400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.18, Y:11.62, Z:-0.17 [[ 9.97874372e-01 -6.51091882e-02 -2.74439198e-03 2.14177750e+02] [ 6.51088664e-02 9.97878145e-01 -2.06542965e-04 1.16237370e+01] [ 2.75201662e-03 2.74196812e-05 9.99996213e-01 -1.69352593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.24140051300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.21, Y:11.63, Z:-0.17 [[ 9.97878572e-01 -6.50557965e-02 -2.46952548e-03 2.14205366e+02] [ 6.50555350e-02 9.97881628e-01 -1.86133293e-04 1.16276097e+01] [ 2.47640316e-03 2.50821233e-05 9.99996933e-01 -1.69025383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.271400513 meters Centerline goodness [0,1] 0.9999357849222997 Centerline is valid? [True, True] Translation: X:214.23, Y:11.63, Z:-0.17 [[ 9.97797934e-01 -6.62800463e-02 -2.49762351e-03 2.14234170e+02] [ 6.62797815e-02 9.97801060e-01 -1.88702777e-04 1.16322452e+01] [ 2.50463861e-03 2.27453007e-05 9.99996863e-01 -1.69557907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.30140051300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.26, Y:11.63, Z:-0.17 [[ 9.97736169e-01 -6.71982913e-02 -2.63198083e-03 2.14262121e+02] [ 6.71979996e-02 9.97739640e-01 -1.99211971e-04 1.16345046e+01] [ 2.63941831e-03 2.18971418e-05 9.99996516e-01 -1.69820562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.331400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.29, Y:11.63, Z:-0.17 [[ 9.97652351e-01 -6.84049559e-02 -3.24786020e-03 2.14290453e+02] [ 6.84045164e-02 9.97657637e-01 -2.46338015e-04 1.16344114e+01] [ 3.25710328e-03 2.35913932e-05 9.99994695e-01 -1.70103617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.361400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.32, Y:11.63, Z:-0.17 [[ 9.97389102e-01 -7.21473455e-02 -3.12072746e-03 2.14319340e+02] [ 7.21469564e-02 9.97393985e-01 -2.37245661e-04 1.16302788e+01] [ 3.12971144e-03 1.14752485e-05 9.99995102e-01 -1.69393604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.391400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.35, Y:11.63, Z:-0.17 [[ 9.97174864e-01 -7.50768963e-02 -2.39806942e-03 2.14346945e+02] [ 7.50766744e-02 9.97177747e-01 -1.82549511e-04 1.16285146e+01] [ 2.40500671e-03 1.99470735e-06 9.99997108e-01 -1.67991906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.421400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.38, Y:11.63, Z:-0.17 [[ 9.96901892e-01 -7.86384304e-02 -1.61720257e-03 2.14375544e+02] [ 7.86383340e-02 9.96903204e-01 -1.23205466e-04 1.16263868e+01] [ 1.62188310e-03 -4.35035346e-06 9.99998685e-01 -1.67087379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.451400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.40, Y:11.62, Z:-0.17 [[ 9.96415198e-01 -8.45839607e-02 -1.51871355e-03 2.14404460e+02] [ 8.45838822e-02 9.96416355e-01 -1.15968379e-04 1.16210394e+01] [ 1.52308009e-03 -1.29060330e-05 9.99998840e-01 -1.66809379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.481400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.43, Y:11.62, Z:-0.17 [[ 9.96219547e-01 -8.68514285e-02 -1.85573881e-03 2.14432166e+02] [ 8.68513148e-02 9.96221275e-01 -1.41934807e-04 1.16204425e+01] [ 1.86105372e-03 -1.97751268e-05 9.99998268e-01 -1.67385488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.511400513 meters Centerline goodness [0,1] 0.9998705501618123 Centerline is valid? [True, True] Translation: X:214.46, Y:11.62, Z:-0.17 [[ 9.96072878e-01 -8.85017515e-02 -2.50230752e-03 2.14460289e+02] [ 8.85015490e-02 9.96076021e-01 -1.91770945e-04 1.16210829e+01] [ 2.50946058e-03 -3.04402549e-05 9.99996851e-01 -1.68595353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.541400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.49, Y:11.62, Z:-0.17 [[ 9.96001129e-01 -8.93119490e-02 -2.26436701e-03 2.14488003e+02] [ 8.93117850e-02 9.96003702e-01 -1.73661641e-04 1.16217368e+01] [ 2.27082799e-03 -2.92674690e-05 9.99997421e-01 -1.68238180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.571400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.52, Y:11.63, Z:-0.17 [[ 9.95915182e-01 -9.02666527e-02 -2.20930707e-03 2.14515988e+02] [ 9.02664984e-02 9.95917632e-01 -1.69656182e-04 1.16281132e+01] [ 2.21560216e-03 -3.04632450e-05 9.99997545e-01 -1.66801433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.601400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.54, Y:11.63, Z:-0.17 [[ 9.95901303e-01 -9.04138296e-02 -2.43606280e-03 2.14543022e+02] [ 9.04136416e-02 9.95904282e-01 -1.87419429e-04 1.16304680e+01] [ 2.44303068e-03 -3.36020556e-05 9.99997015e-01 -1.66854896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.631400513 meters Centerline goodness [0,1] 0.9999785421539386 Centerline is valid? [True, True] Translation: X:214.57, Y:11.64, Z:-0.17 [[ 9.95839321e-01 -9.10804127e-02 -2.89926785e-03 2.14571509e+02] [ 9.10801481e-02 9.95843540e-01 -2.23451854e-04 1.16357521e+01] [ 2.90756924e-03 -4.15436026e-05 9.99995772e-01 -1.67213821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.661400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.60, Y:11.65, Z:-0.16 [[ 9.95773145e-01 -9.18381988e-02 -1.26083092e-03 2.14600200e+02] [ 9.18381493e-02 9.95773943e-01 -9.72540089e-05 1.16450201e+01] [ 1.26443421e-03 -1.89494481e-05 9.99999200e-01 -1.64787885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.691400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.63, Y:11.65, Z:-0.16 [[ 9.95737880e-01 -9.22264310e-02 -5.99218211e-04 2.14627828e+02] [ 9.22264199e-02 9.95738061e-01 -4.62854617e-05 1.16502026e+01] [ 6.00933122e-04 -9.17556285e-06 9.99999819e-01 -1.63577593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.721400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.66, Y:11.66, Z:-0.16 [[ 9.95697402e-01 -9.26609222e-02 -7.98367903e-04 2.14655617e+02] [ 9.26609025e-02 9.95697722e-01 -6.16612646e-05 1.16592429e+01] [ 8.00646692e-04 -1.25815295e-05 9.99999679e-01 -1.64007216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.751400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.68, Y:11.67, Z:-0.17 [[ 9.95588993e-01 -9.38061683e-02 -1.72067073e-03 2.14683382e+02] [ 9.38060775e-02 9.95590479e-01 -1.33524448e-04 1.16654341e+01] [ 1.72560881e-03 -2.84739008e-05 9.99998511e-01 -1.65269685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.781400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.71, Y:11.67, Z:-0.16 [[ 9.95545353e-01 -9.42750218e-02 -1.29245638e-03 2.14710653e+02] [ 9.42749709e-02 9.95546192e-01 -1.00371085e-04 1.16738124e+01] [ 1.29616252e-03 -2.19223202e-05 9.99999160e-01 -1.64668291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.811400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.74, Y:11.68, Z:-0.16 [[ 9.95548200e-01 -9.42526428e-02 -4.70750955e-04 2.14737316e+02] [ 9.42526361e-02 9.95548311e-01 -3.65783139e-05 1.16809973e+01] [ 4.72102921e-04 -7.95404396e-06 9.99999889e-01 -1.63508814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.841400513 meters Centerline goodness [0,1] 0.9998061180525636 Centerline is valid? [True, True] Translation: X:214.76, Y:11.69, Z:-0.16 [[ 9.95823723e-01 -9.12966658e-02 1.76236591e-04 2.14761181e+02] [ 9.12909254e-02 9.95779365e-01 9.45639775e-03 1.16864432e+01] [-1.03883035e-03 -9.40081641e-03 9.99955272e-01 -1.63961353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.871400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.79, Y:11.71, Z:-0.17 [[ 9.95764462e-01 -9.19027721e-02 -2.64893639e-03 2.14791883e+02] [ 9.18750615e-02 9.95728369e-01 -9.16451301e-03 1.17105109e+01] [ 3.47986526e-03 8.88232517e-03 9.99954496e-01 -1.70349694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.901400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.82, Y:11.71, Z:-0.17 [[ 9.95844114e-01 -9.09066852e-02 -5.52047548e-03 2.14820223e+02] [ 9.09056928e-02 9.95859412e-01 -4.30933785e-04 1.17102792e+01] [ 5.53679223e-03 -7.26997757e-05 9.99984669e-01 -1.72822089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.931400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.85, Y:11.72, Z:-0.17 [[ 9.95958018e-01 -8.95699618e-02 -6.69690543e-03 2.14848515e+02] [ 8.95684641e-02 9.95980530e-01 -5.23820900e-04 1.17204491e+01] [ 6.71690604e-03 -7.81279082e-05 9.99977438e-01 -1.74763539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.961400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.88, Y:11.74, Z:-0.17 [[ 9.96386842e-01 -8.47685307e-02 -5.24955324e-03 2.14876240e+02] [ 8.47675394e-02 9.96400670e-01 -4.11449487e-04 1.17381573e+01] [ 5.26553633e-03 -3.50288560e-05 9.99986136e-01 -1.71673496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.99140051300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.90, Y:11.75, Z:-0.17 [[ 9.96611144e-01 -8.21369464e-02 -4.44413446e-03 2.14904018e+02] [ 8.21362065e-02 9.96621052e-01 -3.49049079e-04 1.17465626e+01] [ 4.45778778e-03 -1.71581433e-05 9.99990064e-01 -1.70438692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.021400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.93, Y:11.75, Z:-0.17 [[ 9.96804582e-01 -7.97675994e-02 -4.21372466e-03 2.14931145e+02] [ 7.97669111e-02 9.96813488e-01 -3.31424141e-04 1.17547679e+01] [ 4.22673449e-03 -5.75069807e-06 9.99991067e-01 -1.70473685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.05140051300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.96, Y:11.77, Z:-0.17 [[ 9.97112098e-01 -7.58205272e-02 -4.32570845e-03 2.14957860e+02] [ 7.58197616e-02 9.97121481e-01 -3.40929155e-04 1.17700074e+01] [ 4.33910624e-03 1.19704011e-05 9.99990586e-01 -1.71537784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.081400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.98, Y:11.78, Z:-0.17 [[ 9.97262370e-01 -7.37945956e-02 -4.70353547e-03 2.14984621e+02] [ 7.37936656e-02 9.97273462e-01 -3.71200553e-04 1.17781622e+01] [ 4.71810369e-03 2.30932194e-05 9.99988869e-01 -1.72326106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.111400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.01, Y:11.79, Z:-0.17 [[ 9.97398068e-01 -7.19218885e-02 -4.93313484e-03 2.15012953e+02] [ 7.19208390e-02 9.97410267e-01 -3.90032955e-04 1.17850047e+01] [ 4.94841124e-03 3.42229187e-05 9.99987756e-01 -1.72476294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.141400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.04, Y:11.79, Z:-0.17 [[ 9.97550844e-01 -6.97911947e-02 -4.63710582e-03 2.15041267e+02] [ 6.97902408e-02 9.97561621e-01 -3.67394778e-04 1.17922256e+01] [ 4.65143972e-03 4.28702391e-05 9.99989181e-01 -1.71512970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.171400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.07, Y:11.81, Z:-0.17 [[ 9.97861181e-01 -6.52949560e-02 -3.10355578e-03 2.15068010e+02] [ 6.52945062e-02 9.97866006e-01 -2.46142582e-04 1.18069728e+01] [ 3.11300468e-03 4.29709850e-05 9.99995154e-01 -1.68121850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.201400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.10, Y:11.81, Z:-0.17 [[ 9.97986262e-01 -6.33776824e-02 -2.58663838e-03 2.15096790e+02] [ 6.33773627e-02 9.97989613e-01 -2.05430862e-04 1.18140253e+01] [ 2.59445797e-03 4.10828587e-05 9.99996634e-01 -1.67617435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.231400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.13, Y:11.82, Z:-0.17 [[ 9.98110290e-01 -6.13965557e-02 -2.51241240e-03 2.15125497e+02] [ 6.13962468e-02 9.98113451e-01 -1.99947169e-04 1.18203847e+01] [ 2.51994868e-03 4.53166349e-05 9.99996824e-01 -1.67768084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.261400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.15, Y:11.83, Z:-0.17 [[ 9.98210615e-01 -5.97324304e-02 -2.75768205e-03 2.15152645e+02] [ 5.97320510e-02 9.98214423e-01 -2.19782668e-04 1.18277178e+01] [ 2.76588615e-03 5.46673878e-05 9.99996173e-01 -1.68638731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.291400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.18, Y:11.84, Z:-0.17 [[ 9.98409170e-01 -5.63095390e-02 -2.89213602e-03 2.15181756e+02] [ 5.63091071e-02 9.98413357e-01 -2.30614492e-04 1.18386059e+01] [ 2.90053303e-03 6.73940266e-05 9.99995791e-01 -1.68482253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.321400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.21, Y:11.85, Z:-0.17 [[ 9.98503543e-01 -5.46200838e-02 -2.70573144e-03 2.15209035e+02] [ 5.46196993e-02 9.98507207e-01 -2.15866232e-04 1.18502892e+01] [ 2.71348298e-03 6.77569594e-05 9.99996316e-01 -1.68361610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.351400513 meters Centerline goodness [0,1] 0.9999570363687139 Centerline is valid? [True, True] Translation: X:215.24, Y:11.86, Z:-0.17 [[ 9.98678491e-01 -5.13369583e-02 -2.40597588e-03 2.15237462e+02] [ 5.13366444e-02 9.98681387e-01 -1.92076951e-04 1.18601764e+01] [ 2.41266397e-03 6.83083920e-05 9.99997087e-01 -1.68012286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.381400513 meters Centerline goodness [0,1] 0.9999571100769874 Centerline is valid? [True, True] Translation: X:215.27, Y:11.87, Z:-0.17 [[ 9.98747152e-01 -5.00054798e-02 -1.89164232e-03 2.15265406e+02] [ 5.00052832e-02 9.98748942e-01 -1.51105315e-04 1.18659457e+01] [ 1.89683186e-03 5.63238931e-05 9.99998199e-01 -1.67201346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.411400513 meters Centerline goodness [0,1] 0.999978526026456 Centerline is valid? [True, True] Translation: X:215.29, Y:11.87, Z:-0.17 [[ 9.98789782e-01 -4.91569631e-02 -1.60165265e-03 2.15293669e+02] [ 4.91568209e-02 9.98791065e-01 -1.28065964e-04 1.18715974e+01] [ 1.60601169e-03 4.91788238e-05 9.99998709e-01 -1.66557107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.441400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.32, Y:11.88, Z:-0.17 [[ 9.98813611e-01 -4.86617880e-02 -1.84433946e-03 2.15322381e+02] [ 4.86615979e-02 9.98815312e-01 -1.47813331e-04 1.18771822e+01] [ 1.84934735e-03 5.78894616e-05 9.99998288e-01 -1.66959559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.471400513 meters Centerline goodness [0,1] 0.9998940363667189 Centerline is valid? [True, True] Translation: X:215.35, Y:11.89, Z:-0.17 [[ 9.98828674e-01 -4.82740747e-02 -3.30064510e-03 2.15348817e+02] [ 4.82734623e-02 9.98834122e-01 -2.65023271e-04 1.18925274e+01] [ 3.30959070e-03 1.05379275e-04 9.99994518e-01 -1.70367939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.501400513 meters Centerline goodness [0,1] 0.9999786830380935 Centerline is valid? [True, True] Translation: X:215.38, Y:11.89, Z:-0.17 [[ 9.98804869e-01 -4.87608435e-02 -3.34884871e-03 2.15378419e+02] [ 4.87602144e-02 9.98810477e-01 -2.69287396e-04 1.18898959e+01] [ 3.35799586e-03 1.05674981e-04 9.99994356e-01 -1.70297725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.531400513 meters Centerline goodness [0,1] 0.9999785871822873 Centerline is valid? [True, True] Translation: X:215.41, Y:11.89, Z:-0.17 [[ 9.98763500e-01 -4.96200539e-02 -3.05294871e-03 2.15407134e+02] [ 4.96195337e-02 9.98768162e-01 -2.45962662e-04 1.18897798e+01] [ 3.06139265e-03 9.41726383e-05 9.99995309e-01 -1.69968980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.561400513 meters Centerline goodness [0,1] 0.9999786543715847 Centerline is valid? [True, True] Translation: X:215.43, Y:11.89, Z:-0.17 [[ 9.98741191e-01 -5.00760617e-02 -2.90209495e-03 2.15434553e+02] [ 5.00755925e-02 9.98745403e-01 -2.34149163e-04 1.18943189e+01] [ 2.91017925e-03 8.85302895e-05 9.99995762e-01 -1.69577885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.591400513 meters Centerline goodness [0,1] 0.9999571008772871 Centerline is valid? [True, True] Translation: X:215.46, Y:11.90, Z:-0.17 [[ 9.98738345e-01 -5.01502170e-02 -2.58343605e-03 2.15462796e+02] [ 5.01498445e-02 9.98741683e-01 -2.08789524e-04 1.18978594e+01] [ 2.59065610e-03 7.89671873e-05 9.99996641e-01 -1.68507516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.621400513 meters Centerline goodness [0,1] 0.9999787215933271 Centerline is valid? [True, True] Translation: X:215.49, Y:11.90, Z:-0.17 [[ 9.98780519e-01 -4.93200739e-02 -2.23729267e-03 2.15490119e+02] [ 4.93197919e-02 9.98783022e-01 -1.81072396e-04 1.19046176e+01] [ 2.24350044e-03 7.05087728e-05 9.99997481e-01 -1.68025727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.651400513 meters Centerline goodness [0,1] 0.9999787717324389 Centerline is valid? [True, True] Translation: X:215.52, Y:11.91, Z:-0.17 [[ 9.98836202e-01 -4.81971244e-02 -1.81096795e-03 2.15518595e+02] [ 4.81969375e-02 9.98837842e-01 -1.46723457e-04 1.19064187e+01] [ 1.81593496e-03 5.92695916e-05 9.99998349e-01 -1.66999268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.681400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.55, Y:11.92, Z:-0.17 [[ 9.99044404e-01 -4.36886250e-02 -1.25851814e-03 2.15546225e+02] [ 4.36885310e-02 9.99045195e-01 -1.02106198e-04 1.19219927e+01] [ 1.26177738e-03 4.70258171e-05 9.99999203e-01 -1.66878267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.711400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.57, Y:11.92, Z:-0.17 [[ 9.99036540e-01 -4.38680717e-02 -1.25851632e-03 2.15573631e+02] [ 4.38679778e-02 9.99037332e-01 -1.02128733e-04 1.19243889e+01] [ 1.26178497e-03 4.68217704e-05 9.99999203e-01 -1.66844453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.74140051300003 meters Centerline goodness [0,1] 0.9999151553717255 Centerline is valid? [True, True] Translation: X:215.60, Y:11.93, Z:-0.17 [[ 9.99144266e-01 -4.13253224e-02 -1.71880648e-03 2.15602269e+02] [ 4.13251429e-02 9.99145742e-01 -1.39800444e-04 1.19318435e+01] [ 1.72311547e-03 6.86508882e-05 9.99998513e-01 -1.67799298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.771400513 meters Centerline goodness [0,1] 0.9998932923575986 Centerline is valid? [True, True] Translation: X:215.63, Y:11.93, Z:-0.17 [[ 9.99230581e-01 -3.90975723e-02 -3.10241578e-03 2.15631891e+02] [ 3.90969766e-02 9.99235389e-01 -2.52455394e-04 1.19334486e+01] [ 3.10991403e-03 1.30966073e-04 9.99995156e-01 -1.69514831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.80140051300003 meters Centerline goodness [0,1] 0.9997648618028687 Centerline is valid? [True, True] Translation: X:215.66, Y:11.94, Z:-0.17 [[ 9.99303937e-01 -3.68429318e-02 -5.85151090e-03 2.15660781e+02] [ 3.68407727e-02 9.99321035e-01 -4.76376110e-04 1.19370854e+01] [ 5.86508902e-03 2.60470339e-04 9.99982766e-01 -1.73240072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.831400513 meters Centerline goodness [0,1] 0.9999150201827066 Centerline is valid? [True, True] Translation: X:215.69, Y:11.94, Z:-0.17 [[ 9.99307994e-01 -3.67750378e-02 -5.57941551e-03 2.15688703e+02] [ 3.67730721e-02 9.99323538e-01 -4.54522458e-04 1.19424498e+01] [ 5.59235633e-03 2.49035677e-04 9.99984332e-01 -1.73010870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.861400513 meters Centerline goodness [0,1] 0.999828785446763 Centerline is valid? [True, True] Translation: X:215.72, Y:11.94, Z:-0.17 [[ 9.99294519e-01 -3.73361144e-02 -4.05948893e-03 2.15717575e+02] [ 3.73350763e-02 9.99302748e-01 -3.31222836e-04 1.19443244e+01] [ 4.06902501e-03 1.79427835e-04 9.99991705e-01 -1.71114663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.891400513 meters Centerline goodness [0,1] 0.9999567735800121 Centerline is valid? [True, True] Translation: X:215.75, Y:11.94, Z:-0.17 [[ 9.99261724e-01 -3.83566684e-02 -2.18468600e-03 2.15746137e+02] [ 3.83563696e-02 9.99264108e-01 -1.78521725e-04 1.19443513e+01] [ 2.18992581e-03 9.45933028e-05 9.99997598e-01 -1.67928235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.921400513 meters Centerline goodness [0,1] 0.9999358782541786 Centerline is valid? [True, True] Translation: X:215.78, Y:11.94, Z:-0.17 [[ 9.99185293e-01 -4.03315634e-02 -1.45418791e-03 2.15775124e+02] [ 4.03314329e-02 9.99186350e-01 -1.18970050e-04 1.19447369e+01] [ 1.45780296e-03 6.02236417e-05 9.99998936e-01 -1.66142329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.951400513 meters Centerline goodness [0,1] 0.9998730293090679 Centerline is valid? [True, True] Translation: X:215.80, Y:11.94, Z:-0.17 [[ 9.99128712e-01 -4.16468731e-02 -2.71183132e-03 2.15804706e+02] [ 4.16464234e-02 9.99132387e-01 -2.22135134e-04 1.19437408e+01] [ 2.71872974e-03 1.09003515e-04 9.99996298e-01 -1.68177154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.981400513 meters Centerline goodness [0,1] 0.99995739241585 Centerline is valid? [True, True] Translation: X:215.83, Y:11.94, Z:-0.17 [[ 9.99070763e-01 -4.29123160e-02 -4.01795490e-03 2.15833833e+02] [ 4.29113359e-02 9.99078830e-01 -3.29856150e-04 1.19392100e+01] [ 4.02840857e-03 1.57133823e-04 9.99991874e-01 -1.70083703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.011400513 meters Centerline goodness [0,1] 0.9999568453986406 Centerline is valid? [True, True] Translation: X:215.86, Y:11.94, Z:-0.17 [[ 9.99034377e-01 -4.37193058e-02 -4.35151300e-03 2.15861787e+02] [ 4.37181617e-02 9.99043840e-01 -3.57738218e-04 1.19395619e+01] [ 4.36299232e-03 1.67152629e-04 9.99990468e-01 -1.71320440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.041400513 meters Centerline goodness [0,1] 0.9999786196869922 Centerline is valid? [True, True] Translation: X:215.89, Y:11.94, Z:-0.17 [[ 9.99059653e-01 -4.31919159e-02 -3.77731531e-03 2.15890736e+02] [ 4.31910481e-02 9.99066783e-01 -3.11051218e-04 1.19363248e+01] [ 3.78722515e-03 1.47612515e-04 9.99992818e-01 -1.71164439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.071400513 meters Centerline goodness [0,1] 0.9997884224779959 Centerline is valid? [True, True] Translation: X:215.92, Y:11.95, Z:-0.17 [[ 9.99133173e-01 -4.14573226e-02 -3.76745181e-03 2.15918522e+02] [ 4.14564458e-02 9.99140264e-01 -3.10572195e-04 1.19495816e+01] [ 3.77708828e-03 1.54117821e-04 9.99992855e-01 -1.71801532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.101400513 meters Centerline goodness [0,1] 0.9998485241928503 Centerline is valid? [True, True] Translation: X:215.95, Y:11.94, Z:-0.17 [[ 9.99242752e-01 -3.86190507e-02 -4.74259417e-03 2.15949249e+02] [ 3.86176287e-02 9.99253985e-01 -3.91079266e-04 1.19430494e+01] [ 4.75415923e-03 2.07635381e-04 9.99988677e-01 -1.71907019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.131400513 meters Centerline goodness [0,1] 0.9992799813642236 Centerline is valid? [True, True] Translation: X:215.98, Y:11.96, Z:-0.17 [[ 9.99493663e-01 -3.13464764e-02 -5.46036143e-03 2.15977124e+02] [ 3.13444826e-02 9.99508540e-01 -4.50347084e-04 1.19633996e+01] [ 5.47179467e-03 2.78966852e-04 9.99984991e-01 -1.74007362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.161400513 meters Centerline goodness [0,1] 0.9988582543978349 Centerline is valid? [True, True] Translation: X:216.01, Y:11.97, Z:-0.17 [[ 9.99606563e-01 -2.76319146e-02 -4.81620830e-03 2.16005713e+02] [ 2.76303203e-02 9.99618131e-01 -3.97275395e-04 1.19725853e+01] [ 4.82534662e-03 2.64045715e-04 9.99988323e-01 -1.73186055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.191400513 meters Centerline goodness [0,1] 0.9998069994853319 Centerline is valid? [True, True] Translation: X:216.04, Y:11.97, Z:-0.17 [[ 9.99699646e-01 -2.41862591e-02 -3.95511850e-03 2.16036639e+02] [ 2.41851570e-02 9.99707443e-01 -3.26265944e-04 1.19668162e+01] [ 3.96185255e-03 2.30512787e-04 9.99992125e-01 -1.70975827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.221400513 meters Centerline goodness [0,1] 0.9902696514881709 Centerline is valid? [True, True] Translation: X:216.06, Y:11.98, Z:-0.17 [[ 9.99820321e-01 -1.89065548e-02 -1.36640712e-03 2.16064623e+02] [ 1.89064184e-02 9.99821251e-01 -1.12719871e-04 1.19800602e+01] [ 1.36829403e-03 8.68657534e-05 9.99999060e-01 -1.67775367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.251400513 meters Centerline goodness [0,1] 0.9946286781877627 Centerline is valid? [True, True] Translation: X:216.09, Y:11.98, Z:-0.17 [[ 9.99851589e-01 -1.72131793e-02 -7.11969656e-04 2.16094427e+02] [ 1.72131418e-02 9.99851841e-01 -5.87306480e-05 1.19807370e+01] [ 7.12875113e-04 4.64666971e-05 9.99999745e-01 -1.67192878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.281400513 meters Centerline goodness [0,1] 0.9375133063657654 Centerline is valid? [True, False] Translation: X:216.09, Y:11.98, Z:-0.17 [[ 9.99919439e-01 -1.26560988e-02 -9.68891209e-04 2.16094908e+02] [ 1.26610765e-02 9.99905712e-01 5.31638064e-03 1.19755413e+01] [ 9.01515215e-04 -5.32821956e-03 9.99985399e-01 -1.66748304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.311400513 meters Centerline goodness [0,1] 0.9429864638007608 Centerline is valid? [False, False] Translation: X:216.10, Y:11.98, Z:-0.17 [[ 9.99917724e-01 -1.27879461e-02 -1.00642187e-03 2.16095152e+02] [ 1.27928543e-02 9.99905508e-01 5.03174828e-03 1.19768447e+01] [ 9.41981046e-04 -5.04420930e-03 9.99986834e-01 -1.67030960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.341400513 meters Centerline goodness [0,1] 0.9931629013079667 Centerline is valid? [False, True] Translation: X:216.09, Y:11.98, Z:-0.17 [[ 9.99848825e-01 -1.73709364e-02 -7.60528343e-04 2.16094691e+02] [ 1.73703901e-02 9.99848865e-01 -7.19107845e-04 1.19840344e+01] [ 7.72904977e-04 7.05788459e-04 9.99999452e-01 -1.67548697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.371400513 meters Centerline goodness [0,1] 0.9977972626176219 Centerline is valid? [True, True] Translation: X:216.12, Y:11.98, Z:-0.17 [[ 9.99829999e-01 -1.84221986e-02 -7.71776868e-04 2.16124071e+02] [ 1.84221548e-02 9.99830296e-01 -6.37623027e-05 1.19830353e+01] [ 7.72820536e-04 4.95336701e-05 9.99999700e-01 -1.67031420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.401400513 meters Centerline goodness [0,1] 0.9854206958111066 Centerline is valid? [True, True] Translation: X:216.15, Y:11.99, Z:-0.17 [[ 9.99809713e-01 -1.94876425e-02 -8.77010873e-04 2.16151829e+02] [ 1.94875863e-02 9.99810096e-01 -7.25591687e-05 1.19915673e+01] [ 8.78258333e-04 5.54545365e-05 9.99999613e-01 -1.66658883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.431400513 meters Centerline goodness [0,1] 0.9995044491844958 Centerline is valid? [True, True] Translation: X:216.18, Y:11.98, Z:-0.17 [[ 9.99778665e-01 -2.10096898e-02 -1.10209686e-03 2.16182176e+02] [ 2.10096019e-02 9.99779270e-01 -9.12180499e-05 1.19831144e+01] [ 1.10377005e-03 6.80432439e-05 9.99999389e-01 -1.66274444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.461400513 meters Centerline goodness [0,1] 0.9994042553191489 Centerline is valid? [True, True] Translation: X:216.21, Y:11.99, Z:-0.17 [[ 9.99771289e-01 -2.13496674e-02 -1.24933566e-03 2.16210968e+02] [ 2.13495548e-02 9.99772067e-01 -1.03444056e-04 1.19868004e+01] [ 1.25125939e-03 7.67476372e-05 9.99999214e-01 -1.67034836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.49140051300003 meters Centerline goodness [0,1] 0.9994706978319783 Centerline is valid? [True, True] Translation: X:216.24, Y:11.99, Z:-0.17 [[ 9.99757212e-01 -2.20012767e-02 -1.20849864e-03 2.16239081e+02] [ 2.20011716e-02 9.99757940e-01 -1.00191400e-04 1.19897688e+01] [ 1.21041045e-03 7.35786892e-05 9.99999265e-01 -1.67389596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.521400513 meters Centerline goodness [0,1] 0.9990678163598229 Centerline is valid? [True, True] Translation: X:216.27, Y:11.99, Z:-0.17 [[ 9.99745470e-01 -2.24744638e-02 -1.97341596e-03 2.16267991e+02] [ 2.24741838e-02 9.99747410e-01 -1.63983917e-04 1.19922424e+01] [ 1.97660295e-03 1.19591265e-04 9.99998039e-01 -1.68275498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.55140051300003 meters Centerline goodness [0,1] 0.9990415335463259 Centerline is valid? [True, True] Translation: X:216.30, Y:12.00, Z:-0.17 [[ 9.99743747e-01 -2.24329616e-02 -3.03355034e-03 2.16295362e+02] [ 2.24322988e-02 9.99748332e-01 -2.52355370e-04 1.19982003e+01] [ 3.03844797e-03 1.84241196e-04 9.99995367e-01 -1.69517493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.581400513 meters Centerline goodness [0,1] 0.9995054507923539 Centerline is valid? [True, True] Translation: X:216.32, Y:11.99, Z:-0.17 [[ 9.99741737e-01 -2.24365458e-02 -3.61392474e-03 2.16324732e+02] [ 2.24356031e-02 9.99748245e-01 -3.01181425e-04 1.19946475e+01] [ 3.61977239e-03 2.20023060e-04 9.99993424e-01 -1.69742888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.611400513 meters Centerline goodness [0,1] 0.9980871413390011 Centerline is valid? [True, True] Translation: X:216.35, Y:12.01, Z:-0.17 [[ 9.99746731e-01 -2.22821636e-02 -3.15907653e-03 2.16351994e+02] [ 2.22814417e-02 9.99751703e-01 -2.63506071e-04 1.20062640e+01] [ 3.16416363e-03 1.93050554e-04 9.99994975e-01 -1.69542178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.641400513 meters Centerline goodness [0,1] 0.9993212285762769 Centerline is valid? [True, True] Translation: X:216.38, Y:12.00, Z:-0.17 [[ 9.99758779e-01 -2.18971374e-02 -1.70267785e-03 2.16381289e+02] [ 2.18969268e-02 9.99760223e-01 -1.42229765e-04 1.20046202e+01] [ 1.70538401e-03 1.04912044e-04 9.99998540e-01 -1.66944113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.671400513 meters Centerline goodness [0,1] 0.999721865639709 Centerline is valid? [True, True] Translation: X:216.41, Y:12.00, Z:-0.17 [[ 9.99764367e-01 -2.16654887e-02 -1.34784118e-03 2.16410272e+02] [ 2.16653563e-02 9.99765272e-01 -1.12791124e-04 1.20039305e+01] [ 1.34996848e-03 8.35630878e-05 9.99999085e-01 -1.66113993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.701400513 meters Centerline goodness [0,1] 0.9926932880203908 Centerline is valid? [True, True] Translation: X:216.44, Y:12.02, Z:-0.17 [[ 9.99782012e-01 -2.08544104e-02 -1.01080004e-03 2.16438261e+02] [ 2.08543354e-02 9.99782521e-01 -8.46689815e-05 1.20150530e+01] [ 1.01234593e-03 6.35709616e-05 9.99999486e-01 -1.65615426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.731400513 meters Centerline goodness [0,1] 0.9864772044303254 Centerline is valid? [True, True] Translation: X:216.47, Y:12.02, Z:-0.17 [[ 9.99841580e-01 -1.77481205e-02 -1.34865648e-03 2.16468088e+02] [ 1.77479841e-02 9.99842486e-01 -1.12994301e-04 1.20204478e+01] [ 1.35044948e-03 8.90404662e-05 9.99999084e-01 -1.66320845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.761400513 meters Centerline goodness [0,1] 0.9385268520483974 Centerline is valid? [True, False] Translation: X:216.47, Y:12.02, Z:-0.17 [[ 9.99840105e-01 -1.78331202e-02 -1.32070127e-03 2.16468188e+02] [ 1.78324468e-02 9.99840854e-01 -5.19877434e-04 1.20224788e+01] [ 1.32976213e-03 4.96242972e-04 9.99998993e-01 -1.66793267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.791400513 meters Centerline goodness [0,1] 0.9673138676817727 Centerline is valid? [False, True] Translation: X:216.47, Y:12.02, Z:-0.17 [[ 9.99912558e-01 -1.31360175e-02 -1.52360055e-03 2.16468648e+02] [ 1.31432509e-02 9.99901915e-01 4.83889029e-03 1.20175309e+01] [ 1.45988736e-03 -4.85849223e-03 9.99987132e-01 -1.66690061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.821400513 meters Centerline goodness [0,1] 0.8239268511019225 Centerline is valid? [True, False] Translation: X:216.47, Y:12.03, Z:-0.16 [[ 9.99949035e-01 -9.71680499e-03 -2.74060497e-03 2.16466055e+02] [ 9.67886048e-03 9.99861560e-01 -1.35344532e-02 1.20324220e+01] [ 2.87173720e-03 1.35072375e-02 9.99904649e-01 -1.64379721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.851400513 meters Centerline goodness [0,1] 0.7986708698986112 Centerline is valid? [False, False] Translation: X:216.47, Y:12.02, Z:-0.16 [[ 9.99993122e-01 -1.23824380e-03 -3.49617909e-03 2.16468433e+02] [ 1.22579427e-03 9.99992909e-01 -3.56079511e-03 1.20247285e+01] [ 3.50056343e-03 3.55648502e-03 9.99987549e-01 -1.64360571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.881400513 meters Centerline goodness [0,1] 0.7602579381969865 Centerline is valid? [False, False] Translation: X:216.47, Y:12.03, Z:-0.16 [[ 9.99992645e-01 -1.33589658e-03 -3.59516194e-03 2.16469013e+02] [ 1.32211837e-03 9.99991784e-01 -3.83208035e-03 1.20260128e+01] [ 3.60025167e-03 3.82729894e-03 9.99986195e-01 -1.64862322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.911400513 meters Centerline goodness [0,1] 0.6945382703460583 Centerline is valid? [False, False] Translation: X:216.47, Y:12.03, Z:-0.17 [[ 9.99992645e-01 -1.40002516e-03 -3.57063095e-03 2.16469054e+02] [ 1.38567847e-03 9.99990971e-01 -4.01728430e-03 1.20268973e+01] [ 3.57622301e-03 4.01230701e-03 9.99985556e-01 -1.65116676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.941400513 meters Centerline goodness [0,1] 0.7250931198355953 Centerline is valid? [False, False] Translation: X:216.47, Y:12.03, Z:-0.16 [[ 9.99993196e-01 -1.69165863e-03 -3.27807278e-03 2.16467943e+02] [ 1.67606828e-03 9.99987300e-01 -4.75287416e-03 1.20304205e+01] [ 3.28607139e-03 4.74734754e-03 9.99983332e-01 -1.64875639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.971400513 meters Centerline goodness [0,1] 0.9079007064618575 Centerline is valid? [False, False] Translation: X:216.47, Y:12.03, Z:-0.16 [[ 9.99993612e-01 -1.86281689e-03 -3.05041330e-03 2.16466974e+02] [ 1.84697334e-03 9.99984834e-01 -5.18850695e-03 1.20325229e+01] [ 3.06003228e-03 5.18283977e-03 9.99981887e-01 -1.64433050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.001400513 meters Centerline goodness [0,1] 0.7769768739005449 Centerline is valid? [False, False] Translation: X:216.47, Y:12.03, Z:-0.17 [[ 9.99992851e-01 4.26438981e-04 -3.75700791e-03 2.16472779e+02] [-4.36640673e-04 9.99996219e-01 -2.71497515e-03 1.20315089e+01] [ 3.75583593e-03 2.71659620e-03 9.99989257e-01 -1.68129054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.031400513 meters Centerline goodness [0,1] 0.7199412553476789 Centerline is valid? [False, False] Translation: X:216.48, Y:12.03, Z:-0.17 [[ 9.99986636e-01 2.52218035e-03 -4.51282496e-03 2.16478852e+02] [-2.52475598e-03 9.99996653e-01 -5.65130820e-04 1.20303078e+01] [ 4.51138449e-03 5.76517050e-04 9.99989657e-01 -1.71965454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.061400513 meters Centerline goodness [0,1] 0.6172818614489688 Centerline is valid? [False, False] Translation: X:216.49, Y:12.03, Z:-0.18 [[ 9.99972765e-01 4.95422027e-03 -5.47039373e-03 2.16485677e+02] [-4.94523959e-03 9.99986404e-01 1.65399582e-03 1.20332056e+01] [ 5.47851362e-03 -1.62689836e-03 9.99983669e-01 -1.76178513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.091400513 meters Centerline goodness [0,1] 0.6170994246406658 Centerline is valid? [False, False] Translation: X:216.49, Y:12.04, Z:-0.18 [[ 9.99974103e-01 4.63590938e-03 -5.50477399e-03 2.16486083e+02] [-4.63090096e-03 9.99988852e-01 9.22229432e-04 1.20366118e+01] [ 5.50898799e-03 -8.96713485e-04 9.99984423e-01 -1.76803507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.121400513 meters Centerline goodness [0,1] 0.6895772967445031 Centerline is valid? [False, False] Translation: X:216.49, Y:12.04, Z:-0.18 [[ 9.99975115e-01 4.39847322e-03 -5.51565666e-03 2.16486290e+02] [-4.39649566e-03 9.99990267e-01 3.70608052e-04 1.20391868e+01] [ 5.51723308e-03 -3.46349269e-04 9.99984720e-01 -1.77177991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.151400513 meters Centerline goodness [0,1] 0.6724624159793049 Centerline is valid? [False, False] Translation: X:216.49, Y:12.04, Z:-0.18 [[ 9.99975656e-01 4.17116807e-03 -5.59363183e-03 2.16486884e+02] [-4.17212617e-03 9.99991284e-01 -1.59626970e-04 1.20416480e+01] [ 5.59291725e-03 1.82960422e-04 9.99984343e-01 -1.77861423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.181400513 meters Centerline goodness [0,1] 0.5817792985457656 Centerline is valid? [False, False] Translation: X:216.49, Y:12.04, Z:-0.18 [[ 9.99976211e-01 3.98664278e-03 -5.62883944e-03 2.16487274e+02] [-3.98987087e-03 9.99991882e-01 -5.62379027e-04 1.20434952e+01] [ 5.62655174e-03 5.84823991e-04 9.99984000e-01 -1.78423238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.211400513 meters Centerline goodness [0,1] 0.6923537974141623 Centerline is valid? [False, False] Translation: X:216.49, Y:12.05, Z:-0.18 [[ 9.99976874e-01 3.72620509e-03 -5.68927205e-03 2.16487699e+02] [-3.73280394e-03 9.99992372e-01 -1.14969780e-03 1.20462164e+01] [ 5.68494464e-03 1.17090815e-03 9.99983155e-01 -1.78895620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.24140051300003 meters Centerline goodness [0,1] 0.7151319332256327 Centerline is valid? [False, False] Translation: X:216.49, Y:12.05, Z:-0.18 [[ 9.99978308e-01 3.42322913e-03 -5.62721139e-03 2.16487555e+02] [-3.43376410e-03 9.99992368e-01 -1.86355305e-03 1.20495664e+01] [ 5.62078908e-03 1.88283514e-03 9.99982431e-01 -1.79064890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.271400513 meters Centerline goodness [0,1] 0.669789076566921 Centerline is valid? [False, False] Translation: X:216.49, Y:12.05, Z:-0.18 [[ 9.99981108e-01 2.99157531e-03 -5.36969056e-03 2.16486469e+02] [-3.00733505e-03 9.99991188e-01 -2.92927266e-03 1.20546500e+01] [ 5.36088010e-03 2.94536578e-03 9.99981293e-01 -1.78665325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.30140051300003 meters Centerline goodness [0,1] 0.6620825147347741 Centerline is valid? [False, False] Translation: X:216.49, Y:12.06, Z:-0.18 [[ 9.99981873e-01 2.83467451e-03 -5.31212700e-03 2.16486186e+02] [-2.85215917e-03 9.99990531e-01 -3.28678129e-03 1.20563302e+01] [ 5.30275974e-03 3.30187274e-03 9.99980489e-01 -1.78516680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.331400513 meters Centerline goodness [0,1] 0.6293073889936568 Centerline is valid? [False, False] Translation: X:216.49, Y:12.06, Z:-0.18 [[ 9.99982102e-01 2.65670903e-03 -5.36078905e-03 2.16486461e+02] [-2.67642627e-03 9.99989668e-01 -3.67423275e-03 1.20581227e+01] [ 5.35097230e-03 3.68851474e-03 9.99978881e-01 -1.78772967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.361400513 meters Centerline goodness [0,1] 0.7170672150109241 Centerline is valid? [False, False] Translation: X:216.49, Y:12.06, Z:-0.18 [[ 9.99982606e-01 2.18012813e-03 -5.48048565e-03 2.16487086e+02] [-2.20594268e-03 9.99986481e-01 -4.70864338e-03 1.20629249e+01] [ 5.47014611e-03 4.72065111e-03 9.99973896e-01 -1.79289552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.391400513 meters Centerline goodness [0,1] 0.6374088136171665 Centerline is valid? [False, False] Translation: X:216.49, Y:12.06, Z:-0.18 [[ 9.99982688e-01 2.09326137e-03 -5.49918532e-03 2.16487011e+02] [-2.12004961e-03 9.99985894e-01 -4.87000725e-03 1.20636801e+01] [ 5.48891356e-03 4.88158149e-03 9.99973021e-01 -1.79056336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.421400513 meters Centerline goodness [0,1] 0.7089056363443371 Centerline is valid? [False, False] Translation: X:216.49, Y:12.06, Z:-0.18 [[ 9.99982430e-01 2.12277923e-03 -5.53479478e-03 2.16487004e+02] [-2.14900160e-03 9.99986476e-01 -4.73609571e-03 1.20630232e+01] [ 5.52466624e-03 4.74790678e-03 9.99973467e-01 -1.78794919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.451400513 meters Centerline goodness [0,1] 0.779368591243671 Centerline is valid? [False, False] Translation: X:216.49, Y:12.06, Z:-0.18 [[ 9.99981892e-01 2.17347274e-03 -5.61173041e-03 2.16487191e+02] [-2.19901214e-03 9.99987236e-01 -4.54892197e-03 1.20621045e+01] [ 5.60177182e-03 4.56117986e-03 9.99973908e-01 -1.78666787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.481400513 meters Centerline goodness [0,1] 0.939918797512094 Centerline is valid? [False, False] Translation: X:216.45, Y:12.06, Z:-0.18 [[ 9.99961069e-01 4.87834564e-04 -8.81032596e-03 2.16447030e+02] [-5.35465109e-04 9.99985251e-01 -5.40466877e-03 1.20606047e+01] [ 8.80755944e-03 5.40917599e-03 9.99946582e-01 -1.79336780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.511400513 meters Centerline goodness [0,1] 0.9549311388734917 Centerline is valid? [False, True] Translation: X:216.47, Y:12.06, Z:-0.18 [[ 9.99958491e-01 -7.46697751e-04 -9.08064454e-03 2.16467889e+02] [ 7.90494552e-04 9.99988069e-01 4.82046152e-03 1.20555112e+01] [ 9.07693677e-03 -4.82743963e-03 9.99947151e-01 -1.76801309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.541400513 meters Centerline goodness [0,1] 0.907185372329037 Centerline is valid? [True, False] Translation: X:216.47, Y:12.05, Z:-0.18 [[ 9.99957895e-01 -6.78639705e-04 -9.15139459e-03 2.16468086e+02] [ 7.24353249e-04 9.99987273e-01 4.99286543e-03 1.20547027e+01] [ 9.14788977e-03 -4.99928405e-03 9.99945660e-01 -1.76702544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.571400513 meters Centerline goodness [0,1] 0.7800542653876557 Centerline is valid? [False, False] Translation: X:216.47, Y:12.06, Z:-0.18 [[ 9.99958387e-01 -7.59392754e-04 -9.09109168e-03 2.16467719e+02] [ 8.03419535e-04 9.99987964e-01 4.84017646e-03 1.20554238e+01] [ 9.08730666e-03 -4.84727901e-03 9.99946961e-01 -1.76355604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.601400513 meters Centerline goodness [0,1] 0.7800542653876557 Centerline is valid? [False, False] Translation: X:216.47, Y:12.06, Z:-0.18 [[ 9.99958387e-01 -7.59392754e-04 -9.09109168e-03 2.16467719e+02] [ 8.03419535e-04 9.99987964e-01 4.84017646e-03 1.20554238e+01] [ 9.08730666e-03 -4.84727901e-03 9.99946961e-01 -1.76355604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.631400513 meters Centerline goodness [0,1] 0.8247108687780877 Centerline is valid? [False, False] Translation: X:216.47, Y:12.06, Z:-0.18 [[ 9.99958988e-01 -9.76038110e-04 -9.00384572e-03 2.16467267e+02] [ 1.01521519e-03 9.99990034e-01 4.34760579e-03 1.20577601e+01] [ 8.99951255e-03 -4.35656833e-03 9.99950013e-01 -1.76096487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.661400513 meters Centerline goodness [0,1] 0.8957550512099285 Centerline is valid? [False, False] Translation: X:216.47, Y:12.06, Z:-0.18 [[ 9.99959726e-01 -1.15165945e-03 -8.90053179e-03 2.16466839e+02] [ 1.18680592e-03 9.99991516e-01 3.94453378e-03 1.20596610e+01] [ 8.89591352e-03 -3.95493813e-03 9.99952609e-01 -1.75978857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.691400513 meters Centerline goodness [0,1] 0.7544355709043816 Centerline is valid? [False, False] Translation: X:216.47, Y:12.06, Z:-0.18 [[ 9.99960049e-01 -1.18302210e-03 -8.86002466e-03 2.16466637e+02] [ 1.21727789e-03 9.99991802e-01 3.86193693e-03 1.20600622e+01] [ 8.85538326e-03 -3.87256776e-03 9.99953292e-01 -1.75861489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.721400513 meters Centerline goodness [0,1] 0.7078537576167908 Centerline is valid? [False, False] Translation: X:216.51, Y:12.07, Z:-0.18 [[ 9.99976169e-01 -8.53096151e-04 -6.85087443e-03 2.16509821e+02] [ 8.70136043e-04 9.99996535e-01 2.48466253e-03 1.20650144e+01] [ 6.84873104e-03 -2.49056451e-03 9.99973446e-01 -1.77086901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.751400513 meters Centerline goodness [0,1] 0.781937903552326 Centerline is valid? [False, False] Translation: X:216.51, Y:12.07, Z:-0.18 [[ 9.99976419e-01 -9.74809234e-04 -6.79790228e-03 2.16509595e+02] [ 9.89733704e-04 9.99997107e-01 2.19243385e-03 1.20663954e+01] [ 6.79574541e-03 -2.19911026e-03 9.99974491e-01 -1.77029684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.781400513 meters Centerline goodness [0,1] 0.6896222815719191 Centerline is valid? [False, False] Translation: X:216.51, Y:12.07, Z:-0.18 [[ 9.99976733e-01 -1.11260919e-03 -6.73019962e-03 2.16509205e+02] [ 1.12515539e-03 9.99997636e-01 1.86066568e-03 1.20679817e+01] [ 6.72811352e-03 -1.86819491e-03 9.99975621e-01 -1.76760866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.811400513 meters Centerline goodness [0,1] 0.8118028144842973 Centerline is valid? [False, False] Translation: X:216.51, Y:12.07, Z:-0.18 [[ 9.99977016e-01 -1.15174518e-03 -6.68134845e-03 2.16508801e+02] [ 1.16360260e-03 9.99997755e-01 1.77108972e-03 1.20684136e+01] [ 6.67929360e-03 -1.77882345e-03 9.99976111e-01 -1.76294745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.841400513 meters Centerline goodness [0,1] 0.6157886901597158 Centerline is valid? [False, False] Translation: X:216.53, Y:12.08, Z:-0.18 [[ 9.99998555e-01 -9.34093512e-04 -1.42014831e-03 2.16531277e+02] [ 9.21179911e-04 9.99958472e-01 -9.06675788e-03 1.20780806e+01] [ 1.42855853e-03 9.06543657e-03 9.99957888e-01 -1.82155868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.871400513 meters Centerline goodness [0,1] 0.8582853965742147 Centerline is valid? [False, False] Translation: X:216.53, Y:12.07, Z:-0.18 [[ 9.99994768e-01 2.81352018e-03 -1.59624802e-03 2.16531969e+02] [-2.81953098e-03 9.99988896e-01 -3.77591305e-03 1.20715776e+01] [ 1.58560669e-03 3.78039397e-03 9.99991597e-01 -1.82140620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.901400513 meters Centerline goodness [0,1] 0.8696126918877256 Centerline is valid? [False, False] Translation: X:216.53, Y:12.07, Z:-0.18 [[ 9.99994372e-01 2.89619345e-03 -1.69351688e-03 2.16532265e+02] [-2.90202922e-03 9.99989825e-01 -3.45370753e-03 1.20699976e+01] [ 1.68349704e-03 3.45860273e-03 9.99992602e-01 -1.82083141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.931400513 meters Centerline goodness [0,1] 0.9778583535368706 Centerline is valid? [False, True] Translation: X:216.53, Y:12.07, Z:-0.18 [[ 9.99996023e-01 2.27618680e-03 -1.66537314e-03 2.16531869e+02] [-2.28082663e-03 9.99993508e-01 -2.78948406e-03 1.20651907e+01] [ 1.65901294e-03 2.79327140e-03 9.99994723e-01 -1.81238984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.961400513 meters Centerline goodness [0,1] 0.9983439791814526 Centerline is valid? [True, True] Translation: X:216.56, Y:12.06, Z:-0.18 [[ 9.99999212e-01 -9.76645217e-04 -7.89289039e-04 2.16562605e+02] [ 9.76604855e-04 9.99999522e-01 -5.15210543e-05 1.20551432e+01] [ 7.89338980e-04 5.07501902e-05 9.99999687e-01 -1.80106649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.99140051300003 meters Centerline goodness [0,1] 0.9966912863424838 Centerline is valid? [True, True] Translation: X:216.59, Y:12.06, Z:-0.18 [[ 9.99992068e-01 -3.98032156e-03 -1.44676109e-04 2.16591851e+02] [ 3.98032024e-03 9.99992078e-01 -9.43772405e-06 1.20563886e+01] [ 1.44712528e-04 8.86179194e-06 9.99999989e-01 -1.79159085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.021400513 meters Centerline goodness [0,1] 0.9973422496570644 Centerline is valid? [True, True] Translation: X:216.62, Y:12.06, Z:-0.18 [[ 9.99977266e-01 -6.73367192e-03 -3.55119692e-04 2.16621337e+02] [ 6.73366411e-03 9.99977328e-01 -2.31831180e-05 1.20558612e+01] [ 3.55267748e-04 2.07913342e-05 9.99999937e-01 -1.79492749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.05140051300003 meters Centerline goodness [0,1] 0.9995929995929996 Centerline is valid? [True, True] Translation: X:216.65, Y:12.04, Z:-0.18 [[ 9.99937195e-01 -1.11017477e-02 -1.53560728e-03 2.16652737e+02] [ 1.11016067e-02 9.99938370e-01 -1.00270522e-04 1.20436477e+01] [ 1.53662582e-03 8.32165168e-05 9.99998816e-01 -1.81517434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.081400513 meters Centerline goodness [0,1] 0.9997842316489017 Centerline is valid? [True, True] Translation: X:216.68, Y:12.04, Z:-0.18 [[ 9.99925714e-01 -1.21386700e-02 -1.10427116e-03 2.16682394e+02] [ 1.21385976e-02 9.99926322e-01 -7.21718218e-05 1.20404374e+01] [ 1.10506587e-03 5.87621570e-05 9.99999388e-01 -1.80387593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.111400513 meters Centerline goodness [0,1] 0.9998923967546861 Centerline is valid? [True, True] Translation: X:216.71, Y:12.04, Z:-0.18 [[ 9.99921958e-01 -1.24441793e-02 -1.10426114e-03 2.16711818e+02] [ 1.24441070e-02 9.99922566e-01 -7.23386525e-05 1.20393945e+01] [ 1.10507583e-03 5.85914633e-05 9.99999388e-01 -1.80093771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.141400513 meters Centerline goodness [0,1] 0.9995716244002741 Centerline is valid? [True, True] Translation: X:216.74, Y:12.04, Z:-0.18 [[ 9.99921270e-01 -1.21396802e-02 -3.17531168e-03 2.16740302e+02] [ 1.21390795e-02 9.99926297e-01 -2.08390027e-04 1.20421384e+01] [ 3.17760744e-03 1.69828259e-04 9.99994937e-01 -1.83893491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.171400513 meters Centerline goodness [0,1] 0.9998289172601099 Centerline is valid? [True, True] Translation: X:216.77, Y:12.04, Z:-0.19 [[ 9.99925489e-01 -1.13707106e-02 -4.44103929e-03 2.16769421e+02] [ 1.13695250e-02 9.99935322e-01 -2.92104219e-04 1.20360827e+01] [ 4.44407348e-03 2.41589947e-04 9.99990096e-01 -1.85857384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.201400513 meters Centerline goodness [0,1] 0.9996386745733172 Centerline is valid? [True, True] Translation: X:216.80, Y:12.04, Z:-0.19 [[ 9.99937441e-01 -9.86096684e-03 -5.27974256e-03 2.16799262e+02] [ 9.85926901e-03 9.99951336e-01 -3.47505761e-04 1.20387669e+01] [ 5.28291237e-03 2.95429620e-04 9.99986002e-01 -1.87674366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.231400513 meters Centerline goodness [0,1] 0.9992351003930734 Centerline is valid? [True, True] Translation: X:216.83, Y:12.05, Z:-0.19 [[ 9.99956155e-01 -7.46808086e-03 -5.64945278e-03 2.16827752e+02] [ 7.46609845e-03 9.99972059e-01 -3.71911665e-04 1.20453108e+01] [ 5.65207240e-03 3.29715988e-04 9.99983973e-01 -1.88441756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.261400513 meters Centerline goodness [0,1] 0.9985480943738657 Centerline is valid? [True, True] Translation: X:216.86, Y:12.05, Z:-0.19 [[ 9.99984092e-01 -1.60226303e-03 -5.40812181e-03 2.16857812e+02] [ 1.60036083e-03 9.99998656e-01 -3.56039272e-04 1.20451460e+01] [ 5.40868501e-03 3.47378662e-04 9.99985313e-01 -1.87439521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.291400513 meters Centerline goodness [0,1] 0.984832735835048 Centerline is valid? [True, True] Translation: X:216.89, Y:12.05, Z:-0.19 [[ 9.99987262e-01 9.24693588e-04 -4.96183793e-03 2.16886150e+02] [-9.26325788e-04 9.99999518e-01 -3.26662725e-04 1.20541686e+01] [ 4.96153347e-03 3.31254842e-04 9.99987637e-01 -1.87658201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.321400513 meters Centerline goodness [0,1] 0.9906739061002875 Centerline is valid? [True, True] Translation: X:216.92, Y:12.05, Z:-0.19 [[ 9.99986415e-01 2.63091435e-03 -4.49982664e-03 2.16916179e+02] [-2.63227414e-03 9.99996492e-01 -2.96290596e-04 1.20527362e+01] [ 4.49903134e-03 3.08131348e-04 9.99989832e-01 -1.87243651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.351400513 meters Centerline goodness [0,1] 0.9385413358738224 Centerline is valid? [True, False] Translation: X:216.92, Y:12.05, Z:-0.19 [[ 9.99985572e-01 2.85589562e-03 -4.54977623e-03 2.16916603e+02] [-2.85520181e-03 9.99995911e-01 1.58981200e-04 1.20505672e+01] [ 4.55021166e-03 -1.45988377e-04 9.99989637e-01 -1.87758566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.381400513 meters Centerline goodness [0,1] 0.9486723038124907 Centerline is valid? [False, False] Translation: X:216.92, Y:12.05, Z:-0.19 [[ 9.99985013e-01 2.96305493e-03 -4.60373537e-03 2.16916972e+02] [-2.96125755e-03 9.99995537e-01 3.97184777e-04 1.20494236e+01] [ 4.60489170e-03 -3.83545978e-04 9.99989324e-01 -1.88097903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.411400513 meters Centerline goodness [0,1] 0.9416375931429556 Centerline is valid? [False, False] Translation: X:216.87, Y:12.05, Z:-0.19 [[ 9.99973540e-01 1.91922631e-03 -7.01686078e-03 2.16874266e+02] [-1.91692094e-03 9.99998107e-01 3.35258177e-04 1.20462118e+01] [ 7.01749093e-03 -3.21798538e-04 9.99975325e-01 -1.87825580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.441400513 meters Centerline goodness [0,1] 0.9989220885612038 Centerline is valid? [False, True] Translation: X:216.87, Y:12.04, Z:-0.19 [[ 9.99972991e-01 2.27296708e-03 -6.98940664e-03 2.16873819e+02] [-2.26173455e-03 9.99996139e-01 1.61456361e-03 1.20399485e+01] [ 6.99304950e-03 -1.59871182e-03 9.99974270e-01 -1.86986636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.471400513 meters Centerline goodness [0,1] 0.9992923466214912 Centerline is valid? [True, True] Translation: X:216.90, Y:12.04, Z:-0.19 [[ 9.99981115e-01 1.69560213e-04 -6.14328093e-03 2.16902531e+02] [-1.72005453e-04 9.99999906e-01 -3.97508710e-04 1.20388787e+01] [ 6.14321296e-03 3.98557881e-04 9.99981051e-01 -1.86040333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.501400513 meters Centerline goodness [0,1] 0.9984253979062048 Centerline is valid? [True, True] Translation: X:216.93, Y:12.04, Z:-0.19 [[ 9.99981786e-01 -1.79444226e-03 -5.76265873e-03 2.16931242e+02] [ 1.79232256e-03 9.99998324e-01 -3.72976496e-04 1.20416952e+01] [ 5.76331836e-03 3.62641159e-04 9.99983326e-01 -1.85234378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.531400513 meters Centerline goodness [0,1] 0.9997389147556677 Centerline is valid? [True, True] Translation: X:216.96, Y:12.03, Z:-0.18 [[ 9.99977013e-01 -3.33166755e-03 -5.90530759e-03 2.16962250e+02] [ 3.32946775e-03 9.99994384e-01 -3.82304047e-04 1.20278595e+01] [ 5.90654814e-03 3.62633728e-04 9.99982490e-01 -1.83985789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.561400513 meters Centerline goodness [0,1] 0.9980072079711682 Centerline is valid? [True, True] Translation: X:216.99, Y:12.04, Z:-0.18 [[ 9.99974043e-01 -4.70034415e-03 -5.46072331e-03 2.16990807e+02] [ 4.69848287e-03 9.99988900e-01 -3.53627490e-04 1.20400873e+01] [ 5.46232487e-03 3.27961196e-04 9.99985028e-01 -1.84161738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.591400513 meters Centerline goodness [0,1] 0.9990550234096474 Centerline is valid? [True, True] Translation: X:217.02, Y:12.04, Z:-0.18 [[ 9.99974398e-01 -4.99983142e-03 -5.11916147e-03 2.17019733e+02] [ 4.99819691e-03 9.99987454e-01 -3.32035263e-04 1.20378145e+01] [ 5.12075737e-03 3.06440185e-04 9.99986842e-01 -1.83546373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.621400513 meters Centerline goodness [0,1] 0.99954875585543 Centerline is valid? [True, True] Translation: X:217.05, Y:12.03, Z:-0.18 [[ 9.99976524e-01 -5.52457364e-03 -4.05338924e-03 2.17048958e+02] [ 5.52355084e-03 9.99984710e-01 -2.63483027e-04 1.20302031e+01] [ 4.05478290e-03 2.41087740e-04 9.99991750e-01 -1.81764348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.651400513 meters Centerline goodness [0,1] 0.9996979243084624 Centerline is valid? [True, True] Translation: X:217.08, Y:12.02, Z:-0.18 [[ 9.99978659e-01 -5.92978503e-03 -2.74201949e-03 2.17078427e+02] [ 5.92931757e-03 9.99982405e-01 -1.78577200e-04 1.20249986e+01] [ 2.74303017e-03 1.62315085e-04 9.99996225e-01 -1.79177880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.681400513 meters Centerline goodness [0,1] 0.999505674002751 Centerline is valid? [True, True] Translation: X:217.11, Y:12.02, Z:-0.18 [[ 9.99977078e-01 -6.40800889e-03 -2.18637439e-03 2.17106479e+02] [ 6.40771222e-03 9.99979460e-01 -1.42668506e-04 1.20240954e+01] [ 2.18724370e-03 1.28655578e-04 9.99997600e-01 -1.77748233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.711400513 meters Centerline goodness [0,1] 0.9993821768678498 Centerline is valid? [True, True] Translation: X:217.13, Y:12.02, Z:-0.18 [[ 9.99972791e-01 -6.64004413e-03 -3.21346243e-03 2.17134230e+02] [ 6.63940340e-03 9.99977937e-01 -2.10015515e-04 1.20237390e+01] [ 3.21478604e-03 1.88674327e-04 9.99994815e-01 -1.79436037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.74140051300003 meters Centerline goodness [0,1] 0.9991473578752158 Centerline is valid? [True, True] Translation: X:217.16, Y:12.02, Z:-0.18 [[ 9.99965755e-01 -7.33003131e-03 -3.84192081e-03 2.17162248e+02] [ 7.32911962e-03 9.99973110e-01 -2.51327077e-04 1.20203320e+01] [ 3.84365974e-03 2.23160573e-04 9.99992588e-01 -1.80796341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.771400513 meters Centerline goodness [0,1] 0.9994231015768557 Centerline is valid? [True, True] Translation: X:217.19, Y:12.02, Z:-0.18 [[ 9.99966944e-01 -7.62707074e-03 -2.81758905e-03 2.17191663e+02] [ 7.62658098e-03 9.99970900e-01 -1.84524708e-04 1.20174635e+01] [ 2.81891444e-03 1.63030037e-04 9.99996014e-01 -1.79134368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.80140051300003 meters Centerline goodness [0,1] 0.9997191132621753 Centerline is valid? [True, True] Translation: X:217.22, Y:12.01, Z:-0.18 [[ 9.99967152e-01 -7.85646420e-03 -1.99278270e-03 2.17220283e+02] [ 7.85621923e-03 9.99969131e-01 -1.30724743e-04 1.20064527e+01] [ 1.99374821e-03 1.15064711e-04 9.99998006e-01 -1.77784286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.831400513 meters Centerline goodness [0,1] 0.9995932348533505 Centerline is valid? [True, True] Translation: X:217.25, Y:12.01, Z:-0.18 [[ 9.99969898e-01 -7.47309407e-03 -2.08693804e-03 2.17247892e+02] [ 7.47282373e-03 9.99972069e-01 -1.37304699e-04 1.20132432e+01] [ 2.08790584e-03 1.21705246e-04 9.99997813e-01 -1.77961807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.861400513 meters Centerline goodness [0,1] 0.9993408602836427 Centerline is valid? [True, True] Translation: X:217.28, Y:12.01, Z:-0.18 [[ 9.99979003e-01 -4.03858112e-03 -5.06796738e-03 2.17278743e+02] [ 4.03694147e-03 9.99991796e-01 -3.33720425e-04 1.20136191e+01] [ 5.06927356e-03 3.13254330e-04 9.99987102e-01 -1.81779798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.891400513 meters Centerline goodness [0,1] 0.9983011483377059 Centerline is valid? [True, True] Translation: X:217.31, Y:12.02, Z:-0.18 [[ 9.99979454e-01 -1.79257126e-03 -6.15454329e-03 2.17307785e+02] [ 1.79011046e-03 9.99998316e-01 -4.05321457e-04 1.20179950e+01] [ 6.15525949e-03 3.94295817e-04 9.99980978e-01 -1.83373874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.921400513 meters Centerline goodness [0,1] 0.9991595370988945 Centerline is valid? [True, True] Translation: X:217.34, Y:12.01, Z:-0.18 [[ 9.99981067e-01 4.38689896e-04 -6.13792440e-03 2.17337849e+02] [-4.41179841e-04 9.99999821e-01 -4.04317614e-04 1.20139196e+01] [ 6.13774593e-03 4.07017887e-04 9.99981081e-01 -1.82314697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.951400513 meters Centerline goodness [0,1] 0.9818189596167008 Centerline is valid? [True, True] Translation: X:217.37, Y:12.03, Z:-0.18 [[ 9.99979893e-01 2.98009854e-03 -5.59758637e-03 2.17366644e+02] [-2.98220918e-03 9.99995485e-01 -3.68752770e-04 1.20287189e+01] [ 5.59646218e-03 3.85438529e-04 9.99984265e-01 -1.81978078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.981400513 meters Centerline goodness [0,1] 0.650107623127251 Centerline is valid? [True, False] Translation: X:217.37, Y:12.03, Z:-0.18 [[ 9.99980338e-01 3.36458196e-03 -5.29183631e-03 2.17365423e+02] [-3.36791159e-03 9.99994136e-01 -6.20414974e-04 1.20306661e+01] [ 5.28971784e-03 6.38225212e-04 9.99985806e-01 -1.81676209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.011400513 meters Centerline goodness [0,1] 0.7910412657686552 Centerline is valid? [False, False] Translation: X:217.37, Y:12.03, Z:-0.18 [[ 9.99980794e-01 3.36596683e-03 -5.20408280e-03 2.17365169e+02] [-3.36960660e-03 9.99994084e-01 -6.90796576e-04 1.20310268e+01] [ 5.20172681e-03 7.08319020e-04 9.99986220e-01 -1.81756264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.041400513 meters Centerline goodness [0,1] 0.8965539315053879 Centerline is valid? [False, False] Translation: X:217.37, Y:12.03, Z:-0.18 [[ 9.99981323e-01 3.31549563e-03 -5.13424207e-03 2.17365016e+02] [-3.31997351e-03 9.99994116e-01 -8.63883379e-04 1.20318754e+01] [ 5.13134766e-03 8.80912792e-04 9.99986447e-01 -1.81920786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.071400513 meters Centerline goodness [0,1] 0.8724219398505842 Centerline is valid? [False, False] Translation: X:217.36, Y:12.04, Z:-0.18 [[ 9.99983040e-01 3.02626031e-03 -4.97616187e-03 2.17364569e+02] [-3.03446957e-03 9.99994046e-01 -1.64299658e-03 1.20356257e+01] [ 4.97116011e-03 1.65806873e-03 9.99986269e-01 -1.82131961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.101400513 meters Centerline goodness [0,1] 0.8369745724329803 Centerline is valid? [False, False] Translation: X:217.32, Y:12.03, Z:-0.18 [[ 9.99969061e-01 2.60968331e-03 -7.42062794e-03 2.17322338e+02] [-2.61466866e-03 9.99996362e-01 -6.62200414e-04 1.20325699e+01] [ 7.41887281e-03 6.81582410e-04 9.99972248e-01 -1.82266103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.131400513 meters Centerline goodness [0,1] 0.8283836832223929 Centerline is valid? [False, False] Translation: X:217.34, Y:12.03, Z:-0.18 [[ 9.99949694e-01 2.74224413e-03 -9.64831255e-03 2.17342770e+02] [-2.64760099e-03 9.99948391e-01 9.80843077e-03 1.20259953e+01] [ 9.67471173e-03 -9.78239247e-03 9.99905348e-01 -1.77100445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.161400513 meters Centerline goodness [0,1] 0.6724865571241886 Centerline is valid? [False, False] Translation: X:217.34, Y:12.03, Z:-0.18 [[ 9.99953768e-01 -1.65836161e-03 -9.47161829e-03 2.17342648e+02] [ 1.69788792e-03 9.99989878e-01 4.16661579e-03 1.20329776e+01] [ 9.46461267e-03 -4.18250491e-03 9.99946462e-01 -1.78354602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.191400513 meters Centerline goodness [0,1] 0.8138836213325379 Centerline is valid? [False, False] Translation: X:217.34, Y:12.04, Z:-0.18 [[ 9.99951454e-01 -1.97907598e-03 -9.65264954e-03 2.17343564e+02] [ 2.01308263e-03 9.99991798e-01 3.51459514e-03 1.20359477e+01] [ 9.64561471e-03 -3.53385610e-03 9.99947236e-01 -1.78998408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.221400513 meters Centerline goodness [0,1] 0.8378308862930018 Centerline is valid? [False, False] Translation: X:217.34, Y:12.04, Z:-0.18 [[ 9.99950664e-01 -2.10286696e-03 -9.70812983e-03 2.17343576e+02] [ 2.13449823e-03 9.99992444e-01 3.24901347e-03 1.20372053e+01] [ 9.70122424e-03 -3.26957517e-03 9.99947597e-01 -1.78671766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.251400513 meters Centerline goodness [0,1] 0.9730119134660875 Centerline is valid? [False, True] Translation: X:217.34, Y:12.04, Z:-0.18 [[ 9.99950533e-01 -2.15772884e-03 -9.70954090e-03 2.17343438e+02] [ 2.18825669e-03 9.99992693e-01 3.13458417e-03 1.20377623e+01] [ 9.70270637e-03 -3.15567608e-03 9.99947948e-01 -1.78385931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.281400513 meters Centerline goodness [0,1] 0.9554964843080089 Centerline is valid? [True, True] Translation: X:217.37, Y:12.05, Z:-0.18 [[ 9.99954745e-01 -2.56820956e-03 -9.16032434e-03 2.17371053e+02] [ 2.56160287e-03 9.99996451e-01 -7.32888861e-04 1.20461522e+01] [ 9.16217403e-03 7.09390581e-04 9.99957775e-01 -1.78262741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.311400513 meters Centerline goodness [0,1] 0.846045918367347 Centerline is valid? [True, False] Translation: X:217.40, Y:12.06, Z:-0.19 [[ 9.99991804e-01 -2.37642790e-03 -3.27798846e-03 2.17395270e+02] [ 2.33836671e-03 9.99930372e-01 -1.15665103e-02 1.20629856e+01] [ 3.30524719e-03 1.15587504e-02 9.99927733e-01 -1.85767872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.341400513 meters Centerline goodness [0,1] 0.968712990676342 Centerline is valid? [False, True] Translation: X:217.37, Y:12.06, Z:-0.18 [[ 9.99961899e-01 -2.23553128e-03 -8.43817787e-03 2.17370791e+02] [ 2.23367586e-03 9.99997479e-01 -2.29301814e-04 1.20553488e+01] [ 8.43866921e-03 2.10444924e-04 9.99964372e-01 -1.78145403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.371400513 meters Centerline goodness [0,1] 0.7975468016211695 Centerline is valid? [True, False] Translation: X:217.37, Y:12.06, Z:-0.18 [[ 9.99961601e-01 -2.60040282e-03 -8.36868446e-03 2.17370483e+02] [ 2.59072508e-03 9.99995963e-01 -1.16705606e-03 1.20598390e+01] [ 8.37168549e-03 1.14533028e-03 9.99964301e-01 -1.78052455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.401400513 meters Centerline goodness [0,1] 0.6802592435189121 Centerline is valid? [False, False] Translation: X:217.39, Y:12.07, Z:-0.18 [[ 9.99994209e-01 -1.64152089e-03 -2.98131146e-03 2.17393287e+02] [ 1.60653824e-03 9.99930277e-01 -1.16987101e-02 1.20736402e+01] [ 3.00030727e-03 1.16938528e-02 9.99927123e-01 -1.84245725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.431400513 meters Centerline goodness [0,1] 0.6579575992833682 Centerline is valid? [False, False] Translation: X:217.39, Y:12.08, Z:-0.18 [[ 9.99993011e-01 2.30104248e-03 -2.94677406e-03 2.17392875e+02] [-2.32525732e-03 9.99963343e-01 -8.24051388e-03 1.20777840e+01] [ 2.92770427e-03 8.24730830e-03 9.99961704e-01 -1.83654841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.461400513 meters Centerline goodness [0,1] 0.7781011276827937 Centerline is valid? [False, False] Translation: X:217.39, Y:12.08, Z:-0.18 [[ 9.99972901e-01 6.67810647e-03 -3.09842854e-03 2.17393078e+02] [-6.68895114e-03 9.99971493e-01 -3.50299503e-03 1.20757384e+01] [ 3.07494684e-03 3.52362534e-03 9.99989064e-01 -1.82920192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.49140051300003 meters Centerline goodness [0,1] 0.6788563405450252 Centerline is valid? [False, False] Translation: X:217.39, Y:12.08, Z:-0.18 [[ 9.99975129e-01 6.33614667e-03 -3.09755400e-03 2.17393011e+02] [-6.34943102e-03 9.99970606e-01 -4.29780045e-03 1.20794933e+01] [ 3.07023146e-03 4.31736126e-03 9.99985967e-01 -1.82857723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.521400513 meters Centerline goodness [0,1] 0.6788563405450252 Centerline is valid? [False, False] Translation: X:217.39, Y:12.08, Z:-0.18 [[ 9.99975129e-01 6.33614667e-03 -3.09755400e-03 2.17393011e+02] [-6.34943102e-03 9.99970606e-01 -4.29780045e-03 1.20794933e+01] [ 3.07023146e-03 4.31736126e-03 9.99985967e-01 -1.82857723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.55140051300003 meters Centerline goodness [0,1] 0.554081480057254 Centerline is valid? [False, False] Translation: X:217.39, Y:12.08, Z:-0.18 [[ 9.99976367e-01 6.12400158e-03 -3.12435802e-03 2.17393139e+02] [-6.13878070e-03 9.99969910e-01 -4.74283730e-03 1.20815429e+01] [ 3.09521887e-03 4.76190496e-03 9.99983872e-01 -1.82955060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.581400513 meters Centerline goodness [0,1] 0.818263859045982 Centerline is valid? [False, False] Translation: X:217.39, Y:12.08, Z:-0.18 [[ 9.99976920e-01 5.97021065e-03 -3.24295302e-03 2.17393676e+02] [-5.98644298e-03 9.99969486e-01 -5.01898723e-03 1.20827793e+01] [ 3.21288965e-03 5.03828515e-03 9.99982146e-01 -1.83256998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.611400513 meters Centerline goodness [0,1] 0.8050914199357186 Centerline is valid? [False, False] Translation: X:217.42, Y:12.09, Z:-0.18 [[ 9.99992298e-01 1.85692532e-04 -3.92049729e-03 2.17415739e+02] [-1.87202697e-04 9.99999908e-01 -3.84833980e-04 1.20869398e+01] [ 3.92042547e-03 3.85564944e-04 9.99992241e-01 -1.81296405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.641400513 meters Centerline goodness [0,1] 0.8820037184146032 Centerline is valid? [False, False] Translation: X:217.42, Y:12.09, Z:-0.18 [[ 9.99991839e-01 -7.85679649e-05 -4.03921359e-03 2.17415759e+02] [ 7.64443420e-05 9.99999859e-01 -5.25903270e-04 1.20873535e+01] [ 4.03925434e-03 5.25590203e-04 9.99991704e-01 -1.80574457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.671400513 meters Centerline goodness [0,1] 0.9974045474045474 Centerline is valid? [False, True] Translation: X:217.37, Y:12.08, Z:-0.18 [[ 9.99985924e-01 -1.68897732e-03 -5.02978843e-03 2.17369410e+02] [ 1.69088543e-03 9.99998500e-01 3.75132854e-04 1.20829280e+01] [ 5.02914730e-03 -3.83632370e-04 9.99987280e-01 -1.77849460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.701400513 meters Centerline goodness [0,1] 0.9963516108384894 Centerline is valid? [True, True] Translation: X:217.40, Y:12.08, Z:-0.17 [[ 9.99961822e-01 -8.43561093e-03 -2.27912797e-03 2.17399395e+02] [ 8.43527579e-03 9.99964410e-01 -1.56621589e-04 1.20847611e+01] [ 2.28036805e-03 1.37390537e-04 9.99997391e-01 -1.72717168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.731400513 meters Centerline goodness [0,1] 0.9994254585691791 Centerline is valid? [True, True] Translation: X:217.43, Y:12.08, Z:-0.17 [[ 9.99942721e-01 -1.05665436e-02 -1.70375379e-03 2.17429639e+02] [ 1.05663594e-02 9.99944168e-01 -1.17086964e-04 1.20801054e+01] [ 1.70489587e-03 9.90777822e-05 9.99998542e-01 -1.71391140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.761400513 meters Centerline goodness [0,1] 0.9997425168973286 Centerline is valid? [True, True] Translation: X:217.46, Y:12.08, Z:-0.17 [[ 9.99926917e-01 -1.18468769e-02 -2.41102194e-03 2.17458602e+02] [ 1.18465116e-02 9.99929814e-01 -1.65756897e-04 1.20807651e+01] [ 2.41281642e-03 1.37182584e-04 9.99997080e-01 -1.71671943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.791400513 meters Centerline goodness [0,1] 0.9994467731982892 Centerline is valid? [True, True] Translation: X:217.49, Y:12.09, Z:-0.17 [[ 9.99920477e-01 -1.21677220e-02 -3.31442149e-03 2.17485669e+02] [ 1.21670327e-02 9.99925953e-01 -2.28066881e-04 1.20887915e+01] [ 3.31695112e-03 1.87722070e-04 9.99994481e-01 -1.73647321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.821400513 meters Centerline goodness [0,1] 0.9993558914462384 Centerline is valid? [True, True] Translation: X:217.51, Y:12.09, Z:-0.18 [[ 9.99914567e-01 -1.23099863e-02 -4.39567757e-03 2.17512193e+02] [ 1.23087731e-02 9.99924198e-01 -3.02940050e-04 1.20930313e+01] [ 4.39907356e-03 2.48808771e-04 9.99990293e-01 -1.75533371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.851400513 meters Centerline goodness [0,1] 0.9998297220211996 Centerline is valid? [True, True] Translation: X:217.54, Y:12.09, Z:-0.17 [[ 9.99915480e-01 -1.25153923e-02 -3.52104726e-03 2.17540106e+02] [ 1.25146133e-02 9.99921660e-01 -2.43181122e-04 1.20890721e+01] [ 3.52381493e-03 1.99096024e-04 9.99993772e-01 -1.73953799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.881400513 meters Centerline goodness [0,1] 0.9994290668414709 Centerline is valid? [True, True] Translation: X:217.57, Y:12.10, Z:-0.17 [[ 9.99916238e-01 -1.26321727e-02 -2.81877613e-03 2.17566414e+02] [ 1.26316730e-02 9.99920198e-01 -1.95013921e-04 1.20963873e+01] [ 2.82101463e-03 1.59391728e-04 9.99996008e-01 -1.72644430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.911400513 meters Centerline goodness [0,1] 0.9991654005007597 Centerline is valid? [True, True] Translation: X:217.59, Y:12.10, Z:-0.17 [[ 9.99912378e-01 -1.28677095e-02 -3.10789656e-03 2.17594447e+02] [ 1.28671019e-02 9.99917192e-01 -2.15431245e-04 1.21004597e+01] [ 3.11041131e-03 1.75422746e-04 9.99995147e-01 -1.72148163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.941400513 meters Centerline goodness [0,1] 0.9993822558312919 Centerline is valid? [True, True] Translation: X:217.62, Y:12.10, Z:-0.17 [[ 9.99909014e-01 -1.29061256e-02 -3.92369376e-03 2.17623745e+02] [ 1.29051545e-02 9.99916688e-01 -2.72719673e-04 1.20971359e+01] [ 3.92688662e-03 2.22058985e-04 9.99992265e-01 -1.73617663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.971400513 meters Centerline goodness [0,1] 0.9997218001669199 Centerline is valid? [True, True] Translation: X:217.65, Y:12.10, Z:-0.17 [[ 9.99912615e-01 -1.24288183e-02 -4.50399457e-03 2.17652161e+02] [ 1.24275304e-02 9.99922726e-01 -3.13825585e-04 1.21009565e+01] [ 4.50754701e-03 2.57824632e-04 9.99989808e-01 -1.74217456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.001400513 meters Centerline goodness [0,1] 0.9993780427649216 Centerline is valid? [True, True] Translation: X:217.68, Y:12.11, Z:-0.18 [[ 9.99924669e-01 -1.14223709e-02 -4.49275005e-03 2.17680439e+02] [ 1.14210777e-02 9.99934728e-01 -3.13399350e-04 1.21087723e+01] [ 4.49603656e-03 2.62063695e-04 9.99989858e-01 -1.75351345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.031400513 meters Centerline goodness [0,1] 0.9809390685558168 Centerline is valid? [True, True] Translation: X:217.71, Y:12.12, Z:-0.18 [[ 9.99939576e-01 -1.02466695e-02 -3.98112985e-03 2.17707795e+02] [ 1.02456441e-02 9.99947473e-01 -2.77870196e-04 1.21218685e+01] [ 3.98376798e-03 2.37064167e-04 9.99992037e-01 -1.75790638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.061400513 meters Centerline goodness [0,1] 0.9851873922574329 Centerline is valid? [True, True] Translation: X:217.74, Y:12.12, Z:-0.18 [[ 9.99968029e-01 -6.54240538e-03 -4.59766732e-03 2.17737928e+02] [ 6.54099827e-03 9.99978556e-01 -3.21018512e-04 1.21207052e+01] [ 4.59966896e-03 2.90934915e-04 9.99989379e-01 -1.75812037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.091400513 meters Centerline goodness [0,1] 0.9968748006888194 Centerline is valid? [True, True] Translation: X:217.77, Y:12.12, Z:-0.18 [[ 9.99978850e-01 -3.67943569e-03 -5.36290891e-03 2.17768693e+02] [ 3.67748003e-03 9.99993168e-01 -3.74480223e-04 1.21176138e+01] [ 5.36425015e-03 3.54750312e-04 9.99985549e-01 -1.75726668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.121400513 meters Centerline goodness [0,1] 0.9583377325421796 Centerline is valid? [True, True] Translation: X:217.80, Y:12.13, Z:-0.18 [[ 9.99982715e-01 -1.51724623e-04 -5.87758904e-03 2.17797483e+02] [ 1.49314746e-04 9.99999905e-01 -4.10447780e-04 1.21279706e+01] [ 5.87765075e-03 4.09563075e-04 9.99982643e-01 -1.75845119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.151400513 meters Centerline goodness [0,1] 0.9683223193348967 Centerline is valid? [True, True] Translation: X:217.83, Y:12.13, Z:-0.18 [[ 9.99975604e-01 3.18844851e-03 -6.21493675e-03 2.17828096e+02] [-3.19120719e-03 9.99994814e-01 -4.34011966e-04 1.21292920e+01] [ 6.21352069e-03 4.53834529e-04 9.99980593e-01 -1.75361709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.181400513 meters Centerline goodness [0,1] 0.7718330339577453 Centerline is valid? [True, False] Translation: X:217.83, Y:12.13, Z:-0.18 [[ 9.99977823e-01 3.04920270e-03 -5.92080288e-03 2.17827146e+02] [-3.05567206e-03 9.99994744e-01 -1.08391102e-03 1.21325445e+01] [ 5.91746670e-03 1.10197902e-03 9.99981884e-01 -1.75416473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.211400513 meters Centerline goodness [0,1] 0.5752373300632175 Centerline is valid? [False, False] Translation: X:217.86, Y:12.13, Z:-0.17 [[ 9.99972818e-01 7.22673065e-03 -1.46233775e-03 2.17862092e+02] [-7.22319013e-03 9.99971003e-01 2.41210566e-03 1.21335162e+01] [ 1.47972698e-03 -2.40147735e-03 9.99996022e-01 -1.72284766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.24140051300003 meters Centerline goodness [0,1] 0.7039313341104165 Centerline is valid? [False, False] Translation: X:217.86, Y:12.13, Z:-0.17 [[ 9.99973494e-01 7.15763258e-03 -1.33395159e-03 2.17861507e+02] [-7.15464393e-03 9.99971914e-01 2.23191209e-03 1.21343925e+01] [ 1.34988933e-03 -2.22230899e-03 9.99996620e-01 -1.72011534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.271400513 meters Centerline goodness [0,1] 0.6374641605606881 Centerline is valid? [False, False] Translation: X:217.86, Y:12.13, Z:-0.17 [[ 9.99973719e-01 7.10651346e-03 -1.43451447e-03 2.17861909e+02] [-7.10346651e-03 9.99972527e-01 2.11806449e-03 1.21349105e+01] [ 1.44952712e-03 -2.10781880e-03 9.99996728e-01 -1.72148211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.30140051300003 meters Centerline goodness [0,1] 0.7233156861070789 Centerline is valid? [False, False] Translation: X:217.86, Y:12.14, Z:-0.17 [[ 9.99973828e-01 7.04638140e-03 -1.64038747e-03 2.17863027e+02] [-7.04310836e-03 9.99973212e-01 1.99258738e-03 1.21354204e+01] [ 1.65438406e-03 -1.98098180e-03 9.99996669e-01 -1.72998235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.331400513 meters Centerline goodness [0,1] 0.5649426384205951 Centerline is valid? [False, False] Translation: X:217.87, Y:12.14, Z:-0.18 [[ 9.99973051e-01 6.99205263e-03 -2.23803897e-03 2.17866299e+02] [-6.98803187e-03 9.99973965e-01 1.79935966e-03 1.21360989e+01] [ 2.25056192e-03 -1.78367169e-03 9.99995877e-01 -1.75508313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.361400513 meters Centerline goodness [0,1] 0.7036392914653784 Centerline is valid? [False, False] Translation: X:217.87, Y:12.13, Z:-0.18 [[ 9.99930397e-01 1.15236473e-02 -2.53099396e-03 2.17867456e+02] [-1.15046829e-02 9.99906557e-01 7.38379236e-03 1.21296830e+01] [ 2.61584567e-03 -7.35416014e-03 9.99969536e-01 -1.75516267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.391400513 meters Centerline goodness [0,1] 0.6473686455134766 Centerline is valid? [False, False] Translation: X:217.87, Y:12.14, Z:-0.18 [[ 9.99968752e-01 7.58234741e-03 -2.23663208e-03 2.17866333e+02] [-7.57790544e-03 9.99969311e-01 1.98784186e-03 1.21362940e+01] [ 2.25163595e-03 -1.97083076e-03 9.99995523e-01 -1.75766829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.421400513 meters Centerline goodness [0,1] 0.6069236487203993 Centerline is valid? [False, False] Translation: X:217.86, Y:12.14, Z:-0.17 [[ 9.99971296e-01 7.38555863e-03 -1.69133661e-03 2.17864069e+02] [-7.38368280e-03 9.99972121e-01 1.11265421e-03 1.21407658e+01] [ 1.69950704e-03 -1.10013398e-03 9.99997951e-01 -1.74943510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.451400513 meters Centerline goodness [0,1] 0.6203719685854837 Centerline is valid? [False, False] Translation: X:217.82, Y:12.14, Z:-0.17 [[ 9.99971764e-01 6.70969029e-03 -3.38408623e-03 2.17819813e+02] [-6.70875396e-03 9.99977455e-01 2.87959500e-04 1.21406874e+01] [ 3.38594206e-03 -2.65248367e-04 9.99994233e-01 -1.74310491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.481400513 meters Centerline goodness [0,1] 0.5868069607446378 Centerline is valid? [False, False] Translation: X:217.84, Y:12.13, Z:-0.18 [[ 9.99969214e-01 7.83868824e-03 -3.55699915e-04 2.17842923e+02] [-7.83356393e-03 9.99889352e-01 1.26458953e-02 1.21344661e+01] [ 4.54787788e-04 -1.26427196e-02 9.99919974e-01 -1.78258935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.511400513 meters Centerline goodness [0,1] 0.5195730298622401 Centerline is valid? [False, False] Translation: X:217.84, Y:12.14, Z:-0.18 [[ 9.99992598e-01 3.84731955e-03 5.32565920e-05 2.17841641e+02] [-3.84760643e-03 9.99965773e-01 7.32458092e-03 1.21404348e+01] [-2.50747659e-05 -7.32473161e-03 9.99973173e-01 -1.78861542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.541400513 meters Centerline goodness [0,1] 0.5535225899463607 Centerline is valid? [False, False] Translation: X:217.84, Y:12.14, Z:-0.18 [[ 9.99992287e-01 3.92533555e-03 1.31796317e-04 2.17841149e+02] [-3.92621658e-03 9.99963951e-01 7.52868640e-03 1.21394806e+01] [-1.02238945e-04 -7.52914579e-03 9.99971650e-01 -1.78454456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.571400513 meters Centerline goodness [0,1] 0.5561687619859366 Centerline is valid? [False, False] Translation: X:217.84, Y:12.14, Z:-0.18 [[ 9.99992422e-01 3.88961394e-03 1.64744609e-04 2.17840690e+02] [-3.89073744e-03 9.99964456e-01 7.47986615e-03 1.21397469e+01] [-1.35644962e-04 -7.48045044e-03 9.99972012e-01 -1.77765467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.601400513 meters Centerline goodness [0,1] 0.648465982986163 Centerline is valid? [False, False] Translation: X:217.84, Y:12.15, Z:-0.18 [[ 9.99999550e-01 -8.36318717e-04 4.46861920e-04 2.17839600e+02] [ 8.35526825e-04 9.99998086e-01 1.76937428e-03 1.21465243e+01] [-4.48340826e-04 -1.76900012e-03 9.99998335e-01 -1.77679606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.631400513 meters Centerline goodness [0,1] 0.6584384908390611 Centerline is valid? [False, False] Translation: X:217.84, Y:12.14, Z:-0.18 [[ 9.99999780e-01 -6.16466626e-04 2.45259091e-04 2.17839883e+02] [ 6.15789477e-04 9.99996025e-01 2.75151779e-03 1.21416595e+01] [-2.46954335e-04 -2.75136616e-03 9.99996184e-01 -1.76799640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.661400513 meters Centerline goodness [0,1] 0.7452105229359762 Centerline is valid? [False, False] Translation: X:217.83, Y:12.14, Z:-0.17 [[ 9.99995657e-01 -2.74152769e-03 1.08191373e-03 2.17833628e+02] [ 2.74075071e-03 9.99995986e-01 7.18977895e-04 1.21418041e+01] [-1.08388048e-03 -7.16009516e-04 9.99999156e-01 -1.72956517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.691400513 meters Centerline goodness [0,1] 0.618116775265108 Centerline is valid? [False, False] Translation: X:217.83, Y:12.14, Z:-0.17 [[ 9.99996184e-01 -2.61530970e-03 8.89477549e-04 2.17834605e+02] [ 2.61432975e-03 9.99995976e-01 1.10109182e-03 1.21399162e+01] [-8.92353666e-04 -1.09876223e-03 9.99998998e-01 -1.73614277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.721400513 meters Centerline goodness [0,1] 0.8128297872340425 Centerline is valid? [False, False] Translation: X:217.84, Y:12.14, Z:-0.17 [[ 9.99996426e-01 -2.61965306e-03 5.33497036e-04 2.17835938e+02] [ 2.61881610e-03 9.99995349e-01 1.56351607e-03 1.21374311e+01] [-5.37590424e-04 -1.56211335e-03 9.99998635e-01 -1.73959072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.751400513 meters Centerline goodness [0,1] 0.7645847049079364 Centerline is valid? [False, False] Translation: X:217.84, Y:12.14, Z:-0.17 [[ 9.99996833e-01 -2.45128041e-03 5.70350055e-04 2.17835372e+02] [ 2.45010189e-03 9.99994881e-01 2.05792485e-03 1.21351016e+01] [-5.75391686e-04 -2.05652092e-03 9.99997720e-01 -1.73019638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.781400513 meters Centerline goodness [0,1] 0.812987618724559 Centerline is valid? [False, False] Translation: X:217.83, Y:12.13, Z:-0.17 [[ 9.99997385e-01 -2.21595647e-03 5.65564178e-04 2.17834938e+02] [ 2.21443475e-03 9.99993964e-01 2.67721381e-03 1.21321801e+01] [-5.71493354e-04 -2.67595441e-03 9.99996256e-01 -1.72087612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.811400513 meters Centerline goodness [0,1] 0.7965621538723694 Centerline is valid? [False, False] Translation: X:217.83, Y:12.13, Z:-0.17 [[ 9.99997835e-01 -2.01412238e-03 5.22006129e-04 2.17834989e+02] [ 2.01246347e-03 9.99992985e-01 3.15921510e-03 1.21299115e+01] [-5.28365513e-04 -3.15815774e-03 9.99994873e-01 -1.71852918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.841400513 meters Centerline goodness [0,1] 0.8171037531346963 Centerline is valid? [False, False] Translation: X:217.84, Y:12.13, Z:-0.17 [[ 9.99998056e-01 -1.92590580e-03 4.24124575e-04 2.17835383e+02] [ 1.92446529e-03 9.99992466e-01 3.37102369e-03 1.21288847e+01] [-4.30613654e-04 -3.37020092e-03 9.99994228e-01 -1.71954777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.871400513 meters Centerline goodness [0,1] 0.8611424556622453 Centerline is valid? [False, False] Translation: X:217.84, Y:12.13, Z:-0.17 [[ 9.99998081e-01 -1.92065402e-03 3.85151742e-04 2.17835627e+02] [ 1.91934380e-03 9.99992467e-01 3.37381333e-03 1.21288708e+01] [-3.91628769e-04 -3.37306762e-03 9.99994235e-01 -1.72168296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.901400513 meters Centerline goodness [0,1] 0.7138115905029359 Centerline is valid? [False, False] Translation: X:217.83, Y:12.13, Z:-0.17 [[ 9.99998123e-01 -1.86233844e-03 5.34143245e-04 2.17834937e+02] [ 1.86046604e-03 9.99992197e-01 3.48477008e-03 1.21283868e+01] [-5.40628899e-04 -3.48376978e-03 9.99993786e-01 -1.71811501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.931400513 meters Centerline goodness [0,1] 0.8299950729418821 Centerline is valid? [False, False] Translation: X:217.83, Y:12.13, Z:-0.17 [[ 9.99998332e-01 -1.71792650e-03 6.20742693e-04 2.17834357e+02] [ 1.71554049e-03 9.99991217e-01 3.82410450e-03 1.21268196e+01] [-6.27306771e-04 -3.82303321e-03 9.99992495e-01 -1.71220049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.961400513 meters Centerline goodness [0,1] 0.711815867628341 Centerline is valid? [False, False] Translation: X:217.83, Y:12.13, Z:-0.17 [[ 9.99980078e-01 -6.24535044e-03 9.16490121e-04 2.17833296e+02] [ 6.24666662e-03 9.99979452e-01 -1.44034415e-03 1.21315257e+01] [-9.07475835e-04 1.44604047e-03 9.99998543e-01 -1.71136468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.99140051300003 meters Centerline goodness [0,1] 0.8288415771531485 Centerline is valid? [False, False] Translation: X:217.83, Y:12.14, Z:-0.17 [[ 9.99940172e-01 -1.08810294e-02 1.12012497e-03 2.17832770e+02] [ 1.08881438e-02 9.99919241e-01 -6.55435689e-03 1.21352350e+01] [-1.04871636e-03 6.56616084e-03 9.99977893e-01 -1.71258912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.021400513 meters Centerline goodness [0,1] 0.9984013641692423 Centerline is valid? [False, True] Translation: X:217.83, Y:12.13, Z:-0.17 [[ 9.99880483e-01 -1.54498155e-02 5.67585649e-04 2.17834928e+02] [ 1.54548546e-02 9.99827243e-01 -1.03262567e-02 1.21317737e+01] [-4.07948835e-04 1.03337945e-02 9.99946522e-01 -1.71629441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.05140051300003 meters Centerline goodness [0,1] 0.9991173684663739 Centerline is valid? [True, True] Translation: X:217.87, Y:12.12, Z:-0.17 [[ 9.99783993e-01 -2.07707860e-02 -7.35584112e-04 2.17865160e+02] [ 2.07707497e-02 9.99784263e-01 -5.70645182e-05 1.21200745e+01] [ 7.36610695e-04 4.17735584e-05 9.99999728e-01 -1.72332533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.081400513 meters Centerline goodness [0,1] 0.9998299030447355 Centerline is valid? [True, True] Translation: X:217.90, Y:12.11, Z:-0.17 [[ 9.99664188e-01 -2.59090180e-02 -4.83335494e-04 2.17896204e+02] [ 2.59090029e-02 9.99664305e-01 -3.74968368e-05 1.21111173e+01] [ 4.84144747e-04 2.49615042e-05 9.99999882e-01 -1.71446611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.111400513 meters Centerline goodness [0,1] 0.9999352121801102 Centerline is valid? [True, True] Translation: X:217.93, Y:12.10, Z:-0.17 [[ 9.99530117e-01 -3.06519552e-02 5.02021414e-05 2.17927062e+02] [ 3.06519551e-02 9.99530118e-01 3.89223640e-06 1.21049746e+01] [-5.02978570e-05 -2.35161372e-06 9.99999999e-01 -1.69987294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.141400513 meters Centerline goodness [0,1] 0.9999149497140184 Centerline is valid? [True, True] Translation: X:217.96, Y:12.10, Z:-0.17 [[ 9.99342277e-01 -3.62628327e-02 1.45494446e-04 2.17955976e+02] [ 3.62628314e-02 9.99342287e-01 1.12791673e-05 1.21013576e+01] [-1.45807767e-04 -5.99570816e-06 9.99999989e-01 -1.69257119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.171400513 meters Centerline goodness [0,1] 0.9998931098616841 Centerline is valid? [True, True] Translation: X:217.99, Y:12.10, Z:-0.17 [[ 9.99290750e-01 -3.76528568e-02 -5.09794213e-04 2.17985860e+02] [ 3.76528415e-02 9.99290880e-01 -3.96497263e-05 1.20965897e+01] [ 5.10925633e-04 2.04264040e-05 9.99999869e-01 -1.70126862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.201400513 meters Centerline goodness [0,1] 0.9999786100832068 Centerline is valid? [True, True] Translation: X:218.01, Y:12.10, Z:-0.17 [[ 9.99280126e-01 -3.79346196e-02 -4.41755633e-04 2.18013790e+02] [ 3.79346081e-02 9.99280223e-01 -3.43765097e-05 1.20992334e+01] [ 4.42741727e-04 1.75939361e-05 9.99999902e-01 -1.70129161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.231400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.04, Y:12.10, Z:-0.17 [[ 9.99276079e-01 -3.80414456e-02 -4.08708312e-04 2.18042298e+02] [ 3.80414357e-02 9.99276162e-01 -3.19411133e-05 1.20991697e+01] [ 4.09627560e-04 1.63701395e-05 9.99999916e-01 -1.70226280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.261400513 meters Centerline goodness [0,1] 0.999914851948826 Centerline is valid? [True, True] Translation: X:218.07, Y:12.10, Z:-0.17 [[ 9.99290054e-01 -3.76724200e-02 -4.20889567e-04 2.18069409e+02] [ 3.76724095e-02 9.99290142e-01 -3.28682221e-05 1.21037071e+01] [ 4.21829021e-04 1.69889633e-05 9.99999911e-01 -1.70702625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.291400513 meters Centerline goodness [0,1] 0.9999571560163664 Centerline is valid? [True, True] Translation: X:218.10, Y:12.11, Z:-0.17 [[ 9.99295469e-01 -3.75294100e-02 -3.29659807e-04 2.18097958e+02] [ 3.75294035e-02 9.99295523e-01 -2.58471548e-05 1.21053910e+01] [ 3.30397598e-04 1.34570088e-05 9.99999945e-01 -1.70669870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.321400513 meters Centerline goodness [0,1] 0.999957710443406 Centerline is valid? [True, True] Translation: X:218.13, Y:12.11, Z:-0.17 [[ 9.99265712e-01 -3.83112497e-02 -5.32968213e-04 2.18125761e+02] [ 3.83112329e-02 9.99265854e-01 -4.17275842e-05 1.21082248e+01] [ 5.34175573e-04 2.12782748e-05 9.99999857e-01 -1.71203490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.351400513 meters Centerline goodness [0,1] 0.9998939442146569 Centerline is valid? [True, True] Translation: X:218.15, Y:12.11, Z:-0.17 [[ 9.99210708e-01 -3.97089104e-02 -1.07900375e-03 2.18153510e+02] [ 3.97088422e-02 9.99211289e-01 -8.45145686e-05 1.21123791e+01] [ 1.08150870e-03 4.16018724e-05 9.99999414e-01 -1.71998026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.381400513 meters Centerline goodness [0,1] 0.9999364325973641 Centerline is valid? [True, True] Translation: X:218.18, Y:12.12, Z:-0.17 [[ 9.99132212e-01 -4.16244452e-02 -1.49311283e-03 2.18180980e+02] [ 4.16243167e-02 9.99133326e-01 -1.17024901e-04 1.21155640e+01] [ 1.49668988e-03 5.47735471e-05 9.99998878e-01 -1.72816027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.411400513 meters Centerline goodness [0,1] 0.9999364325973641 Centerline is valid? [True, True] Translation: X:218.21, Y:12.12, Z:-0.17 [[ 9.99124703e-01 -4.18042856e-02 -1.49308751e-03 2.18208396e+02] [ 4.18041569e-02 9.99125817e-01 -1.17347558e-04 1.21178856e+01] [ 1.49668791e-03 5.48275797e-05 9.99998878e-01 -1.72828082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.441400513 meters Centerline goodness [0,1] 0.9999785789259473 Centerline is valid? [True, True] Translation: X:218.24, Y:12.12, Z:-0.17 [[ 9.98968404e-01 -4.53824021e-02 -1.60146960e-03 2.18238352e+02] [ 4.53822587e-02 9.98969687e-01 -1.25804168e-04 1.21180247e+01] [ 1.60552888e-03 5.29960811e-05 9.99998710e-01 -1.73103116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.471400513 meters Centerline goodness [0,1] 0.9999785426143679 Centerline is valid? [True, True] Translation: X:218.27, Y:12.12, Z:-0.17 [[ 9.98883043e-01 -4.72269671e-02 -1.51001092e-03 2.18266385e+02] [ 4.72268415e-02 9.98884183e-01 -1.18703391e-04 1.21204967e+01] [ 1.51393203e-03 4.72577577e-05 9.99998853e-01 -1.73319124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.501400513 meters Centerline goodness [0,1] 0.9999575911789652 Centerline is valid? [True, True] Translation: X:218.30, Y:12.12, Z:-0.17 [[ 9.98783312e-01 -4.93069161e-02 -8.50898724e-04 2.18295789e+02] [ 4.93068768e-02 9.98783674e-01 -6.70713567e-05 1.21196929e+01] [ 8.53170836e-04 2.50345931e-05 9.99999636e-01 -1.72550673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.531400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.33, Y:12.12, Z:-0.17 [[ 9.98583648e-01 -5.32034301e-02 3.05732932e-04 2.18325314e+02] [ 5.32034252e-02 9.98583695e-01 2.40726642e-05 1.21192592e+01] [-3.06580669e-04 -7.77252961e-06 9.99999953e-01 -1.70615611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.561400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.35, Y:12.12, Z:-0.17 [[ 9.98487781e-01 -5.49739954e-02 1.06485801e-04 2.18354620e+02] [ 5.49739948e-02 9.98487787e-01 8.33247920e-06 1.21179467e+01] [-1.06782841e-04 -2.46592882e-06 9.99999994e-01 -1.71473742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.591400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.38, Y:12.12, Z:-0.17 [[ 9.98423939e-01 -5.61116324e-02 -1.05925399e-03 2.18383158e+02] [ 5.61115750e-02 9.98424501e-01 -8.38681192e-05 1.21204603e+01] [ 1.06229111e-03 2.42995282e-05 9.99999435e-01 -1.73688751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.621400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.41, Y:12.12, Z:-0.18 [[ 9.98386020e-01 -5.67563600e-02 -2.01764545e-03 2.18411189e+02] [ 5.67561530e-02 9.98388058e-01 -1.59757089e-04 1.21242370e+01] [ 2.02346035e-03 4.49854501e-05 9.99997952e-01 -1.76226261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.651400513 meters Centerline goodness [0,1] 0.9998923318762247 Centerline is valid? [True, True] Translation: X:218.44, Y:12.13, Z:-0.18 [[ 9.98358461e-01 -5.71891734e-02 -3.12755186e-03 2.18439447e+02] [ 5.71886761e-02 9.98363358e-01 -2.48278257e-04 1.21260331e+01] [ 3.13663200e-03 6.90101483e-05 9.99995078e-01 -1.77726350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.681400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.47, Y:12.13, Z:-0.18 [[ 9.98341644e-01 -5.74756191e-02 -3.24275651e-03 2.18467104e+02] [ 5.74750840e-02 9.98346908e-01 -2.58041358e-04 1.21280405e+01] [ 3.25222702e-03 7.12357304e-05 9.99994709e-01 -1.77839594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.711400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.50, Y:12.13, Z:-0.18 [[ 9.98365900e-01 -5.70738910e-02 -2.84631705e-03 2.18495106e+02] [ 5.70734765e-02 9.98369955e-01 -2.26718756e-04 1.21330164e+01] [ 2.85461714e-03 6.38990656e-05 9.99995924e-01 -1.76982436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.74140051300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.52, Y:12.14, Z:-0.18 [[ 9.98385986e-01 -5.67582764e-02 -1.98035519e-03 2.18523614e+02] [ 5.67580744e-02 9.98387949e-01 -1.58117288e-04 1.21361572e+01] [ 1.98613722e-03 4.54609371e-05 9.99998027e-01 -1.75185128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.771400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.55, Y:12.14, Z:-0.17 [[ 9.98414682e-01 -5.62809250e-02 -7.61353428e-04 2.18552779e+02] [ 5.62808949e-02 9.98414972e-01 -6.09648830e-05 1.21382830e+01] [ 7.63577822e-04 1.80185820e-05 9.99999708e-01 -1.73326100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.80140051300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.58, Y:12.14, Z:-0.17 [[ 9.98424106e-01 -5.61180998e-02 2.50966804e-04 2.18580154e+02] [ 5.61180965e-02 9.98424138e-01 2.00602123e-05 1.21438388e+01] [-2.51697056e-04 -5.94482024e-06 9.99999968e-01 -1.72046276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.831400513 meters Centerline goodness [0,1] 0.9998276010688734 Centerline is valid? [True, True] Translation: X:218.61, Y:12.14, Z:-0.17 [[ 9.98328579e-01 -5.77905016e-02 5.52960674e-04 2.18609669e+02] [ 5.77904860e-02 9.98328732e-01 4.42754225e-05 1.21435359e+01] [-5.54595227e-04 -1.22455536e-05 9.99999846e-01 -1.72690978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.861400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.64, Y:12.14, Z:-0.17 [[ 9.98207449e-01 -5.98466535e-02 5.17359733e-04 2.18638600e+02] [ 5.98466400e-02 9.98207583e-01 4.15008931e-05 1.21441991e+01] [-5.18916098e-04 -1.04642590e-05 9.99999865e-01 -1.72834183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.891400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.67, Y:12.14, Z:-0.17 [[ 9.98059249e-01 -6.22708500e-02 2.78620504e-04 2.18667656e+02] [ 6.22708462e-02 9.98059287e-01 2.23595446e-05 1.21424853e+01] [-2.79472129e-04 -4.96621573e-06 9.99999961e-01 -1.72331810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.921400513 meters Centerline goodness [0,1] 0.999847888915448 Centerline is valid? [True, True] Translation: X:218.70, Y:12.14, Z:-0.17 [[ 9.97758264e-01 -6.69211460e-02 -8.81365476e-05 2.18696831e+02] [ 6.69211456e-02 9.97758267e-01 -7.18041107e-06 1.21383803e+01] [ 8.84194903e-05 1.26611574e-06 9.99999996e-01 -1.72312156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.951400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.72, Y:12.14, Z:-0.17 [[ 9.97609382e-01 -6.91051327e-02 -4.12364098e-05 2.18724944e+02] [ 6.91051326e-02 9.97609383e-01 -3.35620284e-06 1.21394658e+01] [ 4.13697602e-05 4.98531868e-07 9.99999999e-01 -1.71660197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.981400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.75, Y:12.14, Z:-0.17 [[ 9.97445549e-01 -7.14296777e-02 4.22586360e-04 2.18754256e+02] [ 7.14296697e-02 9.97445638e-01 3.41169900e-05 1.21383101e+01] [-4.23943887e-04 -3.84463570e-06 9.99999910e-01 -1.71178763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.011400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.78, Y:12.14, Z:-0.17 [[ 9.97296330e-01 -7.34792492e-02 9.11436978e-04 2.18782023e+02] [ 7.34792125e-02 9.97296746e-01 7.37868910e-05 1.21392051e+01] [-9.14394938e-04 -6.61572417e-06 9.99999582e-01 -1.70253232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.041400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.81, Y:12.14, Z:-0.17 [[ 9.97029799e-01 -7.70132012e-02 7.39995428e-04 2.18811488e+02] [ 7.70131779e-02 9.97030073e-01 5.99896116e-05 1.21371025e+01] [-7.42417688e-04 -2.82203078e-06 9.99999724e-01 -1.69989568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.071400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.84, Y:12.14, Z:-0.17 [[ 9.96898990e-01 -7.86910426e-02 3.51057349e-04 2.18839127e+02] [ 7.86910375e-02 9.96899052e-01 2.84764858e-05 1.21372232e+01] [-3.52209582e-04 -7.63112986e-07 9.99999938e-01 -1.70645123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.101400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.87, Y:12.14, Z:-0.17 [[ 9.96779085e-01 -8.01946339e-02 -5.25866901e-04 2.18867071e+02] [ 8.01946224e-02 9.96779224e-01 -4.29699060e-05 1.21387529e+01] [ 5.27619157e-04 6.59806013e-07 9.99999861e-01 -1.71740792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.131400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.89, Y:12.14, Z:-0.17 [[ 9.96638223e-01 -8.19192928e-02 -1.21694904e-03 2.18893582e+02] [ 8.19192325e-02 9.96638966e-01 -9.93832898e-05 1.21416100e+01] [ 1.22100025e-03 -6.42346371e-07 9.99999255e-01 -1.73929697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.161400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.92, Y:12.14, Z:-0.17 [[ 9.96576603e-01 -8.26695284e-02 -9.07766941e-04 2.18921087e+02] [ 8.26694949e-02 9.96577016e-01 -7.43643869e-05 1.21447754e+01] [ 9.10807338e-04 -9.34826465e-07 9.99999585e-01 -1.73601393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.191400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.95, Y:12.15, Z:-0.17 [[ 9.96498421e-01 -8.36074729e-02 -8.28845724e-04 2.18948967e+02] [ 8.36074452e-02 9.96498766e-01 -6.80752362e-05 1.21480363e+01] [ 8.31635339e-04 -1.46080804e-06 9.99999654e-01 -1.73121724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.221400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.98, Y:12.15, Z:-0.17 [[ 9.96418347e-01 -8.45583482e-02 -6.03582697e-04 2.18975558e+02] [ 8.45583337e-02 9.96418529e-01 -4.96003155e-05 1.21513270e+01] [ 6.05615105e-04 -1.61528279e-06 9.99999817e-01 -1.73160416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.251400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.00, Y:12.15, Z:-0.17 [[ 9.96346005e-01 -8.54079038e-02 -3.57672649e-04 2.19002683e+02] [ 8.54078988e-02 9.96346069e-01 -2.94374076e-05 1.21548249e+01] [ 3.58879926e-04 -1.21822594e-06 9.99999936e-01 -1.72924950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.281400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.03, Y:12.16, Z:-0.17 [[ 9.96185006e-01 -8.72664477e-02 3.04675756e-05 2.19031050e+02] [ 8.72664476e-02 9.96185006e-01 2.43473390e-06 1.21602054e+01] [-3.05638125e-05 2.33351675e-07 1.00000000e+00 -1.71793850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.311400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.06, Y:12.16, Z:-0.17 [[ 9.96115105e-01 -8.80607254e-02 8.11955138e-05 2.19058396e+02] [ 8.80607252e-02 9.96115108e-01 6.66643390e-06 1.21629338e+01] [-8.14671290e-05 5.09600323e-07 9.99999997e-01 -1.71998830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.341400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.09, Y:12.17, Z:-0.17 [[ 9.95988311e-01 -8.94831741e-02 -2.12847278e-04 2.19087417e+02] [ 8.94831724e-02 9.95988334e-01 -1.76564127e-05 1.21664259e+01] [ 2.13573358e-04 -1.46066896e-06 9.99999977e-01 -1.72552818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.371400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.11, Y:12.17, Z:-0.17 [[ 9.95870688e-01 -9.07785225e-02 -9.12900227e-04 2.19114830e+02] [ 9.07784914e-02 9.95871106e-01 -7.54897507e-05 1.21688578e+01] [ 9.15983807e-04 -7.69367555e-06 9.99999580e-01 -1.73613162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.401400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.14, Y:12.18, Z:-0.17 [[ 9.95729599e-01 -9.23120974e-02 -1.02088938e-03 2.19143289e+02] [ 9.23120592e-02 9.95730122e-01 -8.46374493e-05 1.21781928e+01] [ 1.02434337e-03 -9.96438718e-06 9.99999475e-01 -1.73387326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.431400513 meters Centerline goodness [0,1] 0.999761584810785 Centerline is valid? [True, True] Translation: X:219.17, Y:12.18, Z:-0.17 [[ 9.95849094e-01 -9.10195921e-02 -1.28062452e-04 2.19169600e+02] [ 9.10195561e-02 9.95844385e-01 3.06629835e-03 1.21804646e+01] [-1.51562951e-04 -3.06522662e-03 9.99995291e-01 -1.73752404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.461400513 meters Centerline goodness [0,1] 0.9999350466581506 Centerline is valid? [True, True] Translation: X:219.20, Y:12.19, Z:-0.17 [[ 9.95611053e-01 -9.35773924e-02 -1.37947470e-03 2.19198422e+02] [ 9.35726416e-02 9.95607378e-01 -3.17948289e-03 1.21903748e+01] [ 1.67094291e-03 3.03644722e-03 9.99993994e-01 -1.74846140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.49140051300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.23, Y:12.19, Z:-0.18 [[ 9.95537705e-01 -9.43231867e-02 -2.79553930e-03 2.19227082e+02] [ 9.43229049e-02 9.95541629e-01 -2.32772971e-04 1.21924797e+01] [ 2.80503164e-03 -3.19491178e-05 9.99996065e-01 -1.76658377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.521400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.26, Y:12.20, Z:-0.18 [[ 9.95363780e-01 -9.61150284e-02 -3.58427550e-03 2.19255426e+02] [ 9.61145746e-02 9.95370232e-01 -2.99050579e-04 1.21993743e+01] [ 3.59642439e-03 -4.68369996e-05 9.99993532e-01 -1.78317307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.55140051300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.28, Y:12.20, Z:-0.18 [[ 9.95245768e-01 -9.73379739e-02 -3.34377964e-03 2.19282934e+02] [ 9.73375853e-02 9.95251384e-01 -2.79147773e-04 1.22027177e+01] [ 3.35507299e-03 -4.76547962e-05 9.99994371e-01 -1.77881062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.581400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.31, Y:12.21, Z:-0.18 [[ 9.95134023e-01 -9.84862444e-02 -2.95565306e-03 2.19311712e+02] [ 9.84859442e-02 9.95138411e-01 -2.47305558e-04 1.22064796e+01] [ 2.96564008e-03 -4.49881074e-05 9.99995601e-01 -1.76825675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.611400513 meters Centerline goodness [0,1] 0.9999784751818848 Centerline is valid? [True, True] Translation: X:219.34, Y:12.21, Z:-0.18 [[ 9.95018515e-01 -9.96349019e-02 -3.32274196e-03 2.19339021e+02] [ 9.96345284e-02 9.95024062e-01 -2.78165852e-04 1.22116234e+01] [ 3.33392323e-03 -5.42796552e-05 9.99994441e-01 -1.77226316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.641400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.37, Y:12.22, Z:-0.18 [[ 9.94994185e-01 -9.98510602e-02 -4.04187635e-03 2.19366528e+02] [ 9.98505059e-02 9.95002393e-01 -3.39205232e-04 1.22171421e+01] [ 4.05554665e-03 -6.60761648e-05 9.99991774e-01 -1.78517545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.671400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.39, Y:12.22, Z:-0.18 [[ 9.95004153e-01 -9.97386993e-02 -4.35063540e-03 2.19393058e+02] [ 9.97380547e-02 9.95013662e-01 -3.65429626e-04 1.22222092e+01] [ 4.36538914e-03 -7.03199169e-05 9.99990469e-01 -1.79226291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.701400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.42, Y:12.23, Z:-0.18 [[ 9.94968715e-01 -1.00108848e-01 -3.93390955e-03 2.19421053e+02] [ 1.00108321e-01 9.94976489e-01 -3.31245435e-04 1.22279973e+01] [ 3.94730811e-03 -6.42382336e-05 9.99992207e-01 -1.78608129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.731400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.45, Y:12.23, Z:-0.18 [[ 9.94909236e-01 -1.00713525e-01 -3.52120864e-03 2.19448538e+02] [ 1.00713105e-01 9.94915465e-01 -2.96658232e-04 1.22313019e+01] [ 3.53318243e-03 -5.94838424e-05 9.99993757e-01 -1.77988035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.761400513 meters Centerline goodness [0,1] 0.9999355323949716 Centerline is valid? [True, True] Translation: X:219.48, Y:12.23, Z:-0.18 [[ 9.94615394e-01 -1.03566327e-01 -3.77285712e-03 2.19475906e+02] [ 1.03565865e-01 9.94622547e-01 -3.18273980e-04 1.22314594e+01] [ 3.78553123e-03 -7.41790115e-05 9.99992832e-01 -1.78577233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.791400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.50, Y:12.24, Z:-0.18 [[ 9.94457997e-01 -1.05070376e-01 -3.67527482e-03 2.19504593e+02] [ 1.05069945e-01 9.94464786e-01 -3.10637434e-04 1.22354680e+01] [ 3.68757018e-03 -7.72450424e-05 9.99993198e-01 -1.78100900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.821400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.53, Y:12.24, Z:-0.18 [[ 9.94347674e-01 -1.06094016e-01 -4.09429593e-03 2.19531991e+02] [ 1.06093489e-01 9.94356099e-01 -3.46249131e-04 1.22377102e+01] [ 4.10792309e-03 -9.00861237e-05 9.99991558e-01 -1.78578463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.851400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.56, Y:12.24, Z:-0.18 [[ 9.94262239e-01 -1.06899911e-01 -3.87417633e-03 2.19560519e+02] [ 1.06899443e-01 9.94269783e-01 -3.28330294e-04 1.22406790e+01] [ 3.88707494e-03 -8.77008772e-05 9.99992441e-01 -1.77969124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.881400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.59, Y:12.24, Z:-0.18 [[ 9.94234966e-01 -1.07167662e-01 -3.45317076e-03 2.19588106e+02] [ 1.07167290e-01 9.94240960e-01 -2.93325074e-04 1.22432051e+01] [ 3.46471878e-03 -7.84329066e-05 9.99993995e-01 -1.76966403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.911400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.62, Y:12.25, Z:-0.18 [[ 9.94241659e-01 -1.07125792e-01 -2.75475900e-03 2.19615519e+02] [ 1.07125554e-01 9.94245473e-01 -2.34122315e-04 1.22454800e+01] [ 2.76398720e-03 -6.23309246e-05 9.99996178e-01 -1.75954387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.941400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.64, Y:12.25, Z:-0.18 [[ 9.94230959e-01 -1.07229940e-01 -2.55715814e-03 2.19643153e+02] [ 1.07229735e-01 9.94234246e-01 -2.17875877e-04 1.22514037e+01] [ 2.56577701e-03 -5.75844456e-05 9.99996707e-01 -1.75130524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.971400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.67, Y:12.25, Z:-0.18 [[ 9.94230340e-01 -1.07236670e-01 -2.51566825e-03 2.19670645e+02] [ 1.07236470e-01 9.94233521e-01 -2.14819835e-04 1.22522083e+01] [ 2.52419827e-03 -5.61909852e-05 9.99996813e-01 -1.75807025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.001400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.70, Y:12.26, Z:-0.18 [[ 9.94110848e-01 -1.08348636e-01 -2.04840553e-03 2.19698849e+02] [ 1.08348504e-01 9.94112957e-01 -1.75268201e-04 1.22557446e+01] [ 2.05533655e-03 -4.77056561e-05 9.99997887e-01 -1.75797844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.031400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.73, Y:12.25, Z:-0.17 [[ 9.93985223e-01 -1.09508218e-01 -1.15134080e-03 2.19726597e+02] [ 1.09508178e-01 9.93985890e-01 -9.85655865e-05 1.22535526e+01] [ 1.15521025e-03 -2.81084968e-05 9.99999332e-01 -1.74529279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.061400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.76, Y:12.26, Z:-0.17 [[ 9.93794316e-01 -1.11232495e-01 -4.35997517e-04 2.19755254e+02] [ 1.11232490e-01 9.93794411e-01 -3.74602985e-05 1.22574690e+01] [ 4.37458698e-04 -1.12692576e-05 9.99999904e-01 -1.73137401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.091400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.78, Y:12.26, Z:-0.17 [[ 9.93612838e-01 -1.12842320e-01 -3.73047600e-04 2.19783551e+02] [ 1.12842316e-01 9.93612908e-01 -3.20630727e-05 1.22596936e+01] [ 3.74282982e-04 -1.02372744e-05 9.99999930e-01 -1.72789662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.121400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.81, Y:12.26, Z:-0.18 [[ 9.93133668e-01 -1.16967601e-01 -2.02424759e-03 2.19813558e+02] [ 1.16967490e-01 9.93135729e-01 -1.73798947e-04 1.22612442e+01] [ 2.03068145e-03 -6.41655733e-05 9.99997936e-01 -1.76281073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.151400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.84, Y:12.26, Z:-0.18 [[ 9.92800123e-01 -1.19752323e-01 -2.70130157e-03 2.19842603e+02] [ 1.19752134e-01 9.92803794e-01 -2.32038478e-04 1.22587284e+01] [ 2.70964960e-03 -9.31187995e-05 9.99996325e-01 -1.77899259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.181400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.87, Y:12.26, Z:-0.18 [[ 9.92374572e-01 -1.23223593e-01 -2.94178138e-03 2.19872727e+02] [ 1.23223384e-01 9.92378926e-01 -2.52724918e-04 1.22569968e+01] [ 2.95050352e-03 -1.11698474e-04 9.99995641e-01 -1.78366272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.211400513 meters Centerline goodness [0,1] 0.9999352722879089 Centerline is valid? [True, True] Translation: X:219.90, Y:12.25, Z:-0.18 [[ 9.91904341e-01 -1.26936151e-01 -3.60436976e-03 2.19902456e+02] [ 1.26935862e-01 9.91910879e-01 -3.09737480e-04 1.22492112e+01] [ 3.61453046e-03 -1.50293832e-04 9.99993456e-01 -1.79563086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.24140051300003 meters Centerline goodness [0,1] 0.9999135658412205 Centerline is valid? [True, True] Translation: X:219.93, Y:12.25, Z:-0.18 [[ 9.91071429e-01 -1.33199437e-01 -5.94414250e-03 2.19932652e+02] [ 1.33198763e-01 9.91089213e-01 -5.10854349e-04 1.22458325e+01] [ 5.95922102e-03 -2.85459277e-04 9.99982203e-01 -1.82169195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.271400513 meters Centerline goodness [0,1] 0.9999135303400419 Centerline is valid? [True, True] Translation: X:219.96, Y:12.25, Z:-0.18 [[ 9.90837560e-01 -1.34891067e-01 -6.73280301e-03 2.19962659e+02] [ 1.34890241e-01 9.90860378e-01 -5.78800017e-04 1.22465206e+01] [ 6.74934269e-03 -3.34692622e-04 9.99977167e-01 -1.83034538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.30140051300003 meters Centerline goodness [0,1] 0.9999128464354192 Centerline is valid? [True, True] Translation: X:219.99, Y:12.25, Z:-0.18 [[ 9.90723235e-01 -1.35707145e-01 -7.14443995e-03 2.19991459e+02] [ 1.35706227e-01 9.90748929e-01 -6.15479387e-04 1.22512735e+01] [ 7.16187119e-03 -3.59775259e-04 9.99974289e-01 -1.82657845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.331400513 meters Centerline goodness [0,1] 0.9999128464354192 Centerline is valid? [True, True] Translation: X:220.02, Y:12.25, Z:-0.18 [[ 9.90696761e-01 -1.35900279e-01 -7.14431893e-03 2.20018880e+02] [ 1.35899355e-01 9.90722456e-01 -6.16882670e-04 1.22537851e+01] [ 7.16187173e-03 -3.59764673e-04 9.99974289e-01 -1.82669863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.361400513 meters Centerline goodness [0,1] 0.9998491346796267 Centerline is valid? [True, True] Translation: X:220.05, Y:12.25, Z:-0.18 [[ 9.91010630e-01 -1.33653265e-01 -5.89371163e-03 2.20047767e+02] [ 1.33652596e-01 9.91028115e-01 -5.09058821e-04 1.22533313e+01] [ 5.90887130e-03 -2.83227154e-04 9.99982502e-01 -1.81519159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.391400513 meters Centerline goodness [0,1] 0.9999355393210142 Centerline is valid? [True, True] Translation: X:220.08, Y:12.26, Z:-0.18 [[ 9.91253200e-01 -1.31847886e-01 -5.76445494e-03 2.20076887e+02] [ 1.31847215e-01 9.91269925e-01 -4.98086634e-04 1.22588794e+01] [ 5.77980249e-03 -2.66297358e-04 9.99983261e-01 -1.80794202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.421400513 meters Centerline goodness [0,1] 0.9999571486726802 Centerline is valid? [True, True] Translation: X:220.11, Y:12.26, Z:-0.18 [[ 9.91505963e-01 -1.29936958e-01 -5.68435786e-03 2.20105008e+02] [ 1.29936272e-01 9.91522226e-01 -4.91318066e-04 1.22631984e+01] [ 5.70000754e-03 -2.51459478e-04 9.99983723e-01 -1.81085391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.451400513 meters Centerline goodness [0,1] 0.9999570990368734 Centerline is valid? [True, True] Translation: X:220.13, Y:12.27, Z:-0.18 [[ 9.91767282e-01 -1.27918567e-01 -5.87349952e-03 2.20133898e+02] [ 1.27917799e-01 9.91784643e-01 -5.07804608e-04 1.22721878e+01] [ 5.89020427e-03 -2.47701136e-04 9.99982622e-01 -1.81055397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.481400513 meters Centerline goodness [0,1] 0.9998907247136988 Centerline is valid? [True, True] Translation: X:220.16, Y:12.28, Z:-0.18 [[ 9.92107978e-01 -1.25255877e-01 -5.72059583e-03 2.20162772e+02] [ 1.25255104e-01 9.92124445e-01 -4.94725875e-04 1.22813372e+01] [ 5.73751029e-03 -2.25712337e-04 9.99983515e-01 -1.80489042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.511400513 meters Centerline goodness [0,1] 0.999935522696011 Centerline is valid? [True, True] Translation: X:220.19, Y:12.28, Z:-0.18 [[ 9.92173480e-01 -1.24764901e-01 -5.05033171e-03 2.20190257e+02] [ 1.24764290e-01 9.92186314e-01 -4.37086069e-04 1.22814613e+01] [ 5.06540300e-03 -1.96435843e-04 9.99987151e-01 -1.80624334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.541400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.22, Y:12.29, Z:-0.18 [[ 9.92158821e-01 -1.24884430e-01 -4.97531586e-03 2.20217656e+02] [ 1.24883834e-01 9.92171276e-01 -4.31605413e-04 1.22871259e+01] [ 4.99026628e-03 -1.93115400e-04 9.99987530e-01 -1.79310757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.571400513 meters Centerline goodness [0,1] 0.9999346049046322 Centerline is valid? [True, True] Translation: X:220.25, Y:12.29, Z:-0.18 [[ 9.92097103e-01 -1.25363738e-01 -5.22226995e-03 2.20245524e+02] [ 1.25363083e-01 9.92110826e-01 -4.53920410e-04 1.22945008e+01] [ 5.23797571e-03 -2.04346736e-04 9.99986261e-01 -1.79115797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.601400513 meters Centerline goodness [0,1] 0.9998922297661386 Centerline is valid? [True, True] Translation: X:220.27, Y:12.29, Z:-0.18 [[ 9.91918468e-01 -1.26767215e-01 -5.27507014e-03 2.20273808e+02] [ 1.26766565e-01 9.91932471e-01 -4.58784610e-04 1.22920256e+01] [ 5.29067221e-03 -2.13625592e-04 9.99985981e-01 -1.80432810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.631400513 meters Centerline goodness [0,1] 0.9999137429107455 Centerline is valid? [True, True] Translation: X:220.30, Y:12.29, Z:-0.18 [[ 9.91743100e-01 -1.28175850e-01 -4.07115457e-03 2.20302266e+02] [ 1.28175474e-01 9.91751442e-01 -3.54321117e-04 1.22903335e+01] [ 4.08298882e-03 -1.70426642e-04 9.99991650e-01 -1.79411462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.661400513 meters Centerline goodness [0,1] 0.9998489295580111 Centerline is valid? [True, True] Translation: X:220.33, Y:12.30, Z:-0.18 [[ 9.91520097e-01 -1.29918021e-01 -3.03395938e-03 2.20331554e+02] [ 1.29917820e-01 9.91524730e-01 -2.64115827e-04 1.22970807e+01] [ 3.04255916e-03 -1.32289240e-04 9.99995363e-01 -1.77610178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.691400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.36, Y:12.30, Z:-0.18 [[ 9.91271424e-01 -1.31805624e-01 -2.87092098e-03 2.20359778e+02] [ 1.31805451e-01 9.91275572e-01 -2.50070596e-04 1.22964412e+01] [ 2.87883455e-03 -1.30515198e-04 9.99995848e-01 -1.77628373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.721400513 meters Centerline goodness [0,1] 0.999934926901219 Centerline is valid? [True, True] Translation: X:220.39, Y:12.29, Z:-0.18 [[ 9.90756380e-01 -1.35602995e-01 -3.69090355e-03 2.20389081e+02] [ 1.35602736e-01 9.90763238e-01 -3.21479486e-04 1.22939873e+01] [ 3.70040514e-03 -1.81988767e-04 9.99993137e-01 -1.79386034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.751400513 meters Centerline goodness [0,1] 0.9998500267809319 Centerline is valid? [True, True] Translation: X:220.42, Y:12.29, Z:-0.18 [[ 9.90605032e-01 -1.36712400e-01 -3.37494251e-03 2.20416627e+02] [ 1.36712189e-01 9.90610766e-01 -2.94223191e-04 1.22927577e+01] [ 3.38347834e-03 -1.69936806e-04 9.99994262e-01 -1.79385469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.781400513 meters Centerline goodness [0,1] 0.9999136907972812 Centerline is valid? [True, True] Translation: X:220.45, Y:12.30, Z:-0.18 [[ 9.90491424e-01 -1.37544426e-01 -2.87562171e-03 2.20445104e+02] [ 1.37544275e-01 9.90495588e-01 -2.51222433e-04 1.23006111e+01] [ 2.88284486e-03 -1.46691636e-04 9.99995834e-01 -1.77924588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.811400513 meters Centerline goodness [0,1] 0.9998036906164115 Centerline is valid? [True, True] Translation: X:220.47, Y:12.30, Z:-0.18 [[ 9.90469572e-01 -1.37713920e-01 -2.21448616e-03 2.20472673e+02] [ 1.37713831e-01 9.90472041e-01 -1.93564892e-04 1.23031896e+01] [ 2.22004320e-03 -1.13245236e-04 9.99997529e-01 -1.77337517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.841400513 meters Centerline goodness [0,1] 0.9998702394082917 Centerline is valid? [True, True] Translation: X:220.50, Y:12.31, Z:-0.18 [[ 9.90586457e-01 -1.36837413e-01 -3.74069509e-03 2.20500235e+02] [ 1.36837150e-01 9.90593503e-01 -3.27169655e-04 1.23087014e+01] [ 3.75027730e-03 -1.87776227e-04 9.99992950e-01 -1.79161929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.871400513 meters Centerline goodness [0,1] 0.9998480177167919 Centerline is valid? [True, True] Translation: X:220.53, Y:12.32, Z:-0.18 [[ 9.90682356e-01 -1.36108469e-01 -4.79110211e-03 2.20528330e+02] [ 1.36108026e-01 9.90693913e-01 -4.19905062e-04 1.23196200e+01] [ 4.80366833e-03 -2.36114915e-04 9.99988434e-01 -1.79154165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.901400513 meters Centerline goodness [0,1] 0.9997850987471257 Centerline is valid? [True, True] Translation: X:220.56, Y:12.32, Z:-0.18 [[ 9.90779995e-01 -1.35411052e-01 -4.34151755e-03 2.20556434e+02] [ 1.35410680e-01 9.90789485e-01 -3.80862152e-04 1.23192209e+01] [ 4.35310288e-03 -2.10537244e-04 9.99990503e-01 -1.79442920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.931400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.59, Y:12.32, Z:-0.18 [[ 9.90804565e-01 -1.35257101e-01 -3.43958849e-03 2.20585123e+02] [ 1.35256865e-01 9.90810521e-01 -3.02349090e-04 1.23240818e+01] [ 3.44887532e-03 -1.65659096e-04 9.99994039e-01 -1.78721517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.961400513 meters Centerline goodness [0,1] 0.9999783441973277 Centerline is valid? [True, True] Translation: X:220.61, Y:12.33, Z:-0.18 [[ 9.90731144e-01 -1.35788624e-01 -3.63996662e-03 2.20613549e+02] [ 1.35788361e-01 9.90737815e-01 -3.20564525e-04 1.23312189e+01] [ 3.64978159e-03 -1.76671841e-04 9.99993324e-01 -1.79448019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.99140051300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.64, Y:12.34, Z:-0.18 [[ 9.90608002e-01 -1.36648414e-01 -4.79554573e-03 2.20641841e+02] [ 1.36647963e-01 9.90619582e-01 -4.23151820e-04 1.23412614e+01] [ 4.80838453e-03 -2.36123974e-04 9.99988412e-01 -1.80475954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.021400513 meters Centerline goodness [0,1] 0.999892431478852 Centerline is valid? [True, True] Translation: X:220.67, Y:12.34, Z:-0.18 [[ 9.90467418e-01 -1.37640115e-01 -5.43075822e-03 2.20670535e+02] [ 1.37639548e-01 9.90482269e-01 -4.79662122e-04 1.23368200e+01] [ 5.44509047e-03 -2.72397406e-04 9.99985138e-01 -1.82079792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.05140051300003 meters Centerline goodness [0,1] 0.9997192042680951 Centerline is valid? [True, True] Translation: X:220.70, Y:12.34, Z:-0.18 [[ 9.90264151e-01 -1.39060958e-01 -6.24182287e-03 2.20699548e+02] [ 1.39060237e-01 9.90283771e-01 -5.51490094e-04 1.23407414e+01] [ 6.25786663e-03 -3.21868499e-04 9.99980368e-01 -1.81978084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.081400513 meters Centerline goodness [0,1] 0.9998474779387733 Centerline is valid? [True, True] Translation: X:220.73, Y:12.34, Z:-0.18 [[ 9.89995973e-01 -1.41003721e-01 -5.09166162e-03 2.20728317e+02] [ 1.41003265e-01 9.90009029e-01 -4.50052428e-04 1.23432035e+01] [ 5.10425005e-03 -2.72390824e-04 9.99986936e-01 -1.80319259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.111400513 meters Centerline goodness [0,1] 0.9999132565653938 Centerline is valid? [True, True] Translation: X:220.76, Y:12.35, Z:-0.18 [[ 9.89993682e-01 -1.41049282e-01 -4.19637826e-03 2.20756399e+02] [ 1.41048970e-01 9.90002550e-01 -3.71672936e-04 1.23494232e+01] [ 4.20684938e-03 -2.23940973e-04 9.99991126e-01 -1.79183896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.141400513 meters Centerline goodness [0,1] 0.99997826275976 Centerline is valid? [True, True] Translation: X:220.78, Y:12.35, Z:-0.18 [[ 9.89996533e-01 -1.41041323e-01 -3.76962205e-03 2.20784897e+02] [ 1.41041069e-01 9.90003689e-01 -3.34506525e-04 1.23531384e+01] [ 3.77911898e-03 -2.00511224e-04 9.99992839e-01 -1.78779084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.171400513 meters Centerline goodness [0,1] 0.9999134105422665 Centerline is valid? [True, True] Translation: X:220.81, Y:12.35, Z:-0.18 [[ 9.89950269e-01 -1.41366926e-01 -3.72260013e-03 2.20812814e+02] [ 1.41366680e-01 9.89957248e-01 -3.30506572e-04 1.23526236e+01] [ 3.73193768e-03 -1.99066552e-04 9.99993016e-01 -1.79354707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.201400513 meters Centerline goodness [0,1] 0.9999135508969095 Centerline is valid? [True, True] Translation: X:220.84, Y:12.36, Z:-0.18 [[ 9.89675588e-01 -1.43244384e-01 -4.82464816e-03 2.20842721e+02] [ 1.43243993e-01 9.89687312e-01 -4.28384322e-04 1.23578858e+01] [ 4.83625672e-03 -2.67140362e-04 9.99988270e-01 -1.80683038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.231400513 meters Centerline goodness [0,1] 0.9998925816916235 Centerline is valid? [True, True] Translation: X:220.87, Y:12.37, Z:-0.18 [[ 9.89538154e-01 -1.44190385e-01 -4.83468536e-03 2.20870568e+02] [ 1.44190002e-01 9.89549927e-01 -4.29583994e-04 1.23657648e+01] [ 4.84610443e-03 -2.72023539e-04 9.99988221e-01 -1.80125617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.261400513 meters Centerline goodness [0,1] 0.9999136572625035 Centerline is valid? [True, True] Translation: X:220.90, Y:12.37, Z:-0.18 [[ 9.89322154e-01 -1.45707372e-01 -3.32217750e-03 2.20899327e+02] [ 1.45707199e-01 9.89327714e-01 -2.95366516e-04 1.23723204e+01] [ 3.32975935e-03 -1.91852539e-04 9.99994438e-01 -1.77663623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.291400513 meters Centerline goodness [0,1] 0.9998916036161034 Centerline is valid? [True, True] Translation: X:220.93, Y:12.37, Z:-0.18 [[ 9.89234823e-01 -1.46292380e-01 -3.60623706e-03 2.20927301e+02] [ 1.46292179e-01 9.89241374e-01 -3.20960508e-04 1.23711924e+01] [ 3.61439298e-03 -2.10058966e-04 9.99993446e-01 -1.78225754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.321400513 meters Centerline goodness [0,1] 0.9997833293610383 Centerline is valid? [True, True] Translation: X:220.96, Y:12.38, Z:-0.18 [[ 9.89177965e-01 -1.46649000e-01 -4.58520977e-03 2.20955583e+02] [ 1.46648675e-01 9.89188556e-01 -4.08899078e-04 1.23809834e+01] [ 4.59560167e-03 -2.67940979e-04 9.99989404e-01 -1.78811831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.351400513 meters Centerline goodness [0,1] 0.9997823768797197 Centerline is valid? [True, True] Translation: X:220.98, Y:12.38, Z:-0.18 [[ 9.89175828e-01 -1.46633989e-01 -5.44553006e-03 2.20982747e+02] [ 1.46633528e-01 9.89190766e-01 -4.86030340e-04 1.23809774e+01] [ 5.45793662e-03 -3.17727822e-04 9.99985055e-01 -1.80949359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.381400513 meters Centerline goodness [0,1] 0.9997629923295699 Centerline is valid? [True, True] Translation: X:221.01, Y:12.39, Z:-0.18 [[ 9.89226084e-01 -1.46288864e-01 -5.59663557e-03 2.21010626e+02] [ 1.46288368e-01 9.89241863e-01 -4.99998319e-04 1.23855079e+01] [ 5.60957038e-03 -3.24111307e-04 9.99984214e-01 -1.81587285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.411400513 meters Centerline goodness [0,1] 0.9999567604963895 Centerline is valid? [True, True] Translation: X:221.04, Y:12.40, Z:-0.18 [[ 9.89343721e-01 -1.45537409e-01 -4.22666768e-03 2.21038168e+02] [ 1.45537119e-01 9.89352720e-01 -3.77801779e-04 1.23982209e+01] [ 4.23664945e-03 -2.41361218e-04 9.99990996e-01 -1.78513547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.441400513 meters Centerline goodness [0,1] 0.9996138333476358 Centerline is valid? [True, True] Translation: X:221.06, Y:12.40, Z:-0.18 [[ 9.89325249e-01 -1.45674722e-01 -3.79833214e-03 2.21064865e+02] [ 1.45674487e-01 9.89332517e-01 -3.39848178e-04 1.23990976e+01] [ 3.80732079e-03 -2.17099704e-04 9.99992729e-01 -1.77762455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.471400513 meters Centerline goodness [0,1] 0.9998706199460916 Centerline is valid? [True, True] Translation: X:221.09, Y:12.40, Z:-0.18 [[ 9.89263331e-01 -1.46097006e-01 -3.70484875e-03 2.21093506e+02] [ 1.46096784e-01 9.89270246e-01 -3.32129164e-04 1.24049028e+01] [ 3.71361971e-03 -2.12703283e-04 9.99993082e-01 -1.77254529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.501400513 meters Centerline goodness [0,1] 0.9997005603798605 Centerline is valid? [True, True] Translation: X:221.12, Y:12.41, Z:-0.18 [[ 9.89150402e-01 -1.46847600e-01 -4.15514501e-03 2.21121102e+02] [ 1.46847325e-01 9.89159100e-01 -3.72684335e-04 1.24060362e+01] [ 4.16482730e-03 -2.41531072e-04 9.99991298e-01 -1.78585572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.531400513 meters Centerline goodness [0,1] 0.9996582292000428 Centerline is valid? [True, True] Translation: X:221.15, Y:12.40, Z:-0.18 [[ 9.88951742e-01 -1.48178857e-01 -4.18081605e-03 2.21149933e+02] [ 1.48178590e-01 9.88960548e-01 -3.75120178e-04 1.24048898e+01] [ 4.19024701e-03 -2.48531674e-04 9.99991190e-01 -1.79151590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.561400513 meters Centerline goodness [0,1] 0.9996310603758843 Centerline is valid? [True, True] Translation: X:221.18, Y:12.41, Z:-0.18 [[ 9.88663558e-01 -1.50085756e-01 -4.31677464e-03 2.21179562e+02] [ 1.50085490e-01 9.88672947e-01 -3.87358989e-04 1.24102035e+01] [ 4.32601537e-03 -2.64917519e-04 9.99990608e-01 -1.78894909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.591400513 meters Centerline goodness [0,1] 0.9857866292182647 Centerline is valid? [True, True] Translation: X:221.21, Y:12.40, Z:-0.18 [[ 9.87985383e-01 -1.54494565e-01 -4.03875948e-03 2.21209639e+02] [ 1.54494369e-01 9.87993602e-01 -3.62405165e-04 1.24021370e+01] [ 4.04625816e-03 -2.65914593e-04 9.99991779e-01 -1.79545391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.621400513 meters Centerline goodness [0,1] 0.9942550994061451 Centerline is valid? [True, True] Translation: X:221.24, Y:12.41, Z:-0.18 [[ 9.87702552e-01 -1.56273819e-01 -4.70765722e-03 2.21239216e+02] [ 1.56273572e-01 9.87713720e-01 -4.22495341e-04 1.24066183e+01] [ 4.71584258e-03 -3.18382683e-04 9.99988830e-01 -1.79921288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.651400513 meters Centerline goodness [0,1] 0.9998476837043323 Centerline is valid? [True, True] Translation: X:221.27, Y:12.42, Z:-0.18 [[ 9.87536933e-01 -1.57319676e-01 -4.61796474e-03 2.21267949e+02] [ 1.57319449e-01 9.87547679e-01 -4.14562395e-04 1.24164476e+01] [ 4.62567918e-03 -3.17099993e-04 9.99989251e-01 -1.79178936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.681400513 meters Centerline goodness [0,1] 0.9896122771769332 Centerline is valid? [True, True] Translation: X:221.30, Y:12.41, Z:-0.18 [[ 9.87525693e-01 -1.57388932e-01 -4.66152859e-03 2.21295648e+02] [ 1.57388700e-01 9.87536643e-01 -4.18891675e-04 1.24098895e+01] [ 4.66935921e-03 -3.20005633e-04 9.99989047e-01 -1.79530775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.711400513 meters Centerline goodness [0,1] 0.9961526823153072 Centerline is valid? [True, True] Translation: X:221.32, Y:12.42, Z:-0.18 [[ 9.87603591e-01 -1.56897908e-01 -4.71090730e-03 2.21323989e+02] [ 1.56897662e-01 9.87614775e-01 -4.24136469e-04 1.24150484e+01] [ 4.71910778e-03 -3.20251642e-04 9.99988814e-01 -1.78734617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.74140051300003 meters Centerline goodness [0,1] 0.9846097471601319 Centerline is valid? [True, True] Translation: X:221.35, Y:12.41, Z:-0.18 [[ 9.87803058e-01 -1.55635502e-01 -4.76550808e-03 2.21353210e+02] [ 1.55635235e-01 9.87814502e-01 -4.29101633e-04 1.24131025e+01] [ 4.77422144e-03 -3.17813065e-04 9.99988553e-01 -1.78914292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.771400513 meters Centerline goodness [0,1] 0.9975552219601115 Centerline is valid? [True, True] Translation: X:221.38, Y:12.42, Z:-0.18 [[ 9.87949475e-01 -1.54716702e-01 -4.31015845e-03 2.21381989e+02] [ 1.54716472e-01 9.87958836e-01 -3.88807853e-04 1.24215453e+01] [ 4.31841419e-03 -2.82729995e-04 9.99990636e-01 -1.78087676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.80140051300003 meters Centerline goodness [0,1] 0.9711673699015471 Centerline is valid? [True, True] Translation: X:221.41, Y:12.42, Z:-0.18 [[ 9.88104683e-01 -1.53734585e-01 -3.84885286e-03 2.21410375e+02] [ 1.53734393e-01 9.88112147e-01 -3.47486814e-04 1.24168524e+01] [ 3.85651901e-03 -2.48347709e-04 9.99992533e-01 -1.78412360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.831400513 meters Centerline goodness [0,1] 0.9993774018334443 Centerline is valid? [True, True] Translation: X:221.44, Y:12.43, Z:-0.18 [[ 9.88107589e-01 -1.53721684e-01 -3.61048519e-03 2.21438251e+02] [ 1.53721512e-01 9.88114158e-01 -3.26599276e-04 1.24298548e+01] [ 3.61777693e-03 -2.32294020e-04 9.99993429e-01 -1.77371010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.861400513 meters Centerline goodness [0,1] 0.9992893138648404 Centerline is valid? [True, True] Translation: X:221.47, Y:12.43, Z:-0.18 [[ 9.88087191e-01 -1.53868280e-01 -2.87324979e-03 2.21465861e+02] [ 1.53868170e-01 9.88091351e-01 -2.60477044e-04 1.24338971e+01] [ 2.87911243e-03 -1.84727658e-04 9.99995838e-01 -1.76802597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.891400513 meters Centerline goodness [0,1] 0.9982565803461326 Centerline is valid? [True, True] Translation: X:221.49, Y:12.43, Z:-0.18 [[ 9.88059256e-01 -1.54051375e-01 -2.66107687e-03 2.21493677e+02] [ 1.54051281e-01 9.88062824e-01 -2.41439278e-04 1.24346716e+01] [ 2.66650518e-03 -1.71385987e-04 9.99996430e-01 -1.76124657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.921400513 meters Centerline goodness [0,1] 0.999205189895171 Centerline is valid? [True, True] Translation: X:221.52, Y:12.44, Z:-0.17 [[ 9.88015716e-01 -1.54339097e-01 -2.09455274e-03 2.21520938e+02] [ 1.54339039e-01 9.88017927e-01 -1.90483806e-04 1.24402084e+01] [ 2.09885476e-03 -1.35070263e-04 9.99997788e-01 -1.74727620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.951400513 meters Centerline goodness [0,1] 0.9956661898763903 Centerline is valid? [True, True] Translation: X:221.55, Y:12.44, Z:-0.18 [[ 9.88070106e-01 -1.53984579e-01 -2.49282106e-03 2.21549265e+02] [ 1.53984495e-01 9.88073238e-01 -2.26776696e-04 1.24387859e+01] [ 2.49800989e-03 -1.59784517e-04 9.99996867e-01 -1.75045721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.981400513 meters Centerline goodness [0,1] 0.9994871794871795 Centerline is valid? [True, True] Translation: X:221.58, Y:12.45, Z:-0.18 [[ 9.88357719e-01 -1.52105194e-01 -3.60969209e-03 2.21578521e+02] [ 1.52105005e-01 9.88364285e-01 -3.28390581e-04 1.24489990e+01] [ 3.61764066e-03 -2.24484868e-04 9.99993431e-01 -1.76038833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.011400513 meters Centerline goodness [0,1] 0.9999128160418483 Centerline is valid? [True, True] Translation: X:221.61, Y:12.46, Z:-0.18 [[ 9.88614194e-01 -1.50427173e-01 -3.69326038e-03 2.21607440e+02] [ 1.50426963e-01 9.88621068e-01 -3.36115568e-04 1.24632830e+01] [ 3.70179593e-03 -2.23277321e-04 9.99993123e-01 -1.75705696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.041400513 meters Centerline goodness [0,1] 0.9994233233660829 Centerline is valid? [True, True] Translation: X:221.64, Y:12.46, Z:-0.18 [[ 9.88929554e-01 -1.48325853e-01 -4.21653799e-03 2.21636905e+02] [ 1.48325560e-01 9.88938512e-01 -3.83834360e-04 1.24569089e+01] [ 4.22682937e-03 -2.45835217e-04 9.99991037e-01 -1.77623878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.071400513 meters Centerline goodness [0,1] 0.9997431946584489 Centerline is valid? [True, True] Translation: X:221.67, Y:12.46, Z:-0.18 [[ 9.89247179e-01 -1.46158872e-01 -5.25380815e-03 2.21666853e+02] [ 1.46158386e-01 9.89261087e-01 -4.78308204e-04 1.24628045e+01] [ 5.26729695e-03 -2.94723078e-04 9.99986084e-01 -1.79457738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.101400513 meters Centerline goodness [0,1] 0.9998704495400959 Centerline is valid? [True, True] Translation: X:221.70, Y:12.48, Z:-0.18 [[ 9.89775607e-01 -1.42471492e-01 -6.79132825e-03 2.21696381e+02] [ 1.42470594e-01 9.89798842e-01 -6.18369773e-04 1.24779834e+01] [ 6.81014890e-03 -3.55517253e-04 9.99976747e-01 -1.81182471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.131400513 meters Centerline goodness [0,1] 0.9997640801269678 Centerline is valid? [True, True] Translation: X:221.73, Y:12.48, Z:-0.18 [[ 9.89984733e-01 -1.41009604e-01 -6.82057985e-03 2.21725172e+02] [ 1.41008662e-01 9.90008167e-01 -6.21193953e-04 1.24807770e+01] [ 6.84002407e-03 -3.46788311e-04 9.99976547e-01 -1.81811996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.161400513 meters Centerline goodness [0,1] 0.9999784012613664 Centerline is valid? [True, True] Translation: X:221.75, Y:12.50, Z:-0.18 [[ 9.90143422e-01 -1.39898013e-01 -6.67458862e-03 2.21752914e+02] [ 1.39897079e-01 9.90165863e-01 -6.08989617e-04 1.24972297e+01] [ 6.69414624e-03 -3.30768386e-04 9.99977539e-01 -1.80418256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.191400513 meters Centerline goodness [0,1] 0.9998703711705483 Centerline is valid? [True, True] Translation: X:221.78, Y:12.50, Z:-0.18 [[ 9.90273905e-01 -1.38998540e-01 -6.08261639e-03 2.21781145e+02] [ 1.38997745e-01 9.90292542e-01 -5.55225381e-04 1.24992952e+01] [ 6.10074517e-03 -2.95644758e-04 9.99981347e-01 -1.80174157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.221400513 meters Centerline goodness [0,1] 0.9998703711705483 Centerline is valid? [True, True] Translation: X:221.81, Y:12.50, Z:-0.18 [[ 9.90248338e-01 -1.39180571e-01 -6.08250880e-03 2.21808533e+02] [ 1.39179773e-01 9.90266975e-01 -5.56402971e-04 1.25019517e+01] [ 6.10074807e-03 -2.95585074e-04 9.99981347e-01 -1.80186172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.251400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.84, Y:12.51, Z:-0.18 [[ 9.90515007e-01 -1.37353865e-01 -3.73324453e-03 2.21837840e+02] [ 1.37353551e-01 9.90522027e-01 -3.41501380e-04 1.25126406e+01] [ 3.74476747e-03 -1.74512152e-04 9.99992973e-01 -1.75837239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.281400513 meters Centerline goodness [0,1] 0.9997416187584781 Centerline is valid? [True, True] Translation: X:221.87, Y:12.52, Z:-0.17 [[ 9.90705879e-01 -1.35989554e-01 -2.94986730e-03 2.21865937e+02] [ 1.35989352e-01 9.90710262e-01 -2.69996106e-04 1.25195888e+01] [ 2.95918046e-03 -1.33663812e-04 9.99995613e-01 -1.73558839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.311400513 meters Centerline goodness [0,1] 0.9999783933278596 Centerline is valid? [True, True] Translation: X:221.90, Y:12.53, Z:-0.17 [[ 9.90963380e-01 -1.34119750e-01 -1.86355525e-03 2.21895521e+02] [ 1.34119666e-01 9.90965129e-01 -1.70581934e-04 1.25274981e+01] [ 1.86959667e-03 -8.08989574e-05 9.99998249e-01 -1.72108763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.341400513 meters Centerline goodness [0,1] 0.9999785366272456 Centerline is valid? [True, True] Translation: X:221.92, Y:12.54, Z:-0.17 [[ 9.91591891e-01 -1.29403315e-01 -5.50513402e-04 2.21923819e+02] [ 1.29403307e-01 9.91592044e-01 -5.04040507e-05 1.25389768e+01] [ 5.52407161e-04 -2.12580068e-05 9.99999847e-01 -1.71183785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.371400513 meters Centerline goodness [0,1] 0.9999574259744131 Centerline is valid? [True, True] Translation: X:221.95, Y:12.55, Z:-0.17 [[ 9.91872909e-01 -1.27232404e-01 -2.18311954e-04 2.21952126e+02] [ 1.27232403e-01 9.91872933e-01 -2.00083598e-05 1.25452241e+01] [ 2.19083430e-04 -7.93060440e-06 9.99999976e-01 -1.70705824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.401400513 meters Centerline goodness [0,1] 0.9999566367460214 Centerline is valid? [True, True] Translation: X:221.98, Y:12.56, Z:-0.17 [[ 9.92093491e-01 -1.25499760e-01 -5.61079478e-04 2.21980544e+02] [ 1.25499751e-01 9.92093650e-01 -5.15388041e-05 1.25567424e+01] [ 5.63111494e-04 -1.92840228e-05 9.99999841e-01 -1.70764609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.431400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.01, Y:12.57, Z:-0.17 [[ 9.92568382e-01 -1.21685941e-01 -7.34499855e-04 2.22008598e+02] [ 1.21685924e-01 9.92568653e-01 -6.74081068e-05 1.25667246e+01] [ 7.37244151e-04 -2.24711380e-05 9.99999728e-01 -1.70338944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.461400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.04, Y:12.57, Z:-0.17 [[ 9.92795527e-01 -1.19817751e-01 -8.65117856e-04 2.22036245e+02] [ 1.19817727e-01 9.92795903e-01 -7.94927653e-05 1.25706956e+01] [ 8.68410108e-04 -2.47363936e-05 9.99999623e-01 -1.70650471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.49140051300003 meters Centerline goodness [0,1] 0.9997859314124246 Centerline is valid? [True, True] Translation: X:222.06, Y:12.58, Z:-0.17 [[ 9.92953859e-01 -1.18493568e-01 -1.38119822e-03 2.22063986e+02] [ 1.18493505e-01 9.92954819e-01 -1.27159002e-04 1.25811047e+01] [ 1.38653495e-03 -3.73999969e-05 9.99999038e-01 -1.70961902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.521400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.09, Y:12.59, Z:-0.17 [[ 9.93126936e-01 -1.17030681e-01 -1.64599366e-03 2.22092612e+02] [ 1.17030590e-01 9.93128299e-01 -1.51797611e-04 1.25869915e+01] [ 1.65244786e-03 -4.18773129e-05 9.99998634e-01 -1.71616536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.55140051300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.12, Y:12.59, Z:-0.17 [[ 9.93479417e-01 -1.13989278e-01 -2.25649818e-03 2.22120390e+02] [ 1.13989099e-01 9.93481979e-01 -2.08127697e-04 1.25948748e+01] [ 2.26551460e-03 -5.04456119e-05 9.99997432e-01 -1.72535274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.581400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.15, Y:12.60, Z:-0.17 [[ 9.93695144e-01 -1.12098272e-01 -1.98471221e-03 2.22148429e+02] [ 1.12098129e-01 9.93697125e-01 -1.83447659e-04 1.26020996e+01] [ 1.99276698e-03 -4.01914777e-05 9.99998014e-01 -1.71575631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.611400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.18, Y:12.61, Z:-0.17 [[ 9.94016091e-01 -1.09221666e-01 -1.62430229e-03 2.22176111e+02] [ 1.09221566e-01 9.94017418e-01 -1.50254300e-04 1.26063354e+01] [ 1.63099579e-03 -2.80536475e-05 9.99998670e-01 -1.71245931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.641400513 meters Centerline goodness [0,1] 0.9997841757672552 Centerline is valid? [True, True] Translation: X:222.20, Y:12.62, Z:-0.17 [[ 9.94397960e-01 -1.05687176e-01 -1.70815801e-03 2.22204411e+02] [ 1.05687060e-01 9.94399427e-01 -1.58308073e-04 1.26186503e+01] [ 1.71532248e-03 -2.31089726e-05 9.99998529e-01 -1.70750851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.671400513 meters Centerline goodness [0,1] 0.9999568146484712 Centerline is valid? [True, True] Translation: X:222.23, Y:12.63, Z:-0.17 [[ 9.95335886e-01 -9.64427622e-02 -2.29514456e-03 2.22231873e+02] [ 9.64425282e-02 9.95338532e-01 -2.12682424e-04 1.26347761e+01] [ 2.30495750e-03 -9.65909484e-06 9.99997344e-01 -1.71820729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.701400513 meters Centerline goodness [0,1] 0.9999784742552092 Centerline is valid? [True, True] Translation: X:222.26, Y:12.64, Z:-0.17 [[ 9.95760572e-01 -9.19473558e-02 -2.56262293e-03 2.22260013e+02] [ 9.19470479e-02 9.95763869e-01 -2.37957106e-04 1.26449741e+01] [ 2.57364686e-03 1.32269071e-06 9.99996688e-01 -1.72693212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.731400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.29, Y:12.66, Z:-0.17 [[ 9.96124988e-01 -8.79084782e-02 -2.66612631e-03 2.22288133e+02] [ 8.79081304e-02 9.96128556e-01 -2.47602968e-04 1.26553382e+01] [ 2.67757095e-03 1.22693236e-05 9.99996415e-01 -1.73086644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.761400513 meters Centerline goodness [0,1] 0.999956609463476 Centerline is valid? [True, True] Translation: X:222.32, Y:12.67, Z:-0.17 [[ 9.96628701e-01 -8.19983845e-02 -2.73816678e-03 2.22315348e+02] [ 8.19979950e-02 9.96632462e-01 -2.54389235e-04 1.26709562e+01] [ 2.74980541e-03 2.90074267e-05 9.99996219e-01 -1.73271645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.791400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.34, Y:12.68, Z:-0.17 [[ 9.96806848e-01 -7.98353323e-02 -1.55813964e-03 2.22343838e+02] [ 7.98352034e-02 9.96808065e-01 -1.44795759e-04 1.26783129e+01] [ 1.56472598e-03 1.99390084e-05 9.99998776e-01 -1.71846405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.821400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.37, Y:12.68, Z:-0.17 [[ 9.96924136e-01 -7.83717717e-02 -3.63579530e-04 2.22373917e+02] [ 7.83717646e-02 9.96924202e-01 -3.37846209e-05 1.26810984e+01] [ 3.65108994e-04 5.18633465e-06 9.99999933e-01 -1.69842374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.851400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.40, Y:12.69, Z:-0.17 [[ 9.97017190e-01 -7.71782641e-02 4.88618516e-04 2.22404341e+02] [ 7.71782511e-02 9.97017310e-01 4.54028824e-05 1.26856962e+01] [-4.90665234e-04 -7.55673172e-06 9.99999880e-01 -1.69377880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.881400513 meters Centerline goodness [0,1] 0.9999786943923641 Centerline is valid? [True, True] Translation: X:222.44, Y:12.69, Z:-0.17 [[ 9.97067738e-01 -7.65214279e-02 6.30045938e-04 2.22435215e+02] [ 7.65214062e-02 9.97067937e-01 5.85331468e-05 1.26879377e+01] [-6.32677643e-04 -1.01495112e-05 9.99999800e-01 -1.69771034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.911400513 meters Centerline goodness [0,1] 0.9999358288770054 Centerline is valid? [True, True] Translation: X:222.47, Y:12.69, Z:-0.17 [[ 9.97005779e-01 -7.73270618e-02 4.36376299e-05 2.22466733e+02] [ 7.73270617e-02 9.97005780e-01 4.06283511e-06 1.26875411e+01] [-4.38211363e-05 -6.76300387e-07 9.99999999e-01 -1.71517803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.941400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.50, Y:12.69, Z:-0.17 [[ 9.96964677e-01 -7.78523234e-02 -6.69139432e-04 2.22497948e+02] [ 7.78522992e-02 9.96964902e-01 -6.21104878e-05 1.26870682e+01] [ 6.71943974e-04 9.82791918e-06 9.99999774e-01 -1.72531531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.971400513 meters Centerline goodness [0,1] 0.9999355739289165 Centerline is valid? [True, True] Translation: X:222.53, Y:12.69, Z:-0.17 [[ 9.96963265e-01 -7.78512192e-02 -1.85360279e-03 2.22527875e+02] [ 7.78510339e-02 9.96964988e-01 -1.72055717e-04 1.26880438e+01] [ 1.86137183e-03 2.72283355e-05 9.99998267e-01 -1.73895631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.001400513 meters Centerline goodness [0,1] 0.9999566705663157 Centerline is valid? [True, True] Translation: X:222.56, Y:12.69, Z:-0.17 [[ 9.97002788e-01 -7.73271470e-02 -2.43991680e-03 2.22557000e+02] [ 7.73268241e-02 9.97005773e-01 -2.26520244e-04 1.26885700e+01] [ 2.45012730e-03 3.71702972e-05 9.99996998e-01 -1.74371336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.031400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.59, Y:12.69, Z:-0.17 [[ 9.97194148e-01 -7.48327015e-02 -1.97410543e-03 2.22586251e+02] [ 7.48324852e-02 9.97196102e-01 -1.83328422e-04 1.26908077e+01] [ 1.98228920e-03 3.50868141e-05 9.99998035e-01 -1.73047458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.061400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.62, Y:12.70, Z:-0.17 [[ 9.97369907e-01 -7.24565830e-02 -1.82000675e-03 2.22615275e+02] [ 7.24563952e-02 9.97371567e-01 -1.69035253e-04 1.26964530e+01] [ 1.82747070e-03 3.67195455e-05 9.99998329e-01 -1.72494664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.091400513 meters Centerline goodness [0,1] 0.999762644571034 Centerline is valid? [True, True] Translation: X:222.65, Y:12.70, Z:-0.17 [[ 9.97570609e-01 -6.96225701e-02 -2.36161124e-03 2.22645522e+02] [ 6.96222458e-02 9.97573403e-01 -2.19330620e-04 1.27026930e+01] [ 2.37115092e-03 5.43771022e-05 9.99997187e-01 -1.73496908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.121400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.68, Y:12.71, Z:-0.18 [[ 9.97797150e-01 -6.62704257e-02 -3.01313779e-03 2.22675370e+02] [ 6.62698825e-02 9.97801696e-01 -2.79881379e-04 1.27079840e+01] [ 3.02506186e-03 7.95845549e-05 9.99995421e-01 -1.75224425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.151400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.70, Y:12.71, Z:-0.18 [[ 9.98115286e-01 -6.11738874e-02 -4.86130830e-03 2.22704933e+02] [ 6.11724127e-02 9.98127112e-01 -4.51607632e-04 1.27134860e+01] [ 4.87983021e-03 1.53378523e-04 9.99988082e-01 -1.78861715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.181400513 meters Centerline goodness [0,1] 0.9999785301758378 Centerline is valid? [True, True] Translation: X:222.73, Y:12.72, Z:-0.18 [[ 9.98221760e-01 -5.93248552e-02 -5.82052069e-03 2.22733938e+02] [ 5.93227085e-02 9.98238711e-01 -5.40938484e-04 1.27158592e+01] [ 5.84236017e-03 1.94687513e-04 9.99982914e-01 -1.80060543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.211400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.76, Y:12.72, Z:-0.18 [[ 9.98289727e-01 -5.80991431e-02 -6.48925842e-03 2.22762495e+02] [ 5.80964473e-02 9.98310793e-01 -6.03320758e-04 1.27198125e+01] [ 6.51334914e-03 2.25286055e-04 9.99978763e-01 -1.81023980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.24140051300003 meters Centerline goodness [0,1] 0.9999348986589124 Centerline is valid? [True, True] Translation: X:222.79, Y:12.72, Z:-0.18 [[ 9.98321492e-01 -5.74676737e-02 -7.18779506e-03 2.22791602e+02] [ 5.74643406e-02 9.98347335e-01 -6.69551978e-04 1.27194359e+01] [ 7.21439364e-03 2.55386226e-04 9.99973943e-01 -1.81531343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.271400513 meters Centerline goodness [0,1] 0.999978107143639 Centerline is valid? [True, True] Translation: X:222.82, Y:12.71, Z:-0.18 [[ 9.98359169e-01 -5.68857548e-02 -6.55598869e-03 2.22821240e+02] [ 5.68829618e-02 9.98380666e-01 -6.11857679e-04 1.27145111e+01] [ 6.58017834e-03 2.37929669e-04 9.99978322e-01 -1.79848806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.30140051300003 meters Centerline goodness [0,1] 0.9998703711705483 Centerline is valid? [True, True] Translation: X:222.85, Y:12.72, Z:-0.18 [[ 9.98379043e-01 -5.66069926e-02 -5.91049237e-03 2.22848816e+02] [ 5.66047157e-02 9.98396515e-01 -5.51940734e-04 1.27185781e+01] [ 5.93225869e-03 2.16484322e-04 9.99982381e-01 -1.79129042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.331400513 meters Centerline goodness [0,1] 0.9999785940577104 Centerline is valid? [True, True] Translation: X:222.88, Y:12.72, Z:-0.18 [[ 9.98429128e-01 -5.58259150e-02 -4.76905753e-03 2.22876837e+02] [ 5.58244226e-02 9.98440502e-01 -4.45582622e-04 1.27231500e+01] [ 4.78649525e-03 1.78652786e-04 9.99988529e-01 -1.77968011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.361400513 meters Centerline goodness [0,1] 0.9999570621954099 Centerline is valid? [True, True] Translation: X:222.91, Y:12.73, Z:-0.18 [[ 9.98482740e-01 -5.49058230e-02 -4.19150919e-03 2.22906045e+02] [ 5.49046617e-02 9.98491525e-01 -3.91714182e-04 1.27257549e+01] [ 4.20669379e-03 1.60986456e-04 9.99991139e-01 -1.76729383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.391400513 meters Centerline goodness [0,1] 0.9999784645202972 Centerline is valid? [True, True] Translation: X:222.94, Y:12.73, Z:-0.18 [[ 9.98571431e-01 -5.33283506e-02 -3.34415030e-03 2.22935014e+02] [ 5.33276025e-02 9.98577022e-01 -3.12561930e-04 1.27308058e+01] [ 3.35606006e-03 1.33779896e-04 9.99994359e-01 -1.75684959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.421400513 meters Centerline goodness [0,1] 0.999936092708178 Centerline is valid? [True, True] Translation: X:222.96, Y:12.74, Z:-0.18 [[ 9.98558711e-01 -5.35842812e-02 -3.03745384e-03 2.22963999e+02] [ 5.35836650e-02 9.98563323e-01 -2.83933117e-04 1.27367882e+01] [ 3.04830436e-03 1.20765978e-04 9.99995347e-01 -1.75281204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.451400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.99, Y:12.74, Z:-0.17 [[ 9.98475170e-01 -5.51201217e-02 -3.01794132e-03 2.22994369e+02] [ 5.51195204e-02 9.98479724e-01 -2.82145121e-04 1.27350147e+01] [ 3.02890509e-03 1.15367420e-04 9.99995406e-01 -1.74107071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.481400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.03, Y:12.73, Z:-0.17 [[ 9.98116725e-01 -6.12839607e-02 -2.69798452e-03 2.23025212e+02] [ 6.12835025e-02 9.98120368e-01 -2.52233968e-04 1.27290552e+01] [ 2.70837119e-03 8.64170014e-05 9.99996329e-01 -1.73112994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.511400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.05, Y:12.73, Z:-0.17 [[ 9.97812463e-01 -6.60490471e-02 -2.79493142e-03 2.23054735e+02] [ 6.60485738e-02 9.97816375e-01 -2.61390020e-04 1.27264045e+01] [ 2.80609290e-03 7.62169851e-05 9.99996060e-01 -1.73561078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.541400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.09, Y:12.72, Z:-0.17 [[ 9.97429828e-01 -7.15999710e-02 -2.67998901e-03 2.23085442e+02] [ 7.15995558e-02 9.97433427e-01 -2.50667010e-04 1.27187749e+01] [ 2.69105837e-03 5.81367302e-05 9.99996377e-01 -1.73091661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.571400513 meters Centerline goodness [0,1] 0.9999571257074258 Centerline is valid? [True, True] Translation: X:223.11, Y:12.71, Z:-0.17 [[ 9.96984340e-01 -7.75817716e-02 -1.81486109e-03 2.23114959e+02] [ 7.75815910e-02 9.96985992e-01 -1.69801256e-04 1.27134406e+01] [ 1.82256457e-03 2.84893827e-05 9.99998339e-01 -1.72221423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.601400513 meters Centerline goodness [0,1] 0.9998491281763907 Centerline is valid? [True, True] Translation: X:223.15, Y:12.70, Z:-0.17 [[ 9.96084547e-01 -8.84051248e-02 -3.31348985e-04 2.23146777e+02] [ 8.84051194e-02 9.96084602e-01 -3.10090085e-05 1.26970359e+01] [ 3.32792977e-04 1.59464759e-06 9.99999945e-01 -1.69527138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.631400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.18, Y:12.69, Z:-0.17 [[ 9.95711539e-01 -9.25123229e-02 -4.65995282e-05 2.23175691e+02] [ 9.25123228e-02 9.95711540e-01 -4.38950283e-06 1.26905533e+01] [ 4.68057710e-05 5.96480181e-08 9.99999999e-01 -1.69179497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.661400513 meters Centerline goodness [0,1] 0.9999346846356492 Centerline is valid? [True, True] Translation: X:223.20, Y:12.68, Z:-0.17 [[ 9.95375526e-01 -9.60524565e-02 -1.21958335e-03 2.23204345e+02] [ 9.60523883e-02 9.95376273e-01 -1.14523225e-04 1.26848823e+01] [ 1.22494457e-03 -3.15027835e-06 9.99999250e-01 -1.70162193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.691400513 meters Centerline goodness [0,1] 0.9999568435362406 Centerline is valid? [True, True] Translation: X:223.23, Y:12.68, Z:-0.17 [[ 9.95118224e-01 -9.86289769e-02 -3.47057378e-03 2.23232737e+02] [ 9.86284401e-02 9.95124276e-01 -3.25894258e-04 1.26782442e+01] [ 3.48579483e-03 -1.79939631e-05 9.99993924e-01 -1.72832330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.721400513 meters Centerline goodness [0,1] 0.9998073506432348 Centerline is valid? [True, True] Translation: X:223.26, Y:12.68, Z:-0.17 [[ 9.95276123e-01 -9.70465813e-02 -2.72030159e-03 2.23260586e+02] [ 9.70316540e-02 9.95267881e-01 -5.16741560e-03 1.26841213e+01] [ 3.20890882e-03 4.87905000e-03 9.99982949e-01 -1.72582101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.751400513 meters Centerline goodness [0,1] 0.9999784259578874 Centerline is valid? [True, True] Translation: X:223.29, Y:12.68, Z:-0.17 [[ 9.95349263e-01 -9.62871015e-02 -2.93914944e-03 2.23289602e+02] [ 9.63000122e-02 9.95341619e-01 4.62266428e-03 1.26791688e+01] [ 2.48035482e-03 -4.88420561e-03 9.99984996e-01 -1.71225346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.781400513 meters Centerline goodness [0,1] 0.9999349931742832 Centerline is valid? [True, True] Translation: X:223.32, Y:12.69, Z:-0.17 [[ 9.95779879e-01 -9.17594469e-02 -1.62383141e-03 2.23317563e+02] [ 9.17593192e-02 9.95781203e-01 -1.53091001e-04 1.26857338e+01] [ 1.63102834e-03 3.44327309e-06 9.99998670e-01 -1.70029465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.811400513 meters Centerline goodness [0,1] 0.9999569281130206 Centerline is valid? [True, True] Translation: X:223.35, Y:12.69, Z:-0.17 [[ 9.96005581e-01 -8.92720002e-02 -1.84194513e-03 2.23346001e+02] [ 8.92718312e-02 9.96007284e-01 -1.73946068e-04 1.26890351e+01] [ 1.85011928e-03 8.81743964e-06 9.99998288e-01 -1.70557185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.841400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.37, Y:12.69, Z:-0.17 [[ 9.96208241e-01 -8.69738438e-02 -2.16568559e-03 2.23373680e+02] [ 8.69736044e-02 9.96210595e-01 -2.04678774e-04 1.26935737e+01] [ 2.17528063e-03 1.55451994e-05 9.99997634e-01 -1.71355252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.871400513 meters Centerline goodness [0,1] 0.9999785047934311 Centerline is valid? [True, True] Translation: X:223.40, Y:12.70, Z:-0.17 [[ 9.96403267e-01 -8.46910008e-02 -2.82188931e-03 2.23401079e+02] [ 8.46905847e-02 9.96407263e-01 -2.66838469e-04 1.26988684e+01] [ 2.83434982e-03 2.68912667e-05 9.99995983e-01 -1.72267091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.901400513 meters Centerline goodness [0,1] 0.9998901388644753 Centerline is valid? [True, True] Translation: X:223.43, Y:12.70, Z:-0.17 [[ 9.96691778e-01 -8.11927776e-02 -3.63765125e-03 2.23429482e+02] [ 8.11920602e-02 9.96698415e-01 -3.44680445e-04 1.27008214e+01] [ 3.65362680e-03 4.81917658e-05 9.99993324e-01 -1.72815014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.931400513 meters Centerline goodness [0,1] 0.9999132640891645 Centerline is valid? [True, True] Translation: X:223.46, Y:12.70, Z:-0.17 [[ 9.96757230e-01 -8.03851418e-02 -3.64040041e-03 2.23457153e+02] [ 8.03844173e-02 9.96763877e-01 -3.45123848e-04 1.27038745e+01] [ 3.65636246e-03 5.13732246e-05 9.99993314e-01 -1.72843106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.961400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.49, Y:12.71, Z:-0.17 [[ 9.96800216e-01 -7.98625365e-02 -3.36214733e-03 2.23485112e+02] [ 7.98619149e-02 9.96805885e-01 -3.18956328e-04 1.27068644e+01] [ 3.37688091e-03 4.94282125e-05 9.99994297e-01 -1.73146992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.99140051300003 meters Centerline goodness [0,1] 0.9999354838709678 Centerline is valid? [True, True] Translation: X:223.51, Y:12.71, Z:-0.17 [[ 9.96806569e-01 -7.97704048e-02 -3.65321095e-03 2.23513287e+02] [ 7.97696674e-02 9.96813262e-01 -3.47342230e-04 1.27080466e+01] [ 3.66927676e-03 5.48175942e-05 9.99993267e-01 -1.73171706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.021400513 meters Centerline goodness [0,1] 0.9998925355170116 Centerline is valid? [True, True] Translation: X:223.54, Y:12.71, Z:-0.17 [[ 9.96840074e-01 -7.93514914e-02 -3.63434674e-03 2.23542735e+02] [ 7.93507566e-02 9.96846697e-01 -3.46168128e-04 1.27073152e+01] [ 3.65035550e-03 5.66860987e-05 9.99993336e-01 -1.73498085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.05140051300003 meters Centerline goodness [0,1] 0.9999356416527223 Centerline is valid? [True, True] Translation: X:223.57, Y:12.71, Z:-0.17 [[ 9.96839878e-01 -7.93620930e-02 -3.45184303e-03 2.23569078e+02] [ 7.93614293e-02 9.96845853e-01 -3.29046287e-04 1.27105838e+01] [ 3.46706922e-03 5.40632634e-05 9.99993988e-01 -1.74189620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.081400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.60, Y:12.71, Z:-0.17 [[ 9.96808060e-01 -7.97886996e-02 -2.73043427e-03 2.23597389e+02] [ 7.97882843e-02 9.96811799e-01 -2.60861375e-04 1.27084880e+01] [ 2.74254288e-03 4.21720550e-05 9.99996238e-01 -1.72878244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.111400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.62, Y:12.71, Z:-0.17 [[ 9.96792713e-01 -7.99801969e-02 -2.73038410e-03 2.23624727e+02] [ 7.99797809e-02 9.96796452e-01 -2.61386057e-04 1.27112791e+01] [ 2.74254289e-03 4.21721950e-05 9.99996238e-01 -1.72890276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.141400513 meters Centerline goodness [0,1] 0.999978456169076 Centerline is valid? [True, True] Translation: X:223.65, Y:12.71, Z:-0.17 [[ 9.96751095e-01 -8.05044423e-02 -2.50781779e-03 2.23652206e+02] [ 8.05040928e-02 9.96754249e-01 -2.40178827e-04 1.27113200e+01] [ 2.51901350e-03 3.75089124e-05 9.99996827e-01 -1.72871693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.171400513 meters Centerline goodness [0,1] 0.9999351967857606 Centerline is valid? [True, True] Translation: X:223.68, Y:12.70, Z:-0.17 [[ 9.96719692e-01 -8.08951371e-02 -2.41498608e-03 2.23681286e+02] [ 8.08948128e-02 9.96722617e-01 -2.31838625e-04 1.27049873e+01] [ 2.42582586e-03 3.57182763e-05 9.99997057e-01 -1.71996395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.201400513 meters Centerline goodness [0,1] 0.9999353838201086 Centerline is valid? [True, True] Translation: X:223.71, Y:12.71, Z:-0.17 [[ 9.96758179e-01 -8.04042824e-02 -2.87835533e-03 2.23709250e+02] [ 8.04038190e-02 9.96762333e-01 -2.76539348e-04 1.27084169e+01] [ 2.89127113e-03 4.42120954e-05 9.99995819e-01 -1.73566243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.231400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.74, Y:12.71, Z:-0.18 [[ 9.96944263e-01 -7.80180099e-02 -3.91482424e-03 2.23738520e+02] [ 7.80171317e-02 9.96951947e-01 -3.76766425e-04 1.27071958e+01] [ 3.93228621e-03 7.01917685e-05 9.99992266e-01 -1.76274235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.261400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.77, Y:12.71, Z:-0.18 [[ 9.97068080e-01 -7.63782980e-02 -4.64754718e-03 2.23767576e+02] [ 7.63770390e-02 9.97078907e-01 -4.48054749e-04 1.27066614e+01] [ 4.66819292e-03 9.17751968e-05 9.99989100e-01 -1.76914176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.291400513 meters Centerline goodness [0,1] 0.999871761990254 Centerline is valid? [True, True] Translation: X:223.80, Y:12.71, Z:-0.18 [[ 9.97243696e-01 -7.40194081e-02 -5.11244973e-03 2.23795701e+02] [ 7.40178522e-02 9.97256795e-01 -4.93125374e-04 1.27090084e+01] [ 5.13492608e-03 1.13353622e-04 9.99986810e-01 -1.77617965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.321400513 meters Centerline goodness [0,1] 0.9999566339252802 Centerline is valid? [True, True] Translation: X:223.82, Y:12.71, Z:-0.18 [[ 9.97436097e-01 -7.13842125e-02 -5.05231304e-03 2.23824839e+02] [ 7.13826580e-02 9.97448885e-01 -4.87568850e-04 1.27112233e+01] [ 5.07422873e-03 1.25671237e-04 9.99987118e-01 -1.77457097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.351400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.85, Y:12.71, Z:-0.18 [[ 9.97653918e-01 -6.83148081e-02 -4.44368389e-03 2.23854167e+02] [ 6.83135745e-02 9.97663807e-01 -4.28990875e-04 1.27132849e+01] [ 4.46260902e-03 1.24420497e-04 9.99990035e-01 -1.76401997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.381400513 meters Centerline goodness [0,1] 0.9999784049927657 Centerline is valid? [True, True] Translation: X:223.88, Y:12.72, Z:-0.18 [[ 9.98124833e-01 -6.10140294e-02 -4.90977322e-03 2.23884185e+02] [ 6.10124352e-02 9.98136893e-01 -4.73965908e-04 1.27182943e+01] [ 4.92954436e-03 1.73519922e-04 9.99987835e-01 -1.77541019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.411400513 meters Centerline goodness [0,1] 0.9999570271373628 Centerline is valid? [True, True] Translation: X:223.91, Y:12.73, Z:-0.18 [[ 9.98339329e-01 -5.73738511e-02 -5.17924971e-03 2.23912746e+02] [ 5.73720275e-02 9.98352743e-01 -5.00113588e-04 1.27273463e+01] [ 5.19941160e-03 2.02139007e-04 9.99986463e-01 -1.79412599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.441400513 meters Centerline goodness [0,1] 0.9999134217874072 Centerline is valid? [True, True] Translation: X:223.94, Y:12.72, Z:-0.18 [[ 9.98506576e-01 -5.43574422e-02 -5.46687859e-03 2.23943267e+02] [ 5.43553649e-02 9.98521515e-01 -5.27948220e-04 1.27242464e+01] [ 5.48749381e-03 2.30005588e-04 9.99984917e-01 -1.78823004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.471400513 meters Centerline goodness [0,1] 0.9999143487291493 Centerline is valid? [True, True] Translation: X:223.97, Y:12.73, Z:-0.18 [[ 9.98641344e-01 -5.18786677e-02 -4.90618703e-03 2.23970866e+02] [ 5.18769632e-02 9.98653371e-01 -4.74115600e-04 1.27289014e+01] [ 4.92417671e-03 2.18953355e-04 9.99987852e-01 -1.78324535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.501400513 meters Centerline goodness [0,1] 0.9999145171286303 Centerline is valid? [True, True] Translation: X:224.00, Y:12.73, Z:-0.18 [[ 9.98808133e-01 -4.86213648e-02 -4.27513284e-03 2.23999687e+02] [ 4.86200405e-02 9.98817261e-01 -4.13221508e-04 1.27322106e+01] [ 4.29016787e-03 2.04871871e-04 9.99990776e-01 -1.77328683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.531400513 meters Centerline goodness [0,1] 0.9998927728929874 Centerline is valid? [True, True] Translation: X:224.03, Y:12.73, Z:-0.18 [[ 9.98842873e-01 -4.79059011e-02 -4.23546366e-03 2.24029069e+02] [ 4.79045916e-02 9.98851832e-01 -4.10156866e-04 1.27314982e+01] [ 4.25024957e-03 2.06784106e-04 9.99990946e-01 -1.76700592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.561400513 meters Centerline goodness [0,1] 0.9998927912860758 Centerline is valid? [True, True] Translation: X:224.06, Y:12.73, Z:-0.18 [[ 9.98849354e-01 -4.78021099e-02 -3.86354318e-03 2.24057713e+02] [ 4.78010169e-02 9.98856808e-01 -3.74794058e-04 1.27320412e+01] [ 3.87704236e-03 1.89681510e-04 9.99992466e-01 -1.76127393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.591400513 meters Centerline goodness [0,1] 0.9998262229559475 Centerline is valid? [True, True] Translation: X:224.09, Y:12.73, Z:-0.17 [[ 9.98838601e-01 -4.80695133e-02 -3.28187125e-03 2.24085627e+02] [ 4.80687256e-02 9.98843980e-01 -3.18526115e-04 1.27335463e+01] [ 3.29338874e-03 1.60400811e-04 9.99994564e-01 -1.74694464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.621400513 meters Centerline goodness [0,1] 0.9998487206085753 Centerline is valid? [True, True] Translation: X:224.11, Y:12.73, Z:-0.17 [[ 9.98828888e-01 -4.82577566e-02 -3.47004777e-03 2.24114062e+02] [ 4.82568746e-02 9.98834901e-01 -3.37506113e-04 1.27331254e+01] [ 3.48229211e-03 1.69657196e-04 9.99993922e-01 -1.74603480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.651400513 meters Centerline goodness [0,1] 0.9998498820501823 Centerline is valid? [True, True] Translation: X:224.14, Y:12.74, Z:-0.18 [[ 9.98818222e-01 -4.84843957e-02 -3.37987374e-03 2.24141394e+02] [ 4.84835597e-02 9.98823927e-01 -3.28880013e-04 1.27383350e+01] [ 3.39184431e-03 1.64623039e-04 9.99994234e-01 -1.75658584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.681400513 meters Centerline goodness [0,1] 0.9999134985511007 Centerline is valid? [True, True] Translation: X:224.17, Y:12.73, Z:-0.18 [[ 9.98787786e-01 -4.90919112e-02 -3.59770612e-03 2.24170542e+02] [ 4.90909656e-02 9.98794250e-01 -3.50718841e-04 1.27340095e+01] [ 3.61058565e-03 1.73678828e-04 9.99993467e-01 -1.75904665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.711400513 meters Centerline goodness [0,1] 0.9999137056932669 Centerline is valid? [True, True] Translation: X:224.20, Y:12.73, Z:-0.18 [[ 9.98772043e-01 -4.94445356e-02 -3.10555094e-03 2.24198598e+02] [ 4.94438322e-02 9.98776860e-01 -3.02887817e-04 1.27340566e+01] [ 3.11672856e-03 1.48965544e-04 9.99995132e-01 -1.75604650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.74140051300003 meters Centerline goodness [0,1] 0.9998512853197365 Centerline is valid? [True, True] Translation: X:224.23, Y:12.73, Z:-0.18 [[ 9.98717258e-01 -5.05535335e-02 -2.85971289e-03 2.24226258e+02] [ 5.05529409e-02 9.98721344e-01 -2.79172238e-04 1.27340518e+01] [ 2.87016944e-03 1.34247236e-04 9.99995872e-01 -1.75946270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.771400513 meters Centerline goodness [0,1] 0.9998713798795258 Centerline is valid? [True, True] Translation: X:224.26, Y:12.73, Z:-0.18 [[ 9.98676979e-01 -5.13027509e-02 -3.50987624e-03 2.24256436e+02] [ 5.13018608e-02 9.98683134e-01 -3.43211623e-04 1.27267958e+01] [ 3.52286190e-03 1.62694365e-04 9.99993781e-01 -1.76317824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.80140051300003 meters Centerline goodness [0,1] 0.9998933401595631 Centerline is valid? [True, True] Translation: X:224.28, Y:12.73, Z:-0.18 [[ 9.98652242e-01 -5.17107655e-02 -4.43795421e-03 2.24283466e+02] [ 5.17093449e-02 9.98662082e-01 -4.34319105e-04 1.27332126e+01] [ 4.45447557e-03 2.04250043e-04 9.99990058e-01 -1.78328233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.831400513 meters Centerline goodness [0,1] 0.9998062474435426 Centerline is valid? [True, True] Translation: X:224.31, Y:12.73, Z:-0.18 [[ 9.98698161e-01 -5.07592550e-02 -5.04789080e-03 2.24313038e+02] [ 5.07574008e-02 9.98710890e-01 -4.94840632e-04 1.27290766e+01] [ 5.06650125e-03 2.37978612e-04 9.99987137e-01 -1.78493300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.861400513 meters Centerline goodness [0,1] 0.9998285212097828 Centerline is valid? [True, True] Translation: X:224.34, Y:12.73, Z:-0.18 [[ 9.98772777e-01 -4.93431773e-02 -4.26510961e-03 2.24342598e+02] [ 4.93418403e-02 9.98781862e-01 -4.18212118e-04 1.27251047e+01] [ 4.28055003e-03 2.07250522e-04 9.99990817e-01 -1.76654703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.891400513 meters Centerline goodness [0,1] 0.9998508893385877 Centerline is valid? [True, True] Translation: X:224.37, Y:12.73, Z:-0.18 [[ 9.98869923e-01 -4.74015558e-02 -3.45965178e-03 2.24371014e+02] [ 4.74006640e-02 9.98875899e-01 -3.39357272e-04 1.27311694e+01] [ 3.47184884e-03 1.74983981e-04 9.99993958e-01 -1.75391669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.921400513 meters Centerline goodness [0,1] 0.9998284770909714 Centerline is valid? [True, True] Translation: X:224.40, Y:12.73, Z:-0.17 [[ 9.99067906e-01 -4.31330304e-02 -1.69159006e-03 2.24398012e+02] [ 4.31366023e-02 9.99066902e-01 2.13518788e-03 1.27258362e+01] [ 1.59791452e-03 -2.20616713e-03 9.99996290e-01 -1.74165366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.951400513 meters Centerline goodness [0,1] 0.9994640483642756 Centerline is valid? [True, True] Translation: X:224.43, Y:12.74, Z:-0.18 [[ 9.99155815e-01 -4.09844761e-02 -2.81606475e-03 2.24428613e+02] [ 4.09772425e-02 9.99156749e-01 -2.58012931e-03 1.27365659e+01] [ 2.91943535e-03 2.46255663e-03 9.99992706e-01 -1.75073609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.981400513 meters Centerline goodness [0,1] 0.9991511936339522 Centerline is valid? [True, True] Translation: X:224.46, Y:12.74, Z:-0.18 [[ 9.99243985e-01 -3.87066228e-02 -3.64084253e-03 2.24457244e+02] [ 3.87055749e-02 9.99250594e-01 -3.57857607e-04 1.27389766e+01] [ 3.65196552e-03 2.16666158e-04 9.99993308e-01 -1.76380623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.011400513 meters Centerline goodness [0,1] 0.9983840445663499 Centerline is valid? [True, True] Translation: X:224.49, Y:12.74, Z:-0.18 [[ 9.99314960e-01 -3.66579706e-02 -5.07976852e-03 2.24487556e+02] [ 3.66559045e-02 9.99327822e-01 -4.99275571e-04 1.27421844e+01] [ 5.09465644e-03 3.12730037e-04 9.99986973e-01 -1.78418522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.041400513 meters Centerline goodness [0,1] 0.9952189175801692 Centerline is valid? [True, True] Translation: X:224.52, Y:12.74, Z:-0.18 [[ 9.99405949e-01 -3.37900599e-02 -6.78089968e-03 2.24517860e+02] [ 3.37863124e-02 9.99428857e-01 -6.66477340e-04 1.27447183e+01] [ 6.79954712e-03 4.36979823e-04 9.99976787e-01 -1.80976392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.071400513 meters Centerline goodness [0,1] 0.9989537738870503 Centerline is valid? [True, True] Translation: X:224.55, Y:12.74, Z:-0.18 [[ 9.99422911e-01 -3.33814633e-02 -6.28675922e-03 2.24547035e+02] [ 3.33782272e-02 9.99442600e-01 -6.19006182e-04 1.27410045e+01] [ 6.30391832e-03 4.08808082e-04 9.99980047e-01 -1.79978995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.101400513 meters Centerline goodness [0,1] 0.9980507657705902 Centerline is valid? [True, True] Translation: X:224.57, Y:12.75, Z:-0.18 [[ 9.99431538e-01 -3.32742803e-02 -5.42426131e-03 2.24574760e+02] [ 3.32718681e-02 9.99446195e-01 -5.34360451e-04 1.27454864e+01] [ 5.43903779e-03 3.53581380e-04 9.99985146e-01 -1.79272404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.131400513 meters Centerline goodness [0,1] 0.9924518646453016 Centerline is valid? [True, True] Translation: X:224.60, Y:12.75, Z:-0.18 [[ 9.99416160e-01 -3.37452499e-02 -5.34767540e-03 2.24601867e+02] [ 3.37429104e-02 9.99430407e-01 -5.27121217e-04 1.27501389e+01] [ 5.36241724e-03 3.46367331e-04 9.99985562e-01 -1.79667493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.161400513 meters Centerline goodness [0,1] 0.9965779958677686 Centerline is valid? [True, True] Translation: X:224.63, Y:12.75, Z:-0.18 [[ 9.99386214e-01 -3.44413203e-02 -6.40245436e-03 2.24631266e+02] [ 3.44379744e-02 9.99406637e-01 -6.32146411e-04 1.27490577e+01] [ 6.42042734e-03 4.11270849e-04 9.99979304e-01 -1.81352222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.191400513 meters Centerline goodness [0,1] 0.9956484458735263 Centerline is valid? [True, True] Translation: X:224.66, Y:12.75, Z:-0.18 [[ 9.99363862e-01 -3.49874425e-02 -6.91021124e-03 2.24658592e+02] [ 3.49835542e-02 9.99387655e-01 -6.82793289e-04 1.27512399e+01] [ 6.92986900e-03 4.40615188e-04 9.99975891e-01 -1.82545380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.221400513 meters Centerline goodness [0,1] 0.9988073941562313 Centerline is valid? [True, True] Translation: X:224.69, Y:12.75, Z:-0.18 [[ 9.99347814e-01 -3.54649703e-02 -6.79573145e-03 2.24687837e+02] [ 3.54612131e-02 9.99370827e-01 -6.72613034e-04 1.27478890e+01] [ 6.81530996e-03 4.31189484e-04 9.99976683e-01 -1.81626117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.251400513 meters Centerline goodness [0,1] 0.9993726881394795 Centerline is valid? [True, True] Translation: X:224.72, Y:12.75, Z:-0.18 [[ 9.99355257e-01 -3.55207249e-02 -5.22966184e-03 2.24715642e+02] [ 3.55184954e-02 9.99368885e-01 -5.18614606e-04 1.27470807e+01] [ 5.24478289e-03 3.32530512e-04 9.99986191e-01 -1.78819437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.281400513 meters Centerline goodness [0,1] 0.998677615442039 Centerline is valid? [True, True] Translation: X:224.74, Y:12.75, Z:-0.18 [[ 9.99384888e-01 -3.47624204e-02 -4.62815143e-03 2.24743113e+02] [ 3.47606651e-02 9.99395560e-01 -4.59186703e-04 1.27543125e+01] [ 4.64131643e-03 2.98026629e-04 9.99989185e-01 -1.78446891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.311400513 meters Centerline goodness [0,1] 0.993627606647613 Centerline is valid? [True, True] Translation: X:224.77, Y:12.76, Z:-0.18 [[ 9.99425986e-01 -3.35428872e-02 -4.75102517e-03 2.24771104e+02] [ 3.35410231e-02 9.99437230e-01 -4.71529370e-04 1.27633494e+01] [ 4.76416789e-03 3.11904461e-04 9.99988603e-01 -1.79267980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.341400513 meters Centerline goodness [0,1] 0.9676721394934453 Centerline is valid? [True, True] Translation: X:224.80, Y:12.77, Z:-0.18 [[ 9.99504155e-01 -3.09153866e-02 -5.97344281e-03 2.24799470e+02] [ 3.09123926e-02 9.99521922e-01 -5.92909313e-04 1.27728411e+01] [ 5.98891706e-03 4.07961912e-04 9.99981983e-01 -1.81041492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.371400513 meters Centerline goodness [0,1] 0.9767210336793052 Centerline is valid? [True, True] Translation: X:224.83, Y:12.78, Z:-0.18 [[ 9.99522772e-01 -3.02807318e-02 -6.10785882e-03 2.24828200e+02] [ 3.02775836e-02 9.99541344e-01 -6.07269530e-04 1.27750236e+01] [ 6.12344598e-03 4.22048518e-04 9.99981162e-01 -1.80212569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.401400513 meters Centerline goodness [0,1] 0.9719442306047387 Centerline is valid? [True, True] Translation: X:224.86, Y:12.78, Z:-0.18 [[ 9.99519346e-01 -3.05246391e-02 -5.41516827e-03 2.24856875e+02] [ 3.05221634e-02 9.99533945e-01 -5.39254585e-04 1.27790932e+01] [ 5.42910505e-03 3.73712739e-04 9.99985192e-01 -1.79073445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.431400513 meters Centerline goodness [0,1] 0.987653273367559 Centerline is valid? [True, True] Translation: X:224.89, Y:12.78, Z:-0.18 [[ 9.99460458e-01 -3.26971867e-02 -3.11222052e-03 2.24887357e+02] [ 3.26963795e-02 9.99465282e-01 -3.09891556e-04 1.27785082e+01] [ 3.12068895e-03 2.07966013e-04 9.99995109e-01 -1.75354669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.461400513 meters Centerline goodness [0,1] 0.9974796018625315 Centerline is valid? [True, True] Translation: X:224.92, Y:12.77, Z:-0.17 [[ 9.99401158e-01 -3.45224579e-02 -2.35078398e-03 2.24918318e+02] [ 3.45220023e-02 9.99403911e-01 -2.34104381e-04 1.27749089e+01] [ 2.35746456e-03 1.52810419e-04 9.99997210e-01 -1.74094373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.49140051300003 meters Centerline goodness [0,1] 0.9994626891334251 Centerline is valid? [True, True] Translation: X:224.95, Y:12.77, Z:-0.17 [[ 9.99337472e-01 -3.63384508e-02 -2.03347869e-03 2.24949025e+02] [ 3.63381136e-02 9.99339532e-01 -2.02529808e-04 1.27692237e+01] [ 2.03949526e-03 1.28502847e-04 9.99997912e-01 -1.73264448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.521400513 meters Centerline goodness [0,1] 0.999128419889033 Centerline is valid? [True, True] Translation: X:224.98, Y:12.77, Z:-0.17 [[ 9.99280409e-01 -3.79056369e-02 -1.35155063e-03 2.24978189e+02] [ 3.79054894e-02 9.99281320e-01 -1.34649493e-04 1.27687244e+01] [ 1.35568328e-03 8.33214126e-05 9.99999078e-01 -1.72811389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.55140051300003 meters Centerline goodness [0,1] 0.9981806642690925 Centerline is valid? [True, True] Translation: X:225.01, Y:12.77, Z:-0.17 [[ 9.99207815e-01 -3.97962562e-02 2.19201376e-05 2.25006793e+02] [ 3.97962562e-02 9.99207815e-01 2.16934427e-06 1.27690906e+01] [-2.19891046e-05 -1.29528634e-06 1.00000000e+00 -1.71084390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.581400513 meters Centerline goodness [0,1] 0.9880830561951053 Centerline is valid? [True, True] Translation: X:225.03, Y:12.78, Z:-0.17 [[ 9.99222383e-01 -3.94285807e-02 -1.24776467e-04 2.25033990e+02] [ 3.94285795e-02 9.99222391e-01 -1.24655772e-05 1.27751648e+01] [ 1.25170940e-04 7.53612487e-06 9.99999992e-01 -1.71743943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.611400513 meters Centerline goodness [0,1] 0.9980178605682133 Centerline is valid? [True, True] Translation: X:225.06, Y:12.77, Z:-0.17 [[ 9.99289922e-01 -3.76652647e-02 -9.89540304e-04 2.25064362e+02] [ 3.76651853e-02 9.99290410e-01 -9.86818497e-05 1.27703175e+01] [ 9.92555015e-04 6.13405589e-05 9.99999506e-01 -1.72960707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.641400513 meters Centerline goodness [0,1] 0.9769132653061224 Centerline is valid? [True, True] Translation: X:225.09, Y:12.78, Z:-0.18 [[ 9.99495675e-01 -3.15399512e-02 -3.69148167e-03 2.25092699e+02] [ 3.15388059e-02 9.99502460e-01 -3.68056660e-04 1.27786295e+01] [ 3.70125350e-03 2.51446116e-04 9.99993119e-01 -1.77374073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.671400513 meters Centerline goodness [0,1] 0.9061625243871405 Centerline is valid? [True, False] Translation: X:225.09, Y:12.77, Z:-0.18 [[ 9.99634588e-01 -2.67134081e-02 -4.13342511e-03 2.25093832e+02] [ 2.67345423e-02 9.99629327e-01 5.14513734e-03 1.27729366e+01] [ 3.99444881e-03 -5.25376247e-03 9.99978221e-01 -1.77378276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.701400513 meters Centerline goodness [0,1] 0.832036797592047 Centerline is valid? [False, False] Translation: X:225.10, Y:12.78, Z:-0.18 [[ 9.99765299e-01 -2.15777818e-02 -1.93568373e-03 2.25095579e+02] [ 2.15556680e-02 9.99709338e-01 -1.07977990e-02 1.27836470e+01] [ 2.16811366e-03 1.07535398e-02 9.99939829e-01 -1.80499554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.731400513 meters Centerline goodness [0,1] 0.9629677088672476 Centerline is valid? [False, True] Translation: X:225.10, Y:12.78, Z:-0.18 [[ 9.99859488e-01 -1.66230779e-02 -2.16255119e-03 2.25095843e+02] [ 1.66121293e-02 9.99849578e-01 -4.98591207e-03 1.27766783e+01] [ 2.24510710e-03 4.94928691e-03 9.99985232e-01 -1.79956708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.761400513 meters Centerline goodness [0,1] 0.7485153572720887 Centerline is valid? [True, False] Translation: X:225.10, Y:12.77, Z:-0.18 [[ 9.99929667e-01 -1.16414021e-02 -2.26684811e-03 2.25095799e+02] [ 1.16434703e-02 9.99931806e-01 9.01309980e-04 1.27693015e+01] [ 2.25620102e-03 -9.27640566e-04 9.99997025e-01 -1.79486796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.791400513 meters Centerline goodness [0,1] 0.6922513043853219 Centerline is valid? [False, False] Translation: X:225.09, Y:12.78, Z:-0.18 [[ 9.99870743e-01 -1.59917691e-02 -1.66124334e-03 2.25094176e+02] [ 1.59838383e-02 9.99861287e-01 -4.68236317e-03 1.27760694e+01] [ 1.73589217e-03 4.65520490e-03 9.99987658e-01 -1.80075471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.821400513 meters Centerline goodness [0,1] 0.8420584856170471 Centerline is valid? [False, False] Translation: X:225.10, Y:12.77, Z:-0.18 [[ 9.99927655e-01 -1.18512902e-02 -2.05717135e-03 2.25095235e+02] [ 1.18525072e-02 9.99929588e-01 5.80365498e-04 1.27707089e+01] [ 2.05014842e-03 -6.04706149e-04 9.99997716e-01 -1.79760046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.851400513 meters Centerline goodness [0,1] 0.5175559856234448 Centerline is valid? [False, False] Translation: X:225.14, Y:12.78, Z:-0.18 [[ 9.99895617e-01 -1.44448737e-02 -3.16192904e-04 2.25139779e+02] [ 1.44433130e-02 9.99885653e-01 -4.48022251e-03 1.27803925e+01] [ 3.80872996e-04 4.47518798e-03 9.99989914e-01 -1.82496165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.881400513 meters Centerline goodness [0,1] 0.8067358610463885 Centerline is valid? [False, False] Translation: X:225.14, Y:12.77, Z:-0.18 [[ 9.99937870e-01 -1.11037435e-02 -9.81783915e-04 2.25142076e+02] [ 1.11042424e-02 9.99938219e-01 5.04134456e-04 1.27741848e+01] [ 9.76125480e-04 -5.15005100e-04 9.99999391e-01 -1.82399078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.911400513 meters Centerline goodness [0,1] 0.9821398088084671 Centerline is valid? [False, True] Translation: X:225.14, Y:12.77, Z:-0.18 [[ 9.99938545e-01 -1.10299321e-02 -1.11656793e-03 2.25142323e+02] [ 1.10309025e-02 9.99938782e-01 8.66723582e-04 1.27724085e+01] [ 1.10693967e-03 -8.78987069e-04 9.99999001e-01 -1.81977469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.941400513 meters Centerline goodness [0,1] 0.9820051961327143 Centerline is valid? [True, True] Translation: X:225.17, Y:12.78, Z:-0.18 [[ 9.99893718e-01 -1.45253959e-02 -1.25124949e-03 2.25171397e+02] [ 1.45252759e-02 9.99894497e-01 -1.05003473e-04 1.27750930e+01] [ 1.25264269e-03 8.68175691e-05 9.99999212e-01 -1.82390987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.971400513 meters Centerline goodness [0,1] 0.9991406535329882 Centerline is valid? [True, True] Translation: X:225.20, Y:12.76, Z:-0.18 [[ 9.99746378e-01 -2.24293951e-02 -2.02538559e-03 2.25203216e+02] [ 2.24290968e-02 9.99748422e-01 -1.69877135e-04 1.27614959e+01] [ 2.02868629e-03 1.24406481e-04 9.99997934e-01 -1.82750696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.001400513 meters Centerline goodness [0,1] 0.9989568253427574 Centerline is valid? [True, True] Translation: X:225.23, Y:12.76, Z:-0.18 [[ 9.99672621e-01 -2.55421512e-02 -1.49956226e-03 2.25232714e+02] [ 2.55419912e-02 9.99673742e-01 -1.25812790e-04 1.27619073e+01] [ 1.50228654e-03 8.74697956e-05 9.99998868e-01 -1.82695746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.031400513 meters Centerline goodness [0,1] 0.9989568253427574 Centerline is valid? [True, True] Translation: X:225.26, Y:12.76, Z:-0.18 [[ 9.99667979e-01 -2.57232040e-02 -1.49945021e-03 2.25260147e+02] [ 2.57230421e-02 9.99669100e-01 -1.27147692e-04 1.27643644e+01] [ 1.50222469e-03 8.85350553e-05 9.99998868e-01 -1.82871437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.061400513 meters Centerline goodness [0,1] 0.9989308929182347 Centerline is valid? [True, True] Translation: X:225.29, Y:12.77, Z:-0.18 [[ 9.99586956e-01 -2.87362724e-02 -3.80268841e-04 2.25289862e+02] [ 2.87362623e-02 9.99587028e-01 -3.20435013e-05 1.27663679e+01] [ 3.81032612e-04 2.11027608e-05 9.99999927e-01 -1.81879256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.091400513 meters Centerline goodness [0,1] 0.9999135452914605 Centerline is valid? [True, True] Translation: X:225.32, Y:12.75, Z:-0.18 [[ 9.99501364e-01 -3.15660272e-02 7.80908821e-04 2.25321537e+02] [ 3.15659855e-02 9.99501668e-01 6.56096714e-05 1.27545172e+01] [-7.82590706e-04 -4.09267995e-05 9.99999693e-01 -1.79334331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.121400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.35, Y:12.74, Z:-0.18 [[ 9.99327500e-01 -3.65959884e-02 2.29811493e-03 2.25352551e+02] [ 3.65956410e-02 9.99330137e-01 1.93053467e-04 1.27410023e+01] [-2.30364049e-03 -1.08822650e-04 9.99997341e-01 -1.76548092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.151400513 meters Centerline goodness [0,1] 0.9998491801865856 Centerline is valid? [True, True] Translation: X:225.38, Y:12.74, Z:-0.18 [[ 9.99248279e-01 -3.86264437e-02 3.29764441e-03 2.25381152e+02] [ 3.86257392e-02 9.99253709e-01 2.77106699e-04 1.27412877e+01] [-3.30588706e-03 -1.49524439e-04 9.99994524e-01 -1.75067649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.181400513 meters Centerline goodness [0,1] 0.9999571440815976 Centerline is valid? [True, True] Translation: X:225.41, Y:12.74, Z:-0.17 [[ 9.99173199e-01 -4.04359879e-02 4.22478103e-03 2.25410695e+02] [ 4.04348468e-02 9.99182114e-01 3.55204521e-04 1.27383768e+01] [-4.23568868e-03 -1.84082464e-04 9.99991012e-01 -1.73499050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.211400513 meters Centerline goodness [0,1] 0.9999362055033386 Centerline is valid? [True, True] Translation: X:225.44, Y:12.73, Z:-0.17 [[ 9.99088149e-01 -4.25059604e-02 4.01419433e-03 2.25440263e+02] [ 4.25049465e-02 9.99096199e-01 3.37574059e-04 1.27290489e+01] [-4.02491521e-03 -1.66643126e-04 9.99991886e-01 -1.73626475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.24140051300003 meters Centerline goodness [0,1] 0.9999574087482431 Centerline is valid? [True, True] Translation: X:225.47, Y:12.73, Z:-0.18 [[ 9.99094015e-01 -4.24327566e-02 3.25744920e-03 2.25468886e+02] [ 4.24320887e-02 9.99099316e-01 2.73901975e-04 1.27266136e+01] [-3.26613768e-03 -1.35433450e-04 9.99994657e-01 -1.75330183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.271400513 meters Centerline goodness [0,1] 0.9999785195686729 Centerline is valid? [True, True] Translation: X:225.50, Y:12.72, Z:-0.18 [[ 9.99125774e-01 -4.17076184e-02 2.85680977e-03 2.25498797e+02] [ 4.17071025e-02 9.99129851e-01 2.39947005e-04 1.27193709e+01] [-2.86433154e-03 -1.20587980e-04 9.99995891e-01 -1.75367975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.30140051300003 meters Centerline goodness [0,1] 0.999978281171948 Centerline is valid? [True, True] Translation: X:225.53, Y:12.72, Z:-0.17 [[ 9.99185293e-01 -4.02367661e-02 3.12297583e-03 2.25528211e+02] [ 4.02361391e-02 9.99190164e-01 2.63343335e-04 1.27190984e+01] [-3.13104281e-03 -1.37472297e-04 9.99995089e-01 -1.74538405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.331400513 meters Centerline goodness [0,1] 0.99985005890543 Centerline is valid? [True, True] Translation: X:225.56, Y:12.72, Z:-0.17 [[ 9.99346916e-01 -3.60009170e-02 3.11063309e-03 2.25558490e+02] [ 3.60002738e-02 9.99351746e-01 2.62525244e-04 1.27194142e+01] [-3.11806776e-03 -1.50370150e-04 9.99995128e-01 -1.74389745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.361400513 meters Centerline goodness [0,1] 0.9996142967343791 Centerline is valid? [True, True] Translation: X:225.59, Y:12.72, Z:-0.18 [[ 9.99411856e-01 -3.42325523e-02 2.01868016e-03 2.25586606e+02] [ 3.42322783e-02 9.99413889e-01 1.70146598e-04 1.27249830e+01] [-2.02332154e-03 -1.00942506e-04 9.99997948e-01 -1.76021066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.391400513 meters Centerline goodness [0,1] 0.9997418744219062 Centerline is valid? [True, True] Translation: X:225.62, Y:12.72, Z:-0.18 [[ 9.99467438e-01 -3.26116492e-02 1.14958188e-03 2.25616838e+02] [ 3.26115592e-02 9.99468097e-01 9.69590277e-05 1.27198056e+01] [-1.15213241e-03 -5.94177333e-05 9.99999335e-01 -1.76802599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.421400513 meters Centerline goodness [0,1] 0.9995096157946356 Centerline is valid? [True, True] Translation: X:225.64, Y:12.73, Z:-0.18 [[ 9.99505554e-01 -3.14351254e-02 6.93752266e-04 2.25644953e+02] [ 3.14350924e-02 9.99505794e-01 5.84048660e-05 1.27273980e+01] [-6.95245374e-04 -3.65678213e-05 9.99999758e-01 -1.78076183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.451400513 meters Centerline goodness [0,1] 0.9993825583375916 Centerline is valid? [True, True] Translation: X:225.68, Y:12.72, Z:-0.18 [[ 9.99571746e-01 -2.92255403e-02 1.48095164e-03 2.25675566e+02] [ 2.92253869e-02 9.99572839e-01 1.25097321e-04 1.27231613e+01] [-1.48397507e-03 -8.17623624e-05 9.99998896e-01 -1.76406108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.481400513 meters Centerline goodness [0,1] 0.9995704651862033 Centerline is valid? [True, True] Translation: X:225.70, Y:12.72, Z:-0.17 [[ 9.99589815e-01 -2.85458338e-02 2.31017148e-03 2.25704901e+02] [ 2.85454600e-02 9.99592476e-01 1.94591856e-04 1.27189832e+01] [-2.31478481e-03 -1.28567130e-04 9.99997313e-01 -1.74996962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.511400513 meters Centerline goodness [0,1] 0.9994513378914494 Centerline is valid? [True, True] Translation: X:225.73, Y:12.73, Z:-0.17 [[ 9.99598967e-01 -2.81284796e-02 3.27000434e-03 2.25731766e+02] [ 2.81277243e-02 9.99604299e-01 2.76736639e-04 1.27266818e+01] [-3.27649458e-03 -1.84647878e-04 9.99994615e-01 -1.74904190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.541400513 meters Centerline goodness [0,1] 0.9993401026034017 Centerline is valid? [True, True] Translation: X:225.76, Y:12.73, Z:-0.18 [[ 9.99593249e-01 -2.83444952e-02 3.15045367e-03 2.25761175e+02] [ 2.83437957e-02 9.99598198e-01 2.66474026e-04 1.27266640e+01] [-3.15674089e-03 -1.77069822e-04 9.99995002e-01 -1.75232600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.571400513 meters Centerline goodness [0,1] 0.9994709554544493 Centerline is valid? [True, True] Translation: X:225.79, Y:12.72, Z:-0.18 [[ 9.99518973e-01 -3.08625947e-02 3.05321409e-03 2.25790565e+02] [ 3.08619467e-02 9.99523623e-01 2.59139804e-04 1.27227515e+01] [-3.05975734e-03 -1.64787020e-04 9.99995305e-01 -1.76511626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.601400513 meters Centerline goodness [0,1] 0.9996389585014654 Centerline is valid? [True, True] Translation: X:225.82, Y:12.72, Z:-0.18 [[ 9.99451199e-01 -3.29693237e-02 3.21311009e-03 2.25821196e+02] [ 3.29686165e-02 9.99456350e-01 2.72824102e-04 1.27201288e+01] [-3.22035811e-03 -1.66742581e-04 9.99994801e-01 -1.77074173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.631400513 meters Centerline goodness [0,1] 0.9995965344432175 Centerline is valid? [True, True] Translation: X:225.85, Y:12.72, Z:-0.18 [[ 9.99367436e-01 -3.54023345e-02 3.37667613e-03 2.25851322e+02] [ 3.54015673e-02 9.99373127e-01 2.86720044e-04 1.27167501e+01] [-3.38470994e-03 -1.66999048e-04 9.99994258e-01 -1.76810671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.661400513 meters Centerline goodness [0,1] 0.9999356057353825 Centerline is valid? [True, True] Translation: X:225.88, Y:12.70, Z:-0.18 [[ 9.99176388e-01 -4.05416970e-02 1.70772358e-03 2.25883099e+02] [ 4.05415082e-02 9.99177845e-01 1.45053803e-04 1.27017406e+01] [-1.71220030e-03 -7.57006450e-05 9.99998531e-01 -1.78486743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.691400513 meters Centerline goodness [0,1] 0.9999353545801279 Centerline is valid? [True, True] Translation: X:225.91, Y:12.70, Z:-0.18 [[ 9.99090330e-01 -4.26394909e-02 6.20848668e-04 2.25912785e+02] [ 4.26394664e-02 9.99090523e-01 5.26103934e-05 1.27013270e+01] [-6.22527301e-04 -2.60898794e-05 9.99999806e-01 -1.80530518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.721400513 meters Centerline goodness [0,1] 0.9998296567583681 Centerline is valid? [True, True] Translation: X:225.94, Y:12.71, Z:-0.18 [[ 9.99006356e-01 -4.45663268e-02 3.78085576e-04 2.25940165e+02] [ 4.45663180e-02 9.99006428e-01 3.16187149e-05 1.27054205e+01] [-3.79119051e-04 -1.47374151e-05 9.99999928e-01 -1.82426502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.751400513 meters Centerline goodness [0,1] 0.9997863932500267 Centerline is valid? [True, True] Translation: X:225.97, Y:12.71, Z:-0.18 [[ 9.98940528e-01 -4.60156323e-02 6.18729676e-04 2.25968805e+02] [ 4.60156087e-02 9.98940719e-01 5.23726704e-05 1.27053067e+01] [-6.20484229e-04 -2.38459604e-05 9.99999807e-01 -1.82243646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.781400513 meters Centerline goodness [0,1] 0.9998935105318084 Centerline is valid? [True, True] Translation: X:226.00, Y:12.70, Z:-0.18 [[ 9.98857874e-01 -4.77476012e-02 1.76455149e-03 2.25998258e+02] [ 4.77474109e-02 9.98859431e-01 1.49843354e-04 1.27039498e+01] [-1.76969355e-03 -6.54194490e-05 9.99998432e-01 -1.80265001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.811400513 meters Centerline goodness [0,1] 0.9999567221344643 Centerline is valid? [True, True] Translation: X:226.03, Y:12.70, Z:-0.18 [[ 9.98802386e-01 -4.88895816e-02 1.89802252e-03 2.26027675e+02] [ 4.88893639e-02 9.98804187e-01 1.60948447e-04 1.27002625e+01] [-1.90362154e-03 -6.79625789e-05 9.99998186e-01 -1.79530137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.841400513 meters Centerline goodness [0,1] 0.9999147957227453 Centerline is valid? [True, True] Translation: X:226.06, Y:12.71, Z:-0.18 [[ 9.98762029e-01 -4.97105104e-02 1.80960651e-03 2.26055554e+02] [ 4.97103125e-02 9.98763666e-01 1.54191966e-04 1.27051570e+01] [-1.81503419e-03 -6.40449757e-05 9.99998351e-01 -1.80547041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.871400513 meters Centerline goodness [0,1] 0.999978488146969 Centerline is valid? [True, True] Translation: X:226.08, Y:12.70, Z:-0.18 [[ 9.98672778e-01 -5.15028341e-02 3.74490553e-04 2.26084790e+02] [ 5.15028259e-02 9.98672848e-01 3.17033792e-05 1.26982291e+01] [-3.75626362e-04 -1.23739800e-05 9.99999929e-01 -1.82643481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.901400513 meters Centerline goodness [0,1] 0.9999783989285869 Centerline is valid? [True, True] Translation: X:226.11, Y:12.70, Z:-0.18 [[ 9.98648929e-01 -5.19644719e-02 -9.81316311e-05 2.26112707e+02] [ 5.19644712e-02 9.98648934e-01 -9.63635438e-06 1.26981571e+01] [ 9.84997969e-05 4.52397667e-06 9.99999995e-01 -1.83561544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.931400513 meters Centerline goodness [0,1] 0.9999574820893301 Centerline is valid? [True, True] Translation: X:226.14, Y:12.71, Z:-0.19 [[ 9.98685147e-01 -5.12637916e-02 4.73018985e-06 2.26140102e+02] [ 5.12637916e-02 9.98685147e-01 2.24784557e-08 1.27073094e+01] [-4.72512268e-06 2.20038568e-07 1.00000000e+00 -1.85077133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.961400513 meters Centerline goodness [0,1] 0.9998927199776858 Centerline is valid? [True, True] Translation: X:226.17, Y:12.71, Z:-0.18 [[ 9.98893707e-01 -4.70251161e-02 2.36963729e-05 2.26169423e+02] [ 4.70251160e-02 9.98893707e-01 1.95982456e-06 1.27131926e+01] [-2.37623188e-05 -8.43331728e-07 1.00000000e+00 -1.84317478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.99140051300003 meters Centerline goodness [0,1] 0.9997444905780901 Centerline is valid? [True, True] Translation: X:226.20, Y:12.73, Z:-0.19 [[ 9.99025179e-01 -4.41429019e-02 -3.09756717e-04 2.26197994e+02] [ 4.41428957e-02 9.99025227e-01 -2.66431187e-05 1.27256622e+01] [ 3.10630879e-04 1.29435879e-05 9.99999952e-01 -1.85698428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.021400513 meters Centerline goodness [0,1] 0.9997442891237641 Centerline is valid? [True, True] Translation: X:226.23, Y:12.73, Z:-0.19 [[ 9.99142025e-01 -4.13924204e-02 -1.37190979e-03 2.26227886e+02] [ 4.13922977e-02 9.99142965e-01 -1.17714361e-04 1.27325525e+01] [ 1.37560650e-03 6.08268662e-05 9.99999052e-01 -1.87286270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.05140051300003 meters Centerline goodness [0,1] 0.999489904357067 Centerline is valid? [True, True] Translation: X:226.26, Y:12.74, Z:-0.19 [[ 9.99352351e-01 -3.59626072e-02 -1.25240442e-03 2.26257766e+02] [ 3.59625008e-02 9.99353134e-01 -1.07390352e-04 1.27390106e+01] [ 1.25545632e-03 6.22812063e-05 9.99999210e-01 -1.86727922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.081400513 meters Centerline goodness [0,1] 0.9983023512435277 Centerline is valid? [True, True] Translation: X:226.29, Y:12.75, Z:-0.19 [[ 9.99419947e-01 -3.40548878e-02 -1.86788182e-04 2.26285581e+02] [ 3.40548854e-02 9.99419964e-01 -1.62401987e-05 1.27523790e+01] [ 1.87232896e-04 9.86972834e-06 9.99999982e-01 -1.86496692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.111400513 meters Centerline goodness [0,1] 0.99954970409126 Centerline is valid? [True, True] Translation: X:226.31, Y:12.75, Z:-0.19 [[ 9.99451013e-01 -3.31266040e-02 5.48459121e-04 2.26314583e+02] [ 3.31265837e-02 9.99451163e-01 4.61273941e-05 1.27493274e+01] [-5.49686151e-04 -2.79334938e-05 9.99999849e-01 -1.85037886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.141400513 meters Centerline goodness [0,1] 0.9994876721101505 Centerline is valid? [True, True] Translation: X:226.34, Y:12.75, Z:-0.19 [[ 9.99443484e-01 -3.33436999e-02 9.59146449e-04 2.26341897e+02] [ 3.33436363e-02 9.99443943e-01 8.21301441e-05 1.27540678e+01] [-9.61351631e-04 -5.01030070e-05 9.99999537e-01 -1.85083518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.171400513 meters Centerline goodness [0,1] 0.999721173644475 Centerline is valid? [True, True] Translation: X:226.37, Y:12.75, Z:-0.19 [[ 9.99355267e-01 -3.58949468e-02 7.76880355e-04 2.26371893e+02] [ 3.58949058e-02 9.99355568e-01 6.66841548e-05 1.27516032e+01] [-7.78773333e-04 -3.87551141e-05 9.99999696e-01 -1.85243288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.201400513 meters Centerline goodness [0,1] 0.9997656982193065 Centerline is valid? [True, True] Translation: X:226.40, Y:12.75, Z:-0.19 [[ 9.99314290e-01 -3.70199287e-02 6.89122362e-04 2.26399640e+02] [ 3.70198969e-02 9.99314527e-01 5.89565085e-05 1.27548409e+01] [-6.90832553e-04 -3.34048427e-05 9.99999761e-01 -1.85795552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.231400513 meters Centerline goodness [0,1] 0.9993153615746684 Centerline is valid? [True, True] Translation: X:226.43, Y:12.76, Z:-0.19 [[ 9.99272341e-01 -3.81401411e-02 -3.42540872e-04 2.26426603e+02] [ 3.81401331e-02 9.99272400e-01 -2.98650949e-05 1.27627068e+01] [ 3.43430698e-04 1.67788089e-05 9.99999941e-01 -1.88044735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.261400513 meters Centerline goodness [0,1] 0.9993825846284863 Centerline is valid? [True, True] Translation: X:226.45, Y:12.76, Z:-0.19 [[ 9.99259564e-01 -3.84680533e-02 -7.30392478e-04 2.26454834e+02] [ 3.84680166e-02 9.99259830e-01 -6.42034823e-05 1.27596529e+01] [ 7.32321647e-04 3.60591937e-05 9.99999731e-01 -1.87537816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.291400513 meters Centerline goodness [0,1] 0.9998286937901499 Centerline is valid? [True, True] Translation: X:226.48, Y:12.76, Z:-0.19 [[ 9.99258613e-01 -3.84982016e-02 -3.36113705e-04 2.26482878e+02] [ 3.84981936e-02 9.99258669e-01 -3.02465580e-05 1.27613184e+01] [ 3.37028972e-04 1.72843630e-05 9.99999943e-01 -1.87263218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.321400513 meters Centerline goodness [0,1] 0.999830191883172 Centerline is valid? [True, True] Translation: X:226.51, Y:12.76, Z:-0.19 [[ 9.99266499e-01 -3.82941631e-02 1.46115195e-04 2.26511379e+02] [ 3.82941618e-02 9.99266510e-01 1.16369587e-05 1.27648161e+01] [-1.46453648e-04 -6.03306403e-06 9.99999989e-01 -1.87002968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.351400513 meters Centerline goodness [0,1] 0.9998298306815281 Centerline is valid? [True, True] Translation: X:226.54, Y:12.77, Z:-0.19 [[ 9.99294873e-01 -3.75383174e-02 7.95003537e-04 2.26538972e+02] [ 3.75382747e-02 9.99295188e-01 6.85811572e-05 1.27701582e+01] [-7.97017631e-04 -3.86897376e-05 9.99999682e-01 -1.86476006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.381400513 meters Centerline goodness [0,1] 0.9996576002054399 Centerline is valid? [True, True] Translation: X:226.57, Y:12.78, Z:-0.19 [[ 9.99394569e-01 -3.47719069e-02 1.18768109e-03 2.26567433e+02] [ 3.47718091e-02 9.99395273e-01 1.02881172e-04 1.27771341e+01] [-1.19054024e-03 -6.15210648e-05 9.99999289e-01 -1.86042627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.411400513 meters Centerline goodness [0,1] 0.9996156802459646 Centerline is valid? [True, True] Translation: X:226.60, Y:12.78, Z:-0.19 [[ 9.99454102e-01 -3.30365066e-02 2.95812318e-04 2.26596980e+02] [ 3.30365005e-02 9.99454146e-01 2.55210489e-05 1.27809213e+01] [-2.96493974e-04 -1.57345132e-05 9.99999956e-01 -1.87179679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.441400513 meters Centerline goodness [0,1] 0.9990031813361612 Centerline is valid? [True, True] Translation: X:226.63, Y:12.79, Z:-0.19 [[ 9.99510282e-01 -3.12784091e-02 -9.26109141e-04 2.26625792e+02] [ 3.12783480e-02 9.99510710e-01 -8.04405186e-05 1.27892454e+01] [ 9.28172057e-04 5.14339614e-05 9.99999568e-01 -1.89353034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.471400513 meters Centerline goodness [0,1] 0.9977186960322367 Centerline is valid? [True, True] Translation: X:226.65, Y:12.80, Z:-0.19 [[ 9.99574148e-01 -2.91174672e-02 -1.92240522e-03 2.26653811e+02] [ 2.91171996e-02 9.99575991e-01 -1.67012857e-04 1.27986580e+01] [ 1.92645309e-03 1.10966678e-04 9.99998138e-01 -1.91002427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.501400513 meters Centerline goodness [0,1] 0.9982240263858937 Centerline is valid? [True, True] Translation: X:226.68, Y:12.80, Z:-0.19 [[ 9.99596324e-01 -2.83864435e-02 -1.18265667e-03 2.26682022e+02] [ 2.83863413e-02 9.99597021e-01 -1.03084229e-04 1.28025332e+01] [ 1.18510628e-03 6.94713200e-05 9.99999295e-01 -1.89805707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.531400513 meters Centerline goodness [0,1] 0.9988247863247863 Centerline is valid? [True, True] Translation: X:226.71, Y:12.81, Z:-0.19 [[ 9.99595639e-01 -2.84325632e-02 -3.84103625e-04 2.26710074e+02] [ 2.84325520e-02 9.99595713e-01 -3.45899241e-05 1.28059983e+01] [ 3.84931817e-04 2.36548910e-05 9.99999926e-01 -1.88327598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.561400513 meters Centerline goodness [0,1] 0.9987920401805582 Centerline is valid? [True, True] Translation: X:226.74, Y:12.81, Z:-0.19 [[ 9.99589214e-01 -2.86542736e-02 5.80388823e-04 2.26737218e+02] [ 2.86542493e-02 9.99589381e-01 5.01911780e-05 1.28122097e+01] [-5.81588696e-04 -3.35399542e-05 9.99999830e-01 -1.87392049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.591400513 meters Centerline goodness [0,1] 0.9990887127537829 Centerline is valid? [True, True] Translation: X:226.77, Y:12.81, Z:-0.19 [[ 9.99559490e-01 -2.96665031e-02 8.51329878e-04 2.26766184e+02] [ 2.96664509e-02 9.99559851e-01 7.39000979e-05 1.28134896e+01] [-8.53147523e-04 -4.86116082e-05 9.99999635e-01 -1.86589920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.621400513 meters Centerline goodness [0,1] 0.9990674607379777 Centerline is valid? [True, True] Translation: X:226.79, Y:12.82, Z:-0.19 [[ 9.99543095e-01 -3.02122421e-02 9.05946985e-04 2.26793383e+02] [ 3.02121833e-02 9.99543505e-01 7.84983318e-05 1.28173652e+01] [-9.07905035e-04 -5.10918292e-05 9.99999587e-01 -1.86447320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.651400513 meters Centerline goodness [0,1] 0.9997204120695959 Centerline is valid? [True, True] Translation: X:226.82, Y:12.81, Z:-0.19 [[ 9.99535259e-01 -3.04743063e-02 7.62911148e-04 2.26821446e+02] [ 3.04742652e-02 9.99535550e-01 6.54963640e-05 1.28133888e+01] [-7.64552770e-04 -4.22167686e-05 9.99999707e-01 -1.85570440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.681400513 meters Centerline goodness [0,1] 0.9994397276214283 Centerline is valid? [True, True] Translation: X:226.85, Y:12.82, Z:-0.19 [[ 9.99556398e-01 -2.97682814e-02 9.25908406e-04 2.26848908e+02] [ 2.97682196e-02 9.99556825e-01 8.04536025e-05 1.28223447e+01] [-9.27893032e-04 -5.28552683e-05 9.99999568e-01 -1.85697840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.711400513 meters Centerline goodness [0,1] 0.9972359953581601 Centerline is valid? [True, True] Translation: X:226.88, Y:12.84, Z:-0.19 [[ 9.99637557e-01 -2.68945776e-02 1.19852866e-03 2.26877435e+02] [ 2.68944712e-02 9.99638273e-01 1.04799506e-04 1.28362847e+01] [-1.20091366e-03 -7.25277278e-05 9.99999276e-01 -1.85847604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.74140051300003 meters Centerline goodness [0,1] 0.9975052772980234 Centerline is valid? [True, True] Translation: X:226.91, Y:12.84, Z:-0.19 [[ 9.99675771e-01 -2.54484121e-02 8.54609139e-04 2.26906658e+02] [ 2.54483577e-02 9.99676135e-01 7.45163205e-05 1.28399729e+01] [-8.56228684e-04 -5.27437611e-05 9.99999632e-01 -1.86068244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.771400513 meters Centerline goodness [0,1] 0.9956544892959847 Centerline is valid? [True, True] Translation: X:226.94, Y:12.85, Z:-0.19 [[ 9.99719404e-01 -2.36758836e-02 7.52588662e-04 2.26935669e+02] [ 2.36758407e-02 9.99719686e-01 6.58386279e-05 1.28479927e+01] [-7.53936489e-04 -4.80019845e-05 9.99999715e-01 -1.86278411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.80140051300003 meters Centerline goodness [0,1] 0.9969012932796798 Centerline is valid? [True, True] Translation: X:226.97, Y:12.85, Z:-0.19 [[ 9.99747985e-01 -2.24328948e-02 8.55578056e-04 2.26965217e+02] [ 2.24328389e-02 9.99748349e-01 7.48047183e-05 1.28528789e+01] [-8.57040836e-04 -5.55928217e-05 9.99999631e-01 -1.86398559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.831400513 meters Centerline goodness [0,1] 0.9970350461807556 Centerline is valid? [True, True] Translation: X:226.99, Y:12.86, Z:-0.18 [[ 9.99771579e-01 -2.11855728e-02 2.82163223e-03 2.26992920e+02] [ 2.11849596e-02 9.99775543e-01 2.47056173e-04 1.28629900e+01] [-2.82623293e-03 -1.87223576e-04 9.99995989e-01 -1.84667021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.861400513 meters Centerline goodness [0,1] 0.9971716912001028 Centerline is valid? [True, True] Translation: X:227.02, Y:12.87, Z:-0.18 [[ 9.99772762e-01 -2.10254945e-02 3.51455243e-03 2.27023477e+02] [ 2.10245412e-02 9.99778912e-01 3.07993878e-04 1.28682334e+01] [-3.52025113e-03 -2.34032038e-04 9.99993777e-01 -1.83475340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.891400513 meters Centerline goodness [0,1] 0.9983579638752053 Centerline is valid? [True, True] Translation: X:227.05, Y:12.87, Z:-0.18 [[ 9.99772900e-01 -2.09736283e-02 3.77571134e-03 2.27053940e+02] [ 2.09725276e-02 9.99779998e-01 3.30880248e-04 1.28698201e+01] [-3.78182043e-03 -2.51618895e-04 9.99992817e-01 -1.82442710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.921400513 meters Centerline goodness [0,1] 0.9983579638752053 Centerline is valid? [True, True] Translation: X:227.08, Y:12.87, Z:-0.18 [[ 9.99772900e-01 -2.09736283e-02 3.77571134e-03 2.27083891e+02] [ 2.09725276e-02 9.99779998e-01 3.30880248e-04 1.28724449e+01] [-3.78182043e-03 -2.51618895e-04 9.99992817e-01 -1.82634505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.951400513 meters Centerline goodness [0,1] 0.9987345844504022 Centerline is valid? [True, True] Translation: X:227.11, Y:12.88, Z:-0.18 [[ 9.99771792e-01 -2.09912632e-02 3.96621269e-03 2.27113895e+02] [ 2.09900488e-02 9.99779624e-01 3.47574621e-04 1.28797609e+01] [-3.97263466e-03 -2.64244304e-04 9.99992074e-01 -1.81882065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.981400513 meters Centerline goodness [0,1] 0.9985333815121049 Centerline is valid? [True, True] Translation: X:227.14, Y:12.89, Z:-0.18 [[ 9.99777402e-01 -2.06674960e-02 4.24287399e-03 2.27143523e+02] [ 2.06661033e-02 9.99786364e-01 3.71819525e-04 1.28865380e+01] [-4.24965214e-03 -2.84053087e-04 9.99990930e-01 -1.81943243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.011400513 meters Centerline goodness [0,1] 0.999395887721418 Centerline is valid? [True, True] Translation: X:227.17, Y:12.89, Z:-0.18 [[ 9.99786570e-01 -2.01287167e-02 4.65281989e-03 2.27174158e+02] [ 2.01270361e-02 9.99797348e-01 4.07744677e-04 1.28859806e+01] [-4.66008436e-03 -3.14010178e-04 9.99989092e-01 -1.81799683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.041400513 meters Centerline goodness [0,1] 0.9703049240383579 Centerline is valid? [True, True] Translation: X:227.20, Y:12.90, Z:-0.18 [[ 9.99800045e-01 -1.93912526e-02 4.88352549e-03 2.27202563e+02] [ 1.93893920e-02 9.99811916e-01 4.28048130e-04 1.29045670e+01] [-4.89090737e-03 -3.33273950e-04 9.99987984e-01 -1.82190458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.071400513 meters Centerline goodness [0,1] 0.990043586018289 Centerline is valid? [True, True] Translation: X:227.23, Y:12.91, Z:-0.18 [[ 9.99823602e-01 -1.85068665e-02 3.20313734e-03 2.27233445e+02] [ 1.85060621e-02 9.99828709e-01 2.80586712e-04 1.29081652e+01] [-3.20778146e-03 -2.21259759e-04 9.99994831e-01 -1.84624974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.101400513 meters Centerline goodness [0,1] 0.994738080468867 Centerline is valid? [True, True] Translation: X:227.27, Y:12.91, Z:-0.19 [[ 9.99829321e-01 -1.83673626e-02 1.99215507e-03 2.27265034e+02] [ 1.83670511e-02 9.99831296e-01 1.74518492e-04 1.29118058e+01] [-1.99502443e-03 -1.37898692e-04 9.99998000e-01 -1.86744385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.131400513 meters Centerline goodness [0,1] 0.9988421210626756 Centerline is valid? [True, True] Translation: X:227.30, Y:12.91, Z:-0.19 [[ 9.99836570e-01 -1.80584516e-02 8.52104402e-04 2.27295191e+02] [ 1.80583947e-02 9.99836931e-01 7.45206369e-05 1.29110792e+01] [-8.53311178e-04 -5.91208204e-05 9.99999634e-01 -1.88037210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.161400513 meters Centerline goodness [0,1] 0.9678829626154273 Centerline is valid? [True, True] Translation: X:227.32, Y:12.93, Z:-0.19 [[ 9.99872540e-01 -1.59567841e-02 5.33163548e-04 2.27322801e+02] [ 1.59567616e-02 9.99872682e-01 4.65774788e-05 1.29306895e+01] [-5.33838893e-04 -3.80639785e-05 9.99999857e-01 -1.89237732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.191400513 meters Centerline goodness [0,1] 0.944170205427777 Centerline is valid? [True, False] Translation: X:227.32, Y:12.93, Z:-0.19 [[ 9.99868111e-01 -1.62283660e-02 6.32539341e-04 2.27322401e+02] [ 1.62287903e-02 9.99868079e-01 -6.71547408e-04 1.29341110e+01] [-6.21557778e-04 6.81724186e-04 9.99999574e-01 -1.89139571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.221400513 meters Centerline goodness [0,1] 0.9165279378494899 Centerline is valid? [False, False] Translation: X:227.32, Y:12.94, Z:-0.19 [[ 9.99862592e-01 -1.65628710e-02 6.83943980e-04 2.27322307e+02] [ 1.65639712e-02 9.99861470e-01 -1.63568191e-03 1.29387789e+01] [-6.56757644e-04 1.64678599e-03 9.99998428e-01 -1.89427608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.251400513 meters Centerline goodness [0,1] 0.8813548496976923 Centerline is valid? [False, False] Translation: X:227.32, Y:12.94, Z:-0.19 [[ 9.99919254e-01 -1.26938786e-02 5.92576222e-04 2.27322357e+02] [ 1.26928777e-02 9.99918059e-01 1.66341950e-03 1.29436410e+01] [-6.13642911e-04 -1.65576368e-03 9.99998441e-01 -1.89428820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.281400513 meters Centerline goodness [0,1] 0.9481140126301416 Centerline is valid? [False, False] Translation: X:227.32, Y:12.94, Z:-0.19 [[ 9.99965390e-01 -8.30977440e-03 4.06759203e-04 2.27322607e+02] [ 8.30706087e-03 9.99945830e-01 6.27127555e-03 1.29422825e+01] [-4.58850055e-04 -6.26767953e-03 9.99980253e-01 -1.88983576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.311400513 meters Centerline goodness [0,1] 0.710341162716548 Centerline is valid? [False, False] Translation: X:227.32, Y:12.95, Z:-0.19 [[ 9.99961636e-01 -8.74180767e-03 5.54292184e-04 2.27322205e+02] [ 8.73885243e-03 9.99948672e-01 5.12690658e-03 1.29477652e+01] [-5.99082164e-04 -5.12186602e-03 9.99986704e-01 -1.89263612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.341400513 meters Centerline goodness [0,1] 0.5392112760533814 Centerline is valid? [False, False] Translation: X:227.32, Y:12.95, Z:-0.19 [[ 9.99957374e-01 -9.20491740e-03 7.20702563e-04 2.27321727e+02] [ 9.20199329e-03 9.99949817e-01 3.96061861e-03 1.29533051e+01] [-7.57123563e-04 -3.95381788e-03 9.99991897e-01 -1.89532952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.371400513 meters Centerline goodness [0,1] 0.4860582342556947 Centerline is valid? [False, False] Translation: X:227.32, Y:12.96, Z:-0.19 [[ 9.99950198e-01 -9.94707924e-03 8.11052395e-04 2.27321437e+02] [ 9.94546387e-03 9.99948598e-01 1.97198202e-03 1.29628558e+01] [-8.30626167e-04 -1.96381752e-03 9.99997727e-01 -1.89852960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.401400513 meters Centerline goodness [0,1] 0.5662224871216315 Centerline is valid? [False, False] Translation: X:227.32, Y:12.97, Z:-0.19 [[ 9.99946740e-01 -1.02846029e-02 8.62944012e-04 2.27321271e+02] [ 1.02835625e-02 9.99946401e-01 1.20158479e-03 1.29664971e+01] [-8.75255582e-04 -1.19264665e-03 9.99998906e-01 -1.89954125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.431400513 meters Centerline goodness [0,1] 0.737108103477814 Centerline is valid? [False, False] Translation: X:227.32, Y:12.97, Z:-0.19 [[ 9.99943494e-01 -1.05920995e-02 9.03549752e-04 2.27321210e+02] [ 1.05916470e-02 9.99943780e-01 5.04096573e-04 1.29697755e+01] [-9.08838396e-04 -4.94498008e-04 9.99999465e-01 -1.90165890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.461400513 meters Centerline goodness [0,1] 0.7338393259149676 Centerline is valid? [False, False] Translation: X:227.32, Y:12.97, Z:-0.19 [[ 9.99978985e-01 -6.44643102e-03 6.88505724e-04 2.27321587e+02] [ 6.44263716e-03 9.99964788e-01 5.37724333e-03 1.29666528e+01] [-7.23145509e-04 -5.37269453e-03 9.99985305e-01 -1.89570867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.49140051300003 meters Centerline goodness [0,1] 0.82982709243987 Centerline is valid? [False, False] Translation: X:227.32, Y:12.97, Z:-0.19 [[ 9.99975030e-01 -7.02461413e-03 7.71328682e-04 2.27321088e+02] [ 7.02143922e-03 9.99967170e-01 4.04447488e-03 1.29729359e+01] [-7.99714235e-04 -4.03895805e-03 9.99991524e-01 -1.89245772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.521400513 meters Centerline goodness [0,1] 0.6771720252467488 Centerline is valid? [False, False] Translation: X:227.36, Y:12.98, Z:-0.19 [[ 9.99960153e-01 -8.27975457e-03 3.33735851e-03 2.27361536e+02] [ 8.28155053e-03 9.99965570e-01 -5.24676395e-04 1.29835333e+01] [-3.33289941e-03 5.52293992e-04 9.99994293e-01 -1.90414837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.55140051300003 meters Centerline goodness [0,1] 0.7638794277929155 Centerline is valid? [False, False] Translation: X:227.36, Y:12.99, Z:-0.19 [[ 9.99957291e-01 -8.62063875e-03 3.33179617e-03 2.27361661e+02] [ 8.62494698e-03 9.99961984e-01 -1.28086678e-03 1.29870746e+01] [-3.32062762e-03 1.30954864e-03 9.99993629e-01 -1.90693608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.581400513 meters Centerline goodness [0,1] 0.6038816965728195 Centerline is valid? [False, False] Translation: X:227.34, Y:12.99, Z:-0.19 [[ 9.99965228e-01 -8.32642131e-03 -4.61297705e-04 2.27338336e+02] [ 8.32018440e-03 9.99891168e-01 -1.21830832e-02 1.29937031e+01] [ 5.62688985e-04 1.21788215e-02 9.99925677e-01 -1.85937184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.611400513 meters Centerline goodness [0,1] 0.7877050926912423 Centerline is valid? [False, False] Translation: X:227.36, Y:12.99, Z:-0.19 [[ 9.99966699e-01 -7.94743974e-03 1.85461101e-03 2.27361177e+02] [ 7.94790601e-03 9.99968385e-01 -2.44178025e-04 1.29884468e+01] [-1.85261179e-03 2.58910168e-04 9.99998250e-01 -1.88684046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.641400513 meters Centerline goodness [0,1] 0.9154211811057342 Centerline is valid? [False, False] Translation: X:227.36, Y:12.99, Z:-0.19 [[ 9.99966126e-01 -8.03192433e-03 1.79848363e-03 2.27361391e+02] [ 8.03270600e-03 9.99967646e-01 -4.27826152e-04 1.29892998e+01] [-1.79498917e-03 4.42258350e-04 9.99998291e-01 -1.88765169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.671400513 meters Centerline goodness [0,1] 0.6703898796302172 Centerline is valid? [False, False] Translation: X:227.36, Y:12.99, Z:-0.19 [[ 9.99966148e-01 -8.05400206e-03 1.68410238e-03 2.27361752e+02] [ 8.05477443e-03 9.99967457e-01 -4.52345760e-04 1.29893964e+01] [-1.68040438e-03 4.65895512e-04 9.99998480e-01 -1.88715229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.701400513 meters Centerline goodness [0,1] 0.48954188565227563 Centerline is valid? [False, False] Translation: X:227.36, Y:12.99, Z:-0.19 [[ 9.99965725e-01 -8.10252497e-03 1.70207068e-03 2.27361626e+02] [ 8.10353015e-03 9.99966995e-01 -5.84501978e-04 1.29900518e+01] [-1.69727856e-03 5.98274725e-04 9.99998381e-01 -1.88606226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.731400513 meters Centerline goodness [0,1] 0.7018424396442186 Centerline is valid? [False, False] Translation: X:227.36, Y:12.99, Z:-0.19 [[ 9.99964560e-01 -8.23630671e-03 1.74424397e-03 2.27361434e+02] [ 8.23792571e-03 9.99965642e-01 -9.23053633e-04 1.29916917e+01] [-1.73658148e-03 9.37389872e-04 9.99998053e-01 -1.88551092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.761400513 meters Centerline goodness [0,1] 0.6427931769722814 Centerline is valid? [False, False] Translation: X:227.36, Y:12.99, Z:-0.19 [[ 9.99963096e-01 -8.40561523e-03 1.77551558e-03 2.27361415e+02] [ 8.40798347e-03 9.99963767e-01 -1.33060569e-03 1.29936185e+01] [-1.76426669e-03 1.34548509e-03 9.99997539e-01 -1.88742990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.791400513 meters Centerline goodness [0,1] 0.6644371072531686 Centerline is valid? [False, False] Translation: X:227.36, Y:12.99, Z:-0.19 [[ 9.99991363e-01 -3.89983249e-03 1.43705821e-03 2.27362336e+02] [ 3.89421108e-03 9.99984836e-01 3.89400154e-03 1.29891117e+01] [-1.45222238e-03 -3.88837170e-03 9.99991386e-01 -1.88477880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.821400513 meters Centerline goodness [0,1] 0.5290864009155064 Centerline is valid? [False, False] Translation: X:227.36, Y:12.99, Z:-0.19 [[ 9.99990609e-01 -4.10004066e-03 1.40406043e-03 2.27362578e+02] [ 4.09527631e-03 9.99985904e-01 3.37949632e-03 1.29915482e+01] [-1.41789671e-03 -3.37371457e-03 9.99993304e-01 -1.88808762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.851400513 meters Centerline goodness [0,1] 0.6929018567639258 Centerline is valid? [False, False] Translation: X:227.36, Y:13.00, Z:-0.19 [[ 9.99989238e-01 -4.42092365e-03 1.40694337e-03 2.27362774e+02] [ 4.41725419e-03 9.99986862e-01 2.60061745e-03 1.29952253e+01] [-1.41842202e-03 -2.59437463e-03 9.99995629e-01 -1.89299166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.881400513 meters Centerline goodness [0,1] 0.761786067299841 Centerline is valid? [False, False] Translation: X:227.34, Y:13.00, Z:-0.18 [[ 9.99991378e-01 -2.51955847e-03 -3.30077585e-03 2.27339703e+02] [ 2.49869567e-03 9.99976973e-01 -6.30952186e-03 1.30024368e+01] [ 3.31659705e-03 6.30121983e-03 9.99974647e-01 -1.83897491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.911400513 meters Centerline goodness [0,1] 0.6104381826681967 Centerline is valid? [False, False] Translation: X:227.36, Y:13.00, Z:-0.18 [[ 9.99985093e-01 -3.13280988e-03 -4.47204869e-03 2.27360400e+02] [ 3.15178396e-03 9.99986035e-01 4.24209178e-03 1.29969013e+01] [ 4.45869657e-03 -4.25612348e-03 9.99981003e-01 -1.80132744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.941400513 meters Centerline goodness [0,1] 0.5757874437540176 Centerline is valid? [False, False] Translation: X:227.36, Y:13.00, Z:-0.18 [[ 9.99960910e-01 -7.83691096e-03 -4.09416798e-03 2.27359372e+02] [ 7.83113906e-03 9.99968322e-01 -1.42392010e-03 1.30035113e+01] [ 4.10519742e-03 1.39180244e-03 9.99990605e-01 -1.80566603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.971400513 meters Centerline goodness [0,1] 0.9371843637848408 Centerline is valid? [False, False] Translation: X:227.36, Y:13.00, Z:-0.18 [[ 9.99960962e-01 -7.83811844e-03 -4.07907276e-03 2.27359125e+02] [ 7.83248187e-03 9.99968351e-01 -1.39597345e-03 1.30033994e+01] [ 4.08988547e-03 1.36396969e-03 9.99990706e-01 -1.80184992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.001400513 meters Centerline goodness [0,1] 0.8973180895394807 Centerline is valid? [False, False] Translation: X:227.36, Y:13.00, Z:-0.18 [[ 9.99960319e-01 -7.96297728e-03 -3.99401852e-03 2.27358364e+02] [ 7.95735624e-03 9.99967330e-01 -1.42128654e-03 1.30034260e+01] [ 4.00520571e-03 1.38944832e-03 9.99991014e-01 -1.79213811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.031400513 meters Centerline goodness [0,1] 0.8616063847851927 Centerline is valid? [False, False] Translation: X:227.36, Y:13.00, Z:-0.18 [[ 9.99960589e-01 -7.93950616e-03 -3.97295488e-03 2.27357970e+02] [ 7.93433113e-03 9.99967656e-01 -1.31663652e-03 1.30029424e+01] [ 3.98327982e-03 1.28506189e-03 9.99991241e-01 -1.78599086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.061400513 meters Centerline goodness [0,1] 0.8740585415953441 Centerline is valid? [False, False] Translation: X:227.36, Y:13.00, Z:-0.18 [[ 9.99961211e-01 -7.86482315e-03 -3.96497705e-03 2.27357725e+02] [ 7.86037086e-03 9.99968460e-01 -1.13724068e-03 1.30021286e+01] [ 3.97379620e-03 1.10603038e-03 9.99991493e-01 -1.78155741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.091400513 meters Centerline goodness [0,1] 0.9455983538036139 Centerline is valid? [False, False] Translation: X:227.36, Y:13.00, Z:-0.18 [[ 9.99960576e-01 -7.92777105e-03 -3.99959713e-03 2.27357816e+02] [ 7.92278215e-03 9.99967818e-01 -1.26165664e-03 1.30027067e+01] [ 4.00947054e-03 1.22991896e-03 9.99991206e-01 -1.78110850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.121400513 meters Centerline goodness [0,1] 0.9424577373211963 Centerline is valid? [False, False] Translation: X:227.36, Y:13.00, Z:-0.18 [[ 9.99959385e-01 -8.07058940e-03 -4.01175761e-03 2.27357964e+02] [ 8.06419737e-03 9.99966193e-01 -1.60695629e-03 1.30043289e+01] [ 4.02459107e-03 1.57453942e-03 9.99990662e-01 -1.78351042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.151400513 meters Centerline goodness [0,1] 0.8790616781199627 Centerline is valid? [False, False] Translation: X:227.40, Y:13.01, Z:-0.18 [[ 9.99978849e-01 -6.34311784e-03 -1.43782966e-03 2.27399270e+02] [ 6.34218258e-03 9.99979674e-01 -6.54099625e-04 1.30072872e+01] [ 1.44194947e-03 6.44966811e-04 9.99998752e-01 -1.78214685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.181400513 meters Centerline goodness [0,1] 0.7256001026913697 Centerline is valid? [False, False] Translation: X:227.40, Y:13.01, Z:-0.18 [[ 9.99978865e-01 -6.34784299e-03 -1.40550187e-03 2.27399047e+02] [ 6.34684637e-03 9.99979605e-01 -7.12410797e-04 1.30076016e+01] [ 1.40999547e-03 7.03475236e-04 9.99998759e-01 -1.78003984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.211400513 meters Centerline goodness [0,1] 0.832834599900971 Centerline is valid? [False, False] Translation: X:227.40, Y:13.01, Z:-0.18 [[ 9.99979095e-01 -6.32836290e-03 -1.32707309e-03 2.27398678e+02] [ 6.32737504e-03 9.99979703e-01 -7.47269807e-04 1.30078333e+01] [ 1.33177515e-03 7.38857296e-04 9.99998840e-01 -1.77782506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.24140051300003 meters Centerline goodness [0,1] 0.6135719007911966 Centerline is valid? [False, False] Translation: X:227.40, Y:13.01, Z:-0.18 [[ 9.99978728e-01 -6.39504205e-03 -1.28316535e-03 2.27398492e+02] [ 6.39378520e-03 9.99979078e-01 -9.81217014e-04 1.30089931e+01] [ 1.28941342e-03 9.72991858e-04 9.99998695e-01 -1.77727030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.271400513 meters Centerline goodness [0,1] 0.6446656754368953 Centerline is valid? [False, False] Translation: X:227.40, Y:13.01, Z:-0.18 [[ 9.99977860e-01 -6.55208938e-03 -1.16185455e-03 2.27398042e+02] [ 6.55050050e-03 9.99977612e-01 -1.36611148e-03 1.30108289e+01] [ 1.17077942e-03 1.35847050e-03 9.99998392e-01 -1.77671004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.30140051300003 meters Centerline goodness [0,1] 0.6288651072289666 Centerline is valid? [False, False] Translation: X:227.44, Y:13.01, Z:-0.18 [[ 9.99986901e-01 -4.80021409e-03 1.77665725e-03 2.27438467e+02] [ 4.80117783e-03 9.99988329e-01 -5.38579668e-04 1.30145248e+01] [-1.77405122e-03 5.47102660e-04 9.99998277e-01 -1.77607616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.331400513 meters Centerline goodness [0,1] 0.6048464645169562 Centerline is valid? [False, False] Translation: X:227.44, Y:13.02, Z:-0.18 [[ 9.99985599e-01 -4.95362028e-03 2.06464320e-03 2.27437407e+02] [ 4.95606841e-03 9.99987020e-01 -1.18231471e-03 1.30177489e+01] [-2.05875966e-03 1.19253019e-03 9.99997170e-01 -1.77443950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.361400513 meters Centerline goodness [0,1] 0.6264592270098385 Centerline is valid? [False, False] Translation: X:227.44, Y:13.02, Z:-0.18 [[ 9.99984518e-01 -5.14537004e-03 2.11887893e-03 2.27437358e+02] [ 5.14894627e-03 9.99985323e-01 -1.68581092e-03 1.30201497e+01] [-2.11017371e-03 1.69669481e-03 9.99996334e-01 -1.77752733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.391400513 meters Centerline goodness [0,1] 0.6824175117380957 Centerline is valid? [False, False] Translation: X:227.43, Y:13.02, Z:-0.17 [[ 9.99990313e-01 -3.38595009e-03 2.81251556e-03 2.27431560e+02] [ 3.38552100e-03 9.99994257e-01 1.57309665e-04 1.30189622e+01] [-2.81303205e-03 -1.47786310e-04 9.99996032e-01 -1.73678246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.421400513 meters Centerline goodness [0,1] 0.6367453618406959 Centerline is valid? [False, False] Translation: X:227.43, Y:13.02, Z:-0.17 [[ 9.99988483e-01 -3.76940043e-03 2.97061006e-03 2.27430929e+02] [ 3.77219489e-03 9.99992448e-01 -9.35661102e-04 1.30242178e+01] [-2.96706074e-03 9.46856046e-04 9.99995150e-01 -1.73567643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.451400513 meters Centerline goodness [0,1] 0.5731610636155214 Centerline is valid? [False, False] Translation: X:227.43, Y:13.03, Z:-0.17 [[ 9.99987607e-01 -3.93274725e-03 3.05275162e-03 2.27430570e+02] [ 3.93684756e-03 9.99991355e-01 -1.33830685e-03 1.30261378e+01] [-3.04746201e-03 1.35030848e-03 9.99994445e-01 -1.73453960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.481400513 meters Centerline goodness [0,1] 0.6717879777222969 Centerline is valid? [False, False] Translation: X:227.43, Y:13.03, Z:-0.17 [[ 9.99987102e-01 -4.07506967e-03 3.03129153e-03 2.27430705e+02] [ 4.08017550e-03 9.99990265e-01 -1.68010075e-03 1.30277442e+01] [-3.02441549e-03 1.69244728e-03 9.99993994e-01 -1.73615113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.511400513 meters Centerline goodness [0,1] 0.6434217835320257 Centerline is valid? [False, False] Translation: X:227.43, Y:13.03, Z:-0.17 [[ 9.99986237e-01 -4.26501402e-03 3.05538966e-03 2.27430745e+02] [ 4.27150763e-03 9.99988626e-01 -2.12193273e-03 1.30298057e+01] [-3.04630484e-03 2.13495465e-03 9.99993081e-01 -1.73903323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.541400513 meters Centerline goodness [0,1] 0.5333830898816505 Centerline is valid? [False, False] Translation: X:227.44, Y:13.03, Z:-0.18 [[ 9.99996847e-01 -1.61187027e-03 1.92570251e-03 2.27436612e+02] [ 1.61064915e-03 9.99998501e-01 6.35501078e-04 1.30329508e+01] [-1.92672397e-03 -6.32397443e-04 9.99997944e-01 -1.76757039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.571400513 meters Centerline goodness [0,1] 0.5672532124607128 Centerline is valid? [False, False] Translation: X:227.44, Y:13.04, Z:-0.18 [[ 9.99996221e-01 -1.93333298e-03 1.95445175e-03 2.27436506e+02] [ 1.93360375e-03 9.99998121e-01 -1.36657942e-04 1.30365928e+01] [-1.95418387e-03 1.40436561e-04 9.99998081e-01 -1.76815511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.601400513 meters Centerline goodness [0,1] 0.48502583231504703 Centerline is valid? [False, False] Translation: X:227.44, Y:13.04, Z:-0.18 [[ 9.99995565e-01 -2.19322117e-03 2.01499046e-03 2.27436207e+02] [ 2.19473472e-03 9.99997311e-01 -7.49241008e-04 1.30394770e+01] [-2.01334179e-03 7.53660054e-04 9.99997689e-01 -1.76676899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.631400513 meters Centerline goodness [0,1] 0.5095489983642427 Centerline is valid? [False, False] Translation: X:227.44, Y:13.04, Z:-0.18 [[ 9.99999282e-01 -2.75395580e-04 1.16612383e-03 2.27442494e+02] [ 2.74274528e-04 9.99999500e-01 9.61399419e-04 1.30424535e+01] [-1.16638801e-03 -9.61078891e-04 9.99998858e-01 -1.80518248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.661400513 meters Centerline goodness [0,1] 0.5597997046928163 Centerline is valid? [False, False] Translation: X:227.44, Y:13.05, Z:-0.18 [[ 9.99999089e-01 -5.93478956e-04 1.21255621e-03 2.27442430e+02] [ 5.93187893e-04 9.99999795e-01 2.40386424e-04 1.30458184e+01] [-1.21269863e-03 -2.39666931e-04 9.99999236e-01 -1.80764857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.691400513 meters Centerline goodness [0,1] 0.525376298494806 Centerline is valid? [False, False] Translation: X:227.44, Y:13.05, Z:-0.18 [[ 9.99998926e-01 -9.01326961e-04 1.15564559e-03 2.27442776e+02] [ 9.01823463e-04 9.99999501e-01 -4.29182238e-04 1.30489578e+01] [-1.15525818e-03 4.30223965e-04 9.99999240e-01 -1.81124602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.721400513 meters Centerline goodness [0,1] 0.6408296474427793 Centerline is valid? [False, False] Translation: X:227.40, Y:13.05, Z:-0.18 [[ 9.99996963e-01 -1.55870263e-03 -1.90897201e-03 2.27402470e+02] [ 1.55762454e-03 9.99998627e-01 -5.66105668e-04 1.30475564e+01] [ 1.90985178e-03 5.63130487e-04 9.99998018e-01 -1.81933204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.751400513 meters Centerline goodness [0,1] 0.5359240178931077 Centerline is valid? [False, False] Translation: X:227.45, Y:13.05, Z:-0.18 [[ 9.99998190e-01 -1.77474358e-03 -6.85400021e-04 2.27447731e+02] [ 1.77439158e-03 9.99998294e-01 -5.13830874e-04 1.30512676e+01] [ 6.86310770e-04 5.12613776e-04 9.99999633e-01 -1.83651019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.781400513 meters Centerline goodness [0,1] 0.7914462649980647 Centerline is valid? [False, False] Translation: X:227.41, Y:13.05, Z:-0.18 [[ 9.99991983e-01 -2.50665709e-03 -3.12258843e-03 2.27405282e+02] [ 2.50760193e-03 9.99996811e-01 2.98701152e-04 1.30460268e+01] [ 3.12182973e-03 -3.06528966e-04 9.99995080e-01 -1.82896440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.811400513 meters Centerline goodness [0,1] 0.8420871510302405 Centerline is valid? [False, False] Translation: X:227.41, Y:13.05, Z:-0.18 [[ 9.99991606e-01 -2.54321449e-03 -3.21236764e-03 2.27405546e+02] [ 2.54414984e-03 9.99996722e-01 2.87117933e-04 1.30460462e+01] [ 3.21162691e-03 -2.95288267e-04 9.99994799e-01 -1.82831177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.841400513 meters Centerline goodness [0,1] 0.8420871510302405 Centerline is valid? [False, False] Translation: X:227.41, Y:13.05, Z:-0.18 [[ 9.99991606e-01 -2.54321449e-03 -3.21236764e-03 2.27405546e+02] [ 2.54414984e-03 9.99996722e-01 2.87117933e-04 1.30460462e+01] [ 3.21162691e-03 -2.95288267e-04 9.99994799e-01 -1.82831177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.871400513 meters Centerline goodness [0,1] 0.882194984624713 Centerline is valid? [False, False] Translation: X:227.41, Y:13.05, Z:-0.18 [[ 9.99990489e-01 -2.72825630e-03 -3.40264342e-03 2.27406301e+02] [ 2.72811502e-03 9.99996278e-01 -4.61617327e-05 1.30475386e+01] [ 3.40275669e-03 3.68784910e-05 9.99994210e-01 -1.83137511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.901400513 meters Centerline goodness [0,1] 0.8453088459310434 Centerline is valid? [False, False] Translation: X:227.41, Y:13.05, Z:-0.18 [[ 9.99990172e-01 -2.74332125e-03 -3.48289916e-03 2.27406524e+02] [ 2.74324727e-03 9.99996237e-01 -2.60195907e-05 1.30474122e+01] [ 3.48295743e-03 1.64648813e-05 9.99993934e-01 -1.83088626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.931400513 meters Centerline goodness [0,1] 0.8970411090913073 Centerline is valid? [False, False] Translation: X:227.36, Y:13.04, Z:-0.18 [[ 9.99980147e-01 -3.36180518e-03 -5.32950203e-03 2.27362421e+02] [ 3.36486452e-03 9.99994179e-01 5.65176403e-04 1.30430450e+01] [ 5.32757100e-03 -5.83098235e-04 9.99985638e-01 -1.81928419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.961400513 meters Centerline goodness [0,1] 0.9730320069204152 Centerline is valid? [False, True] Translation: X:227.40, Y:13.05, Z:-0.18 [[ 9.99988091e-01 -4.52116413e-03 -1.83786266e-03 2.27400380e+02] [ 4.51861899e-03 9.99988830e-01 -1.38663757e-03 1.30479560e+01] [ 1.84411134e-03 1.37831645e-03 9.99997350e-01 -1.80485519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.99140051300003 meters Centerline goodness [0,1] 0.9673739938880042 Centerline is valid? [True, True] Translation: X:227.43, Y:13.05, Z:-0.18 [[ 9.99964408e-01 -8.43576559e-03 -1.45605089e-04 2.27430237e+02] [ 8.43576396e-03 9.99964418e-01 -1.17877426e-05 1.30482886e+01] [ 1.45699347e-04 1.05590329e-05 9.99999989e-01 -1.78336762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.021400513 meters Centerline goodness [0,1] 0.8715545402139334 Centerline is valid? [True, False] Translation: X:227.43, Y:13.05, Z:-0.18 [[ 9.99965891e-01 -8.25483109e-03 -2.71747701e-04 2.27430416e+02] [ 8.25498579e-03 9.99965763e-01 5.73174757e-04 1.30454580e+01] [ 2.67006936e-04 -5.75398480e-04 9.99999799e-01 -1.77820232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.05140051300003 meters Centerline goodness [0,1] 0.9992160620182048 Centerline is valid? [False, True] Translation: X:227.39, Y:13.04, Z:-0.18 [[ 9.99958052e-01 -8.84739725e-03 -2.37023753e-03 2.27387153e+02] [ 8.85131232e-03 9.99959471e-01 1.64639487e-03 1.30387675e+01] [ 2.35557516e-03 -1.66730552e-03 9.99995836e-01 -1.76754670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.081400513 meters Centerline goodness [0,1] 0.9894373787454193 Centerline is valid? [True, True] Translation: X:227.41, Y:13.05, Z:-0.18 [[ 9.99945905e-01 -1.01248798e-02 -2.38192066e-03 2.27414881e+02] [ 1.01244663e-02 9.99948729e-01 -1.85599626e-04 1.30479832e+01] [ 2.38367771e-03 1.61473911e-04 9.99997146e-01 -1.77376606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.111400513 meters Centerline goodness [0,1] 0.9853270489880356 Centerline is valid? [True, True] Translation: X:227.44, Y:13.05, Z:-0.18 [[ 9.99949526e-01 -9.94529548e-03 -1.42673059e-03 2.27443933e+02] [ 9.94514681e-03 9.99950540e-01 -1.11259255e-04 1.30504031e+01] [ 1.42776653e-03 9.70645946e-05 9.99998976e-01 -1.76012468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.141400513 meters Centerline goodness [0,1] 0.9933614444804844 Centerline is valid? [True, True] Translation: X:227.47, Y:13.05, Z:-0.17 [[ 9.99954360e-01 -9.55194376e-03 -1.93260224e-04 2.27473707e+02] [ 9.55194101e-03 9.99954379e-01 -1.51317896e-05 1.30481624e+01] [ 1.93395946e-04 1.32850887e-05 9.99999981e-01 -1.74015628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.171400513 meters Centerline goodness [0,1] 0.9677199411927642 Centerline is valid? [True, True] Translation: X:227.50, Y:13.06, Z:-0.17 [[ 9.99969391e-01 -7.80372693e-03 5.64659798e-04 2.27501995e+02] [ 7.80370332e-03 9.99969550e-01 4.40094987e-05 1.30554672e+01] [-5.64986042e-04 -3.96017141e-05 9.99999840e-01 -1.73123702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.201400513 meters Centerline goodness [0,1] 0.8252163692702212 Centerline is valid? [True, False] Translation: X:227.50, Y:13.06, Z:-0.17 [[ 9.99967873e-01 -8.00013341e-03 5.01667922e-04 2.27502531e+02] [ 8.00036593e-03 9.99967889e-01 -4.63221545e-04 1.30578657e+01] [-4.97945979e-04 4.67220189e-04 9.99999767e-01 -1.73832247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.231400513 meters Centerline goodness [0,1] 0.9171141723091292 Centerline is valid? [False, False] Translation: X:227.50, Y:13.06, Z:-0.17 [[ 9.99966354e-01 -8.19284926e-03 4.10850767e-04 2.27503147e+02] [ 8.19327434e-03 9.99965890e-01 -1.04386282e-03 1.30606468e+01] [-4.02284542e-04 1.04719391e-03 9.99999371e-01 -1.74544193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.261400513 meters Centerline goodness [0,1] 0.9709890674140477 Centerline is valid? [False, True] Translation: X:227.50, Y:13.06, Z:-0.18 [[ 9.99964255e-01 -8.44365995e-03 4.39578567e-04 2.27503240e+02] [ 8.44438633e-03 9.99962938e-01 -1.67769413e-03 1.30636392e+01] [-4.25396396e-04 1.68134613e-03 9.99998496e-01 -1.75013965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.291400513 meters Centerline goodness [0,1] 0.6954203195324331 Centerline is valid? [True, False] Translation: X:227.50, Y:13.06, Z:-0.17 [[ 9.99991513e-01 -4.11072885e-03 2.77148336e-04 2.27503539e+02] [ 4.10993364e-03 9.99987603e-01 2.81125175e-03 1.30628254e+01] [-2.88701194e-04 -2.81008883e-03 9.99996010e-01 -1.74721609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.321400513 meters Centerline goodness [0,1] 0.8379890672749968 Centerline is valid? [False, False] Translation: X:227.50, Y:13.07, Z:-0.17 [[ 9.99989967e-01 -4.46657179e-03 3.40823549e-04 2.27503227e+02] [ 4.46588261e-03 9.99988034e-01 1.99676504e-03 1.30666451e+01] [-3.49738165e-04 -1.99522292e-03 9.99997948e-01 -1.74607138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.351400513 meters Centerline goodness [0,1] 0.7430685889779901 Centerline is valid? [False, False] Translation: X:227.50, Y:13.07, Z:-0.17 [[ 9.99988289e-01 -4.82653726e-03 3.54776010e-04 2.27503077e+02] [ 4.82611975e-03 9.99987672e-01 1.16842252e-03 1.30705492e+01] [-3.60411071e-04 -1.16669665e-03 9.99999254e-01 -1.74511372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.381400513 meters Centerline goodness [0,1] 0.9010238907849829 Centerline is valid? [False, False] Translation: X:227.46, Y:13.07, Z:-0.17 [[ 9.99984815e-01 -5.19317160e-03 -1.84421456e-03 2.27459914e+02] [ 5.19514929e-03 9.99985934e-01 1.06921027e-03 1.30700538e+01] [ 1.83863602e-03 -1.07877501e-03 9.99997728e-01 -1.73619358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.411400513 meters Centerline goodness [0,1] 0.9300542957521558 Centerline is valid? [False, False] Translation: X:227.50, Y:13.08, Z:-0.17 [[ 9.99979253e-01 -6.30251524e-03 1.33077239e-03 2.27498841e+02] [ 6.30458956e-03 9.99978909e-01 -1.56033459e-03 1.30809555e+01] [-1.32091029e-03 1.56869220e-03 9.99997897e-01 -1.73178775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.441400513 meters Centerline goodness [0,1] 0.9511882098778636 Centerline is valid? [False, True] Translation: X:227.50, Y:13.08, Z:-0.17 [[ 9.99977363e-01 -6.59281115e-03 1.34469605e-03 2.27498715e+02] [ 6.59575457e-03 9.99975836e-01 -2.19634596e-03 1.30839281e+01] [-1.33018346e-03 2.20516553e-03 9.99996684e-01 -1.73080125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.471400513 meters Centerline goodness [0,1] 0.9696136717168489 Centerline is valid? [True, True] Translation: X:227.53, Y:13.09, Z:-0.17 [[ 9.99964949e-01 -8.31268528e-03 9.99706359e-04 2.27528912e+02] [ 8.31261187e-03 9.99965447e-01 7.75612806e-05 1.30870752e+01] [-1.00031656e-03 -6.92483911e-05 9.99999497e-01 -1.73604229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.501400513 meters Centerline goodness [0,1] 0.9962273048809243 Centerline is valid? [True, True] Translation: X:227.56, Y:13.09, Z:-0.18 [[ 9.99909457e-01 -1.34543477e-02 -2.39558638e-04 2.27558225e+02] [ 1.34543436e-02 9.99909486e-01 -1.85694013e-05 1.30912876e+01] [ 2.39786793e-04 1.53446158e-05 9.99999971e-01 -1.75571976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.531400513 meters Centerline goodness [0,1] 0.9993680127269161 Centerline is valid? [True, True] Translation: X:227.59, Y:13.09, Z:-0.18 [[ 9.99863395e-01 -1.65015485e-02 -9.43540863e-04 2.27588893e+02] [ 1.65014867e-02 9.99863839e-01 -7.31916552e-05 1.30901196e+01] [ 9.44620164e-04 5.76118298e-05 9.99999552e-01 -1.75615473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.561400513 meters Centerline goodness [0,1] 0.9996564238012412 Centerline is valid? [True, True] Translation: X:227.62, Y:13.09, Z:-0.18 [[ 9.99813607e-01 -1.92870202e-02 -8.73383410e-04 2.27619120e+02] [ 1.92869683e-02 9.99813987e-01 -6.78066131e-05 1.30897721e+01] [ 8.74528737e-04 5.09490562e-05 9.99999616e-01 -1.75126001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.591400513 meters Centerline goodness [0,1] 0.9996587176315004 Centerline is valid? [True, True] Translation: X:227.65, Y:13.10, Z:-0.17 [[ 9.99753799e-01 -2.21885176e-02 -1.04917251e-04 2.27648443e+02] [ 2.21885169e-02 9.99753805e-01 -8.17994278e-06 1.30975319e+01] [ 1.05072922e-04 5.84997066e-06 9.99999994e-01 -1.74923302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.621400513 meters Centerline goodness [0,1] 0.9994904242218353 Centerline is valid? [True, True] Translation: X:227.68, Y:13.10, Z:-0.17 [[ 9.99589501e-01 -2.86197409e-02 1.31900572e-03 2.27677817e+02] [ 2.86196307e-02 9.99590369e-01 1.02315899e-04 1.31000061e+01] [-1.32139367e-03 -6.45244423e-05 9.99999125e-01 -1.73933659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.651400513 meters Centerline goodness [0,1] 0.9998084046493805 Centerline is valid? [True, True] Translation: X:227.71, Y:13.09, Z:-0.17 [[ 9.99475477e-01 -3.23483710e-02 1.53406595e-03 2.27709336e+02] [ 3.23482262e-02 9.99476652e-01 1.19100040e-04 1.30935487e+01] [-1.53711579e-03 -6.94132572e-05 9.99998816e-01 -1.73452689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.681400513 meters Centerline goodness [0,1] 0.9999359480752397 Centerline is valid? [True, True] Translation: X:227.74, Y:13.09, Z:-0.17 [[ 9.99352460e-01 -3.59425942e-02 1.67070953e-03 2.27741168e+02] [ 3.59424276e-02 9.99353854e-01 1.29671158e-04 1.30871193e+01] [-1.67429072e-03 -6.95378344e-05 9.99998596e-01 -1.73281419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.711400513 meters Centerline goodness [0,1] 0.999848366692661 Centerline is valid? [True, True] Translation: X:227.77, Y:13.08, Z:-0.17 [[ 9.99224252e-01 -3.93591585e-02 1.32316440e-03 2.27772102e+02] [ 3.93590570e-02 9.99225127e-01 1.02648273e-04 1.30809554e+01] [-1.32617926e-03 -5.04901407e-05 9.99999119e-01 -1.73269527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.74140051300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.80, Y:13.08, Z:-0.17 [[ 9.99015133e-01 -4.42989355e-02 2.52362589e-03 2.27802099e+02] [ 4.42985822e-02 9.99018317e-01 1.95751704e-04 1.30800998e+01] [-2.52982008e-03 -8.37658654e-05 9.99996796e-01 -1.72609070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.771400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.83, Y:13.07, Z:-0.17 [[ 9.98930073e-01 -4.61152853e-02 3.47703424e-03 2.27833499e+02] [ 4.61146254e-02 9.98936118e-01 2.69772943e-04 1.30733988e+01] [-3.48577575e-03 -1.09142174e-04 9.99993919e-01 -1.70783805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.80140051300003 meters Centerline goodness [0,1] 0.9999784936986537 Centerline is valid? [True, True] Translation: X:227.86, Y:13.07, Z:-0.17 [[ 9.98883254e-01 -4.70690005e-02 4.09320785e-03 2.27864204e+02] [ 4.70680940e-02 9.98891633e-01 3.17580055e-04 1.30703167e+01] [-4.10361924e-03 -1.24565907e-04 9.99991572e-01 -1.70046620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.831400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.90, Y:13.07, Z:-0.17 [[ 9.98911168e-01 -4.65012064e-02 3.75720284e-03 2.27895037e+02] [ 4.65004385e-02 9.98918227e-01 2.91529552e-04 1.30708761e+01] [-3.76669487e-03 -1.16500545e-04 9.99992899e-01 -1.71295952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.861400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.93, Y:13.07, Z:-0.17 [[ 9.98944939e-01 -4.57820049e-02 3.60782111e-03 2.27925378e+02] [ 4.57812923e-02 9.98951448e-01 2.79876253e-04 1.30717770e+01] [-3.61685142e-03 -1.14410254e-04 9.99993453e-01 -1.72138113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.891400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.96, Y:13.07, Z:-0.17 [[ 9.98992026e-01 -4.47602262e-02 3.38440018e-03 2.27955716e+02] [ 4.47595933e-02 9.98997753e-01 2.62544404e-04 1.30699573e+01] [-3.39275972e-03 -1.10795390e-04 9.99994238e-01 -1.73018630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.921400513 meters Centerline goodness [0,1] 0.9999568211748958 Centerline is valid? [True, True] Translation: X:227.99, Y:13.07, Z:-0.17 [[ 9.99030081e-01 -4.39136005e-02 3.23926498e-03 2.27986200e+02] [ 4.39130163e-02 9.99035327e-01 2.51285559e-04 1.30719711e+01] [-3.24717500e-03 -1.08795937e-04 9.99994722e-01 -1.73706161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.951400513 meters Centerline goodness [0,1] 0.9999783343443973 Centerline is valid? [True, True] Translation: X:228.02, Y:13.07, Z:-0.18 [[ 9.99063544e-01 -4.31641020e-02 2.98250076e-03 2.28015988e+02] [ 4.31636030e-02 9.99067991e-01 2.31509991e-04 1.30734994e+01] [-2.98971396e-03 -1.02557713e-04 9.99995526e-01 -1.75232582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.981400513 meters Centerline goodness [0,1] 0.9999361919346605 Centerline is valid? [True, True] Translation: X:228.05, Y:13.08, Z:-0.18 [[ 9.99054083e-01 -4.33906209e-02 2.86239366e-03 2.28046261e+02] [ 4.33901628e-02 9.99058179e-01 2.21975742e-04 1.30784895e+01] [-2.86932946e-03 -9.75660443e-05 9.99995879e-01 -1.76282231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.011400513 meters Centerline goodness [0,1] 0.999978578467075 Centerline is valid? [True, True] Translation: X:228.08, Y:13.08, Z:-0.18 [[ 9.99025535e-01 -4.40682562e-02 2.44333605e-03 2.28077126e+02] [ 4.40679249e-02 9.99028519e-01 1.89292681e-04 1.30782977e+01] [-2.44930419e-03 -8.14354726e-05 9.99996997e-01 -1.76926475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.041400513 meters Centerline goodness [0,1] 0.9999783066143133 Centerline is valid? [True, True] Translation: X:228.11, Y:13.07, Z:-0.18 [[ 9.98993810e-01 -4.47809401e-02 2.45657964e-03 2.28107729e+02] [ 4.47806073e-02 9.98996827e-01 1.90318703e-04 1.30744920e+01] [-2.46263792e-03 -8.01200775e-05 9.99996964e-01 -1.77244252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.071400513 meters Centerline goodness [0,1] 0.999935754668494 Centerline is valid? [True, True] Translation: X:228.14, Y:13.08, Z:-0.18 [[ 9.98953108e-01 -4.57040336e-02 1.95667004e-03 2.28136955e+02] [ 4.57038244e-02 9.98955023e-01 1.51547696e-04 1.30783601e+01] [-1.96155171e-03 -6.19617380e-05 9.99998074e-01 -1.77942781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.101400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.17, Y:13.08, Z:-0.18 [[ 9.98884892e-01 -4.72119994e-02 -1.65741673e-05 2.28167047e+02] [ 4.72119994e-02 9.98884892e-01 -1.34802335e-06 1.30795899e+01] [ 1.66193282e-05 5.64020582e-07 1.00000000e+00 -1.80936130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.131400513 meters Centerline goodness [0,1] 0.9999571670271775 Centerline is valid? [True, True] Translation: X:228.19, Y:13.09, Z:-0.18 [[ 9.98851679e-01 -4.78880789e-02 -1.43380970e-03 2.28194829e+02] [ 4.78879683e-02 9.98852707e-01 -1.11358196e-04 1.30868780e+01] [ 1.43749743e-03 4.25680877e-05 9.99998966e-01 -1.84547230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.161400513 meters Centerline goodness [0,1] 0.9999356002060793 Centerline is valid? [True, True] Translation: X:228.22, Y:13.08, Z:-0.19 [[ 9.98798153e-01 -4.89304694e-02 -2.83896105e-03 2.28224224e+02] [ 4.89300374e-02 9.98802184e-01 -2.21472874e-04 1.30833396e+01] [ 2.84639727e-03 8.22962266e-05 9.99995946e-01 -1.85196221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.191400513 meters Centerline goodness [0,1] 0.9999570953555722 Centerline is valid? [True, True] Translation: X:228.25, Y:13.08, Z:-0.19 [[ 9.98713127e-01 -5.06424766e-02 -2.72561768e-03 2.28253065e+02] [ 5.06420834e-02 9.98716844e-01 -2.13121268e-04 1.30828571e+01] [ 2.73291328e-03 7.48160497e-05 9.99996263e-01 -1.85306901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.221400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.28, Y:13.07, Z:-0.18 [[ 9.98462687e-01 -5.53864648e-02 -2.14530335e-03 2.28283931e+02] [ 5.53862334e-02 9.98464990e-01 -1.67137763e-04 1.30749353e+01] [ 2.15126746e-03 4.80605475e-05 9.99997685e-01 -1.84117220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.251400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.31, Y:13.08, Z:-0.19 [[ 9.98315070e-01 -5.79760512e-02 -2.40801382e-03 2.28311704e+02] [ 5.79757663e-02 9.98317973e-01 -1.88000218e-04 1.30750822e+01] [ 2.41486298e-03 4.80770045e-05 9.99997083e-01 -1.85555844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.281400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.34, Y:13.07, Z:-0.18 [[ 9.98167112e-01 -6.04566910e-02 -2.72128680e-03 2.28340691e+02] [ 6.04563336e-02 9.98170820e-01 -2.13507845e-04 1.30702863e+01] [ 2.72921706e-03 4.85974864e-05 9.99996274e-01 -1.84793841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.311400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.37, Y:13.07, Z:-0.19 [[ 9.98041645e-01 -6.24998009e-02 -2.57878702e-03 2.28368553e+02] [ 6.24994878e-02 9.98044976e-01 -2.01935258e-04 1.30705983e+01] [ 2.58636634e-03 4.03669292e-05 9.99996655e-01 -1.85166296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.341400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.40, Y:13.07, Z:-0.18 [[ 9.97832864e-01 -6.57851295e-02 -1.37567930e-03 2.28397073e+02] [ 6.57850433e-02 9.97833812e-01 -1.07868343e-04 1.30698355e+01] [ 1.37979545e-03 1.71354558e-05 9.99999048e-01 -1.83006459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.371400513 meters Centerline goodness [0,1] 0.9998267948384861 Centerline is valid? [True, True] Translation: X:228.43, Y:13.07, Z:-0.18 [[ 9.97713899e-01 -6.75773655e-02 -5.24221718e-04 2.28425719e+02] [ 6.75773527e-02 9.97714037e-01 -4.20070079e-05 1.30680206e+01] [ 5.25862089e-04 6.48545975e-06 9.99999862e-01 -1.80411213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.401400513 meters Centerline goodness [0,1] 0.9999352107809261 Centerline is valid? [True, True] Translation: X:228.45, Y:13.07, Z:-0.18 [[ 9.97623877e-01 -6.88955318e-02 8.02548966e-05 2.28454529e+02] [ 6.88955316e-02 9.97623880e-01 5.38691970e-06 1.30684312e+01] [-8.04353360e-05 1.55084044e-07 9.99999997e-01 -1.79436146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.431400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.48, Y:13.07, Z:-0.18 [[ 9.97540381e-01 -7.00781408e-02 1.49720188e-03 2.28482437e+02] [ 7.00780435e-02 9.97541505e-01 1.17398376e-04 1.30689461e+01] [-1.50174808e-03 -1.21886420e-05 9.99998872e-01 -1.78156332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.461400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.51, Y:13.07, Z:-0.18 [[ 9.97358577e-01 -7.25471450e-02 3.57511039e-03 2.28510357e+02] [ 7.25466040e-02 9.97364984e-01 2.80952460e-04 1.30673484e+01] [-3.58607221e-03 -2.08482285e-05 9.99993570e-01 -1.75754159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.49140051300003 meters Centerline goodness [0,1] 0.9998706506273445 Centerline is valid? [True, True] Translation: X:228.54, Y:13.07, Z:-0.18 [[ 9.97212926e-01 -7.45095172e-02 3.83571297e-03 2.28537935e+02] [ 7.45089073e-02 9.97220302e-01 3.01859539e-04 1.30675225e+01] [-3.84754226e-03 -1.52234520e-05 9.99992598e-01 -1.75277640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.521400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.57, Y:13.07, Z:-0.17 [[ 9.97048931e-01 -7.66492045e-02 4.28127779e-03 2.28565552e+02] [ 7.66484638e-02 9.97058122e-01 3.37074634e-04 1.30676022e+01] [-4.29451930e-03 -7.92653746e-06 9.99990778e-01 -1.74790906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.55140051300003 meters Centerline goodness [0,1] 0.9999355891446239 Centerline is valid? [True, True] Translation: X:228.59, Y:13.07, Z:-0.18 [[ 9.96902305e-01 -7.85581665e-02 3.79587994e-03 2.28592189e+02] [ 7.85575949e-02 9.96909532e-01 2.99664449e-04 1.30687468e+01] [-3.80768999e-03 -5.40981065e-07 9.99992751e-01 -1.75040575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.581400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.62, Y:13.07, Z:-0.18 [[ 9.96714292e-01 -8.09446701e-02 2.92941897e-03 2.28620244e+02] [ 8.09443394e-02 9.96718596e-01 2.31471206e-04 1.30691881e+01] [-2.93854272e-03 6.40922424e-06 9.99995682e-01 -1.76882366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.611400513 meters Centerline goodness [0,1] 0.9999352065830112 Centerline is valid? [True, True] Translation: X:228.65, Y:13.07, Z:-0.18 [[ 9.96625736e-01 -8.20438014e-02 2.44074706e-03 2.28647772e+02] [ 8.20435758e-02 9.96628725e-01 1.92569828e-04 1.30708750e+01] [-2.44831779e-03 8.32757056e-06 9.99997003e-01 -1.77045192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.641400513 meters Centerline goodness [0,1] 0.9998911529083943 Centerline is valid? [True, True] Translation: X:228.68, Y:13.07, Z:-0.18 [[ 9.96579297e-01 -8.25892007e-02 2.95430948e-03 2.28675684e+02] [ 8.25888703e-02 9.96583676e-01 2.33853484e-04 1.30738802e+01] [-2.96353038e-03 1.09395417e-05 9.99995609e-01 -1.75638824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.671400513 meters Centerline goodness [0,1] 0.9999569901722544 Centerline is valid? [True, True] Translation: X:228.70, Y:13.08, Z:-0.17 [[ 9.96572345e-01 -8.26396951e-02 3.77389037e-03 2.28702664e+02] [ 8.26391520e-02 9.96579490e-01 2.99891411e-04 1.30773855e+01] [-3.78576468e-03 1.30076131e-05 9.99992834e-01 -1.74485865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.701400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.73, Y:13.08, Z:-0.17 [[ 9.96606832e-01 -8.21800392e-02 4.61113531e-03 2.28729639e+02] [ 8.21792195e-02 9.96617500e-01 3.67270283e-04 1.30822612e+01] [-4.62572043e-03 1.29154275e-05 9.99989301e-01 -1.73285999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.731400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.76, Y:13.08, Z:-0.17 [[ 9.96591053e-01 -8.23711803e-02 4.61111054e-03 2.28757028e+02] [ 8.23703612e-02 9.96601720e-01 3.67581103e-04 1.30846230e+01] [-4.62571879e-03 1.34908022e-05 9.99989301e-01 -1.73432805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.761400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.78, Y:13.09, Z:-0.17 [[ 9.96750090e-01 -8.04329454e-02 4.44964594e-03 2.28783080e+02] [ 8.04321592e-02 9.96760022e-01 3.55628009e-04 1.30937835e+01] [-4.46383339e-03 3.42238065e-06 9.99990037e-01 -1.73825077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.791400513 meters Centerline goodness [0,1] 0.999978606422352 Centerline is valid? [True, True] Translation: X:228.81, Y:13.10, Z:-0.18 [[ 9.96860050e-01 -7.91011226e-02 3.61303509e-03 2.28810804e+02] [ 7.91005954e-02 9.96866597e-01 2.88798272e-04 1.31006575e+01] [-3.62455826e-03 -2.09823340e-06 9.99993431e-01 -1.75482866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.821400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.84, Y:13.11, Z:-0.18 [[ 9.96998126e-01 -7.73733055e-02 2.84753271e-03 2.28838673e+02] [ 7.73729701e-02 9.97002192e-01 2.27921979e-04 1.31079530e+01] [-2.85663143e-03 -6.91572306e-06 9.99995920e-01 -1.76928951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.851400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.87, Y:13.12, Z:-0.18 [[ 9.97232968e-01 -7.43349787e-02 8.48099636e-04 2.28865380e+02] [ 7.43349478e-02 9.97233328e-01 6.79228861e-05 1.31210547e+01] [-8.50802269e-04 -4.69149907e-06 9.99999638e-01 -1.81492882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.881400513 meters Centerline goodness [0,1] 0.9999784082566826 Centerline is valid? [True, True] Translation: X:228.89, Y:13.13, Z:-0.18 [[ 9.97266061e-01 -7.38929863e-02 4.79518184e-04 2.28894025e+02] [ 7.38929767e-02 9.97266176e-01 3.77768895e-05 1.31264822e+01] [-4.80998713e-04 -2.24058381e-06 9.99999884e-01 -1.82112772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.911400513 meters Centerline goodness [0,1] 0.9999147212450699 Centerline is valid? [True, True] Translation: X:228.92, Y:13.13, Z:-0.18 [[ 9.97257812e-01 -7.40024132e-02 7.05871181e-04 2.28922048e+02] [ 7.40023921e-02 9.97258062e-01 5.60215960e-05 1.31309779e+01] [-7.08081459e-04 -3.63181838e-06 9.99999749e-01 -1.81869970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.941400513 meters Centerline goodness [0,1] 0.999869969442819 Centerline is valid? [True, True] Translation: X:228.95, Y:13.13, Z:-0.18 [[ 9.97202629e-01 -7.47402491e-02 9.01561549e-04 2.28949897e+02] [ 7.47402140e-02 9.97203036e-01 7.26135867e-05 1.31343684e+01] [-9.04467071e-04 -5.02755637e-06 9.99999591e-01 -1.82077931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.971400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.98, Y:13.14, Z:-0.18 [[ 9.97054959e-01 -7.66886294e-02 5.13224323e-04 2.28977675e+02] [ 7.66886187e-02 9.97055091e-01 4.05556113e-05 1.31361488e+01] [-5.14823079e-04 -1.07770887e-06 9.99999867e-01 -1.82283000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.001400513 meters Centerline goodness [0,1] 0.9998927912860758 Centerline is valid? [True, True] Translation: X:229.01, Y:13.14, Z:-0.18 [[ 9.96998371e-01 -7.74212452e-02 -4.46366947e-04 2.29005760e+02] [ 7.74212366e-02 9.96998471e-01 -3.65584761e-05 1.31395324e+01] [ 4.47857566e-04 1.89046010e-06 9.99999900e-01 -1.84517153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.031400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.03, Y:13.14, Z:-0.19 [[ 9.96980860e-01 -7.76387891e-02 -1.17597557e-03 2.29033262e+02] [ 7.76387290e-02 9.96981554e-01 -9.66956884e-05 1.31432972e+01] [ 1.17993329e-03 5.10250213e-06 9.99999304e-01 -1.85669352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.061400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.06, Y:13.15, Z:-0.19 [[ 9.97003932e-01 -7.73379433e-02 -1.41464647e-03 2.29061154e+02] [ 7.73378560e-02 9.97004936e-01 -1.16383605e-04 1.31485090e+01] [ 1.41941038e-03 6.62918683e-06 9.99998993e-01 -1.85753771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.091400513 meters Centerline goodness [0,1] 0.9999567240073569 Centerline is valid? [True, True] Translation: X:229.09, Y:13.15, Z:-0.18 [[ 9.97037923e-01 -7.69001212e-02 -1.32308200e-03 2.29088826e+02] [ 7.69000440e-02 9.97038801e-01 -1.09240138e-04 1.31537898e+01] [ 1.32756467e-03 7.17149633e-06 9.99999119e-01 -1.84325681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.121400513 meters Centerline goodness [0,1] 0.9999344305291457 Centerline is valid? [True, True] Translation: X:229.12, Y:13.16, Z:-0.18 [[ 9.97216508e-01 -7.45516867e-02 -1.13270223e-03 2.29116450e+02] [ 7.45516283e-02 9.97217151e-01 -9.37391773e-05 1.31649280e+01] [ 1.13653851e-03 9.03345895e-06 9.99999354e-01 -1.83709733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.151400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.14, Y:13.17, Z:-0.18 [[ 9.97279569e-01 -7.37051691e-02 -1.00467875e-03 2.29143958e+02] [ 7.37051232e-02 9.97280075e-01 -8.27068294e-05 1.31716903e+01] [ 1.00804202e-03 8.43186016e-06 9.99999492e-01 -1.84795378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.181400513 meters Centerline goodness [0,1] 0.9999133035675581 Centerline is valid? [True, True] Translation: X:229.17, Y:13.18, Z:-0.18 [[ 9.97263424e-01 -7.39149865e-02 -1.49585379e-03 2.29171740e+02] [ 7.39148836e-02 9.97264546e-01 -1.24006609e-04 1.31761176e+01] [ 1.50092789e-03 1.31013973e-05 9.99998874e-01 -1.84913545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.211400513 meters Centerline goodness [0,1] 0.9999134517601749 Centerline is valid? [True, True] Translation: X:229.20, Y:13.18, Z:-0.19 [[ 9.97192935e-01 -7.48580870e-02 -1.58654579e-03 2.29198499e+02] [ 7.48579728e-02 9.97194197e-01 -1.31350109e-04 1.31800568e+01] [ 1.59192687e-03 1.22157989e-05 9.99998733e-01 -1.85793696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.24140051300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.23, Y:13.18, Z:-0.18 [[ 9.96882338e-01 -7.88943108e-02 -1.13631668e-03 2.29227679e+02] [ 7.88942541e-02 9.96882986e-01 -9.46492518e-05 1.31818478e+01] [ 1.14024205e-03 4.70531073e-06 9.99999350e-01 -1.84530868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.271400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.26, Y:13.18, Z:-0.18 [[ 9.96641504e-01 -8.18831444e-02 -9.29536003e-04 2.29255354e+02] [ 8.18831074e-02 9.96641937e-01 -7.79044418e-05 1.31827259e+01] [ 9.32793623e-04 1.52950366e-06 9.99999565e-01 -1.84174983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.30140051300003 meters Centerline goodness [0,1] 0.9999784464177947 Centerline is valid? [True, True] Translation: X:229.28, Y:13.18, Z:-0.18 [[ 9.96366770e-01 -8.51599553e-02 -1.02057502e-03 2.29283437e+02] [ 8.51599123e-02 9.96367293e-01 -8.56353438e-05 1.31833575e+01] [ 1.02416027e-03 -1.58786811e-06 9.99999476e-01 -1.84009318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.331400513 meters Centerline goodness [0,1] 0.999871512088571 Centerline is valid? [True, True] Translation: X:229.31, Y:13.18, Z:-0.18 [[ 9.96079274e-01 -8.84621478e-02 -7.27470775e-04 2.29312350e+02] [ 8.84621266e-02 9.96079539e-01 -6.13300167e-05 1.31842590e+01] [ 7.30044139e-04 -3.26405327e-06 9.99999734e-01 -1.83577420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.361400513 meters Centerline goodness [0,1] 0.9998705836676589 Centerline is valid? [True, True] Translation: X:229.34, Y:13.19, Z:-0.18 [[ 9.95796552e-01 -9.15925622e-02 -1.73578833e-04 2.29340727e+02] [ 9.15925610e-02 9.95796567e-01 -1.53617036e-05 1.31863529e+01] [ 1.74256224e-04 -6.01398375e-07 9.99999985e-01 -1.82336143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.391400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.37, Y:13.19, Z:-0.18 [[ 9.95540399e-01 -9.43307809e-02 1.00915285e-03 2.29367969e+02] [ 9.43307445e-02 9.95540910e-01 8.36773860e-05 1.31881553e+01] [-1.01254630e-03 1.18899212e-05 9.99999487e-01 -1.81540779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.421400513 meters Centerline goodness [0,1] 0.9999356871824555 Centerline is valid? [True, True] Translation: X:229.40, Y:13.19, Z:-0.18 [[ 9.95030430e-01 -9.95438084e-02 2.33936059e-03 2.29396994e+02] [ 9.95436255e-02 9.95033180e-01 1.94768871e-04 1.31880886e+01] [-2.34712944e-03 3.90674812e-05 9.99997245e-01 -1.80033707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.451400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.42, Y:13.19, Z:-0.18 [[ 9.94793645e-01 -1.01862229e-01 3.11285603e-03 2.29424794e+02] [ 1.01861916e-01 9.94798514e-01 2.59292319e-04 1.31874261e+01] [-3.12307665e-03 5.91391283e-05 9.99995121e-01 -1.79409458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.481400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.45, Y:13.19, Z:-0.18 [[ 9.94544606e-01 -1.04259813e-01 3.30430386e-03 2.29452403e+02] [ 1.04259473e-01 9.94550092e-01 2.75433701e-04 1.31862034e+01] [-3.31501238e-03 7.05738786e-05 9.99994503e-01 -1.79389701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.511400513 meters Centerline goodness [0,1] 0.9999782854164857 Centerline is valid? [True, True] Translation: X:229.48, Y:13.19, Z:-0.18 [[ 9.94111160e-01 -1.08332313e-01 2.66679896e-03 2.29481421e+02] [ 1.08332105e-01 9.94114735e-01 2.22502742e-04 1.31904830e+01] [-2.67520838e-03 6.77074864e-05 9.99996419e-01 -1.80238867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.541400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.51, Y:13.19, Z:-0.18 [[ 9.93880632e-01 -1.10436642e-01 2.24432405e-03 2.29510367e+02] [ 1.10436502e-01 9.93883164e-01 1.86898977e-04 1.31918058e+01] [-2.25123639e-03 6.21000232e-05 9.99997464e-01 -1.81821501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.571400513 meters Centerline goodness [0,1] 0.9999352023845522 Centerline is valid? [True, True] Translation: X:229.54, Y:13.19, Z:-0.18 [[ 9.93663268e-01 -1.12391593e-01 1.19990206e-03 2.29538821e+02] [ 1.12391555e-01 9.93663992e-01 9.97071027e-05 1.31935223e+01] [-1.20350571e-03 3.57835722e-05 9.99999275e-01 -1.83219666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.601400513 meters Centerline goodness [0,1] 0.9999568193104044 Centerline is valid? [True, True] Translation: X:229.57, Y:13.20, Z:-0.18 [[ 9.93495857e-01 -1.13866612e-01 6.14412648e-04 2.29567620e+02] [ 1.13866603e-01 9.93496046e-01 5.07198442e-05 1.31956979e+01] [-6.16191833e-04 1.95711257e-05 9.99999810e-01 -1.84254829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.631400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.60, Y:13.20, Z:-0.18 [[ 9.93411172e-01 -1.14601304e-01 8.86069594e-04 2.29595875e+02] [ 1.14601283e-01 9.93411566e-01 7.41739191e-05 1.31962995e+01] [-8.88732211e-04 2.78595127e-05 9.99999605e-01 -1.84415495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.661400513 meters Centerline goodness [0,1] 0.9999783226030218 Centerline is valid? [True, True] Translation: X:229.62, Y:13.20, Z:-0.18 [[ 9.93329815e-01 -1.15300172e-01 1.32266248e-03 2.29624815e+02] [ 1.15300127e-01 9.93330694e-01 1.10542022e-04 1.32010420e+01] [-1.32658675e-03 4.26984657e-05 9.99999119e-01 -1.82677411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.691400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.65, Y:13.21, Z:-0.18 [[ 9.93303727e-01 -1.15518733e-01 1.76860985e-03 2.29652366e+02] [ 1.15518652e-01 9.93305300e-01 1.48294095e-04 1.32069141e+01] [-1.77390028e-03 5.70063490e-05 9.99998425e-01 -1.82795662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.721400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.68, Y:13.21, Z:-0.18 [[ 9.93258673e-01 -1.15909078e-01 1.51485492e-03 2.29680239e+02] [ 1.15909018e-01 9.93259827e-01 1.27665981e-04 1.32081514e+01] [-1.51944219e-03 4.87800034e-05 9.99998844e-01 -1.84104376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.751400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.71, Y:13.21, Z:-0.19 [[ 9.93163761e-01 -1.16727438e-01 6.70331814e-04 2.29709098e+02] [ 1.16727427e-01 9.93163987e-01 5.58479351e-05 1.32128349e+01] [-6.72268403e-04 2.27799628e-05 9.99999774e-01 -1.85396491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.781400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.74, Y:13.21, Z:-0.19 [[ 9.92915640e-01 -1.18817933e-01 -9.11564519e-04 2.29737466e+02] [ 1.18817912e-01 9.92916058e-01 -7.74658000e-05 1.32143397e+01] [ 9.14311375e-04 -3.13931888e-05 9.99999582e-01 -1.87940123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.811400513 meters Centerline goodness [0,1] 0.9999784584895093 Centerline is valid? [True, True] Translation: X:229.77, Y:13.22, Z:-0.19 [[ 9.92734820e-01 -1.20314142e-01 -1.44402532e-03 2.29765014e+02] [ 1.20314090e-01 9.92735868e-01 -1.22917786e-04 1.32152640e+01] [ 1.44832448e-03 -5.17118273e-05 9.99998950e-01 -1.88833121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.841400513 meters Centerline goodness [0,1] 0.9998280716081752 Centerline is valid? [True, True] Translation: X:229.79, Y:13.22, Z:-0.19 [[ 9.92520284e-01 -1.22058061e-01 -2.30566185e-03 2.29794773e+02] [ 1.22057935e-01 9.92522958e-01 -1.95680504e-04 1.32166072e+01] [ 2.31230670e-03 -8.72074555e-05 9.99997323e-01 -1.89391290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.871400513 meters Centerline goodness [0,1] 0.9999783094375637 Centerline is valid? [True, True] Translation: X:229.82, Y:13.22, Z:-0.19 [[ 9.92315296e-01 -1.23708267e-01 -2.57243002e-03 2.29824061e+02] [ 1.23708116e-01 9.92318625e-01 -2.18374478e-04 1.32206476e+01] [ 2.57968495e-03 -1.01534136e-04 9.99996667e-01 -1.89757953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.901400513 meters Centerline goodness [0,1] 0.999935179983579 Centerline is valid? [True, True] Translation: X:229.85, Y:13.22, Z:-0.19 [[ 9.92096173e-01 -1.25443384e-01 -3.02330450e-03 2.29852863e+02] [ 1.25443183e-01 9.92100772e-01 -2.56801639e-04 1.32175889e+01] [ 3.03163679e-03 -1.24481016e-04 9.99995397e-01 -1.91077951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.931400513 meters Centerline goodness [0,1] 0.9999783965953034 Centerline is valid? [True, True] Translation: X:229.88, Y:13.22, Z:-0.19 [[ 9.91902484e-01 -1.26959110e-01 -3.29330766e-03 2.29882110e+02] [ 1.26958880e-01 9.91907942e-01 -2.79735163e-04 1.32214194e+01] [ 3.30217295e-03 -1.40644649e-04 9.99994538e-01 -1.91100961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.961400513 meters Centerline goodness [0,1] 0.9999785871822873 Centerline is valid? [True, True] Translation: X:229.91, Y:13.21, Z:-0.19 [[ 9.91523447e-01 -1.29897181e-01 -2.82414386e-03 2.29912340e+02] [ 1.29897024e-01 9.91527461e-01 -2.39871291e-04 1.32132131e+01] [ 2.83137480e-03 -1.29009874e-04 9.99995983e-01 -1.91542371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.99140051300003 meters Centerline goodness [0,1] 0.9998057581905296 Centerline is valid? [True, True] Translation: X:229.94, Y:13.22, Z:-0.19 [[ 9.91353771e-01 -1.31192261e-01 -2.50826722e-03 2.29940532e+02] [ 1.31192140e-01 9.91356937e-01 -2.13694925e-04 1.32164978e+01] [ 2.51462323e-03 -1.17217675e-04 9.99996831e-01 -1.90021292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.021400513 meters Centerline goodness [0,1] 0.9999358178939711 Centerline is valid? [True, True] Translation: X:229.97, Y:13.22, Z:-0.19 [[ 9.91248825e-01 -1.32000956e-01 -1.23081775e-03 2.29969416e+02] [ 1.32000926e-01 9.91249587e-01 -1.05719150e-04 1.32172155e+01] [ 1.23400262e-03 -5.76750999e-05 9.99999237e-01 -1.88584115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.05140051300003 meters Centerline goodness [0,1] 0.9999352806661777 Centerline is valid? [True, True] Translation: X:230.00, Y:13.22, Z:-0.19 [[ 9.91192165e-01 -1.32431033e-01 -3.35383771e-04 2.29997902e+02] [ 1.32431031e-01 9.91192222e-01 -2.89011432e-05 1.32150172e+01] [ 3.36257193e-04 -1.57686319e-05 9.99999943e-01 -1.87780783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.081400513 meters Centerline goodness [0,1] 0.9997619614377529 Centerline is valid? [True, True] Translation: X:230.03, Y:13.21, Z:-0.19 [[ 9.91025626e-01 -1.33671820e-01 -2.30841210e-04 2.30027060e+02] [ 1.33671819e-01 9.91025653e-01 -2.05803791e-05 1.32122116e+01] [ 2.31520577e-04 -1.04612812e-05 9.99999973e-01 -1.87956143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.111400513 meters Centerline goodness [0,1] 0.9997217525309818 Centerline is valid? [True, True] Translation: X:230.06, Y:13.21, Z:-0.19 [[ 9.90917281e-01 -1.34471503e-01 -5.97924614e-04 2.30055393e+02] [ 1.34471497e-01 9.90917461e-01 -5.14056449e-05 1.32129877e+01] [ 5.99406535e-04 -2.94650760e-05 9.99999820e-01 -1.88888912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.141400513 meters Centerline goodness [0,1] 0.9998923040472139 Centerline is valid? [True, True] Translation: X:230.08, Y:13.21, Z:-0.19 [[ 9.90775290e-01 -1.35513972e-01 -5.37161314e-04 2.30084516e+02] [ 1.35513967e-01 9.90775435e-01 -4.68635846e-05 1.32131670e+01] [ 5.38556905e-04 -2.63615787e-05 9.99999855e-01 -1.88962429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.171400513 meters Centerline goodness [0,1] 0.9997839379469784 Centerline is valid? [True, True] Translation: X:230.11, Y:13.21, Z:-0.19 [[ 9.90599508e-01 -1.36794003e-01 1.20375232e-04 2.30113229e+02] [ 1.36794003e-01 9.90599516e-01 9.44812857e-06 1.32133528e+01] [-1.20536094e-04 7.10729834e-06 9.99999993e-01 -1.87793724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.201400513 meters Centerline goodness [0,1] 0.9998505359354315 Centerline is valid? [True, True] Translation: X:230.14, Y:13.21, Z:-0.19 [[ 9.90401341e-01 -1.38214915e-01 1.34940900e-03 2.30142485e+02] [ 1.38214886e-01 9.90402258e-01 1.15613967e-04 1.32125222e+01] [-1.35243730e-03 7.20041835e-05 9.99999083e-01 -1.85969511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.231400513 meters Centerline goodness [0,1] 0.9997232334844904 Centerline is valid? [True, True] Translation: X:230.17, Y:13.21, Z:-0.18 [[ 9.90162942e-01 -1.39883503e-01 3.15508983e-03 2.30171530e+02] [ 1.39883349e-01 9.90167953e-01 2.70657296e-04 1.32065301e+01] [-3.16192933e-03 1.73349707e-04 9.99994986e-01 -1.84414622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.261400513 meters Centerline goodness [0,1] 0.9997204361196533 Centerline is valid? [True, True] Translation: X:230.20, Y:13.20, Z:-0.18 [[ 9.89683055e-01 -1.43204503e-01 4.46332630e-03 2.30202122e+02] [ 1.43204226e-01 9.89693085e-01 3.83233115e-04 1.32041792e+01] [-4.47220388e-03 2.59887866e-04 9.99989966e-01 -1.82951736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.291400513 meters Centerline goodness [0,1] 0.9990326949119752 Centerline is valid? [True, True] Translation: X:230.23, Y:13.20, Z:-0.18 [[ 9.89456824e-01 -1.44783735e-01 3.58656299e-03 2.30230556e+02] [ 1.44783567e-01 9.89463301e-01 3.07879411e-04 1.32019905e+01] [-3.59334839e-03 2.14642000e-04 9.99993521e-01 -1.84784483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.321400513 meters Centerline goodness [0,1] 0.9938932610845912 Centerline is valid? [True, True] Translation: X:230.26, Y:13.20, Z:-0.19 [[ 9.89339600e-01 -1.45612874e-01 2.01173637e-03 2.30258576e+02] [ 1.45612823e-01 9.89341638e-01 1.72496532e-04 1.31951264e+01] [-2.01541227e-03 1.22276962e-04 9.99997962e-01 -1.87672842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.351400513 meters Centerline goodness [0,1] 0.999522424347675 Centerline is valid? [True, True] Translation: X:230.29, Y:13.21, Z:-0.19 [[ 9.89267642e-01 -1.46114472e-01 3.06536689e-04 2.30286893e+02] [ 1.46114471e-01 9.89267689e-01 2.55370946e-05 1.32055673e+01] [-3.06978181e-04 1.95264249e-05 9.99999953e-01 -1.89198328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.381400513 meters Centerline goodness [0,1] 0.9999126351425139 Centerline is valid? [True, True] Translation: X:230.32, Y:13.21, Z:-0.19 [[ 9.89344409e-01 -1.45594094e-01 2.78181947e-05 2.30316251e+02] [ 1.45594094e-01 9.89344409e-01 1.94378257e-06 1.32071214e+01] [-2.78047787e-05 2.12709442e-06 1.00000000e+00 -1.89893668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.411400513 meters Centerline goodness [0,1] 0.9993002711449314 Centerline is valid? [True, True] Translation: X:230.34, Y:13.21, Z:-0.19 [[ 9.89441802e-01 -1.44928254e-01 8.49977774e-04 2.30343841e+02] [ 1.44930222e-01 9.89436979e-01 -3.11371754e-03 1.32101701e+01] [-3.89733796e-04 3.20402976e-03 9.99994791e-01 -1.89979809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.441400513 meters Centerline goodness [0,1] 0.9997392608043805 Centerline is valid? [True, True] Translation: X:230.37, Y:13.20, Z:-0.19 [[ 9.89613141e-01 -1.43756138e-01 6.62940564e-05 2.30373024e+02] [ 1.43755200e-01 9.89608157e-01 3.18407490e-03 1.32029702e+01] [-5.23335449e-04 -3.14147225e-03 9.99994929e-01 -1.90197989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.471400513 meters Centerline goodness [0,1] 0.9998269521955441 Centerline is valid? [True, True] Translation: X:230.40, Y:13.21, Z:-0.19 [[ 9.89783895e-01 -1.42575550e-01 2.30412335e-04 2.30401592e+02] [ 1.42575549e-01 9.89783922e-01 1.96872477e-05 1.32085955e+01] [-2.30865345e-04 1.33650445e-05 9.99999973e-01 -1.90683515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.501400513 meters Centerline goodness [0,1] 0.9999353462209866 Centerline is valid? [True, True] Translation: X:230.43, Y:13.21, Z:-0.19 [[ 9.89940988e-01 -1.41480435e-01 -3.56550366e-04 2.30429489e+02] [ 1.41480433e-01 9.89941052e-01 -3.11877697e-05 1.32088644e+01] [ 3.57376303e-04 -1.95708485e-05 9.99999936e-01 -1.91983263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.531400513 meters Centerline goodness [0,1] 0.9998262757871879 Centerline is valid? [True, True] Translation: X:230.46, Y:13.21, Z:-0.19 [[ 9.90100157e-01 -1.40359481e-01 -9.45735147e-04 2.30458067e+02] [ 1.40359466e-01 9.90100608e-01 -8.21941023e-05 1.32132144e+01] [ 9.47909665e-04 -5.13624868e-05 9.99999549e-01 -1.92472143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.561400513 meters Centerline goodness [0,1] 0.9996776481206885 Centerline is valid? [True, True] Translation: X:230.49, Y:13.21, Z:-0.19 [[ 9.90335032e-01 -1.38688691e-01 -1.40418086e-03 2.30487533e+02] [ 1.38688657e-01 9.90336025e-01 -1.21900880e-04 1.32066096e+01] [ 1.40751716e-03 -7.40212462e-05 9.99999007e-01 -1.93670926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.591400513 meters Centerline goodness [0,1] 0.9997167941093175 Centerline is valid? [True, True] Translation: X:230.52, Y:13.21, Z:-0.19 [[ 9.90440605e-01 -1.37924228e-01 -2.07739544e-03 2.30516183e+02] [ 1.37924151e-01 9.90442778e-01 -1.81281328e-04 1.32137415e+01] [ 2.08254439e-03 -1.06974613e-04 9.99997826e-01 -1.94093903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.621400513 meters Centerline goodness [0,1] 0.9997828824525599 Centerline is valid? [True, True] Translation: X:230.55, Y:13.22, Z:-0.20 [[ 9.90588998e-01 -1.36853386e-01 -2.14206846e-03 2.30545076e+02] [ 1.36853302e-01 9.90591308e-01 -1.86375058e-04 1.32165989e+01] [ 2.14742046e-03 -1.08528061e-04 9.99997688e-01 -1.95060879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.651400513 meters Centerline goodness [0,1] 0.9997828824525599 Centerline is valid? [True, True] Translation: X:230.57, Y:13.22, Z:-0.20 [[ 9.90563283e-01 -1.37039389e-01 -2.14196822e-03 2.30572489e+02] [ 1.37039303e-01 9.90565593e-01 -1.87527208e-04 1.32191403e+01] [ 2.14745863e-03 -1.07776266e-04 9.99997688e-01 -1.95207941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.681400513 meters Centerline goodness [0,1] 0.999892399070328 Centerline is valid? [True, True] Translation: X:230.60, Y:13.22, Z:-0.19 [[ 9.90750230e-01 -1.35689337e-01 -1.54450133e-03 2.30601154e+02] [ 1.35689292e-01 9.90751431e-01 -1.34817885e-04 1.32219690e+01] [ 1.54851025e-03 -7.60014412e-05 9.99998798e-01 -1.94171491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.711400513 meters Centerline goodness [0,1] 0.999784315417134 Centerline is valid? [True, True] Translation: X:230.63, Y:13.23, Z:-0.19 [[ 9.90830384e-01 -1.35108955e-01 -8.48185072e-04 2.30630207e+02] [ 1.35108941e-01 9.90830747e-01 -7.48584064e-05 1.32258070e+01] [ 8.50521889e-04 -4.04254029e-05 9.99999637e-01 -1.92587262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.74140051300003 meters Centerline goodness [0,1] 0.9998704747101872 Centerline is valid? [True, True] Translation: X:230.66, Y:13.23, Z:-0.19 [[ 9.90817968e-01 -1.35202588e-01 1.21562911e-04 2.30657988e+02] [ 1.35202588e-01 9.90817975e-01 1.03010809e-05 1.32253262e+01] [-1.21839450e-04 6.22912410e-06 9.99999993e-01 -1.90652727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.771400513 meters Centerline goodness [0,1] 0.9998493911097723 Centerline is valid? [True, True] Translation: X:230.69, Y:13.23, Z:-0.19 [[ 9.90719795e-01 -1.35919494e-01 -4.23911829e-04 2.30686664e+02] [ 1.35919491e-01 9.90719885e-01 -3.79886720e-05 1.32300090e+01] [ 4.25141279e-04 -1.99817505e-05 9.99999909e-01 -1.91060958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.80140051300003 meters Centerline goodness [0,1] 0.9999358027861591 Centerline is valid? [True, True] Translation: X:230.71, Y:13.23, Z:-0.19 [[ 9.90664985e-01 -1.36314015e-01 -1.17306629e-03 2.30714588e+02] [ 1.36313988e-01 9.90665678e-01 -1.03041231e-04 1.32309531e+01] [ 1.17616248e-03 -5.78260049e-05 9.99999307e-01 -1.92687507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.831400513 meters Centerline goodness [0,1] 0.9998492613807658 Centerline is valid? [True, True] Translation: X:230.74, Y:13.24, Z:-0.19 [[ 9.90606233e-01 -1.36734049e-01 -1.75788990e-03 2.30742758e+02] [ 1.36733988e-01 9.90607789e-01 -1.55150311e-04 1.32369490e+01] [ 1.76259376e-03 -8.66704313e-05 9.99998443e-01 -1.93643753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.861400513 meters Centerline goodness [0,1] 0.9997883239490284 Centerline is valid? [True, True] Translation: X:230.77, Y:13.23, Z:-0.20 [[ 9.90600918e-01 -1.36772972e-01 -1.72492882e-03 2.30770935e+02] [ 1.36772915e-01 9.90602416e-01 -1.51944610e-04 1.32272119e+01] [ 1.72950057e-03 -8.54070722e-05 9.99998501e-01 -1.95740623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.891400513 meters Centerline goodness [0,1] 0.9998488153603594 Centerline is valid? [True, True] Translation: X:230.80, Y:13.24, Z:-0.19 [[ 9.90489073e-01 -1.37591400e-01 -5.91650770e-05 2.30798331e+02] [ 1.37591400e-01 9.90489074e-01 -6.11705952e-06 1.32411165e+01] [ 5.94440171e-05 -2.08172517e-06 9.99999998e-01 -1.91637222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.921400513 meters Centerline goodness [0,1] 0.9999141722991095 Centerline is valid? [True, True] Translation: X:230.83, Y:13.24, Z:-0.19 [[ 9.90403330e-01 -1.38204140e-01 9.27131735e-04 2.30826311e+02] [ 1.38204125e-01 9.90403763e-01 8.11842493e-05 1.32394415e+01] [-9.29454758e-04 4.77282792e-05 9.99999567e-01 -1.90748848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.951400513 meters Centerline goodness [0,1] 0.9997612950826787 Centerline is valid? [True, True] Translation: X:230.85, Y:13.24, Z:-0.19 [[ 9.90336037e-01 -1.38687835e-01 4.67339812e-04 2.30854910e+02] [ 1.38687831e-01 9.90336147e-01 4.03631709e-05 1.32427574e+01] [-4.68421389e-04 2.48412423e-05 9.99999890e-01 -1.90757206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.981400513 meters Centerline goodness [0,1] 0.9998487402221358 Centerline is valid? [True, True] Translation: X:230.88, Y:13.25, Z:-0.19 [[ 9.90380361e-01 -1.38369346e-01 -8.14647556e-04 2.30883357e+02] [ 1.38369333e-01 9.90380696e-01 -7.29214618e-05 1.32483231e+01] [ 8.16901308e-04 -4.05022552e-05 9.99999666e-01 -1.92275049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.011400513 meters Centerline goodness [0,1] 0.9998480375130253 Centerline is valid? [True, True] Translation: X:230.91, Y:13.26, Z:-0.20 [[ 9.90494902e-01 -1.37520125e-01 -2.83972953e-03 2.30911286e+02] [ 1.37519965e-01 9.90498963e-01 -2.52505505e-04 1.32606874e+01] [ 2.84747374e-03 -1.40414089e-04 9.99995936e-01 -1.95657223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.041400513 meters Centerline goodness [0,1] 0.9997636594117267 Centerline is valid? [True, True] Translation: X:230.94, Y:13.26, Z:-0.20 [[ 9.90499570e-01 -1.37490777e-01 -2.62453727e-03 2.30938808e+02] [ 1.37490641e-01 9.90503039e-01 -2.33007182e-04 1.32598818e+01] [ 2.63164848e-03 -1.30055798e-04 9.99996529e-01 -1.96484782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.071400513 meters Centerline goodness [0,1] 0.999720766388865 Centerline is valid? [True, True] Translation: X:230.97, Y:13.26, Z:-0.20 [[ 9.90513419e-01 -1.37403554e-01 -1.85201544e-03 2.30966341e+02] [ 1.37403486e-01 9.90515146e-01 -1.64609280e-04 1.32636564e+01] [ 1.85706725e-03 -9.14256772e-05 9.99998271e-01 -1.95411719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.101400513 meters Centerline goodness [0,1] 0.9997402653622216 Centerline is valid? [True, True] Translation: X:230.99, Y:13.27, Z:-0.19 [[ 9.90583164e-01 -1.36905702e-01 -1.35043547e-03 2.30994244e+02] [ 1.36905664e-01 9.90584083e-01 -1.20918591e-04 1.32748579e+01] [ 1.35427433e-03 -6.51023450e-05 9.99999081e-01 -1.93810840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.131400513 meters Centerline goodness [0,1] 0.9999122479871883 Centerline is valid? [True, True] Translation: X:231.02, Y:13.29, Z:-0.19 [[ 9.90682781e-01 -1.36183835e-01 -1.26098438e-03 2.31022665e+02] [ 1.36183801e-01 9.90683582e-01 -1.13126848e-04 1.32862216e+01] [ 1.26464258e-03 -5.96528271e-05 9.99999199e-01 -1.92799516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.161400513 meters Centerline goodness [0,1] 0.9997620798546524 Centerline is valid? [True, True] Translation: X:231.05, Y:13.29, Z:-0.19 [[ 9.90686521e-01 -1.36152971e-01 -1.60826633e-03 2.31049409e+02] [ 1.36152916e-01 9.90687823e-01 -1.43790256e-04 1.32882177e+01] [ 1.61286734e-03 -7.65190828e-05 9.99998696e-01 -1.93809467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.191400513 meters Centerline goodness [0,1] 0.9998059131784952 Centerline is valid? [True, True] Translation: X:231.08, Y:13.30, Z:-0.20 [[ 9.90519237e-01 -1.37355978e-01 -2.23082358e-03 2.31077664e+02] [ 1.37355877e-01 9.90521743e-01 -1.99006149e-04 1.33034791e+01] [ 2.23701395e-03 -1.09297311e-04 9.99997492e-01 -1.95106481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.221400513 meters Centerline goodness [0,1] 0.9998695482019394 Centerline is valid? [True, True] Translation: X:231.11, Y:13.31, Z:-0.20 [[ 9.90335680e-01 -1.38671693e-01 -2.32412421e-03 2.31105942e+02] [ 1.38671585e-01 9.90338401e-01 -2.08487115e-04 1.33095968e+01] [ 2.33058071e-03 -1.15817758e-04 9.99997277e-01 -1.96165611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.251400513 meters Centerline goodness [0,1] 0.9997407759440076 Centerline is valid? [True, True] Translation: X:231.13, Y:13.31, Z:-0.20 [[ 9.90043701e-01 -1.40739228e-01 -2.43714231e-03 2.31134527e+02] [ 1.40739117e-01 9.90046693e-01 -2.18055402e-04 1.33091883e+01] [ 2.44357364e-03 -1.27116879e-04 9.99997006e-01 -1.97696164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.281400513 meters Centerline goodness [0,1] 0.9997625369686765 Centerline is valid? [True, True] Translation: X:231.16, Y:13.32, Z:-0.20 [[ 9.89692518e-01 -1.43197607e-01 -1.77927759e-03 2.31164603e+02] [ 1.43197552e-01 9.89694112e-01 -1.59008323e-04 1.33150265e+01] [ 1.78371017e-03 -9.74188472e-05 9.99998404e-01 -1.96621863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.311400513 meters Centerline goodness [0,1] 0.9993977588024003 Centerline is valid? [True, True] Translation: X:231.19, Y:13.31, Z:-0.19 [[ 9.88870072e-01 -1.48781525e-01 1.98303686e-04 2.31194521e+02] [ 1.48781524e-01 9.88870091e-01 1.76675192e-05 1.33139356e+01] [-1.98725185e-04 1.20330438e-05 9.99999980e-01 -1.94164847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.341400513 meters Centerline goodness [0,1] 0.9996757808278396 Centerline is valid? [True, True] Translation: X:231.22, Y:13.32, Z:-0.19 [[ 9.88425995e-01 -1.51703711e-01 -1.88579084e-04 2.31223985e+02] [ 1.51703711e-01 9.88426013e-01 -1.68568819e-05 1.33203156e+01] [ 1.88953723e-04 -1.19463665e-05 9.99999982e-01 -1.94238182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.371400513 meters Centerline goodness [0,1] 0.9995005754239681 Centerline is valid? [True, True] Translation: X:231.25, Y:13.33, Z:-0.20 [[ 9.88010246e-01 -1.54387116e-01 -6.10688780e-04 2.31253974e+02] [ 1.54387112e-01 9.88010434e-01 -5.46060600e-05 1.33250918e+01] [ 6.11797358e-04 -4.03311301e-05 9.99999812e-01 -1.95180621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.401400513 meters Centerline goodness [0,1] 0.9987703857105876 Centerline is valid? [True, True] Translation: X:231.28, Y:13.33, Z:-0.20 [[ 9.87610188e-01 -1.56926853e-01 -2.82835862e-04 2.31284318e+02] [ 1.56926852e-01 9.87610228e-01 -2.53244763e-05 1.33256231e+01] [ 2.83305681e-04 -1.93738307e-05 9.99999960e-01 -1.96115556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.431400513 meters Centerline goodness [0,1] 0.9757637342442652 Centerline is valid? [True, True] Translation: X:231.31, Y:13.32, Z:-0.20 [[ 9.87194174e-01 -1.59522876e-01 3.40280444e-04 2.31314298e+02] [ 1.59522875e-01 9.87194232e-01 3.03403745e-05 1.33218897e+01] [-3.40762876e-04 2.43306738e-05 9.99999942e-01 -1.96021808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.461400513 meters Centerline goodness [0,1] 0.8476307453616911 Centerline is valid? [True, False] Translation: X:231.31, Y:13.32, Z:-0.20 [[ 9.87762582e-01 -1.55964961e-01 1.09572941e-04 2.31313075e+02] [ 1.55962386e-01 9.87749852e-01 5.09555376e-03 1.33160278e+01] [-9.02958500e-04 -5.01610809e-03 9.99987012e-01 -1.95693047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.49140051300003 meters Centerline goodness [0,1] 0.8144929416088376 Centerline is valid? [False, False] Translation: X:231.31, Y:13.32, Z:-0.20 [[ 9.87760179e-01 -1.55980218e-01 -2.09132447e-05 2.31313683e+02] [ 1.55978267e-01 9.87747132e-01 5.13640669e-03 1.33158123e+01] [-7.80520840e-04 -5.07680000e-03 9.99986808e-01 -1.96051515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.521400513 meters Centerline goodness [0,1] 0.8207117665918564 Centerline is valid? [False, False] Translation: X:231.31, Y:13.31, Z:-0.20 [[ 9.88442491e-01 -1.51594106e-01 -8.18032710e-04 2.31314661e+02] [ 1.51594143e-01 9.88385072e-01 1.06848395e-02 1.33092739e+01] [-8.11227370e-04 -1.06853583e-02 9.99942581e-01 -1.96551234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.55140051300003 meters Centerline goodness [0,1] 0.8602041476941669 Centerline is valid? [False, False] Translation: X:231.29, Y:13.31, Z:-0.19 [[ 9.88749679e-01 -1.49506558e-01 -4.67564771e-03 2.31292097e+02] [ 1.49512441e-01 9.88759404e-01 9.33111552e-04 1.33134610e+01] [ 4.48358435e-03 -1.62168125e-03 9.99988634e-01 -1.91497339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.581400513 meters Centerline goodness [0,1] 0.9758447899267635 Centerline is valid? [False, True] Translation: X:231.29, Y:13.31, Z:-0.19 [[ 9.89435964e-01 -1.44871016e-01 -5.37228786e-03 2.31292707e+02] [ 1.44904846e-01 9.89423870e-01 6.55669211e-03 1.33068487e+01] [ 4.36559520e-03 -7.26589753e-03 9.99964074e-01 -1.91821085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.611400513 meters Centerline goodness [0,1] 0.992925087897155 Centerline is valid? [True, True] Translation: X:231.32, Y:13.32, Z:-0.19 [[ 9.89972308e-01 -1.41207041e-01 -3.92449849e-03 2.31321954e+02] [ 1.41207007e-01 9.89980050e-01 -2.87133817e-04 1.33190827e+01] [ 3.92572052e-03 -2.69912159e-04 9.99992258e-01 -1.90190440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.641400513 meters Centerline goodness [0,1] 0.9993285247037927 Centerline is valid? [True, True] Translation: X:231.35, Y:13.33, Z:-0.19 [[ 9.90308374e-01 -1.38853519e-01 -3.00400527e-03 2.31351459e+02] [ 1.38853488e-01 9.90312910e-01 -2.19672268e-04 1.33324056e+01] [ 3.00540747e-03 -1.99573325e-04 9.99995464e-01 -1.87647874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.671400513 meters Centerline goodness [0,1] 0.998663159256544 Centerline is valid? [True, True] Translation: X:231.38, Y:13.33, Z:-0.19 [[ 9.90692463e-01 -1.36106175e-01 -1.88481581e-03 2.31381406e+02] [ 1.36106158e-01 9.90694249e-01 -1.37907677e-04 1.33289156e+01] [ 1.88604627e-03 -1.19910943e-04 9.99998214e-01 -1.86830740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.701400513 meters Centerline goodness [0,1] 0.9993359040274208 Centerline is valid? [True, True] Translation: X:231.41, Y:13.33, Z:-0.19 [[ 9.91073563e-01 -1.33309756e-01 -1.30461430e-03 2.31411843e+02] [ 1.33309745e-01 9.91074418e-01 -9.54290685e-05 1.33336143e+01] [ 1.30569148e-03 -7.93405725e-05 9.99999144e-01 -1.85609408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.731400513 meters Centerline goodness [0,1] 0.9998264529145063 Centerline is valid? [True, True] Translation: X:231.44, Y:13.34, Z:-0.18 [[ 9.91449487e-01 -1.30484536e-01 -1.30411489e-03 2.31441713e+02] [ 1.30484523e-01 9.91450342e-01 -9.54180665e-05 1.33445875e+01] [ 1.30541574e-03 -7.55646156e-05 9.99999145e-01 -1.84884855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.761400513 meters Centerline goodness [0,1] 0.9999135975807323 Centerline is valid? [True, True] Translation: X:231.47, Y:13.35, Z:-0.18 [[ 9.92024905e-01 -1.26037017e-01 -1.12126498e-03 2.31471028e+02] [ 1.26037005e-01 9.92025537e-01 -8.21141215e-05 1.33528351e+01] [ 1.12267292e-03 -5.98616268e-05 9.99999368e-01 -1.84810239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.791400513 meters Centerline goodness [0,1] 0.999744457931387 Centerline is valid? [True, True] Translation: X:231.50, Y:13.35, Z:-0.19 [[ 9.92207759e-01 -1.24589631e-01 -1.08924393e-03 2.31500558e+02] [ 1.24589618e-01 9.92208356e-01 -7.98173788e-05 1.33489359e+01] [ 1.09070134e-03 -5.65130623e-05 9.99999404e-01 -1.85742698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.821400513 meters Centerline goodness [0,1] 0.999783427903149 Centerline is valid? [True, True] Translation: X:231.53, Y:13.36, Z:-0.19 [[ 9.92273494e-01 -1.24062138e-01 -1.37795931e-03 2.31529138e+02] [ 1.24062116e-01 9.92274448e-01 -1.01330691e-04 1.33600345e+01] [ 1.37988512e-03 -7.04047895e-05 9.99999045e-01 -1.85528777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.851400513 meters Centerline goodness [0,1] 0.9998499528423219 Centerline is valid? [True, True] Translation: X:231.56, Y:13.37, Z:-0.19 [[ 9.92240887e-01 -1.24321017e-01 -1.51891893e-03 2.31556868e+02] [ 1.24320990e-01 9.92242047e-01 -1.12379026e-04 1.33652981e+01] [ 1.52110630e-03 -7.73264405e-05 9.99998840e-01 -1.85863860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.881400513 meters Centerline goodness [0,1] 0.9997199663959675 Centerline is valid? [True, True] Translation: X:231.58, Y:13.37, Z:-0.19 [[ 9.92113981e-01 -1.25328501e-01 -1.61713371e-03 2.31584458e+02] [ 1.25328473e-01 9.92115296e-01 -1.19142600e-04 1.33680457e+01] [ 1.61931505e-03 -8.44698593e-05 9.99998685e-01 -1.86267266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.911400513 meters Centerline goodness [0,1] 0.9997831978319783 Centerline is valid? [True, True] Translation: X:231.61, Y:13.37, Z:-0.19 [[ 9.91875750e-01 -1.27200062e-01 -1.62538353e-03 2.31612719e+02] [ 1.27200036e-01 9.91877077e-01 -1.19826303e-04 1.33692500e+01] [ 1.62742257e-03 -8.78960379e-05 9.99998672e-01 -1.86569006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.941400513 meters Centerline goodness [0,1] 0.9998268023381685 Centerline is valid? [True, True] Translation: X:231.64, Y:13.37, Z:-0.19 [[ 9.91396828e-01 -1.30879788e-01 -1.67658915e-03 2.31642853e+02] [ 1.30879766e-01 9.91398241e-01 -1.23360826e-04 1.33720742e+01] [ 1.67831298e-03 -9.71320642e-05 9.99998587e-01 -1.86761144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.971400513 meters Centerline goodness [0,1] 0.9995098874872145 Centerline is valid? [True, True] Translation: X:231.67, Y:13.38, Z:-0.19 [[ 9.91181871e-01 -1.32491620e-01 -2.11393067e-03 2.31672300e+02] [ 1.32491588e-01 9.91184118e-01 -1.55685732e-04 1.33765015e+01] [ 2.11592156e-03 -1.25765156e-04 9.99997754e-01 -1.87192050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.001400513 meters Centerline goodness [0,1] 0.99950816867676 Centerline is valid? [True, True] Translation: X:231.70, Y:13.38, Z:-0.19 [[ 9.90992852e-01 -1.33890173e-01 -2.56667230e-03 2.31701731e+02] [ 1.33890131e-01 9.90996164e-01 -1.89066961e-04 1.33794393e+01] [ 2.56887661e-03 -1.56288084e-04 9.99996688e-01 -1.88394405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.031400513 meters Centerline goodness [0,1] 0.9994627930463932 Centerline is valid? [True, True] Translation: X:231.73, Y:13.39, Z:-0.19 [[ 9.90502013e-01 -1.37465460e-01 -3.00162530e-03 2.31731405e+02] [ 1.37465419e-01 9.90506542e-01 -2.21025109e-04 1.33879517e+01] [ 3.00351281e-03 -1.93693864e-04 9.99995471e-01 -1.89386738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.061400513 meters Centerline goodness [0,1] 0.99823652121551 Centerline is valid? [True, True] Translation: X:231.76, Y:13.39, Z:-0.19 [[ 9.90217637e-01 -1.39490922e-01 -3.36365022e-03 2.31760038e+02] [ 1.39490882e-01 9.90223325e-01 -2.47838261e-04 1.33895641e+01] [ 3.36533609e-03 -2.23784717e-04 9.99994312e-01 -1.90340072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.091400513 meters Centerline goodness [0,1] 0.9668957300597835 Centerline is valid? [True, True] Translation: X:231.79, Y:13.38, Z:-0.19 [[ 9.89901208e-01 -1.41706334e-01 -3.86190205e-03 2.31790092e+02] [ 1.41706297e-01 9.89908705e-01 -2.84543851e-04 1.33829450e+01] [ 3.86325213e-03 -2.65585538e-04 9.99992502e-01 -1.92772756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.121400513 meters Centerline goodness [0,1] 0.9875786966139186 Centerline is valid? [True, True] Translation: X:231.82, Y:13.39, Z:-0.19 [[ 9.89552134e-01 -1.44100327e-01 -4.65505578e-03 2.31820461e+02] [ 1.44100300e-01 9.89563028e-01 -3.42961844e-04 1.33906823e+01] [ 4.65589200e-03 -3.31416309e-04 9.99989106e-01 -1.93293040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.151400513 meters Centerline goodness [0,1] 0.9918031023428928 Centerline is valid? [True, True] Translation: X:231.85, Y:13.40, Z:-0.19 [[ 9.89192656e-01 -1.46509905e-01 -5.72165114e-03 2.31850867e+02] [ 1.46509904e-01 9.89209113e-01 -4.21535742e-04 1.33962648e+01] [ 5.72166862e-03 -4.21298502e-04 9.99983542e-01 -1.94052438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.181400513 meters Centerline goodness [0,1] 0.9193590298830663 Centerline is valid? [True, False] Translation: X:231.85, Y:13.39, Z:-0.19 [[ 9.89729166e-01 -1.42827296e-01 -6.04498410e-03 2.31850386e+02] [ 1.42855393e-01 9.89733333e-01 4.50184111e-03 1.33916784e+01] [ 5.33993646e-03 -5.31916203e-03 9.99971595e-01 -1.94576912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.211400513 meters Centerline goodness [0,1] 0.772831926323868 Centerline is valid? [False, False] Translation: X:231.87, Y:13.40, Z:-0.20 [[ 9.89719928e-01 -1.43018845e-01 -2.72323042e-04 2.31871878e+02] [ 1.43014979e-01 9.89704049e-01 -5.71066450e-03 1.34020967e+01] [ 1.08625186e-03 5.61301218e-03 9.99983657e-01 -1.99696278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.24140051300003 meters Centerline goodness [0,1] 0.6671438644473409 Centerline is valid? [False, False] Translation: X:231.87, Y:13.40, Z:-0.20 [[ 9.90280565e-01 -1.39083600e-01 -3.93498133e-04 2.31870479e+02] [ 1.39083376e-01 9.90280523e-01 -5.47473943e-04 1.33968164e+01] [ 4.65818184e-04 4.87423757e-04 9.99999773e-01 -1.99635499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.271400513 meters Centerline goodness [0,1] 0.917119535800117 Centerline is valid? [False, False] Translation: X:231.87, Y:13.40, Z:-0.20 [[ 9.90261002e-01 -1.39223004e-01 -3.22315092e-04 2.31869992e+02] [ 1.39222688e-01 9.90260729e-01 -8.54878568e-04 1.33982136e+01] [ 4.38194740e-04 8.01679333e-04 9.99999583e-01 -1.99232176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.30140051300003 meters Centerline goodness [0,1] 0.8667772955493149 Centerline is valid? [False, False] Translation: X:231.89, Y:13.41, Z:-0.20 [[ 9.90446622e-01 -1.37819695e-01 4.60653097e-03 2.31891873e+02] [ 1.37859076e-01 9.90403909e-01 -9.74532959e-03 1.34062935e+01] [-3.21922793e-03 1.02872809e-02 9.99941903e-01 -2.03419765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.331400513 meters Centerline goodness [0,1] 0.9423188095492988 Centerline is valid? [False, False] Translation: X:231.89, Y:13.40, Z:-0.20 [[ 9.91064984e-01 -1.33314340e-01 4.18149850e-03 2.31891753e+02] [ 1.33332049e-01 9.91062148e-01 -4.28764280e-03 1.34005740e+01] [-3.57252062e-03 4.80686040e-03 9.99982065e-01 -2.03871925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.361400513 meters Centerline goodness [0,1] 0.8413918629550321 Centerline is valid? [False, False] Translation: X:231.89, Y:13.40, Z:-0.20 [[ 9.91656652e-01 -1.28850548e-01 3.82380284e-03 2.31891387e+02] [ 1.28847572e-01 9.91663891e-01 1.01555898e-03 1.33956092e+01] [-3.92278253e-03 -5.14398107e-04 9.99992174e-01 -2.04172415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.391400513 meters Centerline goodness [0,1] 0.9471542061160083 Centerline is valid? [False, False] Translation: X:231.85, Y:13.40, Z:-0.20 [[ 9.91486957e-01 -1.30187409e-01 2.20287601e-03 2.31848220e+02] [ 1.30194888e-01 9.91481577e-01 -3.68432204e-03 1.33995055e+01] [-1.70445865e-03 3.93976044e-03 9.99990787e-01 -2.02195576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.421400513 meters Centerline goodness [0,1] 0.8939588688946015 Centerline is valid? [False, False] Translation: X:231.85, Y:13.40, Z:-0.20 [[ 9.91485965e-01 -1.30195133e-01 2.19293144e-03 2.31847960e+02] [ 1.30202622e-01 9.91480454e-01 -3.71302165e-03 1.33995933e+01] [-1.69083132e-03 3.96693427e-03 9.99990702e-01 -2.01686507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.451400513 meters Centerline goodness [0,1] 0.9865872794101842 Centerline is valid? [False, True] Translation: X:231.85, Y:13.39, Z:-0.20 [[ 9.91983516e-01 -1.26348426e-01 2.18638415e-03 2.31846347e+02] [ 1.26344842e-01 9.91984913e-01 1.70660930e-03 1.33925637e+01] [-2.38448749e-03 -1.41668994e-03 9.99996154e-01 -2.01406933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.481400513 meters Centerline goodness [0,1] 0.6965250965250965 Centerline is valid? [True, False] Translation: X:231.85, Y:13.38, Z:-0.20 [[ 9.92457303e-01 -1.22573027e-01 2.08685029e-03 2.31845274e+02] [ 1.22555175e-01 9.92435512e-01 7.20990997e-03 1.33848058e+01] [-2.95480483e-03 -6.89977350e-03 9.99971831e-01 -2.01471887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.511400513 meters Centerline goodness [0,1] 0.8638882921589688 Centerline is valid? [False, False] Translation: X:231.85, Y:13.38, Z:-0.20 [[ 9.92472714e-01 -1.22449524e-01 2.00655747e-03 2.31845749e+02] [ 1.22431304e-01 9.92448426e-01 7.52974102e-03 1.33833070e+01] [-2.91341801e-03 -7.22739706e-03 9.99969638e-01 -2.01772614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.541400513 meters Centerline goodness [0,1] 0.8638882921589688 Centerline is valid? [False, False] Translation: X:231.85, Y:13.38, Z:-0.20 [[ 9.92472714e-01 -1.22449524e-01 2.00655747e-03 2.31845749e+02] [ 1.22431304e-01 9.92448426e-01 7.52974102e-03 1.33833070e+01] [-2.91341801e-03 -7.22739706e-03 9.99969638e-01 -2.01772614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.571400513 meters Centerline goodness [0,1] 0.9653819323334496 Centerline is valid? [False, True] Translation: X:231.82, Y:13.39, Z:-0.19 [[ 9.92623662e-01 -1.21219135e-01 -2.04606180e-03 2.31820348e+02] [ 1.21212835e-01 9.92622113e-01 -2.96484950e-03 1.33904646e+01] [ 2.39036268e-03 2.69497082e-03 9.99993512e-01 -1.94465634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.601400513 meters Centerline goodness [0,1] 0.9761021032753793 Centerline is valid? [True, True] Translation: X:231.85, Y:13.39, Z:-0.20 [[ 9.92872511e-01 -1.19152816e-01 -2.60440467e-03 2.31849646e+02] [ 1.19152936e-01 9.92875907e-01 -1.09393770e-04 1.33902267e+01] [ 2.59888522e-03 -2.01708397e-04 9.99996603e-01 -1.95033982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.631400513 meters Centerline goodness [0,1] 0.9799645925989896 Centerline is valid? [True, True] Translation: X:231.88, Y:13.39, Z:-0.20 [[ 9.93122555e-01 -1.17048648e-01 -2.68433317e-03 2.31879836e+02] [ 1.17048769e-01 9.93126162e-01 -1.12802494e-04 1.33917119e+01] [ 2.67908488e-03 -2.02171191e-04 9.99996391e-01 -1.95814633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.661400513 meters Centerline goodness [0,1] 0.9992852966019102 Centerline is valid? [True, True] Translation: X:231.91, Y:13.41, Z:-0.19 [[ 9.93887338e-01 -1.10376134e-01 -2.25115855e-03 2.31909379e+02] [ 1.10376202e-01 9.93889876e-01 -9.46081010e-05 1.34074143e+01] [ 2.24784617e-03 -1.54444537e-04 9.99997462e-01 -1.93828575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.691400513 meters Centerline goodness [0,1] 0.9989310412530814 Centerline is valid? [True, True] Translation: X:231.94, Y:13.41, Z:-0.19 [[ 9.94289434e-01 -1.06707602e-01 -1.41771346e-03 2.31938279e+02] [ 1.06707625e-01 9.94290440e-01 -5.97409567e-05 1.34114919e+01] [ 1.41599375e-03 -9.18810336e-05 9.99998993e-01 -1.93129102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.721400513 meters Centerline goodness [0,1] 0.9998280050738503 Centerline is valid? [True, True] Translation: X:231.97, Y:13.42, Z:-0.19 [[ 9.94656297e-01 -1.03240903e-01 -4.09372422e-04 2.31968895e+02] [ 1.03240905e-01 9.94656381e-01 -1.71575294e-05 1.34201999e+01] [ 4.08956251e-04 -2.51981346e-05 9.99999916e-01 -1.91917362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.751400513 meters Centerline goodness [0,1] 0.9996994998819464 Centerline is valid? [True, True] Translation: X:232.00, Y:13.43, Z:-0.19 [[ 9.94921944e-01 -1.00649467e-01 -9.88914235e-05 2.31998713e+02] [ 1.00649467e-01 9.94921949e-01 -4.17107129e-06 1.34268077e+01] [ 9.88090639e-05 -5.80347871e-06 9.99999995e-01 -1.91838676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.781400513 meters Centerline goodness [0,1] 0.9996569909531364 Centerline is valid? [True, True] Translation: X:232.03, Y:13.43, Z:-0.19 [[ 9.95147749e-01 -9.83878480e-02 -8.88663608e-04 2.32028603e+02] [ 9.83878537e-02 9.95148144e-01 -3.74153286e-05 1.34342745e+01] [ 8.88033154e-04 -5.01999250e-05 9.99999604e-01 -1.92223957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.811400513 meters Centerline goodness [0,1] 0.9996750574065248 Centerline is valid? [True, True] Translation: X:232.06, Y:13.44, Z:-0.19 [[ 9.95183930e-01 -9.79932583e-02 -2.50324410e-03 2.32055658e+02] [ 9.79933016e-02 9.95187069e-01 -1.05663463e-04 1.34428951e+01] [ 2.50155047e-03 -1.40146573e-04 9.99996861e-01 -1.94235104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.841400513 meters Centerline goodness [0,1] 0.9986559713273884 Centerline is valid? [True, True] Translation: X:232.08, Y:13.44, Z:-0.19 [[ 9.95043556e-01 -9.94133056e-02 -2.30556885e-03 2.32084639e+02] [ 9.94133462e-02 9.95046219e-01 -9.73076109e-05 1.34387108e+01] [ 2.30382124e-03 -1.32379003e-04 9.99997337e-01 -1.94889699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.871400513 meters Centerline goodness [0,1] 0.9996109117634343 Centerline is valid? [True, True] Translation: X:232.11, Y:13.45, Z:-0.19 [[ 9.94826074e-01 -1.01572095e-01 -2.04754906e-03 2.32114502e+02] [ 1.01572132e-01 9.94828173e-01 -8.63704988e-05 1.34453934e+01] [ 2.04573232e-03 -1.22050298e-04 9.99997900e-01 -1.94108148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.901400513 meters Centerline goodness [0,1] 0.9945208422862054 Centerline is valid? [True, True] Translation: X:232.14, Y:13.44, Z:-0.20 [[ 9.94534191e-01 -1.04389598e-01 -2.13427781e-03 2.32144218e+02] [ 1.04389644e-01 9.94536472e-01 -8.99473173e-05 1.34383832e+01] [ 2.13200668e-03 -1.33340818e-04 9.99997718e-01 -1.95740410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.931400513 meters Centerline goodness [0,1] 0.9194092286677765 Centerline is valid? [True, False] Translation: X:232.15, Y:13.44, Z:-0.20 [[ 9.94478510e-01 -1.04915353e-01 -2.29398342e-03 2.32145372e+02] [ 1.04915622e-01 9.94481127e-01 -3.32217080e-06 1.34371928e+01] [ 2.28167176e-03 -2.37370869e-04 9.99997369e-01 -1.96998550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.961400513 meters Centerline goodness [0,1] 0.9834705400629283 Centerline is valid? [False, True] Translation: X:232.15, Y:13.44, Z:-0.20 [[ 9.94478716e-01 -1.04911868e-01 -2.36290261e-03 2.32145934e+02] [ 1.04912405e-01 9.94481461e-01 1.04261751e-04 1.34367219e+01] [ 2.33892455e-03 -3.51583888e-04 9.99997203e-01 -1.97669292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.99140051300003 meters Centerline goodness [0,1] 0.8922264895831098 Centerline is valid? [True, False] Translation: X:232.14, Y:13.43, Z:-0.20 [[ 9.94856398e-01 -1.01267593e-01 -2.37093658e-03 2.32144830e+02] [ 1.01278988e-01 9.94843855e-01 5.31699961e-03 1.34303351e+01] [ 1.82027194e-03 -5.52977714e-03 9.99983054e-01 -1.97942208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.021400513 meters Centerline goodness [0,1] 0.9603861806216989 Centerline is valid? [False, True] Translation: X:232.14, Y:13.43, Z:-0.20 [[ 9.94871110e-01 -1.01125345e-01 -2.26672998e-03 2.32144361e+02] [ 1.01136867e-01 9.94856020e-01 5.73014200e-03 1.34283340e+01] [ 1.67560738e-03 -5.93000270e-03 9.99981014e-01 -1.97556235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.05140051300003 meters Centerline goodness [0,1] 0.9495219226462228 Centerline is valid? [True, False] Translation: X:232.14, Y:13.43, Z:-0.20 [[ 9.94884952e-01 -1.00992356e-01 -2.11579611e-03 2.32143767e+02] [ 1.01003632e-01 9.94866989e-01 6.15953347e-03 1.34262383e+01] [ 1.48286991e-03 -6.34173025e-03 9.99978792e-01 -1.97210900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.081400513 meters Centerline goodness [0,1] 0.7918481440551258 Centerline is valid? [False, False] Translation: X:232.14, Y:13.42, Z:-0.20 [[ 9.94899734e-01 -1.00848314e-01 -2.03408853e-03 2.32143422e+02] [ 1.00859613e-01 9.94879115e-01 6.54870243e-03 1.34243769e+01] [ 1.36324660e-03 -6.72045969e-03 9.99976488e-01 -1.96934472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.111400513 meters Centerline goodness [0,1] 0.9540578960971827 Centerline is valid? [False, True] Translation: X:232.15, Y:13.43, Z:-0.20 [[ 9.95232296e-01 -9.74674825e-02 3.57294915e-03 2.32145051e+02] [ 9.74956289e-02 9.95197028e-01 -8.80216708e-03 1.34340998e+01] [-2.69786330e-03 9.10854788e-03 9.99954877e-01 -2.00787467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.141400513 meters Centerline goodness [0,1] 0.9759038743636207 Centerline is valid? [True, True] Translation: X:232.17, Y:13.43, Z:-0.20 [[ 9.95242004e-01 -9.73727388e-02 3.45001298e-03 2.32173911e+02] [ 9.73730842e-02 9.95247948e-01 6.81071621e-05 1.34282900e+01] [-3.44025012e-03 2.68155296e-04 9.99994046e-01 -2.01182705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.171400513 meters Centerline goodness [0,1] 0.802857449779783 Centerline is valid? [True, False] Translation: X:232.17, Y:13.42, Z:-0.20 [[ 9.95665839e-01 -9.29443531e-02 3.29919139e-03 2.32173550e+02] [ 9.29235772e-02 9.95655324e-01 5.97372765e-03 1.34199771e+01] [-3.84008173e-03 -5.64126388e-03 9.99976715e-01 -2.01766882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.201400513 meters Centerline goodness [0,1] 0.8886444695982744 Centerline is valid? [False, False] Translation: X:232.17, Y:13.42, Z:-0.20 [[ 9.95697934e-01 -9.26052631e-02 3.14486928e-03 2.32174195e+02] [ 9.25824346e-02 9.95682071e-01 6.76063994e-03 1.34162840e+01] [-3.75736080e-03 -6.44039556e-03 9.99972201e-01 -2.01882964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.231400513 meters Centerline goodness [0,1] 0.9954659840333218 Centerline is valid? [False, True] Translation: X:232.15, Y:13.42, Z:-0.19 [[ 9.95832018e-01 -9.11985198e-02 -1.19203628e-03 2.32149234e+02] [ 9.11940894e-02 9.95827488e-01 -3.35456667e-03 1.34226429e+01] [ 1.49299401e-03 3.23187823e-03 9.99993663e-01 -1.94516982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.261400513 meters Centerline goodness [0,1] 0.9832373309170928 Centerline is valid? [True, True] Translation: X:232.18, Y:13.41, Z:-0.20 [[ 9.95855141e-01 -9.09500496e-02 -7.92136111e-04 2.32177612e+02] [ 9.09500678e-02 9.95855454e-01 -1.31222974e-05 1.34149250e+01] [ 7.90046540e-04 -5.89769257e-05 9.99999686e-01 -1.95071887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.291400513 meters Centerline goodness [0,1] 0.7996064779779022 Centerline is valid? [True, False] Translation: X:232.18, Y:13.41, Z:-0.20 [[ 9.96250095e-01 -8.65165644e-02 -7.95113033e-04 2.32176844e+02] [ 8.65197302e-02 9.96233268e-01 5.79764911e-03 1.34071519e+01] [ 2.90525372e-04 -5.84470144e-03 9.99982877e-01 -1.95621097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.321400513 meters Centerline goodness [0,1] 0.9801595859391848 Centerline is valid? [False, True] Translation: X:232.18, Y:13.40, Z:-0.20 [[ 9.96266841e-01 -8.63241077e-02 -7.28034180e-04 2.32176676e+02] [ 8.63269809e-02 9.96247148e-01 6.26678785e-03 1.34049734e+01] [ 1.84327106e-04 -6.30624193e-03 9.99980098e-01 -1.95669726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.351400513 meters Centerline goodness [0,1] 0.8922759032038173 Centerline is valid? [True, False] Translation: X:232.18, Y:13.41, Z:-0.20 [[ 9.95878463e-01 -9.06958108e-02 -5.98089841e-04 2.32177184e+02] [ 9.06964156e-02 9.95878005e-01 1.07637259e-03 1.34094956e+01] [ 4.98002033e-04 -1.12618089e-03 9.99999242e-01 -1.95272146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.381400513 meters Centerline goodness [0,1] 0.6602723835710603 Centerline is valid? [False, False] Translation: X:232.18, Y:13.40, Z:-0.20 [[ 9.95911501e-01 -9.03328327e-02 -5.11424761e-04 2.32176954e+02] [ 9.03337433e-02 9.95909142e-01 2.18999594e-03 1.34041473e+01] [ 3.11504058e-04 -2.22724106e-03 9.99997471e-01 -1.95137369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.411400513 meters Centerline goodness [0,1] 0.8453292823826437 Centerline is valid? [False, False] Translation: X:232.18, Y:13.40, Z:-0.20 [[ 9.95937297e-01 -9.00475666e-02 -5.80147944e-04 2.32177401e+02] [ 9.00488957e-02 9.95932965e-01 2.95407053e-03 1.34005459e+01] [ 3.11781599e-04 -2.99431070e-03 9.99995468e-01 -1.95459524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.441400513 meters Centerline goodness [0,1] 0.5789133247089262 Centerline is valid? [False, False] Translation: X:232.18, Y:13.40, Z:-0.20 [[ 9.95965370e-01 -8.97359042e-02 -6.69659385e-04 2.32178069e+02] [ 8.97377942e-02 9.95958367e-01 3.74947964e-03 1.33968625e+01] [ 3.30489923e-04 -3.79444563e-03 9.99992746e-01 -1.96099477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.471400513 meters Centerline goodness [0,1] 0.7593740582892075 Centerline is valid? [False, False] Translation: X:232.18, Y:13.39, Z:-0.20 [[ 9.95989385e-01 -8.94687185e-02 -7.03106684e-04 2.32178474e+02] [ 8.94709747e-02 9.95979435e-01 4.46209668e-03 1.33935227e+01] [ 3.01061726e-04 -4.50710857e-03 9.99989798e-01 -1.96568172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.501400513 meters Centerline goodness [0,1] 0.6507056776438744 Centerline is valid? [False, False] Translation: X:232.18, Y:13.39, Z:-0.20 [[ 9.96011906e-01 -8.92187176e-02 -5.50911585e-04 2.32178176e+02] [ 8.92203865e-02 9.95997794e-01 5.30262294e-03 1.33894645e+01] [ 7.56135045e-05 -5.33062813e-03 9.99985789e-01 -1.96753470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.531400513 meters Centerline goodness [0,1] 0.43502183780080506 Centerline is valid? [False, False] Translation: X:232.18, Y:13.39, Z:-0.20 [[ 9.96024921e-01 -8.90733939e-02 -5.35769163e-04 2.32178103e+02] [ 8.90750001e-02 9.96008894e-01 5.65035316e-03 1.33878122e+01] [ 3.03347192e-05 -5.67561620e-03 9.99983893e-01 -1.96636504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.561400513 meters Centerline goodness [0,1] 0.521465588944102 Centerline is valid? [False, False] Translation: X:232.18, Y:13.39, Z:-0.20 [[ 9.96036633e-01 -8.89419159e-02 -6.00898676e-04 2.32178283e+02] [ 8.89439179e-02 9.96018936e-01 5.93784031e-03 1.33864515e+01] [ 7.03835675e-05 -5.96775275e-03 9.99982190e-01 -1.96521886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.591400513 meters Centerline goodness [0,1] 0.5458207879224799 Centerline is valid? [False, False] Translation: X:232.18, Y:13.40, Z:-0.20 [[ 9.96404691e-01 -8.46657461e-02 3.06647274e-03 2.32179381e+02] [ 8.46916481e-02 9.96360647e-01 -9.63254283e-03 1.33953238e+01] [-2.23976634e-03 9.85761549e-03 9.99948904e-01 -1.99240348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.621400513 meters Centerline goodness [0,1] 0.8256340579710145 Centerline is valid? [False, False] Translation: X:232.18, Y:13.40, Z:-0.20 [[ 9.96405714e-01 -8.46558930e-02 3.00545343e-03 2.32179557e+02] [ 8.46812537e-02 9.96361266e-01 -9.65989273e-03 1.33954723e+01] [-2.17675054e-03 9.87967788e-03 9.99948826e-01 -1.99198390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.651400513 meters Centerline goodness [0,1] 0.8700193423597679 Centerline is valid? [False, False] Translation: X:232.18, Y:13.39, Z:-0.20 [[ 9.97107817e-01 -7.59585946e-02 2.50871498e-03 2.32179338e+02] [ 7.59566089e-02 9.97110738e-01 8.77680125e-04 1.33853435e+01] [-2.56813400e-03 -6.84588231e-04 9.99996468e-01 -1.99797386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.681400513 meters Centerline goodness [0,1] 0.9465204792180268 Centerline is valid? [False, False] Translation: X:232.18, Y:13.38, Z:-0.20 [[ 9.97453392e-01 -7.12839352e-02 2.30883971e-03 2.32179105e+02] [ 7.12684228e-02 9.97437782e-01 6.21963301e-03 1.33805182e+01] [-2.74628387e-03 -6.03924668e-03 9.99977992e-01 -1.99940714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.711400513 meters Centerline goodness [0,1] 0.8765754488950276 Centerline is valid? [False, False] Translation: X:232.18, Y:13.39, Z:-0.20 [[ 9.97789568e-01 -6.60956727e-02 6.88041966e-03 2.32178898e+02] [ 6.61537709e-02 9.97772468e-01 -8.58958825e-03 1.33905636e+01] [-6.29735869e-03 9.02576726e-03 9.99939438e-01 -2.02354860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.74140051300003 meters Centerline goodness [0,1] 0.9606800591728663 Centerline is valid? [False, True] Translation: X:232.18, Y:13.39, Z:-0.20 [[ 9.98083870e-01 -6.14670105e-02 7.09894694e-03 2.32176653e+02] [ 6.14921965e-02 9.98101822e-01 -3.38561879e-03 1.33863100e+01] [-6.87736801e-03 3.81566135e-03 9.99969071e-01 -2.00987325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.771400513 meters Centerline goodness [0,1] 0.9858584998083231 Centerline is valid? [True, True] Translation: X:232.21, Y:13.39, Z:-0.20 [[ 9.98124322e-01 -6.06170938e-02 8.56769666e-03 2.32207887e+02] [ 6.06199273e-02 9.98160919e-01 -7.11763565e-05 1.33886304e+01] [-8.54762546e-03 5.90416001e-04 9.99963294e-01 -1.99054776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.80140051300003 meters Centerline goodness [0,1] 0.977533848716525 Centerline is valid? [True, True] Translation: X:232.24, Y:13.39, Z:-0.20 [[ 9.98115498e-01 -6.07040722e-02 8.97035803e-03 2.32240175e+02] [ 6.07071834e-02 9.98155615e-01 -7.46991165e-05 1.33869953e+01] [-8.94927870e-03 6.19123516e-04 9.99959763e-01 -1.99002761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.831400513 meters Centerline goodness [0,1] 0.9207532617777492 Centerline is valid? [True, False] Translation: X:232.24, Y:13.38, Z:-0.20 [[ 9.98350370e-01 -5.66935363e-02 9.07639967e-03 2.32239177e+02] [ 5.66473337e-02 9.98380346e-01 5.26924090e-03 1.33810142e+01] [-9.36043094e-03 -4.74639476e-03 9.99944926e-01 -1.99172169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.861400513 meters Centerline goodness [0,1] 0.9860779377272825 Centerline is valid? [False, True] Translation: X:232.24, Y:13.38, Z:-0.20 [[ 9.98354811e-01 -5.66176620e-02 9.06159338e-03 2.32239278e+02] [ 5.65696387e-02 9.98383665e-01 5.47122613e-03 1.33800697e+01] [-9.35671483e-03 -4.94961386e-03 9.99943975e-01 -1.99271371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.891400513 meters Centerline goodness [0,1] 0.8524740443856994 Centerline is valid? [True, False] Translation: X:232.24, Y:13.38, Z:-0.20 [[ 9.98361362e-01 -5.65173781e-02 8.96533467e-03 2.32239769e+02] [ 5.64666809e-02 9.98387574e-01 5.81078095e-03 1.33784633e+01] [-9.27928884e-03 -5.29501649e-03 9.99942927e-01 -1.99651239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.921400513 meters Centerline goodness [0,1] 0.9802553412110345 Centerline is valid? [False, True] Translation: X:232.22, Y:13.39, Z:-0.19 [[ 9.98282872e-01 -5.84868268e-02 3.25558302e-03 2.32217853e+02] [ 5.85089314e-02 9.98261148e-01 -7.16836747e-03 1.33881490e+01] [-2.83066697e-03 7.34653915e-03 9.99969007e-01 -1.93781187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.951400513 meters Centerline goodness [0,1] 0.9765016444521378 Centerline is valid? [True, True] Translation: X:232.25, Y:13.38, Z:-0.20 [[ 9.98188701e-01 -6.01018478e-02 2.66178869e-03 2.32247548e+02] [ 6.01021757e-02 9.98192229e-01 -4.32909151e-05 1.33802906e+01] [-2.65437492e-03 2.03191794e-04 9.99996456e-01 -1.96323843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.981400513 meters Centerline goodness [0,1] 0.9401388147357181 Centerline is valid? [True, False] Translation: X:232.25, Y:13.38, Z:-0.20 [[ 9.98196155e-01 -5.99777020e-02 2.66690068e-03 2.32247598e+02] [ 5.99768669e-02 9.98199690e-01 3.92069572e-04 1.33781917e+01] [-2.68561486e-03 -2.31409992e-04 9.99996367e-01 -1.96481578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.011400513 meters Centerline goodness [0,1] 0.8997326489145546 Centerline is valid? [False, False] Translation: X:232.25, Y:13.38, Z:-0.20 [[ 9.98206922e-01 -5.97927259e-02 2.78755840e-03 2.32247270e+02] [ 5.97903100e-02 9.98210514e-01 9.42187879e-04 1.33755738e+01] [-2.83890608e-03 -7.73829483e-04 9.99995671e-01 -1.96567654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.041400513 meters Centerline goodness [0,1] 0.80874034883971 Centerline is valid? [False, False] Translation: X:232.25, Y:13.37, Z:-0.20 [[ 9.98222941e-01 -5.95191322e-02 2.90409750e-03 2.32246936e+02] [ 5.95136564e-02 9.98225612e-01 1.93697262e-03 1.33707182e+01] [-3.01423143e-03 -1.76069705e-03 9.99993907e-01 -1.96538263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.071400513 meters Centerline goodness [0,1] 0.7000969096586627 Centerline is valid? [False, False] Translation: X:232.25, Y:13.37, Z:-0.20 [[ 9.98234715e-01 -5.93234648e-02 2.86013720e-03 2.32247149e+02] [ 5.93166756e-02 9.98236324e-01 2.40294209e-03 1.33685527e+01] [-2.99764369e-03 -2.22904638e-03 9.99993023e-01 -1.96635866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.101400513 meters Centerline goodness [0,1] 0.7747195858498706 Centerline is valid? [False, False] Translation: X:232.25, Y:13.37, Z:-0.20 [[ 9.98246815e-01 -5.91210824e-02 2.82744596e-03 2.32247359e+02] [ 5.91130059e-02 9.98247202e-01 2.85952728e-03 1.33664422e+01] [-2.99154837e-03 -2.68737517e-03 9.99991914e-01 -1.96796407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.131400513 meters Centerline goodness [0,1] 0.7434826382194804 Centerline is valid? [False, False] Translation: X:232.25, Y:13.37, Z:-0.20 [[ 9.98254754e-01 -5.89869756e-02 2.82542381e-03 2.32247365e+02] [ 5.89780311e-02 9.98254308e-01 3.15090197e-03 1.33650743e+01] [-3.00635367e-03 -2.97876494e-03 9.99991044e-01 -1.96759004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.161400513 meters Centerline goodness [0,1] 0.6529653050760553 Centerline is valid? [False, False] Translation: X:232.25, Y:13.37, Z:-0.20 [[ 9.98256399e-01 -5.89589389e-02 2.82942096e-03 2.32247297e+02] [ 5.89499407e-02 9.98255923e-01 3.16479616e-03 1.33650305e+01] [-3.01107926e-03 -2.99248382e-03 9.99990989e-01 -1.96633469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.191400513 meters Centerline goodness [0,1] 0.7568852955164512 Centerline is valid? [False, False] Translation: X:232.25, Y:13.37, Z:-0.20 [[ 9.98256056e-01 -5.89659745e-02 2.80360241e-03 2.32247163e+02] [ 5.89584227e-02 9.98256777e-01 2.70408564e-03 1.33673703e+01] [-2.95816416e-03 -2.53407389e-03 9.99992414e-01 -1.96173908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.221400513 meters Centerline goodness [0,1] 0.9660209725989364 Centerline is valid? [False, True] Translation: X:232.27, Y:13.37, Z:-0.19 [[ 9.98417275e-01 -5.62395310e-02 -2.44543152e-04 2.32265760e+02] [ 5.62380947e-02 9.98409276e-01 -4.02431067e-03 1.33724953e+01] [ 4.70479496e-04 4.00418865e-03 9.99991873e-01 -1.89717478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.251400513 meters Centerline goodness [0,1] 0.8186936936936937 Centerline is valid? [True, False] Translation: X:232.27, Y:13.37, Z:-0.19 [[ 9.98670163e-01 -5.15534223e-02 -3.87587826e-04 2.32265666e+02] [ 5.15538956e-02 9.98669328e-01 1.33044474e-03 1.33675923e+01] [ 3.18483094e-04 -1.34865713e-03 9.99999040e-01 -1.90073616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.281400513 meters Centerline goodness [0,1] 0.9461694593193989 Centerline is valid? [False, False] Translation: X:232.24, Y:13.37, Z:-0.18 [[ 9.98798639e-01 -4.87677548e-02 -4.79414512e-03 2.32243229e+02] [ 4.87297987e-02 9.98782019e-01 -7.73859295e-03 1.33749904e+01] [ 5.16569974e-03 7.49567838e-03 9.99958564e-01 -1.84893085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.311400513 meters Centerline goodness [0,1] 0.9598761477685245 Centerline is valid? [False, True] Translation: X:232.24, Y:13.37, Z:-0.19 [[ 9.99013213e-01 -4.41308216e-02 -5.00714970e-03 2.32243445e+02] [ 4.41189172e-02 9.99023249e-01 -2.46357560e-03 1.33704339e+01] [ 5.11097858e-03 2.24023456e-03 9.99984430e-01 -1.85318723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.341400513 meters Centerline goodness [0,1] 0.9698041232694699 Centerline is valid? [True, True] Translation: X:232.27, Y:13.37, Z:-0.19 [[ 9.99019816e-01 -4.39700179e-02 -5.10332024e-03 2.32272161e+02] [ 4.39712134e-02 9.99032791e-01 1.22225759e-04 1.33682526e+01] [ 5.09301000e-03 -3.46505139e-04 9.99986971e-01 -1.85611095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.371400513 meters Centerline goodness [0,1] 0.9971414447525093 Centerline is valid? [True, True] Translation: X:232.30, Y:13.37, Z:-0.18 [[ 9.99002470e-01 -4.43627559e-02 -5.10015595e-03 2.32301345e+02] [ 4.43639508e-02 9.99015428e-01 1.21326564e-04 1.33741450e+01] [ 5.08975210e-03 -3.47468604e-04 9.99986987e-01 -1.84889757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.401400513 meters Centerline goodness [0,1] 0.9967569671156465 Centerline is valid? [True, True] Translation: X:232.33, Y:13.37, Z:-0.18 [[ 9.98991383e-01 -4.46288969e-02 -4.94745932e-03 2.32330167e+02] [ 4.46300206e-02 9.99003577e-01 1.16894496e-04 1.33728234e+01] [ 4.93731269e-03 -3.37581806e-04 9.99987754e-01 -1.84296541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.431400513 meters Centerline goodness [0,1] 0.9974242981753642 Centerline is valid? [True, True] Translation: X:232.36, Y:13.37, Z:-0.18 [[ 9.99014952e-01 -4.41351273e-02 -4.60612312e-03 2.32359283e+02] [ 4.41360926e-02 9.99025522e-01 1.08086706e-04 1.33731500e+01] [ 4.59686413e-03 -3.11276512e-04 9.99989386e-01 -1.83728379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.461400513 meters Centerline goodness [0,1] 0.9974242981753642 Centerline is valid? [True, True] Translation: X:232.39, Y:13.37, Z:-0.18 [[ 9.99006776e-01 -4.43197973e-02 -4.60614296e-03 2.32386823e+02] [ 4.43207606e-02 9.99017347e-01 1.07237768e-04 1.33726488e+01] [ 4.59686396e-03 -3.11279017e-04 9.99989386e-01 -1.83725421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.49140051300003 meters Centerline goodness [0,1] 0.9934412174472189 Centerline is valid? [True, True] Translation: X:232.41, Y:13.37, Z:-0.18 [[ 9.99036846e-01 -4.36417690e-02 -4.55806438e-03 2.32414491e+02] [ 4.36427041e-02 9.99047198e-01 1.05843153e-04 1.33708240e+01] [ 4.54910226e-03 -3.04667464e-04 9.99989606e-01 -1.83498527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.521400513 meters Centerline goodness [0,1] 0.9988686333945267 Centerline is valid? [True, True] Translation: X:232.44, Y:13.38, Z:-0.18 [[ 9.99072219e-01 -4.28383321e-02 -4.42477161e-03 2.32444073e+02] [ 4.28392026e-02 9.99081975e-01 1.02090399e-04 1.33770806e+01] [ 4.41633618e-03 -2.91549369e-04 9.99990205e-01 -1.83236902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.55140051300003 meters Centerline goodness [0,1] 0.9973079799166755 Centerline is valid? [True, True] Translation: X:232.47, Y:13.37, Z:-0.18 [[ 9.99111678e-01 -4.19204125e-02 -4.30502717e-03 2.32471716e+02] [ 4.19212269e-02 9.99120914e-01 9.90693210e-05 1.33737012e+01] [ 4.29708966e-03 -2.79453336e-04 9.99990728e-01 -1.83278858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.581400513 meters Centerline goodness [0,1] 0.9995057483614483 Centerline is valid? [True, True] Translation: X:232.50, Y:13.38, Z:-0.18 [[ 9.99151686e-01 -4.09487119e-02 -4.37175784e-03 2.32500387e+02] [ 4.09495416e-02 9.99161211e-01 1.00401867e-04 1.33792033e+01] [ 4.36397953e-03 -2.79338174e-04 9.99990439e-01 -1.82677368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.611400513 meters Centerline goodness [0,1] 0.9993349922773297 Centerline is valid? [True, True] Translation: X:232.53, Y:13.38, Z:-0.18 [[ 9.99171073e-01 -4.04995340e-02 -4.11757970e-03 2.32528945e+02] [ 4.05002635e-02 9.99179523e-01 9.39048537e-05 1.33823083e+01] [ 4.11039822e-03 -2.60590077e-04 9.99991518e-01 -1.81915766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.641400513 meters Centerline goodness [0,1] 0.9999129715852225 Centerline is valid? [True, True] Translation: X:232.56, Y:13.40, Z:-0.18 [[ 9.99239050e-01 -3.88867388e-02 -3.02378945e-03 2.32559162e+02] [ 3.88871247e-02 9.99243607e-01 6.89113682e-05 1.33974839e+01] [ 3.01882254e-03 -1.86445408e-04 9.99995426e-01 -1.79692532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.671400513 meters Centerline goodness [0,1] 0.999464289540789 Centerline is valid? [True, True] Translation: X:232.59, Y:13.39, Z:-0.18 [[ 9.99246003e-01 -3.87166177e-02 -2.90662534e-03 2.32587323e+02] [ 3.87169721e-02 9.99250215e-01 6.57610782e-05 1.33907504e+01] [ 2.90189995e-03 -1.78247227e-04 9.99995774e-01 -1.81137216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.701400513 meters Centerline goodness [0,1] 0.9997215797138697 Centerline is valid? [True, True] Translation: X:232.62, Y:13.39, Z:-0.18 [[ 9.99270223e-01 -3.80706065e-02 -3.10634746e-03 2.32616682e+02] [ 3.80710067e-02 9.99275034e-01 6.98066867e-05 1.33944939e+01] [ 3.10143788e-03 -1.88017518e-04 9.99995173e-01 -1.81208591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.731400513 meters Centerline goodness [0,1] 0.9993320405085111 Centerline is valid? [True, True] Translation: X:232.65, Y:13.40, Z:-0.18 [[ 9.99259344e-01 -3.82179983e-02 -4.48864095e-03 2.32645239e+02] [ 3.82188348e-02 9.99269388e-01 1.00694469e-04 1.33955393e+01] [ 4.48151316e-03 -2.72170516e-04 9.99989921e-01 -1.84015126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.761400513 meters Centerline goodness [0,1] 0.9997181388491393 Centerline is valid? [True, True] Translation: X:232.67, Y:13.40, Z:-0.18 [[ 9.99226681e-01 -3.90251656e-02 -4.80383848e-03 2.32673879e+02] [ 3.90261293e-02 9.99238185e-01 1.06999065e-04 1.34032654e+01] [ 4.79600319e-03 -2.94391542e-04 9.99988456e-01 -1.83942263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.791400513 meters Centerline goodness [0,1] 0.9990145672664953 Centerline is valid? [True, True] Translation: X:232.70, Y:13.40, Z:-0.18 [[ 9.99198767e-01 -3.97241045e-02 -4.88046229e-03 2.32702006e+02] [ 3.97251060e-02 9.99210641e-01 1.08412715e-04 1.34017934e+01] [ 4.87230326e-03 -3.02202733e-04 9.99988085e-01 -1.84351791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.821400513 meters Centerline goodness [0,1] 0.9993356478504993 Centerline is valid? [True, True] Translation: X:232.73, Y:13.41, Z:-0.18 [[ 9.99167702e-01 -4.05351328e-02 -4.56146528e-03 2.32730528e+02] [ 4.05360143e-02 9.99178073e-01 1.00933193e-04 1.34057117e+01] [ 4.55362474e-03 -2.85752808e-04 9.99989591e-01 -1.84201633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.851400513 meters Centerline goodness [0,1] 0.9963867082481987 Centerline is valid? [True, True] Translation: X:232.76, Y:13.40, Z:-0.18 [[ 9.99134138e-01 -4.13905385e-02 -4.21881144e-03 2.32757697e+02] [ 4.13912989e-02 9.99143009e-01 9.30639532e-05 1.34025648e+01] [ 4.21134398e-03 -2.67605458e-04 9.99991096e-01 -1.84048801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.881400513 meters Centerline goodness [0,1] 0.9995012901407229 Centerline is valid? [True, True] Translation: X:232.79, Y:13.42, Z:-0.18 [[ 9.99070272e-01 -4.29730752e-02 -3.45062405e-03 2.32787245e+02] [ 4.29735927e-02 9.99076206e-01 7.59287976e-05 1.34186011e+01] [ 3.44417349e-03 -2.24143917e-04 9.99994044e-01 -1.82119557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.911400513 meters Centerline goodness [0,1] 0.9988891737161412 Centerline is valid? [True, True] Translation: X:232.82, Y:13.42, Z:-0.18 [[ 9.99041260e-01 -4.36553523e-02 -3.28186637e-03 2.32816235e+02] [ 4.36558237e-02 9.99046627e-01 7.20993918e-05 1.34174757e+01] [ 3.27559000e-03 -2.15302847e-04 9.99994612e-01 -1.81623922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.941400513 meters Centerline goodness [0,1] 0.9940025115835968 Centerline is valid? [True, True] Translation: X:232.85, Y:13.42, Z:-0.18 [[ 9.99013375e-01 -4.42634723e-02 -3.60867438e-03 2.32845300e+02] [ 4.42640458e-02 9.99019864e-01 7.91566746e-05 1.34176677e+01] [ 3.60163364e-03 -2.38813105e-04 9.99993486e-01 -1.82198825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.971400513 meters Centerline goodness [0,1] 0.9855911461104608 Centerline is valid? [True, True] Translation: X:232.87, Y:13.42, Z:-0.18 [[ 9.98992641e-01 -4.46838992e-02 -4.12938652e-03 2.32873276e+02] [ 4.46846527e-02 9.99001138e-01 9.03533017e-05 1.34185164e+01] [ 4.12122449e-03 -2.74782486e-04 9.99991470e-01 -1.83201993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.001400513 meters Centerline goodness [0,1] 0.998988942907542 Centerline is valid? [True, True] Translation: X:232.90, Y:13.43, Z:-0.18 [[ 9.98953768e-01 -4.54418992e-02 -5.13839998e-03 2.32902260e+02] [ 4.54430717e-02 9.98966924e-01 1.11613256e-04 1.34310422e+01] [ 5.12801970e-03 -3.45001162e-04 9.99986792e-01 -1.84327854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.031400513 meters Centerline goodness [0,1] 0.9956124235416172 Centerline is valid? [True, True] Translation: X:232.93, Y:13.44, Z:-0.19 [[ 9.98846822e-01 -4.76025770e-02 -6.24666727e-03 2.32931959e+02] [ 4.76043514e-02 9.98866261e-01 1.35596694e-04 1.34354204e+01] [ 6.23313043e-03 -4.32808871e-04 9.99980480e-01 -1.87213091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.061400513 meters Centerline goodness [0,1] 0.9626851234873074 Centerline is valid? [True, True] Translation: X:232.96, Y:13.43, Z:-0.19 [[ 9.98801634e-01 -4.86026590e-02 -5.75134866e-03 2.32960465e+02] [ 4.86041785e-02 9.98818111e-01 1.24650946e-04 1.34300195e+01] [ 5.73849283e-03 -4.04041145e-04 9.99983453e-01 -1.87143042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.091400513 meters Centerline goodness [0,1] 0.9954757987704563 Centerline is valid? [True, True] Translation: X:232.99, Y:13.44, Z:-0.19 [[ 9.98740075e-01 -4.98854091e-02 -5.45050905e-03 2.32990076e+02] [ 4.98867918e-02 9.98754872e-01 1.17943961e-04 1.34387513e+01] [ 5.43783879e-03 -3.89703771e-04 9.99985139e-01 -1.86273072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.121400513 meters Centerline goodness [0,1] 0.984226035708095 Centerline is valid? [True, True] Translation: X:233.02, Y:13.44, Z:-0.19 [[ 9.98581387e-01 -5.29795961e-02 -5.32690798e-03 2.33020526e+02] [ 5.29809605e-02 9.98595516e-01 1.15242501e-04 1.34390920e+01] [ 5.31332092e-03 -3.97303717e-04 9.99985805e-01 -1.86269852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.151400513 meters Centerline goodness [0,1] 0.9903813122638269 Centerline is valid? [True, True] Translation: X:233.05, Y:13.44, Z:-0.19 [[ 9.98538429e-01 -5.38098592e-02 -5.05028846e-03 2.33049819e+02] [ 5.38110952e-02 9.98551127e-01 1.09086671e-04 1.34425597e+01] [ 5.03710130e-03 -3.80688786e-04 9.99987241e-01 -1.85699554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.181400513 meters Centerline goodness [0,1] 0.9912428281782494 Centerline is valid? [True, True] Translation: X:233.08, Y:13.45, Z:-0.19 [[ 9.98493022e-01 -5.46350715e-02 -5.16670833e-03 2.33079658e+02] [ 5.46363756e-02 9.98506311e-01 1.11480098e-04 1.34462002e+01] [ 5.15290016e-03 -3.93602317e-04 9.99986646e-01 -1.85746953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.211400513 meters Centerline goodness [0,1] 0.9608963753947962 Centerline is valid? [True, True] Translation: X:233.11, Y:13.44, Z:-0.19 [[ 9.98495376e-01 -5.46133142e-02 -4.93664581e-03 2.33108591e+02] [ 5.46145036e-02 9.98507509e-01 1.06346605e-04 1.34419056e+01] [ 4.92346997e-03 -3.75799054e-04 9.99987809e-01 -1.86134626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.24140051300003 meters Centerline goodness [0,1] 0.9788251070640654 Centerline is valid? [True, True] Translation: X:233.14, Y:13.44, Z:-0.19 [[ 9.98512298e-01 -5.42929614e-02 -5.04622646e-03 2.33138298e+02] [ 5.42941995e-02 9.98524976e-01 1.08590600e-04 1.34448873e+01] [ 5.03288746e-03 -3.82409876e-04 9.99987262e-01 -1.86707103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.271400513 meters Centerline goodness [0,1] 0.959517030249834 Centerline is valid? [True, True] Translation: X:233.17, Y:13.44, Z:-0.19 [[ 9.98592385e-01 -5.28675246e-02 -4.27468732e-03 2.33166885e+02] [ 5.28683995e-02 9.98601484e-01 9.18433306e-05 1.34434436e+01] [ 4.26385357e-03 -3.17709927e-04 9.99990859e-01 -1.86674639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.30140051300003 meters Centerline goodness [0,1] 0.9950673128702208 Centerline is valid? [True, True] Translation: X:233.20, Y:13.45, Z:-0.18 [[ 9.98659708e-01 -5.16441566e-02 -3.41582955e-03 2.33197436e+02] [ 5.16447079e-02 9.98665519e-01 7.33497201e-05 1.34517908e+01] [ 3.40748311e-03 -2.49660930e-04 9.99994163e-01 -1.84835392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.331400513 meters Centerline goodness [0,1] 0.9985811333734629 Centerline is valid? [True, True] Translation: X:233.23, Y:13.46, Z:-0.18 [[ 9.98751643e-01 -4.98794677e-02 -2.68226524e-03 2.33228098e+02] [ 4.98798014e-02 9.98755226e-01 5.75885495e-05 1.34580534e+01] [ 2.67605394e-03 -1.91307516e-04 9.99996401e-01 -1.82735949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.361400513 meters Centerline goodness [0,1] 0.9353056266259594 Centerline is valid? [True, False] Translation: X:233.23, Y:13.46, Z:-0.18 [[ 9.98963590e-01 -4.54355850e-02 -2.71158744e-03 2.33227563e+02] [ 4.54482434e-02 9.98955138e-01 4.80504762e-03 1.34559938e+01] [ 2.49043405e-03 -4.92330451e-03 9.99984779e-01 -1.82768891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.391400513 meters Centerline goodness [0,1] 0.9993945029517981 Centerline is valid? [False, True] Translation: X:233.21, Y:13.47, Z:-0.18 [[ 9.99203650e-01 -3.96214383e-02 -4.71242358e-03 2.33210602e+02] [ 3.96087852e-02 9.99211483e-01 -2.74876377e-03 1.34660783e+01] [ 4.81761773e-03 2.55992142e-03 9.99985119e-01 -1.84750142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.421400513 meters Centerline goodness [0,1] 0.9982134400964312 Centerline is valid? [True, True] Translation: X:233.24, Y:13.46, Z:-0.19 [[ 9.99257396e-01 -3.81741203e-02 -5.23393013e-03 2.33240533e+02] [ 3.81753335e-02 9.99271048e-01 1.32048316e-04 1.34638732e+01] [ 5.22507402e-03 -3.31757285e-04 9.99986294e-01 -1.87100371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.451400513 meters Centerline goodness [0,1] 0.995609956532082 Centerline is valid? [True, True] Translation: X:233.27, Y:13.46, Z:-0.19 [[ 9.99291428e-01 -3.72490082e-02 -5.39931094e-03 2.33269020e+02] [ 3.72502849e-02 9.99305958e-01 1.36053100e-04 1.34643334e+01] [ 5.39049575e-03 -3.37082567e-04 9.99985414e-01 -1.88745793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.481400513 meters Centerline goodness [0,1] 0.9997852141415009 Centerline is valid? [True, True] Translation: X:233.30, Y:13.48, Z:-0.19 [[ 9.99310132e-01 -3.68722255e-02 -4.43839464e-03 2.33298923e+02] [ 3.68730840e-02 9.99319950e-01 1.11733651e-04 1.34763108e+01] [ 4.43125644e-03 -2.75313868e-04 9.99990144e-01 -1.87030710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.511400513 meters Centerline goodness [0,1] 0.9995484550712795 Centerline is valid? [True, True] Translation: X:233.33, Y:13.47, Z:-0.19 [[ 9.99289414e-01 -3.75192521e-02 -3.60182495e-03 2.33327968e+02] [ 3.75198215e-02 9.99295879e-01 9.06283223e-05 1.34723256e+01] [ 3.59588852e-03 -2.25703752e-04 9.99993509e-01 -1.86597325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.541400513 meters Centerline goodness [0,1] 0.9992480718413647 Centerline is valid? [True, True] Translation: X:233.36, Y:13.47, Z:-0.19 [[ 9.99166874e-01 -4.05874005e-02 -4.26849920e-03 2.33358832e+02] [ 4.05882280e-02 9.99175953e-01 1.07389723e-04 1.34724546e+01] [ 4.26062308e-03 -2.80551072e-04 9.99990884e-01 -1.87217442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.571400513 meters Centerline goodness [0,1] 0.9987125292363153 Centerline is valid? [True, True] Translation: X:233.39, Y:13.47, Z:-0.19 [[ 9.99065673e-01 -4.28586935e-02 -5.56006200e-03 2.33389472e+02] [ 4.28601326e-02 9.99081073e-01 1.39870412e-04 1.34726369e+01] [ 5.54895804e-03 -3.78044722e-04 9.99984533e-01 -1.88977884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.601400513 meters Centerline goodness [0,1] 0.9955934643659606 Centerline is valid? [True, True] Translation: X:233.42, Y:13.47, Z:-0.19 [[ 9.98966537e-01 -4.49876468e-02 -6.47845230e-03 2.33419263e+02] [ 4.49896446e-02 9.98987440e-01 1.62902992e-04 1.34715566e+01] [ 6.46456385e-03 -4.54197904e-04 9.99979001e-01 -1.90227906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.631400513 meters Centerline goodness [0,1] 0.9633950551214814 Centerline is valid? [True, True] Translation: X:233.45, Y:13.46, Z:-0.19 [[ 9.98885015e-01 -4.67953956e-02 -6.23834400e-03 2.33448494e+02] [ 4.67972826e-02 9.98904395e-01 1.56765009e-04 1.34630531e+01] [ 6.22417335e-03 -4.48527765e-04 9.99980529e-01 -1.90730795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.661400513 meters Centerline goodness [0,1] 0.9502211207725341 Centerline is valid? [True, True] Translation: X:233.48, Y:13.46, Z:-0.19 [[ 9.98813817e-01 -4.84520687e-02 -4.83270460e-03 2.33478627e+02] [ 4.84532201e-02 9.98825446e-01 1.21388013e-04 1.34613786e+01] [ 4.82114682e-03 -3.55404125e-04 9.99988315e-01 -1.88632935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.691400513 meters Centerline goodness [0,1] 0.9462123647273117 Centerline is valid? [True, False] Translation: X:233.48, Y:13.46, Z:-0.19 [[ 9.98801139e-01 -4.87430021e-02 -4.51719424e-03 2.33476854e+02] [ 4.87416709e-02 9.98811337e-01 -4.04394549e-04 1.34635908e+01] [ 4.53153622e-03 1.83734141e-04 9.99989716e-01 -1.87199822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.721400513 meters Centerline goodness [0,1] 0.9903866740889822 Centerline is valid? [False, True] Translation: X:233.48, Y:13.46, Z:-0.19 [[ 9.98995762e-01 -4.46063241e-02 -4.21238092e-03 2.33475595e+02] [ 4.46269600e-02 9.98991512e-01 4.93896192e-03 1.34577744e+01] [ 3.98782385e-03 -5.12198778e-03 9.99978931e-01 -1.87979528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.751400513 meters Centerline goodness [0,1] 0.8455830913060991 Centerline is valid? [True, False] Translation: X:233.48, Y:13.46, Z:-0.19 [[ 9.98995366e-01 -4.46146037e-02 -4.21839454e-03 2.33475708e+02] [ 4.46353759e-02 9.98991005e-01 4.96538214e-03 1.34576623e+01] [ 3.99260965e-03 -5.14868338e-03 9.99978775e-01 -1.88198113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.781400513 meters Centerline goodness [0,1] 0.7686320503251945 Centerline is valid? [False, False] Translation: X:233.47, Y:13.46, Z:-0.19 [[ 9.98993852e-01 -4.46661876e-02 -4.02691730e-03 2.33474902e+02] [ 4.46861206e-02 9.98988545e-01 5.00382504e-03 1.34573395e+01] [ 3.79934246e-03 -5.17873777e-03 9.99979373e-01 -1.87853288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.811400513 meters Centerline goodness [0,1] 0.9318695025699477 Centerline is valid? [False, False] Translation: X:233.47, Y:13.46, Z:-0.19 [[ 9.98996450e-01 -4.46062700e-02 -4.04642842e-03 2.33474961e+02] [ 4.46268846e-02 9.98990419e-01 5.15587586e-03 1.34566295e+01] [ 3.81235883e-03 -5.33128118e-03 9.99978521e-01 -1.87832131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.841400513 meters Centerline goodness [0,1] 0.9654460502010214 Centerline is valid? [False, True] Translation: X:233.48, Y:13.46, Z:-0.19 [[ 9.98999888e-01 -4.45216155e-02 -4.12914089e-03 2.33475327e+02] [ 4.45433658e-02 9.98993210e-01 5.33424564e-03 1.34558307e+01] [ 3.88749448e-03 -5.51283663e-03 9.99977248e-01 -1.88008103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.871400513 meters Centerline goodness [0,1] 0.8822108705409623 Centerline is valid? [True, False] Translation: X:233.50, Y:13.46, Z:-0.19 [[ 9.99047730e-01 -4.34257111e-02 -4.22382091e-03 2.33497058e+02] [ 4.34073097e-02 9.99047967e-01 -4.35484727e-03 1.34606146e+01] [ 4.40891204e-03 4.16735558e-03 9.99981597e-01 -1.85460628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.901400513 meters Centerline goodness [0,1] 0.9956279210010553 Centerline is valid? [False, True] Translation: X:233.50, Y:13.46, Z:-0.19 [[ 9.99239091e-01 -3.87424157e-02 -4.50153425e-03 2.33497890e+02] [ 3.87459191e-02 9.99248854e-01 6.93635765e-04 1.34573904e+01] [ 4.47127981e-03 -8.67524053e-04 9.99989627e-01 -1.86431411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.931400513 meters Centerline goodness [0,1] 0.9924092198127892 Centerline is valid? [True, True] Translation: X:233.53, Y:13.46, Z:-0.19 [[ 9.99392922e-01 -3.46011993e-02 -4.06748251e-03 2.33527205e+02] [ 3.46020507e-02 9.99401160e-01 1.39108788e-04 1.34560691e+01] [ 4.06023341e-03 -2.79767574e-04 9.99991718e-01 -1.85728084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.961400513 meters Centerline goodness [0,1] 0.9986320401838196 Centerline is valid? [True, True] Translation: X:233.56, Y:13.46, Z:-0.18 [[ 9.99550597e-01 -2.97836988e-02 -3.39623085e-03 2.33557842e+02] [ 2.97842646e-02 9.99556344e-01 1.16125651e-04 1.34633340e+01] [ 3.39126543e-03 -2.17227702e-04 9.99994226e-01 -1.84183130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.99140051300003 meters Centerline goodness [0,1] 0.999655179845262 Centerline is valid? [True, True] Translation: X:233.59, Y:13.47, Z:-0.18 [[ 9.99694061e-01 -2.45127323e-02 -3.30295699e-03 2.33588452e+02] [ 2.45132388e-02 9.99699499e-01 1.12932357e-04 1.34693316e+01] [ 3.29919617e-03 -1.93863980e-04 9.99994539e-01 -1.83425052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.021400513 meters Centerline goodness [0,1] 0.999764731044808 Centerline is valid? [True, True] Translation: X:233.62, Y:13.47, Z:-0.18 [[ 9.99806038e-01 -1.94181383e-02 -3.28982988e-03 2.33618450e+02] [ 1.94186132e-02 9.99811435e-01 1.12479967e-04 1.34723070e+01] [ 3.28702538e-03 -1.76342084e-04 9.99994582e-01 -1.84072818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.05140051300003 meters Centerline goodness [0,1] 0.9996295973505316 Centerline is valid? [True, True] Translation: X:233.65, Y:13.48, Z:-0.19 [[ 9.99910921e-01 -1.28072781e-02 -3.75816513e-03 2.33649289e+02] [ 1.28078512e-02 9.99917968e-01 1.28478965e-04 1.34823262e+01] [ 3.75621137e-03 -1.76601540e-04 9.99992930e-01 -1.86697812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.081400513 meters Centerline goodness [0,1] 0.9998493522145224 Centerline is valid? [True, True] Translation: X:233.68, Y:13.49, Z:-0.19 [[ 9.99931434e-01 -1.10539201e-02 -3.86504668e-03 2.33679311e+02] [ 1.10545129e-02 9.99938888e-01 1.32062150e-04 1.34899869e+01] [ 3.86335068e-03 -1.74779303e-04 9.99992522e-01 -1.85841423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.111400513 meters Centerline goodness [0,1] 0.9998069539477917 Centerline is valid? [True, True] Translation: X:233.71, Y:13.49, Z:-0.19 [[ 9.99941151e-01 -1.01679349e-02 -3.78245658e-03 2.33708615e+02] [ 1.01684961e-02 9.99948291e-01 1.29152307e-04 1.34906643e+01] [ 3.78094778e-03 -1.67606602e-04 9.99992838e-01 -1.87139001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.141400513 meters Centerline goodness [0,1] 0.9998919292785199 Centerline is valid? [True, True] Translation: X:233.74, Y:13.49, Z:-0.19 [[ 9.99950868e-01 -9.23360738e-03 -3.60577854e-03 2.33738009e+02] [ 9.23410975e-03 9.99957357e-01 1.22700187e-04 1.34913907e+01] [ 3.60449181e-03 -1.55990313e-04 9.99993492e-01 -1.85652954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.171400513 meters Centerline goodness [0,1] 0.999956783854448 Centerline is valid? [True, True] Translation: X:233.77, Y:13.49, Z:-0.18 [[ 9.99975884e-01 -6.49719151e-03 -2.45334865e-03 2.33767345e+02] [ 6.49741550e-03 9.99978888e-01 8.33442217e-05 1.34907758e+01] [ 2.45275535e-03 -9.92826373e-05 9.99996987e-01 -1.84554703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.201400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.80, Y:13.49, Z:-0.18 [[ 9.99989194e-01 -4.09118024e-03 -2.20761575e-03 2.33797703e+02] [ 4.09135568e-03 9.99991628e-01 7.49607730e-05 1.34946161e+01] [ 2.20729059e-03 -8.39921043e-05 9.99997560e-01 -1.84094795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.231400513 meters Centerline goodness [0,1] 0.9998721581829416 Centerline is valid? [True, True] Translation: X:233.83, Y:13.49, Z:-0.18 [[ 9.99998021e-01 -7.81733294e-04 -1.82955621e-03 2.33826484e+02] [ 7.81848207e-04 9.99999692e-01 6.20947378e-05 1.34944742e+01] [ 1.82950710e-03 -6.35250501e-05 9.99998324e-01 -1.83200281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.261400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.86, Y:13.50, Z:-0.18 [[ 9.99995132e-01 3.02420587e-03 -7.68654870e-04 2.33856456e+02] [-3.02418672e-03 9.99995427e-01 2.60838830e-05 1.35021626e+01] [ 7.68730237e-04 -2.37592001e-05 9.99999704e-01 -1.81785727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.291400513 meters Centerline goodness [0,1] 0.9999787166116846 Centerline is valid? [True, True] Translation: X:233.89, Y:13.51, Z:-0.18 [[ 9.99949514e-01 9.89372062e-03 1.75593607e-03 2.33886421e+02] [-9.89363140e-03 9.99951055e-01 -5.94930311e-05 1.35059210e+01] [-1.75643873e-03 4.21174433e-05 9.99998457e-01 -1.78396672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.321400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.92, Y:13.51, Z:-0.18 [[ 9.99921584e-01 1.23507688e-02 2.06982056e-03 2.33916087e+02] [-1.23506502e-02 9.99923725e-01 -7.00738356e-05 1.35091952e+01] [-2.07052816e-03 4.45047109e-05 9.99997855e-01 -1.78193985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.351400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.95, Y:13.51, Z:-0.18 [[ 9.99921867e-01 1.23278307e-02 2.06982217e-03 2.33945238e+02] [-1.23277121e-02 9.99924008e-01 -7.00263084e-05 1.35082476e+01] [-2.07052816e-03 4.45046651e-05 9.99997855e-01 -1.78164190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.381400513 meters Centerline goodness [0,1] 0.9999350972459599 Centerline is valid? [True, True] Translation: X:233.97, Y:13.51, Z:-0.18 [[ 9.99895740e-01 1.43903309e-02 1.19488498e-03 2.33974835e+02] [-1.43902929e-02 9.99896454e-01 -4.03860682e-05 1.35125400e+01] [-1.19534243e-03 2.31871126e-05 9.99999285e-01 -1.80615370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.411400513 meters Centerline goodness [0,1] 0.9999785278708236 Centerline is valid? [True, True] Translation: X:234.00, Y:13.51, Z:-0.18 [[ 9.99865798e-01 1.63810173e-02 2.21390905e-04 2.34003997e+02] [-1.63810161e-02 9.99865822e-01 -7.45782709e-06 1.35134628e+01] [-2.21483366e-04 3.83021826e-06 9.99999975e-01 -1.82371199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.441400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.03, Y:13.52, Z:-0.18 [[ 9.99806562e-01 1.96347405e-02 -1.14657447e-03 2.34033363e+02] [-1.96347090e-02 9.99807220e-01 3.87415940e-05 1.35159092e+01] [ 1.14711412e-03 -1.62214438e-05 9.99999342e-01 -1.83758732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.471400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.06, Y:13.52, Z:-0.18 [[ 9.99773664e-01 2.12397455e-02 -1.22213583e-03 2.34061524e+02] [-2.12397110e-02 9.99774411e-01 4.12157874e-05 1.35166833e+01] [ 1.22273554e-03 -1.52486470e-05 9.99999252e-01 -1.83536631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.501400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.09, Y:13.52, Z:-0.18 [[ 9.99739812e-01 2.27890235e-02 -9.84473396e-04 2.34090436e+02] [-2.27890019e-02 9.99740296e-01 3.31541430e-05 1.35189089e+01] [ 9.84973276e-04 -1.07103506e-05 9.99999515e-01 -1.82809401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.531400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.12, Y:13.52, Z:-0.18 [[ 9.99699486e-01 2.45058879e-02 -6.31018998e-04 2.34118813e+02] [-2.45058794e-02 9.99699686e-01 2.12380575e-05 1.35192988e+01] [ 6.31349951e-04 -5.76799967e-06 9.99999801e-01 -1.82123474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.561400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.15, Y:13.52, Z:-0.18 [[ 9.99648284e-01 2.65094195e-02 -7.47894686e-04 2.34148161e+02] [-2.65094081e-02 9.99648564e-01 2.51347330e-05 1.35200841e+01] [ 7.48298156e-04 -5.29964722e-06 9.99999720e-01 -1.82681803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.591400513 meters Centerline goodness [0,1] 0.9999569141946186 Centerline is valid? [True, True] Translation: X:234.18, Y:13.52, Z:-0.19 [[ 9.99494578e-01 3.17330875e-02 -1.89724211e-03 2.34176459e+02] [-3.17330241e-02 9.99496379e-01 6.35136630e-05 1.35241870e+01] [ 1.89830210e-03 -3.27633215e-06 9.99998198e-01 -1.86200683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.621400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.20, Y:13.53, Z:-0.19 [[ 9.99405945e-01 3.44085084e-02 -1.95227266e-03 2.34204090e+02] [-3.44084467e-02 9.99407852e-01 6.52261481e-05 1.35265771e+01] [ 1.95336096e-03 1.98726942e-06 9.99998092e-01 -1.85677699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.651400513 meters Centerline goodness [0,1] 0.9999785568778814 Centerline is valid? [True, True] Translation: X:234.23, Y:13.53, Z:-0.19 [[ 9.99309434e-01 3.70995980e-02 -2.06752392e-03 2.34232981e+02] [-3.70995348e-02 9.99311573e-01 6.89488297e-05 1.35288231e+01] [ 2.06865856e-03 7.80295967e-06 9.99997860e-01 -1.85929925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.681400513 meters Centerline goodness [0,1] 0.9998708649893464 Centerline is valid? [True, True] Translation: X:234.26, Y:13.53, Z:-0.19 [[ 9.99235598e-01 3.90317194e-02 -2.17800408e-03 2.34261776e+02] [-3.90316542e-02 9.99237972e-01 7.24718763e-05 1.35300761e+01] [ 2.17917308e-03 1.25946234e-05 9.99997626e-01 -1.86120646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.711400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.29, Y:13.53, Z:-0.19 [[ 9.99133947e-01 4.15263974e-02 -2.62940718e-03 2.34290381e+02] [-4.15263115e-02 9.99137407e-01 8.72937941e-05 1.35282486e+01] [ 2.63076407e-03 2.19713885e-05 9.99996539e-01 -1.86195427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.74140051300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.32, Y:13.53, Z:-0.19 [[ 9.99132991e-01 4.15224642e-02 -3.02516765e-03 2.34317319e+02] [-4.15223511e-02 9.99137570e-01 1.00196127e-04 1.35260271e+01] [ 3.02671904e-03 2.55028170e-05 9.99995419e-01 -1.87651839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.771400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.35, Y:13.52, Z:-0.19 [[ 9.99168418e-01 4.06298204e-02 -3.41919497e-03 2.34346237e+02] [-4.06296714e-02 9.99174268e-01 1.13029469e-04 1.35206466e+01] [ 3.42096399e-03 2.59852927e-05 9.99994148e-01 -1.88723582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.80140051300003 meters Centerline goodness [0,1] 0.9999783202532194 Centerline is valid? [True, True] Translation: X:234.37, Y:13.51, Z:-0.19 [[ 9.99297402e-01 3.72072419e-02 -4.50823886e-03 2.34373299e+02] [-3.72069492e-02 9.99307571e-01 1.48799796e-04 1.35085797e+01] [ 4.51065365e-03 1.90425645e-05 9.99989827e-01 -1.91336073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.831400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.40, Y:13.50, Z:-0.19 [[ 9.99372713e-01 3.51341957e-02 -4.44613578e-03 2.34402178e+02] [-3.51338915e-02 9.99382604e-01 1.46528174e-04 1.35006819e+01] [ 4.44853890e-03 9.77379309e-06 9.99990105e-01 -1.89720589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.861400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.43, Y:13.49, Z:-0.19 [[ 9.99426517e-01 3.35959800e-02 -4.23648648e-03 2.34431153e+02] [-3.35956909e-02 9.99435496e-01 1.39407878e-04 1.34939963e+01] [ 4.23877851e-03 2.99976031e-06 9.99991016e-01 -1.89090460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.891400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.46, Y:13.49, Z:-0.19 [[ 9.99457962e-01 3.26799451e-02 -3.97525435e-03 2.34457734e+02] [-3.26796846e-02 9.99465868e-01 1.30505428e-04 1.34879021e+01] [ 3.97739595e-03 -5.24631234e-07 9.99992090e-01 -1.88568997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.921400513 meters Centerline goodness [0,1] 0.9999784853700516 Centerline is valid? [True, True] Translation: X:234.49, Y:13.48, Z:-0.19 [[ 9.99456010e-01 3.27809483e-02 -3.61850423e-03 2.34485528e+02] [-3.27807341e-02 9.99462560e-01 1.18524193e-04 1.34831680e+01] [ 3.62044484e-03 1.57507361e-07 9.99993446e-01 -1.88455544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.951400513 meters Centerline goodness [0,1] 0.9998716879450824 Centerline is valid? [True, True] Translation: X:234.51, Y:13.48, Z:-0.19 [[ 9.99408727e-01 3.42416490e-02 -3.11536187e-03 2.34512352e+02] [-3.42414980e-02 9.99413583e-01 1.01803689e-04 1.34799026e+01] [ 3.11702090e-03 4.93116245e-06 9.99995142e-01 -1.88231024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.981400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.54, Y:13.48, Z:-0.19 [[ 9.99206222e-01 3.98191395e-02 -1.16746854e-03 2.34541212e+02] [-3.98191222e-02 9.99206904e-01 3.81131790e-05 1.34770230e+01] [ 1.16806026e-03 8.40464686e-06 9.99999318e-01 -1.85187153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.011400513 meters Centerline goodness [0,1] 0.9998922692407136 Centerline is valid? [True, True] Translation: X:234.57, Y:13.47, Z:-0.18 [[ 9.99074524e-01 4.30113341e-02 -3.47682569e-04 2.34569902e+02] [-4.30113328e-02 9.99074584e-01 1.13726921e-05 1.34744087e+01] [ 3.47849973e-04 3.59212378e-06 9.99999939e-01 -1.84709031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.041400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.60, Y:13.47, Z:-0.18 [[ 9.98946770e-01 4.58839812e-02 1.05599391e-04 2.34597863e+02] [-4.58839811e-02 9.98946775e-01 -3.37058540e-06 1.34737550e+01] [-1.05642827e-04 -1.47828505e-06 9.99999994e-01 -1.82985412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.071400513 meters Centerline goodness [0,1] 0.999913845093478 Centerline is valid? [True, True] Translation: X:234.63, Y:13.47, Z:-0.18 [[ 9.98837311e-01 4.82075513e-02 -2.43082106e-04 2.34626307e+02] [-4.82075508e-02 9.98837340e-01 7.93902719e-06 1.34722065e+01] [ 2.43182205e-04 3.78859642e-06 9.99999970e-01 -1.84087103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.101400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.66, Y:13.47, Z:-0.18 [[ 9.98654910e-01 5.18368335e-02 -1.14630257e-03 2.34655894e+02] [-5.18368249e-02 9.98655567e-01 3.72036688e-05 1.34677800e+01] [ 1.14668996e-03 2.22670592e-05 9.99999342e-01 -1.84445325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.131400513 meters Centerline goodness [0,1] 0.9999146703074002 Centerline is valid? [True, True] Translation: X:234.68, Y:13.47, Z:-0.19 [[ 9.98610032e-01 5.26979017e-02 -9.67098635e-04 2.34683643e+02] [-5.26978960e-02 9.98610500e-01 3.13699815e-05 1.34650021e+01] [ 9.67407984e-04 1.96376851e-05 9.99999532e-01 -1.85074393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.161400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.71, Y:13.46, Z:-0.18 [[ 9.98620809e-01 5.25018515e-02 -1.85703953e-04 2.34710438e+02] [-5.25018513e-02 9.98620827e-01 6.08071668e-06 1.34607591e+01] [ 1.85767084e-04 3.67747113e-06 9.99999983e-01 -1.82871015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.191400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.74, Y:13.45, Z:-0.18 [[ 9.98658922e-01 5.17679017e-02 6.64948677e-04 2.34739367e+02] [-5.17678989e-02 9.98659143e-01 -2.13905663e-05 1.34540255e+01] [-6.65164421e-04 -1.30611160e-05 9.99999779e-01 -1.81427212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.221400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.77, Y:13.44, Z:-0.18 [[ 9.98758286e-01 4.98133031e-02 7.21533671e-04 2.34766814e+02] [-4.98132993e-02 9.98758547e-01 -2.31620156e-05 1.34443452e+01] [-7.21791697e-04 -1.28087178e-05 9.99999739e-01 -1.81226935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.251400513 meters Centerline goodness [0,1] 0.9999356029708496 Centerline is valid? [True, True] Translation: X:234.80, Y:13.44, Z:-0.18 [[ 9.98815170e-01 4.86642971e-02 -2.06768803e-04 2.34795413e+02] [-4.86642968e-02 9.98815191e-01 6.69281521e-06 1.34371222e+01] [ 2.06849523e-04 3.37737303e-06 9.99999979e-01 -1.83873376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.281400513 meters Centerline goodness [0,1] 0.9999569392412694 Centerline is valid? [True, True] Translation: X:234.82, Y:13.43, Z:-0.19 [[ 9.98890851e-01 4.70728825e-02 -1.10109837e-03 2.34824338e+02] [-4.70728720e-02 9.98891457e-01 3.53824148e-05 1.34271731e+01] [ 1.10154331e-03 1.64886924e-05 9.99999393e-01 -1.86053898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.311400513 meters Centerline goodness [0,1] 0.999914458630055 Centerline is valid? [True, True] Translation: X:234.85, Y:13.42, Z:-0.19 [[ 9.98943555e-01 4.59196531e-02 -1.77723885e-03 2.34851623e+02] [-4.59196243e-02 9.98945136e-01 5.69829805e-05 1.34200866e+01] [ 1.77798074e-03 2.46873591e-05 9.99998419e-01 -1.87415303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.341400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.88, Y:13.41, Z:-0.19 [[ 9.98996097e-01 4.47585938e-02 -1.86158279e-03 2.34880728e+02] [-4.47585604e-02 9.98997832e-01 5.95920481e-05 1.34118857e+01] [ 1.86238443e-03 2.37895425e-05 9.99998265e-01 -1.86869008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.371400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.91, Y:13.40, Z:-0.19 [[ 9.98991383e-01 4.48662306e-02 -1.79943960e-03 2.34907950e+02] [-4.48661998e-02 9.98993003e-01 5.75208436e-05 1.34006738e+01] [ 1.80020832e-03 2.32711896e-05 9.99998379e-01 -1.85598293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.401400513 meters Centerline goodness [0,1] 0.9999784552407627 Centerline is valid? [True, True] Translation: X:234.94, Y:13.40, Z:-0.19 [[ 9.98921132e-01 4.63864831e-02 -2.20614011e-03 2.34936186e+02] [-4.63864408e-02 9.98923567e-01 7.03750124e-05 1.33962191e+01] [ 2.20702980e-03 3.20359007e-05 9.99997564e-01 -1.85994947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.431400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.97, Y:13.39, Z:-0.19 [[ 9.98795404e-01 4.89976017e-02 -2.64132377e-03 2.34965009e+02] [-4.89975506e-02 9.98798895e-01 8.41045045e-05 1.33948114e+01] [ 2.64227218e-03 4.54152023e-05 9.99996508e-01 -1.86492073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.461400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.99, Y:13.40, Z:-0.19 [[ 9.98627709e-01 5.22930267e-02 -2.85284334e-03 2.34993725e+02] [-5.22929809e-02 9.98631782e-01 9.06986015e-05 1.33960849e+01] [ 2.85368293e-03 5.86095456e-05 9.99995927e-01 -1.87387233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.49140051300003 meters Centerline goodness [0,1] 0.9999783652806024 Centerline is valid? [True, True] Translation: X:235.02, Y:13.39, Z:-0.19 [[ 9.98226083e-01 5.94313365e-02 -3.55026638e-03 2.35023754e+02] [-5.94313110e-02 9.98232391e-01 1.12793504e-04 1.33934301e+01] [ 3.55069436e-03 9.84035670e-05 9.99993691e-01 -1.88399359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.521400513 meters Centerline goodness [0,1] 0.9999783933278596 Centerline is valid? [True, True] Translation: X:235.05, Y:13.39, Z:-0.19 [[ 9.98025361e-01 6.26799860e-02 -4.07417839e-03 2.35052172e+02] [-6.26799800e-02 9.98033668e-01 1.29278860e-04 1.33941619e+01] [ 4.07427040e-03 1.26345839e-04 9.99991692e-01 -1.89604164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.55140051300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.08, Y:13.39, Z:-0.19 [[ 9.97841717e-01 6.55243740e-02 -4.29707413e-03 2.35080161e+02] [-6.55243946e-02 9.97850958e-01 1.36139916e-04 1.33939164e+01] [ 4.29676002e-03 1.45717094e-04 9.99990758e-01 -1.89642851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.581400513 meters Centerline goodness [0,1] 0.9999781583085794 Centerline is valid? [True, True] Translation: X:235.11, Y:13.39, Z:-0.19 [[ 9.97618277e-01 6.88637818e-02 -3.94382136e-03 2.35109927e+02] [-6.88638255e-02 9.97626061e-01 1.24866402e-04 1.33859452e+01] [ 3.94305774e-03 1.47017622e-04 9.99992215e-01 -1.88908359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.611400513 meters Centerline goodness [0,1] 0.9997836059897862 Centerline is valid? [True, True] Translation: X:235.14, Y:13.39, Z:-0.19 [[ 9.97556671e-01 6.98007067e-02 -2.92391134e-03 2.35137748e+02] [-6.98007352e-02 9.97560950e-01 9.23917679e-05 1.33860930e+01] [ 2.92322878e-03 1.11925137e-04 9.99995721e-01 -1.88343295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.641400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.17, Y:13.38, Z:-0.19 [[ 9.97520661e-01 7.03280792e-02 -2.54792100e-03 2.35165816e+02] [-7.03281031e-02 9.97523910e-01 8.03379913e-05 1.33834531e+01] [ 2.54726214e-03 9.90516444e-05 9.99996751e-01 -1.86812672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.671400513 meters Centerline goodness [0,1] 0.9999142955090847 Centerline is valid? [True, True] Translation: X:235.19, Y:13.38, Z:-0.19 [[ 9.97551475e-01 6.99126747e-02 -1.80893995e-03 2.35193945e+02] [-6.99126862e-02 9.97553113e-01 5.69467105e-05 1.33807327e+01] [ 1.80849498e-03 6.96605761e-05 9.99998362e-01 -1.87276461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.701400513 meters Centerline goodness [0,1] 0.9999786898521076 Centerline is valid? [True, True] Translation: X:235.22, Y:13.37, Z:-0.19 [[ 9.97696261e-01 6.78137060e-02 -1.86353799e-03 2.35222447e+02] [-6.78137147e-02 9.97697999e-01 5.85636172e-05 1.33686048e+01] [ 1.86321954e-03 6.79447319e-05 9.99998262e-01 -1.87431317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.731400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.25, Y:13.36, Z:-0.19 [[ 9.97788033e-01 6.64339304e-02 -2.36079165e-03 2.35251231e+02] [-6.64339409e-02 9.97790823e-01 7.40798333e-05 1.33551557e+01] [ 2.36049765e-03 8.29207216e-05 9.99997211e-01 -1.87788148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.761400513 meters Centerline goodness [0,1] 0.9998272399421254 Centerline is valid? [True, True] Translation: X:235.28, Y:13.35, Z:-0.19 [[ 9.97868737e-01 6.51893148e-02 -2.88735375e-03 2.35278622e+02] [-6.51893257e-02 9.97872910e-01 9.04392839e-05 1.33530286e+01] [ 2.88710776e-03 9.79781102e-05 9.99995827e-01 -1.88948130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.791400513 meters Centerline goodness [0,1] 0.9999780706563453 Centerline is valid? [True, True] Translation: X:235.31, Y:13.34, Z:-0.19 [[ 9.97939322e-01 6.40662584e-02 -3.55313022e-03 2.35307422e+02] [-6.40662685e-02 9.97945640e-01 1.11088950e-04 1.33440823e+01] [ 3.55294787e-03 1.16775763e-04 9.99993681e-01 -1.89539776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.821400513 meters Centerline goodness [0,1] 0.9999783507609707 Centerline is valid? [True, True] Translation: X:235.34, Y:13.34, Z:-0.19 [[ 9.97972385e-01 6.34967272e-02 -4.39141085e-03 2.35335446e+02] [-6.34967383e-02 9.97982037e-01 1.37026656e-04 1.33413481e+01] [ 4.39124989e-03 1.42091447e-04 9.99990348e-01 -1.90793631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.851400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.36, Y:13.33, Z:-0.19 [[ 9.98032032e-01 6.25747545e-02 -4.05751278e-03 2.35363277e+02] [-6.25747574e-02 9.98040272e-01 1.26366652e-04 1.33332195e+01] [ 4.05746852e-03 1.27779912e-04 9.99991760e-01 -1.89906868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.881400513 meters Centerline goodness [0,1] 0.9998710620191688 Centerline is valid? [True, True] Translation: X:235.39, Y:13.33, Z:-0.19 [[ 9.98048130e-01 6.23673125e-02 -3.20126660e-03 2.35391549e+02] [-6.23673137e-02 9.98053259e-01 9.95459223e-05 1.33282229e+01] [ 3.20124298e-03 1.00302777e-04 9.99994871e-01 -1.89458984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.911400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.42, Y:13.33, Z:-0.19 [[ 9.98013538e-01 6.29417954e-02 -2.70330451e-03 2.35420474e+02] [-6.29417987e-02 9.98017196e-01 8.39383897e-05 1.33250962e+01] [ 2.70322762e-03 8.63791987e-05 9.99996343e-01 -1.88032237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.941400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.45, Y:13.32, Z:-0.19 [[ 9.97966629e-01 6.36838869e-02 -2.63987993e-03 2.35449610e+02] [-6.36838930e-02 9.97970117e-01 8.18430124e-05 1.33225599e+01] [ 2.63973337e-03 8.64412360e-05 9.99996512e-01 -1.88250536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.971400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.48, Y:13.32, Z:-0.19 [[ 9.97916190e-01 6.44768403e-02 -2.45238152e-03 2.35478392e+02] [-6.44768482e-02 9.97919200e-01 7.59147296e-05 1.33150444e+01] [ 2.45217335e-03 8.23652935e-05 9.99996990e-01 -1.87930298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.001400513 meters Centerline goodness [0,1] 0.9999782561426397 Centerline is valid? [True, True] Translation: X:235.51, Y:13.31, Z:-0.19 [[ 9.97948616e-01 6.39712976e-02 -2.49669283e-03 2.35507364e+02] [-6.39713045e-02 9.97951735e-01 7.71624796e-05 1.33087002e+01] [ 2.49651513e-03 8.27125078e-05 9.99996880e-01 -1.88450190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.031400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.54, Y:13.31, Z:-0.19 [[ 9.98012098e-01 6.29399626e-02 -3.22691134e-03 2.35535389e+02] [-6.29399694e-02 9.98017310e-01 9.95290688e-05 1.33083190e+01] [ 3.22677773e-03 1.03770486e-04 9.99994789e-01 -1.88961919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.061400513 meters Centerline goodness [0,1] 0.9998931121467356 Centerline is valid? [True, True] Translation: X:235.56, Y:13.30, Z:-0.19 [[ 9.98232423e-01 5.93100167e-02 -3.78833498e-03 2.35563993e+02] [-5.93100005e-02 9.98239606e-01 1.16706367e-04 1.32969136e+01] [ 3.78858787e-03 1.08186070e-04 9.99992817e-01 -1.91818524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.091400513 meters Centerline goodness [0,1] 0.9998712612110029 Centerline is valid? [True, True] Translation: X:235.59, Y:13.29, Z:-0.19 [[ 9.98375222e-01 5.68592657e-02 -3.73371378e-03 2.35593173e+02] [-5.68592333e-02 9.98382199e-01 1.14901531e-04 1.32874939e+01] [ 3.73420659e-03 9.75812616e-05 9.99993023e-01 -1.91934015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.121400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.62, Y:13.28, Z:-0.19 [[ 9.98506143e-01 5.45298605e-02 -3.46066073e-03 2.35622106e+02] [-5.45298191e-02 9.98512137e-01 1.06372158e-04 1.32779547e+01] [ 3.46131220e-03 8.24959497e-05 9.99994006e-01 -1.90559343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.151400513 meters Centerline goodness [0,1] 0.9999132113953438 Centerline is valid? [True, True] Translation: X:235.65, Y:13.27, Z:-0.19 [[ 9.98615348e-01 5.25217008e-02 -2.97633576e-03 2.35650086e+02] [-5.25216617e-02 9.98619781e-01 9.13294186e-05 1.32741710e+01] [ 2.97702454e-03 6.51191410e-05 9.99995567e-01 -1.90408329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.181400513 meters Centerline goodness [0,1] 0.9999785287928887 Centerline is valid? [True, True] Translation: X:235.68, Y:13.26, Z:-0.19 [[ 9.98768460e-01 4.95931187e-02 -1.44430444e-03 2.35679325e+02] [-4.95931065e-02 9.98769504e-01 4.42774102e-05 1.32628260e+01] [ 1.44472308e-03 2.74046632e-05 9.99998956e-01 -1.87417224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.211400513 meters Centerline goodness [0,1] 0.999978483981324 Centerline is valid? [True, True] Translation: X:235.71, Y:13.26, Z:-0.19 [[ 9.98831146e-01 4.83217378e-02 -1.16276945e-03 2.35707545e+02] [-4.83217291e-02 9.98831822e-01 3.56214631e-05 1.32570896e+01] [ 1.16313242e-03 2.06072036e-05 9.99999323e-01 -1.87075364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.24140051300003 meters Centerline goodness [0,1] 0.9998927498927499 Centerline is valid? [True, True] Translation: X:235.74, Y:13.25, Z:-0.19 [[ 9.98881502e-01 4.72686683e-02 -1.19103847e-03 2.35737227e+02] [-4.72686585e-02 9.98882212e-01 3.64477149e-05 1.32520687e+01] [ 1.19142998e-03 1.98918426e-05 9.99999290e-01 -1.87410560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.271400513 meters Centerline goodness [0,1] 0.9998927498927499 Centerline is valid? [True, True] Translation: X:235.77, Y:13.25, Z:-0.19 [[ 9.98882626e-01 4.72449052e-02 -1.19103897e-03 2.35766383e+02] [-4.72448953e-02 9.98883336e-01 3.64314873e-05 1.32512197e+01] [ 1.19143018e-03 1.98797317e-05 9.99999290e-01 -1.87380768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.30140051300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.80, Y:13.25, Z:-0.19 [[ 9.98906793e-01 4.67165350e-02 -1.66851930e-03 2.35795219e+02] [-4.67165150e-02 9.98908186e-01 5.09795816e-05 1.32488988e+01] [ 1.66907918e-03 2.70235567e-05 9.99998607e-01 -1.87691671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.331400513 meters Centerline goodness [0,1] 0.999913481712197 Centerline is valid? [True, True] Translation: X:235.82, Y:13.24, Z:-0.19 [[ 9.98941159e-01 4.59811273e-02 -1.51569771e-03 2.35824779e+02] [-4.59811100e-02 9.98942308e-01 4.62654144e-05 1.32393003e+01] [ 1.51622191e-03 2.34770365e-05 9.99998850e-01 -1.87510546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.361400513 meters Centerline goodness [0,1] 0.9998922970877132 Centerline is valid? [True, True] Translation: X:235.85, Y:13.24, Z:-0.19 [[ 9.98948602e-01 4.58356943e-02 -8.83058809e-04 2.35854721e+02] [-4.58356884e-02 9.98948992e-01 2.69436543e-05 1.32360122e+01] [ 8.83365689e-04 1.35602826e-05 9.99999610e-01 -1.86194344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.391400513 meters Centerline goodness [0,1] 0.999871948096295 Centerline is valid? [True, True] Translation: X:235.88, Y:13.23, Z:-0.18 [[ 9.98962159e-01 4.55477121e-02 -1.02070218e-04 2.35883715e+02] [-4.55477120e-02 9.98962164e-01 3.09826661e-06 1.32344713e+01] [ 1.02105405e-04 1.55401379e-06 9.99999995e-01 -1.84747155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.421400513 meters Centerline goodness [0,1] 0.9999357752991801 Centerline is valid? [True, True] Translation: X:235.91, Y:13.23, Z:-0.18 [[ 9.98988591e-01 4.49642591e-02 -1.06088827e-04 2.35913378e+02] [-4.49642590e-02 9.98988596e-01 3.22157353e-06 1.32332502e+01] [ 1.06126384e-04 1.55189031e-06 9.99999994e-01 -1.84786990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.451400513 meters Centerline goodness [0,1] 0.9999785029450965 Centerline is valid? [True, True] Translation: X:235.94, Y:13.23, Z:-0.19 [[ 9.99027175e-01 4.40961206e-02 -4.85211581e-04 2.35943730e+02] [-4.40961186e-02 9.99027293e-01 1.48053125e-05 1.32304568e+01] [ 4.85392469e-04 6.60503785e-06 9.99999882e-01 -1.85217686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.481400513 meters Centerline goodness [0,1] 0.9999573169430395 Centerline is valid? [True, True] Translation: X:235.97, Y:13.22, Z:-0.18 [[ 9.99170599e-01 4.07164998e-02 5.29470676e-04 2.35972634e+02] [-4.07164970e-02 9.99170739e-01 -1.61901853e-05 1.32228086e+01] [-5.29690815e-04 -5.38143404e-06 9.99999860e-01 -1.83990009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.511400513 meters Centerline goodness [0,1] 0.999978507565337 Centerline is valid? [True, True] Translation: X:236.00, Y:13.22, Z:-0.18 [[ 9.99280817e-01 3.79047182e-02 1.03995733e-03 2.36002419e+02] [-3.79047056e-02 9.99281358e-01 -3.17799523e-05 1.32177660e+01] [-1.04041458e-03 -7.66217957e-06 9.99999459e-01 -1.82218295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.541400513 meters Centerline goodness [0,1] 0.9998712280551144 Centerline is valid? [True, True] Translation: X:236.03, Y:13.21, Z:-0.18 [[ 9.99397917e-01 3.46915726e-02 5.46616292e-04 2.36033971e+02] [-3.46915686e-02 9.99398066e-01 -1.67362840e-05 1.32125700e+01] [-5.46867873e-04 -2.23676928e-06 9.99999850e-01 -1.82678862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.571400513 meters Centerline goodness [0,1] 0.999956971665842 Centerline is valid? [True, True] Translation: X:236.07, Y:13.21, Z:-0.18 [[ 9.99525482e-01 3.07981164e-02 -5.35003284e-04 2.36065623e+02] [-3.07981120e-02 9.99525625e-01 1.63439900e-05 1.32074782e+01] [ 5.35252856e-04 1.40856541e-07 9.99999857e-01 -1.84771013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.601400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.10, Y:13.19, Z:-0.19 [[ 9.99735326e-01 2.29095471e-02 -2.10503944e-03 2.36096426e+02] [-2.29094622e-02 9.99737542e-01 6.44345419e-05 1.31946936e+01] [ 2.10596313e-03 -1.61921662e-05 9.99997782e-01 -1.87786195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.631400513 meters Centerline goodness [0,1] 0.9999785839722448 Centerline is valid? [True, True] Translation: X:236.13, Y:13.19, Z:-0.19 [[ 9.99820602e-01 1.87484717e-02 -2.69405752e-03 2.36125242e+02] [-1.87483173e-02 9.99824231e-01 8.25569014e-05 1.31862373e+01] [ 2.69513180e-03 -3.20330456e-05 9.99996368e-01 -1.88810126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.661400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.16, Y:13.18, Z:-0.19 [[ 9.99881314e-01 1.49321229e-02 -3.79342612e-03 2.36155253e+02] [-1.49317893e-02 9.99888508e-01 1.16263133e-04 1.31813919e+01] [ 3.79473924e-03 -5.96066948e-05 9.99992798e-01 -1.89241541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.691400513 meters Centerline goodness [0,1] 0.9998267760864388 Centerline is valid? [True, True] Translation: X:236.18, Y:13.18, Z:-0.19 [[ 9.99928800e-01 1.08240646e-02 -5.02348161e-03 2.36183997e+02] [-1.08234284e-02 9.99941413e-01 1.53798180e-04 1.31756127e+01] [ 5.02485202e-03 -9.94159353e-05 9.99987370e-01 -1.91203255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.721400513 meters Centerline goodness [0,1] 0.9998046535856919 Centerline is valid? [True, True] Translation: X:236.21, Y:13.17, Z:-0.19 [[ 9.99983479e-01 3.67410671e-03 -4.42067116e-03 2.36212515e+02] [-3.67354453e-03 9.99993243e-01 1.35284996e-04 1.31653146e+01] [ 4.42113835e-03 -1.19043229e-04 9.99990220e-01 -1.90655362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.751400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.24, Y:13.16, Z:-0.19 [[ 9.99995107e-01 1.19521005e-03 -2.89108845e-03 2.36240703e+02] [-1.19495946e-03 9.99999282e-01 8.84041308e-05 1.31565443e+01] [ 2.89119203e-03 -8.49489647e-05 9.99995817e-01 -1.88209213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.781400513 meters Centerline goodness [0,1] 0.9999785430747774 Centerline is valid? [True, True] Translation: X:236.27, Y:13.16, Z:-0.19 [[ 9.99996272e-01 -1.21591590e-03 -2.44478195e-03 2.36270720e+02] [ 1.21610214e-03 9.99999258e-01 7.46922856e-05 1.31581971e+01] [ 2.44468931e-03 -7.76651117e-05 9.99997009e-01 -1.87338074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.811400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.30, Y:13.16, Z:-0.19 [[ 9.99992669e-01 -2.55563599e-03 -2.85134822e-03 2.36299243e+02] [ 2.55589443e-03 9.99996730e-01 8.69980537e-05 1.31574084e+01] [ 2.85111656e-03 -9.42851609e-05 9.99995931e-01 -1.87983151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.841400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.33, Y:13.16, Z:-0.19 [[ 9.99984213e-01 -3.63041704e-03 -4.28885974e-03 2.36326566e+02] [ 3.63100987e-03 9.99993399e-01 1.30448671e-04 1.31566047e+01] [ 4.28835785e-03 -1.46019504e-04 9.99990794e-01 -1.90841432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.871400513 meters Centerline goodness [0,1] 0.9998917209866384 Centerline is valid? [True, True] Translation: X:236.36, Y:13.16, Z:-0.20 [[ 9.99957303e-01 -5.53552459e-03 -7.39934747e-03 2.36356449e+02] [ 5.53733881e-03 9.99984644e-01 2.24723253e-04 1.31555315e+01] [ 7.39798989e-03 -2.65686352e-04 9.99972599e-01 -1.95550041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.901400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.39, Y:13.16, Z:-0.20 [[ 9.99952384e-01 -6.06488264e-03 -7.64512270e-03 2.36385187e+02] [ 6.06682616e-03 9.99981570e-01 2.31050954e-04 1.31550885e+01] [ 7.64358050e-03 -2.77421583e-04 9.99970749e-01 -1.95522862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.931400513 meters Centerline goodness [0,1] 0.9999782915445566 Centerline is valid? [True, True] Translation: X:236.41, Y:13.15, Z:-0.20 [[ 9.99945010e-01 -6.69455271e-03 -8.07216399e-03 2.36413206e+02] [ 6.69673506e-03 9.99977547e-01 2.43356249e-04 1.31529366e+01] [ 8.07035358e-03 -2.97400010e-04 9.99967390e-01 -1.95597042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.961400513 meters Centerline goodness [0,1] 0.9999570778607606 Centerline is valid? [True, True] Translation: X:236.44, Y:13.15, Z:-0.20 [[ 9.99940816e-01 -6.96422177e-03 -8.35850428e-03 2.36441886e+02] [ 6.96656047e-03 9.99975702e-01 2.50714828e-04 1.31528911e+01] [ 8.35655515e-03 -3.08930015e-04 9.99965036e-01 -1.95798326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.99140051300003 meters Centerline goodness [0,1] 0.9999138803367279 Centerline is valid? [True, True] Translation: X:236.47, Y:13.15, Z:-0.19 [[ 9.99952475e-01 -6.19575330e-03 -7.52734937e-03 2.36469547e+02] [ 6.19762423e-03 9.99980769e-01 2.25249904e-04 1.31507563e+01] [ 7.52580902e-03 -2.71890882e-04 9.99971644e-01 -1.94838377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.021400513 meters Centerline goodness [0,1] 0.999978601844521 Centerline is valid? [True, True] Translation: X:236.50, Y:13.15, Z:-0.19 [[ 9.99964888e-01 -6.20097890e-03 -5.63655447e-03 2.36498060e+02] [ 6.20202354e-03 9.99980753e-01 1.67871520e-04 1.31538656e+01] [ 5.63540501e-03 -2.02823669e-04 9.99984100e-01 -1.91238374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.05140051300003 meters Centerline goodness [0,1] 0.9998712280551144 Centerline is valid? [True, True] Translation: X:236.53, Y:13.16, Z:-0.19 [[ 9.99971626e-01 -6.70419936e-03 -3.43518631e-03 2.36525894e+02] [ 6.70458841e-03 9.99977519e-01 1.01752271e-04 1.31551524e+01] [ 3.43442692e-03 -1.24780894e-04 9.99994095e-01 -1.87739374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.081400513 meters Centerline goodness [0,1] 0.9999787265726381 Centerline is valid? [True, True] Translation: X:236.55, Y:13.16, Z:-0.18 [[ 9.99972788e-01 -7.32100699e-03 -9.08885186e-04 2.36554374e+02] [ 7.32103445e-03 9.99973201e-01 2.68892491e-05 1.31561751e+01] [ 9.08663972e-04 -3.35424972e-05 9.99999587e-01 -1.84027772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.111400513 meters Centerline goodness [0,1] 0.9994369003530201 Centerline is valid? [True, True] Translation: X:236.58, Y:13.14, Z:-0.19 [[ 9.99971640e-01 -7.17437309e-03 -2.29080338e-03 2.36584008e+02] [ 7.16973224e-03 9.99972241e-01 -2.02768421e-03 1.31350856e+01] [ 2.30528715e-03 2.01120226e-03 9.99995320e-01 -1.86040173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.141400513 meters Centerline goodness [0,1] 0.9998923411493659 Centerline is valid? [True, True] Translation: X:236.61, Y:13.15, Z:-0.19 [[ 9.99956442e-01 -9.16951706e-03 -1.74194916e-03 2.36612092e+02] [ 9.17324404e-03 9.99955627e-01 2.14374292e-03 1.31515633e+01] [ 1.72221478e-03 -2.15962887e-03 9.99996185e-01 -1.86200281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.171400513 meters Centerline goodness [0,1] 0.9998490110221954 Centerline is valid? [True, True] Translation: X:236.64, Y:13.15, Z:-0.19 [[ 9.99940108e-01 -1.07537142e-02 -2.03404920e-03 2.36640781e+02] [ 1.07538569e-02 9.99942174e-01 5.92232093e-05 1.31515610e+01] [ 2.03329470e-03 -8.10935362e-05 9.99997930e-01 -1.86805346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.201400513 meters Centerline goodness [0,1] 0.9998267460747158 Centerline is valid? [True, True] Translation: X:236.67, Y:13.15, Z:-0.19 [[ 9.99923071e-01 -1.22553453e-02 -1.91277801e-03 2.36669568e+02] [ 1.22554739e-02 9.99924897e-01 5.55025533e-05 1.31488631e+01] [ 1.91195416e-03 -7.89402846e-05 9.99998169e-01 -1.85958414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.231400513 meters Centerline goodness [0,1] 0.9999130245705589 Centerline is valid? [True, True] Translation: X:236.70, Y:13.15, Z:-0.19 [[ 9.99882502e-01 -1.51465417e-02 -2.35884507e-03 2.36699362e+02] [ 1.51467450e-02 9.99885279e-01 6.83836836e-05 1.31508281e+01] [ 2.35753869e-03 -1.04104474e-04 9.99997216e-01 -1.85778626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.261400513 meters Centerline goodness [0,1] 0.999935813774364 Centerline is valid? [True, True] Translation: X:236.73, Y:13.14, Z:-0.19 [[ 9.99852448e-01 -1.69935096e-02 -2.51068918e-03 2.36727739e+02] [ 1.69937457e-02 9.99855593e-01 7.27173497e-05 1.31430514e+01] [ 2.50909090e-03 -1.15372633e-04 9.99996846e-01 -1.86173997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.291400513 meters Centerline goodness [0,1] 0.9998077539250241 Centerline is valid? [True, True] Translation: X:236.76, Y:13.14, Z:-0.19 [[ 9.99813814e-01 -1.91388731e-02 -2.45775154e-03 2.36757185e+02] [ 1.91391057e-02 9.99816828e-01 7.11147703e-05 1.31389323e+01] [ 2.45594030e-03 -1.18140696e-04 9.99996977e-01 -1.86111356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.321400513 meters Centerline goodness [0,1] 0.9997422957156663 Centerline is valid? [True, True] Translation: X:236.79, Y:13.14, Z:-0.19 [[ 9.99763484e-01 -2.16297109e-02 -2.26550167e-03 2.36787843e+02] [ 2.16299147e-02 9.99766044e-01 6.55302139e-05 1.31384769e+01] [ 2.26355424e-03 -1.14517323e-04 9.99997432e-01 -1.85691059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.351400513 meters Centerline goodness [0,1] 0.9999139044339217 Centerline is valid? [True, True] Translation: X:236.82, Y:13.13, Z:-0.18 [[ 9.99717522e-01 -2.36553982e-02 -2.30182846e-03 2.36816068e+02] [ 2.36556139e-02 9.99720165e-01 6.65050572e-05 1.31313695e+01] [ 2.29961112e-03 -1.20937436e-04 9.99997349e-01 -1.84812184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.381400513 meters Centerline goodness [0,1] 0.9979200171544977 Centerline is valid? [True, True] Translation: X:236.85, Y:13.12, Z:-0.19 [[ 9.99632157e-01 -2.69839928e-02 -2.72316814e-03 2.36845170e+02] [ 2.69843067e-02 9.99635854e-01 7.86092162e-05 1.31211785e+01] [ 2.72005532e-03 -1.52063105e-04 9.99996289e-01 -1.86608722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.411400513 meters Centerline goodness [0,1] 0.9998483568380234 Centerline is valid? [True, True] Translation: X:236.87, Y:13.13, Z:-0.19 [[ 9.99618646e-01 -2.74096015e-02 -3.35804243e-03 2.36873780e+02] [ 2.74100800e-02 9.99624269e-01 9.65583940e-05 1.31261114e+01] [ 3.35413408e-03 -1.88565783e-04 9.99994357e-01 -1.86550484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.441400513 meters Centerline goodness [0,1] 0.99917869802023 Centerline is valid? [True, True] Translation: X:236.90, Y:13.12, Z:-0.19 [[ 9.99613686e-01 -2.74993879e-02 -4.03277376e-03 2.36901508e+02] [ 2.75000773e-02 9.99621795e-01 1.15588107e-04 1.31209477e+01] [ 4.02806994e-03 -2.26445044e-04 9.99991862e-01 -1.87594961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.471400513 meters Centerline goodness [0,1] 0.9997639535632282 Centerline is valid? [True, True] Translation: X:236.93, Y:13.13, Z:-0.19 [[ 9.99599071e-01 -2.78886459e-02 -4.89078149e-03 2.36930313e+02] [ 2.78896611e-02 9.99610998e-01 1.39481321e-04 1.31251513e+01] [ 4.88498902e-03 -2.75827637e-04 9.99988030e-01 -1.89009746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.501400513 meters Centerline goodness [0,1] 0.9997611551405927 Centerline is valid? [True, True] Translation: X:236.96, Y:13.13, Z:-0.19 [[ 9.99566021e-01 -2.88863657e-02 -5.77467797e-03 2.36959561e+02] [ 2.88877952e-02 9.99582647e-01 1.64268955e-04 1.31268323e+01] [ 5.76752276e-03 -3.31015381e-04 9.99983313e-01 -1.89821741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.531400513 meters Centerline goodness [0,1] 0.9997000792647658 Centerline is valid? [True, True] Translation: X:236.99, Y:13.12, Z:-0.19 [[ 9.99520123e-01 -3.04497450e-02 -5.68646463e-03 2.36988007e+02] [ 3.04511551e-02 9.99536243e-01 1.61546654e-04 1.31194687e+01] [ 5.67890844e-03 -3.34628548e-04 9.99983819e-01 -1.90232032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.561400513 meters Centerline goodness [0,1] 0.9998701776402622 Centerline is valid? [True, True] Translation: X:237.02, Y:13.12, Z:-0.19 [[ 9.99431255e-01 -3.30850927e-02 -6.52244050e-03 2.37018244e+02] [ 3.30870033e-02 9.99452458e-01 1.85203809e-04 1.31171261e+01] [ 6.51274171e-03 -4.00906486e-04 9.99978712e-01 -1.90281416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.591400513 meters Centerline goodness [0,1] 0.9989941790789248 Centerline is valid? [True, True] Translation: X:237.05, Y:13.11, Z:-0.19 [[ 9.99418106e-01 -3.33950971e-02 -6.94376655e-03 2.37045656e+02] [ 3.33972661e-02 9.99442136e-01 1.96618907e-04 1.31109008e+01] [ 6.93332677e-03 -4.28407315e-04 9.99975872e-01 -1.91444480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.621400513 meters Centerline goodness [0,1] 0.9949519902047129 Centerline is valid? [True, True] Translation: X:237.07, Y:13.11, Z:-0.19 [[ 9.99428420e-01 -3.30365091e-02 -7.17096175e-03 2.37073341e+02] [ 3.30388099e-02 9.99454049e-01 2.02604260e-04 1.31055733e+01] [ 7.16035342e-03 -4.39408498e-04 9.99974268e-01 -1.92614470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.651400513 meters Centerline goodness [0,1] 0.9998258901366762 Centerline is valid? [True, True] Translation: X:237.10, Y:13.12, Z:-0.19 [[ 9.99478162e-01 -3.15596115e-02 -6.88435861e-03 2.37103618e+02] [ 3.15616958e-02 9.99501787e-01 1.94307152e-04 1.31226435e+01] [ 6.87479647e-03 -4.11487787e-04 9.99976284e-01 -1.90433351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.681400513 meters Centerline goodness [0,1] 0.999786530045896 Centerline is valid? [True, True] Translation: X:237.13, Y:13.12, Z:-0.19 [[ 9.99565072e-01 -2.88401539e-02 -6.15737716e-03 2.37132628e+02] [ 2.88417692e-02 9.99583975e-01 1.73682740e-04 1.31174954e+01] [ 6.14980650e-03 -3.51196851e-04 9.99981028e-01 -1.90272487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.711400513 meters Centerline goodness [0,1] 0.999891377549912 Centerline is valid? [True, True] Translation: X:237.16, Y:13.13, Z:-0.19 [[ 9.99711276e-01 -2.31896135e-02 -6.29335962e-03 2.37163025e+02] [ 2.31911888e-02 9.99731032e-01 1.77438189e-04 1.31332573e+01] [ 6.28755218e-03 -3.23337449e-04 9.99980181e-01 -1.89425387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.74140051300003 meters Centerline goodness [0,1] 0.9998707453683757 Centerline is valid? [True, True] Translation: X:237.19, Y:13.13, Z:-0.19 [[ 9.99765755e-01 -2.08346192e-02 -5.86116384e-03 2.37191812e+02] [ 2.08359445e-02 9.99782895e-01 1.65123835e-04 1.31304889e+01] [ 5.85645106e-03 -2.87208040e-04 9.99982810e-01 -1.90000486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.771400513 meters Centerline goodness [0,1] 0.9999353866034891 Centerline is valid? [True, True] Translation: X:237.22, Y:13.13, Z:-0.19 [[ 9.99815141e-01 -1.85677915e-02 -4.99216199e-03 2.37220380e+02] [ 1.85687239e-02 9.99827577e-01 1.40481665e-04 1.31326555e+01] [ 4.98869279e-03 -2.33153773e-04 9.99987529e-01 -1.88634792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.80140051300003 meters Centerline goodness [0,1] 0.999935175781672 Centerline is valid? [True, True] Translation: X:237.25, Y:13.14, Z:-0.19 [[ 9.99840118e-01 -1.73688431e-02 -4.25001480e-03 2.37249607e+02] [ 1.73695072e-02 9.99849132e-01 1.19414024e-04 1.31375431e+01] [ 4.24729953e-03 -1.93215595e-04 9.99990962e-01 -1.87190352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.831400513 meters Centerline goodness [0,1] 0.9999357188772231 Centerline is valid? [True, True] Translation: X:237.28, Y:13.14, Z:-0.19 [[ 9.99846549e-01 -1.68825472e-02 -4.67518606e-03 2.37277244e+02] [ 1.68833439e-02 9.99857458e-01 1.30986064e-04 1.31392484e+01] [ 4.67230827e-03 -2.09898738e-04 9.99989063e-01 -1.88462108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.861400513 meters Centerline goodness [0,1] 0.9999134142909712 Centerline is valid? [True, True] Translation: X:237.31, Y:13.14, Z:-0.19 [[ 9.99820456e-01 -1.81261810e-02 -5.52244295e-03 2.37305948e+02] [ 1.81273069e-02 9.99835675e-01 1.53883920e-04 1.31389694e+01] [ 5.51874615e-03 -2.53963309e-04 9.99984739e-01 -1.89914513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.891400513 meters Centerline goodness [0,1] 0.9999349353691334 Centerline is valid? [True, True] Translation: X:237.34, Y:13.14, Z:-0.19 [[ 9.99785034e-01 -1.98833236e-02 -5.87709164e-03 2.37335108e+02] [ 1.98846270e-02 9.99802268e-01 1.63413480e-04 1.31413782e+01] [ 5.87268035e-03 -2.80242126e-04 9.99982716e-01 -1.89762849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.921400513 meters Centerline goodness [0,1] 0.9999128919860627 Centerline is valid? [True, True] Translation: X:237.36, Y:13.14, Z:-0.19 [[ 9.99738656e-01 -2.20763631e-02 -5.93745735e-03 2.37363538e+02] [ 2.20777307e-02 9.99756244e-01 1.64877153e-04 1.31364464e+01] [ 5.93237017e-03 -2.95919648e-04 9.99982360e-01 -1.89756556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.951400513 meters Centerline goodness [0,1] 0.9999137336093857 Centerline is valid? [True, True] Translation: X:237.39, Y:13.14, Z:-0.19 [[ 9.99691240e-01 -2.41293890e-02 -5.93265364e-03 2.37393272e+02] [ 2.41307895e-02 9.99708797e-01 1.64589233e-04 1.31354680e+01] [ 5.92695460e-03 -3.07698031e-04 9.99982388e-01 -1.89382946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.981400513 meters Centerline goodness [0,1] 0.9998924384209961 Centerline is valid? [True, True] Translation: X:237.42, Y:13.13, Z:-0.19 [[ 9.99640153e-01 -2.62880472e-02 -5.33887722e-03 2.37421164e+02] [ 2.62892108e-02 9.99654368e-01 1.47890935e-04 1.31315076e+01] [ 5.33314417e-03 -2.88192586e-04 9.99985737e-01 -1.89090072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.011400513 meters Centerline goodness [0,1] 0.9998272660534612 Centerline is valid? [True, True] Translation: X:237.45, Y:13.13, Z:-0.19 [[ 9.99623595e-01 -2.69809019e-02 -4.96990347e-03 2.37449470e+02] [ 2.69819175e-02 9.99635912e-01 1.37395184e-04 1.31320874e+01] [ 4.96438695e-03 -2.71440993e-04 9.99987641e-01 -1.89021894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.041400513 meters Centerline goodness [0,1] 0.9997223052932883 Centerline is valid? [True, True] Translation: X:237.48, Y:13.13, Z:-0.19 [[ 9.99606497e-01 -2.76637277e-02 -4.64428415e-03 2.37478143e+02] [ 2.76646189e-02 9.99617253e-01 1.27749881e-04 1.31324289e+01] [ 4.63897252e-03 -2.56181963e-04 9.99989207e-01 -1.88810861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.071400513 meters Centerline goodness [0,1] 0.9996775025799793 Centerline is valid? [True, True] Translation: X:237.51, Y:13.13, Z:-0.19 [[ 9.99575044e-01 -2.87746082e-02 -4.66408355e-03 2.37506738e+02] [ 2.87755155e-02 9.99585891e-01 1.27539864e-04 1.31341678e+01] [ 4.65848220e-03 -2.61697074e-04 9.99989115e-01 -1.88836246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.101400513 meters Centerline goodness [0,1] 0.9998495885171577 Centerline is valid? [True, True] Translation: X:237.54, Y:13.14, Z:-0.19 [[ 9.99540551e-01 -2.99312265e-02 -4.77591738e-03 2.37535752e+02] [ 2.99321874e-02 9.99551923e-01 1.29814608e-04 1.31360063e+01] [ 4.76989189e-03 -2.72708618e-04 9.99988587e-01 -1.88548222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.131400513 meters Centerline goodness [0,1] 0.9996782910822288 Centerline is valid? [True, True] Translation: X:237.56, Y:13.13, Z:-0.19 [[ 9.99499430e-01 -3.12408231e-02 -4.99001172e-03 2.37564123e+02] [ 3.12418867e-02 9.99511844e-01 1.35320769e-04 1.31325759e+01] [ 4.98334828e-03 -2.91150412e-04 9.99987541e-01 -1.89241779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.161400513 meters Centerline goodness [0,1] 0.9996782910822288 Centerline is valid? [True, True] Translation: X:237.59, Y:13.13, Z:-0.19 [[ 9.99493663e-01 -3.14248010e-02 -4.99003243e-03 2.37591658e+02] [ 3.14258631e-02 9.99506077e-01 1.34554322e-04 1.31319871e+01] [ 4.98333939e-03 -2.91302268e-04 9.99987541e-01 -1.89213689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.191400513 meters Centerline goodness [0,1] 0.997241676543476 Centerline is valid? [True, True] Translation: X:237.62, Y:13.13, Z:-0.19 [[ 9.99442413e-01 -3.30059376e-02 -5.04681789e-03 2.37620228e+02] [ 3.30070422e-02 9.99455110e-01 1.35700735e-04 1.31271539e+01] [ 5.03958899e-03 -3.02205601e-04 9.99987256e-01 -1.89847721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.221400513 meters Centerline goodness [0,1] 0.9984506132989025 Centerline is valid? [True, True] Translation: X:237.65, Y:13.13, Z:-0.19 [[ 9.99357937e-01 -3.55316586e-02 -4.60596883e-03 2.37650365e+02] [ 3.55326048e-02 9.99368510e-01 1.23744786e-04 1.31329206e+01] [ 4.59866335e-03 -2.87327404e-04 9.99989385e-01 -1.89711706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.251400513 meters Centerline goodness [0,1] 0.9999566630552547 Centerline is valid? [True, True] Translation: X:237.68, Y:13.14, Z:-0.19 [[ 9.99326537e-01 -3.64112021e-02 -4.54942164e-03 2.37679417e+02] [ 3.64121316e-02 9.99336851e-01 1.21613320e-04 1.31411178e+01] [ 4.54197661e-03 -2.87185557e-04 9.99989644e-01 -1.89179244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.281400513 meters Centerline goodness [0,1] 0.9965757822197492 Centerline is valid? [True, True] Translation: X:237.71, Y:13.13, Z:-0.19 [[ 9.99276956e-01 -3.77295702e-02 -4.69518258e-03 2.37708197e+02] [ 3.77305733e-02 9.99287941e-01 1.25199590e-04 1.31335345e+01] [ 4.68711560e-03 -3.02260995e-04 9.99988970e-01 -1.90710154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.311400513 meters Centerline goodness [0,1] 0.9961826298876356 Centerline is valid? [True, True] Translation: X:237.74, Y:13.13, Z:-0.19 [[ 9.99231349e-01 -3.88366952e-02 -5.33129095e-03 2.37737405e+02] [ 3.88380028e-02 9.99245510e-01 1.41910874e-04 1.31337081e+01] [ 5.32175719e-03 -3.48858487e-04 9.99985778e-01 -1.91505452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.341400513 meters Centerline goodness [0,1] 0.9981837445133949 Centerline is valid? [True, True] Translation: X:237.77, Y:13.13, Z:-0.19 [[ 9.99196548e-01 -3.96249631e-02 -6.01009313e-03 2.37765696e+02] [ 3.96266369e-02 9.99214544e-01 1.59632337e-04 1.31347888e+01] [ 5.99904704e-03 -3.97663859e-04 9.99981926e-01 -1.91740058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.371400513 meters Centerline goodness [0,1] 0.9891173692796428 Centerline is valid? [True, True] Translation: X:237.79, Y:13.13, Z:-0.19 [[ 9.99141501e-01 -4.08900784e-02 -6.65299094e-03 2.37794459e+02] [ 4.08921557e-02 9.99163550e-01 1.76445425e-04 1.31295622e+01] [ 6.64021118e-03 -4.48349087e-04 9.99977853e-01 -1.92774498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.401400513 meters Centerline goodness [0,1] 0.9963703143567031 Centerline is valid? [True, True] Translation: X:237.82, Y:13.13, Z:-0.19 [[ 9.99099939e-01 -4.18313528e-02 -7.03212468e-03 2.37823056e+02] [ 4.18336896e-02 9.99124571e-01 1.85483581e-04 1.31325413e+01] [ 7.01820952e-03 -4.79496355e-04 9.99975257e-01 -1.92779117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.431400513 meters Centerline goodness [0,1] 0.9966035694970254 Centerline is valid? [True, True] Translation: X:237.85, Y:13.13, Z:-0.19 [[ 9.99059006e-01 -4.26523620e-02 -7.86631579e-03 2.37851968e+02] [ 4.26553012e-02 9.99089827e-01 2.06181331e-04 1.31334458e+01] [ 7.85036196e-03 -5.41527385e-04 9.99969039e-01 -1.93973379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.461400513 meters Centerline goodness [0,1] 0.9990496965508304 Centerline is valid? [True, True] Translation: X:237.88, Y:13.14, Z:-0.20 [[ 9.99045824e-01 -4.27414867e-02 -8.97817419e-03 2.37880460e+02] [ 4.27453039e-02 9.99085974e-01 2.33612232e-04 1.31372877e+01] [ 8.95998298e-03 -6.17164109e-04 9.99959668e-01 -1.95230788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.49140051300003 meters Centerline goodness [0,1] 0.999279711884754 Centerline is valid? [True, True] Translation: X:237.91, Y:13.14, Z:-0.20 [[ 9.99066103e-01 -4.19290005e-02 -1.04345788e-02 2.37909688e+02] [ 4.19340950e-02 9.99120343e-01 2.69824858e-04 1.31370649e+01] [ 1.04140865e-02 -7.07137489e-04 9.99945522e-01 -1.97588082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.521400513 meters Centerline goodness [0,1] 0.9942849804148205 Centerline is valid? [True, True] Translation: X:237.94, Y:13.13, Z:-0.20 [[ 9.99095030e-01 -4.14572807e-02 -9.50864990e-03 2.37937084e+02] [ 4.14614837e-02 9.99140073e-01 2.45236347e-04 1.31310171e+01] [ 9.49030633e-03 -6.39257148e-04 9.99954762e-01 -1.97105892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.55140051300003 meters Centerline goodness [0,1] 0.9989825518465602 Centerline is valid? [True, True] Translation: X:237.97, Y:13.14, Z:-0.19 [[ 9.99150879e-01 -4.03242094e-02 -8.45450755e-03 2.37967071e+02] [ 4.03274898e-02 9.99186492e-01 2.17821262e-04 1.31372575e+01] [ 8.43884627e-03 -5.58585372e-04 9.99964236e-01 -1.94561718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.581400513 meters Centerline goodness [0,1] 0.9986113823255006 Centerline is valid? [True, True] Translation: X:238.00, Y:13.14, Z:-0.19 [[ 9.99213365e-01 -3.89121717e-02 -7.64811410e-03 2.37996129e+02] [ 3.89148136e-02 9.99242512e-01 1.96869409e-04 1.31369307e+01] [ 7.63466014e-03 -4.94339480e-04 9.99970733e-01 -1.93355142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.611400513 meters Centerline goodness [0,1] 0.9994843145681135 Centerline is valid? [True, True] Translation: X:238.03, Y:13.14, Z:-0.19 [[ 9.99334621e-01 -3.58356641e-02 -6.79114591e-03 2.38026418e+02] [ 3.58376761e-02 9.99357609e-01 1.74777429e-04 1.31420275e+01] [ 6.78052007e-03 -4.18040023e-04 9.99976925e-01 -1.92350912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.641400513 meters Centerline goodness [0,1] 0.9989291068751338 Centerline is valid? [True, True] Translation: X:238.05, Y:13.14, Z:-0.19 [[ 9.99362109e-01 -3.51020669e-02 -6.57414356e-03 2.38054265e+02] [ 3.51039335e-02 9.99383653e-01 1.68725841e-04 1.31407974e+01] [ 6.56416898e-03 -3.99396511e-04 9.99978376e-01 -1.92494359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.671400513 meters Centerline goodness [0,1] 0.9997183586810521 Centerline is valid? [True, True] Translation: X:238.08, Y:13.15, Z:-0.19 [[ 9.99356739e-01 -3.52864004e-02 -6.40147584e-03 2.38082871e+02] [ 3.52881670e-02 9.99377165e-01 1.63205418e-04 1.31481695e+01] [ 6.39172985e-03 -3.88996783e-04 9.99979497e-01 -1.91810238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.701400513 meters Centerline goodness [0,1] 0.9993490148424616 Centerline is valid? [True, True] Translation: X:238.11, Y:13.15, Z:-0.19 [[ 9.99266189e-01 -3.78260000e-02 -6.02298065e-03 2.38112205e+02] [ 3.78276081e-02 9.99284268e-01 1.53261370e-04 1.31475078e+01] [ 6.01287254e-03 -3.80983856e-04 9.99981850e-01 -1.91383315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.731400513 meters Centerline goodness [0,1] 0.9978931980393843 Centerline is valid? [True, True] Translation: X:238.14, Y:13.14, Z:-0.19 [[ 9.99177332e-01 -4.01251653e-02 -5.88467205e-03 2.38142241e+02] [ 4.01267397e-02 9.99194587e-01 1.49663014e-04 1.31438745e+01] [ 5.87392721e-03 -3.85672594e-04 9.99982674e-01 -1.91105714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.761400513 meters Centerline goodness [0,1] 0.9978610781030571 Centerline is valid? [True, True] Translation: X:238.17, Y:13.14, Z:-0.19 [[ 9.99065847e-01 -4.27546966e-02 -6.28242726e-03 2.38172856e+02] [ 4.27565426e-02 9.99085508e-01 1.59754912e-04 1.31432619e+01] [ 6.26985175e-03 -4.28220545e-04 9.99980253e-01 -1.91403972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.791400513 meters Centerline goodness [0,1] 0.9989426438220189 Centerline is valid? [True, True] Translation: X:238.20, Y:13.14, Z:-0.19 [[ 9.98928766e-01 -4.58326299e-02 -6.37890708e-03 2.38203484e+02] [ 4.58345954e-02 9.98949030e-01 1.62205776e-04 1.31440219e+01] [ 6.36476872e-03 -4.54406641e-04 9.99979641e-01 -1.91370621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.821400513 meters Centerline goodness [0,1] 0.8938154097937034 Centerline is valid? [True, False] Translation: X:238.20, Y:13.14, Z:-0.19 [[ 9.98909655e-01 -4.62644265e-02 -6.25335683e-03 2.38203371e+02] [ 4.62696387e-02 9.98928747e-01 6.91351944e-04 1.31405049e+01] [ 6.21467291e-03 -9.79938693e-04 9.99980209e-01 -1.91984752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.851400513 meters Centerline goodness [0,1] 0.8735644660573563 Centerline is valid? [False, False] Translation: X:238.20, Y:13.14, Z:-0.19 [[ 9.98917618e-01 -4.60909578e-02 -6.26220990e-03 2.38203566e+02] [ 4.60991966e-02 9.98936173e-01 1.17765139e-03 1.31382193e+01] [ 6.20126891e-03 -1.46505957e-03 9.99979699e-01 -1.92330579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.881400513 meters Centerline goodness [0,1] 0.6662729771516922 Centerline is valid? [False, False] Translation: X:238.22, Y:13.14, Z:-0.19 [[ 9.98883956e-01 -4.64949336e-02 -8.31039921e-03 2.38222710e+02] [ 4.64136037e-02 9.98874965e-01 -9.72529027e-03 1.31446792e+01] [ 8.75322644e-03 9.32872084e-03 9.99918175e-01 -1.86703717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.911400513 meters Centerline goodness [0,1] 0.7993161209340576 Centerline is valid? [False, False] Translation: X:238.22, Y:13.14, Z:-0.19 [[ 9.99072224e-01 -4.23103426e-02 -8.03285924e-03 2.38221285e+02] [ 4.22787689e-02 9.99097601e-01 -4.06058943e-03 1.31370683e+01] [ 8.19741533e-03 3.71720271e-03 9.99959492e-01 -1.86865343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.941400513 meters Centerline goodness [0,1] 0.7957425890700806 Centerline is valid? [False, False] Translation: X:238.24, Y:13.14, Z:-0.19 [[ 9.99159324e-01 -4.07877384e-02 -4.12371594e-03 2.38244446e+02] [ 4.07292815e-02 9.99080563e-01 -1.33848200e-02 1.31421385e+01] [ 4.66586098e-03 1.32056117e-02 9.99901916e-01 -1.91521653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.971400513 meters Centerline goodness [0,1] 0.873498539119143 Centerline is valid? [False, False] Translation: X:238.24, Y:13.14, Z:-0.19 [[ 9.99340351e-01 -3.60856545e-02 -4.08524738e-03 2.38243815e+02] [ 3.60520746e-02 9.99317772e-01 -8.01493287e-03 1.31371912e+01] [ 4.37168441e-03 7.86236418e-03 9.99959535e-01 -1.91621437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.001400513 meters Centerline goodness [0,1] 0.9516970144713398 Centerline is valid? [False, True] Translation: X:238.24, Y:13.13, Z:-0.19 [[ 9.99498759e-01 -3.13953579e-02 -4.06977150e-03 2.38243254e+02] [ 3.13845475e-02 9.99503755e-01 -2.69347441e-03 1.31324858e+01] [ 4.15231449e-03 2.56439639e-03 9.99988091e-01 -1.91547925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.031400513 meters Centerline goodness [0,1] 0.9446442499350031 Centerline is valid? [True, False] Translation: X:238.24, Y:13.13, Z:-0.19 [[ 9.99635393e-01 -2.66853134e-02 -4.12005109e-03 2.38242964e+02] [ 2.66963019e-02 9.99640116e-01 2.63552769e-03 1.31277436e+01] [ 4.04823847e-03 -2.74455689e-03 9.99988040e-01 -1.91487292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.061400513 meters Centerline goodness [0,1] 0.9704848001035621 Centerline is valid? [False, True] Translation: X:238.25, Y:13.13, Z:-0.20 [[ 9.99829955e-01 -1.84351232e-02 -4.56077545e-04 2.38245793e+02] [ 1.84305339e-02 9.99793325e-01 -8.58031771e-03 1.31346851e+01] [ 6.14162499e-04 8.57045292e-03 9.99963084e-01 -1.96152855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.091400513 meters Centerline goodness [0,1] 0.9886852759428937 Centerline is valid? [True, True] Translation: X:238.28, Y:13.13, Z:-0.20 [[ 9.99857681e-01 -1.68653561e-02 -4.21052695e-04 2.38275043e+02] [ 1.68653664e-02 9.99857769e-01 2.08323052e-05 1.31296760e+01] [ 4.20641464e-04 -2.79305483e-05 9.99999911e-01 -1.97061533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.121400513 meters Centerline goodness [0,1] 0.980424073677447 Centerline is valid? [True, True] Translation: X:238.30, Y:13.13, Z:-0.20 [[ 9.99872514e-01 -1.59455401e-02 -8.33611950e-04 2.38304035e+02] [ 1.59455801e-02 9.99872860e-01 4.13550280e-05 1.31268444e+01] [ 8.32846536e-04 -5.46421819e-05 9.99999652e-01 -1.98253184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.151400513 meters Centerline goodness [0,1] 0.9997179247944106 Centerline is valid? [True, True] Translation: X:238.33, Y:13.14, Z:-0.20 [[ 9.99885165e-01 -1.51327294e-02 -8.10464838e-04 2.38334574e+02] [ 1.51327670e-02 9.99885492e-01 4.01736496e-05 1.31427826e+01] [ 8.09764096e-04 -5.24336118e-05 9.99999671e-01 -1.96947914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.181400513 meters Centerline goodness [0,1] 0.9984383811217629 Centerline is valid? [True, True] Translation: X:238.36, Y:13.13, Z:-0.20 [[ 9.99900012e-01 -1.41404063e-02 -1.18553284e-04 2.38362882e+02] [ 1.41404071e-02 9.99900019e-01 5.70760879e-06 1.31343189e+01] [ 1.18460724e-04 -7.38342980e-06 9.99999993e-01 -1.96421734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.211400513 meters Centerline goodness [0,1] 0.9994186922729132 Centerline is valid? [True, True] Translation: X:238.39, Y:13.14, Z:-0.20 [[ 9.99901915e-01 -1.40050787e-02 -1.33719612e-04 2.38392929e+02] [ 1.40050797e-02 9.99901924e-01 6.50800601e-06 1.31367086e+01] [ 1.33615352e-04 -8.38012148e-06 9.99999991e-01 -1.95775015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.24140051300003 meters Centerline goodness [0,1] 0.99882508758438 Centerline is valid? [True, True] Translation: X:238.42, Y:13.13, Z:-0.20 [[ 9.99902210e-01 -1.39811002e-02 -3.15247845e-04 2.38422232e+02] [ 1.39811058e-02 9.99902259e-01 1.55924938e-05 1.31318577e+01] [ 3.14999032e-04 -1.99984825e-05 9.99999950e-01 -1.96540675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.271400513 meters Centerline goodness [0,1] 0.998805893767192 Centerline is valid? [True, True] Translation: X:238.45, Y:13.13, Z:-0.20 [[ 9.99902473e-01 -1.39630637e-02 -2.79199237e-04 2.38452442e+02] [ 1.39630681e-02 9.99902512e-01 1.37285874e-05 1.31325198e+01] [ 2.78980325e-04 -1.76257264e-05 9.99999961e-01 -1.96517390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.30140051300003 meters Centerline goodness [0,1] 0.9905840465006542 Centerline is valid? [True, True] Translation: X:238.48, Y:13.13, Z:-0.20 [[ 9.99916590e-01 -1.29138694e-02 -2.10273455e-04 2.38481245e+02] [ 1.29138719e-02 9.99916612e-01 1.03019493e-05 1.31273348e+01] [ 2.10122883e-04 -1.30165345e-05 9.99999978e-01 -1.97868771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.331400513 meters Centerline goodness [0,1] 0.9994140497840664 Centerline is valid? [True, True] Translation: X:238.51, Y:13.14, Z:-0.20 [[ 9.99924364e-01 -1.22792603e-02 -6.97574047e-04 2.38511232e+02] [ 1.22792874e-02 9.99924606e-01 3.44670557e-05 1.31396764e+01] [ 6.97098224e-04 -4.30301609e-05 9.99999756e-01 -1.97681578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.361400513 meters Centerline goodness [0,1] 0.9998059341038468 Centerline is valid? [True, True] Translation: X:238.54, Y:13.14, Z:-0.20 [[ 9.99932250e-01 -1.16209350e-02 -6.70312476e-04 2.38541110e+02] [ 1.16209598e-02 9.99932474e-01 3.30993691e-05 1.31407287e+01] [ 6.69882567e-04 -4.08868009e-05 9.99999775e-01 -1.97605000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.391400513 meters Centerline goodness [0,1] 0.9998055357490114 Centerline is valid? [True, True] Translation: X:238.57, Y:13.15, Z:-0.20 [[ 9.99951859e-01 -9.81226357e-03 9.88221024e-06 2.38571779e+02] [ 9.81226357e-03 9.99951859e-01 -5.58709146e-07 1.31460651e+01] [-9.87625229e-06 6.55649102e-07 1.00000000e+00 -1.95658682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.421400513 meters Centerline goodness [0,1] 0.9996378972480191 Centerline is valid? [True, True] Translation: X:238.60, Y:13.14, Z:-0.20 [[ 9.99967018e-01 -8.10569565e-03 5.10710380e-04 2.38601106e+02] [ 8.10570957e-03 9.99967148e-01 -2.51796993e-05 1.31448447e+01] [-5.10489503e-04 2.93185388e-05 9.99999869e-01 -1.95211874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.451400513 meters Centerline goodness [0,1] 0.9995258314115136 Centerline is valid? [True, True] Translation: X:238.63, Y:13.15, Z:-0.20 [[ 9.99977617e-01 -6.68713643e-03 -2.17253445e-04 2.38632196e+02] [ 6.68713894e-03 9.99977641e-01 1.07938393e-05 1.31461468e+01] [ 2.17176408e-04 -1.22464017e-05 9.99999976e-01 -1.97010235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.481400513 meters Centerline goodness [0,1] 0.9997175079858319 Centerline is valid? [True, True] Translation: X:238.66, Y:13.16, Z:-0.20 [[ 9.99985113e-01 -5.35531581e-03 -1.04596827e-03 2.38663093e+02] [ 5.35537300e-03 9.99985659e-01 5.18796517e-05 1.31570295e+01] [ 1.04567544e-03 -5.74804296e-05 9.99999452e-01 -1.97237021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.511400513 meters Centerline goodness [0,1] 0.999849436462187 Centerline is valid? [True, True] Translation: X:238.69, Y:13.16, Z:-0.20 [[ 9.99995883e-01 -2.82924747e-03 -4.79383926e-04 2.38692735e+02] [ 2.82925934e-03 9.99995997e-01 2.40818396e-05 1.31579926e+01] [ 4.79313874e-04 -2.54380419e-05 9.99999885e-01 -1.97151084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.541400513 meters Centerline goodness [0,1] 0.9998065265058687 Centerline is valid? [True, True] Translation: X:238.72, Y:13.16, Z:-0.20 [[ 9.99998369e-01 -1.63164974e-03 7.74410537e-04 2.38721964e+02] [ 1.63168004e-03 9.99998668e-01 -3.85068756e-05 1.31573381e+01] [-7.74346676e-04 3.97704031e-05 9.99999699e-01 -1.95368029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.571400513 meters Centerline goodness [0,1] 0.9998499367590628 Centerline is valid? [True, True] Translation: X:238.75, Y:13.16, Z:-0.19 [[ 9.99997647e-01 -3.42491757e-05 2.16917999e-03 2.38753075e+02] [ 3.44827199e-05 9.99999994e-01 -1.07627447e-04 1.31600620e+01] [-2.16917629e-03 1.07701993e-04 9.99997642e-01 -1.92538830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.601400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.78, Y:13.17, Z:-0.19 [[ 9.99990096e-01 2.45613047e-03 3.71152889e-03 2.38784776e+02] [-2.45546352e-03 9.99996968e-01 -1.84243894e-04 1.31674858e+01] [-3.71197016e-03 1.75128546e-04 9.99993095e-01 -1.89975401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.631400513 meters Centerline goodness [0,1] 0.9999142881631954 Centerline is valid? [True, True] Translation: X:238.82, Y:13.18, Z:-0.19 [[ 9.99965205e-01 7.60542031e-03 3.42732694e-03 2.38815343e+02] [-7.60488154e-03 9.99971068e-01 -1.70200735e-04 1.31786976e+01] [-3.42852222e-03 1.44130397e-04 9.99994112e-01 -1.90850098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.661400513 meters Centerline goodness [0,1] 0.9999783765082385 Centerline is valid? [True, True] Translation: X:238.85, Y:13.19, Z:-0.19 [[ 9.99940860e-01 1.04876089e-02 2.87867718e-03 2.38846728e+02] [-1.04872408e-02 9.99944997e-01 -1.42917832e-04 1.31857048e+01] [-2.88001771e-03 1.12719999e-04 9.99995846e-01 -1.92110298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.691400513 meters Centerline goodness [0,1] 0.9999785163383247 Centerline is valid? [True, True] Translation: X:238.88, Y:13.19, Z:-0.19 [[ 9.99908525e-01 1.31902315e-02 2.99333013e-03 2.38878409e+02] [-1.31898456e-02 9.99912999e-01 -1.48613680e-04 1.31923487e+01] [-2.99502996e-03 1.09118523e-04 9.99995509e-01 -1.92421366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.721400513 meters Centerline goodness [0,1] 0.9999572567374068 Centerline is valid? [True, True] Translation: X:238.91, Y:13.20, Z:-0.19 [[ 9.99844806e-01 1.73859954e-02 2.84455119e-03 2.38908822e+02] [-1.73856636e-02 9.99848848e-01 -1.41359136e-04 1.31980718e+01] [-2.84657890e-03 9.18827875e-05 9.99995944e-01 -1.92594557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.751400513 meters Centerline goodness [0,1] 0.9999785246429722 Centerline is valid? [True, True] Translation: X:238.94, Y:13.20, Z:-0.19 [[ 9.99828927e-01 1.83518242e-02 2.30794460e-03 2.38939848e+02] [-1.83516084e-02 9.99831588e-01 -1.14612872e-04 1.31994893e+01] [-2.30965927e-03 7.22387695e-05 9.99997330e-01 -1.93752618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.781400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.97, Y:13.20, Z:-0.19 [[ 9.99829014e-01 1.83035417e-02 2.63129507e-03 2.38970514e+02] [-1.83032608e-02 9.99832473e-01 -1.30820895e-04 1.32035508e+01] [-2.63324874e-03 8.26372467e-05 9.99996530e-01 -1.93221157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.811400513 meters Centerline goodness [0,1] 0.9999784543123694 Centerline is valid? [True, True] Translation: X:239.00, Y:13.20, Z:-0.19 [[ 9.99838455e-01 1.76420631e-02 3.43837979e-03 2.39000567e+02] [-1.76415795e-02 9.99844361e-01 -1.70918968e-04 1.32015496e+01] [-3.44086001e-03 1.10232906e-04 9.99994074e-01 -1.92325977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.841400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.03, Y:13.20, Z:-0.19 [[ 9.99859123e-01 1.60028341e-02 5.06391046e-03 2.39031206e+02] [-1.60017640e-02 9.99871932e-01 -2.51760920e-04 1.31968460e+01] [-5.06729083e-03 1.70693953e-04 9.99987147e-01 -1.91122464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.871400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.06, Y:13.20, Z:-0.19 [[ 9.99854188e-01 1.63517341e-02 4.92183104e-03 2.39063255e+02] [-1.63507259e-02 9.99866288e-01 -2.45002261e-04 1.32010520e+01] [-4.92517914e-03 1.64491026e-04 9.99987858e-01 -1.91756289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.901400513 meters Centerline goodness [0,1] 0.9999785453765286 Centerline is valid? [True, True] Translation: X:239.09, Y:13.20, Z:-0.19 [[ 9.99839689e-01 1.73276441e-02 4.51100077e-03 2.39094741e+02] [-1.73268042e-02 9.99849854e-01 -2.25215570e-04 1.31968235e+01] [-4.51422592e-03 1.47018239e-04 9.99989800e-01 -1.92817320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.931400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.13, Y:13.21, Z:-0.19 [[ 9.99811442e-01 1.89874069e-02 4.06936258e-03 2.39127668e+02] [-1.89867348e-02 9.99819715e-01 -2.03732864e-04 1.32061756e+01] [-4.07249729e-03 1.26430541e-04 9.99991699e-01 -1.93170675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.961400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.16, Y:13.21, Z:-0.19 [[ 9.99702055e-01 2.42267308e-02 2.97756429e-03 2.39157736e+02] [-2.42263922e-02 9.99706487e-01 -1.49740457e-04 1.32118023e+01] [-2.98031806e-03 7.75602028e-05 9.99995556e-01 -1.94683513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.99140051300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.19, Y:13.22, Z:-0.20 [[ 9.99614266e-01 2.76833183e-02 2.22533741e-03 2.39188660e+02] [-2.76831376e-02 9.99616742e-01 -1.11988161e-04 1.32165406e+01] [-2.22758473e-03 5.03406414e-05 9.99997518e-01 -1.95973426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.021400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.22, Y:13.22, Z:-0.20 [[ 9.99519149e-01 3.09694703e-02 1.53719455e-03 2.39218355e+02] [-3.09693879e-02 9.99520330e-01 -7.74099302e-05 1.32189378e+01] [-1.53885455e-03 2.97667331e-05 9.99998816e-01 -1.97493347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.05140051300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.25, Y:13.22, Z:-0.20 [[ 9.99425927e-01 3.38441309e-02 1.54636668e-03 2.39247266e+02] [-3.38440509e-02 9.99427123e-01 -7.78673170e-05 1.32219116e+01] [-1.54811615e-03 2.54873029e-05 9.99998801e-01 -1.98102742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.081400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.28, Y:13.22, Z:-0.20 [[ 9.99426722e-01 3.38206469e-02 1.54636614e-03 2.39276397e+02] [-3.38205668e-02 9.99427918e-01 -7.78779736e-05 1.32204875e+01] [-1.54811538e-03 2.55343483e-05 9.99998801e-01 -1.98273219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.111400513 meters Centerline goodness [0,1] 0.9997841245169786 Centerline is valid? [True, True] Translation: X:239.31, Y:13.22, Z:-0.20 [[ 9.99367715e-01 3.55055712e-02 1.87755123e-03 2.39305874e+02] [-3.55054563e-02 9.99369478e-01 -9.44856949e-05 1.32238552e+01] [-1.87972216e-03 2.77626397e-05 9.99998233e-01 -1.98120612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.141400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.33, Y:13.22, Z:-0.20 [[ 9.99301649e-01 3.72489964e-02 2.95415811e-03 2.39334636e+02] [-3.72487202e-02 9.99306015e-01 -1.48497729e-04 1.32236947e+01] [-2.95763935e-03 3.83554164e-05 9.99995625e-01 -1.96578016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.171400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.36, Y:13.22, Z:-0.20 [[ 9.99302258e-01 3.72361601e-02 2.90960857e-03 2.39364530e+02] [-3.72358921e-02 9.99306493e-01 -1.46218036e-04 1.32227109e+01] [-2.91303533e-03 3.77741426e-05 9.99995756e-01 -1.96862307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.201400513 meters Centerline goodness [0,1] 0.9998920203001835 Centerline is valid? [True, True] Translation: X:239.39, Y:13.22, Z:-0.20 [[ 9.99306318e-01 3.71895096e-02 1.95511391e-03 2.39392913e+02] [-3.71893885e-02 9.99308231e-01 -9.82949276e-05 1.32194884e+01] [-1.95741696e-03 2.55172514e-05 9.99998084e-01 -1.98805749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.231400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.42, Y:13.22, Z:-0.20 [[ 9.99290380e-01 3.76493896e-02 1.12241088e-03 2.39422566e+02] [-3.76493499e-02 9.99291010e-01 -5.64263943e-05 1.32192434e+01] [-1.12373952e-03 1.41283131e-05 9.99999369e-01 -1.99018175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.261400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.45, Y:13.22, Z:-0.20 [[ 9.99193856e-01 4.01047105e-02 1.80311072e-03 2.39451867e+02] [-4.01046122e-02 9.99195482e-01 -9.06962712e-05 1.32184852e+01] [-1.80529743e-03 1.83101007e-05 9.99998370e-01 -1.97851881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.291400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.48, Y:13.22, Z:-0.20 [[ 9.99085839e-01 4.26140675e-02 3.39527362e-03 2.39480476e+02] [-4.26137353e-02 9.99091608e-01 -1.70150567e-04 1.32187096e+01] [-3.39944019e-03 2.53097307e-05 9.99994222e-01 -1.95832245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.321400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.51, Y:13.22, Z:-0.19 [[ 9.98941098e-01 4.57622996e-02 4.74283110e-03 2.39509270e+02] [-4.57616886e-02 9.98952357e-01 -2.37329870e-04 1.32199879e+01] [-4.74872307e-03 2.00386008e-05 9.99988725e-01 -1.93875517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.351400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.54, Y:13.23, Z:-0.19 [[ 9.98551256e-01 5.35546387e-02 5.22402810e-03 2.39538720e+02] [-5.35540050e-02 9.98564920e-01 -2.61207589e-04 1.32264389e+01] [-5.23052008e-03 -1.89384617e-05 9.99986321e-01 -1.93245347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.381400513 meters Centerline goodness [0,1] 0.999957216505872 Centerline is valid? [True, True] Translation: X:239.57, Y:13.23, Z:-0.19 [[ 9.98352957e-01 5.71721546e-02 4.76643386e-03 2.39567381e+02] [-5.71716694e-02 9.98364334e-01 -2.38095967e-04 1.32309509e+01] [-4.77225003e-03 -3.48011683e-05 9.99988612e-01 -1.94688364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.411400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.60, Y:13.23, Z:-0.19 [[ 9.98140520e-01 6.07358946e-02 5.16261134e-03 2.39596316e+02] [-6.07353736e-02 9.98153870e-01 -2.57765915e-04 1.32296824e+01] [-5.16873613e-03 -5.62665239e-05 9.99986640e-01 -1.94114664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.441400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.62, Y:13.23, Z:-0.19 [[ 9.97944161e-01 6.38387293e-02 5.66285564e-03 2.39624761e+02] [-6.38381542e-02 9.97960225e-01 -2.82446505e-04 1.32280213e+01] [-5.66933571e-03 -7.96404110e-05 9.99983926e-01 -1.93454535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.471400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.65, Y:13.23, Z:-0.19 [[ 9.97570711e-01 6.93927537e-02 6.10912961e-03 2.39654021e+02] [-6.93921904e-02 9.97589410e-01 -3.04382542e-04 1.32270576e+01] [-6.11552495e-03 -1.20282776e-04 9.99981293e-01 -1.93103280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.501400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.68, Y:13.23, Z:-0.19 [[ 9.97411679e-01 7.16494485e-02 6.02482905e-03 2.39683008e+02] [-7.16489431e-02 9.97429867e-01 -2.99959668e-04 1.32290201e+01] [-6.03083638e-03 -1.32489358e-04 9.99981806e-01 -1.93893291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.531400513 meters Centerline goodness [0,1] 0.9997861099822472 Centerline is valid? [True, True] Translation: X:239.71, Y:13.23, Z:-0.19 [[ 9.97200987e-01 7.43970739e-02 7.43421772e-03 2.39710952e+02] [-7.43832864e-02 9.97227484e-01 -2.11458208e-03 1.32286461e+01] [-7.57092495e-03 1.55568179e-03 9.99970130e-01 -1.93257384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.561400513 meters Centerline goodness [0,1] 0.9999352541275494 Centerline is valid? [True, True] Translation: X:239.74, Y:13.22, Z:-0.19 [[ 9.97153961e-01 7.50741774e-02 6.91701405e-03 2.39740047e+02] [-7.50856623e-02 9.97176082e-01 1.41557118e-03 1.32244841e+01] [-6.79120813e-03 -1.93091099e-03 9.99975075e-01 -1.94026620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.591400513 meters Centerline goodness [0,1] 0.9999350058494736 Centerline is valid? [True, True] Translation: X:239.77, Y:13.22, Z:-0.19 [[ 9.96929745e-01 7.79505859e-02 7.40199001e-03 2.39769218e+02] [-7.79500042e-02 9.96957202e-01 -3.67493050e-04 1.32202953e+01] [-7.40811355e-03 -2.10620400e-04 9.99972537e-01 -1.93446769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.621400513 meters Centerline goodness [0,1] 0.9998250639609892 Centerline is valid? [True, True] Translation: X:239.80, Y:13.22, Z:-0.19 [[ 9.96833191e-01 7.92253842e-02 6.85043806e-03 2.39797568e+02] [-7.92249177e-02 9.96856708e-01 -3.39858724e-04 1.32164741e+01] [-6.85583057e-03 -2.03942936e-04 9.99976478e-01 -1.94771626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.651400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.83, Y:13.21, Z:-0.20 [[ 9.96723010e-01 8.07086091e-02 5.41872814e-03 2.39825675e+02] [-8.07083402e-02 9.96737725e-01 -2.68628168e-04 1.32149967e+01] [-5.42273136e-03 -1.69588678e-04 9.99985283e-01 -1.96276200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.681400513 meters Centerline goodness [0,1] 0.9999357202545478 Centerline is valid? [True, True] Translation: X:239.85, Y:13.21, Z:-0.20 [[ 9.96559945e-01 8.28248083e-02 2.88575422e-03 2.39853938e+02] [-8.28247412e-02 9.96564118e-01 -1.42976869e-04 1.32142577e+01] [-2.88768114e-03 -9.65268255e-05 9.99995826e-01 -2.00761748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.711400513 meters Centerline goodness [0,1] 0.9997831084891338 Centerline is valid? [True, True] Translation: X:239.88, Y:13.21, Z:-0.20 [[ 9.96527572e-01 8.32403389e-02 1.96070018e-03 2.39881476e+02] [-8.32403087e-02 9.96529499e-01 -9.71790819e-05 1.32121073e+01] [-1.96198479e-03 -6.63676536e-05 9.99998073e-01 -2.02230844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.74140051300003 meters Centerline goodness [0,1] 0.9999785958904109 Centerline is valid? [True, True] Translation: X:239.91, Y:13.21, Z:-0.20 [[ 9.96532158e-01 8.31852570e-02 1.96764869e-03 2.39909663e+02] [-8.31852265e-02 9.96534098e-01 -9.74522988e-05 1.32077736e+01] [-1.96893561e-03 -6.65649526e-05 9.99998059e-01 -2.02360748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.771400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.94, Y:13.20, Z:-0.20 [[ 9.96603358e-01 8.23308572e-02 1.83776864e-03 2.39938392e+02] [-8.23308295e-02 9.96605050e-01 -9.08292884e-05 1.31982826e+01] [-1.83900756e-03 -6.07842431e-05 9.99998307e-01 -2.02388864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.80140051300003 meters Centerline goodness [0,1] 0.9998496628151712 Centerline is valid? [True, True] Translation: X:239.97, Y:13.19, Z:-0.20 [[ 9.96738491e-01 8.06558963e-02 2.64713249e-03 2.39965684e+02] [-8.06558336e-02 9.96742002e-01 -1.30602338e-04 1.31935964e+01] [-2.64904199e-03 -8.33302999e-05 9.99996488e-01 -2.02126395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.831400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.99, Y:13.19, Z:-0.20 [[ 9.96694203e-01 8.11822840e-02 3.17834280e-03 2.39993254e+02] [-8.11821971e-02 9.96699266e-01 -1.56543352e-04 1.31937877e+01] [-3.18056048e-03 -1.01999000e-04 9.99994937e-01 -2.01652204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.861400513 meters Centerline goodness [0,1] 0.9999784807402625 Centerline is valid? [True, True] Translation: X:240.02, Y:13.19, Z:-0.20 [[ 9.96591856e-01 8.24504175e-02 2.56915096e-03 2.40021472e+02] [-8.24503653e-02 9.96595164e-01 -1.26414249e-04 1.31877438e+01] [-2.57082633e-03 -8.58440238e-05 9.99996692e-01 -2.01537535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.891400513 meters Centerline goodness [0,1] 0.9999355199243434 Centerline is valid? [True, True] Translation: X:240.05, Y:13.19, Z:-0.20 [[ 9.96409839e-01 8.46479233e-02 1.47051988e-03 2.40049631e+02] [-8.46479085e-02 9.96410922e-01 -7.23608969e-05 1.31881877e+01] [-1.47136727e-03 -5.23753231e-05 9.99998916e-01 -2.03020944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.921400513 meters Centerline goodness [0,1] 0.9998924731182796 Centerline is valid? [True, True] Translation: X:240.08, Y:13.20, Z:-0.21 [[ 9.95995518e-01 8.93947510e-02 -1.22704607e-03 2.40079211e+02] [-8.93947446e-02 9.95996273e-01 6.01057275e-05 1.31958578e+01] [ 1.22750644e-03 4.98264345e-05 9.99999245e-01 -2.08857676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.951400513 meters Centerline goodness [0,1] 0.9999360218378793 Centerline is valid? [True, True] Translation: X:240.11, Y:13.19, Z:-0.21 [[ 9.95795010e-01 9.16000680e-02 -1.31394491e-03 2.40108731e+02] [-9.16000628e-02 9.95795875e-01 6.42740025e-05 1.31935459e+01] [ 1.31430843e-03 5.63537055e-05 9.99999135e-01 -2.09157134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.981400513 meters Centerline goodness [0,1] 0.9999569827716001 Centerline is valid? [True, True] Translation: X:240.14, Y:13.19, Z:-0.21 [[ 9.95620638e-01 9.34836207e-02 -5.97827931e-04 2.40138175e+02] [-9.34836200e-02 9.95620817e-01 2.91487771e-05 1.31890068e+01] [ 5.97934867e-04 2.68659950e-05 9.99999821e-01 -2.07439015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.011400513 meters Centerline goodness [0,1] 0.9998511240136966 Centerline is valid? [True, True] Translation: X:240.17, Y:13.19, Z:-0.21 [[ 9.95464900e-01 9.51274392e-02 6.35397831e-04 2.40167150e+02] [-9.51274386e-02 9.95465102e-01 -3.13216175e-05 1.31924930e+01] [-6.35495912e-04 -2.92641973e-05 9.99999798e-01 -2.06214564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.041400513 meters Centerline goodness [0,1] 0.9998497015502211 Centerline is valid? [True, True] Translation: X:240.20, Y:13.19, Z:-0.21 [[ 9.95360542e-01 9.62146412e-02 3.66909073e-04 2.40195412e+02] [-9.62146410e-02 9.95360609e-01 -1.82211151e-05 1.31862846e+01] [-3.66959977e-04 -1.71654457e-05 9.99999933e-01 -2.05521899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.071400513 meters Centerline goodness [0,1] 0.9998924684932685 Centerline is valid? [True, True] Translation: X:240.22, Y:13.18, Z:-0.21 [[ 9.95411727e-01 9.56834008e-02 -4.26064025e-04 2.40224219e+02] [-9.56834007e-02 9.95411817e-01 2.05399836e-05 1.31809634e+01] [ 4.26074501e-04 2.03215143e-05 9.99999909e-01 -2.06584435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.101400513 meters Centerline goodness [0,1] 0.9998919923098525 Centerline is valid? [True, True] Translation: X:240.25, Y:13.18, Z:-0.21 [[ 9.95473639e-01 9.50360606e-02 -6.16891347e-04 2.40251935e+02] [-9.50360604e-02 9.95473830e-01 2.97608426e-05 1.31794612e+01] [ 6.16927545e-04 2.90007889e-05 9.99999809e-01 -2.07673971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.131400513 meters Centerline goodness [0,1] 0.999914998512474 Centerline is valid? [True, True] Translation: X:240.28, Y:13.18, Z:-0.21 [[ 9.95495034e-01 9.48135610e-02 1.60349591e-04 2.40280437e+02] [-9.48135609e-02 9.95495047e-01 -8.09330525e-06 1.31786498e+01] [-1.60394579e-04 -7.14647055e-06 9.99999987e-01 -2.07513554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.161400513 meters Centerline goodness [0,1] 0.999935369899608 Centerline is valid? [True, True] Translation: X:240.31, Y:13.18, Z:-0.20 [[ 9.95446523e-01 9.52835399e-02 2.69573027e-03 2.40309373e+02] [-9.52835322e-02 9.95450165e-01 -1.31590843e-04 1.31757352e+01] [-2.69600358e-03 -1.25867055e-04 9.99996358e-01 -2.03703878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.191400513 meters Centerline goodness [0,1] 0.999871783913155 Centerline is valid? [True, True] Translation: X:240.34, Y:13.18, Z:-0.20 [[ 9.95443957e-01 9.53059509e-02 2.84690602e-03 2.40337528e+02] [-9.53059427e-02 9.95448019e-01 -1.38852480e-04 1.31756079e+01] [-2.84718042e-03 -1.33107200e-04 9.99995938e-01 -2.02832193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.221400513 meters Centerline goodness [0,1] 0.9998930641401288 Centerline is valid? [True, True] Translation: X:240.37, Y:13.17, Z:-0.20 [[ 9.95430325e-01 9.54628249e-02 2.30602283e-03 2.40366424e+02] [-9.54628202e-02 9.95432990e-01 -1.12358007e-04 1.31716218e+01] [-2.30621721e-03 -1.08294875e-04 9.99997335e-01 -2.03094804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.251400513 meters Centerline goodness [0,1] 0.9998911552778805 Centerline is valid? [True, True] Translation: X:240.40, Y:13.17, Z:-0.20 [[ 9.95461447e-01 9.51596745e-02 1.06950178e-03 2.40395436e+02] [-9.51596732e-02 9.95462020e-01 -5.22095106e-05 1.31667834e+01] [-1.06961664e-03 -4.98008844e-05 9.99999427e-01 -2.04385195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.281400513 meters Centerline goodness [0,1] 0.9998928418345477 Centerline is valid? [True, True] Translation: X:240.42, Y:13.17, Z:-0.20 [[ 9.95381769e-01 9.59806170e-02 1.68972398e-03 2.40422648e+02] [-9.59806153e-02 9.95383200e-01 -8.23212108e-05 1.31650097e+01] [-1.68982410e-03 -8.02397144e-05 9.99998569e-01 -2.03209859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.311400513 meters Centerline goodness [0,1] 0.9998714818146768 Centerline is valid? [True, True] Translation: X:240.45, Y:13.17, Z:-0.20 [[ 9.95219566e-01 9.76075611e-02 3.28335967e-03 2.40451886e+02] [-9.76075655e-02 9.95224968e-01 -1.59303352e-04 1.31655504e+01] [-3.28323073e-03 -1.61938931e-04 9.99994597e-01 -2.00637393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.341400513 meters Centerline goodness [0,1] 0.9998702730751767 Centerline is valid? [True, True] Translation: X:240.48, Y:13.16, Z:-0.20 [[ 9.94945771e-01 1.00320633e-01 4.32250601e-03 2.40481858e+02] [-1.00320668e-01 9.94955135e-01 -2.09467306e-04 1.31599960e+01] [-4.32171344e-03 -2.25228078e-04 9.99990636e-01 -1.98366078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.371400513 meters Centerline goodness [0,1] 0.9991165125950826 Centerline is valid? [True, True] Translation: X:240.51, Y:13.17, Z:-0.20 [[ 9.94276402e-01 1.06775947e-01 3.65138676e-03 2.40511701e+02] [-1.06776015e-01 9.94283084e-01 -1.76919703e-04 1.31690983e+01] [-3.64940286e-03 -2.13973441e-04 9.99993318e-01 -2.00182772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.401400513 meters Centerline goodness [0,1] 0.9221200418204707 Centerline is valid? [True, False] Translation: X:240.51, Y:13.18, Z:-0.20 [[ 9.94620033e-01 1.03550515e-01 2.87779264e-03 2.40513696e+02] [-1.03534537e-01 9.94612077e-01 -5.23604980e-03 1.31760018e+01] [-3.40448297e-03 4.90992909e-03 9.99982151e-01 -2.01363972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.431400513 meters Centerline goodness [0,1] 0.9920707858684734 Centerline is valid? [False, True] Translation: X:240.51, Y:13.18, Z:-0.20 [[ 9.94627623e-01 1.03481234e-01 2.74333480e-03 2.40514573e+02] [-1.03464740e-01 9.94617390e-01 -5.59428713e-03 1.31777517e+01] [-3.30747223e-03 5.28039409e-03 9.99980589e-01 -2.02235397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.461400513 meters Centerline goodness [0,1] 0.8653247473239797 Centerline is valid? [True, False] Translation: X:240.51, Y:13.18, Z:-0.20 [[ 9.94632787e-01 1.03432320e-01 2.71550898e-03 2.40514922e+02] [-1.03415061e-01 9.94620959e-01 -5.87136829e-03 1.31790984e+01] [-3.30819139e-03 5.55903088e-03 9.99979076e-01 -2.02742355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.49140051300003 meters Centerline goodness [0,1] 0.9171462932737737 Centerline is valid? [False, False] Translation: X:240.51, Y:13.18, Z:-0.20 [[ 9.94622893e-01 1.03523999e-01 2.84279966e-03 2.40514613e+02] [-1.03505317e-01 9.94610324e-01 -6.07880760e-03 1.31802494e+01] [-3.45678036e-03 5.75187632e-03 9.99977483e-01 -2.02923491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.521400513 meters Centerline goodness [0,1] 0.8344652856139155 Centerline is valid? [False, False] Translation: X:240.51, Y:13.18, Z:-0.20 [[ 9.94618181e-01 1.03567567e-01 2.90397124e-03 2.40514343e+02] [-1.03548451e-01 9.94605693e-01 -6.10191086e-03 1.31804215e+01] [-3.52026639e-03 5.76836976e-03 9.99977167e-01 -2.02828149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.55140051300003 meters Centerline goodness [0,1] 0.8441097180024819 Centerline is valid? [False, False] Translation: X:240.51, Y:13.18, Z:-0.20 [[ 9.94621823e-01 1.03529418e-01 3.01483709e-03 2.40514004e+02] [-1.03509102e-01 9.94608829e-01 -6.25641025e-03 1.31811606e+01] [-3.64630610e-03 5.91069909e-03 9.99975884e-01 -2.02861286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.581400513 meters Centerline goodness [0,1] 0.6911235548363746 Centerline is valid? [False, False] Translation: X:240.51, Y:13.18, Z:-0.20 [[ 9.94629544e-01 1.03452601e-01 3.10300564e-03 2.40513728e+02] [-1.03430762e-01 9.94615260e-01 -6.52403451e-03 1.31824337e+01] [-3.76122510e-03 6.16805123e-03 9.99973904e-01 -2.02863945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.611400513 meters Centerline goodness [0,1] 0.7499307257806671 Centerline is valid? [False, False] Translation: X:240.51, Y:13.18, Z:-0.20 [[ 9.94634399e-01 1.03405034e-01 3.13243478e-03 2.40513704e+02] [-1.03382176e-01 9.94618840e-01 -6.74452544e-03 1.31835034e+01] [-3.81299653e-03 6.38449908e-03 9.99972349e-01 -2.03010705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.641400513 meters Centerline goodness [0,1] 0.7395988905483252 Centerline is valid? [False, False] Translation: X:240.51, Y:13.18, Z:-0.20 [[ 9.94622289e-01 1.03520874e-01 3.15147375e-03 2.40513698e+02] [-1.03498853e-01 9.94608380e-01 -6.49293156e-03 1.31823118e+01] [-3.80663614e-03 6.13184053e-03 9.99973955e-01 -2.03201417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.671400513 meters Centerline goodness [0,1] 0.6741197032995141 Centerline is valid? [False, False] Translation: X:240.51, Y:13.18, Z:-0.20 [[ 9.94601835e-01 1.03717403e-01 3.14480319e-03 2.40513768e+02] [-1.03697165e-01 9.94590630e-01 -6.03123767e-03 1.31801317e+01] [-3.75333609e-03 5.67257288e-03 9.99976867e-01 -2.03426442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.701400513 meters Centerline goodness [0,1] 0.7736596437136005 Centerline is valid? [False, False] Translation: X:240.51, Y:13.18, Z:-0.20 [[ 9.94578669e-01 1.03938849e-01 3.16023427e-03 2.40513620e+02] [-1.03920618e-01 9.94570549e-01 -5.47062419e-03 1.31774874e+01] [-3.71168631e-03 5.11255263e-03 9.99980042e-01 -2.03386219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.731400513 meters Centerline goodness [0,1] 0.8206998331693545 Centerline is valid? [False, False] Translation: X:240.51, Y:13.17, Z:-0.20 [[ 9.94549490e-01 1.04216726e-01 3.19145267e-03 2.40513336e+02] [-1.04203537e-01 9.94547736e-01 -4.05273767e-03 1.31703807e+01] [-3.59641508e-03 3.69808753e-03 9.99986695e-01 -2.03432287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.761400513 meters Centerline goodness [0,1] 0.9261263959608061 Centerline is valid? [False, False] Translation: X:240.51, Y:13.17, Z:-0.20 [[ 9.94997836e-01 9.98556903e-02 2.85453820e-03 2.40512986e+02] [-9.98273401e-02 9.94966107e-01 -8.77203303e-03 1.31724080e+01] [-3.71610618e-03 8.44319293e-03 9.99957451e-01 -2.03343300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.791400513 meters Centerline goodness [0,1] 0.920938744751857 Centerline is valid? [False, False] Translation: X:240.51, Y:13.16, Z:-0.20 [[ 9.94938370e-01 1.00439233e-01 3.09856485e-03 2.40512014e+02] [-1.00416634e-01 9.94922609e-01 -6.74551182e-03 1.31625202e+01] [-3.76034626e-03 6.40022108e-03 9.99972448e-01 -2.03409118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.821400513 meters Centerline goodness [0,1] 0.937570772353381 Centerline is valid? [False, False] Translation: X:240.51, Y:13.16, Z:-0.20 [[ 9.94910575e-01 1.00718109e-01 2.96833552e-03 2.40512424e+02] [-1.00698927e-01 9.94898693e-01 -6.02629922e-03 1.31591255e+01] [-3.56015060e-03 5.69672062e-03 9.99977436e-01 -2.03551080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.851400513 meters Centerline goodness [0,1] 0.9736202855316429 Centerline is valid? [False, True] Translation: X:240.51, Y:13.16, Z:-0.20 [[ 9.94887396e-01 1.00947868e-01 2.93203001e-03 2.40512677e+02] [-1.00930674e-01 9.94878167e-01 -5.51648115e-03 1.31567241e+01] [-3.47388966e-03 5.19234581e-03 9.99980486e-01 -2.03949071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.881400513 meters Centerline goodness [0,1] 0.9057906174102007 Centerline is valid? [True, False] Translation: X:240.51, Y:13.15, Z:-0.20 [[ 9.94866470e-01 1.01154697e-01 2.90401065e-03 2.40512840e+02] [-1.01139151e-01 9.94859334e-01 -5.07718992e-03 1.31546696e+01] [-3.40266371e-03 4.75741685e-03 9.99982894e-01 -2.04190342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.911400513 meters Centerline goodness [0,1] 0.7933317720198428 Centerline is valid? [False, False] Translation: X:240.51, Y:13.15, Z:-0.20 [[ 9.94809395e-01 1.01703823e-01 3.25569419e-03 2.40511435e+02] [-1.01690353e-01 9.94807791e-01 -4.06582125e-03 1.31500328e+01] [-3.65229950e-03 3.71364449e-03 9.99986435e-01 -2.03936690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.941400513 meters Centerline goodness [0,1] 0.7207493589336046 Centerline is valid? [False, False] Translation: X:240.51, Y:13.15, Z:-0.20 [[ 9.95147201e-01 9.83400359e-02 3.35945754e-03 2.40509804e+02] [-9.83077995e-02 9.95118060e-01 -8.69613207e-03 1.31535672e+01] [-4.19823481e-03 8.32367061e-03 9.99956545e-01 -2.03798572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.971400513 meters Centerline goodness [0,1] 0.7207493589336046 Centerline is valid? [False, False] Translation: X:240.51, Y:13.15, Z:-0.20 [[ 9.95147201e-01 9.83400359e-02 3.35945754e-03 2.40509804e+02] [-9.83077995e-02 9.95118060e-01 -8.69613207e-03 1.31535672e+01] [-4.19823481e-03 8.32367061e-03 9.99956545e-01 -2.03798572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.001400513 meters Centerline goodness [0,1] 0.6877887788778878 Centerline is valid? [False, False] Translation: X:240.51, Y:13.15, Z:-0.20 [[ 9.95137995e-01 9.84295720e-02 3.46256841e-03 2.40509524e+02] [-9.83969501e-02 9.95110209e-01 -8.58560381e-03 1.31530623e+01] [-4.29071448e-03 8.20315440e-03 9.99957148e-01 -2.03977342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.031400513 meters Centerline goodness [0,1] 0.7086987992846803 Centerline is valid? [False, False] Translation: X:240.51, Y:13.15, Z:-0.20 [[ 9.95132846e-01 9.84795529e-02 3.52099330e-03 2.40509518e+02] [-9.84465372e-02 9.95105476e-01 -8.56567744e-03 1.31529837e+01] [-4.34730380e-03 8.17735737e-03 9.99957115e-01 -2.04395744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.061400513 meters Centerline goodness [0,1] 0.6155009371272789 Centerline is valid? [False, False] Translation: X:240.51, Y:13.15, Z:-0.20 [[ 9.95099843e-01 9.88070032e-02 3.67132717e-03 2.40509168e+02] [-9.87757141e-02 9.95078345e-01 -7.90222031e-03 1.31498579e+01] [-4.43405287e-03 7.50086023e-03 9.99962037e-01 -2.04903749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.091400513 meters Centerline goodness [0,1] 0.6216572985862715 Centerline is valid? [False, False] Translation: X:240.51, Y:13.15, Z:-0.20 [[ 9.95071670e-01 9.90871669e-02 3.75577760e-03 2.40508815e+02] [-9.90581155e-02 9.95055156e-01 -7.26131817e-03 1.31468421e+01] [-4.45670931e-03 6.85349174e-03 9.99966583e-01 -2.04917875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.121400513 meters Centerline goodness [0,1] 0.5897685852335339 Centerline is valid? [False, False] Translation: X:240.51, Y:13.14, Z:-0.21 [[ 9.95045916e-01 9.93451568e-02 3.76355916e-03 2.40508791e+02] [-9.93186750e-02 9.95033327e-01 -6.66919617e-03 1.31440471e+01] [-4.40741913e-03 6.26236470e-03 9.99970678e-01 -2.05078344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.151400513 meters Centerline goodness [0,1] 0.7185486460451675 Centerline is valid? [False, False] Translation: X:240.51, Y:13.14, Z:-0.21 [[ 9.95011516e-01 9.96911890e-02 3.70798660e-03 2.40509106e+02] [-9.96687649e-02 9.95003722e-01 -5.80779240e-03 1.31399775e+01] [-4.26844620e-03 5.40924988e-03 9.99976260e-01 -2.05539599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.181400513 meters Centerline goodness [0,1] 0.676742020150707 Centerline is valid? [False, False] Translation: X:240.51, Y:13.14, Z:-0.21 [[ 9.94991274e-01 9.98927138e-02 3.71617280e-03 2.40508883e+02] [-9.98725072e-02 9.94986258e-01 -5.27538580e-03 1.31374593e+01] [-4.22451347e-03 4.87781935e-03 9.99979180e-01 -2.05303079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.211400513 meters Centerline goodness [0,1] 0.6703419280106397 Centerline is valid? [False, False] Translation: X:240.51, Y:13.13, Z:-0.20 [[ 9.94962055e-01 1.00180664e-01 3.78717387e-03 2.40508349e+02] [-1.00163035e-01 9.94960454e-01 -4.58916481e-03 1.31342542e+01] [-4.22783382e-03 4.18671002e-03 9.99982298e-01 -2.04853261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.24140051300003 meters Centerline goodness [0,1] 0.7391202220798634 Centerline is valid? [False, False] Translation: X:240.51, Y:13.14, Z:-0.20 [[ 9.95383364e-01 9.59072256e-02 3.70990326e-03 2.40507266e+02] [-9.58675870e-02 9.95346904e-01 -9.69263218e-03 1.31384716e+01] [-4.62223419e-03 9.29222535e-03 9.99946143e-01 -2.04670685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.271400513 meters Centerline goodness [0,1] 0.642281964978058 Centerline is valid? [False, False] Translation: X:240.51, Y:13.14, Z:-0.20 [[ 9.95378845e-01 9.59548052e-02 3.69182019e-03 2.40507291e+02] [-9.59158874e-02 9.95343417e-01 -9.57208182e-03 1.31379208e+01] [-4.59311617e-03 9.17374354e-03 9.99947371e-01 -2.04602323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.30140051300003 meters Centerline goodness [0,1] 0.6423285218029214 Centerline is valid? [False, False] Translation: X:240.49, Y:13.13, Z:-0.20 [[ 9.95514105e-01 9.46000747e-02 1.57886726e-03 2.40488634e+02] [-9.46024903e-02 9.95513948e-01 1.53253907e-03 1.31325729e+01] [-1.42680607e-03 -1.67502903e-03 9.99997579e-01 -2.04854917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.331400513 meters Centerline goodness [0,1] 0.7226976100955098 Centerline is valid? [False, False] Translation: X:240.49, Y:13.14, Z:-0.21 [[ 9.95889345e-01 9.05674697e-02 1.39521920e-03 2.40488330e+02] [-9.05613652e-02 9.95883049e-01 -3.94866102e-03 1.31393431e+01] [-1.74709539e-03 3.80607648e-03 9.99991231e-01 -2.05313662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.361400513 meters Centerline goodness [0,1] 0.7053028356035296 Centerline is valid? [False, False] Translation: X:240.49, Y:13.14, Z:-0.21 [[ 9.95894306e-01 9.05130121e-02 1.38806301e-03 2.40488355e+02] [-9.05065617e-02 9.95887162e-01 -4.16212719e-03 1.31403862e+01] [-1.75908080e-03 4.01940996e-03 9.99990375e-01 -2.05323988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.391400513 meters Centerline goodness [0,1] 0.6170226440155102 Centerline is valid? [False, False] Translation: X:240.49, Y:13.14, Z:-0.21 [[ 9.95915816e-01 9.02730326e-02 1.57068113e-03 2.40487810e+02] [-9.02644077e-02 9.95905813e-01 -4.89380349e-03 1.31438734e+01] [-2.00602895e-03 4.73203970e-03 9.99986792e-01 -2.05277740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.421400513 meters Centerline goodness [0,1] 0.7013332760804689 Centerline is valid? [False, False] Translation: X:240.49, Y:13.15, Z:-0.21 [[ 9.95941103e-01 8.99924167e-02 1.63809701e-03 2.40487563e+02] [-8.99821044e-02 9.95927938e-01 -5.54648228e-03 1.31469217e+01] [-2.13056792e-03 5.37657027e-03 9.99983276e-01 -2.05119031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.451400513 meters Centerline goodness [0,1] 0.6119774492075312 Centerline is valid? [False, False] Translation: X:240.49, Y:13.15, Z:-0.20 [[ 9.95966597e-01 8.97105143e-02 1.60030545e-03 2.40487639e+02] [-8.96989895e-02 9.95949526e-01 -6.21559663e-03 1.31500899e+01] [-2.15142783e-03 6.04698085e-03 9.99979402e-01 -2.04944682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.481400513 meters Centerline goodness [0,1] 0.6942298172739599 Centerline is valid? [False, False] Translation: X:240.49, Y:13.15, Z:-0.20 [[ 9.95988025e-01 8.94734982e-02 1.53230749e-03 2.40487729e+02] [-8.94613793e-02 9.95967787e-01 -6.69547563e-03 1.31523069e+01] [-2.12519653e-03 6.53153120e-03 9.99976411e-01 -2.04602649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.511400513 meters Centerline goodness [0,1] 0.7117130717967519 Centerline is valid? [False, False] Translation: X:240.49, Y:13.15, Z:-0.20 [[ 9.95980713e-01 8.95559410e-02 1.46705187e-03 2.40487767e+02] [-8.95448956e-02 9.95962362e-01 -6.37846637e-03 1.31507876e+01] [-2.03235800e-03 6.22146247e-03 9.99978581e-01 -2.04313765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.541400513 meters Centerline goodness [0,1] 0.7450420096387598 Centerline is valid? [False, False] Translation: X:240.50, Y:13.14, Z:-0.20 [[ 9.96248186e-01 8.65420494e-02 -1.60784745e-04 2.40504733e+02] [-8.65418034e-02 9.96247531e-01 1.17160121e-03 1.31447135e+01] [ 2.61574175e-04 -1.15329098e-03 9.99999301e-01 -1.97656999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.571400513 meters Centerline goodness [0,1] 0.8011673318741686 Centerline is valid? [False, False] Translation: X:240.50, Y:13.15, Z:-0.20 [[ 9.96647475e-01 8.18147469e-02 -3.96797555e-04 2.40504205e+02] [-8.18156937e-02 9.96638545e-01 -4.21941850e-03 1.31498140e+01] [ 5.02530812e-05 4.23773706e-03 9.99991019e-01 -1.97262483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.601400513 meters Centerline goodness [0,1] 0.9130481698895028 Centerline is valid? [False, False] Translation: X:240.50, Y:13.15, Z:-0.19 [[ 9.96845057e-01 7.93721089e-02 -8.30686211e-06 2.40498420e+02] [-7.93705394e-02 9.96824677e-01 -6.39378289e-03 1.31503886e+01] [-4.99207547e-04 6.37427020e-03 9.99979560e-01 -1.92443627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.631400513 meters Centerline goodness [0,1] 0.8404669260700389 Centerline is valid? [False, False] Translation: X:240.51, Y:13.14, Z:-0.19 [[ 9.96763033e-01 8.03063519e-02 -3.78748959e-03 2.40512400e+02] [-8.03035003e-02 9.96770053e-01 8.99302002e-04 1.31418542e+01] [ 3.84747586e-03 -5.92242320e-04 9.99992423e-01 -1.86480519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.661400513 meters Centerline goodness [0,1] 0.7681916465072467 Centerline is valid? [False, False] Translation: X:240.51, Y:13.15, Z:-0.19 [[ 9.97116080e-01 7.57961870e-02 -3.80279043e-03 2.40511343e+02] [-7.58125346e-02 9.97112572e-01 -4.35636991e-03 1.31465122e+01] [ 3.46161392e-03 4.63210566e-03 9.99983280e-01 -1.86241798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.691400513 meters Centerline goodness [0,1] 0.9425401271140795 Centerline is valid? [False, False] Translation: X:240.51, Y:13.14, Z:-0.19 [[ 9.97090496e-01 7.61329671e-02 -3.78331548e-03 2.40511123e+02] [-7.61464305e-02 9.97090320e-01 -3.55180959e-03 1.31427571e+01] [ 3.50189744e-03 3.82956156e-03 9.99986535e-01 -1.86049530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.721400513 meters Centerline goodness [0,1] 0.9669394857253335 Centerline is valid? [False, True] Translation: X:240.51, Y:13.15, Z:-0.19 [[ 9.97409370e-01 7.18264745e-02 -3.93770191e-03 2.40510808e+02] [-7.18589417e-02 9.97375637e-01 -8.83918720e-03 1.31479256e+01] [ 3.29248030e-03 9.09924723e-03 9.99953181e-01 -1.86245194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.751400513 meters Centerline goodness [0,1] 0.9452598344568649 Centerline is valid? [True, False] Translation: X:240.51, Y:13.14, Z:-0.19 [[ 9.97080338e-01 7.62535097e-02 -4.02508918e-03 2.40512002e+02] [-7.62660809e-02 9.97082782e-01 -3.06779956e-03 1.31402482e+01] [ 3.77941663e-03 3.36582040e-03 9.99987194e-01 -1.86363728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.781400513 meters Centerline goodness [0,1] 0.826266649535312 Centerline is valid? [False, False] Translation: X:240.51, Y:13.14, Z:-0.19 [[ 9.97068427e-01 7.64049628e-02 -4.10286499e-03 2.40512338e+02] [-7.64164781e-02 9.97072256e-01 -2.72712083e-03 1.31386642e+01] [ 3.88248728e-03 3.03265257e-03 9.99987865e-01 -1.86586066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.811400513 meters Centerline goodness [0,1] 0.7859595981142943 Centerline is valid? [False, False] Translation: X:240.51, Y:13.14, Z:-0.19 [[ 9.97362591e-01 7.24482980e-02 -4.37117528e-03 2.40512347e+02] [-7.24783043e-02 9.97344371e-01 -7.14845033e-03 1.31396974e+01] [ 3.84167400e-03 7.44641231e-03 9.99964896e-01 -1.86980023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.841400513 meters Centerline goodness [0,1] 0.8219684030742955 Centerline is valid? [False, False] Translation: X:240.51, Y:13.14, Z:-0.19 [[ 9.97345627e-01 7.26833921e-02 -4.33883052e-03 2.40512203e+02] [-7.27111132e-02 9.97331104e-01 -6.61541396e-03 1.31371969e+01] [ 3.84641991e-03 6.91333538e-03 9.99968705e-01 -1.86999668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.871400513 meters Centerline goodness [0,1] 0.9700200863284756 Centerline is valid? [False, True] Translation: X:240.51, Y:13.14, Z:-0.19 [[ 9.97334630e-01 7.28355282e-02 -4.31527191e-03 2.40512121e+02] [-7.28617997e-02 9.97322272e-01 -6.28037273e-03 1.31356326e+01] [ 3.84628252e-03 6.57805169e-03 9.99970967e-01 -1.87063625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.901400513 meters Centerline goodness [0,1] 0.9373514103964531 Centerline is valid? [True, False] Translation: X:240.51, Y:13.13, Z:-0.19 [[ 9.97327944e-01 7.29317641e-02 -4.23445685e-03 2.40511761e+02] [-7.29568718e-02 9.97316362e-01 -6.11300536e-03 1.31348720e+01] [ 3.77726084e-03 6.40560379e-03 9.99972350e-01 -1.86928329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.931400513 meters Centerline goodness [0,1] 0.8163537737848031 Centerline is valid? [False, False] Translation: X:240.51, Y:13.13, Z:-0.19 [[ 9.97323026e-01 7.29962696e-02 -4.28094456e-03 2.40512048e+02] [-7.30210827e-02 9.97312598e-01 -5.95847054e-03 1.31341286e+01] [ 3.83449381e-03 6.25511907e-03 9.99973085e-01 -1.87259428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.961400513 meters Centerline goodness [0,1] 0.9584000683366434 Centerline is valid? [False, True] Translation: X:240.51, Y:13.13, Z:-0.19 [[ 9.97316981e-01 7.30765901e-02 -4.31875372e-03 2.40512332e+02] [-7.31008587e-02 9.97307935e-01 -5.75735259e-03 1.31331568e+01] [ 3.88639966e-03 6.05761010e-03 9.99974100e-01 -1.87612259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.99140051300003 meters Centerline goodness [0,1] 0.8758335641391652 Centerline is valid? [True, False] Translation: X:240.51, Y:13.13, Z:-0.19 [[ 9.97306139e-01 7.32196442e-02 -4.39872227e-03 2.40512630e+02] [-7.32429772e-02 9.97299503e-01 -5.40065408e-03 1.31314575e+01] [ 3.99140957e-03 5.70828098e-03 9.99975742e-01 -1.87763351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.021400513 meters Centerline goodness [0,1] 0.9249222853467681 Centerline is valid? [False, False] Translation: X:240.51, Y:13.13, Z:-0.19 [[ 9.97280589e-01 7.35667814e-02 -4.39947064e-03 2.40512325e+02] [-7.35856903e-02 9.97279617e-01 -4.30257876e-03 1.31262013e+01] [ 4.07097553e-03 4.61461636e-03 9.99981066e-01 -1.87322509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.05140051300003 meters Centerline goodness [0,1] 0.987825527810524 Centerline is valid? [False, True] Translation: X:240.51, Y:13.12, Z:-0.19 [[ 9.97266016e-01 7.37629791e-02 -4.41779574e-03 2.40512228e+02] [-7.37798942e-02 9.97267323e-01 -3.79655048e-03 1.31238189e+01] [ 4.12567846e-03 4.11211527e-03 9.99983034e-01 -1.87082465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.081400513 meters Centerline goodness [0,1] 0.7643264960879679 Centerline is valid? [True, False] Translation: X:240.53, Y:13.12, Z:-0.19 [[ 9.97412633e-01 7.18850681e-02 -7.58726978e-04 2.40534200e+02] [-7.18799762e-02 9.97398775e-01 5.38073501e-03 1.31171027e+01] [ 1.14354786e-03 -5.31227580e-03 9.99985236e-01 -1.90300516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.111400513 meters Centerline goodness [0,1] 0.9993663833599161 Centerline is valid? [False, True] Translation: X:240.45, Y:13.12, Z:-0.19 [[ 9.97516302e-01 7.04332717e-02 -6.18318435e-04 2.40447614e+02] [-7.04297196e-02 9.97506220e-01 4.58209860e-03 1.31179448e+01] [ 9.39508681e-04 -4.52717006e-03 9.99989311e-01 -1.89266695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.141400513 meters Centerline goodness [0,1] 0.9388675072827405 Centerline is valid? [True, False] Translation: X:240.49, Y:13.12, Z:-0.19 [[ 9.97625889e-01 6.88467532e-02 1.64653093e-03 2.40488428e+02] [-6.88480187e-02 9.97626897e-01 7.24577778e-04 1.31220516e+01] [-1.59273871e-03 -8.36217942e-04 9.99998382e-01 -1.89400812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.171400513 meters Centerline goodness [0,1] 0.9600388391412235 Centerline is valid? [False, True] Translation: X:240.49, Y:13.12, Z:-0.19 [[ 9.97627950e-01 6.88170024e-02 1.64103997e-03 2.40488409e+02] [-6.88181344e-02 9.97629014e-01 6.43570274e-04 1.31224389e+01] [-1.59286051e-03 -7.54977003e-04 9.99998446e-01 -1.89315911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.201400513 meters Centerline goodness [0,1] 0.9363839048731288 Centerline is valid? [True, False] Translation: X:240.51, Y:13.11, Z:-0.19 [[ 9.97603272e-01 6.90057782e-02 5.09059858e-03 2.40510419e+02] [-6.90637158e-02 9.97537010e-01 1.22522450e-02 1.31141189e+01] [-4.23258478e-03 -1.25744554e-02 9.99911980e-01 -1.92552404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.231400513 meters Centerline goodness [0,1] 0.9904022827003307 Centerline is valid? [False, True] Translation: X:240.47, Y:13.11, Z:-0.19 [[ 9.97659565e-01 6.83538708e-02 1.77242198e-03 2.40471074e+02] [-6.83704707e-02 9.97585317e-01 1.22071083e-02 1.31134632e+01] [-9.33739045e-04 -1.22997196e-02 9.99923920e-01 -1.93399227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.261400513 meters Centerline goodness [0,1] 0.9965363467116941 Centerline is valid? [True, True] Translation: X:240.50, Y:13.12, Z:-0.19 [[ 9.97628967e-01 6.88104295e-02 1.25236981e-03 2.40500538e+02] [-6.88104852e-02 9.97629750e-01 1.41073041e-06 1.31204540e+01] [-1.24930431e-03 -8.75835599e-05 9.99999216e-01 -1.93770533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.291400513 meters Centerline goodness [0,1] 0.9870403921986571 Centerline is valid? [True, True] Translation: X:240.53, Y:13.12, Z:-0.19 [[ 9.97614850e-01 6.90057260e-02 1.67931592e-03 2.40529552e+02] [-6.90058266e-02 9.97616257e-01 1.92849949e-06 1.31229831e+01] [-1.67517979e-03 -1.17806483e-04 9.99998590e-01 -1.94019454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.321400513 meters Centerline goodness [0,1] 0.9790342390484604 Centerline is valid? [True, True] Translation: X:240.56, Y:13.12, Z:-0.19 [[ 9.97610595e-01 6.90442230e-02 2.44873583e-03 2.40558417e+02] [-6.90444373e-02 9.97613585e-01 2.95637053e-06 1.31221924e+01] [-2.44268802e-03 -1.72020894e-04 9.99997002e-01 -1.93294266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.351400513 meters Centerline goodness [0,1] 0.9658917067074616 Centerline is valid? [True, True] Translation: X:240.59, Y:13.12, Z:-0.19 [[ 9.97576962e-01 6.94723667e-02 3.71423418e-03 2.40587733e+02] [-6.94728640e-02 9.97583842e-01 4.87849885e-06 1.31183043e+01] [-3.70492108e-03 -2.62905164e-04 9.99993102e-01 -1.91381437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.381400513 meters Centerline goodness [0,1] 0.8327154180516492 Centerline is valid? [True, False] Translation: X:240.59, Y:13.11, Z:-0.19 [[ 9.97554822e-01 6.97899744e-02 3.70628470e-03 2.40587618e+02] [-6.97931471e-02 9.97561215e-01 7.33553066e-04 1.31148872e+01] [-3.64605122e-03 -9.90432672e-04 9.99992863e-01 -1.91226353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.411400513 meters Centerline goodness [0,1] 0.9947894238222376 Centerline is valid? [False, True] Translation: X:240.59, Y:13.12, Z:-0.19 [[ 9.97838255e-01 6.56141524e-02 3.68790374e-03 2.40586897e+02] [-6.55983028e-02 9.97836993e-01 -4.26596195e-03 1.31186138e+01] [-3.95983425e-03 4.01481980e-03 9.99984100e-01 -1.91414430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.441400513 meters Centerline goodness [0,1] 0.9151102478174561 Centerline is valid? [True, False] Translation: X:240.59, Y:13.12, Z:-0.19 [[ 9.97815838e-01 6.59533558e-02 3.70250403e-03 2.40587176e+02] [-6.59403602e-02 9.97817326e-01 -3.52881411e-03 1.31151357e+01] [-3.92715981e-03 3.27696215e-03 9.99986919e-01 -1.92199663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.471400513 meters Centerline goodness [0,1] 0.7376975555508031 Centerline is valid? [False, False] Translation: X:240.59, Y:13.11, Z:-0.19 [[ 9.97808188e-01 6.60632240e-02 3.80407596e-03 2.40587006e+02] [-6.60506861e-02 9.97810704e-01 -3.33241464e-03 1.31142122e+01] [-4.01589777e-03 3.07384879e-03 9.99987212e-01 -1.92600040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.501400513 meters Centerline goodness [0,1] 0.9063829787234042 Centerline is valid? [False, False] Translation: X:240.59, Y:13.11, Z:-0.19 [[ 9.97797873e-01 6.62155172e-02 3.86135204e-03 2.40586814e+02] [-6.62040647e-02 9.97801528e-01 -3.02207259e-03 1.31127732e+01] [-4.05297106e-03 2.75978040e-03 9.99987978e-01 -1.92647482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.531400513 meters Centerline goodness [0,1] 0.7049971305290454 Centerline is valid? [False, False] Translation: X:240.59, Y:13.11, Z:-0.19 [[ 9.97786043e-01 6.63908365e-02 3.90762143e-03 2.40586658e+02] [-6.63807458e-02 9.97790826e-01 -2.65786388e-03 1.31110722e+01] [-4.07544662e-03 2.39258866e-03 9.99988833e-01 -1.92704239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.561400513 meters Centerline goodness [0,1] 0.8755543177874419 Centerline is valid? [False, False] Translation: X:240.59, Y:13.11, Z:-0.19 [[ 9.97758721e-01 6.68114528e-02 3.71001187e-03 2.40587470e+02] [-6.68058009e-02 9.97764670e-01 -1.62714181e-03 1.31061914e+01] [-3.81043048e-03 1.37564462e-03 9.99991794e-01 -1.93222577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.591400513 meters Centerline goodness [0,1] 0.9412292507851054 Centerline is valid? [False, False] Translation: X:240.59, Y:13.11, Z:-0.19 [[ 9.98047004e-01 6.23772825e-02 3.35453436e-03 2.40588037e+02] [-6.23542853e-02 9.98032444e-01 -6.57143004e-03 1.31092114e+01] [-3.75784208e-03 6.34942647e-03 9.99972781e-01 -1.93878587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.621400513 meters Centerline goodness [0,1] 0.9472457445898554 Centerline is valid? [False, False] Translation: X:240.58, Y:13.09, Z:-0.19 [[ 9.98279794e-01 5.86295732e-02 -1.59186147e-04 2.40584093e+02] [-5.86248719e-02 9.98227552e-01 1.02410706e-02 1.30927247e+01] [ 7.59333594e-04 -1.02141216e-02 9.99947546e-01 -1.89143217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.651400513 meters Centerline goodness [0,1] 0.9860383571016228 Centerline is valid? [False, True] Translation: X:240.58, Y:13.10, Z:-0.19 [[ 9.98723905e-01 5.05030769e-02 -1.41028699e-05 2.40582232e+02] [-5.05030580e-02 9.98723709e-01 6.28289107e-04 1.30989848e+01] [ 4.58154036e-05 -6.26775113e-04 9.99999803e-01 -1.89378812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.681400513 meters Centerline goodness [0,1] 0.9986170833423367 Centerline is valid? [True, True] Translation: X:240.61, Y:13.09, Z:-0.19 [[ 9.98973770e-01 4.52477719e-02 2.01158193e-03 2.40613224e+02] [-4.52479452e-02 9.98975786e-01 4.06712573e-05 1.30854965e+01] [-2.00768135e-03 -1.31649468e-04 9.99997976e-01 -1.86509430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.711400513 meters Centerline goodness [0,1] 0.9995883703799991 Centerline is valid? [True, True] Translation: X:240.64, Y:13.08, Z:-0.19 [[ 9.99087388e-01 4.26744697e-02 1.81133983e-03 2.40644324e+02] [-4.26746060e-02 9.99089023e-01 3.66461015e-05 1.30759228e+01] [-1.80812589e-03 -1.13910871e-04 9.99998359e-01 -1.86853916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.74140051300003 meters Centerline goodness [0,1] 0.9994854753992926 Centerline is valid? [True, True] Translation: X:240.67, Y:13.07, Z:-0.19 [[ 9.99175778e-01 4.05735308e-02 1.24596194e-03 2.40674010e+02] [-4.05735936e-02 9.99176552e-01 2.51800863e-05 1.30736789e+01] [-1.24391432e-03 -7.57124859e-05 9.99999223e-01 -1.88607799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.771400513 meters Centerline goodness [0,1] 0.9994851773992879 Centerline is valid? [True, True] Translation: X:240.70, Y:13.06, Z:-0.19 [[ 9.99253263e-01 3.86313185e-02 7.33685524e-04 2.40704288e+02] [-3.86313398e-02 9.99253531e-01 1.48273106e-05 1.30633387e+01] [-7.32565052e-04 -4.31594933e-05 9.99999731e-01 -1.89279607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.80140051300003 meters Centerline goodness [0,1] 0.9847674813306178 Centerline is valid? [True, True] Translation: X:240.73, Y:13.07, Z:-0.19 [[ 9.99245440e-01 3.88320964e-02 7.86475353e-04 2.40734018e+02] [-3.88321211e-02 9.99245749e-01 1.61584519e-05 1.30722886e+01] [-7.85254686e-04 -4.66867655e-05 9.99999691e-01 -1.89788730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.831400513 meters Centerline goodness [0,1] 0.9995057164961747 Centerline is valid? [True, True] Translation: X:240.77, Y:13.05, Z:-0.19 [[ 9.99211083e-01 3.97123028e-02 3.80657451e-04 2.40766817e+02] [-3.97123089e-02 9.99211155e-01 8.58834101e-06 1.30527787e+01] [-3.80016108e-04 -2.36983518e-05 9.99999928e-01 -1.88565269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.861400513 meters Centerline goodness [0,1] 0.998188019612023 Centerline is valid? [True, True] Translation: X:240.80, Y:13.06, Z:-0.19 [[ 9.99101371e-01 4.23818769e-02 4.75927059e-04 2.40796547e+02] [-4.23818862e-02 9.99101484e-01 9.46417764e-06 1.30580883e+01] [-4.75098322e-04 -2.96263593e-05 9.99999887e-01 -1.90172186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.891400513 meters Centerline goodness [0,1] 0.998188019612023 Centerline is valid? [True, True] Translation: X:240.83, Y:13.06, Z:-0.19 [[ 9.99100425e-01 4.24041785e-02 4.75923493e-04 2.40827436e+02] [-4.24041878e-02 9.99100538e-01 9.64249895e-06 1.30586656e+01] [-4.75086536e-04 -2.98149740e-05 9.99999887e-01 -1.90356211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.921400513 meters Centerline goodness [0,1] 0.999301782636207 Centerline is valid? [True, True] Translation: X:240.86, Y:13.05, Z:-0.19 [[ 9.99012953e-01 4.44161758e-02 5.68094735e-04 2.40858384e+02] [-4.44161895e-02 9.99013114e-01 1.15102107e-05 1.30517260e+01] [-5.67022850e-04 -3.67314530e-05 9.99999839e-01 -1.89576470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.951400513 meters Centerline goodness [0,1] 0.999457217916151 Centerline is valid? [True, True] Translation: X:240.89, Y:13.05, Z:-0.19 [[ 9.98891774e-01 4.70349369e-02 1.71445030e-03 2.40889402e+02] [-4.70350646e-02 9.98893238e-01 3.42181627e-05 1.30488060e+01] [-1.71094336e-03 -1.14819522e-04 9.99998530e-01 -1.88202446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.981400513 meters Centerline goodness [0,1] 0.9622503127831227 Centerline is valid? [True, True] Translation: X:240.92, Y:13.06, Z:-0.19 [[ 9.98745072e-01 5.00214528e-02 2.47715370e-03 2.40918296e+02] [-5.00217284e-02 9.98748129e-01 4.93822593e-05 1.30632303e+01] [-2.47158245e-03 -1.73231798e-04 9.99996931e-01 -1.87777099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.011400513 meters Centerline goodness [0,1] 0.988873525472065 Centerline is valid? [True, True] Translation: X:240.95, Y:13.06, Z:-0.19 [[ 9.98445662e-01 5.57266191e-02 8.97189478e-04 2.40948762e+02] [-5.57266576e-02 9.98446062e-01 1.79216522e-05 1.30592218e+01] [-8.94796588e-04 -6.78911668e-05 9.99999597e-01 -1.89517048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.041400513 meters Centerline goodness [0,1] 0.7051991150442478 Centerline is valid? [True, False] Translation: X:240.97, Y:13.05, Z:-0.19 [[ 9.98356466e-01 5.72320932e-02 2.97571462e-03 2.40970778e+02] [-5.72663162e-02 9.98273209e-01 1.30831489e-02 1.30499368e+01] [-2.22180018e-03 -1.32320545e-02 9.99909984e-01 -1.90593261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.071400513 meters Centerline goodness [0,1] 0.9044501780497687 Centerline is valid? [False, False] Translation: X:240.97, Y:13.06, Z:-0.19 [[ 9.98563392e-01 5.34945944e-02 3.07902171e-03 2.40969938e+02] [-5.35173512e-02 9.98536017e-01 7.85589204e-03 1.30558815e+01] [-2.65426632e-03 -8.00938729e-03 9.99964402e-01 -1.91252980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.101400513 meters Centerline goodness [0,1] 0.5651987754490377 Centerline is valid? [False, False] Translation: X:240.97, Y:13.06, Z:-0.19 [[ 9.98757452e-01 4.97221448e-02 3.35578726e-03 2.40968402e+02] [-4.97310567e-02 9.98759192e-01 2.62657828e-03 1.30618288e+01] [-3.22102427e-03 -2.79020148e-03 9.99990920e-01 -1.91479930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.131400513 meters Centerline goodness [0,1] 0.7800634596137056 Centerline is valid? [False, False] Translation: X:240.97, Y:13.07, Z:-0.19 [[ 9.98934579e-01 4.60209131e-02 3.43244159e-03 2.40967537e+02] [-4.60114436e-02 9.98937020e-01 -2.78860347e-03 1.30691063e+01] [-3.55712706e-03 2.62770085e-03 9.99990221e-01 -1.91715983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.161400513 meters Centerline goodness [0,1] 0.6241124165724887 Centerline is valid? [False, False] Translation: X:240.97, Y:13.07, Z:-0.19 [[ 9.98935943e-01 4.59945396e-02 3.38870041e-03 2.40967702e+02] [-4.59849799e-02 9.98938074e-01 -2.84699785e-03 1.30693676e+01] [-3.51604822e-03 2.68813917e-03 9.99990206e-01 -1.91762881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.191400513 meters Centerline goodness [0,1] 0.5922595527456802 Centerline is valid? [False, False] Translation: X:240.97, Y:13.07, Z:-0.19 [[ 9.98933565e-01 4.60514659e-02 3.31575765e-03 2.40967985e+02] [-4.60425458e-02 9.98935782e-01 -2.71810059e-03 1.30687528e+01] [-3.43740147e-03 2.56253599e-03 9.99990809e-01 -1.91882474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.221400513 meters Centerline goodness [0,1] 0.5337994841075273 Centerline is valid? [False, False] Translation: X:240.97, Y:13.07, Z:-0.19 [[ 9.98931022e-01 4.61148916e-02 3.19852628e-03 2.40968645e+02] [-4.61069605e-02 9.98933354e-01 -2.51059170e-03 1.30676928e+01] [-3.31089025e-03 2.36043360e-03 9.99991733e-01 -1.92465337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.251400513 meters Centerline goodness [0,1] 0.6062997123032662 Centerline is valid? [False, False] Translation: X:240.97, Y:13.07, Z:-0.19 [[ 9.98930783e-01 4.61228493e-02 3.15817586e-03 2.40968703e+02] [-4.61153539e-02 9.98933223e-01 -2.40644256e-03 1.30671607e+01] [-3.26579878e-03 2.25822915e-03 9.99992117e-01 -1.92352890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.281400513 meters Centerline goodness [0,1] 0.6291252188020322 Centerline is valid? [False, False] Translation: X:240.97, Y:13.07, Z:-0.19 [[ 9.98925438e-01 4.62355116e-02 3.20099425e-03 2.40968193e+02] [-4.62289970e-02 9.98928703e-01 -2.08014576e-03 1.30656524e+01] [-3.29374164e-03 1.92993176e-03 9.99992713e-01 -1.91654392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.311400513 meters Centerline goodness [0,1] 0.6948086671942846 Centerline is valid? [False, False] Translation: X:240.97, Y:13.06, Z:-0.19 [[ 9.98914029e-01 4.64784159e-02 3.24325777e-03 2.40967659e+02] [-4.64742090e-02 9.98918563e-01 -1.36071040e-03 1.30622822e+01] [-3.30299406e-03 1.20850487e-03 9.99993815e-01 -1.90898715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.341400513 meters Centerline goodness [0,1] 0.930178069353327 Centerline is valid? [False, False] Translation: X:240.97, Y:13.05, Z:-0.19 [[ 9.99179047e-01 3.99932967e-02 6.46289030e-03 2.40968008e+02] [-4.00720023e-02 9.99118032e-01 1.25456481e-02 1.30516251e+01] [-5.95544841e-03 -1.27943297e-02 9.99900414e-01 -1.93040943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.371400513 meters Centerline goodness [0,1] 0.9971343641068412 Centerline is valid? [False, True] Translation: X:240.97, Y:13.06, Z:-0.19 [[ 9.99496559e-01 3.10588807e-02 6.47884538e-03 2.40967430e+02] [-3.10767182e-02 9.99513434e-01 2.67090961e-03 1.30574981e+01] [-6.39273753e-03 -2.87090621e-03 9.99975445e-01 -1.94013486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.401400513 meters Centerline goodness [0,1] 0.9980630999010028 Centerline is valid? [True, True] Translation: X:241.00, Y:13.06, Z:-0.20 [[ 9.99576566e-01 2.84700994e-02 6.01180886e-03 2.40998275e+02] [-2.84720046e-02 9.99594563e-01 2.31551433e-04 1.30566221e+01] [-6.00277916e-03 -4.02621636e-04 9.99981902e-01 -1.95650099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.431400513 meters Centerline goodness [0,1] 0.9988382849643956 Centerline is valid? [True, True] Translation: X:241.03, Y:13.05, Z:-0.20 [[ 9.99630583e-01 2.65975629e-02 5.59163016e-03 2.41029071e+02] [-2.65991822e-02 9.99646156e-01 2.15411812e-04 1.30535040e+01] [-5.58392216e-03 -3.64065025e-04 9.99984344e-01 -1.96967929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.461400513 meters Centerline goodness [0,1] 0.9979615483649472 Centerline is valid? [True, True] Translation: X:241.06, Y:13.05, Z:-0.20 [[ 9.99659760e-01 2.54895522e-02 5.53595109e-03 2.41059794e+02] [-2.54911225e-02 9.99675026e-01 2.13273444e-04 1.30542848e+01] [-5.52871580e-03 -3.54318487e-04 9.99984654e-01 -1.97771420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.49140051300003 meters Centerline goodness [0,1] 0.9973059544769945 Centerline is valid? [True, True] Translation: X:241.09, Y:13.05, Z:-0.19 [[ 9.99653229e-01 2.52481214e-02 7.48020982e-03 2.41091144e+02] [-2.52509835e-02 9.99681101e-01 2.88411151e-04 1.30542240e+01] [-7.47054255e-03 -4.77193793e-04 9.99971981e-01 -1.94043952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.521400513 meters Centerline goodness [0,1] 0.9991660429808618 Centerline is valid? [True, True] Translation: X:241.12, Y:13.05, Z:-0.19 [[ 9.99618875e-01 2.61276327e-02 8.91356039e-03 2.41123110e+02] [-2.61317171e-02 9.99658450e-01 3.42038744e-04 1.30493183e+01] [-8.90157930e-03 -5.74835022e-04 9.99960215e-01 -1.91144790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.55140051300003 meters Centerline goodness [0,1] 0.9996967530920354 Centerline is valid? [True, True] Translation: X:241.15, Y:13.05, Z:-0.19 [[ 9.99572478e-01 2.76351320e-02 9.54778016e-03 2.41154111e+02] [-2.76398693e-02 9.99617879e-01 3.64552930e-04 1.30451172e+01] [-9.53405729e-03 -6.28296472e-04 9.99954352e-01 -1.90046947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.581400513 meters Centerline goodness [0,1] 0.9466328918274907 Centerline is valid? [True, False] Translation: X:241.15, Y:13.05, Z:-0.19 [[ 9.99574745e-01 2.75711836e-02 9.49519080e-03 2.41154476e+02] [-2.75731785e-02 9.99619784e-01 7.92297581e-05 1.30464778e+01] [-9.48939612e-03 -3.41008656e-04 9.99954917e-01 -1.90489377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.611400513 meters Centerline goodness [0,1] 0.9972012314581584 Centerline is valid? [False, True] Translation: X:241.16, Y:13.05, Z:-0.19 [[ 9.99573684e-01 2.76516116e-02 9.37222164e-03 2.41155635e+02] [-2.76544004e-02 9.99617530e-01 1.68077322e-04 1.30459509e+01] [-9.36398943e-03 -4.27188838e-04 9.99956066e-01 -1.92119408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.641400513 meters Centerline goodness [0,1] 0.9571626076784006 Centerline is valid? [True, True] Translation: X:241.19, Y:13.05, Z:-0.19 [[ 9.99567016e-01 2.81614235e-02 8.52728472e-03 2.41186292e+02] [-2.81655219e-02 9.99603208e-01 3.60891528e-04 1.30545581e+01] [-8.51373794e-03 -6.00910692e-04 9.99963577e-01 -1.94290942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.671400513 meters Centerline goodness [0,1] 0.9587830995626225 Centerline is valid? [True, True] Translation: X:241.22, Y:13.05, Z:-0.19 [[ 9.99566946e-01 2.82202937e-02 8.33884258e-03 2.41218289e+02] [-2.82242054e-02 9.99601556e-01 3.51757358e-04 1.30548292e+01] [-8.32559332e-03 -5.86962233e-04 9.99965169e-01 -1.94313526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.701400513 meters Centerline goodness [0,1] 0.9970962507472884 Centerline is valid? [True, True] Translation: X:241.25, Y:13.05, Z:-0.19 [[ 9.99579149e-01 2.74453463e-02 9.39560770e-03 2.41250088e+02] [-2.74502557e-02 9.99623093e-01 3.93935678e-04 1.30474388e+01] [-9.38125473e-03 -6.51681723e-04 9.99955783e-01 -1.91764433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.731400513 meters Centerline goodness [0,1] 0.9985714904116705 Centerline is valid? [True, True] Translation: X:241.28, Y:13.04, Z:-0.19 [[ 9.99585801e-01 2.71823981e-02 9.45213703e-03 2.41282525e+02] [-2.71873595e-02 9.99630277e-01 3.96777900e-04 1.30447150e+01] [-9.43785697e-03 -6.53592203e-04 9.99955249e-01 -1.91783846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.761400513 meters Centerline goodness [0,1] 0.9854241033486316 Centerline is valid? [True, True] Translation: X:241.31, Y:13.05, Z:-0.19 [[ 9.99587792e-01 2.73163785e-02 8.83528000e-03 2.41313788e+02] [-2.73207078e-02 9.99626651e-01 3.69651385e-04 1.30514254e+01] [-8.82188382e-03 -6.10885115e-04 9.99960900e-01 -1.93658975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.791400513 meters Centerline goodness [0,1] 0.9689433071870417 Centerline is valid? [True, True] Translation: X:241.35, Y:13.05, Z:-0.20 [[ 9.99591909e-01 2.74141135e-02 8.03006321e-03 2.41346694e+02] [-2.74176835e-02 9.99624009e-01 3.34816618e-04 1.30520415e+01] [-8.01786527e-03 -5.54845714e-04 9.99967702e-01 -1.95457965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.821400513 meters Centerline goodness [0,1] 0.9978857899457566 Centerline is valid? [True, True] Translation: X:241.38, Y:13.04, Z:-0.19 [[ 9.99593220e-01 2.71775761e-02 8.64717927e-03 2.41379818e+02] [-2.71816862e-02 9.99630446e-01 3.58124914e-04 1.30410937e+01] [-8.63425070e-03 -5.93024150e-04 9.99962548e-01 -1.94942498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.851400513 meters Centerline goodness [0,1] 0.9943400256300726 Centerline is valid? [True, True] Translation: X:241.41, Y:13.05, Z:-0.19 [[ 9.99580122e-01 2.71418444e-02 1.01439965e-02 2.41410619e+02] [-2.71474954e-02 9.99631351e-01 4.19770991e-04 1.30450227e+01] [-1.01288636e-02 -6.94978838e-04 9.99948460e-01 -1.93798211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.881400513 meters Centerline goodness [0,1] 0.9988256144171844 Centerline is valid? [True, True] Translation: X:241.44, Y:13.04, Z:-0.19 [[ 9.99557657e-01 2.73826581e-02 1.16052152e-02 2.41443832e+02] [-2.73900480e-02 9.99624708e-01 4.78282736e-04 1.30372290e+01] [-1.15877632e-02 -7.95938572e-04 9.99932543e-01 -1.91645561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.911400513 meters Centerline goodness [0,1] 0.990132625994695 Centerline is valid? [True, True] Translation: X:241.47, Y:13.04, Z:-0.19 [[ 9.99527013e-01 2.80732900e-02 1.25555433e-02 2.41474422e+02] [-2.80819582e-02 9.99605492e-01 5.14593672e-04 1.30425031e+01] [-1.25361437e-02 -8.66934519e-04 9.99921044e-01 -1.90579454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.941400513 meters Centerline goodness [0,1] 0.9784580498866213 Centerline is valid? [True, True] Translation: X:241.50, Y:13.04, Z:-0.19 [[ 9.99496877e-01 2.95688703e-02 1.14749812e-02 2.41504473e+02] [-2.95762052e-02 9.99562418e-01 4.70001344e-04 1.30404978e+01] [-1.14560626e-02 -8.09151275e-04 9.99934050e-01 -1.92557465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.971400513 meters Centerline goodness [0,1] 0.9977391641366837 Centerline is valid? [True, True] Translation: X:241.54, Y:13.03, Z:-0.19 [[ 9.99482909e-01 3.02502019e-02 1.09013738e-02 2.41536792e+02] [-3.02568683e-02 9.99542056e-01 4.47073813e-04 1.30321746e+01] [-1.08828575e-02 -7.76684067e-04 9.99940478e-01 -1.93967061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.001400513 meters Centerline goodness [0,1] 0.997127914951989 Centerline is valid? [True, True] Translation: X:241.57, Y:13.03, Z:-0.20 [[ 9.99464721e-01 3.09568310e-02 1.05804854e-02 2.41568442e+02] [-3.09631322e-02 9.99520434e-01 4.32220895e-04 1.30326231e+01] [-1.05620311e-02 -7.59594503e-04 9.99943932e-01 -1.95528615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.031400513 meters Centerline goodness [0,1] 0.9977755221043992 Centerline is valid? [True, True] Translation: X:241.60, Y:13.03, Z:-0.20 [[ 9.99435797e-01 3.19792346e-02 1.02672520e-02 2.41600637e+02] [-3.19852022e-02 9.99488255e-01 4.17510980e-04 1.30297012e+01] [-1.02486461e-02 -7.45675551e-04 9.99947203e-01 -1.96213032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.061400513 meters Centerline goodness [0,1] 0.9012274399110427 Centerline is valid? [True, False] Translation: X:241.60, Y:13.03, Z:-0.20 [[ 9.99422161e-01 3.23982909e-02 1.02808401e-02 2.41600584e+02] [-3.24124313e-02 9.99473845e-01 1.21174361e-03 1.30260659e+01] [-1.02361724e-02 -1.54427044e-03 9.99946417e-01 -1.96221777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.091400513 meters Centerline goodness [0,1] 0.6421747622282609 Centerline is valid? [False, False] Translation: X:241.60, Y:13.03, Z:-0.20 [[ 9.99421011e-01 3.24383601e-02 1.02662466e-02 2.41600680e+02] [-3.24525813e-02 9.99472530e-01 1.22165034e-03 1.30260308e+01] [-1.02212031e-02 -1.55410922e-03 9.99946554e-01 -1.96338626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.121400513 meters Centerline goodness [0,1] 0.7257926672933936 Centerline is valid? [False, False] Translation: X:241.60, Y:13.03, Z:-0.20 [[ 9.99421759e-01 3.24171175e-02 1.02604781e-02 2.41600955e+02] [-3.24305018e-02 9.99473342e-01 1.14072633e-03 1.30263756e+01] [-1.02180953e-02 -1.47281917e-03 9.99946709e-01 -1.96865888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.151400513 meters Centerline goodness [0,1] 0.7618659866715238 Centerline is valid? [False, False] Translation: X:241.60, Y:13.03, Z:-0.20 [[ 9.99417780e-01 3.25324602e-02 1.02830012e-02 2.41601113e+02] [-3.25478627e-02 9.99469288e-01 1.33402557e-03 1.30254294e+01] [-1.02341448e-02 -1.66793858e-03 9.99946239e-01 -1.97396441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.181400513 meters Centerline goodness [0,1] 0.9676942522333384 Centerline is valid? [False, True] Translation: X:241.60, Y:13.03, Z:-0.20 [[ 9.99542090e-01 2.83628177e-02 1.05432454e-02 2.41600017e+02] [-2.83248547e-02 9.99591801e-01 -3.73277619e-03 1.30294915e+01] [-1.06448137e-02 3.43243102e-03 9.99937451e-01 -1.97789790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.211400513 meters Centerline goodness [0,1] 0.8327261037291042 Centerline is valid? [True, False] Translation: X:241.60, Y:13.03, Z:-0.20 [[ 9.99535019e-01 2.85954296e-02 1.05852584e-02 2.41599648e+02] [-2.85633377e-02 9.99586956e-01 -3.17065608e-03 1.30268848e+01] [-1.06715525e-02 2.86683147e-03 9.99938948e-01 -1.97369225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.24140051300003 meters Centerline goodness [0,1] 0.8219981238273921 Centerline is valid? [False, False] Translation: X:241.60, Y:13.01, Z:-0.19 [[ 9.99646400e-01 2.50196484e-02 9.00510496e-03 2.41596786e+02] [-2.51491205e-02 9.99577622e-01 1.45636349e-02 1.30125306e+01] [-8.63692438e-03 -1.47849557e-02 9.99853394e-01 -1.93339209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.271400513 meters Centerline goodness [0,1] 0.6871785020597212 Centerline is valid? [False, False] Translation: X:241.60, Y:13.02, Z:-0.19 [[ 9.99750071e-01 2.04619127e-02 9.00583672e-03 2.41597001e+02] [-2.05442519e-02 9.99747098e-01 9.14734089e-03 1.30177068e+01] [-8.81638703e-03 -9.33007289e-03 9.99917607e-01 -1.94568368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.30140051300003 meters Centerline goodness [0,1] 0.9768390891922986 Centerline is valid? [False, True] Translation: X:241.56, Y:13.02, Z:-0.20 [[ 9.99858006e-01 1.58655476e-02 5.67904387e-03 2.41558159e+02] [-1.59009457e-02 9.99854081e-01 6.24319574e-03 1.30155088e+01] [-5.57916347e-03 -6.33261142e-03 9.99964385e-01 -1.95909462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.331400513 meters Centerline goodness [0,1] 0.9780750491494999 Centerline is valid? [True, True] Translation: X:241.59, Y:13.02, Z:-0.20 [[ 9.99869650e-01 1.45760404e-02 6.94426871e-03 2.41587421e+02] [-1.45792867e-02 9.99893630e-01 4.17075861e-04 1.30207587e+01] [-6.93745073e-03 -5.18263979e-04 9.99975801e-01 -1.96248347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.361400513 meters Centerline goodness [0,1] 0.9380842617492636 Centerline is valid? [True, False] Translation: X:241.59, Y:13.02, Z:-0.20 [[ 9.99921972e-01 1.01509053e-02 7.28067755e-03 2.41586189e+02] [-1.01169404e-02 9.99937839e-01 -4.68682124e-03 1.30246605e+01] [-7.32780045e-03 4.61279736e-03 9.99962512e-01 -1.96330475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.391400513 meters Centerline goodness [0,1] 0.9988557611347395 Centerline is valid? [False, True] Translation: X:241.56, Y:13.02, Z:-0.19 [[ 9.99975379e-01 5.90111188e-03 3.79717937e-03 2.41561285e+02] [-5.91406945e-03 9.99976697e-01 3.41028935e-03 1.30154371e+01] [-3.77696638e-03 -3.43266217e-03 9.99986976e-01 -1.88985350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.421400513 meters Centerline goodness [0,1] 0.9961060356447506 Centerline is valid? [True, True] Translation: X:241.59, Y:13.02, Z:-0.19 [[ 9.99974762e-01 5.53985702e-03 4.44818176e-03 2.41591761e+02] [-5.54121428e-03 9.99984604e-01 2.92861124e-04 1.30221206e+01] [-4.44649087e-03 -3.17502061e-04 9.99990064e-01 -1.89273227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.451400513 meters Centerline goodness [0,1] 0.9729718271044877 Centerline is valid? [True, True] Translation: X:241.62, Y:13.03, Z:-0.19 [[ 9.99976697e-01 5.45312494e-03 4.10717512e-03 2.41622641e+02] [-5.45427994e-03 9.99985089e-01 2.70066552e-04 1.30283343e+01] [-4.10564117e-03 -2.92461941e-04 9.99991529e-01 -1.90448196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.481400513 meters Centerline goodness [0,1] 0.9798496687616782 Centerline is valid? [True, True] Translation: X:241.65, Y:13.03, Z:-0.19 [[ 9.99976261e-01 6.00598318e-03 3.37716314e-03 2.41654717e+02] [-6.00676721e-03 9.99981935e-01 2.22061332e-04 1.30276028e+01] [-3.37576843e-03 -2.42341893e-04 9.99994273e-01 -1.91399244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.511400513 meters Centerline goodness [0,1] 0.7092291501106123 Centerline is valid? [True, False] Translation: X:241.63, Y:13.01, Z:-0.18 [[ 9.99953700e-01 9.33751491e-03 -2.32544366e-03 2.41630095e+02] [-9.30162498e-03 9.99844323e-01 1.49936741e-02 1.30125251e+01] [ 2.46508529e-03 -1.49713494e-02 9.99884884e-01 -1.82775442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.541400513 meters Centerline goodness [0,1] 0.8589269488409441 Centerline is valid? [False, False] Translation: X:241.67, Y:13.02, Z:-0.19 [[ 9.99964330e-01 8.43915737e-03 -3.46263460e-04 2.41671765e+02] [-8.43549534e-03 9.99919464e-01 9.48198084e-03 1.30215691e+01] [ 4.26255502e-04 -9.47872171e-03 9.99954985e-01 -1.85295965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.571400513 meters Centerline goodness [0,1] 0.8786669795822577 Centerline is valid? [False, False] Translation: X:241.67, Y:13.03, Z:-0.19 [[ 9.99989920e-01 4.48606971e-03 1.86931965e-04 2.41670103e+02] [-4.48681822e-03 9.99981042e-01 4.21716802e-03 1.30273868e+01] [-1.68009911e-04 -4.21796424e-03 9.99991090e-01 -1.85987387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.601400513 meters Centerline goodness [0,1] 0.9258497278299258 Centerline is valid? [False, False] Translation: X:241.67, Y:13.03, Z:-0.19 [[ 9.99989803e-01 4.51079978e-03 2.14834946e-04 2.41670012e+02] [-4.51167726e-03 9.99980680e-01 4.27594638e-03 1.30271074e+01] [-1.95542858e-04 -4.27687204e-03 9.99990835e-01 -1.85990469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.631400513 meters Centerline goodness [0,1] 0.6177671739317341 Centerline is valid? [False, False] Translation: X:241.66, Y:13.03, Z:-0.18 [[ 9.99997323e-01 1.99208199e-03 1.17751120e-03 2.41663516e+02] [-1.99399426e-03 9.99996692e-01 1.62505190e-03 1.30263630e+01] [-1.17427007e-03 -1.62739550e-03 9.99997986e-01 -1.82199262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.661400513 meters Centerline goodness [0,1] 0.7566956670078472 Centerline is valid? [False, False] Translation: X:241.66, Y:13.02, Z:-0.18 [[ 9.99996962e-01 2.19640243e-03 1.11879869e-03 2.41663665e+02] [-2.19886523e-03 9.99995152e-01 2.20483735e-03 1.30235542e+01] [-1.11395055e-03 -2.20729074e-03 9.99996943e-01 -1.82112067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.691400513 meters Centerline goodness [0,1] 0.9237975866757308 Centerline is valid? [False, False] Translation: X:241.66, Y:13.02, Z:-0.18 [[ 9.99996548e-01 2.40948419e-03 1.04770706e-03 2.41663901e+02] [-2.41240586e-03 9.99993180e-01 2.79636250e-03 1.30206906e+01] [-1.04096212e-03 -2.79888034e-03 9.99995541e-01 -1.82121272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.721400513 meters Centerline goodness [0,1] 0.958485567164498 Centerline is valid? [False, True] Translation: X:241.66, Y:13.02, Z:-0.18 [[ 9.99998178e-01 -1.66935036e-05 1.90875160e-03 2.41657681e+02] [ 1.59027133e-05 9.99999914e-01 4.14311575e-04 1.30203709e+01] [-1.90875835e-03 -4.14280466e-04 9.99998093e-01 -1.78443968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.751400513 meters Centerline goodness [0,1] 0.9793233082706767 Centerline is valid? [True, True] Translation: X:241.69, Y:13.02, Z:-0.18 [[ 9.99999183e-01 -3.14580501e-04 1.23919388e-03 2.41690421e+02] [ 3.14468715e-04 9.99999946e-01 9.04021575e-05 1.30183468e+01] [-1.23922225e-03 -9.00123959e-05 9.99999228e-01 -1.79087980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.781400513 meters Centerline goodness [0,1] 0.9793233082706767 Centerline is valid? [True, True] Translation: X:241.72, Y:13.02, Z:-0.18 [[ 9.99999189e-01 -2.92002389e-04 1.23925601e-03 2.41721254e+02] [ 2.91891647e-04 9.99999953e-01 8.95411990e-05 1.30205342e+01] [-1.23928210e-03 -8.91793979e-05 9.99999228e-01 -1.79278590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.811400513 meters Centerline goodness [0,1] 0.9694034309123496 Centerline is valid? [True, True] Translation: X:241.75, Y:13.02, Z:-0.18 [[ 9.99999723e-01 -1.57161968e-04 7.27700655e-04 2.41751871e+02] [ 1.57123762e-04 9.99999986e-01 5.25585737e-05 1.30239358e+01] [-7.27708905e-04 -5.24442201e-05 9.99999734e-01 -1.80545688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.841400513 meters Centerline goodness [0,1] 0.8957629489358955 Centerline is valid? [True, False] Translation: X:241.75, Y:13.02, Z:-0.18 [[ 9.99999773e-01 -9.97126233e-05 6.67087638e-04 2.41752141e+02] [ 9.95883136e-05 9.99999978e-01 1.86377392e-04 1.30232810e+01] [-6.67106207e-04 -1.86310916e-04 9.99999760e-01 -1.80691022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.871400513 meters Centerline goodness [0,1] 0.9508007440826188 Centerline is valid? [False, True] Translation: X:241.75, Y:13.02, Z:-0.18 [[ 9.99999626e-01 1.62848731e-04 8.49463749e-04 2.41751126e+02] [-1.63476598e-04 9.99999713e-01 7.39115676e-04 1.30208030e+01] [-8.49343142e-04 -7.39254267e-04 9.99999366e-01 -1.79869422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.901400513 meters Centerline goodness [0,1] 0.9518897438065443 Centerline is valid? [True, True] Translation: X:241.78, Y:13.02, Z:-0.18 [[ 9.99997258e-01 2.19666194e-04 2.33154213e-03 2.41781536e+02] [-2.20064048e-04 9.99999961e-01 1.70384944e-04 1.30239718e+01] [-2.33150461e-03 -1.70897565e-04 9.99997267e-01 -1.77576243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.931400513 meters Centerline goodness [0,1] 0.9643904841438085 Centerline is valid? [True, True] Translation: X:241.81, Y:13.03, Z:-0.18 [[ 9.99995234e-01 1.76972111e-04 3.08238264e-03 2.41813366e+02] [-1.77667936e-04 9.99999959e-01 2.25470191e-04 1.30250515e+01] [-3.08234261e-03 -2.26016757e-04 9.99995224e-01 -1.76371860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.961400513 meters Centerline goodness [0,1] 0.9639182911566935 Centerline is valid? [True, True] Translation: X:241.85, Y:13.03, Z:-0.18 [[ 9.99996742e-01 -1.41469823e-04 2.54867006e-03 2.41845441e+02] [ 1.40995800e-04 9.99999973e-01 1.86167277e-04 1.30263319e+01] [-2.54869632e-03 -1.85807319e-04 9.99996735e-01 -1.77235854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.99140051300003 meters Centerline goodness [0,1] 0.9852153417613028 Centerline is valid? [True, True] Translation: X:241.88, Y:13.02, Z:-0.18 [[ 9.99998929e-01 -1.39767096e-03 4.33852806e-04 2.41877593e+02] [ 1.39765733e-03 9.99999023e-01 3.17133364e-05 1.30219570e+01] [-4.33896707e-04 -3.11069249e-05 9.99999905e-01 -1.79775714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.021400513 meters Centerline goodness [0,1] 0.980877676489294 Centerline is valid? [True, True] Translation: X:241.91, Y:13.03, Z:-0.18 [[ 9.99998222e-01 -1.86702556e-03 2.63404109e-04 2.41907967e+02] [ 1.86702057e-03 9.99998257e-01 1.92043432e-05 1.30252536e+01] [-2.63439504e-04 -1.87125281e-05 9.99999965e-01 -1.79867741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.05140051300003 meters Centerline goodness [0,1] 0.999235807860262 Centerline is valid? [True, True] Translation: X:241.94, Y:13.01, Z:-0.18 [[ 9.99997185e-01 -2.22943900e-03 8.12619848e-04 2.41939317e+02] [ 2.22939173e-03 9.99997513e-01 5.90750756e-05 1.30143760e+01] [-8.12749531e-04 -5.72632613e-05 9.99999668e-01 -1.78655917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.081400513 meters Centerline goodness [0,1] 0.9838928738169008 Centerline is valid? [True, True] Translation: X:241.97, Y:13.03, Z:-0.18 [[ 9.99995562e-01 -2.42605304e-03 1.72895266e-03 2.41968656e+02] [ 2.42583927e-03 9.99997050e-01 1.25728552e-04 1.30324615e+01] [-1.72925259e-03 -1.21533832e-04 9.99998497e-01 -1.78540801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.111400513 meters Centerline goodness [0,1] 0.9962633375091796 Centerline is valid? [True, True] Translation: X:242.00, Y:13.03, Z:-0.18 [[ 9.99993221e-01 -3.03307910e-03 2.08777667e-03 2.42000197e+02] [ 3.03276872e-03 9.99995390e-01 1.51815176e-04 1.30303231e+01] [-2.08822752e-03 -1.45482403e-04 9.99997809e-01 -1.77307908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.141400513 meters Centerline goodness [0,1] 0.9971847807541375 Centerline is valid? [True, True] Translation: X:242.03, Y:13.03, Z:-0.18 [[ 9.99992354e-01 -3.46427794e-03 1.81386762e-03 2.42031201e+02] [ 3.46404442e-03 9.99993991e-01 1.31870635e-04 1.30325305e+01] [-1.81431355e-03 -1.25586309e-04 9.99998346e-01 -1.77719462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.171400513 meters Centerline goodness [0,1] 0.9955398305993353 Centerline is valid? [True, True] Translation: X:242.06, Y:13.04, Z:-0.18 [[ 9.99992383e-01 -3.68097687e-03 1.29804915e-03 2.42062652e+02] [ 3.68085746e-03 9.99993221e-01 9.43718133e-05 1.30357957e+01] [-1.29838773e-03 -8.95931606e-05 9.99999153e-01 -1.78476919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.201400513 meters Centerline goodness [0,1] 0.9806430868167203 Centerline is valid? [True, True] Translation: X:242.09, Y:13.04, Z:-0.18 [[ 9.99992725e-01 -3.69280633e-03 9.55579238e-04 2.42092904e+02] [ 3.69274162e-03 9.99993179e-01 6.94807052e-05 1.30440711e+01] [-9.55829299e-04 -6.59514925e-05 9.99999541e-01 -1.79496903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.231400513 meters Centerline goodness [0,1] 0.9973122866894198 Centerline is valid? [True, True] Translation: X:242.12, Y:13.04, Z:-0.18 [[ 9.99992503e-01 -3.78120930e-03 8.35084919e-04 2.42124013e+02] [ 3.78115998e-03 9.99992850e-01 6.06218483e-05 1.30408854e+01] [-8.35308172e-04 -5.74638041e-05 9.99999649e-01 -1.79504584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.261400513 meters Centerline goodness [0,1] 0.9979209528965891 Centerline is valid? [True, True] Translation: X:242.15, Y:13.04, Z:-0.18 [[ 9.99989923e-01 -4.46555774e-03 4.61837778e-04 2.42154392e+02] [ 4.46554271e-03 9.99990029e-01 3.35783646e-05 1.30437284e+01] [-4.61983119e-04 -3.15156699e-05 9.99999893e-01 -1.80206765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.291400513 meters Centerline goodness [0,1] 0.9984588381351941 Centerline is valid? [True, True] Translation: X:242.18, Y:13.05, Z:-0.18 [[ 9.99986072e-01 -5.19828838e-03 9.13442994e-04 2.42184896e+02] [ 5.19822998e-03 9.99986487e-01 6.62995383e-05 1.30470499e+01] [-9.13775295e-04 -6.15503281e-05 9.99999581e-01 -1.80035828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.321400513 meters Centerline goodness [0,1] 0.9972771905752202 Centerline is valid? [True, True] Translation: X:242.21, Y:13.06, Z:-0.18 [[ 9.99979295e-01 -6.25921411e-03 1.49362138e-03 2.42213785e+02] [ 6.25905919e-03 9.99980406e-01 1.08370308e-04 1.30552703e+01] [-1.49427042e-03 -9.90193991e-05 9.99998879e-01 -1.79279304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.351400513 meters Centerline goodness [0,1] 0.9992921796576724 Centerline is valid? [True, True] Translation: X:242.24, Y:13.05, Z:-0.18 [[ 9.99958032e-01 -9.03667466e-03 1.50761733e-03 2.42244343e+02] [ 9.03651987e-03 9.99959164e-01 1.09450012e-04 1.30516471e+01] [-1.50854483e-03 -9.58218046e-05 9.99998858e-01 -1.78646408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.381400513 meters Centerline goodness [0,1] 0.9986564872472916 Centerline is valid? [True, True] Translation: X:242.27, Y:13.06, Z:-0.18 [[ 9.99948590e-01 -1.00821565e-02 1.08049090e-03 2.42273227e+02] [ 1.00820777e-02 9.99949171e-01 7.83898048e-05 1.30563373e+01] [-1.08122632e-03 -6.74921817e-05 9.99999413e-01 -1.79360054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.411400513 meters Centerline goodness [0,1] 0.9981325663260926 Centerline is valid? [True, True] Translation: X:242.30, Y:13.06, Z:-0.18 [[ 9.99943397e-01 -1.05785036e-02 1.13957832e-03 2.42302315e+02] [ 1.05784162e-02 9.99944044e-01 8.26939766e-05 1.30612324e+01] [-1.14038933e-03 -7.06343621e-05 9.99999347e-01 -1.79692189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.441400513 meters Centerline goodness [0,1] 0.9991816517712933 Centerline is valid? [True, True] Translation: X:242.33, Y:13.06, Z:-0.18 [[ 9.99945117e-01 -1.03901899e-02 1.34413702e-03 2.42332404e+02] [ 1.03900682e-02 9.99946017e-01 9.75205686e-05 1.30593196e+01] [-1.34507772e-03 -8.35495410e-05 9.99999092e-01 -1.79347707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.471400513 meters Centerline goodness [0,1] 0.9974049730925488 Centerline is valid? [True, True] Translation: X:242.36, Y:13.07, Z:-0.18 [[ 9.99953612e-01 -9.54864598e-03 1.26391434e-03 2.42361116e+02] [ 9.54853759e-03 9.99954407e-01 9.17656575e-05 1.30714705e+01] [-1.26473295e-03 -7.96928671e-05 9.99999197e-01 -1.79927570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.501400513 meters Centerline goodness [0,1] 0.9983778707419106 Centerline is valid? [True, True] Translation: X:242.39, Y:13.07, Z:-0.18 [[ 9.99960121e-01 -8.91538545e-03 5.22343868e-04 2.42391660e+02] [ 8.91536684e-03 9.99960257e-01 3.79480466e-05 1.30713657e+01] [-5.22661430e-04 -3.32896460e-05 9.99999863e-01 -1.80296818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.531400513 meters Centerline goodness [0,1] 0.9911104510544405 Centerline is valid? [True, True] Translation: X:242.42, Y:13.08, Z:-0.18 [[ 9.99964612e-01 -8.41014963e-03 2.09098361e-04 2.42420711e+02] [ 8.41014664e-03 9.99964634e-01 1.51371277e-05 1.30793394e+01] [-2.09218271e-04 -1.33780442e-05 9.99999978e-01 -1.81141925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.561400513 meters Centerline goodness [0,1] 0.9523930753564155 Centerline is valid? [True, True] Translation: X:242.45, Y:13.09, Z:-0.18 [[ 9.99962899e-01 -8.60284047e-03 4.37741587e-04 2.42449526e+02] [ 8.60282739e-03 9.99962994e-01 3.17568804e-05 1.30885234e+01] [-4.37998587e-04 -2.79898868e-05 9.99999904e-01 -1.81196253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.591400513 meters Centerline goodness [0,1] 0.992844554854874 Centerline is valid? [True, True] Translation: X:242.48, Y:13.09, Z:-0.18 [[ 9.99947971e-01 -1.00196942e-02 1.91323157e-03 2.42479313e+02] [ 1.00194465e-02 9.99949794e-01 1.38972137e-04 1.30862248e+01] [-1.91452798e-03 -1.19795385e-04 9.99998160e-01 -1.79625228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.621400513 meters Centerline goodness [0,1] 0.9990919311597336 Centerline is valid? [True, True] Translation: X:242.51, Y:13.08, Z:-0.18 [[ 9.99932985e-01 -1.13848407e-02 2.10003504e-03 2.42510628e+02] [ 1.13845451e-02 9.99935182e-01 1.52692134e-04 1.30793439e+01] [-2.10163730e-03 -1.28773958e-04 9.99997783e-01 -1.79168958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.651400513 meters Centerline goodness [0,1] 0.9990173879608664 Centerline is valid? [True, True] Translation: X:242.54, Y:13.08, Z:-0.18 [[ 9.99916722e-01 -1.27591194e-02 1.93733969e-03 2.42540428e+02] [ 1.27588705e-02 9.99918592e-01 1.40810980e-04 1.30799407e+01] [-1.93897860e-03 -1.16080987e-04 9.99998113e-01 -1.79294459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.681400513 meters Centerline goodness [0,1] 0.337267254956957 Centerline is valid? [True, False] Translation: X:242.54, Y:13.08, Z:-0.18 [[ 9.99920376e-01 -1.24911431e-02 1.79253905e-03 2.42540808e+02] [ 1.24897172e-02 9.99921677e-01 8.04499584e-04 1.30768152e+01] [-1.80244777e-03 -7.82047221e-04 9.99998070e-01 -1.79096285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.711400513 meters Centerline goodness [0,1] 0.9995932435614737 Centerline is valid? [False, True] Translation: X:242.54, Y:13.07, Z:-0.18 [[ 9.99924138e-01 -1.22182918e-02 1.55911678e-03 2.42541855e+02] [ 1.22160559e-02 9.99924351e-01 1.43561989e-03 1.30737779e+01] [-1.57653966e-03 -1.41646472e-03 9.99997754e-01 -1.79635962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.74140051300003 meters Centerline goodness [0,1] 0.9994670191446723 Centerline is valid? [True, True] Translation: X:242.57, Y:13.08, Z:-0.18 [[ 9.99940361e-01 -1.07894401e-02 1.69169253e-03 2.42571272e+02] [ 1.07892502e-02 9.99941787e-01 1.21334595e-04 1.30771294e+01] [-1.69290319e-03 -1.03075264e-04 9.99998562e-01 -1.79953711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.771400513 meters Centerline goodness [0,1] 0.9975554316593044 Centerline is valid? [True, True] Translation: X:242.60, Y:13.09, Z:-0.18 [[ 9.99957826e-01 -8.90389488e-03 2.25113986e-03 2.42599670e+02] [ 8.90355363e-03 9.99960350e-01 1.61564976e-04 1.30867734e+01] [-2.25248916e-03 -1.41515018e-04 9.99997453e-01 -1.79592385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.80140051300003 meters Centerline goodness [0,1] 0.9963686557655553 Centerline is valid? [True, True] Translation: X:242.63, Y:13.09, Z:-0.18 [[ 9.99974939e-01 -6.49783039e-03 2.81048559e-03 2.42629784e+02] [ 6.49728850e-03 9.99978872e-01 2.01896601e-04 1.30903194e+01] [-2.81173810e-03 -1.83631005e-04 9.99996030e-01 -1.78858466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.831400513 meters Centerline goodness [0,1] 0.8761489361702127 Centerline is valid? [True, False] Translation: X:242.63, Y:13.09, Z:-0.18 [[ 9.99974493e-01 -6.51066176e-03 2.93688077e-03 2.42629393e+02] [ 6.51065586e-03 9.99978805e-01 1.15704823e-05 1.30912993e+01] [-2.93689385e-03 7.55083282e-06 9.99995687e-01 -1.78913818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.861400513 meters Centerline goodness [0,1] 0.9881767532854165 Centerline is valid? [False, True] Translation: X:242.63, Y:13.08, Z:-0.18 [[ 9.99994534e-01 -1.58595955e-03 2.90127154e-03 2.42628872e+02] [ 1.56931894e-03 9.99982358e-01 5.72893653e-03 1.30848886e+01] [-2.91030622e-03 -5.72435220e-03 9.99979381e-01 -1.77701752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.891400513 meters Centerline goodness [0,1] 0.8861916838942051 Centerline is valid? [True, False] Translation: X:242.63, Y:13.08, Z:-0.18 [[ 9.99994316e-01 -1.52508195e-03 3.00686494e-03 2.42628458e+02] [ 1.50762588e-03 9.99982048e-01 5.79915283e-03 1.30846102e+01] [-3.01565514e-03 -5.79458664e-03 9.99978664e-01 -1.77575657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.921400513 meters Centerline goodness [0,1] 0.9063894587677925 Centerline is valid? [False, False] Translation: X:242.63, Y:13.08, Z:-0.18 [[ 9.99994308e-01 -1.45673739e-03 3.04342028e-03 2.42628400e+02] [ 1.43886441e-03 9.99981756e-01 5.86662092e-03 1.30843268e+01] [-3.05191088e-03 -5.86220845e-03 9.99978160e-01 -1.77718271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.951400513 meters Centerline goodness [0,1] 0.866579924064673 Centerline is valid? [False, False] Translation: X:242.61, Y:13.09, Z:-0.18 [[ 9.99997926e-01 -2.71245527e-04 2.01828238e-03 2.42608132e+02] [ 2.79841326e-04 9.99990887e-01 -4.25990473e-03 1.30886424e+01] [-2.01710851e-03 4.26046069e-03 9.99988890e-01 -1.80101986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.981400513 meters Centerline goodness [0,1] 0.9775391250507077 Centerline is valid? [False, True] Translation: X:242.61, Y:13.09, Z:-0.18 [[ 9.99997988e-01 -1.18033600e-04 2.00264704e-03 2.42608340e+02] [ 1.26019744e-04 9.99992039e-01 -3.98813693e-03 1.30873718e+01] [-2.00216037e-03 3.98838127e-03 9.99990042e-01 -1.80446626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.011400513 meters Centerline goodness [0,1] 0.5615795951279549 Centerline is valid? [True, False] Translation: X:242.61, Y:13.09, Z:-0.18 [[ 9.99998004e-01 -4.72136189e-05 1.99741186e-03 2.42608331e+02] [ 5.48790080e-05 9.99992634e-01 -3.83777999e-03 1.30866688e+01] [-1.99721596e-03 3.83788194e-03 9.99990641e-01 -1.80401374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.041400513 meters Centerline goodness [0,1] 0.8103815817522917 Centerline is valid? [False, False] Translation: X:242.61, Y:13.09, Z:-0.18 [[ 9.99997933e-01 2.61090566e-05 2.03329778e-03 2.42608072e+02] [-1.86093679e-05 9.99993198e-01 -3.68836756e-03 1.30860176e+01] [-2.03338025e-03 3.68832210e-03 9.99991131e-01 -1.80142580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.071400513 meters Centerline goodness [0,1] 0.7139448681351455 Centerline is valid? [False, False] Translation: X:242.61, Y:13.09, Z:-0.18 [[ 9.99997779e-01 1.30350731e-04 2.10352283e-03 2.42607582e+02] [-1.23013216e-04 9.99993909e-01 -3.48795523e-03 1.30851686e+01] [-2.10396467e-03 3.48768873e-03 9.99991705e-01 -1.79660398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.101400513 meters Centerline goodness [0,1] 0.8608600676746477 Centerline is valid? [False, False] Translation: X:242.61, Y:13.08, Z:-0.18 [[ 9.99997756e-01 2.40596745e-04 2.10473277e-03 2.42607437e+02] [-2.33744168e-04 9.99994674e-01 -3.25543480e-03 1.30841149e+01] [-2.10550481e-03 3.25493553e-03 9.99992486e-01 -1.79387072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.131400513 meters Centerline goodness [0,1] 0.786507478015277 Centerline is valid? [False, False] Translation: X:242.61, Y:13.08, Z:-0.18 [[ 9.99997900e-01 2.54428940e-04 2.03347824e-03 2.42607829e+02] [-2.47871620e-04 9.99994771e-01 -3.22428311e-03 1.30839453e+01] [-2.03428796e-03 3.22377230e-03 9.99992734e-01 -1.79717426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.161400513 meters Centerline goodness [0,1] 0.6585682098371806 Centerline is valid? [False, False] Translation: X:242.62, Y:13.09, Z:-0.19 [[ 9.99995890e-01 2.71896001e-03 9.08987405e-04 2.42615739e+02] [-2.71820388e-03 9.99995960e-01 -8.32039326e-04 1.30852829e+01] [-9.11246014e-04 8.29565094e-04 9.99999241e-01 -1.85042796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.191400513 meters Centerline goodness [0,1] 0.7285087341881078 Centerline is valid? [False, False] Translation: X:242.59, Y:13.08, Z:-0.18 [[ 9.99984671e-01 2.31334418e-03 -5.03045782e-03 2.42593531e+02] [-2.26355510e-03 9.99948622e-01 9.88079652e-03 1.30776040e+01] [ 5.05305705e-03 -9.86925834e-03 9.99938530e-01 -1.77890888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.221400513 meters Centerline goodness [0,1] 0.466815488967116 Centerline is valid? [False, False] Translation: X:242.59, Y:13.09, Z:-0.18 [[ 9.99986477e-01 -2.14038335e-03 -4.73977497e-03 2.42592824e+02] [ 2.15769968e-03 9.99991006e-01 3.65131247e-03 1.30877651e+01] [ 4.73191713e-03 -3.66149010e-03 9.99982101e-01 -1.78880461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.251400513 meters Centerline goodness [0,1] 0.7499356278431035 Centerline is valid? [False, False] Translation: X:242.59, Y:13.09, Z:-0.18 [[ 9.99986277e-01 -2.22900422e-03 -4.74102836e-03 2.42592765e+02] [ 2.24548159e-03 9.99991448e-01 3.47300637e-03 1.30885933e+01] [ 4.73324647e-03 -3.48360460e-03 9.99982730e-01 -1.78792755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.281400513 meters Centerline goodness [0,1] 0.6904649667880866 Centerline is valid? [False, False] Translation: X:242.59, Y:13.09, Z:-0.18 [[ 9.99986207e-01 -2.24427022e-03 -4.74851910e-03 2.42592588e+02] [ 2.26094136e-03 9.99991290e-01 3.50835775e-03 1.30884224e+01] [ 4.74060403e-03 -3.51904548e-03 9.99982571e-01 -1.78412370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.311400513 meters Centerline goodness [0,1] 0.971682638349305 Centerline is valid? [False, True] Translation: X:242.59, Y:13.09, Z:-0.17 [[ 9.99981372e-01 -4.88674071e-03 -3.65733860e-03 2.42585338e+02] [ 4.88940278e-03 9.99987788e-01 7.19284703e-04 1.30902648e+01] [ 3.65377898e-03 -7.37153505e-04 9.99993053e-01 -1.74100509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.341400513 meters Centerline goodness [0,1] 0.6681157247788937 Centerline is valid? [True, False] Translation: X:242.58, Y:13.09, Z:-0.17 [[ 9.99981690e-01 -4.81155193e-03 -3.66989894e-03 2.42584981e+02] [ 4.81566953e-03 9.99987784e-01 1.11398150e-03 1.30883559e+01] [ 3.66449413e-03 -1.13163413e-03 9.99992645e-01 -1.73303127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.371400513 meters Centerline goodness [0,1] 0.9502893890675241 Centerline is valid? [False, True] Translation: X:242.58, Y:13.09, Z:-0.17 [[ 9.99982214e-01 -4.64555199e-03 -3.74040316e-03 2.42584922e+02] [ 4.65155492e-03 9.99987905e-01 1.59779166e-03 1.30860891e+01] [ 3.73293530e-03 -1.61516194e-03 9.99991728e-01 -1.72720107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.401400513 meters Centerline goodness [0,1] 0.9946510223449228 Centerline is valid? [True, True] Translation: X:242.62, Y:13.08, Z:-0.17 [[ 9.99968939e-01 -6.76652861e-03 -4.04160906e-03 2.42615308e+02] [ 6.76527816e-03 9.99977063e-01 -3.22986533e-04 1.30807467e+01] [ 4.04370185e-03 2.95633891e-04 9.99991781e-01 -1.72905182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.431400513 meters Centerline goodness [0,1] 0.9868543382845776 Centerline is valid? [True, True] Translation: X:242.64, Y:13.09, Z:-0.18 [[ 9.99941657e-01 -8.75622027e-03 -6.32544155e-03 2.42644386e+02] [ 8.75319595e-03 9.99961562e-01 -5.05646698e-04 1.30853251e+01] [ 6.32962596e-03 4.50249368e-04 9.99979866e-01 -1.76208887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.461400513 meters Centerline goodness [0,1] 0.9476533909730991 Centerline is valid? [True, False] Translation: X:242.65, Y:13.09, Z:-0.18 [[ 9.99893714e-01 -1.30242257e-02 -6.55215711e-03 2.42645631e+02] [ 1.29839800e-02 9.99896805e-01 -6.14785594e-03 1.30925161e+01] [ 6.63155202e-03 6.06212943e-03 9.99959636e-01 -1.77481938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.49140051300003 meters Centerline goodness [0,1] 0.924295434544635 Centerline is valid? [False, False] Translation: X:242.65, Y:13.09, Z:-0.18 [[ 9.99938951e-01 -8.56248151e-03 -6.98412373e-03 2.42646479e+02] [ 8.55890625e-03 9.99963225e-01 -5.41640238e-04 1.30858952e+01] [ 6.98850467e-03 4.81830711e-04 9.99975464e-01 -1.76474345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.521400513 meters Centerline goodness [0,1] 0.9475359408711256 Centerline is valid? [False, False] Translation: X:242.65, Y:13.08, Z:-0.18 [[ 9.99939797e-01 -8.45639884e-03 -6.99229534e-03 2.42646238e+02] [ 8.45440599e-03 9.99964211e-01 -3.14516270e-04 1.30848849e+01] [ 6.99470477e-03 2.55381632e-04 9.99975504e-01 -1.75963586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.55140051300003 meters Centerline goodness [0,1] 0.9840597385369193 Centerline is valid? [False, True] Translation: X:242.65, Y:13.08, Z:-0.18 [[ 9.99941475e-01 -8.32242492e-03 -6.91251565e-03 2.42645652e+02] [ 8.32258749e-03 9.99965367e-01 -5.24772971e-06 1.30834924e+01] [ 6.91231992e-03 -5.22825937e-05 9.99976108e-01 -1.75342935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.581400513 meters Centerline goodness [0,1] 0.9417289220917823 Centerline is valid? [True, False] Translation: X:242.65, Y:13.08, Z:-0.17 [[ 9.99943100e-01 -8.16715479e-03 -6.86250128e-03 2.42645133e+02] [ 8.16986580e-03 9.99966559e-01 3.67106550e-04 1.30817949e+01] [ 6.85927357e-03 -4.23151376e-04 9.99976385e-01 -1.74663972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.611400513 meters Centerline goodness [0,1] 0.9955688130903746 Centerline is valid? [False, True] Translation: X:242.64, Y:13.08, Z:-0.17 [[ 9.99899302e-01 -1.26773611e-02 -6.37725852e-03 2.42643564e+02] [ 1.26489746e-02 9.99909998e-01 -4.47202704e-03 1.30843503e+01] [ 6.43337806e-03 4.39091093e-03 9.99969665e-01 -1.74380198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.641400513 meters Centerline goodness [0,1] 0.9994573475146517 Centerline is valid? [True, True] Translation: X:242.67, Y:13.07, Z:-0.17 [[ 9.99880105e-01 -1.42821411e-02 -5.98298988e-03 2.42674009e+02] [ 1.42795510e-02 9.99897929e-01 -4.75413470e-04 1.30732254e+01] [ 5.98916912e-03 3.89922061e-04 9.99981989e-01 -1.72396945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.671400513 meters Centerline goodness [0,1] 0.9993577254918752 Centerline is valid? [True, True] Translation: X:242.70, Y:13.07, Z:-0.17 [[ 9.99860075e-01 -1.56952121e-02 -5.78713644e-03 2.42703161e+02] [ 1.56928116e-02 9.99876754e-01 -4.59984007e-04 1.30731200e+01] [ 5.79364275e-03 3.69103201e-04 9.99983149e-01 -1.72040074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.701400513 meters Centerline goodness [0,1] 0.9993577254918752 Centerline is valid? [True, True] Translation: X:242.73, Y:13.08, Z:-0.17 [[ 9.99857145e-01 -1.58807979e-02 -5.78709921e-03 2.42730634e+02] [ 1.58783978e-02 9.99873824e-01 -4.60451940e-04 1.30754396e+01] [ 5.79368136e-03 3.68496299e-04 9.99983149e-01 -1.71936771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.731400513 meters Centerline goodness [0,1] 0.9996742812472856 Centerline is valid? [True, True] Translation: X:242.76, Y:13.07, Z:-0.17 [[ 9.99807771e-01 -1.84200848e-02 -6.71725696e-03 2.42761674e+02] [ 1.84169029e-02 9.99830251e-01 -5.35244336e-04 1.30719779e+01] [ 6.72597596e-03 4.11430377e-04 9.99977296e-01 -1.72902353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.761400513 meters Centerline goodness [0,1] 0.9984193438140807 Centerline is valid? [True, True] Translation: X:242.79, Y:13.08, Z:-0.17 [[ 9.99798891e-01 -1.85845221e-02 -7.53609937e-03 2.42789306e+02] [ 1.85805204e-02 9.99827187e-01 -6.00677954e-04 1.30774168e+01] [ 7.54596034e-03 4.60532504e-04 9.99971423e-01 -1.74577720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.791400513 meters Centerline goodness [0,1] 0.9956801157643854 Centerline is valid? [True, True] Translation: X:242.82, Y:13.08, Z:-0.18 [[ 9.99797208e-01 -1.84698086e-02 -8.02553275e-03 2.42816890e+02] [ 1.84652627e-02 9.99829298e-01 -6.40164714e-04 1.30828184e+01] [ 8.03598649e-03 4.91841323e-04 9.99967590e-01 -1.75302966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.821400513 meters Centerline goodness [0,1] 0.998112317130722 Centerline is valid? [True, True] Translation: X:242.85, Y:13.08, Z:-0.18 [[ 9.99806376e-01 -1.79533341e-02 -8.05533003e-03 2.42845684e+02] [ 1.79487304e-02 9.99838702e-01 -6.43443283e-04 1.30814408e+01] [ 8.06558267e-03 4.98735749e-04 9.99967348e-01 -1.75287612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.851400513 meters Centerline goodness [0,1] 0.9990747912901282 Centerline is valid? [True, True] Translation: X:242.88, Y:13.08, Z:-0.17 [[ 9.99829110e-01 -1.68205462e-02 -7.66937002e-03 2.42875767e+02] [ 1.68163348e-02 9.99858407e-01 -6.13274036e-04 1.30788642e+01] [ 7.67859969e-03 4.84198540e-04 9.99970402e-01 -1.74800299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.881400513 meters Centerline goodness [0,1] 0.9917042925965132 Centerline is valid? [True, True] Translation: X:242.90, Y:13.09, Z:-0.17 [[ 9.99878588e-01 -1.33746002e-02 -7.99563008e-03 2.42903974e+02] [ 1.33699117e-02 9.99910414e-01 -6.39553042e-04 1.30891432e+01] [ 8.00346755e-03 5.32574525e-04 9.99967830e-01 -1.74172464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.911400513 meters Centerline goodness [0,1] 0.8939319924388845 Centerline is valid? [True, False] Translation: X:242.93, Y:13.10, Z:-0.18 [[ 9.99922133e-01 -1.19781445e-02 -3.50035324e-03 2.42928468e+02] [ 1.19388496e-02 9.99867792e-01 -1.10391405e-02 1.30998035e+01] [ 3.63211888e-03 1.09964907e-02 9.99932940e-01 -1.81730487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.941400513 meters Centerline goodness [0,1] 0.9530194166452827 Centerline is valid? [False, True] Translation: X:242.93, Y:13.09, Z:-0.18 [[ 9.99965538e-01 -7.32186395e-03 -3.91315928e-03 2.42929502e+02] [ 7.29990561e-03 9.99957694e-01 -5.59653840e-03 1.30943520e+01] [ 3.95397083e-03 5.56777984e-03 9.99976683e-01 -1.81404577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.971400513 meters Centerline goodness [0,1] 0.9469417517371537 Centerline is valid? [True, False] Translation: X:242.93, Y:13.09, Z:-0.18 [[ 9.99987209e-01 -2.71005123e-03 -4.27056121e-03 2.42930412e+02] [ 2.70963523e-03 9.99996324e-01 -1.03196193e-04 1.30885719e+01] [ 4.27082518e-03 9.16232097e-05 9.99990876e-01 -1.80986239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.001400513 meters Centerline goodness [0,1] 0.9237035141589901 Centerline is valid? [False, False] Translation: X:242.93, Y:13.09, Z:-0.18 [[ 9.99987122e-01 -2.80390549e-03 -4.23001095e-03 2.42930131e+02] [ 2.80238819e-03 9.99996007e-01 -3.64581854e-04 1.30898830e+01] [ 4.23101631e-03 3.52723026e-04 9.99990987e-01 -1.80735606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.031400513 meters Centerline goodness [0,1] 0.9918436408598885 Centerline is valid? [False, True] Translation: X:242.89, Y:13.08, Z:-0.18 [[ 9.99977782e-01 -3.16665712e-03 -5.86587620e-03 2.42885556e+02] [ 3.18102732e-03 9.99991959e-01 2.44208774e-03 1.30839975e+01] [ 5.85809577e-03 -2.46069299e-03 9.99979814e-01 -1.78122415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.061400513 meters Centerline goodness [0,1] 0.8524856331047448 Centerline is valid? [True, False] Translation: X:242.93, Y:13.09, Z:-0.18 [[ 9.99981949e-01 -4.98838121e-03 -3.34919284e-03 2.42926176e+02] [ 4.97751578e-03 9.99982348e-01 -3.24473029e-03 1.30920346e+01] [ 3.36531967e-03 3.22800106e-03 9.99989127e-01 -1.79732241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.091400513 meters Centerline goodness [0,1] 0.9485072875098696 Centerline is valid? [False, False] Translation: X:242.93, Y:13.09, Z:-0.18 [[ 9.99982704e-01 -4.76286455e-03 -3.45052795e-03 2.42926461e+02] [ 4.75358264e-03 9.99985075e-01 -2.69322100e-03 1.30894018e+01] [ 3.46330390e-03 2.67677205e-03 9.99990420e-01 -1.79650410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.121400513 meters Centerline goodness [0,1] 0.981103650137741 Centerline is valid? [False, True] Translation: X:242.93, Y:13.09, Z:-0.18 [[ 9.99983450e-01 -4.53503025e-03 -3.54025765e-03 2.42926703e+02] [ 4.52748236e-03 9.99987467e-01 -2.13712862e-03 1.30867849e+01] [ 3.54990522e-03 2.12106480e-03 9.99991450e-01 -1.79577789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.151400513 meters Centerline goodness [0,1] 0.9953431214022379 Centerline is valid? [True, True] Translation: X:242.96, Y:13.08, Z:-0.18 [[ 9.99977636e-01 -5.85169086e-03 -3.23812997e-03 2.42957223e+02] [ 5.85094588e-03 9.99982854e-01 -2.39490616e-04 1.30819771e+01] [ 3.23947588e-03 2.20539137e-04 9.99994729e-01 -1.78659891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.181400513 meters Centerline goodness [0,1] 0.9992493297587132 Centerline is valid? [True, True] Translation: X:242.99, Y:13.08, Z:-0.17 [[ 9.99969598e-01 -7.74047617e-03 -9.42187500e-04 2.42987836e+02] [ 7.74041392e-03 9.99970040e-01 -6.97011636e-05 1.30797681e+01] [ 9.42698792e-04 6.24061233e-05 9.99999554e-01 -1.74735147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.211400513 meters Centerline goodness [0,1] 0.9991320574577963 Centerline is valid? [True, True] Translation: X:243.02, Y:13.08, Z:-0.17 [[ 9.99960142e-01 -8.92111814e-03 -3.57659005e-04 2.43017355e+02] [ 8.92110908e-03 9.99960206e-01 -2.68956437e-05 1.30804143e+01] [ 3.57884712e-04 2.37038567e-05 9.99999936e-01 -1.73799153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.24140051300003 meters Centerline goodness [0,1] 0.9993509022458782 Centerline is valid? [True, True] Translation: X:243.05, Y:13.08, Z:-0.17 [[ 9.99950389e-01 -9.94893791e-03 -4.88856364e-04 2.43046926e+02] [ 9.94892126e-03 9.99950508e-01 -3.64798532e-05 1.30777944e+01] [ 4.89195105e-04 3.16144499e-05 9.99999880e-01 -1.73797079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.271400513 meters Centerline goodness [0,1] 0.9974843303628533 Centerline is valid? [True, True] Translation: X:243.07, Y:13.08, Z:-0.18 [[ 9.99940707e-01 -1.08315462e-02 -1.12281658e-03 2.43074720e+02] [ 1.08314592e-02 9.99941335e-01 -8.35076332e-05 1.30832276e+01] [ 1.12365522e-03 7.13409398e-05 9.99999366e-01 -1.75300790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.30140051300003 meters Centerline goodness [0,1] 0.9935555460714438 Centerline is valid? [True, True] Translation: X:243.10, Y:13.08, Z:-0.18 [[ 9.99929032e-01 -1.17746372e-02 -1.81363802e-03 2.43103023e+02] [ 1.17744118e-02 9.99930670e-01 -1.34889349e-04 1.30816014e+01] [ 1.81510055e-03 1.13525255e-04 9.99998346e-01 -1.77257984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.331400513 meters Centerline goodness [0,1] 0.9990212923291067 Centerline is valid? [True, True] Translation: X:243.13, Y:13.07, Z:-0.18 [[ 9.99923731e-01 -1.21439464e-02 -2.24862762e-03 2.43132363e+02] [ 1.21435995e-02 9.99926250e-01 -1.67856727e-04 1.30710649e+01] [ 2.25050022e-03 1.40537492e-04 9.99997458e-01 -1.76921833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.361400513 meters Centerline goodness [0,1] 0.9943500406625861 Centerline is valid? [True, True] Translation: X:243.16, Y:13.08, Z:-0.18 [[ 9.99924779e-01 -1.21768834e-02 -1.46998046e-03 2.43158440e+02] [ 1.21767351e-02 9.99925855e-01 -1.09784629e-04 1.30799580e+01] [ 1.47120830e-03 9.18768084e-05 9.99998914e-01 -1.76404640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.391400513 meters Centerline goodness [0,1] 0.9977470296924483 Centerline is valid? [True, True] Translation: X:243.19, Y:13.08, Z:-0.18 [[ 9.99926101e-01 -1.21086657e-02 -1.08316803e-03 2.43187874e+02] [ 1.21085846e-02 9.99926685e-01 -8.13207583e-05 1.30765100e+01] [ 1.08407330e-03 6.81991171e-05 9.99999410e-01 -1.75438670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.421400513 meters Centerline goodness [0,1] 0.9992050874403816 Centerline is valid? [True, True] Translation: X:243.22, Y:13.07, Z:-0.18 [[ 9.99924369e-01 -1.22611473e-02 -9.59866345e-04 2.43216430e+02] [ 1.22610834e-02 9.99924827e-01 -7.23606970e-05 1.30714397e+01] [ 9.60681415e-04 6.05862229e-05 9.99999537e-01 -1.75113833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.451400513 meters Centerline goodness [0,1] 0.9985499520204713 Centerline is valid? [True, True] Translation: X:243.24, Y:13.08, Z:-0.18 [[ 9.99925993e-01 -1.21387402e-02 -8.12670088e-04 2.43244421e+02] [ 1.21386946e-02 9.99926321e-01 -6.10529973e-05 1.30764755e+01] [ 8.13351318e-04 5.11837249e-05 9.99999668e-01 -1.75613749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.481400513 meters Centerline goodness [0,1] 0.9955981024830121 Centerline is valid? [True, True] Translation: X:243.27, Y:13.08, Z:-0.18 [[ 9.99932508e-01 -1.16026155e-02 -5.98867748e-04 2.43272379e+02] [ 1.16025906e-02 9.99932687e-01 -4.50595543e-05 1.30780453e+01] [ 5.99350245e-04 3.81080958e-05 9.99999820e-01 -1.76503736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.511400513 meters Centerline goodness [0,1] 0.9958168869057834 Centerline is valid? [True, True] Translation: X:243.30, Y:13.08, Z:-0.18 [[ 9.99929051e-01 -1.18579972e-02 -1.13189233e-03 2.43300840e+02] [ 1.18579079e-02 9.99929689e-01 -8.55600738e-05 1.30756847e+01] [ 1.13282731e-03 7.21321284e-05 9.99999356e-01 -1.77473876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.541400513 meters Centerline goodness [0,1] 0.9983597128432354 Centerline is valid? [True, True] Translation: X:243.33, Y:13.07, Z:-0.18 [[ 9.99923467e-01 -1.22928498e-02 -1.39489708e-03 2.43330222e+02] [ 1.22927146e-02 9.99924436e-01 -1.05502413e-04 1.30713256e+01] [ 1.39608860e-03 8.83472673e-05 9.99999022e-01 -1.78268584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.571400513 meters Centerline goodness [0,1] 0.99448788616844 Centerline is valid? [True, True] Translation: X:243.36, Y:13.07, Z:-0.18 [[ 9.99916124e-01 -1.28652858e-02 -1.49307234e-03 2.43358031e+02] [ 1.28651317e-02 9.99917234e-01 -1.12715734e-04 1.30719671e+01] [ 1.49439889e-03 9.34977075e-05 9.99998879e-01 -1.79321553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.601400513 meters Centerline goodness [0,1] 0.9975251221437562 Centerline is valid? [True, True] Translation: X:243.39, Y:13.07, Z:-0.18 [[ 9.99907156e-01 -1.35553376e-02 -1.38969061e-03 2.43386927e+02] [ 1.35552041e-02 9.99908118e-01 -1.05405213e-04 1.30676580e+01] [ 1.39099172e-03 8.65578875e-05 9.99999029e-01 -1.78879878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.631400513 meters Centerline goodness [0,1] 0.9991134368377805 Centerline is valid? [True, True] Translation: X:243.42, Y:13.06, Z:-0.18 [[ 9.99895266e-01 -1.43058048e-02 -2.19097344e-03 2.43416762e+02] [ 1.43054746e-02 9.99897658e-01 -1.66315469e-04 1.30559228e+01] [ 2.19312849e-03 1.34955135e-04 9.99997586e-01 -1.78941715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.661400513 meters Centerline goodness [0,1] 0.9989262321486094 Centerline is valid? [True, True] Translation: X:243.45, Y:13.06, Z:-0.18 [[ 9.99899566e-01 -1.39246896e-02 -2.63850998e-03 2.43445181e+02] [ 1.39242099e-02 9.99903033e-01 -2.00080987e-04 1.30553348e+01] [ 2.64104020e-03 1.63321725e-04 9.99996499e-01 -1.79016315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.691400513 meters Centerline goodness [0,1] 0.9906717212591046 Centerline is valid? [True, True] Translation: X:243.47, Y:13.06, Z:-0.18 [[ 9.99911971e-01 -1.27712332e-02 -3.59804226e-03 2.43473045e+02] [ 1.27703334e-02 9.99918419e-01 -2.72923958e-04 1.30610372e+01] [ 3.60123430e-03 2.26951733e-04 9.99993490e-01 -1.80775117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.721400513 meters Centerline goodness [0,1] 0.9717738491758476 Centerline is valid? [True, True] Translation: X:243.50, Y:13.06, Z:-0.18 [[ 9.99931792e-01 -1.08091979e-02 -4.42413777e-03 2.43501844e+02] [ 1.08078184e-02 9.99941538e-01 -3.35595958e-04 1.30638982e+01] [ 4.42750665e-03 2.87757790e-04 9.99990157e-01 -1.82184645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.751400513 meters Centerline goodness [0,1] 0.9382581115254383 Centerline is valid? [True, False] Translation: X:243.50, Y:13.06, Z:-0.18 [[ 9.99938997e-01 -1.01920958e-02 -4.25715456e-03 2.43501592e+02] [ 1.01935658e-02 9.99947992e-01 3.23729219e-04 1.30612396e+01] [ 4.25363367e-03 -3.67105055e-04 9.99990886e-01 -1.82830906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.781400513 meters Centerline goodness [0,1] 0.9355067785668173 Centerline is valid? [False, False] Translation: X:243.50, Y:13.06, Z:-0.18 [[ 9.99941406e-01 -9.97532174e-03 -4.20454266e-03 2.43501487e+02] [ 9.97845906e-03 9.99949950e-01 7.25856656e-04 1.30593967e+01] [ 4.19709157e-03 -7.67768982e-04 9.99990897e-01 -1.82938978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.811400513 meters Centerline goodness [0,1] 0.8501945525291829 Centerline is valid? [False, False] Translation: X:243.50, Y:13.06, Z:-0.18 [[ 9.99944368e-01 -9.71177883e-03 -4.11620597e-03 2.43501020e+02] [ 9.71675523e-03 9.99952082e-01 1.19070949e-03 1.30573107e+01] [ 4.10444483e-03 -1.23063941e-03 9.99990819e-01 -1.82586250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.841400513 meters Centerline goodness [0,1] 0.6126646489620189 Centerline is valid? [False, False] Translation: X:243.50, Y:13.06, Z:-0.18 [[ 9.99946986e-01 -9.47829453e-03 -4.02334663e-03 2.43500432e+02] [ 9.48490542e-03 9.99953693e-01 1.62724306e-03 1.30553754e+01] [ 4.00773684e-03 -1.66531786e-03 9.99990582e-01 -1.82035979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.871400513 meters Centerline goodness [0,1] 0.7942659713727762 Centerline is valid? [False, False] Translation: X:243.50, Y:13.05, Z:-0.18 [[ 9.99949111e-01 -9.31052860e-03 -3.88457940e-03 2.43499774e+02] [ 9.31816343e-03 9.99954680e-01 1.95197191e-03 1.30539540e+01] [ 3.86622946e-03 -1.98806973e-03 9.99990550e-01 -1.81629728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.901400513 meters Centerline goodness [0,1] 0.80927824157244 Centerline is valid? [False, False] Translation: X:243.52, Y:13.06, Z:-0.19 [[ 9.99962750e-01 -8.48640791e-03 1.57463357e-03 2.43523992e+02] [ 8.49949038e-03 9.99927782e-01 -8.49640949e-03 1.30637467e+01] [-1.50241586e-03 8.50947658e-03 9.99962665e-01 -1.90015091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.931400513 meters Centerline goodness [0,1] 0.8242726374145859 Centerline is valid? [False, False] Translation: X:243.48, Y:13.05, Z:-0.19 [[ 9.99985911e-01 -5.22901123e-03 -9.14287333e-04 2.43482959e+02] [ 5.22957055e-03 9.99986139e-01 6.10441881e-04 1.30494205e+01] [ 9.11082653e-04 -6.15214611e-04 9.99999396e-01 -1.86558719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.961400513 meters Centerline goodness [0,1] 0.7950905329608223 Centerline is valid? [False, False] Translation: X:243.48, Y:13.05, Z:-0.19 [[ 9.99985516e-01 -5.30775398e-03 -8.91978560e-04 2.43482996e+02] [ 5.30813068e-03 9.99985823e-01 4.20484000e-04 1.30503269e+01] [ 8.89734089e-04 -4.25212648e-04 9.99999514e-01 -1.86783375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.99140051300003 meters Centerline goodness [0,1] 0.8743177586096188 Centerline is valid? [False, False] Translation: X:243.48, Y:13.05, Z:-0.19 [[ 9.99984773e-01 -5.45968032e-03 -8.03176792e-04 2.43482755e+02] [ 5.45972977e-03 9.99985094e-01 5.93846120e-05 1.30520364e+01] [ 8.02840599e-04 -6.37688360e-05 9.99999676e-01 -1.86913033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.021400513 meters Centerline goodness [0,1] 0.8401746351067928 Centerline is valid? [False, False] Translation: X:243.48, Y:13.06, Z:-0.19 [[ 9.99982994e-01 -5.78734815e-03 -7.19979502e-04 2.43482514e+02] [ 5.78685029e-03 9.99983017e-01 -6.91660371e-04 1.30555820e+01] [ 7.23970154e-04 6.87482195e-04 9.99999502e-01 -1.87022012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.05140051300003 meters Centerline goodness [0,1] 0.8332727622549544 Centerline is valid? [False, False] Translation: X:243.48, Y:13.06, Z:-0.19 [[ 9.99982088e-01 -5.92980621e-03 -8.13013002e-04 2.43482932e+02] [ 5.92901116e-03 9.99981946e-01 -9.76854522e-04 1.30568701e+01] [ 8.18790882e-04 9.72016661e-04 9.99999192e-01 -1.87247871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.081400513 meters Centerline goodness [0,1] 0.9560980856098086 Centerline is valid? [False, True] Translation: X:243.48, Y:13.06, Z:-0.19 [[ 9.99981334e-01 -6.04016642e-03 -9.20690416e-04 2.43483395e+02] [ 6.03906656e-03 9.99981053e-01 -1.19273651e-03 1.30578261e+01] [ 9.27877299e-04 1.18715413e-03 9.99998865e-01 -1.87481766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.111400513 meters Centerline goodness [0,1] 0.9405923569616988 Centerline is valid? [True, False] Translation: X:243.48, Y:13.06, Z:-0.19 [[ 9.99980882e-01 -6.10124667e-03 -1.00565967e-03 2.43483696e+02] [ 6.09993994e-03 9.99980554e-01 -1.29735775e-03 1.30582833e+01] [ 1.01355561e-03 1.29119849e-03 9.99998653e-01 -1.87565611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.141400513 meters Centerline goodness [0,1] 0.9794317813546506 Centerline is valid? [False, True] Translation: X:243.48, Y:13.06, Z:-0.19 [[ 9.99980915e-01 -6.10062465e-03 -9.75341332e-04 2.43483328e+02] [ 6.09940257e-03 9.99980616e-01 -1.25107657e-03 1.30581079e+01] [ 9.82954775e-04 1.24510370e-03 9.99998742e-01 -1.87073098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.171400513 meters Centerline goodness [0,1] 0.8054445766746005 Centerline is valid? [True, False] Translation: X:243.52, Y:13.06, Z:-0.19 [[ 9.99978251e-01 -6.11241584e-03 2.47725274e-03 2.43521466e+02] [ 6.12214767e-03 9.99973497e-01 -3.94012114e-03 1.30635112e+01] [-2.45310342e-03 3.95520155e-03 9.99989169e-01 -1.86585642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.201400513 meters Centerline goodness [0,1] 0.9918066190506831 Centerline is valid? [False, True] Translation: X:243.52, Y:13.06, Z:-0.19 [[ 9.99976527e-01 -6.36366934e-03 2.53936722e-03 2.43520815e+02] [ 6.37347755e-03 9.99972188e-01 -3.87324707e-03 1.30629584e+01] [-2.51464853e-03 3.88934075e-03 9.99989275e-01 -1.85580801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.231400513 meters Centerline goodness [0,1] 0.9215415355837089 Centerline is valid? [True, False] Translation: X:243.52, Y:13.06, Z:-0.19 [[ 9.99976378e-01 -6.41127593e-03 2.47755833e-03 2.43520857e+02] [ 6.42075655e-03 9.99972022e-01 -3.83778134e-03 1.30627505e+01] [-2.45288393e-03 3.85359849e-03 9.99989567e-01 -1.85278945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.261400513 meters Centerline goodness [0,1] 0.9924897783516247 Centerline is valid? [False, True] Translation: X:243.50, Y:13.07, Z:-0.18 [[ 9.99976963e-01 -6.70190666e-03 -1.07631323e-03 2.43499912e+02] [ 6.68500818e-03 9.99865095e-01 -1.50034094e-02 1.30682791e+01] [ 1.17671948e-03 1.49958686e-02 9.99886863e-01 -1.83137764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.291400513 meters Centerline goodness [0,1] 0.9971545932993882 Centerline is valid? [True, True] Translation: X:243.53, Y:13.05, Z:-0.18 [[ 9.99960120e-01 -8.58638321e-03 -2.45620069e-03 2.43530569e+02] [ 8.58597938e-03 9.99963125e-01 -1.74911144e-04 1.30540070e+01] [ 2.45761197e-03 1.53815280e-04 9.99996968e-01 -1.79844840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.321400513 meters Centerline goodness [0,1] 0.9985851180140202 Centerline is valid? [True, True] Translation: X:243.56, Y:13.05, Z:-0.18 [[ 9.99930789e-01 -1.11480516e-02 -3.76013315e-03 2.43561421e+02] [ 1.11471234e-02 9.99937833e-01 -2.67732459e-04 1.30513619e+01] [ 3.76288409e-03 2.25799261e-04 9.99992895e-01 -1.81515191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.351400513 meters Centerline goodness [0,1] 0.9988623679917575 Centerline is valid? [True, True] Translation: X:243.59, Y:13.05, Z:-0.18 [[ 9.99925370e-01 -1.15765922e-02 -3.90341289e-03 2.43590065e+02] [ 1.15755917e-02 9.99932962e-01 -2.78810295e-04 1.30525569e+01] [ 3.90637888e-03 2.33605173e-04 9.99992343e-01 -1.81654378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.381400513 meters Centerline goodness [0,1] 0.9982641493260185 Centerline is valid? [True, True] Translation: X:243.62, Y:13.06, Z:-0.18 [[ 9.99929096e-01 -1.13473689e-02 -3.61121329e-03 2.43617542e+02] [ 1.13465109e-02 9.99935593e-01 -2.57998115e-04 1.30563516e+01] [ 3.61390830e-03 2.17005151e-04 9.99993446e-01 -1.81274787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.411400513 meters Centerline goodness [0,1] 0.9989127362080588 Centerline is valid? [True, True] Translation: X:243.65, Y:13.05, Z:-0.18 [[ 9.99943666e-01 -1.01181989e-02 -3.20741406e-03 2.43647012e+02] [ 1.01175155e-02 9.99948790e-01 -2.29236927e-04 1.30540353e+01] [ 3.20956928e-03 1.96772952e-04 9.99994830e-01 -1.80767045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.441400513 meters Centerline goodness [0,1] 0.9977445547106586 Centerline is valid? [True, True] Translation: X:243.68, Y:13.06, Z:-0.18 [[ 9.99953204e-01 -9.17938195e-03 -3.05420264e-03 2.43675611e+02] [ 9.17875735e-03 9.99957850e-01 -2.18457966e-04 1.30605995e+01] [ 3.05607922e-03 1.90413958e-04 9.99995312e-01 -1.80864177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.471400513 meters Centerline goodness [0,1] 0.9962057425447104 Centerline is valid? [True, True] Translation: X:243.70, Y:13.07, Z:-0.18 [[ 9.99959690e-01 -8.53050274e-03 -2.80151373e-03 2.43703415e+02] [ 8.52997419e-03 9.99963599e-01 -2.00562814e-04 1.30658177e+01] [ 2.80312265e-03 1.76657890e-04 9.99996056e-01 -1.81225332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.501400513 meters Centerline goodness [0,1] 0.9986183372552406 Centerline is valid? [True, True] Translation: X:243.73, Y:13.06, Z:-0.18 [[ 9.99960870e-01 -8.40885010e-03 -2.74774585e-03 2.43732649e+02] [ 8.40833949e-03 9.99964630e-01 -1.97328521e-04 1.30644065e+01] [ 2.74930797e-03 1.74216820e-04 9.99996205e-01 -1.81495862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.531400513 meters Centerline goodness [0,1] 0.9970643066835236 Centerline is valid? [True, True] Translation: X:243.76, Y:13.07, Z:-0.18 [[ 9.99960788e-01 -8.57861475e-03 -2.19748013e-03 2.43760473e+02] [ 8.57828856e-03 9.99963193e-01 -1.57822082e-04 1.30698003e+01] [ 2.19875314e-03 1.38965274e-04 9.99997573e-01 -1.81581898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.561400513 meters Centerline goodness [0,1] 0.9987975607661256 Centerline is valid? [True, True] Translation: X:243.79, Y:13.07, Z:-0.18 [[ 9.99952901e-01 -9.44230917e-03 -2.24488004e-03 2.43789921e+02] [ 9.44197073e-03 9.99955411e-01 -1.61308526e-04 1.30661395e+01] [ 2.24630307e-03 1.40104837e-04 9.99997467e-01 -1.81118642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.591400513 meters Centerline goodness [0,1] 0.9987975607661256 Centerline is valid? [True, True] Translation: X:243.82, Y:13.07, Z:-0.18 [[ 9.99951165e-01 -9.62438989e-03 -2.24483487e-03 2.43817424e+02] [ 9.62405051e-03 9.99953675e-01 -1.61936528e-04 1.30682485e+01] [ 2.24628942e-03 1.40324216e-04 9.99997467e-01 -1.81163039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.621400513 meters Centerline goodness [0,1] 0.998014888337469 Centerline is valid? [True, True] Translation: X:243.85, Y:13.06, Z:-0.18 [[ 9.99928373e-01 -1.17066528e-02 -2.49041357e-03 2.43847491e+02] [ 1.17062421e-02 9.99931464e-01 -1.79419045e-04 1.30637335e+01] [ 2.49234328e-03 1.50252810e-04 9.99996883e-01 -1.80035673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.651400513 meters Centerline goodness [0,1] 0.9976100764344924 Centerline is valid? [True, True] Translation: X:243.88, Y:13.07, Z:-0.18 [[ 9.99924855e-01 -1.20251501e-02 -2.38333963e-03 2.43875107e+02] [ 1.20247742e-02 9.99927685e-01 -1.72008051e-04 1.30671800e+01] [ 2.38523570e-03 1.43336005e-04 9.99997145e-01 -1.79694509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.681400513 meters Centerline goodness [0,1] 0.9969612779996527 Centerline is valid? [True, True] Translation: X:243.90, Y:13.07, Z:-0.18 [[ 9.99927095e-01 -1.17654520e-02 -2.71636155e-03 2.43904128e+02] [ 1.17649612e-02 9.99930771e-01 -1.96575134e-04 1.30679185e+01] [ 2.71848629e-03 1.64602914e-04 9.99996291e-01 -1.81142750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.711400513 meters Centerline goodness [0,1] 0.9955346650998825 Centerline is valid? [True, True] Translation: X:243.93, Y:13.07, Z:-0.18 [[ 9.99934998e-01 -1.10430962e-02 -2.83714032e-03 2.43931706e+02] [ 1.10425579e-02 9.99939008e-01 -2.05299579e-04 1.30724879e+01] [ 2.83923442e-03 1.73956948e-04 9.99995954e-01 -1.82047632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.74140051300003 meters Centerline goodness [0,1] 0.9973640221164973 Centerline is valid? [True, True] Translation: X:243.96, Y:13.07, Z:-0.18 [[ 9.99948201e-01 -9.93698492e-03 -2.20276921e-03 2.43961904e+02] [ 9.93665777e-03 9.99950617e-01 -1.59411676e-04 1.30708698e+01] [ 2.20424450e-03 1.37515255e-04 9.99997561e-01 -1.81486331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.771400513 meters Centerline goodness [0,1] 0.9951749095295537 Centerline is valid? [True, True] Translation: X:243.99, Y:13.07, Z:-0.18 [[ 9.99949349e-01 -9.84739666e-03 -2.08035417e-03 2.43989215e+02] [ 9.84710397e-03 9.99951505e-01 -1.50885890e-04 1.30724102e+01] [ 2.08173911e-03 1.30392783e-04 9.99997825e-01 -1.80771155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.80140051300003 meters Centerline goodness [0,1] 0.9966070926890411 Centerline is valid? [True, True] Translation: X:244.02, Y:13.07, Z:-0.18 [[ 9.99945159e-01 -1.02528167e-02 -2.13517203e-03 2.44018507e+02] [ 1.02525084e-02 9.99947430e-01 -1.55291281e-04 1.30703883e+01] [ 2.13665196e-03 1.33391896e-04 9.99997708e-01 -1.80285152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.831400513 meters Centerline goodness [0,1] 0.9995240670632775 Centerline is valid? [True, True] Translation: X:244.05, Y:13.06, Z:-0.18 [[ 9.99937808e-01 -1.10113684e-02 -1.76939065e-03 2.44048349e+02] [ 1.10111574e-02 9.99939367e-01 -1.28994076e-04 1.30631061e+01] [ 1.77070377e-03 1.09503015e-04 9.99998426e-01 -1.79519227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.861400513 meters Centerline goodness [0,1] 0.9973443556850063 Centerline is valid? [True, True] Translation: X:244.08, Y:13.07, Z:-0.18 [[ 9.99923937e-01 -1.22762194e-02 -1.18905689e-03 2.44076215e+02] [ 1.22761250e-02 9.99924642e-01 -8.66507277e-05 1.30720279e+01] [ 1.19003103e-03 7.20471258e-05 9.99999289e-01 -1.79107926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.891400513 meters Centerline goodness [0,1] 0.9992527913579984 Centerline is valid? [True, True] Translation: X:244.11, Y:13.07, Z:-0.18 [[ 9.99889183e-01 -1.48856966e-02 1.96681826e-04 2.44106894e+02] [ 1.48856940e-02 9.99889202e-01 1.43165463e-05 1.30658543e+01] [-1.96873146e-04 -1.13872143e-05 9.99999981e-01 -1.77411792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.921400513 meters Centerline goodness [0,1] 0.9998054096127651 Centerline is valid? [True, True] Translation: X:244.14, Y:13.06, Z:-0.18 [[ 9.99873167e-01 -1.59262777e-02 6.76203384e-05 2.44136532e+02] [ 1.59262774e-02 9.99873169e-01 4.85120297e-06 1.30569481e+01] [-6.76890236e-05 -3.77364741e-06 9.99999998e-01 -1.77787891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.951400513 meters Centerline goodness [0,1] 0.9995701882575432 Centerline is valid? [True, True] Translation: X:244.16, Y:13.06, Z:-0.18 [[ 9.99866215e-01 -1.63425846e-02 -6.86904127e-04 2.44164272e+02] [ 1.63425539e-02 9.99866450e-01 -5.02487812e-05 1.30615087e+01] [ 6.87633586e-04 3.90162909e-05 9.99999763e-01 -1.79347901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.981400513 meters Centerline goodness [0,1] 0.9989502999143102 Centerline is valid? [True, True] Translation: X:244.19, Y:13.07, Z:-0.18 [[ 9.99868427e-01 -1.61363268e-02 -1.65757508e-03 2.44191415e+02] [ 1.61361481e-02 9.99869797e-01 -1.21140156e-04 1.30650492e+01] [ 1.65931402e-03 9.43773407e-05 9.99998619e-01 -1.81228297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.011400513 meters Centerline goodness [0,1] 0.9991428816319534 Centerline is valid? [True, True] Translation: X:244.22, Y:13.06, Z:-0.18 [[ 9.99899712e-01 -1.38922124e-02 -2.75190495e-03 2.44221591e+02] [ 1.38917116e-02 9.99903485e-01 -2.01000215e-04 1.30635638e+01] [ 2.75443169e-03 1.62751387e-04 9.99996193e-01 -1.81419032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.041400513 meters Centerline goodness [0,1] 0.9996136095309649 Centerline is valid? [True, True] Translation: X:244.25, Y:13.06, Z:-0.18 [[ 9.99922115e-01 -1.23146107e-02 -2.02846102e-03 2.44251674e+02] [ 1.23143352e-02 9.99924165e-01 -1.48227119e-04 1.30622510e+01] [ 2.03013255e-03 1.23236425e-04 9.99997932e-01 -1.79575051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.071400513 meters Centerline goodness [0,1] 0.9960013758706682 Centerline is valid? [True, True] Translation: X:244.28, Y:13.07, Z:-0.18 [[ 9.99939569e-01 -1.08866729e-02 -1.52928660e-03 2.44279303e+02] [ 1.08865145e-02 9.99940734e-01 -1.11884756e-04 1.30730883e+01] [ 1.53041402e-03 9.52293941e-05 9.99998824e-01 -1.78983274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.101400513 meters Centerline goodness [0,1] 0.9968869576496531 Centerline is valid? [True, True] Translation: X:244.31, Y:13.08, Z:-0.18 [[ 9.99953794e-01 -9.59096249e-03 -6.50583453e-04 2.44308910e+02] [ 9.59093353e-03 9.99954005e-01 -4.76132079e-05 1.30755747e+01] [ 6.51010185e-04 4.13713052e-05 9.99999787e-01 -1.78249390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.131400513 meters Centerline goodness [0,1] 0.9993350350715373 Centerline is valid? [True, True] Translation: X:244.34, Y:13.07, Z:-0.18 [[ 9.99967967e-01 -8.00016720e-03 -2.49488359e-04 2.44338147e+02] [ 8.00016287e-03 9.99967998e-01 -1.83395245e-05 1.30739468e+01] [ 2.49627094e-04 1.63429895e-05 9.99999969e-01 -1.77946037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.161400513 meters Centerline goodness [0,1] 0.9965289006748163 Centerline is valid? [True, True] Translation: X:244.37, Y:13.08, Z:-0.18 [[ 9.99980712e-01 -6.20168839e-03 -3.39348908e-04 2.44367218e+02] [ 6.20168031e-03 9.99980769e-01 -2.48562010e-05 1.30820553e+01] [ 3.39496532e-04 2.27511881e-05 9.99999942e-01 -1.78845561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.191400513 meters Centerline goodness [0,1] 0.994234451304778 Centerline is valid? [True, True] Translation: X:244.40, Y:13.08, Z:-0.18 [[ 9.99996895e-01 -1.91226413e-03 -1.59807013e-03 2.44397327e+02] [ 1.91207959e-03 9.99998165e-01 -1.16999234e-04 1.30845875e+01] [ 1.59829093e-03 1.13943234e-04 9.99998716e-01 -1.79554574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.221400513 meters Centerline goodness [0,1] 0.958472264322522 Centerline is valid? [True, True] Translation: X:244.43, Y:13.09, Z:-0.18 [[ 9.99997226e-01 3.29572727e-04 -2.33234576e-03 2.44425666e+02] [-3.29971970e-04 9.99999931e-01 -1.70793648e-04 1.30932182e+01] [ 2.33228931e-03 1.71562783e-04 9.99997265e-01 -1.80475788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.251400513 meters Centerline goodness [0,1] 0.9084230418073338 Centerline is valid? [True, False] Translation: X:244.47, Y:13.10, Z:-0.18 [[ 9.99997927e-01 2.01218675e-03 -3.10691419e-04 2.44467947e+02] [-2.01307419e-03 9.99993818e-01 -2.88292869e-03 1.31005088e+01] [ 3.04888507e-04 2.88354816e-03 9.99995796e-01 -1.82962064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.281400513 meters Centerline goodness [0,1] 0.8520140484759138 Centerline is valid? [False, False] Translation: X:244.43, Y:13.10, Z:-0.18 [[ 9.99989048e-01 3.87559511e-03 -2.62366875e-03 2.44425163e+02] [-3.86884555e-03 9.99989206e-01 2.57277092e-03 1.30951671e+01] [ 2.63361145e-03 -2.56259218e-03 9.99993249e-01 -1.80668420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.311400513 meters Centerline goodness [0,1] 0.7502243493867784 Centerline is valid? [False, False] Translation: X:244.47, Y:13.10, Z:-0.18 [[ 9.99993483e-01 3.60972842e-03 6.24980636e-05 2.44465127e+02] [-3.60959274e-03 9.99991385e-01 -2.04970245e-03 1.31034352e+01] [-6.98963944e-05 2.04946350e-03 9.99997897e-01 -1.82437686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.341400513 meters Centerline goodness [0,1] 0.7562009887487214 Centerline is valid? [False, False] Translation: X:244.46, Y:13.10, Z:-0.18 [[ 9.99993493e-01 3.60646055e-03 8.13590618e-05 2.44464977e+02] [-3.60628881e-03 9.99991456e-01 -2.02056501e-03 1.31032764e+01] [-8.86454546e-05 2.02025846e-03 9.99997955e-01 -1.82284257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.371400513 meters Centerline goodness [0,1] 0.9737477889468916 Centerline is valid? [False, True] Translation: X:244.44, Y:13.09, Z:-0.17 [[ 9.99984420e-01 2.22629600e-03 -5.11893704e-03 2.44440298e+02] [-2.18301419e-03 9.99961955e-01 8.44533057e-03 1.30926707e+01] [ 5.13754410e-03 -8.43402428e-03 9.99951235e-01 -1.73407026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.401400513 meters Centerline goodness [0,1] 0.9942522572758273 Centerline is valid? [True, True] Translation: X:244.47, Y:13.10, Z:-0.18 [[ 9.99989439e-01 9.35206631e-05 -4.59494678e-03 2.44469930e+02] [-9.50830619e-05 9.99999938e-01 -3.39808156e-04 1.30966571e+01] [ 4.59491472e-03 3.40241468e-04 9.99989385e-01 -1.75978565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.431400513 meters Centerline goodness [0,1] 0.9910837057408044 Centerline is valid? [True, True] Translation: X:244.50, Y:13.10, Z:-0.18 [[ 9.99977943e-01 -3.67550932e-03 -5.53218834e-03 2.44499446e+02] [ 3.67330133e-03 9.99993170e-01 -4.09225234e-04 1.30964877e+01] [ 5.53365467e-03 3.88894813e-04 9.99984614e-01 -1.76606421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.461400513 meters Centerline goodness [0,1] 0.9948391794081117 Centerline is valid? [True, True] Translation: X:244.53, Y:13.10, Z:-0.18 [[ 9.99977037e-01 -4.59273800e-03 -4.98320994e-03 2.44528820e+02] [ 4.59095555e-03 9.99989393e-01 -3.69071612e-04 1.30973408e+01] [ 4.98485214e-03 3.46185442e-04 9.99987516e-01 -1.75572924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.49140051300003 meters Centerline goodness [0,1] 0.9979448350459708 Centerline is valid? [True, True] Translation: X:244.56, Y:13.10, Z:-0.17 [[ 9.99981501e-01 -4.41587219e-03 -4.18304887e-03 2.44557986e+02] [ 4.41461216e-03 9.99990207e-01 -3.10409642e-04 1.30970447e+01] [ 4.18437864e-03 2.91937362e-04 9.99991203e-01 -1.74141845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.521400513 meters Centerline goodness [0,1] 0.9779282615596233 Centerline is valid? [True, True] Translation: X:244.59, Y:13.11, Z:-0.17 [[ 9.99989410e-01 -3.37478610e-03 -3.12888523e-03 2.44585972e+02] [ 3.37407512e-03 9.99994281e-01 -2.32484622e-04 1.31112890e+01] [ 3.12965192e-03 2.21925067e-04 9.99995078e-01 -1.72973781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.55140051300003 meters Centerline goodness [0,1] 0.9650300322766817 Centerline is valid? [True, True] Translation: X:244.62, Y:13.12, Z:-0.17 [[ 9.99991604e-01 1.23518364e-03 -3.90731633e-03 2.44616248e+02] [-1.23632782e-03 9.99999194e-01 -2.90426604e-04 1.31176944e+01] [ 3.90695445e-03 2.95254889e-04 9.99992324e-01 -1.74028118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.581400513 meters Centerline goodness [0,1] 0.8913251933772295 Centerline is valid? [True, False] Translation: X:244.62, Y:13.12, Z:-0.18 [[ 9.99991613e-01 8.61449758e-04 -4.00390025e-03 2.44617324e+02] [-8.67351243e-04 9.99998540e-01 -1.47243148e-03 1.31232012e+01] [ 4.00262598e-03 1.47589192e-03 9.99990900e-01 -1.75561821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.611400513 meters Centerline goodness [0,1] 0.7001130039871217 Centerline is valid? [False, False] Translation: X:244.62, Y:13.13, Z:-0.18 [[ 9.99992111e-01 4.77631106e-04 -3.94332138e-03 2.44617730e+02] [-4.88511150e-04 9.99996076e-01 -2.75860448e-03 1.31293650e+01] [ 3.94198831e-03 2.76050907e-03 9.99988420e-01 -1.76829470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.641400513 meters Centerline goodness [0,1] 0.7886927767757451 Centerline is valid? [False, False] Translation: X:244.61, Y:13.13, Z:-0.17 [[ 9.99992917e-01 2.13283189e-03 -3.10113150e-03 2.44611394e+02] [-2.13705788e-03 9.99996792e-01 -1.36005248e-03 1.31317361e+01] [ 3.09822078e-03 1.36667014e-03 9.99994267e-01 -1.72739069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.671400513 meters Centerline goodness [0,1] 0.7604351071771356 Centerline is valid? [False, False] Translation: X:244.62, Y:13.13, Z:-0.18 [[ 9.99981439e-01 4.65917308e-03 -3.92597722e-03 2.44617172e+02] [-4.65505559e-03 9.99988606e-01 1.05726753e-03 1.31339153e+01] [ 3.93085848e-03 -1.03897227e-03 9.99991734e-01 -1.75980894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.701400513 meters Centerline goodness [0,1] 0.7762141458481269 Centerline is valid? [False, False] Translation: X:244.62, Y:13.14, Z:-0.18 [[ 9.99983717e-01 4.31297285e-03 -3.73677082e-03 2.44616566e+02] [-4.31229120e-03 9.99990684e-01 1.90456561e-04 1.31380788e+01] [ 3.73755745e-03 -1.74339416e-04 9.99993000e-01 -1.76003172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.731400513 meters Centerline goodness [0,1] 0.7504294794708812 Centerline is valid? [False, False] Translation: X:244.62, Y:13.14, Z:-0.18 [[ 9.99986700e-01 3.77113471e-03 -3.51825374e-03 2.44615738e+02] [-3.77474934e-03 9.99992354e-01 -1.02131953e-03 1.31437999e+01] [ 3.51437531e-03 1.03458647e-03 9.99993289e-01 -1.75849761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.761400513 meters Centerline goodness [0,1] 0.8000945789089033 Centerline is valid? [False, False] Translation: X:244.62, Y:13.15, Z:-0.18 [[ 9.99987057e-01 3.61109640e-03 -3.58398448e-03 2.44615951e+02] [-3.61581286e-03 9.99992604e-01 -1.31037747e-03 1.31450782e+01] [ 3.57922608e-03 1.32331953e-03 9.99992719e-01 -1.75893554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.791400513 meters Centerline goodness [0,1] 0.8522231722958529 Centerline is valid? [False, False] Translation: X:244.62, Y:13.15, Z:-0.18 [[ 9.99986758e-01 3.46441720e-03 -3.80557960e-03 2.44616792e+02] [-3.47014831e-03 9.99992853e-01 -1.50040436e-03 1.31458162e+01] [ 3.80035438e-03 1.51359041e-03 9.99991633e-01 -1.76113108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.821400513 meters Centerline goodness [0,1] 0.4474523301729417 Centerline is valid? [False, False] Translation: X:244.62, Y:13.14, Z:-0.18 [[ 9.99965421e-01 7.00157271e-03 -4.48713092e-03 2.44619093e+02] [-6.98679945e-03 9.99970148e-01 3.29962335e-03 1.31415204e+01] [ 4.51009952e-03 -3.26815857e-03 9.99984489e-01 -1.75499812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.851400513 meters Centerline goodness [0,1] 0.9344884061718818 Centerline is valid? [False, False] Translation: X:244.58, Y:13.15, Z:-0.18 [[ 9.99968062e-01 3.75784341e-03 -7.05368155e-03 2.44577484e+02] [-3.74991897e-03 9.99992323e-01 1.13633735e-03 1.31482131e+01] [ 7.05789758e-03 -1.10985032e-03 9.99974477e-01 -1.75875834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.881400513 meters Centerline goodness [0,1] 0.9147070120780163 Centerline is valid? [False, False] Translation: X:244.60, Y:13.15, Z:-0.17 [[ 9.99966972e-01 3.67400398e-03 -7.24962420e-03 2.44595936e+02] [-3.59183248e-03 9.99929530e-01 1.13152384e-02 1.31468535e+01] [ 7.29068554e-03 -1.12888253e-02 9.99909700e-01 -1.70635542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.911400513 meters Centerline goodness [0,1] 0.924130686446855 Centerline is valid? [False, False] Translation: X:244.59, Y:13.16, Z:-0.17 [[ 9.99978024e-01 -7.47987652e-04 -6.58722802e-03 2.44594085e+02] [ 7.82226053e-04 9.99986191e-01 5.19665334e-03 1.31567533e+01] [ 6.58325003e-03 -5.20169184e-03 9.99964801e-01 -1.71679927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.941400513 meters Centerline goodness [0,1] 0.9077730729346699 Centerline is valid? [False, False] Translation: X:244.59, Y:13.16, Z:-0.17 [[ 9.99977460e-01 -1.03897308e-03 -6.63332026e-03 2.44594420e+02] [ 1.06915857e-03 9.99989083e-01 4.54866169e-03 1.31597230e+01] [ 6.62852191e-03 -4.55565123e-03 9.99967654e-01 -1.72051681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.971400513 meters Centerline goodness [0,1] 0.9070458676360527 Centerline is valid? [False, False] Translation: X:244.62, Y:13.17, Z:-0.18 [[ 9.99998362e-01 -5.66892856e-04 -1.71861425e-03 2.44619250e+02] [ 5.55358397e-04 9.99977370e-01 -6.70455250e-03 1.31727131e+01] [ 1.72237612e-03 6.70358707e-03 9.99976047e-01 -1.80333751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.001400513 meters Centerline goodness [0,1] 0.9197590207011472 Centerline is valid? [False, False] Translation: X:244.62, Y:13.17, Z:-0.18 [[ 9.99991127e-01 3.65100738e-03 -2.10165355e-03 2.44620212e+02] [-3.65483616e-03 9.99991663e-01 -1.82084923e-03 1.31696193e+01] [ 2.09498810e-03 1.82851427e-03 9.99996134e-01 -1.79631405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.031400513 meters Centerline goodness [0,1] 0.7661586407103825 Centerline is valid? [False, False] Translation: X:244.62, Y:13.18, Z:-0.18 [[ 9.99993914e-01 2.95592312e-03 -1.85330651e-03 2.44619182e+02] [-2.96231636e-03 9.99989639e-01 -3.45643792e-03 1.31774390e+01] [ 1.84307034e-03 3.46190696e-03 9.99992309e-01 -1.79231264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.061400513 meters Centerline goodness [0,1] 0.9906855519237754 Centerline is valid? [False, True] Translation: X:244.62, Y:13.18, Z:-0.18 [[ 9.99994615e-01 2.74383939e-03 -1.80061562e-03 2.44618879e+02] [-2.75090592e-03 9.99988479e-01 -3.93383704e-03 1.31797264e+01] [ 1.78980106e-03 3.93876918e-03 9.99990641e-01 -1.78991869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.091400513 meters Centerline goodness [0,1] 0.9682375503695563 Centerline is valid? [True, True] Translation: X:244.65, Y:13.19, Z:-0.18 [[ 9.99995819e-01 1.68423903e-03 -2.35058939e-03 2.44647594e+02] [-1.68464164e-03 9.99998567e-01 -1.69309130e-04 1.31850089e+01] [ 2.35030086e-03 1.73268323e-04 9.99997223e-01 -1.78771315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.121400513 meters Centerline goodness [0,1] 0.9829700854700855 Centerline is valid? [True, True] Translation: X:244.68, Y:13.19, Z:-0.18 [[ 9.99995956e-01 1.84193621e-04 -2.83785952e-03 2.44677908e+02] [-1.84774508e-04 9.99999962e-01 -2.04431040e-04 1.31876633e+01] [ 2.83782176e-03 2.04954577e-04 9.99995952e-01 -1.79589208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.151400513 meters Centerline goodness [0,1] 0.9977898418556745 Centerline is valid? [True, True] Translation: X:244.71, Y:13.19, Z:-0.18 [[ 9.99992795e-01 -2.45327650e-03 -2.89674970e-03 2.44708548e+02] [ 2.45268226e-03 9.99996970e-01 -2.08675326e-04 1.31889687e+01] [ 2.89725286e-03 2.01569016e-04 9.99995783e-01 -1.80611692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.181400513 meters Centerline goodness [0,1] 0.9983188930557352 Centerline is valid? [True, True] Translation: X:244.74, Y:13.19, Z:-0.18 [[ 9.99990021e-01 -3.27749653e-03 -3.03593291e-03 2.44737139e+02] [ 3.27684710e-03 9.99994607e-01 -2.18863330e-04 1.31913641e+01] [ 3.03663386e-03 2.08912858e-04 9.99995368e-01 -1.80509899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.211400513 meters Centerline goodness [0,1] 0.9987995198079231 Centerline is valid? [True, True] Translation: X:244.77, Y:13.19, Z:-0.18 [[ 9.99986261e-01 -4.11739767e-03 -3.24419598e-03 2.44766148e+02] [ 4.11665859e-03 9.99991499e-01 -2.34460263e-04 1.31938734e+01] [ 3.24513376e-03 2.21101794e-04 9.99994710e-01 -1.80070385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.24140051300003 meters Centerline goodness [0,1] 0.9825897714907508 Centerline is valid? [True, True] Translation: X:244.79, Y:13.21, Z:-0.18 [[ 9.99983855e-01 -4.56884414e-03 -3.37875588e-03 2.44792828e+02] [ 4.56804420e-03 9.99989537e-01 -2.44437152e-04 1.32072016e+01] [ 3.37983732e-03 2.28998899e-04 9.99994262e-01 -1.80016221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.271400513 meters Centerline goodness [0,1] 0.9983906270117162 Centerline is valid? [True, True] Translation: X:244.82, Y:13.20, Z:-0.18 [[ 9.99982934e-01 -4.92003714e-03 -3.15049137e-03 2.44822307e+02] [ 4.91934163e-03 9.99987874e-01 -2.28473636e-04 1.32032432e+01] [ 3.15157727e-03 2.12971393e-04 9.99995011e-01 -1.79175631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.30140051300003 meters Centerline goodness [0,1] 0.9953009716995174 Centerline is valid? [True, True] Translation: X:244.85, Y:13.22, Z:-0.18 [[ 9.99987014e-01 -4.95933055e-03 -1.17299103e-03 2.44848133e+02] [ 4.95923405e-03 9.99987699e-01 -8.51698911e-05 1.32152876e+01] [ 1.17339898e-03 7.93516481e-05 9.99999308e-01 -1.76510747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.331400513 meters Centerline goodness [0,1] 0.996398891966759 Centerline is valid? [True, True] Translation: X:244.88, Y:13.22, Z:-0.18 [[ 9.99988952e-01 -4.65130608e-03 -6.78912514e-04 2.44876769e+02] [ 4.65127358e-03 9.99989182e-01 -4.94519861e-05 1.32183276e+01] [ 6.79135185e-04 4.62936319e-05 9.99999768e-01 -1.75335705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.361400513 meters Centerline goodness [0,1] 0.997668897966167 Centerline is valid? [True, True] Translation: X:244.91, Y:13.22, Z:-0.18 [[ 9.99992056e-01 -3.89490236e-03 -8.46836542e-04 2.44906491e+02] [ 3.89485157e-03 9.99992413e-01 -6.16254833e-05 1.32202973e+01] [ 8.47070142e-04 5.83266912e-05 9.99999640e-01 -1.75363275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.391400513 meters Centerline goodness [0,1] 0.9933480204478857 Centerline is valid? [True, True] Translation: X:244.93, Y:13.23, Z:-0.18 [[ 9.99994203e-01 -2.87185689e-03 -1.82933430e-03 2.44934926e+02] [ 2.87161804e-03 9.99995868e-01 -1.33179351e-04 1.32280132e+01] [ 1.82970921e-03 1.27925430e-04 9.99998318e-01 -1.77128840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.421400513 meters Centerline goodness [0,1] 0.9498113931334313 Centerline is valid? [True, False] Translation: X:244.94, Y:13.23, Z:-0.18 [[ 9.99995748e-01 -5.99695080e-04 -2.85377067e-03 2.44942249e+02] [ 6.05531664e-04 9.99997726e-01 2.04479388e-03 1.32293540e+01] [ 2.85253793e-03 -2.04651323e-03 9.99993837e-01 -1.81897077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.451400513 meters Centerline goodness [0,1] 0.990397336861423 Centerline is valid? [False, True] Translation: X:244.94, Y:13.23, Z:-0.18 [[ 9.99995530e-01 -9.22248329e-04 -2.84409502e-03 2.44942497e+02] [ 9.25914960e-04 9.99998742e-01 1.28816146e-03 1.32328513e+01] [ 2.84290344e-03 -1.29078910e-03 9.99995126e-01 -1.82461689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.481400513 meters Centerline goodness [0,1] 0.9794446217682732 Centerline is valid? [True, True] Translation: X:244.97, Y:13.24, Z:-0.18 [[ 9.99997982e-01 1.70318092e-03 -1.06572702e-03 2.44971475e+02] [-1.70326484e-03 9.99998546e-01 -7.78334273e-05 1.32430692e+01] [ 1.06559290e-03 7.96484856e-05 9.99999429e-01 -1.79953414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.511400513 meters Centerline goodness [0,1] 0.9552821128451381 Centerline is valid? [True, True] Translation: X:245.00, Y:13.25, Z:-0.18 [[ 9.99994141e-01 3.39086689e-03 -4.69088078e-04 2.45000021e+02] [-3.39088334e-03 9.99994250e-01 -3.42740604e-05 1.32490696e+01] [ 4.68969162e-04 3.58644825e-05 9.99999889e-01 -1.78704464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.541400513 meters Centerline goodness [0,1] 0.9552821128451381 Centerline is valid? [True, True] Translation: X:245.03, Y:13.25, Z:-0.18 [[ 9.99994141e-01 3.39086687e-03 -4.69089243e-04 2.45030028e+02] [-3.39088331e-03 9.99994250e-01 -3.42581038e-05 1.32512611e+01] [ 4.68970381e-04 3.58485300e-05 9.99999889e-01 -1.78742702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.571400513 meters Centerline goodness [0,1] 0.9895088221268479 Centerline is valid? [True, True] Translation: X:245.06, Y:13.25, Z:-0.18 [[ 9.99984821e-01 5.46476572e-03 -7.03190026e-04 2.45061141e+02] [-5.46480317e-03 9.99985067e-01 -5.13570691e-05 1.32495870e+01] [ 7.02898871e-04 5.51990847e-05 9.99999751e-01 -1.79025095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.601400513 meters Centerline goodness [0,1] 0.825880991168653 Centerline is valid? [True, False] Translation: X:245.07, Y:13.25, Z:-0.18 [[ 9.99965989e-01 8.07912953e-03 -1.65816408e-03 2.45067581e+02] [-8.07479202e-03 9.99964002e-01 2.60608271e-03 1.32508947e+01] [ 1.67915927e-03 -2.59260474e-03 9.99995229e-01 -1.82880214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.631400513 meters Centerline goodness [0,1] 0.6294174238375201 Centerline is valid? [False, False] Translation: X:245.07, Y:13.26, Z:-0.18 [[ 9.99968701e-01 7.76271254e-03 -1.52857475e-03 2.45067944e+02] [-7.76165910e-03 9.99969637e-01 6.93891209e-04 1.32604667e+01] [ 1.53391482e-03 -6.82005215e-04 9.99998591e-01 -1.84719173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.661400513 meters Centerline goodness [0,1] 0.881329625557783 Centerline is valid? [False, False] Translation: X:245.07, Y:13.26, Z:-0.19 [[ 9.99971679e-01 7.39956644e-03 -1.37388555e-03 2.45067574e+02] [-7.39993035e-03 9.99972586e-01 -2.59983435e-04 1.32649779e+01] [ 1.37192412e-03 2.70142729e-04 9.99999022e-01 -1.85003473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.691400513 meters Centerline goodness [0,1] 0.5621789156370738 Centerline is valid? [False, False] Translation: X:245.09, Y:13.26, Z:-0.18 [[ 9.99951813e-01 9.81639557e-03 -9.62534270e-05 2.45087184e+02] [-9.81422408e-03 9.99862025e-01 1.34019737e-02 1.32597335e+01] [ 2.27799221e-04 -1.34003832e-02 9.99910185e-01 -1.82431961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.721400513 meters Centerline goodness [0,1] 0.4169640406258578 Centerline is valid? [False, False] Translation: X:245.09, Y:13.27, Z:-0.18 [[ 9.99980842e-01 6.18848446e-03 1.32397632e-04 2.45086399e+02] [-6.18931444e-03 9.99951747e-01 7.62867517e-03 1.32698360e+01] [-8.51813057e-05 -7.62934847e-03 9.99970892e-01 -1.83504463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.751400513 meters Centerline goodness [0,1] 0.32809835582408786 Centerline is valid? [False, False] Translation: X:245.09, Y:13.28, Z:-0.18 [[ 9.99984185e-01 5.62393316e-03 2.38169543e-05 2.45087371e+02] [-5.62397243e-03 9.99964797e-01 6.22707775e-03 1.32763423e+01] [ 1.12045531e-05 -6.22711321e-03 9.99980611e-01 -1.84775654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.781400513 meters Centerline goodness [0,1] 0.6655139825593883 Centerline is valid? [False, False] Translation: X:245.05, Y:13.28, Z:-0.19 [[ 9.99968316e-01 6.92234237e-03 -3.93034538e-03 2.45051442e+02] [-6.88990488e-03 9.99942581e-01 8.20750270e-03 1.32810350e+01] [ 3.98693485e-03 -8.18016295e-03 9.99958594e-01 -1.88344179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.811400513 meters Centerline goodness [0,1] 0.423733509515995 Centerline is valid? [False, False] Translation: X:245.05, Y:13.29, Z:-0.19 [[ 9.99971742e-01 6.45723015e-03 -3.84953744e-03 2.45051241e+02] [-6.42965465e-03 9.99953888e-01 7.13317727e-03 1.32860733e+01] [ 3.89542050e-03 -7.10822450e-03 9.99967149e-01 -1.88571472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.841400513 meters Centerline goodness [0,1] 0.3668291223120004 Centerline is valid? [False, False] Translation: X:245.05, Y:13.30, Z:-0.19 [[ 9.99993661e-01 1.81720533e-03 -3.06210835e-03 2.45048628e+02] [-1.81458754e-03 9.99997986e-01 8.57458237e-04 1.32962745e+01] [ 3.06366036e-03 -8.51896338e-04 9.99994944e-01 -1.88866344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.871400513 meters Centerline goodness [0,1] 0.7561643245107337 Centerline is valid? [False, False] Translation: X:245.05, Y:13.30, Z:-0.19 [[ 9.99994673e-01 1.48688271e-03 -2.90563763e-03 2.45047725e+02] [-1.48649379e-03 9.99998886e-01 1.36005776e-04 1.32997147e+01] [ 2.90583662e-03 -1.31685839e-04 9.99995769e-01 -1.88173287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.901400513 meters Centerline goodness [0,1] 0.5190627141877999 Centerline is valid? [False, False] Translation: X:245.05, Y:13.30, Z:-0.19 [[ 9.99994937e-01 8.80649343e-04 -3.05800318e-03 2.45047629e+02] [-8.82240853e-04 9.99999476e-01 -5.19130919e-04 1.33023831e+01] [ 3.05754441e-03 5.21826186e-04 9.99995190e-01 -1.87080707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.931400513 meters Centerline goodness [0,1] 0.8562157299520219 Centerline is valid? [False, False] Translation: X:245.05, Y:13.30, Z:-0.19 [[ 9.99994003e-01 7.54497065e-04 -3.38014239e-03 2.45048714e+02] [-7.55990881e-04 9.99999617e-01 -4.40682843e-04 1.33017515e+01] [ 3.37980860e-03 4.43235557e-04 9.99994190e-01 -1.87156839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.961400513 meters Centerline goodness [0,1] 0.8733920686050729 Centerline is valid? [False, False] Translation: X:245.05, Y:13.30, Z:-0.19 [[ 9.99992287e-01 5.60010318e-04 -3.88735769e-03 2.45050527e+02] [-5.61142550e-04 9.99999800e-01 -2.90175306e-04 1.33005919e+01] [ 3.88719441e-03 2.92354430e-04 9.99992402e-01 -1.87494386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.99140051300003 meters Centerline goodness [0,1] 0.8940899747833273 Centerline is valid? [False, False] Translation: X:245.06, Y:13.30, Z:-0.19 [[ 9.99986902e-01 -1.33111692e-03 -4.94204975e-03 2.45057058e+02] [ 1.32083799e-03 9.99996959e-01 -2.08257478e-03 1.33032866e+01] [ 4.94480687e-03 2.07601985e-03 9.99985619e-01 -1.91124202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.021400513 meters Centerline goodness [0,1] 0.9563129488759509 Centerline is valid? [False, True] Translation: X:245.06, Y:13.30, Z:-0.19 [[ 9.99986172e-01 -1.36975466e-03 -5.07740453e-03 2.45057308e+02] [ 1.36017325e-03 9.99997289e-01 -1.89004150e-03 1.33022721e+01] [ 5.07997966e-03 1.88310922e-03 9.99985324e-01 -1.90730376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.05140051300003 meters Centerline goodness [0,1] 0.985719485301989 Centerline is valid? [True, True] Translation: X:245.09, Y:13.30, Z:-0.19 [[ 9.99970815e-01 -5.97817521e-03 -4.75725025e-03 2.45088304e+02] [ 5.97660122e-03 9.99982080e-01 -3.45009968e-04 1.32998779e+01] [ 4.75922753e-03 3.16567711e-04 9.99988625e-01 -1.88465950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.081400513 meters Centerline goodness [0,1] 0.9839796919663808 Centerline is valid? [True, True] Translation: X:245.12, Y:13.30, Z:-0.19 [[ 9.99967129e-01 -6.78311545e-03 -4.44189403e-03 2.45115865e+02] [ 6.78174994e-03 9.99976952e-01 -3.22407353e-04 1.33032820e+01] [ 4.44397858e-03 2.92272940e-04 9.99990083e-01 -1.87400895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.111400513 meters Centerline goodness [0,1] 0.987350906235409 Centerline is valid? [True, True] Translation: X:245.14, Y:13.31, Z:-0.19 [[ 9.99968764e-01 -6.61682144e-03 -4.32296156e-03 2.45144993e+02] [ 6.61552343e-03 9.99978068e-01 -3.14491220e-04 1.33057130e+01] [ 4.32494768e-03 2.85882743e-04 9.99990607e-01 -1.86308921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.141400513 meters Centerline goodness [0,1] 0.9971899946780203 Centerline is valid? [True, True] Translation: X:245.17, Y:13.30, Z:-0.19 [[ 9.99977426e-01 -5.44269222e-03 -3.94014453e-03 2.45174847e+02] [ 5.44160466e-03 9.99985153e-01 -2.86686496e-04 1.33042927e+01] [ 3.94164638e-03 2.65239315e-04 9.99992197e-01 -1.85373105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.171400513 meters Centerline goodness [0,1] 0.9980212926121088 Centerline is valid? [True, True] Translation: X:245.20, Y:13.31, Z:-0.18 [[ 9.99989419e-01 -3.53268271e-03 -2.94665182e-03 2.45204372e+02] [ 3.53206611e-03 9.99993739e-01 -2.14431742e-04 1.33086991e+01] [ 2.94739089e-03 2.04021704e-04 9.99995636e-01 -1.84149880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.201400513 meters Centerline goodness [0,1] 0.8847517354108732 Centerline is valid? [True, False] Translation: X:245.23, Y:13.32, Z:-0.19 [[ 9.99993451e-01 1.63599672e-03 3.22831960e-03 2.45225558e+02] [-1.61677660e-03 9.99981008e-01 -5.94725534e-03 1.33193439e+01] [-3.23798798e-03 5.94199692e-03 9.99977104e-01 -1.89710996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.231400513 meters Centerline goodness [0,1] 0.8426117131117876 Centerline is valid? [False, False] Translation: X:245.22, Y:13.32, Z:-0.19 [[ 9.99986081e-01 3.33575167e-03 4.08777223e-03 2.45219243e+02] [-3.31791752e-03 9.99984983e-01 -4.36184716e-03 1.33194729e+01] [-4.10226088e-03 4.34822356e-03 9.99982132e-01 -1.85643812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.261400513 meters Centerline goodness [0,1] 0.6251558504680796 Centerline is valid? [False, False] Translation: X:245.23, Y:13.32, Z:-0.19 [[ 9.99976969e-01 6.04534727e-03 3.08459946e-03 2.45225566e+02] [-6.04085433e-03 9.99980682e-01 -1.46381480e-03 1.33204441e+01] [-3.09338914e-03 1.44514747e-03 9.99994171e-01 -1.89124916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.291400513 meters Centerline goodness [0,1] 0.5708219207168185 Centerline is valid? [False, False] Translation: X:245.23, Y:13.32, Z:-0.19 [[ 9.99979319e-01 5.66941687e-03 3.03625514e-03 2.45226078e+02] [-5.66216384e-03 9.99981109e-01 -2.39209888e-03 1.33247766e+01] [-3.04975958e-03 2.37485764e-03 9.99992529e-01 -1.89843413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.321400513 meters Centerline goodness [0,1] 0.9929588177768119 Centerline is valid? [False, True] Translation: X:245.19, Y:13.32, Z:-0.19 [[ 9.99987437e-01 4.99758594e-03 3.87805553e-04 2.45185006e+02] [-4.99675445e-03 9.99985277e-01 -2.11621780e-03 1.33248624e+01] [-3.98375824e-04 2.11425344e-03 9.99997686e-01 -1.90445194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.351400513 meters Centerline goodness [0,1] 0.6629484601545137 Centerline is valid? [True, False] Translation: X:245.25, Y:13.33, Z:-0.19 [[ 9.99986531e-01 4.74511312e-03 -2.10256300e-03 2.45245199e+02] [-4.73956671e-03 9.99985296e-01 2.63510611e-03 1.33276107e+01] [ 2.11503596e-03 -2.62510538e-03 9.99994318e-01 -1.86795567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.381400513 meters Centerline goodness [0,1] 0.841755206119847 Centerline is valid? [False, False] Translation: X:245.25, Y:13.33, Z:-0.19 [[ 9.99987599e-01 4.53506035e-03 -2.05781565e-03 2.45245075e+02] [-4.53046874e-03 9.99987250e-01 2.23050238e-03 1.33294307e+01] [ 2.06790487e-03 -2.22115185e-03 9.99995395e-01 -1.86921069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.411400513 meters Centerline goodness [0,1] 0.8651548246177566 Centerline is valid? [False, False] Translation: X:245.24, Y:13.33, Z:-0.18 [[ 9.99997186e-01 2.06959735e-03 -1.15999680e-03 2.45238550e+02] [-2.06994148e-03 9.99997814e-01 -2.95540042e-04 1.33316109e+01] [ 1.15938262e-03 2.97940336e-04 9.99999284e-01 -1.82928930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.441400513 meters Centerline goodness [0,1] 0.9215494098095197 Centerline is valid? [False, False] Translation: X:245.24, Y:13.33, Z:-0.18 [[ 9.99996003e-01 -2.60468365e-03 -1.10001567e-03 2.45238318e+02] [ 2.59880471e-03 9.99982512e-01 -5.31245151e-03 1.33347934e+01] [ 1.11383369e-03 5.30957155e-03 9.99985284e-01 -1.82920400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.471400513 meters Centerline goodness [0,1] 0.9981003367584838 Centerline is valid? [False, True] Translation: X:245.20, Y:13.32, Z:-0.18 [[ 9.99993912e-01 -2.00867477e-03 -2.85332658e-03 2.45195505e+02] [ 2.00726025e-03 9.99997861e-01 -4.98520340e-04 1.33248987e+01] [ 2.85432184e-03 4.92789936e-04 9.99995805e-01 -1.80434747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.501400513 meters Centerline goodness [0,1] 0.9981694727655861 Centerline is valid? [True, True] Translation: X:245.22, Y:13.33, Z:-0.18 [[ 9.99989010e-01 -4.19118688e-03 -2.10094486e-03 2.45224196e+02] [ 4.19088980e-03 9.99991208e-01 -1.45781548e-04 1.33266755e+01] [ 2.10153739e-03 1.36975118e-04 9.99997782e-01 -1.79542556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.531400513 meters Centerline goodness [0,1] 0.9990149892933619 Centerline is valid? [True, True] Translation: X:245.25, Y:13.32, Z:-0.18 [[ 9.99981962e-01 -5.86110775e-03 -1.31237799e-03 2.45254165e+02] [ 5.86099318e-03 9.99982820e-01 -9.11253217e-05 1.33219814e+01] [ 1.31288954e-03 8.34318396e-05 9.99999135e-01 -1.78075711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.561400513 meters Centerline goodness [0,1] 0.9992938306477499 Centerline is valid? [True, True] Translation: X:245.28, Y:13.32, Z:-0.18 [[ 9.99975810e-01 -6.92095076e-03 -6.92453752e-04 2.45283632e+02] [ 6.92091896e-03 9.99976049e-01 -4.83023337e-05 1.33213083e+01] [ 6.92771465e-04 4.35087490e-05 9.99999759e-01 -1.77316742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.591400513 meters Centerline goodness [0,1] 0.9990230019327571 Centerline is valid? [True, True] Translation: X:245.31, Y:13.32, Z:-0.18 [[ 9.99978865e-01 -6.50095389e-03 -7.91079807e-05 2.45312072e+02] [ 6.50095348e-03 9.99978869e-01 -5.53563107e-06 1.33243823e+01] [ 7.91422959e-05 5.02123677e-06 9.99999997e-01 -1.76964388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.621400513 meters Centerline goodness [0,1] 0.9959600709659492 Centerline is valid? [True, True] Translation: X:245.34, Y:13.33, Z:-0.18 [[ 9.99983660e-01 -5.63598831e-03 -9.56466409e-04 2.45340840e+02] [ 5.63592716e-03 9.99984116e-01 -6.66170685e-05 1.33313622e+01] [ 9.56826670e-04 6.12254049e-05 9.99999540e-01 -1.77990174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.651400513 meters Centerline goodness [0,1] 0.9967339097022094 Centerline is valid? [True, True] Translation: X:245.37, Y:13.33, Z:-0.18 [[ 9.99989518e-01 -4.14593991e-03 -1.94300149e-03 2.45370561e+02] [ 4.14568471e-03 9.99991397e-01 -1.35351529e-04 1.33312688e+01] [ 1.94354594e-03 1.27295038e-04 9.99998103e-01 -1.79443590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.681400513 meters Centerline goodness [0,1] 0.9980814417210977 Centerline is valid? [True, True] Translation: X:245.40, Y:13.33, Z:-0.18 [[ 9.99993797e-01 -1.89925649e-03 -2.96627843e-03 2.45401306e+02] [ 1.89865196e-03 9.99998176e-01 -2.06605290e-04 1.33298944e+01] [ 2.96666542e-03 2.00972078e-04 9.99995579e-01 -1.80422434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.711400513 meters Centerline goodness [0,1] 0.9127041204839665 Centerline is valid? [True, False] Translation: X:245.45, Y:13.34, Z:-0.18 [[ 9.99999337e-01 -9.79542464e-05 -1.14732557e-03 2.45445139e+02] [ 9.66179276e-05 9.99999317e-01 -1.16472256e-03 1.33356795e+01] [ 1.14743887e-03 1.16461093e-03 9.99998664e-01 -1.82817316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.74140051300003 meters Centerline goodness [0,1] 0.9684863096263131 Centerline is valid? [False, True] Translation: X:245.40, Y:13.33, Z:-0.18 [[ 9.99988124e-01 3.36448065e-03 -3.52602992e-03 2.45402635e+02] [-3.35126750e-03 9.99987366e-01 3.74654887e-03 1.33315554e+01] [ 3.53859057e-03 -3.73468770e-03 9.99986765e-01 -1.82072674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.771400513 meters Centerline goodness [0,1] 0.7615176728448918 Centerline is valid? [True, False] Translation: X:245.44, Y:13.34, Z:-0.18 [[ 9.99996358e-01 2.50519976e-03 -1.00358699e-03 2.45442870e+02] [-2.50601979e-03 9.99996526e-01 -8.16674938e-04 1.33408499e+01] [ 1.00153757e-03 8.19186972e-04 9.99999163e-01 -1.83285976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.80140051300003 meters Centerline goodness [0,1] 0.9144486692015209 Centerline is valid? [False, False] Translation: X:245.44, Y:13.34, Z:-0.18 [[ 9.99996612e-01 2.42969880e-03 -9.33735227e-04 2.45442532e+02] [-2.43061403e-03 9.99996566e-01 -9.80300966e-04 1.33416292e+01] [ 9.31350184e-04 9.82567195e-04 9.99999084e-01 -1.83105559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.831400513 meters Centerline goodness [0,1] 0.8716078515499303 Centerline is valid? [False, False] Translation: X:245.44, Y:13.34, Z:-0.18 [[ 9.99996650e-01 2.43267501e-03 -8.84624419e-04 2.45442101e+02] [-2.43351983e-03 9.99996583e-01 -9.55176264e-04 1.33415271e+01] [ 8.82297762e-04 9.57325815e-04 9.99999153e-01 -1.82590236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.861400513 meters Centerline goodness [0,1] 0.8603500276114013 Centerline is valid? [False, False] Translation: X:245.44, Y:13.34, Z:-0.18 [[ 9.99982132e-01 5.83862986e-03 -1.28270034e-03 2.45443294e+02] [-5.83359539e-03 9.99975402e-01 3.89419129e-03 1.33365595e+01] [ 1.30540553e-03 -3.88663896e-03 9.99991595e-01 -1.81801705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.891400513 meters Centerline goodness [0,1] 0.8669008088548318 Centerline is valid? [False, False] Translation: X:245.44, Y:13.34, Z:-0.18 [[ 9.99998788e-01 1.22456842e-03 -9.61190427e-04 2.45442568e+02] [-1.22628538e-03 9.99997650e-01 -1.78773732e-03 1.33432975e+01] [ 9.58998962e-04 1.78891385e-03 9.99997940e-01 -1.82677830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.921400513 meters Centerline goodness [0,1] 0.9814830635171501 Centerline is valid? [False, True] Translation: X:245.44, Y:13.34, Z:-0.18 [[ 9.99998771e-01 1.17815993e-03 -1.03449180e-03 2.45442892e+02] [-1.18006879e-03 9.99997599e-01 -1.84654990e-03 1.33435447e+01] [ 1.03231379e-03 1.84776840e-03 9.99997760e-01 -1.82875603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.951400513 meters Centerline goodness [0,1] 0.9459245807071894 Centerline is valid? [True, False] Translation: X:245.44, Y:13.34, Z:-0.18 [[ 9.99998698e-01 1.12656982e-03 -1.15551629e-03 2.45443408e+02] [-1.12878042e-03 9.99997531e-01 -1.91421870e-03 1.33438213e+01] [ 1.15335694e-03 1.91552053e-03 9.99997500e-01 -1.83119153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.981400513 meters Centerline goodness [0,1] 0.997150573075042 Centerline is valid? [False, True] Translation: X:245.44, Y:13.34, Z:-0.18 [[ 9.99998613e-01 1.06720689e-03 -1.27846271e-03 2.45443949e+02] [-1.06971977e-03 9.99997494e-01 -1.96647660e-03 1.33440023e+01] [ 1.27636087e-03 1.96784147e-03 9.99997249e-01 -1.83394460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.011400513 meters Centerline goodness [0,1] 0.9988303844845186 Centerline is valid? [True, True] Translation: X:245.47, Y:13.34, Z:-0.18 [[ 9.99994471e-01 -2.85114513e-03 -1.71158431e-03 2.45474817e+02] [ 2.85095322e-03 9.99995929e-01 -1.14553316e-04 1.33401743e+01] [ 1.71190395e-03 1.09673036e-04 9.99998529e-01 -1.83573450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.041400513 meters Centerline goodness [0,1] 0.9961562964535995 Centerline is valid? [True, True] Translation: X:245.50, Y:13.35, Z:-0.18 [[ 9.99988230e-01 -4.73640657e-03 -1.05186011e-03 2.45503143e+02] [ 4.73633500e-03 9.99988781e-01 -7.05225114e-05 1.33475264e+01] [ 1.05218233e-03 6.55397195e-05 9.99999444e-01 -1.83040533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.071400513 meters Centerline goodness [0,1] 0.9982674104124408 Centerline is valid? [True, True] Translation: X:245.53, Y:13.35, Z:-0.18 [[ 9.99980040e-01 -6.31817311e-03 -1.89384789e-05 2.45533656e+02] [ 6.31817308e-03 9.99980040e-01 -1.29719987e-06 1.33463868e+01] [ 1.89462968e-05 1.17751739e-06 1.00000000e+00 -1.81458752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.101400513 meters Centerline goodness [0,1] 0.9993947777969912 Centerline is valid? [True, True] Translation: X:245.56, Y:13.34, Z:-0.18 [[ 9.99973201e-01 -7.31235895e-03 3.54816584e-04 2.45564168e+02] [ 7.31235098e-03 9.99973264e-01 2.37365463e-05 1.33396217e+01] [-3.54980667e-04 -2.11413668e-05 9.99999937e-01 -1.80547442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.131400513 meters Centerline goodness [0,1] 0.9874469029353959 Centerline is valid? [True, True] Translation: X:245.59, Y:13.36, Z:-0.18 [[ 9.99972511e-01 -7.38319034e-03 6.82399415e-04 2.45592564e+02] [ 7.38316088e-03 9.99972743e-01 4.56869656e-05 1.33565029e+01] [-6.82718130e-04 -4.06474451e-05 9.99999766e-01 -1.81651875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.161400513 meters Centerline goodness [0,1] 0.9986658633155449 Centerline is valid? [True, True] Translation: X:245.62, Y:13.35, Z:-0.18 [[ 9.99978966e-01 -6.46644218e-03 5.03668712e-04 2.45623864e+02] [ 6.46642600e-03 9.99979092e-01 3.37430106e-05 1.33488067e+01] [-5.03876379e-04 -3.04853644e-05 9.99999873e-01 -1.81995861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.191400513 meters Centerline goodness [0,1] 0.9970130282809024 Centerline is valid? [True, True] Translation: X:245.65, Y:13.35, Z:-0.18 [[ 9.99986962e-01 -5.03865012e-03 8.29634157e-04 2.45652892e+02] [ 5.03860575e-03 9.99987305e-01 5.55609767e-05 1.33547253e+01] [-8.29903577e-04 -5.13800529e-05 9.99999654e-01 -1.82061173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.221400513 meters Centerline goodness [0,1] 0.9969136454920199 Centerline is valid? [True, True] Translation: X:245.68, Y:13.36, Z:-0.18 [[ 9.99994941e-01 -3.04429317e-03 9.22610445e-04 2.45682852e+02] [ 3.04423745e-03 9.99995364e-01 6.18006068e-05 1.33557820e+01] [-9.22794307e-04 -5.89916489e-05 9.99999572e-01 -1.82121500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.251400513 meters Centerline goodness [0,1] 0.998810863610303 Centerline is valid? [True, True] Translation: X:245.71, Y:13.35, Z:-0.18 [[ 9.99999283e-01 -9.44762703e-04 7.36017806e-04 2.45713943e+02] [ 9.44726644e-04 9.99999553e-01 4.93371131e-05 1.33531391e+01] [-7.36064088e-04 -4.86417421e-05 9.99999728e-01 -1.82681418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.281400513 meters Centerline goodness [0,1] 0.9976198134448375 Centerline is valid? [True, True] Translation: X:245.74, Y:13.35, Z:-0.19 [[ 9.99995839e-01 2.53405574e-03 -1.37824157e-03 2.45744579e+02] [-2.53418542e-03 9.99996785e-01 -9.23515365e-05 1.33545932e+01] [ 1.37800311e-03 9.58438720e-05 9.99999046e-01 -1.85086789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.311400513 meters Centerline goodness [0,1] 0.9562995860641601 Centerline is valid? [True, True] Translation: X:245.77, Y:13.37, Z:-0.19 [[ 9.99989504e-01 3.98518130e-03 -2.26048844e-03 2.45773351e+02] [-3.98553397e-03 9.99992046e-01 -1.51531205e-04 1.33665606e+01] [ 2.25986659e-03 1.60538868e-04 9.99997434e-01 -1.86960440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.341400513 meters Centerline goodness [0,1] 0.991899727148704 Centerline is valid? [True, True] Translation: X:245.80, Y:13.36, Z:-0.19 [[ 9.99984140e-01 4.93532526e-03 -2.71329852e-03 2.45803021e+02] [-4.93583725e-03 9.99987802e-01 -1.82033214e-04 1.33611398e+01] [ 2.71236703e-03 1.95422727e-04 9.99996302e-01 -1.87439833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.371400513 meters Centerline goodness [0,1] 0.9938737742230542 Centerline is valid? [True, True] Translation: X:245.83, Y:13.36, Z:-0.19 [[ 9.99983579e-01 5.09855292e-03 -2.61660320e-03 2.45832288e+02] [-5.09903003e-03 9.99986984e-01 -1.75700726e-04 1.33607869e+01] [ 2.61567332e-03 1.89039979e-04 9.99996561e-01 -1.87548498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.401400513 meters Centerline goodness [0,1] 0.9938737742230542 Centerline is valid? [True, True] Translation: X:245.86, Y:13.36, Z:-0.19 [[ 9.99983813e-01 5.05234544e-03 -2.61659507e-03 2.45860626e+02] [-5.05282270e-03 9.99987219e-01 -1.75821773e-04 1.33627654e+01] [ 2.61567332e-03 1.89040118e-04 9.99996561e-01 -1.87622185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.431400513 meters Centerline goodness [0,1] 0.9559924095435065 Centerline is valid? [True, True] Translation: X:245.89, Y:13.37, Z:-0.19 [[ 9.99989350e-01 4.17850175e-03 -1.95959771e-03 2.45888605e+02] [-4.17876790e-03 9.99991260e-01 -1.31742481e-04 1.33703471e+01] [ 1.95903010e-03 1.39929782e-04 9.99998071e-01 -1.87060075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.461400513 meters Centerline goodness [0,1] 0.9853732490604715 Centerline is valid? [True, True] Translation: X:245.92, Y:13.36, Z:-0.19 [[ 9.99999509e-01 -7.48145126e-04 -6.49371594e-04 2.45918469e+02] [ 7.48116947e-04 9.99999719e-01 -4.36353333e-05 1.33634806e+01] [ 6.49404057e-04 4.31495060e-05 9.99999788e-01 -1.85091082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.49140051300003 meters Centerline goodness [0,1] 0.998638848125226 Centerline is valid? [True, True] Translation: X:245.95, Y:13.35, Z:-0.18 [[ 9.99992893e-01 -3.77020354e-03 -1.60204545e-05 2.45949371e+02] [ 3.77020352e-03 9.99992893e-01 -1.08118361e-06 1.33532103e+01] [ 1.60244169e-05 1.02077555e-06 1.00000000e+00 -1.84267163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.521400513 meters Centerline goodness [0,1] 0.9990398975890762 Centerline is valid? [True, True] Translation: X:245.98, Y:13.35, Z:-0.18 [[ 9.99963471e-01 -8.51197763e-03 7.76178709e-04 2.45979775e+02] [ 8.51193971e-03 9.99963771e-01 5.21462228e-05 1.33458215e+01] [-7.76594457e-04 -4.55375316e-05 9.99999697e-01 -1.83314439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.55140051300003 meters Centerline goodness [0,1] 0.9995499935713368 Centerline is valid? [True, True] Translation: X:246.01, Y:13.34, Z:-0.18 [[ 9.99954091e-01 -9.55214005e-03 7.56291684e-04 2.46010798e+02] [ 9.55210436e-03 9.99954376e-01 5.07938443e-05 1.33354997e+01] [-7.56742369e-04 -4.35673353e-05 9.99999713e-01 -1.83016157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.581400513 meters Centerline goodness [0,1] 0.9993551299413168 Centerline is valid? [True, True] Translation: X:246.04, Y:13.34, Z:-0.18 [[ 9.99951331e-01 -9.84850147e-03 5.85053239e-04 2.46040422e+02] [ 9.84848016e-03 9.99951502e-01 3.92933377e-05 1.33399015e+01] [-5.85411845e-04 -3.35295401e-05 9.99999828e-01 -1.83713283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.611400513 meters Centerline goodness [0,1] 0.9993367423350948 Centerline is valid? [True, True] Translation: X:246.07, Y:13.34, Z:-0.18 [[ 9.99952464e-01 -9.73209315e-03 5.96813748e-04 2.46070004e+02] [ 9.73207096e-03 9.99952641e-01 4.00686778e-05 1.33386174e+01] [-5.97175436e-04 -3.42585393e-05 9.99999821e-01 -1.83670571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.641400513 meters Centerline goodness [0,1] 0.9984312727889426 Centerline is valid? [True, True] Translation: X:246.10, Y:13.34, Z:-0.18 [[ 9.99956830e-01 -9.27587834e-03 5.44417315e-04 2.46099582e+02] [ 9.27585980e-03 9.99956978e-01 3.65813774e-05 1.33429334e+01] [-5.44733217e-04 -3.15298595e-05 9.99999851e-01 -1.83635576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.671400513 meters Centerline goodness [0,1] 0.99912428714838 Centerline is valid? [True, True] Translation: X:246.13, Y:13.34, Z:-0.18 [[ 9.99964214e-01 -8.45859685e-03 -1.51629538e-04 2.46129934e+02] [ 8.45859539e-03 9.99964225e-01 -1.02590608e-05 1.33368945e+01] [ 1.51710891e-04 8.97612071e-06 9.99999988e-01 -1.84008658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.701400513 meters Centerline goodness [0,1] 0.9976699444206926 Centerline is valid? [True, True] Translation: X:246.16, Y:13.34, Z:-0.18 [[ 9.99985004e-01 -5.38494927e-03 -9.97012280e-04 2.46159141e+02] [ 5.38488502e-03 9.99985499e-01 -6.71124404e-05 1.33389844e+01] [ 9.97359220e-04 6.17426375e-05 9.99999501e-01 -1.84961090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.731400513 meters Centerline goodness [0,1] 0.9988119736088423 Centerline is valid? [True, True] Translation: X:246.19, Y:13.34, Z:-0.18 [[ 9.99996514e-01 -2.62719363e-03 2.62891531e-04 2.46190062e+02] [ 2.62718907e-03 9.99996549e-01 1.76810979e-05 1.33361244e+01] [-2.62937075e-04 -1.69903705e-05 9.99999965e-01 -1.82826600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.761400513 meters Centerline goodness [0,1] 0.9267874529060661 Centerline is valid? [True, False] Translation: X:246.19, Y:13.34, Z:-0.18 [[ 9.99996801e-01 -2.47334491e-03 5.29861865e-04 2.46188981e+02] [ 2.47333068e-03 9.99996941e-01 2.75027059e-05 1.33363178e+01] [-5.29928268e-04 -2.61920943e-05 9.99999859e-01 -1.82468510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.791400513 meters Centerline goodness [0,1] 0.9657457155598972 Centerline is valid? [False, True] Translation: X:246.18, Y:13.33, Z:-0.18 [[ 9.99998010e-01 -1.02160964e-03 1.71327799e-03 2.46183083e+02] [ 1.01953782e-03 9.99998749e-01 1.20971053e-03 1.33346947e+01] [-1.71451170e-03 -1.20796137e-03 9.99997801e-01 -1.79967693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.821400513 meters Centerline goodness [0,1] 0.8706423567147801 Centerline is valid? [True, False] Translation: X:246.18, Y:13.33, Z:-0.18 [[ 9.99992590e-01 3.40149418e-03 1.80273015e-03 2.46183047e+02] [-3.41144358e-03 9.99978807e-01 5.54504247e-03 1.33347551e+01] [-1.78383052e-03 -5.55115129e-03 9.99983001e-01 -1.80460974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.851400513 meters Centerline goodness [0,1] 0.9212571453039029 Centerline is valid? [False, False] Translation: X:246.14, Y:13.33, Z:-0.18 [[ 9.99984391e-01 5.35882380e-03 -1.58125171e-03 2.46143946e+02] [-5.34373694e-03 9.99941580e-01 9.39585226e-03 1.33307636e+01] [ 1.63151005e-03 -9.38725581e-03 9.99954608e-01 -1.81322191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.881400513 meters Centerline goodness [0,1] 0.8567768328130047 Centerline is valid? [False, False] Translation: X:246.14, Y:13.34, Z:-0.18 [[ 9.99998032e-01 1.51509536e-03 -1.28062713e-03 2.46143225e+02] [-1.51018716e-03 9.99991544e-01 3.82497030e-03 1.33386982e+01] [ 1.28641150e-03 -3.82302879e-03 9.99991865e-01 -1.82570074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.911400513 meters Centerline goodness [0,1] 0.5491465194492036 Centerline is valid? [False, False] Translation: X:246.19, Y:13.35, Z:-0.18 [[ 9.99999072e-01 1.20141412e-03 6.42927950e-04 2.46185979e+02] [-1.20122412e-03 9.99999235e-01 -2.95827466e-04 1.33477991e+01] [-6.43282869e-04 2.95054890e-04 9.99999750e-01 -1.84965912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.941400513 meters Centerline goodness [0,1] 0.6529114890368548 Centerline is valid? [False, False] Translation: X:246.19, Y:13.35, Z:-0.18 [[ 9.99999119e-01 1.16812876e-03 6.30773760e-04 2.46185943e+02] [-1.16789787e-03 9.99999251e-01 -3.66276840e-04 1.33481278e+01] [-6.31201146e-04 3.65539838e-04 9.99999734e-01 -1.84840297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.971400513 meters Centerline goodness [0,1] 0.798664101510992 Centerline is valid? [False, False] Translation: X:246.14, Y:13.35, Z:-0.18 [[ 9.99997878e-01 -1.25400736e-03 -1.63455264e-03 2.46143218e+02] [ 1.25372135e-03 9.99999199e-01 -1.75993234e-04 1.33451675e+01] [ 1.63477203e-03 1.73943587e-04 9.99998649e-01 -1.83626257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.001400513 meters Centerline goodness [0,1] 0.9195773033993974 Centerline is valid? [False, False] Translation: X:246.18, Y:13.35, Z:-0.18 [[ 9.99994451e-01 -2.99932977e-03 1.44958088e-03 2.46183048e+02] [ 3.00543523e-03 9.99986545e-01 -4.22821941e-03 1.33523785e+01] [-1.43687955e-03 4.23255257e-03 9.99990010e-01 -1.84182627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.031400513 meters Centerline goodness [0,1] 0.9431818181818182 Centerline is valid? [False, False] Translation: X:246.18, Y:13.35, Z:-0.18 [[ 9.99994657e-01 -3.01309144e-03 1.26761566e-03 2.46183534e+02] [ 3.01798442e-03 9.99987934e-01 -3.87594537e-03 1.33505036e+01] [-1.25592179e-03 3.87975031e-03 9.99991685e-01 -1.83933036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.061400513 meters Centerline goodness [0,1] 0.9982484246502189 Centerline is valid? [False, True] Translation: X:246.14, Y:13.34, Z:-0.18 [[ 9.99995030e-01 -3.06956615e-03 -7.19105860e-04 2.46141483e+02] [ 3.06988034e-03 9.99995193e-01 4.36213877e-04 1.33410176e+01] [ 7.17763416e-04 -4.38419278e-04 9.99999646e-01 -1.82056760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.091400513 meters Centerline goodness [0,1] 0.995998983868919 Centerline is valid? [True, True] Translation: X:246.17, Y:13.35, Z:-0.18 [[ 9.99977834e-01 -6.61676164e-03 -7.41695652e-04 2.46170706e+02] [ 6.61672294e-03 9.99978108e-01 -5.46154638e-05 1.33463093e+01] [ 7.42040792e-04 4.97066585e-05 9.99999723e-01 -1.82372736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.121400513 meters Centerline goodness [0,1] 0.9987705352411235 Centerline is valid? [True, True] Translation: X:246.20, Y:13.34, Z:-0.18 [[ 9.99904751e-01 -1.37923698e-02 -5.08902657e-04 2.46200194e+02] [ 1.37923525e-02 9.99904880e-01 -3.74924643e-05 1.33414242e+01] [ 5.09371360e-04 3.04699284e-05 9.99999870e-01 -1.82071359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.151400513 meters Centerline goodness [0,1] 0.9975560605410968 Centerline is valid? [True, True] Translation: X:246.23, Y:13.35, Z:-0.18 [[ 9.99853704e-01 -1.70899147e-02 -7.11442999e-04 2.46229804e+02] [ 1.70898818e-02 9.99853956e-01 -5.23850393e-05 1.33462023e+01] [ 7.12234353e-04 4.02188988e-05 9.99999746e-01 -1.82846090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.181400513 meters Centerline goodness [0,1] 0.9997443871682359 Centerline is valid? [True, True] Translation: X:246.26, Y:13.33, Z:-0.18 [[ 9.99801594e-01 -1.98854932e-02 -1.15790690e-03 2.46261946e+02] [ 1.98854077e-02 9.99802262e-01 -8.52676206e-05 1.33284801e+01] [ 1.15937353e-03 6.22252521e-05 9.99999326e-01 -1.82826262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.211400513 meters Centerline goodness [0,1] 0.9992354090561549 Centerline is valid? [True, True] Translation: X:246.29, Y:13.34, Z:-0.18 [[ 9.99757528e-01 -2.19517640e-02 -1.73372310e-03 2.46290450e+02] [ 2.19515754e-02 9.99759027e-01 -1.27729936e-04 1.33375830e+01] [ 1.73610922e-03 8.96410111e-05 9.99998489e-01 -1.84388237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.24140051300003 meters Centerline goodness [0,1] 0.9998506284275441 Centerline is valid? [True, True] Translation: X:246.32, Y:13.32, Z:-0.18 [[ 9.99725269e-01 -2.34232039e-02 -8.60615238e-04 2.46321601e+02] [ 2.34231579e-02 9.99725638e-01 -6.34625783e-05 1.33238572e+01] [ 8.61865615e-04 4.32868165e-05 9.99999628e-01 -1.82261195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.271400513 meters Centerline goodness [0,1] 0.9998078770413065 Centerline is valid? [True, True] Translation: X:246.35, Y:13.32, Z:-0.18 [[ 9.99729783e-01 -2.32423227e-02 3.93884628e-04 2.46349270e+02] [ 2.32423131e-02 9.99729861e-01 2.89780122e-05 1.33240537e+01] [-3.94451740e-04 -1.98153920e-05 9.99999922e-01 -1.80272062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.30140051300003 meters Centerline goodness [0,1] 0.9999570021928882 Centerline is valid? [True, True] Translation: X:246.38, Y:13.32, Z:-0.18 [[ 9.99741397e-01 -2.26952036e-02 1.43792429e-03 2.46378438e+02] [ 2.26950744e-02 9.99742428e-01 1.06079348e-04 1.33180600e+01] [-1.43996141e-03 -7.34181164e-05 9.99998961e-01 -1.78559812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.331400513 meters Centerline goodness [0,1] 0.9996404171161453 Centerline is valid? [True, True] Translation: X:246.41, Y:13.33, Z:-0.18 [[ 9.99770832e-01 -2.12967462e-02 2.17524164e-03 2.46406752e+02] [ 2.12964465e-02 9.99773192e-01 1.60835827e-04 1.33263750e+01] [-2.17817356e-03 -1.14474051e-04 9.99997621e-01 -1.77250286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.361400513 meters Centerline goodness [0,1] 0.9995535904085711 Centerline is valid? [True, True] Translation: X:246.44, Y:13.33, Z:-0.18 [[ 9.99858972e-01 -1.66206757e-02 2.40613520e-03 2.46436486e+02] [ 1.66202953e-02 9.99861858e-01 1.77994109e-04 1.33318853e+01] [-2.40876119e-03 -1.37978329e-04 9.99997089e-01 -1.77004427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.391400513 meters Centerline goodness [0,1] 0.999150165717685 Centerline is valid? [True, True] Translation: X:246.47, Y:13.34, Z:-0.18 [[ 9.99903812e-01 -1.36974475e-02 2.17879828e-03 2.46465075e+02] [ 1.36971287e-02 9.99906177e-01 1.61187699e-04 1.33378923e+01] [-2.18080172e-03 -1.31328914e-04 9.99997613e-01 -1.77954937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.421400513 meters Centerline goodness [0,1] 0.995321860248513 Centerline is valid? [True, True] Translation: X:246.49, Y:13.35, Z:-0.18 [[ 9.99939259e-01 -1.09230472e-02 1.47124573e-03 2.46494270e+02] [ 1.09228988e-02 9.99940337e-01 1.08845402e-04 1.33462545e+01] [-1.47234687e-03 -9.27685226e-05 9.99998912e-01 -1.79023593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.451400513 meters Centerline goodness [0,1] 0.9972478618003218 Centerline is valid? [True, True] Translation: X:246.52, Y:13.35, Z:-0.18 [[ 9.99964890e-01 -8.35732840e-03 6.11489918e-04 2.46524680e+02] [ 8.35730229e-03 9.99965076e-01 4.52428496e-05 1.33461682e+01] [-6.11846672e-04 -4.01308551e-05 9.99999812e-01 -1.80069223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.481400513 meters Centerline goodness [0,1] 0.9830465210269936 Centerline is valid? [True, True] Translation: X:246.55, Y:13.35, Z:-0.18 [[ 9.99989567e-01 -4.56237672e-03 -2.27137515e-04 2.46553553e+02] [ 4.56237302e-03 9.99989592e-01 -1.68224760e-05 1.33549368e+01] [ 2.27211902e-04 1.57860144e-05 9.99999974e-01 -1.82071496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.511400513 meters Centerline goodness [0,1] 0.9971502700863426 Centerline is valid? [True, True] Translation: X:246.58, Y:13.35, Z:-0.18 [[ 9.99994881e-01 -3.19945006e-03 4.09905823e-05 2.46583875e+02] [ 3.19944994e-03 9.99994882e-01 3.01998442e-06 1.33516827e+01] [-4.10000348e-05 -2.88882165e-06 9.99999999e-01 -1.82070111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.541400513 meters Centerline goodness [0,1] 0.9970033605171343 Centerline is valid? [True, True] Translation: X:246.61, Y:13.35, Z:-0.18 [[ 9.99997253e-01 -2.34078035e-03 1.24008666e-04 2.46614307e+02] [ 2.34077923e-03 9.99997260e-01 9.17901308e-06 1.33546182e+01] [-1.24029813e-04 -8.88871095e-06 9.99999992e-01 -1.81814956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.571400513 meters Centerline goodness [0,1] 0.9895134138234222 Centerline is valid? [True, True] Translation: X:246.64, Y:13.36, Z:-0.18 [[ 9.99997576e-01 -2.20136684e-03 -4.91829390e-05 2.46643746e+02] [ 2.20136666e-03 9.99997577e-01 -3.65507490e-06 1.33600377e+01] [ 4.91908660e-05 3.54679636e-06 9.99999999e-01 -1.82198786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.601400513 meters Centerline goodness [0,1] 0.9931846740357378 Centerline is valid? [True, True] Translation: X:246.67, Y:13.36, Z:-0.18 [[ 9.99995688e-01 -2.89046878e-03 -5.18010687e-04 2.46674456e+02] [ 2.89044930e-03 9.99995822e-01 -3.83485936e-05 1.33613755e+01] [ 5.18119369e-04 3.68511446e-05 9.99999865e-01 -1.83160833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.631400513 meters Centerline goodness [0,1] 0.9744635193133048 Centerline is valid? [True, True] Translation: X:246.70, Y:13.36, Z:-0.18 [[ 9.99983975e-01 -5.49841767e-03 -1.34805783e-03 2.46704366e+02] [ 5.50807518e-03 9.99958417e-01 7.26814267e-03 1.33610987e+01] [ 1.30803849e-03 -7.27545140e-03 9.99972678e-01 -1.84794707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.661400513 meters Centerline goodness [0,1] 0.9963046340738224 Centerline is valid? [True, True] Translation: X:246.73, Y:13.37, Z:-0.19 [[ 9.99976532e-01 -6.82612074e-03 -5.82417651e-04 2.46733413e+02] [ 6.82171045e-03 9.99950339e-01 -7.26521920e-03 1.33678128e+01] [ 6.31981992e-04 7.26107562e-03 9.99973438e-01 -1.86318741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.691400513 meters Centerline goodness [0,1] 0.9972173839160542 Centerline is valid? [True, True] Translation: X:246.76, Y:13.36, Z:-0.19 [[ 9.99960199e-01 -8.83578649e-03 -1.23687184e-03 2.46763438e+02] [ 8.83568002e-03 9.99960960e-01 -9.15170411e-05 1.33593182e+01] [ 1.23763218e-03 8.05847948e-05 9.99999231e-01 -1.85727154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.721400513 meters Centerline goodness [0,1] 0.9965296259234815 Centerline is valid? [True, True] Translation: X:246.79, Y:13.36, Z:-0.19 [[ 9.99934495e-01 -1.13682571e-02 -1.32954590e-03 2.46793178e+02] [ 1.13681363e-02 9.99935376e-01 -9.83788699e-05 1.33588424e+01] [ 1.33057838e-03 8.32579666e-05 9.99999111e-01 -1.86160201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.751400513 meters Centerline goodness [0,1] 0.9951774978224385 Centerline is valid? [True, True] Translation: X:246.82, Y:13.35, Z:-0.19 [[ 9.99875332e-01 -1.56981193e-02 -1.69974648e-03 2.46822524e+02] [ 1.56979280e-02 9.99876772e-01 -1.25837055e-04 1.33542535e+01] [ 1.70151243e-03 9.91388697e-05 9.99998548e-01 -1.86996212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.781400513 meters Centerline goodness [0,1] 0.9990107101380704 Centerline is valid? [True, True] Translation: X:246.85, Y:13.35, Z:-0.19 [[ 9.99853268e-01 -1.70351286e-02 -1.80202692e-03 2.46851775e+02] [ 1.70349150e-02 9.99854886e-01 -1.33818670e-04 1.33453737e+01] [ 1.80404504e-03 1.03101658e-04 9.99998367e-01 -1.86737159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.811400513 meters Centerline goodness [0,1] 0.9985604200186299 Centerline is valid? [True, True] Translation: X:246.88, Y:13.35, Z:-0.19 [[ 9.99840566e-01 -1.77944381e-02 -1.48311523e-03 2.46880034e+02] [ 1.77942938e-02 9.99841663e-01 -1.10416639e-04 1.33473130e+01] [ 1.48484520e-03 8.40080467e-05 9.99998894e-01 -1.86715060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.841400513 meters Centerline goodness [0,1] 0.9995509366179112 Centerline is valid? [True, True] Translation: X:246.91, Y:13.34, Z:-0.19 [[ 9.99841281e-01 -1.77724681e-02 -1.24570981e-03 2.46909570e+02] [ 1.77723660e-02 9.99842055e-01 -9.29779283e-05 1.33383141e+01] [ 1.24716551e-03 7.08239602e-05 9.99999220e-01 -1.85890304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.871400513 meters Centerline goodness [0,1] 0.998688912854998 Centerline is valid? [True, True] Translation: X:246.94, Y:13.34, Z:-0.19 [[ 9.99866946e-01 -1.62097025e-02 -1.82663619e-03 2.46938175e+02] [ 1.62094807e-02 9.99868608e-01 -1.36142542e-04 1.33420129e+01] [ 1.82860302e-03 1.06515603e-04 9.99998322e-01 -1.86492838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.901400513 meters Centerline goodness [0,1] 0.9990425124473382 Centerline is valid? [True, True] Translation: X:246.97, Y:13.34, Z:-0.19 [[ 9.99887065e-01 -1.48749993e-02 -2.14292739e-03 2.46968178e+02] [ 1.48746910e-02 9.99889353e-01 -1.59742686e-04 1.33389031e+01] [ 2.14506646e-03 1.27849263e-04 9.99997691e-01 -1.87257724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.931400513 meters Centerline goodness [0,1] 0.9988500606912413 Centerline is valid? [True, True] Translation: X:247.00, Y:13.34, Z:-0.19 [[ 9.99898191e-01 -1.41318365e-02 -1.97455677e-03 2.46995794e+02] [ 1.41315729e-02 9.99900133e-01 -1.47348267e-04 1.33420011e+01] [ 1.97644188e-03 1.19429673e-04 9.99998040e-01 -1.88176750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.961400513 meters Centerline goodness [0,1] 0.9991457189842599 Centerline is valid? [True, True] Translation: X:247.02, Y:13.34, Z:-0.19 [[ 9.99899275e-01 -1.40963047e-02 -1.65320761e-03 2.47024984e+02] [ 1.40961193e-02 9.99900637e-01 -1.23779396e-04 1.33376498e+01] [ 1.65478818e-03 1.00463117e-04 9.99998626e-01 -1.87768705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.99140051300003 meters Centerline goodness [0,1] 0.9989526333789329 Centerline is valid? [True, True] Translation: X:247.05, Y:13.33, Z:-0.19 [[ 9.99874172e-01 -1.57136299e-02 -2.17304997e-03 2.47054043e+02] [ 1.57133136e-02 9.99876525e-01 -1.62548950e-04 1.33330087e+01] [ 2.17533588e-03 1.28382681e-04 9.99997626e-01 -1.87585152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.021400513 meters Centerline goodness [0,1] 0.997410810925529 Centerline is valid? [True, True] Translation: X:247.08, Y:13.34, Z:-0.19 [[ 9.99850021e-01 -1.71045772e-02 -2.71462294e-03 2.47082721e+02] [ 1.71040885e-02 9.99853694e-01 -2.03140584e-04 1.33355588e+01] [ 2.71770040e-03 1.56678966e-04 9.99996295e-01 -1.88737736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.05140051300003 meters Centerline goodness [0,1] 0.9992944647553076 Centerline is valid? [True, True] Translation: X:247.11, Y:13.32, Z:-0.19 [[ 9.99824554e-01 -1.85708209e-02 -2.44667454e-03 2.47113233e+02] [ 1.85704282e-02 9.99827538e-01 -1.83136145e-04 1.33244778e+01] [ 2.44965357e-03 1.37668220e-04 9.99996990e-01 -1.87970727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.081400513 meters Centerline goodness [0,1] 0.9997642621404997 Centerline is valid? [True, True] Translation: X:247.14, Y:13.32, Z:-0.19 [[ 9.99807883e-01 -1.95808840e-02 -8.86707640e-04 2.47142178e+02] [ 1.95808328e-02 9.99808275e-01 -6.64609564e-05 1.33210976e+01] [ 8.87839000e-04 4.90857141e-05 9.99999605e-01 -1.86041618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.111400513 meters Centerline goodness [0,1] 0.9996173062612947 Centerline is valid? [True, True] Translation: X:247.17, Y:13.32, Z:-0.18 [[ 9.99797427e-01 -1.99125868e-02 2.93143739e-03 2.47169942e+02] [ 1.99120282e-02 9.99801712e-01 2.19617448e-04 1.33207243e+01] [-2.93522927e-03 -1.61202095e-04 9.99995679e-01 -1.80071552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.141400513 meters Centerline goodness [0,1] 0.9995521528651553 Centerline is valid? [True, True] Translation: X:247.20, Y:13.32, Z:-0.18 [[ 9.99808412e-01 -1.92713860e-02 3.42814624e-03 2.47199212e+02] [ 1.92706168e-02 9.99814271e-01 2.57260912e-04 1.33160743e+01] [-3.43246731e-03 -1.91149131e-04 9.99994091e-01 -1.79024306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.171400513 meters Centerline goodness [0,1] 0.9991794483368049 Centerline is valid? [True, True] Translation: X:247.23, Y:13.32, Z:-0.18 [[ 9.99830816e-01 -1.81458304e-02 3.01133762e-03 2.47227131e+02] [ 1.81452311e-02 9.99835336e-01 2.26240837e-04 1.33225604e+01] [-3.01494709e-03 -1.71561144e-04 9.99995440e-01 -1.79199397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.201400513 meters Centerline goodness [0,1] 0.999214137037509 Centerline is valid? [True, True] Translation: X:247.26, Y:13.32, Z:-0.18 [[ 9.99859772e-01 -1.66250522e-02 2.01082488e-03 2.47256496e+02] [ 1.66247817e-02 9.99861787e-01 1.51146695e-04 1.33219325e+01] [-2.01305978e-03 -1.17695975e-04 9.99997967e-01 -1.80617864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.231400513 meters Centerline goodness [0,1] 0.9989355134018862 Centerline is valid? [True, True] Translation: X:247.29, Y:13.32, Z:-0.18 [[ 9.99889705e-01 -1.47763296e-02 1.49582342e-03 2.47286477e+02] [ 1.47761778e-02 9.99890820e-01 1.12484250e-04 1.33216684e+01] [-1.49732221e-03 -9.03692906e-05 9.99998875e-01 -1.81950038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.261400513 meters Centerline goodness [0,1] 0.9991035792798754 Centerline is valid? [True, True] Translation: X:247.32, Y:13.32, Z:-0.18 [[ 9.99939543e-01 -1.08853024e-02 1.55584240e-03 2.47317373e+02] [ 1.08851335e-02 9.99940748e-01 1.17012221e-04 1.33192576e+01] [-1.55702392e-03 -1.00069595e-04 9.99998783e-01 -1.82150604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.291400513 meters Centerline goodness [0,1] 0.988452360661326 Centerline is valid? [True, True] Translation: X:247.35, Y:13.33, Z:-0.18 [[ 9.99953464e-01 -9.46570652e-03 1.86298057e-03 2.47345613e+02] [ 9.46546179e-03 9.99955192e-01 1.40140665e-04 1.33288323e+01] [-1.86422363e-03 -1.22500172e-04 9.99998255e-01 -1.81689777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.321400513 meters Centerline goodness [0,1] 0.9832258608336494 Centerline is valid? [True, True] Translation: X:247.38, Y:13.33, Z:-0.18 [[ 9.99964360e-01 -8.22324184e-03 1.91217236e-03 2.47375712e+02] [ 8.22298161e-03 9.99966180e-01 1.43916223e-04 1.33302270e+01] [-1.91329115e-03 -1.28187335e-04 9.99998161e-01 -1.81477108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.351400513 meters Centerline goodness [0,1] 0.9832258608336494 Centerline is valid? [True, True] Translation: X:247.41, Y:13.33, Z:-0.18 [[ 9.99964360e-01 -8.22324186e-03 1.91217133e-03 2.47405694e+02] [ 8.22298160e-03 9.99966180e-01 1.43929962e-04 1.33324838e+01] [-1.91329023e-03 -1.28201082e-04 9.99998161e-01 -1.81515699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.381400513 meters Centerline goodness [0,1] 0.9989564698867024 Centerline is valid? [True, True] Translation: X:247.44, Y:13.32, Z:-0.18 [[ 9.99975962e-01 -6.86270919e-03 9.89345891e-04 2.47436624e+02] [ 6.86263886e-03 9.99976449e-01 7.44651459e-05 1.33210443e+01] [-9.89833624e-04 -6.76738323e-05 9.99999508e-01 -1.82385066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.411400513 meters Centerline goodness [0,1] 0.9855482115911844 Centerline is valid? [True, True] Translation: X:247.47, Y:13.33, Z:-0.18 [[ 9.99985964e-01 -5.29780870e-03 -7.11478998e-05 2.47465479e+02] [ 5.29780833e-03 9.99985967e-01 -5.37159062e-06 1.33310720e+01] [ 7.11753590e-05 4.99458729e-06 9.99999997e-01 -1.83716472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.441400513 meters Centerline goodness [0,1] 0.9132234896493452 Centerline is valid? [True, False] Translation: X:247.47, Y:13.33, Z:-0.18 [[ 9.99985811e-01 -5.32511873e-03 -1.46000383e-04 2.47466014e+02] [ 5.32509552e-03 9.99985809e-01 -1.58885751e-04 1.33317682e+01] [ 1.46844397e-04 1.58106031e-04 9.99999977e-01 -1.84286221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.471400513 meters Centerline goodness [0,1] 0.9380150331111726 Centerline is valid? [False, False] Translation: X:247.47, Y:13.34, Z:-0.19 [[ 9.99985028e-01 -5.47176665e-03 5.13985752e-05 2.47465919e+02] [ 5.47181132e-03 9.99984612e-01 -9.13417892e-04 1.33354895e+01] [-4.63997747e-05 9.13685460e-04 9.99999582e-01 -1.85446383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.501400513 meters Centerline goodness [0,1] 0.8685691060388903 Centerline is valid? [False, False] Translation: X:247.47, Y:13.34, Z:-0.19 [[ 9.99983816e-01 -5.68841127e-03 9.35192940e-05 2.47466101e+02] [ 5.68854225e-03 9.99982746e-01 -1.46564923e-03 1.33380603e+01] [-8.51804648e-05 1.46615749e-03 9.99998922e-01 -1.86071923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.531400513 meters Centerline goodness [0,1] 0.94258719383738 Centerline is valid? [False, False] Translation: X:247.47, Y:13.34, Z:-0.19 [[ 9.99994095e-01 -3.33233871e-03 -8.40070630e-04 2.47472848e+02] [ 3.33318560e-03 9.99993936e-01 1.00874244e-03 1.33364833e+01] [ 8.36704065e-04 -1.01153660e-03 9.99999138e-01 -1.90304236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.561400513 meters Centerline goodness [0,1] 0.786462308148902 Centerline is valid? [False, False] Translation: X:247.47, Y:13.34, Z:-0.19 [[ 9.99993791e-01 -3.39841214e-03 -9.32206437e-04 2.47473466e+02] [ 3.39919740e-03 9.99993868e-01 8.42083322e-04 1.33371955e+01] [ 9.29338975e-04 -8.45246847e-04 9.99999211e-01 -1.90914890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.591400513 meters Centerline goodness [0,1] 0.7490416560184002 Centerline is valid? [False, False] Translation: X:247.47, Y:13.34, Z:-0.19 [[ 9.99993133e-01 -3.51454262e-03 -1.17551519e-03 2.47474700e+02] [ 3.51530920e-03 9.99993610e-01 6.50695171e-04 1.33379159e+01] [ 1.17322079e-03 -6.54823002e-04 9.99999097e-01 -1.91753635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.621400513 meters Centerline goodness [0,1] 0.7760912024456521 Centerline is valid? [False, False] Translation: X:247.47, Y:13.34, Z:-0.19 [[ 9.99993139e-01 -3.52034922e-03 -1.15249480e-03 2.47474432e+02] [ 3.52111830e-03 9.99993579e-01 6.65967405e-04 1.33378789e+01] [ 1.15014296e-03 -6.70020906e-04 9.99999114e-01 -1.91427240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.651400513 meters Centerline goodness [0,1] 0.9613645530388265 Centerline is valid? [False, True] Translation: X:247.47, Y:13.34, Z:-0.19 [[ 9.99993394e-01 -3.48321590e-03 -1.03908444e-03 2.47473494e+02] [ 3.48406708e-03 9.99993596e-01 8.18486520e-04 1.33372954e+01] [ 1.03622682e-03 -8.22101352e-04 9.99999125e-01 -1.90363943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.681400513 meters Centerline goodness [0,1] 0.9483737848588628 Centerline is valid? [True, False] Translation: X:247.47, Y:13.34, Z:-0.19 [[ 9.99993968e-01 -3.35301925e-03 -9.06219275e-04 2.47472368e+02] [ 3.35406313e-03 9.99993711e-01 1.15285221e-03 1.33358994e+01] [ 9.02348039e-04 -1.15588477e-03 9.99998925e-01 -1.89085055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.711400513 meters Centerline goodness [0,1] 0.9624389315398769 Centerline is valid? [False, True] Translation: X:247.47, Y:13.33, Z:-0.19 [[ 9.99994514e-01 -3.19110806e-03 -8.88597691e-04 2.47471900e+02] [ 3.19251885e-03 9.99993639e-01 1.59079072e-03 1.33338890e+01] [ 8.83515653e-04 -1.59361886e-03 9.99998340e-01 -1.88297297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.74140051300003 meters Centerline goodness [0,1] 0.9943879488586016 Centerline is valid? [True, True] Translation: X:247.50, Y:13.33, Z:-0.19 [[ 9.99987285e-01 -5.00141676e-03 -6.44920808e-04 2.47502353e+02] [ 5.00138722e-03 9.99987492e-01 -4.74219849e-05 1.33301364e+01] [ 6.45149918e-04 4.41958832e-05 9.99999791e-01 -1.88269697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.771400513 meters Centerline goodness [0,1] 0.9636367509532837 Centerline is valid? [True, True] Translation: X:247.53, Y:13.34, Z:-0.19 [[ 9.99952237e-01 -9.75169219e-03 -6.54241024e-04 2.47531001e+02] [ 9.75166279e-03 9.99952450e-01 -4.81164557e-05 1.33395442e+01] [ 6.54679131e-04 4.17342196e-05 9.99999785e-01 -1.89817256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.80140051300003 meters Centerline goodness [0,1] 0.9988927453527244 Centerline is valid? [True, True] Translation: X:247.56, Y:13.33, Z:-0.19 [[ 9.99931819e-01 -1.16768236e-02 9.04889132e-05 2.47561851e+02] [ 1.16768230e-02 9.99931824e-01 6.64445842e-06 1.33283573e+01] [-9.05603302e-05 -5.58738237e-06 9.99999996e-01 -1.87843542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.831400513 meters Centerline goodness [0,1] 0.996823783509084 Centerline is valid? [True, True] Translation: X:247.59, Y:13.33, Z:-0.19 [[ 9.99908966e-01 -1.34884205e-02 3.50140634e-04 2.47590737e+02] [ 1.34884124e-02 9.99909027e-01 2.57369604e-05 1.33330154e+01] [-3.50455932e-04 -2.10117762e-05 9.99999938e-01 -1.86924645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.861400513 meters Centerline goodness [0,1] 0.9974327965544311 Centerline is valid? [True, True] Translation: X:247.62, Y:13.33, Z:-0.19 [[ 9.99861437e-01 -1.64562249e-02 -2.50990353e-03 2.47621689e+02] [ 1.64558131e-02 9.99864577e-01 -1.84640191e-04 1.33261046e+01] [ 2.51260211e-03 1.43312103e-04 9.99996833e-01 -1.90154746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.891400513 meters Centerline goodness [0,1] 0.9989133214011762 Centerline is valid? [True, True] Translation: X:247.65, Y:13.32, Z:-0.19 [[ 9.99835174e-01 -1.76138550e-02 -4.40188595e-03 2.47651167e+02] [ 1.76125985e-02 9.99844834e-01 -3.24057144e-04 1.33219516e+01] [ 4.40691082e-03 2.46475081e-04 9.99990259e-01 -1.92790646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.921400513 meters Centerline goodness [0,1] 0.9991913345108638 Centerline is valid? [True, True] Translation: X:247.68, Y:13.32, Z:-0.19 [[ 9.99820841e-01 -1.83320188e-02 -4.71407398e-03 2.47680336e+02] [ 1.83305820e-02 9.99831920e-01 -3.47826731e-04 1.33215588e+01] [ 4.71965800e-03 2.61352695e-04 9.99988828e-01 -1.93340119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.951400513 meters Centerline goodness [0,1] 0.9990627729141373 Centerline is valid? [True, True] Translation: X:247.71, Y:13.32, Z:-0.19 [[ 9.99823357e-01 -1.84918541e-02 -3.36241528e-03 2.47708158e+02] [ 1.84911235e-02 9.99828994e-01 -2.48242417e-04 1.33234078e+01] [ 3.36643075e-03 1.86023730e-04 9.99994316e-01 -1.90907840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.981400513 meters Centerline goodness [0,1] 0.9975592001027705 Centerline is valid? [True, True] Translation: X:247.74, Y:13.33, Z:-0.19 [[ 9.99834734e-01 -1.81171563e-02 -1.50767366e-03 2.47735570e+02] [ 1.81170087e-02 9.99835867e-01 -1.11488368e-04 1.33320060e+01] [ 1.50944605e-03 8.41554063e-05 9.99998857e-01 -1.87819810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.011400513 meters Centerline goodness [0,1] 0.9994661997693983 Centerline is valid? [True, True] Translation: X:247.77, Y:13.32, Z:-0.18 [[ 9.99876158e-01 -1.57366529e-02 1.62033329e-04 2.47765914e+02] [ 1.57366511e-02 9.99876171e-01 1.19654326e-05 1.33245893e+01] [-1.62201561e-04 -9.41408880e-06 9.99999987e-01 -1.84981424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.041400513 meters Centerline goodness [0,1] 0.9991438356164384 Centerline is valid? [True, True] Translation: X:247.80, Y:13.33, Z:-0.18 [[ 9.99903338e-01 -1.39006124e-02 2.96975317e-04 2.47795034e+02] [ 1.39006065e-02 9.99903382e-01 2.19417057e-05 1.33329984e+01] [-2.97251627e-04 -1.78114477e-05 9.99999956e-01 -1.84324798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.071400513 meters Centerline goodness [0,1] 0.9991108100097388 Centerline is valid? [True, True] Translation: X:247.82, Y:13.34, Z:-0.18 [[ 9.99923685e-01 -1.23167906e-02 9.59857115e-04 2.47824544e+02] [ 1.23167282e-02 9.99924144e-01 7.09549088e-05 1.33359528e+01] [-9.60658241e-04 -5.91271947e-05 9.99999537e-01 -1.84117152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.101400513 meters Centerline goodness [0,1] 0.9992122966873882 Centerline is valid? [True, True] Translation: X:247.85, Y:13.34, Z:-0.18 [[ 9.99937033e-01 -1.10615300e-02 1.89007618e-03 2.47853638e+02] [ 1.10612854e-02 9.99938812e-01 1.39807081e-04 1.33408705e+01] [-1.89150701e-03 -1.18891606e-04 9.99998204e-01 -1.82855115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.131400513 meters Centerline goodness [0,1] 0.9984819094205954 Centerline is valid? [True, True] Translation: X:247.88, Y:13.35, Z:-0.18 [[ 9.99959053e-01 -8.26569624e-03 3.68389984e-03 2.47882505e+02] [ 8.26474790e-03 9.99965809e-01 2.72577359e-04 1.33467644e+01] [-3.68602692e-03 -2.42119694e-04 9.99993177e-01 -1.79496687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.161400513 meters Centerline goodness [0,1] 0.9975736349058992 Centerline is valid? [True, True] Translation: X:247.91, Y:13.35, Z:-0.18 [[ 9.99971083e-01 -6.85656180e-03 3.28942729e-03 2.47913296e+02] [ 6.85579825e-03 9.99976469e-01 2.43343812e-04 1.33490531e+01] [-3.29101839e-03 -2.20785125e-04 9.99994560e-01 -1.79914786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.191400513 meters Centerline goodness [0,1] 0.9971010812755242 Centerline is valid? [True, True] Translation: X:247.94, Y:13.35, Z:-0.18 [[ 9.99982174e-01 -5.59399202e-03 2.08771362e-03 2.47944013e+02] [ 5.59368177e-03 9.99984343e-01 1.54419946e-04 1.33525450e+01] [-2.08854475e-03 -1.42739188e-04 9.99997809e-01 -1.82008536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.221400513 meters Centerline goodness [0,1] 0.9867939302871896 Centerline is valid? [True, True] Translation: X:247.97, Y:13.36, Z:-0.18 [[ 9.99990311e-01 -4.35800075e-03 6.21292958e-04 2.47973601e+02] [ 4.35797303e-03 9.99990503e-01 4.59516197e-05 1.33599499e+01] [-6.21487315e-04 -4.32435965e-05 9.99999806e-01 -1.84801136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.251400513 meters Centerline goodness [0,1] 0.9849516836235154 Centerline is valid? [True, True] Translation: X:248.00, Y:13.36, Z:-0.19 [[ 9.99995398e-01 -3.00032592e-03 -4.48905671e-04 2.48004041e+02] [ 3.00031132e-03 9.99995499e-01 -3.32016360e-05 1.33628995e+01] [ 4.49003266e-04 3.18546265e-05 9.99999899e-01 -1.87373603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.281400513 meters Centerline goodness [0,1] 0.9337927220910696 Centerline is valid? [True, False] Translation: X:248.00, Y:13.36, Z:-0.19 [[ 9.99994926e-01 -3.15252231e-03 -4.57232637e-04 2.48004305e+02] [ 3.15231028e-03 9.99994924e-01 -4.63698764e-04 1.33649360e+01] [ 4.58692137e-04 4.62255072e-04 9.99999788e-01 -1.87870576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.311400513 meters Centerline goodness [0,1] 0.7830702463515296 Centerline is valid? [False, False] Translation: X:248.00, Y:13.37, Z:-0.19 [[ 9.99994887e-01 -3.19713432e-03 -6.54215570e-05 2.48002995e+02] [ 3.19706688e-03 9.99994383e-01 -1.00629913e-03 1.33678703e+01] [ 6.86384630e-05 1.00608482e-03 9.99999492e-01 -1.87803873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.341400513 meters Centerline goodness [0,1] 0.6866335061911313 Centerline is valid? [False, False] Translation: X:248.01, Y:13.37, Z:-0.19 [[ 9.99999266e-01 -7.51125850e-04 -9.51046358e-04 2.48009426e+02] [ 7.52540940e-04 9.99998609e-01 1.48844663e-03 1.33667275e+01] [ 9.49927025e-04 -1.48916124e-03 9.99998440e-01 -1.91666854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.371400513 meters Centerline goodness [0,1] 0.9242865339254978 Centerline is valid? [False, False] Translation: X:248.01, Y:13.37, Z:-0.19 [[ 9.99999136e-01 -9.18673825e-04 -9.40613609e-04 2.48009585e+02] [ 9.19670953e-04 9.99999015e-01 1.06019952e-03 1.33687580e+01] [ 9.39638705e-04 -1.06106365e-03 9.99998996e-01 -1.92049276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.401400513 meters Centerline goodness [0,1] 0.8249931464962781 Centerline is valid? [False, False] Translation: X:248.01, Y:13.37, Z:-0.19 [[ 9.99998891e-01 -1.06960046e-03 -1.03613583e-03 2.48010212e+02] [ 1.07032497e-03 9.99999183e-01 6.98945074e-04 1.33703885e+01] [ 1.03538739e-03 -7.00053301e-04 9.99999219e-01 -1.92669244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.431400513 meters Centerline goodness [0,1] 0.8168533852898198 Centerline is valid? [False, False] Translation: X:248.01, Y:13.37, Z:-0.19 [[ 9.99998659e-01 -1.20861466e-03 -1.10531957e-03 2.48010793e+02] [ 1.20903165e-03 9.99999198e-01 3.76662749e-04 1.33718299e+01] [ 1.10486344e-03 -3.77998610e-04 9.99999318e-01 -1.93352407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.461400513 meters Centerline goodness [0,1] 0.8847797886140825 Centerline is valid? [False, False] Translation: X:248.01, Y:13.37, Z:-0.19 [[ 9.99998267e-01 -1.48926723e-03 -1.11741739e-03 2.48011390e+02] [ 1.48902106e-03 9.99998867e-01 -2.21101697e-04 1.33745046e+01] [ 1.11774540e-03 2.19437455e-04 9.99999351e-01 -1.94468315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.49140051300003 meters Centerline goodness [0,1] 0.8727561388653683 Centerline is valid? [False, False] Translation: X:248.01, Y:13.38, Z:-0.19 [[ 9.99998083e-01 -1.62598707e-03 -1.09112898e-03 2.48011322e+02] [ 1.62543991e-03 9.99998553e-01 -5.02168109e-04 1.33758281e+01] [ 1.09194392e-03 5.00393582e-04 9.99999279e-01 -1.94547956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.521400513 meters Centerline goodness [0,1] 0.8904481282062153 Centerline is valid? [False, False] Translation: X:248.01, Y:13.38, Z:-0.19 [[ 9.99997954e-01 -1.68391926e-03 -1.12124574e-03 2.48011278e+02] [ 1.68325564e-03 9.99998408e-01 -5.92537845e-04 1.33762640e+01] [ 1.12224174e-03 5.90649290e-04 9.99999196e-01 -1.94304055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.55140051300003 meters Centerline goodness [0,1] 0.9212484892177859 Centerline is valid? [False, False] Translation: X:248.01, Y:13.38, Z:-0.19 [[ 9.99997737e-01 -1.72830871e-03 -1.24035678e-03 2.48011640e+02] [ 1.72751674e-03 9.99998303e-01 -6.39289660e-04 1.33764582e+01] [ 1.24145956e-03 6.37145476e-04 9.99999026e-01 -1.94257635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.581400513 meters Centerline goodness [0,1] 0.9519055104728725 Centerline is valid? [False, True] Translation: X:248.01, Y:13.38, Z:-0.19 [[ 9.99997440e-01 -1.79303199e-03 -1.37989332e-03 2.48012188e+02] [ 1.79201879e-03 9.99998124e-01 -7.35146484e-04 1.33768488e+01] [ 1.38120887e-03 7.32671807e-04 9.99998778e-01 -1.94423590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.611400513 meters Centerline goodness [0,1] 0.7903580800812664 Centerline is valid? [True, False] Translation: X:248.01, Y:13.38, Z:-0.19 [[ 9.99997029e-01 -2.00390958e-03 -1.38811087e-03 2.48012093e+02] [ 2.00235135e-03 9.99997365e-01 -1.12303410e-03 1.33786666e+01] [ 1.39035767e-03 1.12025128e-03 9.99998406e-01 -1.94228642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.641400513 meters Centerline goodness [0,1] 0.9871042620413953 Centerline is valid? [False, True] Translation: X:247.97, Y:13.37, Z:-0.19 [[ 9.99993393e-01 -2.44813815e-03 -2.68716733e-03 2.47966928e+02] [ 2.45424804e-03 9.99994406e-01 2.27279207e-03 1.33729898e+01] [ 2.68158819e-03 -2.27937203e-03 9.99993807e-01 -1.91041254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.671400513 meters Centerline goodness [0,1] 0.9031827993397384 Centerline is valid? [True, False] Translation: X:248.01, Y:13.38, Z:-0.19 [[ 9.99997405e-01 -2.22474611e-03 4.90999107e-04 2.48005969e+02] [ 2.22502035e-03 9.99997369e-01 -5.58713366e-04 1.33788392e+01] [-4.89754820e-04 5.59804399e-04 9.99999723e-01 -1.91123638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.701400513 meters Centerline goodness [0,1] 0.9986065854913394 Centerline is valid? [False, True] Translation: X:247.96, Y:13.37, Z:-0.19 [[ 9.99994902e-01 -2.96920444e-03 -1.17495112e-03 2.47961989e+02] [ 2.97165246e-03 9.99993406e-01 2.08727561e-03 1.33742890e+01] [ 1.16874582e-03 -2.09075652e-03 9.99997131e-01 -1.88947745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.731400513 meters Centerline goodness [0,1] 0.9956252667520273 Centerline is valid? [True, True] Translation: X:247.99, Y:13.38, Z:-0.19 [[ 9.99991629e-01 -4.07233263e-03 -3.98301834e-04 2.47990048e+02] [ 4.07232167e-03 9.99991708e-01 -2.83098010e-05 1.33848297e+01] [ 3.98413818e-04 2.66875508e-05 9.99999920e-01 -1.88682194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.761400513 meters Centerline goodness [0,1] 0.9897795760104522 Centerline is valid? [True, True] Translation: X:248.02, Y:13.39, Z:-0.19 [[ 9.99974275e-01 -7.16529456e-03 -3.29285639e-04 2.48019452e+02] [ 7.16528724e-03 9.99974329e-01 -2.34127710e-05 1.33912691e+01] [ 3.29444945e-04 2.10527426e-05 9.99999946e-01 -1.88550341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.791400513 meters Centerline goodness [0,1] 0.9990647650222119 Centerline is valid? [True, True] Translation: X:248.05, Y:13.38, Z:-0.19 [[ 9.99958777e-01 -9.01939664e-03 -1.04676135e-03 2.48050556e+02] [ 9.01932363e-03 9.99959322e-01 -7.44463689e-05 1.33824326e+01] [ 1.04739023e-03 6.50022206e-05 9.99999449e-01 -1.88613378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.821400513 meters Centerline goodness [0,1] 0.9984666496294403 Centerline is valid? [True, True] Translation: X:248.08, Y:13.38, Z:-0.19 [[ 9.99938827e-01 -1.09675891e-02 -1.43292524e-03 2.48079337e+02] [ 1.09674543e-02 9.99939850e-01 -1.01940513e-04 1.33846688e+01] [ 1.43395709e-03 8.62187349e-05 9.99998968e-01 -1.88584072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.851400513 meters Centerline goodness [0,1] 0.9988113684121156 Centerline is valid? [True, True] Translation: X:248.11, Y:13.39, Z:-0.19 [[ 9.99917735e-01 -1.27641679e-02 -1.26491477e-03 2.48107719e+02] [ 1.27640642e-02 9.99918532e-01 -9.00146276e-05 1.33870449e+01] [ 1.26596068e-03 7.38617693e-05 9.99999196e-01 -1.88146865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.881400513 meters Centerline goodness [0,1] 0.9996176801682207 Centerline is valid? [True, True] Translation: X:248.14, Y:13.38, Z:-0.19 [[ 9.99864034e-01 -1.64879705e-02 -2.46088080e-04 2.48138811e+02] [ 1.64879667e-02 9.99864064e-01 -1.75133496e-05 1.33830335e+01] [ 2.46343387e-04 1.34534764e-05 9.99999970e-01 -1.87171905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.911400513 meters Centerline goodness [0,1] 0.9997448111602586 Centerline is valid? [True, True] Translation: X:248.17, Y:13.38, Z:-0.19 [[ 9.99827378e-01 -1.85777554e-02 2.84617287e-04 2.48168996e+02] [ 1.85777504e-02 9.99827418e-01 2.02621969e-05 1.33809311e+01] [-2.84944593e-04 -1.49711503e-05 9.99999959e-01 -1.86895251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.941400513 meters Centerline goodness [0,1] 0.99985199594046 Centerline is valid? [True, True] Translation: X:248.20, Y:13.38, Z:-0.19 [[ 9.99781313e-01 -2.09088706e-02 3.80323592e-04 2.48199383e+02] [ 2.09088618e-02 9.99781385e-01 2.70789224e-05 1.33798541e+01] [-3.80806637e-04 -1.91208672e-05 9.99999927e-01 -1.86745613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.971400513 meters Centerline goodness [0,1] 0.999766934339047 Centerline is valid? [True, True] Translation: X:248.23, Y:13.38, Z:-0.19 [[ 9.99725680e-01 -2.34205336e-02 -2.10018887e-04 2.48227699e+02] [ 2.34205310e-02 9.99725702e-01 -1.49495861e-05 1.33842049e+01] [ 2.10311406e-04 1.00267313e-05 9.99999978e-01 -1.87652540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.001400513 meters Centerline goodness [0,1] 0.9998719016204445 Centerline is valid? [True, True] Translation: X:248.26, Y:13.38, Z:-0.19 [[ 9.99655861e-01 -2.61951196e-02 -1.40540796e-03 2.48258254e+02] [ 2.61950047e-02 9.99656847e-01 -1.00113706e-04 1.33793761e+01] [ 1.40754818e-03 6.32645850e-05 9.99999007e-01 -1.89306021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.031400513 meters Centerline goodness [0,1] 0.9997034212477491 Centerline is valid? [True, True] Translation: X:248.29, Y:13.38, Z:-0.19 [[ 9.99579674e-01 -2.89300423e-02 -1.87805712e-03 2.48286736e+02] [ 2.89298418e-02 9.99581436e-01 -1.33823185e-04 1.33846983e+01] [ 1.88114254e-03 7.94350404e-05 9.99998227e-01 -1.90786507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.061400513 meters Centerline goodness [0,1] 0.9999364110390436 Centerline is valid? [True, True] Translation: X:248.32, Y:13.38, Z:-0.19 [[ 9.99425966e-01 -3.38473486e-02 -1.44770504e-03 2.48318041e+02] [ 3.38472347e-02 9.99427013e-01 -1.03164925e-04 1.33757310e+01] [ 1.45036738e-03 5.41048930e-05 9.99998947e-01 -1.89775932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.091400513 meters Centerline goodness [0,1] 0.9999570215966477 Centerline is valid? [True, True] Translation: X:248.35, Y:13.37, Z:-0.19 [[ 9.99350158e-01 -3.60241078e-02 -1.23542916e-03 2.48348128e+02] [ 3.60240264e-02 9.99350920e-01 -8.80709208e-05 1.33744333e+01] [ 1.23779994e-03 4.35085559e-05 9.99999233e-01 -1.89392894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.121400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.38, Y:13.37, Z:-0.19 [[ 9.99231382e-01 -3.91662644e-02 -1.62773868e-03 2.48377166e+02] [ 3.91661272e-02 9.99232706e-01 -1.16080786e-04 1.33746397e+01] [ 1.63103618e-03 5.22393443e-05 9.99998668e-01 -1.90555131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.151400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.40, Y:13.38, Z:-0.19 [[ 9.99182856e-01 -4.03694144e-02 -1.98273031e-03 2.48404939e+02] [ 4.03692130e-02 9.99184821e-01 -1.41500860e-04 1.33764125e+01] [ 1.98682634e-03 6.13439712e-05 9.99998024e-01 -1.91089218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.181400513 meters Centerline goodness [0,1] 0.9999360095559063 Centerline is valid? [True, True] Translation: X:248.43, Y:13.38, Z:-0.19 [[ 9.99131264e-01 -4.16143926e-02 -2.22690993e-03 2.48432589e+02] [ 4.16141412e-02 9.99133744e-01 -1.59105196e-04 1.33800630e+01] [ 2.23160192e-03 6.62960310e-05 9.99997508e-01 -1.91419120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.211400513 meters Centerline goodness [0,1] 0.9999360095559063 Centerline is valid? [True, True] Translation: X:248.46, Y:13.38, Z:-0.19 [[ 9.99124037e-01 -4.17875628e-02 -2.22688408e-03 2.48460046e+02] [ 4.17873111e-02 9.99126516e-01 -1.59466508e-04 1.33821949e+01] [ 2.23160265e-03 6.62713233e-05 9.99997508e-01 -1.91411686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.24140051300003 meters Centerline goodness [0,1] 0.9999787424004082 Centerline is valid? [True, True] Translation: X:248.49, Y:13.38, Z:-0.19 [[ 9.99069202e-01 -4.30780963e-02 -2.23750353e-03 2.48489402e+02] [ 4.30778446e-02 9.99071706e-01 -1.60588646e-04 1.33793038e+01] [ 2.24234432e-03 6.40523413e-05 9.99997484e-01 -1.91268064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.271400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.52, Y:13.38, Z:-0.19 [[ 9.99011483e-01 -4.43917983e-02 -2.32918744e-03 2.48518687e+02] [ 4.43915282e-02 9.99014196e-01 -1.67554507e-04 1.33794279e+01] [ 2.33432937e-03 6.39926869e-05 9.99997273e-01 -1.91173022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.30140051300003 meters Centerline goodness [0,1] 0.9999574721442545 Centerline is valid? [True, True] Translation: X:248.55, Y:13.38, Z:-0.19 [[ 9.98952134e-01 -4.57136950e-02 -2.21176693e-03 2.48546733e+02] [ 4.57134539e-02 9.98954581e-01 -1.59471119e-04 1.33840002e+01] [ 2.21674472e-03 5.81965087e-05 9.99997541e-01 -1.91330611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.331400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.57, Y:13.39, Z:-0.19 [[ 9.98857322e-01 -4.77393749e-02 -2.23655199e-03 2.48574383e+02] [ 4.77391327e-02 9.98859825e-01 -1.61614174e-04 1.33872371e+01] [ 2.24171729e-03 5.46584491e-05 9.99997486e-01 -1.91951600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.361400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.60, Y:13.38, Z:-0.19 [[ 9.98577366e-01 -5.32681924e-02 -2.39675756e-03 2.48604820e+02] [ 5.32679300e-02 9.98580241e-01 -1.73261312e-04 1.33830525e+01] [ 2.40258406e-03 4.53445101e-05 9.99997113e-01 -1.91503286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.391400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.63, Y:13.38, Z:-0.19 [[ 9.98436071e-01 -5.58815913e-02 -1.63067159e-03 2.48632456e+02] [ 5.58814731e-02 9.98437403e-01 -1.17962940e-04 1.33849975e+01] [ 1.63471547e-03 2.66541238e-05 9.99998663e-01 -1.90204204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.421400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.66, Y:13.39, Z:-0.19 [[ 9.98296339e-01 -5.83413241e-02 -8.42121319e-04 2.48660814e+02] [ 5.83412933e-02 9.98296694e-01 -6.10187260e-05 1.33862047e+01] [ 8.44246842e-04 1.17843239e-05 9.99999644e-01 -1.88705941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.451400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.69, Y:13.39, Z:-0.19 [[ 9.98139337e-01 -6.09723515e-02 -4.86214967e-04 2.48690216e+02] [ 6.09723416e-02 9.98139455e-01 -3.52880009e-05 1.33856285e+01] [ 4.87461935e-04 5.57667675e-06 9.99999881e-01 -1.87738834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.481400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.72, Y:13.38, Z:-0.19 [[ 9.97752532e-01 -6.69694550e-02 -2.23107215e-03 2.48718066e+02] [ 6.69692592e-02 9.97755026e-01 -1.62424430e-04 1.33824610e+01] [ 2.23694093e-03 1.26461370e-05 9.99997498e-01 -1.89598777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.511400513 meters Centerline goodness [0,1] 0.9999141557215212 Centerline is valid? [True, True] Translation: X:248.75, Y:13.38, Z:-0.19 [[ 9.97517795e-01 -7.03407999e-02 -3.22800819e-03 2.48746960e+02] [ 7.03404060e-02 9.97523018e-01 -2.35552304e-04 1.33820447e+01] [ 3.23658141e-03 7.90820789e-06 9.99994762e-01 -1.90980052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.541400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.78, Y:13.38, Z:-0.19 [[ 9.97342189e-01 -7.28030113e-02 -2.87752901e-03 2.48775236e+02] [ 7.28027080e-02 9.97346340e-01 -2.10169603e-04 1.33826631e+01] [ 2.88519400e-03 1.19107980e-07 9.99995838e-01 -1.90865804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.571400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.80, Y:13.38, Z:-0.19 [[ 9.97185701e-01 -7.49522713e-02 -1.68390511e-03 2.48803406e+02] [ 7.49521700e-02 9.97187122e-01 -1.23261531e-04 1.33835724e+01] [ 1.68840722e-03 -3.29770633e-06 9.99998575e-01 -1.88656626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.601400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.83, Y:13.38, Z:-0.18 [[ 9.97019781e-01 -7.71353685e-02 1.30080829e-03 2.48832381e+02] [ 7.71353096e-02 9.97020629e-01 9.55146163e-05 1.33844683e+01] [-1.30430025e-03 5.10828801e-06 9.99999149e-01 -1.83357123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.631400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.86, Y:13.39, Z:-0.18 [[ 9.96969523e-01 -7.77734617e-02 1.74911364e-03 2.48859984e+02] [ 7.77733560e-02 9.96971057e-01 1.28490725e-04 1.33861033e+01] [-1.75380884e-03 7.93310152e-06 9.99998462e-01 -1.81988558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.661400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.89, Y:13.39, Z:-0.18 [[ 9.96921695e-01 -7.83857475e-02 1.67599547e-03 2.48888274e+02] [ 7.83856507e-02 9.96923104e-01 1.23477065e-04 1.33889527e+01] [-1.68051744e-03 8.27703031e-06 9.99998588e-01 -1.81813858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.691400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.92, Y:13.39, Z:-0.18 [[ 9.96888664e-01 -7.88021238e-02 1.79380511e-03 2.48915675e+02] [ 7.88020129e-02 9.96890277e-01 1.32503529e-04 1.33925727e+01] [-1.79866843e-03 9.26418713e-06 9.99998382e-01 -1.81716657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.721400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.94, Y:13.40, Z:-0.18 [[ 9.96831161e-01 -7.95192290e-02 2.08048927e-03 2.48943938e+02] [ 7.95190806e-02 9.96833332e-01 1.54078664e-04 1.33962295e+01] [-2.08615326e-03 1.18481800e-05 9.99997824e-01 -1.81645535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.751400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.97, Y:13.40, Z:-0.18 [[ 9.96732379e-01 -8.07580270e-02 1.64479434e-03 2.48972328e+02] [ 8.07579355e-02 9.96733736e-01 1.22095755e-04 1.34002325e+01] [-1.64928222e-03 1.11334024e-05 9.99998640e-01 -1.82556798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.781400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.00, Y:13.40, Z:-0.18 [[ 9.96653578e-01 -8.17279073e-02 1.48139801e-03 2.49000536e+02] [ 8.17278340e-02 9.96654679e-01 1.10085103e-04 1.34018332e+01] [-1.48543928e-03 1.13547387e-05 9.99998897e-01 -1.83059387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.811400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.03, Y:13.40, Z:-0.18 [[ 9.96512561e-01 -8.34348766e-02 1.15601919e-03 2.49027929e+02] [ 8.34348329e-02 9.96513232e-01 8.60326047e-05 1.34022375e+01] [-1.15916653e-03 1.07196962e-05 9.99999328e-01 -1.83630820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.841400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.06, Y:13.40, Z:-0.18 [[ 9.96310740e-01 -8.58169183e-02 6.04159397e-04 2.49056694e+02] [ 8.58169067e-02 9.96310924e-01 4.50916460e-05 1.34044173e+01] [-6.05800233e-04 6.92179945e-06 9.99999816e-01 -1.84564713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.871400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.08, Y:13.41, Z:-0.19 [[ 9.95946816e-01 -8.99385118e-02 -1.00184191e-03 2.49084911e+02] [ 8.99384821e-02 9.95947320e-01 -7.47438565e-05 1.34056402e+01] [ 1.00450412e-03 -1.56632351e-05 9.99999495e-01 -1.86517137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.901400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.11, Y:13.41, Z:-0.19 [[ 9.95818737e-01 -9.13340843e-02 -1.76842593e-03 2.49113432e+02] [ 9.13339935e-02 9.95820307e-01 -1.32223405e-04 1.34079253e+01] [ 1.77311096e-03 -2.98468581e-05 9.99998428e-01 -1.87477083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.931400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.14, Y:13.41, Z:-0.19 [[ 9.95743118e-01 -9.21472129e-02 -2.12924677e-03 2.49142359e+02] [ 9.21470823e-02 9.95745394e-01 -1.59583689e-04 1.34117916e+01] [ 2.13489285e-03 -3.72995170e-05 9.99997720e-01 -1.88057809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.961400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.17, Y:13.41, Z:-0.19 [[ 9.95700634e-01 -9.25983821e-02 -2.40563918e-03 2.49170014e+02] [ 9.25982162e-02 9.95703539e-01 -1.80484949e-04 1.34128216e+01] [ 2.41201606e-03 -4.30489189e-05 9.99997090e-01 -1.88920765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.99140051300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.20, Y:13.42, Z:-0.19 [[ 9.95664159e-01 -9.29961948e-02 -2.14229142e-03 2.49197346e+02] [ 9.29960633e-02 9.95666463e-01 -1.61109488e-04 1.34186001e+01] [ 2.14799029e-03 -3.88137255e-05 9.99997692e-01 -1.88565706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.021400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.23, Y:13.42, Z:-0.19 [[ 9.95598084e-01 -9.37025712e-02 -2.06950848e-03 2.49226287e+02] [ 9.37024493e-02 9.95600234e-01 -1.55994830e-04 1.34229820e+01] [ 2.07502024e-03 -3.86098598e-05 9.99997846e-01 -1.87398389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.05140051300003 meters Centerline goodness [0,1] 0.9999570225201995 Centerline is valid? [True, True] Translation: X:249.25, Y:13.42, Z:-0.19 [[ 9.95559793e-01 -9.40939099e-02 -2.65222074e-03 2.49253731e+02] [ 9.40937105e-02 9.95563325e-01 -2.00122383e-04 1.34245430e+01] [ 2.65928399e-03 -5.03234919e-05 9.99996463e-01 -1.88032316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.081400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.28, Y:13.43, Z:-0.19 [[ 9.95481622e-01 -9.48842711e-02 -3.64894715e-03 2.49282482e+02] [ 9.48838968e-02 9.95488307e-01 -2.75930675e-04 1.34291709e+01] [ 3.65866570e-03 -7.15424092e-05 9.99993305e-01 -1.89147840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.111400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.31, Y:13.43, Z:-0.19 [[ 9.95440979e-01 -9.52936391e-02 -4.04713096e-03 2.49310438e+02] [ 9.52931805e-02 9.95449203e-01 -3.06437504e-04 1.34308908e+01] [ 4.05791484e-03 -8.06235319e-05 9.99991763e-01 -1.90700060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.141400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.34, Y:13.44, Z:-0.19 [[ 9.95402855e-01 -9.56908039e-02 -4.05301783e-03 2.49337682e+02] [ 9.56903441e-02 9.95411103e-01 -3.07651930e-04 1.34393208e+01] [ 4.06385841e-03 -8.15970608e-05 9.99991739e-01 -1.90485708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.171400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.37, Y:13.44, Z:-0.19 [[ 9.95409078e-01 -9.56316917e-02 -3.91760471e-03 2.49365428e+02] [ 9.56312587e-02 9.95416784e-01 -2.98149894e-04 1.34439996e+01] [ 3.92816206e-03 -7.78643584e-05 9.99992282e-01 -1.89995559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.201400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.39, Y:13.45, Z:-0.19 [[ 9.95436896e-01 -9.53159370e-02 -4.50084246e-03 2.49392756e+02] [ 9.53153581e-02 9.95447068e-01 -3.43436098e-04 1.34479309e+01] [ 4.51308536e-03 -8.71304478e-05 9.99989812e-01 -1.90532738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.231400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.42, Y:13.45, Z:-0.19 [[ 9.95489208e-01 -9.47329032e-02 -5.18782892e-03 2.49420796e+02] [ 9.47321215e-02 9.95502721e-01 -3.96746305e-04 1.34533681e+01] [ 5.20208273e-03 -9.64973745e-05 9.99986464e-01 -1.91771867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.261400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.45, Y:13.46, Z:-0.19 [[ 9.95529358e-01 -9.42691012e-02 -5.88498668e-03 2.49447859e+02] [ 9.42680849e-02 9.95546747e-01 -4.50445791e-04 1.34596589e+01] [ 5.90124247e-03 -1.06334416e-04 9.99982582e-01 -1.93313110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.291400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.48, Y:13.47, Z:-0.19 [[ 9.95518147e-01 -9.43906167e-02 -5.83364008e-03 2.49475807e+02] [ 9.43896138e-02 9.95535233e-01 -4.47599628e-04 1.34659052e+01] [ 5.84984344e-03 -1.05041483e-04 9.99982884e-01 -1.93299014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.321400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.50, Y:13.47, Z:-0.19 [[ 9.95435768e-01 -9.53351942e-02 -4.33974345e-03 2.49504620e+02] [ 9.53346450e-02 9.95445224e-01 -3.33714831e-04 1.34728151e+01] [ 4.35179166e-03 -8.15362226e-05 9.99990528e-01 -1.89904571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.351400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.53, Y:13.48, Z:-0.19 [[ 9.95371130e-01 -9.60486174e-02 -3.31301572e-03 2.49532117e+02] [ 9.60483006e-02 9.95376642e-01 -2.54982578e-04 1.34756853e+01] [ 3.32218919e-03 -6.44072331e-05 9.99994479e-01 -1.88233925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.381400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.56, Y:13.48, Z:-0.19 [[ 9.95294587e-01 -9.68732796e-02 -2.06206860e-03 2.49560033e+02] [ 9.68731580e-02 9.95296723e-01 -1.59023605e-04 1.34837992e+01] [ 2.06777526e-03 -4.14837638e-05 9.99997861e-01 -1.86177675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.411400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.59, Y:13.49, Z:-0.19 [[ 9.95230897e-01 -9.75391731e-02 -1.25380426e-03 2.49587782e+02] [ 9.75391286e-02 9.95231686e-01 -9.67798879e-05 1.34878056e+01] [ 1.25726556e-03 -2.59766401e-05 9.99999209e-01 -1.86031903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.441400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.62, Y:13.49, Z:-0.19 [[ 9.95132671e-01 -9.85337991e-02 -1.43435252e-03 2.49615708e+02] [ 9.85337417e-02 9.95133704e-01 -1.10803961e-04 1.34942157e+01] [ 1.43829047e-03 -3.10674791e-05 9.99998965e-01 -1.86518967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.471400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.64, Y:13.50, Z:-0.19 [[ 9.94893962e-01 -1.00888579e-01 -2.73851191e-03 2.49642612e+02] [ 1.00888378e-01 9.94897729e-01 -2.11753918e-04 1.35005067e+01] [ 2.74590283e-03 -6.56113313e-05 9.99996228e-01 -1.88723569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.501400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.67, Y:13.51, Z:-0.19 [[ 9.94710628e-01 -1.02669562e-01 -3.11893537e-03 2.49670955e+02] [ 1.02669309e-01 9.94715514e-01 -2.41680772e-04 1.35072768e+01] [ 3.12726666e-03 -7.98165069e-05 9.99995107e-01 -1.88581241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.531400513 meters Centerline goodness [0,1] 0.999978708001533 Centerline is valid? [True, True] Translation: X:249.70, Y:13.51, Z:-0.19 [[ 9.94497770e-01 -1.04709596e-01 -3.17581134e-03 2.49698878e+02] [ 1.04709343e-01 9.94502837e-01 -2.46312267e-04 1.35090799e+01] [ 3.18414464e-03 -8.75801165e-05 9.99994927e-01 -1.87982826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.561400513 meters Centerline goodness [0,1] 0.9999787342633549 Centerline is valid? [True, True] Translation: X:249.73, Y:13.51, Z:-0.19 [[ 9.94285094e-01 -1.06719911e-01 -2.83055013e-03 2.49726839e+02] [ 1.06719717e-01 9.94289120e-01 -2.19703254e-04 1.35083877e+01] [ 2.83783191e-03 -8.36278392e-05 9.99995970e-01 -1.87385402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.591400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.76, Y:13.51, Z:-0.19 [[ 9.94070923e-01 -1.08715019e-01 -2.01094507e-03 2.49755756e+02] [ 1.08714926e-01 9.94072955e-01 -1.56182535e-04 1.35113740e+01] [ 2.01600550e-03 -6.33632276e-05 9.99997966e-01 -1.85747217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.621400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.78, Y:13.52, Z:-0.18 [[ 9.93700814e-01 -1.12058769e-01 -1.23489639e-03 2.49784321e+02] [ 1.12058736e-01 9.93701580e-01 -9.59525763e-05 1.35175862e+01] [ 1.23787082e-03 -4.30327759e-05 9.99999233e-01 -1.84428527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.651400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.81, Y:13.52, Z:-0.19 [[ 9.93568126e-01 -1.13223966e-01 -1.64691836e-03 2.49812060e+02] [ 1.13223909e-01 9.93569489e-01 -1.28062965e-04 1.35183853e+01] [ 1.65082763e-03 -5.92312542e-05 9.99998636e-01 -1.85351153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.681400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.84, Y:13.52, Z:-0.19 [[ 9.93466214e-01 -1.14097367e-01 -2.58325027e-03 2.49840534e+02] [ 1.14097229e-01 9.93469568e-01 -2.01292176e-04 1.35241951e+01] [ 2.58934743e-03 -9.47647203e-05 9.99996643e-01 -1.86568733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.711400513 meters Centerline goodness [0,1] 0.9999146338860789 Centerline is valid? [True, True] Translation: X:249.87, Y:13.53, Z:-0.19 [[ 9.93431054e-01 -1.14386543e-01 -3.23414051e-03 2.49868648e+02] [ 1.14386327e-01 9.93436311e-01 -2.52248806e-04 1.35252234e+01] [ 3.24176649e-03 -1.19349656e-04 9.99994738e-01 -1.87839172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.74140051300003 meters Centerline goodness [0,1] 0.9999784631288766 Centerline is valid? [True, True] Translation: X:249.90, Y:13.53, Z:-0.19 [[ 9.93394150e-01 -1.14703772e-01 -3.33275921e-03 2.49896148e+02] [ 1.14703543e-01 9.93399733e-01 -2.60540626e-04 1.35286881e+01] [ 3.34064710e-03 -1.23459755e-04 9.99994412e-01 -1.88629624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.771400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.92, Y:13.53, Z:-0.19 [[ 9.93467219e-01 -1.14078061e-01 -3.01336517e-03 2.49923844e+02] [ 1.14077870e-01 9.93471783e-01 -2.35779943e-04 1.35319186e+01] [ 3.02059059e-03 -1.09518636e-04 9.99995432e-01 -1.88952655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.80140051300003 meters Centerline goodness [0,1] 0.9999574359410913 Centerline is valid? [True, True] Translation: X:249.95, Y:13.53, Z:-0.19 [[ 9.93526623e-01 -1.13556645e-01 -3.12042024e-03 2.49951749e+02] [ 1.13556437e-01 9.93531517e-01 -2.44338725e-04 1.35316171e+01] [ 3.12798214e-03 -1.11586775e-04 9.99995102e-01 -1.90034579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.831400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.98, Y:13.54, Z:-0.19 [[ 9.93622061e-01 -1.12696368e-01 -3.83789791e-03 2.49980164e+02] [ 1.12696044e-01 9.93629464e-01 -3.01122625e-04 1.35385631e+01] [ 3.84738387e-03 -1.33313830e-04 9.99992590e-01 -1.91061968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.861400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.01, Y:13.55, Z:-0.19 [[ 9.93941230e-01 -1.09781977e-01 -5.36187491e-03 2.50009117e+02] [ 1.09781303e-01 9.93955677e-01 -4.20879158e-04 1.35485233e+01] [ 5.37567096e-03 -1.70304466e-04 9.99985536e-01 -1.92953939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.891400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.04, Y:13.55, Z:-0.19 [[ 9.94136656e-01 -1.07993663e-01 -5.44772391e-03 2.50036518e+02] [ 1.07992938e-01 9.94151569e-01 -4.27935975e-04 1.35524938e+01] [ 5.46207765e-03 -1.62888869e-04 9.99985069e-01 -1.93405776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.921400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.07, Y:13.56, Z:-0.19 [[ 9.94329104e-01 -1.06211235e-01 -5.36725245e-03 2.50065282e+02] [ 1.06210500e-01 9.94343578e-01 -4.22421884e-04 1.35607991e+01] [ 5.38175895e-03 -1.50032196e-04 9.99985507e-01 -1.92995647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.951400513 meters Centerline goodness [0,1] 0.9999786993844122 Centerline is valid? [True, True] Translation: X:250.09, Y:13.56, Z:-0.19 [[ 9.94502133e-01 -1.04599818e-01 -4.93815425e-03 2.50092819e+02] [ 1.04599175e-01 9.94514385e-01 -3.88965592e-04 1.35646079e+01] [ 4.95175116e-03 -1.29699750e-04 9.99987732e-01 -1.93095390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.981400513 meters Centerline goodness [0,1] 0.9998072805139187 Centerline is valid? [True, True] Translation: X:250.12, Y:13.58, Z:-0.19 [[ 9.94661047e-01 -1.03088762e-01 -4.70194929e-03 2.50119006e+02] [ 1.03083905e-01 9.94671860e-01 -1.26465430e-03 1.35753642e+01] [ 4.80726829e-03 7.73207078e-04 9.99988146e-01 -1.92888895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.011400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.15, Y:13.58, Z:-0.19 [[ 9.94765515e-01 -1.02052861e-01 -5.17528632e-03 2.50149086e+02] [ 1.02056621e-01 9.94778482e-01 4.67030586e-04 1.35810397e+01] [ 5.10060166e-03 -9.92758156e-04 9.99986499e-01 -1.93030426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.041400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.18, Y:13.59, Z:-0.19 [[ 9.94902419e-01 -1.00666811e-01 -5.94726089e-03 2.50176996e+02] [ 1.00665797e-01 9.94920186e-01 -4.70279169e-04 1.35888197e+01] [ 5.96439141e-03 -1.30803874e-04 9.99982204e-01 -1.94161591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.071400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.20, Y:13.59, Z:-0.19 [[ 9.94952637e-01 -1.00195970e-01 -5.47885742e-03 2.50204903e+02] [ 1.00195101e-01 9.94967715e-01 -4.33595800e-04 1.35923598e+01] [ 5.49473080e-03 -1.17547389e-04 9.99984897e-01 -1.93611997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.101400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.23, Y:13.60, Z:-0.19 [[ 9.94988350e-01 -9.98729004e-02 -4.85663137e-03 2.50232971e+02] [ 9.98722122e-02 9.95000198e-01 -3.84637534e-04 1.35955959e+01] [ 4.87076404e-03 -1.02332654e-04 9.99988133e-01 -1.92627494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.131400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.26, Y:13.60, Z:-0.19 [[ 9.94988711e-01 -9.98943508e-02 -4.31081851e-03 2.50260493e+02] [ 9.98938054e-02 9.94998045e-01 -3.42191643e-04 1.35999367e+01] [ 4.32343900e-03 -9.01472441e-05 9.99990650e-01 -1.91288447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.161400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.29, Y:13.60, Z:-0.19 [[ 9.94969735e-01 -1.00083184e-01 -4.31075350e-03 2.50287915e+02] [ 1.00082637e-01 9.94979069e-01 -3.43009602e-04 1.36023002e+01] [ 4.32343900e-03 -9.01474034e-05 9.99990650e-01 -1.91280617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.191400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.32, Y:13.61, Z:-0.19 [[ 9.95010581e-01 -9.97033412e-02 -3.63147786e-03 2.50315900e+02] [ 9.97029482e-02 9.95017205e-01 -2.89562994e-04 1.36086509e+01] [ 3.64225335e-03 -7.39508059e-05 9.99993364e-01 -1.89833179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.221400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.34, Y:13.62, Z:-0.19 [[ 9.95105754e-01 -9.87412764e-02 -3.83388490e-03 2.50344294e+02] [ 9.87408287e-02 9.95113137e-01 -3.06357977e-04 1.36163177e+01] [ 3.84539941e-03 -7.37023870e-05 9.99992604e-01 -1.89297741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.251400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.37, Y:13.62, Z:-0.19 [[ 9.95299416e-01 -9.67901601e-02 -3.27670706e-03 2.50371911e+02] [ 9.67898215e-02 9.95304808e-01 -2.62141896e-04 1.36217078e+01] [ 3.28669505e-03 -5.62422160e-05 9.99994597e-01 -1.88508913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.281400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.40, Y:13.63, Z:-0.19 [[ 9.95578916e-01 -9.38962316e-02 -2.47400528e-03 2.50400661e+02] [ 9.38960291e-02 9.95581989e-01 -1.98125493e-04 1.36293894e+01] [ 2.48167833e-03 -3.50497078e-05 9.99996920e-01 -1.87046533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.311400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.43, Y:13.64, Z:-0.19 [[ 9.95925895e-01 -9.01677269e-02 -1.18046365e-03 2.50429189e+02] [ 9.01676780e-02 9.95926594e-01 -9.46930413e-05 1.36380391e+01] [ 1.18419340e-03 -1.21324142e-05 9.99999299e-01 -1.85066285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.341400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.46, Y:13.65, Z:-0.18 [[ 9.96296032e-01 -8.59893262e-02 -2.27299396e-04 2.50456224e+02] [ 8.59893242e-02 9.96296058e-01 -1.82388500e-05 1.36460653e+01] [ 2.28025838e-04 -1.37402756e-06 9.99999974e-01 -1.84066868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.371400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.48, Y:13.66, Z:-0.18 [[ 9.96658895e-01 -8.16761524e-02 2.30648726e-04 2.50484399e+02] [ 8.16761503e-02 9.96658922e-01 1.86098620e-05 1.36556341e+01] [-2.31398093e-04 2.90815586e-07 9.99999973e-01 -1.83369251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.401400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.51, Y:13.67, Z:-0.18 [[ 9.97357050e-01 -7.26546266e-02 4.68264983e-04 2.50512238e+02] [ 7.26546168e-02 9.97357160e-01 3.78135561e-05 1.36737037e+01] [-4.69774764e-04 -3.69200389e-06 9.99999890e-01 -1.83421477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.431400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.54, Y:13.68, Z:-0.18 [[ 9.97636691e-01 -6.87091541e-02 -2.92057712e-04 2.50539333e+02] [ 6.87091501e-02 9.97636734e-01 -2.35549276e-05 1.36840359e+01] [ 2.92985941e-04 3.43222286e-06 9.99999957e-01 -1.84609791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.461400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.57, Y:13.69, Z:-0.19 [[ 9.98084677e-01 -6.18159072e-02 -2.40251629e-03 2.50568097e+02] [ 6.18156193e-02 9.98087567e-01 -1.93980157e-04 1.36948361e+01] [ 2.40991270e-03 4.50955899e-05 9.99997095e-01 -1.87377261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.49140051300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.60, Y:13.70, Z:-0.19 [[ 9.98247541e-01 -5.90938260e-02 -3.12519087e-03 2.50596765e+02] [ 5.90933252e-02 9.98252431e-01 -2.52443009e-04 1.37011936e+01] [ 3.13464720e-03 6.73226930e-05 9.99995085e-01 -1.87888688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.521400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.63, Y:13.71, Z:-0.19 [[ 9.98365862e-01 -5.70329520e-02 -3.58449794e-03 2.50625004e+02] [ 5.70322778e-02 9.98372293e-01 -2.90114177e-04 1.37057207e+01] [ 3.59520949e-03 8.52080087e-05 9.99993534e-01 -1.88600470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.55140051300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.65, Y:13.71, Z:-0.19 [[ 9.98459889e-01 -5.53699962e-02 -3.46619234e-03 2.50653034e+02] [ 5.53693545e-02 9.98465901e-01 -2.80874987e-04 1.37103703e+01] [ 3.47642690e-03 8.85215756e-05 9.99993953e-01 -1.89258260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.581400513 meters Centerline goodness [0,1] 0.9999787618137411 Centerline is valid? [True, True] Translation: X:250.68, Y:13.72, Z:-0.19 [[ 9.98522520e-01 -5.42426539e-02 -3.24205987e-03 2.50680499e+02] [ 5.42420860e-02 9.98527780e-01 -2.62913806e-04 1.37198185e+01] [ 3.25154799e-03 8.66692660e-05 9.99994710e-01 -1.89977306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.611400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.71, Y:13.72, Z:-0.19 [[ 9.98547214e-01 -5.37866306e-02 -3.23410719e-03 2.50709457e+02] [ 5.37860615e-02 9.98552448e-01 -2.62754234e-04 1.37190851e+01] [ 3.24355832e-03 8.84226205e-05 9.99994736e-01 -1.89924975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.641400513 meters Centerline goodness [0,1] 0.9999788632664708 Centerline is valid? [True, True] Translation: X:250.74, Y:13.72, Z:-0.19 [[ 9.98558133e-01 -5.35074620e-02 -4.31352233e-03 2.50738850e+02] [ 5.35064439e-02 9.98567442e-01 -3.51162027e-04 1.37186567e+01] [ 4.32613275e-03 1.19854458e-04 9.99990635e-01 -1.91535527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.671400513 meters Centerline goodness [0,1] 0.9999576378886724 Centerline is valid? [True, True] Translation: X:250.77, Y:13.72, Z:-0.19 [[ 9.98548010e-01 -5.36791436e-02 -4.51900996e-03 2.50766863e+02] [ 5.36780242e-02 9.98558228e-01 -3.68720583e-04 1.37209149e+01] [ 4.53228718e-03 1.25613678e-04 9.99989721e-01 -1.92352782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.701400513 meters Centerline goodness [0,1] 0.9999787717324389 Centerline is valid? [True, True] Translation: X:250.79, Y:13.72, Z:-0.19 [[ 9.98542620e-01 -5.38123858e-02 -4.10648675e-03 2.50794482e+02] [ 5.38114595e-02 9.98551057e-01 -3.35816804e-04 1.37219863e+01] [ 4.11860779e-03 1.14351346e-04 9.99991512e-01 -1.92289876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.731400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.82, Y:13.72, Z:-0.19 [[ 9.98548803e-01 -5.37616862e-02 -3.15731574e-03 2.50822401e+02] [ 5.37611365e-02 9.98553791e-01 -2.58783985e-04 1.37199177e+01] [ 3.16666226e-03 8.86675563e-05 9.99994982e-01 -1.90916988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.761400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.85, Y:13.72, Z:-0.19 [[ 9.98561574e-01 -5.35726138e-02 -2.18139440e-03 2.50850170e+02] [ 5.35723505e-02 9.98563954e-01 -1.79002160e-04 1.37218079e+01] [ 2.18785143e-03 6.18822540e-05 9.99997605e-01 -1.89524654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.791400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.88, Y:13.72, Z:-0.19 [[ 9.98564586e-01 -5.34965812e-02 -2.62370082e-03 2.50879374e+02] [ 5.34961990e-02 9.98568030e-01 -2.15701500e-04 1.37234486e+01] [ 2.63148305e-03 7.50338585e-05 9.99996535e-01 -1.90369931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.821400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.91, Y:13.72, Z:-0.19 [[ 9.98583243e-01 -5.31039717e-02 -3.38750237e-03 2.50908474e+02] [ 5.31033303e-02 9.98588984e-01 -2.79068714e-04 1.37228434e+01] [ 3.39754220e-03 9.87856848e-05 9.99994223e-01 -1.91133459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.851400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.94, Y:13.73, Z:-0.19 [[ 9.98643081e-01 -5.19283659e-02 -3.92953973e-03 2.50935567e+02] [ 5.19274926e-02 9.98650805e-01 -3.23991632e-04 1.37270183e+01] [ 3.94106237e-03 1.19500856e-04 9.99992227e-01 -1.91934277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.881400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.96, Y:13.73, Z:-0.19 [[ 9.98790252e-01 -4.91058913e-02 -2.57750920e-03 2.50964594e+02] [ 4.91055060e-02 9.98793574e-01 -2.12610014e-04 1.37277153e+01] [ 2.58484003e-03 8.57829161e-05 9.99996656e-01 -1.89335460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.911400513 meters Centerline goodness [0,1] 0.9999570999570999 Centerline is valid? [True, True] Translation: X:250.99, Y:13.73, Z:-0.19 [[ 9.98873462e-01 -4.74293205e-02 -1.50525166e-03 2.50992308e+02] [ 4.74291871e-02 9.98874595e-01 -1.24227033e-04 1.37347625e+01] [ 1.50944965e-03 5.26942240e-05 9.99998859e-01 -1.87320441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.941400513 meters Centerline goodness [0,1] 0.9999785177228786 Centerline is valid? [True, True] Translation: X:251.02, Y:13.74, Z:-0.19 [[ 9.98974755e-01 -4.52626334e-02 -8.55879513e-04 2.51021152e+02] [ 4.52625895e-02 9.98975121e-01 -7.06623769e-05 1.37402031e+01] [ 8.58200706e-04 3.18506076e-05 9.99999631e-01 -1.86494856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.971400513 meters Centerline goodness [0,1] 0.9999578468153268 Centerline is valid? [True, True] Translation: X:251.05, Y:13.75, Z:-0.19 [[ 9.99083915e-01 -4.27731927e-02 -1.33609877e-03 2.51048650e+02] [ 4.27730833e-02 9.99084807e-01 -1.10384716e-04 1.37489559e+01] [ 1.33959749e-03 5.31345307e-05 9.99999101e-01 -1.87384071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.001400513 meters Centerline goodness [0,1] 0.9998510923440193 Centerline is valid? [True, True] Translation: X:251.08, Y:13.76, Z:-0.19 [[ 9.99194936e-01 -4.00225828e-02 -2.77001202e-03 2.51078380e+02] [ 4.00221017e-02 9.99198769e-01 -2.28912156e-04 1.37555398e+01] [ 2.77695425e-03 1.17866164e-04 9.99996137e-01 -1.89736743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.031400513 meters Centerline goodness [0,1] 0.9991757022382854 Centerline is valid? [True, True] Translation: X:251.11, Y:13.77, Z:-0.19 [[ 9.99339995e-01 -3.60180193e-02 -4.71989133e-03 2.51106799e+02] [ 3.60165779e-02 9.99351116e-01 -3.90050193e-04 1.37717563e+01] [ 4.73087751e-03 2.19798424e-04 9.99988785e-01 -1.93096588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.061400513 meters Centerline goodness [0,1] 0.999615573542917 Centerline is valid? [True, True] Translation: X:251.14, Y:13.77, Z:-0.19 [[ 9.99366239e-01 -3.52027511e-02 -5.28075525e-03 2.51136126e+02] [ 3.52009313e-02 9.99380160e-01 -4.37188781e-04 1.37710624e+01] [ 5.29287227e-03 2.51024205e-04 9.99985961e-01 -1.92977253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.091400513 meters Centerline goodness [0,1] 0.999450177634918 Centerline is valid? [True, True] Translation: X:251.16, Y:13.77, Z:-0.19 [[ 9.99368892e-01 -3.50433089e-02 -5.81248952e-03 2.51164856e+02] [ 3.50410960e-02 9.99385756e-01 -4.82136480e-04 1.37746530e+01] [ 5.82581489e-03 2.78156196e-04 9.99982991e-01 -1.93440565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.121400513 meters Centerline goodness [0,1] 0.9997651980874317 Centerline is valid? [True, True] Translation: X:251.19, Y:13.77, Z:-0.19 [[ 9.99356792e-01 -3.52618648e-02 -6.52707728e-03 2.51192916e+02] [ 3.52590710e-02 9.99378058e-01 -5.42635839e-04 1.37733118e+01] [ 6.54215217e-03 3.12148130e-04 9.99978551e-01 -1.93676291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.151400513 meters Centerline goodness [0,1] 0.9996401507133483 Centerline is valid? [True, True] Translation: X:251.22, Y:13.78, Z:-0.19 [[ 9.99312535e-01 -3.65295440e-02 -6.32843374e-03 2.51220432e+02] [ 3.65269396e-02 9.99332530e-01 -5.26676526e-04 1.37813027e+01] [ 6.34344896e-03 2.95156137e-04 9.99979837e-01 -1.94265620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.181400513 meters Centerline goodness [0,1] 0.999702444208289 Centerline is valid? [True, True] Translation: X:251.25, Y:13.78, Z:-0.19 [[ 9.99283784e-01 -3.74168266e-02 -5.64801722e-03 2.51249551e+02] [ 3.74147612e-02 9.99299712e-01 -4.70942393e-04 1.37792990e+01] [ 5.66168315e-03 2.59285881e-04 9.99983939e-01 -1.93029322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.211400513 meters Centerline goodness [0,1] 0.9998514967011053 Centerline is valid? [True, True] Translation: X:251.28, Y:13.78, Z:-0.19 [[ 9.99264772e-01 -3.80312907e-02 -4.85149449e-03 2.51277382e+02] [ 3.80297725e-02 9.99276525e-01 -4.04830250e-04 1.37833934e+01] [ 4.86338077e-03 2.20031376e-04 9.99988149e-01 -1.91658785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.24140051300003 meters Centerline goodness [0,1] 0.9998506252400666 Centerline is valid? [True, True] Translation: X:251.31, Y:13.78, Z:-0.19 [[ 9.99238170e-01 -3.88244109e-02 -3.96801312e-03 2.51306562e+02] [ 3.88233991e-02 9.99246033e-01 -3.31728470e-04 1.37811785e+01] [ 3.97790053e-03 1.77423992e-04 9.99992072e-01 -1.89364199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.271400513 meters Centerline goodness [0,1] 0.9997228854024557 Centerline is valid? [True, True] Translation: X:251.33, Y:13.79, Z:-0.19 [[ 9.99218309e-01 -3.94016308e-02 -3.20675184e-03 2.51333622e+02] [ 3.94009723e-02 9.99223444e-01 -2.68295811e-04 1.37917845e+01] [ 3.21483291e-03 1.41736947e-04 9.99994822e-01 -1.88237220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.30140051300003 meters Centerline goodness [0,1] 0.9997674566095174 Centerline is valid? [True, True] Translation: X:251.36, Y:13.80, Z:-0.19 [[ 9.99201381e-01 -3.98848182e-02 -2.40876000e-03 2.51360992e+02] [ 3.98844477e-02 9.99204278e-01 -2.01660406e-04 1.37967652e+01] [ 2.41488648e-03 1.05427294e-04 9.99997079e-01 -1.87193709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.331400513 meters Centerline goodness [0,1] 0.9998930984349611 Centerline is valid? [True, True] Translation: X:251.39, Y:13.78, Z:-0.19 [[ 9.99106985e-01 -4.21586540e-02 -2.80726904e-03 2.51391999e+02] [ 4.21581596e-02 9.99110922e-01 -2.35101566e-04 1.37839949e+01] [ 2.81468472e-03 1.16542321e-04 9.99996032e-01 -1.87664461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.361400513 meters Centerline goodness [0,1] 0.9999363314162015 Centerline is valid? [True, True] Translation: X:251.42, Y:13.79, Z:-0.19 [[ 9.99007567e-01 -4.44397724e-02 -2.99781704e-03 2.51420779e+02] [ 4.44392186e-02 9.99012058e-01 -2.51130755e-04 1.37871857e+01] [ 3.00601556e-03 1.17660878e-04 9.99995475e-01 -1.88284862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.391400513 meters Centerline goodness [0,1] 0.9999785715816316 Centerline is valid? [True, True] Translation: X:251.45, Y:13.78, Z:-0.19 [[ 9.98868848e-01 -4.74836542e-02 -2.51528006e-03 2.51450940e+02] [ 4.74832738e-02 9.98872011e-01 -2.10765045e-04 1.37819015e+01] [ 2.52245075e-03 9.10929054e-05 9.99996814e-01 -1.87558439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.421400513 meters Centerline goodness [0,1] 0.9999787816418766 Centerline is valid? [True, True] Translation: X:251.48, Y:13.78, Z:-0.19 [[ 9.98688841e-01 -5.11679204e-02 -1.56284533e-03 2.51480273e+02] [ 5.11677780e-02 9.98690063e-01 -1.30990255e-04 1.37792793e+01] [ 1.56750060e-03 5.08511835e-05 9.99998770e-01 -1.85989290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.451400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.51, Y:13.77, Z:-0.18 [[ 9.98471399e-01 -5.52679628e-02 -5.63496474e-04 2.51510547e+02] [ 5.52679450e-02 9.98471558e-01 -4.72391529e-05 1.37730002e+01] [ 5.65246014e-04 1.60236510e-05 9.99999840e-01 -1.84290987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.481400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.54, Y:13.76, Z:-0.18 [[ 9.97971394e-01 -6.36633203e-02 2.79905450e-04 2.51542413e+02] [ 6.36633162e-02 9.97971433e-01 2.34699517e-05 1.37604848e+01] [-2.80831818e-04 -5.60263124e-06 9.99999961e-01 -1.83371985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.511400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.57, Y:13.76, Z:-0.18 [[ 9.97717730e-01 -6.75228085e-02 4.20418521e-05 2.51571129e+02] [ 6.75228084e-02 9.97717731e-01 3.54052218e-06 1.37574063e+01] [-4.21849673e-05 -6.93657825e-07 9.99999999e-01 -1.84251658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.541400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.60, Y:13.75, Z:-0.18 [[ 9.97479081e-01 -7.09604595e-02 -3.10888984e-04 2.51600804e+02] [ 7.09604548e-02 9.97479129e-01 -2.60864448e-05 1.37510576e+01] [ 3.11956379e-04 3.95985930e-06 9.99999951e-01 -1.84950394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.571400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.63, Y:13.74, Z:-0.18 [[ 9.97163444e-01 -7.52666186e-02 3.72327129e-05 2.51629294e+02] [ 7.52666185e-02 9.97163445e-01 3.14883081e-06 1.37433537e+01] [-3.73641021e-05 -3.37518578e-07 9.99999999e-01 -1.84157995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.601400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.66, Y:13.74, Z:-0.18 [[ 9.97053888e-01 -7.67040953e-02 1.58902339e-04 2.51658049e+02] [ 7.67040941e-02 9.97053901e-01 1.34407976e-05 1.37411885e+01] [-1.59465161e-04 -1.21273954e-06 9.99999987e-01 -1.83845928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.631400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.69, Y:13.74, Z:-0.18 [[ 9.96986760e-01 -7.75714529e-02 -2.63132392e-04 2.51686501e+02] [ 7.75714497e-02 9.96986795e-01 -2.21750000e-05 1.37411742e+01] [ 2.64059667e-04 1.69662023e-06 9.99999965e-01 -1.83911035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.661400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.71, Y:13.74, Z:-0.19 [[ 9.96948496e-01 -7.80513427e-02 -1.29803375e-03 2.51714663e+02] [ 7.80512658e-02 9.96949341e-01 -1.09837310e-04 1.37417847e+01] [ 1.30264684e-03 8.18896381e-06 9.99999152e-01 -1.85319284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.691400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.74, Y:13.74, Z:-0.19 [[ 9.96961429e-01 -7.78568205e-02 -2.49489330e-03 2.51742606e+02] [ 7.78565354e-02 9.96964551e-01 -2.11350597e-04 1.37433168e+01] [ 2.50377527e-03 1.64646450e-05 9.99996865e-01 -1.87218639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.721400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.77, Y:13.74, Z:-0.19 [[ 9.96999094e-01 -7.73272040e-02 -3.64830046e-03 2.51771336e+02] [ 7.73265886e-02 9.97005769e-01 -3.09660302e-04 1.37419392e+01] [ 3.66132177e-03 2.66204120e-05 9.99993297e-01 -1.88184013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.751400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.80, Y:13.74, Z:-0.19 [[ 9.97001349e-01 -7.73198616e-02 -3.15414599e-03 2.51798469e+02] [ 7.73194006e-02 9.97006338e-01 -2.68003838e-04 1.37432262e+01] [ 3.16542556e-03 2.33235112e-05 9.99994990e-01 -1.87670057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.781400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.83, Y:13.74, Z:-0.19 [[ 9.96973380e-01 -7.77016435e-02 -2.55637938e-03 2.51826437e+02] [ 7.77013408e-02 9.96976657e-01 -2.17671026e-04 1.37439576e+01] [ 2.56556396e-03 1.83781128e-05 9.99996709e-01 -1.86626213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.811400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.85, Y:13.75, Z:-0.19 [[ 9.96936094e-01 -7.81811382e-02 -2.47672034e-03 2.51853377e+02] [ 7.81808550e-02 9.96939170e-01 -2.11125475e-04 1.37450932e+01] [ 2.48564555e-03 1.68464929e-05 9.99996911e-01 -1.86687670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.841400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.88, Y:13.75, Z:-0.19 [[ 9.96870222e-01 -7.89946326e-02 -3.09962509e-03 2.51881789e+02] [ 7.89941911e-02 9.96875041e-01 -2.64782882e-04 1.37464143e+01] [ 3.11085532e-03 1.91017937e-05 9.99995161e-01 -1.87514012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.871400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.91, Y:13.75, Z:-0.19 [[ 9.96794468e-01 -7.99040679e-02 -4.01607705e-03 2.51908791e+02] [ 7.99033326e-02 9.96802558e-01 -3.43443725e-04 1.37481674e+01] [ 4.03067843e-03 2.14448651e-05 9.99991877e-01 -1.89234399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.901400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.94, Y:13.75, Z:-0.19 [[ 9.96593239e-01 -8.23289583e-02 -4.88448480e-03 2.51936626e+02] [ 8.23278955e-02 9.96605209e-01 -4.18607782e-04 1.37488535e+01] [ 4.90236654e-03 1.50523314e-05 9.99987983e-01 -1.90830407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.931400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.96, Y:13.75, Z:-0.19 [[ 9.96451220e-01 -8.40658047e-02 -4.23164855e-03 2.51964315e+02] [ 8.40650215e-02 9.96460205e-01 -3.62938109e-04 1.37496651e+01] [ 4.24718006e-03 5.91649589e-06 9.99990981e-01 -1.90110038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.961400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.99, Y:13.75, Z:-0.19 [[ 9.96224332e-01 -8.67604189e-02 -3.11614602e-03 2.51992528e+02] [ 8.67600057e-02 9.96229205e-01 -2.67808463e-04 1.37488523e+01] [ 3.12763085e-03 -3.55953974e-06 9.99995109e-01 -1.87493957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.99140051300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.02, Y:13.74, Z:-0.19 [[ 9.95617276e-01 -9.35056249e-02 -1.71415661e-03 2.52021614e+02] [ 9.35055096e-02 9.95618751e-01 -1.47473052e-04 1.37412024e+01] [ 1.72043602e-03 -1.34563690e-05 9.99998520e-01 -1.85529582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.021400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.05, Y:13.74, Z:-0.19 [[ 9.95599848e-01 -9.36910033e-02 -1.71413155e-03 2.52049017e+02] [ 9.36908878e-02 9.95601324e-01 -1.47764061e-04 1.37437398e+01] [ 1.72043580e-03 -1.34846298e-05 9.99998520e-01 -1.85521748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.05140051300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.08, Y:13.74, Z:-0.19 [[ 9.95231674e-01 -9.75119214e-02 -2.31084919e-03 2.52077147e+02] [ 9.75117211e-02 9.95234357e-01 -1.99452467e-04 1.37382929e+01] [ 2.31928550e-03 -2.68334691e-05 9.99997310e-01 -1.87390302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.081400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.11, Y:13.74, Z:-0.19 [[ 9.94814241e-01 -1.01650097e-01 -3.44714025e-03 2.52106573e+02] [ 1.01649675e-01 9.94820212e-01 -2.98087061e-04 1.37366301e+01] [ 3.45958538e-03 -5.38594316e-05 9.99994014e-01 -1.89647373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.111400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.14, Y:13.73, Z:-0.19 [[ 9.94393016e-01 -1.05667683e-01 -4.10726028e-03 2.52135337e+02] [ 1.05667116e-01 9.94401496e-01 -3.55406146e-04 1.37318146e+01] [ 4.12182070e-03 -8.05889584e-05 9.99991502e-01 -1.91724154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.141400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.17, Y:13.73, Z:-0.19 [[ 9.93994027e-01 -1.09347769e-01 -4.35186536e-03 2.52165517e+02] [ 1.09347167e-01 9.94003549e-01 -3.76683878e-04 1.37284522e+01] [ 4.36695915e-03 -1.01442624e-04 9.99990460e-01 -1.92111245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.171400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.20, Y:13.72, Z:-0.19 [[ 9.93456475e-01 -1.14152960e-01 -3.65164296e-03 2.52195699e+02] [ 1.14152568e-01 9.93463181e-01 -3.16161099e-04 1.37196519e+01] [ 3.66386355e-03 -1.02752131e-04 9.99993283e-01 -1.91079803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.201400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.22, Y:13.72, Z:-0.19 [[ 9.93349882e-01 -1.15074567e-01 -3.72243197e-03 2.52224198e+02] [ 1.15074164e-01 9.93356851e-01 -3.22868631e-04 1.37202412e+01] [ 3.73485726e-03 -1.07634231e-04 9.99993020e-01 -1.90464171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.231400513 meters Centerline goodness [0,1] 0.999978795139846 Centerline is valid? [True, True] Translation: X:252.25, Y:13.72, Z:-0.19 [[ 9.93329866e-01 -1.15236902e-01 -4.02920362e-03 2.52252388e+02] [ 1.15236429e-01 9.93338030e-01 -3.50245667e-04 1.37223339e+01] [ 4.04272242e-03 -1.16401556e-04 9.99991821e-01 -1.90219162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.261400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.28, Y:13.73, Z:-0.19 [[ 9.93387027e-01 -1.14721003e-01 -4.61579948e-03 2.52281335e+02] [ 1.14720373e-01 9.93397742e-01 -4.02041144e-04 1.37264814e+01] [ 4.63144735e-03 -1.30143780e-04 9.99989266e-01 -1.90646744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.291400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.31, Y:13.73, Z:-0.19 [[ 9.93607394e-01 -1.12827840e-01 -3.77174700e-03 2.52309556e+02] [ 1.12827404e-01 9.93614547e-01 -3.28732198e-04 1.37294165e+01] [ 3.78475284e-03 -9.89256822e-05 9.99992833e-01 -1.89557614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.321400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.34, Y:13.73, Z:-0.19 [[ 9.93707586e-01 -1.11979888e-01 -2.39534018e-03 2.52337536e+02] [ 1.11979709e-01 9.93710471e-01 -2.09125487e-04 1.37343511e+01] [ 2.40369247e-03 -6.04199135e-05 9.99997109e-01 -1.87009886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.351400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.37, Y:13.74, Z:-0.18 [[ 9.93777525e-01 -1.11376299e-01 -1.24499438e-03 2.52365760e+02] [ 1.11376250e-01 9.93778305e-01 -1.08883910e-04 1.37429480e+01] [ 1.24937549e-03 -3.04564225e-05 9.99999219e-01 -1.84874754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.381400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.39, Y:13.74, Z:-0.18 [[ 9.93803643e-01 -1.11147544e-01 -7.37289757e-04 2.52393239e+02] [ 1.11147527e-01 9.93803916e-01 -6.45379314e-05 1.37447976e+01] [ 7.39894680e-04 -1.78099016e-05 9.99999726e-01 -1.84403357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.411400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.42, Y:13.75, Z:-0.19 [[ 9.93777713e-01 -1.11376595e-01 -1.05379113e-03 2.52421485e+02] [ 1.11376560e-01 9.93778272e-01 -9.24117892e-05 1.37486194e+01] [ 1.05752724e-03 -2.55308537e-05 9.99999440e-01 -1.85086541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.441400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.45, Y:13.75, Z:-0.19 [[ 9.93610391e-01 -1.12831635e-01 -2.72275215e-03 2.52450014e+02] [ 1.12831402e-01 9.93614119e-01 -2.39314233e-04 1.37534204e+01] [ 2.73236720e-03 -6.94268347e-05 9.99996265e-01 -1.87380770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.471400513 meters Centerline goodness [0,1] 0.9999785131070047 Centerline is valid? [True, True] Translation: X:252.48, Y:13.76, Z:-0.19 [[ 9.93455822e-01 -1.14167120e-01 -3.37613213e-03 2.52478277e+02] [ 1.14166770e-01 9.93461555e-01 -2.96984924e-04 1.37567949e+01] [ 3.38796339e-03 -9.04006981e-05 9.99994257e-01 -1.88162529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.501400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.51, Y:13.76, Z:-0.19 [[ 9.93294071e-01 -1.15566451e-01 -3.35927053e-03 2.52506237e+02] [ 1.15566112e-01 9.93299746e-01 -2.95699984e-04 1.37592001e+01] [ 3.37093556e-03 -9.45007927e-05 9.99994314e-01 -1.88006915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.531400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.54, Y:13.76, Z:-0.19 [[ 9.93054186e-01 -1.17617827e-01 -3.07096472e-03 2.52535293e+02] [ 1.17617552e-01 9.93058930e-01 -2.70794869e-04 1.37619266e+01] [ 3.08149924e-03 -9.22853739e-05 9.99995248e-01 -1.87913318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.561400513 meters Centerline goodness [0,1] 0.9999575587810882 Centerline is valid? [True, True] Translation: X:252.56, Y:13.77, Z:-0.19 [[ 9.92590146e-01 -1.21480113e-01 -2.71732485e-03 2.52564879e+02] [ 1.21479912e-01 9.92593861e-01 -2.39681535e-04 1.37654040e+01] [ 2.72631651e-03 -9.21948530e-05 9.99996279e-01 -1.87346074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.591400513 meters Centerline goodness [0,1] 0.9999787111745045 Centerline is valid? [True, True] Translation: X:252.59, Y:13.77, Z:-0.19 [[ 9.92410021e-01 -1.22944101e-01 -2.66420752e-03 2.52592248e+02] [ 1.22943912e-01 9.92413593e-01 -2.35169433e-04 1.37669347e+01] [ 2.67290845e-03 -9.41635922e-05 9.99996423e-01 -1.87261484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.621400513 meters Centerline goodness [0,1] 0.9999787563996346 Centerline is valid? [True, True] Translation: X:252.62, Y:13.77, Z:-0.19 [[ 9.92311367e-01 -1.23748487e-01 -2.11241459e-03 2.52620248e+02] [ 1.23748370e-01 9.92313613e-01 -1.86781805e-04 1.37732236e+01] [ 2.11929172e-03 -7.60621544e-05 9.99997751e-01 -1.86334691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.651400513 meters Centerline goodness [0,1] 0.999936565665109 Centerline is valid? [True, True] Translation: X:252.65, Y:13.78, Z:-0.19 [[ 9.92341294e-01 -1.23515765e-01 -1.61616217e-03 2.52647474e+02] [ 1.23515696e-01 9.92342608e-01 -1.43017044e-04 1.37763311e+01] [ 1.62145145e-03 -5.76996766e-05 9.99998684e-01 -1.85862475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.681400513 meters Centerline goodness [0,1] 0.9999145901394316 Centerline is valid? [True, True] Translation: X:252.67, Y:13.79, Z:-0.19 [[ 9.92553748e-01 -1.21786881e-01 -2.23896091e-03 2.52674814e+02] [ 1.21786743e-01 9.92556270e-01 -1.98244838e-04 1.37913965e+01] [ 2.24643831e-03 -7.59071008e-05 9.99997474e-01 -1.87345583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.711400513 meters Centerline goodness [0,1] 0.9999142035948694 Centerline is valid? [True, True] Translation: X:252.70, Y:13.80, Z:-0.19 [[ 9.92711600e-01 -1.20478293e-01 -2.94283575e-03 2.52702041e+02] [ 1.20478049e-01 9.92715957e-01 -2.60741802e-04 1.37989601e+01] [ 2.95281374e-03 -9.57056995e-05 9.99995636e-01 -1.88691280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.74140051300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.73, Y:13.81, Z:-0.19 [[ 9.92913249e-01 -1.18795035e-01 -3.31946140e-03 2.52730155e+02] [ 1.18794715e-01 9.92918793e-01 -2.94275322e-04 1.38106888e+01] [ 3.33091405e-03 -1.02144602e-04 9.99994447e-01 -1.89074796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.771400513 meters Centerline goodness [0,1] 0.999850663480821 Centerline is valid? [True, True] Translation: X:252.76, Y:13.82, Z:-0.19 [[ 9.93084734e-01 -1.17344789e-01 -3.59323627e-03 2.52757935e+02] [ 1.17344402e-01 9.93091229e-01 -3.19121110e-04 1.38208826e+01] [ 3.60585863e-03 -1.04731858e-04 9.99993493e-01 -1.88579893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.801400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.79, Y:13.83, Z:-0.19 [[ 9.93233926e-01 -1.16080060e-01 -3.43323902e-03 2.52786310e+02] [ 1.16079697e-01 9.93239856e-01 -3.05500112e-04 1.38304156e+01] [ 3.44549230e-03 -9.50962693e-05 9.99994060e-01 -1.88106623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.831400513 meters Centerline goodness [0,1] 0.9998923434674016 Centerline is valid? [True, True] Translation: X:252.81, Y:13.84, Z:-0.19 [[ 9.93291152e-01 -1.15581620e-01 -3.68453264e-03 2.52814877e+02] [ 1.15581196e-01 9.93297981e-01 -3.28503506e-04 1.38377414e+01] [ 3.69780780e-03 -9.95630635e-05 9.99993158e-01 -1.88150351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.861400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.84, Y:13.84, Z:-0.19 [[ 9.93229890e-01 -1.16095847e-01 -4.01741995e-03 2.52842546e+02] [ 1.16095346e-01 9.93238009e-01 -3.58466020e-04 1.38393842e+01] [ 4.03187061e-03 -1.10364593e-04 9.99991866e-01 -1.89361049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.891400513 meters Centerline goodness [0,1] 0.9999788927116533 Centerline is valid? [True, True] Translation: X:252.87, Y:13.84, Z:-0.19 [[ 9.93094908e-01 -1.17205734e-01 -5.03177103e-03 2.52870866e+02] [ 1.17204958e-01 9.93107645e-01 -4.49762436e-04 1.38436124e+01] [ 5.04980501e-03 -1.43091728e-04 9.99987239e-01 -1.90721075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.921400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.90, Y:13.85, Z:-0.19 [[ 9.92990087e-01 -1.18035684e-01 -6.18580982e-03 2.52898860e+02] [ 1.18034522e-01 9.93009338e-01 -5.53951104e-04 1.38503150e+01] [ 6.20795291e-03 -1.80071149e-04 9.99980714e-01 -1.91923635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.951400513 meters Centerline goodness [0,1] 0.9999786429746065 Centerline is valid? [True, True] Translation: X:252.93, Y:13.86, Z:-0.19 [[ 9.92960713e-01 -1.18265365e-01 -6.50585126e-03 2.52926133e+02] [ 1.18264081e-01 9.92982008e-01 -5.83026877e-04 1.38558228e+01] [ 6.52914513e-03 -1.90485736e-04 9.99978667e-01 -1.92896323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.981400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.95, Y:13.86, Z:-0.19 [[ 9.93037932e-01 -1.17669552e-01 -5.43524383e-03 2.52954137e+02] [ 1.17668642e-01 9.93052794e-01 -4.87931968e-04 1.38602851e+01] [ 5.45489881e-03 -1.55022808e-04 9.99985110e-01 -1.91057548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.011400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.98, Y:13.87, Z:-0.19 [[ 9.93193508e-01 -1.16402820e-01 -4.12796763e-03 2.52983032e+02] [ 1.16402282e-01 9.93202080e-01 -3.71196060e-04 1.38675027e+01] [ 4.14311430e-03 -1.11835335e-04 9.99991411e-01 -1.88543544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.041400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.01, Y:13.87, Z:-0.19 [[ 9.93455593e-01 -1.14164321e-01 -3.53435689e-03 2.53011393e+02] [ 1.14163912e-01 9.93461877e-01 -3.18010228e-04 1.38749047e+01] [ 3.54755425e-03 -8.75669694e-05 9.99993704e-01 -1.86836757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.071400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.04, Y:13.88, Z:-0.19 [[ 9.93793869e-01 -1.11167158e-01 -3.95093251e-03 2.53039835e+02] [ 1.11166622e-01 9.93801718e-01 -3.55683968e-04 1.38818091e+01] [ 3.96598390e-03 -8.57352745e-05 9.99992132e-01 -1.86662593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.101400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.07, Y:13.89, Z:-0.19 [[ 9.94635333e-01 -1.03339498e-01 -4.63707421e-03 2.53068140e+02] [ 1.03338674e-01 9.94646140e-01 -4.17522203e-04 1.38948989e+01] [ 4.65539449e-03 -6.39067641e-05 9.99989162e-01 -1.87603089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.131400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.10, Y:13.91, Z:-0.19 [[ 9.95099642e-01 -9.88064102e-02 -3.74118195e-03 2.53096704e+02] [ 9.88058400e-02 9.95106674e-01 -3.37387351e-04 1.39053905e+01] [ 3.75621116e-03 -3.39165931e-05 9.99992945e-01 -1.86096146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.161400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.12, Y:13.92, Z:-0.18 [[ 9.95581366e-01 -9.38788702e-02 -2.12142492e-03 2.53123278e+02] [ 9.38786754e-02 9.95583627e-01 -1.91445896e-04 1.39162347e+01] [ 2.13002864e-03 -8.55659508e-06 9.99997731e-01 -1.83637994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.191400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.15, Y:13.93, Z:-0.18 [[ 9.96069112e-01 -8.85790793e-02 -2.67921624e-04 2.53151396e+02] [ 8.85790760e-02 9.96069148e-01 -2.41778684e-05 1.39279573e+01] [ 2.69010117e-04 3.50577999e-07 9.99999964e-01 -1.80285624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.221400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.18, Y:13.94, Z:-0.18 [[ 9.96519187e-01 -8.33587193e-02 9.12707470e-04 2.53179162e+02] [ 8.33586785e-02 9.96519605e-01 8.27221133e-05 1.39385676e+01] [-9.16426497e-04 -6.35208461e-06 9.99999580e-01 -1.78378317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.251400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.21, Y:13.96, Z:-0.18 [[ 9.97324203e-01 -7.30945603e-02 1.27268932e-03 2.53206709e+02] [ 7.30944727e-02 9.97325015e-01 1.15292255e-04 1.39599786e+01] [-1.27771213e-03 -2.19572020e-05 9.99999183e-01 -1.78388418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.281400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.24, Y:13.97, Z:-0.18 [[ 9.97618589e-01 -6.89685460e-02 6.99880946e-04 2.53235136e+02] [ 6.89685185e-02 9.97618835e-01 6.34348147e-05 1.39679625e+01] [-7.02589421e-04 -1.50139984e-05 9.99999753e-01 -1.80475640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.311400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.26, Y:13.97, Z:-0.18 [[ 9.97815986e-01 -6.60548094e-02 1.45066877e-04 2.53263782e+02] [ 6.60548082e-02 9.97815996e-01 1.31615557e-05 1.39742455e+01] [-1.45619434e-04 -3.55044595e-06 9.99999989e-01 -1.81879660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.341400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.29, Y:13.98, Z:-0.18 [[ 9.97924274e-01 -6.43969395e-02 -4.21155035e-04 2.53291070e+02] [ 6.43969291e-02 9.97924363e-01 -3.81934897e-05 1.39825579e+01] [ 4.22740413e-04 1.09931196e-05 9.99999911e-01 -1.82926214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.371400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.32, Y:13.99, Z:-0.19 [[ 9.98012253e-01 -6.29899330e-02 -1.95218213e-03 2.53319248e+02] [ 6.29897064e-02 9.98014161e-01 -1.77424706e-04 1.39884105e+01] [ 1.95948138e-03 5.41046518e-05 9.99998079e-01 -1.85278197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.401400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.35, Y:13.99, Z:-0.19 [[ 9.97999956e-01 -6.31472288e-02 -2.91824207e-03 2.53345815e+02] [ 6.31467222e-02 9.98004219e-01 -2.65504154e-04 1.39914637e+01] [ 2.92918374e-03 8.06957125e-05 9.99995707e-01 -1.87592795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.431400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.37, Y:13.99, Z:-0.19 [[ 9.97957766e-01 -6.37794204e-02 -3.53316290e-03 2.53374715e+02] [ 6.37786798e-02 9.97964016e-01 -3.22016182e-04 1.39892517e+01] [ 3.54650745e-03 9.60180843e-05 9.99993707e-01 -1.88212893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.461400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.40, Y:13.99, Z:-0.19 [[ 9.97922300e-01 -6.43334256e-02 -3.50628481e-03 2.53402053e+02] [ 6.43326988e-02 9.97928455e-01 -3.19803013e-04 1.39913075e+01] [ 3.51959540e-03 9.35697940e-05 9.99993802e-01 -1.88238709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.49140051300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.43, Y:13.99, Z:-0.19 [[ 9.97907801e-01 -6.45680633e-02 -3.31463168e-03 2.53429978e+02] [ 6.45674131e-02 9.97913302e-01 -3.02902278e-04 1.39934163e+01] [ 3.32727286e-03 8.82513527e-05 9.99994461e-01 -1.87812322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.521400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.46, Y:14.00, Z:-0.19 [[ 9.98017880e-01 -6.28126519e-02 -3.85768050e-03 2.53458504e+02] [ 6.28117555e-02 9.98025330e-01 -3.53195288e-04 1.39959087e+01] [ 3.87224798e-03 1.10187528e-04 9.99992497e-01 -1.88530192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.551400513 meters Centerline goodness [0,1] 0.9999788005342265 Centerline is valid? [True, True] Translation: X:253.49, Y:14.01, Z:-0.19 [[ 9.98151116e-01 -6.05963240e-02 -4.73665251e-03 2.53485678e+02] [ 6.05949464e-02 9.98162344e-01 -4.33943942e-04 1.40077319e+01] [ 4.75424358e-03 1.46124425e-04 9.99988688e-01 -1.90844833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.581400513 meters Centerline goodness [0,1] 0.9999363314162015 Centerline is valid? [True, True] Translation: X:253.51, Y:14.01, Z:-0.19 [[ 9.98315541e-01 -5.77500529e-02 -5.56878828e-03 2.53514441e+02] [ 5.77481034e-02 9.98331055e-01 -5.10380226e-04 1.40127579e+01] [ 5.58896877e-03 1.87933550e-04 9.99984364e-01 -1.91729750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.611400513 meters Centerline goodness [0,1] 0.9998076676496986 Centerline is valid? [True, True] Translation: X:253.54, Y:14.02, Z:-0.19 [[ 9.98615777e-01 -5.21962308e-02 -6.48721342e-03 2.53544413e+02] [ 5.21934680e-02 9.98636815e-01 -5.94565631e-04 1.40242653e+01] [ 6.50940424e-03 2.55152453e-04 9.99978781e-01 -1.92520625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.641400513 meters Centerline goodness [0,1] 0.9997029618942544 Centerline is valid? [True, True] Translation: X:253.57, Y:14.04, Z:-0.19 [[ 9.98732816e-01 -4.99511538e-02 -6.13543160e-03 2.53571861e+02] [ 4.99486389e-02 9.98751629e-01 -5.62525920e-04 1.40387318e+01] [ 6.15587112e-03 2.55356638e-04 9.99981020e-01 -1.92859430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.671400513 meters Centerline goodness [0,1] 0.9997859222469601 Centerline is valid? [True, True] Translation: X:253.60, Y:14.03, Z:-0.19 [[ 9.98807218e-01 -4.85086744e-02 -5.57227184e-03 2.53602428e+02] [ 4.85065769e-02 9.98822732e-01 -5.11026357e-04 1.40316004e+01] [ 5.59050100e-03 2.40124981e-04 9.99984344e-01 -1.89821110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.701400513 meters Centerline goodness [0,1] 0.9999358110276655 Centerline is valid? [True, True] Translation: X:253.63, Y:14.03, Z:-0.19 [[ 9.98834806e-01 -4.80387941e-02 -4.61571417e-03 2.53630840e+02] [ 4.80373466e-02 9.98845450e-01 -4.24023473e-04 1.40342630e+01] [ 4.63075468e-03 2.01802741e-04 9.99989258e-01 -1.88372604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.731400513 meters Centerline goodness [0,1] 0.9997657281594753 Centerline is valid? [True, True] Translation: X:253.66, Y:14.04, Z:-0.19 [[ 9.98842864e-01 -4.79816962e-02 -3.26965745e-03 2.53657802e+02] [ 4.79809686e-02 9.98848205e-01 -3.00646037e-04 1.40396323e+01] [ 3.28031699e-03 1.43416817e-04 9.99994609e-01 -1.86878316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.761400513 meters Centerline goodness [0,1] 0.9998725898241739 Centerline is valid? [True, True] Translation: X:253.69, Y:14.04, Z:-0.18 [[ 9.98875629e-01 -4.74018781e-02 -7.34474816e-04 2.53686223e+02] [ 4.74018412e-02 9.98875899e-01 -6.75665059e-05 1.40394620e+01] [ 7.36851971e-04 3.26750775e-05 9.99999728e-01 -1.83797675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.791400513 meters Centerline goodness [0,1] 0.9998728463347956 Centerline is valid? [True, True] Translation: X:253.71, Y:14.04, Z:-0.18 [[ 9.98932282e-01 -4.61978967e-02 -2.23189590e-04 2.53714463e+02] [ 4.61978932e-02 9.98932307e-01 -2.05340484e-05 1.40447027e+01] [ 2.23899922e-04 1.02012350e-05 9.99999975e-01 -1.83404609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.821400513 meters Centerline goodness [0,1] 0.9997877668831444 Centerline is valid? [True, True] Translation: X:253.74, Y:14.05, Z:-0.18 [[ 9.99023171e-01 -4.41867809e-02 -4.81226057e-04 2.53743563e+02] [ 4.41867647e-02 9.99023287e-01 -4.43093398e-05 1.40483426e+01] [ 4.82713925e-04 2.30022346e-05 9.99999883e-01 -1.83393817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.851400513 meters Centerline goodness [0,1] 0.9998922738828802 Centerline is valid? [True, True] Translation: X:253.77, Y:14.05, Z:-0.18 [[ 9.99135269e-01 -4.15686677e-02 -8.72040092e-04 2.53773999e+02] [ 4.15686134e-02 9.99135648e-01 -8.03116846e-05 1.40495798e+01] [ 8.74624793e-04 4.39927391e-05 9.99999617e-01 -1.83689684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.881400513 meters Centerline goodness [0,1] 0.9995785658596202 Centerline is valid? [True, True] Translation: X:253.80, Y:14.06, Z:-0.18 [[ 9.99252093e-01 -3.86463727e-02 -1.30857252e-03 2.53801757e+02] [ 3.86462479e-02 9.99252947e-01 -1.20527503e-04 1.40620619e+01] [ 1.31225290e-03 6.98659412e-05 9.99999137e-01 -1.84603602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.911400513 meters Centerline goodness [0,1] 0.9997861282802575 Centerline is valid? [True, True] Translation: X:253.83, Y:14.06, Z:-0.19 [[ 9.99456512e-01 -3.27655480e-02 -3.61933401e-03 2.53832023e+02] [ 3.27645548e-02 9.99463042e-01 -3.33393375e-04 1.40622021e+01] [ 3.62831440e-03 2.14626312e-04 9.99993395e-01 -1.87534065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.941400513 meters Centerline goodness [0,1] 0.9990665902967819 Centerline is valid? [True, True] Translation: X:253.86, Y:14.07, Z:-0.19 [[ 9.99544395e-01 -2.99416813e-02 -3.80760259e-03 2.53860708e+02] [ 2.99405614e-02 9.99551619e-01 -3.50791195e-04 1.40724060e+01] [ 3.81639861e-03 2.36629614e-04 9.99992690e-01 -1.88531927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.971400513 meters Centerline goodness [0,1] 0.9990665902967819 Centerline is valid? [True, True] Translation: X:253.89, Y:14.08, Z:-0.19 [[ 9.99538909e-01 -3.01242650e-02 -3.80754283e-03 2.53888120e+02] [ 3.01231439e-02 9.99546133e-01 -3.51439181e-04 1.40750855e+01] [ 3.81640156e-03 2.36581975e-04 9.99992690e-01 -1.88524082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.001400513 meters Centerline goodness [0,1] 0.996204115084329 Centerline is valid? [True, True] Translation: X:253.92, Y:14.08, Z:-0.19 [[ 9.99616706e-01 -2.74338559e-02 -3.71809904e-03 2.53917912e+02] [ 2.74327682e-02 9.99623592e-01 -3.43243242e-04 1.40824355e+01] [ 3.72611600e-03 2.41113930e-04 9.99993029e-01 -1.88302040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.031400513 meters Centerline goodness [0,1] 0.9221637022966672 Centerline is valid? [True, False] Translation: X:253.92, Y:14.09, Z:-0.19 [[ 9.99798103e-01 -1.99589251e-02 2.32255062e-03 2.53918781e+02] [ 1.99846156e-02 9.99732752e-01 -1.16206556e-02 1.40902853e+01] [-2.08999413e-03 1.16647247e-02 9.99929781e-01 -1.92189108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.061400513 meters Centerline goodness [0,1] 0.9704181162358867 Centerline is valid? [False, True] Translation: X:253.92, Y:14.08, Z:-0.19 [[ 9.99880068e-01 -1.53421110e-02 2.11426814e-03 2.53918899e+02] [ 1.53548651e-02 9.99863167e-01 -6.15433787e-03 1.40846569e+01] [-2.01955831e-03 6.18606407e-03 9.99978827e-01 -1.91475915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.091400513 meters Centerline goodness [0,1] 0.7768964123939349 Centerline is valid? [True, False] Translation: X:253.92, Y:14.08, Z:-0.19 [[ 9.99940668e-01 -1.07371244e-02 1.83692126e-03 2.53919480e+02] [ 1.07384841e-02 9.99942073e-01 -7.31975624e-04 1.40792418e+01] [-1.82895554e-03 7.51657944e-04 9.99998045e-01 -1.91077084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.121400513 meters Centerline goodness [0,1] 0.8448257486944474 Centerline is valid? [False, False] Translation: X:253.92, Y:14.07, Z:-0.19 [[ 9.99979417e-01 -6.23635165e-03 1.50784248e-03 2.53920427e+02] [ 6.22940440e-03 9.99970159e-01 4.56902428e-03 1.40743272e+01] [-1.53629153e-03 -4.55953728e-03 9.99988425e-01 -1.90941486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.151400513 meters Centerline goodness [0,1] 0.9403780694054934 Centerline is valid? [False, False] Translation: X:253.92, Y:14.08, Z:-0.19 [[ 9.99978294e-01 -6.43125879e-03 1.43178017e-03 2.53921131e+02] [ 6.42530554e-03 9.99970852e-01 4.12441713e-03 1.40763723e+01] [-1.45826363e-03 -4.11512798e-03 9.99990470e-01 -1.91885894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.181400513 meters Centerline goodness [0,1] 0.9745819254030088 Centerline is valid? [False, True] Translation: X:253.92, Y:14.08, Z:-0.19 [[ 9.99978460e-01 -6.41812500e-03 1.37352357e-03 2.53921450e+02] [ 6.41234444e-03 9.99970736e-01 4.17238082e-03 1.40761210e+01] [-1.40026224e-03 -4.16348344e-03 9.99990352e-01 -1.92156599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.211400513 meters Centerline goodness [0,1] 0.9645676121085958 Centerline is valid? [True, True] Translation: X:253.95, Y:14.08, Z:-0.19 [[ 9.99970797e-01 -7.57967442e-03 9.76068212e-04 2.53951133e+02] [ 7.57960102e-03 9.99971271e-01 7.88770992e-05 1.40840296e+01] [-9.76638033e-04 -7.14765881e-05 9.99999521e-01 -1.93613484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.24140051300003 meters Centerline goodness [0,1] 0.9695392953929539 Centerline is valid? [True, True] Translation: X:253.98, Y:14.09, Z:-0.19 [[ 9.99959523e-01 -8.98712353e-03 4.29391463e-04 2.53981817e+02] [ 8.98710944e-03 9.99959615e-01 3.47268804e-05 1.40860971e+01] [-4.29686217e-04 -3.08664867e-05 9.99999907e-01 -1.94503535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.271400513 meters Centerline goodness [0,1] 0.9747846951454646 Centerline is valid? [True, True] Translation: X:254.01, Y:14.09, Z:-0.19 [[ 9.99944117e-01 -1.05590490e-02 5.18933588e-04 2.54011691e+02] [ 1.05590286e-02 9.99944251e-01 4.18972418e-05 1.40877100e+01] [-5.19347053e-04 -3.64154658e-05 9.99999864e-01 -1.94592847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.301400513 meters Centerline goodness [0,1] 0.9769140915365828 Centerline is valid? [True, True] Translation: X:254.04, Y:14.09, Z:-0.19 [[ 9.99900776e-01 -1.38524632e-02 2.55885970e-03 2.54041859e+02] [ 1.38519797e-02 9.99904035e-01 2.06591714e-04 1.40862223e+01] [-2.56147595e-03 -1.71125942e-04 9.99996705e-01 -1.91723347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.331400513 meters Centerline goodness [0,1] 0.9993072843381319 Centerline is valid? [True, True] Translation: X:254.07, Y:14.08, Z:-0.19 [[ 9.99879245e-01 -1.51657228e-02 3.39073062e-03 2.54073561e+02] [ 1.51648812e-02 9.99884969e-01 2.73783451e-04 1.40754177e+01] [-3.39449271e-03 -2.22330364e-04 9.99994214e-01 -1.90068032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.361400513 meters Centerline goodness [0,1] 0.9949354645696213 Centerline is valid? [True, True] Translation: X:254.10, Y:14.08, Z:-0.19 [[ 9.99864593e-01 -1.60039184e-02 3.83016407e-03 2.54103233e+02] [ 1.60028508e-02 9.99871898e-01 3.09211916e-04 1.40828356e+01] [-3.83462202e-03 -2.47876503e-04 9.99992617e-01 -1.89461212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.391400513 meters Centerline goodness [0,1] 0.99883798497988 Centerline is valid? [True, True] Translation: X:254.14, Y:14.08, Z:-0.19 [[ 9.99864528e-01 -1.59693801e-02 3.98810490e-03 2.54135218e+02] [ 1.59682226e-02 9.99872448e-01 3.21926212e-04 1.40810981e+01] [-3.99273717e-03 -2.58199653e-04 9.99991996e-01 -1.89056166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.421400513 meters Centerline goodness [0,1] 0.9943285179240235 Centerline is valid? [True, True] Translation: X:254.17, Y:14.08, Z:-0.19 [[ 9.99899781e-01 -1.34529854e-02 4.40957663e-03 2.54165871e+02] [ 1.34515465e-02 9.99909461e-01 3.55817379e-04 1.40847059e+01] [-4.41396420e-03 -2.96466095e-04 9.99990214e-01 -1.88888202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.451400513 meters Centerline goodness [0,1] 0.8994208823028444 Centerline is valid? [True, False] Translation: X:254.17, Y:14.08, Z:-0.19 [[ 9.99900102e-01 -1.34032941e-02 4.48749149e-03 2.54165564e+02] [ 1.34019199e-02 9.99910134e-01 3.36174067e-04 1.40849068e+01] [-4.49159405e-03 -2.75999483e-04 9.99989875e-01 -1.88817681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.481400513 meters Centerline goodness [0,1] 0.801076179984747 Centerline is valid? [False, False] Translation: X:254.17, Y:14.09, Z:-0.19 [[ 9.99900312e-01 -1.33625454e-02 4.56154318e-03 2.54165269e+02] [ 1.33616286e-02 9.99910703e-01 2.31411112e-04 1.40855505e+01] [-4.56422809e-03 -1.70438397e-04 9.99989569e-01 -1.88750596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.511400513 meters Centerline goodness [0,1] 0.7790660770581639 Centerline is valid? [False, False] Translation: X:254.17, Y:14.08, Z:-0.19 [[ 9.99953422e-01 -8.62414099e-03 4.33326415e-03 2.54165813e+02] [ 8.59940003e-03 9.99946801e-01 5.69609949e-03 1.40800841e+01] [-4.38215759e-03 -5.65857071e-03 9.99974388e-01 -1.88516295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.541400513 meters Centerline goodness [0,1] 0.6976921771593416 Centerline is valid? [False, False] Translation: X:254.17, Y:14.09, Z:-0.18 [[ 9.99998997e-01 -8.87571205e-04 -1.10381234e-03 2.54165061e+02] [ 8.80807370e-04 9.99980926e-01 -6.11316779e-03 1.40905104e+01] [ 1.10921716e-03 6.11218941e-03 9.99980705e-01 -1.84727170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.571400513 meters Centerline goodness [0,1] 0.8160415263992356 Centerline is valid? [False, False] Translation: X:254.12, Y:14.09, Z:-0.18 [[ 9.99990909e-01 1.84959008e-03 -3.84202215e-03 2.54123735e+02] [-1.85646230e-03 9.99996682e-01 -1.78590267e-03 1.40852194e+01] [ 3.83870622e-03 1.79301900e-03 9.99991025e-01 -1.84688139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.601400513 meters Centerline goodness [0,1] 0.6881493296546968 Centerline is valid? [False, False] Translation: X:254.13, Y:14.09, Z:-0.19 [[ 9.99980069e-01 4.17270100e-03 -4.73810466e-03 2.54130242e+02] [-4.17078454e-03 9.99991216e-01 4.14287879e-04 1.40859138e+01] [ 4.73979175e-03 -3.94518008e-04 9.99988689e-01 -1.88742989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.631400513 meters Centerline goodness [0,1] 0.6062697119149927 Centerline is valid? [False, False] Translation: X:254.17, Y:14.09, Z:-0.19 [[ 9.99987622e-01 4.53728172e-03 -2.04188450e-03 2.54170941e+02] [-4.54075859e-03 9.99988243e-01 -1.70137500e-03 1.40933403e+01] [ 2.03414088e-03 1.71062565e-03 9.99996468e-01 -1.89264205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.661400513 meters Centerline goodness [0,1] 0.6434546879301946 Centerline is valid? [False, False] Translation: X:254.17, Y:14.09, Z:-0.19 [[ 9.99988141e-01 4.45225116e-03 -1.97390429e-03 2.54170666e+02] [-4.45603027e-03 9.99988240e-01 -1.91428928e-03 1.40943356e+01] [ 1.96535818e-03 1.92306235e-03 9.99996220e-01 -1.89190648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.691400513 meters Centerline goodness [0,1] 0.6909853874664509 Centerline is valid? [False, False] Translation: X:254.17, Y:14.09, Z:-0.19 [[ 9.99988108e-01 4.46038356e-03 -1.97219669e-03 2.54170770e+02] [-4.46410266e-03 9.99988258e-01 -1.88540264e-03 1.40941733e+01] [ 1.96376392e-03 1.89418430e-03 9.99996278e-01 -1.89404753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.721400513 meters Centerline goodness [0,1] 0.5863192876315453 Centerline is valid? [False, False] Translation: X:254.17, Y:14.09, Z:-0.19 [[ 9.99988007e-01 4.45708815e-03 -2.02976876e-03 2.54171137e+02] [-4.46087250e-03 9.99988313e-01 -1.86372965e-03 1.40940205e+01] [ 2.02143824e-03 1.87276184e-03 9.99996203e-01 -1.89748777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.751400513 meters Centerline goodness [0,1] 0.6130316587109618 Centerline is valid? [False, False] Translation: X:254.17, Y:14.09, Z:-0.19 [[ 9.99987878e-01 4.44106910e-03 -2.12631639e-03 2.54171615e+02] [-4.44504397e-03 9.99988375e-01 -1.86830858e-03 1.40940003e+01] [ 2.11799439e-03 1.87773750e-03 9.99995994e-01 -1.90072365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.781400513 meters Centerline goodness [0,1] 0.5374544530124565 Centerline is valid? [False, False] Translation: X:254.17, Y:14.09, Z:-0.19 [[ 9.99961461e-01 8.36224980e-03 -2.67385465e-03 2.54173501e+02] [-8.35346128e-03 9.99959726e-01 3.28128295e-03 1.40886246e+01] [ 2.70118587e-03 -3.25882055e-03 9.99991042e-01 -1.89895849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.811400513 meters Centerline goodness [0,1] 0.5873667469050894 Centerline is valid? [False, False] Translation: X:254.13, Y:14.09, Z:-0.19 [[ 9.99966812e-01 6.71559792e-03 -4.61251726e-03 2.54129317e+02] [-6.70524782e-03 9.99974975e-01 2.25572723e-03 1.40869047e+01] [ 4.62755039e-03 -2.22472429e-03 9.99986818e-01 -1.88544374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.841400513 meters Centerline goodness [0,1] 0.4763906373354386 Centerline is valid? [False, False] Translation: X:254.13, Y:14.09, Z:-0.19 [[ 9.99966590e-01 6.77483712e-03 -4.57390220e-03 2.54129007e+02] [-6.76380336e-03 9.99974188e-01 2.42350470e-03 1.40860962e+01] [ 4.59020299e-03 -2.39248676e-03 9.99986603e-01 -1.88209428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.871400513 meters Centerline goodness [0,1] 0.7238690552906302 Centerline is valid? [False, False] Translation: X:254.13, Y:14.08, Z:-0.19 [[ 9.99965875e-01 6.89075903e-03 -4.55702312e-03 2.54128731e+02] [-6.87840453e-03 9.99972641e-01 2.72122968e-03 1.40846948e+01] [ 4.57564978e-03 -2.68979177e-03 9.99985914e-01 -1.87741035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.901400513 meters Centerline goodness [0,1] 0.6687967282254457 Centerline is valid? [False, False] Translation: X:254.13, Y:14.08, Z:-0.19 [[ 9.99964896e-01 7.03375316e-03 -4.55328336e-03 2.54128516e+02] [-7.01948736e-03 9.99970428e-01 3.14151618e-03 1.40826736e+01] [ 4.57524536e-03 -3.10944418e-03 9.99984699e-01 -1.87349621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.931400513 meters Centerline goodness [0,1] 0.7574106781861129 Centerline is valid? [False, False] Translation: X:254.13, Y:14.08, Z:-0.19 [[ 9.99986856e-01 2.66835409e-03 -4.37820179e-03 2.54127861e+02] [-2.67402577e-03 9.99995593e-01 -1.29009392e-03 1.40831984e+01] [ 4.37474007e-03 1.30178439e-03 9.99989583e-01 -1.87365839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.961400513 meters Centerline goodness [0,1] 0.8415708977793139 Centerline is valid? [False, False] Translation: X:254.09, Y:14.08, Z:-0.19 [[ 9.99971801e-01 1.67292408e-03 -7.32109827e-03 2.54087845e+02] [-1.67589270e-03 9.99998516e-01 -3.99372859e-04 1.40768657e+01] [ 7.32041929e-03 4.11630972e-04 9.99973121e-01 -1.88501567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.99140051300003 meters Centerline goodness [0,1] 0.8785175745991293 Centerline is valid? [False, False] Translation: X:254.13, Y:14.08, Z:-0.19 [[ 9.99978523e-01 1.67864589e-03 -6.33534808e-03 2.54133754e+02] [-1.68498475e-03 9.99998085e-01 -9.95350384e-04 1.40784316e+01] [ 6.33366510e-03 1.00600397e-03 9.99979436e-01 -1.91090029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.021400513 meters Centerline goodness [0,1] 0.7398970563212524 Centerline is valid? [False, False] Translation: X:254.14, Y:14.08, Z:-0.19 [[ 9.99976559e-01 1.87818266e-03 -6.58435436e-03 2.54135023e+02] [-1.88134022e-03 9.99998118e-01 -4.73394069e-04 1.40758562e+01] [ 6.58345285e-03 4.85770383e-04 9.99978211e-01 -1.91890214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.051400513 meters Centerline goodness [0,1] 0.961641258098313 Centerline is valid? [False, True] Translation: X:254.14, Y:14.07, Z:-0.19 [[ 9.99973607e-01 2.32324232e-03 -6.88390394e-03 2.54135935e+02] [-2.31847687e-03 9.99997067e-01 7.00159248e-04 1.40702088e+01] [ 6.88551039e-03 -6.84180596e-04 9.99976061e-01 -1.91683896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.081400513 meters Centerline goodness [0,1] 0.9892133873374547 Centerline is valid? [True, True] Translation: X:254.17, Y:14.07, Z:-0.19 [[ 9.99977470e-01 1.34524597e-03 -6.57639067e-03 2.54165364e+02] [-1.34837699e-03 9.99998980e-01 -4.71689211e-04 1.40657186e+01] [ 6.57574942e-03 4.80546038e-04 9.99978264e-01 -1.90670244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.111400513 meters Centerline goodness [0,1] 0.9932762836185819 Centerline is valid? [True, True] Translation: X:254.20, Y:14.06, Z:-0.19 [[ 9.99978325e-01 1.62100923e-04 -6.58197663e-03 2.54195767e+02] [-1.65212611e-04 9.99999875e-01 -4.72217931e-04 1.40625513e+01] [ 6.58189926e-03 4.73295121e-04 9.99978227e-01 -1.90519879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.141400513 meters Centerline goodness [0,1] 0.7981444439715708 Centerline is valid? [True, False] Translation: X:254.24, Y:14.06, Z:-0.19 [[ 9.99986525e-01 -1.92082912e-05 -5.19132747e-03 2.54240629e+02] [ 1.44324947e-05 9.99999577e-01 -9.19992588e-04 1.40610331e+01] [ 5.19134294e-03 9.19905267e-04 9.99986102e-01 -1.91975211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.171400513 meters Centerline goodness [0,1] 0.7039669702902869 Centerline is valid? [False, False] Translation: X:254.24, Y:14.06, Z:-0.19 [[ 9.99985946e-01 3.75138084e-04 -5.28845121e-03 2.54241102e+02] [-3.75064637e-04 9.99999930e-01 1.48801232e-05 1.40565719e+01] [ 5.28845642e-03 -1.28964030e-05 9.99986016e-01 -1.92218445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.201400513 meters Centerline goodness [0,1] 0.99622093643914 Centerline is valid? [False, True] Translation: X:254.24, Y:14.05, Z:-0.19 [[ 9.99986040e-01 7.55316231e-04 -5.22971035e-03 2.54241018e+02] [-7.50962037e-04 9.99999370e-01 8.34501625e-04 1.40527322e+01] [ 5.23033737e-03 -8.30562661e-04 9.99985977e-01 -1.92398015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.231400513 meters Centerline goodness [0,1] 0.8125913529773127 Centerline is valid? [True, False] Translation: X:254.24, Y:14.05, Z:-0.19 [[ 9.99986523e-01 8.65785006e-04 -5.11898090e-03 2.54240406e+02] [-8.60854051e-04 9.99999163e-01 9.65393943e-04 1.40522147e+01] [ 5.11981244e-03 -9.60974237e-04 9.99986432e-01 -1.91938096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.261400513 meters Centerline goodness [0,1] 0.7956229388838922 Centerline is valid? [False, False] Translation: X:254.24, Y:14.05, Z:-0.19 [[ 9.99987155e-01 9.64461974e-04 -4.97597815e-03 2.54239779e+02] [-9.59416811e-04 9.99999023e-01 1.01619103e-03 1.40521282e+01] [ 4.97695337e-03 -1.01140394e-03 9.99987103e-01 -1.91614561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.291400513 meters Centerline goodness [0,1] 0.7738283364000433 Centerline is valid? [False, False] Translation: X:254.24, Y:14.05, Z:-0.19 [[ 9.99987999e-01 1.40123781e-03 -4.69460752e-03 2.54238930e+02] [-1.39684860e-03 9.99998584e-01 9.38094648e-04 1.40533088e+01] [ 4.69591537e-03 -9.31525734e-04 9.99988540e-01 -1.91803243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.321400513 meters Centerline goodness [0,1] 0.6502278611010077 Centerline is valid? [False, False] Translation: X:254.28, Y:14.06, Z:-0.19 [[ 9.99994212e-01 3.14528907e-03 -1.29744255e-03 2.54277722e+02] [-3.14356774e-03 9.99994179e-01 1.32662412e-03 1.40560365e+01] [ 1.30160761e-03 -1.32253785e-03 9.99998278e-01 -1.91036237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.351400513 meters Centerline goodness [0,1] 0.7540888974408313 Centerline is valid? [False, False] Translation: X:254.28, Y:14.06, Z:-0.19 [[ 9.99994154e-01 3.21673425e-03 -1.15975404e-03 2.54277041e+02] [-3.21505985e-03 9.99993791e-01 1.44273592e-03 1.40555599e+01] [ 1.16438773e-03 -1.43899881e-03 9.99998287e-01 -1.90583836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.381400513 meters Centerline goodness [0,1] 0.7676406026895126 Centerline is valid? [False, False] Translation: X:254.28, Y:14.05, Z:-0.19 [[ 9.99993778e-01 3.38421529e-03 -9.95758422e-04 2.54276103e+02] [-3.38242180e-03 9.99992664e-01 1.79733339e-03 1.40539585e+01] [ 1.00183368e-03 -1.79395413e-03 9.99997889e-01 -1.89821789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.411400513 meters Centerline goodness [0,1] 0.6852779969715712 Centerline is valid? [False, False] Translation: X:254.27, Y:14.05, Z:-0.19 [[ 9.99992442e-01 3.80440461e-03 -8.01553720e-04 2.54274890e+02] [-3.80214360e-03 9.99988841e-01 2.80368398e-03 1.40492925e+01] [ 8.12211124e-04 -2.80061517e-03 9.99995748e-01 -1.88657714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.441400513 meters Centerline goodness [0,1] 0.6806482364156339 Centerline is valid? [False, False] Translation: X:254.27, Y:14.05, Z:-0.19 [[ 9.99991813e-01 3.96282372e-03 -8.18079199e-04 2.54274875e+02] [-3.96017121e-03 9.99986978e-01 3.21890485e-03 1.40472935e+01] [ 8.30824498e-04 -3.21563877e-03 9.99994485e-01 -1.88507783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.471400513 meters Centerline goodness [0,1] 0.7525401297814207 Centerline is valid? [False, False] Translation: X:254.27, Y:14.05, Z:-0.18 [[ 9.99998678e-01 1.62509105e-03 6.38161177e-05 2.54268325e+02] [-1.62513669e-03 9.99998419e-01 7.21662452e-04 1.40482114e+01] [-6.26432496e-05 -7.21765207e-04 9.99999738e-01 -1.84487771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.501400513 meters Centerline goodness [0,1] 0.6797020879307418 Centerline is valid? [False, False] Translation: X:254.27, Y:14.05, Z:-0.18 [[ 9.99998392e-01 1.79272060e-03 -3.41321569e-05 2.54268725e+02] [-1.79267930e-03 9.99997704e-01 1.17370832e-03 1.40460073e+01] [ 3.62362096e-05 -1.17364524e-03 9.99999311e-01 -1.84614452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.531400513 meters Centerline goodness [0,1] 0.6503302565839614 Centerline is valid? [False, False] Translation: X:254.27, Y:14.04, Z:-0.19 [[ 9.99999372e-01 6.97591336e-04 -8.76680439e-04 2.54274636e+02] [-6.97233115e-04 9.99999673e-01 4.08849770e-04 1.40446233e+01] [ 8.76965363e-04 -4.08238263e-04 9.99999532e-01 -1.88463169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.561400513 meters Centerline goodness [0,1] 0.6939104604286017 Centerline is valid? [False, False] Translation: X:254.28, Y:14.04, Z:-0.19 [[ 9.99999119e-01 8.66292969e-04 -1.00542735e-03 2.54275223e+02] [-8.65469549e-04 9.99999290e-01 8.19121537e-04 1.40426422e+01] [ 1.00613623e-03 -8.18250649e-04 9.99999159e-01 -1.88757195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.591400513 meters Centerline goodness [0,1] 0.7407017920377723 Centerline is valid? [False, False] Translation: X:254.23, Y:14.04, Z:-0.19 [[ 9.99992653e-01 -2.20781482e-04 -3.82702846e-03 2.54234542e+02] [ 2.27220425e-04 9.99998559e-01 1.68213845e-03 1.40373487e+01] [ 3.82665156e-03 -1.68299567e-03 9.99991262e-01 -1.89158573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.621400513 meters Centerline goodness [0,1] 0.5720543423057389 Centerline is valid? [False, False] Translation: X:254.28, Y:14.04, Z:-0.19 [[ 9.99999361e-01 -4.18427731e-04 -1.05025511e-03 2.54275484e+02] [ 4.18096719e-04 9.99999863e-01 -3.15372801e-04 1.40415849e+01] [ 1.05038693e-03 3.14933491e-04 9.99999399e-01 -1.89626391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.651400513 meters Centerline goodness [0,1] 0.8018865920244747 Centerline is valid? [False, False] Translation: X:254.28, Y:14.04, Z:-0.19 [[ 9.99999284e-01 -2.04750111e-04 -1.17879275e-03 2.54275902e+02] [ 2.05085596e-04 9.99999939e-01 2.84487205e-04 1.40386788e+01] [ 1.17873443e-03 -2.84728754e-04 9.99999265e-01 -1.89587785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.681400513 meters Centerline goodness [0,1] 0.9429468281405756 Centerline is valid? [False, False] Translation: X:254.28, Y:14.04, Z:-0.19 [[ 9.99999264e-01 -6.56924447e-05 -1.21156813e-03 2.54275915e+02] [ 6.65067542e-05 9.99999772e-01 6.72083987e-04 1.40368104e+01] [ 1.21152371e-03 -6.72164070e-04 9.99999040e-01 -1.89401176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.711400513 meters Centerline goodness [0,1] 0.6911574711426454 Centerline is valid? [False, False] Translation: X:254.28, Y:14.03, Z:-0.19 [[ 9.99999156e-01 1.04571836e-04 -1.29463367e-03 2.54275973e+02] [-1.03056912e-04 9.99999310e-01 1.17016785e-03 1.40344017e+01] [ 1.29475514e-03 -1.17003344e-03 9.99998477e-01 -1.88978658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.74140051300003 meters Centerline goodness [0,1] 0.9959673996094744 Centerline is valid? [False, True] Translation: X:254.28, Y:14.03, Z:-0.19 [[ 9.99999004e-01 3.43663108e-04 -1.36921342e-03 2.54275934e+02] [-3.41076674e-04 9.99998158e-01 1.88877821e-03 1.40309494e+01] [ 1.36986000e-03 -1.88830932e-03 9.99997279e-01 -1.88379602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.771400513 meters Centerline goodness [0,1] 0.9199190886830618 Centerline is valid? [True, False] Translation: X:254.28, Y:14.03, Z:-0.19 [[ 9.99990516e-01 -4.18148261e-03 -1.21781827e-03 2.54275438e+02] [ 4.17785223e-03 9.99986867e-01 -2.96849299e-03 1.40335058e+01] [ 1.23021498e-03 2.96337697e-03 9.99994852e-01 -1.88377195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.801400513 meters Centerline goodness [0,1] 0.9991478301625514 Centerline is valid? [False, True] Translation: X:254.28, Y:14.03, Z:-0.19 [[ 9.99988323e-01 -4.57550912e-03 -1.55489064e-03 2.54276619e+02] [ 4.57287835e-03 9.99988114e-01 -1.69129747e-03 1.40255819e+01] [ 1.56261070e-03 1.68416740e-03 9.99997361e-01 -1.88139288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.831400513 meters Centerline goodness [0,1] 0.9991478301625514 Centerline is valid? [True, True] Translation: X:254.31, Y:14.03, Z:-0.19 [[ 9.99987395e-01 -4.73823212e-03 -1.66093048e-03 2.54305026e+02] [ 4.73805246e-03 9.99988769e-01 -1.12086692e-04 1.40262732e+01] [ 1.66144292e-03 1.04215703e-04 9.99998614e-01 -1.88032852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.861400513 meters Centerline goodness [0,1] 0.9992790653294036 Centerline is valid? [True, True] Translation: X:254.33, Y:14.02, Z:-0.19 [[ 9.99969195e-01 -7.61786211e-03 -1.89115558e-03 2.54334201e+02] [ 7.61763485e-03 9.99970977e-01 -1.27342631e-04 1.40248773e+01] [ 1.89207077e-03 1.12932575e-04 9.99998204e-01 -1.88719933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.891400513 meters Centerline goodness [0,1] 0.999089040950787 Centerline is valid? [True, True] Translation: X:254.36, Y:14.03, Z:-0.19 [[ 9.99943805e-01 -1.04205233e-02 -1.94904719e-03 2.54363605e+02] [ 1.04202872e-02 9.99945699e-01 -1.31266878e-04 1.40252979e+01] [ 1.95030922e-03 1.10949870e-04 9.99998092e-01 -1.89389869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.921400513 meters Centerline goodness [0,1] 0.9997431946584489 Centerline is valid? [True, True] Translation: X:254.39, Y:14.02, Z:-0.19 [[ 9.99882438e-01 -1.51377778e-02 -2.44107489e-03 2.54394642e+02] [ 1.51374213e-02 9.99885409e-01 -1.64474180e-04 1.40150276e+01] [ 2.44328494e-03 1.27503265e-04 9.99997007e-01 -1.89656327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.951400513 meters Centerline goodness [0,1] 0.999745260789267 Centerline is valid? [True, True] Translation: X:254.42, Y:14.01, Z:-0.19 [[ 9.99844919e-01 -1.74586458e-02 -2.30933360e-03 2.54423236e+02] [ 1.74583326e-02 9.99847580e-01 -1.55697305e-04 1.40139005e+01] [ 2.31169987e-03 1.15356045e-04 9.99997321e-01 -1.89383231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.981400513 meters Centerline goodness [0,1] 0.9997654084026445 Centerline is valid? [True, True] Translation: X:254.45, Y:14.01, Z:-0.19 [[ 9.99803499e-01 -1.97238734e-02 -1.98313355e-03 2.54453659e+02] [ 1.97236469e-02 9.99805461e-01 -1.33694110e-04 1.40118424e+01] [ 1.98538472e-03 9.45532133e-05 9.99998025e-01 -1.88481734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.011400513 meters Centerline goodness [0,1] 0.9999150093489716 Centerline is valid? [True, True] Translation: X:254.48, Y:14.01, Z:-0.19 [[ 9.99762425e-01 -2.17467438e-02 -1.47421997e-03 2.54484270e+02] [ 2.17466208e-02 9.99763509e-01 -9.94080727e-05 1.40054288e+01] [ 1.47603313e-03 6.73251530e-05 9.99998908e-01 -1.87294661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.041400513 meters Centerline goodness [0,1] 0.9998520147139656 Centerline is valid? [True, True] Translation: X:254.51, Y:14.00, Z:-0.19 [[ 9.99686781e-01 -2.50255250e-02 -2.52207010e-04 2.54513668e+02] [ 2.50255215e-02 9.99686812e-01 -1.70490774e-05 1.39996159e+01] [ 2.52554684e-04 1.07321253e-05 9.99999968e-01 -1.86169215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.071400513 meters Centerline goodness [0,1] 0.9999357188772231 Centerline is valid? [True, True] Translation: X:254.54, Y:13.99, Z:-0.19 [[ 9.99648824e-01 -2.64990237e-02 1.73747679e-04 2.54543275e+02] [ 2.64990221e-02 9.99648839e-01 1.16406761e-05 1.39922479e+01] [-1.73995132e-04 -7.03244459e-06 9.99999985e-01 -1.85519148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.101400513 meters Centerline goodness [0,1] 0.9999786612039349 Centerline is valid? [True, True] Translation: X:254.57, Y:13.99, Z:-0.18 [[ 9.99605070e-01 -2.80798507e-02 1.10752468e-03 2.54571680e+02] [ 2.80797851e-02 9.99605682e-01 7.47096777e-05 1.39940712e+01] [-1.10918580e-03 -4.35811174e-05 9.99999384e-01 -1.84938689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.131400513 meters Centerline goodness [0,1] 0.9999360259308228 Centerline is valid? [True, True] Translation: X:254.60, Y:13.99, Z:-0.18 [[ 9.99571586e-01 -2.91788011e-02 2.28961389e-03 2.54601319e+02] [ 2.91785232e-02 9.99574204e-01 1.54694492e-04 1.39907778e+01] [-2.29315278e-03 -8.78206662e-05 9.99997367e-01 -1.83201616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.161400513 meters Centerline goodness [0,1] 0.9998940161519384 Centerline is valid? [True, True] Translation: X:254.63, Y:13.99, Z:-0.18 [[ 9.99555094e-01 -2.95831803e-02 3.80135886e-03 2.54630334e+02] [ 2.95824143e-02 9.99562311e-01 2.57592654e-04 1.39864540e+01] [-3.80731545e-03 -1.45024676e-04 9.99992742e-01 -1.80527103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.191400513 meters Centerline goodness [0,1] 0.9999786616592694 Centerline is valid? [True, True] Translation: X:254.66, Y:13.98, Z:-0.18 [[ 9.99577018e-01 -2.88965767e-02 3.28214618e-03 2.54659793e+02] [ 2.88960004e-02 9.99582399e-01 2.22898674e-04 1.39832048e+01] [-3.28721656e-03 -1.27963494e-04 9.99994589e-01 -1.81601816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.221400513 meters Centerline goodness [0,1] 0.9999150400373824 Centerline is valid? [True, True] Translation: X:254.69, Y:13.99, Z:-0.18 [[ 9.99618548e-01 -2.75097531e-02 2.44381653e-03 2.54688342e+02] [ 2.75094288e-02 9.99621530e-01 1.66209048e-04 1.39882764e+01] [-2.44746399e-03 -9.89176501e-05 9.99997000e-01 -1.83001971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.251400513 meters Centerline goodness [0,1] 0.9998715918332406 Centerline is valid? [True, True] Translation: X:254.72, Y:14.00, Z:-0.18 [[ 9.99667149e-01 -2.57477480e-02 1.62654753e-03 2.54716575e+02] [ 2.57476020e-02 9.99668469e-01 1.10660631e-04 1.39954802e+01] [-1.62885754e-03 -6.87440992e-05 9.99998671e-01 -1.84881552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.281400513 meters Centerline goodness [0,1] 0.9999575082858843 Centerline is valid? [True, True] Translation: X:254.75, Y:13.99, Z:-0.19 [[ 9.99726984e-01 -2.33293685e-02 1.30304357e-03 2.54747034e+02] [ 2.33292726e-02 9.99727832e-01 8.86950193e-05 1.39947818e+01] [-1.30475812e-03 -5.82717454e-05 9.99999147e-01 -1.85764377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.311400513 meters Centerline goodness [0,1] 0.9998072681328565 Centerline is valid? [True, True] Translation: X:254.78, Y:14.00, Z:-0.19 [[ 9.99829805e-01 -1.83913417e-02 1.45577705e-03 2.54777640e+02] [ 1.83912169e-02 9.99830862e-01 9.91147007e-05 1.39971036e+01] [-1.45735368e-03 -7.23243204e-05 9.99998935e-01 -1.85171384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.341400513 meters Centerline goodness [0,1] 0.9996564238012412 Centerline is valid? [True, True] Translation: X:254.81, Y:14.00, Z:-0.19 [[ 9.99853812e-01 -1.70354130e-02 1.46593700e-03 2.54805883e+02] [ 1.70352849e-02 9.99854884e-01 9.97933009e-05 1.40039233e+01] [-1.46742429e-03 -7.48060579e-05 9.99998921e-01 -1.85007592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.371400513 meters Centerline goodness [0,1] 0.9995331862162621 Centerline is valid? [True, True] Translation: X:254.83, Y:14.01, Z:-0.19 [[ 9.99868744e-01 -1.61539583e-02 1.24257146e-03 2.54833817e+02] [ 1.61538656e-02 9.99869514e-01 8.46220931e-05 1.40107048e+01] [-1.24377631e-03 -6.45386536e-05 9.99999224e-01 -1.85348719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.401400513 meters Centerline goodness [0,1] 0.9998302171098707 Centerline is valid? [True, True] Translation: X:254.86, Y:14.01, Z:-0.19 [[ 9.99876656e-01 -1.56774181e-02 9.43615792e-04 2.54863196e+02] [ 1.56773644e-02 9.99877101e-01 6.42791355e-05 1.40090279e+01] [-9.44507553e-04 -4.94777984e-05 9.99999553e-01 -1.86538069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.431400513 meters Centerline goodness [0,1] 0.9996609523002268 Centerline is valid? [True, True] Translation: X:254.89, Y:14.01, Z:-0.19 [[ 9.99877549e-01 -1.56397697e-02 -5.32694529e-04 2.54891373e+02] [ 1.56397526e-02 9.99877691e-01 -3.64016412e-05 1.40134336e+01] [ 5.33198689e-04 2.80659732e-05 9.99999857e-01 -1.89986712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.461400513 meters Centerline goodness [0,1] 0.9997641964457974 Centerline is valid? [True, True] Translation: X:254.92, Y:14.01, Z:-0.19 [[ 9.99877927e-01 -1.55639160e-02 -1.37658206e-03 2.54920340e+02] [ 1.55638007e-02 9.99878872e-01 -9.44241185e-05 1.40101167e+01] [ 1.37788492e-03 7.29877430e-05 9.99999048e-01 -1.90573110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.49140051300003 meters Centerline goodness [0,1] 0.9996768773426392 Centerline is valid? [True, True] Translation: X:254.95, Y:14.02, Z:-0.19 [[ 9.99878913e-01 -1.55033799e-02 -1.34364344e-03 2.54948079e+02] [ 1.55032702e-02 9.99879813e-01 -9.20603926e-05 1.40157353e+01] [ 1.34490920e-03 7.12183780e-05 9.99999093e-01 -1.90270270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.521400513 meters Centerline goodness [0,1] 0.9997229680773985 Centerline is valid? [True, True] Translation: X:254.98, Y:14.01, Z:-0.19 [[ 9.99882960e-01 -1.52916536e-02 -4.81187665e-04 2.54977065e+02] [ 1.52916393e-02 9.99883075e-01 -3.33095224e-05 1.40108175e+01] [ 4.81640760e-04 2.59474756e-05 9.99999884e-01 -1.88027200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.551400513 meters Centerline goodness [0,1] 0.9996170212765958 Centerline is valid? [True, True] Translation: X:255.00, Y:14.02, Z:-0.19 [[ 9.99885495e-01 -1.51159945e-02 7.10350654e-04 2.55004558e+02] [ 1.51159637e-02 9.99885746e-01 4.86677134e-05 1.40181369e+01] [-7.11005155e-04 -3.79245060e-05 9.99999747e-01 -1.86164726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.581400513 meters Centerline goodness [0,1] 0.9994919021911718 Centerline is valid? [True, True] Translation: X:255.03, Y:14.02, Z:-0.19 [[ 9.99878167e-01 -1.56093342e-02 1.46629275e-05 2.55032702e+02] [ 1.56093342e-02 9.99878167e-01 9.46619121e-07 1.40207400e+01] [-1.46759172e-05 -7.17625256e-07 1.00000000e+00 -1.87364855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.611400513 meters Centerline goodness [0,1] 0.999491590052112 Centerline is valid? [True, True] Translation: X:255.06, Y:14.02, Z:-0.19 [[ 9.99868220e-01 -1.62061433e-02 -9.50688310e-04 2.55062200e+02] [ 1.62060881e-02 9.99868671e-01 -6.57399402e-05 1.40175271e+01] [ 9.51628847e-04 5.03243385e-05 9.99999546e-01 -1.88949573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.641400513 meters Centerline goodness [0,1] 0.9992573732230002 Centerline is valid? [True, True] Translation: X:255.09, Y:14.02, Z:-0.19 [[ 9.99870227e-01 -1.60322475e-02 -1.58019854e-03 2.55090197e+02] [ 1.60320953e-02 9.99871472e-01 -1.08987811e-04 1.40196849e+01] [ 1.58174276e-03 8.36397735e-05 9.99998746e-01 -1.90144095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.671400513 meters Centerline goodness [0,1] 0.999573497110443 Centerline is valid? [True, True] Translation: X:255.12, Y:14.01, Z:-0.19 [[ 9.99884106e-01 -1.51797490e-02 -1.16220879e-03 2.55119715e+02] [ 1.51796656e-02 9.99884779e-01 -8.05664864e-05 1.40119129e+01] [ 1.16329786e-03 6.29152084e-05 9.99999321e-01 -1.88995862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.701400513 meters Centerline goodness [0,1] 0.9994298264138193 Centerline is valid? [True, True] Translation: X:255.15, Y:14.02, Z:-0.19 [[ 9.99905079e-01 -1.37621060e-02 -6.61980849e-04 2.55148359e+02] [ 1.37620787e-02 9.99905297e-01 -4.58077768e-05 1.40169369e+01] [ 6.62548569e-04 3.66931961e-05 9.99999780e-01 -1.88365063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.731400513 meters Centerline goodness [0,1] 0.9991275296320729 Centerline is valid? [True, True] Translation: X:255.18, Y:14.02, Z:-0.19 [[ 9.99924104e-01 -1.22984124e-02 -7.32003782e-04 2.55177130e+02] [ 1.22983786e-02 9.99924371e-01 -5.06700015e-05 1.40193545e+01] [ 7.32571581e-04 4.16636961e-05 9.99999731e-01 -1.88436001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.761400513 meters Centerline goodness [0,1] 0.9991518955135272 Centerline is valid? [True, True] Translation: X:255.21, Y:14.02, Z:-0.19 [[ 9.99955222e-01 -9.41249951e-03 -9.79365302e-04 2.55207579e+02] [ 9.41243768e-03 9.99955700e-01 -6.77178246e-05 1.40184216e+01] [ 9.79959310e-04 5.84965774e-05 9.99999518e-01 -1.89631609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.791400513 meters Centerline goodness [0,1] 0.9989382034402209 Centerline is valid? [True, True] Translation: X:255.24, Y:14.02, Z:-0.19 [[ 9.99969553e-01 -7.78938826e-03 -4.67124117e-04 2.55237510e+02] [ 7.78937400e-03 9.99969662e-01 -3.23485992e-05 1.40182255e+01] [ 4.67361921e-04 2.87090098e-05 9.99999890e-01 -1.89288948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.821400513 meters Centerline goodness [0,1] 0.995434750594324 Centerline is valid? [True, True] Translation: X:255.27, Y:14.03, Z:-0.19 [[ 9.99983339e-01 -5.76848200e-03 2.16222810e-04 2.55266507e+02] [ 5.76847890e-03 9.99983362e-01 1.49185359e-05 1.40253947e+01] [-2.16305270e-04 -1.36710106e-05 9.99999977e-01 -1.88892044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.851400513 meters Centerline goodness [0,1] 0.9984498099424518 Centerline is valid? [True, True] Translation: X:255.30, Y:14.02, Z:-0.19 [[ 9.99994042e-01 -3.43823793e-03 3.07386055e-04 2.55297009e+02] [ 3.43823156e-03 9.99994089e-01 2.12500676e-05 1.40201408e+01] [-3.07457300e-04 -2.01930766e-05 9.99999953e-01 -1.88557326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.881400513 meters Centerline goodness [0,1] 0.9320851998985715 Centerline is valid? [True, False] Translation: X:255.30, Y:14.02, Z:-0.19 [[ 9.99994622e-01 -3.26696771e-03 2.88845235e-04 2.55297153e+02] [ 3.26689473e-03 9.99994632e-01 2.52770690e-04 1.40191030e+01] [-2.89669478e-04 -2.51825704e-04 9.99999926e-01 -1.88721964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.911400513 meters Centerline goodness [0,1] 0.8084944371589322 Centerline is valid? [False, False] Translation: X:255.30, Y:14.02, Z:-0.19 [[ 9.99996374e-01 -2.64849369e-03 4.86644727e-04 2.55296856e+02] [ 2.64827327e-03 9.99996391e-01 4.53011101e-04 1.40189743e+01] [-4.87842767e-04 -4.51720690e-04 9.99999779e-01 -1.89519407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.941400513 meters Centerline goodness [0,1] 0.7239222316145393 Centerline is valid? [False, False] Translation: X:255.30, Y:14.02, Z:-0.19 [[ 9.99996394e-01 -2.64070314e-03 4.87660009e-04 2.55297067e+02] [ 2.64056226e-03 9.99996472e-01 2.89311087e-04 1.40198080e+01] [-4.88422273e-04 -2.88022348e-04 9.99999839e-01 -1.89968132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.971400513 meters Centerline goodness [0,1] 0.8776842284304971 Centerline is valid? [False, False] Translation: X:255.30, Y:14.02, Z:-0.19 [[ 9.99996377e-01 -2.61447939e-03 6.41284831e-04 2.55296581e+02] [ 2.61435200e-03 9.99996563e-01 1.99408572e-04 1.40203415e+01] [-6.41803976e-04 -1.97731305e-04 9.99999774e-01 -1.90027256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.001400513 meters Centerline goodness [0,1] 0.8169588779088302 Centerline is valid? [False, False] Translation: X:255.30, Y:14.02, Z:-0.19 [[ 9.99996459e-01 -2.52713515e-03 8.33579172e-04 2.55295636e+02] [ 2.52686626e-03 9.99996755e-01 3.23465171e-04 1.40198872e+01] [-8.34393907e-04 -3.21357682e-04 9.99999600e-01 -1.89445295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.031400513 meters Centerline goodness [0,1] 0.6725864149186123 Centerline is valid? [False, False] Translation: X:255.29, Y:14.02, Z:-0.19 [[ 9.99997048e-01 -2.13714761e-03 1.15615217e-03 2.55293668e+02] [ 2.13577993e-03 9.99997020e-01 1.18290080e-03 1.40160703e+01] [-1.15867675e-03 -1.18042802e-03 9.99998632e-01 -1.87773385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.061400513 meters Centerline goodness [0,1] 0.8907177319499594 Centerline is valid? [False, False] Translation: X:255.29, Y:14.02, Z:-0.19 [[ 9.99976366e-01 -6.70193166e-03 1.53361848e-03 2.55292917e+02] [ 6.70822391e-03 9.99968949e-01 -4.13519086e-03 1.40209408e+01] [-1.50585710e-03 4.14538098e-03 9.99990274e-01 -1.88685004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.091400513 meters Centerline goodness [0,1] 0.6647760816395378 Centerline is valid? [False, False] Translation: X:255.34, Y:14.02, Z:-0.19 [[ 9.99974856e-01 -5.88165908e-03 3.96137852e-03 2.55335394e+02] [ 5.90164488e-03 9.99969821e-01 -5.05251328e-03 1.40234446e+01] [-3.93154181e-03 5.07576489e-03 9.99979390e-01 -1.90339312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.121400513 meters Centerline goodness [0,1] 0.9120408639070813 Centerline is valid? [False, False] Translation: X:255.34, Y:14.02, Z:-0.19 [[ 9.99976267e-01 -5.74962870e-03 3.79555457e-03 2.55336007e+02] [ 5.76728698e-03 9.99972521e-01 -4.65792399e-03 1.40214955e+01] [-3.76866893e-03 4.67970350e-03 9.99981949e-01 -1.90480516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.151400513 meters Centerline goodness [0,1] 0.8557010769523729 Centerline is valid? [False, False] Translation: X:255.34, Y:14.02, Z:-0.19 [[ 9.99978827e-01 -5.57971702e-03 3.34849625e-03 2.55337419e+02] [ 5.59224381e-03 9.99977357e-01 -3.74339209e-03 1.40168230e+01] [-3.32753336e-03 3.76203844e-03 9.99987387e-01 -1.90362309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.181400513 meters Centerline goodness [0,1] 0.8735748669875856 Centerline is valid? [False, False] Translation: X:255.34, Y:14.01, Z:-0.19 [[ 9.99980276e-01 -5.41239130e-03 3.18649875e-03 2.55337944e+02] [ 5.42277088e-03 9.99979990e-01 -3.25778171e-03 1.40144418e+01] [-3.16880260e-03 3.27499710e-03 9.99989616e-01 -1.90344378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.211400513 meters Centerline goodness [0,1] 0.9236736683694017 Centerline is valid? [False, False] Translation: X:255.34, Y:14.01, Z:-0.19 [[ 9.99981507e-01 -5.29480245e-03 2.99193603e-03 2.55338708e+02] [ 5.30360048e-03 9.99981613e-01 -2.94033532e-03 1.40128783e+01] [-2.97631252e-03 2.95614898e-03 9.99991201e-01 -1.90549248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.24140051300003 meters Centerline goodness [0,1] 0.9924177518848526 Centerline is valid? [False, True] Translation: X:255.34, Y:14.01, Z:-0.19 [[ 9.99982217e-01 -5.23551740e-03 2.85583279e-03 2.55339375e+02] [ 5.24341664e-03 9.99982429e-01 -2.76556334e-03 1.40119763e+01] [-2.84130346e-03 2.78048848e-03 9.99992098e-01 -1.90975711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.271400513 meters Centerline goodness [0,1] 0.8429955797347841 Centerline is valid? [True, False] Translation: X:255.34, Y:14.01, Z:-0.19 [[ 9.99982882e-01 -5.15013936e-03 2.77700468e-03 2.55339748e+02] [ 5.15718473e-03 9.99983486e-01 -2.53587455e-03 1.40108272e+01] [-2.76389871e-03 2.55015266e-03 9.99992929e-01 -1.91205675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.301400513 meters Centerline goodness [0,1] 0.9866142908989988 Centerline is valid? [False, True] Translation: X:255.34, Y:14.01, Z:-0.19 [[ 9.99983878e-01 -4.98483302e-03 2.71926642e-03 2.55339803e+02] [ 4.99071796e-03 9.99985210e-01 -2.16168821e-03 1.40090887e+01] [-2.70845055e-03 2.17522445e-03 9.99993966e-01 -1.90943179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.331400513 meters Centerline goodness [0,1] 0.9667888081672421 Centerline is valid? [True, True] Translation: X:255.37, Y:14.01, Z:-0.19 [[ 9.99979123e-01 -4.86550797e-03 4.25220773e-03 2.55370477e+02] [ 4.86422461e-03 9.99988121e-01 3.12100702e-04 1.40108641e+01] [-4.25367575e-03 -2.91410493e-04 9.99990911e-01 -1.87885859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.361400513 meters Centerline goodness [0,1] 0.9928154847434706 Centerline is valid? [True, True] Translation: X:255.40, Y:14.01, Z:-0.19 [[ 9.99978461e-01 -4.59141825e-03 4.69006863e-03 2.55403138e+02] [ 4.58985620e-03 9.99989407e-01 3.43765785e-04 1.40073171e+01] [-4.69159733e-03 -3.22231640e-04 9.99988942e-01 -1.86941991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.391400513 meters Centerline goodness [0,1] 0.992331645730506 Centerline is valid? [True, True] Translation: X:255.44, Y:14.01, Z:-0.19 [[ 9.99979552e-01 -4.36410349e-03 4.67436930e-03 2.55435516e+02] [ 4.36255037e-03 9.99990425e-01 3.42408509e-04 1.40076396e+01] [-4.67581885e-03 -3.22009336e-04 9.99989016e-01 -1.87067853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.421400513 meters Centerline goodness [0,1] 0.8960298866586462 Centerline is valid? [True, False] Translation: X:255.44, Y:14.01, Z:-0.19 [[ 9.99981063e-01 -4.19865960e-03 4.49951191e-03 2.55436337e+02] [ 4.19564591e-03 9.99990968e-01 6.79012054e-04 1.40059916e+01] [-4.50232221e-03 -6.60120836e-04 9.99989647e-01 -1.87495923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.451400513 meters Centerline goodness [0,1] 0.9848091570571466 Centerline is valid? [False, True] Translation: X:255.44, Y:14.01, Z:-0.19 [[ 9.99981622e-01 -4.10175880e-03 4.46442006e-03 2.55436562e+02] [ 4.09786742e-03 9.99991216e-01 8.80441297e-04 1.40050320e+01] [-4.46799220e-03 -8.62130515e-04 9.99989647e-01 -1.87697639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.481400513 meters Centerline goodness [0,1] 0.9783841856467554 Centerline is valid? [True, True] Translation: X:255.47, Y:14.01, Z:-0.19 [[ 9.99986387e-01 -3.13962694e-03 4.16764944e-03 2.55468692e+02] [ 3.13834943e-03 9.99995026e-01 3.13034070e-04 1.40071237e+01] [-4.16861153e-03 -2.99950268e-04 9.99991266e-01 -1.88524638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.511400513 meters Centerline goodness [0,1] 0.9630531441880161 Centerline is valid? [True, True] Translation: X:255.50, Y:14.01, Z:-0.19 [[ 9.99987788e-01 -2.26376544e-03 4.39310152e-03 2.55499839e+02] [ 2.26233875e-03 9.99997387e-01 3.29700184e-04 1.40115154e+01] [-4.39383641e-03 -3.19757474e-04 9.99990296e-01 -1.88471173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.541400513 meters Centerline goodness [0,1] 0.9702144049300295 Centerline is valid? [True, True] Translation: X:255.53, Y:14.01, Z:-0.19 [[ 9.99987163e-01 -1.24626700e-03 4.91128613e-03 2.55531063e+02] [ 1.24447286e-03 9.99999158e-01 3.68348604e-04 1.40136131e+01] [-4.91174106e-03 -3.62231913e-04 9.99987872e-01 -1.88572394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.571400513 meters Centerline goodness [0,1] 0.826773982297146 Centerline is valid? [True, False] Translation: X:255.57, Y:14.02, Z:-0.19 [[ 9.99969644e-01 1.74147581e-04 7.78983640e-03 2.55571618e+02] [-1.65326989e-04 9.99999345e-01 -1.13295018e-03 1.40167673e+01] [-7.79002859e-03 1.13162792e-03 9.99969017e-01 -1.89663190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.601400513 meters Centerline goodness [0,1] 0.9372503791033938 Centerline is valid? [False, False] Translation: X:255.53, Y:14.01, Z:-0.19 [[ 9.99987652e-01 5.12160752e-04 4.94305345e-03 2.55531051e+02] [-5.27220023e-04 9.99995223e-01 3.04573036e-03 1.40080478e+01] [-4.94146993e-03 -3.04829883e-03 9.99983145e-01 -1.87958298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.631400513 meters Centerline goodness [0,1] 0.7208040370769198 Centerline is valid? [False, False] Translation: X:255.57, Y:14.01, Z:-0.19 [[ 9.99973153e-01 4.93680515e-04 7.31094296e-03 2.55572581e+02] [-4.88558796e-04 9.99999634e-01 -7.02324510e-04 1.40138981e+01] [-7.31128701e-03 6.98733829e-04 9.99973028e-01 -1.90144703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.661400513 meters Centerline goodness [0,1] 0.8305290251217801 Centerline is valid? [False, False] Translation: X:255.57, Y:14.01, Z:-0.19 [[ 9.99972613e-01 5.72752173e-04 7.37865291e-03 2.55572271e+02] [-5.68656457e-04 9.99999683e-01 -5.57162451e-04 1.40132629e+01] [-7.37896969e-03 5.52951273e-04 9.99972622e-01 -1.89995526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.691400513 meters Centerline goodness [0,1] 0.8549232655477106 Centerline is valid? [False, False] Translation: X:255.57, Y:14.01, Z:-0.19 [[ 9.99972051e-01 6.22507810e-04 7.45045783e-03 2.55571834e+02] [-6.19019668e-04 9.99999698e-01 -4.70475071e-04 1.40129269e+01] [-7.45074845e-03 4.65849942e-04 9.99972134e-01 -1.89622627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.721400513 meters Centerline goodness [0,1] 0.6714062037154584 Centerline is valid? [False, False] Translation: X:255.57, Y:14.01, Z:-0.19 [[ 9.99970970e-01 7.64988257e-04 7.58114001e-03 2.55570972e+02] [-7.63700608e-04 9.99999693e-01 -1.72742456e-04 1.40116446e+01] [-7.58126983e-03 1.66947721e-04 9.99971248e-01 -1.88812569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.751400513 meters Centerline goodness [0,1] 0.7174692190925958 Centerline is valid? [False, False] Translation: X:255.57, Y:14.01, Z:-0.19 [[ 9.99970859e-01 7.93144379e-04 7.59287701e-03 2.55570972e+02] [-7.92427555e-04 9.99999681e-01 -9.74155174e-05 1.40112756e+01] [-7.59295185e-03 9.13958737e-05 9.99971169e-01 -1.88895676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.781400513 meters Centerline goodness [0,1] 0.7174692190925958 Centerline is valid? [False, False] Translation: X:255.57, Y:14.01, Z:-0.19 [[ 9.99970859e-01 7.93144379e-04 7.59287701e-03 2.55570972e+02] [-7.92427555e-04 9.99999681e-01 -9.74155174e-05 1.40112756e+01] [-7.59295185e-03 9.13958737e-05 9.99971169e-01 -1.88895676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.811400513 meters Centerline goodness [0,1] 0.7192687852056542 Centerline is valid? [False, False] Translation: X:255.57, Y:14.01, Z:-0.19 [[ 9.99970857e-01 8.32378370e-04 7.58900346e-03 2.55570987e+02] [-8.32363026e-04 9.99999654e-01 -5.18033170e-06 1.40108455e+01] [-7.58900514e-03 -1.13662515e-06 9.99971203e-01 -1.88914192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.841400513 meters Centerline goodness [0,1] 0.9441183975503955 Centerline is valid? [False, False] Translation: X:255.57, Y:14.01, Z:-0.19 [[ 9.99971119e-01 8.51388759e-04 7.55228980e-03 2.55571075e+02] [-8.51803450e-04 9.99999636e-01 5.16929108e-05 1.40105590e+01] [-7.55224304e-03 -5.81244844e-05 9.99971480e-01 -1.88863197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.871400513 meters Centerline goodness [0,1] 0.9912710698314413 Centerline is valid? [False, True] Translation: X:255.55, Y:14.00, Z:-0.18 [[ 9.99998114e-01 4.85263010e-04 1.88051097e-03 2.55545404e+02] [-5.05817432e-04 9.99939971e-01 1.09452157e-02 1.39977019e+01] [-1.87508678e-03 -1.09461462e-02 9.99938331e-01 -1.79401937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.901400513 meters Centerline goodness [0,1] 0.8383605507524816 Centerline is valid? [True, False] Translation: X:255.55, Y:14.00, Z:-0.18 [[ 9.99990067e-01 -3.94760510e-03 2.06928666e-03 2.55545218e+02] [ 3.93611749e-03 9.99976982e-01 5.52646558e-03 1.40032665e+01] [-2.09105533e-03 -5.51826573e-03 9.99982588e-01 -1.80509217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.931400513 meters Centerline goodness [0,1] 0.9558720819488243 Centerline is valid? [False, True] Translation: X:255.54, Y:14.01, Z:-0.18 [[ 9.99961528e-01 -8.43015676e-03 2.42382669e-03 2.55544524e+02] [ 8.43017470e-03 9.99964465e-01 2.81752311e-06 1.40093988e+01] [-2.42376432e-03 1.76158678e-05 9.99997063e-01 -1.81491656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.961400513 meters Centerline goodness [0,1] 0.897182528696467 Centerline is valid? [True, False] Translation: X:255.54, Y:14.01, Z:-0.18 [[ 9.99961548e-01 -8.44260343e-03 2.37184765e-03 2.55544690e+02] [ 8.44262753e-03 9.99964360e-01 -1.48742019e-07 1.40093999e+01] [-2.37176187e-03 2.01733626e-05 9.99997187e-01 -1.81482932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.99140051300003 meters Centerline goodness [0,1] 0.9713127798170977 Centerline is valid? [False, True] Translation: X:255.54, Y:14.01, Z:-0.18 [[ 9.99961073e-01 -8.51048770e-03 2.32912928e-03 2.55544948e+02] [ 8.51082215e-03 9.99963773e-01 -1.33720505e-04 1.40099931e+01] [-2.32790688e-03 1.53538105e-04 9.99997279e-01 -1.81729616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.021400513 meters Centerline goodness [0,1] 0.977229561023496 Centerline is valid? [True, True] Translation: X:255.58, Y:14.01, Z:-0.18 [[ 9.99955393e-01 -9.40379247e-03 8.84031092e-04 2.55575594e+02] [ 9.40373221e-03 9.99955781e-01 7.22996213e-05 1.40109848e+01] [-8.84671892e-04 -6.39832046e-05 9.99999607e-01 -1.84252493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.051400513 meters Centerline goodness [0,1] 0.864013862767059 Centerline is valid? [True, False] Translation: X:255.58, Y:14.01, Z:-0.18 [[ 9.99955223e-01 -9.42981858e-03 7.94282448e-04 2.55575924e+02] [ 9.42980974e-03 9.99955538e-01 1.48756806e-05 1.40112400e+01] [-7.94387408e-04 -7.38508219e-06 9.99999684e-01 -1.84317791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.081400513 meters Centerline goodness [0,1] 0.979608413132695 Centerline is valid? [False, True] Translation: X:255.58, Y:14.01, Z:-0.18 [[ 9.99954686e-01 -9.48251256e-03 8.41683052e-04 2.55575675e+02] [ 9.48262125e-03 9.99955031e-01 -1.25234741e-04 1.40119526e+01] [-8.40457663e-04 1.33210428e-04 9.99999638e-01 -1.84154696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.111400513 meters Centerline goodness [0,1] 0.9594226521114376 Centerline is valid? [True, True] Translation: X:255.60, Y:14.02, Z:-0.18 [[ 9.99961954e-01 -8.63630872e-03 1.22681299e-03 2.55603888e+02] [ 8.63619149e-03 9.99962702e-01 1.00820920e-04 1.40210043e+01] [-1.22763796e-03 -9.02220924e-05 9.99999242e-01 -1.83328207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.141400513 meters Centerline goodness [0,1] 0.8211950154436042 Centerline is valid? [True, False] Translation: X:255.60, Y:14.02, Z:-0.18 [[ 9.99959717e-01 -8.89832102e-03 1.17679821e-03 2.55604401e+02] [ 8.89894270e-03 9.99960266e-01 -5.24100490e-04 1.40238823e+01] [-1.17208784e-03 5.34551637e-04 9.99999170e-01 -1.84035011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.171400513 meters Centerline goodness [0,1] 0.7316449273830412 Centerline is valid? [False, False] Translation: X:255.60, Y:14.03, Z:-0.18 [[ 9.99957833e-01 -9.11649329e-03 1.10489596e-03 2.55604975e+02] [ 9.11770031e-03 9.99957836e-01 -1.09236452e-03 1.40265409e+01] [-1.09489084e-03 1.10239257e-03 9.99998793e-01 -1.84729330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.201400513 meters Centerline goodness [0,1] 0.9533699641470607 Centerline is valid? [False, True] Translation: X:255.61, Y:14.03, Z:-0.19 [[ 9.99955495e-01 -9.36666838e-03 1.12850363e-03 2.55605125e+02] [ 9.36856683e-03 9.99954688e-01 -1.68890114e-03 1.40293456e+01] [-1.11263312e-03 1.69939844e-03 9.99997937e-01 -1.85177349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.231400513 meters Centerline goodness [0,1] 0.8759670206227083 Centerline is valid? [True, False] Translation: X:255.61, Y:14.03, Z:-0.18 [[ 9.99987564e-01 -4.91961239e-03 8.17650442e-04 2.55605479e+02] [ 4.91673441e-03 9.99981839e-01 3.48532316e-03 1.40250830e+01] [-8.34782032e-04 -3.48125964e-03 9.99993592e-01 -1.83974276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.261400513 meters Centerline goodness [0,1] 0.92984661269706 Centerline is valid? [False, False] Translation: X:255.60, Y:14.03, Z:-0.18 [[ 9.99985353e-01 -5.30879872e-03 1.05371599e-03 2.55604604e+02] [ 5.30616974e-03 9.99982841e-01 2.48227041e-03 1.40299279e+01] [-1.06687578e-03 -2.47664285e-03 9.99996364e-01 -1.83823875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.291400513 meters Centerline goodness [0,1] 0.879686601801188 Centerline is valid? [False, False] Translation: X:255.60, Y:14.03, Z:-0.18 [[ 9.99984166e-01 -5.53394738e-03 1.02176074e-03 2.55604929e+02] [ 5.53192341e-03 9.99982752e-01 1.97317325e-03 1.40322675e+01] [-1.03266255e-03 -1.96748970e-03 9.99997531e-01 -1.84293674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.321400513 meters Centerline goodness [0,1] 0.9892787944025834 Centerline is valid? [False, True] Translation: X:255.60, Y:14.04, Z:-0.19 [[ 9.99949029e-01 -9.98211475e-03 1.51533464e-03 2.55603998e+02] [ 9.98792909e-03 9.99942595e-01 -3.87918952e-03 1.40402956e+01] [-1.47652514e-03 3.89412685e-03 9.99991328e-01 -1.85720338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.351400513 meters Centerline goodness [0,1] 0.9172574330758649 Centerline is valid? [True, False] Translation: X:255.64, Y:14.05, Z:-0.19 [[ 9.99949811e-01 -9.02478736e-03 4.35063508e-03 2.55644666e+02] [ 9.04931503e-03 9.99943084e-01 -5.65139262e-03 1.40464184e+01] [-4.29938485e-03 5.69047925e-03 9.99974567e-01 -1.86856093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.381400513 meters Centerline goodness [0,1] 0.9878964762436157 Centerline is valid? [False, True] Translation: X:255.62, Y:14.05, Z:-0.19 [[ 9.99958703e-01 -8.50679560e-03 3.19806410e-03 2.55623996e+02] [ 8.55818320e-03 9.99828661e-01 -1.64135917e-02 1.40521418e+01] [-3.05788908e-03 1.64402835e-02 9.99860173e-01 -1.88357212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.411400513 meters Centerline goodness [0,1] 0.8331187063269226 Centerline is valid? [True, False] Translation: X:255.64, Y:14.05, Z:-0.19 [[ 9.99936849e-01 -9.94071166e-03 5.24213798e-03 2.55643589e+02] [ 9.97575084e-03 9.99927789e-01 -6.70089744e-03 1.40484272e+01] [-5.17514775e-03 6.75276854e-03 9.99963808e-01 -1.87167079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.441400513 meters Centerline goodness [0,1] 0.8830086533952854 Centerline is valid? [False, False] Translation: X:255.64, Y:14.05, Z:-0.19 [[ 9.99937764e-01 -9.87780272e-03 5.18624599e-03 2.55643609e+02] [ 9.91155375e-03 9.99929604e-01 -6.52293305e-03 1.40476040e+01] [-5.12144865e-03 6.57393084e-03 9.99965276e-01 -1.86885027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.471400513 meters Centerline goodness [0,1] 0.9877913901650502 Centerline is valid? [False, True] Translation: X:255.65, Y:14.04, Z:-0.19 [[ 9.99970469e-01 -6.11814722e-03 4.65083824e-03 2.55645178e+02] [ 6.12381103e-03 9.99980524e-01 -1.20453864e-03 1.40409107e+01] [-4.64337812e-03 1.23298392e-03 9.99988459e-01 -1.86216930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.501400513 meters Centerline goodness [0,1] 0.9964683105333703 Centerline is valid? [True, True] Translation: X:255.68, Y:14.03, Z:-0.19 [[ 9.99952322e-01 -8.73430271e-03 4.36644272e-03 2.55676634e+02] [ 8.73291845e-03 9.99961811e-01 3.35987538e-04 1.40334615e+01] [-4.36921059e-03 -2.97839730e-04 9.99990411e-01 -1.85745818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.531400513 meters Centerline goodness [0,1] 0.9735827472248114 Centerline is valid? [True, True] Translation: X:255.71, Y:14.04, Z:-0.18 [[ 9.99949593e-01 -8.73148343e-03 4.95706649e-03 2.55707382e+02] [ 8.72969911e-03 9.99961823e-01 3.81479703e-04 1.40419633e+01] [-4.96020812e-03 -3.38186775e-04 9.99987641e-01 -1.84990582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.561400513 meters Centerline goodness [0,1] 0.9924918573664396 Centerline is valid? [True, True] Translation: X:255.74, Y:14.04, Z:-0.18 [[ 9.99953506e-01 -7.98120158e-03 5.41163418e-03 2.55739353e+02] [ 7.97906498e-03 9.99968080e-01 4.16291075e-04 1.40395570e+01] [-5.41478394e-03 -3.73091939e-04 9.99985270e-01 -1.84070081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.591400513 meters Centerline goodness [0,1] 0.9967739867968466 Centerline is valid? [True, True] Translation: X:255.77, Y:14.04, Z:-0.18 [[ 9.99963170e-01 -6.73830389e-03 5.31538050e-03 2.55771015e+02] [ 6.73622711e-03 9.99977228e-01 4.08518010e-04 1.40390823e+01] [-5.31801218e-03 -3.72697354e-04 9.99985790e-01 -1.84459207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.621400513 meters Centerline goodness [0,1] 0.9466860018766527 Centerline is valid? [True, False] Translation: X:255.77, Y:14.04, Z:-0.18 [[ 9.99962737e-01 -6.80501338e-03 5.31189766e-03 2.55771147e+02] [ 6.80414935e-03 9.99976835e-01 1.80714261e-04 1.40401684e+01] [-5.31300437e-03 -1.44564582e-04 9.99985875e-01 -1.84732808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.651400513 meters Centerline goodness [0,1] 0.9878518265035503 Centerline is valid? [False, True] Translation: X:255.77, Y:14.04, Z:-0.18 [[ 9.99962367e-01 -6.82548770e-03 5.35513921e-03 2.55770940e+02] [ 6.82523693e-03 9.99976706e-01 6.51009702e-05 1.40407780e+01] [-5.35545881e-03 -2.85484263e-05 9.99985659e-01 -1.84606146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.681400513 meters Centerline goodness [0,1] 0.9542336526005054 Centerline is valid? [True, True] Translation: X:255.80, Y:14.05, Z:-0.18 [[ 9.99972093e-01 -4.44018652e-03 6.00820001e-03 2.55800101e+02] [ 4.43737636e-03 9.99990039e-01 4.80969929e-04 1.40470401e+01] [-6.01027576e-03 -4.54295862e-04 9.99981835e-01 -1.84121919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.711400513 meters Centerline goodness [0,1] 0.7007426267769998 Centerline is valid? [True, False] Translation: X:255.80, Y:14.05, Z:-0.18 [[ 9.99971749e-01 -4.46325317e-03 6.04821663e-03 2.55800073e+02] [ 4.46097225e-03 9.99989974e-01 3.90559774e-04 1.40474694e+01] [-6.04989916e-03 -3.63567814e-04 9.99981633e-01 -1.84342672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.74140051300003 meters Centerline goodness [0,1] 0.9222095044300309 Centerline is valid? [False, False] Translation: X:255.80, Y:14.05, Z:-0.18 [[ 9.99971976e-01 -4.46447916e-03 6.00959236e-03 2.55800247e+02] [ 4.46228359e-03 9.99989972e-01 3.78703772e-04 1.40475014e+01] [-6.01122281e-03 -3.51876654e-04 9.99981871e-01 -1.84441227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.771400513 meters Centerline goodness [0,1] 0.8122126681423463 Centerline is valid? [False, False] Translation: X:255.80, Y:14.05, Z:-0.18 [[ 9.99972544e-01 -4.38239407e-03 5.97547611e-03 2.55800362e+02] [ 4.37906055e-03 9.99990249e-01 5.70836143e-04 1.40465898e+01] [-5.97791948e-03 -5.44653498e-04 9.99981984e-01 -1.84461531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.801400513 meters Centerline goodness [0,1] 0.7333249009191332 Centerline is valid? [False, False] Translation: X:255.80, Y:14.04, Z:-0.18 [[ 9.99973643e-01 -4.22058970e-03 5.90765170e-03 2.55800399e+02] [ 4.21449833e-03 9.99990575e-01 1.04316838e-03 1.40443148e+01] [-5.91199881e-03 -1.01824309e-03 9.99982006e-01 -1.84083941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.831400513 meters Centerline goodness [0,1] 0.9498646133017431 Centerline is valid? [False, False] Translation: X:255.80, Y:14.04, Z:-0.18 [[ 9.99974310e-01 -4.17108930e-03 5.82929094e-03 2.55800743e+02] [ 4.16432303e-03 9.99990642e-01 1.17239312e-03 1.40436757e+01] [-5.83412655e-03 -1.14808795e-03 9.99982322e-01 -1.84242915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.861400513 meters Centerline goodness [0,1] 0.9967097430569084 Centerline is valid? [False, True] Translation: X:255.76, Y:14.04, Z:-0.18 [[ 9.99983572e-01 -4.74309415e-03 3.21865568e-03 2.55759787e+02] [ 4.73064906e-03 9.99981348e-01 3.86320955e-03 1.40371228e+01] [-3.23691922e-03 -3.84791975e-03 9.99987358e-01 -1.83453703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.891400513 meters Centerline goodness [0,1] 0.9389815347262156 Centerline is valid? [True, False] Translation: X:255.80, Y:14.04, Z:-0.19 [[ 9.99975914e-01 -4.35587579e-03 5.40354593e-03 2.55802194e+02] [ 4.34919862e-03 9.99989765e-01 1.24683686e-03 1.40416817e+01] [-5.40892169e-03 -1.22330573e-03 9.99984623e-01 -1.85660688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.921400513 meters Centerline goodness [0,1] 0.9430410882724103 Centerline is valid? [False, False] Translation: X:255.80, Y:14.04, Z:-0.19 [[ 9.99976962e-01 -4.22441001e-03 5.31311610e-03 2.55802698e+02] [ 4.21629869e-03 9.99989930e-01 1.53693556e-03 1.40402837e+01] [-5.31955525e-03 -1.51449847e-03 9.99984704e-01 -1.86052357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.951400513 meters Centerline goodness [0,1] 0.929891799182671 Centerline is valid? [False, False] Translation: X:255.80, Y:14.04, Z:-0.19 [[ 9.99976900e-01 -4.26941559e-03 5.28888222e-03 2.55802885e+02] [ 4.26232686e-03 9.99990004e-01 1.35085542e-03 1.40411837e+01] [-5.29459672e-03 -1.32828127e-03 9.99985101e-01 -1.86284302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.981400513 meters Centerline goodness [0,1] 0.8842741935483871 Centerline is valid? [False, False] Translation: X:255.80, Y:14.04, Z:-0.19 [[ 9.99976128e-01 -4.40939907e-03 5.31990911e-03 2.55802936e+02] [ 4.40431410e-03 9.99989833e-01 9.67174596e-04 1.40430007e+01] [-5.32411969e-03 -9.43720957e-04 9.99985381e-01 -1.86584887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.011400513 meters Centerline goodness [0,1] 0.8798516163222045 Centerline is valid? [False, False] Translation: X:255.80, Y:14.05, Z:-0.19 [[ 9.99974868e-01 -4.57169699e-03 5.41868571e-03 2.55802563e+02] [ 4.56906640e-03 9.99989438e-01 4.97746578e-04 1.40452942e+01] [-5.42090403e-03 -4.72975734e-04 9.99985195e-01 -1.86518318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.041400513 meters Centerline goodness [0,1] 0.862908555955909 Centerline is valid? [False, False] Translation: X:255.80, Y:14.05, Z:-0.19 [[ 9.99973510e-01 -4.71680661e-03 5.54357486e-03 2.55802188e+02] [ 4.71650399e-03 9.99988875e-01 6.76622205e-05 1.40473856e+01] [-5.54383233e-03 -4.15141352e-05 9.99984632e-01 -1.86611391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.071400513 meters Centerline goodness [0,1] 0.4673028287250547 Centerline is valid? [False, False] Translation: X:255.80, Y:14.05, Z:-0.19 [[ 9.99985370e-01 -2.59804260e-04 5.40301191e-03 2.55802239e+02] [ 2.33701295e-04 9.99988302e-01 4.83125818e-03 1.40453607e+01] [-5.40420388e-03 -4.82992480e-03 9.99973733e-01 -1.85855456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.101400513 meters Centerline goodness [0,1] 0.5316900667270086 Centerline is valid? [False, False] Translation: X:255.80, Y:14.05, Z:-0.19 [[ 9.99985077e-01 -4.45447700e-04 5.44499132e-03 2.55802204e+02] [ 4.22168210e-04 9.99990770e-01 4.27579703e-03 1.40480429e+01] [-5.44684570e-03 -4.27343452e-03 9.99976035e-01 -1.86131730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.131400513 meters Centerline goodness [0,1] 0.7370851431704128 Centerline is valid? [False, False] Translation: X:255.80, Y:14.05, Z:-0.19 [[ 9.99984477e-01 -6.64904464e-04 5.53211355e-03 2.55801924e+02] [ 6.44263902e-04 9.99992829e-01 3.73199038e-03 1.40506354e+01] [-5.53455529e-03 -3.72836831e-03 9.99977734e-01 -1.86194841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.161400513 meters Centerline goodness [0,1] 0.5510678299076871 Centerline is valid? [False, False] Translation: X:255.80, Y:14.05, Z:-0.19 [[ 9.99983519e-01 -8.39956253e-04 5.67942978e-03 2.55801366e+02] [ 8.21245888e-04 9.99994231e-01 3.29593890e-03 1.40527466e+01] [-5.68216546e-03 -3.29122037e-03 9.99978440e-01 -1.86087118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.191400513 meters Centerline goodness [0,1] 0.40590647725350926 Centerline is valid? [False, False] Translation: X:255.80, Y:14.06, Z:-0.19 [[ 9.99981681e-01 -1.17546386e-03 5.93764842e-03 2.55800121e+02] [ 1.16067088e-03 9.99996216e-01 2.49421837e-03 1.40566570e+01] [-5.94055782e-03 -2.48728102e-03 9.99979261e-01 -1.85429284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.221400513 meters Centerline goodness [0,1] 0.46858875808183986 Centerline is valid? [False, False] Translation: X:255.80, Y:14.06, Z:-0.19 [[ 9.99981229e-01 -1.31017458e-03 5.98542423e-03 2.55799812e+02] [ 1.29684663e-03 9.99996672e-01 2.23007466e-03 1.40579242e+01] [-5.98832610e-03 -2.22227062e-03 9.99979601e-01 -1.85202832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.251400513 meters Centerline goodness [0,1] 0.7435167077629453 Centerline is valid? [False, False] Translation: X:255.78, Y:14.07, Z:-0.19 [[ 9.99973228e-01 -1.80568911e-03 7.09100319e-03 2.55780862e+02] [ 1.87118559e-03 9.99955552e-01 -9.24081339e-03 1.40660089e+01] [-7.07400198e-03 9.25383458e-03 9.99932160e-01 -1.90985709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.281400513 meters Centerline goodness [0,1] 0.7541540945986146 Centerline is valid? [False, False] Translation: X:255.78, Y:14.06, Z:-0.19 [[ 9.99977734e-01 1.88916103e-03 6.40016514e-03 2.55783079e+02] [-1.86158773e-03 9.99988973e-01 -4.31143950e-03 1.40614209e+01] [-6.40823957e-03 4.29942903e-03 9.99970224e-01 -1.90531527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.311400513 meters Centerline goodness [0,1] 0.8720505080566303 Centerline is valid? [False, False] Translation: X:255.78, Y:14.06, Z:-0.19 [[ 9.99980194e-01 1.76326587e-03 6.04166545e-03 2.55784564e+02] [-1.73697990e-03 9.99989016e-01 -4.35327084e-03 1.40613765e+01] [-6.04927506e-03 4.34269037e-03 9.99972273e-01 -1.91156885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.341400513 meters Centerline goodness [0,1] 0.8871111488350379 Centerline is valid? [False, False] Translation: X:255.78, Y:14.06, Z:-0.19 [[ 9.99980695e-01 1.73607167e-03 5.96623187e-03 2.55784885e+02] [-1.70988142e-03 9.99988893e-01 -4.39204780e-03 1.40615271e+01] [-5.97379051e-03 4.38176146e-03 9.99972557e-01 -1.91290864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.371400513 meters Centerline goodness [0,1] 0.6403060683778801 Centerline is valid? [False, False] Translation: X:255.78, Y:14.06, Z:-0.19 [[ 9.99980604e-01 1.64913088e-03 6.00606743e-03 2.55784761e+02] [-1.62161354e-03 9.99988181e-01 -4.58358180e-03 1.40624402e+01] [-6.01355537e-03 4.57375337e-03 9.99971459e-01 -1.91305720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.401400513 meters Centerline goodness [0,1] 0.9295583046380138 Centerline is valid? [False, False] Translation: X:255.78, Y:14.06, Z:-0.19 [[ 9.99980562e-01 1.51162474e-03 6.04893565e-03 2.55784592e+02] [-1.48178505e-03 9.99986727e-01 -4.93449171e-03 1.40641297e+01] [-6.05631447e-03 4.92543257e-03 9.99969530e-01 -1.91257241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.431400513 meters Centerline goodness [0,1] 0.9129753867643013 Centerline is valid? [False, False] Translation: X:255.79, Y:14.06, Z:-0.19 [[ 9.99977796e-01 4.31798213e-03 5.07561659e-03 2.55790618e+02] [-4.30833296e-03 9.99988894e-01 -1.91048161e-03 1.40648449e+01] [-5.08380965e-03 1.88857174e-03 9.99985294e-01 -1.94470368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.461400513 meters Centerline goodness [0,1] 0.5141102222597462 Centerline is valid? [False, False] Translation: X:255.79, Y:14.07, Z:-0.19 [[ 9.99978697e-01 4.14520470e-03 5.04212321e-03 2.55790997e+02] [-4.13362431e-03 9.99988800e-01 -2.30498583e-03 1.40666275e+01] [-5.05162138e-03 2.28409449e-03 9.99984632e-01 -1.94986249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.49140051300003 meters Centerline goodness [0,1] 0.9810943777257396 Centerline is valid? [False, True] Translation: X:255.75, Y:14.06, Z:-0.19 [[ 9.99991453e-01 3.47640929e-03 2.23794874e-03 2.55749664e+02] [-3.47487057e-03 9.99993724e-01 -6.91080554e-04 1.40637026e+01] [-2.24033717e-03 6.83298065e-04 9.99997257e-01 -1.94368624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.521400513 meters Centerline goodness [0,1] 0.5971082702622486 Centerline is valid? [True, False] Translation: X:255.75, Y:14.06, Z:-0.19 [[ 9.99969581e-01 7.61408477e-03 1.69203401e-03 2.55751273e+02] [-7.62155292e-03 9.99961045e-01 4.45198917e-03 1.40589623e+01] [-1.65807027e-03 -4.46474967e-03 9.99988658e-01 -1.93705703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.551400513 meters Centerline goodness [0,1] 0.5671945557463589 Centerline is valid? [False, False] Translation: X:255.75, Y:14.07, Z:-0.19 [[ 9.99994097e-01 2.87554406e-03 1.88067740e-03 2.55750978e+02] [-2.87289243e-03 9.99994878e-01 -1.41112097e-03 1.40664722e+01] [-1.88472550e-03 1.40570966e-03 9.99997236e-01 -1.94693170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.581400513 meters Centerline goodness [0,1] 0.8588190363030701 Centerline is valid? [False, False] Translation: X:255.75, Y:14.07, Z:-0.19 [[ 9.99994076e-01 2.90512871e-03 1.84594194e-03 2.55750980e+02] [-2.90274958e-03 9.99994955e-01 -1.29021436e-03 1.40658773e+01] [-1.84968087e-03 1.28484841e-03 9.99997464e-01 -1.94499159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.611400513 meters Centerline goodness [0,1] 0.9700232394516343 Centerline is valid? [False, True] Translation: X:255.75, Y:14.07, Z:-0.19 [[ 9.99994197e-01 2.88668128e-03 1.80940057e-03 2.55751103e+02] [-2.88433192e-03 9.99994996e-01 -1.29968334e-03 1.40658844e+01] [-1.81314329e-03 1.29445688e-03 9.99997518e-01 -1.94528326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.641400513 meters Centerline goodness [0,1] 0.9700232394516343 Centerline is valid? [True, True] Translation: X:255.78, Y:14.07, Z:-0.19 [[ 9.99993941e-01 3.03631389e-03 1.70286144e-03 2.55782865e+02] [-3.03653555e-03 9.99995382e-01 1.27598305e-04 1.40669498e+01] [-1.70246615e-03 -1.32768331e-04 9.99998542e-01 -1.94452445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.671400513 meters Centerline goodness [0,1] 0.9749791671118139 Centerline is valid? [True, True] Translation: X:255.81, Y:14.07, Z:-0.19 [[ 9.99995141e-01 2.53519711e-03 1.81413137e-03 2.55814719e+02] [-2.53544726e-03 9.99996777e-01 1.35601792e-04 1.40692222e+01] [-1.81378175e-03 -1.40200767e-04 9.99998345e-01 -1.94724501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.701400513 meters Centerline goodness [0,1] 0.6624819747221986 Centerline is valid? [True, False] Translation: X:255.82, Y:14.07, Z:-0.20 [[ 9.99987859e-01 4.85544796e-03 8.40134394e-04 2.55821466e+02] [-4.85744040e-03 9.99985356e-01 2.38600745e-03 1.40714164e+01] [-8.28536956e-04 -2.39005938e-03 9.99996801e-01 -1.98772103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.731400513 meters Centerline goodness [0,1] 0.8784308730815767 Centerline is valid? [False, False] Translation: X:255.82, Y:14.08, Z:-0.20 [[ 9.99989394e-01 4.51548242e-03 9.06282380e-04 2.55821376e+02] [-4.51685245e-03 9.99988651e-01 1.51539645e-03 1.40755631e+01] [-8.99429348e-04 -1.51947393e-03 9.99998441e-01 -1.99025924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.761400513 meters Centerline goodness [0,1] 0.5510048171805699 Centerline is valid? [False, False] Translation: X:255.82, Y:14.08, Z:-0.20 [[ 9.99990816e-01 4.16865684e-03 9.94787282e-04 2.55821297e+02] [-4.16925910e-03 9.99991126e-01 6.04110806e-04 1.40798628e+01] [-9.92260124e-04 -6.08252784e-04 9.99999323e-01 -1.99475035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.791400513 meters Centerline goodness [0,1] 0.6959793638611751 Centerline is valid? [False, False] Translation: X:255.82, Y:14.09, Z:-0.20 [[ 9.99991869e-01 3.77270009e-03 1.42399173e-03 2.55820192e+02] [-3.77144575e-03 9.99992499e-01 -8.82519829e-04 1.40871825e+01] [-1.42731053e-03 8.77142146e-04 9.99998597e-01 -2.00148784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.821400513 meters Centerline goodness [0,1] 0.4588673621460506 Centerline is valid? [False, False] Translation: X:255.82, Y:14.09, Z:-0.20 [[ 9.99992853e-01 3.46003518e-03 1.52404989e-03 2.55820010e+02] [-3.45756240e-03 9.99992707e-01 -1.62216090e-03 1.40906505e+01] [-1.52965151e-03 1.61687981e-03 9.99997523e-01 -2.00469847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.851400513 meters Centerline goodness [0,1] 0.7526801825708523 Centerline is valid? [False, False] Translation: X:255.82, Y:14.09, Z:-0.20 [[ 9.99993719e-01 3.21923929e-03 1.48302714e-03 2.55820300e+02] [-3.21606318e-03 9.99992541e-01 -2.13906917e-03 1.40930300e+01] [-1.48990225e-03 2.13428622e-03 9.99996613e-01 -2.00803031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.881400513 meters Centerline goodness [0,1] 0.5219908389176351 Centerline is valid? [False, False] Translation: X:255.82, Y:14.09, Z:-0.20 [[ 9.99994386e-01 3.06163117e-03 1.36157348e-03 2.55820846e+02] [-3.05829206e-03 9.99992328e-01 -2.44774978e-03 1.40944039e+01] [-1.36905714e-03 2.44357195e-03 9.99996077e-01 -2.01102461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.911400513 meters Centerline goodness [0,1] 0.8752281893440883 Centerline is valid? [False, False] Translation: X:255.82, Y:14.10, Z:-0.20 [[ 9.99995434e-01 2.81928126e-03 1.08826468e-03 2.55821884e+02] [-2.81616071e-03 9.99991949e-01 -2.85840697e-03 1.40962014e+01] [-1.09631457e-03 2.85532918e-03 9.99995323e-01 -2.01371220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.941400513 meters Centerline goodness [0,1] 0.9167893176340095 Centerline is valid? [False, False] Translation: X:255.82, Y:14.10, Z:-0.20 [[ 9.99995778e-01 2.69239176e-03 1.09299328e-03 2.55821700e+02] [-2.68893831e-03 9.99991427e-01 -3.14888766e-03 1.40976211e+01] [-1.10146195e-03 3.14593538e-03 9.99994445e-01 -2.01059810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.971400513 meters Centerline goodness [0,1] 0.9679025536916337 Centerline is valid? [False, True] Translation: X:255.82, Y:14.10, Z:-0.20 [[ 9.99996289e-01 2.46653770e-03 1.15655826e-03 2.55821361e+02] [-2.46226599e-03 9.99990196e-01 -3.68045269e-03 1.41001616e+01] [-1.16562489e-03 3.67759128e-03 9.99992558e-01 -2.00822249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.001400513 meters Centerline goodness [0,1] 0.9148024141093174 Centerline is valid? [True, False] Translation: X:255.82, Y:14.10, Z:-0.20 [[ 9.99996845e-01 2.18426067e-03 1.24017735e-03 2.55821057e+02] [-2.17884806e-03 9.99988169e-01 -4.34909096e-03 1.41033544e+01] [-1.24966223e-03 4.34637508e-03 9.99989774e-01 -2.00782889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.031400513 meters Centerline goodness [0,1] 0.791121992761337 Centerline is valid? [False, False] Translation: X:255.82, Y:14.11, Z:-0.20 [[ 9.99997372e-01 1.89112555e-03 1.29610614e-03 2.55820953e+02] [-1.88455457e-03 9.99985461e-01 -5.05239024e-03 1.41066767e+01] [-1.30564200e-03 5.04993437e-03 9.99986397e-01 -2.00950863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.061400513 meters Centerline goodness [0,1] 0.9679503747738434 Centerline is valid? [False, True] Translation: X:255.80, Y:14.10, Z:-0.20 [[ 9.99996137e-01 8.41763028e-04 -2.64921976e-03 2.55798156e+02] [-8.26359683e-04 9.99982780e-01 5.81002893e-03 1.41025967e+01] [ 2.65406481e-03 -5.80781727e-03 9.99979612e-01 -1.95163339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.091400513 meters Centerline goodness [0,1] 0.8186355719807994 Centerline is valid? [True, False] Translation: X:255.84, Y:14.11, Z:-0.20 [[ 9.99999868e-01 -5.09623447e-04 5.94541502e-05 2.55837849e+02] [ 5.09594249e-04 9.99999750e-01 4.90088661e-04 1.41126230e+01] [-5.97038961e-05 -4.90058299e-04 9.99999878e-01 -1.96156315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.121400513 meters Centerline goodness [0,1] 0.8989922662292008 Centerline is valid? [False, False] Translation: X:255.84, Y:14.11, Z:-0.20 [[ 9.99999842e-01 -5.57052120e-04 7.09908294e-05 2.55837702e+02] [ 5.57024756e-04 9.99999771e-01 3.84888204e-04 1.41131265e+01] [-7.12052159e-05 -3.84848600e-04 9.99999923e-01 -1.95968427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.151400513 meters Centerline goodness [0,1] 0.8142510431746572 Centerline is valid? [False, False] Translation: X:255.84, Y:14.11, Z:-0.20 [[ 9.99999816e-01 -6.06703694e-04 2.12853643e-05 2.55837893e+02] [ 6.06697303e-04 9.99999771e-01 2.98970582e-04 1.41134974e+01] [-2.14667460e-05 -2.98957613e-04 9.99999955e-01 -1.96024661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.181400513 meters Centerline goodness [0,1] 0.9053815943105827 Centerline is valid? [False, False] Translation: X:255.84, Y:14.12, Z:-0.20 [[ 9.99999687e-01 -7.89293618e-04 5.69663427e-05 2.55837822e+02] [ 7.89295834e-04 9.99999688e-01 -3.88945659e-05 1.41150320e+01] [-5.69356257e-05 3.89395171e-05 9.99999998e-01 -1.96156996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.211400513 meters Centerline goodness [0,1] 0.9317174987220992 Centerline is valid? [False, False] Translation: X:255.84, Y:14.12, Z:-0.20 [[ 9.99999635e-01 -8.36990416e-04 1.73165080e-04 2.55837130e+02] [ 8.37016155e-04 9.99999639e-01 -1.48621516e-04 1.41156339e+01] [-1.73040622e-04 1.48766404e-04 9.99999974e-01 -1.95605228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.24140051300003 meters Centerline goodness [0,1] 0.8887872145730034 Centerline is valid? [False, False] Translation: X:255.84, Y:14.12, Z:-0.19 [[ 9.99999636e-01 -8.09062646e-04 2.72411537e-04 2.55836329e+02] [ 8.09087350e-04 9.99999669e-01 -9.05897788e-05 1.41154384e+01] [-2.72338154e-04 9.08101505e-05 9.99999959e-01 -1.94705835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.271400513 meters Centerline goodness [0,1] 0.9415237198956239 Centerline is valid? [False, False] Translation: X:255.84, Y:14.12, Z:-0.19 [[ 9.99999597e-01 -8.20288196e-04 3.65584367e-04 2.55835745e+02] [ 8.20341309e-04 9.99999653e-01 -1.45157693e-04 1.41157700e+01] [-3.65465169e-04 1.45457539e-04 9.99999923e-01 -1.94164879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.301400513 meters Centerline goodness [0,1] 0.7279465008306001 Centerline is valid? [False, False] Translation: X:255.84, Y:14.11, Z:-0.19 [[ 9.99993182e-01 3.69169154e-03 8.17889706e-05 2.55836875e+02] [-3.69203700e-03 9.99982006e-01 4.72827962e-03 1.41130949e+01] [-6.43321491e-05 -4.72854935e-03 9.99988818e-01 -1.94429499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.331400513 meters Centerline goodness [0,1] 0.8899704762312267 Centerline is valid? [False, False] Translation: X:255.84, Y:14.12, Z:-0.20 [[ 9.99994285e-01 3.37794497e-03 1.39901323e-04 2.55837072e+02] [-3.37845515e-03 9.99986985e-01 3.82296313e-03 1.41173585e+01] [-1.26985743e-04 -3.82341393e-03 9.99992683e-01 -1.95263333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.361400513 meters Centerline goodness [0,1] 0.6738936549732439 Centerline is valid? [False, False] Translation: X:255.84, Y:14.12, Z:-0.20 [[ 9.99995040e-01 3.13865763e-03 2.63996789e-04 2.55836814e+02] [-3.13942559e-03 9.99990689e-01 2.96070677e-03 1.41215678e+01] [-2.54701686e-04 -2.96152088e-03 9.99995582e-01 -1.95652215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.391400513 meters Centerline goodness [0,1] 0.6276312141440423 Centerline is valid? [False, False] Translation: X:255.84, Y:14.13, Z:-0.20 [[ 9.99995482e-01 2.92693557e-03 6.85409904e-04 2.55835522e+02] [-2.92812521e-03 9.99994197e-01 1.74114866e-03 1.41277538e+01] [-6.80309697e-04 -1.74314776e-03 9.99998249e-01 -1.95976102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.421400513 meters Centerline goodness [0,1] 0.3917135462343051 Centerline is valid? [False, False] Translation: X:255.84, Y:14.13, Z:-0.20 [[ 9.99996180e-01 2.67062129e-03 7.12391483e-04 2.55835736e+02] [-2.67144728e-03 9.99995758e-01 1.16103228e-03 1.41303972e+01] [-7.09287783e-04 -1.16293096e-03 9.99999072e-01 -1.96616353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.451400513 meters Centerline goodness [0,1] 0.5654904306220095 Centerline is valid? [False, False] Translation: X:255.84, Y:14.13, Z:-0.20 [[ 9.99996920e-01 2.39027311e-03 6.68553435e-04 2.55836289e+02] [-2.39062423e-03 9.99997005e-01 5.24883661e-04 1.41332990e+01] [-6.67296818e-04 -5.26480304e-04 9.99999639e-01 -1.97442922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.481400513 meters Centerline goodness [0,1] 0.528285835814547 Centerline is valid? [False, False] Translation: X:255.84, Y:14.14, Z:-0.20 [[ 9.99997531e-01 2.14922682e-03 5.64947105e-04 2.55836911e+02] [-2.14922693e-03 9.99997690e-01 -3.96293257e-07 1.41357003e+01] [-5.64946652e-04 -8.17907255e-07 9.99999840e-01 -1.98007424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.511400513 meters Centerline goodness [0,1] 0.47828677205897996 Centerline is valid? [False, False] Translation: X:255.84, Y:14.14, Z:-0.20 [[ 9.99997932e-01 1.96418485e-03 5.26488527e-04 2.55837211e+02] [-1.96397875e-03 9.99997995e-01 -3.91688048e-04 1.41374816e+01] [-5.27256819e-04 3.90653226e-04 9.99999785e-01 -1.98377198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.541400513 meters Centerline goodness [0,1] 0.7338611579419108 Centerline is valid? [False, False] Translation: X:255.84, Y:14.14, Z:-0.20 [[ 9.99998458e-01 1.71695682e-03 3.67622719e-04 2.55837671e+02] [-1.71664596e-03 9.99998170e-01 -8.44230323e-04 1.41395385e+01] [-3.69071553e-04 8.43597944e-04 9.99999576e-01 -1.98279872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.571400513 meters Centerline goodness [0,1] 0.8918267679266797 Centerline is valid? [False, False] Translation: X:255.84, Y:14.14, Z:-0.20 [[ 9.99998732e-01 1.56218944e-03 3.08689703e-04 2.55837805e+02] [-1.56183112e-03 9.99998110e-01 -1.15762467e-03 1.41409869e+01] [-3.10497549e-04 1.15714109e-03 9.99999282e-01 -1.98154318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.601400513 meters Centerline goodness [0,1] 0.9434467110473703 Centerline is valid? [False, False] Translation: X:255.84, Y:14.14, Z:-0.20 [[ 9.99999092e-01 1.32333649e-03 2.52596365e-04 2.55837889e+02] [-1.32291236e-03 9.99997727e-01 -1.67193215e-03 1.41433949e+01] [-2.54808320e-04 1.67159647e-03 9.99998570e-01 -1.97985889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.631400513 meters Centerline goodness [0,1] 0.9744110216156686 Centerline is valid? [False, True] Translation: X:255.84, Y:14.15, Z:-0.20 [[ 9.99999322e-01 1.12913192e-03 2.84563267e-04 2.55837616e+02] [-1.12852774e-03 9.99997128e-01 -2.11447749e-03 1.41454795e+01] [-2.86949973e-04 2.11415492e-03 9.99997724e-01 -1.97659588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.661400513 meters Centerline goodness [0,1] 0.8396856917131083 Centerline is valid? [True, False] Translation: X:255.84, Y:14.14, Z:-0.20 [[ 9.99986892e-01 5.11610011e-03 -2.03756923e-04 2.55838880e+02] [-5.11547898e-03 9.99982593e-01 2.94036204e-03 1.41409052e+01] [ 2.18796563e-04 -2.93928119e-03 9.99995656e-01 -1.96785149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.691400513 meters Centerline goodness [0,1] 0.822260551083855 Centerline is valid? [False, False] Translation: X:255.84, Y:14.14, Z:-0.20 [[ 9.99988471e-01 4.79854944e-03 -1.79246722e-04 2.55838830e+02] [-4.79813149e-03 9.99985927e-01 2.26355344e-03 1.41440511e+01] [ 1.90105972e-04 -2.26266730e-03 9.99997422e-01 -1.96902180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.721400513 meters Centerline goodness [0,1] 0.9380282895722326 Centerline is valid? [False, False] Translation: X:255.84, Y:14.15, Z:-0.20 [[ 9.99989701e-01 4.53585289e-03 -1.55361292e-04 2.55838782e+02] [-4.53558465e-03 9.99988294e-01 1.68545592e-03 1.41467383e+01] [ 1.63004453e-04 -1.68473390e-03 9.99998568e-01 -1.96985040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.751400513 meters Centerline goodness [0,1] 0.8432523949336705 Centerline is valid? [False, False] Translation: X:255.84, Y:14.15, Z:-0.20 [[ 9.99990618e-01 4.33111721e-03 -7.11118051e-05 2.55838424e+02] [-4.33102646e-03 9.99989864e-01 1.23028187e-03 1.41488723e+01] [ 7.64395793e-05 -1.22996234e-03 9.99999241e-01 -1.96879853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.781400513 meters Centerline goodness [0,1] 0.9918281069537362 Centerline is valid? [False, True] Translation: X:255.79, Y:14.15, Z:-0.20 [[ 9.99995728e-01 2.12859321e-03 -2.00319897e-03 2.55794734e+02] [-2.12744794e-03 9.99997572e-01 5.73676265e-04 1.41473563e+01] [ 2.00441523e-03 -5.69412113e-04 9.99997829e-01 -1.95697105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.811400513 meters Centerline goodness [0,1] 0.9950873837057648 Centerline is valid? [True, True] Translation: X:255.82, Y:14.15, Z:-0.20 [[ 9.99996887e-01 9.68042628e-04 -2.29974445e-03 2.55824692e+02] [-9.68426411e-04 9.99999517e-01 -1.65773263e-04 1.41490314e+01] [ 2.29958287e-03 1.67999880e-04 9.99997342e-01 -1.95925243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.841400513 meters Centerline goodness [0,1] 0.9903858507130315 Centerline is valid? [True, True] Translation: X:255.85, Y:14.16, Z:-0.20 [[ 9.99994604e-01 2.64137473e-04 -3.27450626e-03 2.55852768e+02] [-2.64912033e-04 9.99999937e-01 -2.36111333e-04 1.41557243e+01] [ 3.27444369e-03 2.36977515e-04 9.99994611e-01 -1.97429372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.871400513 meters Centerline goodness [0,1] 0.9301230992034757 Centerline is valid? [True, False] Translation: X:255.85, Y:14.16, Z:-0.20 [[ 9.99994222e-01 2.86101061e-05 -3.39931731e-03 2.55853472e+02] [-3.12442506e-05 9.99999699e-01 -7.74853394e-04 1.41582118e+01] [ 3.39929412e-03 7.74955126e-04 9.99993922e-01 -1.97992736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.901400513 meters Centerline goodness [0,1] 0.9896665303222751 Centerline is valid? [False, True] Translation: X:255.85, Y:14.16, Z:-0.20 [[ 9.99995443e-01 -6.38101790e-05 -3.01824102e-03 2.55852316e+02] [ 5.82467620e-05 9.99998299e-01 -1.84331667e-03 1.41638322e+01] [ 3.01835351e-03 1.84313247e-03 9.99993746e-01 -1.98192794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.931400513 meters Centerline goodness [0,1] 0.7514200587314857 Centerline is valid? [True, False] Translation: X:255.86, Y:14.16, Z:-0.20 [[ 9.99989857e-01 2.50098221e-03 -3.74574272e-03 2.55858273e+02] [-2.49868386e-03 9.99996687e-01 6.18141864e-04 1.41643121e+01] [ 3.74727627e-03 -6.08776167e-04 9.99992794e-01 -2.02194120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.961400513 meters Centerline goodness [0,1] 0.8327026445925607 Centerline is valid? [False, False] Translation: X:255.86, Y:14.17, Z:-0.20 [[ 9.99991460e-01 2.22454552e-03 -3.48289905e-03 2.55857656e+02] [-2.22582699e-03 9.99997457e-01 -3.64096550e-04 1.41691025e+01] [ 3.48208025e-03 3.71845772e-04 9.99993868e-01 -2.02759465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.99140051300003 meters Centerline goodness [0,1] 0.6403103088169476 Centerline is valid? [False, False] Translation: X:255.86, Y:14.17, Z:-0.20 [[ 9.99971605e-01 6.65632070e-03 -3.53312715e-03 2.55857695e+02] [-6.64083822e-03 9.99968375e-01 4.37588025e-03 1.41670664e+01] [ 3.56214267e-03 -4.35229307e-03 9.99984184e-01 -2.02379612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.021400513 meters Centerline goodness [0,1] 0.6259055841685722 Centerline is valid? [False, False] Translation: X:255.86, Y:14.17, Z:-0.20 [[ 9.99976159e-01 6.13539617e-03 -3.16829477e-03 2.55856385e+02] [-6.12664805e-03 9.99977413e-01 2.76350792e-03 1.41749025e+01] [ 3.18517843e-03 -2.74403101e-03 9.99991162e-01 -2.02302205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.051400513 meters Centerline goodness [0,1] 0.6604141238945633 Centerline is valid? [False, False] Translation: X:255.86, Y:14.18, Z:-0.20 [[ 9.99977405e-01 5.97132854e-03 -3.08754029e-03 2.55855951e+02] [-5.96404014e-03 9.99979420e-01 2.36443031e-03 1.41768023e+01] [ 3.10159554e-03 -2.34596267e-03 9.99992438e-01 -2.02011671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.081400513 meters Centerline goodness [0,1] 0.619535519125683 Centerline is valid? [False, False] Translation: X:255.86, Y:14.18, Z:-0.20 [[ 9.99977943e-01 5.86049178e-03 -3.12525134e-03 2.55856121e+02] [-5.85382631e-03 9.99980581e-01 2.13767589e-03 1.41778371e+01] [ 3.13771848e-03 -2.11933406e-03 9.99992832e-01 -2.02085894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.111400513 meters Centerline goodness [0,1] 0.6064487351048238 Centerline is valid? [False, False] Translation: X:255.86, Y:14.18, Z:-0.20 [[ 9.99978630e-01 5.68350564e-03 -3.23078152e-03 2.55856738e+02] [-5.67780542e-03 9.99982313e-01 1.77079071e-03 1.41794799e+01] [ 3.24078868e-03 -1.75240912e-03 9.99993213e-01 -2.02605718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.141400513 meters Centerline goodness [0,1] 0.6043690875312306 Centerline is valid? [False, False] Translation: X:255.86, Y:14.19, Z:-0.20 [[ 9.99981203e-01 5.13049322e-03 -3.35719328e-03 2.55857666e+02] [-5.12871629e-03 9.99986703e-01 5.37686411e-04 1.41851660e+01] [ 3.35990724e-03 -5.20458213e-04 9.99994220e-01 -2.03663990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.171400513 meters Centerline goodness [0,1] 0.7814399452101704 Centerline is valid? [False, False] Translation: X:255.86, Y:14.19, Z:-0.20 [[ 9.99982954e-01 4.76800293e-03 -3.37008962e-03 2.55857908e+02] [-4.76897562e-03 9.99988589e-01 -2.80646283e-04 1.41889701e+01] [ 3.36871305e-03 2.96713374e-04 9.99994282e-01 -2.04088683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.201400513 meters Centerline goodness [0,1] 0.6729801211500726 Centerline is valid? [False, False] Translation: X:255.86, Y:14.19, Z:-0.20 [[ 9.99984547e-01 4.41270497e-03 -3.38143313e-03 2.55858113e+02] [-4.41648697e-03 9.99989629e-01 -1.11181215e-03 1.41928571e+01] [ 3.37649196e-03 1.12672902e-03 9.99993665e-01 -2.04453980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.231400513 meters Centerline goodness [0,1] 0.5391068027647601 Centerline is valid? [False, False] Translation: X:255.86, Y:14.20, Z:-0.20 [[ 9.99986157e-01 4.09052802e-03 -3.30971649e-03 2.55857874e+02] [-4.09672252e-03 9.99989866e-01 -1.86700176e-03 1.41964071e+01] [ 3.30204593e-03 1.88053490e-03 9.99992780e-01 -2.04515558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.261400513 meters Centerline goodness [0,1] 0.7436624559594397 Centerline is valid? [False, False] Translation: X:255.86, Y:14.20, Z:-0.20 [[ 9.99988153e-01 3.64190251e-03 -3.22954413e-03 2.55857555e+02] [-3.65119342e-03 9.99989200e-01 -2.87563388e-03 1.42011115e+01] [ 3.21903648e-03 2.88739150e-03 9.99990650e-01 -2.04466859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.291400513 meters Centerline goodness [0,1] 0.6585540288674093 Centerline is valid? [False, False] Translation: X:255.86, Y:14.20, Z:-0.20 [[ 9.99988429e-01 3.49450062e-03 -3.30602763e-03 2.55857803e+02] [-3.50503274e-03 9.99988784e-01 -3.18532108e-03 1.42025285e+01] [ 3.29485945e-03 3.19687196e-03 9.99989462e-01 -2.04489480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.321400513 meters Centerline goodness [0,1] 0.8228894597103201 Centerline is valid? [False, False] Translation: X:255.86, Y:14.20, Z:-0.20 [[ 9.99988264e-01 3.43770225e-03 -3.41376512e-03 2.55858079e+02] [-3.44877825e-03 9.99988791e-01 -3.24394066e-03 1.42027683e+01] [ 3.40257516e-03 3.25567590e-03 9.99988911e-01 -2.04344864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.351400513 meters Centerline goodness [0,1] 0.7773690030622661 Centerline is valid? [False, False] Translation: X:255.88, Y:14.20, Z:-0.21 [[ 9.99996877e-01 1.09813958e-03 -2.24493488e-03 2.55880886e+02] [-1.08557319e-03 9.99983780e-01 5.59124011e-03 1.41999560e+01] [ 2.25103843e-03 -5.58878561e-03 9.99981849e-01 -2.05224579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.381400513 meters Centerline goodness [0,1] 0.9452332657200812 Centerline is valid? [False, False] Translation: X:255.88, Y:14.21, Z:-0.21 [[ 9.99990315e-01 -3.85036899e-03 -2.13159181e-03 2.55880593e+02] [ 3.85013029e-03 9.99992581e-01 -1.16072831e-04 1.42064018e+01] [ 2.13202292e-03 1.07864801e-04 9.99997721e-01 -2.05460377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.411400513 meters Centerline goodness [0,1] 0.9248813299559377 Centerline is valid? [False, False] Translation: X:255.88, Y:14.21, Z:-0.21 [[ 9.99989979e-01 -3.93942820e-03 -2.12681287e-03 2.55880358e+02] [ 3.93891450e-03 9.99992212e-01 -2.45672087e-04 1.42069984e+01] [ 2.12776412e-03 2.37292291e-04 9.99997708e-01 -2.05033158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.441400513 meters Centerline goodness [0,1] 0.8383491521808681 Centerline is valid? [False, False] Translation: X:255.88, Y:14.21, Z:-0.20 [[ 9.99989287e-01 -4.14046586e-03 -2.06918464e-03 2.55880060e+02] [ 4.13907671e-03 9.99991206e-01 -6.75181575e-04 1.42090080e+01] [ 2.07196201e-03 6.66609829e-04 9.99997631e-01 -2.04856118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.471400513 meters Centerline goodness [0,1] 0.9646833756072396 Centerline is valid? [False, True] Translation: X:255.88, Y:14.21, Z:-0.20 [[ 9.99987577e-01 -4.58684442e-03 -1.95090631e-03 2.55879315e+02] [ 4.58349319e-03 9.99988019e-01 -1.71879434e-03 1.42139667e+01] [ 1.95876678e-03 1.70983102e-03 9.99996620e-01 -2.04216073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.501400513 meters Centerline goodness [0,1] 0.9455503889257934 Centerline is valid? [True, False] Translation: X:255.88, Y:14.22, Z:-0.20 [[ 9.99986921e-01 -4.72789998e-03 -1.95048784e-03 2.55879200e+02] [ 4.72387278e-03 9.99986712e-01 -2.06417975e-03 1.42156168e+01] [ 1.96022116e-03 2.05493889e-03 9.99995967e-01 -2.04013170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.531400513 meters Centerline goodness [0,1] 0.9650426466787283 Centerline is valid? [False, True] Translation: X:255.88, Y:14.22, Z:-0.20 [[ 9.99986258e-01 -4.86874673e-03 -1.94380282e-03 2.55879139e+02] [ 4.86406089e-03 9.99985271e-01 -2.40814989e-03 1.42172549e+01] [ 1.95549886e-03 2.39866202e-03 9.99995211e-01 -2.03964163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.561400513 meters Centerline goodness [0,1] 0.8135650915898985 Centerline is valid? [True, False] Translation: X:255.92, Y:14.22, Z:-0.20 [[ 9.99993738e-01 -3.39112689e-03 1.01201962e-03 2.55919633e+02] [ 3.39293599e-03 9.99992640e-01 -1.79128084e-03 1.42206780e+01] [-1.00593771e-03 1.79470334e-03 9.99997884e-01 -2.04003114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.591400513 meters Centerline goodness [0,1] 0.8135650915898985 Centerline is valid? [False, False] Translation: X:255.92, Y:14.22, Z:-0.20 [[ 9.99993738e-01 -3.39112689e-03 1.01201962e-03 2.55919633e+02] [ 3.39293599e-03 9.99992640e-01 -1.79128084e-03 1.42206780e+01] [-1.00593771e-03 1.79470334e-03 9.99997884e-01 -2.04003114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.621400513 meters Centerline goodness [0,1] 0.8629266092484804 Centerline is valid? [False, False] Translation: X:255.92, Y:14.23, Z:-0.20 [[ 9.99992263e-01 -3.75688164e-03 1.16597791e-03 2.55919039e+02] [ 3.76007807e-03 9.99989146e-01 -2.75144079e-03 1.42252549e+01] [-1.15562842e-03 2.75580367e-03 9.99995535e-01 -2.03874122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.651400513 meters Centerline goodness [0,1] 0.6975955345641907 Centerline is valid? [False, False] Translation: X:255.92, Y:14.23, Z:-0.20 [[ 9.99991291e-01 -4.00130438e-03 1.18603324e-03 2.55918993e+02] [ 4.00529372e-03 9.99986265e-01 -3.38053023e-03 1.42282194e+01] [-1.17249042e-03 3.38525120e-03 9.99993583e-01 -2.03964463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.681400513 meters Centerline goodness [0,1] 0.7902879608968228 Centerline is valid? [False, False] Translation: X:255.92, Y:14.23, Z:-0.20 [[ 9.99990489e-01 -4.21163722e-03 1.13276059e-03 2.55919229e+02] [ 4.21615501e-03 9.99983048e-01 -4.01593144e-03 1.42312893e+01] [-1.11582774e-03 4.02066914e-03 9.99991295e-01 -2.04185445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.711400513 meters Centerline goodness [0,1] 0.7265726657991851 Centerline is valid? [False, False] Translation: X:255.91, Y:14.23, Z:-0.20 [[ 9.99995325e-01 -2.39486540e-03 1.90096113e-03 2.55912977e+02] [ 2.39902884e-03 9.99994722e-01 -2.19092766e-03 1.42325863e+01] [-1.89570412e-03 2.19547788e-03 9.99995793e-01 -1.99978226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.74140051300003 meters Centerline goodness [0,1] 0.7960086804816816 Centerline is valid? [False, False] Translation: X:255.91, Y:14.23, Z:-0.20 [[ 9.99994844e-01 -2.52274083e-03 1.98693256e-03 2.55912556e+02] [ 2.52776261e-03 9.99993607e-01 -2.52895688e-03 1.42342257e+01] [-1.98053996e-03 2.53396634e-03 9.99994828e-01 -1.99751725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.771400513 meters Centerline goodness [0,1] 0.7462194649088794 Centerline is valid? [False, False] Translation: X:255.87, Y:14.23, Z:-0.20 [[ 9.99999088e-01 -1.34830720e-03 8.22362455e-05 2.55868960e+02] [ 1.34827009e-03 9.99998990e-01 4.49682458e-04 1.42289133e+01] [-8.28424725e-05 -4.49571171e-04 9.99999896e-01 -1.98231049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.801400513 meters Centerline goodness [0,1] 0.6827176220806794 Centerline is valid? [False, False] Translation: X:255.91, Y:14.24, Z:-0.20 [[ 9.99995202e-01 -6.30780308e-04 3.03296273e-03 2.55909015e+02] [ 6.32294283e-04 9.99999676e-01 -4.98240583e-04 1.42351862e+01] [-3.03264747e-03 5.00155917e-04 9.99995276e-01 -1.98172296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.831400513 meters Centerline goodness [0,1] 0.6529426729986432 Centerline is valid? [False, False] Translation: X:255.91, Y:14.24, Z:-0.20 [[ 9.99994292e-01 -9.90398010e-04 3.23020309e-03 2.55908381e+02] [ 9.97377597e-04 9.99997170e-01 -2.15983228e-03 1.42435416e+01] [-3.22805485e-03 2.16304169e-03 9.99992450e-01 -1.98408580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.861400513 meters Centerline goodness [0,1] 0.6753304619040547 Centerline is valid? [False, False] Translation: X:255.91, Y:14.25, Z:-0.20 [[ 9.99993779e-01 -1.40658135e-03 3.23479031e-03 2.55908596e+02] [ 1.41719941e-03 9.99993608e-01 -3.28250878e-03 1.42488947e+01] [-3.23015252e-03 3.28707270e-03 9.99989381e-01 -1.98992716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.891400513 meters Centerline goodness [0,1] 0.5932462567696719 Centerline is valid? [False, False] Translation: X:255.91, Y:14.25, Z:-0.20 [[ 9.99992888e-01 -1.79626891e-03 3.31624171e-03 2.55908454e+02] [ 1.81064312e-03 9.99988958e-01 -4.33658427e-03 1.42539074e+01] [-3.30841542e-03 4.34255796e-03 9.99985098e-01 -1.99368244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.921400513 meters Centerline goodness [0,1] 0.6594664627670872 Centerline is valid? [False, False] Translation: X:255.91, Y:14.25, Z:-0.20 [[ 9.99991936e-01 2.39968961e-03 3.22004286e-03 2.55908867e+02] [-2.39921095e-03 9.99997110e-01 -1.52506928e-04 1.42545131e+01] [-3.22039953e-03 1.44780136e-04 9.99994804e-01 -1.99568854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.951400513 meters Centerline goodness [0,1] 0.5783606557377049 Centerline is valid? [False, False] Translation: X:255.91, Y:14.26, Z:-0.20 [[ 9.99992826e-01 2.04665762e-03 3.18736358e-03 2.55909180e+02] [-2.04351618e-03 9.99997423e-01 -9.88535200e-04 1.42584328e+01] [-3.18937856e-03 9.82014679e-04 9.99994432e-01 -2.00052068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.981400513 meters Centerline goodness [0,1] 0.5871242067477191 Centerline is valid? [False, False] Translation: X:255.89, Y:14.25, Z:-0.19 [[ 9.99994584e-01 1.50810002e-03 -2.92531321e-03 2.55887950e+02] [-1.48141861e-03 9.99957481e-01 9.10169466e-03 1.42518213e+01] [ 2.93891509e-03 -9.09731175e-03 9.99954300e-01 -1.94341985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.011400513 meters Centerline goodness [0,1] 0.535505147665053 Centerline is valid? [False, False] Translation: X:255.91, Y:14.27, Z:-0.20 [[ 9.99996462e-01 2.33057107e-03 1.28216762e-03 2.55912262e+02] [-2.32774758e-03 9.99994872e-01 -2.19922349e-03 1.42691944e+01] [-1.28728649e-03 2.19623115e-03 9.99996760e-01 -2.00763875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.041400513 meters Centerline goodness [0,1] 0.3868566294442305 Centerline is valid? [False, False] Translation: X:255.89, Y:14.26, Z:-0.19 [[ 9.99987878e-01 2.14206197e-03 -4.43336385e-03 2.55889881e+02] [-2.10486028e-03 9.99962680e-01 8.37902359e-03 1.42626225e+01] [ 4.45114679e-03 -8.36959041e-03 9.99955068e-01 -1.94356493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.071400513 meters Centerline goodness [0,1] 0.544677130427365 Centerline is valid? [False, False] Translation: X:255.89, Y:14.27, Z:-0.19 [[ 9.99989100e-01 1.66538885e-03 -4.36198393e-03 2.55889604e+02] [-1.63384921e-03 9.99972570e-01 7.22418252e-03 1.42680748e+01] [ 4.37389536e-03 -7.21697695e-03 9.99964392e-01 -1.94452972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.101400513 meters Centerline goodness [0,1] 0.5171293248093791 Centerline is valid? [False, False] Translation: X:255.89, Y:14.27, Z:-0.19 [[ 9.99990233e-01 1.15283315e-03 -4.26662460e-03 2.55889187e+02] [-1.12727132e-03 9.99981432e-01 5.98867689e-03 1.42739371e+01] [ 4.27344932e-03 -5.98380876e-03 9.99972965e-01 -1.94427016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.131400513 meters Centerline goodness [0,1] 0.6426868812678506 Centerline is valid? [False, False] Translation: X:255.87, Y:14.29, Z:-0.19 [[ 9.99982464e-01 3.99559758e-03 -4.37119907e-03 2.55867036e+02] [-4.01159622e-03 9.99985265e-01 -3.65738783e-03 1.42858524e+01] [ 4.35652121e-03 3.67485918e-03 9.99983758e-01 -1.94901876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.161400513 meters Centerline goodness [0,1] 0.47489685814027294 Centerline is valid? [False, False] Translation: X:255.89, Y:14.28, Z:-0.20 [[ 9.99986051e-01 4.32923835e-03 -3.02589919e-03 2.55890017e+02] [-4.30478901e-03 9.99958410e-01 8.04036513e-03 1.42837817e+01] [ 3.06058199e-03 -8.02722712e-03 9.99963098e-01 -1.97037831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.191400513 meters Centerline goodness [0,1] 0.3457294733052373 Centerline is valid? [False, False] Translation: X:255.89, Y:14.29, Z:-0.20 [[ 9.99996257e-01 -2.09456979e-06 -2.73594092e-03 2.55889118e+02] [ 6.82678633e-06 9.99998504e-01 1.72964046e-03 1.42947615e+01] [ 2.73593320e-03 -1.72965267e-03 9.99994761e-01 -1.97630097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.221400513 meters Centerline goodness [0,1] 0.4704177683765204 Centerline is valid? [False, False] Translation: X:255.89, Y:14.30, Z:-0.20 [[ 9.99996345e-01 -5.52411812e-04 -2.64647603e-03 2.55888655e+02] [ 5.53677259e-04 9.99999733e-01 4.77454236e-04 1.43006583e+01] [ 2.64621157e-03 -4.78917785e-04 9.99996384e-01 -1.97467734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.251400513 meters Centerline goodness [0,1] 0.6500887719523412 Centerline is valid? [False, False] Translation: X:255.84, Y:14.31, Z:-0.19 [[ 9.99990387e-01 -2.21119271e-03 -3.78636704e-03 2.55842406e+02] [ 2.19896186e-03 9.99992361e-01 -3.23135609e-03 1.43097672e+01] [ 3.79348327e-03 3.22299895e-03 9.99987611e-01 -1.94827021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.281400513 meters Centerline goodness [0,1] 0.5566305962232123 Centerline is valid? [False, False] Translation: X:255.84, Y:14.31, Z:-0.19 [[ 9.99989191e-01 -2.64360355e-03 -3.82483005e-03 2.55842238e+02] [ 2.62769589e-03 9.99987903e-01 -4.15811397e-03 1.43141077e+01] [ 3.83577618e-03 4.14801854e-03 9.99984040e-01 -1.94354351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.311400513 meters Centerline goodness [0,1] 0.5648695800178716 Centerline is valid? [False, False] Translation: X:255.84, Y:14.32, Z:-0.19 [[ 9.99988021e-01 -2.98405412e-03 -3.87980203e-03 2.55842387e+02] [ 2.96506607e-03 9.99983645e-01 -4.89065206e-03 1.43175336e+01] [ 3.89433254e-03 4.87908961e-03 9.99980514e-01 -1.94344721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.341400513 meters Centerline goodness [0,1] 0.6162890490902849 Centerline is valid? [False, False] Translation: X:255.84, Y:14.32, Z:-0.19 [[ 9.99986326e-01 -3.44448591e-03 -3.93485153e-03 2.55842397e+02] [ 3.42201176e-03 9.99977876e-01 -5.70408691e-03 1.43211746e+01] [ 3.95441213e-03 5.69054380e-03 9.99975990e-01 -1.94108117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.371400513 meters Centerline goodness [0,1] 0.6509056040911997 Centerline is valid? [False, False] Translation: X:255.84, Y:14.32, Z:-0.19 [[ 9.99985424e-01 -3.57595380e-03 -4.04532101e-03 2.55842676e+02] [ 3.55241827e-03 9.99976810e-01 -5.81026498e-03 1.43215596e+01] [ 4.06600444e-03 5.79580962e-03 9.99974938e-01 -1.93959342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.401400513 meters Centerline goodness [0,1] 0.6977386721074557 Centerline is valid? [False, False] Translation: X:255.84, Y:14.32, Z:-0.19 [[ 9.99984351e-01 -3.67379105e-03 -4.21906754e-03 2.55843230e+02] [ 3.64891571e-03 9.99976005e-01 -5.88857305e-03 1.43218636e+01] [ 4.24059969e-03 5.87308588e-03 9.99973762e-01 -1.93895561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.431400513 meters Centerline goodness [0,1] 0.723778750903448 Centerline is valid? [False, False] Translation: X:255.84, Y:14.32, Z:-0.19 [[ 9.99989750e-01 -2.55525406e-04 -4.52043423e-03 2.55844092e+02] [ 2.50836670e-04 9.99999430e-01 -1.03776795e-03 1.43169832e+01] [ 4.52069683e-03 1.03662342e-03 9.99989244e-01 -1.93598519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.461400513 meters Centerline goodness [0,1] 0.8228588442969863 Centerline is valid? [False, False] Translation: X:255.84, Y:14.32, Z:-0.19 [[ 9.99989266e-01 -5.89760340e-04 -4.59574353e-03 2.55844099e+02] [ 5.85701725e-04 9.99999437e-01 -8.84420584e-04 1.43157081e+01] [ 4.59626254e-03 8.81719355e-04 9.99989048e-01 -1.93079428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.49140051300003 meters Centerline goodness [0,1] 0.7513238765657897 Centerline is valid? [False, False] Translation: X:255.84, Y:14.31, Z:-0.19 [[ 9.99989434e-01 -5.63396739e-04 -4.56228814e-03 2.55843827e+02] [ 5.60378290e-04 9.99999623e-01 -6.62859877e-04 1.43146073e+01] [ 4.56265987e-03 6.60296266e-04 9.99989373e-01 -1.92721397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.521400513 meters Centerline goodness [0,1] 0.9116989727940861 Centerline is valid? [False, False] Translation: X:255.84, Y:14.31, Z:-0.19 [[ 9.99989472e-01 -5.24873195e-04 -4.55863521e-03 2.55843677e+02] [ 5.22934822e-04 9.99999772e-01 -4.26390727e-04 1.43134385e+01] [ 4.55885797e-03 4.24002369e-04 9.99989518e-01 -1.92413275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.551400513 meters Centerline goodness [0,1] 0.9456733967000666 Centerline is valid? [False, False] Translation: X:255.84, Y:14.31, Z:-0.19 [[ 9.99989188e-01 -4.34467464e-04 -4.62976027e-03 2.55843690e+02] [ 4.34166504e-04 9.99999904e-01 -6.60103257e-05 1.43116886e+01] [ 4.62978850e-03 6.39995252e-05 9.99989280e-01 -1.91947892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.581400513 meters Centerline goodness [0,1] 0.9897464739984425 Centerline is valid? [False, True] Translation: X:255.84, Y:14.31, Z:-0.19 [[ 9.99989186e-01 -2.65800126e-03 -3.81610364e-03 2.55837298e+02] [ 2.65016980e-03 9.99994375e-01 -2.05580576e-03 1.43099673e+01] [ 3.82154651e-03 2.04567021e-03 9.99990605e-01 -1.87481368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.611400513 meters Centerline goodness [0,1] 0.9800479534166809 Centerline is valid? [True, True] Translation: X:255.87, Y:14.31, Z:-0.19 [[ 9.99986316e-01 -2.64483526e-03 -4.51355480e-03 2.55865109e+02] [ 2.64353123e-03 9.99996462e-01 -2.94856657e-04 1.43118823e+01] [ 4.51431868e-03 2.82920899e-04 9.99989770e-01 -1.88044571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.641400513 meters Centerline goodness [0,1] 0.9922121387655275 Centerline is valid? [True, True] Translation: X:255.89, Y:14.31, Z:-0.19 [[ 9.99985772e-01 -2.32524335e-03 -4.80089631e-03 2.55894431e+02] [ 2.32376147e-03 9.99997251e-01 -3.14223144e-04 1.43096640e+01] [ 4.80161376e-03 3.03062536e-04 9.99988426e-01 -1.88052150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.671400513 meters Centerline goodness [0,1] 0.8858965122685087 Centerline is valid? [True, False] Translation: X:255.92, Y:14.32, Z:-0.19 [[ 9.99998989e-01 -1.36720382e-03 3.90394666e-04 2.55915947e+02] [ 1.37116636e-03 9.99945632e-01 -1.03369617e-02 1.43180806e+01] [-3.76240707e-04 1.03374866e-02 9.99946496e-01 -1.92993627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.701400513 meters Centerline goodness [0,1] 0.9755950717096351 Centerline is valid? [False, True] Translation: X:255.89, Y:14.31, Z:-0.19 [[ 9.99985338e-01 -1.20942551e-03 -5.27834606e-03 2.55892369e+02] [ 1.21285518e-03 9.99999055e-01 6.46608848e-04 1.43063145e+01] [ 5.27755905e-03 -6.53001237e-04 9.99985860e-01 -1.85869145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.731400513 meters Centerline goodness [0,1] 0.8709546839380446 Centerline is valid? [True, False] Translation: X:255.89, Y:14.30, Z:-0.19 [[ 9.99985076e-01 -1.00175096e-03 -5.37066320e-03 2.55892915e+02] [ 1.00797165e-03 9.99998824e-01 1.15569078e-03 1.43038855e+01] [ 5.36949917e-03 -1.16108701e-03 9.99984910e-01 -1.86334413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.761400513 meters Centerline goodness [0,1] 0.9950865749780076 Centerline is valid? [False, True] Translation: X:255.89, Y:14.30, Z:-0.19 [[ 9.99984561e-01 -7.05015018e-04 -5.51179946e-03 2.55893748e+02] [ 7.15251333e-04 9.99998023e-01 1.85541342e-03 1.43005812e+01] [ 5.51048047e-03 -1.85932710e-03 9.99983089e-01 -1.87007438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.791400513 meters Centerline goodness [0,1] 0.9993525831930596 Centerline is valid? [True, True] Translation: X:255.92, Y:14.30, Z:-0.19 [[ 9.99976149e-01 -2.00195503e-03 -6.61008444e-03 2.55922783e+02] [ 1.99915400e-03 9.99997909e-01 -4.30331060e-04 1.42953457e+01] [ 6.61093213e-03 4.17106219e-04 9.99978061e-01 -1.88848005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.821400513 meters Centerline goodness [0,1] 0.9812387506617258 Centerline is valid? [True, True] Translation: X:255.95, Y:14.31, Z:-0.19 [[ 9.99976586e-01 -2.35865235e-03 -6.42371458e-03 2.55949911e+02] [ 2.35601104e-03 9.99997137e-01 -4.18716711e-04 1.43055970e+01] [ 6.42468380e-03 4.03572565e-04 9.99979280e-01 -1.88863069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.851400513 meters Centerline goodness [0,1] 0.9982686980609419 Centerline is valid? [True, True] Translation: X:255.98, Y:14.30, Z:-0.19 [[ 9.99974845e-01 -2.99777741e-03 -6.42831287e-03 2.55979581e+02] [ 2.99513933e-03 9.99995426e-01 -4.19972231e-04 1.42987449e+01] [ 6.42954246e-03 4.00707974e-04 9.99979250e-01 -1.88195447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.881400513 meters Centerline goodness [0,1] 0.982287181010161 Centerline is valid? [True, True] Translation: X:256.01, Y:14.31, Z:-0.19 [[ 9.99975350e-01 -2.76310964e-03 -6.45481557e-03 2.56007122e+02] [ 2.76044158e-03 9.99996101e-01 -4.22217207e-04 1.43054022e+01] [ 6.45595703e-03 4.04388658e-04 9.99979078e-01 -1.88487615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.911400513 meters Centerline goodness [0,1] 0.9922692521248879 Centerline is valid? [True, True] Translation: X:256.04, Y:14.30, Z:-0.19 [[ 9.99976732e-01 -1.30403905e-03 -6.69583672e-03 2.56037168e+02] [ 1.30113407e-03 9.99999058e-01 -4.38186585e-04 1.43009732e+01] [ 6.69640182e-03 4.29464209e-04 9.99977487e-01 -1.89426883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.941400513 meters Centerline goodness [0,1] 0.9625939970435118 Centerline is valid? [True, True] Translation: X:256.07, Y:14.31, Z:-0.19 [[ 9.99977148e-01 -4.42225712e-04 -6.74593650e-03 2.56065677e+02] [ 4.39256089e-04 9.99999806e-01 -4.41684467e-04 1.43052972e+01] [ 6.74613051e-03 4.38711180e-04 9.99977148e-01 -1.89800321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.971400513 meters Centerline goodness [0,1] 0.9838475963177634 Centerline is valid? [True, True] Translation: X:256.10, Y:14.30, Z:-0.19 [[ 9.99978085e-01 1.46320313e-04 -6.61880592e-03 2.56095071e+02] [-1.49197879e-04 9.99999895e-01 -4.34264368e-04 1.43017295e+01] [ 6.61874168e-03 4.35242362e-04 9.99978001e-01 -1.89545612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.001400513 meters Centerline goodness [0,1] 0.9272321902537425 Centerline is valid? [True, False] Translation: X:256.10, Y:14.30, Z:-0.19 [[ 9.99977705e-01 6.76537110e-04 -6.64313783e-03 2.56095082e+02] [-6.71543815e-04 9.99999490e-01 7.53848836e-04 1.42961594e+01] [ 6.64364445e-03 -7.49370871e-04 9.99977650e-01 -1.89330519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.031400513 meters Centerline goodness [0,1] 0.9887364281439686 Centerline is valid? [False, True] Translation: X:256.09, Y:14.29, Z:-0.19 [[ 9.99977506e-01 9.86178160e-04 -6.63434850e-03 2.56094903e+02] [-9.76441002e-04 9.99998442e-01 1.47076762e-03 1.42928002e+01] [ 6.63578860e-03 -1.46425649e-03 9.99976911e-01 -1.88999671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.061400513 meters Centerline goodness [0,1] 0.9873087770276044 Centerline is valid? [True, True] Translation: X:256.12, Y:14.29, Z:-0.19 [[ 9.99983013e-01 4.26389178e-04 -5.81301470e-03 2.56123229e+02] [-4.28591489e-04 9.99999837e-01 -3.77618167e-04 1.42933324e+01] [ 5.81285274e-03 3.80103161e-04 9.99983033e-01 -1.88068285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.091400513 meters Centerline goodness [0,1] 0.9901346059192364 Centerline is valid? [True, True] Translation: X:256.15, Y:14.29, Z:-0.19 [[ 9.99984128e-01 -1.19387831e-04 -5.63284106e-03 2.56152036e+02] [ 1.17327097e-04 9.99999926e-01 -3.66171860e-04 1.42908641e+01] [ 5.63288436e-03 3.65505164e-04 9.99984068e-01 -1.88001967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.121400513 meters Centerline goodness [0,1] 0.9672785145888594 Centerline is valid? [True, True] Translation: X:256.18, Y:14.29, Z:-0.19 [[ 9.99981818e-01 5.67921281e-04 -6.00350566e-03 2.56180293e+02] [-5.70276473e-04 9.99999761e-01 -3.90598223e-04 1.42905134e+01] [ 6.00328240e-03 3.94014779e-04 9.99981903e-01 -1.89871084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.151400513 meters Centerline goodness [0,1] 0.9961548431694461 Centerline is valid? [True, True] Translation: X:256.21, Y:14.28, Z:-0.19 [[ 9.99980199e-01 1.88443666e-03 -6.00417024e-03 2.56210023e+02] [-1.88681751e-03 9.99998144e-01 -3.90892991e-04 1.42832878e+01] [ 6.00342248e-03 4.02214025e-04 9.99981898e-01 -1.89560282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.181400513 meters Centerline goodness [0,1] 0.7941859973803186 Centerline is valid? [True, False] Translation: X:256.25, Y:14.28, Z:-0.19 [[ 9.99990483e-01 3.11371022e-03 -3.05597079e-03 2.56250192e+02] [-3.11250631e-03 9.99995077e-01 3.98628125e-04 1.42838070e+01] [ 3.05719696e-03 -3.89112603e-04 9.99995251e-01 -1.89317520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.211400513 meters Centerline goodness [0,1] 0.8837511448105472 Centerline is valid? [False, False] Translation: X:256.25, Y:14.28, Z:-0.19 [[ 9.99990593e-01 3.41739843e-03 -2.67108208e-03 2.56248718e+02] [-3.41599392e-03 9.99994025e-01 5.30206027e-04 1.42835634e+01] [ 2.67287804e-03 -5.21076639e-04 9.99996292e-01 -1.88900657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.24140051300003 meters Centerline goodness [0,1] 0.6945431337091799 Centerline is valid? [False, False] Translation: X:256.25, Y:14.28, Z:-0.19 [[ 9.99990637e-01 3.46381766e-03 -2.59376941e-03 2.56248579e+02] [-3.46231911e-03 9.99993837e-01 5.82014991e-04 1.42833360e+01] [ 2.59576941e-03 -5.73029084e-04 9.99996467e-01 -1.89151646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.271400513 meters Centerline goodness [0,1] 0.6934264724616757 Centerline is valid? [False, False] Translation: X:256.25, Y:14.28, Z:-0.19 [[ 9.99990332e-01 3.55935648e-03 -2.58187613e-03 2.56248673e+02] [-3.55741225e-03 9.99993386e-01 7.57231375e-04 1.42825141e+01] [ 2.58455431e-03 -7.48039257e-04 9.99996380e-01 -1.89386963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.301400513 meters Centerline goodness [0,1] 0.7660550458715596 Centerline is valid? [False, False] Translation: X:256.25, Y:14.28, Z:-0.19 [[ 9.99989398e-01 3.83677957e-03 -2.54625201e-03 2.56248743e+02] [-3.83341658e-03 9.99991776e-01 1.32432793e-03 1.42798924e+01] [ 2.55131223e-03 -1.31455304e-03 9.99995881e-01 -1.89717167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.331400513 meters Centerline goodness [0,1] 0.6942185799346949 Centerline is valid? [False, False] Translation: X:256.25, Y:14.28, Z:-0.19 [[ 9.99989205e-01 3.91888612e-03 -2.49659669e-03 2.56248562e+02] [-3.91515725e-03 9.99991216e-01 1.49672361e-03 1.42790830e+01] [ 2.50244025e-03 -1.48693288e-03 9.99995763e-01 -1.89690670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.361400513 meters Centerline goodness [0,1] 0.7586206896551724 Centerline is valid? [False, False] Translation: X:256.25, Y:14.28, Z:-0.19 [[ 9.99989525e-01 3.88982318e-03 -2.41239647e-03 2.56248170e+02] [-3.88639241e-03 9.99991432e-01 1.42520546e-03 1.42794346e+01] [ 2.41791960e-03 -1.41581501e-03 9.99996075e-01 -1.89477438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.391400513 meters Centerline goodness [0,1] 0.6727963947801201 Centerline is valid? [False, False] Translation: X:256.25, Y:14.28, Z:-0.19 [[ 9.99990676e-01 3.72106231e-03 -2.19127787e-03 2.56247302e+02] [-3.71907939e-03 9.99992672e-01 9.08292989e-04 1.42819405e+01] [ 2.19464163e-03 -9.00134983e-04 9.99997187e-01 -1.89246223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.421400513 meters Centerline goodness [0,1] 0.6883841275900829 Centerline is valid? [False, False] Translation: X:256.25, Y:14.28, Z:-0.19 [[ 9.99990999e-01 3.65218928e-03 -2.15949588e-03 2.56247207e+02] [-3.65073344e-03 9.99993106e-01 6.77711941e-04 1.42830513e+01] [ 2.16195612e-03 -6.69822097e-04 9.99997439e-01 -1.89299428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.451400513 meters Centerline goodness [0,1] 0.6883841275900829 Centerline is valid? [False, False] Translation: X:256.25, Y:14.28, Z:-0.19 [[ 9.99990999e-01 3.65218928e-03 -2.15949588e-03 2.56247207e+02] [-3.65073344e-03 9.99993106e-01 6.77711941e-04 1.42830513e+01] [ 2.16195612e-03 -6.69822097e-04 9.99997439e-01 -1.89299428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.481400513 meters Centerline goodness [0,1] 0.6804086255903914 Centerline is valid? [False, False] Translation: X:256.25, Y:14.28, Z:-0.19 [[ 9.99990979e-01 3.64443328e-03 -2.18170429e-03 2.56247418e+02] [-3.64306163e-03 9.99993164e-01 6.32350168e-04 1.42832612e+01] [ 2.18399394e-03 -6.24396381e-04 9.99997420e-01 -1.89569666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.511400513 meters Centerline goodness [0,1] 0.6828282828282828 Centerline is valid? [False, False] Translation: X:256.25, Y:14.28, Z:-0.19 [[ 9.99990906e-01 3.54319130e-03 -2.37336270e-03 2.56248451e+02] [-3.54241425e-03 9.99993671e-01 3.31527592e-04 1.42846718e+01] [ 2.37452235e-03 -3.23117144e-04 9.99997129e-01 -1.90373981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.541400513 meters Centerline goodness [0,1] 0.6125228015102023 Centerline is valid? [False, False] Translation: X:256.25, Y:14.29, Z:-0.19 [[ 9.99991398e-01 3.39959595e-03 -2.37644455e-03 2.56248593e+02] [-3.39960253e-03 9.99994221e-01 1.26895424e-06 1.42862117e+01] [ 2.37643513e-03 6.81002358e-06 9.99997176e-01 -1.90656452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.571400513 meters Centerline goodness [0,1] 0.65509358174515 Centerline is valid? [False, False] Translation: X:256.25, Y:14.29, Z:-0.19 [[ 9.99992033e-01 3.24929501e-03 -2.31871838e-03 2.56248395e+02] [-3.25009704e-03 9.99994660e-01 -3.42211614e-04 1.42878275e+01] [ 2.31759405e-03 3.49744947e-04 9.99997253e-01 -1.90678281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.601400513 meters Centerline goodness [0,1] 0.6473809321674167 Centerline is valid? [False, False] Translation: X:256.25, Y:14.29, Z:-0.19 [[ 9.99992536e-01 3.13241447e-03 -2.26202068e-03 2.56248227e+02] [-3.13386311e-03 9.99994886e-01 -6.37157742e-04 1.42892236e+01] [ 2.26001327e-03 6.44241849e-04 9.99997239e-01 -1.90747893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.631400513 meters Centerline goodness [0,1] 0.555335336615306 Centerline is valid? [False, False] Translation: X:256.25, Y:14.29, Z:-0.19 [[ 9.99993351e-01 2.84243380e-03 -2.28436165e-03 2.56248775e+02] [-2.84562645e-03 9.99994977e-01 -1.39557669e-03 1.42927850e+01] [ 2.28038334e-03 1.40206785e-03 9.99996417e-01 -1.91768836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.661400513 meters Centerline goodness [0,1] 0.5807980951166103 Centerline is valid? [False, False] Translation: X:256.25, Y:14.30, Z:-0.19 [[ 9.99993698e-01 2.57140781e-03 -2.44776897e-03 2.56249754e+02] [-2.57654338e-03 9.99994482e-01 -2.09722252e-03 1.42960673e+01] [ 2.44236265e-03 2.10351609e-03 9.99994805e-01 -1.92685874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.691400513 meters Centerline goodness [0,1] 0.6331111588905611 Centerline is valid? [False, False] Translation: X:256.25, Y:14.29, Z:-0.19 [[ 9.99972102e-01 6.93124268e-03 -2.78431495e-03 2.56251025e+02] [-6.92332456e-03 9.99971991e-01 2.84347552e-03 1.42928610e+01] [ 2.80394579e-03 -2.82411948e-03 9.99992081e-01 -1.92848189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.721400513 meters Centerline goodness [0,1] 0.5140518707482993 Centerline is valid? [False, False] Translation: X:256.25, Y:14.29, Z:-0.19 [[ 9.99932790e-01 1.11824295e-02 -3.06072137e-03 2.56251890e+02] [-1.11584120e-02 9.99907673e-01 7.75473517e-03 1.42895981e+01] [ 3.14715556e-03 -7.72006119e-03 9.99965247e-01 -1.92451932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.751400513 meters Centerline goodness [0,1] 0.6322032436162871 Centerline is valid? [False, False] Translation: X:256.20, Y:14.30, Z:-0.19 [[ 9.99959423e-01 8.42318187e-03 -3.19416474e-03 2.56203642e+02] [-8.41321000e-03 9.99959733e-01 3.12259415e-03 1.42950580e+01] [ 3.22033830e-03 -3.09559427e-03 9.99990023e-01 -1.89501875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.781400513 meters Centerline goodness [0,1] 0.6206217441023252 Centerline is valid? [False, False] Translation: X:256.24, Y:14.30, Z:-0.19 [[ 9.99980840e-01 6.18631597e-03 -2.21143074e-04 2.56243328e+02] [-6.18655235e-03 9.99980275e-01 -1.08468747e-03 1.43039876e+01] [ 2.14428493e-04 1.08603480e-03 9.99999387e-01 -1.89396295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.811400513 meters Centerline goodness [0,1] 0.5907180126322905 Centerline is valid? [False, False] Translation: X:256.24, Y:14.31, Z:-0.19 [[ 9.99982361e-01 5.93241432e-03 -2.90475937e-04 2.56243376e+02] [-5.93280793e-03 9.99981458e-01 -1.37347080e-03 1.43051926e+01] [ 2.82322553e-04 1.37516991e-03 9.99999015e-01 -1.89072570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.841400513 meters Centerline goodness [0,1] 0.662265595101416 Centerline is valid? [False, False] Translation: X:256.24, Y:14.31, Z:-0.19 [[ 9.99983042e-01 5.81473862e-03 -3.21885175e-04 2.56243426e+02] [-5.81524445e-03 9.99981822e-01 -1.59350268e-03 1.43061828e+01] [ 3.12613522e-04 1.59534750e-03 9.99998679e-01 -1.88972035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.871400513 meters Centerline goodness [0,1] 0.708044099632503 Centerline is valid? [False, False] Translation: X:256.24, Y:14.31, Z:-0.19 [[ 9.99983554e-01 5.72626665e-03 -3.19665881e-04 2.56243194e+02] [-5.72682170e-03 9.99982047e-01 -1.76332429e-03 1.43069779e+01] [ 3.09562877e-04 1.76512596e-03 9.99998394e-01 -1.88527262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.901400513 meters Centerline goodness [0,1] 0.6857324976096888 Centerline is valid? [False, False] Translation: X:256.24, Y:14.30, Z:-0.19 [[ 9.99952936e-01 9.68537195e-03 -5.64938221e-04 2.56243763e+02] [-9.68344520e-03 9.99947606e-01 3.31901820e-03 1.43022751e+01] [ 5.97054548e-04 -3.31339144e-03 9.99994332e-01 -1.87710447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.931400513 meters Centerline goodness [0,1] 0.6986854979367848 Centerline is valid? [False, False] Translation: X:256.24, Y:14.31, Z:-0.19 [[ 9.99984676e-01 5.53597283e-03 -4.10866320e-05 2.56241507e+02] [-5.53606847e-03 9.99980498e-01 -2.89061964e-03 1.43136036e+01] [ 2.50834389e-05 2.89080280e-03 9.99995821e-01 -1.87106670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.961400513 meters Centerline goodness [0,1] 0.6488507573350281 Centerline is valid? [False, False] Translation: X:256.24, Y:14.32, Z:-0.19 [[ 9.99986088e-01 5.27339066e-03 -1.23633720e-04 2.56242028e+02] [-5.27380228e-03 9.99979590e-01 -3.60649910e-03 1.43170054e+01] [ 1.04612718e-04 3.60710094e-03 9.99993489e-01 -1.87683157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.99140051300003 meters Centerline goodness [0,1] 0.6694509720145267 Centerline is valid? [False, False] Translation: X:256.24, Y:14.31, Z:-0.19 [[ 9.99951931e-01 9.79616840e-03 -4.13512409e-04 2.56243479e+02] [-9.79553258e-03 9.99950879e-01 1.51260238e-03 1.43131030e+01] [ 4.28309804e-04 -1.50847910e-03 9.99998771e-01 -1.88385305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.021400513 meters Centerline goodness [0,1] 0.6759016916693266 Centerline is valid? [False, False] Translation: X:256.24, Y:14.32, Z:-0.19 [[ 9.99954766e-01 9.50046945e-03 -4.53962079e-04 2.56244079e+02] [-9.50015000e-03 9.99954627e-01 7.00737570e-04 1.43169384e+01] [ 4.60598817e-04 -6.96393166e-04 9.99999651e-01 -1.89411526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.051400513 meters Centerline goodness [0,1] 0.5954123546356556 Centerline is valid? [False, False] Translation: X:256.24, Y:14.33, Z:-0.19 [[ 9.99959245e-01 9.01797189e-03 -4.30570361e-04 2.56244134e+02] [-9.01839681e-03 9.99958838e-01 -9.95360386e-04 1.43251860e+01] [ 4.21576506e-04 9.99202874e-04 9.99999412e-01 -1.89897906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.081400513 meters Centerline goodness [0,1] 0.6444372782973234 Centerline is valid? [False, False] Translation: X:256.24, Y:14.33, Z:-0.19 [[ 9.99961625e-01 8.75352748e-03 -3.53015852e-04 2.56243725e+02] [-8.75408633e-03 9.99960380e-01 -1.61388608e-03 1.43280797e+01] [ 3.38874669e-04 1.61691448e-03 9.99998635e-01 -1.89660322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.111400513 meters Centerline goodness [0,1] 0.6546419555977475 Centerline is valid? [False, False] Translation: X:256.24, Y:14.33, Z:-0.19 [[ 9.99963432e-01 8.54753051e-03 -2.71577784e-04 2.56243189e+02] [-8.54807584e-03 9.99961312e-01 -2.07468883e-03 1.43302363e+01] [ 2.53833811e-04 2.07693443e-03 9.99997811e-01 -1.89168335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.141400513 meters Centerline goodness [0,1] 0.6524505735384878 Centerline is valid? [False, False] Translation: X:256.26, Y:14.33, Z:-0.19 [[ 9.99972825e-01 5.46557983e-03 4.94740827e-03 2.56262555e+02] [-5.49079097e-03 9.99971937e-01 5.09667004e-03 1.43317193e+01] [-4.91941317e-03 -5.12369672e-03 9.99974773e-01 -1.92624642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.171400513 meters Centerline goodness [0,1] 0.6727907521342047 Centerline is valid? [False, False] Translation: X:256.26, Y:14.34, Z:-0.19 [[ 9.99985897e-01 7.11838994e-04 5.26300602e-03 2.56261011e+02] [-7.07688179e-04 9.99999437e-01 -7.90497864e-04 1.43393868e+01] [-5.26356576e-03 7.86762148e-04 9.99985838e-01 -1.91895490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.201400513 meters Centerline goodness [0,1] 0.6707151350433158 Centerline is valid? [False, False] Translation: X:256.26, Y:14.34, Z:-0.19 [[ 9.99986097e-01 7.46535022e-04 5.21996810e-03 2.56260937e+02] [-7.43509816e-04 9.99999555e-01 -5.81461376e-04 1.43383462e+01] [-5.22039986e-03 5.77572195e-04 9.99986207e-01 -1.91452023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.231400513 meters Centerline goodness [0,1] 0.6910051100040624 Centerline is valid? [False, False] Translation: X:256.26, Y:14.34, Z:-0.19 [[ 9.99987039e-01 9.35275001e-04 5.00475760e-03 2.56261694e+02] [-9.35393374e-04 9.99999562e-01 2.13114340e-05 1.43354434e+01] [-5.00473548e-03 -2.59925749e-05 9.99987476e-01 -1.91500831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.261400513 meters Centerline goodness [0,1] 0.7061704211557297 Centerline is valid? [False, False] Translation: X:256.26, Y:14.33, Z:-0.19 [[ 9.99982333e-01 -3.33653623e-03 4.91939798e-03 2.56262367e+02] [ 3.35728184e-03 9.99985482e-01 -4.21489358e-03 1.43349861e+01] [-4.90526341e-03 4.23133493e-03 9.99979017e-01 -1.92229764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.291400513 meters Centerline goodness [0,1] 0.779887721685876 Centerline is valid? [False, False] Translation: X:256.26, Y:14.33, Z:-0.19 [[ 9.99983908e-01 -3.09042280e-03 4.75741667e-03 2.56262901e+02] [ 3.10650168e-03 9.99989476e-01 -3.37607795e-03 1.43309318e+01] [-4.74693310e-03 3.39080254e-03 9.99982984e-01 -1.92157272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.321400513 meters Centerline goodness [0,1] 0.7991577514516026 Centerline is valid? [False, False] Translation: X:256.26, Y:14.33, Z:-0.19 [[ 9.99985270e-01 -2.80576231e-03 4.64625366e-03 2.56263118e+02] [ 2.81697060e-03 9.99993134e-01 -2.40754224e-03 1.43262568e+01] [-4.63946676e-03 2.42059514e-03 9.99986308e-01 -1.91721857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.351400513 meters Centerline goodness [0,1] 0.884495141529362 Centerline is valid? [False, False] Translation: X:256.26, Y:14.32, Z:-0.19 [[ 9.99987146e-01 -2.57831385e-03 4.36588890e-03 2.56263963e+02] [ 2.58108477e-03 9.99996471e-01 -6.29161042e-04 1.43170188e+01] [-4.36425132e-03 6.40421684e-04 9.99990272e-01 -1.91391319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.381400513 meters Centerline goodness [0,1] 0.9695063439599104 Centerline is valid? [False, True] Translation: X:256.24, Y:14.32, Z:-0.19 [[ 9.99996723e-01 -2.04311094e-03 1.54293484e-03 2.56243636e+02] [ 2.06104524e-03 9.99929279e-01 -1.17127694e-02 1.43185695e+01] [-1.51889524e-03 1.17159111e-02 9.99930213e-01 -1.89680377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.411400513 meters Centerline goodness [0,1] 0.9583191778494989 Centerline is valid? [True, True] Translation: X:256.27, Y:14.31, Z:-0.19 [[ 9.99997638e-01 -2.06310998e-03 -6.83775069e-04 2.56274497e+02] [ 2.06307850e-03 9.99997871e-01 -4.67356877e-05 1.43103950e+01] [ 6.83870034e-04 4.53248956e-05 9.99999765e-01 -1.93036941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.441400513 meters Centerline goodness [0,1] 0.9765629962102768 Centerline is valid? [True, True] Translation: X:256.31, Y:14.31, Z:-0.20 [[ 9.99996703e-01 -1.16576404e-03 -2.28797935e-03 2.56305262e+02] [ 1.16540914e-03 9.99999309e-01 -1.56440159e-04 1.43086672e+01] [ 2.28816014e-03 1.53773211e-04 9.99997370e-01 -1.95580886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.471400513 meters Centerline goodness [0,1] 0.9777359877223699 Centerline is valid? [True, True] Translation: X:256.34, Y:14.31, Z:-0.20 [[ 9.99990595e-01 2.22931332e-03 -3.72024873e-03 2.56336346e+02] [-2.23027499e-03 9.99997481e-01 -2.54367664e-04 1.43065199e+01] [ 3.71967229e-03 2.62662449e-04 9.99993047e-01 -1.98786598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.501400513 meters Centerline goodness [0,1] 0.8020173034092856 Centerline is valid? [True, False] Translation: X:256.34, Y:14.30, Z:-0.20 [[ 9.99967883e-01 6.99963037e-03 -3.90364594e-03 2.56337002e+02] [-6.97721279e-03 9.99959259e-01 5.72708153e-03 1.42983080e+01] [ 3.94357436e-03 -5.69966103e-03 9.99975981e-01 -1.98657262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.531400513 meters Centerline goodness [0,1] 0.8360367981389447 Centerline is valid? [False, False] Translation: X:256.38, Y:14.30, Z:-0.20 [[ 9.99984026e-01 5.54503764e-03 -1.09556203e-03 2.56377556e+02] [-5.54229060e-03 9.99981529e-01 2.49475340e-03 1.43028901e+01] [ 1.10937529e-03 -2.48864162e-03 9.99996288e-01 -1.99140152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.561400513 meters Centerline goodness [0,1] 0.9286563110092522 Centerline is valid? [False, False] Translation: X:256.38, Y:14.30, Z:-0.20 [[ 9.99998553e-01 1.35421119e-03 -1.02934632e-03 2.56377501e+02] [-1.35615832e-03 9.99997288e-01 -1.89328279e-03 1.43033455e+01] [ 1.02677962e-03 1.89467600e-03 9.99997678e-01 -1.99612557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.591400513 meters Centerline goodness [0,1] 0.8339218105245246 Centerline is valid? [False, False] Translation: X:256.38, Y:14.30, Z:-0.20 [[ 9.99997887e-01 1.67283798e-03 -1.19495897e-03 2.56378241e+02] [-1.67416253e-03 9.99997984e-01 -1.10830769e-03 1.42996081e+01] [ 1.19310254e-03 1.11030591e-03 9.99998672e-01 -1.99933102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.621400513 meters Centerline goodness [0,1] 0.9935336548721669 Centerline is valid? [False, True] Translation: X:256.38, Y:14.30, Z:-0.20 [[ 9.99997176e-01 1.99849725e-03 -1.28570859e-03 2.56378621e+02] [-1.99882854e-03 9.99997969e-01 -2.56431965e-04 1.42955531e+01] [ 1.28519350e-03 2.59001152e-04 9.99999141e-01 -2.00038151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.651400513 meters Centerline goodness [0,1] 0.9877474081055608 Centerline is valid? [True, True] Translation: X:256.41, Y:14.30, Z:-0.20 [[ 9.99999471e-01 4.43011566e-04 -9.28611441e-04 2.56408062e+02] [-4.43070653e-04 9.99999900e-01 -6.34248462e-05 1.42958473e+01] [ 9.28583250e-04 6.38362531e-05 9.99999567e-01 -2.00165457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.681400513 meters Centerline goodness [0,1] 0.9909552219792352 Centerline is valid? [True, True] Translation: X:256.44, Y:14.29, Z:-0.20 [[ 9.99999043e-01 -1.10461768e-03 8.33234712e-04 2.56438492e+02] [ 1.10457079e-03 9.99999388e-01 5.67433649e-05 1.42908059e+01] [-8.33296882e-04 -5.58229439e-05 9.99999651e-01 -1.97614180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.711400513 meters Centerline goodness [0,1] 0.9829975346425232 Centerline is valid? [True, True] Translation: X:256.47, Y:14.29, Z:-0.20 [[ 9.99998080e-01 -1.19395366e-03 1.55382719e-03 2.56470212e+02] [ 1.19379035e-03 9.99999282e-01 1.06022377e-04 1.42916297e+01] [-1.55395266e-03 -1.04167229e-04 9.99998787e-01 -1.96479965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.74140051300003 meters Centerline goodness [0,1] 0.9332111889899657 Centerline is valid? [True, False] Translation: X:256.47, Y:14.29, Z:-0.20 [[ 9.99998363e-01 -9.70332008e-04 1.52712311e-03 2.56470182e+02] [ 9.69376777e-04 9.99999334e-01 6.26126683e-04 1.42891973e+01] [-1.52772965e-03 -6.24645301e-04 9.99998638e-01 -1.96204614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.771400513 meters Centerline goodness [0,1] 0.9514397682739819 Centerline is valid? [False, True] Translation: X:256.47, Y:14.28, Z:-0.20 [[ 9.99998970e-01 -5.18779896e-04 1.33857653e-03 2.56470763e+02] [ 5.16538564e-04 9.99998465e-01 1.67421775e-03 1.42842628e+01] [-1.33944303e-03 -1.67352460e-03 9.99997703e-01 -1.96032735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.801400513 meters Centerline goodness [0,1] 0.9948340436523312 Centerline is valid? [True, True] Translation: X:256.50, Y:14.28, Z:-0.20 [[ 9.99998813e-01 -4.92986323e-04 1.45965475e-03 2.56502125e+02] [ 4.92842313e-04 9.99999874e-01 9.90183059e-05 1.42776988e+01] [-1.45970338e-03 -9.82988088e-05 9.99998930e-01 -1.95545712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.831400513 meters Centerline goodness [0,1] 0.9841076578019865 Centerline is valid? [True, True] Translation: X:256.53, Y:14.28, Z:-0.19 [[ 9.99997039e-01 -2.18674400e-05 2.43339947e-03 2.56532752e+02] [ 2.14661856e-05 9.99999986e-01 1.64920590e-04 1.42795698e+01] [-2.43340304e-03 -1.64867866e-04 9.99997026e-01 -1.94305084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.861400513 meters Centerline goodness [0,1] 0.8767111567419575 Centerline is valid? [True, False] Translation: X:256.53, Y:14.28, Z:-0.19 [[ 9.99996135e-01 3.39439582e-04 2.75948095e-03 2.56531072e+02] [-3.41968025e-04 9.99999522e-01 9.15854603e-04 1.42761393e+01] [-2.75916876e-03 -9.16794718e-04 9.99995773e-01 -1.93041298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.891400513 meters Centerline goodness [0,1] 0.7880299781320991 Centerline is valid? [False, False] Translation: X:256.53, Y:14.28, Z:-0.19 [[ 9.99995625e-01 3.57906971e-04 2.93643530e-03 2.56530240e+02] [-3.60451470e-04 9.99999560e-01 8.66043180e-04 1.42764549e+01] [-2.93612404e-03 -8.67097833e-04 9.99995314e-01 -1.92582416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.921400513 meters Centerline goodness [0,1] 0.7491611094592873 Centerline is valid? [False, False] Translation: X:256.53, Y:14.28, Z:-0.19 [[ 9.99995319e-01 3.55390986e-04 3.03898430e-03 2.56529871e+02] [-3.57745935e-04 9.99999636e-01 7.74404564e-04 1.42769369e+01] [-3.03870798e-03 -7.75488123e-04 9.99995082e-01 -1.92560171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.951400513 meters Centerline goodness [0,1] 0.7596061836817147 Centerline is valid? [False, False] Translation: X:256.53, Y:14.28, Z:-0.19 [[ 9.99994998e-01 5.77617012e-04 3.10969424e-03 2.56530006e+02] [-5.80714397e-04 9.99999336e-01 9.95231095e-04 1.42760256e+01] [-3.10911731e-03 -9.97031961e-04 9.99994670e-01 -1.93299262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.981400513 meters Centerline goodness [0,1] 0.741656942823804 Centerline is valid? [False, False] Translation: X:256.53, Y:14.28, Z:-0.19 [[ 9.99995150e-01 6.54059558e-04 3.04504897e-03 2.56530385e+02] [-6.57324953e-04 9.99999210e-01 1.07148482e-03 1.42756965e+01] [-3.04434575e-03 -1.07348121e-03 9.99994790e-01 -1.93644783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.011400513 meters Centerline goodness [0,1] 0.6777841427449982 Centerline is valid? [False, False] Translation: X:256.53, Y:14.28, Z:-0.19 [[ 9.99995270e-01 5.96459895e-04 3.01735917e-03 2.56530707e+02] [-5.98992192e-04 9.99999469e-01 8.38408585e-04 1.42768127e+01] [-3.01685749e-03 -8.40211993e-04 9.99995096e-01 -1.94140119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.041400513 meters Centerline goodness [0,1] 0.755961451782533 Centerline is valid? [False, False] Translation: X:256.51, Y:14.28, Z:-0.19 [[ 9.99988344e-01 4.31297239e-03 -2.17019456e-03 2.56509113e+02] [-4.32611079e-03 9.99972121e-01 -6.08619296e-03 1.42809374e+01] [ 2.14388447e-03 6.09551053e-03 9.99979124e-01 -1.89283877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.071400513 meters Centerline goodness [0,1] 0.7127523366480304 Centerline is valid? [False, False] Translation: X:256.52, Y:14.28, Z:-0.19 [[ 9.99965818e-01 7.49994221e-03 -3.48053939e-03 2.56515313e+02] [-7.50712996e-03 9.99969706e-01 -2.05667400e-03 1.42780459e+01] [ 3.46500901e-03 2.08273256e-03 9.99991828e-01 -1.91712691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.101400513 meters Centerline goodness [0,1] 0.7326272445557585 Centerline is valid? [False, False] Translation: X:256.52, Y:14.28, Z:-0.19 [[ 9.99965066e-01 7.56074925e-03 -3.56403537e-03 2.56515793e+02] [-7.56766671e-03 9.99969500e-01 -1.93143281e-03 1.42774425e+01] [ 3.54932359e-03 1.95833677e-03 9.99991784e-01 -1.92102320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.131400513 meters Centerline goodness [0,1] 0.6771028037383178 Centerline is valid? [False, False] Translation: X:256.52, Y:14.28, Z:-0.19 [[ 9.99964438e-01 7.65295370e-03 -3.54328281e-03 2.56515731e+02] [-7.65909856e-03 9.99969183e-01 -1.72391915e-03 1.42764725e+01] [ 3.52998055e-03 1.75099619e-03 9.99992237e-01 -1.92134342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.161400513 meters Centerline goodness [0,1] 0.5926340464173336 Centerline is valid? [False, False] Translation: X:256.52, Y:14.28, Z:-0.19 [[ 9.99964048e-01 7.74780354e-03 -3.44592082e-03 2.56515160e+02] [-7.75290894e-03 9.99968864e-01 -1.47069728e-03 1.42752913e+01] [ 3.43441886e-03 1.49736032e-03 9.99992981e-01 -1.91653697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.191400513 meters Centerline goodness [0,1] 0.6047744224316642 Centerline is valid? [False, False] Translation: X:256.51, Y:14.27, Z:-0.19 [[ 9.99963641e-01 7.80732927e-03 -3.42966940e-03 2.56514944e+02] [-7.81192118e-03 9.99968605e-01 -1.32752787e-03 1.42746209e+01] [ 3.41919728e-03 1.35427191e-03 9.99993237e-01 -1.91341374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.221400513 meters Centerline goodness [0,1] 0.6845292158643657 Centerline is valid? [False, False] Translation: X:256.51, Y:14.27, Z:-0.19 [[ 9.99962863e-01 7.90025750e-03 -3.44371297e-03 2.56514866e+02] [-7.90405241e-03 9.99968169e-01 -1.08976718e-03 1.42735054e+01] [ 3.43499391e-03 1.11694600e-03 9.99993477e-01 -1.91092341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.251400513 meters Centerline goodness [0,1] 0.5962219598583235 Centerline is valid? [False, False] Translation: X:256.56, Y:14.27, Z:-0.19 [[ 9.99963315e-01 8.39097222e-03 -1.72058472e-03 2.56558516e+02] [-8.39138867e-03 9.99964764e-01 -2.34960217e-04 1.42728083e+01] [ 1.71855255e-03 2.49389693e-04 9.99998492e-01 -1.92040496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.281400513 meters Centerline goodness [0,1] 0.7958904986451021 Centerline is valid? [False, False] Translation: X:256.56, Y:14.27, Z:-0.19 [[ 9.99962291e-01 8.49553726e-03 -1.80061642e-03 2.56558762e+02] [-8.49550996e-03 9.99963912e-01 2.28060257e-05 1.42715836e+01] [ 1.80074519e-03 -7.50801095e-06 9.99998379e-01 -1.91983009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.311400513 meters Centerline goodness [0,1] 0.4971402038791921 Centerline is valid? [False, False] Translation: X:256.56, Y:14.27, Z:-0.19 [[ 9.99961704e-01 8.53320173e-03 -1.94301165e-03 2.56559276e+02] [-8.53282185e-03 9.99963574e-01 2.03717655e-04 1.42706536e+01] [ 1.94467924e-03 -1.87130481e-04 9.99998092e-01 -1.92062086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.341400513 meters Centerline goodness [0,1] 0.5155774185992036 Centerline is valid? [False, False] Translation: X:256.56, Y:14.27, Z:-0.19 [[ 9.99960823e-01 8.61096329e-03 -2.05053771e-03 2.56559673e+02] [-8.61012351e-03 9.99962845e-01 4.18016470e-04 1.42696196e+01] [ 2.05406104e-03 -4.00344710e-04 9.99997810e-01 -1.92127621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.371400513 meters Centerline goodness [0,1] 0.9170691913011743 Centerline is valid? [False, False] Translation: X:256.56, Y:14.27, Z:-0.19 [[ 9.99959200e-01 8.73183043e-03 -2.31358424e-03 2.56560551e+02] [-8.72951348e-03 9.99961387e-01 1.00967060e-03 1.42666685e+01] [ 2.32231118e-03 -9.89432937e-04 9.99996814e-01 -1.92116777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.401400513 meters Centerline goodness [0,1] 0.9170691913011743 Centerline is valid? [False, False] Translation: X:256.56, Y:14.27, Z:-0.19 [[ 9.99987559e-01 4.63291098e-03 -1.84902605e-03 2.56559051e+02] [-4.64064458e-03 9.99980410e-01 -4.20038626e-03 1.42719436e+01] [ 1.82952982e-03 4.20891468e-03 9.99989469e-01 -1.92328463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.431400513 meters Centerline goodness [0,1] 0.778481550756674 Centerline is valid? [False, False] Translation: X:256.56, Y:14.27, Z:-0.19 [[ 9.99962868e-01 8.29972542e-03 -2.31893635e-03 2.56560656e+02] [-8.29720226e-03 9.99964977e-01 1.09558205e-03 1.42650745e+01] [ 2.32794817e-03 -1.07630068e-03 9.99996711e-01 -1.92052387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.461400513 meters Centerline goodness [0,1] 0.9620835908693706 Centerline is valid? [False, True] Translation: X:256.55, Y:14.27, Z:-0.19 [[ 9.99982123e-01 5.80635415e-03 -1.42839143e-03 2.56553912e+02] [-5.80862599e-03 9.99981863e-01 -1.59151511e-03 1.42664361e+01] [ 1.41912462e-03 1.59978365e-03 9.99997713e-01 -1.87772377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.49140051300003 meters Centerline goodness [0,1] 0.9715209524421319 Centerline is valid? [True, True] Translation: X:256.58, Y:14.27, Z:-0.19 [[ 9.99992016e-01 3.83038474e-03 -1.13836031e-03 2.56583552e+02] [-3.83047463e-03 9.99992661e-01 -7.67976042e-05 1.42664759e+01] [ 1.13805779e-03 8.11574513e-05 9.99999349e-01 -1.86770910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.521400513 meters Centerline goodness [0,1] 0.9724024937761985 Centerline is valid? [True, True] Translation: X:256.61, Y:14.27, Z:-0.19 [[ 9.99999714e-01 6.17713249e-04 4.37009339e-04 2.56612872e+02] [-6.17726161e-04 9.99999809e-01 2.94118942e-05 1.42688922e+01] [-4.36991087e-04 -2.96818379e-05 9.99999904e-01 -1.85477124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.551400513 meters Centerline goodness [0,1] 0.9823520656588208 Centerline is valid? [True, True] Translation: X:256.64, Y:14.27, Z:-0.19 [[ 9.99999570e-01 -7.12453462e-04 5.93674298e-04 2.56643519e+02] [ 7.12429828e-04 9.99999745e-01 4.00203340e-05 1.42702877e+01] [-5.93702660e-04 -3.95973655e-05 9.99999823e-01 -1.85564014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.581400513 meters Centerline goodness [0,1] 0.9913358941527955 Centerline is valid? [True, True] Translation: X:256.67, Y:14.27, Z:-0.19 [[ 9.99992313e-01 -3.90369261e-03 -3.66842351e-04 2.56672741e+02] [ 3.90368378e-03 9.99992380e-01 -2.47762627e-05 1.42722986e+01] [ 3.66936275e-04 2.33440357e-05 9.99999932e-01 -1.87004197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.611400513 meters Centerline goodness [0,1] 0.9994649774220472 Centerline is valid? [True, True] Translation: X:256.70, Y:14.26, Z:-0.19 [[ 9.99983117e-01 -5.78178954e-03 -5.80738108e-04 2.56703868e+02] [ 5.78176778e-03 9.99983285e-01 -3.91548679e-05 1.42616166e+01] [ 5.80954786e-04 3.57965139e-05 9.99999831e-01 -1.86494270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.641400513 meters Centerline goodness [0,1] 0.9985738308605973 Centerline is valid? [True, True] Translation: X:256.73, Y:14.27, Z:-0.19 [[ 9.99967884e-01 -8.00258894e-03 -4.35670490e-04 2.56732765e+02] [ 8.00257698e-03 9.99967978e-01 -2.91897324e-05 1.42707000e+01] [ 4.35890132e-04 2.57023083e-05 9.99999905e-01 -1.86905799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.671400513 meters Centerline goodness [0,1] 0.9991699831868389 Centerline is valid? [True, True] Translation: X:256.76, Y:14.27, Z:-0.19 [[ 9.99943787e-01 -1.06028445e-02 5.31738698e-05 2.56762445e+02] [ 1.06028444e-02 9.99943788e-01 3.54249229e-06 1.42715599e+01] [-5.32084413e-05 -2.97849888e-06 9.99999999e-01 -1.86473976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.701400513 meters Centerline goodness [0,1] 0.9997217703963702 Centerline is valid? [True, True] Translation: X:256.79, Y:14.27, Z:-0.18 [[ 9.99857419e-01 -1.67758052e-02 1.92727232e-03 2.56792282e+02] [ 1.67755860e-02 9.99859272e-01 1.29861398e-04 1.42674650e+01] [-1.92917963e-03 -9.75117591e-05 9.99998134e-01 -1.84096015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.731400513 meters Centerline goodness [0,1] 0.9998285432606785 Centerline is valid? [True, True] Translation: X:256.82, Y:14.26, Z:-0.18 [[ 9.99787707e-01 -2.04708270e-02 2.34225640e-03 2.56823553e+02] [ 2.04705133e-02 9.99790445e-01 1.57866872e-04 1.42613108e+01] [-2.34499723e-03 -1.09886167e-04 9.99997244e-01 -1.83204424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.761400513 meters Centerline goodness [0,1] 0.9998933992836432 Centerline is valid? [True, True] Translation: X:256.85, Y:14.26, Z:-0.18 [[ 9.99696635e-01 -2.44821343e-02 2.69484901e-03 2.56854828e+02] [ 2.44817335e-02 9.99700261e-01 1.81628065e-04 1.42558307e+01] [-2.69848790e-03 -1.15598390e-04 9.99996352e-01 -1.82533240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.791400513 meters Centerline goodness [0,1] 0.9999364204726078 Centerline is valid? [True, True] Translation: X:256.88, Y:14.26, Z:-0.18 [[ 9.99584747e-01 -2.86736154e-02 2.85596518e-03 2.56884357e+02] [ 2.86731824e-02 9.99588821e-01 1.92473183e-04 1.42576500e+01] [-2.86030977e-03 -1.10503647e-04 9.99995903e-01 -1.81791612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.821400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.92, Y:14.24, Z:-0.18 [[ 9.99307347e-01 -3.71046400e-02 2.84098821e-03 2.56915904e+02] [ 3.71042456e-02 9.99311382e-01 1.91443690e-04 1.42366730e+01] [-2.84613530e-03 -8.58983621e-05 9.99995946e-01 -1.81468427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.851400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.95, Y:14.24, Z:-0.18 [[ 9.99148345e-01 -4.11341885e-02 3.25001590e-03 2.56945152e+02] [ 4.11336928e-02 9.99153627e-01 2.19233597e-04 1.42366523e+01] [-3.25628317e-03 -8.53617306e-05 9.99994695e-01 -1.82025322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.881400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.98, Y:14.23, Z:-0.18 [[ 9.98983511e-01 -4.49278767e-02 3.66475909e-03 2.56975419e+02] [ 4.49272716e-02 9.98990230e-01 2.47312574e-04 1.42314091e+01] [-3.67216976e-03 -8.24135567e-05 9.99993254e-01 -1.81875507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.911400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.00, Y:14.23, Z:-0.18 [[ 9.98814828e-01 -4.85232159e-02 3.79952699e-03 2.57004929e+02] [ 4.85225912e-02 9.98822052e-01 2.56500954e-04 1.42265207e+01] [-3.80749760e-03 -7.18340616e-05 9.99992749e-01 -1.81751361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.941400513 meters Centerline goodness [0,1] 0.9998279532893181 Centerline is valid? [True, True] Translation: X:257.03, Y:14.21, Z:-0.18 [[ 9.98563371e-01 -5.34306051e-02 4.04524960e-03 2.57031901e+02] [ 5.34097433e-02 9.98559654e-01 5.10060462e-03 1.42148013e+01] [-4.31195143e-03 -4.87722121e-03 9.99978810e-01 -1.83145501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.971400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.06, Y:14.22, Z:-0.18 [[ 9.98363671e-01 -5.71396873e-02 2.24401567e-03 2.57062739e+02] [ 5.71501191e-02 9.98353581e-01 -4.89807755e-03 1.42201538e+01] [-1.96044646e-03 5.01830845e-03 9.99985487e-01 -1.84096096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.001400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.09, Y:14.21, Z:-0.18 [[ 9.98343899e-01 -5.75083053e-02 1.50147031e-03 2.57091477e+02] [ 5.75082177e-02 9.98345028e-01 1.01458067e-04 1.42133615e+01] [-1.50482010e-03 -1.49431603e-05 9.99998868e-01 -1.84319209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.031400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.12, Y:14.22, Z:-0.18 [[ 9.98422559e-01 -5.61102178e-02 2.00935012e-03 2.57120545e+02] [ 5.61100568e-02 9.98424580e-01 1.36438912e-04 1.42157295e+01] [-2.01384017e-03 -2.34789380e-05 9.99997972e-01 -1.83997999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.061400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.15, Y:14.22, Z:-0.18 [[ 9.98521720e-01 -5.43074628e-02 2.25276969e-03 2.57148933e+02] [ 5.43072549e-02 9.98524260e-01 1.53420873e-04 1.42184096e+01] [-2.25777709e-03 -3.08523361e-05 9.99997451e-01 -1.83377430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.091400513 meters Centerline goodness [0,1] 0.999914256929112 Centerline is valid? [True, True] Translation: X:257.18, Y:14.22, Z:-0.18 [[ 9.98618596e-01 -5.25115333e-02 1.85416405e-03 2.57176715e+02] [ 5.25113886e-02 9.98620317e-01 1.26676864e-04 1.42219814e+01] [-1.85825789e-03 -2.91371434e-05 9.99998273e-01 -1.84153569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.121400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.21, Y:14.23, Z:-0.19 [[ 9.98796416e-01 -4.90466422e-02 -3.83715317e-04 2.57206328e+02] [ 4.90466356e-02 9.98796489e-01 -2.63580058e-05 1.42254298e+01] [ 3.84546284e-04 7.50633633e-06 9.99999926e-01 -1.87461410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.151400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.23, Y:14.23, Z:-0.19 [[ 9.98861096e-01 -4.77096543e-02 -5.46664352e-04 2.57234304e+02] [ 4.77096408e-02 9.98861246e-01 -3.76773853e-05 1.42277861e+01] [ 5.47839411e-04 1.15533145e-05 9.99999850e-01 -1.88375315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.181400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.26, Y:14.23, Z:-0.19 [[ 9.98924830e-01 -4.63592911e-02 -1.38056611e-05 2.57261594e+02] [ 4.63592911e-02 9.98924830e-01 -1.16084611e-06 1.42312091e+01] [ 1.38446337e-05 5.19577344e-07 1.00000000e+00 -1.87443111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.211400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.29, Y:14.23, Z:-0.18 [[ 9.99066783e-01 -4.31643328e-02 1.55025205e-03 2.57291771e+02] [ 4.31642198e-02 9.99067985e-01 1.06265597e-04 1.42276562e+01] [-1.55339407e-03 -3.92510078e-05 9.99998793e-01 -1.84187139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.24140051300003 meters Centerline goodness [0,1] 0.999891936285634 Centerline is valid? [True, True] Translation: X:257.32, Y:14.23, Z:-0.19 [[ 9.99149046e-01 -4.12288263e-02 1.16918821e-03 2.57319235e+02] [ 4.12287609e-02 9.99149730e-01 7.99736669e-05 1.42310980e+01] [-1.17149131e-03 -3.17014317e-05 9.99999313e-01 -1.85061874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.271400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.35, Y:14.24, Z:-0.19 [[ 9.99243353e-01 -3.88848390e-02 8.31176428e-04 2.57347884e+02] [ 3.88848050e-02 9.99243698e-01 5.69580636e-05 1.42359027e+01] [-8.32762613e-04 -2.45948331e-05 9.99999653e-01 -1.86545947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.301400513 meters Centerline goodness [0,1] 0.9999142991815572 Centerline is valid? [True, True] Translation: X:257.38, Y:14.25, Z:-0.19 [[ 9.99422403e-01 -3.39828883e-02 -1.53341853e-04 2.57376689e+02] [ 3.39828871e-02 9.99422415e-01 -1.05812421e-05 1.42455717e+01] [ 1.53612866e-04 5.36413155e-06 9.99999988e-01 -1.89336362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.331400513 meters Centerline goodness [0,1] 0.9999356209360716 Centerline is valid? [True, True] Translation: X:257.41, Y:14.24, Z:-0.19 [[ 9.99502401e-01 -3.15359472e-02 -6.59621861e-04 2.57406573e+02] [ 3.15359241e-02 9.99502618e-01 -4.54600867e-05 1.42437383e+01] [ 6.60727404e-04 2.46356809e-05 9.99999781e-01 -1.89775366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.361400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.44, Y:14.24, Z:-0.19 [[ 9.99565158e-01 -2.94748136e-02 -8.54939195e-04 2.57436125e+02] [ 2.94747740e-02 9.99565523e-01 -5.89174595e-05 1.42444117e+01] [ 8.56304325e-04 3.36927001e-05 9.99999633e-01 -1.90066092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.391400513 meters Centerline goodness [0,1] 0.9998708872199866 Centerline is valid? [True, True] Translation: X:257.46, Y:14.25, Z:-0.19 [[ 9.99635923e-01 -2.69798218e-02 -3.33280651e-04 2.57463850e+02] [ 2.69798156e-02 9.99635978e-01 -2.31240940e-05 1.42531661e+01] [ 3.33783213e-04 1.41238246e-05 9.99999944e-01 -1.89573761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.421400513 meters Centerline goodness [0,1] 0.9999786146575137 Centerline is valid? [True, True] Translation: X:257.49, Y:14.25, Z:-0.19 [[ 9.99659633e-01 -2.60886623e-02 -8.74581520e-06 2.57493042e+02] [ 2.60886623e-02 9.99659633e-01 -1.19093135e-06 1.42524318e+01] [ 8.77390821e-06 9.62359373e-07 1.00000000e+00 -1.89075967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.451400513 meters Centerline goodness [0,1] 0.9999354588873112 Centerline is valid? [True, True] Translation: X:257.52, Y:14.25, Z:-0.19 [[ 9.99682810e-01 -2.51827160e-02 -3.32149412e-04 2.57522147e+02] [ 2.51827096e-02 9.99682865e-01 -2.35815506e-05 1.42513674e+01] [ 3.32637924e-04 1.52096485e-05 9.99999945e-01 -1.88825373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.481400513 meters Centerline goodness [0,1] 0.9998289538389172 Centerline is valid? [True, True] Translation: X:257.55, Y:14.26, Z:-0.19 [[ 9.99760530e-01 -2.18368206e-02 -1.42662904e-03 2.57550550e+02] [ 2.18367019e-02 9.99761546e-01 -9.87654278e-05 1.42569699e+01] [ 1.42844558e-03 6.75889034e-05 9.99998977e-01 -1.91075306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.511400513 meters Centerline goodness [0,1] 0.9999349819032964 Centerline is valid? [True, True] Translation: X:257.58, Y:14.26, Z:-0.19 [[ 9.99809697e-01 -1.93769274e-02 -2.25919971e-03 2.57580572e+02] [ 1.93766233e-02 9.99812243e-01 -1.56401487e-04 1.42556576e+01] [ 2.26180611e-03 1.12596062e-04 9.99997436e-01 -1.92000505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.541400513 meters Centerline goodness [0,1] 0.9993860874719506 Centerline is valid? [True, True] Translation: X:257.61, Y:14.27, Z:-0.19 [[ 9.99859997e-01 -1.65503271e-02 -2.46453559e-03 2.57608418e+02] [ 1.65499565e-02 9.99863026e-01 -1.70715057e-04 1.42717685e+01] [ 2.46702341e-03 1.29903200e-04 9.99996948e-01 -1.93754348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.571400513 meters Centerline goodness [0,1] 0.9997643378966086 Centerline is valid? [True, True] Translation: X:257.64, Y:14.27, Z:-0.19 [[ 9.99899835e-01 -1.39024124e-02 -2.65395646e-03 2.57638886e+02] [ 1.39019733e-02 9.99903346e-01 -1.83816734e-04 1.42671403e+01] [ 2.65625545e-03 1.46903090e-04 9.99996461e-01 -1.93024234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.601400513 meters Centerline goodness [0,1] 0.9986564012881486 Centerline is valid? [True, True] Translation: X:257.67, Y:14.28, Z:-0.19 [[ 9.99956355e-01 -9.27257456e-03 -1.14301944e-03 2.57667352e+02] [ 9.27249009e-03 9.99957006e-01 -7.91800946e-05 1.42849263e+01] [ 1.14370450e-03 6.85780024e-05 9.99999344e-01 -1.91610710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.631400513 meters Centerline goodness [0,1] 0.9988312543827961 Centerline is valid? [True, True] Translation: X:257.70, Y:14.29, Z:-0.19 [[ 9.99967584e-01 -8.02489944e-03 -6.57026035e-04 2.57696530e+02] [ 8.02487113e-03 9.99967799e-01 -4.57187936e-05 1.42868058e+01] [ 6.57371767e-04 4.04447623e-05 9.99999783e-01 -1.90395078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.661400513 meters Centerline goodness [0,1] 0.9984619985474431 Centerline is valid? [True, True] Translation: X:257.73, Y:14.29, Z:-0.19 [[ 9.99970776e-01 -7.62985172e-03 -4.81339679e-04 2.57725674e+02] [ 7.62983652e-03 9.99970892e-01 -3.34044608e-05 1.42925794e+01] [ 4.81580539e-04 2.97309415e-05 9.99999884e-01 -1.90831963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.691400513 meters Centerline goodness [0,1] 0.9984481292517007 Centerline is valid? [True, True] Translation: X:257.75, Y:14.30, Z:-0.19 [[ 9.99961346e-01 -8.79113272e-03 1.49664116e-04 2.57754490e+02] [ 8.79113128e-03 9.99961357e-01 1.02960565e-05 1.42964768e+01] [-1.49748847e-04 -8.97994166e-06 9.99999989e-01 -1.91018466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.721400513 meters Centerline goodness [0,1] 0.9995722108145106 Centerline is valid? [True, True] Translation: X:257.79, Y:14.29, Z:-0.19 [[ 9.99955074e-01 -9.47530796e-03 2.63575031e-04 2.57785299e+02] [ 9.47530347e-03 9.99955108e-01 1.82751756e-05 1.42895294e+01] [-2.63736362e-04 -1.57769011e-05 9.99999965e-01 -1.90395750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.751400513 meters Centerline goodness [0,1] 0.9995965772766843 Centerline is valid? [True, True] Translation: X:257.81, Y:14.29, Z:-0.19 [[ 9.99950326e-01 -9.93945923e-03 7.43747663e-04 2.57814708e+02] [ 9.93942360e-03 9.99950601e-01 5.15881392e-05 1.42914742e+01] [-7.44223681e-04 -4.41931535e-05 9.99999722e-01 -1.89941559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.781400513 meters Centerline goodness [0,1] 0.9992981560645696 Centerline is valid? [True, True] Translation: X:257.85, Y:14.29, Z:-0.19 [[ 9.99950881e-01 -9.80767942e-03 1.43001724e-03 2.57845250e+02] [ 9.80754763e-03 9.99951900e-01 9.91415930e-05 1.42947119e+01] [-1.43092081e-03 -8.51117610e-05 9.99998973e-01 -1.88713403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.811400513 meters Centerline goodness [0,1] 0.991934971740649 Centerline is valid? [True, True] Translation: X:257.87, Y:14.31, Z:-0.19 [[ 9.99957348e-01 -8.95188628e-03 2.27307509e-03 2.57874603e+02] [ 8.95155106e-03 9.99959922e-01 1.57605833e-04 1.43111963e+01] [-2.27439486e-03 -1.37251563e-04 9.99997404e-01 -1.87728876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.841400513 meters Centerline goodness [0,1] 0.9295792578133288 Centerline is valid? [True, False] Translation: X:257.87, Y:14.31, Z:-0.19 [[ 9.99986286e-01 -4.70051979e-03 2.30952857e-03 2.57874081e+02] [ 4.69033827e-03 9.99979345e-01 4.39429566e-03 1.43116595e+01] [-2.33013635e-03 -4.38340292e-03 9.99987678e-01 -1.87128697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.871400513 meters Centerline goodness [0,1] 0.998415349693777 Centerline is valid? [False, True] Translation: X:257.86, Y:14.32, Z:-0.19 [[ 9.99984590e-01 -2.46751111e-03 4.97303783e-03 2.57856802e+02] [ 2.48466896e-03 9.99990972e-01 -3.44695613e-03 1.43186341e+01] [-4.96448753e-03 3.45925936e-03 9.99981694e-01 -1.94634590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.901400513 meters Centerline goodness [0,1] 0.9981772415588924 Centerline is valid? [True, True] Translation: X:257.89, Y:14.32, Z:-0.20 [[ 9.99993224e-01 -7.61602655e-04 3.60161331e-03 2.57888032e+02] [ 7.60729445e-04 9.99999681e-01 2.43813218e-04 1.43203282e+01] [-3.60179785e-03 -2.41071712e-04 9.99993484e-01 -1.95673277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.931400513 meters Centerline goodness [0,1] 0.9981921876681373 Centerline is valid? [True, True] Translation: X:257.92, Y:14.32, Z:-0.20 [[ 9.99995995e-01 3.24272454e-04 2.81139085e-03 2.57919830e+02] [-3.24808701e-04 9.99999929e-01 1.90286350e-04 1.43244591e+01] [-2.81132895e-03 -1.91198752e-04 9.99996030e-01 -1.96988735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.961400513 meters Centerline goodness [0,1] 0.9932051282051282 Centerline is valid? [True, True] Translation: X:257.95, Y:14.33, Z:-0.20 [[ 9.99998055e-01 7.68030095e-04 1.81685693e-03 2.57950638e+02] [-7.68254921e-04 9.99999697e-01 1.23049795e-04 1.43329912e+01] [-1.81676187e-03 -1.24445364e-04 9.99998342e-01 -1.98439742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.99140051300003 meters Centerline goodness [0,1] 0.9937412323297723 Centerline is valid? [True, True] Translation: X:257.98, Y:14.34, Z:-0.20 [[ 9.99999872e-01 3.91897884e-04 3.20364503e-04 2.57981232e+02] [-3.91905064e-04 9.99999923e-01 2.23494235e-05 1.43374749e+01] [-3.20355719e-04 -2.24749731e-05 9.99999948e-01 -2.00690877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.021400513 meters Centerline goodness [0,1] 0.973520779276022 Centerline is valid? [True, True] Translation: X:258.01, Y:14.34, Z:-0.20 [[ 9.99999588e-01 -1.09475958e-04 9.00579962e-04 2.58010955e+02] [ 1.09421353e-04 9.99999992e-01 6.06821537e-05 1.43439292e+01] [-9.00586598e-04 -6.05835860e-05 9.99999593e-01 -2.00527444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.051400513 meters Centerline goodness [0,1] 0.9794328517924024 Centerline is valid? [True, True] Translation: X:258.04, Y:14.35, Z:-0.20 [[ 9.99998511e-01 -8.19712443e-05 1.72391369e-03 2.58042580e+02] [ 8.17709849e-05 9.99999990e-01 1.16235758e-04 1.43458214e+01] [-1.72392320e-03 -1.16094619e-04 9.99998507e-01 -1.99391980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.081400513 meters Centerline goodness [0,1] 0.9945490162677796 Centerline is valid? [True, True] Translation: X:258.07, Y:14.34, Z:-0.20 [[ 9.99996091e-01 6.49979809e-04 2.71939563e-03 2.58073856e+02] [-6.50480482e-04 9.99999772e-01 1.83231492e-04 1.43439271e+01] [-2.71927592e-03 -1.84999689e-04 9.99996286e-01 -1.97917532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.111400513 meters Centerline goodness [0,1] 0.8642597435733878 Centerline is valid? [True, False] Translation: X:258.07, Y:14.35, Z:-0.20 [[ 9.99996245e-01 3.74527222e-04 2.71485005e-03 2.58073975e+02] [-3.72636836e-04 9.99999688e-01 -6.96785381e-04 1.43481556e+01] [-2.71511017e-03 6.95771112e-04 9.99996072e-01 -1.98220928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.141400513 meters Centerline goodness [0,1] 0.9051003521873806 Centerline is valid? [False, False] Translation: X:258.07, Y:14.35, Z:-0.20 [[ 9.99996572e-01 2.01951211e-04 2.61065046e-03 2.58074648e+02] [-1.98857650e-04 9.99999278e-01 -1.18518263e-03 1.43504617e+01] [-2.61088793e-03 1.18465942e-03 9.99995890e-01 -1.98888144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.171400513 meters Centerline goodness [0,1] 0.8660099362459754 Centerline is valid? [False, False] Translation: X:258.08, Y:14.35, Z:-0.20 [[ 9.99996698e-01 4.16057543e-05 2.56958249e-03 2.58075182e+02] [-3.73588034e-05 9.99998633e-01 -1.65280445e-03 1.43526669e+01] [-2.56964775e-03 1.65270300e-03 9.99995333e-01 -1.99737554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.201400513 meters Centerline goodness [0,1] 0.9457590098289043 Centerline is valid? [False, False] Translation: X:258.08, Y:14.35, Z:-0.20 [[ 9.99996642e-01 -7.56267856e-05 2.59027767e-03 2.58075312e+02] [ 8.07931783e-05 9.99998008e-01 -1.99448579e-03 1.43542804e+01] [-2.59012167e-03 1.99468837e-03 9.99994656e-01 -2.00174576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.231400513 meters Centerline goodness [0,1] 0.7772493655498923 Centerline is valid? [False, False] Translation: X:258.07, Y:14.36, Z:-0.20 [[ 9.99996423e-01 -1.96907219e-04 2.66748414e-03 2.58074946e+02] [ 2.03247264e-04 9.99997155e-01 -2.37672549e-03 1.43561498e+01] [-2.66700856e-03 2.37725914e-03 9.99993618e-01 -1.99986008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.261400513 meters Centerline goodness [0,1] 0.9193652017476227 Centerline is valid? [False, False] Translation: X:258.07, Y:14.36, Z:-0.20 [[ 9.99996033e-01 -3.09120258e-04 2.79966322e-03 2.58074361e+02] [ 3.16656843e-04 9.99996327e-01 -2.69191801e-03 1.43576819e+01] [-2.79882081e-03 2.69279386e-03 9.99992458e-01 -1.99722362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.291400513 meters Centerline goodness [0,1] 0.9193652017476227 Centerline is valid? [False, False] Translation: X:258.07, Y:14.36, Z:-0.20 [[ 9.99996033e-01 -3.09120258e-04 2.79966322e-03 2.58074361e+02] [ 3.16656843e-04 9.99996327e-01 -2.69191801e-03 1.43576819e+01] [-2.79882081e-03 2.69279386e-03 9.99992458e-01 -1.99722362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.321400513 meters Centerline goodness [0,1] 0.8376006165439287 Centerline is valid? [False, False] Translation: X:258.07, Y:14.36, Z:-0.20 [[ 9.99996168e-01 -5.24246607e-04 2.71826924e-03 2.58074604e+02] [ 5.33063919e-04 9.99994596e-01 -3.24401383e-03 1.43602958e+01] [-2.71655389e-03 3.24545041e-03 9.99991044e-01 -1.99737008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.351400513 meters Centerline goodness [0,1] 0.744326165637641 Centerline is valid? [False, False] Translation: X:258.08, Y:14.36, Z:-0.20 [[ 9.99996410e-01 -6.16787131e-04 2.60755146e-03 2.58075274e+02] [ 6.25842706e-04 9.99993772e-01 -3.47343828e-03 1.43613580e+01] [-2.60539285e-03 3.47505773e-03 9.99990568e-01 -2.00353605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.381400513 meters Centerline goodness [0,1] 0.8178378608170727 Centerline is valid? [False, False] Translation: X:258.08, Y:14.36, Z:-0.20 [[ 9.99996510e-01 -7.44859354e-04 2.53497933e-03 2.58075795e+02] [ 7.54434936e-04 9.99992577e-01 -3.77852334e-03 1.43627719e+01] [-2.53214604e-03 3.78042263e-03 9.99989648e-01 -2.00933270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.411400513 meters Centerline goodness [0,1] 0.8466219546165549 Centerline is valid? [False, False] Translation: X:258.08, Y:14.36, Z:-0.20 [[ 9.99996047e-01 -8.77491680e-04 2.67130493e-03 2.58075198e+02] [ 8.88408110e-04 9.99991249e-01 -4.08811353e-03 1.43642440e+01] [-2.66769427e-03 4.09047058e-03 9.99988076e-01 -2.00696142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.441400513 meters Centerline goodness [0,1] 0.9547312707087224 Centerline is valid? [False, True] Translation: X:258.07, Y:14.36, Z:-0.20 [[ 9.99995707e-01 -9.11915766e-04 2.78453882e-03 2.58074465e+02] [ 9.23463267e-04 9.99990968e-01 -4.14854066e-03 1.43645625e+01] [-2.78073055e-03 4.15109427e-03 9.99987518e-01 -1.99964671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.471400513 meters Centerline goodness [0,1] 0.792954632424848 Centerline is valid? [True, False] Translation: X:258.09, Y:14.36, Z:-0.20 [[ 9.99992541e-01 -1.78960447e-03 3.42268998e-03 2.58093517e+02] [ 1.76714574e-03 9.99976964e-01 6.55352435e-03 1.43598387e+01] [-3.43433935e-03 -6.54742708e-03 9.99972668e-01 -1.97036075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.501400513 meters Centerline goodness [0,1] 0.9804178386618856 Centerline is valid? [False, True] Translation: X:258.07, Y:14.37, Z:-0.20 [[ 9.99999687e-01 -5.75444242e-04 5.42861869e-04 2.58072338e+02] [ 5.77529548e-04 9.99992426e-01 -3.84901644e-03 1.43657774e+01] [-5.40642862e-04 3.84932875e-03 9.99992445e-01 -1.95187022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.531400513 meters Centerline goodness [0,1] 0.7861127017454561 Centerline is valid? [True, False] Translation: X:258.10, Y:14.36, Z:-0.20 [[ 9.99994088e-01 -8.56231128e-04 3.33021173e-03 2.58095022e+02] [ 8.32023922e-04 9.99973274e-01 7.26357429e-03 1.43600433e+01] [-3.33634203e-03 -7.26076053e-03 9.99968075e-01 -1.98637506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.561400513 meters Centerline goodness [0,1] 0.7767681260723136 Centerline is valid? [False, False] Translation: X:258.09, Y:14.36, Z:-0.20 [[ 9.99994181e-01 -8.05565227e-04 3.31494744e-03 2.58094969e+02] [ 7.81101695e-04 9.99972503e-01 7.37445380e-03 1.43595377e+01] [-3.32079690e-03 -7.37182158e-03 9.99967314e-01 -1.98424134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.591400513 meters Centerline goodness [0,1] 0.8975851156468364 Centerline is valid? [False, False] Translation: X:258.09, Y:14.36, Z:-0.20 [[ 9.99994067e-01 -7.61736911e-04 3.35949300e-03 2.58094793e+02] [ 7.36622360e-04 9.99971823e-01 7.47060903e-03 1.43590965e+01] [-3.36508898e-03 -7.46809003e-03 9.99966451e-01 -1.98372971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.621400513 meters Centerline goodness [0,1] 0.8041854792116919 Centerline is valid? [False, False] Translation: X:258.07, Y:14.36, Z:-0.20 [[ 9.99991884e-01 -9.92207764e-05 4.02762494e-03 2.58074280e+02] [ 1.12633361e-04 9.99994449e-01 -3.33005713e-03 1.43644595e+01] [-4.02727217e-03 3.33048375e-03 9.99986344e-01 -2.01804761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.651400513 meters Centerline goodness [0,1] 0.8811382148401778 Centerline is valid? [False, False] Translation: X:258.07, Y:14.36, Z:-0.20 [[ 9.99991814e-01 -7.57602107e-06 4.04613155e-03 2.58074077e+02] [ 2.01537754e-05 9.99995168e-01 -3.10855588e-03 1.43634094e+01] [-4.04608845e-03 3.10861198e-03 9.99986983e-01 -2.01542631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.681400513 meters Centerline goodness [0,1] 0.7887338873812755 Centerline is valid? [False, False] Translation: X:258.07, Y:14.36, Z:-0.20 [[ 9.99991469e-01 3.28778093e-04 4.11741113e-03 2.58073714e+02] [-3.19230255e-04 9.99997259e-01 -2.31933607e-03 1.43597111e+01] [-4.11816239e-03 2.31800188e-03 9.99988834e-01 -2.01278486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.711400513 meters Centerline goodness [0,1] 0.7828156151520999 Centerline is valid? [False, False] Translation: X:258.05, Y:14.35, Z:-0.19 [[ 9.99998698e-01 -5.57038969e-05 -1.61250583e-03 2.58050290e+02] [ 6.93446113e-05 9.99964207e-01 8.46050761e-03 1.43468630e+01] [ 1.61197683e-03 -8.46060842e-03 9.99962909e-01 -1.94150650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.74140051300003 meters Centerline goodness [0,1] 0.9668235192540149 Centerline is valid? [False, True] Translation: X:258.05, Y:14.35, Z:-0.19 [[ 9.99989178e-01 -4.45231397e-03 -1.34919298e-03 2.58049632e+02] [ 4.45677362e-03 9.99984555e-01 3.32063842e-03 1.43510239e+01] [ 1.33438762e-03 -3.32661554e-03 9.99993576e-01 -1.94654704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.771400513 meters Centerline goodness [0,1] 0.7689917861854705 Centerline is valid? [True, False] Translation: X:258.07, Y:14.36, Z:-0.20 [[ 9.99984035e-01 -4.07230036e-03 3.91752656e-03 2.58072200e+02] [ 4.10076825e-03 9.99965045e-01 -7.28642530e-03 1.43595649e+01] [-3.88771711e-03 7.30237384e-03 9.99965780e-01 -2.00825408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.801400513 meters Centerline goodness [0,1] 0.8280436319996571 Centerline is valid? [False, False] Translation: X:258.07, Y:14.36, Z:-0.20 [[ 9.99985447e-01 -3.66544954e-03 3.95860873e-03 2.58071806e+02] [ 3.69047362e-03 9.99973138e-01 -6.33273792e-03 1.43551456e+01] [-3.93529007e-03 6.34725490e-03 9.99972113e-01 -2.00271087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.831400513 meters Centerline goodness [0,1] 0.9233359960275481 Centerline is valid? [False, False] Translation: X:258.07, Y:14.35, Z:-0.20 [[ 9.99986050e-01 -3.49479631e-03 3.96065778e-03 2.58071780e+02] [ 3.51834132e-03 9.99976089e-01 -5.95342907e-03 1.43534103e+01] [-3.93975705e-03 5.96728097e-03 9.99974435e-01 -2.00234715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.861400513 meters Centerline goodness [0,1] 0.9020876781836555 Centerline is valid? [False, False] Translation: X:258.07, Y:14.35, Z:-0.20 [[ 9.99986810e-01 -3.39423752e-03 3.85469528e-03 2.58072425e+02] [ 3.41630139e-03 9.99977737e-01 -5.73180900e-03 1.43523594e+01] [-3.83515434e-03 5.74490220e-03 9.99976144e-01 -2.00827894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.891400513 meters Centerline goodness [0,1] 0.8413681199026432 Centerline is valid? [False, False] Translation: X:258.07, Y:14.35, Z:-0.20 [[ 9.99987481e-01 -3.37341314e-03 3.69554975e-03 2.58073245e+02] [ 3.39447786e-03 9.99977944e-01 -5.70865809e-03 1.43522399e+01] [-3.67621058e-03 5.72113109e-03 9.99976877e-01 -2.01444095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.921400513 meters Centerline goodness [0,1] 0.8315360703183621 Centerline is valid? [False, False] Translation: X:258.07, Y:14.35, Z:-0.20 [[ 9.99987188e-01 -3.40552502e-03 3.74508024e-03 2.58073069e+02] [ 3.42724585e-03 9.99977256e-01 -5.80878795e-03 1.43527287e+01] [-3.72521309e-03 5.82154884e-03 9.99976116e-01 -2.01440331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.951400513 meters Centerline goodness [0,1] 0.8327598812954282 Centerline is valid? [False, False] Translation: X:258.07, Y:14.35, Z:-0.20 [[ 9.99987406e-01 -3.31145221e-03 3.77132331e-03 2.58072828e+02] [ 3.33253031e-03 9.99978786e-01 -5.59654381e-03 1.43517611e+01] [-3.75271062e-03 5.60904137e-03 9.99977228e-01 -2.01135282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.981400513 meters Centerline goodness [0,1] 0.9597674973431366 Centerline is valid? [False, True] Translation: X:258.05, Y:14.34, Z:-0.19 [[ 9.99990222e-01 -4.07230552e-03 -1.72404297e-03 2.58049648e+02] [ 4.08077171e-03 9.99979492e-01 4.93595842e-03 1.43397891e+01] [ 1.70390688e-03 -4.94294558e-03 9.99986332e-01 -1.94231056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.011400513 meters Centerline goodness [0,1] 0.9854383485374106 Centerline is valid? [True, True] Translation: X:258.08, Y:14.34, Z:-0.19 [[ 9.99979510e-01 -6.36291377e-03 -7.02547731e-04 2.58081786e+02] [ 6.36759787e-03 9.99956062e-01 6.87953655e-03 1.43363269e+01] [ 6.58742964e-04 -6.88386913e-03 9.99976089e-01 -1.94953000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.041400513 meters Centerline goodness [0,1] 0.9569154716498689 Centerline is valid? [True, True] Translation: X:258.11, Y:14.35, Z:-0.20 [[ 9.99954197e-01 -9.46067116e-03 -1.44876992e-03 2.58110618e+02] [ 9.46051291e-03 9.99955242e-01 -1.16047841e-04 1.43498277e+01] [ 1.44980297e-03 1.02336419e-04 9.99998944e-01 -1.97450530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.071400513 meters Centerline goodness [0,1] 0.9987238276518429 Centerline is valid? [True, True] Translation: X:258.14, Y:14.34, Z:-0.20 [[ 9.99942755e-01 -1.05819668e-02 -1.58398235e-03 2.58140809e+02] [ 1.05817789e-02 9.99944003e-01 -1.26959671e-04 1.43406451e+01] [ 1.58523713e-03 1.10191052e-04 9.99998737e-01 -1.96823800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.101400513 meters Centerline goodness [0,1] 0.9965637939130063 Centerline is valid? [True, True] Translation: X:258.17, Y:14.35, Z:-0.20 [[ 9.99938153e-01 -1.10071482e-02 -1.59140797e-03 2.58168932e+02] [ 1.10069589e-02 9.99939413e-01 -1.27658352e-04 1.43464121e+01] [ 1.59271671e-03 1.10133894e-04 9.99998726e-01 -1.97308638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.131400513 meters Centerline goodness [0,1] 0.9656654186521443 Centerline is valid? [True, True] Translation: X:258.20, Y:14.36, Z:-0.20 [[ 9.99938848e-01 -1.09999724e-02 -1.14095264e-03 2.58197153e+02] [ 1.09998750e-02 9.99939495e-01 -9.16026846e-05 1.43556990e+01] [ 1.14189123e-03 7.90467465e-05 9.99999345e-01 -1.97425152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.161400513 meters Centerline goodness [0,1] 0.9988155231080673 Centerline is valid? [True, True] Translation: X:258.23, Y:14.35, Z:-0.20 [[ 9.99933335e-01 -1.15320969e-02 -5.79992605e-04 2.58227357e+02] [ 1.15320718e-02 9.99933502e-01 -4.66034003e-05 1.43485367e+01] [ 5.80491472e-04 3.99117772e-05 9.99999831e-01 -1.96592117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.191400513 meters Centerline goodness [0,1] 0.9703570434149371 Centerline is valid? [True, True] Translation: X:258.26, Y:14.36, Z:-0.20 [[ 9.99927221e-01 -1.20153526e-02 -1.08821412e-03 2.58255091e+02] [ 1.20152646e-02 9.99927810e-01 -8.73791079e-05 1.43629997e+01] [ 1.08918546e-03 7.42975678e-05 9.99999404e-01 -1.97980083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.221400513 meters Centerline goodness [0,1] 0.9959629796645837 Centerline is valid? [True, True] Translation: X:258.29, Y:14.36, Z:-0.20 [[ 9.99918826e-01 -1.25225599e-02 -2.35100995e-03 2.58285208e+02] [ 1.25221506e-02 9.99921577e-01 -1.88716187e-04 1.43588592e+01] [ 2.35318879e-03 1.59261167e-04 9.99997219e-01 -1.99308941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.251400513 meters Centerline goodness [0,1] 0.9857400148320796 Centerline is valid? [True, True] Translation: X:258.31, Y:14.36, Z:-0.20 [[ 9.99908577e-01 -1.30458871e-02 -3.55554605e-03 2.58312568e+02] [ 1.30449533e-02 9.99914870e-01 -2.85699179e-04 1.43639976e+01] [ 3.55897057e-03 2.39291127e-04 9.99993638e-01 -2.01183123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.281400513 meters Centerline goodness [0,1] 0.9978341517809277 Centerline is valid? [True, True] Translation: X:258.34, Y:14.36, Z:-0.20 [[ 9.99894644e-01 -1.39266916e-02 -4.09242185e-03 2.58341579e+02] [ 1.39254614e-02 9.99902982e-01 -3.28948622e-04 1.43585004e+01] [ 4.09660598e-03 2.71925103e-04 9.99991572e-01 -2.01202160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.311400513 meters Centerline goodness [0,1] 0.9992596302506369 Centerline is valid? [True, True] Translation: X:258.37, Y:14.36, Z:-0.20 [[ 9.99866932e-01 -1.61254216e-02 -2.46756735e-03 2.58371613e+02] [ 1.61249810e-02 9.99869964e-01 -1.98346547e-04 1.43560026e+01] [ 2.47044490e-03 1.58530676e-04 9.99996936e-01 -1.98103233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.341400513 meters Centerline goodness [0,1] 0.999034893945568 Centerline is valid? [True, True] Translation: X:258.40, Y:14.36, Z:-0.20 [[ 9.99856021e-01 -1.69288165e-02 -1.16281208e-03 2.58399555e+02] [ 1.69287189e-02 9.99856695e-01 -9.36842504e-05 1.43620596e+01] [ 1.16423141e-03 7.39858430e-05 9.99999320e-01 -1.96856112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.371400513 meters Centerline goodness [0,1] 0.9990993502455343 Centerline is valid? [True, True] Translation: X:258.43, Y:14.36, Z:-0.20 [[ 9.99849471e-01 -1.73171507e-02 -1.07269574e-03 2.58427887e+02] [ 1.73170679e-02 9.99850045e-01 -8.64248351e-05 1.43643716e+01] [ 1.07403151e-03 6.78358808e-05 9.99999421e-01 -1.96720780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.401400513 meters Centerline goodness [0,1] 0.9945601359966001 Centerline is valid? [True, True] Translation: X:258.46, Y:14.37, Z:-0.20 [[ 9.99846052e-01 -1.74799692e-02 -1.52409587e-03 2.58455813e+02] [ 1.74798022e-02 9.99847209e-01 -1.22822668e-04 1.43728697e+01] [ 1.52600994e-03 9.61628656e-05 9.99998831e-01 -1.97646575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.431400513 meters Centerline goodness [0,1] 0.9992231165972507 Centerline is valid? [True, True] Translation: X:258.48, Y:14.37, Z:-0.20 [[ 9.99840906e-01 -1.77292664e-02 -1.95827541e-03 2.58484897e+02] [ 1.77289897e-02 9.99842817e-01 -1.58596947e-04 1.43650427e+01] [ 1.96077941e-03 1.23853471e-04 9.99998070e-01 -1.97557118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.461400513 meters Centerline goodness [0,1] 0.9994366197183099 Centerline is valid? [True, True] Translation: X:258.51, Y:14.37, Z:-0.20 [[ 9.99846536e-01 -1.73870802e-02 -2.14349064e-03 2.58513440e+02] [ 1.73867472e-02 9.99848824e-01 -1.73893250e-04 1.43670105e+01] [ 2.14619010e-03 1.36598233e-04 9.99997688e-01 -1.97222775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.49140051300003 meters Centerline goodness [0,1] 0.9994434216723038 Centerline is valid? [True, True] Translation: X:258.54, Y:14.37, Z:-0.20 [[ 9.99863985e-01 -1.63899945e-02 -1.83811409e-03 2.58542425e+02] [ 1.63897486e-02 9.99865668e-01 -1.48741581e-04 1.43688793e+01] [ 1.84030504e-03 1.18595122e-04 9.99998300e-01 -1.96814889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.521400513 meters Centerline goodness [0,1] 0.9988372093023256 Centerline is valid? [True, True] Translation: X:258.57, Y:14.38, Z:-0.20 [[ 9.99883179e-01 -1.52304014e-02 -1.28963122e-03 2.58570861e+02] [ 1.52302793e-02 9.99884007e-01 -1.04447811e-04 1.43751486e+01] [ 1.29107241e-03 8.47941654e-05 9.99999163e-01 -1.96497959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.551400513 meters Centerline goodness [0,1] 0.9929201261504795 Centerline is valid? [True, True] Translation: X:258.60, Y:14.39, Z:-0.19 [[ 9.99932773e-01 -1.15918983e-02 2.78077417e-04 2.58599579e+02] [ 1.15918925e-02 9.99932812e-01 2.24722474e-05 1.43861314e+01] [-2.78319229e-04 -1.92472931e-05 9.99999961e-01 -1.93704612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.581400513 meters Centerline goodness [0,1] 0.9554239534784282 Centerline is valid? [True, True] Translation: X:258.63, Y:14.40, Z:-0.19 [[ 9.99956272e-01 -9.30125136e-03 9.69703416e-04 2.58628653e+02] [ 9.30117970e-03 9.99956740e-01 7.83862781e-05 1.43966511e+01] [-9.70390557e-04 -6.93634647e-05 9.99999527e-01 -1.92883392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.611400513 meters Centerline goodness [0,1] 0.8364966645147407 Centerline is valid? [True, False] Translation: X:258.63, Y:14.40, Z:-0.19 [[ 9.99954381e-01 -9.49238787e-03 1.06361383e-03 2.58628344e+02] [ 9.49291593e-03 9.99954820e-01 -4.92541920e-04 1.43993972e+01] [-1.05889038e-03 5.02616247e-04 9.99999313e-01 -1.92910706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.641400513 meters Centerline goodness [0,1] 0.7663889427113608 Centerline is valid? [False, False] Translation: X:258.63, Y:14.39, Z:-0.19 [[ 9.99988330e-01 -4.76856697e-03 7.74547959e-04 2.58629060e+02] [ 4.76453300e-03 9.99975496e-01 5.12908053e-03 1.43931466e+01] [-7.98987344e-04 -5.12533031e-03 9.99986546e-01 -1.92579035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.671400513 meters Centerline goodness [0,1] 0.7456035000428927 Centerline is valid? [False, False] Translation: X:258.63, Y:14.39, Z:-0.19 [[ 9.99988582e-01 -4.71172162e-03 7.97251265e-04 2.58629035e+02] [ 4.70749334e-03 9.99975270e-01 5.22484138e-03 1.43926974e+01] [-8.21849547e-04 -5.22102866e-03 9.99986033e-01 -1.92701470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.701400513 meters Centerline goodness [0,1] 0.7977723929770862 Centerline is valid? [False, False] Translation: X:258.63, Y:14.39, Z:-0.19 [[ 9.99989010e-01 -4.62056602e-03 7.94407318e-04 2.58629166e+02] [ 4.61616445e-03 9.99974461e-01 5.45602179e-03 1.43915824e+01] [-8.19596939e-04 -5.45229471e-03 9.99984800e-01 -1.92934222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.731400513 meters Centerline goodness [0,1] 0.9791960960575318 Centerline is valid? [False, True] Translation: X:258.63, Y:14.40, Z:-0.19 [[ 9.99957229e-01 -9.18622133e-03 1.07406752e-03 2.58628322e+02] [ 9.18586484e-03 9.99957752e-01 3.36374024e-04 1.43954209e+01] [-1.07711215e-03 -3.26493398e-04 9.99999367e-01 -1.92988259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.761400513 meters Centerline goodness [0,1] 0.922769697358023 Centerline is valid? [True, False] Translation: X:258.63, Y:14.39, Z:-0.19 [[ 9.99959683e-01 -8.92138837e-03 1.01997776e-03 2.58628286e+02] [ 8.92036667e-03 9.99959711e-01 1.00188871e-03 1.43922947e+01] [-1.02887490e-03 -9.92749744e-04 9.99998978e-01 -1.92519780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.791400513 meters Centerline goodness [0,1] 0.9816794874541988 Centerline is valid? [False, True] Translation: X:258.63, Y:14.39, Z:-0.19 [[ 9.99962481e-01 -8.60714510e-03 9.76102011e-04 2.58628331e+02] [ 8.60539317e-03 9.99961380e-01 1.78503976e-03 1.43886210e+01] [-9.91428409e-04 -1.77657304e-03 9.99997930e-01 -1.92268112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.821400513 meters Centerline goodness [0,1] 0.9751646690422201 Centerline is valid? [True, True] Translation: X:258.66, Y:14.39, Z:-0.19 [[ 9.99951415e-01 -9.80241437e-03 1.03913073e-03 2.58658246e+02] [ 9.80233251e-03 9.99951952e-01 8.38354446e-05 1.43921501e+01] [-1.03990259e-03 -7.36454665e-05 9.99999457e-01 -1.92832444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.851400513 meters Centerline goodness [0,1] 0.9465231505211003 Centerline is valid? [True, False] Translation: X:258.66, Y:14.39, Z:-0.20 [[ 9.99932288e-01 -1.16351678e-02 2.05168473e-04 2.58664936e+02] [ 1.16355165e-02 9.99930704e-01 -1.78920554e-03 1.43918375e+01] [-1.84336549e-04 1.79147163e-03 9.99998378e-01 -1.97480997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.881400513 meters Centerline goodness [0,1] 0.9981116103405613 Centerline is valid? [False, True] Translation: X:258.64, Y:14.39, Z:-0.19 [[ 9.99942146e-01 -1.01601273e-02 -3.53213806e-03 2.58642550e+02] [ 1.01204242e-02 9.99887373e-01 -1.10823442e-02 1.43932516e+01] [ 3.64433827e-03 1.10459563e-02 9.99932351e-01 -1.93419210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.911400513 meters Centerline goodness [0,1] 0.9735026755205983 Centerline is valid? [True, True] Translation: X:258.67, Y:14.39, Z:-0.19 [[ 9.99946160e-01 -9.06464719e-03 -5.05062639e-03 2.58671026e+02] [ 9.06271516e-03 9.99958851e-01 -4.05289716e-04 1.43929118e+01] [ 5.05409237e-03 3.59495507e-04 9.99987163e-01 -1.94192542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.941400513 meters Centerline goodness [0,1] 0.9935137457044674 Centerline is valid? [True, True] Translation: X:258.70, Y:14.39, Z:-0.19 [[ 9.99953780e-01 -7.60935153e-03 -5.87667516e-03 2.58702187e+02] [ 7.60671075e-03 9.99970957e-01 -4.71585870e-04 1.43887335e+01] [ 5.88009295e-03 4.26861905e-04 9.99982621e-01 -1.94269185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.971400513 meters Centerline goodness [0,1] 0.9896766948145909 Centerline is valid? [True, True] Translation: X:258.73, Y:14.39, Z:-0.20 [[ 9.99964281e-01 -5.92225498e-03 -6.03024183e-03 2.58732171e+02] [ 5.91944346e-03 9.99982363e-01 -4.83977617e-04 1.43911301e+01] [ 6.03300171e-03 4.48264655e-04 9.99981701e-01 -1.95032054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.001400513 meters Centerline goodness [0,1] 0.7573602767931056 Centerline is valid? [True, False] Translation: X:258.76, Y:14.40, Z:-0.20 [[ 9.99998770e-01 -1.39169453e-03 -7.22793342e-04 2.58755010e+02] [ 1.38685957e-03 9.99976945e-01 -6.64723774e-03 1.43958500e+01] [ 7.32027603e-04 6.64622715e-03 9.99977646e-01 -2.01621070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.031400513 meters Centerline goodness [0,1] 0.927399861878453 Centerline is valid? [False, False] Translation: X:258.71, Y:14.39, Z:-0.20 [[ 9.99995828e-01 9.22659544e-04 -2.73718942e-03 2.58711308e+02] [-9.25878184e-04 9.99998881e-01 -1.17485818e-03 1.43854012e+01] [ 2.73610236e-03 1.17738758e-03 9.99995564e-01 -1.99228772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.061400513 meters Centerline goodness [0,1] 0.6811965264887239 Centerline is valid? [False, False] Translation: X:258.73, Y:14.38, Z:-0.20 [[ 9.99998899e-01 1.47777260e-03 -1.33482759e-04 2.58732827e+02] [-1.47622654e-03 9.99939261e-01 1.09222078e-02 1.43777690e+01] [ 1.49615191e-04 -1.09219987e-02 9.99940342e-01 -2.01035690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.091400513 meters Centerline goodness [0,1] 0.6460756586641716 Centerline is valid? [False, False] Translation: X:258.73, Y:14.38, Z:-0.20 [[ 9.99997053e-01 -2.42760080e-03 9.90474283e-06 2.58732595e+02] [ 2.42750573e-03 9.99981008e-01 5.66493301e-03 1.43835598e+01] [-2.36567506e-05 -5.66489228e-03 9.99983954e-01 -2.01901976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.121400513 meters Centerline goodness [0,1] 0.6842859894284063 Centerline is valid? [False, False] Translation: X:258.72, Y:14.39, Z:-0.21 [[ 9.99995973e-01 -8.05467293e-04 2.72109618e-03 2.58715753e+02] [ 8.12455092e-04 9.99996373e-01 -2.56788016e-03 1.43898479e+01] [-2.71901797e-03 2.57008059e-03 9.99993001e-01 -2.10352967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.151400513 meters Centerline goodness [0,1] 0.5191458651723553 Centerline is valid? [False, False] Translation: X:258.72, Y:14.39, Z:-0.21 [[ 9.99996843e-01 1.67249850e-03 1.87540410e-03 2.58722201e+02] [-1.67266750e-03 9.99998597e-01 8.85502538e-05 1.43888539e+01] [-1.87525337e-03 -9.16869018e-05 9.99998238e-01 -2.14479943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.181400513 meters Centerline goodness [0,1] 0.8144857412006509 Centerline is valid? [False, False] Translation: X:258.72, Y:14.39, Z:-0.21 [[ 9.99996817e-01 1.52807534e-03 2.00784743e-03 2.58721711e+02] [-1.52744910e-03 9.99998784e-01 -3.13396016e-04 1.43907877e+01] [-2.00832388e-03 3.10328133e-04 9.99997935e-01 -2.14408884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.211400513 meters Centerline goodness [0,1] 0.8144857412006509 Centerline is valid? [False, False] Translation: X:258.72, Y:14.39, Z:-0.21 [[ 9.99996817e-01 1.52807534e-03 2.00784743e-03 2.58721711e+02] [-1.52744910e-03 9.99998784e-01 -3.13396016e-04 1.43907877e+01] [-2.00832388e-03 3.10328133e-04 9.99997935e-01 -2.14408884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.24140051300003 meters Centerline goodness [0,1] 0.3923371647509578 Centerline is valid? [False, False] Translation: X:258.72, Y:14.39, Z:-0.21 [[ 9.99996892e-01 1.32278233e-03 2.11339146e-03 2.58721423e+02] [-1.32095115e-03 9.99998751e-01 -8.67623651e-04 1.43934310e+01] [-2.11453650e-03 8.64829267e-04 9.99997390e-01 -2.14574720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.271400513 meters Centerline goodness [0,1] 0.6485224510681847 Centerline is valid? [False, False] Translation: X:258.72, Y:14.40, Z:-0.22 [[ 9.99997470e-01 7.15263619e-04 2.13252919e-03 2.58721760e+02] [-7.09958857e-04 9.99996655e-01 -2.48726499e-03 1.44010803e+01] [-2.13430111e-03 2.48574469e-03 9.99994633e-01 -2.15587454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.301400513 meters Centerline goodness [0,1] 0.5694055832034004 Centerline is valid? [False, False] Translation: X:258.72, Y:14.40, Z:-0.22 [[ 9.99997626e-01 3.91224219e-04 2.14361232e-03 2.58721858e+02] [-3.84290867e-04 9.99994697e-01 -3.23388228e-03 1.44045672e+01] [-2.14486613e-03 3.23305083e-03 9.99992473e-01 -2.15906819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.331400513 meters Centerline goodness [0,1] 0.46777444253859346 Centerline is valid? [False, False] Translation: X:258.72, Y:14.41, Z:-0.22 [[ 9.99997614e-01 2.04734472e-04 2.17471854e-03 2.58721557e+02] [-1.96786236e-04 9.99993303e-01 -3.65441974e-03 1.44065610e+01] [-2.17545216e-03 3.65398307e-03 9.99990958e-01 -2.15553251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.361400513 meters Centerline goodness [0,1] 0.6469565590659341 Centerline is valid? [False, False] Translation: X:258.72, Y:14.41, Z:-0.21 [[ 9.99997487e-01 1.09282982e-04 2.23933260e-03 2.58720967e+02] [-1.00663950e-04 9.99992589e-01 -3.84868015e-03 1.44075125e+01] [-2.23973660e-03 3.84844506e-03 9.99990086e-01 -2.14811168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.391400513 meters Centerline goodness [0,1] 0.6190697772795533 Centerline is valid? [False, False] Translation: X:258.75, Y:14.41, Z:-0.21 [[ 9.99977159e-01 -3.18277129e-04 6.75133963e-03 2.58754729e+02] [ 3.53969885e-04 9.99985965e-01 -5.28623052e-03 1.44145963e+01] [-6.74956239e-03 5.28849955e-03 9.99963237e-01 -2.11325421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.421400513 meters Centerline goodness [0,1] 0.65270296371011 Centerline is valid? [False, False] Translation: X:258.73, Y:14.41, Z:-0.20 [[ 9.99997412e-01 -1.58430121e-03 1.63259358e-03 2.58730708e+02] [ 1.57659122e-03 9.99987651e-01 4.71305170e-03 1.44074228e+01] [-1.64004031e-03 -4.71046557e-03 9.99987561e-01 -2.03895950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.451400513 meters Centerline goodness [0,1] 0.6905086478657239 Centerline is valid? [False, False] Translation: X:258.73, Y:14.41, Z:-0.20 [[ 9.99996880e-01 -1.95533958e-03 1.55454519e-03 2.58731114e+02] [ 1.94920467e-03 9.99990346e-01 3.93820436e-03 1.44109947e+01] [-1.56223070e-03 -3.93516195e-03 9.99991037e-01 -2.04260328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.481400513 meters Centerline goodness [0,1] 0.6356290056373652 Centerline is valid? [False, False] Translation: X:258.73, Y:14.41, Z:-0.20 [[ 9.99996311e-01 -2.30524597e-03 1.43646619e-03 2.58731775e+02] [ 2.30068989e-03 9.99992344e-01 3.16535342e-03 1.44145325e+01] [-1.44375211e-03 -3.16203688e-03 9.99993959e-01 -2.04871041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.511400513 meters Centerline goodness [0,1] 0.7608220746993574 Centerline is valid? [False, False] Translation: X:258.73, Y:14.42, Z:-0.21 [[ 9.99995734e-01 -2.61769929e-03 1.29567622e-03 2.58732469e+02] [ 2.61446366e-03 9.99993476e-01 2.49267886e-03 1.44176290e+01] [-1.30219285e-03 -2.48928073e-03 9.99996054e-01 -2.05374652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.541400513 meters Centerline goodness [0,1] 0.8930564906717633 Centerline is valid? [False, False] Translation: X:258.69, Y:14.42, Z:-0.21 [[ 9.99993470e-01 -3.43327748e-03 -1.12771912e-03 2.58690618e+02] [ 3.43506392e-03 9.99992842e-01 1.58602219e-03 1.44203660e+01] [ 1.12226579e-03 -1.58988562e-03 9.99998106e-01 -2.05545492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.571400513 meters Centerline goodness [0,1] 0.9026655722123818 Centerline is valid? [False, False] Translation: X:258.69, Y:14.42, Z:-0.21 [[ 9.99992293e-01 -3.74605803e-03 -1.17496417e-03 2.58690889e+02] [ 3.74701852e-03 9.99992647e-01 8.16329732e-04 1.44239730e+01] [ 1.17189751e-03 -8.20726053e-04 9.99998977e-01 -2.05884284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.601400513 meters Centerline goodness [0,1] 0.8247588424437299 Centerline is valid? [False, False] Translation: X:258.69, Y:14.43, Z:-0.21 [[ 9.99990884e-01 -4.08703315e-03 -1.23591532e-03 2.58691189e+02] [ 4.08701375e-03 9.99991648e-01 -1.82173927e-05 1.44278947e+01] [ 1.23597945e-03 1.31660237e-05 9.99999236e-01 -2.06144968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.631400513 meters Centerline goodness [0,1] 0.8522883688919477 Centerline is valid? [False, False] Translation: X:258.69, Y:14.43, Z:-0.21 [[ 9.99989272e-01 -4.46683035e-03 -1.22649750e-03 2.58691281e+02] [ 4.46570030e-03 9.99989603e-01 -9.22556951e-04 1.44321187e+01] [ 1.23060565e-03 9.17069883e-04 9.99998822e-01 -2.06479041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.661400513 meters Centerline goodness [0,1] 0.6134166897817228 Centerline is valid? [False, False] Translation: X:258.69, Y:14.43, Z:-0.21 [[ 9.99999099e-01 -3.92924789e-04 -1.28353610e-03 2.58691121e+02] [ 3.96830031e-04 9.99995289e-01 3.04372841e-03 1.44337081e+01] [ 1.28233409e-03 -3.04423502e-03 9.99994544e-01 -2.05905191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.691400513 meters Centerline goodness [0,1] 0.6256299806159811 Centerline is valid? [False, False] Translation: X:258.69, Y:14.44, Z:-0.21 [[ 9.99999078e-01 -7.54526154e-04 -1.12858206e-03 2.58690430e+02] [ 7.56989267e-04 9.99997329e-01 2.18365176e-03 1.44377591e+01] [ 1.12693143e-03 -2.18450407e-03 9.99996979e-01 -2.05612047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.721400513 meters Centerline goodness [0,1] 0.6270555781280072 Centerline is valid? [False, False] Translation: X:258.69, Y:14.44, Z:-0.21 [[ 9.99998878e-01 -1.05626337e-03 -1.06212968e-03 2.58690137e+02] [ 1.05781494e-03 9.99998373e-01 1.46131581e-03 1.44411763e+01] [ 1.06058442e-03 -1.46243770e-03 9.99998368e-01 -2.05558574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.751400513 meters Centerline goodness [0,1] 0.6140994729767213 Centerline is valid? [False, False] Translation: X:258.69, Y:14.44, Z:-0.21 [[ 9.99998567e-01 -1.34207137e-03 -1.03193042e-03 2.58690013e+02] [ 1.34291015e-03 9.99998768e-01 8.12568867e-04 1.44442110e+01] [ 1.03083862e-03 -8.13953492e-04 9.99999137e-01 -2.05572377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.781400513 meters Centerline goodness [0,1] 0.7669278119753777 Centerline is valid? [False, False] Translation: X:258.69, Y:14.45, Z:-0.21 [[ 9.99997844e-01 -1.81818938e-03 -1.00339252e-03 2.58689896e+02] [ 1.81792120e-03 9.99998312e-01 -2.68120999e-04 1.44492640e+01] [ 1.00387832e-03 2.66296332e-04 9.99999461e-01 -2.05606697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.811400513 meters Centerline goodness [0,1] 0.7647477360931436 Centerline is valid? [False, False] Translation: X:258.69, Y:14.45, Z:-0.21 [[ 9.99997382e-01 -2.04295900e-03 -1.03061358e-03 2.58689988e+02] [ 2.04215814e-03 9.99997613e-01 -7.77517814e-04 1.44516355e+01] [ 1.03219956e-03 7.75411102e-04 9.99999167e-01 -2.05662213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.841400513 meters Centerline goodness [0,1] 0.6071680602185489 Centerline is valid? [False, False] Translation: X:258.69, Y:14.45, Z:-0.21 [[ 9.99996831e-01 -2.28079602e-03 -1.06541450e-03 2.58690121e+02] [ 2.27939056e-03 9.99996533e-01 -1.31852934e-03 1.44541682e+01] [ 1.06841810e-03 1.31609667e-03 9.99998563e-01 -2.05737437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.871400513 meters Centerline goodness [0,1] 0.7680244094992212 Centerline is valid? [False, False] Translation: X:258.69, Y:14.46, Z:-0.21 [[ 9.99996214e-01 -2.53015007e-03 -1.08218916e-03 2.58690253e+02] [ 2.52811462e-03 9.99995041e-01 -1.87810939e-03 1.44567759e+01] [ 1.08693569e-03 1.87536639e-03 9.99997651e-01 -2.05944331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.901400513 meters Centerline goodness [0,1] 0.687327237933234 Centerline is valid? [False, False] Translation: X:258.69, Y:14.46, Z:-0.21 [[ 9.99995561e-01 -2.76938241e-03 -1.09970507e-03 2.58690444e+02] [ 2.76669343e-03 9.99993198e-01 -2.43922865e-03 1.44594198e+01] [ 1.10645275e-03 2.43617528e-03 9.99996420e-01 -2.06254800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.931400513 meters Centerline goodness [0,1] 0.5775317126978066 Centerline is valid? [False, False] Translation: X:258.70, Y:14.46, Z:-0.21 [[ 9.99997668e-01 -8.23344351e-04 -1.99659821e-03 2.58696888e+02] [ 8.21869617e-04 9.99999389e-01 -7.39331255e-04 1.44633615e+01] [ 1.99720571e-03 7.37688587e-04 9.99997733e-01 -2.10165359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.961400513 meters Centerline goodness [0,1] 0.6465281168403847 Centerline is valid? [False, False] Translation: X:258.70, Y:14.47, Z:-0.21 [[ 9.99997576e-01 -1.13645395e-03 -1.88573960e-03 2.58696268e+02] [ 1.13368647e-03 9.99998280e-01 -1.46800310e-03 1.44668152e+01] [ 1.88740467e-03 1.46586170e-03 9.99997144e-01 -2.09754340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.99140051300003 meters Centerline goodness [0,1] 0.7638228458110327 Centerline is valid? [False, False] Translation: X:258.70, Y:14.47, Z:-0.21 [[ 9.99997303e-01 -1.45140483e-03 -1.81330313e-03 2.58695813e+02] [ 1.44744347e-03 9.99996567e-01 -2.18401636e-03 1.44701847e+01] [ 1.81646680e-03 2.18138581e-03 9.99995971e-01 -2.09395023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.021400513 meters Centerline goodness [0,1] 0.619266550109003 Centerline is valid? [False, False] Translation: X:258.65, Y:14.47, Z:-0.21 [[ 9.99989765e-01 -5.44417179e-04 -4.49156236e-03 2.58654566e+02] [ 5.38515420e-04 9.99998990e-01 -1.31507063e-03 1.44711318e+01] [ 4.49227377e-03 1.31263839e-03 9.99989048e-01 -2.09865064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.051400513 meters Centerline goodness [0,1] 0.7249703631856881 Centerline is valid? [False, False] Translation: X:258.65, Y:14.48, Z:-0.21 [[ 9.99989335e-01 -9.14555447e-04 -4.52691845e-03 2.58654955e+02] [ 9.04557136e-04 9.99997148e-01 -2.21019008e-03 1.44753216e+01] [ 4.52892689e-03 2.20607165e-03 9.99987311e-01 -2.10502923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.081400513 meters Centerline goodness [0,1] 0.6076076934622725 Centerline is valid? [False, False] Translation: X:258.66, Y:14.48, Z:-0.21 [[ 9.99985035e-01 9.94225014e-04 -5.37973255e-03 2.58661599e+02] [-9.97126654e-04 9.99999359e-01 -5.36709840e-04 1.44772104e+01] [ 5.37919549e-03 5.42066083e-04 9.99985385e-01 -2.14986142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.111400513 meters Centerline goodness [0,1] 0.7158734560658746 Centerline is valid? [False, False] Translation: X:258.66, Y:14.48, Z:-0.22 [[ 9.99985825e-01 5.47121139e-04 -5.29630123e-03 2.58661276e+02] [-5.56064104e-04 9.99998422e-01 -1.68720509e-03 1.44826866e+01] [ 5.29536977e-03 1.69012626e-03 9.99984551e-01 -2.15020730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.141400513 meters Centerline goodness [0,1] 0.5200387430047353 Centerline is valid? [False, False] Translation: X:258.65, Y:14.48, Z:-0.21 [[ 9.99987174e-01 2.45748147e-03 -4.42868338e-03 2.58654546e+02] [-2.45674003e-03 9.99996967e-01 1.72849878e-04 1.44842906e+01] [ 4.42909473e-03 -1.61967538e-04 9.99990178e-01 -2.10450060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.171400513 meters Centerline goodness [0,1] 0.6748253974993101 Centerline is valid? [False, False] Translation: X:258.69, Y:14.49, Z:-0.21 [[ 9.99993206e-01 3.56629419e-03 -9.32328073e-04 2.58693418e+02] [-3.56613171e-03 9.99993626e-01 1.75882639e-04 1.44919193e+01] [ 9.32949380e-04 -1.72556640e-04 9.99999550e-01 -2.10127496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.201400513 meters Centerline goodness [0,1] 0.6734270270270271 Centerline is valid? [False, False] Translation: X:258.65, Y:14.50, Z:-0.21 [[ 9.99993860e-01 2.89079781e-03 -1.98052989e-03 2.58647069e+02] [-2.89534338e-03 9.99993172e-01 -2.29611996e-03 1.44980993e+01] [ 1.97387875e-03 2.30184018e-03 9.99995403e-01 -2.07694264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.231400513 meters Centerline goodness [0,1] 0.6469472158267247 Centerline is valid? [False, False] Translation: X:258.67, Y:14.50, Z:-0.20 [[ 9.99995713e-01 1.87297431e-03 -2.25056939e-03 2.58666787e+02] [-1.85477521e-03 9.99965785e-01 8.06150071e-03 1.44956888e+01] [ 2.26559137e-03 -8.05729185e-03 9.99964973e-01 -2.04537542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.261400513 meters Centerline goodness [0,1] 0.6731408126756964 Centerline is valid? [False, False] Translation: X:258.67, Y:14.50, Z:-0.20 [[ 9.99996159e-01 1.61492581e-03 -2.25244821e-03 2.58666464e+02] [-1.59793756e-03 9.99970420e-01 7.52364467e-03 1.44981919e+01] [ 2.26453171e-03 -7.52001650e-03 9.99969160e-01 -2.03958958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.291400513 meters Centerline goodness [0,1] 0.6823283118228515 Centerline is valid? [False, False] Translation: X:258.62, Y:14.50, Z:-0.20 [[ 9.99991851e-01 -1.89501486e-03 -3.56473576e-03 2.58621410e+02] [ 1.90293680e-03 9.99995725e-01 2.22023042e-03 1.45032384e+01] [ 3.56051315e-03 -2.22699579e-03 9.99991182e-01 -2.02483733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.321400513 meters Centerline goodness [0,1] 0.7030359724466366 Centerline is valid? [False, False] Translation: X:258.66, Y:14.51, Z:-0.20 [[ 9.99990321e-01 -4.39879080e-03 -8.76124482e-05 2.58660011e+02] [ 4.39869209e-03 9.99989724e-01 -1.09665875e-03 1.45124256e+01] [ 9.24355203e-05 1.09626275e-03 9.99999395e-01 -2.01901965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.351400513 meters Centerline goodness [0,1] 0.6466146111883624 Centerline is valid? [False, False] Translation: X:258.66, Y:14.51, Z:-0.20 [[ 9.99990391e-01 -4.37952457e-03 -1.94827035e-04 2.58660227e+02] [ 4.37933025e-03 9.99989924e-01 -9.86890028e-04 1.45118915e+01] [ 1.99147181e-04 9.86027333e-04 9.99999494e-01 -2.01608512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.381400513 meters Centerline goodness [0,1] 0.7036628092154156 Centerline is valid? [False, False] Translation: X:258.66, Y:14.51, Z:-0.20 [[ 9.99990262e-01 -4.40589781e-03 -2.54335426e-04 2.58660235e+02] [ 4.40566520e-03 9.99989883e-01 -9.08006255e-04 1.45114444e+01] [ 2.58333436e-04 9.06876896e-04 9.99999555e-01 -2.01230220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.411400513 meters Centerline goodness [0,1] 0.8060839797200676 Centerline is valid? [False, False] Translation: X:258.62, Y:14.51, Z:-0.20 [[ 9.99987338e-01 -4.56492841e-03 -2.11787031e-03 2.58616053e+02] [ 4.56503515e-03 9.99989579e-01 4.55697262e-05 1.45066964e+01] [ 2.11764022e-03 -5.52373016e-05 9.99997756e-01 -1.99424634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.441400513 meters Centerline goodness [0,1] 0.835756746354189 Centerline is valid? [False, False] Translation: X:258.64, Y:14.52, Z:-0.20 [[ 9.99978931e-01 -4.91562851e-03 4.23956937e-03 2.58637952e+02] [ 4.95906777e-03 9.99934685e-01 -1.02972352e-02 1.45182891e+01] [-4.18867508e-03 1.03180425e-02 9.99937995e-01 -2.04961954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.471400513 meters Centerline goodness [0,1] 0.8624410415455191 Centerline is valid? [False, False] Translation: X:258.64, Y:14.51, Z:-0.20 [[ 9.99991067e-01 -4.29831591e-04 4.20480716e-03 2.58638092e+02] [ 4.50227720e-04 9.99988133e-01 -4.85092587e-03 1.45126889e+01] [-4.20267218e-03 4.85277566e-03 9.99979394e-01 -2.04883181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.501400513 meters Centerline goodness [0,1] 0.7293558242609406 Centerline is valid? [False, False] Translation: X:258.64, Y:14.51, Z:-0.20 [[ 9.99990720e-01 -5.52042601e-04 4.27255843e-03 2.58637849e+02] [ 5.74182256e-04 9.99986407e-01 -5.18233547e-03 1.45142642e+01] [-4.26963948e-03 5.18474060e-03 9.99977444e-01 -2.04889438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.531400513 meters Centerline goodness [0,1] 0.7269860085091971 Centerline is valid? [False, False] Translation: X:258.68, Y:14.52, Z:-0.20 [[ 9.99972875e-01 1.11729665e-03 7.28015936e-03 2.58677960e+02] [-1.09270340e-03 9.99993687e-01 -3.38122085e-03 1.45160391e+01] [-7.28389122e-03 3.37317408e-03 9.99967783e-01 -2.04785971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.561400513 meters Centerline goodness [0,1] 0.7378202547203798 Centerline is valid? [False, False] Translation: X:258.68, Y:14.52, Z:-0.20 [[ 9.99972253e-01 1.03182140e-03 7.37758007e-03 2.58677512e+02] [-1.00520264e-03 9.99992976e-01 -3.61085918e-03 1.45171373e+01] [-7.38125401e-03 3.60334303e-03 9.99966266e-01 -2.04575838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.591400513 meters Centerline goodness [0,1] 0.610489273297719 Centerline is valid? [False, False] Translation: X:258.68, Y:14.52, Z:-0.20 [[ 9.99972586e-01 8.10692745e-04 7.35997201e-03 2.58677681e+02] [-7.80086638e-04 9.99991041e-01 -4.16037305e-03 1.45197395e+01] [-7.36327886e-03 4.15451758e-03 9.99964260e-01 -2.04850892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.621400513 meters Centerline goodness [0,1] 0.7619118333404048 Centerline is valid? [False, False] Translation: X:258.68, Y:14.52, Z:-0.21 [[ 9.99973295e-01 6.32176311e-04 7.28082934e-03 2.58678252e+02] [-5.98843613e-04 9.99989335e-01 -4.57941618e-03 1.45217043e+01] [-7.28364669e-03 4.57493381e-03 9.99963009e-01 -2.05489670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.651400513 meters Centerline goodness [0,1] 0.7562575889909039 Centerline is valid? [False, False] Translation: X:258.68, Y:14.52, Z:-0.21 [[ 9.99974301e-01 5.29976663e-04 7.14958651e-03 2.58678982e+02] [-4.95421187e-04 9.99988193e-01 -4.83411886e-03 1.45229075e+01] [-7.15206406e-03 4.83045257e-03 9.99962757e-01 -2.06089783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.681400513 meters Centerline goodness [0,1] 0.7383111302105716 Centerline is valid? [False, False] Translation: X:258.66, Y:14.51, Z:-0.20 [[ 9.99998794e-01 -2.73968537e-04 1.52889529e-03 2.58657942e+02] [ 2.65757870e-04 9.99985557e-01 5.36794853e-03 1.45138221e+01] [-1.53034385e-03 -5.36753574e-03 9.99984424e-01 -2.01056418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.711400513 meters Centerline goodness [0,1] 0.6925728545446855 Centerline is valid? [False, False] Translation: X:258.70, Y:14.52, Z:-0.20 [[ 9.99991758e-01 -1.47339221e-03 3.78327716e-03 2.58700243e+02] [ 1.46346105e-03 9.99995480e-01 2.62644304e-03 1.45214080e+01] [-3.78712984e-03 -2.62088471e-03 9.99989394e-01 -2.02486708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.74140051300003 meters Centerline goodness [0,1] 0.7635067346895212 Centerline is valid? [False, False] Translation: X:258.68, Y:14.53, Z:-0.20 [[ 9.99999239e-01 -5.98439284e-04 1.07876431e-03 2.58676594e+02] [ 6.07522943e-04 9.99964199e-01 -8.43986130e-03 1.45279578e+01] [-1.07367494e-03 8.44051025e-03 9.99963802e-01 -1.98054079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.771400513 meters Centerline goodness [0,1] 0.6843015066797559 Centerline is valid? [False, False] Translation: X:258.68, Y:14.52, Z:-0.20 [[ 9.99992748e-01 3.73328689e-03 7.52419356e-04 2.58677629e+02] [-3.73080079e-03 9.99987665e-01 -3.27888454e-03 1.45235643e+01] [-7.64651092e-04 3.27605363e-03 9.99994341e-01 -1.97948912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.801400513 meters Centerline goodness [0,1] 0.7632530765115035 Centerline is valid? [False, False] Translation: X:258.68, Y:14.53, Z:-0.20 [[ 9.99994618e-01 3.16981905e-03 8.46107418e-04 2.58677201e+02] [-3.16583851e-03 9.99984107e-01 -4.66513508e-03 1.45301128e+01] [-8.60881605e-04 4.66243133e-03 9.99988760e-01 -1.97781837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.831400513 meters Centerline goodness [0,1] 0.7104186539480657 Centerline is valid? [False, False] Translation: X:258.68, Y:14.53, Z:-0.20 [[ 9.99972858e-01 7.35221297e-03 4.78531866e-04 2.58678476e+02] [-7.35228087e-03 9.99972962e-01 1.40289832e-04 1.45273458e+01] [-4.77487487e-04 -1.43804325e-04 9.99999876e-01 -1.97809854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.861400513 meters Centerline goodness [0,1] 0.6936630336449403 Centerline is valid? [False, False] Translation: X:258.64, Y:14.53, Z:-0.20 [[ 9.99976883e-01 6.52340961e-03 -1.91809930e-03 2.58636121e+02] [-6.52627113e-03 9.99977594e-01 -1.48939797e-03 1.45284988e+01] [ 1.90834037e-03 1.50188157e-03 9.99997051e-01 -1.97410644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.891400513 meters Centerline goodness [0,1] 0.7135194050265002 Centerline is valid? [False, False] Translation: X:258.64, Y:14.53, Z:-0.20 [[ 9.99977528e-01 6.41230823e-03 -1.95578187e-03 2.58636057e+02] [-6.41563021e-03 9.99977980e-01 -1.69702829e-03 1.45294543e+01] [ 1.94485694e-03 1.70953773e-03 9.99996648e-01 -1.97057923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.921400513 meters Centerline goodness [0,1] 0.7376837378743593 Centerline is valid? [False, False] Translation: X:258.64, Y:14.53, Z:-0.20 [[ 9.99955933e-01 8.98628221e-03 -2.71651197e-03 2.58639730e+02] [-8.98041380e-03 9.99957332e-01 2.16480687e-03 1.45260412e+01] [ 2.73584963e-03 -2.14031607e-03 9.99993967e-01 -1.98328233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.951400513 meters Centerline goodness [0,1] 0.84349710061811 Centerline is valid? [False, False] Translation: X:258.64, Y:14.53, Z:-0.20 [[ 9.99988310e-01 4.18402944e-03 -2.42349638e-03 2.58638311e+02] [-4.19246406e-03 9.99985136e-01 -3.48579001e-03 1.45323739e+01] [ 2.40887571e-03 3.49590969e-03 9.99990988e-01 -1.97671908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.981400513 meters Centerline goodness [0,1] 0.8898511961620922 Centerline is valid? [False, False] Translation: X:258.64, Y:14.53, Z:-0.20 [[ 9.99990447e-01 3.73646671e-03 -2.26830894e-03 2.58637301e+02] [-3.74424127e-03 9.99987098e-01 -3.43295089e-03 1.45314301e+01] [ 2.25545257e-03 3.44141119e-03 9.99991535e-01 -1.96628867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.011400513 meters Centerline goodness [0,1] 0.9450726978998385 Centerline is valid? [False, False] Translation: X:258.64, Y:14.53, Z:-0.20 [[ 9.99990011e-01 3.79413717e-03 -2.36288085e-03 2.58637590e+02] [-3.80164646e-03 9.99987712e-01 -3.18168063e-03 1.45301972e+01] [ 2.35078008e-03 3.19063168e-03 9.99992147e-01 -1.96537919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.041400513 meters Centerline goodness [0,1] 0.9724107123864627 Centerline is valid? [False, True] Translation: X:258.64, Y:14.53, Z:-0.20 [[ 9.99989565e-01 3.88150866e-03 -2.40920178e-03 2.58637725e+02] [-3.88847095e-03 9.99988258e-01 -2.89194841e-03 1.45287982e+01] [ 2.39794837e-03 2.90128634e-03 9.99992916e-01 -1.96480909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.071400513 meters Centerline goodness [0,1] 0.9325322291471015 Centerline is valid? [True, False] Translation: X:258.64, Y:14.53, Z:-0.20 [[ 9.99989100e-01 3.96467438e-03 -2.46587630e-03 2.58637826e+02] [-3.97121762e-03 9.99988592e-01 -2.65430052e-03 1.45276638e+01] [ 2.45532473e-03 2.66406412e-03 9.99993437e-01 -1.96286554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.101400513 meters Centerline goodness [0,1] 0.9325322291471015 Centerline is valid? [False, False] Translation: X:258.64, Y:14.53, Z:-0.20 [[ 9.99989100e-01 3.96467438e-03 -2.46587630e-03 2.58637826e+02] [-3.97121762e-03 9.99988592e-01 -2.65430052e-03 1.45276638e+01] [ 2.45532473e-03 2.66406412e-03 9.99993437e-01 -1.96286554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.131400513 meters Centerline goodness [0,1] 0.9905853721019597 Centerline is valid? [False, True] Translation: X:258.64, Y:14.53, Z:-0.20 [[ 9.99989117e-01 3.98791604e-03 -2.42128810e-03 2.58637628e+02] [-3.99415809e-03 9.99988699e-01 -2.57864958e-03 1.45272981e+01] [ 2.41097730e-03 2.58829253e-03 9.99993744e-01 -1.96182821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.161400513 meters Centerline goodness [0,1] 0.9757184801011551 Centerline is valid? [True, True] Translation: X:258.66, Y:14.53, Z:-0.20 [[ 9.99985650e-01 4.55826172e-03 -2.81453235e-03 2.58664933e+02] [-4.55874134e-03 9.99989595e-01 -1.64018633e-04 1.45304480e+01] [ 2.81375543e-03 1.76847004e-04 9.99996026e-01 -1.96360718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.191400513 meters Centerline goodness [0,1] 0.9711180586571386 Centerline is valid? [True, True] Translation: X:258.69, Y:14.54, Z:-0.20 [[ 9.99955167e-01 7.21700999e-03 -6.13017682e-03 2.58694883e+02] [-7.21933573e-03 9.99973876e-01 -3.57348850e-04 1.45361294e+01] [ 6.12743769e-03 4.01588634e-04 9.99981146e-01 -2.01280985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.221400513 meters Centerline goodness [0,1] 0.9722366484895698 Centerline is valid? [True, True] Translation: X:258.72, Y:14.54, Z:-0.20 [[ 9.99929093e-01 8.67295974e-03 -8.16021297e-03 2.58724556e+02] [-8.67713005e-03 9.99962240e-01 -4.75787492e-04 1.45397269e+01] [ 8.15577836e-03 5.46560984e-04 9.99966592e-01 -2.04548344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.251400513 meters Centerline goodness [0,1] 0.9571217664805186 Centerline is valid? [True, True] Translation: X:258.75, Y:14.54, Z:-0.21 [[ 9.99904969e-01 1.07795613e-02 -8.59379439e-03 2.58754570e+02] [-1.07842649e-02 9.99941723e-01 -5.01170093e-04 1.45432835e+01] [ 8.58789117e-03 5.93800221e-04 9.99962947e-01 -2.05187861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.281400513 meters Centerline goodness [0,1] 0.7795752429754166 Centerline is valid? [True, False] Translation: X:258.78, Y:14.54, Z:-0.21 [[ 9.99918173e-01 1.21419632e-02 -4.02736260e-03 2.58777600e+02] [-1.20928049e-02 9.99854707e-01 1.20137227e-02 1.45359852e+01] [ 4.17264763e-03 -1.19640376e-02 9.99919722e-01 -2.11146017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.311400513 meters Centerline goodness [0,1] 0.6776430176837285 Centerline is valid? [False, False] Translation: X:258.78, Y:14.54, Z:-0.21 [[ 9.99919331e-01 1.22102607e-02 -3.49882171e-03 2.58775401e+02] [-1.21684848e-02 9.99857247e-01 1.17223576e-02 1.45376196e+01] [ 3.64145528e-03 -1.16788366e-02 9.99925169e-01 -2.10285183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.341400513 meters Centerline goodness [0,1] 0.7499146466370775 Centerline is valid? [False, False] Translation: X:258.77, Y:14.54, Z:-0.21 [[ 9.99961933e-01 8.15615651e-03 -3.10004607e-03 2.58773808e+02] [-8.13694556e-03 9.99947922e-01 6.15989133e-03 1.45448677e+01] [ 3.15012566e-03 -6.13443194e-03 9.99976222e-01 -2.10112946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.371400513 meters Centerline goodness [0,1] 0.7406141143078313 Centerline is valid? [False, False] Translation: X:258.77, Y:14.55, Z:-0.21 [[ 9.99963611e-01 7.95623597e-03 -3.07799608e-03 2.58773887e+02] [-7.93861884e-03 9.99952277e-01 5.69406338e-03 1.45470373e+01] [ 3.12315250e-03 -5.66942114e-03 9.99979052e-01 -2.10475905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.401400513 meters Centerline goodness [0,1] 0.7376989560157453 Centerline is valid? [False, False] Translation: X:258.77, Y:14.55, Z:-0.21 [[ 9.99964635e-01 7.79716884e-03 -3.15176924e-03 2.58774327e+02] [-7.78042863e-03 9.99955744e-01 5.28918535e-03 1.45489396e+01] [ 3.19287042e-03 -5.26447618e-03 9.99981045e-01 -2.10932483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.431400513 meters Centerline goodness [0,1] 0.6719221953257214 Centerline is valid? [False, False] Translation: X:258.77, Y:14.56, Z:-0.21 [[ 9.99989496e-01 3.39628792e-03 -3.07782051e-03 2.58774133e+02] [-3.39730971e-03 9.99994176e-01 -3.26820106e-04 1.45556714e+01] [ 3.07669261e-03 3.37272983e-04 9.99995210e-01 -2.11419987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.461400513 meters Centerline goodness [0,1] 0.6832255724132045 Centerline is valid? [False, False] Translation: X:258.77, Y:14.55, Z:-0.21 [[ 9.99989284e-01 3.45941792e-03 -3.07634660e-03 2.58774095e+02] [-3.45988790e-03 9.99994004e-01 -1.47462253e-04 1.45548107e+01] [ 3.07581802e-03 1.58104487e-04 9.99995257e-01 -2.11348238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.49140051300003 meters Centerline goodness [0,1] 0.7615993884441424 Centerline is valid? [False, False] Translation: X:258.77, Y:14.55, Z:-0.21 [[ 9.99989436e-01 3.43984568e-03 -3.04895885e-03 2.58773925e+02] [-3.44024863e-03 9.99994074e-01 -1.26924107e-04 1.45546727e+01] [ 3.04850419e-03 1.37411942e-04 9.99995344e-01 -2.11188989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.521400513 meters Centerline goodness [0,1] 0.7570547959814858 Centerline is valid? [False, False] Translation: X:258.77, Y:14.55, Z:-0.21 [[ 9.99989315e-01 3.45007306e-03 -3.07686659e-03 2.58773940e+02] [-3.45024975e-03 9.99994047e-01 -5.21183423e-05 1.45542923e+01] [ 3.07666846e-03 6.27337436e-05 9.99995265e-01 -2.11026741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.551400513 meters Centerline goodness [0,1] 0.9534798849340947 Centerline is valid? [False, True] Translation: X:258.77, Y:14.55, Z:-0.21 [[ 9.99996440e-01 1.03789325e-03 -2.45832262e-03 2.58768266e+02] [-1.04361235e-03 9.99996750e-01 -2.32628579e-03 1.45542227e+01] [ 2.45590020e-03 2.32884305e-03 9.99994273e-01 -2.07028523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.581400513 meters Centerline goodness [0,1] 0.9416767922235723 Centerline is valid? [True, False] Translation: X:258.77, Y:14.55, Z:-0.21 [[ 9.99995801e-01 1.20080434e-03 -2.63750385e-03 2.58768878e+02] [-1.20562526e-03 9.99997604e-01 -1.82700266e-03 1.45518065e+01] [ 2.63530366e-03 1.83017483e-03 9.99994853e-01 -2.07034563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.611400513 meters Centerline goodness [0,1] 0.9320950583390528 Centerline is valid? [False, False] Translation: X:258.77, Y:14.55, Z:-0.21 [[ 9.99995426e-01 1.34956918e-03 -2.70674245e-03 2.58769160e+02] [-1.35340653e-03 9.99998081e-01 -1.41637294e-03 1.45498439e+01] [ 2.70482577e-03 1.42002979e-03 9.99995334e-01 -2.07101501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.641400513 meters Centerline goodness [0,1] 0.9691419000171791 Centerline is valid? [False, True] Translation: X:258.77, Y:14.55, Z:-0.21 [[ 9.99995230e-01 1.42706673e-03 -2.73935417e-03 2.58769159e+02] [-1.43034979e-03 9.99998261e-01 -1.19689438e-03 1.45487948e+01] [ 2.73764135e-03 1.20080691e-03 9.99995532e-01 -2.06861147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.671400513 meters Centerline goodness [0,1] 0.9660077708656235 Centerline is valid? [True, True] Translation: X:258.80, Y:14.55, Z:-0.21 [[ 9.99997166e-01 -7.98274947e-04 -2.24294459e-03 2.58798546e+02] [ 7.97953015e-04 9.99999671e-01 -1.44422294e-04 1.45494811e+01] [ 2.24305914e-03 1.42632120e-04 9.99997474e-01 -2.07412652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.701400513 meters Centerline goodness [0,1] 0.9923146473779385 Centerline is valid? [True, True] Translation: X:258.83, Y:14.55, Z:-0.21 [[ 9.99994078e-01 -2.23725668e-03 -2.61513604e-03 2.58828887e+02] [ 2.23682403e-03 9.99997484e-01 -1.68353718e-04 1.45460775e+01] [ 2.61550611e-03 1.62503122e-04 9.99996566e-01 -2.07580419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.731400513 meters Centerline goodness [0,1] 0.996138416321627 Centerline is valid? [True, True] Translation: X:258.86, Y:14.55, Z:-0.21 [[ 9.99989866e-01 -3.85230259e-03 -2.32976838e-03 2.58858729e+02] [ 3.85196333e-03 9.99992570e-01 -1.50091757e-04 1.45455468e+01] [ 2.33032927e-03 1.41116053e-04 9.99997275e-01 -2.07532030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.761400513 meters Centerline goodness [0,1] 0.9988848141714384 Centerline is valid? [True, True] Translation: X:258.89, Y:14.54, Z:-0.21 [[ 9.99985704e-01 -5.08220721e-03 -1.66206271e-03 2.58888809e+02] [ 5.08203611e-03 9.99987081e-01 -1.07146166e-04 1.45424782e+01] [ 1.66258577e-03 9.86979720e-05 9.99998613e-01 -2.05641506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.791400513 meters Centerline goodness [0,1] 0.996089301446099 Centerline is valid? [True, True] Translation: X:258.92, Y:14.55, Z:-0.20 [[ 9.99986285e-01 -5.23590475e-03 1.24290384e-04 2.58917849e+02] [ 5.23590380e-03 9.99986293e-01 7.95607265e-06 1.45459102e+01] [-1.24330337e-04 -7.30519104e-06 9.99999992e-01 -2.02686953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.821400513 meters Centerline goodness [0,1] 0.9979955646537018 Centerline is valid? [True, True] Translation: X:258.95, Y:14.55, Z:-0.20 [[ 9.99990743e-01 -4.30237110e-03 5.85888456e-05 2.58948759e+02] [ 4.30237088e-03 9.99990745e-01 3.89756836e-06 1.45460382e+01] [-5.86050721e-05 -3.64546134e-06 9.99999998e-01 -2.02787864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.851400513 meters Centerline goodness [0,1] 0.9955342696265614 Centerline is valid? [True, True] Translation: X:258.98, Y:14.55, Z:-0.20 [[ 9.99995111e-01 -3.03298756e-03 -7.60738365e-04 2.58979197e+02] [ 3.03295117e-03 9.99995399e-01 -4.89819198e-05 1.45487473e+01] [ 7.60883427e-04 4.66743980e-05 9.99999709e-01 -2.04061994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.881400513 meters Centerline goodness [0,1] 0.9883646998982706 Centerline is valid? [True, True] Translation: X:259.01, Y:14.55, Z:-0.20 [[ 9.99998597e-01 -1.33688840e-03 -1.00968629e-03 2.59008666e+02] [ 1.33682343e-03 9.99999104e-01 -6.50110143e-05 1.45533405e+01] [ 1.00977230e-03 6.36611508e-05 9.99999488e-01 -2.04854837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.911400513 meters Centerline goodness [0,1] 0.8688782228263178 Centerline is valid? [True, False] Translation: X:259.01, Y:14.56, Z:-0.20 [[ 9.99998467e-01 -1.49260130e-03 -9.15326954e-04 2.59008254e+02] [ 1.49216141e-03 9.99998771e-01 -4.81081925e-04 1.45553223e+01] [ 9.16043893e-04 4.79715372e-04 9.99999465e-01 -2.04710215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.941400513 meters Centerline goodness [0,1] 0.9171958070556835 Centerline is valid? [False, False] Translation: X:258.96, Y:14.55, Z:-0.20 [[ 9.99999384e-01 2.27668721e-04 -1.08664193e-03 2.58960057e+02] [-2.27492689e-04 9.99999961e-01 1.62117547e-04 1.45535418e+01] [ 1.08667880e-03 -1.61870244e-04 9.99999396e-01 -2.01354882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.971400513 meters Centerline goodness [0,1] 0.839479809519742 Centerline is valid? [False, False] Translation: X:258.96, Y:14.55, Z:-0.20 [[ 9.99999479e-01 2.43405793e-04 -9.91187969e-04 2.58959592e+02] [-2.43324128e-04 9.99999967e-01 8.25102881e-05 1.45539880e+01] [ 9.91208020e-04 -8.22690652e-05 9.99999505e-01 -2.01098515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.001400513 meters Centerline goodness [0,1] 0.7986267085926971 Centerline is valid? [False, False] Translation: X:258.96, Y:14.55, Z:-0.20 [[ 9.99999483e-01 2.62946255e-04 -9.81905506e-04 2.58959635e+02] [-2.62856028e-04 9.99999961e-01 9.20176103e-05 1.45539577e+01] [ 9.81929664e-04 -9.17594629e-05 9.99999514e-01 -2.01256291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.031400513 meters Centerline goodness [0,1] 0.7096432505719854 Centerline is valid? [False, False] Translation: X:258.96, Y:14.55, Z:-0.20 [[ 9.99999387e-01 3.06070927e-04 -1.06401483e-03 2.58960103e+02] [-3.05931491e-04 9.99999945e-01 1.31207678e-04 1.45538048e+01] [ 1.06405493e-03 -1.30882082e-04 9.99999425e-01 -2.01659508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.061400513 meters Centerline goodness [0,1] 0.789982816775918 Centerline is valid? [False, False] Translation: X:258.96, Y:14.55, Z:-0.20 [[ 9.99999315e-01 2.78014298e-04 -1.13666520e-03 2.58960570e+02] [-2.77956020e-04 9.99999960e-01 5.14283647e-05 1.45541834e+01] [ 1.13667945e-03 -5.11123866e-05 9.99999353e-01 -2.02118207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.091400513 meters Centerline goodness [0,1] 0.696889435097682 Centerline is valid? [False, False] Translation: X:258.96, Y:14.56, Z:-0.20 [[ 9.99999360e-01 1.71834209e-04 -1.11849985e-03 2.58960562e+02] [-1.72123461e-04 9.99999952e-01 -2.58515606e-04 1.45556817e+01] [ 1.11845537e-03 2.58707961e-04 9.99999341e-01 -2.02278639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.121400513 meters Centerline goodness [0,1] 0.7233970348060321 Centerline is valid? [False, False] Translation: X:258.96, Y:14.56, Z:-0.20 [[ 9.99999469e-01 1.44629735e-04 -1.02034358e-03 2.58960134e+02] [-1.44996051e-04 9.99999925e-01 -3.58946981e-04 1.45561797e+01] [ 1.02029159e-03 3.59094736e-04 9.99999415e-01 -2.02100717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.151400513 meters Centerline goodness [0,1] 0.7126973349176711 Centerline is valid? [False, False] Translation: X:258.96, Y:14.56, Z:-0.20 [[ 9.99999637e-01 -1.91682166e-05 -8.51888057e-04 2.58959553e+02] [ 1.84681531e-05 9.99999662e-01 -8.21779091e-04 1.45584017e+01] [ 8.51903521e-04 8.21763060e-04 9.99999299e-01 -2.02136210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.181400513 meters Centerline goodness [0,1] 0.7057752176030835 Centerline is valid? [False, False] Translation: X:258.96, Y:14.56, Z:-0.20 [[ 9.99999605e-01 -1.53685217e-04 -8.74898211e-04 2.58959775e+02] [ 1.52673216e-04 9.99999319e-01 -1.15665653e-03 1.45599993e+01] [ 8.75075376e-04 1.15652250e-03 9.99998948e-01 -2.02463542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.211400513 meters Centerline goodness [0,1] 0.7377497012122247 Centerline is valid? [False, False] Translation: X:258.96, Y:14.56, Z:-0.20 [[ 9.99999564e-01 -2.82535620e-04 -8.89625102e-04 2.58960062e+02] [ 2.81230235e-04 9.99998884e-01 -1.46712694e-03 1.45614562e+01] [ 8.90038625e-04 1.46687611e-03 9.99998528e-01 -2.02976279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.24140051300003 meters Centerline goodness [0,1] 0.6797023633365746 Centerline is valid? [False, False] Translation: X:258.96, Y:14.56, Z:-0.20 [[ 9.99999513e-01 -3.54854856e-04 -9.20761445e-04 2.58960266e+02] [ 3.53331675e-04 9.99998570e-01 -1.65389747e-03 1.45623536e+01] [ 9.21347022e-04 1.65357133e-03 9.99998208e-01 -2.03190843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.271400513 meters Centerline goodness [0,1] 0.7037387193811775 Centerline is valid? [False, False] Translation: X:258.92, Y:14.56, Z:-0.20 [[ 9.99996048e-01 -2.49318478e-04 -2.80044565e-03 2.58916319e+02] [ 2.46231297e-04 9.99999362e-01 -1.10267969e-03 1.45581529e+01] [ 2.80071878e-03 1.10198578e-03 9.99995471e-01 -2.01961661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.301400513 meters Centerline goodness [0,1] 0.6840644204280568 Centerline is valid? [False, False] Translation: X:258.96, Y:14.56, Z:-0.20 [[ 9.99999913e-01 1.48336894e-04 -3.91042648e-04 2.58957738e+02] [-1.48300299e-04 9.99999985e-01 9.36089222e-05 1.45593118e+01] [ 3.91056528e-04 -9.35509222e-05 9.99999919e-01 -2.01985668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.331400513 meters Centerline goodness [0,1] 0.8054842201328607 Centerline is valid? [False, False] Translation: X:258.96, Y:14.56, Z:-0.20 [[ 9.99999825e-01 1.30769677e-04 -5.76252841e-04 2.58958439e+02] [-1.30571362e-04 9.99999932e-01 3.44168989e-04 1.45579762e+01] [ 5.76297809e-04 -3.44093687e-04 9.99999775e-01 -2.02106771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.361400513 meters Centerline goodness [0,1] 0.8571519619298507 Centerline is valid? [False, False] Translation: X:258.96, Y:14.56, Z:-0.20 [[ 9.99999780e-01 1.58302042e-04 -6.43988969e-04 2.58958741e+02] [-1.58010041e-04 9.99999885e-01 4.53450377e-04 1.45574500e+01] [ 6.44060677e-04 -4.53348521e-04 9.99999690e-01 -2.02249646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.391400513 meters Centerline goodness [0,1] 0.8476047014893707 Centerline is valid? [False, False] Translation: X:258.96, Y:14.56, Z:-0.20 [[ 9.99999729e-01 1.52969243e-04 -7.19859155e-04 2.58958903e+02] [-1.52630741e-04 9.99999878e-01 4.70264179e-04 1.45573548e+01] [ 7.19931003e-04 -4.70154179e-04 9.99999630e-01 -2.02071809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.421400513 meters Centerline goodness [0,1] 0.830558423679229 Centerline is valid? [False, False] Translation: X:258.92, Y:14.56, Z:-0.20 [[ 9.99996264e-01 -3.62178418e-04 -2.70934960e-03 2.58915647e+02] [ 3.60831080e-04 9.99999811e-01 -4.97764375e-04 1.45560168e+01] [ 2.70952937e-03 4.96784898e-04 9.99996206e-01 -2.01387782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.451400513 meters Centerline goodness [0,1] 0.839951221599418 Centerline is valid? [False, False] Translation: X:258.92, Y:14.56, Z:-0.21 [[ 9.99991552e-01 1.78516710e-03 -3.70250058e-03 2.58922823e+02] [-1.77982214e-03 9.99997370e-01 1.44640266e-03 1.45562920e+01] [ 3.70507291e-03 -1.43980065e-03 9.99992100e-01 -2.06010749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.481400513 meters Centerline goodness [0,1] 0.7321348602136779 Centerline is valid? [False, False] Translation: X:258.92, Y:14.56, Z:-0.21 [[ 9.99991723e-01 1.62775148e-03 -3.72878024e-03 2.58923020e+02] [-1.62444781e-03 9.99998286e-01 8.88850211e-04 1.45589834e+01] [ 3.73022067e-03 -8.82785646e-04 9.99992653e-01 -2.06305743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.511400513 meters Centerline goodness [0,1] 0.7231200034201188 Centerline is valid? [False, False] Translation: X:258.92, Y:14.56, Z:-0.21 [[ 9.99992438e-01 1.42108151e-03 -3.62012549e-03 2.58922722e+02] [-1.42042433e-03 9.99998974e-01 1.84100089e-04 1.45623866e+01] [ 3.62038340e-03 -1.78956583e-04 9.99993430e-01 -2.06531593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.541400513 meters Centerline goodness [0,1] 0.7070802951201622 Centerline is valid? [False, False] Translation: X:258.92, Y:14.57, Z:-0.21 [[ 9.99993428e-01 1.14790096e-03 -3.43900314e-03 2.58921995e+02] [-1.15033130e-03 9.99999090e-01 -7.04803527e-04 1.45666768e+01] [ 3.43819097e-03 7.08754888e-04 9.99993838e-01 -2.06373082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.571400513 meters Centerline goodness [0,1] 0.6824567064644509 Centerline is valid? [False, False] Translation: X:258.92, Y:14.57, Z:-0.21 [[ 9.99994359e-01 9.12090474e-04 -3.23258936e-03 2.58921070e+02] [-9.16945763e-04 9.99998453e-01 -1.50081770e-03 1.45705341e+01] [ 3.23121547e-03 1.50377335e-03 9.99993649e-01 -2.05963498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.601400513 meters Centerline goodness [0,1] 0.6727666440217391 Centerline is valid? [False, False] Translation: X:258.96, Y:14.57, Z:-0.20 [[ 9.99997935e-01 1.99726631e-03 3.76143978e-04 2.58959222e+02] [-1.99704257e-03 9.99997829e-01 -5.94271775e-04 1.45749124e+01] [-3.77330081e-04 5.93519372e-04 9.99999753e-01 -2.04911558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.631400513 meters Centerline goodness [0,1] 0.6723366159355416 Centerline is valid? [False, False] Translation: X:258.96, Y:14.58, Z:-0.20 [[ 9.99998206e-01 1.78647847e-03 6.30225225e-04 2.58958134e+02] [-1.78568281e-03 9.99997611e-01 -1.26081386e-03 1.45781175e+01] [-6.32476136e-04 1.25968622e-03 9.99999007e-01 -2.04509291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.661400513 meters Centerline goodness [0,1] 0.6455809398088019 Centerline is valid? [False, False] Translation: X:258.96, Y:14.58, Z:-0.20 [[ 9.99998360e-01 1.67874538e-03 6.79506819e-04 2.58957924e+02] [-1.67771007e-03 9.99997435e-01 -1.52134657e-03 1.45793376e+01] [-6.82059030e-04 1.52020406e-03 9.99998612e-01 -2.04458533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.691400513 meters Centerline goodness [0,1] 0.6361041212915777 Centerline is valid? [False, False] Translation: X:258.96, Y:14.58, Z:-0.20 [[ 9.99998461e-01 1.61306481e-03 6.89690861e-04 2.58957759e+02] [-1.61192268e-03 9.99997334e-01 -1.65336872e-03 1.45799585e+01] [-6.92356013e-04 1.65225445e-03 9.99998395e-01 -2.04232137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.721400513 meters Centerline goodness [0,1] 0.6683827596477045 Centerline is valid? [False, False] Translation: X:258.96, Y:14.58, Z:-0.20 [[ 9.99998428e-01 1.63777710e-03 6.78821515e-04 2.58957590e+02] [-1.63670703e-03 9.99997422e-01 -1.57392663e-03 1.45795752e+01] [-6.81397506e-04 1.57281313e-03 9.99998531e-01 -2.03828523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.751400513 meters Centerline goodness [0,1] 0.6694980365374765 Centerline is valid? [False, False] Translation: X:258.96, Y:14.58, Z:-0.20 [[ 9.99998186e-01 1.78668825e-03 6.59803261e-04 2.58957399e+02] [-1.78596044e-03 9.99997798e-01 -1.10201543e-03 1.45773165e+01] [-6.61770766e-04 1.10083505e-03 9.99999175e-01 -2.03214495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.781400513 meters Centerline goodness [0,1] 0.6672423719055843 Centerline is valid? [False, False] Translation: X:258.96, Y:14.58, Z:-0.20 [[ 9.99998242e-01 1.76218776e-03 6.40953101e-04 2.58957390e+02] [-1.76146615e-03 9.99997816e-01 -1.12467359e-03 1.45774162e+01] [-6.42933587e-04 1.12354259e-03 9.99999162e-01 -2.03079171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.811400513 meters Centerline goodness [0,1] 0.648762339611474 Centerline is valid? [False, False] Translation: X:258.96, Y:14.58, Z:-0.20 [[ 9.99998484e-01 1.63089469e-03 6.09928177e-04 2.58957536e+02] [-1.63002733e-03 9.99997663e-01 -1.41986335e-03 1.45788110e+01] [-6.12242399e-04 1.41886699e-03 9.99998806e-01 -2.03193265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.841400513 meters Centerline goodness [0,1] 0.643538944510436 Centerline is valid? [False, False] Translation: X:258.96, Y:14.58, Z:-0.20 [[ 9.99998932e-01 1.33335793e-03 5.98500925e-04 2.58957686e+02] [-1.33211958e-03 9.99996981e-01 -2.06473865e-03 1.45818038e+01] [-6.01252154e-04 2.06393917e-03 9.99997689e-01 -2.03477925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.871400513 meters Centerline goodness [0,1] 0.6605140884095656 Centerline is valid? [False, False] Translation: X:258.96, Y:14.58, Z:-0.20 [[ 9.99999020e-01 1.28720542e-03 5.50559202e-04 2.58957889e+02] [-1.28601146e-03 9.99996833e-01 -2.16352153e-03 1.45822657e+01] [-5.53342355e-04 2.16281139e-03 9.99997508e-01 -2.03576720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.901400513 meters Centerline goodness [0,1] 0.6984497952357469 Centerline is valid? [False, False] Translation: X:258.96, Y:14.58, Z:-0.20 [[ 9.99999094e-01 1.26228011e-03 4.67986959e-04 2.58958314e+02] [-1.26124767e-03 9.99996785e-01 -2.19990893e-03 1.45824343e+01] [-4.70762356e-04 2.19931669e-03 9.99997471e-01 -2.03877130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.931400513 meters Centerline goodness [0,1] 0.6990333160711203 Centerline is valid? [False, False] Translation: X:258.96, Y:14.58, Z:-0.20 [[ 9.99999199e-01 1.22723954e-03 3.08468481e-04 2.58959091e+02] [-1.22654161e-03 9.99996711e-01 -2.25265537e-03 1.45826648e+01] [-3.11232014e-04 2.25227521e-03 9.99997415e-01 -2.04394964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.961400513 meters Centerline goodness [0,1] 0.726818967172202 Centerline is valid? [False, False] Translation: X:258.98, Y:14.58, Z:-0.21 [[ 9.99995759e-01 -1.31008544e-03 2.60093963e-03 2.58983405e+02] [ 1.29276092e-03 9.99977043e-01 6.65141186e-03 1.45798859e+01] [-2.60959384e-03 -6.64802126e-03 9.99974497e-01 -2.09178188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.99140051300003 meters Centerline goodness [0,1] 0.8175788795878944 Centerline is valid? [False, False] Translation: X:258.98, Y:14.59, Z:-0.21 [[ 9.99976974e-01 -6.09363777e-03 2.98662398e-03 2.58981888e+02] [ 6.09037506e-03 9.99980848e-01 1.10032039e-03 1.45856633e+01] [-2.99327173e-03 -1.08210540e-03 9.99994935e-01 -2.08657462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.021400513 meters Centerline goodness [0,1] 0.8175788795878944 Centerline is valid? [False, False] Translation: X:258.98, Y:14.59, Z:-0.21 [[ 9.99976974e-01 -6.09363777e-03 2.98662398e-03 2.58981888e+02] [ 6.09037506e-03 9.99980848e-01 1.10032039e-03 1.45856633e+01] [-2.99327173e-03 -1.08210540e-03 9.99994935e-01 -2.08657462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.051400513 meters Centerline goodness [0,1] 0.7188360371044941 Centerline is valid? [False, False] Translation: X:259.00, Y:14.60, Z:-0.21 [[ 9.99944036e-01 -5.49408245e-03 9.04098107e-03 2.59001852e+02] [ 5.57365553e-03 9.99945747e-01 -8.79984474e-03 1.45953003e+01] [-8.99214350e-03 8.84974358e-03 9.99920409e-01 -2.12882192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.081400513 meters Centerline goodness [0,1] 0.7214330231458598 Centerline is valid? [False, False] Translation: X:258.98, Y:14.59, Z:-0.21 [[ 9.99974971e-01 -5.73637444e-03 4.14132554e-03 2.58979161e+02] [ 5.72712166e-03 9.99981085e-01 2.24266824e-03 1.45858841e+01] [-4.15411199e-03 -2.21889423e-03 9.99988910e-01 -2.07132630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.111400513 meters Centerline goodness [0,1] 0.6759114051859332 Centerline is valid? [False, False] Translation: X:258.98, Y:14.59, Z:-0.21 [[ 9.99974435e-01 -5.81583729e-03 4.15990226e-03 2.58979023e+02] [ 5.80749946e-03 9.99981109e-01 2.01361132e-03 1.45869780e+01] [-4.17153451e-03 -1.98940121e-03 9.99989320e-01 -2.07034677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.141400513 meters Centerline goodness [0,1] 0.713303489193994 Centerline is valid? [False, False] Translation: X:258.98, Y:14.59, Z:-0.21 [[ 9.99974792e-01 -5.82892479e-03 4.05441486e-03 2.58979641e+02] [ 5.82126192e-03 9.99981253e-01 1.89924675e-03 1.45875564e+01] [-4.06540941e-03 -1.87559706e-03 9.99989977e-01 -2.07645262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.171400513 meters Centerline goodness [0,1] 0.7010518230889036 Centerline is valid? [False, False] Translation: X:258.99, Y:14.59, Z:-0.21 [[ 9.99985383e-01 -4.41262761e-03 3.12463990e-03 2.58986262e+02] [ 4.40280615e-03 9.99985368e-01 3.14316157e-03 1.45867251e+01] [-3.13846378e-03 -3.12935844e-03 9.99990179e-01 -2.12406931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.201400513 meters Centerline goodness [0,1] 0.6621143038914219 Centerline is valid? [False, False] Translation: X:258.99, Y:14.59, Z:-0.21 [[ 9.99985360e-01 -4.46220495e-03 3.06093660e-03 2.58986570e+02] [ 4.45314955e-03 9.99985707e-01 2.95883884e-03 1.45876330e+01] [-3.07409580e-03 -2.94516471e-03 9.99990938e-01 -2.12644695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.231400513 meters Centerline goodness [0,1] 0.6993159533238739 Centerline is valid? [False, False] Translation: X:258.99, Y:14.59, Z:-0.21 [[ 9.99985141e-01 -4.51361173e-03 3.05710444e-03 2.58986510e+02] [ 4.50508072e-03 9.99985955e-01 2.79171479e-03 1.45884491e+01] [-3.06966222e-03 -2.77790080e-03 9.99991430e-01 -2.12540828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.261400513 meters Centerline goodness [0,1] 0.6674993648911847 Centerline is valid? [False, False] Translation: X:258.99, Y:14.59, Z:-0.21 [[ 9.99984865e-01 -4.52608220e-03 3.12803878e-03 2.58986002e+02] [ 4.51765790e-03 9.99986164e-01 2.69499676e-03 1.45889430e+01] [-3.14019327e-03 -2.68082456e-03 9.99991476e-01 -2.12059865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.291400513 meters Centerline goodness [0,1] 0.6529656166532412 Centerline is valid? [False, False] Translation: X:258.99, Y:14.59, Z:-0.21 [[ 9.99985026e-01 -4.52516771e-03 3.07730213e-03 2.58986174e+02] [ 4.51690373e-03 9.99986188e-01 2.68713273e-03 1.45889806e+01] [-3.08941935e-03 -2.67319261e-03 9.99991655e-01 -2.12079388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.321400513 meters Centerline goodness [0,1] 0.6768189150182529 Centerline is valid? [False, False] Translation: X:258.99, Y:14.59, Z:-0.21 [[ 9.99984880e-01 -4.55947689e-03 3.07429617e-03 2.58986322e+02] [ 4.55153640e-03 9.99986301e-01 2.58493220e-03 1.45894741e+01] [-3.08603999e-03 -2.57090034e-03 9.99991933e-01 -2.12375387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.351400513 meters Centerline goodness [0,1] 0.6848648532784601 Centerline is valid? [False, False] Translation: X:258.96, Y:14.59, Z:-0.21 [[ 9.99995916e-01 -2.63658282e-03 1.10282485e-03 2.58964175e+02] [ 2.64473946e-03 9.99968667e-01 -7.46125152e-03 1.45931949e+01] [-1.08311809e-03 7.46413773e-03 9.99971556e-01 -2.10052316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.381400513 meters Centerline goodness [0,1] 0.683703878395472 Centerline is valid? [False, False] Translation: X:258.96, Y:14.59, Z:-0.21 [[ 9.99998269e-01 1.61721932e-03 9.20391172e-04 2.58964844e+02] [-1.61542700e-03 9.99996804e-01 -1.94476141e-03 1.45866967e+01] [-9.23533336e-04 1.94327122e-03 9.99997685e-01 -2.10093256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.411400513 meters Centerline goodness [0,1] 0.6706828161126784 Centerline is valid? [False, False] Translation: X:258.99, Y:14.58, Z:-0.21 [[ 9.99994853e-01 -8.59609936e-04 3.09113673e-03 2.58986794e+02] [ 8.36794340e-04 9.99972456e-01 7.37470665e-03 1.45822668e+01] [-3.09739096e-03 -7.37208205e-03 9.99968029e-01 -2.12463402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.441400513 meters Centerline goodness [0,1] 0.7947039827771798 Centerline is valid? [False, False] Translation: X:258.96, Y:14.59, Z:-0.20 [[ 9.99989153e-01 -4.65753962e-03 2.72938047e-05 2.58959575e+02] [ 4.65761036e-03 9.99958335e-01 -7.85078008e-03 1.45877224e+01] [ 9.27265177e-06 7.85082205e-03 9.99969182e-01 -2.04258015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.471400513 meters Centerline goodness [0,1] 0.6958954037846199 Centerline is valid? [False, False] Translation: X:259.00, Y:14.59, Z:-0.21 [[ 9.99987814e-01 -4.67590455e-03 1.58366163e-03 2.59002793e+02] [ 4.68511325e-03 9.99971844e-01 -5.86189778e-03 1.45863902e+01] [-1.55620736e-03 5.86924598e-03 9.99981565e-01 -2.05294665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.501400513 meters Centerline goodness [0,1] 0.7979386690418628 Centerline is valid? [False, False] Translation: X:259.00, Y:14.58, Z:-0.21 [[ 9.99989337e-01 -4.39041581e-03 1.43206351e-03 2.59003340e+02] [ 4.39760204e-03 9.99977558e-01 -5.05415276e-03 1.45825326e+01] [-1.40984154e-03 5.06039651e-03 9.99986202e-01 -2.05321031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.531400513 meters Centerline goodness [0,1] 0.926921506693311 Centerline is valid? [False, False] Translation: X:258.96, Y:14.57, Z:-0.20 [[ 9.99983859e-01 -5.61307068e-03 -8.80884108e-04 2.58961066e+02] [ 5.60909709e-03 9.99974366e-01 -4.45034411e-03 1.45726275e+01] [ 9.05841623e-04 4.44533131e-03 9.99989709e-01 -2.04279255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.561400513 meters Centerline goodness [0,1] 0.7559530154128206 Centerline is valid? [False, False] Translation: X:258.96, Y:14.57, Z:-0.20 [[ 9.99985480e-01 -5.31995993e-03 -8.59419930e-04 2.58960837e+02] [ 5.31675655e-03 9.99979067e-01 -3.68761652e-03 1.45690082e+01] [ 8.79019912e-04 3.68299365e-03 9.99992831e-01 -2.03913858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.591400513 meters Centerline goodness [0,1] 0.8336277911407224 Centerline is valid? [False, False] Translation: X:258.96, Y:14.57, Z:-0.20 [[ 9.99986844e-01 -5.07154931e-03 -7.68749387e-04 2.58960219e+02] [ 5.06916951e-03 9.99982449e-01 -3.06665415e-03 1.45660864e+01] [ 7.84288583e-04 3.06271688e-03 9.99995002e-01 -2.03230808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.621400513 meters Centerline goodness [0,1] 0.9007028943959567 Centerline is valid? [False, False] Translation: X:258.96, Y:14.56, Z:-0.20 [[ 9.99988048e-01 -4.83976187e-03 -6.93300759e-04 2.58959638e+02] [ 4.83801783e-03 9.99985183e-01 -2.49552656e-03 1.45634059e+01] [ 7.05368240e-04 2.49214253e-03 9.99996646e-01 -2.02525991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.651400513 meters Centerline goodness [0,1] 0.9028905419766207 Centerline is valid? [False, False] Translation: X:258.96, Y:14.56, Z:-0.20 [[ 9.99989242e-01 -4.58559562e-03 -6.99039332e-04 2.58959520e+02] [ 4.58426749e-03 9.99987706e-01 -1.88984210e-03 1.45605695e+01] [ 7.07696790e-04 1.88661718e-03 9.99997970e-01 -2.02216743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.681400513 meters Centerline goodness [0,1] 0.8651702001858265 Centerline is valid? [False, False] Translation: X:258.96, Y:14.56, Z:-0.20 [[ 9.99990530e-01 -4.26116042e-03 -8.84886987e-04 2.58960365e+02] [ 4.26014623e-03 9.99990270e-01 -1.14486154e-03 1.45570779e+01] [ 8.89756816e-04 1.14108095e-03 9.99998953e-01 -2.02610807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.711400513 meters Centerline goodness [0,1] 0.9812821712681329 Centerline is valid? [False, True] Translation: X:258.96, Y:14.55, Z:-0.20 [[ 9.99992412e-01 -3.71212607e-03 -1.18113589e-03 2.58961921e+02] [ 3.71228088e-03 9.99993101e-01 1.28900221e-04 1.45511147e+01] [ 1.18064925e-03 -1.33283951e-04 9.99999294e-01 -2.03640865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.74140051300003 meters Centerline goodness [0,1] 0.959660342198882 Centerline is valid? [True, True] Translation: X:258.99, Y:14.55, Z:-0.20 [[ 9.99993711e-01 -3.48762822e-03 -6.43836563e-04 2.58991055e+02] [ 3.48760097e-03 9.99993917e-01 -4.34544146e-05 1.45535279e+01] [ 6.43984200e-04 4.12086962e-05 9.99999792e-01 -2.03412090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.771400513 meters Centerline goodness [0,1] 0.9699567136673382 Centerline is valid? [True, True] Translation: X:259.02, Y:14.55, Z:-0.20 [[ 9.99994813e-01 -3.21793321e-03 1.40384979e-04 2.59021828e+02] [ 3.21793191e-03 9.99994822e-01 9.46855313e-06 1.45514212e+01] [-1.40414722e-04 -9.01675471e-06 9.99999990e-01 -2.02142352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.801400513 meters Centerline goodness [0,1] 0.9606300886460747 Centerline is valid? [True, True] Translation: X:259.05, Y:14.55, Z:-0.20 [[ 9.99996159e-01 -2.64544608e-03 8.27131105e-04 2.59052060e+02] [ 2.64540084e-03 9.99996499e-01 5.57875553e-05 1.45518436e+01] [-8.27275792e-04 -5.35992477e-05 9.99999656e-01 -2.01547513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.831400513 meters Centerline goodness [0,1] 0.7990177318535527 Centerline is valid? [True, False] Translation: X:259.05, Y:14.55, Z:-0.20 [[ 9.99997427e-01 -2.15818278e-03 6.99335083e-04 2.59052891e+02] [ 2.15740111e-03 9.99997049e-01 1.11656623e-03 1.45468972e+01] [-7.01742774e-04 -1.11505461e-03 9.99999132e-01 -2.02276467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.861400513 meters Centerline goodness [0,1] 0.83396905670081 Centerline is valid? [False, False] Translation: X:259.05, Y:14.54, Z:-0.20 [[ 9.99998004e-01 -1.90809443e-03 5.92697864e-04 2.59053478e+02] [ 1.90708473e-03 9.99996737e-01 1.69948638e-03 1.45441515e+01] [-5.95938711e-04 -1.69835266e-03 9.99998380e-01 -2.02688119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.891400513 meters Centerline goodness [0,1] 0.9664508158309547 Centerline is valid? [False, True] Translation: X:259.05, Y:14.54, Z:-0.20 [[ 9.99998583e-01 -1.60568421e-03 5.06706524e-04 2.59053959e+02] [ 1.60446423e-03 9.99995835e-01 2.39895200e-03 1.45408524e+01] [-5.10556373e-04 -2.39813561e-03 9.99996994e-01 -2.03031889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.921400513 meters Centerline goodness [0,1] 0.8822208094935368 Centerline is valid? [True, False] Translation: X:259.05, Y:14.54, Z:-0.20 [[ 9.99999110e-01 -1.26609124e-03 4.21208872e-04 2.59054264e+02] [ 1.26473644e-03 9.99994076e-01 3.20130637e-03 1.45370519e+01] [-4.25259523e-04 -3.20077080e-03 9.99994787e-01 -2.03013419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.951400513 meters Centerline goodness [0,1] 0.9850342473106736 Centerline is valid? [False, True] Translation: X:259.03, Y:14.53, Z:-0.20 [[ 9.99996836e-01 -7.45535431e-06 -2.51553155e-03 2.59031908e+02] [-9.17178493e-06 9.99978156e-01 -6.60971530e-03 1.45343386e+01] [ 2.51552588e-03 6.60971745e-03 9.99974992e-01 -1.99413427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.981400513 meters Centerline goodness [0,1] 0.9689394586286397 Centerline is valid? [True, True] Translation: X:259.06, Y:14.53, Z:-0.20 [[ 9.99993246e-01 8.63807010e-04 -3.57239359e-03 2.59061082e+02] [-8.64666574e-04 9.99999598e-01 -2.39075404e-04 1.45307864e+01] [ 3.57218563e-03 2.42162719e-04 9.99993590e-01 -2.01282560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.011400513 meters Centerline goodness [0,1] 0.8321026535867044 Centerline is valid? [True, False] Translation: X:259.06, Y:14.53, Z:-0.20 [[ 9.99992715e-01 1.08201594e-03 -3.66046935e-03 2.59061641e+02] [-1.08129176e-03 9.99999395e-01 1.99811001e-04 1.45287349e+01] [ 3.66068333e-03 -1.95851510e-04 9.99993280e-01 -2.01800420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.041400513 meters Centerline goodness [0,1] 0.7804003902107987 Centerline is valid? [False, False] Translation: X:259.06, Y:14.53, Z:-0.20 [[ 9.99992353e-01 1.24286055e-03 -3.70801984e-03 2.59062121e+02] [-1.24099633e-03 9.99999102e-01 5.05009703e-04 1.45273139e+01] [ 3.70864416e-03 -5.00404202e-04 9.99992998e-01 -2.02409988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.071400513 meters Centerline goodness [0,1] 0.8672048218706275 Centerline is valid? [False, False] Translation: X:259.02, Y:14.52, Z:-0.20 [[ 9.99980783e-01 1.31045467e-03 -6.05936102e-03 2.59019782e+02] [-1.30641127e-03 9.99998921e-01 6.71208113e-04 1.45226809e+01] [ 6.06023407e-03 -6.63279197e-04 9.99981417e-01 -2.02483547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.101400513 meters Centerline goodness [0,1] 0.8139205460047647 Centerline is valid? [False, False] Translation: X:259.02, Y:14.52, Z:-0.20 [[ 9.99981082e-01 1.49174015e-03 -5.96751861e-03 2.59019508e+02] [-1.48590874e-03 9.99998414e-01 9.81505879e-04 1.45212626e+01] [ 5.96897330e-03 -9.72620123e-04 9.99981713e-01 -2.02537672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.131400513 meters Centerline goodness [0,1] 0.721414913957935 Centerline is valid? [False, False] Translation: X:259.04, Y:14.52, Z:-0.21 [[ 9.99976978e-01 6.65670636e-03 -1.31616118e-03 2.59041318e+02] [-6.66303528e-03 9.99965971e-01 -4.86417897e-03 1.45244135e+01] [ 1.28373698e-03 4.87283662e-03 9.99987304e-01 -2.07547419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.161400513 meters Centerline goodness [0,1] 0.6988940876222884 Centerline is valid? [False, False] Translation: X:259.04, Y:14.53, Z:-0.21 [[ 9.99977561e-01 6.58421507e-03 -1.23502741e-03 2.59041228e+02] [-6.59054310e-03 9.99964805e-01 -5.19168665e-03 1.45260257e+01] [ 1.20080077e-03 5.19970966e-03 9.99985760e-01 -2.07946437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.191400513 meters Centerline goodness [0,1] 0.6043899621333675 Centerline is valid? [False, False] Translation: X:259.04, Y:14.52, Z:-0.21 [[ 9.99935046e-01 1.13169732e-02 -1.35277362e-03 2.59041838e+02] [-1.13164964e-02 9.99935902e-01 3.59604182e-04 1.45201455e+01] [ 1.35675654e-03 -3.44272166e-04 9.99999020e-01 -2.08067035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.221400513 meters Centerline goodness [0,1] 0.6266564729867482 Centerline is valid? [False, False] Translation: X:259.04, Y:14.52, Z:-0.21 [[ 9.99935436e-01 1.13063324e-02 -1.13638521e-03 2.59041017e+02] [-1.13060643e-02 9.99936055e-01 2.41997377e-04 1.45207566e+01] [ 1.13904865e-03 -2.29133708e-04 9.99999325e-01 -2.07928681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.251400513 meters Centerline goodness [0,1] 0.6572639041999006 Centerline is valid? [False, False] Translation: X:259.02, Y:14.51, Z:-0.20 [[ 9.99922634e-01 1.06845483e-02 -6.36916805e-03 2.59018440e+02] [-1.06159424e-02 9.99886295e-01 1.07097753e-02 1.45118329e+01] [ 6.48287295e-03 -1.06413321e-02 9.99922364e-01 -2.02135170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.281400513 meters Centerline goodness [0,1] 0.6680977683315621 Centerline is valid? [False, False] Translation: X:259.06, Y:14.52, Z:-0.20 [[ 9.99956030e-01 8.54152221e-03 -3.87052359e-03 2.59058988e+02] [-8.51867061e-03 9.99946413e-01 5.88252359e-03 1.45221804e+01] [ 3.92056188e-03 -5.84929322e-03 9.99975207e-01 -2.03050551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.311400513 meters Centerline goodness [0,1] 0.6262510114560709 Centerline is valid? [False, False] Translation: X:259.06, Y:14.53, Z:-0.20 [[ 9.99985161e-01 4.13417855e-03 -3.54769971e-03 2.59057865e+02] [-4.13425455e-03 9.99991454e-01 -1.40882666e-05 1.45305202e+01] [ 3.54761114e-03 2.87551512e-05 9.99993707e-01 -2.03302831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.341400513 meters Centerline goodness [0,1] 0.6666952679222617 Centerline is valid? [False, False] Translation: X:259.06, Y:14.53, Z:-0.20 [[ 9.99986184e-01 3.93960406e-03 -3.48027416e-03 2.59057542e+02] [-3.94119882e-03 9.99992132e-01 -4.51488608e-04 1.45325600e+01] [ 3.47846809e-03 4.65198823e-04 9.99993842e-01 -2.03145797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.371400513 meters Centerline goodness [0,1] 0.6834239130434783 Centerline is valid? [False, False] Translation: X:259.06, Y:14.53, Z:-0.20 [[ 9.99987315e-01 3.76919445e-03 -3.34124585e-03 2.59056548e+02] [-3.77170373e-03 9.99992610e-01 -7.45018797e-04 1.45339005e+01] [ 3.33841303e-03 7.57611536e-04 9.99994140e-01 -2.02058840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.401400513 meters Centerline goodness [0,1] 0.6485862054347366 Centerline is valid? [False, False] Translation: X:259.10, Y:14.54, Z:-0.20 [[ 9.99993903e-01 3.31254850e-03 -1.10471287e-03 2.59098780e+02] [-3.31396925e-03 9.99993681e-01 -1.28674246e-03 1.45378590e+01] [ 1.10044350e-03 1.29039560e-03 9.99998562e-01 -2.02504959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.431400513 meters Centerline goodness [0,1] 0.6559954053306674 Centerline is valid? [False, False] Translation: X:259.10, Y:14.54, Z:-0.20 [[ 9.99993663e-01 3.34098259e-03 -1.22961942e-03 2.59099135e+02] [-3.34237382e-03 9.99993775e-01 -1.13112796e-03 1.45370901e+01] [ 1.22583269e-03 1.13523064e-03 9.99998604e-01 -2.02380207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.461400513 meters Centerline goodness [0,1] 0.6806310741961725 Centerline is valid? [False, False] Translation: X:259.10, Y:14.54, Z:-0.20 [[ 9.99993334e-01 3.41298019e-03 -1.29759159e-03 2.59099353e+02] [-3.41412574e-03 9.99993783e-01 -8.81640855e-04 1.45358701e+01] [ 1.29457450e-03 8.86065119e-04 9.99998769e-01 -2.02347858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.49140051300003 meters Centerline goodness [0,1] 0.7029294074850747 Centerline is valid? [False, False] Translation: X:259.10, Y:14.53, Z:-0.20 [[ 9.99992876e-01 3.52593881e-03 -1.34741542e-03 2.59099502e+02] [-3.52662351e-03 9.99993653e-01 -5.06122301e-04 1.45340571e+01] [ 1.34562231e-03 5.10870522e-04 9.99998964e-01 -2.02284720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.521400513 meters Centerline goodness [0,1] 0.7195717344753747 Centerline is valid? [False, False] Translation: X:259.10, Y:14.53, Z:-0.20 [[ 9.99992389e-01 3.63298164e-03 -1.42214196e-03 2.59099719e+02] [-3.63290765e-03 9.99993399e-01 5.46014542e-05 1.45312698e+01] [ 1.42233094e-03 -4.94345282e-05 9.99998987e-01 -2.02121470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.551400513 meters Centerline goodness [0,1] 0.7720422731462625 Centerline is valid? [False, False] Translation: X:259.10, Y:14.53, Z:-0.20 [[ 9.99992379e-01 3.60657017e-03 -1.49455666e-03 2.59099878e+02] [-3.60654747e-03 9.99993496e-01 1.78821519e-05 1.45314386e+01] [ 1.49461143e-03 -1.24918261e-05 9.99998883e-01 -2.01964575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.581400513 meters Centerline goodness [0,1] 0.837500265974424 Centerline is valid? [False, False] Translation: X:259.10, Y:14.53, Z:-0.20 [[ 9.99992431e-01 3.57267663e-03 -1.54089631e-03 2.59099951e+02] [-3.57275286e-03 9.99993617e-01 -4.67254006e-05 1.45317360e+01] [ 1.54071954e-03 5.22302886e-05 9.99998812e-01 -2.01830211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.611400513 meters Centerline goodness [0,1] 0.886570804981384 Centerline is valid? [False, False] Translation: X:259.10, Y:14.53, Z:-0.20 [[ 9.99992136e-01 3.64825855e-03 -1.55487561e-03 2.59100012e+02] [-3.64805230e-03 9.99993337e-01 1.35464891e-04 1.45308680e+01] [ 1.55535946e-03 -1.29791559e-04 9.99998782e-01 -2.01852565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.641400513 meters Centerline goodness [0,1] 0.8693909053877323 Centerline is valid? [False, False] Translation: X:259.10, Y:14.53, Z:-0.20 [[ 9.99991662e-01 3.75820891e-03 -1.59742137e-03 2.59100265e+02] [-3.75760735e-03 9.99992868e-01 3.79413303e-04 1.45297289e+01] [ 1.59883589e-03 -3.73407657e-04 9.99998652e-01 -2.02064003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.671400513 meters Centerline goodness [0,1] 0.7322647096691128 Centerline is valid? [False, False] Translation: X:259.10, Y:14.53, Z:-0.20 [[ 9.99991065e-01 3.87591862e-03 -1.68708989e-03 2.59100631e+02] [-3.87482726e-03 9.99992282e-01 6.49677784e-04 1.45284583e+01] [ 1.68959497e-03 -6.43134797e-04 9.99998366e-01 -2.02203576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.701400513 meters Centerline goodness [0,1] 0.7114764531183708 Centerline is valid? [False, False] Translation: X:259.12, Y:14.52, Z:-0.20 [[ 9.99989483e-01 3.30153045e-03 -3.18320926e-03 2.59121391e+02] [-3.26504236e-03 9.99929681e-01 1.14005289e-02 1.45209213e+01] [ 3.22062462e-03 -1.13900157e-02 9.99929945e-01 -1.98964852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.731400513 meters Centerline goodness [0,1] 0.6928212627964647 Centerline is valid? [False, False] Translation: X:259.12, Y:14.53, Z:-0.20 [[ 9.99995263e-01 -8.87992642e-04 -2.94722876e-03 2.59120646e+02] [ 9.06059978e-04 9.99980773e-01 6.13461640e-03 1.45261211e+01] [ 2.94172459e-03 -6.13725771e-03 9.99976840e-01 -1.99257645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.761400513 meters Centerline goodness [0,1] 0.7923956788815929 Centerline is valid? [False, False] Translation: X:259.12, Y:14.53, Z:-0.20 [[ 9.99995520e-01 -7.94834425e-04 -2.88571917e-03 2.59120429e+02] [ 8.13097744e-04 9.99979614e-01 6.33321520e-03 1.45252110e+01] [ 2.88062649e-03 -6.33553320e-03 9.99975781e-01 -1.99232228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.791400513 meters Centerline goodness [0,1] 0.9122844827586207 Centerline is valid? [False, False] Translation: X:259.08, Y:14.52, Z:-0.20 [[ 9.99984068e-01 -1.87440518e-03 -5.32455613e-03 2.59078527e+02] [ 1.90109496e-03 9.99985633e-01 5.01195220e-03 1.45234564e+01] [ 5.31508520e-03 -5.02199483e-03 9.99973264e-01 -1.99516294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.821400513 meters Centerline goodness [0,1] 0.7935845278919679 Centerline is valid? [False, False] Translation: X:259.10, Y:14.53, Z:-0.20 [[ 9.99999133e-01 -1.24240411e-03 -4.35844627e-04 2.59100655e+02] [ 1.24001241e-03 9.99984404e-01 -5.44553310e-03 1.45317744e+01] [ 4.42603383e-04 5.44498793e-03 9.99985078e-01 -2.04817234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.851400513 meters Centerline goodness [0,1] 0.6841467046759988 Centerline is valid? [False, False] Translation: X:259.10, Y:14.53, Z:-0.20 [[ 9.99999374e-01 -1.02213997e-03 -4.54176577e-04 2.59100715e+02] [ 1.01988982e-03 9.99987341e-01 -4.92726152e-03 1.45293508e+01] [ 4.59207179e-04 4.92679522e-03 9.99987758e-01 -2.04801263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.881400513 meters Centerline goodness [0,1] 0.9152673727718936 Centerline is valid? [False, False] Translation: X:259.08, Y:14.52, Z:-0.20 [[ 9.99981643e-01 -2.15710868e-03 -5.66226429e-03 2.59077419e+02] [ 2.18805211e-03 9.99982676e-01 5.46435621e-03 1.45156120e+01] [ 5.65037899e-03 -5.47664523e-03 9.99969039e-01 -1.98514450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.911400513 meters Centerline goodness [0,1] 0.9152673727718936 Centerline is valid? [False, False] Translation: X:259.08, Y:14.52, Z:-0.20 [[ 9.99981643e-01 -2.15710868e-03 -5.66226429e-03 2.59077419e+02] [ 2.18805211e-03 9.99982676e-01 5.46435621e-03 1.45156120e+01] [ 5.65037899e-03 -5.47664523e-03 9.99969039e-01 -1.98514450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.941400513 meters Centerline goodness [0,1] 0.8978703427083778 Centerline is valid? [False, False] Translation: X:259.10, Y:14.52, Z:-0.20 [[ 9.99997816e-01 -1.19707637e-03 -1.71308916e-03 2.59096961e+02] [ 1.18819761e-03 9.99985906e-01 -5.17455727e-03 1.45224244e+01] [ 1.71925935e-03 5.17251048e-03 9.99985145e-01 -2.00418265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.971400513 meters Centerline goodness [0,1] 0.7488197811037958 Centerline is valid? [False, False] Translation: X:259.10, Y:14.51, Z:-0.20 [[ 9.99993936e-01 2.73241702e-03 -2.15895078e-03 2.59098454e+02] [-2.73151667e-03 9.99996181e-01 4.19870457e-04 1.45145470e+01] [ 2.16008980e-03 -4.13970701e-04 9.99997581e-01 -2.00289473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.001400513 meters Centerline goodness [0,1] 0.9512027195662464 Centerline is valid? [False, True] Translation: X:259.06, Y:14.51, Z:-0.20 [[ 9.99986535e-01 1.67728178e-03 -4.91090850e-03 2.59057086e+02] [-1.67672150e-03 9.99998587e-01 1.18203563e-04 1.45096887e+01] [ 4.91109982e-03 -1.09967746e-04 9.99987934e-01 -2.00532612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.031400513 meters Centerline goodness [0,1] 0.7898151705297307 Centerline is valid? [True, False] Translation: X:259.06, Y:14.51, Z:-0.20 [[ 9.99984249e-01 6.27962245e-05 -5.61232137e-03 2.59062806e+02] [-7.10769300e-05 9.99998909e-01 -1.47526379e-03 1.45102101e+01] [ 5.61222261e-03 1.47563946e-03 9.99983163e-01 -2.04459732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.061400513 meters Centerline goodness [0,1] 0.8368062234190335 Centerline is valid? [False, False] Translation: X:259.06, Y:14.51, Z:-0.20 [[ 9.99985106e-01 2.65661174e-04 -5.45127542e-03 2.59061859e+02] [-2.69804429e-04 9.99999675e-01 -7.59330988e-04 1.45067582e+01] [ 5.45107192e-03 7.60790458e-04 9.99984853e-01 -2.03519170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.091400513 meters Centerline goodness [0,1] 0.845914545108247 Centerline is valid? [False, False] Translation: X:259.08, Y:14.50, Z:-0.21 [[ 9.99997558e-01 -1.38922925e-03 -1.71873723e-03 2.59083939e+02] [ 1.40434815e-03 9.99960057e-01 8.82680615e-03 1.45012020e+01] [ 1.70640612e-03 -8.82919830e-03 9.99959566e-01 -2.07153916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.121400513 meters Centerline goodness [0,1] 0.9745398903387598 Centerline is valid? [False, True] Translation: X:259.08, Y:14.51, Z:-0.21 [[ 9.99982074e-01 -5.80057192e-03 -1.48491909e-03 2.59083163e+02] [ 5.80600927e-03 9.99976359e-01 3.68397218e-03 1.45053677e+01] [ 1.46351484e-03 -3.69252759e-03 9.99992112e-01 -2.07122408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.151400513 meters Centerline goodness [0,1] 0.9911102501183865 Centerline is valid? [True, True] Translation: X:259.11, Y:14.51, Z:-0.21 [[ 9.99979970e-01 -5.96214002e-03 -2.12441523e-03 2.59113100e+02] [ 5.96183072e-03 9.99982217e-01 -1.51894220e-04 1.45059010e+01] [ 2.12528307e-03 1.39225773e-04 9.99997732e-01 -2.07478885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.181400513 meters Centerline goodness [0,1] 0.9882567407156181 Centerline is valid? [True, True] Translation: X:259.14, Y:14.51, Z:-0.21 [[ 9.99975761e-01 -5.82610718e-03 -3.81233215e-03 2.59141479e+02] [ 5.82510970e-03 9.99982997e-01 -2.72698084e-04 1.45093170e+01] [ 3.81385609e-03 2.50484221e-04 9.99992696e-01 -2.11046523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.211400513 meters Centerline goodness [0,1] 0.9971410760731713 Centerline is valid? [True, True] Translation: X:259.17, Y:14.51, Z:-0.21 [[ 9.99973949e-01 -5.76132264e-03 -4.34843722e-03 2.59170935e+02] [ 5.76002014e-03 9.99983362e-01 -3.11996304e-04 1.45075117e+01] [ 4.35016239e-03 2.86941090e-04 9.99990497e-01 -2.11746759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.24140051300003 meters Centerline goodness [0,1] 0.9972286671822634 Centerline is valid? [True, True] Translation: X:259.20, Y:14.51, Z:-0.21 [[ 9.99976286e-01 -5.41467545e-03 -4.25545814e-03 2.59199350e+02] [ 5.41342388e-03 9.99985301e-01 -3.05572456e-04 1.45073893e+01] [ 4.25705017e-03 2.82528610e-04 9.99990899e-01 -2.12004125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.271400513 meters Centerline goodness [0,1] 0.9545386538995875 Centerline is valid? [True, True] Translation: X:259.23, Y:14.51, Z:-0.21 [[ 9.99978538e-01 -5.27785936e-03 -3.88163254e-03 2.59226828e+02] [ 5.27681629e-03 9.99986039e-01 -2.78912462e-04 1.45141919e+01] [ 3.88305041e-03 2.58423814e-04 9.99992428e-01 -2.11519663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.301400513 meters Centerline goodness [0,1] 0.9922123058439887 Centerline is valid? [True, True] Translation: X:259.26, Y:14.51, Z:-0.21 [[ 9.99983607e-01 -5.13178751e-03 -2.53960349e-03 2.59256703e+02] [ 5.13133890e-03 9.99986818e-01 -1.83129056e-04 1.45066539e+01] [ 2.54050979e-03 1.70094488e-04 9.99996758e-01 -2.07671182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.331400513 meters Centerline goodness [0,1] 0.9943058510066826 Centerline is valid? [True, True] Translation: X:259.29, Y:14.51, Z:-0.21 [[ 9.99987410e-01 -4.52891560e-03 -2.16057608e-03 2.59285277e+02] [ 4.52858863e-03 9.99989734e-01 -1.56203595e-04 1.45068742e+01] [ 2.16126133e-03 1.46417269e-04 9.99997654e-01 -2.07165579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.361400513 meters Centerline goodness [0,1] 0.9940260796950945 Centerline is valid? [True, True] Translation: X:259.31, Y:14.51, Z:-0.21 [[ 9.99993077e-01 -3.23848094e-03 -1.83242196e-03 2.59314823e+02] [ 3.23824391e-03 9.99994748e-01 -1.32305598e-04 1.45084855e+01] [ 1.83284080e-03 1.26370853e-04 9.99998312e-01 -2.07108449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.391400513 meters Centerline goodness [0,1] 0.7882499036526356 Centerline is valid? [True, False] Translation: X:259.31, Y:14.51, Z:-0.21 [[ 9.99993192e-01 -3.24069106e-03 -1.76472791e-03 2.59314637e+02] [ 3.24029179e-03 9.99994724e-01 -2.29064295e-04 1.45089872e+01] [ 1.76546092e-03 2.23344503e-04 9.99998417e-01 -2.07243198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.421400513 meters Centerline goodness [0,1] 0.961991966483825 Centerline is valid? [False, True] Translation: X:259.31, Y:14.51, Z:-0.21 [[ 9.99993784e-01 -3.11926009e-03 -1.64399791e-03 2.59314434e+02] [ 3.11915108e-03 9.99995133e-01 -6.88636620e-05 1.45082877e+01] [ 1.64420471e-03 6.37353561e-05 9.99998646e-01 -2.07656364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.451400513 meters Centerline goodness [0,1] 0.8866454962880316 Centerline is valid? [True, False] Translation: X:259.31, Y:14.51, Z:-0.21 [[ 9.99993713e-01 -3.12101113e-03 -1.68341777e-03 2.59314517e+02] [ 3.12083031e-03 9.99995124e-01 -1.10027770e-04 1.45084974e+01] [ 1.68375296e-03 1.04773417e-04 9.99998577e-01 -2.07584946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.481400513 meters Centerline goodness [0,1] 0.8722487832191929 Centerline is valid? [False, False] Translation: X:259.31, Y:14.51, Z:-0.21 [[ 9.99993589e-01 -3.15934345e-03 -1.68516390e-03 2.59314495e+02] [ 3.15900224e-03 9.99994989e-01 -2.05103728e-04 1.45089422e+01] [ 1.68580345e-03 1.99778977e-04 9.99998559e-01 -2.07543397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.511400513 meters Centerline goodness [0,1] 0.8821054439292461 Centerline is valid? [False, False] Translation: X:259.31, Y:14.51, Z:-0.21 [[ 9.99993636e-01 -3.13027644e-03 -1.71138633e-03 2.59314497e+02] [ 3.13001109e-03 9.99995089e-01 -1.57707578e-04 1.45087325e+01] [ 1.71187159e-03 1.52349916e-04 9.99998523e-01 -2.07389670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.541400513 meters Centerline goodness [0,1] 0.8706305688827964 Centerline is valid? [False, False] Translation: X:259.31, Y:14.51, Z:-0.21 [[ 9.99993651e-01 -3.10706546e-03 -1.74471211e-03 2.59314591e+02] [ 3.10688540e-03 9.99995168e-01 -1.05899505e-04 1.45084844e+01] [ 1.74503272e-03 1.00478212e-04 9.99998472e-01 -2.07358807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.571400513 meters Centerline goodness [0,1] 0.7737464068987544 Centerline is valid? [False, False] Translation: X:259.31, Y:14.51, Z:-0.21 [[ 9.99993550e-01 -3.14277069e-03 -1.73876100e-03 2.59314745e+02] [ 3.14229473e-03 9.99995025e-01 -2.76400857e-04 1.45093287e+01] [ 1.73962102e-03 2.70935375e-04 9.99998450e-01 -2.07722604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.601400513 meters Centerline goodness [0,1] 0.7836184507072486 Centerline is valid? [False, False] Translation: X:259.31, Y:14.51, Z:-0.21 [[ 9.99993021e-01 -3.34403773e-03 -1.66579776e-03 2.59314488e+02] [ 3.34269271e-03 9.99994085e-01 -8.09566325e-04 1.45118504e+01] [ 1.66849513e-03 8.03992425e-04 9.99998285e-01 -2.07719103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.631400513 meters Centerline goodness [0,1] 0.735072862485492 Centerline is valid? [False, False] Translation: X:259.31, Y:14.52, Z:-0.21 [[ 9.99992533e-01 -3.55826742e-03 -1.50728114e-03 2.59313900e+02] [ 3.55604117e-03 9.99992586e-01 -1.47710828e-03 1.45150784e+01] [ 1.51252591e-03 1.47173730e-03 9.99997773e-01 -2.07630102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.661400513 meters Centerline goodness [0,1] 0.7066166758979167 Centerline is valid? [False, False] Translation: X:259.31, Y:14.52, Z:-0.21 [[ 9.99992193e-01 -3.69761520e-03 -1.39336298e-03 2.59313393e+02] [ 3.69472859e-03 9.99991035e-01 -2.06859797e-03 1.45180109e+01] [ 1.40099937e-03 2.06343372e-03 9.99996890e-01 -2.07453419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.691400513 meters Centerline goodness [0,1] 0.6715193505196269 Centerline is valid? [False, False] Translation: X:259.31, Y:14.52, Z:-0.21 [[ 9.99998480e-01 8.46566367e-04 -1.52406212e-03 2.59313647e+02] [-8.42286013e-04 9.99995706e-01 2.80697120e-03 1.45154299e+01] [ 1.52643186e-03 -2.80568324e-03 9.99994899e-01 -2.07105891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.721400513 meters Centerline goodness [0,1] 0.6636829737235633 Centerline is valid? [False, False] Translation: X:259.31, Y:14.52, Z:-0.21 [[ 9.99998619e-01 7.27085061e-04 -1.49468904e-03 2.59313588e+02] [-7.23316419e-04 9.99996562e-01 2.52035106e-03 1.45167663e+01] [ 1.49651641e-03 -2.51926644e-03 9.99995707e-01 -2.07219849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.751400513 meters Centerline goodness [0,1] 0.6341894539568957 Centerline is valid? [False, False] Translation: X:259.31, Y:14.52, Z:-0.21 [[ 9.99998675e-01 6.95020582e-04 -1.47218546e-03 2.59313478e+02] [-6.91422897e-04 9.99996777e-01 2.44287227e-03 1.45171208e+01] [ 1.47387856e-03 -2.44185113e-03 9.99995933e-01 -2.07192612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.781400513 meters Centerline goodness [0,1] 0.7026805899450963 Centerline is valid? [False, False] Translation: X:259.29, Y:14.52, Z:-0.21 [[ 9.99999059e-01 1.21341959e-03 -6.39829472e-04 2.59292892e+02] [-1.21888520e-03 9.99962171e-01 -8.61225195e-03 1.45224143e+01] [ 6.29354993e-04 8.61302372e-03 9.99962709e-01 -2.10577049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.811400513 meters Centerline goodness [0,1] 0.7994983132946977 Centerline is valid? [False, False] Translation: X:259.29, Y:14.52, Z:-0.21 [[ 9.99998890e-01 1.36368030e-03 -6.01076162e-04 2.59292637e+02] [-1.36858369e-03 9.99965162e-01 -8.23419900e-03 1.45206577e+01] [ 5.89826407e-04 8.23501248e-03 9.99965918e-01 -2.10291506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.841400513 meters Centerline goodness [0,1] 0.5999320623328097 Centerline is valid? [False, False] Translation: X:259.32, Y:14.52, Z:-0.22 [[ 9.99996618e-01 4.65615364e-04 2.55881598e-03 2.59316693e+02] [-4.70988496e-04 9.99997685e-01 2.09964968e-03 1.45152181e+01] [-2.55783243e-03 -2.10084775e-03 9.99994522e-01 -2.15335106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.871400513 meters Centerline goodness [0,1] 0.6938398798025327 Centerline is valid? [False, False] Translation: X:259.29, Y:14.52, Z:-0.21 [[ 9.99999399e-01 9.76841577e-04 -4.97916977e-04 2.59293189e+02] [-9.81208080e-04 9.99960391e-01 -8.84606366e-03 1.45197457e+01] [ 4.89256052e-04 8.84654691e-03 9.99960749e-01 -2.10940414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.901400513 meters Centerline goodness [0,1] 0.6554301533219762 Centerline is valid? [False, False] Translation: X:259.29, Y:14.51, Z:-0.21 [[ 9.99985522e-01 5.31064337e-03 -8.67354081e-04 2.59294409e+02] [-5.31346207e-03 9.99980503e-01 -3.28045617e-03 1.45130855e+01] [ 8.49915837e-04 3.28501733e-03 9.99994243e-01 -2.10786788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.931400513 meters Centerline goodness [0,1] 0.675015401610265 Centerline is valid? [False, False] Translation: X:259.29, Y:14.51, Z:-0.21 [[ 9.99985493e-01 5.31622193e-03 -8.66749274e-04 2.59294468e+02] [-5.31905596e-03 9.99980406e-01 -3.30088068e-03 1.45131759e+01] [ 8.49184077e-04 3.30544308e-03 9.99994176e-01 -2.10908447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.961400513 meters Centerline goodness [0,1] 0.5888123741921814 Centerline is valid? [False, False] Translation: X:259.29, Y:14.51, Z:-0.21 [[ 9.99985661e-01 5.27742850e-03 -9.09028262e-04 2.59294788e+02] [-5.28054236e-03 9.99980079e-01 -3.45783239e-03 1.45139379e+01] [ 8.90761691e-04 3.46258297e-03 9.99993609e-01 -2.11280114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.99140051300003 meters Centerline goodness [0,1] 0.6116569275883473 Centerline is valid? [False, False] Translation: X:259.30, Y:14.51, Z:-0.21 [[ 9.99951399e-01 9.79065469e-03 -1.15893791e-03 2.59296183e+02] [-9.78913099e-03 9.99951223e-01 1.31318199e-03 1.45118254e+01] [ 1.17173829e-03 -1.30177317e-03 9.99998466e-01 -2.12141589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.021400513 meters Centerline goodness [0,1] 0.6452083601562164 Centerline is valid? [False, False] Translation: X:259.30, Y:14.52, Z:-0.21 [[ 9.99954011e-01 9.52490594e-03 -1.11914033e-03 2.59296100e+02] [-9.52424092e-03 9.99954465e-01 5.98060512e-04 1.45152125e+01] [ 1.12478584e-03 -5.87374046e-04 9.99999195e-01 -2.12309648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.051400513 meters Centerline goodness [0,1] 0.6416151217613218 Centerline is valid? [False, False] Translation: X:259.29, Y:14.52, Z:-0.21 [[ 9.99955498e-01 9.40238261e-03 -7.72983606e-04 2.59294611e+02] [-9.40228295e-03 9.99955789e-01 1.32462135e-04 1.45175102e+01] [ 7.74194891e-04 -1.25188430e-04 9.99999692e-01 -2.11583304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.081400513 meters Centerline goodness [0,1] 0.46065413820896783 Centerline is valid? [False, False] Translation: X:259.34, Y:14.52, Z:-0.21 [[ 9.99956384e-01 9.14627619e-03 1.89073913e-03 2.59335508e+02] [-9.14353795e-03 9.99957143e-01 -1.45184311e-03 1.45225757e+01] [-1.90393706e-03 1.43449174e-03 9.99997159e-01 -2.11999267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.111400513 meters Centerline goodness [0,1] 0.465132053075586 Centerline is valid? [False, False] Translation: X:259.34, Y:14.52, Z:-0.21 [[ 9.99956218e-01 9.16237124e-03 1.90079874e-03 2.59335667e+02] [-9.15968227e-03 9.99957043e-01 -1.41856724e-03 1.45223967e+01] [-1.91371453e-03 1.40109442e-03 9.99997187e-01 -2.12386681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.141400513 meters Centerline goodness [0,1] 0.6255358171077605 Centerline is valid? [False, False] Translation: X:259.34, Y:14.52, Z:-0.21 [[ 9.99957117e-01 9.08241892e-03 1.80918400e-03 2.59336233e+02] [-9.07955246e-03 9.99957522e-01 -1.58635746e-03 1.45231485e+01] [-1.82351511e-03 1.56986285e-03 9.99997105e-01 -2.12917888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.171400513 meters Centerline goodness [0,1] 0.4556485889153349 Centerline is valid? [False, False] Translation: X:259.34, Y:14.52, Z:-0.21 [[ 9.99958535e-01 8.96214738e-03 1.61496982e-03 2.59337221e+02] [-8.95918069e-03 9.99958182e-01 -1.83495947e-03 1.45242678e+01] [-1.63134747e-03 1.82041458e-03 9.99997012e-01 -2.13606486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.201400513 meters Centerline goodness [0,1] 0.605775630703167 Centerline is valid? [False, False] Translation: X:259.34, Y:14.52, Z:-0.21 [[ 9.99958488e-01 9.00012354e-03 1.42150501e-03 2.59337810e+02] [-8.99772574e-03 9.99958101e-01 -1.68428311e-03 1.45235253e+01] [-1.43660421e-03 1.67142288e-03 9.99997571e-01 -2.13503261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.231400513 meters Centerline goodness [0,1] 0.6391008145107563 Centerline is valid? [False, False] Translation: X:259.34, Y:14.52, Z:-0.21 [[ 9.99958507e-01 8.99708442e-03 1.42683829e-03 2.59337704e+02] [-8.99469350e-03 9.99958147e-01 -1.67333288e-03 1.45234698e+01] [-1.44183369e-03 1.66042948e-03 9.99997582e-01 -2.13326019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.261400513 meters Centerline goodness [0,1] 0.4893711623967817 Centerline is valid? [False, False] Translation: X:259.36, Y:14.52, Z:-0.21 [[ 9.99962546e-01 8.65377134e-03 1.35988429e-04 2.59357499e+02] [-8.65465185e-03 9.99920933e-01 9.12276076e-03 1.45185076e+01] [-5.70313915e-05 -9.12359601e-03 9.99958378e-01 -2.09182816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.291400513 meters Centerline goodness [0,1] 0.5451653123522078 Centerline is valid? [False, False] Translation: X:259.32, Y:14.52, Z:-0.21 [[ 9.99970228e-01 7.42983482e-03 -2.08363852e-03 2.59315538e+02] [-7.41476053e-03 9.99946938e-01 7.15134196e-03 1.45204541e+01] [ 2.13666124e-03 -7.13567937e-03 9.99972258e-01 -2.09867597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.321400513 meters Centerline goodness [0,1] 0.5992846280708518 Centerline is valid? [False, False] Translation: X:259.32, Y:14.53, Z:-0.21 [[ 9.99992976e-01 3.16820213e-03 -2.00256437e-03 2.59315286e+02] [-3.16593524e-03 9.99994345e-01 1.13415006e-03 1.45298187e+01] [ 2.00614626e-03 -1.12780210e-03 9.99997352e-01 -2.10406605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.351400513 meters Centerline goodness [0,1] 0.43261714578616894 Centerline is valid? [False, False] Translation: X:259.31, Y:14.53, Z:-0.21 [[ 9.99993721e-01 2.94633094e-03 -1.96901907e-03 2.59314863e+02] [-2.94506410e-03 9.99995455e-01 6.45981210e-04 1.45320952e+01] [ 1.97091339e-03 -6.40178266e-04 9.99997853e-01 -2.09848397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.381400513 meters Centerline goodness [0,1] 0.5990734217212152 Centerline is valid? [False, False] Translation: X:259.31, Y:14.53, Z:-0.21 [[ 9.99993986e-01 2.95709210e-03 -1.81210140e-03 2.59314033e+02] [-2.95580047e-03 9.99995376e-01 7.15044026e-04 1.45317540e+01] [ 1.81420747e-03 -7.09683515e-04 9.99998102e-01 -2.09217821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.411400513 meters Centerline goodness [0,1] 0.6188620253977772 Centerline is valid? [False, False] Translation: X:259.31, Y:14.53, Z:-0.21 [[ 9.99994438e-01 2.87415567e-03 -1.69197093e-03 2.59313377e+02] [-2.87318542e-03 9.99995707e-01 5.75593985e-04 1.45323909e+01] [ 1.69361801e-03 -5.70729437e-04 9.99998403e-01 -2.08700867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.441400513 meters Centerline goodness [0,1] 0.621047915688868 Centerline is valid? [False, False] Translation: X:259.31, Y:14.53, Z:-0.21 [[ 9.99994773e-01 2.74315405e-03 -1.71150463e-03 2.59313377e+02] [-2.74254348e-03 9.99996175e-01 3.58988857e-04 1.45333545e+01] [ 1.71248285e-03 -3.54293104e-04 9.99998471e-01 -2.08616659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.471400513 meters Centerline goodness [0,1] 0.6938569123184508 Centerline is valid? [False, False] Translation: X:259.31, Y:14.53, Z:-0.21 [[ 9.99994547e-01 2.57855043e-03 -2.06331311e-03 2.59314605e+02] [-2.57720915e-03 9.99996466e-01 6.52455641e-04 1.45315841e+01] [ 2.06498821e-03 -6.47134494e-04 9.99997659e-01 -2.08822867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.501400513 meters Centerline goodness [0,1] 0.6946499593721935 Centerline is valid? [False, False] Translation: X:259.32, Y:14.53, Z:-0.21 [[ 9.99995485e-01 7.21593536e-04 -2.91695693e-03 2.59320605e+02] [-7.25293843e-04 9.99998933e-01 -1.26769172e-03 1.45337696e+01] [ 2.91603906e-03 1.26980165e-03 9.99994942e-01 -2.12513779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.531400513 meters Centerline goodness [0,1] 0.5896208267430427 Centerline is valid? [False, False] Translation: X:259.32, Y:14.53, Z:-0.21 [[ 9.99995178e-01 8.10322118e-04 -2.99782842e-03 2.59320676e+02] [-8.13150507e-04 9.99999225e-01 -9.42380494e-04 1.45321970e+01] [ 2.99706246e-03 9.44813635e-04 9.99995062e-01 -2.12076051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.561400513 meters Centerline goodness [0,1] 0.7341883082184462 Centerline is valid? [False, False] Translation: X:259.32, Y:14.53, Z:-0.21 [[ 9.99995117e-01 8.76468894e-04 -2.99955021e-03 2.59320409e+02] [-8.78722831e-04 9.99999333e-01 -7.50189530e-04 1.45312932e+01] [ 2.99889069e-03 7.52821640e-04 9.99995220e-01 -2.11505063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.591400513 meters Centerline goodness [0,1] 0.7880188275566966 Centerline is valid? [False, False] Translation: X:259.32, Y:14.53, Z:-0.21 [[ 9.99995502e-01 7.48641653e-04 -2.90453299e-03 2.59319700e+02] [-7.51427559e-04 9.99999259e-01 -9.58185239e-04 1.45322486e+01] [ 2.90381350e-03 9.60363475e-04 9.99995323e-01 -2.10720712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.621400513 meters Centerline goodness [0,1] 0.7896882442551548 Centerline is valid? [False, False] Translation: X:259.32, Y:14.53, Z:-0.21 [[ 9.99995520e-01 7.29380826e-04 -2.90309846e-03 2.59319698e+02] [-7.32261188e-04 9.99999241e-01 -9.91229083e-04 1.45323924e+01] [ 2.90237327e-03 9.93350468e-04 9.99995295e-01 -2.10714642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.651400513 meters Centerline goodness [0,1] 0.7922869609856262 Centerline is valid? [False, False] Translation: X:259.32, Y:14.53, Z:-0.21 [[ 9.99995388e-01 7.22781574e-04 -2.94970839e-03 2.59319996e+02] [-7.25753456e-04 9.99999230e-01 -1.00657112e-03 1.45324582e+01] [ 2.94897859e-03 1.00870724e-03 9.99995143e-01 -2.11002722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.681400513 meters Centerline goodness [0,1] 0.7520859184459373 Centerline is valid? [False, False] Translation: X:259.32, Y:14.53, Z:-0.21 [[ 9.99995142e-01 8.29823662e-04 -3.00448038e-03 2.59320486e+02] [-8.32126058e-04 9.99999361e-01 -7.65151989e-04 1.45312961e+01] [ 3.00384352e-03 7.67648378e-04 9.99995194e-01 -2.11607611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.711400513 meters Centerline goodness [0,1] 0.7928609597093086 Centerline is valid? [False, False] Translation: X:259.32, Y:14.53, Z:-0.21 [[ 9.99994961e-01 9.00608528e-04 -3.04419332e-03 2.59320585e+02] [-9.02416765e-04 9.99999417e-01 -5.92674242e-04 1.45304883e+01] [ 3.04365778e-03 5.95418386e-04 9.99995191e-01 -2.11538103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.74140051300003 meters Centerline goodness [0,1] 0.7914338524294121 Centerline is valid? [False, False] Translation: X:259.32, Y:14.53, Z:-0.21 [[ 9.99994684e-01 9.22628850e-04 -3.12742272e-03 2.59320921e+02] [-9.24292943e-04 9.99999432e-01 -5.30693579e-04 1.45301945e+01] [ 3.12693131e-03 5.33581412e-04 9.99994969e-01 -2.11644844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.771400513 meters Centerline goodness [0,1] 0.6929581664820652 Centerline is valid? [False, False] Translation: X:259.32, Y:14.53, Z:-0.21 [[ 9.99994224e-01 9.17405444e-04 -3.27268371e-03 2.59321550e+02] [-9.19161211e-04 9.99999434e-01 -5.35027751e-04 1.45301923e+01] [ 3.27219102e-03 5.38032784e-04 9.99994502e-01 -2.11925967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.801400513 meters Centerline goodness [0,1] 0.6929581664820652 Centerline is valid? [False, False] Translation: X:259.32, Y:14.53, Z:-0.21 [[ 9.99994224e-01 9.17405444e-04 -3.27268371e-03 2.59321550e+02] [-9.19161211e-04 9.99999434e-01 -5.35027751e-04 1.45301923e+01] [ 3.27219102e-03 5.38032784e-04 9.99994502e-01 -2.11925967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.831400513 meters Centerline goodness [0,1] 0.7604224332495848 Centerline is valid? [False, False] Translation: X:259.32, Y:14.53, Z:-0.21 [[ 9.99993839e-01 8.96937153e-04 -3.39361199e-03 2.59322278e+02] [-8.98956637e-04 9.99999420e-01 -5.93605197e-04 1.45304431e+01] [ 3.39307759e-03 5.96652250e-04 9.99994065e-01 -2.12580328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.861400513 meters Centerline goodness [0,1] 0.820061649113794 Centerline is valid? [False, False] Translation: X:259.32, Y:14.53, Z:-0.21 [[ 9.99993879e-01 9.40895967e-04 -3.37011300e-03 2.59322338e+02] [-9.42742281e-04 9.99999406e-01 -5.46302621e-04 1.45302511e+01] [ 3.36959698e-03 5.49476425e-04 9.99994172e-01 -2.12870098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.891400513 meters Centerline goodness [0,1] 0.7587150861884597 Centerline is valid? [False, False] Translation: X:259.32, Y:14.53, Z:-0.21 [[ 9.99994017e-01 1.04449802e-03 -3.29762293e-03 2.59321914e+02] [-1.04560544e-03 9.99999398e-01 -3.34119458e-04 1.45292810e+01] [ 3.29727196e-03 3.37565471e-04 9.99994507e-01 -2.12484421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.921400513 meters Centerline goodness [0,1] 0.7024255740812546 Centerline is valid? [False, False] Translation: X:259.32, Y:14.53, Z:-0.21 [[ 9.99994029e-01 1.21768456e-03 -3.23414498e-03 2.59321480e+02] [-1.21748855e-03 9.99999257e-01 6.25757294e-05 1.45274430e+01] [ 3.23421877e-03 -5.86378213e-05 9.99994768e-01 -2.11995090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.951400513 meters Centerline goodness [0,1] 0.771483704974271 Centerline is valid? [False, False] Translation: X:259.32, Y:14.52, Z:-0.21 [[ 9.99993791e-01 1.46643957e-03 -3.20432741e-03 2.59321253e+02] [-1.46443299e-03 9.99998730e-01 6.28466318e-04 1.45248009e+01] [ 3.20524495e-03 -6.23769893e-04 9.99994669e-01 -2.11741394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.981400513 meters Centerline goodness [0,1] 0.7773468640251654 Centerline is valid? [False, False] Translation: X:259.31, Y:14.52, Z:-0.21 [[ 9.99997180e-01 -8.57807327e-04 -2.21474105e-03 2.59314641e+02] [ 8.54556811e-04 9.99998557e-01 -1.46820256e-03 1.45218740e+01] [ 2.21599729e-03 1.46630580e-03 9.99996470e-01 -2.07874205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.011400513 meters Centerline goodness [0,1] 0.6818104655604125 Centerline is valid? [False, False] Translation: X:259.36, Y:14.52, Z:-0.21 [[ 9.99999945e-01 -3.18231597e-04 -9.36506981e-05 2.59356696e+02] [ 3.18219345e-04 9.99999941e-01 -1.30807719e-04 1.45209493e+01] [ 9.36923197e-05 1.30777910e-04 9.99999987e-01 -2.08080667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.041400513 meters Centerline goodness [0,1] 0.808164570454061 Centerline is valid? [False, False] Translation: X:259.36, Y:14.52, Z:-0.21 [[ 9.99999979e-01 -5.98606844e-05 -1.93728852e-04 2.59357002e+02] [ 5.99768769e-05 9.99999818e-01 5.99818714e-04 1.45174789e+01] [ 1.93692912e-04 -5.99830321e-04 9.99999801e-01 -2.07976027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.071400513 meters Centerline goodness [0,1] 0.9224953955540326 Centerline is valid? [False, False] Translation: X:259.35, Y:14.52, Z:-0.20 [[ 9.99997464e-01 -2.14749125e-03 6.77730946e-04 2.59350369e+02] [ 2.14835397e-03 9.99996880e-01 -1.27480771e-03 1.45159119e+01] [-6.74991193e-04 1.27626048e-03 9.99998958e-01 -2.03552844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.101400513 meters Centerline goodness [0,1] 0.9694584450402145 Centerline is valid? [False, True] Translation: X:259.35, Y:14.51, Z:-0.20 [[ 9.99998548e-01 -1.56232737e-03 6.80439726e-04 2.59350026e+02] [ 1.56196989e-03 9.99998642e-01 5.25590561e-04 1.45073615e+01] [-6.81259947e-04 -5.24526971e-04 9.99999630e-01 -2.02641391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.131400513 meters Centerline goodness [0,1] 0.9840937991680496 Centerline is valid? [True, True] Translation: X:259.38, Y:14.51, Z:-0.20 [[ 9.99996595e-01 -2.28500846e-03 1.26034230e-03 2.59381253e+02] [ 2.28489643e-03 9.99997386e-01 9.03232176e-05 1.45052687e+01] [-1.26054539e-03 -8.74431584e-05 9.99999202e-01 -2.01521890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.161400513 meters Centerline goodness [0,1] 0.9753526418618631 Centerline is valid? [True, True] Translation: X:259.41, Y:14.51, Z:-0.20 [[ 9.99995166e-01 -2.57462557e-03 1.74333046e-03 2.59412171e+02] [ 2.57441174e-03 9.99996678e-01 1.24889505e-04 1.45066455e+01] [-1.74364621e-03 -1.20400851e-04 9.99998473e-01 -2.01068444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.191400513 meters Centerline goodness [0,1] 0.9821866001976879 Centerline is valid? [True, True] Translation: X:259.44, Y:14.50, Z:-0.20 [[ 9.99997232e-01 -1.92465781e-03 1.35375976e-03 2.59444038e+02] [ 1.92452835e-03 9.99998143e-01 9.69281616e-05 1.45042287e+01] [-1.35394380e-03 -9.43225443e-05 9.99999079e-01 -2.01529661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.221400513 meters Centerline goodness [0,1] 0.9918937417119391 Centerline is valid? [True, True] Translation: X:259.48, Y:14.50, Z:-0.20 [[ 9.99999335e-01 -9.95919884e-04 5.81029375e-04 2.59475171e+02] [ 9.95895830e-04 9.99999503e-01 4.16880343e-05 1.45033575e+01] [-5.81070604e-04 -4.11093619e-05 9.99999830e-01 -2.02329755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.251400513 meters Centerline goodness [0,1] 0.9464780979399996 Centerline is valid? [True, False] Translation: X:259.52, Y:14.51, Z:-0.20 [[ 9.99997973e-01 -5.43192013e-04 1.93865955e-03 2.59519824e+02] [ 5.44557848e-04 9.99999604e-01 -7.04067452e-04 1.45071989e+01] [-1.93827634e-03 7.05121737e-04 9.99997873e-01 -2.04374543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.281400513 meters Centerline goodness [0,1] 0.95013219267889 Centerline is valid? [False, True] Translation: X:259.48, Y:14.50, Z:-0.20 [[ 9.99999678e-01 -5.95429150e-04 -5.37967936e-04 2.59477746e+02] [ 5.95396977e-04 9.99999821e-01 -5.99630172e-05 1.45042004e+01] [ 5.38003544e-04 5.96426934e-05 9.99999853e-01 -2.04244603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.311400513 meters Centerline goodness [0,1] 0.9169727205179917 Centerline is valid? [True, False] Translation: X:259.52, Y:14.51, Z:-0.20 [[ 9.99997578e-01 8.96990355e-05 2.19910842e-03 2.59518605e+02] [-8.95758668e-05 9.99999994e-01 -5.61068637e-05 1.45073632e+01] [-2.19911344e-03 5.59097408e-05 9.99997580e-01 -2.04176398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.341400513 meters Centerline goodness [0,1] 0.957309766327142 Centerline is valid? [False, True] Translation: X:259.52, Y:14.51, Z:-0.20 [[ 9.99997274e-01 1.35102739e-04 2.33092459e-03 2.59517541e+02] [-1.35397758e-04 9.99999983e-01 1.26409984e-04 1.45065268e+01] [-2.33090747e-03 -1.26725241e-04 9.99997275e-01 -2.02915342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.371400513 meters Centerline goodness [0,1] 0.8547557566315969 Centerline is valid? [True, False] Translation: X:259.52, Y:14.50, Z:-0.20 [[ 9.99997369e-01 2.47359605e-04 2.28032774e-03 2.59517566e+02] [-2.48456954e-04 9.99999853e-01 4.80953709e-04 1.45048206e+01] [-2.28020843e-03 -4.81519007e-04 9.99997284e-01 -2.02656018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.401400513 meters Centerline goodness [0,1] 0.9939860320744957 Centerline is valid? [False, True] Translation: X:259.51, Y:14.51, Z:-0.20 [[ 9.99992673e-01 -2.09689161e-03 3.20250296e-03 2.59510963e+02] [ 2.10301840e-03 9.99995963e-01 -1.91095573e-03 1.45060957e+01] [-3.19848297e-03 1.91767665e-03 9.99993046e-01 -1.98500614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.431400513 meters Centerline goodness [0,1] 0.9792779184307384 Centerline is valid? [True, True] Translation: X:259.54, Y:14.51, Z:-0.20 [[ 9.99983867e-01 -4.53156250e-03 3.42488095e-03 2.59540566e+02] [ 4.53078484e-03 9.99989708e-01 2.34788537e-04 1.45104704e+01] [-3.42590966e-03 -2.19267351e-04 9.99994108e-01 -1.99476531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.461400513 meters Centerline goodness [0,1] 0.9961051399382782 Centerline is valid? [True, True] Translation: X:259.57, Y:14.51, Z:-0.20 [[ 9.99965568e-01 -7.24059820e-03 4.05417371e-03 2.59571206e+02] [ 7.23953050e-03 9.99973756e-01 2.77970430e-04 1.45075720e+01] [-4.05607998e-03 -2.48610545e-04 9.99991743e-01 -1.99128762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.49140051300003 meters Centerline goodness [0,1] 0.9987438523281313 Centerline is valid? [True, True] Translation: X:259.60, Y:14.50, Z:-0.20 [[ 9.99900315e-01 -1.32099649e-02 4.98573173e-03 2.59601284e+02] [ 1.32084243e-02 9.99912707e-01 3.41788860e-04 1.45035551e+01] [-4.98981153e-03 -2.75901129e-04 9.99987513e-01 -1.98363011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.521400513 meters Centerline goodness [0,1] 0.9997010591048856 Centerline is valid? [True, True] Translation: X:259.63, Y:14.49, Z:-0.20 [[ 9.99871044e-01 -1.55830461e-02 3.88136872e-03 2.59632489e+02] [ 1.55821301e-02 9.99878556e-01 2.66144226e-04 1.44945220e+01] [-3.88504469e-03 -2.05629913e-04 9.99992432e-01 -1.99872788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.551400513 meters Centerline goodness [0,1] 0.9996735084778965 Centerline is valid? [True, True] Translation: X:259.66, Y:14.49, Z:-0.20 [[ 9.99854408e-01 -1.69208918e-02 2.20150796e-03 2.59663811e+02] [ 1.69206000e-02 9.99856825e-01 1.51095218e-04 1.44937027e+01] [-2.20374943e-03 -1.13822384e-04 9.99997565e-01 -2.02239775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.581400513 meters Centerline goodness [0,1] 0.9998088319632957 Centerline is valid? [True, True] Translation: X:259.70, Y:14.49, Z:-0.20 [[ 9.99837864e-01 -1.77834912e-02 2.82708509e-03 2.59695227e+02] [ 1.77830138e-02 9.99841851e-01 1.93908646e-04 1.44918839e+01] [-2.83008637e-03 -1.43603113e-04 9.99995985e-01 -2.02178700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.611400513 meters Centerline goodness [0,1] 0.9996788077343097 Centerline is valid? [True, True] Translation: X:259.73, Y:14.49, Z:-0.20 [[ 9.99836579e-01 -1.77234992e-02 3.56271268e-03 2.59726844e+02] [ 1.77227412e-02 9.99842910e-01 2.44233795e-04 1.44898779e+01] [-3.56648169e-03 -1.81052848e-04 9.99993624e-01 -2.00561822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.641400513 meters Centerline goodness [0,1] 0.9997241262228636 Centerline is valid? [True, True] Translation: X:259.76, Y:14.50, Z:-0.20 [[ 9.99833739e-01 -1.76570553e-02 4.55226815e-03 2.59757778e+02] [ 1.76558175e-02 9.99844075e-01 3.11949786e-04 1.44969607e+01] [-4.55706646e-03 -2.31523905e-04 9.99989590e-01 -1.99463986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.671400513 meters Centerline goodness [0,1] 0.9995686401380351 Centerline is valid? [True, True] Translation: X:259.79, Y:14.50, Z:-0.20 [[ 9.99831735e-01 -1.77571111e-02 4.60281496e-03 2.59789595e+02] [ 1.77558473e-02 9.99842303e-01 3.15280142e-04 1.44987237e+01] [-4.60768758e-03 -2.33500212e-04 9.99989357e-01 -1.99324994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.701400513 meters Centerline goodness [0,1] 0.9999353197361045 Centerline is valid? [True, True] Translation: X:259.82, Y:14.49, Z:-0.20 [[ 9.99789098e-01 -2.01168833e-02 4.13175339e-03 2.59820987e+02] [ 2.01158865e-02 9.99797615e-01 2.82684019e-04 1.44855960e+01] [-4.13660390e-03 -1.99510519e-04 9.99991424e-01 -2.00547584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.731400513 meters Centerline goodness [0,1] 0.999809342230696 Centerline is valid? [True, True] Translation: X:259.85, Y:14.49, Z:-0.20 [[ 9.99738401e-01 -2.24924968e-02 4.14946726e-03 2.59850625e+02] [ 2.24915111e-02 9.99746994e-01 2.84075075e-04 1.44861707e+01] [-4.15480698e-03 -1.90672972e-04 9.99991351e-01 -2.01338037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.761400513 meters Centerline goodness [0,1] 0.999871503833469 Centerline is valid? [True, True] Translation: X:259.88, Y:14.48, Z:-0.20 [[ 9.99659467e-01 -2.57582744e-02 4.17878492e-03 2.59882310e+02] [ 2.57573045e-02 9.99668185e-01 2.85756134e-04 1.44817069e+01] [-4.18475892e-03 -1.78024589e-04 9.99991228e-01 -2.01539470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.791400513 meters Centerline goodness [0,1] 0.9998282561559434 Centerline is valid? [True, True] Translation: X:259.91, Y:14.48, Z:-0.20 [[ 9.99554308e-01 -2.95265625e-02 4.40074757e-03 2.59912033e+02] [ 2.95255238e-02 9.99563981e-01 3.00835195e-04 1.44795025e+01] [-4.40771139e-03 -1.70766738e-04 9.99990271e-01 -2.01459740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.821400513 meters Centerline goodness [0,1] 0.9998917256761731 Centerline is valid? [True, True] Translation: X:259.94, Y:14.46, Z:-0.20 [[ 9.99299222e-01 -3.72901672e-02 3.24176677e-03 2.59943583e+02] [ 3.72896443e-02 9.99304475e-01 2.21618663e-04 1.44634579e+01] [-3.24777623e-03 -1.00579028e-04 9.99994721e-01 -2.01790029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.851400513 meters Centerline goodness [0,1] 0.9999349635796045 Centerline is valid? [True, True] Translation: X:259.97, Y:14.46, Z:-0.20 [[ 9.99153018e-01 -4.10434155e-02 2.94702580e-03 2.59972708e+02] [ 4.10430002e-02 9.99157361e-01 2.01266168e-04 1.44593581e+01] [-2.95280318e-03 -8.01409188e-05 9.99995637e-01 -2.02154627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.881400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.00, Y:14.46, Z:-0.20 [[ 9.99003200e-01 -4.44829021e-02 3.72539935e-03 2.60002248e+02] [ 4.44822614e-02 9.99010142e-01 2.54690383e-04 1.44554925e+01] [-3.73304110e-03 -8.87223195e-05 9.99993028e-01 -2.01764637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.911400513 meters Centerline goodness [0,1] 0.9999358768836165 Centerline is valid? [True, True] Translation: X:260.03, Y:14.45, Z:-0.20 [[ 9.98884846e-01 -4.70274389e-02 4.18137043e-03 2.60030889e+02] [ 4.70266538e-02 9.98893594e-01 2.85936476e-04 1.44547510e+01] [-4.19019100e-03 -8.89817530e-05 9.99991217e-01 -2.01488287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.941400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.06, Y:14.45, Z:-0.20 [[ 9.98772404e-01 -4.92562155e-02 5.24493523e-03 2.60059985e+02] [ 4.92550114e-02 9.98786171e-01 3.58567091e-04 1.44487979e+01] [-5.25623043e-03 -9.97875708e-05 9.99986181e-01 -1.99999176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.971400513 meters Centerline goodness [0,1] 0.9999139562897952 Centerline is valid? [True, True] Translation: X:260.09, Y:14.44, Z:-0.20 [[ 9.98698157e-01 -5.07249541e-02 5.38240617e-03 2.60089398e+02] [ 5.07237023e-02 9.98712656e-01 3.68905730e-04 1.44432565e+01] [-5.39418989e-03 -9.54099043e-05 9.99985447e-01 -2.00088524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.001400513 meters Centerline goodness [0,1] 0.9999145463479245 Centerline is valid? [True, True] Translation: X:260.12, Y:14.44, Z:-0.20 [[ 9.98721132e-01 -5.02945719e-02 5.15337868e-03 2.60117696e+02] [ 5.02934125e-02 9.98734423e-01 3.54409804e-04 1.44448057e+01] [-5.16468157e-03 -9.47755610e-05 9.99986658e-01 -2.01323772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.031400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.15, Y:14.44, Z:-0.20 [[ 9.98743592e-01 -4.98991143e-02 4.61686180e-03 2.60146847e+02] [ 4.98981810e-02 9.98754260e-01 3.17187731e-04 1.44405867e+01] [-4.62693777e-03 -8.64162081e-05 9.99989292e-01 -2.02348773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.061400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.18, Y:14.44, Z:-0.20 [[ 9.98814460e-01 -4.85406522e-02 3.67142206e-03 2.60175528e+02] [ 4.85400517e-02 9.98821205e-01 2.52551167e-04 1.44388992e+01] [-3.67935320e-03 -7.40407408e-05 9.99993228e-01 -2.03605948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.091400513 meters Centerline goodness [0,1] 0.999871948096295 Centerline is valid? [True, True] Translation: X:260.20, Y:14.45, Z:-0.20 [[ 9.99129856e-01 -4.15705711e-02 3.37905142e-03 2.60204537e+02] [ 4.15700183e-02 9.99135566e-01 2.33692227e-04 1.44479921e+01] [-3.38584517e-03 -9.30216519e-05 9.99994264e-01 -2.04205903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.121400513 meters Centerline goodness [0,1] 0.9999355420910145 Centerline is valid? [True, True] Translation: X:260.23, Y:14.45, Z:-0.20 [[ 9.99307277e-01 -3.70055895e-02 3.94366619e-03 2.60234043e+02] [ 3.70048008e-02 9.99315051e-01 2.72790981e-04 1.44538429e+01] [-3.95105976e-03 -1.26667431e-04 9.99992187e-01 -2.03205279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.151400513 meters Centerline goodness [0,1] 0.9998496757290727 Centerline is valid? [True, True] Translation: X:260.26, Y:14.46, Z:-0.20 [[ 9.99488664e-01 -3.17728865e-02 3.59081509e-03 2.60263510e+02] [ 3.17721986e-02 9.99495105e-01 2.48455573e-04 1.44616618e+01] [-3.59689626e-03 -1.34240438e-04 9.99993522e-01 -2.04017949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.181400513 meters Centerline goodness [0,1] 0.9999351351351351 Centerline is valid? [True, True] Translation: X:260.29, Y:14.47, Z:-0.21 [[ 9.99716507e-01 -2.37319849e-02 1.92324300e-03 2.60293287e+02] [ 2.37317728e-02 9.99718353e-01 1.33046810e-04 1.44730862e+01] [-1.92585878e-03 -8.73671259e-05 9.99998142e-01 -2.06501235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.211400513 meters Centerline goodness [0,1] 0.9997212453898277 Centerline is valid? [True, True] Translation: X:260.32, Y:14.48, Z:-0.21 [[ 9.99771631e-01 -2.12880315e-02 1.87229050e-03 2.60321857e+02] [ 2.12878263e-02 9.99773380e-01 1.29426829e-04 1.44809331e+01] [-1.87462144e-03 -8.95402769e-05 9.99998239e-01 -2.07153524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.24140051300003 meters Centerline goodness [0,1] 0.9996387436780144 Centerline is valid? [True, True] Translation: X:260.35, Y:14.49, Z:-0.21 [[ 9.99784378e-01 -2.06229268e-02 2.42733891e-03 2.60351273e+02] [ 2.06225796e-02 9.99787318e-01 1.67980152e-04 1.44877154e+01] [-2.43028690e-03 -1.17885942e-04 9.99997040e-01 -2.06951272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.271400513 meters Centerline goodness [0,1] 0.9998495949807696 Centerline is valid? [True, True] Translation: X:260.38, Y:14.49, Z:-0.21 [[ 9.99767726e-01 -2.14009626e-02 2.54827517e-03 2.60381634e+02] [ 2.14005822e-02 9.99770966e-01 1.76449375e-04 1.44874513e+01] [-2.55146771e-03 -1.21873818e-04 9.99996738e-01 -2.07041738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.301400513 meters Centerline goodness [0,1] 0.9997005731884678 Centerline is valid? [True, True] Translation: X:260.41, Y:14.49, Z:-0.21 [[ 9.99626790e-01 -2.72121492e-02 2.40397876e-03 2.60410900e+02] [ 2.72118276e-02 9.99629676e-01 1.66385645e-04 1.44896348e+01] [-2.40761622e-03 -1.00906893e-04 9.99997097e-01 -2.09215589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.331400513 meters Centerline goodness [0,1] 0.9997204180824981 Centerline is valid? [True, True] Translation: X:260.44, Y:14.48, Z:-0.21 [[ 9.99504209e-01 -3.13907811e-02 2.44034018e-03 2.60441597e+02] [ 3.13904619e-02 9.99507184e-01 1.68994555e-04 1.44844184e+01] [-2.44444241e-03 -9.23073633e-05 9.99997008e-01 -2.09262255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.361400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.47, Y:14.48, Z:-0.21 [[ 9.99358778e-01 -3.55784089e-02 4.02618659e-03 2.60472643e+02] [ 3.55775740e-02 9.99366879e-01 2.78823702e-04 1.44775451e+01] [-4.03355763e-03 -1.35402962e-04 9.99991856e-01 -2.06407475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.391400513 meters Centerline goodness [0,1] 0.9999561643835616 Centerline is valid? [True, True] Translation: X:260.50, Y:14.47, Z:-0.20 [[ 9.99239468e-01 -3.86577899e-02 5.10495088e-03 2.60503303e+02] [ 3.86564877e-02 9.99252496e-01 3.53545571e-04 1.44737925e+01] [-5.11480220e-03 -1.55937217e-04 9.99986907e-01 -2.04269842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.421400513 meters Centerline goodness [0,1] 0.9999571514268575 Centerline is valid? [True, True] Translation: X:260.53, Y:14.48, Z:-0.20 [[ 9.99149569e-01 -4.08096325e-02 5.89175013e-03 2.60532429e+02] [ 4.08079348e-02 9.99166926e-01 4.08124626e-04 1.44769711e+01] [-5.90349728e-03 -1.67347389e-04 9.99982560e-01 -2.02418067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.451400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.56, Y:14.48, Z:-0.20 [[ 9.99172175e-01 -4.03484313e-02 5.19312719e-03 2.60562943e+02] [ 4.03471057e-02 9.99185659e-01 3.59819105e-04 1.44792206e+01] [-5.20341635e-03 -1.49993587e-04 9.99986451e-01 -2.03458522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.481400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.59, Y:14.48, Z:-0.21 [[ 9.99218504e-01 -3.92926512e-02 4.29746611e-03 2.60593690e+02] [ 3.92917336e-02 9.99227737e-01 2.97760936e-04 1.44822783e+01] [-4.30584716e-03 -1.28673343e-04 9.99990722e-01 -2.05059988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.511400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.62, Y:14.48, Z:-0.21 [[ 9.99274213e-01 -3.79318167e-02 3.49631255e-03 2.60623591e+02] [ 3.79312015e-02 9.99280324e-01 2.42136939e-04 1.44841302e+01] [-3.50298103e-03 -1.09341863e-04 9.99993859e-01 -2.06391011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.541400513 meters Centerline goodness [0,1] 0.9999568733153639 Centerline is valid? [True, True] Translation: X:260.65, Y:14.49, Z:-0.21 [[ 9.99331576e-01 -3.63664746e-02 3.72569801e-03 2.60652426e+02] [ 3.63657649e-02 9.99338513e-01 2.58075403e-04 1.44885947e+01] [-3.73261880e-03 -1.22415042e-04 9.99993026e-01 -2.07017414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.571400513 meters Centerline goodness [0,1] 0.9999360177444122 Centerline is valid? [True, True] Translation: X:260.68, Y:14.50, Z:-0.20 [[ 9.99446511e-01 -3.27325853e-02 5.93712900e-03 2.60681007e+02] [ 3.27307163e-02 9.99464122e-01 4.11721420e-04 1.44982863e+01] [-5.94742413e-03 -2.17167052e-04 9.99982290e-01 -2.04574606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.601400513 meters Centerline goodness [0,1] 0.9998918918918919 Centerline is valid? [True, True] Translation: X:260.71, Y:14.50, Z:-0.20 [[ 9.99487273e-01 -3.12807692e-02 6.83412284e-03 2.60712240e+02] [ 3.12782581e-02 9.99510603e-01 4.74031548e-04 1.44979180e+01] [-6.84560632e-03 -2.60029041e-04 9.99976535e-01 -2.03114204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.631400513 meters Centerline goodness [0,1] 0.9998520240989325 Centerline is valid? [True, True] Translation: X:260.74, Y:14.51, Z:-0.20 [[ 9.99522360e-01 -3.00636241e-02 7.15754616e-03 2.60741712e+02] [ 3.00608396e-02 9.99547948e-01 4.96317609e-04 1.45061166e+01] [-7.16923168e-03 -2.80918701e-04 9.99974261e-01 -2.03324747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.661400513 meters Centerline goodness [0,1] 0.9999145536496272 Centerline is valid? [True, True] Translation: X:260.77, Y:14.51, Z:-0.21 [[ 9.99557729e-01 -2.92558146e-02 5.33320942e-03 2.60774020e+02] [ 2.92542585e-02 9.99571934e-01 3.69583438e-04 1.45052003e+01] [-5.34173892e-03 -2.13400896e-04 9.99985710e-01 -2.07035807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.691400513 meters Centerline goodness [0,1] 0.9999786388687145 Centerline is valid? [True, True] Translation: X:260.81, Y:14.50, Z:-0.21 [[ 9.99581964e-01 -2.84105540e-02 5.36082701e-03 2.60805545e+02] [ 2.84089712e-02 9.99596315e-01 3.71191474e-04 1.45008024e+01] [-5.36920868e-03 -2.18740723e-04 9.99985562e-01 -2.06819163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.721400513 meters Centerline goodness [0,1] 0.9999786388687145 Centerline is valid? [True, True] Translation: X:260.84, Y:14.50, Z:-0.21 [[ 9.99582633e-01 -2.83869928e-02 5.36083577e-03 2.60836332e+02] [ 2.83854103e-02 9.99596984e-01 3.71064891e-04 1.45028928e+01] [-5.36920868e-03 -2.18740498e-04 9.99985562e-01 -2.07068671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.751400513 meters Centerline goodness [0,1] 0.9998091076844762 Centerline is valid? [True, True] Translation: X:260.87, Y:14.51, Z:-0.21 [[ 9.99619396e-01 -2.69251552e-02 6.00829213e-03 2.60865795e+02] [ 2.69231421e-02 9.99637420e-01 4.15690503e-04 1.45128107e+01] [-6.01730618e-03 -2.53770186e-04 9.99981864e-01 -2.06820916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.781400513 meters Centerline goodness [0,1] 0.9997666970667458 Centerline is valid? [True, True] Translation: X:260.90, Y:14.51, Z:-0.21 [[ 9.99655901e-01 -2.54083128e-02 6.51895062e-03 2.60897225e+02] [ 2.54059112e-02 9.99677116e-01 4.50952812e-04 1.45087446e+01] [-6.52830371e-03 -2.85177759e-04 9.99978650e-01 -2.05874326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.811400513 meters Centerline goodness [0,1] 0.999744914227409 Centerline is valid? [True, True] Translation: X:260.93, Y:14.51, Z:-0.21 [[ 9.99734170e-01 -2.23282703e-02 5.74785163e-03 2.60928288e+02] [ 2.23263533e-02 9.99750657e-01 3.97477159e-04 1.45082574e+01] [-5.75529342e-03 -2.69042932e-04 9.99983402e-01 -2.07741300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.841400513 meters Centerline goodness [0,1] 0.9999137540697298 Centerline is valid? [True, True] Translation: X:260.96, Y:14.51, Z:-0.21 [[ 9.99777654e-01 -2.04124471e-02 5.28908146e-03 2.60959872e+02] [ 2.04107973e-02 9.99791611e-01 3.65732927e-04 1.45068420e+01] [-5.29544478e-03 -2.57697238e-04 9.99985946e-01 -2.09099954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.871400513 meters Centerline goodness [0,1] 0.9996823110809895 Centerline is valid? [True, True] Translation: X:260.99, Y:14.51, Z:-0.21 [[ 9.99820943e-01 -1.79990162e-02 5.84105537e-03 2.60989800e+02] [ 1.79969639e-02 9.99837960e-01 4.03732918e-04 1.45147892e+01] [-5.84737568e-03 -2.98539365e-04 9.99982859e-01 -2.08953311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.901400513 meters Centerline goodness [0,1] 0.9997642217173233 Centerline is valid? [True, True] Translation: X:261.02, Y:14.52, Z:-0.21 [[ 9.99865179e-01 -1.52172799e-02 6.16906814e-03 2.61020978e+02] [ 1.52149387e-02 9.99884155e-01 4.26271648e-04 1.45171041e+01] [-6.17484018e-03 -3.32352184e-04 9.99980880e-01 -2.08241571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.931400513 meters Centerline goodness [0,1] 0.9996792404413651 Centerline is valid? [True, True] Translation: X:261.05, Y:14.52, Z:-0.21 [[ 9.99912430e-01 -1.16895108e-02 6.20385182e-03 2.61052014e+02] [ 1.16870759e-02 9.99931612e-01 4.28590309e-04 1.45179024e+01] [-6.20843756e-03 -3.56047890e-04 9.99980664e-01 -2.07916852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.961400513 meters Centerline goodness [0,1] 0.99119026896215 Centerline is valid? [True, True] Translation: X:261.08, Y:14.53, Z:-0.21 [[ 9.99981004e-01 -4.61905815e-03 4.08106882e-03 2.61080713e+02] [ 4.61794589e-03 9.99989297e-01 2.81921704e-04 1.45313576e+01] [-4.08232735e-03 -2.63070194e-04 9.99991633e-01 -2.12033436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.99140051300003 meters Centerline goodness [0,1] 0.9923211095039565 Centerline is valid? [True, True] Translation: X:261.11, Y:14.53, Z:-0.22 [[ 9.99995770e-01 -1.62000880e-03 2.41586122e-03 2.61111105e+02] [ 1.61961028e-03 9.99998675e-01 1.66907529e-04 1.45301681e+01] [-2.41612841e-03 -1.62994069e-04 9.99997068e-01 -2.15475174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.021400513 meters Centerline goodness [0,1] 0.8627333831217326 Centerline is valid? [True, False] Translation: X:261.11, Y:14.53, Z:-0.22 [[ 9.99996114e-01 -1.45436397e-03 2.37859476e-03 2.61111460e+02] [ 1.45317185e-03 9.99998818e-01 5.02836182e-04 1.45285938e+01] [-2.37932326e-03 -4.99377720e-04 9.99997045e-01 -2.15946950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.051400513 meters Centerline goodness [0,1] 0.99554718273677 Centerline is valid? [False, True] Translation: X:261.11, Y:14.53, Z:-0.22 [[ 9.99996364e-01 -1.20881872e-03 2.41059584e-03 2.61111276e+02] [ 1.20627270e-03 9.99998713e-01 1.05735295e-03 1.45260047e+01] [-2.41187089e-03 -1.05444127e-03 9.99996536e-01 -2.15770576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.081400513 meters Centerline goodness [0,1] 0.9764518187619655 Centerline is valid? [True, True] Translation: X:261.14, Y:14.53, Z:-0.21 [[ 9.99987566e-01 -2.95227450e-03 4.01892277e-03 2.61140528e+02] [ 2.95117486e-03 9.99995606e-01 2.79520521e-04 1.45290921e+01] [-4.01973034e-03 -2.67656501e-04 9.99991885e-01 -2.13851568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.111400513 meters Centerline goodness [0,1] 0.9837838995758537 Centerline is valid? [True, True] Translation: X:261.17, Y:14.53, Z:-0.21 [[ 9.99984743e-01 -4.10959739e-03 3.69111204e-03 2.61172428e+02] [ 4.10867841e-03 9.99991526e-01 2.56517609e-04 1.45258809e+01] [-3.69213495e-03 -2.41348103e-04 9.99993155e-01 -2.13960672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.141400513 meters Centerline goodness [0,1] 0.9852718630773494 Centerline is valid? [True, True] Translation: X:261.20, Y:14.52, Z:-0.22 [[ 9.99985153e-01 -4.52214918e-03 3.04045857e-03 2.61204927e+02] [ 4.52152749e-03 9.99989756e-01 2.11316677e-04 1.45231418e+01] [-3.04138302e-03 -1.97566023e-04 9.99995355e-01 -2.15338099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.171400513 meters Centerline goodness [0,1] 0.9709008204735791 Centerline is valid? [True, True] Translation: X:261.24, Y:14.53, Z:-0.22 [[ 9.99988757e-01 -4.22471596e-03 2.15328940e-03 2.61235463e+02] [ 4.22440374e-03 9.99991066e-01 1.49524126e-04 1.45250925e+01] [-2.15390186e-03 -1.40426081e-04 9.99997670e-01 -2.17434450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.201400513 meters Centerline goodness [0,1] 0.9424499329555777 Centerline is valid? [True, False] Translation: X:261.20, Y:14.52, Z:-0.22 [[ 9.99997895e-01 -1.77314853e-03 -1.03291916e-03 2.61195879e+02] [ 1.77790296e-03 9.99987746e-01 4.62031483e-03 1.45172717e+01] [ 1.02471400e-03 -4.62214153e-03 9.99988793e-01 -2.17822119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.231400513 meters Centerline goodness [0,1] 0.9180589549856337 Centerline is valid? [False, False] Translation: X:261.24, Y:14.53, Z:-0.22 [[ 9.99997976e-01 -1.66222000e-03 1.13402433e-03 2.61236710e+02] [ 1.66081892e-03 9.99997858e-01 1.23532030e-03 1.45250071e+01] [-1.13607528e-03 -1.23343439e-03 9.99998594e-01 -2.18795759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.261400513 meters Centerline goodness [0,1] 0.9284523300555794 Centerline is valid? [False, False] Translation: X:261.24, Y:14.53, Z:-0.22 [[ 9.99997591e-01 -1.71810781e-03 1.36616189e-03 2.61235677e+02] [ 1.71680695e-03 9.99998072e-01 9.52801927e-04 1.45264719e+01] [-1.36779627e-03 -9.50454196e-04 9.99998613e-01 -2.18274623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.291400513 meters Centerline goodness [0,1] 0.8291243654822336 Centerline is valid? [False, False] Translation: X:261.27, Y:14.53, Z:-0.22 [[ 9.99988398e-01 -1.06331176e-03 4.69819497e-03 2.61274129e+02] [ 1.06697713e-03 9.99999128e-01 -7.77727310e-04 1.45324141e+01] [-4.69736391e-03 7.82731154e-04 9.99988661e-01 -2.17726988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.321400513 meters Centerline goodness [0,1] 0.9526143094558316 Centerline is valid? [False, True] Translation: X:261.27, Y:14.53, Z:-0.22 [[ 9.99987502e-01 -1.18373978e-03 4.85734908e-03 2.61273418e+02] [ 1.18898297e-03 9.99998714e-01 -1.07668808e-03 1.45338632e+01] [-4.85606831e-03 1.08244993e-03 9.99987623e-01 -2.17423785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.351400513 meters Centerline goodness [0,1] 0.7037527872438891 Centerline is valid? [True, False] Translation: X:261.32, Y:14.54, Z:-0.22 [[ 9.99977775e-01 -6.88769477e-04 6.63135848e-03 2.61317228e+02] [ 7.00608176e-04 9.99998165e-01 -1.78310247e-03 1.45370893e+01] [-6.63011816e-03 1.78770882e-03 9.99976423e-01 -2.19500269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.381400513 meters Centerline goodness [0,1] 0.5437301082113304 Centerline is valid? [False, False] Translation: X:261.29, Y:14.53, Z:-0.21 [[ 9.99997238e-01 -2.05965478e-03 1.13182726e-03 2.61294375e+02] [ 2.05024673e-03 9.99963854e-01 8.25148932e-03 1.45277552e+01] [-1.14878157e-03 -8.24914601e-03 9.99965315e-01 -2.12705996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.411400513 meters Centerline goodness [0,1] 0.9819416445623342 Centerline is valid? [False, True] Translation: X:261.29, Y:14.53, Z:-0.21 [[ 9.99997179e-01 -2.11578797e-03 1.07948655e-03 2.61294580e+02] [ 2.10685393e-03 9.99964067e-01 8.21127282e-03 1.45278782e+01] [-1.09682107e-03 -8.20897534e-03 9.99965704e-01 -2.12772713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.441400513 meters Centerline goodness [0,1] 0.9420311595911107 Centerline is valid? [True, False] Translation: X:261.29, Y:14.53, Z:-0.21 [[ 9.99975035e-01 -6.89897006e-03 1.52762237e-03 2.61293239e+02] [ 6.89523887e-03 9.99973264e-01 2.43442393e-03 1.45349333e+01] [-1.54437654e-03 -2.42382984e-03 9.99995870e-01 -2.12988784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.471400513 meters Centerline goodness [0,1] 0.946048730179193 Centerline is valid? [False, False] Translation: X:261.29, Y:14.54, Z:-0.21 [[ 9.99973645e-01 -7.04085152e-03 1.77103022e-03 2.61291654e+02] [ 7.03673673e-03 9.99972553e-01 2.31898584e-03 1.45355182e+01] [-1.78730925e-03 -2.30646245e-03 9.99995743e-01 -2.11363936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.501400513 meters Centerline goodness [0,1] 0.9854525287429876 Centerline is valid? [False, True] Translation: X:261.29, Y:14.54, Z:-0.21 [[ 9.99973488e-01 -7.05267391e-03 1.81186152e-03 2.61291162e+02] [ 7.04842867e-03 9.99972424e-01 2.33882466e-03 1.45354531e+01] [-1.82830652e-03 -2.32599188e-03 9.99995624e-01 -2.10653535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.531400513 meters Centerline goodness [0,1] 0.981935127791458 Centerline is valid? [True, True] Translation: X:261.32, Y:14.54, Z:-0.21 [[ 9.99969794e-01 -7.56367031e-03 1.78925761e-03 2.61321534e+02] [ 7.56345158e-03 9.99971388e-01 1.28981667e-04 1.45410572e+01] [-1.79018200e-03 -1.15444808e-04 9.99998391e-01 -2.10875455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.561400513 meters Centerline goodness [0,1] 0.998316964571039 Centerline is valid? [True, True] Translation: X:261.35, Y:14.54, Z:-0.21 [[ 9.99969807e-01 -7.70107811e-03 1.03878080e-03 2.61353356e+02] [ 7.70100445e-03 9.99970344e-01 7.48988990e-05 1.45359412e+01] [-1.03932680e-03 -6.68969820e-05 9.99999458e-01 -2.12386608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.591400513 meters Centerline goodness [0,1] 0.9866184216160665 Centerline is valid? [True, True] Translation: X:261.38, Y:14.55, Z:-0.21 [[ 9.99975862e-01 -6.94790080e-03 -3.40565416e-05 2.61382726e+02] [ 6.94790072e-03 9.99975863e-01 -2.38539910e-06 1.45476280e+01] [ 3.40722931e-05 2.14872005e-06 9.99999999e-01 -2.14945921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.621400513 meters Centerline goodness [0,1] 0.9988415497490024 Centerline is valid? [True, True] Translation: X:261.41, Y:14.54, Z:-0.22 [[ 9.99977836e-01 -6.63798932e-03 -5.15211588e-04 2.61412605e+02] [ 6.63797104e-03 9.99977968e-01 -3.71747881e-05 1.45423597e+01] [ 5.15447003e-04 3.37540046e-05 9.99999867e-01 -2.15816439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.651400513 meters Centerline goodness [0,1] 0.9857929773070461 Centerline is valid? [True, True] Translation: X:261.44, Y:14.55, Z:-0.22 [[ 9.99977094e-01 -6.71518624e-03 -8.46765645e-04 2.61441292e+02] [ 6.71513695e-03 9.99977451e-01 -6.10425486e-05 1.45525344e+01] [ 8.47156464e-04 5.53550031e-05 9.99999640e-01 -2.16976896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.681400513 meters Centerline goodness [0,1] 0.9985499718651257 Centerline is valid? [True, True] Translation: X:261.47, Y:14.54, Z:-0.22 [[ 9.99966088e-01 -7.79770303e-03 -2.64934185e-03 2.61471872e+02] [ 7.79722419e-03 9.99969583e-01 -1.91019824e-04 1.45433509e+01] [ 2.65075078e-03 1.70355834e-04 9.99996472e-01 -2.19248845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.711400513 meters Centerline goodness [0,1] 0.965327497928573 Centerline is valid? [True, True] Translation: X:261.50, Y:14.56, Z:-0.22 [[ 9.99958592e-01 -8.45758613e-03 -3.35915843e-03 2.61498465e+02] [ 8.45681914e-03 9.99964211e-01 -2.42466562e-04 1.45574599e+01] [ 3.36108890e-03 2.14048727e-04 9.99994329e-01 -2.21623681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.74140051300003 meters Centerline goodness [0,1] 0.9847586608316985 Centerline is valid? [True, True] Translation: X:261.53, Y:14.55, Z:-0.22 [[ 9.99946374e-01 -9.54174562e-03 -4.02552915e-03 2.61527621e+02] [ 9.54065241e-03 9.99954445e-01 -2.90684863e-04 1.45536461e+01] [ 4.02811941e-03 2.52263101e-04 9.99991855e-01 -2.22324307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.771400513 meters Centerline goodness [0,1] 0.98641073551894 Centerline is valid? [True, True] Translation: X:261.56, Y:14.55, Z:-0.22 [[ 9.99933227e-01 -1.08649467e-02 -3.93626937e-03 2.61556084e+02] [ 1.08639112e-02 9.99940946e-01 -2.84346926e-04 1.45537147e+01] [ 3.93912633e-03 2.41564658e-04 9.99992212e-01 -2.22282450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.801400513 meters Centerline goodness [0,1] 0.9988048488987536 Centerline is valid? [True, True] Translation: X:261.59, Y:14.54, Z:-0.22 [[ 9.99912873e-01 -1.25947628e-02 -3.95203263e-03 2.61586535e+02] [ 1.25937322e-02 9.99920655e-01 -2.85552507e-04 1.45444623e+01] [ 3.95531553e-03 2.35756788e-04 9.99992150e-01 -2.21353459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.831400513 meters Centerline goodness [0,1] 0.995308985755596 Centerline is valid? [True, True] Translation: X:261.62, Y:14.54, Z:-0.22 [[ 9.99867207e-01 -1.55278295e-02 -4.94512559e-03 2.61615777e+02] [ 1.55262515e-02 9.99879397e-01 -3.57343978e-04 1.45438031e+01] [ 4.95007797e-03 2.80517261e-04 9.99987709e-01 -2.22976868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.861400513 meters Centerline goodness [0,1] 0.99639858500618 Centerline is valid? [True, True] Translation: X:261.65, Y:14.54, Z:-0.22 [[ 9.99850563e-01 -1.63927570e-02 -5.48893736e-03 2.61645142e+02] [ 1.63908190e-02 9.99865582e-01 -3.97866706e-04 1.45417117e+01] [ 5.49472169e-03 3.07839071e-04 9.99984857e-01 -2.23788417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.891400513 meters Centerline goodness [0,1] 0.9963887276713742 Centerline is valid? [True, True] Translation: X:261.67, Y:14.54, Z:-0.23 [[ 9.99843824e-01 -1.66419502e-02 -5.94759277e-03 2.61672879e+02] [ 1.66396726e-02 9.99861458e-01 -4.32228084e-04 1.45410897e+01] [ 5.95396189e-03 3.33194584e-04 9.99982220e-01 -2.25029637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.921400513 meters Centerline goodness [0,1] 0.990969734668926 Centerline is valid? [True, True] Translation: X:261.70, Y:14.54, Z:-0.23 [[ 9.99846307e-01 -1.64528291e-02 -6.05529398e-03 2.61700119e+02] [ 1.64504625e-02 9.99864585e-01 -4.40441579e-04 1.45431862e+01] [ 6.06172051e-03 3.40761500e-04 9.99981570e-01 -2.26233776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.951400513 meters Centerline goodness [0,1] 0.9803484645911589 Centerline is valid? [True, True] Translation: X:261.73, Y:14.55, Z:-0.23 [[ 9.99853841e-01 -1.61159958e-02 -5.70706979e-03 2.61727565e+02] [ 1.61138868e-02 9.99870077e-01 -4.15343965e-04 1.45466484e+01] [ 5.71302199e-03 3.23320182e-04 9.99983628e-01 -2.26407336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.981400513 meters Centerline goodness [0,1] 0.9960697197539303 Centerline is valid? [True, True] Translation: X:261.76, Y:14.54, Z:-0.22 [[ 9.99867172e-01 -1.57659302e-02 -4.13212556e-03 2.61756889e+02] [ 1.57648177e-02 9.99875682e-01 -3.01670107e-04 1.45393246e+01] [ 4.13636798e-03 2.36487831e-04 9.99991417e-01 -2.23371062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.011400513 meters Centerline goodness [0,1] 0.9975461431772111 Centerline is valid? [True, True] Translation: X:261.79, Y:14.54, Z:-0.22 [[ 9.99874371e-01 -1.54820254e-02 -3.39838917e-03 2.61786284e+02] [ 1.54812692e-02 9.99880127e-01 -2.48717882e-04 1.45363520e+01] [ 3.40183245e-03 1.96075258e-04 9.99994195e-01 -2.21540784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.041400513 meters Centerline goodness [0,1] 0.9985829611817245 Centerline is valid? [True, True] Translation: X:261.82, Y:14.53, Z:-0.22 [[ 9.99885175e-01 -1.48515708e-02 -3.01110800e-03 2.61815045e+02] [ 1.48509743e-02 9.99889694e-01 -2.20344028e-04 1.45319965e+01] [ 3.01404831e-03 1.75600839e-04 9.99995442e-01 -2.20262640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.071400513 meters Centerline goodness [0,1] 0.9995668464254002 Centerline is valid? [True, True] Translation: X:261.84, Y:14.53, Z:-0.22 [[ 9.99896571e-01 -1.40636357e-02 -3.01029213e-03 2.61843820e+02] [ 1.40630355e-02 9.99901086e-01 -2.20468029e-04 1.45255170e+01] [ 3.01309496e-03 1.78111381e-04 9.99995445e-01 -2.19513216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.101400513 meters Centerline goodness [0,1] 0.9938549861790347 Centerline is valid? [True, True] Translation: X:261.87, Y:14.53, Z:-0.22 [[ 9.99937924e-01 -1.11139587e-02 -7.92344610e-04 2.61873137e+02] [ 1.11139161e-02 9.99938237e-01 -5.80452471e-05 1.45330541e+01] [ 7.92940785e-04 4.92355924e-05 9.99999684e-01 -2.17951898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.131400513 meters Centerline goodness [0,1] 0.9933659366361897 Centerline is valid? [True, True] Translation: X:261.90, Y:14.53, Z:-0.22 [[ 9.99957496e-01 -9.20853664e-03 4.57531766e-04 2.61903814e+02] [ 9.20852227e-03 9.99957600e-01 3.34943225e-05 1.45341836e+01] [-4.57820800e-04 -2.92797074e-05 9.99999895e-01 -2.16476554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.161400513 meters Centerline goodness [0,1] 0.9736522868027326 Centerline is valid? [True, True] Translation: X:261.93, Y:14.53, Z:-0.21 [[ 9.99985985e-01 -4.95510610e-03 1.86467484e-03 2.61933495e+02] [ 4.95486015e-03 9.99987715e-01 1.36498083e-04 1.45349385e+01] [-1.86532829e-03 -1.27256967e-04 9.99998252e-01 -2.14990117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.191400513 meters Centerline goodness [0,1] 0.7595982332455619 Centerline is valid? [True, False] Translation: X:261.93, Y:14.53, Z:-0.21 [[ 9.99987262e-01 -4.68483065e-03 1.87835746e-03 2.61933443e+02] [ 4.68356255e-03 9.99988802e-01 6.78942679e-04 1.45324330e+01] [-1.88151715e-03 -6.70136626e-04 9.99998005e-01 -2.14925512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.221400513 meters Centerline goodness [0,1] 0.9666163109853401 Centerline is valid? [False, True] Translation: X:261.93, Y:14.53, Z:-0.21 [[ 9.99988676e-01 -4.40939260e-03 1.79021940e-03 2.61933773e+02] [ 4.40717366e-03 9.99989518e-01 1.24153911e-03 1.45297944e+01] [-1.79567507e-03 -1.23363524e-03 9.99997627e-01 -2.14950664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.251400513 meters Centerline goodness [0,1] 0.9029534967785834 Centerline is valid? [True, False] Translation: X:261.93, Y:14.53, Z:-0.22 [[ 9.99990026e-01 -4.14111850e-03 1.67292742e-03 2.61934393e+02] [ 4.13812437e-03 9.99989837e-01 1.78926535e-03 1.45272062e+01] [-1.68031998e-03 -1.78232472e-03 9.99997000e-01 -2.15356362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.281400513 meters Centerline goodness [0,1] 0.6159554730983303 Centerline is valid? [False, False] Translation: X:261.93, Y:14.52, Z:-0.22 [[ 9.99991164e-01 -3.90033260e-03 1.56811552e-03 2.61934907e+02] [ 3.89674588e-03 9.99989800e-01 2.28386823e-03 1.45248928e+01] [-1.57700737e-03 -2.27773750e-03 9.99996162e-01 -2.15643620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.311400513 meters Centerline goodness [0,1] 0.5089234556373745 Centerline is valid? [False, False] Translation: X:261.93, Y:14.52, Z:-0.22 [[ 9.99992769e-01 -3.42613677e-03 1.65050197e-03 2.61934749e+02] [ 3.42071893e-03 9.99988789e-01 3.27425648e-03 1.45202507e+01] [-1.66170152e-03 -3.26858690e-03 9.99993278e-01 -2.15818450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.341400513 meters Centerline goodness [0,1] 0.7293055850499044 Centerline is valid? [False, False] Translation: X:261.93, Y:14.52, Z:-0.22 [[ 9.99993397e-01 -3.19859189e-03 1.72497113e-03 2.61934418e+02] [ 3.19205255e-03 9.99987759e-01 3.78050573e-03 1.45178855e+01] [-1.73704231e-03 -3.77497457e-03 9.99991366e-01 -2.15644317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.371400513 meters Centerline goodness [0,1] 0.5834601081812035 Centerline is valid? [False, False] Translation: X:261.93, Y:14.52, Z:-0.22 [[ 9.99994130e-01 -2.95034857e-03 1.74239515e-03 2.61934207e+02] [ 2.94274947e-03 9.99986218e-01 4.34787694e-03 1.45152254e+01] [-1.75519889e-03 -4.34272398e-03 9.99989030e-01 -2.15339572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.401400513 meters Centerline goodness [0,1] 0.674125695288025 Centerline is valid? [False, False] Translation: X:261.93, Y:14.52, Z:-0.22 [[ 9.99971483e-01 -7.22572043e-03 2.19580172e-03 2.61933168e+02] [ 7.22717194e-03 9.99973670e-01 -6.53824973e-04 1.45188397e+01] [-2.19101955e-03 6.69675765e-04 9.99997375e-01 -2.16177131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.431400513 meters Centerline goodness [0,1] 0.83416549310801 Centerline is valid? [False, False] Translation: X:261.93, Y:14.52, Z:-0.22 [[ 9.99973867e-01 -6.91744849e-03 2.10122441e-03 2.61933562e+02] [ 6.91729519e-03 9.99976072e-01 8.02161208e-05 1.45153431e+01] [-2.10172903e-03 -6.56792349e-05 9.99997789e-01 -2.16297288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.461400513 meters Centerline goodness [0,1] 0.7994175541525839 Centerline is valid? [False, False] Translation: X:261.93, Y:14.51, Z:-0.22 [[ 9.99976255e-01 -6.61597144e-03 1.92846089e-03 2.61934243e+02] [ 6.61439539e-03 9.99977786e-01 8.22493257e-04 1.45117833e+01] [-1.93385964e-03 -8.09718123e-04 9.99997802e-01 -2.16475203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.49140051300003 meters Centerline goodness [0,1] 0.9183163025353799 Centerline is valid? [False, False] Translation: X:261.94, Y:14.51, Z:-0.22 [[ 9.99979766e-01 -6.15185643e-03 1.61943781e-03 2.61935382e+02] [ 6.14850207e-03 9.99978959e-01 2.06820350e-03 1.45057657e+01] [-1.63212703e-03 -2.05820453e-03 9.99996550e-01 -2.16661843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.521400513 meters Centerline goodness [0,1] 0.8645316015110998 Centerline is valid? [False, False] Translation: X:261.94, Y:14.50, Z:-0.22 [[ 9.99981293e-01 -5.92371250e-03 1.52417100e-03 2.61935648e+02] [ 5.91964585e-03 9.99978944e-01 2.65892656e-03 1.45029179e+01] [-1.53988963e-03 -2.64985426e-03 9.99995303e-01 -2.16562324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.551400513 meters Centerline goodness [0,1] 0.5722149020274578 Centerline is valid? [False, False] Translation: X:261.94, Y:14.50, Z:-0.22 [[ 9.99982589e-01 -5.71031043e-03 1.48777924e-03 2.61935745e+02] [ 5.70559186e-03 9.99978740e-01 3.15673020e-03 1.45005642e+01] [-1.50577352e-03 -3.14818658e-03 9.99993911e-01 -2.16487410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.581400513 meters Centerline goodness [0,1] 0.9523605609677764 Centerline is valid? [False, True] Translation: X:261.93, Y:14.50, Z:-0.22 [[ 9.99950386e-01 -9.72805640e-03 2.14257655e-03 2.61933974e+02] [ 9.73164077e-03 9.99951254e-01 -1.66890109e-03 1.45037890e+01] [-2.12623694e-03 1.68966908e-03 9.99996312e-01 -2.17127496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.611400513 meters Centerline goodness [0,1] 0.9523605609677764 Centerline is valid? [True, True] Translation: X:261.96, Y:14.50, Z:-0.22 [[ 9.99950567e-01 -9.74272257e-03 1.98561161e-03 2.61964083e+02] [ 9.74240500e-03 9.99952527e-01 1.69544405e-04 1.45048113e+01] [-1.98716917e-03 -1.50191391e-04 9.99998014e-01 -2.17064029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.641400513 meters Centerline goodness [0,1] 0.9425501401999187 Centerline is valid? [True, False] Translation: X:261.97, Y:14.50, Z:-0.22 [[ 9.99985171e-01 -5.22655873e-03 1.53010056e-03 2.61965034e+02] [ 5.21758106e-03 9.99969488e-01 5.81371653e-03 1.44980616e+01] [-1.56043961e-03 -5.80564689e-03 9.99981930e-01 -2.16049073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.671400513 meters Centerline goodness [0,1] 0.8899481732676435 Centerline is valid? [False, False] Translation: X:261.96, Y:14.50, Z:-0.22 [[ 9.99985361e-01 -5.16866377e-03 1.60085796e-03 2.61964811e+02] [ 5.15911714e-03 9.99969220e-01 5.91123941e-03 1.44976259e+01] [-1.63136190e-03 -5.90289386e-03 9.99981247e-01 -2.16077410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.701400513 meters Centerline goodness [0,1] 0.8648816005807871 Centerline is valid? [False, False] Translation: X:261.96, Y:14.50, Z:-0.22 [[ 9.99985720e-01 -5.09359388e-03 1.61713096e-03 2.61964802e+02] [ 5.08368065e-03 9.99968618e-01 6.07617280e-03 1.44968453e+01] [-1.64802977e-03 -6.06786506e-03 9.99980232e-01 -2.16155200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.731400513 meters Centerline goodness [0,1] 0.8503801188270619 Centerline is valid? [False, False] Translation: X:261.97, Y:14.50, Z:-0.22 [[ 9.99986093e-01 -5.02575845e-03 1.59890511e-03 2.61965078e+02] [ 5.01571681e-03 9.99968055e-01 6.22354124e-03 1.44960970e+01] [-1.63013204e-03 -6.21543503e-03 9.99979355e-01 -2.16567117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.761400513 meters Centerline goodness [0,1] 0.8691257885927642 Centerline is valid? [False, False] Translation: X:261.96, Y:14.50, Z:-0.22 [[ 9.99955334e-01 -9.21343827e-03 2.10780584e-03 2.61963953e+02] [ 9.21136230e-03 9.99957082e-01 9.92490485e-04 1.45012065e+01] [-2.11685962e-03 -9.73030391e-04 9.99997286e-01 -2.17698964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.791400513 meters Centerline goodness [0,1] 0.7931341574606137 Centerline is valid? [False, False] Translation: X:261.96, Y:14.50, Z:-0.22 [[ 9.99911518e-01 -1.30205171e-02 2.72456078e-03 2.61961989e+02] [ 1.30309025e-02 9.99907762e-01 -3.82936934e-03 1.45048721e+01] [-2.67444910e-03 3.86453400e-03 9.99988956e-01 -2.17857117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.821400513 meters Centerline goodness [0,1] 0.7032016826361299 Centerline is valid? [False, False] Translation: X:261.96, Y:14.50, Z:-0.22 [[ 9.99961682e-01 -8.39991952e-03 2.46496471e-03 2.61962102e+02] [ 8.39523464e-03 9.99962945e-01 1.90482004e-03 1.44979758e+01] [-2.48087370e-03 -1.88405310e-03 9.99995148e-01 -2.16483924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.851400513 meters Centerline goodness [0,1] 0.7848330914368651 Centerline is valid? [False, False] Translation: X:261.96, Y:14.50, Z:-0.22 [[ 9.99960689e-01 -8.49705071e-03 2.53393039e-03 2.61962026e+02] [ 8.49290350e-03 9.99962585e-01 1.64296325e-03 1.44992103e+01] [-2.54779592e-03 -1.62137824e-03 9.99995440e-01 -2.16802676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.881400513 meters Centerline goodness [0,1] 0.6207086081515305 Centerline is valid? [False, False] Translation: X:261.96, Y:14.50, Z:-0.22 [[ 9.99958041e-01 -8.77563533e-03 2.62754318e-03 2.61962057e+02] [ 8.77396657e-03 9.99961299e-01 6.45961019e-04 1.45040791e+01] [-2.63311021e-03 -6.22879940e-04 9.99996339e-01 -2.17622317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.911400513 meters Centerline goodness [0,1] 0.6314303904923599 Centerline is valid? [False, False] Translation: X:261.96, Y:14.51, Z:-0.22 [[ 9.99956520e-01 -8.93451425e-03 2.67082119e-03 2.61962016e+02] [ 8.93390865e-03 9.99960063e-01 2.38589988e-04 1.45059904e+01] [-2.67284621e-03 -2.14718741e-04 9.99996405e-01 -2.17860503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.941400513 meters Centerline goodness [0,1] 0.6238149008245095 Centerline is valid? [False, False] Translation: X:261.96, Y:14.51, Z:-0.22 [[ 9.99955642e-01 -9.02610501e-03 2.69119947e-03 2.61961938e+02] [ 9.02607704e-03 9.99959264e-01 2.25408299e-05 1.45070058e+01] [-2.69129330e-03 1.75114375e-06 9.99996378e-01 -2.17853995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.971400513 meters Centerline goodness [0,1] 0.841511453650182 Centerline is valid? [False, False] Translation: X:261.96, Y:14.51, Z:-0.22 [[ 9.99955467e-01 -9.05681163e-03 2.65278690e-03 2.61962037e+02] [ 9.05699331e-03 9.99958983e-01 -5.64786075e-05 1.45073736e+01] [-2.65216658e-03 8.05023655e-05 9.99996480e-01 -2.17815074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.001400513 meters Centerline goodness [0,1] 0.5724377141406878 Centerline is valid? [False, False] Translation: X:261.96, Y:14.51, Z:-0.22 [[ 9.99953518e-01 -9.26983870e-03 2.65164597e-03 2.61961892e+02] [ 9.27078830e-03 9.99956965e-01 -3.46047523e-04 1.45086566e+01] [-2.64832405e-03 3.70614286e-04 9.99996425e-01 -2.17588873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.031400513 meters Centerline goodness [0,1] 0.536305381089798 Centerline is valid? [False, False] Translation: X:261.96, Y:14.51, Z:-0.22 [[ 9.99953403e-01 -9.28636898e-03 2.63733306e-03 2.61961783e+02] [ 9.28715890e-03 9.99956832e-01 -2.87427930e-04 1.45083699e+01] [-2.63455005e-03 3.11907868e-04 9.99996481e-01 -2.17305020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.061400513 meters Centerline goodness [0,1] 0.5605662456556753 Centerline is valid? [False, False] Translation: X:261.96, Y:14.51, Z:-0.22 [[ 9.99954492e-01 -9.19532306e-03 2.54151208e-03 2.61961852e+02] [ 9.19524977e-03 9.99957722e-01 4.05219256e-05 1.45067852e+01] [-2.54177724e-03 -1.71502432e-05 9.99996770e-01 -2.16866593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.091400513 meters Centerline goodness [0,1] 0.6191090616803452 Centerline is valid? [False, False] Translation: X:261.96, Y:14.50, Z:-0.22 [[ 9.99955499e-01 -9.11535784e-03 2.43111928e-03 2.61962054e+02] [ 9.11429165e-03 9.99958363e-01 4.49280021e-04 1.45047495e+01] [-2.43511340e-03 -4.27102097e-04 9.99996944e-01 -2.16536337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.121400513 meters Centerline goodness [0,1] 0.9115092864538212 Centerline is valid? [False, False] Translation: X:261.96, Y:14.50, Z:-0.22 [[ 9.99956613e-01 -9.02888689e-03 2.29175419e-03 2.61962430e+02] [ 9.02703143e-03 9.99958920e-01 8.18681043e-04 1.45029032e+01] [-2.29905183e-03 -7.97957786e-04 9.99997039e-01 -2.16349994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.151400513 meters Centerline goodness [0,1] 0.9441095067476238 Centerline is valid? [False, False] Translation: X:261.94, Y:14.51, Z:-0.21 [[ 9.99948397e-01 -1.01076609e-02 -1.01908773e-03 2.61940136e+02] [ 1.00954114e-02 9.99884246e-01 -1.13832275e-02 1.45095474e+01] [ 1.13402757e-03 1.13723519e-02 9.99934690e-01 -2.13477396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.181400513 meters Centerline goodness [0,1] 0.8782234653444366 Centerline is valid? [False, False] Translation: X:261.96, Y:14.51, Z:-0.21 [[ 9.99936059e-01 -1.12653586e-02 -9.84970140e-04 2.61961080e+02] [ 1.12638000e-02 9.99935323e-01 -1.57389022e-03 1.45055376e+01] [ 1.00263687e-03 1.56269508e-03 9.99998276e-01 -2.10833003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.211400513 meters Centerline goodness [0,1] 0.9616752945186511 Centerline is valid? [False, True] Translation: X:261.96, Y:14.51, Z:-0.21 [[ 9.99936031e-01 -1.12698791e-02 -9.61499487e-04 2.61960999e+02] [ 1.12683428e-02 9.99935248e-01 -1.58852994e-03 1.45056273e+01] [ 9.79339769e-04 1.57759382e-03 9.99998276e-01 -2.10839679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.24140051300003 meters Centerline goodness [0,1] 0.810524091293322 Centerline is valid? [True, False] Translation: X:261.96, Y:14.51, Z:-0.21 [[ 9.99935150e-01 -1.13537740e-02 -8.87050204e-04 2.61960748e+02] [ 1.13521492e-02 9.99933914e-01 -1.81570561e-03 1.45067361e+01] [ 9.07606693e-04 1.80551794e-03 9.99997958e-01 -2.10863199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.271400513 meters Centerline goodness [0,1] 0.9609046097865409 Centerline is valid? [False, True] Translation: X:261.96, Y:14.50, Z:-0.21 [[ 9.99976776e-01 -6.75885425e-03 -8.74901784e-04 2.61960143e+02] [ 6.76175746e-03 9.99971497e-01 3.35903602e-03 1.45027253e+01] [ 8.52173612e-04 -3.36487388e-03 9.99993976e-01 -2.09921350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.301400513 meters Centerline goodness [0,1] 0.6454839533497914 Centerline is valid? [True, False] Translation: X:261.96, Y:14.50, Z:-0.21 [[ 9.99976509e-01 -6.80294867e-03 -8.37841607e-04 2.61960094e+02] [ 6.80563068e-03 9.99971589e-01 3.24095504e-03 1.45032754e+01] [ 8.15769753e-04 -3.24658095e-03 9.99994397e-01 -2.10071624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.331400513 meters Centerline goodness [0,1] 0.8920087773493257 Centerline is valid? [False, False] Translation: X:261.96, Y:14.50, Z:-0.21 [[ 9.99975985e-01 -6.86817629e-03 -9.26591882e-04 2.61960660e+02] [ 6.87098739e-03 9.99971696e-01 3.06551954e-03 1.45040484e+01] [ 9.05511127e-04 -3.07181252e-03 9.99994872e-01 -2.10598539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.361400513 meters Centerline goodness [0,1] 0.8444855520826688 Centerline is valid? [False, False] Translation: X:261.96, Y:14.50, Z:-0.21 [[ 9.99975420e-01 -6.93319634e-03 -1.04368217e-03 2.61961526e+02] [ 6.93621024e-03 9.99971703e-01 2.91238353e-03 1.45046535e+01] [ 1.02346051e-03 -2.91955114e-03 9.99995214e-01 -2.11535483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.391400513 meters Centerline goodness [0,1] 0.8885238953057115 Centerline is valid? [False, False] Translation: X:261.96, Y:14.51, Z:-0.21 [[ 9.99974774e-01 -7.00839523e-03 -1.15511493e-03 2.61962228e+02] [ 7.01157787e-03 9.99971569e-01 2.77462956e-03 1.45052059e+01] [ 1.13563639e-03 -2.78265874e-03 9.99995484e-01 -2.12174251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.421400513 meters Centerline goodness [0,1] 0.7299705152408629 Centerline is valid? [False, False] Translation: X:261.96, Y:14.51, Z:-0.21 [[ 9.99974653e-01 -7.02016744e-03 -1.18771676e-03 2.61962358e+02] [ 7.02341057e-03 9.99971558e-01 2.74878445e-03 1.45053193e+01] [ 1.16838605e-03 -2.75705660e-03 9.99995517e-01 -2.12233413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.451400513 meters Centerline goodness [0,1] 0.9312524018958965 Centerline is valid? [False, False] Translation: X:261.96, Y:14.50, Z:-0.21 [[ 9.99975898e-01 -6.87419843e-03 -9.74506180e-04 2.61961008e+02] [ 6.87719246e-03 9.99971537e-01 3.10303039e-03 1.45038108e+01] [ 9.53147596e-04 -3.10965746e-03 9.99994711e-01 -2.11009069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.481400513 meters Centerline goodness [0,1] 0.9837361692985283 Centerline is valid? [False, True] Translation: X:261.96, Y:14.50, Z:-0.21 [[ 9.99976831e-01 -6.75057102e-03 -8.75517476e-04 2.61960408e+02] [ 6.75350331e-03 9.99971446e-01 3.39065846e-03 1.45025324e+01] [ 8.52603596e-04 -3.39649271e-03 9.99993868e-01 -2.10471009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.511400513 meters Centerline goodness [0,1] 0.9337231145914684 Centerline is valid? [True, False] Translation: X:262.00, Y:14.51, Z:-0.21 [[ 9.99979849e-01 -6.01196195e-03 2.03889262e-03 2.62000747e+02] [ 6.00784796e-03 9.99979917e-01 2.01791589e-03 1.45061321e+01] [-2.05098331e-03 -2.00562587e-03 9.99995885e-01 -2.10916853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.541400513 meters Centerline goodness [0,1] 0.9521416504501422 Centerline is valid? [False, True] Translation: X:261.98, Y:14.51, Z:-0.22 [[ 9.99981408e-01 -5.74461746e-03 2.04543824e-03 2.61981168e+02] [ 5.76275308e-03 9.99943130e-01 -8.97371129e-03 1.45120078e+01] [-1.99377138e-03 8.98533180e-03 9.99957643e-01 -2.15071873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.571400513 meters Centerline goodness [0,1] 0.9464527027027027 Centerline is valid? [True, False] Translation: X:262.02, Y:14.52, Z:-0.22 [[ 9.99979100e-01 -4.61537662e-03 4.52743783e-03 2.62023692e+02] [ 4.66073659e-03 9.99938535e-01 -1.00600507e-02 1.45162484e+01] [-4.48072863e-03 1.00809416e-02 9.99939147e-01 -2.17129025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.601400513 meters Centerline goodness [0,1] 0.8014438900095552 Centerline is valid? [False, False] Translation: X:262.02, Y:14.51, Z:-0.22 [[ 9.99991238e-01 -2.03789370e-04 4.18116635e-03 2.62024623e+02] [ 2.23176389e-04 9.99989225e-01 -4.63680654e-03 1.45105854e+01] [-4.18017637e-03 4.63769905e-03 9.99980509e-01 -2.16664725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.631400513 meters Centerline goodness [0,1] 0.958638665156921 Centerline is valid? [False, True] Translation: X:262.02, Y:14.51, Z:-0.22 [[ 9.99990263e-01 -4.22816934e-04 4.39262629e-03 2.62023879e+02] [ 4.45884482e-04 9.99986110e-01 -5.25177390e-03 1.45135852e+01] [-4.39034474e-03 5.25368137e-03 9.99976562e-01 -2.16571442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.661400513 meters Centerline goodness [0,1] 0.9122687210567874 Centerline is valid? [True, False] Translation: X:262.02, Y:14.51, Z:-0.22 [[ 9.99989480e-01 -4.95016112e-04 4.56016794e-03 2.62023061e+02] [ 5.19927041e-04 9.99984942e-01 -5.46315702e-03 1.45146924e+01] [-4.55739492e-03 5.46547050e-03 9.99974679e-01 -2.16075208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.691400513 meters Centerline goodness [0,1] 0.8928578981875093 Centerline is valid? [False, False] Translation: X:262.02, Y:14.51, Z:-0.21 [[ 9.99984588e-01 3.67052562e-03 4.16537298e-03 2.62023828e+02] [-3.66986140e-03 9.99993252e-01 -1.67095052e-04 1.45092264e+01] [-4.16595820e-03 1.51806135e-04 9.99991311e-01 -2.14831410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.721400513 meters Centerline goodness [0,1] 0.9605132222480998 Centerline is valid? [False, True] Translation: X:262.02, Y:14.51, Z:-0.21 [[ 9.99984729e-01 3.66247453e-03 4.13871557e-03 2.62023782e+02] [-3.66181542e-03 9.99993282e-01 -1.66820927e-04 1.45092147e+01] [-4.13929875e-03 1.51663167e-04 9.99991422e-01 -2.14593014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.751400513 meters Centerline goodness [0,1] 0.9574934175882043 Centerline is valid? [True, True] Translation: X:262.05, Y:14.51, Z:-0.22 [[ 9.99990325e-01 2.56333900e-03 3.57469693e-03 2.62054489e+02] [-2.56424454e-03 9.99996681e-01 2.48759275e-04 1.45117366e+01] [-3.57404741e-03 -2.57923265e-04 9.99993580e-01 -2.15021564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.781400513 meters Centerline goodness [0,1] 0.9425936065366635 Centerline is valid? [True, False] Translation: X:262.05, Y:14.51, Z:-0.22 [[ 9.99990415e-01 2.63313676e-03 3.49810728e-03 2.62054726e+02] [-2.63490256e-03 9.99996403e-01 5.00275630e-04 1.45104775e+01] [-3.49677741e-03 -5.09488007e-04 9.99993756e-01 -2.15014789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.811400513 meters Centerline goodness [0,1] 0.9964909313829112 Centerline is valid? [False, True] Translation: X:262.05, Y:14.51, Z:-0.21 [[ 9.99991765e-01 -1.76249899e-03 3.65566909e-03 2.62054008e+02] [ 1.77722426e-03 9.99990305e-01 -4.02873544e-03 1.45114565e+01] [-3.64853301e-03 4.03519921e-03 9.99985203e-01 -2.14712205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.841400513 meters Centerline goodness [0,1] 0.9956317988082869 Centerline is valid? [True, True] Translation: X:262.08, Y:14.51, Z:-0.21 [[ 9.99982404e-01 -4.49900250e-03 3.86648658e-03 2.62084249e+02] [ 4.49802722e-03 9.99989850e-01 2.60898299e-04 1.45084459e+01] [-3.86762112e-03 -2.43502146e-04 9.99992491e-01 -2.13268198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.871400513 meters Centerline goodness [0,1] 0.9986335881122166 Centerline is valid? [True, True] Translation: X:262.12, Y:14.50, Z:-0.21 [[ 9.99967640e-01 -7.12009067e-03 3.74472607e-03 2.62115403e+02] [ 7.11919401e-03 9.99974626e-01 2.52720604e-04 1.45031199e+01] [-3.74643044e-03 -2.26052994e-04 9.99992957e-01 -2.13996121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.901400513 meters Centerline goodness [0,1] 0.9993807256187405 Centerline is valid? [True, True] Translation: X:262.15, Y:14.50, Z:-0.22 [[ 9.99937602e-01 -1.06677179e-02 3.31532497e-03 2.62146358e+02] [ 1.06670346e-02 9.99943081e-01 2.23719931e-04 1.44959359e+01] [-3.31752284e-03 -1.88341285e-04 9.99994479e-01 -2.15599899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.931400513 meters Centerline goodness [0,1] 0.9995086624938583 Centerline is valid? [True, True] Translation: X:262.18, Y:14.49, Z:-0.22 [[ 9.99930469e-01 -1.12950883e-02 3.38793742e-03 2.62177681e+02] [ 1.12943783e-02 9.99936190e-01 2.28627037e-04 1.44922903e+01] [-3.39030360e-03 -1.90346493e-04 9.99994235e-01 -2.16275719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.961400513 meters Centerline goodness [0,1] 0.9995946147773581 Centerline is valid? [True, True] Translation: X:262.21, Y:14.49, Z:-0.22 [[ 9.99934812e-01 -1.09404296e-02 3.26769161e-03 2.62209619e+02] [ 1.09397673e-02 9.99940135e-01 2.20484802e-04 1.44892111e+01] [-3.26990818e-03 -1.84722643e-04 9.99994637e-01 -2.16542246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.99140051300003 meters Centerline goodness [0,1] 0.9991489723841539 Centerline is valid? [True, True] Translation: X:262.24, Y:14.49, Z:-0.22 [[ 9.99946214e-01 -9.96239138e-03 2.88430257e-03 2.62240302e+02] [ 9.96187152e-03 9.99950360e-01 1.94548179e-04 1.44899897e+01] [-2.88609756e-03 -1.65804663e-04 9.99995821e-01 -2.16627640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.021400513 meters Centerline goodness [0,1] 0.9981575213367501 Centerline is valid? [True, True] Translation: X:262.27, Y:14.49, Z:-0.22 [[ 9.99960980e-01 -8.50864147e-03 2.37512168e-03 2.62270806e+02] [ 8.50828491e-03 9.99963791e-01 1.60184378e-04 1.44906742e+01] [-2.37639863e-03 -1.39969916e-04 9.99997167e-01 -2.17136111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.051400513 meters Centerline goodness [0,1] 0.9930394928467403 Centerline is valid? [True, True] Translation: X:262.30, Y:14.49, Z:-0.22 [[ 9.99991260e-01 -4.06680957e-03 9.69697541e-04 2.62300904e+02] [ 4.06674810e-03 9.99991729e-01 6.53521636e-05 1.44915415e+01] [-9.69955295e-04 -6.14080768e-05 9.99999528e-01 -2.19899154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.081400513 meters Centerline goodness [0,1] 0.932212825179317 Centerline is valid? [True, False] Translation: X:262.30, Y:14.49, Z:-0.22 [[ 9.99991875e-01 -3.90682919e-03 9.93417057e-04 2.62301025e+02] [ 3.90656482e-03 9.99992333e-01 2.67927199e-04 1.44906288e+01] [-9.94456187e-04 -2.64044174e-04 9.99999471e-01 -2.20286322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.111400513 meters Centerline goodness [0,1] 0.9731696995344901 Centerline is valid? [False, True] Translation: X:262.34, Y:14.49, Z:-0.22 [[ 9.99991430e-01 -2.00557206e-03 3.62179883e-03 2.62342365e+02] [ 2.00815339e-03 9.99997732e-01 -7.09224687e-04 1.44927190e+01] [-3.62036822e-03 7.16491736e-04 9.99993190e-01 -2.21871210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.141400513 meters Centerline goodness [0,1] 0.8303316331929483 Centerline is valid? [True, False] Translation: X:262.34, Y:14.49, Z:-0.22 [[ 9.99991582e-01 -1.87407986e-03 3.65019387e-03 2.62342399e+02] [ 1.87622760e-03 9.99998069e-01 -5.85055330e-04 1.44921925e+01] [-3.64909038e-03 5.91899000e-04 9.99993167e-01 -2.22147495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.171400513 meters Centerline goodness [0,1] 0.909783144934686 Centerline is valid? [False, False] Translation: X:262.32, Y:14.49, Z:-0.22 [[ 9.99999391e-01 1.03366347e-03 3.86119013e-04 2.62319891e+02] [-1.03042858e-03 9.99965137e-01 -8.28626474e-03 1.44937083e+01] [-3.94670761e-04 8.28586183e-03 9.99965594e-01 -2.19206566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.201400513 meters Centerline goodness [0,1] 0.7636176992664514 Centerline is valid? [False, False] Translation: X:262.32, Y:14.49, Z:-0.22 [[ 9.99982397e-01 5.92749670e-03 2.65637413e-04 2.62320194e+02] [-5.92677901e-03 9.99978989e-01 -2.62566958e-03 1.44873912e+01] [-2.81195479e-04 2.62404898e-03 9.99996518e-01 -2.18932651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.231400513 meters Centerline goodness [0,1] 0.7735700616627684 Centerline is valid? [False, False] Translation: X:262.32, Y:14.49, Z:-0.22 [[ 9.99981896e-01 6.00724977e-03 3.47718945e-04 2.62319954e+02] [-6.00634294e-03 9.99978703e-01 -2.55274414e-03 1.44870900e+01] [-3.63046511e-04 2.55060941e-03 9.99996681e-01 -2.19020145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.261400513 meters Centerline goodness [0,1] 0.680345342144532 Centerline is valid? [False, False] Translation: X:262.32, Y:14.49, Z:-0.22 [[ 9.99981162e-01 6.11714833e-03 5.05370435e-04 2.62319286e+02] [-6.11593220e-03 9.99978480e-01 -2.37390121e-03 1.44863428e+01] [-5.19881065e-04 2.37076568e-03 9.99997055e-01 -2.18755218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.291400513 meters Centerline goodness [0,1] 0.9059432408734147 Centerline is valid? [False, False] Translation: X:262.32, Y:14.49, Z:-0.22 [[ 9.99980336e-01 6.23123034e-03 7.07017776e-04 2.62318372e+02] [-6.22968670e-03 9.99978252e-01 -2.16489475e-03 1.44854594e+01] [-7.20492358e-04 2.16044768e-03 9.99997407e-01 -2.18249439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.321400513 meters Centerline goodness [0,1] 0.601999701537084 Centerline is valid? [False, False] Translation: X:262.32, Y:14.49, Z:-0.22 [[ 9.99979848e-01 6.29630917e-03 8.11940876e-04 2.62317856e+02] [-6.29460957e-03 9.99978027e-01 -2.07909595e-03 1.44851466e+01] [-8.25013666e-04 2.07394320e-03 9.99997509e-01 -2.17907526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.351400513 meters Centerline goodness [0,1] 0.44180294663226793 Centerline is valid? [False, False] Translation: X:262.32, Y:14.49, Z:-0.22 [[ 9.99980561e-01 6.17927466e-03 8.33117714e-04 2.62318025e+02] [-6.17721612e-03 9.99977917e-01 -2.45122550e-03 1.44868936e+01] [-8.48246112e-04 2.44603150e-03 9.99996649e-01 -2.18356164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.381400513 meters Centerline goodness [0,1] 0.43380509158910285 Centerline is valid? [False, False] Translation: X:262.32, Y:14.49, Z:-0.22 [[ 9.99981505e-01 6.02900260e-03 8.00673145e-04 2.62318510e+02] [-6.02669647e-03 9.99977772e-01 -2.85207890e-03 1.44886992e+01] [-8.17850538e-04 2.84720074e-03 9.99995612e-01 -2.19096102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.411400513 meters Centerline goodness [0,1] 0.517268529355436 Centerline is valid? [False, False] Translation: X:262.32, Y:14.49, Z:-0.22 [[ 9.99982254e-01 5.90702210e-03 7.73896763e-04 2.62318843e+02] [-5.90453555e-03 9.99977522e-01 -3.17685205e-03 1.44901970e+01] [-7.92645103e-04 3.17222618e-03 9.99994654e-01 -2.19591551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.441400513 meters Centerline goodness [0,1] 0.4078155463253369 Centerline is valid? [False, False] Translation: X:262.32, Y:14.49, Z:-0.22 [[ 9.99983109e-01 5.75402699e-03 8.20512646e-04 2.62318897e+02] [-5.75105649e-03 9.99977062e-01 -3.57784126e-03 1.44920634e+01] [-8.41080820e-04 3.57306201e-03 9.99993263e-01 -2.20000697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.471400513 meters Centerline goodness [0,1] 0.47391803418076694 Centerline is valid? [False, False] Translation: X:262.32, Y:14.50, Z:-0.22 [[ 9.99984281e-01 5.49952272e-03 1.09188580e-03 2.62317822e+02] [-5.49481670e-03 9.99975799e-01 -4.26720142e-03 1.44954565e+01] [-1.11532694e-03 4.26113464e-03 9.99990299e-01 -2.19684600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.501400513 meters Centerline goodness [0,1] 0.4947214449249555 Centerline is valid? [False, False] Translation: X:262.32, Y:14.50, Z:-0.22 [[ 9.99984407e-01 5.46305074e-03 1.15825450e-03 2.62317432e+02] [-5.45797492e-03 9.99975682e-01 -4.34108188e-03 1.44958282e+01] [-1.18194188e-03 4.33469246e-03 9.99989907e-01 -2.19374740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.531400513 meters Centerline goodness [0,1] 0.4947214449249555 Centerline is valid? [False, False] Translation: X:262.32, Y:14.50, Z:-0.22 [[ 9.99984407e-01 5.46305074e-03 1.15825450e-03 2.62317432e+02] [-5.45797492e-03 9.99975682e-01 -4.34108188e-03 1.44958282e+01] [-1.18194188e-03 4.33469246e-03 9.99989907e-01 -2.19374740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.561400513 meters Centerline goodness [0,1] 0.517145982114135 Centerline is valid? [False, False] Translation: X:262.29, Y:14.49, Z:-0.21 [[ 9.99984750e-01 4.18368746e-03 -3.60507376e-03 2.62293885e+02] [-4.16004729e-03 9.99969959e-01 6.54020607e-03 1.44857701e+01] [ 3.63232764e-03 -6.52510905e-03 9.99972114e-01 -2.11849156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.591400513 meters Centerline goodness [0,1] 0.5230791980902888 Centerline is valid? [False, False] Translation: X:262.33, Y:14.50, Z:-0.21 [[ 9.99998015e-01 1.85728889e-03 -7.21577695e-04 2.62333997e+02] [-1.85739970e-03 9.99998263e-01 -1.52935479e-04 1.44962647e+01] [ 7.21292397e-04 1.54275433e-04 9.99999728e-01 -2.14113610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.621400513 meters Centerline goodness [0,1] 0.4459812053202096 Centerline is valid? [False, False] Translation: X:262.33, Y:14.50, Z:-0.21 [[ 9.99997964e-01 1.84834221e-03 -8.10096267e-04 2.62334193e+02] [-1.84841120e-03 9.99998288e-01 -8.44183996e-05 1.44958979e+01] [ 8.09938846e-04 8.59156187e-05 9.99999668e-01 -2.13921913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.651400513 meters Centerline goodness [0,1] 0.5823796202102407 Centerline is valid? [False, False] Translation: X:262.33, Y:14.50, Z:-0.21 [[ 9.99997923e-01 1.78652582e-03 -9.81479392e-04 2.62334668e+02] [-1.78662563e-03 9.99998399e-01 -1.00828529e-04 1.44958836e+01] [ 9.81297688e-04 1.02581856e-04 9.99999513e-01 -2.13754751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.681400513 meters Centerline goodness [0,1] 0.8302505020610929 Centerline is valid? [False, False] Translation: X:262.34, Y:14.50, Z:-0.21 [[ 9.99998085e-01 1.53851423e-03 -1.20990434e-03 2.62335349e+02] [-1.53893866e-03 9.99998755e-01 -3.49946432e-04 1.44968515e+01] [ 1.20936444e-03 3.51807730e-04 9.99999207e-01 -2.13573046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.711400513 meters Centerline goodness [0,1] 0.5094347623287961 Centerline is valid? [False, False] Translation: X:262.34, Y:14.50, Z:-0.21 [[ 9.99998212e-01 1.43351295e-03 -1.23335634e-03 2.62335392e+02] [-1.43421540e-03 9.99998810e-01 -5.68851838e-04 1.44978771e+01] [ 1.23253941e-03 5.70619719e-04 9.99999078e-01 -2.13507196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.74140051300003 meters Centerline goodness [0,1] 0.7929735710941822 Centerline is valid? [False, False] Translation: X:262.34, Y:14.50, Z:-0.21 [[ 9.99998457e-01 1.25584299e-03 -1.22809741e-03 2.62335522e+02] [-1.25703952e-03 9.99998736e-01 -9.74012364e-04 1.44997703e+01] [ 1.22687265e-03 9.75554629e-04 9.99998772e-01 -2.13791331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.771400513 meters Centerline goodness [0,1] 0.735306653028172 Centerline is valid? [False, False] Translation: X:262.34, Y:14.50, Z:-0.21 [[ 9.99998767e-01 1.01227819e-03 -1.20089986e-03 2.62335630e+02] [-1.01413665e-03 9.99998288e-01 -1.54796023e-03 1.45024439e+01] [ 1.19933084e-03 1.54917620e-03 9.99998081e-01 -2.14198041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.801400513 meters Centerline goodness [0,1] 0.7270122261844116 Centerline is valid? [False, False] Translation: X:262.34, Y:14.51, Z:-0.21 [[ 9.99999025e-01 7.34004714e-04 -1.18810744e-03 2.62335681e+02] [-7.36630288e-04 9.99997285e-01 -2.21095163e-03 1.45055550e+01] [ 1.18648136e-03 2.21182467e-03 9.99996850e-01 -2.14391035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.831400513 meters Centerline goodness [0,1] 0.4449820674433904 Centerline is valid? [False, False] Translation: X:262.34, Y:14.51, Z:-0.21 [[ 9.99999471e-01 9.55975033e-05 -1.02400834e-03 2.62335352e+02] [-9.95178445e-05 9.99992664e-01 -3.82906048e-03 1.45133085e+01] [ 1.02363478e-03 3.82916036e-03 9.99992145e-01 -2.14870779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.861400513 meters Centerline goodness [0,1] 0.6608339379454569 Centerline is valid? [False, False] Translation: X:262.34, Y:14.52, Z:-0.22 [[ 9.99999521e-01 -3.00041559e-04 -9.32126652e-04 2.62335158e+02] [ 2.95631617e-04 9.99988781e-01 -4.72759551e-03 1.45175242e+01] [ 9.33534670e-04 4.72731768e-03 9.99988390e-01 -2.15114434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.891400513 meters Centerline goodness [0,1] 0.8262800529529829 Centerline is valid? [False, False] Translation: X:262.34, Y:14.52, Z:-0.22 [[ 9.99999376e-01 -6.47413170e-04 -9.10153700e-04 2.62335173e+02] [ 6.42388603e-04 9.99984613e-01 -5.51006469e-03 1.45211694e+01] [ 9.13706984e-04 5.50947658e-03 9.99984405e-01 -2.15316593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.921400513 meters Centerline goodness [0,1] 0.7012446361093914 Centerline is valid? [False, False] Translation: X:262.34, Y:14.52, Z:-0.22 [[ 9.99999148e-01 -9.19880069e-04 -9.25840785e-04 2.62335286e+02] [ 9.14215735e-04 9.99980977e-01 -6.09998284e-03 1.45239232e+01] [ 9.31434425e-04 6.09913123e-03 9.99980966e-01 -2.15480137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.951400513 meters Centerline goodness [0,1] 0.8125317742755465 Centerline is valid? [False, False] Translation: X:262.34, Y:14.52, Z:-0.21 [[ 9.99995484e-01 2.61969288e-03 -1.47302419e-03 2.62337017e+02] [-2.62180455e-03 9.99995536e-01 -1.43346085e-03 1.45203893e+01] [ 1.46926238e-03 1.43731636e-03 9.99997888e-01 -2.14875986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.981400513 meters Centerline goodness [0,1] 0.8125781101061238 Centerline is valid? [False, False] Translation: X:262.34, Y:14.52, Z:-0.21 [[ 9.99995770e-01 2.48678820e-03 -1.50850451e-03 2.62336989e+02] [-2.48928071e-03 9.99995536e-01 -1.65268633e-03 1.45213992e+01] [ 1.50438790e-03 1.65643443e-03 9.99997497e-01 -2.14595180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.011400513 meters Centerline goodness [0,1] 0.9875570655058924 Centerline is valid? [False, True] Translation: X:262.34, Y:14.52, Z:-0.21 [[ 9.99996266e-01 2.17468908e-03 -1.65506851e-03 2.62337147e+02] [-2.17786649e-03 9.99995784e-01 -1.92043129e-03 1.45224336e+01] [ 1.65088519e-03 1.92402864e-03 9.99996786e-01 -2.13929155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.041400513 meters Centerline goodness [0,1] 0.9838112661674608 Centerline is valid? [True, True] Translation: X:262.37, Y:14.53, Z:-0.21 [[ 9.99998636e-01 6.36253812e-04 -1.52448925e-03 2.62366551e+02] [-6.36419132e-04 9.99999792e-01 -1.07960117e-04 1.45253473e+01] [ 1.52442024e-03 1.08930184e-04 9.99998832e-01 -2.12630470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.071400513 meters Centerline goodness [0,1] 0.9864098698320345 Centerline is valid? [True, True] Translation: X:262.40, Y:14.53, Z:-0.21 [[ 9.99999166e-01 -5.29548635e-04 -1.17799574e-03 2.62396722e+02] [ 5.29450718e-04 9.99999856e-01 -8.34325053e-05 1.45284419e+01] [ 1.17803975e-03 8.28087450e-05 9.99999303e-01 -2.12151103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.101400513 meters Centerline goodness [0,1] 0.9942221089302404 Centerline is valid? [True, True] Translation: X:262.43, Y:14.53, Z:-0.21 [[ 9.99998648e-01 -1.29517101e-03 -1.01285276e-03 2.62426898e+02] [ 1.29509901e-03 9.99999159e-01 -7.17454039e-05 1.45292882e+01] [ 1.01294483e-03 7.04335623e-05 9.99999484e-01 -2.12028412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.131400513 meters Centerline goodness [0,1] 0.9927860643737667 Centerline is valid? [True, True] Translation: X:262.46, Y:14.53, Z:-0.21 [[ 9.99997672e-01 -1.82614782e-03 -1.14939075e-03 2.62456993e+02] [ 1.82605542e-03 9.99998329e-01 -8.14318829e-05 1.45325823e+01] [ 1.14953754e-03 7.93328421e-05 9.99999336e-01 -2.12005995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.161400513 meters Centerline goodness [0,1] 0.9952404224125109 Centerline is valid? [True, True] Translation: X:262.49, Y:14.54, Z:-0.21 [[ 9.99996018e-01 -2.30015940e-03 -1.63503782e-03 2.62486733e+02] [ 2.29997301e-03 9.99997348e-01 -1.15867569e-04 1.45350809e+01] [ 1.63530000e-03 1.12106565e-04 9.99998657e-01 -2.12341749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.191400513 meters Centerline goodness [0,1] 0.9988558105394961 Centerline is valid? [True, True] Translation: X:262.52, Y:14.53, Z:-0.21 [[ 9.99992518e-01 -2.08458509e-03 -3.25870981e-03 2.62515484e+02] [ 2.08384230e-03 9.99997802e-01 -2.31316794e-04 1.45338882e+01] [ 3.25918485e-03 2.24524426e-04 9.99994664e-01 -2.14434115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.221400513 meters Centerline goodness [0,1] 0.9717017208413002 Centerline is valid? [True, True] Translation: X:262.54, Y:14.55, Z:-0.22 [[ 9.99990053e-01 -1.14426133e-03 -4.31090275e-03 2.62542578e+02] [ 1.14295110e-03 9.99999300e-01 -3.06386254e-04 1.45508081e+01] [ 4.31125032e-03 3.01456055e-04 9.99990661e-01 -2.16611962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.251400513 meters Centerline goodness [0,1] 0.9580610946117947 Centerline is valid? [True, True] Translation: X:262.57, Y:14.56, Z:-0.22 [[ 9.99984588e-01 -1.71057394e-04 -5.54924643e-03 2.62571705e+02] [ 1.68870254e-04 9.99999908e-01 -3.94599025e-04 1.45551020e+01] [ 5.54931341e-03 3.93655841e-04 9.99984525e-01 -2.18410440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.281400513 meters Centerline goodness [0,1] 0.9469096502659858 Centerline is valid? [True, False] Translation: X:262.57, Y:14.56, Z:-0.22 [[ 9.99984623e-01 -3.86731154e-04 -5.53210958e-03 2.62571768e+02] [ 3.81406703e-04 9.99999463e-01 -9.63485699e-04 1.45577983e+01] [ 5.53247922e-03 9.61360900e-04 9.99984234e-01 -2.18663224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.311400513 meters Centerline goodness [0,1] 0.98966313472453 Centerline is valid? [False, True] Translation: X:262.56, Y:14.56, Z:-0.21 [[ 9.99989594e-01 9.82570652e-04 -4.45495896e-03 2.62564587e+02] [-9.82579205e-04 9.99999517e-01 2.68808722e-07 1.45599301e+01] [ 4.45495707e-03 4.10854411e-06 9.99990077e-01 -2.14041228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.341400513 meters Centerline goodness [0,1] 0.9065221557396248 Centerline is valid? [True, False] Translation: X:262.60, Y:14.57, Z:-0.21 [[ 9.99997434e-01 2.22592073e-03 -4.21586486e-04 2.62600183e+02] [-2.22635924e-03 9.99996978e-01 -1.04253761e-03 1.45658687e+01] [ 4.19264606e-04 1.04347354e-03 9.99999368e-01 -2.11989254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.371400513 meters Centerline goodness [0,1] 0.9693122600844931 Centerline is valid? [False, True] Translation: X:262.60, Y:14.57, Z:-0.21 [[ 9.99997987e-01 1.99948207e-03 -1.69201736e-04 2.62599330e+02] [-1.99976476e-03 9.99996577e-01 -1.68740827e-03 1.45689951e+01] [ 1.65827214e-04 1.68774323e-03 9.99998562e-01 -2.11941843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.401400513 meters Centerline goodness [0,1] 0.7024003080609276 Centerline is valid? [True, False] Translation: X:262.60, Y:14.57, Z:-0.21 [[ 9.99998458e-01 1.75273776e-03 -1.04846632e-04 2.62599288e+02] [-1.75297910e-03 9.99995708e-01 -2.34775807e-03 1.45721122e+01] [ 1.00731178e-04 2.34793824e-03 9.99997239e-01 -2.12289243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.431400513 meters Centerline goodness [0,1] 0.6795661346346453 Centerline is valid? [False, False] Translation: X:262.60, Y:14.58, Z:-0.21 [[ 9.99998888e-01 1.48646487e-03 -1.18656772e-04 2.62599665e+02] [-1.48682568e-03 9.99994087e-01 -3.10091066e-03 1.45756858e+01] [ 1.14046676e-04 3.10108363e-03 9.99995185e-01 -2.12980795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.461400513 meters Centerline goodness [0,1] 0.47404727141920056 Centerline is valid? [False, False] Translation: X:262.60, Y:14.58, Z:-0.21 [[ 9.99984102e-01 5.62578063e-03 -3.81353602e-04 2.62600873e+02] [-5.62545177e-03 9.99983809e-01 8.58000634e-04 1.45773034e+01] [ 3.86174351e-04 -8.55841707e-04 9.99999559e-01 -2.13512132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.49140051300003 meters Centerline goodness [0,1] 0.6328872303006906 Centerline is valid? [False, False] Translation: X:262.56, Y:14.58, Z:-0.21 [[ 9.99986643e-01 4.52641770e-03 -2.49494816e-03 2.62557800e+02] [-4.52493369e-03 9.99989582e-01 6.00132001e-04 1.45776743e+01] [ 2.49763861e-03 -5.88834510e-04 9.99996708e-01 -2.12849158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.521400513 meters Centerline goodness [0,1] 0.5488488658567666 Centerline is valid? [False, False] Translation: X:262.56, Y:14.57, Z:-0.21 [[ 9.99956532e-01 8.88742150e-03 -2.81902770e-03 2.62558456e+02] [-8.87101380e-03 9.99943944e-01 5.78040069e-03 1.45731548e+01] [ 2.87024254e-03 -5.75514180e-03 9.99979320e-01 -2.11782986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.551400513 meters Centerline goodness [0,1] 0.8175885241664513 Centerline is valid? [False, False] Translation: X:262.52, Y:14.57, Z:-0.21 [[ 9.99956030e-01 7.77136029e-03 -5.24823949e-03 2.62516148e+02] [-7.73844912e-03 9.99950448e-01 6.26235606e-03 1.45707205e+01] [ 5.29664646e-03 -6.22146747e-03 9.99966619e-01 -2.11371529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.581400513 meters Centerline goodness [0,1] 0.5981813136380131 Centerline is valid? [False, False] Translation: X:262.52, Y:14.57, Z:-0.21 [[ 9.99956803e-01 7.61437437e-03 -5.33043755e-03 2.62516868e+02] [-7.58315573e-03 9.99954120e-01 5.85259023e-03 1.45725525e+01] [ 5.37475680e-03 -5.81191588e-03 9.99968666e-01 -2.12312901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.611400513 meters Centerline goodness [0,1] 0.5623026887302158 Centerline is valid? [False, False] Translation: X:262.52, Y:14.57, Z:-0.21 [[ 9.99957543e-01 7.47026635e-03 -5.39503535e-03 2.62517415e+02] [-7.44039507e-03 9.99956997e-01 5.53581607e-03 1.45739689e+01] [ 5.43615737e-03 -5.49543985e-03 9.99970124e-01 -2.12987968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.641400513 meters Centerline goodness [0,1] 0.5511052373542515 Centerline is valid? [False, False] Translation: X:262.52, Y:14.58, Z:-0.21 [[ 9.99982972e-01 3.12286467e-03 -4.92980184e-03 2.62516203e+02] [-3.12350277e-03 9.99995114e-01 -1.21742880e-04 1.45812238e+01] [ 4.92939757e-03 1.37139057e-04 9.99987841e-01 -2.13997995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.671400513 meters Centerline goodness [0,1] 0.4682361891880469 Centerline is valid? [False, False] Translation: X:262.52, Y:14.58, Z:-0.22 [[ 9.99961722e-01 6.23450156e-03 -6.13886462e-03 2.62521737e+02] [-6.21062550e-03 9.99973106e-01 3.90074134e-03 1.45781409e+01] [ 6.16301870e-03 -3.86246584e-03 9.99973549e-01 -2.15553758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.701400513 meters Centerline goodness [0,1] 0.7080945865047464 Centerline is valid? [False, False] Translation: X:262.52, Y:14.58, Z:-0.22 [[ 9.99961603e-01 6.25039040e-03 -6.14212531e-03 2.62521718e+02] [-6.22622341e-03 9.99972832e-01 3.94590457e-03 1.45779251e+01] [ 6.16662188e-03 -3.90751081e-03 9.99973352e-01 -2.15503401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.731400513 meters Centerline goodness [0,1] 0.4350953886637099 Centerline is valid? [False, False] Translation: X:262.52, Y:14.58, Z:-0.22 [[ 9.99961227e-01 6.29162106e-03 -6.16123613e-03 2.62521741e+02] [-6.26671103e-03 9.99972146e-01 4.05401841e-03 1.45773894e+01] [ 6.18657086e-03 -4.01525053e-03 9.99972802e-01 -2.15421404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.761400513 meters Centerline goodness [0,1] 0.5745502376103191 Centerline is valid? [False, False] Translation: X:262.52, Y:14.58, Z:-0.22 [[ 9.99982047e-01 1.91935537e-03 -5.67643104e-03 2.62520494e+02] [-1.92877968e-03 9.99996770e-01 -1.65524467e-03 1.45849159e+01] [ 5.67323570e-03 1.66616354e-03 9.99982519e-01 -2.16495280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.791400513 meters Centerline goodness [0,1] 0.47244329063284674 Centerline is valid? [False, False] Translation: X:262.52, Y:14.59, Z:-0.22 [[ 9.99982180e-01 1.77842995e-03 -5.69885777e-03 2.62520642e+02] [-1.78969604e-03 9.99996453e-01 -1.97241313e-03 1.45863863e+01] [ 5.69532975e-03 1.98257720e-03 9.99981816e-01 -2.16658893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.821400513 meters Centerline goodness [0,1] 0.48195848627299465 Centerline is valid? [False, False] Translation: X:262.52, Y:14.59, Z:-0.22 [[ 9.99982019e-01 1.69774639e-03 -5.75139872e-03 2.62520785e+02] [-1.71007051e-03 9.99996251e-01 -2.13856464e-03 1.45871537e+01] [ 5.74774642e-03 2.14836149e-03 9.99981174e-01 -2.16585284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.851400513 meters Centerline goodness [0,1] 0.5180238342188261 Centerline is valid? [False, False] Translation: X:262.54, Y:14.58, Z:-0.21 [[ 9.99977327e-01 1.53471079e-03 -6.55671305e-03 2.62540112e+02] [-1.47832932e-03 9.99961967e-01 8.59525458e-03 1.45810057e+01] [ 6.56965491e-03 -8.58536672e-03 9.99941564e-01 -2.11604399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.881400513 meters Centerline goodness [0,1] 0.5640410304330282 Centerline is valid? [False, False] Translation: X:262.54, Y:14.59, Z:-0.21 [[ 9.99978051e-01 -2.83242331e-03 -5.98949565e-03 2.62538412e+02] [ 2.85165054e-03 9.99990801e-01 3.20405888e-03 1.45867628e+01] [ 5.98036530e-03 -3.22106851e-03 9.99976930e-01 -2.12067540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.911400513 meters Centerline goodness [0,1] 0.5775640070657841 Centerline is valid? [False, False] Translation: X:262.54, Y:14.59, Z:-0.21 [[ 9.99978382e-01 -2.82288247e-03 -5.93854656e-03 2.62538081e+02] [ 2.84215022e-03 9.99990717e-01 3.23858928e-03 1.45866284e+01] [ 5.92934927e-03 -3.25539751e-03 9.99977122e-01 -2.11755174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.941400513 meters Centerline goodness [0,1] 0.6045582107322052 Centerline is valid? [False, False] Translation: X:262.54, Y:14.59, Z:-0.21 [[ 9.99977963e-01 -2.97064907e-03 -5.93711288e-03 2.62538142e+02] [ 2.98805671e-03 9.99991257e-01 2.92528646e-03 1.45880608e+01] [ 5.92837097e-03 -2.94296243e-03 9.99978096e-01 -2.11903285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.971400513 meters Centerline goodness [0,1] 0.8183657819622545 Centerline is valid? [False, False] Translation: X:262.54, Y:14.59, Z:-0.21 [[ 9.99976940e-01 -3.10614405e-03 -6.03906900e-03 2.62538773e+02] [ 3.12209759e-03 9.99991657e-01 2.63409190e-03 1.45893597e+01] [ 6.03083674e-03 -2.65288572e-03 9.99978295e-01 -2.12492631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.001400513 meters Centerline goodness [0,1] 0.49423076923076925 Centerline is valid? [False, False] Translation: X:262.54, Y:14.59, Z:-0.21 [[ 9.99975851e-01 -3.28139467e-03 -6.12614406e-03 2.62539327e+02] [ 3.29510425e-03 9.99992087e-01 2.22913064e-03 1.45912109e+01] [ 6.11878093e-03 -2.24926310e-03 9.99978750e-01 -2.13032155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.031400513 meters Centerline goodness [0,1] 0.6802365152288583 Centerline is valid? [False, False] Translation: X:262.54, Y:14.59, Z:-0.21 [[ 9.99975082e-01 -3.47471310e-03 -6.14510344e-03 2.62539452e+02] [ 3.48582278e-03 9.99992308e-01 1.79810574e-03 1.45932200e+01] [ 6.13880827e-03 -1.81948167e-03 9.99979502e-01 -2.13181503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.061400513 meters Centerline goodness [0,1] 0.8080840296825498 Centerline is valid? [False, False] Translation: X:262.54, Y:14.59, Z:-0.21 [[ 9.99974968e-01 -3.61789178e-03 -6.08059936e-03 2.62539046e+02] [ 3.62694316e-03 9.99992330e-01 1.47819935e-03 1.45947611e+01] [ 6.07520475e-03 -1.50021633e-03 9.99980420e-01 -2.12841618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.091400513 meters Centerline goodness [0,1] 0.8629315514435021 Centerline is valid? [False, False] Translation: X:262.53, Y:14.60, Z:-0.21 [[ 9.99969686e-01 -5.97398575e-03 -4.99382438e-03 2.62531313e+02] [ 5.96909005e-03 9.99981690e-01 -9.94679476e-04 1.45976604e+01] [ 4.99967514e-03 9.64840736e-04 9.99987036e-01 -2.07651054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.121400513 meters Centerline goodness [0,1] 0.6808660710468943 Centerline is valid? [False, False] Translation: X:262.53, Y:14.60, Z:-0.21 [[ 9.99969976e-01 -5.89182619e-03 -5.03319883e-03 2.62531164e+02] [ 5.88816797e-03 9.99982390e-01 -7.41326162e-04 1.45964662e+01] [ 5.03747796e-03 7.11667584e-04 9.99987059e-01 -2.07106378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.151400513 meters Centerline goodness [0,1] 0.7058885694961109 Centerline is valid? [False, False] Translation: X:262.56, Y:14.61, Z:-0.21 [[ 9.99980198e-01 -6.24841957e-03 7.49186281e-04 2.62555277e+02] [ 6.25684208e-03 9.99910530e-01 -1.18230314e-02 1.46076424e+01] [-6.75243991e-04 1.18274848e-02 9.99929825e-01 -2.14875308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.181400513 meters Centerline goodness [0,1] 0.752253205263826 Centerline is valid? [False, False] Translation: X:262.56, Y:14.60, Z:-0.21 [[ 9.99997553e-01 -2.16807983e-03 4.39545585e-04 2.62556045e+02] [ 2.17093098e-03 9.99975907e-01 -6.59333787e-03 1.46024170e+01] [-4.25240112e-04 6.59427596e-03 9.99978167e-01 -2.14214705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.211400513 meters Centerline goodness [0,1] 0.7124506137626503 Centerline is valid? [False, False] Translation: X:262.56, Y:14.60, Z:-0.21 [[ 9.99997844e-01 2.07639705e-03 2.98661219e-05 2.62557103e+02] [-2.07635061e-03 9.99996751e-01 -1.47908178e-03 1.45980978e+01] [-3.29371859e-05 1.47901658e-03 9.99998906e-01 -2.13504056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.24140051300003 meters Centerline goodness [0,1] 0.6951754385964912 Centerline is valid? [False, False] Translation: X:262.56, Y:14.60, Z:-0.21 [[ 9.99998343e-01 1.81871650e-03 7.49098408e-05 2.62556975e+02] [-1.81855572e-03 9.99996156e-01 -2.09320505e-03 1.46010151e+01] [-7.87164994e-05 2.09306536e-03 9.99997806e-01 -2.13558749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.271400513 meters Centerline goodness [0,1] 0.6227543640104354 Centerline is valid? [False, False] Translation: X:262.56, Y:14.60, Z:-0.21 [[ 9.99981414e-01 6.09520645e-03 -1.38983309e-04 2.62557913e+02] [-6.09488393e-03 9.99978976e-01 2.21357598e-03 1.46010300e+01] [ 1.52472589e-04 -2.21268775e-03 9.99997540e-01 -2.13834667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.301400513 meters Centerline goodness [0,1] 0.6025752529645108 Centerline is valid? [False, False] Translation: X:262.56, Y:14.61, Z:-0.21 [[ 9.99983619e-01 5.72348327e-03 -5.09246916e-05 2.62557910e+02] [-5.72341573e-03 9.99982852e-01 1.23999830e-03 1.46056171e+01] [ 5.80209278e-05 -1.23968652e-03 9.99999230e-01 -2.14448844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.331400513 meters Centerline goodness [0,1] 0.5340144797155464 Centerline is valid? [False, False] Translation: X:262.56, Y:14.60, Z:-0.21 [[ 9.99948188e-01 1.01768203e-02 -2.32507643e-04 2.62558428e+02] [-1.01751924e-02 9.99929198e-01 6.16959307e-03 1.46026556e+01] [ 2.95278021e-04 -6.16690760e-03 9.99980941e-01 -2.14038002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.361400513 meters Centerline goodness [0,1] 0.7864384351055429 Centerline is valid? [False, False] Translation: X:262.56, Y:14.61, Z:-0.21 [[ 9.99982390e-01 5.93467112e-03 1.03300168e-05 2.62557722e+02] [-5.93467445e-03 9.99982325e-01 3.58710219e-04 1.46108298e+01] [-8.20100701e-06 -3.58765207e-04 9.99999936e-01 -2.14821498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.391400513 meters Centerline goodness [0,1] 0.6378874466231863 Centerline is valid? [False, False] Translation: X:262.56, Y:14.61, Z:-0.21 [[ 9.99983095e-01 5.81394956e-03 8.31478270e-05 2.62557484e+02] [-5.81395783e-03 9.99983094e-01 9.95324178e-05 1.46120273e+01] [-8.25677449e-05 -1.00014153e-04 9.99999992e-01 -2.14845049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.421400513 meters Centerline goodness [0,1] 0.6378874466231863 Centerline is valid? [False, False] Translation: X:262.56, Y:14.61, Z:-0.21 [[ 9.99983095e-01 5.81394956e-03 8.31478270e-05 2.62557484e+02] [-5.81395783e-03 9.99983094e-01 9.95324178e-05 1.46120273e+01] [-8.25677449e-05 -1.00014153e-04 9.99999992e-01 -2.14845049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.451400513 meters Centerline goodness [0,1] 0.6499637974360066 Centerline is valid? [False, False] Translation: X:262.56, Y:14.61, Z:-0.22 [[ 9.99983896e-01 5.67490722e-03 4.70683640e-05 2.62557748e+02] [-5.67489791e-03 9.99983879e-01 -1.95517749e-04 1.46133565e+01] [-4.81771503e-05 1.95247492e-04 9.99999980e-01 -2.15155482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.481400513 meters Centerline goodness [0,1] 0.6894057398911768 Centerline is valid? [False, False] Translation: X:262.56, Y:14.62, Z:-0.22 [[ 9.99987344e-01 5.03035398e-03 -8.23866129e-05 2.62558613e+02] [-5.03047961e-03 9.99986062e-01 -1.60318635e-03 1.46198370e+01] [ 7.43208698e-05 1.60358050e-03 9.99998712e-01 -2.16033923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.511400513 meters Centerline goodness [0,1] 0.5300769360838689 Centerline is valid? [False, False] Translation: X:262.57, Y:14.62, Z:-0.22 [[ 9.99973317e-01 7.23681863e-03 -9.96803324e-04 2.62565241e+02] [-7.23610265e-03 9.99973560e-01 7.20015300e-04 1.46209931e+01] [ 1.00198759e-03 -7.12783117e-04 9.99999244e-01 -2.19948147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.541400513 meters Centerline goodness [0,1] 0.6456798250270741 Centerline is valid? [False, False] Translation: X:262.57, Y:14.63, Z:-0.22 [[ 9.99976070e-01 6.85135865e-03 -9.57918679e-04 2.62565237e+02] [-6.85150829e-03 9.99976516e-01 -1.53013472e-04 1.46250864e+01] [ 9.56847834e-04 1.59572998e-04 9.99999529e-01 -2.20217589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.571400513 meters Centerline goodness [0,1] 0.6449242956621735 Centerline is valid? [False, False] Translation: X:262.57, Y:14.63, Z:-0.22 [[ 9.99978854e-01 6.44024648e-03 -9.02560647e-04 2.62565005e+02] [-6.44122277e-03 9.99978669e-01 -1.08298248e-03 1.46294518e+01] [ 8.95566720e-04 1.08877318e-03 9.99999006e-01 -2.20155724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.601400513 meters Centerline goodness [0,1] 0.6014640097600651 Centerline is valid? [False, False] Translation: X:262.56, Y:14.64, Z:-0.22 [[ 9.99984732e-01 5.47046618e-03 -7.80322932e-04 2.62564481e+02] [-5.47298201e-03 9.99979712e-01 -3.25923766e-03 1.46396008e+01] [ 7.62477552e-04 3.26345859e-03 9.99994384e-01 -2.20042377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.631400513 meters Centerline goodness [0,1] 0.592090179594956 Centerline is valid? [False, False] Translation: X:262.56, Y:14.64, Z:-0.22 [[ 9.99986777e-01 5.08169848e-03 -7.89360862e-04 2.62564529e+02] [-5.08490040e-03 9.99978631e-01 -4.10874132e-03 1.46435739e+01] [ 7.68464610e-04 4.11270081e-03 9.99991248e-01 -2.20120531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.661400513 meters Centerline goodness [0,1] 0.8852723171124718 Centerline is valid? [False, False] Translation: X:262.54, Y:14.64, Z:-0.21 [[ 9.99979412e-01 3.31614348e-03 -5.49347052e-03 2.62542874e+02] [-3.28379513e-03 9.99977279e-01 5.88710155e-03 1.46371197e+01] [ 5.51286817e-03 -5.86894092e-03 9.99967581e-01 -2.14832416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.691400513 meters Centerline goodness [0,1] 0.6990425238307538 Centerline is valid? [False, False] Translation: X:262.57, Y:14.65, Z:-0.22 [[ 9.99997242e-01 2.34264951e-03 1.70099090e-04 2.62567733e+02] [-2.34165092e-03 9.99981291e-01 -5.65097988e-03 1.46499261e+01] [-1.83334173e-04 5.65056598e-03 9.99984019e-01 -2.22475333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.721400513 meters Centerline goodness [0,1] 0.792336217552534 Centerline is valid? [False, False] Translation: X:262.57, Y:14.65, Z:-0.22 [[ 9.99997253e-01 2.34247277e-03 8.31944056e-05 2.62567781e+02] [-2.34197968e-03 9.99982127e-01 -5.50094406e-03 1.46491623e+01] [-9.60787304e-05 5.50073411e-03 9.99984866e-01 -2.22001388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.751400513 meters Centerline goodness [0,1] 0.8822024685041888 Centerline is valid? [False, False] Translation: X:262.57, Y:14.65, Z:-0.22 [[ 9.99997243e-01 2.34811263e-03 -3.21365190e-05 2.62567830e+02] [-2.34824870e-03 9.99983539e-01 -5.23512702e-03 1.46478170e+01] [ 1.98433221e-05 5.23518805e-03 9.99986296e-01 -2.21358568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.781400513 meters Centerline goodness [0,1] 0.9382527565733673 Centerline is valid? [False, False] Translation: X:262.57, Y:14.65, Z:-0.22 [[ 9.99997308e-01 2.30659599e-03 -2.51258816e-04 2.62568251e+02] [-2.30779012e-03 9.99985523e-01 -4.86078622e-03 1.46457861e+01] [ 2.40043309e-04 4.86135299e-03 9.99988155e-01 -2.20783892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.811400513 meters Centerline goodness [0,1] 0.99828087526795 Centerline is valid? [False, True] Translation: X:262.57, Y:14.64, Z:-0.22 [[ 9.99998978e-01 1.37525283e-03 -3.90655468e-04 2.62568481e+02] [-1.37696248e-03 9.99989326e-01 -4.41033731e-03 1.46414083e+01] [ 3.84585970e-04 4.41087072e-03 9.99990198e-01 -2.19988524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.841400513 meters Centerline goodness [0,1] 0.9995290289433122 Centerline is valid? [True, True] Translation: X:262.60, Y:14.63, Z:-0.22 [[ 9.99998864e-01 -1.50035853e-03 1.45027921e-04 2.62599960e+02] [ 1.50035730e-03 9.99998874e-01 8.61669153e-06 1.46315062e+01] [-1.45040686e-04 -8.39908804e-06 9.99999989e-01 -2.18338101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.871400513 meters Centerline goodness [0,1] 0.9994283778634034 Centerline is valid? [True, True] Translation: X:262.63, Y:14.63, Z:-0.22 [[ 9.99993291e-01 -3.39759325e-03 1.36887600e-03 2.62630062e+02] [ 3.39748508e-03 9.99994225e-01 8.13422352e-05 1.46324751e+01] [-1.36914447e-03 -7.66909537e-05 9.99999060e-01 -2.16192045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.901400513 meters Centerline goodness [0,1] 0.9995349623742285 Centerline is valid? [True, True] Translation: X:262.66, Y:14.63, Z:-0.21 [[ 9.99988612e-01 -4.33195598e-03 2.00233293e-03 2.62661061e+02] [ 4.33172645e-03 9.99990611e-01 1.18952733e-04 1.46323220e+01] [-2.00282943e-03 -1.10277820e-04 9.99997988e-01 -2.14898404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.931400513 meters Centerline goodness [0,1] 0.9982863308439291 Centerline is valid? [True, True] Translation: X:262.69, Y:14.64, Z:-0.21 [[ 9.99986964e-01 -4.49965434e-03 2.41345310e-03 2.62691937e+02] [ 4.49932155e-03 9.99989868e-01 1.43299720e-04 1.46375348e+01] [-2.41407345e-03 -1.32438950e-04 9.99997077e-01 -2.13808153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.961400513 meters Centerline goodness [0,1] 0.9997237686456164 Centerline is valid? [True, True] Translation: X:262.72, Y:14.63, Z:-0.21 [[ 9.99989878e-01 -3.72962152e-03 2.51685237e-03 2.62723817e+02] [ 3.72925734e-03 9.99993035e-01 1.49374176e-04 1.46290387e+01] [-2.51739195e-03 -1.39986674e-04 9.99996822e-01 -2.13577245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.99140051300003 meters Centerline goodness [0,1] 0.9973268271984724 Centerline is valid? [True, True] Translation: X:262.75, Y:14.64, Z:-0.21 [[ 9.99995673e-01 4.36529304e-04 2.90911647e-03 2.62753362e+02] [-4.37033329e-04 9.99999890e-01 1.72623597e-04 1.46375352e+01] [-2.90904079e-03 -1.73894231e-04 9.99995754e-01 -2.13083277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.021400513 meters Centerline goodness [0,1] 0.9995733424353613 Centerline is valid? [True, True] Translation: X:262.78, Y:14.63, Z:-0.21 [[ 9.99990685e-01 3.15370259e-03 2.94701092e-03 2.62784415e+02] [-3.15423156e-03 9.99995010e-01 1.74862357e-04 1.46328743e+01] [-2.94644475e-03 -1.84156283e-04 9.99995642e-01 -2.13824346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.051400513 meters Centerline goodness [0,1] 0.9643997106013533 Centerline is valid? [True, True] Translation: X:262.81, Y:14.64, Z:-0.21 [[ 9.99978715e-01 5.79747512e-03 2.99325528e-03 2.62812992e+02] [-5.79803268e-03 9.99983175e-01 1.77627274e-04 1.46447211e+01] [-2.99217513e-03 -1.94978485e-04 9.99995504e-01 -2.14180779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.081400513 meters Centerline goodness [0,1] 0.9292948676944072 Centerline is valid? [True, False] Translation: X:262.81, Y:14.64, Z:-0.21 [[ 9.99978274e-01 5.85743457e-03 3.02362050e-03 2.62812963e+02] [-5.85822408e-03 9.99982809e-01 2.52323727e-04 1.46443919e+01] [-3.02209055e-03 -2.70031292e-04 9.99995397e-01 -2.14332279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.111400513 meters Centerline goodness [0,1] 0.9388433927706785 Centerline is valid? [False, False] Translation: X:262.81, Y:14.64, Z:-0.21 [[ 9.99977740e-01 5.97064113e-03 2.97839527e-03 2.62813201e+02] [-5.97183128e-03 9.99982092e-01 3.90860693e-04 1.46437809e+01] [-2.97600824e-03 -4.08638466e-04 9.99995488e-01 -2.14569616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.141400513 meters Centerline goodness [0,1] 0.9669575531644498 Centerline is valid? [False, True] Translation: X:262.81, Y:14.64, Z:-0.21 [[ 9.99977292e-01 6.05905555e-03 2.95004033e-03 2.62813396e+02] [-6.06079767e-03 9.99981464e-01 5.81959921e-04 1.46428800e+01] [-2.94645952e-03 -5.99826303e-04 9.99995479e-01 -2.14748228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.171400513 meters Centerline goodness [0,1] 0.9300239107894792 Centerline is valid? [True, False] Translation: X:262.81, Y:14.64, Z:-0.22 [[ 9.99976779e-01 6.16405018e-03 2.90606832e-03 2.62813894e+02] [-6.16614168e-03 9.99980736e-01 7.11291614e-04 1.46422541e+01] [-2.90162790e-03 -7.29194326e-04 9.99995524e-01 -2.15463513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.201400513 meters Centerline goodness [0,1] 0.912296698403274 Centerline is valid? [False, False] Translation: X:262.81, Y:14.64, Z:-0.22 [[ 9.99976317e-01 6.17261508e-03 3.04386009e-03 2.62813536e+02] [-6.17470934e-03 9.99980706e-01 6.79112435e-04 1.46424189e+01] [-3.03960946e-03 -6.97891303e-04 9.99995137e-01 -2.15647074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.231400513 meters Centerline goodness [0,1] 0.9388720746834903 Centerline is valid? [False, False] Translation: X:262.81, Y:14.64, Z:-0.22 [[ 9.99976069e-01 6.15242263e-03 3.16366481e-03 2.62813170e+02] [-6.15436011e-03 9.99980880e-01 6.03047774e-04 1.46427782e+01] [-3.15989411e-03 -6.22503675e-04 9.99994814e-01 -2.15709306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.261400513 meters Centerline goodness [0,1] 0.7812432919761302 Centerline is valid? [False, False] Translation: X:262.81, Y:14.64, Z:-0.22 [[ 9.99976515e-01 6.04134523e-03 3.23587600e-03 2.62813162e+02] [-6.04237104e-03 9.99981697e-01 3.07330191e-04 1.46441499e+01] [-3.23396009e-03 -3.26875337e-04 9.99994717e-01 -2.16192388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.291400513 meters Centerline goodness [0,1] 0.8943468362043043 Centerline is valid? [False, False] Translation: X:262.81, Y:14.65, Z:-0.22 [[ 9.99977796e-01 5.87497081e-03 3.14526155e-03 2.62813798e+02] [-5.87446492e-03 9.99982731e-01 -1.70056225e-04 1.46463634e+01] [-3.14620631e-03 1.51575720e-04 9.99995039e-01 -2.16935283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.321400513 meters Centerline goodness [0,1] 0.6409618573797679 Centerline is valid? [False, False] Translation: X:262.82, Y:14.65, Z:-0.22 [[ 9.99943915e-01 1.02232247e-02 2.76622379e-03 2.62815772e+02] [-1.02351270e-02 9.99938274e-01 4.32331436e-03 1.46453956e+01] [-2.72185482e-03 -4.35138454e-03 9.99986828e-01 -2.18155850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.351400513 meters Centerline goodness [0,1] 0.8381976005341719 Centerline is valid? [False, False] Translation: X:262.78, Y:14.64, Z:-0.22 [[ 9.99936222e-01 1.12718007e-02 -7.06185989e-04 2.62777353e+02] [-1.12667089e-02 9.99913126e-01 6.84124891e-03 1.46423436e+01] [ 7.83237834e-04 -6.83285620e-03 9.99976349e-01 -2.19530906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.381400513 meters Centerline goodness [0,1] 0.6256401502219188 Centerline is valid? [False, False] Translation: X:262.78, Y:14.65, Z:-0.22 [[ 9.99938698e-01 1.10471978e-02 -7.48040686e-04 2.62777653e+02] [-1.10423078e-02 9.99919481e-01 6.25290841e-03 1.46451170e+01] [ 8.17057571e-04 -6.24426500e-03 9.99980171e-01 -2.19922575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.411400513 meters Centerline goodness [0,1] 0.6181302011095701 Centerline is valid? [False, False] Translation: X:262.74, Y:14.65, Z:-0.22 [[ 9.99948359e-01 9.67417205e-03 -3.11280968e-03 2.62735702e+02] [-9.65729509e-03 9.99938830e-01 5.39188508e-03 1.46458500e+01] [ 3.16478130e-03 -5.36154532e-03 9.99980619e-01 -2.20282334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.441400513 meters Centerline goodness [0,1] 0.5976787928012653 Centerline is valid? [False, False] Translation: X:262.76, Y:14.64, Z:-0.22 [[ 9.99953680e-01 9.13867363e-03 -3.02041721e-03 2.62755179e+02] [-9.08946872e-03 9.99831927e-01 1.59216345e-02 1.46419298e+01] [ 3.16541219e-03 -1.58934430e-02 9.99868681e-01 -2.16956888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.471400513 meters Centerline goodness [0,1] 0.5917620526786094 Centerline is valid? [False, False] Translation: X:262.75, Y:14.65, Z:-0.22 [[ 9.99986051e-01 4.45570761e-03 -2.83642024e-03 2.62754741e+02] [-4.42733636e-03 9.99940881e-01 9.93138887e-03 1.46502715e+01] [ 2.88050392e-03 -9.91869255e-03 9.99946660e-01 -2.17829388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.501400513 meters Centerline goodness [0,1] 0.6109128754088611 Centerline is valid? [False, False] Translation: X:262.75, Y:14.66, Z:-0.22 [[ 9.99996390e-01 -2.31464321e-04 -2.67691641e-03 2.62754462e+02] [ 2.42502838e-04 9.99991467e-01 4.12400502e-03 1.46575546e+01] [ 2.67593901e-03 -4.12463929e-03 9.99987913e-01 -2.18605673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.531400513 meters Centerline goodness [0,1] 0.6734632939470204 Centerline is valid? [False, False] Translation: X:262.75, Y:14.66, Z:-0.22 [[ 9.99996340e-01 -2.88016464e-04 -2.69020477e-03 2.62754526e+02] [ 2.98882653e-04 9.99991796e-01 4.03963954e-03 1.46579138e+01] [ 2.68901922e-03 -4.04042881e-03 9.99988222e-01 -2.18662042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.561400513 meters Centerline goodness [0,1] 0.6778071753624721 Centerline is valid? [False, False] Translation: X:262.75, Y:14.66, Z:-0.22 [[ 9.99996058e-01 -3.48682846e-04 -2.78608608e-03 2.62754888e+02] [ 3.59887106e-04 9.99991847e-01 4.02201653e-03 1.46579000e+01] [ 2.78466096e-03 -4.02300335e-03 9.99988030e-01 -2.18754326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.591400513 meters Centerline goodness [0,1] 0.77879703728929 Centerline is valid? [False, False] Translation: X:262.75, Y:14.66, Z:-0.21 [[ 9.99994069e-01 -2.81236566e-03 -1.98810571e-03 2.62748677e+02] [ 2.81492799e-03 9.99995210e-01 1.28720833e-03 1.46608779e+01] [ 1.98447608e-03 -1.29279707e-03 9.99997195e-01 -2.14895550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.621400513 meters Centerline goodness [0,1] 0.9494949494949495 Centerline is valid? [False, False] Translation: X:262.75, Y:14.66, Z:-0.21 [[ 9.99994184e-01 -2.73180847e-03 -2.04209849e-03 2.62748873e+02] [ 2.73488446e-03 9.99995128e-01 1.50502035e-03 1.46598342e+01] [ 2.03797711e-03 -1.51059650e-03 9.99996782e-01 -2.14919192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.651400513 meters Centerline goodness [0,1] 0.9892774093531995 Centerline is valid? [False, True] Translation: X:262.75, Y:14.66, Z:-0.21 [[ 9.99971175e-01 -7.39026692e-03 -1.74181086e-03 2.62747822e+02] [ 7.38389957e-03 9.99966135e-01 -3.63410491e-03 1.46636904e+01] [ 1.76860888e-03 3.62113880e-03 9.99991880e-01 -2.14683519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.681400513 meters Centerline goodness [0,1] 0.9259037561194604 Centerline is valid? [True, False] Translation: X:262.75, Y:14.66, Z:-0.21 [[ 9.99972137e-01 -7.27083473e-03 -1.69101273e-03 2.62747248e+02] [ 7.26533922e-03 9.99968379e-01 -3.23358202e-03 1.46618001e+01] [ 1.71447010e-03 3.22120614e-03 9.99993342e-01 -2.13834990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.711400513 meters Centerline goodness [0,1] 0.7772234501631408 Centerline is valid? [False, False] Translation: X:262.78, Y:14.66, Z:-0.21 [[ 9.99972684e-01 -7.09826998e-03 2.06059710e-03 2.62784479e+02] [ 7.10625942e-03 9.99967160e-01 -3.89616940e-03 1.46638809e+01] [-2.03287337e-03 3.91070611e-03 9.99990287e-01 -2.11810360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.74140051300003 meters Centerline goodness [0,1] 0.9969170403587444 Centerline is valid? [False, True] Translation: X:262.74, Y:14.66, Z:-0.21 [[ 9.99978204e-01 -6.57446079e-03 6.07120822e-04 2.62739139e+02] [ 6.57454439e-03 9.99978378e-01 -1.35809806e-04 1.46553832e+01] [-6.06214819e-04 1.39798388e-04 9.99999806e-01 -2.08451999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.771400513 meters Centerline goodness [0,1] 0.9297653180418393 Centerline is valid? [True, False] Translation: X:262.78, Y:14.66, Z:-0.21 [[ 9.99977395e-01 -5.69323336e-03 3.57725668e-03 2.62779199e+02] [ 5.69367175e-03 9.99983785e-01 -1.12377756e-04 1.46573098e+01] [-3.57655888e-03 1.32742941e-04 9.99993595e-01 -2.08160592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.801400513 meters Centerline goodness [0,1] 0.9581256862910719 Centerline is valid? [False, True] Translation: X:262.78, Y:14.66, Z:-0.21 [[ 9.99977653e-01 -5.70061757e-03 3.49227542e-03 2.62779555e+02] [ 5.70108867e-03 9.99983741e-01 -1.24956157e-04 1.46573436e+01] [-3.49150631e-03 1.44863136e-04 9.99993894e-01 -2.08297034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.831400513 meters Centerline goodness [0,1] 0.9700667545388835 Centerline is valid? [True, True] Translation: X:262.81, Y:14.66, Z:-0.21 [[ 9.99982792e-01 -5.23494548e-03 2.64780057e-03 2.62811968e+02] [ 5.23444652e-03 9.99986281e-01 1.95337362e-04 1.46598768e+01] [-2.64878682e-03 -1.81474230e-04 9.99996475e-01 -2.10561716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.861400513 meters Centerline goodness [0,1] 0.9403387384328041 Centerline is valid? [True, False] Translation: X:262.81, Y:14.66, Z:-0.21 [[ 9.99982044e-01 -5.36274360e-03 2.67438236e-03 2.62811863e+02] [ 5.36310079e-03 9.99985610e-01 -1.26403656e-04 1.46614015e+01] [-2.67366600e-03 1.40744368e-04 9.99996416e-01 -2.10565336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.891400513 meters Centerline goodness [0,1] 0.8508858057630736 Centerline is valid? [False, False] Translation: X:262.81, Y:14.66, Z:-0.21 [[ 9.99981119e-01 -5.48181867e-03 2.77678711e-03 2.62811482e+02] [ 5.48298285e-03 9.99984884e-01 -4.11816990e-04 1.46627598e+01] [-2.77448762e-03 4.27034291e-04 9.99996060e-01 -2.10495721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.921400513 meters Centerline goodness [0,1] 0.8514466737064414 Centerline is valid? [False, False] Translation: X:262.81, Y:14.66, Z:-0.21 [[ 9.99980684e-01 -5.54952861e-03 2.79887010e-03 2.62811258e+02] [ 5.55110532e-03 9.99984438e-01 -5.55885323e-04 1.46634585e+01] [-2.79574164e-03 5.71411408e-04 9.99995929e-01 -2.10256728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.951400513 meters Centerline goodness [0,1] 0.8676476797702993 Centerline is valid? [False, False] Translation: X:262.81, Y:14.66, Z:-0.21 [[ 9.99980972e-01 -5.51700993e-03 2.76008470e-03 2.62811256e+02] [ 5.51828525e-03 9.99984671e-01 -4.54655531e-04 1.46629824e+01] [-2.75753405e-03 4.69877814e-04 9.99996088e-01 -2.10029886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.981400513 meters Centerline goodness [0,1] 0.9585713984524888 Centerline is valid? [False, True] Translation: X:262.81, Y:14.66, Z:-0.21 [[ 9.99982028e-01 -5.39331576e-03 2.61827939e-03 2.62811632e+02] [ 5.39344685e-03 9.99985454e-01 -4.30106738e-05 1.46609793e+01] [-2.61800933e-03 5.71314516e-05 9.99996571e-01 -2.09801862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.011400513 meters Centerline goodness [0,1] 0.9997450388815705 Centerline is valid? [True, True] Translation: X:262.84, Y:14.64, Z:-0.21 [[ 9.99940558e-01 -1.06395252e-02 2.38368427e-03 2.62843116e+02] [ 1.06391513e-02 9.99943388e-01 1.69500531e-04 1.46442947e+01] [-2.38535273e-03 -1.44130078e-04 9.99997145e-01 -2.10494981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.041400513 meters Centerline goodness [0,1] 0.9996571453061049 Centerline is valid? [True, True] Translation: X:262.87, Y:14.64, Z:-0.21 [[ 9.99910399e-01 -1.29542211e-02 3.37361919e-03 2.62873173e+02] [ 1.29534852e-02 9.99916071e-01 2.39886951e-04 1.46427843e+01] [-3.37644359e-03 -1.96165331e-04 9.99994281e-01 -2.09352656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.071400513 meters Centerline goodness [0,1] 0.9994908566337137 Centerline is valid? [True, True] Translation: X:262.90, Y:14.64, Z:-0.21 [[ 9.99886145e-01 -1.44595408e-02 4.31494268e-03 2.62903729e+02] [ 1.44583513e-02 9.99895426e-01 3.06739868e-04 1.46445967e+01] [-4.31892677e-03 -2.44317987e-04 9.99990644e-01 -2.08069029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.101400513 meters Centerline goodness [0,1] 0.999679610406254 Centerline is valid? [True, True] Translation: X:262.94, Y:14.64, Z:-0.21 [[ 9.99884313e-01 -1.46816817e-02 3.97612241e-03 2.62935724e+02] [ 1.46806738e-02 9.99892193e-01 2.82562106e-04 1.46394960e+01] [-3.97984224e-03 -2.24157261e-04 9.99992055e-01 -2.08576023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.131400513 meters Centerline goodness [0,1] 0.9989781798829165 Centerline is valid? [True, True] Translation: X:262.97, Y:14.65, Z:-0.21 [[ 9.99906353e-01 -1.33426225e-02 3.04292829e-03 2.62965762e+02] [ 1.33420261e-02 9.99910968e-01 2.16204045e-04 1.46487657e+01] [-3.04554210e-03 -1.75584970e-04 9.99995347e-01 -2.09844293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.161400513 meters Centerline goodness [0,1] 0.99701625190452 Centerline is valid? [True, True] Translation: X:263.00, Y:14.65, Z:-0.21 [[ 9.99970676e-01 -7.56736851e-03 1.17542707e-03 2.62996271e+02] [ 7.56727556e-03 9.99971364e-01 8.35111610e-05 1.46497326e+01] [-1.17602537e-03 -7.46139316e-05 9.99999306e-01 -2.12752058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.191400513 meters Centerline goodness [0,1] 0.9874125874125874 Centerline is valid? [True, True] Translation: X:263.03, Y:14.65, Z:-0.21 [[ 9.99991587e-01 -4.02377994e-03 7.97007162e-04 2.63026009e+02] [ 4.02373608e-03 9.99991903e-01 5.66239010e-05 1.46534509e+01] [-7.97228550e-04 -5.34164781e-05 9.99999681e-01 -2.12751485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.221400513 meters Centerline goodness [0,1] 0.9859988544517279 Centerline is valid? [True, True] Translation: X:263.06, Y:14.65, Z:-0.21 [[ 9.99999432e-01 -2.28464230e-04 1.04150114e-03 2.63056034e+02] [ 2.28387277e-04 9.99999971e-01 7.40056164e-05 1.46541879e+01] [-1.04151801e-03 -7.37677087e-05 9.99999455e-01 -2.12652398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.251400513 meters Centerline goodness [0,1] 0.9379762235075663 Centerline is valid? [True, False] Translation: X:263.06, Y:14.66, Z:-0.21 [[ 9.99999320e-01 -2.38464177e-04 1.14129985e-03 2.63055829e+02] [ 2.38760726e-04 9.99999938e-01 -2.59705215e-04 1.46559183e+01] [-1.14123785e-03 2.59977536e-04 9.99999315e-01 -2.12948557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.281400513 meters Centerline goodness [0,1] 0.7555035425101214 Centerline is valid? [False, False] Translation: X:263.10, Y:14.66, Z:-0.21 [[ 9.99992266e-01 1.48530915e-03 3.64154990e-03 2.63097633e+02] [-1.48122533e-03 9.99998271e-01 -1.12389135e-03 1.46604948e+01] [-3.64321293e-03 1.11848870e-03 9.99992738e-01 -2.14552414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.311400513 meters Centerline goodness [0,1] 0.6744414751469803 Centerline is valid? [False, False] Translation: X:263.06, Y:14.65, Z:-0.21 [[ 9.99992667e-01 3.77463138e-03 6.47257685e-04 2.63056830e+02] [-3.77682026e-03 9.99987038e-01 3.41458611e-03 1.46530036e+01] [-6.34360491e-04 -3.41700565e-03 9.99993961e-01 -2.13999155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.341400513 meters Centerline goodness [0,1] 0.6744414751469803 Centerline is valid? [False, False] Translation: X:263.06, Y:14.65, Z:-0.21 [[ 9.99992667e-01 3.77463138e-03 6.47257685e-04 2.63056830e+02] [-3.77682026e-03 9.99987038e-01 3.41458611e-03 1.46530036e+01] [-6.34360491e-04 -3.41700565e-03 9.99993961e-01 -2.13999155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.371400513 meters Centerline goodness [0,1] 0.6353013791929167 Centerline is valid? [False, False] Translation: X:263.06, Y:14.66, Z:-0.21 [[ 9.99992592e-01 3.75523667e-03 8.44825047e-04 2.63056256e+02] [-3.75766233e-03 9.99988769e-01 2.88817307e-03 1.46557075e+01] [-8.33969786e-04 -2.89132624e-03 9.99995472e-01 -2.14299267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.401400513 meters Centerline goodness [0,1] 0.6328403875573687 Centerline is valid? [False, False] Translation: X:263.06, Y:14.66, Z:-0.21 [[ 9.99993217e-01 3.56944488e-03 9.08309520e-04 2.63056173e+02] [-3.57164902e-03 9.99990653e-01 2.43670307e-03 1.46578078e+01] [-8.99603353e-04 -2.43993070e-03 9.99996619e-01 -2.14584593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.431400513 meters Centerline goodness [0,1] 0.6193402947619149 Centerline is valid? [False, False] Translation: X:263.06, Y:14.66, Z:-0.22 [[ 9.99993924e-01 3.35256473e-03 9.55566653e-04 2.63056242e+02] [-3.35439594e-03 9.99992528e-01 1.92124608e-03 1.46602039e+01] [-9.49118411e-04 -1.92443976e-03 9.99997698e-01 -2.15078469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.461400513 meters Centerline goodness [0,1] 0.6134493098828183 Centerline is valid? [False, False] Translation: X:263.06, Y:14.66, Z:-0.22 [[ 9.99994647e-01 3.12402045e-03 9.72562483e-04 2.63056321e+02] [-3.12535806e-03 9.99994168e-01 1.37687603e-03 1.46627450e+01] [-9.68255422e-04 -1.37990827e-03 9.99998579e-01 -2.15374791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.49140051300003 meters Centerline goodness [0,1] 0.6498405951115834 Centerline is valid? [False, False] Translation: X:263.06, Y:14.67, Z:-0.22 [[ 9.99995330e-01 2.88837059e-03 9.98505898e-04 2.63056386e+02] [-2.88920565e-03 9.99995477e-01 8.35884524e-04 1.46652558e+01] [-9.96087037e-04 -8.38765510e-04 9.99999152e-01 -2.15682921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.521400513 meters Centerline goodness [0,1] 0.7196174733334776 Centerline is valid? [False, False] Translation: X:263.01, Y:14.66, Z:-0.22 [[ 9.99997493e-01 1.79073379e-03 -1.34426282e-03 2.63014002e+02] [-1.78979933e-03 9.99998156e-01 6.96029192e-04 1.46642768e+01] [ 1.34550675e-03 -6.93621487e-04 9.99998854e-01 -2.15435885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.551400513 meters Centerline goodness [0,1] 0.6059745160811585 Centerline is valid? [False, False] Translation: X:263.06, Y:14.67, Z:-0.22 [[ 9.99998327e-01 1.77160196e-03 4.56237578e-04 2.63057918e+02] [-1.77073810e-03 9.99996652e-01 -1.88692310e-03 1.46725154e+01] [-4.59578927e-04 1.88611206e-03 9.99998116e-01 -2.17902443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.581400513 meters Centerline goodness [0,1] 0.5432463447806868 Centerline is valid? [False, False] Translation: X:263.06, Y:14.67, Z:-0.22 [[ 9.99998500e-01 1.68706326e-03 3.93236378e-04 2.63058167e+02] [-1.68625351e-03 9.99996476e-01 -2.05050706e-03 1.46732650e+01] [-3.96694327e-04 2.04984089e-03 9.99997820e-01 -2.18010435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.611400513 meters Centerline goodness [0,1] 0.8827991086732945 Centerline is valid? [False, False] Translation: X:263.06, Y:14.67, Z:-0.22 [[ 9.99998717e-01 1.56783012e-03 3.29668361e-04 2.63058406e+02] [-1.56707257e-03 9.99996160e-01 -2.28573088e-03 1.46743297e+01] [-3.33250732e-04 2.28521133e-03 9.99997333e-01 -2.18068705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.641400513 meters Centerline goodness [0,1] 0.6810958555809814 Centerline is valid? [False, False] Translation: X:263.08, Y:14.67, Z:-0.21 [[ 9.99999859e-01 5.30512473e-04 -1.68271261e-05 2.63078715e+02] [-5.30365674e-04 9.99969658e-01 7.77181482e-03 1.46709440e+01] [ 2.09496602e-05 -7.77180480e-03 9.99969799e-01 -2.14834156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.671400513 meters Centerline goodness [0,1] 0.8750699556588747 Centerline is valid? [False, False] Translation: X:263.05, Y:14.68, Z:-0.21 [[ 9.99992422e-01 1.62454158e-04 -3.88968389e-03 2.63054483e+02] [-1.76650485e-04 9.99993324e-01 -3.64967268e-03 1.46792438e+01] [ 3.88906502e-03 3.65033213e-03 9.99985775e-01 -2.09708761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.701400513 meters Centerline goodness [0,1] 0.697124994683792 Centerline is valid? [False, False] Translation: X:263.07, Y:14.68, Z:-0.21 [[ 9.99994447e-01 -6.53382718e-04 -3.26782582e-03 2.63073428e+02] [ 6.75420476e-04 9.99977009e-01 6.74730878e-03 1.46761421e+01] [ 3.26334211e-03 -6.74947847e-03 9.99971897e-01 -2.06444802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.731400513 meters Centerline goodness [0,1] 0.7037932436190925 Centerline is valid? [False, False] Translation: X:263.07, Y:14.68, Z:-0.21 [[ 9.99995171e-01 -1.04527476e-03 -2.92659885e-03 2.63071845e+02] [ 1.06225112e-03 9.99982586e-01 5.80517838e-03 1.46806804e+01] [ 2.92047987e-03 -5.80825913e-03 9.99978867e-01 -2.05601471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.761400513 meters Centerline goodness [0,1] 0.747137911259319 Centerline is valid? [False, False] Translation: X:263.09, Y:14.69, Z:-0.20 [[ 9.99994197e-01 2.61928437e-03 -2.17855121e-03 2.63089434e+02] [-2.62588090e-03 9.99991960e-01 -3.03061527e-03 1.46885905e+01] [ 2.17059565e-03 3.03631830e-03 9.99993035e-01 -2.02283390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.791400513 meters Centerline goodness [0,1] 0.6799957505577393 Centerline is valid? [False, False] Translation: X:263.09, Y:14.69, Z:-0.20 [[ 9.99995213e-01 2.26053712e-03 -2.11275435e-03 2.63089406e+02] [-2.26879040e-03 9.99989774e-01 -3.91220715e-03 1.46927417e+01] [ 2.10388906e-03 3.91698182e-03 9.99990115e-01 -2.02705782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.821400513 meters Centerline goodness [0,1] 0.6681241244640659 Centerline is valid? [False, False] Translation: X:263.09, Y:14.70, Z:-0.20 [[ 9.99996067e-01 1.85537892e-03 -2.10316452e-03 2.63089588e+02] [-1.86568632e-03 9.99986208e-01 -4.90957821e-03 1.46974272e+01] [ 2.09402638e-03 4.91348275e-03 9.99985736e-01 -2.03181772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.851400513 meters Centerline goodness [0,1] 0.6547355891855127 Centerline is valid? [False, False] Translation: X:263.09, Y:14.70, Z:-0.20 [[ 9.99996869e-01 1.43595348e-03 -2.04933337e-03 2.63089623e+02] [-1.44805842e-03 9.99981443e-01 -5.91756041e-03 1.47021663e+01] [ 2.04079800e-03 5.92050944e-03 9.99980391e-01 -2.03650973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.881400513 meters Centerline goodness [0,1] 0.6174782961114311 Centerline is valid? [False, False] Translation: X:263.08, Y:14.70, Z:-0.20 [[ 9.99994059e-01 3.16341349e-03 -1.36901200e-03 2.63083685e+02] [-3.16907806e-03 9.99986344e-01 -4.15550401e-03 1.47026202e+01] [ 1.35584773e-03 4.15981783e-03 9.99990429e-01 -1.99407318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.911400513 meters Centerline goodness [0,1] 0.5875251935928716 Centerline is valid? [False, False] Translation: X:263.08, Y:14.70, Z:-0.20 [[ 9.99972691e-01 7.23638462e-03 -1.50065674e-03 2.63084083e+02] [-7.23668970e-03 9.99973795e-01 -1.97968856e-04 1.47042456e+01] [ 1.49918484e-03 2.08823236e-04 9.99998854e-01 -1.99218631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.941400513 meters Centerline goodness [0,1] 0.5963259538389072 Centerline is valid? [False, False] Translation: X:263.08, Y:14.71, Z:-0.20 [[ 9.99975664e-01 6.82527258e-03 -1.44436313e-03 2.63083889e+02] [-6.82691750e-03 9.99976050e-01 -1.13700000e-03 1.47086416e+01] [ 1.43656821e-03 1.14683287e-03 9.99998311e-01 -1.99247266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.971400513 meters Centerline goodness [0,1] 0.595961094276451 Centerline is valid? [False, False] Translation: X:263.09, Y:14.71, Z:-0.20 [[ 9.99957127e-01 8.98192066e-03 -2.25149089e-03 2.63090207e+02] [-8.97940594e-03 9.99959052e-01 1.12454465e-03 1.47095544e+01] [ 2.26149927e-03 -1.10427939e-03 9.99996833e-01 -2.03183794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.001400513 meters Centerline goodness [0,1] 0.6307176363211853 Centerline is valid? [False, False] Translation: X:263.09, Y:14.72, Z:-0.20 [[ 9.99962469e-01 8.36389256e-03 -2.25973040e-03 2.63090337e+02] [-8.36443267e-03 9.99964991e-01 -2.29668456e-04 1.47158646e+01] [ 2.25773037e-03 2.48561199e-04 9.99997420e-01 -2.03448827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.031400513 meters Centerline goodness [0,1] 0.6234084334550982 Centerline is valid? [False, False] Translation: X:263.09, Y:14.72, Z:-0.20 [[ 9.99964774e-01 8.08367766e-03 -2.25941147e-03 2.63090429e+02] [-8.08557143e-03 9.99966967e-01 -8.30294695e-04 1.47186512e+01] [ 2.25262499e-03 8.48534080e-04 9.99997103e-01 -2.03651575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.061400513 meters Centerline goodness [0,1] 0.6618075801749271 Centerline is valid? [False, False] Translation: X:263.09, Y:14.72, Z:-0.20 [[ 9.99967416e-01 7.74790271e-03 -2.26656604e-03 2.63090491e+02] [-7.75144560e-03 9.99968743e-01 -1.55852192e-03 1.47220576e+01] [ 2.25441991e-03 1.57604030e-03 9.99996217e-01 -2.03759604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.091400513 meters Centerline goodness [0,1] 0.7076782914530277 Centerline is valid? [False, False] Translation: X:263.09, Y:14.73, Z:-0.20 [[ 9.99970487e-01 7.33973506e-03 -2.27010425e-03 2.63090559e+02] [-7.34528164e-03 9.99970035e-01 -2.44470436e-03 1.47261781e+01] [ 2.25209274e-03 2.46130677e-03 9.99994435e-01 -2.03886396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.121400513 meters Centerline goodness [0,1] 0.7263989382198056 Centerline is valid? [False, False] Translation: X:263.09, Y:14.72, Z:-0.20 [[ 9.99931815e-01 1.13853027e-02 -2.59618176e-03 2.63091681e+02] [-1.13794905e-02 9.99932737e-01 2.24264755e-03 1.47238535e+01] [ 2.62154036e-03 -2.21295141e-03 9.99994115e-01 -2.03680107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.151400513 meters Centerline goodness [0,1] 0.6915606446140797 Centerline is valid? [False, False] Translation: X:263.09, Y:14.73, Z:-0.20 [[ 9.99935845e-01 1.10151172e-02 -2.64057156e-03 2.63091849e+02] [-1.10113029e-02 9.99938316e-01 1.45472869e-03 1.47275141e+01] [ 2.65643268e-03 -1.42555923e-03 9.99995456e-01 -2.03776335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.181400513 meters Centerline goodness [0,1] 0.6960390782627164 Centerline is valid? [False, False] Translation: X:263.09, Y:14.74, Z:-0.20 [[ 9.99980970e-01 5.71075500e-03 -2.33375000e-03 2.63090408e+02] [-5.72317532e-03 9.99969308e-01 -5.35047728e-03 1.47392421e+01] [ 2.30312311e-03 5.36373193e-03 9.99982963e-01 -2.03360818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.211400513 meters Centerline goodness [0,1] 0.6972198180321294 Centerline is valid? [False, False] Translation: X:263.09, Y:14.74, Z:-0.20 [[ 9.99951564e-01 9.42957677e-03 -2.82020167e-03 2.63091991e+02] [-9.43146984e-03 9.99955306e-01 -6.58707254e-04 1.47362118e+01] [ 2.81386429e-03 6.85273995e-04 9.99995806e-01 -2.03034025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.24140051300003 meters Centerline goodness [0,1] 0.7024178154825027 Centerline is valid? [False, False] Translation: X:263.09, Y:14.74, Z:-0.20 [[ 9.99954490e-01 9.10285883e-03 -2.85597947e-03 2.63092151e+02] [-9.10676823e-03 9.99957609e-01 -1.35884104e-03 1.47394699e+01] [ 2.84348907e-03 1.38478795e-03 9.99994998e-01 -2.03120690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.271400513 meters Centerline goodness [0,1] 0.6992600759005236 Centerline is valid? [False, False] Translation: X:263.09, Y:14.74, Z:-0.20 [[ 9.99957418e-01 8.77672036e-03 -2.85161419e-03 2.63092021e+02] [-8.78257739e-03 9.99959335e-01 -2.04794460e-03 1.47426708e+01] [ 2.83352400e-03 2.07290192e-03 9.99993837e-01 -2.02923717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.301400513 meters Centerline goodness [0,1] 0.8214506205692632 Centerline is valid? [False, False] Translation: X:263.09, Y:14.75, Z:-0.20 [[ 9.99960092e-01 8.47392488e-03 -2.82983806e-03 2.63091961e+02] [-8.48161795e-03 9.99960337e-01 -2.71771016e-03 1.47457881e+01] [ 2.80669615e-03 2.74160331e-03 9.99992303e-01 -2.02959334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.331400513 meters Centerline goodness [0,1] 0.859685307250691 Centerline is valid? [False, False] Translation: X:263.09, Y:14.75, Z:-0.20 [[ 9.99963782e-01 8.00388974e-03 -2.89356997e-03 2.63092311e+02] [-8.01465279e-03 9.99960935e-01 -3.72738506e-03 1.47504690e+01] [ 2.86362336e-03 3.75044102e-03 9.99988867e-01 -2.03289191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.361400513 meters Centerline goodness [0,1] 0.9750420639371845 Centerline is valid? [False, True] Translation: X:263.07, Y:14.74, Z:-0.20 [[ 9.99950505e-01 6.24035287e-03 -7.74894514e-03 2.63071386e+02] [-6.19413440e-03 9.99962970e-01 5.97422879e-03 1.47441592e+01] [ 7.78593950e-03 -5.92593508e-03 9.99952130e-01 -1.98974097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.391400513 meters Centerline goodness [0,1] 0.9240428071970666 Centerline is valid? [True, False] Translation: X:263.10, Y:14.76, Z:-0.21 [[ 9.99982464e-01 5.55458947e-03 -2.05383874e-03 2.63095076e+02] [-5.56530962e-03 9.99970726e-01 -5.25122347e-03 1.47563653e+01] [ 2.02461022e-03 5.26256164e-03 9.99984103e-01 -2.05850892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.421400513 meters Centerline goodness [0,1] 0.9797953688745288 Centerline is valid? [False, True] Translation: X:263.09, Y:14.76, Z:-0.21 [[ 9.99982455e-01 5.55166026e-03 -2.06618759e-03 2.63094916e+02] [-5.56233328e-03 9.99971030e-01 -5.19617143e-03 1.47560876e+01] [ 2.03728035e-03 5.20757309e-03 9.99984365e-01 -2.05441393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.451400513 meters Centerline goodness [0,1] 0.9860002560928763 Centerline is valid? [True, True] Translation: X:263.12, Y:14.75, Z:-0.21 [[ 9.99991814e-01 3.35822076e-03 -2.25695018e-03 2.63123837e+02] [-3.35854533e-03 9.99994350e-01 -1.40035670e-04 1.47529315e+01] [ 2.25646716e-03 1.47614593e-04 9.99997443e-01 -2.05641940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.481400513 meters Centerline goodness [0,1] 0.988065260173096 Centerline is valid? [True, True] Translation: X:263.15, Y:14.75, Z:-0.21 [[ 9.99995788e-01 1.25509988e-03 -2.61683398e-03 2.63153113e+02] [-1.25552923e-03 9.99999199e-01 -1.62433311e-04 1.47535602e+01] [ 2.61662802e-03 1.65718139e-04 9.99996563e-01 -2.05923115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.511400513 meters Centerline goodness [0,1] 0.9986577753158489 Centerline is valid? [True, True] Translation: X:263.18, Y:14.75, Z:-0.21 [[ 9.99993162e-01 -1.33876248e-03 -3.44736096e-03 2.63183431e+02] [ 1.33803251e-03 9.99999082e-01 -2.14045685e-04 1.47473629e+01] [ 3.44764436e-03 2.09431540e-04 9.99994035e-01 -2.07527265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.541400513 meters Centerline goodness [0,1] 0.9942293412538453 Centerline is valid? [True, True] Translation: X:263.21, Y:14.75, Z:-0.21 [[ 9.99994611e-01 -1.06802967e-03 -3.10435691e-03 2.63211109e+02] [ 1.06743569e-03 9.99999412e-01 -1.92986173e-04 1.47529896e+01] [ 3.10456119e-03 1.89671432e-04 9.99995163e-01 -2.07452496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.571400513 meters Centerline goodness [0,1] 0.9809034467994006 Centerline is valid? [True, True] Translation: X:263.24, Y:14.76, Z:-0.21 [[ 9.99996760e-01 5.75729084e-04 -2.47981568e-03 2.63240376e+02] [-5.76113391e-04 9.99999822e-01 -1.54262575e-04 1.47578487e+01] [ 2.47972643e-03 1.55690730e-04 9.99996913e-01 -2.06731060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.601400513 meters Centerline goodness [0,1] 0.9898123324396783 Centerline is valid? [True, True] Translation: X:263.27, Y:14.76, Z:-0.21 [[ 9.99992231e-01 3.49131013e-03 -1.83007544e-03 2.63270713e+02] [-3.49152432e-03 9.99993898e-01 -1.13858271e-04 1.47566875e+01] [ 1.82966676e-03 1.20247139e-04 9.99998319e-01 -2.05394233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.631400513 meters Centerline goodness [0,1] 0.9309835960390958 Centerline is valid? [True, False] Translation: X:263.27, Y:14.76, Z:-0.21 [[ 9.99992592e-01 3.42993793e-03 -1.74694122e-03 2.63270423e+02] [-3.43104483e-03 9.99993915e-01 -6.31020184e-04 1.47592773e+01] [ 1.74476623e-03 6.37009343e-04 9.99998275e-01 -2.05466428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.661400513 meters Centerline goodness [0,1] 0.8324576144993512 Centerline is valid? [False, False] Translation: X:263.27, Y:14.76, Z:-0.21 [[ 9.99992488e-01 3.42252427e-03 -1.81914753e-03 2.63270770e+02] [-3.42455380e-03 9.99993516e-01 -1.11370598e-03 1.47617664e+01] [ 1.81532405e-03 1.11992738e-03 9.99997725e-01 -2.05821988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.691400513 meters Centerline goodness [0,1] 0.7790307767881933 Centerline is valid? [False, False] Translation: X:263.27, Y:14.77, Z:-0.21 [[ 9.99991520e-01 3.82934768e-03 -1.51517798e-03 2.63270095e+02] [-3.83201935e-03 9.99991101e-01 -1.76431441e-03 1.47659380e+01] [ 1.50840832e-03 1.77010564e-03 9.99997296e-01 -2.06546312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.721400513 meters Centerline goodness [0,1] 0.7511385746969146 Centerline is valid? [False, False] Translation: X:263.27, Y:14.77, Z:-0.21 [[ 9.99992425e-01 3.62498437e-03 -1.41743674e-03 2.63269847e+02] [-3.62833768e-03 9.99990608e-01 -2.37038646e-03 1.47688378e+01] [ 1.40883082e-03 2.37551144e-03 9.99996186e-01 -2.06733287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.751400513 meters Centerline goodness [0,1] 0.7078546506680283 Centerline is valid? [False, False] Translation: X:263.27, Y:14.77, Z:-0.21 [[ 9.99992986e-01 3.47925933e-03 -1.38647572e-03 2.63269680e+02] [-3.48314752e-03 9.99989980e-01 -2.81189255e-03 1.47709627e+01] [ 1.37667852e-03 2.81670213e-03 9.99995085e-01 -2.06682439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.781400513 meters Centerline goodness [0,1] 0.6377402819307988 Centerline is valid? [False, False] Translation: X:263.27, Y:14.77, Z:-0.21 [[ 9.99993148e-01 3.45773233e-03 -1.32243297e-03 2.63269428e+02] [-3.46152151e-03 9.99989879e-01 -2.87383421e-03 1.47712625e+01] [ 1.31248263e-03 2.87839214e-03 9.99994996e-01 -2.06636080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.811400513 meters Centerline goodness [0,1] 0.6615890527209081 Centerline is valid? [False, False] Translation: X:263.27, Y:14.77, Z:-0.21 [[ 9.99992679e-01 3.57978367e-03 -1.35140313e-03 2.63269441e+02] [-3.58322981e-03 9.99990313e-01 -2.55629452e-03 1.47697462e+01] [ 1.34223905e-03 2.56111820e-03 9.99995820e-01 -2.06498809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.841400513 meters Centerline goodness [0,1] 0.7165117608451719 Centerline is valid? [False, False] Translation: X:263.27, Y:14.77, Z:-0.21 [[ 9.99991902e-01 3.76628795e-03 -1.41821857e-03 2.63269563e+02] [-3.76917336e-03 9.99990821e-01 -2.03738653e-03 1.47672621e+01] [ 1.41053217e-03 2.04271554e-03 9.99996919e-01 -2.06297048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.871400513 meters Centerline goodness [0,1] 0.7743033260562476 Centerline is valid? [False, False] Translation: X:263.25, Y:14.76, Z:-0.20 [[ 9.99984763e-01 -1.97445142e-03 -5.15508548e-03 2.63250044e+02] [ 1.99642296e-03 9.99988931e-01 4.26044887e-03 1.47601466e+01] [ 5.14661637e-03 -4.27067569e-03 9.99977637e-01 -2.04826062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.901400513 meters Centerline goodness [0,1] 0.8097879421427657 Centerline is valid? [False, False] Translation: X:263.25, Y:14.76, Z:-0.20 [[ 9.99984104e-01 -1.76365429e-03 -5.35550854e-03 2.63250814e+02] [ 1.79015184e-03 9.99986161e-01 4.94696313e-03 1.47567812e+01] [ 5.34670969e-03 -4.95647167e-03 9.99973423e-01 -2.04981218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.931400513 meters Centerline goodness [0,1] 0.9078182439941865 Centerline is valid? [False, False] Translation: X:263.25, Y:14.75, Z:-0.20 [[ 9.99983747e-01 -1.46622801e-03 -5.50960059e-03 2.63251358e+02] [ 1.49790024e-03 9.99982353e-01 5.74882956e-03 1.47529530e+01] [ 5.50107427e-03 -5.75698896e-03 9.99968297e-01 -2.04993141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.961400513 meters Centerline goodness [0,1] 0.8956280986414268 Centerline is valid? [False, False] Translation: X:263.24, Y:14.75, Z:-0.20 [[ 9.99982058e-01 -3.82873512e-03 -4.60696175e-03 2.63244842e+02] [ 3.84415012e-03 9.99987027e-01 3.34183455e-03 1.47522894e+01] [ 4.59410699e-03 -3.35948444e-03 9.99983804e-01 -2.00911379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.99140051300003 meters Centerline goodness [0,1] 0.8576217583807717 Centerline is valid? [False, False] Translation: X:263.29, Y:14.75, Z:-0.20 [[ 9.99988513e-01 -4.37934205e-03 -1.94806748e-03 2.63286793e+02] [ 4.38394907e-03 9.99987589e-01 2.36697022e-03 1.47538014e+01] [ 1.93767753e-03 -2.37548326e-03 9.99995301e-01 -2.01647344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.021400513 meters Centerline goodness [0,1] 0.9635992949221653 Centerline is valid? [False, True] Translation: X:263.29, Y:14.76, Z:-0.20 [[ 9.99959970e-01 -8.77752890e-03 -1.73611574e-03 2.63286346e+02] [ 8.77277143e-03 9.99957794e-01 -2.72918822e-03 1.47577373e+01] [ 1.75999800e-03 2.71384843e-03 9.99994769e-01 -2.02024413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.051400513 meters Centerline goodness [0,1] 0.9882699198089063 Centerline is valid? [True, True] Translation: X:263.32, Y:14.75, Z:-0.21 [[ 9.99953512e-01 -8.38939074e-03 -4.75310935e-03 2.63315963e+02] [ 8.38769959e-03 9.99964752e-01 -3.75620092e-04 1.47532703e+01] [ 4.75609304e-03 3.35734977e-04 9.99988633e-01 -2.05637303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.081400513 meters Centerline goodness [0,1] 0.9159454804482341 Centerline is valid? [True, False] Translation: X:263.32, Y:14.75, Z:-0.21 [[ 9.99954223e-01 -8.23781374e-03 -4.86717003e-03 2.63316597e+02] [ 8.23764565e-03 9.99966069e-01 -5.45808291e-05 1.47517465e+01] [ 4.86745450e-03 1.44843085e-05 9.99988154e-01 -2.06102294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.111400513 meters Centerline goodness [0,1] 0.9390042372881355 Centerline is valid? [False, False] Translation: X:263.32, Y:14.75, Z:-0.21 [[ 9.99955309e-01 -8.06885971e-03 -4.92685953e-03 2.63316956e+02] [ 8.07038096e-03 9.99967392e-01 2.88964130e-04 1.47501200e+01] [ 4.92436727e-03 -3.28712849e-04 9.99987821e-01 -2.06375724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.141400513 meters Centerline goodness [0,1] 0.9659098177166613 Centerline is valid? [False, True] Translation: X:263.32, Y:14.75, Z:-0.21 [[ 9.99956646e-01 -7.95796750e-03 -4.83491975e-03 2.63316599e+02] [ 7.96050855e-03 9.99968186e-01 5.06545600e-04 1.47491405e+01] [ 4.83073486e-03 -5.45012059e-04 9.99988183e-01 -2.06274521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.171400513 meters Centerline goodness [0,1] 0.7310013600816049 Centerline is valid? [True, False] Translation: X:263.32, Y:14.75, Z:-0.21 [[ 9.99968577e-01 -5.72457469e-03 -5.48400601e-03 2.63321961e+02] [ 5.74070773e-03 9.99979228e-01 2.93062480e-03 1.47456839e+01] [ 5.46711551e-03 -2.96201479e-03 9.99980668e-01 -2.09631720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.201400513 meters Centerline goodness [0,1] 0.7814120547479384 Centerline is valid? [False, False] Translation: X:263.32, Y:14.75, Z:-0.21 [[ 9.99969809e-01 -5.69065174e-03 -5.29133686e-03 2.63321085e+02] [ 5.70623224e-03 9.99979415e-01 2.93411035e-03 1.47457403e+01] [ 5.27453094e-03 -2.96421536e-03 9.99981696e-01 -2.09183096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.231400513 meters Centerline goodness [0,1] 0.7814120547479384 Centerline is valid? [False, False] Translation: X:263.32, Y:14.75, Z:-0.21 [[ 9.99969809e-01 -5.69065174e-03 -5.29133686e-03 2.63321085e+02] [ 5.70623224e-03 9.99979415e-01 2.93411035e-03 1.47457403e+01] [ 5.27453094e-03 -2.96421536e-03 9.99981696e-01 -2.09183096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.261400513 meters Centerline goodness [0,1] 0.698356483935956 Centerline is valid? [False, False] Translation: X:263.32, Y:14.74, Z:-0.21 [[ 9.99971973e-01 -5.42759191e-03 -5.15700119e-03 2.63320620e+02] [ 5.44422911e-03 9.99980004e-01 3.21759800e-03 1.47445732e+01] [ 5.13943426e-03 -3.24558372e-03 9.99981526e-01 -2.09182409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.291400513 meters Centerline goodness [0,1] 0.6585927505330491 Centerline is valid? [False, False] Translation: X:263.32, Y:14.74, Z:-0.21 [[ 9.99972699e-01 -5.26712789e-03 -5.18256934e-03 2.63320838e+02] [ 5.28549468e-03 9.99979778e-01 3.53666325e-03 1.47430933e+01] [ 5.16383648e-03 -3.56395914e-03 9.99980316e-01 -2.09436510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.321400513 meters Centerline goodness [0,1] 0.6769152369627993 Centerline is valid? [False, False] Translation: X:263.32, Y:14.74, Z:-0.21 [[ 9.99973540e-01 -5.13768615e-03 -5.15012642e-03 2.63320877e+02] [ 5.15717709e-03 9.99979563e-01 3.77844539e-03 1.47419699e+01] [ 5.13060871e-03 -3.80490553e-03 9.99979600e-01 -2.09723826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.351400513 meters Centerline goodness [0,1] 0.7983097255459974 Centerline is valid? [False, False] Translation: X:263.30, Y:14.74, Z:-0.21 [[ 9.99973521e-01 -2.57333074e-03 -6.80707461e-03 2.63296879e+02] [ 2.54018741e-03 9.99984900e-01 -4.87312600e-03 1.47429987e+01] [ 6.81951199e-03 4.85570572e-03 9.99964958e-01 -2.07268091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.381400513 meters Centerline goodness [0,1] 0.6862624025891071 Centerline is valid? [False, False] Translation: X:263.32, Y:14.74, Z:-0.21 [[ 9.99990970e-01 -1.84491580e-03 -3.82826130e-03 2.63319481e+02] [ 1.87236549e-03 9.99972477e-01 7.17912356e-03 1.47367504e+01] [ 3.81491105e-03 -7.18622664e-03 9.99966902e-01 -2.10538557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.411400513 meters Centerline goodness [0,1] 0.7140110242276632 Centerline is valid? [False, False] Translation: X:263.32, Y:14.74, Z:-0.21 [[ 9.99991143e-01 -1.95398359e-03 -3.72769286e-03 2.63319222e+02] [ 1.97964673e-03 9.99974282e-01 6.89323428e-03 1.47380983e+01] [ 3.71412773e-03 -6.90055274e-03 9.99969293e-01 -2.10732690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.441400513 meters Centerline goodness [0,1] 0.6342336201755133 Centerline is valid? [False, False] Translation: X:263.32, Y:14.74, Z:-0.21 [[ 9.99991245e-01 -2.11284536e-03 -3.61191722e-03 2.63318903e+02] [ 2.13612618e-03 9.99976892e-01 6.45389887e-03 1.47401844e+01] [ 3.59819767e-03 -6.46155788e-03 9.99972650e-01 -2.10918663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.471400513 meters Centerline goodness [0,1] 0.5301401869158878 Centerline is valid? [False, False] Translation: X:263.32, Y:14.74, Z:-0.21 [[ 9.99991246e-01 -2.28334867e-03 -3.50618683e-03 2.63318571e+02] [ 2.30427309e-03 9.99979492e-01 5.97546100e-03 1.47424660e+01] [ 3.49247086e-03 -5.98348791e-03 9.99976000e-01 -2.11033994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.501400513 meters Centerline goodness [0,1] 0.4585692554719851 Centerline is valid? [False, False] Translation: X:263.32, Y:14.75, Z:-0.21 [[ 9.99991241e-01 -2.48494275e-03 -3.36790830e-03 2.63318148e+02] [ 2.50155557e-03 9.99984682e-01 4.93747582e-03 1.47476794e+01] [ 3.35558736e-03 -4.94585758e-03 9.99982139e-01 -2.11365522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.531400513 meters Centerline goodness [0,1] 0.49016365640634274 Centerline is valid? [False, False] Translation: X:263.32, Y:14.75, Z:-0.21 [[ 9.99990869e-01 -2.75771563e-03 -3.26450605e-03 2.63317871e+02] [ 2.77164755e-03 9.99987039e-01 4.27089250e-03 1.47508392e+01] [ 3.25268583e-03 -4.27990156e-03 9.99985551e-01 -2.11557819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.561400513 meters Centerline goodness [0,1] 0.4211184071171362 Centerline is valid? [False, False] Translation: X:263.32, Y:14.75, Z:-0.21 [[ 9.99989957e-01 -3.08652901e-03 -3.24958119e-03 2.63317824e+02] [ 3.09782072e-03 9.99989162e-01 3.47554245e-03 1.47545916e+01] [ 3.23881861e-03 -3.48557416e-03 9.99988680e-01 -2.11657618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.591400513 meters Centerline goodness [0,1] 0.39095530607922047 Centerline is valid? [False, False] Translation: X:263.32, Y:14.76, Z:-0.21 [[ 9.99988907e-01 -3.46862240e-03 -3.18652282e-03 2.63317677e+02] [ 3.47685204e-03 9.99990626e-01 2.58073940e-03 1.47588064e+01] [ 3.17754134e-03 -2.59178984e-03 9.99991593e-01 -2.11878525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.621400513 meters Centerline goodness [0,1] 0.448502994011976 Centerline is valid? [False, False] Translation: X:263.32, Y:14.76, Z:-0.21 [[ 9.99987515e-01 -3.89425503e-03 -3.13131591e-03 2.63317565e+02] [ 3.89926218e-03 9.99991127e-01 1.59454253e-03 1.47634149e+01] [ 3.12507857e-03 -1.60673244e-03 9.99993826e-01 -2.12149546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.651400513 meters Centerline goodness [0,1] 0.44984248762402756 Centerline is valid? [False, False] Translation: X:263.32, Y:14.77, Z:-0.21 [[ 9.99985892e-01 -4.34501428e-03 -3.05569239e-03 2.63317363e+02] [ 4.34669845e-03 9.99990405e-01 5.44733495e-04 1.47683231e+01] [ 3.05329620e-03 -5.58007984e-04 9.99995183e-01 -2.12360766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.681400513 meters Centerline goodness [0,1] 0.44940266290525954 Centerline is valid? [False, False] Translation: X:263.32, Y:14.78, Z:-0.22 [[ 9.99988611e-01 -2.49492568e-03 -4.06859601e-03 2.63323951e+02] [ 2.50244230e-03 9.99995170e-01 1.84343002e-03 1.47753669e+01] [ 4.06397714e-03 -1.85359045e-03 9.99990024e-01 -2.16308708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.711400513 meters Centerline goodness [0,1] 0.40914191349268525 Centerline is valid? [False, False] Translation: X:263.34, Y:14.79, Z:-0.22 [[ 9.99998781e-01 -1.55369888e-03 1.56461322e-04 2.63343644e+02] [ 1.55513105e-03 9.99952593e-01 -9.61218683e-03 1.47894300e+01] [-1.41519460e-04 9.61241843e-03 9.99953790e-01 -2.18920308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.74140051300003 meters Centerline goodness [0,1] 0.41895335995242544 Centerline is valid? [False, False] Translation: X:263.34, Y:14.79, Z:-0.22 [[ 9.99996695e-01 2.56885857e-03 -1.02564439e-04 2.63344268e+02] [-2.56933502e-03 9.99984436e-01 -4.95240159e-03 1.47874243e+01] [ 8.98408235e-05 4.95264875e-03 9.99987732e-01 -2.18372029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.771400513 meters Centerline goodness [0,1] 0.41370837922562065 Centerline is valid? [False, False] Translation: X:263.34, Y:14.79, Z:-0.22 [[ 9.99997611e-01 2.18467824e-03 -7.83542334e-05 2.63344050e+02] [-2.18509665e-03 9.99980731e-01 -5.81057976e-03 1.47914471e+01] [ 6.56584765e-05 5.81073708e-03 9.99983115e-01 -2.18143417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.801400513 meters Centerline goodness [0,1] 0.5839931153184166 Centerline is valid? [False, False] Translation: X:263.32, Y:14.79, Z:-0.21 [[ 9.99983407e-01 2.40882592e-04 -5.75569159e-03 2.63322848e+02] [-2.23401903e-04 9.99995362e-01 3.03756353e-03 1.47885151e+01] [ 5.75639659e-03 -3.03622730e-03 9.99978822e-01 -2.12450548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.831400513 meters Centerline goodness [0,1] 0.4632809179770506 Centerline is valid? [False, False] Translation: X:263.35, Y:14.80, Z:-0.22 [[ 9.99999812e-01 -2.13824381e-04 -5.74823186e-04 2.63346378e+02] [ 2.08892489e-04 9.99963287e-01 -8.56625278e-03 1.48029403e+01] [ 5.76633757e-04 8.56613109e-03 9.99963144e-01 -2.18993706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.861400513 meters Centerline goodness [0,1] 0.4746997648952619 Centerline is valid? [False, False] Translation: X:263.35, Y:14.80, Z:-0.22 [[ 9.99993789e-01 3.31027231e-03 -1.20981253e-03 2.63348598e+02] [-3.31511544e-03 9.99986411e-01 -4.02336981e-03 1.48002401e+01] [ 1.19647764e-03 4.02735549e-03 9.99991174e-01 -2.19154396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.891400513 meters Centerline goodness [0,1] 0.4851955956632923 Centerline is valid? [False, False] Translation: X:263.35, Y:14.80, Z:-0.22 [[ 9.99994483e-01 3.09141848e-03 -1.21516996e-03 2.63348410e+02] [-3.09681022e-03 9.99985257e-01 -4.46047614e-03 1.48022686e+01] [ 1.20136285e-03 4.46421468e-03 9.99989314e-01 -2.18793754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.921400513 meters Centerline goodness [0,1] 0.5565456522202563 Centerline is valid? [False, False] Translation: X:263.35, Y:14.80, Z:-0.22 [[ 9.99994993e-01 2.93793111e-03 -1.17574782e-03 2.63348052e+02] [-2.94352513e-03 9.99984221e-01 -4.78473202e-03 1.48037872e+01] [ 1.16167205e-03 4.78816891e-03 9.99987862e-01 -2.18385495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.951400513 meters Centerline goodness [0,1] 0.6853903852710534 Centerline is valid? [False, False] Translation: X:263.35, Y:14.81, Z:-0.22 [[ 9.99995271e-01 2.81326057e-03 -1.24218989e-03 2.63348180e+02] [-2.81949619e-03 9.99983289e-01 -5.04697342e-03 1.48050057e+01] [ 1.22797068e-03 5.05045190e-03 9.99986492e-01 -2.18210513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.981400513 meters Centerline goodness [0,1] 0.6535154491069323 Centerline is valid? [False, False] Translation: X:263.35, Y:14.80, Z:-0.22 [[ 9.99976882e-01 6.57629750e-03 -1.72843328e-03 2.63349995e+02] [-6.57727909e-03 9.99978211e-01 -5.62837089e-04 1.48032631e+01] [ 1.72469424e-03 5.74192466e-04 9.99998348e-01 -2.18520429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.011400513 meters Centerline goodness [0,1] 0.7204175098519544 Centerline is valid? [False, False] Translation: X:263.35, Y:14.81, Z:-0.22 [[ 9.99978418e-01 6.31960129e-03 -1.79594012e-03 2.63350204e+02] [-6.32167883e-03 9.99979353e-01 -1.15348736e-03 1.48060222e+01] [ 1.78861346e-03 1.16481583e-03 9.99997722e-01 -2.18536901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.041400513 meters Centerline goodness [0,1] 0.5163004360895889 Centerline is valid? [False, False] Translation: X:263.35, Y:14.81, Z:-0.22 [[ 9.99979875e-01 6.10636667e-03 -1.72074967e-03 2.63349751e+02] [-6.10916898e-03 9.99980014e-01 -1.62801784e-03 1.48082544e+01] [ 1.71077400e-03 1.63849743e-03 9.99997194e-01 -2.18174494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.071400513 meters Centerline goodness [0,1] 0.637741456166419 Centerline is valid? [False, False] Translation: X:263.35, Y:14.81, Z:-0.22 [[ 9.99981102e-01 5.93730809e-03 -1.59511778e-03 2.63349074e+02] [-5.94048257e-03 9.99980369e-01 -1.99281100e-03 1.48099585e+01] [ 1.58325454e-03 2.00224911e-03 9.99996742e-01 -2.17705801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.101400513 meters Centerline goodness [0,1] 0.6729437828856273 Centerline is valid? [False, False] Translation: X:263.35, Y:14.81, Z:-0.22 [[ 9.99981981e-01 5.81768903e-03 -1.48063468e-03 2.63348433e+02] [-5.82100044e-03 9.99980544e-01 -2.24208622e-03 1.48111246e+01] [ 1.46756211e-03 2.25066459e-03 9.99996390e-01 -2.17223361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.131400513 meters Centerline goodness [0,1] 0.6051625851356833 Centerline is valid? [False, False] Translation: X:263.35, Y:14.81, Z:-0.22 [[ 9.99983499e-01 5.56715540e-03 -1.41710199e-03 2.63347934e+02] [-5.57108824e-03 9.99980599e-01 -2.78661703e-03 1.48136566e+01] [ 1.40156097e-03 2.79446585e-03 9.99995113e-01 -2.16707866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.161400513 meters Centerline goodness [0,1] 0.6341898492248885 Centerline is valid? [False, False] Translation: X:263.35, Y:14.81, Z:-0.22 [[ 9.99983863e-01 5.49461431e-03 -1.44310057e-03 2.63347908e+02] [-5.49879084e-03 9.99980658e-01 -2.90629213e-03 1.48142026e+01] [ 1.42710370e-03 2.91418054e-03 9.99994735e-01 -2.16505318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.191400513 meters Centerline goodness [0,1] 0.6354347366194204 Centerline is valid? [False, False] Translation: X:263.35, Y:14.81, Z:-0.22 [[ 9.99983730e-01 5.49205424e-03 -1.54154870e-03 2.63348013e+02] [-5.49629661e-03 9.99981082e-01 -2.76140797e-03 1.48134563e+01] [ 1.52635374e-03 2.76983585e-03 9.99994999e-01 -2.16105758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.221400513 meters Centerline goodness [0,1] 0.7071983406353843 Centerline is valid? [False, False] Translation: X:263.35, Y:14.81, Z:-0.22 [[ 9.99983270e-01 5.58242510e-03 -1.51511562e-03 2.63347596e+02] [-5.58572531e-03 9.99982017e-01 -2.18276785e-03 1.48105664e+01] [ 1.50290324e-03 2.19119435e-03 9.99996470e-01 -2.15403274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.251400513 meters Centerline goodness [0,1] 0.7369277547000128 Centerline is valid? [False, False] Translation: X:263.35, Y:14.81, Z:-0.21 [[ 9.99982669e-01 5.68313414e-03 -1.53731290e-03 2.63347387e+02] [-5.68518272e-03 9.99982953e-01 -1.33149918e-03 1.48062842e+01] [ 1.52971960e-03 1.34021601e-03 9.99997932e-01 -2.14703394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.281400513 meters Centerline goodness [0,1] 0.9191788383152174 Centerline is valid? [False, False] Translation: X:263.37, Y:14.80, Z:-0.21 [[ 9.99998936e-01 5.77443819e-04 -1.33992915e-03 2.63366565e+02] [-5.70419805e-04 9.99986126e-01 5.23655330e-03 1.48019334e+01] [ 1.34293437e-03 -5.23578340e-03 9.99985391e-01 -2.11667230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.311400513 meters Centerline goodness [0,1] 0.9266839870730625 Centerline is valid? [False, False] Translation: X:263.37, Y:14.80, Z:-0.21 [[ 9.99991716e-01 -3.85977041e-03 -1.29216582e-03 2.63366401e+02] [ 3.86063355e-03 9.99992326e-01 6.66146287e-04 1.48030451e+01] [ 1.28958473e-03 -6.71129347e-04 9.99998943e-01 -2.11627496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.341400513 meters Centerline goodness [0,1] 0.9995762352741758 Centerline is valid? [False, True] Translation: X:263.37, Y:14.80, Z:-0.21 [[ 9.99965487e-01 -8.13659243e-03 -1.67935858e-03 2.63367967e+02] [ 8.13139381e-03 9.99962198e-01 -3.07955175e-03 1.48000583e+01] [ 1.70435216e-03 3.06578994e-03 9.99993848e-01 -2.12037049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.371400513 meters Centerline goodness [0,1] 0.9995959080371765 Centerline is valid? [True, True] Translation: X:263.40, Y:14.80, Z:-0.21 [[ 9.99935606e-01 -1.10940736e-02 -2.38857718e-03 2.63397838e+02] [ 1.10937388e-02 9.99938451e-01 -1.53383167e-04 1.47960935e+01] [ 2.39013181e-03 1.26875038e-04 9.99997136e-01 -2.13314291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.401400513 meters Centerline goodness [0,1] 0.9996162128739259 Centerline is valid? [True, True] Translation: X:263.43, Y:14.79, Z:-0.21 [[ 9.99905526e-01 -1.35643653e-02 -2.22430027e-03 2.63428367e+02] [ 1.35640810e-02 9.99907993e-01 -1.42854774e-04 1.47905393e+01] [ 2.22603336e-03 1.12670689e-04 9.99997516e-01 -2.13156288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.431400513 meters Centerline goodness [0,1] 0.9995535524469578 Centerline is valid? [True, True] Translation: X:263.46, Y:14.79, Z:-0.21 [[ 9.99876215e-01 -1.56600781e-02 -1.52223307e-03 2.63457633e+02] [ 1.56599473e-02 9.99877371e-01 -9.78317164e-05 1.47895682e+01] [ 1.52357845e-03 7.39815168e-05 9.99998837e-01 -2.12179015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.461400513 meters Centerline goodness [0,1] 0.9997030563980741 Centerline is valid? [True, True] Translation: X:263.49, Y:14.78, Z:-0.21 [[ 9.99826167e-01 -1.86171441e-02 -1.01847182e-03 2.63487019e+02] [ 1.86170871e-02 9.99826685e-01 -6.54928885e-05 1.47826554e+01] [ 1.01951459e-03 4.65205252e-05 9.99999479e-01 -2.11447772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.49140051300003 meters Centerline goodness [0,1] 0.9998082372744125 Centerline is valid? [True, True] Translation: X:263.52, Y:14.78, Z:-0.21 [[ 9.99803730e-01 -1.97743262e-02 -1.21582563e-03 2.63517088e+02] [ 1.97742457e-02 9.99804467e-01 -7.82047738e-05 1.47759224e+01] [ 1.21713435e-03 5.41473897e-05 9.99999258e-01 -2.11921176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.521400513 meters Centerline goodness [0,1] 0.9998929977743537 Centerline is valid? [True, True] Translation: X:263.55, Y:14.77, Z:-0.21 [[ 9.99782642e-01 -2.07629150e-02 -1.88938216e-03 2.63547629e+02] [ 2.07627224e-02 9.99784424e-01 -1.21501520e-04 1.47712141e+01] [ 1.89149758e-03 8.22463936e-05 9.99998208e-01 -2.12850210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.551400513 meters Centerline goodness [0,1] 0.9997876902825842 Centerline is valid? [True, True] Translation: X:263.58, Y:14.77, Z:-0.21 [[ 9.99752742e-01 -2.21294597e-02 -2.17744282e-03 2.63575789e+02] [ 2.21292057e-02 9.99755109e-01 -1.40673935e-04 1.47748074e+01] [ 2.18002263e-03 9.24540721e-05 9.99997619e-01 -2.14658333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.581400513 meters Centerline goodness [0,1] 0.9998923898071626 Centerline is valid? [True, True] Translation: X:263.60, Y:14.77, Z:-0.21 [[ 9.99714808e-01 -2.37412732e-02 -2.57974579e-03 2.63604714e+02] [ 2.37409225e-02 9.99718131e-01 -1.66486405e-04 1.47695709e+01] [ 2.58297124e-03 1.05193380e-04 9.99996659e-01 -2.14658038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.611400513 meters Centerline goodness [0,1] 0.9999576504467877 Centerline is valid? [True, True] Translation: X:263.63, Y:14.76, Z:-0.21 [[ 9.99642480e-01 -2.66793555e-02 -1.76726429e-03 2.63633801e+02] [ 2.66791954e-02 9.99644040e-01 -1.14117899e-04 1.47623091e+01] [ 1.76967981e-03 6.69279106e-05 9.99998432e-01 -2.13667669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.641400513 meters Centerline goodness [0,1] 0.9999147285169158 Centerline is valid? [True, True] Translation: X:263.66, Y:14.75, Z:-0.21 [[ 9.99599646e-01 -2.82464069e-02 -1.63958570e-03 2.63662933e+02] [ 2.82462710e-02 9.99600989e-01 -1.05982545e-04 1.47546810e+01] [ 1.64192511e-03 5.96279327e-05 9.99998650e-01 -2.13265375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.671400513 meters Centerline goodness [0,1] 0.9999573751625072 Centerline is valid? [True, True] Translation: X:263.69, Y:14.75, Z:-0.21 [[ 9.99544643e-01 -3.01172584e-02 -1.85959868e-03 2.63691011e+02] [ 3.01170866e-02 9.99546370e-01 -1.20324610e-04 1.47517811e+01] [ 1.86237896e-03 6.42641244e-05 9.99998264e-01 -2.13628104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.701400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.72, Y:14.75, Z:-0.21 [[ 9.99483326e-01 -3.20731097e-02 -2.09686307e-03 2.63720596e+02] [ 3.20728954e-02 9.99485523e-01 -1.35735480e-04 1.47451171e+01] [ 2.10013774e-03 6.84128791e-05 9.99997792e-01 -2.14208476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.731400513 meters Centerline goodness [0,1] 0.9998512284281221 Centerline is valid? [True, True] Translation: X:263.75, Y:14.74, Z:-0.22 [[ 9.99415632e-01 -3.40777091e-02 -2.66525378e-03 2.63748948e+02] [ 3.40773698e-02 9.99419183e-01 -1.72627347e-04 1.47434075e+01] [ 2.66958850e-03 8.17016307e-05 9.99996433e-01 -2.15122565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.761400513 meters Centerline goodness [0,1] 0.9999575073830922 Centerline is valid? [True, True] Translation: X:263.78, Y:14.74, Z:-0.22 [[ 9.99347000e-01 -3.59996639e-02 -3.09815029e-03 2.63778713e+02] [ 3.59992125e-02 9.99351798e-01 -2.01357032e-04 1.47376884e+01] [ 3.10339085e-03 8.96945748e-05 9.99995180e-01 -2.15306414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.791400513 meters Centerline goodness [0,1] 0.9999787075481742 Centerline is valid? [True, True] Translation: X:263.81, Y:14.73, Z:-0.22 [[ 9.99228909e-01 -3.90821528e-02 -3.76454429e-03 2.63807607e+02] [ 3.90815090e-02 9.99235996e-01 -2.44436135e-04 1.47328840e+01] [ 3.77122126e-03 9.71235805e-05 9.99992884e-01 -2.15940110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.821400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.84, Y:14.73, Z:-0.22 [[ 9.99155969e-01 -4.08716058e-02 -4.10636687e-03 2.63837083e+02] [ 4.08708530e-02 9.99164402e-01 -2.67111142e-04 1.47297627e+01] [ 4.11385286e-03 9.90549751e-05 9.99991533e-01 -2.16156869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.851400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.87, Y:14.73, Z:-0.22 [[ 9.99080880e-01 -4.26691072e-02 -4.09166878e-03 2.63866693e+02] [ 4.26683715e-02 9.99089255e-01 -2.66955233e-04 1.47264658e+01] [ 4.09933305e-03 9.21250257e-05 9.99991593e-01 -2.15559462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.881400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.89, Y:14.73, Z:-0.22 [[ 9.99013145e-01 -4.42634083e-02 -3.67237715e-03 2.63894863e+02] [ 4.42628262e-02 9.99019892e-01 -2.39653423e-04 1.47255973e+01] [ 3.67938570e-03 7.68671278e-05 9.99993228e-01 -2.15121690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.911400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.92, Y:14.73, Z:-0.22 [[ 9.98937912e-01 -4.59635196e-02 -3.22523497e-03 2.63922905e+02] [ 4.59630789e-02 9.98943117e-01 -2.10683607e-04 1.47266509e+01] [ 3.23151003e-03 6.22181134e-05 9.99994777e-01 -2.15139624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.941400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.95, Y:14.73, Z:-0.21 [[ 9.98848452e-01 -4.79081177e-02 -2.56566561e-03 2.63951583e+02] [ 4.79078435e-02 9.98851746e-01 -1.68249836e-04 1.47255525e+01] [ 2.57078011e-03 4.51405819e-05 9.99996695e-01 -2.13940009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.971400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.98, Y:14.72, Z:-0.21 [[ 9.98661715e-01 -5.16738575e-02 -2.14292625e-03 2.63981283e+02] [ 5.16736742e-02 9.98664013e-01 -1.40884421e-04 1.47197020e+01] [ 2.14734337e-03 2.99630047e-05 9.99997694e-01 -2.13398425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.001400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.01, Y:14.72, Z:-0.21 [[ 9.98553953e-01 -5.37045761e-02 -2.41293498e-03 2.64010733e+02] [ 5.37043486e-02 9.98556868e-01 -1.59037885e-04 1.47170793e+01] [ 2.41799386e-03 2.92228076e-05 9.99997076e-01 -2.13441545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.031400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.04, Y:14.72, Z:-0.21 [[ 9.98439328e-01 -5.57712878e-02 -2.91078480e-03 2.64039829e+02] [ 5.57709642e-02 9.98443570e-01 -1.92275578e-04 1.47163567e+01] [ 2.91697782e-03 2.96382235e-05 9.99995745e-01 -2.14192197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.061400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.07, Y:14.71, Z:-0.22 [[ 9.98241096e-01 -5.91750313e-02 -3.60958835e-03 2.64068348e+02] [ 5.91745541e-02 9.98247622e-01 -2.38960812e-04 1.47147593e+01] [ 3.61740350e-03 2.49447215e-05 9.99993457e-01 -2.16356056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.091400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.10, Y:14.71, Z:-0.22 [[ 9.98166257e-01 -6.04273029e-02 -3.55876200e-03 2.64096935e+02] [ 6.04268442e-02 9.98172601e-01 -2.36377557e-04 1.47134713e+01] [ 3.56654238e-03 2.08993442e-05 9.99993640e-01 -2.15056894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.121400513 meters Centerline goodness [0,1] 0.9999570981166073 Centerline is valid? [True, True] Translation: X:264.12, Y:14.72, Z:-0.22 [[ 9.98121720e-01 -6.11718509e-02 -3.32207348e-03 2.64124850e+02] [ 6.11714555e-02 9.98127249e-01 -2.20604441e-04 1.47153900e+01] [ 3.32934685e-03 1.69740141e-05 9.99994458e-01 -2.15432982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.151400513 meters Centerline goodness [0,1] 0.9999570981166073 Centerline is valid? [True, True] Translation: X:264.15, Y:14.72, Z:-0.22 [[ 9.98110446e-01 -6.13555438e-02 -3.32201605e-03 2.64152276e+02] [ 6.13551465e-02 9.98115974e-01 -2.21468501e-04 1.47173971e+01] [ 3.32934560e-03 1.72272427e-05 9.99994458e-01 -2.15489901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.181400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.18, Y:14.72, Z:-0.21 [[ 9.98070076e-01 -6.20457964e-02 -2.53802194e-03 2.64180368e+02] [ 6.20455652e-02 9.98073303e-01 -1.69805082e-04 1.47183990e+01] [ 2.54366763e-03 1.20043652e-05 9.99996765e-01 -2.13760609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.211400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.21, Y:14.72, Z:-0.21 [[ 9.98031692e-01 -6.26756777e-02 -2.12150635e-03 2.64208258e+02] [ 6.26755178e-02 9.98033947e-01 -1.41855946e-04 1.47204927e+01] [ 2.12622628e-03 8.61022093e-06 9.99997740e-01 -2.13438396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.24140051300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.24, Y:14.72, Z:-0.21 [[ 9.97960867e-01 -6.37872523e-02 -2.30085601e-03 2.64235994e+02] [ 6.37870655e-02 9.97963520e-01 -1.54571808e-04 1.47214324e+01] [ 2.30603007e-03 7.49176290e-06 9.99997341e-01 -2.13493331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.271400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.26, Y:14.72, Z:-0.21 [[ 9.97730148e-01 -6.72858773e-02 -2.67617511e-03 2.64262877e+02] [ 6.72856366e-02 9.97733737e-01 -1.79956647e-04 1.47188896e+01] [ 2.68221873e-03 -5.19973883e-07 9.99996403e-01 -2.14346795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.301400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.29, Y:14.72, Z:-0.21 [[ 9.97581219e-01 -6.94762128e-02 -2.18320274e-03 2.64289635e+02] [ 6.94760576e-02 9.97583608e-01 -1.46928950e-04 1.47180362e+01] [ 2.18813533e-03 -5.10675783e-06 9.99997606e-01 -2.13716678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.331400513 meters Centerline goodness [0,1] 0.9998707815562208 Centerline is valid? [True, True] Translation: X:264.32, Y:14.72, Z:-0.21 [[ 9.97421845e-01 -7.17330767e-02 -2.00705546e-03 2.64318051e+02] [ 7.17329500e-02 9.97423865e-01 -1.35162104e-04 1.47175992e+01] [ 2.01158061e-03 -9.15837424e-06 9.99997977e-01 -2.12543188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.361400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.35, Y:14.72, Z:-0.21 [[ 9.97263004e-01 -7.39186083e-02 -1.59391556e-03 2.64347345e+02] [ 7.39185303e-02 9.97264278e-01 -1.07854860e-04 1.47169845e+01] [ 1.59752753e-03 -1.02602340e-05 9.99998724e-01 -2.12543627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.391400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.38, Y:14.72, Z:-0.21 [[ 9.97084442e-01 -7.62855896e-02 -1.76734838e-03 2.64376199e+02] [ 7.62854969e-02 9.97086009e-01 -1.19861617e-04 1.47166307e+01] [ 1.77134206e-03 -1.53108965e-05 9.99998431e-01 -2.13194263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.421400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.40, Y:14.71, Z:-0.21 [[ 9.96776052e-01 -8.02091139e-02 -1.99987315e-03 2.64404810e+02] [ 8.02090035e-02 9.96778058e-01 -1.35480356e-04 1.47146217e+01] [ 2.00429644e-03 -2.53642583e-05 9.99997991e-01 -2.13699873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.451400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.43, Y:14.71, Z:-0.21 [[ 9.96629061e-01 -8.20131374e-02 -2.08812602e-03 2.64432743e+02] [ 8.20130207e-02 9.96631248e-01 -1.41579067e-04 1.47143523e+01] [ 2.09270299e-03 -3.01517107e-05 9.99997810e-01 -2.14263203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.481400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.46, Y:14.71, Z:-0.21 [[ 9.96498620e-01 -8.35664815e-02 -2.67283486e-03 2.64461555e+02] [ 8.35662942e-02 9.96502203e-01 -1.81873948e-04 1.47145493e+01] [ 2.67868440e-03 -4.21217664e-05 9.99996411e-01 -2.14802737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.511400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.49, Y:14.71, Z:-0.22 [[ 9.96397890e-01 -8.47242083e-02 -3.61301726e-03 2.64490216e+02] [ 8.47238719e-02 9.96404438e-01 -2.46336162e-04 1.47145538e+01] [ 3.62089707e-03 -6.06599792e-05 9.99993443e-01 -2.15926709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.541400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.52, Y:14.72, Z:-0.22 [[ 9.96301543e-01 -8.57097330e-02 -6.08913241e-03 2.64518096e+02] [ 8.57087965e-02 9.96320144e-01 -4.15058787e-04 1.47150410e+01] [ 6.10229986e-03 -1.08368501e-04 9.99981375e-01 -2.19975673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.571400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.55, Y:14.72, Z:-0.22 [[ 9.96287339e-01 -8.58366264e-02 -6.60390278e-03 2.64546057e+02] [ 8.58355174e-02 9.96309219e-01 -4.51703603e-04 1.47202782e+01] [ 6.61830194e-03 -1.16822831e-04 9.99978092e-01 -2.20042412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.601400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.57, Y:14.72, Z:-0.22 [[ 9.96302321e-01 -8.57108689e-02 -5.94412487e-03 2.64574193e+02] [ 8.57099622e-02 9.96320047e-01 -4.07571474e-04 1.47237321e+01] [ 5.95718408e-03 -1.03406313e-04 9.99982250e-01 -2.19951341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.631400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.60, Y:14.73, Z:-0.22 [[ 9.96322188e-01 -8.55445354e-02 -4.92241749e-03 2.64603106e+02] [ 8.55439072e-02 9.96334344e-01 -3.38410338e-04 1.47286458e+01] [ 4.93332276e-03 -8.39170971e-05 9.99987828e-01 -2.17918979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.661400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.63, Y:14.73, Z:-0.22 [[ 9.96351161e-01 -8.52483622e-02 -4.13290844e-03 2.64630407e+02] [ 8.52479164e-02 9.96359730e-01 -2.84211656e-04 1.47318644e+01] [ 4.14209212e-03 -6.91472200e-05 9.99991419e-01 -2.16527427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.691400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.66, Y:14.74, Z:-0.22 [[ 9.96344496e-01 -8.53361596e-02 -3.92250496e-03 2.64658655e+02] [ 8.53357547e-02 9.96352215e-01 -2.70778509e-04 1.47361998e+01] [ 3.93130370e-03 -6.49412448e-05 9.99992270e-01 -2.15966179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.721400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.69, Y:14.74, Z:-0.22 [[ 9.96332035e-01 -8.54224704e-02 -5.04760234e-03 2.64687083e+02] [ 8.54217975e-02 9.96344817e-01 -3.49141482e-04 1.47419050e+01] [ 5.05897696e-03 -8.33144222e-05 9.99987200e-01 -2.18224587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.751400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.72, Y:14.74, Z:-0.22 [[ 9.96285855e-01 -8.59646777e-02 -4.95668391e-03 2.64715272e+02] [ 8.59640304e-02 9.96298182e-01 -3.43883837e-04 1.47448641e+01] [ 4.96789703e-03 -8.34899236e-05 9.99987656e-01 -2.18780554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.781400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.74, Y:14.75, Z:-0.22 [[ 9.96201019e-01 -8.69412125e-02 -4.97551812e-03 2.64744492e+02] [ 8.69405685e-02 9.96213440e-01 -3.45989988e-04 1.47466337e+01] [ 4.98675881e-03 -8.78987950e-05 9.99987562e-01 -2.19013305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.811400513 meters Centerline goodness [0,1] 0.9998489165155832 Centerline is valid? [True, True] Translation: X:264.77, Y:14.75, Z:-0.22 [[ 9.96134030e-01 -8.76895021e-02 -5.24839861e-03 2.64772011e+02] [ 8.76887944e-02 9.96147851e-01 -3.65257805e-04 1.47483372e+01] [ 5.26021027e-03 -9.63800168e-05 9.99986160e-01 -2.19266674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.841400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.80, Y:14.75, Z:-0.22 [[ 9.96111304e-01 -8.79670050e-02 -4.90679618e-03 2.64798911e+02] [ 8.79663877e-02 9.96123385e-01 -3.41899008e-04 1.47505367e+01] [ 4.91785025e-03 -9.10636686e-05 9.99987903e-01 -2.19423712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.871400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.83, Y:14.75, Z:-0.22 [[ 9.96118789e-01 -8.78941887e-02 -4.68711934e-03 2.64826956e+02] [ 8.78936195e-02 9.96129813e-01 -3.27700401e-04 1.47546729e+01] [ 4.69778227e-03 -8.55393568e-05 9.99988962e-01 -2.18910632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.901400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.86, Y:14.77, Z:-0.22 [[ 9.96271579e-01 -8.61424095e-02 -4.73564806e-03 2.64855127e+02] [ 8.61418051e-02 9.96282831e-01 -3.31831144e-04 1.47654244e+01] [ 4.74662959e-03 -7.73433347e-05 9.99988732e-01 -2.18405003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.931400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.88, Y:14.77, Z:-0.22 [[ 9.96355550e-01 -8.51541307e-02 -4.93875691e-03 2.64883951e+02] [ 8.51534571e-02 9.96367788e-01 -3.46876800e-04 1.47726188e+01] [ 4.95035629e-03 -7.49396003e-05 9.99987744e-01 -2.18899556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.961400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.91, Y:14.78, Z:-0.22 [[ 9.96442554e-01 -8.41266473e-02 -4.99432751e-03 2.64911268e+02] [ 8.41259452e-02 9.96455068e-01 -3.50850487e-04 1.47792348e+01] [ 5.00613883e-03 -7.05501668e-05 9.99987467e-01 -2.19103049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.99140051300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.94, Y:14.79, Z:-0.22 [[ 9.96488295e-01 -8.36245848e-02 -4.24351164e-03 2.64939586e+02] [ 8.36240693e-02 9.96497328e-01 -2.99071278e-04 1.47868217e+01] [ 4.25365772e-03 -5.68386833e-05 9.99990952e-01 -2.17694076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.021400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.97, Y:14.79, Z:-0.22 [[ 9.96465627e-01 -8.39513254e-02 -2.90323004e-03 2.64967450e+02] [ 8.39510833e-02 9.96469856e-01 -2.05344666e-04 1.47927789e+01] [ 2.91022017e-03 -3.91104058e-05 9.99995765e-01 -2.15349850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.051400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.00, Y:14.80, Z:-0.21 [[ 9.96253609e-01 -8.64588860e-02 -1.89914019e-03 2.64996206e+02] [ 8.64587862e-02 9.96255419e-01 -1.34736282e-04 1.47971405e+01] [ 1.90367785e-03 -2.99658477e-05 9.99998188e-01 -2.13618835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.081400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.02, Y:14.80, Z:-0.21 [[ 9.96073742e-01 -8.84768601e-02 -2.99105387e-03 2.65024662e+02] [ 8.84766207e-02 9.96078231e-01 -2.12524023e-04 1.48006240e+01] [ 2.99812711e-03 -5.29487400e-05 9.99995504e-01 -2.14765864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.111400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.05, Y:14.80, Z:-0.22 [[ 9.95878516e-01 -9.05881496e-02 -4.44612477e-03 2.65052341e+02] [ 9.05876422e-02 9.95888437e-01 -3.15779813e-04 1.48018056e+01] [ 4.45645016e-03 -8.82856282e-05 9.99990066e-01 -2.17111668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.141400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.08, Y:14.81, Z:-0.22 [[ 9.95638914e-01 -9.31435037e-02 -5.23831681e-03 2.65080878e+02] [ 9.31428289e-02 9.95652688e-01 -3.73157857e-04 1.48053852e+01] [ 5.25030144e-03 -1.16381163e-04 9.99986210e-01 -2.17640020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.171400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.11, Y:14.80, Z:-0.22 [[ 9.95130823e-01 -9.84533813e-02 -4.64498988e-03 2.65110582e+02] [ 9.84529096e-02 9.95141656e-01 -3.30656879e-04 1.48027726e+01] [ 4.65497721e-03 -1.28265917e-04 9.99989157e-01 -2.16168058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.201400513 meters Centerline goodness [0,1] 0.9999141557215212 Centerline is valid? [True, True] Translation: X:265.14, Y:14.80, Z:-0.22 [[ 9.94931744e-01 -1.00430828e-01 -4.94713822e-03 2.65139199e+02] [ 1.00430311e-01 9.94944032e-01 -3.53297385e-04 1.48044890e+01] [ 4.95760760e-03 -1.45335849e-04 9.99987700e-01 -2.16564345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.231400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.17, Y:14.81, Z:-0.22 [[ 9.94804648e-01 -1.01649700e-01 -5.57241352e-03 2.65167732e+02] [ 1.01649059e-01 9.94820240e-01 -3.98832249e-04 1.48073617e+01] [ 5.58409093e-03 -1.69670415e-04 9.99984394e-01 -2.17914734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.261400513 meters Centerline goodness [0,1] 0.9999572293150275 Centerline is valid? [True, True] Translation: X:265.20, Y:14.81, Z:-0.22 [[ 9.94736869e-01 -1.02276601e-01 -6.16917018e-03 2.65195442e+02] [ 1.02275827e-01 9.94755980e-01 -4.41649060e-04 1.48087590e+01] [ 6.18198930e-03 -1.91632378e-04 9.99980873e-01 -2.19836604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.291400513 meters Centerline goodness [0,1] 0.9999347854441111 Centerline is valid? [True, True] Translation: X:265.22, Y:14.82, Z:-0.22 [[ 9.94683521e-01 -1.02765276e-01 -6.63256560e-03 2.65224126e+02] [ 1.02764383e-01 9.94705612e-01 -4.76165654e-04 1.48174728e+01] [ 6.64638352e-03 -2.07957382e-04 9.99977891e-01 -2.19415769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.321400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.25, Y:14.82, Z:-0.22 [[ 9.94674510e-01 -1.02913412e-01 -5.60782801e-03 2.65252330e+02] [ 1.02912771e-01 9.94690303e-01 -4.03594939e-04 1.48213958e+01] [ 5.61958747e-03 -1.75671521e-04 9.99984195e-01 -2.18182878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.351400513 meters Centerline goodness [0,1] 0.9998915401301518 Centerline is valid? [True, True] Translation: X:265.28, Y:14.83, Z:-0.21 [[ 9.94642055e-01 -1.03302706e-01 -3.96661237e-03 2.65279560e+02] [ 1.03302385e-01 9.94649956e-01 -2.86400351e-04 1.48289767e+01] [ 3.97497675e-03 -1.24894684e-04 9.99992092e-01 -2.14175254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.381400513 meters Centerline goodness [0,1] 0.9999785357058533 Centerline is valid? [True, True] Translation: X:265.31, Y:14.83, Z:-0.21 [[ 9.94618861e-01 -1.03550830e-01 -3.24755308e-03 2.65305983e+02] [ 1.03550615e-01 9.94624158e-01 -2.34600177e-04 1.48317103e+01] [ 3.25438779e-03 -1.02948358e-04 9.99994699e-01 -2.13630389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.411400513 meters Centerline goodness [0,1] 0.9998699102380643 Centerline is valid? [True, True] Translation: X:265.33, Y:14.84, Z:-0.21 [[ 9.94540307e-01 -1.04299907e-01 -3.33269226e-03 2.65334653e+02] [ 1.04299683e-01 9.94545885e-01 -2.41510395e-04 1.48399535e+01] [ 3.33970489e-03 -1.07406924e-04 9.99994417e-01 -2.12963567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.441400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.36, Y:14.84, Z:-0.21 [[ 9.94436683e-01 -1.05299159e-01 -2.78769461e-03 2.65362794e+02] [ 1.05299006e-01 9.94440586e-01 -2.02164364e-04 1.48392883e+01] [ 2.79348439e-03 -9.25018117e-05 9.99996094e-01 -2.13187613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.471400513 meters Centerline goodness [0,1] 0.9999358206400821 Centerline is valid? [True, True] Translation: X:265.39, Y:14.84, Z:-0.21 [[ 9.94053217e-01 -1.08873930e-01 -2.16065029e-03 2.65391998e+02] [ 1.08873846e-01 9.94055562e-01 -1.56643810e-04 1.48356725e+01] [ 2.16486086e-03 -7.95260241e-05 9.99997654e-01 -2.13398891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.501400513 meters Centerline goodness [0,1] 0.9999565727189821 Centerline is valid? [True, True] Translation: X:265.42, Y:14.84, Z:-0.21 [[ 9.93815885e-01 -1.11014138e-01 -2.41819877e-03 2.65421010e+02] [ 1.11014039e-01 9.93818823e-01 -1.75487029e-04 1.48419073e+01] [ 2.42273299e-03 -9.40522153e-05 9.99997061e-01 -2.12646762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.531400513 meters Centerline goodness [0,1] 0.9999354213755247 Centerline is valid? [True, True] Translation: X:265.45, Y:14.84, Z:-0.21 [[ 9.93569166e-01 -1.13191944e-01 -2.80998155e-03 2.65450658e+02] [ 1.13191820e-01 9.93573133e-01 -2.03911904e-04 1.48431041e+01] [ 2.81500336e-03 -1.15466344e-04 9.99996031e-01 -2.13323316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.561400513 meters Centerline goodness [0,1] 0.9999130529290294 Centerline is valid? [True, True] Translation: X:265.48, Y:14.85, Z:-0.22 [[ 9.93103445e-01 -1.17117930e-01 -5.37932434e-03 2.65480601e+02] [ 1.17117531e-01 9.93117985e-01 -3.90287580e-04 1.48464256e+01] [ 5.38801342e-03 -2.42417243e-04 9.99985455e-01 -2.16454162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.591400513 meters Centerline goodness [0,1] 0.9999142808160466 Centerline is valid? [True, True] Translation: X:265.51, Y:14.85, Z:-0.22 [[ 9.92951537e-01 -1.18342954e-01 -6.49546950e-03 2.65508793e+02] [ 1.18342395e-01 9.92972736e-01 -4.71669725e-04 1.48464942e+01] [ 6.50564292e-03 -3.00344239e-04 9.99978793e-01 -2.18316405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.621400513 meters Centerline goodness [0,1] 0.9999360641063894 Centerline is valid? [True, True] Translation: X:265.54, Y:14.85, Z:-0.22 [[ 9.92842707e-01 -1.19241880e-01 -6.68820999e-03 2.65537701e+02] [ 1.19241299e-01 9.92865185e-01 -4.87021312e-04 1.48483319e+01] [ 6.69856418e-03 -3.13975291e-04 9.99977515e-01 -2.18682578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.651400513 meters Centerline goodness [0,1] 0.9999144165347255 Centerline is valid? [True, True] Translation: X:265.57, Y:14.85, Z:-0.22 [[ 9.92813372e-01 -1.19521391e-01 -6.02046497e-03 2.65565844e+02] [ 1.19520924e-01 9.92831585e-01 -4.38566880e-04 1.48504178e+01] [ 6.02972590e-03 -2.84156471e-04 9.99981781e-01 -2.17574173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.681400513 meters Centerline goodness [0,1] 0.9999137317488731 Centerline is valid? [True, True] Translation: X:265.59, Y:14.85, Z:-0.22 [[ 9.92853767e-01 -1.19240145e-01 -4.81501474e-03 2.65594016e+02] [ 1.19239839e-01 9.92865417e-01 -3.51780391e-04 1.48527303e+01] [ 4.82260796e-03 -2.24875093e-04 9.99988346e-01 -2.15557228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.711400513 meters Centerline goodness [0,1] 0.9998926347433971 Centerline is valid? [True, True] Translation: X:265.62, Y:14.86, Z:-0.21 [[ 9.93059854e-01 -1.17567003e-01 -3.18228890e-03 2.65623565e+02] [ 1.17566861e-01 9.93064942e-01 -2.32334706e-04 1.48625180e+01] [ 3.18753444e-03 -1.43409448e-04 9.99994910e-01 -2.12718488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.74140051300003 meters Centerline goodness [0,1] 0.9999562200380886 Centerline is valid? [True, True] Translation: X:265.65, Y:14.87, Z:-0.21 [[ 9.93086546e-01 -1.17334135e-01 -3.43686973e-03 2.65651940e+02] [ 1.17333964e-01 9.93092482e-01 -2.51832717e-04 1.48689778e+01] [ 3.44267807e-03 -1.53169867e-04 9.99994062e-01 -2.12934154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.771400513 meters Centerline goodness [0,1] 0.9999569420224332 Centerline is valid? [True, True] Translation: X:265.68, Y:14.87, Z:-0.21 [[ 9.93080576e-01 -1.17367105e-01 -3.99152917e-03 2.65679233e+02] [ 1.17366875e-01 9.93088582e-01 -2.92579444e-04 1.48689591e+01] [ 3.99828125e-03 -1.77918343e-04 9.99991991e-01 -2.14264230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.801400513 meters Centerline goodness [0,1] 0.9997841012133512 Centerline is valid? [True, True] Translation: X:265.71, Y:14.86, Z:-0.22 [[ 9.93024987e-01 -1.17813113e-01 -4.63091145e-03 2.65707158e+02] [ 1.17812804e-01 9.93035763e-01 -3.40346584e-04 1.48630301e+01] [ 4.63875798e-03 -2.07608002e-04 9.99989219e-01 -2.17041589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.831400513 meters Centerline goodness [0,1] 0.9999351421467949 Centerline is valid? [True, True] Translation: X:265.74, Y:14.87, Z:-0.22 [[ 9.92964812e-01 -1.18298195e-01 -5.13986417e-03 2.65735250e+02] [ 1.18297817e-01 9.92978088e-01 -3.78556415e-04 1.48707678e+01] [ 5.14855504e-03 -2.32141513e-04 9.99986719e-01 -2.16724610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.861400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.76, Y:14.88, Z:-0.22 [[ 9.92911528e-01 -1.18728605e-01 -5.49682816e-03 2.65763808e+02] [ 1.18728174e-01 9.92926712e-01 -4.05758622e-04 1.48768764e+01] [ 5.50612267e-03 -2.49745956e-04 9.99984810e-01 -2.16786188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.891400513 meters Centerline goodness [0,1] 0.9997195495534366 Centerline is valid? [True, True] Translation: X:265.79, Y:14.88, Z:-0.22 [[ 9.92867244e-01 -1.19023209e-01 -6.93617893e-03 2.65791793e+02] [ 1.19022530e-01 9.92891422e-01 -5.12105225e-04 1.48774026e+01] [ 6.94782496e-03 -3.17109061e-04 9.99975813e-01 -2.19196456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.921400513 meters Centerline goodness [0,1] 0.9998483831142109 Centerline is valid? [True, True] Translation: X:265.82, Y:14.88, Z:-0.22 [[ 9.92840601e-01 -1.19232073e-01 -7.15922271e-03 2.65819224e+02] [ 1.19231344e-01 9.92866358e-01 -5.30182670e-04 1.48805145e+01] [ 7.17136616e-03 -3.27216864e-04 9.99974232e-01 -2.20011308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.951400513 meters Centerline goodness [0,1] 0.999892530897367 Centerline is valid? [True, True] Translation: X:265.85, Y:14.88, Z:-0.22 [[ 9.92770397e-01 -1.19851228e-01 -6.52854836e-03 2.65848087e+02] [ 1.19850627e-01 9.92791817e-01 -4.84553818e-04 1.48838552e+01] [ 6.53956376e-03 -3.01399931e-04 9.99978571e-01 -2.19248645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.981400513 meters Centerline goodness [0,1] 0.9997835169830926 Centerline is valid? [True, True] Translation: X:265.88, Y:14.89, Z:-0.22 [[ 9.92704985e-01 -1.20408600e-01 -6.21143060e-03 2.65876398e+02] [ 1.20408061e-01 9.92724375e-01 -4.62082795e-04 1.48876730e+01] [ 6.22187730e-03 -2.89194418e-04 9.99980602e-01 -2.17582070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.011400513 meters Centerline goodness [0,1] 0.9997632932366423 Centerline is valid? [True, True] Translation: X:265.90, Y:14.88, Z:-0.22 [[ 9.92650580e-01 -1.20884474e-01 -5.63649593e-03 2.65904428e+02] [ 1.20884036e-01 9.92666547e-01 -4.19683706e-04 1.48823658e+01] [ 5.64589419e-03 -2.64763101e-04 9.99984027e-01 -2.17454712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.041400513 meters Centerline goodness [0,1] 0.9997632932366423 Centerline is valid? [True, True] Translation: X:265.93, Y:14.88, Z:-0.22 [[ 9.92628783e-01 -1.21063332e-01 -5.63640616e-03 2.65931862e+02] [ 1.21062889e-01 9.92644750e-01 -4.20888130e-04 1.48845798e+01] [ 5.64590310e-03 -2.64573941e-04 9.99984027e-01 -2.17511681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.071400513 meters Centerline goodness [0,1] 0.9998061264055835 Centerline is valid? [True, True] Translation: X:265.96, Y:14.89, Z:-0.22 [[ 9.92632952e-01 -1.21038603e-01 -5.42949772e-03 2.65960818e+02] [ 1.21038188e-01 9.92647768e-01 -4.06267196e-04 1.48896966e+01] [ 5.43875281e-03 -2.53902358e-04 9.99985178e-01 -2.16438859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.101400513 meters Centerline goodness [0,1] 0.999890989164323 Centerline is valid? [True, True] Translation: X:265.99, Y:14.90, Z:-0.21 [[ 9.92655688e-01 -1.20858110e-01 -5.29179433e-03 2.65988580e+02] [ 1.20857708e-01 9.92669762e-01 -3.96866402e-04 1.49008193e+01] [ 5.30096874e-03 -2.45602442e-04 9.99985920e-01 -2.14887016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.131400513 meters Centerline goodness [0,1] 0.9999352848544988 Centerline is valid? [True, True] Translation: X:266.02, Y:14.91, Z:-0.21 [[ 9.92805502e-01 -1.19670517e-01 -4.02525571e-03 2.66016054e+02] [ 1.19670274e-01 9.92813645e-01 -3.01907275e-04 1.49052220e+01] [ 4.03245820e-03 -1.81968250e-04 9.99991853e-01 -2.13795277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.161400513 meters Centerline goodness [0,1] 0.9999785177228786 Centerline is valid? [True, True] Translation: X:266.04, Y:14.91, Z:-0.21 [[ 9.92890946e-01 -1.18983170e-01 -3.25185641e-03 2.66043667e+02] [ 1.18983007e-01 9.92896261e-01 -2.44134378e-04 1.49101843e+01] [ 3.25780395e-03 -1.44516841e-04 9.99994683e-01 -2.12751358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.191400513 meters Centerline goodness [0,1] 0.999935824758808 Centerline is valid? [True, True] Translation: X:266.07, Y:14.92, Z:-0.21 [[ 9.92941460e-01 -1.18571579e-01 -2.83521014e-03 2.66072593e+02] [ 1.18571452e-01 9.92945500e-01 -2.13495211e-04 1.49165136e+01] [ 2.84052362e-03 -1.24186738e-04 9.99995958e-01 -2.11573727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.221400513 meters Centerline goodness [0,1] 0.9999562860639972 Centerline is valid? [True, True] Translation: X:266.10, Y:14.92, Z:-0.21 [[ 9.92940391e-01 -1.18589335e-01 -2.43926126e-03 2.66100805e+02] [ 1.18589240e-01 9.92943381e-01 -1.84167036e-04 1.49239347e+01] [ 2.44388857e-03 -1.06403250e-04 9.99997008e-01 -2.10379502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.251400513 meters Centerline goodness [0,1] 0.9998707620729763 Centerline is valid? [True, True] Translation: X:266.13, Y:14.92, Z:-0.21 [[ 9.92839893e-01 -1.19429967e-01 -2.33019457e-03 2.66128226e+02] [ 1.19429882e-01 9.92842622e-01 -1.76061015e-04 1.49235702e+01] [ 2.33454345e-03 -1.03494463e-04 9.99997270e-01 -2.10539058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.281400513 meters Centerline goodness [0,1] 0.9998482878196793 Centerline is valid? [True, True] Translation: X:266.16, Y:14.93, Z:-0.21 [[ 9.92360885e-01 -1.23333572e-01 -2.95015456e-03 2.66158440e+02] [ 1.23333453e-01 9.92365260e-01 -2.22643748e-04 1.49283332e+01] [ 2.95509034e-03 -1.42909803e-04 9.99995623e-01 -2.11149473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.311400513 meters Centerline goodness [0,1] 0.9998058545634964 Centerline is valid? [True, True] Translation: X:266.19, Y:14.92, Z:-0.21 [[ 9.91995247e-01 -1.26209403e-01 -4.07636439e-03 2.66188382e+02] [ 1.26209201e-01 9.92003600e-01 -3.07778693e-04 1.49205329e+01] [ 4.08261272e-03 -2.09159694e-04 9.99991644e-01 -2.13483078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.341400513 meters Centerline goodness [0,1] 0.9997619665887648 Centerline is valid? [True, True] Translation: X:266.22, Y:14.92, Z:-0.22 [[ 9.91604447e-01 -1.29201097e-01 -5.26284648e-03 2.66218604e+02] [ 1.29200803e-01 9.91618371e-01 -3.97355897e-04 1.49219659e+01] [ 5.27007407e-03 -2.85944116e-04 9.99986072e-01 -2.15085600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.371400513 meters Centerline goodness [0,1] 0.9995714040802332 Centerline is valid? [True, True] Translation: X:266.25, Y:14.92, Z:-0.22 [[ 9.91192417e-01 -1.32270480e-01 -6.48939279e-03 2.66249616e+02] [ 1.32270097e-01 9.91213590e-01 -4.89966932e-04 1.49200678e+01] [ 6.49718249e-03 -3.72701108e-04 9.99978824e-01 -2.17007531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.401400513 meters Centerline goodness [0,1] 0.9993080333008973 Centerline is valid? [True, True] Translation: X:266.28, Y:14.91, Z:-0.22 [[ 9.90590365e-01 -1.36692650e-01 -6.77110080e-03 2.66279724e+02] [ 1.36692336e-01 9.90613418e-01 -5.11304648e-04 1.49140000e+01] [ 6.77743489e-03 -4.19064126e-04 9.99976945e-01 -2.17442141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.431400513 meters Centerline goodness [0,1] 0.9994820777315004 Centerline is valid? [True, True] Translation: X:266.31, Y:14.92, Z:-0.22 [[ 9.90443969e-01 -1.37783787e-01 -6.03090672e-03 2.66308695e+02] [ 1.37783550e-01 9.90462258e-01 -4.56713557e-04 1.49181305e+01] [ 6.03631321e-03 -3.78610549e-04 9.99981710e-01 -2.16140542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.461400513 meters Centerline goodness [0,1] 0.9996543828573897 Centerline is valid? [True, True] Translation: X:266.34, Y:14.92, Z:-0.21 [[ 9.90439225e-01 -1.37867301e-01 -4.76955562e-03 2.66337688e+02] [ 1.37867150e-01 9.90450664e-01 -3.61973270e-04 1.49233143e+01] [ 4.77391381e-03 -2.99052516e-04 9.99988560e-01 -2.14442022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.49140051300003 meters Centerline goodness [0,1] 0.9992256232657187 Centerline is valid? [True, True] Translation: X:266.37, Y:14.92, Z:-0.21 [[ 9.90501182e-01 -1.37445802e-01 -4.00740134e-03 2.66366042e+02] [ 1.37445691e-01 9.90509258e-01 -3.04387658e-04 1.49209265e+01] [ 4.01120493e-03 -2.49303711e-04 9.99991924e-01 -2.13792431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.521400513 meters Centerline goodness [0,1] 0.9997427376996463 Centerline is valid? [True, True] Translation: X:266.39, Y:14.93, Z:-0.21 [[ 9.90646843e-01 -1.36411580e-01 -3.27319401e-03 2.66394953e+02] [ 1.36411498e-01 9.90652230e-01 -2.49283594e-04 1.49265613e+01] [ 3.27660212e-03 -1.99549292e-04 9.99994612e-01 -2.12370506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.551400513 meters Centerline goodness [0,1] 0.9998915307185006 Centerline is valid? [True, True] Translation: X:266.42, Y:14.94, Z:-0.21 [[ 9.91128907e-01 -1.32879637e-01 -2.54805143e-03 2.66424971e+02] [ 1.32879576e-01 9.91132171e-01 -1.93835079e-04 1.49367244e+01] [ 2.55121248e-03 -1.46468445e-04 9.99996735e-01 -2.10178239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.581400513 meters Centerline goodness [0,1] 0.9996351696461145 Centerline is valid? [True, True] Translation: X:266.46, Y:14.93, Z:-0.21 [[ 9.91381558e-01 -1.30984966e-01 -2.35484863e-03 2.66455021e+02] [ 1.30984908e-01 9.91384346e-01 -1.79235444e-04 1.49289232e+01] [ 2.35803722e-03 -1.30758919e-04 9.99997211e-01 -2.10741928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.611400513 meters Centerline goodness [0,1] 0.9997630280704022 Centerline is valid? [True, True] Translation: X:266.48, Y:14.94, Z:-0.21 [[ 9.91653503e-01 -1.28897971e-01 -2.94001345e-03 2.66483775e+02] [ 1.28897873e-01 9.91657848e-01 -2.23828770e-04 1.49423321e+01] [ 2.94433848e-03 -1.57000895e-04 9.99995653e-01 -2.11173022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.641400513 meters Centerline goodness [0,1] 0.9998931532609625 Centerline is valid? [True, True] Translation: X:266.51, Y:14.95, Z:-0.21 [[ 9.91974445e-01 -1.26391343e-01 -3.45393857e-03 2.66511955e+02] [ 1.26391192e-01 9.91980442e-01 -2.63090458e-04 1.49493694e+01] [ 3.45949187e-03 -1.75568401e-04 9.99994001e-01 -2.12127282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.671400513 meters Centerline goodness [0,1] 0.9998910722844321 Centerline is valid? [True, True] Translation: X:266.54, Y:14.96, Z:-0.21 [[ 9.92499457e-01 -1.22209501e-01 -3.10882388e-03 2.66541426e+02] [ 1.22209358e-01 9.92504316e-01 -2.36757498e-04 1.49619804e+01] [ 3.11445514e-03 -1.44945683e-04 9.99995140e-01 -2.12130664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.701400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.57, Y:14.97, Z:-0.21 [[ 9.92623509e-01 -1.21225555e-01 -1.71297942e-03 2.66569735e+02] [ 1.21225509e-01 9.92624984e-01 -1.30626276e-04 1.49676976e+01] [ 1.71618141e-03 -7.79940907e-05 9.99998524e-01 -2.10391696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.731400513 meters Centerline goodness [0,1] 0.9999570621954099 Centerline is valid? [True, True] Translation: X:266.60, Y:14.97, Z:-0.21 [[ 9.92573799e-01 -1.21640038e-01 -9.76764484e-04 2.66597978e+02] [ 1.21640023e-01 9.92574279e-01 -7.49257390e-05 1.49728745e+01] [ 9.78625273e-04 -4.44443287e-05 9.99999520e-01 -2.09480981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.761400513 meters Centerline goodness [0,1] 0.9998286497601097 Centerline is valid? [True, True] Translation: X:266.63, Y:14.98, Z:-0.21 [[ 9.92128023e-01 -1.25220096e-01 -1.38365407e-03 2.66627949e+02] [ 1.25220070e-01 9.92128985e-01 -1.05673102e-04 1.49772661e+01] [ 1.38599571e-03 -6.84200149e-05 9.99999037e-01 -2.10164174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.791400513 meters Centerline goodness [0,1] 0.9998502161167458 Centerline is valid? [True, True] Translation: X:266.66, Y:14.98, Z:-0.21 [[ 9.91794298e-01 -1.27834646e-01 -1.54061379e-03 2.66657727e+02] [ 1.27834617e-01 9.91795491e-01 -1.17694753e-04 1.49781209e+01] [ 1.54301928e-03 -8.02147895e-05 9.99998806e-01 -2.10884718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.821400513 meters Centerline goodness [0,1] 0.9998501519886972 Centerline is valid? [True, True] Translation: X:266.69, Y:14.98, Z:-0.21 [[ 9.91421074e-01 -1.30695644e-01 -1.70397819e-03 2.66687972e+02] [ 1.30695613e-01 9.91422533e-01 -1.30191954e-04 1.49789456e+01] [ 1.70637790e-03 -9.36274273e-05 9.99998540e-01 -2.10863585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.851400513 meters Centerline goodness [0,1] 0.9998053885741469 Centerline is valid? [True, True] Translation: X:266.72, Y:14.98, Z:-0.21 [[ 9.91011265e-01 -1.33757992e-01 -2.33927082e-03 2.66718316e+02] [ 1.33757941e-01 9.91014017e-01 -1.78712695e-04 1.49814976e+01] [ 2.34215442e-03 -1.35789755e-04 9.99997248e-01 -2.11335626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.881400513 meters Centerline goodness [0,1] 0.9996312924284816 Centerline is valid? [True, True] Translation: X:266.75, Y:14.99, Z:-0.21 [[ 9.90594358e-01 -1.36811100e-01 -2.35404591e-03 2.66748794e+02] [ 1.36811057e-01 9.90597144e-01 -1.79846700e-04 1.49850109e+01] [ 2.35651618e-03 -1.43904383e-04 9.99997213e-01 -2.11220039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.911400513 meters Centerline goodness [0,1] 0.9986543062200957 Centerline is valid? [True, True] Translation: X:266.78, Y:14.98, Z:-0.21 [[ 9.89874679e-01 -1.41916410e-01 -2.80222923e-03 2.66778517e+02] [ 1.41916370e-01 9.89878628e-01 -2.14104281e-04 1.49804426e+01] [ 2.80425173e-03 -1.85745792e-04 9.99996051e-01 -2.12245831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.941400513 meters Centerline goodness [0,1] 0.9502741216374768 Centerline is valid? [True, True] Translation: X:266.81, Y:14.97, Z:-0.21 [[ 9.89566418e-01 -1.44045644e-01 -3.02592597e-03 2.66808585e+02] [ 1.44045607e-01 9.89571023e-01 -2.31302098e-04 1.49734301e+01] [ 3.02768672e-03 -2.06982554e-04 9.99995395e-01 -2.13745444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.971400513 meters Centerline goodness [0,1] 0.9944860859825967 Centerline is valid? [True, True] Translation: X:266.84, Y:14.98, Z:-0.21 [[ 9.89237783e-01 -1.46271972e-01 -3.62205264e-03 2.66838285e+02] [ 1.46271933e-01 9.89244381e-01 -2.76886814e-04 1.49834254e+01] [ 3.62359600e-03 -2.55897744e-04 9.99993402e-01 -2.13911164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.001400513 meters Centerline goodness [0,1] 0.9850436137745936 Centerline is valid? [True, True] Translation: X:266.87, Y:14.98, Z:-0.21 [[ 9.88946889e-01 -1.48225357e-01 -3.64614893e-03 2.66868875e+02] [ 1.48225331e-01 9.88953575e-01 -2.78701973e-04 1.49840334e+01] [ 3.64718272e-03 -2.64830184e-04 9.99993314e-01 -2.13928676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.031400513 meters Centerline goodness [0,1] 0.9809311968211463 Centerline is valid? [True, True] Translation: X:266.90, Y:14.99, Z:-0.21 [[ 9.88671624e-01 -1.50047519e-01 -3.76316744e-03 2.66898854e+02] [ 1.50047505e-01 9.88678746e-01 -2.87714566e-04 1.49855962e+01] [ 3.76373452e-03 -2.80198657e-04 9.99992878e-01 -2.14056034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.061400513 meters Centerline goodness [0,1] 0.8302238805970149 Centerline is valid? [True, False] Translation: X:266.90, Y:14.98, Z:-0.21 [[ 9.89188407e-01 -1.46589342e-01 -4.22611652e-03 2.66898845e+02] [ 1.46610434e-01 9.89180601e-01 5.20768684e-03 1.49765794e+01] [ 3.41700109e-03 -5.77097623e-03 9.99977510e-01 -2.14136613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.091400513 meters Centerline goodness [0,1] 0.8313349841435336 Centerline is valid? [False, False] Translation: X:266.90, Y:14.97, Z:-0.21 [[ 9.89217488e-01 -1.46393131e-01 -4.22058093e-03 2.66899009e+02] [ 1.46415823e-01 9.89206767e-01 5.69019343e-03 1.49743493e+01] [ 3.34202198e-03 -6.24679868e-03 9.99974904e-01 -2.14341736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.121400513 meters Centerline goodness [0,1] 0.945638295570127 Centerline is valid? [False, False] Translation: X:266.90, Y:14.97, Z:-0.21 [[ 9.89236155e-01 -1.46265529e-01 -4.26915869e-03 2.66899222e+02] [ 1.46289539e-01 9.89223673e-01 5.99125698e-03 1.49729392e+01] [ 3.34683847e-03 -6.55130127e-03 9.99972939e-01 -2.14349880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.151400513 meters Centerline goodness [0,1] 0.9293975226442422 Centerline is valid? [False, False] Translation: X:266.90, Y:14.97, Z:-0.22 [[ 9.89268887e-01 -1.46036344e-01 -4.52277672e-03 2.66900546e+02] [ 1.46063631e-01 9.89254221e-01 6.44214417e-03 1.49709349e+01] [ 3.53338879e-03 -7.03362598e-03 9.99969021e-01 -2.15205804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.181400513 meters Centerline goodness [0,1] 0.8765474405654315 Centerline is valid? [False, False] Translation: X:266.90, Y:14.97, Z:-0.22 [[ 9.89299332e-01 -1.45823256e-01 -4.73399753e-03 2.66901470e+02] [ 1.45853639e-01 9.89282296e-01 6.87425454e-03 1.49689476e+01] [ 3.68083377e-03 -7.49116619e-03 9.99965166e-01 -2.15570377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.211400513 meters Centerline goodness [0,1] 0.9842641026197556 Centerline is valid? [False, True] Translation: X:266.86, Y:14.97, Z:-0.21 [[ 9.89831495e-01 -1.42177435e-01 -4.38054339e-03 2.66856107e+02] [ 1.42131150e-01 9.89802179e-01 -9.50702806e-03 1.49738455e+01] [ 5.68755625e-03 8.78774413e-03 9.99945212e-01 -2.14006596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.24140051300003 meters Centerline goodness [0,1] 0.7631341746072624 Centerline is valid? [True, False] Translation: X:266.86, Y:14.97, Z:-0.21 [[ 9.90476557e-01 -1.37594372e-01 -4.89679687e-03 2.66856177e+02] [ 1.37578324e-01 9.90484787e-01 -3.47735919e-03 1.49651027e+01] [ 5.32866786e-03 2.77054965e-03 9.99981965e-01 -2.14162729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.271400513 meters Centerline goodness [0,1] 0.8958885798676239 Centerline is valid? [False, False] Translation: X:266.85, Y:14.96, Z:-0.21 [[ 9.91129335e-01 -1.32811543e-01 -4.87179095e-03 2.66854052e+02] [ 1.32825833e-01 9.91135618e-01 2.73583673e-03 1.49556756e+01] [ 4.46525483e-03 -3.35866773e-03 9.99984390e-01 -2.13111652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.301400513 meters Centerline goodness [0,1] 0.9001167108753316 Centerline is valid? [False, False] Translation: X:266.85, Y:14.95, Z:-0.21 [[ 9.91150516e-01 -1.32650329e-01 -4.95425876e-03 2.66854197e+02] [ 1.32666088e-01 9.91156251e-01 2.99923697e-03 1.49544429e+01] [ 4.51259477e-03 -3.62995740e-03 9.99983230e-01 -2.12764070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.331400513 meters Centerline goodness [0,1] 0.9099280452287134 Centerline is valid? [False, False] Translation: X:266.85, Y:14.95, Z:-0.21 [[ 9.91167583e-01 -1.32518125e-01 -5.07627059e-03 2.66854781e+02] [ 1.32535547e-01 9.91172880e-01 3.26343540e-03 1.49532414e+01] [ 4.59899740e-03 -3.90739768e-03 9.99981791e-01 -2.13057686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.361400513 meters Centerline goodness [0,1] 0.9765189763231198 Centerline is valid? [False, True] Translation: X:266.81, Y:14.96, Z:-0.21 [[ 9.91683984e-01 -1.28549516e-01 -6.15619514e-03 2.66810204e+02] [ 1.28462899e-01 9.91631082e-01 -1.28483529e-02 1.49592419e+01] [ 7.75632400e-03 1.19506631e-02 9.99898505e-01 -2.11834908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.391400513 meters Centerline goodness [0,1] 0.9824231010671689 Centerline is valid? [True, True] Translation: X:266.84, Y:14.95, Z:-0.21 [[ 9.91689708e-01 -1.28406891e-01 -7.94937515e-03 2.66839739e+02] [ 1.28407301e-01 9.91721409e-01 -4.60953652e-04 1.49497433e+01] [ 7.94275515e-03 -5.63634813e-04 9.99968297e-01 -2.13870335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.421400513 meters Centerline goodness [0,1] 0.984685403679817 Centerline is valid? [True, True] Translation: X:266.87, Y:14.95, Z:-0.22 [[ 9.91492697e-01 -1.29847770e-01 -9.04366429e-03 2.66869748e+02] [ 1.29848360e-01 9.91533725e-01 -5.24409904e-04 1.49496514e+01] [ 9.03519160e-03 -6.54356386e-04 9.99958968e-01 -2.16099311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.451400513 meters Centerline goodness [0,1] 0.9862537764350453 Centerline is valid? [True, True] Translation: X:266.90, Y:14.95, Z:-0.21 [[ 9.91343808e-01 -1.31030069e-01 -8.28098896e-03 2.66898810e+02] [ 1.31030602e-01 9.91378208e-01 -4.80491157e-04 1.49493410e+01] [ 8.27255078e-03 -6.08731038e-04 9.99965597e-01 -2.14814231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.481400513 meters Centerline goodness [0,1] 0.9185714902994426 Centerline is valid? [True, False] Translation: X:266.90, Y:14.94, Z:-0.21 [[ 9.91389515e-01 -1.30686300e-01 -8.24139129e-03 2.66898674e+02] [ 1.30694249e-01 9.91422628e-01 4.31125205e-04 1.49449992e+01] [ 8.11435965e-03 -1.50451545e-03 9.99965946e-01 -2.14523215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.511400513 meters Centerline goodness [0,1] 0.8698907889372841 Centerline is valid? [False, False] Translation: X:266.90, Y:14.94, Z:-0.21 [[ 9.91889654e-01 -1.26815860e-01 -8.52356225e-03 2.66898114e+02] [ 1.26870489e-01 9.91899882e-01 6.20502859e-03 1.49357418e+01] [ 7.66762435e-03 -7.23609218e-03 9.99944422e-01 -2.14306113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.541400513 meters Centerline goodness [0,1] 0.7897393126750925 Centerline is valid? [False, False] Translation: X:266.90, Y:14.93, Z:-0.21 [[ 9.91935316e-01 -1.26469150e-01 -8.35958365e-03 2.66897802e+02] [ 1.26533095e-01 9.91933110e-01 7.62105694e-03 1.49287726e+01] [ 7.32831922e-03 -8.61735952e-03 9.99936016e-01 -2.14242461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.571400513 meters Centerline goodness [0,1] 0.7555756285351743 Centerline is valid? [False, False] Translation: X:266.90, Y:14.93, Z:-0.21 [[ 9.91973696e-01 -1.26167777e-01 -8.35927822e-03 2.66897921e+02] [ 1.26236996e-01 9.91965009e-01 8.34514755e-03 1.49253804e+01] [ 7.23922278e-03 -9.33341703e-03 9.99930238e-01 -2.14275158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.601400513 meters Centerline goodness [0,1] 0.7144474589305932 Centerline is valid? [False, False] Translation: X:266.90, Y:14.92, Z:-0.21 [[ 9.91999272e-01 -1.25965210e-01 -8.37913765e-03 2.66898061e+02] [ 1.26038499e-01 9.91985584e-01 8.88243083e-03 1.49228169e+01] [ 7.19310650e-03 -9.86745885e-03 9.99925443e-01 -2.14259398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.631400513 meters Centerline goodness [0,1] 0.737855198693522 Centerline is valid? [False, False] Translation: X:266.85, Y:14.93, Z:-0.21 [[ 9.92333172e-01 -1.23240361e-01 -9.31071216e-03 2.66850969e+02] [ 1.23165075e-01 9.92351740e-01 -8.26976681e-03 1.49309605e+01] [ 1.02586705e-02 7.05960937e-03 9.99922458e-01 -2.11454371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.661400513 meters Centerline goodness [0,1] 0.7512001894469441 Centerline is valid? [False, False] Translation: X:266.85, Y:14.92, Z:-0.21 [[ 9.92868768e-01 -1.18808685e-01 -9.80331895e-03 2.66851110e+02] [ 1.18787754e-01 9.92916018e-01 -2.69253072e-03 1.49243160e+01] [ 1.00537685e-02 1.50881542e-03 9.99948321e-01 -2.11585940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.691400513 meters Centerline goodness [0,1] 0.8514238547255468 Centerline is valid? [False, False] Translation: X:266.85, Y:14.92, Z:-0.21 [[ 9.93398945e-01 -1.14270116e-01 -1.00437743e-02 2.66850486e+02] [ 1.14303404e-01 9.93441933e-01 2.80329697e-03 1.49183285e+01] [ 9.65757349e-03 -3.93282984e-03 9.99945631e-01 -2.11622677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.721400513 meters Centerline goodness [0,1] 0.9438182612494539 Centerline is valid? [False, False] Translation: X:266.85, Y:14.91, Z:-0.21 [[ 9.93934147e-01 -1.09480241e-01 -1.04397318e-02 2.66850335e+02] [ 1.09569748e-01 9.93943407e-01 8.42457083e-03 1.49120597e+01] [ 9.45417856e-03 -9.51734741e-03 9.99910015e-01 -2.11504460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.751400513 meters Centerline goodness [0,1] 0.8883394960873678 Centerline is valid? [False, False] Translation: X:266.87, Y:14.92, Z:-0.21 [[ 9.94141563e-01 -1.07702273e-01 -9.09797795e-03 2.66870748e+02] [ 1.07695952e-01 9.94183173e-01 -1.18328484e-03 1.49182673e+01] [ 9.17249906e-03 1.96537239e-04 9.99957912e-01 -2.10036995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.781400513 meters Centerline goodness [0,1] 0.9247469624705958 Centerline is valid? [False, False] Translation: X:266.87, Y:14.91, Z:-0.21 [[ 9.94630586e-01 -1.03057814e-01 -9.43843264e-03 2.66870524e+02] [ 1.03101256e-01 9.94661843e-01 4.23665364e-03 1.49128481e+01] [ 8.95142854e-03 -5.18701956e-03 9.99946482e-01 -2.10057832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.811400513 meters Centerline goodness [0,1] 0.9918327344005227 Centerline is valid? [False, True] Translation: X:266.87, Y:14.91, Z:-0.21 [[ 9.94614238e-01 -1.03213227e-01 -9.46291857e-03 2.66870460e+02] [ 1.03253021e-01 9.94647801e-01 3.81652659e-03 1.49148193e+01] [ 9.01835512e-03 -4.77304661e-03 9.99947942e-01 -2.09861985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.841400513 meters Centerline goodness [0,1] 0.9396492286477636 Centerline is valid? [True, False] Translation: X:266.87, Y:14.92, Z:-0.21 [[ 9.94597109e-01 -1.03376296e-01 -9.48324541e-03 2.66870040e+02] [ 1.03408828e-01 9.94634396e-01 3.00548135e-03 1.49188104e+01] [ 9.12166653e-03 -3.96989436e-03 9.99950516e-01 -2.09115356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.871400513 meters Centerline goodness [0,1] 0.9851286609291335 Centerline is valid? [False, True] Translation: X:266.87, Y:14.91, Z:-0.21 [[ 9.95060107e-01 -9.87953102e-02 -9.74008806e-03 2.66869463e+02] [ 9.88761521e-02 9.95065965e-01 8.19950159e-03 1.49145185e+01] [ 8.88195782e-03 -9.12205937e-03 9.99918946e-01 -2.08890493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.901400513 meters Centerline goodness [0,1] 0.9858303947707922 Centerline is valid? [True, True] Translation: X:266.90, Y:14.92, Z:-0.21 [[ 9.95227926e-01 -9.72031097e-02 -8.53997673e-03 2.66898327e+02] [ 9.72045950e-02 9.95264391e-01 -2.41957467e-04 1.49245295e+01] [ 8.52305375e-03 -5.89322152e-04 9.99963504e-01 -2.08430237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.931400513 meters Centerline goodness [0,1] 0.9943183040998601 Centerline is valid? [True, True] Translation: X:266.93, Y:14.93, Z:-0.21 [[ 9.95379740e-01 -9.56407558e-02 -8.48640759e-03 2.66927673e+02] [ 9.56421643e-02 9.95415752e-01 -2.40636542e-04 1.49294768e+01] [ 8.47051845e-03 -5.72133651e-04 9.99963961e-01 -2.08294145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.961400513 meters Centerline goodness [0,1] 0.9943183040998601 Centerline is valid? [True, True] Translation: X:266.96, Y:14.93, Z:-0.21 [[ 9.95361857e-01 -9.58266958e-02 -8.48638135e-03 2.66955213e+02] [ 9.58281033e-02 9.95397868e-01 -2.41558991e-04 1.49304070e+01] [ 8.47047370e-03 -5.72795222e-04 9.99963961e-01 -2.08182444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.99140051300003 meters Centerline goodness [0,1] 0.9935985564529988 Centerline is valid? [True, True] Translation: X:266.98, Y:14.93, Z:-0.21 [[ 9.95505044e-01 -9.42986468e-02 -8.80185489e-03 2.66984024e+02] [ 9.43000935e-02 9.95543786e-01 -2.51434706e-04 1.49321131e+01] [ 8.78634189e-03 -5.79711221e-04 9.99961231e-01 -2.09269200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.021400513 meters Centerline goodness [0,1] 0.99800796812749 Centerline is valid? [True, True] Translation: X:267.01, Y:14.94, Z:-0.21 [[ 9.95662404e-01 -9.24267247e-02 -1.06619636e-02 2.67013233e+02] [ 9.24287378e-02 9.95719255e-01 -3.04835484e-04 1.49376480e+01] [ 1.06444974e-02 -6.81958606e-04 9.99943113e-01 -2.12394562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.051400513 meters Centerline goodness [0,1] 0.99933598937583 Centerline is valid? [True, True] Translation: X:267.04, Y:14.94, Z:-0.21 [[ 9.95691502e-01 -9.20210336e-02 -1.14264247e-02 2.67042037e+02] [ 9.20233045e-02 9.95756800e-01 -3.27985197e-04 1.49433189e+01] [ 1.14081216e-02 -7.24925287e-04 9.99934662e-01 -2.13003473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.081400513 meters Centerline goodness [0,1] 0.9996084402871438 Centerline is valid? [True, True] Translation: X:267.07, Y:14.95, Z:-0.21 [[ 9.95722048e-01 -9.16539774e-02 -1.17111500e-02 2.67070533e+02] [ 9.16563145e-02 9.95790643e-01 -3.38128795e-04 1.49549590e+01] [ 1.16928445e-02 -7.36718556e-04 9.99931365e-01 -2.12439946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.111400513 meters Centerline goodness [0,1] 0.9994424429576256 Centerline is valid? [True, True] Translation: X:267.10, Y:14.95, Z:-0.21 [[ 9.95788330e-01 -9.09390391e-02 -1.16487591e-02 2.67098272e+02] [ 9.09412894e-02 9.95856198e-01 -3.37468280e-04 1.49528523e+01] [ 1.16311780e-02 -7.23306194e-04 9.99932094e-01 -2.13132134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.141400513 meters Centerline goodness [0,1] 0.999891377549912 Centerline is valid? [True, True] Translation: X:267.13, Y:14.96, Z:-0.21 [[ 9.95888766e-01 -8.98571015e-02 -1.14571882e-02 2.67127320e+02] [ 8.98591911e-02 9.95954424e-01 -3.33314783e-04 1.49623274e+01] [ 1.14407880e-02 -6.97589214e-04 9.99934309e-01 -2.12160191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.171400513 meters Centerline goodness [0,1] 0.999677349967735 Centerline is valid? [True, True] Translation: X:267.16, Y:14.96, Z:-0.21 [[ 9.96156717e-01 -8.70104514e-02 -1.00487197e-02 2.67156899e+02] [ 8.70119079e-02 9.96207228e-01 -2.92983141e-04 1.49638367e+01] [ 1.00360998e-02 -5.82501150e-04 9.99949467e-01 -2.10219474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.201400513 meters Centerline goodness [0,1] 0.9999350255566144 Centerline is valid? [True, True] Translation: X:267.19, Y:14.98, Z:-0.21 [[ 9.96282879e-01 -8.55587700e-02 -1.00060865e-02 2.67186405e+02] [ 8.55601392e-02 9.96332965e-01 -2.91942007e-04 1.49759864e+01] [ 9.99437207e-03 -5.65265334e-04 9.99949895e-01 -2.08734979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.231400513 meters Centerline goodness [0,1] 0.9997841384967405 Centerline is valid? [True, True] Translation: X:267.22, Y:14.98, Z:-0.21 [[ 9.96413499e-01 -8.39593181e-02 -1.05342875e-02 2.67215716e+02] [ 8.39607439e-02 9.96469016e-01 -3.07608345e-04 1.49764885e+01] [ 1.05229177e-02 -5.77961512e-04 9.99944466e-01 -2.09645769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.261400513 meters Centerline goodness [0,1] 0.9997833011896765 Centerline is valid? [True, True] Translation: X:267.24, Y:14.98, Z:-0.21 [[ 9.96503899e-01 -8.28512750e-02 -1.07538890e-02 2.67244013e+02] [ 8.28526922e-02 9.96561756e-01 -3.14431233e-04 1.49837987e+01] [ 1.07429655e-02 -5.77656706e-04 9.99942126e-01 -2.09836218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.291400513 meters Centerline goodness [0,1] 0.9997855227882038 Centerline is valid? [True, True] Translation: X:267.27, Y:14.99, Z:-0.21 [[ 9.96571050e-01 -8.22679121e-02 -8.83922912e-03 2.67271914e+02] [ 8.22688427e-02 9.96610140e-01 -2.58881881e-04 1.49868316e+01] [ 8.83056304e-03 -4.69198963e-04 9.99960900e-01 -2.08400443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.321400513 meters Centerline goodness [0,1] 0.9998072928933901 Centerline is valid? [True, True] Translation: X:267.30, Y:14.99, Z:-0.21 [[ 9.96517286e-01 -8.29999534e-02 -8.01917786e-03 2.67299764e+02] [ 8.30007395e-02 9.96549458e-01 -2.35300157e-04 1.49888999e+01] [ 8.01103725e-03 -4.31117019e-04 9.99967818e-01 -2.07010619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.351400513 meters Centerline goodness [0,1] 0.9996547557396859 Centerline is valid? [True, True] Translation: X:267.33, Y:14.99, Z:-0.21 [[ 9.96424046e-01 -8.40679952e-02 -8.46710031e-03 2.67329613e+02] [ 8.40689072e-02 9.96459912e-01 -2.48782552e-04 1.49941018e+01] [ 8.45804068e-03 -4.63926952e-04 9.99964123e-01 -2.06468520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.381400513 meters Centerline goodness [0,1] 0.9996748601898816 Centerline is valid? [True, True] Translation: X:267.36, Y:15.00, Z:-0.21 [[ 9.96273617e-01 -8.56795251e-02 -9.89434582e-03 2.67358563e+02] [ 8.56808466e-02 9.96322592e-01 -2.91031023e-04 1.50035644e+01] [ 9.88289568e-03 -5.57809397e-04 9.99951007e-01 -2.07314002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.411400513 meters Centerline goodness [0,1] 0.9994548388503641 Centerline is valid? [True, True] Translation: X:267.39, Y:15.01, Z:-0.21 [[ 9.96001034e-01 -8.83268059e-02 -1.34281598e-02 2.67388631e+02] [ 8.83294770e-02 9.96091234e-01 -3.95191650e-04 1.50113847e+01] [ 1.34105783e-02 -7.92491042e-04 9.99909760e-01 -2.11136819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.441400513 meters Centerline goodness [0,1] 0.9995687145537274 Centerline is valid? [True, True] Translation: X:267.42, Y:15.01, Z:-0.21 [[ 9.95881352e-01 -8.97275883e-02 -1.30112399e-02 2.67417369e+02] [ 8.97302091e-02 9.95966035e-01 -3.83387610e-04 1.50096144e+01] [ 1.29931535e-02 -7.85692705e-04 9.99915277e-01 -2.11021632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.471400513 meters Centerline goodness [0,1] 0.9990683969928722 Centerline is valid? [True, True] Translation: X:267.45, Y:15.01, Z:-0.21 [[ 9.95765385e-01 -9.11177928e-02 -1.22002319e-02 2.67446647e+02] [ 9.11201951e-02 9.95839837e-01 -3.59966273e-04 1.50112105e+01] [ 1.21822763e-02 -7.53245561e-04 9.99925510e-01 -2.10386136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.501400513 meters Centerline goodness [0,1] 0.9995852433966382 Centerline is valid? [True, True] Translation: X:267.48, Y:15.02, Z:-0.21 [[ 9.95644396e-01 -9.25630404e-02 -1.11499163e-02 2.67475462e+02] [ 9.25651317e-02 9.95706577e-01 -3.29469203e-04 1.50209388e+01] [ 1.11325417e-02 -7.04059307e-04 9.99937783e-01 -2.08056097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.531400513 meters Centerline goodness [0,1] 0.9995445574616669 Centerline is valid? [True, True] Translation: X:267.50, Y:15.02, Z:-0.21 [[ 9.95545788e-01 -9.37380285e-02 -1.00879135e-02 2.67503866e+02] [ 9.37397963e-02 9.95596686e-01 -2.98491664e-04 1.50202928e+01] [ 1.00714732e-02 -6.48476835e-04 9.99949071e-01 -2.07109543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.561400513 meters Centerline goodness [0,1] 0.9995220716023636 Centerline is valid? [True, True] Translation: X:267.53, Y:15.03, Z:-0.21 [[ 9.95404041e-01 -9.52813136e-02 -9.60554535e-03 2.67532759e+02] [ 9.52829847e-02 9.95450186e-01 -2.84554162e-04 1.50263130e+01] [ 9.58895460e-03 -6.31998668e-04 9.99953825e-01 -2.06573647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.591400513 meters Centerline goodness [0,1] 0.9986225302397659 Centerline is valid? [True, True] Translation: X:267.56, Y:15.03, Z:-0.21 [[ 9.95050516e-01 -9.88425179e-02 -1.02287068e-02 2.67562023e+02] [ 9.88445982e-02 9.95102836e-01 -3.03196106e-04 1.50272512e+01] [ 1.02085838e-02 -7.09356971e-04 9.99947639e-01 -2.07230894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.621400513 meters Centerline goodness [0,1] 0.9864432432432433 Centerline is valid? [True, True] Translation: X:267.59, Y:15.02, Z:-0.21 [[ 9.94821936e-01 -1.01105376e-01 -1.03450200e-02 2.67591244e+02] [ 1.01107624e-01 9.94875447e-01 -3.06794774e-04 1.50213729e+01] [ 1.03230250e-02 -7.40754224e-04 9.99946442e-01 -2.08369591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.651400513 meters Centerline goodness [0,1] 0.9867981823272242 Centerline is valid? [True, True] Translation: X:267.62, Y:15.02, Z:-0.21 [[ 9.94568102e-01 -1.03574467e-01 -1.03257102e-02 2.67621126e+02] [ 1.03576837e-01 9.94621408e-01 -3.06390800e-04 1.50238396e+01] [ 1.03019066e-02 -7.64777883e-04 9.99946641e-01 -2.08247263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.681400513 meters Centerline goodness [0,1] 0.8481871495227088 Centerline is valid? [True, False] Translation: X:267.62, Y:15.02, Z:-0.21 [[ 9.94957828e-01 -9.97482580e-02 -1.04501338e-02 2.67620521e+02] [ 9.98032863e-02 9.94995209e-01 4.88243800e-03 1.50181392e+01] [ 9.91081841e-03 -5.90077761e-03 9.99933476e-01 -2.08761078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.711400513 meters Centerline goodness [0,1] 0.8730712118277487 Centerline is valid? [False, False] Translation: X:267.62, Y:15.02, Z:-0.21 [[ 9.94934502e-01 -9.99889303e-02 -1.03706542e-02 2.67620334e+02] [ 1.00039025e-01 9.94973659e-01 4.42837305e-03 1.50202488e+01] [ 9.87573947e-03 -5.44341127e-03 9.99936418e-01 -2.08991217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.74140051300003 meters Centerline goodness [0,1] 0.7520154373927959 Centerline is valid? [False, False] Translation: X:267.62, Y:15.02, Z:-0.21 [[ 9.94910611e-01 -1.00228956e-01 -1.03456377e-02 2.67620173e+02] [ 1.00273612e-01 9.94952293e-01 3.89060445e-03 1.50227657e+01] [ 9.90346473e-03 -4.90819811e-03 9.99938914e-01 -2.08971737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.771400513 meters Centerline goodness [0,1] 0.8966808619914828 Centerline is valid? [False, False] Translation: X:267.62, Y:15.02, Z:-0.21 [[ 9.95341898e-01 -9.58201910e-02 -1.06300073e-02 2.67619954e+02] [ 9.59154130e-02 9.95350224e-01 8.84107588e-03 1.50195003e+01] [ 9.73342660e-03 -9.81947479e-03 9.99904415e-01 -2.09246077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.801400513 meters Centerline goodness [0,1] 0.9829755736491488 Centerline is valid? [False, True] Translation: X:267.59, Y:15.03, Z:-0.20 [[ 9.95464045e-01 -9.39759805e-02 -1.48273445e-02 2.67594706e+02] [ 9.39696718e-02 9.95574427e-01 -1.12314324e-03 1.50295769e+01] [ 1.48672735e-02 -2.75271980e-04 9.99889438e-01 -2.02475391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.831400513 meters Centerline goodness [0,1] 0.9964049810503519 Centerline is valid? [True, True] Translation: X:267.62, Y:15.04, Z:-0.20 [[ 9.95866193e-01 -8.95759555e-02 -1.50556907e-02 2.67624976e+02] [ 8.95820873e-02 9.95979406e-01 -2.67987626e-04 1.50426027e+01] [ 1.50191631e-02 -1.08184038e-03 9.99886621e-01 -2.02046280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.861400513 meters Centerline goodness [0,1] 0.983933850306328 Centerline is valid? [True, True] Translation: X:267.65, Y:15.04, Z:-0.20 [[ 9.96093299e-01 -8.70329246e-02 -1.49469032e-02 2.67654720e+02] [ 8.70386814e-02 9.96204897e-01 -2.66165724e-04 1.50426086e+01] [ 1.49133433e-02 -1.03583285e-03 9.99888253e-01 -2.02522655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.891400513 meters Centerline goodness [0,1] 0.9992393454023862 Centerline is valid? [True, True] Translation: X:267.68, Y:15.06, Z:-0.20 [[ 9.96289967e-01 -8.48780445e-02 -1.42133173e-02 2.67684574e+02] [ 8.48830296e-02 9.96390891e-01 -2.53251152e-04 1.50570366e+01] [ 1.41835153e-02 -9.54157850e-04 9.99898954e-01 -2.01049322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.921400513 meters Centerline goodness [0,1] 0.9987120594169923 Centerline is valid? [True, True] Translation: X:267.71, Y:15.06, Z:-0.20 [[ 9.96458903e-01 -8.30890333e-02 -1.28789236e-02 2.67713744e+02] [ 8.30929753e-02 9.96541773e-01 -2.29641766e-04 1.50579551e+01] [ 1.28534661e-02 -8.41319503e-04 9.99917037e-01 -1.99452695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.951400513 meters Centerline goodness [0,1] 0.9995694665690791 Centerline is valid? [True, True] Translation: X:267.74, Y:15.07, Z:-0.20 [[ 9.96604068e-01 -8.14436551e-02 -1.21351823e-02 2.67743550e+02] [ 8.14470307e-02 9.96677648e-01 -2.16605365e-04 1.50734882e+01] [ 1.21125060e-02 -7.72504773e-04 9.99926343e-01 -1.98059542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.981400513 meters Centerline goodness [0,1] 0.9984350547730829 Centerline is valid? [True, True] Translation: X:267.77, Y:15.07, Z:-0.20 [[ 9.96569655e-01 -8.16748810e-02 -1.33467757e-02 2.67771042e+02] [ 8.16789776e-02 9.96658662e-01 -2.38791733e-04 1.50743390e+01] [ 1.33216828e-02 -8.52178395e-04 9.99910899e-01 -1.99851524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.011400513 meters Centerline goodness [0,1] 0.9930423096930813 Centerline is valid? [True, True] Translation: X:267.80, Y:15.07, Z:-0.20 [[ 9.96471990e-01 -8.25892460e-02 -1.49194078e-02 2.67800054e+02] [ 8.25944522e-02 9.96583205e-01 -2.67926841e-04 1.50736169e+01] [ 1.48905591e-02 -9.65278720e-04 9.99888664e-01 -2.01419864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.041400513 meters Centerline goodness [0,1] 0.9696245072061009 Centerline is valid? [True, True] Translation: X:267.83, Y:15.07, Z:-0.20 [[ 9.96324502e-01 -8.41701072e-02 -1.59021984e-02 2.67829020e+02] [ 8.41762150e-02 9.96450843e-01 -2.86046496e-04 1.50726248e+01] [ 1.58698355e-02 -1.05359174e-03 9.99873511e-01 -2.03513385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.071400513 meters Centerline goodness [0,1] 0.9206226847390848 Centerline is valid? [True, False] Translation: X:267.83, Y:15.07, Z:-0.20 [[ 9.96277065e-01 -8.47835426e-02 -1.56128448e-02 2.67827881e+02] [ 8.47847206e-02 9.96399120e-01 -5.87630113e-04 1.50732906e+01] [ 1.56064462e-02 -7.38288281e-04 9.99877939e-01 -2.03219287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.101400513 meters Centerline goodness [0,1] 0.9944899381479223 Centerline is valid? [False, True] Translation: X:267.83, Y:15.07, Z:-0.20 [[ 9.96275756e-01 -8.48305433e-02 -1.54401345e-02 2.67827455e+02] [ 8.48339061e-02 9.96395010e-01 -4.38221935e-04 1.50724786e+01] [ 1.54216476e-02 -8.73257031e-04 9.99880698e-01 -2.03394244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.131400513 meters Centerline goodness [0,1] 0.9336780866192631 Centerline is valid? [True, False] Translation: X:267.85, Y:15.08, Z:-0.20 [[ 9.96078136e-01 -8.76692616e-02 -1.19351718e-02 2.67849199e+02] [ 8.74977735e-02 9.96063444e-01 -1.42040315e-02 1.50821977e+01] [ 1.31334453e-02 1.31040242e-02 9.99827884e-01 -2.04816644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.161400513 meters Centerline goodness [0,1] 0.9393052937225075 Centerline is valid? [False, False] Translation: X:267.85, Y:15.07, Z:-0.21 [[ 9.96386145e-01 -8.40910718e-02 -1.19725260e-02 2.67848589e+02] [ 8.39872217e-02 9.96426831e-01 -8.92845079e-03 1.50749942e+01] [ 1.26805492e-02 7.89064547e-03 9.99888464e-01 -2.05704528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.191400513 meters Centerline goodness [0,1] 0.8781503538753668 Centerline is valid? [False, False] Translation: X:267.85, Y:15.07, Z:-0.21 [[ 9.96709129e-01 -8.01519822e-02 -1.21067153e-02 2.67848417e+02] [ 8.01162123e-02 9.96779690e-01 -3.41197932e-03 1.50675922e+01] [ 1.23412048e-02 2.43080677e-03 9.99920890e-01 -2.06673486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.221400513 meters Centerline goodness [0,1] 0.866202528900167 Centerline is valid? [False, False] Translation: X:267.85, Y:15.06, Z:-0.21 [[ 9.97030698e-01 -7.60498147e-02 -1.20918291e-02 2.67847776e+02] [ 7.60794462e-02 9.97099735e-01 2.00907067e-03 1.50611716e+01] [ 1.19039702e-02 -2.92304480e-03 9.99924873e-01 -2.07504535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.251400513 meters Centerline goodness [0,1] 0.8225858403659086 Centerline is valid? [False, False] Translation: X:267.85, Y:15.06, Z:-0.21 [[ 9.97015517e-01 -7.62214093e-02 -1.22619407e-02 2.67848240e+02] [ 7.62461755e-02 9.97087796e-01 1.56444554e-03 1.50632866e+01] [ 1.21069872e-02 -2.49470256e-03 9.99923596e-01 -2.07415387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.281400513 meters Centerline goodness [0,1] 0.6670951707588808 Centerline is valid? [False, False] Translation: X:267.85, Y:15.07, Z:-0.21 [[ 9.97002825e-01 -7.63979685e-02 -1.21949734e-02 2.67847735e+02] [ 7.64170070e-02 9.97075336e-01 1.10223701e-03 1.50654406e+01] [ 1.20750986e-02 -2.03083678e-03 9.99925031e-01 -2.06924994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.311400513 meters Centerline goodness [0,1] 0.8632224092537442 Centerline is valid? [False, False] Translation: X:267.85, Y:15.06, Z:-0.21 [[ 9.97349410e-01 -7.17268990e-02 -1.22231693e-02 2.67846995e+02] [ 7.18092788e-02 9.97397597e-01 6.43900839e-03 1.50605286e+01] [ 1.17295096e-02 -7.29967819e-03 9.99904562e-01 -2.07136920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.341400513 meters Centerline goodness [0,1] 0.9266424475861164 Centerline is valid? [False, False] Translation: X:267.85, Y:15.06, Z:-0.21 [[ 9.97337346e-01 -7.19041711e-02 -1.21659089e-02 2.67846554e+02] [ 7.19806344e-02 9.97388175e-01 5.96789267e-03 1.50627037e+01] [ 1.17050173e-02 -6.82771207e-03 9.99908183e-01 -2.06734604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.371400513 meters Centerline goodness [0,1] 0.9697232021122341 Centerline is valid? [False, True] Translation: X:267.86, Y:15.07, Z:-0.20 [[ 9.97495614e-01 -6.93319342e-02 -1.39850673e-02 2.67863818e+02] [ 6.93132852e-02 9.97593292e-01 -1.81439746e-03 1.50720262e+01] [ 1.40772050e-02 8.40502549e-04 9.99900558e-01 -1.99772101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.401400513 meters Centerline goodness [0,1] 0.9988755870097229 Centerline is valid? [True, True] Translation: X:267.89, Y:15.08, Z:-0.20 [[ 9.97457204e-01 -6.99367121e-02 -1.37106459e-02 2.67892828e+02] [ 6.99450728e-02 9.97550836e-01 1.30642731e-04 1.50843250e+01] [ 1.36679295e-02 -1.08930266e-03 9.99905996e-01 -1.98092129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.431400513 meters Centerline goodness [0,1] 0.9913503436016389 Centerline is valid? [True, True] Translation: X:267.92, Y:15.08, Z:-0.20 [[ 9.97401746e-01 -7.08901499e-02 -1.28196788e-02 2.67920842e+02] [ 7.08975192e-02 9.97483597e-01 1.20722874e-04 1.50776013e+01] [ 1.27788613e-02 -1.02929263e-03 9.99917817e-01 -1.97231598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.461400513 meters Centerline goodness [0,1] 0.6325023084025854 Centerline is valid? [True, False] Translation: X:267.92, Y:15.08, Z:-0.20 [[ 9.97398398e-01 -7.09452793e-02 -1.27750992e-02 2.67920815e+02] [ 7.09521281e-02 9.97479718e-01 8.31043666e-05 1.50777642e+01] [ 1.27370065e-02 -9.89308636e-04 9.99918392e-01 -1.97497249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.49140051300003 meters Centerline goodness [0,1] 0.8042949145971094 Centerline is valid? [False, False] Translation: X:267.92, Y:15.07, Z:-0.20 [[ 9.97668042e-01 -6.70711498e-02 -1.26466735e-02 2.67919842e+02] [ 6.71424390e-02 9.97729330e-01 5.29880423e-03 1.50719242e+01] [ 1.22625602e-02 -6.13557614e-03 9.99905988e-01 -1.98250429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.521400513 meters Centerline goodness [0,1] 0.823562339871251 Centerline is valid? [False, False] Translation: X:267.92, Y:15.07, Z:-0.20 [[ 9.97661714e-01 -6.72056509e-02 -1.24300359e-02 2.67919046e+02] [ 6.72751904e-02 9.97720576e-01 5.26313469e-03 1.50719126e+01] [ 1.20479902e-02 -6.08706100e-03 9.99908893e-01 -1.98049660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.551400513 meters Centerline goodness [0,1] 0.8441009125067096 Centerline is valid? [False, False] Translation: X:267.92, Y:15.07, Z:-0.20 [[ 9.97662904e-01 -6.71991145e-02 -1.23696620e-02 2.67918635e+02] [ 6.72690434e-02 9.97720655e-01 5.32631036e-03 1.50715396e+01] [ 1.19835439e-02 -6.14595759e-03 9.99909307e-01 -1.97620530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.581400513 meters Centerline goodness [0,1] 0.8186562296151337 Centerline is valid? [False, False] Translation: X:267.92, Y:15.07, Z:-0.20 [[ 9.97667881e-01 -6.71320078e-02 -1.23326041e-02 2.67918408e+02] [ 6.72039707e-02 9.97724010e-01 5.51602962e-03 1.50706050e+01] [ 1.19342331e-02 -6.33196555e-03 9.99908736e-01 -1.97365965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.611400513 meters Centerline goodness [0,1] 0.7545774876240299 Centerline is valid? [False, False] Translation: X:267.92, Y:15.07, Z:-0.20 [[ 9.97673540e-01 -6.70555133e-02 -1.22908847e-02 2.67918301e+02] [ 6.71298431e-02 9.97727750e-01 5.73772952e-03 1.50695547e+01] [ 1.18782104e-02 -6.54946609e-03 9.99908002e-01 -1.97407418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.641400513 meters Centerline goodness [0,1] 0.4952984911436694 Centerline is valid? [False, False] Translation: X:267.92, Y:15.07, Z:-0.20 [[ 9.97686102e-01 -6.68752148e-02 -1.22534980e-02 2.67918561e+02] [ 6.69551196e-02 9.97736534e-01 6.23065196e-03 1.50673006e+01] [ 1.18090864e-02 -7.03666929e-03 9.99905511e-01 -1.98143104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.671400513 meters Centerline goodness [0,1] 0.6010545959552123 Centerline is valid? [False, False] Translation: X:267.92, Y:15.07, Z:-0.20 [[ 9.97372606e-01 -7.13614582e-02 -1.24670322e-02 2.67919950e+02] [ 7.13778625e-02 9.97448963e-01 8.75287339e-04 1.50726251e+01] [ 1.23727666e-02 -1.76285773e-03 9.99921900e-01 -1.97863171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.701400513 meters Centerline goodness [0,1] 0.5181164103226918 Centerline is valid? [False, False] Translation: X:267.92, Y:15.07, Z:-0.20 [[ 9.97383015e-01 -7.11957334e-02 -1.25812600e-02 2.67920520e+02] [ 7.12174428e-02 9.97459986e-01 1.28545215e-03 1.50707336e+01] [ 1.24577847e-02 -2.17809331e-03 9.99920027e-01 -1.98212474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.731400513 meters Centerline goodness [0,1] 0.6902064423889263 Centerline is valid? [False, False] Translation: X:267.92, Y:15.07, Z:-0.20 [[ 9.97399381e-01 -7.09494984e-02 -1.26744934e-02 2.67921060e+02] [ 7.09782266e-02 9.97476185e-01 1.83078396e-03 1.50682549e+01] [ 1.25126121e-02 -2.72563585e-03 9.99917999e-01 -1.98613505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.761400513 meters Centerline goodness [0,1] 0.4618055555555556 Centerline is valid? [False, False] Translation: X:267.92, Y:15.07, Z:-0.20 [[ 9.97415359e-01 -7.07021288e-02 -1.27988372e-02 2.67921581e+02] [ 7.07383081e-02 9.97492031e-01 2.39591978e-03 1.50656332e+01] [ 1.25973415e-02 -3.29509528e-03 9.99915221e-01 -1.98795540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.791400513 meters Centerline goodness [0,1] 0.6292033303930638 Centerline is valid? [False, False] Translation: X:267.92, Y:15.06, Z:-0.20 [[ 9.97430032e-01 -7.04877611e-02 -1.28377295e-02 2.67921685e+02] [ 7.05298620e-02 9.97505579e-01 2.85622976e-03 1.50634774e+01] [ 1.26043775e-02 -3.75433262e-03 9.99913514e-01 -1.98667755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.821400513 meters Centerline goodness [0,1] 0.5327066701004378 Centerline is valid? [False, False] Translation: X:267.92, Y:15.07, Z:-0.20 [[ 9.97835700e-01 -6.50853912e-02 -9.37058880e-03 2.67922902e+02] [ 6.49771574e-02 9.97821339e-01 -1.14256277e-02 1.50692796e+01] [ 1.00938149e-02 1.07920250e-02 9.99890818e-01 -2.00952393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.851400513 meters Centerline goodness [0,1] 0.5327066701004378 Centerline is valid? [False, False] Translation: X:267.92, Y:15.06, Z:-0.20 [[ 9.98108383e-01 -6.08066113e-02 -9.06708502e-03 2.67921446e+02] [ 6.07529653e-02 9.98134319e-01 -6.07931284e-03 1.50636678e+01] [ 9.41983115e-03 5.51696080e-03 9.99940413e-01 -2.01566875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.881400513 meters Centerline goodness [0,1] 0.839036207120301 Centerline is valid? [False, False] Translation: X:267.92, Y:15.06, Z:-0.20 [[ 9.98394855e-01 -5.58863419e-02 -9.18860475e-03 2.67921432e+02] [ 5.58859527e-02 9.98437114e-01 -2.99309013e-04 1.50568582e+01] [ 9.19097129e-03 -2.14685352e-04 9.99957739e-01 -2.02270954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.911400513 meters Centerline goodness [0,1] 0.8788518271280604 Centerline is valid? [False, False] Translation: X:267.92, Y:15.06, Z:-0.20 [[ 9.98398425e-01 -5.57895160e-02 -9.38696084e-03 2.67921982e+02] [ 5.57884935e-02 9.98442540e-01 -3.70948724e-04 1.50573421e+01] [ 9.39303607e-03 -1.53329781e-04 9.99955873e-01 -2.02091808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.941400513 meters Centerline goodness [0,1] 0.9411751946727979 Centerline is valid? [False, False] Translation: X:267.92, Y:15.05, Z:-0.20 [[ 9.98662238e-01 -5.08112655e-02 -9.58908436e-03 2.67922150e+02] [ 5.08639073e-02 9.98691381e-01 5.32798859e-03 1.50510236e+01] [ 9.30581407e-03 -5.80859930e-03 9.99939829e-01 -2.02499064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.971400513 meters Centerline goodness [0,1] 0.8504168389891382 Centerline is valid? [False, False] Translation: X:267.92, Y:15.06, Z:-0.20 [[ 9.98785910e-01 -4.75779022e-02 -1.27690427e-02 2.67920287e+02] [ 4.74205531e-02 9.98798601e-01 -1.23550217e-02 1.50634917e+01] [ 1.33415280e-02 1.17345065e-02 9.99842140e-01 -1.97482600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.001400513 meters Centerline goodness [0,1] 0.8652729384436701 Centerline is valid? [False, False] Translation: X:267.95, Y:15.05, Z:-0.21 [[ 9.98964376e-01 -4.47984878e-02 -7.95425471e-03 2.67945452e+02] [ 4.48142112e-02 9.98993700e-01 1.80952324e-03 1.50502638e+01] [ 7.86518643e-03 -2.16411291e-03 9.99966727e-01 -2.05432484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.031400513 meters Centerline goodness [0,1] 0.9931599956845398 Centerline is valid? [False, True] Translation: X:267.95, Y:15.05, Z:-0.21 [[ 9.98964251e-01 -4.48074558e-02 -7.91936791e-03 2.67945148e+02] [ 4.48223936e-02 9.98993493e-01 1.71883492e-03 1.50506789e+01] [ 7.83438039e-03 -2.07201966e-03 9.99967164e-01 -2.05065806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.061400513 meters Centerline goodness [0,1] 0.9995659345429291 Centerline is valid? [True, True] Translation: X:267.98, Y:15.06, Z:-0.20 [[ 9.99093337e-01 -4.21071729e-02 -6.28417998e-03 2.67976122e+02] [ 4.21090349e-02 9.99113008e-01 1.64221170e-04 1.50565619e+01] [ 6.27169107e-03 -4.28693031e-04 9.99980241e-01 -2.02747888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.091400513 meters Centerline goodness [0,1] 0.9994382993432424 Centerline is valid? [True, True] Translation: X:268.00, Y:15.05, Z:-0.20 [[ 9.99147064e-01 -4.08087301e-02 -6.30815410e-03 2.68004530e+02] [ 4.08105794e-02 9.99166888e-01 1.64659314e-04 1.50533196e+01] [ 6.29617916e-03 -4.21958294e-04 9.99980090e-01 -2.02612778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.121400513 meters Centerline goodness [0,1] 0.9963549037265749 Centerline is valid? [True, True] Translation: X:268.03, Y:15.05, Z:-0.20 [[ 9.99218079e-01 -3.90120803e-02 -6.42566279e-03 2.68033166e+02] [ 3.90139611e-02 9.99238652e-01 1.67563813e-04 1.50453568e+01] [ 6.41423361e-03 -4.18123349e-04 9.99979341e-01 -2.03486989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.151400513 meters Centerline goodness [0,1] 0.993884055474201 Centerline is valid? [True, True] Translation: X:268.06, Y:15.04, Z:-0.20 [[ 9.99289041e-01 -3.70790084e-02 -6.82341302e-03 2.68062173e+02] [ 3.70810833e-02 9.99312244e-01 1.77780887e-04 1.50435286e+01] [ 6.81212824e-03 -4.30674038e-04 9.99976704e-01 -2.03918770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.181400513 meters Centerline goodness [0,1] 0.9998081800549884 Centerline is valid? [True, True] Translation: X:268.09, Y:15.05, Z:-0.20 [[ 9.99424725e-01 -3.37575286e-02 -3.26320647e-03 2.68090259e+02] [ 3.37817432e-02 9.99399769e-01 7.67438776e-03 1.50500339e+01] [ 3.00217942e-03 -7.78020968e-03 9.99965227e-01 -2.03247084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.211400513 meters Centerline goodness [0,1] 0.9995915032679739 Centerline is valid? [True, True] Translation: X:268.12, Y:15.06, Z:-0.20 [[ 9.99450824e-01 -3.23237598e-02 -7.29555301e-03 2.68120966e+02] [ 3.22697147e-02 9.99451744e-01 -7.40795053e-03 1.50591703e+01] [ 7.53100599e-03 7.16845685e-03 9.99945947e-01 -2.02240534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.24140051300003 meters Centerline goodness [0,1] 0.9996076636369581 Centerline is valid? [True, True] Translation: X:268.15, Y:15.06, Z:-0.20 [[ 9.99535690e-01 -2.96445671e-02 -7.04301583e-03 2.68151283e+02] [ 2.96465852e-02 9.99560427e-01 1.82280055e-04 1.50559973e+01] [ 7.03451630e-03 -3.90996789e-04 9.99975181e-01 -2.03171306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.271400513 meters Centerline goodness [0,1] 0.999869769057128 Centerline is valid? [True, True] Translation: X:268.18, Y:15.06, Z:-0.20 [[ 9.99741667e-01 -2.19287297e-02 -5.97750078e-03 2.68182027e+02] [ 2.19300457e-02 9.99759496e-01 1.54694671e-04 1.50647636e+01] [ 5.97267091e-03 -2.85741573e-04 9.99982123e-01 -2.00908231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.301400513 meters Centerline goodness [0,1] 0.9999573524394405 Centerline is valid? [True, True] Translation: X:268.21, Y:15.07, Z:-0.20 [[ 9.99823217e-01 -1.79589507e-02 -5.56868280e-03 2.68211391e+02] [ 1.79600310e-02 9.99838695e-01 1.44049179e-04 1.50655728e+01] [ 5.56519757e-03 -2.44037430e-04 9.99984484e-01 -2.00585854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.331400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.24, Y:15.07, Z:-0.20 [[ 9.99920496e-01 -1.12420313e-02 -5.71121082e-03 2.68241301e+02] [ 1.12430576e-02 9.99936784e-01 1.47628942e-04 1.50736748e+01] [ 5.70919013e-03 -2.11828677e-04 9.99983680e-01 -2.01020019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.361400513 meters Centerline goodness [0,1] 0.9999573342435362 Centerline is valid? [True, True] Translation: X:268.27, Y:15.07, Z:-0.20 [[ 9.99939852e-01 -9.03305190e-03 -6.22059534e-03 2.68269858e+02] [ 9.03422551e-03 9.99959178e-01 1.60591128e-04 1.50702739e+01] [ 6.21889078e-03 -2.16779730e-04 9.99980639e-01 -2.02409331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.391400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.30, Y:15.08, Z:-0.20 [[ 9.99947756e-01 -7.45315693e-03 -6.99540014e-03 2.68299256e+02] [ 7.45459576e-03 9.99972198e-01 1.79629213e-04 1.50778502e+01] [ 6.99386685e-03 -2.31767709e-04 9.99975516e-01 -2.02004060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.421400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.33, Y:15.08, Z:-0.20 [[ 9.99959407e-01 -5.86635758e-03 -6.83887575e-03 2.68328122e+02] [ 5.86769271e-03 9.99982770e-01 1.75178791e-04 1.50787281e+01] [ 6.83773025e-03 -2.15300102e-04 9.99976599e-01 -2.01798715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.451400513 meters Centerline goodness [0,1] 0.9999788976112096 Centerline is valid? [True, True] Translation: X:268.36, Y:15.07, Z:-0.20 [[ 9.99975545e-01 -3.87468132e-03 -5.82203407e-03 2.68355691e+02] [ 3.87561331e-03 9.99992479e-01 1.48805520e-04 1.50716710e+01] [ 5.82141370e-03 -1.71365834e-04 9.99983041e-01 -2.01912516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.481400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.38, Y:15.08, Z:-0.20 [[ 9.99985602e-01 -1.72672486e-03 -5.08078771e-03 2.68384732e+02] [ 1.72740569e-03 9.99998500e-01 1.29615588e-04 1.50785120e+01] [ 5.08055628e-03 -1.38390303e-04 9.99987084e-01 -1.99710253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.511400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.42, Y:15.08, Z:-0.20 [[ 9.99988115e-01 2.65213189e-03 -4.09086090e-03 2.68415236e+02] [-2.65172764e-03 9.99996479e-01 1.04236624e-04 1.50822067e+01] [ 4.09112295e-03 -9.33875366e-05 9.99991627e-01 -1.98571134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.541400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.44, Y:15.08, Z:-0.20 [[ 9.99982247e-01 4.51273332e-03 -3.89102676e-03 2.68443239e+02] [-4.51238277e-03 9.99989814e-01 9.88661319e-05 1.50831823e+01] [ 3.89143329e-03 -8.13065746e-05 9.99992425e-01 -1.98254615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.571400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.47, Y:15.08, Z:-0.20 [[ 9.99970501e-01 6.30093085e-03 -4.39265106e-03 2.68471067e+02] [-6.30050265e-03 9.99980145e-01 1.11314335e-04 1.50843630e+01] [ 4.39326523e-03 -8.36351412e-05 9.99990346e-01 -1.98676530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.601400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.50, Y:15.09, Z:-0.20 [[ 9.99952636e-01 8.31513229e-03 -5.05811154e-03 2.68499978e+02] [-8.31459156e-03 9.99965425e-01 1.27922602e-04 1.50858400e+01] [ 5.05900035e-03 -8.58604113e-05 9.99987199e-01 -1.99817208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.631400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.53, Y:15.09, Z:-0.20 [[ 9.99911031e-01 1.21547974e-02 -5.49464780e-03 2.68529305e+02] [-1.21542215e-02 9.99926125e-01 1.38205694e-04 1.50917663e+01] [ 5.49592174e-03 -7.14102322e-05 9.99984895e-01 -2.00571845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.661400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.56, Y:15.09, Z:-0.20 [[ 9.99887504e-01 1.40623424e-02 -5.21815396e-03 2.68557033e+02] [-1.40618512e-02 9.99901119e-01 1.30815300e-04 1.50933835e+01] [ 5.21947755e-03 -5.74236792e-05 9.99986377e-01 -2.00710367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.691400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.59, Y:15.09, Z:-0.20 [[ 9.99859219e-01 1.59815208e-02 -5.11199007e-03 2.68585014e+02] [-1.59810761e-02 9.99872286e-01 1.27843639e-04 1.50947720e+01] [ 5.11338034e-03 -4.61305384e-05 9.99986926e-01 -2.00619450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.721400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.61, Y:15.10, Z:-0.20 [[ 9.99829062e-01 1.77602510e-02 -5.13996890e-03 2.68614108e+02] [-1.77598262e-02 9.99842274e-01 1.28287340e-04 1.50959707e+01] [ 5.14143661e-03 -3.69804562e-05 9.99986782e-01 -2.00347594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.751400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.64, Y:15.10, Z:-0.20 [[ 9.99796451e-01 1.95167790e-02 -5.11396319e-03 2.68642825e+02] [-1.95163826e-02 9.99809529e-01 1.27396987e-04 1.50969149e+01] [ 5.11547551e-03 -2.75649925e-05 9.99986915e-01 -1.99653907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.781400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.67, Y:15.10, Z:-0.20 [[ 9.99737130e-01 2.23494592e-02 -5.11593372e-03 2.68672227e+02] [-2.23491017e-02 9.99750220e-01 1.27057842e-04 1.50998091e+01] [ 5.11749554e-03 -1.26879197e-05 9.99986905e-01 -1.99101804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.811400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.70, Y:15.10, Z:-0.20 [[ 9.99716523e-01 2.34076189e-02 -4.35385873e-03 2.68699915e+02] [-2.34073711e-02 9.99726004e-01 1.07861239e-04 1.51016022e+01] [ 4.35519056e-03 -5.91827574e-06 9.99990516e-01 -1.98227736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.841400513 meters Centerline goodness [0,1] 0.9999137261668536 Centerline is valid? [True, True] Translation: X:268.73, Y:15.10, Z:-0.20 [[ 9.99710503e-01 2.37161843e-02 -4.05631728e-03 2.68729080e+02] [-2.37159726e-02 9.99718732e-01 1.00288912e-04 1.51030215e+01] [ 4.05755484e-03 -4.06036907e-06 9.99991768e-01 -1.98438190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.871400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.76, Y:15.10, Z:-0.20 [[ 9.99681906e-01 2.48357867e-02 -4.38980154e-03 2.68757348e+02] [-2.48355508e-02 9.99691544e-01 1.08247152e-04 1.51042682e+01] [ 4.39113588e-03 8.10420232e-07 9.99990359e-01 -1.98396555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.901400513 meters Centerline goodness [0,1] 0.9999132321041215 Centerline is valid? [True, True] Translation: X:268.79, Y:15.11, Z:-0.20 [[ 9.99633960e-01 2.62750024e-02 -6.44745526e-03 2.68786080e+02] [-2.62745258e-02 9.99654752e-01 1.58618470e-04 1.51082794e+01] [ 6.44939699e-03 1.08434202e-05 9.99979202e-01 -2.01346491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.931400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.81, Y:15.11, Z:-0.20 [[ 9.99584683e-01 2.79638029e-02 -6.96320726e-03 2.68814421e+02] [-2.79632909e-02 9.99608936e-01 1.70893683e-04 1.51128202e+01] [ 6.96526304e-03 2.38914818e-05 9.99975742e-01 -2.01745815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.961400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.84, Y:15.12, Z:-0.20 [[ 9.99537232e-01 2.95668100e-02 -7.15015306e-03 2.68843132e+02] [-2.95663138e-02 9.99562806e-01 1.75122402e-04 1.51170316e+01] [ 7.15220487e-03 3.63623079e-05 9.99974422e-01 -2.01261434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.99140051300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.87, Y:15.12, Z:-0.20 [[ 9.99486373e-01 3.12288701e-02 -7.19362200e-03 2.68871197e+02] [-3.12284149e-02 9.99512259e-01 1.75617379e-04 1.51219489e+01] [ 7.19559771e-03 4.91182352e-05 9.99974110e-01 -2.02190812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.021400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.90, Y:15.12, Z:-0.20 [[ 9.99440113e-01 3.26624292e-02 -7.25443761e-03 2.68899641e+02] [-3.26620069e-02 9.99466439e-01 1.76713064e-04 1.51247534e+01] [ 7.25633880e-03 6.03303669e-05 9.99973671e-01 -2.02051365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.051400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.93, Y:15.13, Z:-0.20 [[ 9.99404771e-01 3.38245767e-02 -6.78252538e-03 2.68928274e+02] [-3.38242365e-02 9.99427783e-01 1.64891404e-04 1.51273844e+01] [ 6.78422168e-03 6.46204860e-05 9.99976985e-01 -2.02196545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.081400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.96, Y:15.13, Z:-0.20 [[ 9.99380999e-01 3.49033990e-02 -4.40124922e-03 2.68956848e+02] [-3.49032675e-02 9.99390690e-01 1.06721414e-04 1.51326583e+01] [ 4.40229243e-03 4.69626252e-05 9.99990309e-01 -1.98415826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.111400513 meters Centerline goodness [0,1] 0.999914368898784 Centerline is valid? [True, True] Translation: X:268.99, Y:15.13, Z:-0.20 [[ 9.99408119e-01 3.42757484e-02 -2.92998441e-03 2.68985169e+02] [-3.42756879e-02 9.99412413e-01 7.08644901e-05 1.51348711e+01] [ 2.93069173e-03 2.96046845e-05 9.99995705e-01 -1.97882677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.141400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.01, Y:15.13, Z:-0.20 [[ 9.99416892e-01 3.40562913e-02 -2.45850693e-03 2.69012734e+02] [-3.40562485e-02 9.99419916e-01 5.92964014e-05 1.51335856e+01] [ 2.45910020e-03 2.44656976e-05 9.99996976e-01 -1.95370030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.171400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.04, Y:15.14, Z:-0.20 [[ 9.99430161e-01 3.36871437e-02 -2.12823575e-03 2.69040707e+02] [-3.36871111e-02 9.99432427e-01 5.11982923e-05 1.51357758e+01] [ 2.12875254e-03 2.05249964e-05 9.99997734e-01 -1.95698946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.201400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.07, Y:15.13, Z:-0.20 [[ 9.99415145e-01 3.40912995e-02 -2.67417262e-03 2.69069496e+02] [-3.40912498e-02 9.99418722e-01 6.41739541e-05 1.51334540e+01] [ 2.67480596e-03 2.70294654e-05 9.99996422e-01 -1.96500386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.231400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.10, Y:15.14, Z:-0.20 [[ 9.99290838e-01 3.74563460e-02 -3.85260684e-03 2.69098660e+02] [-3.74562687e-02 9.99298263e-01 9.22448048e-05 1.51379330e+01] [ 3.85335848e-03 5.21248887e-05 9.99992574e-01 -1.98479677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.261400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.13, Y:15.14, Z:-0.20 [[ 9.99190953e-01 4.00196964e-02 -3.98298378e-03 2.69126822e+02] [-4.00196351e-02 9.99198889e-01 9.51345746e-05 1.51435336e+01] [ 3.98360022e-03 6.43399510e-05 9.99992063e-01 -1.98991583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.291400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.16, Y:15.15, Z:-0.20 [[ 9.99084354e-01 4.26347807e-02 -3.56774340e-03 2.69155654e+02] [-4.26347488e-02 9.99090722e-01 8.50430725e-05 1.51471683e+01] [ 3.56812512e-03 6.71446403e-05 9.99993632e-01 -1.98385550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.321400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.18, Y:15.15, Z:-0.20 [[ 9.98970454e-01 4.52811813e-02 -2.76543617e-03 2.69184383e+02] [-4.52811726e-02 9.98974279e-01 6.58000760e-05 1.51492127e+01] [ 2.76557911e-03 5.94898607e-05 9.99996174e-01 -1.97317954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.351400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.21, Y:15.15, Z:-0.20 [[ 9.98869338e-01 4.74822415e-02 -2.34163126e-03 2.69212935e+02] [-4.74822416e-02 9.98872081e-01 5.56106148e-05 1.51490562e+01] [ 2.34163060e-03 5.56381631e-05 9.99997257e-01 -1.96505761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.381400513 meters Centerline goodness [0,1] 0.9999786839468804 Centerline is valid? [True, True] Translation: X:269.24, Y:15.15, Z:-0.20 [[ 9.98704738e-01 5.07728052e-02 -3.31182626e-03 2.69241666e+02] [-5.07728239e-02 9.98710225e-01 7.84963795e-05 1.51538688e+01] [ 3.31154023e-03 8.97560653e-05 9.99994513e-01 -1.99066980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.411400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.27, Y:15.15, Z:-0.20 [[ 9.98667639e-01 5.13740370e-02 -4.86370078e-03 2.69269750e+02] [-5.13740858e-02 9.98679473e-01 1.14992611e-04 1.51537630e+01] [ 4.86318577e-03 1.35028782e-04 9.99988166e-01 -2.01595462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.441400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.30, Y:15.15, Z:-0.20 [[ 9.98697692e-01 5.06174772e-02 -6.38670718e-03 2.69298292e+02] [-5.06175480e-02 9.98718099e-01 1.50662434e-04 1.51471414e+01] [ 6.38614621e-03 1.72813232e-04 9.99979593e-01 -2.04433945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.471400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.33, Y:15.14, Z:-0.20 [[ 9.98721217e-01 5.01830928e-02 -6.13094450e-03 2.69327279e+02] [-5.01831517e-02 9.98740021e-01 1.44328661e-04 1.51423348e+01] [ 6.13046250e-03 1.63526022e-04 9.99981195e-01 -2.03460577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.501400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.36, Y:15.14, Z:-0.20 [[ 9.98751605e-01 4.96670697e-02 -5.33038913e-03 2.69355298e+02] [-4.96671091e-02 9.98765820e-01 1.25052496e-04 1.51428305e+01] [ 5.33002146e-03 1.39848638e-04 9.99985786e-01 -2.02520197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.531400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.38, Y:15.14, Z:-0.20 [[ 9.98770026e-01 4.93319269e-02 -4.97954292e-03 2.69383487e+02] [-4.93319587e-02 9.98782431e-01 1.16502245e-04 1.51422050e+01] [ 4.97922727e-03 1.29291656e-04 9.99987595e-01 -2.02140808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.561400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.41, Y:15.14, Z:-0.20 [[ 9.98776561e-01 4.92529519e-02 -4.41905817e-03 2.69412403e+02] [-4.92529772e-02 9.98786330e-01 1.03175497e-04 1.51390210e+01] [ 4.41877659e-03 1.14602503e-04 9.99990231e-01 -2.01163988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.591400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.44, Y:15.14, Z:-0.20 [[ 9.98773389e-01 4.93469502e-02 -4.07369852e-03 2.69440537e+02] [-4.93469737e-02 9.98781691e-01 9.48014584e-05 1.51376423e+01] [ 4.07341366e-03 1.06339520e-04 9.99991698e-01 -2.00411229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.621400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.47, Y:15.13, Z:-0.20 [[ 9.98760478e-01 4.96515695e-02 -3.49700975e-03 2.69469254e+02] [-4.96515894e-02 9.98766596e-01 8.11819168e-05 1.51295614e+01] [ 3.49672733e-03 9.25508022e-05 9.99993882e-01 -1.98463198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.651400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.50, Y:15.13, Z:-0.20 [[ 9.98764199e-01 4.95445701e-02 -3.92562208e-03 2.69495871e+02] [-4.95445955e-02 9.98771908e-01 9.08239282e-05 1.51343686e+01] [ 3.92530089e-03 1.03781670e-04 9.99992291e-01 -1.99726670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.681400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.52, Y:15.13, Z:-0.20 [[ 9.98762633e-01 4.95058332e-02 -4.73034972e-03 2.69524474e+02] [-4.95058710e-02 9.98773827e-01 1.09162498e-04 1.51289018e+01] [ 4.72995367e-03 1.25152659e-04 9.99988806e-01 -2.00668656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.711400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.55, Y:15.13, Z:-0.20 [[ 9.98765463e-01 4.94032133e-02 -5.18392001e-03 2.69552506e+02] [-4.94032592e-02 9.98778906e-01 1.19281619e-04 1.51253705e+01] [ 5.18348285e-03 1.36968183e-04 9.99986556e-01 -2.01352051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.74140051300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.58, Y:15.12, Z:-0.20 [[ 9.98763497e-01 4.94514919e-02 -5.10168038e-03 2.69580772e+02] [-4.94515383e-02 9.98776517e-01 1.17120454e-04 1.51210784e+01] [ 5.10123035e-03 1.35310309e-04 9.99986979e-01 -2.00840251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.771400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.61, Y:15.12, Z:-0.20 [[ 9.98767085e-01 4.93789790e-02 -5.10168831e-03 2.69608258e+02] [-4.93790262e-02 9.98780105e-01 1.16774671e-04 1.51205764e+01] [ 5.10123100e-03 1.35285703e-04 9.99986979e-01 -2.00812283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.801400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.64, Y:15.12, Z:-0.20 [[ 9.98763448e-01 4.95217371e-02 -4.37871459e-03 2.69635852e+02] [-4.95217744e-02 9.98773039e-01 9.99603852e-05 1.51176072e+01] [ 4.37829229e-03 1.17004937e-04 9.99990408e-01 -1.99537318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.831400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.66, Y:15.12, Z:-0.20 [[ 9.98745979e-01 4.99059978e-02 -3.98267407e-03 2.69664605e+02] [-4.99060326e-02 9.98753913e-01 9.07203269e-05 1.51156196e+01] [ 3.98223880e-03 1.08152900e-04 9.99992065e-01 -1.98596551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.861400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.69, Y:15.12, Z:-0.20 [[ 9.98716383e-01 5.05175653e-02 -3.68252258e-03 2.69692507e+02] [-5.05175999e-02 9.98723167e-01 8.36778439e-05 1.51155455e+01] [ 3.68204782e-03 1.02461769e-04 9.99993216e-01 -1.98313839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.891400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.72, Y:15.11, Z:-0.20 [[ 9.98666879e-01 5.14838562e-02 -3.72533162e-03 2.69721596e+02] [-5.14838991e-02 9.98673821e-01 8.44560551e-05 1.51121120e+01] [ 3.72473928e-03 1.07451132e-04 9.99993057e-01 -1.98345314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.921400513 meters Centerline goodness [0,1] 0.9999785218754699 Centerline is valid? [True, True] Translation: X:269.75, Y:15.11, Z:-0.20 [[ 9.98621471e-01 5.23231045e-02 -4.17725288e-03 2.69749635e+02] [-5.23231668e-02 9.98630200e-01 9.44523215e-05 1.51111621e+01] [ 4.17647292e-03 1.24244983e-04 9.99991271e-01 -1.99566236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.951400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.78, Y:15.11, Z:-0.20 [[ 9.98576940e-01 5.31137347e-02 -4.79848867e-03 2.69778376e+02] [-5.31138272e-02 9.98588459e-01 1.08243252e-04 1.51099413e+01] [ 4.79746460e-03 1.46776882e-04 9.99988481e-01 -2.00543314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.981400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.81, Y:15.11, Z:-0.20 [[ 9.98423879e-01 5.59393240e-02 -4.53314724e-03 2.69806437e+02] [-5.59394368e-02 9.98434159e-01 1.02012892e-04 1.51138639e+01] [ 4.53175558e-03 1.51729596e-04 9.99989720e-01 -2.00253005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.011400513 meters Centerline goodness [0,1] 0.9999568547082299 Centerline is valid? [True, True] Translation: X:269.84, Y:15.11, Z:-0.20 [[ 9.98300242e-01 5.81195970e-02 -4.32894085e-03 2.69835899e+02] [-5.81197209e-02 9.98309616e-01 9.72833241e-05 1.51128131e+01] [ 4.32727735e-03 1.54478868e-04 9.99990625e-01 -1.99482324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.041400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.87, Y:15.11, Z:-0.20 [[ 9.98051132e-01 6.23191798e-02 -3.20289964e-03 2.69866171e+02] [-6.23192694e-02 9.98056263e-01 7.19228650e-05 1.51124043e+01] [ 3.20115622e-03 1.27819669e-04 9.99994868e-01 -1.97931323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.071400513 meters Centerline goodness [0,1] 0.9999569104815254 Centerline is valid? [True, True] Translation: X:269.90, Y:15.12, Z:-0.20 [[ 9.97925835e-01 6.43285637e-02 -2.42162333e-03 2.69895071e+02] [-6.43286211e-02 9.97928768e-01 5.42925100e-05 1.51176402e+01] [ 2.42010014e-03 1.01599791e-04 9.99997066e-01 -1.96875773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.101400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.93, Y:15.12, Z:-0.20 [[ 9.97811193e-01 6.61121403e-02 -1.41679841e-03 2.69925030e+02] [-6.61121617e-02 9.97812197e-01 3.17238844e-05 1.51175912e+01] [ 1.41579607e-03 6.20131589e-05 9.99998996e-01 -1.95623274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.131400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.95, Y:15.11, Z:-0.19 [[ 9.97741990e-01 6.71559120e-02 -1.00220611e-03 2.69953862e+02] [-6.71559233e-02 9.97742493e-01 2.24242454e-05 1.51102508e+01] [ 1.00144954e-03 4.49304653e-05 9.99999498e-01 -1.94766033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.161400513 meters Centerline goodness [0,1] 0.9998924476757943 Centerline is valid? [True, True] Translation: X:269.98, Y:15.11, Z:-0.20 [[ 9.97721008e-01 6.74626996e-02 -1.25495444e-03 2.69981929e+02] [-6.74627177e-02 9.97721795e-01 2.80009585e-05 1.51133294e+01] [ 1.25398442e-03 5.67254926e-05 9.99999212e-01 -1.95457031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.191400513 meters Centerline goodness [0,1] 0.9999572603910675 Centerline is valid? [True, True] Translation: X:270.01, Y:15.11, Z:-0.20 [[ 9.97750385e-01 6.69967906e-02 -2.36645200e-03 2.70010742e+02] [-6.69968539e-02 9.97753185e-01 5.26173192e-05 1.51091306e+01] [ 2.36466021e-03 1.06045888e-04 9.99997199e-01 -1.97074209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.221400513 meters Centerline goodness [0,1] 0.9999786068800274 Centerline is valid? [True, True] Translation: X:270.04, Y:15.10, Z:-0.20 [[ 9.97935769e-01 6.40688429e-02 -4.40279528e-03 2.70040342e+02] [-6.40690340e-02 9.97945464e-01 9.77639104e-05 1.50956361e+01] [ 4.40001320e-03 1.84520738e-04 9.99990303e-01 -2.00206824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.251400513 meters Centerline goodness [0,1] 0.9999784417712241 Centerline is valid? [True, True] Translation: X:270.07, Y:15.09, Z:-0.20 [[ 9.98067767e-01 6.19884009e-02 -4.26268356e-03 2.70070303e+02] [-6.19885613e-02 9.98076855e-01 9.46014636e-05 1.50873076e+01] [ 4.26035000e-03 1.69818950e-04 9.99990910e-01 -1.99709675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.281400513 meters Centerline goodness [0,1] 0.9998922622767136 Centerline is valid? [True, True] Translation: X:270.10, Y:15.08, Z:-0.20 [[ 9.98197535e-01 5.99154562e-02 -3.43776618e-03 2.70099135e+02] [-5.99155488e-02 9.98203447e-01 7.61660247e-05 1.50792195e+01] [ 3.43615357e-03 1.29946909e-04 9.99994088e-01 -1.99347610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.311400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.13, Y:15.07, Z:-0.20 [[ 9.98260000e-01 5.89266003e-02 -2.15131496e-03 2.70127575e+02] [-5.89266344e-02 9.98262315e-01 4.75750726e-05 1.50696778e+01] [ 2.15038009e-03 7.92774583e-05 9.99997685e-01 -1.96336391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.341400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.16, Y:15.07, Z:-0.19 [[ 9.98301167e-01 5.82546610e-02 -1.08384468e-03 2.70155960e+02] [-5.82546693e-02 9.98301754e-01 2.39391367e-05 1.50745006e+01] [ 1.08339861e-03 3.92405454e-05 9.99999412e-01 -1.94937266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.371400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.18, Y:15.06, Z:-0.19 [[ 9.98310059e-01 5.81028360e-02 -1.04209164e-03 2.70184955e+02] [-5.81028437e-02 9.98310602e-01 2.29662105e-05 1.50623754e+01] [ 1.04166553e-03 3.76210887e-05 9.99999457e-01 -1.94555573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.401400513 meters Centerline goodness [0,1] 0.999978507565337 Centerline is valid? [True, True] Translation: X:270.21, Y:15.05, Z:-0.20 [[ 9.98198655e-01 5.99184040e-02 -3.03821916e-03 2.70214159e+02] [-5.99184779e-02 9.98203272e-01 6.67701691e-05 1.50532393e+01] [ 3.03676107e-03 1.15395575e-04 9.99995382e-01 -1.97409704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.431400513 meters Centerline goodness [0,1] 0.9999785426143679 Centerline is valid? [True, True] Translation: X:270.24, Y:15.05, Z:-0.20 [[ 9.98064652e-01 6.20500506e-02 -4.09165939e-03 2.70243677e+02] [-6.20502030e-02 9.98073026e-01 8.98158632e-05 1.50485028e+01] [ 4.08934795e-03 1.64246258e-04 9.99991625e-01 -1.98855650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.461400513 meters Centerline goodness [0,1] 0.9999786265415607 Centerline is valid? [True, True] Translation: X:270.27, Y:15.05, Z:-0.20 [[ 9.97895906e-01 6.46682085e-02 -4.66733366e-03 2.70272449e+02] [-6.46684356e-02 9.97906801e-01 1.02413656e-04 1.50456529e+01] [ 4.66418690e-03 1.99630997e-04 9.99989103e-01 -1.99773429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.49140051300003 meters Centerline goodness [0,1] 0.999957152344838 Centerline is valid? [True, True] Translation: X:270.30, Y:15.04, Z:-0.20 [[ 9.97709943e-01 6.74553673e-02 -4.96417688e-03 2.70302804e+02] [-6.74556586e-02 9.97722267e-01 1.08923875e-04 1.50425127e+01] [ 4.96021731e-03 2.26187388e-04 9.99987672e-01 -2.00728687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.521400513 meters Centerline goodness [0,1] 0.9998925101040502 Centerline is valid? [True, True] Translation: X:270.33, Y:15.04, Z:-0.20 [[ 9.97533135e-01 7.00157896e-02 -5.04327493e-03 2.70333413e+02] [-7.00161229e-02 9.97545854e-01 1.10659443e-04 1.50385521e+01] [ 5.03864590e-03 2.42724096e-04 9.99987276e-01 -2.00850710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.551400513 meters Centerline goodness [0,1] 0.9991917301229422 Centerline is valid? [True, True] Translation: X:270.36, Y:15.04, Z:-0.20 [[ 9.97351767e-01 7.25685536e-02 -4.82258766e-03 2.70362711e+02] [-7.25688886e-02 9.97363397e-01 1.05728162e-04 1.50424366e+01] [ 4.81754495e-03 2.44521657e-04 9.99988366e-01 -2.00741025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.581400513 meters Centerline goodness [0,1] 0.9995054826918942 Centerline is valid? [True, True] Translation: X:270.39, Y:15.03, Z:-0.20 [[ 9.96890581e-01 7.87065093e-02 -3.80203011e-03 2.70391559e+02] [-7.87107677e-02 9.96897010e-01 -9.83472877e-04 1.50280866e+01] [ 3.71282673e-03 1.27967556e-03 9.99992289e-01 -1.98856857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.611400513 meters Centerline goodness [0,1] 0.9980315812243132 Centerline is valid? [True, True] Translation: X:270.42, Y:15.03, Z:-0.20 [[ 9.96860164e-01 7.90920932e-02 -3.77545042e-03 2.70420765e+02] [-7.90883061e-02 9.96866960e-01 1.14228945e-03 1.50269726e+01] [ 3.85396784e-03 -8.40108873e-04 9.99992221e-01 -1.99354163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.641400513 meters Centerline goodness [0,1] 0.9973703496141743 Centerline is valid? [True, True] Translation: X:270.45, Y:15.02, Z:-0.20 [[ 9.96663850e-01 8.14989680e-02 -4.36912997e-03 2.70450704e+02] [-8.14993286e-02 9.96673392e-01 9.57563621e-05 1.50240868e+01] [ 4.36239963e-03 2.60644254e-04 9.99990451e-01 -2.01070030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.671400513 meters Centerline goodness [0,1] 0.8434151547491996 Centerline is valid? [True, False] Translation: X:270.45, Y:15.02, Z:-0.20 [[ 9.96602049e-01 8.22512877e-02 -4.36831730e-03 2.70451179e+02] [-8.22476011e-02 9.96611407e-01 1.01728230e-03 1.50202350e+01] [ 4.43718764e-03 -6.54542004e-04 9.99989941e-01 -2.02101381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.701400513 meters Centerline goodness [0,1] 0.9514608960735064 Centerline is valid? [False, True] Translation: X:270.45, Y:15.02, Z:-0.20 [[ 9.96903799e-01 7.85072647e-02 -4.40731426e-03 2.70450412e+02] [-7.85245669e-02 9.96904549e-01 -3.90028813e-03 1.50244991e+01] [ 4.08747069e-03 4.23429450e-03 9.99982682e-01 -2.02284503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.731400513 meters Centerline goodness [0,1] 0.8932407228760693 Centerline is valid? [True, False] Translation: X:270.45, Y:15.02, Z:-0.20 [[ 9.96889087e-01 7.86960718e-02 -4.36766824e-03 2.70450155e+02] [-7.87115963e-02 9.96891271e-01 -3.50400503e-03 1.50226760e+01] [ 4.07833892e-03 3.83689051e-03 9.99984323e-01 -2.02131441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.761400513 meters Centerline goodness [0,1] 0.9458301784748513 Centerline is valid? [False, False] Translation: X:270.45, Y:15.02, Z:-0.20 [[ 9.96868180e-01 7.89666505e-02 -4.25445309e-03 2.70449591e+02] [-7.89793056e-02 9.96872057e-01 -2.89327593e-03 1.50198459e+01] [ 4.01267309e-03 3.22022846e-03 9.99986764e-01 -2.01853053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.791400513 meters Centerline goodness [0,1] 0.8895828448404494 Centerline is valid? [False, False] Translation: X:270.47, Y:15.01, Z:-0.21 [[ 9.97032183e-01 7.69807510e-02 8.89142399e-04 2.70472246e+02] [-7.69845720e-02 9.97016142e-01 5.67346665e-03 1.50111710e+01] [-4.49741601e-04 -5.72507908e-03 9.99983510e-01 -2.07767136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.821400513 meters Centerline goodness [0,1] 0.9186252157422599 Centerline is valid? [False, False] Translation: X:270.47, Y:15.01, Z:-0.21 [[ 9.97369018e-01 7.24871402e-02 8.10642818e-04 2.70471351e+02] [-7.24876779e-02 9.97369093e-01 6.54827148e-04 1.50145692e+01] [-7.61043545e-04 -7.11865924e-04 9.99999457e-01 -2.07504490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.851400513 meters Centerline goodness [0,1] 0.9790746537455512 Centerline is valid? [False, True] Translation: X:270.47, Y:15.02, Z:-0.21 [[ 9.97678886e-01 6.80914260e-02 6.31456532e-04 2.70470992e+02] [-6.80884927e-02 9.97671784e-01 -3.86885420e-03 1.50154953e+01] [-8.93422165e-04 3.81687923e-03 9.99992317e-01 -2.07577506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.881400513 meters Centerline goodness [0,1] 0.9542429461419064 Centerline is valid? [True, True] Translation: X:270.50, Y:15.01, Z:-0.21 [[ 9.97805503e-01 6.62107464e-02 5.61008211e-04 2.70499851e+02] [-6.62107549e-02 9.97805660e-01 -3.41446870e-06 1.50140951e+01] [-5.60003243e-04 -3.37378015e-05 9.99999843e-01 -2.08547203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.911400513 meters Centerline goodness [0,1] 0.9974887853877358 Centerline is valid? [True, True] Translation: X:270.53, Y:15.00, Z:-0.21 [[ 9.97927720e-01 6.43439072e-02 3.55889636e-04 2.70529239e+02] [-6.43439105e-02 9.97927784e-01 -2.19460005e-06 1.50020895e+01] [-3.55293365e-04 -2.07092787e-05 9.99999937e-01 -2.08399009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.941400513 meters Centerline goodness [0,1] 0.9996311404270092 Centerline is valid? [True, True] Translation: X:270.56, Y:14.99, Z:-0.21 [[ 9.98033779e-01 6.26780765e-02 1.85952855e-04 2.70559497e+02] [-6.26780773e-02 9.98033796e-01 -1.14387383e-06 1.49928681e+01] [-1.85658930e-04 -1.05135427e-05 9.99999983e-01 -2.08019602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.971400513 meters Centerline goodness [0,1] 0.9976416096545276 Centerline is valid? [True, True] Translation: X:270.59, Y:15.00, Z:-0.21 [[ 9.98092881e-01 6.17300648e-02 -1.23910475e-05 2.70587871e+02] [-6.17300648e-02 9.98092881e-01 -3.58785284e-08 1.49961440e+01] [ 1.23652016e-05 8.00710272e-07 1.00000000e+00 -2.08245155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.001400513 meters Centerline goodness [0,1] 0.9992527115893757 Centerline is valid? [True, True] Translation: X:270.62, Y:14.99, Z:-0.21 [[ 9.98092394e-01 6.17369685e-02 -3.45330201e-04 2.70616508e+02] [-6.17369716e-02 9.98092454e-01 1.93357578e-06 1.49919382e+01] [ 3.44790841e-04 1.93897535e-05 9.99999940e-01 -2.08043038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.031400513 meters Centerline goodness [0,1] 0.9992278985973492 Centerline is valid? [True, True] Translation: X:270.65, Y:14.99, Z:-0.21 [[ 9.98025756e-01 6.28020447e-02 -7.02908384e-04 2.70646268e+02] [-6.28020573e-02 9.98026002e-01 4.08343755e-06 1.49900859e+01] [ 7.01777293e-04 4.00687168e-05 9.99999753e-01 -2.08643291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.061400513 meters Centerline goodness [0,1] 0.9976281037651181 Centerline is valid? [True, True] Translation: X:270.67, Y:14.99, Z:-0.21 [[ 9.97917448e-01 6.44999268e-02 -7.24945700e-04 2.70674725e+02] [-6.44999408e-02 9.97917711e-01 4.12612961e-06 1.49905697e+01] [ 7.23702289e-04 4.26414180e-05 9.99999737e-01 -2.09008179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.091400513 meters Centerline goodness [0,1] 0.9940207972270364 Centerline is valid? [True, True] Translation: X:270.70, Y:14.99, Z:-0.21 [[ 9.97782750e-01 6.65517838e-02 -6.65922838e-04 2.70704554e+02] [-6.65517960e-02 9.97782972e-01 3.85401851e-06 1.49900577e+01] [ 6.64702960e-04 4.04728877e-05 9.99999778e-01 -2.09190836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.121400513 meters Centerline goodness [0,1] 0.9969629741314321 Centerline is valid? [True, True] Translation: X:270.73, Y:14.99, Z:-0.21 [[ 9.97603984e-01 6.91791437e-02 -7.32498678e-04 2.70734569e+02] [-6.91791591e-02 9.97604252e-01 4.24083287e-06 1.49864958e+01] [ 7.31037173e-04 4.64429708e-05 9.99999732e-01 -2.08971766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.151400513 meters Centerline goodness [0,1] 0.9040435559189998 Centerline is valid? [True, False] Translation: X:270.74, Y:14.99, Z:-0.21 [[ 9.97564365e-01 6.97479324e-02 -7.50328010e-04 2.70735113e+02] [-6.97481054e-02 9.97564614e-01 -2.06867247e-04 1.49884813e+01] [ 7.34072109e-04 2.58697351e-04 9.99999697e-01 -2.09897980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.181400513 meters Centerline goodness [0,1] 0.740815288783423 Centerline is valid? [False, False] Translation: X:270.76, Y:14.98, Z:-0.21 [[ 9.97420021e-01 7.17778886e-02 1.11199399e-03 2.70758208e+02] [-7.17863864e-02 9.97326510e-01 1.36582320e-02 1.49785321e+01] [-1.28662025e-04 -1.37028201e-02 9.99906104e-01 -2.11774298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.211400513 meters Centerline goodness [0,1] 0.7759976264649162 Centerline is valid? [False, False] Translation: X:270.76, Y:14.98, Z:-0.21 [[ 9.97660631e-01 6.83550942e-02 9.20267468e-04 2.70758285e+02] [-6.83605011e-02 9.97623357e-01 8.63015439e-03 1.49842522e+01] [-3.28165304e-04 -8.67287522e-03 9.99962336e-01 -2.12492768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.24140051300003 meters Centerline goodness [0,1] 0.7513414530278512 Centerline is valid? [False, False] Translation: X:270.76, Y:14.99, Z:-0.21 [[ 9.97898850e-01 6.47840107e-02 9.57849977e-04 2.70757585e+02] [-6.47869232e-02 9.97893294e-01 3.41000640e-03 1.49907564e+01] [-7.34918178e-04 -3.46489762e-03 9.99993727e-01 -2.13033135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.271400513 meters Centerline goodness [0,1] 0.7402967308591591 Centerline is valid? [False, False] Translation: X:270.76, Y:15.00, Z:-0.21 [[ 9.98128603e-01 6.11426397e-02 9.32489820e-04 2.70757182e+02] [-6.11406657e-02 9.98127124e-01 -2.01594020e-03 1.49982716e+01] [-1.05400329e-03 1.95515452e-03 9.99997533e-01 -2.13647037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.301400513 meters Centerline goodness [0,1] 0.793454090114208 Centerline is valid? [False, False] Translation: X:270.73, Y:14.99, Z:-0.21 [[ 9.98090649e-01 6.16223795e-02 -4.21177450e-03 2.70734375e+02] [-6.15804759e-02 9.98057439e-01 9.44427537e-03 1.49906791e+01] [ 4.78557159e-03 -9.16687985e-03 9.99946532e-01 -2.07585043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.331400513 meters Centerline goodness [0,1] 0.6749843503788288 Centerline is valid? [False, False] Translation: X:270.73, Y:15.00, Z:-0.21 [[ 9.98302618e-01 5.80994432e-02 -4.04204272e-03 2.70733044e+02] [-5.80832715e-02 9.98303690e-01 4.00948890e-03 1.49989552e+01] [ 4.26813524e-03 -3.76790820e-03 9.99983793e-01 -2.07569678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.361400513 meters Centerline goodness [0,1] 0.6858578546182345 Centerline is valid? [False, False] Translation: X:270.77, Y:15.00, Z:-0.21 [[ 9.98334196e-01 5.76943904e-02 -4.37273962e-04 2.70770434e+02] [-5.76931037e-02 9.98331146e-01 2.53539740e-03 1.50017078e+01] [ 5.82822423e-04 -2.50594623e-03 9.99996690e-01 -2.05882342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.391400513 meters Centerline goodness [0,1] 0.6073017562533263 Centerline is valid? [False, False] Translation: X:270.77, Y:15.01, Z:-0.21 [[ 9.98577727e-01 5.33148424e-02 -2.24777564e-04 2.70768797e+02] [-5.33152718e-02 9.98573461e-01 -2.91963882e-03 1.50076297e+01] [ 6.87968266e-05 2.92747037e-03 9.99995713e-01 -2.05445464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.421400513 meters Centerline goodness [0,1] 0.6437865559040434 Centerline is valid? [False, False] Translation: X:270.77, Y:15.00, Z:-0.21 [[ 9.98803060e-01 4.88892675e-02 1.51196669e-03 2.70767567e+02] [-4.89053197e-02 9.98711151e-01 1.35759514e-02 1.49973208e+01] [-8.46299676e-04 -1.36336450e-02 9.99906699e-01 -2.06084727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.451400513 meters Centerline goodness [0,1] 0.6564255878548862 Centerline is valid? [False, False] Translation: X:270.77, Y:15.00, Z:-0.21 [[ 9.99022153e-01 4.41895778e-02 1.42094390e-03 2.70767286e+02] [-4.41994085e-02 9.98991856e-01 7.85387875e-03 1.50040955e+01] [-1.07245180e-03 -7.90900374e-03 9.99968148e-01 -2.06342628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.481400513 meters Centerline goodness [0,1] 0.7118694998926809 Centerline is valid? [False, False] Translation: X:270.77, Y:15.01, Z:-0.21 [[ 9.99215815e-01 3.95666902e-02 1.49391568e-03 2.70766520e+02] [-3.95702587e-02 9.99213812e-01 2.43985172e-03 1.50093556e+01] [-1.39620432e-03 -2.49705306e-03 9.99995908e-01 -2.06440822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.511400513 meters Centerline goodness [0,1] 0.7237201108556943 Centerline is valid? [False, False] Translation: X:270.77, Y:15.01, Z:-0.21 [[ 9.99385021e-01 3.50293011e-02 1.58983508e-03 2.70765631e+02] [-3.50248206e-02 9.99382622e-01 -2.76365443e-03 1.50136397e+01] [-1.68566244e-03 2.70627116e-03 9.99994917e-01 -2.06276273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.541400513 meters Centerline goodness [0,1] 0.6999147485080989 Centerline is valid? [False, False] Translation: X:270.77, Y:15.01, Z:-0.21 [[ 9.99377862e-01 3.52311930e-02 1.62837092e-03 2.70765278e+02] [-3.52276094e-02 9.99376939e-01 -2.17933038e-03 1.50108463e+01] [-1.70413675e-03 2.12061093e-03 9.99996299e-01 -2.05840973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.571400513 meters Centerline goodness [0,1] 0.6636609750378376 Centerline is valid? [False, False] Translation: X:270.77, Y:15.01, Z:-0.21 [[ 9.99373634e-01 3.53504359e-02 1.63896487e-03 2.70765009e+02] [-3.53473719e-02 9.99373351e-01 -1.86221895e-03 1.50093646e+01] [-1.70376807e-03 1.80311942e-03 9.99996923e-01 -2.05391248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.601400513 meters Centerline goodness [0,1] 0.7253330491314078 Centerline is valid? [False, False] Translation: X:270.77, Y:15.01, Z:-0.21 [[ 9.99373420e-01 3.53597734e-02 1.56622045e-03 2.70765103e+02] [-3.53570108e-02 9.99373200e-01 -1.75773056e-03 1.50088406e+01] [-1.62739170e-03 1.70125233e-03 9.99997229e-01 -2.05100758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.631400513 meters Centerline goodness [0,1] 0.8312240796955834 Centerline is valid? [False, False] Translation: X:270.77, Y:15.01, Z:-0.21 [[ 9.99372314e-01 3.53920947e-02 1.54211476e-03 2.70765150e+02] [-3.53895050e-02 9.99372191e-01 -1.67545534e-03 1.50084615e+01] [-1.60044448e-03 1.61982900e-03 9.99997407e-01 -2.05029756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.661400513 meters Centerline goodness [0,1] 0.8312240796955834 Centerline is valid? [False, False] Translation: X:270.77, Y:15.01, Z:-0.21 [[ 9.99372314e-01 3.53920947e-02 1.54211476e-03 2.70765150e+02] [-3.53895050e-02 9.99372191e-01 -1.67545534e-03 1.50084615e+01] [-1.60044448e-03 1.61982900e-03 9.99997407e-01 -2.05029756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.691400513 meters Centerline goodness [0,1] 0.7563119104407057 Centerline is valid? [False, False] Translation: X:270.77, Y:15.01, Z:-0.21 [[ 9.99369744e-01 3.54639940e-02 1.55530457e-03 2.70765126e+02] [-3.54616367e-02 9.99369886e-01 -1.51787656e-03 1.50077307e+01] [-1.60815451e-03 1.46176626e-03 9.99997639e-01 -2.05080170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.721400513 meters Centerline goodness [0,1] 0.7526235594566174 Centerline is valid? [False, False] Translation: X:270.77, Y:15.01, Z:-0.21 [[ 9.99369633e-01 3.54665519e-02 1.56859850e-03 2.70765081e+02] [-3.54641729e-02 9.99369793e-01 -1.51933182e-03 1.50077329e+01] [-1.62149542e-03 1.46274504e-03 9.99997616e-01 -2.05098198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.751400513 meters Centerline goodness [0,1] 0.7552639478536816 Centerline is valid? [False, False] Translation: X:270.76, Y:15.01, Z:-0.21 [[ 9.99371406e-01 3.54146719e-02 1.61052500e-03 2.70764992e+02] [-3.54119914e-02 9.99371414e-01 -1.66351679e-03 1.50084131e+01] [-1.66842555e-03 1.60543922e-03 9.99997319e-01 -2.05197871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.781400513 meters Centerline goodness [0,1] 0.6670800547382826 Centerline is valid? [False, False] Translation: X:270.77, Y:15.01, Z:-0.21 [[ 9.99374768e-01 3.53200684e-02 1.60199926e-03 2.70765038e+02] [-3.53170136e-02 9.99374360e-01 -1.89667417e-03 1.50095106e+01] [-1.66798765e-03 1.83891047e-03 9.99996918e-01 -2.05233938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.811400513 meters Centerline goodness [0,1] 0.7709947977492303 Centerline is valid? [False, False] Translation: X:270.77, Y:15.01, Z:-0.21 [[ 9.99373667e-01 3.53524042e-02 1.57518049e-03 2.70765063e+02] [-3.53494568e-02 9.99373279e-01 -1.86130423e-03 1.50093639e+01] [-1.63999487e-03 1.80445665e-03 9.99997027e-01 -2.05131099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.841400513 meters Centerline goodness [0,1] 0.7005556742893781 Centerline is valid? [False, False] Translation: X:270.77, Y:15.01, Z:-0.21 [[ 9.99373087e-01 3.53685650e-02 1.58007286e-03 2.70765159e+02] [-3.53656596e-02 9.99372763e-01 -1.83038645e-03 1.50092151e+01] [-1.64381992e-03 1.77335864e-03 9.99997077e-01 -2.05361334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.871400513 meters Centerline goodness [0,1] 0.7458584903633356 Centerline is valid? [False, False] Translation: X:270.77, Y:15.01, Z:-0.21 [[ 9.99374716e-01 3.53210618e-02 1.61256403e-03 2.70765178e+02] [-3.53178987e-02 9.99374227e-01 -1.94958213e-03 1.50097692e+01] [-1.68041624e-03 1.89141072e-03 9.99996799e-01 -2.05621229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.901400513 meters Centerline goodness [0,1] 0.6607253004360311 Centerline is valid? [False, False] Translation: X:270.77, Y:15.01, Z:-0.21 [[ 9.99383509e-01 3.50760601e-02 1.50712598e-03 2.70765904e+02] [-3.50721942e-02 9.99381606e-01 -2.51922215e-03 1.50124059e+01] [-1.59455837e-03 2.46481086e-03 9.99995691e-01 -2.06421519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.931400513 meters Centerline goodness [0,1] 0.7055425282455766 Centerline is valid? [False, False] Translation: X:270.77, Y:15.01, Z:-0.21 [[ 9.99384357e-01 3.50562609e-02 1.40217108e-03 2.70766309e+02] [-3.50526480e-02 9.99382282e-01 -2.52317291e-03 1.50124096e+01] [-1.48975794e-03 2.47246973e-03 9.99995834e-01 -2.06533407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.961400513 meters Centerline goodness [0,1] 0.789313565858257 Centerline is valid? [False, False] Translation: X:270.77, Y:15.01, Z:-0.21 [[ 9.99381095e-01 3.51529471e-02 1.30273730e-03 2.70766503e+02] [-3.51499908e-02 9.99379568e-01 -2.22669137e-03 1.50110034e+01] [-1.38020380e-03 2.17952205e-03 9.99996672e-01 -2.06280229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.99140051300003 meters Centerline goodness [0,1] 0.830493909381915 Centerline is valid? [False, False] Translation: X:270.77, Y:15.01, Z:-0.21 [[ 9.99374295e-01 3.53511706e-02 1.14625320e-03 2.70766775e+02] [-3.53492543e-02 9.99373656e-01 -1.65102333e-03 1.50082891e+01] [-1.20390086e-03 1.60947108e-03 9.99997980e-01 -2.05821595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.021400513 meters Centerline goodness [0,1] 0.905915757562819 Centerline is valid? [False, False] Translation: X:270.78, Y:15.00, Z:-0.20 [[ 9.99485167e-01 3.20476369e-02 -1.53293522e-03 2.70784522e+02] [-3.20393501e-02 9.99473313e-01 5.15524827e-03 1.50024616e+01] [ 1.69734137e-03 -5.10347993e-03 9.99985537e-01 -1.99131094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.051400513 meters Centerline goodness [0,1] 0.97002256366176 Centerline is valid? [False, True] Translation: X:270.78, Y:15.01, Z:-0.20 [[ 9.99621496e-01 2.74628045e-02 -1.63054856e-03 2.70784472e+02] [-2.74626209e-02 9.99622822e-01 1.34892161e-04 1.50057347e+01] [ 1.63363807e-03 -9.00619664e-05 9.99998662e-01 -1.99239562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.081400513 meters Centerline goodness [0,1] 0.9925458839844851 Centerline is valid? [True, True] Translation: X:270.81, Y:15.00, Z:-0.20 [[ 9.99720822e-01 2.35937936e-02 -1.26908769e-03 2.70814658e+02] [-2.35938785e-02 9.99721624e-01 -5.19384018e-05 1.49989434e+01] [ 1.26750898e-03 8.18666025e-05 9.99999193e-01 -1.99173383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.111400513 meters Centerline goodness [0,1] 0.9862740899357602 Centerline is valid? [True, True] Translation: X:270.84, Y:15.00, Z:-0.20 [[ 9.99742686e-01 2.26825737e-02 -2.50698379e-04 2.70842938e+02] [-2.26825770e-02 9.99742717e-01 -1.03955400e-05 1.50001525e+01] [ 2.50398081e-04 1.60793504e-05 9.99999969e-01 -1.98279578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.141400513 meters Centerline goodness [0,1] 0.9850085326075216 Centerline is valid? [True, True] Translation: X:270.87, Y:15.00, Z:-0.20 [[ 9.99749848e-01 2.23499867e-02 8.48299617e-04 2.70872956e+02] [-2.23500241e-02 9.99750206e-01 3.46195726e-05 1.49992306e+01] [-8.47313970e-04 -5.35704293e-05 9.99999640e-01 -1.96837253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.171400513 meters Centerline goodness [0,1] 0.9982610992494112 Centerline is valid? [True, True] Translation: X:270.90, Y:14.99, Z:-0.20 [[ 9.99745572e-01 2.25109975e-02 1.43041904e-03 2.70903041e+02] [-2.25111041e-02 9.99746591e-01 5.84719128e-05 1.49920057e+01] [-1.42874030e-03 -9.06573479e-05 9.99998975e-01 -1.95949187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.201400513 meters Centerline goodness [0,1] 0.9836759112858425 Centerline is valid? [True, True] Translation: X:270.93, Y:15.00, Z:-0.20 [[ 9.99729811e-01 2.32221582e-02 1.01767283e-03 2.70931953e+02] [-2.32222126e-02 9.99730327e-01 4.16332434e-05 1.49985391e+01] [-1.01643158e-03 -6.52546093e-05 9.99999481e-01 -1.97401366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.231400513 meters Centerline goodness [0,1] 0.9808553011970791 Centerline is valid? [True, True] Translation: X:270.96, Y:15.00, Z:-0.20 [[ 9.99704390e-01 2.43037776e-02 6.77195975e-04 2.70961940e+02] [-2.43038020e-02 9.99704619e-01 2.76974578e-05 1.49969996e+01] [-6.76322791e-04 -4.41477071e-05 9.99999770e-01 -1.97409236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.261400513 meters Centerline goodness [0,1] 0.9847318367082875 Centerline is valid? [True, True] Translation: X:270.99, Y:14.99, Z:-0.20 [[ 9.99674101e-01 2.55277080e-02 1.68721883e-04 2.70992152e+02] [-2.55277095e-02 9.99674115e-01 6.86670818e-06 1.49925422e+01] [-1.68491608e-04 -1.11715535e-05 9.99999986e-01 -1.97859485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.291400513 meters Centerline goodness [0,1] 0.9597481303189204 Centerline is valid? [True, True] Translation: X:271.02, Y:14.99, Z:-0.20 [[ 9.99661353e-01 2.60222608e-02 -1.43115540e-04 2.71021286e+02] [-2.60222619e-02 9.99661364e-01 -5.91430918e-06 1.49948751e+01] [ 1.42913173e-04 9.63649639e-06 9.99999990e-01 -1.99081945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.321400513 meters Centerline goodness [0,1] 0.9522903212009751 Centerline is valid? [True, True] Translation: X:271.05, Y:14.99, Z:-0.20 [[ 9.99647045e-01 2.65650079e-02 -2.92816978e-04 2.71050757e+02] [-2.65650126e-02 9.99647088e-01 -1.21034361e-05 1.49939215e+01] [ 2.92392111e-04 1.98778508e-05 9.99999957e-01 -1.99489228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.351400513 meters Centerline goodness [0,1] 0.9051780967570441 Centerline is valid? [True, False] Translation: X:271.05, Y:14.99, Z:-0.20 [[ 9.99637798e-01 2.69114104e-02 -2.21418958e-04 2.71050420e+02] [-2.69112333e-02 9.99637533e-01 7.67461407e-04 1.49902659e+01] [ 2.41992170e-04 -7.61224774e-04 9.99999681e-01 -1.99319804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.381400513 meters Centerline goodness [0,1] 0.868815750559804 Centerline is valid? [False, False] Translation: X:271.05, Y:14.99, Z:-0.20 [[ 9.99628842e-01 2.72428357e-02 -7.92266886e-05 2.71049719e+02] [-2.72426825e-02 9.99627675e-01 1.53190135e-03 1.49866753e+01] [ 1.20930527e-04 -1.52917443e-03 9.99998823e-01 -1.98915994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.411400513 meters Centerline goodness [0,1] 0.9247960040476242 Centerline is valid? [False, False] Translation: X:271.00, Y:14.98, Z:-0.20 [[ 9.99555319e-01 2.98137784e-02 -5.51067273e-04 2.71003246e+02] [-2.98083628e-02 9.99523013e-01 8.07516500e-03 1.49753657e+01] [ 7.91555601e-04 -8.05514771e-03 9.99967243e-01 -1.96452108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.441400513 meters Centerline goodness [0,1] 0.9426838352665744 Centerline is valid? [False, False] Translation: X:271.00, Y:14.97, Z:-0.20 [[ 9.99546259e-01 3.01154622e-02 -5.79086571e-04 2.71003565e+02] [-3.01092783e-02 9.99508611e-01 8.71599162e-03 1.49723574e+01] [ 8.41288130e-04 -8.69460094e-03 9.99961847e-01 -1.96918181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.471400513 meters Centerline goodness [0,1] 0.9264149733991411 Centerline is valid? [False, False] Translation: X:271.00, Y:14.98, Z:-0.20 [[ 9.99661475e-01 2.60089205e-02 -6.86089471e-04 2.71003984e+02] [-2.60062416e-02 9.99655078e-01 3.66074544e-03 1.49764751e+01] [ 7.81064860e-04 -3.64166358e-03 9.99993064e-01 -1.97973795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.501400513 meters Centerline goodness [0,1] 0.9977139124755062 Centerline is valid? [False, True] Translation: X:270.97, Y:14.97, Z:-0.20 [[ 9.99665097e-01 2.55364277e-02 -4.19338426e-03 2.70966001e+02] [-2.55195966e-02 9.99666242e-01 4.01935125e-03 1.49727862e+01] [ 4.29462456e-03 -3.91099168e-03 9.99983130e-01 -1.99937311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.531400513 meters Centerline goodness [0,1] 0.9251125765627334 Centerline is valid? [True, False] Translation: X:271.01, Y:14.97, Z:-0.20 [[ 9.99660899e-01 2.59893042e-02 -1.62600201e-03 2.71006861e+02] [-2.59841598e-02 9.99657521e-01 3.10875297e-03 1.49749465e+01] [ 1.70623946e-03 -3.06544849e-03 9.99993846e-01 -2.00070572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.561400513 meters Centerline goodness [0,1] 0.7327030693573003 Centerline is valid? [False, False] Translation: X:271.01, Y:14.98, Z:-0.20 [[ 9.99663582e-01 2.58931614e-02 -1.50562493e-03 2.71006352e+02] [-2.58890090e-02 9.99661137e-01 2.71497999e-03 1.49769080e+01] [ 1.57541414e-03 -2.67508749e-03 9.99995181e-01 -1.99857271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.591400513 meters Centerline goodness [0,1] 0.7125263293642264 Centerline is valid? [False, False] Translation: X:271.00, Y:14.98, Z:-0.20 [[ 9.99654932e-01 2.62548848e-02 -8.35921243e-04 2.71003950e+02] [-2.62532513e-02 9.99653502e-01 1.90859585e-03 1.49820125e+01] [ 8.85741562e-04 -1.88599160e-03 9.99997829e-01 -1.99365212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.621400513 meters Centerline goodness [0,1] 0.662153531740963 Centerline is valid? [False, False] Translation: X:271.00, Y:14.98, Z:-0.20 [[ 9.99655871e-01 2.62231389e-02 -6.97576612e-04 2.71003497e+02] [-2.62219568e-02 9.99654779e-01 1.65295110e-03 1.49833048e+01] [ 7.40681360e-04 -1.63409045e-03 9.99998391e-01 -1.99414221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.651400513 meters Centerline goodness [0,1] 0.6451606032205845 Centerline is valid? [False, False] Translation: X:271.00, Y:14.99, Z:-0.20 [[ 9.99751395e-01 2.22902285e-02 -5.42788321e-04 2.71002822e+02] [-2.22919873e-02 9.99745431e-01 -3.48442763e-03 1.49883510e+01] [ 4.64981455e-04 3.49566121e-03 9.99993782e-01 -1.99890088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.681400513 meters Centerline goodness [0,1] 0.6527484143763214 Centerline is valid? [False, False] Translation: X:271.00, Y:14.99, Z:-0.20 [[ 9.99747325e-01 2.24686335e-02 -6.67884498e-04 2.71003486e+02] [-2.24705833e-02 9.99742787e-01 -3.07122988e-03 1.49863649e+01] [ 5.98706371e-04 3.08546161e-03 9.99995061e-01 -2.00410194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.711400513 meters Centerline goodness [0,1] 0.631745291023248 Centerline is valid? [False, False] Translation: X:271.01, Y:14.98, Z:-0.20 [[ 9.99738830e-01 2.28216095e-02 -1.20206886e-03 2.71005721e+02] [-2.28238777e-02 9.99737680e-01 -1.90825239e-03 1.49806355e+01] [ 1.15820414e-03 1.93518988e-03 9.99997457e-01 -2.01405763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.74140051300003 meters Centerline goodness [0,1] 0.6964396317891544 Centerline is valid? [False, False] Translation: X:271.01, Y:14.98, Z:-0.20 [[ 9.99730602e-01 2.31753401e-02 -1.27562296e-03 2.71005801e+02] [-2.31765938e-02 9.99730909e-01 -9.76941053e-04 1.49762356e+01] [ 1.25263876e-03 1.00624246e-03 9.99998709e-01 -2.01078947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.771400513 meters Centerline goodness [0,1] 0.6906378954607978 Centerline is valid? [False, False] Translation: X:271.01, Y:14.97, Z:-0.20 [[ 9.99722649e-01 2.35214475e-02 -1.16863750e-03 2.71005121e+02] [-2.35214417e-02 9.99723332e-01 1.86890625e-05 1.49715185e+01] [ 1.16875377e-03 8.80415976e-06 9.99999317e-01 -2.00359856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.801400513 meters Centerline goodness [0,1] 0.8021834807503312 Centerline is valid? [False, False] Translation: X:271.00, Y:14.97, Z:-0.20 [[ 9.99715379e-01 2.38327833e-02 -1.07699913e-03 2.71004389e+02] [-2.38317922e-02 9.99715556e-01 9.23894163e-04 1.49672366e+01] [ 1.09871175e-03 -8.97964383e-04 9.99998993e-01 -1.99468129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.831400513 meters Centerline goodness [0,1] 0.8589065255731922 Centerline is valid? [False, False] Translation: X:271.00, Y:14.97, Z:-0.20 [[ 9.99810926e-01 1.94248167e-02 -8.88086130e-04 2.71003403e+02] [-1.94283074e-02 9.99802816e-01 -4.10722767e-03 1.49708670e+01] [ 8.08128870e-04 4.12370511e-03 9.99991171e-01 -1.99380662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.861400513 meters Centerline goodness [0,1] 0.7541726679657714 Centerline is valid? [False, False] Translation: X:271.00, Y:14.96, Z:-0.20 [[ 9.99721050e-01 2.35907671e-02 -1.13929220e-03 2.71004527e+02] [-2.35888907e-02 9.99720409e-01 1.63330678e-03 1.49628301e+01] [ 1.17750463e-03 -1.60597653e-03 9.99998017e-01 -1.99269995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.891400513 meters Centerline goodness [0,1] 0.8370751976934003 Centerline is valid? [False, False] Translation: X:271.00, Y:14.97, Z:-0.20 [[ 9.99800715e-01 1.99367090e-02 -1.02888643e-03 2.71004411e+02] [-1.99398872e-02 9.99796132e-01 -3.17719998e-03 1.49666817e+01] [ 9.65333764e-04 3.19708269e-03 9.99994423e-01 -2.00484925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.921400513 meters Centerline goodness [0,1] 0.6682593712340641 Centerline is valid? [False, False] Translation: X:271.00, Y:14.97, Z:-0.20 [[ 9.99800783e-01 1.99336868e-02 -1.02116432e-03 2.71004500e+02] [-1.99369472e-02 9.99795830e-01 -3.28881723e-03 1.49672456e+01] [ 9.55397577e-04 3.30852094e-03 9.99994070e-01 -2.00734425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.951400513 meters Centerline goodness [0,1] 0.8195358877495953 Centerline is valid? [False, False] Translation: X:270.94, Y:14.96, Z:-0.20 [[ 9.99810249e-01 1.94775838e-02 2.99189969e-04 2.70940802e+02] [-1.94793843e-02 9.99776538e-01 8.21145455e-03 1.49563728e+01] [-1.39183817e-04 -8.21572446e-03 9.99966241e-01 -2.01639351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.981400513 meters Centerline goodness [0,1] 0.5871502900034118 Centerline is valid? [False, False] Translation: X:270.94, Y:14.96, Z:-0.20 [[ 9.99811152e-01 1.94288514e-02 4.23246692e-04 2.70940308e+02] [-1.94315608e-02 9.99780819e-01 7.79290719e-03 1.49585220e+01] [-2.71746688e-04 -7.79965986e-03 9.99969545e-01 -2.01559728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.011400513 meters Centerline goodness [0,1] 0.6708208176221213 Centerline is valid? [False, False] Translation: X:270.94, Y:14.97, Z:-0.20 [[ 9.99875826e-01 1.57455375e-02 6.40303301e-04 2.70939368e+02] [-1.57470438e-02 9.99873079e-01 2.41985564e-03 1.49656213e+01] [-6.02120106e-04 -2.42963805e-03 9.99996867e-01 -2.01929093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.041400513 meters Centerline goodness [0,1] 0.6288723800552356 Centerline is valid? [False, False] Translation: X:270.94, Y:14.97, Z:-0.20 [[ 9.99877163e-01 1.56551774e-02 7.57781422e-04 2.70938978e+02] [-1.56567808e-02 9.99875096e-01 2.15835605e-03 1.49668635e+01] [-7.23897325e-04 -2.16995534e-03 9.99997384e-01 -2.01955753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.071400513 meters Centerline goodness [0,1] 0.6044723065985911 Centerline is valid? [False, False] Translation: X:270.94, Y:14.97, Z:-0.20 [[ 9.99878141e-01 1.55919427e-02 7.70399315e-04 2.70939080e+02] [-1.55934555e-02 9.99876418e-01 1.99822544e-03 1.49675934e+01] [-7.39147891e-04 -2.00999512e-03 9.99997707e-01 -2.02272673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.101400513 meters Centerline goodness [0,1] 0.5711956636812128 Centerline is valid? [False, False] Translation: X:270.96, Y:14.96, Z:-0.20 [[ 9.99895051e-01 1.44624923e-02 8.51050108e-04 2.70959559e+02] [-1.44718882e-02 9.99819294e-01 1.23265474e-02 1.49625289e+01] [-6.72623722e-04 -1.23375700e-02 9.99923663e-01 -1.99886140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.131400513 meters Centerline goodness [0,1] 0.48774218218898713 Centerline is valid? [False, False] Translation: X:270.96, Y:14.97, Z:-0.20 [[ 9.99951880e-01 9.74842947e-03 1.09778990e-03 2.70958713e+02] [-9.75555229e-03 9.99930091e-01 6.68151241e-03 1.49688969e+01] [-1.03257890e-03 -6.69190044e-03 9.99977076e-01 -2.00323040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.161400513 meters Centerline goodness [0,1] 0.65153614907362 Centerline is valid? [False, False] Translation: X:270.96, Y:14.97, Z:-0.20 [[ 9.99986475e-01 5.02436577e-03 1.34343767e-03 2.70957861e+02] [-5.02598417e-03 9.99986645e-01 1.20402213e-03 1.49743605e+01] [-1.33737028e-03 -1.21075794e-03 9.99998373e-01 -2.00576836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.191400513 meters Centerline goodness [0,1] 0.6683059291410978 Centerline is valid? [False, False] Translation: X:270.95, Y:14.97, Z:-0.20 [[ 9.99993437e-01 2.80844542e-03 2.28866660e-03 2.70951061e+02] [-2.80638312e-03 9.99995654e-01 -9.03807333e-04 1.49747178e+01] [-2.29119494e-03 8.97378526e-04 9.99996973e-01 -1.96310946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.221400513 meters Centerline goodness [0,1] 0.7598771881196563 Centerline is valid? [False, False] Translation: X:270.95, Y:14.97, Z:-0.20 [[ 9.99993472e-01 3.03066610e-03 1.96756467e-03 2.70951980e+02] [-3.03106527e-03 9.99995386e-01 1.99923781e-04 1.49691681e+01] [-1.96694969e-03 -2.05886292e-04 9.99998044e-01 -1.95965157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.251400513 meters Centerline goodness [0,1] 0.776017316017316 Centerline is valid? [False, False] Translation: X:270.91, Y:14.96, Z:-0.20 [[ 9.99997755e-01 2.04672091e-03 -5.48016255e-04 2.70910443e+02] [-2.04640322e-03 9.99997738e-01 5.79635546e-04 1.49648261e+01] [ 5.49201367e-04 -5.78512783e-04 9.99999682e-01 -1.96053567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.281400513 meters Centerline goodness [0,1] 0.8566380506416926 Centerline is valid? [False, False] Translation: X:270.91, Y:14.96, Z:-0.20 [[ 9.99997641e-01 2.09479168e-03 -5.74786681e-04 2.70910548e+02] [-2.09438282e-03 9.99997554e-01 7.11001578e-04 1.49641892e+01] [ 5.76274676e-04 -7.09796077e-04 9.99999582e-01 -1.96113921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.311400513 meters Centerline goodness [0,1] 0.860686128276156 Centerline is valid? [False, False] Translation: X:270.95, Y:14.97, Z:-0.20 [[ 9.99996045e-01 2.16472119e-03 1.79570835e-03 2.70952615e+02] [-2.16376405e-03 9.99997516e-01 -5.34787177e-04 1.49676920e+01] [-1.79686155e-03 5.30899572e-04 9.99998245e-01 -1.97192777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.341400513 meters Centerline goodness [0,1] 0.6785744518750529 Centerline is valid? [False, False] Translation: X:270.95, Y:14.97, Z:-0.20 [[ 9.99995656e-01 2.31787966e-03 1.82058450e-03 2.70952419e+02] [-2.31751756e-03 9.99997294e-01 -2.00975962e-04 1.49661355e+01] [-1.82104541e-03 1.96755852e-04 9.99998323e-01 -1.96973956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.371400513 meters Centerline goodness [0,1] 0.8041272205084565 Centerline is valid? [False, False] Translation: X:270.95, Y:14.96, Z:-0.20 [[ 9.99995041e-01 2.48917479e-03 1.92901977e-03 2.70951971e+02] [-2.48952972e-03 9.99996885e-01 1.81616362e-04 1.49643541e+01] [-1.92856168e-03 -1.86417813e-04 9.99998123e-01 -1.96791851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.401400513 meters Centerline goodness [0,1] 0.6362532228164752 Centerline is valid? [False, False] Translation: X:270.95, Y:14.96, Z:-0.20 [[ 9.99994396e-01 2.67431068e-03 2.01378270e-03 2.70951749e+02] [-2.67543764e-03 9.99996266e-01 5.57136945e-04 1.49626256e+01] [-2.01228523e-03 -5.62521573e-04 9.99997817e-01 -1.96879869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.431400513 meters Centerline goodness [0,1] 0.7153476449855816 Centerline is valid? [False, False] Translation: X:270.95, Y:14.96, Z:-0.20 [[ 9.99994668e-01 2.62570997e-03 1.94160878e-03 2.70952237e+02] [-2.62654432e-03 9.99996459e-01 4.27295348e-04 1.49632131e+01] [-1.94047995e-03 -4.32392791e-04 9.99998024e-01 -1.97389983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.461400513 meters Centerline goodness [0,1] 0.7713751852408668 Centerline is valid? [False, False] Translation: X:270.95, Y:14.96, Z:-0.20 [[ 9.99995078e-01 2.51307874e-03 1.87867053e-03 2.70952627e+02] [-2.51341212e-03 9.99996826e-01 1.75112968e-04 1.49643573e+01] [-1.87822449e-03 -1.79833979e-04 9.99998220e-01 -1.97778479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.49140051300003 meters Centerline goodness [0,1] 0.6356003891215158 Centerline is valid? [False, False] Translation: X:271.00, Y:14.97, Z:-0.20 [[ 9.99989633e-01 2.89139016e-03 3.51760447e-03 2.70996377e+02] [-2.88654284e-03 9.99994879e-01 -1.38231479e-03 1.49698849e+01] [-3.52158326e-03 1.37214675e-03 9.99992858e-01 -1.99588042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.521400513 meters Centerline goodness [0,1] 0.6400180668473352 Centerline is valid? [False, False] Translation: X:270.95, Y:14.97, Z:-0.20 [[ 9.99996736e-01 2.39532167e-03 8.89380415e-04 2.70954614e+02] [-2.39463435e-03 9.99996834e-01 -7.73069698e-04 1.49660936e+01] [-8.91229350e-04 7.70937434e-04 9.99999306e-01 -1.99265966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.551400513 meters Centerline goodness [0,1] 0.6400180668473352 Centerline is valid? [False, False] Translation: X:270.95, Y:14.97, Z:-0.20 [[ 9.99996736e-01 2.39532167e-03 8.89380415e-04 2.70954614e+02] [-2.39463435e-03 9.99996834e-01 -7.73069698e-04 1.49660936e+01] [-8.91229350e-04 7.70937434e-04 9.99999306e-01 -1.99265966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.581400513 meters Centerline goodness [0,1] 0.6803887450664177 Centerline is valid? [False, False] Translation: X:271.00, Y:14.97, Z:-0.20 [[ 9.99990886e-01 3.14768264e-03 2.88443834e-03 2.70997557e+02] [-3.14456676e-03 9.99994468e-01 -1.08413846e-03 1.49692050e+01] [-2.88783491e-03 1.07505827e-03 9.99995252e-01 -2.00279522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.611400513 meters Centerline goodness [0,1] 0.6542784163473818 Centerline is valid? [False, False] Translation: X:271.00, Y:14.97, Z:-0.20 [[ 9.99991099e-01 3.11961372e-03 2.84077327e-03 2.70997868e+02] [-3.11635461e-03 9.99994482e-01 -1.15096688e-03 1.49695086e+01] [-2.84434816e-03 1.14210378e-03 9.99995303e-01 -2.00614576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.641400513 meters Centerline goodness [0,1] 0.7071807886711169 Centerline is valid? [False, False] Translation: X:271.00, Y:14.97, Z:-0.20 [[ 9.99991489e-01 3.01637675e-03 2.81479001e-03 2.70998018e+02] [-3.01254011e-03 9.99994529e-01 -1.36627573e-03 1.49704945e+01] [-2.81889582e-03 1.35778443e-03 9.99995105e-01 -2.00744712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.671400513 meters Centerline goodness [0,1] 0.8335767991407089 Centerline is valid? [False, False] Translation: X:271.00, Y:14.97, Z:-0.20 [[ 9.99991747e-01 2.91512572e-03 2.82966196e-03 2.70997973e+02] [-2.91060796e-03 9.99994485e-01 -1.59937901e-03 1.49715713e+01] [-2.83430874e-03 1.59112978e-03 9.99994717e-01 -2.00793320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.701400513 meters Centerline goodness [0,1] 0.7403046943441379 Centerline is valid? [False, False] Translation: X:271.00, Y:14.97, Z:-0.20 [[ 9.99992003e-01 2.83509701e-03 2.82073656e-03 2.70997938e+02] [-2.83010051e-03 9.99994422e-01 -1.77376396e-03 1.49723707e+01] [-2.82574962e-03 1.76576681e-03 9.99994449e-01 -2.00671605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.731400513 meters Centerline goodness [0,1] 0.7465585477071324 Centerline is valid? [False, False] Translation: X:271.00, Y:14.97, Z:-0.20 [[ 9.99992044e-01 2.80749632e-03 2.83366750e-03 2.70997828e+02] [-2.80235190e-03 9.99994421e-01 -1.81780202e-03 1.49725572e+01] [-2.83875516e-03 1.80984663e-03 9.99994333e-01 -2.00536741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.761400513 meters Centerline goodness [0,1] 0.5215631423909127 Centerline is valid? [False, False] Translation: X:271.04, Y:14.98, Z:-0.20 [[ 9.99976951e-01 3.34274878e-03 5.90956349e-03 2.71037680e+02] [-3.32949066e-03 9.99991922e-01 -2.25191824e-03 1.49761373e+01] [-5.91704334e-03 2.23219050e-03 9.99980003e-01 -2.00295200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.791400513 meters Centerline goodness [0,1] 0.7555895604862706 Centerline is valid? [False, False] Translation: X:271.04, Y:14.98, Z:-0.20 [[ 9.99976806e-01 3.36246018e-03 5.92291125e-03 2.71037354e+02] [-3.34966427e-03 9.99992038e-01 -2.16900527e-03 1.49757577e+01] [-5.93015729e-03 2.14911520e-03 9.99980107e-01 -1.99724946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.821400513 meters Centerline goodness [0,1] 0.745807797071842 Centerline is valid? [False, False] Translation: X:271.04, Y:14.97, Z:-0.20 [[ 9.99976539e-01 3.42730545e-03 5.93081863e-03 2.71037063e+02] [-3.41561190e-03 9.99992205e-01 -1.98066532e-03 1.49748900e+01] [-5.93756075e-03 1.96036147e-03 9.99980451e-01 -1.99191593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.851400513 meters Centerline goodness [0,1] 0.7291502039595925 Centerline is valid? [False, False] Translation: X:271.04, Y:14.97, Z:-0.20 [[ 9.99976163e-01 3.52056583e-03 5.93965703e-03 2.71036905e+02] [-3.51031535e-03 9.99992333e-01 -1.73531281e-03 1.49737378e+01] [-5.94572077e-03 1.71442137e-03 9.99980854e-01 -1.98930607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.881400513 meters Centerline goodness [0,1] 0.8315645619354701 Centerline is valid? [False, False] Translation: X:271.04, Y:14.97, Z:-0.20 [[ 9.99975473e-01 3.69759008e-03 5.94828602e-03 2.71036853e+02] [-3.69049198e-03 9.99992465e-01 -1.20383553e-03 1.49712061e+01] [-5.95269249e-03 1.18185390e-03 9.99981584e-01 -1.98840574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.911400513 meters Centerline goodness [0,1] 0.7377940831431435 Centerline is valid? [False, False] Translation: X:271.04, Y:14.97, Z:-0.20 [[ 9.99975106e-01 3.77975150e-03 5.95833582e-03 2.71036694e+02] [-3.77380164e-03 9.99992370e-01 -1.00950455e-03 1.49703004e+01] [-5.96210603e-03 9.86993837e-04 9.99981739e-01 -1.98595186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.941400513 meters Centerline goodness [0,1] 0.7707170003609418 Centerline is valid? [False, False] Translation: X:271.04, Y:14.97, Z:-0.20 [[ 9.99974286e-01 3.79413159e-03 6.08538903e-03 2.71036009e+02] [-3.78799123e-03 9.99992305e-01 -1.02024156e-03 1.49703976e+01] [-6.08921313e-03 9.97163922e-04 9.99980963e-01 -1.98086310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.971400513 meters Centerline goodness [0,1] 0.6964095574768943 Centerline is valid? [False, False] Translation: X:271.04, Y:14.97, Z:-0.20 [[ 9.99973557e-01 3.69131460e-03 6.26577589e-03 2.71035104e+02] [-3.68295302e-03 9.99992313e-01 -1.34549956e-03 1.49720006e+01] [-6.27069439e-03 1.32238743e-03 9.99979465e-01 -1.97477353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.001400513 meters Centerline goodness [0,1] 0.6623550686097224 Centerline is valid? [False, False] Translation: X:271.03, Y:14.97, Z:-0.20 [[ 9.99972729e-01 3.57803079e-03 6.46058861e-03 2.71034316e+02] [-3.56566715e-03 9.99991792e-01 -1.92420663e-03 1.49749220e+01] [-6.46742045e-03 1.90111785e-03 9.99977279e-01 -1.97239339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.031400513 meters Centerline goodness [0,1] 0.6479680297712183 Centerline is valid? [False, False] Translation: X:271.03, Y:14.98, Z:-0.20 [[ 9.99947838e-01 7.86080531e-03 6.52141865e-03 2.71034414e+02] [-7.87437315e-03 9.99966880e-01 2.05744295e-03 1.49767043e+01] [-6.50502951e-03 -2.10868771e-03 9.99976619e-01 -1.97707721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.061400513 meters Centerline goodness [0,1] 0.6530647235319331 Centerline is valid? [False, False] Translation: X:271.00, Y:14.97, Z:-0.20 [[ 9.99936761e-01 1.08052099e-02 3.11788775e-03 2.70995675e+02] [-1.08234970e-02 9.99923964e-01 5.90920012e-03 1.49722133e+01] [-3.05380053e-03 -5.94257288e-03 9.99977680e-01 -1.98889061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.091400513 meters Centerline goodness [0,1] 0.6060495938435229 Centerline is valid? [False, False] Translation: X:271.00, Y:14.98, Z:-0.20 [[ 9.99938300e-01 1.06804645e-02 3.05340038e-03 2.70996222e+02] [-1.06958132e-02 9.99930019e-01 5.05541538e-03 1.49764267e+01] [-2.99919251e-03 -5.08776207e-03 9.99982560e-01 -1.99777071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.121400513 meters Centerline goodness [0,1] 0.6128691090616804 Centerline is valid? [False, False] Translation: X:271.00, Y:14.98, Z:-0.20 [[ 9.99940199e-01 1.05259329e-02 2.96686677e-03 2.70996718e+02] [-1.05381816e-02 9.99935887e-01 4.14353976e-03 1.49809698e+01] [-2.92306194e-03 -4.17455735e-03 9.99987014e-01 -2.00434302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.151400513 meters Centerline goodness [0,1] 0.4535956265698545 Centerline is valid? [False, False] Translation: X:271.00, Y:14.99, Z:-0.20 [[ 9.99943109e-01 1.02359047e-02 3.00076551e-03 2.70996837e+02] [-1.02455016e-02 9.99942392e-01 3.20041335e-03 1.49855149e+01] [-2.96783351e-03 -3.23097562e-03 9.99990376e-01 -2.01015280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.181400513 meters Centerline goodness [0,1] 0.5927837249968013 Centerline is valid? [False, False] Translation: X:271.00, Y:14.99, Z:-0.20 [[ 9.99946581e-01 9.88281688e-03 3.02726563e-03 2.70997018e+02] [-9.88964272e-03 9.99948569e-01 2.24817794e-03 1.49900231e+01] [-3.00489161e-03 -2.27799642e-03 9.99992891e-01 -2.01668699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.211400513 meters Centerline goodness [0,1] 0.5254020934388562 Centerline is valid? [False, False] Translation: X:271.00, Y:15.00, Z:-0.20 [[ 9.99950813e-01 9.43866992e-03 3.04689383e-03 2.70997361e+02] [-9.44053453e-03 9.99955258e-01 5.98168889e-04 1.49980115e+01] [-3.04111159e-03 -6.26903773e-04 9.99995179e-01 -2.02823913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.24140051300003 meters Centerline goodness [0,1] 0.45073496373323063 Centerline is valid? [False, False] Translation: X:271.00, Y:15.00, Z:-0.20 [[ 9.99953773e-01 9.08646494e-03 3.14464847e-03 2.70997169e+02] [-9.08568481e-03 9.99958690e-01 -2.62278258e-04 1.50020368e+01] [-3.14690174e-03 2.33694849e-04 9.99995021e-01 -2.03138496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.271400513 meters Centerline goodness [0,1] 0.4097308707124011 Centerline is valid? [False, False] Translation: X:271.00, Y:15.00, Z:-0.21 [[ 9.99933437e-01 1.13173640e-02 2.24481156e-03 2.71003886e+02] [-1.13218761e-02 9.99933890e-01 2.00761501e-03 1.50032990e+01] [-2.22194225e-03 -2.03289686e-03 9.99995465e-01 -2.07342442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.301400513 meters Centerline goodness [0,1] 0.45368110528661476 Centerline is valid? [False, False] Translation: X:271.00, Y:15.01, Z:-0.21 [[ 9.99937301e-01 1.09616309e-02 2.28856026e-03 2.71003751e+02] [-1.09643312e-02 9.99939205e-01 1.17070703e-03 1.50072389e+01] [-2.27558827e-03 -1.19572616e-03 9.99996696e-01 -2.07459220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.331400513 meters Centerline goodness [0,1] 0.428303415341321 Centerline is valid? [False, False] Translation: X:271.00, Y:15.01, Z:-0.21 [[ 9.99940421e-01 1.06598297e-02 2.35005225e-03 2.71003371e+02] [-1.06609479e-02 9.99943063e-01 4.63808735e-04 1.50105677e+01] [-2.34497433e-03 -4.88834887e-04 9.99997131e-01 -2.07179228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.361400513 meters Centerline goodness [0,1] 0.5139215811014272 Centerline is valid? [False, False] Translation: X:271.00, Y:15.01, Z:-0.21 [[ 9.99942949e-01 1.04234960e-02 2.33430936e-03 2.71003266e+02] [-1.04234210e-02 9.99945674e-01 -4.42924531e-05 1.50129472e+01] [-2.33464423e-03 1.99584368e-05 9.99997275e-01 -2.06920886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.391400513 meters Centerline goodness [0,1] 0.3915675536921366 Centerline is valid? [False, False] Translation: X:271.00, Y:15.01, Z:-0.21 [[ 9.99945024e-01 1.02398414e-02 2.25728575e-03 2.71003564e+02] [-1.02389344e-02 9.99947495e-01 -4.12995520e-04 1.50146126e+01] [-2.26139624e-03 3.89860614e-04 9.99997367e-01 -2.07041265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.421400513 meters Centerline goodness [0,1] 0.29519285820310015 Centerline is valid? [False, False] Translation: X:271.00, Y:15.02, Z:-0.21 [[ 9.99947445e-01 1.00510369e-02 2.02107172e-03 2.71004503e+02] [-1.00497122e-02 9.99949280e-01 -6.64537397e-04 1.50156432e+01] [-2.02764850e-03 6.44191283e-04 9.99997737e-01 -2.07384858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.451400513 meters Centerline goodness [0,1] 0.5270053989458185 Centerline is valid? [False, False] Translation: X:271.01, Y:15.02, Z:-0.21 [[ 9.99948719e-01 9.95539535e-03 1.85727441e-03 2.71005172e+02] [-9.95403870e-03 9.99950185e-01 -7.38274274e-04 1.50159059e+01] [-1.86453171e-03 7.19749034e-04 9.99998003e-01 -2.07662585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.481400513 meters Centerline goodness [0,1] 0.5578981095802628 Centerline is valid? [False, False] Translation: X:271.00, Y:15.02, Z:-0.21 [[ 9.99985534e-01 5.02814536e-03 1.91034452e-03 2.71004380e+02] [-5.01586588e-03 9.99967073e-01 -6.37919930e-03 1.50220057e+01] [-1.94235716e-03 6.36952498e-03 9.99977828e-01 -2.06779021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.511400513 meters Centerline goodness [0,1] 0.6293037163605297 Centerline is valid? [False, False] Translation: X:271.00, Y:15.02, Z:-0.21 [[ 9.99985785e-01 5.00957042e-03 1.82599109e-03 2.71004226e+02] [-4.99821205e-03 9.99968457e-01 -6.17275776e-03 1.50209453e+01] [-1.85685636e-03 6.16354332e-03 9.99979281e-01 -2.05885791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.541400513 meters Centerline goodness [0,1] 0.6681674242261046 Centerline is valid? [False, False] Translation: X:271.00, Y:15.02, Z:-0.21 [[ 9.99985920e-01 5.01008431e-03 1.74923004e-03 2.71004225e+02] [-4.99940582e-03 9.99969161e-01 -6.05659583e-03 1.50203628e+01] [-1.77952015e-03 6.04776544e-03 9.99980129e-01 -2.05325957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.571400513 meters Centerline goodness [0,1] 0.6161549442822747 Centerline is valid? [False, False] Translation: X:271.02, Y:15.02, Z:-0.20 [[ 9.99991696e-01 3.67168560e-03 1.76836163e-03 2.71024729e+02] [-3.67893551e-03 9.99984770e-01 4.11413487e-03 1.50164348e+01] [-1.75322888e-03 -4.12060639e-03 9.99989973e-01 -2.03110785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.601400513 meters Centerline goodness [0,1] 0.6027272341688934 Centerline is valid? [False, False] Translation: X:271.03, Y:15.02, Z:-0.20 [[ 9.99992310e-01 3.53957285e-03 1.68886881e-03 2.71025087e+02] [-3.54607443e-03 9.99986254e-01 3.86233203e-03 1.50175815e+01] [-1.67517459e-03 -3.86829118e-03 9.99991115e-01 -2.03304591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.631400513 meters Centerline goodness [0,1] 0.5961978636826042 Centerline is valid? [False, False] Translation: X:271.03, Y:15.02, Z:-0.20 [[ 9.99993099e-01 3.36272520e-03 1.57932753e-03 2.71025644e+02] [-3.36817467e-03 9.99988340e-01 3.46060899e-03 1.50194298e+01] [-1.56767204e-03 -3.46590456e-03 9.99992765e-01 -2.03720272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.661400513 meters Centerline goodness [0,1] 0.5917095348886849 Centerline is valid? [False, False] Translation: X:271.03, Y:15.02, Z:-0.20 [[ 9.99993907e-01 3.12482617e-03 1.55624309e-03 2.71025793e+02] [-3.12940698e-03 9.99990753e-01 2.94982266e-03 1.50217858e+01] [-1.54701102e-03 -2.95467480e-03 9.99994438e-01 -2.03920487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.691400513 meters Centerline goodness [0,1] 0.6425143442185868 Centerline is valid? [False, False] Translation: X:271.03, Y:15.02, Z:-0.20 [[ 9.99993923e-01 3.10964521e-03 1.57588151e-03 2.71025428e+02] [-3.11433096e-03 9.99990711e-01 2.97973668e-03 1.50216279e+01] [-1.56660095e-03 -2.98462639e-03 9.99994319e-01 -2.03333732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.721400513 meters Centerline goodness [0,1] 0.6456223685631005 Centerline is valid? [False, False] Translation: X:270.98, Y:15.02, Z:-0.20 [[ 9.99998931e-01 1.39267669e-04 1.45570444e-03 2.70977441e+02] [-1.40385371e-04 9.99999695e-01 7.67734674e-04 1.50199507e+01] [-1.45559708e-03 -7.67938213e-04 9.99998646e-01 -2.00161117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.751400513 meters Centerline goodness [0,1] 0.6868965517241379 Centerline is valid? [False, False] Translation: X:271.02, Y:15.02, Z:-0.20 [[ 9.99989299e-01 -7.04095044e-04 4.57235946e-03 2.71016674e+02] [ 7.07113679e-04 9.99999533e-01 -6.58608909e-04 1.50243200e+01] [-4.57189360e-03 6.61835039e-04 9.99989330e-01 -1.99496182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.781400513 meters Centerline goodness [0,1] 0.6696466491123758 Centerline is valid? [False, False] Translation: X:271.02, Y:15.02, Z:-0.20 [[ 9.99989465e-01 -6.75758545e-04 4.54028231e-03 2.71016709e+02] [ 6.78044719e-04 9.99999644e-01 -5.02010752e-04 1.50235673e+01] [-4.53994145e-03 5.05083978e-04 9.99989567e-01 -1.99334298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.811400513 meters Centerline goodness [0,1] 0.7313151427845097 Centerline is valid? [False, False] Translation: X:271.02, Y:15.02, Z:-0.20 [[ 9.99989954e-01 -6.83139800e-04 4.43000961e-03 2.71017087e+02] [ 6.85151099e-04 9.99999663e-01 -4.52515042e-04 1.50232991e+01] [-4.42969898e-03 4.55545722e-04 9.99990085e-01 -1.99360967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.841400513 meters Centerline goodness [0,1] 0.7664772969971381 Centerline is valid? [False, False] Translation: X:271.02, Y:15.02, Z:-0.20 [[ 9.99990366e-01 -7.10487412e-04 4.33163632e-03 2.71017457e+02] [ 7.12651494e-04 9.99999622e-01 -4.98076244e-04 1.50234930e+01] [-4.33128080e-03 5.01158393e-04 9.99990494e-01 -1.99453385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.871400513 meters Centerline goodness [0,1] 0.7607864088043594 Centerline is valid? [False, False] Translation: X:271.02, Y:15.02, Z:-0.20 [[ 9.99990586e-01 -7.20682471e-04 4.27890311e-03 2.71017686e+02] [ 7.22965141e-04 9.99999597e-01 -5.31947876e-04 1.50236641e+01] [-4.27851802e-03 5.35036366e-04 9.99990704e-01 -1.99562160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.901400513 meters Centerline goodness [0,1] 0.7492318852948707 Centerline is valid? [False, False] Translation: X:271.02, Y:15.02, Z:-0.20 [[ 9.99989977e-01 -6.88930138e-04 4.42401360e-03 2.71016752e+02] [ 6.91050088e-04 9.99999647e-01 -4.77680918e-04 1.50234495e+01] [-4.42368295e-03 4.80733345e-04 9.99990100e-01 -1.98647061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.931400513 meters Centerline goodness [0,1] 0.7352676273803397 Centerline is valid? [False, False] Translation: X:271.02, Y:15.02, Z:-0.20 [[ 9.99989880e-01 -6.07035623e-04 4.45772909e-03 2.71016416e+02] [ 6.08274656e-04 9.99999777e-01 -2.76601123e-04 1.50225103e+01] [-4.45756018e-03 2.79309848e-04 9.99990026e-01 -1.98189248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.961400513 meters Centerline goodness [0,1] 0.6842450395566273 Centerline is valid? [False, False] Translation: X:271.06, Y:15.02, Z:-0.20 [[ 9.99981789e-01 -1.60602838e-04 6.03294345e-03 2.71060427e+02] [ 1.59827192e-04 9.99999979e-01 1.29050345e-04 1.50239765e+01] [-6.03296405e-03 -1.28083766e-04 9.99981793e-01 -1.99915844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.99140051300003 meters Centerline goodness [0,1] 0.7047625124965435 Centerline is valid? [False, False] Translation: X:271.06, Y:15.02, Z:-0.20 [[ 9.99982858e-01 -1.82006844e-05 5.85521498e-03 2.71061433e+02] [ 1.54623071e-05 9.99999890e-01 4.67726700e-04 1.50223591e+01] [-5.85522285e-03 -4.67628147e-04 9.99982749e-01 -2.00733734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.021400513 meters Centerline goodness [0,1] 0.841085521364213 Centerline is valid? [False, False] Translation: X:271.03, Y:15.02, Z:-0.20 [[ 9.99998224e-01 -4.58333130e-04 1.82801340e-03 2.71025439e+02] [ 4.57008563e-04 9.99999633e-01 7.24945790e-04 1.50176209e+01] [-1.82834500e-03 -7.24109085e-04 9.99998066e-01 -2.03425724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.051400513 meters Centerline goodness [0,1] 0.8087855297157622 Centerline is valid? [False, False] Translation: X:271.03, Y:15.01, Z:-0.20 [[ 9.99998550e-01 -2.21052085e-04 1.68845011e-03 2.71026013e+02] [ 2.18888920e-04 9.99999155e-01 1.28123148e-03 1.50149904e+01] [-1.68873190e-03 -1.28086003e-03 9.99997754e-01 -2.03634383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.081400513 meters Centerline goodness [0,1] 0.7705245092781293 Centerline is valid? [False, False] Translation: X:271.03, Y:15.01, Z:-0.20 [[ 9.99998459e-01 3.67978390e-04 1.71680182e-03 2.71025841e+02] [-3.72521407e-04 9.99996428e-01 2.64664085e-03 1.50086155e+01] [-1.71582178e-03 -2.64727631e-03 9.99995024e-01 -2.03358841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.111400513 meters Centerline goodness [0,1] 0.7733248650365195 Centerline is valid? [False, False] Translation: X:271.07, Y:15.01, Z:-0.20 [[ 9.99991241e-01 2.05765404e-05 4.18534370e-03 2.71067488e+02] [-2.50918968e-05 9.99999418e-01 1.07879996e-03 1.50117198e+01] [-4.18531906e-03 -1.07889553e-03 9.99990660e-01 -2.04260159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.141400513 meters Centerline goodness [0,1] 0.6933474576271186 Centerline is valid? [False, False] Translation: X:271.07, Y:15.01, Z:-0.20 [[ 9.99991499e-01 9.07071844e-05 4.12237437e-03 2.71067949e+02] [-9.57728181e-05 9.99999241e-01 1.22863378e-03 1.50110089e+01] [-4.12225980e-03 -1.22901814e-03 9.99990748e-01 -2.04733259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.171400513 meters Centerline goodness [0,1] 0.7728671150622732 Centerline is valid? [False, False] Translation: X:271.07, Y:15.01, Z:-0.21 [[ 9.99991796e-01 6.20534288e-05 4.05027683e-03 2.71068521e+02] [-6.65206871e-05 9.99999390e-01 1.10282596e-03 1.50115908e+01] [-4.05020592e-03 -1.10308634e-03 9.99991189e-01 -2.05422557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.201400513 meters Centerline goodness [0,1] 0.6211038891391553 Centerline is valid? [False, False] Translation: X:271.05, Y:15.01, Z:-0.20 [[ 9.99995901e-01 2.86139945e-03 -1.00115118e-04 2.71045365e+02] [-2.86202290e-03 9.99972034e-01 -6.90942247e-03 1.50136990e+01] [ 8.03417007e-05 6.90968068e-03 9.99976125e-01 -2.00240744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.231400513 meters Centerline goodness [0,1] 0.6301442511667374 Centerline is valid? [False, False] Translation: X:271.05, Y:15.01, Z:-0.20 [[ 9.99970549e-01 7.66718047e-03 -3.38930708e-04 2.71046409e+02] [-7.66760672e-03 9.99969791e-01 -1.27474524e-03 1.50073907e+01] [ 3.29146768e-04 1.27730648e-03 9.99999130e-01 -2.00512050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.261400513 meters Centerline goodness [0,1] 0.6699419002050582 Centerline is valid? [False, False] Translation: X:271.05, Y:15.01, Z:-0.20 [[ 9.99970709e-01 7.65127136e-03 -1.96039914e-04 2.71046129e+02] [-7.65159048e-03 9.99969311e-01 -1.68236125e-03 1.50094828e+01] [ 1.83161695e-04 1.68381199e-03 9.99998566e-01 -2.00911009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.291400513 meters Centerline goodness [0,1] 0.6398019294800649 Centerline is valid? [False, False] Translation: X:271.05, Y:15.01, Z:-0.20 [[ 9.99971507e-01 7.54838674e-03 -8.34943878e-05 2.71045890e+02] [-7.54856639e-03 9.99968593e-01 -2.41490808e-03 1.50131587e+01] [ 6.52631054e-05 2.41546953e-03 9.99997081e-01 -2.01285559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.321400513 meters Centerline goodness [0,1] 0.48025993395120914 Centerline is valid? [False, False] Translation: X:271.04, Y:15.02, Z:-0.20 [[ 9.99967835e-01 8.01835503e-03 1.85193602e-04 2.71044819e+02] [-8.01765955e-03 9.99961760e-01 -3.49225942e-03 1.50200220e+01] [-2.13188696e-04 3.49066228e-03 9.99993885e-01 -2.01205577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.351400513 meters Centerline goodness [0,1] 0.44420927869962745 Centerline is valid? [False, False] Translation: X:271.04, Y:15.02, Z:-0.20 [[ 9.99969360e-01 7.81995867e-03 3.57307721e-04 2.71044078e+02] [-7.81844243e-03 9.99961176e-01 -4.06428301e-03 1.50227941e+01] [-3.89076374e-04 4.06136489e-03 9.99991677e-01 -2.00949053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.381400513 meters Centerline goodness [0,1] 0.5403304384664266 Centerline is valid? [False, False] Translation: X:271.04, Y:15.02, Z:-0.20 [[ 9.99970488e-01 7.66814688e-03 4.70960311e-04 2.71043513e+02] [-7.66598323e-03 9.99960777e-01 -4.43587265e-03 1.50245549e+01] [-5.04956762e-04 4.43213136e-03 9.99990051e-01 -2.00643851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.411400513 meters Centerline goodness [0,1] 0.5383054612246642 Centerline is valid? [False, False] Translation: X:271.04, Y:15.02, Z:-0.20 [[ 9.99930385e-01 1.17963889e-02 2.65552412e-04 2.71044244e+02] [-1.17965678e-02 9.99930185e-01 6.82380759e-04 1.50200598e+01] [-2.57484244e-04 -6.85465863e-04 9.99999732e-01 -2.00367451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.441400513 meters Centerline goodness [0,1] 0.4305715873626609 Centerline is valid? [False, False] Translation: X:271.04, Y:15.03, Z:-0.20 [[ 9.99974627e-01 7.10054483e-03 5.72010253e-04 2.71043197e+02] [-7.09739152e-03 9.99960566e-01 -5.33800125e-03 1.50285396e+01] [-6.09890413e-04 5.33380603e-03 9.99985589e-01 -2.00691319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.471400513 meters Centerline goodness [0,1] 0.4305715873626609 Centerline is valid? [False, False] Translation: X:271.04, Y:15.03, Z:-0.20 [[ 9.99974627e-01 7.10054483e-03 5.72010253e-04 2.71043197e+02] [-7.09739152e-03 9.99960566e-01 -5.33800125e-03 1.50285396e+01] [-6.09890413e-04 5.33380603e-03 9.99985589e-01 -2.00691319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.501400513 meters Centerline goodness [0,1] 0.652402256370356 Centerline is valid? [False, False] Translation: X:271.02, Y:15.02, Z:-0.20 [[ 9.99985475e-01 4.99566154e-03 -2.02326150e-03 2.71024701e+02] [-4.98588058e-03 9.99975998e-01 4.81078693e-03 1.50232269e+01] [ 2.04724600e-03 -4.80062931e-03 9.99986381e-01 -2.01416156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.531400513 meters Centerline goodness [0,1] 0.6370897131996498 Centerline is valid? [False, False] Translation: X:271.06, Y:15.04, Z:-0.20 [[ 9.99997335e-01 1.84986288e-03 1.38132233e-03 2.71062966e+02] [-1.84900579e-03 9.99998097e-01 -6.21503618e-04 1.50378765e+01] [-1.38246939e-03 6.18947888e-04 9.99998853e-01 -2.01396613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.561400513 meters Centerline goodness [0,1] 0.6270920723698148 Centerline is valid? [False, False] Translation: X:271.06, Y:15.04, Z:-0.20 [[ 9.99997749e-01 1.56548772e-03 1.43255576e-03 2.71062496e+02] [-1.56375109e-03 9.99998042e-01 -1.21257756e-03 1.50406403e+01] [-1.43445123e-03 1.21033467e-03 9.99998239e-01 -2.00848805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.591400513 meters Centerline goodness [0,1] 0.58572789835892 Centerline is valid? [False, False] Translation: X:271.06, Y:15.04, Z:-0.20 [[ 9.99998017e-01 1.24316761e-03 1.55550229e-03 2.71061812e+02] [-1.24015267e-03 9.99997354e-01 -1.93770734e-03 1.50440584e+01] [-1.55790707e-03 1.93577444e-03 9.99996913e-01 -2.00374315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.621400513 meters Centerline goodness [0,1] 0.644356259151582 Centerline is valid? [False, False] Translation: X:271.06, Y:15.05, Z:-0.20 [[ 9.99998204e-01 7.61027978e-04 1.73558340e-03 2.71060959e+02] [-7.55695999e-04 9.99995000e-01 -3.07074283e-03 1.50494084e+01] [-1.73791165e-03 3.06942574e-03 9.99993779e-01 -1.99959280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.651400513 meters Centerline goodness [0,1] 0.6540633491847826 Centerline is valid? [False, False] Translation: X:271.06, Y:15.06, Z:-0.20 [[ 9.99998091e-01 1.93396659e-04 1.94415878e-03 2.71060151e+02] [-1.84680464e-04 9.99989937e-01 -4.48245384e-03 1.50560934e+01] [-1.94500610e-03 4.48208624e-03 9.99988064e-01 -1.99838260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.681400513 meters Centerline goodness [0,1] 0.6541371107729893 Centerline is valid? [False, False] Translation: X:271.06, Y:15.06, Z:-0.20 [[ 9.99988722e-01 4.38570644e-03 1.82241404e-03 2.71060477e+02] [-4.38525355e-03 9.99990353e-01 -2.52432140e-04 1.50564727e+01] [-1.82350355e-03 2.44437545e-04 9.99998308e-01 -1.99619199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.711400513 meters Centerline goodness [0,1] 0.634282309885527 Centerline is valid? [False, False] Translation: X:271.06, Y:15.06, Z:-0.20 [[ 9.99966334e-01 8.02384527e-03 1.71742277e-03 2.71061009e+02] [-8.02835262e-03 9.99964303e-01 2.63388335e-03 1.50631369e+01] [-1.69622759e-03 -2.64758275e-03 9.99995057e-01 -1.99977165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.74140051300003 meters Centerline goodness [0,1] 0.6469150099723349 Centerline is valid? [False, False] Translation: X:271.06, Y:15.07, Z:-0.20 [[ 9.99970615e-01 7.45226274e-03 1.79795870e-03 2.71060637e+02] [-7.45459451e-03 9.99971377e-01 1.29369839e-03 1.50693915e+01] [-1.78826626e-03 -1.30706342e-03 9.99997547e-01 -1.99911856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.771400513 meters Centerline goodness [0,1] 0.5952380952380952 Centerline is valid? [False, False] Translation: X:271.06, Y:15.08, Z:-0.20 [[ 9.99974599e-01 6.88448645e-03 1.84514900e-03 2.71060221e+02] [-6.88451917e-03 9.99976301e-01 1.13796484e-05 1.50753939e+01] [-1.84502693e-03 -2.40823230e-05 9.99998298e-01 -1.99521258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.801400513 meters Centerline goodness [0,1] 0.6572296554844548 Centerline is valid? [False, False] Translation: X:271.06, Y:15.08, Z:-0.20 [[ 9.99977883e-01 6.40712011e-03 1.78370906e-03 2.71060320e+02] [-6.40524686e-03 9.99978931e-01 -1.05393730e-03 1.50803192e+01] [-1.79042418e-03 1.04248890e-03 9.99997854e-01 -1.99417496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.831400513 meters Centerline goodness [0,1] 0.5842052549704861 Centerline is valid? [False, False] Translation: X:271.06, Y:15.08, Z:-0.20 [[ 9.99980701e-01 6.00607259e-03 1.58874947e-03 2.71060957e+02] [-6.00319594e-03 9.99980344e-01 -1.80925246e-03 1.50837653e+01] [-1.59958474e-03 1.79967997e-03 9.99997101e-01 -1.99513319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.861400513 meters Centerline goodness [0,1] 0.6391575099360269 Centerline is valid? [False, False] Translation: X:271.06, Y:15.09, Z:-0.20 [[ 9.99982798e-01 5.71732785e-03 1.31026612e-03 2.71061877e+02] [-5.71439890e-03 9.99981190e-01 -2.22833323e-03 1.50855761e+01] [-1.32298159e-03 2.22080752e-03 9.99996659e-01 -1.99585706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.891400513 meters Centerline goodness [0,1] 0.6609598533142869 Centerline is valid? [False, False] Translation: X:271.06, Y:15.09, Z:-0.20 [[ 9.99998916e-01 5.94878146e-04 1.34704498e-03 2.71061460e+02] [-5.83664036e-04 9.99965300e-01 -8.31011689e-03 1.50936828e+01] [-1.35194175e-03 8.30932166e-03 9.99964563e-01 -1.99204157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.921400513 meters Centerline goodness [0,1] 0.6674127409784836 Centerline is valid? [False, False] Translation: X:271.08, Y:15.09, Z:-0.20 [[ 9.99993682e-01 -2.21973511e-03 2.77631059e-03 2.71083163e+02] [ 2.21819815e-03 9.99997385e-01 5.56553920e-04 1.50927325e+01] [-2.77753873e-03 -5.50391997e-04 9.99995991e-01 -2.00077981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.951400513 meters Centerline goodness [0,1] 0.7384766124222544 Centerline is valid? [False, False] Translation: X:271.08, Y:15.10, Z:-0.20 [[ 9.99983239e-01 -4.42765365e-03 3.73051569e-03 2.71076522e+02] [ 4.43436273e-03 9.99988562e-01 -1.79208504e-03 1.50968215e+01] [-3.72253829e-03 1.80859746e-03 9.99991436e-01 -1.95820742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.981400513 meters Centerline goodness [0,1] 0.862366553730103 Centerline is valid? [False, False] Translation: X:271.08, Y:15.10, Z:-0.20 [[ 9.99983509e-01 -4.47049124e-03 3.60506401e-03 2.71076846e+02] [ 4.47648513e-03 9.99988609e-01 -1.65627765e-03 1.50960849e+01] [-3.59761857e-03 1.67238835e-03 9.99992130e-01 -1.95628653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.011400513 meters Centerline goodness [0,1] 0.9074228702335838 Centerline is valid? [False, False] Translation: X:271.08, Y:15.09, Z:-0.20 [[ 9.99984574e-01 -4.37269562e-03 3.42502367e-03 2.71077453e+02] [ 4.37666521e-03 9.99989758e-01 -1.15236116e-03 1.50935853e+01] [-3.41994966e-03 1.16733357e-03 9.99993471e-01 -1.95631365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.041400513 meters Centerline goodness [0,1] 0.8025152164231332 Centerline is valid? [False, False] Translation: X:271.08, Y:15.09, Z:-0.20 [[ 9.99986054e-01 -4.24652477e-03 3.13980661e-03 2.71078545e+02] [ 4.24770812e-03 9.99990910e-01 -3.70311218e-04 1.50896126e+01] [-3.13820553e-03 3.83643036e-04 9.99995002e-01 -1.95902416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.071400513 meters Centerline goodness [0,1] 0.9969778231813732 Centerline is valid? [False, True] Translation: X:271.08, Y:15.08, Z:-0.20 [[ 9.99984510e-01 -4.81674675e-03 2.78911280e-03 2.71079876e+02] [ 4.81479379e-03 9.99988159e-01 7.06500185e-04 1.50824953e+01] [-2.79248280e-03 -6.93060238e-04 9.99995861e-01 -1.96149574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.101400513 meters Centerline goodness [0,1] 0.99950842096264 Centerline is valid? [True, True] Translation: X:271.11, Y:15.08, Z:-0.20 [[ 9.99971733e-01 -7.14843066e-03 2.33077631e-03 2.71110660e+02] [ 7.14810776e-03 9.99974441e-01 1.46837205e-04 1.50788568e+01] [-2.33176639e-03 -1.30172414e-04 9.99997273e-01 -1.96637907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.131400513 meters Centerline goodness [0,1] 0.9996779941180259 Centerline is valid? [True, True] Translation: X:271.14, Y:15.08, Z:-0.20 [[ 9.99962862e-01 -8.41394618e-03 1.86562787e-03 2.71142355e+02] [ 8.41374125e-03 9.99964597e-01 1.17664799e-04 1.50773491e+01] [-1.86655185e-03 -1.01963519e-04 9.99998253e-01 -1.97743690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.161400513 meters Centerline goodness [0,1] 0.9988041342786367 Centerline is valid? [True, True] Translation: X:271.17, Y:15.08, Z:-0.20 [[ 9.99964666e-01 -8.18869911e-03 1.90033313e-03 2.71173515e+02] [ 8.18848605e-03 9.99966467e-01 1.19870528e-04 1.50788136e+01] [-1.90125099e-03 -1.04305441e-04 9.99998187e-01 -1.97867149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.191400513 meters Centerline goodness [0,1] 0.99928919140137 Centerline is valid? [True, True] Translation: X:271.21, Y:15.07, Z:-0.20 [[ 9.99972468e-01 -7.19596128e-03 1.81169316e-03 2.71205488e+02] [ 7.19576610e-03 9.99974104e-01 1.14230049e-04 1.50735502e+01] [-1.81246824e-03 -1.01190384e-04 9.99998352e-01 -1.97903197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.221400513 meters Centerline goodness [0,1] 0.9921927088934294 Centerline is valid? [True, True] Translation: X:271.24, Y:15.08, Z:-0.20 [[ 9.99994204e-01 -2.47954263e-03 2.33322097e-03 2.71235815e+02] [ 2.47920680e-03 9.99996916e-01 1.46814822e-04 1.50770426e+01] [-2.33357781e-03 -1.41029434e-04 9.99997267e-01 -1.97510925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.251400513 meters Centerline goodness [0,1] 0.9454576335958896 Centerline is valid? [True, False] Translation: X:271.28, Y:15.08, Z:-0.20 [[ 9.99987410e-01 -1.26971470e-03 4.85467703e-03 2.71277912e+02] [ 1.26533594e-03 9.99998790e-01 9.04930816e-04 1.50789622e+01] [-4.85582016e-03 -8.98776626e-04 9.99987807e-01 -1.98813240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.281400513 meters Centerline goodness [0,1] 0.9666744447508538 Centerline is valid? [False, True] Translation: X:271.28, Y:15.08, Z:-0.20 [[ 9.99987271e-01 -1.16389577e-03 4.90957068e-03 2.71277822e+02] [ 1.15889858e-03 9.99998808e-01 1.02056829e-03 1.50784755e+01] [-4.91075266e-03 -1.01486560e-03 9.99987427e-01 -1.99023101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.311400513 meters Centerline goodness [0,1] 0.9824761331383848 Centerline is valid? [True, True] Translation: X:271.31, Y:15.08, Z:-0.20 [[ 9.99986032e-01 1.09977739e-03 5.16976536e-03 2.71309173e+02] [-1.10157935e-03 9.99999333e-01 3.45722356e-04 1.50755994e+01] [-5.16938170e-03 -3.51412434e-04 9.99986577e-01 -1.98752232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.341400513 meters Centerline goodness [0,1] 0.8336264062202072 Centerline is valid? [True, False] Translation: X:271.35, Y:15.07, Z:-0.20 [[ 9.99960469e-01 2.63196674e-03 8.49309067e-03 2.71348857e+02] [-2.64917789e-03 9.99994459e-01 2.01587459e-03 1.50742774e+01] [-8.48773789e-03 -2.03829461e-03 9.99961901e-01 -1.99041731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.371400513 meters Centerline goodness [0,1] 0.8407851925273115 Centerline is valid? [False, False] Translation: X:271.31, Y:15.07, Z:-0.20 [[ 9.99980306e-01 1.97893603e-03 5.95582415e-03 2.71306834e+02] [-1.98494731e-03 9.99997526e-01 1.00356898e-03 1.50724980e+01] [-5.95382342e-03 -1.01537121e-03 9.99981760e-01 -1.98170540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.401400513 meters Centerline goodness [0,1] 0.7103900513560545 Centerline is valid? [False, False] Translation: X:271.35, Y:15.08, Z:-0.20 [[ 9.99963136e-01 2.19246027e-03 8.30174118e-03 2.71348941e+02] [-2.19517523e-03 9.99997540e-01 3.17937144e-04 1.50765892e+01] [-8.30102370e-03 -3.36149201e-04 9.99965489e-01 -1.99474132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.431400513 meters Centerline goodness [0,1] 0.7895257980498095 Centerline is valid? [False, False] Translation: X:271.31, Y:15.07, Z:-0.20 [[ 9.99985599e-01 2.30917683e-03 4.84449309e-03 2.71310012e+02] [-2.31156612e-03 9.99997209e-01 4.87656096e-04 1.50739873e+01] [-4.84335349e-03 -4.98847440e-04 9.99988146e-01 -2.00142270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.4614005130001 meters Centerline goodness [0,1] 0.6846940287449992 Centerline is valid? [False, False] Translation: X:271.35, Y:15.08, Z:-0.20 [[ 9.99972911e-01 2.73701027e-03 6.83268446e-03 2.71353086e+02] [-2.73533018e-03 9.99996226e-01 -2.55223054e-04 1.50790824e+01] [-6.83335722e-03 2.36526493e-04 9.99976624e-01 -2.01873816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.491400513 meters Centerline goodness [0,1] 0.7050056422594588 Centerline is valid? [False, False] Translation: X:271.35, Y:15.08, Z:-0.20 [[ 9.99970750e-01 2.52821202e-03 7.21854157e-03 2.71351634e+02] [-2.52070964e-03 9.99996274e-01 -1.04822994e-03 1.50829643e+01] [-7.22116481e-03 1.03000343e-03 9.99973397e-01 -2.01536597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.521400513 meters Centerline goodness [0,1] 0.7100813492908556 Centerline is valid? [False, False] Translation: X:271.35, Y:15.08, Z:-0.20 [[ 9.99970461e-01 2.41746981e-03 7.29612206e-03 2.71351194e+02] [-2.40779471e-03 9.99996211e-01 -1.33455343e-03 1.50843275e+01] [-7.29932065e-03 1.31694644e-03 9.99972492e-01 -2.01184655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.551400513 meters Centerline goodness [0,1] 0.6590468893003852 Centerline is valid? [False, False] Translation: X:271.35, Y:15.08, Z:-0.20 [[ 9.99970821e-01 2.40111212e-03 7.25203606e-03 2.71351317e+02] [-2.39114436e-03 9.99996185e-01 -1.38283424e-03 1.50845702e+01] [-7.25532874e-03 1.36545322e-03 9.99972747e-01 -2.01160794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.581400513 meters Centerline goodness [0,1] 0.7192525456933112 Centerline is valid? [False, False] Translation: X:271.33, Y:15.07, Z:-0.19 [[ 9.99997081e-01 2.00213413e-03 1.35287654e-03 2.71328676e+02] [-2.01417249e-03 9.99957862e-01 8.95635975e-03 1.50734051e+01] [-1.33488770e-03 -8.95905853e-03 9.99958976e-01 -1.94696139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.611400513 meters Centerline goodness [0,1] 0.7160779772244741 Centerline is valid? [False, False] Translation: X:271.33, Y:15.08, Z:-0.19 [[ 9.99996158e-01 -2.37484196e-03 1.42941764e-03 2.71328406e+02] [ 2.36964941e-03 9.99990628e-01 3.62343497e-03 1.50786208e+01] [-1.43800932e-03 -3.62003383e-03 9.99992414e-01 -1.94866238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.641400513 meters Centerline goodness [0,1] 0.6969600812337373 Centerline is valid? [False, False] Translation: X:271.37, Y:15.08, Z:-0.20 [[ 9.99988292e-01 -2.84966629e-03 3.91095210e-03 2.71370363e+02] [ 2.83923494e-03 9.99992404e-01 2.67018094e-03 1.50821998e+01] [-3.91853152e-03 -2.65904556e-03 9.99988787e-01 -1.95854649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.671400513 meters Centerline goodness [0,1] 0.6821218913437934 Centerline is valid? [False, False] Translation: X:271.37, Y:15.09, Z:-0.20 [[ 9.99962976e-01 -7.35348414e-03 4.46918216e-03 2.71368445e+02] [ 7.36576630e-03 9.99969124e-01 -2.73797348e-03 1.50876546e+01] [-4.44891052e-03 2.77079106e-03 9.99986265e-01 -1.95571450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.701400513 meters Centerline goodness [0,1] 0.7191788222582388 Centerline is valid? [False, False] Translation: X:271.34, Y:15.09, Z:-0.19 [[ 9.99979756e-01 -6.29759940e-03 9.09326873e-04 2.71343921e+02] [ 6.30879830e-03 9.99897041e-01 -1.28881935e-02 1.50916788e+01] [-8.28068571e-04 1.28936693e-02 9.99916530e-01 -1.89636825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.731400513 meters Centerline goodness [0,1] 0.6881484011441745 Centerline is valid? [False, False] Translation: X:271.37, Y:15.08, Z:-0.19 [[ 9.99978573e-01 -5.79412253e-03 3.04671877e-03 2.71367201e+02] [ 5.79536989e-03 9.99983126e-01 -4.00739887e-04 1.50841834e+01] [-3.04434543e-03 4.18388162e-04 9.99995278e-01 -1.93280475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.761400513 meters Centerline goodness [0,1] 0.6950415163610749 Centerline is valid? [False, False] Translation: X:271.37, Y:15.08, Z:-0.19 [[ 9.99979418e-01 -5.71478555e-03 2.91613212e-03 2.71367871e+02] [ 5.71553512e-03 9.99983635e-01 -2.48773662e-04 1.50834744e+01] [-2.91466271e-03 2.65435798e-04 9.99995717e-01 -1.93748270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.791400513 meters Centerline goodness [0,1] 0.6731988838153222 Centerline is valid? [False, False] Translation: X:271.37, Y:15.08, Z:-0.19 [[ 9.99980512e-01 -5.59122510e-03 2.77724035e-03 2.71368565e+02] [ 5.59123614e-03 9.99984369e-01 3.79025961e-06 1.50822954e+01] [-2.77721813e-03 1.17380209e-05 9.99996143e-01 -1.94195205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.821400513 meters Centerline goodness [0,1] 0.6454621650082741 Centerline is valid? [False, False] Translation: X:271.33, Y:15.08, Z:-0.19 [[ 9.99987178e-01 -5.06400124e-03 7.59593486e-06 2.71326813e+02] [ 5.06398491e-03 9.99986127e-01 1.44977386e-03 1.50752922e+01] [-1.49374861e-05 -1.44971680e-03 9.99998949e-01 -1.93279128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.851400513 meters Centerline goodness [0,1] 0.6977051415908462 Centerline is valid? [False, False] Translation: X:271.33, Y:15.07, Z:-0.19 [[ 9.99988888e-01 -4.71369039e-03 7.73665949e-05 2.71326327e+02] [ 4.71351026e-03 9.99986508e-01 2.18320690e-03 1.50719184e+01] [-8.76565124e-05 -2.18281797e-03 9.99997614e-01 -1.92694270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.881400513 meters Centerline goodness [0,1] 0.682146959962558 Centerline is valid? [False, False] Translation: X:271.33, Y:15.07, Z:-0.19 [[ 9.99989064e-01 -4.67521832e-03 1.22634769e-04 2.71326101e+02] [ 4.67493409e-03 9.99986600e-01 2.22376033e-03 1.50717598e+01] [-1.33029691e-04 -2.22316270e-03 9.99997520e-01 -1.92539749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.911400513 meters Centerline goodness [0,1] 0.6447379597383844 Centerline is valid? [False, False] Translation: X:271.33, Y:15.07, Z:-0.19 [[ 9.99988950e-01 -4.69771820e-03 1.76835246e-04 2.71325968e+02] [ 4.69733091e-03 9.99986698e-01 2.13027796e-03 1.50722117e+01] [-1.86840340e-04 -2.12942376e-03 9.99997715e-01 -1.92671570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.941400513 meters Centerline goodness [0,1] 0.6397490429604424 Centerline is valid? [False, False] Translation: X:271.33, Y:15.07, Z:-0.19 [[ 9.99988715e-01 -4.74620323e-03 2.10699298e-04 2.71326020e+02] [ 4.74577796e-03 9.99986788e-01 1.97500174e-03 1.50729583e+01] [-2.20070274e-04 -1.97397952e-03 9.99998027e-01 -1.93040429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.971400513 meters Centerline goodness [0,1] 0.6687597113726826 Centerline is valid? [False, False] Translation: X:271.33, Y:15.07, Z:-0.19 [[ 9.99988514e-01 -4.78827902e-03 2.12273856e-04 2.71326132e+02] [ 4.78788572e-03 9.99986889e-01 1.81610714e-03 1.50737405e+01] [-2.20967101e-04 -1.81506994e-03 9.99998328e-01 -1.93298970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.001400513 meters Centerline goodness [0,1] 0.6309111389768549 Centerline is valid? [False, False] Translation: X:271.33, Y:15.08, Z:-0.19 [[ 9.99987861e-01 -4.92065456e-03 2.53649833e-04 2.71326068e+02] [ 4.92028136e-03 9.99986842e-01 1.45150549e-03 1.50754721e+01] [-2.60788853e-04 -1.45023984e-03 9.99998914e-01 -1.93525650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.031400513 meters Centerline goodness [0,1] 0.6557576793997564 Centerline is valid? [False, False] Translation: X:271.33, Y:15.08, Z:-0.19 [[ 9.99986365e-01 -5.20843964e-03 3.77412848e-04 2.71325524e+02] [ 5.20820643e-03 9.99986247e-01 6.16266356e-04 1.50794741e+01] [-3.80617444e-04 -6.14292309e-04 9.99999739e-01 -1.93374657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.061400513 meters Centerline goodness [0,1] 0.6621858437339716 Centerline is valid? [False, False] Translation: X:271.33, Y:15.08, Z:-0.19 [[ 9.99986172e-01 -5.24601171e-03 3.68777994e-04 2.71325504e+02] [ 5.24581731e-03 9.99986102e-01 5.26159319e-04 1.50798907e+01] [-3.71533107e-04 -5.24217501e-04 9.99999794e-01 -1.93313508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.091400513 meters Centerline goodness [0,1] 0.666480937787969 Centerline is valid? [False, False] Translation: X:271.33, Y:15.08, Z:-0.19 [[ 9.99986587e-01 -5.17242071e-03 2.67955421e-04 2.71325892e+02] [ 5.17222222e-03 9.99986353e-01 7.36234200e-04 1.50788853e+01] [-2.71759877e-04 -7.34838400e-04 9.99999693e-01 -1.93417742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.121400513 meters Centerline goodness [0,1] 0.6800689135350491 Centerline is valid? [False, False] Translation: X:271.33, Y:15.08, Z:-0.19 [[ 9.99987102e-01 -5.07645518e-03 1.60120031e-04 2.71326260e+02] [ 5.07628115e-03 9.99986544e-01 1.06918303e-03 1.50772698e+01] [-1.65545536e-04 -1.06835643e-03 9.99999416e-01 -1.93418343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.151400513 meters Centerline goodness [0,1] 0.6969309735267182 Centerline is valid? [False, False] Translation: X:271.33, Y:15.08, Z:-0.19 [[ 9.99952155e-01 -9.77485468e-03 3.73000134e-04 2.71325475e+02] [ 9.77635352e-03 9.99943162e-01 -4.25379754e-03 1.50820209e+01] [-3.31398681e-04 4.25724060e-03 9.99990883e-01 -1.93230168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.181400513 meters Centerline goodness [0,1] 0.7363369710563775 Centerline is valid? [False, False] Translation: X:271.32, Y:15.09, Z:-0.19 [[ 9.99896137e-01 -1.43974441e-02 6.55108560e-04 2.71324337e+02] [ 1.44029102e-02 9.99853133e-01 -9.28809558e-03 1.50853247e+01] [-5.21287509e-04 9.29656636e-03 9.99956650e-01 -1.92527949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.2114005130001 meters Centerline goodness [0,1] 0.719061758988272 Centerline is valid? [False, False] Translation: X:271.32, Y:15.08, Z:-0.19 [[ 9.99822524e-01 -1.88172657e-02 9.11474525e-04 2.71323088e+02] [ 1.88275836e-02 9.99737186e-01 -1.30798266e-02 1.50823593e+01] [-6.65108405e-04 1.30946661e-02 9.99914040e-01 -1.91066697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.241400513 meters Centerline goodness [0,1] 0.932127376507446 Centerline is valid? [False, False] Translation: X:271.32, Y:15.07, Z:-0.19 [[ 9.99880956e-01 -1.54158727e-02 6.51911043e-04 2.71323690e+02] [ 1.54204113e-02 9.99851834e-01 -7.64988795e-03 1.50736700e+01] [-5.33884753e-04 7.65903002e-03 9.99970527e-01 -1.90619374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.271400513 meters Centerline goodness [0,1] 0.9241277892628035 Centerline is valid? [False, False] Translation: X:271.33, Y:15.07, Z:-0.19 [[ 9.99929966e-01 -1.18337162e-02 1.63217027e-04 2.71325236e+02] [ 1.18340681e-02 9.99927197e-01 -2.35695290e-03 1.50666430e+01] [-1.35313632e-04 2.35871935e-03 9.99997209e-01 -1.90618225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.301400513 meters Centerline goodness [0,1] 0.9442030060842467 Centerline is valid? [False, False] Translation: X:271.33, Y:15.07, Z:-0.19 [[ 9.99930751e-01 -1.17679969e-02 8.97796851e-05 2.71325513e+02] [ 1.17681625e-02 9.99928450e-01 -2.14604164e-03 1.50656191e+01] [-6.45186500e-05 2.14694957e-03 9.99997693e-01 -1.90669289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.331400513 meters Centerline goodness [0,1] 0.9474074859505884 Centerline is valid? [False, False] Translation: X:271.33, Y:15.06, Z:-0.19 [[ 9.99971790e-01 -7.50552782e-03 -2.95344797e-04 2.71326709e+02] [ 7.50652480e-03 9.99965583e-01 3.53328681e-03 1.50582231e+01] [ 2.68815450e-04 -3.53540415e-03 9.99993714e-01 -1.90617434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.361400513 meters Centerline goodness [0,1] 0.9474074859505884 Centerline is valid? [False, False] Translation: X:271.33, Y:15.06, Z:-0.19 [[ 9.99971790e-01 -7.50552782e-03 -2.95344797e-04 2.71326709e+02] [ 7.50652480e-03 9.99965583e-01 3.53328681e-03 1.50582231e+01] [ 2.68815450e-04 -3.53540415e-03 9.99993714e-01 -1.90617434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.391400513 meters Centerline goodness [0,1] 0.9843074872632688 Centerline is valid? [False, True] Translation: X:271.30, Y:15.06, Z:-0.19 [[ 9.99974086e-01 -6.12601360e-03 -3.78155765e-03 2.71304350e+02] [ 6.10195557e-03 9.99961278e-01 -6.34102517e-03 1.50602219e+01] [ 3.82025642e-03 6.31778595e-03 9.99972745e-01 -1.86526673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.421400513 meters Centerline goodness [0,1] 0.8613706497514144 Centerline is valid? [True, False] Translation: X:271.31, Y:15.05, Z:-0.19 [[ 9.99991118e-01 -1.02434775e-03 -4.08824131e-03 2.71305729e+02] [ 1.02468657e-03 9.99999472e-01 8.07821007e-05 1.50502761e+01] [ 4.08815640e-03 -8.49705492e-05 9.99991640e-01 -1.87164091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.451400513 meters Centerline goodness [0,1] 0.9605906005447706 Centerline is valid? [False, True] Translation: X:271.31, Y:15.05, Z:-0.19 [[ 9.99991119e-01 -1.00654496e-03 -4.09246946e-03 2.71306016e+02] [ 1.00697683e-03 9.99999488e-01 1.03467351e-04 1.50501684e+01] [ 4.09236322e-03 -1.07587454e-04 9.99991620e-01 -1.87734602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.481400513 meters Centerline goodness [0,1] 0.8160602524663201 Centerline is valid? [True, False] Translation: X:271.35, Y:15.05, Z:-0.19 [[ 9.99997956e-01 -4.68595496e-04 -1.96665987e-03 2.71348988e+02] [ 4.69382118e-04 9.99999810e-01 3.99536131e-04 1.50517340e+01] [ 1.96647227e-03 -4.00458430e-04 9.99997986e-01 -1.88800948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.511400513 meters Centerline goodness [0,1] 0.8627384196185286 Centerline is valid? [False, False] Translation: X:271.35, Y:15.05, Z:-0.19 [[ 9.99998040e-01 -1.50447195e-04 -1.97402948e-03 2.71348803e+02] [ 1.52681580e-04 9.99999348e-01 1.13178854e-03 1.50483123e+01] [ 1.97385792e-03 -1.13208772e-03 9.99997411e-01 -1.88348948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.541400513 meters Centerline goodness [0,1] 0.9777279489446109 Centerline is valid? [False, True] Translation: X:271.30, Y:15.04, Z:-0.19 [[ 9.99993968e-01 -1.02003653e-03 -3.32030917e-03 2.71303522e+02] [ 1.02776105e-03 9.99996768e-01 2.32557004e-03 1.50397974e+01] [ 3.31792627e-03 -2.32896850e-03 9.99991784e-01 -1.85914613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.571400513 meters Centerline goodness [0,1] 0.9701983941543821 Centerline is valid? [True, True] Translation: X:271.33, Y:15.04, Z:-0.18 [[ 9.99994508e-01 -2.48174466e-03 -2.19648755e-03 2.71332135e+02] [ 2.48142893e-03 9.99996911e-01 -1.46457801e-04 1.50408262e+01] [ 2.19684424e-03 1.41006569e-04 9.99997577e-01 -1.83572079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.601400513 meters Centerline goodness [0,1] 0.9816175678296661 Centerline is valid? [True, True] Translation: X:271.36, Y:15.04, Z:-0.18 [[ 9.99992199e-01 -2.96298726e-03 -2.61183200e-03 2.71361773e+02] [ 2.96254195e-03 9.99995596e-01 -1.74349008e-04 1.50353467e+01] [ 2.61233710e-03 1.66609986e-04 9.99996574e-01 -1.84061391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.631400513 meters Centerline goodness [0,1] 0.9553078578887918 Centerline is valid? [True, True] Translation: X:271.39, Y:15.04, Z:-0.19 [[ 9.99994371e-01 -1.77341348e-03 -2.84833622e-03 2.71390262e+02] [ 1.77287797e-03 9.99998410e-01 -1.90522195e-04 1.50373456e+01] [ 2.84866956e-03 1.85471370e-04 9.99995925e-01 -1.85629372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.661400513 meters Centerline goodness [0,1] 0.9877485872050387 Centerline is valid? [True, True] Translation: X:271.42, Y:15.03, Z:-0.19 [[ 9.99993752e-01 -1.29166997e-04 -3.53265863e-03 2.71420883e+02] [ 1.28332543e-04 9.99999964e-01 -2.36437223e-04 1.50308299e+01] [ 3.53268904e-03 2.35982390e-04 9.99993732e-01 -1.86783391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.691400513 meters Centerline goodness [0,1] 0.9605260330489718 Centerline is valid? [True, True] Translation: X:271.45, Y:15.03, Z:-0.19 [[ 9.99990010e-01 1.86775121e-03 -4.06087584e-03 2.71450737e+02] [-1.86887050e-03 9.99998217e-01 -2.71849539e-04 1.50320048e+01] [ 4.06036085e-03 2.79436075e-04 9.99991718e-01 -1.87422035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.721400513 meters Centerline goodness [0,1] 0.8503774587985115 Centerline is valid? [True, False] Translation: X:271.47, Y:15.02, Z:-0.19 [[ 9.99996070e-01 2.68271285e-03 -8.14682731e-04 2.71472912e+02] [-2.67253717e-03 9.99921460e-01 1.22446255e-02 1.50217311e+01] [ 8.47467560e-04 -1.22424001e-02 9.99924700e-01 -1.90752052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.751400513 meters Centerline goodness [0,1] 0.8722148569473549 Centerline is valid? [False, False] Translation: X:271.47, Y:15.02, Z:-0.19 [[ 9.99999481e-01 -9.61516552e-04 -3.37107411e-04 2.71471293e+02] [ 9.64063714e-04 9.99970358e-01 7.63899907e-03 1.50244802e+01] [ 3.29752394e-04 -7.63932010e-03 9.99970766e-01 -1.90757917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.781400513 meters Centerline goodness [0,1] 0.8067365977387042 Centerline is valid? [False, False] Translation: X:271.47, Y:15.02, Z:-0.19 [[ 9.99991049e-01 -4.23073792e-03 4.81154370e-05 2.71470330e+02] [ 4.23050451e-03 9.99982610e-01 4.10881850e-03 1.50219991e+01] [-6.54979345e-05 -4.10857817e-03 9.99991558e-01 -1.91249851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.811400513 meters Centerline goodness [0,1] 0.6936326234785019 Centerline is valid? [False, False] Translation: X:271.47, Y:15.02, Z:-0.19 [[ 9.99992884e-01 -3.77248461e-03 4.00718178e-06 2.71470695e+02] [ 3.77241397e-03 9.99979629e-01 5.14883045e-03 1.50170922e+01] [-2.34309838e-05 -5.14877870e-03 9.99986745e-01 -1.91626463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.841400513 meters Centerline goodness [0,1] 0.8304864818872179 Centerline is valid? [False, False] Translation: X:271.48, Y:15.01, Z:-0.20 [[ 9.99986137e-01 -5.19916500e-03 -8.33407936e-04 2.71477183e+02] [ 5.20249371e-03 9.99978294e-01 4.04296654e-03 1.50104548e+01] [ 8.12369796e-04 -4.04724629e-03 9.99991480e-01 -1.95995551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.871400513 meters Centerline goodness [0,1] 0.7238290410495849 Centerline is valid? [False, False] Translation: X:271.48, Y:15.01, Z:-0.20 [[ 9.99957207e-01 -9.24044399e-03 -4.44487001e-04 2.71475908e+02] [ 9.24021688e-03 9.99957178e-01 -5.10324820e-04 1.50120993e+01] [ 4.49183595e-04 5.06195825e-04 9.99999771e-01 -1.95916368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.901400513 meters Centerline goodness [0,1] 0.7712899018622651 Centerline is valid? [False, False] Translation: X:271.47, Y:15.01, Z:-0.19 [[ 9.99934887e-01 -1.13953419e-02 6.06901776e-04 2.71469056e+02] [ 1.13969056e-02 9.99931572e-01 -2.63854190e-03 1.50093626e+01] [-5.76793160e-04 2.64528690e-03 9.99996335e-01 -1.91820565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.931400513 meters Centerline goodness [0,1] 0.7609730075749493 Centerline is valid? [False, False] Translation: X:271.47, Y:15.00, Z:-0.19 [[ 9.99976203e-01 -6.89839974e-03 7.01284400e-05 2.71470666e+02] [ 6.89809249e-03 9.99969340e-01 3.70603976e-03 1.49985618e+01] [-9.56920336e-05 -3.70546782e-03 9.99993130e-01 -1.91460616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.9614005130001 meters Centerline goodness [0,1] 0.7982474979597096 Centerline is valid? [False, False] Translation: X:271.47, Y:15.00, Z:-0.19 [[ 9.99940097e-01 -1.09357955e-02 4.59058634e-04 2.71469871e+02] [ 1.09362758e-02 9.99939638e-01 -1.05703718e-03 1.50013243e+01] [-4.47471382e-04 1.06199425e-03 9.99999336e-01 -1.92255548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.991400513 meters Centerline goodness [0,1] 0.6867413532875577 Centerline is valid? [False, False] Translation: X:271.47, Y:15.00, Z:-0.19 [[ 9.99941968e-01 -1.07671960e-02 3.57115800e-04 2.71470631e+02] [ 1.07674675e-02 9.99941735e-01 -7.67417627e-04 1.49999834e+01] [-3.48832057e-04 7.71218325e-04 9.99999642e-01 -1.93066536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.021400513 meters Centerline goodness [0,1] 0.6856589064729813 Centerline is valid? [False, False] Translation: X:271.47, Y:14.99, Z:-0.19 [[ 9.99983274e-01 -5.78354046e-03 5.67975075e-05 2.71472169e+02] [ 5.78318009e-03 9.99970537e-01 5.04774268e-03 1.49929659e+01] [-8.59896581e-05 -5.04732977e-03 9.99987258e-01 -1.94181521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.051400513 meters Centerline goodness [0,1] 0.41876283367556466 Centerline is valid? [False, False] Translation: X:271.47, Y:14.99, Z:-0.19 [[ 9.99983802e-01 -5.68883381e-03 1.82817194e-04 2.71471845e+02] [ 5.68781616e-03 9.99970543e-01 5.15378639e-03 1.49925333e+01] [-2.12130843e-04 -5.15266307e-03 9.99986702e-01 -1.94390842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.081400513 meters Centerline goodness [0,1] 0.665122492512551 Centerline is valid? [False, False] Translation: X:271.47, Y:14.99, Z:-0.19 [[ 9.99984488e-01 -5.56223674e-03 2.92148866e-04 2.71471392e+02] [ 5.56057759e-03 9.99969948e-01 5.40218634e-03 1.49914238e+01] [-3.22188325e-04 -5.40047803e-03 9.99985365e-01 -1.94197611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.111400513 meters Centerline goodness [0,1] 0.5688971340839304 Centerline is valid? [False, False] Translation: X:271.47, Y:15.00, Z:-0.19 [[ 9.99952383e-01 -9.74137301e-03 5.80011843e-04 2.71470637e+02] [ 9.74122156e-03 9.99952518e-01 2.63365961e-04 1.49959770e+01] [-5.82549849e-04 -2.57703396e-04 9.99999797e-01 -1.94667575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.141400513 meters Centerline goodness [0,1] 0.6829943357363543 Centerline is valid? [False, False] Translation: X:271.47, Y:14.99, Z:-0.19 [[ 9.99954525e-01 -9.52490671e-03 4.73240837e-04 2.71471023e+02] [ 9.52452565e-03 9.99954320e-01 8.01047914e-04 1.49934438e+01] [-4.80849126e-04 -7.96504092e-04 9.99999567e-01 -1.94702989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.171400513 meters Centerline goodness [0,1] 0.6236873926048495 Centerline is valid? [False, False] Translation: X:271.48, Y:14.99, Z:-0.20 [[ 9.99935329e-01 -1.13678952e-02 -3.28381611e-04 2.71477488e+02] [ 1.13675069e-02 9.99934713e-01 -1.16134450e-03 1.49945634e+01] [ 3.41562215e-04 1.15753651e-03 9.99999272e-01 -1.99176224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.201400513 meters Centerline goodness [0,1] 0.7641545687446627 Centerline is valid? [False, False] Translation: X:271.48, Y:14.99, Z:-0.20 [[ 9.99938169e-01 -1.11057705e-02 -5.66208596e-04 2.71478236e+02] [ 1.11058598e-02 9.99938316e-01 1.54884157e-04 1.49879596e+01] [ 5.64453562e-04 -1.61162814e-04 9.99999828e-01 -1.98869640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.231400513 meters Centerline goodness [0,1] 0.6944939358162499 Centerline is valid? [False, False] Translation: X:271.48, Y:14.99, Z:-0.20 [[ 9.99940525e-01 -1.08871635e-02 -6.44741966e-04 2.71478382e+02] [ 1.08876096e-02 9.99940488e-01 6.92526637e-04 1.49854513e+01] [ 6.37163946e-04 -6.99505148e-04 9.99999552e-01 -1.98590372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.261400513 meters Centerline goodness [0,1] 0.7762011292212634 Centerline is valid? [False, False] Translation: X:271.48, Y:14.98, Z:-0.20 [[ 9.99941730e-01 -1.07752714e-02 -6.56411307e-04 2.71478388e+02] [ 1.07759234e-02 9.99941440e-01 9.97954804e-04 1.49839992e+01] [ 6.45619634e-04 -1.00497009e-03 9.99999287e-01 -1.98503998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.291400513 meters Centerline goodness [0,1] 0.774653600631952 Centerline is valid? [False, False] Translation: X:271.48, Y:14.98, Z:-0.20 [[ 9.99942469e-01 -1.07068119e-02 -6.50013467e-04 2.71478370e+02] [ 1.07075557e-02 9.99942009e-01 1.15167757e-03 1.49832898e+01] [ 6.37644977e-04 -1.15857137e-03 9.99999126e-01 -1.98503231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.321400513 meters Centerline goodness [0,1] 0.7188287887455242 Centerline is valid? [False, False] Translation: X:271.48, Y:14.98, Z:-0.20 [[ 9.99941921e-01 -1.07557092e-02 -6.84571724e-04 2.71478656e+02] [ 1.07564024e-02 9.99941631e-01 1.01710249e-03 1.49839126e+01] [ 6.73592107e-04 -1.02440694e-03 9.99999248e-01 -1.98852617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.351400513 meters Centerline goodness [0,1] 0.6757761073597486 Centerline is valid? [False, False] Translation: X:271.48, Y:14.98, Z:-0.20 [[ 9.99941647e-01 -1.07804197e-02 -6.96481203e-04 2.71478744e+02] [ 1.07810824e-02 9.99941427e-01 9.54851235e-04 1.49842077e+01] [ 6.86146711e-04 -9.62304338e-04 9.99999302e-01 -1.98959934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.381400513 meters Centerline goodness [0,1] 0.435588705380927 Centerline is valid? [False, False] Translation: X:271.48, Y:14.98, Z:-0.20 [[ 9.99941064e-01 -1.08331269e-02 -7.15588544e-04 2.71478822e+02] [ 1.08337336e-02 9.99940953e-01 8.49443630e-04 1.49846821e+01] [ 7.06344160e-04 -8.57146063e-04 9.99999383e-01 -1.99008836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.411400513 meters Centerline goodness [0,1] 0.816945516945517 Centerline is valid? [False, False] Translation: X:271.48, Y:14.98, Z:-0.20 [[ 9.99940838e-01 -1.08555927e-02 -6.90475818e-04 2.71478593e+02] [ 1.08561447e-02 9.99940750e-01 8.00806259e-04 1.49849335e+01] [ 6.81741681e-04 -8.08254787e-04 9.99999441e-01 -1.98742180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.441400513 meters Centerline goodness [0,1] 0.5170354685018528 Centerline is valid? [False, False] Translation: X:271.50, Y:15.00, Z:-0.20 [[ 9.99926628e-01 -1.08929926e-02 5.29922254e-03 2.71500775e+02] [ 1.09451582e-02 9.99890926e-01 -9.91668117e-03 1.49957002e+01] [-5.19062219e-03 9.97395439e-03 9.99936787e-01 -2.04997179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.471400513 meters Centerline goodness [0,1] 0.7052944701249786 Centerline is valid? [False, False] Translation: X:271.48, Y:14.98, Z:-0.20 [[ 9.99932770e-01 -1.15948891e-02 1.14899406e-04 2.71476096e+02] [ 1.15947740e-02 9.99932321e-01 9.56809155e-04 1.49838033e+01] [-1.25985726e-04 -9.55412597e-04 9.99999536e-01 -1.96812511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.501400513 meters Centerline goodness [0,1] 0.7846476901539897 Centerline is valid? [False, False] Translation: X:271.48, Y:14.98, Z:-0.20 [[ 9.99933699e-01 -1.15139418e-02 1.65239408e-04 2.71475418e+02] [ 1.15136913e-02 9.99932673e-01 1.44407836e-03 1.49813837e+01] [-1.81855317e-04 -1.44208010e-03 9.99998944e-01 -1.95720033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.531400513 meters Centerline goodness [0,1] 0.697403910991234 Centerline is valid? [False, False] Translation: X:271.48, Y:14.98, Z:-0.20 [[ 9.99933938e-01 -1.14941406e-02 7.08816743e-05 2.71475751e+02] [ 1.14940221e-02 9.99932828e-01 1.49235475e-03 1.49811446e+01] [-8.80302483e-05 -1.49144144e-03 9.99998884e-01 -1.95751652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.561400513 meters Centerline goodness [0,1] 0.9262063049538923 Centerline is valid? [False, False] Translation: X:271.45, Y:14.99, Z:-0.19 [[ 9.99926517e-01 -1.18072384e-02 -2.74781549e-03 2.71453288e+02] [ 1.17774817e-02 9.99874410e-01 -1.06045223e-02 1.49877674e+01] [ 2.87268052e-03 1.05713807e-02 9.99939995e-01 -1.93253255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.591400513 meters Centerline goodness [0,1] 0.8402039858319463 Centerline is valid? [False, False] Translation: X:271.45, Y:14.98, Z:-0.19 [[ 9.99969424e-01 -7.13440404e-03 -3.20170040e-03 2.71454543e+02] [ 7.11866864e-03 9.99962659e-01 -4.89947756e-03 1.49809360e+01] [ 3.23653570e-03 4.87653591e-03 9.99982872e-01 -1.92981162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.621400513 meters Centerline goodness [0,1] 0.5711111111111111 Centerline is valid? [False, False] Translation: X:271.45, Y:14.98, Z:-0.19 [[ 9.99969791e-01 -7.09760956e-03 -3.16869604e-03 2.71454504e+02] [ 7.08221472e-03 9.99963191e-01 -4.84348212e-03 1.49806870e+01] [ 3.20295654e-03 4.82089442e-03 9.99983250e-01 -1.93141528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.651400513 meters Centerline goodness [0,1] 0.7692813507551333 Centerline is valid? [False, False] Translation: X:271.50, Y:14.98, Z:-0.19 [[ 9.99987408e-01 -5.00073312e-03 -4.19770417e-04 2.71495422e+02] [ 4.99925855e-03 9.99981575e-01 -3.44327368e-03 1.49818582e+01] [ 4.36981576e-04 3.44113179e-03 9.99993984e-01 -1.93236245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.681400513 meters Centerline goodness [0,1] 0.7076676975578543 Centerline is valid? [False, False] Translation: X:271.49, Y:14.98, Z:-0.19 [[ 9.99995884e-01 -2.83299827e-03 4.53413136e-04 2.71489065e+02] [ 2.83348649e-03 9.99995403e-01 -1.07977530e-03 1.49790923e+01] [-4.50352050e-04 1.08105560e-03 9.99999314e-01 -1.89371994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.7114005130001 meters Centerline goodness [0,1] 0.7717564891510338 Centerline is valid? [False, False] Translation: X:271.49, Y:14.98, Z:-0.19 [[ 9.99995766e-01 -2.87140151e-03 4.73091932e-04 2.71489088e+02] [ 2.87197845e-03 9.99995128e-01 -1.22335813e-03 1.49797876e+01] [-4.69576875e-04 1.22471166e-03 9.99999140e-01 -1.89578697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.741400513 meters Centerline goodness [0,1] 0.711934684107036 Centerline is valid? [False, False] Translation: X:271.49, Y:14.98, Z:-0.19 [[ 9.99995536e-01 -2.93992131e-03 5.33598141e-04 2.71488973e+02] [ 2.94066338e-03 9.99994703e-01 -1.39526364e-03 1.49805965e+01] [-5.29493349e-04 1.39682654e-03 9.99998884e-01 -1.89765212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.771400513 meters Centerline goodness [0,1] 0.6895166460105133 Centerline is valid? [False, False] Translation: X:271.49, Y:14.98, Z:-0.19 [[ 9.99995213e-01 -3.04649199e-03 5.41798923e-04 2.71489053e+02] [ 3.04740050e-03 9.99993939e-01 -1.68399362e-03 1.49819602e+01] [-5.36665366e-04 1.68563664e-03 9.99998435e-01 -1.90018252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.801400513 meters Centerline goodness [0,1] 0.46707386905898074 Centerline is valid? [False, False] Translation: X:271.50, Y:14.98, Z:-0.19 [[ 9.99999614e-01 -8.08278379e-04 -3.43209976e-04 2.71495676e+02] [ 8.08494480e-04 9.99999475e-01 6.29975336e-04 1.49806513e+01] [ 3.42700600e-04 -6.30252576e-04 9.99999743e-01 -1.94204552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.831400513 meters Centerline goodness [0,1] 0.5822427508339749 Centerline is valid? [False, False] Translation: X:271.50, Y:14.98, Z:-0.19 [[ 9.99999437e-01 -1.02557801e-03 -2.74115612e-04 2.71495552e+02] [ 1.02559945e-03 9.99999471e-01 7.80759788e-05 1.49832522e+01] [ 2.74035394e-04 -7.83570676e-05 9.99999959e-01 -1.94472803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.861400513 meters Centerline goodness [0,1] 0.6124131759492053 Centerline is valid? [False, False] Translation: X:271.50, Y:14.98, Z:-0.19 [[ 9.99999372e-01 -1.06369292e-03 -3.53467506e-04 2.71495964e+02] [ 1.06367601e-03 9.99999433e-01 -4.80124521e-05 1.49838528e+01] [ 3.53518376e-04 4.76364470e-05 9.99999936e-01 -1.94786727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.891400513 meters Centerline goodness [0,1] 0.5802003410059676 Centerline is valid? [False, False] Translation: X:271.50, Y:14.98, Z:-0.20 [[ 9.99999295e-01 -1.13565553e-03 -3.46951278e-04 2.71496130e+02] [ 1.13556922e-03 9.99999324e-01 -2.48854046e-04 1.49847983e+01] [ 3.47233656e-04 2.48459883e-04 9.99999909e-01 -1.95189454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.921400513 meters Centerline goodness [0,1] 0.46887490432859935 Centerline is valid? [False, False] Translation: X:271.50, Y:14.99, Z:-0.20 [[ 9.99999093e-01 -1.29316962e-03 -3.75156852e-04 2.71496400e+02] [ 1.29292960e-03 9.99998960e-01 -6.39327359e-04 1.49866240e+01] [ 3.75983221e-04 6.38841728e-04 9.99999725e-01 -1.95568866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.951400513 meters Centerline goodness [0,1] 0.5378456282694566 Centerline is valid? [False, False] Translation: X:271.50, Y:14.99, Z:-0.20 [[ 9.99998788e-01 -1.50932479e-03 -3.81151136e-04 2.71496528e+02] [ 1.50888269e-03 9.99998192e-01 -1.15753192e-03 1.49890531e+01] [ 3.82897538e-04 1.15695541e-03 9.99999257e-01 -1.95828305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.981400513 meters Centerline goodness [0,1] 0.4792738861732595 Centerline is valid? [False, False] Translation: X:271.50, Y:14.99, Z:-0.20 [[ 9.99998402e-01 -1.75622408e-03 -3.32769741e-04 2.71496441e+02] [ 1.75562840e-03 9.99996871e-01 -1.78198837e-03 1.49920158e+01] [ 3.35898271e-04 1.78140131e-03 9.99998357e-01 -1.95994915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.011400513 meters Centerline goodness [0,1] 0.455768005098789 Centerline is valid? [False, False] Translation: X:271.54, Y:15.00, Z:-0.20 [[ 9.99997268e-01 2.60709403e-04 2.32290371e-03 2.71537198e+02] [-2.55370887e-04 9.99997327e-01 -2.29820807e-03 1.50003615e+01] [-2.32349666e-03 2.29760859e-03 9.99994661e-01 -1.96536663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.041400513 meters Centerline goodness [0,1] 0.5920600858369098 Centerline is valid? [False, False] Translation: X:271.52, Y:14.99, Z:-0.19 [[ 9.99997045e-01 -5.66976411e-04 -2.36385211e-03 2.71515330e+02] [ 5.87214432e-04 9.99963108e-01 8.56957275e-03 1.49929986e+01] [ 2.35890615e-03 -8.57093552e-03 9.99960487e-01 -1.91341658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.071400513 meters Centerline goodness [0,1] 0.4281677572873289 Centerline is valid? [False, False] Translation: X:271.54, Y:15.01, Z:-0.20 [[ 9.99996146e-01 3.03046269e-04 2.75980838e-03 2.71536951e+02] [-2.96782030e-04 9.99997380e-01 -2.26993629e-03 1.50054309e+01] [-2.76048905e-03 2.26910848e-03 9.99993615e-01 -1.96833737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.101400513 meters Centerline goodness [0,1] 0.3365912208504801 Centerline is valid? [False, False] Translation: X:271.51, Y:15.00, Z:-0.19 [[ 9.99997173e-01 -8.99918423e-04 -2.20072328e-03 2.71514717e+02] [ 9.17732352e-04 9.99966717e-01 8.10701065e-03 1.49972308e+01] [ 2.19335438e-03 -8.10900741e-03 9.99964716e-01 -1.91049892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.131400513 meters Centerline goodness [0,1] 0.527479764610907 Centerline is valid? [False, False] Translation: X:271.54, Y:15.01, Z:-0.20 [[ 9.99983325e-01 -4.54185671e-03 3.56658900e-03 2.71535860e+02] [ 4.56692032e-03 9.99964713e-01 -7.05091556e-03 1.50125160e+01] [-3.53443890e-03 7.06708631e-03 9.99968782e-01 -1.96553855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.161400513 meters Centerline goodness [0,1] 0.6619220133336192 Centerline is valid? [False, False] Translation: X:271.51, Y:15.00, Z:-0.19 [[ 9.99980017e-01 -6.09324033e-03 -1.68473056e-03 2.71513400e+02] [ 6.09851836e-03 9.99976456e-01 3.14567611e-03 1.50015262e+01] [ 1.66552353e-03 -3.15588761e-03 9.99993633e-01 -1.89968300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.191400513 meters Centerline goodness [0,1] 0.6967966544250324 Centerline is valid? [False, False] Translation: X:271.51, Y:15.01, Z:-0.19 [[ 9.99940295e-01 -1.08302719e-02 -1.45290142e-03 2.71512797e+02] [ 1.08266618e-02 9.99938339e-01 -2.46999226e-03 1.50077715e+01] [ 1.47956252e-03 2.45411472e-03 9.99995894e-01 -1.90247567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.221400513 meters Centerline goodness [0,1] 0.6097821215936493 Centerline is valid? [False, False] Translation: X:271.51, Y:15.01, Z:-0.19 [[ 9.99939354e-01 -1.09026833e-02 -1.55577544e-03 2.71513152e+02] [ 1.08986323e-02 9.99937256e-01 -2.58903244e-03 1.50083030e+01] [ 1.58390523e-03 2.57191960e-03 9.99995438e-01 -1.90279635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.251400513 meters Centerline goodness [0,1] 0.5693592838677975 Centerline is valid? [False, False] Translation: X:271.51, Y:15.00, Z:-0.19 [[ 9.99974927e-01 -6.79785921e-03 -1.98368180e-03 2.71514405e+02] [ 6.80287312e-03 9.99973655e-01 2.53187295e-03 1.50037228e+01] [ 1.96641823e-03 -2.54530420e-03 9.99994827e-01 -1.90006579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.281400513 meters Centerline goodness [0,1] 0.5693592838677975 Centerline is valid? [False, False] Translation: X:271.51, Y:15.00, Z:-0.19 [[ 9.99974927e-01 -6.79785921e-03 -1.98368180e-03 2.71514405e+02] [ 6.80287312e-03 9.99973655e-01 2.53187295e-03 1.50037228e+01] [ 1.96641823e-03 -2.54530420e-03 9.99994827e-01 -1.90006579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.311400513 meters Centerline goodness [0,1] 0.7081268901615083 Centerline is valid? [False, False] Translation: X:271.51, Y:15.01, Z:-0.19 [[ 9.99973742e-01 -6.95904380e-03 -2.02170673e-03 2.71514687e+02] [ 6.96337118e-03 9.99973463e-01 2.14136556e-03 1.50055433e+01] [ 2.00675122e-03 -2.15538723e-03 9.99995664e-01 -1.90355994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.341400513 meters Centerline goodness [0,1] 0.5712109994711793 Centerline is valid? [False, False] Translation: X:271.54, Y:15.02, Z:-0.20 [[ 9.99991042e-01 -3.36714122e-03 2.56488851e-03 2.71537918e+02] [ 3.38186505e-03 9.99977704e-01 -5.75799402e-03 1.50152419e+01] [-2.54544334e-03 5.76661655e-03 9.99980133e-01 -1.96508085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.371400513 meters Centerline goodness [0,1] 0.41187963218586077 Centerline is valid? [False, False] Translation: X:271.53, Y:15.01, Z:-0.19 [[ 9.99993209e-01 -1.50073123e-03 3.36602973e-03 2.71531571e+02] [ 1.51338706e-03 9.99991784e-01 -3.76047751e-03 1.50143581e+01] [-3.36035861e-03 3.76554608e-03 9.99987264e-01 -1.92265485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.401400513 meters Centerline goodness [0,1] 0.48595295575448116 Centerline is valid? [False, False] Translation: X:271.53, Y:15.01, Z:-0.19 [[ 9.99991017e-01 3.45488861e-04 4.22451032e-03 2.71525031e+02] [-3.37635570e-04 9.99998214e-01 -1.85955442e-03 1.50137824e+01] [-4.22514523e-03 1.85811137e-03 9.99989348e-01 -1.87871499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.431400513 meters Centerline goodness [0,1] 0.4696979372884603 Centerline is valid? [False, False] Translation: X:271.52, Y:15.02, Z:-0.19 [[ 9.99990492e-01 7.23295196e-05 4.36020430e-03 2.71524517e+02] [-6.11832091e-05 9.99996730e-01 -2.55645264e-03 1.50170966e+01] [-4.36037496e-03 2.55616156e-03 9.99987227e-01 -1.87806853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.4614005130001 meters Centerline goodness [0,1] 0.5992298200076592 Centerline is valid? [False, False] Translation: X:271.52, Y:15.02, Z:-0.19 [[ 9.99990140e-01 -1.51852288e-04 4.43822495e-03 2.71523932e+02] [ 1.65484705e-04 9.99995270e-01 -3.07138631e-03 1.50195411e+01] [-4.43773756e-03 3.07209048e-03 9.99985434e-01 -1.87238675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.491400513 meters Centerline goodness [0,1] 0.5264647668504054 Centerline is valid? [False, False] Translation: X:271.52, Y:15.02, Z:-0.19 [[ 9.99990342e-01 -1.85538580e-04 4.39115960e-03 2.71523967e+02] [ 1.99222246e-04 9.99995126e-01 -3.11595280e-03 1.50197352e+01] [-4.39056007e-03 3.11679753e-03 9.99985504e-01 -1.87024652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.521400513 meters Centerline goodness [0,1] 0.5635309852875613 Centerline is valid? [False, False] Translation: X:271.52, Y:15.02, Z:-0.19 [[ 9.99990495e-01 -2.19506354e-04 4.35452857e-03 2.71523998e+02] [ 2.33130347e-04 9.99995079e-01 -3.12843430e-03 1.50197682e+01] [-4.35382043e-03 3.12941973e-03 9.99985625e-01 -1.86828051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.551400513 meters Centerline goodness [0,1] 0.6362665983519065 Centerline is valid? [False, False] Translation: X:271.52, Y:15.02, Z:-0.19 [[ 9.99990372e-01 -2.59950028e-04 4.38037775e-03 2.71523726e+02] [ 2.73954187e-04 9.99994853e-01 -3.19672432e-03 1.50200932e+01] [-4.37952421e-03 3.19789357e-03 9.99985297e-01 -1.86487686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.581400513 meters Centerline goodness [0,1] 0.6880948832059282 Centerline is valid? [False, False] Translation: X:271.52, Y:15.02, Z:-0.19 [[ 9.99990031e-01 -5.21191823e-04 4.43465729e-03 2.71523383e+02] [ 5.37771951e-04 9.99992868e-01 -3.73839131e-03 1.50226052e+01] [-4.43267724e-03 3.74073888e-03 9.99983179e-01 -1.86193197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.611400513 meters Centerline goodness [0,1] 0.6406790518898142 Centerline is valid? [False, False] Translation: X:271.52, Y:15.02, Z:-0.19 [[ 9.99990144e-01 -7.27406046e-04 4.37972750e-03 2.71523773e+02] [ 7.45839277e-04 9.99990866e-01 -4.20860077e-03 1.50247993e+01] [-4.37662613e-03 4.21182587e-03 9.99981553e-01 -1.86637549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.641400513 meters Centerline goodness [0,1] 0.711746423705722 Centerline is valid? [False, False] Translation: X:271.52, Y:15.03, Z:-0.19 [[ 9.99990303e-01 -9.33922012e-04 4.30367478e-03 2.71524170e+02] [ 9.54020407e-04 9.99988639e-01 -4.67037017e-03 1.50269443e+01] [-4.29926413e-03 4.67443068e-03 9.99979833e-01 -1.86948914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.671400513 meters Centerline goodness [0,1] 0.6875759060788784 Centerline is valid? [False, False] Translation: X:271.52, Y:15.03, Z:-0.19 [[ 9.99989931e-01 -1.14294807e-03 4.33950226e-03 2.71524041e+02] [ 1.16521451e-03 9.99986152e-01 -5.13204609e-03 1.50290967e+01] [-4.33357650e-03 5.13705087e-03 9.99977415e-01 -1.86941263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.701400513 meters Centerline goodness [0,1] 0.6748868491180576 Centerline is valid? [False, False] Translation: X:271.52, Y:15.02, Z:-0.19 [[ 9.99987428e-01 2.94689414e-03 4.05708700e-03 2.71524649e+02] [-2.94669059e-03 9.99995657e-01 -5.61487654e-05 1.50247579e+01] [-4.05723484e-03 4.41930794e-05 9.99991768e-01 -1.86171515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.731400513 meters Centerline goodness [0,1] 0.6744344711425708 Centerline is valid? [False, False] Translation: X:271.52, Y:15.03, Z:-0.19 [[ 9.99987264e-01 2.80133966e-03 4.19824454e-03 2.71523860e+02] [-2.79978468e-03 9.99996010e-01 -3.76218228e-04 1.50262777e+01] [-4.19928170e-03 3.64459255e-04 9.99991117e-01 -1.85568744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.761400513 meters Centerline goodness [0,1] 0.7073134486784842 Centerline is valid? [False, False] Translation: X:271.52, Y:15.03, Z:-0.19 [[ 9.99987573e-01 2.61948592e-03 4.24165595e-03 2.71523586e+02] [-2.61625624e-03 9.99996284e-01 -7.66789347e-04 1.50281088e+01] [-4.24364878e-03 7.55682559e-04 9.99990710e-01 -1.85336142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.791400513 meters Centerline goodness [0,1] 0.7975720658888126 Centerline is valid? [False, False] Translation: X:271.50, Y:15.02, Z:-0.18 [[ 9.99996542e-01 1.50420466e-03 -2.15730492e-03 2.71503434e+02] [-1.48578815e-03 9.99962659e-01 8.51315920e-03 1.50228575e+01] [ 2.17002990e-03 -8.50992446e-03 9.99961435e-01 -1.80340667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.821400513 meters Centerline goodness [0,1] 0.7825762581800354 Centerline is valid? [False, False] Translation: X:271.50, Y:15.02, Z:-0.18 [[ 9.99996541e-01 1.31917394e-03 -2.27554230e-03 2.71504061e+02] [-1.30074065e-03 9.99966485e-01 8.08316037e-03 1.50248568e+01] [ 2.28612912e-03 -8.08017251e-03 9.99964742e-01 -1.80847685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.851400513 meters Centerline goodness [0,1] 0.7527716423991594 Centerline is valid? [False, False] Translation: X:271.50, Y:15.03, Z:-0.18 [[ 9.99994183e-01 -2.91944534e-03 -1.76363356e-03 2.71502408e+02] [ 2.92355929e-03 9.99993001e-01 2.33459767e-03 1.50327657e+01] [ 1.75680549e-03 -2.33974018e-03 9.99995720e-01 -1.81080328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.881400513 meters Centerline goodness [0,1] 0.65183346065699 Centerline is valid? [False, False] Translation: X:271.52, Y:15.05, Z:-0.19 [[ 9.99991509e-01 -1.71736319e-03 3.74593058e-03 2.71522890e+02] [ 1.74782221e-03 9.99965316e-01 -8.14316843e-03 1.50471674e+01] [-3.73181588e-03 8.14964651e-03 9.99959828e-01 -1.85706492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.911400513 meters Centerline goodness [0,1] 0.6523197079672312 Centerline is valid? [False, False] Translation: X:271.52, Y:15.04, Z:-0.19 [[ 9.99990658e-01 2.64806057e-03 3.41637801e-03 2.71523799e+02] [-2.63744933e-03 9.99991696e-01 -3.10676662e-03 1.50435465e+01] [-3.42457655e-03 3.09772708e-03 9.99989338e-01 -1.85317994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.941400513 meters Centerline goodness [0,1] 0.6935723692595268 Centerline is valid? [False, False] Translation: X:271.52, Y:15.05, Z:-0.19 [[ 9.99991363e-01 2.42586178e-03 3.37468649e-03 2.71524003e+02] [-2.41352524e-03 9.99990408e-01 -3.65489199e-03 1.50461316e+01] [-3.38352039e-03 3.64671553e-03 9.99987627e-01 -1.85503449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.971400513 meters Centerline goodness [0,1] 0.7004921490508553 Centerline is valid? [False, False] Translation: X:271.52, Y:15.05, Z:-0.19 [[ 9.99991811e-01 2.25249174e-03 3.36224034e-03 2.71524225e+02] [-2.23874796e-03 9.99989147e-01 -4.08586857e-03 1.50481436e+01] [-3.37140723e-03 4.07830790e-03 9.99986000e-01 -1.85910812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.001400513 meters Centerline goodness [0,1] 0.6632051282051282 Centerline is valid? [False, False] Translation: X:271.52, Y:15.05, Z:-0.19 [[ 9.99992386e-01 2.09107862e-03 3.29472878e-03 2.71524637e+02] [-2.07632436e-03 9.99987831e-01 -4.47521530e-03 1.50499689e+01] [-3.30404671e-03 4.46834030e-03 9.99984558e-01 -1.86304802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.031400513 meters Centerline goodness [0,1] 0.680681043300375 Centerline is valid? [False, False] Translation: X:271.52, Y:15.05, Z:-0.19 [[ 9.99992880e-01 1.90992252e-03 3.25463602e-03 2.71524832e+02] [-1.89393862e-03 9.99986166e-01 -4.90714451e-03 1.50519956e+01] [-3.26396326e-03 4.90094549e-03 9.99982663e-01 -1.86476518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.061400513 meters Centerline goodness [0,1] 0.5933235086820017 Centerline is valid? [False, False] Translation: X:271.53, Y:15.06, Z:-0.19 [[ 9.99993562e-01 1.60135411e-03 3.21106913e-03 2.71525142e+02] [-1.58323261e-03 9.99982853e-01 -5.63807100e-03 1.50554154e+01] [-3.22004262e-03 5.63295083e-03 9.99978950e-01 -1.86865620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.091400513 meters Centerline goodness [0,1] 0.7019340896812534 Centerline is valid? [False, False] Translation: X:271.50, Y:15.05, Z:-0.18 [[ 9.99997204e-01 5.82029899e-04 -2.29204923e-03 2.71502929e+02] [-5.71877914e-04 9.99990036e-01 4.42738500e-03 1.50467757e+01] [ 2.29460326e-03 -4.42606184e-03 9.99987572e-01 -1.80847115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.121400513 meters Centerline goodness [0,1] 0.6019943683441662 Centerline is valid? [False, False] Translation: X:271.54, Y:15.05, Z:-0.18 [[ 9.99999709e-01 -6.73689121e-04 3.56756400e-04 2.71543841e+02] [ 6.73173694e-04 9.99998732e-01 1.44291364e-03 1.50549543e+01] [-3.57728023e-04 -1.44267306e-03 9.99998895e-01 -1.81454357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.151400513 meters Centerline goodness [0,1] 0.6130593803786575 Centerline is valid? [False, False] Translation: X:271.50, Y:15.05, Z:-0.18 [[ 9.99998467e-01 -1.59275648e-03 -7.26795221e-04 2.71498072e+02] [ 1.59360815e-03 9.99998043e-01 1.17273612e-03 1.50528716e+01] [ 7.24925916e-04 -1.17389255e-03 9.99999048e-01 -1.79344190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.181400513 meters Centerline goodness [0,1] 0.5961636502676524 Centerline is valid? [False, False] Translation: X:271.54, Y:15.06, Z:-0.18 [[ 9.99994552e-01 -1.67334824e-03 2.84521141e-03 2.71535890e+02] [ 1.67212692e-03 9.99998509e-01 4.31581353e-04 1.50574850e+01] [-2.84592936e-03 -4.26821448e-04 9.99995859e-01 -1.77828462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.2114005130001 meters Centerline goodness [0,1] 0.7148370863186626 Centerline is valid? [False, False] Translation: X:271.54, Y:15.06, Z:-0.18 [[ 9.99994425e-01 -1.65895791e-03 2.89789379e-03 2.71535481e+02] [ 1.65751103e-03 9.99998501e-01 5.01616565e-04 1.50571611e+01] [-2.89872161e-03 -4.96810478e-04 9.99995675e-01 -1.77354247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.241400513 meters Centerline goodness [0,1] 0.7145282458299733 Centerline is valid? [False, False] Translation: X:271.54, Y:15.06, Z:-0.18 [[ 9.99995001e-01 -1.58558819e-03 2.73574178e-03 2.71536027e+02] [ 1.58320909e-03 9.99998367e-01 8.71583126e-04 1.50553108e+01] [-2.73711929e-03 -8.67247517e-04 9.99995878e-01 -1.77341039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.271400513 meters Centerline goodness [0,1] 0.7418459106734734 Centerline is valid? [False, False] Translation: X:271.54, Y:15.06, Z:-0.18 [[ 9.99995090e-01 -1.64697862e-03 2.66580519e-03 2.71536343e+02] [ 1.64494360e-03 9.99998354e-01 7.65395241e-04 1.50557748e+01] [-2.66706139e-03 -7.61006385e-04 9.99996154e-01 -1.77525677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.301400513 meters Centerline goodness [0,1] 0.7359336805186524 Centerline is valid? [False, False] Translation: X:271.54, Y:15.06, Z:-0.18 [[ 9.99995176e-01 -1.73439974e-03 2.57680430e-03 2.71536576e+02] [ 1.73285121e-03 9.99998317e-01 6.03064415e-04 1.50565175e+01] [-2.57784592e-03 -5.98596288e-04 9.99996498e-01 -1.77426808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.331400513 meters Centerline goodness [0,1] 0.9017707842044334 Centerline is valid? [False, False] Translation: X:271.54, Y:15.06, Z:-0.18 [[ 9.99995200e-01 -1.72149504e-03 2.57628115e-03 2.71536457e+02] [ 1.71981717e-03 9.99998308e-01 6.53352883e-04 1.50562747e+01] [-2.57740154e-03 -6.48919014e-04 9.99996468e-01 -1.77171904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.361400513 meters Centerline goodness [0,1] 0.8130845121664134 Centerline is valid? [False, False] Translation: X:271.54, Y:15.06, Z:-0.18 [[ 9.99995269e-01 -1.64768636e-03 2.59761652e-03 2.71536204e+02] [ 1.64545523e-03 9.99998276e-01 8.60815456e-04 1.50553016e+01] [-2.59903040e-03 -8.56537121e-04 9.99996256e-01 -1.76796481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.391400513 meters Centerline goodness [0,1] 0.7375111602397857 Centerline is valid? [False, False] Translation: X:271.54, Y:15.05, Z:-0.18 [[ 9.99995221e-01 -1.62704697e-03 2.62869238e-03 2.71536033e+02] [ 1.62461345e-03 9.99998250e-01 9.27625076e-04 1.50549916e+01] [-2.63019707e-03 -9.23350034e-04 9.99996115e-01 -1.76675537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.421400513 meters Centerline goodness [0,1] 0.7592900366487685 Centerline is valid? [False, False] Translation: X:271.54, Y:15.06, Z:-0.18 [[ 9.99995217e-01 -1.75979767e-03 2.54362404e-03 2.71536472e+02] [ 1.75812672e-03 9.99998237e-01 6.59003106e-04 1.50562201e+01] [-2.54477926e-03 -6.54527941e-04 9.99996548e-01 -1.77018122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.451400513 meters Centerline goodness [0,1] 0.7785068161549242 Centerline is valid? [False, False] Translation: X:271.54, Y:15.06, Z:-0.18 [[ 9.99995578e-01 -1.76521246e-03 2.39342065e-03 2.71537040e+02] [ 1.76368047e-03 9.99998239e-01 6.42042907e-04 1.50563027e+01] [-2.39454977e-03 -6.37818838e-04 9.99996930e-01 -1.77139968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.481400513 meters Centerline goodness [0,1] 0.792687074829932 Centerline is valid? [False, False] Translation: X:271.54, Y:15.06, Z:-0.18 [[ 9.99995897e-01 -1.71444473e-03 2.29471749e-03 2.71537408e+02] [ 1.71272113e-03 9.99998250e-01 7.52872789e-04 1.50557821e+01] [-2.29600423e-03 -7.48939489e-04 9.99997084e-01 -1.77203195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.511400513 meters Centerline goodness [0,1] 0.8717894244864142 Centerline is valid? [False, False] Translation: X:271.54, Y:15.06, Z:-0.18 [[ 9.99995845e-01 -1.70729698e-03 2.32274133e-03 2.71537228e+02] [ 1.70557508e-03 9.99998269e-01 7.43100255e-04 1.50558594e+01] [-2.32400600e-03 -7.39135558e-04 9.99997026e-01 -1.77040881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.541400513 meters Centerline goodness [0,1] 0.7994898501434796 Centerline is valid? [False, False] Translation: X:271.54, Y:15.06, Z:-0.18 [[ 9.99995430e-01 -1.80992360e-03 2.42163449e-03 2.71536895e+02] [ 1.80874101e-03 9.99998244e-01 4.90445965e-04 1.50570634e+01] [-2.42251791e-03 -4.86063614e-04 9.99996948e-01 -1.77061271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.571400513 meters Centerline goodness [0,1] 0.8028620933068087 Centerline is valid? [False, False] Translation: X:271.53, Y:15.06, Z:-0.17 [[ 9.99994635e-01 1.10354849e-04 3.27379941e-03 2.71530514e+02] [-1.17899091e-04 9.99997338e-01 2.30432672e-03 1.50576327e+01] [-3.27353640e-03 -2.30470033e-03 9.99991986e-01 -1.72987555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.601400513 meters Centerline goodness [0,1] 0.5682378442706563 Centerline is valid? [False, False] Translation: X:271.53, Y:15.06, Z:-0.17 [[ 9.99994773e-01 -1.23734795e-04 3.23076568e-03 2.71530895e+02] [ 1.18573051e-04 9.99998716e-01 1.59782680e-03 1.50610224e+01] [-3.23095924e-03 -1.59743537e-03 9.99993505e-01 -1.73549997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.631400513 meters Centerline goodness [0,1] 0.6730048547823866 Centerline is valid? [False, False] Translation: X:271.53, Y:15.06, Z:-0.17 [[ 9.99995021e-01 -4.01579570e-04 3.13005071e-03 2.71531504e+02] [ 3.99062708e-04 9.99999597e-01 8.04679305e-04 1.50647798e+01] [-3.13037259e-03 -8.03426212e-04 9.99994778e-01 -1.74245917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.661400513 meters Centerline goodness [0,1] 0.7561012191725054 Centerline is valid? [False, False] Translation: X:271.53, Y:15.07, Z:-0.17 [[ 9.99994832e-01 -7.07933058e-04 3.13602370e-03 2.71531689e+02] [ 7.07898372e-04 9.99999749e-01 1.21705210e-05 1.50685207e+01] [-3.13603153e-03 -9.95047207e-06 9.99995083e-01 -1.74747171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.691400513 meters Centerline goodness [0,1] 0.6440584388006456 Centerline is valid? [False, False] Translation: X:271.54, Y:15.07, Z:-0.18 [[ 9.99996605e-01 1.23862494e-03 2.29250104e-03 2.71538096e+02] [-1.24268186e-03 9.99997663e-01 1.76906993e-03 1.50693964e+01] [-2.29030447e-03 -1.77191278e-03 9.99995807e-01 -1.78858163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.721400513 meters Centerline goodness [0,1] 0.4751968251936248 Centerline is valid? [False, False] Translation: X:271.54, Y:15.08, Z:-0.18 [[ 9.99996553e-01 5.85377622e-04 2.55939278e-03 2.71536807e+02] [-5.85945713e-04 9.99999804e-01 2.21218865e-04 1.50766583e+01] [-2.55926278e-03 -2.22717768e-04 9.99996700e-01 -1.78202263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.751400513 meters Centerline goodness [0,1] 0.7043760338567961 Centerline is valid? [False, False] Translation: X:271.54, Y:15.08, Z:-0.18 [[ 9.99996451e-01 3.84827061e-04 2.63636278e-03 2.71536398e+02] [-3.84256132e-04 9.99999903e-01 -2.17062693e-04 1.50786978e+01] [-2.63644606e-03 2.16048884e-04 9.99996501e-01 -1.77927683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.781400513 meters Centerline goodness [0,1] 0.6917891097666379 Centerline is valid? [False, False] Translation: X:271.54, Y:15.08, Z:-0.18 [[ 9.99996527e-01 2.09289470e-04 2.62704401e-03 2.71536354e+02] [-2.07716226e-04 9.99999799e-01 -5.99123086e-04 1.50804610e+01] [-2.62716887e-03 5.98575326e-04 9.99996370e-01 -1.77825270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.811400513 meters Centerline goodness [0,1] 0.6493744538459899 Centerline is valid? [False, False] Translation: X:271.58, Y:15.08, Z:-0.18 [[ 9.99989398e-01 3.93474328e-04 4.58802364e-03 2.71579142e+02] [-3.90430795e-04 9.99999703e-01 -6.64241599e-04 1.50849244e+01] [-4.58828364e-03 6.62443251e-04 9.99989254e-01 -1.78867363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.841400513 meters Centerline goodness [0,1] 0.765885055478502 Centerline is valid? [False, False] Translation: X:271.54, Y:15.08, Z:-0.18 [[ 9.99998765e-01 -2.63086468e-04 1.54956163e-03 2.71539146e+02] [ 2.64862859e-04 9.99999308e-01 -1.14628927e-03 1.50836976e+01] [-1.54925898e-03 1.14669828e-03 9.99998142e-01 -1.79587409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.871400513 meters Centerline goodness [0,1] 0.7666274970622797 Centerline is valid? [False, False] Translation: X:271.58, Y:15.09, Z:-0.18 [[ 9.99994943e-01 8.68257902e-05 3.17897674e-03 2.71583060e+02] [-8.27772881e-05 9.99999186e-01 -1.27363308e-03 1.50889097e+01] [-3.17908473e-03 1.27336349e-03 9.99994136e-01 -1.81255072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.901400513 meters Centerline goodness [0,1] 0.8057437883188125 Centerline is valid? [False, False] Translation: X:271.58, Y:15.09, Z:-0.18 [[ 9.99994707e-01 -3.64111131e-04 3.23305614e-03 2.71582509e+02] [ 3.71518259e-04 9.99997307e-01 -2.29075592e-03 1.50936566e+01] [-3.23221335e-03 2.29194494e-03 9.99992150e-01 -1.80583441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.931400513 meters Centerline goodness [0,1] 0.7027164794087037 Centerline is valid? [False, False] Translation: X:271.62, Y:15.10, Z:-0.18 [[ 9.99976407e-01 8.99479039e-05 6.86862009e-03 2.71620203e+02] [-7.57847935e-05 9.99997871e-01 -2.06223472e-03 1.50979592e+01] [-6.86879096e-03 2.06166553e-03 9.99974284e-01 -1.79100665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.9614005130001 meters Centerline goodness [0,1] 0.7883366580365859 Centerline is valid? [False, False] Translation: X:271.62, Y:15.10, Z:-0.18 [[ 9.99975583e-01 -7.47125464e-05 6.98772673e-03 2.71619388e+02] [ 9.15924588e-05 9.99997079e-01 -2.41536266e-03 1.50996138e+01] [-6.98752586e-03 2.41594371e-03 9.99972668e-01 -1.78297040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.991400513 meters Centerline goodness [0,1] 0.7990128289683638 Centerline is valid? [False, False] Translation: X:271.62, Y:15.10, Z:-0.18 [[ 9.99975069e-01 -2.68250642e-04 7.05618851e-03 2.71618936e+02] [ 2.88380165e-04 9.99995892e-01 -2.85188462e-03 1.51016609e+01] [-7.05539450e-03 2.85384839e-03 9.99971038e-01 -1.77884376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.021400513 meters Centerline goodness [0,1] 0.7055657206076338 Centerline is valid? [False, False] Translation: X:271.62, Y:15.10, Z:-0.18 [[ 9.99974692e-01 -4.53203601e-04 7.09993522e-03 2.71618771e+02] [ 4.76639862e-04 9.99994443e-01 -3.29956765e-03 1.51037672e+01] [-7.09840039e-03 3.30286826e-03 9.99969351e-01 -1.77903301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.051400513 meters Centerline goodness [0,1] 0.7414438903276899 Centerline is valid? [False, False] Translation: X:271.62, Y:15.11, Z:-0.18 [[ 9.99974259e-01 -6.95396424e-04 7.14127779e-03 2.71618655e+02] [ 7.23118005e-04 9.99992211e-01 -3.88003165e-03 1.51065020e+01] [-7.13852401e-03 3.88509576e-03 9.99966973e-01 -1.77981679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.081400513 meters Centerline goodness [0,1] 0.7239170160163388 Centerline is valid? [False, False] Translation: X:271.61, Y:15.11, Z:-0.17 [[ 9.99967133e-01 1.02430207e-03 8.04258341e-03 2.71611977e+02] [-1.00546320e-03 9.99996742e-01 -2.34608474e-03 1.51094625e+01] [-8.04496031e-03 2.33792111e-03 9.99964906e-01 -1.73533420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.111400513 meters Centerline goodness [0,1] 0.6789393647325923 Centerline is valid? [False, False] Translation: X:271.61, Y:15.11, Z:-0.17 [[ 9.99967568e-01 6.87437652e-04 8.02437429e-03 2.71612018e+02] [-6.61602007e-04 9.99994591e-01 -3.22185660e-03 1.51136025e+01] [-8.02654571e-03 3.21644316e-03 9.99962614e-01 -1.73587633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.141400513 meters Centerline goodness [0,1] 0.7135983576759404 Centerline is valid? [False, False] Translation: X:271.61, Y:15.12, Z:-0.17 [[ 9.99967904e-01 3.39347770e-04 8.00475928e-03 2.71612116e+02] [-3.06559908e-04 9.99991561e-01 -4.09691732e-03 1.51177209e+01] [-8.00608200e-03 4.09433189e-03 9.99959569e-01 -1.73748819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.171400513 meters Centerline goodness [0,1] 0.7135983576759404 Centerline is valid? [False, False] Translation: X:271.61, Y:15.12, Z:-0.17 [[ 9.99967904e-01 3.39347770e-04 8.00475928e-03 2.71612116e+02] [-3.06559908e-04 9.99991561e-01 -4.09691732e-03 1.51177209e+01] [-8.00608200e-03 4.09433189e-03 9.99959569e-01 -1.73748819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.201400513 meters Centerline goodness [0,1] 0.6880849878986486 Centerline is valid? [False, False] Translation: X:271.61, Y:15.12, Z:-0.17 [[ 9.99967725e-01 2.77334385e-05 8.03421928e-03 2.71612046e+02] [ 1.13742282e-05 9.99988153e-01 -4.86755086e-03 1.51213410e+01] [-8.03425909e-03 4.86748514e-03 9.99955878e-01 -1.73882466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.231400513 meters Centerline goodness [0,1] 0.6961333021216829 Centerline is valid? [False, False] Translation: X:271.62, Y:15.12, Z:-0.18 [[ 9.99972188e-01 2.14021199e-03 7.14444619e-03 2.71618544e+02] [-2.12080412e-03 9.99994044e-01 -2.72296841e-03 1.51225668e+01] [-7.15023137e-03 2.70774071e-03 9.99970771e-01 -1.78030690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.261400513 meters Centerline goodness [0,1] 0.6622946644594423 Centerline is valid? [False, False] Translation: X:271.62, Y:15.13, Z:-0.18 [[ 9.99956754e-01 6.10245601e-03 7.01781919e-03 2.71618902e+02] [-6.10935725e-03 9.99980875e-01 9.62371192e-04 1.51255293e+01] [-7.01181215e-03 -1.00520394e-03 9.99974912e-01 -1.77848283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.291400513 meters Centerline goodness [0,1] 0.6411818201044772 Centerline is valid? [False, False] Translation: X:271.62, Y:15.13, Z:-0.18 [[ 9.99958923e-01 5.72603459e-03 7.02594584e-03 2.71618791e+02] [-5.72635084e-03 9.99983604e-01 2.48954036e-05 1.51299624e+01] [-7.02568809e-03 -6.51274118e-05 9.99975317e-01 -1.77781829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.321400513 meters Centerline goodness [0,1] 0.6804962331780816 Centerline is valid? [False, False] Translation: X:271.58, Y:15.13, Z:-0.18 [[ 9.99966411e-01 7.29179654e-03 3.74253393e-03 2.71579127e+02] [-7.29899521e-03 9.99971531e-01 1.91343310e-03 1.51269424e+01] [-3.72847502e-03 -1.94068556e-03 9.99991166e-01 -1.77958427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.351400513 meters Centerline goodness [0,1] 0.6833301410968524 Centerline is valid? [False, False] Translation: X:271.58, Y:15.13, Z:-0.18 [[ 9.99968309e-01 7.03690541e-03 3.72330350e-03 2.71579230e+02] [-7.04183054e-03 9.99974346e-01 1.31133202e-03 1.51297688e+01] [-3.71398026e-03 -1.33750934e-03 9.99992209e-01 -1.78123655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.381400513 meters Centerline goodness [0,1] 0.7113802901151488 Centerline is valid? [False, False] Translation: X:271.58, Y:15.13, Z:-0.18 [[ 9.99970404e-01 6.73917040e-03 3.71146568e-03 2.71579250e+02] [-6.74153340e-03 9.99977081e-01 6.24531360e-04 1.51329787e+01] [-3.70717180e-03 -6.49533846e-04 9.99992917e-01 -1.78145647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.411400513 meters Centerline goodness [0,1] 0.6713198512121082 Centerline is valid? [False, False] Translation: X:271.58, Y:15.14, Z:-0.18 [[ 9.99972739e-01 6.34928480e-03 3.76920084e-03 2.71579015e+02] [-6.34827469e-03 9.99979810e-01 -2.79893886e-04 1.51372001e+01] [-3.77090187e-03 2.55958333e-04 9.99992857e-01 -1.78146393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.441400513 meters Centerline goodness [0,1] 0.6635117563044914 Centerline is valid? [False, False] Translation: X:271.58, Y:15.15, Z:-0.18 [[ 9.99977032e-01 5.52052016e-03 3.93178303e-03 2.71578110e+02] [-5.51170375e-03 9.99982280e-01 -2.24966054e-03 1.51464150e+01] [-3.94413266e-03 2.22793805e-03 9.99989740e-01 -1.77627836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.471400513 meters Centerline goodness [0,1] 0.6569608155463523 Centerline is valid? [False, False] Translation: X:271.58, Y:15.15, Z:-0.18 [[ 9.99979456e-01 5.07640749e-03 3.91378291e-03 2.71578194e+02] [-5.06350710e-03 9.99981738e-01 -3.29903501e-03 1.51513486e+01] [-3.93045869e-03 3.27914977e-03 9.99986899e-01 -1.77767095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.501400513 meters Centerline goodness [0,1] 0.6410457073965186 Centerline is valid? [False, False] Translation: X:271.58, Y:15.16, Z:-0.18 [[ 9.99981873e-01 4.62419379e-03 3.85617234e-03 2.71578472e+02] [-4.60716908e-03 9.99979653e-01 -4.41218087e-03 1.51566083e+01] [-3.87649666e-03 4.39433485e-03 9.99982831e-01 -1.78048435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.531400513 meters Centerline goodness [0,1] 0.6623736999300981 Centerline is valid? [False, False] Translation: X:271.58, Y:15.16, Z:-0.18 [[ 9.99984192e-01 4.17073205e-03 3.77093071e-03 2.71578877e+02] [-4.14984974e-03 9.99976106e-01 -5.52867628e-03 1.51618798e+01] [-3.79389923e-03 5.51294009e-03 9.99977607e-01 -1.78404216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.561400513 meters Centerline goodness [0,1] 0.6652737415947225 Centerline is valid? [False, False] Translation: X:271.58, Y:15.17, Z:-0.18 [[ 9.99986150e-01 3.73618031e-03 3.70698026e-03 2.71579149e+02] [-3.71190626e-03 9.99971766e-01 -6.53361390e-03 1.51665957e+01] [-3.73128636e-03 6.51976344e-03 9.99971785e-01 -1.78600364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.591400513 meters Centerline goodness [0,1] 0.676188030896292 Centerline is valid? [False, False] Translation: X:271.56, Y:15.16, Z:-0.18 [[ 9.99997723e-01 2.07578280e-03 4.94249822e-04 2.71560401e+02] [-2.07749207e-03 9.99991775e-01 3.48327135e-03 1.51619628e+01] [-4.87015242e-04 -3.48429022e-03 9.99993811e-01 -1.78661741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.621400513 meters Centerline goodness [0,1] 0.6335111923641079 Centerline is valid? [False, False] Translation: X:271.56, Y:15.16, Z:-0.18 [[ 9.99998211e-01 1.82794391e-03 4.85751022e-04 2.71560057e+02] [-1.82943473e-03 9.99993563e-01 3.08659220e-03 1.51637258e+01] [-4.80105778e-04 -3.08747533e-03 9.99995118e-01 -1.77976559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.651400513 meters Centerline goodness [0,1] 0.6831778706979736 Centerline is valid? [False, False] Translation: X:271.56, Y:15.16, Z:-0.18 [[ 9.99998350e-01 1.75577923e-03 4.66859636e-04 2.71559940e+02] [-1.75715528e-03 9.99994065e-01 2.96357813e-03 1.51642718e+01] [-4.61653476e-04 -2.96439359e-03 9.99995500e-01 -1.77607046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.681400513 meters Centerline goodness [0,1] 0.6867936643835617 Centerline is valid? [False, False] Translation: X:271.56, Y:15.17, Z:-0.18 [[ 9.99998602e-01 1.59115603e-03 5.14885744e-04 2.71559639e+02] [-1.59250507e-03 9.99995273e-01 2.63036130e-03 1.51657912e+01] [-5.10697995e-04 -2.63117758e-03 9.99996408e-01 -1.77370615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.7114005130001 meters Centerline goodness [0,1] 0.6816298782689979 Centerline is valid? [False, False] Translation: X:271.56, Y:15.17, Z:-0.18 [[ 9.99998881e-01 1.38490295e-03 5.66507352e-04 2.71559271e+02] [-1.38613691e-03 9.99996655e-01 2.18363347e-03 1.51678773e+01] [-5.63481337e-04 -2.18441628e-03 9.99997455e-01 -1.77038592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.741400513 meters Centerline goodness [0,1] 0.6802251215144538 Centerline is valid? [False, False] Translation: X:271.56, Y:15.17, Z:-0.18 [[ 9.99999088e-01 1.16186533e-03 6.88398555e-04 2.71558772e+02] [-1.16302115e-03 9.99997911e-01 1.68098645e-03 1.51702221e+01] [-6.86444037e-04 -1.68178554e-03 9.99998350e-01 -1.76920453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.771400513 meters Centerline goodness [0,1] 0.7298637986700592 Centerline is valid? [False, False] Translation: X:271.56, Y:15.17, Z:-0.18 [[ 9.99999393e-01 8.50112558e-04 7.00281593e-04 2.71558815e+02] [-8.50708389e-04 9.99999276e-01 8.50987023e-04 1.51741489e+01] [-6.99557651e-04 -8.51582243e-04 9.99999393e-01 -1.77204623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.801400513 meters Centerline goodness [0,1] 0.6855083218488286 Centerline is valid? [False, False] Translation: X:271.56, Y:15.17, Z:-0.18 [[ 9.99997046e-01 2.42947491e-03 -7.41941073e-05 2.71564774e+02] [-2.42930521e-03 9.99994612e-01 2.20759595e-03 1.51741518e+01] [ 7.95570066e-05 -2.20740919e-03 9.99997561e-01 -1.81176011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.831400513 meters Centerline goodness [0,1] 0.6697521012873711 Centerline is valid? [False, False] Translation: X:271.56, Y:15.18, Z:-0.18 [[ 9.99997697e-01 2.14420798e-03 -8.78521231e-05 2.71564887e+02] [-2.14407812e-03 9.99996646e-01 1.45257420e-03 1.51777071e+01] [ 9.09664497e-05 -1.45238249e-03 9.99998941e-01 -1.81458095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.861400513 meters Centerline goodness [0,1] 0.6053295456954485 Centerline is valid? [False, False] Translation: X:271.56, Y:15.18, Z:-0.18 [[ 9.99998190e-01 1.89861773e-03 -1.19556438e-04 2.71564974e+02] [-1.89852604e-03 9.99997907e-01 7.62375831e-04 1.51810032e+01] [ 1.21003649e-04 -7.62147471e-04 9.99999702e-01 -1.81565087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.891400513 meters Centerline goodness [0,1] 0.6536670423373807 Centerline is valid? [False, False] Translation: X:271.56, Y:15.18, Z:-0.18 [[ 9.99998483e-01 1.74143053e-03 -4.45130321e-05 2.71564725e+02] [-1.74141399e-03 9.99998416e-01 3.68960046e-04 1.51828457e+01] [ 4.51554799e-05 -3.68881971e-04 9.99999931e-01 -1.81644611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.921400513 meters Centerline goodness [0,1] 0.6568420162381596 Centerline is valid? [False, False] Translation: X:271.56, Y:15.18, Z:-0.18 [[ 9.99998618e-01 1.66273961e-03 -5.15676699e-06 2.71564609e+02] [-1.66273864e-03 9.99998601e-01 1.83352352e-04 1.51837090e+01] [ 5.46162699e-06 -1.83343524e-04 9.99999983e-01 -1.81698510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.951400513 meters Centerline goodness [0,1] 0.6601259896143696 Centerline is valid? [False, False] Translation: X:271.56, Y:15.19, Z:-0.18 [[ 9.99998913e-01 1.45812604e-03 2.18122498e-04 2.71563400e+02] [-1.45807764e-03 9.99998912e-01 -2.21901791e-04 1.51855410e+01] [-2.18445822e-04 2.21583511e-04 9.99999952e-01 -1.80835084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.981400513 meters Centerline goodness [0,1] 0.6615685274874671 Centerline is valid? [False, False] Translation: X:271.56, Y:15.19, Z:-0.18 [[ 9.99999002e-01 1.37542485e-03 3.22679226e-04 2.71562588e+02] [-1.37530375e-03 9.99998984e-01 -3.75210761e-04 1.51862372e+01] [-3.23194972e-04 3.74766604e-04 9.99999878e-01 -1.79932724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.011400513 meters Centerline goodness [0,1] 0.6698619387949865 Centerline is valid? [False, False] Translation: X:271.56, Y:15.19, Z:-0.18 [[ 9.99999030e-01 1.32748706e-03 4.20547046e-04 2.71561966e+02] [-1.32729961e-03 9.99999020e-01 -4.45696396e-04 1.51865434e+01] [-4.21138290e-04 4.45137772e-04 9.99999812e-01 -1.79371633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.041400513 meters Centerline goodness [0,1] 0.662811994207343 Centerline is valid? [False, False] Translation: X:271.56, Y:15.19, Z:-0.18 [[ 9.99998977e-01 1.36649652e-03 4.23843770e-04 2.71561869e+02] [-1.36636071e-03 9.99999015e-01 -3.20560148e-04 1.51859218e+01] [-4.24281397e-04 3.19980697e-04 9.99999859e-01 -1.79193927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.071400513 meters Centerline goodness [0,1] 0.6771521063168207 Centerline is valid? [False, False] Translation: X:271.56, Y:15.19, Z:-0.18 [[ 9.99998944e-01 1.40469848e-03 3.72406989e-04 2.71562105e+02] [-1.40462491e-03 9.99998994e-01 -1.97733336e-04 1.51853116e+01] [-3.72684370e-04 1.97210035e-04 9.99999911e-01 -1.79320496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.101400513 meters Centerline goodness [0,1] 0.6748738046048007 Centerline is valid? [False, False] Translation: X:271.56, Y:15.19, Z:-0.18 [[ 9.99998986e-01 1.39851160e-03 2.69440364e-04 2.71562541e+02] [-1.39846707e-03 9.99999008e-01 -1.65387451e-04 1.51851402e+01] [-2.69671393e-04 1.65010480e-04 9.99999950e-01 -1.79478296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.131400513 meters Centerline goodness [0,1] 0.6677042966351143 Centerline is valid? [False, False] Translation: X:271.56, Y:15.18, Z:-0.18 [[ 9.99999045e-01 1.38154417e-03 -2.63205591e-05 2.71563712e+02] [-1.38154515e-03 9.99999045e-01 -3.74015592e-05 1.51844723e+01] [ 2.62688620e-05 3.74378866e-05 9.99999999e-01 -1.79852376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.161400513 meters Centerline goodness [0,1] 0.6659524365148397 Centerline is valid? [False, False] Translation: X:271.56, Y:15.18, Z:-0.18 [[ 9.99998923e-01 1.45948811e-03 -1.54592168e-04 2.71564328e+02] [-1.45946197e-03 9.99998921e-01 1.69085435e-04 1.51834920e+01] [ 1.54838780e-04 -1.68859632e-04 9.99999974e-01 -1.80194739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.191400513 meters Centerline goodness [0,1] 0.6966347177848775 Centerline is valid? [False, False] Translation: X:271.56, Y:15.18, Z:-0.18 [[ 9.99998837e-01 1.50012965e-03 -2.76454252e-04 2.71564952e+02] [-1.50004897e-03 9.99998832e-01 2.91810174e-04 1.51829100e+01] [ 2.76891682e-04 -2.91395140e-04 9.99999919e-01 -1.80607949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.221400513 meters Centerline goodness [0,1] 0.6896189168311733 Centerline is valid? [False, False] Translation: X:271.57, Y:15.18, Z:-0.18 [[ 9.99998833e-01 1.49454055e-03 -3.17057358e-04 2.71565014e+02] [-1.49444445e-03 9.99998837e-01 3.03107570e-04 1.51828414e+01] [ 3.17509996e-04 -3.02633392e-04 9.99999904e-01 -1.80468110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.251400513 meters Centerline goodness [0,1] 0.6931270010672359 Centerline is valid? [False, False] Translation: X:271.56, Y:15.18, Z:-0.18 [[ 9.99998827e-01 1.49145043e-03 -3.49407198e-04 2.71564926e+02] [-1.49133899e-03 9.99998837e-01 3.18995550e-04 1.51827354e+01] [ 3.49882557e-04 -3.18474091e-04 9.99999888e-01 -1.80080520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.281400513 meters Centerline goodness [0,1] 0.6933556506631637 Centerline is valid? [False, False] Translation: X:271.56, Y:15.18, Z:-0.18 [[ 9.99998768e-01 1.52886449e-03 -3.57100487e-04 2.71564813e+02] [-1.52872306e-03 9.99998753e-01 3.95987352e-04 1.51823802e+01] [ 3.57705453e-04 -3.95440957e-04 9.99999858e-01 -1.79804303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.311400513 meters Centerline goodness [0,1] 0.6797584366427797 Centerline is valid? [False, False] Translation: X:271.56, Y:15.18, Z:-0.18 [[ 9.99998896e-01 1.46681382e-03 -2.36314736e-04 2.71564343e+02] [-1.46677039e-03 9.99998907e-01 1.83836041e-04 1.51833965e+01] [ 2.36584131e-04 -1.83489219e-04 9.99999955e-01 -1.79709597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.341400513 meters Centerline goodness [0,1] 0.7002470608280797 Centerline is valid? [False, False] Translation: X:271.56, Y:15.18, Z:-0.18 [[ 9.99999093e-01 1.33740336e-03 -1.59821491e-04 2.71564231e+02] [-1.33742484e-03 9.99999097e-01 -1.34404896e-04 1.51848994e+01] [ 1.59641593e-04 1.34618523e-04 9.99999978e-01 -1.80034380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.371400513 meters Centerline goodness [0,1] 0.6397420668589853 Centerline is valid? [False, False] Translation: X:271.56, Y:15.19, Z:-0.18 [[ 9.99999244e-01 1.22029716e-03 -1.51073134e-04 2.71564436e+02] [-1.22036798e-03 9.99999145e-01 -4.69566812e-04 1.51864966e+01] [ 1.50499993e-04 4.69750822e-04 9.99999878e-01 -1.80566521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.401400513 meters Centerline goodness [0,1] 0.6690553606571403 Centerline is valid? [False, False] Translation: X:271.56, Y:15.19, Z:-0.18 [[ 9.99999344e-01 1.13249557e-03 -1.74477437e-04 2.71564784e+02] [-1.13262244e-03 9.99999093e-01 -7.28812553e-04 1.51877374e+01] [ 1.73651902e-04 7.29009692e-04 9.99999719e-01 -1.81168427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.431400513 meters Centerline goodness [0,1] 0.6547204849623258 Centerline is valid? [False, False] Translation: X:271.57, Y:15.19, Z:-0.18 [[ 9.99999416e-01 1.05738418e-03 -2.22654425e-04 2.71565120e+02] [-1.05759422e-03 9.99998994e-01 -9.45362902e-04 1.51887674e+01] [ 2.21654589e-04 9.45597828e-04 9.99999528e-01 -1.81566865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.4614005130001 meters Centerline goodness [0,1] 0.6687062937062938 Centerline is valid? [False, False] Translation: X:271.57, Y:15.19, Z:-0.18 [[ 9.99999528e-01 9.18566614e-04 -3.17872295e-04 2.71565527e+02] [-9.18979406e-04 9.99998732e-01 -1.30090798e-03 1.51904443e+01] [ 3.16676921e-04 1.30119949e-03 9.99999103e-01 -1.81785064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.491400513 meters Centerline goodness [0,1] 0.6689422726004165 Centerline is valid? [False, False] Translation: X:271.57, Y:15.19, Z:-0.18 [[ 9.99999672e-01 7.36861334e-04 -3.36023823e-04 2.71565581e+02] [-7.37447188e-04 9.99998203e-01 -1.74671104e-03 1.51925404e+01] [ 3.34736135e-04 1.74695827e-03 9.99998418e-01 -1.81835688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.521400513 meters Centerline goodness [0,1] 0.6605837068170608 Centerline is valid? [False, False] Translation: X:271.56, Y:15.20, Z:-0.18 [[ 9.99999877e-01 4.70109568e-04 -1.58195225e-04 2.71564439e+02] [-4.70485241e-04 9.99997050e-01 -2.38314875e-03 1.51955016e+01] [ 1.57074417e-04 2.38322289e-03 9.99997148e-01 -1.80809498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.551400513 meters Centerline goodness [0,1] 0.6900694815606627 Centerline is valid? [False, False] Translation: X:271.56, Y:15.19, Z:-0.18 [[ 9.99999861e-01 5.27174275e-04 -2.04634033e-05 2.71563658e+02] [-5.27217883e-04 9.99997456e-01 -2.19295596e-03 1.51945725e+01] [ 1.93072813e-05 2.19296644e-03 9.99997595e-01 -1.80143957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.581400513 meters Centerline goodness [0,1] 0.6776212500530403 Centerline is valid? [False, False] Translation: X:271.56, Y:15.19, Z:-0.18 [[ 9.99999799e-01 6.33701148e-04 2.85797988e-05 2.71563304e+02] [-6.33647595e-04 9.99998113e-01 -1.83641567e-03 1.51928545e+01] [-2.97434836e-05 1.83639720e-03 9.99998313e-01 -1.79724890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.611400513 meters Centerline goodness [0,1] 0.6840871806890086 Centerline is valid? [False, False] Translation: X:271.56, Y:15.19, Z:-0.18 [[ 9.99999709e-01 7.62654612e-04 -4.09562265e-06 2.71563435e+02] [-7.62659747e-04 9.99998659e-01 -1.44933106e-03 1.51910209e+01] [ 2.99027814e-06 1.44933377e-03 9.99998950e-01 -1.79693874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.641400513 meters Centerline goodness [0,1] 0.6834558354930536 Centerline is valid? [False, False] Translation: X:271.56, Y:15.19, Z:-0.18 [[ 9.99999632e-01 8.39552209e-04 -1.77436702e-04 2.71564012e+02] [-8.39742432e-04 9.99999070e-01 -1.07471700e-03 1.51891989e+01] [ 1.76534255e-04 1.07486561e-03 9.99999407e-01 -1.79661751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.671400513 meters Centerline goodness [0,1] 0.6814187468160978 Centerline is valid? [False, False] Translation: X:271.56, Y:15.19, Z:-0.18 [[ 9.99999527e-01 8.98948859e-04 -3.70062391e-04 2.71564711e+02] [-8.99213937e-04 9.99999339e-01 -7.16762961e-04 1.51874278e+01] [ 3.69417813e-04 7.17095388e-04 9.99999675e-01 -1.79744589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.701400513 meters Centerline goodness [0,1] 0.6988631543225587 Centerline is valid? [False, False] Translation: X:271.57, Y:15.18, Z:-0.18 [[ 9.99999554e-01 4.66979017e-04 -8.21040870e-04 2.71566226e+02] [-4.66879002e-04 9.99999884e-01 1.22001841e-04 1.51820942e+01] [ 8.21097747e-04 -1.21618460e-04 9.99999656e-01 -1.79858908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.731400513 meters Centerline goodness [0,1] 0.844010126147773 Centerline is valid? [False, False] Translation: X:271.52, Y:15.18, Z:-0.18 [[ 9.99994613e-01 -6.01787804e-04 -3.22688476e-03 2.71524018e+02] [ 6.01029879e-04 9.99999792e-01 -2.35842964e-04 1.51754760e+01] [ 3.22702601e-03 2.33902239e-04 9.99994766e-01 -1.79111074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.761400513 meters Centerline goodness [0,1] 0.8524258185538881 Centerline is valid? [False, False] Translation: X:271.53, Y:15.17, Z:-0.18 [[ 9.99988385e-01 -2.68162363e-03 -4.00493219e-03 2.71530069e+02] [ 2.67292592e-03 9.99994061e-01 -2.17552587e-03 1.51748215e+01] [ 4.01074235e-03 2.16479572e-03 9.99989614e-01 -1.82840146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.791400513 meters Centerline goodness [0,1] 0.9575823426647918 Centerline is valid? [False, True] Translation: X:271.53, Y:15.17, Z:-0.18 [[ 9.99988779e-01 -2.40475709e-03 -4.08156581e-03 2.71530264e+02] [ 2.39932799e-03 9.99996231e-01 -1.33452614e-03 1.51707943e+01] [ 4.08475964e-03 1.32471815e-03 9.99990780e-01 -1.82612549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.821400513 meters Centerline goodness [0,1] 0.9956873431029674 Centerline is valid? [True, True] Translation: X:271.56, Y:15.16, Z:-0.18 [[ 9.99982621e-01 -4.00360277e-03 -4.32773682e-03 2.71560980e+02] [ 4.00244483e-03 9.99991952e-01 -2.76190419e-04 1.51636859e+01] [ 4.32880774e-03 2.58864092e-04 9.99990597e-01 -1.82553408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.851400513 meters Centerline goodness [0,1] 0.9839124699980539 Centerline is valid? [True, True] Translation: X:271.59, Y:15.17, Z:-0.18 [[ 9.99976755e-01 -5.17441225e-03 -4.44006959e-03 2.71589021e+02] [ 5.17320399e-03 9.99986579e-01 -2.83569315e-04 1.51653539e+01] [ 4.44147731e-03 2.60593337e-04 9.99990103e-01 -1.82697881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.881400513 meters Centerline goodness [0,1] 0.9977189392001364 Centerline is valid? [True, True] Translation: X:271.62, Y:15.16, Z:-0.18 [[ 9.99969726e-01 -6.45561994e-03 -4.34409380e-03 2.71618278e+02] [ 6.45447444e-03 9.99979131e-01 -2.77659054e-04 1.51579219e+01] [ 4.34579560e-03 2.49611805e-04 9.99990526e-01 -1.82511189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.911400513 meters Centerline goodness [0,1] 0.9992286430545735 Centerline is valid? [True, True] Translation: X:271.65, Y:15.16, Z:-0.18 [[ 9.99965893e-01 -6.86672561e-03 -4.58918518e-03 2.71647360e+02] [ 6.86544860e-03 9.99976389e-01 -2.93961297e-04 1.51566234e+01] [ 4.59109537e-03 2.62444456e-04 9.99989426e-01 -1.83234986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.941400513 meters Centerline goodness [0,1] 0.9955697286191251 Centerline is valid? [True, True] Translation: X:271.67, Y:15.16, Z:-0.18 [[ 9.99965225e-01 -6.79791785e-03 -4.83085866e-03 2.71674733e+02] [ 6.79649995e-03 9.99976856e-01 -3.09865667e-04 1.51604439e+01] [ 4.83285329e-03 2.77021961e-04 9.99988283e-01 -1.84112445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.971400513 meters Centerline goodness [0,1] 0.9976774693017354 Centerline is valid? [True, True] Translation: X:271.70, Y:15.16, Z:-0.19 [[ 9.99962665e-01 -6.62385456e-03 -5.54907496e-03 2.71703852e+02] [ 6.62197656e-03 9.99978011e-01 -3.56740768e-04 1.51599742e+01] [ 5.55131594e-03 3.19981605e-04 9.99984540e-01 -1.85036789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.001400513 meters Centerline goodness [0,1] 0.984778264381989 Centerline is valid? [True, True] Translation: X:271.73, Y:15.17, Z:-0.19 [[ 9.99959793e-01 -6.31573803e-03 -6.36586778e-03 2.71730905e+02] [ 6.31325650e-03 9.99979987e-01 -4.09838233e-04 1.51657094e+01] [ 6.36832881e-03 3.69632398e-04 9.99979654e-01 -1.87053422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.031400513 meters Centerline goodness [0,1] 0.9946641421747924 Centerline is valid? [True, True] Translation: X:271.76, Y:15.16, Z:-0.19 [[ 9.99955070e-01 -6.03135716e-03 -7.31311117e-03 2.71759772e+02] [ 6.02806654e-03 9.99981720e-01 -4.71920328e-04 1.51635217e+01] [ 7.31582381e-03 4.27815204e-04 9.99973147e-01 -1.87915524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.061400513 meters Centerline goodness [0,1] 0.9978362861243815 Centerline is valid? [True, True] Translation: X:271.79, Y:15.16, Z:-0.19 [[ 9.99947563e-01 -6.00020276e-03 -8.29875428e-03 2.71788266e+02] [ 5.99595900e-03 9.99981880e-01 -5.36157910e-04 1.51621634e+01] [ 8.30182096e-03 4.86370805e-04 9.99965421e-01 -1.88603030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.091400513 meters Centerline goodness [0,1] 0.9991428632652624 Centerline is valid? [True, True] Translation: X:271.82, Y:15.16, Z:-0.19 [[ 9.99941884e-01 -6.88321423e-03 -8.29760896e-03 2.71817819e+02] [ 6.87899225e-03 9.99976195e-01 -5.37252712e-04 1.51596143e+01] [ 8.30110946e-03 4.80142301e-04 9.99965430e-01 -1.88785976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.121400513 meters Centerline goodness [0,1] 0.9991428632652624 Centerline is valid? [True, True] Translation: X:271.85, Y:15.16, Z:-0.19 [[ 9.99940569e-01 -7.07172121e-03 -8.29751014e-03 2.71845253e+02] [ 7.06749309e-03 9.99974880e-01 -5.38776493e-04 1.51615602e+01] [ 8.30111178e-03 4.80101878e-04 9.99965430e-01 -1.88754179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.151400513 meters Centerline goodness [0,1] 0.995764705882353 Centerline is valid? [True, True] Translation: X:271.87, Y:15.16, Z:-0.19 [[ 9.99937344e-01 -8.30804541e-03 -7.50227116e-03 2.71873186e+02] [ 8.30461989e-03 9.99965397e-01 -4.87635346e-04 1.51647329e+01] [ 7.50606286e-03 4.25301282e-04 9.99971739e-01 -1.88504263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.181400513 meters Centerline goodness [0,1] 0.9990455789094148 Centerline is valid? [True, True] Translation: X:271.90, Y:15.16, Z:-0.19 [[ 9.99932623e-01 -9.74266418e-03 -6.31112772e-03 2.71903548e+02] [ 9.74026789e-03 9.99952478e-01 -4.10318579e-04 1.51590179e+01] [ 6.31482540e-03 3.48818858e-04 9.99980000e-01 -1.86719533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.2114005130001 meters Centerline goodness [0,1] 0.9995755067388306 Centerline is valid? [True, True] Translation: X:271.93, Y:15.15, Z:-0.19 [[ 9.99919690e-01 -1.12532065e-02 -5.82916136e-03 2.71933154e+02] [ 1.12511836e-02 9.99936631e-01 -3.79712698e-04 1.51544202e+01] [ 5.83306496e-03 3.14097239e-04 9.99982938e-01 -1.86241466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.241400513 meters Centerline goodness [0,1] 0.9998918918918919 Centerline is valid? [True, True] Translation: X:271.96, Y:15.15, Z:-0.19 [[ 9.99900762e-01 -1.25102525e-02 -6.47762421e-03 2.71962569e+02] [ 1.25077779e-02 9.99921685e-01 -4.22405413e-04 1.51496686e+01] [ 6.48240131e-03 3.41342810e-04 9.99978931e-01 -1.87253447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.271400513 meters Centerline goodness [0,1] 0.9998714928250161 Centerline is valid? [True, True] Translation: X:271.99, Y:15.14, Z:-0.19 [[ 9.99873185e-01 -1.44435666e-02 -6.70796834e-03 2.71993442e+02] [ 1.44409554e-02 9.99895628e-01 -4.37550037e-04 1.51425990e+01] [ 6.71358800e-03 3.40625077e-04 9.99977406e-01 -1.88308861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.301400513 meters Centerline goodness [0,1] 0.9998929771613262 Centerline is valid? [True, True] Translation: X:272.02, Y:15.14, Z:-0.19 [[ 9.99866400e-01 -1.52696495e-02 -5.83274760e-03 2.72021829e+02] [ 1.52676846e-02 9.99883369e-01 -3.81256103e-04 1.51413681e+01] [ 5.83788897e-03 2.92152617e-04 9.99982917e-01 -1.86705054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.331400513 meters Centerline goodness [0,1] 0.9996981001876092 Centerline is valid? [True, True] Translation: X:272.05, Y:15.14, Z:-0.18 [[ 9.99864213e-01 -1.56990545e-02 -5.00951734e-03 2.72051234e+02] [ 1.56976079e-02 9.99876731e-01 -3.27955653e-04 1.51400329e+01] [ 5.01404842e-03 2.49273682e-04 9.99987399e-01 -1.84590527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.361400513 meters Centerline goodness [0,1] 0.999680279648734 Centerline is valid? [True, True] Translation: X:272.08, Y:15.14, Z:-0.18 [[ 9.99868666e-01 -1.57399002e-02 -3.86074715e-03 2.72078729e+02] [ 1.57390401e-02 9.99876102e-01 -2.53068591e-04 1.51432294e+01] [ 3.86425209e-03 1.92270900e-04 9.99992515e-01 -1.82677155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.391400513 meters Centerline goodness [0,1] 0.9997631607277425 Centerline is valid? [True, True] Translation: X:272.11, Y:15.14, Z:-0.18 [[ 9.99874844e-01 -1.53659388e-02 -3.76615107e-03 2.72108121e+02] [ 1.53651157e-02 9.99881919e-01 -2.47398571e-04 1.51381641e+01] [ 3.76950787e-03 1.89500260e-04 9.99992877e-01 -1.81559604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.421400513 meters Centerline goodness [0,1] 0.9998281233215168 Centerline is valid? [True, True] Translation: X:272.14, Y:15.14, Z:-0.18 [[ 9.99891140e-01 -1.41478367e-02 -4.18883149e-03 2.72137806e+02] [ 1.41468066e-02 9.99899891e-01 -2.75448574e-04 1.51361977e+01] [ 4.19230915e-03 2.16160000e-04 9.99991189e-01 -1.81453616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.451400513 meters Centerline goodness [0,1] 0.9996976111279104 Centerline is valid? [True, True] Translation: X:272.17, Y:15.14, Z:-0.18 [[ 9.99909874e-01 -1.24829013e-02 -4.94172937e-03 2.72166513e+02] [ 1.24814465e-02 9.99922051e-01 -3.25125100e-04 1.51391259e+01] [ 4.94540267e-03 2.63415867e-04 9.99987737e-01 -1.83137106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.481400513 meters Centerline goodness [0,1] 0.9981750649462181 Centerline is valid? [True, True] Translation: X:272.19, Y:15.15, Z:-0.18 [[ 9.99930604e-01 -9.85098160e-03 -6.46099914e-03 2.72194868e+02] [ 9.83077327e-03 9.99946709e-01 -3.15207745e-03 1.51470364e+01] [ 6.49170588e-03 3.08834209e-03 9.99974160e-01 -1.84395894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.511400513 meters Centerline goodness [0,1] 0.9986786018755328 Centerline is valid? [True, True] Translation: X:272.23, Y:15.14, Z:-0.18 [[ 9.99965276e-01 -6.23775310e-03 -5.52599173e-03 2.72225910e+02] [ 6.25038963e-03 9.99977884e-01 2.27243204e-03 1.51355812e+01] [ 5.51169465e-03 -2.30689273e-03 9.99982150e-01 -1.84309593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.541400513 meters Centerline goodness [0,1] 0.9939930984535423 Centerline is valid? [True, True] Translation: X:272.26, Y:15.14, Z:-0.18 [[ 9.99978809e-01 -4.31141202e-03 -4.87773466e-03 2.72255061e+02] [ 4.30989738e-03 9.99990661e-01 -3.20991282e-04 1.51399478e+01] [ 4.87907303e-03 2.99961945e-04 9.99988052e-01 -1.83161440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.571400513 meters Centerline goodness [0,1] 0.9976516212431326 Centerline is valid? [True, True] Translation: X:272.29, Y:15.14, Z:-0.18 [[ 9.99987685e-01 -2.47156780e-03 -4.30363448e-03 2.72285886e+02] [ 2.47037169e-03 9.99996909e-01 -2.83223779e-04 1.51354230e+01] [ 4.30432118e-03 2.72588715e-04 9.99990699e-01 -1.81451829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.601400513 meters Centerline goodness [0,1] 0.9738639292157031 Centerline is valid? [True, True] Translation: X:272.31, Y:15.14, Z:-0.18 [[ 9.99992945e-01 -4.51152061e-04 -3.72904751e-03 2.72314332e+02] [ 4.50239962e-04 9.99999869e-01 -2.45429122e-04 1.51412908e+01] [ 3.72915775e-03 2.43748424e-04 9.99993017e-01 -1.80509530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.631400513 meters Centerline goodness [0,1] 0.7721008260601814 Centerline is valid? [True, False] Translation: X:272.34, Y:15.15, Z:-0.18 [[ 9.99998582e-01 1.41293693e-03 9.16054239e-04 2.72335365e+02] [-1.40400880e-03 9.99952213e-01 -9.67475319e-03 1.51481838e+01] [-9.29680279e-04 9.67345333e-03 9.99952779e-01 -1.84739234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.661400513 meters Centerline goodness [0,1] 0.6817007833678413 Centerline is valid? [False, False] Translation: X:272.34, Y:15.14, Z:-0.19 [[ 9.99980074e-01 6.26401829e-03 7.83574080e-04 2.72336108e+02] [-6.26090569e-03 9.99972742e-01 -3.91361886e-03 1.51413814e+01] [-8.08067701e-04 3.90863499e-03 9.99992035e-01 -1.85174378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.691400513 meters Centerline goodness [0,1] 0.755988278263824 Centerline is valid? [False, False] Translation: X:272.34, Y:15.14, Z:-0.19 [[ 9.99959687e-01 8.97898328e-03 3.53203224e-05 2.72342701e+02] [-8.97893754e-03 9.99959048e-01 -1.13222289e-03 1.51391952e+01] [-4.54850863e-05 1.13186011e-03 9.99999358e-01 -1.90062872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.721400513 meters Centerline goodness [0,1] 0.7837324454689034 Centerline is valid? [False, False] Translation: X:272.34, Y:15.14, Z:-0.19 [[ 9.99959325e-01 9.01903619e-03 7.22305808e-05 2.72342602e+02] [-9.01895120e-03 9.99958722e-01 -1.10141295e-03 1.51390883e+01] [-8.21612826e-05 1.10071671e-03 9.99999391e-01 -1.90128055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.751400513 meters Centerline goodness [0,1] 0.7065136542344066 Centerline is valid? [False, False] Translation: X:272.34, Y:15.14, Z:-0.19 [[ 9.99958536e-01 9.10543810e-03 1.32457612e-04 2.72342341e+02] [-9.10530624e-03 9.99958081e-01 -9.64143670e-04 1.51384748e+01] [-1.41231010e-04 9.62897626e-04 9.99999526e-01 -1.90027363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.781400513 meters Centerline goodness [0,1] 0.7232613390928726 Centerline is valid? [False, False] Translation: X:272.32, Y:15.13, Z:-0.18 [[ 9.99947859e-01 8.74194489e-03 -5.27795974e-03 2.72319234e+02] [-8.69081885e-03 9.99915832e-01 9.63315249e-03 1.51276490e+01] [ 5.36172800e-03 -9.58678042e-03 9.99939671e-01 -1.83725034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.811400513 meters Centerline goodness [0,1] 0.742598330321026 Centerline is valid? [False, False] Translation: X:272.32, Y:15.13, Z:-0.18 [[ 9.99977577e-01 4.35209881e-03 -5.08961376e-03 2.72318498e+02] [-4.33012559e-03 9.99981292e-01 4.32034668e-03 1.51327819e+01] [ 5.10832112e-03 -4.29821114e-03 9.99977715e-01 -1.83814415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.841400513 meters Centerline goodness [0,1] 0.6935031847133758 Centerline is valid? [False, False] Translation: X:272.36, Y:15.14, Z:-0.18 [[ 9.99994472e-01 2.23486693e-03 -2.46185417e-03 2.72359163e+02] [-2.23351280e-03 9.99997353e-01 5.52655149e-04 1.51393656e+01] [ 2.46308276e-03 -5.47153511e-04 9.99996817e-01 -1.84197412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.871400513 meters Centerline goodness [0,1] 0.73472326706072 Centerline is valid? [False, False] Translation: X:272.32, Y:15.14, Z:-0.19 [[ 9.99980275e-01 1.85248964e-03 -6.00148157e-03 2.72321383e+02] [-1.85004724e-03 9.99998204e-01 4.12492907e-04 1.51351834e+01] [ 6.00223493e-03 -4.01381746e-04 9.99981906e-01 -1.86780886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.901400513 meters Centerline goodness [0,1] 0.73472326706072 Centerline is valid? [False, False] Translation: X:272.32, Y:15.14, Z:-0.19 [[ 9.99980275e-01 1.85248964e-03 -6.00148157e-03 2.72321383e+02] [-1.85004724e-03 9.99998204e-01 4.12492907e-04 1.51351834e+01] [ 6.00223493e-03 -4.01381746e-04 9.99981906e-01 -1.86780886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.931400513 meters Centerline goodness [0,1] 0.7549147260347072 Centerline is valid? [False, False] Translation: X:272.32, Y:15.14, Z:-0.19 [[ 9.99979259e-01 1.89262267e-03 -6.15631379e-03 2.72322396e+02] [-1.89005351e-03 9.99998124e-01 4.23111830e-04 1.51351429e+01] [ 6.15710303e-03 -4.11467291e-04 9.99980960e-01 -1.87786079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.9614005130001 meters Centerline goodness [0,1] 0.7388796308165619 Centerline is valid? [False, False] Translation: X:272.32, Y:15.14, Z:-0.19 [[ 9.99979404e-01 1.83935646e-03 -6.14880965e-03 2.72322483e+02] [-1.83778272e-03 9.99998277e-01 2.61581537e-04 1.51359090e+01] [ 6.14928019e-03 -2.50275973e-04 9.99981062e-01 -1.88016810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.991400513 meters Centerline goodness [0,1] 0.6172232214445142 Centerline is valid? [False, False] Translation: X:272.28, Y:15.13, Z:-0.19 [[ 9.99965955e-01 1.74529622e-03 -8.06491069e-03 2.72279359e+02] [-1.74757848e-03 9.99998435e-01 -2.75947808e-04 1.51339743e+01] [ 8.06441645e-03 2.90032478e-04 9.99967440e-01 -1.87906904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.021400513 meters Centerline goodness [0,1] 0.679923999829213 Centerline is valid? [False, False] Translation: X:272.32, Y:15.14, Z:-0.19 [[ 9.99983468e-01 2.89177368e-03 -4.97014607e-03 2.72319427e+02] [-2.89073627e-03 9.99995799e-01 2.15900719e-04 1.51377750e+01] [ 4.97074953e-03 -2.01529768e-04 9.99987625e-01 -1.87921138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.051400513 meters Centerline goodness [0,1] 0.7228638406778932 Centerline is valid? [False, False] Translation: X:272.32, Y:15.14, Z:-0.19 [[ 9.99984351e-01 2.72133331e-03 -4.88795258e-03 2.72319339e+02] [-2.72278199e-03 9.99996251e-01 -2.89748160e-04 1.51401735e+01] [ 4.88714575e-03 3.03052455e-04 9.99988012e-01 -1.88366401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.081400513 meters Centerline goodness [0,1] 0.6581869530798691 Centerline is valid? [False, False] Translation: X:272.32, Y:15.14, Z:-0.19 [[ 9.99984938e-01 2.51483356e-03 -4.87851099e-03 2.72319490e+02] [-2.51931185e-03 9.99996411e-01 -9.12034636e-04 1.51431417e+01] [ 4.87619986e-03 9.24311389e-04 9.99987684e-01 -1.88829332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.111400513 meters Centerline goodness [0,1] 0.6209795244245877 Centerline is valid? [False, False] Translation: X:272.34, Y:15.14, Z:-0.19 [[ 9.99990203e-01 4.42017207e-03 2.36861862e-04 2.72342228e+02] [-4.42259219e-03 9.99924807e-01 1.14376756e-02 1.51393313e+01] [-1.86287557e-04 -1.14386111e-02 9.99934560e-01 -1.94939481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.141400513 meters Centerline goodness [0,1] 0.6359420289855072 Centerline is valid? [False, False] Translation: X:272.31, Y:15.15, Z:-0.19 [[ 9.99984982e-01 5.09182851e-03 -2.02709611e-03 2.72314877e+02] [-5.09086903e-03 9.99986927e-01 4.78202235e-04 1.51457233e+01] [ 2.02950453e-03 -4.67875372e-04 9.99997831e-01 -1.88543678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.171400513 meters Centerline goodness [0,1] 0.6429437929640114 Centerline is valid? [False, False] Translation: X:272.32, Y:15.14, Z:-0.19 [[ 9.99953824e-01 9.35125004e-03 -2.21436891e-03 2.72315346e+02] [-9.33835747e-03 9.99939791e-01 5.76269952e-03 1.51405210e+01] [ 2.26812403e-03 -5.74175485e-03 9.99980944e-01 -1.87937645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.201400513 meters Centerline goodness [0,1] 0.6615671003081136 Centerline is valid? [False, False] Translation: X:272.31, Y:15.15, Z:-0.19 [[ 9.99986577e-01 4.83066355e-03 -1.87366025e-03 2.72314122e+02] [-4.83080441e-03 9.99988329e-01 -7.06581930e-05 1.51482497e+01] [ 1.87329706e-03 7.97085307e-05 9.99998242e-01 -1.88101270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.231400513 meters Centerline goodness [0,1] 0.6706670089419415 Centerline is valid? [False, False] Translation: X:272.31, Y:15.15, Z:-0.19 [[ 9.99986886e-01 4.72138443e-03 -1.98398647e-03 2.72314674e+02] [-4.72199235e-03 9.99988806e-01 -3.01839985e-04 1.51493150e+01] [ 1.98253916e-03 3.11204396e-04 9.99997986e-01 -1.88502364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.261400513 meters Centerline goodness [0,1] 0.6737882312765457 Centerline is valid? [False, False] Translation: X:272.32, Y:15.15, Z:-0.19 [[ 9.99986665e-01 4.68499964e-03 -2.17281587e-03 2.72315459e+02] [-4.68573255e-03 9.99988967e-01 -3.32338828e-04 1.51494315e+01] [ 2.17123489e-03 3.42515631e-04 9.99997584e-01 -1.88826293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.291400513 meters Centerline goodness [0,1] 0.6614790969364914 Centerline is valid? [False, False] Translation: X:272.32, Y:15.15, Z:-0.19 [[ 9.99985864e-01 4.64667069e-03 -2.58449749e-03 2.72316683e+02] [-4.64580879e-03 9.99989151e-01 3.39388851e-04 1.51457979e+01] [ 2.58604647e-03 -3.27376973e-04 9.99996603e-01 -1.88602642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.321400513 meters Centerline goodness [0,1] 0.6760301625616816 Centerline is valid? [False, False] Translation: X:272.31, Y:15.15, Z:-0.18 [[ 9.99995440e-01 2.51042434e-03 -1.67844612e-03 2.72309685e+02] [-2.51313889e-03 9.99995534e-01 -1.61715029e-03 1.51455907e+01] [ 1.67437889e-03 1.62136108e-03 9.99997284e-01 -1.83802266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.351400513 meters Centerline goodness [0,1] 0.6951138530085899 Centerline is valid? [False, False] Translation: X:272.31, Y:15.14, Z:-0.18 [[ 9.99995067e-01 2.67853687e-03 -1.64057666e-03 2.72309314e+02] [-2.68018292e-03 9.99995906e-01 -1.00195782e-03 1.51426098e+01] [ 1.63788616e-03 1.00634992e-03 9.99998152e-01 -1.83185781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.381400513 meters Centerline goodness [0,1] 0.7126500619472808 Centerline is valid? [False, False] Translation: X:272.31, Y:15.14, Z:-0.18 [[ 9.99994523e-01 2.88337484e-03 -1.62512908e-03 2.72308984e+02] [-2.88393668e-03 9.99995782e-01 -3.43480751e-04 1.51394521e+01] [ 1.62413185e-03 3.48165639e-04 9.99998620e-01 -1.82567081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.411400513 meters Centerline goodness [0,1] 0.7272843695972337 Centerline is valid? [False, False] Translation: X:272.31, Y:15.14, Z:-0.18 [[ 9.99993674e-01 3.12101106e-03 -1.70602718e-03 2.72309109e+02] [-3.12041096e-03 9.99995069e-01 3.54306503e-04 1.51361226e+01] [ 1.70712456e-03 -3.48980756e-04 9.99998482e-01 -1.82200198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.441400513 meters Centerline goodness [0,1] 0.7194471697308364 Centerline is valid? [False, False] Translation: X:272.31, Y:15.13, Z:-0.18 [[ 9.99992384e-01 3.43922217e-03 -1.84516374e-03 2.72309517e+02] [-3.43702065e-03 9.99993379e-01 1.19497464e-03 1.51321306e+01] [ 1.84926131e-03 -1.18862367e-03 9.99997584e-01 -1.82041098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.471400513 meters Centerline goodness [0,1] 0.7031778943805009 Centerline is valid? [False, False] Translation: X:272.31, Y:15.12, Z:-0.18 [[ 9.99989651e-01 3.94166763e-03 -2.27162544e-03 2.72311067e+02] [-3.93538597e-03 9.99988439e-01 2.76313857e-03 1.51244961e+01] [ 2.28249055e-03 -2.75417025e-03 9.99993602e-01 -1.82174100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.501400513 meters Centerline goodness [0,1] 0.7420546774882528 Centerline is valid? [False, False] Translation: X:272.31, Y:15.12, Z:-0.18 [[ 9.99988344e-01 4.19855612e-03 -2.38402227e-03 2.72311578e+02] [-4.19054195e-03 9.99985586e-01 3.35671928e-03 1.51217189e+01] [ 2.39808128e-03 -3.34668981e-03 9.99991524e-01 -1.82384517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.531400513 meters Centerline goodness [0,1] 0.8579501834001535 Centerline is valid? [False, False] Translation: X:272.31, Y:15.12, Z:-0.18 [[ 9.99987577e-01 4.35106004e-03 -2.43175566e-03 2.72311780e+02] [-4.34206836e-03 9.99983762e-01 3.69073806e-03 1.51201652e+01] [ 2.44777480e-03 -3.68013337e-03 9.99990232e-01 -1.82452545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.561400513 meters Centerline goodness [0,1] 0.686942485770113 Centerline is valid? [False, False] Translation: X:272.31, Y:15.12, Z:-0.18 [[ 9.99987161e-01 4.44808091e-03 -2.42748121e-03 2.72311783e+02] [-4.43861050e-03 9.99982572e-01 3.89287469e-03 1.51192327e+01] [ 2.44475472e-03 -3.88205007e-03 9.99989476e-01 -1.82467575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.591400513 meters Centerline goodness [0,1] 0.7682601930987446 Centerline is valid? [False, False] Translation: X:272.31, Y:15.12, Z:-0.18 [[ 9.99986581e-01 4.60905743e-03 -2.36517593e-03 2.72311583e+02] [-4.59903769e-03 9.99980501e-01 4.22445537e-03 1.51176998e+01] [ 2.38460057e-03 -4.21352115e-03 9.99988280e-01 -1.82489675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.621400513 meters Centerline goodness [0,1] 0.7720792878540016 Centerline is valid? [False, False] Translation: X:272.31, Y:15.12, Z:-0.18 [[ 9.99985379e-01 4.85084505e-03 -2.38958835e-03 2.72311670e+02] [-4.83941115e-03 9.99976925e-01 4.76764884e-03 1.51151400e+01] [ 2.41266033e-03 -4.75601494e-03 9.99985780e-01 -1.82465805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.651400513 meters Centerline goodness [0,1] 0.774393779935136 Centerline is valid? [False, False] Translation: X:272.31, Y:15.11, Z:-0.18 [[ 9.99984153e-01 5.07460813e-03 -2.43752232e-03 2.72311872e+02] [-5.06169054e-03 9.99973267e-01 5.27673162e-03 1.51127701e+01] [ 2.46423450e-03 -5.26431002e-03 9.99983107e-01 -1.82507282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.681400513 meters Centerline goodness [0,1] 0.7437468311644415 Centerline is valid? [False, False] Translation: X:272.35, Y:15.12, Z:-0.18 [[ 9.99996089e-01 2.78627172e-03 2.40793413e-04 2.72352801e+02] [-2.78658546e-03 9.99995256e-01 1.31256893e-03 1.51185553e+01] [-2.37135097e-04 -1.31323479e-03 9.99999110e-01 -1.83156702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.7114005130001 meters Centerline goodness [0,1] 0.7485887226598553 Centerline is valid? [False, False] Translation: X:272.31, Y:15.11, Z:-0.18 [[ 9.99996774e-01 1.23770419e-03 -2.21834161e-03 2.72310194e+02] [-1.23465217e-03 9.99998290e-01 1.37665431e-03 1.51104823e+01] [ 2.22004171e-03 -1.37391099e-03 9.99996592e-01 -1.81754081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.741400513 meters Centerline goodness [0,1] 0.8118584146185628 Centerline is valid? [False, False] Translation: X:272.32, Y:15.11, Z:-0.19 [[ 9.99995204e-01 -5.69895530e-04 -3.04408867e-03 2.72316391e+02] [ 5.68986193e-04 9.99999793e-01 -2.99580003e-04 1.51095366e+01] [ 3.04425877e-03 2.97846522e-04 9.99995322e-01 -1.85602943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.771400513 meters Centerline goodness [0,1] 0.8581229883110283 Centerline is valid? [False, False] Translation: X:272.32, Y:15.10, Z:-0.19 [[ 9.99995167e-01 -1.96717900e-04 -3.10276703e-03 2.72316393e+02] [ 1.99283282e-04 9.99999639e-01 8.26516933e-04 1.51041004e+01] [ 3.10260332e-03 -8.27131268e-04 9.99994845e-01 -1.85121774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.801400513 meters Centerline goodness [0,1] 0.9600263796111135 Centerline is valid? [False, True] Translation: X:272.31, Y:15.10, Z:-0.18 [[ 9.99996779e-01 -1.55890108e-03 -2.00270526e-03 2.72310789e+02] [ 1.55931703e-03 9.99998763e-01 2.06148487e-04 1.51023582e+01] [ 2.00238142e-03 -2.09270675e-04 9.99997973e-01 -1.82506564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.831400513 meters Centerline goodness [0,1] 0.9548229807080771 Centerline is valid? [True, True] Translation: X:272.34, Y:15.10, Z:-0.18 [[ 9.99991192e-01 -3.63710743e-03 -2.09444697e-03 2.72339718e+02] [ 3.63681127e-03 9.99993376e-01 -1.45194380e-04 1.51044981e+01] [ 2.09496119e-03 1.37575992e-04 9.99997796e-01 -1.82819498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.861400513 meters Centerline goodness [0,1] 0.9935908355336002 Centerline is valid? [True, True] Translation: X:272.37, Y:15.10, Z:-0.18 [[ 9.99982753e-01 -5.29326022e-03 -2.54459095e-03 2.72370025e+02] [ 5.29282797e-03 9.99985977e-01 -1.76576206e-04 1.50991105e+01] [ 2.54548993e-03 1.63105079e-04 9.99996747e-01 -1.83145921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.891400513 meters Centerline goodness [0,1] 0.9989264396444368 Centerline is valid? [True, True] Translation: X:272.40, Y:15.10, Z:-0.18 [[ 9.99967775e-01 -7.38714644e-03 -3.14324669e-03 2.72400193e+02] [ 7.38649732e-03 9.99972696e-01 -2.18073404e-04 1.50952116e+01] [ 3.14477181e-03 1.94848793e-04 9.99995036e-01 -1.84908356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.921400513 meters Centerline goodness [0,1] 0.9923952748168244 Centerline is valid? [True, True] Translation: X:272.43, Y:15.10, Z:-0.18 [[ 9.99959820e-01 -8.52079716e-03 -2.78462532e-03 2.72428028e+02] [ 8.52029157e-03 9.99963683e-01 -1.93376766e-04 1.51009572e+01] [ 2.78617192e-03 1.69643176e-04 9.99996104e-01 -1.84911389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.951400513 meters Centerline goodness [0,1] 0.99946718953134 Centerline is valid? [True, True] Translation: X:272.46, Y:15.09, Z:-0.18 [[ 9.99948845e-01 -9.95275766e-03 -1.80281715e-03 2.72458661e+02] [ 9.95254796e-03 9.99950464e-01 -1.25256694e-04 1.50936541e+01] [ 1.80397450e-03 1.07307662e-04 9.99998367e-01 -1.82567069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.981400513 meters Centerline goodness [0,1] 0.9988301854687766 Centerline is valid? [True, True] Translation: X:272.49, Y:15.10, Z:-0.18 [[ 9.99925661e-01 -1.21244186e-02 -1.29278065e-03 2.72487760e+02] [ 1.21243125e-02 9.99926494e-01 -8.98503236e-05 1.50958188e+01] [ 1.29377500e-03 7.41695676e-05 9.99999160e-01 -1.81643825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.011400513 meters Centerline goodness [0,1] 0.9988301854687766 Centerline is valid? [True, True] Translation: X:272.52, Y:15.10, Z:-0.18 [[ 9.99925387e-01 -1.21469691e-02 -1.29277868e-03 2.72516898e+02] [ 1.21468631e-02 9.99926220e-01 -8.98787062e-05 1.50978850e+01] [ 1.29377505e-03 7.41687946e-05 9.99999160e-01 -1.81687602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.041400513 meters Centerline goodness [0,1] 0.9997848444425319 Centerline is valid? [True, True] Translation: X:272.55, Y:15.09, Z:-0.18 [[ 9.99885734e-01 -1.50310374e-02 -1.60827432e-03 2.72547952e+02] [ 1.50308770e-02 9.99887024e-01 -1.11743478e-04 1.50901241e+01] [ 1.60977225e-03 8.75569362e-05 9.99998700e-01 -1.81555952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.071400513 meters Centerline goodness [0,1] 0.9999357188772231 Centerline is valid? [True, True] Translation: X:272.58, Y:15.08, Z:-0.18 [[ 9.99761849e-01 -2.17408718e-02 -1.89208624e-03 2.72579507e+02] [ 2.17406618e-02 9.99763635e-01 -1.31495576e-04 1.50813603e+01] [ 1.89449785e-03 9.03290536e-05 9.99998201e-01 -1.82552184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.101400513 meters Centerline goodness [0,1] 0.9999147521418524 Centerline is valid? [True, True] Translation: X:272.61, Y:15.08, Z:-0.18 [[ 9.99695624e-01 -2.46173148e-02 -1.62678957e-03 2.72608899e+02] [ 2.46171632e-02 9.99696945e-01 -1.13125318e-04 1.50825651e+01] [ 1.62908141e-03 7.30439409e-05 9.99998670e-01 -1.82497350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.131400513 meters Centerline goodness [0,1] 0.9998723295599625 Centerline is valid? [True, True] Translation: X:272.64, Y:15.08, Z:-0.18 [[ 9.99631515e-01 -2.70971709e-02 -1.60577229e-03 2.72639349e+02] [ 2.70970265e-02 9.99632802e-01 -1.11665642e-04 1.50755157e+01] [ 1.60820848e-03 6.81128409e-05 9.99998705e-01 -1.82447625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.161400513 meters Centerline goodness [0,1] 0.9999148682586302 Centerline is valid? [True, True] Translation: X:272.67, Y:15.07, Z:-0.18 [[ 9.99562025e-01 -2.95219937e-02 -2.05161800e-03 2.72669891e+02] [ 2.95217629e-02 9.99564128e-01 -1.42689319e-04 1.50735613e+01] [ 2.05493623e-03 8.20594441e-05 9.99997885e-01 -1.83051634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.191400513 meters Centerline goodness [0,1] 0.9999151409720601 Centerline is valid? [True, True] Translation: X:272.70, Y:15.08, Z:-0.18 [[ 9.99491717e-01 -3.17884344e-02 -2.40903663e-03 2.72699022e+02] [ 3.17881226e-02 9.99494616e-01 -1.67619153e-04 1.50751131e+01] [ 2.41314749e-03 9.09552036e-05 9.99997084e-01 -1.83841643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.221400513 meters Centerline goodness [0,1] 0.9999153295796114 Centerline is valid? [True, True] Translation: X:272.73, Y:15.07, Z:-0.18 [[ 9.99403179e-01 -3.44712856e-02 -2.23969671e-03 2.72729216e+02] [ 3.44710228e-02 9.99405686e-01 -1.55847281e-04 1.50707773e+01] [ 2.24373788e-03 7.85496315e-05 9.99997480e-01 -1.83493953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.251400513 meters Centerline goodness [0,1] 0.9999361688546565 Centerline is valid? [True, True] Translation: X:272.76, Y:15.07, Z:-0.18 [[ 9.99294721e-01 -3.75015799e-02 -1.92134130e-03 2.72759396e+02] [ 3.75013919e-02 9.99296566e-01 -1.33761219e-04 1.50656510e+01] [ 1.92500602e-03 6.16139066e-05 9.99998145e-01 -1.82800672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.281400513 meters Centerline goodness [0,1] 0.9999786187727175 Centerline is valid? [True, True] Translation: X:272.79, Y:15.06, Z:-0.18 [[ 9.99170959e-01 -4.06680418e-02 -1.87225869e-03 2.72788521e+02] [ 4.06678688e-02 9.99172712e-01 -1.30388981e-04 1.50632233e+01] [ 1.87601245e-03 5.41401125e-05 9.99998239e-01 -1.82534572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.311400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.82, Y:15.05, Z:-0.18 [[ 9.98891167e-01 -4.70601100e-02 -1.33513837e-03 2.72820105e+02] [ 4.70600278e-02 9.98892059e-01 -9.29648561e-05 1.50515381e+01] [ 1.33803405e-03 3.00301249e-05 9.99999104e-01 -1.80570462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.341400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.85, Y:15.05, Z:-0.18 [[ 9.98744285e-01 -5.00608305e-02 -1.94073862e-03 2.72849677e+02] [ 5.00606620e-02 9.98746170e-01 -1.35297118e-04 1.50463352e+01] [ 1.94507835e-03 3.79725636e-05 9.99998108e-01 -1.80428176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.371400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.88, Y:15.05, Z:-0.18 [[ 9.98605844e-01 -5.26984766e-02 -3.03946124e-03 2.72877499e+02] [ 5.26980736e-02 9.98610469e-01 -2.12562398e-04 1.50462887e+01] [ 3.04643953e-03 5.20923002e-05 9.99995358e-01 -1.82484604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.401400513 meters Centerline goodness [0,1] 0.9999575722862174 Centerline is valid? [True, True] Translation: X:272.91, Y:15.05, Z:-0.19 [[ 9.98484225e-01 -5.48916609e-02 -4.01973371e-03 2.72905820e+02] [ 5.48909740e-02 9.98492314e-01 -2.81102419e-04 1.50454412e+01] [ 4.02910340e-03 6.00292328e-05 9.99991881e-01 -1.85018394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.431400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.94, Y:15.04, Z:-0.18 [[ 9.98367277e-01 -5.69422871e-02 -4.51183152e-03 2.72935685e+02] [ 5.69414388e-02 9.98377470e-01 -3.16367514e-04 1.50390413e+01] [ 4.52252563e-03 5.89407956e-05 9.99989772e-01 -1.84238620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.4614005130001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.96, Y:15.04, Z:-0.18 [[ 9.98258496e-01 -5.88823163e-02 -3.58442931e-03 2.72963587e+02] [ 5.88817929e-02 9.98264930e-01 -2.51457667e-04 1.50362103e+01] [ 3.59301648e-03 3.99621278e-05 9.99993544e-01 -1.83089594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.491400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.99, Y:15.03, Z:-0.18 [[ 9.98031895e-01 -6.26914181e-02 -1.45697036e-03 2.72992829e+02] [ 6.26913350e-02 9.98032958e-01 -1.02670151e-04 1.50277531e+01] [ 1.46054098e-03 1.11286685e-05 9.99998933e-01 -1.78519781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.521400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.02, Y:15.03, Z:-0.18 [[ 9.97935711e-01 -6.42183795e-02 -5.62078199e-04 2.73020777e+02] [ 6.42183673e-02 9.97935870e-01 -3.96882516e-05 1.50256896e+01] [ 5.63466711e-04 3.51057933e-06 9.99999841e-01 -1.77686918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.551400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.05, Y:15.02, Z:-0.18 [[ 9.97867616e-01 -6.52684648e-02 -4.98790716e-04 2.73047981e+02] [ 6.52684553e-02 9.97867740e-01 -3.53684977e-05 1.50240250e+01] [ 5.00035613e-04 2.73777891e-06 9.99999875e-01 -1.78086821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.581400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.08, Y:15.02, Z:-0.18 [[ 9.97801220e-01 -6.62655610e-02 -1.26555004e-03 2.73075794e+02] [ 6.62655004e-02 9.97802022e-01 -8.97715599e-05 1.50217663e+01] [ 1.26871715e-03 5.71186537e-06 9.99999195e-01 -1.79777162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.611400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.10, Y:15.02, Z:-0.18 [[ 9.97775455e-01 -6.66355774e-02 -1.95983993e-03 2.73103924e+02] [ 6.66354324e-02 9.97777380e-01 -1.39259491e-04 1.50206835e+01] [ 1.96476359e-03 8.35492115e-06 9.99998070e-01 -1.80530110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.641400513 meters Centerline goodness [0,1] 0.9997842735411498 Centerline is valid? [True, True] Translation: X:273.13, Y:15.02, Z:-0.18 [[ 9.97863876e-01 -6.53266239e-02 -3.43226972e-04 2.73130588e+02] [ 6.53274581e-02 9.97856626e-01 3.80493063e-03 1.50179153e+01] [ 9.39280353e-05 -3.81922497e-03 9.99992702e-01 -1.81371051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.671400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.16, Y:15.02, Z:-0.18 [[ 9.97788431e-01 -6.64388601e-02 -2.03095087e-03 2.73159024e+02] [ 6.64307242e-02 9.97783648e-01 -3.84062118e-03 1.50247818e+01] [ 2.28161606e-03 3.69720985e-03 9.99990562e-01 -1.81260403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.701400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.19, Y:15.02, Z:-0.18 [[ 9.97822842e-01 -6.59142551e-02 -2.21065632e-03 2.73185751e+02] [ 6.59140665e-02 9.97825291e-01 -1.58122181e-04 1.50226803e+01] [ 2.21627129e-03 1.20645764e-05 9.99997544e-01 -1.80491360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.731400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.21, Y:15.02, Z:-0.18 [[ 9.97968326e-01 -6.37032910e-02 -1.05434730e-03 2.73213132e+02] [ 6.37032469e-02 9.97968883e-01 -7.54583949e-05 1.50242365e+01] [ 1.05701275e-03 8.13974158e-06 9.99999441e-01 -1.78944703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.761400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.24, Y:15.03, Z:-0.18 [[ 9.98038352e-01 -6.26026860e-02 -5.92848099e-04 2.73241467e+02] [ 6.26026717e-02 9.98038528e-01 -4.27416326e-05 1.50269324e+01] [ 5.94360985e-04 5.54391366e-06 9.99999823e-01 -1.78155388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.791400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.27, Y:15.03, Z:-0.18 [[ 9.98137967e-01 -6.09960822e-02 2.76667819e-04 2.73268443e+02] [ 6.09960791e-02 9.98138005e-01 1.97297219e-05 1.50326464e+01] [-2.77356101e-04 -2.81733230e-06 9.99999962e-01 -1.77180288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.821400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.30, Y:15.04, Z:-0.18 [[ 9.98248722e-01 -5.91472028e-02 1.04768977e-03 2.73297086e+02] [ 5.91471566e-02 9.98249272e-01 7.50581655e-05 1.50381764e+01] [-1.05029503e-03 -1.29588466e-05 9.99999448e-01 -1.76141543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.851400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.33, Y:15.04, Z:-0.18 [[ 9.98351270e-01 -5.73854417e-02 1.28537178e-03 2.73325700e+02] [ 5.73853704e-02 9.98352098e-01 9.23511607e-05 1.50419075e+01] [-1.28855322e-03 -1.84373631e-05 9.99999170e-01 -1.75899666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.881400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.35, Y:15.05, Z:-0.18 [[ 9.98426269e-01 -5.60764712e-02 6.44326653e-04 2.73354009e+02] [ 5.60764530e-02 9.98426477e-01 4.62709009e-05 1.50458070e+01] [-6.45907499e-04 -1.00665297e-05 9.99999791e-01 -1.76842369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.911400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.38, Y:15.05, Z:-0.18 [[ 9.98458607e-01 -5.54503873e-02 -2.38005297e-03 2.73381726e+02] [ 5.54501342e-02 9.98461443e-01 -1.72245949e-04 1.50516762e+01] [ 2.38594222e-03 4.00061943e-05 9.99997153e-01 -1.81645303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.941400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.41, Y:15.05, Z:-0.18 [[ 9.98429658e-01 -5.59461570e-02 -2.87166528e-03 2.73409551e+02] [ 5.59457886e-02 9.98433786e-01 -2.08524467e-04 1.50520894e+01] [ 2.87883379e-03 4.75394330e-05 9.99995855e-01 -1.81911100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.971400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.44, Y:15.06, Z:-0.18 [[ 9.98404999e-01 -5.63883051e-02 -2.79584143e-03 2.73437301e+02] [ 5.63879577e-02 9.98408913e-01 -2.02986062e-04 1.50561660e+01] [ 2.80283904e-03 4.50105105e-05 9.99996071e-01 -1.82160284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.001400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.47, Y:15.06, Z:-0.18 [[ 9.98374871e-01 -5.69375175e-02 -2.39492347e-03 2.73466616e+02] [ 5.69372629e-02 9.98377743e-01 -1.74390633e-04 1.50573313e+01] [ 2.40096766e-03 3.77468389e-05 9.99997117e-01 -1.81038592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.031400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.49, Y:15.06, Z:-0.18 [[ 9.98366580e-01 -5.71091017e-02 -1.64996852e-03 2.73494800e+02] [ 5.71089804e-02 9.98367943e-01 -1.20574412e-04 1.50589386e+01] [ 1.65416158e-03 2.61494431e-05 9.99998632e-01 -1.80033372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.061400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.52, Y:15.06, Z:-0.18 [[ 9.98372153e-01 -5.70198957e-02 -1.33259193e-03 2.73522993e+02] [ 5.70198160e-02 9.98373042e-01 -9.77149298e-05 1.50587272e+01] [ 1.33599556e-03 2.15717179e-05 9.99999107e-01 -1.78991032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.091400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.55, Y:15.07, Z:-0.18 [[ 9.98500908e-01 -5.47263199e-02 -9.82671675e-04 2.73550655e+02] [ 5.47262754e-02 9.98501392e-01 -7.20672361e-05 1.50654171e+01] [ 9.85143010e-04 1.81812400e-05 9.99999515e-01 -1.78963075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.121400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.58, Y:15.07, Z:-0.18 [[ 9.98609269e-01 -5.27116781e-02 -1.00321798e-03 2.73578696e+02] [ 5.27116308e-02 9.98609773e-01 -7.35787327e-05 1.50697778e+01] [ 1.00570174e-03 2.05951488e-05 9.99999494e-01 -1.78928567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.151400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.61, Y:15.07, Z:-0.18 [[ 9.98724537e-01 -5.04715459e-02 -1.38649737e-03 2.73606732e+02] [ 5.04714531e-02 9.98725499e-01 -1.01834099e-04 1.50732969e+01] [ 1.38987000e-03 3.17256771e-05 9.99999034e-01 -1.79169827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.181400513 meters Centerline goodness [0,1] 0.9999785688262146 Centerline is valid? [True, True] Translation: X:273.63, Y:15.08, Z:-0.18 [[ 9.98847520e-01 -4.79714076e-02 -1.54144131e-03 2.73634513e+02] [ 4.79712900e-02 9.98848709e-01 -1.13202481e-04 1.50786787e+01] [ 1.54509715e-03 3.91270889e-05 9.99998806e-01 -1.79446024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.2114005130001 meters Centerline goodness [0,1] 0.9999785839722448 Centerline is valid? [True, True] Translation: X:273.66, Y:15.08, Z:-0.18 [[ 9.98956307e-01 -4.56400093e-02 -1.81307002e-03 2.73663871e+02] [ 4.56398427e-02 9.98957951e-01 -1.33144486e-04 1.50816296e+01] [ 1.81725743e-03 5.02572934e-05 9.99998348e-01 -1.79573814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.241400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.69, Y:15.09, Z:-0.18 [[ 9.99153692e-01 -4.10603290e-02 -2.43916652e-03 2.73693660e+02] [ 4.10600139e-02 9.99156666e-01 -1.79135171e-04 1.50867660e+01] [ 2.44446484e-03 7.88313565e-05 9.99997009e-01 -1.80351472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.271400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.72, Y:15.09, Z:-0.18 [[ 9.99145670e-01 -4.12550700e-02 -2.43911103e-03 2.73721084e+02] [ 4.12547536e-02 9.99148644e-01 -1.79889771e-04 1.50889358e+01] [ 2.44445585e-03 7.91111612e-05 9.99997009e-01 -1.80394468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.301400513 meters Centerline goodness [0,1] 0.9999574105621806 Centerline is valid? [True, True] Translation: X:273.75, Y:15.10, Z:-0.18 [[ 9.99242273e-01 -3.88312609e-02 -2.64835797e-03 2.73748734e+02] [ 3.88308798e-02 9.99245778e-01 -1.95195271e-04 1.50951095e+01] [ 2.65394020e-03 9.22092960e-05 9.99996474e-01 -1.80968431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.331400513 meters Centerline goodness [0,1] 0.9998720873217217 Centerline is valid? [True, True] Translation: X:273.78, Y:15.10, Z:-0.18 [[ 9.99401698e-01 -3.45193761e-02 -2.15830944e-03 2.73776827e+02] [ 3.45191129e-02 9.99404025e-01 -1.59101047e-04 1.51049854e+01] [ 2.16251521e-03 8.45029295e-05 9.99997658e-01 -1.81228270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.361400513 meters Centerline goodness [0,1] 0.9999572622176636 Centerline is valid? [True, True] Translation: X:273.81, Y:15.10, Z:-0.18 [[ 9.99478083e-01 -3.22643700e-02 -1.60378890e-03 2.73806007e+02] [ 3.22642216e-02 9.99479367e-01 -1.18309843e-04 1.51037769e+01] [ 1.60677111e-03 6.65030943e-05 9.99998707e-01 -1.79745455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.391400513 meters Centerline goodness [0,1] 0.9998946348042315 Centerline is valid? [True, True] Translation: X:273.83, Y:15.11, Z:-0.18 [[ 9.99546457e-01 -3.00988903e-02 -9.68376441e-04 2.73834102e+02] [ 3.00988351e-02 9.99546925e-01 -7.14921238e-05 1.51107031e+01] [ 9.70089527e-04 4.23126961e-05 9.99999529e-01 -1.79133822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.421400513 meters Centerline goodness [0,1] 0.9997874736998703 Centerline is valid? [True, True] Translation: X:273.86, Y:15.11, Z:-0.18 [[ 9.99589671e-01 -2.86162233e-02 -1.26571284e-03 2.73863495e+02] [ 2.86161278e-02 9.99590470e-01 -9.35155173e-05 1.51112331e+01] [ 1.26787056e-03 5.72573447e-05 9.99999195e-01 -1.79174387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.451400513 meters Centerline goodness [0,1] 0.9998524451939291 Centerline is valid? [True, True] Translation: X:273.89, Y:15.12, Z:-0.18 [[ 9.99618811e-01 -2.75751762e-02 -1.35762406e-03 2.73890384e+02] [ 2.75750652e-02 9.99619731e-01 -1.00426538e-04 1.51181402e+01] [ 1.35987708e-03 6.29516849e-05 9.99999073e-01 -1.80019103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.481400513 meters Centerline goodness [0,1] 0.9998724327082537 Centerline is valid? [True, True] Translation: X:273.92, Y:15.12, Z:-0.18 [[ 9.99635618e-01 -2.69128990e-02 -2.08029706e-03 2.73919341e+02] [ 2.69126361e-02 9.99637778e-01 -1.54300283e-04 1.51185167e+01] [ 2.08369620e-03 9.82577810e-05 9.99997824e-01 -1.81171497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.511400513 meters Centerline goodness [0,1] 0.999850647549553 Centerline is valid? [True, True] Translation: X:273.95, Y:15.12, Z:-0.18 [[ 9.99668764e-01 -2.55953332e-02 -2.69092420e-03 2.73949146e+02] [ 2.55948890e-02 9.99672377e-01 -1.99367743e-04 1.51171510e+01] [ 2.69514548e-03 1.30427799e-04 9.99996360e-01 -1.82746270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.541400513 meters Centerline goodness [0,1] 0.9996393644328475 Centerline is valid? [True, True] Translation: X:273.98, Y:15.12, Z:-0.18 [[ 9.99663390e-01 -2.57136790e-02 -3.45161204e-03 2.73976197e+02] [ 2.57129477e-02 9.99669335e-01 -2.56087661e-04 1.51221516e+01] [ 3.45705567e-03 1.67250339e-04 9.99994010e-01 -1.84539709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.571400513 meters Centerline goodness [0,1] 0.9998302819441204 Centerline is valid? [True, True] Translation: X:274.01, Y:15.12, Z:-0.19 [[ 9.99634305e-01 -2.66882045e-02 -4.35847925e-03 2.74005097e+02] [ 2.66870442e-02 9.99643785e-01 -3.24179594e-04 1.51170315e+01] [ 4.36557846e-03 2.07746115e-04 9.99990449e-01 -1.85132415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.601400513 meters Centerline goodness [0,1] 0.9998518706619265 Centerline is valid? [True, True] Translation: X:274.03, Y:15.12, Z:-0.19 [[ 9.99601334e-01 -2.78411878e-02 -4.69475235e-03 2.74033330e+02] [ 2.78398507e-02 9.99612335e-01 -3.49932681e-04 1.51178238e+01] [ 4.70267490e-03 2.19091970e-04 9.99988918e-01 -1.85291253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.631400513 meters Centerline goodness [0,1] 0.9998283924664293 Centerline is valid? [True, True] Translation: X:274.06, Y:15.12, Z:-0.19 [[ 9.99567207e-01 -2.90505814e-02 -4.63278621e-03 2.74060867e+02] [ 2.90492918e-02 9.99577921e-01 -3.45417939e-04 1.51185824e+01] [ 4.64086540e-03 2.10689286e-04 9.99989209e-01 -1.85285522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.661400513 meters Centerline goodness [0,1] 0.9998936509624587 Centerline is valid? [True, True] Translation: X:274.09, Y:15.11, Z:-0.19 [[ 9.99529626e-01 -3.03226278e-02 -4.58960589e-03 2.74089860e+02] [ 3.03213715e-02 9.99540143e-01 -3.43088868e-04 1.51140036e+01] [ 4.59789868e-03 2.03764343e-04 9.99989409e-01 -1.85268841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.691400513 meters Centerline goodness [0,1] 0.9997463538363982 Centerline is valid? [True, True] Translation: X:274.12, Y:15.11, Z:-0.19 [[ 9.99468463e-01 -3.22716949e-02 -4.61844758e-03 2.74118966e+02] [ 3.22704440e-02 9.99479114e-01 -3.45138764e-04 1.51124263e+01] [ 4.62718011e-03 1.95915955e-04 9.99989275e-01 -1.86719085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.721400513 meters Centerline goodness [0,1] 0.9999362746139304 Centerline is valid? [True, True] Translation: X:274.15, Y:15.11, Z:-0.19 [[ 9.99430353e-01 -3.34848526e-02 -4.21116791e-03 2.74148228e+02] [ 3.34838196e-02 9.99439210e-01 -3.15590942e-04 1.51097820e+01] [ 4.21937384e-03 1.74405181e-04 9.99991083e-01 -1.85851770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.751400513 meters Centerline goodness [0,1] 0.9999575326467778 Centerline is valid? [True, True] Translation: X:274.18, Y:15.11, Z:-0.18 [[ 9.99397144e-01 -3.45389823e-02 -3.52248884e-03 2.74175889e+02] [ 3.45382654e-02 9.99403341e-01 -2.64175979e-04 1.51097670e+01] [ 3.52951148e-03 1.42356065e-04 9.99993761e-01 -1.84360458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.781400513 meters Centerline goodness [0,1] 0.9999786834924966 Centerline is valid? [True, True] Translation: X:274.21, Y:15.11, Z:-0.18 [[ 9.99362463e-01 -3.56271854e-02 -2.31748914e-03 2.74205143e+02] [ 3.56268768e-02 9.99365146e-01 -1.74342098e-04 1.51083127e+01] [ 2.32222919e-03 9.16660484e-05 9.99997299e-01 -1.82287851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.811400513 meters Centerline goodness [0,1] 0.9999362691989039 Centerline is valid? [True, True] Translation: X:274.23, Y:15.11, Z:-0.18 [[ 9.99328047e-01 -3.66322965e-02 -1.23653657e-03 2.74234773e+02] [ 3.66322090e-02 9.99328811e-01 -9.33097840e-05 1.51061717e+01] [ 1.23912477e-03 4.79500183e-05 9.99999231e-01 -1.80750430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.841400513 meters Centerline goodness [0,1] 0.9998948873192062 Centerline is valid? [True, True] Translation: X:274.26, Y:15.11, Z:-0.18 [[ 9.99295711e-01 -3.75189367e-02 -6.41929327e-04 2.74262466e+02] [ 3.75189133e-02 9.99295917e-01 -4.84453624e-05 1.51068558e+01] [ 6.43294974e-04 2.43267521e-05 9.99999793e-01 -1.80185607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.871400513 meters Centerline goodness [0,1] 0.9999787437559783 Centerline is valid? [True, True] Translation: X:274.29, Y:15.10, Z:-0.18 [[ 9.99252410e-01 -3.86346320e-02 -1.40919778e-03 2.74292051e+02] [ 3.86345199e-02 9.99253403e-01 -1.06628524e-04 1.51014291e+01] [ 1.41226523e-03 5.21051295e-05 9.99999001e-01 -1.80874451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.901400513 meters Centerline goodness [0,1] 0.9999787437559783 Centerline is valid? [True, True] Translation: X:274.32, Y:15.10, Z:-0.18 [[ 9.99245360e-01 -3.88165556e-02 -1.40917568e-03 2.74319480e+02] [ 3.88164434e-02 9.99246352e-01 -1.06920708e-04 1.51036666e+01] [ 1.41226395e-03 5.21408335e-05 9.99999001e-01 -1.80917439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.931400513 meters Centerline goodness [0,1] 0.9999152578280581 Centerline is valid? [True, True] Translation: X:274.35, Y:15.10, Z:-0.18 [[ 9.99256202e-01 -3.85347246e-02 -1.45534766e-03 2.74348130e+02] [ 3.85346043e-02 9.99257260e-01 -1.10609611e-04 1.51047179e+01] [ 1.45852902e-03 5.44460935e-05 9.99998935e-01 -1.80848333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.9614005130001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.38, Y:15.10, Z:-0.18 [[ 9.99282528e-01 -3.78600127e-02 -1.02450326e-03 2.74377647e+02] [ 3.78599525e-02 9.99283052e-01 -7.81124679e-05 1.51022024e+01] [ 1.02672609e-03 3.92687795e-05 9.99999472e-01 -1.80114140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.991400513 meters Centerline goodness [0,1] 0.9999788364267423 Centerline is valid? [True, True] Translation: X:274.40, Y:15.10, Z:-0.18 [[ 9.99323368e-01 -3.67804916e-02 -2.98835392e-05 2.74404942e+02] [ 3.67804916e-02 9.99323369e-01 -2.38163798e-06 1.51036243e+01] [ 2.99509169e-05 1.28089522e-06 1.00000000e+00 -1.79331610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.021400513 meters Centerline goodness [0,1] 0.9997232747243391 Centerline is valid? [True, True] Translation: X:274.43, Y:15.11, Z:-0.18 [[ 9.99361521e-01 -3.57244245e-02 5.62104443e-04 2.74432009e+02] [ 3.57244062e-02 9.99361679e-01 4.26877061e-05 1.51081796e+01] [-5.63270633e-04 -2.25796034e-05 9.99999841e-01 -1.78807604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.051400513 meters Centerline goodness [0,1] 0.9998720382179189 Centerline is valid? [True, True] Translation: X:274.46, Y:15.10, Z:-0.18 [[ 9.99402334e-01 -3.45648969e-02 4.91767534e-04 2.74460902e+02] [ 3.45648827e-02 9.99402455e-01 3.73768304e-05 1.51005114e+01] [-4.92765608e-04 -2.03566044e-05 9.99999878e-01 -1.78704585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.081400513 meters Centerline goodness [0,1] 0.9996583313758568 Centerline is valid? [True, True] Translation: X:274.49, Y:15.11, Z:-0.18 [[ 9.99436589e-01 -3.35627887e-02 -2.11179297e-04 2.74487843e+02] [ 3.35627860e-02 9.99436611e-01 -1.62726216e-05 1.51055197e+01] [ 2.11606476e-04 9.17568784e-06 9.99999978e-01 -1.80587256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.111400513 meters Centerline goodness [0,1] 0.9998725058966023 Centerline is valid? [True, True] Translation: X:274.52, Y:15.11, Z:-0.18 [[ 9.99496527e-01 -3.16318833e-02 -2.47299701e-03 2.74516733e+02] [ 3.16315128e-02 9.99499581e-01 -1.88817705e-04 1.51060069e+01] [ 2.47773213e-03 1.10498004e-04 9.99996924e-01 -1.84233636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.141400513 meters Centerline goodness [0,1] 0.9995762891402906 Centerline is valid? [True, True] Translation: X:274.54, Y:15.11, Z:-0.19 [[ 9.99548324e-01 -2.98953659e-02 -3.06836586e-03 2.74544719e+02] [ 2.98947868e-02 9.99553023e-01 -2.34416292e-04 1.51105179e+01] [ 3.07400233e-03 1.42582269e-04 9.99995265e-01 -1.85117512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.171400513 meters Centerline goodness [0,1] 0.9996610528545705 Centerline is valid? [True, True] Translation: X:274.58, Y:15.11, Z:-0.18 [[ 9.99615651e-01 -2.75811790e-02 -2.79797849e-03 2.74575391e+02] [ 2.75806885e-02 9.99619558e-01 -2.13745125e-04 1.51057780e+01] [ 2.80280936e-03 1.36492799e-04 9.99996063e-01 -1.84262250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.201400513 meters Centerline goodness [0,1] 0.9998514494291414 Centerline is valid? [True, True] Translation: X:274.61, Y:15.11, Z:-0.18 [[ 9.99687022e-01 -2.49115563e-02 -2.29617917e-03 2.74605750e+02] [ 2.49112189e-02 9.99689652e-01 -1.75454397e-04 1.51054960e+01] [ 2.29983740e-03 1.18198861e-04 9.99997348e-01 -1.82873334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.231400513 meters Centerline goodness [0,1] 0.9994931255147944 Centerline is valid? [True, True] Translation: X:274.63, Y:15.11, Z:-0.18 [[ 9.99752379e-01 -2.22059557e-02 -1.44084971e-03 2.74634507e+02] [ 2.22058200e-02 9.99753414e-01 -1.10117461e-04 1.51113655e+01] [ 1.44293968e-03 7.80949440e-05 9.99998956e-01 -1.81725086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.261400513 meters Centerline goodness [0,1] 0.9994869821726305 Centerline is valid? [True, True] Translation: X:274.66, Y:15.11, Z:-0.18 [[ 9.99808942e-01 -1.95415948e-02 -4.53978739e-04 2.74664996e+02] [ 1.95415811e-02 9.99809044e-01 -3.46898176e-05 1.51140770e+01] [ 4.54569943e-04 2.58117275e-05 9.99999896e-01 -1.79741378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.291400513 meters Centerline goodness [0,1] 0.9719941751261001 Centerline is valid? [True, True] Translation: X:274.69, Y:15.13, Z:-0.18 [[ 9.99862066e-01 -1.66031176e-02 4.29881692e-04 2.74692733e+02] [ 1.66031050e-02 9.99862158e-01 3.28497330e-05 1.51305976e+01] [-4.30367845e-04 -2.57078310e-05 9.99999907e-01 -1.79129501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.321400513 meters Centerline goodness [0,1] 0.9664742076871207 Centerline is valid? [True, True] Translation: X:274.72, Y:15.13, Z:-0.18 [[ 9.99933754e-01 -1.15093126e-02 1.54322983e-04 2.74723708e+02] [ 1.15093109e-02 9.99933766e-01 1.17878734e-05 1.51273225e+01] [-1.54448432e-04 -1.00109413e-05 9.99999988e-01 -1.80531558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.351400513 meters Centerline goodness [0,1] 0.9943951922257267 Centerline is valid? [True, True] Translation: X:274.75, Y:15.12, Z:-0.18 [[ 9.99956672e-01 -9.29765045e-03 -4.54897998e-04 2.74754754e+02] [ 9.29763559e-03 9.99956775e-01 -3.47831948e-05 1.51212287e+01] [ 4.55201737e-04 3.05522120e-05 9.99999896e-01 -1.81751507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.381400513 meters Centerline goodness [0,1] 0.9620910068982975 Centerline is valid? [True, True] Translation: X:274.78, Y:15.13, Z:-0.18 [[ 9.99972826e-01 -7.28855336e-03 -1.10683616e-03 2.74782978e+02] [ 7.28846413e-03 9.99973435e-01 -8.46322703e-05 1.51279335e+01] [ 1.10742361e-03 7.65628347e-05 9.99999384e-01 -1.83471627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.411400513 meters Centerline goodness [0,1] 0.979317674566904 Centerline is valid? [True, True] Translation: X:274.81, Y:15.13, Z:-0.19 [[ 9.99982018e-01 -5.56151452e-03 -2.24366476e-03 2.74812978e+02] [ 5.56114354e-03 9.99984522e-01 -1.71551383e-04 1.51267082e+01] [ 2.24458412e-03 1.59070956e-04 9.99997468e-01 -1.85647236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.441400513 meters Centerline goodness [0,1] 0.8781240749355098 Centerline is valid? [True, False] Translation: X:274.81, Y:15.13, Z:-0.19 [[ 9.99981924e-01 -5.54071558e-03 -2.33506066e-03 2.74813624e+02] [ 5.54030347e-03 9.99984636e-01 -1.82919893e-04 1.51267326e+01] [ 2.33603829e-03 1.69979642e-04 9.99997257e-01 -1.86310334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.471400513 meters Centerline goodness [0,1] 0.9916021770558721 Centerline is valid? [False, True] Translation: X:274.81, Y:15.13, Z:-0.19 [[ 9.99982495e-01 -5.43124682e-03 -2.34774048e-03 2.74813706e+02] [ 5.43131364e-03 9.99985250e-01 2.20860773e-05 1.51257949e+01] [ 2.34758590e-03 -3.48370056e-05 9.99997244e-01 -1.86414271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.501400513 meters Centerline goodness [0,1] 0.9538040596432434 Centerline is valid? [True, True] Translation: X:274.84, Y:15.13, Z:-0.19 [[ 9.99981947e-01 -5.55330905e-03 -2.29499729e-03 2.74841167e+02] [ 5.55290609e-03 9.99984566e-01 -1.81915969e-04 1.51290534e+01] [ 2.29597211e-03 1.69168781e-04 9.99997350e-01 -1.87085362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.531400513 meters Centerline goodness [0,1] 0.9401691196830604 Centerline is valid? [True, False] Translation: X:274.84, Y:15.13, Z:-0.19 [[ 9.99982767e-01 -5.35386923e-03 -2.40854831e-03 2.74841704e+02] [ 5.35463267e-03 9.99985616e-01 3.10637402e-04 1.51266908e+01] [ 2.40685055e-03 -3.23528940e-04 9.99997051e-01 -1.87424854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.561400513 meters Centerline goodness [0,1] 0.8600072912869121 Centerline is valid? [False, False] Translation: X:274.84, Y:15.13, Z:-0.19 [[ 9.99982911e-01 -5.25959766e-03 -2.55240421e-03 2.74842458e+02] [ 5.26103301e-03 9.99986006e-01 5.55964224e-04 1.51254719e+01] [ 2.54944434e-03 -5.69383005e-04 9.99996588e-01 -1.87981083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.591400513 meters Centerline goodness [0,1] 0.9883718449294843 Centerline is valid? [False, True] Translation: X:274.84, Y:15.12, Z:-0.19 [[ 9.99983069e-01 -5.17711721e-03 -2.65672697e-03 2.74842979e+02] [ 5.17914419e-03 9.99986302e-01 7.56648327e-04 1.51244890e+01] [ 2.65277332e-03 -7.70395088e-04 9.99996185e-01 -1.88340597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.621400513 meters Centerline goodness [0,1] 0.8420120961793776 Centerline is valid? [True, False] Translation: X:274.87, Y:15.13, Z:-0.20 [[ 9.99986258e-01 -4.58503439e-03 2.54195238e-03 2.74866542e+02] [ 4.61024165e-03 9.99939362e-01 -1.00009487e-02 1.51337511e+01] [-2.49594354e-03 1.00125303e-02 9.99946758e-01 -1.95740975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.651400513 meters Centerline goodness [0,1] 0.9114393489870306 Centerline is valid? [False, False] Translation: X:274.87, Y:15.13, Z:-0.19 [[ 9.99997031e-01 -1.45563342e-04 2.43238838e-03 2.74866395e+02] [ 1.55759571e-04 9.99991201e-01 -4.19219515e-03 1.51260962e+01] [-2.43175675e-03 4.19256158e-03 9.99988254e-01 -1.94582783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.681400513 meters Centerline goodness [0,1] 0.9641065963957838 Centerline is valid? [False, True] Translation: X:274.87, Y:15.12, Z:-0.19 [[ 9.99996843e-01 6.68370348e-05 2.51179054e-03 2.74865886e+02] [-5.74635695e-05 9.99993036e-01 -3.73167309e-03 1.51239918e+01] [-2.51202246e-03 3.73151697e-03 9.99989883e-01 -1.94084796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.7114005130001 meters Centerline goodness [0,1] 0.8578290105667628 Centerline is valid? [True, False] Translation: X:274.87, Y:15.12, Z:-0.19 [[ 9.99996878e-01 3.37647069e-05 2.49842315e-03 2.74866038e+02] [-2.42162851e-05 9.99992697e-01 -3.82171084e-03 1.51243996e+01] [-2.49853394e-03 3.82163840e-03 9.99989576e-01 -1.94292394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.741400513 meters Centerline goodness [0,1] 0.9175889115719351 Centerline is valid? [False, False] Translation: X:274.87, Y:15.13, Z:-0.19 [[ 9.99996885e-01 -6.27133349e-05 2.49525845e-03 2.74866231e+02] [ 7.28449412e-05 9.99991754e-01 -4.06045978e-03 1.51255067e+01] [-2.49498323e-03 4.06062890e-03 9.99988643e-01 -1.94655393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.771400513 meters Centerline goodness [0,1] 0.9750133818648967 Centerline is valid? [False, True] Translation: X:274.87, Y:15.13, Z:-0.19 [[ 9.99996978e-01 -1.15754333e-04 2.45563009e-03 2.74866448e+02] [ 1.26120824e-04 9.99991080e-01 -4.22178526e-03 1.51262641e+01] [-2.45511950e-03 4.22208221e-03 9.99988073e-01 -1.94855530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.801400513 meters Centerline goodness [0,1] 0.9073270846116412 Centerline is valid? [True, False] Translation: X:274.89, Y:15.12, Z:-0.19 [[ 9.99998911e-01 -1.46907544e-04 1.46832459e-03 2.74885701e+02] [ 1.37092047e-04 9.99977661e-01 6.68269432e-03 1.51192423e+01] [-1.46927353e-03 -6.68248575e-03 9.99976593e-01 -1.89777002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.831400513 meters Centerline goodness [0,1] 0.9339608609735885 Centerline is valid? [False, False] Translation: X:274.88, Y:15.12, Z:-0.19 [[ 9.99993146e-01 -2.66177679e-03 2.57355216e-03 2.74878346e+02] [ 2.65107843e-03 9.99987868e-01 4.15155443e-03 1.51179241e+01] [-2.58457145e-03 -4.14470328e-03 9.99988071e-01 -1.85258170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.861400513 meters Centerline goodness [0,1] 0.997165252872329 Centerline is valid? [False, True] Translation: X:274.88, Y:15.12, Z:-0.19 [[ 9.99969682e-01 -7.11631676e-03 3.16122033e-03 2.74876442e+02] [ 7.11936727e-03 9.99974201e-01 -9.54775316e-04 1.51219039e+01] [-3.15434429e-03 9.77252258e-04 9.99994548e-01 -1.85132486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.891400513 meters Centerline goodness [0,1] 0.9814046964247938 Centerline is valid? [True, True] Translation: X:274.91, Y:15.13, Z:-0.18 [[ 9.99955637e-01 -8.44041712e-03 4.18142181e-03 2.74906447e+02] [ 8.43909989e-03 9.99964335e-01 3.32562697e-04 1.51279245e+01] [-4.18407965e-03 -2.97260507e-04 9.99991203e-01 -1.83927495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.921400513 meters Centerline goodness [0,1] 0.8754967168873117 Centerline is valid? [True, False] Translation: X:274.91, Y:15.12, Z:-0.18 [[ 9.99959001e-01 -8.09794267e-03 4.05218168e-03 2.74906683e+02] [ 8.09313161e-03 9.99966527e-01 1.20227058e-03 1.51238135e+01] [-4.06178196e-03 -1.16942645e-03 9.99991067e-01 -1.83528325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.951400513 meters Centerline goodness [0,1] 0.9909087037983307 Centerline is valid? [False, True] Translation: X:274.91, Y:15.12, Z:-0.18 [[ 9.99962516e-01 -7.75123058e-03 3.85811286e-03 2.74907282e+02] [ 7.74323075e-03 9.99967849e-01 2.08414446e-03 1.51196262e+01] [-3.87414350e-03 -2.05419208e-03 9.99990386e-01 -1.83428977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.981400513 meters Centerline goodness [0,1] 0.9908131727592454 Centerline is valid? [True, True] Translation: X:274.94, Y:15.12, Z:-0.18 [[ 9.99951175e-01 -9.08617668e-03 3.88440353e-03 2.74938105e+02] [ 9.08510390e-03 9.99958686e-01 2.93731456e-04 1.51203115e+01] [-3.88691195e-03 -2.58426905e-04 9.99992413e-01 -1.84520379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.011400513 meters Centerline goodness [0,1] 0.9988775704695144 Centerline is valid? [True, True] Translation: X:274.97, Y:15.11, Z:-0.18 [[ 9.99925863e-01 -1.08268081e-02 5.57215067e-03 2.74969997e+02] [ 1.08246288e-02 9.99941323e-01 4.21129696e-04 1.51108377e+01] [-5.57638320e-03 -3.60782012e-04 9.99984387e-01 -1.82116481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.041400513 meters Centerline goodness [0,1] 0.9995276435856146 Centerline is valid? [True, True] Translation: X:275.00, Y:15.11, Z:-0.18 [[ 9.99917927e-01 -1.11656966e-02 6.28217920e-03 2.75002404e+02] [ 1.11629333e-02 9.99937580e-01 4.74764974e-04 1.51051045e+01] [-6.28708815e-03 -4.04598462e-04 9.99980154e-01 -1.80863373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.071400513 meters Centerline goodness [0,1] 0.9846366634748378 Centerline is valid? [True, True] Translation: X:275.03, Y:15.12, Z:-0.18 [[ 9.99913354e-01 -1.10976710e-02 7.07999918e-03 2.75032588e+02] [ 1.10941623e-02 9.99938315e-01 5.34666215e-04 1.51221643e+01] [-7.08549600e-03 -4.56073228e-04 9.99974794e-01 -1.80424882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.101400513 meters Centerline goodness [0,1] 0.9983381271971876 Centerline is valid? [True, True] Translation: X:275.07, Y:15.11, Z:-0.18 [[ 9.99914894e-01 -1.08777664e-02 7.20266610e-03 2.75065604e+02] [ 1.08741312e-02 9.99940727e-01 5.43675698e-04 1.51141180e+01] [-7.20815315e-03 -4.65306692e-04 9.99973913e-01 -1.79626976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.131400513 meters Centerline goodness [0,1] 0.9824658349450596 Centerline is valid? [True, True] Translation: X:275.10, Y:15.12, Z:-0.18 [[ 9.99916104e-01 -1.06125998e-02 7.42686642e-03 2.75096497e+02] [ 1.06087300e-02 9.99943569e-01 5.60249235e-04 1.51236790e+01] [-7.43239302e-03 -4.81412612e-04 9.99972264e-01 -1.79157345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.161400513 meters Centerline goodness [0,1] 0.9973737589409629 Centerline is valid? [True, True] Translation: X:275.13, Y:15.12, Z:-0.18 [[ 9.99919597e-01 -1.01610284e-02 7.58632090e-03 2.75128577e+02] [ 1.01569797e-02 9.99948253e-01 5.72017347e-04 1.51187127e+01] [-7.59174062e-03 -4.94917248e-04 9.99971060e-01 -1.78894724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.191400513 meters Centerline goodness [0,1] 0.9968029472168702 Centerline is valid? [True, True] Translation: X:275.16, Y:15.12, Z:-0.18 [[ 9.99928100e-01 -9.55057544e-03 7.25124467e-03 2.75160927e+02] [ 9.54686216e-03 9.99954278e-01 5.46530037e-04 1.51211119e+01] [-7.25613280e-03 -4.77264108e-04 9.99973560e-01 -1.80503813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.221400513 meters Centerline goodness [0,1] 0.9962685766979048 Centerline is valid? [True, True] Translation: X:275.19, Y:15.12, Z:-0.18 [[ 9.99933056e-01 -9.77668637e-03 6.18875638e-03 2.75193412e+02] [ 9.77398726e-03 9.99952125e-01 4.66227027e-04 1.51235310e+01] [-6.19301825e-03 -4.05706990e-04 9.99980741e-01 -1.83491396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.251400513 meters Centerline goodness [0,1] 0.9709500297948412 Centerline is valid? [True, True] Translation: X:275.22, Y:15.13, Z:-0.19 [[ 9.99929855e-01 -1.07898080e-02 4.88518847e-03 2.75223692e+02] [ 1.07881392e-02 9.99941739e-01 3.67813256e-04 1.51313827e+01] [-4.88887249e-03 -3.15085362e-04 9.99988000e-01 -1.87030385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.281400513 meters Centerline goodness [0,1] 0.9964943591051055 Centerline is valid? [True, True] Translation: X:275.25, Y:15.12, Z:-0.19 [[ 9.99915733e-01 -1.26195123e-02 3.04531548e-03 2.75254823e+02] [ 1.26188726e-02 9.99920353e-01 2.29177575e-04 1.51223265e+01] [-3.04796504e-03 -1.90729815e-04 9.99995337e-01 -1.89693139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.311400513 meters Centerline goodness [0,1] 0.9992652620205295 Centerline is valid? [True, True] Translation: X:275.29, Y:15.11, Z:-0.19 [[ 9.99884898e-01 -1.51247939e-02 1.19605343e-03 2.75285605e+02] [ 1.51246974e-02 9.99885611e-01 8.97169636e-05 1.51136622e+01] [-1.19727356e-03 -7.16166909e-05 9.99999281e-01 -1.91783289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.341400513 meters Centerline goodness [0,1] 0.9977111370138815 Centerline is valid? [True, True] Translation: X:275.31, Y:15.11, Z:-0.20 [[ 9.99799494e-01 -2.00027665e-02 -9.28076710e-04 2.75314967e+02] [ 2.00027101e-02 9.99799923e-01 -7.00560218e-05 1.51131490e+01] [ 9.29292338e-04 5.14779258e-05 9.99999567e-01 -1.95808706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.371400513 meters Centerline goodness [0,1] 0.9987215001065417 Centerline is valid? [True, True] Translation: X:275.34, Y:15.11, Z:-0.20 [[ 9.99768894e-01 -2.14869444e-02 -6.85562635e-04 2.75344491e+02] [ 2.14869139e-02 9.99769128e-01 -5.18295781e-05 1.51132066e+01] [ 6.86518018e-04 3.70869746e-05 9.99999764e-01 -1.95765616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.401400513 meters Centerline goodness [0,1] 0.9983235362774017 Centerline is valid? [True, True] Translation: X:275.37, Y:15.12, Z:-0.19 [[ 9.99770254e-01 -2.14345560e-02 3.23279511e-07 2.75371170e+02] [ 2.14345560e-02 9.99770254e-01 -5.96797288e-07 1.51175040e+01] [-3.10413154e-07 6.03589529e-07 1.00000000e+00 -1.94672246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.431400513 meters Centerline goodness [0,1] 0.9961068685961197 Centerline is valid? [True, True] Translation: X:275.40, Y:15.12, Z:-0.19 [[ 9.99794091e-01 -2.02747673e-02 8.41786825e-04 2.75399632e+02] [ 2.02747213e-02 9.99794445e-01 6.32545371e-05 1.51242828e+01] [-8.42896263e-04 -4.61745192e-05 9.99999644e-01 -1.93541783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.4614005130001 meters Centerline goodness [0,1] 0.9989442385589934 Centerline is valid? [True, True] Translation: X:275.43, Y:15.13, Z:-0.19 [[ 9.99825984e-01 -1.86100734e-02 1.29082155e-03 2.75429346e+02] [ 1.86099633e-02 9.99826815e-01 9.72494651e-05 1.51255003e+01] [-1.29240782e-03 -7.32104004e-05 9.99999162e-01 -1.92138045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.491400513 meters Centerline goodness [0,1] 0.9884905861078609 Centerline is valid? [True, True] Translation: X:275.46, Y:15.14, Z:-0.19 [[ 9.99861825e-01 -1.65589986e-02 1.45970355e-03 2.75457873e+02] [ 1.65588555e-02 9.99862887e-01 1.10030540e-04 1.51362441e+01] [-1.46132540e-03 -8.58443160e-05 9.99998929e-01 -1.92379183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.521400513 meters Centerline goodness [0,1] 0.9586060798644211 Centerline is valid? [True, True] Translation: X:275.49, Y:15.15, Z:-0.19 [[ 9.99916058e-01 -1.26766255e-02 2.67951725e-03 2.75486303e+02] [ 1.26761285e-02 9.99919634e-01 2.02371281e-04 1.51464489e+01] [-2.68186729e-03 -1.68388388e-04 9.99996390e-01 -1.91289198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.551400513 meters Centerline goodness [0,1] 0.9944144756403177 Centerline is valid? [True, True] Translation: X:275.52, Y:15.14, Z:-0.19 [[ 9.99932688e-01 -1.10166773e-02 3.64045584e-03 2.75517204e+02] [ 1.10157495e-02 9.99939287e-01 2.74805922e-04 1.51421976e+01] [-3.64326227e-03 -2.34685074e-04 9.99993336e-01 -1.89436921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.581400513 meters Centerline goodness [0,1] 0.9908426858615329 Centerline is valid? [True, True] Translation: X:275.55, Y:15.15, Z:-0.19 [[ 9.99942863e-01 -9.86447418e-03 4.11862807e-03 2.75546658e+02] [ 9.86327693e-03 9.99951308e-01 3.10901556e-04 1.51481938e+01] [-4.12149441e-03 -2.70260622e-04 9.99991470e-01 -1.88599204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.611400513 meters Centerline goodness [0,1] 0.9782622594463269 Centerline is valid? [True, True] Translation: X:275.58, Y:15.15, Z:-0.19 [[ 9.99954325e-01 -8.85340823e-03 3.60070689e-03 2.75576024e+02] [ 8.85248580e-03 9.99960779e-01 2.72038076e-04 1.51545563e+01] [-3.60297413e-03 -2.40150444e-04 9.99993480e-01 -1.89622256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.641400513 meters Centerline goodness [0,1] 0.9702046845326018 Centerline is valid? [True, True] Translation: X:275.61, Y:15.16, Z:-0.19 [[ 9.99965971e-01 -7.89538821e-03 2.39157606e-03 2.75606673e+02] [ 7.89497908e-03 9.99968818e-01 1.80461914e-04 1.51590653e+01] [-2.39292631e-03 -1.61574330e-04 9.99997124e-01 -1.91343320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.671400513 meters Centerline goodness [0,1] 0.965008073425682 Centerline is valid? [True, True] Translation: X:275.64, Y:15.16, Z:-0.19 [[ 9.99971557e-01 -7.40501562e-03 1.43226110e-03 2.75637180e+02] [ 7.40486820e-03 9.99972578e-01 1.08203708e-04 1.51632891e+01] [-1.43302308e-03 -9.75949261e-05 9.99998968e-01 -1.93070525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.701400513 meters Centerline goodness [0,1] 0.9688918245157991 Centerline is valid? [True, True] Translation: X:275.67, Y:15.16, Z:-0.19 [[ 9.99969745e-01 -7.76252535e-03 5.02091448e-04 2.75667511e+02] [ 7.76250731e-03 9.99969871e-01 3.78539315e-05 1.51646304e+01] [-5.02370163e-04 -3.39552977e-05 9.99999873e-01 -1.93820550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.731400513 meters Centerline goodness [0,1] 0.8963864619560608 Centerline is valid? [True, False] Translation: X:275.67, Y:15.16, Z:-0.19 [[ 9.99970373e-01 -7.68327709e-03 4.70452244e-04 2.75667255e+02] [ 7.68315045e-03 9.99970448e-01 2.70387136e-04 1.51635711e+01] [-4.72515800e-04 -2.66764570e-04 9.99999853e-01 -1.93158025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.761400513 meters Centerline goodness [0,1] 0.9935768342060076 Centerline is valid? [False, True] Translation: X:275.67, Y:15.16, Z:-0.19 [[ 9.99971478e-01 -7.53298549e-03 5.45056683e-04 2.75666529e+02] [ 7.53261397e-03 9.99971398e-01 6.80492878e-04 1.51617329e+01] [-5.50167236e-04 -6.76367768e-04 9.99999620e-01 -1.92230151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.791400513 meters Centerline goodness [0,1] 0.9935768342060076 Centerline is valid? [True, True] Translation: X:275.70, Y:15.16, Z:-0.19 [[ 9.99971313e-01 -7.55137039e-03 5.91015147e-04 2.75695641e+02] [ 7.55134663e-03 9.99971487e-01 4.24371923e-05 1.51644008e+01] [-5.91318755e-04 -3.79730147e-05 9.99999824e-01 -1.92520633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.821400513 meters Centerline goodness [0,1] 0.9945086520656408 Centerline is valid? [True, True] Translation: X:275.72, Y:15.17, Z:-0.19 [[ 9.99951243e-01 -9.72778453e-03 1.69782502e-03 2.75724680e+02] [ 9.72759094e-03 9.99952678e-01 1.22239590e-04 1.51667007e+01] [-1.69893379e-03 -1.05717883e-04 9.99998551e-01 -1.91063482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.851400513 meters Centerline goodness [0,1] 0.9993811881188119 Centerline is valid? [True, True] Translation: X:275.76, Y:15.16, Z:-0.19 [[ 9.99924615e-01 -1.19142555e-02 2.96885412e-03 2.75755106e+02] [ 1.19136727e-02 9.99929007e-01 2.13919409e-04 1.51606671e+01] [-2.97119204e-03 -1.78533327e-04 9.99995570e-01 -1.88676018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.881400513 meters Centerline goodness [0,1] 0.9988543302074935 Centerline is valid? [True, True] Translation: X:275.78, Y:15.17, Z:-0.19 [[ 9.99898060e-01 -1.36631597e-02 4.14586045e-03 2.75784549e+02] [ 1.36620376e-02 9.99906625e-01 2.98844990e-04 1.51684020e+01] [-4.14955650e-03 -2.42173624e-04 9.99991361e-01 -1.87427498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.911400513 meters Centerline goodness [0,1] 0.9990239348158207 Centerline is valid? [True, True] Translation: X:275.81, Y:15.17, Z:-0.18 [[ 9.99835693e-01 -1.67960147e-02 6.81765923e-03 2.75814212e+02] [ 1.67930533e-02 9.99858866e-01 4.91380304e-04 1.51708934e+01] [-6.82495025e-03 -3.76810252e-04 9.99976639e-01 -1.84860159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.941400513 meters Centerline goodness [0,1] 0.9994445868580706 Centerline is valid? [True, True] Translation: X:275.85, Y:15.17, Z:-0.18 [[ 9.99813219e-01 -1.79580367e-02 7.14400165e-03 2.75846167e+02] [ 1.79548142e-02 9.99838667e-01 5.14953701e-04 1.51658051e+01] [-7.15209665e-03 -3.86588295e-04 9.99974349e-01 -1.84198927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.971400513 meters Centerline goodness [0,1] 0.9997238625260206 Centerline is valid? [True, True] Translation: X:275.88, Y:15.17, Z:-0.18 [[ 9.99794235e-01 -1.90417037e-02 6.99299293e-03 2.75876993e+02] [ 1.90386436e-02 9.99818622e-01 5.03911329e-04 1.51679238e+01] [-7.00131988e-03 -3.70670542e-04 9.99975422e-01 -1.84416921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.001400513 meters Centerline goodness [0,1] 0.999550244153174 Centerline is valid? [True, True] Translation: X:275.91, Y:15.17, Z:-0.19 [[ 9.99785766e-01 -1.97851686e-02 6.08030449e-03 2.75906952e+02] [ 1.97828697e-02 9.99804204e-01 4.38019710e-04 1.51709764e+01] [-6.08778029e-03 -3.17640000e-04 9.99981419e-01 -1.85620034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.031400513 meters Centerline goodness [0,1] 0.9995547073791349 Centerline is valid? [True, True] Translation: X:275.94, Y:15.17, Z:-0.19 [[ 9.99787913e-01 -1.99864313e-02 4.96695018e-03 2.75937149e+02] [ 1.99848999e-02 9.99800218e-01 3.57755719e-04 1.51697138e+01] [-4.97310813e-03 -2.58415842e-04 9.99987601e-01 -1.87448647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.061400513 meters Centerline goodness [0,1] 0.9994909970096074 Centerline is valid? [True, True] Translation: X:275.97, Y:15.17, Z:-0.19 [[ 9.99799130e-01 -1.95936599e-02 4.21759039e-03 2.75966906e+02] [ 1.95925524e-02 9.99808001e-01 3.03756542e-04 1.51727266e+01] [-4.22273232e-03 -2.21062166e-04 9.99991060e-01 -1.89003295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.091400513 meters Centerline goodness [0,1] 0.9982074695797043 Centerline is valid? [True, True] Translation: X:276.00, Y:15.18, Z:-0.19 [[ 9.99849545e-01 -1.67420997e-02 4.53758899e-03 2.75995790e+02] [ 1.67407882e-02 9.99859810e-01 3.26865656e-04 1.51846394e+01] [-4.54242529e-03 -2.50853662e-04 9.99989652e-01 -1.88973766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.121400513 meters Centerline goodness [0,1] 0.9992290064891954 Centerline is valid? [True, True] Translation: X:276.03, Y:15.18, Z:-0.19 [[ 9.99885488e-01 -1.43220099e-02 4.88773239e-03 2.76025995e+02] [ 1.43204592e-02 9.99897395e-01 3.52128163e-04 1.51821009e+01] [-4.89227407e-03 -2.82093268e-04 9.99987993e-01 -1.88260448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.151400513 meters Centerline goodness [0,1] 0.9975903614457832 Centerline is valid? [True, True] Translation: X:276.06, Y:15.19, Z:-0.19 [[ 9.99925061e-01 -1.11809903e-02 4.98585301e-03 2.76055296e+02] [ 1.11793375e-02 9.99937445e-01 3.59257725e-04 1.51924562e+01] [-4.98955797e-03 -3.03492269e-04 9.99987506e-01 -1.88222273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.181400513 meters Centerline goodness [0,1] 0.996108287433809 Centerline is valid? [True, True] Translation: X:276.09, Y:15.20, Z:-0.19 [[ 9.99961850e-01 -7.73280184e-03 4.06231658e-03 2.76085191e+02] [ 7.73167614e-03 9.99970067e-01 2.92737715e-04 1.51960960e+01] [-4.06445866e-03 -2.61318031e-04 9.99991706e-01 -1.89297214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.2114005130001 meters Centerline goodness [0,1] 0.9924168193243301 Centerline is valid? [True, True] Translation: X:276.12, Y:15.20, Z:-0.19 [[ 9.99985415e-01 -4.52028693e-03 2.95591660e-03 2.76115568e+02] [ 4.51967680e-03 9.99989764e-01 2.13058757e-04 1.52009084e+01] [-2.95684943e-03 -1.99695861e-04 9.99995609e-01 -1.91029677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.241400513 meters Centerline goodness [0,1] 0.850995612554843 Centerline is valid? [True, False] Translation: X:276.12, Y:15.20, Z:-0.19 [[ 9.99984882e-01 -4.66001204e-03 2.91875887e-03 2.76116096e+02] [ 4.66133645e-03 9.99989036e-01 -4.47120799e-04 1.52041456e+01] [-2.91664329e-03 4.60719357e-04 9.99995640e-01 -1.91895083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.271400513 meters Centerline goodness [0,1] 0.6456844126747039 Centerline is valid? [False, False] Translation: X:276.10, Y:15.21, Z:-0.20 [[ 9.99994070e-01 -4.48385468e-04 3.41458560e-03 2.76097205e+02] [ 4.72399645e-04 9.99975141e-01 -7.03526728e-03 1.52075210e+01] [-3.41134620e-03 7.03683861e-03 9.99969422e-01 -1.96865417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.301400513 meters Centerline goodness [0,1] 0.9485742400581856 Centerline is valid? [False, False] Translation: X:276.10, Y:15.21, Z:-0.20 [[ 9.99993973e-01 -3.95317699e-04 3.44937307e-03 2.76097064e+02] [ 4.19245531e-04 9.99975838e-01 -6.93890058e-03 1.52071054e+01] [-3.44654666e-03 6.94030489e-03 9.99969976e-01 -1.96814218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.331400513 meters Centerline goodness [0,1] 0.9814469653148231 Centerline is valid? [False, True] Translation: X:276.10, Y:15.21, Z:-0.20 [[ 9.99994243e-01 -2.55171882e-04 3.38372613e-03 2.76097329e+02] [ 2.77523989e-04 9.99978135e-01 -6.60694366e-03 1.52055332e+01] [-3.38196624e-03 6.60784468e-03 9.99972449e-01 -1.96929222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.361400513 meters Centerline goodness [0,1] 0.8623585948796462 Centerline is valid? [True, False] Translation: X:276.10, Y:15.20, Z:-0.20 [[ 9.99994867e-01 -1.55030818e-04 3.20027881e-03 2.76098189e+02] [ 1.75311935e-04 9.99979899e-01 -6.33798955e-03 1.52041924e+01] [-3.19923190e-03 6.33851806e-03 9.99974794e-01 -1.97438425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.391400513 meters Centerline goodness [0,1] 0.7580338668130568 Centerline is valid? [False, False] Translation: X:276.10, Y:15.20, Z:-0.20 [[ 9.99995507e-01 -1.16096135e-04 2.99544588e-03 2.76099305e+02] [ 1.34714868e-04 9.99980670e-01 -6.21622707e-03 1.52035058e+01] [-2.99466630e-03 6.21660267e-03 9.99976193e-01 -1.98250576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.421400513 meters Centerline goodness [0,1] 0.8028438436523624 Centerline is valid? [False, False] Translation: X:276.10, Y:15.20, Z:-0.20 [[ 9.99995910e-01 -7.57558302e-05 2.85920427e-03 2.76100039e+02] [ 9.31992742e-05 9.99981383e-01 -6.10116364e-03 1.52029124e+01] [-2.85868884e-03 6.10140516e-03 9.99977300e-01 -1.98776642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.451400513 meters Centerline goodness [0,1] 0.8299546206370075 Centerline is valid? [False, False] Translation: X:276.10, Y:15.20, Z:-0.20 [[ 9.99995660e-01 1.29213382e-04 2.94336611e-03 2.76099432e+02] [-1.12538044e-04 9.99983948e-01 -5.66485829e-03 1.52009502e+01] [-2.94405084e-03 5.66450246e-03 9.99979623e-01 -1.98167631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.481400513 meters Centerline goodness [0,1] 0.9472268694013257 Centerline is valid? [False, False] Translation: X:276.10, Y:15.20, Z:-0.20 [[ 9.99995010e-01 2.90676448e-04 3.14562790e-03 2.76098201e+02] [-2.73854536e-04 9.99985668e-01 -5.34682206e-03 1.51996234e+01] [-3.14713701e-03 5.34593394e-03 9.99980758e-01 -1.97130180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.511400513 meters Centerline goodness [0,1] 0.9288612273509357 Centerline is valid? [False, False] Translation: X:276.10, Y:15.20, Z:-0.20 [[ 9.99994593e-01 3.68113314e-04 3.26772848e-03 2.76097444e+02] [-3.51103738e-04 9.99986396e-01 -5.20436946e-03 1.51990394e+01] [-3.26959982e-03 5.20319401e-03 9.99981118e-01 -1.96460514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.541400513 meters Centerline goodness [0,1] 0.9216831641106249 Centerline is valid? [False, False] Translation: X:276.10, Y:15.20, Z:-0.20 [[ 9.99994460e-01 3.82656482e-04 3.30655875e-03 2.76097377e+02] [-3.65477311e-04 9.99986442e-01 -5.19452657e-03 1.51990052e+01] [-3.30850164e-03 5.19328932e-03 9.99981042e-01 -1.96589863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.571400513 meters Centerline goodness [0,1] 0.8598035463707105 Centerline is valid? [False, False] Translation: X:276.10, Y:15.20, Z:-0.20 [[ 9.99994705e-01 3.66868343e-04 3.23335419e-03 2.76097865e+02] [-3.49865664e-04 9.99986118e-01 -5.25752425e-03 1.51992833e+01] [-3.23523813e-03 5.25636518e-03 9.99980952e-01 -1.97074614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.601400513 meters Centerline goodness [0,1] 0.8140957559794384 Centerline is valid? [False, False] Translation: X:276.10, Y:15.20, Z:-0.20 [[ 9.99995046e-01 3.27429477e-04 3.13066043e-03 2.76098483e+02] [-3.10705465e-04 9.99985688e-01 -5.34100256e-03 1.51996131e+01] [-3.13236442e-03 5.34000339e-03 9.99980836e-01 -1.97600550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.631400513 meters Centerline goodness [0,1] 0.8968820837432103 Centerline is valid? [False, False] Translation: X:276.10, Y:15.20, Z:-0.20 [[ 9.99994798e-01 1.87016894e-04 3.22014100e-03 2.76098169e+02] [-1.68664445e-04 9.99983749e-01 -5.69859750e-03 1.52013216e+01] [-3.22115441e-03 5.69802473e-03 9.99978578e-01 -1.97580447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.661400513 meters Centerline goodness [0,1] 0.8958837258646297 Centerline is valid? [False, False] Translation: X:276.10, Y:15.20, Z:-0.20 [[ 9.99987652e-01 4.15706920e-03 2.72305316e-03 2.76099526e+02] [-4.15578208e-03 9.99991250e-01 -4.78162463e-04 1.51957461e+01] [-2.72501708e-03 4.66840143e-04 9.99996178e-01 -1.96740762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.691400513 meters Centerline goodness [0,1] 0.8052300899983019 Centerline is valid? [False, False] Translation: X:276.10, Y:15.19, Z:-0.20 [[ 9.99987586e-01 4.21905554e-03 2.65084106e-03 2.76099698e+02] [-4.21837425e-03 9.99991068e-01 -2.62546514e-04 1.51946811e+01] [-2.65192508e-03 2.51361015e-04 9.99996452e-01 -1.96642739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.721400513 meters Centerline goodness [0,1] 0.9808641180761145 Centerline is valid? [False, True] Translation: X:276.08, Y:15.19, Z:-0.19 [[ 9.99993924e-01 2.45617248e-03 -2.47357832e-03 2.76076943e+02] [-2.43162469e-03 9.99948249e-01 9.87858860e-03 1.51852462e+01] [ 2.49771383e-03 -9.87251377e-03 9.99948146e-01 -1.89641920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.751400513 meters Centerline goodness [0,1] 0.9616311557574594 Centerline is valid? [True, True] Translation: X:276.11, Y:15.20, Z:-0.19 [[ 9.99998800e-01 2.97889129e-04 -1.51997859e-03 2.76105671e+02] [-2.98049728e-04 9.99999950e-01 -1.05433085e-04 1.51991696e+01] [ 1.51994710e-03 1.05885987e-04 9.99998839e-01 -1.91627146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.781400513 meters Centerline goodness [0,1] 0.9846335697399528 Centerline is valid? [True, True] Translation: X:276.14, Y:15.20, Z:-0.19 [[ 9.99993647e-01 -3.53091653e-03 4.88772834e-04 2.76135582e+02] [ 3.53090039e-03 9.99993766e-01 3.38727554e-05 1.52018455e+01] [-4.88889388e-04 -3.21467321e-05 9.99999880e-01 -1.89144233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.811400513 meters Centerline goodness [0,1] 0.9908056323538867 Centerline is valid? [True, True] Translation: X:276.17, Y:15.20, Z:-0.19 [[ 9.99986916e-01 -5.04554772e-03 8.42999393e-04 2.76165066e+02] [ 5.04550028e-03 9.99987270e-01 5.83846552e-05 1.52031465e+01] [-8.43283244e-04 -5.41305377e-05 9.99999643e-01 -1.88869079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.841400513 meters Centerline goodness [0,1] 0.9955052331927827 Centerline is valid? [True, True] Translation: X:276.20, Y:15.20, Z:-0.19 [[ 9.99981357e-01 -6.00393918e-03 1.11268201e-03 2.76195375e+02] [ 6.00385704e-03 9.99981974e-01 7.71467355e-05 1.52037926e+01] [-1.11312513e-03 -7.04649135e-05 9.99999378e-01 -1.87579755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.871400513 meters Centerline goodness [0,1] 0.9981956738627439 Centerline is valid? [True, True] Translation: X:276.23, Y:15.20, Z:-0.19 [[ 9.99975585e-01 -6.79804616e-03 1.61752474e-03 2.76226300e+02] [ 6.79787361e-03 9.99976888e-01 1.12149520e-04 1.52026398e+01] [-1.61824975e-03 -1.01151053e-04 9.99998686e-01 -1.86352448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.901400513 meters Centerline goodness [0,1] 0.969032285489596 Centerline is valid? [True, True] Translation: X:276.26, Y:15.22, Z:-0.19 [[ 9.99970815e-01 -7.32499657e-03 2.17121189e-03 2.76255673e+02] [ 7.32468655e-03 9.99973163e-01 1.50703512e-04 1.52175707e+01] [-2.17225752e-03 -1.34795667e-04 9.99997632e-01 -1.86506090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.931400513 meters Centerline goodness [0,1] 0.9982178091782827 Centerline is valid? [True, True] Translation: X:276.29, Y:15.21, Z:-0.19 [[ 9.99963141e-01 -8.13340442e-03 2.75046395e-03 2.76287338e+02] [ 8.13291080e-03 9.99966909e-01 1.90606138e-04 1.52090703e+01] [-2.75192321e-03 -1.68229834e-04 9.99996199e-01 -1.85053616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.9614005130001 meters Centerline goodness [0,1] 0.9985056465213585 Centerline is valid? [True, True] Translation: X:276.32, Y:15.21, Z:-0.18 [[ 9.99952584e-01 -9.17750429e-03 3.25627386e-03 2.76318921e+02] [ 9.17681800e-03 9.99957867e-01 2.25638042e-04 1.52102008e+01] [-3.25820745e-03 -1.95745110e-04 9.99994673e-01 -1.84352152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.991400513 meters Centerline goodness [0,1] 0.9935170865024046 Centerline is valid? [True, True] Translation: X:276.35, Y:15.22, Z:-0.18 [[ 9.99936780e-01 -1.05956612e-02 3.76396840e-03 2.76348777e+02] [ 1.05947547e-02 9.99943840e-01 2.60690454e-04 1.52203449e+01] [-3.76651920e-03 -2.20795652e-04 9.99992882e-01 -1.84139910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.021400513 meters Centerline goodness [0,1] 0.9993025172785492 Centerline is valid? [True, True] Translation: X:276.38, Y:15.21, Z:-0.18 [[ 9.99902233e-01 -1.35587330e-02 3.41843468e-03 2.76380333e+02] [ 1.35580028e-02 9.99908058e-01 2.36705940e-04 1.52112151e+01] [-3.42132981e-03 -1.90335651e-04 9.99994129e-01 -1.83802355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.051400513 meters Centerline goodness [0,1] 0.998684824572568 Centerline is valid? [True, True] Translation: X:276.41, Y:15.22, Z:-0.19 [[ 9.99879511e-01 -1.52749484e-02 2.76397504e-03 2.76410059e+02] [ 1.52744776e-02 9.99883320e-01 1.91376642e-04 1.52181360e+01] [-2.76657581e-03 -1.49135308e-04 9.99996162e-01 -1.85114463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.081400513 meters Centerline goodness [0,1] 0.99942900647126 Centerline is valid? [True, True] Translation: X:276.44, Y:15.21, Z:-0.19 [[ 9.99842666e-01 -1.75470983e-02 2.59651982e-03 2.76440735e+02] [ 1.75466907e-02 9.99846029e-01 1.79693821e-04 1.52120889e+01] [-2.59927314e-03 -1.34105219e-04 9.99996613e-01 -1.85508058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.111400513 meters Centerline goodness [0,1] 0.9994199037469921 Centerline is valid? [True, True] Translation: X:276.47, Y:15.21, Z:-0.19 [[ 9.99796108e-01 -2.00961667e-02 1.97122403e-03 2.76470851e+02] [ 2.00959366e-02 9.99798047e-01 1.36499123e-04 1.52055692e+01] [-1.97356904e-03 -9.68576986e-05 9.99998048e-01 -1.86087549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.141400513 meters Centerline goodness [0,1] 0.9997016897146875 Centerline is valid? [True, True] Translation: X:276.50, Y:15.21, Z:-0.19 [[ 9.99733385e-01 -2.29228933e-02 2.77494745e-03 2.76499113e+02] [ 2.29224481e-02 9.99737228e-01 1.92144652e-04 1.52112293e+01] [-2.77862278e-03 -1.28484834e-04 9.99996131e-01 -1.85779607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.171400513 meters Centerline goodness [0,1] 0.9997456010175959 Centerline is valid? [True, True] Translation: X:276.53, Y:15.20, Z:-0.19 [[ 9.99544628e-01 -3.00351857e-02 2.90252819e-03 2.76530764e+02] [ 3.00347279e-02 9.99548836e-01 2.01190772e-04 1.51969745e+01] [-2.90726148e-03 -1.13922510e-04 9.99995767e-01 -1.85360108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.201400513 meters Centerline goodness [0,1] 0.9998524607440193 Centerline is valid? [True, True] Translation: X:276.56, Y:15.20, Z:-0.19 [[ 9.99456588e-01 -3.28787533e-02 2.34884577e-03 2.76560071e+02] [ 3.28784615e-02 9.99459344e-01 1.62731392e-04 1.51974662e+01] [-2.35292626e-03 -8.54165266e-05 9.99997228e-01 -1.86730636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.231400513 meters Centerline goodness [0,1] 0.999829289631479 Centerline is valid? [True, True] Translation: X:276.59, Y:15.19, Z:-0.19 [[ 9.99383558e-01 -3.50716240e-02 1.57639606e-03 2.76589524e+02] [ 3.50714955e-02 9.99384800e-01 1.09114046e-04 1.51894799e+01] [-1.57925307e-03 -5.37602160e-05 9.99998752e-01 -1.87430403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.261400513 meters Centerline goodness [0,1] 0.9999787360721273 Centerline is valid? [True, True] Translation: X:276.62, Y:15.19, Z:-0.19 [[ 9.99331969e-01 -3.65175017e-02 1.44499029e-03 2.76618662e+02] [ 3.65173959e-02 9.99333013e-01 9.95664526e-05 1.51872269e+01] [-1.44766242e-03 -4.67326567e-05 9.99998951e-01 -1.87485949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.291400513 meters Centerline goodness [0,1] 0.9999150743099787 Centerline is valid? [True, True] Translation: X:276.65, Y:15.19, Z:-0.19 [[ 9.99306146e-01 -3.72007551e-02 1.82486853e-03 2.76646697e+02] [ 3.72005857e-02 9.99307811e-01 1.26684007e-04 1.51885435e+01] [-1.82831812e-03 -5.87099283e-05 9.99998327e-01 -1.87332121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.321400513 meters Centerline goodness [0,1] 0.9999367382227659 Centerline is valid? [True, True] Translation: X:276.67, Y:15.19, Z:-0.19 [[ 9.99299386e-01 -3.73344265e-02 2.62251800e-03 2.76673774e+02] [ 3.73340763e-02 9.99302824e-01 1.82354159e-04 1.51935200e+01] [-2.62749773e-03 -8.43171115e-05 9.99996545e-01 -1.86359781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.351400513 meters Centerline goodness [0,1] 0.9999788095187642 Centerline is valid? [True, True] Translation: X:276.70, Y:15.19, Z:-0.18 [[ 9.99308690e-01 -3.68890846e-02 4.61918865e-03 2.76702618e+02] [ 3.68879918e-02 9.99319355e-01 3.21591541e-04 1.51947032e+01] [-4.62790784e-03 -1.50976629e-04 9.99989280e-01 -1.82497593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.381400513 meters Centerline goodness [0,1] 0.9999362299124224 Centerline is valid? [True, True] Translation: X:276.73, Y:15.19, Z:-0.18 [[ 9.99309055e-01 -3.67724966e-02 5.40337619e-03 2.76732105e+02] [ 3.67709942e-02 9.99323647e-01 3.77152721e-04 1.51885815e+01] [-5.41359045e-03 -1.78204614e-04 9.99985331e-01 -1.80715523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.411400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.76, Y:15.19, Z:-0.18 [[ 9.99325268e-01 -3.62979020e-02 5.60989947e-03 2.76760583e+02] [ 3.62962698e-02 9.99340996e-01 3.92524693e-04 1.51914093e+01] [-5.62045034e-03 -1.88641420e-04 9.99984187e-01 -1.80780297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.441400513 meters Centerline goodness [0,1] 0.9998721663541844 Centerline is valid? [True, True] Translation: X:276.79, Y:15.20, Z:-0.18 [[ 9.99351817e-01 -3.56318337e-02 5.13019059e-03 2.76788000e+02] [ 3.56304558e-02 9.99364969e-01 3.59776978e-04 1.52020094e+01] [-5.13975227e-03 -1.76752748e-04 9.99986776e-01 -1.82399121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.471400513 meters Centerline goodness [0,1] 0.9999360736431631 Centerline is valid? [True, True] Translation: X:276.82, Y:15.20, Z:-0.18 [[ 9.99379502e-01 -3.49689661e-02 4.21692023e-03 2.76816704e+02] [ 3.49680285e-02 9.99388388e-01 2.95868263e-04 1.51979590e+01] [-4.22468731e-03 -1.48227291e-04 9.99991065e-01 -1.84152306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.501400513 meters Centerline goodness [0,1] 0.9998940475938208 Centerline is valid? [True, True] Translation: X:276.84, Y:15.20, Z:-0.19 [[ 9.99395297e-01 -3.45845925e-02 3.59815593e-03 2.76843922e+02] [ 3.45839063e-02 9.99401766e-01 2.52765245e-04 1.52017541e+01] [-3.60474517e-03 -1.28174109e-04 9.99993495e-01 -1.85695716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.531400513 meters Centerline goodness [0,1] 0.999808339367094 Centerline is valid? [True, True] Translation: X:276.87, Y:15.20, Z:-0.19 [[ 9.99375145e-01 -3.52914077e-02 1.95867489e-03 2.76872691e+02] [ 3.52912065e-02 9.99377062e-01 1.37174712e-04 1.52035998e+01] [-1.96229584e-03 -6.79649973e-05 9.99998072e-01 -1.87761201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.561400513 meters Centerline goodness [0,1] 0.9999147757537019 Centerline is valid? [True, True] Translation: X:276.90, Y:15.21, Z:-0.19 [[ 9.99363140e-01 -3.56476689e-02 1.59937401e-03 2.76900438e+02] [ 3.56475353e-02 9.99364418e-01 1.11998797e-04 1.52063099e+01] [-1.60234997e-03 -5.49137281e-05 9.99998715e-01 -1.88287948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.591400513 meters Centerline goodness [0,1] 0.999893709742565 Centerline is valid? [True, True] Translation: X:276.93, Y:15.21, Z:-0.19 [[ 9.99355770e-01 -3.58699664e-02 1.17902396e-03 2.76927906e+02] [ 3.58698940e-02 9.99356465e-01 8.25098695e-05 1.52097911e+01] [-1.18122484e-03 -4.01652497e-05 9.99999302e-01 -1.89535645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.621400513 meters Centerline goodness [0,1] 0.9997448437167765 Centerline is valid? [True, True] Translation: X:276.95, Y:15.22, Z:-0.19 [[ 9.99348299e-01 -3.60921973e-02 5.75667065e-04 2.76954095e+02] [ 3.60921802e-02 9.99348464e-01 4.01491194e-05 1.52174066e+01] [-5.76741067e-04 -1.93458748e-05 9.99999833e-01 -1.91331335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.651400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.98, Y:15.21, Z:-0.19 [[ 9.99339233e-01 -3.63455761e-02 3.10864520e-04 2.76983072e+02] [ 3.63455713e-02 9.99339281e-01 2.10314399e-05 1.52087132e+01] [-3.11423526e-04 -9.71899447e-06 9.99999951e-01 -1.90029593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.681400513 meters Centerline goodness [0,1] 0.9999575623832966 Centerline is valid? [True, True] Translation: X:277.01, Y:15.22, Z:-0.19 [[ 9.99364693e-01 -3.56117004e-02 1.42034935e-03 2.77010076e+02] [ 3.56115931e-02 9.99365701e-01 1.00730945e-04 1.52164372e+01] [-1.42303562e-03 -5.00860470e-05 9.99998986e-01 -1.88803116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.7114005130001 meters Centerline goodness [0,1] 0.9997433264887063 Centerline is valid? [True, True] Translation: X:277.04, Y:15.22, Z:-0.19 [[ 9.99372426e-01 -3.53939087e-02 1.42282707e-03 2.77038537e+02] [ 3.53938011e-02 9.99373438e-01 1.00729589e-04 1.52199632e+01] [-1.42550079e-03 -5.03071156e-05 9.99998983e-01 -1.89095061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.741400513 meters Centerline goodness [0,1] 0.9997433264887063 Centerline is valid? [True, True] Translation: X:277.07, Y:15.22, Z:-0.19 [[ 9.99366006e-01 -3.55747271e-02 1.42281795e-03 2.77065993e+02] [ 3.55746195e-02 9.99367018e-01 1.00858256e-04 1.52220831e+01] [-1.42550534e-03 -5.01781051e-05 9.99998983e-01 -1.89252490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.771400513 meters Centerline goodness [0,1] 0.9998086694019855 Centerline is valid? [True, True] Translation: X:277.09, Y:15.23, Z:-0.19 [[ 9.99393083e-01 -3.47988905e-02 1.58225944e-03 2.77094423e+02] [ 3.47987556e-02 9.99394334e-01 1.12658013e-04 1.52257580e+01] [-1.58522150e-03 -5.75289787e-05 9.99998742e-01 -1.89356900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.801400513 meters Centerline goodness [0,1] 0.9997673976020808 Centerline is valid? [True, True] Translation: X:277.12, Y:15.23, Z:-0.19 [[ 9.99431035e-01 -3.36758833e-02 1.88161494e-03 2.77121683e+02] [ 3.36756893e-02 9.99432804e-01 1.34673411e-04 1.52297391e+01] [-1.88508294e-03 -7.12321059e-05 9.99998221e-01 -1.89418967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.831400513 meters Centerline goodness [0,1] 0.9998304186539481 Centerline is valid? [True, True] Translation: X:277.15, Y:15.23, Z:-0.19 [[ 9.99479942e-01 -3.21492195e-02 2.50479538e-03 2.77150647e+02] [ 3.21488694e-02 9.99483075e-01 1.79921893e-04 1.52332635e+01] [-2.50928493e-03 -9.93019835e-05 9.99996847e-01 -1.89381813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.861400513 meters Centerline goodness [0,1] 0.9999785885577253 Centerline is valid? [True, True] Translation: X:277.18, Y:15.23, Z:-0.19 [[ 9.99517585e-01 -3.09003348e-02 3.12527056e-03 2.77179759e+02] [ 3.08997842e-02 9.99522462e-01 2.24304663e-04 1.52313839e+01] [-3.13070921e-03 -1.27626269e-04 9.99995091e-01 -1.88333867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.891400513 meters Centerline goodness [0,1] 0.9998940049181718 Centerline is valid? [True, True] Translation: X:277.21, Y:15.24, Z:-0.19 [[ 9.99582555e-01 -2.85966025e-02 4.11697475e-03 2.77207855e+02] [ 2.85956228e-02 9.99591018e-01 2.96652736e-04 1.52357797e+01] [-4.12377424e-03 -1.78801443e-04 9.99991481e-01 -1.87198273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.921400513 meters Centerline goodness [0,1] 0.9999147266990706 Centerline is valid? [True, True] Translation: X:277.24, Y:15.24, Z:-0.19 [[ 9.99610715e-01 -2.76637115e-02 3.62464530e-03 2.77235759e+02] [ 2.76629455e-02 9.99617273e-01 2.61295430e-04 1.52384069e+01] [-3.63048646e-03 -1.60925346e-04 9.99993397e-01 -1.87726232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.951400513 meters Centerline goodness [0,1] 0.9999570879910743 Centerline is valid? [True, True] Translation: X:277.27, Y:15.24, Z:-0.19 [[ 9.99631565e-01 -2.69968610e-02 2.81121508e-03 2.77265273e+02] [ 2.69963983e-02 9.99635510e-01 2.02431177e-04 1.52354448e+01] [-2.81565543e-03 -1.26463912e-04 9.99996028e-01 -1.89247027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.981400513 meters Centerline goodness [0,1] 0.99984980474617 Centerline is valid? [True, True] Translation: X:277.29, Y:15.24, Z:-0.19 [[ 9.99651872e-01 -2.62996181e-02 2.11299153e-03 2.77294294e+02] [ 2.62993549e-02 9.99654101e-01 1.52266716e-04 1.52362363e+01] [-2.11626521e-03 -9.66433934e-05 9.99997756e-01 -1.90638123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.011400513 meters Centerline goodness [0,1] 0.9997838398685747 Centerline is valid? [True, True] Translation: X:277.32, Y:15.24, Z:-0.19 [[ 9.99669636e-01 -2.56224761e-02 2.02683242e-03 2.77322208e+02] [ 2.56222311e-02 9.99671686e-01 1.46748454e-04 1.52416767e+01] [-2.02992704e-03 -9.47680051e-05 9.99997935e-01 -1.91453925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.041400513 meters Centerline goodness [0,1] 0.9995315062075427 Centerline is valid? [True, True] Translation: X:277.35, Y:15.24, Z:-0.19 [[ 9.99687086e-01 -2.48866107e-02 2.52735313e-03 2.77349801e+02] [ 2.48862269e-02 9.99690273e-01 1.83225733e-04 1.52447691e+01] [-2.53113021e-03 -1.20272115e-04 9.99996789e-01 -1.91312178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.071400513 meters Centerline goodness [0,1] 0.9997231568635803 Centerline is valid? [True, True] Translation: X:277.38, Y:15.24, Z:-0.19 [[ 9.99704856e-01 -2.40675586e-02 3.30967068e-03 2.77378904e+02] [ 2.40668949e-02 9.99710321e-01 2.40222782e-04 1.52365244e+01] [-3.31449352e-03 -1.60498385e-04 9.99994494e-01 -1.89508910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.101400513 meters Centerline goodness [0,1] 0.9997221212833721 Centerline is valid? [True, True] Translation: X:277.41, Y:15.24, Z:-0.19 [[ 9.99760125e-01 -2.15185475e-02 4.07988860e-03 2.77407292e+02] [ 2.15175163e-02 9.99768427e-01 2.96503908e-04 1.52422196e+01] [-4.08532414e-03 -2.08643714e-04 9.99991633e-01 -1.89398013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.131400513 meters Centerline goodness [0,1] 0.9995265660978286 Centerline is valid? [True, True] Translation: X:277.44, Y:15.24, Z:-0.19 [[ 9.99792656e-01 -2.00727973e-02 3.42452390e-03 2.77436896e+02] [ 2.00720620e-02 9.99798505e-01 2.48936250e-04 1.52443816e+01] [-3.42883072e-03 -1.80147378e-04 9.99994105e-01 -1.90569080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.161400513 meters Centerline goodness [0,1] 0.9992053776603741 Centerline is valid? [True, True] Translation: X:277.46, Y:15.25, Z:-0.19 [[ 9.99824584e-01 -1.85795344e-02 2.36688304e-03 2.77464775e+02] [ 1.85791791e-02 9.99827377e-01 1.71992203e-04 1.52479167e+01] [-2.36966999e-03 -1.27987289e-04 9.99997184e-01 -1.92693848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.191400513 meters Centerline goodness [0,1] 0.9995288574793875 Centerline is valid? [True, True] Translation: X:277.49, Y:15.24, Z:-0.19 [[ 9.99854907e-01 -1.70056977e-02 9.85410197e-04 2.77494521e+02] [ 1.70056355e-02 9.99855391e-01 7.15481209e-05 1.52432758e+01] [-9.86484424e-04 -5.47802132e-05 9.99999512e-01 -1.94441650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.221400513 meters Centerline goodness [0,1] 0.9986959960666111 Centerline is valid? [True, True] Translation: X:277.52, Y:15.25, Z:-0.20 [[ 9.99877524e-01 -1.56498474e-02 1.40870059e-04 2.77523136e+02] [ 1.56498461e-02 9.99877534e-01 1.00627155e-05 1.52490750e+01] [-1.41010287e-04 -7.85688830e-06 9.99999990e-01 -1.96226908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.251400513 meters Centerline goodness [0,1] 0.9975295264925778 Centerline is valid? [True, True] Translation: X:277.55, Y:15.25, Z:-0.20 [[ 9.99895406e-01 -1.44627316e-02 7.83097949e-05 2.77551841e+02] [ 1.44627312e-02 9.99895409e-01 5.41757260e-06 1.52535833e+01] [-7.83799573e-05 -4.28443244e-06 9.99999997e-01 -1.96534905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.281400513 meters Centerline goodness [0,1] 0.9916014264913798 Centerline is valid? [True, True] Translation: X:277.58, Y:15.26, Z:-0.19 [[ 9.99917250e-01 -1.26498015e-02 2.33982706e-03 2.77579371e+02] [ 1.26494372e-02 9.99919978e-01 1.70413667e-04 1.52629454e+01] [-2.34179552e-03 -1.40802070e-04 9.99997248e-01 -1.93620481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.311400513 meters Centerline goodness [0,1] 0.9939844228212001 Centerline is valid? [True, True] Translation: X:277.61, Y:15.27, Z:-0.19 [[ 9.99928501e-01 -1.16762687e-02 2.58014884e-03 2.77609246e+02] [ 1.16758220e-02 9.99931818e-01 1.88130108e-04 1.52651178e+01] [-2.58216958e-03 -1.57991298e-04 9.99996654e-01 -1.93333388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.341400513 meters Centerline goodness [0,1] 0.8959565555999915 Centerline is valid? [True, False] Translation: X:277.61, Y:15.27, Z:-0.19 [[ 9.99927661e-01 -1.17476309e-02 2.58179238e-03 2.77609422e+02] [ 1.17476482e-02 9.99930994e-01 8.46471516e-06 1.52659423e+01] [-2.58171366e-03 2.18658856e-05 9.99996667e-01 -1.93681303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.371400513 meters Centerline goodness [0,1] 0.9944817047287545 Centerline is valid? [False, True] Translation: X:277.61, Y:15.27, Z:-0.19 [[ 9.99926381e-01 -1.18608175e-02 2.56012085e-03 2.77609642e+02] [ 1.18614940e-02 9.99929619e-01 -2.49226984e-04 1.52671183e+01] [-2.55698463e-03 2.79575494e-04 9.99996692e-01 -1.93983206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.401400513 meters Centerline goodness [0,1] 0.9993297442217466 Centerline is valid? [True, True] Translation: X:277.64, Y:15.26, Z:-0.19 [[ 9.99930039e-01 -1.16159844e-02 2.23274697e-03 2.77640520e+02] [ 1.16156431e-02 9.99932522e-01 1.65789195e-04 1.52607930e+01] [-2.23452211e-03 -1.39842804e-04 9.99997494e-01 -1.94560624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.431400513 meters Centerline goodness [0,1] 0.99617102744097 Centerline is valid? [True, True] Translation: X:277.67, Y:15.27, Z:-0.20 [[ 9.99934396e-01 -1.12328508e-02 2.24203091e-03 2.77669193e+02] [ 1.12325057e-02 9.99936900e-01 1.66430188e-04 1.52735404e+01] [-2.24375892e-03 -1.41235644e-04 9.99997473e-01 -1.95227964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.4614005130001 meters Centerline goodness [0,1] 0.9957955534792857 Centerline is valid? [True, True] Translation: X:277.70, Y:15.28, Z:-0.20 [[ 9.99942081e-01 -1.05765824e-02 1.99271870e-03 2.77699440e+02] [ 1.05763084e-02 9.99944058e-01 1.47989660e-04 1.52773093e+01] [-1.99417245e-03 -1.26905481e-04 9.99998004e-01 -1.95417194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.491400513 meters Centerline goodness [0,1] 0.99074327886136 Centerline is valid? [True, True] Translation: X:277.73, Y:15.28, Z:-0.20 [[ 9.99939522e-01 -1.08557893e-02 1.76200723e-03 2.77728439e+02] [ 1.08555754e-02 9.99941068e-01 1.30882186e-04 1.52836738e+01] [-1.76332422e-03 -1.11746668e-04 9.99998439e-01 -1.95553539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.521400513 meters Centerline goodness [0,1] 0.9964349756639057 Centerline is valid? [True, True] Translation: X:277.76, Y:15.28, Z:-0.20 [[ 9.99932138e-01 -1.15361910e-02 1.62328088e-03 2.77758659e+02] [ 1.15360106e-02 9.99933451e-01 1.20490703e-04 1.52848574e+01] [-1.62456286e-03 -1.01756341e-04 9.99998675e-01 -1.95859782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.551400513 meters Centerline goodness [0,1] 0.9965900856740975 Centerline is valid? [True, True] Translation: X:277.79, Y:15.29, Z:-0.20 [[ 9.99918522e-01 -1.26657977e-02 1.58933128e-03 2.77787622e+02] [ 1.26656262e-02 9.99919781e-01 1.17933684e-04 1.52874715e+01] [-1.59069751e-03 -9.77941993e-05 9.99998730e-01 -1.96536117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.581400513 meters Centerline goodness [0,1] 0.9861633616017343 Centerline is valid? [True, True] Translation: X:277.82, Y:15.30, Z:-0.20 [[ 9.99894190e-01 -1.43867759e-02 2.15160995e-03 2.77815571e+02] [ 1.43864654e-02 9.99896497e-01 1.59709607e-04 1.52950365e+01] [-2.15368496e-03 -1.28738646e-04 9.99997673e-01 -1.96782758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.611400513 meters Centerline goodness [0,1] 0.9994492692226223 Centerline is valid? [True, True] Translation: X:277.85, Y:15.28, Z:-0.19 [[ 9.99802829e-01 -1.94426314e-02 4.03575130e-03 2.77847128e+02] [ 1.94415785e-02 9.99810950e-01 2.99960925e-04 1.52816193e+01] [-4.04082037e-03 -2.21440406e-04 9.99991811e-01 -1.93902301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.641400513 meters Centerline goodness [0,1] 0.9994484865197378 Centerline is valid? [True, True] Translation: X:277.88, Y:15.28, Z:-0.19 [[ 9.99734061e-01 -2.26197425e-02 4.48928143e-03 2.77878326e+02] [ 2.26184716e-02 9.99744114e-01 3.33672321e-04 1.52768852e+01] [-4.49568027e-03 -2.32042901e-04 9.99989867e-01 -1.93218669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.671400513 meters Centerline goodness [0,1] 0.9996417734322319 Centerline is valid? [True, True] Translation: X:277.91, Y:15.27, Z:-0.19 [[ 9.99661287e-01 -2.55837207e-02 4.77326406e-03 2.77907766e+02] [ 2.55823177e-02 9.99672656e-01 3.54769589e-04 1.52747839e+01] [-4.78077789e-03 -2.32538267e-04 9.99988545e-01 -1.93193834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.701400513 meters Centerline goodness [0,1] 0.9998489621542312 Centerline is valid? [True, True] Translation: X:277.94, Y:15.26, Z:-0.19 [[ 9.99601190e-01 -2.78210783e-02 4.84237359e-03 2.77938027e+02] [ 2.78196602e-02 9.99612894e-01 3.59976810e-04 1.52647507e+01] [-4.85051402e-03 -2.25120059e-04 9.99988211e-01 -1.92614594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.731400513 meters Centerline goodness [0,1] 0.9997642924487872 Centerline is valid? [True, True] Translation: X:277.97, Y:15.26, Z:-0.19 [[ 9.99555311e-01 -2.94073763e-02 4.93819651e-03 2.77967442e+02] [ 2.94059212e-02 9.99567485e-01 3.67035266e-04 1.52625263e+01] [-4.94685421e-03 -2.21659832e-04 9.99987740e-01 -1.92555655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.761400513 meters Centerline goodness [0,1] 0.9998720191118127 Centerline is valid? [True, True] Translation: X:278.00, Y:15.27, Z:-0.19 [[ 9.99540672e-01 -2.98404692e-02 5.29071101e-03 2.77995195e+02] [ 2.98387997e-02 9.99554646e-01 3.94213426e-04 1.52650636e+01] [-5.30011829e-03 -2.36163887e-04 9.99985926e-01 -1.91485797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.791400513 meters Centerline goodness [0,1] 0.9998088157195963 Centerline is valid? [True, True] Translation: X:278.02, Y:15.27, Z:-0.19 [[ 9.99594043e-01 -2.79097370e-02 5.72680284e-03 2.78023194e+02] [ 2.79077473e-02 9.99610412e-01 4.27076255e-04 1.52667280e+01] [-5.73649133e-03 -2.67080714e-04 9.99983511e-01 -1.90835820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.821400513 meters Centerline goodness [0,1] 0.9997030689940402 Centerline is valid? [True, True] Translation: X:278.05, Y:15.27, Z:-0.19 [[ 9.99638364e-01 -2.61427396e-02 6.30070733e-03 2.78052201e+02] [ 2.61402938e-02 9.99658174e-01 4.70233554e-04 1.52701606e+01] [-6.31084677e-03 -3.05361160e-04 9.99980040e-01 -1.90945695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.851400513 meters Centerline goodness [0,1] 0.9996796309348369 Centerline is valid? [True, True] Translation: X:278.08, Y:15.27, Z:-0.19 [[ 9.99683612e-01 -2.41613199e-02 6.99325062e-03 2.78081492e+02] [ 2.41582567e-02 9.99708010e-01 5.22180124e-04 1.52738388e+01] [-7.00382523e-03 -3.53070169e-04 9.99975411e-01 -1.90041002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.881400513 meters Centerline goodness [0,1] 0.99970375386178 Centerline is valid? [True, True] Translation: X:278.11, Y:15.28, Z:-0.19 [[ 9.99720533e-01 -2.22714538e-02 7.92701935e-03 2.78111689e+02] [ 2.22674565e-02 9.99751874e-01 5.92163334e-04 1.52756668e+01] [-7.93824078e-03 -4.15483285e-04 9.99968405e-01 -1.88750814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.911400513 meters Centerline goodness [0,1] 0.9995136083913126 Centerline is valid? [True, True] Translation: X:278.14, Y:15.28, Z:-0.19 [[ 9.99762287e-01 -2.01591443e-02 8.30535629e-03 2.78141945e+02] [ 2.01546832e-02 9.99796681e-01 6.20492410e-04 1.52785966e+01] [-8.31617625e-03 -4.52953085e-04 9.99965317e-01 -1.87977865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.941400513 meters Centerline goodness [0,1] 0.9994489073528476 Centerline is valid? [True, True] Translation: X:278.17, Y:15.28, Z:-0.19 [[ 9.99809786e-01 -1.78014845e-02 7.96857715e-03 2.78171452e+02] [ 1.77973038e-02 9.99841438e-01 5.95261705e-04 1.52831774e+01] [-7.97791018e-03 -4.53329290e-04 9.99968073e-01 -1.88269522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.971400513 meters Centerline goodness [0,1] 0.9993157714676703 Centerline is valid? [True, True] Translation: X:278.20, Y:15.28, Z:-0.19 [[ 9.99870358e-01 -1.46083588e-02 6.77222441e-03 2.78201957e+02] [ 1.46052672e-02 9.99893209e-01 5.05747279e-04 1.52840551e+01] [-6.77888934e-03 -4.06771567e-04 9.99976940e-01 -1.90732363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.001400513 meters Centerline goodness [0,1] 0.9989555579239049 Centerline is valid? [True, True] Translation: X:278.23, Y:15.29, Z:-0.19 [[ 9.99880395e-01 -1.37460318e-02 7.08817101e-03 2.78232143e+02] [ 1.37426235e-02 9.99905426e-01 5.29321136e-04 1.52890352e+01] [-7.09477672e-03 -4.31847761e-04 9.99974739e-01 -1.91066282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.031400513 meters Centerline goodness [0,1] 0.9965901389359539 Centerline is valid? [True, True] Translation: X:278.26, Y:15.30, Z:-0.19 [[ 9.99882395e-01 -1.32735551e-02 7.68169707e-03 2.78263257e+02] [ 1.32695392e-02 9.99911791e-01 5.73522298e-04 1.52961177e+01] [-7.68863216e-03 -4.71522269e-04 9.99970331e-01 -1.90592942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.061400513 meters Centerline goodness [0,1] 0.9995067976154737 Centerline is valid? [True, True] Translation: X:278.30, Y:15.29, Z:-0.19 [[ 9.99885526e-01 -1.24679652e-02 8.57227962e-03 2.78295757e+02] [ 1.24629371e-02 9.99922130e-01 6.39725918e-04 1.52862026e+01] [-8.57958818e-03 -5.32816905e-04 9.99963053e-01 -1.89631011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.091400513 meters Centerline goodness [0,1] 0.9991878953667294 Centerline is valid? [True, True] Translation: X:278.33, Y:15.29, Z:-0.19 [[ 9.99899562e-01 -1.20247421e-02 7.50138069e-03 2.78326615e+02] [ 1.20208807e-02 9.99927590e-01 5.59639722e-04 1.52912055e+01] [-7.50756703e-03 -4.69410311e-04 9.99971708e-01 -1.91203200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.121400513 meters Centerline goodness [0,1] 0.9992909477664854 Centerline is valid? [True, True] Translation: X:278.36, Y:15.29, Z:-0.19 [[ 9.99917849e-01 -1.13851166e-02 5.88856537e-03 2.78359174e+02] [ 1.13827270e-02 9.99935118e-01 4.39164769e-04 1.52892255e+01] [-5.89318326e-03 -3.72100759e-04 9.99982566e-01 -1.94257261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.151400513 meters Centerline goodness [0,1] 0.8919996588340654 Centerline is valid? [True, False] Translation: X:278.36, Y:15.29, Z:-0.20 [[ 9.99918477e-01 -1.14243184e-02 5.70305821e-03 2.78360318e+02] [ 1.14226345e-02 9.99934706e-01 3.27747933e-04 1.52896078e+01] [-5.70643013e-03 -2.62577264e-04 9.99983684e-01 -1.95355470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.181400513 meters Centerline goodness [0,1] 0.9907486357435198 Centerline is valid? [False, True] Translation: X:278.36, Y:15.29, Z:-0.20 [[ 9.99919720e-01 -1.13635950e-02 5.60560155e-03 2.78360891e+02] [ 1.13611139e-02 9.99935348e-01 4.74264415e-04 1.52888586e+01] [-5.61062849e-03 -4.10540463e-04 9.99984176e-01 -1.95846614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.2114005130001 meters Centerline goodness [0,1] 0.992779170029308 Centerline is valid? [True, True] Translation: X:278.39, Y:15.29, Z:-0.20 [[ 9.99922318e-01 -1.11269183e-02 5.61687830e-03 2.78391980e+02] [ 1.11247108e-02 9.99938029e-01 4.24096917e-04 1.52890048e+01] [-5.62124910e-03 -3.61577825e-04 9.99984135e-01 -1.96304942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.241400513 meters Centerline goodness [0,1] 0.9750901064215488 Centerline is valid? [True, True] Translation: X:278.42, Y:15.30, Z:-0.19 [[ 9.99915421e-01 -1.08089411e-02 7.23306372e-03 2.78422581e+02] [ 1.08052737e-02 9.99941472e-01 5.45924875e-04 1.52972804e+01] [-7.23854126e-03 -4.67723469e-04 9.99973692e-01 -1.94686445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.271400513 meters Centerline goodness [0,1] 0.9974271194369432 Centerline is valid? [True, True] Translation: X:278.45, Y:15.29, Z:-0.19 [[ 9.99913097e-01 -1.05131923e-02 7.95437777e-03 2.78454779e+02] [ 1.05087498e-02 9.99944602e-01 6.00080876e-04 1.52929294e+01] [-7.96024588e-03 -5.16438160e-04 9.99968183e-01 -1.93486728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.301400513 meters Centerline goodness [0,1] 0.9950981432360743 Centerline is valid? [True, True] Translation: X:278.49, Y:15.30, Z:-0.19 [[ 9.99913174e-01 -1.03564192e-02 8.14794734e-03 2.78485160e+02] [ 1.03517559e-02 9.99946230e-01 6.14296228e-04 1.52976699e+01] [-8.15387114e-03 -5.29897329e-04 9.99966616e-01 -1.93394710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.331400513 meters Centerline goodness [0,1] 0.9796933720532969 Centerline is valid? [True, True] Translation: X:278.52, Y:15.30, Z:-0.19 [[ 9.99915479e-01 -1.03657596e-02 7.84771982e-03 2.78515975e+02] [ 1.03614351e-02 9.99946144e-01 5.91503055e-04 1.53049120e+01] [-7.85342855e-03 -5.10139421e-04 9.99969031e-01 -1.93941047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.361400513 meters Centerline goodness [0,1] 0.9992040271921522 Centerline is valid? [True, True] Translation: X:278.55, Y:15.30, Z:-0.19 [[ 9.99920137e-01 -1.03517405e-02 7.24987489e-03 2.78548519e+02] [ 1.03480509e-02 9.99946308e-01 5.46244491e-04 1.52957376e+01] [-7.25514022e-03 -4.71178792e-04 9.99973570e-01 -1.94534038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.391400513 meters Centerline goodness [0,1] 0.9968403074295474 Centerline is valid? [True, True] Translation: X:278.58, Y:15.31, Z:-0.19 [[ 9.99924197e-01 -1.00657488e-02 7.09094551e-03 2.78578610e+02] [ 1.00622144e-02 9.99949232e-01 5.33931143e-04 1.53063940e+01] [-7.09595993e-03 -4.62540055e-04 9.99974716e-01 -1.94951460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.421400513 meters Centerline goodness [0,1] 0.996833943570967 Centerline is valid? [True, True] Translation: X:278.61, Y:15.31, Z:-0.20 [[ 9.99922299e-01 -1.01479769e-02 7.23982887e-03 2.78610857e+02] [ 1.01442965e-02 9.99948397e-01 5.44901865e-04 1.53100849e+01] [-7.24498492e-03 -4.71416555e-04 9.99973644e-01 -1.95522816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.451400513 meters Centerline goodness [0,1] 0.9992644513672551 Centerline is valid? [True, True] Translation: X:278.64, Y:15.31, Z:-0.20 [[ 9.99922085e-01 -1.01398012e-02 7.28069020e-03 2.78643097e+02] [ 1.01360813e-02 9.99948479e-01 5.47646767e-04 1.53078090e+01] [-7.28586811e-03 -4.73806430e-04 9.99973345e-01 -1.95301972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.481400513 meters Centerline goodness [0,1] 0.9987791033906654 Centerline is valid? [True, True] Translation: X:278.67, Y:15.32, Z:-0.20 [[ 9.99905999e-01 -1.17762907e-02 7.02225117e-03 2.78673431e+02] [ 1.17728729e-02 9.99930558e-01 5.27850247e-04 1.53166986e+01] [-7.02797965e-03 -4.45128558e-04 9.99975204e-01 -1.95307449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.511400513 meters Centerline goodness [0,1] 0.9994390507011867 Centerline is valid? [True, True] Translation: X:278.71, Y:15.31, Z:-0.19 [[ 9.99888985e-01 -1.31218537e-02 7.05938234e-03 2.78705057e+02] [ 1.31184342e-02 9.99913809e-01 5.30479515e-04 1.53125097e+01] [-7.06573476e-03 -4.37812581e-04 9.99974942e-01 -1.94886984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.541400513 meters Centerline goodness [0,1] 0.9871047367749074 Centerline is valid? [True, True] Translation: X:278.73, Y:15.33, Z:-0.20 [[ 9.99875893e-01 -1.40554556e-02 7.11630621e-03 2.78734289e+02] [ 1.40520055e-02 9.99901123e-01 5.34585515e-04 1.53340983e+01] [-7.12311642e-03 -4.34520796e-04 9.99974536e-01 -1.95141430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.571400513 meters Centerline goodness [0,1] 0.998611081433364 Centerline is valid? [True, True] Translation: X:278.77, Y:15.33, Z:-0.20 [[ 9.99873065e-01 -1.43461360e-02 6.93131541e-03 2.78767084e+02] [ 1.43428708e-02 9.99897000e-01 5.20568118e-04 1.53303533e+01] [-6.93806963e-03 -4.21087078e-04 9.99975843e-01 -1.95483684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.601400513 meters Centerline goodness [0,1] 0.9992962252079335 Centerline is valid? [True, True] Translation: X:278.80, Y:15.33, Z:-0.20 [[ 9.99879770e-01 -1.38309336e-02 7.01077586e-03 2.78799038e+02] [ 1.38275827e-02 9.99904256e-01 5.26220113e-04 1.53294947e+01] [-7.01738273e-03 -4.29214763e-04 9.99975286e-01 -1.95583249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.631400513 meters Centerline goodness [0,1] 0.9992962252079335 Centerline is valid? [True, True] Translation: X:278.83, Y:15.33, Z:-0.20 [[ 9.99880403e-01 -1.37850486e-02 7.01079995e-03 2.78830674e+02] [ 1.37816988e-02 9.99904890e-01 5.25898851e-04 1.53317914e+01] [-7.01738270e-03 -4.29215223e-04 9.99975286e-01 -1.95861693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.661400513 meters Centerline goodness [0,1] 0.997479117263774 Centerline is valid? [True, True] Translation: X:278.86, Y:15.34, Z:-0.19 [[ 9.99888449e-01 -1.28276885e-02 7.65117030e-03 2.78860710e+02] [ 1.28236735e-02 9.99917609e-01 5.73582303e-04 1.53408219e+01] [-7.65789765e-03 -4.75402210e-04 9.99970565e-01 -1.94823671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.691400513 meters Centerline goodness [0,1] 0.9991018732358224 Centerline is valid? [True, True] Translation: X:278.89, Y:15.34, Z:-0.19 [[ 9.99892042e-01 -1.03781676e-02 1.04018062e-02 2.78891004e+02] [ 1.03706247e-02 9.99945920e-01 7.78828644e-04 1.53438155e+01] [-1.04093265e-02 -6.70871335e-04 9.99945596e-01 -1.91197596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.721400513 meters Centerline goodness [0,1] 0.998171768707483 Centerline is valid? [True, True] Translation: X:278.92, Y:15.35, Z:-0.19 [[ 9.99890178e-01 -9.16418146e-03 1.16468717e-02 2.78920768e+02] [ 9.15464297e-03 9.99957715e-01 8.72025226e-04 1.53480650e+01] [-1.16543706e-02 -7.65306507e-04 9.99931793e-01 -1.89543603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.751400513 meters Centerline goodness [0,1] 0.9946768550516216 Centerline is valid? [True, True] Translation: X:278.95, Y:15.35, Z:-0.19 [[ 9.99895532e-01 -7.95222338e-03 1.20700599e-02 2.78951154e+02] [ 7.94189162e-03 9.99968054e-01 9.03673439e-04 1.53524584e+01] [-1.20768605e-02 -8.07719927e-04 9.99926746e-01 -1.89211774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.781400513 meters Centerline goodness [0,1] 0.9103492198280437 Centerline is valid? [True, False] Translation: X:278.95, Y:15.35, Z:-0.19 [[ 9.99902020e-01 -7.42164846e-03 1.18688236e-02 2.78951997e+02] [ 7.39842864e-03 9.99970633e-01 1.99908341e-03 1.53473177e+01] [-1.18833115e-02 -1.91107689e-03 9.99927565e-01 -1.89536810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.811400513 meters Centerline goodness [0,1] 0.9903862442825682 Centerline is valid? [False, True] Translation: X:278.95, Y:15.35, Z:-0.19 [[ 9.99903856e-01 -7.20687612e-03 1.18464857e-02 2.78952267e+02] [ 7.17830640e-03 9.99971228e-01 2.45241617e-03 1.53451649e+01] [-1.18638192e-02 -2.36714268e-03 9.99926821e-01 -1.89896306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.841400513 meters Centerline goodness [0,1] 0.9898151082937137 Centerline is valid? [True, True] Translation: X:278.98, Y:15.35, Z:-0.19 [[ 9.99906510e-01 -5.87327190e-03 1.23481498e-02 2.78983763e+02] [ 5.86184026e-03 9.99982357e-01 9.61767367e-04 1.53468298e+01] [-1.23535807e-02 -8.89294569e-04 9.99923296e-01 -1.90473552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.871400513 meters Centerline goodness [0,1] 0.9838097056888833 Centerline is valid? [True, True] Translation: X:279.01, Y:15.35, Z:-0.19 [[ 9.99908334e-01 -4.36886295e-03 1.28155131e-02 2.79014696e+02] [ 4.35643007e-03 9.99990013e-01 9.97898689e-04 1.53485846e+01] [-1.28197448e-02 -9.41977328e-04 9.99917380e-01 -1.90297513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.901400513 meters Centerline goodness [0,1] 0.9537701595879422 Centerline is valid? [True, True] Translation: X:279.04, Y:15.35, Z:-0.19 [[ 9.99916754e-01 -2.37696662e-03 1.26820751e-02 2.79043927e+02] [ 2.36463416e-03 9.99996717e-01 9.87338294e-04 1.53523684e+01] [-1.26843803e-02 -9.57267634e-04 9.99919092e-01 -1.90309960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.931400513 meters Centerline goodness [0,1] 0.7527115884728418 Centerline is valid? [True, False] Translation: X:279.04, Y:15.35, Z:-0.19 [[ 9.99917832e-01 -2.25276544e-03 1.26195989e-02 2.79044345e+02] [ 2.23811134e-03 9.99996805e-01 1.17521938e-03 1.53514744e+01] [-1.26222061e-02 -1.14687875e-03 9.99919679e-01 -1.90678862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.9614005130001 meters Centerline goodness [0,1] 0.8418302319653327 Centerline is valid? [False, False] Translation: X:279.03, Y:15.35, Z:-0.19 [[ 9.99944112e-01 3.17719309e-03 1.00836003e-02 2.79026299e+02] [-3.13466298e-03 9.99986137e-01 -4.23075598e-03 1.53512302e+01] [-1.00969025e-02 4.19891085e-03 9.99940209e-01 -1.92688022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.991400513 meters Centerline goodness [0,1] 0.8959235286553217 Centerline is valid? [False, False] Translation: X:279.00, Y:15.34, Z:-0.18 [[ 9.99965441e-01 7.13827743e-03 4.26176057e-03 2.79000534e+02] [-7.18476958e-03 9.99913737e-01 1.09953667e-02 1.53361439e+01] [-4.18290496e-03 -1.10256064e-02 9.99930467e-01 -1.83063082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.021400513 meters Centerline goodness [0,1] 0.5584883919426425 Centerline is valid? [False, False] Translation: X:279.00, Y:15.34, Z:-0.18 [[ 9.99982038e-01 3.91518286e-03 4.53828134e-03 2.78999727e+02] [-3.94156465e-03 9.99975302e-01 5.81887389e-03 1.53440241e+01] [-4.51538729e-03 -5.83665730e-03 9.99972772e-01 -1.84406086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.051400513 meters Centerline goodness [0,1] 0.3903370977328692 Centerline is valid? [False, False] Translation: X:279.00, Y:15.35, Z:-0.18 [[ 9.99981874e-01 3.80107483e-03 4.66941653e-03 2.78999452e+02] [-3.82538273e-03 9.99979122e-01 5.20791560e-03 1.53470750e+01] [-4.64952336e-03 -5.22568351e-03 9.99975537e-01 -1.84818803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.081400513 meters Centerline goodness [0,1] 0.3944578721960734 Centerline is valid? [False, False] Translation: X:279.00, Y:15.35, Z:-0.19 [[ 9.99981885e-01 3.62406932e-03 4.80587634e-03 2.78999161e+02] [-3.64666209e-03 9.99982303e-01 4.70067159e-03 1.53494745e+01] [-4.78875572e-03 -4.71811184e-03 9.99977403e-01 -1.85169447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.111400513 meters Centerline goodness [0,1] 0.4634338194651133 Centerline is valid? [False, False] Translation: X:279.00, Y:15.35, Z:-0.19 [[ 9.99983523e-01 3.19137233e-03 4.77161185e-03 2.78999668e+02] [-3.20924999e-03 9.99987843e-01 3.74371942e-03 1.53538693e+01] [-4.75960623e-03 -3.75897104e-03 9.99981608e-01 -1.85970411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.141400513 meters Centerline goodness [0,1] 0.4912700260311951 Centerline is valid? [False, False] Translation: X:279.00, Y:15.36, Z:-0.19 [[ 9.99984684e-01 2.94584817e-03 4.68552327e-03 2.79000078e+02] [-2.96131234e-03 9.99990180e-01 3.29690968e-03 1.53558601e+01] [-4.67576506e-03 -3.31073448e-03 9.99983588e-01 -1.86244158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.171400513 meters Centerline goodness [0,1] 0.4344965189336051 Centerline is valid? [False, False] Translation: X:279.00, Y:15.36, Z:-0.19 [[ 9.99985467e-01 2.76316120e-03 4.62935718e-03 2.79000106e+02] [-2.77697620e-03 9.99991703e-01 2.98045118e-03 1.53573215e+01] [-4.62108330e-03 -2.99326348e-03 9.99984843e-01 -1.85958236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.201400513 meters Centerline goodness [0,1] 0.6411069717935072 Centerline is valid? [False, False] Translation: X:279.00, Y:15.36, Z:-0.19 [[ 9.99986052e-01 2.63421928e-03 4.57789869e-03 2.79000040e+02] [-2.64699739e-03 9.99992612e-01 2.78744550e-03 1.53582160e+01] [-4.57052213e-03 -2.79952431e-03 9.99985636e-01 -1.85519224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.231400513 meters Centerline goodness [0,1] 0.8398674647285165 Centerline is valid? [False, False] Translation: X:279.00, Y:15.36, Z:-0.19 [[ 9.99986735e-01 2.44491746e-03 4.53339301e-03 2.79000089e+02] [-2.45592007e-03 9.99994049e-01 2.42303800e-03 1.53599166e+01] [-4.52744190e-03 -2.43413951e-03 9.99986789e-01 -1.85343025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.261400513 meters Centerline goodness [0,1] 0.5039925047377722 Centerline is valid? [False, False] Translation: X:279.00, Y:15.36, Z:-0.19 [[ 9.99989149e-01 1.91429797e-03 4.24701136e-03 2.79001203e+02] [-1.92083704e-03 9.99996975e-01 1.53614308e-03 1.53638007e+01] [-4.24405787e-03 -1.54428423e-03 9.99989802e-01 -1.85716396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.291400513 meters Centerline goodness [0,1] 0.814945334890139 Centerline is valid? [False, False] Translation: X:279.00, Y:15.37, Z:-0.19 [[ 9.99990113e-01 1.67481841e-03 4.11937082e-03 2.79001841e+02] [-1.67925403e-03 9.99998014e-01 1.07354854e-03 1.53658626e+01] [-4.11756464e-03 -1.08045539e-03 9.99990939e-01 -1.86151341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.321400513 meters Centerline goodness [0,1] 0.8391669323132505 Centerline is valid? [False, False] Translation: X:279.00, Y:15.37, Z:-0.19 [[ 9.99990857e-01 1.42519810e-03 4.03164586e-03 2.79002133e+02] [-1.42750950e-03 9.99998818e-01 5.70493474e-04 1.53681638e+01] [-4.03082803e-03 -5.76243470e-04 9.99991710e-01 -1.86178040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.351400513 meters Centerline goodness [0,1] 0.648997377104662 Centerline is valid? [False, False] Translation: X:279.00, Y:15.37, Z:-0.19 [[ 9.99991218e-01 1.19782037e-03 4.01602576e-03 2.79002112e+02] [-1.19836091e-03 9.99999273e-01 1.32193599e-04 1.53701725e+01] [-4.01586450e-03 -1.37005086e-04 9.99991927e-01 -1.86047394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.381400513 meters Centerline goodness [0,1] 0.9843823541996491 Centerline is valid? [False, True] Translation: X:278.98, Y:15.36, Z:-0.18 [[ 9.99999565e-01 -3.38338257e-04 -8.69744288e-04 2.78976938e+02] [ 3.47345510e-04 9.99946097e-01 1.03770032e-02 1.53618527e+01] [ 8.66186470e-04 -1.03773008e-02 9.99945779e-01 -1.77034003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.411400513 meters Centerline goodness [0,1] 0.988574607385853 Centerline is valid? [True, True] Translation: X:279.01, Y:15.37, Z:-0.18 [[ 9.99976611e-01 -6.54825656e-03 1.97419678e-03 2.79005515e+02] [ 6.54797467e-03 9.99978551e-01 1.49220545e-04 1.53749001e+01] [-1.97513157e-03 -1.36290065e-04 9.99998040e-01 -1.76360296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.441400513 meters Centerline goodness [0,1] 0.9946255822285919 Centerline is valid? [True, True] Translation: X:279.03, Y:15.38, Z:-0.18 [[ 9.99941959e-01 -1.03778037e-02 2.89484589e-03 2.79034725e+02] [ 1.03772134e-02 9.99946131e-01 2.18862732e-04 1.53755793e+01] [-2.89696127e-03 -1.88809596e-04 9.99995786e-01 -1.75956166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.471400513 meters Centerline goodness [0,1] 0.999129825752913 Centerline is valid? [True, True] Translation: X:279.07, Y:15.37, Z:-0.18 [[ 9.99895272e-01 -1.41621805e-02 2.97958904e-03 2.79065842e+02] [ 1.41615717e-02 9.99899695e-01 2.25303572e-04 1.53697950e+01] [-2.98248096e-03 -1.83084313e-04 9.99995536e-01 -1.75780234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.501400513 meters Centerline goodness [0,1] 0.9979328275509334 Centerline is valid? [True, True] Translation: X:279.10, Y:15.38, Z:-0.18 [[ 9.99849471e-01 -1.71660306e-02 2.52254996e-03 2.79095055e+02] [ 1.71656038e-02 9.99852642e-01 1.90744154e-04 1.53750272e+01] [-2.52545256e-03 -1.47414348e-04 9.99996800e-01 -1.76874294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.531400513 meters Centerline goodness [0,1] 0.9998035749361619 Centerline is valid? [True, True] Translation: X:279.13, Y:15.36, Z:-0.18 [[ 9.99781676e-01 -2.08575322e-02 1.25074851e-03 2.79127418e+02] [ 2.08574302e-02 9.99782456e-01 9.46077195e-05 1.53563890e+01] [-1.25244970e-03 -6.84996647e-05 9.99999213e-01 -1.78671560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.561400513 meters Centerline goodness [0,1] 0.9993020452190098 Centerline is valid? [True, True] Translation: X:279.15, Y:15.37, Z:-0.18 [[ 9.99764818e-01 -2.16139800e-02 1.77308106e-03 2.79154559e+02] [ 2.16137762e-02 9.99766386e-01 1.34026406e-04 1.53664935e+01] [-1.77556369e-03 -9.56719077e-05 9.99998419e-01 -1.78223345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.591400513 meters Centerline goodness [0,1] 0.9997862791194699 Centerline is valid? [True, True] Translation: X:279.18, Y:15.36, Z:-0.18 [[ 9.99757843e-01 -2.18773842e-02 2.37401667e-03 2.79183293e+02] [ 2.18770192e-02 9.99760653e-01 1.79604959e-04 1.53605417e+01] [-2.37737774e-03 -1.27625058e-04 9.99997166e-01 -1.77232310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.621400513 meters Centerline goodness [0,1] 0.9998295151838039 Centerline is valid? [True, True] Translation: X:279.21, Y:15.36, Z:-0.18 [[ 9.99767244e-01 -2.14022820e-02 2.72042642e-03 2.79212525e+02] [ 2.14017993e-02 9.99770934e-01 2.06396614e-04 1.53612018e+01] [-2.72422062e-03 -1.48126554e-04 9.99996278e-01 -1.76652006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.651400513 meters Centerline goodness [0,1] 0.9991072757030204 Centerline is valid? [True, True] Translation: X:279.24, Y:15.38, Z:-0.18 [[ 9.99784623e-01 -2.05714381e-02 2.74277614e-03 2.79239108e+02] [ 2.05709431e-02 9.99788374e-01 2.08545680e-04 1.53758509e+01] [-2.74648578e-03 -1.52079272e-04 9.99996217e-01 -1.76897504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.681400513 meters Centerline goodness [0,1] 0.9993005807299394 Centerline is valid? [True, True] Translation: X:279.27, Y:15.37, Z:-0.18 [[ 9.99806990e-01 -1.95066664e-02 2.33925431e-03 2.79269305e+02] [ 1.95063030e-02 9.99809718e-01 1.78065879e-04 1.53701816e+01] [-2.34228266e-03 -1.32401307e-04 9.99997248e-01 -1.77238610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.7114005130001 meters Centerline goodness [0,1] 0.9991714291784402 Centerline is valid? [True, True] Translation: X:279.30, Y:15.37, Z:-0.18 [[ 9.99862606e-01 -1.65416229e-02 1.06995290e-03 2.79299568e+02] [ 1.65415452e-02 9.99863176e-01 8.14704340e-05 1.53706054e+01] [-1.07115416e-03 -6.37605662e-05 9.99999424e-01 -1.79207503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.741400513 meters Centerline goodness [0,1] 0.9989945018505445 Centerline is valid? [True, True] Translation: X:279.33, Y:15.37, Z:-0.18 [[ 9.99890929e-01 -1.47566840e-02 6.08285319e-04 2.79329477e+02] [ 1.47566585e-02 9.99891114e-01 4.62964260e-05 1.53706209e+01] [-6.08902266e-04 -3.73151177e-05 9.99999814e-01 -1.79883244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.771400513 meters Centerline goodness [0,1] 0.999698152260624 Centerline is valid? [True, True] Translation: X:279.36, Y:15.37, Z:-0.18 [[ 9.99918770e-01 -1.27159903e-02 8.69542323e-04 2.79360561e+02] [ 1.27159375e-02 9.99919147e-01 6.62241061e-05 1.53668078e+01] [-8.70314123e-04 -5.51616808e-05 9.99999620e-01 -1.79458335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.801400513 meters Centerline goodness [0,1] 0.9959191481221705 Centerline is valid? [True, True] Translation: X:279.39, Y:15.38, Z:-0.18 [[ 9.99946607e-01 -1.01617189e-02 1.87679153e-03 2.79389556e+02] [ 1.01614684e-02 9.99948361e-01 1.42931515e-04 1.53788091e+01] [-1.87814704e-03 -1.23852925e-04 9.99998229e-01 -1.78882132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.831400513 meters Centerline goodness [0,1] 0.9776793248945148 Centerline is valid? [True, True] Translation: X:279.42, Y:15.39, Z:-0.18 [[ 9.99967882e-01 -7.47771505e-03 2.88439609e-03 2.79418160e+02] [ 7.47711231e-03 9.99972022e-01 2.19690804e-04 1.53878242e+01] [-2.88595818e-03 -1.98116794e-04 9.99995816e-01 -1.77969739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.861400513 meters Centerline goodness [0,1] 0.9877084407770328 Centerline is valid? [True, True] Translation: X:279.45, Y:15.39, Z:-0.18 [[ 9.99984412e-01 -4.65842081e-03 3.07813538e-03 2.79449181e+02] [ 4.65772110e-03 9.99989125e-01 2.34448221e-04 1.53884584e+01] [-3.07919406e-03 -2.20107470e-04 9.99995235e-01 -1.77433997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.891400513 meters Centerline goodness [0,1] 0.9135797254487856 Centerline is valid? [True, False] Translation: X:279.49, Y:15.39, Z:-0.18 [[ 9.99989674e-01 -1.41806122e-03 4.31746401e-03 2.79493012e+02] [ 1.42184839e-03 9.99998607e-01 -8.74231790e-04 1.53944690e+01] [-4.31621828e-03 8.80361542e-04 9.99990298e-01 -1.80500846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.921400513 meters Centerline goodness [0,1] 0.8915503462972829 Centerline is valid? [False, False] Translation: X:279.48, Y:15.40, Z:-0.19 [[ 9.99962235e-01 -2.31541671e-03 8.37655335e-03 2.79478419e+02] [ 2.38087922e-03 9.99966640e-01 -7.81345739e-03 1.54015986e+01] [-8.35818250e-03 7.83310588e-03 9.99934389e-01 -1.87609694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.951400513 meters Centerline goodness [0,1] 0.6352377912543887 Centerline is valid? [False, False] Translation: X:279.48, Y:15.40, Z:-0.19 [[ 9.99965150e-01 2.23231879e-03 8.04455619e-03 2.79479183e+02] [-2.21234720e-03 9.99994451e-01 -2.49066517e-03 1.53966943e+01] [-8.05007151e-03 2.47278102e-03 9.99964540e-01 -1.86962222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.981400513 meters Centerline goodness [0,1] 0.4221455498051243 Centerline is valid? [False, False] Translation: X:279.48, Y:15.40, Z:-0.19 [[ 9.99965344e-01 2.09707813e-03 8.05681351e-03 2.79479334e+02] [-2.07422808e-03 9.99993806e-01 -2.84342549e-03 1.53983274e+01] [-8.06272649e-03 2.82661528e-03 9.99963501e-01 -1.87378430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.011400513 meters Centerline goodness [0,1] 0.8466582381554417 Centerline is valid? [False, False] Translation: X:279.48, Y:15.40, Z:-0.19 [[ 9.99965563e-01 2.05512521e-03 8.04052840e-03 2.79479492e+02] [-2.03161503e-03 9.99993641e-01 -2.93103596e-03 1.53987062e+01] [-8.04650091e-03 2.91459977e-03 9.99963379e-01 -1.87591287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.041400513 meters Centerline goodness [0,1] 0.9263119673636772 Centerline is valid? [False, False] Translation: X:279.48, Y:15.40, Z:-0.19 [[ 9.99967056e-01 2.24034027e-03 7.80180468e-03 2.79479909e+02] [-2.22208392e-03 9.99994775e-01 -2.34789965e-03 1.53958769e+01] [-7.80702401e-03 2.33048604e-03 9.99966809e-01 -1.86872844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.071400513 meters Centerline goodness [0,1] 0.8277811081613429 Centerline is valid? [False, False] Translation: X:279.48, Y:15.39, Z:-0.19 [[ 9.99967016e-01 2.45200035e-03 7.74308220e-03 2.79479807e+02] [-2.43811838e-03 9.99995405e-01 -1.80175332e-03 1.53933476e+01] [-7.74746452e-03 1.78281534e-03 9.99968399e-01 -1.86277020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.101400513 meters Centerline goodness [0,1] 0.8716217650680423 Centerline is valid? [False, False] Translation: X:279.48, Y:15.39, Z:-0.19 [[ 9.99967414e-01 2.64608671e-03 7.62680971e-03 2.79479906e+02] [-2.63712886e-03 9.99995821e-01 -1.18433781e-03 1.53903545e+01] [-7.62991170e-03 1.16418634e-03 9.99970214e-01 -1.85710127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.131400513 meters Centerline goodness [0,1] 0.967489940929715 Centerline is valid? [False, True] Translation: X:279.46, Y:15.38, Z:-0.18 [[ 9.99996356e-01 9.49130253e-04 2.52740250e-03 2.79456134e+02] [-9.72565298e-04 9.99956399e-01 9.28735493e-03 1.53781025e+01] [-2.51847739e-03 -9.28977915e-03 9.99953678e-01 -1.77536003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.161400513 meters Centerline goodness [0,1] 0.9636155217797402 Centerline is valid? [True, True] Translation: X:279.48, Y:15.39, Z:-0.18 [[ 9.99992378e-01 -1.37913490e-03 3.65279573e-03 2.79484952e+02] [ 1.37814525e-03 9.99999013e-01 2.73434354e-04 1.53853856e+01] [-3.65316922e-03 -2.68398187e-04 9.99993291e-01 -1.79488717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.191400513 meters Centerline goodness [0,1] 0.970216606498195 Centerline is valid? [True, True] Translation: X:279.51, Y:15.38, Z:-0.18 [[ 9.99986123e-01 -3.98639756e-03 3.44419363e-03 2.79514365e+02] [ 3.98553299e-03 9.99992024e-01 2.57848217e-04 1.53828994e+01] [-3.44519405e-03 -2.44117691e-04 9.99994036e-01 -1.79921317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.221400513 meters Centerline goodness [0,1] 0.859653238361306 Centerline is valid? [True, False] Translation: X:279.52, Y:15.38, Z:-0.18 [[ 9.99981516e-01 -5.54885549e-03 2.48545368e-03 2.79520928e+02] [ 5.55113209e-03 9.99984178e-01 -9.10009042e-04 1.53782110e+01] [-2.48036485e-03 9.23789304e-04 9.99996497e-01 -1.83671503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.251400513 meters Centerline goodness [0,1] 0.9688622239425413 Centerline is valid? [False, True] Translation: X:279.52, Y:15.38, Z:-0.18 [[ 9.99982372e-01 -5.39164105e-03 2.48734527e-03 2.79520863e+02] [ 5.39315319e-03 9.99985276e-01 -6.01627662e-04 1.53768283e+01] [-2.48406488e-03 6.15031690e-04 9.99996726e-01 -1.83535081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.281400513 meters Centerline goodness [0,1] 0.9260019675777407 Centerline is valid? [True, False] Translation: X:279.53, Y:15.37, Z:-0.19 [[ 9.99994583e-01 -2.87735157e-03 1.59865315e-03 2.79527144e+02] [ 2.87414376e-03 9.99993859e-01 2.00525474e-03 1.53748323e+01] [-1.60441315e-03 -2.00064912e-03 9.99996712e-01 -1.87315464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.311400513 meters Centerline goodness [0,1] 0.9928754938578122 Centerline is valid? [False, True] Translation: X:279.53, Y:15.38, Z:-0.19 [[ 9.99993943e-01 -2.93951988e-03 1.86373310e-03 2.79526412e+02] [ 2.93659842e-03 9.99994458e-01 1.56833307e-03 1.53770923e+01] [-1.86833292e-03 -1.56285053e-03 9.99997033e-01 -1.87551442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.341400513 meters Centerline goodness [0,1] 0.7968870264260669 Centerline is valid? [True, False] Translation: X:279.54, Y:15.38, Z:-0.19 [[ 9.99987448e-01 3.59532805e-03 3.48955877e-03 2.79544612e+02] [-3.57812922e-03 9.99981483e-01 -4.92244911e-03 1.53829162e+01] [-3.50719197e-03 4.90990124e-03 9.99981796e-01 -1.86821952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.371400513 meters Centerline goodness [0,1] 0.8792090587884722 Centerline is valid? [False, False] Translation: X:279.55, Y:15.38, Z:-0.19 [[ 9.99976794e-01 6.32150640e-03 2.53975939e-03 2.79551124e+02] [-6.31642909e-03 9.99978047e-01 -2.00220232e-03 1.53816646e+01] [-2.55236057e-03 1.98611365e-03 9.99994770e-01 -1.90593753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.401400513 meters Centerline goodness [0,1] 0.7364391383337658 Centerline is valid? [False, False] Translation: X:279.51, Y:15.37, Z:-0.19 [[ 9.99975376e-01 7.01684348e-03 -1.10022664e-04 2.79510390e+02] [-7.01656095e-03 9.99972535e-01 2.38674195e-03 1.53748339e+01] [ 1.26767037e-04 -2.38591120e-03 9.99997146e-01 -1.89448809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.431400513 meters Centerline goodness [0,1] 0.7411554059884373 Centerline is valid? [False, False] Translation: X:279.51, Y:15.37, Z:-0.19 [[ 9.99975110e-01 7.05462403e-03 -1.06151941e-04 2.79510277e+02] [-7.05433680e-03 9.99971996e-01 2.49882987e-03 1.53743091e+01] [ 1.23777274e-04 -2.49801885e-03 9.99996872e-01 -1.89263947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.4614005130001 meters Centerline goodness [0,1] 0.9252926252052107 Centerline is valid? [False, False] Translation: X:279.51, Y:15.37, Z:-0.19 [[ 9.99941855e-01 1.07649438e-02 -6.34911382e-04 2.79511845e+02] [-1.07596821e-02 9.99911860e-01 7.77829279e-03 1.53674263e+01] [ 7.18588306e-04 -7.77100907e-03 9.99969547e-01 -1.88128988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.491400513 meters Centerline goodness [0,1] 0.9865123171753184 Centerline is valid? [False, True] Translation: X:279.51, Y:15.37, Z:-0.19 [[ 9.99981267e-01 6.10819542e-03 -3.94211733e-04 2.79511161e+02] [-6.10715270e-03 9.99977986e-01 2.59420030e-03 1.53714697e+01] [ 4.10048938e-04 -2.59174419e-03 9.99996557e-01 -1.88577095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.521400513 meters Centerline goodness [0,1] 0.9865123171753184 Centerline is valid? [True, True] Translation: X:279.54, Y:15.38, Z:-0.19 [[ 9.99981177e-01 6.13219244e-03 -2.03989503e-04 2.79541852e+02] [-6.13219559e-03 9.99981198e-01 -1.48565503e-05 1.53758163e+01] [ 2.03894565e-04 1.61071742e-05 9.99999979e-01 -1.89187247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.551400513 meters Centerline goodness [0,1] 0.9826664679201891 Centerline is valid? [True, True] Translation: X:279.57, Y:15.38, Z:-0.19 [[ 9.99999467e-01 -3.24486585e-04 9.79820553e-04 2.79571062e+02] [ 3.24416759e-04 9.99999945e-01 7.14217420e-05 1.53780271e+01] [-9.79843675e-04 -7.11038338e-05 9.99999517e-01 -1.88134889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.581400513 meters Centerline goodness [0,1] 0.9870963613871945 Centerline is valid? [True, True] Translation: X:279.60, Y:15.38, Z:-0.19 [[ 9.99993984e-01 -3.20569361e-03 1.32463111e-03 2.79601077e+02] [ 3.20556849e-03 9.99994857e-01 9.65663542e-05 1.53778775e+01] [-1.32493386e-03 -9.23195775e-05 9.99999118e-01 -1.87897982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.611400513 meters Centerline goodness [0,1] 0.9964346313279925 Centerline is valid? [True, True] Translation: X:279.63, Y:15.37, Z:-0.19 [[ 9.99985393e-01 -5.29956985e-03 1.06233669e-03 2.79631864e+02] [ 5.29949056e-03 9.99985955e-01 7.74450146e-05 1.53737369e+01] [-1.06273219e-03 -7.18140401e-05 9.99999433e-01 -1.88771537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.641400513 meters Centerline goodness [0,1] 0.9965523928548342 Centerline is valid? [True, True] Translation: X:279.66, Y:15.37, Z:-0.19 [[ 9.99978341e-01 -6.58083344e-03 9.68211994e-05 2.79662073e+02] [ 6.58083279e-03 9.99978346e-01 7.05832652e-06 1.53704916e+01] [-9.68655525e-05 -6.42100952e-06 9.99999995e-01 -1.89790514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.671400513 meters Centerline goodness [0,1] 0.997715969005486 Centerline is valid? [True, True] Translation: X:279.69, Y:15.37, Z:-0.19 [[ 9.99973251e-01 -7.22812001e-03 -1.11844099e-03 2.79691363e+02] [ 7.22803303e-03 9.99973874e-01 -8.17901494e-05 1.53679640e+01] [ 1.11900296e-03 7.37038332e-05 9.99999371e-01 -1.91281819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.701400513 meters Centerline goodness [0,1] 0.9973618171288848 Centerline is valid? [True, True] Translation: X:279.72, Y:15.37, Z:-0.19 [[ 9.99980585e-01 -5.46906839e-03 -2.98638766e-03 2.79721678e+02] [ 5.46844093e-03 9.99985024e-01 -2.18232051e-04 1.53664616e+01] [ 2.98753647e-03 2.01896930e-04 9.99995517e-01 -1.93515890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.731400513 meters Centerline goodness [0,1] 0.9424760935479083 Centerline is valid? [True, False] Translation: X:279.74, Y:15.38, Z:-0.20 [[ 9.99991995e-01 -3.70821986e-03 1.50305950e-03 2.79744786e+02] [ 3.72418649e-03 9.99935143e-01 -1.07629240e-02 1.53767501e+01] [-1.46305073e-03 1.07684355e-02 9.99940948e-01 -2.00857972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.761400513 meters Centerline goodness [0,1] 0.889148339984716 Centerline is valid? [False, False] Translation: X:279.75, Y:15.37, Z:-0.20 [[ 9.99998731e-01 9.49739154e-04 1.27886134e-03 2.79745134e+02] [-9.42844941e-04 9.99985079e-01 -5.38075369e-03 1.53716741e+01] [-1.28395257e-03 5.37954109e-03 9.99984706e-01 -2.00125265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.791400513 meters Centerline goodness [0,1] 0.9219489321795473 Centerline is valid? [False, False] Translation: X:279.74, Y:15.37, Z:-0.20 [[ 9.99998633e-01 8.86603211e-04 1.39588137e-03 2.79744857e+02] [-8.78770082e-04 9.99983921e-01 -5.60224921e-03 1.53727659e+01] [-1.40082590e-03 5.60101489e-03 9.99983333e-01 -2.00376444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.821400513 meters Centerline goodness [0,1] 0.9403336688582871 Centerline is valid? [False, False] Translation: X:279.74, Y:15.37, Z:-0.20 [[ 9.99998329e-01 1.01126639e-03 1.52324262e-03 2.79744218e+02] [-1.00309674e-03 9.99985161e-01 -5.35457355e-03 1.53717018e+01] [-1.52863492e-03 5.35303664e-03 9.99984504e-01 -1.99978462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.851400513 meters Centerline goodness [0,1] 0.9702363146874066 Centerline is valid? [False, True] Translation: X:279.74, Y:15.37, Z:-0.20 [[ 9.99998217e-01 1.14837869e-03 1.49928272e-03 2.79744043e+02] [-1.14087689e-03 9.99986875e-01 -4.99489497e-03 1.53700362e+01] [-1.50499907e-03 4.99317556e-03 9.99986401e-01 -1.99532593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.881400513 meters Centerline goodness [0,1] 0.9212958045671801 Centerline is valid? [True, False] Translation: X:279.74, Y:15.37, Z:-0.20 [[ 9.99998158e-01 1.34187870e-03 1.37235173e-03 2.79744235e+02] [-1.33578316e-03 9.99989282e-01 -4.43298291e-03 1.53673338e+01] [-1.37828555e-03 4.43114158e-03 9.99989233e-01 -1.99133976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.911400513 meters Centerline goodness [0,1] 0.9702160296561422 Centerline is valid? [False, True] Translation: X:279.74, Y:15.36, Z:-0.20 [[ 9.99997906e-01 1.58200229e-03 1.29808358e-03 2.79744375e+02] [-1.57699779e-03 9.99991356e-01 -3.84730337e-03 1.53645708e+01] [-1.30415880e-03 3.84524824e-03 9.99991757e-01 -1.98965819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.941400513 meters Centerline goodness [0,1] 0.9632780347066061 Centerline is valid? [True, True] Translation: X:279.77, Y:15.36, Z:-0.20 [[ 9.99999338e-01 7.10220147e-04 9.05400825e-04 2.79774619e+02] [-7.10275984e-04 9.99999746e-01 6.13508117e-05 1.53618704e+01] [-9.05357023e-04 -6.19938555e-05 9.99999588e-01 -1.98629756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.971400513 meters Centerline goodness [0,1] 0.9727834788705463 Centerline is valid? [True, True] Translation: X:279.81, Y:15.36, Z:-0.20 [[ 9.99999671e-01 3.70438852e-04 7.21722685e-04 2.79806317e+02] [-3.70474267e-04 9.99999930e-01 4.89374877e-05 1.53609122e+01] [-7.21704506e-04 -4.92048512e-05 9.99999738e-01 -1.99017690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.001400513 meters Centerline goodness [0,1] 0.9562565540265799 Centerline is valid? [True, True] Translation: X:279.84, Y:15.36, Z:-0.20 [[ 9.99998794e-01 1.37300665e-03 7.25599383e-04 2.79837485e+02] [-1.37304270e-03 9.99999056e-01 4.91835461e-05 1.53642484e+01] [-7.25531169e-04 -5.01797658e-05 9.99999736e-01 -1.99328170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.031400513 meters Centerline goodness [0,1] 0.9146872863978127 Centerline is valid? [True, False] Translation: X:279.84, Y:15.36, Z:-0.20 [[ 9.99998824e-01 1.33942781e-03 7.46309230e-04 2.79837464e+02] [-1.33935086e-03 9.99999098e-01 -1.03596663e-04 1.53649926e+01] [-7.46447317e-04 1.02596971e-04 9.99999716e-01 -1.99392135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.061400513 meters Centerline goodness [0,1] 0.9389019118690725 Centerline is valid? [False, False] Translation: X:279.84, Y:15.37, Z:-0.20 [[ 9.99998795e-01 1.32539890e-03 8.07689261e-04 2.79837236e+02] [-1.32521894e-03 9.99999097e-01 -2.23304954e-04 1.53656427e+01] [-8.07984499e-04 2.22234320e-04 9.99999649e-01 -1.99322180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.091400513 meters Centerline goodness [0,1] 0.7794064461227529 Centerline is valid? [False, False] Translation: X:279.84, Y:15.36, Z:-0.20 [[ 9.99981913e-01 5.98959171e-03 5.45602895e-04 2.79837524e+02] [-5.99242067e-03 9.99967787e-01 5.33999735e-03 1.53595678e+01] [-5.13600915e-04 -5.34317025e-03 9.99985593e-01 -1.98059181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.121400513 meters Centerline goodness [0,1] 0.8827707183502331 Centerline is valid? [False, False] Translation: X:279.84, Y:15.36, Z:-0.20 [[ 9.99982014e-01 5.96680400e-03 6.07929378e-04 2.79837305e+02] [-5.96989208e-03 9.99968601e-01 5.21121799e-03 1.53602360e+01] [-5.76815973e-04 -5.21475353e-03 9.99986237e-01 -1.98029609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.151400513 meters Centerline goodness [0,1] 0.8652948075487792 Centerline is valid? [False, False] Translation: X:279.84, Y:15.36, Z:-0.20 [[ 9.99981873e-01 5.97888286e-03 7.12459496e-04 2.79837120e+02] [-5.98240214e-03 9.99969382e-01 5.04435030e-03 1.53610818e+01] [-6.82278103e-04 -5.04852107e-03 9.99987023e-01 -1.98308942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.181400513 meters Centerline goodness [0,1] 0.8474187380497131 Centerline is valid? [False, False] Translation: X:279.84, Y:15.36, Z:-0.20 [[ 9.99982024e-01 5.94906115e-03 7.48800558e-04 2.79837144e+02] [-5.95269621e-03 9.99970033e-01 4.94969230e-03 1.53614962e+01] [-7.19332097e-04 -4.95406071e-03 9.99987470e-01 -1.98578955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.2114005130001 meters Centerline goodness [0,1] 0.8330291774910363 Centerline is valid? [False, False] Translation: X:279.80, Y:15.36, Z:-0.20 [[ 9.99985453e-01 5.00309128e-03 -2.01559516e-03 2.79796371e+02] [-4.98869838e-03 9.99962467e-01 7.08360622e-03 1.53570581e+01] [ 2.05095943e-03 -7.07344798e-03 9.99972880e-01 -1.98147436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.241400513 meters Centerline goodness [0,1] 0.8355811776718857 Centerline is valid? [False, False] Translation: X:279.80, Y:15.36, Z:-0.20 [[ 9.99985768e-01 4.94318293e-03 -2.00729703e-03 2.79796423e+02] [-4.92909586e-03 9.99963608e-01 6.96325725e-03 1.53575607e+01] [ 2.04164463e-03 -6.95326399e-03 9.99973742e-01 -1.98326654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.271400513 meters Centerline goodness [0,1] 0.8048943510133678 Centerline is valid? [False, False] Translation: X:279.76, Y:15.35, Z:-0.20 [[ 9.99982972e-01 3.13793581e-03 -4.92033945e-03 2.79756009e+02] [-3.09931129e-03 9.99964479e-01 7.83804319e-03 1.53548891e+01] [ 4.94475995e-03 -7.82266006e-03 9.99957177e-01 -1.98359526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.301400513 meters Centerline goodness [0,1] 0.7062098683789492 Centerline is valid? [False, False] Translation: X:279.78, Y:15.37, Z:-0.21 [[ 9.99995653e-01 2.92728988e-03 3.52186306e-04 2.79782443e+02] [-2.92606463e-03 9.99989835e-01 -3.43059794e-03 1.53675506e+01] [-3.62225081e-04 3.42955251e-03 9.99994053e-01 -2.07760387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.331400513 meters Centerline goodness [0,1] 0.762296663023211 Centerline is valid? [False, False] Translation: X:279.78, Y:15.37, Z:-0.21 [[ 9.99995726e-01 2.90240169e-03 3.52493943e-04 2.79782348e+02] [-2.90114743e-03 9.99989638e-01 -3.50810591e-03 1.53679589e+01] [-3.62672223e-04 3.50706828e-03 9.99993784e-01 -2.07603257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.361400513 meters Centerline goodness [0,1] 0.44350193074634425 Centerline is valid? [False, False] Translation: X:279.80, Y:15.36, Z:-0.20 [[ 9.99996096e-01 2.62120723e-03 9.67639441e-04 2.79800570e+02] [-2.62796668e-03 9.99971684e-01 7.05161322e-03 1.53626446e+01] [-9.49128302e-04 -7.05412861e-03 9.99974669e-01 -2.02997984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.391400513 meters Centerline goodness [0,1] 0.7090062440469891 Centerline is valid? [False, False] Translation: X:279.80, Y:15.36, Z:-0.20 [[ 9.99996121e-01 2.56983410e-03 1.07465066e-03 2.79800087e+02] [-2.57721726e-03 9.99972692e-01 6.92628733e-03 1.53632899e+01] [-1.05682190e-03 -6.92903007e-03 9.99975436e-01 -2.02802775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.421400513 meters Centerline goodness [0,1] 0.6375365193099183 Centerline is valid? [False, False] Translation: X:279.80, Y:15.37, Z:-0.20 [[ 9.99996959e-01 -1.73867432e-03 1.74909536e-03 2.79798101e+02] [ 1.73610305e-03 9.99997412e-01 1.47050671e-03 1.53695505e+01] [-1.75164756e-03 -1.46746563e-03 9.99997389e-01 -2.03432957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.451400513 meters Centerline goodness [0,1] 0.7719223746231263 Centerline is valid? [False, False] Translation: X:279.80, Y:15.37, Z:-0.20 [[ 9.99996993e-01 -1.88143264e-03 1.57297952e-03 2.79798969e+02] [ 1.87960798e-03 9.99997560e-01 1.16067185e-03 1.53709076e+01] [-1.57515941e-03 -1.15771177e-03 9.99998089e-01 -2.03967122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.481400513 meters Centerline goodness [0,1] 0.8833049953726622 Centerline is valid? [False, False] Translation: X:279.78, Y:15.38, Z:-0.21 [[ 9.99999458e-01 -9.93031422e-04 -3.11484973e-04 2.79779466e+02] [ 9.90175890e-04 9.99958671e-01 -9.03744297e-03 1.53764081e+01] [ 3.20446564e-04 9.03712965e-03 9.99959113e-01 -2.06023043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.511400513 meters Centerline goodness [0,1] 0.8052591463414634 Centerline is valid? [False, False] Translation: X:279.79, Y:15.37, Z:-0.20 [[ 9.99989666e-01 1.10026015e-03 -4.41110708e-03 2.79792710e+02] [-1.11138217e-03 9.99996208e-01 -2.51970887e-03 1.53720463e+01] [ 4.40831802e-03 2.52458526e-03 9.99987097e-01 -1.99415091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.541400513 meters Centerline goodness [0,1] 0.7985522674047264 Centerline is valid? [False, False] Translation: X:279.79, Y:15.38, Z:-0.20 [[ 9.99990425e-01 8.54558618e-04 -4.29171851e-03 2.79792664e+02] [-8.68472340e-04 9.99994370e-01 -3.24117648e-03 1.53755068e+01] [ 4.28892458e-03 3.24487269e-03 9.99985538e-01 -2.00087265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.571400513 meters Centerline goodness [0,1] 0.77478765632336 Centerline is valid? [False, False] Translation: X:279.79, Y:15.38, Z:-0.20 [[ 9.99991472e-01 5.57240700e-04 -4.09205981e-03 2.79792352e+02] [-5.74215556e-04 9.99991231e-01 -4.14823974e-03 1.53798937e+01] [ 4.08971236e-03 4.15055409e-03 9.99983023e-01 -2.00770373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.601400513 meters Centerline goodness [0,1] 0.5448770882296894 Centerline is valid? [False, False] Translation: X:279.79, Y:15.38, Z:-0.20 [[ 9.99978800e-01 4.98997957e-03 -4.18330772e-03 2.79792202e+02] [-4.98731569e-03 9.99987354e-01 6.46976012e-04 1.53776060e+01] [ 4.18648321e-03 -6.26098820e-04 9.99991041e-01 -1.99829419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.631400513 meters Centerline goodness [0,1] 0.4527328470239983 Centerline is valid? [False, False] Translation: X:279.79, Y:15.38, Z:-0.20 [[ 9.99982020e-01 4.80447711e-03 -3.58847811e-03 2.79790213e+02] [-4.80701152e-03 9.99988203e-01 -6.97974454e-04 1.53847202e+01] [ 3.58508237e-03 7.15211760e-04 9.99993318e-01 -1.99981248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.661400513 meters Centerline goodness [0,1] 0.5567367592966641 Centerline is valid? [False, False] Translation: X:279.79, Y:15.39, Z:-0.20 [[ 9.99983307e-01 4.53044954e-03 -3.58625764e-03 2.79790521e+02] [-4.53529342e-03 9.99988813e-01 -1.34369980e-03 1.53877109e+01] [ 3.58012996e-03 1.35994210e-03 9.99992667e-01 -2.00580614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.691400513 meters Centerline goodness [0,1] 0.5807363632498619 Centerline is valid? [False, False] Translation: X:279.79, Y:15.39, Z:-0.20 [[ 9.99984049e-01 4.23642722e-03 -3.73558972e-03 2.79791557e+02] [-4.24383703e-03 9.99989039e-01 -1.97788051e-03 1.53905126e+01] [ 3.72716963e-03 1.99370220e-03 9.99991067e-01 -2.01599154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.721400513 meters Centerline goodness [0,1] 0.5951551887198006 Centerline is valid? [False, False] Translation: X:279.79, Y:15.39, Z:-0.20 [[ 9.99954882e-01 8.44631731e-03 -4.34665468e-03 2.79793477e+02] [-8.43340291e-03 9.99959995e-01 2.98091325e-03 1.53868466e+01] [ 4.37165853e-03 -2.94412166e-03 9.99986110e-01 -2.01199873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.751400513 meters Centerline goodness [0,1] 0.4191850594227504 Centerline is valid? [False, False] Translation: X:279.81, Y:15.38, Z:-0.20 [[ 9.99955543e-01 8.19702925e-03 -4.66056214e-03 2.79812795e+02] [-8.13474104e-03 9.99879384e-01 1.32304138e-02 1.53829245e+01] [ 4.76845009e-03 -1.31919132e-02 9.99901613e-01 -1.96504514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.781400513 meters Centerline goodness [0,1] 0.6234652996165941 Centerline is valid? [False, False] Translation: X:279.77, Y:15.38, Z:-0.19 [[ 9.99957265e-01 6.46900179e-03 -6.60449453e-03 2.79768872e+02] [-6.37482494e-03 9.99879104e-01 1.41823419e-02 1.53804625e+01] [ 6.69544166e-03 -1.41396333e-02 9.99877613e-01 -1.94698976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.811400513 meters Centerline goodness [0,1] 0.6815182582156597 Centerline is valid? [False, False] Translation: X:279.77, Y:15.39, Z:-0.20 [[ 9.99981043e-01 1.66515381e-03 -5.92793223e-03 2.79766851e+02] [-1.61706602e-03 9.99965825e-01 8.10763871e-03 1.53892295e+01] [ 5.94123011e-03 -8.09789916e-03 9.99949562e-01 -1.95388528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.841400513 meters Centerline goodness [0,1] 0.8841489636191623 Centerline is valid? [False, False] Translation: X:279.77, Y:15.40, Z:-0.20 [[ 9.99981065e-01 -2.89970989e-03 -5.42776053e-03 2.79765759e+02] [ 2.91266888e-03 9.99992923e-01 2.38115888e-03 1.53964419e+01] [ 5.42081745e-03 -2.39692306e-03 9.99982435e-01 -1.96623862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.871400513 meters Centerline goodness [0,1] 0.4600827410629045 Centerline is valid? [False, False] Translation: X:279.81, Y:15.41, Z:-0.20 [[ 9.99986703e-01 -4.28701142e-03 -2.86630009e-03 2.79806816e+02] [ 4.27684603e-03 9.99984577e-01 -3.54329364e-03 1.54069044e+01] [ 2.88144602e-03 3.53098780e-03 9.99989615e-01 -1.99406678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.901400513 meters Centerline goodness [0,1] 0.6665393754243041 Centerline is valid? [False, False] Translation: X:279.81, Y:15.41, Z:-0.20 [[ 9.99986152e-01 -4.34047692e-03 -2.97596914e-03 2.79807367e+02] [ 4.32966593e-03 9.99984040e-01 -3.62963321e-03 1.54072494e+01] [ 2.99167598e-03 3.61669799e-03 9.99988985e-01 -1.99744774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.931400513 meters Centerline goodness [0,1] 0.7414836590005187 Centerline is valid? [False, False] Translation: X:279.77, Y:15.40, Z:-0.20 [[ 9.99978771e-01 -3.59976804e-03 -5.43140168e-03 2.79765907e+02] [ 3.60722304e-03 9.99992565e-01 1.36340300e-03 1.53987083e+01] [ 5.42645336e-03 -1.38296633e-03 9.99984320e-01 -1.97947202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.9614005130001 meters Centerline goodness [0,1] 0.7617680216110437 Centerline is valid? [False, False] Translation: X:279.81, Y:15.40, Z:-0.20 [[ 9.99989777e-01 -3.07561188e-03 -3.31454059e-03 2.79809123e+02] [ 3.07190699e-03 9.99994652e-01 -1.12228265e-03 1.54044334e+01] [ 3.31797457e-03 1.11208922e-03 9.99993877e-01 -2.00659695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.991400513 meters Centerline goodness [0,1] 0.7572329733775259 Centerline is valid? [False, False] Translation: X:279.81, Y:15.40, Z:-0.20 [[ 9.99989644e-01 -3.08721754e-03 -3.34368924e-03 2.79809323e+02] [ 3.08330778e-03 9.99994558e-01 -1.17381906e-03 1.54046741e+01] [ 3.34729488e-03 1.16349728e-03 9.99993721e-01 -2.00844604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.021400513 meters Centerline goodness [0,1] 0.7572329733775259 Centerline is valid? [False, False] Translation: X:279.81, Y:15.40, Z:-0.20 [[ 9.99989644e-01 -3.08721754e-03 -3.34368924e-03 2.79809323e+02] [ 3.08330778e-03 9.99994558e-01 -1.17381906e-03 1.54046741e+01] [ 3.34729488e-03 1.16349728e-03 9.99993721e-01 -2.00844604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.051400513 meters Centerline goodness [0,1] 0.7648929768761282 Centerline is valid? [False, False] Translation: X:279.81, Y:15.41, Z:-0.20 [[ 9.99989283e-01 -3.21103638e-03 -3.33523297e-03 2.79809452e+02] [ 3.20606094e-03 9.99993741e-01 -1.49605857e-03 1.54061965e+01] [ 3.34001600e-03 1.48534958e-03 9.99993319e-01 -2.01153493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.081400513 meters Centerline goodness [0,1] 0.45295675952828574 Centerline is valid? [False, False] Translation: X:279.81, Y:15.41, Z:-0.20 [[ 9.99993382e-01 1.15121494e-03 -3.45112177e-03 2.79809641e+02] [-1.14109678e-03 9.99995050e-01 2.93238237e-03 1.54057112e+01] [ 3.45448048e-03 -2.92842490e-03 9.99989745e-01 -2.00790306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.111400513 meters Centerline goodness [0,1] 0.4001141793885059 Centerline is valid? [False, False] Translation: X:279.83, Y:15.42, Z:-0.21 [[ 9.99995428e-01 2.18968132e-03 2.08528497e-03 2.79833860e+02] [-2.17388897e-03 9.99969168e-01 -7.54562416e-03 1.54192343e+01] [-2.10174319e-03 7.54105649e-03 9.99969357e-01 -2.08961728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.141400513 meters Centerline goodness [0,1] 0.45322925577416595 Centerline is valid? [False, False] Translation: X:279.81, Y:15.41, Z:-0.20 [[ 9.99990932e-01 2.66995735e-03 -3.31785690e-03 2.79808695e+02] [-2.65562877e-03 9.99987162e-01 4.31555026e-03 1.54092583e+01] [ 3.32933664e-03 -4.30670013e-03 9.99985184e-01 -1.99850530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.171400513 meters Centerline goodness [0,1] 0.46856838744012774 Centerline is valid? [False, False] Translation: X:279.81, Y:15.41, Z:-0.20 [[ 9.99991699e-01 2.44124247e-03 -3.26226315e-03 2.79808644e+02] [-2.42905241e-03 9.99990073e-01 3.73544047e-03 1.54120080e+01] [ 3.27134988e-03 -3.72748525e-03 9.99987702e-01 -2.00151688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.201400513 meters Centerline goodness [0,1] 0.38421807142555975 Centerline is valid? [False, False] Translation: X:279.83, Y:15.43, Z:-0.21 [[ 9.99994378e-01 2.73515233e-03 1.93968748e-03 2.79834922e+02] [-2.72080080e-03 9.99969189e-01 -7.36332724e-03 1.54259297e+01] [-1.95976754e-03 7.35800834e-03 9.99971009e-01 -2.09353459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.231400513 meters Centerline goodness [0,1] 0.5382294408422674 Centerline is valid? [False, False] Translation: X:279.81, Y:15.42, Z:-0.20 [[ 9.99988289e-01 2.55431042e-03 -4.11051991e-03 2.79810353e+02] [-2.54157660e-03 9.99991965e-01 3.10010812e-03 1.54187517e+01] [ 4.11840552e-03 -3.08962461e-03 9.99986746e-01 -2.00772408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.261400513 meters Centerline goodness [0,1] 0.46932450218655797 Centerline is valid? [False, False] Translation: X:279.81, Y:15.42, Z:-0.20 [[ 9.99989264e-01 2.23881149e-03 -4.05701730e-03 2.79810212e+02] [-2.22903968e-03 9.99994608e-01 2.41154141e-03 1.54219725e+01] [ 4.06239442e-03 -2.40247227e-03 9.99988862e-01 -2.00889448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.291400513 meters Centerline goodness [0,1] 0.499656224485411 Centerline is valid? [False, False] Translation: X:279.77, Y:15.42, Z:-0.20 [[ 9.99982335e-01 6.68799907e-04 -5.90610811e-03 2.79766186e+02] [-6.51248423e-04 9.99995368e-01 2.97317451e-03 1.54205585e+01] [ 5.90806921e-03 -2.96927565e-03 9.99978139e-01 -1.99338463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.321400513 meters Centerline goodness [0,1] 0.44969846783301726 Centerline is valid? [False, False] Translation: X:279.77, Y:15.42, Z:-0.20 [[ 9.99982851e-01 5.00263704e-04 -5.83496063e-03 2.79765618e+02] [-4.84911861e-04 9.99996418e-01 2.63212872e-03 1.54222333e+01] [ 5.83625649e-03 -2.62925414e-03 9.99979512e-01 -1.98747563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.351400513 meters Centerline goodness [0,1] 0.5749272499415876 Centerline is valid? [False, False] Translation: X:279.77, Y:15.42, Z:-0.20 [[ 9.99983097e-01 4.14368326e-04 -5.79946235e-03 2.79765086e+02] [-4.00259064e-04 9.99996958e-01 2.43380611e-03 1.54232628e+01] [ 5.80045320e-03 -2.43144369e-03 9.99980221e-01 -1.98005276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.381400513 meters Centerline goodness [0,1] 0.4889426033119182 Centerline is valid? [False, False] Translation: X:279.76, Y:15.42, Z:-0.20 [[ 9.99983343e-01 2.71254867e-04 -5.76549532e-03 2.79764766e+02] [-2.58990607e-04 9.99997703e-01 2.12782252e-03 1.54247479e+01] [ 5.76605926e-03 -2.12629387e-03 9.99981116e-01 -1.97645052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.411400513 meters Centerline goodness [0,1] 0.4889426033119182 Centerline is valid? [False, False] Translation: X:279.76, Y:15.42, Z:-0.20 [[ 9.99983343e-01 2.71254867e-04 -5.76549532e-03 2.79764766e+02] [-2.58990607e-04 9.99997703e-01 2.12782252e-03 1.54247479e+01] [ 5.76605926e-03 -2.12629387e-03 9.99981116e-01 -1.97645052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.441400513 meters Centerline goodness [0,1] 0.4210425856803529 Centerline is valid? [False, False] Translation: X:279.77, Y:15.43, Z:-0.20 [[ 9.99983723e-01 -3.36450410e-04 -5.69571675e-03 2.79765008e+02] [ 3.41067078e-04 9.99999614e-01 8.09598851e-04 1.54308600e+01] [ 5.69544216e-03 -8.11528294e-04 9.99983452e-01 -1.98604718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.471400513 meters Centerline goodness [0,1] 0.8265198824009099 Centerline is valid? [False, False] Translation: X:279.77, Y:15.43, Z:-0.20 [[ 9.99983521e-01 -6.77640879e-04 -5.70071862e-03 2.79765355e+02] [ 6.77995021e-04 9.99999768e-01 6.01899970e-05 1.54343062e+01] [ 5.70067651e-03 -6.40540640e-05 9.99983749e-01 -1.99289540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.501400513 meters Centerline goodness [0,1] 0.7953738937107186 Centerline is valid? [False, False] Translation: X:279.77, Y:15.44, Z:-0.20 [[ 9.99983059e-01 -9.60049803e-04 -5.74108341e-03 2.79765687e+02] [ 9.56766754e-04 9.99999377e-01 -5.74570943e-04 1.54372402e+01] [ 5.74163145e-03 5.69068331e-04 9.99983355e-01 -1.99697473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.531400513 meters Centerline goodness [0,1] 0.4357416064598385 Centerline is valid? [False, False] Translation: X:279.77, Y:15.44, Z:-0.20 [[ 9.99982901e-01 -1.14266584e-03 -5.73519895e-03 2.79765628e+02] [ 1.13704034e-03 9.99998869e-01 -9.84038243e-04 1.54391809e+01] [ 5.73631690e-03 9.77500264e-04 9.99983069e-01 -1.99630789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.561400513 meters Centerline goodness [0,1] 0.5804212185097639 Centerline is valid? [False, False] Translation: X:279.76, Y:15.44, Z:-0.20 [[ 9.99983599e-01 -1.28732577e-03 -5.58079148e-03 2.79764808e+02] [ 1.27985461e-03 9.99998280e-01 -1.34209341e-03 1.54409887e+01] [ 5.58250959e-03 1.33492880e-03 9.99983527e-01 -1.99094341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.591400513 meters Centerline goodness [0,1] 0.4979297165304173 Centerline is valid? [False, False] Translation: X:279.76, Y:15.44, Z:-0.20 [[ 9.99984153e-01 -1.43212356e-03 -5.44447305e-03 2.79763896e+02] [ 1.42296016e-03 9.99997565e-01 -1.68656622e-03 1.54427431e+01] [ 5.44687517e-03 1.67879222e-03 9.99983756e-01 -1.98259553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.621400513 meters Centerline goodness [0,1] 0.5364159386320051 Centerline is valid? [False, False] Translation: X:279.76, Y:15.45, Z:-0.20 [[ 9.99984667e-01 -1.76816341e-03 -5.24777503e-03 2.79762751e+02] [ 1.75569409e-03 9.99995627e-01 -2.37977348e-03 1.54461209e+01] [ 5.25195991e-03 2.37052351e-03 9.99983399e-01 -1.97431541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.651400513 meters Centerline goodness [0,1] 0.6012411726942007 Centerline is valid? [False, False] Translation: X:279.76, Y:15.45, Z:-0.20 [[ 9.99984251e-01 -1.91312650e-03 -5.27621665e-03 2.79762991e+02] [ 1.89906130e-03 9.99994634e-01 -2.66949646e-03 1.54474292e+01] [ 5.28129542e-03 2.65943455e-03 9.99982518e-01 -1.97734131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.681400513 meters Centerline goodness [0,1] 0.6228489687860284 Centerline is valid? [False, False] Translation: X:279.76, Y:15.45, Z:-0.20 [[ 9.99983448e-01 -2.05217958e-03 -5.37518747e-03 2.79763466e+02] [ 2.03655575e-03 9.99993691e-01 -2.91051947e-03 1.54484849e+01] [ 5.38112647e-03 2.89952442e-03 9.99981318e-01 -1.98027002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.7114005130001 meters Centerline goodness [0,1] 0.6918400748187983 Centerline is valid? [False, False] Translation: X:279.76, Y:15.45, Z:-0.20 [[ 9.99982484e-01 -2.22715333e-03 -5.48374625e-03 2.79763947e+02] [ 2.20916986e-03 9.99992170e-01 -3.28328935e-03 1.54501975e+01] [ 5.49101569e-03 3.27111731e-03 9.99979574e-01 -1.98267626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.741400513 meters Centerline goodness [0,1] 0.6763880622396055 Centerline is valid? [False, False] Translation: X:279.76, Y:15.45, Z:-0.20 [[ 9.99981463e-01 -2.48951899e-03 -5.55657219e-03 2.79764317e+02] [ 2.46819570e-03 9.99989577e-01 -3.84105368e-03 1.54527933e+01] [ 5.56607665e-03 3.82726777e-03 9.99977185e-01 -1.98538216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.771400513 meters Centerline goodness [0,1] 0.5939239970360961 Centerline is valid? [False, False] Translation: X:279.77, Y:15.46, Z:-0.20 [[ 9.99981158e-01 -8.68508253e-04 -6.07688992e-03 2.79769575e+02] [ 8.55313502e-04 9.99997272e-01 -2.17356212e-03 1.54557355e+01] [ 6.07876110e-03 2.16832352e-03 9.99979173e-01 -2.02179325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.801400513 meters Centerline goodness [0,1] 0.6316931520837322 Centerline is valid? [False, False] Translation: X:279.77, Y:15.46, Z:-0.20 [[ 9.99980648e-01 -9.93669342e-04 -6.14131291e-03 2.79769782e+02] [ 9.78938899e-04 9.99996638e-01 -2.40112282e-03 1.54567569e+01] [ 6.14367818e-03 2.39506438e-03 9.99978259e-01 -2.02174542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.831400513 meters Centerline goodness [0,1] 0.9565319649347872 Centerline is valid? [False, True] Translation: X:279.77, Y:15.46, Z:-0.20 [[ 9.99979904e-01 -9.55242540e-04 -6.26728699e-03 2.79770265e+02] [ 9.41046502e-04 9.99996986e-01 -2.26765908e-03 1.54560782e+01] [ 6.26943426e-03 2.26171570e-03 9.99977789e-01 -2.02284729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.861400513 meters Centerline goodness [0,1] 0.9075513899243796 Centerline is valid? [True, False] Translation: X:279.77, Y:15.46, Z:-0.20 [[ 9.99978897e-01 -9.26829552e-04 -6.43017923e-03 2.79770961e+02] [ 9.13185054e-04 9.99997326e-01 -2.12455840e-03 1.54553100e+01] [ 6.43213114e-03 2.11864162e-03 9.99977069e-01 -2.02584453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.891400513 meters Centerline goodness [0,1] 0.9086636043157782 Centerline is valid? [False, False] Translation: X:279.77, Y:15.46, Z:-0.20 [[ 9.99978154e-01 -9.90669260e-04 -6.53525923e-03 2.79771522e+02] [ 9.76065229e-04 9.99997021e-01 -2.23746325e-03 1.54557774e+01] [ 6.53745635e-03 2.23103553e-03 9.99976142e-01 -2.02999800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.921400513 meters Centerline goodness [0,1] 0.7343624274763901 Centerline is valid? [False, False] Translation: X:279.77, Y:15.46, Z:-0.20 [[ 9.99977609e-01 -1.13867621e-03 -6.59435096e-03 2.79771831e+02] [ 1.12177752e-03 9.99996079e-01 -2.56573377e-03 1.54573198e+01] [ 6.59724665e-03 2.55827892e-03 9.99974965e-01 -2.03231832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.951400513 meters Centerline goodness [0,1] 0.8682551850432264 Centerline is valid? [False, False] Translation: X:279.77, Y:15.46, Z:-0.20 [[ 9.99977805e-01 -1.33738341e-03 -6.52691287e-03 2.79771604e+02] [ 1.31759536e-03 9.99994526e-01 -3.03512199e-03 1.54595624e+01] [ 6.53093627e-03 3.02645479e-03 9.99974093e-01 -2.03237682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.981400513 meters Centerline goodness [0,1] 0.8181298195068214 Centerline is valid? [False, False] Translation: X:279.77, Y:15.46, Z:-0.20 [[ 9.99977980e-01 -1.49867500e-03 -6.46477704e-03 2.79771292e+02] [ 1.47651980e-03 9.99993026e-01 -3.43047552e-03 1.54614847e+01] [ 6.46987313e-03 3.42085461e-03 9.99973219e-01 -2.03056247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.011400513 meters Centerline goodness [0,1] 0.8074386649420047 Centerline is valid? [False, False] Translation: X:279.77, Y:15.47, Z:-0.20 [[ 9.99977670e-01 -1.80517408e-03 -6.43430224e-03 2.79771244e+02] [ 1.77825038e-03 9.99989651e-01 -4.18766771e-03 1.54651113e+01] [ 6.44179512e-03 4.17613241e-03 9.99970531e-01 -2.03146874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.041400513 meters Centerline goodness [0,1] 0.8669156631678365 Centerline is valid? [False, False] Translation: X:279.77, Y:15.46, Z:-0.20 [[ 9.99973840e-01 2.59838263e-03 -6.75036088e-03 2.79772091e+02] [-2.59266548e-03 9.99996273e-01 8.55551496e-04 1.54613989e+01] [ 6.75255877e-03 -8.38027687e-04 9.99976850e-01 -2.02741088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.071400513 meters Centerline goodness [0,1] 0.7761376834547566 Centerline is valid? [False, False] Translation: X:279.81, Y:15.47, Z:-0.20 [[ 9.99988273e-01 3.04411376e-03 -3.76668545e-03 2.79812287e+02] [-3.05065243e-03 9.99993848e-01 -1.73139418e-03 1.54698051e+01] [ 3.76139172e-03 1.74286472e-03 9.99991407e-01 -2.03872063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.101400513 meters Centerline goodness [0,1] 0.8432787868403016 Centerline is valid? [False, False] Translation: X:279.77, Y:15.47, Z:-0.20 [[ 9.99982516e-01 2.24040126e-03 -5.47254942e-03 2.79768090e+02] [-2.24498524e-03 9.99997134e-01 -8.31633248e-04 1.54682106e+01] [ 5.47067054e-03 8.43904500e-04 9.99984680e-01 -2.02745044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.131400513 meters Centerline goodness [0,1] 0.9900795790290927 Centerline is valid? [False, True] Translation: X:279.77, Y:15.47, Z:-0.20 [[ 9.99982947e-01 2.17832553e-03 -5.41855413e-03 2.79767722e+02] [-2.18362665e-03 9.99997143e-01 -9.72603012e-04 1.54689103e+01] [ 5.41642000e-03 9.84418525e-04 9.99984847e-01 -2.02388582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.161400513 meters Centerline goodness [0,1] 0.9850800738482676 Centerline is valid? [True, True] Translation: X:279.80, Y:15.47, Z:-0.20 [[ 9.99985806e-01 3.38403304e-04 -5.31720261e-03 2.79796720e+02] [-3.40549584e-04 9.99999861e-01 -4.02748127e-04 1.54745702e+01] [ 5.31706558e-03 4.04553182e-04 9.99985782e-01 -2.01705436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.191400513 meters Centerline goodness [0,1] 0.9476539651591573 Centerline is valid? [True, False] Translation: X:279.82, Y:15.47, Z:-0.20 [[ 9.99984701e-01 -4.37160621e-04 -5.51419698e-03 2.79816284e+02] [ 4.90800672e-04 9.99952542e-01 9.73002757e-03 1.54704720e+01] [ 5.50968170e-03 -9.73258508e-03 9.99937458e-01 -1.97743935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.221400513 meters Centerline goodness [0,1] 0.9739001546657501 Centerline is valid? [False, True] Translation: X:279.80, Y:15.48, Z:-0.20 [[ 9.99987069e-01 -4.66133990e-04 -5.06397719e-03 2.79796835e+02] [ 4.58424120e-04 9.99998734e-01 -1.52354696e-03 1.54777322e+01] [ 5.06468096e-03 1.52120581e-03 9.99986017e-01 -2.02446048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.251400513 meters Centerline goodness [0,1] 0.9739001546657501 Centerline is valid? [True, True] Translation: X:279.82, Y:15.48, Z:-0.20 [[ 9.99986539e-01 -6.43748277e-04 -5.14857374e-03 2.79824398e+02] [ 6.41790397e-04 9.99999721e-01 -3.81919304e-04 1.54789712e+01] [ 5.14881816e-03 3.78609858e-04 9.99986673e-01 -2.02229660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.281400513 meters Centerline goodness [0,1] 0.9689541440578785 Centerline is valid? [True, True] Translation: X:279.85, Y:15.48, Z:-0.20 [[ 9.99984083e-01 -1.98796930e-03 -5.28026363e-03 2.79853077e+02] [ 1.98592534e-03 9.99997951e-01 -3.92308910e-04 1.54821036e+01] [ 5.28103271e-03 3.81816456e-04 9.99985982e-01 -2.02831158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.311400513 meters Centerline goodness [0,1] 0.9768577266372728 Centerline is valid? [True, True] Translation: X:279.88, Y:15.48, Z:-0.20 [[ 9.99978925e-01 -2.22718731e-03 -6.09832687e-03 2.79881524e+02] [ 2.22446113e-03 9.99997423e-01 -4.53785004e-04 1.54831236e+01] [ 6.09932181e-03 4.40209949e-04 9.99981302e-01 -2.03256005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.341400513 meters Centerline goodness [0,1] 0.9572859492129936 Centerline is valid? [True, True] Translation: X:279.91, Y:15.49, Z:-0.20 [[ 9.99978735e-01 -2.14861394e-03 -6.15739930e-03 2.79908637e+02] [ 2.14582815e-03 9.99997592e-01 -4.59001399e-04 1.54895047e+01] [ 6.15837069e-03 4.45778918e-04 9.99980938e-01 -2.03282773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.371400513 meters Centerline goodness [0,1] 0.9941359089341152 Centerline is valid? [True, True] Translation: X:279.94, Y:15.49, Z:-0.20 [[ 9.99980044e-01 -1.68559153e-03 -6.08848198e-03 2.79937878e+02] [ 1.68285449e-03 9.99998481e-01 -4.54638913e-04 1.54877571e+01] [ 6.08923906e-03 4.44383811e-04 9.99981362e-01 -2.02395055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.401400513 meters Centerline goodness [0,1] 0.9370783158254334 Centerline is valid? [True, False] Translation: X:279.96, Y:15.50, Z:-0.21 [[ 9.99998957e-01 -1.34296638e-03 -5.31774740e-04 2.79961903e+02] [ 1.33691524e-03 9.99936154e-01 -1.12205255e-02 1.55015671e+01] [ 5.46809577e-04 1.12198029e-02 9.99936907e-01 -2.09661811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.431400513 meters Centerline goodness [0,1] 0.9041423147476644 Centerline is valid? [False, False] Translation: X:279.96, Y:15.50, Z:-0.21 [[ 9.99995480e-01 2.88661479e-03 -8.40704171e-04 2.79962628e+02] [-2.89199859e-03 9.99974857e-01 -6.47470085e-03 1.54992180e+01] [ 8.21993066e-04 6.47710290e-03 9.99978686e-01 -2.09059342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.4614005130001 meters Centerline goodness [0,1] 0.994753615019403 Centerline is valid? [False, True] Translation: X:279.92, Y:15.49, Z:-0.21 [[ 9.99986477e-01 3.91188404e-03 -3.42693929e-03 2.79921671e+02] [-3.92136052e-03 9.99988494e-01 -2.76294778e-03 1.54944428e+01] [ 3.41609153e-03 2.77634868e-03 9.99990311e-01 -2.08919044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.491400513 meters Centerline goodness [0,1] 0.8080797392813307 Centerline is valid? [True, False] Translation: X:279.98, Y:15.50, Z:-0.21 [[ 9.99980683e-01 2.64748042e-03 -5.62364270e-03 2.79983022e+02] [-2.64212794e-03 9.99996050e-01 9.58998681e-04 1.54983168e+01] [ 5.62615941e-03 -9.44121772e-04 9.99983727e-01 -2.06249503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.521400513 meters Centerline goodness [0,1] 0.9961035587496753 Centerline is valid? [False, True] Translation: X:279.94, Y:15.50, Z:-0.21 [[ 9.99966543e-01 1.17241245e-03 -8.09559061e-03 2.79941090e+02] [-1.16723452e-03 9.99999111e-01 6.44293598e-04 1.54985317e+01] [ 8.09633880e-03 -6.34822588e-04 9.99967023e-01 -2.06486924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.551400513 meters Centerline goodness [0,1] 0.9917920068758057 Centerline is valid? [True, True] Translation: X:279.97, Y:15.51, Z:-0.21 [[ 9.99968821e-01 2.40727888e-04 -7.89299134e-03 2.79968090e+02] [-2.45180379e-04 9.99999811e-01 -5.63144191e-04 1.55071294e+01] [ 7.89285428e-03 5.65061839e-04 9.99968691e-01 -2.06939304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.581400513 meters Centerline goodness [0,1] 0.9423287786774629 Centerline is valid? [True, False] Translation: X:280.01, Y:15.51, Z:-0.21 [[ 9.99987080e-01 8.37933826e-04 -5.01373905e-03 2.80008423e+02] [-8.47773049e-04 9.99997719e-01 -1.96064895e-03 1.55128514e+01] [ 5.01208471e-03 1.96487413e-03 9.99985509e-01 -2.06726667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.611400513 meters Centerline goodness [0,1] 0.9969738592951882 Centerline is valid? [False, True] Translation: X:279.96, Y:15.51, Z:-0.20 [[ 9.99978560e-01 1.58890280e-04 -6.54627775e-03 2.79963416e+02] [-1.63787768e-04 9.99999707e-01 -7.47603907e-04 1.55108661e+01] [ 6.54615704e-03 7.48660079e-04 9.99978293e-01 -2.04805360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.641400513 meters Centerline goodness [0,1] 0.9855886404577726 Centerline is valid? [True, True] Translation: X:279.99, Y:15.52, Z:-0.20 [[ 9.99979615e-01 -8.49946595e-04 -6.32821573e-03 2.79991099e+02] [ 8.47157641e-04 9.99999543e-01 -4.43384668e-04 1.55216322e+01] [ 6.32858969e-03 4.38014633e-04 9.99979878e-01 -2.04435160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.671400513 meters Centerline goodness [0,1] 0.8463152095605373 Centerline is valid? [True, False] Translation: X:279.99, Y:15.52, Z:-0.20 [[ 9.99979463e-01 -1.11463274e-03 -6.31118177e-03 2.79990999e+02] [ 1.10815589e-03 9.99998856e-01 -1.02965357e-03 1.55244077e+01] [ 6.31232223e-03 1.02263865e-03 9.99979554e-01 -2.04392428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.701400513 meters Centerline goodness [0,1] 0.9796762628084096 Centerline is valid? [False, True] Translation: X:279.99, Y:15.53, Z:-0.20 [[ 9.99979933e-01 -1.58932426e-03 -6.13250130e-03 2.79990239e+02] [ 1.57676696e-03 9.99996652e-01 -2.05195586e-03 1.55292645e+01] [ 6.13574199e-03 2.04224516e-03 9.99979091e-01 -2.04142651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.731400513 meters Centerline goodness [0,1] 0.997154747749278 Centerline is valid? [True, True] Translation: X:280.02, Y:15.53, Z:-0.20 [[ 9.99979076e-01 -2.10656923e-03 -6.11637973e-03 2.80019216e+02] [ 2.10404376e-03 9.99997699e-01 -4.19306958e-04 1.55256777e+01] [ 6.11724895e-03 4.06429053e-04 9.99981207e-01 -2.03577537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.761400513 meters Centerline goodness [0,1] 0.9869256156384869 Centerline is valid? [True, True] Translation: X:280.05, Y:15.53, Z:-0.20 [[ 9.99975871e-01 -2.46058583e-03 -6.49638104e-03 2.80046587e+02] [ 2.45773951e-03 9.99996880e-01 -4.46085853e-04 1.55345259e+01] [ 6.49745840e-03 4.30108677e-04 9.99978799e-01 -2.04602202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.791400513 meters Centerline goodness [0,1] 0.9966602745038892 Centerline is valid? [True, True] Translation: X:280.08, Y:15.53, Z:-0.21 [[ 9.99964615e-01 -2.90778886e-03 -7.89392246e-03 2.80075248e+02] [ 2.90359231e-03 9.99995637e-01 -5.43026932e-04 1.55317631e+01] [ 7.89546703e-03 5.20086985e-04 9.99968695e-01 -2.05779224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.821400513 meters Centerline goodness [0,1] 0.9931049159395616 Centerline is valid? [True, True] Translation: X:280.10, Y:15.54, Z:-0.21 [[ 9.99954646e-01 -3.57038466e-03 -8.82938902e-03 2.80102752e+02] [ 3.56515098e-03 9.99993460e-01 -6.08424519e-04 1.55371985e+01] [ 8.83150358e-03 5.76918820e-04 9.99960835e-01 -2.07308401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.851400513 meters Centerline goodness [0,1] 0.9875779030822063 Centerline is valid? [True, True] Translation: X:280.13, Y:15.54, Z:-0.21 [[ 9.99947882e-01 -4.31638480e-03 -9.25212209e-03 2.80130708e+02] [ 4.31065830e-03 9.99990505e-01 -6.38792317e-04 1.55420809e+01] [ 9.25479151e-03 5.98876288e-04 9.99956994e-01 -2.08063007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.881400513 meters Centerline goodness [0,1] 0.9953730234532526 Centerline is valid? [True, True] Translation: X:280.16, Y:15.54, Z:-0.21 [[ 9.99948341e-01 -4.81840541e-03 -8.94973137e-03 2.80159888e+02] [ 4.81305458e-03 9.99988225e-01 -6.19317972e-04 1.55429881e+01] [ 8.95261012e-03 5.76210433e-04 9.99959759e-01 -2.07382803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.911400513 meters Centerline goodness [0,1] 0.9854618319797063 Centerline is valid? [True, True] Translation: X:280.19, Y:15.55, Z:-0.21 [[ 9.99952050e-01 -4.98769258e-03 -8.42737990e-03 2.80187266e+02] [ 4.98294762e-03 9.99987415e-01 -5.83943884e-04 1.55520453e+01] [ 8.43018637e-03 5.41922691e-04 9.99964319e-01 -2.07034820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.941400513 meters Centerline goodness [0,1] 0.9886295631358468 Centerline is valid? [True, True] Translation: X:280.22, Y:15.56, Z:-0.21 [[ 9.99963418e-01 -3.59076643e-03 -7.76325088e-03 2.80216085e+02] [ 3.58669495e-03 9.99993423e-01 -5.38314462e-04 1.55571671e+01] [ 7.76513278e-03 5.10450357e-04 9.99969721e-01 -2.06100423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.971400513 meters Centerline goodness [0,1] 0.9868558181083438 Centerline is valid? [True, True] Translation: X:280.24, Y:15.56, Z:-0.21 [[ 9.99967461e-01 -2.71520996e-03 -7.59631301e-03 2.80244918e+02] [ 2.71128428e-03 9.99996186e-01 -5.27038475e-04 1.55617361e+01] [ 7.59771505e-03 5.06425562e-04 9.99971009e-01 -2.05558273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.001400513 meters Centerline goodness [0,1] 0.9798620454011574 Centerline is valid? [True, True] Translation: X:280.27, Y:15.57, Z:-0.20 [[ 9.99972072e-01 -1.46766779e-03 -7.32807423e-03 2.80274438e+02] [ 1.46397968e-03 9.99998799e-01 -5.08623103e-04 1.55678065e+01] [ 7.32881192e-03 4.97880746e-04 9.99973020e-01 -2.04729018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.031400513 meters Centerline goodness [0,1] 0.9807434517096836 Centerline is valid? [True, True] Translation: X:280.30, Y:15.57, Z:-0.20 [[ 9.99974312e-01 4.92826607e-05 -7.16748729e-03 2.80304034e+02] [-5.28504920e-05 9.99999875e-01 -4.97591374e-04 1.55732891e+01] [ 7.16746187e-03 4.97957397e-04 9.99974189e-01 -2.04025484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.061400513 meters Centerline goodness [0,1] 0.9226817201573005 Centerline is valid? [True, False] Translation: X:280.31, Y:15.58, Z:-0.21 [[ 9.99964687e-01 2.29609357e-03 -8.08406263e-03 2.80310640e+02] [-2.28364007e-03 9.99996192e-01 1.54939399e-03 1.55756578e+01] [ 8.08758940e-03 -1.53087819e-03 9.99966123e-01 -2.07965434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.091400513 meters Centerline goodness [0,1] 0.9572680632749038 Centerline is valid? [False, True] Translation: X:280.31, Y:15.58, Z:-0.21 [[ 9.99966255e-01 1.84400935e-03 -8.00558282e-03 2.80310463e+02] [-1.84459168e-03 9.99998297e-01 -6.53579297e-05 1.55836296e+01] [ 8.00544866e-03 8.01227556e-05 9.99967953e-01 -2.08303967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.121400513 meters Centerline goodness [0,1] 0.8843684922389918 Centerline is valid? [True, False] Translation: X:280.31, Y:15.59, Z:-0.21 [[ 9.99967698e-01 1.61619798e-03 -7.87342519e-03 2.80309962e+02] [-1.62118774e-03 9.99998489e-01 -6.27406233e-04 1.55863140e+01] [ 7.87239928e-03 6.40150267e-04 9.99968807e-01 -2.08204991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.151400513 meters Centerline goodness [0,1] 0.8382453296937644 Centerline is valid? [False, False] Translation: X:280.31, Y:15.59, Z:-0.21 [[ 9.99969286e-01 1.37690850e-03 -7.71568806e-03 2.80309285e+02] [-1.38640284e-03 9.99998288e-01 -1.22531005e-03 1.55891857e+01] [ 7.71398771e-03 1.23596946e-03 9.99969483e-01 -2.07961793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.181400513 meters Centerline goodness [0,1] 0.7048368668274724 Centerline is valid? [False, False] Translation: X:280.31, Y:15.59, Z:-0.21 [[ 9.99961687e-01 3.17327580e-03 -8.15813630e-03 2.80314018e+02] [-3.16888698e-03 9.99994827e-01 5.50838812e-04 1.55889442e+01] [ 8.15984206e-03 -5.24965496e-04 9.99966570e-01 -2.11213515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.2114005130001 meters Centerline goodness [0,1] 0.8765534382767192 Centerline is valid? [False, False] Translation: X:280.31, Y:15.59, Z:-0.21 [[ 9.99963596e-01 2.90576698e-03 -8.02268874e-03 2.80313361e+02] [-2.90639136e-03 9.99995774e-01 -6.61684002e-05 1.55918817e+01] [ 8.02246257e-03 8.94830646e-05 9.99967816e-01 -2.10861916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.241400513 meters Centerline goodness [0,1] 0.7406473219016936 Centerline is valid? [False, False] Translation: X:280.31, Y:15.59, Z:-0.21 [[ 9.99964472e-01 2.63404808e-03 -8.00732658e-03 2.80313294e+02] [-2.63965582e-03 9.99996278e-01 -6.89839061e-04 1.55948277e+01] [ 8.00547970e-03 7.10951139e-04 9.99967703e-01 -2.10864993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.271400513 meters Centerline goodness [0,1] 0.8919318864201767 Centerline is valid? [False, False] Translation: X:280.31, Y:15.60, Z:-0.21 [[ 9.99964938e-01 2.35600049e-03 -8.03569797e-03 2.80313612e+02] [-2.36671513e-03 9.99996323e-01 -1.32413096e-03 1.55977721e+01] [ 8.03254876e-03 1.34310274e-03 9.99966837e-01 -2.11329736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.301400513 meters Centerline goodness [0,1] 0.9334027497396885 Centerline is valid? [False, False] Translation: X:280.32, Y:15.59, Z:-0.21 [[ 9.99941756e-01 6.60807321e-03 -8.53340137e-03 2.80315438e+02] [-6.57799123e-03 9.99972069e-01 3.54847273e-03 1.55945830e+01] [ 8.55661159e-03 -3.49213341e-03 9.99957294e-01 -2.11530540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.331400513 meters Centerline goodness [0,1] 0.9334027497396885 Centerline is valid? [False, False] Translation: X:280.31, Y:15.60, Z:-0.21 [[ 9.99966344e-01 2.59413818e-03 -7.78337319e-03 2.80313066e+02] [-2.60606710e-03 9.99995445e-01 -1.52286471e-03 1.55995448e+01] [ 7.77938721e-03 1.54309745e-03 9.99968549e-01 -2.11755529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.361400513 meters Centerline goodness [0,1] 0.6811897072171913 Centerline is valid? [False, False] Translation: X:280.31, Y:15.60, Z:-0.21 [[ 9.99943495e-01 6.77058964e-03 -8.19553821e-03 2.80314592e+02] [-6.74860974e-03 9.99973565e-01 2.70662572e-03 1.55997786e+01] [ 8.21364702e-03 -2.65116430e-03 9.99962753e-01 -2.11905206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.391400513 meters Centerline goodness [0,1] 0.6256068090930476 Centerline is valid? [False, False] Translation: X:280.31, Y:15.60, Z:-0.21 [[ 9.99945237e-01 6.48750430e-03 -8.21188542e-03 2.80314733e+02] [-6.47100153e-03 9.99976993e-01 2.03459781e-03 1.56029321e+01] [ 8.22489595e-03 -1.98134727e-03 9.99964212e-01 -2.12108956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.421400513 meters Centerline goodness [0,1] 0.5988396803808229 Centerline is valid? [False, False] Translation: X:280.31, Y:15.61, Z:-0.21 [[ 9.99946777e-01 6.24661411e-03 -8.21120530e-03 2.80314893e+02] [-6.23510242e-03 9.99979544e-01 1.42680228e-03 1.56058049e+01] [ 8.21995001e-03 -1.37552863e-03 9.99965270e-01 -2.12451562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.451400513 meters Centerline goodness [0,1] 0.776907400331168 Centerline is valid? [False, False] Translation: X:280.31, Y:15.61, Z:-0.21 [[ 9.99948804e-01 6.03873688e-03 -8.11933818e-03 2.80314584e+02] [-6.03152539e-03 9.99981394e-01 9.12380080e-04 1.56082390e+01] [ 8.12469674e-03 -8.63361375e-04 9.99966621e-01 -2.12488628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.481400513 meters Centerline goodness [0,1] 0.6399991509413938 Centerline is valid? [False, False] Translation: X:280.31, Y:15.61, Z:-0.21 [[ 9.99951101e-01 5.84597167e-03 -7.97623255e-03 2.80314044e+02] [-5.84259955e-03 9.99982832e-01 4.46006393e-04 1.56104508e+01] [ 7.97870295e-03 -3.99382651e-04 9.99968090e-01 -2.12414860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.511400513 meters Centerline goodness [0,1] 0.7540537668685581 Centerline is valid? [False, False] Translation: X:280.31, Y:15.61, Z:-0.21 [[ 9.99953167e-01 5.68962826e-03 -7.82897406e-03 2.80313488e+02] [-5.68900780e-03 9.99983812e-01 1.01519232e-04 1.56120626e+01] [ 7.82942493e-03 -5.69753829e-05 9.99969348e-01 -2.12309430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.541400513 meters Centerline goodness [0,1] 0.7524396725842457 Centerline is valid? [False, False] Translation: X:280.31, Y:15.61, Z:-0.21 [[ 9.99954722e-01 5.53899029e-03 -7.73773895e-03 2.80313170e+02] [-5.54091956e-03 9.99984623e-01 -2.27918268e-04 1.56136038e+01] [ 7.73635753e-03 2.70782138e-04 9.99970037e-01 -2.12312122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.571400513 meters Centerline goodness [0,1] 0.6916483237385709 Centerline is valid? [False, False] Translation: X:280.31, Y:15.62, Z:-0.21 [[ 9.99956203e-01 5.22231045e-03 -7.76659585e-03 2.80313369e+02] [-5.22968638e-03 9.99985893e-01 -9.29693397e-04 1.56168884e+01] [ 7.76163114e-03 9.70269540e-04 9.99969407e-01 -2.12538786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.601400513 meters Centerline goodness [0,1] 0.5829164072062013 Centerline is valid? [False, False] Translation: X:280.27, Y:15.62, Z:-0.21 [[ 9.99937119e-01 4.18546740e-03 -1.04038344e-02 2.80271861e+02] [-4.19923938e-03 9.99990335e-01 -1.30224902e-03 1.56158663e+01] [ 1.03982834e-02 1.34585533e-03 9.99945031e-01 -2.13072053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.631400513 meters Centerline goodness [0,1] 0.6301332147319821 Centerline is valid? [False, False] Translation: X:280.29, Y:15.61, Z:-0.21 [[ 9.99870265e-01 4.83102631e-03 -1.53659953e-02 2.80289525e+02] [-4.75429733e-03 9.99976067e-01 5.02604325e-03 1.56121783e+01] [ 1.53899085e-02 -4.95233669e-03 9.99869304e-01 -2.07382937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.661400513 meters Centerline goodness [0,1] 0.6796674095662609 Centerline is valid? [False, False] Translation: X:280.29, Y:15.62, Z:-0.21 [[ 9.99884187e-01 2.53772965e-04 -1.52166953e-02 2.80289321e+02] [-2.63138804e-04 9.99999777e-01 -6.13498535e-04 1.56189360e+01] [ 1.52165362e-02 6.17431587e-04 9.99884031e-01 -2.08199761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.691400513 meters Centerline goodness [0,1] 0.7828625195132904 Centerline is valid? [False, False] Translation: X:280.29, Y:15.62, Z:-0.21 [[ 9.99883198e-01 2.85501659e-04 -1.52810133e-02 2.80289572e+02] [-2.93554336e-04 9.99999819e-01 -5.24732291e-04 1.56185025e+01] [ 1.52808607e-02 5.29156808e-04 9.99883101e-01 -2.08229910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.721400513 meters Centerline goodness [0,1] 0.875844467797628 Centerline is valid? [False, False] Translation: X:280.29, Y:15.62, Z:-0.21 [[ 9.99883325e-01 3.60467627e-04 -1.52711099e-02 2.80289342e+02] [-3.65721410e-04 9.99999875e-01 -3.41242878e-04 1.56176426e+01] [ 1.52709850e-02 3.46788035e-04 9.99883332e-01 -2.07840833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.751400513 meters Centerline goodness [0,1] 0.7052817128485135 Centerline is valid? [False, False] Translation: X:280.29, Y:15.62, Z:-0.21 [[ 9.99884244e-01 4.28618531e-04 -1.52090724e-02 2.80288886e+02] [-4.31266530e-04 9.99999892e-01 -1.70827197e-04 1.56168529e+01] [ 1.52089975e-02 1.77366586e-04 9.99884321e-01 -2.07331638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.781400513 meters Centerline goodness [0,1] 0.9276933273469736 Centerline is valid? [False, False] Translation: X:280.32, Y:15.62, Z:-0.20 [[ 9.99938502e-01 1.49195372e-04 -1.10891419e-02 2.80324641e+02] [-1.64535479e-04 9.99999031e-01 -1.38244532e-03 1.56210744e+01] [ 1.10889249e-02 1.38418486e-03 9.99937558e-01 -2.04380222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.811400513 meters Centerline goodness [0,1] 0.9329470375676195 Centerline is valid? [False, False] Translation: X:280.32, Y:15.62, Z:-0.20 [[ 9.99939311e-01 1.54751458e-04 -1.10158697e-02 2.80324242e+02] [-1.69680504e-04 9.99999069e-01 -1.35430911e-03 1.56209470e+01] [ 1.10156498e-02 1.35609609e-03 9.99938406e-01 -2.04107968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.841400513 meters Centerline goodness [0,1] 0.8104552904365594 Centerline is valid? [False, False] Translation: X:280.32, Y:15.62, Z:-0.20 [[ 9.99939752e-01 2.30151844e-04 -1.09744481e-02 2.80324059e+02] [-2.42560481e-04 9.99999333e-01 -1.12936677e-03 1.56198688e+01] [ 1.09741808e-02 1.13196070e-03 9.99939141e-01 -2.03998265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.871400513 meters Centerline goodness [0,1] 0.8523424190800681 Centerline is valid? [False, False] Translation: X:280.32, Y:15.62, Z:-0.20 [[ 9.99939866e-01 3.65602487e-04 -1.09603775e-02 2.80323995e+02] [-3.74082339e-04 9.99999632e-01 -7.71642436e-04 1.56181606e+01] [ 1.09600913e-02 7.75696118e-04 9.99939636e-01 -2.03945494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.901400513 meters Centerline goodness [0,1] 0.9068478607070815 Centerline is valid? [False, False] Translation: X:280.32, Y:15.62, Z:-0.20 [[ 9.99938970e-01 4.84088416e-04 -1.10373129e-02 2.80324271e+02] [-4.88851334e-04 9.99999789e-01 -4.28834992e-04 1.56164847e+01] [ 1.10371029e-02 4.34204425e-04 9.99938995e-01 -2.03949174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.931400513 meters Centerline goodness [0,1] 0.9933475935828877 Centerline is valid? [False, True] Translation: X:280.32, Y:15.62, Z:-0.20 [[ 9.99938412e-01 5.75246870e-04 -1.10833909e-02 2.80324398e+02] [-5.76924093e-04 9.99999823e-01 -1.48130966e-04 1.56151303e+01] [ 1.10833037e-02 1.54516118e-04 9.99938566e-01 -2.03875780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.9614005130001 meters Centerline goodness [0,1] 0.9939879759519038 Centerline is valid? [True, True] Translation: X:280.35, Y:15.62, Z:-0.20 [[ 9.99938935e-01 -2.69392318e-03 -1.07176787e-02 2.80353383e+02] [ 2.68588933e-03 9.99996101e-01 -7.63912358e-04 1.56183855e+01] [ 1.07196949e-02 7.35079211e-04 9.99942272e-01 -2.03496084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.991400513 meters Centerline goodness [0,1] 0.9582623146412136 Centerline is valid? [True, True] Translation: X:280.38, Y:15.63, Z:-0.20 [[ 9.99941305e-01 -4.01942185e-03 -1.00613030e-02 2.80382123e+02] [ 4.01240604e-03 9.99991693e-01 -7.17394021e-04 1.56250688e+01] [ 1.00641029e-02 6.76981881e-04 9.99949126e-01 -2.03055088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.021400513 meters Centerline goodness [0,1] 0.94030389969185 Centerline is valid? [True, False] Translation: X:280.38, Y:15.62, Z:-0.20 [[ 9.99942270e-01 -3.96321623e-03 -9.98744696e-03 2.80381776e+02] [ 3.95775526e-03 9.99992008e-01 -5.66488512e-04 1.56243687e+01] [ 9.98961225e-03 5.26927938e-04 9.99949964e-01 -2.02844801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.051400513 meters Centerline goodness [0,1] 0.9468955457370568 Centerline is valid? [False, False] Translation: X:280.38, Y:15.62, Z:-0.20 [[ 9.99943287e-01 -3.95088409e-03 -9.89009483e-03 2.80381360e+02] [ 3.94564849e-03 9.99992065e-01 -5.48834224e-04 1.56243210e+01] [ 9.89218473e-03 5.09780260e-04 9.99950941e-01 -2.02697861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.081400513 meters Centerline goodness [0,1] 0.9981649395509499 Centerline is valid? [False, True] Translation: X:280.34, Y:15.62, Z:-0.20 [[ 9.99918172e-01 -4.22719249e-03 -1.20739324e-02 2.80338298e+02] [ 4.23376895e-03 9.99990903e-01 5.19173659e-04 1.56203463e+01] [ 1.20716279e-02 -5.70249416e-04 9.99926973e-01 -2.02244269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.111400513 meters Centerline goodness [0,1] 0.9959887599476608 Centerline is valid? [True, True] Translation: X:280.37, Y:15.63, Z:-0.20 [[ 9.99905760e-01 -4.19994748e-03 -1.30702606e-02 2.80366017e+02] [ 4.18826800e-03 9.99990805e-01 -9.20835970e-04 1.56262549e+01] [ 1.30740079e-02 8.66007436e-04 9.99914156e-01 -2.03528115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.141400513 meters Centerline goodness [0,1] 0.9836948423763809 Centerline is valid? [True, True] Translation: X:280.39, Y:15.63, Z:-0.21 [[ 9.99880548e-01 -3.99357952e-03 -1.49311943e-02 2.80393090e+02] [ 3.97829375e-03 9.99991532e-01 -1.05330920e-03 1.56334041e+01] [ 1.49352743e-02 9.93782702e-04 9.99887969e-01 -2.05631223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.171400513 meters Centerline goodness [0,1] 0.9989343336388243 Centerline is valid? [True, True] Translation: X:280.42, Y:15.63, Z:-0.21 [[ 9.99863106e-01 -3.67780168e-03 -1.61320304e-02 2.80422585e+02] [ 3.65989380e-03 9.99992653e-01 -1.13946448e-03 1.56274840e+01] [ 1.61361026e-02 1.08026697e-03 9.99869221e-01 -2.06777858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.201400513 meters Centerline goodness [0,1] 0.9992691943942911 Centerline is valid? [True, True] Translation: X:280.45, Y:15.63, Z:-0.21 [[ 9.99841271e-01 -2.35250672e-03 -1.76606426e-02 2.80451463e+02] [ 2.33079495e-03 9.99996503e-01 -1.24986972e-03 1.56297551e+01] [ 1.76635212e-02 1.20850800e-03 9.99843257e-01 -2.09238241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.231400513 meters Centerline goodness [0,1] 0.9949910095042384 Centerline is valid? [True, True] Translation: X:280.48, Y:15.64, Z:-0.21 [[ 9.99827048e-01 -1.94269269e-03 -1.84959336e-02 2.80478261e+02] [ 1.91878379e-03 9.99997301e-01 -1.31031550e-03 1.56376470e+01] [ 1.84984292e-02 1.27459918e-03 9.99828077e-01 -2.11334416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.261400513 meters Centerline goodness [0,1] 0.9989182640301155 Centerline is valid? [True, True] Translation: X:280.51, Y:15.63, Z:-0.21 [[ 9.99814356e-01 -2.13787622e-03 -1.91489653e-02 2.80507013e+02] [ 2.11223349e-03 9.99996845e-01 -1.35924411e-03 1.56325679e+01] [ 1.91518108e-02 1.31854469e-03 9.99815718e-01 -2.11636986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.291400513 meters Centerline goodness [0,1] 0.9866972280536395 Centerline is valid? [True, True] Translation: X:280.53, Y:15.64, Z:-0.21 [[ 9.99819125e-01 -2.23421088e-03 -1.88871720e-02 2.80534551e+02] [ 2.20923175e-03 9.99996657e-01 -1.34330607e-03 1.56409350e+01] [ 1.88901101e-02 1.30133696e-03 9.99820719e-01 -2.11626002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.321400513 meters Centerline goodness [0,1] 0.9824568873749202 Centerline is valid? [True, True] Translation: X:280.56, Y:15.64, Z:-0.21 [[ 9.99833001e-01 -2.72256784e-03 -1.80708832e-02 2.80562294e+02] [ 2.69975943e-03 9.99995528e-01 -1.28643924e-03 1.56427185e+01] [ 1.80743048e-02 1.23743736e-03 9.99835881e-01 -2.09006361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.351400513 meters Centerline goodness [0,1] 0.9965278521979553 Centerline is valid? [True, True] Translation: X:280.59, Y:15.64, Z:-0.21 [[ 9.99851761e-01 -2.97391677e-03 -1.69591045e-02 2.80591515e+02] [ 2.95383511e-03 9.99994907e-01 -1.20904879e-03 1.56390748e+01] [ 1.69626137e-02 1.15877516e-03 9.99855453e-01 -2.05816288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.381400513 meters Centerline goodness [0,1] 0.9975117500691181 Centerline is valid? [True, True] Translation: X:280.62, Y:15.64, Z:-0.20 [[ 9.99873426e-01 -2.02034750e-03 -1.57813102e-02 2.80620872e+02] [ 2.00281006e-03 9.99997359e-01 -1.12700437e-03 1.56385245e+01] [ 1.57835454e-02 1.09525475e-03 9.99874832e-01 -2.03454867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.411400513 meters Centerline goodness [0,1] 0.9928028187169682 Centerline is valid? [True, True] Translation: X:280.65, Y:15.64, Z:-0.20 [[ 9.99873794e-01 -1.22891063e-03 -1.58393551e-02 2.80648774e+02] [ 1.21113537e-03 9.99998626e-01 -1.13176526e-03 1.56421374e+01] [ 1.58407241e-02 1.11243882e-03 9.99873909e-01 -2.03909401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.441400513 meters Centerline goodness [0,1] 0.9952617914322804 Centerline is valid? [True, True] Translation: X:280.68, Y:15.64, Z:-0.20 [[ 9.99869902e-01 -1.52886473e-04 -1.61293614e-02 2.80678734e+02] [ 1.34303743e-04 9.99999326e-01 -1.15318261e-03 1.56430970e+01] [ 1.61295269e-02 1.15086635e-03 9.99869248e-01 -2.04298178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.471400513 meters Centerline goodness [0,1] 0.9831230821684283 Centerline is valid? [True, True] Translation: X:280.71, Y:15.65, Z:-0.20 [[ 9.99865920e-01 1.37909942e-03 -1.63168678e-02 2.80707204e+02] [-1.39832462e-03 9.99998342e-01 -1.16689049e-03 1.56488087e+01] [ 1.63152315e-02 1.18955031e-03 9.99866190e-01 -2.04745553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.501400513 meters Centerline goodness [0,1] 0.9418221267362957 Centerline is valid? [True, False] Translation: X:280.71, Y:15.65, Z:-0.20 [[ 9.99866312e-01 1.25375099e-03 -1.63029245e-02 2.80707257e+02] [-1.27880270e-03 9.99998018e-01 -1.52630494e-03 1.56505505e+01] [ 1.63009786e-02 1.54694911e-03 9.99865934e-01 -2.04957989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.531400513 meters Centerline goodness [0,1] 0.9674854252400549 Centerline is valid? [False, True] Translation: X:280.71, Y:15.65, Z:-0.21 [[ 9.99867124e-01 1.13177046e-03 -1.62620381e-02 2.80707169e+02] [-1.16197423e-03 9.99997617e-01 -1.84798914e-03 1.56520888e+01] [ 1.62599078e-02 1.86663966e-03 9.99866057e-01 -2.05059624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.561400513 meters Centerline goodness [0,1] 0.7753827857886131 Centerline is valid? [True, False] Translation: X:280.74, Y:15.65, Z:-0.20 [[ 9.99921972e-01 2.41516972e-03 -1.22562703e-02 2.80743648e+02] [-2.43319486e-03 9.99995980e-01 -1.45598858e-03 1.56543158e+01] [ 1.22527046e-02 1.48569687e-03 9.99923829e-01 -2.02322667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.591400513 meters Centerline goodness [0,1] 0.9083803641784688 Centerline is valid? [False, False] Translation: X:280.74, Y:15.65, Z:-0.20 [[ 9.99922303e-01 2.47065396e-03 -1.22182137e-02 2.80743421e+02] [-2.48693406e-03 9.99996040e-01 -1.31743178e-03 1.56536616e+01] [ 1.22149104e-02 1.34771531e-03 9.99924487e-01 -2.02135382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.621400513 meters Centerline goodness [0,1] 0.6992389844599347 Centerline is valid? [False, False] Translation: X:280.74, Y:15.65, Z:-0.20 [[ 9.99921808e-01 2.57079683e-03 -1.22380012e-02 2.80743382e+02] [-2.58434687e-03 9.99996065e-01 -1.09152472e-03 1.56526077e+01] [ 1.22351470e-02 1.12306661e-03 9.99924517e-01 -2.01929139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.651400513 meters Centerline goodness [0,1] 0.9709136216192993 Centerline is valid? [False, True] Translation: X:280.74, Y:15.65, Z:-0.20 [[ 9.99922613e-01 2.64577606e-03 -1.21559794e-02 2.80743137e+02] [-2.65735769e-03 9.99996031e-01 -9.36698485e-04 1.56518754e+01] [ 1.21534529e-02 9.68928782e-04 9.99925675e-01 -2.01980235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.681400513 meters Centerline goodness [0,1] 0.691179309013704 Centerline is valid? [True, False] Translation: X:280.74, Y:15.65, Z:-0.20 [[ 9.99923674e-01 2.67035582e-03 -1.20629595e-02 2.80742744e+02] [-2.68160714e-03 9.99995984e-01 -9.16638355e-04 1.56518194e+01] [ 1.20604633e-02 9.48916510e-04 9.99926820e-01 -2.01831687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.7114005130001 meters Centerline goodness [0,1] 0.8493139009630956 Centerline is valid? [False, False] Translation: X:280.78, Y:15.65, Z:-0.20 [[ 9.99959603e-01 3.67583036e-03 -8.20243691e-03 2.80780187e+02] [-3.68425309e-03 9.99992701e-01 -1.01198214e-03 1.56547995e+01] [ 8.19865717e-03 1.04216111e-03 9.99965847e-01 -2.00356787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.741400513 meters Centerline goodness [0,1] 0.660734077926507 Centerline is valid? [False, False] Translation: X:280.78, Y:15.66, Z:-0.20 [[ 9.99961369e-01 3.61066180e-03 -8.01392811e-03 2.80779624e+02] [-3.62199504e-03 9.99992460e-01 -1.40012981e-03 1.56567871e+01] [ 8.00881229e-03 1.42910213e-03 9.99966908e-01 -2.00520598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.771400513 meters Centerline goodness [0,1] 0.6372137812968115 Centerline is valid? [False, False] Translation: X:280.78, Y:15.66, Z:-0.20 [[ 9.99962779e-01 3.41237728e-03 -7.92440245e-03 2.80779417e+02] [-3.42799448e-03 9.99992207e-01 -1.95802746e-03 1.56594614e+01] [ 7.91765917e-03 1.98511939e-03 9.99966684e-01 -2.00725266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.801400513 meters Centerline goodness [0,1] 0.6165530001505992 Centerline is valid? [False, False] Translation: X:280.78, Y:15.66, Z:-0.20 [[ 9.99964223e-01 3.21528383e-03 -7.82400392e-03 2.80779217e+02] [-3.23529130e-03 9.99991526e-01 -2.54587870e-03 1.56622933e+01] [ 7.81575189e-03 2.57110054e-03 9.99966151e-01 -2.01024261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.831400513 meters Centerline goodness [0,1] 0.6587267949478681 Centerline is valid? [False, False] Translation: X:280.80, Y:15.66, Z:-0.20 [[ 9.99972967e-01 4.57888523e-03 -5.75311092e-03 2.80802060e+02] [-4.52078719e-03 9.99939064e-01 1.00712870e-02 1.56566312e+01] [ 5.79887561e-03 -1.00450062e-02 9.99932733e-01 -2.03039332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.861400513 meters Centerline goodness [0,1] 0.6006316148856266 Centerline is valid? [False, False] Translation: X:280.80, Y:15.66, Z:-0.20 [[ 9.99985710e-01 8.66253703e-04 -5.27533788e-03 2.80800513e+02] [-8.40518974e-04 9.99987746e-01 4.87857388e-03 1.56628466e+01] [ 5.27949932e-03 -4.87407014e-03 9.99974185e-01 -2.03497380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.891400513 meters Centerline goodness [0,1] 0.5840318347303362 Centerline is valid? [False, False] Translation: X:280.82, Y:15.67, Z:-0.21 [[ 9.99996270e-01 2.58020446e-03 -8.95960427e-04 2.80821559e+02] [-2.58501066e-03 9.99982050e-01 -5.40522848e-03 1.56723837e+01] [ 8.81997751e-04 5.40752438e-03 9.99984990e-01 -2.07748680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.921400513 meters Centerline goodness [0,1] 0.5697272378025355 Centerline is valid? [False, False] Translation: X:280.82, Y:15.67, Z:-0.21 [[ 9.99975235e-01 6.97326674e-03 -9.49853248e-04 2.80821750e+02] [-6.97404377e-03 9.99975347e-01 -8.17215631e-04 1.56711172e+01] [ 9.44131169e-04 8.23819711e-04 9.99999215e-01 -2.07636691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.951400513 meters Centerline goodness [0,1] 0.4758450019036339 Centerline is valid? [False, False] Translation: X:280.83, Y:15.67, Z:-0.21 [[ 9.99955776e-01 9.21965335e-03 -1.85603240e-03 2.80828597e+02] [-9.21683621e-03 9.99956368e-01 1.52070227e-03 1.56717022e+01] [ 1.86997176e-03 -1.50352827e-03 9.99997121e-01 -2.11980498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.981400513 meters Centerline goodness [0,1] 0.5216048725429648 Centerline is valid? [False, False] Translation: X:280.83, Y:15.67, Z:-0.21 [[ 9.99958365e-01 8.93142711e-03 -1.87012652e-03 2.80828912e+02] [-8.92982278e-03 9.99959755e-01 8.64471221e-04 1.56747490e+01] [ 1.87777222e-03 -8.47735330e-04 9.99997878e-01 -2.12537014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.011400513 meters Centerline goodness [0,1] 0.5671889283360616 Centerline is valid? [False, False] Translation: X:280.83, Y:15.68, Z:-0.21 [[ 9.99960464e-01 8.69699654e-03 -1.85283380e-03 2.80828963e+02] [-8.69639710e-03 9.99962131e-01 3.31335082e-04 1.56772325e+01] [ 1.85564526e-03 -3.15209004e-04 9.99998229e-01 -2.12797526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.041400513 meters Centerline goodness [0,1] 0.5020877266975959 Centerline is valid? [False, False] Translation: X:280.83, Y:15.68, Z:-0.21 [[ 9.99962234e-01 8.48835965e-03 -1.86479330e-03 2.80828897e+02] [-8.48853946e-03 9.99963968e-01 -8.85273766e-05 1.56791886e+01] [ 1.86397465e-03 1.04353405e-04 9.99998257e-01 -2.12634478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.071400513 meters Centerline goodness [0,1] 0.5544628064063895 Centerline is valid? [False, False] Translation: X:280.83, Y:15.68, Z:-0.21 [[ 9.99963222e-01 8.32642181e-03 -2.05569488e-03 2.80829320e+02] [-8.32705332e-03 9.99965285e-01 -2.98831126e-04 1.56800991e+01] [ 2.05313532e-03 3.15938017e-04 9.99997842e-01 -2.12237043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.101400513 meters Centerline goodness [0,1] 0.5544628064063895 Centerline is valid? [False, False] Translation: X:280.83, Y:15.68, Z:-0.21 [[ 9.99963222e-01 8.32642181e-03 -2.05569488e-03 2.80829320e+02] [-8.32705332e-03 9.99965285e-01 -2.98831126e-04 1.56800991e+01] [ 2.05313532e-03 3.15938017e-04 9.99997842e-01 -2.12237043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.131400513 meters Centerline goodness [0,1] 0.5990049539684902 Centerline is valid? [False, False] Translation: X:280.83, Y:15.68, Z:-0.21 [[ 9.99963204e-01 8.29578790e-03 -2.18402076e-03 2.80829789e+02] [-8.29637976e-03 9.99965550e-01 -2.62071794e-04 1.56798598e+01] [ 2.18177143e-03 2.80181616e-04 9.99997581e-01 -2.12302951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.161400513 meters Centerline goodness [0,1] 0.6500308071472581 Centerline is valid? [False, False] Translation: X:280.83, Y:15.68, Z:-0.21 [[ 9.99964861e-01 8.07973389e-03 -2.23472433e-03 2.80830041e+02] [-8.08132462e-03 9.99967098e-01 -7.03712265e-04 1.56818830e+01] [ 2.22896499e-03 7.21747070e-04 9.99997255e-01 -2.12473288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.191400513 meters Centerline goodness [0,1] 0.5284570162733238 Centerline is valid? [False, False] Translation: X:280.83, Y:15.68, Z:-0.21 [[ 9.99966999e-01 7.83281591e-03 -2.15594105e-03 2.80829762e+02] [-7.83563828e-03 9.99968451e-01 -1.30379255e-03 1.56847298e+01] [ 2.14566066e-03 1.32064270e-03 9.99996826e-01 -2.12487703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.221400513 meters Centerline goodness [0,1] 0.616672412307162 Centerline is valid? [False, False] Translation: X:280.83, Y:15.68, Z:-0.21 [[ 9.99921014e-01 1.23463689e-02 -2.35239009e-03 2.80830404e+02] [-1.23375933e-02 9.99917009e-01 3.70920976e-03 1.56813946e+01] [ 2.39799013e-03 -3.67989395e-03 9.99990354e-01 -2.12176376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.251400513 meters Centerline goodness [0,1] 0.616672412307162 Centerline is valid? [False, False] Translation: X:280.83, Y:15.69, Z:-0.21 [[ 9.99965075e-01 8.11921050e-03 -1.98182161e-03 2.80829167e+02] [-8.12235353e-03 9.99965760e-01 -1.58306232e-03 1.56868663e+01] [ 1.96890054e-03 1.59910408e-03 9.99996783e-01 -2.12484905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.281400513 meters Centerline goodness [0,1] 0.5288508713923079 Centerline is valid? [False, False] Translation: X:280.84, Y:15.69, Z:-0.22 [[ 9.99937930e-01 1.07389354e-02 -2.96853250e-03 2.80835534e+02] [-1.07354844e-02 9.99941681e-01 1.17601973e-03 1.56880313e+01] [ 2.98098858e-03 -1.14407810e-03 9.99994902e-01 -2.16024376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.311400513 meters Centerline goodness [0,1] 0.5138590939019987 Centerline is valid? [False, False] Translation: X:280.84, Y:15.69, Z:-0.22 [[ 9.99941311e-01 1.04079113e-02 -3.00818573e-03 2.80835835e+02] [-1.04071075e-02 9.99945805e-01 2.82735562e-04 1.56922809e+01] [ 3.01096538e-03 -2.51412456e-04 9.99995435e-01 -2.16435696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.341400513 meters Centerline goodness [0,1] 0.5553704534290169 Centerline is valid? [False, False] Translation: X:280.84, Y:15.70, Z:-0.22 [[ 9.99944897e-01 1.00653569e-02 -2.98174827e-03 2.80835976e+02] [-1.00670339e-02 9.99949176e-01 -5.47945659e-04 1.56961634e+01] [ 2.97608146e-03 5.77932827e-04 9.99995404e-01 -2.16941729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.371400513 meters Centerline goodness [0,1] 0.5194991745813948 Centerline is valid? [False, False] Translation: X:280.83, Y:15.70, Z:-0.22 [[ 9.99950308e-01 9.57786052e-03 -2.76531077e-03 2.80834916e+02] [-9.58247978e-03 9.99952706e-01 -1.66204187e-03 1.57014174e+01] [ 2.74926118e-03 1.68845781e-03 9.99994795e-01 -2.16351644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.401400513 meters Centerline goodness [0,1] 0.6167686449018014 Centerline is valid? [False, False] Translation: X:280.83, Y:15.70, Z:-0.22 [[ 9.99952116e-01 9.42013937e-03 -2.65092271e-03 2.80834193e+02] [-9.42538777e-03 9.99953631e-01 -1.97436005e-03 1.57028858e+01] [ 2.63220104e-03 1.99925149e-03 9.99994537e-01 -2.15690855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.431400513 meters Centerline goodness [0,1] 0.6581329195758987 Centerline is valid? [False, False] Translation: X:280.83, Y:15.70, Z:-0.22 [[ 9.99953188e-01 9.31949614e-03 -2.60159322e-03 2.80833794e+02] [-9.32508882e-03 9.99954218e-01 -2.14592854e-03 1.57036689e+01] [ 2.58147514e-03 2.17008818e-03 9.99994313e-01 -2.15223470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.4614005130001 meters Centerline goodness [0,1] 0.6803336997995215 Centerline is valid? [False, False] Translation: X:280.83, Y:15.70, Z:-0.22 [[ 9.99953748e-01 9.22209481e-03 -2.73025799e-03 2.80834170e+02] [-9.22831270e-03 9.99954833e-01 -2.27362833e-03 1.57042034e+01] [ 2.70916705e-03 2.29871884e-03 9.99993688e-01 -2.15138886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.491400513 meters Centerline goodness [0,1] 0.6509195816804905 Centerline is valid? [False, False] Translation: X:280.86, Y:15.70, Z:-0.21 [[ 9.99959896e-01 7.74956462e-03 -4.48884633e-03 2.80857155e+02] [-7.71756976e-03 9.99945001e-01 7.10163339e-03 1.57006575e+01] [ 4.54363402e-03 -7.06670560e-03 9.99964708e-01 -2.12793928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.521400513 meters Centerline goodness [0,1] 0.6045565327964395 Centerline is valid? [False, False] Translation: X:280.86, Y:15.71, Z:-0.21 [[ 9.99985801e-01 2.80906185e-03 -4.52850697e-03 2.80857554e+02] [-2.80434237e-03 9.99995518e-01 1.04818415e-03 1.57088945e+01] [ 4.53143109e-03 -1.03546978e-03 9.99989197e-01 -2.13681433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.551400513 meters Centerline goodness [0,1] 0.7454285226010424 Centerline is valid? [False, False] Translation: X:280.85, Y:15.71, Z:-0.21 [[ 9.99993630e-01 6.30608717e-04 -3.51311322e-03 2.80851308e+02] [-6.34536790e-04 9.99999175e-01 -1.11711486e-03 1.57136561e+01] [ 3.51240586e-03 1.11933694e-03 9.99993205e-01 -2.10036174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.581400513 meters Centerline goodness [0,1] 0.7157948871793773 Centerline is valid? [False, False] Translation: X:280.85, Y:15.71, Z:-0.21 [[ 9.99993923e-01 6.83838432e-04 -3.41854381e-03 2.80850487e+02] [-6.86840314e-04 9.99999380e-01 -8.77020185e-04 1.57125327e+01] [ 3.41794195e-03 8.79362849e-04 9.99993772e-01 -2.09002247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.611400513 meters Centerline goodness [0,1] 0.7431598282748457 Centerline is valid? [False, False] Translation: X:280.85, Y:15.71, Z:-0.21 [[ 9.99993671e-01 8.14787174e-04 -3.46338315e-03 2.80850343e+02] [-8.16355779e-04 9.99999565e-01 -4.51521633e-04 1.57104791e+01] [ 3.46301375e-03 4.54346128e-04 9.99993901e-01 -2.08377237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.641400513 meters Centerline goodness [0,1] 0.7375133063657654 Centerline is valid? [False, False] Translation: X:280.85, Y:15.71, Z:-0.21 [[ 9.99993253e-01 9.10853969e-04 -3.55880761e-03 2.80850623e+02] [-9.11440066e-04 9.99999571e-01 -1.63070761e-04 1.57091023e+01] [ 3.55865755e-03 1.66313300e-04 9.99993654e-01 -2.08268817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.671400513 meters Centerline goodness [0,1] 0.8940373177592167 Centerline is valid? [False, False] Translation: X:280.85, Y:15.71, Z:-0.21 [[ 9.99992952e-01 8.90857367e-04 -3.64718982e-03 2.80851113e+02] [-8.91612122e-04 9.99999581e-01 -2.05320803e-04 1.57092756e+01] [ 3.64700538e-03 2.08571235e-04 9.99993328e-01 -2.08630353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.701400513 meters Centerline goodness [0,1] 0.8430427674038379 Centerline is valid? [False, False] Translation: X:280.85, Y:15.71, Z:-0.21 [[ 9.99993060e-01 7.57944859e-04 -3.64768735e-03 2.80851252e+02] [-7.59822332e-04 9.99999580e-01 -5.13343821e-04 1.57106984e+01] [ 3.64729673e-03 5.16111853e-04 9.99993215e-01 -2.08921243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.731400513 meters Centerline goodness [0,1] 0.8228413804900996 Centerline is valid? [False, False] Translation: X:280.85, Y:15.71, Z:-0.21 [[ 9.99993182e-01 5.80649800e-04 -3.64679778e-03 2.80851307e+02] [-5.84168327e-04 9.99999365e-01 -9.63835419e-04 1.57128376e+01] [ 3.64623581e-03 9.65959191e-04 9.99992886e-01 -2.09058440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.761400513 meters Centerline goodness [0,1] 0.750661133925308 Centerline is valid? [False, False] Translation: X:280.85, Y:15.72, Z:-0.21 [[ 9.99994121e-01 4.02218557e-04 -3.40543913e-03 2.80850455e+02] [-4.07636581e-04 9.99998652e-01 -1.59044667e-03 1.57159027e+01] [ 3.40479483e-03 1.59182550e-03 9.99992937e-01 -2.08956139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.791400513 meters Centerline goodness [0,1] 0.767938054415112 Centerline is valid? [False, False] Translation: X:280.87, Y:15.71, Z:-0.21 [[ 9.99999750e-01 2.86958542e-04 -6.46319181e-04 2.80871587e+02] [-2.80668958e-04 9.99952812e-01 9.71054795e-03 1.57111699e+01] [ 6.49075208e-04 -9.71036412e-03 9.99952643e-01 -2.11296738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.821400513 meters Centerline goodness [0,1] 0.6960473970141592 Centerline is valid? [False, False] Translation: X:280.87, Y:15.72, Z:-0.21 [[ 9.99992786e-01 -3.78930803e-03 -2.62782679e-04 2.80870364e+02] [ 3.79037071e-03 9.99984127e-01 4.16880208e-03 1.57183199e+01] [ 2.46981632e-04 -4.16976805e-03 9.99991276e-01 -2.11630757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.851400513 meters Centerline goodness [0,1] 0.7340238462858123 Centerline is valid? [False, False] Translation: X:280.87, Y:15.72, Z:-0.21 [[ 9.99992230e-01 -3.92884995e-03 -3.22325521e-04 2.80870740e+02] [ 3.93005811e-03 9.99984914e-01 3.83739078e-03 1.57198627e+01] [ 3.07244126e-04 -3.83862772e-03 9.99992585e-01 -2.12016085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.881400513 meters Centerline goodness [0,1] 0.7603596982339336 Centerline is valid? [False, False] Translation: X:280.87, Y:15.73, Z:-0.21 [[ 9.99967161e-01 -8.10385258e-03 7.18633864e-05 2.80869638e+02] [ 8.10395937e-03 9.99965823e-01 -1.63678172e-03 1.57263788e+01] [-5.85966925e-05 1.63731035e-03 9.99998658e-01 -2.12440428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.911400513 meters Centerline goodness [0,1] 0.7410142367687429 Centerline is valid? [False, False] Translation: X:280.91, Y:15.73, Z:-0.21 [[ 9.99973641e-01 -6.83549530e-03 2.44812763e-03 2.80911257e+02] [ 6.83635196e-03 9.99976573e-01 -3.41727851e-04 1.57279098e+01] [-2.44573440e-03 3.58455106e-04 9.99996945e-01 -2.12700219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.941400513 meters Centerline goodness [0,1] 0.7070685584224969 Centerline is valid? [False, False] Translation: X:280.91, Y:15.73, Z:-0.21 [[ 9.99974722e-01 -6.64209950e-03 2.53746118e-03 2.80910533e+02] [ 6.64191681e-03 9.99977939e-01 8.04165157e-05 1.57259921e+01] [-2.53793934e-03 -6.35608768e-05 9.99996777e-01 -2.11841485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.971400513 meters Centerline goodness [0,1] 0.6756435559516989 Centerline is valid? [False, False] Translation: X:280.91, Y:15.72, Z:-0.21 [[ 9.99975213e-01 -6.50760973e-03 2.68774883e-03 2.80909754e+02] [ 6.50668982e-03 9.99978770e-01 3.50864722e-04 1.57247796e+01] [-2.68997506e-03 -3.33367677e-04 9.99996326e-01 -2.11282410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.001400513 meters Centerline goodness [0,1] 0.6606127943250288 Centerline is valid? [False, False] Translation: X:280.91, Y:15.72, Z:-0.21 [[ 9.99976146e-01 -6.32198065e-03 2.78199873e-03 2.80909222e+02] [ 6.31990018e-03 9.99979743e-01 7.55987734e-04 1.57229193e+01] [-2.78672172e-03 -7.38387747e-04 9.99995844e-01 -2.10815885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.031400513 meters Centerline goodness [0,1] 0.6948097325455815 Centerline is valid? [False, False] Translation: X:280.91, Y:15.72, Z:-0.21 [[ 9.99977799e-01 -6.05817057e-03 2.77476736e-03 2.80909133e+02] [ 6.05434974e-03 9.99980715e-01 1.38332791e-03 1.57199517e+01] [-2.78309428e-03 -1.36649779e-03 9.99995194e-01 -2.10557757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.061400513 meters Centerline goodness [0,1] 0.745258786763132 Centerline is valid? [False, False] Translation: X:280.89, Y:15.72, Z:-0.21 [[ 9.99982491e-01 -5.86001146e-03 8.23006705e-04 2.80889659e+02] [ 5.86776863e-03 9.99935130e-01 -9.76246764e-03 1.57190913e+01] [-7.65745144e-04 9.76712593e-03 9.99952007e-01 -2.11057988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.091400513 meters Centerline goodness [0,1] 0.7321317986717633 Centerline is valid? [False, False] Translation: X:280.89, Y:15.71, Z:-0.21 [[ 9.99998451e-01 -1.73898592e-03 2.71271812e-04 2.80891614e+02] [ 1.74004184e-03 9.99990716e-01 -3.94205014e-03 1.57104011e+01] [-2.64414124e-04 3.94251606e-03 9.99992193e-01 -2.11236686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.121400513 meters Centerline goodness [0,1] 0.7802786252213427 Centerline is valid? [False, False] Translation: X:280.89, Y:15.71, Z:-0.21 [[ 9.99998924e-01 -1.45645767e-03 1.76206889e-04 2.80891993e+02] [ 1.45702291e-03 9.99993653e-01 -3.25134111e-03 1.57071388e+01] [-1.71470330e-04 3.25159435e-03 9.99994699e-01 -2.11341345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.151400513 meters Centerline goodness [0,1] 0.8402550441834093 Centerline is valid? [False, False] Translation: X:280.89, Y:15.70, Z:-0.21 [[ 9.99999404e-01 -1.09003151e-03 5.90669948e-05 2.80892455e+02] [ 1.09016922e-03 9.99996564e-01 -2.38396460e-03 1.57030631e+01] [-5.64681953e-05 2.38402757e-03 9.99997157e-01 -2.11427770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.181400513 meters Centerline goodness [0,1] 0.6969508133313278 Centerline is valid? [False, False] Translation: X:280.89, Y:15.70, Z:-0.21 [[ 9.99999785e-01 -6.45593816e-04 -1.17077776e-04 2.80893072e+02] [ 6.45437875e-04 9.99998911e-01 -1.32712612e-03 1.56980997e+01] [ 1.17934433e-04 1.32705027e-03 9.99999113e-01 -2.11434844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.2114005130001 meters Centerline goodness [0,1] 0.957286540619874 Centerline is valid? [False, True] Translation: X:280.89, Y:15.69, Z:-0.21 [[ 9.99999953e-01 -2.05819849e-04 -2.28358650e-04 2.80893457e+02] [ 2.05752735e-04 9.99999936e-01 -2.93880604e-04 1.56932687e+01] [ 2.28419122e-04 2.93833605e-04 9.99999931e-01 -2.11405618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.241400513 meters Centerline goodness [0,1] 0.9334163571167844 Centerline is valid? [True, False] Translation: X:280.89, Y:15.69, Z:-0.21 [[ 9.99999881e-01 4.06338656e-04 -2.71419848e-04 2.80893561e+02] [-4.06034300e-04 9.99999290e-01 1.12046610e-03 1.56866182e+01] [ 2.71874944e-04 -1.12035576e-03 9.99999335e-01 -2.11212822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.271400513 meters Centerline goodness [0,1] 0.6921105580853542 Centerline is valid? [False, False] Translation: X:280.94, Y:15.69, Z:-0.21 [[ 9.99997158e-01 7.47992214e-04 2.26367360e-03 2.80935422e+02] [-7.48686692e-04 9.99999673e-01 3.05960634e-04 1.56887634e+01] [-2.26344401e-03 -3.07654546e-04 9.99997391e-01 -2.12223476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.301400513 meters Centerline goodness [0,1] 0.7118535175072278 Centerline is valid? [False, False] Translation: X:280.89, Y:15.68, Z:-0.21 [[ 9.99999736e-01 2.63590821e-04 -6.77483079e-04 2.80894996e+02] [-2.63183098e-04 9.99999784e-01 6.01839166e-04 1.56842278e+01] [ 6.77641572e-04 -6.01660705e-04 9.99999589e-01 -2.12846893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.331400513 meters Centerline goodness [0,1] 0.6331219615303318 Centerline is valid? [False, False] Translation: X:280.94, Y:15.69, Z:-0.21 [[ 9.99999014e-01 9.17111365e-04 1.06300193e-03 2.80938756e+02] [-9.16395735e-04 9.99999353e-01 -6.73507965e-04 1.56879287e+01] [-1.06361893e-03 6.72533171e-04 9.99999208e-01 -2.14948449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.361400513 meters Centerline goodness [0,1] 0.8043792159651731 Centerline is valid? [False, False] Translation: X:280.90, Y:15.68, Z:-0.22 [[ 9.99995901e-01 1.77175351e-03 -2.24898479e-03 2.80899595e+02] [-1.76856498e-03 9.99997429e-01 1.41896214e-03 1.56818468e+01] [ 2.25149306e-03 -1.41497885e-03 9.99996464e-01 -2.16039505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.391400513 meters Centerline goodness [0,1] 0.6498782166684316 Centerline is valid? [False, False] Translation: X:280.94, Y:15.69, Z:-0.22 [[ 9.99994718e-01 3.22585208e-03 -3.96610179e-04 2.80942936e+02] [-3.22583604e-03 9.99994796e-01 4.10910032e-05 1.56880281e+01] [ 3.96740669e-04 -3.98113868e-05 9.99999921e-01 -2.18614221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.421400513 meters Centerline goodness [0,1] 0.6504302925989673 Centerline is valid? [False, False] Translation: X:280.90, Y:15.69, Z:-0.22 [[ 9.99995149e-01 2.71831180e-03 -1.52046966e-03 2.80897460e+02] [-2.71867592e-03 9.99996276e-01 -2.37461760e-04 1.56864532e+01] [ 1.51981851e-03 2.41594272e-04 9.99998816e-01 -2.17327633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.451400513 meters Centerline goodness [0,1] 0.5199138858988159 Centerline is valid? [False, False] Translation: X:280.94, Y:15.69, Z:-0.22 [[ 9.99993783e-01 3.31778119e-03 1.19457377e-03 2.80938247e+02] [-3.31601453e-03 9.99993410e-01 -1.47786586e-03 1.56931796e+01] [-1.19946913e-03 1.47389545e-03 9.99998194e-01 -2.17641413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.481400513 meters Centerline goodness [0,1] 0.6383154943934761 Centerline is valid? [False, False] Translation: X:280.94, Y:15.70, Z:-0.22 [[ 9.99994346e-01 3.11103865e-03 1.27674956e-03 2.80937860e+02] [-3.10854640e-03 9.99993268e-01 -1.94939179e-03 1.56953987e+01] [-1.28280560e-03 1.94541193e-03 9.99997285e-01 -2.17459216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.511400513 meters Centerline goodness [0,1] 0.5334446393473804 Centerline is valid? [False, False] Translation: X:280.94, Y:15.70, Z:-0.22 [[ 9.99994797e-01 2.95170098e-03 1.30131036e-03 2.80937796e+02] [-2.94869655e-03 9.99992997e-01 -2.30467956e-03 1.56970581e+01] [-1.30810398e-03 2.30083040e-03 9.99996498e-01 -2.17529792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.541400513 meters Centerline goodness [0,1] 0.6598674584731905 Centerline is valid? [False, False] Translation: X:280.89, Y:15.69, Z:-0.22 [[ 9.99997149e-01 2.26049650e-03 -7.69304763e-04 2.80894237e+02] [-2.26176131e-03 9.99996086e-01 -1.64720824e-03 1.56934164e+01] [ 7.65578243e-04 1.64894352e-03 9.99998347e-01 -2.16253081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.571400513 meters Centerline goodness [0,1] 0.7024382966025833 Centerline is valid? [False, False] Translation: X:280.90, Y:15.69, Z:-0.22 [[ 9.99997347e-01 1.87599532e-03 -1.33661477e-03 2.80896097e+02] [-1.87827731e-03 9.99996777e-01 -1.70808364e-03 1.56930531e+01] [ 1.33340610e-03 1.71058964e-03 9.99997648e-01 -2.16339300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.601400513 meters Centerline goodness [0,1] 0.6033450778961668 Centerline is valid? [False, False] Translation: X:280.90, Y:15.69, Z:-0.22 [[ 9.99997048e-01 1.84089172e-03 -1.58580288e-03 2.80896718e+02] [-1.84312551e-03 9.99997310e-01 -1.40831311e-03 1.56913919e+01] [ 1.58320606e-03 1.41123178e-03 9.99997751e-01 -2.15952864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.631400513 meters Centerline goodness [0,1] 0.8511511575707048 Centerline is valid? [False, False] Translation: X:280.89, Y:15.69, Z:-0.21 [[ 9.99999198e-01 -9.21323210e-04 -8.69181828e-04 2.80890670e+02] [ 9.17708975e-04 9.99990970e-01 -4.14947803e-03 1.56917454e+01] [ 8.72996990e-04 4.14867704e-03 9.99991013e-01 -2.11684010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.661400513 meters Centerline goodness [0,1] 0.7780404182371856 Centerline is valid? [False, False] Translation: X:280.89, Y:15.69, Z:-0.21 [[ 9.99999145e-01 -8.33476081e-04 -1.00809649e-03 2.80890879e+02] [ 8.30006161e-04 9.99993747e-01 -3.43758605e-03 1.56881090e+01] [ 1.01095534e-03 3.43674638e-03 9.99993583e-01 -2.11119741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.691400513 meters Centerline goodness [0,1] 0.9013450069788098 Centerline is valid? [False, False] Translation: X:280.89, Y:15.68, Z:-0.21 [[ 9.99999072e-01 -7.31762400e-04 -1.14887615e-03 2.80891112e+02] [ 7.28718154e-04 9.99996229e-01 -2.64794559e-03 1.56840628e+01] [ 1.15080948e-03 2.64710593e-03 9.99995834e-01 -2.10589228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.721400513 meters Centerline goodness [0,1] 0.9957872677116524 Centerline is valid? [False, True] Translation: X:280.85, Y:15.67, Z:-0.21 [[ 9.99994652e-01 -9.18188807e-04 -3.13902627e-03 2.80849035e+02] [ 9.19689891e-04 9.99999463e-01 4.76790512e-04 1.56746507e+01] [ 3.13858680e-03 -4.79674892e-04 9.99994960e-01 -2.09673699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.751400513 meters Centerline goodness [0,1] 0.9989839595313244 Centerline is valid? [True, True] Translation: X:280.88, Y:15.67, Z:-0.21 [[ 9.99983381e-01 -4.75894308e-03 -3.25436627e-03 2.80879160e+02] [ 4.75823836e-03 9.99988654e-01 -2.24253458e-04 1.56683372e+01] [ 3.25539656e-03 2.08764681e-04 9.99994679e-01 -2.10016916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.781400513 meters Centerline goodness [0,1] 0.9965701625444707 Centerline is valid? [True, True] Translation: X:280.91, Y:15.67, Z:-0.21 [[ 9.99978199e-01 -5.58227923e-03 -3.52698699e-03 2.80906555e+02] [ 5.58145599e-03 9.99984394e-01 -2.43213375e-04 1.56737242e+01] [ 3.52828963e-03 2.23522350e-04 9.99993751e-01 -2.10171675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.811400513 meters Centerline goodness [0,1] 0.9827235989651265 Centerline is valid? [True, True] Translation: X:280.93, Y:15.68, Z:-0.21 [[ 9.99978055e-01 -5.42729380e-03 -3.79917734e-03 2.80933942e+02] [ 5.42633663e-03 9.99985243e-01 -2.62203827e-04 1.56789660e+01] [ 3.80054434e-03 2.41582458e-04 9.99992749e-01 -2.10593812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.841400513 meters Centerline goodness [0,1] 0.9955615592435353 Centerline is valid? [True, True] Translation: X:280.96, Y:15.67, Z:-0.21 [[ 9.99984079e-01 -4.29740722e-03 -3.65714902e-03 2.80964325e+02] [ 4.29651235e-03 9.99990738e-01 -2.52512558e-04 1.56729861e+01] [ 3.65820030e-03 2.36795552e-04 9.99993281e-01 -2.10166865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.871400513 meters Centerline goodness [0,1] 0.9969901535021714 Centerline is valid? [True, True] Translation: X:280.99, Y:15.67, Z:-0.21 [[ 9.99990753e-01 -2.54174344e-03 -3.46883373e-03 2.80994395e+02] [ 2.54092767e-03 9.99996743e-01 -2.39559095e-04 1.56714094e+01] [ 3.46943133e-03 2.30742824e-04 9.99993955e-01 -2.10022319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.901400513 meters Centerline goodness [0,1] 0.9425418811021454 Centerline is valid? [True, False] Translation: X:281.04, Y:15.67, Z:-0.21 [[ 9.99998351e-01 -1.40321873e-03 -1.15280168e-03 2.81036648e+02] [ 1.40293481e-03 9.99998985e-01 -2.47055482e-04 1.56728333e+01] [ 1.15314719e-03 2.45437769e-04 9.99999305e-01 -2.11042343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.931400513 meters Centerline goodness [0,1] 0.9661364028280738 Centerline is valid? [False, True] Translation: X:281.00, Y:15.67, Z:-0.21 [[ 9.99991935e-01 -1.29063740e-03 -3.80307282e-03 2.80995162e+02] [ 1.29559966e-03 9.99998312e-01 1.30262985e-03 1.56672434e+01] [ 3.80138518e-03 -1.30754660e-03 9.99991920e-01 -2.11157903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.9614005130001 meters Centerline goodness [0,1] 0.8551731441279254 Centerline is valid? [True, False] Translation: X:281.04, Y:15.67, Z:-0.21 [[ 9.99999515e-01 1.74864446e-04 -9.69021118e-04 2.81035624e+02] [-1.73100989e-04 9.99998330e-01 1.81961870e-03 1.56669730e+01] [ 9.69337686e-04 -1.81945008e-03 9.99997875e-01 -2.10896907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.991400513 meters Centerline goodness [0,1] 0.9281094421513978 Centerline is valid? [False, False] Translation: X:281.04, Y:15.67, Z:-0.21 [[ 9.99999538e-01 3.10474315e-04 -9.09808694e-04 2.81035279e+02] [-3.08562581e-04 9.99997746e-01 2.10063550e-03 1.56656770e+01] [ 9.10458836e-04 -2.10035380e-03 9.99997380e-01 -2.10588623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.021400513 meters Centerline goodness [0,1] 0.807512135150603 Centerline is valid? [False, False] Translation: X:281.04, Y:15.66, Z:-0.21 [[ 9.99999537e-01 3.98660089e-04 -8.76350109e-04 2.81035057e+02] [-3.96675535e-04 9.99997359e-01 2.26357621e-03 1.56649431e+01] [ 8.77250193e-04 -2.26322753e-03 9.99997054e-01 -2.10380749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.051400513 meters Centerline goodness [0,1] 0.9583723902854708 Centerline is valid? [False, True] Translation: X:281.04, Y:15.66, Z:-0.21 [[ 9.99999535e-01 4.50498147e-04 -8.53190363e-04 2.81035021e+02] [-4.48482731e-04 9.99997112e-01 2.36093038e-03 1.56644927e+01] [ 8.54251494e-04 -2.36054664e-03 9.99996849e-01 -2.10467658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.081400513 meters Centerline goodness [0,1] 0.9646872390089299 Centerline is valid? [True, True] Translation: X:281.06, Y:15.67, Z:-0.21 [[ 9.99999395e-01 7.25001678e-04 -8.27817566e-04 2.81064419e+02] [-7.25053059e-04 9.99999735e-01 -6.17695704e-05 1.56665985e+01] [ 8.27772563e-04 6.23697447e-05 9.99999655e-01 -2.11180932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.111400513 meters Centerline goodness [0,1] 0.9406792388062903 Centerline is valid? [True, False] Translation: X:281.06, Y:15.66, Z:-0.21 [[ 9.99999142e-01 9.64565412e-04 -8.86650000e-04 2.81064516e+02] [-9.64140336e-04 9.99999420e-01 4.79719847e-04 1.56640509e+01] [ 8.87112207e-04 -4.78864581e-04 9.99999492e-01 -2.10966991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.141400513 meters Centerline goodness [0,1] 0.9406792388062903 Centerline is valid? [False, False] Translation: X:281.06, Y:15.66, Z:-0.21 [[ 9.99999142e-01 9.64565412e-04 -8.86650000e-04 2.81064516e+02] [-9.64140336e-04 9.99999420e-01 4.79719847e-04 1.56640509e+01] [ 8.87112207e-04 -4.78864581e-04 9.99999492e-01 -2.10966991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.171400513 meters Centerline goodness [0,1] 0.8865252798727948 Centerline is valid? [False, False] Translation: X:281.06, Y:15.66, Z:-0.21 [[ 9.99998236e-01 1.61912421e-03 -9.52001153e-04 2.81064715e+02] [-1.61720482e-03 9.99996665e-01 2.01348787e-03 1.56568620e+01] [ 9.55258065e-04 -2.01194474e-03 9.99997520e-01 -2.10842455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.201400513 meters Centerline goodness [0,1] 0.9400630243154623 Centerline is valid? [False, False] Translation: X:281.06, Y:15.65, Z:-0.21 [[ 9.99997710e-01 1.90357008e-03 -9.77932209e-04 2.81064745e+02] [-1.90091436e-03 9.99994523e-01 2.70943647e-03 1.56535567e+01] [ 9.83084455e-04 -2.70757130e-03 9.99995851e-01 -2.10681252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.231400513 meters Centerline goodness [0,1] 0.9400630243154623 Centerline is valid? [False, False] Translation: X:281.06, Y:15.65, Z:-0.21 [[ 9.99997710e-01 1.90357008e-03 -9.77932209e-04 2.81064745e+02] [-1.90091436e-03 9.99994523e-01 2.70943647e-03 1.56535567e+01] [ 9.83084455e-04 -2.70757130e-03 9.99995851e-01 -2.10681252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.261400513 meters Centerline goodness [0,1] 0.8256731612378895 Centerline is valid? [False, False] Translation: X:281.06, Y:15.65, Z:-0.21 [[ 9.99999995e-01 -7.70298630e-05 -7.06782276e-05 2.81058184e+02] [ 7.70991681e-05 9.99999516e-01 9.81095186e-04 1.56500066e+01] [ 7.06026197e-05 -9.81100630e-04 9.99999516e-01 -2.06538379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.291400513 meters Centerline goodness [0,1] 0.8377447042408355 Centerline is valid? [False, False] Translation: X:281.10, Y:15.65, Z:-0.21 [[ 9.99996711e-01 3.30629011e-04 2.54331069e-03 2.81099581e+02] [-3.31218636e-04 9.99999918e-01 2.31415676e-04 1.56504673e+01] [-2.54323397e-03 -2.32257307e-04 9.99996739e-01 -2.06997970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.321400513 meters Centerline goodness [0,1] 0.9472475112737173 Centerline is valid? [False, False] Translation: X:281.10, Y:15.65, Z:-0.21 [[ 9.99996511e-01 6.68350793e-04 2.55551051e-03 2.81099558e+02] [-6.70824665e-04 9.99999307e-01 9.67319257e-04 1.56470256e+01] [-2.55486224e-03 -9.69030182e-04 9.99996267e-01 -2.06997658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.351400513 meters Centerline goodness [0,1] 0.7876512750707191 Centerline is valid? [False, False] Translation: X:281.10, Y:15.64, Z:-0.21 [[ 9.99996282e-01 9.23590958e-04 2.56558939e-03 2.81099559e+02] [-9.27486243e-04 9.99998418e-01 1.51750587e-03 1.56444450e+01] [-2.56418378e-03 -1.51987978e-03 9.99995557e-01 -2.07036424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.381400513 meters Centerline goodness [0,1] 0.7700893802685644 Centerline is valid? [False, False] Translation: X:281.10, Y:15.64, Z:-0.21 [[ 9.99996020e-01 1.11318004e-03 2.59262800e-03 2.81099511e+02] [-1.11809259e-03 9.99997581e-01 1.89413625e-03 1.56426916e+01] [-2.59051321e-03 -1.89702751e-03 9.99994845e-01 -2.07096863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.411400513 meters Centerline goodness [0,1] 0.6372114712054091 Centerline is valid? [False, False] Translation: X:281.10, Y:15.64, Z:-0.21 [[ 9.99995741e-01 1.30110400e-03 2.61242393e-03 2.81099489e+02] [-1.30704778e-03 9.99996558e-01 2.27477942e-03 1.56408992e+01] [-2.60945521e-03 -2.27818430e-03 9.99994000e-01 -2.07147361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.441400513 meters Centerline goodness [0,1] 0.8154386267203687 Centerline is valid? [False, False] Translation: X:281.06, Y:15.63, Z:-0.21 [[ 9.99999841e-01 5.63337413e-04 -2.38080436e-05 2.81057941e+02] [-5.63255933e-04 9.99994416e-01 3.29399249e-03 1.56345650e+01] [ 2.56635399e-05 -3.29397856e-03 9.99994575e-01 -2.06797151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.471400513 meters Centerline goodness [0,1] 0.6733196861139543 Centerline is valid? [False, False] Translation: X:281.06, Y:15.63, Z:-0.21 [[ 9.99999573e-01 9.21992057e-04 -6.46655599e-05 2.81058048e+02] [-9.21718625e-04 9.99991137e-01 4.10812907e-03 1.56307271e+01] [ 6.84526491e-05 -4.10806771e-03 9.99991560e-01 -2.06716738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.501400513 meters Centerline goodness [0,1] 0.5997716122483505 Centerline is valid? [False, False] Translation: X:281.06, Y:15.63, Z:-0.21 [[ 9.99999086e-01 1.34785768e-03 -1.03782453e-04 2.81058169e+02] [-1.34731243e-03 9.99986159e-01 5.08586673e-03 1.56260950e+01] [ 1.10636041e-04 -5.08572226e-03 9.99987062e-01 -2.06659451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.531400513 meters Centerline goodness [0,1] 0.48804755411624334 Centerline is valid? [False, False] Translation: X:281.06, Y:15.62, Z:-0.21 [[ 9.99996675e-01 -2.57184315e-03 1.88462560e-04 2.81057564e+02] [ 2.57161216e-03 9.99995954e-01 1.21580196e-03 1.56241850e+01] [-1.91588650e-04 -1.21531326e-03 9.99999243e-01 -2.07316837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.561400513 meters Centerline goodness [0,1] 0.5579717831759838 Centerline is valid? [False, False] Translation: X:281.06, Y:15.62, Z:-0.21 [[ 9.99997602e-01 -2.18773217e-03 1.02361192e-04 2.81057877e+02] [ 2.18751464e-03 9.99995446e-01 2.07905520e-03 1.56200814e+01] [-1.06909141e-04 -2.07882630e-03 9.99997834e-01 -2.07308592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.591400513 meters Centerline goodness [0,1] 0.5678244121319872 Centerline is valid? [False, False] Translation: X:281.06, Y:15.62, Z:-0.21 [[ 9.99998423e-01 -1.77588134e-03 3.48518249e-05 2.81058212e+02] [ 1.77576972e-03 9.99993993e-01 2.97673190e-03 1.56158290e+01] [-4.01379382e-05 -2.97666531e-03 9.99995569e-01 -2.07432335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.621400513 meters Centerline goodness [0,1] 0.4225974469538488 Centerline is valid? [False, False] Translation: X:281.06, Y:15.62, Z:-0.21 [[ 9.99984231e-01 -5.59959069e-03 4.26408327e-04 2.81057314e+02] [ 5.60029259e-03 9.99982935e-01 -1.66305176e-03 1.56183538e+01] [-4.17088642e-04 1.66541355e-03 9.99998526e-01 -2.08314506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.651400513 meters Centerline goodness [0,1] 0.4921342087312415 Centerline is valid? [False, False] Translation: X:281.06, Y:15.62, Z:-0.21 [[ 9.99985366e-01 -5.39932162e-03 3.38606431e-04 2.81057837e+02] [ 5.39973852e-03 9.99984649e-01 -1.24263674e-03 1.56163371e+01] [-3.31891838e-04 1.24444694e-03 9.99999171e-01 -2.08709891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.681400513 meters Centerline goodness [0,1] 0.5867394059150755 Centerline is valid? [False, False] Translation: X:281.06, Y:15.62, Z:-0.21 [[ 9.99986071e-01 -5.24449544e-03 5.93734063e-04 2.81057214e+02] [ 5.24522212e-03 9.99985488e-01 -1.22904970e-03 1.56164782e+01] [-5.87279701e-04 1.23214685e-03 9.99999068e-01 -2.09118330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.7114005130001 meters Centerline goodness [0,1] 0.4331416400425985 Centerline is valid? [False, False] Translation: X:281.06, Y:15.62, Z:-0.21 [[ 9.99986173e-01 -5.21102799e-03 7.06445434e-04 2.81056827e+02] [ 5.21194229e-03 9.99985575e-01 -1.29862197e-03 1.56169236e+01] [-6.99668087e-04 1.30228597e-03 9.99998907e-01 -2.09108047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.741400513 meters Centerline goodness [0,1] 0.47540560313293456 Centerline is valid? [False, False] Translation: X:281.06, Y:15.62, Z:-0.21 [[ 9.99986359e-01 -5.15348872e-03 8.50543278e-04 2.81056303e+02] [ 5.15453267e-03 9.99985959e-01 -1.22980191e-03 1.56166683e+01] [-8.44193565e-04 1.23416929e-03 9.99998882e-01 -2.09012404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.771400513 meters Centerline goodness [0,1] 0.36556523946522257 Centerline is valid? [False, False] Translation: X:281.10, Y:15.62, Z:-0.21 [[ 9.99987731e-01 -3.29426501e-03 3.69933539e-03 2.81097058e+02] [ 3.29761386e-03 9.99994158e-01 -8.99523237e-04 1.56195674e+01] [-3.69635051e-03 9.11711181e-04 9.99992753e-01 -2.09389998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.801400513 meters Centerline goodness [0,1] 0.3590080542602798 Centerline is valid? [False, False] Translation: X:281.10, Y:15.62, Z:-0.21 [[ 9.99987559e-01 -3.29425233e-03 3.74559140e-03 2.81097019e+02] [ 3.29767253e-03 9.99994151e-01 -9.07316589e-04 1.56196001e+01] [-3.74258057e-03 9.19657035e-04 9.99992574e-01 -2.09632638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.831400513 meters Centerline goodness [0,1] 0.4434099567655494 Centerline is valid? [False, False] Translation: X:281.10, Y:15.63, Z:-0.21 [[ 9.99959980e-01 -7.94553847e-03 4.11190254e-03 2.81096289e+02] [ 7.97267499e-03 9.99946267e-01 -6.62573879e-03 1.56264871e+01] [-4.05903653e-03 6.65825649e-03 9.99969595e-01 -2.10633321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.861400513 meters Centerline goodness [0,1] 0.5349163197689236 Centerline is valid? [False, False] Translation: X:281.10, Y:15.63, Z:-0.21 [[ 9.99958841e-01 -8.40054785e-03 3.42735007e-03 2.81098697e+02] [ 8.42283071e-03 9.99943143e-01 -6.53969398e-03 1.56251362e+01] [-3.37221819e-03 6.56829280e-03 9.99972742e-01 -2.10935532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.891400513 meters Centerline goodness [0,1] 0.6536722920613054 Centerline is valid? [False, False] Translation: X:281.06, Y:15.61, Z:-0.21 [[ 9.99963731e-01 -8.42335205e-03 1.25834174e-03 2.81057082e+02] [ 8.42586186e-03 9.99962496e-01 -2.00272859e-03 1.56135997e+01] [-1.24142486e-03 2.01325857e-03 9.99997203e-01 -2.08462553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.921400513 meters Centerline goodness [0,1] 0.6539346427506285 Centerline is valid? [False, False] Translation: X:281.06, Y:15.61, Z:-0.21 [[ 9.99964239e-01 -8.41103374e-03 8.80432706e-04 2.81057992e+02] [ 8.41215713e-03 9.99963798e-01 -1.28011638e-03 1.56096830e+01] [-8.69633731e-04 1.28747694e-03 9.99998793e-01 -2.07717894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.951400513 meters Centerline goodness [0,1] 0.8178236797274276 Centerline is valid? [False, False] Translation: X:281.06, Y:15.61, Z:-0.21 [[ 9.99964795e-01 -8.36352203e-03 6.77933911e-04 2.81058404e+02] [ 8.36391042e-03 9.99964858e-01 -5.72100548e-04 1.56060563e+01] [-6.73125311e-04 5.77750586e-04 9.99999607e-01 -2.07110438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.981400513 meters Centerline goodness [0,1] 0.8686803214933887 Centerline is valid? [False, False] Translation: X:281.03, Y:15.61, Z:-0.20 [[ 9.99934569e-01 -1.11956672e-02 -2.34843363e-03 2.81034635e+02] [ 1.11605042e-02 9.99832775e-01 -1.44867073e-02 1.56125729e+01] [ 2.51022926e-03 1.44595497e-02 9.99892304e-01 -2.03199887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.011400513 meters Centerline goodness [0,1] 0.9937302738206943 Centerline is valid? [False, True] Translation: X:281.06, Y:15.61, Z:-0.20 [[ 9.99904546e-01 -1.38164914e-02 6.05568171e-05 2.81056423e+02] [ 1.38166107e-02 9.99887851e-01 -5.77812359e-03 1.56074499e+01] [ 1.92833694e-05 5.77840874e-03 9.99983305e-01 -2.04728139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.041400513 meters Centerline goodness [0,1] 0.9952370781717215 Centerline is valid? [True, True] Translation: X:281.09, Y:15.60, Z:-0.20 [[ 9.99796497e-01 -2.01540761e-02 8.82470409e-04 2.81087224e+02] [ 2.01540169e-02 9.99796884e-01 7.58274263e-05 1.55980938e+01] [-8.83819397e-04 -5.80266716e-05 9.99999608e-01 -2.03247302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.071400513 meters Centerline goodness [0,1] 0.9961956983762645 Centerline is valid? [True, True] Translation: X:281.12, Y:15.60, Z:-0.20 [[ 9.99756449e-01 -2.20640519e-02 4.68933744e-04 2.81116164e+02] [ 2.20640354e-02 9.99756559e-01 4.02089322e-05 1.55965319e+01] [-4.69706758e-04 -2.98525686e-05 9.99999889e-01 -2.04049159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.101400513 meters Centerline goodness [0,1] 0.9988024464308627 Centerline is valid? [True, True] Translation: X:281.15, Y:15.59, Z:-0.21 [[ 9.99736612e-01 -2.29466972e-02 -3.94072995e-04 2.81145774e+02] [ 2.29466854e-02 9.99736690e-01 -3.44467854e-05 1.55914363e+01] [ 3.94759672e-04 2.53950434e-05 9.99999922e-01 -2.05228033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.131400513 meters Centerline goodness [0,1] 0.9986301369863013 Centerline is valid? [True, True] Translation: X:281.17, Y:15.59, Z:-0.21 [[ 9.99750389e-01 -2.22898535e-02 -1.52356236e-03 2.81173995e+02] [ 2.22896789e-02 9.99751546e-01 -1.31491968e-04 1.55935904e+01] [ 1.52611476e-03 9.74994308e-05 9.99998831e-01 -2.06908759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.161400513 meters Centerline goodness [0,1] 0.9895610507401387 Centerline is valid? [True, True] Translation: X:281.20, Y:15.60, Z:-0.21 [[ 9.99785699e-01 -2.05924882e-02 -2.12252701e-03 2.81202636e+02] [ 2.05921460e-02 9.99787943e-01 -1.82969882e-04 1.56007371e+01] [ 2.12584471e-03 1.39223286e-04 9.99997731e-01 -2.08285904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.191400513 meters Centerline goodness [0,1] 0.9038237474843767 Centerline is valid? [True, False] Translation: X:281.20, Y:15.60, Z:-0.21 [[ 9.99787324e-01 -2.05153910e-02 -2.10380119e-03 2.81202470e+02] [ 2.05151218e-02 9.99789532e-01 -1.49495237e-04 1.56006794e+01] [ 2.10642536e-03 1.06303705e-04 9.99997776e-01 -2.08123282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.221400513 meters Centerline goodness [0,1] 0.9878316931024913 Centerline is valid? [False, True] Translation: X:281.20, Y:15.60, Z:-0.21 [[ 9.99792829e-01 -2.02685864e-02 -1.86635196e-03 2.81201297e+02] [ 2.02691926e-02 9.99794512e-01 3.06453695e-04 1.55986860e+01] [ 1.85975707e-03 -3.44219654e-04 9.99998211e-01 -2.07373084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.251400513 meters Centerline goodness [0,1] 0.9924314901035355 Centerline is valid? [True, True] Translation: X:281.23, Y:15.60, Z:-0.21 [[ 9.99796022e-01 -2.01702553e-02 -1.03715908e-03 2.81229845e+02] [ 2.01701691e-02 9.99796557e-01 -9.34516176e-05 1.56000779e+01] [ 1.03883302e-03 7.25128815e-05 9.99999458e-01 -2.06652544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.281400513 meters Centerline goodness [0,1] 0.9615081310343357 Centerline is valid? [True, True] Translation: X:281.26, Y:15.61, Z:-0.21 [[ 9.99799240e-01 -1.99736005e-02 -1.59209501e-03 2.81257552e+02] [ 1.99733974e-02 9.99800502e-01 -1.43350503e-04 1.56060696e+01] [ 1.59464062e-03 1.11522178e-04 9.99998722e-01 -2.08080287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.311400513 meters Centerline goodness [0,1] 0.9981943250214961 Centerline is valid? [True, True] Translation: X:281.29, Y:15.60, Z:-0.21 [[ 9.99800260e-01 -1.98241606e-02 -2.53835117e-03 2.81287418e+02] [ 1.98236427e-02 9.99803466e-01 -2.29002178e-04 1.55956375e+01] [ 2.54239208e-03 1.78637070e-04 9.99996752e-01 -2.09474514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.341400513 meters Centerline goodness [0,1] 0.986012796802925 Centerline is valid? [True, True] Translation: X:281.31, Y:15.60, Z:-0.21 [[ 9.99803179e-01 -1.96159479e-02 -2.96950698e-03 2.81314179e+02] [ 1.96152383e-02 9.99807567e-01 -2.67914913e-04 1.56029145e+01] [ 2.97419095e-03 2.09614594e-04 9.99995555e-01 -2.10924620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.371400513 meters Centerline goodness [0,1] 0.985019126792469 Centerline is valid? [True, True] Translation: X:281.34, Y:15.60, Z:-0.21 [[ 9.99808070e-01 -1.94493448e-02 -2.35514747e-03 2.81343422e+02] [ 1.94488967e-02 9.99810830e-01 -2.13021007e-04 1.56045157e+01] [ 2.35884506e-03 1.67175102e-04 9.99997204e-01 -2.09480459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.401400513 meters Centerline goodness [0,1] 0.9722370414630503 Centerline is valid? [True, True] Translation: X:281.37, Y:15.61, Z:-0.21 [[ 9.99812069e-01 -1.92490500e-02 -2.30228410e-03 2.81371174e+02] [ 1.92486213e-02 9.99814706e-01 -2.08215042e-04 1.56102892e+01] [ 2.30586544e-03 1.63860117e-04 9.99997328e-01 -2.09491337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.431400513 meters Centerline goodness [0,1] 0.9701590947762464 Centerline is valid? [True, True] Translation: X:281.40, Y:15.61, Z:-0.21 [[ 9.99814757e-01 -1.90529718e-02 -2.72692638e-03 2.81399942e+02] [ 1.90523682e-02 9.99818457e-01 -2.47190638e-04 1.56131252e+01] [ 2.73114104e-03 1.95190443e-04 9.99996251e-01 -2.10267362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.4614005130001 meters Centerline goodness [0,1] 0.9698092318174076 Centerline is valid? [True, True] Translation: X:281.43, Y:15.62, Z:-0.21 [[ 9.99813826e-01 -1.90634836e-02 -2.98274722e-03 2.81429089e+02] [ 1.90627601e-02 9.99818252e-01 -2.70824720e-04 1.56151093e+01] [ 2.98736798e-03 2.13914905e-04 9.99995515e-01 -2.10789708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.491400513 meters Centerline goodness [0,1] 0.9412852617929041 Centerline is valid? [True, False] Translation: X:281.43, Y:15.61, Z:-0.21 [[ 9.99815627e-01 -1.89765245e-02 -2.93326914e-03 2.81428726e+02] [ 1.89764120e-02 9.99819929e-01 -6.61750051e-05 1.56141700e+01] [ 2.93399672e-03 1.04998804e-05 9.99995696e-01 -2.10416185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.521400513 meters Centerline goodness [0,1] 0.9921684834374008 Centerline is valid? [False, True] Translation: X:281.43, Y:15.61, Z:-0.21 [[ 9.99817827e-01 -1.88779832e-02 -2.81696147e-03 2.81427976e+02] [ 1.88786348e-02 9.99821762e-01 2.04877731e-04 1.56129166e+01] [ 2.81259170e-03 -2.58020794e-04 9.99996011e-01 -2.09718824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.551400513 meters Centerline goodness [0,1] 0.9968561475061603 Centerline is valid? [True, True] Translation: X:281.46, Y:15.61, Z:-0.21 [[ 9.99773769e-01 -2.12248840e-02 -1.38374334e-03 2.81458683e+02] [ 2.12247345e-02 9.99774722e-01 -1.22684933e-04 1.56126588e+01] [ 1.38603559e-03 9.32875928e-05 9.99999035e-01 -2.08467707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.581400513 meters Centerline goodness [0,1] 0.9988515036794419 Centerline is valid? [True, True] Translation: X:281.49, Y:15.61, Z:-0.21 [[ 9.99717323e-01 -2.37727161e-02 -3.64404827e-04 2.81490024e+02] [ 2.37727059e-02 9.99717389e-01 -3.23100429e-05 1.56089551e+01] [ 3.65069940e-04 2.36380208e-05 9.99999933e-01 -2.06567537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.611400513 meters Centerline goodness [0,1] 0.9986597740762014 Centerline is valid? [True, True] Translation: X:281.52, Y:15.61, Z:-0.20 [[ 9.99563190e-01 -2.95450216e-02 7.21407866e-04 2.81519930e+02] [ 2.95449831e-02 9.99563450e-01 6.39756827e-05 1.56063634e+01] [-7.22983098e-04 -4.26337543e-05 9.99999738e-01 -2.03783464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.641400513 meters Centerline goodness [0,1] 0.9993173915825849 Centerline is valid? [True, True] Translation: X:281.55, Y:15.60, Z:-0.20 [[ 9.99496276e-01 -3.17296055e-02 6.52822463e-04 2.81550079e+02] [ 3.17295744e-02 9.99496489e-01 5.79083856e-05 1.56013505e+01] [-6.54331169e-04 -3.71654369e-05 9.99999785e-01 -2.03654079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.671400513 meters Centerline goodness [0,1] 0.9997647159479809 Centerline is valid? [True, True] Translation: X:281.58, Y:15.59, Z:-0.20 [[ 9.99455474e-01 -3.29913326e-02 5.71932494e-04 2.81579571e+02] [ 3.29913090e-02 9.99455637e-01 5.07612092e-05 1.55933411e+01] [-5.73295835e-04 -3.18647668e-05 9.99999835e-01 -2.03685153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.701400513 meters Centerline goodness [0,1] 0.9995562130177514 Centerline is valid? [True, True] Translation: X:281.61, Y:15.59, Z:-0.20 [[ 9.99452849e-01 -3.30646994e-02 8.52893583e-04 2.81606773e+02] [ 3.30646467e-02 9.99453212e-01 7.57662684e-05 1.55941265e+01] [-8.54932420e-04 -4.75241878e-05 9.99999633e-01 -2.03729774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.731400513 meters Centerline goodness [0,1] 0.9995291398240695 Centerline is valid? [True, True] Translation: X:281.64, Y:15.60, Z:-0.20 [[ 9.99473869e-01 -3.24081496e-02 1.30271411e-03 2.81635668e+02] [ 3.24080259e-02 9.99474715e-01 1.15934756e-04 1.55953722e+01] [-1.30578704e-03 -7.36553661e-05 9.99999145e-01 -2.03305300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.761400513 meters Centerline goodness [0,1] 0.9987881107284092 Centerline is valid? [True, True] Translation: X:281.66, Y:15.60, Z:-0.20 [[ 9.99607842e-01 -2.79986929e-02 4.84837937e-04 2.81664632e+02] [ 2.79986752e-02 9.99607959e-01 4.31490184e-05 1.56022067e+01] [-4.85855977e-04 -2.95572773e-05 9.99999882e-01 -2.03590012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.791400513 meters Centerline goodness [0,1] 0.9990330690388706 Centerline is valid? [True, True] Translation: X:281.69, Y:15.60, Z:-0.21 [[ 9.99685553e-01 -2.50629906e-02 -8.00922465e-04 2.81694884e+02] [ 2.50629415e-02 9.99685873e-01 -7.12869310e-05 1.56007778e+01] [ 8.02457537e-04 5.11910421e-05 9.99999677e-01 -2.05232330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.821400513 meters Centerline goodness [0,1] 0.9413702939988521 Centerline is valid? [True, False] Translation: X:281.70, Y:15.60, Z:-0.21 [[ 9.99689003e-01 -2.49221453e-02 -8.85335117e-04 2.81695488e+02] [ 2.49220334e-02 9.99689388e-01 -1.37302133e-04 1.56012512e+01] [ 8.88481985e-04 1.15195081e-04 9.99999599e-01 -2.05967909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.851400513 meters Centerline goodness [0,1] 0.9869419332777671 Centerline is valid? [False, True] Translation: X:281.70, Y:15.61, Z:-0.20 [[ 9.99804602e-01 -1.87341469e-02 -6.30789160e-03 2.81695274e+02] [ 1.86541224e-02 9.99747669e-01 -1.25148359e-02 1.56063428e+01] [ 6.54075470e-03 1.23947224e-02 9.99901790e-01 -2.03590757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.881400513 meters Centerline goodness [0,1] 0.9622786430552592 Centerline is valid? [True, True] Translation: X:281.73, Y:15.60, Z:-0.20 [[ 9.99850234e-01 -1.53899286e-02 -7.91581742e-03 2.81725272e+02] [ 1.53848269e-02 9.99881398e-01 -7.04988473e-04 1.56008430e+01] [ 7.92572831e-03 5.83099409e-04 9.99968421e-01 -2.02654895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.911400513 meters Centerline goodness [0,1] 0.8818009660191076 Centerline is valid? [True, False] Translation: X:281.73, Y:15.60, Z:-0.20 [[ 9.99852666e-01 -1.52339619e-02 -7.91024376e-03 2.81725429e+02] [ 1.52300670e-02 9.99883863e-01 -5.52395078e-04 1.56002134e+01] [ 7.91774025e-03 4.31840149e-04 9.99968561e-01 -2.03008172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.941400513 meters Centerline goodness [0,1] 0.8324209180956439 Centerline is valid? [False, False] Translation: X:281.73, Y:15.59, Z:-0.20 [[ 9.99914001e-01 -1.02478939e-02 -8.18362685e-03 2.81725681e+02] [ 1.02921030e-02 9.99932570e-01 5.37841388e-03 1.55926261e+01] [ 8.12795762e-03 -5.46217807e-03 9.99952049e-01 -2.01992524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.971400513 meters Centerline goodness [0,1] 0.7004249140563278 Centerline is valid? [False, False] Translation: X:281.73, Y:15.59, Z:-0.20 [[ 9.99915253e-01 -1.02165028e-02 -8.06904657e-03 2.81725381e+02] [ 1.02596306e-02 9.99933208e-01 5.32166254e-03 1.55929782e+01] [ 8.01413884e-03 -5.40399698e-03 9.99953284e-01 -2.02141722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.001400513 meters Centerline goodness [0,1] 0.5122002612836614 Centerline is valid? [False, False] Translation: X:281.75, Y:15.60, Z:-0.21 [[ 9.99959041e-01 -8.56071939e-03 -2.93790797e-03 2.81748438e+02] [ 8.54692969e-03 9.99952548e-01 -4.67460303e-03 1.56028513e+01] [ 2.97778653e-03 4.64930146e-03 9.99984758e-01 -2.09163522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.031400513 meters Centerline goodness [0,1] 0.5122002612836614 Centerline is valid? [False, False] Translation: X:281.75, Y:15.60, Z:-0.21 [[ 9.99984128e-01 -4.47121165e-03 -3.42817544e-03 2.81749711e+02] [ 4.47302244e-03 9.99989860e-01 5.20722298e-04 1.55975997e+01] [ 3.42581242e-03 -5.36048338e-04 9.99993988e-01 -2.08396293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.061400513 meters Centerline goodness [0,1] 0.5512213756658673 Centerline is valid? [False, False] Translation: X:281.75, Y:15.60, Z:-0.21 [[ 9.99986625e-01 -4.20920092e-03 -3.00524231e-03 2.81748265e+02] [ 4.21059008e-03 9.99991031e-01 4.56065967e-04 1.55983811e+01] [ 3.00329568e-03 -4.68713711e-04 9.99995380e-01 -2.08364584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.091400513 meters Centerline goodness [0,1] 0.5000746316395506 Centerline is valid? [False, False] Translation: X:281.75, Y:15.60, Z:-0.21 [[ 9.99986420e-01 -4.25209938e-03 -3.01330827e-03 2.81748541e+02] [ 4.25300966e-03 9.99990912e-01 2.95741634e-04 1.55991213e+01] [ 3.01202336e-03 -3.08553247e-04 9.99995416e-01 -2.08857127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.121400513 meters Centerline goodness [0,1] 0.3709882293166229 Centerline is valid? [False, False] Translation: X:281.76, Y:15.60, Z:-0.21 [[ 9.99990002e-01 -2.06331567e-03 -3.96729045e-03 2.81755425e+02] [ 2.07327454e-03 9.99994706e-01 2.50777327e-03 1.55970207e+01] [ 3.96209512e-03 -2.51597348e-03 9.99988986e-01 -2.13195988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.151400513 meters Centerline goodness [0,1] 0.4650468246688141 Centerline is valid? [False, False] Translation: X:281.76, Y:15.60, Z:-0.21 [[ 9.99989591e-01 -2.18766337e-03 -4.00397173e-03 2.81755826e+02] [ 2.19636460e-03 9.99995233e-01 2.17004595e-03 1.55985863e+01] [ 3.99920532e-03 -2.17881754e-03 9.99989630e-01 -2.13777867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.181400513 meters Centerline goodness [0,1] 0.44266943145511095 Centerline is valid? [False, False] Translation: X:281.78, Y:15.61, Z:-0.22 [[ 9.99999712e-01 -2.26282797e-04 -7.24736908e-04 2.81776410e+02] [ 2.19896810e-04 9.99961260e-01 -8.79944643e-03 1.56079767e+01] [ 7.26699995e-04 8.79928453e-03 9.99961021e-01 -2.17059420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.2114005130001 meters Centerline goodness [0,1] 0.45741398753164964 Centerline is valid? [False, False] Translation: X:281.78, Y:15.61, Z:-0.22 [[ 9.99999729e-01 -2.45595209e-04 -6.94508590e-04 2.81776279e+02] [ 2.39425676e-04 9.99960637e-01 -8.86948042e-03 1.56083210e+01] [ 6.96659554e-04 8.86931174e-03 9.99960424e-01 -2.17015749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.241400513 meters Centerline goodness [0,1] 0.36442016304579794 Centerline is valid? [False, False] Translation: X:281.78, Y:15.60, Z:-0.22 [[ 9.99992122e-01 3.86267829e-03 -9.13810111e-04 2.81776714e+02] [-3.86566744e-03 9.99987109e-01 -3.29225795e-03 1.56010334e+01] [ 9.01081397e-04 3.29576450e-03 9.99994163e-01 -2.15988669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.271400513 meters Centerline goodness [0,1] 0.4624314876354063 Centerline is valid? [False, False] Translation: X:281.75, Y:15.59, Z:-0.21 [[ 9.99984160e-01 2.54488827e-03 -5.02019484e-03 2.81754801e+02] [-2.50446607e-03 9.99964528e-01 8.04183765e-03 1.55908668e+01] [ 5.04048234e-03 -8.02913736e-03 9.99955062e-01 -2.10675928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.301400513 meters Centerline goodness [0,1] 0.552655036291863 Centerline is valid? [False, False] Translation: X:281.80, Y:15.60, Z:-0.21 [[ 9.99996806e-01 5.35484568e-04 -2.46997340e-03 2.81795555e+02] [-5.31516829e-04 9.99998568e-01 1.60676625e-03 1.56012369e+01] [ 2.47083026e-03 -1.60544829e-03 9.99995659e-01 -2.13071185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.331400513 meters Centerline goodness [0,1] 0.6565063724965192 Centerline is valid? [False, False] Translation: X:281.79, Y:15.60, Z:-0.21 [[ 9.99996664e-01 -2.03419839e-03 -1.59175014e-03 2.81789209e+02] [ 2.03214875e-03 9.99997105e-01 -1.28822991e-03 1.56039886e+01] [ 1.59436605e-03 1.28499094e-03 9.99997903e-01 -2.09355753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.361400513 meters Centerline goodness [0,1] 0.4036608048698005 Centerline is valid? [False, False] Translation: X:281.83, Y:15.61, Z:-0.21 [[ 9.99998963e-01 -1.04723521e-03 9.88613358e-04 2.81830962e+02] [ 1.04971592e-03 9.99996294e-01 -2.51210018e-03 1.56082642e+01] [-9.85978934e-04 2.51313534e-03 9.99996356e-01 -2.10428880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.391400513 meters Centerline goodness [0,1] 0.5294380777915051 Centerline is valid? [False, False] Translation: X:281.83, Y:15.61, Z:-0.21 [[ 9.99999082e-01 -1.02387528e-03 8.87189388e-04 2.81831321e+02] [ 1.02602480e-03 9.99996531e-01 -2.42579150e-03 1.56078268e+01] [-8.84702603e-04 2.42669955e-03 9.99996664e-01 -2.10475158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.421400513 meters Centerline goodness [0,1] 0.5186269517990496 Centerline is valid? [False, False] Translation: X:281.83, Y:15.61, Z:-0.21 [[ 9.99999129e-01 -1.08830428e-03 7.46319498e-04 2.81831724e+02] [ 1.09015079e-03 9.99996335e-01 -2.47822795e-03 1.56080054e+01] [-7.43619696e-04 2.47903940e-03 9.99996651e-01 -2.10358765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.451400513 meters Centerline goodness [0,1] 0.41785949063765715 Centerline is valid? [False, False] Translation: X:281.83, Y:15.61, Z:-0.21 [[ 9.99999115e-01 -1.09873925e-03 7.50018884e-04 2.81831694e+02] [ 1.10060309e-03 9.99996296e-01 -2.48918338e-03 1.56080637e+01] [-7.47281143e-04 2.49000665e-03 9.99996621e-01 -2.10335879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.481400513 meters Centerline goodness [0,1] 0.5451868485721549 Centerline is valid? [False, False] Translation: X:281.83, Y:15.61, Z:-0.21 [[ 9.99999182e-01 -1.04889026e-03 7.32581726e-04 2.81831667e+02] [ 1.05061681e-03 9.99996662e-01 -2.36041584e-03 1.56074691e+01] [-7.30103464e-04 2.36118357e-03 9.99996946e-01 -2.10201486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.511400513 meters Centerline goodness [0,1] 0.6265468006345849 Centerline is valid? [False, False] Translation: X:281.83, Y:15.61, Z:-0.21 [[ 9.99999286e-01 -9.42079030e-04 7.35287422e-04 2.81831398e+02] [ 9.43614237e-04 9.99997370e-01 -2.09035266e-03 1.56062280e+01] [-7.33316211e-04 2.09104500e-03 9.99997545e-01 -2.09733338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.541400513 meters Centerline goodness [0,1] 0.6987548704048789 Centerline is valid? [False, False] Translation: X:281.83, Y:15.60, Z:-0.21 [[ 9.99999393e-01 -8.21044212e-04 7.34258154e-04 2.81831084e+02] [ 8.22344568e-04 9.99998091e-01 -1.77243444e-03 1.56047781e+01] [-7.32801505e-04 1.77303718e-03 9.99998160e-01 -2.09142643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.571400513 meters Centerline goodness [0,1] 0.8175014882217876 Centerline is valid? [False, False] Translation: X:281.83, Y:15.60, Z:-0.21 [[ 9.99999502e-01 -9.23435263e-04 3.77455278e-04 2.81831921e+02] [ 9.23869424e-04 9.99998910e-01 -1.15168042e-03 1.56013285e+01] [-3.76391365e-04 1.15202857e-03 9.99999266e-01 -2.08441954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.601400513 meters Centerline goodness [0,1] 0.9301295160190866 Centerline is valid? [False, False] Translation: X:281.83, Y:15.60, Z:-0.21 [[ 9.99999721e-01 -7.29062810e-04 1.61484850e-04 2.81832321e+02] [ 7.29137573e-04 9.99999627e-01 -4.63394659e-04 1.55979875e+01] [-1.61146946e-04 4.63512275e-04 9.99999880e-01 -2.07836540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.631400513 meters Centerline goodness [0,1] 0.7226780021253985 Centerline is valid? [False, False] Translation: X:281.83, Y:15.59, Z:-0.21 [[ 9.99999889e-01 -4.71182428e-04 -1.91150882e-05 2.81832507e+02] [ 4.71191541e-04 9.99999774e-01 4.79559086e-04 1.55933750e+01] [ 1.88891241e-05 -4.79568040e-04 9.99999885e-01 -2.07005171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.661400513 meters Centerline goodness [0,1] 0.9736184628414144 Centerline is valid? [False, True] Translation: X:281.83, Y:15.59, Z:-0.21 [[ 9.99999977e-01 -1.74402291e-04 -1.24118531e-04 2.81832551e+02] [ 1.74582750e-04 9.99998926e-01 1.45540548e-03 1.55886306e+01] [ 1.23864571e-04 -1.45542712e-03 9.99998933e-01 -2.06340582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.691400513 meters Centerline goodness [0,1] 0.9158489443948855 Centerline is valid? [True, False] Translation: X:281.83, Y:15.59, Z:-0.21 [[ 9.99989447e-01 -4.59412742e-03 -6.29259276e-06 2.81832494e+02] [ 4.59408400e-03 9.99984364e-01 -3.18842652e-03 1.55901122e+01] [ 2.09405321e-05 3.18836396e-03 9.99994917e-01 -2.06927721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.721400513 meters Centerline goodness [0,1] 0.9868181240198364 Centerline is valid? [False, True] Translation: X:281.83, Y:15.59, Z:-0.21 [[ 9.99990335e-01 -4.39623347e-03 -5.99345203e-05 2.81832590e+02] [ 4.39605363e-03 9.99986616e-01 -2.72794962e-03 1.55879289e+01] [ 7.19264216e-05 2.72765978e-03 9.99996277e-01 -2.06786421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.751400513 meters Centerline goodness [0,1] 0.9926093769853035 Centerline is valid? [True, True] Translation: X:281.86, Y:15.58, Z:-0.21 [[ 9.99990518e-01 -4.33290750e-03 -4.34767172e-04 2.81862910e+02] [ 4.33289385e-03 9.99990612e-01 -3.23356433e-05 1.55833102e+01] [ 4.34903198e-04 3.04515367e-05 9.99999905e-01 -2.06852126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.781400513 meters Centerline goodness [0,1] 0.9890079516945188 Centerline is valid? [True, True] Translation: X:281.89, Y:15.58, Z:-0.21 [[ 9.99989317e-01 -4.56511522e-03 -7.25251942e-04 2.81892808e+02] [ 4.56507731e-03 9.99989579e-01 -5.39215632e-05 1.55841227e+01] [ 7.25490542e-04 5.06101560e-05 9.99999736e-01 -2.07427509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.811400513 meters Centerline goodness [0,1] 0.9882390745501285 Centerline is valid? [True, True] Translation: X:281.92, Y:15.58, Z:-0.21 [[ 9.99985214e-01 -5.31878544e-03 -1.13200442e-03 2.81922244e+02] [ 5.31869309e-03 9.99985852e-01 -8.45821554e-05 1.55842871e+01] [ 1.13243828e-03 7.85601208e-05 9.99999356e-01 -2.08563500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.841400513 meters Centerline goodness [0,1] 0.9350260913834797 Centerline is valid? [True, False] Translation: X:281.92, Y:15.58, Z:-0.21 [[ 9.99986101e-01 -5.14790721e-03 -1.13878647e-03 2.81922270e+02] [ 5.14835071e-03 9.99986672e-01 3.86854355e-04 1.55819959e+01] [ 1.13677980e-03 -3.92711850e-04 9.99999277e-01 -2.08565736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.871400513 meters Centerline goodness [0,1] 0.9959736456808199 Centerline is valid? [False, True] Translation: X:281.92, Y:15.58, Z:-0.21 [[ 9.99956353e-01 -9.30459789e-03 -8.46351030e-04 2.81921505e+02] [ 9.30141829e-03 9.99949946e-01 -3.68623618e-03 1.55808817e+01] [ 8.80607612e-04 3.67820303e-03 9.99992848e-01 -2.08730494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.901400513 meters Centerline goodness [0,1] 0.9775615316418289 Centerline is valid? [True, True] Translation: X:281.95, Y:15.58, Z:-0.21 [[ 9.99952934e-01 -9.69862942e-03 -2.56262628e-04 2.81949126e+02] [ 9.69862473e-03 9.99952967e-01 -1.95566233e-05 1.55824150e+01] [ 2.56440248e-04 1.70703078e-05 9.99999967e-01 -2.07147295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.931400513 meters Centerline goodness [0,1] 0.9634738024110681 Centerline is valid? [True, True] Translation: X:281.98, Y:15.58, Z:-0.21 [[ 9.99951800e-01 -9.81793375e-03 7.68949889e-05 2.81976936e+02] [ 9.81793333e-03 9.99951803e-01 5.78847651e-06 1.55832228e+01] [-7.69481137e-05 -5.03324763e-06 9.99999997e-01 -2.06396173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.9614005130001 meters Centerline goodness [0,1] 0.9804751126435809 Centerline is valid? [True, True] Translation: X:282.01, Y:15.58, Z:-0.21 [[ 9.99952162e-01 -9.77970144e-03 -1.77610550e-04 2.82005650e+02] [ 9.77969915e-03 9.99952178e-01 -1.37250936e-05 1.55801338e+01] [ 1.77736284e-04 1.19874593e-05 9.99999984e-01 -2.06785702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.991400513 meters Centerline goodness [0,1] 0.9921436588103255 Centerline is valid? [True, True] Translation: X:282.03, Y:15.58, Z:-0.21 [[ 9.99956427e-01 -9.29494199e-03 -8.65099243e-04 2.82034282e+02] [ 9.29488828e-03 9.99956799e-01 -6.60874241e-05 1.55769983e+01] [ 8.65676149e-04 5.80435437e-05 9.99999624e-01 -2.08008101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.021400513 meters Centerline goodness [0,1] 0.7573129251700681 Centerline is valid? [True, False] Translation: X:282.03, Y:15.58, Z:-0.21 [[ 9.99957337e-01 -9.19425710e-03 -8.89257234e-04 2.82034501e+02] [ 9.19437479e-03 9.99957723e-01 1.28345596e-04 1.55760781e+01] [ 8.88039596e-04 -1.36516285e-04 9.99999596e-01 -2.08260940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.051400513 meters Centerline goodness [0,1] 0.9985708495979181 Centerline is valid? [False, True] Translation: X:282.03, Y:15.58, Z:-0.21 [[ 9.99958175e-01 -9.10514145e-03 -8.62747131e-04 2.82034459e+02] [ 9.10534597e-03 9.99958518e-01 2.33424635e-04 1.55756362e+01] [ 8.60585978e-04 -2.41270483e-04 9.99999601e-01 -2.08310983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.081400513 meters Centerline goodness [0,1] 0.9827868329897783 Centerline is valid? [True, True] Translation: X:282.06, Y:15.59, Z:-0.21 [[ 9.99982352e-01 -5.92569463e-03 -4.27211858e-04 2.82063234e+02] [ 5.92568063e-03 9.99982442e-01 -3.40386199e-05 1.55855662e+01] [ 4.27406059e-04 3.15064982e-05 9.99999908e-01 -2.08096560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.111400513 meters Centerline goodness [0,1] 0.9551591540269173 Centerline is valid? [True, True] Translation: X:282.09, Y:15.59, Z:-0.21 [[ 9.99997499e-01 -2.21400491e-03 -3.15053752e-04 2.82092837e+02] [ 2.21399711e-03 9.99997549e-01 -2.51182277e-05 1.55900022e+01] [ 3.15108591e-04 2.44206367e-05 9.99999950e-01 -2.08025644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.141400513 meters Centerline goodness [0,1] 0.7984728252732445 Centerline is valid? [True, False] Translation: X:282.09, Y:15.59, Z:-0.21 [[ 9.99999382e-01 -1.11063233e-03 4.68505224e-05 2.82091814e+02] [ 1.11061860e-03 9.99999341e-01 2.92158534e-04 1.55904628e+01] [-4.71749723e-05 -2.92106321e-04 9.99999956e-01 -2.08829541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.171400513 meters Centerline goodness [0,1] 0.6350889845788346 Centerline is valid? [False, False] Translation: X:282.10, Y:15.59, Z:-0.21 [[ 9.99998179e-01 1.71895476e-03 -8.28843500e-04 2.82098350e+02] [-1.71627134e-03 9.99993319e-01 3.22745488e-03 1.55887602e+01] [ 8.34385812e-04 -3.22602648e-03 9.99994448e-01 -2.13052752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.201400513 meters Centerline goodness [0,1] 0.6392049700049103 Centerline is valid? [False, False] Translation: X:282.10, Y:15.59, Z:-0.21 [[ 9.99998356e-01 1.61753589e-03 -8.19434611e-04 2.82098656e+02] [-1.61518429e-03 9.99994599e-01 2.86235806e-03 1.55904681e+01] [ 8.24060153e-04 -2.86102982e-03 9.99995568e-01 -2.13726270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.231400513 meters Centerline goodness [0,1] 0.413981454037346 Centerline is valid? [False, False] Translation: X:282.10, Y:15.59, Z:-0.21 [[ 9.99998542e-01 1.50832835e-03 -8.00510616e-04 2.82098848e+02] [-1.50640901e-03 9.99996002e-01 2.39285973e-03 1.55927542e+01] [ 8.04116634e-04 -2.39165035e-03 9.99996817e-01 -2.14331735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.261400513 meters Centerline goodness [0,1] 0.44820093308621456 Centerline is valid? [False, False] Translation: X:282.10, Y:15.60, Z:-0.21 [[ 9.99998905e-01 1.32126255e-03 -6.66225317e-04 2.82098537e+02] [-1.32000805e-03 9.99997362e-01 1.87992333e-03 1.55952031e+01] [ 6.68707432e-04 -1.87904185e-03 9.99998011e-01 -2.14600374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.291400513 meters Centerline goodness [0,1] 0.616016689373297 Centerline is valid? [False, False] Translation: X:282.10, Y:15.60, Z:-0.21 [[ 9.99999213e-01 1.13762273e-03 -5.29398739e-04 2.82098132e+02] [-1.13689202e-03 9.99998404e-01 1.37851602e-03 1.55976309e+01] [ 5.30966125e-04 -1.37791307e-03 9.99998910e-01 -2.14714029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.321400513 meters Centerline goodness [0,1] 0.6246466809421842 Centerline is valid? [False, False] Translation: X:282.10, Y:15.60, Z:-0.22 [[ 9.99999671e-01 7.57555346e-04 -2.91153491e-04 2.82097501e+02] [-7.57440846e-04 9.99999636e-01 3.93172667e-04 1.56023505e+01] [ 2.91451235e-04 -3.92952006e-04 9.99999880e-01 -2.15082512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.351400513 meters Centerline goodness [0,1] 0.3324492350781897 Centerline is valid? [False, False] Translation: X:282.10, Y:15.60, Z:-0.22 [[ 9.99999789e-01 5.96153571e-04 -2.58501682e-04 2.82097419e+02] [-5.96145151e-04 9.99999822e-01 3.26494286e-05 1.56040294e+01] [ 2.58521100e-04 -3.24953172e-05 9.99999966e-01 -2.15176738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.381400513 meters Centerline goodness [0,1] 0.32683664557905723 Centerline is valid? [False, False] Translation: X:282.10, Y:15.60, Z:-0.21 [[ 9.99999798e-01 5.85932006e-04 -2.45104850e-04 2.82097160e+02] [-5.85920356e-04 9.99999827e-01 4.75970041e-05 1.56039781e+01] [ 2.45132696e-04 -4.74533826e-05 9.99999969e-01 -2.14786992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.411400513 meters Centerline goodness [0,1] 0.38332482776218424 Centerline is valid? [False, False] Translation: X:282.10, Y:15.60, Z:-0.21 [[ 9.99999747e-01 6.38788451e-04 -3.13358875e-04 2.82097012e+02] [-6.38691883e-04 9.99999749e-01 3.08175670e-04 1.56027327e+01] [ 3.13555655e-04 -3.07975452e-04 9.99999903e-01 -2.14068102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.441400513 meters Centerline goodness [0,1] 0.5559174350731748 Centerline is valid? [False, False] Translation: X:282.10, Y:15.60, Z:-0.21 [[ 9.99999672e-01 7.10850369e-04 -3.88932066e-04 2.82096862e+02] [-7.10574390e-04 9.99999496e-01 7.09259454e-04 1.56007740e+01] [ 3.89436047e-04 -7.08982856e-04 9.99999673e-01 -2.13277266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.471400513 meters Centerline goodness [0,1] 0.7746508810338597 Centerline is valid? [False, False] Translation: X:282.10, Y:15.60, Z:-0.21 [[ 9.99992795e-01 -3.78960083e-03 -2.21129185e-04 2.82096078e+02] [ 3.78868649e-03 9.99984830e-01 -3.99831278e-03 1.56026410e+01] [ 2.36277840e-04 3.99744618e-03 9.99991982e-01 -2.12904942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.501400513 meters Centerline goodness [0,1] 0.8236969223954268 Centerline is valid? [False, False] Translation: X:282.10, Y:15.60, Z:-0.21 [[ 9.99992974e-01 -3.71914218e-03 -4.68302852e-04 2.82096648e+02] [ 3.71751792e-03 9.99987232e-01 -3.42276973e-03 1.55997186e+01] [ 4.81026641e-04 3.42100476e-03 9.99994033e-01 -2.12405380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.531400513 meters Centerline goodness [0,1] 0.9921059387301044 Centerline is valid? [False, True] Translation: X:282.06, Y:15.59, Z:-0.21 [[ 9.99987813e-01 -4.17410468e-03 -2.63634082e-03 2.82055204e+02] [ 4.17763968e-03 9.99990380e-01 1.33679500e-03 1.55890058e+01] [ 2.63073554e-03 -1.34779239e-03 9.99995631e-01 -2.10120782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.561400513 meters Centerline goodness [0,1] 0.9558998554790444 Centerline is valid? [True, True] Translation: X:282.08, Y:15.60, Z:-0.21 [[ 9.99970554e-01 -7.20503448e-03 -2.64158684e-03 2.82083808e+02] [ 7.20447706e-03 9.99974023e-01 -2.20471203e-04 1.55970142e+01] [ 2.64310673e-03 2.01433459e-04 9.99996487e-01 -2.11034576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.591400513 meters Centerline goodness [0,1] 0.9499099480877211 Centerline is valid? [True, False] Translation: X:282.08, Y:15.59, Z:-0.21 [[ 9.99971733e-01 -6.96942516e-03 -2.82131608e-03 2.82084220e+02] [ 6.97112307e-03 9.99975526e-01 5.92429633e-04 1.55930517e+01] [ 2.81711814e-03 -6.12080628e-04 9.99995845e-01 -2.10643314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.621400513 meters Centerline goodness [0,1] 0.9852863230648546 Centerline is valid? [False, True] Translation: X:282.08, Y:15.59, Z:-0.21 [[ 9.99973730e-01 -6.66996274e-03 -2.83745514e-03 2.82084003e+02] [ 6.67377512e-03 9.99976837e-01 1.33625324e-03 1.55895779e+01] [ 2.82847666e-03 -1.35515468e-03 9.99995082e-01 -2.10111823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.651400513 meters Centerline goodness [0,1] 0.9884330496423797 Centerline is valid? [True, True] Translation: X:282.11, Y:15.59, Z:-0.21 [[ 9.99968313e-01 -7.84186156e-03 -1.37042993e-03 2.82112998e+02] [ 7.84172130e-03 9.99969247e-01 -1.07691250e-04 1.55908596e+01] [ 1.37123229e-03 9.69413080e-05 9.99999055e-01 -2.09022977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.681400513 meters Centerline goodness [0,1] 0.9698938796177135 Centerline is valid? [True, True] Translation: X:282.14, Y:15.60, Z:-0.21 [[ 9.99968246e-01 -7.88806408e-03 -1.13406820e-03 2.82140085e+02] [ 7.88796808e-03 9.99968886e-01 -8.91008457e-05 1.55959045e+01] [ 1.13473575e-03 8.01525226e-05 9.99999353e-01 -2.08614934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.7114005130001 meters Centerline goodness [0,1] 0.9530708794458055 Centerline is valid? [True, True] Translation: X:282.17, Y:15.60, Z:-0.21 [[ 9.99965922e-01 -8.16193956e-03 -1.24025525e-03 2.82168206e+02] [ 8.16182485e-03 9.99966687e-01 -9.75233766e-05 1.55988697e+01] [ 1.24100991e-03 8.73973070e-05 9.99999226e-01 -2.08824952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.741400513 meters Centerline goodness [0,1] 0.9694521212632645 Centerline is valid? [True, True] Translation: X:282.20, Y:15.60, Z:-0.21 [[ 9.99963514e-01 -8.45368157e-03 -1.22729454e-03 2.82197527e+02] [ 8.45356949e-03 9.99964263e-01 -9.64782096e-05 1.55988838e+01] [ 1.22806628e-03 8.60996698e-05 9.99999242e-01 -2.08554376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.771400513 meters Centerline goodness [0,1] 0.9946154173583621 Centerline is valid? [True, True] Translation: X:282.23, Y:15.59, Z:-0.21 [[ 9.99962545e-01 -8.56196768e-03 -1.26511883e-03 2.82225908e+02] [ 8.56184845e-03 9.99963342e-01 -9.96293804e-05 1.55942638e+01] [ 1.26592548e-03 8.87938932e-05 9.99999195e-01 -2.08403049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.801400513 meters Centerline goodness [0,1] 0.7158225578501065 Centerline is valid? [True, False] Translation: X:282.23, Y:15.59, Z:-0.21 [[ 9.99962205e-01 -8.60150473e-03 -1.26559928e-03 2.82225970e+02] [ 8.60121904e-03 9.99962982e-01 -2.31009626e-04 1.55949009e+01] [ 1.26753947e-03 2.20115198e-04 9.99999172e-01 -2.08493042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.831400513 meters Centerline goodness [0,1] 0.7299051000782026 Centerline is valid? [False, False] Translation: X:282.23, Y:15.59, Z:-0.21 [[ 9.99990824e-01 -4.03540822e-03 -1.43761672e-03 2.82226261e+02] [ 4.04208272e-03 9.99980924e-01 4.67050546e-03 1.55922163e+01] [ 1.41874190e-03 -4.67627357e-03 9.99988060e-01 -2.08091264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.861400513 meters Centerline goodness [0,1] 0.7459078797106966 Centerline is valid? [False, False] Translation: X:282.23, Y:15.60, Z:-0.21 [[ 9.99989866e-01 -4.28346767e-03 -1.38527355e-03 2.82226558e+02] [ 4.28893855e-03 9.99982919e-01 3.97074950e-03 1.55954922e+01] [ 1.36824131e-03 -3.97665062e-03 9.99991157e-01 -2.09032636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.891400513 meters Centerline goodness [0,1] 0.7323892674616694 Centerline is valid? [False, False] Translation: X:282.23, Y:15.60, Z:-0.21 [[ 9.99988779e-01 -4.53494170e-03 -1.36964955e-03 2.82226947e+02] [ 4.53940950e-03 9.99984328e-01 3.27670588e-03 1.55987261e+01] [ 1.35476842e-03 -3.28288652e-03 9.99993694e-01 -2.09929555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.921400513 meters Centerline goodness [0,1] 0.9214889157085688 Centerline is valid? [False, False] Translation: X:282.23, Y:15.60, Z:-0.21 [[ 9.99988086e-01 -4.68598262e-03 -1.36702532e-03 2.82227124e+02] [ 4.68977928e-03 9.99985118e-01 2.78745719e-03 1.56010646e+01] [ 1.35394300e-03 -2.79383503e-03 9.99995181e-01 -2.10334693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.951400513 meters Centerline goodness [0,1] 0.9214889157085688 Centerline is valid? [False, False] Translation: X:282.23, Y:15.60, Z:-0.21 [[ 9.99988086e-01 -4.68598262e-03 -1.36702532e-03 2.82227124e+02] [ 4.68977928e-03 9.99985118e-01 2.78745719e-03 1.56010646e+01] [ 1.35394300e-03 -2.79383503e-03 9.99995181e-01 -2.10334693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.981400513 meters Centerline goodness [0,1] 0.8701442604785954 Centerline is valid? [False, False] Translation: X:282.23, Y:15.60, Z:-0.21 [[ 9.99987585e-01 -4.81008322e-03 -1.30110042e-03 2.82226928e+02] [ 4.81327361e-03 9.99985390e-01 2.46015384e-03 1.56026294e+01] [ 1.28924787e-03 -2.46638585e-03 9.99996127e-01 -2.10399652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.011400513 meters Centerline goodness [0,1] 0.836177764553357 Centerline is valid? [False, False] Translation: X:282.23, Y:15.61, Z:-0.21 [[ 9.99986700e-01 -5.02116821e-03 -1.17825327e-03 2.82226546e+02] [ 5.02345967e-03 9.99985481e-01 1.94995521e-03 1.56050637e+01] [ 1.16844511e-03 -1.95584818e-03 9.99997405e-01 -2.10520136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.041400513 meters Centerline goodness [0,1] 0.9041970214686351 Centerline is valid? [False, False] Translation: X:282.23, Y:15.61, Z:-0.21 [[ 9.99953055e-01 -9.66430851e-03 -6.98850844e-04 2.82225604e+02] [ 9.66152847e-03 9.99945808e-01 -3.87760706e-03 1.56125937e+01] [ 7.36287363e-04 3.87067306e-03 9.99992238e-01 -2.11757816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.071400513 meters Centerline goodness [0,1] 0.9959033008300083 Centerline is valid? [False, True] Translation: X:282.23, Y:15.61, Z:-0.21 [[ 9.99951756e-01 -9.78741157e-03 -8.31553380e-04 2.82226284e+02] [ 9.78394468e-03 9.99943830e-01 -4.07567405e-03 1.56134168e+01] [ 8.71396971e-04 4.06734155e-03 9.99991349e-01 -2.12232818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.101400513 meters Centerline goodness [0,1] 0.9100355599088644 Centerline is valid? [True, False] Translation: X:282.23, Y:15.61, Z:-0.21 [[ 9.99981234e-01 -5.91367402e-03 -1.59974222e-03 2.82228699e+02] [ 5.91522565e-03 9.99982037e-01 9.66934552e-04 1.56085170e+01] [ 1.59399535e-03 -9.76379243e-04 9.99998253e-01 -2.11868956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.131400513 meters Centerline goodness [0,1] 0.9294975688816856 Centerline is valid? [False, False] Translation: X:282.23, Y:15.61, Z:-0.21 [[ 9.99979571e-01 -6.12400099e-03 -1.83118034e-03 2.82229676e+02] [ 6.12516875e-03 9.99981041e-01 6.32781592e-04 1.56099434e+01] [ 1.82727047e-03 -6.43984954e-04 9.99998123e-01 -2.12300051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.161400513 meters Centerline goodness [0,1] 0.8651320643352516 Centerline is valid? [False, False] Translation: X:282.25, Y:15.62, Z:-0.22 [[ 9.99971251e-01 -6.40357944e-03 4.06090530e-03 2.82254540e+02] [ 6.44562685e-03 9.99924862e-01 -1.04270482e-02 1.56231280e+01] [-3.99382974e-03 1.04529235e-02 9.99937391e-01 -2.20692051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.191400513 meters Centerline goodness [0,1] 0.7965775038651333 Centerline is valid? [False, False] Translation: X:282.25, Y:15.62, Z:-0.22 [[ 9.99989853e-01 -2.28919658e-03 3.87976910e-03 2.82254433e+02] [ 2.30952701e-03 9.99983584e-01 -5.24375840e-03 1.56183223e+01] [-3.86770142e-03 5.25266562e-03 9.99978725e-01 -2.19161518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.221400513 meters Centerline goodness [0,1] 0.95924725030199 Centerline is valid? [False, True] Translation: X:282.25, Y:15.62, Z:-0.22 [[ 9.99989253e-01 -2.36090619e-03 3.99006925e-03 2.82253746e+02] [ 2.38253962e-03 9.99982442e-01 -5.42579079e-03 1.56192774e+01] [-3.97718941e-03 5.43523898e-03 9.99977320e-01 -2.18581376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.251400513 meters Centerline goodness [0,1] 0.9960657550560365 Centerline is valid? [True, True] Translation: X:282.29, Y:15.61, Z:-0.22 [[ 9.99987997e-01 -2.99731823e-03 3.87572341e-03 2.82286345e+02] [ 2.99619626e-03 9.99995468e-01 2.95260828e-04 1.56092058e+01] [-3.87659084e-03 -2.83644856e-04 9.99992446e-01 -2.16556822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.281400513 meters Centerline goodness [0,1] 0.9755124677374629 Centerline is valid? [True, True] Translation: X:282.32, Y:15.62, Z:-0.22 [[ 9.99986967e-01 -3.66348529e-03 3.55600927e-03 2.82317313e+02] [ 3.66254531e-03 9.99993256e-01 2.70811668e-04 1.56201838e+01] [-3.55697740e-03 -2.57784094e-04 9.99993641e-01 -2.16924784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.311400513 meters Centerline goodness [0,1] 0.9374142190502334 Centerline is valid? [True, False] Translation: X:282.32, Y:15.63, Z:-0.22 [[ 9.99984765e-01 -4.20468943e-03 3.57634529e-03 2.82317429e+02] [ 4.20810572e-03 9.99990696e-01 -9.48260812e-04 1.56259062e+01] [-3.57232487e-03 9.63296004e-04 9.99993155e-01 -2.17326016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.341400513 meters Centerline goodness [0,1] 0.9854516795535391 Centerline is valid? [False, True] Translation: X:282.32, Y:15.63, Z:-0.22 [[ 9.99983646e-01 -4.40498371e-03 3.64754668e-03 2.82317121e+02] [ 4.41015851e-03 9.99989278e-01 -1.41188302e-03 1.56281028e+01] [-3.64128825e-03 1.42794619e-03 9.99992351e-01 -2.17209832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.371400513 meters Centerline goodness [0,1] 0.9098187055235514 Centerline is valid? [True, False] Translation: X:282.32, Y:15.63, Z:-0.22 [[ 9.99983101e-01 -4.50124540e-03 3.67932734e-03 2.82316827e+02] [ 4.50728504e-03 9.99988506e-01 -1.63486715e-03 1.56291922e+01] [-3.67192611e-03 1.65142330e-03 9.99991895e-01 -2.16875776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.401400513 meters Centerline goodness [0,1] 0.8894988828598787 Centerline is valid? [False, False] Translation: X:282.32, Y:15.63, Z:-0.22 [[ 9.99982831e-01 -4.52355065e-03 3.72484220e-03 2.82316533e+02] [ 4.52986835e-03 9.99988313e-01 -1.68941360e-03 1.56294967e+01] [-3.71715652e-03 1.70625764e-03 9.99991636e-01 -2.16620166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.431400513 meters Centerline goodness [0,1] 0.9960699715927295 Centerline is valid? [False, True] Translation: X:282.32, Y:15.63, Z:-0.22 [[ 9.99982543e-01 -4.57246248e-03 3.74259105e-03 2.82316408e+02] [ 4.57925507e-03 9.99987880e-01 -1.80838950e-03 1.56300748e+01] [-3.73427690e-03 1.82549621e-03 9.99991361e-01 -2.16510809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.4614005130001 meters Centerline goodness [0,1] 0.9951454252522683 Centerline is valid? [True, True] Translation: X:282.35, Y:15.63, Z:-0.22 [[ 9.99982228e-01 -4.65305701e-03 3.72736622e-03 2.82348730e+02] [ 4.65204269e-03 9.99989140e-01 2.80750695e-04 1.56327249e+01] [-3.72863209e-03 -2.63405838e-04 9.99993014e-01 -2.15923740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.491400513 meters Centerline goodness [0,1] 0.8759673576112856 Centerline is valid? [True, False] Translation: X:282.35, Y:15.64, Z:-0.22 [[ 9.99980332e-01 -4.95776662e-03 3.84139086e-03 2.82348382e+02] [ 4.95991661e-03 9.99987548e-01 -5.50367474e-04 1.56367310e+01] [-3.83861443e-03 5.69409628e-04 9.99992470e-01 -2.16016490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.521400513 meters Centerline goodness [0,1] 0.9013677682439895 Centerline is valid? [False, False] Translation: X:282.35, Y:15.64, Z:-0.22 [[ 9.99979508e-01 -5.08365909e-03 3.89103177e-03 2.82348298e+02] [ 5.08718710e-03 9.99986658e-01 -8.97342596e-04 1.56383900e+01] [-3.88641807e-03 9.17118614e-04 9.99992027e-01 -2.16168135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.551400513 meters Centerline goodness [0,1] 0.8069305877597907 Centerline is valid? [False, False] Translation: X:282.35, Y:15.64, Z:-0.22 [[ 9.99978898e-01 -5.15301490e-03 3.95588571e-03 2.82348214e+02] [ 5.15762394e-03 9.99986031e-01 -1.15579392e-03 1.56396419e+01] [-3.94987462e-03 1.17617250e-03 9.99991508e-01 -2.16457782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.581400513 meters Centerline goodness [0,1] 0.7334313286892056 Centerline is valid? [False, False] Translation: X:282.35, Y:15.64, Z:-0.22 [[ 9.99977520e-01 -5.30956194e-03 4.09494498e-03 2.82347983e+02] [ 5.31618762e-03 9.99984575e-01 -1.60883126e-03 1.56418029e+01] [-4.08633963e-03 1.63056459e-03 9.99990321e-01 -2.16907977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.611400513 meters Centerline goodness [0,1] 0.9013430080835083 Centerline is valid? [False, False] Translation: X:282.35, Y:15.64, Z:-0.22 [[ 9.99990771e-01 -2.86606899e-03 3.20043974e-03 2.82354476e+02] [ 2.86339677e-03 9.99995548e-01 8.39224007e-04 1.56411066e+01] [-3.20283077e-03 -8.30052133e-04 9.99994526e-01 -2.20989746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.641400513 meters Centerline goodness [0,1] 0.8115893132024545 Centerline is valid? [False, False] Translation: X:282.35, Y:15.64, Z:-0.22 [[ 9.99993604e-01 1.64250511e-03 3.17706677e-03 2.82354210e+02] [-1.66042310e-03 9.99982686e-01 5.64540001e-03 1.56388849e+01] [-3.16773916e-03 -5.65063917e-03 9.99979018e-01 -2.20333875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.671400513 meters Centerline goodness [0,1] 0.531451851226411 Centerline is valid? [False, False] Translation: X:282.35, Y:15.64, Z:-0.22 [[ 9.99993750e-01 1.50161714e-03 3.20067824e-03 2.82354248e+02] [-1.51847475e-03 9.99984955e-01 5.27098059e-03 1.56406461e+01] [-3.19271509e-03 -5.27580780e-03 9.99980986e-01 -2.20566372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.701400513 meters Centerline goodness [0,1] 0.7198935604044705 Centerline is valid? [False, False] Translation: X:282.33, Y:15.65, Z:-0.22 [[ 9.99994469e-01 2.27106473e-03 2.42969465e-03 2.82334601e+02] [-2.25803807e-03 9.99983135e-01 -5.35081494e-03 1.56471296e+01] [-2.44180572e-03 5.34529900e-03 9.99982733e-01 -2.23966871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.731400513 meters Centerline goodness [0,1] 0.7702581989876218 Centerline is valid? [False, False] Translation: X:282.33, Y:15.65, Z:-0.22 [[ 9.99994852e-01 2.10516780e-03 2.42180451e-03 2.82334857e+02] [-2.09121945e-03 9.99981295e-01 -5.74767140e-03 1.56489477e+01] [-2.43385902e-03 5.74257728e-03 9.99980549e-01 -2.24433788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.761400513 meters Centerline goodness [0,1] 0.7819399547865036 Centerline is valid? [False, False] Translation: X:282.34, Y:15.64, Z:-0.22 [[ 9.99979067e-01 6.16830671e-03 1.95380725e-03 2.82336277e+02] [-6.16686275e-03 9.99980708e-01 -7.44213907e-04 1.56448063e+01] [-1.95836009e-03 7.32149468e-04 9.99997814e-01 -2.23938341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.791400513 meters Centerline goodness [0,1] 0.4392389006342494 Centerline is valid? [False, False] Translation: X:282.34, Y:15.65, Z:-0.22 [[ 9.99979931e-01 5.99730396e-03 2.04222034e-03 2.82336034e+02] [-5.99505394e-03 9.99981418e-01 -1.10609771e-03 1.56464848e+01] [-2.04881600e-03 1.09383229e-03 9.99997303e-01 -2.24059924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.821400513 meters Centerline goodness [0,1] 0.5323938857739783 Centerline is valid? [False, False] Translation: X:282.34, Y:15.65, Z:-0.22 [[ 9.99981177e-01 5.79248333e-03 2.02290693e-03 2.82336242e+02] [-5.78945302e-03 9.99982115e-01 -1.50065561e-03 1.56482388e+01] [-2.03156327e-03 1.48891584e-03 9.99996828e-01 -2.24368389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.851400513 meters Centerline goodness [0,1] 0.5887697696635177 Centerline is valid? [False, False] Translation: X:282.34, Y:15.65, Z:-0.22 [[ 9.99981702e-01 5.73136852e-03 1.93585149e-03 2.82336668e+02] [-5.72830373e-03 9.99982337e-01 -1.58502275e-03 1.56485517e+01] [-1.94490165e-03 1.57390460e-03 9.99996870e-01 -2.24625961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.881400513 meters Centerline goodness [0,1] 0.8787389530931339 Centerline is valid? [False, False] Translation: X:282.34, Y:15.65, Z:-0.22 [[ 9.99982233e-01 5.66605381e-03 1.85214287e-03 2.82337039e+02] [-5.66289897e-03 9.99982514e-01 -1.70417240e-03 1.56490529e+01] [-1.86176642e-03 1.69365362e-03 9.99996833e-01 -2.24816765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.911400513 meters Centerline goodness [0,1] 0.8307083280409839 Centerline is valid? [False, False] Translation: X:282.34, Y:15.65, Z:-0.22 [[ 9.99982693e-01 5.61385412e-03 1.76018404e-03 2.82337380e+02] [-5.61072845e-03 9.99982683e-01 -1.77570080e-03 1.56493297e+01] [-1.77012209e-03 1.76579415e-03 9.99996874e-01 -2.24879088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.941400513 meters Centerline goodness [0,1] 0.6172465314834579 Centerline is valid? [False, False] Translation: X:282.34, Y:15.65, Z:-0.22 [[ 9.99982926e-01 5.59621138e-03 1.68216880e-03 2.82337665e+02] [-5.59319311e-03 9.99982749e-01 -1.79365399e-03 1.56493847e+01] [-1.69217745e-03 1.78421467e-03 9.99996977e-01 -2.24924952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.971400513 meters Centerline goodness [0,1] 0.9638994571025521 Centerline is valid? [False, True] Translation: X:282.34, Y:15.65, Z:-0.22 [[ 9.99983025e-01 5.60884157e-03 1.57796359e-03 2.82337998e+02] [-5.60613812e-03 9.99982819e-01 -1.71248632e-03 1.56489623e+01] [-1.58754155e-03 1.70361097e-03 9.99997289e-01 -2.24915581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.001400513 meters Centerline goodness [0,1] 0.8678027971731148 Centerline is valid? [True, False] Translation: X:282.34, Y:15.65, Z:-0.23 [[ 9.99983590e-01 5.55000476e-03 1.41996219e-03 2.82338598e+02] [-5.54761348e-03 9.99983196e-01 -1.68248053e-03 1.56486817e+01] [-1.42927610e-03 1.67457552e-03 9.99997576e-01 -2.25055401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.031400513 meters Centerline goodness [0,1] 0.7231467148262813 Centerline is valid? [False, False] Translation: X:282.31, Y:15.64, Z:-0.22 [[ 9.99983837e-01 4.45639093e-03 -3.53089568e-03 2.82314115e+02] [-4.42503240e-03 9.99951138e-01 8.83977062e-03 1.56404054e+01] [ 3.57011662e-03 -8.82400341e-03 9.99954695e-01 -2.17036731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.061400513 meters Centerline goodness [0,1] 0.934747840921207 Centerline is valid? [False, False] Translation: X:282.34, Y:15.65, Z:-0.22 [[ 9.99986553e-01 4.95137751e-03 1.54212936e-03 2.82335841e+02] [-4.94702369e-03 9.99983803e-01 -2.81438971e-03 1.56530170e+01] [-1.55603949e-03 2.80672291e-03 9.99994851e-01 -2.23423459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.091400513 meters Centerline goodness [0,1] 0.6799592952998792 Centerline is valid? [False, False] Translation: X:282.34, Y:15.66, Z:-0.22 [[ 9.99987735e-01 4.67676990e-03 1.63044553e-03 2.82335545e+02] [-4.67110289e-03 9.99983096e-01 -3.46239804e-03 1.56560851e+01] [-1.64661081e-03 3.45473960e-03 9.99992677e-01 -2.23425716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.121400513 meters Centerline goodness [0,1] 0.9457774019659655 Centerline is valid? [False, False] Translation: X:282.34, Y:15.66, Z:-0.22 [[ 9.99988699e-01 4.44956522e-03 1.67402372e-03 2.82335438e+02] [-4.44284228e-03 9.99982136e-01 -3.99854893e-03 1.56586154e+01] [-1.69178562e-03 3.99106632e-03 9.99990605e-01 -2.23518052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.151400513 meters Centerline goodness [0,1] 0.7086249069445921 Centerline is valid? [False, False] Translation: X:282.34, Y:15.66, Z:-0.22 [[ 9.99961498e-01 8.68767795e-03 1.23558192e-03 2.82337043e+02] [-8.68846237e-03 9.99962056e-01 6.30920062e-04 1.56568615e+01] [-1.23005381e-03 -6.41631078e-04 9.99999038e-01 -2.23628225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.181400513 meters Centerline goodness [0,1] 0.9564321522644235 Centerline is valid? [False, True] Translation: X:282.34, Y:15.66, Z:-0.22 [[ 9.99964650e-01 8.31726826e-03 1.23323537e-03 2.82337505e+02] [-8.31703764e-03 9.99965394e-01 -1.92015602e-04 1.56606237e+01] [-1.23478973e-03 1.81751949e-04 9.99999221e-01 -2.24516950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.2114005130001 meters Centerline goodness [0,1] 0.6812132532422048 Centerline is valid? [True, False] Translation: X:282.34, Y:15.66, Z:-0.22 [[ 9.99967459e-01 7.95818913e-03 1.32195211e-03 2.82337281e+02] [-7.95686548e-03 9.99967840e-01 -1.00354720e-03 1.56644375e+01] [-1.32989601e-03 9.92995950e-04 9.99998623e-01 -2.24659246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.241400513 meters Centerline goodness [0,1] 0.9643605870020965 Centerline is valid? [False, True] Translation: X:282.34, Y:15.67, Z:-0.22 [[ 9.99969139e-01 7.71560911e-03 1.48027406e-03 2.82336413e+02] [-7.71333401e-03 9.99969071e-01 -1.53654461e-03 1.56669880e+01] [-1.49208365e-03 1.52507935e-03 9.99997724e-01 -2.24015447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.271400513 meters Centerline goodness [0,1] 0.9877292771777337 Centerline is valid? [True, True] Translation: X:282.37, Y:15.67, Z:-0.22 [[ 9.99986650e-01 2.18501440e-03 4.68256681e-03 2.82367399e+02] [-2.18651030e-03 9.99997560e-01 3.14366487e-04 1.56653558e+01] [-4.68186849e-03 -3.24600770e-04 9.99988987e-01 -2.18825354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.301400513 meters Centerline goodness [0,1] 0.9948001437358642 Centerline is valid? [True, True] Translation: X:282.40, Y:15.67, Z:-0.22 [[ 9.99984955e-01 -1.64804175e-03 5.23193633e-03 2.82396830e+02] [ 1.64622627e-03 9.99998583e-01 3.51287953e-04 1.56657831e+01] [-5.23250785e-03 -3.42669717e-04 9.99986252e-01 -2.18176580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.331400513 meters Centerline goodness [0,1] 0.9994873875990516 Centerline is valid? [True, True] Translation: X:282.43, Y:15.66, Z:-0.22 [[ 9.99970820e-01 -5.79361963e-03 4.97929104e-03 2.82428032e+02] [ 5.79202652e-03 9.99983170e-01 3.34306985e-04 1.56612927e+01] [-4.98114408e-03 -3.05457044e-04 9.99987547e-01 -2.19009644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.361400513 meters Centerline goodness [0,1] 0.9995966201010573 Centerline is valid? [True, True] Translation: X:282.46, Y:15.66, Z:-0.22 [[ 9.99942470e-01 -9.85046388e-03 4.24564453e-03 2.82458666e+02] [ 9.84934213e-03 9.99951453e-01 2.85039125e-04 1.56578135e+01] [-4.24824619e-03 -2.43205922e-04 9.99990947e-01 -2.20823373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.391400513 meters Centerline goodness [0,1] 0.9996161146537568 Centerline is valid? [True, True] Translation: X:282.49, Y:15.66, Z:-0.22 [[ 9.99899812e-01 -1.36960453e-02 3.57542697e-03 2.82487938e+02] [ 1.36952742e-02 9.99906187e-01 2.40067978e-04 1.56613012e+01] [-3.57837952e-03 -1.91077474e-04 9.99993579e-01 -2.21697113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.421400513 meters Centerline goodness [0,1] 0.9998933992836432 Centerline is valid? [True, True] Translation: X:282.52, Y:15.65, Z:-0.22 [[ 9.99847241e-01 -1.71496326e-02 3.37405269e-03 2.82519731e+02] [ 1.71489655e-02 9.99852920e-01 2.26561625e-04 1.56474084e+01] [-3.37744188e-03 -1.68665503e-04 9.99994282e-01 -2.22207581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.451400513 meters Centerline goodness [0,1] 0.9999148809397145 Centerline is valid? [True, True] Translation: X:282.55, Y:15.64, Z:-0.22 [[ 9.99764658e-01 -2.13273193e-02 3.97168965e-03 2.82550947e+02] [ 2.13264278e-02 9.99772530e-01 2.66694850e-04 1.56395056e+01] [-3.97647410e-03 -1.81930133e-04 9.99992077e-01 -2.20485625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.481400513 meters Centerline goodness [0,1] 0.9999137354698182 Centerline is valid? [True, True] Translation: X:282.58, Y:15.64, Z:-0.22 [[ 9.99763612e-01 -2.14984664e-02 3.24593879e-03 2.82580731e+02] [ 2.14978717e-02 9.99768870e-01 2.18004943e-04 1.56356273e+01] [-3.24987533e-03 -1.48172634e-04 9.99994708e-01 -2.21682739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.511400513 meters Centerline goodness [0,1] 0.999830852503383 Centerline is valid? [True, True] Translation: X:282.61, Y:15.65, Z:-0.22 [[ 9.99801545e-01 -1.97277809e-02 2.77240400e-03 2.82608969e+02] [ 1.97273400e-02 9.99805380e-01 1.86276396e-04 1.56473715e+01] [-2.77553925e-03 -1.31547272e-04 9.99996140e-01 -2.22022685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.541400513 meters Centerline goodness [0,1] 0.9997869711558945 Centerline is valid? [True, True] Translation: X:282.64, Y:15.65, Z:-0.22 [[ 9.99855923e-01 -1.68747188e-02 1.83748400e-03 2.82639683e+02] [ 1.68745203e-02 9.99857608e-01 1.23495426e-04 1.56466140e+01] [-1.83930631e-03 -9.24709717e-05 9.99998304e-01 -2.23594777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.571400513 meters Centerline goodness [0,1] 0.9995337995337995 Centerline is valid? [True, True] Translation: X:282.67, Y:15.66, Z:-0.23 [[ 9.99951839e-01 -9.77456481e-03 8.81647541e-04 2.82668480e+02] [ 9.77451636e-03 9.99952227e-01 5.92540331e-05 1.56557232e+01] [-8.82184604e-04 -5.06335010e-05 9.99999610e-01 -2.25525964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.601400513 meters Centerline goodness [0,1] 0.9991907145138963 Centerline is valid? [True, True] Translation: X:282.70, Y:15.66, Z:-0.23 [[ 9.99974793e-01 -7.02252781e-03 1.04731212e-03 2.82698687e+02] [ 7.02245793e-03 9.99975340e-01 7.03877796e-05 1.56588327e+01] [-1.04778059e-03 -6.30313001e-05 9.99999449e-01 -2.25669119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.631400513 meters Centerline goodness [0,1] 0.9992957596192834 Centerline is valid? [True, True] Translation: X:282.73, Y:15.66, Z:-0.23 [[ 9.99986922e-01 -4.92030023e-03 1.39543185e-03 2.82729111e+02] [ 4.92017412e-03 9.99987891e-01 9.37926310e-05 1.56611018e+01] [-1.39587645e-03 -8.69256367e-05 9.99999022e-01 -2.25148056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.661400513 meters Centerline goodness [0,1] 0.9996736718444067 Centerline is valid? [True, True] Translation: X:282.76, Y:15.65, Z:-0.23 [[ 9.99992764e-01 -3.71710867e-03 8.09672746e-04 2.82760555e+02] [ 3.71706581e-03 9.99993090e-01 5.44299743e-05 1.56521610e+01] [-8.09869474e-04 -5.14199736e-05 9.99999671e-01 -2.25592163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.691400513 meters Centerline goodness [0,1] 0.9983971276527537 Centerline is valid? [True, True] Translation: X:282.79, Y:15.67, Z:-0.23 [[ 9.99996232e-01 -2.63235067e-03 7.78414133e-04 2.82789447e+02] [ 2.63231076e-03 9.99996534e-01 5.23021483e-05 1.56657202e+01] [-7.78549113e-04 -5.02529234e-05 9.99999696e-01 -2.26063913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.721400513 meters Centerline goodness [0,1] 0.9978892158116924 Centerline is valid? [True, True] Translation: X:282.82, Y:15.67, Z:-0.23 [[ 9.99997817e-01 -2.02805252e-03 5.03849128e-04 2.82819286e+02] [ 2.02803569e-03 9.99997943e-01 3.39219394e-05 1.56670011e+01] [-5.03916887e-04 -3.29000413e-05 9.99999872e-01 -2.26869475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.751400513 meters Centerline goodness [0,1] 0.9982432003386602 Centerline is valid? [True, True] Translation: X:282.85, Y:15.66, Z:-0.23 [[ 9.99999314e-01 -1.15746022e-03 -1.80827283e-04 2.82850162e+02] [ 1.15745804e-03 9.99999330e-01 -1.21441413e-05 1.56630158e+01] [ 1.80841218e-04 1.19348329e-05 9.99999984e-01 -2.28641747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.781400513 meters Centerline goodness [0,1] 0.9992719174268705 Centerline is valid? [True, True] Translation: X:282.88, Y:15.66, Z:-0.23 [[ 9.99999782e-01 -2.56135454e-04 -6.08582252e-04 2.82880735e+02] [ 2.56110627e-04 9.99999966e-01 -4.08716467e-05 1.56590287e+01] [ 6.08592700e-04 4.07157734e-05 9.99999814e-01 -2.29035029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.811400513 meters Centerline goodness [0,1] 0.9929890705752775 Centerline is valid? [True, True] Translation: X:282.91, Y:15.67, Z:-0.23 [[ 9.99998936e-01 9.84315590e-04 -1.07700799e-03 2.82909419e+02] [-9.84394122e-04 9.99999513e-01 -7.23898933e-05 1.56667085e+01] [ 1.07693621e-03 7.34500166e-05 9.99999417e-01 -2.30053619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.841400513 meters Centerline goodness [0,1] 0.9583754815659772 Centerline is valid? [True, True] Translation: X:282.94, Y:15.67, Z:-0.23 [[ 9.99994781e-01 2.69105037e-03 -1.78791099e-03 2.82937801e+02] [-2.69126953e-03 9.99996371e-01 -1.20187503e-04 1.56731309e+01] [ 1.78758107e-03 1.24998626e-04 9.99998394e-01 -2.31285065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.871400513 meters Centerline goodness [0,1] 0.9583754815659772 Centerline is valid? [True, True] Translation: X:282.97, Y:15.68, Z:-0.23 [[ 9.99994839e-01 2.66940484e-03 -1.78790841e-03 2.82966973e+02] [-2.66962404e-03 9.99996429e-01 -1.20225854e-04 1.56751312e+01] [ 1.78758109e-03 1.24998277e-04 9.99998394e-01 -2.31329729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.901400513 meters Centerline goodness [0,1] 0.9312075583111898 Centerline is valid? [True, False] Translation: X:283.01, Y:15.68, Z:-0.23 [[ 9.99992686e-01 3.82172626e-03 -1.46891833e-04 2.83011148e+02] [-3.82212369e-03 9.99988753e-01 -2.80789828e-03 1.56811320e+01] [ 1.36159162e-04 2.80843918e-03 9.99996047e-01 -2.34802351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.931400513 meters Centerline goodness [0,1] 0.983963516464694 Centerline is valid? [False, True] Translation: X:282.97, Y:15.67, Z:-0.23 [[ 9.99962302e-01 7.97799177e-03 -3.42737434e-03 2.82971754e+02] [-7.96321502e-03 9.99959032e-01 4.30361819e-03 1.56729532e+01] [ 3.46156815e-03 -4.27616303e-03 9.99984866e-01 -2.34551225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.9614005130001 meters Centerline goodness [0,1] 0.7842155510766946 Centerline is valid? [True, False] Translation: X:282.97, Y:15.68, Z:-0.23 [[ 9.99963709e-01 7.85012594e-03 -3.30998537e-03 2.82971473e+02] [-7.83782950e-03 9.99962395e-01 3.71170111e-03 1.56759109e+01] [ 3.33899822e-03 -3.68562331e-03 9.99987634e-01 -2.34821454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.991400513 meters Centerline goodness [0,1] 0.7424810834869968 Centerline is valid? [False, False] Translation: X:282.97, Y:15.68, Z:-0.24 [[ 9.99985402e-01 4.44422104e-03 -3.07317902e-03 2.82970360e+02] [-4.44899181e-03 9.99988906e-01 -1.54730117e-03 1.56837450e+01] [ 3.06626838e-03 1.56095113e-03 9.99994081e-01 -2.35213647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.021400513 meters Centerline goodness [0,1] 0.5693168710214893 Centerline is valid? [False, False] Translation: X:282.97, Y:15.69, Z:-0.24 [[ 9.99986868e-01 4.20131429e-03 -2.93486610e-03 2.82970023e+02] [-4.20763195e-03 9.99988837e-01 -2.14977688e-03 1.56866010e+01] [ 2.92580145e-03 2.16209748e-03 9.99993382e-01 -2.35451119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.051400513 meters Centerline goodness [0,1] 0.8358148636576339 Centerline is valid? [False, False] Translation: X:282.97, Y:15.69, Z:-0.24 [[ 9.99987648e-01 4.02825544e-03 -2.91169332e-03 2.82970015e+02] [-4.03566271e-03 9.99988624e-01 -2.54258961e-03 1.56884279e+01] [ 2.90141800e-03 2.55430882e-03 9.99992529e-01 -2.35583945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.081400513 meters Centerline goodness [0,1] 0.574533372836162 Centerline is valid? [False, False] Translation: X:282.97, Y:15.69, Z:-0.24 [[ 9.99987891e-01 3.99208692e-03 -2.87775563e-03 2.82969743e+02] [-3.99951186e-03 9.99988676e-01 -2.57899354e-03 1.56885872e+01] [ 2.86742748e-03 2.59047193e-03 9.99992534e-01 -2.35313402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.111400513 meters Centerline goodness [0,1] 0.9069644369178662 Centerline is valid? [False, False] Translation: X:282.97, Y:15.69, Z:-0.23 [[ 9.99987977e-01 4.03800999e-03 -2.78201706e-03 2.82968926e+02] [-4.04391275e-03 9.99989577e-01 -2.11940806e-03 1.56863254e+01] [ 2.77342987e-03 2.13063281e-03 9.99993884e-01 -2.34307603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.141400513 meters Centerline goodness [0,1] 0.9501189685108572 Centerline is valid? [False, True] Translation: X:282.93, Y:15.68, Z:-0.23 [[ 9.99983322e-01 2.77514792e-03 -5.06496218e-03 2.82926784e+02] [-2.77466451e-03 9.99996145e-01 1.02465011e-04 1.56803921e+01] [ 5.06522701e-03 -8.84097311e-05 9.99987168e-01 -2.32981570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.171400513 meters Centerline goodness [0,1] 0.7318438122694705 Centerline is valid? [True, False] Translation: X:282.93, Y:15.68, Z:-0.24 [[ 9.99979519e-01 3.76904425e-03 -5.17267324e-03 2.82929330e+02] [-3.76093111e-03 9.99991684e-01 1.57729324e-03 1.56765003e+01] [ 5.17857511e-03 -1.55780687e-03 9.99985378e-01 -2.35047423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.201400513 meters Centerline goodness [0,1] 0.9985778926955398 Centerline is valid? [False, True] Translation: X:282.89, Y:15.67, Z:-0.24 [[ 9.99966408e-01 1.46438886e-03 -8.06458693e-03 2.82888588e+02] [-1.45056985e-03 9.99997470e-01 1.71912430e-03 1.56732066e+01] [ 8.06708400e-03 -1.70736831e-03 9.99966003e-01 -2.35242578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.231400513 meters Centerline goodness [0,1] 0.9983548063158345 Centerline is valid? [True, True] Translation: X:282.92, Y:15.68, Z:-0.24 [[ 9.99964499e-01 2.15822788e-04 -8.42343578e-03 2.82916929e+02] [-2.20982493e-04 9.99999789e-01 -6.11615790e-04 1.56774332e+01] [ 8.42330200e-03 6.13455509e-04 9.99964335e-01 -2.36373567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.261400513 meters Centerline goodness [0,1] 0.9893594381783358 Centerline is valid? [True, True] Translation: X:282.94, Y:15.68, Z:-0.24 [[ 9.99962531e-01 -4.86583779e-04 -8.64296023e-03 2.82943926e+02] [ 4.81174280e-04 9.99999687e-01 -6.27953326e-04 1.56846052e+01] [ 8.64326308e-03 6.23771027e-04 9.99962452e-01 -2.36659573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.291400513 meters Centerline goodness [0,1] 0.9988589144616444 Centerline is valid? [True, True] Translation: X:282.97, Y:15.68, Z:-0.23 [[ 9.99977004e-01 -7.62801268e-04 -6.73869790e-03 2.82973247e+02] [ 7.59517100e-04 9.99999592e-01 -4.89905166e-04 1.56784396e+01] [ 6.73906884e-03 4.84775744e-04 9.99977175e-01 -2.33321547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.321400513 meters Centerline goodness [0,1] 0.9811940804817029 Centerline is valid? [True, True] Translation: X:283.00, Y:15.69, Z:-0.23 [[ 9.99983371e-01 -6.93778099e-04 -5.72513506e-03 2.83000605e+02] [ 6.91405040e-04 9.99999674e-01 -4.16467214e-04 1.56909100e+01] [ 5.72542213e-03 4.12501901e-04 9.99983525e-01 -2.32363364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.351400513 meters Centerline goodness [0,1] 0.9857151940317487 Centerline is valid? [True, True] Translation: X:283.03, Y:15.69, Z:-0.23 [[ 9.99985276e-01 -9.67174229e-04 -5.33967037e-03 2.83029392e+02] [ 9.65111863e-04 9.99999459e-01 -3.88797884e-04 1.56906118e+01] [ 5.34004351e-03 3.83638781e-04 9.99985668e-01 -2.31697216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.381400513 meters Centerline goodness [0,1] 0.9886619389358359 Centerline is valid? [True, True] Translation: X:283.06, Y:15.69, Z:-0.23 [[ 9.99983754e-01 -1.30791342e-03 -5.54812474e-03 2.83058229e+02] [ 1.30568718e-03 9.99999066e-01 -4.04864193e-04 1.56901436e+01] [ 5.54864908e-03 3.97613500e-04 9.99984527e-01 -2.32479692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.411400513 meters Centerline goodness [0,1] 0.9950992980653998 Centerline is valid? [True, True] Translation: X:283.09, Y:15.69, Z:-0.23 [[ 9.99979938e-01 -1.88532679e-03 -6.04730966e-03 2.83087123e+02] [ 1.88268736e-03 9.99998130e-01 -4.42127212e-04 1.56853177e+01] [ 6.04813191e-03 4.30733149e-04 9.99981617e-01 -2.32873697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.441400513 meters Centerline goodness [0,1] 0.9016911079087904 Centerline is valid? [True, False] Translation: X:283.13, Y:15.69, Z:-0.23 [[ 9.99996433e-01 -7.97746791e-04 -2.54923046e-03 2.83126091e+02] [ 7.94606818e-04 9.99998925e-01 -1.23250928e-03 1.56864082e+01] [ 2.55021095e-03 1.23047924e-03 9.99995991e-01 -2.32535958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.471400513 meters Centerline goodness [0,1] 0.9942096491602923 Centerline is valid? [False, True] Translation: X:283.13, Y:15.68, Z:-0.23 [[ 9.99996301e-01 -6.02592685e-04 -2.65216728e-03 2.83126338e+02] [ 6.00501337e-04 9.99999508e-01 -7.89268663e-04 1.56843221e+01] [ 2.65264159e-03 7.87673114e-04 9.99996172e-01 -2.32374398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.501400513 meters Centerline goodness [0,1] 0.9808832659002847 Centerline is valid? [True, True] Translation: X:283.15, Y:15.69, Z:-0.23 [[ 9.99995353e-01 -9.20751300e-04 -2.90611922e-03 2.83153634e+02] [ 9.20151095e-04 9.99999555e-01 -2.07861698e-04 1.56875619e+01] [ 2.90630932e-03 2.05186664e-04 9.99995756e-01 -2.33738366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.531400513 meters Centerline goodness [0,1] 0.9927004183385981 Centerline is valid? [True, True] Translation: X:283.18, Y:15.69, Z:-0.23 [[ 9.99994875e-01 -8.29965189e-04 -3.09224132e-03 2.83183094e+02] [ 8.29283767e-04 9.99999632e-01 -2.21640615e-04 1.56855300e+01] [ 3.09242414e-03 2.19075134e-04 9.99995194e-01 -2.32828828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.561400513 meters Centerline goodness [0,1] 0.9774221084080239 Centerline is valid? [True, True] Translation: X:283.21, Y:15.68, Z:-0.23 [[ 9.99985093e-01 5.40861893e-03 -7.48834173e-04 2.83206770e+02] [-5.40279758e-03 9.99956758e-01 7.56911095e-03 1.56799050e+01] [ 7.89740229e-04 -7.56495232e-03 9.99971073e-01 -2.31408768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.591400513 meters Centerline goodness [0,1] 0.9116044442552467 Centerline is valid? [True, False] Translation: X:283.21, Y:15.69, Z:-0.23 [[ 9.99998446e-01 1.66064447e-03 -5.91388913e-04 2.83206537e+02] [-1.65922718e-03 9.99995770e-01 2.38902497e-03 1.56856187e+01] [ 5.95353732e-04 -2.38804001e-03 9.99996971e-01 -2.32636617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.621400513 meters Centerline goodness [0,1] 0.8860212765957447 Centerline is valid? [False, False] Translation: X:283.21, Y:15.69, Z:-0.23 [[ 9.99998445e-01 1.63039313e-03 -6.72269656e-04 2.83207042e+02] [-1.62886412e-03 9.99996100e-01 2.26870385e-03 1.56861302e+01] [ 6.75965914e-04 -2.26760529e-03 9.99997201e-01 -2.33088406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.651400513 meters Centerline goodness [0,1] 0.6591543295345617 Centerline is valid? [False, False] Translation: X:283.21, Y:15.69, Z:-0.23 [[ 9.99998660e-01 1.50333872e-03 -6.48382219e-04 2.83207196e+02] [-1.50208382e-03 9.99997006e-01 1.93159415e-03 1.56876723e+01] [ 6.51284118e-04 -1.93061764e-03 9.99997924e-01 -2.33558645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.681400513 meters Centerline goodness [0,1] 0.715615590143772 Centerline is valid? [False, False] Translation: X:283.21, Y:15.69, Z:-0.23 [[ 9.99998600e-01 1.57110394e-03 -5.75845893e-04 2.83206727e+02] [-1.56989517e-03 9.99996576e-01 2.09361119e-03 1.56869402e+01] [ 5.79133202e-04 -2.09270424e-03 9.99997643e-01 -2.33150435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.7114005130001 meters Centerline goodness [0,1] 0.8860937300472481 Centerline is valid? [False, False] Translation: X:283.21, Y:15.68, Z:-0.23 [[ 9.99998330e-01 1.75040824e-03 -5.25215446e-04 2.83206162e+02] [-1.74907243e-03 9.99995262e-01 2.53312653e-03 1.56849344e+01] [ 5.29646963e-04 -2.53220366e-03 9.99996654e-01 -2.32371555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.741400513 meters Centerline goodness [0,1] 0.9488280665769289 Centerline is valid? [False, False] Translation: X:283.20, Y:15.69, Z:-0.23 [[ 9.99999639e-01 -6.85567209e-04 5.01504746e-04 2.83199167e+02] [ 6.85538256e-04 9.99999763e-01 5.79018492e-05 1.56854517e+01] [-5.01544323e-04 -5.75580276e-05 9.99999873e-01 -2.28254551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.771400513 meters Centerline goodness [0,1] 0.9588511460922398 Centerline is valid? [False, True] Translation: X:283.20, Y:15.68, Z:-0.23 [[ 9.99999802e-01 -4.96373193e-04 3.87932280e-04 2.83199346e+02] [ 4.96120519e-04 9.99999665e-01 6.51159160e-04 1.56825986e+01] [-3.88255368e-04 -6.50966570e-04 9.99999713e-01 -2.27844990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.801400513 meters Centerline goodness [0,1] 0.9402646422664235 Centerline is valid? [True, False] Translation: X:283.20, Y:15.68, Z:-0.23 [[ 9.99999895e-01 -3.79718865e-04 2.54977304e-04 2.83199736e+02] [ 3.79453488e-04 9.99999387e-01 1.04002689e-03 1.56806668e+01] [-2.55372065e-04 -1.03993003e-03 9.99999427e-01 -2.27765527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.831400513 meters Centerline goodness [0,1] 0.9988458085752148 Centerline is valid? [False, True] Translation: X:283.19, Y:15.68, Z:-0.22 [[ 9.99996159e-01 -2.57014417e-03 1.03708629e-03 2.83193926e+02] [ 2.57135102e-03 9.99996017e-01 -1.16403759e-03 1.56827312e+01] [-1.03409042e-03 1.16669983e-03 9.99998785e-01 -2.24193759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.861400513 meters Centerline goodness [0,1] 0.9895296835590598 Centerline is valid? [True, True] Translation: X:283.22, Y:15.69, Z:-0.22 [[ 9.99994616e-01 -3.13549325e-03 9.68197747e-04 2.83223982e+02] [ 3.13542612e-03 9.99995082e-01 7.08404976e-05 1.56920250e+01] [-9.68415105e-04 -6.78044037e-05 9.99999529e-01 -2.24445720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.891400513 meters Centerline goodness [0,1] 0.9829347918256592 Centerline is valid? [True, True] Translation: X:283.25, Y:15.70, Z:-0.23 [[ 9.99996356e-01 -2.67568314e-03 3.58217799e-04 2.83254243e+02] [ 2.67567393e-03 9.99996420e-01 2.61951291e-05 1.56953159e+01] [-3.58286606e-04 -2.52365596e-05 9.99999935e-01 -2.25426744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.921400513 meters Centerline goodness [0,1] 0.9835788663430906 Centerline is valid? [True, True] Translation: X:283.28, Y:15.70, Z:-0.23 [[ 9.99998069e-01 -1.96388419e-03 -7.47607623e-05 2.83284235e+02] [ 1.96388378e-03 9.99998072e-01 -5.50630941e-06 1.56975477e+01] [ 7.47714319e-05 5.35947733e-06 9.99999997e-01 -2.26214803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.951400513 meters Centerline goodness [0,1] 0.9631438055466324 Centerline is valid? [True, True] Translation: X:283.31, Y:15.70, Z:-0.23 [[ 9.99998965e-01 -1.43293353e-03 -1.32553566e-04 2.83313777e+02] [ 1.43293225e-03 9.99998973e-01 -9.73452396e-06 1.57034076e+01] [ 1.32567379e-04 9.54457360e-06 9.99999991e-01 -2.26474025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.981400513 meters Centerline goodness [0,1] 0.8051967209660085 Centerline is valid? [True, False] Translation: X:283.35, Y:15.71, Z:-0.23 [[ 9.99995979e-01 -4.37411186e-04 2.80187107e-03 2.83354296e+02] [ 4.42850958e-04 9.99998018e-01 -1.94115200e-03 1.57094569e+01] [-2.80101644e-03 1.94238501e-03 9.99994191e-01 -2.27444111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.011400513 meters Centerline goodness [0,1] 0.9726479352916134 Centerline is valid? [False, True] Translation: X:283.33, Y:15.70, Z:-0.22 [[ 9.99995262e-01 -1.09435352e-03 -2.87716778e-03 2.83329638e+02] [ 1.11902876e-03 9.99962491e-01 8.58864768e-03 1.56997176e+01] [ 2.86766084e-03 -8.59182662e-03 9.99958978e-01 -2.18933755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.041400513 meters Centerline goodness [0,1] 0.9894521074433105 Centerline is valid? [True, True] Translation: X:283.36, Y:15.71, Z:-0.22 [[ 9.99994865e-01 -1.76416628e-03 -2.67540078e-03 2.83358945e+02] [ 1.76365854e-03 9.99998426e-01 -1.92128882e-04 1.57068622e+01] [ 2.67573552e-03 1.87409402e-04 9.99996403e-01 -2.20894277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.071400513 meters Centerline goodness [0,1] 0.9777711851836155 Centerline is valid? [True, True] Translation: X:283.39, Y:15.71, Z:-0.22 [[ 9.99993360e-01 -2.30473901e-03 -2.82279594e-03 2.83386104e+02] [ 2.30417532e-03 9.99997325e-01 -2.02926617e-04 1.57121935e+01] [ 2.82325608e-03 1.96421053e-04 9.99995995e-01 -2.21485364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.101400513 meters Centerline goodness [0,1] 0.9952135883262384 Centerline is valid? [True, True] Translation: X:283.42, Y:15.71, Z:-0.22 [[ 9.99992471e-01 -2.65740701e-03 -2.82767391e-03 2.83415277e+02] [ 2.65684101e-03 9.99996450e-01 -2.03902577e-04 1.57110600e+01] [ 2.82820573e-03 1.96388362e-04 9.99995981e-01 -2.21098252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.131400513 meters Centerline goodness [0,1] 0.9943857121671151 Centerline is valid? [True, True] Translation: X:283.44, Y:15.71, Z:-0.22 [[ 9.99993029e-01 -2.47363787e-03 -2.79699041e-03 2.83444401e+02] [ 2.47308212e-03 9.99996921e-01 -2.02135670e-04 1.57142690e+01] [ 2.79748181e-03 1.95217074e-04 9.99996068e-01 -2.21125114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.161400513 meters Centerline goodness [0,1] 0.9951430458215282 Centerline is valid? [True, True] Translation: X:283.47, Y:15.72, Z:-0.22 [[ 9.99996264e-01 -1.99802410e-03 -1.86541686e-03 2.83473139e+02] [ 1.99777536e-03 9.99997995e-01 -1.35199526e-04 1.57192041e+01] [ 1.86568325e-03 1.31472337e-04 9.99998251e-01 -2.20442735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.191400513 meters Centerline goodness [0,1] 0.9800201082422402 Centerline is valid? [True, True] Translation: X:283.50, Y:15.73, Z:-0.22 [[ 9.99996783e-01 -2.23143458e-03 -1.20627398e-03 2.83501059e+02] [ 2.23133081e-03 9.99997507e-01 -8.73619987e-05 1.57280639e+01] [ 1.20646591e-03 8.46701214e-05 9.99999269e-01 -2.19939200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.221400513 meters Centerline goodness [0,1] 0.9949810990325267 Centerline is valid? [True, True] Translation: X:283.53, Y:15.73, Z:-0.22 [[ 9.99995167e-01 -2.94888171e-03 -9.84841450e-04 2.83530518e+02] [ 2.94881255e-03 9.99995650e-01 -7.16669912e-05 1.57273302e+01] [ 9.85048503e-04 6.87625320e-05 9.99999512e-01 -2.19185692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.251400513 meters Centerline goodness [0,1] 0.9470078538500939 Centerline is valid? [True, False] Translation: X:283.53, Y:15.73, Z:-0.22 [[ 9.99995040e-01 -2.95284272e-03 -1.09550511e-03 2.83530867e+02] [ 2.95278776e-03 9.99995639e-01 -5.17890221e-05 1.57272169e+01] [ 1.09565325e-03 4.85539712e-05 9.99999399e-01 -2.19175041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.281400513 meters Centerline goodness [0,1] 0.9936972114935699 Centerline is valid? [False, True] Translation: X:283.53, Y:15.73, Z:-0.22 [[ 9.99995015e-01 -2.91275637e-03 -1.21897811e-03 2.83531309e+02] [ 2.91288343e-03 9.99995752e-01 1.02470832e-04 1.57264304e+01] [ 1.21867446e-03 -1.06021062e-04 9.99999252e-01 -2.19257180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.311400513 meters Centerline goodness [0,1] 0.996242915667254 Centerline is valid? [True, True] Translation: X:283.56, Y:15.73, Z:-0.22 [[ 9.99986382e-01 -5.08194667e-03 -1.18765662e-03 2.83561555e+02] [ 5.08185056e-03 9.99987084e-01 -8.39215319e-05 1.57263333e+01] [ 1.18806776e-03 7.78848955e-05 9.99999291e-01 -2.18502964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.341400513 meters Centerline goodness [0,1] 0.9991844968560207 Centerline is valid? [True, True] Translation: X:283.59, Y:15.72, Z:-0.22 [[ 9.99981763e-01 -6.01367304e-03 -5.55788068e-04 2.83590741e+02] [ 6.01365205e-03 9.99981917e-01 -3.94201922e-05 1.57196865e+01] [ 5.56015078e-04 3.60771573e-05 9.99999845e-01 -2.18052840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.371400513 meters Centerline goodness [0,1] 0.9994417126537974 Centerline is valid? [True, True] Translation: X:283.62, Y:15.72, Z:-0.22 [[ 9.99983661e-01 -5.70906012e-03 -2.89640784e-04 2.83619770e+02] [ 5.70905428e-03 9.99983703e-01 -2.09730585e-05 1.57221548e+01] [ 2.89755800e-04 1.93191409e-05 9.99999958e-01 -2.16888369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.401400513 meters Centerline goodness [0,1] 0.997985685509793 Centerline is valid? [True, True] Translation: X:283.65, Y:15.73, Z:-0.22 [[ 9.99990062e-01 -4.45771578e-03 6.22009529e-05 2.83648168e+02] [ 4.45771552e-03 9.99990064e-01 4.31372834e-06 1.57311035e+01] [-6.22195643e-05 -4.03641132e-06 9.99999998e-01 -2.17556599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.431400513 meters Centerline goodness [0,1] 0.9946546660750882 Centerline is valid? [True, True] Translation: X:283.68, Y:15.74, Z:-0.22 [[ 9.99994773e-01 -3.23234393e-03 8.14762084e-05 2.83677310e+02] [ 3.23234348e-03 9.99994776e-01 5.74616777e-06 1.57364279e+01] [-8.14943564e-05 -5.48277864e-06 9.99999997e-01 -2.17795183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.4614005130001 meters Centerline goodness [0,1] 0.9891571368064379 Centerline is valid? [True, True] Translation: X:283.71, Y:15.74, Z:-0.22 [[ 9.99998014e-01 -1.99305750e-03 2.08249843e-05 2.83707014e+02] [ 1.99305747e-03 9.99998014e-01 1.44621753e-06 1.57415019e+01] [-2.08278254e-05 -1.40470927e-06 1.00000000e+00 -2.17836237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.491400513 meters Centerline goodness [0,1] 0.9950506716945557 Centerline is valid? [True, True] Translation: X:283.74, Y:15.74, Z:-0.22 [[ 9.99999299e-01 -1.18061738e-03 8.91145744e-05 2.83737478e+02] [ 1.18061683e-03 9.99999303e-01 6.31956500e-06 1.57405021e+01] [-8.91219733e-05 -6.21435040e-06 9.99999996e-01 -2.18286185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.521400513 meters Centerline goodness [0,1] 0.98928238583411 Centerline is valid? [True, True] Translation: X:283.77, Y:15.74, Z:-0.22 [[ 9.99999972e-01 -2.35595243e-04 -2.84018617e-05 2.83767155e+02] [ 2.35595186e-04 9.99999972e-01 -2.01411960e-06 1.57446264e+01] [ 2.84023355e-05 2.00742820e-06 1.00000000e+00 -2.17272507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.551400513 meters Centerline goodness [0,1] 0.9937973957558893 Centerline is valid? [True, True] Translation: X:283.80, Y:15.74, Z:-0.22 [[ 9.99999846e-01 -5.29355810e-04 1.68646378e-04 2.83797405e+02] [ 5.29353805e-04 9.99999860e-01 1.19305763e-05 1.57444697e+01] [-1.68652670e-04 -1.18413009e-05 9.99999986e-01 -2.16375930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.581400513 meters Centerline goodness [0,1] 0.9986157843179011 Centerline is valid? [True, True] Translation: X:283.83, Y:15.74, Z:-0.21 [[ 9.99994597e-01 -2.14415125e-03 2.49159522e-03 2.83828328e+02] [ 2.14371755e-03 9.99997687e-01 1.76722528e-04 1.57422214e+01] [-2.49196837e-03 -1.71380297e-04 9.99996880e-01 -2.13009041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.611400513 meters Centerline goodness [0,1] 0.9983491627897005 Centerline is valid? [True, True] Translation: X:283.86, Y:15.75, Z:-0.21 [[ 9.99990447e-01 -2.50749216e-03 3.58031718e-03 2.83859683e+02] [ 2.50659936e-03 9.99996826e-01 2.53829586e-04 1.57457374e+01] [-3.58094229e-03 -2.44852741e-04 9.99993558e-01 -2.12111660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.641400513 meters Centerline goodness [0,1] 0.9971432803605815 Centerline is valid? [True, True] Translation: X:283.89, Y:15.75, Z:-0.21 [[ 9.99990732e-01 -2.19978012e-03 3.70101780e-03 2.83891751e+02] [ 2.19882505e-03 9.99997548e-01 2.62105708e-04 1.57485755e+01] [-3.70158530e-03 -2.53965388e-04 9.99993117e-01 -2.12186702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.671400513 meters Centerline goodness [0,1] 0.997258760279649 Centerline is valid? [True, True] Translation: X:283.92, Y:15.75, Z:-0.21 [[ 9.99993773e-01 -1.68793554e-03 3.09904295e-03 2.83924134e+02] [ 1.68726381e-03 9.99998553e-01 2.19355419e-04 1.57493900e+01] [-3.09940872e-03 -2.14125150e-04 9.99995174e-01 -2.12552096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.701400513 meters Centerline goodness [0,1] 0.9925769950655096 Centerline is valid? [True, True] Translation: X:283.96, Y:15.75, Z:-0.21 [[ 9.99996560e-01 -9.09824825e-04 2.45997682e-03 2.83955009e+02] [ 9.09399447e-04 9.99999571e-01 1.74032763e-04 1.57539830e+01] [-2.46013410e-03 -1.71795063e-04 9.99996959e-01 -2.13328813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.731400513 meters Centerline goodness [0,1] 0.9931473427389413 Centerline is valid? [True, True] Translation: X:283.99, Y:15.76, Z:-0.21 [[ 9.99997927e-01 2.07246775e-04 2.02558953e-03 2.83985995e+02] [-2.07537331e-04 9.99999968e-01 1.43233188e-04 1.57561256e+01] [-2.02555978e-03 -1.43653277e-04 9.99997938e-01 -2.13472928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.761400513 meters Centerline goodness [0,1] 0.9931473427389413 Centerline is valid? [True, True] Translation: X:284.02, Y:15.76, Z:-0.21 [[ 9.99997917e-01 2.51467785e-04 2.02558938e-03 2.84017663e+02] [-2.51758435e-04 9.99999958e-01 1.43235331e-04 1.57582872e+01] [-2.02555328e-03 -1.43744992e-04 9.99997938e-01 -2.13560910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.791400513 meters Centerline goodness [0,1] 0.9881494404493426 Centerline is valid? [True, True] Translation: X:284.05, Y:15.77, Z:-0.21 [[ 9.99993594e-01 3.05184463e-03 1.87045450e-03 2.84047820e+02] [-3.05209713e-03 9.99995334e-01 1.32153445e-04 1.57658767e+01] [-1.87004246e-03 -1.37861407e-04 9.99998242e-01 -2.13628475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.821400513 meters Centerline goodness [0,1] 0.9754796303805032 Centerline is valid? [True, True] Translation: X:284.08, Y:15.77, Z:-0.21 [[ 9.99987963e-01 4.62059672e-03 1.65048261e-03 2.84078968e+02] [-4.62079548e-03 9.99989317e-01 1.16632179e-04 1.57724515e+01] [-1.64992607e-03 -1.24257317e-04 9.99998631e-01 -2.13467160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.851400513 meters Centerline goodness [0,1] 0.8160480003380306 Centerline is valid? [True, False] Translation: X:284.09, Y:15.77, Z:-0.22 [[ 9.99974052e-01 7.16555186e-03 7.41355264e-04 2.84085431e+02] [-7.16770306e-03 9.99969987e-01 2.94093551e-03 1.57711344e+01] [-7.20259588e-04 -2.94617302e-03 9.99995401e-01 -2.17159907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.881400513 meters Centerline goodness [0,1] 0.6913186673985559 Centerline is valid? [False, False] Translation: X:284.09, Y:15.78, Z:-0.22 [[ 9.99996078e-01 2.71471035e-03 6.88294293e-04 2.84086302e+02] [-2.71269951e-03 9.99992099e-01 -2.90577453e-03 1.57789946e+01] [-6.96177191e-04 2.90389600e-03 9.99995541e-01 -2.19047592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.911400513 meters Centerline goodness [0,1] 0.9425507876617425 Centerline is valid? [False, False] Translation: X:284.07, Y:15.77, Z:-0.22 [[ 9.99999278e-01 1.96500759e-04 -1.18589930e-03 2.84067793e+02] [-1.87319167e-04 9.99970048e-01 7.73745464e-03 1.57725797e+01] [ 1.18738419e-03 -7.73722691e-03 9.99969362e-01 -2.19460126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.941400513 meters Centerline goodness [0,1] 0.9726658280207245 Centerline is valid? [False, True] Translation: X:284.07, Y:15.78, Z:-0.22 [[ 9.99989542e-01 -4.49535485e-03 -8.40701037e-04 2.84067079e+02] [ 4.49707851e-03 9.99987767e-01 2.05974246e-03 1.57792258e+01] [ 8.31431479e-04 -2.06350161e-03 9.99997525e-01 -2.20358731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.971400513 meters Centerline goodness [0,1] 0.9839596019604931 Centerline is valid? [True, True] Translation: X:284.10, Y:15.78, Z:-0.22 [[ 9.99980885e-01 -6.18282152e-03 -5.75841946e-05 2.84097052e+02] [ 6.18282128e-03 9.99980886e-01 -4.49406994e-06 1.57814531e+01] [ 5.76108800e-05 4.13795125e-06 9.99999998e-01 -2.19613293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.001400513 meters Centerline goodness [0,1] 0.93976338650411 Centerline is valid? [True, False] Translation: X:284.10, Y:15.78, Z:-0.22 [[ 9.99982160e-01 -5.97211005e-03 -1.20739716e-04 2.84096838e+02] [ 5.97217561e-03 9.99982015e-01 5.50063138e-04 1.57788927e+01] [ 1.17452507e-04 -5.50774403e-04 9.99999841e-01 -2.18792464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.031400513 meters Centerline goodness [0,1] 0.9453125 Centerline is valid? [False, False] Translation: X:284.10, Y:15.78, Z:-0.22 [[ 9.99983414e-01 -5.75569094e-03 -2.11278814e-04 2.84096885e+02] [ 5.75592197e-03 9.99982819e-01 1.10968703e-03 1.57762717e+01] [ 2.04888168e-04 -1.11088473e-03 9.99999362e-01 -2.18266436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.061400513 meters Centerline goodness [0,1] 0.9920107375687076 Centerline is valid? [False, True] Translation: X:284.10, Y:15.77, Z:-0.22 [[ 9.99984080e-01 -5.62483057e-03 -4.49160001e-04 2.84098095e+02] [ 5.62548256e-03 9.99983106e-01 1.46376080e-03 1.57744738e+01] [ 4.40919006e-04 -1.46626424e-03 9.99998828e-01 -2.19063285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.091400513 meters Centerline goodness [0,1] 0.9984102773421556 Centerline is valid? [True, True] Translation: X:284.13, Y:15.77, Z:-0.22 [[ 9.99985345e-01 -5.22335365e-03 -1.42334224e-03 2.84127613e+02] [ 5.22321079e-03 9.99986354e-01 -1.04068008e-04 1.57701313e+01] [ 1.42386640e-03 9.66320660e-05 9.99998982e-01 -2.20617474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.121400513 meters Centerline goodness [0,1] 0.9801262567220014 Centerline is valid? [True, True] Translation: X:284.16, Y:15.78, Z:-0.22 [[ 9.99989542e-01 -4.33384332e-03 -1.46071574e-03 2.84155635e+02] [ 4.33369185e-03 9.99990604e-01 -1.06847223e-04 1.57798152e+01] [ 1.46116508e-03 1.00515814e-04 9.99998927e-01 -2.21419867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.151400513 meters Centerline goodness [0,1] 0.988548066014513 Centerline is valid? [True, True] Translation: X:284.18, Y:15.78, Z:-0.22 [[ 9.99993311e-01 -3.43573582e-03 -1.25478806e-03 2.84184913e+02] [ 3.43562327e-03 9.99994094e-01 -9.18425698e-05 1.57791218e+01] [ 1.25509619e-03 8.75309764e-05 9.99999209e-01 -2.20513475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.181400513 meters Centerline goodness [0,1] 0.9851047125973392 Centerline is valid? [True, True] Translation: X:284.21, Y:15.78, Z:-0.22 [[ 9.99997242e-01 -2.22268947e-03 -7.59286824e-04 2.84213797e+02] [ 2.22264785e-03 9.99997528e-01 -5.56536455e-05 1.57824058e+01] [ 7.59408648e-04 5.39658648e-05 9.99999710e-01 -2.20028359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.2114005130001 meters Centerline goodness [0,1] 0.8992779706502524 Centerline is valid? [True, False] Translation: X:284.21, Y:15.78, Z:-0.22 [[ 9.99997661e-01 -2.06053352e-03 -6.58168106e-04 2.84213314e+02] [ 2.06072140e-03 9.99997836e-01 2.84904800e-04 1.57808738e+01] [ 6.57579625e-04 -2.86260435e-04 9.99999743e-01 -2.19790800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.241400513 meters Centerline goodness [0,1] 0.991899267281205 Centerline is valid? [False, True] Translation: X:284.21, Y:15.78, Z:-0.22 [[ 9.99987690e-01 -4.95192379e-03 3.12160711e-04 2.84207566e+02] [ 4.95283361e-03 9.99983281e-01 -2.98449279e-03 1.57816805e+01] [-2.97376511e-04 2.98600213e-03 9.99995498e-01 -2.16953836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.271400513 meters Centerline goodness [0,1] 0.9927119294207902 Centerline is valid? [True, True] Translation: X:284.24, Y:15.78, Z:-0.22 [[ 9.99971344e-01 -7.57042947e-03 1.63835794e-05 2.84237510e+02] [ 7.57042945e-03 9.99971344e-01 1.16249067e-06 1.57783729e+01] [-1.63919105e-05 -1.03842662e-06 1.00000000e+00 -2.16562142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.301400513 meters Centerline goodness [0,1] 0.9915614518575487 Centerline is valid? [True, True] Translation: X:284.27, Y:15.78, Z:-0.22 [[ 9.99937587e-01 -1.11722969e-02 4.78285801e-05 2.84266943e+02] [ 1.11722968e-02 9.99937588e-01 3.49318195e-06 1.57790040e+01] [-4.78646219e-05 -2.95860884e-06 9.99999999e-01 -2.16444122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.331400513 meters Centerline goodness [0,1] 0.996688322645967 Centerline is valid? [True, True] Translation: X:284.30, Y:15.78, Z:-0.22 [[ 9.99885126e-01 -1.51388899e-02 7.41302461e-04 2.84296071e+02] [ 1.51388531e-02 9.99885399e-01 5.52804278e-05 1.57777657e+01] [-7.42054392e-04 -4.40516085e-05 9.99999724e-01 -2.15346027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.361400513 meters Centerline goodness [0,1] 0.9994916977295832 Centerline is valid? [True, True] Translation: X:284.33, Y:15.77, Z:-0.21 [[ 9.99721430e-01 -2.35016778e-02 2.17560472e-03 2.84327463e+02] [ 2.35013795e-02 9.99723791e-01 1.62594693e-04 1.57653518e+01] [-2.17882505e-03 -1.11419687e-04 9.99997620e-01 -2.12765432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.391400513 meters Centerline goodness [0,1] 0.999701339704753 Centerline is valid? [True, True] Translation: X:284.36, Y:15.76, Z:-0.21 [[ 9.99622331e-01 -2.73645241e-02 2.52550755e-03 2.84358708e+02] [ 2.73641342e-02 9.99625514e-01 1.88827524e-04 1.57588533e+01] [-2.52972896e-03 -1.19647882e-04 9.99996793e-01 -2.11687068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.421400513 meters Centerline goodness [0,1] 0.9998512410744644 Centerline is valid? [True, True] Translation: X:284.39, Y:15.76, Z:-0.21 [[ 9.99526626e-01 -3.06478527e-02 2.68959010e-03 2.84387919e+02] [ 3.06474224e-02 9.99530237e-01 2.01075050e-04 1.57589266e+01] [-2.69448915e-03 -1.18550863e-04 9.99996363e-01 -2.11061739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.451400513 meters Centerline goodness [0,1] 0.9997879828690158 Centerline is valid? [True, True] Translation: X:284.42, Y:15.76, Z:-0.21 [[ 9.99431189e-01 -3.36055524e-02 2.82238863e-03 2.84417999e+02] [ 3.36050902e-02 9.99435167e-01 2.11059191e-04 1.57576432e+01] [-2.82788721e-03 -1.16092514e-04 9.99995995e-01 -2.10916796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.481400513 meters Centerline goodness [0,1] 0.9998727573482631 Centerline is valid? [True, True] Translation: X:284.45, Y:15.76, Z:-0.21 [[ 9.99252166e-01 -3.85931691e-02 2.38235932e-03 2.84447788e+02] [ 3.85928538e-02 9.99255002e-01 1.78192479e-04 1.57553965e+01] [-2.38746148e-03 -8.61171756e-05 9.99997146e-01 -2.11749508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.511400513 meters Centerline goodness [0,1] 0.9999569494371139 Centerline is valid? [True, True] Translation: X:284.48, Y:15.75, Z:-0.21 [[ 9.99176940e-01 -4.05045627e-02 2.19613582e-03 2.84477521e+02] [ 4.05042996e-02 9.99179351e-01 1.64158209e-04 1.57479448e+01] [-2.20098272e-03 -7.50701540e-05 9.99997575e-01 -2.10824265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.541400513 meters Centerline goodness [0,1] 0.9999149225795474 Centerline is valid? [True, True] Translation: X:284.51, Y:15.75, Z:-0.21 [[ 9.99123846e-01 -4.17419572e-02 3.02491035e-03 2.84505247e+02] [ 4.17414631e-02 9.99128420e-01 2.26314192e-04 1.57532356e+01] [-3.03172069e-03 -9.98517221e-05 9.99995399e-01 -2.09751168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.571400513 meters Centerline goodness [0,1] 0.9999575533766288 Centerline is valid? [True, True] Translation: X:284.53, Y:15.75, Z:-0.21 [[ 9.99062735e-01 -4.31326655e-02 3.63668571e-03 2.84534302e+02] [ 4.31319600e-02 9.99069347e-01 2.72250705e-04 1.57514993e+01] [-3.64504412e-03 -1.15138151e-04 9.99993350e-01 -2.08308453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.601400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.56, Y:15.75, Z:-0.21 [[ 9.99005853e-01 -4.44029738e-02 3.95990866e-03 2.84562465e+02] [ 4.44021444e-02 9.99013694e-01 2.97160358e-04 1.57547801e+01] [-3.96919778e-03 -1.21036502e-04 9.99992115e-01 -2.07851021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.631400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.59, Y:15.76, Z:-0.21 [[ 9.98894341e-01 -4.68697254e-02 3.65035674e-03 2.84591749e+02] [ 4.68690351e-02 9.98901005e-01 2.74478878e-04 1.57574410e+01] [-3.65920977e-03 -1.03086699e-04 9.99993300e-01 -2.08610688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.661400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.62, Y:15.76, Z:-0.21 [[ 9.98819701e-01 -4.84211970e-02 3.81996445e-03 2.84620619e+02] [ 4.84204502e-02 9.98827001e-01 2.87812468e-04 1.57559776e+01] [-3.82941986e-03 -1.02508365e-04 9.99992662e-01 -2.08780582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.691400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.65, Y:15.76, Z:-0.21 [[ 9.98742997e-01 -4.99483802e-02 4.19359752e-03 2.84648035e+02] [ 4.99474901e-02 9.98751795e-01 3.16777702e-04 1.57587966e+01] [-4.20418559e-03 -1.06919840e-04 9.99991157e-01 -2.08457252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.721400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.68, Y:15.76, Z:-0.21 [[ 9.98640543e-01 -5.19754849e-02 3.95159433e-03 2.84676557e+02] [ 5.19747099e-02 9.98648357e-01 2.98645089e-04 1.57596829e+01] [-3.96177541e-03 -9.28561252e-05 9.99992148e-01 -2.08613313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.751400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.70, Y:15.76, Z:-0.21 [[ 9.98518708e-01 -5.43149837e-02 3.20513305e-03 2.84704789e+02] [ 5.43144846e-02 9.98523849e-01 2.42617070e-04 1.57624898e+01] [-3.21357954e-03 -6.81725332e-05 9.99994834e-01 -2.10041328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.781400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.73, Y:15.76, Z:-0.21 [[ 9.98355777e-01 -5.72657911e-02 2.52435836e-03 2.84733866e+02] [ 5.72654897e-02 9.98358967e-01 1.91564524e-04 1.57604200e+01] [-2.53118590e-03 -4.66909314e-05 9.99996795e-01 -2.10952528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.811400513 meters Centerline goodness [0,1] 0.9999568770348649 Centerline is valid? [True, True] Translation: X:284.76, Y:15.76, Z:-0.21 [[ 9.97991590e-01 -6.33285447e-02 1.51043541e-03 2.84762514e+02] [ 6.33258406e-02 9.97991325e-01 1.77555767e-03 1.57561010e+01] [-1.61984492e-03 -1.67634203e-03 9.99997283e-01 -2.11184736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.841400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.79, Y:15.76, Z:-0.21 [[ 9.97696446e-01 -6.77841094e-02 2.66746228e-03 2.84792482e+02] [ 6.77880837e-02 9.97698719e-01 -1.42873504e-03 1.57583854e+01] [-2.56447817e-03 1.60626603e-03 9.99995422e-01 -2.11148554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.871400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.82, Y:15.76, Z:-0.21 [[ 9.97439464e-01 -7.14875215e-02 2.01240074e-03 2.84820736e+02] [ 7.14873581e-02 9.97441494e-01 1.53082264e-04 1.57572804e+01] [-2.01819548e-03 -8.82907918e-06 9.99997963e-01 -2.11769351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.901400513 meters Centerline goodness [0,1] 0.9999569206909921 Centerline is valid? [True, True] Translation: X:284.85, Y:15.76, Z:-0.21 [[ 9.97130241e-01 -7.57038827e-02 4.51293909e-04 2.84848566e+02] [ 7.57038753e-02 9.97130344e-01 3.36044340e-05 1.57558273e+01] [-4.52542836e-04 6.56700427e-07 9.99999898e-01 -2.13128420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.931400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.88, Y:15.75, Z:-0.21 [[ 9.96647079e-01 -8.18198431e-02 -3.37527991e-04 2.84877586e+02] [ 8.18198387e-02 9.96647136e-01 -2.66308757e-05 1.57538607e+01] [ 3.38575239e-04 -1.07490134e-06 9.99999943e-01 -2.13952206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.9614005130001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.91, Y:15.75, Z:-0.21 [[ 9.96438766e-01 -8.43193399e-02 1.86009397e-04 2.84905733e+02] [ 8.43193387e-02 9.96438783e-01 1.39726287e-05 1.57542728e+01] [-1.86525140e-04 1.76132044e-06 9.99999983e-01 -2.13725649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.991400513 meters Centerline goodness [0,1] 0.9999571661098261 Centerline is valid? [True, True] Translation: X:284.93, Y:15.76, Z:-0.21 [[ 9.96217796e-01 -8.68887129e-02 6.74518453e-04 2.84934821e+02] [ 8.68886982e-02 9.96218024e-01 5.10342900e-05 1.57565896e+01] [-6.76401744e-04 7.76676243e-06 9.99999771e-01 -2.12395839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.021400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.96, Y:15.76, Z:-0.21 [[ 9.96072978e-01 -8.85183274e-02 1.76846212e-03 2.84963746e+02] [ 8.85182266e-02 9.96074548e-01 1.35332257e-04 1.57593329e+01] [-1.77349950e-03 2.17403272e-05 9.99998427e-01 -2.11716146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.051400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.99, Y:15.76, Z:-0.21 [[ 9.95892999e-01 -9.05114758e-02 2.19239783e-03 2.84992733e+02] [ 9.05113245e-02 9.95895412e-01 1.68306713e-04 1.57624740e+01] [-2.19863263e-03 3.08213538e-05 9.99997583e-01 -2.11122165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.081400513 meters Centerline goodness [0,1] 0.9999140431932954 Centerline is valid? [True, True] Translation: X:285.02, Y:15.76, Z:-0.21 [[ 9.95455174e-01 -9.52187498e-02 1.54454360e-03 2.85022720e+02] [ 9.52186796e-02 9.95456372e-01 1.19053530e-04 1.57615144e+01] [-1.54886190e-03 2.85569499e-05 9.99998800e-01 -2.11165110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.111400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.05, Y:15.76, Z:-0.21 [[ 9.95282564e-01 -9.70032587e-02 1.72810242e-03 2.85051258e+02] [ 9.70031742e-02 9.95284063e-01 1.32832332e-04 1.57622787e+01] [-1.73283797e-03 3.54257163e-05 9.99998498e-01 -2.11034329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.141400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.08, Y:15.76, Z:-0.21 [[ 9.95164112e-01 -9.82123274e-02 1.65200882e-03 2.85079459e+02] [ 9.82122509e-02 9.95165482e-01 1.27559124e-04 1.57647377e+01] [-1.65655003e-03 3.53052420e-05 9.99998627e-01 -2.10679040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.171400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.11, Y:15.77, Z:-0.21 [[ 9.95138225e-01 -9.84794822e-02 1.30538736e-03 2.85106918e+02] [ 9.84794352e-02 9.95139081e-01 1.00368461e-04 1.57696860e+01] [-1.30892621e-03 2.86733176e-05 9.99999143e-01 -2.11247816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.201400513 meters Centerline goodness [0,1] 0.9999571697789961 Centerline is valid? [True, True] Translation: X:285.13, Y:15.78, Z:-0.21 [[ 9.95350460e-01 -9.63151397e-02 9.25074706e-04 2.85134649e+02] [ 9.63151152e-02 9.95350890e-01 7.11394158e-05 1.57796413e+01] [-9.27625735e-04 1.82900267e-05 9.99999570e-01 -2.13067258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.231400513 meters Centerline goodness [0,1] 0.9999143010176754 Centerline is valid? [True, True] Translation: X:285.16, Y:15.79, Z:-0.21 [[ 9.95439071e-01 -9.53908609e-02 1.28055053e-03 2.85163321e+02] [ 9.53908125e-02 9.95439894e-01 9.89928773e-05 1.57883370e+01] [-1.28415410e-03 2.36113776e-05 9.99999175e-01 -2.12330368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.261400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.19, Y:15.79, Z:-0.21 [[ 9.95555240e-01 -9.41620282e-02 1.81033504e-03 2.85190867e+02] [ 9.41619276e-02 9.95556885e-01 1.40896347e-04 1.57921916e+01] [-1.81555860e-03 3.01945402e-05 9.99998351e-01 -2.12529549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.291400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.22, Y:15.80, Z:-0.21 [[ 9.95570750e-01 -9.39988494e-02 1.76012456e-03 2.85218462e+02] [ 9.39987546e-02 9.95572305e-01 1.36696655e-04 1.57994401e+01] [-1.76518059e-03 2.93583249e-05 9.99998442e-01 -2.12370026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.321400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.24, Y:15.80, Z:-0.21 [[ 9.95570549e-01 -9.40091543e-02 1.24915292e-03 2.85244882e+02] [ 9.40091061e-02 9.95571333e-01 9.73696307e-05 1.58031603e+01] [-1.25277447e-03 2.04934125e-05 9.99999215e-01 -2.13391647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.351400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.27, Y:15.81, Z:-0.22 [[ 9.95453513e-01 -9.52484252e-02 2.00601048e-04 2.85272278e+02] [ 9.52484240e-02 9.95453534e-01 1.54339138e-05 1.58053704e+01] [-2.01159078e-04 3.74318998e-06 9.99999980e-01 -2.15814202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.381400513 meters Centerline goodness [0,1] 0.9999788162521713 Centerline is valid? [True, True] Translation: X:285.30, Y:15.81, Z:-0.22 [[ 9.95365200e-01 -9.61671336e-02 4.42359825e-05 2.85299857e+02] [ 9.61671336e-02 9.95365201e-01 3.06608087e-06 1.58068367e+01] [-4.43258138e-05 1.20217744e-06 9.99999999e-01 -2.16551642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.411400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.33, Y:15.81, Z:-0.22 [[ 9.95223362e-01 -9.76238095e-02 -2.26579021e-04 2.85328198e+02] [ 9.76238078e-02 9.95223388e-01 -1.85921539e-05 1.58103271e+01] [ 2.27311778e-04 -3.61616087e-06 9.99999974e-01 -2.16212879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.441400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.36, Y:15.81, Z:-0.22 [[ 9.95048646e-01 -9.93890637e-02 -7.78123215e-05 2.85357167e+02] [ 9.93890635e-02 9.95048649e-01 -6.92066601e-06 1.58116980e+01] [ 7.81148839e-05 -8.47294427e-07 9.99999997e-01 -2.15963758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.471400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.39, Y:15.81, Z:-0.22 [[ 9.94901475e-01 -1.00850800e-01 -4.12693712e-04 2.85385310e+02] [ 1.00850795e-01 9.94901561e-01 -3.28078005e-05 1.58110411e+01] [ 4.13898311e-04 -8.97995975e-06 9.99999914e-01 -2.16626897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.501400513 meters Centerline goodness [0,1] 0.9999784329372183 Centerline is valid? [True, True] Translation: X:285.41, Y:15.82, Z:-0.22 [[ 9.94782490e-01 -1.02014525e-01 -9.13536639e-04 2.85413524e+02] [ 1.02014501e-01 9.94782909e-01 -7.29538959e-05 1.58158459e+01] [ 9.16212992e-04 -2.06207263e-05 9.99999580e-01 -2.16775616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.531400513 meters Centerline goodness [0,1] 0.999978688943824 Centerline is valid? [True, True] Translation: X:285.44, Y:15.81, Z:-0.22 [[ 9.94672874e-01 -1.03075943e-01 -1.10595164e-03 2.85441783e+02] [ 1.03075909e-01 9.94673489e-01 -8.77067478e-05 1.58140186e+01] [ 1.10910123e-03 -2.67574472e-05 9.99999385e-01 -2.18621909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.561400513 meters Centerline goodness [0,1] 0.999785283318661 Centerline is valid? [True, True] Translation: X:285.47, Y:15.82, Z:-0.22 [[ 9.94599223e-01 -1.03784281e-01 -1.09904699e-03 2.85470415e+02] [ 1.03784247e-01 9.94599830e-01 -8.78568746e-05 1.58187031e+01] [ 1.10223011e-03 -2.66813857e-05 9.99999392e-01 -2.17958695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.591400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.50, Y:15.82, Z:-0.22 [[ 9.94571261e-01 -1.04054000e-01 -8.78217806e-04 2.85498120e+02] [ 1.04053978e-01 9.94571649e-01 -7.06659924e-05 1.58223481e+01] [ 8.80803610e-04 -2.10996908e-05 9.99999612e-01 -2.18139506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.621400513 meters Centerline goodness [0,1] 0.9999785094128771 Centerline is valid? [True, True] Translation: X:285.52, Y:15.82, Z:-0.22 [[ 9.94554156e-01 -1.04217764e-01 -8.30323849e-04 2.85524732e+02] [ 1.04217744e-01 9.94554502e-01 -6.64829162e-05 1.58221888e+01] [ 8.32731023e-04 -2.04136181e-05 9.99999653e-01 -2.18684159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.651400513 meters Centerline goodness [0,1] 0.9999785094128771 Centerline is valid? [True, True] Translation: X:285.55, Y:15.82, Z:-0.22 [[ 9.94534506e-01 -1.04405109e-01 -8.30278213e-04 2.85552172e+02] [ 1.04405089e-01 9.94534852e-01 -6.70556047e-05 1.58245569e+01] [ 8.32741568e-04 -1.99961584e-05 9.99999653e-01 -2.18811807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.681400513 meters Centerline goodness [0,1] 0.9998920156361358 Centerline is valid? [True, True] Translation: X:285.58, Y:15.83, Z:-0.22 [[ 9.94499555e-01 -1.04734292e-01 -1.16751474e-03 2.85580669e+02] [ 1.04734254e-01 9.94500240e-01 -9.40643021e-05 1.58315287e+01] [ 1.17094544e-03 -2.87318781e-05 9.99999314e-01 -2.18333375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.7114005130001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.61, Y:15.83, Z:-0.22 [[ 9.94567217e-01 -1.04080318e-01 -1.82689962e-03 2.85608862e+02] [ 1.04080224e-01 9.94568894e-01 -1.46331163e-04 1.58322542e+01] [ 1.83220773e-03 -4.46079446e-05 9.99998321e-01 -2.20031585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.741400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.64, Y:15.83, Z:-0.22 [[ 9.94630948e-01 -1.03445947e-01 -2.86582178e-03 2.85637111e+02] [ 1.03445715e-01 9.94635075e-01 -2.29545702e-04 1.58330464e+01] [ 2.87419243e-03 -6.81437230e-05 9.99995867e-01 -2.21747872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.771400513 meters Centerline goodness [0,1] 0.9999785347843819 Centerline is valid? [True, True] Translation: X:285.67, Y:15.84, Z:-0.22 [[ 9.94654301e-01 -1.03238868e-01 -2.13464478e-03 2.85665193e+02] [ 1.03238737e-01 9.94656591e-01 -1.71881109e-04 1.58402156e+01] [ 2.14098331e-03 -4.94157457e-05 9.99997707e-01 -2.20246920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.801400513 meters Centerline goodness [0,1] 0.9999788247750132 Centerline is valid? [True, True] Translation: X:285.69, Y:15.85, Z:-0.22 [[ 9.94690144e-01 -1.02913860e-01 -5.05130945e-04 2.85694004e+02] [ 1.02913852e-01 9.94690272e-01 -4.13329555e-05 1.58461698e+01] [ 5.06702571e-04 -1.08714878e-05 9.99999872e-01 -2.18204205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.831400513 meters Centerline goodness [0,1] 0.9999787775891341 Centerline is valid? [True, True] Translation: X:285.72, Y:15.85, Z:-0.22 [[ 9.94695030e-01 -1.02865951e-01 6.26742072e-04 2.85722147e+02] [ 1.02865940e-01 9.94695228e-01 4.96834972e-05 1.58526925e+01] [-6.28528089e-04 1.50504846e-05 9.99999802e-01 -2.16204582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.861400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.75, Y:15.86, Z:-0.21 [[ 9.94680861e-01 -1.02997099e-01 1.25772052e-03 2.85749375e+02] [ 1.02997054e-01 9.94681656e-01 1.00570316e-04 1.58615651e+01] [-1.26138998e-03 2.95061404e-05 9.99999204e-01 -2.14581009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.891400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.78, Y:15.86, Z:-0.21 [[ 9.94677844e-01 -1.03018998e-01 1.75317396e-03 2.85775897e+02] [ 1.03018909e-01 9.94679388e-01 1.41221891e-04 1.58634689e+01] [-1.75839454e-03 4.01397828e-05 9.99998453e-01 -2.14547483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.921400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.80, Y:15.87, Z:-0.21 [[ 9.94610725e-01 -1.03671823e-01 1.28828726e-03 2.85803758e+02] [ 1.03671776e-01 9.94611558e-01 1.03521237e-04 1.58731515e+01] [-1.29207763e-03 3.05956955e-05 9.99999165e-01 -2.14206505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.951400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.83, Y:15.88, Z:-0.22 [[ 9.94496655e-01 -1.04765925e-01 7.09921755e-04 2.85832621e+02] [ 1.04765911e-01 9.94496908e-01 5.68165933e-05 1.58784392e+01] [-7.11967433e-04 1.78716877e-05 9.99999746e-01 -2.15152832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.981400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.86, Y:15.88, Z:-0.22 [[ 9.94320721e-01 -1.06424713e-01 2.90644016e-04 2.85860639e+02] [ 1.06424710e-01 9.94320763e-01 2.33112846e-05 1.58838526e+01] [-2.91474276e-04 7.75281189e-06 9.99999957e-01 -2.16071744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.011400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.89, Y:15.88, Z:-0.22 [[ 9.94159237e-01 -1.07923169e-01 -1.64678225e-05 2.85888982e+02] [ 1.07923169e-01 9.94159238e-01 -1.61712314e-06 1.58833048e+01] [ 1.65461629e-05 -1.69581674e-07 1.00000000e+00 -2.17278092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.041400513 meters Centerline goodness [0,1] 0.9999785871822873 Centerline is valid? [True, True] Translation: X:285.92, Y:15.89, Z:-0.22 [[ 9.93978496e-01 -1.09573612e-01 -6.10550461e-04 2.85917273e+02] [ 1.09573602e-01 9.93978683e-01 -5.04668989e-05 1.58910903e+01] [ 6.12403984e-04 -1.67372010e-05 9.99999812e-01 -2.17591660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.071400513 meters Centerline goodness [0,1] 0.9999787261200698 Centerline is valid? [True, True] Translation: X:285.95, Y:15.90, Z:-0.22 [[ 9.93849267e-01 -1.10735547e-01 -1.12850883e-03 2.85946107e+02] [ 1.10735513e-01 9.93849907e-01 -9.28191980e-05 1.58969098e+01] [ 1.13184678e-03 -3.27177117e-05 9.99999359e-01 -2.18023439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.101400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.97, Y:15.91, Z:-0.22 [[ 9.93701848e-01 -1.12050378e-01 -1.16209381e-03 2.85974233e+02] [ 1.12050342e-01 9.93702527e-01 -9.57589956e-05 1.59073230e+01] [ 1.16550539e-03 -3.50571185e-05 9.99999320e-01 -2.16941498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.131400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.00, Y:15.92, Z:-0.22 [[ 9.93661835e-01 -1.12410035e-01 -3.75239854e-04 2.86002070e+02] [ 1.12410031e-01 9.93661906e-01 -3.16602063e-05 1.59167722e+01] [ 3.76420473e-04 -1.07211850e-05 9.99999929e-01 -2.15325255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.161400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.03, Y:15.92, Z:-0.21 [[ 9.93613504e-01 -1.12837022e-01 1.09116305e-04 2.86030850e+02] [ 1.12837022e-01 9.93613510e-01 8.15277557e-06 1.59243234e+01] [-1.09339370e-04 4.21165104e-06 9.99999994e-01 -2.14362378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.191400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.06, Y:15.93, Z:-0.21 [[ 9.93584958e-01 -1.13087631e-01 3.46050539e-04 2.86057079e+02] [ 1.13087628e-01 9.93585018e-01 2.78324357e-05 1.59308844e+01] [-3.46978135e-04 1.14801451e-05 9.99999940e-01 -2.14462921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.221400513 meters Centerline goodness [0,1] 0.9999786593824025 Centerline is valid? [True, True] Translation: X:286.08, Y:15.94, Z:-0.22 [[ 9.93541447e-01 -1.13469704e-01 -1.36819918e-04 2.86084395e+02] [ 1.13469704e-01 9.93541457e-01 -1.15424924e-05 1.59357041e+01] [ 1.37245984e-04 -4.05697091e-06 9.99999991e-01 -2.16017667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.251400513 meters Centerline goodness [0,1] 0.999825810525399 Centerline is valid? [True, True] Translation: X:286.11, Y:15.95, Z:-0.22 [[ 9.93420637e-01 -1.14514889e-01 -1.33346289e-03 2.86111789e+02] [ 1.14514845e-01 9.93421531e-01 -1.10128100e-04 1.59489839e+01] [ 1.33730205e-03 -4.32977682e-05 9.99999105e-01 -2.16690640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.281400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.14, Y:15.95, Z:-0.22 [[ 9.93331055e-01 -1.15278688e-01 -2.05879547e-03 2.86139142e+02] [ 1.15278583e-01 9.93333186e-01 -1.70000527e-04 1.59517319e+01] [ 2.06466731e-03 -6.84682234e-05 9.99997866e-01 -2.19020386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.311400513 meters Centerline goodness [0,1] 0.9999355296241377 Centerline is valid? [True, True] Translation: X:286.17, Y:15.96, Z:-0.22 [[ 9.93158591e-01 -1.16736532e-01 -2.93159624e-03 2.86167817e+02] [ 1.16736323e-01 9.93162913e-01 -2.42956364e-04 1.59570387e+01] [ 2.93991454e-03 -1.00929564e-04 9.99995673e-01 -2.20081044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.341400513 meters Centerline goodness [0,1] 0.9999361321638423 Centerline is valid? [True, True] Translation: X:286.20, Y:15.96, Z:-0.22 [[ 9.92794198e-01 -1.19784498e-01 -3.36959203e-03 2.86196737e+02] [ 1.19784241e-01 9.92799908e-01 -2.78532243e-04 1.59574028e+01] [ 3.37869450e-03 -1.27098830e-04 9.99994284e-01 -2.22252115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.371400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.23, Y:15.97, Z:-0.22 [[ 9.92559160e-01 -1.21711419e-01 -3.55597854e-03 2.86225952e+02] [ 1.21711146e-01 9.92565519e-01 -2.94021752e-04 1.59674864e+01] [ 3.56532749e-03 -1.40968240e-04 9.99993634e-01 -2.20845789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.401400513 meters Centerline goodness [0,1] 0.9999355462455688 Centerline is valid? [True, True] Translation: X:286.25, Y:15.96, Z:-0.22 [[ 9.92261130e-01 -1.24126921e-01 -3.21839857e-03 2.86254932e+02] [ 1.24126709e-01 9.92266340e-01 -2.66294303e-04 1.59647510e+01] [ 3.22656286e-03 -1.35255736e-04 9.99994785e-01 -2.21895955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.431400513 meters Centerline goodness [0,1] 0.9999568043886741 Centerline is valid? [True, True] Translation: X:286.29, Y:15.97, Z:-0.22 [[ 9.91904129e-01 -1.26957798e-01 -2.81374080e-03 2.86285182e+02] [ 1.26957647e-01 9.91908111e-01 -2.32663684e-04 1.59687278e+01] [ 2.82051079e-03 -1.26445844e-04 9.99996014e-01 -2.21229019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.4614005130001 meters Centerline goodness [0,1] 0.9997155049786629 Centerline is valid? [True, True] Translation: X:286.31, Y:15.97, Z:-0.22 [[ 9.91457920e-01 -1.30397455e-01 -2.77430990e-03 2.86314694e+02] [ 1.30397322e-01 9.91461792e-01 -2.29496399e-04 1.59744650e+01] [ 2.78054801e-03 -1.34226558e-04 9.99996125e-01 -2.20436608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.491400513 meters Centerline goodness [0,1] 0.9996587613035318 Centerline is valid? [True, True] Translation: X:286.34, Y:15.96, Z:-0.22 [[ 9.91028266e-01 -1.33627509e-01 -2.58162733e-03 2.86344531e+02] [ 1.33627405e-01 9.91031620e-01 -2.13600389e-04 1.59620493e+01] [ 2.58701720e-03 -1.33292137e-04 9.99996645e-01 -2.22987093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.521400513 meters Centerline goodness [0,1] 0.9997224120259651 Centerline is valid? [True, True] Translation: X:286.37, Y:15.97, Z:-0.22 [[ 9.90311910e-01 -1.38807578e-01 -3.84402875e-03 2.86374643e+02] [ 1.38807385e-01 9.90319347e-01 -3.18043516e-04 1.59666141e+01] [ 3.85096289e-03 -2.18617298e-04 9.99992561e-01 -2.23855320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.551400513 meters Centerline goodness [0,1] 0.9994834933069341 Centerline is valid? [True, True] Translation: X:286.40, Y:15.97, Z:-0.22 [[ 9.90052286e-01 -1.40629212e-01 -4.46037283e-03 2.86403612e+02] [ 1.40628970e-01 9.90062299e-01 -3.69452033e-04 1.59685463e+01] [ 4.46800272e-03 -2.61480807e-04 9.99989984e-01 -2.24495007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.581400513 meters Centerline goodness [0,1] 0.9984393038867747 Centerline is valid? [True, True] Translation: X:286.43, Y:15.97, Z:-0.22 [[ 9.89887073e-01 -1.41781525e-01 -4.64567972e-03 2.86431753e+02] [ 1.41781274e-01 9.89897935e-01 -3.84998199e-04 1.59686302e+01] [ 4.65333440e-03 -2.77565649e-04 9.99989135e-01 -2.24914378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.611400513 meters Centerline goodness [0,1] 0.9993268040565485 Centerline is valid? [True, True] Translation: X:286.46, Y:15.97, Z:-0.22 [[ 9.89796986e-01 -1.42408758e-01 -4.65531787e-03 2.86459865e+02] [ 1.42408511e-01 9.89807894e-01 -3.86127069e-04 1.59729473e+01] [ 4.66285825e-03 -2.80769477e-04 9.99989089e-01 -2.24398858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.641400513 meters Centerline goodness [0,1] 0.998274411682233 Centerline is valid? [True, True] Translation: X:286.49, Y:15.97, Z:-0.22 [[ 9.89805335e-01 -1.42370551e-01 -4.00321763e-03 2.86487607e+02] [ 1.42370367e-01 9.89813401e-01 -3.32313714e-04 1.59742950e+01] [ 4.00975014e-03 -2.41013675e-04 9.99991932e-01 -2.24202216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.671400513 meters Centerline goodness [0,1] 0.9996117677508412 Centerline is valid? [True, True] Translation: X:286.52, Y:15.98, Z:-0.22 [[ 9.89925599e-01 -1.41550310e-01 -3.28897899e-03 2.86515796e+02] [ 1.41550181e-01 9.89931044e-01 -2.73182695e-04 1.59818474e+01] [ 3.29453150e-03 -1.95125027e-04 9.99994554e-01 -2.22680796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.701400513 meters Centerline goodness [0,1] 0.999956492418804 Centerline is valid? [True, True] Translation: X:286.54, Y:15.99, Z:-0.22 [[ 9.90083894e-01 -1.40446891e-01 -2.92481144e-03 2.86543995e+02] [ 1.40446784e-01 9.90088199e-01 -2.43109917e-04 1.59893876e+01] [ 2.92996532e-03 -1.70081146e-04 9.99995693e-01 -2.22303608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.731400513 meters Centerline goodness [0,1] 0.9996758789083602 Centerline is valid? [True, True] Translation: X:286.57, Y:15.99, Z:-0.22 [[ 9.90267268e-01 -1.39155026e-01 -2.57246196e-03 2.86572611e+02] [ 1.39154938e-01 9.90270598e-01 -2.13971104e-04 1.59869296e+01] [ 2.57720860e-03 -1.46082204e-04 9.99996668e-01 -2.22759743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.761400513 meters Centerline goodness [0,1] 0.994679590737749 Centerline is valid? [True, True] Translation: X:286.60, Y:15.98, Z:-0.22 [[ 9.90521982e-01 -1.37344489e-01 -1.64165084e-03 2.86602436e+02] [ 1.37344451e-01 9.90523338e-01 -1.36552655e-04 1.59819241e+01] [ 1.64484822e-03 -9.02132266e-05 9.99998643e-01 -2.21607457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.791400513 meters Centerline goodness [0,1] 0.9998270307669024 Centerline is valid? [True, True] Translation: X:286.63, Y:16.00, Z:-0.22 [[ 9.90600757e-01 -1.36778781e-01 -1.30606688e-03 2.86630606e+02] [ 1.36778755e-01 9.90601615e-01 -1.09486762e-04 1.59969570e+01] [ 1.30876743e-03 -7.01845327e-05 9.99999141e-01 -2.18895738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.821400513 meters Centerline goodness [0,1] 0.9998485536877177 Centerline is valid? [True, True] Translation: X:286.66, Y:16.00, Z:-0.22 [[ 9.90759122e-01 -1.35633109e-01 -1.49636003e-04 2.86659065e+02] [ 1.35633108e-01 9.90759133e-01 -1.26907115e-05 1.59999947e+01] [ 1.49974518e-04 -7.72215807e-06 9.99999989e-01 -2.17758563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.851400513 meters Centerline goodness [0,1] 0.9998707704236576 Centerline is valid? [True, True] Translation: X:286.69, Y:16.00, Z:-0.22 [[ 9.90929462e-01 -1.34380307e-01 8.56489334e-04 2.86686605e+02] [ 1.34380296e-01 9.90929832e-01 7.11353226e-05 1.60031401e+01] [-8.58280018e-04 4.46052029e-05 9.99999631e-01 -2.17070638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.881400513 meters Centerline goodness [0,1] 0.9999784844442532 Centerline is valid? [True, True] Translation: X:286.72, Y:16.01, Z:-0.22 [[ 9.91022797e-01 -1.33686424e-01 1.32535580e-03 2.86715239e+02] [ 1.33686396e-01 9.91023681e-01 1.09940553e-04 1.60094591e+01] [-1.32815654e-03 6.82284462e-05 9.99999116e-01 -2.16549847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.911400513 meters Centerline goodness [0,1] 0.9997020325635841 Centerline is valid? [True, True] Translation: X:286.74, Y:16.00, Z:-0.22 [[ 9.91100664e-01 -1.33104967e-01 1.59455289e-03 2.86743874e+02] [ 1.33104924e-01 9.91101943e-01 1.33042612e-04 1.60035708e+01] [-1.59807310e-03 8.03842211e-05 9.99998720e-01 -2.16877441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.941400513 meters Centerline goodness [0,1] 0.9998492061782382 Centerline is valid? [True, True] Translation: X:286.77, Y:16.01, Z:-0.22 [[ 9.91150415e-01 -1.32733851e-01 1.60643212e-03 2.86772205e+02] [ 1.32733808e-01 9.91151713e-01 1.33809891e-04 1.60135541e+01] [-1.60997905e-03 8.06021237e-05 9.99998701e-01 -2.16214214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.971400513 meters Centerline goodness [0,1] 0.9999360804534027 Centerline is valid? [True, True] Translation: X:286.80, Y:16.02, Z:-0.22 [[ 9.91331499e-01 -1.31383488e-01 4.87479452e-04 2.86800421e+02] [ 1.31383484e-01 9.91331619e-01 4.02000468e-05 1.60166817e+01] [-4.88535417e-04 2.41951764e-05 9.99999880e-01 -2.18352088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.001400513 meters Centerline goodness [0,1] 0.9999350297780184 Centerline is valid? [True, True] Translation: X:286.83, Y:16.02, Z:-0.22 [[ 9.91388778e-01 -1.30949968e-01 -6.29314645e-04 2.86828279e+02] [ 1.30949960e-01 9.91388978e-01 -5.37216207e-05 1.60247252e+01] [ 6.30930447e-04 -2.91497158e-05 9.99999801e-01 -2.19246080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.031400513 meters Centerline goodness [0,1] 0.9998704747101872 Centerline is valid? [True, True] Translation: X:286.86, Y:16.02, Z:-0.22 [[ 9.91422539e-01 -1.30690730e-01 -1.13270254e-03 2.86856249e+02] [ 1.30690706e-01 9.91423184e-01 -9.56181161e-05 1.60241612e+01] [ 1.13548396e-03 -5.32357394e-05 9.99999354e-01 -2.19873034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.061400513 meters Centerline goodness [0,1] 0.9999568788943749 Centerline is valid? [True, True] Translation: X:286.88, Y:16.03, Z:-0.22 [[ 9.91420615e-01 -1.30705962e-01 -1.05650343e-03 2.86884846e+02] [ 1.30705940e-01 9.91421176e-01 -8.98844909e-05 1.60304643e+01] [ 1.05918831e-03 -4.89779368e-05 9.99999438e-01 -2.18923844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.091400513 meters Centerline goodness [0,1] 0.9999141151715549 Centerline is valid? [True, True] Translation: X:286.91, Y:16.03, Z:-0.22 [[ 9.91374217e-01 -1.31060742e-01 -4.93396112e-04 2.86913066e+02] [ 1.31060737e-01 9.91374340e-01 -4.24749610e-05 1.60347664e+01] [ 4.94707045e-04 -2.25562767e-05 9.99999877e-01 -2.17725112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.121400513 meters Centerline goodness [0,1] 0.999957470335559 Centerline is valid? [True, True] Translation: X:286.94, Y:16.03, Z:-0.22 [[ 9.91331706e-01 -1.31382783e-01 1.13176035e-04 2.86940987e+02] [ 1.31382783e-01 9.91331713e-01 9.29407146e-06 1.60347892e+01] [-1.13416074e-04 5.65587480e-06 9.99999994e-01 -2.17316621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.151400513 meters Centerline goodness [0,1] 0.9997873516777953 Centerline is valid? [True, True] Translation: X:286.97, Y:16.04, Z:-0.22 [[ 9.91266945e-01 -1.31869805e-01 -4.44669405e-04 2.86968270e+02] [ 1.31869802e-01 9.91267045e-01 -3.81091167e-05 1.60373476e+01] [ 4.45811569e-04 -2.08621586e-05 9.99999900e-01 -2.19201350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.181400513 meters Centerline goodness [0,1] 0.9998723241264842 Centerline is valid? [True, True] Translation: X:287.00, Y:16.05, Z:-0.22 [[ 9.91248223e-01 -1.32003162e-01 -1.45768321e-03 2.86995297e+02] [ 1.32003123e-01 9.91249293e-01 -1.23776869e-04 1.60538548e+01] [ 1.46126639e-03 -6.97251342e-05 9.99998930e-01 -2.19973004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.2114005130001 meters Centerline goodness [0,1] 0.9998705445758177 Centerline is valid? [True, True] Translation: X:287.02, Y:16.06, Z:-0.22 [[ 9.91198835e-01 -1.32351800e-01 -2.80529606e-03 2.87023779e+02] [ 1.32351653e-01 9.91202796e-01 -2.38920832e-04 1.60610282e+01] [ 2.81223891e-03 -1.34467521e-04 9.99996037e-01 -2.21436163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.241400513 meters Centerline goodness [0,1] 0.9997386873394016 Centerline is valid? [True, True] Translation: X:287.05, Y:16.07, Z:-0.22 [[ 9.91126916e-01 -1.32886165e-01 -2.95032199e-03 2.87052174e+02] [ 1.32886003e-01 9.91131296e-01 -2.51732367e-04 1.60686348e+01] [ 2.95760821e-03 -1.42557772e-04 9.99995616e-01 -2.21328621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.271400513 meters Centerline goodness [0,1] 0.9997674467770238 Centerline is valid? [True, True] Translation: X:287.08, Y:16.07, Z:-0.22 [[ 9.91026656e-01 -1.33651629e-01 -1.84661859e-03 2.87079910e+02] [ 1.33651567e-01 9.91028372e-01 -1.57458611e-04 1.60665209e+01] [ 1.85109601e-03 -9.07577875e-05 9.99998283e-01 -2.20843333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.301400513 meters Centerline goodness [0,1] 0.9999784747185569 Centerline is valid? [True, True] Translation: X:287.11, Y:16.08, Z:-0.22 [[ 9.90848137e-01 -1.34968451e-01 -1.86734595e-03 2.87108394e+02] [ 1.34968390e-01 9.90849892e-01 -1.59106944e-04 1.60837319e+01] [ 1.87173395e-03 -9.43818571e-05 9.99998244e-01 -2.18808793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.331400513 meters Centerline goodness [0,1] 0.9998067715825407 Centerline is valid? [True, True] Translation: X:287.14, Y:16.09, Z:-0.22 [[ 9.90601597e-01 -1.36758461e-01 -2.36621832e-03 2.87136850e+02] [ 1.36758368e-01 9.90604415e-01 -2.01724974e-04 1.60854667e+01] [ 2.37157391e-03 -1.23771076e-04 9.99997180e-01 -2.20388846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.361400513 meters Centerline goodness [0,1] 0.9999137038315499 Centerline is valid? [True, True] Translation: X:287.17, Y:16.09, Z:-0.22 [[ 9.90261846e-01 -1.39175879e-01 -3.39867338e-03 2.87166625e+02] [ 1.39175702e-01 9.90267661e-01 -2.89596690e-04 1.60876774e+01] [ 3.40590121e-03 -1.86236201e-04 9.99994183e-01 -2.22204440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.391400513 meters Centerline goodness [0,1] 0.9996134684762068 Centerline is valid? [True, True] Translation: X:287.20, Y:16.09, Z:-0.22 [[ 9.89825627e-01 -1.42226448e-01 -4.10668062e-03 2.87196061e+02] [ 1.42226216e-01 9.89834118e-01 -3.50014999e-04 1.60885031e+01] [ 4.11471398e-03 -2.37623828e-04 9.99991506e-01 -2.23652746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.421400513 meters Centerline goodness [0,1] 0.9890466789785392 Centerline is valid? [True, True] Translation: X:287.23, Y:16.09, Z:-0.22 [[ 9.88756856e-01 -1.49483899e-01 -3.80051325e-03 2.87226156e+02] [ 1.49483753e-01 9.88764129e-01 -3.23917577e-04 1.60885454e+01] [ 3.80623164e-03 -2.47839261e-04 9.99992726e-01 -2.23570606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.451400513 meters Centerline goodness [0,1] 0.9742218212283302 Centerline is valid? [True, True] Translation: X:287.26, Y:16.09, Z:-0.22 [[ 9.88203637e-01 -1.53107017e-01 -3.43715861e-03 2.87255918e+02] [ 1.53106920e-01 9.88209586e-01 -2.93014791e-04 1.60922802e+01] [ 3.44149571e-03 -2.36694485e-04 9.99994050e-01 -2.22639627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.481400513 meters Centerline goodness [0,1] 0.7999354908074401 Centerline is valid? [True, False] Translation: X:287.25, Y:16.09, Z:-0.22 [[ 9.88705404e-01 -1.49828972e-01 -3.59207673e-03 2.87254601e+02] [ 1.49844039e-01 9.88699972e-01 4.37361624e-03 1.60879421e+01] [ 2.89619173e-03 -4.86246930e-03 9.99983984e-01 -2.22278727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.511400513 meters Centerline goodness [0,1] 0.9299141231694391 Centerline is valid? [False, False] Translation: X:287.25, Y:16.09, Z:-0.22 [[ 9.88677408e-01 -1.50014534e-01 -3.55290998e-03 2.87254521e+02] [ 1.50028284e-01 9.88673679e-01 3.98383532e-03 1.60897522e+01] [ 2.91503538e-03 -4.47176497e-03 9.99985753e-01 -2.22509696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.541400513 meters Centerline goodness [0,1] 0.9501877078193715 Centerline is valid? [False, True] Translation: X:287.25, Y:16.09, Z:-0.22 [[ 9.89301536e-01 -1.45825787e-01 -4.16070488e-03 2.87254671e+02] [ 1.45857900e-01 9.89265544e-01 8.89699121e-03 1.60862385e+01] [ 2.81863123e-03 -9.40867874e-03 9.99951765e-01 -2.22642262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.571400513 meters Centerline goodness [0,1] 0.9501877078193715 Centerline is valid? [True, True] Translation: X:287.28, Y:16.10, Z:-0.22 [[ 9.89282532e-01 -1.45972314e-01 -3.48655057e-03 2.87281603e+02] [ 1.45972306e-01 9.89288643e-01 -2.58202204e-04 1.60960152e+01] [ 3.48689525e-03 -2.53504895e-04 9.99993889e-01 -2.24048057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.601400513 meters Centerline goodness [0,1] 0.8882665980000859 Centerline is valid? [True, False] Translation: X:287.28, Y:16.10, Z:-0.22 [[ 9.89881830e-01 -1.41842198e-01 -3.84110455e-03 2.87280628e+02] [ 1.41856552e-01 9.89880069e-01 3.76398892e-03 1.60972581e+01] [ 3.26834037e-03 -4.27079009e-03 9.99985539e-01 -2.23958976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.631400513 meters Centerline goodness [0,1] 0.888003908075273 Centerline is valid? [False, False] Translation: X:287.28, Y:16.10, Z:-0.22 [[ 9.90486432e-01 -1.37545084e-01 -4.24002170e-03 2.87279783e+02] [ 1.37576948e-01 9.90454898e-01 8.46630961e-03 1.60950637e+01] [ 3.03505099e-03 -8.96909404e-03 9.99955171e-01 -2.23484360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.661400513 meters Centerline goodness [0,1] 0.9480877796171314 Centerline is valid? [False, False] Translation: X:287.28, Y:16.10, Z:-0.22 [[ 9.90423875e-01 -1.38001389e-01 -4.02058388e-03 2.87278678e+02] [ 1.38027970e-01 9.90401245e-01 7.32481104e-03 1.61005185e+01] [ 2.97115718e-03 -7.80962077e-03 9.99965090e-01 -2.23136278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.691400513 meters Centerline goodness [0,1] 0.9861966811927098 Centerline is valid? [False, True] Translation: X:287.28, Y:16.11, Z:-0.22 [[ 9.90362863e-01 -1.38441666e-01 -3.91214573e-03 2.87278099e+02] [ 1.38464299e-01 9.90347575e-01 6.27053000e-03 1.61054695e+01] [ 3.00628142e-03 -6.75179256e-03 9.99972687e-01 -2.23012016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.721400513 meters Centerline goodness [0,1] 0.9730313067635431 Centerline is valid? [True, True] Translation: X:287.31, Y:16.11, Z:-0.22 [[ 9.90386728e-01 -1.38282911e-01 -3.45914147e-03 2.87305905e+02] [ 1.38282875e-01 9.90392742e-01 -2.50786935e-04 1.61140490e+01] [ 3.46058815e-03 -2.29963976e-04 9.99993986e-01 -2.24372428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.751400513 meters Centerline goodness [0,1] 0.9836947131997236 Centerline is valid? [True, True] Translation: X:287.33, Y:16.12, Z:-0.23 [[ 9.90280740e-01 -1.39023115e-01 -4.07789748e-03 2.87334734e+02] [ 1.39023069e-01 9.90289098e-01 -2.96271792e-04 1.61197808e+01] [ 4.07948605e-03 -2.73529573e-04 9.99991641e-01 -2.25607877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.781400513 meters Centerline goodness [0,1] 0.8921873348134052 Centerline is valid? [True, False] Translation: X:287.38, Y:16.13, Z:-0.23 [[ 9.90265972e-01 -1.39176433e-01 -1.79571149e-03 2.87376799e+02] [ 1.39175825e-01 9.90267579e-01 -4.59731789e-04 1.61270767e+01] [ 1.84221870e-03 2.05337118e-04 9.99998282e-01 -2.27092931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.811400513 meters Centerline goodness [0,1] 0.9359620771385477 Centerline is valid? [False, False] Translation: X:287.34, Y:16.13, Z:-0.23 [[ 9.90176394e-01 -1.39752812e-01 -4.45638336e-03 2.87335644e+02] [ 1.39744729e-01 9.90185383e-01 -2.07792752e-03 1.61275847e+01] [ 4.70304188e-03 1.43475869e-03 9.99987911e-01 -2.27660805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.841400513 meters Centerline goodness [0,1] 0.99140860421876 Centerline is valid? [False, True] Translation: X:287.34, Y:16.12, Z:-0.23 [[ 9.90747705e-01 -1.35617260e-01 -5.19072532e-03 2.87336529e+02] [ 1.35634146e-01 9.90754293e-01 3.05106945e-03 1.61228520e+01] [ 4.72895572e-03 -3.72687966e-03 9.99981874e-01 -2.28143107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.871400513 meters Centerline goodness [0,1] 0.9501278772378516 Centerline is valid? [True, True] Translation: X:287.36, Y:16.12, Z:-0.23 [[ 9.90644898e-01 -1.36325204e-01 -6.17453549e-03 2.87364763e+02] [ 1.36325304e-01 9.90664043e-01 -4.06608000e-04 1.61219733e+01] [ 6.17232121e-03 -4.38941291e-04 9.99980855e-01 -2.31405144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.901400513 meters Centerline goodness [0,1] 0.9910441380784439 Centerline is valid? [True, True] Translation: X:287.39, Y:16.13, Z:-0.23 [[ 9.90545376e-01 -1.37020812e-01 -6.71979694e-03 2.87392759e+02] [ 1.37020939e-01 9.90568052e-01 -4.43593013e-04 1.61316108e+01] [ 6.71719764e-03 -4.81353882e-04 9.99977324e-01 -2.31195850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.931400513 meters Centerline goodness [0,1] 0.9204662766689607 Centerline is valid? [True, False] Translation: X:287.39, Y:16.13, Z:-0.23 [[ 9.91115719e-01 -1.32816233e-01 -7.03423192e-03 2.87391990e+02] [ 1.32849770e-01 9.91125812e-01 4.53472301e-03 1.61278086e+01] [ 6.36952399e-03 -5.42893135e-03 9.99964977e-01 -2.31005196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.9614005130001 meters Centerline goodness [0,1] 0.9200630968622101 Centerline is valid? [False, False] Translation: X:287.39, Y:16.13, Z:-0.23 [[ 9.91047006e-01 -1.33343232e-01 -6.73906796e-03 2.87390367e+02] [ 1.33367997e-01 9.91060864e-01 3.36776279e-03 1.61332971e+01] [ 6.22975814e-03 -4.23638723e-03 9.99971621e-01 -2.30160556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.991400513 meters Centerline goodness [0,1] 0.9433893820416525 Centerline is valid? [False, False] Translation: X:287.39, Y:16.13, Z:-0.23 [[ 9.91031337e-01 -1.33465657e-01 -6.61876068e-03 2.87389899e+02] [ 1.33488510e-01 9.91045391e-01 3.13844893e-03 1.61343768e+01] [ 6.14061712e-03 -3.99382974e-03 9.99973171e-01 -2.30135565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.021400513 meters Centerline goodness [0,1] 0.9014187289390655 Centerline is valid? [False, False] Translation: X:287.39, Y:16.13, Z:-0.23 [[ 9.91033538e-01 -1.33454189e-01 -6.51965131e-03 2.87389678e+02] [ 1.33477269e-01 9.91046574e-01 3.24140108e-03 1.61339123e+01] [ 6.02869954e-03 -4.08256243e-03 9.99973493e-01 -2.30354930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.051400513 meters Centerline goodness [0,1] 0.8083074617278664 Centerline is valid? [False, False] Translation: X:287.39, Y:16.13, Z:-0.23 [[ 9.91512514e-01 -1.29834152e-01 -6.78441877e-03 2.87389070e+02] [ 1.29888470e-01 9.91493918e-01 8.29430062e-03 1.61282946e+01] [ 5.64982647e-03 -9.10512063e-03 9.99942586e-01 -2.30443341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.081400513 meters Centerline goodness [0,1] 0.8069255885891047 Centerline is valid? [False, False] Translation: X:287.39, Y:16.13, Z:-0.23 [[ 9.91501127e-01 -1.29922977e-01 -6.74791698e-03 2.87388970e+02] [ 1.29976006e-01 9.91483854e-01 8.12431846e-03 1.61290960e+01] [ 5.63491510e-03 -8.93233821e-03 9.99944229e-01 -2.30547490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.111400513 meters Centerline goodness [0,1] 0.9552035612412482 Centerline is valid? [False, True] Translation: X:287.39, Y:16.13, Z:-0.23 [[ 9.91476786e-01 -1.30105828e-01 -6.80120317e-03 2.87389191e+02] [ 1.30157007e-01 9.91463358e-01 7.71777262e-03 1.61309896e+01] [ 5.73901653e-03 -8.53721665e-03 9.99947088e-01 -2.30749117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.141400513 meters Centerline goodness [0,1] 0.6112747071160731 Centerline is valid? [True, False] Translation: X:287.41, Y:16.14, Z:-0.23 [[ 9.91623855e-01 -1.29014001e-01 -6.12521125e-03 2.87410225e+02] [ 1.28998804e-01 9.91640751e-01 -2.81608857e-03 1.61402789e+01] [ 6.43732394e-03 2.00235568e-03 9.99977275e-01 -2.28903994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.171400513 meters Centerline goodness [0,1] 0.8302602327710213 Centerline is valid? [False, False] Translation: X:287.34, Y:16.14, Z:-0.23 [[ 9.92022679e-01 -1.25904222e-01 -6.25554786e-03 2.87344261e+02] [ 1.25833205e-01 9.91993892e-01 -1.06827905e-02 1.61422113e+01] [ 7.55047369e-03 9.81041476e-03 9.99923370e-01 -2.27642866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.201400513 meters Centerline goodness [0,1] 0.813007426010522 Centerline is valid? [False, False] Translation: X:287.34, Y:16.14, Z:-0.23 [[ 9.92560822e-01 -1.21576898e-01 -6.48637834e-03 2.87343313e+02] [ 1.21542343e-01 9.92571117e-01 -5.48059130e-03 1.61374134e+01] [ 7.10450508e-03 4.65145058e-03 9.99963944e-01 -2.27384285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.231400513 meters Centerline goodness [0,1] 0.7609695759732651 Centerline is valid? [False, False] Translation: X:287.34, Y:16.14, Z:-0.23 [[ 9.93045906e-01 -1.17566881e-01 -6.15282561e-03 2.87340122e+02] [ 1.17563687e-01 9.93064956e-01 -8.79520878e-04 1.61353038e+01] [ 6.21355802e-03 1.50055742e-04 9.99980684e-01 -2.26127968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.261400513 meters Centerline goodness [0,1] 0.8511757757972727 Centerline is valid? [False, False] Translation: X:287.34, Y:16.13, Z:-0.23 [[ 9.93513660e-01 -1.13521681e-01 -6.59055366e-03 2.87339964e+02] [ 1.13549864e-01 9.93523957e-01 4.07127539e-03 1.61313198e+01] [ 6.08569493e-03 -4.79322418e-03 9.99969994e-01 -2.25980362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.291400513 meters Centerline goodness [0,1] 0.7294919163658886 Centerline is valid? [False, False] Translation: X:287.34, Y:16.13, Z:-0.23 [[ 9.93962708e-01 -1.09503372e-01 -6.86627877e-03 2.87339457e+02] [ 1.09563588e-01 9.93938037e-01 9.11040532e-03 1.61268258e+01] [ 5.82703554e-03 -9.80769729e-03 9.99934925e-01 -2.25958713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.321400513 meters Centerline goodness [0,1] 0.6660093717532811 Centerline is valid? [False, False] Translation: X:287.34, Y:16.13, Z:-0.23 [[ 9.93955725e-01 -1.09565330e-01 -6.88880309e-03 2.87339617e+02] [ 1.09625314e-01 9.93931934e-01 9.03335502e-03 1.61271559e+01] [ 5.85725886e-03 -9.73394214e-03 9.99935469e-01 -2.26150054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.351400513 meters Centerline goodness [0,1] 0.7132945485886663 Centerline is valid? [False, False] Translation: X:287.32, Y:16.14, Z:-0.22 [[ 9.93727683e-01 -1.11247014e-01 -1.13751462e-02 2.87316037e+02] [ 1.11205447e-01 9.93788455e-01 -4.22563849e-03 1.61375017e+01] [ 1.17745786e-02 2.93415573e-03 9.99926372e-01 -2.20144183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.381400513 meters Centerline goodness [0,1] 0.6915831706322813 Centerline is valid? [False, False] Translation: X:287.31, Y:16.13, Z:-0.22 [[ 9.94096654e-01 -1.07905101e-01 -1.13283875e-02 2.87314686e+02] [ 1.07918481e-01 9.94159580e-01 5.74739485e-04 1.61325122e+01] [ 1.12002076e-02 -1.79388897e-03 9.99935667e-01 -2.20290639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.411400513 meters Centerline goodness [0,1] 0.6581785500299581 Centerline is valid? [False, False] Translation: X:287.31, Y:16.13, Z:-0.22 [[ 9.94516740e-01 -1.03970030e-01 -1.12555408e-02 2.87313137e+02] [ 1.04037583e-01 9.94557652e-01 5.59096546e-03 1.61279352e+01] [ 1.06129914e-02 -6.73130800e-03 9.99921024e-01 -2.20222073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.441400513 meters Centerline goodness [0,1] 0.6851215531311743 Centerline is valid? [False, False] Translation: X:287.31, Y:16.13, Z:-0.22 [[ 9.94503804e-01 -1.04097765e-01 -1.12178285e-02 2.87312969e+02] [ 1.04161985e-01 9.94546225e-01 5.29974530e-03 1.61293050e+01] [ 1.06049573e-02 -6.43908815e-03 9.99923034e-01 -2.20199852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.471400513 meters Centerline goodness [0,1] 0.6849942236104574 Centerline is valid? [False, False] Translation: X:287.31, Y:16.13, Z:-0.22 [[ 9.94492102e-01 -1.04204060e-01 -1.12682585e-02 2.87313129e+02] [ 1.04265670e-01 9.94536791e-01 5.02416773e-03 1.61306003e+01] [ 1.06831590e-02 -6.17138765e-03 9.99923889e-01 -2.20245264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.501400513 meters Centerline goodness [0,1] 0.5611353711790392 Centerline is valid? [False, False] Translation: X:287.31, Y:16.13, Z:-0.22 [[ 9.94483219e-01 -1.04276992e-01 -1.13769944e-02 2.87313661e+02] [ 1.04336770e-01 9.94530479e-01 4.79208218e-03 1.61317412e+01] [ 1.08150638e-02 -5.95268415e-03 9.99923797e-01 -2.20625176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.531400513 meters Centerline goodness [0,1] 0.5367226800813443 Centerline is valid? [False, False] Translation: X:287.31, Y:16.13, Z:-0.22 [[ 9.94463769e-01 -1.04448624e-01 -1.15020807e-02 2.87314202e+02] [ 1.04504297e-01 9.94514926e-01 4.34889728e-03 1.61338568e+01] [ 1.09847546e-02 -5.52683764e-03 9.99924392e-01 -2.20940503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.561400513 meters Centerline goodness [0,1] 0.6132455099966113 Centerline is valid? [False, False] Translation: X:287.31, Y:16.14, Z:-0.22 [[ 9.94431609e-01 -1.04734763e-01 -1.16792154e-02 2.87314853e+02] [ 1.04780606e-01 9.94489607e-01 3.38323466e-03 1.61386308e+01] [ 1.12605160e-02 -4.58815075e-03 9.99926072e-01 -2.21349545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.591400513 meters Centerline goodness [0,1] 0.5939820824378099 Centerline is valid? [False, False] Translation: X:287.31, Y:16.14, Z:-0.22 [[ 9.94414205e-01 -1.04898219e-01 -1.16940986e-02 2.87314787e+02] [ 1.04939559e-01 9.94474143e-01 2.97776391e-03 1.61405481e+01] [ 1.13171165e-02 -4.18830428e-03 9.99927188e-01 -2.21213162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.621400513 meters Centerline goodness [0,1] 0.6680908667879352 Centerline is valid? [False, False] Translation: X:287.31, Y:16.14, Z:-0.22 [[ 9.94398940e-01 -1.05040656e-01 -1.17136046e-02 2.87314676e+02] [ 1.05077413e-01 9.94460734e-01 2.56626762e-03 1.61425246e+01] [ 1.13791574e-02 -3.78272907e-03 9.99928100e-01 -2.20979851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.651400513 meters Centerline goodness [0,1] 0.6527173089002967 Centerline is valid? [False, False] Translation: X:287.25, Y:16.15, Z:-0.22 [[ 9.94845139e-01 -1.00764064e-01 -1.13909420e-02 2.87249447e+02] [ 1.00720021e-01 9.94905178e-01 -4.37770866e-03 1.61454823e+01] [ 1.17740229e-02 3.20784626e-03 9.99925538e-01 -2.21217362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.681400513 meters Centerline goodness [0,1] 0.7888779316554474 Centerline is valid? [False, False] Translation: X:287.25, Y:16.15, Z:-0.22 [[ 9.94817167e-01 -1.01034801e-01 -1.14356060e-02 2.87249499e+02] [ 1.00982481e-01 9.94875310e-01 -5.06517107e-03 1.61487755e+01] [ 1.18887606e-02 3.88412327e-03 9.99921782e-01 -2.21202255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.7114005130001 meters Centerline goodness [0,1] 0.8045866871087262 Centerline is valid? [False, False] Translation: X:287.25, Y:16.15, Z:-0.22 [[ 9.95241053e-01 -9.67221303e-02 -1.18354058e-02 2.87249659e+02] [ 9.67278785e-02 9.95310861e-01 -8.71291780e-05 1.61451661e+01] [ 1.17883353e-02 -1.05809916e-03 9.99929955e-01 -2.21583461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.741400513 meters Centerline goodness [0,1] 0.8901129460083854 Centerline is valid? [False, False] Translation: X:287.25, Y:16.14, Z:-0.22 [[ 9.95637156e-01 -9.25203653e-02 -1.21093168e-02 2.87249600e+02] [ 9.25858765e-02 9.95692325e-01 4.96486587e-03 1.61409803e+01] [ 1.15978026e-02 -6.06435665e-03 9.99914354e-01 -2.22143249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.771400513 meters Centerline goodness [0,1] 0.725398553044369 Centerline is valid? [False, False] Translation: X:287.25, Y:16.14, Z:-0.22 [[ 9.95607844e-01 -9.28504902e-02 -1.19919723e-02 2.87249258e+02] [ 9.29074026e-02 9.95665562e-01 4.27813043e-03 1.61442271e+01] [ 1.15427673e-02 -5.37348321e-03 9.99918942e-01 -2.22394901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.801400513 meters Centerline goodness [0,1] 0.7099421990158792 Centerline is valid? [False, False] Translation: X:287.25, Y:16.15, Z:-0.22 [[ 9.95594070e-01 -9.30109986e-02 -1.18912747e-02 2.87248803e+02] [ 9.30635812e-02 9.95652346e-01 3.94664515e-03 1.61457788e+01] [ 1.14724942e-02 -5.03590111e-03 9.99921508e-01 -2.22233801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.831400513 meters Centerline goodness [0,1] 0.766647278054245 Centerline is valid? [False, False] Translation: X:287.25, Y:16.15, Z:-0.22 [[ 9.95587538e-01 -9.30855223e-02 -1.18549837e-02 2.87248640e+02] [ 9.31361329e-02 9.95646171e-01 3.78991778e-03 1.61465093e+01] [ 1.14505827e-02 -4.87732225e-03 9.99922545e-01 -2.22175103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.861400513 meters Centerline goodness [0,1] 0.7233814645014782 Centerline is valid? [False, False] Translation: X:287.25, Y:16.15, Z:-0.22 [[ 9.95578805e-01 -9.31714856e-02 -1.19128816e-02 2.87248893e+02] [ 9.32204091e-02 9.95638922e-01 3.61844205e-03 1.61472979e+01] [ 1.15237930e-02 -4.71296791e-03 9.99922492e-01 -2.22335753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.891400513 meters Centerline goodness [0,1] 0.4981910817117291 Centerline is valid? [False, False] Translation: X:287.25, Y:16.14, Z:-0.22 [[ 9.95960140e-01 -8.89743752e-02 -1.21226974e-02 2.87248836e+02] [ 8.90842618e-02 9.95984802e-01 8.84690939e-03 1.61420707e+01] [ 1.12868741e-02 -9.89111066e-03 9.99887380e-01 -2.23062511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.921400513 meters Centerline goodness [0,1] 0.6818172036068608 Centerline is valid? [False, False] Translation: X:287.25, Y:16.14, Z:-0.22 [[ 9.95947504e-01 -8.90970966e-02 -1.22587060e-02 2.87249444e+02] [ 8.92046579e-02 9.95976829e-01 8.52559636e-03 1.61436060e+01] [ 1.14497813e-02 -9.58458009e-03 9.99888513e-01 -2.23435439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.951400513 meters Centerline goodness [0,1] 0.5443897868353245 Centerline is valid? [False, False] Translation: X:287.26, Y:16.15, Z:-0.22 [[ 9.95715359e-01 -9.11831291e-02 -1.53805309e-02 2.87260289e+02] [ 9.12046538e-02 9.95831922e-01 7.02439733e-04 1.61541656e+01] [ 1.52523730e-02 -2.10220603e-03 9.99881466e-01 -2.16598561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.981400513 meters Centerline goodness [0,1] 0.7713725405684977 Centerline is valid? [False, False] Translation: X:287.26, Y:16.16, Z:-0.22 [[ 9.95699177e-01 -9.13947595e-02 -1.51706084e-02 2.87258998e+02] [ 9.14084741e-02 9.95813459e-01 2.11644329e-04 1.61563955e+01] [ 1.50877529e-02 -1.59745625e-03 9.99884897e-01 -2.15488026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.011400513 meters Centerline goodness [0,1] 0.8138096059325688 Centerline is valid? [False, False] Translation: X:287.26, Y:16.15, Z:-0.21 [[ 9.96101480e-01 -8.69050122e-02 -1.51446238e-02 2.87257475e+02] [ 8.69930599e-02 9.96195062e-01 5.25412101e-03 1.61526613e+01] [ 1.46303900e-02 -6.55111488e-03 9.99871509e-01 -2.14878784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.041400513 meters Centerline goodness [0,1] 0.5978563591864292 Centerline is valid? [False, False] Translation: X:287.28, Y:16.16, Z:-0.22 [[ 9.96308342e-01 -8.52070927e-02 -1.04612771e-02 2.87280069e+02] [ 8.51743838e-02 9.96359791e-01 -3.53417536e-03 1.61607891e+01] [ 1.07243327e-02 2.63009556e-03 9.99939034e-01 -2.19451224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.071400513 meters Centerline goodness [0,1] 0.8478246926777124 Centerline is valid? [False, False] Translation: X:287.28, Y:16.16, Z:-0.22 [[ 9.96681949e-01 -8.06921562e-02 -1.06709348e-02 2.87279741e+02] [ 8.07123124e-02 9.96736353e-01 1.47121864e-03 1.61573674e+01] [ 1.05173928e-02 -2.32761288e-03 9.99941982e-01 -2.19650097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.101400513 meters Centerline goodness [0,1] 0.6801466692100634 Centerline is valid? [False, False] Translation: X:287.28, Y:16.16, Z:-0.22 [[ 9.96656176e-01 -8.09976549e-02 -1.07632003e-02 2.87280087e+02] [ 8.10092675e-02 9.96713138e-01 6.46642928e-04 1.61613531e+01] [ 1.06754466e-02 -1.51639964e-03 9.99941866e-01 -2.19887619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.131400513 meters Centerline goodness [0,1] 0.801529319048329 Centerline is valid? [False, False] Translation: X:287.28, Y:16.16, Z:-0.22 [[ 9.96990261e-01 -7.67270550e-02 -1.11075961e-02 2.87280428e+02] [ 7.67851182e-02 9.97035633e-01 4.89819876e-03 1.61616367e+01] [ 1.06988447e-02 -5.73635454e-03 9.99926312e-01 -2.20559602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.161400513 meters Centerline goodness [0,1] 0.9574440339056727 Centerline is valid? [False, True] Translation: X:287.25, Y:16.17, Z:-0.21 [[ 9.96969481e-01 -7.61413432e-02 -1.59483666e-02 2.87254302e+02] [ 7.60618115e-02 9.97087735e-01 -5.53628622e-03 1.61727503e+01] [ 1.63234610e-02 4.30644674e-03 9.99857489e-01 -2.13300728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.191400513 meters Centerline goodness [0,1] 0.9973569618059317 Centerline is valid? [True, True] Translation: X:287.28, Y:16.18, Z:-0.21 [[ 9.96964075e-01 -7.62095134e-02 -1.59606697e-02 2.87282363e+02] [ 7.62189627e-02 9.97091104e-01 -1.62996308e-05 1.61801884e+01] [ 1.59154840e-02 -1.20025554e-03 9.99872620e-01 -2.11889785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.221400513 meters Centerline goodness [0,1] 0.9803382938224606 Centerline is valid? [True, True] Translation: X:287.31, Y:16.18, Z:-0.21 [[ 9.96977926e-01 -7.62678995e-02 -1.47723323e-02 2.87310182e+02] [ 7.62759723e-02 9.97086744e-01 -1.69889672e-05 1.61793031e+01] [ 1.47305925e-02 -1.10983639e-03 9.99890883e-01 -2.10584927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.251400513 meters Centerline goodness [0,1] 0.9422281292203477 Centerline is valid? [True, False] Translation: X:287.33, Y:16.19, Z:-0.21 [[ 9.97075131e-01 -7.52903802e-02 -1.31355406e-02 2.87328658e+02] [ 7.51517096e-02 9.97114167e-01 -1.07497727e-02 1.61893425e+01] [ 1.39069881e-02 9.73117268e-03 9.99855940e-01 -2.07838078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.281400513 meters Centerline goodness [0,1] 0.8799226815072858 Centerline is valid? [False, False] Translation: X:287.35, Y:16.18, Z:-0.21 [[ 9.97231566e-01 -7.38719212e-02 -8.49374586e-03 2.87350943e+02] [ 7.38937318e-02 9.97263508e-01 2.28292511e-03 1.61821446e+01] [ 8.30185872e-03 -2.90423957e-03 9.99961322e-01 -2.13888906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.311400513 meters Centerline goodness [0,1] 0.9485876195008003 Centerline is valid? [False, False] Translation: X:287.32, Y:16.19, Z:-0.21 [[ 9.97223282e-01 -7.32097215e-02 -1.36405063e-02 2.87324487e+02] [ 7.31111644e-02 9.97294918e-01 -7.58974102e-03 1.61936936e+01] [ 1.41592504e-02 6.57139315e-03 9.99878159e-01 -2.06585083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.341400513 meters Centerline goodness [0,1] 0.7076104606443894 Centerline is valid? [False, False] Translation: X:287.37, Y:16.20, Z:-0.21 [[ 9.97279631e-01 -7.26704479e-02 -1.23427411e-02 2.87369071e+02] [ 7.26015881e-02 9.97343341e-01 -5.93889923e-03 1.61978776e+01] [ 1.27415331e-02 5.02664063e-03 9.99906189e-01 -2.08532023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.371400513 meters Centerline goodness [0,1] 0.9539262991588027 Centerline is valid? [False, True] Translation: X:287.37, Y:16.19, Z:-0.21 [[ 9.97573598e-01 -6.85200418e-02 -1.23255683e-02 2.87368251e+02] [ 6.85128384e-02 9.97649727e-01 -1.00622430e-03 1.61942833e+01] [ 1.23655464e-02 1.59323126e-04 9.99923531e-01 -2.08883748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.401400513 meters Centerline goodness [0,1] 0.6516933207902164 Centerline is valid? [True, False] Translation: X:287.37, Y:16.19, Z:-0.21 [[ 9.97844680e-01 -6.44875120e-02 -1.21389639e-02 2.87366851e+02] [ 6.45386149e-02 9.97907722e-01 3.86583942e-03 1.61907498e+01] [ 1.18642675e-02 -4.64093922e-03 9.99918847e-01 -2.09046278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.431400513 meters Centerline goodness [0,1] 0.8770584591725581 Centerline is valid? [False, False] Translation: X:287.37, Y:16.19, Z:-0.21 [[ 9.97827863e-01 -6.47511748e-02 -1.21177989e-02 2.87366602e+02] [ 6.47952467e-02 9.97893190e-01 3.27998655e-03 1.61934758e+01] [ 1.18798860e-02 -4.05803774e-03 9.99921197e-01 -2.08746786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.4614005130001 meters Centerline goodness [0,1] 0.9111767475707375 Centerline is valid? [False, False] Translation: X:287.37, Y:16.20, Z:-0.21 [[ 9.97811341e-01 -6.49964381e-02 -1.21651235e-02 2.87366701e+02] [ 6.50337336e-02 9.97879426e-01 2.69530366e-03 1.61962352e+01] [ 1.19641413e-02 -3.48054796e-03 9.99922370e-01 -2.08704368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.491400513 meters Centerline goodness [0,1] 0.9111767475707375 Centerline is valid? [False, False] Translation: X:287.37, Y:16.20, Z:-0.21 [[ 9.97811341e-01 -6.49964381e-02 -1.21651235e-02 2.87366701e+02] [ 6.50337336e-02 9.97879426e-01 2.69530366e-03 1.61962352e+01] [ 1.19641413e-02 -3.48054796e-03 9.99922370e-01 -2.08704368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.521400513 meters Centerline goodness [0,1] 0.9362268814454956 Centerline is valid? [False, False] Translation: X:287.37, Y:16.20, Z:-0.21 [[ 9.97794559e-01 -6.52374433e-02 -1.22512477e-02 2.87366874e+02] [ 6.52677111e-02 9.97865608e-01 2.08681020e-03 1.61991224e+01] [ 1.20889606e-02 -2.88181876e-03 9.99922773e-01 -2.08559304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.551400513 meters Centerline goodness [0,1] 0.8751532093323299 Centerline is valid? [False, False] Translation: X:287.37, Y:16.20, Z:-0.21 [[ 9.98066134e-01 -6.09014249e-02 -1.24502696e-02 2.87366508e+02] [ 6.09839741e-02 9.98118473e-01 6.36147054e-03 1.61993131e+01] [ 1.20394215e-02 -7.10843523e-03 9.99902256e-01 -2.08326053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.581400513 meters Centerline goodness [0,1] 0.9802430623253395 Centerline is valid? [False, True] Translation: X:287.37, Y:16.20, Z:-0.21 [[ 9.98046297e-01 -6.12255147e-02 -1.24508952e-02 2.87366331e+02] [ 6.12978932e-02 9.98104270e-01 5.51668384e-03 1.62033155e+01] [ 1.20895298e-02 -6.26911952e-03 9.99907266e-01 -2.08111874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.611400513 meters Centerline goodness [0,1] 0.9901456634464358 Centerline is valid? [True, True] Translation: X:287.40, Y:16.21, Z:-0.21 [[ 9.98121712e-01 -6.00515605e-02 -1.21185290e-02 2.87396089e+02] [ 6.00574745e-02 9.98194913e-01 1.24355684e-04 1.62115543e+01] [ 1.20891863e-02 -8.51930357e-04 9.99926560e-01 -2.07746232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.641400513 meters Centerline goodness [0,1] 0.9987665808322334 Centerline is valid? [True, True] Translation: X:287.42, Y:16.22, Z:-0.21 [[ 9.98118354e-01 -6.02086350e-02 -1.16047948e-02 2.87424482e+02] [ 6.02140558e-02 9.98185481e-01 1.17966927e-04 1.62190427e+01] [ 1.15766350e-02 -8.16516714e-04 9.99932655e-01 -2.06687929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.671400513 meters Centerline goodness [0,1] 0.8729317476732161 Centerline is valid? [True, False] Translation: X:287.42, Y:16.22, Z:-0.21 [[ 9.98111163e-01 -6.03561471e-02 -1.14561091e-02 2.87423871e+02] [ 6.03582909e-02 9.98176764e-01 -1.58838868e-04 1.62203000e+01] [ 1.14448089e-02 -5.32932321e-04 9.99934364e-01 -2.06487634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.701400513 meters Centerline goodness [0,1] 0.9425400845693189 Centerline is valid? [False, False] Translation: X:287.42, Y:16.22, Z:-0.21 [[ 9.98290884e-01 -5.72962332e-02 -1.15087990e-02 2.87423731e+02] [ 5.73467956e-02 9.98345849e-01 4.11221967e-03 1.62176314e+01] [ 1.12541470e-02 -4.76518416e-03 9.99925316e-01 -2.07455322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.731400513 meters Centerline goodness [0,1] 0.8732560382332141 Centerline is valid? [False, False] Translation: X:287.42, Y:16.22, Z:-0.21 [[ 9.98287451e-01 -5.73585150e-02 -1.14963255e-02 2.87423869e+02] [ 5.74089887e-02 9.98342287e-01 4.10930252e-03 1.62175851e+01] [ 1.12415644e-02 -4.76225756e-03 9.99925471e-01 -2.07821729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.761400513 meters Centerline goodness [0,1] 0.8747450713800136 Centerline is valid? [False, False] Translation: X:287.42, Y:16.22, Z:-0.21 [[ 9.98281701e-01 -5.74671065e-02 -1.14532506e-02 2.87423844e+02] [ 5.75169055e-02 9.98336249e-01 4.06685641e-03 1.62176691e+01] [ 1.12004848e-02 -4.71862387e-03 9.99926139e-01 -2.08042770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.791400513 meters Centerline goodness [0,1] 0.8965612749275609 Centerline is valid? [False, False] Translation: X:287.42, Y:16.22, Z:-0.21 [[ 9.98275142e-01 -5.75901551e-02 -1.14067740e-02 2.87423621e+02] [ 5.76374380e-02 9.98330117e-01 3.86046151e-03 1.62185898e+01] [ 1.11654015e-02 -4.51125999e-03 9.99927489e-01 -2.07922767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.821400513 meters Centerline goodness [0,1] 0.7290516051087332 Centerline is valid? [False, False] Translation: X:287.42, Y:16.22, Z:-0.21 [[ 9.98264280e-01 -5.77850262e-02 -1.13717889e-02 2.87423341e+02] [ 5.78274311e-02 9.98320681e-01 3.43587882e-03 1.62205447e+01] [ 1.11541497e-02 -4.08751644e-03 9.99929436e-01 -2.07648397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.851400513 meters Centerline goodness [0,1] 0.6346899224806202 Centerline is valid? [False, False] Translation: X:287.42, Y:16.23, Z:-0.21 [[ 9.98506955e-01 -5.41744056e-02 -6.99960963e-03 2.87424518e+02] [ 5.40847571e-02 9.98459125e-01 -1.24183335e-02 1.62326030e+01] [ 7.66157994e-03 1.20212202e-02 9.99898390e-01 -2.10306248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.881400513 meters Centerline goodness [0,1] 0.6551474348048406 Centerline is valid? [False, False] Translation: X:287.45, Y:16.23, Z:-0.22 [[ 9.98639258e-01 -5.21221583e-02 -1.70663630e-03 2.87447850e+02] [ 5.21232962e-02 9.98640459e-01 6.29204076e-04 1.62255918e+01] [ 1.67152058e-03 -7.17303401e-04 9.99998346e-01 -2.17689762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.911400513 meters Centerline goodness [0,1] 0.8014486852538414 Centerline is valid? [False, False] Translation: X:287.45, Y:16.22, Z:-0.22 [[ 9.98860222e-01 -4.76999510e-02 -1.72356488e-03 2.87447472e+02] [ 4.77089192e-02 9.98845567e-01 5.60296819e-03 1.62223245e+01] [ 1.45431384e-03 -5.67881147e-03 9.99982818e-01 -2.18184082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.941400513 meters Centerline goodness [0,1] 0.6730597490963215 Centerline is valid? [False, False] Translation: X:287.45, Y:16.23, Z:-0.22 [[ 9.98845992e-01 -4.79926845e-02 -1.84046133e-03 2.87447995e+02] [ 4.80011517e-02 9.98835401e-01 4.87144177e-03 1.62258304e+01] [ 1.60452436e-03 -4.95416435e-03 9.99986441e-01 -2.18552338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.971400513 meters Centerline goodness [0,1] 0.7268942371009197 Centerline is valid? [False, False] Translation: X:287.44, Y:16.23, Z:-0.23 [[ 9.99012209e-01 -4.44311015e-02 -6.95446975e-04 2.87435171e+02] [ 4.44286387e-02 9.99007348e-01 -3.22730452e-03 1.62319704e+01] [ 8.38149332e-04 3.19321885e-03 9.99994550e-01 -2.27580989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.001400513 meters Centerline goodness [0,1] 0.9810820138918849 Centerline is valid? [False, True] Translation: X:287.41, Y:16.24, Z:-0.22 [[ 9.99041434e-01 -4.32728830e-02 -6.60844904e-03 2.87410730e+02] [ 4.31877213e-02 9.98988431e-01 -1.25273771e-02 1.62420985e+01] [ 7.14385986e-03 1.22299649e-02 9.99899692e-01 -2.20478446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.031400513 meters Centerline goodness [0,1] 0.9796086063358201 Centerline is valid? [True, True] Translation: X:287.44, Y:16.23, Z:-0.22 [[ 9.99043205e-01 -4.30450375e-02 -7.73293805e-03 2.87439457e+02] [ 4.30484315e-02 9.99072949e-01 2.72911455e-04 1.62340259e+01] [ 7.71402174e-03 -6.05541189e-04 9.99970063e-01 -2.23122965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.061400513 meters Centerline goodness [0,1] 0.836822686515938 Centerline is valid? [True, False] Translation: X:287.44, Y:16.24, Z:-0.22 [[ 9.99017429e-01 -4.36222623e-02 -7.82785106e-03 2.87439412e+02] [ 4.36146183e-02 9.99047774e-01 -1.14465692e-03 1.62407293e+01] [ 7.87032970e-03 8.02123473e-04 9.99968707e-01 -2.22522591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.091400513 meters Centerline goodness [0,1] 0.8251338043245557 Centerline is valid? [False, False] Translation: X:287.44, Y:16.24, Z:-0.22 [[ 9.99196779e-01 -3.93012609e-02 -7.82347655e-03 2.87438879e+02] [ 3.93308660e-02 9.99219514e-01 3.66688968e-03 1.62380862e+01] [ 7.67325705e-03 -3.97164846e-03 9.99962673e-01 -2.22643763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.121400513 meters Centerline goodness [0,1] 0.9737034174823974 Centerline is valid? [False, True] Translation: X:287.44, Y:16.24, Z:-0.22 [[ 9.99180994e-01 -3.97123947e-02 -7.76315547e-03 2.87438433e+02] [ 3.97341632e-02 9.99206719e-01 2.67019922e-03 1.62427732e+01] [ 7.65095710e-03 -2.97647480e-03 9.99966301e-01 -2.22252873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.151400513 meters Centerline goodness [0,1] 0.9909388480631246 Centerline is valid? [True, True] Translation: X:287.47, Y:16.25, Z:-0.22 [[ 9.99245008e-01 -3.81230487e-02 -7.48649577e-03 2.87468859e+02] [ 3.81261793e-02 9.99272895e-01 2.75853121e-04 1.62513819e+01] [ 7.47053594e-03 -5.61076335e-04 9.99971938e-01 -2.21350464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.181400513 meters Centerline goodness [0,1] 0.9968712238909028 Centerline is valid? [True, True] Translation: X:287.50, Y:16.26, Z:-0.22 [[ 9.99314492e-01 -3.64432834e-02 -6.51409222e-03 2.87499165e+02] [ 3.64456170e-02 9.99335609e-01 2.39861988e-04 1.62571070e+01] [ 6.50102296e-03 -4.77107671e-04 9.99978754e-01 -2.20085991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.2114005130001 meters Centerline goodness [0,1] 0.9947553196044012 Centerline is valid? [True, True] Translation: X:287.53, Y:16.26, Z:-0.22 [[ 9.99434005e-01 -3.32084669e-02 -5.37277910e-03 2.87528538e+02] [ 3.32100074e-02 9.99448376e-01 1.97739965e-04 1.62594889e+01] [ 5.36324870e-03 -3.76058079e-04 9.99985547e-01 -2.19114786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.241400513 meters Centerline goodness [0,1] 0.9992472146943692 Centerline is valid? [True, True] Translation: X:287.56, Y:16.27, Z:-0.22 [[ 9.99475069e-01 -3.19879511e-02 -5.13388005e-03 2.87559231e+02] [ 3.19893413e-02 9.99488192e-01 1.88890102e-04 1.62682635e+01] [ 5.12521029e-03 -3.53020389e-04 9.99986804e-01 -2.18181026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.271400513 meters Centerline goodness [0,1] 0.99905555078561 Centerline is valid? [True, True] Translation: X:287.59, Y:16.27, Z:-0.22 [[ 9.99519214e-01 -3.05396704e-02 -5.35438459e-03 2.87588546e+02] [ 3.05411612e-02 9.99533491e-01 1.96874978e-04 1.62686885e+01] [ 5.34587422e-03 -3.60309447e-04 9.99985646e-01 -2.18239070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.301400513 meters Centerline goodness [0,1] 0.9989344926053787 Centerline is valid? [True, True] Translation: X:287.62, Y:16.27, Z:-0.22 [[ 9.99568191e-01 -2.88255349e-02 -5.70271745e-03 2.87618897e+02] [ 2.88271980e-02 9.99584388e-01 2.09622877e-04 1.62726320e+01] [ 5.69430484e-03 -3.73925725e-04 9.99983717e-01 -2.18400042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.331400513 meters Centerline goodness [0,1] 0.9983314191605088 Centerline is valid? [True, True] Translation: X:287.65, Y:16.27, Z:-0.22 [[ 9.99635657e-01 -2.62339653e-02 -6.35081329e-03 2.87648070e+02] [ 2.62359751e-02 9.99655750e-01 2.33355829e-04 1.62742589e+01] [ 6.34250518e-03 -3.99890587e-04 9.99979806e-01 -2.19210900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.361400513 meters Centerline goodness [0,1] 0.9992954288276362 Centerline is valid? [True, True] Translation: X:287.68, Y:16.28, Z:-0.22 [[ 9.99712479e-01 -2.29695535e-02 -6.88172075e-03 2.87678552e+02] [ 2.29718364e-02 9.99736081e-01 2.52855219e-04 1.62812466e+01] [ 6.87409656e-03 -4.10868282e-04 9.99976289e-01 -2.19951351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.391400513 meters Centerline goodness [0,1] 0.9997008483087245 Centerline is valid? [True, True] Translation: X:287.71, Y:16.29, Z:-0.22 [[ 9.99796514e-01 -1.88433119e-02 -7.20145708e-03 2.87707462e+02] [ 1.88457035e-02 9.99822369e-01 2.64382729e-04 1.62876123e+01] [ 7.19519603e-03 -4.00045455e-04 9.99974034e-01 -2.20581009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.421400513 meters Centerline goodness [0,1] 0.9999129734786676 Centerline is valid? [True, True] Translation: X:287.74, Y:16.30, Z:-0.22 [[ 9.99871689e-01 -1.44078565e-02 -7.00134692e-03 2.87738390e+02] [ 1.44100073e-02 9.99896137e-01 2.56851944e-04 1.63022097e+01] [ 6.99691905e-03 -3.57708448e-04 9.99975457e-01 -2.19233968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.451400513 meters Centerline goodness [0,1] 0.9999135266013792 Centerline is valid? [True, True] Translation: X:287.77, Y:16.31, Z:-0.22 [[ 9.99932573e-01 -1.00065051e-02 -5.89228976e-03 2.87769407e+02] [ 1.00079522e-02 9.99949896e-01 2.16161635e-04 1.63108420e+01] [ 5.88983151e-03 -2.75116814e-04 9.99982617e-01 -2.17441996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.481400513 meters Centerline goodness [0,1] 0.9998913846287527 Centerline is valid? [True, True] Translation: X:287.80, Y:16.33, Z:-0.21 [[ 9.99990649e-01 -3.08214321e-03 -3.03344789e-03 2.87800346e+02] [ 3.08249492e-03 9.99995243e-01 1.11277010e-04 1.63264138e+01] [ 3.03309049e-03 -1.20626557e-04 9.99995393e-01 -2.13560546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.511400513 meters Centerline goodness [0,1] 0.999913329866528 Centerline is valid? [True, True] Translation: X:287.83, Y:16.32, Z:-0.21 [[ 9.99996803e-01 -1.33477952e-03 -2.14762037e-03 2.87829171e+02] [ 1.33495163e-03 9.99999106e-01 7.87042445e-05 1.63242950e+01] [ 2.14751339e-03 -8.15709622e-05 9.99997691e-01 -2.12606296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.541400513 meters Centerline goodness [0,1] 0.9999570962759567 Centerline is valid? [True, True] Translation: X:287.86, Y:16.33, Z:-0.21 [[ 9.99998328e-01 -6.49320328e-04 -1.70944719e-03 2.87858992e+02] [ 6.49428300e-04 9.99999787e-01 6.26076438e-05 1.63306182e+01] [ 1.70940617e-03 -6.37177025e-05 9.99998537e-01 -2.12631945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.571400513 meters Centerline goodness [0,1] 0.9999136758961521 Centerline is valid? [True, True] Translation: X:287.89, Y:16.33, Z:-0.21 [[ 9.99998036e-01 -5.21453164e-04 -1.91221296e-03 2.87888525e+02] [ 5.21587953e-04 9.99999862e-01 6.99901167e-05 1.63344283e+01] [ 1.91217620e-03 -7.09873665e-05 9.99998169e-01 -2.13264160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.601400513 meters Centerline goodness [0,1] 0.999978566070089 Centerline is valid? [True, True] Translation: X:287.92, Y:16.33, Z:-0.21 [[ 9.99998360e-01 -7.32916689e-04 -1.65643438e-03 2.87917461e+02] [ 7.33018251e-04 9.99999729e-01 6.07072267e-05 1.63323362e+01] [ 1.65638943e-03 -6.19213238e-05 9.99998626e-01 -2.14296703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.631400513 meters Centerline goodness [0,1] 0.999978531097705 Centerline is valid? [True, True] Translation: X:287.95, Y:16.34, Z:-0.21 [[ 9.99999002e-01 -6.65097339e-04 -1.24637825e-03 2.87947662e+02] [ 6.65154728e-04 9.99999778e-01 4.56300724e-05 1.63380739e+01] [ 1.24634763e-03 -4.64590612e-05 9.99999222e-01 -2.13376897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.661400513 meters Centerline goodness [0,1] 0.9998708232862556 Centerline is valid? [True, True] Translation: X:287.98, Y:16.34, Z:-0.21 [[ 9.99999137e-01 1.06848405e-03 -7.64530325e-04 2.87977438e+02] [-1.06846296e-03 9.99999429e-01 2.79816414e-05 1.63373931e+01] [ 7.64559786e-04 -2.71647449e-05 9.99999707e-01 -2.12288872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.691400513 meters Centerline goodness [0,1] 0.9998487042600558 Centerline is valid? [True, True] Translation: X:288.01, Y:16.33, Z:-0.21 [[ 9.99994912e-01 2.98612708e-03 -1.12211331e-03 2.88006534e+02] [-2.98608291e-03 9.99995541e-01 4.10406133e-05 1.63341817e+01] [ 1.12223086e-03 -3.76896811e-05 9.99999370e-01 -2.12732424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.721400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.04, Y:16.34, Z:-0.21 [[ 9.99984125e-01 5.48183586e-03 -1.30335482e-03 2.88036223e+02] [-5.48177841e-03 9.99984974e-01 4.76402373e-05 1.63402539e+01] [ 1.30359639e-03 -4.04947787e-05 9.99999149e-01 -2.12949176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.751400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.07, Y:16.34, Z:-0.21 [[ 9.99965338e-01 8.22844818e-03 -1.27067671e-03 2.88065983e+02] [-8.22839584e-03 9.99966145e-01 4.64156814e-05 1.63424836e+01] [ 1.27101562e-03 -3.59584416e-05 9.99999192e-01 -2.12926363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.781400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.10, Y:16.34, Z:-0.21 [[ 9.99941441e-01 1.07887168e-02 -8.47382987e-04 2.88095484e+02] [-1.07886945e-02 9.99941800e-01 3.09158972e-05 1.63445864e+01] [ 8.47667212e-04 -2.17719306e-05 9.99999640e-01 -2.12036306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.811400513 meters Centerline goodness [0,1] 0.9999785283318661 Centerline is valid? [True, True] Translation: X:288.12, Y:16.34, Z:-0.21 [[ 9.99909029e-01 1.34881857e-02 -4.63960029e-05 2.88123993e+02] [-1.34881857e-02 9.99909030e-01 1.68196347e-06 1.63412429e+01] [ 4.64144689e-05 -1.05601256e-06 9.99999999e-01 -2.10818709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.841400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.15, Y:16.35, Z:-0.21 [[ 9.99813990e-01 1.92664011e-02 -8.90043850e-04 2.88153856e+02] [-1.92663799e-02 9.99814386e-01 3.24480366e-05 1.63491693e+01] [ 8.90503802e-04 -1.52940780e-05 9.99999603e-01 -2.11976456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.871400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.18, Y:16.35, Z:-0.21 [[ 9.99759691e-01 2.18128716e-02 -2.18159619e-03 2.88182075e+02] [-2.18127502e-02 9.99762071e-01 7.94226559e-05 1.63475916e+01] [ 2.18280956e-03 -3.18169570e-05 9.99997617e-01 -2.14113939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.901400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.21, Y:16.35, Z:-0.22 [[ 9.99707324e-01 2.40016621e-02 -3.03082201e-03 2.88210721e+02] [-2.40014383e-02 9.99711918e-01 1.10201735e-04 1.63480431e+01] [ 3.03259391e-03 -3.74253940e-05 9.99995401e-01 -2.15785674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.931400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.24, Y:16.35, Z:-0.22 [[ 9.99632993e-01 2.69266369e-02 -2.97247082e-03 2.88238790e+02] [-2.69264351e-02 9.99637412e-01 1.07898228e-04 1.63453075e+01] [ 2.97429837e-03 -2.78205861e-05 9.99995576e-01 -2.15890251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.9614005130001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.27, Y:16.34, Z:-0.22 [[ 9.99604804e-01 2.79261181e-02 -3.22004074e-03 2.88267750e+02] [-2.79258869e-02 9.99609990e-01 1.16741025e-04 1.63441418e+01] [ 3.22204501e-03 -2.67723962e-05 9.99994809e-01 -2.15739768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.991400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.30, Y:16.34, Z:-0.22 [[ 9.99579700e-01 2.87614187e-02 -3.63385104e-03 2.88295785e+02] [-2.87611306e-02 9.99586304e-01 1.31527709e-04 1.63416333e+01] [ 3.63613066e-03 -2.69587633e-05 9.99993389e-01 -2.16613809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.021400513 meters Centerline goodness [0,1] 0.9998918334234721 Centerline is valid? [True, True] Translation: X:288.32, Y:16.34, Z:-0.22 [[ 9.99554321e-01 2.95837462e-02 -3.99524149e-03 2.88323297e+02] [-2.95834054e-02 9.99562305e-01 1.44380947e-04 1.63383726e+01] [ 3.99776412e-03 -2.61237510e-05 9.99992009e-01 -2.17475324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.051400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.35, Y:16.33, Z:-0.22 [[ 9.99539970e-01 3.01549293e-02 -3.24478198e-03 2.88351391e+02] [-3.01547081e-02 9.99545237e-01 1.17070963e-04 1.63346374e+01] [ 3.24683664e-03 -1.91716538e-05 9.99994729e-01 -2.16470657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.081400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.38, Y:16.33, Z:-0.21 [[ 9.99532772e-01 3.04701095e-02 -2.41042667e-03 2.88380014e+02] [-3.04699887e-02 9.99535678e-01 8.68505111e-05 1.63312612e+01] [ 2.41195380e-03 -1.33642588e-05 9.99997091e-01 -2.14491377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.111400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.41, Y:16.32, Z:-0.21 [[ 9.99535717e-01 3.04543417e-02 -9.39694446e-04 2.88408765e+02] [-3.04543234e-02 9.99536159e-01 3.38020247e-05 1.63223817e+01] [ 9.40287995e-04 -5.16857245e-06 9.99999558e-01 -2.12064431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.141400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.44, Y:16.32, Z:-0.21 [[ 9.99550494e-01 2.99680491e-02 -8.52527779e-04 2.88436973e+02] [-2.99680339e-02 9.99550857e-01 3.06241929e-05 1.63167098e+01] [ 8.53062619e-04 -5.06184580e-06 9.99999636e-01 -2.12070286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.171400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.46, Y:16.31, Z:-0.21 [[ 9.99562566e-01 2.95600139e-02 -9.39631920e-04 2.88464199e+02] [-2.95599952e-02 9.99563007e-01 3.36948404e-05 1.63103618e+01] [ 9.40217328e-04 -5.90458608e-06 9.99999558e-01 -2.12577753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.201400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.49, Y:16.31, Z:-0.21 [[ 9.99565025e-01 2.94791362e-02 -8.60741145e-04 2.88492378e+02] [-2.94791206e-02 9.99565396e-01 3.08270772e-05 1.63055750e+01] [ 8.61275819e-04 -5.43977618e-06 9.99999629e-01 -2.12836005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.231400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.52, Y:16.30, Z:-0.21 [[ 9.99545022e-01 3.01486565e-02 -8.98692167e-04 2.88520290e+02] [-3.01486398e-02 9.99545426e-01 3.21286824e-05 1.63002059e+01] [ 8.99252281e-04 -5.01971812e-06 9.99999596e-01 -2.13127320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.261400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.55, Y:16.30, Z:-0.21 [[ 9.99498419e-01 3.16429927e-02 -1.27752525e-03 2.88549071e+02] [-3.16429603e-02 9.99499235e-01 4.56281833e-05 1.62975292e+01] [ 1.27832932e-03 -5.18061637e-06 9.99999183e-01 -2.13599922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.291400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.58, Y:16.30, Z:-0.21 [[ 9.99305394e-01 3.71739345e-02 -2.61304242e-03 2.88577867e+02] [-3.71738178e-02 9.99308810e-01 9.32247685e-05 1.62978098e+01] [ 2.61470185e-03 3.97674889e-06 9.99996582e-01 -2.14749316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.321400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.61, Y:16.30, Z:-0.21 [[ 9.99150877e-01 4.10911351e-02 -3.00731841e-03 2.88606434e+02] [-4.10909988e-02 9.99155402e-01 1.07144167e-04 1.62997243e+01] [ 3.00918112e-03 1.65205284e-05 9.99995472e-01 -2.14153267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.351400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.63, Y:16.30, Z:-0.21 [[ 9.98947641e-01 4.57898009e-02 -2.62784180e-03 2.88634437e+02] [-4.57897135e-02 9.98951097e-01 9.34556012e-05 1.63046008e+01] [ 2.62936477e-03 2.69708710e-05 9.99996543e-01 -2.14036561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.381400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.66, Y:16.30, Z:-0.21 [[ 9.98950885e-01 4.57189580e-02 -2.62784856e-03 2.88661907e+02] [-4.57188708e-02 9.98954341e-01 9.32655365e-05 1.63037510e+01] [ 2.62936473e-03 2.69745785e-05 9.99996543e-01 -2.14047264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.411400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.69, Y:16.31, Z:-0.21 [[ 9.98726952e-01 5.04016533e-02 -2.03670886e-03 2.88691074e+02] [-5.04016108e-02 9.98729029e-01 7.22188633e-05 1.63070856e+01] [ 2.03776021e-03 3.05264820e-05 9.99997923e-01 -2.13305597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.441400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.72, Y:16.31, Z:-0.21 [[ 9.98500482e-01 5.47198213e-02 -1.58986269e-03 2.88720170e+02] [-5.47198010e-02 9.98501748e-01 5.63139811e-05 1.63137153e+01] [ 1.59056216e-03 3.07674325e-05 9.99998735e-01 -2.13116463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.471400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.75, Y:16.32, Z:-0.21 [[ 9.98283219e-01 5.85526470e-02 -1.48411276e-03 2.88749532e+02] [-5.85526336e-02 9.98284321e-01 5.25163053e-05 1.63168092e+01] [ 1.48464147e-03 3.44725642e-05 9.99998897e-01 -2.13198804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.501400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.78, Y:16.32, Z:-0.21 [[ 9.97950072e-01 6.39624080e-02 -2.11286933e-03 2.88780241e+02] [-6.39623929e-02 9.97952307e-01 7.47845000e-05 1.63185968e+01] [ 2.11332622e-03 6.05129810e-05 9.99997765e-01 -2.14117680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.531400513 meters Centerline goodness [0,1] 0.9999787157056808 Centerline is valid? [True, True] Translation: X:288.81, Y:16.32, Z:-0.22 [[ 9.97854849e-01 6.54166972e-02 -2.52092427e-03 2.88808496e+02] [-6.54166808e-02 9.97858031e-01 8.90500253e-05 1.63236391e+01] [ 2.52134988e-03 7.60514984e-05 9.99996819e-01 -2.15354364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.561400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.84, Y:16.32, Z:-0.22 [[ 9.97829880e-01 6.57856744e-02 -2.78846268e-03 2.88836792e+02] [-6.57856562e-02 9.97833773e-01 9.83428604e-05 1.63233510e+01] [ 2.78889178e-03 8.53114026e-05 9.99996107e-01 -2.15669293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.591400513 meters Centerline goodness [0,1] 0.9999787329065737 Centerline is valid? [True, True] Translation: X:288.87, Y:16.32, Z:-0.21 [[ 9.97843281e-01 6.56048405e-02 -2.18890224e-03 2.88865363e+02] [-6.56048291e-02 9.97845680e-01 7.70931730e-05 1.63200182e+01] [ 2.18924433e-03 6.66756524e-05 9.99997601e-01 -2.14565520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.621400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.89, Y:16.32, Z:-0.21 [[ 9.97868545e-01 6.52427062e-02 -1.32505196e-03 2.88893098e+02] [-6.52427018e-02 9.97869424e-01 4.65783916e-05 1.63220032e+01] [ 1.32526773e-03 3.99708578e-05 9.99999121e-01 -2.12559783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.651400513 meters Centerline goodness [0,1] 0.9999787604604732 Centerline is valid? [True, True] Translation: X:288.92, Y:16.32, Z:-0.21 [[ 9.97922664e-01 6.44186730e-02 -7.69130783e-04 2.88922240e+02] [-6.44186713e-02 9.97922960e-01 2.70093398e-05 1.63162407e+01] [ 7.69273173e-04 2.25931507e-05 9.99999704e-01 -2.11616267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.681400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.95, Y:16.31, Z:-0.21 [[ 9.97963693e-01 6.37665756e-02 -1.51386259e-03 2.88951093e+02] [-6.37665683e-02 9.97964840e-01 5.30995544e-05 1.63124306e+01] [ 1.51416761e-03 4.35423948e-05 9.99998853e-01 -2.13153616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.711400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.98, Y:16.31, Z:-0.21 [[ 9.97997272e-01 6.32092985e-02 -2.45558793e-03 2.88979264e+02] [-6.32092780e-02 9.98000290e-01 8.60237287e-05 1.63067714e+01] [ 2.45611496e-03 6.93644934e-05 9.99996981e-01 -2.14695098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.741400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.01, Y:16.30, Z:-0.22 [[ 9.98026473e-01 6.27291950e-02 -2.86473721e-03 2.89006856e+02] [-6.27291657e-02 9.98030582e-01 1.00184002e-04 1.63048951e+01] [ 2.86537981e-03 7.97162889e-05 9.99995892e-01 -2.16135461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.771400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.04, Y:16.30, Z:-0.22 [[ 9.98056984e-01 6.22266247e-02 -3.17878612e-03 2.89035465e+02] [-6.22265865e-02 9.98062042e-01 1.11016444e-04 1.62979108e+01] [ 3.17953394e-03 8.70042718e-05 9.99994941e-01 -2.16217403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.801400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.06, Y:16.30, Z:-0.22 [[ 9.98110560e-01 6.13777102e-02 -2.84372968e-03 2.89062831e+02] [-6.13776769e-02 9.98114608e-01 9.90455495e-05 1.62962252e+01] [ 2.84444732e-03 7.56831126e-05 9.99995952e-01 -2.16384846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.831400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.09, Y:16.28, Z:-0.22 [[ 9.98231630e-01 5.93510776e-02 -3.32612976e-03 2.89091400e+02] [-5.93510213e-02 9.98237168e-01 1.15711278e-04 1.62837565e+01] [ 3.32713394e-03 8.19025407e-05 9.99994462e-01 -2.17309924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.861400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.12, Y:16.28, Z:-0.22 [[ 9.98241673e-01 5.90890617e-02 -4.69520559e-03 2.89119189e+02] [-5.90889482e-02 9.98252708e-01 1.63001902e-04 1.62782624e+01] [ 4.69663332e-03 1.14719468e-04 9.99988964e-01 -2.19326433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.891400513 meters Centerline goodness [0,1] 0.9999788283615269 Centerline is valid? [True, True] Translation: X:289.15, Y:16.27, Z:-0.22 [[ 9.98205065e-01 5.95865190e-02 -6.00790176e-03 2.89146634e+02] [-5.95863443e-02 9.98223133e-01 2.08230171e-04 1.62745872e+01] [ 6.00963423e-03 1.50132491e-04 9.99981931e-01 -2.21827876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.921400513 meters Centerline goodness [0,1] 0.9999575722862174 Centerline is valid? [True, True] Translation: X:289.17, Y:16.27, Z:-0.22 [[ 9.98151720e-01 6.03768728e-02 -6.91207034e-03 2.89174310e+02] [-6.03766633e-02 9.98175637e-01 2.39166383e-04 1.62725494e+01] [ 6.91390033e-03 1.78603407e-04 9.99976083e-01 -2.23997817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.951400513 meters Centerline goodness [0,1] 0.9999352303640053 Centerline is valid? [True, True] Translation: X:289.20, Y:16.26, Z:-0.22 [[ 9.98070582e-01 6.17597101e-02 -6.39148108e-03 2.89203201e+02] [-6.17595613e-02 9.98091032e-01 2.20834009e-04 1.62630466e+01] [ 6.39291859e-03 1.74327139e-04 9.99979550e-01 -2.21883990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.981400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.23, Y:16.26, Z:-0.22 [[ 9.97978598e-01 6.33514338e-02 -5.03126535e-03 2.89231089e+02] [-6.33513634e-02 9.97991270e-01 1.73514900e-04 1.62643187e+01] [ 5.03215132e-03 1.45573363e-04 9.99987328e-01 -2.20373459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.011400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.26, Y:16.26, Z:-0.22 [[ 9.97689302e-01 6.77849656e-02 -4.61042798e-03 2.89260570e+02] [-6.77849541e-02 9.97699942e-01 1.58946742e-04 1.62608918e+01] [ 4.61059793e-03 1.53938185e-04 9.99989359e-01 -2.19192349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.041400513 meters Centerline goodness [0,1] 0.9999785770903404 Centerline is valid? [True, True] Translation: X:289.29, Y:16.26, Z:-0.22 [[ 9.97512430e-01 7.02959707e-02 -5.23717247e-03 2.89289609e+02] [-7.02959914e-02 9.97526161e-01 1.80354536e-04 1.62559853e+01] [ 5.23689474e-03 1.88246339e-04 9.99986270e-01 -2.19991030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.071400513 meters Centerline goodness [0,1] 0.9999573451629414 Centerline is valid? [True, True] Translation: X:289.32, Y:16.26, Z:-0.22 [[ 9.97347046e-01 7.25603623e-02 -5.81918974e-03 2.89318314e+02] [-7.25604281e-02 9.97363998e-01 2.00090369e-04 1.62559567e+01] [ 5.81836897e-03 2.22683360e-04 9.99983048e-01 -2.21421342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.101400513 meters Centerline goodness [0,1] 0.9998940206447784 Centerline is valid? [True, True] Translation: X:289.35, Y:16.26, Z:-0.22 [[ 9.97193705e-01 7.46565119e-02 -5.57843969e-03 2.89346849e+02] [-7.46566062e-02 9.97209283e-01 1.91617916e-04 1.62557652e+01] [ 5.57717737e-03 2.25387196e-04 9.99984422e-01 -2.21522795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.131400513 meters Centerline goodness [0,1] 0.9998932490712669 Centerline is valid? [True, True] Translation: X:289.38, Y:16.26, Z:-0.22 [[ 9.97068433e-01 7.63414805e-02 -5.14967449e-03 2.89375637e+02] [-7.63415847e-02 9.97081707e-01 1.76627984e-04 1.62567841e+01] [ 5.14813028e-03 2.17024124e-04 9.99986725e-01 -2.20988548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.161400513 meters Centerline goodness [0,1] 0.9998924361070476 Centerline is valid? [True, True] Translation: X:289.41, Y:16.25, Z:-0.22 [[ 9.96829544e-01 7.94079675e-02 -5.02342002e-03 2.89405055e+02] [-7.94081057e-02 9.96842176e-01 1.72251580e-04 1.62473972e+01] [ 5.02123509e-03 2.27194804e-04 9.99987368e-01 -2.19513878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.191400513 meters Centerline goodness [0,1] 0.9998079836146018 Centerline is valid? [True, True] Translation: X:289.43, Y:16.25, Z:-0.22 [[ 9.96727870e-01 8.06143539e-02 -5.90581610e-03 2.89434758e+02] [-8.06145669e-02 9.96745329e-01 2.02363641e-04 1.62455567e+01] [ 5.90290802e-03 2.74393326e-04 9.99982540e-01 -2.20342821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.221400513 meters Centerline goodness [0,1] 0.9997833340555532 Centerline is valid? [True, True] Translation: X:289.46, Y:16.25, Z:-0.22 [[ 9.96659829e-01 8.13748104e-02 -6.87932839e-03 2.89462817e+02] [-8.13751204e-02 9.96683518e-01 2.35298951e-04 1.62451387e+01] [ 6.87566063e-03 3.25293163e-04 9.99976309e-01 -2.22440492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.251400513 meters Centerline goodness [0,1] 0.9998083842534438 Centerline is valid? [True, True] Translation: X:289.49, Y:16.24, Z:-0.22 [[ 9.96605144e-01 8.20228188e-02 -7.10236801e-03 2.89491081e+02] [-8.20231686e-02 9.96630393e-01 2.42502339e-04 1.62426659e+01] [ 7.09832655e-03 3.40879650e-04 9.99974748e-01 -2.22856787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.281400513 meters Centerline goodness [0,1] 0.9995531724754245 Centerline is valid? [True, True] Translation: X:289.52, Y:16.25, Z:-0.22 [[ 9.96563728e-01 8.25714633e-02 -6.53371951e-03 2.89519357e+02] [-8.25717737e-02 9.96585096e-01 2.22693969e-04 1.62462430e+01] [ 6.52979565e-03 3.17572077e-04 9.99978630e-01 -2.22866771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.311400513 meters Centerline goodness [0,1] 0.9998486682808717 Centerline is valid? [True, True] Translation: X:289.55, Y:16.24, Z:-0.22 [[ 9.96552957e-01 8.28106483e-02 -4.95989631e-03 2.89548346e+02] [-8.28108313e-02 9.96565270e-01 1.68814974e-04 1.62395883e+01] [ 4.95684009e-03 2.42500075e-04 9.99987685e-01 -2.19758553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.341400513 meters Centerline goodness [0,1] 0.9997016706443914 Centerline is valid? [True, True] Translation: X:289.58, Y:16.24, Z:-0.22 [[ 9.96506301e-01 8.34890681e-02 -2.18326122e-03 2.89576251e+02] [-8.34891055e-02 9.96508687e-01 7.41654984e-05 1.62375273e+01] [ 2.18183078e-03 1.08372140e-04 9.99997614e-01 -2.15308585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.371400513 meters Centerline goodness [0,1] 0.9997643328477162 Centerline is valid? [True, True] Translation: X:289.60, Y:16.24, Z:-0.22 [[ 9.96482838e-01 8.37687824e-02 -2.17841637e-03 2.89604873e+02] [-8.37688205e-02 9.96485213e-01 7.39032985e-05 1.62356710e+01] [ 2.17695049e-03 1.08840001e-04 9.99997625e-01 -2.15498253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.401400513 meters Centerline goodness [0,1] 0.9990456396335257 Centerline is valid? [True, True] Translation: X:289.63, Y:16.24, Z:-0.22 [[ 9.96479350e-01 8.38031654e-02 -2.43609472e-03 2.89632633e+02] [-8.38032136e-02 9.96482320e-01 8.24278973e-05 1.62389811e+01] [ 2.43443304e-03 1.22014869e-04 9.99997029e-01 -2.16800262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.431400513 meters Centerline goodness [0,1] 0.9997859589041096 Centerline is valid? [True, True] Translation: X:289.66, Y:16.23, Z:-0.22 [[ 9.96454069e-01 8.40885825e-02 -2.89799942e-03 2.89661133e+02] [-8.40886524e-02 9.96458273e-01 9.79407034e-05 1.62314682e+01] [ 2.89597119e-03 1.46095454e-04 9.99995796e-01 -2.17701079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.461400513 meters Centerline goodness [0,1] 0.9998295369798215 Centerline is valid? [True, True] Translation: X:289.69, Y:16.23, Z:-0.22 [[ 9.96422343e-01 8.44582541e-02 -3.05263243e-03 2.89690268e+02] [-8.44583338e-02 9.96427006e-01 1.03024237e-04 1.62305670e+01] [ 3.05042664e-03 1.55164597e-04 9.99995335e-01 -2.18430887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.491400513 meters Centerline goodness [0,1] 0.9994233603143754 Centerline is valid? [True, True] Translation: X:289.72, Y:16.23, Z:-0.22 [[ 9.96391675e-01 8.48178183e-02 -3.09314787e-03 2.89718516e+02] [-8.48179024e-02 9.96396464e-01 1.04206735e-04 1.62299743e+01] [ 3.09084019e-03 1.58523591e-04 9.99995211e-01 -2.18782286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.521400513 meters Centerline goodness [0,1] 0.999576208335982 Centerline is valid? [True, True] Translation: X:289.75, Y:16.22, Z:-0.22 [[ 9.96375763e-01 8.50206373e-02 -2.61331682e-03 2.89747264e+02] [-8.50206984e-02 9.96379181e-01 8.79189179e-05 1.62243440e+01] [ 2.61132940e-03 1.34585742e-04 9.99996581e-01 -2.17787084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.551400513 meters Centerline goodness [0,1] 0.999572494282111 Centerline is valid? [True, True] Translation: X:289.77, Y:16.22, Z:-0.22 [[ 9.96370071e-01 8.50802238e-02 -2.83511840e-03 2.89774642e+02] [-8.50802967e-02 9.96374093e-01 9.51296852e-05 1.62239323e+01] [ 2.83293218e-03 1.46428343e-04 9.99995977e-01 -2.17472225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.581400513 meters Centerline goodness [0,1] 0.9997019945081845 Centerline is valid? [True, True] Translation: X:289.80, Y:16.22, Z:-0.22 [[ 9.96343402e-01 8.53645531e-02 -3.56632855e-03 2.89803388e+02] [-8.53646707e-02 9.96349767e-01 1.19518459e-04 1.62197627e+01] [ 3.56351326e-03 1.85357034e-04 9.99993633e-01 -2.18200066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.611400513 meters Centerline goodness [0,1] 0.9994255930220189 Centerline is valid? [True, True] Translation: X:289.83, Y:16.22, Z:-0.22 [[ 9.96309285e-01 8.57404920e-02 -4.04686567e-03 2.89832229e+02] [-8.57406472e-02 9.96317481e-01 1.35434001e-04 1.62187118e+01] [ 4.04357519e-03 2.12046728e-04 9.99991802e-01 -2.19440266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.641400513 meters Centerline goodness [0,1] 0.9994670532307233 Centerline is valid? [True, True] Translation: X:289.86, Y:16.22, Z:-0.22 [[ 9.96231226e-01 8.66464421e-02 -3.96725678e-03 2.89859980e+02] [-8.66465994e-02 9.96239102e-01 1.32532210e-04 1.62186756e+01] [ 3.96381978e-03 2.11716583e-04 9.99992122e-01 -2.20277856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.671400513 meters Centerline goodness [0,1] 0.9994627930463932 Centerline is valid? [True, True] Translation: X:289.89, Y:16.22, Z:-0.22 [[ 9.96165791e-01 8.74161071e-02 -3.48430822e-03 2.89889092e+02] [-8.74162337e-02 9.96171867e-01 1.16237434e-04 1.62171904e+01] [ 3.48113085e-03 1.88793347e-04 9.99993923e-01 -2.19732410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.701400513 meters Centerline goodness [0,1] 0.99940081318211 Centerline is valid? [True, True] Translation: X:289.92, Y:16.21, Z:-0.22 [[ 9.96100212e-01 8.81778942e-02 -3.00445451e-03 2.89917878e+02] [-8.81779922e-02 9.96104729e-01 1.00082812e-04 1.62122123e+01] [ 3.00157644e-03 1.65234256e-04 9.99995482e-01 -2.18781864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.731400513 meters Centerline goodness [0,1] 0.9975823705605477 Centerline is valid? [True, True] Translation: X:289.95, Y:16.21, Z:-0.22 [[ 9.96069977e-01 8.85327354e-02 -2.56031142e-03 2.89945609e+02] [-8.85328081e-02 9.96073258e-01 8.51281057e-05 1.62142450e+01] [ 2.55779436e-03 1.41878009e-04 9.99996719e-01 -2.18144807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.761400513 meters Centerline goodness [0,1] 0.9942955297311052 Centerline is valid? [True, True] Translation: X:289.97, Y:16.21, Z:-0.22 [[ 9.96079742e-01 8.84292319e-02 -2.32793577e-03 2.89972962e+02] [-8.84292921e-02 9.96082454e-01 7.72663070e-05 1.62145678e+01] [ 2.32564858e-03 1.28894309e-04 9.99997287e-01 -2.17215049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.791400513 meters Centerline goodness [0,1] 0.9969243169862548 Centerline is valid? [True, True] Translation: X:290.00, Y:16.21, Z:-0.22 [[ 9.96153692e-01 8.75921834e-02 -2.33046159e-03 2.90001496e+02] [-8.75922416e-02 9.96156410e-01 7.72481762e-05 1.62090969e+01] [ 2.32827059e-03 1.27179299e-04 9.99997281e-01 -2.16896770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.821400513 meters Centerline goodness [0,1] 0.9991233509375869 Centerline is valid? [True, True] Translation: X:290.03, Y:16.20, Z:-0.22 [[ 9.96202363e-01 8.70270908e-02 -2.67143067e-03 2.90030543e+02] [-8.70271657e-02 9.96205935e-01 8.84284064e-05 1.62033418e+01] [ 2.66899076e-03 1.44394452e-04 9.99996428e-01 -2.16995581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.851400513 meters Centerline goodness [0,1] 0.999677245831092 Centerline is valid? [True, True] Translation: X:290.06, Y:16.20, Z:-0.22 [[ 9.96234819e-01 8.66476369e-02 -2.89339544e-03 2.90058913e+02] [-8.66477236e-02 9.96239009e-01 9.56398252e-05 1.61974941e+01] [ 2.89080037e-03 1.55426404e-04 9.99995810e-01 -2.17363207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.881400513 meters Centerline goodness [0,1] 0.9981291323851436 Centerline is valid? [True, True] Translation: X:290.09, Y:16.20, Z:-0.22 [[ 9.96273193e-01 8.61764963e-02 -3.65193866e-03 2.90087252e+02] [-8.61766319e-02 9.96279867e-01 1.20498017e-04 1.62017551e+01] [ 3.64873706e-03 1.94662830e-04 9.99993324e-01 -2.18959474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.911400513 meters Centerline goodness [0,1] 0.9994508047822229 Centerline is valid? [True, True] Translation: X:290.12, Y:16.19, Z:-0.22 [[ 9.96336008e-01 8.54062627e-02 -4.50873988e-03 2.90116234e+02] [-8.54064622e-02 9.96346182e-01 1.48625369e-04 1.61922942e+01] [ 4.50495931e-03 2.36994716e-04 9.99989825e-01 -2.19912076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.941400513 meters Centerline goodness [0,1] 0.9994294529087336 Centerline is valid? [True, True] Translation: X:290.14, Y:16.19, Z:-0.22 [[ 9.96425826e-01 8.43336855e-02 -4.83769285e-03 2.90144232e+02] [-8.43339039e-02 9.96437538e-01 1.59179455e-04 1.61947393e+01] [ 4.83388294e-03 2.49371005e-04 9.99988286e-01 -2.21103636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.971400513 meters Centerline goodness [0,1] 0.999891922270497 Centerline is valid? [True, True] Translation: X:290.17, Y:16.18, Z:-0.22 [[ 9.96653697e-01 8.16308095e-02 -4.22116415e-03 2.90173978e+02] [-8.16309520e-02 9.96662615e-01 1.38800234e-04 1.61770034e+01] [ 4.21840688e-03 2.06241882e-04 9.99991081e-01 -2.19472683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.001400513 meters Centerline goodness [0,1] 0.9998300945099289 Centerline is valid? [True, True] Translation: X:290.20, Y:16.17, Z:-0.22 [[ 9.96741293e-01 8.05932691e-02 -3.39407916e-03 2.90202262e+02] [-8.05933558e-02 9.96747058e-01 1.11432753e-04 1.61730767e+01] [ 3.39201915e-03 1.62470603e-04 9.99994234e-01 -2.18764357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.031400513 meters Centerline goodness [0,1] 0.9998497950775701 Centerline is valid? [True, True] Translation: X:290.23, Y:16.17, Z:-0.22 [[ 9.96784489e-01 8.00542202e-02 -3.46461101e-03 2.90231385e+02] [-8.00543084e-02 9.96790497e-01 1.13433732e-04 1.61659095e+01] [ 3.46257218e-03 1.64288054e-04 9.99993992e-01 -2.18797561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.061400513 meters Centerline goodness [0,1] 0.9997673385646905 Centerline is valid? [True, True] Translation: X:290.26, Y:16.17, Z:-0.22 [[ 9.96777046e-01 8.01424120e-02 -3.56558940e-03 2.90259691e+02] [-8.01425067e-02 9.96783409e-01 1.16541487e-04 1.61674434e+01] [ 3.56346028e-03 1.69589393e-04 9.99993636e-01 -2.19471756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.091400513 meters Centerline goodness [0,1] 0.9998301702543201 Centerline is valid? [True, True] Translation: X:290.29, Y:16.16, Z:-0.22 [[ 9.96709140e-01 8.09612382e-02 -4.02096865e-03 2.90288675e+02] [-8.09613660e-02 9.96717232e-01 1.31246365e-04 1.61608871e+01] [ 4.01839461e-03 1.94728663e-04 9.99991907e-01 -2.20102931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.121400513 meters Centerline goodness [0,1] 0.9997390396659708 Centerline is valid? [True, True] Translation: X:290.32, Y:16.16, Z:-0.22 [[ 9.96547856e-01 8.28967981e-02 -4.52671009e-03 2.90317607e+02] [-8.28969807e-02 9.96558111e-01 1.47600406e-04 1.61569774e+01] [ 4.52336526e-03 2.28159731e-04 9.99989744e-01 -2.20053958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.151400513 meters Centerline goodness [0,1] 0.9992962252079335 Centerline is valid? [True, True] Translation: X:290.35, Y:16.16, Z:-0.22 [[ 9.96010262e-01 8.91917090e-02 -2.89788497e-03 2.90348205e+02] [-8.91918104e-02 9.96014464e-01 9.44724849e-05 1.61599548e+01] [ 2.89476151e-03 1.64372043e-04 9.99995797e-01 -2.17050958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.181400513 meters Centerline goodness [0,1] 0.9698657405446613 Centerline is valid? [True, True] Translation: X:290.38, Y:16.17, Z:-0.22 [[ 9.95620760e-01 9.34406152e-02 -2.85537078e-03 2.90378352e+02] [-9.34407311e-02 9.95624840e-01 9.30541114e-05 1.61690527e+01] [ 2.85157310e-03 1.74161328e-04 9.99995919e-01 -2.16849724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.211400513 meters Centerline goodness [0,1] 0.9194392443839347 Centerline is valid? [True, False] Translation: X:290.38, Y:16.17, Z:-0.22 [[ 9.95622266e-01 9.34254463e-02 -2.82649900e-03 2.90378663e+02] [-9.34274349e-02 9.95625923e-01 -5.79636230e-04 1.61725101e+01] [ 2.75998290e-03 8.41171288e-04 9.99995837e-01 -2.17500886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.241400513 meters Centerline goodness [0,1] 0.7602529664333002 Centerline is valid? [False, False] Translation: X:290.38, Y:16.18, Z:-0.22 [[ 9.95623510e-01 9.34081705e-02 -2.95625321e-03 2.90379330e+02] [-9.34124903e-02 9.95626567e-01 -1.35822827e-03 1.61766038e+01] [ 2.81645462e-03 1.62843497e-03 9.99994708e-01 -2.17871338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.271400513 meters Centerline goodness [0,1] 0.7602529664333002 Centerline is valid? [False, False] Translation: X:290.37, Y:16.18, Z:-0.22 [[ 9.95917721e-01 9.02450598e-02 -1.92954483e-03 2.90374323e+02] [-9.02547879e-02 9.95902099e-01 -5.75167524e-03 1.61804967e+01] [ 1.40257747e-03 5.90234595e-03 9.99981597e-01 -2.16576819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.301400513 meters Centerline goodness [0,1] 0.7225899219724683 Centerline is valid? [False, False] Translation: X:290.37, Y:16.19, Z:-0.22 [[ 9.95925572e-01 9.01607392e-02 -1.81543911e-03 2.90374167e+02] [-9.01708988e-02 9.95904209e-01 -6.63439908e-03 1.61850419e+01] [ 1.20984112e-03 6.77106747e-03 9.99976344e-01 -2.16793527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.331400513 meters Centerline goodness [0,1] 0.7008688632549445 Centerline is valid? [False, False] Translation: X:290.37, Y:16.19, Z:-0.22 [[ 9.95941869e-01 8.99830434e-02 -1.68697215e-03 2.90373708e+02] [-8.99931891e-02 9.95914532e-01 -7.44786093e-03 1.61890809e+01] [ 1.00989888e-03 7.56945254e-03 9.99970841e-01 -2.16566435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.361400513 meters Centerline goodness [0,1] 0.7264688376838704 Centerline is valid? [False, False] Translation: X:290.37, Y:16.19, Z:-0.22 [[ 9.95952525e-01 8.98702299e-02 -1.38179311e-03 2.90372399e+02] [-8.98786183e-02 9.95918459e-01 -8.26173122e-03 1.61932324e+01] [ 6.33669586e-04 8.35248573e-03 9.99964917e-01 -2.15802342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.391400513 meters Centerline goodness [0,1] 0.7146800770383052 Centerline is valid? [False, False] Translation: X:290.37, Y:16.19, Z:-0.22 [[ 9.95967839e-01 8.97006090e-02 -1.36523760e-03 2.90372361e+02] [-8.97090923e-02 9.95930539e-01 -8.63950688e-03 1.61949889e+01] [ 5.84712792e-04 8.72714522e-03 9.99961747e-01 -2.15789637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.421400513 meters Centerline goodness [0,1] 0.7182842602689932 Centerline is valid? [False, False] Translation: X:290.37, Y:16.20, Z:-0.22 [[ 9.95987797e-01 8.94776672e-02 -1.43353059e-03 2.90372818e+02] [-8.94870577e-02 9.95946254e-01 -9.11734401e-03 1.61971979e+01] [ 6.11920743e-04 9.20904581e-03 9.99957409e-01 -2.16154494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.451400513 meters Centerline goodness [0,1] 0.7115331152028399 Centerline is valid? [False, False] Translation: X:290.37, Y:16.20, Z:-0.22 [[ 9.96009694e-01 8.92311807e-02 -1.57646418e-03 2.90373520e+02] [-8.92422744e-02 9.95963398e-01 -9.62942032e-03 1.61995918e+01] [ 7.10856078e-04 9.73168324e-03 9.99952393e-01 -2.16518327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.481400513 meters Centerline goodness [0,1] 0.6688643904527454 Centerline is valid? [False, False] Translation: X:290.37, Y:16.19, Z:-0.21 [[ 9.96311350e-01 8.55937315e-02 -6.11614955e-03 2.90370747e+02] [-8.55599136e-02 9.96317331e-01 5.59257647e-03 1.61918955e+01] [ 6.57231529e-03 -5.04865018e-03 9.99965657e-01 -2.12651752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.511400513 meters Centerline goodness [0,1] 0.713345428462934 Centerline is valid? [False, False] Translation: X:290.41, Y:16.20, Z:-0.21 [[ 9.96657014e-01 8.16588791e-02 -2.57372337e-03 2.90407071e+02] [-8.16592768e-02 9.96660303e-01 -4.96349580e-05 1.61998480e+01] [ 2.56107478e-03 2.59637418e-04 9.99996687e-01 -2.10247420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.541400513 meters Centerline goodness [0,1] 0.8228849146292072 Centerline is valid? [False, False] Translation: X:290.41, Y:16.20, Z:-0.21 [[ 9.96659835e-01 8.16260174e-02 -2.52328266e-03 2.90406499e+02] [-8.16264084e-02 9.96662996e-01 -5.21912701e-05 1.61998576e+01] [ 2.51060229e-03 2.57983444e-04 9.99996815e-01 -2.09468784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.571400513 meters Centerline goodness [0,1] 0.806598821638993 Centerline is valid? [False, False] Translation: X:290.41, Y:16.21, Z:-0.21 [[ 9.97040622e-01 7.68301194e-02 -2.67029985e-03 2.90405724e+02] [-7.68446503e-02 9.97025925e-01 -5.84843073e-03 1.62070537e+01] [ 2.21302255e-03 6.03632127e-03 9.99979332e-01 -2.08914597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.601400513 meters Centerline goodness [0,1] 0.7934683296857403 Centerline is valid? [False, False] Translation: X:290.41, Y:16.20, Z:-0.21 [[ 9.96747279e-01 8.05449183e-02 -2.71610875e-03 2.90406792e+02] [-8.05470411e-02 9.96750576e-01 -6.81262431e-04 1.62010552e+01] [ 2.65241074e-03 8.97820998e-04 9.99996079e-01 -2.08968683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.631400513 meters Centerline goodness [0,1] 0.8168570219966159 Centerline is valid? [False, False] Translation: X:290.41, Y:16.21, Z:-0.21 [[ 9.97102574e-01 7.60046732e-02 -3.12185452e-03 2.90407173e+02] [-7.60225918e-02 9.97087496e-01 -6.09021286e-03 1.62065966e+01] [ 2.64987747e-03 6.30989839e-03 9.99976581e-01 -2.09106890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.661400513 meters Centerline goodness [0,1] 0.970466753697006 Centerline is valid? [False, True] Translation: X:290.41, Y:16.20, Z:-0.21 [[ 9.97078747e-01 7.63093663e-02 -3.29433013e-03 2.90408140e+02] [-7.63258875e-02 9.97069260e-01 -5.22014605e-03 1.62023726e+01] [ 2.88632927e-03 5.45633936e-03 9.99980949e-01 -2.10082817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.691400513 meters Centerline goodness [0,1] 0.9639020014097444 Centerline is valid? [True, True] Translation: X:290.44, Y:16.20, Z:-0.21 [[ 9.97178527e-01 7.50071192e-02 -2.98635367e-03 2.90437317e+02] [-7.50073568e-02 9.97182980e-01 3.25309474e-05 1.61973167e+01] [ 2.98038111e-03 1.91559333e-04 9.99995540e-01 -2.10704183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.721400513 meters Centerline goodness [0,1] 0.9048011495710241 Centerline is valid? [True, False] Translation: X:290.44, Y:16.20, Z:-0.21 [[ 9.97166822e-01 7.51628870e-02 -2.97807971e-03 2.90437111e+02] [-7.51618367e-02 9.97171241e-01 4.63194834e-04 1.61952328e+01] [ 3.00447050e-03 -2.38044580e-04 9.99995458e-01 -2.10433579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.751400513 meters Centerline goodness [0,1] 0.9011341432333702 Centerline is valid? [False, False] Translation: X:290.44, Y:16.20, Z:-0.21 [[ 9.97476632e-01 7.09319474e-02 -3.00446013e-03 2.90436145e+02] [-7.09449714e-02 9.97470188e-01 -4.47613096e-03 1.61986554e+01] [ 2.67935872e-03 4.67798737e-03 9.99985469e-01 -2.10232432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.781400513 meters Centerline goodness [0,1] 0.8680304089109121 Centerline is valid? [False, False] Translation: X:290.44, Y:16.19, Z:-0.21 [[ 9.97448669e-01 7.13245861e-02 -2.99270451e-03 2.90436069e+02] [-7.13352003e-02 9.97445889e-01 -3.60391801e-03 1.61945239e+01] [ 2.72801284e-03 3.80820840e-03 9.99989028e-01 -2.10259801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.811400513 meters Centerline goodness [0,1] 0.9773386821440765 Centerline is valid? [False, True] Translation: X:290.44, Y:16.19, Z:-0.21 [[ 9.97420156e-01 7.17217000e-02 -3.00495394e-03 2.90436291e+02] [-7.17299020e-02 9.97420393e-01 -2.71679678e-03 1.61903342e+01] [ 2.80234906e-03 2.92533292e-03 9.99991795e-01 -2.10729924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.841400513 meters Centerline goodness [0,1] 0.8171410432758438 Centerline is valid? [True, False] Translation: X:290.44, Y:16.19, Z:-0.21 [[ 9.97386412e-01 7.21858091e-02 -3.09107685e-03 2.90437333e+02] [-7.21918722e-02 9.97388959e-01 -1.89686459e-03 1.61865549e+01] [ 2.94607921e-03 2.11505759e-03 9.99993424e-01 -2.12241401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.871400513 meters Centerline goodness [0,1] 0.8608417023289822 Centerline is valid? [False, False] Translation: X:290.44, Y:16.19, Z:-0.21 [[ 9.97379390e-01 7.22861734e-02 -3.01019426e-03 2.90437266e+02] [-7.22916963e-02 9.97381965e-01 -1.76807609e-03 1.61859674e+01] [ 2.87450601e-03 1.98105471e-03 9.99993906e-01 -2.12655341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.901400513 meters Centerline goodness [0,1] 0.7051938396176314 Centerline is valid? [False, False] Translation: X:290.46, Y:16.17, Z:-0.22 [[ 9.97197663e-01 7.47761255e-02 2.31358575e-03 2.90461541e+02] [-7.47977351e-02 9.97133816e-01 1.13776866e-02 1.61738077e+01] [-1.45617527e-03 -1.15188535e-02 9.99932596e-01 -2.19418599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.931400513 meters Centerline goodness [0,1] 0.6756002471292528 Centerline is valid? [False, False] Translation: X:290.46, Y:16.17, Z:-0.22 [[ 9.97101494e-01 7.60380370e-02 2.61280892e-03 2.90460947e+02] [-7.60640334e-02 9.97031087e-01 1.19697290e-02 1.61728599e+01] [-1.69489702e-03 -1.21337755e-02 9.99924947e-01 -2.19974594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.961400513 meters Centerline goodness [0,1] 0.46115133884016735 Centerline is valid? [False, False] Translation: X:290.46, Y:16.18, Z:-0.22 [[ 9.97096477e-01 7.61078086e-02 2.49344792e-03 2.90461911e+02] [-7.61314408e-02 9.97032631e-01 1.13989474e-02 1.61759223e+01] [-1.61850003e-03 -1.15556801e-02 9.99931921e-01 -2.21068262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.991400513 meters Centerline goodness [0,1] 0.5502040641894057 Centerline is valid? [False, False] Translation: X:290.46, Y:16.18, Z:-0.22 [[ 9.97110379e-01 7.59301178e-02 2.34720069e-03 2.90462855e+02] [-7.59505996e-02 9.97057083e-01 1.04249250e-02 1.61807472e+01] [-1.54872729e-03 -1.05730722e-02 9.99942904e-01 -2.22088107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.021400513 meters Centerline goodness [0,1] 0.43931283982482494 Centerline is valid? [False, False] Translation: X:290.48, Y:16.19, Z:-0.23 [[ 9.96994591e-01 7.72063348e-02 6.40057852e-03 2.90484831e+02] [-7.72029882e-02 9.97015099e-01 -7.68671589e-04 1.61928157e+01] [-6.44081974e-03 2.72217628e-04 9.99979221e-01 -2.26938089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.051400513 meters Centerline goodness [0,1] 0.4480147620259608 Centerline is valid? [False, False] Translation: X:290.48, Y:16.20, Z:-0.23 [[ 9.97014131e-01 7.69405314e-02 6.55564999e-03 2.90484289e+02] [-7.69323063e-02 9.97035193e-01 -1.49810550e-03 1.61963015e+01] [-6.65147878e-03 9.89291081e-04 9.99977389e-01 -2.26851656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.081400513 meters Centerline goodness [0,1] 0.4312457598371777 Centerline is valid? [False, False] Translation: X:290.48, Y:16.20, Z:-0.23 [[ 9.97032287e-01 7.66784516e-02 6.85818574e-03 2.90482652e+02] [-7.66655205e-02 9.97054594e-01 -2.12931998e-03 1.61993122e+01] [-7.00125856e-03 1.59721439e-03 9.99974215e-01 -2.25604549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.111400513 meters Centerline goodness [0,1] 0.6346447994561523 Centerline is valid? [False, False] Translation: X:290.48, Y:16.20, Z:-0.22 [[ 9.97036723e-01 7.66116583e-02 6.95893546e-03 2.90481847e+02] [-7.65979718e-02 9.97059604e-01 -2.21281610e-03 1.61996905e+01] [-7.10800095e-03 1.67321857e-03 9.99973338e-01 -2.24687778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.141400513 meters Centerline goodness [0,1] 0.6618381192132099 Centerline is valid? [False, False] Translation: X:290.48, Y:16.20, Z:-0.22 [[ 9.97039604e-01 7.65683248e-02 7.02282346e-03 2.90481302e+02] [-7.65548294e-02 9.97063009e-01 -2.17114209e-03 1.61994314e+01] [-7.16843821e-03 1.62708360e-03 9.99972983e-01 -2.24004538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.171400513 meters Centerline goodness [0,1] 0.5909941321540948 Centerline is valid? [False, False] Translation: X:290.48, Y:16.21, Z:-0.22 [[ 9.97392190e-01 7.18416245e-02 6.89925994e-03 2.90480438e+02] [-7.17873406e-02 9.97389323e-01 -7.81770770e-03 1.62059141e+01] [-7.44288502e-03 7.30204109e-03 9.99945640e-01 -2.23357859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.201400513 meters Centerline goodness [0,1] 0.5911207501435223 Centerline is valid? [False, False] Translation: X:290.48, Y:16.20, Z:-0.22 [[ 9.97757227e-01 6.68167597e-02 4.00465795e-03 2.90478753e+02] [-6.68468152e-02 9.97731887e-01 7.91107986e-03 1.61962640e+01] [-3.46698221e-03 -8.16103573e-03 9.99960688e-01 -2.20199799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.231400513 meters Centerline goodness [0,1] 0.683824467406557 Centerline is valid? [False, False] Translation: X:290.48, Y:16.20, Z:-0.22 [[ 9.98048364e-01 6.23282418e-02 3.82810283e-03 2.90478579e+02] [-6.23367099e-02 9.98052895e-01 2.13397143e-03 1.62037502e+01] [-3.68764242e-03 -2.36843803e-03 9.99990396e-01 -2.20435180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.261400513 meters Centerline goodness [0,1] 0.6419296567846138 Centerline is valid? [False, False] Translation: X:290.48, Y:16.21, Z:-0.22 [[ 9.98301648e-01 5.81297182e-02 3.84116876e-03 2.90477803e+02] [-5.81162255e-02 9.98303563e-01 -3.53566635e-03 1.62113202e+01] [-4.04017975e-03 3.30642732e-03 9.99986372e-01 -2.20427645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.291400513 meters Centerline goodness [0,1] 0.7018018978569144 Centerline is valid? [False, False] Translation: X:290.48, Y:16.21, Z:-0.22 [[ 9.98314173e-01 5.79145640e-02 3.83598919e-03 2.90477825e+02] [-5.78989953e-02 9.98314221e-01 -4.05246263e-03 1.62137545e+01] [-4.06421917e-03 3.82353096e-03 9.99984431e-01 -2.20404569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.321400513 meters Centerline goodness [0,1] 0.662755286751709 Centerline is valid? [False, False] Translation: X:290.48, Y:16.22, Z:-0.22 [[ 9.98336215e-01 5.75235754e-02 3.97987646e-03 2.90477471e+02] [-5.75018961e-02 9.98330994e-01 -5.36268650e-03 1.62201312e+01] [-4.28171492e-03 5.12491370e-03 9.99977701e-01 -2.20519705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.351400513 meters Centerline goodness [0,1] 0.670361764266985 Centerline is valid? [False, False] Translation: X:290.48, Y:16.22, Z:-0.22 [[ 9.98352370e-01 5.72347795e-02 4.08971566e-03 2.90477128e+02] [-5.72093973e-02 9.98343718e-01 -6.07505715e-03 1.62234654e+01] [-4.43064649e-03 5.83107753e-03 9.99973184e-01 -2.20557704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.381400513 meters Centerline goodness [0,1] 0.5209346787041954 Centerline is valid? [False, False] Translation: X:290.48, Y:16.23, Z:-0.22 [[ 9.98366971e-01 5.69708079e-02 4.20931560e-03 2.90476662e+02] [-5.69417969e-02 9.98354900e-01 -6.71747832e-03 1.62265150e+01] [-4.58509102e-03 6.46682249e-03 9.99968578e-01 -2.20392686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.411400513 meters Centerline goodness [0,1] 0.6708569970008296 Centerline is valid? [False, False] Translation: X:290.48, Y:16.23, Z:-0.22 [[ 9.98382422e-01 5.66903193e-02 4.32978423e-03 2.90476216e+02] [-5.66574623e-02 9.98366490e-01 -7.36774265e-03 1.62295666e+01] [-4.74039117e-03 7.11051017e-03 9.99963484e-01 -2.20261560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.441400513 meters Centerline goodness [0,1] 0.6286593462178852 Centerline is valid? [False, False] Translation: X:290.48, Y:16.23, Z:-0.22 [[ 9.98145365e-01 6.07326249e-02 4.16868142e-03 2.90477386e+02] [-6.07228835e-02 9.98151717e-01 -2.42500458e-03 1.62258213e+01] [-4.30825341e-03 2.16737273e-03 9.99988371e-01 -2.20132017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.471400513 meters Centerline goodness [0,1] 0.5515739330086046 Centerline is valid? [False, False] Translation: X:290.43, Y:16.22, Z:-0.22 [[ 9.98342309e-01 5.75333760e-02 1.59502517e-03 2.90431689e+02] [-5.75499008e-02 9.98248019e-01 1.37441535e-02 1.62161026e+01] [-8.01483159e-04 -1.38131635e-02 9.99904272e-01 -2.17353205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.501400513 meters Centerline goodness [0,1] 0.6890337097732869 Centerline is valid? [False, False] Translation: X:290.43, Y:16.23, Z:-0.22 [[ 9.98603712e-01 5.28139205e-02 1.14711979e-03 2.90432539e+02] [-5.28211293e-02 9.98575136e-01 7.59115110e-03 1.62252949e+01] [-7.44566854e-04 -7.64114383e-03 9.99970529e-01 -2.17785258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.531400513 meters Centerline goodness [0,1] 0.6867712956867076 Centerline is valid? [False, False] Translation: X:290.43, Y:16.23, Z:-0.22 [[ 9.98840044e-01 4.81408202e-02 1.01432016e-03 2.90432276e+02] [-4.81424047e-02 9.98839200e-01 1.60031403e-03 1.62336729e+01] [-9.36102307e-04 -1.64728955e-03 9.99998205e-01 -2.17809019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.561400513 meters Centerline goodness [0,1] 0.5865799940127443 Centerline is valid? [False, False] Translation: X:290.43, Y:16.24, Z:-0.22 [[ 9.99053074e-01 4.34945369e-02 1.08629669e-03 2.90431472e+02] [-4.34893521e-02 9.99044152e-01 -4.41116729e-03 1.62421837e+01] [-1.27712003e-03 4.35974790e-03 9.99989681e-01 -2.17836675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.591400513 meters Centerline goodness [0,1] 0.6929807753720381 Centerline is valid? [False, False] Translation: X:290.43, Y:16.23, Z:-0.22 [[ 9.99170335e-01 4.05272504e-02 4.02279927e-03 2.90434619e+02] [-4.05761724e-02 9.99092748e-01 1.29327268e-02 1.62315827e+01] [-3.49502172e-03 -1.30852268e-02 9.99908277e-01 -2.22777832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.621400513 meters Centerline goodness [0,1] 0.6462749591529272 Centerline is valid? [False, False] Translation: X:290.43, Y:16.24, Z:-0.22 [[ 9.99344303e-01 3.59848235e-02 4.00699029e-03 2.90433958e+02] [-3.60140169e-02 9.99323375e-01 7.46880604e-03 1.62372870e+01] [-3.73551539e-03 -7.60821659e-03 9.99964080e-01 -2.22521207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.651400513 meters Centerline goodness [0,1] 0.7160294648353748 Centerline is valid? [False, False] Translation: X:290.43, Y:16.24, Z:-0.22 [[ 9.99615393e-01 2.74327695e-02 4.06304564e-03 2.90432487e+02] [-2.74240962e-02 9.99621522e-01 -2.17523813e-03 1.62427351e+01] [-4.12118067e-03 2.06297617e-03 9.99989380e-01 -2.21788283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.681400513 meters Centerline goodness [0,1] 0.7429787234042553 Centerline is valid? [False, False] Translation: X:290.43, Y:16.24, Z:-0.22 [[ 9.99608621e-01 2.76998808e-02 3.91435588e-03 2.90433005e+02] [-2.76950725e-02 9.99615602e-01 -1.27728174e-03 1.62383758e+01] [-3.94823176e-03 1.16837347e-03 9.99991523e-01 -2.21787041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.711400513 meters Centerline goodness [0,1] 0.7178209387511714 Centerline is valid? [False, False] Translation: X:290.43, Y:16.24, Z:-0.22 [[ 9.99722928e-01 2.32094728e-02 3.92269327e-03 2.90432581e+02] [-2.31849717e-02 9.99712090e-01 -6.18013945e-03 1.62411617e+01] [-4.06500167e-03 6.08747957e-03 9.99973209e-01 -2.21732317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.741400513 meters Centerline goodness [0,1] 0.8042021989239309 Centerline is valid? [False, False] Translation: X:290.43, Y:16.23, Z:-0.22 [[ 9.99816357e-01 1.91015678e-02 1.54358539e-03 2.90432495e+02] [-1.91172682e-02 9.99757909e-01 1.08928017e-02 1.62262261e+01] [-1.33514211e-03 -1.09203104e-02 9.99939480e-01 -2.20810781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.771400513 meters Centerline goodness [0,1] 0.8287580583187465 Centerline is valid? [False, False] Translation: X:290.43, Y:16.23, Z:-0.22 [[ 9.99933139e-01 1.14134704e-02 1.85735442e-03 2.90431188e+02] [-1.14165796e-02 9.99933431e-01 1.67208972e-03 1.62315341e+01] [-1.83814643e-03 -1.69318256e-03 9.99996877e-01 -2.21137402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.801400513 meters Centerline goodness [0,1] 0.8327647234423643 Centerline is valid? [False, False] Translation: X:290.43, Y:16.24, Z:-0.22 [[ 9.99970757e-01 7.38809388e-03 1.97523813e-03 2.90430699e+02] [-7.38118278e-03 9.99966691e-01 -3.48355491e-03 1.62365147e+01] [-2.00090917e-03 3.46887344e-03 9.99991982e-01 -2.21258994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.831400513 meters Centerline goodness [0,1] 0.7994952627414077 Centerline is valid? [False, False] Translation: X:290.43, Y:16.24, Z:-0.22 [[ 9.99970644e-01 7.39120001e-03 2.01998738e-03 2.90430614e+02] [-7.38410523e-03 9.99966621e-01 -3.49746488e-03 1.62365870e+01] [-2.04577042e-03 3.48244642e-03 9.99991844e-01 -2.21357832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.861400513 meters Centerline goodness [0,1] 0.6948931902089246 Centerline is valid? [False, False] Translation: X:290.43, Y:16.24, Z:-0.22 [[ 9.99970731e-01 7.38835006e-03 1.98707553e-03 2.90430830e+02] [-7.38116945e-03 9.99966289e-01 -3.59703715e-03 1.62371045e+01] [-2.01358472e-03 3.58226492e-03 9.99991556e-01 -2.21585414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.891400513 meters Centerline goodness [0,1] 0.6492218557049818 Centerline is valid? [False, False] Translation: X:290.44, Y:16.23, Z:-0.23 [[ 9.99954554e-01 9.47171013e-03 1.08453459e-03 2.90437451e+02] [-9.47017778e-03 9.99954164e-01 -1.40943498e-03 1.62345280e+01] [-1.09783464e-03 1.39910019e-03 9.99998419e-01 -2.25746440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.921400513 meters Centerline goodness [0,1] 0.73409690879673 Centerline is valid? [False, False] Translation: X:290.44, Y:16.23, Z:-0.23 [[ 9.99954313e-01 9.49625189e-03 1.09185878e-03 2.90437584e+02] [-9.49469406e-03 9.99953912e-01 -1.42321025e-03 1.62346161e+01] [-1.10532362e-03 1.41277836e-03 9.99998391e-01 -2.26081508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.951400513 meters Centerline goodness [0,1] 0.643501668999677 Centerline is valid? [False, False] Translation: X:290.44, Y:16.23, Z:-0.23 [[ 9.99895992e-01 1.43826521e-02 1.06988144e-03 2.90437976e+02] [-1.43874308e-02 9.99885907e-01 4.60169743e-03 1.62264374e+01] [-1.00357476e-03 -4.61661166e-03 9.99988840e-01 -2.26232185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.981400513 meters Centerline goodness [0,1] 0.6503645589050442 Centerline is valid? [False, False] Translation: X:290.44, Y:16.23, Z:-0.23 [[ 9.99895083e-01 1.44344565e-02 1.21221376e-03 2.90437339e+02] [-1.44399983e-02 9.99884717e-01 4.69461967e-03 1.62260175e+01] [-1.14430973e-03 -4.71163149e-03 9.99988245e-01 -2.25915835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.011400513 meters Centerline goodness [0,1] 0.6544007113971756 Centerline is valid? [False, False] Translation: X:290.44, Y:16.23, Z:-0.23 [[ 9.99894377e-01 1.44683406e-02 1.37947227e-03 2.90436510e+02] [-1.44747740e-02 9.99883840e-01 4.77368667e-03 1.62256385e+01] [-1.31024471e-03 -4.79315000e-03 9.99987654e-01 -2.25409980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.041400513 meters Centerline goodness [0,1] 0.7056056946739545 Centerline is valid? [False, False] Translation: X:290.44, Y:16.23, Z:-0.23 [[ 9.99947258e-01 1.01429516e-02 1.61307165e-03 2.90435394e+02] [-1.01419148e-02 9.99948358e-01 -6.49625585e-04 1.62315046e+01] [-1.61957747e-03 6.33231687e-04 9.99998488e-01 -2.25148268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.071400513 meters Centerline goodness [0,1] 0.6330040871934605 Centerline is valid? [False, False] Translation: X:290.44, Y:16.23, Z:-0.23 [[ 9.99946989e-01 1.01835529e-02 1.52105391e-03 2.90435858e+02] [-1.01827019e-02 9.99947995e-01 -5.66181546e-04 1.62311070e+01] [-1.52674054e-03 5.50663094e-04 9.99998683e-01 -2.25440211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.101400513 meters Centerline goodness [0,1] 0.6958385768828786 Centerline is valid? [False, False] Translation: X:290.44, Y:16.23, Z:-0.23 [[ 9.99947893e-01 1.01177959e-02 1.35671124e-03 2.90436946e+02] [-1.01166522e-02 9.99948466e-01 -8.47284072e-04 1.62324394e+01] [-1.36521397e-03 8.33514547e-04 9.99998721e-01 -2.26574020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.131400513 meters Centerline goodness [0,1] 0.6699213337028589 Centerline is valid? [False, False] Translation: X:290.44, Y:16.23, Z:-0.23 [[ 9.99949355e-01 9.96870510e-03 1.38289747e-03 2.90436990e+02] [-9.96700187e-03 9.99949568e-01 -1.23311410e-03 1.62342450e+01] [-1.39512028e-03 1.21926831e-03 9.99998284e-01 -2.26853659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.161400513 meters Centerline goodness [0,1] 0.6043510559269871 Centerline is valid? [False, False] Translation: X:290.44, Y:16.24, Z:-0.23 [[ 9.99951171e-01 9.77948153e-03 1.42034232e-03 2.90436811e+02] [-9.77703729e-03 9.99950728e-01 -1.71774820e-03 1.62365460e+01] [-1.43707102e-03 1.70377759e-03 9.99997516e-01 -2.26819264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.191400513 meters Centerline goodness [0,1] 0.6043510559269871 Centerline is valid? [False, False] Translation: X:290.44, Y:16.24, Z:-0.23 [[ 9.99951171e-01 9.77948153e-03 1.42034232e-03 2.90436811e+02] [-9.77703729e-03 9.99950728e-01 -1.71774820e-03 1.62365460e+01] [-1.43707102e-03 1.70377759e-03 9.99997516e-01 -2.26819264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.221400513 meters Centerline goodness [0,1] 0.6384159173522097 Centerline is valid? [False, False] Translation: X:290.44, Y:16.24, Z:-0.23 [[ 9.99953441e-01 9.53531018e-03 1.48117909e-03 2.90436338e+02] [-9.53191151e-03 9.99951960e-01 -2.28492883e-03 1.62392246e+01] [-1.50289544e-03 2.27070398e-03 9.99996293e-01 -2.26340500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.251400513 meters Centerline goodness [0,1] 0.6879530251865873 Centerline is valid? [False, False] Translation: X:290.44, Y:16.24, Z:-0.23 [[ 9.99953650e-01 9.50666506e-03 1.52361532e-03 2.90436005e+02] [-9.50307353e-03 9.99952090e-01 -2.34739628e-03 1.62395073e+01] [-1.54585823e-03 2.33280845e-03 9.99996084e-01 -2.25976086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.281400513 meters Centerline goodness [0,1] 0.44319338422391863 Centerline is valid? [False, False] Translation: X:290.46, Y:16.24, Z:-0.23 [[ 9.99956294e-01 7.73177911e-03 5.25632192e-03 2.90459035e+02] [-7.76769407e-03 9.99946389e-01 6.84698809e-03 1.62362943e+01] [-5.20310073e-03 -6.88751834e-03 9.99962744e-01 -2.30960036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.311400513 meters Centerline goodness [0,1] 0.5432380469459762 Centerline is valid? [False, False] Translation: X:290.46, Y:16.24, Z:-0.23 [[ 9.99979335e-01 3.25653760e-03 5.54289653e-03 2.90457727e+02] [-3.26384144e-03 9.99993817e-01 1.30915785e-03 1.62425585e+01] [-5.53859893e-03 -1.32722193e-03 9.99983781e-01 -2.30580403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.341400513 meters Centerline goodness [0,1] 0.707785017673864 Centerline is valid? [False, False] Translation: X:290.46, Y:16.24, Z:-0.23 [[ 9.99978981e-01 3.28950633e-03 5.58722287e-03 2.90457326e+02] [-3.29767104e-03 9.99993507e-01 1.45273376e-03 1.62418568e+01] [-5.58240782e-03 -1.47112805e-03 9.99983336e-01 -2.30060901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.371400513 meters Centerline goodness [0,1] 0.6905126568815145 Centerline is valid? [False, False] Translation: X:290.46, Y:16.24, Z:-0.23 [[ 9.99978483e-01 3.33719205e-03 5.64764660e-03 2.90456701e+02] [-3.34725824e-03 9.99992825e-01 1.77385699e-03 1.62402609e+01] [-5.64168638e-03 -1.79272296e-03 9.99982479e-01 -2.29160545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.401400513 meters Centerline goodness [0,1] 0.7188097768331563 Centerline is valid? [False, False] Translation: X:290.46, Y:16.24, Z:-0.23 [[ 9.99978474e-01 3.32628150e-03 5.65577245e-03 2.90456542e+02] [-3.33638778e-03 9.99992853e-01 1.77840189e-03 1.62402264e+01] [-5.64981657e-03 -1.79723346e-03 9.99982425e-01 -2.28888010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.431400513 meters Centerline goodness [0,1] 0.7294527828564139 Centerline is valid? [False, False] Translation: X:290.46, Y:16.24, Z:-0.23 [[ 9.99979168e-01 3.16711546e-03 5.62430271e-03 2.90456647e+02] [-3.17530828e-03 9.99993910e-01 1.44835051e-03 1.62417379e+01] [-5.61968137e-03 -1.46617923e-03 9.99983135e-01 -2.28914253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.461400513 meters Centerline goodness [0,1] 0.7255167375703666 Centerline is valid? [False, False] Translation: X:290.42, Y:16.24, Z:-0.23 [[ 9.99992208e-01 3.37535108e-03 2.04695759e-03 2.90418288e+02] [-3.37843202e-03 9.99993163e-01 1.50354575e-03 1.62401014e+01] [-2.04186860e-03 -1.51044955e-03 9.99996775e-01 -2.30041803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.491400513 meters Centerline goodness [0,1] 0.7158602889843237 Centerline is valid? [False, False] Translation: X:290.46, Y:16.25, Z:-0.23 [[ 9.99987675e-01 3.00594677e-03 3.95134752e-03 2.90461479e+02] [-3.00543963e-03 9.99995475e-01 -1.34278326e-04 1.62466985e+01] [-3.95173327e-03 1.22401135e-04 9.99992184e-01 -2.31708731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.521400513 meters Centerline goodness [0,1] 0.713375796178344 Centerline is valid? [False, False] Translation: X:290.42, Y:16.24, Z:-0.23 [[ 9.99995340e-01 2.47414547e-03 1.78826421e-03 2.90418585e+02] [-2.47219145e-03 9.99996346e-01 -1.09407695e-03 1.62448122e+01] [-1.79096458e-03 1.08965092e-03 9.99997803e-01 -2.30940587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.551400513 meters Centerline goodness [0,1] 0.716289516060683 Centerline is valid? [False, False] Translation: X:290.46, Y:16.25, Z:-0.23 [[ 9.99989838e-01 2.53124192e-03 3.73039361e-03 2.90461159e+02] [-2.53049600e-03 9.99996777e-01 -2.04664735e-04 1.62451929e+01] [-3.73089965e-03 1.95222909e-04 9.99993021e-01 -2.31490185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.581400513 meters Centerline goodness [0,1] 0.7424554986070053 Centerline is valid? [False, False] Translation: X:290.46, Y:16.24, Z:-0.23 [[ 9.99989961e-01 2.63575427e-03 3.62370564e-03 2.90461674e+02] [-2.63606783e-03 9.99996522e-01 8.17548640e-05 1.62438164e+01] [-3.62347755e-03 -9.13063771e-05 9.99993431e-01 -2.31772384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.611400513 meters Centerline goodness [0,1] 0.7254570001928723 Centerline is valid? [False, False] Translation: X:290.46, Y:16.25, Z:-0.23 [[ 9.99990787e-01 7.98797719e-04 4.21748407e-03 2.90456539e+02] [-7.91406166e-04 9.99998149e-01 -1.75397581e-03 1.62450009e+01] [-4.21887733e-03 1.75062191e-03 9.99989568e-01 -2.28335185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.641400513 meters Centerline goodness [0,1] 0.7846755311150732 Centerline is valid? [False, False] Translation: X:290.46, Y:16.24, Z:-0.23 [[ 9.99990614e-01 1.20471870e-03 4.16190423e-03 2.90456873e+02] [-1.20270080e-03 9.99999158e-01 -4.87319042e-04 1.62388820e+01] [-4.16248780e-03 4.82308943e-04 9.99991220e-01 -2.28509709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.671400513 meters Centerline goodness [0,1] 0.8353324669237489 Centerline is valid? [False, False] Translation: X:290.46, Y:16.24, Z:-0.23 [[ 9.99990143e-01 1.48740355e-03 4.18351110e-03 2.90456677e+02] [-1.48865799e-03 9.99998848e-01 2.96756745e-04 1.62351041e+01] [-4.18306488e-03 -3.02981638e-04 9.99991205e-01 -2.28201130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.701400513 meters Centerline goodness [0,1] 0.7675836399418157 Centerline is valid? [False, False] Translation: X:290.46, Y:16.23, Z:-0.23 [[ 9.99989928e-01 1.76996320e-03 4.12451601e-03 2.90456793e+02] [-1.77415415e-03 9.99997913e-01 1.01266965e-03 1.62317361e+01] [-4.12271502e-03 -1.01997697e-03 9.99990981e-01 -2.27949462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.731400513 meters Centerline goodness [0,1] 0.7158145065398336 Centerline is valid? [False, False] Translation: X:290.46, Y:16.23, Z:-0.23 [[ 9.99989959e-01 2.04120872e-03 3.98928482e-03 2.90457331e+02] [-2.04804316e-03 9.99996441e-01 1.70986654e-03 1.62283870e+01] [-3.98578043e-03 -1.71801960e-03 9.99990581e-01 -2.28062847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.761400513 meters Centerline goodness [0,1] 0.8172782383308699 Centerline is valid? [False, False] Translation: X:290.45, Y:16.23, Z:-0.22 [[ 9.99989608e-01 1.91521474e-04 4.55483740e-03 2.90452005e+02] [-1.90822648e-04 9.99999970e-01 -1.53859085e-04 1.62276769e+01] [-4.55486673e-03 1.52988320e-04 9.99989615e-01 -2.24261616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.791400513 meters Centerline goodness [0,1] 0.8424358450386114 Centerline is valid? [False, False] Translation: X:290.45, Y:16.22, Z:-0.22 [[ 9.99990351e-01 4.76763507e-04 4.36691936e-03 2.90453001e+02] [-4.78929830e-04 9.99999763e-01 4.95043400e-04 1.62246268e+01] [-4.36668231e-03 -4.97130071e-04 9.99990342e-01 -2.24969854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.821400513 meters Centerline goodness [0,1] 0.7135448637893445 Centerline is valid? [False, False] Translation: X:290.50, Y:16.22, Z:-0.23 [[ 9.99982802e-01 1.07831810e-03 5.76475061e-03 2.90497475e+02] [-1.08794580e-03 9.99998018e-01 1.66722462e-03 1.62224485e+01] [-5.76294139e-03 -1.67346768e-03 9.99981994e-01 -2.27110393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.851400513 meters Centerline goodness [0,1] 0.8380340507548988 Centerline is valid? [False, False] Translation: X:290.47, Y:16.22, Z:-0.22 [[ 9.99994445e-01 2.15125190e-03 2.54609683e-03 2.90471548e+02] [-2.12980767e-03 9.99962490e-01 -8.39535022e-03 1.62247655e+01] [-2.56406184e-03 8.38988089e-03 9.99961517e-01 -2.20187048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.881400513 meters Centerline goodness [0,1] 0.8124906650735059 Centerline is valid? [False, False] Translation: X:290.47, Y:16.22, Z:-0.22 [[ 9.99975181e-01 6.65671382e-03 2.30782683e-03 2.90472281e+02] [-6.65113011e-03 9.99974956e-01 -2.41875897e-03 1.62161015e+01] [-2.32387002e-03 2.40334928e-03 9.99994412e-01 -2.19904855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.911400513 meters Centerline goodness [0,1] 0.7925481999658761 Centerline is valid? [False, False] Translation: X:290.47, Y:16.21, Z:-0.22 [[ 9.99973331e-01 6.93743989e-03 2.28227496e-03 2.90472333e+02] [-6.93336018e-03 9.99974361e-01 -1.79064446e-03 1.62131583e+01] [-2.29463893e-03 1.77477287e-03 9.99995792e-01 -2.19812978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.941400513 meters Centerline goodness [0,1] 0.7673732282107621 Centerline is valid? [False, False] Translation: X:290.47, Y:16.21, Z:-0.22 [[ 9.99968132e-01 7.63102116e-03 2.34566555e-03 2.90472299e+02] [-7.63066926e-03 9.99970873e-01 -1.58934382e-04 1.62055121e+01] [-2.34681006e-03 1.41030319e-04 9.99997236e-01 -2.20036163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.971400513 meters Centerline goodness [0,1] 0.7602166420482521 Centerline is valid? [False, False] Translation: X:290.47, Y:16.20, Z:-0.22 [[ 9.99965002e-01 8.03413310e-03 2.33389754e-03 2.90472316e+02] [-8.03616757e-03 9.99967337e-01 8.63638055e-04 1.62006542e+01] [-2.32688273e-03 -8.82363422e-04 9.99996904e-01 -2.19932109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.001400513 meters Centerline goodness [0,1] 0.7785033722299539 Centerline is valid? [False, False] Translation: X:290.47, Y:16.20, Z:-0.22 [[ 9.99989686e-01 3.72830853e-03 2.59394046e-03 2.90471275e+02] [-3.71827743e-03 9.99985632e-01 -3.86126312e-03 1.62027930e+01] [-2.60829917e-03 3.85157830e-03 9.99989181e-01 -2.19707261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.031400513 meters Centerline goodness [0,1] 0.7118636838625749 Centerline is valid? [False, False] Translation: X:290.47, Y:16.20, Z:-0.22 [[ 9.99988205e-01 4.10835062e-03 2.59066322e-03 2.90471152e+02] [-4.10072466e-03 9.99987264e-01 -2.94210642e-03 1.61984627e+01] [-2.60271743e-03 2.93144812e-03 9.99992316e-01 -2.19392817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.061400513 meters Centerline goodness [0,1] 0.8628645216829872 Centerline is valid? [False, False] Translation: X:290.47, Y:16.19, Z:-0.22 [[ 9.99986750e-01 4.48021387e-03 2.53537385e-03 2.90471313e+02] [-4.47495294e-03 9.99987831e-01 -2.07689373e-03 1.61944237e+01] [-2.54464792e-03 2.06552054e-03 9.99994629e-01 -2.19306263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.091400513 meters Centerline goodness [0,1] 0.8097639141117402 Centerline is valid? [False, False] Translation: X:290.47, Y:16.19, Z:-0.22 [[ 9.99983243e-01 5.25636324e-03 2.42562041e-03 2.90471809e+02] [-5.25563011e-03 9.99986141e-01 -3.08518522e-04 1.61861240e+01] [-2.42720848e-03 2.95765189e-04 9.99997011e-01 -2.19451137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.121400513 meters Centerline goodness [0,1] 0.7874638543970063 Centerline is valid? [False, False] Translation: X:290.47, Y:16.18, Z:-0.22 [[ 9.99981156e-01 5.62751123e-03 2.45345444e-03 2.90471638e+02] [-5.62884573e-03 9.99984014e-01 5.37360377e-04 1.61821423e+01] [-2.45039122e-03 -5.51160368e-04 9.99996846e-01 -2.19266716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.151400513 meters Centerline goodness [0,1] 0.7601279778632886 Centerline is valid? [False, False] Translation: X:290.43, Y:16.18, Z:-0.22 [[ 9.99987951e-01 4.90437481e-03 2.10533912e-04 2.90428920e+02] [-4.90451963e-03 9.99987733e-01 6.92929071e-04 1.61760803e+01] [-2.07132946e-04 -6.93953290e-04 9.99999738e-01 -2.18537330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.181400513 meters Centerline goodness [0,1] 0.7216404886561955 Centerline is valid? [False, False] Translation: X:290.47, Y:16.18, Z:-0.22 [[ 9.99987504e-01 4.19529045e-03 2.71878883e-03 2.90470159e+02] [-4.19309423e-03 9.99990878e-01 -8.12989617e-04 1.61775885e+01] [-2.72217476e-03 8.01579320e-04 9.99995974e-01 -2.18994624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.211400513 meters Centerline goodness [0,1] 0.6926862669576754 Centerline is valid? [False, False] Translation: X:290.47, Y:16.17, Z:-0.22 [[ 9.99985977e-01 4.52834933e-03 2.74593842e-03 2.90470079e+02] [-4.52820441e-03 9.99989746e-01 -5.89924321e-05 1.61740800e+01] [-2.74617740e-03 4.65574344e-05 9.99996228e-01 -2.18962790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.241400513 meters Centerline goodness [0,1] 0.6781016632722335 Centerline is valid? [False, False] Translation: X:290.47, Y:16.17, Z:-0.22 [[ 9.99984767e-01 4.77494902e-03 2.76860828e-03 2.90470123e+02] [-4.77627410e-03 9.99988482e-01 4.72197306e-04 1.61716068e+01] [-2.76632167e-03 -4.85413746e-04 9.99996056e-01 -2.19151098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.271400513 meters Centerline goodness [0,1] 0.4906258586797996 Centerline is valid? [False, False] Translation: X:290.47, Y:16.17, Z:-0.22 [[ 9.99983421e-01 5.10346413e-03 2.66680626e-03 2.90470828e+02] [-5.10562686e-03 9.99986642e-01 8.04802584e-04 1.61702393e+01] [-2.66266336e-03 -8.18404959e-04 9.99996120e-01 -2.19835134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.301400513 meters Centerline goodness [0,1] 0.6527813326507977 Centerline is valid? [False, False] Translation: X:290.47, Y:16.16, Z:-0.22 [[ 9.99947869e-01 9.92522391e-03 2.39767352e-03 2.90471973e+02] [-9.94071860e-03 9.99929207e-01 6.53929891e-03 1.61634954e+01] [-2.33259978e-03 -6.56279261e-03 9.99975744e-01 -2.20020987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.331400513 meters Centerline goodness [0,1] 0.6323384575857491 Centerline is valid? [False, False] Translation: X:290.47, Y:16.17, Z:-0.22 [[ 9.99976227e-01 6.32803359e-03 2.73904800e-03 2.90470909e+02] [-6.33199161e-03 9.99978918e-01 1.43878343e-03 1.61692697e+01] [-2.72988558e-03 -1.45609286e-03 9.99995214e-01 -2.20598060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.361400513 meters Centerline goodness [0,1] 0.584354060859545 Centerline is valid? [False, False] Translation: X:290.47, Y:16.17, Z:-0.22 [[ 9.99976536e-01 6.24703473e-03 2.81120276e-03 2.90470770e+02] [-6.25023155e-03 9.99979829e-01 1.12982524e-03 1.61707611e+01] [-2.80408799e-03 -1.14736939e-03 9.99995410e-01 -2.20865428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.391400513 meters Centerline goodness [0,1] 0.6411698780119832 Centerline is valid? [False, False] Translation: X:290.47, Y:16.17, Z:-0.22 [[ 9.99937752e-01 1.08447617e-02 2.62377348e-03 2.90471441e+02] [-1.08615618e-02 9.99920042e-01 6.47584007e-03 1.61657983e+01] [-2.55333475e-03 -6.50393524e-03 9.99975589e-01 -2.20680819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.421400513 meters Centerline goodness [0,1] 0.5668499140364656 Centerline is valid? [False, False] Translation: X:290.51, Y:16.18, Z:-0.22 [[ 9.99947750e-01 9.02123726e-03 4.80767021e-03 2.90512877e+02] [-9.02813759e-03 9.99958244e-01 1.41551129e-03 1.61761418e+01] [-4.79469979e-03 -1.45884163e-03 9.99987441e-01 -2.22669308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.451400513 meters Centerline goodness [0,1] 0.5642182313388373 Centerline is valid? [False, False] Translation: X:290.51, Y:16.18, Z:-0.22 [[ 9.99978105e-01 4.46425773e-03 4.88464678e-03 2.90512641e+02] [-4.44547128e-03 9.99982707e-01 -3.85014005e-03 1.61807126e+01] [-4.90175033e-03 3.82834120e-03 9.99980658e-01 -2.23038366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.481400513 meters Centerline goodness [0,1] 0.6394290620304787 Centerline is valid? [False, False] Translation: X:290.49, Y:16.17, Z:-0.22 [[ 9.99998092e-01 -4.69874213e-04 1.89631192e-03 2.90494033e+02] [ 4.63411144e-04 9.99994088e-01 3.40723235e-03 1.61744876e+01] [-1.89790168e-03 -3.40634708e-03 9.99992397e-01 -2.22581024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.511400513 meters Centerline goodness [0,1] 0.5216516675489677 Centerline is valid? [False, False] Translation: X:290.53, Y:16.18, Z:-0.22 [[ 9.99981265e-01 -2.80086226e-03 5.44292856e-03 2.90532689e+02] [ 2.79794630e-03 9.99995938e-01 5.43274479e-04 1.61780690e+01] [-5.44442809e-03 -5.28035278e-04 9.99985040e-01 -2.21982873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.541400513 meters Centerline goodness [0,1] 0.6790752434978058 Centerline is valid? [False, False] Translation: X:290.51, Y:16.18, Z:-0.22 [[ 9.99984755e-01 -4.79626570e-03 2.73603259e-03 2.90508002e+02] [ 4.83097281e-03 9.99906114e-01 -1.28228629e-02 1.61827961e+01] [-2.67427385e-03 1.28358851e-02 9.99914040e-01 -2.17025436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.571400513 meters Centerline goodness [0,1] 0.9045510243566868 Centerline is valid? [False, False] Translation: X:290.49, Y:16.17, Z:-0.22 [[ 9.99938420e-01 -1.09947055e-02 1.50721623e-03 2.90491427e+02] [ 1.10038136e-02 9.99920395e-01 -6.17415798e-03 1.61732398e+01] [-1.43921320e-03 6.19036291e-03 9.99979804e-01 -2.20814100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.601400513 meters Centerline goodness [0,1] 0.8260410730492412 Centerline is valid? [False, False] Translation: X:290.53, Y:16.17, Z:-0.22 [[ 9.99903860e-01 -1.31883044e-02 4.28237927e-03 2.90532182e+02] [ 1.32238682e-02 9.99877400e-01 -8.38537228e-03 1.61743366e+01] [-4.17126540e-03 8.44119574e-03 9.99955672e-01 -2.20987924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.631400513 meters Centerline goodness [0,1] 0.9145270054670382 Centerline is valid? [False, False] Translation: X:290.53, Y:16.17, Z:-0.22 [[ 9.99910125e-01 -1.27833709e-02 4.04080677e-03 2.90532919e+02] [ 1.28117548e-02 9.99892873e-01 -7.07825159e-03 1.61679738e+01] [-3.94988998e-03 7.12938526e-03 9.99966785e-01 -2.20789788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.661400513 meters Centerline goodness [0,1] 0.9724291626870424 Centerline is valid? [False, True] Translation: X:290.53, Y:16.16, Z:-0.22 [[ 9.99950097e-01 -9.32714932e-03 3.57869861e-03 2.90534547e+02] [ 9.33237757e-03 9.99955405e-01 -1.44702876e-03 1.61578588e+01] [-3.56504237e-03 1.48035432e-03 9.99992549e-01 -2.20767697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.691400513 meters Centerline goodness [0,1] 0.958409370623435 Centerline is valid? [True, True] Translation: X:290.57, Y:16.16, Z:-0.22 [[ 9.99939162e-01 -1.06715806e-02 2.79092582e-03 2.90565627e+02] [ 1.06710303e-02 9.99943040e-01 2.11981478e-04 1.61573350e+01] [-2.79302902e-03 -1.82186528e-04 9.99996083e-01 -2.22202901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.721400513 meters Centerline goodness [0,1] 0.9672857566891405 Centerline is valid? [True, True] Translation: X:290.60, Y:16.15, Z:-0.22 [[ 9.99952570e-01 -9.54963720e-03 1.91371435e-03 2.90597356e+02] [ 9.54937639e-03 9.99954393e-01 1.45372954e-04 1.61529346e+01] [-1.91501533e-03 -1.27091281e-04 9.99998158e-01 -2.22914740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.751400513 meters Centerline goodness [0,1] 0.9486409370776393 Centerline is valid? [True, False] Translation: X:290.59, Y:16.16, Z:-0.22 [[ 9.99914952e-01 -1.25497593e-02 3.54867981e-03 2.90591729e+02] [ 1.25640710e-02 9.99912908e-01 -4.03984577e-03 1.61557647e+01] [-3.49767166e-03 4.08408805e-03 9.99985543e-01 -2.22243786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.781400513 meters Centerline goodness [0,1] 0.9335940003845907 Centerline is valid? [False, False] Translation: X:290.59, Y:16.15, Z:-0.22 [[ 9.99964480e-01 -7.71496534e-03 3.39392246e-03 2.90592015e+02] [ 7.70905228e-03 9.99968750e-01 1.75189598e-03 1.61487105e+01] [-3.40733222e-03 -1.72566983e-03 9.99992706e-01 -2.21930881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.811400513 meters Centerline goodness [0,1] 0.7769644870949209 Centerline is valid? [False, False] Translation: X:290.59, Y:16.15, Z:-0.22 [[ 9.99963948e-01 -7.68117987e-03 3.61975082e-03 2.90591316e+02] [ 7.67598674e-03 9.99969493e-01 1.44637892e-03 1.61503976e+01] [-3.63075029e-03 -1.41854162e-03 9.99992403e-01 -2.22061139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.841400513 meters Centerline goodness [0,1] 0.6753093820922366 Centerline is valid? [False, False] Translation: X:290.59, Y:16.15, Z:-0.22 [[ 9.99962239e-01 -7.69587266e-03 4.03656995e-03 2.90589930e+02] [ 7.69214896e-03 9.99969976e-01 9.37206719e-04 1.61531011e+01] [-4.04366138e-03 -9.06121432e-04 9.99991414e-01 -2.22049155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.871400513 meters Centerline goodness [0,1] 0.5897468678087445 Centerline is valid? [False, False] Translation: X:290.59, Y:16.16, Z:-0.22 [[ 9.99961026e-01 -7.76224272e-03 4.20644398e-03 2.90589290e+02] [ 7.76021192e-03 9.99969765e-01 4.98890222e-04 1.61553346e+01] [-4.21018931e-03 -4.66227882e-04 9.99991028e-01 -2.22005383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.901400513 meters Centerline goodness [0,1] 0.5679252462897975 Centerline is valid? [False, False] Translation: X:290.59, Y:16.16, Z:-0.22 [[ 9.99960995e-01 -7.72236433e-03 4.28650605e-03 2.90589046e+02] [ 7.72062093e-03 9.99970106e-01 4.23117104e-04 1.61557786e+01] [-4.28964538e-03 -3.90006112e-04 9.99990723e-01 -2.22148715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.931400513 meters Centerline goodness [0,1] 0.6570022694012598 Centerline is valid? [False, False] Translation: X:290.59, Y:16.15, Z:-0.22 [[ 9.99962414e-01 -7.59180186e-03 4.18743817e-03 2.90589566e+02] [ 7.58872291e-03 9.99970923e-01 7.50682212e-04 1.61542025e+01] [-4.19301544e-03 -7.18876690e-04 9.99990951e-01 -2.22505115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.961400513 meters Centerline goodness [0,1] 0.7189720106137123 Centerline is valid? [False, False] Translation: X:290.59, Y:16.16, Z:-0.22 [[ 9.99915662e-01 -1.22029114e-02 4.44506331e-03 2.90589091e+02] [ 1.22235934e-02 9.99914450e-01 -4.65574139e-03 1.61594626e+01] [-4.38786944e-03 4.70968338e-03 9.99979283e-01 -2.23059410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.991400513 meters Centerline goodness [0,1] 0.8241317610537435 Centerline is valid? [False, False] Translation: X:290.59, Y:16.16, Z:-0.22 [[ 9.99917598e-01 -1.20775203e-02 4.35103570e-03 2.90589358e+02] [ 1.20963081e-02 9.99917514e-01 -4.31789928e-03 1.61578602e+01] [-4.29852729e-03 4.37017494e-03 9.99981212e-01 -2.22956727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.021400513 meters Centerline goodness [0,1] 0.6314243444327708 Centerline is valid? [False, False] Translation: X:290.59, Y:16.16, Z:-0.22 [[ 9.99920349e-01 -1.18761017e-02 4.27248356e-03 2.90589453e+02] [ 1.18920334e-02 9.99922356e-01 -3.72303326e-03 1.61550177e+01] [-4.22793671e-03 3.77354523e-03 9.99983942e-01 -2.22547820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.051400513 meters Centerline goodness [0,1] 0.8905812400361929 Centerline is valid? [False, False] Translation: X:290.59, Y:16.15, Z:-0.22 [[ 9.99921910e-01 -1.17582914e-02 4.23268649e-03 2.90589526e+02] [ 1.17729471e-02 9.99924730e-01 -3.45440055e-03 1.61537765e+01] [-4.19175004e-03 3.50396199e-03 9.99985076e-01 -2.22406869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.081400513 meters Centerline goodness [0,1] 0.8905812400361929 Centerline is valid? [False, False] Translation: X:290.59, Y:16.15, Z:-0.22 [[ 9.99965144e-01 -7.56576105e-03 3.53117606e-03 2.90591472e+02] [ 7.55940692e-03 9.99969790e-01 1.80932970e-03 1.61483831e+01] [-3.54475834e-03 -1.78257304e-03 9.99992129e-01 -2.22101075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.111400513 meters Centerline goodness [0,1] 0.6784888530640816 Centerline is valid? [False, False] Translation: X:290.61, Y:16.16, Z:-0.23 [[ 9.99939057e-01 -6.73328293e-03 8.74900623e-03 2.90614364e+02] [ 6.80697139e-03 9.99941381e-01 -8.42019360e-03 1.61576790e+01] [-8.69179782e-03 8.47923469e-03 9.99926275e-01 -2.28536717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.141400513 meters Centerline goodness [0,1] 0.7711643298050612 Centerline is valid? [False, False] Translation: X:290.62, Y:16.15, Z:-0.23 [[ 9.99962962e-01 -2.21373294e-03 8.31711351e-03 2.90615661e+02] [ 2.23623993e-03 9.99993861e-01 -2.69778189e-03 1.61505605e+01] [-8.31109028e-03 2.71628103e-03 9.99961773e-01 -2.28340116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.171400513 meters Centerline goodness [0,1] 0.5933170160689583 Centerline is valid? [False, False] Translation: X:290.62, Y:16.15, Z:-0.23 [[ 9.99962919e-01 -2.15981855e-03 8.33635534e-03 2.90615748e+02] [ 2.18153798e-03 9.99994248e-01 -2.59717360e-03 1.61500954e+01] [-8.33069796e-03 2.61526337e-03 9.99961879e-01 -2.28637843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.201400513 meters Centerline goodness [0,1] 0.5655165091835651 Centerline is valid? [False, False] Translation: X:290.62, Y:16.15, Z:-0.23 [[ 9.99963398e-01 -2.04848274e-03 8.30704264e-03 2.90615942e+02] [ 2.06807214e-03 9.99995100e-01 -2.35026393e-03 1.61489353e+01] [-8.30218746e-03 2.36735747e-03 9.99962734e-01 -2.28831761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.231400513 meters Centerline goodness [0,1] 0.6660905560534289 Centerline is valid? [False, False] Translation: X:290.62, Y:16.14, Z:-0.23 [[ 9.99965306e-01 -1.69200141e-03 8.15627940e-03 2.90616405e+02] [ 1.70413901e-03 9.99997451e-01 -1.48140950e-03 1.61448446e+01] [-8.15375206e-03 1.49525754e-03 9.99965640e-01 -2.28720885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.261400513 meters Centerline goodness [0,1] 0.7007338083590344 Centerline is valid? [False, False] Translation: X:290.62, Y:16.14, Z:-0.23 [[ 9.99965652e-01 -1.46428736e-03 8.15784171e-03 2.90616118e+02] [ 1.47207401e-03 9.99998467e-01 -9.48575785e-04 1.61423769e+01] [-8.15644022e-03 9.60552150e-04 9.99966274e-01 -2.28130518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.291400513 meters Centerline goodness [0,1] 0.5302689154169675 Centerline is valid? [False, False] Translation: X:290.62, Y:16.14, Z:-0.23 [[ 9.99965788e-01 -1.24825955e-03 8.17703745e-03 2.90615796e+02] [ 1.25191076e-03 9.99999119e-01 -4.41416117e-04 1.61400247e+01] [-8.17647925e-03 4.51637937e-04 9.99966470e-01 -2.27583165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.321400513 meters Centerline goodness [0,1] 0.708044559717675 Centerline is valid? [False, False] Translation: X:290.62, Y:16.14, Z:-0.23 [[ 9.99965570e-01 -7.85510059e-04 8.26086427e-03 2.90615423e+02] [ 7.80555658e-04 9.99999514e-01 6.02950544e-04 1.61351568e+01] [-8.26133388e-03 -5.96481720e-04 9.99965697e-01 -2.27360027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.351400513 meters Centerline goodness [0,1] 0.49946695095948823 Centerline is valid? [False, False] Translation: X:290.62, Y:16.13, Z:-0.23 [[ 9.99965852e-01 -5.72549793e-04 8.24417945e-03 2.90615657e+02] [ 5.63550571e-04 9.99999243e-01 1.09386654e-03 1.61328430e+01] [-8.24479950e-03 -1.08918318e-03 9.99965418e-01 -2.27683786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.381400513 meters Centerline goodness [0,1] 0.6119721283783783 Centerline is valid? [False, False] Translation: X:290.62, Y:16.13, Z:-0.23 [[ 9.99966732e-01 -3.80492549e-04 8.14798728e-03 2.90616213e+02] [ 3.68077924e-04 9.99998769e-01 1.52508851e-03 1.61307818e+01] [-8.14855754e-03 -1.52203868e-03 9.99965642e-01 -2.28143575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.411400513 meters Centerline goodness [0,1] 0.6025091211675094 Centerline is valid? [False, False] Translation: X:290.59, Y:16.13, Z:-0.22 [[ 9.99988759e-01 1.03964169e-03 4.62605954e-03 2.90594433e+02] [-1.00189534e-03 9.99966251e-01 -8.15435263e-03 1.61329192e+01] [-4.63438102e-03 8.14962614e-03 9.99956052e-01 -2.24917434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.441400513 meters Centerline goodness [0,1] 0.5831348868855247 Centerline is valid? [False, False] Translation: X:290.60, Y:16.13, Z:-0.22 [[ 9.99977391e-01 5.40893946e-03 3.99505779e-03 2.90596506e+02] [-5.39931837e-03 9.99982507e-01 -2.41512033e-03 1.61252581e+01] [-4.00805114e-03 2.39349513e-03 9.99989103e-01 -2.24746303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.471400513 meters Centerline goodness [0,1] 0.71183500385505 Centerline is valid? [False, False] Translation: X:290.60, Y:16.12, Z:-0.22 [[ 9.99976546e-01 5.58862722e-03 3.95924317e-03 2.90596618e+02] [-5.58064279e-03 9.99982378e-01 -2.02484025e-03 1.61234552e+01] [-3.97048947e-03 2.00269764e-03 9.99990112e-01 -2.24704045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.501400513 meters Centerline goodness [0,1] 0.6769837883959045 Centerline is valid? [False, False] Translation: X:290.60, Y:16.12, Z:-0.22 [[ 9.99974975e-01 5.81200240e-03 4.03353773e-03 2.90596319e+02] [-5.80572963e-03 9.99981922e-01 -1.56512329e-03 1.61213272e+01] [-4.04256131e-03 1.54166649e-03 9.99990640e-01 -2.24595455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.531400513 meters Centerline goodness [0,1] 0.551381591542405 Centerline is valid? [False, False] Translation: X:290.60, Y:16.12, Z:-0.22 [[ 9.99974574e-01 5.82329364e-03 4.11582974e-03 2.90596200e+02] [-5.81678853e-03 9.99981817e-01 -1.59071706e-03 1.61214619e+01] [-4.12501812e-03 1.56673570e-03 9.99990265e-01 -2.24909176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.561400513 meters Centerline goodness [0,1] 0.5410107705053853 Centerline is valid? [False, False] Translation: X:290.60, Y:16.12, Z:-0.23 [[ 9.99974784e-01 5.75577505e-03 4.15970457e-03 2.90596197e+02] [-5.74845572e-03 9.99981912e-01 -1.76939982e-03 1.61222940e+01] [-4.16981360e-03 1.74544332e-03 9.99989783e-01 -2.25206874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.591400513 meters Centerline goodness [0,1] 0.4948672716839174 Centerline is valid? [False, False] Translation: X:290.60, Y:16.12, Z:-0.23 [[ 9.99975032e-01 5.68732352e-03 4.19397447e-03 2.90596207e+02] [-5.67923018e-03 9.99981993e-01 -1.93914468e-03 1.61230944e+01] [-4.20492749e-03 1.91527771e-03 9.99989325e-01 -2.25458439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.621400513 meters Centerline goodness [0,1] 0.5139490445859873 Centerline is valid? [False, False] Translation: X:290.60, Y:16.12, Z:-0.23 [[ 9.99974476e-01 5.72081384e-03 4.28009291e-03 2.90595794e+02] [-5.71281652e-03 9.99981918e-01 -1.87838999e-03 1.61228219e+01] [-4.29076143e-03 1.85389066e-03 9.99989076e-01 -2.25242941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.651400513 meters Centerline goodness [0,1] 0.5307063197026023 Centerline is valid? [False, False] Translation: X:290.60, Y:16.12, Z:-0.22 [[ 9.99974258e-01 5.76307759e-03 4.27445939e-03 2.90595600e+02] [-5.75552840e-03 9.99981859e-01 -1.77632000e-03 1.61223534e+01] [-4.28461892e-03 1.75167250e-03 9.99989287e-01 -2.24839667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.681400513 meters Centerline goodness [0,1] 0.5068246746376045 Centerline is valid? [False, False] Translation: X:290.60, Y:16.12, Z:-0.22 [[ 9.99974365e-01 5.75947645e-03 4.25413570e-03 2.90595438e+02] [-5.75217350e-03 9.99981965e-01 -1.72691511e-03 1.61220909e+01] [-4.26400510e-03 1.70240031e-03 9.99989460e-01 -2.24389665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.711400513 meters Centerline goodness [0,1] 0.6424732909414006 Centerline is valid? [False, False] Translation: X:290.57, Y:16.11, Z:-0.22 [[ 9.99988981e-01 4.62869067e-03 -7.82635173e-04 2.90572158e+02] [-4.62170404e-03 9.99951431e-01 8.70488390e-03 1.61129145e+01] [ 8.22889376e-04 -8.70117087e-03 9.99961806e-01 -2.17342597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.741400513 meters Centerline goodness [0,1] 0.682638178096213 Centerline is valid? [False, False] Translation: X:290.57, Y:16.11, Z:-0.22 [[ 9.99989536e-01 4.49661247e-03 -8.41754576e-04 2.90572335e+02] [-4.48934228e-03 9.99954235e-01 8.44828493e-03 1.61140900e+01] [ 8.79704716e-04 -8.44441760e-03 9.99963958e-01 -2.17318842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.771400513 meters Centerline goodness [0,1] 0.6419742544243536 Centerline is valid? [False, False] Translation: X:290.57, Y:16.12, Z:-0.22 [[ 9.99999673e-01 5.38136121e-04 -6.03095709e-04 2.90572015e+02] [-5.36709513e-04 9.99997064e-01 2.36314641e-03 1.61249346e+01] [ 6.04365632e-04 -2.36282195e-03 9.99997026e-01 -2.18840517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.801400513 meters Centerline goodness [0,1] 0.4581467083579819 Centerline is valid? [False, False] Translation: X:290.61, Y:16.14, Z:-0.22 [[ 9.99999003e-01 2.66750623e-04 1.38665933e-03 2.90614062e+02] [-2.64353030e-04 9.99998470e-01 -1.72893827e-03 1.61366602e+01] [-1.38711840e-03 1.72856998e-03 9.99997544e-01 -2.21128070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.831400513 meters Centerline goodness [0,1] 0.48967557901907355 Centerline is valid? [False, False] Translation: X:290.61, Y:16.14, Z:-0.22 [[ 9.99996230e-01 1.76715538e-03 2.10166319e-03 2.90608247e+02] [-1.76628816e-03 9.99998354e-01 -4.14420284e-04 1.61383348e+01] [-2.10239208e-03 4.10706579e-04 9.99997706e-01 -2.17239898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.861400513 meters Centerline goodness [0,1] 0.4294319772621219 Centerline is valid? [False, False] Translation: X:290.61, Y:16.14, Z:-0.22 [[ 9.99996781e-01 1.29055426e-03 2.18463635e-03 2.90607972e+02] [-1.28698328e-03 9.99997835e-01 -1.63520665e-03 1.61441577e+01] [-2.18674195e-03 1.63238980e-03 9.99996277e-01 -2.17335376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.891400513 meters Centerline goodness [0,1] 0.47731135282121007 Centerline is valid? [False, False] Translation: X:290.61, Y:16.15, Z:-0.22 [[ 9.99996972e-01 8.29058302e-04 2.31720718e-03 2.90607458e+02] [-8.22696023e-04 9.99995893e-01 -2.74527290e-03 1.61494147e+01] [-2.31947366e-03 2.74335823e-03 9.99993547e-01 -2.17276687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.921400513 meters Centerline goodness [0,1] 0.5389949833480883 Centerline is valid? [False, False] Translation: X:290.61, Y:16.15, Z:-0.22 [[ 9.99986807e-01 4.76808108e-03 1.91085975e-03 2.90608537e+02] [-4.77171629e-03 9.99986806e-01 1.90237354e-03 1.61470705e+01] [-1.90176386e-03 -1.91146652e-03 9.99996365e-01 -2.16668877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.951400513 meters Centerline goodness [0,1] 0.6511154466027653 Centerline is valid? [False, False] Translation: X:290.61, Y:16.15, Z:-0.22 [[ 9.99989453e-01 4.16366713e-03 1.93872846e-03 2.90607967e+02] [-4.16511562e-03 9.99991049e-01 7.43697702e-04 1.61523848e+01] [-1.93561460e-03 -7.51764886e-04 9.99997844e-01 -2.15922310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.981400513 meters Centerline goodness [0,1] 0.5731137559985624 Centerline is valid? [False, False] Translation: X:290.61, Y:16.15, Z:-0.22 [[ 9.99990563e-01 3.93469798e-03 1.84150493e-03 2.90608161e+02] [-3.93541132e-03 9.99992183e-01 3.83908820e-04 1.61540073e+01] [-1.83997996e-03 -3.91152277e-04 9.99998231e-01 -2.15663226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.011400513 meters Centerline goodness [0,1] 0.5796819077066435 Centerline is valid? [False, False] Translation: X:290.61, Y:16.16, Z:-0.22 [[ 9.99991386e-01 3.75283356e-03 1.77301670e-03 2.90608296e+02] [-3.75296834e-03 9.99992955e-01 7.26962517e-05 1.61553954e+01] [-1.77273139e-03 -7.93497011e-05 9.99998426e-01 -2.15476363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.041400513 meters Centerline goodness [0,1] 0.6339608290549534 Centerline is valid? [False, False] Translation: X:290.61, Y:16.16, Z:-0.22 [[ 9.99992169e-01 3.55584193e-03 1.73701090e-03 2.90608366e+02] [-3.55530049e-03 9.99993630e-01 -3.14695114e-04 1.61571911e+01] [-1.73811884e-03 3.08517054e-04 9.99998442e-01 -2.15397673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.071400513 meters Centerline goodness [0,1] 0.7757948761632983 Centerline is valid? [False, False] Translation: X:290.61, Y:16.16, Z:-0.22 [[ 9.99993065e-01 3.31275881e-03 1.70183071e-03 2.90608430e+02] [-3.31131327e-03 9.99994155e-01 -8.51514004e-04 1.61596925e+01] [-1.70464163e-03 8.45872804e-04 9.99998189e-01 -2.15320382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.101400513 meters Centerline goodness [0,1] 0.8097183218449494 Centerline is valid? [False, False] Translation: X:290.61, Y:16.16, Z:-0.22 [[ 9.99994163e-01 2.98069622e-03 1.67039055e-03 2.90608659e+02] [-2.97799385e-03 9.99994257e-01 -1.61796787e-03 1.61632624e+01] [-1.67520363e-03 1.61298401e-03 9.99997296e-01 -2.15624229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.131400513 meters Centerline goodness [0,1] 0.4833273040665631 Centerline is valid? [False, False] Translation: X:290.61, Y:16.17, Z:-0.22 [[ 9.99995882e-01 2.35427164e-03 1.64144411e-03 2.90608858e+02] [-2.34897925e-03 9.99992061e-01 -3.21873533e-03 1.61708527e+01] [-1.64900886e-03 3.21486636e-03 9.99993473e-01 -2.15947654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.161400513 meters Centerline goodness [0,1] 0.6512987838467732 Centerline is valid? [False, False] Translation: X:290.61, Y:16.17, Z:-0.22 [[ 9.99996204e-01 2.17547300e-03 1.69108265e-03 2.90608548e+02] [-2.16925590e-03 9.99990914e-01 -3.66958539e-03 1.61730143e+01] [-1.69905037e-03 3.66590307e-03 9.99991837e-01 -2.15703054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.191400513 meters Centerline goodness [0,1] 0.6057259366239063 Centerline is valid? [False, False] Translation: X:290.61, Y:16.17, Z:-0.22 [[ 9.99996368e-01 2.11651321e-03 1.66853293e-03 2.90608466e+02] [-2.11013454e-03 9.99990495e-01 -3.81545387e-03 1.61737192e+01] [-1.67659253e-03 3.81191919e-03 9.99991329e-01 -2.15398611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.221400513 meters Centerline goodness [0,1] 0.7157061471824524 Centerline is valid? [False, False] Translation: X:290.61, Y:16.17, Z:-0.22 [[ 9.99996419e-01 2.13068771e-03 1.61931725e-03 2.90608723e+02] [-2.12458029e-03 9.99990659e-01 -3.76401228e-03 1.61734631e+01] [-1.62732206e-03 3.76055843e-03 9.99991605e-01 -2.15600704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.251400513 meters Centerline goodness [0,1] 0.8668803924521806 Centerline is valid? [False, False] Translation: X:290.59, Y:16.17, Z:-0.22 [[ 9.99980618e-01 -7.64390055e-04 6.17898969e-03 2.90588832e+02] [ 7.48148441e-04 9.99996261e-01 2.63040678e-03 1.61682467e+01] [-6.18097724e-03 -2.62573299e-03 9.99977450e-01 -2.22131552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.281400513 meters Centerline goodness [0,1] 0.6949012984271086 Centerline is valid? [False, False] Translation: X:290.63, Y:16.17, Z:-0.22 [[ 9.99957393e-01 -1.28761444e-03 9.14081095e-03 2.90628746e+02] [ 1.27760514e-03 9.99998578e-01 1.10076718e-03 1.61724307e+01] [-9.14221532e-03 -1.08904193e-03 9.99957616e-01 -2.22129001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.311400513 meters Centerline goodness [0,1] 0.8302555021502656 Centerline is valid? [False, False] Translation: X:290.63, Y:16.17, Z:-0.22 [[ 9.99956657e-01 -1.13011767e-03 9.24156607e-03 2.90627958e+02] [ 1.11639490e-03 9.99998267e-01 1.48992070e-03 1.61706350e+01] [-9.24323384e-03 -1.47953889e-03 9.99956186e-01 -2.21244178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.341400513 meters Centerline goodness [0,1] 0.7634099616858238 Centerline is valid? [False, False] Translation: X:290.60, Y:16.17, Z:-0.22 [[ 9.99976063e-01 -9.47396171e-04 6.85387616e-03 2.90603011e+02] [ 1.01462823e-03 9.99951341e-01 -9.81253017e-03 1.61746182e+01] [-6.84424631e-03 9.81924942e-03 9.99928367e-01 -2.16109410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.371400513 meters Centerline goodness [0,1] 0.688117557638713 Centerline is valid? [False, False] Translation: X:290.60, Y:16.17, Z:-0.22 [[ 9.99974062e-01 3.23388692e-03 6.43565229e-03 2.90604171e+02] [-3.20748952e-03 9.99986419e-01 -4.10784705e-03 1.61668608e+01] [-6.44884919e-03 4.08709822e-03 9.99970854e-01 -2.15562413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.401400513 meters Centerline goodness [0,1] 0.6181633817098675 Centerline is valid? [False, False] Translation: X:290.60, Y:16.17, Z:-0.22 [[ 9.99974273e-01 3.31382952e-03 6.36174220e-03 2.90604545e+02] [-3.28877390e-03 9.99986811e-01 -3.94491255e-03 1.61661098e+01] [-6.37473106e-03 3.92388873e-03 9.99971983e-01 -2.15800985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.431400513 meters Centerline goodness [0,1] 0.6215820001274779 Centerline is valid? [False, False] Translation: X:290.61, Y:16.17, Z:-0.22 [[ 9.99975501e-01 3.30060384e-03 6.17283173e-03 2.90605936e+02] [-3.27369697e-03 9.99985119e-01 -4.36395428e-03 1.61682293e+01] [-6.18714356e-03 4.34363939e-03 9.99971426e-01 -2.17387046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.461400513 meters Centerline goodness [0,1] 0.5864337277348255 Centerline is valid? [False, False] Translation: X:290.61, Y:16.17, Z:-0.22 [[ 9.99976162e-01 3.19919510e-03 6.11879579e-03 2.90606513e+02] [-3.17032886e-03 9.99983828e-01 -4.72152857e-03 1.61699449e+01] [-6.13380193e-03 4.70201742e-03 9.99970133e-01 -2.18220000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.491400513 meters Centerline goodness [0,1] 0.5508065892796177 Centerline is valid? [False, False] Translation: X:290.61, Y:16.17, Z:-0.22 [[ 9.99976589e-01 3.13591114e-03 6.08180771e-03 2.90606791e+02] [-3.10563046e-03 9.99982767e-01 -4.98196426e-03 1.61711955e+01] [-6.09732590e-03 4.96295977e-03 9.99969095e-01 -2.18593075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.521400513 meters Centerline goodness [0,1] 0.6907026957692883 Centerline is valid? [False, False] Translation: X:290.61, Y:16.17, Z:-0.22 [[ 9.99976020e-01 3.11133333e-03 6.18694053e-03 2.90606360e+02] [-3.07979848e-03 9.99982252e-01 -5.10001396e-03 1.61718039e+01] [-6.20269856e-03 5.08083713e-03 9.99967855e-01 -2.18475617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.551400513 meters Centerline goodness [0,1] 0.6376140973630832 Centerline is valid? [False, False] Translation: X:290.61, Y:16.17, Z:-0.22 [[ 9.99956552e-01 7.28316550e-03 5.81806406e-03 2.90607293e+02] [-7.28472008e-03 9.99973436e-01 2.46051304e-04 1.61660789e+01] [-5.81611747e-03 -2.88423581e-04 9.99983045e-01 -2.17736777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.581400513 meters Centerline goodness [0,1] 0.6568223588313582 Centerline is valid? [False, False] Translation: X:290.61, Y:16.17, Z:-0.22 [[ 9.99956549e-01 7.25258793e-03 5.85659007e-03 2.90606799e+02] [-7.25395087e-03 9.99973667e-01 2.11510760e-04 1.61662486e+01] [-5.85490185e-03 -2.53984986e-04 9.99982828e-01 -2.17033897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.611400513 meters Centerline goodness [0,1] 0.6325880615903818 Centerline is valid? [False, False] Translation: X:290.61, Y:16.16, Z:-0.22 [[ 9.99959091e-01 7.10155081e-03 5.60220340e-03 2.90607167e+02] [-7.10535781e-03 9.99974539e-01 6.59944044e-04 1.61636540e+01] [-5.59737413e-03 -6.99722706e-04 9.99984090e-01 -2.16159333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.641400513 meters Centerline goodness [0,1] 0.7024060695181468 Centerline is valid? [False, False] Translation: X:290.59, Y:16.16, Z:-0.21 [[ 9.99997325e-01 2.22557514e-03 6.29635230e-04 2.90586273e+02] [-2.23006875e-03 9.99971387e-01 7.22850160e-03 1.61572616e+01] [-6.13529641e-04 -7.22988639e-03 9.99973676e-01 -2.11488375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.671400513 meters Centerline goodness [0,1] 0.9491813735913247 Centerline is valid? [False, False] Translation: X:290.59, Y:16.16, Z:-0.21 [[ 9.99997089e-01 -2.31853850e-03 6.68731509e-04 2.90586330e+02] [ 2.31694112e-03 9.99994485e-01 2.37963095e-03 1.61596763e+01] [-6.74245087e-04 -2.37807461e-03 9.99996945e-01 -2.11930769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.701400513 meters Centerline goodness [0,1] 0.9378634183608505 Centerline is valid? [False, False] Translation: X:290.59, Y:16.15, Z:-0.21 [[ 9.99997176e-01 -2.35763950e-03 3.00278468e-04 2.90587375e+02] [ 2.35662145e-03 9.99991623e-01 3.34672918e-03 1.61544049e+01] [-3.08166334e-04 -3.34601208e-03 9.99994355e-01 -2.11506928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.731400513 meters Centerline goodness [0,1] 0.9714744537886152 Centerline is valid? [False, True] Translation: X:290.59, Y:16.15, Z:-0.21 [[ 9.99977675e-01 -6.66553143e-03 4.69149245e-04 2.90586482e+02] [ 6.66597615e-03 9.99977328e-01 -9.52844128e-04 1.61543150e+01] [-4.62787396e-04 9.55950194e-04 9.99999436e-01 -2.10782035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.761400513 meters Centerline goodness [0,1] 0.9985352495382852 Centerline is valid? [True, True] Translation: X:290.62, Y:16.13, Z:-0.21 [[ 9.99901180e-01 -1.37244247e-02 3.04463594e-03 2.90618720e+02] [ 1.37238474e-02 9.99905801e-01 2.10426813e-04 1.61347060e+01] [-3.04723713e-03 -1.68621900e-04 9.99995343e-01 -2.05572634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.791400513 meters Centerline goodness [0,1] 0.9990685465091663 Centerline is valid? [True, True] Translation: X:290.65, Y:16.13, Z:-0.21 [[ 9.99874833e-01 -1.55471844e-02 2.93302997e-03 2.90649331e+02] [ 1.55466566e-02 9.99879123e-01 2.02677045e-04 1.61302702e+01] [-2.93582650e-03 -1.57052867e-04 9.99995678e-01 -2.05470546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.821400513 meters Centerline goodness [0,1] 0.9997012122246884 Centerline is valid? [True, True] Translation: X:290.68, Y:16.12, Z:-0.21 [[ 9.99866681e-01 -1.62373494e-02 1.72275863e-03 2.90681119e+02] [ 1.62371682e-02 9.99868161e-01 1.19098633e-04 1.61202097e+01] [-1.72446535e-03 -9.11100334e-05 9.99998509e-01 -2.07416170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.851400513 meters Centerline goodness [0,1] 0.9992347914806785 Centerline is valid? [True, True] Translation: X:290.71, Y:16.12, Z:-0.21 [[ 9.99876867e-01 -1.56905869e-02 2.39328030e-04 2.90711622e+02] [ 1.56905834e-02 9.99876895e-01 1.65762447e-05 1.61243348e+01] [-2.39558659e-04 -1.28190071e-05 9.99999971e-01 -2.10746136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.881400513 meters Centerline goodness [0,1] 0.9986420250800992 Centerline is valid? [True, True] Translation: X:290.74, Y:16.13, Z:-0.21 [[ 9.99897434e-01 -1.43186237e-02 -3.12352053e-04 2.90740858e+02] [ 1.43186176e-02 9.99897483e-01 -2.16218250e-05 1.61268911e+01] [ 3.12629627e-04 1.71471577e-05 9.99999951e-01 -2.12705977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.911400513 meters Centerline goodness [0,1] 0.998908063203871 Centerline is valid? [True, True] Translation: X:290.77, Y:16.12, Z:-0.21 [[ 9.99920817e-01 -1.25761479e-02 -4.47058966e-04 2.90771307e+02] [ 1.25761353e-02 9.99920917e-01 -3.09490029e-05 1.61240344e+01] [ 4.47412831e-04 2.53242783e-05 9.99999900e-01 -2.12812351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.941400513 meters Centerline goodness [0,1] 0.9914566243039912 Centerline is valid? [True, True] Translation: X:290.80, Y:16.12, Z:-0.21 [[ 9.99957122e-01 -9.22086017e-03 -8.54869644e-04 2.90800301e+02] [ 9.22081313e-03 9.99957486e-01 -5.89502939e-05 1.61245961e+01] [ 8.55376873e-04 5.10651730e-05 9.99999633e-01 -2.13479356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.971400513 meters Centerline goodness [0,1] 0.9871677164513718 Centerline is valid? [True, True] Translation: X:290.83, Y:16.13, Z:-0.21 [[ 9.99966365e-01 -8.08183707e-03 -1.39749204e-03 2.90829987e+02] [ 8.08170987e-03 9.99967338e-01 -9.66433018e-05 1.61251588e+01] [ 1.39822745e-03 8.53459260e-05 9.99999019e-01 -2.14323076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.001400513 meters Centerline goodness [0,1] 0.9871677164513718 Centerline is valid? [True, True] Translation: X:290.86, Y:16.13, Z:-0.21 [[ 9.99966187e-01 -8.10377232e-03 -1.39748995e-03 2.90859135e+02] [ 8.10364510e-03 9.99967160e-01 -9.66734962e-05 1.61272143e+01] [ 1.39822748e-03 8.53454649e-05 9.99999019e-01 -2.14440263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.031400513 meters Centerline goodness [0,1] 0.9974219116205736 Centerline is valid? [True, True] Translation: X:290.89, Y:16.12, Z:-0.21 [[ 9.99968995e-01 -7.68705248e-03 -1.70816083e-03 2.90888254e+02] [ 7.68686042e-03 9.99970449e-01 -1.18973689e-04 1.61203745e+01] [ 1.70902491e-03 1.05839606e-04 9.99998534e-01 -2.14827819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.061400513 meters Centerline goodness [0,1] 0.9921580326890702 Centerline is valid? [True, True] Translation: X:290.92, Y:16.12, Z:-0.22 [[ 9.99968078e-01 -7.83732192e-03 -1.55569711e-03 2.90917209e+02] [ 7.83716341e-03 9.99969283e-01 -1.07959035e-04 1.61235807e+01] [ 1.55649544e-03 9.57633365e-05 9.99998784e-01 -2.15679754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.091400513 meters Centerline goodness [0,1] 0.9954395743602736 Centerline is valid? [True, True] Translation: X:290.95, Y:16.12, Z:-0.22 [[ 9.99962659e-01 -8.51947873e-03 -1.44877759e-03 2.90946694e+02] [ 8.51934100e-03 9.99963705e-01 -1.01212624e-04 1.61207791e+01] [ 1.44958728e-03 8.88662140e-05 9.99998945e-01 -2.15857412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.121400513 meters Centerline goodness [0,1] 0.998015160793091 Centerline is valid? [True, True] Translation: X:290.98, Y:16.12, Z:-0.22 [[ 9.99954033e-01 -9.56091422e-03 -7.21584691e-04 2.90975850e+02] [ 9.56088038e-03 9.99954292e-01 -5.03322893e-05 1.61172510e+01] [ 7.22032932e-04 4.34309907e-05 9.99999738e-01 -2.15161818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.151400513 meters Centerline goodness [0,1] 0.99914942479852 Centerline is valid? [True, True] Translation: X:291.01, Y:16.11, Z:-0.21 [[ 9.99914888e-01 -1.30078348e-02 1.00648999e-03 2.91006745e+02] [ 1.30077710e-02 9.99915393e-01 6.99457606e-05 1.61138175e+01] [-1.00731468e-03 -5.68476161e-05 9.99999491e-01 -2.12988382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.181400513 meters Centerline goodness [0,1] 0.9993212429738042 Centerline is valid? [True, True] Translation: X:291.04, Y:16.11, Z:-0.21 [[ 9.99878552e-01 -1.54849423e-02 1.76030894e-03 2.91036743e+02] [ 1.54847509e-02 9.99880097e-01 1.22325507e-04 1.61126011e+01] [-1.76199207e-03 -9.50527057e-05 9.99998443e-01 -2.12437383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.211400513 meters Centerline goodness [0,1] 0.9994500962331592 Centerline is valid? [True, True] Translation: X:291.07, Y:16.11, Z:-0.21 [[ 9.99828065e-01 -1.84526005e-02 1.82824461e-03 2.91066603e+02] [ 1.84523989e-02 9.99829732e-01 1.27071889e-04 1.61105905e+01] [-1.83027812e-03 -9.33145426e-05 9.99998321e-01 -2.12762305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.241400513 meters Centerline goodness [0,1] 0.9998505327440053 Centerline is valid? [True, True] Translation: X:291.10, Y:16.10, Z:-0.21 [[ 9.99759804e-01 -2.18610462e-02 1.55877602e-03 2.91097373e+02] [ 2.18609037e-02 9.99761016e-01 1.08355548e-04 1.61028913e+01] [-1.56077226e-03 -7.42532687e-05 9.99998779e-01 -2.12883101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.271400513 meters Centerline goodness [0,1] 0.9998516226127139 Centerline is valid? [True, True] Translation: X:291.13, Y:16.10, Z:-0.21 [[ 9.99676652e-01 -2.53800649e-02 1.56342373e-03 2.91128175e+02] [ 2.53799259e-02 9.99677872e-01 1.08675472e-04 1.60986346e+01] [-1.56567830e-03 -6.89607540e-05 9.99998772e-01 -2.13344614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.301400513 meters Centerline goodness [0,1] 0.9999151067532578 Centerline is valid? [True, True] Translation: X:291.16, Y:16.08, Z:-0.21 [[ 9.99430088e-01 -3.36669029e-02 2.45741674e-03 2.91159950e+02] [ 3.36665844e-02 9.99433105e-01 1.70848562e-04 1.60839994e+01] [-2.46177559e-03 -8.80183650e-05 9.99996966e-01 -2.11957759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.331400513 meters Centerline goodness [0,1] 0.9999575380565169 Centerline is valid? [True, True] Translation: X:291.19, Y:16.08, Z:-0.21 [[ 9.99277470e-01 -3.78902724e-02 2.97736427e-03 2.91188876e+02] [ 3.78898238e-02 9.99281901e-01 2.06980169e-04 1.60820407e+01] [-2.98306877e-03 -9.40188119e-05 9.99995546e-01 -2.11511032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.361400513 meters Centerline goodness [0,1] 0.9999788117637088 Centerline is valid? [True, True] Translation: X:291.22, Y:16.08, Z:-0.21 [[ 9.99117345e-01 -4.18845269e-02 3.19650102e-03 2.91219499e+02] [ 4.18840299e-02 9.99122454e-01 2.22305199e-04 1.60768959e+01] [-3.20300709e-03 -8.82266363e-05 9.99994866e-01 -2.11427471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.391400513 meters Centerline goodness [0,1] 0.9999787478216517 Centerline is valid? [True, True] Translation: X:291.25, Y:16.07, Z:-0.21 [[ 9.98971235e-01 -4.52692260e-02 2.67758101e-03 2.91249562e+02] [ 4.52688893e-02 9.98974821e-01 1.86223385e-04 1.60707587e+01] [-2.68326620e-03 -6.48206862e-05 9.99996398e-01 -2.12232267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.421400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.28, Y:16.07, Z:-0.21 [[ 9.98854992e-01 -4.77942718e-02 2.10049687e-03 2.91278657e+02] [ 4.77940703e-02 9.98857200e-01 1.46072631e-04 1.60678966e+01] [-2.10507786e-03 -4.55140815e-05 9.99997783e-01 -2.13108055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.451400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.31, Y:16.07, Z:-0.21 [[ 9.98778033e-01 -4.93910606e-02 1.72163815e-03 2.91307265e+02] [ 4.93909280e-02 9.98779516e-01 1.19510405e-04 1.60674561e+01] [-1.72543966e-03 -3.43310612e-05 9.99998511e-01 -2.13618907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.481400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.33, Y:16.07, Z:-0.21 [[ 9.98713493e-01 -5.06921060e-02 1.29177427e-03 2.91334703e+02] [ 5.06920320e-02 9.98714328e-01 8.99993241e-05 1.60687654e+01] [-1.29467573e-03 -2.44008767e-05 9.99999162e-01 -2.14583061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.511400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.36, Y:16.07, Z:-0.21 [[ 9.98693011e-01 -5.11006832e-02 9.95034793e-04 2.91363000e+02] [ 5.11006399e-02 9.98693506e-01 6.89463737e-05 1.60714785e+01] [-9.97257993e-04 -1.80093469e-05 9.99999503e-01 -2.14686249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.541400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.39, Y:16.07, Z:-0.21 [[ 9.98660046e-01 -5.17390051e-02 1.08946246e-03 2.91391925e+02] [ 5.17389532e-02 9.98660641e-01 7.58230810e-05 1.60738712e+01] [-1.09192629e-03 -1.93538344e-05 9.99999404e-01 -2.14417105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.571400513 meters Centerline goodness [0,1] 0.9999788659466999 Centerline is valid? [True, True] Translation: X:291.42, Y:16.08, Z:-0.21 [[ 9.98614715e-01 -5.26103921e-02 8.93536496e-04 2.91419445e+02] [ 5.26103572e-02 9.98615114e-01 6.25436220e-05 1.60780355e+01] [-8.95589495e-04 -1.54477070e-05 9.99999599e-01 -2.14890667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.601400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.45, Y:16.08, Z:-0.22 [[ 9.98537115e-01 -5.40693075e-02 3.74245007e-04 2.91448679e+02] [ 5.40693017e-02 9.98537185e-01 2.56797676e-05 1.60775700e+01] [-3.75086043e-04 -5.40703482e-06 9.99999930e-01 -2.15100182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.631400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.48, Y:16.08, Z:-0.22 [[ 9.98414543e-01 -5.62867937e-02 4.42981454e-04 2.91476494e+02] [ 5.62867855e-02 9.98414642e-01 3.09834824e-05 1.60819308e+01] [-4.44023131e-04 -6.00035730e-06 9.99999901e-01 -2.16247922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.661400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.51, Y:16.08, Z:-0.21 [[ 9.97975209e-01 -6.35800971e-02 1.74742354e-03 2.91505755e+02] [ 6.35799795e-02 9.97976739e-01 1.22833372e-04 1.60779515e+01] [-1.75169780e-03 -1.14835075e-05 9.99998466e-01 -2.14563054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.691400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.53, Y:16.08, Z:-0.21 [[ 9.97696957e-01 -6.78067916e-02 1.73803324e-03 2.91534572e+02] [ 6.78066813e-02 9.97698471e-01 1.22394057e-04 1.60753537e+01] [-1.74233225e-03 -4.26191262e-06 9.99998482e-01 -2.13880334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.721400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.56, Y:16.07, Z:-0.21 [[ 9.97401695e-01 -7.20343760e-02 9.52269197e-04 2.91562509e+02] [ 7.20343450e-02 9.97402150e-01 6.68314652e-05 1.60726617e+01] [-9.54609507e-04 1.93827116e-06 9.99999544e-01 -2.14713981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.751400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.59, Y:16.07, Z:-0.22 [[ 9.97115852e-01 -7.58943993e-02 -1.34792752e-04 2.91590808e+02] [ 7.58943986e-02 9.97115861e-01 -1.02573583e-05 1.60704716e+01] [ 1.35182467e-04 -2.24026836e-09 9.99999991e-01 -2.16574002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.781400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.62, Y:16.07, Z:-0.22 [[ 9.96860263e-01 -7.91776655e-02 -7.15892394e-04 2.91619331e+02] [ 7.91776491e-02 9.96860520e-01 -5.12152207e-05 1.60679137e+01] [ 7.17699966e-04 -5.62825846e-06 9.99999742e-01 -2.18174009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.811400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.65, Y:16.07, Z:-0.22 [[ 9.96634826e-01 -8.19691467e-02 -2.86140921e-04 2.91647665e+02] [ 8.19691442e-02 9.96634867e-01 -2.06361522e-05 1.60685109e+01] [ 2.86869547e-04 -2.88801846e-06 9.99999959e-01 -2.17214011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.841400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.68, Y:16.07, Z:-0.21 [[ 9.96418119e-01 -8.45150611e-02 2.85235550e-03 2.91675798e+02] [ 8.45148256e-02 9.96422201e-01 2.03219718e-04 1.60668356e+01] [-2.85932547e-03 3.85745182e-05 9.99995911e-01 -2.12131186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.871400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.70, Y:16.07, Z:-0.21 [[ 9.96397829e-01 -8.47237856e-02 3.63956821e-03 2.91702568e+02] [ 8.47234025e-02 9.96404475e-01 2.59583808e-04 1.60685275e+01] [-3.64847498e-03 4.97078598e-05 9.99993343e-01 -2.10804616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.901400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.73, Y:16.07, Z:-0.21 [[ 9.96358829e-01 -8.52012905e-02 3.13421465e-03 2.91730244e+02] [ 8.52010084e-02 9.96363758e-01 2.23661492e-04 1.60703898e+01] [-3.14187414e-03 4.41911466e-05 9.99995063e-01 -2.11705510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.931400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.76, Y:16.07, Z:-0.21 [[ 9.96298889e-01 -8.59348265e-02 1.93139104e-03 2.91758849e+02] [ 8.59347205e-02 9.96300760e-01 1.37933990e-04 1.60737359e+01] [-1.93609969e-03 2.85500682e-05 9.99998125e-01 -2.14046103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.961400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.79, Y:16.07, Z:-0.22 [[ 9.96220157e-01 -8.68560403e-02 1.19457113e-03 2.91786984e+02] [ 8.68560001e-02 9.96220873e-01 8.55631490e-05 1.60732723e+01] [-1.19748837e-03 1.85159365e-05 9.99999283e-01 -2.16201416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.991400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.82, Y:16.07, Z:-0.22 [[ 9.96125624e-01 -8.79352426e-02 1.06515927e-03 2.91815657e+02] [ 8.79352116e-02 9.96126193e-01 7.60253588e-05 1.60740293e+01] [-1.06771836e-03 1.79341979e-05 9.99999430e-01 -2.16796882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.021400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.84, Y:16.07, Z:-0.21 [[ 9.95841289e-01 -9.10678611e-02 2.60226000e-03 2.91844332e+02] [ 9.10676826e-02 9.95844688e-01 1.87264347e-04 1.60671857e+01] [-2.60850056e-03 5.04962191e-05 9.99996597e-01 -2.14322755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.051400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.87, Y:16.07, Z:-0.21 [[ 9.95670985e-01 -9.28945836e-02 3.14404130e-03 2.91872789e+02] [ 9.28943315e-02 9.95675947e-01 2.26457732e-04 1.60668279e+01] [-3.15148300e-03 6.65862210e-05 9.99995032e-01 -2.13213028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.081400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.90, Y:16.07, Z:-0.21 [[ 9.95516265e-01 -9.45404825e-02 3.07626613e-03 2.91901795e+02] [ 9.45402483e-02 9.95521015e-01 2.21768741e-04 1.60658036e+01] [-3.08345370e-03 7.00565752e-05 9.99995244e-01 -2.13078831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.111400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.93, Y:16.06, Z:-0.21 [[ 9.95399881e-01 -9.57596983e-02 3.02602346e-03 2.91929431e+02] [ 9.57594755e-02 9.95404478e-01 2.18744693e-04 1.60636854e+01] [-3.03306423e-03 7.20319784e-05 9.99995398e-01 -2.13424228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.141400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.96, Y:16.06, Z:-0.21 [[ 9.95331415e-01 -9.64684528e-02 3.03523956e-03 2.91957529e+02] [ 9.64682313e-02 9.95336040e-01 2.19643498e-04 1.60610935e+01] [-3.04227199e-03 7.41861183e-05 9.99995370e-01 -2.14275070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.171400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.99, Y:16.06, Z:-0.21 [[ 9.95299334e-01 -9.67931257e-02 3.21342219e-03 2.91985084e+02] [ 9.67928788e-02 9.95304518e-01 2.32638504e-04 1.60640201e+01] [-3.22085143e-03 7.94914365e-05 9.99994810e-01 -2.13856088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.201400513 meters Centerline goodness [0,1] 0.9999788225328251 Centerline is valid? [True, True] Translation: X:292.01, Y:16.07, Z:-0.21 [[ 9.95382589e-01 -9.58926446e-02 4.25461177e-03 2.92013350e+02] [ 9.58921989e-02 9.95391677e-01 3.09083467e-04 1.60653943e+01] [-4.26464397e-03 1.00327776e-04 9.99990901e-01 -2.12274323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.231400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.04, Y:16.07, Z:-0.21 [[ 9.95434556e-01 -9.53382569e-02 4.54538425e-03 2.92042469e+02] [ 9.53377388e-02 9.95444929e-01 3.31015997e-04 1.60691175e+01] [-4.55623819e-03 1.03841893e-04 9.99989615e-01 -2.12343206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.261400513 meters Centerline goodness [0,1] 0.999915094139373 Centerline is valid? [True, True] Translation: X:292.07, Y:16.07, Z:-0.21 [[ 9.95496315e-01 -9.47189106e-02 3.92605580e-03 2.92070000e+02] [ 9.47185172e-02 9.95504053e-01 2.86457437e-04 1.60699944e+01] [-3.93553740e-03 8.67028602e-05 9.99992252e-01 -2.13833937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.291400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.10, Y:16.07, Z:-0.21 [[ 9.95483318e-01 -9.48811942e-02 3.24387480e-03 2.92097092e+02] [ 9.48809260e-02 9.95488601e-01 2.36820265e-04 1.60697293e+01] [-3.25171018e-03 7.20312216e-05 9.99994711e-01 -2.14490794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.321400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.13, Y:16.07, Z:-0.22 [[ 9.95458602e-01 -9.51721585e-02 2.10532843e-03 2.92125088e+02] [ 9.51720465e-02 9.95460827e-01 1.53557518e-04 1.60731535e+01] [-2.11038638e-03 4.75082627e-05 9.99997772e-01 -2.16661334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.351400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.15, Y:16.07, Z:-0.22 [[ 9.95409283e-01 -9.57019909e-02 1.22029108e-03 2.92152879e+02] [ 9.57019533e-02 9.95410030e-01 8.92808508e-05 1.60743152e+01] [-1.22323434e-03 2.79132524e-05 9.99999251e-01 -2.18862989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.381400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.18, Y:16.08, Z:-0.22 [[ 9.95264220e-01 -9.72029167e-02 -8.52181308e-04 2.92181644e+02] [ 9.72028981e-02 9.95264584e-01 -6.33346548e-05 1.60793614e+01] [ 8.54302188e-04 -1.97997770e-05 9.99999635e-01 -2.22298764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.411400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.21, Y:16.08, Z:-0.22 [[ 9.95183007e-01 -9.80288422e-02 -1.06208087e-03 2.92209793e+02] [ 9.80288142e-02 9.95183574e-01 -7.85451799e-05 1.60809823e+01] [ 1.06466513e-03 -2.59477000e-05 9.99999433e-01 -2.22959285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.441400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.24, Y:16.09, Z:-0.22 [[ 9.95073931e-01 -9.91310006e-02 -9.57643073e-04 2.92238532e+02] [ 9.91309779e-02 9.95074391e-01 -7.13389108e-05 1.60863604e+01] [ 9.59997995e-04 -2.39446038e-05 9.99999539e-01 -2.22309470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.471400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.27, Y:16.09, Z:-0.22 [[ 9.94971310e-01 -1.00151385e-01 -1.33863765e-03 2.92266164e+02] [ 1.00151342e-01 9.94972210e-01 -9.90940040e-05 1.60875242e+01] [ 1.34183166e-03 -3.54706666e-05 9.99999099e-01 -2.22674063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.501400513 meters Centerline goodness [0,1] 0.9999787401407403 Centerline is valid? [True, True] Translation: X:292.29, Y:16.09, Z:-0.22 [[ 9.94836358e-01 -1.01468358e-01 -2.18919967e-03 2.92293398e+02] [ 1.01468246e-01 9.94838765e-01 -1.62304488e-04 1.60896782e+01] [ 2.19436946e-03 -6.06678445e-05 9.99997591e-01 -2.23865213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.531400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.32, Y:16.09, Z:-0.23 [[ 9.94666777e-01 -1.03096952e-01 -3.00362640e-03 2.92321602e+02] [ 1.03096749e-01 9.94671308e-01 -2.22525603e-04 1.60904998e+01] [ 3.01056271e-03 -8.83252934e-05 9.99995464e-01 -2.26136976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.561400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.35, Y:16.09, Z:-0.23 [[ 9.94252035e-01 -1.06985498e-01 -4.12227328e-03 2.92351569e+02] [ 1.06985152e-01 9.94260572e-01 -3.05177567e-04 1.60923436e+01] [ 4.13126336e-03 -1.37598615e-04 9.99991457e-01 -2.27802222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.591400513 meters Centerline goodness [0,1] 0.9999575740862519 Centerline is valid? [True, True] Translation: X:292.38, Y:16.09, Z:-0.23 [[ 9.94035299e-01 -1.08997206e-01 -3.66525402e-03 2.92380899e+02] [ 1.08996944e-01 9.94042048e-01 -2.71576080e-04 1.60914983e+01] [ 3.67301765e-03 -1.29545279e-04 9.99993246e-01 -2.27285186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.621400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.41, Y:16.09, Z:-0.23 [[ 9.93777430e-01 -1.11356244e-01 -2.49144456e-03 2.92410226e+02] [ 1.11356131e-01 9.93780548e-01 -1.84739498e-04 1.60912475e+01] [ 2.49652104e-03 -9.38476819e-05 9.99996879e-01 -2.25476341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.651400513 meters Centerline goodness [0,1] 0.999914855573767 Centerline is valid? [True, True] Translation: X:292.44, Y:16.09, Z:-0.22 [[ 9.93512547e-01 -1.13709351e-01 -1.73284786e-03 2.92438518e+02] [ 1.13709299e-01 9.93514056e-01 -1.28707657e-04 1.60886746e+01] [ 1.73624397e-03 -6.91682429e-05 9.99998490e-01 -2.23897960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.681400513 meters Centerline goodness [0,1] 0.9999574829931973 Centerline is valid? [True, True] Translation: X:292.47, Y:16.09, Z:-0.22 [[ 9.93306525e-01 -1.15496585e-01 -1.63926151e-03 2.92467286e+02] [ 1.15496541e-01 9.93307875e-01 -1.21746008e-04 1.60852329e+01] [ 1.64235262e-03 -6.83979309e-05 9.99998649e-01 -2.24221417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.711400513 meters Centerline goodness [0,1] 0.9999358672880414 Centerline is valid? [True, True] Translation: X:292.50, Y:16.09, Z:-0.23 [[ 9.93099813e-01 -1.17212553e-01 -3.73873074e-03 2.92496632e+02] [ 1.17212337e-01 9.93106838e-01 -2.77624306e-04 1.60864960e+01] [ 3.74550012e-03 -1.62516722e-04 9.99992972e-01 -2.27230044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.741400513 meters Centerline goodness [0,1] 0.9999570363687139 Centerline is valid? [True, True] Translation: X:292.52, Y:16.09, Z:-0.23 [[ 9.93142857e-01 -1.16847862e-01 -3.72045467e-03 2.92524298e+02] [ 1.16847644e-01 9.93149813e-01 -2.76581210e-04 1.60867898e+01] [ 3.72728679e-03 -1.60041712e-04 9.99993041e-01 -2.27591236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.771400513 meters Centerline goodness [0,1] 0.999978427354115 Centerline is valid? [True, True] Translation: X:292.55, Y:16.10, Z:-0.23 [[ 9.93282378e-01 -1.15680392e-01 -2.85730882e-03 2.92552436e+02] [ 1.15680258e-01 9.93286481e-01 -2.12571132e-04 1.60955384e+01] [ 2.86271654e-03 -1.19391063e-04 9.99995895e-01 -2.25252179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.801400513 meters Centerline goodness [0,1] 0.9999788180470239 Centerline is valid? [True, True] Translation: X:292.58, Y:16.09, Z:-0.22 [[ 9.93447814e-01 -1.14282207e-01 -1.00924722e-03 2.92580553e+02] [ 1.14282190e-01 9.93448326e-01 -7.54476821e-05 1.60939088e+01] [ 1.01125729e-03 -4.03856477e-05 9.99999488e-01 -2.23913383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.831400513 meters Centerline goodness [0,1] 0.9999574811854246 Centerline is valid? [True, True] Translation: X:292.61, Y:16.10, Z:-0.22 [[ 9.93586734e-01 -1.13071453e-01 4.99047330e-04 2.92609575e+02] [ 1.13071449e-01 9.93586859e-01 3.65946080e-05 1.60976094e+01] [-4.99984674e-04 2.00680877e-05 9.99999875e-01 -2.21518480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.861400513 meters Centerline goodness [0,1] 0.999956765170021 Centerline is valid? [True, True] Translation: X:292.64, Y:16.10, Z:-0.22 [[ 9.93730684e-01 -1.11794601e-01 1.13811975e-03 2.92637946e+02] [ 1.11794577e-01 9.93731335e-01 8.47274311e-05 1.61034490e+01] [-1.14045733e-03 4.30393683e-05 9.99999349e-01 -2.20858988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.891400513 meters Centerline goodness [0,1] 0.999956765170021 Centerline is valid? [True, True] Translation: X:292.67, Y:16.11, Z:-0.22 [[ 9.93708916e-01 -1.11987923e-01 1.13814686e-03 2.92665398e+02] [ 1.11987900e-01 9.93709567e-01 8.43647674e-05 1.61056651e+01] [-1.14043526e-03 4.36246553e-05 9.99999349e-01 -2.20969404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.921400513 meters Centerline goodness [0,1] 0.999936305732484 Centerline is valid? [True, True] Translation: X:292.69, Y:16.10, Z:-0.22 [[ 9.93772510e-01 -1.11412974e-01 1.82984607e-03 2.92693792e+02] [ 1.11412910e-01 9.93774192e-01 1.36762967e-04 1.61014032e+01] [-1.83369097e-03 6.79571998e-05 9.99998316e-01 -2.21040790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.951400513 meters Centerline goodness [0,1] 0.9999574033055035 Centerline is valid? [True, True] Translation: X:292.72, Y:16.10, Z:-0.22 [[ 9.93740912e-01 -1.11702112e-01 1.28014844e-03 2.92721954e+02] [ 1.11702081e-01 9.93741735e-01 9.56905517e-05 1.61011176e+01] [-1.28282577e-03 4.79036296e-05 9.99999176e-01 -2.22048306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.981400513 meters Centerline goodness [0,1] 0.9999788395615558 Centerline is valid? [True, True] Translation: X:292.75, Y:16.10, Z:-0.22 [[ 9.93652825e-01 -1.12483531e-01 1.23194845e-03 2.92750871e+02] [ 1.12483503e-01 9.93653588e-01 9.18519630e-05 1.61039164e+01] [-1.23446183e-03 4.73049151e-05 9.99999237e-01 -2.22169156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.011400513 meters Centerline goodness [0,1] 0.9999575641841715 Centerline is valid? [True, True] Translation: X:292.78, Y:16.10, Z:-0.22 [[ 9.93553049e-01 -1.13355513e-01 1.69324451e-03 2.92779551e+02] [ 1.13355461e-01 9.93554489e-01 1.27021712e-04 1.60981549e+01] [-1.69672929e-03 6.57357023e-05 9.99998558e-01 -2.22102009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.041400513 meters Centerline goodness [0,1] 0.9998943140984993 Centerline is valid? [True, True] Translation: X:292.81, Y:16.10, Z:-0.22 [[ 9.93402975e-01 -1.14642496e-01 2.76180371e-03 2.92807435e+02] [ 1.14642362e-01 9.93406808e-01 2.07495840e-04 1.60982627e+01] [-2.76738245e-03 1.10492715e-04 9.99996165e-01 -2.20233234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.071400513 meters Centerline goodness [0,1] 0.99995720002568 Centerline is valid? [True, True] Translation: X:292.84, Y:16.11, Z:-0.22 [[ 9.93225192e-01 -1.16142222e-01 3.83432938e-03 2.92835287e+02] [ 1.16141973e-01 9.93232581e-01 2.88356110e-04 1.61088818e+01] [-3.84187118e-03 1.58924025e-04 9.99992607e-01 -2.18887891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.101400513 meters Centerline goodness [0,1] 0.9999570215966477 Centerline is valid? [True, True] Translation: X:292.86, Y:16.11, Z:-0.22 [[ 9.92916649e-01 -1.18713807e-01 4.85394384e-03 2.92864641e+02] [ 1.18713434e-01 9.92928490e-01 3.65922457e-04 1.61103397e+01] [-4.86305918e-03 2.12897844e-04 9.99988153e-01 -2.17858194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.131400513 meters Centerline goodness [0,1] 0.9998725492278607 Centerline is valid? [True, True] Translation: X:292.89, Y:16.11, Z:-0.22 [[ 9.92805529e-01 -1.19654175e-01 4.47878873e-03 2.92893017e+02] [ 1.19653866e-01 9.92815611e-01 3.37804921e-04 1.61072945e+01] [-4.48703114e-03 2.00529793e-04 9.99989913e-01 -2.18438572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.161400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.92, Y:16.11, Z:-0.22 [[ 9.92704790e-01 -1.20522265e-01 3.40352741e-03 2.92920971e+02] [ 1.20522091e-01 9.92710612e-01 2.56854883e-04 1.61075428e+01] [-3.40967451e-03 1.55219169e-04 9.99994175e-01 -2.20080733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.191400513 meters Centerline goodness [0,1] 0.9998730266220849 Centerline is valid? [True, True] Translation: X:292.95, Y:16.11, Z:-0.22 [[ 9.92582432e-01 -1.21550019e-01 2.38944171e-03 2.92949005e+02] [ 1.21549937e-01 9.92585301e-01 1.80396826e-04 1.61082141e+01] [-2.39365195e-03 1.11377767e-04 9.99997129e-01 -2.21909826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.221400513 meters Centerline goodness [0,1] 0.9998508734554751 Centerline is valid? [True, True] Translation: X:292.98, Y:16.11, Z:-0.22 [[ 9.92482631e-01 -1.22377956e-01 1.36511281e-03 2.92977800e+02] [ 1.22377931e-01 9.92483567e-01 1.02765774e-04 1.61128340e+01] [-1.36742830e-03 6.50664349e-05 9.99999063e-01 -2.23680853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.251400513 meters Centerline goodness [0,1] 0.9999574911262726 Centerline is valid? [True, True] Translation: X:293.01, Y:16.12, Z:-0.22 [[ 9.92406247e-01 -1.23003403e-01 5.77358355e-05 2.93005821e+02] [ 1.23003403e-01 9.92406249e-01 4.14219645e-06 1.61181304e+01] [-5.78069082e-05 2.99096260e-06 9.99999998e-01 -2.24490249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.281400513 meters Centerline goodness [0,1] 0.9997247861800321 Centerline is valid? [True, True] Translation: X:293.03, Y:16.12, Z:-0.22 [[ 9.92445239e-01 -1.22684942e-01 9.22900490e-04 2.93033879e+02] [ 1.22684930e-01 9.92445668e-01 6.97897477e-05 1.61192272e+01] [-9.24490745e-04 4.39634795e-05 9.99999572e-01 -2.22721988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.311400513 meters Centerline goodness [0,1] 0.9998288916456346 Centerline is valid? [True, True] Translation: X:293.06, Y:16.13, Z:-0.22 [[ 9.92495686e-01 -1.22266451e-01 1.79668524e-03 2.93061561e+02] [ 1.22266405e-01 9.92497309e-01 1.35953455e-04 1.61305814e+01] [-1.79982781e-03 8.47410277e-05 9.99998377e-01 -2.20805538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.341400513 meters Centerline goodness [0,1] 0.9999357890456112 Centerline is valid? [True, True] Translation: X:293.09, Y:16.14, Z:-0.22 [[ 9.92555940e-01 -1.21754558e-01 2.92119228e-03 2.93089381e+02] [ 1.21754431e-01 9.92560230e-01 2.22038820e-04 1.61360904e+01] [-2.92649352e-03 1.35282155e-04 9.99995709e-01 -2.19155176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.371400513 meters Centerline goodness [0,1] 0.999787374285046 Centerline is valid? [True, True] Translation: X:293.12, Y:16.14, Z:-0.22 [[ 9.92661200e-01 -1.20895259e-01 2.84238712e-03 2.93117895e+02] [ 1.20895134e-01 9.92665261e-01 2.16200323e-04 1.61356736e+01] [-2.84767654e-03 1.29017101e-04 9.99995937e-01 -2.19716296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.401400513 meters Centerline goodness [0,1] 0.999978742852284 Centerline is valid? [True, True] Translation: X:293.15, Y:16.14, Z:-0.22 [[ 9.92799655e-01 -1.19765061e-01 2.27502029e-03 2.93146774e+02] [ 1.19764978e-01 9.92802256e-01 1.73441350e-04 1.61438020e+01] [-2.27941749e-03 1.00275242e-04 9.99997397e-01 -2.21029585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.431400513 meters Centerline goodness [0,1] 0.9998724815098189 Centerline is valid? [True, True] Translation: X:293.18, Y:16.15, Z:-0.22 [[ 9.93080568e-01 -1.17432578e-01 7.58771287e-04 2.93175102e+02] [ 1.17432568e-01 9.93080857e-01 5.78383471e-05 1.61484603e+01] [-7.60313347e-04 3.16663224e-05 9.99999710e-01 -2.23492628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.461400513 meters Centerline goodness [0,1] 0.9999149858664003 Centerline is valid? [True, True] Translation: X:293.20, Y:16.15, Z:-0.22 [[ 9.93167458e-01 -1.16694449e-01 8.97940111e-04 2.93203095e+02] [ 1.16694434e-01 9.93167863e-01 6.84350922e-05 1.61516488e+01] [-8.99791256e-04 3.68171067e-05 9.99999595e-01 -2.23274919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.491400513 meters Centerline goodness [0,1] 0.9998723105407649 Centerline is valid? [True, True] Translation: X:293.23, Y:16.16, Z:-0.22 [[ 9.93192055e-01 -1.16483064e-01 1.11219658e-03 2.93230916e+02] [ 1.16483042e-01 9.93192677e-01 8.45652882e-05 1.61632959e+01] [-1.11447592e-03 4.55624686e-05 9.99999378e-01 -2.22913162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.521400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.26, Y:16.17, Z:-0.22 [[ 9.93206489e-01 -1.16358949e-01 1.21031829e-03 2.93259350e+02] [ 1.16358923e-01 9.93207225e-01 9.22807408e-05 1.61684256e+01] [-1.21283456e-03 4.91775020e-05 9.99999263e-01 -2.22135536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.551400513 meters Centerline goodness [0,1] 0.9999574250681199 Centerline is valid? [True, True] Translation: X:293.29, Y:16.17, Z:-0.22 [[ 9.93219489e-01 -1.16249042e-01 1.09866939e-03 2.93287632e+02] [ 1.16249020e-01 9.93220096e-01 8.38887767e-05 1.61739076e+01] [-1.10097251e-03 4.43992717e-05 9.99999393e-01 -2.22326248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.581400513 meters Centerline goodness [0,1] 0.9999576952364836 Centerline is valid? [True, True] Translation: X:293.32, Y:16.18, Z:-0.22 [[ 9.93246155e-01 -1.16024650e-01 5.97308420e-04 2.93315212e+02] [ 1.16024643e-01 9.93246334e-01 4.56698721e-05 1.61770996e+01] [-5.98573229e-04 2.39410716e-05 9.99999821e-01 -2.23234114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.611400513 meters Centerline goodness [0,1] 0.9999787820920857 Centerline is valid? [True, True] Translation: X:293.34, Y:16.18, Z:-0.23 [[ 9.93151516e-01 -1.16829553e-01 -9.60654912e-04 2.93343667e+02] [ 1.16829535e-01 9.93151979e-01 -7.48216131e-05 1.61837725e+01] [ 9.62817703e-04 -3.79236681e-05 9.99999536e-01 -2.25833467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.641400513 meters Centerline goodness [0,1] 0.9999354880330301 Centerline is valid? [True, True] Translation: X:293.37, Y:16.19, Z:-0.23 [[ 9.93083879e-01 -1.17403394e-01 -9.23777935e-04 2.93372068e+02] [ 1.17403377e-01 9.93084308e-01 -7.21466601e-05 1.61921121e+01] [ 9.25859634e-04 -3.68069644e-05 9.99999571e-01 -2.25994547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.671400513 meters Centerline goodness [0,1] 0.9999572530831213 Centerline is valid? [True, True] Translation: X:293.40, Y:16.20, Z:-0.22 [[ 9.93022835e-01 -1.17922062e-01 1.91773103e-04 2.93399229e+02] [ 1.17922062e-01 9.93022853e-01 1.44411540e-05 1.61952068e+01] [-1.92138005e-04 8.27388398e-06 9.99999982e-01 -2.24371619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.701400513 meters Centerline goodness [0,1] 0.9999571945294609 Centerline is valid? [True, True] Translation: X:293.43, Y:16.20, Z:-0.22 [[ 9.92964041e-01 -1.18407471e-01 1.44377234e-03 2.93428002e+02] [ 1.18407434e-01 9.92965089e-01 1.11438372e-04 1.62032017e+01] [-1.44681066e-03 6.02990825e-05 9.99998952e-01 -2.21850091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.731400513 meters Centerline goodness [0,1] 0.9999574169097452 Centerline is valid? [True, True] Translation: X:293.46, Y:16.21, Z:-0.22 [[ 9.92893537e-01 -1.18995220e-01 1.60058367e-03 2.93455686e+02] [ 1.18995174e-01 9.92894825e-01 1.24068555e-04 1.62093603e+01] [-1.60397481e-03 6.72748659e-05 9.99998711e-01 -2.21435199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.761400513 meters Centerline goodness [0,1] 0.9999574567654379 Centerline is valid? [True, True] Translation: X:293.48, Y:16.22, Z:-0.22 [[ 9.92848665e-01 -1.19377119e-01 7.94292270e-04 2.93484056e+02] [ 1.19377108e-01 9.92848983e-01 6.12196988e-05 1.62179778e+01] [-7.95920504e-04 3.40384180e-05 9.99999683e-01 -2.23136809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.791400513 meters Centerline goodness [0,1] 0.9999787789402202 Centerline is valid? [True, True] Translation: X:293.51, Y:16.23, Z:-0.22 [[ 9.92826024e-01 -1.19567820e-01 1.48696814e-04 2.93511557e+02] [ 1.19567820e-01 9.92826035e-01 1.08604194e-05 1.62266082e+01] [-1.48928625e-04 6.99684690e-06 9.99999989e-01 -2.24683450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.821400513 meters Centerline goodness [0,1] 0.9999153492899922 Centerline is valid? [True, True] Translation: X:293.54, Y:16.23, Z:-0.23 [[ 9.92834533e-01 -1.19495914e-01 5.62597402e-04 2.93539308e+02] [ 1.19495908e-01 9.92834692e-01 4.37303520e-05 1.62316378e+01] [-5.63791817e-04 2.38110840e-05 9.99999841e-01 -2.25183859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.851400513 meters Centerline goodness [0,1] 0.9999361688546565 Centerline is valid? [True, True] Translation: X:293.57, Y:16.24, Z:-0.22 [[ 9.92820967e-01 -1.19602722e-01 1.30977783e-03 2.93566837e+02] [ 1.19602692e-01 9.92821830e-01 1.01845702e-04 1.62445632e+01] [-1.31255704e-03 5.55384051e-05 9.99999137e-01 -2.23474648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.881400513 meters Centerline goodness [0,1] 0.9999787613626709 Centerline is valid? [True, True] Translation: X:293.59, Y:16.26, Z:-0.22 [[ 9.92865663e-01 -1.19188975e-01 3.42963722e-03 2.93594633e+02] [ 1.19188758e-01 9.92871577e-01 2.68561799e-04 1.62599881e+01] [-3.43719892e-03 1.42128410e-04 9.99994083e-01 -2.20122367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.911400513 meters Centerline goodness [0,1] 0.9999144769194587 Centerline is valid? [True, True] Translation: X:293.62, Y:16.27, Z:-0.22 [[ 9.92858022e-01 -1.19259892e-01 3.16650193e-03 2.93621541e+02] [ 1.19259704e-01 9.92863063e-01 2.48496446e-04 1.62675799e+01] [-3.17353846e-03 1.30914395e-04 9.99994956e-01 -2.20741519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.941400513 meters Centerline goodness [0,1] 0.9998699778962423 Centerline is valid? [True, True] Translation: X:293.65, Y:16.28, Z:-0.22 [[ 9.92807912e-01 -1.19688852e-01 2.65129385e-03 2.93649561e+02] [ 1.19688722e-01 9.92811446e-01 2.08104605e-04 1.62847056e+01] [-2.65714268e-03 1.10722074e-04 9.99996464e-01 -2.22021670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.971400513 meters Centerline goodness [0,1] 0.999978467302599 Centerline is valid? [True, True] Translation: X:293.68, Y:16.29, Z:-0.22 [[ 9.92737873e-01 -1.20275792e-01 2.29112266e-03 2.93677869e+02] [ 1.20275696e-01 9.92740512e-01 1.80135085e-04 1.62939805e+01] [-2.29615617e-03 9.67394512e-05 9.99997359e-01 -2.22566807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.001400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.71, Y:16.29, Z:-0.22 [[ 9.92591806e-01 -1.21475162e-01 2.30035790e-03 2.93705336e+02] [ 1.21475067e-01 9.92594467e-01 1.81432052e-04 1.62942469e+01] [-2.30536201e-03 9.93481624e-05 9.99997338e-01 -2.22868184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.031400513 meters Centerline goodness [0,1] 0.9999785462970909 Centerline is valid? [True, True] Translation: X:293.73, Y:16.30, Z:-0.22 [[ 9.92361772e-01 -1.23314888e-01 3.39891334e-03 2.93733696e+02] [ 1.23314690e-01 9.92367581e-01 2.68490098e-04 1.63042887e+01] [-3.40608023e-03 1.52696637e-04 9.99994188e-01 -2.21274015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.061400513 meters Centerline goodness [0,1] 0.9998707704236576 Centerline is valid? [True, True] Translation: X:293.76, Y:16.32, Z:-0.22 [[ 9.91861767e-01 -1.27199639e-01 5.52151484e-03 2.93762558e+02] [ 1.27199176e-01 9.91877099e-01 4.36391204e-04 1.63150169e+01] [-5.53217293e-03 2.69492386e-04 9.99984661e-01 -2.17810041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.091400513 meters Centerline goodness [0,1] 0.9998921041841997 Centerline is valid? [True, True] Translation: X:293.79, Y:16.32, Z:-0.22 [[ 9.91646582e-01 -1.28891371e-01 4.90630837e-03 2.93791074e+02] [ 1.28891025e-01 9.91658688e-01 3.87799513e-04 1.63233246e+01] [-4.91536733e-03 2.47819055e-04 9.99987889e-01 -2.18479239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.121400513 meters Centerline goodness [0,1] 0.9995955811923969 Centerline is valid? [True, True] Translation: X:293.82, Y:16.32, Z:-0.22 [[ 9.91487157e-01 -1.30161972e-01 3.32851431e-03 2.93819295e+02] [ 1.30161820e-01 9.91492729e-01 2.63153020e-04 1.63238205e+01] [-3.33445026e-03 1.72332642e-04 9.99994426e-01 -2.20937589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.151400513 meters Centerline goodness [0,1] 0.9998918123593561 Centerline is valid? [True, True] Translation: X:293.85, Y:16.34, Z:-0.22 [[ 9.91373367e-01 -1.31056103e-01 1.77365474e-03 2.93846952e+02] [ 1.31056062e-01 9.91374949e-01 1.39957510e-04 1.63391299e+01] [-1.77669916e-03 9.36980568e-05 9.99998417e-01 -2.23351506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.181400513 meters Centerline goodness [0,1] 0.9998711506249195 Centerline is valid? [True, True] Translation: X:293.87, Y:16.35, Z:-0.22 [[ 9.91339701e-01 -1.31321031e-01 6.20041115e-04 2.93874993e+02] [ 1.31321026e-01 9.91339894e-01 4.85957377e-05 1.63497839e+01] [-6.21053136e-04 3.32495513e-05 9.99999807e-01 -2.24576499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.211400513 meters Centerline goodness [0,1] 0.9999352247700479 Centerline is valid? [True, True] Translation: X:293.90, Y:16.36, Z:-0.22 [[ 9.91361467e-01 -1.31157378e-01 4.28829235e-04 2.93902485e+02] [ 1.31157376e-01 9.91361560e-01 3.34609842e-05 1.63638782e+01] [-4.29513474e-04 2.30721867e-05 9.99999907e-01 -2.24165688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.241400513 meters Centerline goodness [0,1] 0.9998292531961668 Centerline is valid? [True, True] Translation: X:293.93, Y:16.38, Z:-0.22 [[ 9.91423046e-01 -1.30681571e-01 1.63447328e-03 2.93929636e+02] [ 1.30681534e-01 9.91424389e-01 1.29990488e-04 1.63750525e+01] [-1.63744403e-03 8.47199089e-05 9.99998656e-01 -2.23096459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.271400513 meters Centerline goodness [0,1] 0.99982867544705 Centerline is valid? [True, True] Translation: X:293.96, Y:16.38, Z:-0.22 [[ 9.91434016e-01 -1.30585041e-01 2.47770050e-03 2.93956774e+02] [ 1.30584955e-01 9.91437104e-01 1.97285677e-04 1.63822709e+01] [-2.48224676e-03 1.27954675e-04 9.99996911e-01 -2.22463196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.301400513 meters Centerline goodness [0,1] 0.9997451634139608 Centerline is valid? [True, True] Translation: X:293.98, Y:16.39, Z:-0.22 [[ 9.91381590e-01 -1.30979437e-01 2.63258685e-03 2.93983897e+02] [ 1.30979340e-01 9.91385076e-01 2.09892956e-04 1.63858751e+01] [-2.63739898e-03 1.36730476e-04 9.99996513e-01 -2.22326537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.331400513 meters Centerline goodness [0,1] 0.9997439235184908 Centerline is valid? [True, True] Translation: X:294.01, Y:16.39, Z:-0.22 [[ 9.91260927e-01 -1.31894536e-01 2.36763082e-03 2.94011357e+02] [ 1.31894460e-01 9.91263747e-01 1.88878499e-04 1.63913437e+01] [-2.37185864e-03 1.25049514e-04 9.99997179e-01 -2.22999262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.361400513 meters Centerline goodness [0,1] 0.9999141722991095 Centerline is valid? [True, True] Translation: X:294.04, Y:16.40, Z:-0.22 [[ 9.91102749e-01 -1.33086127e-01 1.85008530e-03 2.94040307e+02] [ 1.33086083e-01 9.91104471e-01 1.47806806e-04 1.64025596e+01] [-1.85329884e-03 9.97288722e-05 9.99998278e-01 -2.23945349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.391400513 meters Centerline goodness [0,1] 0.9997004835051988 Centerline is valid? [True, True] Translation: X:294.07, Y:16.41, Z:-0.23 [[ 9.90761093e-01 -1.35614913e-01 1.02578318e-03 2.94069972e+02] [ 1.35614901e-01 9.90761622e-01 8.19688436e-05 1.64095012e+01] [-1.02742281e-03 5.78999434e-05 9.99999471e-01 -2.25156456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.421400513 meters Centerline goodness [0,1] 0.9999140468874229 Centerline is valid? [True, True] Translation: X:294.10, Y:16.42, Z:-0.22 [[ 9.90634461e-01 -1.36528515e-01 1.82490213e-03 2.94097613e+02] [ 1.36528477e-01 9.90636136e-01 1.45778587e-04 1.64183049e+01] [-1.82771693e-03 1.04737817e-04 9.99998324e-01 -2.23900394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.451400513 meters Centerline goodness [0,1] 0.9998060386629598 Centerline is valid? [True, True] Translation: X:294.13, Y:16.42, Z:-0.22 [[ 9.90503206e-01 -1.37466358e-01 2.52969496e-03 2.94125516e+02] [ 1.37466288e-01 9.90506425e-01 2.02322033e-04 1.64200136e+01] [-2.53349158e-03 1.47347153e-04 9.99996780e-01 -2.22587262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.481400513 meters Centerline goodness [0,1] 0.991600258453586 Centerline is valid? [True, True] Translation: X:294.15, Y:16.41, Z:-0.22 [[ 9.90387212e-01 -1.38280974e-01 3.39751899e-03 2.94153625e+02] [ 1.38280851e-01 9.90393019e-01 2.72011684e-04 1.64143792e+01] [-3.40249313e-03 2.00414926e-04 9.99994191e-01 -2.21020479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.511400513 meters Centerline goodness [0,1] 0.9998280716081752 Centerline is valid? [True, True] Translation: X:294.18, Y:16.43, Z:-0.22 [[ 9.90250170e-01 -1.39260351e-01 3.33998612e-03 2.94181587e+02] [ 1.39260238e-01 9.90255782e-01 2.67527544e-04 1.64304062e+01] [-3.34469655e-03 2.00208066e-04 9.99994386e-01 -2.21025942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.541400513 meters Centerline goodness [0,1] 0.9994473611494888 Centerline is valid? [True, True] Translation: X:294.21, Y:16.43, Z:-0.22 [[ 9.90101959e-01 -1.40322113e-01 2.79573257e-03 2.94209843e+02] [ 1.40322037e-01 9.90105891e-01 2.24438486e-04 1.64339601e+01] [-2.79956497e-03 1.70085902e-04 9.99996067e-01 -2.22001910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.571400513 meters Centerline goodness [0,1] 0.9998694573778338 Centerline is valid? [True, True] Translation: X:294.24, Y:16.45, Z:-0.22 [[ 9.89806135e-01 -1.42390869e-01 2.94216271e-03 2.94238898e+02] [ 1.42390793e-01 9.89810490e-01 2.36327033e-04 1.64463901e+01] [-2.94583433e-03 1.85018936e-04 9.99995644e-01 -2.22353658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.601400513 meters Centerline goodness [0,1] 0.9284896297238835 Centerline is valid? [True, False] Translation: X:294.28, Y:16.45, Z:-0.22 [[ 9.89736442e-01 -1.42771753e-01 6.16458972e-03 2.94276444e+02] [ 1.42769728e-01 9.89755633e-01 7.69533074e-04 1.64521930e+01] [-6.21130498e-03 1.18481874e-04 9.99980703e-01 -2.20745848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.631400513 meters Centerline goodness [0,1] 0.9991391925626237 Centerline is valid? [False, True] Translation: X:294.23, Y:16.45, Z:-0.22 [[ 9.89707840e-01 -1.43029867e-01 4.56612312e-03 2.94232236e+02] [ 1.43039564e-01 9.89715202e-01 -1.87115309e-03 1.64539109e+01] [-4.25153069e-03 2.50503114e-03 9.99987825e-01 -2.19109601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.661400513 meters Centerline goodness [0,1] 0.9997212633203971 Centerline is valid? [True, True] Translation: X:294.26, Y:16.47, Z:-0.22 [[ 9.89679733e-01 -1.43260923e-01 3.21461496e-03 2.94259112e+02] [ 1.43253457e-01 9.89683015e-01 2.44480002e-03 1.64678881e+01] [-3.53169413e-03 -1.95906432e-03 9.99991845e-01 -2.19830968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.691400513 meters Centerline goodness [0,1] 0.9927072062324173 Centerline is valid? [True, True] Translation: X:294.29, Y:16.46, Z:-0.22 [[ 9.89431444e-01 -1.44932904e-01 4.45765542e-03 2.94288463e+02] [ 1.44942117e-01 9.89438469e-01 -1.81634166e-03 1.64596962e+01] [-4.14732808e-03 2.44324756e-03 9.99988415e-01 -2.19173234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.721400513 meters Centerline goodness [0,1] 0.9983024260266025 Centerline is valid? [True, True] Translation: X:294.32, Y:16.47, Z:-0.22 [[ 9.89325173e-01 -1.45691810e-01 3.09815108e-03 2.94317061e+02] [ 1.45691747e-01 9.89330002e-01 2.47316119e-04 1.64674524e+01] [-3.10112575e-03 2.06698981e-04 9.99995170e-01 -2.20866880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.751400513 meters Centerline goodness [0,1] 0.9998921530563823 Centerline is valid? [True, True] Translation: X:294.34, Y:16.48, Z:-0.22 [[ 9.89365596e-01 -1.45448274e-01 7.19341347e-04 2.94343550e+02] [ 1.45442522e-01 9.89352598e-01 5.28294099e-03 1.64806004e+01] [-1.48007688e-03 -5.12213724e-03 9.99985786e-01 -2.23257773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.781400513 meters Centerline goodness [0,1] 0.9992845063093535 Centerline is valid? [True, True] Translation: X:294.37, Y:16.49, Z:-0.23 [[ 9.89125664e-01 -1.47069661e-01 9.67204974e-04 2.94372460e+02] [ 1.47072704e-01 9.89112344e-01 -5.13718881e-03 1.64877566e+01] [-2.01149764e-04 5.22357474e-03 9.99986337e-01 -2.25070206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.811400513 meters Centerline goodness [0,1] 0.9992845063093535 Centerline is valid? [True, True] Translation: X:294.40, Y:16.49, Z:-0.23 [[ 9.89095617e-01 -1.47273747e-01 5.51656229e-04 2.94400239e+02] [ 1.47273745e-01 9.89095770e-01 4.37458828e-05 1.64858391e+01] [-5.52083463e-04 3.79756179e-05 9.99999847e-01 -2.25389866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.841400513 meters Centerline goodness [0,1] 0.9974371675317124 Centerline is valid? [True, True] Translation: X:294.43, Y:16.49, Z:-0.23 [[ 9.88946084e-01 -1.48269981e-01 1.28650425e-03 2.94428333e+02] [ 1.48269972e-01 9.88946917e-01 1.03350919e-04 1.64886328e+01] [-1.28760825e-03 8.85414621e-05 9.99999167e-01 -2.25393051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.871400513 meters Centerline goodness [0,1] 0.9431165224821104 Centerline is valid? [True, False] Translation: X:294.43, Y:16.49, Z:-0.23 [[ 9.89518068e-01 -1.44405672e-01 9.97195718e-04 2.94427391e+02] [ 1.44399325e-01 9.89507800e-01 4.81129272e-03 1.64858057e+01] [-1.68151090e-03 -4.61686669e-03 9.99987928e-01 -2.25481594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.901400513 meters Centerline goodness [0,1] 0.9857784108075446 Centerline is valid? [False, True] Translation: X:294.43, Y:16.49, Z:-0.23 [[ 9.89467893e-01 -1.44747977e-01 1.14562085e-03 2.94426551e+02] [ 1.44742272e-01 9.89461049e-01 4.06293543e-03 1.64892412e+01] [-1.72164889e-03 -3.85432439e-03 9.99991090e-01 -2.25049503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.931400513 meters Centerline goodness [0,1] 0.9974421254003396 Centerline is valid? [True, True] Translation: X:294.46, Y:16.50, Z:-0.22 [[ 9.89344800e-01 -1.45582855e-01 1.58078216e-03 2.94455401e+02] [ 1.45582851e-01 9.89346057e-01 1.17967838e-04 1.65026120e+01] [-1.58111469e-03 1.13423907e-04 9.99998744e-01 -2.24329460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.961400513 meters Centerline goodness [0,1] 0.9972646752344564 Centerline is valid? [True, True] Translation: X:294.48, Y:16.51, Z:-0.23 [[ 9.89223488e-01 -1.46411353e-01 7.78151710e-04 2.94484099e+02] [ 1.46411352e-01 9.89223793e-01 5.80577868e-05 1.65084067e+01] [-7.78266505e-04 5.64981179e-05 9.99999696e-01 -2.25057720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.991400513 meters Centerline goodness [0,1] 0.9902503066956503 Centerline is valid? [True, True] Translation: X:294.51, Y:16.51, Z:-0.23 [[ 9.88954497e-01 -1.48210553e-01 -1.62349934e-03 2.94513453e+02] [ 1.48210553e-01 9.88955822e-01 -1.21305834e-04 1.65124867e+01] [ 1.62354793e-03 -1.20653785e-04 9.99998675e-01 -2.29303510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.021400513 meters Centerline goodness [0,1] 0.965596132262799 Centerline is valid? [True, True] Translation: X:294.54, Y:16.51, Z:-0.23 [[ 9.88830902e-01 -1.49023870e-01 -2.30943226e-03 2.94542299e+02] [ 1.49023871e-01 9.88833584e-01 -1.72658198e-04 1.65132717e+01] [ 2.30937437e-03 -1.73430773e-04 9.99997318e-01 -2.30927336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.051400513 meters Centerline goodness [0,1] 0.9901965009049384 Centerline is valid? [True, True] Translation: X:294.57, Y:16.52, Z:-0.23 [[ 9.88796923e-01 -1.49250828e-01 -2.19877919e-03 2.94569250e+02] [ 1.49250828e-01 9.88799354e-01 -1.65046309e-04 1.65230371e+01] [ 2.19878474e-03 -1.64972332e-04 9.99997569e-01 -2.30462637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.081400513 meters Centerline goodness [0,1] 0.9991967348356563 Centerline is valid? [True, True] Translation: X:294.60, Y:16.54, Z:-0.23 [[ 9.89026220e-01 -1.47727781e-01 -1.90756487e-03 2.94597760e+02] [ 1.47727778e-01 9.89028050e-01 -1.43001772e-04 1.65395848e+01] [ 1.90776050e-03 -1.40367818e-04 9.99998170e-01 -2.29522953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.111400513 meters Centerline goodness [0,1] 0.9904538174052322 Centerline is valid? [True, True] Translation: X:294.63, Y:16.54, Z:-0.23 [[ 9.89210003e-01 -1.46486483e-01 -2.29784911e-03 2.94626513e+02] [ 1.46486475e-01 9.89212658e-01 -1.72319492e-04 1.65366394e+01] [ 2.29830390e-03 -1.66143652e-04 9.99997345e-01 -2.30852390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.141400513 meters Centerline goodness [0,1] 0.9972906139124825 Centerline is valid? [True, True] Translation: X:294.66, Y:16.55, Z:-0.23 [[ 9.89402839e-01 -1.45167101e-01 -2.92147503e-03 2.94656206e+02] [ 1.45167084e-01 9.89407130e-01 -2.19080644e-04 1.65469934e+01] [ 2.92233152e-03 -2.07342998e-04 9.99995708e-01 -2.31493446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.171400513 meters Centerline goodness [0,1] 0.9996321858975746 Centerline is valid? [True, True] Translation: X:294.68, Y:16.56, Z:-0.23 [[ 9.89635649e-01 -1.43573518e-01 -2.81542330e-03 2.94684812e+02] [ 1.43573495e-01 9.89639635e-01 -2.11215337e-04 1.65610943e+01] [ 2.81657941e-03 -1.95193937e-04 9.99996014e-01 -2.31436096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.201400513 meters Centerline goodness [0,1] 0.9996544201818613 Centerline is valid? [True, True] Translation: X:294.71, Y:16.57, Z:-0.23 [[ 9.89871519e-01 -1.41948644e-01 -2.22669221e-03 2.94714077e+02] [ 1.41948626e-01 9.89874012e-01 -1.67063104e-04 1.65698185e+01] [ 2.22785914e-03 -1.50704892e-04 9.99997507e-01 -2.30000576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.231400513 meters Centerline goodness [0,1] 0.9995937132470865 Centerline is valid? [True, True] Translation: X:294.74, Y:16.58, Z:-0.23 [[ 9.90079873e-01 -1.40505123e-01 3.94920608e-04 2.94742376e+02] [ 1.40505122e-01 9.90079951e-01 2.95804522e-05 1.65760922e+01] [-3.95159181e-04 2.62013579e-05 9.99999922e-01 -2.27240595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.261400513 meters Centerline goodness [0,1] 0.9995443598255549 Centerline is valid? [True, True] Translation: X:294.77, Y:16.58, Z:-0.23 [[ 9.90007875e-01 -1.41007939e-01 1.08124591e-03 2.94770340e+02] [ 1.41007934e-01 9.90008463e-01 8.11163917e-05 1.65820496e+01] [-1.08188066e-03 7.21583858e-05 9.99999412e-01 -2.25856953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.291400513 meters Centerline goodness [0,1] 0.9854618986802894 Centerline is valid? [True, True] Translation: X:294.80, Y:16.58, Z:-0.23 [[ 9.89874229e-01 -1.41941978e-01 1.21892772e-03 2.94799117e+02] [ 1.41941972e-01 9.89874976e-01 9.15389755e-05 1.65778123e+01] [-1.21957927e-03 8.24049312e-05 9.99999253e-01 -2.26002879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.321400513 meters Centerline goodness [0,1] 0.99875392085249 Centerline is valid? [True, True] Translation: X:294.83, Y:16.59, Z:-0.23 [[ 9.89681744e-01 -1.43282938e-01 2.14015625e-04 2.94827436e+02] [ 1.43282938e-01 9.89681767e-01 1.60321354e-05 1.65897786e+01] [-2.14104494e-04 1.47980758e-05 9.99999977e-01 -2.27708945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.351400513 meters Centerline goodness [0,1] 0.9936767196107431 Centerline is valid? [True, True] Translation: X:294.86, Y:16.59, Z:-0.23 [[ 9.89462865e-01 -1.44782361e-01 -1.14271879e-03 2.94856603e+02] [ 1.44782358e-01 9.89463522e-01 -8.59232173e-05 1.65901797e+01] [ 1.14311873e-03 -8.04276889e-05 9.99999343e-01 -2.29998305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.381400513 meters Centerline goodness [0,1] 0.9576025588734087 Centerline is valid? [True, True] Translation: X:294.89, Y:16.59, Z:-0.23 [[ 9.89236410e-01 -1.46312952e-01 -1.96106993e-03 2.94885711e+02] [ 1.46312946e-01 9.89238343e-01 -1.47522774e-04 1.65885538e+01] [ 1.96155006e-03 -1.40995019e-04 9.99998066e-01 -2.31533347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.411400513 meters Centerline goodness [0,1] 0.998135541776872 Centerline is valid? [True, True] Translation: X:294.92, Y:16.61, Z:-0.23 [[ 9.88838134e-01 -1.48990884e-01 -9.28089796e-04 2.94915199e+02] [ 1.48990883e-01 9.88838567e-01 -6.97997352e-05 1.66062345e+01] [ 9.28130508e-04 -6.92562786e-05 9.99999567e-01 -2.28549535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.441400513 meters Centerline goodness [0,1] 0.9963999659168371 Centerline is valid? [True, True] Translation: X:294.94, Y:16.61, Z:-0.23 [[ 9.88757762e-01 -1.49525875e-01 3.17390685e-04 2.94944118e+02] [ 1.49525875e-01 9.88757813e-01 2.38033531e-05 1.66105617e+01] [-3.17381737e-04 2.39223697e-05 9.99999949e-01 -2.27209578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.471400513 meters Centerline goodness [0,1] 0.924748948588104 Centerline is valid? [True, False] Translation: X:294.94, Y:16.61, Z:-0.23 [[ 9.89375691e-01 -1.45381358e-01 4.61875819e-05 2.94943236e+02] [ 1.45379433e-01 9.89364130e-01 4.84137806e-03 1.66076282e+01] [-7.49542452e-04 -4.78322704e-03 9.99988279e-01 -2.27515191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.501400513 meters Centerline goodness [0,1] 0.9996098153125813 Centerline is valid? [False, True] Translation: X:294.92, Y:16.61, Z:-0.23 [[ 9.89750935e-01 -1.42700147e-01 5.45474455e-03 2.94924632e+02] [ 1.42710205e-01 9.89763380e-01 -1.49952480e-03 1.66138119e+01] [-5.18492400e-03 2.26260378e-03 9.99983998e-01 -2.34985147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.531400513 meters Centerline goodness [0,1] 0.9870728465463277 Centerline is valid? [True, True] Translation: X:294.95, Y:16.61, Z:-0.24 [[ 9.89972836e-01 -1.41178760e-01 4.72664732e-03 2.94954632e+02] [ 1.41178811e-01 9.89984059e-01 3.24684370e-04 1.66123505e+01] [-4.72514403e-03 3.45873740e-04 9.99988777e-01 -2.36440021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.561400513 meters Centerline goodness [0,1] 0.9990060071740352 Centerline is valid? [True, True] Translation: X:294.99, Y:16.63, Z:-0.24 [[ 9.90077703e-01 -1.40463266e-01 4.02654904e-03 2.94985514e+02] [ 1.40463297e-01 9.90085848e-01 2.76652156e-04 1.66260172e+01] [-4.02548869e-03 2.91675223e-04 9.99991855e-01 -2.37636592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.591400513 meters Centerline goodness [0,1] 0.9823397195761533 Centerline is valid? [True, True] Translation: X:295.02, Y:16.62, Z:-0.24 [[ 9.90178845e-01 -1.39767621e-01 3.29661613e-03 2.95016549e+02] [ 1.39767638e-01 9.90184304e-01 2.26394058e-04 1.66225956e+01] [-3.29590011e-03 2.36589643e-04 9.99994541e-01 -2.39446281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.621400513 meters Centerline goodness [0,1] 0.9992227140235345 Centerline is valid? [True, True] Translation: X:295.05, Y:16.64, Z:-0.24 [[ 9.90279212e-01 -1.39071629e-01 2.48281247e-03 2.95047697e+02] [ 1.39071636e-01 9.90282309e-01 1.70557612e-04 1.66376275e+01] [-2.48240499e-03 1.76389135e-04 9.99996903e-01 -2.40988148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.651400513 meters Centerline goodness [0,1] 0.9981319648723509 Centerline is valid? [True, True] Translation: X:295.08, Y:16.64, Z:-0.24 [[ 9.90385737e-01 -1.38322362e-01 1.73647545e-03 2.95077775e+02] [ 1.38322365e-01 9.90387252e-01 1.19306070e-04 1.66397799e+01] [-1.73628585e-03 1.22034361e-04 9.99998485e-01 -2.42774096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.681400513 meters Centerline goodness [0,1] 0.9992650396662416 Centerline is valid? [True, True] Translation: X:295.11, Y:16.65, Z:-0.24 [[ 9.90480058e-01 -1.37650945e-01 1.21353450e-03 2.95109681e+02] [ 1.37650946e-01 9.90480797e-01 8.34364983e-05 1.66506871e+01] [-1.21346773e-03 8.44019842e-05 9.99999260e-01 -2.43456045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.711400513 meters Centerline goodness [0,1] 0.9970545868896867 Centerline is valid? [True, True] Translation: X:295.14, Y:16.65, Z:-0.24 [[ 9.90906406e-01 -1.34543307e-01 1.61010630e-03 2.95138755e+02] [ 1.34543305e-01 9.90907709e-01 1.10209424e-04 1.66525327e+01] [-1.61029468e-03 1.07421799e-04 9.99998698e-01 -2.43418538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.741400513 meters Centerline goodness [0,1] 0.9990169049603557 Centerline is valid? [True, True] Translation: X:295.17, Y:16.66, Z:-0.24 [[ 9.91237777e-01 -1.32079502e-01 1.63538798e-03 2.95169240e+02] [ 1.32079497e-01 9.91239121e-01 1.12025293e-04 1.66629068e+01] [-1.63585679e-03 1.04957518e-04 9.99998656e-01 -2.43068641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.771400513 meters Centerline goodness [0,1] 0.9993909071133348 Centerline is valid? [True, True] Translation: X:295.20, Y:16.67, Z:-0.24 [[ 9.91588072e-01 -1.29422935e-01 1.67291265e-03 2.95198774e+02] [ 1.29422925e-01 9.91589478e-01 1.14536789e-04 1.66702246e+01] [-1.67366627e-03 1.02939935e-04 9.99998594e-01 -2.42841116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.801400513 meters Centerline goodness [0,1] 0.9997835732063629 Centerline is valid? [True, True] Translation: X:295.23, Y:16.68, Z:-0.24 [[ 9.91936729e-01 -1.26721325e-01 1.79749035e-03 2.95228893e+02] [ 1.26721309e-01 9.91938352e-01 1.23139454e-04 1.66842551e+01] [-1.79860401e-03 1.05633783e-04 9.99998377e-01 -2.42428180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.831400513 meters Centerline goodness [0,1] 0.9997610513739545 Centerline is valid? [True, True] Translation: X:295.26, Y:16.69, Z:-0.24 [[ 9.92255731e-01 -1.24199633e-01 1.73641906e-03 2.95258763e+02] [ 1.24199614e-01 9.92257246e-01 1.18930855e-04 1.66943661e+01] [-1.73774557e-03 9.76527553e-05 9.99998485e-01 -2.42300094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.861400513 meters Centerline goodness [0,1] 0.9998925955362705 Centerline is valid? [True, True] Translation: X:295.29, Y:16.71, Z:-0.24 [[ 9.92871992e-01 -1.19129786e-01 3.64717869e-03 2.95288613e+02] [ 1.19129670e-01 9.92878673e-01 2.49824601e-04 1.67119183e+01] [-3.65096749e-03 1.86443346e-04 9.99993318e-01 -2.40098408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.891400513 meters Centerline goodness [0,1] 0.999956942949408 Centerline is valid? [True, True] Translation: X:295.32, Y:16.72, Z:-0.24 [[ 9.93192534e-01 -1.16389375e-01 4.70143799e-03 2.95318194e+02] [ 1.16389152e-01 9.93203636e-01 3.21961586e-04 1.67174409e+01] [-4.70695821e-03 2.27426536e-04 9.99988896e-01 -2.38875529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.921400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:295.35, Y:16.73, Z:-0.24 [[ 9.93495027e-01 -1.13725657e-01 5.83998024e-03 2.95348329e+02] [ 1.13725267e-01 9.93512156e-01 3.99929444e-04 1.67335567e+01] [-5.84757360e-03 2.66825400e-04 9.99982867e-01 -2.37034384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.951400513 meters Centerline goodness [0,1] 0.9999783037903278 Centerline is valid? [True, True] Translation: X:295.38, Y:16.74, Z:-0.24 [[ 9.93754514e-01 -1.11373747e-01 6.91770447e-03 2.95379290e+02] [ 1.11373144e-01 9.93778546e-01 4.73591205e-04 1.67430923e+01] [-6.92741192e-03 2.99813097e-04 9.99975960e-01 -2.35416010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.981400513 meters Centerline goodness [0,1] 0.9999357298941686 Centerline is valid? [True, True] Translation: X:295.41, Y:16.75, Z:-0.23 [[ 9.93961882e-01 -1.09454566e-01 7.71204797e-03 2.95410039e+02] [ 1.09453762e-01 9.93991748e-01 5.27593453e-04 1.67458017e+01] [-7.72345956e-03 3.19704879e-04 9.99970123e-01 -2.34308337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.011400513 meters Centerline goodness [0,1] 0.9999576549300248 Centerline is valid? [True, True] Translation: X:295.44, Y:16.75, Z:-0.23 [[ 9.94085318e-01 -1.08292440e-01 8.19313794e-03 2.95441460e+02] [ 1.08291495e-01 9.94119026e-01 5.60250664e-04 1.67532331e+01] [-8.20562522e-03 3.30310194e-04 9.99966279e-01 -2.34067187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.041400513 meters Centerline goodness [0,1] 0.9999786630251563 Centerline is valid? [True, True] Translation: X:295.47, Y:16.77, Z:-0.24 [[ 9.94219799e-01 -1.07084769e-01 7.73579978e-03 2.95473460e+02] [ 1.07083893e-01 9.94249848e-01 5.28562261e-04 1.67656869e+01] [-7.74791872e-03 3.02872493e-04 9.99969939e-01 -2.35112556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.071400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:295.50, Y:16.78, Z:-0.24 [[ 9.94263452e-01 -1.06698942e-01 7.45147304e-03 2.95504902e+02] [ 1.06698123e-01 9.94291332e-01 5.08580573e-04 1.67756792e+01] [-7.46320006e-03 2.89395109e-04 9.99972108e-01 -2.35647413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.101400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:295.54, Y:16.78, Z:-0.24 [[ 9.94346122e-01 -1.05939340e-01 7.25579271e-03 2.95537215e+02] [ 1.05938545e-01 9.94372556e-01 4.94875752e-04 1.67822184e+01] [-7.26738795e-03 2.76590338e-04 9.99973554e-01 -2.36125725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.131400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:295.57, Y:16.79, Z:-0.24 [[ 9.94430386e-01 -1.05145315e-01 7.25748432e-03 2.95569403e+02] [ 1.05144501e-01 9.94456831e-01 4.94586347e-04 1.67891414e+01] [-7.26925830e-03 2.71252878e-04 9.99973542e-01 -2.36113244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.161400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:295.60, Y:16.79, Z:-0.24 [[ 9.94510960e-01 -1.04385355e-01 7.18668685e-03 2.95600929e+02] [ 1.04384540e-01 9.94536891e-01 4.89430066e-04 1.67919776e+01] [-7.19851453e-03 2.63435436e-04 9.99974056e-01 -2.36785289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.191400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:295.63, Y:16.80, Z:-0.24 [[ 9.94597575e-01 -1.03564956e-01 7.06844015e-03 2.95632161e+02] [ 1.03564149e-01 9.94622660e-01 4.81053962e-04 1.68012379e+01] [-7.08025108e-03 2.53581884e-04 9.99974903e-01 -2.37503279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.221400513 meters Centerline goodness [0,1] 0.9999787292876439 Centerline is valid? [True, True] Translation: X:295.66, Y:16.81, Z:-0.24 [[ 9.94808711e-01 -1.01546310e-01 6.63132362e-03 2.95661831e+02] [ 1.01545557e-01 9.94830788e-01 4.51043609e-04 1.68083391e+01] [-6.64284671e-03 2.24679342e-04 9.99977911e-01 -2.38194942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.251400513 meters Centerline goodness [0,1] 0.9999787550456767 Centerline is valid? [True, True] Translation: X:295.69, Y:16.81, Z:-0.24 [[ 9.94958454e-01 -1.00084816e-01 6.37993284e-03 2.95693052e+02] [ 1.00084089e-01 9.94978888e-01 4.33851516e-04 1.68140029e+01] [-6.39132043e-03 2.06865535e-04 9.99979554e-01 -2.38747805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.281400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:295.72, Y:16.82, Z:-0.24 [[ 9.95135666e-01 -9.83088244e-02 6.35461275e-03 2.95724184e+02] [ 9.83080691e-02 9.95155936e-01 4.31859754e-04 1.68224612e+01] [-6.36628622e-03 1.94950665e-04 9.99979716e-01 -2.39482359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.311400513 meters Centerline goodness [0,1] 0.9999786653012459 Centerline is valid? [True, True] Translation: X:295.76, Y:16.83, Z:-0.24 [[ 9.95337897e-01 -9.62431653e-02 6.30271023e-03 2.95755797e+02] [ 9.62423819e-02 9.95357835e-01 4.28183578e-04 1.68289173e+01] [-6.31466175e-03 1.80400502e-04 9.99980046e-01 -2.39776863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.341400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:295.79, Y:16.84, Z:-0.24 [[ 9.95555229e-01 -9.39439531e-02 6.65733059e-03 2.95785859e+02] [ 9.39430295e-02 9.95577472e-01 4.52006840e-04 1.68355535e+01] [-6.67035167e-03 1.75412031e-04 9.99977738e-01 -2.39963269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.371400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:295.82, Y:16.84, Z:-0.24 [[ 9.95815160e-01 -9.11508394e-02 6.60989684e-03 2.95816379e+02] [ 9.11498700e-02 9.95837085e-01 4.48384499e-04 1.68423390e+01] [-6.62325103e-03 1.55983156e-04 9.99978054e-01 -2.39770005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.401400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:295.85, Y:16.86, Z:-0.24 [[ 9.96314111e-01 -8.55974608e-02 5.59168123e-03 2.95846573e+02] [ 8.55966802e-02 9.96329797e-01 3.79205990e-04 1.68564837e+01] [-5.60361769e-03 1.00821070e-04 9.99984295e-01 -2.41173465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.431400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:295.88, Y:16.86, Z:-0.24 [[ 9.96564052e-01 -8.26785572e-02 4.93430394e-03 2.95877612e+02] [ 8.26779133e-02 9.96576264e-01 3.34688001e-04 1.68612412e+01] [-4.94508170e-03 7.44199229e-05 9.99987770e-01 -2.42434815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.461400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:295.91, Y:16.87, Z:-0.24 [[ 9.96784750e-01 -7.99729724e-02 4.94836345e-03 2.95909612e+02] [ 7.99722956e-02 9.96797030e-01 3.34801746e-04 1.68682254e+01] [-4.95928908e-03 6.20067103e-05 9.99987701e-01 -2.42423442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.491400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:295.94, Y:16.88, Z:-0.24 [[ 9.97007772e-01 -7.71193851e-02 5.30118255e-03 2.95941676e+02] [ 7.71185694e-02 9.97021864e-01 3.58411897e-04 1.68762560e+01] [-5.31303541e-03 5.14801669e-05 9.99985884e-01 -2.42073689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.521400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:295.97, Y:16.88, Z:-0.24 [[ 9.97258779e-01 -7.37787319e-02 5.62378549e-03 2.95973805e+02] [ 7.37777623e-02 9.97274635e-01 3.79959381e-04 1.68840660e+01] [-5.63649154e-03 3.59924810e-05 9.99984114e-01 -2.41429248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.551400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.00, Y:16.90, Z:-0.24 [[ 9.97733500e-01 -6.70032039e-02 6.19949060e-03 2.96004671e+02] [ 6.70019012e-02 9.97752760e-01 4.17818144e-04 1.68984136e+01] [-6.21355402e-03 -1.49350167e-06 9.99980696e-01 -2.40284362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.581400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.04, Y:16.91, Z:-0.24 [[ 9.97969455e-01 -6.33966201e-02 6.15104489e-03 2.96035787e+02] [ 6.33952710e-02 9.97988411e-01 4.14254132e-04 1.69069450e+01] [-6.16493383e-03 -2.34658127e-05 9.99980996e-01 -2.39940748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.611400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.07, Y:16.92, Z:-0.24 [[ 9.98199011e-01 -5.96425321e-02 6.44233934e-03 2.96067536e+02] [ 5.96409781e-02 9.98219798e-01 4.33225221e-04 1.69155750e+01] [-6.45670933e-03 -4.82175670e-05 9.99979154e-01 -2.39630287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.641400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.10, Y:16.92, Z:-0.24 [[ 9.98382770e-01 -5.64287690e-02 6.90211230e-03 2.96098986e+02] [ 5.64269156e-02 9.98406625e-01 4.63114219e-04 1.69234609e+01] [-6.91724761e-03 -7.29003480e-05 9.99976073e-01 -2.38980237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.671400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.13, Y:16.93, Z:-0.24 [[ 9.98529432e-01 -5.36647489e-02 7.68558982e-03 2.96129884e+02] [ 5.36623735e-02 9.98559004e-01 5.15100373e-04 1.69308637e+01] [-7.70215765e-03 -1.01915891e-04 9.99970333e-01 -2.38117146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.701400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.16, Y:16.93, Z:-0.24 [[ 9.98533086e-01 -5.35967018e-02 7.68565546e-03 2.96162354e+02] [ 5.35943319e-02 9.98562659e-01 5.14119279e-04 1.69329124e+01] [-7.70216365e-03 -1.01457540e-04 9.99970333e-01 -2.38303878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.731400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.19, Y:16.94, Z:-0.24 [[ 9.98658280e-01 -5.10230966e-02 8.84776278e-03 2.96194662e+02] [ 5.10198635e-02 9.98697464e-01 5.90886532e-04 1.69381540e+01] [-8.86638711e-03 -1.38682078e-04 9.99960683e-01 -2.36986642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.761400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.23, Y:16.94, Z:-0.24 [[ 9.98658114e-01 -5.09453367e-02 9.30287530e-03 2.96226620e+02] [ 5.09417744e-02 9.98701433e-01 6.19641705e-04 1.69413311e+01] [-9.32236274e-03 -1.44905242e-04 9.99956535e-01 -2.36617224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.791400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.26, Y:16.94, Z:-0.24 [[ 9.98638074e-01 -5.12957123e-02 9.52613209e-03 2.96259125e+02] [ 5.12920086e-02 9.98683498e-01 6.32859224e-04 1.69416932e+01] [-9.54605388e-03 -1.43382868e-04 9.99954425e-01 -2.35996420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.821400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.29, Y:16.94, Z:-0.24 [[ 9.98617990e-01 -5.16475510e-02 9.72836377e-03 2.96291189e+02] [ 5.16437207e-02 9.98665365e-01 6.44699486e-04 1.69398124e+01] [-9.74867710e-03 -1.41399604e-04 9.99952471e-01 -2.36445249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.851400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.32, Y:16.94, Z:-0.24 [[ 9.98597950e-01 -5.20628386e-02 9.57053628e-03 2.96322827e+02] [ 5.20591650e-02 9.98643802e-01 6.32734355e-04 1.69392867e+01] [-9.59049868e-03 -1.33613103e-04 9.99954001e-01 -2.37074084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.881400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.36, Y:16.94, Z:-0.24 [[ 9.98563198e-01 -5.27263612e-02 9.56403887e-03 2.96355321e+02] [ 5.27227373e-02 9.98608990e-01 6.30819500e-04 1.69379156e+01] [-9.58399601e-03 -1.25670829e-04 9.99954065e-01 -2.38113995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.911400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.39, Y:16.94, Z:-0.24 [[ 9.98518314e-01 -5.35234400e-02 9.81923285e-03 2.96387825e+02] [ 5.35196747e-02 9.98566586e-01 6.46027728e-04 1.69358974e+01] [-9.83973546e-03 -1.19548371e-04 9.99951581e-01 -2.38777646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.941400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.42, Y:16.94, Z:-0.24 [[ 9.98552719e-01 -5.29082286e-02 9.65329204e-03 2.96420284e+02] [ 5.29045763e-02 9.98599371e-01 6.33494946e-04 1.69383435e+01] [-9.67328845e-03 -1.21874776e-04 9.99953205e-01 -2.38531679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.971400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.45, Y:16.94, Z:-0.24 [[ 9.98620796e-01 -5.17102893e-02 9.08576276e-03 2.96452656e+02] [ 5.17070180e-02 9.98662120e-01 5.94735408e-04 1.69376998e+01] [-9.10436104e-03 -1.24117448e-04 9.99958547e-01 -2.40214506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.001400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.48, Y:16.94, Z:-0.24 [[ 9.98715245e-01 -5.00139870e-02 8.15233121e-03 2.96483971e+02] [ 5.00113057e-02 9.98748510e-01 5.32545949e-04 1.69414408e+01] [-8.16876340e-03 -1.24153029e-04 9.99966627e-01 -2.41263694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.031400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.52, Y:16.94, Z:-0.24 [[ 9.98811910e-01 -4.81692958e-02 7.38153644e-03 2.96515719e+02] [ 4.81670526e-02 9.98839178e-01 4.81474382e-04 1.69433244e+01] [-7.39616007e-03 -1.25355493e-04 9.99972640e-01 -2.42705321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.061400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.55, Y:16.95, Z:-0.24 [[ 9.98886512e-01 -4.66417560e-02 7.09105018e-03 2.96546720e+02] [ 4.66396547e-02 9.98911673e-01 4.61496948e-04 1.69455437e+01] [-7.10485782e-03 -1.30258945e-04 9.99974752e-01 -2.43461292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.091400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.58, Y:16.94, Z:-0.24 [[ 9.98962896e-01 -4.49722333e-02 7.11545433e-03 2.96578764e+02] [ 4.49700817e-02 9.98988227e-01 4.62158514e-04 1.69431263e+01] [-7.12903941e-03 -1.41696645e-04 9.99974578e-01 -2.44362215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.121400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.61, Y:16.94, Z:-0.24 [[ 9.98963031e-01 -4.49681902e-02 7.12207654e-03 2.96612341e+02] [ 4.49660372e-02 9.98988409e-01 4.62216715e-04 1.69427605e+01] [-7.13565696e-03 -1.41485853e-04 9.99974531e-01 -2.44766366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.151400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.64, Y:16.94, Z:-0.25 [[ 9.98950967e-01 -4.52841630e-02 6.80509732e-03 2.96643620e+02] [ 4.52822085e-02 9.98974137e-01 4.41091252e-04 1.69397553e+01] [-6.81809067e-03 -1.32478697e-04 9.99976748e-01 -2.45403808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.181400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.68, Y:16.94, Z:-0.25 [[ 9.98951668e-01 -4.53632985e-02 6.14294664e-03 2.96675952e+02] [ 4.53617124e-02 9.98970549e-01 3.97361184e-04 1.69379354e+01] [-6.15464839e-03 -1.18290039e-04 9.99981053e-01 -2.46758361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.211400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.71, Y:16.94, Z:-0.25 [[ 9.98975733e-01 -4.49271691e-02 5.38836075e-03 2.96708554e+02] [ 4.49259435e-02 9.98990259e-01 3.48330289e-04 1.69357340e+01] [-5.39856940e-03 -1.05896315e-04 9.99985422e-01 -2.48101360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.241400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.74, Y:16.94, Z:-0.25 [[ 9.99013429e-01 -4.41111691e-02 5.13548935e-03 2.96739410e+02] [ 4.41100463e-02 9.99026623e-01 3.31743612e-04 1.69373915e+01] [-5.14512418e-03 -1.04889650e-04 9.99986758e-01 -2.49004964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.271400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.77, Y:16.94, Z:-0.25 [[ 9.99066519e-01 -4.28916036e-02 5.13824900e-03 2.96771716e+02] [ 4.28904644e-02 9.99079726e-01 3.31744797e-04 1.69368501e+01] [-5.14774947e-03 -1.11053233e-04 9.99986744e-01 -2.48745275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.301400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.80, Y:16.94, Z:-0.25 [[ 9.99131117e-01 -4.13602716e-02 5.13211595e-03 2.96802707e+02] [ 4.13591162e-02 9.99144291e-01 3.31103498e-04 1.69392568e+01] [-5.14141888e-03 -1.18556028e-04 9.99986776e-01 -2.48445569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.331400513 meters Centerline goodness [0,1] 0.9999787387847089 Centerline is valid? [True, True] Translation: X:296.83, Y:16.94, Z:-0.25 [[ 9.99283108e-01 -3.76011471e-02 4.40727101e-03 2.96833558e+02] [ 3.76002591e-02 9.99292820e-01 2.84208737e-04 1.69391096e+01] [-4.41484085e-03 -1.18290458e-04 9.99990248e-01 -2.49366169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.361400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.87, Y:16.94, Z:-0.25 [[ 9.99358260e-01 -3.55664365e-02 4.25403779e-03 2.96865986e+02] [ 3.55655911e-02 9.99367307e-01 2.74242701e-04 1.69401064e+01] [-4.26110012e-03 -1.22769340e-04 9.99990914e-01 -2.50350322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.391400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.90, Y:16.94, Z:-0.25 [[ 9.99421352e-01 -3.37609910e-02 4.14202599e-03 2.96898635e+02] [ 3.37601750e-02 9.99429927e-01 2.66774435e-04 1.69395431e+01] [-4.14867131e-03 -1.26784544e-04 9.99991386e-01 -2.50875403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.421400513 meters Centerline goodness [0,1] 0.9999786803112675 Centerline is valid? [True, True] Translation: X:296.93, Y:16.93, Z:-0.25 [[ 9.99465401e-01 -3.23707243e-02 4.58792945e-03 2.96930710e+02] [ 3.23697097e-02 9.99475920e-01 2.95239859e-04 1.69346969e+01] [-4.59508214e-03 -1.46572079e-04 9.99989432e-01 -2.50251208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.451400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.96, Y:16.94, Z:-0.25 [[ 9.99489781e-01 -3.15053248e-02 5.25289752e-03 2.96961442e+02] [ 3.15039839e-02 9.99503569e-01 3.37835695e-04 1.69368642e+01] [-5.26093344e-03 -1.72176126e-04 9.99986146e-01 -2.49535926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.481400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.99, Y:16.94, Z:-0.25 [[ 9.99503245e-01 -3.09585872e-02 5.90162420e-03 2.96992328e+02] [ 3.09568886e-02 9.99520649e-01 3.78969352e-04 1.69357090e+01] [-5.91052761e-03 -1.96085175e-04 9.99982513e-01 -2.48729409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.511400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:297.02, Y:16.93, Z:-0.25 [[ 9.99551574e-01 -2.91452054e-02 6.87078683e-03 2.97024416e+02] [ 2.91428622e-02 9.99575159e-01 4.40929346e-04 1.69291354e+01] [-6.88071882e-03 -2.40497227e-04 9.99976299e-01 -2.46889718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.541400513 meters Centerline goodness [0,1] 0.9999788050274475 Centerline is valid? [True, True] Translation: X:297.06, Y:16.93, Z:-0.25 [[ 9.99600963e-01 -2.73406790e-02 7.09945844e-03 2.97055362e+02] [ 2.73381337e-02 9.99626140e-01 4.55343390e-04 1.69315634e+01] [-7.10925364e-03 -2.61075747e-04 9.99974695e-01 -2.46934389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.571400513 meters Centerline goodness [0,1] 0.9999786925764936 Centerline is valid? [True, True] Translation: X:297.09, Y:16.93, Z:-0.25 [[ 9.99663456e-01 -2.50457831e-02 6.75894015e-03 2.97086677e+02] [ 2.50434251e-02 9.99686270e-01 4.33295906e-04 1.69290072e+01] [-6.76767190e-03 -2.63883072e-04 9.99977064e-01 -2.47269661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.601400513 meters Centerline goodness [0,1] 0.9998507048862157 Centerline is valid? [True, True] Translation: X:297.12, Y:16.93, Z:-0.25 [[ 9.99724125e-01 -2.24790635e-02 6.80924948e-03 2.97116784e+02] [ 2.24766115e-02 9.99747274e-01 4.36417568e-04 1.69337999e+01] [-6.81733886e-03 -2.83248316e-04 9.99976722e-01 -2.47548217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.631400513 meters Centerline goodness [0,1] 0.9989178178114456 Centerline is valid? [True, True] Translation: X:297.15, Y:16.94, Z:-0.25 [[ 9.99783083e-01 -1.95174304e-02 7.27031736e-03 2.97146465e+02] [ 1.95145589e-02 9.99809464e-01 4.65703385e-04 1.69382729e+01] [-7.27802144e-03 -3.23725329e-04 9.99973462e-01 -2.47066975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.661400513 meters Centerline goodness [0,1] 0.9940256470437622 Centerline is valid? [True, True] Translation: X:297.18, Y:16.94, Z:-0.25 [[ 9.99830620e-01 -1.64511491e-02 8.25171488e-03 2.97177712e+02] [ 1.64473488e-02 9.99864594e-01 5.28198904e-04 1.69405231e+01] [-8.25928702e-03 -3.92390605e-04 9.99965815e-01 -2.45321974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.691400513 meters Centerline goodness [0,1] 0.8673021474372767 Centerline is valid? [True, False] Translation: X:297.17, Y:16.93, Z:-0.24 [[ 9.99848370e-01 -1.45584355e-02 9.55449345e-03 2.97172112e+02] [ 1.45319387e-02 9.99890382e-01 2.83683167e-03 1.69331410e+01] [-9.59474593e-03 -2.69755621e-03 9.99950331e-01 -2.43171328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.721400513 meters Centerline goodness [0,1] 0.894887402404663 Centerline is valid? [False, False] Translation: X:297.17, Y:16.94, Z:-0.23 [[ 9.99927962e-01 -1.09924206e-02 4.82043382e-03 2.97166519e+02] [ 1.10514925e-02 9.99861993e-01 -1.24040390e-02 1.69397435e+01] [-4.68341815e-03 1.24564184e-02 9.99911448e-01 -2.34793669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.751400513 meters Centerline goodness [0,1] 0.9918159556643897 Centerline is valid? [False, True] Translation: X:297.17, Y:16.93, Z:-0.24 [[ 9.99970019e-01 -6.36375769e-03 4.41182972e-03 2.97168695e+02] [ 6.39083410e-03 9.99960663e-01 -6.15053954e-03 1.69301511e+01] [-4.37251563e-03 6.17855041e-03 9.99971353e-01 -2.36633487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.781400513 meters Centerline goodness [0,1] 0.9315866712707183 Centerline is valid? [True, False] Translation: X:297.17, Y:16.93, Z:-0.24 [[ 9.99972969e-01 -6.01744642e-03 4.22515725e-03 2.97169769e+02] [ 6.04008991e-03 9.99967355e-01 -5.36705561e-03 1.69265843e+01] [-4.19272335e-03 5.39243086e-03 9.99976671e-01 -2.37490542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.811400513 meters Centerline goodness [0,1] 0.9900968875932435 Centerline is valid? [False, True] Translation: X:297.17, Y:16.92, Z:-0.24 [[ 9.99975568e-01 -5.67666038e-03 4.07909877e-03 2.97170605e+02] [ 5.69536740e-03 9.99973251e-01 -4.58917842e-03 1.69230080e+01] [-4.05293845e-03 4.61229827e-03 9.99981150e-01 -2.38112566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.841400513 meters Centerline goodness [0,1] 0.9922113986939448 Centerline is valid? [True, True] Translation: X:297.20, Y:16.92, Z:-0.24 [[ 9.99976745e-01 -5.77341443e-03 3.63000275e-03 2.97203372e+02] [ 5.77267438e-03 9.99983315e-01 2.14314498e-04 1.69176197e+01] [-3.63117951e-03 -1.93354690e-04 9.99993389e-01 -2.39706451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.871400513 meters Centerline goodness [0,1] 0.9852209352209352 Centerline is valid? [True, True] Translation: X:297.23, Y:16.92, Z:-0.24 [[ 9.99970635e-01 -6.23542311e-03 4.45509303e-03 2.97234889e+02] [ 6.23431403e-03 9.99980532e-01 2.62792458e-04 1.69161518e+01] [-4.45664492e-03 -2.35010292e-04 9.99990041e-01 -2.38565861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.901400513 meters Centerline goodness [0,1] 0.989974022628223 Centerline is valid? [True, True] Translation: X:297.27, Y:16.92, Z:-0.24 [[ 9.99967857e-01 -6.49499950e-03 4.70116440e-03 2.97267057e+02] [ 6.49376832e-03 9.99978877e-01 2.77106655e-04 1.69162308e+01] [-4.70286491e-03 -2.46569475e-04 9.99988911e-01 -2.38554340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.931400513 meters Centerline goodness [0,1] 0.9343343555038596 Centerline is valid? [True, False] Translation: X:297.27, Y:16.91, Z:-0.24 [[ 9.99968910e-01 -6.39172059e-03 4.61794142e-03 2.97267429e+02] [ 6.38909798e-03 9.99979420e-01 5.82445408e-04 1.69148093e+01] [-4.62156921e-03 -5.52922819e-04 9.99989168e-01 -2.38744225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.961400513 meters Centerline goodness [0,1] 0.9837554472105967 Centerline is valid? [False, True] Translation: X:297.23, Y:16.91, Z:-0.24 [[ 9.99977279e-01 -6.58534459e-03 1.44033673e-03 2.97228057e+02] [ 6.58623716e-03 9.99978121e-01 -6.15834826e-04 1.69097365e+01] [-1.43624974e-03 6.25307233e-04 9.99998773e-01 -2.39413595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.991400513 meters Centerline goodness [0,1] 0.9919904056195656 Centerline is valid? [True, True] Translation: X:297.26, Y:16.91, Z:-0.24 [[ 9.99971413e-01 -7.54450759e-03 5.03730160e-04 2.97259130e+02] [ 7.54449404e-03 9.99971539e-01 2.87826059e-05 1.69082411e+01] [-5.03932974e-04 -2.49813939e-05 9.99999873e-01 -2.40971429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.021400513 meters Centerline goodness [0,1] 0.9996066175667111 Centerline is valid? [True, True] Translation: X:297.29, Y:16.90, Z:-0.24 [[ 9.99962495e-01 -8.64568504e-03 -5.10162142e-04 2.97290967e+02] [ 8.64567132e-03 9.99962625e-01 -2.90899680e-05 1.68990681e+01] [ 5.10394577e-04 2.46781828e-05 9.99999869e-01 -2.42493633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.051400513 meters Centerline goodness [0,1] 0.99672848554373 Centerline is valid? [True, True] Translation: X:297.32, Y:16.91, Z:-0.24 [[ 9.99949640e-01 -9.97537111e-03 -1.09966468e-03 2.97320906e+02] [ 9.97530815e-03 9.99950243e-01 -6.27227090e-05 1.69071577e+01] [ 1.10023565e-03 5.17500563e-05 9.99999393e-01 -2.44020814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.081400513 meters Centerline goodness [0,1] 0.9998507526331499 Centerline is valid? [True, True] Translation: X:297.35, Y:16.90, Z:-0.24 [[ 9.99938328e-01 -1.09644957e-02 -1.76661935e-03 2.97353036e+02] [ 1.09643348e-02 9.99939885e-01 -1.00718299e-04 1.68974761e+01] [ 1.76761747e-03 8.13422812e-05 9.99998434e-01 -2.44249072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.111400513 meters Centerline goodness [0,1] 0.9996604630435244 Centerline is valid? [True, True] Translation: X:297.38, Y:16.90, Z:-0.24 [[ 9.99929247e-01 -1.18735961e-02 -7.19784189e-04 2.97383706e+02] [ 1.18735696e-02 9.99929506e-01 -4.10258561e-05 1.68952467e+01] [ 7.20220573e-04 3.24765457e-05 9.99999740e-01 -2.43118925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.141400513 meters Centerline goodness [0,1] 0.9997439890768672 Centerline is valid? [True, True] Translation: X:297.42, Y:16.89, Z:-0.24 [[ 9.99935508e-01 -1.13535837e-02 -2.76451140e-04 2.97416129e+02] [ 1.13535797e-02 9.99935546e-01 -1.57100776e-05 1.68931238e+01] [ 2.76611687e-04 1.25703544e-05 9.99999962e-01 -2.42250805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.171400513 meters Centerline goodness [0,1] 0.999956210452565 Centerline is valid? [True, True] Translation: X:297.45, Y:16.89, Z:-0.24 [[ 9.99946247e-01 -1.03650200e-02 -2.62325051e-04 2.97448624e+02] [ 1.03650164e-02 9.99946282e-01 -1.48909312e-05 1.68895084e+01] [ 2.62465304e-04 1.21711274e-05 9.99999965e-01 -2.41437098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.201400513 meters Centerline goodness [0,1] 0.998704085317924 Centerline is valid? [True, True] Translation: X:297.48, Y:16.90, Z:-0.24 [[ 9.99961144e-01 -8.81337251e-03 1.85910968e-04 2.97478973e+02] [ 8.81337070e-03 9.99961161e-01 1.05954378e-05 1.68980139e+01] [-1.85997129e-04 -8.95652381e-06 9.99999983e-01 -2.41479816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.231400513 meters Centerline goodness [0,1] 0.9887604707878274 Centerline is valid? [True, True] Translation: X:297.51, Y:16.90, Z:-0.24 [[ 9.99978011e-01 -6.63131466e-03 5.21395575e-05 2.97508838e+02] [ 6.63131452e-03 9.99978013e-01 2.99509270e-06 1.69024832e+01] [-5.21582725e-05 -2.64927304e-06 9.99999999e-01 -2.41522178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.261400513 meters Centerline goodness [0,1] 0.9547168185441306 Centerline is valid? [True, True] Translation: X:297.54, Y:16.90, Z:-0.24 [[ 9.99997676e-01 -2.12828622e-03 -3.43866855e-04 2.97540165e+02] [ 2.12827963e-03 9.99997735e-01 -1.95290636e-05 1.69037992e+01] [ 3.43907639e-04 1.87971734e-05 9.99999941e-01 -2.42044332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.291400513 meters Centerline goodness [0,1] 0.9574671598010458 Centerline is valid? [True, True] Translation: X:297.57, Y:16.90, Z:-0.24 [[ 9.99999931e-01 -3.53605880e-04 -1.13219966e-04 2.97570924e+02] [ 3.53605157e-04 9.99999937e-01 -6.41235232e-06 1.69041644e+01] [ 1.13222226e-04 6.37231672e-06 9.99999994e-01 -2.42106724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.321400513 meters Centerline goodness [0,1] 0.8999510815237042 Centerline is valid? [True, False] Translation: X:297.57, Y:16.90, Z:-0.24 [[ 9.99999932e-01 -3.65607767e-04 -5.14739812e-05 2.97570717e+02] [ 3.65603665e-04 9.99999930e-01 -7.96765567e-05 1.69045217e+01] [ 5.15031079e-05 7.96577322e-05 9.99999996e-01 -2.42150199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.351400513 meters Centerline goodness [0,1] 0.8463873323144846 Centerline is valid? [False, False] Translation: X:297.57, Y:16.90, Z:-0.24 [[ 9.99999952e-01 -3.05081275e-04 -5.12819198e-05 2.97570799e+02] [ 3.05082773e-04 9.99999953e-01 2.92025869e-05 1.69040374e+01] [ 5.12730082e-05 -2.92182307e-05 9.99999998e-01 -2.42318036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.381400513 meters Centerline goodness [0,1] 0.8882517838939857 Centerline is valid? [False, False] Translation: X:297.57, Y:16.90, Z:-0.24 [[ 9.99999992e-01 -1.26222593e-04 -2.71154817e-05 2.97570885e+02] [ 1.26234751e-04 9.99999891e-01 4.48850343e-04 1.69020605e+01] [ 2.70588237e-05 -4.48853762e-04 9.99999899e-01 -2.42599954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.411400513 meters Centerline goodness [0,1] 0.9976421666345144 Centerline is valid? [False, True] Translation: X:297.57, Y:16.90, Z:-0.24 [[ 9.99998439e-01 -1.66830803e-03 5.81766238e-04 2.97565521e+02] [ 1.66886940e-03 9.99998141e-01 -9.65795991e-04 1.69017321e+01] [-5.80153912e-04 9.66765375e-04 9.99999364e-01 -2.38733440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.441400513 meters Centerline goodness [0,1] 0.9895906507439811 Centerline is valid? [True, True] Translation: X:297.59, Y:16.91, Z:-0.24 [[ 9.99989802e-01 -4.48858291e-03 -4.97901300e-04 2.97594377e+02] [ 4.48235271e-03 9.99919406e-01 -1.18781552e-02 1.69111827e+01] [ 5.51177256e-04 1.18758023e-02 9.99929328e-01 -2.35393817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.471400513 meters Centerline goodness [0,1] 0.9529624893435635 Centerline is valid? [True, True] Translation: X:297.63, Y:16.90, Z:-0.24 [[ 9.99978148e-01 -6.56365766e-03 7.88456063e-04 2.97625250e+02] [ 6.55697795e-03 9.99944922e-01 8.19509750e-03 1.68968260e+01] [-8.42202451e-04 -8.18974854e-03 9.99966109e-01 -2.41318491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.501400513 meters Centerline goodness [0,1] 0.987351206320138 Centerline is valid? [True, True] Translation: X:297.66, Y:16.91, Z:-0.23 [[ 9.99964357e-01 -8.42945084e-03 4.79329119e-04 2.97655713e+02] [ 8.43318322e-03 9.99929105e-01 -8.40632124e-03 1.69051720e+01] [-4.08434466e-04 8.41006388e-03 9.99964551e-01 -2.34085315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.531400513 meters Centerline goodness [0,1] 0.9997435239805078 Centerline is valid? [True, True] Translation: X:297.69, Y:16.89, Z:-0.24 [[ 9.99949822e-01 -9.99989282e-03 5.96749596e-04 2.97688791e+02] [ 9.99987386e-03 9.99949999e-01 3.47503664e-05 1.68860750e+01] [-5.97067258e-04 -2.87812020e-05 9.99999821e-01 -2.35840228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.561400513 meters Centerline goodness [0,1] 0.998514147439027 Centerline is valid? [True, True] Translation: X:297.72, Y:16.89, Z:-0.24 [[ 9.99937819e-01 -1.11090457e-02 9.73648732e-04 2.97719469e+02] [ 1.11089958e-02 9.99938292e-01 5.66802674e-05 1.68880810e+01] [-9.74218313e-04 -4.58604832e-05 9.99999524e-01 -2.35714459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.591400513 meters Centerline goodness [0,1] 0.999892359690857 Centerline is valid? [True, True] Translation: X:297.75, Y:16.88, Z:-0.24 [[ 9.99935499e-01 -1.13170403e-02 9.60460924e-04 2.97752690e+02] [ 1.13169919e-02 9.99935959e-01 5.58397426e-05 1.68799288e+01] [-9.61031356e-04 -4.49666124e-05 9.99999537e-01 -2.35857321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.621400513 meters Centerline goodness [0,1] 0.999892359690857 Centerline is valid? [True, True] Translation: X:297.78, Y:16.88, Z:-0.24 [[ 9.99936054e-01 -1.12678775e-02 9.60463487e-04 2.97784358e+02] [ 1.12678291e-02 9.99936514e-01 5.57956481e-05 1.68816844e+01] [-9.61031210e-04 -4.49697418e-05 9.99999537e-01 -2.35852036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.651400513 meters Centerline goodness [0,1] 0.9991655612135736 Centerline is valid? [True, True] Translation: X:297.81, Y:16.88, Z:-0.24 [[ 9.99955394e-01 -9.44478303e-03 7.19538736e-05 2.97814949e+02] [ 9.44478276e-03 9.99955397e-01 4.17767179e-06 1.68819947e+01] [-7.19901214e-05 -3.49789673e-06 9.99999997e-01 -2.37334299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.681400513 meters Centerline goodness [0,1] 0.991833531308332 Centerline is valid? [True, True] Translation: X:297.84, Y:16.89, Z:-0.24 [[ 9.99973487e-01 -7.23861485e-03 -7.92041431e-04 2.97844566e+02] [ 7.23858067e-03 9.99973800e-01 -4.60086770e-05 1.68898848e+01] [ 7.92353719e-04 4.02742014e-05 9.99999685e-01 -2.38912628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.711400513 meters Centerline goodness [0,1] 0.998902423277235 Centerline is valid? [True, True] Translation: X:297.88, Y:16.89, Z:-0.24 [[ 9.99989439e-01 -4.15773569e-03 -1.95837537e-03 2.97875931e+02] [ 4.15752087e-03 9.99991351e-01 -1.13752222e-04 1.68855148e+01] [ 1.95883139e-03 1.05609034e-04 9.99998076e-01 -2.40165250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.741400513 meters Centerline goodness [0,1] 0.9586419753086419 Centerline is valid? [True, True] Translation: X:297.90, Y:16.89, Z:-0.24 [[ 9.99994791e-01 1.62847149e-03 -2.78672837e-03 2.97904972e+02] [-1.62892898e-03 9.99998660e-01 -1.61902985e-04 1.68930991e+01] [ 2.78646099e-03 1.66441524e-04 9.99996104e-01 -2.41895593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.771400513 meters Centerline goodness [0,1] 0.9277556726529734 Centerline is valid? [True, False] Translation: X:297.90, Y:16.89, Z:-0.24 [[ 9.99994954e-01 1.68376647e-03 -2.69377294e-03 2.97904655e+02] [-1.68406695e-03 9.99998576e-01 -1.09281866e-04 1.68928822e+01] [ 2.69358510e-03 1.13817809e-04 9.99996366e-01 -2.41897662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.801400513 meters Centerline goodness [0,1] 0.9073428802107678 Centerline is valid? [False, False] Translation: X:297.94, Y:16.89, Z:-0.24 [[ 9.99997786e-01 2.07722219e-03 3.35952462e-04 2.97944869e+02] [-2.07763866e-03 9.99997068e-01 1.24411211e-03 1.68936567e+01] [-3.33367180e-04 -1.24480734e-03 9.99999170e-01 -2.42007737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.831400513 meters Centerline goodness [0,1] 0.8937871467054347 Centerline is valid? [False, False] Translation: X:297.94, Y:16.89, Z:-0.24 [[ 9.99997630e-01 2.14777081e-03 3.55797399e-04 2.97944956e+02] [-2.14825723e-03 9.99996751e-01 1.37243051e-03 1.68930813e+01] [-3.52848577e-04 -1.37319160e-03 9.99998995e-01 -2.42313924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.861400513 meters Centerline goodness [0,1] 0.7716101875079723 Centerline is valid? [False, False] Translation: X:297.95, Y:16.89, Z:-0.24 [[ 9.99997457e-01 2.22743041e-03 3.52629123e-04 2.97945179e+02] [-2.22796231e-03 9.99996370e-01 1.51524139e-03 1.68924474e+01] [-3.49252749e-04 -1.51602318e-03 9.99998790e-01 -2.42750708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.891400513 meters Centerline goodness [0,1] 0.722980308674827 Centerline is valid? [False, False] Translation: X:297.94, Y:16.89, Z:-0.24 [[ 9.99997341e-01 2.25156878e-03 4.99328502e-04 2.97944741e+02] [-2.25232320e-03 9.99996315e-01 1.51549716e-03 1.68924746e+01] [-4.95914416e-04 -1.51661777e-03 9.99998727e-01 -2.42878472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.921400513 meters Centerline goodness [0,1] 0.708947468877908 Centerline is valid? [False, False] Translation: X:297.94, Y:16.89, Z:-0.24 [[ 9.99997427e-01 2.19204098e-03 5.84572253e-04 2.97944248e+02] [-2.19283518e-03 9.99996669e-01 1.36143774e-03 1.68931946e+01] [-5.81585979e-04 -1.36271610e-03 9.99998902e-01 -2.42491883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.951400513 meters Centerline goodness [0,1] 0.7633279137429403 Centerline is valid? [False, False] Translation: X:297.94, Y:16.89, Z:-0.24 [[ 9.99997510e-01 2.12822608e-03 6.71975863e-04 2.97943794e+02] [-2.12903367e-03 9.99997010e-01 1.20339771e-03 1.68939489e+01] [-6.69412751e-04 -1.20482537e-03 9.99999050e-01 -2.42205397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.981400513 meters Centerline goodness [0,1] 0.7890040114121458 Centerline is valid? [False, False] Translation: X:297.94, Y:16.89, Z:-0.24 [[ 9.99997582e-01 2.08607295e-03 6.95506954e-04 2.97943786e+02] [-2.08682858e-03 9.99997231e-01 1.08750673e-03 1.68945045e+01] [-6.93236410e-04 -1.08895551e-03 9.99999167e-01 -2.42378791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.011400513 meters Centerline goodness [0,1] 0.7433440282174957 Centerline is valid? [False, False] Translation: X:297.94, Y:16.89, Z:-0.24 [[ 9.99997637e-01 2.08848217e-03 6.03803803e-04 2.97944267e+02] [-2.08910529e-03 9.99997284e-01 1.03320961e-03 1.68947972e+01] [-6.01644324e-04 -1.03446858e-03 9.99999284e-01 -2.42742215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.041400513 meters Centerline goodness [0,1] 0.7290452089606423 Centerline is valid? [False, False] Translation: X:297.94, Y:16.90, Z:-0.24 [[ 9.99997790e-01 2.03669767e-03 5.22139219e-04 2.97944751e+02] [-2.03717772e-03 9.99997501e-01 9.20529482e-04 1.68953380e+01] [-5.20263074e-04 -9.21591137e-04 9.99999440e-01 -2.43174177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.071400513 meters Centerline goodness [0,1] 0.7348115487344724 Centerline is valid? [False, False] Translation: X:297.94, Y:16.90, Z:-0.24 [[ 9.99997875e-01 2.00126761e-03 4.95156653e-04 2.97944583e+02] [-2.00168577e-03 9.99997639e-01 8.45450257e-04 1.68956611e+01] [-4.93463512e-04 -8.46439609e-04 9.99999520e-01 -2.42704546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.101400513 meters Centerline goodness [0,1] 0.7307920876135495 Centerline is valid? [False, False] Translation: X:297.94, Y:16.89, Z:-0.24 [[ 9.99997724e-01 2.05384727e-03 5.76975651e-04 2.97944008e+02] [-2.05441961e-03 9.99997397e-01 9.93126516e-04 1.68949173e+01] [-5.74934419e-04 -9.94309606e-04 9.99999340e-01 -2.42087999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.131400513 meters Centerline goodness [0,1] 0.7290221765562119 Centerline is valid? [False, False] Translation: X:297.94, Y:16.89, Z:-0.24 [[ 9.99997620e-01 2.08575985e-03 6.39705392e-04 2.97943641e+02] [-2.08645258e-03 9.99997236e-01 1.08412785e-03 1.68944640e+01] [-6.37442393e-04 -1.08545999e-03 9.99999208e-01 -2.41766612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.161400513 meters Centerline goodness [0,1] 0.7383891325275431 Centerline is valid? [False, False] Translation: X:297.94, Y:16.90, Z:-0.24 [[ 9.99997743e-01 2.02269563e-03 6.50520802e-04 2.97943578e+02] [-2.02330688e-03 9.99997511e-01 9.40357123e-04 1.68951369e+01] [-6.48617127e-04 -9.41671204e-04 9.99999346e-01 -2.41730552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.191400513 meters Centerline goodness [0,1] 0.7331147261732391 Centerline is valid? [False, False] Translation: X:297.94, Y:16.90, Z:-0.24 [[ 9.99997902e-01 1.91456511e-03 7.28922437e-04 2.97943334e+02] [-1.91503171e-03 9.99997962e-01 6.39962573e-04 1.68965723e+01] [-7.27695701e-04 -6.41357140e-04 9.99999530e-01 -2.41833941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.221400513 meters Centerline goodness [0,1] 0.7373182968140303 Centerline is valid? [False, False] Translation: X:297.94, Y:16.90, Z:-0.24 [[ 9.99997698e-01 2.00893706e-03 7.53373994e-04 2.97943207e+02] [-2.00958161e-03 9.99997615e-01 8.55765183e-04 1.68955458e+01] [-7.51653019e-04 -8.57277179e-04 9.99999350e-01 -2.41730893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.251400513 meters Centerline goodness [0,1] 0.7178014941302028 Centerline is valid? [False, False] Translation: X:297.94, Y:16.89, Z:-0.24 [[ 9.99997335e-01 2.18664504e-03 7.40632098e-04 2.97943295e+02] [-2.18759032e-03 9.99996791e-01 1.27792732e-03 1.68935446e+01] [-7.37835347e-04 -1.27954412e-03 9.99998909e-01 -2.41784760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.281400513 meters Centerline goodness [0,1] 0.6888516309768883 Centerline is valid? [False, False] Translation: X:297.94, Y:16.89, Z:-0.24 [[ 9.99997031e-01 2.35445394e-03 6.28375853e-04 2.97943869e+02] [-2.35550997e-03 9.99995806e-01 1.68515287e-03 1.68916352e+01] [-6.24405603e-04 -1.68662801e-03 9.99998383e-01 -2.42123508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.311400513 meters Centerline goodness [0,1] 0.734525651077536 Centerline is valid? [False, False] Translation: X:297.94, Y:16.89, Z:-0.24 [[ 9.99996876e-01 2.45504175e-03 4.70643186e-04 2.97944639e+02] [-2.45594236e-03 9.99995136e-01 1.92264223e-03 1.68905269e+01] [-4.65920730e-04 -1.92379210e-03 9.99998041e-01 -2.42585699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.341400513 meters Centerline goodness [0,1] 0.731662656759001 Centerline is valid? [False, False] Translation: X:297.94, Y:16.89, Z:-0.24 [[ 9.99996651e-01 2.55522658e-03 4.09729042e-04 2.97944930e+02] [-2.55610682e-03 9.99994395e-01 2.16240747e-03 1.68893926e+01] [-4.04201304e-04 -2.16344754e-03 9.99997578e-01 -2.42716823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.371400513 meters Centerline goodness [0,1] 0.7356398124558436 Centerline is valid? [False, False] Translation: X:297.94, Y:16.89, Z:-0.24 [[ 9.99998625e-01 8.90703208e-04 1.39895972e-03 2.97937684e+02] [-8.91769658e-04 9.99999312e-01 7.61878268e-04 1.68869446e+01] [-1.39828015e-03 -7.63124770e-04 9.99998731e-01 -2.37788661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.401400513 meters Centerline goodness [0,1] 0.7411208758312485 Centerline is valid? [False, False] Translation: X:297.94, Y:16.88, Z:-0.24 [[ 9.99998309e-01 1.18656696e-03 1.40482724e-03 2.97937597e+02] [-1.18867294e-03 9.99998170e-01 1.49922059e-03 1.68834637e+01] [-1.40304575e-03 -1.50088794e-03 9.99997889e-01 -2.37558459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.431400513 meters Centerline goodness [0,1] 0.781451009723261 Centerline is valid? [False, False] Translation: X:297.94, Y:16.88, Z:-0.24 [[ 9.99997942e-01 1.49463486e-03 1.37163239e-03 2.97937835e+02] [-1.49767538e-03 9.99996418e-01 2.21837611e-03 1.68800853e+01] [-1.36831181e-03 -2.22042581e-03 9.99996599e-01 -2.37751192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.461400513 meters Centerline goodness [0,1] 0.8382422802850357 Centerline is valid? [False, False] Translation: X:297.91, Y:16.88, Z:-0.23 [[ 9.99993599e-01 1.96147647e-03 -2.99238488e-03 2.97913338e+02] [-1.98651346e-03 9.99962855e-01 -8.38699982e-03 1.68838559e+01] [ 2.97582282e-03 8.39289054e-03 9.99960351e-01 -2.30937002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.491400513 meters Centerline goodness [0,1] 0.7231606129878927 Centerline is valid? [False, False] Translation: X:297.96, Y:16.88, Z:-0.23 [[ 9.99993300e-01 3.19358414e-03 -1.78892280e-03 2.97957731e+02] [-3.20168638e-03 9.99984547e-01 -4.54471166e-03 1.68807762e+01] [ 1.77438123e-03 4.55040878e-03 9.99988073e-01 -2.32985942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.521400513 meters Centerline goodness [0,1] 0.7497610196494955 Centerline is valid? [False, False] Translation: X:297.96, Y:16.87, Z:-0.23 [[ 9.99991100e-01 3.81789595e-03 -1.79521132e-03 2.97958015e+02] [-3.82341452e-03 9.99987945e-01 -3.08073099e-03 1.68738739e+01] [ 1.78342776e-03 3.08756741e-03 9.99993643e-01 -2.33375757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.551400513 meters Centerline goodness [0,1] 0.7173133631754248 Centerline is valid? [False, False] Translation: X:297.96, Y:16.87, Z:-0.23 [[ 9.99989411e-01 4.24727731e-03 -1.77135730e-03 2.97957964e+02] [-4.25096388e-03 9.99988796e-01 -2.08266704e-03 1.68691620e+01] [ 1.76249179e-03 2.09017496e-03 9.99996262e-01 -2.33364156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.581400513 meters Centerline goodness [0,1] 0.7501484056987788 Centerline is valid? [False, False] Translation: X:297.96, Y:16.87, Z:-0.23 [[ 9.99987790e-01 4.59287933e-03 -1.82357653e-03 2.97958160e+02] [-4.59523966e-03 9.99988607e-01 -1.29226537e-03 1.68654253e+01] [ 1.81762053e-03 1.30062936e-03 9.99997502e-01 -2.33336533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.611400513 meters Centerline goodness [0,1] 0.7631751400486206 Centerline is valid? [False, False] Translation: X:297.96, Y:16.86, Z:-0.23 [[ 9.99986380e-01 4.85240052e-03 -1.92183989e-03 2.97958619e+02] [-4.85376479e-03 9.99987971e-01 -7.05853644e-04 1.68626726e+01] [ 1.91839169e-03 7.15172189e-04 9.99997904e-01 -2.33543905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.641400513 meters Centerline goodness [0,1] 0.8147801484822055 Centerline is valid? [False, False] Translation: X:297.96, Y:16.86, Z:-0.23 [[ 9.99983618e-01 5.26080777e-03 -2.25579825e-03 2.97960361e+02] [-5.26026190e-03 9.99986134e-01 2.47850302e-04 1.68582060e+01] [ 2.25707087e-03 -2.35980152e-04 9.99997425e-01 -2.34691224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.671400513 meters Centerline goodness [0,1] 0.8315320500522265 Centerline is valid? [False, False] Translation: X:297.96, Y:16.85, Z:-0.24 [[ 9.99981604e-01 5.58536740e-03 -2.36557928e-03 2.97960997e+02] [-5.58304692e-03 9.99983928e-01 9.86405918e-04 1.68547463e+01] [ 2.37105070e-03 -9.73180631e-04 9.99996716e-01 -2.35144324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.701400513 meters Centerline goodness [0,1] 0.8726052210974959 Centerline is valid? [False, False] Translation: X:297.96, Y:16.86, Z:-0.23 [[ 9.99996905e-01 1.20223152e-03 -2.17811481e-03 2.97960056e+02] [-1.21040270e-03 9.99992221e-01 -3.75406510e-03 1.68568274e+01] [ 2.17358461e-03 3.75668988e-03 9.99990581e-01 -2.34635237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.731400513 meters Centerline goodness [0,1] 0.8599464194590917 Centerline is valid? [False, False] Translation: X:297.96, Y:16.85, Z:-0.23 [[ 9.99996557e-01 1.64515300e-03 -2.04452344e-03 2.97959375e+02] [-1.65022815e-03 9.99995555e-01 -2.48311209e-03 1.68507298e+01] [ 2.04042925e-03 2.48647747e-03 9.99994827e-01 -2.33997798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.761400513 meters Centerline goodness [0,1] 0.8542451831463054 Centerline is valid? [False, False] Translation: X:297.96, Y:16.84, Z:-0.23 [[ 9.99996179e-01 2.01129801e-03 -1.89665677e-03 2.97958587e+02] [-2.01351313e-03 9.99997292e-01 -1.16671915e-03 1.68442559e+01] [ 1.89430501e-03 1.17053363e-03 9.99997521e-01 -2.33271402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.791400513 meters Centerline goodness [0,1] 0.9824688465225264 Centerline is valid? [False, True] Translation: X:297.96, Y:16.84, Z:-0.23 [[ 9.99995825e-01 -2.28617973e-03 -1.76708137e-03 2.97957882e+02] [ 2.27655627e-03 9.99982672e-01 -5.42892295e-03 1.68439286e+01] [ 1.77946224e-03 5.42487743e-03 9.99983702e-01 -2.32743900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.821400513 meters Centerline goodness [0,1] 0.9998286277366009 Centerline is valid? [True, True] Translation: X:297.99, Y:16.82, Z:-0.24 [[ 9.99948528e-01 -9.65528735e-03 -3.11730431e-03 2.97990048e+02] [ 9.65476171e-03 9.99953375e-01 -1.83623800e-04 1.68214623e+01] [ 3.11893190e-03 1.53517519e-04 9.99995124e-01 -2.35773059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.851400513 meters Centerline goodness [0,1] 0.9988325691968076 Centerline is valid? [True, True] Translation: X:298.02, Y:16.82, Z:-0.24 [[ 9.99911483e-01 -1.28920765e-02 -3.28935223e-03 2.98018989e+02] [ 1.28915087e-02 9.99916882e-01 -1.93779503e-04 1.68239113e+01] [ 3.29157705e-03 1.51357638e-04 9.99994571e-01 -2.36373235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.881400513 meters Centerline goodness [0,1] 0.99991508512716 Centerline is valid? [True, True] Translation: X:298.05, Y:16.81, Z:-0.24 [[ 9.99876703e-01 -1.54229151e-02 -2.95181472e-03 2.98049744e+02] [ 1.54224687e-02 9.99881052e-01 -1.73947645e-04 1.68072570e+01] [ 2.95414638e-03 1.28401928e-04 9.99995628e-01 -2.35459761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.911400513 meters Centerline goodness [0,1] 0.9999362502390616 Centerline is valid? [True, True] Translation: X:298.08, Y:16.80, Z:-0.23 [[ 9.99849433e-01 -1.71888967e-02 -2.37753115e-03 2.98080447e+02] [ 1.71886119e-02 9.99852255e-01 -1.40151903e-04 1.68002401e+01] [ 2.37958894e-03 9.92643403e-05 9.99997164e-01 -2.34353642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.941400513 meters Centerline goodness [0,1] 0.9998090995863824 Centerline is valid? [True, True] Translation: X:298.11, Y:16.80, Z:-0.23 [[ 9.99831133e-01 -1.82796826e-02 -1.88646189e-03 2.98109763e+02] [ 1.82795052e-02 9.99832910e-01 -1.11236092e-04 1.67988264e+01] [ 1.88818004e-03 7.67337178e-05 9.99998214e-01 -2.33045432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.971400513 meters Centerline goodness [0,1] 0.9999359890754689 Centerline is valid? [True, True] Translation: X:298.14, Y:16.78, Z:-0.23 [[ 9.99837442e-01 -1.80300290e-02 8.92655014e-05 2.98139971e+02] [ 1.80276996e-02 9.99767031e-01 1.18694955e-02 1.67777294e+01] [-3.03252053e-04 -1.18659567e-02 9.99929551e-01 -2.34430020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.001400513 meters Centerline goodness [0,1] 0.9999572667834707 Centerline is valid? [True, True] Translation: X:298.17, Y:16.79, Z:-0.23 [[ 9.99811389e-01 -1.93433147e-02 -1.73844997e-03 2.98171580e+02] [ 1.93211661e-02 9.99741753e-01 -1.19632385e-02 1.67885855e+01] [ 1.96940971e-03 1.19273932e-02 9.99926927e-01 -2.32833415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.031400513 meters Centerline goodness [0,1] 0.9999149623708491 Centerline is valid? [True, True] Translation: X:298.20, Y:16.78, Z:-0.23 [[ 9.99793645e-01 -2.01755521e-02 -2.36969946e-03 2.98201978e+02] [ 2.01752771e-02 9.99796449e-01 -1.39892425e-04 1.67780153e+01] [ 2.37203951e-03 9.20542143e-05 9.99997182e-01 -2.34460571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.061400513 meters Centerline goodness [0,1] 0.9998733081357292 Centerline is valid? [True, True] Translation: X:298.23, Y:16.78, Z:-0.23 [[ 9.99755693e-01 -2.20277137e-02 -1.82583036e-03 2.98231269e+02] [ 2.20275535e-02 9.99757358e-01 -1.07800785e-04 1.67771908e+01] [ 1.82776194e-03 6.75558727e-05 9.99998327e-01 -2.33888457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.091400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.26, Y:16.76, Z:-0.23 [[ 9.99689397e-01 -2.48893704e-02 -1.27650277e-03 2.98262640e+02] [ 2.48892945e-02 9.99690211e-01 -7.53724960e-05 1.67613652e+01] [ 1.27798330e-03 4.35778317e-05 9.99999182e-01 -2.32771882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.121400513 meters Centerline goodness [0,1] 0.9998515124517415 Centerline is valid? [True, True] Translation: X:298.29, Y:16.75, Z:-0.23 [[ 9.99508318e-01 -3.13546315e-02 9.72136443e-05 2.98292683e+02] [ 3.13546311e-02 9.99508323e-01 5.77997216e-06 1.67493270e+01] [-9.73470755e-05 -2.72903230e-06 9.99999995e-01 -2.29698295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.151400513 meters Centerline goodness [0,1] 0.9999785926829791 Centerline is valid? [True, True] Translation: X:298.32, Y:16.74, Z:-0.23 [[ 9.99435369e-01 -3.35944962e-02 5.93739924e-04 2.98323566e+02] [ 3.35944812e-02 9.99435545e-01 3.50806106e-05 1.67432072e+01] [-5.94583300e-04 -1.51144182e-05 9.99999823e-01 -2.29001121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.181400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.35, Y:16.74, Z:-0.23 [[ 9.99390606e-01 -3.49001672e-02 6.28871905e-04 2.98353462e+02] [ 3.49001507e-02 9.99390803e-01 3.71932872e-05 1.67408359e+01] [-6.29786850e-04 -1.52228976e-05 9.99999802e-01 -2.29258090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.211400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.38, Y:16.74, Z:-0.23 [[ 9.99379690e-01 -3.52160781e-02 2.50751511e-04 2.98383211e+02] [ 3.52160755e-02 9.99379722e-01 1.48503712e-05 1.67398611e+01] [-2.51118947e-04 -6.01067524e-06 9.99999968e-01 -2.30181422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.241400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.41, Y:16.74, Z:-0.23 [[ 9.99392396e-01 -3.48537836e-02 -2.29281744e-04 2.98414224e+02] [ 3.48537814e-02 9.99392422e-01 -1.35521476e-05 1.67377529e+01] [ 2.29614781e-04 5.55257744e-06 9.99999974e-01 -2.30690608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.271400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.44, Y:16.74, Z:-0.23 [[ 9.99451845e-01 -3.30611070e-02 -1.72427887e-03 2.98443959e+02] [ 3.30609804e-02 9.99453331e-01 -1.01896542e-04 1.67371296e+01] [ 1.72670508e-03 4.48343374e-05 9.99998508e-01 -2.32110105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.301400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.47, Y:16.74, Z:-0.23 [[ 9.99486912e-01 -3.19579167e-02 -2.14561095e-03 2.98472826e+02] [ 3.19577180e-02 9.99489214e-01 -1.26856104e-04 1.67411906e+01] [ 2.14856906e-03 5.82221857e-05 9.99997690e-01 -2.32886955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.331400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.50, Y:16.74, Z:-0.23 [[ 9.99516321e-01 -3.09513766e-02 -3.02262870e-03 2.98502751e+02] [ 3.09509772e-02 9.99520888e-01 -1.78847910e-04 1.67405929e+01] [ 3.02671611e-03 8.52080926e-05 9.99995416e-01 -2.33748219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.361400513 meters Centerline goodness [0,1] 0.9999355102216299 Centerline is valid? [True, True] Translation: X:298.53, Y:16.74, Z:-0.23 [[ 9.99527166e-01 -3.05141405e-02 -3.78577915e-03 2.98529984e+02] [ 3.05135102e-02 9.99534329e-01 -2.24152473e-04 1.67449926e+01] [ 3.79085604e-03 1.08529076e-04 9.99992809e-01 -2.34778218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.391400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.56, Y:16.74, Z:-0.24 [[ 9.99526339e-01 -3.05450286e-02 -3.75477005e-03 2.98558230e+02] [ 3.05444074e-02 9.99533386e-01 -2.22691925e-04 1.67446003e+01] [ 3.75982015e-03 1.07899219e-04 9.99992926e-01 -2.35752950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.421400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.59, Y:16.75, Z:-0.24 [[ 9.99517629e-01 -3.08082379e-02 -3.91939114e-03 2.98586324e+02] [ 3.08075606e-02 9.99525307e-01 -2.33081875e-04 1.67480484e+01] [ 3.92471147e-03 1.12222563e-04 9.99992292e-01 -2.36165289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.451400513 meters Centerline goodness [0,1] 0.9999785793848 Centerline is valid? [True, True] Translation: X:298.62, Y:16.75, Z:-0.23 [[ 9.99495415e-01 -3.15521904e-02 -3.65707918e-03 2.98615579e+02] [ 3.15516042e-02 9.99502100e-01 -2.17870378e-04 1.67466776e+01] [ 3.66213261e-03 1.02373728e-04 9.99993289e-01 -2.34591763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.481400513 meters Centerline goodness [0,1] 0.9999787532401309 Centerline is valid? [True, True] Translation: X:298.64, Y:16.75, Z:-0.23 [[ 9.99488355e-01 -3.18382256e-02 -3.05863125e-03 2.98643150e+02] [ 3.18378158e-02 9.99493032e-01 -1.82610914e-04 1.67497010e+01] [ 3.06289463e-03 8.51373443e-05 9.99995306e-01 -2.33882557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.511400513 meters Centerline goodness [0,1] 0.9999787532401309 Centerline is valid? [True, True] Translation: X:298.67, Y:16.75, Z:-0.23 [[ 9.99483079e-01 -3.20034212e-02 -3.05861733e-03 2.98671416e+02] [ 3.20030114e-02 9.99487756e-01 -1.82843729e-04 1.67515216e+01] [ 3.06290220e-03 8.48642481e-05 9.99995306e-01 -2.33809329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.541400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.70, Y:16.75, Z:-0.23 [[ 9.99474804e-01 -3.22592360e-02 -3.07539831e-03 2.98700101e+02] [ 3.22588213e-02 9.99479532e-01 -1.84360131e-04 1.67530889e+01] [ 3.07974498e-03 8.50545811e-05 9.99995254e-01 -2.33459823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.571400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.73, Y:16.76, Z:-0.23 [[ 9.99472603e-01 -3.23158398e-02 -3.19407910e-03 2.98728810e+02] [ 3.23153910e-02 9.99477703e-01 -1.92025965e-04 1.67560815e+01] [ 3.19861632e-03 8.87067766e-05 9.99994880e-01 -2.34341661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.601400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.76, Y:16.76, Z:-0.24 [[ 9.99480193e-01 -3.18782336e-02 -4.80854950e-03 2.98756156e+02] [ 3.18772076e-02 9.99491751e-01 -2.89868980e-04 1.67633767e+01] [ 4.81534607e-03 1.36435173e-04 9.99988397e-01 -2.37437521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.631400513 meters Centerline goodness [0,1] 0.9999788140081778 Centerline is valid? [True, True] Translation: X:298.78, Y:16.77, Z:-0.24 [[ 9.99494836e-01 -3.13083502e-02 -5.46449423e-03 2.98784410e+02] [ 3.13070144e-02 9.99509761e-01 -3.29842287e-04 1.67659739e+01] [ 5.47214214e-03 1.58598663e-04 9.99985015e-01 -2.37815523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.661400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.81, Y:16.77, Z:-0.24 [[ 9.99507798e-01 -3.09031534e-02 -5.39975956e-03 2.98813136e+02] [ 3.09018394e-02 9.99522371e-01 -3.26630964e-04 1.67694510e+01] [ 5.40727440e-03 1.59607693e-04 9.99985368e-01 -2.37395598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.691400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.84, Y:16.77, Z:-0.24 [[ 9.99521832e-01 -3.05470490e-02 -4.79418687e-03 2.98841599e+02] [ 3.05460054e-02 9.99533320e-01 -2.90755569e-04 1.67727212e+01] [ 4.80083124e-03 1.44173281e-04 9.99988466e-01 -2.35675220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.721400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.87, Y:16.78, Z:-0.23 [[ 9.99541045e-01 -2.99977162e-02 -4.22323206e-03 2.98869470e+02] [ 2.99968995e-02 9.99549959e-01 -2.56612256e-04 1.67801155e+01] [ 4.22902922e-03 1.29810615e-04 9.99991049e-01 -2.34388476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.751400513 meters Centerline goodness [0,1] 0.9999572950697158 Centerline is valid? [True, True] Translation: X:298.90, Y:16.78, Z:-0.23 [[ 9.99553601e-01 -2.96320568e-02 -3.81302134e-03 2.98897755e+02] [ 2.96313871e-02 9.99560867e-01 -2.32032655e-04 1.67838260e+01] [ 3.81822252e-03 1.18943965e-04 9.99992703e-01 -2.33862998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.781400513 meters Centerline goodness [0,1] 0.9999788842434224 Centerline is valid? [True, True] Translation: X:298.93, Y:16.79, Z:-0.23 [[ 9.99563741e-01 -2.93680105e-02 -3.13811808e-03 2.98925724e+02] [ 2.93675543e-02 9.99568662e-01 -1.91366376e-04 1.67879082e+01] [ 3.14238454e-03 9.91240372e-05 9.99995058e-01 -2.33068596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.811400513 meters Centerline goodness [0,1] 0.9999576468595146 Centerline is valid? [True, True] Translation: X:298.95, Y:16.79, Z:-0.23 [[ 9.99559689e-01 -2.95274953e-02 -2.92504006e-03 2.98953957e+02] [ 2.95270990e-02 9.99563964e-01 -1.78595938e-04 1.67922127e+01] [ 2.92903813e-03 9.21493533e-05 9.99995706e-01 -2.32409292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.841400513 meters Centerline goodness [0,1] 0.999978708001533 Centerline is valid? [True, True] Translation: X:298.98, Y:16.80, Z:-0.23 [[ 9.99554544e-01 -2.96975506e-02 -2.96114237e-03 2.98982720e+02] [ 2.96971448e-02 9.99558926e-01 -1.80905337e-04 1.67962353e+01] [ 2.96520873e-03 9.28872775e-05 9.99995599e-01 -2.31937619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.871400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:299.01, Y:16.79, Z:-0.23 [[ 9.99555557e-01 -2.96584975e-02 -3.01038642e-03 2.99012358e+02] [ 2.96580777e-02 9.99560086e-01 -1.84014476e-04 1.67946831e+01] [ 3.01451970e-03 9.46504178e-05 9.99995452e-01 -2.31966211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.901400513 meters Centerline goodness [0,1] 0.9999152542372881 Centerline is valid? [True, True] Translation: X:299.04, Y:16.80, Z:-0.23 [[ 9.99571928e-01 -2.91236079e-02 -2.78873335e-03 2.99040230e+02] [ 2.91232454e-02 9.99575814e-01 -1.70530922e-04 1.68041466e+01] [ 2.79251689e-03 8.92409565e-05 9.99996097e-01 -2.31992943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.931400513 meters Centerline goodness [0,1] 0.9999363381716323 Centerline is valid? [True, True] Translation: X:299.07, Y:16.81, Z:-0.23 [[ 9.99615994e-01 -2.75780493e-02 -2.70493830e-03 2.99069996e+02] [ 2.75777024e-02 9.99619649e-01 -1.65500100e-04 1.68060225e+01] [ 2.70847365e-03 9.08405632e-05 9.99996328e-01 -2.31485070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.961400513 meters Centerline goodness [0,1] 0.9999150995457826 Centerline is valid? [True, True] Translation: X:299.10, Y:16.81, Z:-0.23 [[ 9.99641281e-01 -2.66317417e-02 -2.83896758e-03 2.99098091e+02] [ 2.66313554e-02 9.99645307e-01 -1.73773602e-04 1.68099500e+01] [ 2.84258851e-03 9.81057114e-05 9.99995955e-01 -2.31485062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.991400513 meters Centerline goodness [0,1] 0.9999575524757518 Centerline is valid? [True, True] Translation: X:299.13, Y:16.82, Z:-0.23 [[ 9.99663206e-01 -2.58065764e-02 -2.73788503e-03 2.99126499e+02] [ 2.58062138e-02 9.99666950e-01 -1.67681549e-04 1.68157017e+01] [ 2.74130046e-03 9.69706285e-05 9.99996238e-01 -2.31189369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.021400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:299.16, Y:16.82, Z:-0.23 [[ 9.99686055e-01 -2.49353713e-02 -2.45343270e-03 2.99156025e+02] [ 2.49350772e-02 9.99689061e-01 -1.50368911e-04 1.68150901e+01] [ 2.45641934e-03 8.91451695e-05 9.99996979e-01 -2.30385132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.051400513 meters Centerline goodness [0,1] 0.9999788023317435 Centerline is valid? [True, True] Translation: X:299.19, Y:16.82, Z:-0.23 [[ 9.99702170e-01 -2.43256951e-02 -1.95731464e-03 2.99185796e+02] [ 2.43255068e-02 9.99704084e-01 -1.19995908e-04 1.68153497e+01] [ 1.95965442e-03 7.23474987e-05 9.99998077e-01 -2.29325184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.081400513 meters Centerline goodness [0,1] 0.9999573488015013 Centerline is valid? [True, True] Translation: X:299.22, Y:16.82, Z:-0.23 [[ 9.99715244e-01 -2.38193039e-02 -1.43929136e-03 2.99215061e+02] [ 2.38192015e-02 9.99716279e-01 -8.82695107e-05 1.68175230e+01] [ 1.44098552e-03 5.39616046e-05 9.99998960e-01 -2.28477235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.111400513 meters Centerline goodness [0,1] 0.9999363368206609 Centerline is valid? [True, True] Translation: X:299.24, Y:16.82, Z:-0.23 [[ 9.99748338e-01 -2.24330680e-02 1.36457239e-04 2.99244631e+02] [ 2.24330671e-02 9.99748347e-01 8.39360374e-06 1.68227253e+01] [-1.36611193e-04 -5.33033701e-06 9.99999991e-01 -2.26180153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.141400513 meters Centerline goodness [0,1] 0.9998939667055455 Centerline is valid? [True, True] Translation: X:299.28, Y:16.82, Z:-0.23 [[ 9.99772239e-01 -2.13062590e-02 1.23017645e-03 2.99275490e+02] [ 2.13061823e-02 9.99772995e-01 7.54361871e-05 1.68235918e+01] [-1.23150445e-03 -4.92086420e-05 9.99999240e-01 -2.25278812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.171400513 meters Centerline goodness [0,1] 0.9998935468074688 Centerline is valid? [True, True] Translation: X:299.31, Y:16.83, Z:-0.22 [[ 9.99806395e-01 -1.96079686e-02 1.64347740e-03 2.99306999e+02] [ 1.96078295e-02 9.99807743e-01 1.00720856e-04 1.68269792e+01] [-1.64513637e-03 -6.84763316e-05 9.99998644e-01 -2.24421636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.201400513 meters Centerline goodness [0,1] 0.9999572941578408 Centerline is valid? [True, True] Translation: X:299.34, Y:16.83, Z:-0.22 [[ 9.99844539e-01 -1.75815604e-02 1.33690715e-03 2.99337936e+02] [ 1.75814666e-02 9.99845431e-01 8.18899177e-05 1.68316970e+01] [-1.33814025e-03 -5.83723987e-05 9.99999103e-01 -2.24870288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.231400513 meters Centerline goodness [0,1] 0.999701549809205 Centerline is valid? [True, True] Translation: X:299.37, Y:16.84, Z:-0.23 [[ 9.99882894e-01 -1.52979345e-02 4.13717601e-04 2.99367924e+02] [ 1.52979253e-02 9.99882980e-01 2.52979609e-05 1.68394000e+01] [-4.14056194e-04 -1.89659774e-05 9.99999914e-01 -2.26222073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.261400513 meters Centerline goodness [0,1] 0.9998296349929724 Centerline is valid? [True, True] Translation: X:299.40, Y:16.84, Z:-0.23 [[ 9.99917657e-01 -1.27664897e-02 -1.30242110e-03 2.99398910e+02] [ 1.27663965e-02 9.99918503e-01 -7.98247947e-05 1.68397296e+01] [ 1.30333404e-03 6.31909975e-05 9.99999149e-01 -2.28633848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.291400513 meters Centerline goodness [0,1] 0.9990658570761326 Centerline is valid? [True, True] Translation: X:299.43, Y:16.85, Z:-0.23 [[ 9.99950237e-01 -8.79105952e-03 -4.71598740e-03 2.99427564e+02] [ 8.78979431e-03 9.99961327e-01 -2.88940130e-04 1.68503194e+01] [ 4.71834511e-03 2.47473192e-04 9.99988838e-01 -2.34539486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.321400513 meters Centerline goodness [0,1] 0.999681548945927 Centerline is valid? [True, True] Translation: X:299.46, Y:16.85, Z:-0.24 [[ 9.99955995e-01 -7.58165829e-03 -5.52501144e-03 2.99457041e+02] [ 7.57990269e-03 9.99971215e-01 -3.38624007e-04 1.68483106e+01] [ 5.52741973e-03 2.96730057e-04 9.99984680e-01 -2.35820342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.351400513 meters Centerline goodness [0,1] 0.9987869759523302 Centerline is valid? [True, True] Translation: X:299.48, Y:16.85, Z:-0.24 [[ 9.99958726e-01 -6.83128590e-03 -5.99004775e-03 2.99484369e+02] [ 6.82920715e-03 9.99976613e-01 -3.67418793e-04 1.68530972e+01] [ 5.99241760e-03 3.26496351e-04 9.99981992e-01 -2.36531693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.381400513 meters Centerline goodness [0,1] 0.998026357674922 Centerline is valid? [True, True] Translation: X:299.51, Y:16.86, Z:-0.24 [[ 9.99965829e-01 -5.99049978e-03 -5.69691649e-03 2.99512475e+02] [ 5.98860410e-03 9.99982007e-01 -3.49756109e-04 1.68560305e+01] [ 5.69890920e-03 3.15627580e-04 9.99983711e-01 -2.36343553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.411400513 meters Centerline goodness [0,1] 0.9988338316052838 Centerline is valid? [True, True] Translation: X:299.54, Y:16.85, Z:-0.24 [[ 9.99972506e-01 -4.95965970e-03 -5.51256798e-03 2.99541716e+02] [ 4.95786776e-03 9.99987652e-01 -3.38682007e-04 1.68548204e+01] [ 5.51417966e-03 3.11342112e-04 9.99984748e-01 -2.35915438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.441400513 meters Centerline goodness [0,1] 0.9983702528252525 Centerline is valid? [True, True] Translation: X:299.57, Y:16.86, Z:-0.24 [[ 9.99981404e-01 -2.43742530e-03 -5.59017554e-03 2.99571397e+02] [ 2.43554256e-03 9.99996975e-01 -3.43576736e-04 1.68575472e+01] [ 5.59099607e-03 3.29955237e-04 9.99984316e-01 -2.35986634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.471400513 meters Centerline goodness [0,1] 0.9946356535919664 Centerline is valid? [True, True] Translation: X:299.60, Y:16.86, Z:-0.24 [[ 9.99984470e-01 -6.83855180e-04 -5.53107393e-03 2.99600204e+02] [ 6.81984586e-04 9.99999710e-01 -3.40076229e-04 1.68625303e+01] [ 5.53130488e-03 3.36298840e-04 9.99984646e-01 -2.36478062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.501400513 meters Centerline goodness [0,1] 0.9868353891960868 Centerline is valid? [True, True] Translation: X:299.63, Y:16.87, Z:-0.24 [[ 9.99982584e-01 9.34397654e-04 -5.82740317e-03 2.99627945e+02] [-9.36502856e-04 9.99999497e-01 -3.58540842e-04 1.68678610e+01] [ 5.82706522e-03 3.63991977e-04 9.99982956e-01 -2.36946649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.531400513 meters Centerline goodness [0,1] 0.958680319510537 Centerline is valid? [True, True] Translation: X:299.66, Y:16.87, Z:-0.24 [[ 9.99981639e-01 2.74495334e-03 -5.40254834e-03 2.99657690e+02] [-2.74678986e-03 9.99996172e-01 -3.32544981e-04 1.68733982e+01] [ 5.40161484e-03 3.47378540e-04 9.99985351e-01 -2.36878488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.561400513 meters Centerline goodness [0,1] 0.8022621649725188 Centerline is valid? [True, False] Translation: X:299.66, Y:16.88, Z:-0.24 [[ 9.99983929e-01 2.62336540e-03 -5.02589043e-03 2.99656414e+02] [-2.63087988e-03 9.99995430e-01 -1.48912785e-03 1.68794120e+01] [ 5.02196094e-03 1.50232644e-03 9.99986261e-01 -2.36872831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.591400513 meters Centerline goodness [0,1] 0.73730215979972 Centerline is valid? [False, False] Translation: X:299.66, Y:16.88, Z:-0.24 [[ 9.99985700e-01 2.30244970e-03 -4.82688368e-03 2.99655630e+02] [-2.31383713e-03 9.99994550e-01 -2.35491325e-03 1.68835792e+01] [ 4.82143531e-03 2.36604819e-03 9.99985578e-01 -2.36669280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.621400513 meters Centerline goodness [0,1] 0.767587697707767 Centerline is valid? [False, False] Translation: X:299.65, Y:16.88, Z:-0.23 [[ 9.99982494e-01 4.44733354e-03 -3.90287633e-03 2.99648760e+02] [-4.44758830e-03 9.99990108e-01 -5.65961962e-05 1.68833419e+01] [ 3.90258602e-03 7.39535925e-05 9.99992382e-01 -2.32167922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.651400513 meters Centerline goodness [0,1] 0.7688494596204578 Centerline is valid? [False, False] Translation: X:299.65, Y:16.89, Z:-0.23 [[ 9.99984063e-01 4.17536446e-03 -3.79998279e-03 2.99648295e+02] [-4.17830938e-03 9.99990976e-01 -7.67374150e-04 1.68867498e+01] [ 3.79674443e-03 7.83239424e-04 9.99992486e-01 -2.32019635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.681400513 meters Centerline goodness [0,1] 0.7289458653296947 Centerline is valid? [False, False] Translation: X:299.65, Y:16.89, Z:-0.23 [[ 9.99985096e-01 3.95095911e-03 -3.76809617e-03 2.99648124e+02] [-3.95604490e-03 9.99991273e-01 -1.34319923e-03 1.68894975e+01] [ 3.76275636e-03 1.35808597e-03 9.99991999e-01 -2.31952526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.711400513 meters Centerline goodness [0,1] 0.7361350254022916 Centerline is valid? [False, False] Translation: X:299.65, Y:16.89, Z:-0.23 [[ 9.99986304e-01 3.72877018e-03 -3.67268597e-03 2.99647819e+02] [-3.73555941e-03 9.99991324e-01 -1.84345101e-03 1.68918437e+01] [ 3.66578030e-03 1.85714530e-03 9.99991556e-01 -2.32032734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.741400513 meters Centerline goodness [0,1] 0.7261698440207972 Centerline is valid? [False, False] Translation: X:299.65, Y:16.89, Z:-0.23 [[ 9.99987338e-01 3.52540400e-03 -3.59099461e-03 2.99647444e+02] [-3.53375095e-03 9.99991063e-01 -2.32072432e-03 1.68940994e+01] [ 3.58278103e-03 2.33338462e-03 9.99990859e-01 -2.31873889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.771400513 meters Centerline goodness [0,1] 0.6969566989083578 Centerline is valid? [False, False] Translation: X:299.65, Y:16.90, Z:-0.23 [[ 9.99988371e-01 3.36484857e-03 -3.45478598e-03 2.99646919e+02] [-3.37407673e-03 9.99990747e-01 -2.66877922e-03 1.68957453e+01] [ 3.44577397e-03 2.68040490e-03 9.99990471e-01 -2.31745364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.801400513 meters Centerline goodness [0,1] 0.7459871847073698 Centerline is valid? [False, False] Translation: X:299.65, Y:16.90, Z:-0.23 [[ 9.99989585e-01 3.15509340e-03 -3.29787570e-03 2.99646059e+02] [-3.16539220e-03 9.99990116e-01 -3.12231796e-03 1.68978716e+01] [ 3.28799189e-03 3.13272451e-03 9.99989688e-01 -2.31090697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.831400513 meters Centerline goodness [0,1] 0.7173936295377243 Centerline is valid? [False, False] Translation: X:299.65, Y:16.90, Z:-0.23 [[ 9.99989929e-01 3.06606539e-03 -3.27749879e-03 2.99645819e+02] [-3.07691172e-03 9.99989790e-01 -3.30942676e-03 1.68987546e+01] [ 3.26731841e-03 3.31947800e-03 9.99989153e-01 -2.30756649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.861400513 meters Centerline goodness [0,1] 0.7041284889011152 Centerline is valid? [False, False] Translation: X:299.67, Y:16.90, Z:-0.23 [[ 9.99998875e-01 1.21501924e-03 -8.79197451e-04 2.99668350e+02] [-1.20948968e-03 9.99979657e-01 6.26276476e-03 1.68955739e+01] [ 8.86788946e-04 -6.26169434e-03 9.99980002e-01 -2.33816588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.891400513 meters Centerline goodness [0,1] 0.7034349195539287 Centerline is valid? [False, False] Translation: X:299.67, Y:16.89, Z:-0.23 [[ 9.99998752e-01 1.24538996e-03 -9.72538132e-04 2.99668768e+02] [-1.23915854e-03 9.99978868e-01 6.38190892e-03 1.68949828e+01] [ 9.80465545e-04 -6.38069582e-03 9.99979162e-01 -2.34002421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.921400513 meters Centerline goodness [0,1] 0.7598394256706527 Centerline is valid? [False, False] Translation: X:299.68, Y:16.90, Z:-0.24 [[ 9.99997657e-01 -1.16796816e-03 -1.82267198e-03 2.99675577e+02] [ 1.17506979e-03 9.99991704e-01 3.90008052e-03 1.68952098e+01] [ 1.81810169e-03 -3.90221315e-03 9.99990734e-01 -2.38789979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.951400513 meters Centerline goodness [0,1] 0.8086676882567501 Centerline is valid? [False, False] Translation: X:299.63, Y:16.89, Z:-0.24 [[ 9.99985537e-01 -2.96724627e-03 -4.48563980e-03 2.99633794e+02] [ 2.97758038e-03 9.99992925e-01 2.29890115e-03 1.68915094e+01] [ 4.47878665e-03 -2.31222426e-03 9.99987297e-01 -2.38802132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.981400513 meters Centerline goodness [0,1] 0.7550245692473163 Centerline is valid? [False, False] Translation: X:299.68, Y:16.89, Z:-0.24 [[ 9.99987895e-01 -3.96397791e-03 -2.91484505e-03 2.99678071e+02] [ 3.97072236e-03 9.99989445e-01 2.31169322e-03 1.68907825e+01] [ 2.90565078e-03 -2.32323928e-03 9.99993080e-01 -2.39826062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.011400513 meters Centerline goodness [0,1] 0.7869089363510785 Centerline is valid? [False, False] Translation: X:299.68, Y:16.89, Z:-0.24 [[ 9.99959979e-01 -8.48086221e-03 -2.84876897e-03 2.99678001e+02] [ 8.47364712e-03 9.99960884e-01 -2.53529864e-03 1.68932663e+01] [ 2.87015906e-03 2.51105772e-03 9.99992728e-01 -2.39992249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.041400513 meters Centerline goodness [0,1] 0.8948043069560758 Centerline is valid? [False, False] Translation: X:299.68, Y:16.89, Z:-0.24 [[ 9.99962700e-01 -8.07948837e-03 -3.05288625e-03 2.99678881e+02] [ 8.07470493e-03 9.99966157e-01 -1.57594716e-03 1.68887462e+01] [ 3.06551578e-03 1.55123722e-03 9.99994098e-01 -2.40308113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.071400513 meters Centerline goodness [0,1] 0.9710157210051273 Centerline is valid? [False, True] Translation: X:299.68, Y:16.88, Z:-0.24 [[ 9.99965129e-01 -7.73143422e-03 -3.15687070e-03 2.99679403e+02] [ 7.72905361e-03 9.99969837e-01 -7.65610493e-04 1.68849096e+01] [ 3.16269475e-03 7.41184172e-04 9.99994724e-01 -2.40569360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.101400513 meters Centerline goodness [0,1] 0.9140925417282907 Centerline is valid? [True, False] Translation: X:299.68, Y:16.88, Z:-0.24 [[ 9.99968573e-01 -7.31410334e-03 -3.05885545e-03 2.99678987e+02] [ 7.31438701e-03 9.99973246e-01 8.15606004e-05 1.68809819e+01] [ 3.05817707e-03 -1.03931690e-04 9.99995318e-01 -2.40322930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.131400513 meters Centerline goodness [0,1] 0.8784128686327077 Centerline is valid? [False, False] Translation: X:299.66, Y:16.88, Z:-0.24 [[ 9.99974312e-01 -4.49655757e-03 -5.58178380e-03 2.99655045e+02] [ 4.44887025e-03 9.99953751e-01 -8.52660147e-03 1.68828321e+01] [ 5.61986600e-03 8.50154981e-03 9.99948069e-01 -2.36374357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.161400513 meters Centerline goodness [0,1] 0.7336943874420867 Centerline is valid? [False, False] Translation: X:299.68, Y:16.87, Z:-0.24 [[ 9.99996457e-01 -2.09832244e-03 -1.63794034e-03 2.99680054e+02] [ 2.10663338e-03 9.99984833e-01 5.08889289e-03 1.68734931e+01] [ 1.62723736e-03 -5.09232540e-03 9.99985710e-01 -2.42839860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.191400513 meters Centerline goodness [0,1] 0.719570278293928 Centerline is valid? [False, False] Translation: X:299.66, Y:16.88, Z:-0.24 [[ 9.99993643e-01 1.16012981e-03 -3.37151999e-03 2.99658846e+02] [-1.17172391e-03 9.99993401e-01 -3.43889644e-03 1.68756932e+01] [ 3.36750817e-03 3.44282507e-03 9.99988403e-01 -2.42314668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.221400513 meters Centerline goodness [0,1] 0.7134361839459928 Centerline is valid? [False, False] Translation: X:299.66, Y:16.87, Z:-0.24 [[ 9.99975332e-01 5.95933212e-03 -3.71782343e-03 2.99660284e+02] [-5.95082746e-03 9.99979661e-01 2.29442115e-03 1.68688000e+01] [ 3.73142104e-03 -2.27224043e-03 9.99990457e-01 -2.42723212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.251400513 meters Centerline goodness [0,1] 0.6909125742384572 Centerline is valid? [False, False] Translation: X:299.66, Y:16.87, Z:-0.24 [[ 9.99974792e-01 6.02656295e-03 -3.75436405e-03 2.99660577e+02] [-6.01761188e-03 9.99979036e-01 2.39092741e-03 1.68683753e+01] [ 3.76869442e-03 -2.36827484e-03 9.99990094e-01 -2.43071327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.281400513 meters Centerline goodness [0,1] 0.7109808237734412 Centerline is valid? [False, False] Translation: X:299.66, Y:16.87, Z:-0.24 [[ 9.99973342e-01 6.28802729e-03 -3.71163613e-03 2.99660479e+02] [-6.27732195e-03 9.99976124e-01 2.88890209e-03 1.68660614e+01] [ 3.72971301e-03 -2.86552595e-03 9.99988939e-01 -2.43112582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.311400513 meters Centerline goodness [0,1] 0.7271018455228981 Centerline is valid? [False, False] Translation: X:299.66, Y:16.86, Z:-0.24 [[ 9.99972794e-01 6.42792769e-03 -3.61847169e-03 2.99660071e+02] [-6.41631264e-03 9.99974255e-01 3.21244123e-03 1.68645387e+01] [ 3.63902788e-03 -3.18913659e-03 9.99988293e-01 -2.42909305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.341400513 meters Centerline goodness [0,1] 0.7381293732480261 Centerline is valid? [False, False] Translation: X:299.66, Y:16.87, Z:-0.24 [[ 9.99992707e-01 1.92076695e-03 -3.30101759e-03 2.99658889e+02] [-1.92737883e-03 9.99996141e-01 -2.00097045e-03 1.68689878e+01] [ 3.29716145e-03 2.00731817e-03 9.99992550e-01 -2.42800346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.371400513 meters Centerline goodness [0,1] 0.725214093988326 Centerline is valid? [False, False] Translation: X:299.66, Y:16.86, Z:-0.24 [[ 9.99991615e-01 2.23729338e-03 -3.42979342e-03 2.99659159e+02] [-2.24004830e-03 9.99997171e-01 -7.99600631e-04 1.68630143e+01] [ 3.42799477e-03 8.07276829e-04 9.99993799e-01 -2.42425797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.401400513 meters Centerline goodness [0,1] 0.804875424932226 Centerline is valid? [False, False] Translation: X:299.66, Y:16.86, Z:-0.24 [[ 9.99990614e-01 2.55997388e-03 -3.49559564e-03 2.99659201e+02] [-2.56004024e-03 9.99996723e-01 -1.45112089e-05 1.68593187e+01] [ 3.49554703e-03 2.34599382e-05 9.99993890e-01 -2.42015400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.431400513 meters Centerline goodness [0,1] 0.804875424932226 Centerline is valid? [False, False] Translation: X:299.66, Y:16.86, Z:-0.24 [[ 9.99990614e-01 2.55997388e-03 -3.49559564e-03 2.99659201e+02] [-2.56004024e-03 9.99996723e-01 -1.45112089e-05 1.68593187e+01] [ 3.49554703e-03 2.34599382e-05 9.99993890e-01 -2.42015400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.461400513 meters Centerline goodness [0,1] 0.7194761570678403 Centerline is valid? [False, False] Translation: X:299.68, Y:16.85, Z:-0.25 [[ 9.99999500e-01 9.96794463e-04 8.49825641e-05 2.99682955e+02] [-9.97568861e-04 9.99952847e-01 9.65964185e-03 1.68525295e+01] [-7.53498794e-05 -9.65972179e-03 9.99953341e-01 -2.47055551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.491400513 meters Centerline goodness [0,1] 0.7839907341869893 Centerline is valid? [False, False] Translation: X:299.66, Y:16.86, Z:-0.25 [[ 9.99997153e-01 1.62660307e-03 1.74568669e-03 2.99662788e+02] [-1.62517399e-03 9.99998343e-01 -8.19738630e-04 1.68562711e+01] [-1.74701718e-03 8.16899252e-04 9.99998140e-01 -2.51637420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.521400513 meters Centerline goodness [0,1] 0.8087301074574154 Centerline is valid? [False, False] Translation: X:299.66, Y:16.85, Z:-0.25 [[ 9.99996925e-01 1.81279235e-03 1.69224713e-03 2.99663120e+02] [-1.81214548e-03 9.99998284e-01 -3.83712396e-04 1.68542180e+01] [-1.69293982e-03 3.80644618e-04 9.99998495e-01 -2.51954406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.551400513 meters Centerline goodness [0,1] 0.778016645026713 Centerline is valid? [False, False] Translation: X:299.70, Y:16.85, Z:-0.25 [[ 9.99988209e-01 2.27165013e-03 4.29206360e-03 2.99704503e+02] [-2.27253625e-03 9.99997397e-01 2.01590670e-04 1.68546268e+01] [-4.29159448e-03 -2.11342163e-04 9.99990769e-01 -2.52247114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.581400513 meters Centerline goodness [0,1] 0.8106786748150531 Centerline is valid? [False, False] Translation: X:299.70, Y:16.85, Z:-0.25 [[ 9.99985946e-01 8.05198399e-04 5.24023535e-03 2.99697452e+02] [-8.00201738e-04 9.99999223e-01 -9.55545220e-04 1.68521677e+01] [-5.24100068e-03 9.51338545e-04 9.99985813e-01 -2.47405859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.611400513 meters Centerline goodness [0,1] 0.7342433361994841 Centerline is valid? [False, False] Translation: X:299.70, Y:16.85, Z:-0.25 [[ 9.99985179e-01 1.11220650e-03 5.32956104e-03 2.99696960e+02] [-1.11105883e-03 9.99999359e-01 -2.18294903e-04 1.68487148e+01] [-5.32980041e-03 2.12370212e-04 9.99985774e-01 -2.46930357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.641400513 meters Centerline goodness [0,1] 0.7555677524223681 Centerline is valid? [False, False] Translation: X:299.74, Y:16.85, Z:-0.25 [[ 9.99970139e-01 1.50224528e-03 7.58046523e-03 2.99738869e+02] [-1.50592620e-03 9.99998751e-01 4.79895791e-04 1.68479922e+01] [-7.57973485e-03 -4.91297082e-04 9.99971153e-01 -2.47200390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.671400513 meters Centerline goodness [0,1] 0.7802614659237034 Centerline is valid? [False, False] Translation: X:299.70, Y:16.84, Z:-0.25 [[ 9.99991410e-01 8.98652596e-04 4.04627181e-03 2.99699988e+02] [-9.01315578e-04 9.99999378e-01 6.56356897e-04 1.68423071e+01] [-4.04567946e-03 -6.59998226e-04 9.99991598e-01 -2.48103054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.701400513 meters Centerline goodness [0,1] 0.8305305113285163 Centerline is valid? [False, False] Translation: X:299.70, Y:16.84, Z:-0.25 [[ 9.99991641e-01 1.22796833e-03 3.90007322e-03 2.99700742e+02] [-1.23347919e-03 9.99998244e-01 1.41092512e-03 1.68387444e+01] [-3.89833380e-03 -1.41572398e-03 9.99991399e-01 -2.48576699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.731400513 meters Centerline goodness [0,1] 0.7537002627026335 Centerline is valid? [False, False] Translation: X:299.70, Y:16.84, Z:-0.25 [[ 9.99991618e-01 1.51249367e-03 3.80482599e-03 2.99701346e+02] [-1.52033808e-03 9.99996723e-01 2.05965320e-03 1.68356776e+01] [-3.80169831e-03 -2.06542055e-03 9.99990641e-01 -2.49104164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.761400513 meters Centerline goodness [0,1] 0.8040611083885539 Centerline is valid? [False, False] Translation: X:299.70, Y:16.83, Z:-0.25 [[ 9.99991240e-01 1.87240666e-03 3.74343165e-03 2.99701876e+02] [-1.88278081e-03 9.99994392e-01 2.76969369e-03 1.68323872e+01] [-3.73822467e-03 -2.77671749e-03 9.99989158e-01 -2.49660665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.791400513 meters Centerline goodness [0,1] 0.700244863195997 Centerline is valid? [False, False] Translation: X:299.70, Y:16.83, Z:-0.25 [[ 9.99990708e-01 1.95224885e-03 3.84361539e-03 2.99701606e+02] [-1.96310111e-03 9.99994092e-01 2.82170512e-03 1.68322081e+01] [-3.83808401e-03 -2.82922430e-03 9.99988632e-01 -2.49811135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.821400513 meters Centerline goodness [0,1] 0.708376553271661 Centerline is valid? [False, False] Translation: X:299.70, Y:16.83, Z:-0.25 [[ 9.99990241e-01 2.05289664e-03 3.91198432e-03 2.99701464e+02] [-2.06398989e-03 9.99993855e-01 2.83378466e-03 1.68322573e+01] [-3.90614281e-03 -2.84183130e-03 9.99988333e-01 -2.50006385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.851400513 meters Centerline goodness [0,1] 0.6466982743892021 Centerline is valid? [False, False] Translation: X:299.68, Y:16.83, Z:-0.25 [[ 9.99968393e-01 7.94100458e-03 3.91136828e-04 2.99681987e+02] [-7.93999129e-03 9.99965284e-01 -2.52743057e-03 1.68311570e+01] [-4.11193587e-04 2.52424507e-03 9.99996730e-01 -2.49242386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.881400513 meters Centerline goodness [0,1] 0.6244257679361518 Centerline is valid? [False, False] Translation: X:299.69, Y:16.83, Z:-0.25 [[ 9.99944772e-01 1.04920467e-02 -6.08889584e-04 2.99689482e+02] [-1.04919432e-02 9.99944943e-01 1.72965737e-04 1.68294443e+01] [ 6.10670825e-04 -1.66567749e-04 9.99999800e-01 -2.54220891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.911400513 meters Centerline goodness [0,1] 0.6302989976174633 Centerline is valid? [False, False] Translation: X:299.67, Y:16.82, Z:-0.25 [[ 9.99916558e-01 1.09811152e-02 -6.80381571e-03 2.99667055e+02] [-1.09051329e-02 9.99878862e-01 1.11058284e-02 1.68184807e+01] [ 6.92494589e-03 -1.10307052e-02 9.99915181e-01 -2.48003131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.941400513 meters Centerline goodness [0,1] 0.5621032382173774 Centerline is valid? [False, False] Translation: X:299.67, Y:16.82, Z:-0.25 [[ 9.99954855e-01 6.98661204e-03 -6.44015105e-03 2.99665826e+02] [-6.94909785e-03 9.99958865e-01 5.82913599e-03 1.68243054e+01] [ 6.48061204e-03 -5.78411960e-03 9.99962272e-01 -2.48427689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.971400513 meters Centerline goodness [0,1] 0.5880614033235498 Centerline is valid? [False, False] Translation: X:299.71, Y:16.83, Z:-0.25 [[ 9.99979317e-01 5.43414768e-03 -3.44025007e-03 2.99705296e+02] [-5.42774971e-03 9.99983528e-01 1.86635192e-03 1.68326357e+01] [ 3.45033543e-03 -1.84764050e-03 9.99992341e-01 -2.48262969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.001400513 meters Centerline goodness [0,1] 0.6404897300967578 Centerline is valid? [False, False] Translation: X:299.70, Y:16.83, Z:-0.25 [[ 9.99980075e-01 5.36917648e-03 -3.32001190e-03 2.99704740e+02] [-5.36349701e-03 9.99984142e-01 1.71722123e-03 1.68333481e+01] [ 3.32917932e-03 -1.69938014e-03 9.99993014e-01 -2.48010750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.031400513 meters Centerline goodness [0,1] 0.5864621668191197 Centerline is valid? [False, False] Translation: X:299.70, Y:16.84, Z:-0.24 [[ 9.99991189e-01 3.33029154e-03 -2.55540725e-03 2.99698924e+02] [-3.33140444e-03 9.99994358e-01 -4.31375491e-04 1.68365415e+01] [ 2.55395623e-03 4.39884785e-04 9.99996642e-01 -2.44475848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.061400513 meters Centerline goodness [0,1] 0.665017499891976 Centerline is valid? [False, False] Translation: X:299.66, Y:16.83, Z:-0.25 [[ 9.99983728e-01 2.05925342e-03 -5.32003518e-03 2.99657829e+02] [-2.06317501e-03 9.99997604e-01 -7.31753216e-04 1.68327532e+01] [ 5.31851557e-03 7.42717472e-04 9.99985581e-01 -2.45260555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.091400513 meters Centerline goodness [0,1] 0.5909550114996883 Centerline is valid? [False, False] Translation: X:299.66, Y:16.83, Z:-0.25 [[ 9.99982231e-01 2.16404145e-03 -5.55465868e-03 2.99658670e+02] [-2.16611966e-03 9.99997586e-01 -3.68149473e-04 1.68309533e+01] [ 5.55384858e-03 3.80174987e-04 9.99984505e-01 -2.45374582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.121400513 meters Centerline goodness [0,1] 0.7056381211940552 Centerline is valid? [False, False] Translation: X:299.68, Y:16.83, Z:-0.24 [[ 9.99978816e-01 -2.53714487e-03 -5.99419577e-03 2.99678317e+02] [ 2.57381256e-03 9.99977976e-01 6.11742536e-03 1.68283177e+01] [ 5.97854296e-03 -6.13272371e-03 9.99963323e-01 -2.41671129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.151400513 meters Centerline goodness [0,1] 0.7116730687153222 Centerline is valid? [False, False] Translation: X:299.68, Y:16.83, Z:-0.24 [[ 9.99978780e-01 -2.46938203e-03 -6.02833816e-03 2.99678268e+02] [ 2.50754033e-03 9.99976818e-01 6.33048984e-03 1.68273152e+01] [ 6.01256601e-03 -6.34547182e-03 9.99961791e-01 -2.41298479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.181400513 meters Centerline goodness [0,1] 0.6938233857782874 Centerline is valid? [False, False] Translation: X:299.68, Y:16.83, Z:-0.24 [[ 9.99959500e-01 -6.98626921e-03 -5.67357908e-03 2.99677038e+02] [ 6.99072935e-03 9.99975271e-01 7.66673626e-04 1.68337456e+01] [ 5.66808259e-03 -8.06305032e-04 9.99983611e-01 -2.41229440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.211400513 meters Centerline goodness [0,1] 0.6542375762211317 Centerline is valid? [False, False] Translation: X:299.68, Y:16.83, Z:-0.24 [[ 9.99959128e-01 -7.08147853e-03 -5.62098810e-03 2.99676806e+02] [ 7.08468281e-03 9.99974752e-01 5.50348914e-04 1.68347752e+01] [ 5.61694890e-03 -5.90149338e-04 9.99984051e-01 -2.41143644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.241400513 meters Centerline goodness [0,1] 0.670268208974196 Centerline is valid? [False, False] Translation: X:299.68, Y:16.84, Z:-0.24 [[ 9.99957420e-01 -7.33155345e-03 -5.60407795e-03 2.99676727e+02] [ 7.33154864e-03 9.99973124e-01 -2.14030225e-05 1.68374856e+01] [ 5.60408425e-03 -1.96844588e-05 9.99984297e-01 -2.41156872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.271400513 meters Centerline goodness [0,1] 0.696002730258948 Centerline is valid? [False, False] Translation: X:299.68, Y:16.85, Z:-0.24 [[ 9.99954061e-01 -7.88215885e-03 -5.45409804e-03 2.99676312e+02] [ 7.87289053e-03 9.99967531e-01 -1.71872062e-03 1.68457520e+01] [ 5.46746818e-03 1.67570215e-03 9.99983649e-01 -2.41564291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.301400513 meters Centerline goodness [0,1] 0.6853167872555124 Centerline is valid? [False, False] Translation: X:299.68, Y:16.85, Z:-0.24 [[ 9.99951499e-01 -8.25123139e-03 -5.37750832e-03 2.99676028e+02] [ 8.23716392e-03 9.99962608e-01 -2.63290063e-03 1.68500761e+01] [ 5.39903191e-03 2.58847751e-03 9.99982075e-01 -2.41637384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.331400513 meters Centerline goodness [0,1] 0.6817822923113037 Centerline is valid? [False, False] Translation: X:299.68, Y:16.85, Z:-0.25 [[ 9.99962398e-01 -5.92789069e-03 -6.32944726e-03 2.99682535e+02] [ 5.92646186e-03 9.99982408e-01 -2.44476213e-04 1.68507547e+01] [ 6.33078515e-03 2.06955792e-04 9.99979939e-01 -2.45387414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.361400513 meters Centerline goodness [0,1] 0.6688783973459231 Centerline is valid? [False, False] Translation: X:299.69, Y:16.85, Z:-0.25 [[ 9.99968108e-01 -3.95670922e-03 -6.93743984e-03 2.99688132e+02] [ 3.96910021e-03 9.99990551e-01 1.77324701e-03 1.68505515e+01] [ 6.93035807e-03 -1.80072585e-03 9.99974363e-01 -2.49239626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.391400513 meters Centerline goodness [0,1] 0.5647520135650699 Centerline is valid? [False, False] Translation: X:299.69, Y:16.85, Z:-0.25 [[ 9.99968133e-01 -4.10680999e-03 -6.84592634e-03 2.99687602e+02] [ 4.11677364e-03 9.99990486e-01 1.44195765e-03 1.68521424e+01] [ 6.83993936e-03 -1.47009483e-03 9.99975527e-01 -2.48866598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.421400513 meters Centerline goodness [0,1] 0.6925342146519216 Centerline is valid? [False, False] Translation: X:299.69, Y:16.85, Z:-0.25 [[ 9.99967705e-01 -4.17992425e-03 -6.86412597e-03 2.99687402e+02] [ 4.18935189e-03 9.99990300e-01 1.35966072e-03 1.68525074e+01] [ 6.85837611e-03 -1.38837304e-03 9.99975517e-01 -2.48402361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.451400513 meters Centerline goodness [0,1] 0.7083633436427572 Centerline is valid? [False, False] Translation: X:299.69, Y:16.85, Z:-0.25 [[ 9.99960354e-01 -5.15364864e-03 -7.26158010e-03 2.99688534e+02] [ 5.16392071e-03 9.99985692e-01 1.39653804e-03 1.68504695e+01] [ 7.25427893e-03 -1.43398090e-03 9.99972659e-01 -2.47948451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.481400513 meters Centerline goodness [0,1] 0.7655513566302917 Centerline is valid? [False, False] Translation: X:299.69, Y:16.85, Z:-0.25 [[ 9.99958992e-01 -5.06317108e-03 -7.50855089e-03 2.99689437e+02] [ 5.07914363e-03 9.99984876e-01 2.10970682e-03 1.68468245e+01] [ 7.49775552e-03 -2.14775731e-03 9.99969585e-01 -2.48011487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.511400513 meters Centerline goodness [0,1] 0.8635414447048796 Centerline is valid? [False, False] Translation: X:299.69, Y:16.84, Z:-0.25 [[ 9.99957535e-01 -4.90107829e-03 -7.80431940e-03 2.99690542e+02] [ 4.92374969e-03 9.99983707e-01 2.88842269e-03 1.68429149e+01] [ 7.79003586e-03 -2.92672655e-03 9.99965374e-01 -2.48198509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.541400513 meters Centerline goodness [0,1] 0.9086397570001498 Centerline is valid? [False, False] Translation: X:299.69, Y:16.84, Z:-0.25 [[ 9.99956266e-01 -5.02615675e-03 -7.88693549e-03 2.99690891e+02] [ 5.05813185e-03 9.99979049e-01 4.03948827e-03 1.68364267e+01] [ 7.86646715e-03 -4.07920476e-03 9.99960739e-01 -2.48061020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.571400513 meters Centerline goodness [0,1] 0.9068473518936121 Centerline is valid? [False, False] Translation: X:299.71, Y:16.85, Z:-0.25 [[ 9.99979629e-01 -5.88125713e-03 -2.48032787e-03 2.99713200e+02] [ 5.86224244e-03 9.99953898e-01 -7.60502917e-03 1.68455276e+01] [ 2.52494066e-03 7.59033397e-03 9.99968005e-01 -2.53632568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.601400513 meters Centerline goodness [0,1] 0.9083255378858747 Centerline is valid? [False, False] Translation: X:299.71, Y:16.84, Z:-0.25 [[ 9.99980656e-01 -5.69982904e-03 -2.48995202e-03 2.99713092e+02] [ 5.68181334e-03 9.99958056e-01 -7.18348707e-03 1.68435392e+01] [ 2.53079223e-03 7.16920067e-03 9.99971098e-01 -2.53331167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.631400513 meters Centerline goodness [0,1] 0.996168418348781 Centerline is valid? [False, True] Translation: X:299.71, Y:16.84, Z:-0.25 [[ 9.99981747e-01 -5.47641433e-03 -2.55255061e-03 2.99713205e+02] [ 5.45927050e-03 9.99962816e-01 -6.67561173e-03 1.68411626e+01] [ 2.58901412e-03 6.66155482e-03 9.99974460e-01 -2.53136263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.661400513 meters Centerline goodness [0,1] 0.9556021785661305 Centerline is valid? [True, True] Translation: X:299.74, Y:16.84, Z:-0.25 [[ 9.99978780e-01 -5.54340075e-03 -3.42200150e-03 2.99741289e+02] [ 5.54265019e-03 9.99984613e-01 -2.28779829e-04 1.68430323e+01] [ 3.42321706e-03 2.09808017e-04 9.99994119e-01 -2.53716237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.691400513 meters Centerline goodness [0,1] 0.8879849149346385 Centerline is valid? [True, False] Translation: X:299.74, Y:16.84, Z:-0.25 [[ 9.99979312e-01 -5.34671245e-03 -3.57593207e-03 2.99742264e+02] [ 5.34712499e-03 9.99985698e-01 1.05814060e-04 1.68414867e+01] [ 3.57531517e-03 -1.24932827e-04 9.99993601e-01 -2.54570088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.721400513 meters Centerline goodness [0,1] 0.8333970763216046 Centerline is valid? [False, False] Translation: X:299.74, Y:16.84, Z:-0.25 [[ 9.99979531e-01 -5.31501979e-03 -3.56204325e-03 2.99742403e+02] [ 5.31543606e-03 9.99985867e-01 1.07407302e-04 1.68415161e+01] [ 3.56142203e-03 -1.26338917e-04 9.99993650e-01 -2.54922927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.751400513 meters Centerline goodness [0,1] 0.9489926310857435 Centerline is valid? [False, False] Translation: X:299.74, Y:16.84, Z:-0.26 [[ 9.99979975e-01 -5.24406253e-03 -3.54239616e-03 2.99742520e+02] [ 5.24476741e-03 9.99986228e-01 1.89721982e-04 1.68411666e+01] [ 3.54135246e-03 -2.08297227e-04 9.99993708e-01 -2.55281362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.781400513 meters Centerline goodness [0,1] 0.8270157779618186 Centerline is valid? [False, False] Translation: X:299.74, Y:16.84, Z:-0.26 [[ 9.99980589e-01 -5.09631641e-03 -3.58458465e-03 2.99742812e+02] [ 5.09794772e-03 9.99986906e-01 4.46101021e-04 1.68399810e+01] [ 3.58226424e-03 -4.64366387e-04 9.99993476e-01 -2.55600571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.811400513 meters Centerline goodness [0,1] 0.7566137566137566 Centerline is valid? [False, False] Translation: X:299.74, Y:16.84, Z:-0.26 [[ 9.99981374e-01 -4.93077504e-03 -3.59703782e-03 2.99742928e+02] [ 4.93358167e-03 9.99987532e-01 7.71805951e-04 1.68384809e+01] [ 3.59318737e-03 -7.89537856e-04 9.99993233e-01 -2.55720179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.841400513 meters Centerline goodness [0,1] 0.9011047716733979 Centerline is valid? [False, False] Translation: X:299.74, Y:16.84, Z:-0.26 [[ 9.99982006e-01 -4.82897984e-03 -3.55921820e-03 2.99742861e+02] [ 4.83237789e-03 9.99987876e-01 9.46739868e-04 1.68376955e+01] [ 3.55460326e-03 -9.63922320e-04 9.99993218e-01 -2.55823498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.871400513 meters Centerline goodness [0,1] 0.6003142117107554 Centerline is valid? [False, False] Translation: X:299.74, Y:16.84, Z:-0.26 [[ 9.99983171e-01 -4.77343800e-03 -3.29739753e-03 2.99741869e+02] [ 4.77557732e-03 9.99988391e-01 6.41221061e-04 1.68394481e+01] [ 3.29429842e-03 -6.56957246e-04 9.99994358e-01 -2.55619402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.901400513 meters Centerline goodness [0,1] 0.6862354679170146 Centerline is valid? [False, False] Translation: X:299.74, Y:16.84, Z:-0.26 [[ 9.99983151e-01 -4.87118781e-03 -3.15726107e-03 2.99741450e+02] [ 4.87216609e-03 9.99988085e-01 3.02233527e-04 1.68410977e+01] [ 3.15575121e-03 -3.17611135e-04 9.99994970e-01 -2.55746333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.931400513 meters Centerline goodness [0,1] 0.6637819493053346 Centerline is valid? [False, False] Translation: X:299.74, Y:16.84, Z:-0.26 [[ 9.99983532e-01 -4.85229473e-03 -3.06461904e-03 2.99741183e+02] [ 4.85287494e-03 9.99988208e-01 1.81916444e-04 1.68417495e+01] [ 3.06370019e-03 -1.96785661e-04 9.99995287e-01 -2.55889635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.961400513 meters Centerline goodness [0,1] 0.7014672924859402 Centerline is valid? [False, False] Translation: X:299.74, Y:16.84, Z:-0.26 [[ 9.99984942e-01 -4.65790195e-03 -2.90156905e-03 2.99740682e+02] [ 4.65950918e-03 9.99988995e-01 5.47401464e-04 1.68400667e+01] [ 2.89898737e-03 -5.60913109e-04 9.99995641e-01 -2.56016918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.991400513 meters Centerline goodness [0,1] 0.6466918994354345 Centerline is valid? [False, False] Translation: X:299.74, Y:16.84, Z:-0.26 [[ 9.99985740e-01 -4.47819681e-03 -2.90962568e-03 2.99740620e+02] [ 4.48106427e-03 9.99989480e-01 9.79740150e-04 1.68380298e+01] [ 2.90520760e-03 -9.92764398e-04 9.99995287e-01 -2.55823391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.021400513 meters Centerline goodness [0,1] 0.6839674838270344 Centerline is valid? [False, False] Translation: X:299.74, Y:16.83, Z:-0.26 [[ 9.99986658e-01 -4.22928251e-03 -2.96588778e-03 2.99740617e+02] [ 4.23411869e-03 9.99989714e-01 1.62622303e-03 1.68349591e+01] [ 2.95897951e-03 -1.63875925e-03 9.99994279e-01 -2.55388692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.051400513 meters Centerline goodness [0,1] 0.7613280167174873 Centerline is valid? [False, False] Translation: X:299.74, Y:16.83, Z:-0.26 [[ 9.99987871e-01 -3.91545280e-03 -2.98797430e-03 2.99740580e+02] [ 3.92295846e-03 9.99989154e-01 2.51024161e-03 1.68307437e+01] [ 2.97811316e-03 -2.52193286e-03 9.99992385e-01 -2.55054480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.081400513 meters Centerline goodness [0,1] 0.8282793794413265 Centerline is valid? [False, False] Translation: X:299.74, Y:16.83, Z:-0.25 [[ 9.99988880e-01 -3.55216951e-03 -3.10193346e-03 2.99740826e+02] [ 3.56316724e-03 9.99987361e-01 3.54714554e-03 1.68257737e+01] [ 3.08929419e-03 -3.55815881e-03 9.99988898e-01 -2.54702438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.111400513 meters Centerline goodness [0,1] 0.7642629904559916 Centerline is valid? [False, False] Translation: X:299.75, Y:16.82, Z:-0.26 [[ 9.99976871e-01 -5.51855164e-03 -3.97521606e-03 2.99747479e+02] [ 5.52484735e-03 9.99983498e-01 1.57450393e-03 1.68247034e+01] [ 3.96646148e-03 -1.59642998e-03 9.99990859e-01 -2.58897144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.141400513 meters Centerline goodness [0,1] 0.8231550813482383 Centerline is valid? [False, False] Translation: X:299.75, Y:16.82, Z:-0.26 [[ 9.99979268e-01 -4.93773550e-03 -4.13309326e-03 2.99747993e+02] [ 4.95082162e-03 9.99982746e-01 3.16195916e-03 1.68170834e+01] [ 4.11740903e-03 -3.18235582e-03 9.99986460e-01 -2.58673908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.171400513 meters Centerline goodness [0,1] 0.8181624614074311 Centerline is valid? [False, False] Translation: X:299.75, Y:16.81, Z:-0.26 [[ 9.99980313e-01 -4.69658029e-03 -4.16131060e-03 2.99748189e+02] [ 4.71198627e-03 9.99982053e-01 3.70015656e-03 1.68145420e+01] [ 4.14385783e-03 -3.71969175e-03 9.99984496e-01 -2.58827633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.201400513 meters Centerline goodness [0,1] 0.7700234885837018 Centerline is valid? [False, False] Translation: X:299.75, Y:16.81, Z:-0.26 [[ 9.99981055e-01 -4.50285601e-03 -4.19689917e-03 2.99748352e+02] [ 4.52009032e-03 9.99981354e-01 4.10604023e-03 1.68126358e+01] [ 4.17833201e-03 -4.12493281e-03 9.99982763e-01 -2.58861699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.231400513 meters Centerline goodness [0,1] 0.7342842609469713 Centerline is valid? [False, False] Translation: X:299.75, Y:16.81, Z:-0.26 [[ 9.99981798e-01 -4.36750337e-03 -4.16280224e-03 2.99748288e+02] [ 4.38566234e-03 9.99980864e-01 4.36309990e-03 1.68114486e+01] [ 4.14366673e-03 -4.38127713e-03 9.99981817e-01 -2.58944946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.261400513 meters Centerline goodness [0,1] 0.6952016985138004 Centerline is valid? [False, False] Translation: X:299.75, Y:16.81, Z:-0.26 [[ 9.99983571e-01 -4.13840681e-03 -3.96623566e-03 2.99747835e+02] [ 4.15605451e-03 9.99981455e-01 4.45161859e-03 1.68113005e+01] [ 3.94773950e-03 -4.46802935e-03 9.99982226e-01 -2.59298167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.291400513 meters Centerline goodness [0,1] 0.7565388061611982 Centerline is valid? [False, False] Translation: X:299.75, Y:16.81, Z:-0.26 [[ 9.99983568e-01 -4.21735996e-03 -3.88299623e-03 2.99747737e+02] [ 4.23342429e-03 9.99982476e-01 4.13821383e-03 1.68128318e+01] [ 3.86547585e-03 -4.15458420e-03 9.99983899e-01 -2.59694301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.321400513 meters Centerline goodness [0,1] 0.7565388061611982 Centerline is valid? [False, False] Translation: X:299.75, Y:16.81, Z:-0.26 [[ 9.99983568e-01 -4.21735996e-03 -3.88299623e-03 2.99747737e+02] [ 4.23342429e-03 9.99982476e-01 4.13821383e-03 1.68128318e+01] [ 3.86547585e-03 -4.15458420e-03 9.99983899e-01 -2.59694301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.351400513 meters Centerline goodness [0,1] 0.63509034534374 Centerline is valid? [False, False] Translation: X:299.75, Y:16.81, Z:-0.26 [[ 9.99983176e-01 -4.34757238e-03 -3.84005017e-03 2.99747773e+02] [ 4.36193066e-03 9.99983498e-01 3.73865895e-03 1.68147434e+01] [ 3.82373271e-03 -3.75534608e-03 9.99985638e-01 -2.60083395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.381400513 meters Centerline goodness [0,1] 0.6616271620755926 Centerline is valid? [False, False] Translation: X:299.75, Y:16.82, Z:-0.26 [[ 9.99982794e-01 -4.48183963e-03 -3.78475595e-03 2.99747855e+02] [ 4.49444391e-03 9.99984361e-01 3.32836348e-03 1.68167032e+01] [ 3.76977957e-03 -3.34531659e-03 9.99987299e-01 -2.60665823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.411400513 meters Centerline goodness [0,1] 0.7539143658834365 Centerline is valid? [False, False] Translation: X:299.75, Y:16.82, Z:-0.26 [[ 9.99982167e-01 -4.63091775e-03 -3.77110197e-03 2.99748023e+02] [ 4.64206190e-03 9.99984869e-01 2.95177302e-03 1.68184776e+01] [ 3.75737549e-03 -2.96922607e-03 9.99988533e-01 -2.61138662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.441400513 meters Centerline goodness [0,1] 0.5820581930855918 Centerline is valid? [False, False] Translation: X:299.75, Y:16.82, Z:-0.26 [[ 9.99981645e-01 -4.71205918e-03 -3.80861303e-03 2.99748254e+02] [ 4.72247973e-03 9.99985118e-01 2.73170155e-03 1.68194836e+01] [ 3.79568441e-03 -2.74963750e-03 9.99989016e-01 -2.61418808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.471400513 meters Centerline goodness [0,1] 0.5614072403964776 Centerline is valid? [False, False] Translation: X:299.75, Y:16.82, Z:-0.26 [[ 9.99981038e-01 -4.79215349e-03 -3.86777948e-03 2.99748544e+02] [ 4.80211167e-03 9.99985169e-01 2.56948290e-03 1.68202307e+01] [ 3.85540876e-03 -2.58800768e-03 9.99989219e-01 -2.61593153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.501400513 meters Centerline goodness [0,1] 0.5898290689032806 Centerline is valid? [False, False] Translation: X:299.75, Y:16.82, Z:-0.26 [[ 9.99981068e-01 -4.78311114e-03 -3.87104297e-03 2.99748434e+02] [ 4.79324320e-03 9.99985100e-01 2.61236742e-03 1.68200274e+01] [ 3.85849005e-03 -2.63087282e-03 9.99989095e-01 -2.61358966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.531400513 meters Centerline goodness [0,1] 0.6601619088197699 Centerline is valid? [False, False] Translation: X:299.75, Y:16.82, Z:-0.26 [[ 9.99981202e-01 -4.73597804e-03 -3.89449640e-03 2.99748282e+02] [ 4.74663831e-03 9.99985001e-01 2.73259487e-03 1.68194778e+01] [ 3.88149647e-03 -2.75102926e-03 9.99988683e-01 -2.60916984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.561400513 meters Centerline goodness [0,1] 0.6582961348875584 Centerline is valid? [False, False] Translation: X:299.75, Y:16.83, Z:-0.26 [[ 9.99950313e-01 -9.30196391e-03 -3.58411249e-03 2.99747325e+02] [ 9.29202999e-03 9.99952968e-01 -2.77840995e-03 1.68254937e+01] [ 3.60978859e-03 2.74496821e-03 9.99989717e-01 -2.61068673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.591400513 meters Centerline goodness [0,1] 0.7488225060465905 Centerline is valid? [False, False] Translation: X:299.75, Y:16.82, Z:-0.26 [[ 9.99950338e-01 -9.22018077e-03 -3.78293718e-03 2.99748198e+02] [ 9.21104495e-03 9.99954636e-01 -2.42536335e-03 1.68237122e+01] [ 3.80512786e-03 2.39039810e-03 9.99989903e-01 -2.61480351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.621400513 meters Centerline goodness [0,1] 0.7440461001956281 Centerline is valid? [False, False] Translation: X:299.75, Y:16.82, Z:-0.26 [[ 9.99951146e-01 -9.08433629e-03 -3.89611538e-03 2.99748676e+02] [ 9.07641903e-03 9.99956717e-01 -2.04498306e-03 1.68218693e+01] [ 3.91452406e-03 2.00952038e-03 9.99990319e-01 -2.61643329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.651400513 meters Centerline goodness [0,1] 0.8084762350538275 Centerline is valid? [False, False] Translation: X:299.75, Y:16.82, Z:-0.26 [[ 9.99952813e-01 -8.87622293e-03 -3.94782721e-03 2.99748734e+02] [ 8.87024705e-03 9.99959490e-01 -1.52865750e-03 1.68194261e+01] [ 3.96123599e-03 1.49356716e-03 9.99991039e-01 -2.61376665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.681400513 meters Centerline goodness [0,1] 0.8659953688951203 Centerline is valid? [False, False] Translation: X:299.75, Y:16.82, Z:-0.26 [[ 9.99954890e-01 -8.62913629e-03 -3.96926846e-03 2.99748648e+02] [ 8.62561287e-03 9.99962390e-01 -9.03940303e-04 1.68164845e+01] [ 3.97691940e-03 8.69662154e-04 9.99991714e-01 -2.61002541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.711400513 meters Centerline goodness [0,1] 0.7296981043763164 Centerline is valid? [False, False] Translation: X:299.75, Y:16.81, Z:-0.26 [[ 9.99956120e-01 -8.46010363e-03 -4.02314260e-03 2.99748668e+02] [ 8.45823278e-03 9.99964112e-01 -4.81808410e-04 1.68144966e+01] [ 4.02707437e-03 4.47758591e-04 9.99991791e-01 -2.60648863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.741400513 meters Centerline goodness [0,1] 0.772372462037195 Centerline is valid? [False, False] Translation: X:299.75, Y:16.81, Z:-0.26 [[ 9.99957103e-01 -8.27460538e-03 -4.16215895e-03 2.99749120e+02] [ 8.27553219e-03 9.99965736e-01 2.05501885e-04 1.68111214e+01] [ 4.16031589e-03 -2.39937150e-04 9.99991317e-01 -2.60526302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.771400513 meters Centerline goodness [0,1] 0.8760284894227702 Centerline is valid? [False, False] Translation: X:299.75, Y:16.81, Z:-0.26 [[ 9.99958693e-01 -8.01771950e-03 -4.28123642e-03 2.99749397e+02] [ 8.02151502e-03 9.99967449e-01 8.70112768e-04 1.68079523e+01] [ 4.27412074e-03 -9.04418828e-04 9.99990457e-01 -2.60258288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.801400513 meters Centerline goodness [0,1] 0.9018023617153511 Centerline is valid? [False, False] Translation: X:299.75, Y:16.80, Z:-0.26 [[ 9.99961668e-01 -7.65096551e-03 -4.25733763e-03 2.99749219e+02] [ 7.65871164e-03 9.99969040e-01 1.80616006e-03 1.68035225e+01] [ 4.24338696e-03 -1.83869654e-03 9.99989306e-01 -2.59977909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.831400513 meters Centerline goodness [0,1] 0.9201913875598087 Centerline is valid? [False, False] Translation: X:299.75, Y:16.81, Z:-0.26 [[ 9.99919129e-01 -1.20695536e-02 -4.00769957e-03 2.99748504e+02] [ 1.20575332e-02 9.99922775e-01 -3.01007696e-03 1.68060186e+01] [ 4.04372036e-03 2.96151056e-03 9.99987439e-01 -2.59991276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.861400513 meters Centerline goodness [0,1] 0.9678587403352574 Centerline is valid? [False, True] Translation: X:299.75, Y:16.80, Z:-0.26 [[ 9.99956594e-01 -8.29574674e-03 -4.24142738e-03 2.99749219e+02] [ 8.30697396e-03 9.99962021e-01 2.63630852e-03 1.67971936e+01] [ 4.21939615e-03 -2.67142752e-03 9.99987530e-01 -2.59729746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.891400513 meters Centerline goodness [0,1] 0.956613399671122 Centerline is valid? [True, True] Translation: X:299.78, Y:16.80, Z:-0.26 [[ 9.99944622e-01 -9.86302258e-03 -3.67074728e-03 2.99777962e+02] [ 9.86210606e-03 9.99951332e-01 -2.67699172e-04 1.67978458e+01] [ 3.67320896e-03 2.31483048e-04 9.99993227e-01 -2.60008569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.921400513 meters Centerline goodness [0,1] 0.8858680622035016 Centerline is valid? [True, False] Translation: X:299.78, Y:16.79, Z:-0.26 [[ 9.99947698e-01 -9.54558779e-03 -3.67188801e-03 2.99777859e+02] [ 9.54721950e-03 9.99954333e-01 4.27107174e-04 1.67946073e+01] [ 3.66764334e-03 -4.62141156e-04 9.99993167e-01 -2.59739172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.951400513 meters Centerline goodness [0,1] 0.9490086188595932 Centerline is valid? [False, False] Translation: X:299.78, Y:16.79, Z:-0.26 [[ 9.99949902e-01 -9.31558793e-03 -3.66243795e-03 2.99777798e+02] [ 9.31897276e-03 9.99956165e-01 9.08224336e-04 1.67923714e+01] [ 3.65381677e-03 -9.42308996e-04 9.99992881e-01 -2.59660008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.981400513 meters Centerline goodness [0,1] 0.8282465336489686 Centerline is valid? [False, False] Translation: X:299.78, Y:16.79, Z:-0.26 [[ 9.99950950e-01 -9.22865530e-03 -3.59587211e-03 2.99777625e+02] [ 9.23232810e-03 9.99956875e-01 1.00613439e-03 1.67919476e+01] [ 3.58643177e-03 -1.03928331e-03 9.99993029e-01 -2.59751463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.011400513 meters Centerline goodness [0,1] 0.9418779840848807 Centerline is valid? [False, False] Translation: X:299.78, Y:16.79, Z:-0.26 [[ 9.99951287e-01 -9.21917806e-03 -3.52563621e-03 2.99777585e+02] [ 9.22256027e-03 9.99957025e-01 9.44266678e-04 1.67922888e+01] [ 3.51677933e-03 -9.76736073e-04 9.99993339e-01 -2.60113777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.041400513 meters Centerline goodness [0,1] 0.8726894148642332 Centerline is valid? [False, False] Translation: X:299.78, Y:16.79, Z:-0.26 [[ 9.99952965e-01 -9.03270317e-03 -3.53239051e-03 2.99777967e+02] [ 9.03648209e-03 9.99958613e-01 1.05529927e-03 1.67918786e+01] [ 3.52271211e-03 -1.08717002e-03 9.99993204e-01 -2.60892854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.071400513 meters Centerline goodness [0,1] 0.8003858520900322 Centerline is valid? [False, False] Translation: X:299.78, Y:16.79, Z:-0.26 [[ 9.99954367e-01 -8.86132741e-03 -3.56930354e-03 2.99778259e+02] [ 8.86647080e-03 9.99959673e-01 1.42777028e-03 1.67901105e+01] [ 3.55650766e-03 -1.45935225e-03 9.99992611e-01 -2.61211606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.101400513 meters Centerline goodness [0,1] 0.7363456758651457 Centerline is valid? [False, False] Translation: X:299.78, Y:16.79, Z:-0.26 [[ 9.99956032e-01 -8.66102508e-03 -3.59465063e-03 2.99778323e+02] [ 8.66784436e-03 9.99960655e-01 1.88584136e-03 1.67879295e+01] [ 3.57817588e-03 -1.91691632e-03 9.99991761e-01 -2.61146682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.131400513 meters Centerline goodness [0,1] 0.8003285543608124 Centerline is valid? [False, False] Translation: X:299.78, Y:16.79, Z:-0.26 [[ 9.99957779e-01 -8.45436764e-03 -3.60059513e-03 2.99778310e+02] [ 8.46287422e-03 9.99961419e-01 2.35390157e-03 1.67857300e+01] [ 3.58055546e-03 -2.38427357e-03 9.99990747e-01 -2.61069846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.161400513 meters Centerline goodness [0,1] 0.6649935404621217 Centerline is valid? [False, False] Translation: X:299.78, Y:16.78, Z:-0.26 [[ 9.99959141e-01 -8.26698331e-03 -3.65683284e-03 2.99778499e+02] [ 8.27734347e-03 9.99961746e-01 2.82709362e-03 1.67834600e+01] [ 3.63332141e-03 -2.85724697e-03 9.99989318e-01 -2.61025946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.191400513 meters Centerline goodness [0,1] 0.8028870612175683 Centerline is valid? [False, False] Translation: X:299.78, Y:16.78, Z:-0.26 [[ 9.99960690e-01 -8.05914454e-03 -3.69715900e-03 2.99778557e+02] [ 8.07149134e-03 9.99961857e-01 3.33686133e-03 1.67810362e+01] [ 3.67012574e-03 -3.36657175e-03 9.99987598e-01 -2.60851771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.221400513 meters Centerline goodness [0,1] 0.9319700387283483 Centerline is valid? [False, False] Translation: X:299.78, Y:16.78, Z:-0.26 [[ 9.99961295e-01 -7.87903276e-03 -3.91514347e-03 2.99779147e+02] [ 7.89608253e-03 9.99959326e-01 4.35862084e-03 1.67758503e+01] [ 3.88064251e-03 -4.38936643e-03 9.99982837e-01 -2.60453409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.251400513 meters Centerline goodness [0,1] 0.9939012728702268 Centerline is valid? [False, True] Translation: X:299.78, Y:16.77, Z:-0.26 [[ 9.99962728e-01 -7.62909956e-03 -4.04217662e-03 2.99779499e+02] [ 7.64960480e-03 9.99957828e-01 5.08187968e-03 1.67723424e+01] [ 4.00323599e-03 -5.11261133e-03 9.99978917e-01 -2.60257696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.281400513 meters Centerline goodness [0,1] 0.988216694772344 Centerline is valid? [True, True] Translation: X:299.81, Y:16.78, Z:-0.26 [[ 9.99957704e-01 -8.36305398e-03 -3.82738466e-03 2.99805004e+02] [ 8.36889682e-03 9.99963835e-01 1.51312882e-03 1.67757730e+01] [ 3.81459186e-03 -1.54509581e-03 9.99991531e-01 -2.60652012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.311400513 meters Centerline goodness [0,1] 0.9990817655726153 Centerline is valid? [True, True] Translation: X:299.84, Y:16.77, Z:-0.26 [[ 9.99922650e-01 -1.20173865e-02 -3.20564310e-03 2.99839039e+02] [ 1.20107639e-02 9.99925711e-01 -2.07721224e-03 1.67721468e+01] [ 3.23036762e-03 2.03854934e-03 9.99992704e-01 -2.59559164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.341400513 meters Centerline goodness [0,1] 0.9991037896893138 Centerline is valid? [True, True] Translation: X:299.87, Y:16.77, Z:-0.26 [[ 9.99900275e-01 -1.36451946e-02 -3.63984721e-03 2.99868563e+02] [ 1.36443120e-02 9.99906876e-01 -2.67224194e-04 1.67699889e+01] [ 3.64315458e-03 2.17534334e-04 9.99993340e-01 -2.59157376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.371400513 meters Centerline goodness [0,1] 0.9962675488823853 Centerline is valid? [True, True] Translation: X:299.90, Y:16.77, Z:-0.26 [[ 9.99877388e-01 -1.50757720e-02 -4.23438427e-03 2.99897695e+02] [ 1.50745897e-02 9.99886324e-01 -3.11004489e-04 1.67738549e+01] [ 4.23859155e-03 2.47134751e-04 9.99990987e-01 -2.59872529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.401400513 meters Centerline goodness [0,1] 0.9990166107274943 Centerline is valid? [True, True] Translation: X:299.93, Y:16.77, Z:-0.26 [[ 9.99880215e-01 -1.48196787e-02 -4.46450385e-03 2.99926738e+02] [ 1.48183595e-02 9.99890148e-01 -3.28424486e-04 1.67691689e+01] [ 4.46888056e-03 2.62228523e-04 9.99989980e-01 -2.59461238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.431400513 meters Centerline goodness [0,1] 0.999320320299059 Centerline is valid? [True, True] Translation: X:299.96, Y:16.77, Z:-0.26 [[ 9.99898151e-01 -1.36686791e-02 -4.10535778e-03 2.99956910e+02] [ 1.36675528e-02 9.99906549e-01 -3.02286587e-04 1.67677778e+01] [ 4.10910599e-03 2.46145605e-04 9.99991527e-01 -2.59061826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.461400513 meters Centerline goodness [0,1] 0.9935596318575042 Centerline is valid? [True, True] Translation: X:299.98, Y:16.78, Z:-0.26 [[ 9.99917199e-01 -1.23539591e-02 -3.60211139e-03 2.99984555e+02] [ 1.23530830e-02 9.99923663e-01 -2.65356384e-04 1.67763793e+01] [ 3.60511462e-03 2.20837231e-04 9.99993477e-01 -2.58695092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.491400513 meters Centerline goodness [0,1] 0.9981944473946938 Centerline is valid? [True, True] Translation: X:300.01, Y:16.77, Z:-0.26 [[ 9.99935899e-01 -1.09015906e-02 -3.05828830e-03 3.00014286e+02] [ 1.09009520e-02 9.99940557e-01 -2.25406046e-04 1.67728523e+01] [ 3.06056379e-03 1.92053343e-04 9.99995298e-01 -2.57648991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.521400513 meters Centerline goodness [0,1] 0.9986194299307591 Centerline is valid? [True, True] Translation: X:300.04, Y:16.77, Z:-0.26 [[ 9.99951658e-01 -9.50043167e-03 -2.53453908e-03 3.00043845e+02] [ 9.49998838e-03 9.99954857e-01 -1.86882322e-04 1.67721191e+01] [ 2.53620013e-03 1.62795195e-04 9.99996771e-01 -2.56738466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.551400513 meters Centerline goodness [0,1] 0.9870360466360039 Centerline is valid? [True, True] Translation: X:300.07, Y:16.78, Z:-0.26 [[ 9.99976432e-01 -6.44399765e-03 -2.36851501e-03 3.00073302e+02] [ 6.44360188e-03 9.99979225e-01 -1.74690322e-04 1.67787018e+01] [ 2.36959150e-03 1.59424437e-04 9.99997180e-01 -2.56370399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.581400513 meters Centerline goodness [0,1] 0.9462838126119976 Centerline is valid? [True, False] Translation: X:300.07, Y:16.78, Z:-0.26 [[ 9.99976687e-01 -6.38451929e-03 -2.42127495e-03 3.00073696e+02] [ 6.38439241e-03 9.99979618e-01 -6.01262319e-05 1.67781344e+01] [ 2.42160948e-03 4.46664607e-05 9.99997067e-01 -2.56816595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.611400513 meters Centerline goodness [0,1] 0.797770331499863 Centerline is valid? [False, False] Translation: X:300.07, Y:16.78, Z:-0.26 [[ 9.99977293e-01 -6.27471415e-03 -2.45784653e-03 3.00074028e+02] [ 6.27516682e-03 9.99980295e-01 1.76505621e-04 1.67769909e+01] [ 2.45669058e-03 -1.91925011e-04 9.99996964e-01 -2.57223449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.641400513 meters Centerline goodness [0,1] 0.997302273797799 Centerline is valid? [False, True] Translation: X:300.05, Y:16.78, Z:-0.26 [[ 9.99980257e-01 -5.94473331e-03 -2.03601276e-03 3.00054064e+02] [ 5.92255247e-03 9.99924868e-01 -1.07323149e-02 1.67814326e+01] [ 2.09966054e-03 1.07200446e-02 9.99940334e-01 -2.61303924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.671400513 meters Centerline goodness [0,1] 0.8319329514109909 Centerline is valid? [True, False] Translation: X:300.07, Y:16.77, Z:-0.26 [[ 9.99977163e-01 -6.52493194e-03 -1.76013948e-03 3.00073333e+02] [ 6.52549708e-03 9.99978659e-01 3.15526379e-04 1.67738290e+01] [ 1.75804313e-03 -3.27004958e-04 9.99998401e-01 -2.57568855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.701400513 meters Centerline goodness [0,1] 0.958340421912215 Centerline is valid? [False, True] Translation: X:300.07, Y:16.77, Z:-0.26 [[ 9.99978432e-01 -6.33332406e-03 -1.73896764e-03 3.00073076e+02] [ 6.33464609e-03 9.99979650e-01 7.55784742e-04 1.67717923e+01] [ 1.73414562e-03 -7.66784186e-04 9.99998202e-01 -2.57195039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.731400513 meters Centerline goodness [0,1] 0.972307169554876 Centerline is valid? [True, True] Translation: X:300.10, Y:16.77, Z:-0.26 [[ 9.99980962e-01 -5.93232175e-03 -1.69819428e-03 3.00102124e+02] [ 5.93211736e-03 9.99982397e-01 -1.25366340e-04 1.67710330e+01] [ 1.69890810e-03 1.15290065e-04 9.99998550e-01 -2.56509557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.761400513 meters Centerline goodness [0,1] 0.9343320901847771 Centerline is valid? [True, False] Translation: X:300.10, Y:16.77, Z:-0.26 [[ 9.99981053e-01 -5.92250268e-03 -1.67858496e-03 3.00102152e+02] [ 5.92230269e-03 9.99982455e-01 -1.24083163e-04 1.67710323e+01] [ 1.67929039e-03 1.14139724e-04 9.99998583e-01 -2.56690358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.791400513 meters Centerline goodness [0,1] 0.80129350693558 Centerline is valid? [False, False] Translation: X:300.10, Y:16.77, Z:-0.26 [[ 9.99980835e-01 -5.96757975e-03 -1.64852681e-03 3.00102179e+02] [ 5.96717003e-03 9.99982164e-01 -2.53347439e-04 1.67716536e+01] [ 1.65000928e-03 2.43505544e-04 9.99998609e-01 -2.56940810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.821400513 meters Centerline goodness [0,1] 0.8820471300123578 Centerline is valid? [False, False] Translation: X:300.10, Y:16.77, Z:-0.26 [[ 9.99980271e-01 -6.06912290e-03 -1.61978764e-03 3.00102229e+02] [ 6.06830073e-03 9.99981457e-01 -5.12009907e-04 1.67728767e+01] [ 1.62286505e-03 5.02170447e-04 9.99998557e-01 -2.57260605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.851400513 meters Centerline goodness [0,1] 0.8683817250213492 Centerline is valid? [False, False] Translation: X:300.10, Y:16.77, Z:-0.26 [[ 9.99979861e-01 -6.15063691e-03 -1.56433711e-03 3.00102278e+02] [ 6.14945336e-03 9.99980803e-01 -7.60266751e-04 1.67740746e+01] [ 1.56898320e-03 7.50631622e-04 9.99998487e-01 -2.57743567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.881400513 meters Centerline goodness [0,1] 0.8469429362405305 Centerline is valid? [False, False] Translation: X:300.10, Y:16.78, Z:-0.26 [[ 9.99979567e-01 -6.24558247e-03 -1.36335559e-03 3.00101646e+02] [ 6.24391548e-03 9.99979758e-01 -1.22356153e-03 1.67764306e+01] [ 1.37096985e-03 1.21502385e-03 9.99998322e-01 -2.57818312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.911400513 meters Centerline goodness [0,1] 0.6843178920526987 Centerline is valid? [False, False] Translation: X:300.10, Y:16.78, Z:-0.26 [[ 9.99978974e-01 -6.34739014e-03 -1.32721347e-03 3.00101530e+02] [ 6.34533607e-03 9.99978673e-01 -1.54618466e-03 1.67780035e+01] [ 1.33699940e-03 1.53773054e-03 9.99997924e-01 -2.57891370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.941400513 meters Centerline goodness [0,1] 0.7010848673813693 Centerline is valid? [False, False] Translation: X:300.10, Y:16.78, Z:-0.26 [[ 9.99978195e-01 -6.48213426e-03 -1.26130427e-03 3.00101295e+02] [ 6.47978040e-03 9.99977273e-01 -1.86143319e-03 1.67795177e+01] [ 1.27334166e-03 1.85321963e-03 9.99997472e-01 -2.57890296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.971400513 meters Centerline goodness [0,1] 0.7091392136025505 Centerline is valid? [False, False] Translation: X:300.10, Y:16.78, Z:-0.26 [[ 9.99977932e-01 -6.53757190e-03 -1.18139119e-03 3.00101007e+02] [ 6.53517720e-03 9.99976606e-01 -2.01963107e-03 1.67802914e+01] [ 1.19456703e-03 2.01186590e-03 9.99997263e-01 -2.57888383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.001400513 meters Centerline goodness [0,1] 0.7080778177204483 Centerline is valid? [False, False] Translation: X:300.10, Y:16.78, Z:-0.26 [[ 9.99977783e-01 -6.56994551e-03 -1.12676357e-03 3.00100802e+02] [ 6.56755649e-03 9.99976205e-01 -2.11100318e-03 1.67807500e+01] [ 1.14060593e-03 2.10355620e-03 9.99997137e-01 -2.57862536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.031400513 meters Centerline goodness [0,1] 0.7157305514916354 Centerline is valid? [False, False] Translation: X:300.10, Y:16.78, Z:-0.26 [[ 9.99976942e-01 -6.71690245e-03 -9.99102956e-04 3.00100393e+02] [ 6.71442801e-03 9.99974433e-01 -2.45972579e-03 1.67824355e+01] [ 1.01559915e-03 2.45296067e-03 9.99996476e-01 -2.57950269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.061400513 meters Centerline goodness [0,1] 0.6387902612224194 Centerline is valid? [False, False] Translation: X:300.10, Y:16.78, Z:-0.26 [[ 9.99975687e-01 -6.89012526e-03 -1.07288079e-03 3.00100742e+02] [ 6.88705074e-03 9.99972241e-01 -2.84346474e-03 1.67842341e+01] [ 1.09244284e-03 2.83600663e-03 9.99995382e-01 -2.58162018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.091400513 meters Centerline goodness [0,1] 0.7387477198489798 Centerline is valid? [False, False] Translation: X:300.10, Y:16.79, Z:-0.26 [[ 9.99974433e-01 -7.06274888e-03 -1.11887610e-03 3.00100931e+02] [ 7.05909641e-03 9.99969850e-01 -3.23539525e-03 1.67860908e+01] [ 1.14169315e-03 3.22741428e-03 9.99994140e-01 -2.58241443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.121400513 meters Centerline goodness [0,1] 0.7266807610993657 Centerline is valid? [False, False] Translation: X:300.10, Y:16.78, Z:-0.26 [[ 9.99994617e-01 -2.82056994e-03 -1.67640524e-03 3.00102543e+02] [ 2.82378990e-03 9.99994167e-01 1.92149899e-03 1.67814521e+01] [ 1.67097573e-03 -1.92622247e-03 9.99996749e-01 -2.57823025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.151400513 meters Centerline goodness [0,1] 0.587345894394045 Centerline is valid? [False, False] Translation: X:300.10, Y:16.78, Z:-0.26 [[ 9.99994159e-01 -2.95011950e-03 -1.72569087e-03 3.00102886e+02] [ 2.95294186e-03 9.99994303e-01 1.63523969e-03 1.67827746e+01] [ 1.72085689e-03 -1.64032601e-03 9.99997174e-01 -2.58176691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.181400513 meters Centerline goodness [0,1] 0.5894566994331331 Centerline is valid? [False, False] Translation: X:300.10, Y:16.79, Z:-0.26 [[ 9.99993051e-01 -3.23805216e-03 -1.84733973e-03 3.00103762e+02] [ 3.23991796e-03 9.99994244e-01 1.00789797e-03 1.67856605e+01] [ 1.84406547e-03 -1.01387620e-03 9.99997786e-01 -2.59117250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.211400513 meters Centerline goodness [0,1] 0.8177451378066224 Centerline is valid? [False, False] Translation: X:300.10, Y:16.79, Z:-0.26 [[ 9.99992418e-01 -3.39274835e-03 -1.91134674e-03 3.00104099e+02] [ 3.39401911e-03 9.99994021e-01 6.62001080e-04 1.67872705e+01] [ 1.90908931e-03 -6.68483208e-04 9.99997954e-01 -2.59366270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.241400513 meters Centerline goodness [0,1] 0.8177451378066224 Centerline is valid? [False, False] Translation: X:300.10, Y:16.79, Z:-0.26 [[ 9.99992418e-01 -3.39274835e-03 -1.91134674e-03 3.00104099e+02] [ 3.39401911e-03 9.99994021e-01 6.62001080e-04 1.67872705e+01] [ 1.90908931e-03 -6.68483208e-04 9.99997954e-01 -2.59366270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.271400513 meters Centerline goodness [0,1] 0.5729895382014161 Centerline is valid? [False, False] Translation: X:300.10, Y:16.79, Z:-0.26 [[ 9.99967736e-01 -7.84023531e-03 -1.74852031e-03 3.00103744e+02] [ 7.83127724e-03 9.99956469e-01 -5.07254227e-03 1.67946947e+01] [ 1.78821412e-03 5.05868546e-03 9.99985606e-01 -2.59894734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.301400513 meters Centerline goodness [0,1] 0.8175691576988083 Centerline is valid? [False, False] Translation: X:300.10, Y:16.80, Z:-0.26 [[ 9.99966848e-01 -7.95670700e-03 -1.73012468e-03 3.00103554e+02] [ 7.94739649e-03 9.99954250e-01 -5.32329130e-03 1.67958925e+01] [ 1.77240140e-03 5.30936484e-03 9.99984334e-01 -2.59643917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.331400513 meters Centerline goodness [0,1] 0.8045857768932738 Centerline is valid? [False, False] Translation: X:300.10, Y:16.80, Z:-0.26 [[ 9.99965625e-01 -8.11865225e-03 -1.68429392e-03 3.00103221e+02] [ 8.10893496e-03 9.99950887e-01 -5.69811542e-03 1.67977052e+01] [ 1.73047222e-03 5.68426171e-03 9.99982347e-01 -2.59335593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.361400513 meters Centerline goodness [0,1] 0.785726539715217 Centerline is valid? [False, False] Translation: X:300.10, Y:16.80, Z:-0.26 [[ 9.99963328e-01 -8.41640286e-03 -1.58337764e-03 3.00102808e+02] [ 8.40613445e-03 9.99944291e-01 -6.38370228e-03 1.68009707e+01] [ 1.63701725e-03 6.37015809e-03 9.99978370e-01 -2.59204479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.391400513 meters Centerline goodness [0,1] 0.7467115782292622 Centerline is valid? [False, False] Translation: X:300.10, Y:16.80, Z:-0.26 [[ 9.99988277e-01 -4.42629697e-03 -1.96322282e-03 3.00104082e+02] [ 4.42145023e-03 9.99987184e-01 -2.46627439e-03 1.68026781e+01] [ 1.97411412e-03 2.45756519e-03 9.99995032e-01 -2.59453637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.421400513 meters Centerline goodness [0,1] 0.7814522998296423 Centerline is valid? [False, False] Translation: X:300.11, Y:16.80, Z:-0.26 [[ 9.99996440e-01 -4.00467199e-04 -2.63825923e-03 3.00106396e+02] [ 4.06125212e-04 9.99997618e-01 2.14441431e-03 1.68006289e+01] [ 2.63739418e-03 -2.14547814e-03 9.99994221e-01 -2.59708622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.451400513 meters Centerline goodness [0,1] 0.7121298949379178 Centerline is valid? [False, False] Translation: X:300.11, Y:16.80, Z:-0.26 [[ 9.99995927e-01 -8.09761315e-04 -2.73699967e-03 3.00106912e+02] [ 8.13191906e-04 9.99998885e-01 1.25253275e-03 1.68047925e+01] [ 2.73598236e-03 -1.25475335e-03 9.99995470e-01 -2.60132678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.481400513 meters Centerline goodness [0,1] 0.5886120540575162 Centerline is valid? [False, False] Translation: X:300.11, Y:16.81, Z:-0.26 [[ 9.99995804e-01 -1.15220216e-03 -2.65796341e-03 3.00106495e+02] [ 1.15351164e-03 9.99999214e-01 4.91180991e-04 1.68083982e+01] [ 2.65739538e-03 -4.94244922e-04 9.99996347e-01 -2.59878769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.511400513 meters Centerline goodness [0,1] 0.8236817525685658 Centerline is valid? [False, False] Translation: X:300.11, Y:16.81, Z:-0.26 [[ 9.99995702e-01 -1.44499778e-03 -2.55087547e-03 3.00105613e+02] [ 1.44464347e-03 9.99998947e-01 -1.40732870e-04 1.68114529e+01] [ 2.55107614e-03 1.37047160e-04 9.99996737e-01 -2.58888759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.541400513 meters Centerline goodness [0,1] 0.778168338978718 Centerline is valid? [False, False] Translation: X:300.10, Y:16.81, Z:-0.26 [[ 9.99995555e-01 -1.75612225e-03 -2.40961351e-03 3.00104735e+02] [ 1.75420000e-03 9.99998142e-01 -7.99624810e-04 1.68145957e+01] [ 2.41101328e-03 7.95394312e-04 9.99996777e-01 -2.58184406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.571400513 meters Centerline goodness [0,1] 0.8160033869602032 Centerline is valid? [False, False] Translation: X:300.10, Y:16.82, Z:-0.26 [[ 9.99994181e-01 -2.46417547e-03 -2.35899246e-03 3.00104243e+02] [ 2.45901661e-03 9.99994584e-01 -2.18729709e-03 1.68210831e+01] [ 2.36436957e-03 2.18148356e-03 9.99994825e-01 -2.57669754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.601400513 meters Centerline goodness [0,1] 0.89348416483117 Centerline is valid? [False, False] Translation: X:300.10, Y:16.82, Z:-0.26 [[ 9.99993475e-01 -2.76312037e-03 -2.32725453e-03 3.00104022e+02] [ 2.75658536e-03 9.99992262e-01 -2.80657605e-03 1.68239739e+01] [ 2.33499143e-03 2.80014246e-03 9.99993353e-01 -2.57475645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.631400513 meters Centerline goodness [0,1] 0.9417055651469617 Centerline is valid? [False, False] Translation: X:300.10, Y:16.83, Z:-0.26 [[ 9.99992945e-01 -2.96047512e-03 -2.31183722e-03 3.00103810e+02] [ 2.95312366e-03 9.99990593e-01 -3.17688683e-03 1.68257032e+01] [ 2.32122057e-03 3.17003728e-03 9.99992281e-01 -2.57166521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.661400513 meters Centerline goodness [0,1] 0.9937236253025726 Centerline is valid? [False, True] Translation: X:300.10, Y:16.83, Z:-0.26 [[ 9.99992680e-01 -3.02742657e-03 -2.33993243e-03 3.00103736e+02] [ 3.01977655e-03 9.99990107e-01 -3.26598006e-03 1.68261077e+01] [ 2.34979679e-03 3.25889008e-03 9.99991929e-01 -2.56842814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.691400513 meters Centerline goodness [0,1] 0.9862472505178637 Centerline is valid? [True, True] Translation: X:300.13, Y:16.83, Z:-0.26 [[ 9.99979406e-01 -5.81139272e-03 -2.72322762e-03 3.00132578e+02] [ 5.81093709e-03 9.99983101e-01 -1.75193717e-04 1.68298593e+01] [ 2.72419972e-03 1.59365605e-04 9.99996277e-01 -2.56615538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.721400513 meters Centerline goodness [0,1] 0.9968058552269746 Centerline is valid? [True, True] Translation: X:300.16, Y:16.83, Z:-0.26 [[ 9.99957142e-01 -8.58920742e-03 -3.45537759e-03 3.00162568e+02] [ 8.58849016e-03 9.99963094e-01 -2.22362371e-04 1.68296426e+01] [ 3.45715998e-03 1.92676365e-04 9.99994005e-01 -2.57486694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.751400513 meters Centerline goodness [0,1] 0.9986049755870727 Centerline is valid? [True, True] Translation: X:300.19, Y:16.83, Z:-0.26 [[ 9.99902284e-01 -1.30870914e-02 -4.91440873e-03 3.00192553e+02] [ 1.30856942e-02 9.99914329e-01 -3.16351677e-04 1.68261562e+01] [ 4.91812783e-03 2.52012315e-04 9.99987874e-01 -2.60314323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.781400513 meters Centerline goodness [0,1] 0.9956086384657813 Centerline is valid? [True, True] Translation: X:300.22, Y:16.83, Z:-0.26 [[ 9.99888110e-01 -1.42516349e-02 -4.54522991e-03 3.00220486e+02] [ 1.42504514e-02 9.99898414e-01 -2.92670655e-04 1.68340208e+01] [ 4.54893921e-03 2.27866330e-04 9.99989628e-01 -2.60240874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.811400513 meters Centerline goodness [0,1] 0.996255637818058 Centerline is valid? [True, True] Translation: X:300.25, Y:16.83, Z:-0.26 [[ 9.99884268e-01 -1.48293061e-02 -3.39747467e-03 3.00249711e+02] [ 1.48286483e-02 9.99890026e-01 -2.18734578e-04 1.68315004e+01] [ 3.40034471e-03 1.68329306e-04 9.99994205e-01 -2.58494852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.841400513 meters Centerline goodness [0,1] 0.9971802319418237 Centerline is valid? [True, True] Translation: X:300.28, Y:16.83, Z:-0.26 [[ 9.99897368e-01 -1.41429476e-02 -2.28706365e-03 3.00278979e+02] [ 1.41426475e-02 9.99899977e-01 -1.47347463e-04 1.68274628e+01] [ 2.28891882e-03 1.14987206e-04 9.99997374e-01 -2.56546535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.871400513 meters Centerline goodness [0,1] 0.9935656723345007 Centerline is valid? [True, True] Translation: X:300.31, Y:16.84, Z:-0.26 [[ 9.99923119e-01 -1.23026076e-02 -1.55002137e-03 3.00307218e+02] [ 1.23024669e-02 9.99924317e-01 -1.00258366e-04 1.68358871e+01] [ 1.55113750e-03 8.11815718e-05 9.99998794e-01 -2.55113552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.901400513 meters Centerline goodness [0,1] 0.9724999471559322 Centerline is valid? [True, True] Translation: X:300.34, Y:16.85, Z:-0.26 [[ 9.99979051e-01 -5.88417344e-03 -2.69720778e-03 3.00335668e+02] [ 5.88372346e-03 9.99982675e-01 -1.74735622e-04 1.68498654e+01] [ 2.69818922e-03 1.58862337e-04 9.99996347e-01 -2.57474179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.931400513 meters Centerline goodness [0,1] 0.9901121763936255 Centerline is valid? [True, True] Translation: X:300.37, Y:16.85, Z:-0.26 [[ 9.99989106e-01 -2.35333166e-03 -4.03107469e-03 3.00366432e+02] [ 2.35229802e-03 9.99997199e-01 -2.61138673e-04 1.68453652e+01] [ 4.03167794e-03 2.51653539e-04 9.99991841e-01 -2.59971230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.961400513 meters Centerline goodness [0,1] 0.882007463319481 Centerline is valid? [True, False] Translation: X:300.39, Y:16.85, Z:-0.26 [[ 9.99999290e-01 8.14208596e-04 -8.70162646e-04 3.00387407e+02] [-8.22236076e-04 9.99956740e-01 -9.26507081e-03 1.68531054e+01] [ 8.62581303e-04 9.26577971e-03 9.99956700e-01 -2.62786534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.991400513 meters Centerline goodness [0,1] 0.9682200674896416 Centerline is valid? [False, True] Translation: X:300.39, Y:16.85, Z:-0.26 [[ 9.99984310e-01 5.52019209e-03 -9.52119567e-04 3.00387636e+02] [-5.52390083e-03 9.99976991e-01 -3.93761800e-03 1.68483508e+01] [ 9.30361251e-04 3.94281563e-03 9.99991794e-01 -2.62574865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.021400513 meters Centerline goodness [0,1] 0.8269795345275072 Centerline is valid? [True, False] Translation: X:300.39, Y:16.85, Z:-0.26 [[ 9.99986261e-01 5.18996202e-03 -7.35688534e-04 3.00386768e+02] [-5.19373699e-03 9.99972858e-01 -5.22569224e-03 1.68547978e+01] [ 7.08547422e-04 5.22944141e-03 9.99986075e-01 -2.62370503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.051400513 meters Centerline goodness [0,1] 0.7269166437297538 Centerline is valid? [False, False] Translation: X:300.39, Y:16.85, Z:-0.27 [[ 9.99971179e-01 7.42851615e-03 -1.56795139e-03 3.00393298e+02] [-7.43296917e-03 9.99968304e-01 -2.85356607e-03 1.68544391e+01] [ 1.54670393e-03 2.86513836e-03 9.99994699e-01 -2.66529561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.081400513 meters Centerline goodness [0,1] 0.7495769523648363 Centerline is valid? [False, False] Translation: X:300.39, Y:16.86, Z:-0.27 [[ 9.99972640e-01 7.21530270e-03 -1.63058482e-03 3.00393716e+02] [-7.22070755e-03 9.99968374e-01 -3.33345634e-03 1.68566925e+01] [ 1.60648136e-03 3.34513911e-03 9.99993115e-01 -2.66913265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.111400513 meters Centerline goodness [0,1] 0.7568169288834231 Centerline is valid? [False, False] Translation: X:300.39, Y:16.86, Z:-0.27 [[ 9.99974278e-01 6.96682476e-03 -1.70515222e-03 3.00394236e+02] [-6.97344120e-03 9.99968058e-01 -3.90557173e-03 1.68593735e+01] [ 1.67788832e-03 3.91736205e-03 9.99990919e-01 -2.67405211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.141400513 meters Centerline goodness [0,1] 0.3441469239385422 Centerline is valid? [False, False] Translation: X:300.39, Y:16.86, Z:-0.27 [[ 9.99976389e-01 6.63759107e-03 -1.77893207e-03 3.00394730e+02] [-6.64584950e-03 9.99966977e-01 -4.67735648e-03 1.68630298e+01] [ 1.74782695e-03 4.68906855e-03 9.99987479e-01 -2.67862928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.171400513 meters Centerline goodness [0,1] 0.8509472432248747 Centerline is valid? [False, False] Translation: X:300.40, Y:16.86, Z:-0.27 [[ 9.99939113e-01 1.08477020e-02 -2.02424649e-03 3.00395802e+02] [-1.08487038e-02 9.99941034e-01 -4.84548475e-04 1.68635988e+01] [ 2.01887089e-03 5.06479423e-04 9.99997834e-01 -2.68069122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.201400513 meters Centerline goodness [0,1] 0.7641171356474904 Centerline is valid? [False, False] Translation: X:300.40, Y:16.87, Z:-0.27 [[ 9.99942580e-01 1.05420351e-02 -1.92411054e-03 3.00395324e+02] [-1.05443318e-02 9.99943702e-01 -1.18744360e-03 1.68669374e+01] [ 1.91148415e-03 1.20766388e-03 9.99997444e-01 -2.67804575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.231400513 meters Centerline goodness [0,1] 0.7933398420918584 Centerline is valid? [False, False] Translation: X:300.39, Y:16.87, Z:-0.27 [[ 9.99945619e-01 1.02713566e-02 -1.80517068e-03 3.00394696e+02] [-1.02745930e-02 9.99945608e-01 -1.79280744e-03 1.68698096e+01] [ 1.78665793e-03 1.81125734e-03 9.99996764e-01 -2.67372492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.261400513 meters Centerline goodness [0,1] 0.7360351418132669 Centerline is valid? [False, False] Translation: X:300.39, Y:16.87, Z:-0.27 [[ 9.99949104e-01 9.94368441e-03 -1.70649437e-03 3.00394043e+02] [-9.94789737e-03 9.99947447e-01 -2.47831422e-03 1.68730540e+01] [ 1.68176112e-03 2.49516412e-03 9.99995473e-01 -2.66775874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.291400513 meters Centerline goodness [0,1] 0.6844538258575198 Centerline is valid? [False, False] Translation: X:300.39, Y:16.88, Z:-0.27 [[ 9.99951891e-01 9.66216981e-03 -1.69087342e-03 3.00393760e+02] [-9.66732568e-03 9.99948563e-01 -3.06810162e-03 1.68758413e+01] [ 1.66114192e-03 3.08430024e-03 9.99993864e-01 -2.66356668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.321400513 meters Centerline goodness [0,1] 0.8478446618532918 Centerline is valid? [False, False] Translation: X:300.39, Y:16.87, Z:-0.27 [[ 9.99905665e-01 1.36001539e-02 -1.92281705e-03 3.00394631e+02] [-1.35965484e-02 9.99905803e-01 1.87591195e-03 1.68718762e+01] [ 1.94814862e-03 -1.84959131e-03 9.99996392e-01 -2.66140245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.351400513 meters Centerline goodness [0,1] 0.747233843736063 Centerline is valid? [False, False] Translation: X:300.40, Y:16.87, Z:-0.27 [[ 9.99908390e-01 1.33810874e-02 -2.03915103e-03 3.00395080e+02] [-1.33781630e-02 9.99909470e-01 1.44110015e-03 1.68738976e+01] [ 2.05824991e-03 -1.41368804e-03 9.99996883e-01 -2.66254669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.381400513 meters Centerline goodness [0,1] 0.8199630628144436 Centerline is valid? [False, False] Translation: X:300.40, Y:16.89, Z:-0.27 [[ 9.99963026e-01 8.34722638e-03 -2.06670236e-03 3.00395103e+02] [-8.35784666e-03 9.99951632e-01 -5.18458074e-03 1.68852422e+01] [ 2.02332553e-03 5.20166222e-03 9.99984424e-01 -2.66521966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.411400513 meters Centerline goodness [0,1] 0.7537348471913949 Centerline is valid? [False, False] Translation: X:300.40, Y:16.89, Z:-0.27 [[ 9.99965225e-01 8.07586507e-03 -2.08060365e-03 3.00395085e+02] [-8.08776775e-03 9.99950604e-01 -5.77733744e-03 1.68880205e+01] [ 2.03384388e-03 5.79396397e-03 9.99981147e-01 -2.66388086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.441400513 meters Centerline goodness [0,1] 0.8270604949004474 Centerline is valid? [False, False] Translation: X:300.40, Y:16.88, Z:-0.27 [[ 9.99922054e-01 1.22363744e-02 -2.48133757e-03 3.00396487e+02] [-1.22386010e-02 9.99924715e-01 -8.84144301e-04 1.68847261e+01] [ 2.47033204e-03 9.14443486e-04 9.99996531e-01 -2.66242087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.471400513 meters Centerline goodness [0,1] 0.8367955660856321 Centerline is valid? [False, False] Translation: X:300.40, Y:16.89, Z:-0.27 [[ 9.99926672e-01 1.18423972e-02 -2.53133741e-03 3.00396815e+02] [-1.18468541e-02 9.99928287e-01 -1.75299673e-03 1.68888189e+01] [ 2.51039620e-03 1.78285658e-03 9.99995260e-01 -2.66519023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.501400513 meters Centerline goodness [0,1] 0.8549334917368522 Centerline is valid? [False, False] Translation: X:300.40, Y:16.89, Z:-0.27 [[ 9.99931350e-01 1.14283010e-02 -2.58621322e-03 3.00397192e+02] [-1.14352564e-02 9.99930995e-01 -2.69078219e-03 1.68932361e+01] [ 2.55528369e-03 2.72017148e-03 9.99993036e-01 -2.66874959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.531400513 meters Centerline goodness [0,1] 0.8865882953168512 Centerline is valid? [False, False] Translation: X:300.40, Y:16.90, Z:-0.27 [[ 9.99935138e-01 1.10763661e-02 -2.65196325e-03 3.00397549e+02] [-1.10855447e-02 9.99932527e-01 -3.47173222e-03 1.68969064e+01] [ 2.61333014e-03 3.50090549e-03 9.99990457e-01 -2.67133083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.561400513 meters Centerline goodness [0,1] 0.9284196062434249 Centerline is valid? [False, False] Translation: X:300.40, Y:16.90, Z:-0.27 [[ 9.99938644e-01 1.07101393e-02 -2.82859921e-03 3.00398037e+02] [-1.07220835e-02 9.99933520e-01 -4.24177931e-03 1.69004811e+01] [ 2.78298112e-03 4.27184753e-03 9.99987003e-01 -2.66937449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.591400513 meters Centerline goodness [0,1] 0.9037597490674805 Centerline is valid? [False, False] Translation: X:300.42, Y:16.90, Z:-0.27 [[ 9.99962819e-01 8.61596765e-03 3.54128358e-04 3.00421100e+02] [-8.61752864e-03 9.99951953e-01 4.67218529e-03 1.68981952e+01] [-3.13855946e-04 -4.67506328e-03 9.99989023e-01 -2.71023710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.621400513 meters Centerline goodness [0,1] 0.9079176395669709 Centerline is valid? [False, False] Translation: X:300.42, Y:16.91, Z:-0.27 [[ 9.99992460e-01 3.83497330e-03 6.10681711e-04 3.00420184e+02] [-3.83411333e-03 9.99991665e-01 -1.40320449e-03 1.69068738e+01] [-6.16057873e-04 1.40085249e-03 9.99998829e-01 -2.71112177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.651400513 meters Centerline goodness [0,1] 0.8855314081571897 Centerline is valid? [False, False] Translation: X:300.42, Y:16.91, Z:-0.27 [[ 9.99994718e-01 3.19045627e-03 6.19818344e-04 3.00420024e+02] [-3.18869324e-03 9.99990926e-01 -2.82488995e-03 1.69135940e+01] [-6.28825407e-04 2.82289862e-03 9.99995818e-01 -2.70906041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.681400513 meters Centerline goodness [0,1] 0.9082598133231045 Centerline is valid? [False, False] Translation: X:300.42, Y:16.92, Z:-0.27 [[ 9.99995886e-01 2.80184619e-03 6.14120540e-04 3.00420017e+02] [-2.79954252e-03 9.99989160e-01 -3.72046244e-03 1.69178491e+01] [-6.24538046e-04 3.71872788e-03 9.99992890e-01 -2.70885614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.711400513 meters Centerline goodness [0,1] 0.9011930839412178 Centerline is valid? [False, False] Translation: X:300.42, Y:16.92, Z:-0.27 [[ 9.99996884e-01 2.41811699e-03 6.20269119e-04 3.00419962e+02] [-2.41520652e-03 9.99986268e-01 -4.65086197e-03 1.69222889e+01] [-6.31506930e-04 4.64934940e-03 9.99988992e-01 -2.70851014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.741400513 meters Centerline goodness [0,1] 0.9010650583857308 Centerline is valid? [False, False] Translation: X:300.41, Y:16.92, Z:-0.27 [[ 9.99989438e-01 4.37348686e-03 1.41316667e-03 3.00413539e+02] [-4.36979005e-03 9.99987050e-01 -2.60856210e-03 1.69231961e+01] [-1.42455688e-03 2.60235930e-03 9.99995599e-01 -2.66325684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.771400513 meters Centerline goodness [0,1] 0.8628618658076548 Centerline is valid? [False, False] Translation: X:300.41, Y:16.92, Z:-0.27 [[ 9.99962187e-01 8.61475855e-03 1.18764096e-03 3.00414200e+02] [-8.61717074e-03 9.99960788e-01 2.04114612e-03 1.69214146e+01] [-1.17001041e-03 -2.05130304e-03 9.99997212e-01 -2.65941057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.801400513 meters Centerline goodness [0,1] 0.8459969836650594 Centerline is valid? [False, False] Translation: X:300.41, Y:16.93, Z:-0.27 [[ 9.99970049e-01 7.65037609e-03 1.17166285e-03 3.00414166e+02] [-7.65002358e-03 9.99970692e-01 -3.05053666e-04 1.69324766e+01] [-1.17396229e-03 2.96081280e-04 9.99999267e-01 -2.65948383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.831400513 meters Centerline goodness [0,1] 0.8559760530254437 Centerline is valid? [False, False] Translation: X:300.41, Y:16.94, Z:-0.27 [[ 9.99973593e-01 7.17227486e-03 1.17147760e-03 3.00414353e+02] [-7.17065313e-03 9.99973335e-01 -1.38272204e-03 1.69375368e+01] [-1.18136362e-03 1.37428527e-03 9.99998358e-01 -2.66328053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.861400513 meters Centerline goodness [0,1] 0.8581561785381553 Centerline is valid? [False, False] Translation: X:300.41, Y:16.94, Z:-0.27 [[ 9.99976687e-01 6.73310792e-03 1.13644854e-03 3.00414472e+02] [-6.73037267e-03 9.99974486e-01 -2.39374905e-03 1.69423364e+01] [-1.15253692e-03 2.38604453e-03 9.99996489e-01 -2.66384443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.891400513 meters Centerline goodness [0,1] 0.8625455164924086 Centerline is valid? [False, False] Translation: X:300.41, Y:16.95, Z:-0.27 [[ 9.99979247e-01 6.34151691e-03 1.13635798e-03 3.00414444e+02] [-6.33778659e-03 9.99974613e-01 -3.25677035e-03 1.69464020e+01] [-1.15698200e-03 3.24950077e-03 9.99994051e-01 -2.66347842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.921400513 meters Centerline goodness [0,1] 0.7241994015407143 Centerline is valid? [False, False] Translation: X:300.41, Y:16.95, Z:-0.27 [[ 9.99982959e-01 5.73500553e-03 1.09120627e-03 3.00413954e+02] [-5.73018131e-03 9.99974017e-01 -4.37392153e-03 1.69515194e+01] [-1.11626238e-03 4.36759418e-03 9.99989839e-01 -2.65192299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.951400513 meters Centerline goodness [0,1] 0.8957528957528957 Centerline is valid? [False, False] Translation: X:300.41, Y:16.95, Z:-0.26 [[ 9.99983519e-01 5.64656378e-03 1.03855281e-03 3.00413809e+02] [-5.64186089e-03 9.99974063e-01 -4.47683342e-03 1.69519697e+01] [-1.06380460e-03 4.47090026e-03 9.99989440e-01 -2.64553204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.981400513 meters Centerline goodness [0,1] 0.8760974984512188 Centerline is valid? [False, False] Translation: X:300.41, Y:16.95, Z:-0.26 [[ 9.99983906e-01 5.59387177e-03 9.46517739e-04 3.00413957e+02] [-5.58959089e-03 9.99974403e-01 -4.46653047e-03 1.69518606e+01] [-9.71478710e-04 4.46116794e-03 9.99989577e-01 -2.64236933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.011400513 meters Centerline goodness [0,1] 0.9543417964582889 Centerline is valid? [False, True] Translation: X:300.41, Y:16.95, Z:-0.26 [[ 9.99984469e-01 5.52105302e-03 7.61432135e-04 3.00414663e+02] [-5.51753484e-03 9.99974437e-01 -4.54766603e-03 1.69522050e+01] [-7.86520576e-04 4.54339417e-03 9.99989369e-01 -2.64397543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.041400513 meters Centerline goodness [0,1] 0.8974342527261064 Centerline is valid? [True, False] Translation: X:300.42, Y:16.95, Z:-0.26 [[ 9.99985360e-01 5.37558427e-03 6.19412727e-04 3.00415452e+02] [-5.37251922e-03 9.99973816e-01 -4.84806097e-03 1.69536111e+01] [-6.45457669e-04 4.84466218e-03 9.99988056e-01 -2.64993898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.071400513 meters Centerline goodness [0,1] 0.9307684154742978 Centerline is valid? [False, False] Translation: X:300.42, Y:16.96, Z:-0.27 [[ 9.99986495e-01 5.17806872e-03 4.44900581e-04 3.00416349e+02] [-5.17562395e-03 9.99972397e-01 -5.33091515e-03 1.69559376e+01] [-4.72492146e-04 5.32854052e-03 9.99985692e-01 -2.65590154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.101400513 meters Centerline goodness [0,1] 0.9145704996577686 Centerline is valid? [False, False] Translation: X:300.42, Y:16.96, Z:-0.27 [[ 9.99955284e-01 9.45270816e-03 2.74535802e-04 3.00417050e+02] [-9.45242870e-03 9.99954823e-01 -1.00198953e-03 1.69558911e+01] [-2.83994914e-04 9.99349693e-04 9.99999460e-01 -2.65622849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.131400513 meters Centerline goodness [0,1] 0.9145704996577686 Centerline is valid? [False, False] Translation: X:300.42, Y:16.96, Z:-0.27 [[ 9.99955284e-01 9.45270816e-03 2.74535802e-04 3.00417050e+02] [-9.45242870e-03 9.99954823e-01 -1.00198953e-03 1.69558911e+01] [-2.83994914e-04 9.99349693e-04 9.99999460e-01 -2.65622849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.161400513 meters Centerline goodness [0,1] 0.8643749733441378 Centerline is valid? [False, False] Translation: X:300.42, Y:16.96, Z:-0.27 [[ 9.99958561e-01 9.09807967e-03 3.19218935e-04 3.00416815e+02] [-9.09741712e-03 9.99956579e-01 -2.01900200e-03 1.69607959e+01] [-3.37574116e-04 2.01601427e-03 9.99997911e-01 -2.65491807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.191400513 meters Centerline goodness [0,1] 0.9316948065826032 Centerline is valid? [False, False] Translation: X:300.42, Y:16.97, Z:-0.27 [[ 9.99962306e-01 8.67271916e-03 4.12055270e-04 3.00416461e+02] [-8.67137635e-03 9.99957423e-01 -3.15589055e-03 1.69662417e+01] [-4.39407879e-04 3.15219850e-03 9.99994935e-01 -2.65433746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.221400513 meters Centerline goodness [0,1] 0.9108690584670156 Centerline is valid? [False, False] Translation: X:300.42, Y:16.97, Z:-0.27 [[ 9.99938441e-01 1.10806286e-02 -5.77391985e-04 3.00422890e+02] [-1.10810023e-02 9.99938394e-01 -6.48133550e-04 1.69681285e+01] [ 5.70174687e-04 6.54491734e-04 9.99999623e-01 -2.68964357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.251400513 meters Centerline goodness [0,1] 0.8810846476385076 Centerline is valid? [False, False] Translation: X:300.42, Y:16.97, Z:-0.27 [[ 9.99942154e-01 1.07404662e-02 -5.75880575e-04 3.00422849e+02] [-1.07413086e-02 9.99941215e-01 -1.48038070e-03 1.69720737e+01] [ 5.59946743e-04 1.48648078e-03 9.99998738e-01 -2.68937970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.281400513 meters Centerline goodness [0,1] 0.8049401578813343 Centerline is valid? [False, False] Translation: X:300.42, Y:16.98, Z:-0.27 [[ 9.99944947e-01 1.04753284e-02 -6.09168965e-04 3.00422887e+02] [-1.04765980e-02 9.99942872e-01 -2.11979905e-03 1.69751054e+01] [ 5.86928573e-04 2.12606437e-03 9.99997568e-01 -2.68818633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.311400513 meters Centerline goodness [0,1] 0.45496821536754983 Centerline is valid? [False, False] Translation: X:300.42, Y:16.98, Z:-0.27 [[ 9.99949781e-01 1.00134342e-02 -4.08081697e-04 3.00421589e+02] [-1.00146945e-02 9.99944690e-01 -3.21305336e-03 1.69802888e+01] [ 3.75885427e-04 3.21697882e-03 9.99994755e-01 -2.67635340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.341400513 meters Centerline goodness [0,1] 0.49949204199119535 Centerline is valid? [False, False] Translation: X:300.42, Y:16.98, Z:-0.27 [[ 9.99952097e-01 9.78388517e-03 -2.81884162e-04 3.00420752e+02] [-9.78487393e-03 9.99945093e-01 -3.75058193e-03 1.69828473e+01] [ 2.45173421e-04 3.75316046e-03 9.99992927e-01 -2.66858806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.371400513 meters Centerline goodness [0,1] 0.51166094220413 Centerline is valid? [False, False] Translation: X:300.42, Y:16.98, Z:-0.27 [[ 9.99954100e-01 9.57939466e-03 -1.79710348e-04 3.00420156e+02] [-9.58006460e-03 9.99945304e-01 -4.19660087e-03 1.69849423e+01] [ 1.39499622e-04 4.19812988e-03 9.99991178e-01 -2.66375544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.401400513 meters Centerline goodness [0,1] 0.5288310807948142 Centerline is valid? [False, False] Translation: X:300.42, Y:16.99, Z:-0.27 [[ 9.99955308e-01 9.45031197e-03 -2.72294444e-04 3.00420577e+02] [-9.45143837e-03 9.99945278e-01 -4.48461416e-03 1.69862979e+01] [ 2.29898541e-04 4.48698731e-03 9.99989907e-01 -2.66583057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.431400513 meters Centerline goodness [0,1] 0.4764799041219021 Centerline is valid? [False, False] Translation: X:300.41, Y:16.98, Z:-0.27 [[ 9.99927729e-01 1.14748546e-02 3.58661195e-03 3.00409243e+02] [-1.14824743e-02 9.99931846e-01 2.11117400e-03 1.69795430e+01] [-3.56214209e-03 -2.15220460e-03 9.99991340e-01 -2.72280946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.461400513 meters Centerline goodness [0,1] 0.48136844801092704 Centerline is valid? [False, False] Translation: X:300.41, Y:16.98, Z:-0.27 [[ 9.99929590e-01 1.13782585e-02 3.36896274e-03 3.00410241e+02] [-1.13847721e-02 9.99933347e-01 1.92058405e-03 1.69804413e+01] [-3.34688529e-03 -1.95880370e-03 9.99992481e-01 -2.72835558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.491400513 meters Centerline goodness [0,1] 0.4883923821683158 Centerline is valid? [False, False] Translation: X:300.41, Y:16.98, Z:-0.27 [[ 9.99930922e-01 1.13069819e-02 3.20977346e-03 3.00410565e+02] [-1.13127929e-02 9.99934392e-01 1.79805281e-03 1.69810033e+01] [-3.18923232e-03 -1.83424011e-03 9.99993232e-01 -2.72409478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.521400513 meters Centerline goodness [0,1] 0.8990134490425923 Centerline is valid? [False, False] Translation: X:300.41, Y:16.98, Z:-0.27 [[ 9.99930722e-01 1.13158516e-02 3.24093616e-03 3.00410003e+02] [-1.13217948e-02 9.99934248e-01 1.82137311e-03 1.69809023e+01] [-3.22011268e-03 -1.85794014e-03 9.99993089e-01 -2.71476664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.551400513 meters Centerline goodness [0,1] 0.9318273841236014 Centerline is valid? [False, False] Translation: X:300.43, Y:16.98, Z:-0.28 [[ 9.99931902e-01 9.20604804e-03 7.17222663e-03 3.00431471e+02] [-9.28411580e-03 9.99897181e-01 1.09285581e-02 1.69774325e+01] [-7.07088036e-03 -1.09944016e-02 9.99914559e-01 -2.75541264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.581400513 meters Centerline goodness [0,1] 0.9079721890462379 Centerline is valid? [False, False] Translation: X:300.43, Y:16.98, Z:-0.27 [[ 9.99959932e-01 4.88195227e-03 7.50345950e-03 3.00429989e+02] [-4.92235625e-03 9.99973436e-01 5.37571103e-03 1.69839835e+01] [-7.47701621e-03 -5.41243033e-03 9.99957399e-01 -2.74989797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.611400513 meters Centerline goodness [0,1] 0.5732240669186022 Centerline is valid? [False, False] Translation: X:300.43, Y:16.98, Z:-0.27 [[ 9.99959248e-01 4.90091937e-03 7.58181057e-03 3.00429621e+02] [-4.94220393e-03 9.99973011e-01 5.43609221e-03 1.69836775e+01] [-7.55496410e-03 -5.47334153e-03 9.99956482e-01 -2.74774770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.641400513 meters Centerline goodness [0,1] 0.6139270487920416 Centerline is valid? [False, False] Translation: X:300.40, Y:16.99, Z:-0.27 [[ 9.99978709e-01 5.32760995e-03 3.76807524e-03 3.00403629e+02] [-5.30709190e-03 9.99971150e-01 -5.43443076e-03 1.69876748e+01] [-3.79691906e-03 5.41431754e-03 9.99978134e-01 -2.66824626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.671400513 meters Centerline goodness [0,1] 0.8810644305638744 Centerline is valid? [False, False] Translation: X:300.40, Y:16.99, Z:-0.27 [[ 9.99978485e-01 5.46203551e-03 3.63247812e-03 3.00404116e+02] [-5.44339390e-03 9.99972066e-01 -5.12216510e-03 1.69862330e+01] [-3.66035409e-03 5.10228188e-03 9.99980284e-01 -2.66915982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.701400513 meters Centerline goodness [0,1] 0.558392606158695 Centerline is valid? [False, False] Translation: X:300.40, Y:16.99, Z:-0.27 [[ 9.99978229e-01 5.58328743e-03 3.51683183e-03 3.00404614e+02] [-5.56615999e-03 9.99972693e-01 -4.86123715e-03 1.69850201e+01] [-3.54387748e-03 4.84155607e-03 9.99982000e-01 -2.67134948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.731400513 meters Centerline goodness [0,1] 0.8554496862653962 Centerline is valid? [False, False] Translation: X:300.40, Y:16.98, Z:-0.27 [[ 9.99978218e-01 5.62860981e-03 3.44709803e-03 3.00404941e+02] [-5.61209829e-03 9.99972823e-01 -4.78106444e-03 1.69846750e+01] [-3.47391510e-03 4.76161485e-03 9.99982629e-01 -2.67328844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.761400513 meters Centerline goodness [0,1] 0.8661590991029202 Centerline is valid? [False, False] Translation: X:300.40, Y:16.99, Z:-0.27 [[ 9.99978092e-01 5.62529241e-03 3.48872689e-03 3.00404764e+02] [-5.60819932e-03 9.99972317e-01 -4.89010393e-03 1.69852513e+01] [-3.51613858e-03 4.87043132e-03 9.99981958e-01 -2.67273804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.791400513 meters Centerline goodness [0,1] 0.8997207903780069 Centerline is valid? [False, False] Translation: X:300.38, Y:16.98, Z:-0.26 [[ 9.99980221e-01 5.87205208e-03 -2.25321336e-03 3.00382461e+02] [-5.85831162e-03 9.99964495e-01 6.05706187e-03 1.69751384e+01] [ 2.28870074e-03 -6.04374204e-03 9.99979117e-01 -2.61218541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.821400513 meters Centerline goodness [0,1] 0.49691794015667134 Centerline is valid? [False, False] Translation: X:300.38, Y:16.98, Z:-0.26 [[ 9.99980301e-01 5.84148578e-03 -2.29649184e-03 3.00382700e+02] [-5.82774538e-03 9.99965346e-01 5.94505301e-03 1.69757002e+01] [ 2.33114020e-03 -5.93155253e-03 9.99979691e-01 -2.61442125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.851400513 meters Centerline goodness [0,1] 0.7981731838795243 Centerline is valid? [False, False] Translation: X:300.38, Y:16.98, Z:-0.26 [[ 9.99995427e-01 1.88653148e-03 -2.36346932e-03 3.00382976e+02] [-1.88483277e-03 9.99997964e-01 7.20759576e-04 1.69813159e+01] [ 2.36482424e-03 -7.16301536e-04 9.99996947e-01 -2.61803191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.881400513 meters Centerline goodness [0,1] 0.7242108826267242 Centerline is valid? [False, False] Translation: X:300.38, Y:16.98, Z:-0.26 [[ 9.99994978e-01 2.01034724e-03 -2.44983156e-03 3.00383571e+02] [-2.00807388e-03 9.99997551e-01 9.30073057e-04 1.69803753e+01] [ 2.45169533e-03 -9.25148944e-04 9.99996567e-01 -2.62398243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.911400513 meters Centerline goodness [0,1] 0.8435874477701032 Centerline is valid? [False, False] Translation: X:300.38, Y:16.98, Z:-0.26 [[ 9.99994308e-01 2.18073583e-03 -2.57451069e-03 3.00384227e+02] [-2.17735943e-03 9.99996767e-01 1.31354772e-03 1.69785705e+01] [ 2.57736687e-03 -1.30793461e-03 9.99995823e-01 -2.62840700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.941400513 meters Centerline goodness [0,1] 0.8196846227113981 Centerline is valid? [False, False] Translation: X:300.39, Y:16.98, Z:-0.27 [[ 9.99994120e-01 6.17611896e-04 -3.37310907e-03 3.00390637e+02] [-6.17869104e-04 9.99999806e-01 -7.52108200e-05 1.69769096e+01] [ 3.37306197e-03 7.72945176e-05 9.99994308e-01 -2.67173830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.971400513 meters Centerline goodness [0,1] 0.8125811049418172 Centerline is valid? [False, False] Translation: X:300.39, Y:16.97, Z:-0.27 [[ 9.99993994e-01 9.31798256e-04 -3.33831589e-03 3.00390372e+02] [-9.29468868e-04 9.99999324e-01 6.99256820e-04 1.69732263e+01] [ 3.33896520e-03 -6.96149760e-04 9.99994183e-01 -2.66855769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.001400513 meters Centerline goodness [0,1] 0.9109259101372666 Centerline is valid? [False, False] Translation: X:300.39, Y:16.97, Z:-0.27 [[ 9.99993597e-01 1.24232375e-03 -3.35610433e-03 3.00390397e+02] [-1.23739561e-03 9.99998154e-01 1.47008729e-03 1.69695485e+01] [ 3.35792445e-03 -1.46592505e-03 9.99993288e-01 -2.66758146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.031400513 meters Centerline goodness [0,1] 0.8784952897699357 Centerline is valid? [False, False] Translation: X:300.39, Y:16.97, Z:-0.27 [[ 9.99992850e-01 1.54353549e-03 -3.45212743e-03 3.00390840e+02] [-1.53598839e-03 9.99996427e-01 2.18780315e-03 1.69661437e+01] [ 3.45549204e-03 -2.18248508e-03 9.99991648e-01 -2.66952176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.061400513 meters Centerline goodness [0,1] 0.8722007393872434 Centerline is valid? [False, False] Translation: X:300.39, Y:16.96, Z:-0.27 [[ 9.99991860e-01 1.73898030e-03 -3.64097748e-03 3.00391660e+02] [-1.72936118e-03 9.99995011e-01 2.64338991e-03 1.69639799e+01] [ 3.64555612e-03 -2.63707183e-03 9.99989878e-01 -2.67272287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.091400513 meters Centerline goodness [0,1] 0.8442753269878956 Centerline is valid? [False, False] Translation: X:300.39, Y:16.96, Z:-0.27 [[ 9.99991190e-01 1.80111208e-03 -3.79163258e-03 3.00392531e+02] [-1.79144340e-03 9.99995139e-01 2.55185938e-03 1.69645342e+01] [ 3.79621033e-03 -2.54504441e-03 9.99989556e-01 -2.68001998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.121400513 meters Centerline goodness [0,1] 0.8349064735798638 Centerline is valid? [False, False] Translation: X:300.35, Y:16.96, Z:-0.27 [[ 9.99982824e-01 1.74906920e-03 -5.59400473e-03 3.00348991e+02] [-1.74443353e-03 9.99998131e-01 8.33457164e-04 1.69649603e+01] [ 5.59545205e-03 -8.23684479e-04 9.99984006e-01 -2.67134312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.151400513 meters Centerline goodness [0,1] 0.8047020534012804 Centerline is valid? [False, False] Translation: X:300.35, Y:16.97, Z:-0.27 [[ 9.99983303e-01 1.64196368e-03 -5.54052026e-03 3.00348890e+02] [-1.64062333e-03 9.99998624e-01 2.46453573e-04 1.69679561e+01] [ 5.54091730e-03 -2.37359552e-04 9.99984621e-01 -2.67355924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.181400513 meters Centerline goodness [0,1] 0.5517570259844856 Centerline is valid? [False, False] Translation: X:300.37, Y:16.98, Z:-0.27 [[ 9.99991430e-01 3.91059809e-03 -1.35873890e-03 3.00369291e+02] [-3.92303426e-03 9.99949301e-01 -9.27390407e-03 1.69777445e+01] [ 1.32240350e-03 9.27915498e-03 9.99956073e-01 -2.70302483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.211400513 meters Centerline goodness [0,1] 0.6860043509789703 Centerline is valid? [False, False] Translation: X:300.37, Y:16.98, Z:-0.27 [[ 9.99963940e-01 8.38123236e-03 -1.36911281e-03 3.00369550e+02] [-8.38749436e-03 9.99954087e-01 -4.63391350e-03 1.69762632e+01] [ 1.33021204e-03 4.64522982e-03 9.99988326e-01 -2.70615916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.241400513 meters Centerline goodness [0,1] 0.7042830058600482 Centerline is valid? [False, False] Translation: X:300.37, Y:16.97, Z:-0.27 [[ 9.99917467e-01 1.27675882e-02 -1.43078699e-03 3.00369837e+02] [-1.27669872e-02 9.99918407e-01 4.28412831e-04 1.69724678e+01] [ 1.43614005e-03 -4.10110634e-04 9.99998885e-01 -2.70391962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.271400513 meters Centerline goodness [0,1] 0.7069461920706349 Centerline is valid? [False, False] Translation: X:300.37, Y:16.98, Z:-0.27 [[ 9.99920764e-01 1.25148984e-02 -1.35787688e-03 3.00369281e+02] [-1.25151115e-02 9.99921672e-01 -1.48567404e-04 1.69752101e+01] [ 1.35591122e-03 1.65549613e-04 9.99999067e-01 -2.69836726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.301400513 meters Centerline goodness [0,1] 0.5947154299275332 Centerline is valid? [False, False] Translation: X:300.37, Y:16.98, Z:-0.27 [[ 9.99922960e-01 1.23449947e-02 -1.29408018e-03 3.00368620e+02] [-1.23455944e-02 9.99923686e-01 -4.56425968e-04 1.69766242e+01] [ 1.28834684e-03 4.72366994e-04 9.99999059e-01 -2.69007271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.331400513 meters Centerline goodness [0,1] 0.7013672956510628 Centerline is valid? [False, False] Translation: X:300.37, Y:16.98, Z:-0.27 [[ 9.99923168e-01 1.23349778e-02 -1.22773414e-03 3.00368007e+02] [-1.23354397e-02 9.99923847e-01 -3.69394102e-04 1.69761538e+01] [ 1.22308417e-03 3.84510361e-04 9.99999178e-01 -2.68239408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.361400513 meters Centerline goodness [0,1] 0.6827049772601692 Centerline is valid? [False, False] Translation: X:300.37, Y:16.98, Z:-0.27 [[ 9.99970145e-01 7.64637848e-03 -1.11462266e-03 3.00367219e+02] [-7.65271048e-03 9.99953944e-01 -5.79181037e-03 1.69814848e+01] [ 1.07028496e-03 5.80016734e-03 9.99982606e-01 -2.67742391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.391400513 meters Centerline goodness [0,1] 0.7077887578365742 Centerline is valid? [False, False] Translation: X:300.37, Y:16.97, Z:-0.27 [[ 9.99999311e-01 8.90524929e-04 -7.64860439e-04 3.00369513e+02] [-8.84359624e-04 9.99967420e-01 8.02355673e-03 1.69734166e+01] [ 7.71980697e-04 -8.02287479e-03 9.99967518e-01 -2.70414271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.421400513 meters Centerline goodness [0,1] 0.8228593535075653 Centerline is valid? [False, False] Translation: X:300.35, Y:16.98, Z:-0.27 [[ 9.99990669e-01 1.71302635e-03 -3.96586876e-03 3.00345747e+02] [-1.72469695e-03 9.99994187e-01 -2.94121288e-03 1.69791499e+01] [ 3.96080733e-03 2.94802536e-03 9.99987811e-01 -2.65133946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.451400513 meters Centerline goodness [0,1] 0.8722909216252316 Centerline is valid? [False, False] Translation: X:300.35, Y:16.98, Z:-0.27 [[ 9.99990748e-01 1.60903020e-03 -3.98946451e-03 3.00345808e+02] [-1.62167660e-03 9.99993665e-01 -3.16874552e-03 1.69802055e+01] [ 3.98434063e-03 3.17518583e-03 9.99987022e-01 -2.65109356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.481400513 meters Centerline goodness [0,1] 0.8628197223226246 Centerline is valid? [False, False] Translation: X:300.37, Y:16.98, Z:-0.27 [[ 9.99998843e-01 6.35637070e-04 -1.38214917e-03 3.00371041e+02] [-6.25559421e-04 9.99973308e-01 7.27953716e-03 1.69760956e+01] [ 1.38673942e-03 -7.27866412e-03 9.99972549e-01 -2.70821024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.511400513 meters Centerline goodness [0,1] 0.8357931211498973 Centerline is valid? [False, False] Translation: X:300.37, Y:16.98, Z:-0.27 [[ 9.99993553e-01 -3.40885784e-03 -1.12873103e-03 3.00370275e+02] [ 3.41101495e-03 9.99992349e-01 1.91471591e-03 1.69822706e+01] [ 1.12219540e-03 -1.91855368e-03 9.99997530e-01 -2.70962708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.541400513 meters Centerline goodness [0,1] 0.7147301124174033 Centerline is valid? [False, False] Translation: X:300.37, Y:16.98, Z:-0.27 [[ 9.99993255e-01 -3.50451651e-03 -1.09961961e-03 3.00370310e+02] [ 3.50632890e-03 9.99992491e-01 1.65062364e-03 1.69835455e+01] [ 1.09382671e-03 -1.65446814e-03 9.99998033e-01 -2.71273083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.571400513 meters Centerline goodness [0,1] 0.8188781497364996 Centerline is valid? [False, False] Translation: X:300.37, Y:16.98, Z:-0.27 [[ 9.99993115e-01 -3.55931226e-03 -1.04966957e-03 3.00370094e+02] [ 3.56081196e-03 9.99992637e-01 1.43034029e-03 1.69846433e+01] [ 1.04457082e-03 -1.43406812e-03 9.99998426e-01 -2.71185426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.601400513 meters Centerline goodness [0,1] 0.7790608488154083 Centerline is valid? [False, False] Translation: X:300.37, Y:16.99, Z:-0.27 [[ 9.99992991e-01 -3.60832899e-03 -9.99312595e-04 3.00369838e+02] [ 3.60957448e-03 9.99992708e-01 1.24736433e-03 1.69855378e+01] [ 9.94804407e-04 -1.25096268e-03 9.99998723e-01 -2.71061031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.631400513 meters Centerline goodness [0,1] 0.8346427800561191 Centerline is valid? [False, False] Translation: X:300.34, Y:16.99, Z:-0.26 [[ 9.99989205e-01 -1.43802186e-03 -4.41837627e-03 3.00344483e+02] [ 1.40291587e-03 9.99967507e-01 -7.93830359e-03 1.69889604e+01] [ 4.42964816e-03 7.93201928e-03 9.99958730e-01 -2.64472123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.661400513 meters Centerline goodness [0,1] 0.832991847014129 Centerline is valid? [False, False] Translation: X:300.37, Y:16.98, Z:-0.27 [[ 9.99998341e-01 -1.49678682e-03 -1.03806252e-03 3.00368130e+02] [ 1.50038996e-03 9.99992823e-01 3.47897953e-03 1.69833803e+01] [ 1.03284778e-03 -3.48053126e-03 9.99993410e-01 -2.70016483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.691400513 meters Centerline goodness [0,1] 0.6292752878729506 Centerline is valid? [False, False] Translation: X:300.37, Y:16.98, Z:-0.27 [[ 9.99998295e-01 -1.52304444e-03 -1.04417927e-03 3.00368222e+02] [ 1.52648832e-03 9.99993372e-01 3.30533913e-03 1.69842431e+01] [ 1.03913818e-03 -3.30692743e-03 9.99993992e-01 -2.70241455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.721400513 meters Centerline goodness [0,1] 0.6893243300995768 Centerline is valid? [False, False] Translation: X:300.37, Y:16.98, Z:-0.27 [[ 9.99998333e-01 -1.45793195e-03 -1.09972604e-03 3.00368383e+02] [ 1.46172495e-03 9.99992959e-01 3.45616402e-03 1.69835189e+01] [ 1.09467944e-03 -3.45776576e-03 9.99993423e-01 -2.70218751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.751400513 meters Centerline goodness [0,1] 0.5704592346797694 Centerline is valid? [False, False] Translation: X:300.37, Y:16.98, Z:-0.27 [[ 9.99998436e-01 -1.33906587e-03 -1.15523274e-03 3.00368539e+02] [ 1.34341249e-03 9.99991991e-01 3.77001587e-03 1.69820033e+01] [ 1.15017519e-03 -3.77156193e-03 9.99992226e-01 -2.70142716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.781400513 meters Centerline goodness [0,1] 0.7610993657505285 Centerline is valid? [False, False] Translation: X:300.37, Y:16.98, Z:-0.27 [[ 9.99998636e-01 -1.17664208e-03 -1.15868176e-03 3.00368428e+02] [ 1.18148720e-03 9.99990525e-01 4.18981076e-03 1.69799832e+01] [ 1.15374087e-03 -4.19117401e-03 9.99990551e-01 -2.69858651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.811400513 meters Centerline goodness [0,1] 0.789776385252586 Centerline is valid? [False, False] Translation: X:300.37, Y:16.98, Z:-0.27 [[ 9.99998892e-01 -9.33905253e-04 -1.15920547e-03 3.00368313e+02] [ 9.39461513e-04 9.99988029e-01 4.80190793e-03 1.69770803e+01] [ 1.15470706e-03 -4.80299164e-03 9.99987799e-01 -2.69568918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.841400513 meters Centerline goodness [0,1] 0.7784784507552356 Centerline is valid? [False, False] Translation: X:300.37, Y:16.98, Z:-0.27 [[ 9.99985899e-01 -5.24360210e-03 -8.39928683e-04 3.00366979e+02] [ 5.24356303e-03 9.99986251e-01 -4.87039957e-05 1.69799236e+01] [ 8.40172519e-04 4.42990900e-05 9.99999646e-01 -2.68961392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.871400513 meters Centerline goodness [0,1] 0.7982762686791158 Centerline is valid? [False, False] Translation: X:300.37, Y:16.98, Z:-0.27 [[ 9.99986102e-01 -5.20352095e-03 -8.48631652e-04 3.00366819e+02] [ 5.20355360e-03 9.99986461e-01 3.62628964e-05 1.69795295e+01] [ 8.48431467e-04 -4.06782927e-05 9.99999639e-01 -2.68586108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.901400513 meters Centerline goodness [0,1] 0.6577574273240336 Centerline is valid? [False, False] Translation: X:300.37, Y:16.98, Z:-0.27 [[ 9.99986240e-01 -5.17270035e-03 -8.73424351e-04 3.00366905e+02] [ 5.17279532e-03 9.99986615e-01 1.06508277e-04 1.69792103e+01] [ 8.72861725e-04 -1.11024857e-04 9.99999613e-01 -2.68614566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.931400513 meters Centerline goodness [0,1] 0.7946229480345728 Centerline is valid? [False, False] Translation: X:300.37, Y:16.98, Z:-0.27 [[ 9.99986251e-01 -5.15133720e-03 -9.80175782e-04 3.00367354e+02] [ 5.15149735e-03 9.99986718e-01 1.60931278e-04 1.69789530e+01] [ 9.79333752e-04 -1.65978438e-04 9.99999507e-01 -2.68805024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.961400513 meters Centerline goodness [0,1] 0.6496277810675916 Centerline is valid? [False, False] Translation: X:300.37, Y:16.98, Z:-0.27 [[ 9.99986216e-01 -5.13986857e-03 -1.07211405e-03 3.00367805e+02] [ 5.14006727e-03 9.99986773e-01 1.82662129e-04 1.69788519e+01] [ 1.07116101e-03 -1.88170349e-04 9.99999409e-01 -2.69087428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.991400513 meters Centerline goodness [0,1] 0.6718094954352961 Centerline is valid? [False, False] Translation: X:300.37, Y:16.98, Z:-0.27 [[ 9.99986055e-01 -5.17064212e-03 -1.07438190e-03 3.00367687e+02] [ 5.17078080e-03 9.99986623e-01 1.26333829e-04 1.69791199e+01] [ 1.07371430e-03 -1.31887460e-04 9.99999415e-01 -2.68854653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.021400513 meters Centerline goodness [0,1] 0.9396152285781394 Centerline is valid? [False, False] Translation: X:300.37, Y:16.98, Z:-0.27 [[ 9.99985408e-01 -5.31282596e-03 -9.78745593e-04 3.00366788e+02] [ 5.31274382e-03 9.99985884e-01 -8.65033227e-05 1.69800299e+01] [ 9.79191353e-04 8.13022358e-05 9.99999517e-01 -2.67762159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.051400513 meters Centerline goodness [0,1] 0.9396152285781394 Centerline is valid? [False, False] Translation: X:300.37, Y:16.98, Z:-0.27 [[ 9.99985408e-01 -5.31282596e-03 -9.78745593e-04 3.00366788e+02] [ 5.31274382e-03 9.99985884e-01 -8.65033227e-05 1.69800299e+01] [ 9.79191353e-04 8.13022358e-05 9.99999517e-01 -2.67762159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.081400513 meters Centerline goodness [0,1] 0.9058657786885246 Centerline is valid? [False, False] Translation: X:300.37, Y:16.98, Z:-0.27 [[ 9.99985789e-01 -5.20786993e-03 -1.14009030e-03 3.00367278e+02] [ 5.20818129e-03 9.99986401e-01 2.70305042e-04 1.69783048e+01] [ 1.13866708e-03 -2.76238998e-04 9.99999314e-01 -2.67672829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.111400513 meters Centerline goodness [0,1] 0.9807023230686116 Centerline is valid? [False, True] Translation: X:300.37, Y:16.98, Z:-0.27 [[ 9.99951296e-01 -9.81252546e-03 -1.05804397e-03 3.00367075e+02] [ 9.80725821e-03 9.99940031e-01 -4.87357285e-03 1.69822133e+01] [ 1.10580258e-03 4.86295897e-03 9.99987564e-01 -2.67684538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.141400513 meters Centerline goodness [0,1] 0.9306375889747085 Centerline is valid? [True, False] Translation: X:300.37, Y:16.97, Z:-0.27 [[ 9.99978813e-01 -6.35330921e-03 -1.41751765e-03 3.00368137e+02] [ 6.35389791e-03 9.99979729e-01 4.11185733e-04 1.69745547e+01] [ 1.41487652e-03 -4.20183784e-04 9.99998911e-01 -2.67699006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.171400513 meters Centerline goodness [0,1] 0.9810831655169459 Centerline is valid? [False, True] Translation: X:300.37, Y:16.98, Z:-0.27 [[ 9.99938335e-01 -1.10358739e-02 -1.23896958e-03 3.00367409e+02] [ 1.10297412e-02 9.99927398e-01 -4.85210634e-03 1.69790308e+01] [ 1.29242687e-03 4.83814162e-03 9.99987461e-01 -2.67237310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.201400513 meters Centerline goodness [0,1] 0.9884888984694977 Centerline is valid? [True, True] Translation: X:300.40, Y:16.97, Z:-0.27 [[ 9.99890585e-01 -1.47728461e-02 -7.61687539e-04 3.00398353e+02] [ 1.47728077e-02 9.99890875e-01 -5.59985018e-05 1.69731655e+01] [ 7.62431677e-04 4.47401112e-05 9.99999708e-01 -2.66956379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.231400513 meters Centerline goodness [0,1] 0.9935369651465381 Centerline is valid? [True, True] Translation: X:300.43, Y:16.97, Z:-0.27 [[ 9.99769775e-01 -2.14565360e-02 -1.19547332e-04 3.00429908e+02] [ 2.14565351e-02 9.99769782e-01 -8.78091306e-06 1.69655356e+01] [ 1.19708218e-04 6.21381995e-06 9.99999993e-01 -2.65703255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.261400513 meters Centerline goodness [0,1] 0.9920877230703075 Centerline is valid? [True, True] Translation: X:300.46, Y:16.97, Z:-0.27 [[ 9.99726359e-01 -2.33820879e-02 -6.95842484e-04 3.00460349e+02] [ 2.33820581e-02 9.99726601e-01 -5.09577026e-05 1.69684604e+01] [ 6.96843739e-04 3.46735291e-05 9.99999757e-01 -2.67403728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.291400513 meters Centerline goodness [0,1] 0.9983065380493034 Centerline is valid? [True, True] Translation: X:300.50, Y:16.99, Z:-0.26 [[ 9.99476219e-01 -3.18819679e-02 -5.55224694e-03 3.00500484e+02] [ 3.17306760e-02 9.99171503e-01 -2.54847497e-02 1.69861605e+01] [ 6.36015089e-03 2.52952247e-02 9.99659792e-01 -2.61944845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.321400513 meters Centerline goodness [0,1] 0.9936320704318653 Centerline is valid? [True, True] Translation: X:300.52, Y:16.95, Z:-0.27 [[ 9.99650938e-01 -2.61572372e-02 -3.71491724e-03 3.00521928e+02] [ 2.62421244e-02 9.99342629e-01 2.50132160e-02 1.69505360e+01] [ 3.05819854e-03 -2.51019722e-02 9.99680218e-01 -2.71564141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.351400513 meters Centerline goodness [0,1] 0.9981299876057318 Centerline is valid? [True, True] Translation: X:300.55, Y:16.97, Z:-0.27 [[ 9.99679961e-01 -2.52291654e-02 -1.86119788e-03 3.00552065e+02] [ 2.52289544e-02 9.99681690e-01 -1.36779204e-04 1.69662947e+01] [ 1.86405627e-03 8.97793533e-05 9.99998259e-01 -2.67219470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.381400513 meters Centerline goodness [0,1] 0.9950493993128907 Centerline is valid? [True, True] Translation: X:300.58, Y:16.98, Z:-0.27 [[ 9.99671188e-01 -2.55674445e-02 -1.95514084e-03 3.00581478e+02] [ 2.55672121e-02 9.99673095e-01 -1.43762392e-04 1.69780393e+01] [ 1.95817733e-03 9.37276211e-05 9.99998078e-01 -2.68651714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.411400513 meters Centerline goodness [0,1] 0.9950427056955234 Centerline is valid? [True, True] Translation: X:300.61, Y:16.98, Z:-0.27 [[ 9.99662039e-01 -2.59482096e-02 -1.58059905e-03 3.00611313e+02] [ 2.59480587e-02 9.99663286e-01 -1.15890982e-04 1.69833655e+01] [ 1.58307400e-03 7.48383383e-05 9.99998744e-01 -2.68661292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.441400513 meters Centerline goodness [0,1] 0.9955224200355636 Centerline is valid? [True, True] Translation: X:300.64, Y:16.99, Z:-0.27 [[ 9.99633994e-01 -2.70335343e-02 -1.03297645e-03 3.00641105e+02] [ 2.70334707e-02 9.99634526e-01 -7.55056838e-05 1.69882166e+01] [ 1.03464011e-03 4.75531094e-05 9.99999464e-01 -2.67946001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.471400513 meters Centerline goodness [0,1] 0.9984541726603259 Centerline is valid? [True, True] Translation: X:300.67, Y:16.99, Z:-0.27 [[ 9.99599949e-01 -2.82830702e-02 -9.65341951e-05 3.00672862e+02] [ 2.82830696e-02 9.99599954e-01 -6.90915619e-06 1.69872265e+01] [ 9.66909891e-05 4.17610881e-06 9.99999995e-01 -2.65756446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.501400513 meters Centerline goodness [0,1] 0.9990783015025829 Centerline is valid? [True, True] Translation: X:300.70, Y:17.00, Z:-0.26 [[ 9.99529553e-01 -3.06210250e-02 1.73932206e-03 3.00702355e+02] [ 3.06208490e-02 9.99531064e-01 1.27763944e-04 1.69965605e+01] [-1.74241869e-03 -7.44443196e-05 9.99998479e-01 -2.64028875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.531400513 meters Centerline goodness [0,1] 0.9986013384115507 Centerline is valid? [True, True] Translation: X:300.73, Y:17.00, Z:-0.26 [[ 9.99509618e-01 -3.12222909e-02 2.38600202e-03 3.00732625e+02] [ 3.12219609e-02 9.99512460e-01 1.75450430e-04 1.70049372e+01] [-2.39031671e-03 -1.00868730e-04 9.99997138e-01 -2.64485780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.561400513 meters Centerline goodness [0,1] 0.9997176245710065 Centerline is valid? [True, True] Translation: X:300.76, Y:17.01, Z:-0.26 [[ 9.99440068e-01 -3.33272918e-02 2.97351007e-03 3.00763819e+02] [ 3.33267892e-02 9.99444484e-01 2.18425932e-04 1.70058084e+01] [-2.97913779e-03 -1.19206085e-04 9.99995555e-01 -2.63216102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.591400513 meters Centerline goodness [0,1] 0.9999353754685278 Centerline is valid? [True, True] Translation: X:300.79, Y:17.01, Z:-0.26 [[ 9.99373754e-01 -3.52916395e-02 2.56911129e-03 3.00794508e+02] [ 3.52912709e-02 9.99377051e-01 1.88682178e-04 1.70124175e+01] [-2.57416977e-03 -9.78968134e-05 9.99996682e-01 -2.63849774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.621400513 meters Centerline goodness [0,1] 0.9998702590494313 Centerline is valid? [True, True] Translation: X:300.83, Y:17.02, Z:-0.26 [[ 9.99310708e-01 -3.70363068e-02 2.53385437e-03 3.00825400e+02] [ 3.70359539e-02 9.99313916e-01 1.86034543e-04 1.70188692e+01] [-2.53900597e-03 -9.20625971e-05 9.99996772e-01 -2.64403152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.651400513 meters Centerline goodness [0,1] 0.9999150129605235 Centerline is valid? [True, True] Translation: X:300.86, Y:17.03, Z:-0.27 [[ 9.99224828e-01 -3.93210018e-02 1.89799920e-03 3.00855758e+02] [ 3.93208080e-02 9.99226628e-01 1.39349223e-04 1.70257073e+01] [-1.90201069e-03 -6.46103413e-05 9.99998189e-01 -2.65735618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.681400513 meters Centerline goodness [0,1] 0.9999783169626402 Centerline is valid? [True, True] Translation: X:300.89, Y:17.04, Z:-0.26 [[ 9.99033013e-01 -4.39643862e-02 -4.14601091e-04 3.00889101e+02] [ 4.39531877e-02 9.98920375e-01 -1.50399720e-02 1.70436277e+01] [ 1.07537661e-03 1.50072055e-02 9.99886807e-01 -2.62717503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.711400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:300.92, Y:17.04, Z:-0.27 [[ 9.98853106e-01 -4.78565844e-02 -1.48980412e-03 3.00921697e+02] [ 4.78576997e-02 9.98853903e-01 7.22149281e-04 1.70418632e+01] [ 1.45353706e-03 -7.92619651e-04 9.99998629e-01 -2.66255099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.741400513 meters Centerline goodness [0,1] 0.9999783179029076 Centerline is valid? [True, True] Translation: X:300.95, Y:17.03, Z:-0.27 [[ 9.98933630e-01 -4.61612686e-02 8.60588538e-04 3.00948266e+02] [ 4.61423912e-02 9.98814374e-01 1.55153453e-02 1.70342642e+01] [-1.57577622e-03 -1.54590906e-02 9.99879259e-01 -2.70461443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.771400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:300.98, Y:17.05, Z:-0.27 [[ 9.98867377e-01 -4.75562165e-02 1.53925481e-03 3.00979345e+02] [ 4.75560995e-02 9.98868562e-01 1.12508185e-04 1.70538707e+01] [-1.54286370e-03 -3.91798010e-05 9.99998809e-01 -2.68742756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.801400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:301.01, Y:17.07, Z:-0.27 [[ 9.98752648e-01 -4.99121346e-02 1.38816760e-03 3.01008556e+02] [ 4.99120416e-02 9.98753612e-01 1.01583348e-04 1.70687069e+01] [-1.39150765e-03 -3.21703585e-05 9.99999031e-01 -2.69939029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.831400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:301.04, Y:17.08, Z:-0.27 [[ 9.98701959e-01 -5.09241050e-02 1.06459234e-03 3.01038940e+02] [ 5.09240510e-02 9.98702526e-01 7.77085150e-05 1.70753648e+01] [-1.06716829e-03 -2.33942915e-05 9.99999430e-01 -2.70517394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.861400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:301.07, Y:17.08, Z:-0.27 [[ 9.98708681e-01 -5.07624654e-02 2.03545353e-03 3.01071080e+02] [ 5.07622685e-02 9.98710754e-01 1.48320885e-04 1.70811020e+01] [-2.04035847e-03 -4.48051161e-05 9.99997917e-01 -2.69465965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.891400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:301.10, Y:17.09, Z:-0.27 [[ 9.98715667e-01 -5.06316815e-02 1.85706625e-03 3.01101962e+02] [ 5.06315176e-02 9.98717393e-01 1.35192458e-04 1.70900303e+01] [-1.86152939e-03 -4.09927431e-05 9.99998267e-01 -2.69909918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.921400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:301.13, Y:17.10, Z:-0.27 [[ 9.98774585e-01 -4.94439662e-02 2.15002144e-03 3.01133743e+02] [ 4.94437439e-02 9.98776898e-01 1.56472278e-04 1.70967034e+01] [-2.15512836e-03 -4.99754246e-05 9.99997676e-01 -2.69337403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.951400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:301.17, Y:17.11, Z:-0.27 [[ 9.98850692e-01 -4.78808763e-02 2.17197268e-03 3.01165578e+02] [ 4.78806459e-02 9.98853052e-01 1.57963429e-04 1.71056072e+01] [-2.17704497e-03 -5.37864255e-05 9.99997629e-01 -2.69338658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.981400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:301.19, Y:17.13, Z:-0.27 [[ 9.99116143e-01 -4.19906105e-02 1.92927856e-03 3.01194681e+02] [ 4.19904184e-02 9.99118004e-01 1.39982804e-04 1.71257970e+01] [-1.93345490e-03 -5.88478653e-05 9.99998129e-01 -2.69358180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.011400513 meters Centerline goodness [0,1] 0.9999138321018505 Centerline is valid? [True, True] Translation: X:301.22, Y:17.14, Z:-0.27 [[ 9.99269080e-01 -3.81716628e-02 2.05652002e-03 3.01223199e+02] [ 3.81714365e-02 9.99271194e-01 1.49186920e-04 1.71437368e+01] [-2.06071593e-03 -7.05775532e-05 9.99997874e-01 -2.70002795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.041400513 meters Centerline goodness [0,1] 0.9998482680886115 Centerline is valid? [True, True] Translation: X:301.25, Y:17.16, Z:-0.27 [[ 9.99510208e-01 -3.12059774e-02 2.35180568e-03 3.01253228e+02] [ 3.12056620e-02 9.99512970e-01 1.70717729e-04 1.71647370e+01] [-2.35598769e-03 -9.72444603e-05 9.99997220e-01 -2.69125929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.071400513 meters Centerline goodness [0,1] 0.9998917045700672 Centerline is valid? [True, True] Translation: X:301.28, Y:17.17, Z:-0.27 [[ 9.99596147e-01 -2.83410909e-02 2.07983530e-03 3.01283405e+02] [ 2.83408381e-02 9.99598306e-01 1.50909659e-04 1.71742806e+01] [-2.08327679e-03 -9.19044379e-05 9.99997826e-01 -2.69581081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.101400513 meters Centerline goodness [0,1] 0.999869935618131 Centerline is valid? [True, True] Translation: X:301.31, Y:17.18, Z:-0.27 [[ 9.99648282e-01 -2.64584476e-02 1.80628713e-03 3.01314000e+02] [ 2.64582539e-02 9.99649911e-01 1.31054376e-04 1.71803332e+01] [-1.80912227e-03 -8.32170777e-05 9.99998360e-01 -2.70792942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.131400513 meters Centerline goodness [0,1] 0.9997845616907598 Centerline is valid? [True, True] Translation: X:301.35, Y:17.19, Z:-0.27 [[ 9.99672873e-01 -2.54829660e-02 2.18312743e-03 3.01345441e+02] [ 2.54826806e-02 9.99675251e-01 1.58495166e-04 1.71854091e+01] [-2.18645739e-03 -1.02811378e-04 9.99997604e-01 -2.70565319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.161400513 meters Centerline goodness [0,1] 0.9995269631031221 Centerline is valid? [True, True] Translation: X:301.38, Y:17.20, Z:-0.27 [[ 9.99675279e-01 -2.53353874e-02 2.73049329e-03 3.01376389e+02] [ 2.53349395e-02 9.99678999e-01 1.98513583e-04 1.71960875e+01] [-2.73464622e-03 -1.29272240e-04 9.99996252e-01 -2.70630193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.191400513 meters Centerline goodness [0,1] 0.9995493465525012 Centerline is valid? [True, True] Translation: X:301.41, Y:17.20, Z:-0.27 [[ 9.99660453e-01 -2.58577122e-02 3.21838998e-03 3.01408707e+02] [ 2.58570956e-02 9.99665622e-01 2.33051493e-04 1.72006787e+01] [-3.22334000e-03 -1.49754143e-04 9.99994794e-01 -2.70224534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.221400513 meters Centerline goodness [0,1] 0.9998928716817004 Centerline is valid? [True, True] Translation: X:301.44, Y:17.20, Z:-0.27 [[ 9.99639914e-01 -2.65830810e-02 3.65813545e-03 3.01440904e+02] [ 2.65822901e-02 9.99646593e-01 2.64670433e-04 1.72031007e+01] [-3.66387839e-03 -1.67333511e-04 9.99993274e-01 -2.69244338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.251400513 meters Centerline goodness [0,1] 0.9999568974806577 Centerline is valid? [True, True] Translation: X:301.47, Y:17.21, Z:-0.27 [[ 9.99582276e-01 -2.85019925e-02 4.78650526e-03 3.01472602e+02] [ 2.85006623e-02 9.99593714e-01 3.45918190e-04 1.72068940e+01] [-4.79441993e-03 -2.09355122e-04 9.99988485e-01 -2.67617781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.281400513 meters Centerline goodness [0,1] 0.99968046354089 Centerline is valid? [True, True] Translation: X:301.50, Y:17.22, Z:-0.27 [[ 9.99563654e-01 -2.91144399e-02 4.98508983e-03 3.01502899e+02] [ 2.91130055e-02 9.99576062e-01 3.60076169e-04 1.72155501e+01] [-4.99345987e-03 -2.14788104e-04 9.99987510e-01 -2.67981795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.311400513 meters Centerline goodness [0,1] 0.9998933901918976 Centerline is valid? [True, True] Translation: X:301.53, Y:17.22, Z:-0.27 [[ 9.99559059e-01 -2.93026946e-02 4.79999462e-03 3.01534982e+02] [ 2.93013675e-02 9.99570563e-01 3.46580558e-04 1.72175900e+01] [-4.80808907e-03 -2.05781329e-04 9.99988420e-01 -2.68745289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.341400513 meters Centerline goodness [0,1] 0.9998936622713739 Centerline is valid? [True, True] Translation: X:301.57, Y:17.22, Z:-0.27 [[ 9.99564013e-01 -2.92154609e-02 4.27082399e-03 3.01565408e+02] [ 2.92144104e-02 9.99573121e-01 3.08168734e-04 1.72237765e+01] [-4.27800416e-03 -1.83264772e-04 9.99990833e-01 -2.70312606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.371400513 meters Centerline goodness [0,1] 0.9999137931034483 Centerline is valid? [True, True] Translation: X:301.60, Y:17.22, Z:-0.27 [[ 9.99580338e-01 -2.87074620e-02 3.87680122e-03 3.01597910e+02] [ 2.87065927e-02 9.99587842e-01 2.79686624e-04 1.72225054e+01] [-3.88323246e-03 -1.68279496e-04 9.99992446e-01 -2.71241027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.401400513 meters Centerline goodness [0,1] 0.9998706812940492 Centerline is valid? [True, True] Translation: X:301.63, Y:17.23, Z:-0.27 [[ 9.99604662e-01 -2.78749210e-02 3.67550205e-03 3.01628411e+02] [ 2.78741348e-02 9.99611406e-01 2.64950560e-04 1.72321625e+01] [-3.68145925e-03 -1.62394375e-04 9.99993210e-01 -2.72280129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.431400513 meters Centerline goodness [0,1] 0.99969942246173 Centerline is valid? [True, True] Translation: X:301.66, Y:17.24, Z:-0.27 [[ 9.99661916e-01 -2.58578583e-02 2.72500515e-03 3.01658816e+02] [ 2.58574191e-02 9.99665622e-01 1.96277981e-04 1.72423037e+01] [-2.72916929e-03 -1.25750022e-04 9.99996268e-01 -2.73480341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.461400513 meters Centerline goodness [0,1] 0.9997019374068554 Centerline is valid? [True, True] Translation: X:301.69, Y:17.25, Z:-0.27 [[ 9.99683115e-01 -2.50722326e-02 2.24784123e-03 3.01690259e+02] [ 2.50719315e-02 9.99685637e-01 1.62040331e-04 1.72468656e+01] [-2.25119730e-03 -1.05631261e-04 9.99997460e-01 -2.73742310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.491400513 meters Centerline goodness [0,1] 0.9991072187739137 Centerline is valid? [True, True] Translation: X:301.72, Y:17.26, Z:-0.27 [[ 9.99691464e-01 -2.47662797e-02 1.89956111e-03 3.01720387e+02] [ 2.47660643e-02 9.99693265e-01 1.36836023e-04 1.72561630e+01] [-1.90236736e-03 -8.97491520e-05 9.99998186e-01 -2.74689190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.521400513 meters Centerline goodness [0,1] 0.999653229302124 Centerline is valid? [True, True] Translation: X:301.75, Y:17.26, Z:-0.27 [[ 9.99690453e-01 -2.48106988e-02 1.85131365e-03 3.01752018e+02] [ 2.48104941e-02 9.99692163e-01 1.33468036e-04 1.72583648e+01] [-1.85405518e-03 -8.74947145e-05 9.99998277e-01 -2.74568898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.551400513 meters Centerline goodness [0,1] 0.9999565302440827 Centerline is valid? [True, True] Translation: X:301.78, Y:17.26, Z:-0.27 [[ 9.99675727e-01 -2.53755550e-02 2.12668478e-03 3.01783978e+02] [ 2.53752865e-02 9.99677984e-01 1.53174378e-04 1.72587088e+01] [-2.12988684e-03 -9.91594717e-05 9.99997727e-01 -2.73872496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.581400513 meters Centerline goodness [0,1] 0.9996120856859618 Centerline is valid? [True, True] Translation: X:301.81, Y:17.27, Z:-0.27 [[ 9.99673225e-01 -2.54531311e-02 2.36262052e-03 3.01814555e+02] [ 2.54528004e-02 9.99676011e-01 1.69933125e-04 1.72710503e+01] [-2.36618039e-03 -1.09742286e-04 9.99997195e-01 -2.74229053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.611400513 meters Centerline goodness [0,1] 0.9995530012771392 Centerline is valid? [True, True] Translation: X:301.85, Y:17.28, Z:-0.27 [[ 9.99686609e-01 -2.49310239e-02 2.26437480e-03 3.01846014e+02] [ 2.49307189e-02 9.99689168e-01 1.62853245e-04 1.72770810e+01] [-2.26773106e-03 -1.06349716e-04 9.99997423e-01 -2.74461274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.641400513 meters Centerline goodness [0,1] 0.9998711367882992 Centerline is valid? [True, True] Translation: X:301.88, Y:17.28, Z:-0.27 [[ 9.99708091e-01 -2.40926022e-02 1.81094487e-03 3.01878416e+02] [ 2.40924057e-02 9.99709727e-01 1.30243447e-04 1.72798858e+01] [-1.81355710e-03 -8.65754092e-05 9.99998352e-01 -2.74901981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.671400513 meters Centerline goodness [0,1] 0.9994689551160865 Centerline is valid? [True, True] Translation: X:301.91, Y:17.29, Z:-0.28 [[ 9.99735028e-01 -2.29562084e-02 1.69912086e-03 3.01910325e+02] [ 2.29560339e-02 9.99736468e-01 1.22140643e-04 1.72871913e+01] [-1.70147697e-03 -8.31032034e-05 9.99998549e-01 -2.75795521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.701400513 meters Centerline goodness [0,1] 0.9990239458615304 Centerline is valid? [True, True] Translation: X:301.94, Y:17.29, Z:-0.28 [[ 9.99753564e-01 -2.21221190e-02 1.85004808e-03 3.01941655e+02] [ 2.21219111e-02 9.99755272e-01 1.32790185e-04 1.72931238e+01] [-1.85253292e-03 -9.18308614e-05 9.99998280e-01 -2.75836550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.731400513 meters Centerline goodness [0,1] 0.9516905085550306 Centerline is valid? [True, True] Translation: X:301.97, Y:17.31, Z:-0.27 [[ 9.99763376e-01 -2.14893743e-02 3.37626793e-03 3.01971084e+02] [ 2.14886795e-02 9.99769062e-01 2.41912485e-04 1.73120764e+01] [-3.38068677e-03 -1.69303703e-04 9.99994271e-01 -2.74627216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.761400513 meters Centerline goodness [0,1] 0.9975163790519419 Centerline is valid? [True, True] Translation: X:302.00, Y:17.31, Z:-0.27 [[ 9.99756457e-01 -2.16707395e-02 4.17208426e-03 3.02003857e+02] [ 2.16696805e-02 9.99765140e-01 2.98880498e-04 1.73083729e+01] [-4.17758137e-03 -2.08399975e-04 9.99991252e-01 -2.72854276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.791400513 meters Centerline goodness [0,1] 0.9997195677028281 Centerline is valid? [True, True] Translation: X:302.03, Y:17.31, Z:-0.27 [[ 9.99713769e-01 -2.35784270e-02 4.05447267e-03 3.02034953e+02] [ 2.35774436e-02 9.99721971e-01 2.90174682e-04 1.73124780e+01] [-4.06018728e-03 -1.94497524e-04 9.99991738e-01 -2.73482789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.821400513 meters Centerline goodness [0,1] 0.9999567099567099 Centerline is valid? [True, True] Translation: X:302.07, Y:17.31, Z:-0.27 [[ 9.99683142e-01 -2.49292453e-02 3.48538057e-03 3.02065965e+02] [ 2.49285270e-02 9.99689205e-01 2.49388118e-04 1.73144434e+01] [-3.49051439e-03 -1.62423694e-04 9.99993895e-01 -2.74506310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.851400513 meters Centerline goodness [0,1] 0.9999784185082873 Centerline is valid? [True, True] Translation: X:302.10, Y:17.32, Z:-0.28 [[ 9.99650799e-01 -2.62860951e-02 2.70584472e-03 3.02096006e+02] [ 2.62856666e-02 9.99654453e-01 1.93839249e-04 1.73176764e+01] [-2.71000500e-03 -1.22646628e-04 9.99996320e-01 -2.75857612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.881400513 meters Centerline goodness [0,1] 0.9998722697662537 Centerline is valid? [True, True] Translation: X:302.13, Y:17.32, Z:-0.28 [[ 9.99612421e-01 -2.77298337e-02 2.46236262e-03 3.02125899e+02] [ 2.77294843e-02 9.99615448e-01 1.75940881e-04 1.73239018e+01] [-2.46629453e-03 -1.07592644e-04 9.99996953e-01 -2.77304092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.911400513 meters Centerline goodness [0,1] 0.9998085554444704 Centerline is valid? [True, True] Translation: X:302.16, Y:17.33, Z:-0.28 [[ 9.99584139e-01 -2.85812463e-02 3.82901007e-03 3.02159563e+02] [ 2.85899264e-02 9.99588733e-01 -2.23168210e-03 1.73297363e+01] [-3.76365107e-03 2.34022515e-03 9.99990179e-01 -2.75663072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.941400513 meters Centerline goodness [0,1] 0.9998085554444704 Centerline is valid? [True, True] Translation: X:302.19, Y:17.33, Z:-0.28 [[ 9.99585764e-01 -2.85491313e-02 3.63960122e-03 3.02192197e+02] [ 2.85486330e-02 9.99592387e-01 1.88807859e-04 1.73299248e+01] [-3.64350797e-03 -8.48240084e-05 9.99993359e-01 -2.76794586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.971400513 meters Centerline goodness [0,1] 0.9999785541186815 Centerline is valid? [True, True] Translation: X:302.22, Y:17.33, Z:-0.28 [[ 9.99572607e-01 -2.91325580e-02 2.42841712e-03 3.02223615e+02] [ 2.91261358e-02 9.99572260e-01 2.63928026e-03 1.73294163e+01] [-2.50426737e-03 -2.56742184e-03 9.99993568e-01 -2.77880631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.001400513 meters Centerline goodness [0,1] 0.9998058419985331 Centerline is valid? [True, True] Translation: X:302.26, Y:17.34, Z:-0.28 [[ 9.99573682e-01 -2.91126582e-02 2.21512981e-03 3.02256048e+02] [ 2.91123795e-02 9.99576132e-01 1.57976497e-04 1.73381520e+01] [-2.21879000e-03 -9.34214490e-05 9.99997534e-01 -2.77035274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.031400513 meters Centerline goodness [0,1] 0.9999148138683023 Centerline is valid? [True, True] Translation: X:302.29, Y:17.34, Z:-0.28 [[ 9.99577016e-01 -2.89805209e-02 2.43276904e-03 3.02288106e+02] [ 2.89801850e-02 9.99579971e-01 1.73202882e-04 1.73427073e+01] [-2.43676672e-03 -1.02627523e-04 9.99997026e-01 -2.77184006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.061400513 meters Centerline goodness [0,1] 0.9999140358040876 Centerline is valid? [True, True] Translation: X:302.32, Y:17.35, Z:-0.28 [[ 9.99578122e-01 -2.89110201e-02 2.78054541e-03 3.02320700e+02] [ 2.89105815e-02 9.99581982e-01 1.97791792e-04 1.73461758e+01] [-2.78510145e-03 -1.17321163e-04 9.99996115e-01 -2.77163067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.091400513 meters Centerline goodness [0,1] 0.9999571017974347 Centerline is valid? [True, True] Translation: X:302.35, Y:17.35, Z:-0.28 [[ 9.99585069e-01 -2.86090700e-02 3.34823231e-03 3.02352289e+02] [ 2.86084340e-02 9.99590667e-01 2.37707323e-04 1.73515668e+01] [-3.35366235e-03 -1.41821008e-04 9.99994366e-01 -2.76700953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.121400513 meters Centerline goodness [0,1] 0.9998271204754187 Centerline is valid? [True, True] Translation: X:302.38, Y:17.36, Z:-0.28 [[ 9.99601899e-01 -2.78911914e-02 4.25736623e-03 3.02384583e+02] [ 2.78901579e-02 9.99610948e-01 3.01951474e-04 1.73575081e+01] [-4.26413168e-03 -1.83092651e-04 9.99990892e-01 -2.76155058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.151400513 meters Centerline goodness [0,1] 0.9994057598845476 Centerline is valid? [True, True] Translation: X:302.42, Y:17.36, Z:-0.28 [[ 9.99602618e-01 -2.77994654e-02 4.66860139e-03 3.02416406e+02] [ 2.77982225e-02 9.99613500e-01 3.30901900e-04 1.73636143e+01] [-4.67599587e-03 -2.00991585e-04 9.99989047e-01 -2.76345746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.181400513 meters Centerline goodness [0,1] 0.9994022330863986 Centerline is valid? [True, True] Translation: X:302.45, Y:17.37, Z:-0.28 [[ 9.99587919e-01 -2.83507831e-02 4.49725225e-03 3.02448074e+02] [ 2.83496367e-02 9.99598018e-01 3.18465828e-04 1.73661138e+01] [-4.50447319e-03 -1.90839127e-04 9.99989837e-01 -2.76564903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.211400513 meters Centerline goodness [0,1] 0.999871523093724 Centerline is valid? [True, True] Translation: X:302.48, Y:17.36, Z:-0.28 [[ 9.99548148e-01 -2.97008942e-02 4.62129068e-03 3.02479893e+02] [ 2.96996995e-02 9.99558813e-01 3.26954317e-04 1.73640957e+01] [-4.62896266e-03 -1.89555638e-04 9.99989268e-01 -2.76225272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.241400513 meters Centerline goodness [0,1] 0.9999137670848963 Centerline is valid? [True, True] Translation: X:302.51, Y:17.36, Z:-0.28 [[ 9.99486759e-01 -3.16661714e-02 4.84473183e-03 3.02510326e+02] [ 3.16648822e-02 9.99498483e-01 3.42603257e-04 1.73646146e+01] [-4.85315105e-03 -1.89019556e-04 9.99988206e-01 -2.76182326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.271400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.54, Y:17.36, Z:-0.28 [[ 9.99295128e-01 -3.71283334e-02 5.54375519e-03 3.02540396e+02] [ 3.71267300e-02 9.99310488e-01 3.91900261e-04 1.73621511e+01] [-5.55448332e-03 -1.85802520e-04 9.99984556e-01 -2.76510185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.301400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.57, Y:17.35, Z:-0.28 [[ 9.99166289e-01 -4.04928762e-02 5.20134815e-03 3.02571616e+02] [ 4.04915098e-02 9.99179815e-01 3.67781090e-04 1.73536706e+01] [-5.21197460e-03 -1.56864027e-04 9.99986405e-01 -2.77228917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.331400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.60, Y:17.35, Z:-0.28 [[ 9.99049757e-01 -4.33691130e-02 4.32461195e-03 3.02602564e+02] [ 4.33681950e-02 9.99059110e-01 3.05871914e-04 1.73511756e+01] [-4.33380836e-03 -1.18030647e-04 9.99990602e-01 -2.78797870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.361400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.64, Y:17.35, Z:-0.28 [[ 9.98967862e-01 -4.53072086e-02 3.23526807e-03 3.02635219e+02] [ 4.53067047e-02 9.98973098e-01 2.28904636e-04 1.73501025e+01] [-3.24231680e-03 -8.20890402e-05 9.99994740e-01 -2.80217871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.391400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.67, Y:17.35, Z:-0.28 [[ 9.98900881e-01 -4.68136510e-02 2.34785935e-03 3.02667197e+02] [ 4.68133898e-02 9.98903638e-01 1.66109842e-04 1.73504373e+01] [-2.35306145e-03 -5.60160126e-05 9.99997230e-01 -2.81652892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.421400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.70, Y:17.35, Z:-0.28 [[ 9.98931228e-01 -4.61392554e-02 2.75166102e-03 3.02698591e+02] [ 4.61388947e-02 9.98935015e-01 1.94434594e-04 1.73541353e+01] [-2.75770161e-03 -6.72681898e-05 9.99996195e-01 -2.81391192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.451400513 meters Centerline goodness [0,1] 0.9999570769395858 Centerline is valid? [True, True] Translation: X:302.73, Y:17.36, Z:-0.28 [[ 9.98977626e-01 -4.51362407e-02 2.53413979e-03 3.02730221e+02] [ 4.51359316e-02 9.98980838e-01 1.79061770e-04 1.73586296e+01] [-2.53963927e-03 -6.44979418e-05 9.99996773e-01 -2.81403431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.481400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.76, Y:17.36, Z:-0.28 [[ 9.99053389e-01 -4.34254231e-02 2.56081880e-03 3.02762946e+02] [ 4.34251021e-02 9.99056669e-01 1.80854125e-04 1.73566802e+01] [-2.56625677e-03 -6.94791087e-05 9.99996705e-01 -2.79903493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.511400513 meters Centerline goodness [0,1] 0.999784812033311 Centerline is valid? [True, True] Translation: X:302.79, Y:17.36, Z:-0.28 [[ 9.99106754e-01 -4.21801005e-02 2.55614178e-03 3.02794669e+02] [ 4.21797769e-02 9.99110021e-01 1.80399820e-04 1.73632815e+01] [-2.56147615e-03 -7.24211882e-05 9.99996717e-01 -2.80406909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.541400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.83, Y:17.37, Z:-0.28 [[ 9.99173397e-01 -4.05376960e-02 3.03620707e-03 3.02825990e+02] [ 4.05372320e-02 9.99178006e-01 2.14252917e-04 1.73712182e+01] [-3.04239664e-03 -9.09963843e-05 9.99995368e-01 -2.79885768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.571400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.86, Y:17.38, Z:-0.28 [[ 9.99152217e-01 -4.10010608e-02 3.70947094e-03 3.02858315e+02] [ 4.10003737e-02 9.99159097e-01 2.61117145e-04 1.73753054e+01] [-3.71705771e-03 -1.08806080e-04 9.99993086e-01 -2.79222973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.601400513 meters Centerline goodness [0,1] 0.9999350354057039 Centerline is valid? [True, True] Translation: X:302.89, Y:17.38, Z:-0.28 [[ 9.99090647e-01 -4.23979461e-02 4.50477685e-03 3.02890395e+02] [ 4.23969484e-02 9.99100795e-01 3.16799670e-04 1.73786330e+01] [-4.51415779e-03 -1.25522796e-04 9.99989803e-01 -2.77984287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.631400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.92, Y:17.38, Z:-0.28 [[ 9.98999095e-01 -4.43952445e-02 5.46540689e-03 3.02922201e+02] [ 4.43938075e-02 9.99014035e-01 3.84007620e-04 1.73810926e+01] [-5.47706630e-03 -1.40993044e-04 9.99984991e-01 -2.76371108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.661400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.95, Y:17.39, Z:-0.28 [[ 9.98881844e-01 -4.68567288e-02 6.28560423e-03 3.02952467e+02] [ 4.68548795e-02 9.98901610e-01 4.41217661e-04 1.73873173e+01] [-6.29937420e-03 -1.46213082e-04 9.99980148e-01 -2.75521557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.691400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.98, Y:17.39, Z:-0.27 [[ 9.98567837e-01 -5.29922240e-02 7.35517599e-03 3.02983272e+02] [ 5.29898590e-02 9.98594917e-01 5.16183940e-04 1.73852266e+01] [-7.37219509e-03 -1.25694942e-04 9.99972817e-01 -2.73260064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.721400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:303.02, Y:17.39, Z:-0.27 [[ 9.98404505e-01 -5.60095929e-02 7.16727785e-03 3.03015596e+02] [ 5.60074246e-02 9.98430226e-01 5.03038855e-04 1.73858868e+01] [-7.18420184e-03 -1.00815485e-04 9.99974188e-01 -2.73551575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.751400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:303.05, Y:17.39, Z:-0.27 [[ 9.98251084e-01 -5.87108007e-02 6.91490546e-03 3.03047885e+02] [ 5.87088485e-02 9.98275030e-01 4.85146075e-04 1.73873575e+01] [-6.93146077e-03 -7.83314578e-05 9.99975974e-01 -2.74095267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.781400513 meters Centerline goodness [0,1] 0.9998694602180014 Centerline is valid? [True, True] Translation: X:303.08, Y:17.39, Z:-0.27 [[ 9.98074593e-01 -6.16132556e-02 7.13532201e-03 3.03079939e+02] [ 6.16112598e-02 9.98100097e-01 4.99386584e-04 1.73888454e+01] [-7.15253442e-03 -5.88088832e-05 9.99974419e-01 -2.74324303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.811400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:303.11, Y:17.39, Z:-0.27 [[ 9.97883703e-01 -6.45246839e-02 8.04238631e-03 3.03112466e+02] [ 6.45222553e-02 9.97916110e-01 5.61350915e-04 1.73902132e+01] [-8.06184786e-03 -4.12500269e-05 9.99967502e-01 -2.72708008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.841400513 meters Centerline goodness [0,1] 0.9999785292538915 Centerline is valid? [True, True] Translation: X:303.14, Y:17.39, Z:-0.27 [[ 9.97445570e-01 -7.08281396e-02 9.25798911e-03 3.03144656e+02] [ 7.08252089e-02 9.97488534e-01 6.44445189e-04 1.73912109e+01] [-9.28038283e-03 1.29000137e-05 9.99956936e-01 -2.71931182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.871400513 meters Centerline goodness [0,1] 0.9999566273421235 Centerline is valid? [True, True] Translation: X:303.18, Y:17.39, Z:-0.27 [[ 9.97220763e-01 -7.39396814e-02 9.14729437e-03 3.03176696e+02] [ 7.39369651e-02 9.97262714e-01 6.35226603e-04 1.73925873e+01] [-9.16922407e-03 4.28620265e-05 9.99957961e-01 -2.72832422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.901400513 meters Centerline goodness [0,1] 0.9997844920477565 Centerline is valid? [True, True] Translation: X:303.21, Y:17.39, Z:-0.27 [[ 9.97012557e-01 -7.66812065e-02 9.27107969e-03 3.03207613e+02] [ 7.66785493e-02 9.97055659e-01 6.42256925e-04 1.73943025e+01] [-9.29303151e-03 7.05547213e-05 9.99956816e-01 -2.73960771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.931400513 meters Centerline goodness [0,1] 0.9999786748555222 Centerline is valid? [True, True] Translation: X:303.24, Y:17.40, Z:-0.27 [[ 9.96895991e-01 -7.82281848e-02 8.87318758e-03 3.03238425e+02] [ 7.82258237e-02 9.96935476e-01 6.13368026e-04 1.73971538e+01] [-8.89397816e-03 8.26482817e-05 9.99960444e-01 -2.74167491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.961400513 meters Centerline goodness [0,1] 0.9999133842922414 Centerline is valid? [True, True] Translation: X:303.27, Y:17.41, Z:-0.28 [[ 9.96825913e-01 -7.91694286e-02 8.38454818e-03 3.03270401e+02] [ 7.91673641e-02 9.96861171e-01 5.78362625e-04 1.74058285e+01] [-8.40401915e-03 8.72557266e-05 9.99964682e-01 -2.75458402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.991400513 meters Centerline goodness [0,1] 0.999978332466632 Centerline is valid? [True, True] Translation: X:303.30, Y:17.41, Z:-0.28 [[ 9.96911186e-01 -7.81939420e-02 7.33447142e-03 3.03301695e+02] [ 7.81923437e-02 9.96938164e-01 5.04853360e-04 1.74108188e+01] [-7.35149094e-03 7.02055485e-05 9.99972975e-01 -2.77215420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.021400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:303.33, Y:17.42, Z:-0.28 [[ 9.97038733e-01 -7.66506385e-02 6.20029888e-03 3.03333943e+02] [ 7.66494712e-02 9.97058011e-01 4.26025015e-04 1.74178868e+01] [-6.21471276e-03 5.04861891e-05 9.99980687e-01 -2.79445036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.051400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:303.37, Y:17.43, Z:-0.28 [[ 9.97178345e-01 -7.48935844e-02 5.12830250e-03 3.03366096e+02] [ 7.48927657e-02 9.97191531e-01 3.51774833e-04 1.74267881e+01] [-5.14024550e-03 3.32905122e-05 9.99986788e-01 -2.81422799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.081400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:303.40, Y:17.44, Z:-0.28 [[ 9.97331975e-01 -7.28510494e-02 4.65371241e-03 3.03397035e+02] [ 7.28503562e-02 9.97342832e-01 3.18535811e-04 1.74363232e+01] [-4.66455238e-03 2.13386570e-05 9.99989121e-01 -2.82817643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.111400513 meters Centerline goodness [0,1] 0.9999353281020954 Centerline is valid? [True, True] Translation: X:303.43, Y:17.45, Z:-0.28 [[ 9.97469785e-01 -7.09531270e-02 4.43630905e-03 3.03429022e+02] [ 7.09524808e-02 9.97479651e-01 3.03079520e-04 1.74478067e+01] [-4.44663244e-03 1.24544691e-05 9.99990114e-01 -2.83622321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.141400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:303.46, Y:17.47, Z:-0.28 [[ 9.97842964e-01 -6.55522230e-02 3.51062963e-03 3.03460144e+02] [ 6.55517856e-02 9.97849140e-01 2.39639375e-04 1.74684478e+01] [-3.51878765e-03 -8.99442348e-06 9.99993809e-01 -2.84442416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.171400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:303.49, Y:17.48, Z:-0.28 [[ 9.98008296e-01 -6.29823986e-02 3.55775971e-03 3.03490977e+02] [ 6.29819361e-02 9.98014638e-01 2.41997395e-04 1.74791620e+01] [-3.56593784e-03 -1.74408138e-05 9.99993642e-01 -2.84856166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.201400513 meters Centerline goodness [0,1] 0.9998702422145329 Centerline is valid? [True, True] Translation: X:303.52, Y:17.49, Z:-0.29 [[ 9.98096345e-01 -6.15377174e-02 4.09820018e-03 3.03523817e+02] [ 6.15370941e-02 9.98104758e-01 2.78126595e-04 1.74883199e+01] [-4.10754838e-03 -2.54058075e-05 9.99991564e-01 -2.85227447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.231400513 meters Centerline goodness [0,1] 0.9999570760183715 Centerline is valid? [True, True] Translation: X:303.56, Y:17.50, Z:-0.29 [[ 9.98150626e-01 -6.06568204e-02 4.00971304e-03 3.03555673e+02] [ 6.06562208e-02 9.98158679e-01 2.71075585e-04 1.74967776e+01] [-4.01877246e-03 -2.73602255e-05 9.99991924e-01 -2.85330422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.261400513 meters Centerline goodness [0,1] 0.9999137503503892 Centerline is valid? [True, True] Translation: X:303.59, Y:17.51, Z:-0.28 [[ 9.98052538e-01 -6.22103857e-02 4.58252672e-03 3.03587284e+02] [ 6.22096214e-02 9.98063058e-01 3.09268074e-04 1.75075082e+01] [-4.59289032e-03 -2.35885332e-05 9.99989452e-01 -2.84330817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.291400513 meters Centerline goodness [0,1] 0.9998492743637225 Centerline is valid? [True, True] Translation: X:303.62, Y:17.51, Z:-0.29 [[ 9.97948604e-01 -6.38450866e-02 4.73162293e-03 3.03618658e+02] [ 6.38442944e-02 9.97959821e-01 3.18446541e-04 1.75130911e+01] [-4.74230082e-03 -1.57061539e-05 9.99988755e-01 -2.85203759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.321400513 meters Centerline goodness [0,1] 0.9998922297661386 Centerline is valid? [True, True] Translation: X:303.65, Y:17.52, Z:-0.29 [[ 9.97859329e-01 -6.52682700e-02 4.10022948e-03 3.03651583e+02] [ 6.52676885e-02 9.97867753e-01 2.75612748e-04 1.75180983e+01] [-4.10947555e-03 -7.41025156e-06 9.99991556e-01 -2.86254349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.351400513 meters Centerline goodness [0,1] 0.9999351519605724 Centerline is valid? [True, True] Translation: X:303.68, Y:17.52, Z:-0.29 [[ 9.97785210e-01 -6.64456350e-02 3.10668058e-03 3.03684494e+02] [ 6.64453075e-02 9.97790047e-01 2.08634110e-04 1.75231835e+01] [-3.11367778e-03 -1.74768309e-06 9.99995152e-01 -2.87665806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.381400513 meters Centerline goodness [0,1] 0.9999348887683125 Centerline is valid? [True, True] Translation: X:303.72, Y:17.53, Z:-0.29 [[ 9.97759819e-01 -6.68651507e-02 2.09655820e-03 3.03716646e+02] [ 6.68650024e-02 9.97762022e-01 1.40821252e-04 1.75291354e+01] [-2.10128218e-03 -3.19417777e-07 9.99997792e-01 -2.89581714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.411400513 meters Centerline goodness [0,1] 0.999956851915775 Centerline is valid? [True, True] Translation: X:303.75, Y:17.54, Z:-0.29 [[ 9.97788769e-01 -6.64452438e-02 1.61299531e-03 3.03748222e+02] [ 6.64451554e-02 9.97790073e-01 1.08357225e-04 1.75358941e+01] [-1.61663053e-03 -9.41898367e-07 9.99998693e-01 -2.90375219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.441400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:303.78, Y:17.55, Z:-0.29 [[ 9.98055539e-01 -6.22900522e-02 2.25637338e-03 3.03780479e+02] [ 6.22898707e-02 9.98058089e-01 1.50679478e-04 1.75521553e+01] [-2.26137754e-03 -9.83728205e-06 9.99997443e-01 -2.85684638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.471400513 meters Centerline goodness [0,1] 0.9999783737024222 Centerline is valid? [True, True] Translation: X:303.81, Y:17.57, Z:-0.28 [[ 9.98121702e-01 -6.11057968e-02 4.37602625e-03 3.03806975e+02] [ 6.11517124e-02 9.98064900e-01 -1.12659982e-02 1.75716010e+01] [-3.67914041e-03 1.15124388e-02 9.99926961e-01 -2.75395718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.501400513 meters Centerline goodness [0,1] 0.9998695822284049 Centerline is valid? [True, True] Translation: X:303.84, Y:17.56, Z:-0.29 [[ 9.98285780e-01 -5.83335392e-02 4.76435121e-03 3.03843426e+02] [ 5.82733088e-02 9.98229384e-01 1.19297238e-02 1.75636236e+01] [-5.45181838e-03 -1.16316392e-02 9.99917488e-01 -2.87618682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.531400513 meters Centerline goodness [0,1] 0.9999125549264368 Centerline is valid? [True, True] Translation: X:303.87, Y:17.59, Z:-0.28 [[ 9.98459898e-01 -5.50345297e-02 7.00227395e-03 3.03873777e+02] [ 5.50326455e-02 9.98484449e-01 4.61629296e-04 1.75870486e+01] [-7.01706720e-03 -7.55646803e-05 9.99975377e-01 -2.81169184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.561400513 meters Centerline goodness [0,1] 0.9999783765082385 Centerline is valid? [True, True] Translation: X:303.91, Y:17.59, Z:-0.28 [[ 9.98547893e-01 -5.34714839e-02 6.55029567e-03 3.03906096e+02] [ 5.34698076e-02 9.98569374e-01 4.30894852e-04 1.75933789e+01] [-6.56396523e-03 -8.00260979e-05 9.99978454e-01 -2.81043724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.591400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:303.94, Y:17.60, Z:-0.28 [[ 9.98321805e-01 -5.72688550e-02 8.59374009e-03 3.03939533e+02] [ 5.72896429e-02 9.98355192e-01 -2.19240158e-03 1.76033940e+01] [-8.45404871e-03 2.68105460e-03 9.99960670e-01 -2.79436080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.621400513 meters Centerline goodness [0,1] 0.9998500428449014 Centerline is valid? [True, True] Translation: X:303.97, Y:17.61, Z:-0.29 [[ 9.98521271e-01 -5.41282855e-02 5.03987636e-03 3.03967963e+02] [ 5.41134752e-02 9.98530195e-01 3.03011654e-03 1.76070799e+01] [-5.19648373e-03 -2.75291059e-03 9.99982709e-01 -2.86502573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.651400513 meters Centerline goodness [0,1] 0.999978470084182 Centerline is valid? [True, True] Translation: X:304.00, Y:17.62, Z:-0.28 [[ 9.98389591e-01 -5.64262790e-02 5.85664519e-03 3.04000380e+02] [ 5.64406528e-02 9.98403264e-01 -2.31860254e-03 1.76189883e+01] [-5.71646355e-03 2.64542152e-03 9.99980162e-01 -2.83044853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.681400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:304.03, Y:17.63, Z:-0.28 [[ 9.98445586e-01 -5.55986773e-02 3.89869183e-03 3.04030185e+02] [ 5.56174608e-02 9.98440189e-01 -4.88735115e-03 1.76281617e+01] [-3.62088035e-03 5.09658952e-03 9.99980457e-01 -2.82036170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.711400513 meters Centerline goodness [0,1] 0.9999785324803572 Centerline is valid? [True, True] Translation: X:304.06, Y:17.64, Z:-0.28 [[ 9.98536226e-01 -5.39973763e-02 3.11281775e-03 3.04056046e+02] [ 5.40024100e-02 9.98539592e-01 -1.55630433e-03 1.76395933e+01] [-3.02423542e-03 1.72212591e-03 9.99993944e-01 -2.84107274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.741400513 meters Centerline goodness [0,1] 0.9998914294399931 Centerline is valid? [True, True] Translation: X:304.09, Y:17.65, Z:-0.28 [[ 9.98587025e-01 -5.30718450e-02 2.70774490e-03 3.04089624e+02] [ 5.30724009e-02 9.98590658e-01 -1.33813186e-04 1.76457608e+01] [-2.69682705e-03 2.77330635e-04 9.99996325e-01 -2.84838094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.771400513 meters Centerline goodness [0,1] 0.9998706143661182 Centerline is valid? [True, True] Translation: X:304.12, Y:17.65, Z:-0.29 [[ 9.98618532e-01 -5.23964192e-02 3.95511505e-03 3.04117449e+02] [ 5.23779999e-02 9.98616619e-01 4.62531842e-03 1.76526956e+01] [-4.19199374e-03 -4.41176767e-03 9.99981482e-01 -2.89486765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.801400513 meters Centerline goodness [0,1] 0.999633423180593 Centerline is valid? [True, True] Translation: X:304.14, Y:17.68, Z:-0.29 [[ 9.98787698e-01 -4.91223193e-02 3.18320488e-03 3.04143125e+02] [ 4.91355752e-02 9.98783164e-01 -4.22925259e-03 1.76783819e+01] [-2.97158075e-03 4.38053406e-03 9.99985990e-01 -2.86023363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.831400513 meters Centerline goodness [0,1] 0.9994652635181382 Centerline is valid? [True, True] Translation: X:304.18, Y:17.67, Z:-0.29 [[ 9.98903052e-01 -4.64215867e-02 6.14241904e-03 3.04175583e+02] [ 4.63493064e-02 9.98859916e-01 1.14284998e-02 1.76712179e+01] [-6.66594526e-03 -1.11312665e-02 9.99915826e-01 -2.93843697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.861400513 meters Centerline goodness [0,1] 0.9994652635181382 Centerline is valid? [True, True] Translation: X:304.21, Y:17.68, Z:-0.29 [[ 9.98908096e-01 -4.62067744e-02 6.89559367e-03 3.04206649e+02] [ 4.62037933e-02 9.98931860e-01 5.91080818e-04 1.76822395e+01] [-6.91554014e-03 -2.71832830e-04 9.99976050e-01 -2.87917169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.891400513 meters Centerline goodness [0,1] 0.998924754306359 Centerline is valid? [True, True] Translation: X:304.24, Y:17.70, Z:-0.28 [[ 9.98962423e-01 -4.50117756e-02 6.92941855e-03 3.04237358e+02] [ 4.50608609e-02 9.98959024e-01 -7.09834510e-03 1.77010735e+01] [-6.60269608e-03 7.40322558e-03 9.99950797e-01 -2.81498097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.921400513 meters Centerline goodness [0,1] 0.9982679858840849 Centerline is valid? [True, True] Translation: X:304.27, Y:17.71, Z:-0.28 [[ 9.99059711e-01 -4.29022351e-02 6.25242294e-03 3.04272005e+02] [ 4.29523262e-02 9.99044203e-01 -8.11034292e-03 1.77124080e+01] [-5.89849505e-03 8.37127296e-03 9.99947563e-01 -2.80840037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.951400513 meters Centerline goodness [0,1] 0.9950655059472505 Centerline is valid? [True, True] Translation: X:304.30, Y:17.71, Z:-0.29 [[ 9.99112781e-01 -4.14297808e-02 7.56469892e-03 3.04302637e+02] [ 4.13191315e-02 9.99044516e-01 1.42402160e-02 1.77061287e+01] [-8.14744000e-03 -1.39150150e-02 9.99869987e-01 -2.93284708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.981400513 meters Centerline goodness [0,1] 0.9672903198184698 Centerline is valid? [True, True] Translation: X:304.34, Y:17.77, Z:-0.25 [[ 9.99133789e-01 -4.13935466e-02 -4.27158443e-03 3.04336523e+02] [ 4.12864382e-02 9.98889729e-01 -2.26878658e-02 1.77711938e+01] [ 5.20597304e-03 2.24918548e-02 9.99733472e-01 -2.52116882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.011400513 meters Centerline goodness [0,1] 0.9575078769044845 Centerline is valid? [True, True] Translation: X:304.37, Y:17.77, Z:-0.27 [[ 9.99160470e-01 -4.00599413e-02 -8.57651886e-03 3.04368626e+02] [ 4.00458578e-02 9.99196208e-01 -1.80764953e-03 1.77710849e+01] [ 8.64203946e-03 1.46267790e-03 9.99961587e-01 -2.74612903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.041400513 meters Centerline goodness [0,1] 0.9887628309022151 Centerline is valid? [True, True] Translation: X:304.40, Y:17.73, Z:-0.31 [[ 9.99358769e-01 -3.57635725e-02 1.73713144e-03 3.04396407e+02] [ 3.57145890e-02 9.99100485e-01 2.28623859e-02 1.77257617e+01] [-2.55320946e-03 -2.27856849e-02 9.99737112e-01 -3.08061084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.071400513 meters Centerline goodness [0,1] 0.9435638653468763 Centerline is valid? [True, False] Translation: X:304.39, Y:17.75, Z:-0.30 [[ 9.99444312e-01 -3.32663323e-02 2.10198125e-03 3.04389612e+02] [ 3.32607992e-02 9.99443286e-01 2.61463594e-03 1.77453320e+01] [-2.18779040e-03 -2.54326944e-03 9.99994373e-01 -2.96462210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.101400513 meters Centerline goodness [0,1] 0.9876889243440202 Centerline is valid? [False, True] Translation: X:304.39, Y:17.75, Z:-0.30 [[ 9.99426478e-01 -3.37866690e-02 2.27518934e-03 3.04388232e+02] [ 3.37834294e-02 9.99428129e-01 1.44757022e-03 1.77505019e+01] [-2.32279680e-03 -1.36987630e-03 9.99996364e-01 -2.95169048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.131400513 meters Centerline goodness [0,1] 0.9492725550964187 Centerline is valid? [True, False] Translation: X:304.39, Y:17.75, Z:-0.30 [[ 9.99549387e-01 -2.99397501e-02 2.15294774e-03 3.04388419e+02] [ 2.99272480e-02 9.99536269e-01 5.62192080e-03 1.77507249e+01] [-2.32026826e-03 -5.55495569e-03 9.99981879e-01 -2.95974125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.161400513 meters Centerline goodness [0,1] 0.965779958677686 Centerline is valid? [False, True] Translation: X:304.39, Y:17.75, Z:-0.30 [[ 9.99543652e-01 -3.01336021e-02 2.11050492e-03 3.04388379e+02] [ 3.01223067e-02 9.99532727e-01 5.19360853e-03 1.77526993e+01] [-2.26602087e-03 -5.12766516e-03 9.99984286e-01 -2.95725798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.191400513 meters Centerline goodness [0,1] 0.997945146219069 Centerline is valid? [True, True] Translation: X:304.43, Y:17.76, Z:-0.27 [[ 9.99673589e-01 -2.40799927e-02 -8.53633849e-03 3.04431172e+02] [ 2.39167125e-02 9.99538299e-01 -1.87397766e-02 1.77601982e+01] [ 8.98365094e-03 1.85294986e-02 9.99787953e-01 -2.71898695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.221400513 meters Centerline goodness [0,1] 0.9530404156792834 Centerline is valid? [True, True] Translation: X:304.46, Y:17.79, Z:-0.27 [[ 9.98959182e-01 -4.47491891e-02 -8.83534311e-03 3.04462837e+02] [ 4.46282778e-02 9.98913275e-01 -1.34382078e-02 1.77884409e+01] [ 9.42709043e-03 1.30299149e-02 9.99870667e-01 -2.70448496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.251400513 meters Centerline goodness [0,1] 0.9663390449682526 Centerline is valid? [True, True] Translation: X:304.49, Y:17.77, Z:-0.27 [[ 9.98903454e-01 -4.61370067e-02 -7.95400137e-03 3.04494757e+02] [ 4.61334481e-02 9.98935087e-01 -6.30396666e-04 1.77737336e+01] [ 7.97461566e-03 2.62759898e-04 9.99968168e-01 -2.74739782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.281400513 meters Centerline goodness [0,1] 0.9993765317968784 Centerline is valid? [True, True] Translation: X:304.53, Y:17.74, Z:-0.29 [[ 9.99541333e-01 -2.91584206e-02 -8.17980820e-03 3.04526091e+02] [ 2.92689205e-02 9.99477257e-01 1.37310700e-02 1.77378161e+01] [ 7.77515595e-03 -1.39641861e-02 9.99872266e-01 -2.90197448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.311400513 meters Centerline goodness [0,1] 0.9888270566412148 Centerline is valid? [True, True] Translation: X:304.55, Y:17.80, Z:-0.22 [[ 9.98827594e-01 -4.38595358e-02 -2.04884777e-02 3.04554399e+02] [ 4.31222358e-02 9.98451659e-01 -3.51391280e-02 1.77965714e+01] [ 2.19979404e-02 3.42144218e-02 9.99172390e-01 -2.22653823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.341400513 meters Centerline goodness [0,1] 0.9995685843094113 Centerline is valid? [True, True] Translation: X:304.59, Y:17.73, Z:-0.30 [[ 9.99532036e-01 -2.95658795e-02 -7.84651914e-03 3.04589719e+02] [ 2.98062322e-02 9.99026466e-01 3.25224213e-02 1.77270200e+01] [ 6.87732630e-03 -3.27410771e-02 9.99440205e-01 -2.98904983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.371400513 meters Centerline goodness [0,1] 0.9994828923554253 Centerline is valid? [True, True] Translation: X:304.62, Y:17.76, Z:-0.28 [[ 9.99551303e-01 -2.94618297e-02 -5.40308472e-03 3.04620110e+02] [ 2.94606302e-02 9.99565896e-01 -3.01469131e-04 1.77593515e+01] [ 5.40962105e-03 1.42155582e-04 9.99985358e-01 -2.76792809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.401400513 meters Centerline goodness [0,1] 0.9992391965916008 Centerline is valid? [True, True] Translation: X:304.65, Y:17.77, Z:-0.28 [[ 9.99619995e-01 -2.71346661e-02 -4.85538518e-03 3.04652284e+02] [ 2.71336719e-02 9.99631778e-01 -2.70524656e-04 1.77672165e+01] [ 4.86093791e-03 1.38677426e-04 9.99988176e-01 -2.75500389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.431400513 meters Centerline goodness [0,1] 0.9662863182416255 Centerline is valid? [True, True] Translation: X:304.68, Y:17.82, Z:-0.22 [[ 9.98742377e-01 -4.70388895e-02 -1.73495845e-02 3.04680771e+02] [ 4.64899749e-02 9.98444117e-01 -3.07900452e-02 1.78237033e+01] [ 1.87709202e-02 2.99447412e-02 9.99375287e-01 -2.22496835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.461400513 meters Centerline goodness [0,1] 0.9982547240955808 Centerline is valid? [True, True] Translation: X:304.72, Y:17.75, Z:-0.30 [[ 9.99690671e-01 -2.42517458e-02 -5.51506956e-03 3.04715078e+02] [ 2.44078732e-02 9.99243847e-01 3.02653320e-02 1.77545713e+01] [ 4.77691219e-03 -3.03905812e-02 9.99526685e-01 -2.95848080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.491400513 meters Centerline goodness [0,1] 0.9980145456114984 Centerline is valid? [True, True] Translation: X:304.75, Y:17.79, Z:-0.27 [[ 9.99725378e-01 -2.31527230e-02 -3.62203096e-03 3.04745720e+02] [ 2.31521489e-02 9.99731933e-01 -2.00362430e-04 1.77856199e+01] [ 3.62569895e-03 1.16449606e-04 9.99993420e-01 -2.74874308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.521400513 meters Centerline goodness [0,1] 0.998128549303046 Centerline is valid? [True, True] Translation: X:304.78, Y:17.79, Z:-0.28 [[ 9.99711976e-01 -2.38683098e-02 -2.50372187e-03 3.04776768e+02] [ 2.38680381e-02 9.99715108e-01 -1.38329153e-04 1.77914627e+01] [ 2.50631026e-03 7.85303816e-05 9.99996856e-01 -2.75535642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.551400513 meters Centerline goodness [0,1] 0.999441988238829 Centerline is valid? [True, True] Translation: X:304.81, Y:17.79, Z:-0.28 [[ 9.99674376e-01 -2.54147401e-02 -2.28745281e-03 3.04809157e+02] [ 2.54145176e-02 9.99676991e-01 -1.26287016e-04 1.77909669e+01] [ 2.28992349e-03 6.81113849e-05 9.99997376e-01 -2.75181995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.581400513 meters Centerline goodness [0,1] 0.9994427058773095 Centerline is valid? [True, True] Translation: X:304.84, Y:17.79, Z:-0.28 [[ 9.99632685e-01 -2.69841974e-02 -2.51939131e-03 3.04841327e+02] [ 2.69839328e-02 9.99635858e-01 -1.38967243e-04 1.77922496e+01] [ 2.52222381e-03 7.09331128e-05 9.99996817e-01 -2.75848822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.611400513 meters Centerline goodness [0,1] 0.9995678011885467 Centerline is valid? [True, True] Translation: X:304.87, Y:17.79, Z:-0.28 [[ 9.99621475e-01 -2.73835122e-02 -2.65535295e-03 3.04873138e+02] [ 2.73832200e-02 9.99624999e-01 -1.46336309e-04 1.77936688e+01] [ 2.65836439e-03 7.35688034e-05 9.99996464e-01 -2.75345708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.641400513 meters Centerline goodness [0,1] 0.999632853162862 Centerline is valid? [True, True] Translation: X:304.91, Y:17.80, Z:-0.27 [[ 9.99625316e-01 -2.72683238e-02 -2.38016580e-03 3.04905311e+02] [ 2.72680892e-02 9.99628148e-01 -1.30963237e-04 1.78001887e+01] [ 2.38285188e-03 6.60115936e-05 9.99997159e-01 -2.74703909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.671400513 meters Centerline goodness [0,1] 0.9991378381291087 Centerline is valid? [True, True] Translation: X:304.94, Y:17.81, Z:-0.28 [[ 9.99691828e-01 -2.46532360e-02 -2.90993264e-03 3.04936784e+02] [ 2.46528756e-02 9.99696059e-01 -1.59672742e-04 1.78087633e+01] [ 2.91298464e-03 8.78853275e-05 9.99995753e-01 -2.75465917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.701400513 meters Centerline goodness [0,1] 0.9978478424620683 Centerline is valid? [True, True] Translation: X:304.97, Y:17.81, Z:-0.28 [[ 9.99738562e-01 -2.25317330e-02 -3.88955509e-03 3.04968383e+02] [ 2.25310742e-02 9.99746120e-01 -2.13113355e-04 1.78145101e+01] [ 3.89336943e-03 1.25421784e-04 9.99992413e-01 -2.77255709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.731400513 meters Centerline goodness [0,1] 0.9975816203143894 Centerline is valid? [True, True] Translation: X:305.00, Y:17.82, Z:-0.28 [[ 9.99796712e-01 -1.96818642e-02 -4.37711340e-03 3.04999655e+02] [ 1.96810031e-02 9.99806282e-01 -2.39705009e-04 1.78196496e+01] [ 4.38098331e-03 1.53510297e-04 9.99990392e-01 -2.78335474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.761400513 meters Centerline goodness [0,1] 0.9911979807132224 Centerline is valid? [True, True] Translation: X:305.03, Y:17.83, Z:-0.28 [[ 9.99854607e-01 -1.65080170e-02 -4.27205610e-03 3.05028907e+02] [ 1.65071688e-02 9.99863720e-01 -2.33750319e-04 1.78307224e+01] [ 4.27533266e-03 1.63196782e-04 9.99990847e-01 -2.79918696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.791400513 meters Centerline goodness [0,1] 0.9722192054562436 Centerline is valid? [True, True] Translation: X:305.06, Y:17.84, Z:-0.28 [[ 9.99912983e-01 -1.21755510e-02 -5.07764487e-03 3.05057337e+02] [ 1.21742973e-02 9.99925852e-01 -2.77744872e-04 1.78437152e+01] [ 5.08065007e-03 2.15903945e-04 9.99987070e-01 -2.78691070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.821400513 meters Centerline goodness [0,1] 0.961603139013453 Centerline is valid? [True, True] Translation: X:305.09, Y:17.85, Z:-0.28 [[ 9.99948799e-01 -8.27405124e-03 -5.82583457e-03 3.05087619e+02] [ 8.27233489e-03 9.99965733e-01 -3.18645269e-04 1.78516060e+01] [ 5.82827143e-03 2.70435699e-04 9.99982979e-01 -2.80320237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.851400513 meters Centerline goodness [0,1] 0.9035410612420622 Centerline is valid? [True, False] Translation: X:305.09, Y:17.86, Z:-0.28 [[ 9.99972798e-01 -3.95819052e-03 -6.22377460e-03 3.05089801e+02] [ 3.97838317e-03 9.99986852e-01 3.23541305e-03 1.78562570e+01] [ 6.21088639e-03 -3.26008560e-03 9.99975398e-01 -2.82467794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.881400513 meters Centerline goodness [0,1] 0.8753228305785123 Centerline is valid? [False, False] Translation: X:305.09, Y:17.86, Z:-0.28 [[ 9.99971103e-01 -4.35158148e-03 -6.23350235e-03 3.05089128e+02] [ 4.36426007e-03 9.99988433e-01 2.02178755e-03 1.78619649e+01] [ 6.22463228e-03 -2.04893375e-03 9.99978528e-01 -2.81357505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.911400513 meters Centerline goodness [0,1] 0.8726601463825377 Centerline is valid? [False, False] Translation: X:305.09, Y:17.87, Z:-0.28 [[ 9.99969574e-01 -4.96062105e-03 -6.02023194e-03 3.05087170e+02] [ 4.96465460e-03 9.99987461e-01 6.55239723e-04 1.78677894e+01] [ 6.01690606e-03 -6.85108159e-04 9.99981664e-01 -2.79308445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.941400513 meters Centerline goodness [0,1] 0.8757302638722988 Centerline is valid? [False, False] Translation: X:305.09, Y:17.87, Z:-0.28 [[ 9.99968579e-01 -5.38921038e-03 -5.81349655e-03 3.05085622e+02] [ 5.38772540e-03 9.99985449e-01 -2.71066409e-04 1.78716910e+01] [ 5.81487279e-03 2.39736369e-04 9.99983065e-01 -2.77808531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.971400513 meters Centerline goodness [0,1] 0.869459518124593 Centerline is valid? [False, False] Translation: X:305.09, Y:17.87, Z:-0.28 [[ 9.99967623e-01 -5.66945123e-03 -5.71060272e-03 3.05085024e+02] [ 5.66418833e-03 9.99983519e-01 -9.37352260e-04 1.78747752e+01] [ 5.71582288e-03 9.04975981e-04 9.99983255e-01 -2.77413837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.001400513 meters Centerline goodness [0,1] 0.8888143370416866 Centerline is valid? [False, False] Translation: X:305.08, Y:17.88, Z:-0.28 [[ 9.99966178e-01 -5.91363891e-03 -5.71596713e-03 3.05084750e+02] [ 5.90525016e-03 9.99981464e-01 -1.48336484e-03 1.78772621e+01] [ 5.72463326e-03 1.44956045e-03 9.99982564e-01 -2.76911067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.031400513 meters Centerline goodness [0,1] 0.8949657097116155 Centerline is valid? [False, False] Translation: X:305.08, Y:17.87, Z:-0.28 [[ 9.99983174e-01 -1.82599532e-03 -5.50615833e-03 3.05084420e+02] [ 1.84369023e-03 9.99993147e-01 3.21029635e-03 1.78749892e+01] [ 5.50025861e-03 -3.22039398e-03 9.99979688e-01 -2.77892739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.061400513 meters Centerline goodness [0,1] 0.8883807624785973 Centerline is valid? [False, False] Translation: X:305.08, Y:17.88, Z:-0.28 [[ 9.99982359e-01 -2.25298187e-03 -5.49606674e-03 3.05083696e+02] [ 2.26530249e-03 9.99994933e-01 2.23652007e-03 1.78792964e+01] [ 5.49100006e-03 -2.24893087e-03 9.99982395e-01 -2.76731488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.091400513 meters Centerline goodness [0,1] 0.8834936861094408 Centerline is valid? [False, False] Translation: X:305.09, Y:17.89, Z:-0.28 [[ 9.99962463e-01 -6.18593347e-03 -6.06678876e-03 3.05085577e+02] [ 6.16691520e-03 9.99976028e-01 -3.14853008e-03 1.78879750e+01] [ 6.08611992e-03 3.11099852e-03 9.99976640e-01 -2.75939059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.121400513 meters Centerline goodness [0,1] 0.881470367591898 Centerline is valid? [False, False] Translation: X:305.09, Y:17.89, Z:-0.28 [[ 9.99979006e-01 -2.03706668e-03 -6.15122914e-03 3.05086776e+02] [ 2.04530106e-03 9.99997020e-01 1.33266222e-03 1.78873735e+01] [ 6.14849609e-03 -1.34521535e-03 9.99980193e-01 -2.78014367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.151400513 meters Centerline goodness [0,1] 0.8529133316120148 Centerline is valid? [False, False] Translation: X:305.09, Y:17.89, Z:-0.28 [[ 9.99978224e-01 -2.45427866e-03 -6.12608337e-03 3.05086207e+02] [ 2.45669612e-03 9.99996907e-01 3.87124418e-04 1.78916691e+01] [ 6.12511431e-03 -4.02165913e-04 9.99981160e-01 -2.77242797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.181400513 meters Centerline goodness [0,1] 0.9002055609650547 Centerline is valid? [False, False] Translation: X:305.09, Y:17.90, Z:-0.28 [[ 9.99977160e-01 -2.97522512e-03 -6.06849380e-03 3.05085149e+02] [ 2.97086052e-03 9.99995322e-01 -7.28110218e-04 1.78965124e+01] [ 6.07063171e-03 7.10064939e-04 9.99981321e-01 -2.75774140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.211400513 meters Centerline goodness [0,1] 0.9049412375819752 Centerline is valid? [False, False] Translation: X:305.08, Y:17.90, Z:-0.27 [[ 9.99976103e-01 -3.39326377e-03 -6.02320896e-03 3.05084272e+02] [ 3.38325867e-03 9.99992881e-01 -1.67050408e-03 1.79006856e+01] [ 6.02883455e-03 1.65008609e-03 9.99980465e-01 -2.74468405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.241400513 meters Centerline goodness [0,1] 0.9363953789119752 Centerline is valid? [False, False] Translation: X:305.08, Y:17.90, Z:-0.27 [[ 9.99975080e-01 -3.87354513e-03 -5.90210001e-03 3.05083065e+02] [ 3.85809459e-03 9.99989107e-01 -2.62694417e-03 1.79048373e+01] [ 5.91221131e-03 2.60410785e-03 9.99979132e-01 -2.72999737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.271400513 meters Centerline goodness [0,1] 0.9006246082690355 Centerline is valid? [False, False] Translation: X:305.08, Y:17.91, Z:-0.27 [[ 9.99974509e-01 -4.00090164e-03 -5.91389980e-03 3.05082943e+02] [ 3.98396229e-03 9.99987936e-01 -2.87333906e-03 1.79059030e+01] [ 5.92532440e-03 2.84970506e-03 9.99978385e-01 -2.72680283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.301400513 meters Centerline goodness [0,1] 0.9498481225360305 Centerline is valid? [False, False] Translation: X:305.08, Y:17.91, Z:-0.27 [[ 9.99973116e-01 -4.09452473e-03 -6.08295022e-03 3.05083450e+02] [ 4.07572673e-03 9.99986891e-01 -3.09946582e-03 1.79070566e+01] [ 6.09556132e-03 3.07459005e-03 9.99976695e-01 -2.72602379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.331400513 meters Centerline goodness [0,1] 0.933594591102881 Centerline is valid? [False, False] Translation: X:305.08, Y:17.91, Z:-0.27 [[ 9.99971802e-01 -4.22401696e-03 -6.20907512e-03 3.05083834e+02] [ 4.20278115e-03 9.99985288e-01 -3.42920287e-03 1.79087080e+01] [ 6.22346878e-03 3.40301079e-03 9.99974844e-01 -2.72567754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.361400513 meters Centerline goodness [0,1] 0.927262560220234 Centerline is valid? [False, False] Translation: X:305.08, Y:17.91, Z:-0.27 [[ 9.99982864e-01 -1.44966532e-03 -5.67182707e-03 3.05079478e+02] [ 1.44825948e-03 9.99998920e-01 -2.51961964e-04 1.79066145e+01] [ 5.67218620e-03 2.43743369e-04 9.99983883e-01 -2.70031420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.391400513 meters Centerline goodness [0,1] 0.9460190979364701 Centerline is valid? [False, False] Translation: X:305.08, Y:17.91, Z:-0.27 [[ 9.99982156e-01 -1.83309702e-03 -5.68564117e-03 3.05078821e+02] [ 1.82673821e-03 9.99997701e-01 -1.12339113e-03 1.79104119e+01] [ 5.68768738e-03 1.11298491e-03 9.99983206e-01 -2.68805270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.421400513 meters Centerline goodness [0,1] 0.9496779733791327 Centerline is valid? [False, False] Translation: X:305.08, Y:17.91, Z:-0.27 [[ 9.99981874e-01 -1.85137601e-03 -5.72931409e-03 3.05079038e+02] [ 1.84424524e-03 9.99997519e-01 -1.24964519e-03 1.79111441e+01] [ 5.73161343e-03 1.23905628e-03 9.99982807e-01 -2.68951049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.451400513 meters Centerline goodness [0,1] 0.918313372180532 Centerline is valid? [False, False] Translation: X:305.08, Y:17.91, Z:-0.27 [[ 9.99981461e-01 -1.91515124e-03 -5.78012542e-03 3.05079292e+02] [ 1.90669067e-03 9.99997103e-01 -1.46889163e-03 1.79122928e+01] [ 5.78292183e-03 1.45784349e-03 9.99982216e-01 -2.69181887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.481400513 meters Centerline goodness [0,1] 0.9378399378399378 Centerline is valid? [False, False] Translation: X:305.08, Y:17.91, Z:-0.27 [[ 9.99981096e-01 -2.07295115e-03 -5.78888135e-03 3.05079204e+02] [ 2.06179998e-03 9.99996009e-01 -1.93161259e-03 1.79145079e+01] [ 5.79286239e-03 1.91964056e-03 9.99981379e-01 -2.69062525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.511400513 meters Centerline goodness [0,1] 0.8402438497124822 Centerline is valid? [False, False] Translation: X:305.08, Y:17.92, Z:-0.27 [[ 9.99977899e-01 -2.20604927e-03 -6.27169546e-03 3.05080217e+02] [ 2.18573911e-03 9.99992351e-01 -3.24339596e-03 1.79215047e+01] [ 6.27880258e-03 3.22961599e-03 9.99975073e-01 -2.68009570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.541400513 meters Centerline goodness [0,1] 0.8110351038963823 Centerline is valid? [False, False] Translation: X:305.09, Y:17.92, Z:-0.27 [[ 9.99974553e-01 -1.01860023e-03 -7.06080356e-03 3.05085591e+02] [ 1.00117373e-03 9.99996446e-01 -2.47115788e-03 1.79235316e+01] [ 7.06329558e-03 2.46402590e-03 9.99972019e-01 -2.71370742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.571400513 meters Centerline goodness [0,1] 0.7587485715517799 Centerline is valid? [False, False] Translation: X:305.09, Y:17.93, Z:-0.27 [[ 9.99974014e-01 -1.23845237e-03 -7.10194499e-03 3.05085268e+02] [ 1.21487790e-03 9.99993742e-01 -3.32279145e-03 1.79275777e+01] [ 7.10601566e-03 3.31407711e-03 9.99969260e-01 -2.70627921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.601400513 meters Centerline goodness [0,1] 0.8075948818982874 Centerline is valid? [False, False] Translation: X:305.08, Y:17.93, Z:-0.27 [[ 9.99974265e-01 -1.53427776e-03 -7.00821796e-03 3.05084312e+02] [ 1.50475037e-03 9.99989978e-01 -4.21658421e-03 1.79316467e+01] [ 7.01461713e-03 4.20593008e-03 9.99966552e-01 -2.69523415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.631400513 meters Centerline goodness [0,1] 0.7744477124884604 Centerline is valid? [False, False] Translation: X:305.08, Y:17.94, Z:-0.27 [[ 9.99974389e-01 -1.85248608e-03 -6.91295901e-03 3.05083314e+02] [ 1.81710766e-03 9.99985239e-01 -5.12047255e-03 1.79357930e+01] [ 6.92234257e-03 5.10777982e-03 9.99962995e-01 -2.68286472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.661400513 meters Centerline goodness [0,1] 0.7766741845940319 Centerline is valid? [False, False] Translation: X:305.08, Y:17.93, Z:-0.27 [[ 9.99973936e-01 2.52371679e-03 -6.76440720e-03 3.05083546e+02] [-2.52615336e-03 9.99996747e-01 -3.51683227e-04 1.79337416e+01] [ 6.76349765e-03 3.68761991e-04 9.99977059e-01 -2.69627718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.691400513 meters Centerline goodness [0,1] 0.7091167845437295 Centerline is valid? [False, False] Translation: X:305.08, Y:17.94, Z:-0.27 [[ 9.99975727e-01 1.76900739e-03 -6.73918082e-03 3.05082130e+02] [-1.78299765e-03 9.99996267e-01 -2.07051671e-03 1.79413346e+01] [ 6.73549290e-03 2.08248240e-03 9.99975148e-01 -2.67311344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.721400513 meters Centerline goodness [0,1] 0.7854446174519549 Centerline is valid? [False, False] Translation: X:305.11, Y:17.94, Z:-0.28 [[ 9.99997606e-01 -7.32571519e-04 -2.06179779e-03 3.05109672e+02] [ 7.46314929e-04 9.99977458e-01 6.67288372e-03 1.79395778e+01] [ 2.05686294e-03 -6.67440649e-03 9.99975611e-01 -2.78830095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.751400513 meters Centerline goodness [0,1] 0.7854446174519549 Centerline is valid? [False, False] Translation: X:305.11, Y:17.94, Z:-0.28 [[ 9.99997606e-01 -7.32571519e-04 -2.06179779e-03 3.05109672e+02] [ 7.46314929e-04 9.99977458e-01 6.67288372e-03 1.79395778e+01] [ 2.05686294e-03 -6.67440649e-03 9.99975611e-01 -2.78830095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.781400513 meters Centerline goodness [0,1] 0.8042291509332182 Centerline is valid? [False, False] Translation: X:305.07, Y:17.95, Z:-0.27 [[ 9.99991593e-01 -1.08600205e-03 -3.95399057e-03 3.05068920e+02] [ 1.08056587e-03 9.99998468e-01 -1.37673473e-03 1.79458906e+01] [ 3.95547965e-03 1.37245061e-03 9.99991235e-01 -2.72221324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.811400513 meters Centerline goodness [0,1] 0.8501165903791347 Centerline is valid? [False, False] Translation: X:305.07, Y:17.95, Z:-0.27 [[ 9.99990570e-01 -1.62827059e-03 -4.02608991e-03 3.05068775e+02] [ 1.61792278e-03 9.99995383e-01 -2.57211269e-03 1.79514865e+01] [ 4.03025942e-03 2.56557453e-03 9.99988587e-01 -2.71586934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.841400513 meters Centerline goodness [0,1] 0.7949774629748874 Centerline is valid? [False, False] Translation: X:305.07, Y:17.96, Z:-0.27 [[ 9.99989960e-01 -1.96948033e-03 -4.02498762e-03 3.05068311e+02] [ 1.95595800e-03 9.99992440e-01 -3.36077527e-03 1.79550927e+01] [ 4.03157617e-03 3.35286882e-03 9.99986252e-01 -2.70756236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.871400513 meters Centerline goodness [0,1] 0.8527126778143629 Centerline is valid? [False, False] Translation: X:305.07, Y:17.96, Z:-0.27 [[ 9.99989513e-01 -2.39624616e-03 -3.90270410e-03 3.05067179e+02] [ 2.37941558e-03 9.99987875e-01 -4.31149142e-03 1.79592544e+01] [ 3.91298817e-03 4.30216005e-03 9.99983090e-01 -2.69451389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.901400513 meters Centerline goodness [0,1] 0.8873482042890363 Centerline is valid? [False, False] Translation: X:305.06, Y:17.96, Z:-0.27 [[ 9.99994938e-01 2.65602707e-04 -3.17086915e-03 3.05061860e+02] [-2.70252830e-04 9.99998889e-01 -1.46617528e-03 1.79589282e+01] [ 3.17047621e-03 1.46702479e-03 9.99993898e-01 -2.66183227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.931400513 meters Centerline goodness [0,1] 0.7704139969365521 Centerline is valid? [False, False] Translation: X:305.06, Y:17.96, Z:-0.26 [[ 9.99995091e-01 -1.62095998e-04 -3.12930153e-03 3.05060912e+02] [ 1.54595681e-04 9.99997115e-01 -2.39689527e-03 1.79629420e+01] [ 3.12968103e-03 2.39639972e-03 9.99992231e-01 -2.64745951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.961400513 meters Centerline goodness [0,1] 0.8462419996540391 Centerline is valid? [False, False] Translation: X:305.06, Y:17.97, Z:-0.26 [[ 9.99995063e-01 -4.99110669e-04 -3.10239091e-03 3.05060241e+02] [ 4.89314973e-04 9.99994896e-01 -3.15742423e-03 1.79662743e+01] [ 3.10395098e-03 3.15589060e-03 9.99990203e-01 -2.63709264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.991400513 meters Centerline goodness [0,1] 0.8718332790621948 Centerline is valid? [False, False] Translation: X:305.06, Y:17.97, Z:-0.26 [[ 9.99994760e-01 -7.85108663e-04 -3.14076930e-03 3.05059922e+02] [ 7.73019084e-04 9.99992295e-01 -3.84860521e-03 1.79693813e+01] [ 3.14376667e-03 3.84615717e-03 9.99987662e-01 -2.62945199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.021400513 meters Centerline goodness [0,1] 0.8776860218772969 Centerline is valid? [False, False] Translation: X:305.06, Y:17.98, Z:-0.26 [[ 9.99993540e-01 -1.18549115e-03 -3.39343948e-03 3.05060243e+02] [ 1.16816395e-03 9.99986295e-01 -5.10352349e-03 1.79754892e+01] [ 3.39944315e-03 5.09952642e-03 9.99981219e-01 -2.62128924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.051400513 meters Centerline goodness [0,1] 0.7395889148466468 Centerline is valid? [False, False] Translation: X:305.06, Y:17.98, Z:-0.26 [[ 9.99993110e-01 -1.40568583e-03 -3.43566376e-03 3.05060149e+02] [ 1.38610933e-03 9.99982830e-01 -5.69377872e-03 1.79783155e+01] [ 3.44360844e-03 5.68897728e-03 9.99977888e-01 -2.61749268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.081400513 meters Centerline goodness [0,1] 0.8367391210030803 Centerline is valid? [False, False] Translation: X:305.06, Y:17.98, Z:-0.26 [[ 9.99990258e-01 2.98334969e-03 -3.25329317e-03 3.05060603e+02] [-2.98568809e-03 9.99995288e-01 -7.14161945e-04 1.79752866e+01] [ 3.25114725e-03 7.23868306e-04 9.99994453e-01 -2.63805116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.111400513 meters Centerline goodness [0,1] 0.8566064455220358 Centerline is valid? [False, False] Translation: X:305.09, Y:17.97, Z:-0.28 [[ 9.99997219e-01 1.18990533e-03 2.03631042e-03 3.05087467e+02] [-1.20687265e-03 9.99964397e-01 8.35154012e-03 1.79736437e+01] [-2.02630038e-03 -8.35397446e-03 9.99963052e-01 -2.75581128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.141400513 meters Centerline goodness [0,1] 0.8325627194109084 Centerline is valid? [False, False] Translation: X:305.09, Y:17.98, Z:-0.27 [[ 9.99997483e-01 7.72611886e-04 2.10652890e-03 3.05086366e+02] [-7.87884012e-04 9.99973345e-01 7.25873603e-03 1.79784798e+01] [-2.10086456e-03 -7.26037746e-03 9.99971436e-01 -2.74104210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.171400513 meters Centerline goodness [0,1] 0.7062894974420704 Centerline is valid? [False, False] Translation: X:305.09, Y:17.99, Z:-0.27 [[ 9.99997623e-01 9.64776864e-04 1.95505475e-03 3.05086932e+02] [-9.75968304e-04 9.99983098e-01 5.73151575e-03 1.79879254e+01] [-1.94949207e-03 -5.73341020e-03 9.99981664e-01 -2.73468425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.201400513 meters Centerline goodness [0,1] 0.6856083340478436 Centerline is valid? [False, False] Translation: X:305.09, Y:17.99, Z:-0.27 [[ 9.99998418e-01 7.82248583e-04 1.59732323e-03 3.05087685e+02] [-7.89590094e-04 9.99989105e-01 4.60068726e-03 1.79937548e+01] [-1.59370695e-03 -4.60194122e-03 9.99988141e-01 -2.72813486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.231400513 meters Centerline goodness [0,1] 0.7003472297107857 Centerline is valid? [False, False] Translation: X:305.09, Y:18.00, Z:-0.27 [[ 9.99999100e-01 5.35725575e-04 1.22985647e-03 3.05088406e+02] [-5.39850276e-04 9.99994223e-01 3.35592847e-03 1.80000560e+01] [-1.22805150e-03 -3.35658939e-03 9.99993613e-01 -2.72145860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.261400513 meters Centerline goodness [0,1] 0.6932912831734999 Centerline is valid? [False, False] Translation: X:305.09, Y:18.01, Z:-0.27 [[ 9.99999598e-01 3.85124744e-04 8.10189194e-04 3.05089416e+02] [-3.86896992e-04 9.99997531e-01 2.18843138e-03 1.80062691e+01] [-8.09344374e-04 -2.18874396e-03 9.99997277e-01 -2.71532549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.291400513 meters Centerline goodness [0,1] 0.6661583401348855 Centerline is valid? [False, False] Translation: X:305.09, Y:18.01, Z:-0.27 [[ 9.99990952e-01 4.17213622e-03 8.30187571e-04 3.05088983e+02] [-4.17621715e-03 9.99978898e-01 4.97620792e-03 1.80137000e+01] [-8.09408635e-04 -4.97962994e-03 9.99987274e-01 -2.71022860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.321400513 meters Centerline goodness [0,1] 0.6697361925000537 Centerline is valid? [False, False] Translation: X:305.09, Y:18.02, Z:-0.27 [[ 9.99993248e-01 3.54552525e-03 9.66309879e-04 3.05087053e+02] [-3.54869518e-03 9.99988263e-01 3.29871880e-03 1.80209492e+01] [-9.54602847e-04 -3.30212567e-03 9.99994092e-01 -2.68546929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.351400513 meters Centerline goodness [0,1] 0.6564330003444712 Centerline is valid? [False, False] Translation: X:305.09, Y:18.03, Z:-0.27 [[ 9.99994985e-01 2.94929613e-03 1.15418479e-03 3.05085246e+02] [-2.95143600e-03 9.99993921e-01 1.85671997e-03 1.80271381e+01] [-1.14870176e-03 -1.86011717e-03 9.99997610e-01 -2.66628260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.381400513 meters Centerline goodness [0,1] 0.6423409319980271 Centerline is valid? [False, False] Translation: X:305.08, Y:18.03, Z:-0.27 [[ 9.99995991e-01 2.56506045e-03 1.19948005e-03 3.05084394e+02] [-2.56604096e-03 9.99996374e-01 8.16625369e-04 1.80319000e+01] [-1.19738101e-03 -8.19700010e-04 9.99998947e-01 -2.65378625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.411400513 meters Centerline goodness [0,1] 0.6595188620637946 Centerline is valid? [False, False] Translation: X:305.08, Y:18.04, Z:-0.26 [[ 9.99996866e-01 2.21235470e-03 1.17165717e-03 3.05084006e+02] [-2.21237769e-03 9.99997553e-01 1.83227746e-05 1.80355187e+01] [-1.17161377e-03 -2.09148654e-05 9.99999313e-01 -2.64586139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.441400513 meters Centerline goodness [0,1] 0.6671967678156967 Centerline is valid? [False, False] Translation: X:305.08, Y:18.04, Z:-0.26 [[ 9.99998138e-01 1.68627479e-03 9.37916208e-04 3.05084247e+02] [-1.68537336e-03 9.99998118e-01 -9.61058179e-04 1.80400047e+01] [-9.39535051e-04 9.59475651e-04 9.99999098e-01 -2.63770659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.471400513 meters Centerline goodness [0,1] 0.6691774630912926 Centerline is valid? [False, False] Translation: X:305.08, Y:18.04, Z:-0.26 [[ 9.99998506e-01 1.50965656e-03 8.41777361e-04 3.05084402e+02] [-1.50861394e-03 9.99998096e-01 -1.23784516e-03 1.80412417e+01] [-8.43644479e-04 1.23657339e-03 9.99998880e-01 -2.63470896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.501400513 meters Centerline goodness [0,1] 0.8318756073858115 Centerline is valid? [False, False] Translation: X:305.08, Y:18.04, Z:-0.26 [[ 9.99998811e-01 1.36512090e-03 7.16596058e-04 3.05084745e+02] [-1.36409592e-03 9.99998049e-01 -1.42888158e-03 1.80420641e+01] [-7.18545256e-04 1.42790238e-03 9.99998722e-01 -2.63352165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.531400513 meters Centerline goodness [0,1] 0.8196915266633682 Centerline is valid? [False, False] Translation: X:305.09, Y:18.04, Z:-0.26 [[ 9.99999037e-01 1.27668507e-03 5.44029017e-04 3.05085382e+02] [-1.27581428e-03 9.99997909e-01 -1.59798627e-03 1.80430256e+01] [-5.46068005e-04 1.59729065e-03 9.99998575e-01 -2.63497749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.561400513 meters Centerline goodness [0,1] 0.7631324316769519 Centerline is valid? [False, False] Translation: X:305.08, Y:18.04, Z:-0.26 [[ 9.99999593e-01 7.16387945e-04 5.49056255e-04 3.05084608e+02] [-7.15506370e-04 9.99998457e-01 -1.60413543e-03 1.80418390e+01] [-5.50204591e-04 1.60374192e-03 9.99998563e-01 -2.62551391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.591400513 meters Centerline goodness [0,1] 0.8564377590701252 Centerline is valid? [False, False] Translation: X:305.08, Y:18.04, Z:-0.26 [[ 9.99999681e-01 6.35500113e-04 4.84909905e-04 3.05084650e+02] [-6.34796490e-04 9.99998748e-01 -1.44981620e-03 1.80408418e+01] [-4.85830656e-04 1.44950792e-03 9.99998831e-01 -2.62171788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.621400513 meters Centerline goodness [0,1] 0.8860362777718149 Centerline is valid? [False, False] Translation: X:305.08, Y:18.04, Z:-0.26 [[ 9.99999691e-01 4.88316328e-04 6.16879521e-04 3.05083828e+02] [-4.87504485e-04 9.99999016e-01 -1.31551410e-03 1.80396327e+01] [-6.17521301e-04 1.31521296e-03 9.99998944e-01 -2.61400498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.651400513 meters Centerline goodness [0,1] 0.9184068474590852 Centerline is valid? [False, False] Translation: X:305.08, Y:18.04, Z:-0.26 [[ 9.99999706e-01 2.60166483e-04 7.21772670e-04 3.05083176e+02] [-2.59311374e-04 9.99999265e-01 -1.18457561e-03 1.80383146e+01] [-7.22080326e-04 1.18438810e-03 9.99999038e-01 -2.60811101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.681400513 meters Centerline goodness [0,1] 0.9205347754243653 Centerline is valid? [False, False] Translation: X:305.08, Y:18.04, Z:-0.26 [[ 9.99999732e-01 3.02023764e-04 6.67045509e-04 3.05083484e+02] [-3.01292676e-04 9.99999354e-01 -1.09583759e-03 1.80380194e+01] [-6.67376047e-04 1.09563632e-03 9.99999177e-01 -2.61020626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.711400513 meters Centerline goodness [0,1] 0.8935122465217298 Centerline is valid? [False, False] Translation: X:305.08, Y:18.04, Z:-0.26 [[ 9.99999709e-01 3.32057000e-04 6.87031035e-04 3.05083424e+02] [-3.31349535e-04 9.99999415e-01 -1.02960067e-03 1.80376925e+01] [-6.87372519e-04 1.02937273e-03 9.99999234e-01 -2.61037210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.741400513 meters Centerline goodness [0,1] 0.9130556272031639 Centerline is valid? [False, False] Translation: X:305.08, Y:18.04, Z:-0.26 [[ 9.99999690e-01 3.48259027e-04 7.06172899e-04 3.05083305e+02] [-3.47499923e-04 9.99999362e-01 -1.07479362e-03 1.80379467e+01] [-7.06546755e-04 1.07454789e-03 9.99999173e-01 -2.60960122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.771400513 meters Centerline goodness [0,1] 0.9254966887417219 Centerline is valid? [False, False] Translation: X:305.08, Y:18.04, Z:-0.26 [[ 9.99999665e-01 2.85325137e-04 7.66781276e-04 3.05082986e+02] [-2.84318153e-04 9.99999098e-01 -1.31304931e-03 1.80391052e+01] [-7.67155230e-04 1.31283086e-03 9.99998844e-01 -2.60775859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.801400513 meters Centerline goodness [0,1] 0.9649358529819695 Centerline is valid? [False, True] Translation: X:305.08, Y:18.04, Z:-0.26 [[ 9.99999526e-01 2.31425748e-04 9.45295687e-04 3.05081983e+02] [-2.30117308e-04 9.99999016e-01 -1.38403332e-03 1.80390723e+01] [-9.45615058e-04 1.38381513e-03 9.99998595e-01 -2.60012252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.831400513 meters Centerline goodness [0,1] 0.897253767433827 Centerline is valid? [True, False] Translation: X:305.08, Y:18.04, Z:-0.26 [[ 9.99999596e-01 2.61937201e-04 8.59400368e-04 3.05082362e+02] [-2.60677794e-04 9.99998893e-01 -1.46523256e-03 1.80396846e+01] [-8.59783215e-04 1.46500794e-03 9.99998557e-01 -2.60218625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.861400513 meters Centerline goodness [0,1] 0.9419671847266116 Centerline is valid? [False, False] Translation: X:305.08, Y:18.04, Z:-0.26 [[ 9.99999609e-01 2.82490097e-04 8.38166388e-04 3.05082572e+02] [-2.81209095e-04 9.99998793e-01 -1.52806244e-03 1.80401259e+01] [-8.38597039e-04 1.52782614e-03 9.99998481e-01 -2.60583274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.891400513 meters Centerline goodness [0,1] 0.9403723473506054 Centerline is valid? [False, False] Translation: X:305.08, Y:18.04, Z:-0.26 [[ 9.99999629e-01 3.98087551e-04 7.63842999e-04 3.05083195e+02] [-3.97043554e-04 9.99998988e-01 -1.36643485e-03 1.80396598e+01] [-7.64386187e-04 1.36613106e-03 9.99998775e-01 -2.61381382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.921400513 meters Centerline goodness [0,1] 0.7660437615985499 Centerline is valid? [False, False] Translation: X:305.08, Y:18.04, Z:-0.26 [[ 9.99999670e-01 4.94008877e-04 6.44233268e-04 3.05083953e+02] [-4.93150198e-04 9.99998991e-01 -1.33234800e-03 1.80398843e+01] [-6.44890809e-04 1.33202986e-03 9.99998905e-01 -2.62122724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.951400513 meters Centerline goodness [0,1] 0.871339184844008 Centerline is valid? [False, False] Translation: X:305.08, Y:18.04, Z:-0.26 [[ 9.99999684e-01 5.20503836e-04 6.00182769e-04 3.05084286e+02] [-5.19688791e-04 9.99998944e-01 -1.35735191e-03 1.80401714e+01] [-6.00888642e-04 1.35703958e-03 9.99998899e-01 -2.62557849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.981400513 meters Centerline goodness [0,1] 0.9222874537943031 Centerline is valid? [False, False] Translation: X:305.08, Y:18.04, Z:-0.26 [[ 9.99999722e-01 5.43347950e-04 5.10502988e-04 3.05084722e+02] [-5.42676810e-04 9.99998990e-01 -1.31388337e-03 1.80400695e+01] [-5.11216368e-04 1.31360597e-03 9.99999007e-01 -2.62890436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.011400513 meters Centerline goodness [0,1] 0.7782727154780954 Centerline is valid? [False, False] Translation: X:305.09, Y:18.04, Z:-0.26 [[ 9.99999764e-01 5.62286709e-04 3.95436980e-04 3.05085266e+02] [-5.61721282e-04 9.99998822e-01 -1.42853904e-03 1.80409009e+01] [-3.96239762e-04 1.42831658e-03 9.99998901e-01 -2.63257490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.041400513 meters Centerline goodness [0,1] 0.8783060760316257 Centerline is valid? [False, False] Translation: X:305.09, Y:18.04, Z:-0.26 [[ 9.99999742e-01 6.27800374e-04 3.48757591e-04 3.05085628e+02] [-6.27335884e-04 9.99998918e-01 -1.33035909e-03 1.80406009e+01] [-3.49592414e-04 1.33013996e-03 9.99999054e-01 -2.63684530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.071400513 meters Centerline goodness [0,1] 0.8289178460476355 Centerline is valid? [False, False] Translation: X:305.09, Y:18.04, Z:-0.26 [[ 9.99999674e-01 7.40521889e-04 3.22173001e-04 3.05085782e+02] [-7.40180106e-04 9.99999165e-01 -1.05969442e-03 1.80393515e+01] [-3.22957459e-04 1.05945561e-03 9.99999387e-01 -2.63754053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.101400513 meters Centerline goodness [0,1] 0.8411992137719506 Centerline is valid? [False, False] Translation: X:305.09, Y:18.04, Z:-0.26 [[ 9.99999781e-01 5.70161450e-04 3.35236805e-04 3.05085354e+02] [-5.69654363e-04 9.99998697e-01 -1.51077789e-03 1.80413276e+01] [-3.36097755e-04 1.51058659e-03 9.99998803e-01 -2.63160480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.131400513 meters Centerline goodness [0,1] 0.8318517239891252 Centerline is valid? [False, False] Translation: X:305.09, Y:18.04, Z:-0.26 [[ 9.99999805e-01 5.23014095e-04 3.42593534e-04 3.05085125e+02] [-5.22404122e-04 9.99998283e-01 -1.77813302e-03 1.80426207e+01] [-3.43522935e-04 1.77795370e-03 9.99998360e-01 -2.62822095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.161400513 meters Centerline goodness [0,1] 0.6950529959366198 Centerline is valid? [False, False] Translation: X:305.08, Y:18.04, Z:-0.26 [[ 9.99999769e-01 5.00472324e-04 4.60322187e-04 3.05084560e+02] [-4.99568652e-04 9.99997952e-01 -1.96115403e-03 1.80434693e+01] [-4.61302748e-04 1.96092362e-03 9.99997971e-01 -2.62513261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.191400513 meters Centerline goodness [0,1] 0.7209436873232193 Centerline is valid? [False, False] Translation: X:305.08, Y:18.04, Z:-0.26 [[ 9.99999776e-01 4.74365652e-04 4.71803201e-04 3.05084359e+02] [-4.73331706e-04 9.99997492e-01 -2.18917863e-03 1.80446159e+01] [-4.72840489e-04 2.18895482e-03 9.99997492e-01 -2.62261209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.221400513 meters Centerline goodness [0,1] 0.7001636097476965 Centerline is valid? [False, False] Translation: X:305.08, Y:18.05, Z:-0.26 [[ 9.99999761e-01 3.58934597e-04 5.90453675e-04 3.05083700e+02] [-3.57463532e-04 9.99996837e-01 -2.48963588e-03 1.80458937e+01] [-5.91345424e-04 2.48942422e-03 9.99996727e-01 -2.61841290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.251400513 meters Centerline goodness [0,1] 0.7023294651650751 Centerline is valid? [False, False] Translation: X:305.08, Y:18.05, Z:-0.26 [[ 9.99999765e-01 2.37311880e-04 6.43693304e-04 3.05082833e+02] [-2.35609122e-04 9.99996477e-01 -2.64408055e-03 1.80461882e+01] [-6.44318508e-04 2.64392827e-03 9.99996297e-01 -2.60492371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.281400513 meters Centerline goodness [0,1] 0.729244207310514 Centerline is valid? [False, False] Translation: X:305.08, Y:18.05, Z:-0.26 [[ 9.99999798e-01 1.79501832e-04 6.10491877e-04 3.05082652e+02] [-1.77862215e-04 9.99996380e-01 -2.68472604e-03 1.80461835e+01] [-6.10971580e-04 2.68461692e-03 9.99996210e-01 -2.59930196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.311400513 meters Centerline goodness [0,1] 0.7244404502075577 Centerline is valid? [False, False] Translation: X:305.08, Y:18.04, Z:-0.26 [[ 9.99999829e-01 2.49904740e-04 5.29114663e-04 3.05082991e+02] [-2.48624445e-04 9.99997045e-01 -2.41837617e-03 1.80449482e+01] [-5.29717463e-04 2.41824421e-03 9.99996936e-01 -2.59985774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.341400513 meters Centerline goodness [0,1] 0.7454948174272074 Centerline is valid? [False, False] Translation: X:305.08, Y:18.05, Z:-0.26 [[ 9.99999846e-01 1.86271989e-04 5.21947367e-04 3.05082898e+02] [-1.84947132e-04 9.99996764e-01 -2.53719662e-03 1.80454242e+01] [-5.22418286e-04 2.53709970e-03 9.99996645e-01 -2.59797584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.371400513 meters Centerline goodness [0,1] 0.7220236044107512 Centerline is valid? [False, False] Translation: X:305.08, Y:18.05, Z:-0.26 [[ 9.99999826e-01 1.71371685e-04 5.65274715e-04 3.05082670e+02] [-1.69922456e-04 9.99996702e-01 -2.56281311e-03 1.80455001e+01] [-5.65712044e-04 2.56271661e-03 9.99996556e-01 -2.59641791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.401400513 meters Centerline goodness [0,1] 0.7017862873034549 Centerline is valid? [False, False] Translation: X:305.08, Y:18.05, Z:-0.26 [[ 9.99999788e-01 6.89224492e-05 6.47906189e-04 3.05081822e+02] [-6.70521858e-05 9.99995833e-01 -2.88620560e-03 1.80468324e+01] [-6.48102413e-04 2.88616155e-03 9.99995625e-01 -2.58552530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.431400513 meters Centerline goodness [0,1] 0.743175248902687 Centerline is valid? [False, False] Translation: X:305.08, Y:18.05, Z:-0.26 [[ 9.99999774e-01 -1.50716633e-06 6.72646465e-04 3.05081300e+02] [ 3.54400591e-06 9.99995415e-01 -3.02810733e-03 1.80472918e+01] [-6.72638817e-04 3.02810903e-03 9.99995189e-01 -2.57724843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.461400513 meters Centerline goodness [0,1] 0.7570143499678732 Centerline is valid? [False, False] Translation: X:305.08, Y:18.05, Z:-0.26 [[ 9.99999793e-01 3.17370228e-05 6.43295910e-04 3.05081293e+02] [-2.98390546e-05 9.99995648e-01 -2.95017607e-03 1.80469170e+01] [-6.43386740e-04 2.95015626e-03 9.99995441e-01 -2.57462056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.491400513 meters Centerline goodness [0,1] 0.7626366559485531 Centerline is valid? [False, False] Translation: X:305.08, Y:18.05, Z:-0.26 [[ 9.99999823e-01 1.78854861e-04 5.67217679e-04 3.05081744e+02] [-1.77384519e-04 9.99996627e-01 -2.59119158e-03 1.80453305e+01] [-5.67679213e-04 2.59109051e-03 9.99996482e-01 -2.57733641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.521400513 meters Centerline goodness [0,1] 0.7521842048633527 Centerline is valid? [False, False] Translation: X:305.08, Y:18.04, Z:-0.26 [[ 9.99999533e-01 -1.34317482e-04 9.57081727e-04 3.05080888e+02] [ 1.36048199e-04 9.99998355e-01 -1.80849073e-03 1.80403464e+01] [-9.56837241e-04 1.80862010e-03 9.99997907e-01 -2.58865579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.551400513 meters Centerline goodness [0,1] 0.8185108583247156 Centerline is valid? [False, False] Translation: X:305.08, Y:18.04, Z:-0.26 [[ 9.99999562e-01 7.69317413e-05 9.33313898e-04 3.05081754e+02] [-7.59190467e-05 9.99999408e-01 -1.08503946e-03 1.80372133e+01] [-9.33396820e-04 1.08496813e-03 9.99998976e-01 -2.60204623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.581400513 meters Centerline goodness [0,1] 0.8915844032948362 Centerline is valid? [False, False] Translation: X:305.08, Y:18.04, Z:-0.26 [[ 9.99999664e-01 2.41020367e-04 7.83786360e-04 3.05082649e+02] [-2.40550872e-04 9.99999792e-01 -5.99047563e-04 1.80351222e+01] [-7.83930579e-04 5.98858822e-04 9.99999513e-01 -2.60848103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.611400513 meters Centerline goodness [0,1] 0.9289530374838432 Centerline is valid? [False, False] Translation: X:305.08, Y:18.03, Z:-0.26 [[ 9.99999715e-01 2.51126790e-04 7.11620372e-04 3.05082903e+02] [-2.50801761e-04 9.99999864e-01 -4.56797032e-04 1.80344033e+01] [-7.11734989e-04 4.56618426e-04 9.99999642e-01 -2.60823926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.641400513 meters Centerline goodness [0,1] 0.9760524380218925 Centerline is valid? [False, True] Translation: X:305.08, Y:18.03, Z:-0.26 [[ 9.99999774e-01 2.12901246e-04 6.37546658e-04 3.05083002e+02] [-2.12593274e-04 9.99999861e-01 -4.83087075e-04 1.80344460e+01] [-6.37649419e-04 4.82951428e-04 9.99999680e-01 -2.60570323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.671400513 meters Centerline goodness [0,1] 0.9760524380218925 Centerline is valid? [True, True] Translation: X:305.11, Y:18.04, Z:-0.26 [[ 9.99999793e-01 2.12540843e-04 6.06905856e-04 3.05113028e+02] [-2.12562631e-04 9.99999977e-01 3.58360185e-05 1.80357887e+01] [-6.06898226e-04 -3.59650166e-05 9.99999815e-01 -2.61073017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.701400513 meters Centerline goodness [0,1] 0.9532229475595522 Centerline is valid? [True, True] Translation: X:305.14, Y:18.04, Z:-0.26 [[ 9.99999348e-01 1.14155089e-03 5.55297830e-06 3.05143216e+02] [-1.14155089e-03 9.99999348e-01 3.44776291e-07 1.80399938e+01] [-5.55258110e-06 -3.51115074e-07 1.00000000e+00 -2.60361215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.731400513 meters Centerline goodness [0,1] 0.9050102116195194 Centerline is valid? [True, False] Translation: X:305.14, Y:18.04, Z:-0.26 [[ 9.99999535e-01 9.63618327e-04 -2.55447649e-05 3.05143176e+02] [-9.63633045e-04 9.99999366e-01 -5.82571591e-04 1.80428304e+01] [ 2.49833721e-05 5.82595936e-04 9.99999830e-01 -2.60324351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.761400513 meters Centerline goodness [0,1] 0.81850021486893 Centerline is valid? [False, False] Translation: X:305.14, Y:18.05, Z:-0.26 [[ 9.99999620e-01 8.63707109e-04 -1.18828130e-04 3.05143224e+02] [-8.63840697e-04 9.99998990e-01 -1.12878952e-03 1.80455970e+01] [ 1.17853066e-04 1.12889174e-03 9.99999356e-01 -2.59930369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.791400513 meters Centerline goodness [0,1] 0.8759791967888819 Centerline is valid? [False, False] Translation: X:305.14, Y:18.05, Z:-0.26 [[ 9.99999728e-01 7.33102880e-04 -7.85049626e-05 3.05142956e+02] [-7.33218802e-04 9.99998626e-01 -1.48691693e-03 1.80472761e+01] [ 7.74147916e-05 1.48697409e-03 9.99998891e-01 -2.59784462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.821400513 meters Centerline goodness [0,1] 0.9247253814446339 Centerline is valid? [False, False] Translation: X:305.14, Y:18.05, Z:-0.26 [[ 9.99999629e-01 8.60785913e-04 -4.20269638e-05 3.05143090e+02] [-8.60832424e-04 9.99999003e-01 -1.11950502e-03 1.80456068e+01] [ 4.10632678e-05 1.11954079e-03 9.99999372e-01 -2.60164760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.851400513 meters Centerline goodness [0,1] 0.9019456089433516 Centerline is valid? [False, False] Translation: X:305.14, Y:18.04, Z:-0.26 [[ 9.99999607e-01 8.69430076e-04 -1.74187111e-04 3.05143699e+02] [-8.69594127e-04 9.99999176e-01 -9.43961394e-04 1.80448372e+01] [ 1.73366259e-04 9.44112495e-04 9.99999539e-01 -2.60420941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.881400513 meters Centerline goodness [0,1] 0.8603881546640477 Centerline is valid? [False, False] Translation: X:305.14, Y:18.04, Z:-0.26 [[ 9.99999582e-01 8.75350760e-04 -2.62263391e-04 3.05143829e+02] [-8.75574602e-04 9.99999252e-01 -8.54605659e-04 1.80443652e+01] [ 2.61515115e-04 8.54834933e-04 9.99999600e-01 -2.60096052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.911400513 meters Centerline goodness [0,1] 0.9584486336907645 Centerline is valid? [False, True] Translation: X:305.14, Y:18.04, Z:-0.26 [[ 9.99999554e-01 9.14711708e-04 -2.35016657e-04 3.05143766e+02] [-9.14849390e-04 9.99999410e-01 -5.86401711e-04 1.80429630e+01] [ 2.34480130e-04 5.86616454e-04 9.99999800e-01 -2.60036721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.941400513 meters Centerline goodness [0,1] 0.9269660516289224 Centerline is valid? [True, False] Translation: X:305.14, Y:18.04, Z:-0.26 [[ 9.99999514e-01 9.27575400e-04 -3.35539937e-04 3.05144104e+02] [-9.27744874e-04 9.99999442e-01 -5.05274498e-04 1.80426075e+01] [ 3.35071070e-04 5.05585548e-04 9.99999816e-01 -2.60041096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.971400513 meters Centerline goodness [0,1] 0.9640085141149406 Centerline is valid? [False, True] Translation: X:305.14, Y:18.04, Z:-0.26 [[ 9.99999621e-01 7.83182940e-04 -3.79758496e-04 3.05143850e+02] [-7.83496194e-04 9.99999352e-01 -8.25430694e-04 1.80439463e+01] [ 3.79111787e-04 8.25727921e-04 9.99999587e-01 -2.59373652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.001400513 meters Centerline goodness [0,1] 0.9958413654183543 Centerline is valid? [True, True] Translation: X:305.17, Y:18.04, Z:-0.26 [[ 9.99999502e-01 8.86005710e-04 -4.58583574e-04 3.05173869e+02] [-8.86017496e-04 9.99999607e-01 -2.54993079e-05 1.80388214e+01] [ 4.58560802e-04 2.59056083e-05 9.99999895e-01 -2.59924795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.031400513 meters Centerline goodness [0,1] 0.9333419122378073 Centerline is valid? [True, False] Translation: X:305.17, Y:18.04, Z:-0.26 [[ 9.99999567e-01 8.32754466e-04 -4.14920858e-04 3.05173539e+02] [-8.32823359e-04 9.99999639e-01 -1.65892604e-04 1.80394250e+01] [ 4.14782561e-04 1.66238088e-04 9.99999900e-01 -2.59597377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.061400513 meters Centerline goodness [0,1] 0.916550046289319 Centerline is valid? [False, False] Translation: X:305.17, Y:18.04, Z:-0.26 [[ 9.99999720e-01 6.72580653e-04 -3.28120278e-04 3.05172823e+02] [-6.72749420e-04 9.99999641e-01 -5.14505994e-04 1.80408214e+01] [ 3.27774114e-04 5.14726592e-04 9.99999814e-01 -2.58894945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.091400513 meters Centerline goodness [0,1] 0.9886280264123257 Centerline is valid? [False, True] Translation: X:305.17, Y:18.04, Z:-0.26 [[ 9.99999845e-01 5.43510641e-04 -1.19841732e-04 3.05171523e+02] [-5.43595700e-04 9.99999600e-01 -7.10874530e-04 1.80412907e+01] [ 1.19455316e-04 7.10939565e-04 9.99999740e-01 -2.57769353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.121400513 meters Centerline goodness [0,1] 0.8747501235947811 Centerline is valid? [True, False] Translation: X:305.17, Y:18.04, Z:-0.26 [[ 9.99999851e-01 5.10257362e-04 -1.95592262e-04 3.05171710e+02] [-5.10423762e-04 9.99999507e-01 -8.51645569e-04 1.80420370e+01] [ 1.95157607e-04 8.51745276e-04 9.99999618e-01 -2.57689103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.151400513 meters Centerline goodness [0,1] 0.8480284421460892 Centerline is valid? [False, False] Translation: X:305.17, Y:18.04, Z:-0.26 [[ 9.99999873e-01 4.63466971e-04 -1.95469752e-04 3.05171640e+02] [-4.63645133e-04 9.99999476e-01 -9.12395559e-04 1.80422573e+01] [ 1.95046785e-04 9.12486072e-04 9.99999565e-01 -2.57594622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.181400513 meters Centerline goodness [0,1] 0.9918048613047862 Centerline is valid? [False, True] Translation: X:305.17, Y:18.04, Z:-0.26 [[ 9.99999852e-01 4.83728627e-04 -2.50676305e-04 3.05171787e+02] [-4.83945451e-04 9.99999508e-01 -8.65617816e-04 1.80420618e+01] [ 2.50257457e-04 8.65739001e-04 9.99999594e-01 -2.57490209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.211400513 meters Centerline goodness [0,1] 0.9546587588103833 Centerline is valid? [True, True] Translation: X:305.20, Y:18.05, Z:-0.26 [[ 9.99999397e-01 -7.06961515e-04 8.40355313e-04 3.05200699e+02] [ 7.06920926e-04 9.99999749e-01 4.85952710e-05 1.80487871e+01] [-8.40389457e-04 -4.80011769e-05 9.99999646e-01 -2.56818567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.241400513 meters Centerline goodness [0,1] 0.9880685250712005 Centerline is valid? [True, True] Translation: X:305.23, Y:18.05, Z:-0.26 [[ 9.99998318e-01 -1.43608831e-03 1.14105772e-03 3.05232108e+02] [ 1.43601397e-03 9.99998967e-01 6.59697598e-05 1.80460365e+01] [-1.14115128e-03 -6.43310740e-05 9.99999347e-01 -2.58004347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.271400513 meters Centerline goodness [0,1] 0.9663498752902726 Centerline is valid? [True, True] Translation: X:305.26, Y:18.05, Z:-0.26 [[ 9.99999336e-01 -2.26478968e-04 1.12986150e-03 3.05262693e+02] [ 2.26405335e-04 9.99999972e-01 6.52968348e-05 1.80505893e+01] [-1.12987626e-03 -6.50409848e-05 9.99999360e-01 -2.57712423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.301400513 meters Centerline goodness [0,1] 0.9870182816925586 Centerline is valid? [True, True] Translation: X:305.29, Y:18.05, Z:-0.26 [[ 9.99998565e-01 -1.07323783e-04 1.69055181e-03 3.05294322e+02] [ 1.07158838e-04 9.99999989e-01 9.76590413e-05 1.80490645e+01] [-1.69056228e-03 -9.74777436e-05 9.99998566e-01 -2.58050772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.331400513 meters Centerline goodness [0,1] 0.9930139076975989 Centerline is valid? [True, True] Translation: X:305.33, Y:18.05, Z:-0.26 [[ 9.99994482e-01 -1.13379526e-03 3.12245156e-03 3.05325897e+02] [ 1.13323778e-03 9.99999342e-01 1.80300132e-04 1.80504137e+01] [-3.12265393e-03 -1.76760657e-04 9.99995109e-01 -2.55579014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.361400513 meters Centerline goodness [0,1] 0.9983142060558906 Centerline is valid? [True, True] Translation: X:305.36, Y:18.05, Z:-0.26 [[ 9.99989846e-01 -2.82805972e-03 3.50857708e-03 3.05357641e+02] [ 2.82736667e-03 9.99995982e-01 2.02475086e-04 1.80494624e+01] [-3.50913560e-03 -1.92552996e-04 9.99993824e-01 -2.55599297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.391400513 meters Centerline goodness [0,1] 0.9963737018281693 Centerline is valid? [True, True] Translation: X:305.39, Y:18.05, Z:-0.25 [[ 9.99989645e-01 -3.06624644e-03 3.36261951e-03 3.05388743e+02] [ 3.06561159e-03 9.99995282e-01 1.93935002e-04 1.80528198e+01] [-3.36319830e-03 -1.83624508e-04 9.99994328e-01 -2.54802316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.421400513 meters Centerline goodness [0,1] 0.9883972341746409 Centerline is valid? [True, True] Translation: X:305.42, Y:18.06, Z:-0.26 [[ 9.99984847e-01 -4.35196330e-03 3.37130415e-03 3.05418776e+02] [ 4.35133260e-03 9.99990514e-01 1.94391824e-04 1.80568455e+01] [-3.37211815e-03 -1.79719213e-04 9.99994298e-01 -2.56179192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.451400513 meters Centerline goodness [0,1] 0.9957070490255001 Centerline is valid? [True, True] Translation: X:305.45, Y:18.06, Z:-0.26 [[ 9.99986235e-01 -4.42552585e-03 2.81877657e-03 3.05451148e+02] [ 4.42508557e-03 9.99990196e-01 1.62411717e-04 1.80555639e+01] [-2.81946769e-03 -1.49936154e-04 9.99996014e-01 -2.57944833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.481400513 meters Centerline goodness [0,1] 0.9655835873489418 Centerline is valid? [True, True] Translation: X:305.48, Y:18.06, Z:-0.26 [[ 9.99979673e-01 -4.84190872e-03 4.14854363e-03 3.05481840e+02] [ 4.84095924e-03 9.99988254e-01 2.38880901e-04 1.80634701e+01] [-4.14965154e-03 -2.18793114e-04 9.99991366e-01 -2.55890680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.511400513 meters Centerline goodness [0,1] 0.9921588901813795 Centerline is valid? [True, True] Translation: X:305.51, Y:18.06, Z:-0.26 [[ 9.99982213e-01 -4.11735860e-03 4.31528730e-03 3.05513716e+02] [ 4.11632517e-03 9.99991497e-01 2.48334538e-04 1.80611551e+01] [-4.31627309e-03 -2.30566995e-04 9.99990658e-01 -2.55665117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.541400513 meters Centerline goodness [0,1] 0.9998052285318559 Centerline is valid? [True, True] Translation: X:305.55, Y:18.06, Z:-0.26 [[ 9.99981772e-01 -4.63208808e-03 3.87281438e-03 3.05545990e+02] [ 4.63126026e-03 9.99989251e-01 2.22693069e-04 1.80563771e+01] [-3.87380428e-03 -2.04752998e-04 9.99992476e-01 -2.56667128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.571400513 meters Centerline goodness [0,1] 0.9989886383198485 Centerline is valid? [True, True] Translation: X:305.58, Y:18.06, Z:-0.26 [[ 9.99982703e-01 -4.71352396e-03 3.51796261e-03 3.05576585e+02] [ 4.71284183e-03 9.99988874e-01 2.02163982e-04 1.80597719e+01] [-3.51887638e-03 -1.85580884e-04 9.99993792e-01 -2.57557146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.601400513 meters Centerline goodness [0,1] 0.971402114693025 Centerline is valid? [True, True] Translation: X:305.61, Y:18.07, Z:-0.26 [[ 9.99986057e-01 -4.34051991e-03 3.00766294e-03 3.05607208e+02] [ 4.34001995e-03 9.99990567e-01 1.72736330e-04 1.80695742e+01] [-3.00838433e-03 -1.59680604e-04 9.99995462e-01 -2.57329524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.631400513 meters Centerline goodness [0,1] 0.9779115605450338 Centerline is valid? [True, True] Translation: X:305.64, Y:18.07, Z:-0.26 [[ 9.99979412e-01 -5.67461275e-03 2.99563979e-03 3.05638304e+02] [ 5.67412295e-03 9.99983887e-01 1.71977172e-04 1.80710289e+01] [-2.99656742e-03 -1.54976003e-04 9.99995498e-01 -2.57039778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.661400513 meters Centerline goodness [0,1] 0.9987740880935995 Centerline is valid? [True, True] Translation: X:305.67, Y:18.07, Z:-0.26 [[ 9.99981712e-01 -5.55145472e-03 2.39917723e-03 3.05671988e+02] [ 5.55114058e-03 9.99984583e-01 1.37579888e-04 1.80655945e+01] [-2.39990401e-03 -1.24259202e-04 9.99997113e-01 -2.57446093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.691400513 meters Centerline goodness [0,1] 0.9991336365605371 Centerline is valid? [True, True] Translation: X:305.70, Y:18.07, Z:-0.26 [[ 9.99986650e-01 -5.01395545e-03 1.24881227e-03 3.05704561e+02] [ 5.01386999e-03 9.99987428e-01 7.15569000e-05 1.80668472e+01] [-1.24915535e-03 -6.52945624e-05 9.99999218e-01 -2.58163596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.721400513 meters Centerline goodness [0,1] 0.9660958757134886 Centerline is valid? [True, True] Translation: X:305.73, Y:18.08, Z:-0.26 [[ 9.99992746e-01 -3.73359597e-03 7.54020297e-04 3.05734997e+02] [ 3.73356447e-03 9.99993029e-01 4.31806267e-05 1.80774528e+01] [-7.54176260e-04 -4.03651300e-05 9.99999715e-01 -2.58195862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.751400513 meters Centerline goodness [0,1] 0.9722287951470303 Centerline is valid? [True, True] Translation: X:305.77, Y:18.08, Z:-0.26 [[ 9.99998283e-01 -1.38157312e-03 1.23509880e-03 3.05766265e+02] [ 1.38148685e-03 9.99999043e-01 7.06945121e-05 1.80786207e+01] [-1.23519529e-03 -6.89881179e-05 9.99999235e-01 -2.57843423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.781400513 meters Centerline goodness [0,1] 0.9936133152699825 Centerline is valid? [True, True] Translation: X:305.80, Y:18.08, Z:-0.26 [[ 9.99998073e-01 -6.62552170e-04 1.84779411e-03 3.05798890e+02] [ 6.62358020e-04 9.99999775e-01 1.05681138e-04 1.80764801e+01] [-1.84786371e-03 -1.04457033e-04 9.99998287e-01 -2.56448776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.811400513 meters Centerline goodness [0,1] 0.9932126696832579 Centerline is valid? [True, True] Translation: X:305.83, Y:18.08, Z:-0.26 [[ 9.99998027e-01 -9.07523093e-04 1.76712773e-03 3.05831175e+02] [ 9.07346049e-04 9.99999583e-01 1.00986590e-04 1.80783673e+01] [-1.76721864e-03 -9.93829947e-05 9.99998434e-01 -2.57017465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.841400513 meters Centerline goodness [0,1] 0.9964181048518398 Centerline is valid? [True, True] Translation: X:305.86, Y:18.08, Z:-0.26 [[ 9.99998509e-01 -1.56519614e-03 7.29310760e-04 3.05864005e+02] [ 1.56516619e-03 9.99998774e-01 4.16445164e-05 1.80786958e+01] [-7.29375048e-04 -4.05029618e-05 9.99999733e-01 -2.58114707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.871400513 meters Centerline goodness [0,1] 0.982772711631108 Centerline is valid? [True, True] Translation: X:305.90, Y:18.08, Z:-0.26 [[ 9.99997037e-01 -1.91104746e-03 -1.50824897e-03 3.05895357e+02] [ 1.91091989e-03 9.99998170e-01 -8.60170255e-05 1.80848415e+01] [ 1.50841059e-03 8.31346277e-05 9.99998859e-01 -2.59815348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.901400513 meters Centerline goodness [0,1] 0.9690653184515521 Centerline is valid? [True, True] Translation: X:305.93, Y:18.09, Z:-0.26 [[ 9.99997706e-01 -1.28754634e-03 -1.71196595e-03 3.05925017e+02] [ 1.28738105e-03 9.99999167e-01 -9.76466899e-05 1.80875694e+01] [ 1.71209025e-03 9.54425134e-05 9.99998530e-01 -2.59648970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.931400513 meters Centerline goodness [0,1] 0.9970935865142414 Centerline is valid? [True, True] Translation: X:305.96, Y:18.08, Z:-0.26 [[ 9.99998436e-01 -9.44731155e-04 -1.49499633e-03 3.05956175e+02] [ 9.44604728e-04 9.99999550e-01 -8.52712306e-05 1.80830704e+01] [ 1.49507622e-03 8.38589167e-05 9.99998879e-01 -2.58961622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.961400513 meters Centerline goodness [0,1] 0.9962372874067384 Centerline is valid? [True, True] Translation: X:305.99, Y:18.09, Z:-0.26 [[ 9.99999104e-01 -7.83926354e-04 -1.08483041e-03 3.05986741e+02] [ 7.83859689e-04 9.99999691e-01 -6.18762881e-05 1.80852597e+01] [ 1.08487858e-03 6.10258779e-05 9.99999410e-01 -2.59705598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.991400513 meters Centerline goodness [0,1] 0.9896262886597939 Centerline is valid? [True, True] Translation: X:306.02, Y:18.09, Z:-0.26 [[ 9.99999622e-01 -7.48921750e-04 -4.42060734e-04 3.06015600e+02] [ 7.48910677e-04 9.99999719e-01 -2.52132654e-05 1.80890135e+01] [ 4.42079492e-04 2.48821919e-05 9.99999902e-01 -2.59490783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.021400513 meters Centerline goodness [0,1] 0.9930097003850042 Centerline is valid? [True, True] Translation: X:306.05, Y:18.09, Z:-0.26 [[ 9.99999947e-01 -1.55748731e-04 -2.87213211e-04 3.06046187e+02] [ 1.55744033e-04 9.99999988e-01 -1.63816116e-05 1.80907719e+01] [ 2.87215758e-04 1.63368790e-05 9.99999959e-01 -2.58419938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.051400513 meters Centerline goodness [0,1] 0.9974694495512058 Centerline is valid? [True, True] Translation: X:306.08, Y:18.09, Z:-0.26 [[ 9.99998542e-01 -1.58999527e-03 6.22452455e-04 3.06076867e+02] [ 1.58997348e-03 9.99998735e-01 3.55024559e-05 1.80903878e+01] [-6.22508117e-04 -3.45127213e-05 9.99999806e-01 -2.57707169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.081400513 meters Centerline goodness [0,1] 0.9950553331763597 Centerline is valid? [True, True] Translation: X:306.11, Y:18.09, Z:-0.26 [[ 9.99998684e-01 -1.09147389e-03 1.19992864e-03 3.06108186e+02] [ 1.09139259e-03 9.99999402e-01 6.84056192e-05 1.80944340e+01] [-1.20000258e-03 -6.70959360e-05 9.99999278e-01 -2.56522271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.111400513 meters Centerline goodness [0,1] 0.912111560643884 Centerline is valid? [True, False] Translation: X:306.11, Y:18.09, Z:-0.26 [[ 9.99998555e-01 -1.14295364e-03 1.25869987e-03 3.06107705e+02] [ 1.14293914e-03 9.99999347e-01 1.22367012e-05 1.80944733e+01] [-1.25871304e-03 -1.07980661e-05 9.99999208e-01 -2.56017486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.141400513 meters Centerline goodness [0,1] 0.995123724789871 Centerline is valid? [False, True] Translation: X:306.11, Y:18.09, Z:-0.26 [[ 9.99998471e-01 -1.13313776e-03 1.33177085e-03 3.06107360e+02] [ 1.13310322e-03 9.99999358e-01 2.66915311e-05 1.80943702e+01] [-1.33180024e-03 -2.51824565e-05 9.99999113e-01 -2.55776920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.171400513 meters Centerline goodness [0,1] 0.9977870402200069 Centerline is valid? [True, True] Translation: X:306.14, Y:18.10, Z:-0.26 [[ 9.99992415e-01 -2.97347417e-03 2.51561179e-03 3.06139017e+02] [ 2.97312150e-03 9.99995570e-01 1.43919940e-04 1.80951267e+01] [-2.51602859e-03 -1.36439629e-04 9.99996825e-01 -2.55749110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.201400513 meters Centerline goodness [0,1] 0.9987382108257233 Centerline is valid? [True, True] Translation: X:306.17, Y:18.10, Z:-0.26 [[ 9.99985550e-01 -4.40025988e-03 3.08820861e-03 3.06170515e+02] [ 4.39973532e-03 9.99990306e-01 1.76630128e-04 1.80956098e+01] [-3.08895589e-03 -1.63040275e-04 9.99995216e-01 -2.55045736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.231400513 meters Centerline goodness [0,1] 0.9741805846639154 Centerline is valid? [True, True] Translation: X:306.20, Y:18.11, Z:-0.25 [[ 9.99982859e-01 -4.93825612e-03 3.14567361e-03 3.06201944e+02] [ 4.93771525e-03 9.99987793e-01 1.79684210e-04 1.81052233e+01] [-3.14652254e-03 -1.64148689e-04 9.99995036e-01 -2.53856328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.261400513 meters Centerline goodness [0,1] 0.9687319050376375 Centerline is valid? [True, True] Translation: X:306.23, Y:18.11, Z:-0.25 [[ 9.99979655e-01 -5.10985997e-03 3.81816151e-03 3.06233080e+02] [ 5.10906473e-03 9.99986925e-01 2.18003461e-04 1.81076523e+01] [-3.81922555e-03 -1.98491792e-04 9.99992687e-01 -2.52572352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.291400513 meters Centerline goodness [0,1] 0.9851855014302182 Centerline is valid? [True, True] Translation: X:306.27, Y:18.11, Z:-0.25 [[ 9.99972024e-01 -5.75819644e-03 4.77432712e-03 3.06265878e+02] [ 5.75696186e-03 9.99983391e-01 2.72290212e-04 1.81073870e+01] [-4.77581573e-03 -2.44796975e-04 9.99988566e-01 -2.51490492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.321400513 meters Centerline goodness [0,1] 0.9984056878164387 Centerline is valid? [True, True] Translation: X:306.30, Y:18.10, Z:-0.25 [[ 9.99966050e-01 -6.30139561e-03 5.30961177e-03 3.06297302e+02] [ 6.29988126e-03 9.99980110e-01 3.01887234e-04 1.81037750e+01] [-5.31140848e-03 -2.68427061e-04 9.99985858e-01 -2.52012836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.351400513 meters Centerline goodness [0,1] 0.9995711559491391 Centerline is valid? [True, True] Translation: X:306.33, Y:18.10, Z:-0.25 [[ 9.99959243e-01 -7.52672859e-03 4.98602856e-03 3.06328926e+02] [ 7.52540824e-03 9.99971644e-01 2.83519524e-04 1.81020683e+01] [-4.98802115e-03 -2.45986069e-04 9.99987529e-01 -2.50935280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.381400513 meters Centerline goodness [0,1] 0.9986179792265002 Centerline is valid? [True, True] Translation: X:306.36, Y:18.11, Z:-0.25 [[ 9.99954565e-01 -8.45853653e-03 4.39567491e-03 3.06359754e+02] [ 8.45752289e-03 9.99964203e-01 2.49137426e-04 1.81081655e+01] [-4.39762490e-03 -2.11949585e-04 9.99990308e-01 -2.50783316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.411400513 meters Centerline goodness [0,1] 0.9886159376872379 Centerline is valid? [True, True] Translation: X:306.39, Y:18.11, Z:-0.25 [[ 9.99940617e-01 -1.00020898e-02 4.32669395e-03 3.06391401e+02] [ 1.00011227e-02 9.99949957e-01 2.45103199e-04 1.81148961e+01] [-4.32892898e-03 -2.01816847e-04 9.99990610e-01 -2.50528197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.441400513 meters Centerline goodness [0,1] 0.9995683049493838 Centerline is valid? [True, True] Translation: X:306.42, Y:18.10, Z:-0.25 [[ 9.99934286e-01 -1.04951135e-02 4.61258443e-03 3.06424613e+02] [ 1.04940206e-02 9.99944902e-01 2.61083434e-04 1.81048718e+01] [-4.61507038e-03 -2.12661722e-04 9.99989328e-01 -2.52506029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.471400513 meters Centerline goodness [0,1] 0.9992016226480235 Centerline is valid? [True, True] Translation: X:306.46, Y:18.11, Z:-0.25 [[ 9.99929553e-01 -1.08270385e-02 4.86462448e-03 3.06455937e+02] [ 1.08258309e-02 9.99941361e-01 2.74497219e-04 1.81087195e+01] [-4.86731122e-03 -2.21814279e-04 9.99988130e-01 -2.51963438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.501400513 meters Centerline goodness [0,1] 0.9993121533897941 Centerline is valid? [True, True] Translation: X:306.49, Y:18.11, Z:-0.25 [[ 9.99889436e-01 -1.38950694e-02 5.29547397e-03 3.06486524e+02] [ 1.38936804e-02 9.99903433e-01 2.99004948e-04 1.81063754e+01] [-5.29911730e-03 -2.25398266e-04 9.99985934e-01 -2.52579603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.531400513 meters Centerline goodness [0,1] 0.9997839286100128 Centerline is valid? [True, True] Translation: X:306.52, Y:18.11, Z:-0.25 [[ 9.99882646e-01 -1.47851780e-02 4.01165513e-03 3.06518980e+02] [ 1.47843914e-02 9.99890679e-01 2.25668161e-04 1.81055224e+01] [-4.01455312e-03 -1.66331798e-04 9.99991928e-01 -2.54063855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.561400513 meters Centerline goodness [0,1] 0.9997839286100128 Centerline is valid? [True, True] Translation: X:306.55, Y:18.11, Z:-0.25 [[ 9.99885372e-01 -1.45996415e-02 4.01169853e-03 3.06551651e+02] [ 1.45988565e-02 9.99893406e-01 2.24895847e-04 1.81072691e+01] [-4.01455430e-03 -1.66303857e-04 9.99991928e-01 -2.54024903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.591400513 meters Centerline goodness [0,1] 0.9984527442300254 Centerline is valid? [True, True] Translation: X:306.58, Y:18.11, Z:-0.25 [[ 9.99858134e-01 -1.64912818e-02 3.42771806e-03 3.06581713e+02] [ 1.64907195e-02 9.99864000e-01 1.92236628e-04 1.81146180e+01] [-3.43042212e-03 -1.35683819e-04 9.99994107e-01 -2.54593202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.621400513 meters Centerline goodness [0,1] 0.9996985227615315 Centerline is valid? [True, True] Translation: X:306.61, Y:18.11, Z:-0.26 [[ 9.99861186e-01 -1.65824602e-02 1.62165929e-03 3.06614642e+02] [ 1.65823352e-02 9.99862500e-01 9.04890622e-05 1.81107521e+01] [-1.62293684e-03 -6.35856032e-05 9.99998681e-01 -2.55479002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.651400513 meters Centerline goodness [0,1] 0.9998271764960035 Centerline is valid? [True, True] Translation: X:306.65, Y:18.11, Z:-0.26 [[ 9.99808206e-01 -1.95762705e-02 -5.66550713e-04 3.06646079e+02] [ 1.95762557e-02 9.99808366e-01 -3.16921642e-05 1.81068915e+01] [ 5.67062557e-04 2.05951442e-05 9.99999839e-01 -2.58174057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.681400513 meters Centerline goodness [0,1] 0.9998496208296633 Centerline is valid? [True, True] Translation: X:306.68, Y:18.11, Z:-0.26 [[ 9.99810878e-01 -1.94142051e-02 -1.13852614e-03 3.06678490e+02] [ 1.94141452e-02 9.99811526e-01 -6.36648682e-05 1.81104831e+01] [ 1.13954756e-03 4.15493161e-05 9.99999350e-01 -2.59512878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.711400513 meters Centerline goodness [0,1] 0.9997847054770926 Centerline is valid? [True, True] Translation: X:306.71, Y:18.11, Z:-0.26 [[ 9.99808423e-01 -1.95639012e-02 -6.09265321e-04 3.06710895e+02] [ 1.95638840e-02 9.99808608e-01 -3.40530347e-05 1.81097146e+01] [ 6.09814923e-04 2.21269148e-05 9.99999814e-01 -2.58838803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.741400513 meters Centerline goodness [0,1] 0.9993349066723879 Centerline is valid? [True, True] Translation: X:306.74, Y:18.11, Z:-0.26 [[ 9.99800246e-01 -1.99864792e-02 9.12568265e-05 3.06741594e+02] [ 1.99864788e-02 9.99800250e-01 4.87762387e-06 1.81141838e+01] [-9.13360845e-05 -3.05274691e-06 9.99999996e-01 -2.57599638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.771400513 meters Centerline goodness [0,1] 0.9995689004806759 Centerline is valid? [True, True] Translation: X:306.77, Y:18.12, Z:-0.25 [[ 9.99817848e-01 -1.90607591e-02 9.79159726e-04 3.06766165e+02] [ 1.90663201e-02 9.99800072e-01 -6.02427373e-03 1.81207616e+01] [-8.64136733e-04 6.04184537e-03 9.99981375e-01 -2.50136431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.801400513 meters Centerline goodness [0,1] 0.9997400121327671 Centerline is valid? [True, True] Translation: X:306.81, Y:18.11, Z:-0.26 [[ 9.99766811e-01 -2.15915215e-02 3.59216722e-04 3.06805236e+02] [ 2.15922784e-02 9.99764312e-01 -2.25682459e-03 1.81137732e+01] [-3.10403782e-04 2.26405463e-03 9.99997389e-01 -2.55091222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.831400513 meters Centerline goodness [0,1] 0.9998057875315596 Centerline is valid? [True, True] Translation: X:306.84, Y:18.11, Z:-0.27 [[ 9.99681708e-01 -2.49085411e-02 -4.00592999e-03 3.06835098e+02] [ 2.49362955e-02 9.99664293e-01 7.03440234e-03 1.81083533e+01] [ 3.82936847e-03 -7.13205640e-03 9.99967234e-01 -2.68579987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.861400513 meters Centerline goodness [0,1] 0.9995704467353952 Centerline is valid? [True, True] Translation: X:306.87, Y:18.12, Z:-0.26 [[ 9.99630907e-01 -2.68800001e-02 -3.93886938e-03 3.06865479e+02] [ 2.68793547e-02 9.99638661e-01 -2.16708809e-04 1.81159329e+01] [ 3.94327125e-03 1.10754557e-04 9.99992219e-01 -2.61294212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.891400513 meters Centerline goodness [0,1] 0.9998057917224117 Centerline is valid? [True, True] Translation: X:306.88, Y:18.12, Z:-0.25 [[ 9.99650867e-01 -2.63356104e-02 -2.13984990e-03 3.06884236e+02] [ 2.63242415e-02 9.99640047e-01 -5.17790542e-03 1.81166212e+01] [ 2.27544295e-03 5.11976772e-03 9.99984305e-01 -2.54866275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.921400513 meters Centerline goodness [0,1] 0.9995252788986471 Centerline is valid? [True, True] Translation: X:306.92, Y:18.12, Z:-0.25 [[ 9.99641367e-01 -2.67534480e-02 -1.17886164e-03 3.06922072e+02] [ 2.67477775e-02 9.99631682e-01 -4.58865696e-03 1.81181152e+01] [ 1.30118984e-03 4.55547939e-03 9.99988777e-01 -2.53256405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.951400513 meters Centerline goodness [0,1] 0.9996345500666409 Centerline is valid? [True, True] Translation: X:306.95, Y:18.11, Z:-0.26 [[ 9.99646480e-01 -2.65759503e-02 7.95563159e-04 3.06946901e+02] [ 2.65728760e-02 9.99640203e-01 3.65325786e-03 1.81138814e+01] [-8.92365717e-04 -3.63082596e-03 9.99993010e-01 -2.59129663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.981400513 meters Centerline goodness [0,1] 0.9997214245917799 Centerline is valid? [True, True] Translation: X:306.97, Y:18.11, Z:-0.26 [[ 9.99619525e-01 -2.74277203e-02 2.91978593e-03 3.06973666e+02] [ 2.74133018e-02 9.99612328e-01 4.86869438e-03 1.81133793e+01] [-3.05219120e-03 -4.78680099e-03 9.99983885e-01 -2.59827068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.011400513 meters Centerline goodness [0,1] 0.999828012469096 Centerline is valid? [True, True] Translation: X:307.01, Y:18.12, Z:-0.26 [[ 9.99543487e-01 -3.00277990e-02 3.33892521e-03 3.07011211e+02] [ 3.00269807e-02 9.99549045e-01 2.94957066e-04 1.81157183e+01] [-3.34627641e-03 -1.94564571e-04 9.99994382e-01 -2.55841883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.041400513 meters Centerline goodness [0,1] 0.9997203338783237 Centerline is valid? [True, True] Translation: X:307.04, Y:18.12, Z:-0.25 [[ 9.99423122e-01 -3.39083326e-02 1.91020897e-03 3.07041828e+02] [ 3.39150128e-02 9.99418307e-01 -3.58056756e-03 1.81173732e+01] [-1.78768674e-03 3.64328677e-03 9.99991765e-01 -2.53494432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.071400513 meters Centerline goodness [0,1] 0.9999569670367502 Centerline is valid? [True, True] Translation: X:307.07, Y:18.11, Z:-0.26 [[ 9.99362856e-01 -3.56876898e-02 5.19786999e-04 3.07072793e+02] [ 3.56873095e-02 9.99362743e-01 7.23476445e-04 1.81094995e+01] [-5.45274964e-04 -7.04465687e-04 9.99999603e-01 -2.58582804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.101400513 meters Centerline goodness [0,1] 0.9995903318312167 Centerline is valid? [True, True] Translation: X:307.11, Y:18.11, Z:-0.26 [[ 9.99229545e-01 -3.90424453e-02 -4.00042770e-03 3.07114142e+02] [ 3.90606650e-02 9.99226334e-01 4.58227788e-03 1.81113358e+01] [ 3.81842938e-03 -4.73500681e-03 9.99981499e-01 -2.64999158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.131400513 meters Centerline goodness [0,1] 0.9997403440441415 Centerline is valid? [True, True] Translation: X:307.14, Y:18.12, Z:-0.25 [[ 9.99122712e-01 -4.18595654e-02 -1.25862847e-03 3.07138443e+02] [ 4.18457689e-02 9.99078950e-01 -9.49653583e-03 1.81157586e+01] [ 1.65499007e-03 9.43553636e-03 9.99954115e-01 -2.52012987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.161400513 meters Centerline goodness [0,1] 0.9997849878518136 Centerline is valid? [True, True] Translation: X:307.16, Y:18.11, Z:-0.27 [[ 9.99138066e-01 -4.14977225e-02 -1.03164745e-03 3.07159537e+02] [ 4.15031471e-02 9.99120625e-01 5.95526535e-03 1.81050432e+01] [ 7.83610300e-04 -5.99294892e-03 9.99981735e-01 -2.65875402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.191400513 meters Centerline goodness [0,1] 0.9999137447707768 Centerline is valid? [True, True] Translation: X:307.20, Y:18.11, Z:-0.26 [[ 9.99185412e-01 -4.03437221e-02 -9.46424678e-04 3.07199369e+02] [ 4.03423360e-02 9.99184878e-01 -1.44055850e-03 1.81099176e+01] [ 1.00377072e-03 1.40120406e-03 9.99998515e-01 -2.60110441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.221400513 meters Centerline goodness [0,1] 0.9999139470343996 Centerline is valid? [True, True] Translation: X:307.22, Y:18.11, Z:-0.27 [[ 9.99198688e-01 -4.00238328e-02 2.72318880e-04 3.07223173e+02] [ 4.00220552e-02 9.99187144e-01 4.82555843e-03 1.81060335e+01] [-4.65234868e-04 -4.81079289e-03 9.99988320e-01 -2.66940166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.251400513 meters Centerline goodness [0,1] 0.999804619659604 Centerline is valid? [True, True] Translation: X:307.27, Y:18.12, Z:-0.25 [[ 9.99049609e-01 -4.35873690e-02 -1.39750902e-04 3.07265721e+02] [ 4.35850714e-02 9.99021164e-01 -7.55344489e-03 1.81175311e+01] [ 4.68848899e-04 7.54017511e-03 9.99971463e-01 -2.54311986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.281400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:307.31, Y:18.10, Z:-0.26 [[ 9.99565907e-01 -2.94602639e-02 3.00354324e-04 3.07314175e+02] [ 2.94617601e-02 9.99497085e-01 -1.17295076e-02 1.81018091e+01] [ 4.53511179e-05 1.17332649e-02 9.99931162e-01 -2.58534909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.311400513 meters Centerline goodness [0,1] 0.9996755143098189 Centerline is valid? [True, True] Translation: X:307.33, Y:18.10, Z:-0.27 [[ 9.98987678e-01 -4.49455388e-02 -1.87581563e-03 3.07326548e+02] [ 4.49647043e-02 9.98917970e-01 1.18770316e-02 1.81027071e+01] [ 1.33996635e-03 -1.19493537e-02 9.99927706e-01 -2.74534447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.341400513 meters Centerline goodness [0,1] 0.9999351449510344 Centerline is valid? [True, True] Translation: X:307.38, Y:18.11, Z:-0.26 [[ 9.99340179e-01 -3.62856845e-02 -1.59836906e-03 3.07375773e+02] [ 3.62615663e-02 9.99255669e-01 -1.31607911e-02 1.81088460e+01] [ 2.07472766e-03 1.30941480e-02 9.99912116e-01 -2.57819132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.371400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:307.41, Y:18.10, Z:-0.27 [[ 9.99300615e-01 -3.72008307e-02 -3.79187404e-03 3.07406519e+02] [ 3.72073660e-02 9.99306175e-01 1.66775115e-03 1.80969258e+01] [ 3.72720141e-03 -1.80767040e-03 9.99991420e-01 -2.71165087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.401400513 meters Centerline goodness [0,1] 0.9999132885324085 Centerline is valid? [True, True] Translation: X:307.44, Y:18.10, Z:-0.27 [[ 9.99299795e-01 -3.70123687e-02 -5.47760004e-03 3.07444769e+02] [ 3.70014943e-02 9.99313059e-01 -2.07347906e-03 1.80959812e+01] [ 5.55058163e-03 1.86934782e-03 9.99982848e-01 -2.70120325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.431400513 meters Centerline goodness [0,1] 0.9995900135942861 Centerline is valid? [True, True] Translation: X:307.45, Y:18.10, Z:-0.29 [[ 9.98825802e-01 -4.69647584e-02 -1.18882007e-02 3.07446052e+02] [ 4.71848810e-02 9.98706077e-01 1.89672893e-02 1.81017437e+01] [ 1.09820241e-02 -1.95059613e-02 9.99749425e-01 -2.85780405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.461400513 meters Centerline goodness [0,1] 0.9999131095905289 Centerline is valid? [True, True] Translation: X:307.48, Y:18.12, Z:-0.27 [[ 9.99048807e-01 -4.21152978e-02 -1.13041401e-02 3.07475891e+02] [ 4.21102362e-02 9.99112735e-01 -6.85519619e-04 1.81220475e+01] [ 1.13229812e-02 2.08847548e-04 9.99935871e-01 -2.67070924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.491400513 meters Centerline goodness [0,1] 0.9999782490483958 Centerline is valid? [True, True] Translation: X:307.51, Y:18.13, Z:-0.27 [[ 9.99225462e-01 -3.81793167e-02 -9.52968440e-03 3.07507573e+02] [ 3.81755471e-02 9.99270881e-01 -5.77227380e-04 1.81261767e+01] [ 9.54477427e-03 2.12979380e-04 9.99954425e-01 -2.65263704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.521400513 meters Centerline goodness [0,1] 0.9995895885084782 Centerline is valid? [True, True] Translation: X:307.54, Y:18.13, Z:-0.26 [[ 9.99357547e-01 -3.51111529e-02 -7.19034906e-03 3.07538032e+02] [ 3.51089321e-02 9.99383397e-01 -4.34878930e-04 1.81311011e+01] [ 7.20118457e-03 1.82154063e-04 9.99974055e-01 -2.62897796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.551400513 meters Centerline goodness [0,1] 0.9967216650490672 Centerline is valid? [True, True] Translation: X:307.57, Y:18.15, Z:-0.26 [[ 9.99644877e-01 -2.57780209e-02 -6.75380327e-03 3.07567775e+02] [ 2.57758498e-02 9.99667664e-01 -4.08331426e-04 1.81464344e+01] [ 6.76208471e-03 2.34101400e-04 9.99977109e-01 -2.63383531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.581400513 meters Centerline goodness [0,1] 0.9915857883750457 Centerline is valid? [True, True] Translation: X:307.60, Y:18.15, Z:-0.26 [[ 9.99717756e-01 -2.27514889e-02 -6.83942654e-03 3.07597582e+02] [ 2.27491926e-02 9.99741118e-01 -4.13362660e-04 1.81549700e+01] [ 6.84706055e-03 2.57654559e-04 9.99976525e-01 -2.64109543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.611400513 meters Centerline goodness [0,1] 0.9873947775296341 Centerline is valid? [True, True] Translation: X:307.63, Y:18.16, Z:-0.26 [[ 9.99769424e-01 -2.01417030e-02 -7.44378453e-03 3.07627049e+02] [ 2.01389126e-02 9.99797090e-01 -4.49637666e-04 1.81607061e+01] [ 7.45133059e-03 2.99624265e-04 9.99972194e-01 -2.64914678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.641400513 meters Centerline goodness [0,1] 0.9837695098649606 Centerline is valid? [True, True] Translation: X:307.66, Y:18.16, Z:-0.26 [[ 9.99810236e-01 -1.77696209e-02 -7.98330907e-03 3.07657523e+02] [ 1.77663386e-02 9.99842050e-01 -4.81886965e-04 1.81646525e+01] [ 7.99061105e-03 3.39961348e-04 9.99968017e-01 -2.64729151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.671400513 meters Centerline goodness [0,1] 0.9864696265702977 Centerline is valid? [True, True] Translation: X:307.69, Y:18.17, Z:-0.26 [[ 9.99843648e-01 -1.58177121e-02 -7.90437628e-03 3.07689010e+02] [ 1.58144344e-02 9.99874830e-01 -4.77000334e-04 1.81658858e+01] [ 7.91093194e-03 3.51922514e-04 9.99968646e-01 -2.64006146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.701400513 meters Centerline goodness [0,1] 0.968411279526709 Centerline is valid? [True, True] Translation: X:307.72, Y:18.17, Z:-0.26 [[ 9.99919394e-01 -1.05729183e-02 -7.02982467e-03 3.07719399e+02] [ 1.05701976e-02 9.99944044e-01 -4.24060636e-04 1.81749166e+01] [ 7.03391486e-03 3.49719819e-04 9.99975201e-01 -2.61984300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.731400513 meters Centerline goodness [0,1] 0.9624585147191931 Centerline is valid? [True, True] Translation: X:307.75, Y:18.18, Z:-0.26 [[ 9.99949643e-01 -8.77366556e-03 -4.87172752e-03 3.07750382e+02] [ 8.77233813e-03 9.99961479e-01 -2.93777794e-04 1.81784388e+01] [ 4.87411736e-03 2.51026559e-04 9.99988090e-01 -2.60102180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.761400513 meters Centerline goodness [0,1] 0.9484147497199965 Centerline is valid? [True, False] Translation: X:307.75, Y:18.17, Z:-0.26 [[ 9.99980733e-01 -4.11547886e-03 -4.64721733e-03 3.07750680e+02] [ 4.13846027e-03 9.99979203e-01 4.94645863e-03 1.81744025e+01] [ 4.62676363e-03 -4.96559565e-03 9.99976968e-01 -2.62141042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.791400513 meters Centerline goodness [0,1] 0.9213959766051802 Centerline is valid? [False, False] Translation: X:307.75, Y:18.18, Z:-0.26 [[ 9.99981077e-01 -4.20081778e-03 -4.49419932e-03 3.07749879e+02] [ 4.22124250e-03 9.99980762e-01 4.54489516e-03 1.81763403e+01] [ 4.47502059e-03 -4.56378026e-03 9.99979573e-01 -2.61615052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.821400513 meters Centerline goodness [0,1] 0.9322099554522565 Centerline is valid? [False, False] Translation: X:307.75, Y:18.18, Z:-0.26 [[ 9.99981628e-01 -4.19312733e-03 -4.37728363e-03 3.07749604e+02] [ 4.21309775e-03 9.99980714e-01 4.56307891e-03 1.81762658e+01] [ 4.35806564e-03 -4.58143700e-03 9.99980009e-01 -2.61876099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.851400513 meters Centerline goodness [0,1] 0.9303453502219335 Centerline is valid? [False, False] Translation: X:307.75, Y:18.18, Z:-0.26 [[ 9.99949367e-01 -8.99042379e-03 -4.52068020e-03 3.07748599e+02] [ 8.98469065e-03 9.99958809e-01 -1.28691581e-03 1.81831587e+01] [ 4.53206391e-03 1.24623373e-03 9.99988954e-01 -2.59191285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.881400513 meters Centerline goodness [0,1] 0.9407096774193549 Centerline is valid? [False, False] Translation: X:307.75, Y:18.18, Z:-0.26 [[ 9.99948905e-01 -8.94987140e-03 -4.69962428e-03 3.07749380e+02] [ 8.94447785e-03 9.99959316e-01 -1.16742172e-03 1.81828058e+01] [ 4.70988135e-03 1.12532638e-03 9.99988275e-01 -2.59505322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.911400513 meters Centerline goodness [0,1] 0.9380272619942042 Centerline is valid? [False, False] Translation: X:307.75, Y:18.18, Z:-0.26 [[ 9.99967300e-01 -6.13117704e-03 -5.27320119e-03 3.07750352e+02] [ 6.14542041e-03 9.99977501e-01 2.68913770e-03 1.81774955e+01] [ 5.25659497e-03 -2.72145581e-03 9.99982481e-01 -2.60095313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.941400513 meters Centerline goodness [0,1] 0.9375094015257334 Centerline is valid? [False, False] Translation: X:307.75, Y:18.17, Z:-0.26 [[ 9.99967258e-01 -5.89584880e-03 -5.54270824e-03 3.07753064e+02] [ 5.91537850e-03 9.99976331e-01 3.51372865e-03 1.81745983e+01] [ 5.52186063e-03 -3.54640082e-03 9.99978466e-01 -2.63383000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.971400513 meters Centerline goodness [0,1] 0.9541759848615173 Centerline is valid? [False, True] Translation: X:307.75, Y:18.17, Z:-0.26 [[ 9.99967286e-01 -5.79543191e-03 -5.64266162e-03 3.07753912e+02] [ 5.81669073e-03 9.99976020e-01 3.75842206e-03 1.81737016e+01] [ 5.62074463e-03 -3.79112072e-03 9.99977017e-01 -2.64336042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.001400513 meters Centerline goodness [0,1] 0.9798836958862804 Centerline is valid? [True, True] Translation: X:307.79, Y:18.17, Z:-0.26 [[ 9.99960009e-01 -6.81221871e-03 -5.79434388e-03 3.07785208e+02] [ 6.81058154e-03 9.99976762e-01 -3.02230253e-04 1.81722806e+01] [ 5.79626808e-03 2.62755315e-04 9.99983167e-01 -2.60715319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.031400513 meters Centerline goodness [0,1] 0.9624460025614865 Centerline is valid? [True, True] Translation: X:307.82, Y:18.18, Z:-0.26 [[ 9.99964924e-01 -7.15940282e-03 -4.34677459e-03 3.07816544e+02] [ 7.15848576e-03 9.99974352e-01 -2.26495956e-04 1.81788893e+01] [ 4.34828468e-03 1.95371687e-04 9.99990527e-01 -2.60850390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.061400513 meters Centerline goodness [0,1] 0.9866891395479493 Centerline is valid? [True, True] Translation: X:307.85, Y:18.17, Z:-0.26 [[ 9.99951661e-01 -9.06200606e-03 -3.81517105e-03 3.07848726e+02] [ 9.06131431e-03 9.99958926e-01 -1.98561319e-04 1.81732611e+01] [ 3.81681371e-03 1.63981256e-04 9.99992702e-01 -2.59934987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.091400513 meters Centerline goodness [0,1] 0.9866520740788429 Centerline is valid? [True, True] Translation: X:307.88, Y:18.18, Z:-0.26 [[ 9.99927047e-01 -1.12516854e-02 -4.39313473e-03 3.07879304e+02] [ 1.12507900e-02 9.99936682e-01 -2.28484953e-04 1.81760170e+01] [ 4.39542740e-03 1.79042048e-04 9.99990324e-01 -2.59193416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.121400513 meters Centerline goodness [0,1] 0.9982911898942268 Centerline is valid? [True, True] Translation: X:307.91, Y:18.17, Z:-0.26 [[ 9.99913984e-01 -1.22688322e-02 -4.63690690e-03 3.07912052e+02] [ 1.22678463e-02 9.99924718e-01 -2.40989863e-04 1.81688208e+01] [ 4.63951449e-03 1.84084273e-04 9.99989220e-01 -2.59203811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.151400513 meters Centerline goodness [0,1] 0.9933235064597242 Centerline is valid? [True, True] Translation: X:307.94, Y:18.18, Z:-0.26 [[ 9.99917684e-01 -1.22190472e-02 -3.91418848e-03 3.07943517e+02] [ 1.22183451e-02 9.99925333e-01 -2.03240431e-04 1.81756135e+01] [ 3.91637962e-03 1.55398795e-04 9.99992319e-01 -2.59674623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.181400513 meters Centerline goodness [0,1] 0.997369612556866 Centerline is valid? [True, True] Translation: X:307.98, Y:18.17, Z:-0.26 [[ 9.99908044e-01 -1.29622516e-02 -3.98539361e-03 3.07975601e+02] [ 1.29615305e-02 9.99915974e-01 -2.06728696e-04 1.81736254e+01] [ 3.98773841e-03 1.55052885e-04 9.99992037e-01 -2.59452839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.211400513 meters Centerline goodness [0,1] 0.9979047413327573 Centerline is valid? [True, True] Translation: X:308.01, Y:18.17, Z:-0.26 [[ 9.99909082e-01 -1.29151107e-02 -3.87659767e-03 3.08008402e+02] [ 1.29144289e-02 9.99916585e-01 -2.00871806e-04 1.81745138e+01] [ 3.87886858e-03 1.50789498e-04 9.99992466e-01 -2.58723806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.241400513 meters Centerline goodness [0,1] 0.9976455849317436 Centerline is valid? [True, True] Translation: X:308.04, Y:18.18, Z:-0.26 [[ 9.99918871e-01 -1.21708505e-02 -3.75801449e-03 3.08040309e+02] [ 1.21702053e-02 9.99925921e-01 -1.94509439e-04 1.81759457e+01] [ 3.76010345e-03 1.48757850e-04 9.99992920e-01 -2.58286570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.271400513 meters Centerline goodness [0,1] 0.9947766531567654 Centerline is valid? [True, True] Translation: X:308.07, Y:18.18, Z:-0.26 [[ 9.99937957e-01 -1.05283418e-02 -3.63811724e-03 3.08070901e+02] [ 1.05277268e-02 9.99944564e-01 -1.88173488e-04 1.81805970e+01] [ 3.63989671e-03 1.49860709e-04 9.99993364e-01 -2.58288620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.301400513 meters Centerline goodness [0,1] 0.9946489448927631 Centerline is valid? [True, True] Translation: X:308.10, Y:18.18, Z:-0.26 [[ 9.99949970e-01 -9.59120299e-03 -2.84011648e-03 3.08103377e+02] [ 9.59082458e-03 9.99953996e-01 -1.46828874e-04 1.81821550e+01] [ 2.84139409e-03 1.19582469e-04 9.99995956e-01 -2.58562894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.331400513 meters Centerline goodness [0,1] 0.9932959689588273 Centerline is valid? [True, True] Translation: X:308.13, Y:18.19, Z:-0.26 [[ 9.99956989e-01 -8.64238533e-03 -3.36603602e-03 3.08134164e+02] [ 8.64184912e-03 9.99962643e-01 -1.73810066e-04 1.81853416e+01] [ 3.36741241e-03 1.44713815e-04 9.99994320e-01 -2.58258205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.361400513 meters Centerline goodness [0,1] 0.976761732307228 Centerline is valid? [True, True] Translation: X:308.16, Y:18.19, Z:-0.26 [[ 9.99973504e-01 -6.60259589e-03 -3.06542241e-03 3.08163432e+02] [ 6.60214223e-03 9.99978193e-01 -1.58089676e-04 1.81943815e+01] [ 3.06639936e-03 1.37847133e-04 9.99995289e-01 -2.58131083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.391400513 meters Centerline goodness [0,1] 0.987215445828713 Centerline is valid? [True, True] Translation: X:308.19, Y:18.19, Z:-0.26 [[ 9.99988011e-01 -4.32301319e-03 -2.29990878e-03 3.08194474e+02] [ 4.32275201e-03 9.99990650e-01 -1.18519258e-04 1.81917969e+01] [ 2.30039964e-03 1.08575902e-04 9.99997348e-01 -2.56589839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.421400513 meters Centerline goodness [0,1] 0.9837584501414657 Centerline is valid? [True, True] Translation: X:308.23, Y:18.19, Z:-0.26 [[ 9.99996361e-01 -2.69694778e-03 -6.48752336e-05 3.08225969e+02] [ 2.69694757e-03 9.99996363e-01 -3.39041637e-06 1.81948181e+01] [ 6.48841414e-05 3.21543893e-06 9.99999998e-01 -2.55761551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.451400513 meters Centerline goodness [0,1] 0.9548955613577024 Centerline is valid? [True, True] Translation: X:308.26, Y:18.21, Z:-0.25 [[ 9.99999566e-01 -5.06362181e-04 7.82479098e-04 3.08255411e+02] [ 5.06330804e-04 9.99999871e-01 4.02965442e-05 1.82068933e+01] [-7.82499401e-04 -3.99003334e-05 9.99999693e-01 -2.51708995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.481400513 meters Centerline goodness [0,1] 0.9455710629878927 Centerline is valid? [True, False] Translation: X:308.25, Y:18.21, Z:-0.25 [[ 9.99999534e-01 -5.62212815e-04 7.85090120e-04 3.08254911e+02] [ 5.62545249e-04 9.99999752e-01 -4.23277358e-04 1.82091281e+01] [-7.84851954e-04 4.23718810e-04 9.99999602e-01 -2.50726929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.511400513 meters Centerline goodness [0,1] 0.9455710629878927 Centerline is valid? [False, False] Translation: X:308.25, Y:18.21, Z:-0.25 [[ 9.99999534e-01 -5.62212815e-04 7.85090120e-04 3.08254911e+02] [ 5.62545249e-04 9.99999752e-01 -4.23277358e-04 1.82091281e+01] [-7.84851954e-04 4.23718810e-04 9.99999602e-01 -2.50726929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.541400513 meters Centerline goodness [0,1] 0.9538361789496435 Centerline is valid? [False, True] Translation: X:308.26, Y:18.21, Z:-0.25 [[ 9.99991228e-01 4.09318635e-03 8.89216057e-04 3.08255595e+02] [-4.09727223e-03 9.99980828e-01 4.64275053e-03 1.82060214e+01] [-8.70195366e-04 -4.64635316e-03 9.99988827e-01 -2.52669704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.571400513 meters Centerline goodness [0,1] 0.8724405742527653 Centerline is valid? [True, False] Translation: X:308.25, Y:18.21, Z:-0.25 [[ 9.99999589e-01 1.82482405e-04 8.88400703e-04 3.08254903e+02] [-1.81829929e-04 9.99999714e-01 -7.34464293e-04 1.82127316e+01] [-8.88534476e-04 7.34302453e-04 9.99999336e-01 -2.50310930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.601400513 meters Centerline goodness [0,1] 0.8889390519187359 Centerline is valid? [False, False] Translation: X:308.25, Y:18.21, Z:-0.25 [[ 9.99999532e-01 5.82669099e-05 9.65587450e-04 3.08254361e+02] [-5.72479211e-05 9.99999442e-01 -1.05529859e-03 1.82141024e+01] [-9.65648400e-04 1.05524282e-03 9.99998977e-01 -2.49858274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.631400513 meters Centerline goodness [0,1] 0.8478691774033696 Centerline is valid? [False, False] Translation: X:308.25, Y:18.22, Z:-0.25 [[ 9.99999543e-01 -5.07512609e-05 9.54311862e-04 3.08254104e+02] [ 5.19844245e-05 9.99999164e-01 -1.29222149e-03 1.82150305e+01] [-9.54245482e-04 1.29227051e-03 9.99998710e-01 -2.49374609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.661400513 meters Centerline goodness [0,1] 0.8268778086882089 Centerline is valid? [False, False] Translation: X:308.25, Y:18.21, Z:-0.25 [[ 9.99999572e-01 4.30591365e-05 9.24366784e-04 3.08254387e+02] [-4.20592809e-05 9.99999414e-01 -1.08165757e-03 1.82141624e+01] [-9.24412818e-04 1.08161823e-03 9.99998988e-01 -2.49677312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.691400513 meters Centerline goodness [0,1] 0.8870026183628793 Centerline is valid? [False, False] Translation: X:308.25, Y:18.21, Z:-0.25 [[ 9.99999649e-01 8.64697892e-05 8.32981146e-04 3.08254927e+02] [-8.56610361e-05 9.99999525e-01 -9.70900848e-04 1.82137924e+01] [-8.33064704e-04 9.70829153e-04 9.99999182e-01 -2.50152730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.721400513 meters Centerline goodness [0,1] 0.7393019466598062 Centerline is valid? [False, False] Translation: X:308.26, Y:18.21, Z:-0.25 [[ 9.99999661e-01 2.16777220e-04 7.94592287e-04 3.08255563e+02] [-2.16094463e-04 9.99999608e-01 -8.59238909e-04 1.82137031e+01] [-7.94778239e-04 8.59066910e-04 9.99999315e-01 -2.51109798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.751400513 meters Centerline goodness [0,1] 0.8562502693152928 Centerline is valid? [False, False] Translation: X:308.25, Y:18.22, Z:-0.25 [[ 9.99999565e-01 5.06938853e-05 9.31196880e-04 3.08254801e+02] [-4.95146156e-05 9.99999197e-01 -1.26638154e-03 1.82154005e+01] [-9.31260330e-04 1.26633488e-03 9.99998765e-01 -2.50636417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.781400513 meters Centerline goodness [0,1] 0.7870199131220162 Centerline is valid? [False, False] Translation: X:308.25, Y:18.22, Z:-0.25 [[ 9.99999500e-01 4.15350109e-05 9.99572265e-04 3.08254322e+02] [-4.02062150e-05 9.99999116e-01 -1.32934789e-03 1.82155945e+01] [-9.99626595e-04 1.32930703e-03 9.99998617e-01 -2.50137213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.811400513 meters Centerline goodness [0,1] 0.8346514226768675 Centerline is valid? [False, False] Translation: X:308.25, Y:18.21, Z:-0.25 [[ 9.99999555e-01 1.00830216e-04 9.38001622e-04 3.08254555e+02] [-9.97172148e-05 9.99999291e-01 -1.18653718e-03 1.82149624e+01] [-9.38120596e-04 1.18644311e-03 9.99998856e-01 -2.50122530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.841400513 meters Centerline goodness [0,1] 0.8599682526062894 Centerline is valid? [False, False] Translation: X:308.26, Y:18.22, Z:-0.25 [[ 9.99999653e-01 8.96665425e-05 8.28050337e-04 3.08255033e+02] [-8.85960719e-05 9.99999161e-01 -1.29270655e-03 1.82156732e+01] [-8.28165554e-04 1.29263274e-03 9.99998822e-01 -2.50354942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.871400513 meters Centerline goodness [0,1] 0.784654587859287 Centerline is valid? [False, False] Translation: X:308.26, Y:18.22, Z:-0.25 [[ 9.99999698e-01 1.29519021e-04 7.65831890e-04 3.08255446e+02] [-1.28567210e-04 9.99999220e-01 -1.24276508e-03 1.82155793e+01] [-7.65992254e-04 1.24266625e-03 9.99998935e-01 -2.50776810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.901400513 meters Centerline goodness [0,1] 0.8931881871092908 Centerline is valid? [False, False] Translation: X:308.26, Y:18.21, Z:-0.25 [[ 9.99999787e-01 3.34529568e-04 5.61231014e-04 3.08256784e+02] [-3.34100928e-04 9.99999653e-01 -7.63669395e-04 1.82137438e+01] [-5.61486289e-04 7.63481724e-04 9.99999551e-01 -2.51981962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.931400513 meters Centerline goodness [0,1] 0.9355641652778078 Centerline is valid? [False, False] Translation: X:308.26, Y:18.21, Z:-0.25 [[ 9.99999827e-01 3.06275323e-04 5.02540049e-04 3.08256925e+02] [-3.05859944e-04 9.99999612e-01 -8.26426694e-04 1.82140083e+01] [-5.02792968e-04 8.26272844e-04 9.99999532e-01 -2.51908440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.961400513 meters Centerline goodness [0,1] 0.9299407157384569 Centerline is valid? [False, False] Translation: X:308.26, Y:18.21, Z:-0.25 [[ 9.99999853e-01 3.13437204e-04 4.43018736e-04 3.08257108e+02] [-3.13056806e-04 9.99999583e-01 -8.58458745e-04 1.82142611e+01] [-4.43287624e-04 8.58319929e-04 9.99999533e-01 -2.51913142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.991400513 meters Centerline goodness [0,1] 0.8335169702076177 Centerline is valid? [False, False] Translation: X:308.26, Y:18.21, Z:-0.25 [[ 9.99999897e-01 3.42386994e-04 2.97462477e-04 3.08257703e+02] [-3.42118501e-04 9.99999535e-01 -9.02192504e-04 1.82146949e+01] [-2.97771237e-04 9.02090644e-04 9.99999549e-01 -2.52184534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.021400513 meters Centerline goodness [0,1] 0.7404926999440113 Centerline is valid? [False, False] Translation: X:308.26, Y:18.22, Z:-0.26 [[ 9.99999026e-01 1.32956661e-03 -4.24165591e-04 3.08262075e+02] [-1.32970514e-03 9.99999063e-01 -3.26473408e-04 1.82152174e+01] [ 4.23731125e-04 3.27037105e-04 9.99999857e-01 -2.55012888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.051400513 meters Centerline goodness [0,1] 0.7216468151216986 Centerline is valid? [False, False] Translation: X:308.26, Y:18.22, Z:-0.25 [[ 9.99999091e-01 1.31893030e-03 -2.79331865e-04 3.08261561e+02] [-1.31905073e-03 9.99999037e-01 -4.31375711e-04 1.82156520e+01] [ 2.78762642e-04 4.31743772e-04 9.99999868e-01 -2.54984197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.081400513 meters Centerline goodness [0,1] 0.7276850312074812 Centerline is valid? [False, False] Translation: X:308.26, Y:18.22, Z:-0.25 [[ 9.99999298e-01 1.17620315e-03 -1.41188365e-04 3.08260654e+02] [-1.17631034e-03 9.99999018e-01 -7.61567989e-04 1.82168829e+01] [ 1.40292468e-04 7.61733536e-04 9.99999700e-01 -2.54177814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.111400513 meters Centerline goodness [0,1] 0.7098742959933186 Centerline is valid? [False, False] Translation: X:308.26, Y:18.22, Z:-0.25 [[ 9.99999421e-01 1.06859478e-03 -1.23556630e-04 3.08260128e+02] [-1.06873591e-03 9.99998770e-01 -1.14789210e-03 1.82186375e+01] [ 1.22329846e-04 1.14802349e-03 9.99999334e-01 -2.53271443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.141400513 meters Centerline goodness [0,1] 0.71098785789237 Centerline is valid? [False, False] Translation: X:308.26, Y:18.22, Z:-0.25 [[ 9.99999448e-01 1.03942590e-03 -1.51654974e-04 3.08259954e+02] [-1.03961567e-03 9.99998670e-01 -1.25661323e-03 1.82191094e+01] [ 1.50348616e-04 1.25677020e-03 9.99999199e-01 -2.52731913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.171400513 meters Centerline goodness [0,1] 0.9837719014676408 Centerline is valid? [False, True] Translation: X:308.26, Y:18.22, Z:-0.25 [[ 9.99999402e-01 1.06990880e-03 -2.27972414e-04 3.08260427e+02] [-1.07022192e-03 9.99998478e-01 -1.37786008e-03 1.82199559e+01] [ 2.26497883e-04 1.37810323e-03 9.99999025e-01 -2.53236755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.201400513 meters Centerline goodness [0,1] 0.7055661448182811 Centerline is valid? [True, False] Translation: X:308.26, Y:18.22, Z:-0.25 [[ 9.99999272e-01 1.18590283e-03 -2.23843310e-04 3.08260794e+02] [-1.18619128e-03 9.99998461e-01 -1.29290707e-03 1.82198871e+01] [ 2.22309703e-04 1.29317165e-03 9.99999139e-01 -2.53958047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.231400513 meters Centerline goodness [0,1] 0.7079990536209753 Centerline is valid? [False, False] Translation: X:308.26, Y:18.22, Z:-0.25 [[ 9.99999325e-01 1.15222469e-03 -1.52078053e-04 3.08260463e+02] [-1.15243532e-03 9.99998367e-01 -1.39231964e-03 1.82202705e+01] [ 1.50473539e-04 1.39249396e-03 9.99999019e-01 -2.53858105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.261400513 meters Centerline goodness [0,1] 0.7051607627082168 Centerline is valid? [False, False] Translation: X:308.26, Y:18.22, Z:-0.25 [[ 9.99999421e-01 1.06494216e-03 -1.55713081e-04 3.08260232e+02] [-1.06520545e-03 9.99997987e-01 -1.70066261e-03 1.82216878e+01] [ 1.53901660e-04 1.70082749e-03 9.99998542e-01 -2.53496234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.291400513 meters Centerline goodness [0,1] 0.6868671764856666 Centerline is valid? [False, False] Translation: X:308.26, Y:18.22, Z:-0.25 [[ 9.99999056e-01 1.29785710e-03 -4.51785016e-04 3.08261087e+02] [-1.29876932e-03 9.99997107e-01 -2.02472832e-03 1.82239537e+01] [ 4.49155901e-04 2.02531317e-03 9.99997848e-01 -2.53017677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.321400513 meters Centerline goodness [0,1] 0.6739394974488162 Centerline is valid? [False, False] Translation: X:308.26, Y:18.22, Z:-0.25 [[ 9.99998933e-01 1.37370732e-03 -4.96948797e-04 3.08261451e+02] [-1.37464577e-03 9.99997263e-01 -1.89304160e-03 1.82234941e+01] [ 4.94346952e-04 1.89372271e-03 9.99998085e-01 -2.53413645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.351400513 meters Centerline goodness [0,1] 0.6850243818975105 Centerline is valid? [False, False] Translation: X:308.26, Y:18.22, Z:-0.25 [[ 9.99998817e-01 1.44162533e-03 -5.37056626e-04 3.08261885e+02] [-1.44257503e-03 9.99997389e-01 -1.77215793e-03 1.82231290e+01] [ 5.34500436e-04 1.77293058e-03 9.99998286e-01 -2.53972641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.381400513 meters Centerline goodness [0,1] 0.6811950115315624 Centerline is valid? [False, False] Translation: X:308.26, Y:18.22, Z:-0.25 [[ 9.99998690e-01 1.49134562e-03 -6.29757234e-04 3.08262479e+02] [-1.49244869e-03 9.99997347e-01 -1.75475399e-03 1.82233354e+01] [ 6.27138619e-04 1.75569157e-03 9.99998262e-01 -2.54524928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.411400513 meters Centerline goodness [0,1] 0.6720512820512821 Centerline is valid? [False, False] Translation: X:308.26, Y:18.22, Z:-0.25 [[ 9.99998782e-01 1.45943945e-03 -5.53797795e-04 3.08262111e+02] [-1.46040991e-03 9.99997392e-01 -1.75603417e-03 1.82231834e+01] [ 5.51233525e-04 1.75684080e-03 9.99998305e-01 -2.54312876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.441400513 meters Centerline goodness [0,1] 0.6759652965683116 Centerline is valid? [False, False] Translation: X:308.26, Y:18.22, Z:-0.25 [[ 9.99998972e-01 1.35409169e-03 -4.71493855e-04 3.08261474e+02] [-1.35494789e-03 9.99997425e-01 -1.82037018e-03 1.82230690e+01] [ 4.69027693e-04 1.82100716e-03 9.99998232e-01 -2.53642673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.471400513 meters Centerline goodness [0,1] 0.6826021827519795 Centerline is valid? [False, False] Translation: X:308.26, Y:18.22, Z:-0.25 [[ 9.99998856e-01 1.40209709e-03 -5.67879094e-04 3.08261866e+02] [-1.40308681e-03 9.99997491e-01 -1.74620867e-03 1.82228749e+01] [ 5.65429315e-04 1.74700346e-03 9.99998314e-01 -2.53739555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.501400513 meters Centerline goodness [0,1] 0.6758614799948759 Centerline is valid? [False, False] Translation: X:308.26, Y:18.22, Z:-0.25 [[ 9.99998853e-01 1.37841411e-03 -6.28311150e-04 3.08262040e+02] [-1.37960914e-03 9.99997233e-01 -1.90552559e-03 1.82237508e+01] [ 6.25682808e-04 1.90639023e-03 9.99997987e-01 -2.53689229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.531400513 meters Centerline goodness [0,1] 0.6795763277432133 Centerline is valid? [False, False] Translation: X:308.26, Y:18.22, Z:-0.25 [[ 9.99998938e-01 1.33978646e-03 -5.74170308e-04 3.08261850e+02] [-1.34092927e-03 9.99997112e-01 -1.99463947e-03 1.82241186e+01] [ 5.71496259e-04 1.99540727e-03 9.99997846e-01 -2.53733954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.561400513 meters Centerline goodness [0,1] 0.6732219365895458 Centerline is valid? [False, False] Translation: X:308.26, Y:18.22, Z:-0.25 [[ 9.99998949e-01 1.33625866e-03 -5.61891981e-04 3.08261813e+02] [-1.33740531e-03 9.99997014e-01 -2.04529302e-03 1.82244239e+01] [ 5.59157263e-04 2.04604235e-03 9.99997751e-01 -2.53701109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.591400513 meters Centerline goodness [0,1] 0.678042113355828 Centerline is valid? [False, False] Translation: X:308.26, Y:18.22, Z:-0.25 [[ 9.99998791e-01 1.41508342e-03 -6.44927946e-04 3.08262230e+02] [-1.41625627e-03 9.99997338e-01 -1.82176608e-03 1.82234781e+01] [ 6.42348278e-04 1.82267726e-03 9.99998133e-01 -2.53903325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.621400513 meters Centerline goodness [0,1] 0.981012386952981 Centerline is valid? [False, True] Translation: X:308.26, Y:18.22, Z:-0.25 [[ 9.99998630e-01 1.48363011e-03 -7.33888654e-04 3.08262746e+02] [-1.48474762e-03 9.99997736e-01 -1.52453315e-03 1.82220881e+01] [ 7.31625149e-04 1.52562070e-03 9.99998569e-01 -2.54301078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.651400513 meters Centerline goodness [0,1] 0.6920977999312479 Centerline is valid? [True, False] Translation: X:308.26, Y:18.22, Z:-0.26 [[ 9.99998255e-01 1.62082036e-03 -9.28488509e-04 3.08263797e+02] [-1.62186255e-03 9.99998054e-01 -1.12280505e-03 1.82203947e+01] [ 9.26666837e-04 1.12430897e-03 9.99998939e-01 -2.55057401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.681400513 meters Centerline goodness [0,1] 0.7250317826283694 Centerline is valid? [False, False] Translation: X:308.26, Y:18.22, Z:-0.26 [[ 9.99997968e-01 1.66418898e-03 -1.13780292e-03 3.08264875e+02] [-1.66536235e-03 9.99998082e-01 -1.03109112e-03 1.82202659e+01] [ 1.13608481e-03 1.03298388e-03 9.99998821e-01 -2.55825987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.711400513 meters Centerline goodness [0,1] 0.7335461054084361 Centerline is valid? [False, False] Translation: X:308.27, Y:18.22, Z:-0.26 [[ 9.99997676e-01 1.76040801e-03 -1.24462135e-03 3.08265540e+02] [-1.76119264e-03 9.99998251e-01 -6.29603136e-04 1.82184027e+01] [ 1.24351082e-03 6.31793690e-04 9.99999027e-01 -2.56382061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.741400513 meters Centerline goodness [0,1] 0.684640978855855 Centerline is valid? [False, False] Translation: X:308.27, Y:18.22, Z:-0.26 [[ 9.99997583e-01 1.75126785e-03 -1.32948982e-03 3.08265845e+02] [-1.75220197e-03 9.99998219e-01 -7.01774310e-04 1.82188354e+01] [ 1.32825846e-03 7.04102149e-04 9.99998870e-01 -2.56388188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.771400513 meters Centerline goodness [0,1] 0.6749524033627826 Centerline is valid? [False, False] Translation: X:308.27, Y:18.22, Z:-0.26 [[ 9.99997375e-01 1.82055362e-03 -1.39138144e-03 3.08266138e+02] [-1.82139357e-03 9.99998160e-01 -6.02652006e-04 1.82184946e+01] [ 1.39028172e-03 6.05184677e-04 9.99998850e-01 -2.56526018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.801400513 meters Centerline goodness [0,1] 0.703632098014511 Centerline is valid? [False, False] Translation: X:308.23, Y:18.22, Z:-0.25 [[ 9.99987680e-01 3.45059498e-03 -3.56840306e-03 3.08227183e+02] [-3.47292847e-03 9.99974303e-01 -6.27153896e-03 1.82195054e+01] [ 3.54667082e-03 6.28385450e-03 9.99973967e-01 -2.51660169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.831400513 meters Centerline goodness [0,1] 0.6847525095188647 Centerline is valid? [False, False] Translation: X:308.23, Y:18.22, Z:-0.25 [[ 9.99987468e-01 3.53061224e-03 -3.54952826e-03 3.08227305e+02] [-3.55234843e-03 9.99974864e-01 -6.13614478e-03 1.82190005e+01] [ 3.52777469e-03 6.14867704e-03 9.99974874e-01 -2.51949349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.861400513 meters Centerline goodness [0,1] 0.7287046452757524 Centerline is valid? [False, False] Translation: X:308.23, Y:18.22, Z:-0.25 [[ 9.99987924e-01 3.46512093e-03 -3.48488703e-03 3.08226823e+02] [-3.48677270e-03 9.99974538e-01 -6.22628162e-03 1.82192303e+01] [ 3.46322348e-03 6.23835745e-03 9.99974544e-01 -2.51432069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.891400513 meters Centerline goodness [0,1] 0.6742867001660593 Centerline is valid? [False, False] Translation: X:308.23, Y:18.22, Z:-0.25 [[ 9.99988282e-01 3.43331672e-03 -3.41305226e-03 3.08226405e+02] [-3.45483864e-03 9.99974061e-01 -6.32000080e-03 1.82195942e+01] [ 3.39126516e-03 6.33171828e-03 9.99974204e-01 -2.51027705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.921400513 meters Centerline goodness [0,1] 0.742189014017786 Centerline is valid? [False, False] Translation: X:308.23, Y:18.22, Z:-0.25 [[ 9.99987774e-01 3.54768366e-03 -3.44471635e-03 3.08226687e+02] [-3.56832238e-03 9.99975610e-01 -6.00386735e-03 1.82181684e+01] [ 3.42333251e-03 6.01608580e-03 9.99976043e-01 -2.51308473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.951400513 meters Centerline goodness [0,1] 0.723222769283925 Centerline is valid? [False, False] Translation: X:308.23, Y:18.22, Z:-0.25 [[ 9.99987336e-01 3.57944111e-03 -3.53758027e-03 3.08227174e+02] [-3.60037594e-03 9.99975940e-01 -5.92929359e-03 1.82179453e+01] [ 3.51627160e-03 5.94195513e-03 9.99976164e-01 -2.51689568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.981400513 meters Centerline goodness [0,1] 0.7173545844341461 Centerline is valid? [False, False] Translation: X:308.23, Y:18.22, Z:-0.25 [[ 9.99987442e-01 3.48202365e-03 -3.60443944e-03 3.08227240e+02] [-3.50420075e-03 9.99974858e-01 -6.16479739e-03 1.82190411e+01] [ 3.58288284e-03 6.17735065e-03 9.99974501e-01 -2.51471315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.011400513 meters Centerline goodness [0,1] 0.6863015469470418 Centerline is valid? [False, False] Translation: X:308.23, Y:18.21, Z:-0.25 [[ 9.99960146e-01 8.17355974e-03 -3.59150353e-03 3.08228720e+02] [-8.17511308e-03 9.99966496e-01 -4.18037419e-04 1.82126366e+01] [ 3.58796635e-03 4.47381706e-04 9.99993463e-01 -2.54247463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.041400513 meters Centerline goodness [0,1] 0.6949367633141186 Centerline is valid? [False, False] Translation: X:308.23, Y:18.21, Z:-0.25 [[ 9.99961884e-01 8.01849348e-03 -3.45456420e-03 3.08227645e+02] [-8.02084712e-03 9.99967609e-01 -6.67997721e-04 1.82133590e+01] [ 3.44909597e-03 6.95680791e-04 9.99993810e-01 -2.53093905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.071400513 meters Centerline goodness [0,1] 0.7178583780044959 Centerline is valid? [False, False] Translation: X:308.23, Y:18.21, Z:-0.25 [[ 9.99963323e-01 7.86294764e-03 -3.39501033e-03 3.08226923e+02] [-7.86632267e-03 9.99968578e-01 -9.81910115e-04 1.82145099e+01] [ 3.38718295e-03 1.00858035e-03 9.99993755e-01 -2.52157347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.101400513 meters Centerline goodness [0,1] 0.7201510248112191 Centerline is valid? [False, False] Translation: X:308.23, Y:18.21, Z:-0.25 [[ 9.99963324e-01 7.89250839e-03 -3.32561094e-03 3.08226745e+02] [-7.89571714e-03 9.99968374e-01 -9.52839674e-04 1.82143715e+01] [ 3.31798547e-03 9.79062810e-04 9.99994016e-01 -2.52271724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.131400513 meters Centerline goodness [0,1] 0.6786842953885843 Centerline is valid? [False, False] Translation: X:308.23, Y:18.21, Z:-0.25 [[ 9.99962951e-01 7.92640459e-03 -3.35684634e-03 3.08226975e+02] [-7.92939284e-03 9.99968177e-01 -8.77824766e-04 1.82140861e+01] [ 3.34978151e-03 9.04409997e-04 9.99993980e-01 -2.52545429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.161400513 meters Centerline goodness [0,1] 0.7254032171235384 Centerline is valid? [False, False] Translation: X:308.23, Y:18.21, Z:-0.25 [[ 9.99963475e-01 7.86396004e-03 -3.34752702e-03 3.08226721e+02] [-7.86728456e-03 9.99968571e-01 -9.81121530e-04 1.82144365e+01] [ 3.33970631e-03 1.00742164e-03 9.99993916e-01 -2.52163867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.191400513 meters Centerline goodness [0,1] 0.7342861467274968 Centerline is valid? [False, False] Translation: X:308.23, Y:18.22, Z:-0.25 [[ 9.99964682e-01 7.72904895e-03 -3.30107795e-03 3.08226096e+02] [-7.73303710e-03 9.99969383e-01 -1.19708486e-03 1.82151292e+01] [ 3.29172455e-03 1.22256994e-03 9.99993835e-01 -2.51326354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.221400513 meters Centerline goodness [0,1] 0.6915703471790363 Centerline is valid? [False, False] Translation: X:308.23, Y:18.21, Z:-0.25 [[ 9.99915265e-01 1.25820892e-02 -3.33987415e-03 3.08228104e+02] [-1.25667575e-02 9.99910581e-01 4.57246332e-03 1.82091238e+01] [ 3.39710664e-03 -4.53010449e-03 9.99983969e-01 -2.54383762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.251400513 meters Centerline goodness [0,1] 0.6756640867868705 Centerline is valid? [False, False] Translation: X:308.23, Y:18.22, Z:-0.25 [[ 9.99961459e-01 8.14746248e-03 -3.27109896e-03 3.08226255e+02] [-8.15121480e-03 9.99966134e-01 -1.13542516e-03 1.82158382e+01] [ 3.26173735e-03 1.16204483e-03 9.99994005e-01 -2.51172748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.281400513 meters Centerline goodness [0,1] 0.6729752953813104 Centerline is valid? [False, False] Translation: X:308.23, Y:18.22, Z:-0.25 [[ 9.99960984e-01 8.18850949e-03 -3.31336708e-03 3.08226580e+02] [-8.19313375e-03 9.99965477e-01 -1.38447665e-03 1.82173155e+01] [ 3.30191589e-03 1.41156949e-03 9.99993552e-01 -2.51654636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.311400513 meters Centerline goodness [0,1] 0.6755070537283994 Centerline is valid? [False, False] Translation: X:308.23, Y:18.22, Z:-0.25 [[ 9.99960967e-01 8.16412422e-03 -3.37822260e-03 3.08226849e+02] [-8.16905982e-03 9.99965582e-01 -1.44979276e-03 1.82176558e+01] [ 3.36627003e-03 1.47733307e-03 9.99993243e-01 -2.51817152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.341400513 meters Centerline goodness [0,1] 0.6796078937185606 Centerline is valid? [False, False] Translation: X:308.23, Y:18.22, Z:-0.25 [[ 9.99960809e-01 8.16417886e-03 -3.42448393e-03 3.08226992e+02] [-8.16904759e-03 9.99965638e-01 -1.41017078e-03 1.82174628e+01] [ 3.41285337e-03 1.43809028e-03 9.99993142e-01 -2.51849427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.371400513 meters Centerline goodness [0,1] 0.6796078937185606 Centerline is valid? [False, False] Translation: X:308.23, Y:18.22, Z:-0.25 [[ 9.99960809e-01 8.16417886e-03 -3.42448393e-03 3.08226992e+02] [-8.16904759e-03 9.99965638e-01 -1.41017078e-03 1.82174628e+01] [ 3.41285337e-03 1.43809028e-03 9.99993142e-01 -2.51849427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.401400513 meters Centerline goodness [0,1] 0.6837934450234722 Centerline is valid? [False, False] Translation: X:308.23, Y:18.22, Z:-0.25 [[ 9.99960136e-01 8.21511464e-03 -3.49834162e-03 3.08227408e+02] [-8.21961619e-03 9.99965406e-01 -1.27434080e-03 1.82169029e+01] [ 3.48775174e-03 1.30304503e-03 9.99993069e-01 -2.52165212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.431400513 meters Centerline goodness [0,1] 0.6690329637334591 Centerline is valid? [False, False] Translation: X:308.23, Y:18.22, Z:-0.25 [[ 9.99957825e-01 8.37508003e-03 -3.76899149e-03 3.08228892e+02] [-8.37903054e-03 9.99964361e-01 -1.03359372e-03 1.82162812e+01] [ 3.76020074e-03 1.06513063e-03 9.99992363e-01 -2.53262120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.461400513 meters Centerline goodness [0,1] 0.6684604787325641 Centerline is valid? [False, False] Translation: X:308.23, Y:18.22, Z:-0.25 [[ 9.99957687e-01 8.39683650e-03 -3.75743770e-03 3.08228972e+02] [-8.40073324e-03 9.99964190e-01 -1.02249506e-03 1.82163108e+01] [ 3.74871742e-03 1.05401702e-03 9.99992418e-01 -2.53503804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.491400513 meters Centerline goodness [0,1] 0.6663310770285322 Centerline is valid? [False, False] Translation: X:308.23, Y:18.22, Z:-0.25 [[ 9.99957226e-01 8.44863824e-03 -3.76399147e-03 3.08229069e+02] [-8.45214114e-03 9.99963861e-01 -9.15702560e-04 1.82158809e+01] [ 3.75611900e-03 9.47477179e-04 9.99992497e-01 -2.53617969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.521400513 meters Centerline goodness [0,1] 0.6730418357052397 Centerline is valid? [False, False] Translation: X:308.23, Y:18.22, Z:-0.25 [[ 9.99957701e-01 8.38603410e-03 -3.77760889e-03 3.08229031e+02] [-8.38993508e-03 9.99964286e-01 -1.01799784e-03 1.82162875e+01] [ 3.76893701e-03 1.04964867e-03 9.99992347e-01 -2.53519043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.551400513 meters Centerline goodness [0,1] 0.6664883487043417 Centerline is valid? [False, False] Translation: X:308.23, Y:18.22, Z:-0.25 [[ 9.99957659e-01 8.35099713e-03 -3.86548585e-03 3.08229397e+02] [-8.35545794e-03 9.99964444e-01 -1.13930283e-03 1.82169877e+01] [ 3.85583409e-03 1.17155250e-03 9.99991880e-01 -2.53696303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.581400513 meters Centerline goodness [0,1] 0.65811474886719 Centerline is valid? [False, False] Translation: X:308.23, Y:18.22, Z:-0.25 [[ 9.99956401e-01 8.40963213e-03 -4.05890015e-03 3.08230395e+02] [-8.41438198e-03 9.99963932e-01 -1.15457777e-03 1.82174647e+01] [ 4.04904418e-03 1.18868057e-03 9.99991096e-01 -2.54373265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.611400513 meters Centerline goodness [0,1] 0.6623202014597294 Centerline is valid? [False, False] Translation: X:308.23, Y:18.22, Z:-0.25 [[ 9.99984544e-01 3.68466744e-03 -4.16351635e-03 3.08229614e+02] [-3.71155443e-03 9.99972190e-01 -6.46859165e-03 1.82217687e+01] [ 4.13956595e-03 6.48394479e-03 9.99970411e-01 -2.52627145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.641400513 meters Centerline goodness [0,1] 0.6700407015151193 Centerline is valid? [False, False] Translation: X:308.23, Y:18.22, Z:-0.25 [[ 9.99983884e-01 3.71859374e-03 -4.29000428e-03 3.08229980e+02] [-3.74562939e-03 9.99973069e-01 -6.31128302e-03 1.82209952e+01] [ 4.26641965e-03 6.32725008e-03 9.99970881e-01 -2.52444118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.671400513 meters Centerline goodness [0,1] 0.7143987849487667 Centerline is valid? [False, False] Translation: X:308.23, Y:18.22, Z:-0.25 [[ 9.99984093e-01 3.63024215e-03 -4.31673201e-03 3.08229731e+02] [-3.65757156e-03 9.99973212e-01 -6.34009257e-03 1.82208498e+01] [ 4.29360030e-03 6.35578048e-03 9.99970584e-01 -2.51820739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.701400513 meters Centerline goodness [0,1] 0.6826725466689502 Centerline is valid? [False, False] Translation: X:308.23, Y:18.22, Z:-0.25 [[ 9.99983523e-01 3.65772114e-03 -4.42440057e-03 3.08230027e+02] [-3.68478235e-03 9.99974461e-01 -6.12374722e-03 1.82197450e+01] [ 4.40188861e-03 6.13994927e-03 9.99971462e-01 -2.51659517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.731400513 meters Centerline goodness [0,1] 0.7015600127347978 Centerline is valid? [False, False] Translation: X:308.26, Y:18.21, Z:-0.27 [[ 9.99997470e-01 2.18570013e-03 -5.30910273e-04 3.08259844e+02] [-2.18331023e-03 9.99987666e-01 4.46114425e-03 1.82143462e+01] [ 5.40654449e-04 -4.45997382e-03 9.99989908e-01 -2.65400314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.761400513 meters Centerline goodness [0,1] 0.713083233635276 Centerline is valid? [False, False] Translation: X:308.26, Y:18.21, Z:-0.27 [[ 9.99997431e-01 2.19735679e-03 -5.57242963e-04 3.08259907e+02] [-2.19481210e-03 9.99987345e-01 4.52679264e-03 1.82139907e+01] [ 5.67182890e-04 -4.52555796e-03 9.99989599e-01 -2.65381041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.791400513 meters Centerline goodness [0,1] 0.6892194259168496 Centerline is valid? [False, False] Translation: X:308.26, Y:18.22, Z:-0.26 [[ 9.99998090e-01 1.93988853e-03 -2.38852083e-04 3.08257850e+02] [-1.93891825e-03 9.99990130e-01 3.99758140e-03 1.82157902e+01] [ 2.46604587e-04 -3.99711065e-03 9.99991981e-01 -2.63631556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.821400513 meters Centerline goodness [0,1] 0.7015733814805262 Centerline is valid? [False, False] Translation: X:308.26, Y:18.22, Z:-0.26 [[ 9.99998499e-01 1.73267149e-03 -2.46510178e-06 3.08256326e+02] [-1.73265099e-03 9.99991855e-01 3.64520958e-03 1.82169217e+01] [ 8.78103241e-06 -3.64519984e-03 9.99993356e-01 -2.62322294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.851400513 meters Centerline goodness [0,1] 0.7308870480628182 Centerline is valid? [False, False] Translation: X:308.26, Y:18.22, Z:-0.26 [[ 9.99998722e-01 1.59574213e-03 1.01924347e-04 3.08255413e+02] [-1.59608139e-03 9.99992878e-01 3.42004361e-03 1.82176138e+01] [-9.64661136e-05 -3.42020192e-03 9.99994146e-01 -2.61284489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.881400513 meters Centerline goodness [0,1] 0.6811339366127718 Centerline is valid? [False, False] Translation: X:308.26, Y:18.22, Z:-0.26 [[ 9.99999249e-01 -1.10419761e-03 -5.31542945e-04 3.08259883e+02] [ 1.10437438e-03 9.99999335e-01 3.32393613e-04 1.82211623e+01] [ 5.31175563e-04 -3.32980385e-04 9.99999803e-01 -2.63792346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.911400513 meters Centerline goodness [0,1] 0.7191316441392499 Centerline is valid? [False, False] Translation: X:308.22, Y:18.22, Z:-0.26 [[ 9.99996931e-01 9.25968539e-05 -2.47556744e-03 3.08220538e+02] [-1.06580958e-04 9.99984037e-01 -5.64931289e-03 1.82219483e+01] [ 2.47500481e-03 5.64955941e-03 9.99980978e-01 -2.58786645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.941400513 meters Centerline goodness [0,1] 0.704146094305858 Centerline is valid? [False, False] Translation: X:308.22, Y:18.22, Z:-0.26 [[ 9.99996793e-01 1.25753538e-04 -2.52947851e-03 3.08220688e+02] [-1.39957314e-04 9.99984221e-01 -5.61590529e-03 1.82218410e+01] [ 2.52873238e-03 5.61624130e-03 9.99981031e-01 -2.58716816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.971400513 meters Centerline goodness [0,1] 0.6791733936067161 Centerline is valid? [False, False] Translation: X:308.22, Y:18.22, Z:-0.26 [[ 9.99996999e-01 2.08605814e-05 -2.44962077e-03 3.08220045e+02] [-3.54925588e-05 9.99982159e-01 -5.97326871e-03 1.82234457e+01] [ 2.44945246e-03 5.97333773e-03 9.99979159e-01 -2.58044955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.001400513 meters Centerline goodness [0,1] 0.7044308778796452 Centerline is valid? [False, False] Translation: X:308.25, Y:18.22, Z:-0.27 [[ 9.99996450e-01 -9.47496048e-04 2.49048761e-03 3.08247500e+02] [ 9.37336355e-04 9.99991248e-01 4.07740559e-03 1.82185750e+01] [-2.49432914e-03 -4.07505669e-03 9.99988586e-01 -2.69469671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.031400513 meters Centerline goodness [0,1] 0.6937100397442544 Centerline is valid? [False, False] Translation: X:308.21, Y:18.22, Z:-0.26 [[ 9.99999499e-01 2.33266280e-04 9.73752304e-04 3.08207583e+02] [-2.30501198e-04 9.99995944e-01 -2.83876296e-03 1.82213569e+01] [-9.74410542e-04 2.83853708e-03 9.99995497e-01 -2.63277835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.061400513 meters Centerline goodness [0,1] 0.698992281303602 Centerline is valid? [False, False] Translation: X:308.21, Y:18.22, Z:-0.26 [[ 9.99999580e-01 3.15121172e-04 8.60511699e-04 3.08208273e+02] [-3.12788271e-04 9.99996279e-01 -2.70985306e-03 1.82210066e+01] [-8.61362430e-04 2.70958276e-03 9.99995958e-01 -2.63871310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.091400513 meters Centerline goodness [0,1] 0.6802112874245015 Centerline is valid? [False, False] Translation: X:308.21, Y:18.22, Z:-0.26 [[ 9.99999625e-01 3.61090788e-04 7.86731249e-04 3.08208722e+02] [-3.59226101e-04 9.99997129e-01 -2.36902475e-03 1.82193716e+01] [-7.87584424e-04 2.36874125e-03 9.99996884e-01 -2.64196451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.121400513 meters Centerline goodness [0,1] 0.7141633107702854 Centerline is valid? [False, False] Translation: X:308.25, Y:18.22, Z:-0.27 [[ 9.99995574e-01 -1.41505456e-03 2.61699238e-03 3.08247271e+02] [ 1.40523527e-03 9.99991981e-01 3.75017056e-03 1.82173464e+01] [-2.62227809e-03 -3.74647647e-03 9.99989544e-01 -2.70225946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.151400513 meters Centerline goodness [0,1] 0.7202661670650559 Centerline is valid? [False, False] Translation: X:308.25, Y:18.22, Z:-0.27 [[ 9.99995645e-01 -1.41216082e-03 2.59165068e-03 3.08247402e+02] [ 1.40193881e-03 9.99991248e-01 3.94179732e-03 1.82163449e+01] [-2.59719445e-03 -3.93814681e-03 9.99988873e-01 -2.70244066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.181400513 meters Centerline goodness [0,1] 0.749908347889845 Centerline is valid? [False, False] Translation: X:308.25, Y:18.21, Z:-0.27 [[ 9.99995390e-01 -1.46619647e-03 2.65891950e-03 3.08247509e+02] [ 1.45451206e-03 9.99989302e-01 4.39104436e-03 1.82139970e+01] [-2.66532919e-03 -4.38715669e-03 9.99986824e-01 -2.70872785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.211400513 meters Centerline goodness [0,1] 0.7088349142881449 Centerline is valid? [False, False] Translation: X:308.25, Y:18.22, Z:-0.27 [[ 9.99987940e-01 -4.55126744e-03 1.84522260e-03 3.08252339e+02] [ 4.54989943e-03 9.99989372e-01 7.44901859e-04 1.82176984e+01] [-1.84859324e-03 -7.36497298e-04 9.99998020e-01 -2.73043324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.241400513 meters Centerline goodness [0,1] 0.7132648024550936 Centerline is valid? [False, False] Translation: X:308.21, Y:18.23, Z:-0.26 [[ 9.99963667e-01 -8.51188579e-03 4.61169064e-04 3.08209895e+02] [ 8.51701718e-03 9.99884498e-01 -1.25877709e-02 1.82259470e+01] [-3.53970130e-04 1.25912413e-02 9.99920665e-01 -2.61083063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.271400513 meters Centerline goodness [0,1] 0.7468183571153104 Centerline is valid? [False, False] Translation: X:308.21, Y:18.22, Z:-0.26 [[ 9.99990904e-01 -4.25876262e-03 2.34793731e-04 3.08212096e+02] [ 4.26027916e-03 9.99967195e-01 -6.88901419e-03 1.82191029e+01] [-2.05447352e-04 6.88995181e-03 9.99976243e-01 -2.64539526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.301400513 meters Centerline goodness [0,1] 0.7642016156754898 Centerline is valid? [False, False] Translation: X:308.21, Y:18.21, Z:-0.27 [[ 9.99999785e-01 -3.96137475e-04 5.22902546e-04 3.08211528e+02] [ 3.97070152e-04 9.99998328e-01 -1.78475666e-03 1.82130727e+01] [-5.22194663e-04 1.78496390e-03 9.99998271e-01 -2.66090589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.331400513 meters Centerline goodness [0,1] 0.7118192750386532 Centerline is valid? [False, False] Translation: X:308.21, Y:18.21, Z:-0.27 [[ 9.99999772e-01 -3.86185721e-04 5.53271126e-04 3.08211509e+02] [ 3.87217283e-04 9.99998185e-01 -1.86558751e-03 1.82135732e+01] [-5.52549658e-04 1.86580133e-03 9.99998107e-01 -2.66288053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.361400513 meters Centerline goodness [0,1] 0.8129843292577923 Centerline is valid? [False, False] Translation: X:308.21, Y:18.22, Z:-0.27 [[ 9.99999575e-01 -5.10597254e-04 7.67517147e-04 3.08210318e+02] [ 5.12320760e-04 9.99997344e-01 -2.24704233e-03 1.82151396e+01] [-7.66367775e-04 2.24743459e-03 9.99997181e-01 -2.65462826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.391400513 meters Centerline goodness [0,1] 0.7935511607910576 Centerline is valid? [False, False] Translation: X:308.21, Y:18.22, Z:-0.26 [[ 9.99999551e-01 -6.03296081e-04 7.30852239e-04 3.08210108e+02] [ 6.05111790e-04 9.99996725e-01 -2.48670376e-03 1.82162055e+01] [-7.29349627e-04 2.48714489e-03 9.99996641e-01 -2.64874790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.421400513 meters Centerline goodness [0,1] 0.6991317397363062 Centerline is valid? [False, False] Translation: X:308.21, Y:18.22, Z:-0.26 [[ 9.99999648e-01 -5.29106393e-04 6.51021771e-04 3.08210419e+02] [ 5.30595995e-04 9.99997237e-01 -2.29005676e-03 1.82153280e+01] [-6.49808288e-04 2.29040139e-03 9.99997166e-01 -2.64880454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.451400513 meters Centerline goodness [0,1] 0.7776224077101799 Centerline is valid? [False, False] Translation: X:308.21, Y:18.22, Z:-0.27 [[ 9.99999757e-01 -4.91466577e-04 4.94426574e-04 3.08211078e+02] [ 4.92555533e-04 9.99997448e-01 -2.20475792e-03 1.82150455e+01] [-4.93341748e-04 2.20500092e-03 9.99997447e-01 -2.65146936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.481400513 meters Centerline goodness [0,1] 0.7738516659157709 Centerline is valid? [False, False] Translation: X:308.21, Y:18.21, Z:-0.27 [[ 9.99999825e-01 -4.02335068e-04 4.33569483e-04 3.08211685e+02] [ 4.03239118e-04 9.99997741e-01 -2.08706673e-03 1.82148020e+01] [-4.32728803e-04 2.08724119e-03 9.99997728e-01 -2.65924843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.511400513 meters Centerline goodness [0,1] 0.7583578468211195 Centerline is valid? [False, False] Translation: X:308.21, Y:18.21, Z:-0.27 [[ 9.99999876e-01 -2.76421044e-04 4.13904179e-04 3.08212101e+02] [ 2.77180648e-04 9.99998276e-01 -1.83628536e-03 1.82138311e+01] [-4.13395878e-04 1.83639986e-03 9.99998228e-01 -2.66569774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.541400513 meters Centerline goodness [0,1] 0.7785403996524761 Centerline is valid? [False, False] Translation: X:308.21, Y:18.21, Z:-0.26 [[ 9.99995658e-01 2.70796759e-03 1.16201341e-03 3.08207312e+02] [-2.71003433e-03 9.99994742e-01 1.78071419e-03 1.82097407e+01] [-1.15718519e-03 -1.78385555e-03 9.99997739e-01 -2.63970138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.571400513 meters Centerline goodness [0,1] 0.7546786092901495 Centerline is valid? [False, False] Translation: X:308.21, Y:18.21, Z:-0.26 [[ 9.99995811e-01 2.61713526e-03 1.23607116e-03 3.08206566e+02] [-2.61916548e-03 9.99995219e-01 1.64372674e-03 1.82100795e+01] [-1.23176339e-03 -1.64695733e-03 9.99997885e-01 -2.63023292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.601400513 meters Centerline goodness [0,1] 0.7313895648054437 Centerline is valid? [False, False] Translation: X:308.21, Y:18.21, Z:-0.26 [[ 9.99996103e-01 2.53085104e-03 1.17836008e-03 3.08206449e+02] [-2.53250776e-03 9.99995804e-01 1.40659597e-03 1.82111380e+01] [-1.17479526e-03 -1.40957469e-03 9.99998316e-01 -2.62512567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.631400513 meters Centerline goodness [0,1] 0.7296461032682267 Centerline is valid? [False, False] Translation: X:308.21, Y:18.21, Z:-0.26 [[ 9.99995986e-01 2.56542083e-03 1.20293431e-03 3.08206484e+02] [-2.56715485e-03 9.99995665e-01 1.44216909e-03 1.82110483e+01] [-1.19922933e-03 -1.44525142e-03 9.99998237e-01 -2.62744689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.661400513 meters Centerline goodness [0,1] 0.7307475744975744 Centerline is valid? [False, False] Translation: X:308.21, Y:18.21, Z:-0.26 [[ 9.99995655e-01 2.68199070e-03 1.22387961e-03 3.08206901e+02] [-2.68404549e-03 9.99994986e-01 1.68037713e-03 1.82101348e+01] [-1.21936672e-03 -1.68365477e-03 9.99997839e-01 -2.63666509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.691400513 meters Centerline goodness [0,1] 0.9274870242214532 Centerline is valid? [False, False] Translation: X:308.21, Y:18.21, Z:-0.26 [[ 9.99995703e-01 2.66120277e-03 1.22987346e-03 3.08206906e+02] [-2.66324109e-03 9.99995078e-01 1.65868519e-03 1.82102071e+01] [-1.22545331e-03 -1.66195351e-03 9.99997868e-01 -2.63774786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.721400513 meters Centerline goodness [0,1] 0.8633397230179414 Centerline is valid? [False, False] Translation: X:308.21, Y:18.21, Z:-0.26 [[ 9.99995598e-01 2.68626875e-03 1.25990782e-03 3.08206711e+02] [-2.68849426e-03 9.99994823e-01 1.76805066e-03 1.82095682e+01] [-1.25515184e-03 -1.77143013e-03 9.99997643e-01 -2.63553192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.751400513 meters Centerline goodness [0,1] 0.796958142140072 Centerline is valid? [False, False] Translation: X:308.21, Y:18.21, Z:-0.26 [[ 9.99995808e-01 2.60276912e-03 1.26843795e-03 3.08206374e+02] [-2.60484961e-03 9.99995260e-01 1.64131739e-03 1.82099641e+01] [-1.26415996e-03 -1.64461460e-03 9.99997849e-01 -2.63015566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.781400513 meters Centerline goodness [0,1] 0.7225912188389545 Centerline is valid? [False, False] Translation: X:308.21, Y:18.21, Z:-0.26 [[ 9.99995976e-01 2.60545697e-03 1.12245955e-03 3.08206914e+02] [-2.60740193e-03 9.99995096e-01 1.73479964e-03 1.82095239e+01] [-1.11793410e-03 -1.73771936e-03 9.99997865e-01 -2.63148308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.811400513 meters Centerline goodness [0,1] 0.9150276052449966 Centerline is valid? [False, False] Translation: X:308.21, Y:18.21, Z:-0.26 [[ 9.99995966e-01 2.65958480e-03 9.97612028e-04 3.08207658e+02] [-2.66140602e-03 9.99994786e-01 1.82871816e-03 1.82093055e+01] [-9.92743196e-04 -1.83136584e-03 9.99997830e-01 -2.63829588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.841400513 meters Centerline goodness [0,1] 0.9795290600697528 Centerline is valid? [False, True] Translation: X:308.21, Y:18.21, Z:-0.26 [[ 9.99995974e-01 2.68885985e-03 9.06156933e-04 3.08208127e+02] [-2.69057644e-03 9.99994578e-01 1.89849136e-03 1.82090989e+01] [-9.01047243e-04 -1.90092180e-03 9.99997787e-01 -2.64166366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.871400513 meters Centerline goodness [0,1] 0.7474582814980053 Centerline is valid? [True, False] Translation: X:308.21, Y:18.21, Z:-0.26 [[ 9.99995910e-01 2.71420264e-03 9.01938617e-04 3.08208029e+02] [-2.71600607e-03 9.99994303e-01 2.00433688e-03 1.82085176e+01] [-8.96493302e-04 -2.00677835e-03 9.99997585e-01 -2.63946645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.901400513 meters Centerline goodness [0,1] 0.8994158372998702 Centerline is valid? [False, False] Translation: X:308.21, Y:18.21, Z:-0.26 [[ 9.99996164e-01 2.57419596e-03 1.02206631e-03 3.08207117e+02] [-2.57599766e-03 9.99995124e-01 1.76541548e-03 1.82092836e+01] [-1.01751681e-03 -1.76804155e-03 9.99997919e-01 -2.63041665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.931400513 meters Centerline goodness [0,1] 0.8188053668186118 Centerline is valid? [False, False] Translation: X:308.21, Y:18.21, Z:-0.26 [[ 9.99995991e-01 2.65790229e-03 9.76972179e-04 3.08207068e+02] [-2.65930208e-03 9.99995435e-01 1.43429051e-03 1.82111230e+01] [-9.73155515e-04 -1.43688282e-03 9.99998494e-01 -2.62686749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.961400513 meters Centerline goodness [0,1] 0.7160072174249259 Centerline is valid? [False, False] Translation: X:308.21, Y:18.21, Z:-0.26 [[ 9.99995937e-01 2.65081070e-03 1.04834997e-03 3.08206874e+02] [-2.65222798e-03 9.99995568e-01 1.35284682e-03 1.82115215e+01] [-1.04475918e-03 -1.35562178e-03 9.99998535e-01 -2.62876046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.991400513 meters Centerline goodness [0,1] 0.7045875511522722 Centerline is valid? [False, False] Translation: X:308.21, Y:18.21, Z:-0.26 [[ 9.99995963e-01 2.61188651e-03 1.11902624e-03 3.08206555e+02] [-2.61330760e-03 9.99995778e-01 1.27036006e-03 1.82118432e+01] [-1.11570348e-03 -1.27327929e-03 9.99998567e-01 -2.62760455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.021400513 meters Centerline goodness [0,1] 0.7207985183909036 Centerline is valid? [False, False] Translation: X:308.21, Y:18.21, Z:-0.26 [[ 9.99996069e-01 2.52061560e-03 1.22820362e-03 3.08205771e+02] [-2.52205777e-03 9.99996130e-01 1.17408074e-03 1.82119592e+01] [-1.22523946e-03 -1.17717373e-03 9.99998557e-01 -2.61992051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.051400513 meters Centerline goodness [0,1] 0.7098605428332727 Centerline is valid? [False, False] Translation: X:308.21, Y:18.21, Z:-0.26 [[ 9.99996113e-01 2.51222074e-03 1.20923449e-03 3.08205741e+02] [-2.51360872e-03 9.99996182e-01 1.14766961e-03 1.82120721e+01] [-1.20634667e-03 -1.15070469e-03 9.99998610e-01 -2.61819721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.081400513 meters Centerline goodness [0,1] 0.6951039052949881 Centerline is valid? [False, False] Translation: X:308.21, Y:18.21, Z:-0.26 [[ 9.99996016e-01 2.57191674e-03 1.16314973e-03 3.08206036e+02] [-2.57345060e-03 9.99995819e-01 1.31914296e-03 1.82113139e+01] [-1.15975214e-03 -1.32213101e-03 9.99998453e-01 -2.62082318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.111400513 meters Centerline goodness [0,1] 0.6859575199931207 Centerline is valid? [False, False] Translation: X:308.21, Y:18.21, Z:-0.26 [[ 9.99996245e-01 2.50655536e-03 1.10777140e-03 3.08206192e+02] [-2.50783517e-03 9.99996188e-01 1.15542410e-03 1.82121158e+01] [-1.10487104e-03 -1.15819787e-03 9.99998719e-01 -2.62146960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.141400513 meters Centerline goodness [0,1] 0.7076589067302939 Centerline is valid? [False, False] Translation: X:308.21, Y:18.21, Z:-0.26 [[ 9.99996320e-01 2.48725713e-03 1.08375233e-03 3.08206068e+02] [-2.48850062e-03 9.99996245e-01 1.14756385e-03 1.82120382e+01] [-1.08089398e-03 -1.15025654e-03 9.99998754e-01 -2.61768624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.171400513 meters Centerline goodness [0,1] 0.7097496959221561 Centerline is valid? [False, False] Translation: X:308.21, Y:18.21, Z:-0.26 [[ 9.99996304e-01 2.49817927e-03 1.07261503e-03 3.08205955e+02] [-2.49953887e-03 9.99996072e-01 1.26809514e-03 1.82113349e+01] [-1.06944289e-03 -1.27077150e-03 9.99998621e-01 -2.61488129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.201400513 meters Centerline goodness [0,1] 0.7115623793798516 Centerline is valid? [False, False] Translation: X:308.21, Y:18.21, Z:-0.26 [[ 9.99996344e-01 2.48946783e-03 1.05549713e-03 3.08205895e+02] [-2.49088537e-03 9.99995995e-01 1.34382828e-03 1.82108453e+01] [-1.05214749e-03 -1.34645249e-03 9.99998540e-01 -2.61272409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.231400513 meters Centerline goodness [0,1] 0.7219962319088806 Centerline is valid? [False, False] Translation: X:308.21, Y:18.21, Z:-0.26 [[ 9.99996084e-01 2.59798372e-03 1.04018222e-03 3.08206421e+02] [-2.59975003e-03 9.99995175e-01 1.70034162e-03 1.82093058e+01] [-1.03575974e-03 -1.70303918e-03 9.99998013e-01 -2.62115311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.261400513 meters Centerline goodness [0,1] 0.7236540970632901 Centerline is valid? [False, False] Translation: X:308.21, Y:18.21, Z:-0.26 [[ 9.99996050e-01 2.62922914e-03 9.93936215e-04 3.08206704e+02] [-2.63101363e-03 9.99994922e-01 1.79835374e-03 1.82088900e+01] [-9.89202883e-04 -1.80096169e-03 9.99997889e-01 -2.62330622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.291400513 meters Centerline goodness [0,1] 0.7236540970632901 Centerline is valid? [False, False] Translation: X:308.21, Y:18.21, Z:-0.26 [[ 9.99996050e-01 2.62922914e-03 9.93936215e-04 3.08206704e+02] [-2.63101363e-03 9.99994922e-01 1.79835374e-03 1.82088900e+01] [-9.89202883e-04 -1.80096169e-03 9.99997889e-01 -2.62330622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.321400513 meters Centerline goodness [0,1] 0.7226239669421488 Centerline is valid? [False, False] Translation: X:308.21, Y:18.21, Z:-0.26 [[ 9.99996129e-01 2.57148511e-03 1.06312300e-03 3.08206233e+02] [-2.57335951e-03 9.99995130e-01 1.76551155e-03 1.82088108e+01] [-1.05857784e-03 -1.76824051e-03 9.99997876e-01 -2.61895590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.351400513 meters Centerline goodness [0,1] 0.7329564846416382 Centerline is valid? [False, False] Translation: X:308.21, Y:18.21, Z:-0.26 [[ 9.99996382e-01 2.50688359e-03 9.75498853e-04 3.08206154e+02] [-2.50870413e-03 9.99995106e-01 1.86953252e-03 1.82080176e+01] [-9.70807378e-04 -1.87197299e-03 9.99997777e-01 -2.61210337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.381400513 meters Centerline goodness [0,1] 0.7835119926396645 Centerline is valid? [False, False] Translation: X:308.21, Y:18.21, Z:-0.26 [[ 9.99996451e-01 2.43875093e-03 1.07289615e-03 3.08205770e+02] [-2.44098947e-03 9.99994836e-01 2.09010636e-03 1.82066505e+01] [-1.06779336e-03 -2.09271787e-03 9.99997240e-01 -2.61011637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.411400513 meters Centerline goodness [0,1] 0.8333691956793046 Centerline is valid? [False, False] Translation: X:308.21, Y:18.21, Z:-0.26 [[ 9.99996410e-01 2.46060815e-03 1.06076472e-03 3.08205752e+02] [-2.46306478e-03 9.99994273e-01 2.32085500e-03 1.82053886e+01] [-1.05504793e-03 -2.32345941e-03 9.99996744e-01 -2.60859538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.441400513 meters Centerline goodness [0,1] 0.8604115049014327 Centerline is valid? [False, False] Translation: X:308.21, Y:18.21, Z:-0.26 [[ 9.99996480e-01 2.41804167e-03 1.09243870e-03 3.08205594e+02] [-2.42056660e-03 9.99994389e-01 2.31589070e-03 1.82053004e+01] [-1.08683265e-03 -2.31852687e-03 9.99996722e-01 -2.60751123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.471400513 meters Centerline goodness [0,1] 0.8527628320095653 Centerline is valid? [False, False] Translation: X:308.21, Y:18.21, Z:-0.26 [[ 9.99999913e-01 -7.01887155e-05 4.11032182e-04 3.08209568e+02] [ 7.03118929e-05 9.99999953e-01 -2.99671502e-04 1.82089413e+01] [-4.11011129e-04 2.99700376e-04 9.99999871e-01 -2.62657392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.501400513 meters Centerline goodness [0,1] 0.9482679887794376 Centerline is valid? [False, False] Translation: X:308.17, Y:18.21, Z:-0.26 [[ 9.99998722e-01 1.85760331e-04 -1.58797549e-03 3.08169497e+02] [-1.97611803e-04 9.99972107e-01 -7.46636261e-03 1.82115980e+01] [ 1.58654424e-03 7.46666687e-03 9.99970865e-01 -2.56120464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.531400513 meters Centerline goodness [0,1] 0.9992204586301726 Centerline is valid? [False, True] Translation: X:308.17, Y:18.21, Z:-0.26 [[ 9.99997502e-01 7.46102740e-04 -2.10716807e-03 3.08173043e+02] [-7.59620704e-04 9.99979092e-01 -6.42173035e-03 1.82082078e+01] [ 2.10233274e-03 6.42331496e-03 9.99977160e-01 -2.59097813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.561400513 meters Centerline goodness [0,1] 0.9979503775620281 Centerline is valid? [True, True] Translation: X:308.20, Y:18.21, Z:-0.27 [[ 9.99993125e-01 -2.68053773e-04 -3.69831047e-03 3.08200800e+02] [ 2.67311678e-04 9.99999944e-01 -2.01150635e-04 1.82062141e+01] [ 3.69836419e-03 2.00160651e-04 9.99993141e-01 -2.66408282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.591400513 meters Centerline goodness [0,1] 0.972621359223301 Centerline is valid? [True, True] Translation: X:308.23, Y:18.21, Z:-0.27 [[ 9.99991021e-01 5.50321692e-05 -4.23734351e-03 3.08229482e+02] [-5.60099371e-05 9.99999972e-01 -2.30631899e-04 1.82146341e+01] [ 4.23733070e-03 2.30867161e-04 9.99990996e-01 -2.65844350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.621400513 meters Centerline goodness [0,1] 0.9295505328291509 Centerline is valid? [True, False] Translation: X:308.23, Y:18.22, Z:-0.27 [[ 9.99991054e-01 3.96240159e-05 -4.22979981e-03 3.08229238e+02] [-4.15574632e-05 9.99999895e-01 -4.57014458e-04 1.82157543e+01] [ 4.22978126e-03 4.57186149e-04 9.99990950e-01 -2.65461032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.651400513 meters Centerline goodness [0,1] 0.8410042744268382 Centerline is valid? [False, False] Translation: X:308.23, Y:18.22, Z:-0.26 [[ 9.99992081e-01 7.18047837e-05 -3.97904459e-03 3.08227767e+02] [-7.56605022e-05 9.99999528e-01 -9.68864054e-04 1.82181033e+01] [ 3.97897314e-03 9.69157438e-04 9.99991614e-01 -2.64182945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.681400513 meters Centerline goodness [0,1] 0.8050960340308512 Centerline is valid? [False, False] Translation: X:308.23, Y:18.22, Z:-0.26 [[ 9.99992701e-01 8.15799795e-05 -3.81995850e-03 3.08227160e+02] [-8.56656402e-05 9.99999425e-01 -1.06940490e-03 1.82185988e+01] [ 3.81986906e-03 1.06972433e-03 9.99992132e-01 -2.64035413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.711400513 meters Centerline goodness [0,1] 0.7421352542737341 Centerline is valid? [False, False] Translation: X:308.23, Y:18.22, Z:-0.26 [[ 9.99993010e-01 6.25794655e-05 -3.73832809e-03 3.08226832e+02] [-6.66944940e-05 9.99999392e-01 -1.10065256e-03 1.82186893e+01] [ 3.73825694e-03 1.10089419e-03 9.99992407e-01 -2.63981274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.741400513 meters Centerline goodness [0,1] 0.7525620048225973 Centerline is valid? [False, False] Translation: X:308.23, Y:18.22, Z:-0.26 [[ 9.99993104e-01 1.39378852e-04 -3.71120203e-03 3.08226874e+02] [-1.42422440e-04 9.99999654e-01 -8.19856591e-04 1.82173498e+01] [ 3.71108648e-03 8.20379496e-04 9.99992777e-01 -2.64159231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.771400513 meters Centerline goodness [0,1] 0.7643007338110973 Centerline is valid? [False, False] Translation: X:308.23, Y:18.22, Z:-0.26 [[ 9.99992867e-01 1.98864232e-04 -3.77182610e-03 3.08227232e+02] [-2.01511341e-04 9.99999734e-01 -7.01443958e-04 1.82169246e+01] [ 3.77168560e-03 7.02199020e-04 9.99992641e-01 -2.64393691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.801400513 meters Centerline goodness [0,1] 0.7453218001969768 Centerline is valid? [False, False] Translation: X:308.23, Y:18.22, Z:-0.26 [[ 9.99992340e-01 2.13561664e-04 -3.90822562e-03 3.08227719e+02] [-2.16430672e-04 9.99999707e-01 -7.33686432e-04 1.82172283e+01] [ 3.90806779e-03 7.34526672e-04 9.99992094e-01 -2.64453975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.831400513 meters Centerline goodness [0,1] 0.7600385067921702 Centerline is valid? [False, False] Translation: X:308.23, Y:18.22, Z:-0.26 [[ 9.99992210e-01 3.46730189e-04 -3.93188126e-03 3.08227947e+02] [-3.48207759e-04 9.99999869e-01 -3.75113593e-04 1.82155315e+01] [ 3.93175068e-03 3.76479783e-04 9.99992200e-01 -2.64662860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.861400513 meters Centerline goodness [0,1] 0.8341344090635997 Centerline is valid? [False, False] Translation: X:308.23, Y:18.22, Z:-0.27 [[ 9.99991392e-01 4.18291623e-04 -4.12805420e-03 3.08228942e+02] [-4.19269039e-04 9.99999884e-01 -2.35911508e-04 1.82151411e+01] [ 4.12795505e-03 2.37640243e-04 9.99991452e-01 -2.65301228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.891400513 meters Centerline goodness [0,1] 0.7579957584456203 Centerline is valid? [False, False] Translation: X:308.23, Y:18.21, Z:-0.27 [[ 9.99991204e-01 5.33218507e-04 -4.16012050e-03 3.08229315e+02] [-5.32986953e-04 9.99999856e-01 5.67687305e-05 1.82139115e+01] [ 4.16015017e-03 -5.45509412e-05 9.99991345e-01 -2.65697383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.921400513 meters Centerline goodness [0,1] 0.9421933045588267 Centerline is valid? [False, False] Translation: X:308.23, Y:18.21, Z:-0.27 [[ 9.99990886e-01 5.40878800e-04 -4.23503029e-03 3.08229547e+02] [-5.40346841e-04 9.99999846e-01 1.26752537e-04 1.82135617e+01] [ 4.23509820e-03 -1.24462997e-04 9.99991024e-01 -2.65677793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.951400513 meters Centerline goodness [0,1] 0.8316785172848206 Centerline is valid? [False, False] Translation: X:308.23, Y:18.21, Z:-0.27 [[ 9.99990565e-01 5.71320149e-04 -4.30629491e-03 3.08229749e+02] [-5.69723429e-04 9.99999769e-01 3.72005201e-04 1.82123410e+01] [ 4.30650645e-03 -3.69548294e-04 9.99990659e-01 -2.65508970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.981400513 meters Centerline goodness [0,1] 0.9714760808390893 Centerline is valid? [False, True] Translation: X:308.23, Y:18.21, Z:-0.27 [[ 9.99990311e-01 6.07743191e-04 -4.35984197e-03 3.08229990e+02] [-6.05619148e-04 9.99999697e-01 4.88487210e-04 1.82118244e+01] [ 4.36013752e-03 -4.85842073e-04 9.99990377e-01 -2.65556355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.011400513 meters Centerline goodness [0,1] 0.9728576635293613 Centerline is valid? [True, True] Translation: X:308.26, Y:18.21, Z:-0.26 [[ 9.99985932e-01 -4.37524020e-04 -5.28630398e-03 3.08257896e+02] [ 4.36030326e-04 9.99999865e-01 -2.83708399e-04 1.82135200e+01] [ 5.28642740e-03 2.81399419e-04 9.99985987e-01 -2.64956066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.041400513 meters Centerline goodness [0,1] 0.976428234689067 Centerline is valid? [True, True] Translation: X:308.29, Y:18.21, Z:-0.27 [[ 9.99980176e-01 -1.55375725e-03 -6.10187108e-03 3.08287156e+02] [ 1.55178533e-03 9.99998742e-01 -3.27887646e-04 1.82140227e+01] [ 6.10237287e-03 3.18412352e-04 9.99981330e-01 -2.65689165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.071400513 meters Centerline goodness [0,1] 0.9289808712080552 Centerline is valid? [True, False] Translation: X:308.29, Y:18.21, Z:-0.27 [[ 9.99979868e-01 -1.42725263e-03 -6.18282252e-03 3.08287930e+02] [ 1.42693158e-03 9.99998980e-01 -5.63368416e-05 1.82130075e+01] [ 6.18289663e-03 4.75132426e-05 9.99980885e-01 -2.66589808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.101400513 meters Centerline goodness [0,1] 0.9736689129545504 Centerline is valid? [False, True] Translation: X:308.29, Y:18.21, Z:-0.27 [[ 9.99979793e-01 -1.28163057e-03 -6.22664659e-03 3.08288458e+02] [ 1.28333175e-03 9.99999140e-01 2.69222226e-04 1.82116458e+01] [ 6.22629619e-03 -2.77207639e-04 9.99980578e-01 -2.67308935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.131400513 meters Centerline goodness [0,1] 0.9242359295297699 Centerline is valid? [True, False] Translation: X:308.29, Y:18.21, Z:-0.27 [[ 9.99979753e-01 -1.23586000e-03 -6.24233858e-03 3.08288586e+02] [ 1.23772011e-03 9.99999191e-01 2.94128811e-04 1.82116641e+01] [ 6.24197003e-03 -3.01849123e-04 9.99980473e-01 -2.67420995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.161400513 meters Centerline goodness [0,1] 0.9137738443031449 Centerline is valid? [False, False] Translation: X:308.29, Y:18.21, Z:-0.27 [[ 9.99979709e-01 -1.22741401e-03 -6.25098673e-03 3.08288537e+02] [ 1.22956479e-03 9.99999186e-01 3.40239283e-04 1.82113783e+01] [ 6.25056403e-03 -3.47918372e-04 9.99980405e-01 -2.67314850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.191400513 meters Centerline goodness [0,1] 0.965742953728226 Centerline is valid? [False, True] Translation: X:308.29, Y:18.21, Z:-0.27 [[ 9.99979565e-01 -1.23586695e-03 -6.27238838e-03 3.08288648e+02] [ 1.23761505e-03 9.99999196e-01 2.74823711e-04 1.82117477e+01] [ 6.27204369e-03 -2.82580897e-04 9.99980291e-01 -2.67495468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.221400513 meters Centerline goodness [0,1] 0.9209488720832525 Centerline is valid? [True, False] Translation: X:308.29, Y:18.21, Z:-0.27 [[ 9.99979419e-01 -1.14578412e-03 -6.31251089e-03 3.08289075e+02] [ 1.14818137e-03 9.99999270e-01 3.76150318e-04 1.82114884e+01] [ 6.31207529e-03 -3.83390484e-04 9.99980005e-01 -2.68076835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.251400513 meters Centerline goodness [0,1] 0.7050603339263133 Centerline is valid? [False, False] Translation: X:308.29, Y:18.21, Z:-0.27 [[ 9.99978168e-01 -7.33007374e-04 -6.56710143e-03 3.08290502e+02] [ 7.36362260e-04 9.99999600e-01 5.08459284e-04 1.82117387e+01] [ 6.56672610e-03 -5.13283949e-04 9.99978307e-01 -2.69103284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.281400513 meters Centerline goodness [0,1] 0.7856201525266273 Centerline is valid? [False, False] Translation: X:308.29, Y:18.21, Z:-0.27 [[ 9.99979190e-01 -7.75927533e-04 -6.40452967e-03 3.08289755e+02] [ 7.78243099e-04 9.99999633e-01 3.59066999e-04 1.82123147e+01] [ 6.40424871e-03 -3.64043808e-04 9.99979426e-01 -2.68818281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.311400513 meters Centerline goodness [0,1] 0.725427603908289 Centerline is valid? [False, False] Translation: X:308.29, Y:18.21, Z:-0.27 [[ 9.99980177e-01 -7.87994598e-04 -6.24697465e-03 3.08289071e+02] [ 7.89677711e-04 9.99999653e-01 2.66966523e-04 1.82126600e+01] [ 6.24676211e-03 -2.71894327e-04 9.99980452e-01 -2.68527617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.341400513 meters Centerline goodness [0,1] 0.9494120449574464 Centerline is valid? [False, False] Translation: X:308.29, Y:18.21, Z:-0.27 [[ 9.99979913e-01 -6.60158119e-04 -6.30379765e-03 3.08289654e+02] [ 6.63283603e-04 9.99999658e-01 4.93731889e-04 1.82118525e+01] [ 6.30346956e-03 -4.97903177e-04 9.99980009e-01 -2.69262972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.371400513 meters Centerline goodness [0,1] 0.8206245777671236 Centerline is valid? [False, False] Translation: X:308.29, Y:18.21, Z:-0.27 [[ 9.99978838e-01 -4.46794409e-04 -6.49035125e-03 3.08290983e+02] [ 4.53256318e-04 9.99999403e-01 9.94181062e-04 1.82098975e+01] [ 6.48990318e-03 -9.97101815e-04 9.99978443e-01 -2.70571671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.401400513 meters Centerline goodness [0,1] 0.801741979993101 Centerline is valid? [False, False] Translation: X:308.29, Y:18.21, Z:-0.27 [[ 9.99965392e-01 -4.96785045e-03 -6.67348203e-03 3.08290581e+02] [ 4.93971157e-03 9.99978868e-01 -4.22640820e-03 1.82141305e+01] [ 6.69433717e-03 4.19329685e-03 9.99968801e-01 -2.68677998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.431400513 meters Centerline goodness [0,1] 0.9719210754553339 Centerline is valid? [False, True] Translation: X:308.29, Y:18.21, Z:-0.27 [[ 9.99965771e-01 -4.81038746e-03 -6.73181324e-03 3.08291173e+02] [ 4.78446981e-03 9.99981101e-01 -3.86084895e-03 1.82126394e+01] [ 6.75025820e-03 3.82850864e-03 9.99969888e-01 -2.69341869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.461400513 meters Centerline goodness [0,1] 0.9585411673252575 Centerline is valid? [True, True] Translation: X:308.32, Y:18.21, Z:-0.27 [[ 9.99961738e-01 -5.26182290e-03 -6.98831570e-03 3.08319044e+02] [ 5.26987328e-03 9.99985471e-01 1.13406317e-03 1.82144294e+01] [ 6.98224693e-03 -1.17084731e-03 9.99974938e-01 -2.72128332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.491400513 meters Centerline goodness [0,1] 0.9410749347314821 Centerline is valid? [True, False] Translation: X:308.32, Y:18.21, Z:-0.27 [[ 9.99962050e-01 -5.28059580e-03 -6.92923643e-03 3.08318439e+02] [ 5.28896869e-03 9.99985305e-01 1.19057381e-03 1.82139210e+01] [ 6.92284766e-03 -1.22717714e-03 9.99975284e-01 -2.71315944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.521400513 meters Centerline goodness [0,1] 0.9705492979143607 Centerline is valid? [False, True] Translation: X:308.32, Y:18.21, Z:-0.27 [[ 9.99962217e-01 -5.20621050e-03 -6.96137410e-03 3.08318663e+02] [ 5.21615639e-03 9.99985400e-01 1.41133433e-03 1.82128891e+01] [ 6.95392476e-03 -1.44759262e-03 9.99974773e-01 -2.71459845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.551400513 meters Centerline goodness [0,1] 0.9595693159214737 Centerline is valid? [True, True] Translation: X:308.35, Y:18.22, Z:-0.27 [[ 9.99955386e-01 -7.02517040e-03 -6.31450198e-03 3.08346933e+02] [ 7.00853692e-03 9.99971922e-01 -2.65245094e-03 1.82222790e+01] [ 6.33295860e-03 2.60807718e-03 9.99976546e-01 -2.68510215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.581400513 meters Centerline goodness [0,1] 0.9602076495698993 Centerline is valid? [True, True] Translation: X:308.37, Y:18.22, Z:-0.27 [[ 9.99945357e-01 -8.28980649e-03 -6.36878070e-03 3.08374801e+02] [ 8.26965252e-03 9.99960736e-01 -3.18433807e-03 1.82231841e+01] [ 6.39492818e-03 3.13149647e-03 9.99974649e-01 -2.68950837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.611400513 meters Centerline goodness [0,1] 0.9474899641731773 Centerline is valid? [True, False] Translation: X:308.37, Y:18.22, Z:-0.27 [[ 9.99946894e-01 -8.14687851e-03 -6.31168093e-03 3.08374939e+02] [ 8.12983524e-03 9.99963250e-01 -2.72124299e-03 1.82210336e+01] [ 6.33361861e-03 2.66978555e-03 9.99976378e-01 -2.69426136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.641400513 meters Centerline goodness [0,1] 0.9741276743028966 Centerline is valid? [False, True] Translation: X:308.37, Y:18.22, Z:-0.27 [[ 9.99948024e-01 -8.22403460e-03 -6.02615057e-03 3.08374166e+02] [ 8.21129422e-03 9.99964006e-01 -2.13588217e-03 1.82178260e+01] [ 6.04349923e-03 2.08628866e-03 9.99979562e-01 -2.69652724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.671400513 meters Centerline goodness [0,1] 0.9999784431654056 Centerline is valid? [True, True] Translation: X:308.41, Y:18.18, Z:-0.27 [[ 9.99937077e-01 -5.81992371e-03 -9.59016656e-03 3.08413232e+02] [ 5.85504967e-03 9.99976239e-01 3.63870874e-03 1.81783871e+01] [ 9.56876168e-03 -3.69463068e-03 9.99947393e-01 -2.71611040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.701400513 meters Centerline goodness [0,1] 0.9740431900791106 Centerline is valid? [True, True] Translation: X:308.43, Y:18.22, Z:-0.27 [[ 9.99880025e-01 -1.32109322e-02 -8.08751264e-03 3.08432477e+02] [ 1.31792510e-02 9.99905316e-01 -3.95814964e-03 1.82223713e+01] [ 8.13903773e-03 3.85108740e-03 9.99959462e-01 -2.67506363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.731400513 meters Centerline goodness [0,1] 0.973349406927432 Centerline is valid? [True, True] Translation: X:308.46, Y:18.23, Z:-0.27 [[ 9.99831841e-01 -1.45124972e-02 -1.12105714e-02 3.08464404e+02] [ 1.44490939e-02 9.99879268e-01 -5.71611060e-03 1.82256854e+01] [ 1.12921729e-02 5.55316679e-03 9.99920821e-01 -2.68033065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.761400513 meters Centerline goodness [0,1] 0.9718497221447422 Centerline is valid? [True, True] Translation: X:308.50, Y:18.22, Z:-0.28 [[ 9.99831582e-01 -1.51625462e-02 -1.03394331e-02 3.08498252e+02] [ 1.51883328e-02 9.99881722e-01 2.42005766e-03 1.82214440e+01] [ 1.03015159e-02 -2.57668883e-03 9.99943618e-01 -2.76504634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.791400513 meters Centerline goodness [0,1] 0.9574715364914017 Centerline is valid? [True, True] Translation: X:308.53, Y:18.23, Z:-0.28 [[ 9.99886849e-01 -1.14508884e-03 -1.49992446e-02 3.08528241e+02] [ 1.16284046e-03 9.99998634e-01 1.17483301e-03 1.82309983e+01] [ 1.49978788e-02 -1.19214180e-03 9.99886815e-01 -2.75864942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.821400513 meters Centerline goodness [0,1] 0.9447723258518933 Centerline is valid? [True, False] Translation: X:308.53, Y:18.23, Z:-0.27 [[ 9.99891764e-01 -1.29903700e-03 -1.46551446e-02 3.08526525e+02] [ 1.31268883e-03 9.99998713e-01 9.21957385e-04 1.82317210e+01] [ 1.46539280e-02 -9.41095241e-04 9.99892183e-01 -2.74901733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.851400513 meters Centerline goodness [0,1] 0.9257019067842052 Centerline is valid? [False, False] Translation: X:308.53, Y:18.23, Z:-0.27 [[ 9.99894561e-01 -1.52572394e-03 -1.44408694e-02 3.08525220e+02] [ 1.53103411e-03 9.99998764e-01 3.56670144e-04 1.82341532e+01] [ 1.44403074e-02 -3.78742000e-04 9.99895662e-01 -2.73890713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.881400513 meters Centerline goodness [0,1] 0.670018774682233 Centerline is valid? [False, False] Translation: X:308.52, Y:18.24, Z:-0.27 [[ 9.99897003e-01 -1.74076937e-03 -1.42461356e-02 3.08524139e+02] [ 1.74008328e-03 9.99998484e-01 -6.05549997e-05 1.82358321e+01] [ 1.42462194e-02 3.57593004e-05 9.99898517e-01 -2.73195868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.911400513 meters Centerline goodness [0,1] 0.9244347565927256 Centerline is valid? [False, False] Translation: X:308.55, Y:18.24, Z:-0.28 [[ 9.99922694e-01 -7.99246135e-03 -9.52503207e-03 3.08552131e+02] [ 8.03229537e-03 9.99959124e-01 4.15114407e-03 1.82362341e+01] [ 9.49146487e-03 -4.22733104e-03 9.99946019e-01 -2.82892935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.941400513 meters Centerline goodness [0,1] 0.8199742820402914 Centerline is valid? [False, False] Translation: X:308.55, Y:18.24, Z:-0.28 [[ 9.99922057e-01 -8.04863123e-03 -9.54460776e-03 3.08552304e+02] [ 8.09026381e-03 9.99957893e-01 4.33133560e-03 1.82352556e+01] [ 9.50934454e-03 -4.40821640e-03 9.99945068e-01 -2.83085277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.971400513 meters Centerline goodness [0,1] 0.9749435423163781 Centerline is valid? [False, True] Translation: X:308.55, Y:18.23, Z:-0.28 [[ 9.99921139e-01 -8.08401856e-03 -9.61066093e-03 3.08552485e+02] [ 8.12715839e-03 9.99957036e-01 4.45819866e-03 1.82345214e+01] [ 9.57420786e-03 -4.53595445e-03 9.99943878e-01 -2.82984823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.001400513 meters Centerline goodness [0,1] 0.9875102818303823 Centerline is valid? [True, True] Translation: X:308.58, Y:18.24, Z:-0.28 [[ 9.99874717e-01 -1.30850823e-02 -8.90683685e-03 3.08583092e+02] [ 1.30813505e-02 9.99914322e-01 -4.77121680e-04 1.82363645e+01] [ 8.91231691e-03 3.60548450e-04 9.99960220e-01 -2.78449708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.031400513 meters Centerline goodness [0,1] 0.975832901778008 Centerline is valid? [True, True] Translation: X:308.61, Y:18.26, Z:-0.26 [[ 9.99457053e-01 -3.08863262e-02 -1.14731717e-02 3.08605443e+02] [ 3.06997819e-02 9.99399069e-01 -1.60942438e-02 1.82586573e+01] [ 1.19633692e-02 1.57332816e-02 9.99804652e-01 -2.57104404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.061400513 meters Centerline goodness [0,1] 0.9912488683881536 Centerline is valid? [True, True] Translation: X:308.65, Y:18.23, Z:-0.29 [[ 9.99803356e-01 -1.66694090e-02 -1.07415425e-02 3.08645399e+02] [ 1.68254576e-02 9.99751771e-01 1.46047758e-02 1.82259387e+01] [ 1.04954232e-02 -1.47826352e-02 9.99835646e-01 -2.90584685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.091400513 meters Centerline goodness [0,1] 0.9944684528954192 Centerline is valid? [True, True] Translation: X:308.68, Y:18.24, Z:-0.28 [[ 9.99769813e-01 -1.82268748e-02 -1.13182264e-02 3.08676424e+02] [ 1.82212167e-02 9.99833798e-01 -6.02840760e-04 1.82383492e+01] [ 1.13273332e-02 3.96470138e-04 9.99935765e-01 -2.78079709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.121400513 meters Centerline goodness [0,1] 0.9994777045113273 Centerline is valid? [True, True] Translation: X:308.71, Y:18.23, Z:-0.28 [[ 9.99696377e-01 -2.06804446e-02 -1.33967414e-02 3.08708213e+02] [ 2.06727445e-02 9.99786042e-01 -7.13014452e-04 1.82303370e+01] [ 1.34086205e-02 4.35850552e-04 9.99910005e-01 -2.79315349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.151400513 meters Centerline goodness [0,1] 0.9982236471556691 Centerline is valid? [True, True] Translation: X:308.74, Y:18.24, Z:-0.28 [[ 9.99682921e-01 -2.14046366e-02 -1.32627151e-02 3.08739098e+02] [ 2.13971585e-02 9.99770806e-01 -7.05503760e-04 1.82374432e+01] [ 1.32747764e-02 4.21495643e-04 9.99911797e-01 -2.80472684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.181400513 meters Centerline goodness [0,1] 0.9982236471556691 Centerline is valid? [True, True] Translation: X:308.77, Y:18.24, Z:-0.28 [[ 9.99684336e-01 -2.13384196e-02 -1.32627498e-02 3.08771640e+02] [ 2.13309443e-02 9.99772221e-01 -7.04850655e-04 1.82390685e+01] [ 1.32747692e-02 4.21721182e-04 9.99911797e-01 -2.80240089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.211400513 meters Centerline goodness [0,1] 0.999482524418379 Centerline is valid? [True, True] Translation: X:308.80, Y:18.24, Z:-0.28 [[ 9.99690037e-01 -2.13240271e-02 -1.28497239e-02 3.08804219e+02] [ 2.13170183e-02 9.99772534e-01 -6.82178274e-04 1.82381727e+01] [ 1.28613478e-02 4.08049026e-04 9.99917206e-01 -2.76040656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.241400513 meters Centerline goodness [0,1] 0.997855193032627 Centerline is valid? [True, True] Translation: X:308.84, Y:18.25, Z:-0.28 [[ 9.99722710e-01 -2.02341037e-02 -1.20450483e-02 3.08835178e+02] [ 2.02278720e-02 9.99795191e-01 -6.38982220e-04 1.82472304e+01] [ 1.20555106e-02 3.95159342e-04 9.99927252e-01 -2.75527920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.271400513 meters Centerline goodness [0,1] 0.9984961759903755 Centerline is valid? [True, True] Translation: X:308.87, Y:18.25, Z:-0.27 [[ 9.99774419e-01 -1.99829271e-02 -7.19684468e-03 3.08866990e+02] [ 1.99806971e-02 9.99800293e-01 -3.81638609e-04 1.82480127e+01] [ 7.20303367e-03 2.37754545e-04 9.99974030e-01 -2.70680650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.301400513 meters Centerline goodness [0,1] 0.9974285897957872 Centerline is valid? [True, True] Translation: X:308.90, Y:18.25, Z:-0.27 [[ 9.99793142e-01 -1.97792129e-02 -4.73872639e-03 3.08898168e+02] [ 1.97782444e-02 9.99804360e-01 -2.51158445e-04 1.82533096e+01] [ 4.74276703e-03 1.57382802e-04 9.99988741e-01 -2.68124318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.331400513 meters Centerline goodness [0,1] 0.998227486922312 Centerline is valid? [True, True] Translation: X:308.93, Y:18.25, Z:-0.27 [[ 9.99806915e-01 -1.91525953e-02 -4.39432960e-03 3.08930077e+02] [ 1.91517569e-02 9.99816561e-01 -2.32805551e-04 1.82535696e+01] [ 4.39798234e-03 1.48601468e-04 9.99990318e-01 -2.67451975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.361400513 meters Centerline goodness [0,1] 0.9989493546035422 Centerline is valid? [True, True] Translation: X:308.96, Y:18.25, Z:-0.27 [[ 9.99790698e-01 -1.96475037e-02 -5.70394815e-03 3.08962120e+02] [ 1.96461010e-02 9.99806951e-01 -3.01842143e-04 1.82537437e+01] [ 5.70877745e-03 1.89718625e-04 9.99983687e-01 -2.69151946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.391400513 meters Centerline goodness [0,1] 0.999720327861799 Centerline is valid? [True, True] Translation: X:309.00, Y:18.25, Z:-0.27 [[ 9.99783677e-01 -1.95393830e-02 -7.12829890e-03 3.08995457e+02] [ 1.95371924e-02 9.99809060e-01 -3.76823435e-04 1.82514363e+01] [ 7.13430072e-03 2.37474973e-04 9.99974522e-01 -2.70902814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.421400513 meters Centerline goodness [0,1] 0.9998058629392351 Centerline is valid? [True, True] Translation: X:309.03, Y:18.25, Z:-0.27 [[ 9.99754093e-01 -2.06365918e-02 -8.11689126e-03 3.09027596e+02] [ 2.06337924e-02 9.99787009e-01 -4.28477615e-04 1.82509814e+01] [ 8.12400475e-03 2.60890000e-04 9.99966966e-01 -2.71690533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.451400513 meters Centerline goodness [0,1] 0.9996124531714249 Centerline is valid? [True, True] Translation: X:309.06, Y:18.25, Z:-0.27 [[ 9.99732458e-01 -2.16343724e-02 -8.18334433e-03 3.09058872e+02] [ 2.16315635e-02 9.99765917e-01 -4.31613794e-04 1.82541777e+01] [ 8.19076644e-03 2.54479786e-04 9.99966423e-01 -2.72472057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.481400513 meters Centerline goodness [0,1] 0.9996147342736671 Centerline is valid? [True, True] Translation: X:309.09, Y:18.26, Z:-0.27 [[ 9.99700528e-01 -2.30192785e-02 -8.30458811e-03 3.09090616e+02] [ 2.30164360e-02 9.99734991e-01 -4.37702991e-04 1.82560883e+01] [ 8.31246292e-03 2.46429891e-04 9.99965421e-01 -2.71871743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.511400513 meters Centerline goodness [0,1] 0.9996093326098752 Centerline is valid? [True, True] Translation: X:309.12, Y:18.26, Z:-0.28 [[ 9.99705290e-01 -2.24366388e-02 -9.26982768e-03 3.09123261e+02] [ 2.24330764e-02 9.99748228e-01 -4.88114915e-04 1.82553634e+01] [ 9.27844545e-03 2.80020311e-04 9.99956915e-01 -2.75057382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.541400513 meters Centerline goodness [0,1] 0.9998916552904722 Centerline is valid? [True, True] Translation: X:309.15, Y:18.26, Z:-0.27 [[ 9.99683688e-01 -2.26488991e-02 -1.09339637e-02 3.09154656e+02] [ 2.26439611e-02 9.99743427e-01 -5.75218712e-04 1.82572057e+01] [ 1.09441865e-02 3.27448513e-04 9.99940057e-01 -2.74118045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.571400513 meters Centerline goodness [0,1] 0.9996092647665357 Centerline is valid? [True, True] Translation: X:309.19, Y:18.26, Z:-0.28 [[ 9.99716842e-01 -2.16176616e-02 -9.94550929e-03 3.09186017e+02] [ 2.16135284e-02 9.99766264e-01 -5.22894644e-04 1.82603692e+01] [ 9.95448842e-03 3.07789034e-04 9.99950405e-01 -2.75346411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.601400513 meters Centerline goodness [0,1] 0.9997406975236613 Centerline is valid? [True, True] Translation: X:309.22, Y:18.26, Z:-0.27 [[ 9.99738525e-01 -2.09203810e-02 -9.23144027e-03 3.09216607e+02] [ 2.09167931e-02 9.99781102e-01 -4.85050941e-04 1.82642076e+01] [ 9.23956698e-03 2.91831986e-04 9.99957272e-01 -2.72183617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.631400513 meters Centerline goodness [0,1] 0.999439316829121 Centerline is valid? [True, True] Translation: X:309.25, Y:18.27, Z:-0.27 [[ 9.99793095e-01 -1.88929349e-02 -7.53824888e-03 3.09248278e+02] [ 1.88904867e-02 9.99821480e-01 -3.95854948e-04 1.82678360e+01] [ 7.54438202e-03 2.53371853e-04 9.99971509e-01 -2.70733757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.661400513 meters Centerline goodness [0,1] 0.9992247561211964 Centerline is valid? [True, True] Translation: X:309.28, Y:18.27, Z:-0.27 [[ 9.99781187e-01 -1.87324075e-02 -9.30991796e-03 3.09279542e+02] [ 1.87286732e-02 9.99824484e-01 -4.88141861e-04 1.82713840e+01] [ 9.31742799e-03 3.13672639e-04 9.99956543e-01 -2.72009777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.691400513 meters Centerline goodness [0,1] 0.9983726606997559 Centerline is valid? [True, True] Translation: X:309.31, Y:18.27, Z:-0.27 [[ 9.99762854e-01 -1.96321978e-02 -9.42403388e-03 3.09310705e+02] [ 1.96284143e-02 9.99807222e-01 -4.93802122e-04 1.82736928e+01] [ 9.43191156e-03 3.08706177e-04 9.99955471e-01 -2.73403770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.721400513 meters Centerline goodness [0,1] 0.9990223554715505 Centerline is valid? [True, True] Translation: X:309.34, Y:18.27, Z:-0.27 [[ 9.99787166e-01 -1.77872628e-02 -1.04516285e-02 3.09342699e+02] [ 1.77825129e-02 9.99841729e-01 -5.47230660e-04 1.82747070e+01] [ 1.04597080e-02 3.61257972e-04 9.99945231e-01 -2.74584370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.751400513 meters Centerline goodness [0,1] 0.9992024486980514 Centerline is valid? [True, True] Translation: X:309.38, Y:18.27, Z:-0.27 [[ 9.99782581e-01 -1.82194663e-02 -1.01411250e-02 3.09375332e+02] [ 1.82150211e-02 9.99833952e-01 -5.30523962e-04 1.82743906e+01] [ 1.01491070e-02 3.45687809e-04 9.99948437e-01 -2.73155223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.781400513 meters Centerline goodness [0,1] 0.9973696692682507 Centerline is valid? [True, True] Translation: X:309.41, Y:18.28, Z:-0.27 [[ 9.99803250e-01 -1.75551800e-02 -9.23453871e-03 3.09406582e+02] [ 1.75514692e-02 9.99845845e-01 -4.82728098e-04 1.82793017e+01] [ 9.24158954e-03 3.20553399e-04 9.99957244e-01 -2.73193255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.811400513 meters Centerline goodness [0,1] 0.9958712341139281 Centerline is valid? [True, True] Translation: X:309.44, Y:18.28, Z:-0.27 [[ 9.99858117e-01 -1.46615883e-02 -8.29365214e-03 3.09436986e+02] [ 1.46584977e-02 9.99892465e-01 -4.33312928e-04 1.82833876e+01] [ 8.29911333e-03 3.11678967e-04 9.99965513e-01 -2.69535808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.841400513 meters Centerline goodness [0,1] 0.9960628217886038 Centerline is valid? [True, True] Translation: X:309.47, Y:18.28, Z:-0.27 [[ 9.99915900e-01 -1.08213058e-02 -7.14789962e-03 3.09467699e+02] [ 1.08189127e-02 9.99941404e-01 -3.73382711e-04 1.82844062e+01] [ 7.15152127e-03 2.96018807e-04 9.99974384e-01 -2.69144985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.871400513 meters Centerline goodness [0,1] 0.9823497911534754 Centerline is valid? [True, True] Translation: X:309.50, Y:18.29, Z:-0.27 [[ 9.99930478e-01 -9.15776304e-03 -7.42789395e-03 3.09498307e+02] [ 9.15513333e-03 9.99958016e-01 -3.87958218e-04 1.82936679e+01] [ 7.43113493e-03 3.19927887e-04 9.99972338e-01 -2.68045723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.901400513 meters Centerline goodness [0,1] 0.9764561697735922 Centerline is valid? [True, True] Translation: X:309.53, Y:18.30, Z:-0.27 [[ 9.99957158e-01 -6.60823591e-03 -6.48172923e-03 3.09529673e+02] [ 6.60618132e-03 9.99978122e-01 -3.38340613e-04 1.82958155e+01] [ 6.48382325e-03 2.95506640e-04 9.99978936e-01 -2.69060066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.931400513 meters Centerline goodness [0,1] 0.9793544760792962 Centerline is valid? [True, True] Translation: X:309.56, Y:18.30, Z:-0.27 [[ 9.99972780e-01 -2.13287450e-03 -7.06332134e-03 3.09560032e+02] [ 2.13032448e-03 9.99997663e-01 -3.68527732e-04 1.82966448e+01] [ 7.06409085e-03 3.53470534e-04 9.99974987e-01 -2.68154723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.961400513 meters Centerline goodness [0,1] 0.9741084196386012 Centerline is valid? [True, True] Translation: X:309.59, Y:18.30, Z:-0.27 [[ 9.99971232e-01 4.07610936e-04 -7.57427854e-03 3.09590339e+02] [-4.10616211e-04 9.99999838e-01 -3.95222909e-04 1.83000211e+01] [ 7.57411622e-03 3.98321661e-04 9.99971237e-01 -2.67390997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.991400513 meters Centerline goodness [0,1] 0.9648650974654676 Centerline is valid? [True, True] Translation: X:309.62, Y:18.30, Z:-0.27 [[ 9.99967026e-01 2.48187929e-03 -7.73217047e-03 3.09620415e+02] [-2.48507305e-03 9.99996831e-01 -4.03468416e-04 1.83037871e+01] [ 7.73114460e-03 4.22670121e-04 9.99970025e-01 -2.67279413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.021400513 meters Centerline goodness [0,1] 0.9532760704419889 Centerline is valid? [True, True] Translation: X:309.65, Y:18.31, Z:-0.27 [[ 9.99955899e-01 6.05693965e-03 -7.17733818e-03 3.09650691e+02] [-6.05978384e-03 9.99981569e-01 -3.74592132e-04 1.83068650e+01] [ 7.17493702e-03 4.18068730e-04 9.99974172e-01 -2.68414506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.051400513 meters Centerline goodness [0,1] 0.867169110501652 Centerline is valid? [True, False] Translation: X:309.65, Y:18.31, Z:-0.27 [[ 9.99956344e-01 6.00001418e-03 -7.16307093e-03 3.09650382e+02] [-6.00545152e-03 9.99981695e-01 -7.37812036e-04 1.83085808e+01] [ 7.15851293e-03 7.80797302e-04 9.99974073e-01 -2.68015073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.081400513 meters Centerline goodness [0,1] 0.9990497170748563 Centerline is valid? [False, True] Translation: X:309.65, Y:18.31, Z:-0.27 [[ 9.99958677e-01 5.86985136e-03 -6.94184306e-03 3.09649146e+02] [-5.87792494e-03 9.99982071e-01 -1.14320176e-03 1.83101974e+01] [ 6.93500818e-03 1.18395815e-03 9.99975252e-01 -2.67111335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.111400513 meters Centerline goodness [0,1] 0.7896937725167267 Centerline is valid? [True, False] Translation: X:309.68, Y:18.31, Z:-0.27 [[ 9.99977396e-01 5.79050042e-03 -3.41720632e-03 3.09684219e+02] [-5.77236034e-03 9.99969323e-01 5.29465289e-03 1.83094791e+01] [ 3.44776018e-03 -5.27480786e-03 9.99980144e-01 -2.70051309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.141400513 meters Centerline goodness [0,1] 0.8222045688766747 Centerline is valid? [False, False] Translation: X:309.68, Y:18.32, Z:-0.27 [[ 9.99992748e-01 1.36434050e-03 -3.55568869e-03 3.09683288e+02] [-1.36589824e-03 9.99998972e-01 -4.35705802e-04 1.83164827e+01] [ 3.55509059e-03 4.40559351e-04 9.99993584e-01 -2.67243993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.171400513 meters Centerline goodness [0,1] 0.791779993955878 Centerline is valid? [False, False] Translation: X:309.68, Y:18.32, Z:-0.27 [[ 9.99992263e-01 1.44652465e-03 -3.65802386e-03 3.09683851e+02] [-1.44742851e-03 9.99998923e-01 -2.44454480e-04 1.83156998e+01] [ 3.65766631e-03 2.49747317e-04 9.99993280e-01 -2.67654053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.201400513 meters Centerline goodness [0,1] 0.8102394679449807 Centerline is valid? [False, False] Translation: X:309.68, Y:18.31, Z:-0.27 [[ 9.99991730e-01 1.48070773e-03 -3.78769422e-03 3.09684482e+02] [-1.48065362e-03 9.99998904e-01 1.70916268e-05 1.83144222e+01] [ 3.78771537e-03 -1.14832223e-05 9.99992827e-01 -2.68031267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.231400513 meters Centerline goodness [0,1] 0.9261704552786081 Centerline is valid? [False, False] Translation: X:309.68, Y:18.31, Z:-0.27 [[ 9.99991666e-01 1.49765450e-03 -3.79793290e-03 3.09684418e+02] [-1.49732892e-03 9.99998875e-01 8.85683403e-05 1.83140158e+01] [ 3.79806127e-03 -8.28808474e-05 9.99992784e-01 -2.67812107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.261400513 meters Centerline goodness [0,1] 0.7710970464135021 Centerline is valid? [False, False] Translation: X:309.68, Y:18.31, Z:-0.27 [[ 9.99991737e-01 1.53064757e-03 -3.76614259e-03 3.09684387e+02] [-1.52991686e-03 9.99998810e-01 1.96894684e-04 1.83134688e+01] [ 3.76643949e-03 -1.91131172e-04 9.99992889e-01 -2.67969707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.291400513 meters Centerline goodness [0,1] 0.8676334928024371 Centerline is valid? [False, False] Translation: X:309.68, Y:18.31, Z:-0.27 [[ 9.99991560e-01 1.56948522e-03 -3.79698689e-03 3.09684759e+02] [-1.56889797e-03 9.99998757e-01 1.57635748e-04 1.83139155e+01] [ 3.79722957e-03 -1.51677333e-04 9.99992779e-01 -2.68505204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.321400513 meters Centerline goodness [0,1] 0.7062398007386412 Centerline is valid? [False, False] Translation: X:309.68, Y:18.32, Z:-0.27 [[ 9.99991724e-01 1.51825781e-03 -3.77461676e-03 3.09684507e+02] [-1.51862019e-03 9.99998843e-01 -9.31396526e-05 1.83150613e+01] [ 3.77447098e-03 9.88710910e-05 9.99992872e-01 -2.68236064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.351400513 meters Centerline goodness [0,1] 0.7363042494017205 Centerline is valid? [False, False] Translation: X:309.68, Y:18.32, Z:-0.27 [[ 9.99991865e-01 1.42743020e-03 -3.77270583e-03 3.09684318e+02] [-1.42837845e-03 9.99998949e-01 -2.48662577e-04 1.83156661e+01] [ 3.77234691e-03 2.54049406e-04 9.99992852e-01 -2.67950052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.381400513 meters Centerline goodness [0,1] 0.7130928235446425 Centerline is valid? [False, False] Translation: X:309.68, Y:18.32, Z:-0.27 [[ 9.99991740e-01 1.38735833e-03 -3.82036950e-03 3.09684367e+02] [-1.38839291e-03 9.99999000e-01 -2.68167142e-04 1.83156718e+01] [ 3.81999363e-03 2.73469101e-04 9.99992666e-01 -2.67747818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.411400513 meters Centerline goodness [0,1] 0.9192465016146394 Centerline is valid? [False, False] Translation: X:309.69, Y:18.31, Z:-0.27 [[ 9.99990945e-01 1.49677310e-03 -3.98374603e-03 3.09685175e+02] [-1.49641345e-03 9.99998876e-01 9.32580901e-05 1.83140891e+01] [ 3.98388114e-03 -8.72959145e-05 9.99992061e-01 -2.68185301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.441400513 meters Centerline goodness [0,1] 0.8725824800910125 Centerline is valid? [False, False] Translation: X:309.69, Y:18.31, Z:-0.27 [[ 9.99990059e-01 1.55866608e-03 -4.17767559e-03 3.09686162e+02] [-1.55779313e-03 9.99998764e-01 2.12200878e-04 1.83138212e+01] [ 4.17800118e-03 -2.05690814e-04 9.99991251e-01 -2.68825227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.471400513 meters Centerline goodness [0,1] 0.8848992061272348 Centerline is valid? [False, False] Translation: X:309.69, Y:18.31, Z:-0.27 [[ 9.99989437e-01 1.71539495e-03 -4.26418612e-03 3.09686808e+02] [-1.71269870e-03 9.99998331e-01 6.35872450e-04 1.83119459e+01] [ 4.26526978e-03 -6.28562468e-04 9.99990706e-01 -2.69463583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.501400513 meters Centerline goodness [0,1] 0.9231198608815131 Centerline is valid? [False, False] Translation: X:309.69, Y:18.31, Z:-0.27 [[ 9.99989329e-01 1.64393417e-03 -4.31722456e-03 3.09686933e+02] [-1.64221338e-03 9.99998571e-01 4.02102210e-04 1.83131043e+01] [ 4.31787941e-03 -3.95008115e-04 9.99990600e-01 -2.69399992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.531400513 meters Centerline goodness [0,1] 0.9324215782047107 Centerline is valid? [False, False] Translation: X:309.69, Y:18.31, Z:-0.27 [[ 9.99989911e-01 1.58432325e-03 -4.20335524e-03 3.09686248e+02] [-1.58303545e-03 9.99998699e-01 3.09682852e-04 1.83132870e+01] [ 4.20384041e-03 -3.03025667e-04 9.99991118e-01 -2.68862873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.561400513 meters Centerline goodness [0,1] 0.8677808608117701 Centerline is valid? [False, False] Translation: X:309.69, Y:18.31, Z:-0.27 [[ 9.99989566e-01 1.56216508e-03 -4.29280314e-03 3.09686494e+02] [-1.56195711e-03 9.99998779e-01 5.17968566e-05 1.83146813e+01] [ 4.29287881e-03 -4.50911418e-05 9.99990785e-01 -2.68802162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.591400513 meters Centerline goodness [0,1] 0.8992489270386266 Centerline is valid? [False, False] Translation: X:309.69, Y:18.31, Z:-0.27 [[ 9.99989176e-01 1.63409619e-03 -4.35639415e-03 3.09686908e+02] [-1.63340505e-03 9.99998653e-01 1.62203390e-04 1.83143516e+01] [ 4.35665334e-03 -1.55085878e-04 9.99990498e-01 -2.69171227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.621400513 meters Centerline goodness [0,1] 0.8663959741690244 Centerline is valid? [False, False] Translation: X:309.69, Y:18.31, Z:-0.27 [[ 9.99988370e-01 1.77757056e-03 -4.48322806e-03 3.09687896e+02] [-1.77542728e-03 9.99998308e-01 4.82000780e-04 1.83131323e+01] [ 4.48407727e-03 -4.74035529e-04 9.99989834e-01 -2.70279675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.651400513 meters Centerline goodness [0,1] 0.9082208906324094 Centerline is valid? [False, False] Translation: X:309.69, Y:18.31, Z:-0.27 [[ 9.99988841e-01 1.68364703e-03 -4.41396256e-03 3.09687424e+02] [-1.68224853e-03 9.99998534e-01 3.20528468e-04 1.83136912e+01] [ 4.41449575e-03 -3.13099509e-04 9.99990207e-01 -2.69841739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.681400513 meters Centerline goodness [0,1] 0.7851564185544768 Centerline is valid? [False, False] Translation: X:309.69, Y:18.32, Z:-0.27 [[ 9.99989869e-01 1.53283147e-03 -4.23233202e-03 3.09686261e+02] [-1.53311062e-03 9.99998823e-01 -6.27136153e-05 1.83151505e+01] [ 4.23223091e-03 6.92016131e-05 9.99991042e-01 -2.68819693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.711400513 meters Centerline goodness [0,1] 0.7226738934056007 Centerline is valid? [False, False] Translation: X:309.69, Y:18.32, Z:-0.27 [[ 9.99989139e-01 1.89786186e-03 -4.25680758e-03 3.09686117e+02] [-1.89974647e-03 9.99998099e-01 -4.38728299e-04 1.83178499e+01] [ 4.25596684e-03 4.46810389e-04 9.99990844e-01 -2.67889964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.741400513 meters Centerline goodness [0,1] 0.6879508530085408 Centerline is valid? [False, False] Translation: X:309.69, Y:18.32, Z:-0.27 [[ 9.99989590e-01 1.85281033e-03 -4.16985968e-03 3.09685445e+02] [-1.85554460e-03 9.99998066e-01 -6.51949328e-04 1.83187214e+01] [ 4.16864368e-03 6.59679902e-04 9.99991094e-01 -2.67175096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.771400513 meters Centerline goodness [0,1] 0.6944707808998449 Centerline is valid? [False, False] Translation: X:309.68, Y:18.32, Z:-0.27 [[ 9.99989947e-01 1.77014873e-03 -4.11970157e-03 3.09684988e+02] [-1.77349058e-03 9.99998101e-01 -8.07673945e-04 1.83192739e+01] [ 4.11826405e-03 8.14972078e-04 9.99991188e-01 -2.66672923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.801400513 meters Centerline goodness [0,1] 0.6804068522483939 Centerline is valid? [False, False] Translation: X:309.69, Y:18.32, Z:-0.27 [[ 9.99989885e-01 1.78828213e-03 -4.12704903e-03 3.09685034e+02] [-1.79164804e-03 9.99998065e-01 -8.12019724e-04 1.83193625e+01] [ 4.12558893e-03 8.19405729e-04 9.99991154e-01 -2.66706005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.831400513 meters Centerline goodness [0,1] 0.6822099305376897 Centerline is valid? [False, False] Translation: X:309.69, Y:18.32, Z:-0.27 [[ 9.99989571e-01 1.85468476e-03 -4.17354278e-03 3.09685277e+02] [-1.85719448e-03 9.99998097e-01 -5.97543446e-04 1.83183274e+01] [ 4.17242659e-03 6.05288295e-04 9.99991112e-01 -2.66863363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.861400513 meters Centerline goodness [0,1] 0.6739995269122423 Centerline is valid? [False, False] Translation: X:309.69, Y:18.32, Z:-0.27 [[ 9.99989278e-01 1.85565415e-03 -4.24260543e-03 3.09685678e+02] [-1.85843528e-03 9.99998061e-01 -6.51674326e-04 1.83187187e+01] [ 4.24138792e-03 6.59551947e-04 9.99990788e-01 -2.67232097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.891400513 meters Centerline goodness [0,1] 0.6974452081442095 Centerline is valid? [False, False] Translation: X:309.69, Y:18.32, Z:-0.27 [[ 9.99989515e-01 1.84062276e-03 -4.19314279e-03 3.09685417e+02] [-1.84319579e-03 9.99998115e-01 -6.09847146e-04 1.83183545e+01] [ 4.19201239e-03 6.17569535e-04 9.99991023e-01 -2.67065865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.921400513 meters Centerline goodness [0,1] 0.6748669783072316 Centerline is valid? [False, False] Translation: X:309.69, Y:18.32, Z:-0.27 [[ 9.99989628e-01 1.81172126e-03 -4.17865798e-03 3.09685265e+02] [-1.81501661e-03 9.99998045e-01 -7.84957259e-04 1.83192170e+01] [ 4.17722768e-03 7.92533451e-04 9.99990961e-01 -2.66907065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.951400513 meters Centerline goodness [0,1] 0.6718099489248466 Centerline is valid? [False, False] Translation: X:309.68, Y:18.32, Z:-0.27 [[ 9.99989889e-01 1.82241543e-03 -4.11100446e-03 3.09684943e+02] [-1.82567263e-03 9.99998022e-01 -7.88697283e-04 1.83191922e+01] [ 4.10955900e-03 7.96194657e-04 9.99991239e-01 -2.66719332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.981400513 meters Centerline goodness [0,1] 0.6869188116248462 Centerline is valid? [False, False] Translation: X:309.68, Y:18.32, Z:-0.27 [[ 9.99990427e-01 1.70548958e-03 -4.02964975e-03 3.09684266e+02] [-1.71016471e-03 9.99997868e-01 -1.15702174e-03 1.83207414e+01] [ 4.02766787e-03 1.16390203e-03 9.99991212e-01 -2.66035609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.011400513 meters Centerline goodness [0,1] 0.6595041674660527 Centerline is valid? [False, False] Translation: X:309.72, Y:18.32, Z:-0.27 [[ 9.99998686e-01 8.65344809e-05 -1.61849572e-03 3.09722841e+02] [-7.94694605e-05 9.99990471e-01 4.36473208e-03 1.83195504e+01] [ 1.61885800e-03 -4.36459773e-03 9.99989165e-01 -2.71382884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.041400513 meters Centerline goodness [0,1] 0.6652274777677536 Centerline is valid? [False, False] Translation: X:309.72, Y:18.32, Z:-0.27 [[ 9.99998634e-01 1.59562098e-04 -1.64497538e-03 3.09723233e+02] [-1.52101158e-04 9.99989707e-01 4.53472143e-03 1.83188980e+01] [ 1.64568201e-03 -4.53446504e-03 9.99988365e-01 -2.71937638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.071400513 meters Centerline goodness [0,1] 0.6766460663344952 Centerline is valid? [False, False] Translation: X:309.73, Y:18.32, Z:-0.27 [[ 9.99993495e-01 -2.67080698e-03 -2.42412173e-03 3.09728477e+02] [ 2.67401634e-03 9.99995551e-01 1.32165269e-03 1.83224579e+01] [ 2.42058107e-03 -1.32812623e-03 9.99996188e-01 -2.74913558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.101400513 meters Centerline goodness [0,1] 0.6829872479751853 Centerline is valid? [False, False] Translation: X:309.73, Y:18.32, Z:-0.28 [[ 9.99993290e-01 -2.55266955e-03 -2.62750167e-03 3.09729644e+02] [ 2.55682848e-03 9.99995482e-01 1.58070640e-03 1.83215297e+01] [ 2.62345478e-03 -1.58741386e-03 9.99995299e-01 -2.75866814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.131400513 meters Centerline goodness [0,1] 0.6829872479751853 Centerline is valid? [False, False] Translation: X:309.73, Y:18.32, Z:-0.28 [[ 9.99993290e-01 -2.55266955e-03 -2.62750167e-03 3.09729644e+02] [ 2.55682848e-03 9.99995482e-01 1.58070640e-03 1.83215297e+01] [ 2.62345478e-03 -1.58741386e-03 9.99995299e-01 -2.75866814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.161400513 meters Centerline goodness [0,1] 0.6540392123214209 Centerline is valid? [False, False] Translation: X:309.73, Y:18.32, Z:-0.28 [[ 9.99993123e-01 -2.55204483e-03 -2.69107109e-03 3.09729836e+02] [ 2.55606601e-03 9.99995620e-01 1.49188843e-03 1.83220320e+01] [ 2.68725194e-03 -1.49875672e-03 9.99995266e-01 -2.75834122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.191400513 meters Centerline goodness [0,1] 0.6644213497562228 Centerline is valid? [False, False] Translation: X:309.73, Y:18.32, Z:-0.28 [[ 9.99992995e-01 -2.55560478e-03 -2.73466594e-03 3.09729937e+02] [ 2.55946862e-03 9.99995730e-01 1.41034556e-03 1.83224948e+01] [ 2.73104998e-03 -1.41733497e-03 9.99995266e-01 -2.75777007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.221400513 meters Centerline goodness [0,1] 0.6634883820813469 Centerline is valid? [False, False] Translation: X:309.73, Y:18.32, Z:-0.28 [[ 9.99992824e-01 -2.56308271e-03 -2.78954452e-03 3.09730140e+02] [ 2.56695678e-03 9.99995745e-01 1.38608950e-03 1.83226191e+01] [ 2.78597999e-03 -1.39324020e-03 9.99995149e-01 -2.75883034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.251400513 meters Centerline goodness [0,1] 0.6673450152092884 Centerline is valid? [False, False] Translation: X:309.73, Y:18.32, Z:-0.28 [[ 9.99992884e-01 -2.48498398e-03 -2.83841443e-03 3.09730545e+02] [ 2.48925430e-03 9.99995774e-01 1.50193436e-03 1.83222844e+01] [ 2.83467015e-03 -1.50898921e-03 9.99994844e-01 -2.76322529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.281400513 meters Centerline goodness [0,1] 0.6648471615720524 Centerline is valid? [False, False] Translation: X:309.73, Y:18.32, Z:-0.28 [[ 9.99993035e-01 -2.31786358e-03 -2.92518968e-03 3.09731426e+02] [ 2.32334124e-03 9.99995552e-01 1.87057389e-03 1.83208800e+01] [ 2.92084093e-03 -1.87735707e-03 9.99993972e-01 -2.77363714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.311400513 meters Centerline goodness [0,1] 0.6624862628482773 Centerline is valid? [False, False] Translation: X:309.73, Y:18.32, Z:-0.28 [[ 9.99992769e-01 -2.29238227e-03 -3.03430094e-03 3.09731865e+02] [ 2.29838316e-03 9.99995407e-01 1.97567669e-03 1.83204036e+01] [ 3.02975799e-03 -1.98263639e-03 9.99993445e-01 -2.77503461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.341400513 meters Centerline goodness [0,1] 0.6464188576609248 Centerline is valid? [False, False] Translation: X:309.73, Y:18.32, Z:-0.28 [[ 9.99992522e-01 -2.29811010e-03 -3.11036650e-03 3.09732064e+02] [ 2.30441563e-03 9.99995294e-01 2.02520062e-03 1.83201008e+01] [ 3.10569772e-03 -2.03235305e-03 9.99993112e-01 -2.77427529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.371400513 meters Centerline goodness [0,1] 0.676039225896034 Centerline is valid? [False, False] Translation: X:309.73, Y:18.32, Z:-0.28 [[ 9.99992199e-01 -2.34744183e-03 -3.17679524e-03 3.09732225e+02] [ 2.35359241e-03 9.99995361e-01 1.93374321e-03 1.83204920e+01] [ 3.17224116e-03 -1.94120501e-03 9.99993084e-01 -2.77364229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.401400513 meters Centerline goodness [0,1] 0.6660435333806055 Centerline is valid? [False, False] Translation: X:309.73, Y:18.32, Z:-0.28 [[ 9.99992001e-01 -2.37538408e-03 -3.21796977e-03 3.09732183e+02] [ 2.38122369e-03 9.99995523e-01 1.81207243e-03 1.83210432e+01] [ 3.21365100e-03 -1.81972064e-03 9.99993181e-01 -2.77008683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.431400513 meters Centerline goodness [0,1] 0.6734018313915997 Centerline is valid? [False, False] Translation: X:309.73, Y:18.32, Z:-0.28 [[ 9.99992196e-01 -2.53950506e-03 -3.02620269e-03 3.09730782e+02] [ 2.54364173e-03 9.99995835e-01 1.36388755e-03 1.83227376e+01] [ 3.02272649e-03 -1.37157449e-03 9.99994491e-01 -2.75552145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.461400513 meters Centerline goodness [0,1] 0.6620247189082482 Centerline is valid? [False, False] Translation: X:309.73, Y:18.32, Z:-0.28 [[ 9.99992234e-01 -2.56307976e-03 -2.99365078e-03 3.09730498e+02] [ 2.56701396e-03 9.99995846e-01 1.31107983e-03 1.83228955e+01] [ 2.99027794e-03 -1.31875439e-03 9.99994660e-01 -2.75226271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.491400513 meters Centerline goodness [0,1] 0.667835457111092 Centerline is valid? [False, False] Translation: X:309.73, Y:18.32, Z:-0.27 [[ 9.99992289e-01 -2.62270672e-03 -2.92285995e-03 3.09729996e+02] [ 2.62610944e-03 9.99995878e-01 1.16094419e-03 1.83234888e+01] [ 2.91980309e-03 -1.16861099e-03 9.99995055e-01 -2.74749407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.521400513 meters Centerline goodness [0,1] 0.660806596317341 Centerline is valid? [False, False] Translation: X:309.73, Y:18.32, Z:-0.27 [[ 9.99992328e-01 -2.66001766e-03 -2.87556775e-03 3.09729781e+02] [ 2.66301379e-03 9.99995915e-01 1.03859909e-03 1.83241078e+01] [ 2.87279332e-03 -1.04624880e-03 9.99995326e-01 -2.74656810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.551400513 meters Centerline goodness [0,1] 0.6554095909430738 Centerline is valid? [False, False] Translation: X:309.73, Y:18.32, Z:-0.27 [[ 9.99992742e-01 -2.58629082e-03 -2.79778976e-03 3.09729633e+02] [ 2.58972081e-03 9.99995899e-01 1.22303694e-03 1.83232345e+01] [ 2.79461516e-03 -1.23027356e-03 9.99995338e-01 -2.74817546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.581400513 meters Centerline goodness [0,1] 0.6627742240157988 Centerline is valid? [False, False] Translation: X:309.73, Y:18.33, Z:-0.27 [[ 9.99992276e-01 -2.70922669e-03 -2.84742982e-03 3.09729598e+02] [ 2.71161622e-03 9.99995974e-01 8.35660461e-04 1.83250640e+01] [ 2.84515436e-03 -8.43375143e-04 9.99995597e-01 -2.74592122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.611400513 meters Centerline goodness [0,1] 0.6701048613642699 Centerline is valid? [False, False] Translation: X:309.73, Y:18.32, Z:-0.27 [[ 9.99992407e-01 -2.61466215e-03 -2.88942820e-03 3.09729895e+02] [ 2.61771593e-03 9.99996019e-01 1.05360572e-03 1.83241386e+01] [ 2.88666187e-03 -1.06116142e-03 9.99995271e-01 -2.74819676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.641400513 meters Centerline goodness [0,1] 0.6571171826526028 Centerline is valid? [False, False] Translation: X:309.73, Y:18.32, Z:-0.28 [[ 9.99992292e-01 -2.56830009e-03 -2.96988586e-03 3.09730360e+02] [ 2.57160525e-03 9.99996078e-01 1.10961051e-03 1.83240513e+01] [ 2.96702440e-03 -1.11723933e-03 9.99994974e-01 -2.75186330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.671400513 meters Centerline goodness [0,1] 0.6707447950203906 Centerline is valid? [False, False] Translation: X:309.73, Y:18.32, Z:-0.27 [[ 9.99992311e-01 -2.64840310e-03 -2.89196263e-03 3.09729878e+02] [ 2.65112525e-03 9.99996046e-01 9.37854300e-04 1.83247344e+01] [ 2.88946738e-03 -9.45514045e-04 9.99995378e-01 -2.74838550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.701400513 meters Centerline goodness [0,1] 0.6616778006166495 Centerline is valid? [False, False] Translation: X:309.73, Y:18.32, Z:-0.27 [[ 9.99992439e-01 -2.73309592e-03 -2.76627772e-03 3.09728908e+02] [ 2.73545809e-03 9.99995897e-01 8.50492885e-04 1.83247648e+01] [ 2.76394189e-03 -8.58053491e-04 9.99995812e-01 -2.73755875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.731400513 meters Centerline goodness [0,1] 0.6602152385453139 Centerline is valid? [False, False] Translation: X:309.73, Y:18.32, Z:-0.27 [[ 9.99992442e-01 -2.74041867e-03 -2.75805063e-03 3.09728826e+02] [ 2.74304501e-03 9.99995788e-01 9.48912004e-04 1.83241772e+01] [ 2.75543860e-03 -9.56470288e-04 9.99995746e-01 -2.73602932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.761400513 meters Centerline goodness [0,1] 0.680728051391863 Centerline is valid? [False, False] Translation: X:309.73, Y:18.32, Z:-0.27 [[ 9.99992266e-01 -2.60102574e-03 -2.95017076e-03 3.09729775e+02] [ 2.60481605e-03 9.99995786e-01 1.28166454e-03 1.83228494e+01] [ 2.94682469e-03 -1.28933928e-03 9.99994827e-01 -2.74093911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.791400513 meters Centerline goodness [0,1] 0.6774928040555055 Centerline is valid? [False, False] Translation: X:309.73, Y:18.32, Z:-0.28 [[ 9.99992075e-01 -2.44272574e-03 -3.14387071e-03 3.09731015e+02] [ 2.44800759e-03 9.99995597e-01 1.67729578e-03 1.83213045e+01] [ 3.13975969e-03 -1.68497871e-03 9.99993651e-01 -2.75172573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.821400513 meters Centerline goodness [0,1] 0.6725192642039967 Centerline is valid? [False, False] Translation: X:309.73, Y:18.32, Z:-0.28 [[ 9.99991856e-01 -2.35279121e-03 -3.27902208e-03 3.09731739e+02] [ 2.35903631e-03 9.99995409e-01 1.90199604e-03 1.83204250e+01] [ 3.27453202e-03 -1.90971588e-03 9.99992815e-01 -2.75660515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.851400513 meters Centerline goodness [0,1] 0.6813761192750953 Centerline is valid? [False, False] Translation: X:309.73, Y:18.32, Z:-0.27 [[ 9.99990509e-01 -2.73236590e-03 -3.39338933e-03 3.09731006e+02] [ 2.73553840e-03 9.99995825e-01 9.30615185e-04 1.83246915e+01] [ 3.39083239e-03 -9.39889100e-04 9.99993809e-01 -2.73713587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.881400513 meters Centerline goodness [0,1] 0.6716781796017879 Centerline is valid? [False, False] Translation: X:309.73, Y:18.33, Z:-0.27 [[ 9.99990309e-01 -2.88944023e-03 -3.32156676e-03 3.09730178e+02] [ 2.89105555e-03 9.99995705e-01 4.81612381e-04 1.83266042e+01] [ 3.32016090e-03 -4.91210548e-04 9.99994368e-01 -2.72677351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.911400513 meters Centerline goodness [0,1] 0.6655028527633484 Centerline is valid? [False, False] Translation: X:309.73, Y:18.33, Z:-0.27 [[ 9.99990501e-01 -2.84362521e-03 -3.30338818e-03 3.09730110e+02] [ 2.84535478e-03 9.99995817e-01 5.18993603e-04 1.83264914e+01] [ 3.30189854e-03 -5.28387985e-04 9.99994409e-01 -2.72668396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.941400513 meters Centerline goodness [0,1] 0.6782306463451492 Centerline is valid? [False, False] Translation: X:309.69, Y:18.33, Z:-0.27 [[ 9.99984656e-01 -8.34770959e-04 -5.47632896e-03 3.09692174e+02] [ 8.07176616e-04 9.99986978e-01 -5.03911604e-03 1.83283836e+01] [ 5.48046415e-03 5.03461836e-03 9.99972308e-01 -2.68811356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.971400513 meters Centerline goodness [0,1] 0.6535269264589186 Centerline is valid? [False, False] Translation: X:309.69, Y:18.33, Z:-0.27 [[ 9.99985326e-01 -7.36560977e-04 -5.36697351e-03 3.09691996e+02] [ 7.08410859e-04 9.99985994e-01 -5.24507837e-03 1.83297312e+01] [ 5.37076166e-03 5.24119938e-03 9.99971842e-01 -2.69125898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.001400513 meters Centerline goodness [0,1] 0.646384403984885 Centerline is valid? [False, False] Translation: X:309.69, Y:18.33, Z:-0.27 [[ 9.99986329e-01 -9.32489253e-04 -5.14505208e-03 3.09690561e+02] [ 9.03544225e-04 9.99983770e-01 -5.62525803e-03 1.83310884e+01] [ 5.15021407e-03 5.62053235e-03 9.99970942e-01 -2.67905999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.031400513 meters Centerline goodness [0,1] 0.655696310879055 Centerline is valid? [False, False] Translation: X:309.69, Y:18.33, Z:-0.27 [[ 9.99986885e-01 -1.07993968e-03 -5.00639069e-03 3.09689498e+02] [ 1.05009212e-03 9.99981684e-01 -5.96069150e-03 1.83323893e+01] [ 5.01273618e-03 5.95535616e-03 9.99969703e-01 -2.66797367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.061400513 meters Centerline goodness [0,1] 0.6576807873341891 Centerline is valid? [False, False] Translation: X:309.69, Y:18.33, Z:-0.27 [[ 9.99986956e-01 -1.15154105e-03 -4.97606857e-03 3.09689061e+02] [ 1.12115261e-03 9.99980733e-01 -6.10539644e-03 1.83329037e+01] [ 4.98300331e-03 6.09973787e-03 9.99968981e-01 -2.66175913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.091400513 meters Centerline goodness [0,1] 0.6547460610483836 Centerline is valid? [False, False] Translation: X:309.69, Y:18.33, Z:-0.27 [[ 9.99986782e-01 -1.10065955e-03 -5.02240787e-03 3.09689460e+02] [ 1.07021732e-03 9.99981066e-01 -6.05994939e-03 1.83329090e+01] [ 5.02898271e-03 6.05449423e-03 9.99969026e-01 -2.66665378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.121400513 meters Centerline goodness [0,1] 0.6410701280897914 Centerline is valid? [False, False] Translation: X:309.69, Y:18.33, Z:-0.27 [[ 9.99986232e-01 -1.06865968e-03 -5.13753319e-03 3.09690192e+02] [ 1.03729501e-03 9.99980834e-01 -6.10380046e-03 1.83334738e+01] [ 5.14395760e-03 6.09838729e-03 9.99968174e-01 -2.67387750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.151400513 meters Centerline goodness [0,1] 0.6443034471011562 Centerline is valid? [False, False] Translation: X:309.69, Y:18.33, Z:-0.27 [[ 9.99985866e-01 -1.01403712e-03 -5.21908534e-03 3.09690609e+02] [ 9.82284545e-04 9.99981016e-01 -6.08290736e-03 1.83335902e+01] [ 5.22515456e-03 6.07769476e-03 9.99967879e-01 -2.67626576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.181400513 meters Centerline goodness [0,1] 0.6470701536617729 Centerline is valid? [False, False] Translation: X:309.69, Y:18.33, Z:-0.27 [[ 9.99987862e-01 1.87713933e-03 -4.55540890e-03 3.09686162e+02] [-1.88962100e-03 9.99994468e-01 -2.73721034e-03 1.83303518e+01] [ 4.55024558e-03 2.74578511e-03 9.99985878e-01 -2.65513254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.211400513 meters Centerline goodness [0,1] 0.6411135637898888 Centerline is valid? [False, False] Translation: X:309.69, Y:18.33, Z:-0.26 [[ 9.99988933e-01 1.71296172e-03 -4.38164356e-03 3.09685014e+02] [-1.72684022e-03 9.99993498e-01 -3.16559870e-03 1.83320789e+01] [ 4.37619252e-03 3.17313007e-03 9.99985390e-01 -2.64519549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.241400513 meters Centerline goodness [0,1] 0.6547928714233506 Centerline is valid? [False, False] Translation: X:309.68, Y:18.34, Z:-0.26 [[ 9.99992572e-01 1.16589653e-03 -3.67364431e-03 3.09680630e+02] [-1.18190055e-03 9.99989809e-01 -4.35728719e-03 1.83361070e+01] [ 3.66852672e-03 4.36159671e-03 9.99983759e-01 -2.61088864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.271400513 meters Centerline goodness [0,1] 0.643173683313448 Centerline is valid? [False, False] Translation: X:309.71, Y:18.33, Z:-0.27 [[ 9.99999216e-01 5.62919244e-05 1.25096322e-03 3.09708960e+02] [-6.31779480e-05 9.99984844e-01 5.50521960e-03 1.83321185e+01] [-1.25063436e-03 -5.50529432e-03 9.99984064e-01 -2.73191769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.301400513 meters Centerline goodness [0,1] 0.6440214465666114 Centerline is valid? [False, False] Translation: X:309.68, Y:18.34, Z:-0.26 [[ 9.99995351e-01 1.02895252e-03 -2.87057564e-03 3.09678217e+02] [-1.04313653e-03 9.99987234e-01 -4.94405960e-03 1.83369415e+01] [ 2.86545179e-03 4.94703102e-03 9.99983658e-01 -2.59953040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.331400513 meters Centerline goodness [0,1] 0.6441769136676753 Centerline is valid? [False, False] Translation: X:309.68, Y:18.34, Z:-0.26 [[ 9.99994919e-01 1.18154250e-03 -2.96062264e-03 3.09679099e+02] [-1.19532623e-03 9.99988436e-01 -4.65825258e-03 1.83359637e+01] [ 2.95508448e-03 4.66176782e-03 9.99984768e-01 -2.61019921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.361400513 meters Centerline goodness [0,1] 0.6541146970450271 Centerline is valid? [False, False] Translation: X:309.68, Y:18.34, Z:-0.26 [[ 9.99994340e-01 1.25221348e-03 -3.12296524e-03 3.09680136e+02] [-1.26636215e-03 9.99988926e-01 -4.53266958e-03 1.83356915e+01] [ 3.11725478e-03 4.53659873e-03 9.99984851e-01 -2.62009528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.391400513 meters Centerline goodness [0,1] 0.6508328855454057 Centerline is valid? [False, False] Translation: X:309.68, Y:18.34, Z:-0.26 [[ 9.99994012e-01 1.31527435e-03 -3.20082585e-03 3.09680532e+02] [-1.32941720e-03 9.99989346e-01 -4.42039223e-03 1.83353182e+01] [ 3.19497772e-03 4.42462100e-03 9.99985107e-01 -2.62242383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.421400513 meters Centerline goodness [0,1] 0.6452512169493706 Centerline is valid? [False, False] Translation: X:309.68, Y:18.33, Z:-0.26 [[ 9.99993596e-01 1.39898930e-03 -3.29410657e-03 3.09681028e+02] [-1.41304337e-03 9.99989894e-01 -4.26797260e-03 1.83347771e+01] [ 3.28810243e-03 4.27259999e-03 9.99985467e-01 -2.62554327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.451400513 meters Centerline goodness [0,1] 0.6479191310893644 Centerline is valid? [False, False] Translation: X:309.68, Y:18.34, Z:-0.26 [[ 9.99993228e-01 1.36635774e-03 -3.41718530e-03 3.09681530e+02] [-1.38124166e-03 9.99989554e-01 -4.35704576e-03 1.83353247e+01] [ 3.41119632e-03 4.36173621e-03 9.99984669e-01 -2.62810780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.481400513 meters Centerline goodness [0,1] 0.6439432989690721 Centerline is valid? [False, False] Translation: X:309.68, Y:18.34, Z:-0.26 [[ 9.99993236e-01 1.31208033e-03 -3.43604486e-03 3.09681510e+02] [-1.32767625e-03 9.99988810e-01 -4.54057359e-03 1.83362277e+01] [ 3.43004881e-03 4.54510484e-03 9.99983788e-01 -2.62704706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.511400513 meters Centerline goodness [0,1] 0.6523056427005888 Centerline is valid? [False, False] Translation: X:309.68, Y:18.34, Z:-0.26 [[ 9.99993852e-01 1.18843000e-03 -3.29897452e-03 3.09680681e+02] [-1.20461506e-03 9.99987228e-01 -4.90844528e-03 1.83377986e+01] [ 3.29309904e-03 4.91238910e-03 9.99982512e-01 -2.62085185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.541400513 meters Centerline goodness [0,1] 0.6494946899623159 Centerline is valid? [False, False] Translation: X:309.68, Y:18.34, Z:-0.26 [[ 9.99994545e-01 1.12540154e-03 -3.10533727e-03 3.09679748e+02] [-1.14138306e-03 9.99986090e-01 -5.14950362e-03 1.83388151e+01] [ 3.09949881e-03 5.15301991e-03 9.99981920e-01 -2.61560427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.571400513 meters Centerline goodness [0,1] 0.6410999484801649 Centerline is valid? [False, False] Translation: X:309.68, Y:18.34, Z:-0.26 [[ 9.99995828e-01 9.53954804e-04 -2.72665533e-03 3.09677926e+02] [-9.69442817e-04 9.99983373e-01 -5.68455785e-03 1.83410302e+01] [ 2.72118718e-03 5.68717747e-03 9.99980125e-01 -2.60566232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.601400513 meters Centerline goodness [0,1] 0.6457979489605057 Centerline is valid? [False, False] Translation: X:309.68, Y:18.34, Z:-0.26 [[ 9.99995660e-01 9.98846314e-04 -2.77186505e-03 3.09678156e+02] [-1.01406542e-03 9.99984390e-01 -5.49460361e-03 1.83401509e+01] [ 2.76633352e-03 5.49739062e-03 9.99981063e-01 -2.60652509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.631400513 meters Centerline goodness [0,1] 0.6552457466918715 Centerline is valid? [False, False] Translation: X:309.68, Y:18.34, Z:-0.26 [[ 9.99994944e-01 1.05617963e-03 -2.99943013e-03 3.09679133e+02] [-1.07224161e-03 9.99985068e-01 -5.35846344e-03 1.83397548e+01] [ 2.99372585e-03 5.36165246e-03 9.99981145e-01 -2.61039873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.661400513 meters Centerline goodness [0,1] 0.6450436229441754 Centerline is valid? [False, False] Translation: X:309.70, Y:18.34, Z:-0.26 [[ 9.99983883e-01 -4.30688262e-03 -3.69934898e-03 3.09698762e+02] [ 4.32019153e-03 9.99984198e-01 3.59720887e-03 1.83380198e+01] [ 3.68379777e-03 -3.61313279e-03 9.99986687e-01 -2.64275865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.691400513 meters Centerline goodness [0,1] 0.6555763320222666 Centerline is valid? [False, False] Translation: X:309.70, Y:18.34, Z:-0.26 [[ 9.99950022e-01 -9.34534685e-03 -3.55204737e-03 3.09696365e+02] [ 9.33747769e-03 9.99953928e-01 -2.22555457e-03 1.83439220e+01] [ 3.57268230e-03 2.19227618e-03 9.99991215e-01 -2.61063081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.721400513 meters Centerline goodness [0,1] 0.6567726737338044 Centerline is valid? [False, False] Translation: X:309.70, Y:18.34, Z:-0.26 [[ 9.99977814e-01 -5.37223143e-03 -3.93831430e-03 3.09698641e+02] [ 5.38477254e-03 9.99980443e-01 3.18072644e-03 1.83376758e+01] [ 3.92114968e-03 -3.20186280e-03 9.99987186e-01 -2.64036404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.751400513 meters Centerline goodness [0,1] 0.6648066192033866 Centerline is valid? [False, False] Translation: X:309.70, Y:18.34, Z:-0.26 [[ 9.99974955e-01 -6.00669131e-03 -3.74287123e-03 3.09697175e+02] [ 6.01929212e-03 9.99976224e-01 3.36449626e-03 1.83352184e+01] [ 3.72257275e-03 -3.38694143e-03 9.99987335e-01 -2.62896965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.781400513 meters Centerline goodness [0,1] 0.6823343579234973 Centerline is valid? [False, False] Translation: X:309.70, Y:18.34, Z:-0.26 [[ 9.99973816e-01 -6.09556404e-03 -3.90015997e-03 3.09697244e+02] [ 6.10852449e-03 9.99975832e-01 3.31981866e-03 1.83351992e+01] [ 3.87982955e-03 -3.34355596e-03 9.99986884e-01 -2.62022224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.811400513 meters Centerline goodness [0,1] 0.6811560100113376 Centerline is valid? [False, False] Translation: X:309.70, Y:18.33, Z:-0.26 [[ 9.99973375e-01 -6.10147598e-03 -4.00264598e-03 3.09697421e+02] [ 6.11503599e-03 9.99975576e-01 3.38431768e-03 1.83347849e+01] [ 3.98189889e-03 -3.40870389e-03 9.99986263e-01 -2.61696425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.841400513 meters Centerline goodness [0,1] 0.6527456027456027 Centerline is valid? [False, False] Translation: X:309.70, Y:18.33, Z:-0.26 [[ 9.99973005e-01 -6.10936016e-03 -4.08218368e-03 3.09697653e+02] [ 6.12316694e-03 9.99975547e-01 3.37831157e-03 1.83348311e+01] [ 4.06144453e-03 -3.40321627e-03 9.99985961e-01 -2.61661876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.871400513 meters Centerline goodness [0,1] 0.7025864849175464 Centerline is valid? [False, False] Translation: X:309.70, Y:18.34, Z:-0.26 [[ 9.99972875e-01 -6.17643329e-03 -4.01265097e-03 3.09697337e+02] [ 6.18944800e-03 9.99975599e-01 3.23913661e-03 1.83354208e+01] [ 3.99254674e-03 -3.26388484e-03 9.99986703e-01 -2.61581538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.901400513 meters Centerline goodness [0,1] 0.6950942100519335 Centerline is valid? [False, False] Translation: X:309.70, Y:18.33, Z:-0.26 [[ 9.99973780e-01 -6.12705132e-03 -3.85984686e-03 3.09696771e+02] [ 6.14057764e-03 9.99975013e-01 3.50231805e-03 1.83340242e+01] [ 3.83829153e-03 -3.52592791e-03 9.99986418e-01 -2.61329876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.931400513 meters Centerline goodness [0,1] 0.7060826729492397 Centerline is valid? [False, False] Translation: X:309.70, Y:18.33, Z:-0.26 [[ 9.99973432e-01 -6.06424302e-03 -4.04476968e-03 3.09697608e+02] [ 6.07915651e-03 9.99974732e-01 3.68505812e-03 1.83333412e+01] [ 4.02232039e-03 -3.70954900e-03 9.99985030e-01 -2.61705283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.961400513 meters Centerline goodness [0,1] 0.7036295099623048 Centerline is valid? [False, False] Translation: X:309.70, Y:18.33, Z:-0.26 [[ 9.99972874e-01 -6.00824657e-03 -4.26048396e-03 3.09698625e+02] [ 6.02473995e-03 9.99974366e-01 3.86903881e-03 1.83326465e+01] [ 4.23712861e-03 -3.89460217e-03 9.99983439e-01 -2.62269898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.991400513 meters Centerline goodness [0,1] 0.7036295099623048 Centerline is valid? [False, False] Translation: X:309.70, Y:18.33, Z:-0.26 [[ 9.99972874e-01 -6.00824657e-03 -4.26048396e-03 3.09698625e+02] [ 6.02473995e-03 9.99974366e-01 3.86903881e-03 1.83326465e+01] [ 4.23712861e-03 -3.89460217e-03 9.99983439e-01 -2.62269898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.021400513 meters Centerline goodness [0,1] 0.7170140760061219 Centerline is valid? [False, False] Translation: X:309.70, Y:18.33, Z:-0.26 [[ 9.99971826e-01 -6.19889154e-03 -4.23337322e-03 3.09698795e+02] [ 6.21693042e-03 9.99971595e-01 4.26133064e-03 1.83303082e+01] [ 4.20683745e-03 -4.28752916e-03 9.99981960e-01 -2.62818200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.051400513 meters Centerline goodness [0,1] 0.719347219239854 Centerline is valid? [False, False] Translation: X:309.70, Y:18.33, Z:-0.26 [[ 9.99971116e-01 -6.30542870e-03 -4.24371411e-03 3.09698514e+02] [ 6.32254608e-03 9.99971882e-01 4.03232976e-03 1.83312899e+01] [ 4.21816922e-03 -4.05904437e-03 9.99982865e-01 -2.62282118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.081400513 meters Centerline goodness [0,1] 0.85958992434663 Centerline is valid? [False, False] Translation: X:309.70, Y:18.33, Z:-0.26 [[ 9.99971323e-01 -6.37200369e-03 -4.09274330e-03 3.09697520e+02] [ 6.38854138e-03 9.99971430e-01 4.04045207e-03 1.83308155e+01] [ 4.06688060e-03 -4.06648286e-03 9.99983462e-01 -2.61311355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.111400513 meters Centerline goodness [0,1] 0.8596801691952436 Centerline is valid? [False, False] Translation: X:309.70, Y:18.33, Z:-0.26 [[ 9.99971167e-01 -6.43333098e-03 -4.03460773e-03 3.09697107e+02] [ 6.44937944e-03 9.99971293e-01 3.97738583e-03 1.83309171e+01] [ 4.00890407e-03 -4.00329186e-03 9.99983951e-01 -2.60919459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.141400513 meters Centerline goodness [0,1] 0.713635583032801 Centerline is valid? [False, False] Translation: X:309.70, Y:18.33, Z:-0.26 [[ 9.99971464e-01 -6.32363250e-03 -4.13308643e-03 3.09697782e+02] [ 6.34114360e-03 9.99970916e-01 4.23752714e-03 1.83299023e+01] [ 4.10616966e-03 -4.26361472e-03 9.99982480e-01 -2.61510381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.171400513 meters Centerline goodness [0,1] 0.7236327705460326 Centerline is valid? [False, False] Translation: X:309.70, Y:18.33, Z:-0.26 [[ 9.99971046e-01 -6.31771269e-03 -4.24188079e-03 3.09698203e+02] [ 6.33574702e-03 9.99970891e-01 4.25160367e-03 1.83299017e+01] [ 4.21489691e-03 -4.27835605e-03 9.99981965e-01 -2.61643238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.201400513 meters Centerline goodness [0,1] 0.7358486500463273 Centerline is valid? [False, False] Translation: X:309.70, Y:18.33, Z:-0.26 [[ 9.99970377e-01 -6.41540373e-03 -4.25289158e-03 3.09698011e+02] [ 6.43256901e-03 9.99971171e-01 4.03482700e-03 1.83308041e+01] [ 4.22688393e-03 -4.06206450e-03 9.99982816e-01 -2.61295160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.231400513 meters Centerline goodness [0,1] 0.7461331396342505 Centerline is valid? [False, False] Translation: X:309.70, Y:18.33, Z:-0.26 [[ 9.99970088e-01 -6.45116089e-03 -4.26691296e-03 3.09697810e+02] [ 6.46820682e-03 9.99971108e-01 3.99324661e-03 1.83308928e+01] [ 4.24102860e-03 -4.02072644e-03 9.99982924e-01 -2.60823898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.261400513 meters Centerline goodness [0,1] 0.7238658353042356 Centerline is valid? [False, False] Translation: X:309.70, Y:18.33, Z:-0.26 [[ 9.99969952e-01 -6.48899505e-03 -4.24115138e-03 3.09697621e+02] [ 6.50571847e-03 9.99971070e-01 3.94130457e-03 1.83310473e+01] [ 4.21545358e-03 -3.96877788e-03 9.99983239e-01 -2.60651630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.291400513 meters Centerline goodness [0,1] 0.7289663845842305 Centerline is valid? [False, False] Translation: X:309.70, Y:18.33, Z:-0.26 [[ 9.99970251e-01 -6.44292485e-03 -4.24092083e-03 3.09697735e+02] [ 6.45979928e-03 9.99971225e-01 3.97735589e-03 1.83310198e+01] [ 4.21517299e-03 -4.00463307e-03 9.99983097e-01 -2.60874191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.321400513 meters Centerline goodness [0,1] 0.7230012669916465 Centerline is valid? [False, False] Translation: X:309.70, Y:18.34, Z:-0.26 [[ 9.99929673e-01 -1.09652466e-02 -4.51806458e-03 3.09697318e+02] [ 1.09578841e-02 9.99938597e-01 -1.65112858e-03 1.83373611e+01] [ 4.53589219e-03 1.60150404e-03 9.99988430e-01 -2.58317137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.351400513 meters Centerline goodness [0,1] 0.7371321146116945 Centerline is valid? [False, False] Translation: X:309.70, Y:18.34, Z:-0.26 [[ 9.99929563e-01 -1.09613061e-02 -4.55177468e-03 3.09697477e+02] [ 1.09539462e-02 9.99938661e-01 -1.63873480e-03 1.83373378e+01] [ 4.56945815e-03 1.58875948e-03 9.99988298e-01 -2.58417498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.381400513 meters Centerline goodness [0,1] 0.704977472645355 Centerline is valid? [False, False] Translation: X:309.70, Y:18.34, Z:-0.26 [[ 9.99928392e-01 -1.10122755e-02 -4.68407647e-03 3.09697846e+02] [ 1.10035277e-02 9.99937675e-01 -1.88925373e-03 1.83386533e+01] [ 4.70458951e-03 1.83757708e-03 9.99987245e-01 -2.58372442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.411400513 meters Centerline goodness [0,1] 0.7253024519635116 Centerline is valid? [False, False] Translation: X:309.70, Y:18.34, Z:-0.26 [[ 9.99927885e-01 -1.10713142e-02 -4.65314815e-03 3.09697714e+02] [ 1.10617624e-02 9.99936667e-01 -2.07349023e-03 1.83395921e+01] [ 4.67580972e-03 2.02186868e-03 9.99987024e-01 -2.58395749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.441400513 meters Centerline goodness [0,1] 0.7255091310972339 Centerline is valid? [False, False] Translation: X:309.70, Y:18.33, Z:-0.26 [[ 9.99969676e-01 -6.20135908e-03 -4.71057194e-03 3.09699737e+02] [ 6.21896380e-03 9.99973698e-01 3.73187055e-03 1.83335081e+01] [ 4.68730538e-03 -3.76105226e-03 9.99981942e-01 -2.61636472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.471400513 meters Centerline goodness [0,1] 0.6994821992566014 Centerline is valid? [False, False] Translation: X:309.70, Y:18.33, Z:-0.26 [[ 9.99969166e-01 -6.35275262e-03 -4.61629817e-03 3.09698958e+02] [ 6.36862578e-03 9.99973831e-01 3.43197817e-03 1.83346412e+01] [ 4.59437486e-03 -3.46127182e-03 9.99983456e-01 -2.60820700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.501400513 meters Centerline goodness [0,1] 0.7432446980299279 Centerline is valid? [False, False] Translation: X:309.70, Y:18.33, Z:-0.26 [[ 9.99969268e-01 -6.38307267e-03 -4.55195963e-03 3.09698513e+02] [ 6.39897002e-03 9.99973449e-01 3.48645012e-03 1.83341501e+01] [ 4.52958451e-03 -3.51547082e-03 9.99983562e-01 -2.60341305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.531400513 meters Centerline goodness [0,1] 0.7287762088147197 Centerline is valid? [False, False] Translation: X:309.70, Y:18.34, Z:-0.26 [[ 9.99968390e-01 -6.45492485e-03 -4.64256118e-03 3.09698704e+02] [ 6.47025401e-03 9.99973641e-01 3.29447146e-03 1.83351269e+01] [ 4.62117324e-03 -3.32440588e-03 9.99983796e-01 -2.60188059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.561400513 meters Centerline goodness [0,1] 0.7382109296401738 Centerline is valid? [False, False] Translation: X:309.70, Y:18.34, Z:-0.26 [[ 9.99968111e-01 -6.50622396e-03 -4.63095225e-03 3.09698465e+02] [ 6.52129553e-03 9.99973465e-01 3.24690395e-03 1.83352176e+01] [ 4.60970428e-03 -3.27700022e-03 9.99984006e-01 -2.59833602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.591400513 meters Centerline goodness [0,1] 0.7699574870099197 Centerline is valid? [False, False] Translation: X:309.70, Y:18.33, Z:-0.26 [[ 9.99968355e-01 -6.49142191e-03 -4.59900800e-03 3.09698431e+02] [ 6.50694614e-03 9.99973155e-01 3.36867900e-03 1.83346117e+01] [ 4.57701703e-03 -3.39849790e-03 9.99983750e-01 -2.59949037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.621400513 meters Centerline goodness [0,1] 0.7542991197296773 Centerline is valid? [False, False] Translation: X:309.70, Y:18.33, Z:-0.26 [[ 9.99968944e-01 -6.44710984e-03 -4.53281506e-03 3.09698496e+02] [ 6.46334419e-03 9.99972718e-01 3.57603837e-03 1.83336673e+01] [ 4.50963628e-03 -3.60522445e-03 9.99983333e-01 -2.60408399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.651400513 meters Centerline goodness [0,1] 0.7507325733108036 Centerline is valid? [False, False] Translation: X:309.70, Y:18.33, Z:-0.26 [[ 9.99968494e-01 -6.50645190e-03 -4.54729616e-03 3.09698425e+02] [ 6.52213056e-03 9.99972808e-01 3.44162667e-03 1.83343145e+01] [ 4.52477973e-03 -3.47117629e-03 9.99983739e-01 -2.60220176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.681400513 meters Centerline goodness [0,1] 0.7790928283539121 Centerline is valid? [False, False] Translation: X:309.70, Y:18.33, Z:-0.26 [[ 9.99969061e-01 -6.36603593e-03 -4.62073557e-03 3.09698773e+02] [ 6.38377038e-03 9.99972276e-01 3.83346706e-03 1.83324704e+01] [ 4.59620348e-03 -3.86284617e-03 9.99981977e-01 -2.60285348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.711400513 meters Centerline goodness [0,1] 0.7620040407514078 Centerline is valid? [False, False] Translation: X:309.70, Y:18.33, Z:-0.26 [[ 9.99967409e-01 -6.44898279e-03 -4.85713426e-03 3.09699533e+02] [ 6.46619116e-03 9.99972844e-01 3.53557572e-03 1.83340446e+01] [ 4.83420149e-03 -3.56686765e-03 9.99981954e-01 -2.60387668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.741400513 meters Centerline goodness [0,1] 0.7092753871894977 Centerline is valid? [False, False] Translation: X:309.70, Y:18.33, Z:-0.26 [[ 9.99967782e-01 -6.36837317e-03 -4.88661721e-03 3.09699844e+02] [ 6.38599794e-03 9.99973130e-01 3.59965608e-03 1.83339471e+01] [ 4.86356196e-03 -3.63074604e-03 9.99981582e-01 -2.60826654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.771400513 meters Centerline goodness [0,1] 0.7354378294972355 Centerline is valid? [False, False] Translation: X:309.70, Y:18.34, Z:-0.26 [[ 9.99967927e-01 -6.42417570e-03 -4.78268606e-03 3.09699224e+02] [ 6.44010841e-03 9.99973740e-01 3.32341718e-03 1.83351775e+01] [ 4.76121025e-03 -3.35411161e-03 9.99983040e-01 -2.60395142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.801400513 meters Centerline goodness [0,1] 0.7289691236140343 Centerline is valid? [False, False] Translation: X:309.67, Y:18.34, Z:-0.25 [[ 9.99959442e-01 -2.70265133e-03 -8.59127483e-03 3.09671151e+02] [ 2.65531274e-03 9.99981257e-01 -5.51671703e-03 1.83402109e+01] [ 8.60602357e-03 5.49368076e-03 9.99947877e-01 -2.47746789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.831400513 meters Centerline goodness [0,1] 0.7174347835437321 Centerline is valid? [False, False] Translation: X:309.68, Y:18.34, Z:-0.25 [[ 9.99994311e-01 2.33927829e-03 -2.43012414e-03 3.09683290e+02] [-2.36119000e-03 9.99956230e-01 -9.05331158e-03 1.83436936e+01] [ 2.40883956e-03 9.05899806e-03 9.99956065e-01 -2.45184671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.861400513 meters Centerline goodness [0,1] 0.6908288145401548 Centerline is valid? [False, False] Translation: X:309.69, Y:18.34, Z:-0.25 [[ 9.99970318e-01 7.27495715e-03 -2.53749547e-03 3.09685843e+02] [-7.28300441e-03 9.99968433e-01 -3.17664895e-03 1.83374998e+01] [ 2.51430538e-03 3.19503525e-03 9.99991735e-01 -2.48856949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.891400513 meters Centerline goodness [0,1] 0.7174551456560416 Centerline is valid? [False, False] Translation: X:309.69, Y:18.34, Z:-0.25 [[ 9.99969657e-01 7.33238354e-03 -2.63088797e-03 3.09686641e+02] [-7.34063236e-03 9.99968129e-01 -3.13953830e-03 1.83376706e+01] [ 2.60778382e-03 3.15875542e-03 9.99991611e-01 -2.49826342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.921400513 meters Centerline goodness [0,1] 0.7300219704475941 Centerline is valid? [False, False] Translation: X:309.69, Y:18.33, Z:-0.25 [[ 9.99967830e-01 7.45474792e-03 -2.96073452e-03 3.09688970e+02] [-7.46183520e-03 9.99969304e-01 -2.38997031e-03 1.83345017e+01] [ 2.94282701e-03 2.41198593e-03 9.99992761e-01 -2.52390001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.951400513 meters Centerline goodness [0,1] 0.7403100775193798 Centerline is valid? [False, False] Translation: X:309.69, Y:18.33, Z:-0.25 [[ 9.99967325e-01 7.48618690e-03 -3.05064191e-03 3.09689365e+02] [-7.49262595e-03 9.99969715e-01 -2.10478719e-03 1.83330731e+01] [ 3.03479269e-03 2.12757574e-03 9.99993132e-01 -2.52510580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.981400513 meters Centerline goodness [0,1] 0.7293014856061746 Centerline is valid? [False, False] Translation: X:309.71, Y:18.33, Z:-0.25 [[ 9.99966678e-01 3.59668654e-03 -7.32850278e-03 3.09706031e+02] [-3.55072553e-03 9.99974008e-01 6.27493036e-03 1.83303177e+01] [ 7.35088126e-03 -6.24869976e-03 9.99953458e-01 -2.48774469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.011400513 meters Centerline goodness [0,1] 0.7253163188060993 Centerline is valid? [False, False] Translation: X:309.70, Y:18.34, Z:-0.24 [[ 9.99972046e-01 -1.21377614e-03 -7.37788609e-03 3.09703908e+02] [ 1.21572850e-03 9.99999227e-01 2.60144079e-04 1.83376372e+01] [ 7.37756463e-03 -2.69106313e-04 9.99972749e-01 -2.44951057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.041400513 meters Centerline goodness [0,1] 0.737228470850863 Centerline is valid? [False, False] Translation: X:309.70, Y:18.34, Z:-0.25 [[ 9.99971487e-01 -1.14631422e-03 -7.46397112e-03 3.09704488e+02] [ 1.14939892e-03 9.99999256e-01 4.09002753e-04 1.83371337e+01] [ 7.46349672e-03 -4.17570172e-04 9.99972061e-01 -2.45484819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.071400513 meters Centerline goodness [0,1] 0.7080001710351904 Centerline is valid? [False, False] Translation: X:309.70, Y:18.34, Z:-0.25 [[ 9.99971076e-01 -1.15359419e-03 -7.51770289e-03 3.09704577e+02] [ 1.15666302e-03 9.99999250e-01 4.03879334e-04 1.83371956e+01] [ 7.51723133e-03 -4.12563102e-04 9.99971660e-01 -2.45305511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.101400513 meters Centerline goodness [0,1] 0.755125800401009 Centerline is valid? [False, False] Translation: X:309.70, Y:18.34, Z:-0.24 [[ 9.99972590e-01 -1.28507292e-03 -7.29157626e-03 3.09703555e+02] [ 1.29020031e-03 9.99998924e-01 6.98532829e-04 1.83352173e+01] [ 7.29067075e-03 -7.07921276e-04 9.99973172e-01 -2.44683219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.131400513 meters Centerline goodness [0,1] 0.7524884159945083 Centerline is valid? [False, False] Translation: X:309.70, Y:18.33, Z:-0.25 [[ 9.99971736e-01 -1.25874247e-03 -7.41229538e-03 3.09704255e+02] [ 1.26672191e-03 9.99998623e-01 1.07191765e-03 1.83334907e+01] [ 7.41093591e-03 -1.08127667e-03 9.99971954e-01 -2.45149598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.161400513 meters Centerline goodness [0,1] 0.7590812766230708 Centerline is valid? [False, False] Translation: X:309.71, Y:18.33, Z:-0.25 [[ 9.99970114e-01 -1.10528932e-03 -7.65181763e-03 3.09705574e+02] [ 1.11659708e-03 9.99998291e-01 1.47367371e-03 1.83319541e+01] [ 7.65017571e-03 -1.48217366e-03 9.99969639e-01 -2.46028215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.191400513 meters Centerline goodness [0,1] 0.9548388494195114 Centerline is valid? [False, True] Translation: X:309.71, Y:18.33, Z:-0.25 [[ 9.99951501e-01 -5.70586664e-03 -8.02741348e-03 3.09706480e+02] [ 5.67909017e-03 9.99978247e-01 -3.35447808e-03 1.83343198e+01] [ 8.04637907e-03 3.30872698e-03 9.99962153e-01 -2.45445270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.221400513 meters Centerline goodness [0,1] 0.95246600103288 Centerline is valid? [True, True] Translation: X:309.73, Y:18.34, Z:-0.25 [[ 9.99929211e-01 -7.43144438e-03 -9.29226222e-03 3.09734920e+02] [ 7.42610729e-03 9.99972241e-01 -6.08730371e-04 1.83350144e+01] [ 9.29652802e-03 5.39681944e-04 9.99956641e-01 -2.49284002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.251400513 meters Centerline goodness [0,1] 0.9337687366167023 Centerline is valid? [True, False] Translation: X:309.74, Y:18.33, Z:-0.25 [[ 9.99928508e-01 -7.37471562e-03 -9.41239805e-03 3.09735387e+02] [ 7.37119099e-03 9.99972749e-01 -4.09103313e-04 1.83341433e+01] [ 9.41515858e-03 3.39693482e-04 9.99955619e-01 -2.49333930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.281400513 meters Centerline goodness [0,1] 0.9622039090477629 Centerline is valid? [False, True] Translation: X:309.73, Y:18.33, Z:-0.25 [[ 9.99927238e-01 -7.52217850e-03 -9.43052215e-03 3.09734912e+02] [ 7.51652421e-03 9.99971549e-01 -6.34873468e-04 1.83348754e+01] [ 9.43502948e-03 5.63942525e-04 9.99955330e-01 -2.48369273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.311400513 meters Centerline goodness [0,1] 0.9773448119619392 Centerline is valid? [True, True] Translation: X:309.76, Y:18.33, Z:-0.25 [[ 9.99913781e-01 -9.76410886e-03 -8.78021613e-03 3.09764687e+02] [ 9.75960293e-03 9.99952219e-01 -5.55892514e-04 1.83342443e+01] [ 8.78522440e-03 4.70153162e-04 9.99961299e-01 -2.46845061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.341400513 meters Centerline goodness [0,1] 0.9851450993920056 Centerline is valid? [True, True] Translation: X:309.80, Y:18.34, Z:-0.25 [[ 9.99900225e-01 -9.65000746e-03 -1.03158775e-02 3.09796880e+02] [ 9.64378302e-03 9.99953284e-01 -6.52959558e-04 1.83351516e+01] [ 1.03216967e-02 5.53410325e-04 9.99946577e-01 -2.48869239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.371400513 meters Centerline goodness [0,1] 0.9870090371915189 Centerline is valid? [True, True] Translation: X:309.83, Y:18.34, Z:-0.25 [[ 9.99874541e-01 -1.17926486e-02 -1.05752498e-02 3.09826518e+02] [ 1.17862283e-02 9.99930316e-01 -6.69227553e-04 1.83355189e+01] [ 1.05824049e-02 5.44501284e-04 9.99943857e-01 -2.50030143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.401400513 meters Centerline goodness [0,1] 0.986609349811929 Centerline is valid? [True, True] Translation: X:309.85, Y:18.34, Z:-0.24 [[ 9.99845788e-01 -1.46587764e-02 -9.67060444e-03 3.09854178e+02] [ 1.45928313e-02 9.99870022e-01 -6.85482104e-03 1.83409797e+01] [ 9.76983076e-03 6.71264245e-03 9.99929743e-01 -2.43375174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.431400513 meters Centerline goodness [0,1] 0.9837741289892186 Centerline is valid? [True, True] Translation: X:309.89, Y:18.34, Z:-0.26 [[ 9.99815296e-01 -1.56905929e-02 -1.10986143e-02 3.09888192e+02] [ 1.57520373e-02 9.99860963e-01 5.47063995e-03 1.83355369e+01] [ 1.10112336e-02 -5.64445529e-03 9.99923443e-01 -2.56839908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.461400513 meters Centerline goodness [0,1] 0.9923786428787944 Centerline is valid? [True, True] Translation: X:309.92, Y:18.33, Z:-0.25 [[ 9.99791661e-01 -1.74992631e-02 -1.05076649e-02 3.09919777e+02] [ 1.74932427e-02 9.99846761e-01 -6.64603954e-04 1.83332528e+01] [ 1.05176848e-02 4.80652359e-04 9.99944572e-01 -2.49134813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.491400513 meters Centerline goodness [0,1] 0.992482174784051 Centerline is valid? [True, True] Translation: X:309.95, Y:18.33, Z:-0.25 [[ 9.99754782e-01 -1.87737130e-02 -1.17441212e-02 3.09952394e+02] [ 1.87662883e-02 9.99823622e-01 -7.42096248e-04 1.83346299e+01] [ 1.17559817e-02 5.21520709e-04 9.99930760e-01 -2.49450259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.521400513 meters Centerline goodness [0,1] 0.9916650513665439 Centerline is valid? [True, True] Translation: X:309.98, Y:18.34, Z:-0.25 [[ 9.99778960e-01 -1.73856755e-02 -1.18224024e-02 3.09983578e+02] [ 1.73780621e-02 9.99848711e-01 -7.46410643e-04 1.83368163e+01] [ 1.18335906e-02 5.40795214e-04 9.99929834e-01 -2.48128122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.551400513 meters Centerline goodness [0,1] 0.9930148569451352 Centerline is valid? [True, True] Translation: X:310.01, Y:18.34, Z:-0.24 [[ 9.99746121e-01 -1.99268245e-02 -1.05173549e-02 3.10014686e+02] [ 1.98850615e-02 9.99794027e-01 -4.06062374e-03 1.83371469e+01] [ 1.05961040e-02 3.85045458e-03 9.99936446e-01 -2.42549036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.581400513 meters Centerline goodness [0,1] 0.9874800672326854 Centerline is valid? [True, True] Translation: X:310.04, Y:18.34, Z:-0.25 [[ 9.99791008e-01 -1.69612549e-02 -1.14129767e-02 3.10044720e+02] [ 1.69923460e-02 9.99852153e-01 2.63275012e-03 1.83413458e+01] [ 1.13666346e-02 -2.82613314e-03 9.99931404e-01 -2.49653579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.611400513 meters Centerline goodness [0,1] 0.9872700944476863 Centerline is valid? [True, True] Translation: X:310.08, Y:18.34, Z:-0.24 [[ 9.99767992e-01 -1.98516461e-02 -8.35913552e-03 3.10076048e+02] [ 1.98246084e-02 9.99798010e-01 -3.30504690e-03 1.83434459e+01] [ 8.42305768e-03 3.13856352e-03 9.99959600e-01 -2.40470140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.641400513 meters Centerline goodness [0,1] 0.9909549897948222 Centerline is valid? [True, True] Translation: X:310.11, Y:18.33, Z:-0.25 [[ 9.99765125e-01 -2.01280673e-02 -8.03464899e-03 3.10112468e+02] [ 2.01748381e-02 9.99779741e-01 5.78316059e-03 1.83327611e+01] [ 7.91647544e-03 -5.94390001e-03 9.99950999e-01 -2.48180340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.671400513 meters Centerline goodness [0,1] 0.9843006660323501 Centerline is valid? [True, True] Translation: X:310.14, Y:18.35, Z:-0.24 [[ 9.99831682e-01 -1.39661271e-02 -1.18976956e-02 3.10136893e+02] [ 1.39055988e-02 9.99890024e-01 -5.15502626e-03 1.83525542e+01] [ 1.19683829e-02 4.98871400e-03 9.99915932e-01 -2.41581386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.701400513 meters Centerline goodness [0,1] 0.9858993242072431 Centerline is valid? [True, True] Translation: X:310.18, Y:18.34, Z:-0.25 [[ 9.99791181e-01 -1.83803518e-02 -8.93068374e-03 3.10175325e+02] [ 1.84228995e-02 9.99819211e-01 4.70553600e-03 1.83397265e+01] [ 8.84257977e-03 -4.86908248e-03 9.99949049e-01 -2.48341947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.731400513 meters Centerline goodness [0,1] 0.9803955511316917 Centerline is valid? [True, True] Translation: X:310.20, Y:18.35, Z:-0.24 [[ 9.99836820e-01 -1.63266504e-02 -7.73139475e-03 3.10195276e+02] [ 1.62954777e-02 9.99858904e-01 -4.07794275e-03 1.83529940e+01] [ 7.79688302e-03 3.95129054e-03 9.99961797e-01 -2.38423829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.761400513 meters Centerline goodness [0,1] 0.7542186353631695 Centerline is valid? [True, False] Translation: X:310.20, Y:18.35, Z:-0.24 [[ 9.99903974e-01 -1.16402017e-02 -7.51984463e-03 3.10195929e+02] [ 1.16538153e-02 9.99930527e-01 1.76908359e-03 1.83459632e+01] [ 7.49872971e-03 -1.85654859e-03 9.99970161e-01 -2.41147427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.791400513 meters Centerline goodness [0,1] 0.9902549697493518 Centerline is valid? [False, True] Translation: X:310.20, Y:18.34, Z:-0.24 [[ 9.99905918e-01 -1.15741511e-02 -7.36173401e-03 3.10195381e+02] [ 1.15892817e-02 9.99930810e-01 2.01596269e-03 1.83446287e+01] [ 7.33789159e-03 -2.10109024e-03 9.99970870e-01 -2.41033279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.821400513 meters Centerline goodness [0,1] 0.9273950961933822 Centerline is valid? [True, False] Translation: X:310.20, Y:18.34, Z:-0.24 [[ 9.99905952e-01 -1.15561907e-02 -7.38520786e-03 3.10195548e+02] [ 1.15715660e-02 9.99930961e-01 2.04258448e-03 1.83445773e+01] [ 7.36109350e-03 -2.12785080e-03 9.99970643e-01 -2.41221610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.851400513 meters Centerline goodness [0,1] 0.970426247776611 Centerline is valid? [False, True] Translation: X:310.20, Y:18.34, Z:-0.24 [[ 9.99908379e-01 -1.12860980e-02 -7.47374076e-03 3.10196536e+02] [ 1.13070621e-02 9.99932240e-01 2.76874089e-03 1.83414712e+01] [ 7.44198606e-03 -2.85299327e-03 9.99968238e-01 -2.42457297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.881400513 meters Centerline goodness [0,1] 0.7139163039262164 Centerline is valid? [True, False] Translation: X:310.20, Y:18.34, Z:-0.24 [[ 9.99908037e-01 -1.12623571e-02 -7.55495212e-03 3.10196931e+02] [ 1.12837824e-02 9.99932418e-01 2.79932206e-03 1.83414643e+01] [ 7.52291458e-03 -2.88431306e-03 9.99967543e-01 -2.42731722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.911400513 meters Centerline goodness [0,1] 0.7139163039262164 Centerline is valid? [False, False] Translation: X:310.20, Y:18.34, Z:-0.24 [[ 9.99908037e-01 -1.12623571e-02 -7.55495212e-03 3.10196931e+02] [ 1.12837824e-02 9.99932418e-01 2.79932206e-03 1.83414643e+01] [ 7.52291458e-03 -2.88431306e-03 9.99967543e-01 -2.42731722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.941400513 meters Centerline goodness [0,1] 0.7409119381385403 Centerline is valid? [False, False] Translation: X:310.20, Y:18.34, Z:-0.24 [[ 9.99909004e-01 -1.11172243e-02 -7.64139950e-03 3.10197601e+02] [ 1.11412790e-02 9.99933090e-01 3.11261662e-03 1.83402032e+01] [ 7.60628455e-03 -3.19746835e-03 9.99965960e-01 -2.43395056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.971400513 meters Centerline goodness [0,1] 0.7209172139089246 Centerline is valid? [False, False] Translation: X:310.20, Y:18.34, Z:-0.24 [[ 9.99909316e-01 -1.09629659e-02 -7.82137651e-03 3.10198623e+02] [ 1.09895409e-02 9.99933958e-01 3.36288444e-03 1.83394051e+01] [ 7.78399278e-03 -3.44853282e-03 9.99963758e-01 -2.44175869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.001400513 meters Centerline goodness [0,1] 0.6818800354234615 Centerline is valid? [False, False] Translation: X:310.20, Y:18.34, Z:-0.25 [[ 9.99909400e-01 -1.07903823e-02 -8.04731384e-03 3.10200110e+02] [ 1.08194922e-02 9.99935050e-01 3.58261849e-03 1.83389864e+01] [ 8.00813334e-03 -3.66936175e-03 9.99961202e-01 -2.45617529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.031400513 meters Centerline goodness [0,1] 0.9568494481999007 Centerline is valid? [False, True] Translation: X:310.19, Y:18.35, Z:-0.23 [[ 9.99934754e-01 -5.85799547e-03 -9.80673199e-03 3.10189174e+02] [ 5.74619533e-03 9.99918622e-01 -1.13899650e-02 1.83494028e+01] [ 9.87265630e-03 1.13328705e-02 9.99887042e-01 -2.32434484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.061400513 meters Centerline goodness [0,1] 0.9229030313468826 Centerline is valid? [True, False] Translation: X:310.19, Y:18.34, Z:-0.24 [[ 9.99951831e-01 -9.72005916e-04 -9.76681013e-03 3.10190486e+02] [ 9.16880927e-04 9.99983635e-01 -5.64700727e-03 1.83433949e+01] [ 9.77213922e-03 5.63778026e-03 9.99936358e-01 -2.35035264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.091400513 meters Centerline goodness [0,1] 0.9302159673130553 Centerline is valid? [False, False] Translation: X:310.19, Y:18.34, Z:-0.23 [[ 9.99963545e-01 1.04213855e-03 -8.47480078e-03 3.10185120e+02] [-1.07472510e-03 9.99992044e-01 -3.84146581e-03 1.83403050e+01] [ 8.47073002e-03 3.85043386e-03 9.99956710e-01 -2.32865167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.121400513 meters Centerline goodness [0,1] 0.917629527244455 Centerline is valid? [False, False] Translation: X:310.18, Y:18.34, Z:-0.23 [[ 9.99965514e-01 8.27164480e-04 -8.26358456e-03 3.10183889e+02] [-8.64372518e-04 9.99989501e-01 -4.50009479e-03 1.83432831e+01] [ 8.25977548e-03 4.50708241e-03 9.99955730e-01 -2.31954145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.151400513 meters Centerline goodness [0,1] 0.9079490708878183 Centerline is valid? [False, False] Translation: X:310.18, Y:18.34, Z:-0.23 [[ 9.99964905e-01 8.49489694e-04 -8.33474089e-03 3.10184332e+02] [-8.87225414e-04 9.99989369e-01 -4.52486929e-03 1.83436725e+01] [ 8.33080846e-03 4.53210528e-03 9.99955028e-01 -2.32358392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.181400513 meters Centerline goodness [0,1] 0.6610264965227376 Centerline is valid? [False, False] Translation: X:310.18, Y:18.34, Z:-0.23 [[ 9.99964873e-01 7.66380139e-04 -8.34654082e-03 3.10184349e+02] [-8.06295148e-04 9.99988251e-01 -4.77990719e-03 1.83449551e+01] [ 8.34277953e-03 4.78646907e-03 9.99953743e-01 -2.32420756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.211400513 meters Centerline goodness [0,1] 0.8438601014007047 Centerline is valid? [False, False] Translation: X:310.22, Y:18.34, Z:-0.24 [[ 9.99980368e-01 7.35340733e-04 -6.22279387e-03 3.10223579e+02] [-7.17297206e-04 9.99995534e-01 2.90132148e-03 1.83437015e+01] [ 6.22489954e-03 -2.89680093e-03 9.99976429e-01 -2.39440132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.241400513 meters Centerline goodness [0,1] 0.8827654448459817 Centerline is valid? [False, False] Translation: X:310.22, Y:18.35, Z:-0.24 [[ 9.99981213e-01 5.29991511e-04 -6.10681627e-03 3.10222612e+02] [-5.15305261e-04 9.99996972e-01 2.40621728e-03 1.83457667e+01] [ 6.10807306e-03 -2.40302520e-03 9.99978458e-01 -2.38483433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.271400513 meters Centerline goodness [0,1] 0.8640262035081671 Centerline is valid? [False, False] Translation: X:310.22, Y:18.35, Z:-0.24 [[ 9.99982203e-01 3.58299073e-04 -5.95523522e-03 3.10221661e+02] [-3.46294701e-04 9.99997907e-01 2.01667673e-03 1.83473515e+01] [ 5.95594533e-03 -2.01457857e-03 9.99980234e-01 -2.37749345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.301400513 meters Centerline goodness [0,1] 0.8310871905274488 Centerline is valid? [False, False] Translation: X:310.22, Y:18.35, Z:-0.24 [[ 9.99984003e-01 1.26920474e-04 -5.65495323e-03 3.10220027e+02] [-1.18564994e-04 9.99998901e-01 1.47786131e-03 1.83494748e+01] [ 5.65513458e-03 -1.47716719e-03 9.99982919e-01 -2.36643306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.331400513 meters Centerline goodness [0,1] 0.7669627996455051 Centerline is valid? [False, False] Translation: X:310.22, Y:18.35, Z:-0.23 [[ 9.99987601e-01 -6.54940560e-04 -4.93650112e-03 3.10215110e+02] [ 6.55304486e-04 9.99999783e-01 7.21044927e-05 1.83537925e+01] [ 4.93645282e-03 -7.53385100e-05 9.99987813e-01 -2.32639684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.361400513 meters Centerline goodness [0,1] 0.796500032168822 Centerline is valid? [False, False] Translation: X:310.21, Y:18.36, Z:-0.23 [[ 9.99988250e-01 -8.70759719e-04 -4.76879776e-03 3.10213995e+02] [ 8.68518779e-04 9.99999511e-01 -4.71968041e-04 1.83561482e+01] [ 4.76920640e-03 4.67820705e-04 9.99988518e-01 -2.31646136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.391400513 meters Centerline goodness [0,1] 0.7459367897422702 Centerline is valid? [False, False] Translation: X:310.21, Y:18.36, Z:-0.23 [[ 9.99988412e-01 -9.70278840e-04 -4.71528992e-03 3.10213631e+02] [ 9.66783946e-04 9.99999256e-01 -7.43406075e-04 1.83573885e+01] [ 4.71600773e-03 7.38838794e-04 9.99988607e-01 -2.31369517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.421400513 meters Centerline goodness [0,1] 0.8096574225122349 Centerline is valid? [False, False] Translation: X:310.17, Y:18.36, Z:-0.23 [[ 9.99978159e-01 4.50408072e-04 -6.59385647e-03 3.10174261e+02] [-4.94398072e-04 9.99977625e-01 -6.67125222e-03 1.83575355e+01] [ 6.59070414e-03 6.67436650e-03 9.99956007e-01 -2.26219203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.451400513 meters Centerline goodness [0,1] 0.8422718404508996 Centerline is valid? [False, False] Translation: X:310.17, Y:18.36, Z:-0.23 [[ 9.99977239e-01 3.64092264e-04 -6.73706849e-03 3.10174679e+02] [-4.10596201e-04 9.99976092e-01 -6.90260098e-03 1.83587828e+01] [ 6.73439424e-03 6.90521008e-03 9.99953482e-01 -2.26181486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.481400513 meters Centerline goodness [0,1] 0.8050914876690534 Centerline is valid? [False, False] Translation: X:310.20, Y:18.35, Z:-0.24 [[ 9.99995864e-01 -2.06951639e-03 -1.99709300e-03 3.10200139e+02] [ 2.07490285e-03 9.99994205e-01 2.69885508e-03 1.83548043e+01] [ 1.99149610e-03 -2.70298770e-03 9.99994364e-01 -2.37312987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.511400513 meters Centerline goodness [0,1] 0.8265363248783428 Centerline is valid? [False, False] Translation: X:310.20, Y:18.36, Z:-0.24 [[ 9.99995678e-01 -2.21332333e-03 -1.93547763e-03 3.10199558e+02] [ 2.21797612e-03 9.99994648e-01 2.40511383e-03 1.83559706e+01] [ 1.93014397e-03 -2.40939627e-03 9.99995235e-01 -2.36653037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.541400513 meters Centerline goodness [0,1] 0.7534175909208151 Centerline is valid? [False, False] Translation: X:310.20, Y:18.36, Z:-0.24 [[ 9.99995528e-01 -2.25924822e-03 -1.95955579e-03 3.10199595e+02] [ 2.26352112e-03 9.99995060e-01 2.18107474e-03 1.83572038e+01] [ 1.95461852e-03 -2.18550048e-03 9.99995702e-01 -2.36634653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.571400513 meters Centerline goodness [0,1] 0.8281868566904196 Centerline is valid? [False, False] Translation: X:310.20, Y:18.36, Z:-0.24 [[ 9.99995566e-01 -2.25880243e-03 -1.94061638e-03 3.10199613e+02] [ 2.26287136e-03 9.99995241e-01 2.09709037e-03 1.83577674e+01] [ 1.93587023e-03 -2.10147243e-03 9.99995918e-01 -2.36810726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.601400513 meters Centerline goodness [0,1] 0.8176260386619021 Centerline is valid? [False, False] Translation: X:310.20, Y:18.36, Z:-0.24 [[ 9.99995606e-01 -2.27708864e-03 -1.89836418e-03 3.10199520e+02] [ 2.28098717e-03 9.99995289e-01 2.05399765e-03 1.83579544e+01] [ 1.89367810e-03 -2.05831876e-03 9.99996089e-01 -2.36948638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.631400513 meters Centerline goodness [0,1] 0.7521248581643795 Centerline is valid? [False, False] Translation: X:310.20, Y:18.36, Z:-0.24 [[ 9.99995667e-01 -2.25698194e-03 -1.89004685e-03 3.10199702e+02] [ 2.26077967e-03 9.99995425e-01 2.00961092e-03 1.83584086e+01] [ 1.88550255e-03 -2.01387519e-03 9.99996195e-01 -2.37375761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.661400513 meters Centerline goodness [0,1] 0.7959407924503911 Centerline is valid? [False, False] Translation: X:310.20, Y:18.36, Z:-0.24 [[ 9.99995645e-01 -2.18036183e-03 -1.98911819e-03 3.10200481e+02] [ 2.18467290e-03 9.99995264e-01 2.16773426e-03 1.83579586e+01] [ 1.98438232e-03 -2.17207040e-03 9.99995672e-01 -2.38280675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.691400513 meters Centerline goodness [0,1] 0.8344752818733738 Centerline is valid? [False, False] Translation: X:310.20, Y:18.36, Z:-0.24 [[ 9.99995534e-01 -2.17888517e-03 -2.04575559e-03 3.10200760e+02] [ 2.18334473e-03 9.99995240e-01 2.18021018e-03 1.83579716e+01] [ 2.04099543e-03 -2.18466703e-03 9.99995531e-01 -2.38470359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.721400513 meters Centerline goodness [0,1] 0.8171794261993817 Centerline is valid? [False, False] Translation: X:310.20, Y:18.36, Z:-0.24 [[ 9.99995263e-01 -2.22661710e-03 -2.12529934e-03 3.10200847e+02] [ 2.23089866e-03 9.99995483e-01 2.01432709e-03 1.83587851e+01] [ 2.12080460e-03 -2.01905887e-03 9.99995713e-01 -2.38188375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.751400513 meters Centerline goodness [0,1] 0.7461050450994777 Centerline is valid? [False, False] Translation: X:310.20, Y:18.36, Z:-0.24 [[ 9.99995157e-01 -2.29023641e-03 -2.10713234e-03 3.10200612e+02] [ 2.29394123e-03 9.99995825e-01 1.75749367e-03 1.83600281e+01] [ 2.10309847e-03 -1.76231879e-03 9.99996236e-01 -2.37911421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.781400513 meters Centerline goodness [0,1] 0.8059078121618697 Centerline is valid? [False, False] Translation: X:310.20, Y:18.36, Z:-0.24 [[ 9.99995091e-01 -2.36142656e-03 -2.05966333e-03 3.10200279e+02] [ 2.36453078e-03 9.99996070e-01 1.50602072e-03 1.83611638e+01] [ 2.05609888e-03 -1.51088346e-03 9.99996745e-01 -2.37680871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.811400513 meters Centerline goodness [0,1] 0.7539239849526528 Centerline is valid? [False, False] Translation: X:310.20, Y:18.36, Z:-0.24 [[ 9.99994996e-01 -2.15720278e-03 -2.31400136e-03 3.10201250e+02] [ 2.15983610e-03 9.99997022e-01 1.13610049e-03 1.83637033e+01] [ 2.31154367e-03 -1.14109267e-03 9.99996677e-01 -2.38008694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.841400513 meters Centerline goodness [0,1] 0.7458060047189212 Centerline is valid? [False, False] Translation: X:310.20, Y:18.37, Z:-0.24 [[ 9.99995068e-01 -2.21277627e-03 -2.22883264e-03 3.10200921e+02] [ 2.21451273e-03 9.99997246e-01 7.76922901e-04 1.83655250e+01] [ 2.22710735e-03 -7.81854847e-04 9.99997214e-01 -2.38001227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.871400513 meters Centerline goodness [0,1] 0.7362720675836673 Centerline is valid? [False, False] Translation: X:310.20, Y:18.37, Z:-0.24 [[ 9.99994891e-01 -2.27019642e-03 -2.25025624e-03 3.10200673e+02] [ 2.27069422e-03 9.99997398e-01 2.18689619e-04 1.83683116e+01] [ 2.24975392e-03 -2.23798145e-04 9.99997444e-01 -2.37496482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.901400513 meters Centerline goodness [0,1] 0.7089131982652599 Centerline is valid? [False, False] Translation: X:310.20, Y:18.37, Z:-0.24 [[ 9.99995175e-01 -2.26161854e-03 -2.12961249e-03 3.10200243e+02] [ 2.26170150e-03 9.99997442e-01 3.65441415e-05 1.83693104e+01] [ 2.12952439e-03 -4.13605129e-05 9.99997732e-01 -2.37449624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.931400513 meters Centerline goodness [0,1] 0.7211904710667327 Centerline is valid? [False, False] Translation: X:310.20, Y:18.37, Z:-0.24 [[ 9.99995603e-01 -2.29619055e-03 -1.87657806e-03 3.10199089e+02] [ 2.29626071e-03 9.99997363e-01 3.52342722e-05 1.83690236e+01] [ 1.87649220e-03 -3.95432297e-05 9.99998239e-01 -2.36747515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.961400513 meters Centerline goodness [0,1] 0.6996987233673624 Centerline is valid? [False, False] Translation: X:310.20, Y:18.37, Z:-0.24 [[ 9.99995380e-01 -2.46798457e-03 -1.77440182e-03 3.10198149e+02] [ 2.46753755e-03 9.99996923e-01 -2.54072725e-04 1.83699577e+01] [ 1.77502341e-03 2.49693148e-04 9.99998393e-01 -2.35616772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.991400513 meters Centerline goodness [0,1] 0.737802639251852 Centerline is valid? [False, False] Translation: X:310.20, Y:18.37, Z:-0.24 [[ 9.99995296e-01 -2.42530591e-03 -1.87777183e-03 3.10198489e+02] [ 2.42512403e-03 9.99997054e-01 -9.91288251e-05 1.83692245e+01] [ 1.87800672e-03 9.45745292e-05 9.99998232e-01 -2.35541965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.021400513 meters Centerline goodness [0,1] 0.7300924222419428 Centerline is valid? [False, False] Translation: X:310.20, Y:18.37, Z:-0.24 [[ 9.99995012e-01 -2.41173887e-03 -2.03956153e-03 3.10199142e+02] [ 2.41165192e-03 9.99997091e-01 -4.50886743e-05 1.83690653e+01] [ 2.03966434e-03 4.01697369e-05 9.99997919e-01 -2.35812334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.051400513 meters Centerline goodness [0,1] 0.767907936163283 Centerline is valid? [False, False] Translation: X:310.20, Y:18.37, Z:-0.24 [[ 9.99994916e-01 -2.37279789e-03 -2.13027455e-03 3.10199721e+02] [ 2.37291160e-03 9.99997183e-01 5.08554580e-05 1.83687811e+01] [ 2.13014788e-03 -5.59101526e-05 9.99997730e-01 -2.36370822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.081400513 meters Centerline goodness [0,1] 0.7376914067583396 Centerline is valid? [False, False] Translation: X:310.20, Y:18.37, Z:-0.24 [[ 9.99995069e-01 -2.34450019e-03 -2.08919260e-03 3.10199538e+02] [ 2.34493186e-03 9.99997230e-01 2.04198065e-04 1.83679613e+01] [ 2.08870807e-03 -2.09096072e-04 9.99997797e-01 -2.36181881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.111400513 meters Centerline goodness [0,1] 0.7422000086546368 Centerline is valid? [False, False] Translation: X:310.20, Y:18.37, Z:-0.24 [[ 9.99994999e-01 -2.39091462e-03 -2.06999951e-03 3.10199145e+02] [ 2.39131804e-03 9.99997122e-01 1.92437960e-04 1.83677780e+01] [ 2.06953345e-03 -1.97387024e-04 9.99997839e-01 -2.35482170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.141400513 meters Centerline goodness [0,1] 0.7670701761943739 Centerline is valid? [False, False] Translation: X:310.20, Y:18.37, Z:-0.23 [[ 9.99994854e-01 -2.42749326e-03 -2.09726669e-03 3.10198882e+02] [ 2.42786833e-03 9.99997037e-01 1.76309084e-04 1.83676491e+01] [ 2.09683248e-03 -1.81400064e-04 9.99997785e-01 -2.34769530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.171400513 meters Centerline goodness [0,1] 0.7382355471438403 Centerline is valid? [False, False] Translation: X:310.20, Y:18.37, Z:-0.23 [[ 9.99994738e-01 -2.40391431e-03 -2.17840189e-03 3.10199169e+02] [ 2.40447065e-03 9.99997077e-01 2.52807021e-04 1.83673317e+01] [ 2.17778779e-03 -2.58043594e-04 9.99997595e-01 -2.34760266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.201400513 meters Centerline goodness [0,1] 0.7548432773379674 Centerline is valid? [False, False] Translation: X:310.20, Y:18.37, Z:-0.24 [[ 9.99994664e-01 -2.33363067e-03 -2.28625519e-03 3.10199747e+02] [ 2.33457305e-03 9.99997191e-01 4.09613404e-04 1.83667437e+01] [ 2.28529288e-03 -4.14948648e-04 9.99997303e-01 -2.35153979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.231400513 meters Centerline goodness [0,1] 0.772842612071396 Centerline is valid? [False, False] Translation: X:310.20, Y:18.37, Z:-0.23 [[ 9.99994685e-01 -2.37173647e-03 -2.23732768e-03 3.10199407e+02] [ 2.37262391e-03 9.99997108e-01 3.94080521e-04 1.83666177e+01] [ 2.23638655e-03 -3.99386763e-04 9.99997420e-01 -2.34816530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.261400513 meters Centerline goodness [0,1] 0.7633594336586935 Centerline is valid? [False, False] Translation: X:310.20, Y:18.37, Z:-0.24 [[ 9.99981955e-01 -5.33870893e-03 -2.75459531e-03 3.10203119e+02] [ 5.33016512e-03 9.99980990e-01 -3.09973255e-03 1.83712858e+01] [ 2.77109152e-03 3.08499416e-03 9.99991402e-01 -2.36602905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.291400513 meters Centerline goodness [0,1] 0.7475703160198237 Centerline is valid? [False, False] Translation: X:310.20, Y:18.37, Z:-0.24 [[ 9.99995925e-01 -1.38825226e-03 -2.49450762e-03 3.10202496e+02] [ 1.39330481e-03 9.99996979e-01 2.02487867e-03 1.83653108e+01] [ 2.49168904e-03 -2.02834602e-03 9.99994839e-01 -2.37893758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.321400513 meters Centerline goodness [0,1] 0.807679100313345 Centerline is valid? [False, False] Translation: X:310.20, Y:18.36, Z:-0.24 [[ 9.99995639e-01 -1.30105003e-03 -2.65108559e-03 3.10203444e+02] [ 1.30719752e-03 9.99996458e-01 2.31844589e-03 1.83641226e+01] [ 2.64805979e-03 -2.32190128e-03 9.99993798e-01 -2.38715427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.351400513 meters Centerline goodness [0,1] 0.7980765093162356 Centerline is valid? [False, False] Translation: X:310.20, Y:18.36, Z:-0.24 [[ 9.99995317e-01 -1.18882523e-03 -2.81991242e-03 3.10204422e+02] [ 1.19599614e-03 9.99996052e-01 2.54263392e-03 1.83633478e+01] [ 2.81687854e-03 -2.54599462e-03 9.99992792e-01 -2.39546527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.381400513 meters Centerline goodness [0,1] 0.7706790322234387 Centerline is valid? [False, False] Translation: X:310.21, Y:18.36, Z:-0.24 [[ 9.99994904e-01 -1.10815383e-03 -2.99384312e-03 3.10205339e+02] [ 1.11608496e-03 9.99995869e-01 2.64877468e-03 1.83631632e+01] [ 2.99089550e-03 -2.65210256e-03 9.99992010e-01 -2.40253750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.411400513 meters Centerline goodness [0,1] 0.7511078760891439 Centerline is valid? [False, False] Translation: X:310.21, Y:18.36, Z:-0.24 [[ 9.99994696e-01 -1.03046411e-03 -3.08973557e-03 3.10205931e+02] [ 1.03884110e-03 9.99995786e-01 2.71085398e-03 1.83631648e+01] [ 3.08692912e-03 -2.71404934e-03 9.99991552e-01 -2.40802159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.441400513 meters Centerline goodness [0,1] 0.7341902093714578 Centerline is valid? [False, False] Translation: X:310.21, Y:18.36, Z:-0.24 [[ 9.99994071e-01 -7.59064448e-04 -3.35895662e-03 3.10207139e+02] [ 7.67475177e-04 9.99996572e-01 2.50339051e-03 1.83649211e+01] [ 3.35704487e-03 -2.50595358e-03 9.99991225e-01 -2.41340823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.471400513 meters Centerline goodness [0,1] 0.7210562238716833 Centerline is valid? [False, False] Translation: X:310.21, Y:18.37, Z:-0.24 [[ 9.99994190e-01 -7.42853566e-04 -3.32691073e-03 3.10206865e+02] [ 7.50114293e-04 9.99997339e-01 2.18170732e-03 1.83665877e+01] [ 3.32528118e-03 -2.18419020e-03 9.99992086e-01 -2.41028992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.501400513 meters Centerline goodness [0,1] 0.7214638459381941 Centerline is valid? [False, False] Translation: X:310.17, Y:18.37, Z:-0.24 [[ 9.99987551e-01 1.50024660e-03 -4.75886566e-03 3.10167432e+02] [-1.51876324e-03 9.99991282e-01 -3.88975397e-03 1.83684925e+01] [ 4.75298858e-03 3.89693314e-03 9.99981111e-01 -2.35368685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.531400513 meters Centerline goodness [0,1] 0.7212771920746825 Centerline is valid? [False, False] Translation: X:310.17, Y:18.37, Z:-0.24 [[ 9.99987674e-01 1.47980022e-03 -4.73939809e-03 3.10167315e+02] [-1.49957576e-03 9.99990174e-01 -4.17175299e-03 1.83699789e+01] [ 4.73317816e-03 4.17880865e-03 9.99980067e-01 -2.35283010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.561400513 meters Centerline goodness [0,1] 0.7186274932150089 Centerline is valid? [False, False] Translation: X:310.17, Y:18.37, Z:-0.24 [[ 9.99987328e-01 1.53461372e-03 -4.79458119e-03 3.10167585e+02] [-1.55411083e-03 9.99990529e-01 -4.06541385e-03 1.83695800e+01] [ 4.78829694e-03 4.07281365e-03 9.99980242e-01 -2.35419903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.591400513 meters Centerline goodness [0,1] 0.6829456038316798 Centerline is valid? [False, False] Translation: X:310.19, Y:18.37, Z:-0.25 [[ 9.99999379e-01 -1.11292574e-03 -5.02756899e-05 3.10194757e+02] [ 1.11315702e-03 9.99987562e-01 4.86176335e-03 1.83659401e+01] [ 4.48642830e-05 -4.86181630e-03 9.99988180e-01 -2.47105362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.621400513 meters Centerline goodness [0,1] 0.7085896854694212 Centerline is valid? [False, False] Translation: X:310.16, Y:18.37, Z:-0.23 [[ 9.99992191e-01 -3.27906173e-04 -3.93832923e-03 3.10164678e+02] [ 3.01576758e-04 9.99977615e-01 -6.68416168e-03 1.83712859e+01] [ 3.94043285e-03 6.68292177e-03 9.99969905e-01 -2.32459286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.651400513 meters Centerline goodness [0,1] 0.7100275635136002 Centerline is valid? [False, False] Translation: X:310.19, Y:18.37, Z:-0.25 [[ 9.99997147e-01 -2.38018912e-03 2.00619582e-04 3.10193813e+02] [ 2.37954614e-03 9.99992219e-01 3.14647011e-03 1.83668008e+01] [-2.08107215e-04 -3.14598375e-03 9.99995030e-01 -2.45742205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.681400513 meters Centerline goodness [0,1] 0.7214332998782805 Centerline is valid? [False, False] Translation: X:310.19, Y:18.37, Z:-0.25 [[ 9.99997073e-01 -2.41304718e-03 1.75736731e-04 3.10193847e+02] [ 2.41249997e-03 9.99992438e-01 3.05014663e-03 1.83672776e+01] [-1.83095549e-04 -3.04971373e-03 9.99995333e-01 -2.45708455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.711400513 meters Centerline goodness [0,1] 0.6895088711751093 Centerline is valid? [False, False] Translation: X:310.19, Y:18.37, Z:-0.25 [[ 9.99996806e-01 -2.52002341e-03 1.95905787e-04 3.10193510e+02] [ 2.51946490e-03 9.99992904e-01 2.80067077e-03 1.83682997e+01] [-2.02962153e-04 -2.80016824e-03 9.99996059e-01 -2.45239423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.741400513 meters Centerline goodness [0,1] 0.7066706692111413 Centerline is valid? [False, False] Translation: X:310.19, Y:18.37, Z:-0.24 [[ 9.99996522e-01 -2.62795338e-03 2.22088417e-04 3.10193042e+02] [ 2.62739182e-03 9.99993443e-01 2.49209896e-03 1.83695930e+01] [-2.28636081e-04 -2.49150678e-03 9.99996870e-01 -2.44593039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.771400513 meters Centerline goodness [0,1] 0.7182738919667591 Centerline is valid? [False, False] Translation: X:310.17, Y:18.37, Z:-0.23 [[ 9.99990945e-01 1.98751460e-03 -3.76304549e-03 3.10166447e+02] [-2.00838481e-03 9.99982579e-01 -5.55046289e-03 1.83722593e+01] [ 3.75194831e-03 5.55797028e-03 9.99977516e-01 -2.32471716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.801400513 meters Centerline goodness [0,1] 0.7182738919667591 Centerline is valid? [False, False] Translation: X:310.17, Y:18.37, Z:-0.23 [[ 9.99990945e-01 1.98751460e-03 -3.76304549e-03 3.10166447e+02] [-2.00838481e-03 9.99982579e-01 -5.55046289e-03 1.83722593e+01] [ 3.75194831e-03 5.55797028e-03 9.99977516e-01 -2.32471716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.831400513 meters Centerline goodness [0,1] 0.6870422535211267 Centerline is valid? [False, False] Translation: X:310.17, Y:18.37, Z:-0.23 [[ 9.99991380e-01 1.92623094e-03 -3.67836608e-03 3.10166040e+02] [-1.94727016e-03 9.99981718e-01 -5.72472854e-03 1.83730074e+01] [ 3.66727168e-03 5.73184196e-03 9.99976848e-01 -2.32272892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.861400513 meters Centerline goodness [0,1] 0.6895191545008253 Centerline is valid? [False, False] Translation: X:310.19, Y:18.37, Z:-0.24 [[ 9.99998243e-01 -2.80142101e-06 1.87468246e-03 3.10191397e+02] [-3.68844021e-06 9.99994008e-01 3.46183319e-03 1.83689020e+01] [-1.87468092e-03 -3.46183402e-03 9.99992251e-01 -2.42926431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.891400513 meters Centerline goodness [0,1] 0.6845667773374746 Centerline is valid? [False, False] Translation: X:310.19, Y:18.37, Z:-0.24 [[ 9.99997962e-01 -1.11768834e-04 2.01603750e-03 3.10190516e+02] [ 1.05104248e-04 9.99994531e-01 3.30558782e-03 1.83692795e+01] [-2.01639594e-03 -3.30536918e-03 9.99992504e-01 -2.42134191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.921400513 meters Centerline goodness [0,1] 0.7053041383463822 Centerline is valid? [False, False] Translation: X:310.19, Y:18.37, Z:-0.24 [[ 9.99997911e-01 -1.17755647e-04 2.04050761e-03 3.10190237e+02] [ 1.10762300e-04 9.99994122e-01 3.42703268e-03 1.83684638e+01] [-2.04089917e-03 -3.42679952e-03 9.99992046e-01 -2.41717424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.951400513 meters Centerline goodness [0,1] 0.6838200608945495 Centerline is valid? [False, False] Translation: X:310.19, Y:18.37, Z:-0.24 [[ 9.99998101e-01 -5.14568757e-05 1.94834498e-03 3.10190666e+02] [ 4.44232063e-05 9.99993483e-01 3.60994510e-03 1.83676745e+01] [-1.94851804e-03 -3.60985169e-03 9.99991586e-01 -2.41937972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.981400513 meters Centerline goodness [0,1] 0.6666379866637986 Centerline is valid? [False, False] Translation: X:310.19, Y:18.37, Z:-0.24 [[ 9.99998243e-01 -1.86338814e-05 1.87433275e-03 3.10191027e+02] [ 1.17039065e-05 9.99993165e-01 3.69724536e-03 1.83673195e+01] [-1.87438883e-03 -3.69721693e-03 9.99991409e-01 -2.42183541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.011400513 meters Centerline goodness [0,1] 0.6815023234002643 Centerline is valid? [False, False] Translation: X:310.20, Y:18.37, Z:-0.24 [[ 9.99994928e-01 -2.87517139e-03 1.37019320e-03 3.10195075e+02] [ 2.87481129e-03 9.99995833e-01 2.64708384e-04 1.83720228e+01] [-1.37094857e-03 -2.60767994e-04 9.99999026e-01 -2.44534129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.041400513 meters Centerline goodness [0,1] 0.6911688423964728 Centerline is valid? [False, False] Translation: X:310.16, Y:18.37, Z:-0.24 [[ 9.99998846e-01 -1.43140919e-03 -5.08157953e-04 3.10155927e+02] [ 1.42844184e-03 9.99982203e-01 -5.79253740e-03 1.83719484e+01] [ 5.16440401e-04 5.79180484e-03 9.99983094e-01 -2.39404349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.071400513 meters Centerline goodness [0,1] 0.6823511790131382 Centerline is valid? [False, False] Translation: X:310.19, Y:18.37, Z:-0.25 [[ 9.99991713e-01 -2.75453396e-03 2.99790459e-03 3.10185491e+02] [ 2.73815099e-03 9.99981371e-01 5.45525819e-03 1.83663300e+01] [-3.01287544e-03 -5.44700426e-03 9.99980626e-01 -2.54015130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.101400513 meters Centerline goodness [0,1] 0.6870694109541853 Centerline is valid? [False, False] Translation: X:310.16, Y:18.37, Z:-0.24 [[ 9.99999233e-01 -5.06174972e-04 -1.13073304e-03 3.10159282e+02] [ 5.00494695e-04 9.99987284e-01 -5.01818190e-03 1.83705232e+01] [ 1.13325874e-03 5.01761212e-03 9.99986770e-01 -2.42131520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.131400513 meters Centerline goodness [0,1] 0.6662661202068536 Centerline is valid? [False, False] Translation: X:310.16, Y:18.37, Z:-0.24 [[ 9.99999245e-01 -5.14352848e-04 -1.11600993e-03 3.10159207e+02] [ 5.08609757e-04 9.99986659e-01 -5.14028891e-03 1.83711894e+01] [ 1.11863896e-03 5.13971742e-03 9.99986166e-01 -2.42089048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.161400513 meters Centerline goodness [0,1] 0.6929019280563223 Centerline is valid? [False, False] Translation: X:310.16, Y:18.37, Z:-0.24 [[ 9.99999151e-01 -5.02763252e-04 -1.20179634e-03 3.10159459e+02] [ 4.96387194e-04 9.99985832e-01 -5.29986314e-03 1.83721313e+01] [ 1.20444389e-03 5.29926209e-03 9.99985233e-01 -2.42042292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.191400513 meters Centerline goodness [0,1] 0.6659659359045862 Centerline is valid? [False, False] Translation: X:310.16, Y:18.37, Z:-0.24 [[ 9.99996708e-01 2.50780878e-03 -5.42881706e-04 3.10155280e+02] [-2.50890861e-03 9.99994782e-01 -2.03480288e-03 1.83686719e+01] [ 5.37775977e-04 2.03615822e-03 9.99997782e-01 -2.40070863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.221400513 meters Centerline goodness [0,1] 0.6716690194375068 Centerline is valid? [False, False] Translation: X:310.16, Y:18.36, Z:-0.24 [[ 9.99971104e-01 7.57212627e-03 -6.73485326e-04 3.10158067e+02] [-7.56960668e-03 9.99964622e-01 3.66813847e-03 1.83637110e+01] [ 7.01237107e-04 -3.66293446e-03 9.99993046e-01 -2.44011798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.251400513 meters Centerline goodness [0,1] 0.6720130371386912 Centerline is valid? [False, False] Translation: X:310.19, Y:18.36, Z:-0.25 [[ 9.99973845e-01 6.84963357e-03 2.32211095e-03 3.10193900e+02] [-6.87174071e-03 9.99929827e-01 9.64986747e-03 1.83638584e+01] [-2.25584994e-03 -9.66557202e-03 9.99950743e-01 -2.47635008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.281400513 meters Centerline goodness [0,1] 0.6802646559687224 Centerline is valid? [False, False] Translation: X:310.19, Y:18.37, Z:-0.24 [[ 9.99991233e-01 2.98489629e-03 2.93679624e-03 3.10190967e+02] [-2.99703406e-03 9.99986950e-01 4.13731571e-03 1.83711576e+01] [-2.92440846e-03 -4.14608111e-03 9.99987129e-01 -2.44488476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.311400513 meters Centerline goodness [0,1] 0.6528497409326425 Centerline is valid? [False, False] Translation: X:310.19, Y:18.37, Z:-0.24 [[ 9.99991652e-01 2.99263234e-03 2.78221345e-03 3.10191374e+02] [-3.00303132e-03 9.99988493e-01 3.74103047e-03 1.83732897e+01] [-2.77098591e-03 -3.74935431e-03 9.99989132e-01 -2.44442610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.341400513 meters Centerline goodness [0,1] 0.6461852568235547 Centerline is valid? [False, False] Translation: X:310.19, Y:18.37, Z:-0.25 [[ 9.99991545e-01 3.06341698e-03 2.74320602e-03 3.10191778e+02] [-3.07349978e-03 9.99988510e-01 3.67891358e-03 1.83738351e+01] [-2.73190446e-03 -3.68731372e-03 9.99989470e-01 -2.45086092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.371400513 meters Centerline goodness [0,1] 0.6571638374152304 Centerline is valid? [False, False] Translation: X:310.19, Y:18.38, Z:-0.25 [[ 9.99991578e-01 3.06617307e-03 2.72796934e-03 3.10191959e+02] [-3.07563007e-03 9.99989252e-01 3.46926372e-03 1.83750190e+01] [-2.71730266e-03 -3.47762473e-03 9.99990261e-01 -2.45500585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.401400513 meters Centerline goodness [0,1] 0.6366085475980086 Centerline is valid? [False, False] Translation: X:310.19, Y:18.38, Z:-0.25 [[ 9.99991686e-01 3.05218256e-03 2.70401241e-03 3.10191768e+02] [-3.06023170e-03 9.99990884e-01 2.97762102e-03 1.83774845e+01] [-2.69489952e-03 -2.98587117e-03 9.99991911e-01 -2.45072053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.431400513 meters Centerline goodness [0,1] 0.6380786063859604 Centerline is valid? [False, False] Translation: X:310.19, Y:18.38, Z:-0.25 [[ 9.99991685e-01 3.11327677e-03 2.63383907e-03 3.10192154e+02] [-3.12152352e-03 9.99990221e-01 3.13277977e-03 1.83768289e+01] [-2.62406011e-03 -3.14097531e-03 9.99991624e-01 -2.45365275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.461400513 meters Centerline goodness [0,1] 0.6690761673923769 Centerline is valid? [False, False] Translation: X:310.20, Y:18.38, Z:-0.25 [[ 9.99998256e-01 6.24849496e-05 1.86647787e-03 3.10197190e+02] [-6.18426271e-05 9.99999939e-01 -3.44191875e-04 1.83796134e+01] [-1.86649926e-03 3.44075847e-04 9.99998199e-01 -2.48290817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.491400513 meters Centerline goodness [0,1] 0.6564384035265899 Centerline is valid? [False, False] Translation: X:310.20, Y:18.38, Z:-0.25 [[ 9.99998223e-01 7.60706455e-05 1.88357936e-03 3.10197130e+02] [-7.57768558e-05 9.99999985e-01 -1.56045006e-04 1.83785996e+01] [-1.88359121e-03 1.55901997e-04 9.99998214e-01 -2.48242612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.521400513 meters Centerline goodness [0,1] 0.6498247726344306 Centerline is valid? [False, False] Translation: X:310.20, Y:18.38, Z:-0.25 [[ 9.99998077e-01 6.17834014e-05 1.96030242e-03 3.10196573e+02] [-6.18889132e-05 9.99999997e-01 5.37636593e-05 1.83772950e+01] [-1.96029909e-03 -5.38848769e-05 9.99998077e-01 -2.47520015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.551400513 meters Centerline goodness [0,1] 0.6481477486029903 Centerline is valid? [False, False] Translation: X:310.20, Y:18.38, Z:-0.25 [[ 9.99997849e-01 -8.15251010e-05 2.07249305e-03 3.10195556e+02] [ 8.14827027e-05 9.99999996e-01 2.05420625e-05 1.83768786e+01] [-2.07249472e-03 -2.03731460e-05 9.99997852e-01 -2.46176517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.581400513 meters Centerline goodness [0,1] 0.6617312812520293 Centerline is valid? [False, False] Translation: X:310.19, Y:18.38, Z:-0.25 [[ 9.99997277e-01 -3.17707338e-04 2.31205197e-03 3.10194214e+02] [ 3.17338574e-04 9.99999937e-01 1.59861387e-04 1.83753555e+01] [-2.31210261e-03 -1.59127249e-04 9.99997314e-01 -2.45006219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.611400513 meters Centerline goodness [0,1] 0.6623473977297065 Centerline is valid? [False, False] Translation: X:310.20, Y:18.37, Z:-0.25 [[ 9.99997689e-01 -2.83439941e-04 2.13089252e-03 3.10195036e+02] [ 2.82767516e-04 9.99999910e-01 3.15855036e-04 1.83748037e+01] [-2.13098185e-03 -3.15251759e-04 9.99997680e-01 -2.45458778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.641400513 meters Centerline goodness [0,1] 0.657924059312591 Centerline is valid? [False, False] Translation: X:310.20, Y:18.37, Z:-0.25 [[ 9.99997870e-01 -1.81743793e-04 2.05586275e-03 3.10195551e+02] [ 1.80466069e-04 9.99999790e-01 6.21671159e-04 1.83734669e+01] [-2.05597531e-03 -6.21298821e-04 9.99997693e-01 -2.45919198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.671400513 meters Centerline goodness [0,1] 0.6696107014234265 Centerline is valid? [False, False] Translation: X:310.20, Y:18.37, Z:-0.25 [[ 9.99997945e-01 -5.36898888e-05 2.02658320e-03 3.10195892e+02] [ 5.14838186e-05 9.99999406e-01 1.08860281e-03 1.83712998e+01] [-2.02664044e-03 -1.08849623e-03 9.99997354e-01 -2.46285601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.701400513 meters Centerline goodness [0,1] 0.6641823102366939 Centerline is valid? [False, False] Translation: X:310.20, Y:18.37, Z:-0.25 [[ 9.99997959e-01 -8.04681551e-05 2.01894186e-03 3.10195754e+02] [ 7.81143473e-05 9.99999317e-01 1.16591387e-03 1.83707418e+01] [-2.01903430e-03 -1.16575378e-03 9.99997282e-01 -2.45961676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.731400513 meters Centerline goodness [0,1] 0.6816829762469285 Centerline is valid? [False, False] Translation: X:310.20, Y:18.37, Z:-0.25 [[ 9.99998282e-01 -4.91348981e-05 1.85285444e-03 3.10196392e+02] [ 4.66299337e-05 9.99999085e-01 1.35196779e-03 1.83698772e+01] [-1.85291917e-03 -1.35187907e-03 9.99997370e-01 -2.46112518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.761400513 meters Centerline goodness [0,1] 0.6638256762559038 Centerline is valid? [False, False] Translation: X:310.20, Y:18.37, Z:-0.25 [[ 9.99998442e-01 -3.13574064e-06 1.76516550e-03 3.10196881e+02] [ 6.92947803e-07 9.99999042e-01 1.38388775e-03 1.83699577e+01] [-1.76516815e-03 -1.38388437e-03 9.99997485e-01 -2.46520594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.791400513 meters Centerline goodness [0,1] 0.6659282042458005 Centerline is valid? [False, False] Translation: X:310.20, Y:18.37, Z:-0.25 [[ 9.99998526e-01 -5.25320626e-05 1.71632126e-03 3.10196907e+02] [ 5.03281193e-05 9.99999174e-01 1.28412680e-03 1.83703281e+01] [-1.71638730e-03 -1.28403853e-03 9.99997703e-01 -2.46356704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.821400513 meters Centerline goodness [0,1] 0.6584970111016226 Centerline is valid? [False, False] Translation: X:310.20, Y:18.37, Z:-0.25 [[ 9.99998558e-01 -4.19217818e-05 1.69768200e-03 3.10196943e+02] [ 4.00570151e-05 9.99999396e-01 1.09843842e-03 1.83713734e+01] [-1.69772702e-03 -1.09836883e-03 9.99997956e-01 -2.46312956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.851400513 meters Centerline goodness [0,1] 0.6447517715313309 Centerline is valid? [False, False] Translation: X:310.20, Y:18.37, Z:-0.25 [[ 9.99998464e-01 -1.10765757e-04 1.74939283e-03 3.10196648e+02] [ 1.09223904e-04 9.99999606e-01 8.81435695e-04 1.83723573e+01] [-1.74948978e-03 -8.81243265e-04 9.99998081e-01 -2.46162857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.881400513 meters Centerline goodness [0,1] 0.6588714544357273 Centerline is valid? [False, False] Translation: X:310.20, Y:18.37, Z:-0.25 [[ 9.99998212e-01 -2.02769656e-04 1.88011169e-03 3.10195964e+02] [ 2.01784342e-04 9.99999842e-01 5.24246968e-04 1.83739749e+01] [-1.88021770e-03 -5.23866653e-04 9.99998095e-01 -2.45764291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.911400513 meters Centerline goodness [0,1] 0.6515157984628522 Centerline is valid? [False, False] Translation: X:310.20, Y:18.37, Z:-0.25 [[ 9.99998082e-01 -2.11553918e-04 1.94723299e-03 3.10195549e+02] [ 2.10754110e-04 9.99999893e-01 4.10936853e-04 1.83744566e+01] [-1.94731972e-03 -4.10525677e-04 9.99998020e-01 -2.45377115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.941400513 meters Centerline goodness [0,1] 0.6523106076919765 Centerline is valid? [False, False] Translation: X:310.20, Y:18.37, Z:-0.25 [[ 9.99998014e-01 -1.75651280e-04 1.98518390e-03 3.10195427e+02] [ 1.74605574e-04 9.99999846e-01 5.26916228e-04 1.83738500e+01] [-1.98527615e-03 -5.26568557e-04 9.99997891e-01 -2.45399372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.971400513 meters Centerline goodness [0,1] 0.651403535147441 Centerline is valid? [False, False] Translation: X:310.20, Y:18.37, Z:-0.25 [[ 9.99998125e-01 -1.78446338e-04 1.92819826e-03 3.10195681e+02] [ 1.77755401e-04 9.99999920e-01 3.58498697e-04 1.83748215e+01] [-1.92826208e-03 -3.58155277e-04 9.99998077e-01 -2.45605766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.001400513 meters Centerline goodness [0,1] 0.6502350945745754 Centerline is valid? [False, False] Translation: X:310.20, Y:18.38, Z:-0.25 [[ 9.99998192e-01 -1.30026342e-04 1.89696295e-03 3.10196035e+02] [ 1.29369988e-04 9.99999932e-01 3.46121391e-04 1.83751266e+01] [-1.89700782e-03 -3.45875355e-04 9.99998141e-01 -2.46117588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.031400513 meters Centerline goodness [0,1] 0.664836225573264 Centerline is valid? [False, False] Translation: X:310.20, Y:18.38, Z:-0.25 [[ 9.99998281e-01 -1.12119447e-04 1.85084336e-03 3.10196281e+02] [ 1.11489836e-04 9.99999936e-01 3.40274589e-04 1.83752697e+01] [-1.85088139e-03 -3.40067654e-04 9.99998229e-01 -2.46341723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.061400513 meters Centerline goodness [0,1] 0.6558334227755716 Centerline is valid? [False, False] Translation: X:310.20, Y:18.37, Z:-0.25 [[ 9.99998426e-01 -4.91224898e-05 1.77333681e-03 3.10196795e+02] [ 4.82819327e-05 9.99999886e-01 4.74037110e-04 1.83748037e+01] [-1.77335989e-03 -4.73950744e-04 9.99998315e-01 -2.46839879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.091400513 meters Centerline goodness [0,1] 0.6746834348934698 Centerline is valid? [False, False] Translation: X:310.19, Y:18.37, Z:-0.24 [[ 9.99995919e-01 -1.66485349e-03 2.32188891e-03 3.10191922e+02] [ 1.66652622e-03 9.99998353e-01 -7.18671156e-04 1.83731118e+01] [-2.32068860e-03 7.22537712e-04 9.99997046e-01 -2.43096795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.121400513 meters Centerline goodness [0,1] 0.6653442290691908 Centerline is valid? [False, False] Translation: X:310.19, Y:18.37, Z:-0.24 [[ 9.99996873e-01 -1.53135161e-03 1.97733111e-03 3.10193500e+02] [ 1.53213014e-03 9.99998749e-01 -3.92276496e-04 1.83719522e+01] [-1.97672792e-03 3.95304797e-04 9.99997968e-01 -2.43941204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.151400513 meters Centerline goodness [0,1] 0.6596793552812071 Centerline is valid? [False, False] Translation: X:310.19, Y:18.37, Z:-0.24 [[ 9.99997561e-01 -1.36782814e-03 1.73394286e-03 3.10194810e+02] [ 1.36761588e-03 9.99999057e-01 1.23594827e-04 1.83697905e+01] [-1.73411028e-03 -1.21223158e-04 9.99998489e-01 -2.44846701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.181400513 meters Centerline goodness [0,1] 0.6657291999573879 Centerline is valid? [False, False] Translation: X:310.20, Y:18.37, Z:-0.25 [[ 9.99998055e-01 -1.25539863e-03 1.52085103e-03 3.10195717e+02] [ 1.25468642e-03 9.99999103e-01 4.69161536e-04 1.83683078e+01] [-1.52143865e-03 -4.67252433e-04 9.99998733e-01 -2.45162172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.211400513 meters Centerline goodness [0,1] 0.6645140664961637 Centerline is valid? [False, False] Translation: X:310.19, Y:18.37, Z:-0.24 [[ 9.99997769e-01 -1.38834209e-03 1.59185661e-03 3.10194879e+02] [ 1.38769179e-03 9.99998953e-01 4.09546676e-04 1.83681148e+01] [-1.59242353e-03 -4.07336756e-04 9.99998649e-01 -2.43950822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.241400513 meters Centerline goodness [0,1] 0.6762172124121378 Centerline is valid? [False, False] Translation: X:310.19, Y:18.37, Z:-0.24 [[ 9.99997448e-01 -1.42406241e-03 1.75414693e-03 3.10194157e+02] [ 1.42298539e-03 9.99998798e-01 6.15078512e-04 1.83667898e+01] [-1.75502073e-03 -6.12580817e-04 9.99998272e-01 -2.43493813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.271400513 meters Centerline goodness [0,1] 0.680163415468857 Centerline is valid? [False, False] Translation: X:310.19, Y:18.37, Z:-0.24 [[ 9.99997525e-01 -1.41399616e-03 1.71778281e-03 3.10194386e+02] [ 1.41249424e-03 9.99998619e-01 8.75233927e-04 1.83655192e+01] [-1.71901801e-03 -8.72805403e-04 9.99998142e-01 -2.43601878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.301400513 meters Centerline goodness [0,1] 0.7321947752675899 Centerline is valid? [False, False] Translation: X:310.19, Y:18.37, Z:-0.24 [[ 9.99975360e-01 -6.66352049e-03 2.20843809e-03 3.10190455e+02] [ 6.67315947e-03 9.99968114e-01 -4.38636757e-03 1.83676852e+01] [-2.17913902e-03 4.40099675e-03 9.99987941e-01 -2.39530461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.331400513 meters Centerline goodness [0,1] 0.7649951680446687 Centerline is valid? [False, False] Translation: X:310.19, Y:18.36, Z:-0.24 [[ 9.99974491e-01 -6.81718091e-03 2.13159699e-03 3.10191025e+02] [ 6.82542251e-03 9.99969166e-01 -3.88332586e-03 1.83649961e+01] [-2.10505793e-03 3.89777585e-03 9.99990188e-01 -2.40229539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.361400513 meters Centerline goodness [0,1] 0.7712061753417568 Centerline is valid? [False, False] Translation: X:310.19, Y:18.36, Z:-0.24 [[ 9.99974265e-01 -6.89612751e-03 1.97814953e-03 3.10192038e+02] [ 6.90264112e-03 9.99970715e-01 -3.30507013e-03 1.83621974e+01] [-1.95529942e-03 3.31863953e-03 9.99992582e-01 -2.41273069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.391400513 meters Centerline goodness [0,1] 0.8306062490617829 Centerline is valid? [False, False] Translation: X:310.19, Y:18.36, Z:-0.24 [[ 9.99973581e-01 -7.03049371e-03 1.84638553e-03 3.10192929e+02] [ 7.03547960e-03 9.99971584e-01 -2.70788484e-03 1.83590919e+01] [-1.82729530e-03 2.72080351e-03 9.99994629e-01 -2.42309464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.421400513 meters Centerline goodness [0,1] 0.8534484614887707 Centerline is valid? [False, False] Translation: X:310.19, Y:18.36, Z:-0.24 [[ 9.99974521e-01 -6.95431624e-03 1.61067988e-03 3.10194150e+02] [ 6.95794583e-03 9.99973242e-01 -2.25892198e-03 1.83571599e+01] [-1.59492753e-03 2.27007145e-03 9.99996151e-01 -2.43087281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.451400513 meters Centerline goodness [0,1] 0.9205845797797112 Centerline is valid? [False, False] Translation: X:310.19, Y:18.36, Z:-0.24 [[ 9.99973325e-01 -7.12771923e-03 1.59542552e-03 3.10194253e+02] [ 7.13080867e-03 9.99972695e-01 -1.93920052e-03 1.83552830e+01] [-1.58155988e-03 1.95052547e-03 9.99996847e-01 -2.43274724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.481400513 meters Centerline goodness [0,1] 0.9328438318519473 Centerline is valid? [False, False] Translation: X:310.20, Y:18.35, Z:-0.24 [[ 9.99974611e-01 -6.98064687e-03 1.43127517e-03 3.10195221e+02] [ 6.98289849e-03 9.99974380e-01 -1.57424168e-03 1.83538397e+01] [-1.42024928e-03 1.58419616e-03 9.99997737e-01 -2.43992777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.511400513 meters Centerline goodness [0,1] 0.9401371765931585 Centerline is valid? [False, False] Translation: X:310.16, Y:18.36, Z:-0.24 [[ 9.99978490e-01 -6.47983708e-03 -1.01533474e-03 3.10157776e+02] [ 6.47099613e-03 9.99943095e-01 -8.48135220e-03 1.83558089e+01] [ 1.07023474e-03 8.47459954e-03 9.99963517e-01 -2.39413228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.541400513 meters Centerline goodness [0,1] 0.9804658959040702 Centerline is valid? [False, True] Translation: X:310.16, Y:18.35, Z:-0.24 [[ 9.99979077e-01 -6.35987640e-03 -1.18180046e-03 3.10158734e+02] [ 6.35004580e-03 9.99946676e-01 -8.14377949e-03 1.83544742e+01] [ 1.23353087e-03 8.13610461e-03 9.99966141e-01 -2.40218896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.571400513 meters Centerline goodness [0,1] 0.9959671332140008 Centerline is valid? [True, True] Translation: X:310.19, Y:18.35, Z:-0.25 [[ 9.99958826e-01 -9.03800004e-03 -8.13085508e-04 3.10190371e+02] [ 9.03796334e-03 9.99959156e-01 -4.87993955e-05 1.83473798e+01] [ 8.13493347e-04 4.14487492e-05 9.99999668e-01 -2.45659260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.601400513 meters Centerline goodness [0,1] 0.9951982851018221 Centerline is valid? [True, True] Translation: X:310.22, Y:18.35, Z:-0.24 [[ 9.99945815e-01 -1.03889267e-02 -6.60834909e-04 3.10220556e+02] [ 1.03889027e-02 9.99946033e-01 -3.96655174e-05 1.83499272e+01] [ 6.61211328e-04 3.27980186e-05 9.99999781e-01 -2.44959712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.631400513 meters Centerline goodness [0,1] 0.9962406015037594 Centerline is valid? [True, True] Translation: X:310.25, Y:18.35, Z:-0.25 [[ 9.99938098e-01 -1.10104532e-02 -1.60319164e-03 3.10251916e+02] [ 1.10103131e-02 9.99939380e-01 -9.62056345e-05 1.83517797e+01] [ 1.60415372e-03 7.85480374e-05 9.99998710e-01 -2.45304117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.661400513 meters Centerline goodness [0,1] 0.9984507133174101 Centerline is valid? [True, True] Translation: X:310.28, Y:18.35, Z:-0.25 [[ 9.99939614e-01 -1.05839081e-02 -2.95780158e-03 3.10284523e+02] [ 1.05834300e-02 9.99943978e-01 -1.77278443e-04 1.83516659e+01] [ 2.95951218e-03 1.45964052e-04 9.99995610e-01 -2.47197176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.691400513 meters Centerline goodness [0,1] 0.9918221533561452 Centerline is valid? [True, True] Translation: X:310.31, Y:18.36, Z:-0.25 [[ 9.99959097e-01 -8.09308797e-03 -4.03818631e-03 3.10314900e+02] [ 8.09217759e-03 9.99967229e-01 -2.41732204e-04 1.83563952e+01] [ 4.04001033e-03 2.09044596e-04 9.99991817e-01 -2.48440503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.721400513 meters Centerline goodness [0,1] 0.8129173086800205 Centerline is valid? [True, False] Translation: X:310.31, Y:18.36, Z:-0.25 [[ 9.99958672e-01 -8.20441451e-03 -3.91679694e-03 3.10313905e+02] [ 8.20209660e-03 9.99966178e-01 -6.07483213e-04 1.83578681e+01] [ 3.92164851e-03 5.75332160e-04 9.99992145e-01 -2.47334466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.751400513 meters Centerline goodness [0,1] 0.8129173086800205 Centerline is valid? [False, False] Translation: X:310.31, Y:18.36, Z:-0.25 [[ 9.99958672e-01 -8.20441451e-03 -3.91679694e-03 3.10313905e+02] [ 8.20209660e-03 9.99966178e-01 -6.07483213e-04 1.83578681e+01] [ 3.92164851e-03 5.75332160e-04 9.99992145e-01 -2.47334466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.781400513 meters Centerline goodness [0,1] 0.9348225344893862 Centerline is valid? [False, False] Translation: X:310.31, Y:18.35, Z:-0.25 [[ 9.99986531e-01 -3.53454708e-03 -3.80053697e-03 3.10314677e+02] [ 3.55274874e-03 9.99982201e-01 4.79319762e-03 1.83530722e+01] [ 3.78352754e-03 -4.80663541e-03 9.99981290e-01 -2.49499536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.811400513 meters Centerline goodness [0,1] 0.985499462943072 Centerline is valid? [False, True] Translation: X:310.31, Y:18.35, Z:-0.25 [[ 9.99986834e-01 -3.68296105e-03 -3.57316149e-03 3.10313487e+02] [ 3.69859795e-03 9.99983570e-01 4.37951518e-03 1.83547811e+01] [ 3.55697320e-03 -4.39267321e-03 9.99984026e-01 -2.48798879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.841400513 meters Centerline goodness [0,1] 0.9282554752400475 Centerline is valid? [True, False] Translation: X:310.31, Y:18.36, Z:-0.25 [[ 9.99987561e-01 -3.73526098e-03 -3.30527167e-03 3.10312310e+02] [ 3.74921666e-03 9.99984041e-01 4.22617470e-03 1.83552833e+01] [ 3.28943306e-03 -4.23851431e-03 9.99985607e-01 -2.48319792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.871400513 meters Centerline goodness [0,1] 0.7989515015533311 Centerline is valid? [False, False] Translation: X:310.31, Y:18.36, Z:-0.25 [[ 9.99988670e-01 -3.75878153e-03 -2.92074530e-03 3.10310423e+02] [ 3.76987779e-03 9.99985663e-01 3.80294701e-03 1.83570249e+01] [ 2.90640898e-03 -3.81391478e-03 9.99988503e-01 -2.47085899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.901400513 meters Centerline goodness [0,1] 0.8308779314491882 Centerline is valid? [False, False] Translation: X:310.31, Y:18.36, Z:-0.25 [[ 9.99988382e-01 -3.86653732e-03 -2.87854189e-03 3.10309829e+02] [ 3.87622058e-03 9.99986822e-01 3.36600090e-03 1.83590398e+01] [ 2.86548919e-03 -3.37711966e-03 9.99990192e-01 -2.46335480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.931400513 meters Centerline goodness [0,1] 0.7974778401061962 Centerline is valid? [False, False] Translation: X:310.31, Y:18.36, Z:-0.25 [[ 9.99988664e-01 -3.87273615e-03 -2.77004571e-03 3.10309420e+02] [ 3.88186819e-03 9.99987024e-01 3.29896767e-03 1.83593657e+01] [ 2.75723374e-03 -3.30968323e-03 9.99990722e-01 -2.46258133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.961400513 meters Centerline goodness [0,1] 0.788358317473216 Centerline is valid? [False, False] Translation: X:310.31, Y:18.36, Z:-0.25 [[ 9.99988844e-01 -3.86230518e-03 -2.71914008e-03 3.10309236e+02] [ 3.87116557e-03 9.99987190e-01 3.26084062e-03 1.83595754e+01] [ 2.70651089e-03 -3.27133049e-03 9.99990987e-01 -2.46242450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.991400513 meters Centerline goodness [0,1] 0.7730085073472545 Centerline is valid? [False, False] Translation: X:310.31, Y:18.36, Z:-0.25 [[ 9.99988855e-01 -3.94568191e-03 -2.59259376e-03 3.10308607e+02] [ 3.95362514e-03 9.99987485e-01 3.06586609e-03 1.83603579e+01] [ 2.58046438e-03 -3.07608207e-03 9.99991939e-01 -2.45939092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.021400513 meters Centerline goodness [0,1] 0.7842117652093898 Centerline is valid? [False, False] Translation: X:310.31, Y:18.36, Z:-0.25 [[ 9.99988977e-01 -3.86879483e-03 -2.66033728e-03 3.10308926e+02] [ 3.87731020e-03 9.99987353e-01 3.20318897e-03 1.83598104e+01] [ 2.64791115e-03 -3.21346861e-03 9.99991331e-01 -2.46082033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.051400513 meters Centerline goodness [0,1] 0.7751626688427427 Centerline is valid? [False, False] Translation: X:310.31, Y:18.36, Z:-0.25 [[ 9.99988960e-01 -3.87946994e-03 -2.65125534e-03 3.10308945e+02] [ 3.88797561e-03 9.99987288e-01 3.21057776e-03 1.83597630e+01] [ 2.63876630e-03 -3.22085033e-03 9.99991331e-01 -2.46202107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.081400513 meters Centerline goodness [0,1] 0.8471147230822154 Centerline is valid? [False, False] Translation: X:310.31, Y:18.36, Z:-0.25 [[ 9.99989244e-01 -3.79434709e-03 -2.66745471e-03 3.10309281e+02] [ 3.80346015e-03 9.99986920e-01 3.41965741e-03 1.83588973e+01] [ 2.65444445e-03 -3.42976618e-03 9.99990595e-01 -2.46692158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.111400513 meters Centerline goodness [0,1] 0.8093071177127157 Centerline is valid? [False, False] Translation: X:310.31, Y:18.36, Z:-0.25 [[ 9.99989494e-01 -3.65065049e-03 -2.77207928e-03 3.10309989e+02] [ 3.66102240e-03 9.99986283e-01 3.74575383e-03 1.83575626e+01] [ 2.75836682e-03 -3.75586312e-03 9.99989142e-01 -2.47288241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.141400513 meters Centerline goodness [0,1] 0.770521347350354 Centerline is valid? [False, False] Translation: X:310.31, Y:18.36, Z:-0.25 [[ 9.99989262e-01 -3.62641290e-03 -2.88524936e-03 3.10310425e+02] [ 3.63761055e-03 9.99985836e-01 3.88526603e-03 1.83568981e+01] [ 2.87111892e-03 -3.89571972e-03 9.99988290e-01 -2.47371285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.171400513 meters Centerline goodness [0,1] 0.9631432695000323 Centerline is valid? [False, True] Translation: X:310.31, Y:18.36, Z:-0.25 [[ 9.99989242e-01 -3.58247150e-03 -2.94663761e-03 3.10310788e+02] [ 3.59430713e-03 9.99985455e-01 4.02121644e-03 1.83563109e+01] [ 2.93218886e-03 -4.03176430e-03 9.99987573e-01 -2.47635635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.201400513 meters Centerline goodness [0,1] 0.9636190805392326 Centerline is valid? [True, True] Translation: X:310.34, Y:18.36, Z:-0.25 [[ 9.99986929e-01 -3.88121579e-03 -3.32837911e-03 3.10342192e+02] [ 3.88048216e-03 9.99992445e-01 -2.26847690e-04 1.83614492e+01] [ 3.32923441e-03 2.13929009e-04 9.99994435e-01 -2.45154695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.231400513 meters Centerline goodness [0,1] 0.9443285668207719 Centerline is valid? [True, False] Translation: X:310.34, Y:18.36, Z:-0.25 [[ 9.99987047e-01 -3.74403849e-03 -3.44798591e-03 3.10343168e+02] [ 3.74398825e-03 9.99992991e-01 -2.10242669e-05 1.83608882e+01] [ 3.44804046e-03 8.11477580e-06 9.99994055e-01 -2.46242303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.261400513 meters Centerline goodness [0,1] 0.9557922539022753 Centerline is valid? [False, True] Translation: X:310.34, Y:18.36, Z:-0.25 [[ 9.99987073e-01 -3.62415854e-03 -3.56648197e-03 3.10344024e+02] [ 3.62498327e-03 9.99993404e-01 2.24805894e-04 1.83599880e+01] [ 3.56564371e-03 -2.37731426e-04 9.99993615e-01 -2.47156959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.291400513 meters Centerline goodness [0,1] 0.9698265672347467 Centerline is valid? [True, True] Translation: X:310.38, Y:18.36, Z:-0.25 [[ 9.99983553e-01 -3.13208670e-03 -4.80446461e-03 3.10375738e+02] [ 3.13055523e-03 9.99995047e-01 -3.26246261e-04 1.83615633e+01] [ 4.80546265e-03 3.11200253e-04 9.99988405e-01 -2.48233735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.321400513 meters Centerline goodness [0,1] 0.9672935759892282 Centerline is valid? [True, True] Translation: X:310.40, Y:18.36, Z:-0.25 [[ 9.99977778e-01 -2.97458099e-03 -5.96613740e-03 3.10404935e+02] [ 2.97221871e-03 9.99995501e-01 -4.04775584e-04 1.83637154e+01] [ 5.96731460e-03 3.87033924e-04 9.99982121e-01 -2.49224128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.351400513 meters Centerline goodness [0,1] 0.8751450801702274 Centerline is valid? [True, False] Translation: X:310.41, Y:18.36, Z:-0.25 [[ 9.99977199e-01 -2.87514144e-03 -6.11027650e-03 3.10405673e+02] [ 2.87358623e-03 9.99995837e-01 -2.63288515e-04 1.83633190e+01] [ 6.11100806e-03 2.45724106e-04 9.99981297e-01 -2.49730164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.381400513 meters Centerline goodness [0,1] 0.9364707399922604 Centerline is valid? [False, False] Translation: X:310.41, Y:18.36, Z:-0.25 [[ 9.99976838e-01 -3.04193559e-03 -6.08849984e-03 3.10405067e+02] [ 3.03814950e-03 9.99995186e-01 -6.30996518e-04 1.83648112e+01] [ 6.09038998e-03 6.12484131e-04 9.99981266e-01 -2.48827726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.411400513 meters Centerline goodness [0,1] 0.930050472369613 Centerline is valid? [False, False] Translation: X:310.40, Y:18.37, Z:-0.25 [[ 9.99977427e-01 -3.12513942e-03 -5.94805888e-03 3.10404190e+02] [ 3.12063441e-03 9.99994837e-01 -7.66522531e-04 1.83651482e+01] [ 5.95042366e-03 7.47943511e-04 9.99982016e-01 -2.48072460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.441400513 meters Centerline goodness [0,1] 0.9102848407862725 Centerline is valid? [False, False] Translation: X:310.40, Y:18.37, Z:-0.25 [[ 9.99978001e-01 -3.25385814e-03 -5.78018028e-03 3.10403202e+02] [ 3.24746072e-03 9.99994104e-01 -1.11582628e-03 1.83666053e+01] [ 5.78377695e-03 1.09703082e-03 9.99982672e-01 -2.47280611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.471400513 meters Centerline goodness [0,1] 0.9155569920275802 Centerline is valid? [False, False] Translation: X:310.40, Y:18.37, Z:-0.25 [[ 9.99980010e-01 -3.43645263e-03 -5.30760017e-03 3.10400618e+02] [ 3.42805350e-03 9.99992859e-01 -1.59075961e-03 1.83681995e+01] [ 5.31302884e-03 1.57253307e-03 9.99984649e-01 -2.45340123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.501400513 meters Centerline goodness [0,1] 0.8264619819190286 Centerline is valid? [False, False] Translation: X:310.36, Y:18.37, Z:-0.24 [[ 9.99978407e-01 -6.92245883e-04 -6.53501168e-03 3.10359243e+02] [ 6.51808228e-04 9.99980642e-01 -6.18795048e-03 1.83682230e+01] [ 6.53916876e-03 6.18355729e-03 9.99959501e-01 -2.39417922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.531400513 meters Centerline goodness [0,1] 0.8730117788668215 Centerline is valid? [False, False] Translation: X:310.40, Y:18.37, Z:-0.25 [[ 9.99990949e-01 -4.60545428e-04 -4.22957623e-03 3.10397222e+02] [ 4.67412329e-04 9.99998574e-01 1.62269857e-03 1.83655750e+01] [ 4.22882288e-03 -1.62466084e-03 9.99989739e-01 -2.45712675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.561400513 meters Centerline goodness [0,1] 0.7962265774584256 Centerline is valid? [False, False] Translation: X:310.40, Y:18.37, Z:-0.25 [[ 9.99991416e-01 -5.21197400e-04 -4.11055125e-03 3.10396726e+02] [ 5.27102910e-04 9.99998830e-01 1.43571854e-03 1.83664135e+01] [ 4.10979815e-03 -1.43787290e-03 9.99990521e-01 -2.45617069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.591400513 meters Centerline goodness [0,1] 0.7087929741887116 Centerline is valid? [False, False] Translation: X:310.40, Y:18.37, Z:-0.25 [[ 9.99991463e-01 -4.90832193e-04 -4.10278752e-03 3.10396712e+02] [ 4.96664285e-04 9.99998868e-01 1.42059712e-03 1.83665744e+01] [ 4.10208559e-03 -1.42262270e-03 9.99990574e-01 -2.45652901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.621400513 meters Centerline goodness [0,1] 0.728623172782545 Centerline is valid? [False, False] Translation: X:310.40, Y:18.37, Z:-0.24 [[ 9.99991258e-01 -5.83316410e-04 -4.14043510e-03 3.10396192e+02] [ 5.86762659e-04 9.99999482e-01 8.31173915e-04 1.83692332e+01] [ 4.13994812e-03 -8.33596101e-04 9.99991083e-01 -2.44632401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.651400513 meters Centerline goodness [0,1] 0.72487541972325 Centerline is valid? [False, False] Translation: X:310.40, Y:18.37, Z:-0.24 [[ 9.99991776e-01 -5.96346534e-04 -4.01141122e-03 3.10395412e+02] [ 5.98447120e-04 9.99999684e-01 5.22472663e-04 1.83706869e+01] [ 4.01109838e-03 -5.24868983e-04 9.99991818e-01 -2.43934848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.681400513 meters Centerline goodness [0,1] 0.7133950379226122 Centerline is valid? [False, False] Translation: X:310.39, Y:18.37, Z:-0.24 [[ 9.99992473e-01 -7.35364078e-04 -3.80948888e-03 3.10394207e+02] [ 7.35640306e-04 9.99999727e-01 7.11098110e-05 1.83725607e+01] [ 3.80943554e-03 -7.39116893e-05 9.99992741e-01 -2.43044197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.711400513 meters Centerline goodness [0,1] 0.7037393162393162 Centerline is valid? [False, False] Translation: X:310.39, Y:18.37, Z:-0.24 [[ 9.99992988e-01 -5.63395257e-04 -3.70230454e-03 3.10394095e+02] [ 5.63617329e-04 9.99999839e-01 5.89392234e-05 1.83729479e+01] [ 3.70227074e-03 -6.10254931e-05 9.99993145e-01 -2.43505740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.741400513 meters Centerline goodness [0,1] 0.7016455181563349 Centerline is valid? [False, False] Translation: X:310.39, Y:18.37, Z:-0.24 [[ 9.99993107e-01 -4.73725323e-04 -3.68255206e-03 3.10394405e+02] [ 4.74536839e-04 9.99999863e-01 2.19497186e-04 1.83723887e+01] [ 3.68244757e-03 -2.21243180e-04 9.99993195e-01 -2.44231511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.771400513 meters Centerline goodness [0,1] 0.6814772071552222 Centerline is valid? [False, False] Translation: X:310.40, Y:18.37, Z:-0.24 [[ 9.99992854e-01 -3.80887823e-04 -3.76115400e-03 3.10395049e+02] [ 3.82323933e-04 9.99999854e-01 3.81115335e-04 1.83718791e+01] [ 3.76100829e-03 -3.82550591e-04 9.99992854e-01 -2.44943756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.801400513 meters Centerline goodness [0,1] 0.6993857124446927 Centerline is valid? [False, False] Translation: X:310.40, Y:18.37, Z:-0.25 [[ 9.99992697e-01 -3.28334774e-04 -3.80764729e-03 3.10395365e+02] [ 3.30327646e-04 9.99999809e-01 5.22769498e-04 1.83712650e+01] [ 3.80747491e-03 -5.24023452e-04 9.99992614e-01 -2.45247544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.831400513 meters Centerline goodness [0,1] 0.7117990478037011 Centerline is valid? [False, False] Translation: X:310.40, Y:18.37, Z:-0.25 [[ 9.99992621e-01 -3.01311458e-04 -3.82986150e-03 3.10395485e+02] [ 3.03695084e-04 9.99999761e-01 6.21812892e-04 1.83707953e+01] [ 3.82967323e-03 -6.22971414e-04 9.99992473e-01 -2.45339742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.861400513 meters Centerline goodness [0,1] 0.7108685355035955 Centerline is valid? [False, False] Translation: X:310.39, Y:18.37, Z:-0.25 [[ 9.99993276e-01 -2.86231412e-04 -3.65583345e-03 3.10394891e+02] [ 2.88761005e-04 9.99999719e-01 6.91424356e-04 1.83703669e+01] [ 3.65563452e-03 -6.92475369e-04 9.99993078e-01 -2.45266071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.891400513 meters Centerline goodness [0,1] 0.701048951048951 Centerline is valid? [False, False] Translation: X:310.40, Y:18.37, Z:-0.25 [[ 9.99993195e-01 -2.07470775e-04 -3.68334028e-03 3.10395161e+02] [ 2.10732401e-04 9.99999586e-01 8.85141600e-04 1.83695331e+01] [ 3.68315512e-03 -8.85911776e-04 9.99992825e-01 -2.45596266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.921400513 meters Centerline goodness [0,1] 0.7055958973474972 Centerline is valid? [False, False] Translation: X:310.40, Y:18.37, Z:-0.25 [[ 9.99992773e-01 -1.36675705e-04 -3.79940618e-03 3.10395923e+02] [ 1.40404325e-04 9.99999509e-01 9.81119625e-04 1.83693616e+01] [ 3.79927022e-03 -9.81645987e-04 9.99992301e-01 -2.46348136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.951400513 meters Centerline goodness [0,1] 0.7024511591001694 Centerline is valid? [False, False] Translation: X:310.40, Y:18.37, Z:-0.25 [[ 9.99992201e-01 -5.43074755e-05 -3.94903203e-03 3.10396740e+02] [ 5.84176460e-05 9.99999457e-01 1.04069663e-03 1.83694127e+01] [ 3.94897337e-03 -1.04091921e-03 9.99991661e-01 -2.46968694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.981400513 meters Centerline goodness [0,1] 0.6837583148558759 Centerline is valid? [False, False] Translation: X:310.40, Y:18.37, Z:-0.25 [[ 9.99991827e-01 -4.44864840e-05 -4.04267852e-03 3.10396996e+02] [ 4.85547746e-05 9.99999493e-01 1.00624284e-03 1.83696531e+01] [ 4.04263170e-03 -1.00643091e-03 9.99991322e-01 -2.46897070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.011400513 meters Centerline goodness [0,1] 0.6839889149068723 Centerline is valid? [False, False] Translation: X:310.40, Y:18.37, Z:-0.25 [[ 9.99992083e-01 -1.22878128e-04 -3.97728779e-03 3.10396547e+02] [ 1.26352005e-04 9.99999611e-01 8.73189129e-04 1.83701062e+01] [ 3.97717895e-03 -8.73684754e-04 9.99991709e-01 -2.46499654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.041400513 meters Centerline goodness [0,1] 0.6987824815006023 Centerline is valid? [False, False] Translation: X:310.40, Y:18.37, Z:-0.25 [[ 9.99992003e-01 -7.43346337e-05 -3.99863204e-03 3.10396711e+02] [ 7.84622226e-05 9.99999464e-01 1.03210328e-03 1.83693509e+01] [ 3.99855318e-03 -1.03240877e-03 9.99991473e-01 -2.46653528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.071400513 meters Centerline goodness [0,1] 0.7042917070022587 Centerline is valid? [False, False] Translation: X:310.40, Y:18.37, Z:-0.25 [[ 9.99991493e-01 2.62371061e-05 -4.12475396e-03 3.10397490e+02] [-2.09843128e-05 9.99999189e-01 1.27351852e-03 1.83684210e+01] [ 4.12478403e-03 -1.27342113e-03 9.99990682e-01 -2.47321174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.101400513 meters Centerline goodness [0,1] 0.6848117846636175 Centerline is valid? [False, False] Translation: X:310.40, Y:18.37, Z:-0.25 [[ 9.99990487e-01 1.11014503e-04 -4.36038584e-03 3.10398628e+02] [-1.04723598e-04 9.99998953e-01 1.44294210e-03 1.83679149e+01] [ 4.36054147e-03 -1.44247174e-03 9.99989452e-01 -2.48017064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.131400513 meters Centerline goodness [0,1] 0.6980409041980624 Centerline is valid? [False, False] Translation: X:310.40, Y:18.37, Z:-0.25 [[ 9.99990375e-01 1.06726738e-04 -4.38616896e-03 3.10398633e+02] [-1.00047016e-04 9.99998835e-01 1.52309701e-03 1.83674419e+01] [ 4.38632640e-03 -1.52264353e-03 9.99989221e-01 -2.47878391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.161400513 meters Centerline goodness [0,1] 0.7060119201865769 Centerline is valid? [False, False] Translation: X:310.40, Y:18.37, Z:-0.25 [[ 9.99990408e-01 5.41383276e-05 -4.37950884e-03 3.10398341e+02] [-4.76792696e-05 9.99998911e-01 1.47492713e-03 1.83674950e+01] [ 4.37958392e-03 -1.47470417e-03 9.99989322e-01 -2.47362501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.191400513 meters Centerline goodness [0,1] 0.6740995955402427 Centerline is valid? [False, False] Translation: X:310.40, Y:18.37, Z:-0.25 [[ 9.99990276e-01 4.87493072e-05 -4.40971984e-03 3.10398165e+02] [-4.19751696e-05 9.99998819e-01 1.53626272e-03 1.83670510e+01] [ 4.40978953e-03 -1.53606268e-03 9.99989097e-01 -2.46843595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.221400513 meters Centerline goodness [0,1] 0.7100921778084079 Centerline is valid? [False, False] Translation: X:310.40, Y:18.37, Z:-0.25 [[ 9.99989854e-01 7.81308353e-05 -4.50393643e-03 3.10398684e+02] [-7.07884950e-05 9.99998668e-01 1.63034150e-03 1.83667069e+01] [ 4.50405781e-03 -1.63000613e-03 9.99988528e-01 -2.47252509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.251400513 meters Centerline goodness [0,1] 0.6925179732231262 Centerline is valid? [False, False] Translation: X:310.40, Y:18.37, Z:-0.25 [[ 9.99989960e-01 1.47843447e-04 -4.47858658e-03 3.10398748e+02] [-1.39484227e-04 9.99998248e-01 1.86674086e-03 1.83655841e+01] [ 4.47885472e-03 -1.86609742e-03 9.99988229e-01 -2.47499557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.281400513 meters Centerline goodness [0,1] 0.7149707552038534 Centerline is valid? [False, False] Translation: X:310.40, Y:18.36, Z:-0.25 [[ 9.99990046e-01 1.54162769e-04 -4.45918591e-03 3.10398592e+02] [-1.45244674e-04 9.99997989e-01 2.00019263e-03 1.83648028e+01] [ 4.45948530e-03 -1.99952505e-03 9.99988057e-01 -2.47255326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.311400513 meters Centerline goodness [0,1] 0.6996660815959588 Centerline is valid? [False, False] Translation: X:310.40, Y:18.36, Z:-0.25 [[ 9.99990070e-01 1.52291073e-04 -4.45378676e-03 3.10398562e+02] [-1.43427086e-04 9.99998009e-01 1.99046544e-03 1.83648866e+01] [ 4.45408102e-03 -1.98980688e-03 9.99988101e-01 -2.47187387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.341400513 meters Centerline goodness [0,1] 0.6985940810168838 Centerline is valid? [False, False] Translation: X:310.40, Y:18.36, Z:-0.25 [[ 9.99990088e-01 2.11997419e-04 -4.44734342e-03 3.10398658e+02] [-2.02397329e-04 9.99997649e-01 2.15895125e-03 1.83641121e+01] [ 4.44779066e-03 -2.15802972e-03 9.99987780e-01 -2.47376531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.371400513 meters Centerline goodness [0,1] 0.7211834319526627 Centerline is valid? [False, False] Translation: X:310.40, Y:18.36, Z:-0.25 [[ 9.99989970e-01 3.50164856e-04 -4.46518190e-03 3.10399237e+02] [-3.38806561e-04 9.99996706e-01 2.54425023e-03 1.83624890e+01] [ 4.46605810e-03 -2.54271188e-03 9.99986794e-01 -2.48290983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.401400513 meters Centerline goodness [0,1] 0.7151676241104348 Centerline is valid? [False, False] Translation: X:310.40, Y:18.36, Z:-0.25 [[ 9.99989328e-01 4.44127832e-04 -4.59864804e-03 3.10399902e+02] [-4.31318706e-04 9.99996026e-01 2.78602841e-03 1.83614950e+01] [ 4.59986712e-03 -2.78401520e-03 9.99985545e-01 -2.48657386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.431400513 meters Centerline goodness [0,1] 0.7162982598657488 Centerline is valid? [False, False] Translation: X:310.40, Y:18.36, Z:-0.25 [[ 9.99988829e-01 5.27822771e-04 -4.69717208e-03 3.10400365e+02] [-5.13213372e-04 9.99995029e-01 3.11091631e-03 1.83599746e+01] [ 4.69879074e-03 -3.10847090e-03 9.99984129e-01 -2.48845161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.461400513 meters Centerline goodness [0,1] 0.7267789941840574 Centerline is valid? [False, False] Translation: X:310.40, Y:18.36, Z:-0.25 [[ 9.99988422e-01 5.44843215e-04 -4.78119480e-03 3.10400757e+02] [-5.29452040e-04 9.99994676e-01 3.21978193e-03 1.83594925e+01] [ 4.78292363e-03 -3.21721323e-03 9.99983386e-01 -2.49045998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.491400513 meters Centerline goodness [0,1] 0.7276448159238276 Centerline is valid? [False, False] Translation: X:310.40, Y:18.36, Z:-0.25 [[ 9.99987712e-01 7.22562641e-04 -4.90440269e-03 3.10401771e+02] [-7.04613159e-04 9.99993052e-01 3.66061295e-03 1.83577043e+01] [ 4.90701363e-03 -3.65711226e-03 9.99981273e-01 -2.50134582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.521400513 meters Centerline goodness [0,1] 0.7634385248571987 Centerline is valid? [False, False] Translation: X:310.40, Y:18.36, Z:-0.25 [[ 9.99987535e-01 7.55116146e-04 -4.93555255e-03 3.10402002e+02] [-7.36602727e-04 9.99992691e-01 3.75177478e-03 1.83573285e+01] [ 4.93834950e-03 -3.74809247e-03 9.99980782e-01 -2.50388735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.551400513 meters Centerline goodness [0,1] 0.7057898591306595 Centerline is valid? [False, False] Translation: X:310.40, Y:18.36, Z:-0.25 [[ 9.99980573e-01 -3.48017658e-03 -5.17134078e-03 3.10401391e+02] [ 3.47142011e-03 9.99992527e-01 -1.70128103e-03 1.83634262e+01] [ 5.17722290e-03 1.68329609e-03 9.99985181e-01 -2.47474060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.581400513 meters Centerline goodness [0,1] 0.7065552039681862 Centerline is valid? [False, False] Translation: X:310.40, Y:18.36, Z:-0.25 [[ 9.99981048e-01 -3.48944639e-03 -5.07220229e-03 3.10400781e+02] [ 3.48061495e-03 9.99992413e-01 -1.74893084e-03 1.83635145e+01] [ 5.07826661e-03 1.73124332e-03 9.99985607e-01 -2.46946668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.611400513 meters Centerline goodness [0,1] 0.7065552039681862 Centerline is valid? [False, False] Translation: X:310.40, Y:18.36, Z:-0.25 [[ 9.99981048e-01 -3.48944639e-03 -5.07220229e-03 3.10400781e+02] [ 3.48061495e-03 9.99992413e-01 -1.74893084e-03 1.83635145e+01] [ 5.07826661e-03 1.73124332e-03 9.99985607e-01 -2.46946668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.641400513 meters Centerline goodness [0,1] 0.6995673394573627 Centerline is valid? [False, False] Translation: X:310.40, Y:18.36, Z:-0.25 [[ 9.99981174e-01 -3.51640344e-03 -5.02847535e-03 3.10400560e+02] [ 3.50694525e-03 9.99992067e-01 -1.88850849e-03 1.83642262e+01] [ 5.03507622e-03 1.87083835e-03 9.99985574e-01 -2.46840548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.671400513 meters Centerline goodness [0,1] 0.7120837011043896 Centerline is valid? [False, False] Translation: X:310.40, Y:18.36, Z:-0.25 [[ 9.99981749e-01 -3.34783709e-03 -5.02924403e-03 3.10401206e+02] [ 3.33927294e-03 9.99992962e-01 -1.71030365e-03 1.83638587e+01] [ 5.03493445e-03 1.69347841e-03 9.99985891e-01 -2.48101604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.701400513 meters Centerline goodness [0,1] 0.7201585796776695 Centerline is valid? [False, False] Translation: X:310.40, Y:18.36, Z:-0.25 [[ 9.99981734e-01 -3.28302199e-03 -5.07479693e-03 3.10401569e+02] [ 3.27455372e-03 9.99993234e-01 -1.67609918e-03 1.83639091e+01] [ 5.08026527e-03 1.65945087e-03 9.99985718e-01 -2.48541927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.731400513 meters Centerline goodness [0,1] 0.6916629247118695 Centerline is valid? [False, False] Translation: X:310.40, Y:18.36, Z:-0.25 [[ 9.99981648e-01 -3.25143533e-03 -5.11195776e-03 3.10401769e+02] [ 3.24265547e-03 9.99993255e-01 -1.72486645e-03 1.83642794e+01] [ 5.11753157e-03 1.70825848e-03 9.99985446e-01 -2.48709343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.761400513 meters Centerline goodness [0,1] 0.7160332770161895 Centerline is valid? [False, False] Translation: X:310.40, Y:18.36, Z:-0.25 [[ 9.99981956e-01 -3.14729568e-03 -5.11691011e-03 3.10401981e+02] [ 3.13956763e-03 9.99993920e-01 -1.51762749e-03 1.83634512e+01] [ 5.12165543e-03 1.50153522e-03 9.99985757e-01 -2.49025945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.791400513 meters Centerline goodness [0,1] 0.7131990087275077 Centerline is valid? [False, False] Translation: X:310.40, Y:18.36, Z:-0.25 [[ 9.99981918e-01 -3.08338537e-03 -5.16299668e-03 3.10402323e+02] [ 3.07634757e-03 9.99994329e-01 -1.37051147e-03 1.83628568e+01] [ 5.16719321e-03 1.35460351e-03 9.99985732e-01 -2.49389744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.821400513 meters Centerline goodness [0,1] 0.7090792153499839 Centerline is valid? [False, False] Translation: X:310.40, Y:18.36, Z:-0.25 [[ 9.99981544e-01 -2.80619629e-03 -5.38865406e-03 3.10403784e+02] [ 2.80237357e-03 9.99995816e-01 -7.16819770e-04 1.83602441e+01] [ 5.39064306e-03 7.01705518e-04 9.99985224e-01 -2.50630771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.851400513 meters Centerline goodness [0,1] 0.7162217482170943 Centerline is valid? [False, False] Translation: X:310.40, Y:18.36, Z:-0.25 [[ 9.99981651e-01 -2.70550403e-03 -5.42018687e-03 3.10404042e+02] [ 2.70318467e-03 9.99996252e-01 -4.35191661e-04 1.83589460e+01] [ 5.42134397e-03 4.20531910e-04 9.99985216e-01 -2.50862861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.881400513 meters Centerline goodness [0,1] 0.7054772478599471 Centerline is valid? [False, False] Translation: X:310.40, Y:18.36, Z:-0.25 [[ 9.99982085e-01 -2.66458792e-03 -5.36005349e-03 3.10403807e+02] [ 2.66268921e-03 9.99996390e-01 -3.61338261e-04 1.83586153e+01] [ 5.36099695e-03 3.47059631e-04 9.99985570e-01 -2.50733993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.911400513 meters Centerline goodness [0,1] 0.7274822809625369 Centerline is valid? [False, False] Translation: X:310.40, Y:18.36, Z:-0.25 [[ 9.99982445e-01 -2.62586515e-03 -5.31177724e-03 3.10403583e+02] [ 2.62496447e-03 9.99996539e-01 -1.76528398e-04 1.83576229e+01] [ 5.31222239e-03 1.62582073e-04 9.99985877e-01 -2.50567238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.941400513 meters Centerline goodness [0,1] 0.7175339997425887 Centerline is valid? [False, False] Translation: X:310.40, Y:18.36, Z:-0.25 [[ 9.99982333e-01 -2.54634030e-03 -5.37124223e-03 3.10403894e+02] [ 2.54647470e-03 9.99996758e-01 1.81830741e-05 1.83568059e+01] [ 5.37117851e-03 -3.18604853e-05 9.99985575e-01 -2.50732106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.971400513 meters Centerline goodness [0,1] 0.7443037429469785 Centerline is valid? [False, False] Translation: X:310.40, Y:18.35, Z:-0.25 [[ 9.99982882e-01 -2.76408884e-03 -5.15699360e-03 3.10403389e+02] [ 2.76698607e-03 9.99996018e-01 5.54756629e-04 1.83535453e+01] [ 5.15543967e-03 -5.69016462e-04 9.99986549e-01 -2.51221461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.001400513 meters Centerline goodness [0,1] 0.7470621152770005 Centerline is valid? [False, False] Translation: X:310.40, Y:18.35, Z:-0.25 [[ 9.99982349e-01 -2.55918602e-03 -5.36208852e-03 3.10404768e+02] [ 2.56526092e-03 9.99996075e-01 1.12636480e-03 1.83512341e+01] [ 5.35918490e-03 -1.14010007e-03 9.99984990e-01 -2.52421180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.031400513 meters Centerline goodness [0,1] 0.834106728538283 Centerline is valid? [False, False] Translation: X:310.41, Y:18.35, Z:-0.25 [[ 9.99982370e-01 -2.38657315e-03 -5.43734364e-03 3.10405563e+02] [ 2.39556521e-03 9.99995773e-01 1.64784728e-03 1.83490343e+01] [ 5.43338795e-03 -1.66084374e-03 9.99983860e-01 -2.53324594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.061400513 meters Centerline goodness [0,1] 0.7487038272056451 Centerline is valid? [False, False] Translation: X:310.41, Y:18.35, Z:-0.25 [[ 9.99983536e-01 -2.37998408e-03 -5.22135562e-03 3.10405108e+02] [ 2.39102781e-03 9.99994916e-01 2.10988527e-03 1.83466285e+01] [ 5.21630758e-03 -2.12233494e-03 9.99984143e-01 -2.53694995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.091400513 meters Centerline goodness [0,1] 0.9313067170102761 Centerline is valid? [False, False] Translation: X:310.40, Y:18.34, Z:-0.25 [[ 9.99981529e-01 -3.21597919e-03 -5.15735199e-03 3.10403926e+02] [ 3.22798803e-03 9.99992095e-01 2.32185823e-03 1.83434574e+01] [ 5.14984417e-03 -2.33846322e-03 9.99984005e-01 -2.52751508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.121400513 meters Centerline goodness [0,1] 0.9703371561610762 Centerline is valid? [False, True] Translation: X:310.40, Y:18.34, Z:-0.25 [[ 9.99981556e-01 -3.32167148e-03 -5.08473038e-03 3.10403744e+02] [ 3.33513444e-03 9.99990950e-01 2.64153817e-03 1.83416020e+01] [ 5.07591004e-03 -2.65844771e-03 9.99983584e-01 -2.52793843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.151400513 meters Centerline goodness [0,1] 0.9758971612212105 Centerline is valid? [True, True] Translation: X:310.43, Y:18.34, Z:-0.25 [[ 9.99919597e-01 -9.46732418e-03 -8.43622605e-03 3.10433939e+02] [ 9.46137574e-03 9.99954963e-01 -7.44739161e-04 1.83414221e+01] [ 8.44289679e-03 6.64860977e-04 9.99964137e-01 -2.53166342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.181400513 meters Centerline goodness [0,1] 0.9822447141570528 Centerline is valid? [True, True] Translation: X:310.47, Y:18.34, Z:-0.25 [[ 9.99871809e-01 -1.30424618e-02 -9.28756371e-03 3.10465891e+02] [ 1.30297414e-02 9.99914088e-01 -1.42881142e-03 1.83398354e+01] [ 9.30540102e-03 1.30761371e-03 9.99955849e-01 -2.54562723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.211400513 meters Centerline goodness [0,1] 0.9779259354232109 Centerline is valid? [True, True] Translation: X:310.50, Y:18.34, Z:-0.26 [[ 9.99809767e-01 -1.71233803e-02 -9.33917238e-03 3.10499845e+02] [ 1.71402587e-02 9.99851598e-01 1.73023443e-03 1.83409305e+01] [ 9.30815897e-03 -1.88998111e-03 9.99954892e-01 -2.57519578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.241400513 meters Centerline goodness [0,1] 0.9895123680986869 Centerline is valid? [True, True] Translation: X:310.53, Y:18.34, Z:-0.25 [[ 9.99760172e-01 -1.97812677e-02 -9.39679257e-03 3.10525060e+02] [ 1.97354263e-02 9.99793002e-01 -4.94635279e-03 1.83387842e+01] [ 9.49269258e-03 4.75971681e-03 9.99943615e-01 -2.51417636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.271400513 meters Centerline goodness [0,1] 0.9926426554880657 Centerline is valid? [True, True] Translation: X:310.55, Y:18.33, Z:-0.25 [[ 9.99627308e-01 -2.52724605e-02 -1.03221586e-02 3.10553423e+02] [ 2.52525039e-02 9.99678984e-01 -2.05917788e-03 1.83344573e+01] [ 1.03708855e-02 1.79775010e-03 9.99944605e-01 -2.54242921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.301400513 meters Centerline goodness [0,1] 0.991578947368421 Centerline is valid? [True, True] Translation: X:310.59, Y:18.33, Z:-0.26 [[ 9.99532423e-01 -2.87401859e-02 -1.04372612e-02 3.10587621e+02] [ 2.87826793e-02 9.99577911e-01 3.94416006e-03 1.83321529e+01] [ 1.03194999e-02 -4.24272821e-03 9.99937752e-01 -2.59547789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.331400513 meters Centerline goodness [0,1] 0.9942368070190529 Centerline is valid? [True, True] Translation: X:310.61, Y:18.34, Z:-0.25 [[ 9.99537924e-01 -2.79133985e-02 -1.20324970e-02 3.10613438e+02] [ 2.78829131e-02 9.99607566e-01 -2.69397348e-03 1.83366320e+01] [ 1.21029730e-02 2.35722759e-03 9.99923978e-01 -2.53441726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.361400513 meters Centerline goodness [0,1] 0.9903228587439113 Centerline is valid? [True, True] Translation: X:310.65, Y:18.34, Z:-0.26 [[ 9.99534008e-01 -2.69920874e-02 -1.42546099e-02 3.10645469e+02] [ 2.69741363e-02 9.99635080e-01 -1.45011585e-03 1.83430337e+01] [ 1.42885498e-02 1.06493432e-03 9.99897346e-01 -2.56680957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.391400513 meters Centerline goodness [0,1] 0.8617503635896997 Centerline is valid? [True, False] Translation: X:310.65, Y:18.34, Z:-0.26 [[ 9.99657075e-01 -2.18201458e-02 -1.44780225e-02 3.10648470e+02] [ 2.18835649e-02 9.99751550e-01 4.23648667e-03 1.83385231e+01] [ 1.43819846e-02 -4.55186462e-03 9.99886213e-01 -2.60878165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.421400513 meters Centerline goodness [0,1] 0.9943122062200854 Centerline is valid? [False, True] Translation: X:310.65, Y:18.34, Z:-0.26 [[ 9.99655571e-01 -2.20154539e-02 -1.42848989e-02 3.10647469e+02] [ 2.20718695e-02 9.99749151e-01 3.80373091e-03 1.83403796e+01] [ 1.41975747e-02 -4.11771522e-03 9.99890731e-01 -2.60359369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.451400513 meters Centerline goodness [0,1] 0.8259343293805386 Centerline is valid? [True, False] Translation: X:310.65, Y:18.34, Z:-0.26 [[ 9.99652577e-01 -2.23319571e-02 -1.40003146e-02 3.10645711e+02] [ 2.23785381e-02 9.99744514e-01 3.17933401e-03 1.83428371e+01] [ 1.39257370e-02 -3.49153601e-03 9.99896936e-01 -2.59040565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.481400513 meters Centerline goodness [0,1] 0.9944679396813192 Centerline is valid? [False, True] Translation: X:310.64, Y:18.34, Z:-0.26 [[ 9.99650519e-01 -2.25117458e-02 -1.38586318e-02 3.10644516e+02] [ 2.25546100e-02 9.99741276e-01 2.94445608e-03 1.83434168e+01] [ 1.37887614e-02 -3.25600308e-03 9.99899629e-01 -2.57723903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.511400513 meters Centerline goodness [0,1] 0.9967782121225138 Centerline is valid? [True, True] Translation: X:310.68, Y:18.35, Z:-0.25 [[ 9.99626808e-01 -2.38799283e-02 -1.32662921e-02 3.10676242e+02] [ 2.38713937e-02 9.99714717e-01 -8.01325044e-04 1.83476881e+01] [ 1.32816431e-02 4.84341113e-04 9.99911678e-01 -2.52845718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.541400513 meters Centerline goodness [0,1] 0.9983135499772978 Centerline is valid? [True, True] Translation: X:310.71, Y:18.35, Z:-0.25 [[ 9.99590138e-01 -2.51503259e-02 -1.36754308e-02 3.10707350e+02] [ 2.51413848e-02 9.99683565e-01 -8.25363706e-04 1.83490913e+01] [ 1.36918616e-02 4.81206152e-04 9.99906146e-01 -2.51784757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.571400513 meters Centerline goodness [0,1] 0.9998062265857124 Centerline is valid? [True, True] Translation: X:310.74, Y:18.34, Z:-0.25 [[ 9.99421479e-01 -3.10049738e-02 -1.39784968e-02 3.10738077e+02] [ 3.09962108e-02 9.99519146e-01 -8.43159633e-04 1.83421828e+01] [ 1.39979173e-02 4.09391415e-04 9.99901941e-01 -2.52949215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.601400513 meters Centerline goodness [0,1] 0.9999356209360716 Centerline is valid? [True, True] Translation: X:310.77, Y:18.34, Z:-0.25 [[ 9.99297349e-01 -3.50035801e-02 -1.33999452e-02 3.10768041e+02] [ 3.49958874e-02 9.99387130e-01 -8.08215012e-04 1.83419807e+01] [ 1.34200232e-02 3.38704145e-04 9.99909890e-01 -2.52228901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.631400513 meters Centerline goodness [0,1] 0.9997836013070481 Centerline is valid? [True, True] Translation: X:310.80, Y:18.34, Z:-0.25 [[ 9.99178287e-01 -3.85083838e-02 -1.26433899e-02 3.10800043e+02] [ 3.85018152e-02 9.99258239e-01 -7.62609932e-04 1.83424302e+01] [ 1.26633784e-02 2.75189823e-04 9.99919778e-01 -2.51435792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.661400513 meters Centerline goodness [0,1] 0.9998489067322843 Centerline is valid? [True, True] Translation: X:310.83, Y:18.34, Z:-0.25 [[ 9.98833904e-01 -4.69021292e-02 -1.14465371e-02 3.10830116e+02] [ 4.68973010e-02 9.98899478e-01 -6.89999318e-04 1.83410627e+01] [ 1.14663024e-02 1.52383017e-04 9.99934248e-01 -2.50268877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.691400513 meters Centerline goodness [0,1] 0.9999784403768622 Centerline is valid? [True, True] Translation: X:310.86, Y:18.34, Z:-0.25 [[ 9.98644612e-01 -5.04164133e-02 -1.29276290e-02 3.10863089e+02] [ 5.04105486e-02 9.98728276e-01 -7.79320496e-04 1.83388004e+01] [ 1.29504792e-02 1.26575344e-04 9.99916131e-01 -2.49610374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.721400513 meters Centerline goodness [0,1] 0.9998070077625767 Centerline is valid? [True, True] Translation: X:310.89, Y:18.34, Z:-0.25 [[ 9.98431767e-01 -5.44053343e-02 -1.31934261e-02 3.10894944e+02] [ 5.43995890e-02 9.98518930e-01 -7.94210756e-04 1.83372545e+01] [ 1.32170951e-02 7.52482883e-05 9.99912648e-01 -2.52450108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.751400513 meters Centerline goodness [0,1] 0.9999785177228786 Centerline is valid? [True, True] Translation: X:310.93, Y:18.34, Z:-0.25 [[ 9.98298928e-01 -5.65691098e-02 -1.41133322e-02 3.10927751e+02] [ 5.65627826e-02 9.98398685e-01 -8.47395803e-04 1.83362523e+01] [ 1.41386687e-02 4.76649831e-05 9.99900043e-01 -2.52598823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.781400513 meters Centerline goodness [0,1] 0.9999563404571155 Centerline is valid? [True, True] Translation: X:310.96, Y:18.34, Z:-0.25 [[ 9.98217185e-01 -5.79807282e-02 -1.41664061e-02 3.10961094e+02] [ 5.79745274e-02 9.98317702e-01 -8.48333464e-04 1.83373960e+01] [ 1.41917610e-02 2.55303450e-05 9.99899292e-01 -2.52408591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.811400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:310.99, Y:18.34, Z:-0.25 [[ 9.98000250e-01 -6.17526771e-02 -1.34947106e-02 3.10993242e+02] [ 6.17474275e-02 9.98091482e-01 -8.05714539e-04 1.83366814e+01] [ 1.35187107e-02 -2.91603536e-05 9.99908618e-01 -2.50445147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.841400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:311.03, Y:18.33, Z:-0.25 [[ 9.97600433e-01 -6.80581950e-02 -1.27065953e-02 3.11025147e+02] [ 6.80540787e-02 9.97681347e-01 -7.56562626e-04 1.83329197e+01] [ 1.27286234e-02 -1.09988430e-04 9.99918982e-01 -2.49482268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.871400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:311.06, Y:18.34, Z:-0.25 [[ 9.97562314e-01 -6.85615357e-02 -1.29902310e-02 3.11058483e+02] [ 6.85573018e-02 9.97646882e-01 -7.71487396e-04 1.83359456e+01] [ 1.30125578e-02 -1.20968433e-04 9.99915326e-01 -2.49306319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.901400513 meters Centerline goodness [0,1] 0.9997202797202798 Centerline is valid? [True, True] Translation: X:311.09, Y:18.34, Z:-0.25 [[ 9.97432890e-01 -7.05598548e-02 -1.22039840e-02 3.11089681e+02] [ 7.05562942e-02 9.97507537e-01 -7.22600211e-04 1.83358108e+01] [ 1.22245526e-02 -1.40322666e-04 9.99925268e-01 -2.50270773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.931400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:311.12, Y:18.33, Z:-0.25 [[ 9.97207609e-01 -7.32551516e-02 -1.45143908e-02 3.11121425e+02] [ 7.32504383e-02 9.97313210e-01 -8.56804850e-04 1.83340353e+01] [ 1.45381591e-02 -2.08773173e-04 9.99894294e-01 -2.49777907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.961400513 meters Centerline goodness [0,1] 0.9999782910732893 Centerline is valid? [True, True] Translation: X:311.15, Y:18.33, Z:-0.25 [[ 9.97144122e-01 -7.40263356e-02 -1.49566377e-02 3.11153406e+02] [ 7.40214520e-02 9.97256261e-01 -8.80600383e-04 1.83348168e+01] [ 1.49807882e-02 -2.29026542e-04 9.99887755e-01 -2.50622244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.991400513 meters Centerline goodness [0,1] 0.9999783456041577 Centerline is valid? [True, True] Translation: X:311.19, Y:18.34, Z:-0.25 [[ 9.97123516e-01 -7.40275525e-02 -1.62669753e-02 3.11186492e+02] [ 7.40218224e-02 9.97256165e-01 -9.54891896e-04 1.83362170e+01] [ 1.62930297e-02 -2.51965992e-04 9.99867228e-01 -2.51693795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.021400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:311.22, Y:18.34, Z:-0.25 [[ 9.97047866e-01 -7.46295829e-02 -1.80548690e-02 3.11217790e+02] [ 7.46226845e-02 9.97211281e-01 -1.05642323e-03 1.83364616e+01] [ 1.80833595e-02 -2.93998273e-04 9.99836439e-01 -2.54255351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.051400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:311.25, Y:18.34, Z:-0.25 [[ 9.96843053e-01 -7.69829538e-02 -1.94306939e-02 3.11250418e+02] [ 7.69754578e-02 9.97032342e-01 -1.13451057e-03 1.83366319e+01] [ 1.94603682e-02 -3.64757580e-04 9.99810563e-01 -2.54469789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.081400513 meters Centerline goodness [0,1] 0.9997623625483376 Centerline is valid? [True, True] Translation: X:311.28, Y:18.34, Z:-0.25 [[ 9.96878669e-01 -7.66799349e-02 -1.87911498e-02 3.11282308e+02] [ 7.66728973e-02 9.97055699e-01 -1.09574179e-03 1.83400629e+01] [ 1.88198444e-02 -3.48450287e-04 9.99822830e-01 -2.54453066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.111400513 meters Centerline goodness [0,1] 0.9998924060166555 Centerline is valid? [True, True] Translation: X:311.32, Y:18.34, Z:-0.25 [[ 9.96871794e-01 -7.70963503e-02 -1.74005349e-02 3.11315770e+02] [ 7.70904259e-02 9.97023592e-01 -1.01197577e-03 1.83422557e+01] [ 1.74267634e-02 -3.32604542e-04 9.99848087e-01 -2.51921121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.141400513 meters Centerline goodness [0,1] 0.9998708065974764 Centerline is valid? [True, True] Translation: X:311.35, Y:18.34, Z:-0.25 [[ 9.96846727e-01 -7.78002007e-02 -1.56118850e-02 3.11347372e+02] [ 7.77955571e-02 9.96968922e-01 -9.05445622e-04 1.83433730e+01] [ 1.56350081e-02 -3.11944790e-04 9.99877717e-01 -2.48232125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.171400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:311.38, Y:18.35, Z:-0.25 [[ 9.96888262e-01 -7.72823958e-02 -1.55314061e-02 3.11379704e+02] [ 7.72777727e-02 9.97009197e-01 -8.98489369e-04 1.83475700e+01] [ 1.55543922e-02 -3.04538968e-04 9.99878977e-01 -2.46554808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.201400513 meters Centerline goodness [0,1] 0.9996975327312795 Centerline is valid? [True, True] Translation: X:311.41, Y:18.35, Z:-0.25 [[ 9.96922623e-01 -7.71867638e-02 -1.36925710e-02 3.11411900e+02] [ 7.71831880e-02 9.97016615e-01 -7.90191034e-04 1.83485431e+01] [ 1.37127130e-02 -2.69076961e-04 9.99905940e-01 -2.46729224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.231400513 meters Centerline goodness [0,1] 0.9999784143156258 Centerline is valid? [True, True] Translation: X:311.44, Y:18.35, Z:-0.25 [[ 9.96704706e-01 -7.98161466e-02 -1.44606638e-02 3.11442923e+02] [ 7.98124708e-02 9.96809549e-01 -8.32035850e-04 1.83473305e+01] [ 1.44809376e-02 -3.24847256e-04 9.99895093e-01 -2.45695347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.261400513 meters Centerline goodness [0,1] 0.9996322654610742 Centerline is valid? [True, True] Translation: X:311.48, Y:18.35, Z:-0.25 [[ 9.96582651e-01 -8.14137446e-02 -1.39578329e-02 3.11475273e+02] [ 8.14104919e-02 9.96680334e-01 -8.02010638e-04 1.83506581e+01] [ 1.39767922e-02 -3.37044154e-04 9.99902263e-01 -2.45813305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.291400513 meters Centerline goodness [0,1] 0.9998920319585403 Centerline is valid? [True, True] Translation: X:311.51, Y:18.35, Z:-0.24 [[ 9.96447436e-01 -8.27855090e-02 -1.54617849e-02 3.11507354e+02] [ 8.27817247e-02 9.96567309e-01 -8.85708851e-04 1.83524397e+01] [ 1.54820333e-02 -3.97390911e-04 9.99880067e-01 -2.44747208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.321400513 meters Centerline goodness [0,1] 0.9993362168643741 Centerline is valid? [True, True] Translation: X:311.54, Y:18.35, Z:-0.24 [[ 9.96144505e-01 -8.66077473e-02 -1.39722203e-02 3.11538304e+02] [ 8.66050600e-02 9.96242403e-01 -7.98418709e-04 1.83462464e+01] [ 1.39888675e-02 -4.14724563e-04 9.99902065e-01 -2.44330746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.351400513 meters Centerline goodness [0,1] 0.9995913626978665 Centerline is valid? [True, True] Translation: X:311.57, Y:18.35, Z:-0.24 [[ 9.96214714e-01 -8.59418533e-02 -1.30476767e-02 3.11570121e+02] [ 8.59394567e-02 9.96300082e-01 -7.45283009e-04 1.83523560e+01] [ 1.30634524e-02 -3.78848350e-04 9.99914598e-01 -2.42966011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.381400513 meters Centerline goodness [0,1] 0.9996377583635201 Centerline is valid? [True, True] Translation: X:311.60, Y:18.35, Z:-0.24 [[ 9.96177323e-01 -8.65154821e-02 -1.20752730e-02 3.11601098e+02] [ 8.65134928e-02 9.96250442e-01 -6.87982581e-04 1.83531061e+01] [ 1.20895172e-02 -3.59321402e-04 9.99926855e-01 -2.40940277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.411400513 meters Centerline goodness [0,1] 0.9999141133274644 Centerline is valid? [True, True] Translation: X:311.63, Y:18.36, Z:-0.24 [[ 9.96132150e-01 -8.70270261e-02 -1.21258377e-02 3.11632962e+02] [ 8.70250793e-02 9.96205883e-01 -6.89105168e-04 1.83551622e+01] [ 1.21398017e-02 -3.68812178e-04 9.99926242e-01 -2.38787709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.441400513 meters Centerline goodness [0,1] 0.9997421018697614 Centerline is valid? [True, True] Translation: X:311.66, Y:18.35, Z:-0.24 [[ 9.96041919e-01 -8.74673828e-02 -1.58098809e-02 3.11664680e+02] [ 8.74641753e-02 9.96167263e-01 -8.95536152e-04 1.83540139e+01] [ 1.58276160e-02 -4.90806651e-04 9.99874615e-01 -2.43491224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.471400513 meters Centerline goodness [0,1] 0.9996747967479674 Centerline is valid? [True, True] Translation: X:311.70, Y:18.36, Z:-0.25 [[ 9.96209516e-01 -8.54990975e-02 -1.60157804e-02 3.11696880e+02] [ 8.54955768e-02 9.96338138e-01 -9.05634223e-04 1.83609168e+01] [ 1.60345637e-02 -4.67076952e-04 9.99871329e-01 -2.45249875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.501400513 meters Centerline goodness [0,1] 0.9992277329672216 Centerline is valid? [True, True] Translation: X:311.73, Y:18.35, Z:-0.24 [[ 9.95948704e-01 -8.85998262e-02 -1.53704198e-02 3.11727040e+02] [ 8.85969842e-02 9.96067178e-01 -8.67075365e-04 1.83549334e+01] [ 1.53867934e-02 -4.98210252e-04 9.99881492e-01 -2.44485806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.531400513 meters Centerline goodness [0,1] 0.9992277329672216 Centerline is valid? [True, True] Translation: X:311.76, Y:18.36, Z:-0.24 [[ 9.95964321e-01 -8.84241024e-02 -1.53704393e-02 3.11759681e+02] [ 8.84212448e-02 9.96082794e-01 -8.66729275e-04 1.83566644e+01] [ 1.53868699e-02 -4.95841940e-04 9.99881492e-01 -2.44046769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.561400513 meters Centerline goodness [0,1] 0.9988905719954769 Centerline is valid? [True, True] Translation: X:311.79, Y:18.36, Z:-0.24 [[ 9.95975041e-01 -8.82528527e-02 -1.56573339e-02 3.11791830e+02] [ 8.82499100e-02 9.96097976e-01 -8.80117929e-04 1.83560280e+01] [ 1.56739115e-02 -5.05182818e-04 9.99877029e-01 -2.44690722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.591400513 meters Centerline goodness [0,1] 0.9997620180866255 Centerline is valid? [True, True] Translation: X:311.82, Y:18.37, Z:-0.25 [[ 9.96392383e-01 -8.31896808e-02 -1.67838160e-02 3.11822185e+02] [ 8.31856220e-02 9.96533626e-01 -9.41029145e-04 1.83662969e+01] [ 1.68039209e-02 -4.58537901e-04 9.99858699e-01 -2.45341004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.621400513 meters Centerline goodness [0,1] 0.9998924430485943 Centerline is valid? [True, True] Translation: X:311.85, Y:18.37, Z:-0.24 [[ 9.96345860e-01 -8.41360064e-02 -1.46989501e-02 3.11854547e+02] [ 8.41330010e-02 9.96454193e-01 -8.23808554e-04 1.83693609e+01] [ 1.47161425e-02 -4.15868544e-04 9.99891625e-01 -2.42030839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.651400513 meters Centerline goodness [0,1] 0.9997856055571039 Centerline is valid? [True, True] Translation: X:311.89, Y:18.37, Z:-0.24 [[ 9.96434840e-01 -8.32138519e-02 -1.38947719e-02 3.11886445e+02] [ 8.32111056e-02 9.96531640e-01 -7.76661296e-04 1.83709037e+01] [ 1.39112088e-02 -3.82306958e-04 9.99903161e-01 -2.41616907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.681400513 meters Centerline goodness [0,1] 0.9996766126250431 Centerline is valid? [True, True] Translation: X:311.92, Y:18.37, Z:-0.25 [[ 9.96580045e-01 -8.11065367e-02 -1.58096006e-02 3.11917895e+02] [ 8.11027602e-02 9.96705356e-01 -8.80929349e-04 1.83733755e+01] [ 1.58289627e-02 -4.04285634e-04 9.99874632e-01 -2.45170670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.711400513 meters Centerline goodness [0,1] 0.9997631811233826 Centerline is valid? [True, True] Translation: X:311.95, Y:18.37, Z:-0.24 [[ 9.96319379e-01 -8.40605621e-02 -1.67784424e-02 3.11949135e+02] [ 8.40567633e-02 9.96460531e-01 -9.32755224e-04 1.83724271e+01] [ 1.67974636e-02 -4.81019457e-04 9.99858797e-01 -2.44053902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.741400513 meters Centerline goodness [0,1] 0.9999567773167358 Centerline is valid? [True, True] Translation: X:311.98, Y:18.37, Z:-0.25 [[ 9.96121206e-01 -8.58216262e-02 -1.94214121e-02 3.11981756e+02] [ 8.58168829e-02 9.96310342e-01 -1.07905731e-03 1.83719686e+01] [ 1.94423602e-02 -5.91813179e-04 9.99810804e-01 -2.45365345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.771400513 meters Centerline goodness [0,1] 0.9987045513429484 Centerline is valid? [True, True] Translation: X:312.01, Y:18.37, Z:-0.25 [[ 9.96037713e-01 -8.61099962e-02 -2.22248239e-02 3.12013575e+02] [ 8.61039015e-02 9.96285400e-01 -1.23280536e-03 1.83680551e+01] [ 2.22484244e-02 -6.85723410e-04 9.99752238e-01 -2.49999744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.801400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:312.04, Y:18.38, Z:-0.25 [[ 9.96521468e-01 -8.05501790e-02 -2.13689380e-02 3.12043608e+02] [ 8.05433099e-02 9.96750408e-01 -1.18332153e-03 1.83796026e+01] [ 2.13948144e-02 -5.41919691e-04 9.99770958e-01 -2.48155430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.831400513 meters Centerline goodness [0,1] 0.9999569512903851 Centerline is valid? [True, True] Translation: X:312.07, Y:18.39, Z:-0.24 [[ 9.96946023e-01 -7.59883082e-02 -1.80112351e-02 3.12072582e+02] [ 7.59826853e-02 9.97108638e-01 -9.97302195e-04 1.83860596e+01] [ 1.80349414e-02 -3.74285551e-04 9.99837287e-01 -2.43979261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.861400513 meters Centerline goodness [0,1] 0.9999565680036483 Centerline is valid? [True, True] Translation: X:312.10, Y:18.39, Z:-0.24 [[ 9.97333956e-01 -7.16572640e-02 -1.37918970e-02 3.12102893e+02] [ 7.16535514e-02 9.97429288e-01 -7.63779768e-04 1.83911949e+01] [ 1.38111724e-02 -2.26494903e-04 9.99904596e-01 -2.38001598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.891400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:312.14, Y:18.40, Z:-0.23 [[ 9.97523610e-01 -6.93638491e-02 -1.16319962e-02 3.12135301e+02] [ 6.93610535e-02 9.97591414e-01 -6.44070591e-04 1.83983309e+01] [ 1.16486548e-02 -1.64331891e-04 9.99932139e-01 -2.34139349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.921400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:312.17, Y:18.40, Z:-0.23 [[ 9.97633013e-01 -6.78444894e-02 -1.12024913e-02 3.12166378e+02] [ 6.78418094e-02 9.97695898e-01 -6.19500034e-04 1.84006346e+01] [ 1.12187093e-02 -1.41963593e-04 9.99937058e-01 -2.32694703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.951400513 meters Centerline goodness [0,1] 0.9998282672162115 Centerline is valid? [True, True] Translation: X:312.20, Y:18.40, Z:-0.23 [[ 9.97522973e-01 -6.94718799e-02 -1.10261988e-02 3.12198985e+02] [ 6.94694003e-02 9.97583897e-01 -6.08185933e-04 1.84018838e+01] [ 1.10418102e-02 -1.59303979e-04 9.99939025e-01 -2.32449349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.981400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:312.23, Y:18.40, Z:-0.23 [[ 9.97483596e-01 -7.00470576e-02 -1.09491995e-02 3.12231248e+02] [ 7.00446658e-02 9.97543674e-01 -6.02244494e-04 1.84036458e+01] [ 1.09644901e-02 -1.66204014e-04 9.99939874e-01 -2.30753269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.011400513 meters Centerline goodness [0,1] 0.999720598349381 Centerline is valid? [True, True] Translation: X:312.26, Y:18.41, Z:-0.23 [[ 9.97557145e-01 -6.90625722e-02 -1.04930106e-02 3.12262618e+02] [ 6.90603378e-02 9.97612319e-01 -5.75557109e-04 1.84051957e+01] [ 1.05077061e-02 -1.50499752e-04 9.99944781e-01 -2.29814425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.041400513 meters Centerline goodness [0,1] 0.9999138042494505 Centerline is valid? [True, True] Translation: X:312.29, Y:18.41, Z:-0.23 [[ 9.97698896e-01 -6.70842058e-02 -9.82967405e-03 3.12294965e+02] [ 6.70821616e-02 9.97747310e-01 -5.37892556e-04 1.84089341e+01] [ 9.84361493e-03 -1.22740974e-04 9.99951543e-01 -2.27883911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.071400513 meters Centerline goodness [0,1] 0.9999785917663934 Centerline is valid? [True, True] Translation: X:312.33, Y:18.41, Z:-0.23 [[ 9.97978612e-01 -6.30756933e-02 -7.75548723e-03 3.12326106e+02] [ 6.30743061e-02 9.98008744e-01 -4.23559813e-04 1.84145699e+01] [ 7.76676040e-03 -6.64683422e-05 9.99969836e-01 -2.25697185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.101400513 meters Centerline goodness [0,1] 0.9966272100367355 Centerline is valid? [True, True] Translation: X:312.36, Y:18.42, Z:-0.24 [[ 9.98736092e-01 -4.93967094e-02 -9.28354358e-03 3.12358313e+02] [ 4.94802205e-02 9.98734625e-01 8.99203214e-03 1.84186601e+01] [ 8.82761961e-03 -9.44001882e-03 9.99916476e-01 -2.35686409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.131400513 meters Centerline goodness [0,1] 0.9997442455242966 Centerline is valid? [True, True] Translation: X:312.39, Y:18.43, Z:-0.21 [[ 9.98169045e-01 -6.02632434e-02 -5.18641050e-03 3.12389638e+02] [ 6.02100007e-02 9.98136899e-01 -9.87350021e-03 1.84281536e+01] [ 5.77175684e-03 9.54314849e-03 9.99937806e-01 -2.14783872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.161400513 meters Centerline goodness [0,1] 0.9962639567899917 Centerline is valid? [True, True] Translation: X:312.42, Y:18.42, Z:-0.24 [[ 9.98842570e-01 -4.73274558e-02 -8.58096923e-03 3.12424596e+02] [ 4.74094585e-02 9.98829225e-01 9.61888716e-03 1.84220075e+01] [ 8.11568539e-03 -1.00145731e-02 9.99916919e-01 -2.35806158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.191400513 meters Centerline goodness [0,1] 0.9971339350643795 Centerline is valid? [True, True] Translation: X:312.46, Y:18.43, Z:-0.23 [[ 9.98921470e-01 -4.57211676e-02 -8.09145188e-03 3.12455592e+02] [ 4.57177875e-02 9.98954214e-01 -6.02309009e-04 1.84322469e+01] [ 8.11052822e-03 2.31736124e-04 9.99967082e-01 -2.26709663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.221400513 meters Centerline goodness [0,1] 0.9974515472748688 Centerline is valid? [True, True] Translation: X:312.49, Y:18.44, Z:-0.22 [[ 9.98982215e-01 -4.43232184e-02 -8.36576470e-03 3.12486184e+02] [ 4.42971799e-02 9.99013038e-01 -3.27264509e-03 1.84352982e+01] [ 8.50256217e-03 2.89873445e-03 9.99959651e-01 -2.24216009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.251400513 meters Centerline goodness [0,1] 0.9981898892384605 Centerline is valid? [True, True] Translation: X:312.52, Y:18.43, Z:-0.23 [[ 9.99070822e-01 -4.19917905e-02 -9.70469943e-03 3.12518006e+02] [ 4.19801523e-02 9.99117464e-01 -1.39993802e-03 1.84344333e+01] [ 9.75492059e-03 9.91232466e-04 9.99951928e-01 -2.27364130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.281400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:312.55, Y:18.44, Z:-0.22 [[ 9.98840892e-01 -4.73182585e-02 -8.82359619e-03 3.12549256e+02] [ 4.72547897e-02 9.98856426e-01 -7.26804277e-03 1.84434716e+01] [ 9.15741688e-03 6.84266114e-03 9.99934658e-01 -2.22970182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.311400513 meters Centerline goodness [0,1] 0.9989812727588001 Centerline is valid? [True, True] Translation: X:312.58, Y:18.43, Z:-0.23 [[ 9.99317518e-01 -3.47337117e-02 -1.25724991e-02 3.12580980e+02] [ 3.48084665e-02 9.99377307e-01 5.77666174e-03 1.84315610e+01] [ 1.23640254e-02 -6.21034868e-03 9.99904277e-01 -2.34812020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.341400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:312.62, Y:18.45, Z:-0.23 [[ 9.99065914e-01 -4.25448765e-02 -7.56521825e-03 3.12620196e+02] [ 4.25267130e-02 9.99092086e-01 -2.54586679e-03 1.84515787e+01] [ 7.66666327e-03 2.22176486e-03 9.99968143e-01 -2.25180145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.371400513 meters Centerline goodness [0,1] 0.9972455908100952 Centerline is valid? [True, True] Translation: X:312.64, Y:18.46, Z:-0.23 [[ 9.99555550e-01 -2.82724838e-02 -9.45350989e-03 3.12640916e+02] [ 2.83005390e-02 9.99595405e-01 2.84718643e-03 1.84581722e+01] [ 9.36918802e-03 -3.11346043e-03 9.99951261e-01 -2.31774437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.401400513 meters Centerline goodness [0,1] 0.9982008610165135 Centerline is valid? [True, True] Translation: X:312.67, Y:18.44, Z:-0.23 [[ 9.99747850e-01 -1.79919992e-02 -1.34359457e-02 3.12671686e+02] [ 1.80742556e-02 9.99818488e-01 6.02598524e-03 1.84382114e+01] [ 1.33250874e-02 -6.26731051e-03 9.99891576e-01 -2.33842155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.431400513 meters Centerline goodness [0,1] 0.9907584517182833 Centerline is valid? [True, True] Translation: X:312.70, Y:18.48, Z:-0.23 [[ 9.99823676e-01 -1.41985106e-02 -1.22890183e-02 3.12700979e+02] [ 1.41072903e-02 9.99872523e-01 -7.47804461e-03 1.84784791e+01] [ 1.23936288e-02 7.30336130e-03 9.99896524e-01 -2.27590543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.461400513 meters Centerline goodness [0,1] 0.990060027109017 Centerline is valid? [True, True] Translation: X:312.73, Y:18.48, Z:-0.23 [[ 9.99867505e-01 -1.02721259e-02 -1.26275651e-02 3.12731822e+02] [ 1.02652511e-02 9.99947125e-01 -6.09124177e-04 1.84772099e+01] [ 1.26331544e-02 4.79418345e-04 9.99920084e-01 -2.32684980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.491400513 meters Centerline goodness [0,1] 0.985033367168434 Centerline is valid? [True, True] Translation: X:312.76, Y:18.48, Z:-0.23 [[ 9.99910814e-01 -4.90755863e-03 -1.24209108e-02 3.12762166e+02] [ 4.90049548e-03 9.99987813e-01 -5.99021535e-04 1.84838608e+01] [ 1.24236991e-02 5.38099494e-04 9.99922678e-01 -2.31647281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.521400513 meters Centerline goodness [0,1] 0.9682984780700815 Centerline is valid? [True, True] Translation: X:312.79, Y:18.49, Z:-0.23 [[ 9.99940944e-01 -2.39728332e-04 -1.08651564e-02 3.12791100e+02] [ 2.34049009e-04 9.99999835e-01 -5.23978309e-04 1.84911869e+01] [ 1.08652802e-02 5.21404385e-04 9.99940835e-01 -2.29005914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.551400513 meters Centerline goodness [0,1] 0.9603470174154521 Centerline is valid? [True, True] Translation: X:312.82, Y:18.50, Z:-0.23 [[ 9.99946163e-01 3.87310446e-03 -9.62649398e-03 3.12821175e+02] [-3.87775309e-03 9.99992374e-01 -4.64281484e-04 1.84950229e+01] [ 9.62462235e-03 5.01585656e-04 9.99953556e-01 -2.25327183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.581400513 meters Centerline goodness [0,1] 0.8265897193855659 Centerline is valid? [True, False] Translation: X:312.82, Y:18.50, Z:-0.22 [[ 9.99945038e-01 4.22903308e-03 -9.59356828e-03 3.12820868e+02] [-4.23685636e-03 9.99990708e-01 -7.95294056e-04 1.84972984e+01] [ 9.59011581e-03 8.35896916e-04 9.99953664e-01 -2.24474568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.611400513 meters Centerline goodness [0,1] 0.8653954010095345 Centerline is valid? [False, False] Translation: X:312.82, Y:18.50, Z:-0.22 [[ 9.99944583e-01 4.24942056e-03 -9.63186068e-03 3.12821083e+02] [-4.25815877e-03 9.99990541e-01 -8.86893048e-04 1.84978876e+01] [ 9.62800079e-03 9.27857892e-04 9.99953219e-01 -2.24738510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.641400513 meters Centerline goodness [0,1] 0.929171513506527 Centerline is valid? [False, False] Translation: X:312.82, Y:18.50, Z:-0.22 [[ 9.99944065e-01 4.25104530e-03 -9.68477562e-03 3.12821171e+02] [-4.26318450e-03 9.99990152e-01 -1.23313178e-03 1.84997110e+01] [ 9.67943815e-03 1.27435079e-03 9.99952341e-01 -2.24650002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.671400513 meters Centerline goodness [0,1] 0.824171338961569 Centerline is valid? [False, False] Translation: X:312.82, Y:18.50, Z:-0.22 [[ 9.99945699e-01 4.24119300e-03 -9.51899013e-03 3.12820191e+02] [-4.25618418e-03 9.99989733e-01 -1.55516567e-03 1.85011298e+01] [ 9.51229664e-03 1.59559580e-03 9.99953484e-01 -2.23801524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.701400513 meters Centerline goodness [0,1] 0.7608145223585958 Centerline is valid? [False, False] Translation: X:312.82, Y:18.50, Z:-0.22 [[ 9.99947201e-01 4.22762263e-03 -9.36602887e-03 3.12819091e+02] [-4.24708391e-03 9.99988861e-01 -2.05894319e-03 1.85034338e+01] [ 9.35722012e-03 2.09861279e-03 9.99954018e-01 -2.22567946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.731400513 meters Centerline goodness [0,1] 0.7439215433807592 Centerline is valid? [False, False] Translation: X:312.82, Y:18.51, Z:-0.22 [[ 9.99949563e-01 4.68792355e-03 -8.88227043e-03 3.12817244e+02] [-4.71115644e-03 9.99985531e-01 -2.59653218e-03 1.85068812e+01] [ 8.86996957e-03 2.63824698e-03 9.99957181e-01 -2.21065201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.761400513 meters Centerline goodness [0,1] 0.7610421942739408 Centerline is valid? [False, False] Translation: X:312.82, Y:18.51, Z:-0.22 [[ 9.99950947e-01 4.60412401e-03 -8.76958101e-03 3.12816687e+02] [-4.62983404e-03 9.99985037e-01 -2.91368720e-03 1.85083177e+01] [ 8.75603482e-03 2.95414598e-03 9.99957302e-01 -2.20806984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.791400513 meters Centerline goodness [0,1] 0.7233535249387808 Centerline is valid? [False, False] Translation: X:312.82, Y:18.51, Z:-0.22 [[ 9.99951444e-01 4.56832351e-03 -8.73159170e-03 3.12816602e+02] [-4.59545279e-03 9.99984668e-01 -3.08949135e-03 1.85092279e+01] [ 8.71734403e-03 3.12946695e-03 9.99957106e-01 -2.20974072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.821400513 meters Centerline goodness [0,1] 0.6836821870995301 Centerline is valid? [False, False] Translation: X:312.85, Y:18.50, Z:-0.23 [[ 9.99983562e-01 3.65922565e-03 -4.41418402e-03 3.12847286e+02] [-3.62765484e-03 9.99967936e-01 7.13905660e-03 1.85038897e+01] [ 4.44016591e-03 -7.12292612e-03 9.99964774e-01 -2.34062240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.851400513 meters Centerline goodness [0,1] 0.6873177217361468 Centerline is valid? [False, False] Translation: X:312.85, Y:18.51, Z:-0.23 [[ 9.99989048e-01 -6.37487962e-04 -4.63653206e-03 3.12847138e+02] [ 6.45273995e-04 9.99998384e-01 1.67797742e-03 1.85099714e+01] [ 4.63545488e-03 -1.68095087e-03 9.99987843e-01 -2.32138274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.881400513 meters Centerline goodness [0,1] 0.6893095289309529 Centerline is valid? [False, False] Translation: X:312.85, Y:18.51, Z:-0.23 [[ 9.99988479e-01 -6.28943082e-04 -4.75886044e-03 3.12847765e+02] [ 6.36700191e-04 9.99998471e-01 1.62869556e-03 1.85104073e+01] [ 4.75782880e-03 -1.63170677e-03 9.99987350e-01 -2.32649411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.911400513 meters Centerline goodness [0,1] 0.6817429793085666 Centerline is valid? [False, False] Translation: X:312.85, Y:18.51, Z:-0.23 [[ 9.99988475e-01 -6.40472169e-04 -4.75810569e-03 3.12847865e+02] [ 6.47880947e-04 9.99998580e-01 1.55570757e-03 1.85108110e+01] [ 4.75710255e-03 -1.55877233e-03 9.99987470e-01 -2.32892230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.941400513 meters Centerline goodness [0,1] 0.6648103326407779 Centerline is valid? [False, False] Translation: X:312.85, Y:18.51, Z:-0.23 [[ 9.99988816e-01 -5.19629413e-04 -4.70089333e-03 3.12847789e+02] [ 5.26554956e-04 9.99998778e-01 1.47212196e-03 1.85114782e+01] [ 4.70012263e-03 -1.47458077e-03 9.99987867e-01 -2.33066354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.971400513 meters Centerline goodness [0,1] 0.6707993404852144 Centerline is valid? [False, False] Translation: X:312.85, Y:18.51, Z:-0.23 [[ 9.99988964e-01 -5.96120397e-04 -4.66019510e-03 3.12847591e+02] [ 6.02060801e-04 9.99999008e-01 1.27341268e-03 1.85123874e+01] [ 4.65943137e-03 -1.27620435e-03 9.99988330e-01 -2.33017170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.001400513 meters Centerline goodness [0,1] 0.668186879068174 Centerline is valid? [False, False] Translation: X:312.85, Y:18.51, Z:-0.23 [[ 9.99989113e-01 -5.91952783e-04 -4.62851844e-03 3.12847412e+02] [ 5.98033391e-04 9.99998960e-01 1.31245302e-03 1.85121408e+01] [ 4.62773672e-03 -1.31520674e-03 9.99988427e-01 -2.32868395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.031400513 meters Centerline goodness [0,1] 0.6557923765953353 Centerline is valid? [False, False] Translation: X:312.85, Y:18.51, Z:-0.23 [[ 9.99988560e-01 -5.52603982e-04 -4.75133683e-03 3.12847966e+02] [ 5.59273412e-04 9.99998860e-01 1.40248133e-03 1.85118426e+01] [ 4.75055640e-03 -1.40512258e-03 9.99987729e-01 -2.33138396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.061400513 meters Centerline goodness [0,1] 0.6702526627092129 Centerline is valid? [False, False] Translation: X:312.85, Y:18.51, Z:-0.23 [[ 9.99987367e-01 -4.06337851e-04 -5.01007264e-03 3.12849466e+02] [ 4.15702555e-04 9.99998168e-01 1.86827565e-03 1.85099554e+01] [ 5.00930431e-03 -1.87033475e-03 9.99985704e-01 -2.34369062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.091400513 meters Centerline goodness [0,1] 0.6725701392141001 Centerline is valid? [False, False] Translation: X:312.85, Y:18.51, Z:-0.23 [[ 9.99987020e-01 -3.41132008e-04 -5.08358250e-03 3.12849859e+02] [ 3.51335808e-04 9.99997925e-01 2.00644862e-03 1.85094194e+01] [ 5.08288749e-03 -2.00820862e-03 9.99985066e-01 -2.34620221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.121400513 meters Centerline goodness [0,1] 0.6717486866087703 Centerline is valid? [False, False] Translation: X:312.85, Y:18.51, Z:-0.23 [[ 9.99987413e-01 -4.16805663e-04 -4.99998036e-03 3.12849347e+02] [ 4.26253592e-04 9.99998126e-01 1.88867654e-03 1.85097990e+01] [ 4.99918378e-03 -1.89078403e-03 9.99985716e-01 -2.34208142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.151400513 meters Centerline goodness [0,1] 0.6763683939601921 Centerline is valid? [False, False] Translation: X:312.85, Y:18.51, Z:-0.23 [[ 9.99988044e-01 -5.93680293e-04 -4.85385984e-03 3.12848133e+02] [ 6.01784375e-04 9.99998427e-01 1.66832607e-03 1.85102660e+01] [ 4.85286175e-03 -1.67122710e-03 9.99986828e-01 -2.32818594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.181400513 meters Centerline goodness [0,1] 0.6910650862253412 Centerline is valid? [False, False] Translation: X:312.85, Y:18.51, Z:-0.23 [[ 9.99987583e-01 -6.37624491e-04 -4.94247116e-03 3.12848399e+02] [ 6.45286273e-04 9.99998592e-01 1.54875302e-03 1.85108917e+01] [ 4.94147668e-03 -1.55192310e-03 9.99986587e-01 -2.32797689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.211400513 meters Centerline goodness [0,1] 0.6801260882617832 Centerline is valid? [False, False] Translation: X:312.85, Y:18.51, Z:-0.23 [[ 9.99986940e-01 -5.48182271e-04 -5.08129899e-03 3.12849181e+02] [ 5.57101310e-04 9.99998307e-01 1.75401833e-03 1.85101193e+01] [ 5.08032887e-03 -1.75682622e-03 9.99985552e-01 -2.33407025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.241400513 meters Centerline goodness [0,1] 0.68396266987786 Centerline is valid? [False, False] Translation: X:312.85, Y:18.51, Z:-0.23 [[ 9.99986179e-01 -4.87595451e-04 -5.23495122e-03 3.12849907e+02] [ 4.97857223e-04 9.99997957e-01 1.95911816e-03 1.85092599e+01] [ 5.23398527e-03 -1.96169734e-03 9.99984378e-01 -2.33790666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.271400513 meters Centerline goodness [0,1] 0.6981545064377682 Centerline is valid? [False, False] Translation: X:312.85, Y:18.51, Z:-0.23 [[ 9.99985785e-01 -5.15428435e-04 -5.30704444e-03 3.12850101e+02] [ 5.26921299e-04 9.99997519e-01 2.16441617e-03 1.85081264e+01] [ 5.30591567e-03 -2.16718180e-03 9.99983575e-01 -2.33621925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.301400513 meters Centerline goodness [0,1] 0.7536428110896196 Centerline is valid? [False, False] Translation: X:312.85, Y:18.51, Z:-0.23 [[ 9.99985885e-01 -5.07879772e-04 -5.28884095e-03 3.12850078e+02] [ 5.19893514e-04 9.99997287e-01 2.27039945e-03 1.85075882e+01] [ 5.28767351e-03 -2.27311704e-03 9.99983437e-01 -2.33658734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.331400513 meters Centerline goodness [0,1] 0.7286991190277152 Centerline is valid? [False, False] Translation: X:312.85, Y:18.51, Z:-0.23 [[ 9.99985854e-01 -4.26108584e-04 -5.30195261e-03 3.12850263e+02] [ 4.39713850e-04 9.99996613e-01 2.56518490e-03 1.85061881e+01] [ 5.30084161e-03 -2.56747996e-03 9.99982654e-01 -2.33865833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.361400513 meters Centerline goodness [0,1] 0.7218436616096683 Centerline is valid? [False, False] Translation: X:312.85, Y:18.51, Z:-0.23 [[ 9.99985415e-01 -4.49396566e-04 -5.38216386e-03 3.12850668e+02] [ 4.62884960e-04 9.99996755e-01 2.50514513e-03 1.85065932e+01] [ 5.38102060e-03 -2.50759992e-03 9.99982378e-01 -2.34183100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.391400513 meters Centerline goodness [0,1] 0.7358713136729222 Centerline is valid? [False, False] Translation: X:312.85, Y:18.51, Z:-0.23 [[ 9.99984458e-01 -5.17394179e-04 -5.55114190e-03 3.12851300e+02] [ 5.30335726e-04 9.99997145e-01 2.33011186e-03 1.85075523e+01] [ 5.54992046e-03 -2.33301962e-03 9.99981878e-01 -2.34403411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.421400513 meters Centerline goodness [0,1] 0.7358713136729222 Centerline is valid? [False, False] Translation: X:312.85, Y:18.51, Z:-0.23 [[ 9.99984458e-01 -5.17394179e-04 -5.55114190e-03 3.12851300e+02] [ 5.30335726e-04 9.99997145e-01 2.33011186e-03 1.85075523e+01] [ 5.54992046e-03 -2.33301962e-03 9.99981878e-01 -2.34403411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.451400513 meters Centerline goodness [0,1] 0.7402591829728802 Centerline is valid? [False, False] Translation: X:312.85, Y:18.51, Z:-0.23 [[ 9.99984464e-01 -5.60548994e-04 -5.54594642e-03 3.12851199e+02] [ 5.72772047e-04 9.99997410e-01 2.20261880e-03 1.85081207e+01] [ 5.54469738e-03 -2.20576114e-03 9.99982195e-01 -2.34313819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.481400513 meters Centerline goodness [0,1] 0.7389428957702955 Centerline is valid? [False, False] Translation: X:312.85, Y:18.51, Z:-0.23 [[ 9.99985092e-01 -5.61750735e-04 -5.43136052e-03 3.12850647e+02] [ 5.74117937e-04 9.99997246e-01 2.27570809e-03 1.85075807e+01] [ 5.43006718e-03 -2.27879241e-03 9.99982661e-01 -2.33966180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.511400513 meters Centerline goodness [0,1] 0.7145696213351569 Centerline is valid? [False, False] Translation: X:312.85, Y:18.51, Z:-0.23 [[ 9.99987156e-01 -7.54631324e-04 -5.01191818e-03 3.12848349e+02] [ 7.63465262e-04 9.99998158e-01 1.76090691e-03 1.85095686e+01] [ 5.01058011e-03 -1.76471072e-03 9.99985890e-01 -2.32173824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.541400513 meters Centerline goodness [0,1] 0.7194572078842272 Centerline is valid? [False, False] Translation: X:312.85, Y:18.51, Z:-0.23 [[ 9.99987884e-01 -8.96951120e-04 -4.84021167e-03 3.12847308e+02] [ 9.04521323e-04 9.99998371e-01 1.56206077e-03 1.85101150e+01] [ 4.83880270e-03 -1.56641992e-03 9.99987066e-01 -2.31317553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.571400513 meters Centerline goodness [0,1] 0.6877921186913083 Centerline is valid? [False, False] Translation: X:312.85, Y:18.51, Z:-0.23 [[ 9.99988074e-01 -8.98497241e-04 -4.80057376e-03 3.12847232e+02] [ 9.05885678e-04 9.99998408e-01 1.53712112e-03 1.85102883e+01] [ 4.79918502e-03 -1.54145156e-03 9.99987296e-01 -2.31416095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.601400513 meters Centerline goodness [0,1] 0.6886762155565547 Centerline is valid? [False, False] Translation: X:312.85, Y:18.51, Z:-0.23 [[ 9.99987520e-01 -8.29645344e-04 -4.92655536e-03 3.12847970e+02] [ 8.37950073e-04 9.99998231e-01 1.68388239e-03 1.85098109e+01] [ 4.92514962e-03 -1.68798959e-03 9.99986447e-01 -2.32025335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.631400513 meters Centerline goodness [0,1] 0.758509433559112 Centerline is valid? [False, False] Translation: X:312.85, Y:18.51, Z:-0.23 [[ 9.99986642e-01 -7.29188624e-04 -5.11704114e-03 3.12848882e+02] [ 7.38783266e-04 9.99997972e-01 1.87339733e-03 1.85091817e+01] [ 5.11566470e-03 -1.87715269e-03 9.99985153e-01 -2.32520622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.661400513 meters Centerline goodness [0,1] 0.6985015113512123 Centerline is valid? [False, False] Translation: X:312.85, Y:18.51, Z:-0.23 [[ 9.99986243e-01 -7.47685263e-04 -5.19181869e-03 3.12849330e+02] [ 7.56902554e-04 9.99998141e-01 1.77361137e-03 1.85098077e+01] [ 5.19048293e-03 -1.77751667e-03 9.99984950e-01 -2.33014801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.691400513 meters Centerline goodness [0,1] 0.6811098118422452 Centerline is valid? [False, False] Translation: X:312.85, Y:18.51, Z:-0.24 [[ 9.99982719e-01 3.96445252e-04 -5.86557950e-03 3.12853677e+02] [-3.82067615e-04 9.99996921e-01 2.45210535e-03 1.85101819e+01] [ 5.86653357e-03 -2.44982193e-03 9.99979791e-01 -2.35659350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.721400513 meters Centerline goodness [0,1] 0.6805861280158834 Centerline is valid? [False, False] Translation: X:312.81, Y:18.51, Z:-0.23 [[ 9.99973944e-01 1.56500490e-03 -7.04717189e-03 3.12812323e+02] [-1.59926563e-03 9.99986918e-01 -4.85862088e-03 1.85138318e+01] [ 7.03947594e-03 4.86976458e-03 9.99963365e-01 -2.27885747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.751400513 meters Centerline goodness [0,1] 0.6703461579680634 Centerline is valid? [False, False] Translation: X:312.81, Y:18.52, Z:-0.23 [[ 9.99975478e-01 1.47204657e-03 -6.84667802e-03 3.12811140e+02] [-1.50764469e-03 9.99985359e-01 -5.19707529e-03 1.85152535e+01] [ 6.83892743e-03 5.20727021e-03 9.99963056e-01 -2.26871027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.781400513 meters Centerline goodness [0,1] 0.6736479152033714 Centerline is valid? [False, False] Translation: X:312.81, Y:18.52, Z:-0.23 [[ 9.99976026e-01 1.57483192e-03 -6.74292493e-03 3.12810376e+02] [-1.61279831e-03 9.99982857e-01 -5.62882179e-03 1.85175942e+01] [ 6.73394489e-03 5.63956182e-03 9.99961424e-01 -2.25930586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.811400513 meters Centerline goodness [0,1] 0.6651202565473009 Centerline is valid? [False, False] Translation: X:312.81, Y:18.52, Z:-0.23 [[ 9.99976381e-01 1.62304863e-03 -6.67853999e-03 3.12810467e+02] [-1.66039800e-03 9.99982993e-01 -5.59070534e-03 1.85175828e+01] [ 6.66935242e-03 5.60166233e-03 9.99962070e-01 -2.26547843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.841400513 meters Centerline goodness [0,1] 0.667528305917539 Centerline is valid? [False, False] Translation: X:312.81, Y:18.52, Z:-0.23 [[ 9.99975514e-01 1.71958616e-03 -6.78334804e-03 3.12811283e+02] [-1.75690003e-03 9.99983339e-01 -5.49868649e-03 1.85175441e+01] [ 6.77377956e-03 5.51046951e-03 9.99961875e-01 -2.27417770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.871400513 meters Centerline goodness [0,1] 0.670469812970506 Centerline is valid? [False, False] Translation: X:312.81, Y:18.52, Z:-0.23 [[ 9.99974878e-01 1.80443562e-03 -6.85469151e-03 3.12811811e+02] [-1.84154410e-03 9.99983664e-01 -5.41113959e-03 1.85174235e+01] [ 6.84481547e-03 5.42362687e-03 9.99961866e-01 -2.27962459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.901400513 meters Centerline goodness [0,1] 0.6650186467767715 Centerline is valid? [False, False] Translation: X:312.81, Y:18.52, Z:-0.23 [[ 9.99972730e-01 1.96114316e-03 -7.11991847e-03 3.12813081e+02] [-1.99698737e-03 9.99985352e-01 -5.03074324e-03 1.85159499e+01] [ 7.10994816e-03 5.04482444e-03 9.99961998e-01 -2.28608638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.931400513 meters Centerline goodness [0,1] 0.6634239165294734 Centerline is valid? [False, False] Translation: X:312.81, Y:18.52, Z:-0.23 [[ 9.99972773e-01 1.86826775e-03 -7.13885548e-03 3.12813016e+02] [-1.90574121e-03 9.99984424e-01 -5.24603379e-03 1.85169526e+01] [ 7.12894328e-03 5.25949577e-03 9.99960757e-01 -2.28460936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.961400513 meters Centerline goodness [0,1] 0.6656683616306127 Centerline is valid? [False, False] Translation: X:312.81, Y:18.52, Z:-0.23 [[ 9.99973834e-01 1.78692949e-03 -7.00985557e-03 3.12812330e+02] [-1.82484809e-03 9.99983719e-01 -5.40666552e-03 1.85175234e+01] [ 7.00008011e-03 5.41931597e-03 9.99960814e-01 -2.28032313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.991400513 meters Centerline goodness [0,1] 0.6642909122041009 Centerline is valid? [False, False] Translation: X:312.84, Y:18.51, Z:-0.24 [[ 9.99997262e-01 7.24051493e-04 -2.22530275e-03 3.12840581e+02] [-7.13369304e-04 9.99988238e-01 4.79738157e-03 1.85132415e+01] [ 2.22875013e-03 -4.79578097e-03 9.99986016e-01 -2.40490677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.021400513 meters Centerline goodness [0,1] 0.6643416127934672 Centerline is valid? [False, False] Translation: X:312.84, Y:18.51, Z:-0.24 [[ 9.99997680e-01 6.44743210e-04 -2.05518684e-03 3.12839697e+02] [-6.35280204e-04 9.99989210e-01 4.60178258e-03 1.85139811e+01] [ 2.05813163e-03 -4.60046628e-03 9.99987300e-01 -2.39921919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.051400513 meters Centerline goodness [0,1] 0.6665240275578759 Centerline is valid? [False, False] Translation: X:312.84, Y:18.51, Z:-0.24 [[ 9.99998023e-01 5.68944406e-04 -1.90509334e-03 3.12838978e+02] [-5.60497323e-04 9.99990024e-01 4.43154949e-03 1.85146181e+01] [ 1.90759564e-03 -4.43047293e-03 9.99988366e-01 -2.39581276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.081400513 meters Centerline goodness [0,1] 0.650936170212766 Centerline is valid? [False, False] Translation: X:312.84, Y:18.52, Z:-0.24 [[ 9.99998266e-01 5.12751168e-04 -1.79039196e-03 3.12838233e+02] [-5.05465686e-04 9.99991601e-01 4.06729461e-03 1.85163191e+01] [ 1.79246244e-03 -4.06638258e-03 9.99990126e-01 -2.38953038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.111400513 meters Centerline goodness [0,1] 0.6675425937493269 Centerline is valid? [False, False] Translation: X:312.80, Y:18.52, Z:-0.23 [[ 9.99994373e-01 9.63560945e-04 -3.21326429e-03 3.12797786e+02] [-9.74788689e-04 9.99993419e-01 -3.49445270e-03 1.85182529e+01] [ 3.20987603e-03 3.49756529e-03 9.99988732e-01 -2.32252983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.141400513 meters Centerline goodness [0,1] 0.6586915005471751 Centerline is valid? [False, False] Translation: X:312.80, Y:18.52, Z:-0.23 [[ 9.99994456e-01 1.00249369e-03 -3.17547137e-03 3.12797854e+02] [-1.01353673e-03 9.99993438e-01 -3.47791022e-03 1.85183084e+01] [ 3.17196395e-03 3.48110939e-03 9.99988910e-01 -2.32635855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.171400513 meters Centerline goodness [0,1] 0.6553034368761136 Centerline is valid? [False, False] Translation: X:312.80, Y:18.52, Z:-0.23 [[ 9.99994768e-01 9.59951922e-04 -3.08909692e-03 3.12797510e+02] [-9.71056257e-04 9.99993066e-01 -3.59519675e-03 1.85188306e+01] [ 3.08562428e-03 3.59817763e-03 9.99988766e-01 -2.32589946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.201400513 meters Centerline goodness [0,1] 0.6509077720649414 Centerline is valid? [False, False] Translation: X:312.80, Y:18.52, Z:-0.23 [[ 9.99994923e-01 1.01205800e-03 -3.02162558e-03 3.12796916e+02] [-1.02404115e-03 9.99991608e-01 -3.96688703e-03 1.85207348e+01] [ 3.01758550e-03 3.96996116e-03 9.99987567e-01 -2.31844434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.231400513 meters Centerline goodness [0,1] 0.6745968351287752 Centerline is valid? [False, False] Translation: X:312.80, Y:18.51, Z:-0.24 [[ 9.99975488e-01 6.15990135e-03 -3.32860310e-03 3.12800628e+02] [-6.15329648e-03 9.99979086e-01 1.99088625e-03 1.85147509e+01] [ 3.34079715e-03 -1.97035557e-03 9.99992478e-01 -2.36192153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.261400513 meters Centerline goodness [0,1] 0.6575183859002123 Centerline is valid? [False, False] Translation: X:312.80, Y:18.52, Z:-0.24 [[ 9.99975357e-01 6.20131327e-03 -3.29082442e-03 3.12800683e+02] [-6.19497297e-03 9.99978942e-01 1.93336725e-03 1.85152032e+01] [ 3.30274454e-03 -1.91293303e-03 9.99992716e-01 -2.36579438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.291400513 meters Centerline goodness [0,1] 0.6657195746695941 Centerline is valid? [False, False] Translation: X:312.80, Y:18.52, Z:-0.24 [[ 9.99976193e-01 6.14010854e-03 -3.14847378e-03 3.12800122e+02] [-6.13462679e-03 9.99979656e-01 1.74779430e-03 1.85160152e+01] [ 3.15914137e-03 -1.72843798e-03 9.99993516e-01 -2.36508102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.321400513 meters Centerline goodness [0,1] 0.6640611504577647 Centerline is valid? [False, False] Translation: X:312.80, Y:18.52, Z:-0.24 [[ 9.99977587e-01 6.00158115e-03 -2.96770219e-03 3.12799105e+02] [-5.99744309e-03 9.99981033e-01 1.40130390e-03 1.85173929e+01] [ 2.97605594e-03 -1.38347386e-03 9.99994615e-01 -2.35813986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.351400513 meters Centerline goodness [0,1] 0.6684330215395178 Centerline is valid? [False, False] Translation: X:312.80, Y:18.52, Z:-0.24 [[ 9.99977849e-01 5.98140363e-03 -2.91979825e-03 3.12798861e+02] [-5.97754977e-03 9.99981254e-01 1.32685404e-03 1.85176937e+01] [ 2.92767997e-03 -1.30937141e-03 9.99994857e-01 -2.35679028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.381400513 meters Centerline goodness [0,1] 0.6717263058175085 Centerline is valid? [False, False] Translation: X:312.80, Y:18.52, Z:-0.24 [[ 9.99978233e-01 5.93993563e-03 -2.87245742e-03 3.12798679e+02] [-5.93652564e-03 9.99981666e-01 1.19420774e-03 1.85183133e+01] [ 2.87949827e-03 -1.17712932e-03 9.99995161e-01 -2.35712752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.411400513 meters Centerline goodness [0,1] 0.6512517459976361 Centerline is valid? [False, False] Translation: X:312.80, Y:18.52, Z:-0.24 [[ 9.99989186e-01 3.53774234e-03 -3.01864143e-03 3.12801791e+02] [-3.54318946e-03 9.99992101e-01 -1.80106026e-03 1.85229853e+01] [ 3.01224590e-03 1.81173640e-03 9.99993822e-01 -2.38342017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.441400513 meters Centerline goodness [0,1] 0.6468705012784426 Centerline is valid? [False, False] Translation: X:312.80, Y:18.52, Z:-0.24 [[ 9.99989531e-01 3.51402054e-03 -2.93074884e-03 3.12801579e+02] [-3.51955859e-03 9.99992027e-01 -1.88662710e-03 1.85234274e+01] [ 2.92409583e-03 1.89692229e-03 9.99993926e-01 -2.38544479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.471400513 meters Centerline goodness [0,1] 0.6623830773191453 Centerline is valid? [False, False] Translation: X:312.80, Y:18.52, Z:-0.24 [[ 9.99989520e-01 3.48077097e-03 -2.97389464e-03 3.12801710e+02] [-3.48648278e-03 9.99992084e-01 -1.91763012e-03 1.85235779e+01] [ 2.96719626e-03 1.92797845e-03 9.99993739e-01 -2.38562926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.501400513 meters Centerline goodness [0,1] 0.664251414851655 Centerline is valid? [False, False] Translation: X:312.80, Y:18.52, Z:-0.24 [[ 9.99989790e-01 3.42226589e-03 -2.95108910e-03 3.12801494e+02] [-3.42824293e-03 9.99992078e-01 -2.02269168e-03 1.85239940e+01] [ 2.94414353e-03 2.03278808e-03 9.99993600e-01 -2.38328053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.531400513 meters Centerline goodness [0,1] 0.6459564807675833 Centerline is valid? [False, False] Translation: X:312.80, Y:18.52, Z:-0.24 [[ 9.99989510e-01 3.47536505e-03 -2.98360581e-03 3.12801817e+02] [-3.48103037e-03 9.99992144e-01 -1.89572830e-03 1.85235273e+01] [ 2.97699402e-03 1.90609443e-03 9.99993752e-01 -2.38695153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.561400513 meters Centerline goodness [0,1] 0.6674448263190886 Centerline is valid? [False, False] Translation: X:312.80, Y:18.52, Z:-0.24 [[ 9.99989460e-01 3.52160673e-03 -2.94578157e-03 3.12801838e+02] [-3.52679527e-03 9.99992236e-01 -1.75800980e-03 1.85229004e+01] [ 2.93956768e-03 1.76838044e-03 9.99994116e-01 -2.38971430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.591400513 meters Centerline goodness [0,1] 0.6610942576217216 Centerline is valid? [False, False] Translation: X:312.80, Y:18.52, Z:-0.24 [[ 9.99989164e-01 3.54262439e-03 -3.02032078e-03 3.12802116e+02] [-3.54787070e-03 9.99992204e-01 -1.73341767e-03 1.85228557e+01] [ 3.01415638e-03 1.74411459e-03 9.99993936e-01 -2.39021312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.621400513 meters Centerline goodness [0,1] 0.6664800740629104 Centerline is valid? [False, False] Translation: X:312.80, Y:18.52, Z:-0.24 [[ 9.99989245e-01 3.58251355e-03 -2.94547926e-03 3.12801726e+02] [-3.58674415e-03 9.99992542e-01 -1.43227715e-03 1.85211997e+01] [ 2.94032614e-03 1.44282643e-03 9.99994636e-01 -2.38647581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.651400513 meters Centerline goodness [0,1] 0.6662270840539606 Centerline is valid? [False, False] Translation: X:312.80, Y:18.52, Z:-0.24 [[ 9.99989729e-01 3.39917438e-03 -2.99778865e-03 3.12801476e+02] [-3.40464146e-03 9.99992547e-01 -1.82048898e-03 1.85228367e+01] [ 2.99157815e-03 1.83067667e-03 9.99993850e-01 -2.37981227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.681400513 meters Centerline goodness [0,1] 0.6604668125455871 Centerline is valid? [False, False] Translation: X:312.80, Y:18.52, Z:-0.24 [[ 9.99989633e-01 3.41550989e-03 -3.01146895e-03 3.12801510e+02] [-3.42107751e-03 9.99992445e-01 -1.84559456e-03 1.85230352e+01] [ 3.00514255e-03 1.85587790e-03 9.99993762e-01 -2.37956703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.711400513 meters Centerline goodness [0,1] 0.6646877843740521 Centerline is valid? [False, False] Translation: X:312.80, Y:18.52, Z:-0.24 [[ 9.99988837e-01 3.54785271e-03 -3.12078034e-03 3.12802215e+02] [-3.55260632e-03 9.99992536e-01 -1.51899064e-03 1.85216590e+01] [ 3.11536789e-03 1.53006059e-03 9.99993977e-01 -2.38588026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.741400513 meters Centerline goodness [0,1] 0.6535123348582668 Centerline is valid? [False, False] Translation: X:312.84, Y:18.52, Z:-0.24 [[ 9.99997891e-01 1.83366368e-03 -9.24644461e-04 3.12840047e+02] [-1.83005906e-03 9.99990782e-01 3.88428231e-03 1.85218671e+01] [ 9.31758404e-04 -3.88258197e-03 9.99992029e-01 -2.43219333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.771400513 meters Centerline goodness [0,1] 0.6573974661799442 Centerline is valid? [False, False] Translation: X:312.84, Y:18.52, Z:-0.24 [[ 9.99998149e-01 1.69640150e-03 -9.07409543e-04 3.12839537e+02] [-1.69310057e-03 9.99991992e-01 3.62623034e-03 1.85228147e+01] [ 9.13553818e-04 -3.62468730e-03 9.99993014e-01 -2.42420919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.801400513 meters Centerline goodness [0,1] 0.6728951843799109 Centerline is valid? [False, False] Translation: X:312.84, Y:18.52, Z:-0.24 [[ 9.99998368e-01 1.59826117e-03 -8.42525308e-04 3.12839104e+02] [-1.59541846e-03 9.99993069e-01 3.36397380e-03 1.85239753e+01] [ 8.47895977e-04 -3.36262413e-03 9.99993987e-01 -2.42109183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.831400513 meters Centerline goodness [0,1] 0.6632506176818134 Centerline is valid? [False, False] Translation: X:312.84, Y:18.52, Z:-0.24 [[ 9.99998338e-01 1.65426915e-03 -7.65923556e-04 3.12839075e+02] [-1.65161968e-03 9.99992695e-01 3.44699107e-03 1.85236472e+01] [ 7.71620212e-04 -3.44572032e-03 9.99993766e-01 -2.42557408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.861400513 meters Centerline goodness [0,1] 0.6443943298969073 Centerline is valid? [False, False] Translation: X:312.84, Y:18.52, Z:-0.24 [[ 9.99998370e-01 1.68503420e-03 -6.49009211e-04 3.12838973e+02] [-1.68289367e-03 9.99993189e-01 3.28469753e-03 1.85246224e+01] [ 6.54539619e-04 -3.28359996e-03 9.99994395e-01 -2.43205229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.891400513 meters Centerline goodness [0,1] 0.6460845968297726 Centerline is valid? [False, False] Translation: X:312.84, Y:18.53, Z:-0.24 [[ 9.99998535e-01 1.64494638e-03 -4.73618850e-04 3.12838269e+02] [-1.64359693e-03 9.99994629e-01 2.83566045e-03 1.85267993e+01] [ 4.78280815e-04 -2.83487786e-03 9.99995867e-01 -2.43100804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.921400513 meters Centerline goodness [0,1] 0.6582098246068215 Centerline is valid? [False, False] Translation: X:312.83, Y:18.53, Z:-0.24 [[ 9.99999486e-01 9.41946969e-04 3.74772823e-04 3.12832894e+02] [-9.42570960e-04 9.99998164e-01 1.66830769e-03 1.85298441e+01] [-3.73200678e-04 -1.66866008e-03 9.99998538e-01 -2.38985951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.951400513 meters Centerline goodness [0,1] 0.6466421264392415 Centerline is valid? [False, False] Translation: X:312.83, Y:18.53, Z:-0.24 [[ 9.99999544e-01 8.51293323e-04 4.33153937e-04 3.12832400e+02] [-8.51879938e-04 9.99998718e-01 1.35590938e-03 1.85312752e+01] [-4.31999106e-04 -1.35627775e-03 9.99998987e-01 -2.38436426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.981400513 meters Centerline goodness [0,1] 0.6555089755992691 Centerline is valid? [False, False] Translation: X:312.83, Y:18.53, Z:-0.24 [[ 9.99999486e-01 9.72369298e-04 2.87670547e-04 3.12833228e+02] [-9.72841438e-04 9.99998173e-01 1.64568802e-03 1.85301104e+01] [-2.86069805e-04 -1.64596703e-03 9.99998604e-01 -2.39092952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.011400513 meters Centerline goodness [0,1] 0.6544751452828965 Centerline is valid? [False, False] Translation: X:312.84, Y:18.53, Z:-0.24 [[ 9.99999208e-01 1.25800021e-03 4.38753532e-05 3.12835285e+02] [-1.25809152e-03 9.99996903e-01 2.14719507e-03 1.85285074e+01] [-4.11740455e-05 -2.14724856e-03 9.99997694e-01 -2.41507342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.041400513 meters Centerline goodness [0,1] 0.6640448951291384 Centerline is valid? [False, False] Translation: X:312.83, Y:18.53, Z:-0.24 [[ 9.99999274e-01 1.19541267e-03 1.49771335e-04 3.12834754e+02] [-1.19571985e-03 9.99997147e-01 2.06796821e-03 1.85287235e+01] [-1.47298833e-04 -2.06814579e-03 9.99997851e-01 -2.41163657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.071400513 meters Centerline goodness [0,1] 0.6469476712975886 Centerline is valid? [False, False] Translation: X:312.83, Y:18.53, Z:-0.24 [[ 9.99999325e-01 1.12535844e-03 2.88451778e-04 3.12833824e+02] [-1.12589594e-03 9.99997618e-01 1.87005440e-03 1.85294684e+01] [-2.86346610e-04 -1.87037791e-03 9.99998210e-01 -2.40182891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.101400513 meters Centerline goodness [0,1] 0.6533471047705119 Centerline is valid? [False, False] Translation: X:312.83, Y:18.53, Z:-0.24 [[ 9.99999418e-01 9.86162073e-04 4.38612041e-04 3.12832817e+02] [-9.86857569e-04 9.99998252e-01 1.58829520e-03 1.85304972e+01] [-4.37044958e-04 -1.58872712e-03 9.99998642e-01 -2.39281511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.131400513 meters Centerline goodness [0,1] 0.6577698183230484 Centerline is valid? [False, False] Translation: X:312.83, Y:18.53, Z:-0.24 [[ 9.99999459e-01 9.32750184e-04 4.59989776e-04 3.12832806e+02] [-9.33361077e-04 9.99998680e-01 1.32963502e-03 1.85318478e+01] [-4.58748952e-04 -1.33006364e-03 9.99999010e-01 -2.39551953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.161400513 meters Centerline goodness [0,1] 0.6476803627574701 Centerline is valid? [False, False] Translation: X:312.83, Y:18.53, Z:-0.24 [[ 9.99999325e-01 1.09029462e-03 4.02776873e-04 3.12833502e+02] [-1.09091019e-03 9.99998233e-01 1.53128366e-03 1.85312846e+01] [-4.01106611e-04 -1.53172202e-03 9.99998746e-01 -2.40508545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.191400513 meters Centerline goodness [0,1] 0.6470766041972537 Centerline is valid? [False, False] Translation: X:312.83, Y:18.53, Z:-0.24 [[ 9.99999342e-01 1.06790372e-03 4.19762344e-04 3.12833633e+02] [-1.06845477e-03 9.99998565e-01 1.31472342e-03 1.85324921e+01] [-4.18357744e-04 -1.31517105e-03 9.99999048e-01 -2.41028057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.221400513 meters Centerline goodness [0,1] 0.6492257257473149 Centerline is valid? [False, False] Translation: X:312.83, Y:18.53, Z:-0.24 [[ 9.99999336e-01 1.02221452e-03 5.31618181e-04 3.12832889e+02] [-1.02286160e-03 9.99998735e-01 1.21833801e-03 1.85327312e+01] [-5.30372105e-04 -1.21888097e-03 9.99999117e-01 -2.40287390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.251400513 meters Centerline goodness [0,1] 0.6494936246156493 Centerline is valid? [False, False] Translation: X:312.83, Y:18.53, Z:-0.24 [[ 9.99999297e-01 1.03489033e-03 5.79357681e-04 3.12832487e+02] [-1.03562541e-03 9.99998657e-01 1.26992646e-03 1.85323530e+01] [-5.78042668e-04 -1.27052556e-03 9.99999026e-01 -2.39749179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.281400513 meters Centerline goodness [0,1] 0.6385472589994226 Centerline is valid? [False, False] Translation: X:312.83, Y:18.53, Z:-0.24 [[ 9.99999295e-01 9.82754613e-04 6.65981631e-04 3.12832049e+02] [-9.83476945e-04 9.99998928e-01 1.08515481e-03 1.85332020e+01] [-6.64914476e-04 -1.08580902e-03 9.99999189e-01 -2.39504105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.311400513 meters Centerline goodness [0,1] 0.646694571502546 Centerline is valid? [False, False] Translation: X:312.83, Y:18.54, Z:-0.24 [[ 9.99999225e-01 1.05654316e-03 6.57962474e-04 3.12832447e+02] [-1.05703327e-03 9.99999164e-01 7.44995655e-04 1.85352507e+01] [-6.57174804e-04 -7.45690567e-04 9.99999506e-01 -2.40403762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.341400513 meters Centerline goodness [0,1] 0.6445352179645119 Centerline is valid? [False, False] Translation: X:312.83, Y:18.54, Z:-0.24 [[ 9.99999119e-01 1.08213109e-03 7.68707729e-04 3.12832195e+02] [-1.08272993e-03 9.99999110e-01 7.79035958e-04 1.85351054e+01] [-7.67864026e-04 -7.79867575e-04 9.99999401e-01 -2.40639869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.371400513 meters Centerline goodness [0,1] 0.6445352179645119 Centerline is valid? [False, False] Translation: X:312.83, Y:18.54, Z:-0.24 [[ 9.99999119e-01 1.08213109e-03 7.68707729e-04 3.12832195e+02] [-1.08272993e-03 9.99999110e-01 7.79035958e-04 1.85351054e+01] [-7.67864026e-04 -7.79867575e-04 9.99999401e-01 -2.40639869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.401400513 meters Centerline goodness [0,1] 0.6391205295735901 Centerline is valid? [False, False] Translation: X:312.83, Y:18.54, Z:-0.24 [[ 9.99999203e-01 9.63367294e-04 8.15720887e-04 3.12831590e+02] [-9.63708314e-04 9.99999448e-01 4.17769723e-04 1.85366879e+01] [-8.15317972e-04 -4.18555507e-04 9.99999580e-01 -2.39810632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.431400513 meters Centerline goodness [0,1] 0.6461356297093649 Centerline is valid? [False, False] Translation: X:312.83, Y:18.54, Z:-0.24 [[ 9.99999179e-01 8.96729965e-04 9.15688261e-04 3.12830758e+02] [-8.97051808e-04 9.99999536e-01 3.51126676e-04 1.85366951e+01] [-9.15372970e-04 -3.51947807e-04 9.99999519e-01 -2.38812479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.461400513 meters Centerline goodness [0,1] 0.6453498403934087 Centerline is valid? [False, False] Translation: X:312.83, Y:18.54, Z:-0.24 [[ 9.99999250e-01 9.22211872e-04 8.05457904e-04 3.12831076e+02] [-9.22656001e-04 9.99999422e-01 5.51202071e-04 1.85356687e+01] [-8.04949113e-04 -5.51944818e-04 9.99999524e-01 -2.38675483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.491400513 meters Centerline goodness [0,1] 0.6500377114535072 Centerline is valid? [False, False] Translation: X:312.83, Y:18.54, Z:-0.24 [[ 9.99999371e-01 9.54389699e-04 5.89665991e-04 3.12832023e+02] [-9.54742986e-04 9.99999365e-01 5.99141356e-04 1.85356438e+01] [-5.89093802e-04 -5.99703958e-04 9.99999647e-01 -2.39209096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.521400513 meters Centerline goodness [0,1] 0.6352417603680691 Centerline is valid? [False, False] Translation: X:312.83, Y:18.53, Z:-0.24 [[ 9.99999330e-01 1.08349280e-03 4.08429999e-04 3.12832985e+02] [-1.08384867e-03 9.99999032e-01 8.72098567e-04 1.85346413e+01] [-4.07484692e-04 -8.72540658e-04 9.99999536e-01 -2.39843655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.551400513 meters Centerline goodness [0,1] 0.6548360002584369 Centerline is valid? [False, False] Translation: X:312.83, Y:18.53, Z:-0.24 [[ 9.99999223e-01 1.17730499e-03 4.08974635e-04 3.12833116e+02] [-1.17780601e-03 9.99998554e-01 1.22699691e-03 1.85329259e+01] [-4.07529493e-04 -1.22747765e-03 9.99999164e-01 -2.39989117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.581400513 meters Centerline goodness [0,1] 0.635461327388098 Centerline is valid? [False, False] Translation: X:312.83, Y:18.53, Z:-0.24 [[ 9.99999270e-01 1.17007803e-03 3.02931414e-04 3.12833356e+02] [-1.17045445e-03 9.99998540e-01 1.24540263e-03 1.85328251e+01] [-3.01473754e-04 -1.24575629e-03 9.99999179e-01 -2.39756192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.611400513 meters Centerline goodness [0,1] 0.644388588124087 Centerline is valid? [False, False] Translation: X:312.83, Y:18.53, Z:-0.24 [[ 9.99999345e-01 1.12715251e-03 1.97577981e-04 3.12833715e+02] [-1.12738493e-03 9.99998668e-01 1.18020931e-03 1.85331447e+01] [-1.96247442e-04 -1.18043128e-03 9.99999284e-01 -2.39823422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.641400513 meters Centerline goodness [0,1] 0.6507950206036548 Centerline is valid? [False, False] Translation: X:312.83, Y:18.53, Z:-0.24 [[ 9.99999247e-01 1.22648448e-03 4.22923624e-05 3.12834486e+02] [-1.22654622e-03 9.99998135e-01 1.49195960e-03 1.85317799e+01] [-4.04624182e-05 -1.49201035e-03 9.99998886e-01 -2.40275528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.671400513 meters Centerline goodness [0,1] 0.6543854350921092 Centerline is valid? [False, False] Translation: X:312.83, Y:18.53, Z:-0.24 [[ 9.99999306e-01 1.17183224e-03 -1.22164095e-04 3.12834896e+02] [-1.17162863e-03 9.99997946e-01 1.65364490e-03 1.85308390e+01] [ 1.24101639e-04 -1.65350062e-03 9.99998625e-01 -2.40010367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.701400513 meters Centerline goodness [0,1] 0.6465513513513513 Centerline is valid? [False, False] Translation: X:312.84, Y:18.53, Z:-0.24 [[ 9.99999328e-01 1.13853279e-03 -2.16595033e-04 3.12835008e+02] [-1.13816083e-03 9.99997891e-01 1.70973386e-03 1.85304071e+01] [ 2.18541164e-04 -1.70948619e-03 9.99998515e-01 -2.39615525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.731400513 meters Centerline goodness [0,1] 0.6479987923747088 Centerline is valid? [False, False] Translation: X:312.84, Y:18.53, Z:-0.24 [[ 9.99999147e-01 1.25394656e-03 -3.65430985e-04 3.12835730e+02] [-1.25320125e-03 9.99997149e-01 2.03268812e-03 1.85290065e+01] [ 3.67978825e-04 -2.03222843e-03 9.99997867e-01 -2.40013191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.761400513 meters Centerline goodness [0,1] 0.6632903225806452 Centerline is valid? [False, False] Translation: X:312.84, Y:18.53, Z:-0.24 [[ 9.99998792e-01 1.42463786e-03 -6.21226412e-04 3.12837151e+02] [-1.42307969e-03 9.99995859e-01 2.50148502e-03 1.85270814e+01] [ 6.24787550e-04 -2.50059794e-03 9.99996678e-01 -2.41068896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.791400513 meters Centerline goodness [0,1] 0.6558110520768354 Centerline is valid? [False, False] Translation: X:312.84, Y:18.53, Z:-0.24 [[ 9.99998499e-01 1.48741981e-03 -8.88931398e-04 3.12838487e+02] [-1.48488505e-03 9.99994850e-01 2.84535366e-03 1.85256389e+01] [ 8.93159055e-04 -2.84402943e-03 9.99995557e-01 -2.41995959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.821400513 meters Centerline goodness [0,1] 0.6576027704739307 Centerline is valid? [False, False] Translation: X:312.84, Y:18.53, Z:-0.24 [[ 9.99998133e-01 -7.55214456e-04 -1.77872044e-03 3.12842982e+02] [ 7.56139311e-04 9.99999579e-01 5.19340561e-04 1.85295278e+01] [ 1.77832748e-03 -5.20684552e-04 9.99998283e-01 -2.44012880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.851400513 meters Centerline goodness [0,1] 0.6567405206382017 Centerline is valid? [False, False] Translation: X:312.84, Y:18.53, Z:-0.24 [[ 9.99997945e-01 -6.86942706e-04 -1.90738552e-03 3.12843525e+02] [ 6.88428648e-04 9.99999460e-01 7.78499215e-04 1.85283319e+01] [ 1.90684971e-03 -7.79810714e-04 9.99997878e-01 -2.44182564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.881400513 meters Centerline goodness [0,1] 0.671409755360266 Centerline is valid? [False, False] Translation: X:312.84, Y:18.52, Z:-0.24 [[ 9.99997891e-01 -5.43948573e-04 -1.98061823e-03 3.12844119e+02] [ 5.46923035e-04 9.99998723e-01 1.50155256e-03 1.85248727e+01] [ 1.97979894e-03 -1.50263263e-03 9.99996911e-01 -2.44712668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.911400513 meters Centerline goodness [0,1] 0.6555653501322267 Centerline is valid? [False, False] Translation: X:312.85, Y:18.52, Z:-0.25 [[ 9.99997070e-01 -1.42885699e-04 -2.41661168e-03 3.12847192e+02] [ 1.49213464e-04 9.99996561e-01 2.61846771e-03 1.85205796e+01] [ 2.41622923e-03 -2.61882063e-03 9.99993652e-01 -2.47429697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.941400513 meters Centerline goodness [0,1] 0.6743141930355954 Centerline is valid? [False, False] Translation: X:312.85, Y:18.52, Z:-0.25 [[ 9.99997004e-01 -1.85776905e-04 -2.44088433e-03 3.12847260e+02] [ 1.91848781e-04 9.99996888e-01 2.48757369e-03 1.85212383e+01] [ 2.44041460e-03 -2.48803452e-03 9.99993927e-01 -2.47469710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.971400513 meters Centerline goodness [0,1] 0.6706553198842282 Centerline is valid? [False, False] Translation: X:312.85, Y:18.52, Z:-0.25 [[ 9.99997276e-01 -3.13086663e-04 -2.31290192e-03 3.12846444e+02] [ 3.18324129e-04 9.99997385e-01 2.26443580e-03 1.85220094e+01] [ 2.31218691e-03 -2.26516589e-03 9.99994761e-01 -2.46788429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.001400513 meters Centerline goodness [0,1] 0.6624871178289248 Centerline is valid? [False, False] Translation: X:312.85, Y:18.52, Z:-0.25 [[ 9.99997510e-01 -4.42883426e-04 -2.18725109e-03 3.12845593e+02] [ 4.46885490e-04 9.99998226e-01 1.82957329e-03 1.85239548e+01] [ 2.18643692e-03 -1.83054618e-03 9.99995934e-01 -2.46009502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.031400513 meters Centerline goodness [0,1] 0.6588204862907399 Centerline is valid? [False, False] Translation: X:312.84, Y:18.52, Z:-0.25 [[ 9.99997822e-01 -5.35336411e-04 -2.01717384e-03 3.12844556e+02] [ 5.38735820e-04 9.99998435e-01 1.68506718e-03 1.85243042e+01] [ 2.01626861e-03 -1.68615023e-03 9.99996546e-01 -2.45150410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.061400513 meters Centerline goodness [0,1] 0.6605199321640942 Centerline is valid? [False, False] Translation: X:312.84, Y:18.52, Z:-0.25 [[ 9.99997932e-01 -5.36012461e-04 -1.96181840e-03 3.12844415e+02] [ 5.39214051e-04 9.99998523e-01 1.63178532e-03 1.85246001e+01] [ 1.96094085e-03 -1.63283978e-03 9.99996744e-01 -2.45240889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.091400513 meters Centerline goodness [0,1] 0.6585544137249 Centerline is valid? [False, False] Translation: X:312.84, Y:18.52, Z:-0.25 [[ 9.99997938e-01 -4.86522866e-04 -1.97142950e-03 3.12844456e+02] [ 4.90104043e-04 9.99998230e-01 1.81646260e-03 1.85236686e+01] [ 1.97054226e-03 -1.81742506e-03 9.99996407e-01 -2.45235949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.121400513 meters Centerline goodness [0,1] 0.6699474355923771 Centerline is valid? [False, False] Translation: X:312.84, Y:18.52, Z:-0.24 [[ 9.99997669e-01 -4.91448857e-04 -2.10254255e-03 3.12844672e+02] [ 4.95429869e-04 9.99998085e-01 1.89332599e-03 1.85231679e+01] [ 2.10160806e-03 -1.89436324e-03 9.99995997e-01 -2.44819871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.151400513 meters Centerline goodness [0,1] 0.6671849692257856 Centerline is valid? [False, False] Translation: X:312.85, Y:18.52, Z:-0.25 [[ 9.99997184e-01 -3.92954510e-04 -2.34029466e-03 3.12845724e+02] [ 3.97993866e-04 9.99997603e-01 2.15322359e-03 1.85221347e+01] [ 2.33944294e-03 -2.15414895e-03 9.99994943e-01 -2.45340178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.181400513 meters Centerline goodness [0,1] 0.663910065899987 Centerline is valid? [False, False] Translation: X:312.85, Y:18.52, Z:-0.25 [[ 9.99997032e-01 -2.56878330e-04 -2.42299000e-03 3.12846545e+02] [ 2.62566592e-04 9.99997210e-01 2.34759480e-03 1.85215893e+01] [ 2.42238020e-03 -2.34822403e-03 9.99994309e-01 -2.46373722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.211400513 meters Centerline goodness [0,1] 0.657009084856425 Centerline is valid? [False, False] Translation: X:312.85, Y:18.52, Z:-0.25 [[ 9.99997095e-01 -1.28845420e-04 -2.40695579e-03 3.12846926e+02] [ 1.34975696e-04 9.99996748e-01 2.54691130e-03 1.85209042e+01] [ 2.40661980e-03 -2.54722878e-03 9.99993860e-01 -2.47185389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.241400513 meters Centerline goodness [0,1] 0.666276092522675 Centerline is valid? [False, False] Translation: X:312.85, Y:18.52, Z:-0.25 [[ 9.99997448e-01 -1.86738175e-04 -2.25131968e-03 3.12846158e+02] [ 1.92293974e-04 9.99996936e-01 2.46783283e-03 1.85210341e+01] [ 2.25085195e-03 -2.46825944e-03 9.99994421e-01 -2.46758187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.271400513 meters Centerline goodness [0,1] 0.6760890315862548 Centerline is valid? [False, False] Translation: X:312.84, Y:18.52, Z:-0.25 [[ 9.99997856e-01 -3.39984392e-04 -2.04243687e-03 3.12844886e+02] [ 3.44356876e-04 9.99997649e-01 2.14084735e-03 1.85222317e+01] [ 2.04170421e-03 -2.14154609e-03 9.99995623e-01 -2.45702474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.301400513 meters Centerline goodness [0,1] 0.6577499730341927 Centerline is valid? [False, False] Translation: X:312.84, Y:18.52, Z:-0.24 [[ 9.99998023e-01 -3.86029983e-04 -1.95073813e-03 3.12844100e+02] [ 3.90052711e-04 9.99997798e-01 2.06219734e-03 1.85223718e+01] [ 1.94993777e-03 -2.06295415e-03 9.99995971e-01 -2.44752780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.331400513 meters Centerline goodness [0,1] 0.6548676372551128 Centerline is valid? [False, False] Translation: X:312.84, Y:18.52, Z:-0.25 [[ 9.99997949e-01 -3.16076340e-04 -2.00032774e-03 3.12844635e+02] [ 3.19986557e-04 9.99998038e-01 1.95477029e-03 1.85232903e+01] [ 1.99970596e-03 -1.95540636e-03 9.99996089e-01 -2.45546834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.361400513 meters Centerline goodness [0,1] 0.6538229981938591 Centerline is valid? [False, False] Translation: X:312.85, Y:18.52, Z:-0.25 [[ 9.99997924e-01 -1.64263431e-04 -2.03119660e-03 3.12845303e+02] [ 1.68791826e-04 9.99997501e-01 2.22945213e-03 1.85223049e+01] [ 2.03082531e-03 -2.22979035e-03 9.99995452e-01 -2.46615758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.391400513 meters Centerline goodness [0,1] 0.6510407706863925 Centerline is valid? [False, False] Translation: X:312.85, Y:18.52, Z:-0.25 [[ 9.99997912e-01 3.09225436e-05 -2.04327064e-03 3.12845807e+02] [-2.54682049e-05 9.99996437e-01 2.66938780e-03 1.85204044e+01] [ 2.04334591e-03 -2.66933018e-03 9.99994350e-01 -2.47422422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.421400513 meters Centerline goodness [0,1] 0.6560477849676456 Centerline is valid? [False, False] Translation: X:312.85, Y:18.52, Z:-0.25 [[ 9.99997923e-01 5.29107281e-05 -2.03751937e-03 3.12845806e+02] [-4.72739030e-05 9.99996172e-01 2.76646243e-03 1.85198905e+01] [ 2.03765795e-03 -2.76636036e-03 9.99994098e-01 -2.47467922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.451400513 meters Centerline goodness [0,1] 0.652453948215896 Centerline is valid? [False, False] Translation: X:312.85, Y:18.52, Z:-0.25 [[ 9.99997809e-01 -8.38209884e-05 -2.09163809e-03 3.12845578e+02] [ 8.83628452e-05 9.99997639e-01 2.17143741e-03 1.85228021e+01] [ 2.09145113e-03 -2.17161747e-03 9.99995455e-01 -2.46817442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.481400513 meters Centerline goodness [0,1] 0.64845216265775 Centerline is valid? [False, False] Translation: X:312.85, Y:18.52, Z:-0.25 [[ 9.99997809e-01 -2.18226164e-04 -2.08211215e-03 3.12845308e+02] [ 2.21890474e-04 9.99998427e-01 1.75983184e-03 1.85247177e+01] [ 2.08172484e-03 -1.76028998e-03 9.99996284e-01 -2.46524141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.511400513 meters Centerline goodness [0,1] 0.6515386270712287 Centerline is valid? [False, False] Translation: X:312.85, Y:18.52, Z:-0.25 [[ 9.99997869e-01 -1.74734944e-04 -2.05695067e-03 3.12845255e+02] [ 1.78504052e-04 9.99998305e-01 1.83233565e-03 1.85244308e+01] [ 2.05662701e-03 -1.83269892e-03 9.99996206e-01 -2.46551562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.541400513 meters Centerline goodness [0,1] 0.6489914163090129 Centerline is valid? [False, False] Translation: X:312.85, Y:18.52, Z:-0.25 [[ 9.99997778e-01 -1.59522349e-04 -2.10180181e-03 3.12845268e+02] [ 1.63570641e-04 9.99998132e-01 1.92607417e-03 1.85239454e+01] [ 2.10149063e-03 -1.92641368e-03 9.99995936e-01 -2.46259919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.571400513 meters Centerline goodness [0,1] 0.6505427291523087 Centerline is valid? [False, False] Translation: X:312.84, Y:18.52, Z:-0.25 [[ 9.99997783e-01 -2.42437079e-04 -2.09183195e-03 3.12844862e+02] [ 2.46321034e-04 9.99998246e-01 1.85666641e-03 1.85240285e+01] [ 2.09137815e-03 -1.85717756e-03 9.99996089e-01 -2.45549016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.601400513 meters Centerline goodness [0,1] 0.6582495552078198 Centerline is valid? [False, False] Translation: X:312.84, Y:18.52, Z:-0.24 [[ 9.99997503e-01 -7.11120881e-04 -2.11868189e-03 3.12844320e+02] [ 7.15626173e-04 9.99997483e-01 2.12646119e-03 1.85216126e+01] [ 2.11716439e-03 -2.12797207e-03 9.99995495e-01 -2.44711838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.631400513 meters Centerline goodness [0,1] 0.6888831758682006 Centerline is valid? [False, False] Translation: X:312.85, Y:18.52, Z:-0.25 [[ 9.99996813e-01 -6.77342956e-04 -2.43198746e-03 3.12845717e+02] [ 6.83416456e-04 9.99996648e-01 2.49737831e-03 1.85199660e+01] [ 2.43028773e-03 -2.49903241e-03 9.99993924e-01 -2.45474852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.661400513 meters Centerline goodness [0,1] 0.6513723971777663 Centerline is valid? [False, False] Translation: X:312.85, Y:18.52, Z:-0.25 [[ 9.99996033e-01 -6.45171390e-04 -2.74168788e-03 3.12847126e+02] [ 6.53126019e-04 9.99995577e-01 2.90145790e-03 1.85181412e+01] [ 2.73980382e-03 -2.90323706e-03 9.99992032e-01 -2.46281761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.691400513 meters Centerline goodness [0,1] 0.6642417701025365 Centerline is valid? [False, False] Translation: X:312.85, Y:18.52, Z:-0.25 [[ 9.99995188e-01 -5.86703755e-04 -3.04618208e-03 3.12848350e+02] [ 5.96179469e-04 9.99994984e-01 3.11070989e-03 1.85173274e+01] [ 3.04434174e-03 -3.11251099e-03 9.99990522e-01 -2.46702872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.721400513 meters Centerline goodness [0,1] 0.6648384480771693 Centerline is valid? [False, False] Translation: X:312.85, Y:18.52, Z:-0.24 [[ 9.99981254e-01 -5.22830729e-03 -3.18684960e-03 3.12847169e+02] [ 5.22033179e-03 9.99983234e-01 -2.50583034e-03 1.85233336e+01] [ 3.19989742e-03 2.48914695e-03 9.99991782e-01 -2.43649330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.751400513 meters Centerline goodness [0,1] 0.6707177796453121 Centerline is valid? [False, False] Translation: X:312.85, Y:18.52, Z:-0.24 [[ 9.99980384e-01 -5.33464301e-03 -3.28233144e-03 3.12847051e+02] [ 5.32601193e-03 9.99982351e-01 -2.63270330e-03 1.85236952e+01] [ 3.29631804e-03 2.61516992e-03 9.99991148e-01 -2.42858467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.781400513 meters Centerline goodness [0,1] 0.6479155445437897 Centerline is valid? [False, False] Translation: X:312.84, Y:18.52, Z:-0.24 [[ 9.99993116e-01 -2.38591842e-03 -2.84170217e-03 3.12843493e+02] [ 2.38861862e-03 9.99996699e-01 9.47188777e-04 1.85186931e+01] [ 2.83943287e-03 -9.53970000e-04 9.99995514e-01 -2.40927146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.811400513 meters Centerline goodness [0,1] 0.6718057429177106 Centerline is valid? [False, False] Translation: X:312.84, Y:18.52, Z:-0.24 [[ 9.99993268e-01 -2.38528346e-03 -2.78826287e-03 3.12843456e+02] [ 2.38756328e-03 9.99996818e-01 8.14605058e-04 1.85195019e+01] [ 2.78631093e-03 -8.21256728e-04 9.99995781e-01 -2.41215722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.841400513 meters Centerline goodness [0,1] 0.6656714494372369 Centerline is valid? [False, False] Translation: X:312.84, Y:18.52, Z:-0.24 [[ 9.99993529e-01 -2.43551899e-03 -2.64782719e-03 3.12842896e+02] [ 2.43726113e-03 9.99996815e-01 6.54922184e-04 1.85201812e+01] [ 2.64622368e-03 -6.61371392e-04 9.99996280e-01 -2.41116600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.871400513 meters Centerline goodness [0,1] 0.6616081394350477 Centerline is valid? [False, False] Translation: X:312.84, Y:18.52, Z:-0.24 [[ 9.99993799e-01 -2.50695575e-03 -2.47332846e-03 3.12841933e+02] [ 2.50807501e-03 9.99996754e-01 4.49536685e-04 1.85209732e+01] [ 2.47219346e-03 -4.55737190e-04 9.99996840e-01 -2.40406132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.901400513 meters Centerline goodness [0,1] 0.6530171015934101 Centerline is valid? [False, False] Translation: X:312.84, Y:18.52, Z:-0.24 [[ 9.99993196e-01 -3.07975758e-03 -2.03032185e-03 3.12838659e+02] [ 3.07888529e-03 9.99995167e-01 -4.32620972e-04 1.85235630e+01] [ 2.03164441e-03 4.26366900e-04 9.99997845e-01 -2.37587268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.931400513 meters Centerline goodness [0,1] 0.6662433270191148 Centerline is valid? [False, False] Translation: X:312.84, Y:18.52, Z:-0.24 [[ 9.99993157e-01 -3.05972133e-03 -2.07943620e-03 3.12838900e+02] [ 3.05887717e-03 9.99995238e-01 -4.09017984e-04 1.85235441e+01] [ 2.08067778e-03 4.02654445e-04 9.99997754e-01 -2.37746368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.961400513 meters Centerline goodness [0,1] 0.6578334052654294 Centerline is valid? [False, False] Translation: X:312.84, Y:18.52, Z:-0.24 [[ 9.99993036e-01 -3.04506091e-03 -2.15758060e-03 3.12839298e+02] [ 3.04416958e-03 9.99995280e-01 -4.16279312e-04 1.85237162e+01] [ 2.15883801e-03 4.09708372e-04 9.99997586e-01 -2.38051730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.991400513 meters Centerline goodness [0,1] 0.6667168286181099 Centerline is valid? [False, False] Translation: X:312.84, Y:18.52, Z:-0.24 [[ 9.99993068e-01 -2.92439783e-03 -2.30465808e-03 3.12839953e+02] [ 2.92406644e-03 9.99995714e-01 -1.47148097e-04 1.85225903e+01] [ 2.30507853e-03 1.40408104e-04 9.99997333e-01 -2.38315457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.021400513 meters Centerline goodness [0,1] 0.6613452992190534 Centerline is valid? [False, False] Translation: X:312.84, Y:18.52, Z:-0.24 [[ 9.99992609e-01 -3.07012148e-03 -2.31427197e-03 3.12839449e+02] [ 3.06911210e-03 9.99995194e-01 -4.39581572e-04 1.85237097e+01] [ 2.31561041e-03 4.32475563e-04 9.99997225e-01 -2.37366616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.051400513 meters Centerline goodness [0,1] 0.6580659010411076 Centerline is valid? [False, False] Translation: X:312.84, Y:18.52, Z:-0.24 [[ 9.99992798e-01 -2.96504552e-03 -2.36887275e-03 3.12839818e+02] [ 2.96442694e-03 9.99995571e-01 -2.64598409e-04 1.85230667e+01] [ 2.36964680e-03 2.57574153e-04 9.99997159e-01 -2.37699619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.081400513 meters Centerline goodness [0,1] 0.6640650336194409 Centerline is valid? [False, False] Translation: X:312.84, Y:18.52, Z:-0.24 [[ 9.99992876e-01 -2.97856625e-03 -2.31864456e-03 3.12839902e+02] [ 2.97767702e-03 9.99995492e-01 -3.86869125e-04 1.85237998e+01] [ 2.31978642e-03 3.79962194e-04 9.99997237e-01 -2.38289493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.111400513 meters Centerline goodness [0,1] 0.6555983558931762 Centerline is valid? [False, False] Translation: X:312.84, Y:18.52, Z:-0.24 [[ 9.99992966e-01 -2.90869298e-03 -2.36803755e-03 3.12840287e+02] [ 2.90739751e-03 9.99995622e-01 -5.50324153e-04 1.85249458e+01] [ 2.36962790e-03 5.43435456e-04 9.99997045e-01 -2.38790062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.141400513 meters Centerline goodness [0,1] 0.6478259936935584 Centerline is valid? [False, False] Translation: X:312.84, Y:18.53, Z:-0.24 [[ 9.99993092e-01 -2.90613469e-03 -2.31751131e-03 3.12840021e+02] [ 2.90449388e-03 9.99995529e-01 -7.11054455e-04 1.85257708e+01] [ 2.31956737e-03 7.04318346e-04 9.99997062e-01 -2.38658323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.171400513 meters Centerline goodness [0,1] 0.6825208598348462 Centerline is valid? [False, False] Translation: X:312.83, Y:18.52, Z:-0.24 [[ 9.99998759e-01 2.37644963e-04 -1.55731536e-03 3.12834760e+02] [-2.33101509e-04 9.99995718e-01 2.91702380e-03 1.85230781e+01] [ 1.55800191e-03 -2.91665717e-03 9.99994533e-01 -2.35228310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.201400513 meters Centerline goodness [0,1] 0.6505762449471059 Centerline is valid? [False, False] Translation: X:312.83, Y:18.52, Z:-0.23 [[ 9.99998899e-01 1.33334298e-04 -1.47795677e-03 3.12834034e+02] [-1.29364921e-04 9.99996386e-01 2.68548932e-03 1.85239352e+01] [ 1.47830949e-03 -2.68529517e-03 9.99995302e-01 -2.34378602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.231400513 meters Centerline goodness [0,1] 0.638120834229198 Centerline is valid? [False, False] Translation: X:312.83, Y:18.52, Z:-0.23 [[ 9.99999020e-01 1.00516320e-04 -1.39629051e-03 3.12833698e+02] [-9.68427909e-05 9.99996535e-01 2.63073911e-03 1.85241402e+01] [ 1.39655010e-03 -2.63060131e-03 9.99995565e-01 -2.34275041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.261400513 meters Centerline goodness [0,1] 0.638120834229198 Centerline is valid? [False, False] Translation: X:312.83, Y:18.52, Z:-0.23 [[ 9.99999020e-01 1.00516320e-04 -1.39629051e-03 3.12833698e+02] [-9.68427909e-05 9.99996535e-01 2.63073911e-03 1.85241402e+01] [ 1.39655010e-03 -2.63060131e-03 9.99995565e-01 -2.34275041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.291400513 meters Centerline goodness [0,1] 0.6566408447656554 Centerline is valid? [False, False] Translation: X:312.83, Y:18.52, Z:-0.23 [[ 9.99999067e-01 1.20669386e-04 -1.36101360e-03 3.12833803e+02] [-1.17062101e-04 9.99996481e-01 2.65020895e-03 1.85241606e+01] [ 1.36132861e-03 -2.65004716e-03 9.99995562e-01 -2.34732069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.321400513 meters Centerline goodness [0,1] 0.6530092942013672 Centerline is valid? [False, False] Translation: X:312.83, Y:18.52, Z:-0.24 [[ 9.99998831e-01 2.72863795e-04 -1.50464571e-03 3.12834660e+02] [-2.68330950e-04 9.99995428e-01 3.01194541e-03 1.85226745e+01] [ 1.50546068e-03 -3.01153814e-03 9.99994332e-01 -2.35438269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.351400513 meters Centerline goodness [0,1] 0.6521552279857321 Centerline is valid? [False, False] Translation: X:312.83, Y:18.52, Z:-0.23 [[ 9.99998596e-01 2.10027850e-04 -1.66223668e-03 3.12834904e+02] [-2.05176220e-04 9.99995721e-01 2.91836857e-03 1.85230396e+01] [ 1.66284251e-03 -2.91802342e-03 9.99994360e-01 -2.34963216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.381400513 meters Centerline goodness [0,1] 0.6692163495722997 Centerline is valid? [False, False] Translation: X:312.84, Y:18.52, Z:-0.23 [[ 9.99998402e-01 1.65143736e-04 -1.78029863e-03 3.12835066e+02] [-1.60087110e-04 9.99995954e-01 2.84009334e-03 1.85233131e+01] [ 1.78076045e-03 -2.83980380e-03 9.99994382e-01 -2.34567076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.411400513 meters Centerline goodness [0,1] 0.6490536108550728 Centerline is valid? [False, False] Translation: X:312.84, Y:18.52, Z:-0.23 [[ 9.99998130e-01 1.99793128e-04 -1.92341982e-03 3.12835654e+02] [-1.94311748e-04 9.99995921e-01 2.84957505e-03 1.85234542e+01] [ 1.92398130e-03 -2.84919598e-03 9.99994090e-01 -2.34845701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.441400513 meters Centerline goodness [0,1] 0.6347783081752891 Centerline is valid? [False, False] Translation: X:312.84, Y:18.52, Z:-0.24 [[ 9.99998413e-01 2.12768247e-04 -1.76868927e-03 3.12835229e+02] [-2.07869042e-04 9.99996143e-01 2.76968616e-03 1.85238421e+01] [ 1.76927175e-03 -2.76931411e-03 9.99994600e-01 -2.35106649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.471400513 meters Centerline goodness [0,1] 0.6806282722513088 Centerline is valid? [False, False] Translation: X:312.83, Y:18.52, Z:-0.23 [[ 9.99998619e-01 7.43362025e-05 -1.66031280e-03 3.12834386e+02] [-7.02205810e-05 9.99996925e-01 2.47874374e-03 1.85249517e+01] [ 1.66049196e-03 -2.47862373e-03 9.99995550e-01 -2.34276388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.501400513 meters Centerline goodness [0,1] 0.6352681347428009 Centerline is valid? [False, False] Translation: X:312.83, Y:18.53, Z:-0.23 [[ 9.99998746e-01 9.51672029e-06 -1.58350639e-03 3.12833797e+02] [-5.89808426e-06 9.99997389e-01 2.28519354e-03 1.85257558e+01] [ 1.58352400e-03 -2.28518134e-03 9.99996135e-01 -2.33660124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.531400513 meters Centerline goodness [0,1] 0.6447308958660612 Centerline is valid? [False, False] Translation: X:312.83, Y:18.52, Z:-0.23 [[ 9.99998812e-01 1.53525239e-04 -1.53379386e-03 3.12834083e+02] [-1.49461943e-04 9.99996480e-01 2.64894350e-03 1.85241794e+01] [ 1.53419514e-03 -2.64871110e-03 9.99995315e-01 -2.34465246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.561400513 meters Centerline goodness [0,1] 0.6433033510078784 Centerline is valid? [False, False] Translation: X:312.83, Y:18.52, Z:-0.23 [[ 9.99998695e-01 1.85864511e-04 -1.60494979e-03 3.12834578e+02] [-1.81535025e-04 9.99996346e-01 2.69730786e-03 1.85241127e+01] [ 1.60544526e-03 -2.69701299e-03 9.99995074e-01 -2.34999117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.591400513 meters Centerline goodness [0,1] 0.643696466233375 Centerline is valid? [False, False] Translation: X:312.83, Y:18.52, Z:-0.24 [[ 9.99998754e-01 2.29448334e-04 -1.56187745e-03 3.12834544e+02] [-2.25090347e-04 9.99996083e-01 2.78982802e-03 1.85237043e+01] [ 1.56251145e-03 -2.78947298e-03 9.99994889e-01 -2.35222685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.621400513 meters Centerline goodness [0,1] 0.6380324478055717 Centerline is valid? [False, False] Translation: X:312.83, Y:18.52, Z:-0.24 [[ 9.99998630e-01 2.38398844e-04 -1.63813502e-03 3.12834714e+02] [-2.33680849e-04 9.99995826e-01 2.87968995e-03 1.85232262e+01] [ 1.63881470e-03 -2.87930320e-03 9.99994512e-01 -2.35066554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.651400513 meters Centerline goodness [0,1] 0.6483267525406176 Centerline is valid? [False, False] Translation: X:312.84, Y:18.52, Z:-0.23 [[ 9.99998252e-01 1.82818966e-04 -1.86070227e-03 3.12835094e+02] [-1.77401693e-04 9.99995747e-01 2.91116201e-03 1.85228775e+01] [ 1.86122657e-03 -2.91082683e-03 9.99994031e-01 -2.34419160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.681400513 meters Centerline goodness [0,1] 0.6474800094325466 Centerline is valid? [False, False] Translation: X:312.84, Y:18.52, Z:-0.23 [[ 9.99997693e-01 2.92867994e-04 -2.12805784e-03 3.12836069e+02] [-2.85877146e-04 9.99994565e-01 3.28464575e-03 1.85211807e+01] [ 2.12900824e-03 -3.28402981e-03 9.99992341e-01 -2.34553382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.711400513 meters Centerline goodness [0,1] 0.6533106302267437 Centerline is valid? [False, False] Translation: X:312.84, Y:18.52, Z:-0.24 [[ 9.99997310e-01 4.16310029e-04 -2.28193819e-03 3.12836890e+02] [-4.07968115e-04 9.99993238e-01 3.65487406e-03 1.85195404e+01] [ 2.28344432e-03 -3.65393327e-03 9.99990717e-01 -2.35064752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.741400513 meters Centerline goodness [0,1] 0.6524316633612142 Centerline is valid? [False, False] Translation: X:312.84, Y:18.52, Z:-0.24 [[ 9.99997079e-01 4.89764232e-04 -2.36696506e-03 3.12837433e+02] [-4.80435269e-04 9.99992122e-01 3.94028130e-03 1.85182381e+01] [ 2.36887622e-03 -3.93913262e-03 9.99989436e-01 -2.35516717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.771400513 meters Centerline goodness [0,1] 0.6518716232214736 Centerline is valid? [False, False] Translation: X:312.83, Y:18.52, Z:-0.23 [[ 9.99987457e-01 -4.49910651e-03 -2.20083426e-03 3.12834930e+02] [ 4.49557783e-03 9.99988606e-01 -1.60566892e-03 1.85227934e+01] [ 2.20803326e-03 1.59575475e-03 9.99996289e-01 -2.32151304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.801400513 meters Centerline goodness [0,1] 0.6677401227630327 Centerline is valid? [False, False] Translation: X:312.83, Y:18.52, Z:-0.23 [[ 9.99987055e-01 -4.63238943e-03 -2.10482839e-03 3.12834555e+02] [ 4.62983714e-03 9.99988543e-01 -1.21584552e-03 1.85204706e+01] [ 2.11043655e-03 1.20608477e-03 9.99997046e-01 -2.31950509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.831400513 meters Centerline goodness [0,1] 0.6588936861454281 Centerline is valid? [False, False] Translation: X:312.83, Y:18.52, Z:-0.23 [[ 9.99952997e-01 -9.46839776e-03 -2.08658962e-03 3.12832878e+02] [ 9.45452838e-03 9.99933791e-01 -6.55944515e-03 1.85244298e+01] [ 2.14855891e-03 6.53940912e-03 9.99976310e-01 -2.28887767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.861400513 meters Centerline goodness [0,1] 0.6660465315199726 Centerline is valid? [False, False] Translation: X:312.83, Y:18.52, Z:-0.23 [[ 9.99951600e-01 -9.56945919e-03 -2.28530127e-03 3.12833699e+02] [ 9.55516066e-03 9.99935203e-01 -6.18777474e-03 1.85225092e+01] [ 2.34436684e-03 6.16563883e-03 9.99978244e-01 -2.29217897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.891400513 meters Centerline goodness [0,1] 0.6868368347040525 Centerline is valid? [False, False] Translation: X:312.84, Y:18.52, Z:-0.23 [[ 9.99941964e-01 -1.03940257e-02 -2.83406325e-03 3.12835148e+02] [ 1.03772818e-02 9.99928983e-01 -5.86013587e-03 1.85190178e+01] [ 2.89477239e-03 5.83038590e-03 9.99978813e-01 -2.29799148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.921400513 meters Centerline goodness [0,1] 0.6983817382917158 Centerline is valid? [False, False] Translation: X:312.84, Y:18.52, Z:-0.23 [[ 9.99942506e-01 -1.03338082e-02 -2.86308598e-03 3.12835667e+02] [ 1.03184384e-02 9.99932547e-01 -5.33202660e-03 1.85165400e+01] [ 2.91799300e-03 5.30217747e-03 9.99981686e-01 -2.30487727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.951400513 meters Centerline goodness [0,1] 0.8215345576534343 Centerline is valid? [False, False] Translation: X:312.84, Y:18.51, Z:-0.23 [[ 9.99970933e-01 -6.95691848e-03 -3.12001563e-03 3.12836032e+02] [ 6.95543969e-03 9.99975693e-01 -4.84569826e-04 1.85097564e+01] [ 3.12331091e-03 4.62854660e-04 9.99995015e-01 -2.31400682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.981400513 meters Centerline goodness [0,1] 0.8195174493752693 Centerline is valid? [False, False] Translation: X:312.84, Y:18.51, Z:-0.23 [[ 9.99970936e-01 -6.92113098e-03 -3.19775643e-03 3.12836336e+02] [ 6.92063858e-03 9.99976038e-01 -1.65022301e-04 1.85081630e+01] [ 3.19882195e-03 1.42886988e-04 9.99994874e-01 -2.31375298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.011400513 meters Centerline goodness [0,1] 0.7817295034205927 Centerline is valid? [False, False] Translation: X:312.84, Y:18.51, Z:-0.23 [[ 9.99970538e-01 -6.81422382e-03 -3.53391674e-03 3.12837795e+02] [ 6.81507612e-03 9.99976751e-01 2.29189556e-04 1.85065286e+01] [ 3.53227284e-03 -2.53266715e-04 9.99993729e-01 -2.32002401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.041400513 meters Centerline goodness [0,1] 0.8638866865236676 Centerline is valid? [False, False] Translation: X:312.84, Y:18.51, Z:-0.23 [[ 9.99970589e-01 -6.73548478e-03 -3.66793004e-03 3.12838497e+02] [ 6.73677791e-03 9.99977250e-01 3.40311405e-04 1.85062622e+01] [ 3.66555443e-03 -3.65011426e-04 9.99993215e-01 -2.32486639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.071400513 meters Centerline goodness [0,1] 0.8967168557746236 Centerline is valid? [False, False] Translation: X:312.84, Y:18.51, Z:-0.23 [[ 9.99970112e-01 -6.80400694e-03 -3.67169094e-03 3.12838458e+02] [ 6.80455356e-03 9.99976839e-01 1.36401970e-04 1.85072359e+01] [ 3.67067782e-03 -1.61382111e-04 9.99993250e-01 -2.32493483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.101400513 meters Centerline goodness [0,1] 0.773620948701438 Centerline is valid? [False, False] Translation: X:312.84, Y:18.51, Z:-0.23 [[ 9.99970352e-01 -6.80924680e-03 -3.59561571e-03 3.12838058e+02] [ 6.80928138e-03 9.99976817e-01 -2.62637059e-06 1.85079096e+01] [ 3.59555023e-03 -2.18572663e-05 9.99993536e-01 -2.32235281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.131400513 meters Centerline goodness [0,1] 0.7828034713355119 Centerline is valid? [False, False] Translation: X:312.84, Y:18.51, Z:-0.23 [[ 9.99970208e-01 -6.91891940e-03 -3.42229365e-03 3.12837060e+02] [ 6.91795886e-03 9.99976028e-01 -2.92431474e-04 1.85090208e+01] [ 3.42423492e-03 2.68747475e-04 9.99994101e-01 -2.31484339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.161400513 meters Centerline goodness [0,1] 0.8034747873893995 Centerline is valid? [False, False] Translation: X:312.84, Y:18.51, Z:-0.23 [[ 9.99970908e-01 -6.90057526e-03 -3.25056800e-03 3.12836164e+02] [ 6.89925062e-03 9.99976112e-01 -4.18549574e-04 1.85095614e+01] [ 3.25337858e-03 3.96110914e-04 9.99994629e-01 -2.30807213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.191400513 meters Centerline goodness [0,1] 0.7303909965354738 Centerline is valid? [False, False] Translation: X:312.84, Y:18.50, Z:-0.24 [[ 9.99992474e-01 -1.71701032e-03 -3.47892197e-03 3.12839438e+02] [ 1.73588052e-03 9.99983759e-01 5.42841089e-03 1.85041155e+01] [ 3.46954483e-03 -5.43440903e-03 9.99979215e-01 -2.35103508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.221400513 meters Centerline goodness [0,1] 0.6867814239357015 Centerline is valid? [False, False] Translation: X:312.84, Y:18.50, Z:-0.24 [[ 9.99992726e-01 -1.70706077e-03 -3.41091354e-03 3.12839255e+02] [ 1.72523918e-03 9.99984288e-01 5.33366855e-03 1.85045981e+01] [ 3.40175505e-03 -5.33951439e-03 9.99979959e-01 -2.35285370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.251400513 meters Centerline goodness [0,1] 0.6648708978128823 Centerline is valid? [False, False] Translation: X:312.84, Y:18.51, Z:-0.24 [[ 9.99993122e-01 -1.76939012e-03 -3.25974370e-03 3.12838578e+02] [ 1.78577756e-03 9.99985749e-01 5.03118411e-03 1.85059474e+01] [ 3.25079512e-03 -5.03697068e-03 9.99982030e-01 -2.35053711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.281400513 meters Centerline goodness [0,1] 0.6650596730303615 Centerline is valid? [False, False] Translation: X:312.84, Y:18.51, Z:-0.23 [[ 9.99993721e-01 -1.88780845e-03 -2.99896546e-03 3.12837086e+02] [ 1.90164403e-03 9.99987532e-01 4.61731713e-03 1.85075594e+01] [ 2.99021146e-03 -4.62299110e-03 9.99984843e-01 -2.33937693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.311400513 meters Centerline goodness [0,1] 0.6733265027322404 Centerline is valid? [False, False] Translation: X:312.84, Y:18.51, Z:-0.23 [[ 9.99994013e-01 -1.97276275e-03 -2.84307577e-03 3.12836030e+02] [ 1.98490459e-03 9.99988896e-01 4.27419695e-03 1.85090003e+01] [ 2.83461222e-03 -4.27981460e-03 9.99986824e-01 -2.32916498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.341400513 meters Centerline goodness [0,1] 0.6523674282565385 Centerline is valid? [False, False] Translation: X:312.84, Y:18.51, Z:-0.23 [[ 9.99994029e-01 -2.03864958e-03 -2.79044074e-03 3.12835512e+02] [ 2.04963861e-03 9.99990134e-01 3.94091975e-03 1.85105542e+01] [ 2.78237906e-03 -3.94661561e-03 9.99988341e-01 -2.32293427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.371400513 meters Centerline goodness [0,1] 0.656821768243272 Centerline is valid? [False, False] Translation: X:312.84, Y:18.51, Z:-0.23 [[ 9.99993986e-01 -1.96926487e-03 -2.85480187e-03 3.12835942e+02] [ 1.98083708e-03 9.99989811e-01 4.05645044e-03 1.85101548e+01] [ 2.84678456e-03 -4.06208094e-03 9.99987698e-01 -2.32724244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.401400513 meters Centerline goodness [0,1] 0.6487380962548576 Centerline is valid? [False, False] Translation: X:312.84, Y:18.51, Z:-0.23 [[ 9.99993391e-01 -1.90359657e-03 -3.09746140e-03 3.12837143e+02] [ 1.91613361e-03 9.99989965e-01 4.04960199e-03 1.85105430e+01] [ 3.08972151e-03 -4.05551038e-03 9.99987003e-01 -2.33581734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.431400513 meters Centerline goodness [0,1] 0.6607586265947427 Centerline is valid? [False, False] Translation: X:312.84, Y:18.51, Z:-0.23 [[ 9.99993542e-01 -1.95175599e-03 -3.01765268e-03 3.12836557e+02] [ 1.96386998e-03 9.99990005e-01 4.01663651e-03 1.85104355e+01] [ 3.00978303e-03 -4.02253684e-03 9.99987380e-01 -2.32993494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.461400513 meters Centerline goodness [0,1] 0.6489119567760737 Centerline is valid? [False, False] Translation: X:312.84, Y:18.51, Z:-0.23 [[ 9.99993635e-01 -2.06646326e-03 -2.90842724e-03 3.12835641e+02] [ 2.07724607e-03 9.99990963e-01 3.70930994e-03 1.85116625e+01] [ 2.90073580e-03 -3.71532785e-03 9.99988891e-01 -2.31979636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.491400513 meters Centerline goodness [0,1] 0.655479979466119 Centerline is valid? [False, False] Translation: X:312.83, Y:18.51, Z:-0.23 [[ 9.99994073e-01 -2.17017393e-03 -2.67294416e-03 3.12834385e+02] [ 2.17907165e-03 9.99992080e-01 3.33040693e-03 1.85131908e+01] [ 2.66569542e-03 -3.33621173e-03 9.99990882e-01 -2.31177060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.521400513 meters Centerline goodness [0,1] 0.6518036715306603 Centerline is valid? [False, False] Translation: X:312.83, Y:18.51, Z:-0.23 [[ 9.99994220e-01 -2.16636754e-03 -2.62044337e-03 3.12834308e+02] [ 2.17493719e-03 9.99992282e-01 3.27188722e-03 1.85135189e+01] [ 2.61333503e-03 -3.27756760e-03 9.99991214e-01 -2.31422286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.551400513 meters Centerline goodness [0,1] 0.6478990698171709 Centerline is valid? [False, False] Translation: X:312.83, Y:18.51, Z:-0.23 [[ 9.99994373e-01 -2.20406009e-03 -2.52895091e-03 3.12833997e+02] [ 2.21183070e-03 9.99992829e-01 3.07399081e-03 1.85144995e+01] [ 2.52215751e-03 -3.07956713e-03 9.99992077e-01 -2.31524885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.581400513 meters Centerline goodness [0,1] 0.6466369451444078 Centerline is valid? [False, False] Translation: X:312.83, Y:18.51, Z:-0.23 [[ 9.99994579e-01 -2.22667381e-03 -2.42585044e-03 3.12833470e+02] [ 2.23409145e-03 9.99992825e-01 3.05934206e-03 1.85143982e+01] [ 2.41902087e-03 -3.06474505e-03 9.99992378e-01 -2.31201891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.611400513 meters Centerline goodness [0,1] 0.6403755268872142 Centerline is valid? [False, False] Translation: X:312.83, Y:18.52, Z:-0.23 [[ 9.99975541e-01 -6.46612507e-03 -2.66578770e-03 3.12832998e+02] [ 6.45991126e-03 9.99976413e-01 -2.33300533e-03 1.85203979e+01] [ 2.68081033e-03 2.31572752e-03 9.99993725e-01 -2.28380015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.641400513 meters Centerline goodness [0,1] 0.6419726591840677 Centerline is valid? [False, False] Translation: X:312.83, Y:18.52, Z:-0.23 [[ 9.99975383e-01 -6.44989255e-03 -2.76260762e-03 3.12833390e+02] [ 6.44346113e-03 9.99976525e-01 -2.33063532e-03 1.85204766e+01] [ 2.77757511e-03 2.31277719e-03 9.99993468e-01 -2.28562254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.671400513 meters Centerline goodness [0,1] 0.6392410466555684 Centerline is valid? [False, False] Translation: X:312.83, Y:18.52, Z:-0.23 [[ 9.99975706e-01 -6.36551359e-03 -2.84037560e-03 3.12833960e+02] [ 6.35906505e-03 9.99977196e-01 -2.27359493e-03 1.85204871e+01] [ 2.85478343e-03 2.25547756e-03 9.99993381e-01 -2.29187859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.701400513 meters Centerline goodness [0,1] 0.6385110646825566 Centerline is valid? [False, False] Translation: X:312.84, Y:18.51, Z:-0.23 [[ 9.99994550e-01 -1.46959933e-03 -2.95627591e-03 3.12836441e+02] [ 1.48016261e-03 9.99992517e-01 3.57416065e-03 1.85142318e+01] [ 2.95100120e-03 -3.57851694e-03 9.99989243e-01 -2.32910892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.731400513 meters Centerline goodness [0,1] 0.645056551842773 Centerline is valid? [False, False] Translation: X:312.84, Y:18.52, Z:-0.23 [[ 9.99994940e-01 -1.56909033e-03 -2.76741042e-03 3.12835514e+02] [ 1.57824520e-03 9.99993280e-01 3.30902257e-03 1.85153048e+01] [ 2.76219966e-03 -3.31337347e-03 9.99990696e-01 -2.32417070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.761400513 meters Centerline goodness [0,1] 0.636526562833369 Centerline is valid? [False, False] Translation: X:312.83, Y:18.52, Z:-0.23 [[ 9.99995688e-01 -1.53773144e-03 -2.50206990e-03 3.12833960e+02] [ 1.54534043e-03 9.99994179e-01 3.04199372e-03 1.85164149e+01] [ 2.49737757e-03 -3.04584715e-03 9.99992243e-01 -2.31001038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.791400513 meters Centerline goodness [0,1] 0.643517923679815 Centerline is valid? [False, False] Translation: X:312.83, Y:18.52, Z:-0.23 [[ 9.99995831e-01 -1.58976581e-03 -2.41068782e-03 3.12833531e+02] [ 1.59675260e-03 9.99994523e-01 2.89910559e-03 1.85169940e+01] [ 2.40606571e-03 -2.90294277e-03 9.99992892e-01 -2.30846655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.821400513 meters Centerline goodness [0,1] 0.632994825772377 Centerline is valid? [False, False] Translation: X:312.83, Y:18.52, Z:-0.23 [[ 9.99995885e-01 -1.69033803e-03 -2.31793536e-03 3.12833095e+02] [ 1.69637074e-03 9.99995173e-01 2.60313097e-03 1.85183251e+01] [ 2.31352400e-03 -2.60705233e-03 9.99993925e-01 -2.30735450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.851400513 meters Centerline goodness [0,1] 0.645773631251212 Centerline is valid? [False, False] Translation: X:312.83, Y:18.52, Z:-0.23 [[ 9.99995979e-01 -1.72277164e-03 -2.25236438e-03 3.12832779e+02] [ 1.72847432e-03 9.99995300e-01 2.53237262e-03 1.85185819e+01] [ 2.24799109e-03 -2.53625559e-03 9.99994257e-01 -2.30583970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.881400513 meters Centerline goodness [0,1] 0.6332650797713506 Centerline is valid? [False, False] Translation: X:312.84, Y:18.52, Z:-0.23 [[ 9.99982865e-01 -5.13738176e-03 -2.80672865e-03 3.12835227e+02] [ 5.13246291e-03 9.99985285e-01 -1.75692271e-03 1.85237820e+01] [ 2.81571333e-03 1.74248717e-03 9.99994518e-01 -2.30445266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.911400513 meters Centerline goodness [0,1] 0.6516486119785497 Centerline is valid? [False, False] Translation: X:312.84, Y:18.52, Z:-0.23 [[ 9.99982843e-01 -5.12557418e-03 -2.83587928e-03 3.12835185e+02] [ 5.12084726e-03 9.99985491e-01 -1.67158395e-03 1.85232575e+01] [ 2.84440596e-03 1.65703317e-03 9.99994582e-01 -2.30166573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.941400513 meters Centerline goodness [0,1] 0.6374887585114128 Centerline is valid? [False, False] Translation: X:312.84, Y:18.52, Z:-0.23 [[ 9.99982763e-01 -5.04789106e-03 -2.99871094e-03 3.12835755e+02] [ 5.04351317e-03 9.99986207e-01 -1.46569834e-03 1.85223434e+01] [ 3.00606826e-03 1.45054903e-03 9.99994430e-01 -2.30191493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.971400513 meters Centerline goodness [0,1] 0.6333055502126477 Centerline is valid? [False, False] Translation: X:312.84, Y:18.52, Z:-0.23 [[ 9.99982148e-01 -4.99361822e-03 -3.28126788e-03 3.12836798e+02] [ 4.98912946e-03 9.99986609e-01 -1.37476081e-03 1.85221092e+01] [ 3.28808898e-03 1.35836560e-03 9.99993672e-01 -2.30398117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.001400513 meters Centerline goodness [0,1] 0.6337566658813956 Centerline is valid? [False, False] Translation: X:312.84, Y:18.52, Z:-0.23 [[ 9.99982052e-01 -4.85691989e-03 -3.50786000e-03 3.12837851e+02] [ 4.85323363e-03 9.99987663e-01 -1.05860579e-03 1.85208514e+01] [ 3.51295829e-03 1.04156232e-03 9.99993287e-01 -2.30909849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.031400513 meters Centerline goodness [0,1] 0.6404728193246665 Centerline is valid? [False, False] Translation: X:312.84, Y:18.52, Z:-0.23 [[ 9.99982319e-01 -4.66551941e-03 -3.68716379e-03 3.12838900e+02] [ 4.66319946e-03 9.99988924e-01 -6.37543150e-04 1.85191604e+01] [ 3.69009742e-03 6.20337898e-04 9.99992999e-01 -2.31669811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.061400513 meters Centerline goodness [0,1] 0.645066431990384 Centerline is valid? [False, False] Translation: X:312.84, Y:18.52, Z:-0.23 [[ 9.99982174e-01 -4.66577233e-03 -3.72578733e-03 3.12839178e+02] [ 4.66303441e-03 9.99988852e-01 -7.43207828e-04 1.85198534e+01] [ 3.72921343e-03 7.25821105e-04 9.99992783e-01 -2.32007098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.091400513 meters Centerline goodness [0,1] 0.6532898713409896 Centerline is valid? [False, False] Translation: X:312.84, Y:18.52, Z:-0.23 [[ 9.99982389e-01 -4.72386008e-03 -3.59265651e-03 3.12838417e+02] [ 4.72099475e-03 9.99988532e-01 -8.05614008e-04 1.85198815e+01] [ 3.59642091e-03 7.88638908e-04 9.99993222e-01 -2.31365715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.121400513 meters Centerline goodness [0,1] 0.6399310790437217 Centerline is valid? [False, False] Translation: X:312.84, Y:18.52, Z:-0.23 [[ 9.99982387e-01 -4.76965219e-03 -3.53224188e-03 3.12837978e+02] [ 4.76635740e-03 9.99988198e-01 -9.40606595e-04 1.85204269e+01] [ 3.53668657e-03 9.23754101e-04 9.99993319e-01 -2.30912588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.151400513 meters Centerline goodness [0,1] 0.6399310790437217 Centerline is valid? [False, False] Translation: X:312.84, Y:18.52, Z:-0.23 [[ 9.99982387e-01 -4.76965219e-03 -3.53224188e-03 3.12837978e+02] [ 4.76635740e-03 9.99988198e-01 -9.40606595e-04 1.85204269e+01] [ 3.53668657e-03 9.23754101e-04 9.99993319e-01 -2.30912588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.181400513 meters Centerline goodness [0,1] 0.6476613546675867 Centerline is valid? [False, False] Translation: X:312.84, Y:18.52, Z:-0.23 [[ 9.99982853e-01 -4.69694746e-03 -3.49751964e-03 3.12838140e+02] [ 4.69386660e-03 9.99988589e-01 -8.88559763e-04 1.85203735e+01] [ 3.50165324e-03 8.72127636e-04 9.99993489e-01 -2.31493856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.211400513 meters Centerline goodness [0,1] 0.6419492892320264 Centerline is valid? [False, False] Translation: X:312.84, Y:18.52, Z:-0.23 [[ 9.99982972e-01 -4.56622964e-03 -3.63377833e-03 3.12838980e+02] [ 4.56409003e-03 9.99989406e-01 -5.96885936e-04 1.85192772e+01] [ 3.63646536e-03 5.80290881e-04 9.99993220e-01 -2.32177002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.241400513 meters Centerline goodness [0,1] 0.6352713594841484 Centerline is valid? [False, False] Translation: X:312.84, Y:18.52, Z:-0.23 [[ 9.99982735e-01 -4.50309141e-03 -3.77516017e-03 3.12839399e+02] [ 4.50158665e-03 9.99989785e-01 -4.06997751e-04 1.85183849e+01] [ 3.77695435e-03 3.89996514e-04 9.99992791e-01 -2.32008849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.271400513 meters Centerline goodness [0,1] 0.6513142239048134 Centerline is valid? [False, False] Translation: X:312.84, Y:18.52, Z:-0.23 [[ 9.99982264e-01 -4.57694494e-03 -3.81084946e-03 3.12839173e+02] [ 4.57520716e-03 9.99989426e-01 -4.64601652e-04 1.85184277e+01] [ 3.81293562e-03 4.47157986e-04 9.99992631e-01 -2.31339013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.301400513 meters Centerline goodness [0,1] 0.635679948723427 Centerline is valid? [False, False] Translation: X:312.84, Y:18.52, Z:-0.23 [[ 9.99953408e-01 -8.80562593e-03 -3.95521972e-03 3.12838384e+02] [ 8.78198127e-03 9.99943699e-01 -5.95619712e-03 1.85246667e+01] [ 4.00744508e-03 5.92118494e-03 9.99974440e-01 -2.28351908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.331400513 meters Centerline goodness [0,1] 0.6580512598680653 Centerline is valid? [False, False] Translation: X:312.81, Y:18.52, Z:-0.23 [[ 9.99965440e-01 -3.68857791e-03 -7.45077004e-03 3.12805026e+02] [ 3.63970565e-03 9.99971844e-01 -6.56230190e-03 1.85186043e+01] [ 7.47476582e-03 6.53495649e-03 9.99950710e-01 -2.28852270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.361400513 meters Centerline goodness [0,1] 0.6329584793686972 Centerline is valid? [False, False] Translation: X:312.81, Y:18.51, Z:-0.23 [[ 9.99967375e-01 1.65523423e-03 -7.90632442e-03 3.12809586e+02] [-1.65864214e-03 9.99998534e-01 -4.24499406e-04 1.85123558e+01] [ 7.90561018e-03 4.37599320e-04 9.99968654e-01 -2.33789740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.391400513 meters Centerline goodness [0,1] 0.6343808884364645 Centerline is valid? [False, False] Translation: X:312.81, Y:18.51, Z:-0.23 [[ 9.99968124e-01 1.65879021e-03 -7.81016125e-03 3.12809264e+02] [-1.66309772e-03 9.99998469e-01 -5.45063939e-04 1.85129418e+01] [ 7.80924514e-03 5.58035626e-04 9.99969352e-01 -2.33856023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.421400513 meters Centerline goodness [0,1] 0.6533255743782059 Centerline is valid? [False, False] Translation: X:312.81, Y:18.51, Z:-0.23 [[ 9.99968632e-01 1.68826009e-03 -7.73848579e-03 3.12808858e+02] [-1.69466171e-03 9.99998227e-01 -8.20762812e-04 1.85143828e+01] [ 7.73708641e-03 8.33851182e-04 9.99969721e-01 -2.33553671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.451400513 meters Centerline goodness [0,1] 0.6327997245890352 Centerline is valid? [False, False] Translation: X:312.81, Y:18.52, Z:-0.23 [[ 9.99970148e-01 1.63562664e-03 -7.55163418e-03 3.12807894e+02] [-1.64451990e-03 9.99997961e-01 -1.17160076e-03 1.85159261e+01] [ 7.54970248e-03 1.18398460e-03 9.99970800e-01 -2.32934606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.481400513 meters Centerline goodness [0,1] 0.6367607816131531 Centerline is valid? [False, False] Translation: X:312.81, Y:18.52, Z:-0.23 [[ 9.99971737e-01 1.60971059e-03 -7.34396705e-03 3.12806924e+02] [-1.61959581e-03 9.99997790e-01 -1.34028500e-03 1.85165603e+01] [ 7.34179335e-03 1.35214138e-03 9.99972135e-01 -2.32445929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.511400513 meters Centerline goodness [0,1] 0.6446002865951626 Centerline is valid? [False, False] Translation: X:312.81, Y:18.52, Z:-0.23 [[ 9.99974524e-01 1.66026065e-03 -6.94224868e-03 3.12805226e+02] [-1.66960916e-03 9.99997707e-01 -1.34103318e-03 1.85162347e+01] [ 6.94000630e-03 1.35258986e-03 9.99975003e-01 -2.31669923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.541400513 meters Centerline goodness [0,1] 0.6355142208283768 Centerline is valid? [False, False] Translation: X:312.81, Y:18.52, Z:-0.23 [[ 9.99974812e-01 1.80635630e-03 -6.86384135e-03 3.12805132e+02] [-1.81370199e-03 9.99997789e-01 -1.06412611e-03 1.85150142e+01] [ 6.86190398e-03 1.07654827e-03 9.99975877e-01 -2.31883523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.571400513 meters Centerline goodness [0,1] 0.6359488658373864 Centerline is valid? [False, False] Translation: X:312.81, Y:18.51, Z:-0.23 [[ 9.99972092e-01 2.14239222e-03 -7.15723976e-03 3.12806716e+02] [-2.14379152e-03 9.99997684e-01 -1.87842356e-04 1.85111898e+01] [ 7.15682076e-03 2.03180743e-04 9.99974369e-01 -2.32907154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.601400513 meters Centerline goodness [0,1] 0.6388027562446167 Centerline is valid? [False, False] Translation: X:312.81, Y:18.51, Z:-0.23 [[ 9.99970357e-01 2.33389688e-03 -7.33744094e-03 3.12807731e+02] [-2.33055012e-03 9.99997176e-01 4.64637785e-04 1.85082129e+01] [ 7.33850464e-03 -4.47523738e-04 9.99972973e-01 -2.33613296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.631400513 meters Centerline goodness [0,1] 0.6362011413804243 Centerline is valid? [False, False] Translation: X:312.81, Y:18.50, Z:-0.23 [[ 9.99969641e-01 2.48425513e-03 -7.38545696e-03 3.12808396e+02] [-2.47466363e-03 9.99996083e-01 1.30755686e-03 1.85041433e+01] [ 7.38867634e-03 -1.28924065e-03 9.99971872e-01 -2.34429515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.661400513 meters Centerline goodness [0,1] 0.6432381280110118 Centerline is valid? [False, False] Translation: X:312.81, Y:18.50, Z:-0.24 [[ 9.99970152e-01 2.49166292e-03 -7.31340899e-03 3.12808630e+02] [-2.47558881e-03 9.99994502e-01 2.20612668e-03 1.84994726e+01] [ 7.31886571e-03 -2.18795584e-03 9.99970823e-01 -2.35294716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.691400513 meters Centerline goodness [0,1] 0.6339065274829991 Centerline is valid? [False, False] Translation: X:312.80, Y:18.50, Z:-0.23 [[ 9.99977003e-01 9.34252980e-04 -6.71724655e-03 3.12803357e+02] [-9.26395409e-04 9.99998883e-01 1.17277697e-03 1.84968452e+01] [ 6.71833472e-03 -1.16652717e-03 9.99976751e-01 -2.31177217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.721400513 meters Centerline goodness [0,1] 0.6404028690460851 Centerline is valid? [False, False] Translation: X:312.80, Y:18.50, Z:-0.23 [[ 9.99967257e-01 -4.04655820e-03 -7.00783405e-03 3.12801453e+02] [ 4.01559793e-03 9.99982141e-01 -4.42640009e-03 1.85006234e+01] [ 7.02562058e-03 4.39811451e-03 9.99965648e-01 -2.26648223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.751400513 meters Centerline goodness [0,1] 0.6428232962867235 Centerline is valid? [False, False] Translation: X:312.80, Y:18.50, Z:-0.23 [[ 9.99967726e-01 -4.25630234e-03 -6.81400642e-03 3.12800741e+02] [ 4.23084543e-03 9.99984033e-01 -3.74603272e-03 1.84965435e+01] [ 6.82984187e-03 3.71708282e-03 9.99969768e-01 -2.26433025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.781400513 meters Centerline goodness [0,1] 0.6530744057871167 Centerline is valid? [False, False] Translation: X:312.80, Y:18.50, Z:-0.23 [[ 9.99967173e-01 -4.17382722e-03 -6.94499407e-03 3.12801398e+02] [ 4.14957072e-03 9.99985253e-01 -3.50341146e-03 1.84955296e+01] [ 6.95951429e-03 3.47447771e-03 9.99969746e-01 -2.26779454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.811400513 meters Centerline goodness [0,1] 0.65903806407165 Centerline is valid? [False, False] Translation: X:312.80, Y:18.50, Z:-0.23 [[ 9.99966635e-01 -4.14955655e-03 -7.03639190e-03 3.12801834e+02] [ 4.12533020e-03 9.99985526e-01 -3.45403280e-03 1.84954289e+01] [ 7.05062276e-03 3.42489012e-03 9.99969279e-01 -2.27014658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.841400513 meters Centerline goodness [0,1] 0.6421183907798826 Centerline is valid? [False, False] Translation: X:312.80, Y:18.50, Z:-0.23 [[ 9.99965426e-01 -4.25519285e-03 -7.14427315e-03 3.12802116e+02] [ 4.22881474e-03 9.99984201e-01 -3.70325951e-03 1.84966545e+01] [ 7.15991836e-03 3.67291967e-03 9.99967622e-01 -2.26949896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.871400513 meters Centerline goodness [0,1] 0.6533744301033841 Centerline is valid? [False, False] Translation: X:312.80, Y:18.50, Z:-0.23 [[ 9.99961972e-01 -4.53614938e-03 -7.44837040e-03 3.12802871e+02] [ 4.50372989e-03 9.99980338e-01 -4.36358056e-03 1.84999003e+01] [ 7.46801780e-03 4.32986917e-03 9.99962740e-01 -2.26679725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.901400513 meters Centerline goodness [0,1] 0.6638063330811629 Centerline is valid? [False, False] Translation: X:312.80, Y:18.50, Z:-0.23 [[ 9.99960779e-01 -4.60131847e-03 -7.56751994e-03 3.12803307e+02] [ 4.56713397e-03 9.99979317e-01 -4.52835972e-03 1.85007536e+01] [ 7.58819985e-03 4.49362024e-03 9.99961113e-01 -2.26840583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.931400513 meters Centerline goodness [0,1] 0.6610041606484576 Centerline is valid? [False, False] Translation: X:312.80, Y:18.50, Z:-0.23 [[ 9.99960012e-01 -4.65135148e-03 -7.63804668e-03 3.12803588e+02] [ 4.61622122e-03 9.99978716e-01 -4.61058456e-03 1.85012300e+01] [ 7.65932957e-03 4.57514128e-03 9.99960201e-01 -2.26939798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.961400513 meters Centerline goodness [0,1] 0.6653234542224533 Centerline is valid? [False, False] Translation: X:312.80, Y:18.50, Z:-0.23 [[ 9.99958784e-01 -4.81278813e-03 -7.69855697e-03 3.12803466e+02] [ 4.77534188e-03 9.99976715e-01 -4.87506897e-03 1.85023246e+01] [ 7.72184038e-03 4.83810479e-03 9.99958482e-01 -2.26379191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.991400513 meters Centerline goodness [0,1] 0.6525655839431677 Centerline is valid? [False, False] Translation: X:312.83, Y:18.50, Z:-0.24 [[ 9.99969565e-01 -7.17311605e-03 -3.06860895e-03 3.12831334e+02] [ 7.18459901e-03 9.99967168e-01 3.74756257e-03 1.85015612e+01] [ 3.04162650e-03 -3.76949524e-03 9.99988270e-01 -2.37931553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.021400513 meters Centerline goodness [0,1] 0.6620473657113437 Centerline is valid? [False, False] Translation: X:312.83, Y:18.51, Z:-0.24 [[ 9.99965131e-01 -7.69592940e-03 -3.24170259e-03 3.12831047e+02] [ 7.70466183e-03 9.99966701e-01 2.68996130e-03 1.85062319e+01] [ 3.22089289e-03 -2.71484373e-03 9.99991128e-01 -2.36565281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.051400513 meters Centerline goodness [0,1] 0.6628978134952017 Centerline is valid? [False, False] Translation: X:312.83, Y:18.51, Z:-0.24 [[ 9.99964068e-01 -7.74230973e-03 -3.45232620e-03 3.12831885e+02] [ 7.75132137e-03 9.99966566e-01 2.60461346e-03 1.85068428e+01] [ 3.43204505e-03 -2.63127996e-03 9.99990649e-01 -2.36861247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.081400513 meters Centerline goodness [0,1] 0.6975916275279332 Centerline is valid? [False, False] Translation: X:312.83, Y:18.50, Z:-0.24 [[ 9.99963179e-01 -7.90419192e-03 -3.34141684e-03 3.12831566e+02] [ 7.91417247e-03 9.99964229e-01 2.98432638e-03 1.85045910e+01] [ 3.31770862e-03 -3.01066105e-03 9.99989964e-01 -2.36986462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.111400513 meters Centerline goodness [0,1] 0.707617657162487 Centerline is valid? [False, False] Translation: X:312.83, Y:18.50, Z:-0.24 [[ 9.99961502e-01 -8.19309719e-03 -3.14126589e-03 3.12830900e+02] [ 8.20365338e-03 9.99960696e-01 3.36246195e-03 1.85020537e+01] [ 3.11359345e-03 -3.38810236e-03 9.99989413e-01 -2.36954924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.141400513 meters Centerline goodness [0,1] 0.8444372574385511 Centerline is valid? [False, False] Translation: X:312.83, Y:18.50, Z:-0.23 [[ 9.99951411e-01 -9.42020790e-03 -2.90431962e-03 3.12828497e+02] [ 9.42888228e-03 9.99951084e-01 2.98763411e-03 1.85005167e+01] [ 2.87603342e-03 -3.01487343e-03 9.99991319e-01 -2.34991652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.171400513 meters Centerline goodness [0,1] 0.8624186306314048 Centerline is valid? [False, False] Translation: X:312.83, Y:18.50, Z:-0.24 [[ 9.99951696e-01 -9.30161648e-03 -3.17580777e-03 3.12829718e+02] [ 9.31219919e-03 9.99951083e-01 3.33392555e-03 1.84990710e+01] [ 3.14464152e-03 -3.36333826e-03 9.99989400e-01 -2.35529799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.201400513 meters Centerline goodness [0,1] 0.777587315191772 Centerline is valid? [False, False] Translation: X:312.83, Y:18.50, Z:-0.24 [[ 9.99951803e-01 -9.23595400e-03 -3.32991735e-03 3.12830344e+02] [ 9.24735106e-03 9.99951381e-01 3.42362998e-03 1.84988252e+01] [ 3.29813497e-03 -3.45425788e-03 9.99988595e-01 -2.35732990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.231400513 meters Centerline goodness [0,1] 0.94486393460256 Centerline is valid? [False, False] Translation: X:312.83, Y:18.50, Z:-0.24 [[ 9.99951394e-01 -9.30072990e-03 -3.27206671e-03 3.12829841e+02] [ 9.31155159e-03 9.99951176e-01 3.30775423e-03 1.84991696e+01] [ 3.24114242e-03 -3.33806147e-03 9.99989176e-01 -2.35200853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.261400513 meters Centerline goodness [0,1] 0.9357393025734735 Centerline is valid? [False, False] Translation: X:312.80, Y:18.50, Z:-0.22 [[ 9.99950934e-01 -6.59046477e-03 -7.39556472e-03 3.12800511e+02] [ 6.54686420e-03 9.99961138e-01 -5.90430583e-03 1.85042403e+01] [ 7.43418943e-03 5.85559838e-03 9.99955221e-01 -2.22120007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.291400513 meters Centerline goodness [0,1] 0.7442146089204913 Centerline is valid? [False, False] Translation: X:312.80, Y:18.50, Z:-0.23 [[ 9.99971888e-01 -1.57165206e-03 -7.33168860e-03 3.12802103e+02] [ 1.56896651e-03 9.99998700e-01 -3.72030922e-04 1.84997017e+01] [ 7.33226377e-03 3.60517290e-04 9.99973054e-01 -2.25171855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.321400513 meters Centerline goodness [0,1] 0.7201315308732188 Centerline is valid? [False, False] Translation: X:312.80, Y:18.50, Z:-0.22 [[ 9.99972664e-01 -1.64090878e-03 -7.20965967e-03 3.12801448e+02] [ 1.63612176e-03 9.99998437e-01 -6.69821245e-04 1.85010596e+01] [ 7.21074752e-03 6.58007054e-04 9.99973786e-01 -2.24764376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.351400513 meters Centerline goodness [0,1] 0.8404035178479048 Centerline is valid? [False, False] Translation: X:312.80, Y:18.50, Z:-0.22 [[ 9.99973723e-01 -1.79544717e-03 -7.02344835e-03 3.12800293e+02] [ 1.78832455e-03 9.99997880e-01 -1.02026851e-03 1.85023902e+01] [ 7.02526530e-03 1.00768150e-03 9.99974815e-01 -2.23829070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.381400513 meters Centerline goodness [0,1] 0.8289595288757066 Centerline is valid? [False, False] Translation: X:312.80, Y:18.50, Z:-0.22 [[ 9.99974237e-01 -1.85179969e-03 -6.93509867e-03 3.12799635e+02] [ 1.84357484e-03 9.99997590e-01 -1.19217897e-03 1.85030695e+01] [ 6.93728963e-03 1.17936289e-03 9.99975241e-01 -2.23159589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.411400513 meters Centerline goodness [0,1] 0.7755115171792561 Centerline is valid? [False, False] Translation: X:312.80, Y:18.50, Z:-0.22 [[ 9.99974634e-01 -1.84560719e-03 -6.87932425e-03 3.12799385e+02] [ 1.83723640e-03 9.99997565e-01 -1.22292543e-03 1.85032353e+01] [ 6.88156454e-03 1.21025546e-03 9.99975589e-01 -2.23041795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.441400513 meters Centerline goodness [0,1] 0.7455443418509771 Centerline is valid? [False, False] Translation: X:312.80, Y:18.50, Z:-0.22 [[ 9.99973838e-01 -1.64613078e-03 -7.04368529e-03 3.12800641e+02] [ 1.63810928e-03 9.99998003e-01 -1.14443826e-03 1.85034871e+01] [ 7.04555512e-03 1.13286999e-03 9.99974538e-01 -2.24473675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.471400513 meters Centerline goodness [0,1] 0.6847898384362864 Centerline is valid? [False, False] Translation: X:312.80, Y:18.50, Z:-0.23 [[ 9.99974385e-01 -1.60364169e-03 -6.97546259e-03 3.12800693e+02] [ 1.59569405e-03 9.99998072e-01 -1.14478701e-03 1.85036964e+01] [ 6.97728496e-03 1.13362698e-03 9.99975016e-01 -2.25056843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.501400513 meters Centerline goodness [0,1] 0.666809403502762 Centerline is valid? [False, False] Translation: X:312.80, Y:18.50, Z:-0.23 [[ 9.99975611e-01 -1.50002447e-03 -6.82108230e-03 3.12800238e+02] [ 1.49269934e-03 9.99998304e-01 -1.07886066e-03 1.85034773e+01] [ 6.82268905e-03 1.06865252e-03 9.99976154e-01 -2.25144873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.531400513 meters Centerline goodness [0,1] 0.6706825587377808 Centerline is valid? [False, False] Translation: X:312.80, Y:18.50, Z:-0.23 [[ 9.99976349e-01 -1.35324531e-03 -6.74318759e-03 3.12799997e+02] [ 1.34921699e-03 9.99998909e-01 -6.01903975e-04 1.85010656e+01] [ 6.74399475e-03 5.92791716e-04 9.99977083e-01 -2.25043563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.561400513 meters Centerline goodness [0,1] 0.6778470133218737 Centerline is valid? [False, False] Translation: X:312.80, Y:18.50, Z:-0.22 [[ 9.99976250e-01 -1.34162456e-03 -6.76006615e-03 3.12799911e+02] [ 1.33855411e-03 9.99998999e-01 -4.58707991e-04 1.85002235e+01] [ 6.76067480e-03 4.49648383e-04 9.99977045e-01 -2.24719187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.591400513 meters Centerline goodness [0,1] 0.6696317837745371 Centerline is valid? [False, False] Translation: X:312.80, Y:18.50, Z:-0.22 [[ 9.99975602e-01 -1.35474472e-03 -6.85268796e-03 3.12800097e+02] [ 1.35135569e-03 9.99998962e-01 -4.99160263e-04 1.85004343e+01] [ 6.85335709e-03 4.89887666e-04 9.99976395e-01 -2.24510711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.621400513 meters Centerline goodness [0,1] 0.6724962630792227 Centerline is valid? [False, False] Translation: X:312.80, Y:18.50, Z:-0.23 [[ 9.99975394e-01 -1.21534761e-03 -6.90895800e-03 3.12800612e+02] [ 1.21374410e-03 9.99999235e-01 -2.36279955e-04 1.84994303e+01] [ 6.90923988e-03 2.27888434e-04 9.99976105e-01 -2.25036280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.651400513 meters Centerline goodness [0,1] 0.669694113614943 Centerline is valid? [False, False] Translation: X:312.80, Y:18.50, Z:-0.23 [[ 9.99975343e-01 -9.10657968e-04 -6.96306579e-03 3.12801712e+02] [ 9.14935930e-04 9.99999395e-01 6.11218341e-04 1.84957237e+01] [ 6.96250496e-03 -6.17574029e-04 9.99975571e-01 -2.26630387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.681400513 meters Centerline goodness [0,1] 0.8129449698123823 Centerline is valid? [False, False] Translation: X:312.80, Y:18.50, Z:-0.23 [[ 9.99974793e-01 -1.04065156e-03 -7.02355393e-03 3.12801855e+02] [ 1.04264600e-03 9.99999417e-01 2.80308839e-04 1.84973193e+01] [ 7.02325813e-03 -2.87624854e-04 9.99975295e-01 -2.26663911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.711400513 meters Centerline goodness [0,1] 0.6648173236135303 Centerline is valid? [False, False] Translation: X:312.80, Y:18.50, Z:-0.23 [[ 9.99973326e-01 -1.17303025e-03 -7.20907535e-03 3.12802324e+02] [ 1.17155467e-03 9.99999292e-01 -2.08903506e-04 1.84998283e+01] [ 7.20931530e-03 2.00452108e-04 9.99973992e-01 -2.26541528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.741400513 meters Centerline goodness [0,1] 0.6718531430907957 Centerline is valid? [False, False] Translation: X:312.80, Y:18.50, Z:-0.23 [[ 9.99972485e-01 -1.31842681e-03 -7.30007738e-03 3.12802504e+02] [ 1.31379353e-03 9.99998933e-01 -6.39447972e-04 1.85019247e+01] [ 7.30091265e-03 6.29839583e-04 9.99973150e-01 -2.26484999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.771400513 meters Centerline goodness [0,1] 0.6665440380869941 Centerline is valid? [False, False] Translation: X:312.80, Y:18.50, Z:-0.23 [[ 9.99972693e-01 -1.26983341e-03 -7.28017591e-03 3.12802420e+02] [ 1.26623596e-03 9.99999074e-01 -4.98732402e-04 1.85012279e+01] [ 7.28080248e-03 4.89500363e-04 9.99973375e-01 -2.26427072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.801400513 meters Centerline goodness [0,1] 0.6769028814908864 Centerline is valid? [False, False] Translation: X:312.80, Y:18.50, Z:-0.23 [[ 9.99972620e-01 -1.27655361e-03 -7.28899505e-03 3.12802313e+02] [ 1.27306384e-03 9.99999073e-01 -4.83391627e-04 1.85010845e+01] [ 7.28960537e-03 4.74099036e-04 9.99973318e-01 -2.26172346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.831400513 meters Centerline goodness [0,1] 0.744529800181261 Centerline is valid? [False, False] Translation: X:312.80, Y:18.50, Z:-0.23 [[ 9.99974031e-01 -1.55929739e-03 -7.03597942e-03 3.12800942e+02] [ 1.55635851e-03 9.99998699e-01 -4.23148556e-04 1.85000698e+01] [ 7.03663008e-03 4.12187061e-04 9.99975158e-01 -2.25105748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.861400513 meters Centerline goodness [0,1] 0.7626793639850045 Centerline is valid? [False, False] Translation: X:312.80, Y:18.50, Z:-0.23 [[ 9.99973927e-01 -1.54491618e-03 -7.05401209e-03 3.12801162e+02] [ 1.54516901e-03 9.99998806e-01 3.03908499e-05 1.84977843e+01] [ 7.05395672e-03 -4.12896983e-05 9.99975120e-01 -2.25279757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.891400513 meters Centerline goodness [0,1] 0.7616990176479439 Centerline is valid? [False, False] Translation: X:312.80, Y:18.50, Z:-0.23 [[ 9.99972817e-01 -1.40154959e-03 -7.23888161e-03 3.12802144e+02] [ 1.40531143e-03 9.99998880e-01 5.14611413e-04 1.84957027e+01] [ 7.23815225e-03 -5.24770307e-04 9.99973667e-01 -2.25810233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.921400513 meters Centerline goodness [0,1] 0.8648602150537634 Centerline is valid? [False, False] Translation: X:312.80, Y:18.49, Z:-0.23 [[ 9.99972203e-01 -1.37601962e-03 -7.32807670e-03 3.12802851e+02] [ 1.38345819e-03 9.99998533e-01 1.01010629e-03 1.84932861e+01] [ 7.32667603e-03 -1.02021630e-03 9.99972639e-01 -2.26544051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.951400513 meters Centerline goodness [0,1] 0.8060415409807808 Centerline is valid? [False, False] Translation: X:312.80, Y:18.49, Z:-0.23 [[ 9.99971465e-01 -1.43751155e-03 -7.41637894e-03 3.12802933e+02] [ 1.44411235e-03 9.99998566e-01 8.84751230e-04 1.84938156e+01] [ 7.41509647e-03 -8.95436069e-04 9.99972107e-01 -2.26213896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.981400513 meters Centerline goodness [0,1] 0.8665090791877081 Centerline is valid? [False, False] Translation: X:312.80, Y:18.49, Z:-0.23 [[ 9.99971086e-01 -1.39522443e-03 -7.47535118e-03 3.12803091e+02] [ 1.40250247e-03 9.99998548e-01 9.68451091e-04 1.84934252e+01] [ 7.47398911e-03 -9.78907287e-04 9.99971590e-01 -2.26120850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.011400513 meters Centerline goodness [0,1] 0.7890926227401251 Centerline is valid? [False, False] Translation: X:312.80, Y:18.49, Z:-0.23 [[ 9.99971229e-01 -1.36991963e-03 -7.46081319e-03 3.12803124e+02] [ 1.37727726e-03 9.99998570e-01 9.81121559e-04 1.84934520e+01] [ 7.45945846e-03 -9.91368940e-04 9.99971686e-01 -2.26255931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.041400513 meters Centerline goodness [0,1] 0.7890926227401251 Centerline is valid? [False, False] Translation: X:312.80, Y:18.49, Z:-0.23 [[ 9.99971229e-01 -1.36991963e-03 -7.46081319e-03 3.12803124e+02] [ 1.37727726e-03 9.99998570e-01 9.81121559e-04 1.84934520e+01] [ 7.45945846e-03 -9.91368940e-04 9.99971686e-01 -2.26255931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.071400513 meters Centerline goodness [0,1] 0.7502036616215753 Centerline is valid? [False, False] Translation: X:312.80, Y:18.49, Z:-0.23 [[ 9.99971659e-01 -1.43451637e-03 -7.39075717e-03 3.12802679e+02] [ 1.44075836e-03 9.99998610e-01 8.39312142e-04 1.84939968e+01] [ 7.38954289e-03 -8.49936650e-04 9.99972336e-01 -2.25928994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.101400513 meters Centerline goodness [0,1] 0.8297125489608528 Centerline is valid? [False, False] Translation: X:312.80, Y:18.49, Z:-0.23 [[ 9.99972252e-01 -1.43667487e-03 -7.30966586e-03 3.12802205e+02] [ 1.44297057e-03 9.99998592e-01 8.56083291e-04 1.84937871e+01] [ 7.30842566e-03 -8.66607169e-04 9.99972918e-01 -2.25528829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.131400513 meters Centerline goodness [0,1] 0.7923649707087831 Centerline is valid? [False, False] Translation: X:312.80, Y:18.50, Z:-0.22 [[ 9.99972777e-01 -1.64260322e-03 -7.19357959e-03 3.12800841e+02] [ 1.64400925e-03 9.99998631e-01 1.89547009e-04 1.84964931e+01] [ 7.19325839e-03 -2.01368161e-04 9.99974108e-01 -2.23887102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.161400513 meters Centerline goodness [0,1] 0.7850515463917526 Centerline is valid? [False, False] Translation: X:312.80, Y:18.50, Z:-0.22 [[ 9.99973634e-01 -1.63724093e-03 -7.07461004e-03 3.12800234e+02] [ 1.63800538e-03 9.99998653e-01 1.02262327e-04 1.84968103e+01] [ 7.07443309e-03 -1.13847880e-04 9.99974969e-01 -2.23554861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.191400513 meters Centerline goodness [0,1] 0.7849058224694487 Centerline is valid? [False, False] Translation: X:312.80, Y:18.50, Z:-0.22 [[ 9.99974834e-01 -1.58569720e-03 -6.91498409e-03 3.12799659e+02] [ 1.58630867e-03 9.99998738e-01 8.29428253e-05 1.84968762e+01] [ 6.91484384e-03 -9.39100372e-05 9.99976088e-01 -2.23467275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.221400513 meters Centerline goodness [0,1] 0.6582094029914713 Centerline is valid? [False, False] Translation: X:312.80, Y:18.50, Z:-0.22 [[ 9.99976715e-01 -1.13436541e-03 -6.72925953e-03 3.12798937e+02] [ 1.13559489e-03 9.99999339e-01 1.78887312e-04 1.84969422e+01] [ 6.72905216e-03 -1.86524859e-04 9.99977342e-01 -2.22954308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.251400513 meters Centerline goodness [0,1] 0.6596890971039182 Centerline is valid? [False, False] Translation: X:312.80, Y:18.50, Z:-0.22 [[ 9.99977577e-01 -9.33917873e-04 -6.63128477e-03 3.12798764e+02] [ 9.37565986e-04 9.99999411e-01 5.47049277e-04 1.84953144e+01] [ 6.63076997e-03 -5.53254278e-04 9.99977863e-01 -2.23141218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.281400513 meters Centerline goodness [0,1] 0.6735679038832869 Centerline is valid? [False, False] Translation: X:312.80, Y:18.49, Z:-0.22 [[ 9.99977977e-01 -7.80033328e-04 -6.59069754e-03 3.12799084e+02] [ 7.85419516e-04 9.99999360e-01 8.14692136e-04 1.84942920e+01] [ 6.59005783e-03 -8.19850657e-04 9.99977949e-01 -2.23998225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.311400513 meters Centerline goodness [0,1] 0.6658605487308993 Centerline is valid? [False, False] Translation: X:312.80, Y:18.49, Z:-0.22 [[ 9.99978298e-01 -6.09648988e-04 -6.55993512e-03 3.12799446e+02] [ 6.16800266e-04 9.99999218e-01 1.08817673e-03 1.84932744e+01] [ 6.55926658e-03 -1.09219928e-03 9.99977891e-01 -2.24856276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.341400513 meters Centerline goodness [0,1] 0.6639293295310791 Centerline is valid? [False, False] Translation: X:312.80, Y:18.49, Z:-0.22 [[ 9.99978647e-01 -6.10726843e-04 -6.50627066e-03 3.12799232e+02] [ 6.16736412e-04 9.99999385e-01 9.21691680e-04 1.84941310e+01] [ 6.50570375e-03 -9.25684654e-04 9.99978409e-01 -2.24916608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.371400513 meters Centerline goodness [0,1] 0.6565632865492086 Centerline is valid? [False, False] Translation: X:312.80, Y:18.50, Z:-0.22 [[ 9.99978837e-01 -5.57892071e-04 -6.48179304e-03 3.12798980e+02] [ 5.62182359e-04 9.99999624e-01 6.60095111e-04 1.84955234e+01] [ 6.48142235e-03 -6.63725091e-04 9.99978775e-01 -2.24622126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.401400513 meters Centerline goodness [0,1] 0.6445713304426223 Centerline is valid? [False, False] Translation: X:312.80, Y:18.50, Z:-0.22 [[ 9.99979295e-01 -1.05473198e-04 -6.43416471e-03 3.12798850e+02] [ 1.08800161e-04 9.99999861e-01 5.16729935e-04 1.84969219e+01] [ 6.43410931e-03 -5.17419275e-04 9.99979167e-01 -2.24477041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.431400513 meters Centerline goodness [0,1] 0.6451189323000753 Centerline is valid? [False, False] Translation: X:312.80, Y:18.50, Z:-0.22 [[ 9.99980551e-01 -1.22769925e-04 -6.23562179e-03 3.12798134e+02] [ 1.24821248e-04 9.99999938e-01 3.28580318e-04 1.84977586e+01] [ 6.23558107e-03 -3.29352266e-04 9.99980504e-01 -2.24436942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.461400513 meters Centerline goodness [0,1] 0.6435767177544343 Centerline is valid? [False, False] Translation: X:312.80, Y:18.50, Z:-0.22 [[ 9.99981185e-01 -1.57789369e-04 -6.13228838e-03 3.12797767e+02] [ 1.58652764e-04 9.99999978e-01 1.40308773e-04 1.84986821e+01] [ 6.13226610e-03 -1.41279037e-04 9.99981187e-01 -2.24498980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.491400513 meters Centerline goodness [0,1] 0.654677189804632 Centerline is valid? [False, False] Translation: X:312.80, Y:18.50, Z:-0.22 [[ 9.99980988e-01 -1.39716474e-04 -6.16474995e-03 3.12797932e+02] [ 1.40424940e-04 9.99999984e-01 1.14489366e-04 1.84988737e+01] [ 6.16473385e-03 -1.15352874e-04 9.99980991e-01 -2.24672606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.521400513 meters Centerline goodness [0,1] 0.6325935456202423 Centerline is valid? [False, False] Translation: X:312.80, Y:18.50, Z:-0.23 [[ 9.99978677e-01 1.65548884e-04 -6.52818420e-03 3.12799892e+02] [-1.60519392e-04 9.99999690e-01 7.70943886e-04 1.84963104e+01] [ 6.52830980e-03 -7.69879548e-04 9.99978394e-01 -2.26017377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.551400513 meters Centerline goodness [0,1] 0.6460737917300157 Centerline is valid? [False, False] Translation: X:312.80, Y:18.49, Z:-0.23 [[ 9.99977535e-01 3.41803823e-04 -6.69427975e-03 3.12800812e+02] [-3.33390224e-04 9.99999153e-01 1.25790964e-03 1.84941600e+01] [ 6.69470404e-03 -1.25564958e-03 9.99976802e-01 -2.26606880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.581400513 meters Centerline goodness [0,1] 0.6327389903329753 Centerline is valid? [False, False] Translation: X:312.80, Y:18.49, Z:-0.23 [[ 9.99976741e-01 4.74088123e-04 -6.80380751e-03 3.12801539e+02] [-4.62559583e-04 9.99998455e-01 1.69589845e-03 1.84921994e+01] [ 6.80460100e-03 -1.69271184e-03 9.99975416e-01 -2.27203349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.611400513 meters Centerline goodness [0,1] 0.6378361006963043 Centerline is valid? [False, False] Translation: X:312.80, Y:18.49, Z:-0.23 [[ 9.99976112e-01 6.00758273e-04 -6.88580459e-03 3.12802011e+02] [-5.85143009e-04 9.99997253e-01 2.26953754e-03 1.84894384e+01] [ 6.88714912e-03 -2.26545415e-03 9.99973717e-01 -2.27436742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.641400513 meters Centerline goodness [0,1] 0.6498493975903614 Centerline is valid? [False, False] Translation: X:312.80, Y:18.49, Z:-0.23 [[ 9.99976173e-01 5.92750650e-04 -6.87761548e-03 3.12801793e+02] [-5.76760420e-04 9.99997127e-01 2.32671768e-03 1.84890092e+01] [ 6.87897488e-03 -2.32269551e-03 9.99973642e-01 -2.27061691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.671400513 meters Centerline goodness [0,1] 0.6385114168931498 Centerline is valid? [False, False] Translation: X:312.80, Y:18.49, Z:-0.23 [[ 9.99975674e-01 5.26490075e-04 -6.95513647e-03 3.12801773e+02] [-5.11472182e-04 9.99997535e-01 2.16085442e-03 1.84897264e+01] [ 6.95625699e-03 -2.15724450e-03 9.99973478e-01 -2.26596161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.701400513 meters Centerline goodness [0,1] 0.6456596738594724 Centerline is valid? [False, False] Translation: X:312.80, Y:18.49, Z:-0.23 [[ 9.99975832e-01 3.74490945e-04 -6.94225115e-03 3.12801393e+02] [-3.61906139e-04 9.99998289e-01 1.81395216e-03 1.84912306e+01] [ 6.94291858e-03 -1.81139588e-03 9.99974257e-01 -2.26082118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.731400513 meters Centerline goodness [0,1] 0.648499175848009 Centerline is valid? [False, False] Translation: X:312.80, Y:18.49, Z:-0.23 [[ 9.99976161e-01 2.02743344e-04 -6.90197709e-03 3.12800906e+02] [-1.93094790e-04 9.99999003e-01 1.39857825e-03 1.84930367e+01] [ 6.90225376e-03 -1.39721217e-03 9.99975203e-01 -2.25583601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.761400513 meters Centerline goodness [0,1] 0.6467470917707885 Centerline is valid? [False, False] Translation: X:312.80, Y:18.49, Z:-0.23 [[ 9.99977051e-01 7.91319033e-05 -6.77432155e-03 3.12800181e+02] [-7.25112174e-05 9.99999520e-01 9.77560916e-04 1.84949591e+01] [ 6.77439566e-03 -9.77047267e-04 9.99976576e-01 -2.25086621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.791400513 meters Centerline goodness [0,1] 0.6402821990880152 Centerline is valid? [False, False] Translation: X:312.80, Y:18.50, Z:-0.22 [[ 9.99978468e-01 -7.45392506e-05 -6.56187436e-03 3.12799012e+02] [ 7.73196953e-05 9.99999907e-01 4.23474551e-04 1.84974336e+01] [ 6.56184219e-03 -4.23972795e-04 9.99978381e-01 -2.24287392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.821400513 meters Centerline goodness [0,1] 0.6455479452054795 Centerline is valid? [False, False] Translation: X:312.80, Y:18.50, Z:-0.22 [[ 9.99978975e-01 -6.49405724e-05 -6.48418198e-03 3.12798633e+02] [ 6.77681237e-05 9.99999903e-01 4.35850334e-04 1.84973222e+01] [ 6.48415305e-03 -4.36280591e-04 9.99978882e-01 -2.24024547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.851400513 meters Centerline goodness [0,1] 0.6372082046000687 Centerline is valid? [False, False] Translation: X:312.80, Y:18.50, Z:-0.22 [[ 9.99979426e-01 -1.11280263e-04 -6.41368967e-03 3.12798112e+02] [ 1.13954386e-04 9.99999907e-01 4.16575934e-04 1.84971850e+01] [ 6.41364271e-03 -4.17298231e-04 9.99979345e-01 -2.23501450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.881400513 meters Centerline goodness [0,1] 0.6509444098244408 Centerline is valid? [False, False] Translation: X:312.80, Y:18.50, Z:-0.22 [[ 9.99980236e-01 -2.28116384e-04 -6.28297100e-03 3.12797133e+02] [ 2.30072864e-04 9.99999925e-01 3.10673017e-04 1.84972873e+01] [ 6.28289966e-03 -3.12112418e-04 9.99980214e-01 -2.22455654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.911400513 meters Centerline goodness [0,1] 0.649923083497137 Centerline is valid? [False, False] Translation: X:312.80, Y:18.50, Z:-0.22 [[ 9.99979562e-01 -1.52069001e-04 -6.39166445e-03 3.12797596e+02] [ 1.55139595e-04 9.99999873e-01 4.79912887e-04 1.84966047e+01] [ 6.39159066e-03 -4.80894679e-04 9.99979458e-01 -2.22587266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.941400513 meters Centerline goodness [0,1] 0.6506588705690148 Centerline is valid? [False, False] Translation: X:312.80, Y:18.50, Z:-0.22 [[ 9.99978943e-01 -8.24259653e-05 -6.48902811e-03 3.12798145e+02] [ 8.70532297e-05 9.99999742e-01 7.12811296e-04 1.84955752e+01] [ 6.48896768e-03 -7.13361177e-04 9.99978692e-01 -2.22971738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.971400513 meters Centerline goodness [0,1] 0.660414333706607 Centerline is valid? [False, False] Translation: X:312.80, Y:18.49, Z:-0.22 [[ 9.99977806e-01 3.08811485e-05 -6.66229363e-03 3.12798956e+02] [-2.37142008e-05 9.99999421e-01 1.07582411e-03 1.84939683e+01] [ 6.66232300e-03 -1.07564224e-03 9.99977228e-01 -2.23332787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.001400513 meters Centerline goodness [0,1] 0.6524725274725275 Centerline is valid? [False, False] Translation: X:312.80, Y:18.49, Z:-0.22 [[ 9.99977178e-01 6.85592385e-05 -6.75561601e-03 3.12799748e+02] [-5.56623395e-05 9.99998176e-01 1.90923289e-03 1.84898456e+01] [ 6.75573458e-03 -1.90881328e-03 9.99975358e-01 -2.24223420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.031400513 meters Centerline goodness [0,1] 0.6381955722711343 Centerline is valid? [False, False] Translation: X:312.80, Y:18.49, Z:-0.23 [[ 9.99975796e-01 3.29972262e-04 -6.94965947e-03 3.12800990e+02] [-3.12457440e-04 9.99996773e-01 2.52117684e-03 1.84872888e+01] [ 6.95046896e-03 -2.51894435e-03 9.99972673e-01 -2.25186160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.061400513 meters Centerline goodness [0,1] 0.651937618147448 Centerline is valid? [False, False] Translation: X:312.80, Y:18.49, Z:-0.23 [[ 9.99975048e-01 4.62481302e-04 -7.04907721e-03 3.12801692e+02] [-4.42160411e-04 9.99995743e-01 2.88405902e-03 1.84857229e+01] [ 7.05038103e-03 -2.88087023e-03 9.99970996e-01 -2.25834409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.091400513 meters Centerline goodness [0,1] 0.6590224994044912 Centerline is valid? [False, False] Translation: X:312.80, Y:18.49, Z:-0.23 [[ 9.99974217e-01 4.81600361e-04 -7.16471031e-03 3.12802206e+02] [-4.60286258e-04 9.99995465e-01 2.97622452e-03 1.84853418e+01] [ 7.16611117e-03 -2.97284997e-03 9.99969904e-01 -2.26084615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.121400513 meters Centerline goodness [0,1] 0.655599794502954 Centerline is valid? [False, False] Translation: X:312.80, Y:18.49, Z:-0.22 [[ 9.99963294e-01 -3.87201802e-03 -7.64323687e-03 3.12802601e+02] [ 3.85201134e-03 9.99989121e-01 -2.63055478e-03 1.84923231e+01] [ 7.65333927e-03 2.60101639e-03 9.99967330e-01 -2.23765531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.151400513 meters Centerline goodness [0,1] 0.6542514457057186 Centerline is valid? [False, False] Translation: X:312.80, Y:18.49, Z:-0.22 [[ 9.99963222e-01 -3.93051260e-03 -7.62273579e-03 3.12802419e+02] [ 3.90932914e-03 9.99988461e-01 -2.79189515e-03 1.84930460e+01] [ 7.63362141e-03 2.76199269e-03 9.99967049e-01 -2.23607624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.181400513 meters Centerline goodness [0,1] 0.6570812210117571 Centerline is valid? [False, False] Translation: X:312.80, Y:18.49, Z:-0.22 [[ 9.99963720e-01 -4.00487632e-03 -7.51792506e-03 3.12801880e+02] [ 3.98273583e-03 9.99987695e-01 -2.95769224e-03 1.84937035e+01] [ 7.52967774e-03 2.92764303e-03 9.99967366e-01 -2.23314589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.211400513 meters Centerline goodness [0,1] 0.6554449900921857 Centerline is valid? [False, False] Translation: X:312.80, Y:18.49, Z:-0.22 [[ 9.99963982e-01 -4.04238096e-03 -7.46289082e-03 3.12801581e+02] [ 4.01933196e-03 9.99987115e-01 -3.10090066e-03 1.84943845e+01] [ 7.47532968e-03 3.07079313e-03 9.99967344e-01 -2.23146121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.241400513 meters Centerline goodness [0,1] 0.6443000666910483 Centerline is valid? [False, False] Translation: X:312.80, Y:18.50, Z:-0.22 [[ 9.99964108e-01 -4.12572538e-03 -7.40009592e-03 3.12801166e+02] [ 4.10098201e-03 9.99985960e-01 -3.35571848e-03 1.84955269e+01] [ 7.41383680e-03 3.32525037e-03 9.99966988e-01 -2.22820828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.271400513 meters Centerline goodness [0,1] 0.6484827601059591 Centerline is valid? [False, False] Translation: X:312.80, Y:18.50, Z:-0.22 [[ 9.99962649e-01 -4.45244199e-03 -7.40781754e-03 3.12800523e+02] [ 4.42056523e-03 9.99980924e-01 -4.31394732e-03 1.84999000e+01] [ 7.42688383e-03 4.28103945e-03 9.99963256e-01 -2.21848244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.301400513 meters Centerline goodness [0,1] 0.6436882218569202 Centerline is valid? [False, False] Translation: X:312.80, Y:18.50, Z:-0.22 [[ 9.99962081e-01 -4.60324965e-03 -7.39232335e-03 3.12800221e+02] [ 4.56826180e-03 9.99978318e-01 -4.74292941e-03 1.85018896e+01] [ 7.41399596e-03 4.70897949e-03 9.99961428e-01 -2.21467236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.331400513 meters Centerline goodness [0,1] 0.6469690455717971 Centerline is valid? [False, False] Translation: X:312.80, Y:18.50, Z:-0.22 [[ 9.99974544e-01 -1.91335996e-03 -6.87394554e-03 3.12796017e+02] [ 1.90259411e-03 9.99996954e-01 -1.57238051e-03 1.84980631e+01] [ 6.87693313e-03 1.55926215e-03 9.99975138e-01 -2.19056828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.361400513 meters Centerline goodness [0,1] 0.6517747196958241 Centerline is valid? [False, False] Translation: X:312.80, Y:18.50, Z:-0.22 [[ 9.99974354e-01 -1.98862635e-03 -6.88023967e-03 3.12795993e+02] [ 1.97658374e-03 9.99996504e-01 -1.75667511e-03 1.84989216e+01] [ 6.88370898e-03 1.74303069e-03 9.99974788e-01 -2.19048734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.391400513 meters Centerline goodness [0,1] 0.64027105517909 Centerline is valid? [False, False] Translation: X:312.80, Y:18.50, Z:-0.22 [[ 9.99974021e-01 -2.14329586e-03 -6.88212613e-03 3.12795599e+02] [ 2.12870700e-03 9.99995473e-01 -2.12644525e-03 1.85005523e+01] [ 6.88665258e-03 2.11173998e-03 9.99974057e-01 -2.18380059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.421400513 meters Centerline goodness [0,1] 0.654987394143125 Centerline is valid? [False, False] Translation: X:312.80, Y:18.50, Z:-0.22 [[ 9.99974370e-01 -2.21470994e-03 -6.80846652e-03 3.12795061e+02] [ 2.19952957e-03 9.99995080e-01 -2.23631088e-03 1.85008737e+01] [ 6.81338581e-03 2.22127814e-03 9.99974322e-01 -2.17824702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.451400513 meters Centerline goodness [0,1] 0.655749354005168 Centerline is valid? [False, False] Translation: X:312.80, Y:18.50, Z:-0.22 [[ 9.99974058e-01 -2.08187254e-03 -6.89559792e-03 3.12795472e+02] [ 2.06987459e-03 9.99996332e-01 -1.74662408e-03 1.84985787e+01] [ 6.89920888e-03 1.73230574e-03 9.99974700e-01 -2.17886145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.481400513 meters Centerline goodness [0,1] 0.6546388443017657 Centerline is valid? [False, False] Translation: X:312.80, Y:18.50, Z:-0.22 [[ 9.99972337e-01 -2.02584665e-03 -7.15691229e-03 3.12796705e+02] [ 2.01644813e-03 9.99997096e-01 -1.32018097e-03 1.84967098e+01] [ 7.15956599e-03 1.30571291e-03 9.99973518e-01 -2.18596789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.511400513 meters Centerline goodness [0,1] 0.6442965942153003 Centerline is valid? [False, False] Translation: X:312.80, Y:18.49, Z:-0.22 [[ 9.99971869e-01 -1.88237784e-03 -7.26065940e-03 3.12797291e+02] [ 1.87604111e-03 9.99997854e-01 -8.79460933e-04 1.84947168e+01] [ 7.26229929e-03 8.65814898e-04 9.99973254e-01 -2.18900717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.541400513 meters Centerline goodness [0,1] 0.6512858979854265 Centerline is valid? [False, False] Translation: X:312.80, Y:18.49, Z:-0.22 [[ 9.99971364e-01 -1.86294819e-03 -7.33487852e-03 3.12797589e+02] [ 1.85750067e-03 9.99997994e-01 -7.49429467e-04 1.84940809e+01] [ 7.33625996e-03 7.35783465e-04 9.99972819e-01 -2.18947504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.571400513 meters Centerline goodness [0,1] 0.6614121018972045 Centerline is valid? [False, False] Translation: X:312.80, Y:18.49, Z:-0.22 [[ 9.99971293e-01 -1.83688480e-03 -7.35110411e-03 3.12797590e+02] [ 1.83194707e-03 9.99998092e-01 -6.78377141e-04 1.84937335e+01] [ 7.35233618e-03 6.64890834e-04 9.99972750e-01 -2.18819444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.601400513 meters Centerline goodness [0,1] 0.6631255599641623 Centerline is valid? [False, False] Translation: X:312.80, Y:18.49, Z:-0.22 [[ 9.99971359e-01 -1.73398373e-03 -7.36711793e-03 3.12797790e+02] [ 1.73072722e-03 9.99998402e-01 -4.48385285e-04 1.84927339e+01] [ 7.36788365e-03 4.35621971e-04 9.99972762e-01 -2.19040021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.631400513 meters Centerline goodness [0,1] 0.6433819591714329 Centerline is valid? [False, False] Translation: X:312.80, Y:18.49, Z:-0.22 [[ 9.99971889e-01 -1.81044177e-03 -7.27620343e-03 3.12797282e+02] [ 1.80619428e-03 9.99998195e-01 -5.90280317e-04 1.84932514e+01] [ 7.27725896e-03 5.77121486e-04 9.99973354e-01 -2.18709073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.661400513 meters Centerline goodness [0,1] 0.6535090525238308 Centerline is valid? [False, False] Translation: X:312.80, Y:18.49, Z:-0.22 [[ 9.99972793e-01 -1.90508468e-03 -7.12631298e-03 3.12796287e+02] [ 1.89877604e-03 9.99997800e-01 -8.91921450e-04 1.84944767e+01] [ 7.12799648e-03 8.78365911e-04 9.99974210e-01 -2.17811079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.691400513 meters Centerline goodness [0,1] 0.6615622849277357 Centerline is valid? [False, False] Translation: X:312.80, Y:18.50, Z:-0.22 [[ 9.99972618e-01 -2.07141447e-03 -7.10444356e-03 3.12795858e+02] [ 2.06205113e-03 9.99996996e-01 -1.32502669e-03 1.84963792e+01] [ 7.10716690e-03 1.31034069e-03 9.99973885e-01 -2.17312630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.721400513 meters Centerline goodness [0,1] 0.6542270920614459 Centerline is valid? [False, False] Translation: X:312.80, Y:18.50, Z:-0.22 [[ 9.99972256e-01 -2.22206048e-03 -7.10976682e-03 3.12795545e+02] [ 2.20905589e-03 9.99995874e-01 -1.83644760e-03 1.84987766e+01] [ 7.11381818e-03 1.82069078e-03 9.99973039e-01 -2.16825044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.751400513 meters Centerline goodness [0,1] 0.6516697090089123 Centerline is valid? [False, False] Translation: X:312.80, Y:18.50, Z:-0.22 [[ 9.99972819e-01 -2.30185637e-03 -7.00445111e-03 3.12795105e+02] [ 2.28646989e-03 9.99994957e-01 -2.20388702e-03 1.85005757e+01] [ 7.00948882e-03 2.18781165e-03 9.99973040e-01 -2.16725639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.781400513 meters Centerline goodness [0,1] 0.6555329840692825 Centerline is valid? [False, False] Translation: X:312.79, Y:18.50, Z:-0.22 [[ 9.99974868e-01 -2.37262160e-03 -6.68083199e-03 3.12793567e+02] [ 2.35565814e-03 9.99993985e-01 -2.54584927e-03 1.85020125e+01] [ 6.68683214e-03 2.53004753e-03 9.99974442e-01 -2.15867953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.811400513 meters Centerline goodness [0,1] 0.6615163415523938 Centerline is valid? [False, False] Translation: X:312.79, Y:18.50, Z:-0.22 [[ 9.99975067e-01 -2.46986430e-03 -6.61557171e-03 3.12792922e+02] [ 2.45229555e-03 9.99993449e-01 -2.66246274e-03 1.85022538e+01] [ 6.62210429e-03 2.64617301e-03 9.99974572e-01 -2.15083808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.841400513 meters Centerline goodness [0,1] 0.6576774193548387 Centerline is valid? [False, False] Translation: X:312.79, Y:18.50, Z:-0.21 [[ 9.99974354e-01 -2.50347388e-03 -6.70993323e-03 3.12793108e+02] [ 2.48531691e-03 9.99993232e-01 -2.71295777e-03 1.85024587e+01] [ 6.71667963e-03 2.69621188e-03 9.99973808e-01 -2.14854720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.871400513 meters Centerline goodness [0,1] 0.6430740281401017 Centerline is valid? [False, False] Translation: X:312.79, Y:18.50, Z:-0.22 [[ 9.99972969e-01 -2.31682881e-03 -6.97806148e-03 3.12794483e+02] [ 2.30087788e-03 9.99994724e-01 -2.29302867e-03 1.85008426e+01] [ 6.98333722e-03 2.27691102e-03 9.99973024e-01 -2.15696953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.901400513 meters Centerline goodness [0,1] 0.6546109016112445 Centerline is valid? [False, False] Translation: X:312.80, Y:18.50, Z:-0.22 [[ 9.99971402e-01 -1.89626575e-03 -7.32117678e-03 3.12796984e+02] [ 1.88605086e-03 9.99997239e-01 -1.40190448e-03 1.84974330e+01] [ 7.32381495e-03 1.38805628e-03 9.99972217e-01 -2.18099123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.931400513 meters Centerline goodness [0,1] 0.6513639956420499 Centerline is valid? [False, False] Translation: X:312.80, Y:18.50, Z:-0.22 [[ 9.99971007e-01 -1.82220201e-03 -7.39354567e-03 3.12797279e+02] [ 1.81249439e-03 9.99997487e-01 -1.31947322e-03 1.84971739e+01] [ 7.39593143e-03 1.30603421e-03 9.99971797e-01 -2.18188369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.961400513 meters Centerline goodness [0,1] 0.6513639956420499 Centerline is valid? [False, False] Translation: X:312.80, Y:18.50, Z:-0.22 [[ 9.99971007e-01 -1.82220201e-03 -7.39354567e-03 3.12797279e+02] [ 1.81249439e-03 9.99997487e-01 -1.31947322e-03 1.84971739e+01] [ 7.39593143e-03 1.30603421e-03 9.99971797e-01 -2.18188369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.991400513 meters Centerline goodness [0,1] 0.638347389772606 Centerline is valid? [False, False] Translation: X:312.80, Y:18.50, Z:-0.22 [[ 9.99971402e-01 -1.84851505e-03 -7.33337014e-03 3.12796824e+02] [ 1.83821243e-03 9.99997314e-01 -1.41138766e-03 1.84975084e+01] [ 7.33595942e-03 1.39786701e-03 9.99972114e-01 -2.17744050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.021400513 meters Centerline goodness [0,1] 0.6540229391296877 Centerline is valid? [False, False] Translation: X:312.80, Y:18.50, Z:-0.22 [[ 9.99972078e-01 -1.89436698e-03 -7.22870714e-03 3.12796269e+02] [ 1.88325787e-03 9.99997036e-01 -1.54330281e-03 1.84979834e+01] [ 7.23160929e-03 1.52964620e-03 9.99972682e-01 -2.17444697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.051400513 meters Centerline goodness [0,1] 0.6504767005891805 Centerline is valid? [False, False] Translation: X:312.80, Y:18.50, Z:-0.22 [[ 9.99972774e-01 -1.83438772e-03 -7.14748356e-03 3.12796052e+02] [ 1.82337927e-03 9.99997142e-01 -1.54639728e-03 1.84980883e+01] [ 7.15029982e-03 1.53332260e-03 9.99973261e-01 -2.17544571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.081400513 meters Centerline goodness [0,1] 0.6439525929749844 Centerline is valid? [False, False] Translation: X:312.80, Y:18.50, Z:-0.22 [[ 9.99973411e-01 -1.64617857e-03 -7.10401471e-03 3.12796018e+02] [ 1.63373733e-03 9.99997122e-01 -1.75674498e-03 1.84994537e+01] [ 7.10688619e-03 1.74509218e-03 9.99973223e-01 -2.17772525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.111400513 meters Centerline goodness [0,1] 0.6431316664507492 Centerline is valid? [False, False] Translation: X:312.80, Y:18.50, Z:-0.22 [[ 9.99974415e-01 -1.75414183e-03 -6.93480164e-03 3.12795258e+02] [ 1.73941610e-03 9.99996221e-01 -2.12891504e-03 1.85011287e+01] [ 6.93850985e-03 2.11679807e-03 9.99973688e-01 -2.17515752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.141400513 meters Centerline goodness [0,1] 0.6428895074114829 Centerline is valid? [False, False] Translation: X:312.79, Y:18.50, Z:-0.22 [[ 9.99975300e-01 -1.84386222e-03 -6.78235867e-03 3.12794453e+02] [ 1.82726052e-03 9.99995322e-01 -2.45316082e-03 1.85025793e+01] [ 6.78685023e-03 2.44070709e-03 9.99973990e-01 -2.16985873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.171400513 meters Centerline goodness [0,1] 0.6407317752404619 Centerline is valid? [False, False] Translation: X:312.79, Y:18.50, Z:-0.22 [[ 9.99976177e-01 -1.96769688e-03 -6.61610280e-03 3.12793304e+02] [ 1.94872362e-03 9.99993974e-01 -2.87296477e-03 1.85043577e+01] [ 6.62171606e-03 2.86000337e-03 9.99973986e-01 -2.15908454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.201400513 meters Centerline goodness [0,1] 0.64229466462428 Centerline is valid? [False, False] Translation: X:312.79, Y:18.50, Z:-0.22 [[ 9.99976244e-01 -1.91786606e-03 -6.62072316e-03 3.12793432e+02] [ 1.89975553e-03 9.99994440e-01 -2.74063728e-03 1.85037856e+01] [ 6.62594253e-03 2.72799442e-03 9.99974327e-01 -2.16114815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.231400513 meters Centerline goodness [0,1] 0.641868884961855 Centerline is valid? [False, False] Translation: X:312.79, Y:18.50, Z:-0.22 [[ 9.99975025e-01 -1.74808952e-03 -6.84782062e-03 3.12794595e+02] [ 1.73183739e-03 9.99995672e-01 -2.37853976e-03 1.85024153e+01] [ 6.85194888e-03 2.36662105e-03 9.99973725e-01 -2.16831817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.261400513 meters Centerline goodness [0,1] 0.6389068913372218 Centerline is valid? [False, False] Translation: X:312.80, Y:18.50, Z:-0.22 [[ 9.99973586e-01 -1.62552507e-03 -7.08406888e-03 3.12795740e+02] [ 1.61117108e-03 9.99996639e-01 -2.03147128e-03 1.85009787e+01] [ 7.08734728e-03 2.02000398e-03 9.99972844e-01 -2.17495104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.291400513 meters Centerline goodness [0,1] 0.6453478298535908 Centerline is valid? [False, False] Translation: X:312.79, Y:18.50, Z:-0.22 [[ 9.99972798e-01 -2.38224695e-03 -6.98058800e-03 3.12794672e+02] [ 2.36963699e-03 9.99995547e-01 -1.81414784e-03 1.84977814e+01] [ 6.98487867e-03 1.79755704e-03 9.99973990e-01 -2.16752157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.321400513 meters Centerline goodness [0,1] 0.6479162167998272 Centerline is valid? [False, False] Translation: X:312.80, Y:18.49, Z:-0.22 [[ 9.99973151e-01 -2.24857021e-03 -6.97433818e-03 3.12795134e+02] [ 2.24233208e-03 9.99997079e-01 -9.02129843e-04 1.84933910e+01] [ 6.97634632e-03 8.86466839e-04 9.99975272e-01 -2.17486048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.351400513 meters Centerline goodness [0,1] 0.6478776125834949 Centerline is valid? [False, False] Translation: X:312.80, Y:18.49, Z:-0.22 [[ 9.99973974e-01 -2.17035890e-03 -6.88042499e-03 3.12795317e+02] [ 2.17162151e-03 9.99997627e-01 1.76042198e-04 1.84879392e+01] [ 6.88002659e-03 -1.90979295e-04 9.99976314e-01 -2.18311467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.381400513 meters Centerline goodness [0,1] 0.6626397054073261 Centerline is valid? [False, False] Translation: X:312.79, Y:18.48, Z:-0.22 [[ 9.99975920e-01 -2.16429428e-03 -6.59350797e-03 3.12794927e+02] [ 2.17231583e-03 9.99996909e-01 1.20966509e-03 1.84825530e+01] [ 6.59086952e-03 -1.22395914e-03 9.99977531e-01 -2.19146797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.411400513 meters Centerline goodness [0,1] 0.6495587003672129 Centerline is valid? [False, False] Translation: X:312.80, Y:18.48, Z:-0.22 [[ 9.99975840e-01 -2.10633797e-03 -6.62442183e-03 3.12795621e+02] [ 2.12105789e-03 9.99995296e-01 2.21582882e-03 1.84775415e+01] [ 6.61972338e-03 -2.22982607e-03 9.99975603e-01 -2.20179968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.441400513 meters Centerline goodness [0,1] 0.6613199095601723 Centerline is valid? [False, False] Translation: X:312.80, Y:18.48, Z:-0.22 [[ 9.99954944e-01 -6.42352104e-03 -6.98914669e-03 3.12796691e+02] [ 6.41214981e-03 9.99978084e-01 -1.64817736e-03 1.84751313e+01] [ 6.99958061e-03 1.60328765e-03 9.99974217e-01 -2.19772482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.471400513 meters Centerline goodness [0,1] 0.6951018397549849 Centerline is valid? [False, False] Translation: X:312.80, Y:18.47, Z:-0.22 [[ 9.99956144e-01 -6.17005391e-03 -7.04565176e-03 3.12797454e+02] [ 6.16455624e-03 9.99980678e-01 -8.01743545e-04 1.84712472e+01] [ 7.05046243e-03 7.58275067e-04 9.99974858e-01 -2.20655190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.501400513 meters Centerline goodness [0,1] 0.677210855234997 Centerline is valid? [False, False] Translation: X:312.80, Y:18.47, Z:-0.22 [[ 9.99957853e-01 -5.88480696e-03 -7.04701094e-03 3.12797957e+02] [ 5.88516190e-03 9.99982682e-01 2.96319021e-05 1.84674118e+01] [ 7.04671452e-03 -7.11034535e-05 9.99975169e-01 -2.21345026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.531400513 meters Centerline goodness [0,1] 0.6929214489909118 Centerline is valid? [False, False] Translation: X:312.80, Y:18.46, Z:-0.22 [[ 9.99958982e-01 -5.64817510e-03 -7.08040043e-03 3.12798317e+02] [ 5.65332441e-03 9.99983770e-01 7.07459293e-04 1.84642456e+01] [ 7.07628966e-03 -7.47458075e-04 9.99974683e-01 -2.21612604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.561400513 meters Centerline goodness [0,1] 0.7065163714439077 Centerline is valid? [False, False] Translation: X:312.80, Y:18.46, Z:-0.22 [[ 9.99959844e-01 -5.53742055e-03 -7.04612443e-03 3.12798172e+02] [ 5.54511578e-03 9.99984050e-01 1.07305593e-03 1.84623890e+01] [ 7.04007008e-03 -1.11208442e-03 9.99974600e-01 -2.21460570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.591400513 meters Centerline goodness [0,1] 0.7005801552768536 Centerline is valid? [False, False] Translation: X:312.80, Y:18.46, Z:-0.22 [[ 9.99960123e-01 -5.53899196e-03 -7.00516912e-03 3.12797728e+02] [ 5.54699157e-03 9.99983985e-01 1.12304550e-03 1.84619953e+01] [ 6.99883639e-03 -1.16185833e-03 9.99974833e-01 -2.20834587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.621400513 meters Centerline goodness [0,1] 0.7020309766608355 Centerline is valid? [False, False] Translation: X:312.80, Y:18.46, Z:-0.22 [[ 9.99959688e-01 -5.61426498e-03 -7.00724726e-03 3.12797621e+02] [ 5.62124198e-03 9.99983724e-01 9.76386253e-04 1.84626225e+01] [ 7.00165151e-03 -1.01573633e-03 9.99974972e-01 -2.20642530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.651400513 meters Centerline goodness [0,1] 0.6877466117687425 Centerline is valid? [False, False] Translation: X:312.80, Y:18.46, Z:-0.22 [[ 9.99959411e-01 -5.66238876e-03 -7.00818643e-03 3.12797686e+02] [ 5.66858457e-03 9.99983560e-01 8.64534951e-04 1.84632044e+01] [ 7.00317588e-03 -9.04226357e-04 9.99975069e-01 -2.20785089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.681400513 meters Centerline goodness [0,1] 0.7227451909613769 Centerline is valid? [False, False] Translation: X:312.80, Y:18.46, Z:-0.22 [[ 9.99958570e-01 -5.73356848e-03 -7.07002866e-03 3.12797943e+02] [ 5.73893514e-03 9.99983259e-01 7.39017952e-04 1.84638498e+01] [ 7.06567309e-03 -7.79561770e-04 9.99974734e-01 -2.20935682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.711400513 meters Centerline goodness [0,1] 0.7149264674170872 Centerline is valid? [False, False] Translation: X:312.80, Y:18.47, Z:-0.22 [[ 9.99957745e-01 -5.88700675e-03 -7.06054852e-03 3.12797639e+02] [ 5.89006001e-03 9.99982569e-01 4.11724362e-04 1.84652792e+01] [ 7.05800162e-03 -4.53294019e-04 9.99974989e-01 -2.20494461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.741400513 meters Centerline goodness [0,1] 0.7211410690556818 Centerline is valid? [False, False] Translation: X:312.80, Y:18.47, Z:-0.22 [[ 9.99956613e-01 -6.02210773e-03 -7.10679301e-03 3.12797530e+02] [ 6.02303639e-03 9.99981855e-01 1.09277451e-04 1.84666547e+01] [ 7.10600598e-03 -1.52077183e-04 9.99974740e-01 -2.20071533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.771400513 meters Centerline goodness [0,1] 0.6934765297118137 Centerline is valid? [False, False] Translation: X:312.80, Y:18.47, Z:-0.22 [[ 9.99955908e-01 -6.17395646e-03 -7.07567483e-03 3.12797202e+02] [ 6.17284469e-03 9.99980932e-01 -1.78953402e-04 1.84678758e+01] [ 7.07664476e-03 1.35268470e-04 9.99974951e-01 -2.19693227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.801400513 meters Centerline goodness [0,1] 0.8354820747847689 Centerline is valid? [False, False] Translation: X:312.80, Y:18.47, Z:-0.22 [[ 9.99954582e-01 -6.27523377e-03 -7.17328533e-03 3.12797287e+02] [ 6.27273859e-03 9.99980258e-01 -3.70288744e-04 1.84687468e+01] [ 7.17546736e-03 3.25275782e-04 9.99974203e-01 -2.19269478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.831400513 meters Centerline goodness [0,1] 0.9700114098727691 Centerline is valid? [False, True] Translation: X:312.80, Y:18.47, Z:-0.22 [[ 9.99952035e-01 -6.67428774e-03 -7.16812311e-03 3.12797105e+02] [ 6.66954350e-03 9.99977523e-01 -6.85552579e-04 1.84698165e+01] [ 7.17253757e-03 6.37711588e-04 9.99974074e-01 -2.19120680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.861400513 meters Centerline goodness [0,1] 0.9950330057840755 Centerline is valid? [True, True] Translation: X:312.83, Y:18.47, Z:-0.22 [[ 9.99926965e-01 -9.20056176e-03 -7.83670034e-03 3.12827696e+02] [ 9.19670581e-03 9.99957570e-01 -5.27933101e-04 1.84680330e+01] [ 7.84122511e-03 4.55822716e-04 9.99969153e-01 -2.19646702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.891400513 meters Centerline goodness [0,1] 0.9988975118355347 Centerline is valid? [True, True] Translation: X:312.86, Y:18.47, Z:-0.22 [[ 9.99879916e-01 -1.28381641e-02 -8.67962152e-03 3.12858627e+02] [ 1.28335708e-02 9.99917475e-01 -5.84696799e-04 1.84681563e+01] [ 8.68641167e-03 4.73236049e-04 9.99962160e-01 -2.21582236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.921400513 meters Centerline goodness [0,1] 0.9992886857931154 Centerline is valid? [True, True] Translation: X:312.89, Y:18.47, Z:-0.22 [[ 9.99827899e-01 -1.62054330e-02 -9.03086588e-03 3.12887991e+02] [ 1.62005968e-02 9.99868577e-01 -6.08421133e-04 1.84704618e+01] [ 9.03953874e-03 4.62011006e-04 9.99959036e-01 -2.22261321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.951400513 meters Centerline goodness [0,1] 0.9997838819130773 Centerline is valid? [True, True] Translation: X:312.92, Y:18.47, Z:-0.22 [[ 9.99775692e-01 -1.91671075e-02 -9.01041297e-03 3.12918440e+02] [ 1.91624129e-02 9.99816200e-01 -6.07064645e-04 1.84717976e+01] [ 9.02039253e-03 4.34267222e-04 9.99959221e-01 -2.21706080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.981400513 meters Centerline goodness [0,1] 0.999892844131073 Centerline is valid? [True, True] Translation: X:312.95, Y:18.47, Z:-0.22 [[ 9.99693188e-01 -2.35866718e-02 -7.56303595e-03 3.12948986e+02] [ 2.35834906e-02 9.99721741e-01 -5.09550801e-04 1.84721374e+01] [ 7.57295007e-03 3.31031677e-04 9.99971270e-01 -2.18534134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.011400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:312.98, Y:18.47, Z:-0.22 [[ 9.99665007e-01 -2.49900592e-02 -6.73584871e-03 3.12980450e+02] [ 2.49875683e-02 9.99687659e-01 -4.53716048e-04 1.84716449e+01] [ 6.74508322e-03 2.85251576e-04 9.99977211e-01 -2.16765866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.041400513 meters Centerline goodness [0,1] 0.9998068876729964 Centerline is valid? [True, True] Translation: X:313.01, Y:18.48, Z:-0.22 [[ 9.99628214e-01 -2.64947770e-02 -6.43893422e-03 3.13010491e+02] [ 2.64925330e-02 9.99648917e-01 -4.33568305e-04 1.84819537e+01] [ 6.44816091e-03 2.62823433e-04 9.99979176e-01 -2.17295458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.071400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:313.04, Y:18.48, Z:-0.22 [[ 9.99596280e-01 -2.77485765e-02 -6.10682061e-03 3.13042295e+02] [ 2.77465822e-02 9.99614905e-01 -4.11069363e-04 1.84807603e+01] [ 6.11587549e-03 2.41460006e-04 9.99981269e-01 -2.16567828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.101400513 meters Centerline goodness [0,1] 0.999655476841584 Centerline is valid? [True, True] Translation: X:313.07, Y:18.48, Z:-0.22 [[ 9.99549135e-01 -2.93916064e-02 -6.13685026e-03 3.13073619e+02] [ 2.93896242e-02 9.99567946e-01 -4.12949731e-04 1.84787343e+01] [ 6.14633607e-03 2.32403824e-04 9.99981084e-01 -2.16778043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.131400513 meters Centerline goodness [0,1] 0.999978557337679 Centerline is valid? [True, True] Translation: X:313.11, Y:18.48, Z:-0.22 [[ 9.99498351e-01 -3.10926655e-02 -6.02440081e-03 3.13105352e+02] [ 3.10907872e-02 9.99516482e-01 -4.05199427e-04 1.84805561e+01] [ 6.03408664e-03 2.17692795e-04 9.99981771e-01 -2.15125577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.161400513 meters Centerline goodness [0,1] 0.9998274039395051 Centerline is valid? [True, True] Translation: X:313.14, Y:18.48, Z:-0.21 [[ 9.99457967e-01 -3.24875600e-02 -5.32262622e-03 3.13137904e+02] [ 3.24861154e-02 9.99472123e-01 -3.57658210e-04 1.84827849e+01] [ 5.33143597e-03 1.84552898e-04 9.99985771e-01 -2.14073169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.191400513 meters Centerline goodness [0,1] 0.9997422071365658 Centerline is valid? [True, True] Translation: X:313.17, Y:18.49, Z:-0.21 [[ 9.99427354e-01 -3.35798250e-02 -4.16655978e-03 3.13169717e+02] [ 3.35789513e-02 9.99436029e-01 -2.79510684e-04 1.84855323e+01] [ 4.17359588e-03 1.39441916e-04 9.99991281e-01 -2.12731545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.221400513 meters Centerline goodness [0,1] 0.9999137596481393 Centerline is valid? [True, True] Translation: X:313.20, Y:18.49, Z:-0.21 [[ 9.99364589e-01 -3.55545719e-02 -2.50803370e-03 3.13201468e+02] [ 3.55542621e-02 9.99367733e-01 -1.68015585e-04 1.84872264e+01] [ 2.51242168e-03 7.87375385e-05 9.99996841e-01 -2.10461404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.251400513 meters Centerline goodness [0,1] 0.9999785278708236 Centerline is valid? [True, True] Translation: X:313.23, Y:18.49, Z:-0.21 [[ 9.99346443e-01 -3.60987203e-02 -1.88900511e-03 3.13232798e+02] [ 3.60985456e-02 9.99348227e-01 -1.26525108e-04 1.84904534e+01] [ 1.89234130e-03 5.82520801e-05 9.99998208e-01 -2.10286622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.281400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:313.27, Y:18.49, Z:-0.21 [[ 9.99314754e-01 -3.69603753e-02 -1.98807266e-03 3.13265172e+02] [ 3.69601841e-02 9.99316730e-01 -1.32842820e-04 1.84923568e+01] [ 1.99162419e-03 5.92722581e-05 9.99998015e-01 -2.10542716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.311400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:313.30, Y:18.50, Z:-0.21 [[ 9.99272113e-01 -3.80547792e-02 -2.66048911e-03 3.13296306e+02] [ 3.80544420e-02 9.99275652e-01 -1.77240613e-04 1.84984770e+01] [ 2.66530684e-03 7.58681733e-05 9.99996445e-01 -2.11063379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.341400513 meters Centerline goodness [0,1] 0.9999352065830112 Centerline is valid? [True, True] Translation: X:313.33, Y:18.50, Z:-0.21 [[ 9.99153339e-01 -4.08069669e-02 -5.23414204e-03 3.13327786e+02] [ 4.08057023e-02 9.99167040e-01 -3.48212092e-04 1.85008142e+01] [ 5.24399169e-03 1.34334433e-04 9.99986241e-01 -2.12834872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.371400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:313.36, Y:18.50, Z:-0.21 [[ 9.99110550e-01 -4.17295000e-02 -6.06274377e-03 3.13359752e+02] [ 4.17278244e-02 9.99128934e-01 -4.02664306e-04 1.85009021e+01] [ 6.07426570e-03 1.49321049e-04 9.99981540e-01 -2.13115590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.401400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:313.39, Y:18.50, Z:-0.21 [[ 9.99067481e-01 -4.27476877e-02 -6.06656267e-03 3.13391971e+02] [ 4.27460347e-02 9.99085890e-01 -4.01932580e-04 1.85017542e+01] [ 6.07819885e-03 1.42236272e-04 9.99981517e-01 -2.13754848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.431400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:313.42, Y:18.50, Z:-0.21 [[ 9.99013412e-01 -4.40377560e-02 -5.73407600e-03 3.13424747e+02] [ 4.40363037e-02 9.99029859e-01 -3.79351790e-04 1.85024592e+01] [ 5.74521894e-03 1.26470014e-04 9.99983488e-01 -2.14138514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.461400513 meters Centerline goodness [0,1] 0.9999571972777469 Centerline is valid? [True, True] Translation: X:313.46, Y:18.51, Z:-0.21 [[ 9.98964403e-01 -4.52441660e-02 -4.80478973e-03 3.13455603e+02] [ 4.52431619e-02 9.98975953e-01 -3.17526166e-04 1.85066490e+01] [ 4.81423561e-03 9.98134575e-05 9.99988407e-01 -2.13648386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.491400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:313.49, Y:18.51, Z:-0.21 [[ 9.98920478e-01 -4.62529138e-02 -4.30663764e-03 3.13487646e+02] [ 4.62521187e-02 9.98929758e-01 -2.84084781e-04 1.85065406e+01] [ 4.31516824e-03 8.45869901e-05 9.99990686e-01 -2.11740378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.521400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:313.52, Y:18.51, Z:-0.21 [[ 9.98876390e-01 -4.72046518e-02 -4.20464519e-03 3.13519192e+02] [ 4.72039052e-02 9.98885236e-01 -2.76680997e-04 1.85120280e+01] [ 4.21301863e-03 7.78944430e-05 9.99991122e-01 -2.09963226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.551400513 meters Centerline goodness [0,1] 0.9998706506273445 Centerline is valid? [True, True] Translation: X:313.55, Y:18.52, Z:-0.21 [[ 9.98860602e-01 -4.75143401e-02 -4.45928446e-03 3.13549857e+02] [ 4.75135066e-02 9.98870553e-01 -2.92720054e-04 1.85160770e+01] [ 4.46815633e-03 8.05102877e-05 9.99990014e-01 -2.11235897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.581400513 meters Centerline goodness [0,1] 0.9996986330857819 Centerline is valid? [True, True] Translation: X:313.58, Y:18.52, Z:-0.21 [[ 9.98864726e-01 -4.73990449e-02 -4.75294072e-03 3.13583244e+02] [ 4.73981006e-02 9.98876030e-01 -3.11176322e-04 1.85173396e+01] [ 4.76234802e-03 8.55426888e-05 9.99988656e-01 -2.11886989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.611400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:313.62, Y:18.52, Z:-0.21 [[ 9.98899145e-01 -4.66976072e-02 -4.45326887e-03 3.13615754e+02] [ 4.66967746e-02 9.98909068e-01 -2.90810095e-04 1.85216256e+01] [ 4.46199079e-03 8.25366631e-05 9.99990042e-01 -2.10318083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.641400513 meters Centerline goodness [0,1] 0.9997640143307661 Centerline is valid? [True, True] Translation: X:313.65, Y:18.53, Z:-0.21 [[ 9.98937909e-01 -4.60335018e-02 -1.99242427e-03 3.13647030e+02] [ 4.60333340e-02 9.98939896e-01 -1.29992413e-04 1.85286774e+01] [ 1.99629610e-03 3.81364167e-05 9.99998007e-01 -2.07948397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.671400513 meters Centerline goodness [0,1] 0.9999355462455688 Centerline is valid? [True, True] Translation: X:313.68, Y:18.53, Z:-0.21 [[ 9.98945493e-01 -4.58642667e-02 -2.09056757e-03 3.13680136e+02] [ 4.58640824e-02 9.98947680e-01 -1.36046631e-04 1.85305089e+01] [ 2.09460730e-03 4.00212062e-05 9.99997806e-01 -2.07690226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.701400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:313.71, Y:18.53, Z:-0.21 [[ 9.98912351e-01 -4.65338358e-02 -2.95264298e-03 3.13711724e+02] [ 4.65334731e-02 9.98916713e-01 -1.91445240e-04 1.85333719e+01] [ 2.95835311e-03 5.38402812e-05 9.99995623e-01 -2.09317908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.731400513 meters Centerline goodness [0,1] 0.9998711367882992 Centerline is valid? [True, True] Translation: X:313.74, Y:18.53, Z:-0.21 [[ 9.98783776e-01 -4.92165087e-02 -2.95038407e-03 3.13743120e+02] [ 4.92161595e-02 9.98788132e-01 -1.90893837e-04 1.85338828e+01] [ 2.95620372e-03 4.54550947e-05 9.99995629e-01 -2.11056235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.761400513 meters Centerline goodness [0,1] 0.9998504465239499 Centerline is valid? [True, True] Translation: X:313.77, Y:18.53, Z:-0.21 [[ 9.98418998e-01 -5.61713636e-02 -2.06932261e-03 3.13774055e+02] [ 5.61712071e-02 9.98421142e-01 -1.33745545e-04 1.85295811e+01] [ 2.07356811e-03 1.72977445e-05 9.99997850e-01 -2.08087778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.791400513 meters Centerline goodness [0,1] 0.9998713081526285 Centerline is valid? [True, True] Translation: X:313.81, Y:18.53, Z:-0.21 [[ 9.98304900e-01 -5.81591792e-02 -2.19937179e-03 3.13806860e+02] [ 5.81590073e-02 9.98307322e-01 -1.42110458e-04 1.85300470e+01] [ 2.20391399e-03 1.39562869e-05 9.99997571e-01 -2.08022149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.821400513 meters Centerline goodness [0,1] 0.9999571826161422 Centerline is valid? [True, True] Translation: X:313.84, Y:18.53, Z:-0.21 [[ 9.98080629e-01 -6.19063790e-02 -1.63063587e-03 3.13839746e+02] [ 6.19062899e-02 9.98081961e-01 -1.05125669e-04 1.85278205e+01] [ 1.63401620e-03 3.97727716e-06 9.99998665e-01 -2.08024970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.851400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:313.87, Y:18.52, Z:-0.21 [[ 9.97705313e-01 -6.76363000e-02 -3.07224183e-03 3.13872455e+02] [ 6.76360120e-02 9.97710043e-01 -1.97680720e-04 1.85189937e+01] [ 3.07857692e-03 -1.05670802e-05 9.99995261e-01 -2.13139862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.881400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:313.91, Y:18.52, Z:-0.21 [[ 9.97717275e-01 -6.74596203e-02 -3.07227595e-03 3.13905072e+02] [ 6.74593331e-02 9.97722005e-01 -1.97149127e-04 1.85209694e+01] [ 3.07857693e-03 -1.05545966e-05 9.99995261e-01 -2.13065476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.911400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:313.94, Y:18.52, Z:-0.22 [[ 9.97418657e-01 -7.16083506e-02 -5.31663076e-03 3.13937658e+02] [ 7.16075557e-02 9.97432826e-01 -3.39967256e-04 1.85156232e+01] [ 5.32732654e-03 -4.16212499e-05 9.99985809e-01 -2.16273100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.941400513 meters Centerline goodness [0,1] 0.9998707035879755 Centerline is valid? [True, True] Translation: X:313.97, Y:18.51, Z:-0.22 [[ 9.97179418e-01 -7.47798257e-02 -6.41769605e-03 3.13968912e+02] [ 7.47787400e-02 9.97200066e-01 -4.09288228e-04 1.85123332e+01] [ 6.43033343e-03 -7.17734277e-05 9.99979323e-01 -2.16406327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.971400513 meters Centerline goodness [0,1] 0.9997185294245009 Centerline is valid? [True, True] Translation: X:314.00, Y:18.49, Z:-0.22 [[ 9.96218798e-01 -8.64517731e-02 -8.61374700e-03 3.14000250e+02] [ 8.64502572e-02 9.96256017e-01 -5.48860022e-04 1.84911671e+01] [ 8.62894720e-03 -1.97875972e-04 9.99962750e-01 -2.21890596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.001400513 meters Centerline goodness [0,1] 0.9999784436300927 Centerline is valid? [True, True] Translation: X:314.03, Y:18.48, Z:-0.22 [[ 9.95677217e-01 -9.24244219e-02 -9.19812597e-03 3.14031844e+02] [ 9.24229486e-02 9.95719667e-01 -5.86024725e-04 1.84830594e+01] [ 9.21291792e-03 -2.66626456e-04 9.99957525e-01 -2.21382827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.031400513 meters Centerline goodness [0,1] 0.9995493368814112 Centerline is valid? [True, True] Translation: X:314.06, Y:18.48, Z:-0.22 [[ 9.95262429e-01 -9.69636710e-02 -7.12351813e-03 3.14062473e+02] [ 9.69629036e-02 9.95287893e-01 -4.53831829e-04 1.84754766e+01] [ 7.13395655e-03 -2.39035233e-04 9.99974524e-01 -2.19272855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.061400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:314.09, Y:18.47, Z:-0.22 [[ 9.95020817e-01 -9.95287785e-02 -5.25314703e-03 3.14092865e+02] [ 9.95283977e-02 9.95034666e-01 -3.34506128e-04 1.84699623e+01] [ 5.26035638e-03 -1.89996746e-04 9.99986146e-01 -2.15144811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.091400513 meters Centerline goodness [0,1] 0.999611029475322 Centerline is valid? [True, True] Translation: X:314.13, Y:18.47, Z:-0.21 [[ 9.94866466e-01 -1.01146145e-01 -3.18945883e-03 3.14125399e+02] [ 1.01146013e-01 9.94871571e-01 -2.02976529e-04 1.84688900e+01] [ 3.19363221e-03 -1.20666502e-04 9.99994893e-01 -2.12826527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.121400513 meters Centerline goodness [0,1] 0.9997836668469443 Centerline is valid? [True, True] Translation: X:314.16, Y:18.47, Z:-0.21 [[ 9.94869648e-01 -1.01143673e-01 -2.08349435e-03 3.14158708e+02] [ 1.01143617e-01 9.94871826e-01 -1.32560893e-04 1.84653696e+01] [ 2.08621753e-03 -7.88513459e-05 9.99997821e-01 -2.11762628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.151400513 meters Centerline goodness [0,1] 0.9997848444425319 Centerline is valid? [True, True] Translation: X:314.19, Y:18.46, Z:-0.21 [[ 9.94992056e-01 -9.98584044e-02 -4.37116476e-03 3.14191173e+02] [ 9.98581503e-02 9.95001645e-01 -2.76895334e-04 1.84560331e+01] [ 4.37696645e-03 -1.60987769e-04 9.99990408e-01 -2.13366232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.181400513 meters Centerline goodness [0,1] 0.9999784849071623 Centerline is valid? [True, True] Translation: X:314.22, Y:18.46, Z:-0.21 [[ 9.95117607e-01 -9.85387246e-02 -5.57392037e-03 3.14223552e+02] [ 9.85382962e-02 9.95133197e-01 -3.52095716e-04 1.84581558e+01] [ 5.58148826e-03 -1.98867970e-04 9.99984404e-01 -2.13208059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.211400513 meters Centerline goodness [0,1] 0.9999350297780184 Centerline is valid? [True, True] Translation: X:314.25, Y:18.46, Z:-0.21 [[ 9.95284950e-01 -9.68644184e-02 -5.01521135e-03 3.14254247e+02] [ 9.68640522e-02 9.95297571e-01 -3.16445544e-04 1.84577204e+01] [ 5.02227999e-03 -1.70840206e-04 9.99987374e-01 -2.12626537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.241400513 meters Centerline goodness [0,1] 0.9998488480058734 Centerline is valid? [True, True] Translation: X:314.29, Y:18.46, Z:-0.21 [[ 9.95484957e-01 -9.48390929e-02 -3.90476124e-03 3.14285546e+02] [ 9.48388555e-02 9.95492607e-01 -2.46321865e-04 1.84615376e+01] [ 3.91052189e-03 -1.25113377e-04 9.99992346e-01 -2.11811893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.271400513 meters Centerline goodness [0,1] 0.9998712888278702 Centerline is valid? [True, True] Translation: X:314.32, Y:18.46, Z:-0.21 [[ 9.95910720e-01 -9.02864346e-02 -3.19332999e-03 3.14315701e+02] [ 9.02862526e-02 9.95915836e-01 -2.01389788e-04 1.84595225e+01] [ 3.19847067e-03 -8.77475496e-05 9.99994881e-01 -2.12222139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.301400513 meters Centerline goodness [0,1] 0.9998715643462626 Centerline is valid? [True, True] Translation: X:314.35, Y:18.46, Z:-0.21 [[ 9.96165281e-01 -8.73965358e-02 -4.07162438e-03 3.14345695e+02] [ 8.73962164e-02 9.96173597e-01 -2.56628065e-04 1.84626217e+01] [ 4.07847311e-03 -1.00200597e-04 9.99991678e-01 -2.12073932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.331400513 meters Centerline goodness [0,1] 0.9997833011896765 Centerline is valid? [True, True] Translation: X:314.38, Y:18.47, Z:-0.21 [[ 9.96409997e-01 -8.45529023e-02 -4.23366323e-03 3.14376894e+02] [ 8.45525322e-02 9.96418987e-01 -2.66637632e-04 1.84699353e+01] [ 4.24104741e-03 -9.22865439e-05 9.99991002e-01 -2.11865080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.361400513 meters Centerline goodness [0,1] 0.9996523099656656 Centerline is valid? [True, True] Translation: X:314.41, Y:18.47, Z:-0.21 [[ 9.96783478e-01 -8.01150647e-02 -2.06742605e-03 3.14407852e+02] [ 8.01149669e-02 9.96785621e-01 -1.30186156e-04 1.84717075e+01] [ 2.07121043e-03 -3.58643595e-05 9.99997854e-01 -2.10849627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.391400513 meters Centerline goodness [0,1] 0.9996780839557043 Centerline is valid? [True, True] Translation: X:314.44, Y:18.47, Z:-0.21 [[ 9.96918330e-01 -7.84454764e-02 -3.87281553e-04 3.14440112e+02] [ 7.84454727e-02 9.96918405e-01 -2.46791746e-05 1.84738009e+01] [ 3.88024078e-04 -5.77736296e-06 9.99999925e-01 -2.09328950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.421400513 meters Centerline goodness [0,1] 0.9998478823043658 Centerline is valid? [True, True] Translation: X:314.47, Y:18.48, Z:-0.21 [[ 9.97035888e-01 -7.69378545e-02 6.89263848e-05 3.14471891e+02] [ 7.69378544e-02 9.97035890e-01 3.94131792e-06 1.84778835e+01] [-6.90253160e-05 1.37341274e-06 9.99999998e-01 -2.07991176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.451400513 meters Centerline goodness [0,1] 0.9999136553986961 Centerline is valid? [True, True] Translation: X:314.50, Y:18.48, Z:-0.21 [[ 9.97152190e-01 -7.54148889e-02 -3.23044632e-04 3.14502693e+02] [ 7.54148863e-02 9.97152242e-01 -2.05257805e-05 1.84806134e+01] [ 3.23672629e-04 -3.89504724e-06 9.99999948e-01 -2.07547445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.481400513 meters Centerline goodness [0,1] 0.9998921041841997 Centerline is valid? [True, True] Translation: X:314.54, Y:18.49, Z:-0.21 [[ 9.97208795e-01 -7.46526659e-02 -1.26402546e-03 3.14535254e+02] [ 7.46526255e-02 9.97209596e-01 -7.91295984e-05 1.84850802e+01] [ 1.26640556e-03 -1.54540881e-05 9.99999198e-01 -2.08384116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.511400513 meters Centerline goodness [0,1] 0.9999567221344643 Centerline is valid? [True, True] Translation: X:314.57, Y:18.49, Z:-0.21 [[ 9.97186965e-01 -7.49301098e-02 -1.90658337e-03 3.14568071e+02] [ 7.49300195e-02 9.97188788e-01 -1.18863192e-04 1.84896010e+01] [ 1.91012999e-03 -2.43315032e-05 9.99998175e-01 -2.08622321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.541400513 meters Centerline goodness [0,1] 0.9997421739037019 Centerline is valid? [True, True] Translation: X:314.60, Y:18.49, Z:-0.21 [[ 9.97120442e-01 -7.58228439e-02 -1.31145991e-03 3.14599735e+02] [ 7.58228022e-02 9.97121305e-01 -8.15512435e-05 1.84912184e+01] [ 1.31386806e-03 -1.81221534e-05 9.99999137e-01 -2.08462888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.571400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:314.63, Y:18.49, Z:-0.21 [[ 9.96996940e-01 -7.74329375e-02 -1.11422694e-03 3.14631048e+02] [ 7.74329085e-02 9.96997563e-01 -6.92136780e-05 1.84918270e+01] [ 1.11624096e-03 -1.72720074e-05 9.99999377e-01 -2.07917386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.601400513 meters Centerline goodness [0,1] 0.9999785862652305 Centerline is valid? [True, True] Translation: X:314.66, Y:18.49, Z:-0.21 [[ 9.96808444e-01 -7.98250275e-02 -9.43429588e-04 3.14662027e+02] [ 7.98250078e-02 9.96808891e-01 -5.85464399e-05 1.84913977e+01] [ 9.45092472e-04 -1.69496885e-05 9.99999553e-01 -2.08359489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.631400513 meters Centerline goodness [0,1] 0.9999782580336566 Centerline is valid? [True, True] Translation: X:314.69, Y:18.49, Z:-0.21 [[ 9.96545189e-01 -8.30452453e-02 -1.08285302e-03 3.14694073e+02] [ 8.30452214e-02 9.96545778e-01 -6.70389311e-05 1.84921515e+01] [ 1.08467987e-03 -2.31184449e-05 9.99999411e-01 -2.09485949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.661400513 meters Centerline goodness [0,1] 0.999913462994613 Centerline is valid? [True, True] Translation: X:314.73, Y:18.49, Z:-0.21 [[ 9.95911440e-01 -9.02903146e-02 -2.83942352e-03 3.14725205e+02] [ 9.02901809e-02 9.95915485e-01 -1.75501678e-04 1.84910106e+01] [ 2.84367195e-03 -8.15879341e-05 9.99995953e-01 -2.10772743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.691400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:314.76, Y:18.49, Z:-0.21 [[ 9.95607303e-01 -9.35708711e-02 -3.25433099e-03 3.14756022e+02] [ 9.35707130e-02 9.95612616e-01 -2.01111969e-04 1.84862298e+01] [ 3.25887121e-03 -1.04281526e-04 9.99994684e-01 -2.11194212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.721400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:314.79, Y:18.49, Z:-0.21 [[ 9.95372653e-01 -9.60452012e-02 -2.93281896e-03 3.14786598e+02] [ 9.60450837e-02 9.95376968e-01 -1.81211671e-04 1.84908974e+01] [ 2.93666496e-03 -1.01309701e-04 9.99995683e-01 -2.10709135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.751400513 meters Centerline goodness [0,1] 0.9998062391009495 Centerline is valid? [True, True] Translation: X:314.82, Y:18.49, Z:-0.21 [[ 9.95209618e-01 -9.77588689e-02 -1.01012274e-03 3.14818915e+02] [ 9.77588558e-02 9.95210130e-01 -6.24620901e-05 1.84942108e+01] [ 1.01139060e-03 -3.65855700e-05 9.99999488e-01 -2.07836819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.781400513 meters Centerline goodness [0,1] 0.9999567240073569 Centerline is valid? [True, True] Translation: X:314.85, Y:18.50, Z:-0.21 [[ 9.95339690e-01 -9.64290266e-02 -5.87490003e-04 3.14850635e+02] [ 9.64290218e-02 9.95339863e-01 -3.65362943e-05 1.84953384e+01] [ 5.88275378e-04 -2.02850625e-05 9.99999827e-01 -2.06797022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.811400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:314.88, Y:18.51, Z:-0.21 [[ 9.95546857e-01 -9.42669446e-02 -4.46291603e-04 3.14881236e+02] [ 9.42669417e-02 9.95546957e-01 -2.75226679e-05 1.85070594e+01] [ 4.46898725e-04 -1.46704390e-05 9.99999900e-01 -2.07361108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.841400513 meters Centerline goodness [0,1] 0.9998920063068317 Centerline is valid? [True, True] Translation: X:314.91, Y:18.51, Z:-0.21 [[ 9.95816862e-01 -9.13699919e-02 -5.50060564e-04 3.14911316e+02] [ 9.13699871e-02 9.95817013e-01 -3.38770046e-05 1.85111959e+01] [ 5.50855010e-04 -1.65237343e-05 9.99999848e-01 -2.08865172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.871400513 meters Centerline goodness [0,1] 0.9998275118585597 Centerline is valid? [True, True] Translation: X:314.94, Y:18.52, Z:-0.21 [[ 9.96509592e-01 -8.34768149e-02 5.04463570e-04 3.14940904e+02] [ 8.34768099e-02 9.96509720e-01 3.09927996e-05 1.85241946e+01] [-5.05290031e-04 1.12263874e-05 9.99999872e-01 -2.07611670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.901400513 meters Centerline goodness [0,1] 0.9996372791670223 Centerline is valid? [True, True] Translation: X:314.97, Y:18.54, Z:-0.21 [[ 9.96918261e-01 -7.84383962e-02 1.18315081e-03 3.14971573e+02] [ 7.84383651e-02 9.96918962e-01 7.27094721e-05 1.85367499e+01] [-1.18520869e-03 2.03190146e-05 9.99999297e-01 -2.05674478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.931400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:315.00, Y:18.55, Z:-0.20 [[ 9.97376571e-01 -7.23809246e-02 9.88623608e-04 3.15002606e+02] [ 7.23809000e-02 9.97377061e-01 6.06320377e-05 1.85501422e+01] [-9.90419111e-04 1.10844926e-05 9.99999509e-01 -2.04447989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.961400513 meters Centerline goodness [0,1] 0.999828329864166 Centerline is valid? [True, True] Translation: X:315.03, Y:18.56, Z:-0.20 [[ 9.97786275e-01 -6.64861086e-02 1.46537717e-03 3.15032939e+02] [ 6.64860489e-02 9.97787351e-01 8.94701017e-05 1.85609292e+01] [-1.46808332e-03 8.15509872e-06 9.99998922e-01 -2.03899582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.991400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:315.06, Y:18.58, Z:-0.20 [[ 9.98440445e-01 -5.57288999e-02 3.31177272e-03 3.15064510e+02] [ 5.57285361e-02 9.98445937e-01 2.02086997e-04 1.85791094e+01] [-3.31788811e-03 -1.72115849e-05 9.99994496e-01 -2.04119949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.021400513 meters Centerline goodness [0,1] 0.999914345060922 Centerline is valid? [True, True] Translation: X:315.10, Y:18.59, Z:-0.20 [[ 9.98692688e-01 -5.09046297e-02 4.65111206e-03 3.15096082e+02] [ 5.09038627e-02 9.98703518e-01 2.83218631e-04 1.85898958e+01] [-4.65949912e-03 -4.60888058e-05 9.99989143e-01 -2.02899988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.051400513 meters Centerline goodness [0,1] 0.9999784895351589 Centerline is valid? [True, True] Translation: X:315.13, Y:18.60, Z:-0.20 [[ 9.98904809e-01 -4.65445204e-02 4.77397661e-03 3.15127635e+02] [ 4.65436624e-02 9.98916214e-01 2.90746456e-04 1.86003477e+01] [-4.78233529e-03 -6.82296776e-05 9.99988562e-01 -2.02175379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.081400513 meters Centerline goodness [0,1] 0.9997856515122285 Centerline is valid? [True, True] Translation: X:315.16, Y:18.61, Z:-0.20 [[ 9.99064809e-01 -4.30511844e-02 4.01291109e-03 3.15158248e+02] [ 4.30505517e-02 9.99072865e-01 2.43968720e-04 1.86127647e+01] [-4.01969373e-03 -7.09825265e-05 9.99991918e-01 -2.01805714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.111400513 meters Centerline goodness [0,1] 0.999785167998625 Centerline is valid? [True, True] Translation: X:315.19, Y:18.62, Z:-0.20 [[ 9.99193815e-01 -4.00742045e-02 2.40360512e-03 3.15189916e+02] [ 4.00739704e-02 9.99196705e-01 1.45498067e-04 1.86204702e+01] [-2.40750503e-03 -4.90587681e-05 9.99997101e-01 -2.04216839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.141400513 meters Centerline goodness [0,1] 0.9999784529196294 Centerline is valid? [True, True] Translation: X:315.22, Y:18.62, Z:-0.20 [[ 9.99025630e-01 -4.40038205e-02 3.38453299e-03 3.15221388e+02] [ 4.40033776e-02 9.99031361e-01 2.05255744e-04 1.86187703e+01] [-3.39028664e-03 -5.61248658e-05 9.99994251e-01 -2.04507825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.171400513 meters Centerline goodness [0,1] 0.9997211975636956 Centerline is valid? [True, True] Translation: X:315.25, Y:18.62, Z:-0.20 [[ 9.98845822e-01 -4.78039157e-02 4.67009426e-03 3.15253928e+02] [ 4.78031189e-02 9.98856738e-01 2.82162726e-04 1.86174092e+01] [-4.67824360e-03 -5.85919886e-05 9.99989055e-01 -2.01912064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.201400513 meters Centerline goodness [0,1] 0.9998285579581253 Centerline is valid? [True, True] Translation: X:315.29, Y:18.62, Z:-0.20 [[ 9.98784140e-01 -4.91631620e-02 3.63668463e-03 3.15285270e+02] [ 4.91626900e-02 9.98790760e-01 2.19125054e-04 1.86207187e+01] [-3.64305989e-03 -4.00694291e-05 9.99993363e-01 -2.00422451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.231400513 meters Centerline goodness [0,1] 0.9996345029239766 Centerline is valid? [True, True] Translation: X:315.32, Y:18.62, Z:-0.21 [[ 9.98651761e-01 -5.18930532e-02 1.33056210e-03 3.15317798e+02] [ 5.18929931e-02 9.98652648e-01 7.96983363e-05 1.86167614e+01] [-1.33290515e-03 -1.05440342e-05 9.99999112e-01 -2.06358844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.261400513 meters Centerline goodness [0,1] 0.9998494558905759 Centerline is valid? [True, True] Translation: X:315.35, Y:18.62, Z:-0.21 [[ 9.98697510e-01 -5.10221969e-02 -1.38007271e-04 3.15349740e+02] [ 5.10221962e-02 9.98697519e-01 -8.55887829e-06 1.86200290e+01] [ 1.38264212e-04 1.50629636e-06 9.99999990e-01 -2.08223341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.291400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:315.38, Y:18.62, Z:-0.21 [[ 9.98804890e-01 -4.88737389e-02 -3.86340991e-04 3.15382177e+02] [ 4.88737335e-02 9.98804965e-01 -2.35182070e-05 1.86219434e+01] [ 3.87028722e-04 4.60817355e-06 9.99999925e-01 -2.08722161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.321400513 meters Centerline goodness [0,1] 0.9999357023447212 Centerline is valid? [True, True] Translation: X:315.41, Y:18.63, Z:-0.20 [[ 9.98924778e-01 -4.63275896e-02 1.74396113e-03 3.15412921e+02] [ 4.63274784e-02 9.98926301e-01 1.04118784e-04 1.86282975e+01] [-1.74691221e-03 -2.32135119e-05 9.99998474e-01 -2.03866241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.351400513 meters Centerline goodness [0,1] 0.9997846498406409 Centerline is valid? [True, True] Translation: X:315.44, Y:18.63, Z:-0.20 [[ 9.99013771e-01 -4.43669317e-02 1.74967626e-03 3.15444765e+02] [ 4.43668176e-02 9.99015303e-01 1.04017374e-04 1.86322248e+01] [-1.75256829e-03 -2.62872214e-05 9.99998464e-01 -2.03755710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.381400513 meters Centerline goodness [0,1] 0.9998932923575986 Centerline is valid? [True, True] Translation: X:315.48, Y:18.63, Z:-0.20 [[ 9.99087512e-01 -4.26849273e-02 1.46327905e-03 3.15477208e+02] [ 4.26848461e-02 9.99088583e-01 8.67033052e-05 1.86345877e+01] [-1.46564632e-03 -2.41643482e-05 9.99998926e-01 -2.04714480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.411400513 meters Centerline goodness [0,1] 0.9998496628151712 Centerline is valid? [True, True] Translation: X:315.51, Y:18.64, Z:-0.21 [[ 9.99204135e-01 -3.98582532e-02 1.55419505e-03 3.15507850e+02] [ 3.98581580e-02 9.99205344e-01 9.21714737e-05 1.86361173e+01] [-1.55663380e-03 -3.01507657e-05 9.99998788e-01 -2.06015109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.441400513 meters Centerline goodness [0,1] 0.9997204240951418 Centerline is valid? [True, True] Translation: X:315.54, Y:18.64, Z:-0.21 [[ 9.99303315e-01 -3.72617159e-02 2.10932726e-03 3.15539471e+02] [ 3.72615357e-02 9.99305540e-01 1.24705920e-04 1.86398732e+01] [-2.11250917e-03 -4.60222665e-05 9.99997768e-01 -2.05463402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.471400513 meters Centerline goodness [0,1] 0.9998287817823817 Centerline is valid? [True, True] Translation: X:315.57, Y:18.64, Z:-0.20 [[ 9.99421659e-01 -3.38709930e-02 3.01726006e-03 3.15571027e+02] [ 3.38706077e-02 9.99426210e-01 1.78731253e-04 1.86421074e+01] [-3.02158259e-03 -7.64314535e-05 9.99995432e-01 -2.04292107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.501400513 meters Centerline goodness [0,1] 0.9998494008304468 Centerline is valid? [True, True] Translation: X:315.60, Y:18.65, Z:-0.20 [[ 9.99548676e-01 -2.97633019e-02 4.07311126e-03 3.15601774e+02] [ 2.97625657e-02 9.99556968e-01 2.41272549e-04 1.86460456e+01] [-4.07848781e-03 -1.19937416e-04 9.99991676e-01 -2.03017624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.531400513 meters Centerline goodness [0,1] 0.999914564599842 Centerline is valid? [True, True] Translation: X:315.63, Y:18.66, Z:-0.20 [[ 9.99776256e-01 -2.03327148e-02 5.83255825e-03 3.15630762e+02] [ 2.03310455e-02 9.99793243e-01 3.45370578e-04 1.86606638e+01] [-5.83837465e-03 -2.26711297e-04 9.99982931e-01 -1.99682323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.561400513 meters Centerline goodness [0,1] 0.9996990606392812 Centerline is valid? [True, True] Translation: X:315.66, Y:18.67, Z:-0.20 [[ 9.99856964e-01 -1.57720544e-02 6.10692007e-03 3.15661464e+02] [ 1.57701392e-02 9.99875578e-01 3.61639158e-04 1.86652381e+01] [-6.11186403e-03 -2.65280451e-04 9.99981287e-01 -1.99880998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.591400513 meters Centerline goodness [0,1] 0.9996763265218048 Centerline is valid? [True, True] Translation: X:315.69, Y:18.67, Z:-0.20 [[ 9.99917430e-01 -1.14384934e-02 5.85616935e-03 3.15691525e+02] [ 1.14366582e-02 9.99934539e-01 3.46776993e-04 1.86690155e+01] [-5.85975260e-03 -2.79773353e-04 9.99982792e-01 -2.00236288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.621400513 meters Centerline goodness [0,1] 0.9997184745652598 Centerline is valid? [True, True] Translation: X:315.72, Y:18.67, Z:-0.20 [[ 9.99950281e-01 -7.90378237e-03 6.07991628e-03 3.15721625e+02] [ 7.90173912e-03 9.99968716e-01 3.60013721e-04 1.86696928e+01] [-6.08257155e-03 -3.11953909e-04 9.99981452e-01 -2.00648200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.651400513 meters Centerline goodness [0,1] 0.9941036471622462 Centerline is valid? [True, True] Translation: X:315.75, Y:18.68, Z:-0.20 [[ 9.99983203e-01 -1.97402560e-04 5.79264539e-03 3.15751296e+02] [ 1.95418977e-04 9.99999922e-01 3.42995342e-04 1.86766408e+01] [-5.79271264e-03 -3.41857588e-04 9.99983164e-01 -2.01404193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.681400513 meters Centerline goodness [0,1] 0.998894860015602 Centerline is valid? [True, True] Translation: X:315.78, Y:18.67, Z:-0.20 [[ 9.99976602e-01 3.93180797e-03 5.59784673e-03 3.15782581e+02] [-3.93372403e-03 9.99992208e-01 3.31316367e-04 1.86742326e+01] [-5.59650044e-03 -3.53328999e-04 9.99984277e-01 -2.02933006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.711400513 meters Centerline goodness [0,1] 0.7861937337822479 Centerline is valid? [True, False] Translation: X:315.78, Y:18.68, Z:-0.20 [[ 9.99975836e-01 4.10163967e-03 5.61292537e-03 3.15782790e+02] [-4.10300720e-03 9.99991556e-01 2.32146086e-04 1.86751731e+01] [-5.61192580e-03 -2.55170349e-04 9.99984220e-01 -2.03415788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.741400513 meters Centerline goodness [0,1] 0.769129006102505 Centerline is valid? [False, False] Translation: X:315.78, Y:18.68, Z:-0.20 [[ 9.99975678e-01 4.15642435e-03 5.60066362e-03 3.15782890e+02] [-4.15677762e-03 9.99991359e-01 5.14368723e-05 1.86762692e+01] [-5.60040143e-03 -7.47163345e-05 9.99984315e-01 -2.03563007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.771400513 meters Centerline goodness [0,1] 0.769129006102505 Centerline is valid? [False, False] Translation: X:315.78, Y:18.68, Z:-0.20 [[ 9.99975678e-01 4.15642435e-03 5.60066362e-03 3.15782890e+02] [-4.15677762e-03 9.99991359e-01 5.14368723e-05 1.86762692e+01] [-5.60040143e-03 -7.47163345e-05 9.99984315e-01 -2.03563007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.801400513 meters Centerline goodness [0,1] 0.7648144967365167 Centerline is valid? [False, False] Translation: X:315.78, Y:18.68, Z:-0.20 [[ 9.99976409e-01 4.04291268e-03 5.55298798e-03 3.15782663e+02] [-4.04167068e-03 9.99991805e-01 -2.34867272e-04 1.86774707e+01] [-5.55389202e-03 2.12418383e-04 9.99984554e-01 -2.02940254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.831400513 meters Centerline goodness [0,1] 0.9722264150943396 Centerline is valid? [False, True] Translation: X:315.78, Y:18.68, Z:-0.20 [[ 9.99977128e-01 4.08792878e-03 5.38823547e-03 3.15783294e+02] [-4.08755204e-03 9.99991643e-01 -8.09308442e-05 1.86768407e+01] [-5.38852127e-03 5.89043003e-05 9.99985480e-01 -2.03080869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.861400513 meters Centerline goodness [0,1] 0.9140934707609232 Centerline is valid? [True, False] Translation: X:315.78, Y:18.67, Z:-0.20 [[ 9.99977804e-01 4.25230338e-03 5.12917656e-03 3.15784600e+02] [-4.25450411e-03 9.99990862e-01 4.18226425e-04 1.86747674e+01] [-5.12735127e-03 -4.40039245e-04 9.99986758e-01 -2.03921753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.891400513 meters Centerline goodness [0,1] 0.9905106970324362 Centerline is valid? [False, True] Translation: X:315.79, Y:18.67, Z:-0.20 [[ 9.99977340e-01 4.43372395e-03 5.06562754e-03 3.15785395e+02] [-4.43894238e-03 9.99989628e-01 1.01938729e-03 1.86721258e+01] [-5.06105532e-03 -1.04185022e-03 9.99986650e-01 -2.04943584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.921400513 meters Centerline goodness [0,1] 0.9898836187495982 Centerline is valid? [True, True] Translation: X:315.81, Y:18.67, Z:-0.21 [[ 9.99982546e-01 -3.28252273e-04 5.89917670e-03 3.15814995e+02] [ 3.26222530e-04 9.99999887e-01 3.45031149e-04 1.86724291e+01] [-5.89928929e-03 -3.43100682e-04 9.99982540e-01 -2.05490564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.951400513 meters Centerline goodness [0,1] 0.9941620879120879 Centerline is valid? [True, True] Translation: X:315.84, Y:18.67, Z:-0.21 [[ 9.99977376e-01 -3.05882172e-03 5.99083851e-03 3.15844537e+02] [ 3.05677715e-03 9.99995267e-01 3.50410150e-04 1.86728486e+01] [-5.99188199e-03 -3.32089565e-04 9.99981993e-01 -2.05651727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.981400513 meters Centerline goodness [0,1] 0.999506353021978 Centerline is valid? [True, True] Translation: X:315.88, Y:18.67, Z:-0.21 [[ 9.99967259e-01 -5.76867826e-03 5.67476735e-03 3.15875954e+02] [ 5.76688760e-03 9.99983316e-01 3.31860696e-04 1.86692334e+01] [-5.67658707e-03 -2.99124085e-04 9.99983843e-01 -2.05770017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.011400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:315.91, Y:18.66, Z:-0.21 [[ 9.99917493e-01 -1.20369848e-02 4.48539152e-03 3.15907026e+02] [ 1.20359292e-02 9.99927531e-01 2.62260527e-04 1.86624760e+01] [-4.48822329e-03 -2.08253034e-04 9.99989906e-01 -2.05984347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.041400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:315.94, Y:18.66, Z:-0.21 [[ 9.99869056e-01 -1.56525104e-02 4.10722270e-03 3.15938076e+02] [ 1.56516559e-02 9.99877476e-01 2.40122386e-04 1.86588965e+01] [-4.11047798e-03 -1.75806108e-04 9.99991536e-01 -2.06168452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.071400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:315.97, Y:18.66, Z:-0.21 [[ 9.99801718e-01 -1.94877407e-02 4.09297602e-03 3.15967309e+02] [ 1.94869240e-02 9.99810083e-01 2.39334673e-04 1.86616337e+01] [-4.09686278e-03 -1.59527705e-04 9.99991595e-01 -2.05425285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.101400513 meters Centerline goodness [0,1] 0.9998499174546001 Centerline is valid? [True, True] Translation: X:316.00, Y:18.65, Z:-0.21 [[ 9.99723581e-01 -2.31347572e-02 4.18856324e-03 3.15998698e+02] [ 2.31339340e-02 9.99732345e-01 2.44881048e-04 1.86544482e+01] [-4.19310741e-03 -1.47915412e-04 9.99991198e-01 -2.05690764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.131400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.03, Y:18.65, Z:-0.21 [[ 9.99642278e-01 -2.63665644e-02 4.48565319e-03 3.16029444e+02] [ 2.63656528e-02 9.99652331e-01 2.62247373e-04 1.86505165e+01] [-4.49100823e-03 -1.43886387e-04 9.99989905e-01 -2.05876594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.161400513 meters Centerline goodness [0,1] 0.9997215081405313 Centerline is valid? [True, True] Translation: X:316.06, Y:18.65, Z:-0.20 [[ 9.99552947e-01 -2.94138999e-02 5.35982121e-03 3.16060296e+02] [ 2.94126428e-02 9.99567306e-01 3.13234143e-04 1.86523069e+01] [-5.36671549e-03 -1.55447604e-04 9.99985587e-01 -2.04932829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.191400513 meters Centerline goodness [0,1] 0.9998280531315823 Centerline is valid? [True, True] Translation: X:316.09, Y:18.65, Z:-0.20 [[ 9.99422251e-01 -3.32638960e-02 6.97695530e-03 3.16092095e+02] [ 3.32618607e-02 9.99446588e-01 4.07577956e-04 1.86452305e+01] [-6.98665180e-03 -1.75275962e-04 9.99975578e-01 -2.04385287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.221400513 meters Centerline goodness [0,1] 0.9999356043531458 Centerline is valid? [True, True] Translation: X:316.12, Y:18.64, Z:-0.20 [[ 9.99375762e-01 -3.47035341e-02 6.61450068e-03 3.16124871e+02] [ 3.47017388e-02 9.99397639e-01 3.86023172e-04 1.86433064e+01] [-6.62391273e-03 -1.56247526e-04 9.99978049e-01 -2.03989791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.251400513 meters Centerline goodness [0,1] 0.9998061932038417 Centerline is valid? [True, True] Translation: X:316.16, Y:18.65, Z:-0.20 [[ 9.99343251e-01 -3.56385413e-02 6.55452455e-03 3.16155731e+02] [ 3.56368049e-02 9.99364734e-01 3.81551531e-04 1.86466177e+01] [-6.56395863e-03 -1.47718634e-04 9.99978446e-01 -2.04291380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.281400513 meters Centerline goodness [0,1] 0.9997003873563465 Centerline is valid? [True, True] Translation: X:316.19, Y:18.65, Z:-0.20 [[ 9.99311607e-01 -3.66686517e-02 5.63231377e-03 3.16187890e+02] [ 3.66673909e-02 9.99327472e-01 3.26984073e-04 1.86464631e+01] [-5.64051595e-03 -1.20236728e-04 9.99984085e-01 -2.04642474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.311400513 meters Centerline goodness [0,1] 0.9999570566637322 Centerline is valid? [True, True] Translation: X:316.22, Y:18.65, Z:-0.21 [[ 9.99271422e-01 -3.79997601e-02 3.55583085e-03 3.16220093e+02] [ 3.79992680e-02 9.99277746e-01 2.05871935e-04 1.86455638e+01] [-3.56108572e-03 -7.06029720e-05 9.99993657e-01 -2.05499003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.341400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.25, Y:18.65, Z:-0.21 [[ 9.99247695e-01 -3.86513831e-02 3.18026417e-03 3.16252437e+02] [ 3.86509944e-02 9.99252754e-01 1.83616290e-04 1.86461251e+01] [-3.18498476e-03 -6.05577822e-05 9.99994926e-01 -2.06196382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.371400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.28, Y:18.65, Z:-0.21 [[ 9.99225750e-01 -3.92248611e-02 3.05122587e-03 3.16284385e+02] [ 3.92245075e-02 9.99230407e-01 1.75668277e-04 1.86465401e+01] [-3.05576823e-03 -5.58494339e-05 9.99995330e-01 -2.06659360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.401400513 meters Centerline goodness [0,1] 0.9999138525155066 Centerline is valid? [True, True] Translation: X:316.32, Y:18.65, Z:-0.21 [[ 9.99175278e-01 -4.04336792e-02 3.72574675e-03 3.16316587e+02] [ 4.04331627e-02 9.99182222e-01 2.13878090e-04 1.86478766e+01] [-3.73134780e-03 -6.30579754e-05 9.99993037e-01 -2.06463780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.431400513 meters Centerline goodness [0,1] 0.9998281307065976 Centerline is valid? [True, True] Translation: X:316.35, Y:18.65, Z:-0.21 [[ 9.99149285e-01 -4.10598207e-02 3.84663163e-03 3.16348023e+02] [ 4.10592771e-02 9.99156688e-01 2.20225182e-04 1.86502418e+01] [-3.85243013e-03 -6.20979189e-05 9.99992577e-01 -2.06795993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.461400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.38, Y:18.65, Z:-0.21 [[ 9.99132508e-01 -4.15161967e-02 3.26130593e-03 3.16379051e+02] [ 4.15158100e-02 9.99137830e-01 1.86227096e-04 1.86524262e+01] [-3.26622557e-03 -5.06697878e-05 9.99994665e-01 -2.06640463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.491400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.41, Y:18.65, Z:-0.21 [[ 9.99104222e-01 -4.22447841e-02 2.47618315e-03 3.16411640e+02] [ 4.22445643e-02 9.99107290e-01 1.41004214e-04 1.86533276e+01] [-2.47992932e-03 -3.62726277e-05 9.99996924e-01 -2.07155377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.521400513 meters Centerline goodness [0,1] 0.999978584889498 Centerline is valid? [True, True] Translation: X:316.44, Y:18.65, Z:-0.21 [[ 9.99021973e-01 -4.42008062e-02 1.17725736e-03 3.16444350e+02] [ 4.42007581e-02 9.99022667e-01 6.68654726e-05 1.86526997e+01] [-1.17906230e-03 -1.47644084e-05 9.99999305e-01 -2.08901341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.551400513 meters Centerline goodness [0,1] 0.9999358823655132 Centerline is valid? [True, True] Translation: X:316.48, Y:18.65, Z:-0.21 [[ 9.98971865e-01 -4.53246781e-02 9.41084157e-04 3.16475286e+02] [ 4.53246480e-02 9.98972309e-01 5.33140624e-05 1.86541912e+01] [-9.42533456e-04 -1.06049403e-05 9.99999556e-01 -2.09195972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.581400513 meters Centerline goodness [0,1] 0.9998497434906733 Centerline is valid? [True, True] Translation: X:316.51, Y:18.65, Z:-0.21 [[ 9.98902884e-01 -4.68073001e-02 1.45098802e-03 3.16508103e+02] [ 4.68072304e-02 9.98903938e-01 8.19510109e-05 1.86529882e+01] [-1.45323356e-03 -1.39443704e-05 9.99998944e-01 -2.08974991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.611400513 meters Centerline goodness [0,1] 0.9999140819658047 Centerline is valid? [True, True] Translation: X:316.54, Y:18.65, Z:-0.21 [[ 9.98832303e-01 -4.82812594e-02 1.71760734e-03 3.16540347e+02] [ 4.82811644e-02 9.98833780e-01 9.67255463e-05 1.86529305e+01] [-1.72027426e-03 -1.36845178e-05 9.99998520e-01 -2.07329143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.641400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.57, Y:18.65, Z:-0.21 [[ 9.98734578e-01 -5.02162651e-02 2.75138221e-03 3.16572485e+02] [ 5.02160301e-02 9.98738367e-01 1.54473660e-04 1.86510874e+01] [-2.75566807e-03 -1.61146936e-05 9.99996203e-01 -2.06467323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.671400513 meters Centerline goodness [0,1] 0.9997862380026079 Centerline is valid? [True, True] Translation: X:316.60, Y:18.65, Z:-0.21 [[ 9.98725519e-01 -5.03226549e-02 3.86894467e-03 3.16604826e+02] [ 5.03221937e-02 9.98733012e-01 2.16536062e-04 1.86520472e+01] [-3.87493943e-03 -2.15663074e-05 9.99992492e-01 -2.06321807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.701400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.64, Y:18.65, Z:-0.21 [[ 9.98753484e-01 -4.97219206e-02 4.38271198e-03 3.16638016e+02] [ 4.97213265e-02 9.98763100e-01 2.44474049e-04 1.86521788e+01] [-4.38944672e-03 -2.62550546e-05 9.99990366e-01 -2.05421409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.731400513 meters Centerline goodness [0,1] 0.9998498240796362 Centerline is valid? [True, True] Translation: X:316.67, Y:18.65, Z:-0.21 [[ 9.98756917e-01 -4.95461459e-02 5.45899622e-03 3.16670801e+02] [ 4.95452272e-02 9.98771835e-01 3.03484577e-04 1.86529953e+01] [-5.46732816e-03 -3.26401120e-05 9.99985054e-01 -2.05066107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.761400513 meters Centerline goodness [0,1] 0.9999573433434288 Centerline is valid? [True, True] Translation: X:316.70, Y:18.65, Z:-0.20 [[ 9.98742391e-01 -4.98563861e-02 5.28930428e-03 3.16703424e+02] [ 4.98555329e-02 9.98756397e-01 2.93130837e-04 1.86533942e+01] [-5.29734093e-03 -2.90611100e-05 9.99985969e-01 -2.03650422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.791400513 meters Centerline goodness [0,1] 0.9999140542747255 Centerline is valid? [True, True] Translation: X:316.74, Y:18.65, Z:-0.21 [[ 9.98744833e-01 -4.98139511e-02 5.22775380e-03 3.16736513e+02] [ 4.98131221e-02 9.98758514e-01 2.88743210e-04 1.86531861e+01] [-5.23564706e-03 -2.79700507e-05 9.99986294e-01 -2.05559420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.821400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.77, Y:18.65, Z:-0.21 [[ 9.98754033e-01 -4.96950348e-02 4.55900599e-03 3.16769402e+02] [ 4.96944069e-02 9.98764438e-01 2.50958128e-04 1.86538616e+01] [-4.56584443e-03 -2.40883440e-05 9.99989576e-01 -2.05982126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.851400513 meters Centerline goodness [0,1] 0.9998504241543623 Centerline is valid? [True, True] Translation: X:316.80, Y:18.66, Z:-0.21 [[ 9.98754015e-01 -4.97221419e-02 4.25746898e-03 3.16801275e+02] [ 4.97215978e-02 9.98763089e-01 2.33615537e-04 1.86552486e+01] [-4.26381874e-03 -2.16362957e-05 9.99990910e-01 -2.07300642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.881400513 meters Centerline goodness [0,1] 0.9998070615473664 Centerline is valid? [True, True] Translation: X:316.83, Y:18.66, Z:-0.21 [[ 9.98707618e-01 -5.07293080e-02 3.10338130e-03 3.16832470e+02] [ 5.07290252e-02 9.98712440e-01 1.69835079e-04 1.86557886e+01] [-3.10800112e-03 -1.21840791e-05 9.99995170e-01 -2.07981181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.911400513 meters Centerline goodness [0,1] 0.9998285506097169 Centerline is valid? [True, True] Translation: X:316.87, Y:18.66, Z:-0.21 [[ 9.98659001e-01 -5.17017729e-02 2.66950991e-03 3.16865837e+02] [ 5.17015683e-02 9.98662569e-01 1.45615283e-04 1.86558540e+01] [-2.67346820e-03 -7.40216344e-06 9.99996426e-01 -2.07989567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.941400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.90, Y:18.66, Z:-0.21 [[ 9.98590028e-01 -5.30429599e-02 2.09785627e-03 3.16899009e+02] [ 5.30428374e-02 9.98592231e-01 1.14057394e-04 1.86550141e+01] [-2.10095292e-03 -2.62032772e-06 9.99997793e-01 -2.08173587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.971400513 meters Centerline goodness [0,1] 0.9998485176368751 Centerline is valid? [True, True] Translation: X:316.93, Y:18.65, Z:-0.21 [[ 9.98346103e-01 -5.74467975e-02 2.21880796e-03 3.16932712e+02] [ 5.74466722e-02 9.98348569e-01 1.20224704e-04 1.86505403e+01] [-2.22205027e-03 7.43726905e-06 9.99997531e-01 -2.09804984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.001400513 meters Centerline goodness [0,1] 0.9998064349621473 Centerline is valid? [True, True] Translation: X:316.96, Y:18.65, Z:-0.21 [[ 9.98179669e-01 -6.02694645e-02 2.22275073e-03 3.16963797e+02] [ 6.02693464e-02 9.98182143e-01 1.20101262e-04 1.86486622e+01] [-2.22594853e-03 1.40810959e-05 9.99997522e-01 -2.10020940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.031400513 meters Centerline goodness [0,1] 0.9998280346510178 Centerline is valid? [True, True] Translation: X:317.00, Y:18.65, Z:-0.21 [[ 9.97991540e-01 -6.33303317e-02 1.46820410e-03 3.16995996e+02] [ 6.33302839e-02 9.97992620e-01 7.91114587e-05 1.86459625e+01] [-1.47026701e-03 1.40292158e-05 9.99998919e-01 -2.11173103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.061400513 meters Centerline goodness [0,1] 0.9999784825924173 Centerline is valid? [True, True] Translation: X:317.03, Y:18.64, Z:-0.21 [[ 9.97779377e-01 -6.66030105e-02 5.94856616e-04 3.17028410e+02] [ 6.66030033e-02 9.97779554e-01 3.19795077e-05 1.86427386e+01] [-5.95665700e-04 7.71074384e-06 9.99999823e-01 -2.11307759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.091400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:317.06, Y:18.64, Z:-0.21 [[ 9.97382982e-01 -7.22930099e-02 9.53056740e-04 3.17058499e+02] [ 7.22929939e-02 9.97383437e-01 5.11786099e-05 1.86358703e+01] [-9.54262863e-04 1.78546506e-05 9.99999545e-01 -2.08956318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.121400513 meters Centerline goodness [0,1] 0.9999358014123689 Centerline is valid? [True, True] Translation: X:317.09, Y:18.63, Z:-0.21 [[ 9.97223809e-01 -7.44441039e-02 1.65809716e-03 3.17090192e+02] [ 7.44440589e-02 9.97225187e-01 8.89265108e-05 1.86340284e+01] [-1.66011630e-03 3.47558486e-05 9.99998621e-01 -2.07651776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.151400513 meters Centerline goodness [0,1] 0.9998715753424657 Centerline is valid? [True, True] Translation: X:317.12, Y:18.63, Z:-0.21 [[ 9.97066151e-01 -7.65258454e-02 1.69847357e-03 3.17122028e+02] [ 7.65258014e-02 9.97067597e-01 9.09586330e-05 1.86323569e+01] [-1.70045365e-03 3.92852771e-05 9.99998553e-01 -2.07429625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.181400513 meters Centerline goodness [0,1] 0.9998709066655191 Centerline is valid? [True, True] Translation: X:317.15, Y:18.63, Z:-0.21 [[ 9.96952752e-01 -7.79964834e-02 1.32612168e-03 3.17154469e+02] [ 7.79964582e-02 9.96953634e-01 7.08268754e-05 1.86330146e+01] [-1.32760607e-03 3.28217455e-05 9.99999118e-01 -2.09525789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.211400513 meters Centerline goodness [0,1] 0.9999138506601193 Centerline is valid? [True, True] Translation: X:317.19, Y:18.62, Z:-0.21 [[ 9.96808732e-01 -7.98195192e-02 1.09359524e-03 3.17186239e+02] [ 7.98195033e-02 9.96809332e-01 5.82485662e-05 1.86246636e+01] [-1.09475531e-03 2.92275492e-05 9.99999400e-01 -2.10929150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.241400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:317.22, Y:18.63, Z:-0.21 [[ 9.96776112e-01 -8.02202001e-02 1.44964379e-03 3.17218239e+02] [ 8.02201730e-02 9.96777166e-01 7.69733717e-05 1.86270485e+01] [-1.45114665e-03 3.95654573e-05 9.99998946e-01 -2.10051027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.271400513 meters Centerline goodness [0,1] 0.9997868848965327 Centerline is valid? [True, True] Translation: X:317.25, Y:18.63, Z:-0.21 [[ 9.96740641e-01 -8.06504100e-02 1.89883171e-03 3.17250927e+02] [ 8.06503647e-02 9.96742448e-01 1.00513588e-04 1.86270701e+01] [-1.90075263e-03 5.29554918e-05 9.99998192e-01 -2.09456446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.301400513 meters Centerline goodness [0,1] 0.9997430681939835 Centerline is valid? [True, True] Translation: X:317.28, Y:18.62, Z:-0.21 [[ 9.96695571e-01 -8.12161522e-02 1.36923706e-03 3.17281982e+02] [ 8.12161295e-02 9.96696511e-01 7.23122635e-05 1.86233987e+01] [-1.37058673e-03 3.91308219e-05 9.99999060e-01 -2.09059374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.331400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:317.31, Y:18.62, Z:-0.21 [[ 9.96506696e-01 -8.34969533e-02 1.63186793e-03 3.17314311e+02] [ 8.34969241e-02 9.96508031e-01 8.60847501e-05 1.86213518e+01] [-1.63335732e-03 5.04719232e-05 9.99998665e-01 -2.09590700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.361400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:317.35, Y:18.62, Z:-0.21 [[ 9.96401997e-01 -8.47324422e-02 1.86355262e-03 3.17345277e+02] [ 8.47324065e-02 9.96403738e-01 9.82576504e-05 1.86164967e+01] [-1.86517641e-03 5.99991791e-05 9.99998259e-01 -2.09152748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.391400513 meters Centerline goodness [0,1] 0.9996788764959004 Centerline is valid? [True, True] Translation: X:317.38, Y:18.62, Z:-0.21 [[ 9.96293409e-01 -8.59864428e-02 2.40320570e-03 3.17377747e+02] [ 8.59863878e-02 9.96296304e-01 1.26356671e-04 1.86192049e+01] [-2.40516992e-03 8.07546592e-05 9.99997104e-01 -2.09450575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.421400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:317.41, Y:18.62, Z:-0.21 [[ 9.96213633e-01 -8.69161723e-02 1.99434249e-03 3.17409189e+02] [ 8.69161369e-02 9.96215626e-01 1.04566583e-04 1.86186762e+01] [-1.99588368e-03 6.91698890e-05 9.99998006e-01 -2.08630755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.451400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:317.44, Y:18.62, Z:-0.21 [[ 9.96112642e-01 -8.80581662e-02 2.31578804e-03 3.17441790e+02] [ 8.80581225e-02 9.96115331e-01 1.21052711e-04 1.86165062e+01] [-2.31745165e-03 8.33418112e-05 9.99997311e-01 -2.08954856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.481400513 meters Centerline goodness [0,1] 0.9999784445594068 Centerline is valid? [True, True] Translation: X:317.47, Y:18.61, Z:-0.21 [[ 9.96096323e-01 -8.82274376e-02 2.83447920e-03 3.17472739e+02] [ 8.82273737e-02 9.96100351e-01 1.47797485e-04 1.86147467e+01] [-2.83646552e-03 1.02858124e-04 9.99995972e-01 -2.08759192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.511400513 meters Centerline goodness [0,1] 0.9996579808041727 Centerline is valid? [True, True] Translation: X:317.51, Y:18.61, Z:-0.21 [[ 9.96097529e-01 -8.81863298e-02 3.58951460e-03 3.17506085e+02] [ 8.81862295e-02 9.96103988e-01 1.86520782e-04 1.86146027e+01] [-3.59197839e-03 1.30752868e-04 9.99993540e-01 -2.08488799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.541400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:317.54, Y:18.61, Z:-0.21 [[ 9.96123190e-01 -8.79132968e-02 3.13718323e-03 3.17537993e+02] [ 8.79132204e-02 9.96128124e-01 1.62520224e-04 1.86145070e+01] [-3.13932414e-03 1.13909717e-04 9.99995066e-01 -2.07060986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.571400513 meters Centerline goodness [0,1] 0.9997406190558533 Centerline is valid? [True, True] Translation: X:317.57, Y:18.61, Z:-0.21 [[ 9.96178185e-01 -8.73273470e-02 1.72002841e-03 3.17569569e+02] [ 8.73273236e-02 9.96179668e-01 8.88671444e-05 1.86116774e+01] [-1.72121786e-03 6.16779671e-05 9.99998517e-01 -2.08583200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.601400513 meters Centerline goodness [0,1] 0.9999785287928887 Centerline is valid? [True, True] Translation: X:317.60, Y:18.62, Z:-0.21 [[ 9.96263139e-01 -8.63619978e-02 1.16771546e-03 3.17601348e+02] [ 8.63619866e-02 9.96263822e-01 6.01588940e-05 1.86169509e+01] [-1.16854811e-03 4.09121383e-05 9.99999316e-01 -2.10800226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.631400513 meters Centerline goodness [0,1] 0.9999572348023179 Centerline is valid? [True, True] Translation: X:317.63, Y:18.61, Z:-0.21 [[ 9.96324113e-01 -8.56600797e-02 7.83070068e-04 3.17632660e+02] [ 8.56600745e-02 9.96324420e-01 4.02363936e-05 1.86139907e+01] [-7.83638484e-04 2.69893512e-05 9.99999693e-01 -2.13109619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.661400513 meters Centerline goodness [0,1] 0.9999572348023179 Centerline is valid? [True, True] Translation: X:317.67, Y:18.62, Z:-0.21 [[ 9.96339264e-01 -8.54836729e-02 7.83076827e-04 3.17665299e+02] [ 8.54836678e-02 9.96339571e-01 4.01045761e-05 1.86155558e+01] [-7.83638717e-04 2.69825155e-05 9.99999693e-01 -2.13117002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.691400513 meters Centerline goodness [0,1] 0.9996558029471873 Centerline is valid? [True, True] Translation: X:317.70, Y:18.62, Z:-0.21 [[ 9.96352566e-01 -8.53309257e-02 4.44095607e-04 3.17698488e+02] [ 8.53309240e-02 9.96352665e-01 2.26814081e-05 1.86187312e+01] [-4.44411267e-04 1.52964094e-05 9.99999901e-01 -2.14187398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.721400513 meters Centerline goodness [0,1] 0.9995490465555746 Centerline is valid? [True, True] Translation: X:317.73, Y:18.62, Z:-0.21 [[ 9.96350840e-01 -8.53507903e-02 4.95859786e-04 3.17731601e+02] [ 8.53507883e-02 9.96350963e-01 2.52298159e-05 1.86193452e+01] [-4.96203760e-04 1.71842753e-05 9.99999877e-01 -2.11389967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.751400513 meters Centerline goodness [0,1] 0.9999784876841992 Centerline is valid? [True, True] Translation: X:317.76, Y:18.62, Z:-0.21 [[ 9.96374641e-01 -8.50720919e-02 5.60389559e-04 3.17764661e+02] [ 8.50720894e-02 9.96374798e-01 2.84053322e-05 1.86201611e+01] [-5.60774535e-04 1.93711580e-05 9.99999843e-01 -2.10328450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.781400513 meters Centerline goodness [0,1] 0.9997642772956177 Centerline is valid? [True, True] Translation: X:317.80, Y:18.62, Z:-0.21 [[ 9.96401432e-01 -8.47518696e-02 1.14355621e-03 3.17796566e+02] [ 8.47518591e-02 9.96402087e-01 5.77450201e-05 1.86182760e+01] [-1.14433580e-03 3.93812944e-05 9.99999344e-01 -2.11652357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.811400513 meters Centerline goodness [0,1] 0.9998281122427055 Centerline is valid? [True, True] Translation: X:317.83, Y:18.62, Z:-0.21 [[ 9.96459602e-01 -8.40688952e-02 8.26374630e-04 3.17828964e+02] [ 8.40688895e-02 9.96459944e-01 4.16095784e-05 1.86201523e+01] [-8.26947289e-04 2.80101336e-05 9.99999658e-01 -2.12213503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.841400513 meters Centerline goodness [0,1] 0.9998718715298539 Centerline is valid? [True, True] Translation: X:317.86, Y:18.63, Z:-0.21 [[ 9.96741868e-01 -8.06564148e-02 4.38057509e-04 3.17859123e+02] [ 8.06564129e-02 9.96741964e-01 2.20380754e-05 1.86288542e+01] [-4.38407814e-04 1.33658749e-05 9.99999904e-01 -2.10418739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.871400513 meters Centerline goodness [0,1] 0.9998061556354865 Centerline is valid? [True, True] Translation: X:317.89, Y:18.64, Z:-0.21 [[ 9.96973791e-01 -7.77357325e-02 6.44210978e-04 3.17890100e+02] [ 7.77357278e-02 9.96973999e-01 3.23997650e-05 1.86356333e+01] [-6.44780214e-04 1.77764926e-05 9.99999792e-01 -2.09657380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.901400513 meters Centerline goodness [0,1] 0.9997859955487074 Centerline is valid? [True, True] Translation: X:317.92, Y:18.64, Z:-0.21 [[ 9.97251881e-01 -7.40745949e-02 1.28090240e-03 3.17921477e+02] [ 7.40745732e-02 9.97252703e-01 6.43747455e-05 1.86412471e+01] [-1.28215192e-03 3.06844630e-05 9.99999178e-01 -2.09106983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.931400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:317.95, Y:18.64, Z:-0.21 [[ 9.97549993e-01 -6.99346037e-02 1.77812865e-03 3.17952405e+02] [ 6.99345556e-02 9.97551578e-01 8.93000223e-05 1.86438634e+01] [-1.78002020e-03 3.52714005e-05 9.99998415e-01 -2.08524997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.961400513 meters Centerline goodness [0,1] 0.9999784696206347 Centerline is valid? [True, True] Translation: X:317.98, Y:18.66, Z:-0.21 [[ 9.98089039e-01 -6.17357501e-02 2.63969605e-03 3.17982650e+02] [ 6.17356154e-02 9.98092529e-01 1.32529753e-04 1.86571457e+01] [-2.64284273e-03 3.06867661e-05 9.99996507e-01 -2.08221055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.991400513 meters Centerline goodness [0,1] 0.9999355393210142 Centerline is valid? [True, True] Translation: X:318.01, Y:18.67, Z:-0.21 [[ 9.98356312e-01 -5.72497701e-02 2.67182846e-03 3.18013449e+02] [ 5.72496171e-02 9.98359887e-01 1.33775903e-04 1.86651235e+01] [-2.67510500e-03 1.94051392e-05 9.99996422e-01 -2.07293154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.021400513 meters Centerline goodness [0,1] 0.9997218180261919 Centerline is valid? [True, True] Translation: X:318.05, Y:18.67, Z:-0.21 [[ 9.98596099e-01 -5.28921691e-02 2.87234722e-03 3.18045141e+02] [ 5.28919755e-02 9.98600230e-01 1.43360783e-04 1.86737664e+01] [-2.87590926e-03 8.76460081e-06 9.99995865e-01 -2.07672792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.051400513 meters Centerline goodness [0,1] 0.9999354574987629 Centerline is valid? [True, True] Translation: X:318.08, Y:18.68, Z:-0.21 [[ 9.98828536e-01 -4.83315270e-02 2.37067134e-03 3.18078064e+02] [ 4.83313833e-02 9.98831349e-01 1.17898729e-04 1.86815979e+01] [-2.37359907e-03 -3.18278956e-06 9.99997183e-01 -2.07366634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.081400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:318.11, Y:18.70, Z:-0.21 [[ 9.99253175e-01 -3.84748224e-02 3.57490964e-03 3.18108269e+02] [ 3.84744330e-02 9.99259569e-01 1.77648923e-04 1.86961820e+01] [-3.57909768e-03 -3.99736288e-05 9.99993594e-01 -2.05930965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.111400513 meters Centerline goodness [0,1] 0.9998059131784952 Centerline is valid? [True, True] Translation: X:318.14, Y:18.70, Z:-0.21 [[ 9.99422360e-01 -3.36600905e-02 4.68441589e-03 3.18139873e+02] [ 3.36593707e-02 9.99433336e-01 2.32433897e-04 1.87029470e+01] [-4.68958514e-03 -7.46251427e-05 9.99989001e-01 -2.05201540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.141400513 meters Centerline goodness [0,1] 0.9997650225364749 Centerline is valid? [True, True] Translation: X:318.17, Y:18.72, Z:-0.20 [[ 9.99558883e-01 -2.92363657e-02 5.22252332e-03 3.18169009e+02] [ 2.92354107e-02 9.99572520e-01 2.59114566e-04 1.87150498e+01] [-5.22786637e-03 -1.06317652e-04 9.99986329e-01 -2.03590636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.171400513 meters Centerline goodness [0,1] 0.999935683046051 Centerline is valid? [True, True] Translation: X:318.20, Y:18.72, Z:-0.20 [[ 9.99678131e-01 -2.49836654e-02 4.41023780e-03 3.18199889e+02] [ 2.49829433e-02 9.99687854e-01 2.18765492e-04 1.87204107e+01] [-4.41432673e-03 -1.08514357e-04 9.99990251e-01 -2.04995379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.201400513 meters Centerline goodness [0,1] 0.9999138209630507 Centerline is valid? [True, True] Translation: X:318.23, Y:18.73, Z:-0.21 [[ 9.99827140e-01 -1.82166568e-02 3.72064824e-03 3.18230494e+02] [ 1.82160961e-02 9.99834056e-01 1.84546541e-04 1.87306705e+01] [-3.72339265e-03 -1.16738955e-04 9.99993061e-01 -2.07560439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.231400513 meters Centerline goodness [0,1] 0.9999785669888762 Centerline is valid? [True, True] Translation: X:318.26, Y:18.74, Z:-0.21 [[ 9.99877163e-01 -1.51695945e-02 3.94227366e-03 3.18260361e+02] [ 1.51689415e-02 9.99884926e-01 1.95495807e-04 1.87412130e+01] [-3.94478560e-03 -1.35671674e-04 9.99992210e-01 -2.06015336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.261400513 meters Centerline goodness [0,1] 0.999764191390842 Centerline is valid? [True, True] Translation: X:318.29, Y:18.75, Z:-0.21 [[ 9.99936255e-01 -9.96145672e-03 5.31560511e-03 3.18290806e+02] [ 9.96019603e-03 9.99950361e-01 2.63588476e-04 1.87467008e+01] [-5.31796698e-03 -2.10627204e-04 9.99985837e-01 -2.05212154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.291400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:318.32, Y:18.75, Z:-0.21 [[ 9.99961292e-01 -7.47532851e-03 4.64045451e-03 3.18321213e+02] [ 7.47434124e-03 9.99972040e-01 2.30057972e-04 1.87519287e+01] [-4.64204452e-03 -1.95364727e-04 9.99989207e-01 -2.05167538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.321400513 meters Centerline goodness [0,1] 0.9998068296452104 Centerline is valid? [True, True] Translation: X:318.35, Y:18.75, Z:-0.21 [[ 9.99973663e-01 -5.81743945e-03 4.33955032e-03 3.18352809e+02] [ 5.81656113e-03 9.99983061e-01 2.14993003e-04 1.87547299e+01] [-4.34072752e-03 -1.89746081e-04 9.99990561e-01 -2.07425903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.351400513 meters Centerline goodness [0,1] 0.9999567118306567 Centerline is valid? [True, True] Translation: X:318.38, Y:18.76, Z:-0.21 [[ 9.99981518e-01 -4.85840512e-03 3.65505231e-03 3.18384794e+02] [ 4.85777626e-03 9.99988185e-01 1.80911712e-04 1.87567329e+01] [-3.65588807e-03 -1.63152942e-04 9.99993304e-01 -2.07392762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.381400513 meters Centerline goodness [0,1] 0.9997004578715393 Centerline is valid? [True, True] Translation: X:318.42, Y:18.77, Z:-0.21 [[ 9.99982596e-01 -4.38024974e-03 3.95242726e-03 3.18415286e+02] [ 4.37951122e-03 9.99990391e-01 1.95487112e-04 1.87708724e+01] [-3.95324556e-03 -1.78174010e-04 9.99992170e-01 -2.05815186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.411400513 meters Centerline goodness [0,1] 0.9999569281130206 Centerline is valid? [True, True] Translation: X:318.45, Y:18.77, Z:-0.21 [[ 9.99982900e-01 -4.45572012e-03 3.78757190e-03 3.18447934e+02] [ 4.45504312e-03 9.99990059e-01 1.87161580e-04 1.87672143e+01] [-3.78836819e-03 -1.70284583e-04 9.99992810e-01 -2.06767280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.441400513 meters Centerline goodness [0,1] 0.9994841039530534 Centerline is valid? [True, True] Translation: X:318.48, Y:18.77, Z:-0.21 [[ 9.99983098e-01 -4.58758954e-03 3.57184232e-03 3.18479954e+02] [ 4.58698889e-03 9.99989464e-01 1.76336319e-04 1.87682003e+01] [-3.57261365e-03 -1.59949338e-04 9.99993605e-01 -2.08124309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.471400513 meters Centerline goodness [0,1] 0.9997426770167689 Centerline is valid? [True, True] Translation: X:318.51, Y:18.77, Z:-0.21 [[ 9.99986072e-01 -4.42717972e-03 2.87315208e-03 3.18511431e+02] [ 4.42679131e-03 9.99990192e-01 1.41529643e-04 1.87734381e+01] [-2.87375047e-03 -1.28808827e-04 9.99995862e-01 -2.08608637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.501400513 meters Centerline goodness [0,1] 0.9998927245810895 Centerline is valid? [True, True] Translation: X:318.54, Y:18.77, Z:-0.21 [[ 9.99984722e-01 -4.54184647e-03 3.15080482e-03 3.18543355e+02] [ 4.54138045e-03 9.99989676e-01 1.55043698e-04 1.87744050e+01] [-3.15147647e-03 -1.40732325e-04 9.99995024e-01 -2.08498343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.531400513 meters Centerline goodness [0,1] 0.9999138023919836 Centerline is valid? [True, True] Translation: X:318.58, Y:18.77, Z:-0.21 [[ 9.99983189e-01 -4.58142292e-03 3.55424445e-03 3.18575260e+02] [ 4.58083077e-03 9.99989493e-01 1.74726208e-04 1.87724874e+01] [-3.55500760e-03 -1.58441878e-04 9.99993668e-01 -2.08394463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.561400513 meters Centerline goodness [0,1] 0.9997426880521486 Centerline is valid? [True, True] Translation: X:318.61, Y:18.78, Z:-0.21 [[ 9.99983765e-01 -4.28586345e-03 3.75508083e-03 3.18605649e+02] [ 4.28520092e-03 9.99990801e-01 1.84463312e-04 1.87823329e+01] [-3.75583687e-03 -1.68369042e-04 9.99992933e-01 -2.06997721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.591400513 meters Centerline goodness [0,1] 0.9987147906179715 Centerline is valid? [True, True] Translation: X:318.64, Y:18.79, Z:-0.21 [[ 9.99990842e-01 -3.29162880e-03 2.73519490e-03 3.18636436e+02] [ 3.29127382e-03 9.99994575e-01 1.34273402e-04 1.87880946e+01] [-2.73562204e-03 -1.25269897e-04 9.99996250e-01 -2.09027907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.621400513 meters Centerline goodness [0,1] 0.9999141943926035 Centerline is valid? [True, True] Translation: X:318.67, Y:18.78, Z:-0.21 [[ 9.99995853e-01 -2.26704068e-03 1.77635364e-03 3.18669205e+02] [ 2.26688948e-03 9.99997427e-01 8.71269160e-05 1.87825902e+01] [-1.77654659e-03 -8.30997573e-05 9.99998418e-01 -2.10041538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.651400513 meters Centerline goodness [0,1] 0.9997637964354735 Centerline is valid? [True, True] Translation: X:318.70, Y:18.78, Z:-0.21 [[ 9.99996391e-01 -1.27554324e-03 2.36457712e-03 3.18701556e+02] [ 1.27527282e-03 9.99999180e-01 1.15866388e-04 1.87847762e+01] [-2.36472298e-03 -1.12850489e-04 9.99997198e-01 -2.10906815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.681400513 meters Centerline goodness [0,1] 0.9999571091571949 Centerline is valid? [True, True] Translation: X:318.73, Y:18.78, Z:-0.21 [[ 9.99995934e-01 2.83814997e-04 2.83756465e-03 3.18733304e+02] [-2.84210473e-04 9.99999950e-01 1.38969385e-04 1.87841342e+01] [-2.83752506e-03 -1.39775285e-04 9.99995964e-01 -2.09620037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.711400513 meters Centerline goodness [0,1] 0.99138669866301 Centerline is valid? [True, True] Translation: X:318.76, Y:18.80, Z:-0.21 [[ 9.99978226e-01 4.21646148e-03 5.07622279e-03 3.18762593e+02] [-4.21777786e-03 9.99991074e-01 2.48645866e-04 1.87988687e+01] [-5.07512908e-03 -2.70050832e-04 9.99987085e-01 -2.06105103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.741400513 meters Centerline goodness [0,1] 0.9975328770943728 Centerline is valid? [True, True] Translation: X:318.79, Y:18.80, Z:-0.21 [[ 9.99958842e-01 6.92716510e-03 5.85900982e-03 3.18792804e+02] [-6.92896519e-03 9.99975953e-01 2.86992320e-04 1.87976800e+01] [-5.85688088e-03 -3.27577383e-04 9.99982795e-01 -2.05058082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.771400513 meters Centerline goodness [0,1] 0.9984805683958227 Centerline is valid? [True, True] Translation: X:318.82, Y:18.80, Z:-0.21 [[ 9.99931950e-01 9.83765557e-03 6.27024007e-03 3.18822999e+02] [-9.83977441e-03 9.99951541e-01 3.07159467e-04 1.87974047e+01] [-6.26691449e-03 -3.68836312e-04 9.99980295e-01 -2.05322903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.801400513 meters Centerline goodness [0,1] 0.9722150924024641 Centerline is valid? [True, True] Translation: X:318.85, Y:18.80, Z:-0.21 [[ 9.99873764e-01 1.49467913e-02 5.38974832e-03 3.18852364e+02] [-1.49484311e-02 9.99888231e-01 2.64080768e-04 1.88044816e+01] [-5.38519875e-03 -3.44615713e-04 9.99985440e-01 -2.06860124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.831400513 meters Centerline goodness [0,1] 0.8790560471976401 Centerline is valid? [True, False] Translation: X:318.85, Y:18.81, Z:-0.21 [[ 9.99873790e-01 1.49139412e-02 5.47532160e-03 3.18852027e+02] [-1.49148334e-02 9.99888760e-01 1.22133349e-04 1.88051129e+01] [-5.47289104e-03 -2.03781443e-04 9.99985003e-01 -2.06867955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.861400513 meters Centerline goodness [0,1] 0.9556239110327174 Centerline is valid? [False, True] Translation: X:318.85, Y:18.81, Z:-0.21 [[ 9.99873564e-01 1.48694054e-02 5.63523244e-03 3.18851334e+02] [-1.48698553e-02 9.99889437e-01 3.79511644e-05 1.88053564e+01] [-5.63404508e-03 -1.21741457e-04 9.99984121e-01 -2.06598549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.891400513 meters Centerline goodness [0,1] 0.783025325119781 Centerline is valid? [True, False] Translation: X:318.85, Y:18.81, Z:-0.21 [[ 9.99872780e-01 1.49037968e-02 5.68340570e-03 3.18851125e+02] [-1.49045028e-02 9.99888918e-01 8.18960308e-05 1.88051298e+01] [-5.68155382e-03 -1.66593948e-04 9.99983846e-01 -2.06501417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.921400513 meters Centerline goodness [0,1] 0.9284422240406563 Centerline is valid? [False, False] Translation: X:318.85, Y:18.80, Z:-0.21 [[ 9.99872072e-01 1.49657085e-02 5.64508299e-03 3.18851327e+02] [-1.49673970e-02 9.99887949e-01 2.56978418e-04 1.88043305e+01] [-5.64060459e-03 -3.41437741e-04 9.99984033e-01 -2.06650585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.951400513 meters Centerline goodness [0,1] 0.8946209432590756 Centerline is valid? [False, False] Translation: X:318.85, Y:18.80, Z:-0.21 [[ 9.99867005e-01 1.53943667e-02 5.38389009e-03 3.18853170e+02] [-1.54010413e-02 9.99880676e-01 1.20047256e-03 1.88004648e+01] [-5.36476715e-03 -1.28323041e-03 9.99984786e-01 -2.08403940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.981400513 meters Centerline goodness [0,1] 0.8398926082972875 Centerline is valid? [False, False] Translation: X:318.85, Y:18.80, Z:-0.21 [[ 9.99863574e-01 1.56137566e-02 5.38928927e-03 3.18853543e+02] [-1.56232729e-02 9.99876456e-01 1.72820730e-03 1.87981182e+01] [-5.36163964e-03 -1.81216987e-03 9.99983984e-01 -2.09061850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.011400513 meters Centerline goodness [0,1] 0.9364373078824617 Centerline is valid? [False, False] Translation: X:318.85, Y:18.80, Z:-0.21 [[ 9.99927676e-01 1.06455411e-02 5.59601399e-03 3.18850227e+02] [-1.06234806e-02 9.99935739e-01 -3.95724815e-03 1.88027317e+01] [-5.63778143e-03 3.89751280e-03 9.99976512e-01 -2.05053053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.041400513 meters Centerline goodness [0,1] 0.7777231427044361 Centerline is valid? [False, False] Translation: X:318.85, Y:18.80, Z:-0.21 [[ 9.99925171e-01 1.09189945e-02 5.51615358e-03 3.18850900e+02] [-1.09011887e-02 9.99935306e-01 -3.24775613e-03 1.87995565e+01] [-5.55125895e-03 3.18738047e-03 9.99979512e-01 -2.05715325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.071400513 meters Centerline goodness [0,1] 0.9871990705879822 Centerline is valid? [False, True] Translation: X:318.85, Y:18.79, Z:-0.21 [[ 9.99922530e-01 1.11402767e-02 5.55233395e-03 3.18851902e+02] [-1.11297831e-02 9.99936224e-01 -1.91726712e-03 1.87931519e+01] [-5.57333873e-03 1.85532232e-03 9.99982748e-01 -2.07927839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.101400513 meters Centerline goodness [0,1] 0.9819573303689769 Centerline is valid? [True, True] Translation: X:318.88, Y:18.79, Z:-0.21 [[ 9.99944846e-01 9.41254664e-03 4.65937601e-03 3.18880718e+02] [-9.41372663e-03 9.99955663e-01 2.31384124e-04 1.87912913e+01] [-4.65699151e-03 -2.75233454e-04 9.99989118e-01 -2.11293768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.131400513 meters Centerline goodness [0,1] 0.8786278550575305 Centerline is valid? [True, False] Translation: X:318.88, Y:18.79, Z:-0.21 [[ 9.99977856e-01 4.52624379e-03 4.87855261e-03 3.18877845e+02] [-4.50086089e-03 9.99976343e-01 -5.20143851e-03 1.87949893e+01] [-4.90198018e-03 5.17936565e-03 9.99974572e-01 -2.07925038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.161400513 meters Centerline goodness [0,1] 0.9989054854493948 Centerline is valid? [False, True] Translation: X:318.88, Y:18.79, Z:-0.21 [[ 9.99976775e-01 4.75865595e-03 4.87895904e-03 3.18878016e+02] [-4.73649153e-03 9.99978457e-01 -4.54439197e-03 1.87918753e+01] [-4.90047912e-03 4.52117728e-03 9.99977772e-01 -2.08088556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.191400513 meters Centerline goodness [0,1] 0.9986656623264824 Centerline is valid? [True, True] Translation: X:318.91, Y:18.79, Z:-0.21 [[ 9.99989555e-01 2.34838561e-03 3.92110554e-03 3.18907887e+02] [-2.34919136e-03 9.99997220e-01 2.00898404e-04 1.87859680e+01] [-3.92062286e-03 -2.10107733e-04 9.99992292e-01 -2.13937142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.221400513 meters Centerline goodness [0,1] 0.9992715118272197 Centerline is valid? [True, True] Translation: X:318.94, Y:18.78, Z:-0.22 [[ 9.99997171e-01 1.33699149e-03 1.96729898e-03 3.18940017e+02] [-1.33719229e-03 9.99999101e-01 1.00755682e-04 1.87840919e+01] [-1.96716250e-03 -1.03386054e-04 9.99998060e-01 -2.15833972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.251400513 meters Centerline goodness [0,1] 0.9994009285607308 Centerline is valid? [True, True] Translation: X:318.97, Y:18.78, Z:-0.22 [[ 9.99999600e-01 2.70419678e-04 8.52668304e-04 3.18970957e+02] [-2.70457001e-04 9.99999962e-01 4.36574474e-05 1.87826751e+01] [-8.52656466e-04 -4.38880400e-05 9.99999636e-01 -2.17679759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.281400513 meters Centerline goodness [0,1] 0.9964053553747471 Centerline is valid? [True, True] Translation: X:319.00, Y:18.79, Z:-0.22 [[ 9.99999641e-01 -8.21248540e-04 2.10563954e-04 3.19001115e+02] [ 8.21246287e-04 9.99999663e-01 1.07850876e-05 1.87878812e+01] [-2.10572740e-04 -1.06121588e-05 9.99999978e-01 -2.17045132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.311400513 meters Centerline goodness [0,1] 0.9998071731585036 Centerline is valid? [True, True] Translation: X:319.03, Y:18.78, Z:-0.21 [[ 9.99996861e-01 -2.20000019e-03 1.19909172e-03 3.19031928e+02] [ 2.19992819e-03 9.99997578e-01 6.13628796e-05 1.87812300e+01] [-1.19922381e-03 -5.87247713e-05 9.99999279e-01 -2.14514055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.341400513 meters Centerline goodness [0,1] 0.9998710731015514 Centerline is valid? [True, True] Translation: X:319.06, Y:18.78, Z:-0.21 [[ 9.99997081e-01 -2.00373485e-03 1.35047967e-03 3.19063764e+02] [ 2.00364339e-03 9.99997990e-01 6.90707211e-05 1.87802547e+01] [-1.35061536e-03 -6.63646398e-05 9.99999086e-01 -2.13391488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.371400513 meters Centerline goodness [0,1] 0.9995058014611087 Centerline is valid? [True, True] Translation: X:319.09, Y:18.79, Z:-0.21 [[ 9.99996466e-01 -1.88322379e-03 1.87666877e-03 3.19094870e+02] [ 1.88304722e-03 9.99998222e-01 9.58485097e-05 1.87852327e+01] [-1.87684594e-03 -9.23143150e-05 9.99998234e-01 -2.13261451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.401400513 meters Centerline goodness [0,1] 0.9998712225274725 Centerline is valid? [True, True] Translation: X:319.13, Y:18.78, Z:-0.21 [[ 9.99991755e-01 -2.25600106e-03 3.37632840e-03 3.19127617e+02] [ 2.25543240e-03 9.99997442e-01 1.72221331e-04 1.87800496e+01] [-3.37670829e-03 -1.64604831e-04 9.99994285e-01 -2.13188477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.431400513 meters Centerline goodness [0,1] 0.9999571495907786 Centerline is valid? [True, True] Translation: X:319.16, Y:18.78, Z:-0.21 [[ 9.99987810e-01 -2.09224935e-03 4.47236376e-03 3.19158902e+02] [ 2.09125152e-03 9.99997787e-01 2.27775124e-04 1.87832026e+01] [-4.47283043e-03 -2.18419510e-04 9.99989973e-01 -2.11672937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.461400513 meters Centerline goodness [0,1] 0.9975576604510895 Centerline is valid? [True, True] Translation: X:319.19, Y:18.79, Z:-0.21 [[ 9.99983905e-01 -2.37920491e-03 5.15065757e-03 3.19190896e+02] [ 2.37788696e-03 9.99997139e-01 2.61988598e-04 1.87908381e+01] [-5.15126616e-03 -2.49736700e-04 9.99986701e-01 -2.10703549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.491400513 meters Centerline goodness [0,1] 0.9997851726138048 Centerline is valid? [True, True] Translation: X:319.22, Y:18.79, Z:-0.21 [[ 9.99985232e-01 -3.35894581e-03 4.27241772e-03 3.19223889e+02] [ 3.35804897e-03 9.99994338e-01 2.17069307e-04 1.87854598e+01] [-4.27312265e-03 -2.02719113e-04 9.99990850e-01 -2.11952239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.521400513 meters Centerline goodness [0,1] 0.9998282082116475 Centerline is valid? [True, True] Translation: X:319.25, Y:18.79, Z:-0.21 [[ 9.99982506e-01 -4.90336069e-03 3.30817391e-03 3.19254038e+02] [ 4.90283211e-03 9.99987967e-01 1.67869610e-04 1.87886935e+01] [-3.30895723e-03 -1.51647253e-04 9.99994514e-01 -2.13805151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.551400513 meters Centerline goodness [0,1] 0.999978488146969 Centerline is valid? [True, True] Translation: X:319.29, Y:18.79, Z:-0.21 [[ 9.99964870e-01 -8.03942367e-03 2.37199837e-03 3.19285313e+02] [ 8.03916087e-03 9.99967678e-01 1.20304378e-04 1.87855925e+01] [-2.37288888e-03 -1.01231275e-04 9.99997180e-01 -2.14375863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.581400513 meters Centerline goodness [0,1] 0.999978488146969 Centerline is valid? [True, True] Translation: X:319.32, Y:18.79, Z:-0.21 [[ 9.99965419e-01 -7.97090468e-03 2.37200470e-03 3.19317871e+02] [ 7.97064199e-03 9.99968227e-01 1.20179408e-04 1.87871440e+01] [-2.37288728e-03 -1.01268851e-04 9.99997180e-01 -2.14398916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.611400513 meters Centerline goodness [0,1] 0.9998498401870562 Centerline is valid? [True, True] Translation: X:319.35, Y:18.79, Z:-0.21 [[ 9.99942317e-01 -1.03218567e-02 2.97023648e-03 3.19348053e+02] [ 1.03214554e-02 9.99946721e-01 1.50402571e-04 1.87925463e+01] [-2.97163066e-03 -1.19736732e-04 9.99995578e-01 -2.14252230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.641400513 meters Centerline goodness [0,1] 0.9999785135686814 Centerline is valid? [True, True] Translation: X:319.38, Y:18.79, Z:-0.21 [[ 9.99909368e-01 -1.30747608e-02 3.21037898e-03 3.19379452e+02] [ 1.30743063e-02 9.99914514e-01 1.62525126e-04 1.87870497e+01] [-3.21222951e-03 -1.20536918e-04 9.99994834e-01 -2.13364000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.671400513 meters Centerline goodness [0,1] 0.9999573151211183 Centerline is valid? [True, True] Translation: X:319.41, Y:18.79, Z:-0.21 [[ 9.99862842e-01 -1.61341177e-02 3.73995613e-03 3.19409540e+02] [ 1.61335223e-02 9.99869828e-01 1.89325485e-04 1.87888054e+01] [-3.74252389e-03 -1.28960852e-04 9.99992988e-01 -2.12817624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.701400513 meters Centerline goodness [0,1] 0.9999356789091143 Centerline is valid? [True, True] Translation: X:319.44, Y:18.79, Z:-0.21 [[ 9.99757060e-01 -2.15669671e-02 4.54838479e-03 3.19439027e+02] [ 2.15661424e-02 9.99767397e-01 2.30284073e-04 1.87881791e+01] [-4.55229335e-03 -1.32137013e-04 9.99989630e-01 -2.10509656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.731400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:319.47, Y:18.78, Z:-0.21 [[ 9.99690592e-01 -2.45464176e-02 4.02416571e-03 3.19470668e+02] [ 2.45457965e-02 9.99698686e-01 2.03670879e-04 1.87832640e+01] [-4.02795257e-03 -1.04831509e-04 9.99991882e-01 -2.11624475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.761400513 meters Centerline goodness [0,1] 0.9999564838990427 Centerline is valid? [True, True] Translation: X:319.50, Y:18.78, Z:-0.21 [[ 9.99606769e-01 -2.78439456e-02 3.31985391e-03 3.19502473e+02] [ 2.78435414e-02 9.99612279e-01 1.67916561e-04 1.87800328e+01] [-3.32324219e-03 -7.54140416e-05 9.99994475e-01 -2.13249907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.791400513 meters Centerline goodness [0,1] 0.9999785518188058 Centerline is valid? [True, True] Translation: X:319.53, Y:18.78, Z:-0.21 [[ 9.99389743e-01 -3.47869586e-02 3.16363490e-03 3.19532250e+02] [ 3.47866268e-02 9.99394749e-01 1.59873440e-04 1.87774397e+01] [-3.16728162e-03 -4.97236891e-05 9.99994983e-01 -2.12936910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.821400513 meters Centerline goodness [0,1] 0.9998291219001645 Centerline is valid? [True, True] Translation: X:319.56, Y:18.77, Z:-0.21 [[ 9.99245915e-01 -3.86867014e-02 3.30763378e-03 3.19564164e+02] [ 3.86863605e-02 9.99251389e-01 1.67026361e-04 1.87738731e+01] [-3.31161934e-03 -3.89400962e-05 9.99994516e-01 -2.13588117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.851400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:319.60, Y:18.77, Z:-0.21 [[ 9.99097662e-01 -4.23822389e-02 2.75836988e-03 3.19597019e+02] [ 4.23820162e-02 9.99101469e-01 1.39151792e-04 1.87701171e+01] [-2.76178897e-03 -2.21209526e-05 9.99996186e-01 -2.13276828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.881400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:319.63, Y:18.77, Z:-0.21 [[ 9.98942868e-01 -4.59174401e-02 2.17602398e-03 3.19629960e+02] [ 4.59173103e-02 9.98945238e-01 1.09612936e-04 1.87670115e+01] [-2.17876193e-03 -9.57989227e-06 9.99997626e-01 -2.13705098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.911400513 meters Centerline goodness [0,1] 0.9999785043313772 Centerline is valid? [True, True] Translation: X:319.66, Y:18.76, Z:-0.22 [[ 9.98660992e-01 -5.17185906e-02 1.18754674e-03 3.19661352e+02] [ 5.17185561e-02 9.98661698e-01 5.97421416e-05 1.87602000e+01] [-1.18904722e-03 1.75605628e-06 9.99999293e-01 -2.15112855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.941400513 meters Centerline goodness [0,1] 0.9999143707319161 Centerline is valid? [True, True] Translation: X:319.69, Y:18.76, Z:-0.22 [[ 9.98534260e-01 -5.41122478e-02 1.09413750e-03 3.19692402e+02] [ 5.41122201e-02 9.98534859e-01 5.49486068e-05 1.87570166e+01] [-1.09550783e-03 4.33814286e-06 9.99999400e-01 -2.15792969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.971400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:319.72, Y:18.75, Z:-0.22 [[ 9.98416623e-01 -5.62390474e-02 1.18992156e-03 3.19723636e+02] [ 5.62390163e-02 9.98417332e-01 5.96216427e-05 1.87543577e+01] [-1.19139137e-03 7.39277861e-06 9.99999290e-01 -2.15523910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.001400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:319.76, Y:18.75, Z:-0.21 [[ 9.98220684e-01 -5.96070093e-02 1.57182010e-03 3.19756528e+02] [ 5.96069596e-02 9.98221921e-01 7.84836825e-05 1.87521136e+01] [-1.57370346e-03 1.53473821e-05 9.99998762e-01 -2.13059707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.031400513 meters Centerline goodness [0,1] 0.9999139969898947 Centerline is valid? [True, True] Translation: X:319.79, Y:18.75, Z:-0.21 [[ 9.98173437e-01 -6.03859414e-02 1.82412920e-03 3.19789149e+02] [ 6.03858764e-02 9.98175104e-01 9.07700627e-05 1.87524991e+01] [-1.82628159e-03 1.95473749e-05 9.99998332e-01 -2.12416683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.061400513 meters Centerline goodness [0,1] 0.9999358275043316 Centerline is valid? [True, True] Translation: X:319.82, Y:18.75, Z:-0.21 [[ 9.98072790e-01 -6.20451238e-02 1.05250076e-03 3.19820473e+02] [ 6.20451031e-02 9.98073345e-01 5.22564698e-05 1.87511154e+01] [-1.05371522e-03 1.31467579e-05 9.99999445e-01 -2.13804626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.091400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:319.85, Y:18.75, Z:-0.21 [[ 9.98019438e-01 -6.29055714e-02 3.02336493e-04 3.19852687e+02] [ 6.29055697e-02 9.98019483e-01 1.50460608e-05 1.87517231e+01] [-3.02684191e-04 4.00238812e-06 9.99999954e-01 -2.14839601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.121400513 meters Centerline goodness [0,1] 0.9999355365507757 Centerline is valid? [True, True] Translation: X:319.88, Y:18.75, Z:-0.22 [[ 9.97958030e-01 -6.38717588e-02 4.09782161e-04 3.19884519e+02] [ 6.38717559e-02 9.97958115e-01 2.02837201e-05 1.87526800e+01] [-4.10240990e-04 5.93120476e-06 9.99999916e-01 -2.15204653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.151400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:319.92, Y:18.75, Z:-0.21 [[ 9.97898541e-01 -6.47869575e-02 1.07376861e-03 3.19915819e+02] [ 6.47869382e-02 9.97899118e-01 5.28142698e-05 1.87514271e+01] [-1.07493442e-03 1.68628976e-05 9.99999422e-01 -2.14468999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.181400513 meters Centerline goodness [0,1] 0.99995699202202 Centerline is valid? [True, True] Translation: X:319.95, Y:18.75, Z:-0.21 [[ 9.97818539e-01 -6.59892068e-02 1.89389428e-03 3.19947310e+02] [ 6.59891493e-02 9.97820336e-01 9.28638362e-05 1.87496880e+01] [-1.89589424e-03 3.23152152e-05 9.99998202e-01 -2.14227219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.211400513 meters Centerline goodness [0,1] 0.9999573488015013 Centerline is valid? [True, True] Translation: X:319.98, Y:18.75, Z:-0.21 [[ 9.97694996e-01 -6.78355863e-02 1.74010917e-03 3.19979457e+02] [ 6.78355411e-02 9.97696513e-01 8.51017554e-05 1.87503485e+01] [-1.74187378e-03 3.31356514e-05 9.99998482e-01 -2.14084541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.241400513 meters Centerline goodness [0,1] 0.9999785218754699 Centerline is valid? [True, True] Translation: X:320.01, Y:18.75, Z:-0.21 [[ 9.97649694e-01 -6.85173365e-02 6.80031284e-04 3.20011121e+02] [ 6.85173298e-02 9.97649926e-01 3.32171847e-05 1.87518897e+01] [-6.80709113e-04 1.34548136e-05 9.99999768e-01 -2.14274249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.271400513 meters Centerline goodness [0,1] 0.9999785287928887 Centerline is valid? [True, True] Translation: X:320.04, Y:18.75, Z:-0.22 [[ 9.97628006e-01 -6.88342789e-02 -4.51275543e-04 3.20043773e+02] [ 6.88342761e-02 9.97628108e-01 -2.17878729e-05 1.87544210e+01] [ 4.51704919e-04 -9.32703314e-06 9.99999898e-01 -2.15814940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.301400513 meters Centerline goodness [0,1] 0.9996772805507745 Centerline is valid? [True, True] Translation: X:320.08, Y:18.75, Z:-0.22 [[ 9.97601045e-01 -6.92246325e-02 -3.23542047e-04 3.20075299e+02] [ 6.92246311e-02 9.97601098e-01 -1.55493216e-05 1.87547044e+01] [ 3.23842297e-04 -6.88505934e-06 9.99999948e-01 -2.17921432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.331400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:320.11, Y:18.76, Z:-0.22 [[ 9.97557286e-01 -6.98512185e-02 5.18256477e-04 3.20107661e+02] [ 6.98512149e-02 9.97557420e-01 2.51041503e-05 1.87551304e+01] [-5.18744149e-04 1.11580165e-05 9.99999865e-01 -2.16444907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.361400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:320.14, Y:18.76, Z:-0.22 [[ 9.97454539e-01 -7.12998690e-02 8.78557319e-04 3.20140127e+02] [ 7.12998593e-02 9.97454925e-01 4.23441462e-05 1.87591270e+01] [-8.79340458e-04 2.04046524e-05 9.99999613e-01 -2.15593148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.391400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:320.17, Y:18.75, Z:-0.22 [[ 9.97187414e-01 -7.49387388e-02 1.20261995e-03 3.20170404e+02] [ 7.49387235e-02 9.97188139e-01 5.78059320e-05 1.87548497e+01] [-1.20357025e-03 3.24794558e-05 9.99999275e-01 -2.15261418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.421400513 meters Centerline goodness [0,1] 0.9998925170360498 Centerline is valid? [True, True] Translation: X:320.20, Y:18.76, Z:-0.22 [[ 9.97120842e-01 -7.58224708e-02 9.89407674e-04 3.20202244e+02] [ 7.58224610e-02 9.97121333e-01 4.75124426e-05 1.87581121e+01] [-9.90162010e-04 2.76436780e-05 9.99999509e-01 -2.16038415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.451400513 meters Centerline goodness [0,1] 0.999978448275862 Centerline is valid? [True, True] Translation: X:320.23, Y:18.76, Z:-0.22 [[ 9.97097176e-01 -7.61394250e-02 9.48636962e-05 3.20234732e+02] [ 7.61394249e-02 9.97097181e-01 4.64215014e-06 1.87591604e+01] [-9.49417747e-05 2.59419247e-06 9.99999995e-01 -2.16940052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.481400513 meters Centerline goodness [0,1] 0.999978390993366 Centerline is valid? [True, True] Translation: X:320.27, Y:18.76, Z:-0.22 [[ 9.97054426e-01 -7.66881491e-02 -1.18264037e-03 3.20267205e+02] [ 7.66881364e-02 9.97055127e-01 -5.61655660e-05 1.87611601e+01] [ 1.18346488e-03 -3.46943602e-05 9.99999299e-01 -2.18415696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.511400513 meters Centerline goodness [0,1] 0.9998706032047273 Centerline is valid? [True, True] Translation: X:320.30, Y:18.76, Z:-0.22 [[ 9.96998343e-01 -7.73996349e-02 -1.89767757e-03 3.20299374e+02] [ 7.73996039e-02 9.97000147e-01 -8.98820130e-05 1.87641356e+01] [ 1.89894165e-03 -5.72672744e-05 9.99998195e-01 -2.19674937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.541400513 meters Centerline goodness [0,1] 0.999913972944491 Centerline is valid? [True, True] Translation: X:320.33, Y:18.76, Z:-0.22 [[ 9.96844430e-01 -7.93678685e-02 -1.38709583e-03 3.20330984e+02] [ 7.93678542e-02 9.96845394e-01 -6.54688872e-05 1.87625325e+01] [ 1.38791621e-03 -4.48285238e-05 9.99999036e-01 -2.19138733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.571400513 meters Centerline goodness [0,1] 0.9997198456996315 Centerline is valid? [True, True] Translation: X:320.36, Y:18.77, Z:-0.22 [[ 9.96773009e-01 -8.02711909e-02 -3.23957771e-04 3.20363256e+02] [ 8.02711902e-02 9.96773061e-01 -1.51487263e-05 1.87653499e+01] [ 3.24128386e-04 -1.09046344e-05 9.99999947e-01 -2.18921925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.601400513 meters Centerline goodness [0,1] 0.999913824676304 Centerline is valid? [True, True] Translation: X:320.39, Y:18.76, Z:-0.22 [[ 9.96551087e-01 -8.29815008e-02 3.16427266e-05 3.20394085e+02] [ 8.29815008e-02 9.96551088e-01 1.49855599e-06 1.87599375e+01] [-3.16579460e-05 1.13237334e-06 9.99999999e-01 -2.16923539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.631400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:320.43, Y:18.76, Z:-0.22 [[ 9.96466849e-01 -8.39832991e-02 -7.90033278e-04 3.20426441e+02] [ 8.39832962e-02 9.96467162e-01 -3.69837822e-05 1.87610708e+01] [ 7.90348238e-04 -2.94964859e-05 9.99999687e-01 -2.17820276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.661400513 meters Centerline goodness [0,1] 0.9997196886387649 Centerline is valid? [True, True] Translation: X:320.46, Y:18.76, Z:-0.22 [[ 9.96382434e-01 -8.49701400e-02 -1.45608225e-03 3.20458320e+02] [ 8.49701312e-02 9.96383497e-01 -6.80249990e-05 1.87648688e+01] [ 1.45659642e-03 -5.59445855e-05 9.99998938e-01 -2.19358087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.691400513 meters Centerline goodness [0,1] 0.9998704886893456 Centerline is valid? [True, True] Translation: X:320.49, Y:18.77, Z:-0.22 [[ 9.96325755e-01 -8.56334641e-02 -1.37863771e-03 3.20490797e+02] [ 8.56334571e-02 9.96326707e-01 -6.41767579e-05 1.87696053e+01] [ 1.37906925e-03 -5.41165565e-05 9.99999048e-01 -2.18911192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.721400513 meters Centerline goodness [0,1] 0.9996965822153833 Centerline is valid? [True, True] Translation: X:320.52, Y:18.77, Z:-0.22 [[ 9.96078963e-01 -8.84686128e-02 -6.86679077e-05 3.20522095e+02] [ 8.84686128e-02 9.96078965e-01 -3.18429546e-06 1.87711355e+01] [ 6.86803686e-05 -2.90314482e-06 9.99999998e-01 -2.17904508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.751400513 meters Centerline goodness [0,1] 0.9997196221369107 Centerline is valid? [True, True] Translation: X:320.55, Y:18.77, Z:-0.22 [[ 9.95954486e-01 -8.98590444e-02 1.15642800e-04 3.20553806e+02] [ 8.98590444e-02 9.95954493e-01 5.47774670e-06 1.87690624e+01] [-1.15667191e-04 4.93596511e-06 9.99999993e-01 -2.18305993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.781400513 meters Centerline goodness [0,1] 0.9998919549668301 Centerline is valid? [True, True] Translation: X:320.59, Y:18.77, Z:-0.22 [[ 9.95840061e-01 -9.11164368e-02 -6.06859779e-04 3.20585767e+02] [ 9.11164365e-02 9.95840245e-01 -2.81361432e-05 1.87709408e+01] [ 6.06899056e-04 -2.72758020e-05 9.99999815e-01 -2.18414057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.811400513 meters Centerline goodness [0,1] 0.9995486297689414 Centerline is valid? [True, True] Translation: X:320.62, Y:18.77, Z:-0.22 [[ 9.95710252e-01 -9.25158934e-02 -1.37938502e-03 3.20617919e+02] [ 9.25158934e-02 9.95711206e-01 -6.39296710e-05 1.87747176e+01] [ 1.37938363e-03 -6.39596083e-05 9.99999047e-01 -2.19768522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.841400513 meters Centerline goodness [0,1] 0.9995932609766018 Centerline is valid? [True, True] Translation: X:320.65, Y:18.78, Z:-0.22 [[ 9.95553819e-01 -9.41612368e-02 -2.50086930e-03 3.20648145e+02] [ 9.41612420e-02 9.95556953e-01 -1.15928951e-04 1.87760645e+01] [ 2.50067384e-03 -1.20071449e-04 9.99996866e-01 -2.21548332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.871400513 meters Centerline goodness [0,1] 0.9997837510542136 Centerline is valid? [True, True] Translation: X:320.68, Y:18.78, Z:-0.22 [[ 9.95620714e-01 -9.34630921e-02 -2.01087722e-03 3.20679223e+02] [ 9.34630948e-02 9.95622740e-01 -9.28226398e-05 1.87786786e+01] [ 2.01075058e-03 -9.55266652e-05 9.99997974e-01 -2.20028894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.901400513 meters Centerline goodness [0,1] 0.999699222274739 Centerline is valid? [True, True] Translation: X:320.71, Y:18.78, Z:-0.22 [[ 9.95736536e-01 -9.22392651e-02 -8.17972540e-04 3.20711341e+02] [ 9.22392653e-02 9.95736871e-01 -3.75582383e-05 1.87843563e+01] [ 8.17949762e-04 -3.80510761e-05 9.99999665e-01 -2.18798029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.931400513 meters Centerline goodness [0,1] 0.9995882454923717 Centerline is valid? [True, True] Translation: X:320.74, Y:18.79, Z:-0.22 [[ 9.95861645e-01 -9.08794919e-02 -7.09106456e-04 3.20742521e+02] [ 9.08794916e-02 9.95861897e-01 -3.26243446e-05 1.87905817e+01] [ 7.09136984e-04 -3.19539007e-05 9.99999748e-01 -2.17010018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.961400513 meters Centerline goodness [0,1] 0.999825795353091 Centerline is valid? [True, True] Translation: X:320.77, Y:18.80, Z:-0.22 [[ 9.96220122e-01 -8.68494593e-02 -1.62467812e-03 3.20772744e+02] [ 8.68494527e-02 9.96221445e-01 -7.47477146e-05 1.88049432e+01] [ 1.62503098e-03 -6.66372281e-05 9.99998677e-01 -2.18991425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.991400513 meters Centerline goodness [0,1] 0.9999144568006844 Centerline is valid? [True, True] Translation: X:320.80, Y:18.81, Z:-0.22 [[ 9.96440728e-01 -8.42648253e-02 -2.30522993e-03 3.20802834e+02] [ 8.42648051e-02 9.96443391e-01 -1.06038509e-04 1.88075863e+01] [ 2.30596644e-03 -8.85886617e-05 9.99997337e-01 -2.19047684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.021400513 meters Centerline goodness [0,1] 0.9998060971668642 Centerline is valid? [True, True] Translation: X:320.83, Y:18.81, Z:-0.22 [[ 9.96667020e-01 -8.15382643e-02 -2.52232259e-03 3.20833136e+02] [ 8.15382316e-02 9.96670208e-01 -1.15960131e-04 1.88143389e+01] [ 2.52337897e-03 -9.00920853e-05 9.99996812e-01 -2.19853408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.051400513 meters Centerline goodness [0,1] 0.999594874091132 Centerline is valid? [True, True] Translation: X:320.86, Y:18.82, Z:-0.22 [[ 9.96856129e-01 -7.92043268e-02 -2.12883164e-03 3.20863059e+02] [ 7.92042983e-02 9.96858400e-01 -9.78512177e-05 1.88191515e+01] [ 2.12989394e-03 -7.10690298e-05 9.99997729e-01 -2.19653105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.081400513 meters Centerline goodness [0,1] 0.9997850895102189 Centerline is valid? [True, True] Translation: X:320.89, Y:18.83, Z:-0.22 [[ 9.97118829e-01 -7.58380037e-02 -1.62397041e-03 3.20893159e+02] [ 7.58379826e-02 9.97120151e-01 -7.46515450e-05 1.88290276e+01] [ 1.62495504e-03 -4.87221784e-05 9.99998679e-01 -2.18077842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.111400513 meters Centerline goodness [0,1] 0.9996572774981257 Centerline is valid? [True, True] Translation: X:320.92, Y:18.83, Z:-0.22 [[ 9.97261190e-01 -7.39517312e-02 -1.12299185e-03 3.20923413e+02] [ 7.39517199e-02 9.97261821e-01 -5.16017598e-05 1.88323222e+01] [ 1.12373294e-03 -3.15867467e-05 9.99999368e-01 -2.18838287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.141400513 meters Centerline goodness [0,1] 0.9997851818435695 Centerline is valid? [True, True] Translation: X:320.95, Y:18.84, Z:-0.22 [[ 9.97468275e-01 -7.11081319e-02 -8.21006682e-04 3.20954783e+02] [ 7.11081249e-02 9.97468613e-01 -3.76786242e-05 1.88418755e+01] [ 8.21607652e-04 -2.07970134e-05 9.99999662e-01 -2.18444266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.171400513 meters Centerline goodness [0,1] 0.9998710620191688 Centerline is valid? [True, True] Translation: X:320.98, Y:18.86, Z:-0.22 [[ 9.97982552e-01 -6.34886371e-02 1.39033890e-04 3.20984457e+02] [ 6.34886368e-02 9.97982561e-01 6.38993329e-06 1.88586398e+01] [-1.39159086e-04 2.45003022e-06 9.99999990e-01 -2.16427289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.201400513 meters Centerline goodness [0,1] 0.9997853063678132 Centerline is valid? [True, True] Translation: X:321.02, Y:18.87, Z:-0.22 [[ 9.98221778e-01 -5.96067245e-02 5.66482620e-04 3.21015690e+02] [ 5.96067194e-02 9.98221938e-01 2.60126949e-05 1.88681764e+01] [-5.67025911e-04 7.79973198e-06 9.99999839e-01 -2.15990164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.231400513 meters Centerline goodness [0,1] 0.9994868505452214 Centerline is valid? [True, True] Translation: X:321.05, Y:18.87, Z:-0.22 [[ 9.98426355e-01 -5.60669771e-02 1.14317228e-03 3.21046397e+02] [ 5.60669539e-02 9.98427010e-01 5.23949915e-05 1.88738091e+01] [-1.14431171e-03 1.17816473e-05 9.99999345e-01 -2.15837551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.261400513 meters Centerline goodness [0,1] 0.999892336512995 Centerline is valid? [True, True] Translation: X:321.08, Y:18.89, Z:-0.22 [[ 9.98740448e-01 -5.01545746e-02 1.42668061e-03 3.21078032e+02] [ 5.01545328e-02 9.98741467e-01 6.51375555e-05 1.88877844e+01] [-1.42815203e-03 6.49898805e-06 9.99998980e-01 -2.15117518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.291400513 meters Centerline goodness [0,1] 0.9998925863069024 Centerline is valid? [True, True] Translation: X:321.11, Y:18.89, Z:-0.21 [[ 9.98882620e-01 -4.72233844e-02 1.86119709e-03 3.21109420e+02] [ 4.72233086e-02 9.98884354e-01 8.46488098e-05 1.88944076e+01] [-1.86311806e-03 3.33765976e-06 9.99998264e-01 -2.14444624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.321400513 meters Centerline goodness [0,1] 0.9996351069995063 Centerline is valid? [True, True] Translation: X:321.14, Y:18.90, Z:-0.21 [[ 9.99010535e-01 -4.44014053e-02 2.54269502e-03 3.21142625e+02] [ 4.44012560e-02 9.99013771e-01 1.15166118e-04 1.89019542e+01] [-2.54530087e-03 -2.15331318e-06 9.99996761e-01 -2.14526468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.351400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:321.17, Y:18.91, Z:-0.21 [[ 9.99229693e-01 -3.91552172e-02 2.62478975e-03 3.21174262e+02] [ 3.91550412e-02 9.99233140e-01 1.18438189e-04 1.89126531e+01] [-2.62741438e-03 -1.55732047e-05 9.99996548e-01 -2.14252551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.381400513 meters Centerline goodness [0,1] 0.9998496628151712 Centerline is valid? [True, True] Translation: X:321.20, Y:18.92, Z:-0.22 [[ 9.99296974e-01 -3.74286005e-02 2.15823892e-03 3.21204942e+02] [ 3.74284781e-02 9.99299304e-01 9.70709615e-05 1.89172124e+01] [-2.16035988e-03 -1.62231199e-05 9.99997666e-01 -2.15722011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.411400513 meters Centerline goodness [0,1] 0.9999785218754699 Centerline is valid? [True, True] Translation: X:321.24, Y:18.92, Z:-0.22 [[ 9.99346377e-01 -3.61318540e-02 1.14385202e-03 3.21236016e+02] [ 3.61318189e-02 9.99347031e-01 5.13246214e-05 1.89212309e+01] [-1.14495958e-03 -9.96162024e-06 9.99999344e-01 -2.15894748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.441400513 meters Centerline goodness [0,1] 0.9997424561102288 Centerline is valid? [True, True] Translation: X:321.27, Y:18.92, Z:-0.22 [[ 9.99325589e-01 -3.66742098e-02 1.83551017e-03 3.21269661e+02] [ 3.66741211e-02 9.99327275e-01 8.19796469e-05 1.89220131e+01] [-1.83728192e-03 -1.46086367e-05 9.99998312e-01 -2.15781872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.471400513 meters Centerline goodness [0,1] 0.9997855365874582 Centerline is valid? [True, True] Translation: X:321.30, Y:18.92, Z:-0.21 [[ 9.99313502e-01 -3.69039030e-02 3.25987150e-03 3.21303015e+02] [ 3.69036267e-02 9.99318819e-01 1.44885877e-04 1.89231254e+01] [-3.26299779e-03 -2.44853317e-05 9.99994676e-01 -2.12611492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.501400513 meters Centerline goodness [0,1] 0.9997855365874582 Centerline is valid? [True, True] Translation: X:321.34, Y:18.92, Z:-0.21 [[ 9.99320371e-01 -3.67174203e-02 3.25989847e-03 3.21335675e+02] [ 3.67171450e-02 9.99325688e-01 1.44277552e-04 1.89244774e+01] [-3.26299778e-03 -2.44853316e-05 9.99994676e-01 -2.12634500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.531400513 meters Centerline goodness [0,1] 0.9996993901915314 Centerline is valid? [True, True] Translation: X:321.37, Y:18.93, Z:-0.21 [[ 9.99362930e-01 -3.54787883e-02 3.87161721e-03 3.21366280e+02] [ 3.54783923e-02 9.99370429e-01 1.70936626e-04 1.89283721e+01] [-3.87524438e-03 -3.34689733e-05 9.99992491e-01 -2.12179470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.561400513 meters Centerline goodness [0,1] 0.9997209701652715 Centerline is valid? [True, True] Translation: X:321.40, Y:18.93, Z:-0.21 [[ 9.99402618e-01 -3.43278740e-02 4.00045665e-03 3.21398284e+02] [ 3.43274443e-02 9.99410624e-01 1.76028761e-04 1.89287556e+01] [-4.00414157e-03 -3.85981519e-05 9.99991983e-01 -2.13888903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.591400513 meters Centerline goodness [0,1] 0.9998491119158476 Centerline is valid? [True, True] Translation: X:321.43, Y:18.93, Z:-0.21 [[ 9.99455398e-01 -3.28371903e-02 3.25971543e-03 3.21430416e+02] [ 3.28368988e-02 9.99460713e-01 1.42924202e-04 1.89304614e+01] [-3.26265074e-03 -3.58074191e-05 9.99994677e-01 -2.14591896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.621400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:321.46, Y:18.94, Z:-0.21 [[ 9.99589280e-01 -2.86214919e-02 1.44264576e-03 3.21462910e+02] [ 2.86214307e-02 9.99590321e-01 6.30862410e-05 1.89354782e+01] [-1.44386036e-03 -2.17697446e-05 9.99998957e-01 -2.14666678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.651400513 meters Centerline goodness [0,1] 0.9999144201968335 Centerline is valid? [True, True] Translation: X:321.49, Y:18.94, Z:-0.21 [[ 9.99675937e-01 -2.54443000e-02 7.80200543e-04 3.21494399e+02] [ 2.54442812e-02 9.99676241e-01 3.40462756e-05 1.89400674e+01] [-7.80814230e-04 -1.41836005e-05 9.99999695e-01 -2.13944965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.681400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:321.52, Y:18.95, Z:-0.21 [[ 9.99861604e-01 -1.66183901e-02 7.75993800e-04 3.21524932e+02] [ 1.66183689e-02 9.99861905e-01 3.37564659e-05 1.89473075e+01] [-7.76447617e-04 -2.08560429e-05 9.99999698e-01 -2.13505692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.711400513 meters Centerline goodness [0,1] 0.9998718441625016 Centerline is valid? [True, True] Translation: X:321.55, Y:18.96, Z:-0.21 [[ 9.99931926e-01 -1.14872733e-02 2.04591549e-03 3.21554619e+02] [ 1.14871153e-02 9.99934017e-01 8.89588579e-05 1.89553810e+01] [-2.04680238e-03 -6.54511350e-05 9.99997903e-01 -2.13327590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.741400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:321.58, Y:18.96, Z:-0.21 [[ 9.99976925e-01 -5.93240206e-03 3.31002540e-03 3.21584678e+02] [ 5.93195828e-03 9.99982395e-01 1.43874715e-04 1.89578071e+01] [-3.31082065e-03 -1.24236463e-04 9.99994512e-01 -2.10934035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.771400513 meters Centerline goodness [0,1] 0.9999139673936422 Centerline is valid? [True, True] Translation: X:321.61, Y:18.96, Z:-0.21 [[ 9.99987631e-01 -6.22419654e-04 4.93452362e-03 3.21614855e+02] [ 6.21368900e-04 9.99999784e-01 2.14469451e-04 1.89635401e+01] [-4.93465604e-03 -2.11400639e-04 9.99987802e-01 -2.09328271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.801400513 meters Centerline goodness [0,1] 0.9998498659517426 Centerline is valid? [True, True] Translation: X:321.64, Y:18.97, Z:-0.21 [[ 9.99974782e-01 4.60089100e-03 5.40996691e-03 3.21644171e+02] [-4.60222893e-03 9.99989382e-01 2.34884428e-04 1.89724230e+01] [-5.40882879e-03 -2.59776410e-04 9.99985338e-01 -2.08641485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.831400513 meters Centerline goodness [0,1] 0.9962311019743886 Centerline is valid? [True, True] Translation: X:321.67, Y:18.98, Z:-0.21 [[ 9.99903821e-01 1.31208942e-02 4.49335853e-03 3.21674113e+02] [-1.31219030e-02 9.99913885e-01 1.95096324e-04 1.89756446e+01] [-4.49041175e-03 -2.54038975e-04 9.99989886e-01 -2.12825594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.861400513 meters Centerline goodness [0,1] 0.9975050544156235 Centerline is valid? [True, True] Translation: X:321.70, Y:18.98, Z:-0.21 [[ 9.99853873e-01 1.66711264e-02 3.78243879e-03 3.21704408e+02] [-1.66718666e-02 9.99861001e-01 1.64235179e-04 1.89758949e+01] [-3.77917505e-03 -2.27271495e-04 9.99992833e-01 -2.12496603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.891400513 meters Centerline goodness [0,1] 0.9763615245633658 Centerline is valid? [True, True] Translation: X:321.73, Y:18.98, Z:-0.21 [[ 9.99802077e-01 1.94537687e-02 4.16615917e-03 3.21733662e+02] [-1.94546909e-02 9.99810723e-01 1.80946434e-04 1.89811497e+01] [-4.16185052e-03 -2.61961959e-04 9.99991305e-01 -2.12587548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.921400513 meters Centerline goodness [0,1] 0.9444086575624839 Centerline is valid? [True, False] Translation: X:321.73, Y:18.98, Z:-0.21 [[ 9.99803210e-01 1.93645840e-02 4.30739623e-03 3.21732600e+02] [-1.93641013e-02 9.99812486e-01 -1.53750894e-04 1.89824411e+01] [-4.30956586e-03 7.03117801e-05 9.99990711e-01 -2.11522813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.951400513 meters Centerline goodness [0,1] 0.7555612869946483 Centerline is valid? [False, False] Translation: X:321.73, Y:18.98, Z:-0.21 [[ 9.99798400e-01 1.95799651e-02 4.44794597e-03 3.21731960e+02] [-1.95805374e-02 9.99808279e-01 8.51564311e-05 1.89812318e+01] [-4.44542585e-03 -1.72232436e-04 9.99990104e-01 -2.11160476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.981400513 meters Centerline goodness [0,1] 0.896025382669468 Centerline is valid? [False, False] Translation: X:321.73, Y:18.98, Z:-0.21 [[ 9.99793631e-01 1.98207958e-02 4.45318416e-03 3.21732319e+02] [-1.98235784e-02 9.99803324e-01 5.81581948e-04 1.89790955e+01] [-4.44078092e-03 -6.69739973e-04 9.99989915e-01 -2.11822017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.011400513 meters Centerline goodness [0,1] 0.8102114932706687 Centerline is valid? [False, False] Translation: X:321.73, Y:18.98, Z:-0.21 [[ 9.99866675e-01 1.58049373e-02 4.10325801e-03 3.21732450e+02] [-1.57876691e-02 9.99866515e-01 -4.20723543e-03 1.89818083e+01] [-4.16920538e-03 4.14189362e-03 9.99982731e-01 -2.10050448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.041400513 meters Centerline goodness [0,1] 0.8235432784004457 Centerline is valid? [False, False] Translation: X:321.74, Y:18.97, Z:-0.22 [[ 9.99938614e-01 1.09293538e-02 -1.82147744e-03 3.21736181e+02] [-1.09166367e-02 9.99916940e-01 6.85127842e-03 1.89726240e+01] [ 1.89620619e-03 -6.83097344e-03 9.99974871e-01 -2.15169326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.071400513 meters Centerline goodness [0,1] 0.724447691910943 Centerline is valid? [False, False] Translation: X:321.74, Y:18.97, Z:-0.21 [[ 9.99975634e-01 6.78273335e-03 -1.65093895e-03 3.21735032e+02] [-6.77795333e-03 9.99972871e-01 2.88391461e-03 1.89705303e+01] [ 1.67045498e-03 -2.87265435e-03 9.99994479e-01 -2.14203615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.101400513 meters Centerline goodness [0,1] 0.8262472141265216 Centerline is valid? [False, False] Translation: X:321.73, Y:18.97, Z:-0.21 [[ 9.99995190e-01 2.56001914e-03 -1.75093531e-03 3.21734369e+02] [-2.56314735e-03 9.99995119e-01 -1.78668580e-03 1.89721032e+01] [ 1.74635281e-03 1.79116512e-03 9.99996871e-01 -2.12297536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.131400513 meters Centerline goodness [0,1] 0.7183071497274768 Centerline is valid? [False, False] Translation: X:321.74, Y:18.97, Z:-0.21 [[ 9.99993725e-01 3.01665482e-03 -1.85744542e-03 3.21735506e+02] [-3.01799015e-03 9.99995189e-01 -7.16522177e-04 1.89673973e+01] [ 1.85527499e-03 7.22123433e-04 9.99998018e-01 -2.13594996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.161400513 meters Centerline goodness [0,1] 0.7191681581863121 Centerline is valid? [False, False] Translation: X:321.74, Y:18.96, Z:-0.21 [[ 9.99992075e-01 3.45429384e-03 -1.97949885e-03 3.21736609e+02] [-3.45384322e-03 9.99994009e-01 2.31016399e-04 1.89632761e+01] [ 1.98028499e-03 -2.24177690e-04 9.99998014e-01 -2.14720956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.191400513 meters Centerline goodness [0,1] 0.7129118242883037 Centerline is valid? [False, False] Translation: X:321.74, Y:18.96, Z:-0.22 [[ 9.99988824e-01 4.24354936e-03 -2.08450366e-03 3.21738312e+02] [-4.23966233e-03 9.99989272e-01 1.86561942e-03 1.89562342e+01] [ 2.09239814e-03 -1.85676098e-03 9.99996087e-01 -2.16918733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.221400513 meters Centerline goodness [0,1] 0.7035309651588721 Centerline is valid? [False, False] Translation: X:321.74, Y:18.96, Z:-0.22 [[ 9.99995346e-01 1.74605943e-03 -2.50167098e-03 3.21742543e+02] [-1.74855922e-03 9.99997974e-01 -9.97408206e-04 1.89563670e+01] [ 2.49992437e-03 1.00177788e-03 9.99996373e-01 -2.19856643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.251400513 meters Centerline goodness [0,1] 0.7035020286141362 Centerline is valid? [False, False] Translation: X:321.74, Y:18.95, Z:-0.22 [[ 9.99994664e-01 2.19335654e-03 -2.42116002e-03 3.21742999e+02] [-2.19331106e-03 9.99997594e-01 2.14426823e-05 1.89517867e+01] [ 2.42120123e-03 -1.61322108e-05 9.99997069e-01 -2.21073702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.281400513 meters Centerline goodness [0,1] 0.7089436831479015 Centerline is valid? [False, False] Translation: X:321.74, Y:18.95, Z:-0.22 [[ 9.99993907e-01 2.64087478e-03 -2.28294105e-03 3.21743150e+02] [-2.63843383e-03 9.99995945e-01 1.07156530e-03 1.89469848e+01] [ 2.28576166e-03 -1.06553539e-03 9.99996820e-01 -2.22008228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.311400513 meters Centerline goodness [0,1] 0.7064937848264038 Centerline is valid? [False, False] Translation: X:321.74, Y:18.94, Z:-0.22 [[ 9.99991913e-01 3.45832098e-03 -2.05262968e-03 3.21743249e+02] [-3.45212867e-03 9.99989503e-01 3.01268439e-03 1.89378810e+01] [ 2.06302696e-03 -3.00557409e-03 9.99993355e-01 -2.23220368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.341400513 meters Centerline goodness [0,1] 0.6714936578896709 Centerline is valid? [False, False] Translation: X:321.75, Y:18.94, Z:-0.23 [[ 9.99996668e-01 1.16868857e-03 -2.30162986e-03 3.21747146e+02] [-1.16769103e-03 9.99999224e-01 4.34700452e-04 1.89379062e+01] [ 2.30213610e-03 -4.32011411e-04 9.99997257e-01 -2.26263804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.371400513 meters Centerline goodness [0,1] 0.7024921115332603 Centerline is valid? [False, False] Translation: X:321.75, Y:18.93, Z:-0.23 [[ 9.99996295e-01 1.55918660e-03 -2.23137884e-03 3.21747595e+02] [-1.55624493e-03 9.99997919e-01 1.31944890e-03 1.89339705e+01] [ 2.23343147e-03 -1.31597144e-03 9.99996640e-01 -2.27398179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.401400513 meters Centerline goodness [0,1] 0.6865594965430144 Centerline is valid? [False, False] Translation: X:321.75, Y:18.93, Z:-0.23 [[ 9.99995620e-01 -2.03476984e-03 -2.14935202e-03 3.21747555e+02] [ 2.03019265e-03 9.99995672e-01 -2.12960340e-03 1.89302994e+01] [ 2.15367597e-03 2.12523048e-03 9.99995423e-01 -2.27391035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.431400513 meters Centerline goodness [0,1] 0.6914226617542498 Centerline is valid? [False, False] Translation: X:321.75, Y:18.93, Z:-0.23 [[ 9.99996445e-01 -1.62076247e-03 -2.11752846e-03 3.21747873e+02] [ 1.61838451e-03 9.99998058e-01 -1.12422110e-03 1.89256742e+01] [ 2.11934645e-03 1.12079013e-03 9.99997126e-01 -2.27968089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.461400513 meters Centerline goodness [0,1] 0.686561417019638 Centerline is valid? [False, False] Translation: X:321.75, Y:18.92, Z:-0.23 [[ 9.99997016e-01 -1.26030566e-03 -2.09262414e-03 3.21747946e+02] [ 1.25979646e-03 9.99999177e-01 -2.44628916e-04 1.89215460e+01] [ 2.09293073e-03 2.41991906e-04 9.99997781e-01 -2.28014708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.491400513 meters Centerline goodness [0,1] 0.6854886897140418 Centerline is valid? [False, False] Translation: X:321.75, Y:18.92, Z:-0.23 [[ 9.99997322e-01 -8.72778133e-04 -2.14364202e-03 3.21748388e+02] [ 8.74182218e-04 9.99999404e-01 6.54150161e-04 1.89173866e+01] [ 2.14306981e-03 -6.56022342e-04 9.99997488e-01 -2.28287184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.521400513 meters Centerline goodness [0,1] 0.6685699621479437 Centerline is valid? [False, False] Translation: X:321.75, Y:18.91, Z:-0.23 [[ 9.99997477e-01 2.99814156e-04 -2.22613518e-03 3.21750855e+02] [-2.92809366e-04 9.99995008e-01 3.14627449e-03 1.89067664e+01] [ 2.22706736e-03 -3.14561472e-03 9.99992573e-01 -2.31603350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.551400513 meters Centerline goodness [0,1] 0.6787921710018028 Centerline is valid? [False, False] Translation: X:321.75, Y:18.90, Z:-0.23 [[ 9.99996970e-01 8.66339817e-04 -2.30434024e-03 3.21752222e+02] [-8.56140734e-04 9.99989850e-01 4.42334205e-03 1.89011980e+01] [ 2.30814896e-03 -4.42135581e-03 9.99987562e-01 -2.33428949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.581400513 meters Centerline goodness [0,1] 0.6771134993671837 Centerline is valid? [False, False] Translation: X:321.75, Y:18.90, Z:-0.23 [[ 9.99991804e-01 -3.33143137e-03 -2.30063695e-03 3.21751683e+02] [ 3.33116189e-03 9.99994444e-01 -1.20955553e-04 1.89022684e+01] [ 2.30102712e-03 1.13290768e-04 9.99997346e-01 -2.32347509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.611400513 meters Centerline goodness [0,1] 0.6651802858971624 Centerline is valid? [False, False] Translation: X:321.75, Y:18.90, Z:-0.23 [[ 9.99993328e-01 -2.68359843e-03 -2.47833798e-03 3.21753414e+02] [ 2.68674426e-03 9.99995588e-01 1.26687492e-03 1.88963360e+01] [ 2.47492726e-03 -1.27352513e-03 9.99996126e-01 -2.34111171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.641400513 meters Centerline goodness [0,1] 0.6791818376526022 Centerline is valid? [False, False] Translation: X:321.75, Y:18.89, Z:-0.23 [[ 9.99992893e-01 -3.33330728e-03 -1.76135809e-03 3.21749338e+02] [ 3.33627332e-03 9.99993017e-01 1.68370287e-03 1.88857876e+01] [ 1.75573349e-03 -1.68956727e-03 9.99997031e-01 -2.32132227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.671400513 meters Centerline goodness [0,1] 0.6777887378307672 Centerline is valid? [False, False] Translation: X:321.75, Y:18.88, Z:-0.23 [[ 9.99994465e-01 -2.79792881e-03 -1.80068594e-03 3.21750348e+02] [ 2.80317167e-03 9.99991820e-01 2.91568541e-03 1.88803301e+01] [ 1.79251333e-03 -2.92071690e-03 9.99994128e-01 -2.33521799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.701400513 meters Centerline goodness [0,1] 0.6648189923729724 Centerline is valid? [False, False] Translation: X:321.75, Y:18.88, Z:-0.23 [[ 9.99995638e-01 -2.33081729e-03 -1.81405316e-03 3.21751125e+02] [ 2.33801529e-03 9.99989363e-01 3.97595896e-03 1.88756224e+01] [ 1.80476663e-03 -3.98018290e-03 9.99990450e-01 -2.34683780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.731400513 meters Centerline goodness [0,1] 0.6782255813454148 Centerline is valid? [False, False] Translation: X:321.75, Y:18.87, Z:-0.24 [[ 9.99997468e-01 -1.46954075e-03 -1.70445884e-03 3.21751953e+02] [ 1.47960338e-03 9.99981397e-01 5.91755225e-03 1.88668235e+01] [ 1.69573105e-03 -5.92005919e-03 9.99981039e-01 -2.36396167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.761400513 meters Centerline goodness [0,1] 0.6676282051282052 Centerline is valid? [False, False] Translation: X:321.75, Y:18.87, Z:-0.24 [[ 9.99983877e-01 -5.39698765e-03 -1.76577880e-03 3.21751672e+02] [ 5.39966980e-03 9.99984270e-01 1.51773776e-03 1.88676468e+01] [ 1.75755982e-03 -1.52724791e-03 9.99997289e-01 -2.35132636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.791400513 meters Centerline goodness [0,1] 0.6501049835025925 Centerline is valid? [False, False] Translation: X:321.75, Y:18.86, Z:-0.24 [[ 9.99986946e-01 -4.74382009e-03 -1.89858011e-03 3.21753206e+02] [ 4.74936307e-03 9.99984442e-01 2.92575706e-03 1.88615359e+01] [ 1.88467131e-03 -2.93473591e-03 9.99993918e-01 -2.36868745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.821400513 meters Centerline goodness [0,1] 0.6588814947530075 Centerline is valid? [False, False] Translation: X:321.75, Y:18.85, Z:-0.24 [[ 9.99964192e-01 -8.27116493e-03 -1.78978568e-03 3.21753533e+02] [ 8.27146941e-03 9.99965778e-01 1.62782288e-04 1.88544553e+01] [ 1.78837803e-03 -1.77580617e-04 9.99998385e-01 -2.37530108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.851400513 meters Centerline goodness [0,1] 0.6607284498467212 Centerline is valid? [False, False] Translation: X:321.75, Y:18.85, Z:-0.24 [[ 9.99968759e-01 -7.68959030e-03 -1.83074861e-03 3.21754345e+02] [ 7.69246115e-03 9.99969186e-01 1.56628844e-03 1.88480510e+01] [ 1.81864808e-03 -1.58032247e-03 9.99997098e-01 -2.38467306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.881400513 meters Centerline goodness [0,1] 0.6800008611966327 Centerline is valid? [False, False] Translation: X:321.76, Y:18.84, Z:-0.24 [[ 9.99973116e-01 -7.08535953e-03 -1.88828847e-03 3.21755367e+02] [ 7.09099165e-03 9.99970380e-01 2.99284062e-03 1.88416228e+01] [ 1.86702718e-03 -3.00615000e-03 9.99993739e-01 -2.39688790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.911400513 meters Centerline goodness [0,1] 0.6666523945109288 Centerline is valid? [False, False] Translation: X:321.76, Y:18.83, Z:-0.24 [[ 9.99983419e-01 -5.41010863e-03 -1.97286904e-03 3.21758448e+02] [ 5.42329617e-03 9.99962569e-01 6.74151589e-03 1.88254521e+01] [ 1.93632286e-03 -6.75210356e-03 9.99975330e-01 -2.43716471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.941400513 meters Centerline goodness [0,1] 0.6753385678526347 Centerline is valid? [False, False] Translation: X:321.76, Y:18.82, Z:-0.25 [[ 9.99987496e-01 -4.57170317e-03 -2.02645285e-03 3.21759778e+02] [ 4.58892510e-03 9.99952687e-01 8.57698278e-03 1.88173218e+01] [ 1.98714555e-03 -8.58617478e-03 9.99961164e-01 -2.45340593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.971400513 meters Centerline goodness [0,1] 0.6584594340429171 Centerline is valid? [False, False] Translation: X:321.76, Y:18.81, Z:-0.25 [[ 9.99990680e-01 -3.79883186e-03 -2.05161967e-03 3.21760895e+02] [ 3.81967064e-03 9.99940165e-01 1.02506764e-02 1.88098887e+01] [ 2.01255632e-03 -1.02584174e-02 9.99945356e-01 -2.46787954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.001400513 meters Centerline goodness [0,1] 0.6577724479088592 Centerline is valid? [False, False] Translation: X:321.75, Y:18.81, Z:-0.23 [[ 9.99980369e-01 -7.36725964e-04 -6.22245146e-03 3.21749105e+02] [ 7.10645435e-04 9.99990959e-01 -4.19253070e-03 1.88057224e+01] [ 6.22548394e-03 4.18802644e-03 9.99971851e-01 -2.32415199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.031400513 meters Centerline goodness [0,1] 0.6426916144536949 Centerline is valid? [False, False] Translation: X:321.75, Y:18.80, Z:-0.23 [[ 9.99980487e-01 -7.24939832e-05 -6.24659887e-03 3.21750117e+02] [ 5.51681419e-05 9.99996152e-01 -2.77377164e-03 1.87994493e+01] [ 6.24677592e-03 2.77337290e-03 9.99976643e-01 -2.33885758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.061400513 meters Centerline goodness [0,1] 0.6500619737573193 Centerline is valid? [False, False] Translation: X:321.75, Y:18.79, Z:-0.24 [[ 9.99980266e-01 6.41383430e-04 -6.24950064e-03 3.21751204e+02] [-6.49633894e-04 9.99998920e-01 -1.31823926e-03 1.87930916e+01] [ 6.24864839e-03 1.32227314e-03 9.99979603e-01 -2.35549873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.091400513 meters Centerline goodness [0,1] 0.6453633010208458 Centerline is valid? [False, False] Translation: X:321.75, Y:18.79, Z:-0.24 [[ 9.99980097e-01 1.29730174e-03 -6.17429352e-03 3.21751910e+02] [-1.29678143e-03 9.99999155e-01 8.82735710e-05 1.87868165e+01] [ 6.17440282e-03 -8.02651050e-05 9.99980935e-01 -2.37085123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.121400513 meters Centerline goodness [0,1] 0.6371740201855701 Centerline is valid? [False, False] Translation: X:321.75, Y:18.77, Z:-0.24 [[ 9.99976912e-01 2.76355378e-03 -6.20785081e-03 3.21754452e+02] [-2.74500493e-03 9.99991749e-01 2.99450218e-03 1.87743930e+01] [ 6.21607505e-03 -2.97739247e-03 9.99976247e-01 -2.40668879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.151400513 meters Centerline goodness [0,1] 0.6382389559095007 Centerline is valid? [False, False] Translation: X:321.75, Y:18.77, Z:-0.24 [[ 9.99980460e-01 -1.17089146e-03 -6.14068385e-03 3.21754016e+02] [ 1.16329434e-03 9.99998554e-01 -1.24060522e-03 1.87743797e+01] [ 6.14212758e-03 1.23343756e-03 9.99980376e-01 -2.40086320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.181400513 meters Centerline goodness [0,1] 0.631909708862383 Centerline is valid? [False, False] Translation: X:321.76, Y:18.77, Z:-0.24 [[ 9.99980164e-01 -4.64775255e-04 -6.28141089e-03 3.21755397e+02] [ 4.66323214e-04 9.99999861e-01 2.44972533e-04 1.87678303e+01] [ 6.28129616e-03 -2.47896841e-04 9.99980242e-01 -2.41435206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.211400513 meters Centerline goodness [0,1] 0.6344249320870141 Centerline is valid? [False, False] Translation: X:321.76, Y:18.76, Z:-0.24 [[ 9.99980809e-01 1.55856229e-04 -6.19329065e-03 3.21755635e+02] [-1.45190289e-04 9.99998506e-01 1.72258889e-03 1.87610001e+01] [ 6.19354987e-03 -1.72165663e-03 9.99979338e-01 -2.42073583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.241400513 meters Centerline goodness [0,1] 0.6346239904532571 Centerline is valid? [False, False] Translation: X:321.76, Y:18.75, Z:-0.24 [[ 9.99981164e-01 7.80144917e-04 -6.08801633e-03 3.21755688e+02] [-7.60101580e-04 9.99994286e-01 3.29388044e-03 1.87536445e+01] [ 6.09055125e-03 -3.28919088e-03 9.99976043e-01 -2.42406682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.271400513 meters Centerline goodness [0,1] 0.647651726356423 Centerline is valid? [False, False] Translation: X:321.75, Y:18.74, Z:-0.24 [[ 9.99979754e-01 -3.40915289e-03 -5.37298275e-03 3.21750944e+02] [ 3.41090285e-03 9.99994133e-01 3.16565790e-04 1.87429406e+01] [ 5.37187201e-03 -3.34886103e-04 9.99985515e-01 -2.38976523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.301400513 meters Centerline goodness [0,1] 0.6478749786215153 Centerline is valid? [False, False] Translation: X:321.75, Y:18.73, Z:-0.24 [[ 9.99981665e-01 -2.50881542e-03 -5.51143548e-03 3.21753165e+02] [ 2.52409169e-03 9.99992988e-01 2.76653643e-03 1.87320857e+01] [ 5.50445610e-03 -2.78039707e-03 9.99980985e-01 -2.41429989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.331400513 meters Centerline goodness [0,1] 0.6396309615549276 Centerline is valid? [False, False] Translation: X:321.75, Y:18.72, Z:-0.24 [[ 9.99983193e-01 -1.84906674e-03 -5.49502104e-03 3.21754728e+02] [ 1.87652508e-03 9.99985759e-01 4.99600154e-03 1.87216718e+01] [ 5.48570485e-03 -5.00622912e-03 9.99972422e-01 -2.43918425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.361400513 meters Centerline goodness [0,1] 0.6461436397877076 Centerline is valid? [False, False] Translation: X:321.76, Y:18.72, Z:-0.24 [[ 9.99967325e-01 -5.85744385e-03 -5.57127594e-03 3.21755146e+02] [ 5.86508183e-03 9.99981881e-01 1.35560736e-03 1.87185543e+01] [ 5.56323461e-03 -1.38823905e-03 9.99983561e-01 -2.43953872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.391400513 meters Centerline goodness [0,1] 0.6461436397877076 Centerline is valid? [False, False] Translation: X:321.76, Y:18.72, Z:-0.24 [[ 9.99967325e-01 -5.85744385e-03 -5.57127594e-03 3.21755146e+02] [ 5.86508183e-03 9.99981881e-01 1.35560736e-03 1.87185543e+01] [ 5.56323461e-03 -1.38823905e-03 9.99983561e-01 -2.43953872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.421400513 meters Centerline goodness [0,1] 0.6409893992932862 Centerline is valid? [False, False] Translation: X:321.75, Y:18.70, Z:-0.24 [[ 9.99965854e-01 -6.74076133e-03 -4.78041080e-03 3.21751834e+02] [ 6.74970207e-03 9.99975497e-01 1.85662737e-03 1.87034683e+01] [ 4.76777859e-03 -1.88883032e-03 9.99986850e-01 -2.42881996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.451400513 meters Centerline goodness [0,1] 0.6385918666695011 Centerline is valid? [False, False] Translation: X:321.75, Y:18.70, Z:-0.24 [[ 9.99970251e-01 -5.99458383e-03 -4.85411721e-03 3.21753014e+02] [ 6.01131807e-03 9.99976014e-01 3.44021256e-03 1.86964150e+01] [ 4.83337814e-03 -3.46928986e-03 9.99982301e-01 -2.44249378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.481400513 meters Centerline goodness [0,1] 0.6414069018634603 Centerline is valid? [False, False] Translation: X:321.75, Y:18.69, Z:-0.25 [[ 9.99977398e-01 -4.81546813e-03 -4.69198500e-03 3.21754110e+02] [ 4.84252459e-03 9.99971615e-01 5.77233409e-03 1.86862547e+01] [ 4.66405532e-03 -5.79492468e-03 9.99972332e-01 -2.46586208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.511400513 meters Centerline goodness [0,1] 0.621361918387393 Centerline is valid? [False, False] Translation: X:321.75, Y:18.68, Z:-0.25 [[ 9.99979915e-01 -4.36148666e-03 -4.59849956e-03 3.21754396e+02] [ 4.39224682e-03 9.99967906e-01 6.70042842e-03 1.86821159e+01] [ 4.56912815e-03 -6.72049159e-03 9.99966978e-01 -2.47552625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.541400513 meters Centerline goodness [0,1] 0.6292769563263647 Centerline is valid? [False, False] Translation: X:321.75, Y:18.68, Z:-0.25 [[ 9.99982202e-01 -3.91515280e-03 -4.50200914e-03 3.21754631e+02] [ 3.94968083e-03 9.99962659e-01 7.68633089e-03 1.86776494e+01] [ 4.47174787e-03 -7.70397558e-03 9.99960325e-01 -2.48407416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.571400513 meters Centerline goodness [0,1] 0.6362683213865412 Centerline is valid? [False, False] Translation: X:321.75, Y:18.67, Z:-0.25 [[ 9.99984268e-01 -3.43033468e-03 -4.43797668e-03 3.21754912e+02] [ 3.46912055e-03 9.99955599e-01 8.76156188e-03 1.86727567e+01] [ 4.40772455e-03 -8.77681992e-03 9.99951769e-01 -2.49110264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.601400513 meters Centerline goodness [0,1] 0.6354513622000171 Centerline is valid? [False, False] Translation: X:321.75, Y:18.67, Z:-0.25 [[ 9.99963274e-01 -7.41289748e-03 -4.30101844e-03 3.21754252e+02] [ 7.43151496e-03 9.99963016e-01 4.32890651e-03 1.86737516e+01] [ 4.26876963e-03 -4.36071061e-03 9.99981381e-01 -2.48444108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.631400513 meters Centerline goodness [0,1] 0.6258908377075065 Centerline is valid? [False, False] Translation: X:321.75, Y:18.67, Z:-0.25 [[ 9.99966884e-01 -6.88120697e-03 -4.34502150e-03 3.21754967e+02] [ 6.90529942e-03 9.99960732e-01 5.55439983e-03 1.86681710e+01] [ 4.30662990e-03 -5.58421956e-03 9.99975134e-01 -2.49233400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.661400513 meters Centerline goodness [0,1] 0.6277101277101277 Centerline is valid? [False, False] Translation: X:321.76, Y:18.66, Z:-0.25 [[ 9.99937897e-01 -1.02945439e-02 -4.26906023e-03 3.21755728e+02] [ 1.03079329e-02 9.99941985e-01 3.12624189e-03 1.86596415e+01] [ 4.23662933e-03 -3.17005293e-03 9.99986001e-01 -2.50399586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.691400513 meters Centerline goodness [0,1] 0.6207746928015647 Centerline is valid? [False, False] Translation: X:321.76, Y:18.65, Z:-0.25 [[ 9.99945037e-01 -9.53316315e-03 -4.36367703e-03 3.21757260e+02] [ 9.55534864e-03 9.99941383e-01 5.09183344e-03 1.86506776e+01] [ 4.31487996e-03 -5.13325004e-03 9.99977516e-01 -2.52161231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.721400513 meters Centerline goodness [0,1] 0.6287527147298045 Centerline is valid? [False, False] Translation: X:321.76, Y:18.64, Z:-0.25 [[ 9.99950381e-01 -8.90254252e-03 -4.46989550e-03 3.21758397e+02] [ 8.93274599e-03 9.99937095e-01 6.78321174e-03 1.86428578e+01] [ 4.40922649e-03 -6.82280361e-03 9.99967003e-01 -2.53196084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.751400513 meters Centerline goodness [0,1] 0.6275740299523485 Centerline is valid? [False, False] Translation: X:321.76, Y:18.64, Z:-0.25 [[ 9.99955130e-01 -8.25495952e-03 -4.64693520e-03 3.21759630e+02] [ 8.29364131e-03 9.99930599e-01 8.36735514e-03 1.86356152e+01] [ 4.57754052e-03 -8.40551971e-03 9.99954196e-01 -2.53967684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.781400513 meters Centerline goodness [0,1] 0.633587786259542 Centerline is valid? [False, False] Translation: X:321.76, Y:18.63, Z:-0.25 [[ 9.99921879e-01 -1.17353465e-02 -4.30327531e-03 3.21758530e+02] [ 1.17607043e-02 9.99913343e-01 5.91548815e-03 1.86268816e+01] [ 4.23348210e-03 -5.96563558e-03 9.99973244e-01 -2.53159690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.811400513 meters Centerline goodness [0,1] 0.632514745308311 Centerline is valid? [False, False] Translation: X:321.76, Y:18.62, Z:-0.25 [[ 9.99930742e-01 -1.09261928e-02 -4.37377976e-03 3.21759494e+02] [ 1.09600535e-02 9.99909560e-01 7.79411749e-03 1.86183263e+01] [ 4.28822417e-03 -7.84151454e-03 9.99960060e-01 -2.54002690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.841400513 meters Centerline goodness [0,1] 0.6321592517911536 Centerline is valid? [False, False] Translation: X:321.76, Y:18.62, Z:-0.25 [[ 9.99953901e-01 -9.22116106e-03 2.67713501e-03 3.21757244e+02] [ 9.23966743e-03 9.99932919e-01 -6.98470254e-03 1.86208661e+01] [-2.61254836e-03 7.00911638e-03 9.99972023e-01 -2.51791416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.871400513 meters Centerline goodness [0,1] 0.6298448784239989 Centerline is valid? [False, False] Translation: X:321.76, Y:18.61, Z:-0.25 [[ 9.99986520e-01 -4.57758216e-03 2.45077314e-03 3.21759307e+02] [ 4.57721347e-03 9.99989512e-01 1.56023463e-04 1.86059730e+01] [-2.45146165e-03 -1.44803648e-04 9.99996985e-01 -2.54338115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.901400513 meters Centerline goodness [0,1] 0.6243034948015627 Centerline is valid? [False, False] Translation: X:321.76, Y:18.59, Z:-0.26 [[ 9.99994404e-01 -2.46739971e-03 2.25917329e-03 3.21762651e+02] [ 2.45663036e-03 9.99985666e-01 4.75737638e-03 1.85860090e+01] [-2.27087926e-03 -4.75179980e-03 9.99986132e-01 -2.58094077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.931400513 meters Centerline goodness [0,1] 0.6345077941490498 Centerline is valid? [False, False] Translation: X:321.76, Y:18.58, Z:-0.26 [[ 9.99996220e-01 -1.64187282e-03 2.20567054e-03 3.21763558e+02] [ 1.62721317e-03 9.99976686e-01 6.63177737e-03 1.85774642e+01] [-2.21650765e-03 -6.62816321e-03 9.99975577e-01 -2.59071008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.961400513 meters Centerline goodness [0,1] 0.6224105461393596 Centerline is valid? [False, False] Translation: X:321.76, Y:18.57, Z:-0.26 [[ 9.99997068e-01 -8.99426713e-04 2.24841600e-03 3.21764079e+02] [ 8.80678561e-04 9.99964955e-01 8.32551173e-03 1.85697289e+01] [-2.25582539e-03 -8.32350718e-03 9.99962815e-01 -2.59953086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.991400513 meters Centerline goodness [0,1] 0.6215536711126262 Centerline is valid? [False, False] Translation: X:321.76, Y:18.57, Z:-0.26 [[ 9.99986917e-01 -4.49086100e-03 2.44904571e-03 3.21763461e+02] [ 4.47990747e-03 9.99980020e-01 4.45986595e-03 1.85683333e+01] [-2.46902542e-03 -4.44883611e-03 9.99987056e-01 -2.59642921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.021400513 meters Centerline goodness [0,1] 0.6173378722675402 Centerline is valid? [False, False] Translation: X:321.76, Y:18.56, Z:-0.26 [[ 9.99979799e-01 -5.32618334e-03 3.46885723e-03 3.21758824e+02] [ 5.31100490e-03 9.99976347e-01 4.37024199e-03 1.85564756e+01] [-3.49205189e-03 -4.35173059e-03 9.99984434e-01 -2.57954426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.051400513 meters Centerline goodness [0,1] 0.6301154695194431 Centerline is valid? [False, False] Translation: X:321.76, Y:18.55, Z:-0.26 [[ 9.99969533e-01 -7.19681226e-03 3.02323105e-03 3.21764271e+02] [ 7.18993397e-03 9.99971553e-01 2.27988647e-03 1.85545644e+01] [-3.03955296e-03 -2.25808017e-03 9.99992831e-01 -2.62514910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.081400513 meters Centerline goodness [0,1] 0.6299721089894872 Centerline is valid? [False, False] Translation: X:321.74, Y:18.55, Z:-0.26 [[ 9.99979682e-01 -6.37456519e-03 2.14311998e-05 3.21740188e+02] [ 6.37452018e-03 9.99944368e-01 -8.40391136e-03 1.85486317e+01] [ 3.21412733e-05 8.40387723e-03 9.99964686e-01 -2.55938917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.111400513 meters Centerline goodness [0,1] 0.6251940044647604 Centerline is valid? [False, False] Translation: X:321.74, Y:18.54, Z:-0.26 [[ 9.99982349e-01 -5.94128965e-03 -5.30360514e-05 3.21740903e+02] [ 5.94074115e-03 9.99955478e-01 -7.33147889e-03 1.85436781e+01] [ 9.65921297e-05 7.33103441e-03 9.99973123e-01 -2.56679589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.141400513 meters Centerline goodness [0,1] 0.6265994407253623 Centerline is valid? [False, False] Translation: X:321.74, Y:18.53, Z:-0.26 [[ 9.99997786e-01 -2.07344747e-03 -3.59932497e-04 3.21742149e+02] [ 2.07292055e-03 9.99996788e-01 -1.45819713e-03 1.85340780e+01] [ 3.62954836e-04 1.45744779e-03 9.99998872e-01 -2.57523390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.171400513 meters Centerline goodness [0,1] 0.6280349903989759 Centerline is valid? [False, False] Translation: X:321.74, Y:18.53, Z:-0.25 [[ 9.99993850e-01 -3.49196905e-03 3.25284449e-04 3.21736639e+02] [ 3.49274100e-03 9.99991012e-01 -2.40362385e-03 1.85317457e+01] [-3.16888145e-04 2.40474520e-03 9.99997058e-01 -2.53688812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.201400513 meters Centerline goodness [0,1] 0.6305751486351141 Centerline is valid? [False, False] Translation: X:321.74, Y:18.52, Z:-0.25 [[ 9.99993510e-01 -3.59279020e-03 2.67186763e-04 3.21736981e+02] [ 3.59294293e-03 9.99993381e-01 -5.73381669e-04 1.85215864e+01] [-2.65124954e-04 5.74337934e-04 9.99999800e-01 -2.53901046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.231400513 meters Centerline goodness [0,1] 0.6315275329694834 Centerline is valid? [False, False] Translation: X:321.74, Y:18.52, Z:-0.25 [[ 9.99994714e-01 -3.24917632e-03 1.24024554e-04 3.21737832e+02] [ 3.24908491e-03 9.99994455e-01 7.30294383e-04 1.85153424e+01] [-1.26396721e-04 -7.29887557e-04 9.99999726e-01 -2.54429201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.261400513 meters Centerline goodness [0,1] 0.6446886446886446 Centerline is valid? [False, False] Translation: X:321.74, Y:18.51, Z:-0.25 [[ 9.99995587e-01 -2.96896306e-03 1.07085305e-04 3.21738224e+02] [ 2.96875939e-03 9.99993874e-01 1.85451555e-03 1.85099371e+01] [-1.12590637e-04 -1.85418945e-03 9.99998275e-01 -2.54773116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.291400513 meters Centerline goodness [0,1] 0.6400521322963849 Centerline is valid? [False, False] Translation: X:321.74, Y:18.51, Z:-0.25 [[ 9.99996433e-01 -2.67095300e-03 2.80114192e-05 3.21738736e+02] [ 2.67086242e-03 9.99992380e-01 2.84722627e-03 1.85052253e+01] [-3.56160133e-05 -2.84714130e-03 9.99995946e-01 -2.54994117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.321400513 meters Centerline goodness [0,1] 0.6607261290943711 Centerline is valid? [False, False] Translation: X:321.74, Y:18.50, Z:-0.25 [[ 9.99995891e-01 -2.86609890e-03 5.91363474e-05 3.21738701e+02] [ 2.86581800e-03 9.99986641e-01 4.30168295e-03 1.84969179e+01] [-7.14646062e-05 -4.30149580e-03 9.99990746e-01 -2.54950117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.351400513 meters Centerline goodness [0,1] 0.6679733521838784 Centerline is valid? [False, False] Translation: X:321.74, Y:18.49, Z:-0.26 [[ 9.99996995e-01 -2.44698198e-03 -1.47530045e-04 3.21739777e+02] [ 2.44775941e-03 9.99981756e-01 5.52241031e-03 1.84911998e+01] [ 1.34014115e-04 -5.52275484e-03 9.99984740e-01 -2.55477388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.381400513 meters Centerline goodness [0,1] 0.6696553478316165 Centerline is valid? [False, False] Translation: X:321.74, Y:18.49, Z:-0.25 [[ 9.99976866e-01 -6.80188051e-03 -5.32941202e-05 3.21739137e+02] [ 6.80192215e-03 9.99976527e-01 8.24595831e-04 1.84930363e+01] [ 4.76840669e-05 -8.24939257e-04 9.99999659e-01 -2.54752032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.411400513 meters Centerline goodness [0,1] 0.6810266406757635 Centerline is valid? [False, False] Translation: X:321.69, Y:18.48, Z:-0.25 [[ 9.99976655e-01 -6.64586077e-03 -1.58820212e-03 3.21694694e+02] [ 6.64581089e-03 9.99977916e-01 -3.66862328e-05 1.84833873e+01] [ 1.58841086e-03 2.61304853e-05 9.99998738e-01 -2.52377917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.441400513 meters Centerline goodness [0,1] 0.6551504874947012 Centerline is valid? [False, False] Translation: X:321.74, Y:18.48, Z:-0.25 [[ 9.99980530e-01 -6.24003488e-03 -4.61738947e-05 3.21736828e+02] [ 6.24016932e-03 9.99972593e-01 3.98409339e-03 1.84802205e+01] [ 2.13117475e-05 -3.98430395e-03 9.99992062e-01 -2.53614903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.471400513 meters Centerline goodness [0,1] 0.6565568728923201 Centerline is valid? [False, False] Translation: X:321.74, Y:18.48, Z:-0.25 [[ 9.99983258e-01 -5.78544378e-03 -1.10112886e-04 3.21737374e+02] [ 5.78592259e-03 9.99970728e-01 5.00661501e-03 1.84755230e+01] [ 8.11441731e-05 -5.00716829e-03 9.99987461e-01 -2.54078700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.501400513 meters Centerline goodness [0,1] 0.6765229324356198 Centerline is valid? [False, False] Translation: X:321.71, Y:18.48, Z:-0.25 [[ 9.99983188e-01 -4.33831083e-03 -3.84740853e-03 3.21713479e+02] [ 4.31861207e-03 9.99977600e-01 -5.11362021e-03 1.84754730e+01] [ 3.86950682e-03 5.09691877e-03 9.99979524e-01 -2.47276675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.531400513 meters Centerline goodness [0,1] 0.6422242198536021 Centerline is valid? [False, False] Translation: X:321.71, Y:18.47, Z:-0.25 [[ 9.99984626e-01 -3.89677925e-03 -3.94502541e-03 3.21714539e+02] [ 3.88014443e-03 9.99983587e-01 -4.21556478e-03 1.84714995e+01] [ 3.96138779e-03 4.20019270e-03 9.99983333e-01 -2.48601891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.561400513 meters Centerline goodness [0,1] 0.6678102753237842 Centerline is valid? [False, False] Translation: X:321.71, Y:18.47, Z:-0.24 [[ 9.99993912e-01 -1.64522433e-03 -3.07720295e-03 3.21708490e+02] [ 1.64006747e-03 9.99997248e-01 -1.67760093e-03 1.84672449e+01] [ 3.07995451e-03 1.67254390e-03 9.99993858e-01 -2.44728042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.591400513 meters Centerline goodness [0,1] 0.6609992986632096 Centerline is valid? [False, False] Translation: X:321.71, Y:18.47, Z:-0.24 [[ 9.99994527e-01 -1.53493041e-03 -2.93090462e-03 3.21707948e+02] [ 1.53033227e-03 9.99997596e-01 -1.57044421e-03 1.84668322e+01] [ 2.93330810e-03 1.56595035e-03 9.99994472e-01 -2.44618280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.621400513 meters Centerline goodness [0,1] 0.6459610205077089 Centerline is valid? [False, False] Translation: X:321.71, Y:18.46, Z:-0.25 [[ 9.99995062e-01 -1.30783040e-03 -2.85739925e-03 3.21707985e+02] [ 1.30461361e-03 9.99998514e-01 -1.12734975e-03 1.84648504e+01] [ 2.85886938e-03 1.12361638e-03 9.99995282e-01 -2.45127416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.651400513 meters Centerline goodness [0,1] 0.6539171386749825 Centerline is valid? [False, False] Translation: X:321.71, Y:18.46, Z:-0.25 [[ 9.99995295e-01 -1.00784789e-03 -2.89729111e-03 3.21708631e+02] [ 1.00643156e-03 9.99999373e-01 -4.90262206e-04 1.84619820e+01] [ 2.89778341e-03 4.87343974e-04 9.99995683e-01 -2.46051286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.681400513 meters Centerline goodness [0,1] 0.6390688949522509 Centerline is valid? [False, False] Translation: X:321.71, Y:18.46, Z:-0.25 [[ 9.99995426e-01 -8.20332403e-04 -2.91130766e-03 3.21709045e+02] [ 8.20149349e-04 9.99999662e-01 -6.40702344e-05 1.84600542e+01] [ 2.91135923e-03 6.16822343e-05 9.99995760e-01 -2.46697370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.711400513 meters Centerline goodness [0,1] 0.6451269608156142 Centerline is valid? [False, False] Translation: X:321.71, Y:18.46, Z:-0.25 [[ 9.99995829e-01 -6.82404447e-04 -2.80639847e-03 3.21708439e+02] [ 6.84231348e-04 9.99999555e-01 6.50068263e-04 1.84564983e+01] [ 2.80595361e-03 -6.51985778e-04 9.99995851e-01 -2.46006939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.741400513 meters Centerline goodness [0,1] 0.6673980656980956 Centerline is valid? [False, False] Translation: X:321.71, Y:18.45, Z:-0.25 [[ 9.99996439e-01 -5.23304609e-04 -2.61675517e-03 3.21707601e+02] [ 5.26750270e-04 9.99998995e-01 1.31625258e-03 1.84532174e+01] [ 2.61606374e-03 -1.31762627e-03 9.99995710e-01 -2.45356314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.771400513 meters Centerline goodness [0,1] 0.6760822580300014 Centerline is valid? [False, False] Translation: X:321.70, Y:18.45, Z:-0.24 [[ 9.99996328e-01 -2.11270335e-03 -1.69729956e-03 3.21700979e+02] [ 2.11294141e-03 9.99997758e-01 1.38475874e-04 1.84514962e+01] [ 1.69700320e-03 -1.42061660e-04 9.99998550e-01 -2.40879977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.801400513 meters Centerline goodness [0,1] 0.6898446783228653 Centerline is valid? [False, False] Translation: X:321.70, Y:18.45, Z:-0.24 [[ 9.99979455e-01 -6.16997499e-03 -1.73783304e-03 3.21701174e+02] [ 6.16385195e-03 9.99974854e-01 -3.50696370e-03 1.84482879e+01] [ 1.75942722e-03 3.49617991e-03 9.99992341e-01 -2.40798660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.831400513 meters Centerline goodness [0,1] 0.6790118189188036 Centerline is valid? [False, False] Translation: X:321.70, Y:18.44, Z:-0.24 [[ 9.99981148e-01 -5.76769269e-03 -2.10637185e-03 3.21702826e+02] [ 5.76263299e-03 9.99980515e-01 -2.40031336e-03 1.84431518e+01] [ 2.12017508e-03 2.38812986e-03 9.99994901e-01 -2.41543691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.861400513 meters Centerline goodness [0,1] 0.6883042547327807 Centerline is valid? [False, False] Translation: X:321.70, Y:18.44, Z:-0.24 [[ 9.99982349e-01 -5.40888361e-03 -2.45879570e-03 3.21704343e+02] [ 5.40565957e-03 9.99984523e-01 -1.31598925e-03 1.84380134e+01] [ 2.46587568e-03 1.30267461e-03 9.99996111e-01 -2.42150396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.891400513 meters Centerline goodness [0,1] 0.6908505318472687 Centerline is valid? [False, False] Translation: X:321.71, Y:18.43, Z:-0.24 [[ 9.99984088e-01 -4.96744754e-03 -2.67343929e-03 3.21705354e+02] [ 4.96693390e-03 9.99987645e-01 -1.98731820e-04 1.84328295e+01] [ 2.67439345e-03 1.85449861e-04 9.99996407e-01 -2.42547646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.921400513 meters Centerline goodness [0,1] 0.6927628487204682 Centerline is valid? [False, False] Translation: X:321.70, Y:18.43, Z:-0.24 [[ 9.99975143e-01 -6.85041187e-03 -1.66901405e-03 3.21698986e+02] [ 6.84751214e-03 9.99975047e-01 -1.73695673e-03 1.84274595e+01] [ 1.68087127e-03 1.72548496e-03 9.99997099e-01 -2.38665605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.951400513 meters Centerline goodness [0,1] 0.6949235137082079 Centerline is valid? [False, False] Translation: X:321.70, Y:18.43, Z:-0.24 [[ 9.99976500e-01 -6.64713435e-03 -1.67796781e-03 3.21699116e+02] [ 6.64484676e-03 9.99976991e-01 -1.36521898e-03 1.84257984e+01] [ 1.68700399e-03 1.35403705e-03 9.99997660e-01 -2.38826000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.981400513 meters Centerline goodness [0,1] 0.6800587947084762 Centerline is valid? [False, False] Translation: X:321.70, Y:18.43, Z:-0.24 [[ 9.99977267e-01 -6.57023276e-03 -1.51587322e-03 3.21698655e+02] [ 6.56818638e-03 9.99977517e-01 -1.35101438e-03 1.84258176e+01] [ 1.52471561e-03 1.34102713e-03 9.99997938e-01 -2.38965673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.011400513 meters Centerline goodness [0,1] 0.664310201648106 Centerline is valid? [False, False] Translation: X:321.70, Y:18.42, Z:-0.24 [[ 9.99997230e-01 -1.71254743e-03 -1.61465853e-03 3.21699401e+02] [ 1.71932647e-03 9.99989675e-01 4.20643416e-03 1.84201648e+01] [ 1.60743814e-03 -4.20919863e-03 9.99989849e-01 -2.39742634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.041400513 meters Centerline goodness [0,1] 0.6535164413357786 Centerline is valid? [False, False] Translation: X:321.70, Y:18.42, Z:-0.24 [[ 9.99998696e-01 -8.12768103e-04 -1.39533244e-03 3.21699013e+02] [ 8.18964759e-04 9.99989780e-01 4.44617651e-03 1.84203768e+01] [ 1.39170447e-03 -4.44731344e-03 9.99989142e-01 -2.40160431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.071400513 meters Centerline goodness [0,1] 0.6676533676533676 Centerline is valid? [False, False] Translation: X:321.70, Y:18.42, Z:-0.24 [[ 9.99998852e-01 -7.15355150e-04 -1.33573737e-03 3.21698973e+02] [ 7.21449830e-04 9.99989307e-01 4.56789050e-03 1.84198618e+01] [ 1.33245542e-03 -4.56884892e-03 9.99988675e-01 -2.40505165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.101400513 meters Centerline goodness [0,1] 0.6439183604264247 Centerline is valid? [False, False] Translation: X:321.72, Y:18.43, Z:-0.24 [[ 9.99995302e-01 9.32508084e-04 2.91985114e-03 3.21718008e+02] [-9.18830706e-04 9.99988617e-01 -4.68211503e-03 1.84262524e+01] [-2.92418401e-03 4.67941019e-03 9.99984776e-01 -2.41595288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.131400513 meters Centerline goodness [0,1] 0.6442030826558265 Centerline is valid? [False, False] Translation: X:321.72, Y:18.43, Z:-0.24 [[ 9.99994937e-01 1.04306055e-03 3.00628477e-03 3.21717825e+02] [-1.02959006e-03 9.99989440e-01 -4.47884557e-03 1.84253452e+01] [-3.01092473e-03 4.47572766e-03 9.99985451e-01 -2.41811428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.161400513 meters Centerline goodness [0,1] 0.65056884635832 Centerline is valid? [False, False] Translation: X:321.72, Y:18.42, Z:-0.24 [[ 9.99994646e-01 1.24650569e-03 3.02559916e-03 3.21718098e+02] [-1.23429776e-03 9.99991104e-01 -4.03340000e-03 1.84233256e+01] [-3.03059990e-03 4.02964392e-03 9.99987289e-01 -2.42449228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.191400513 meters Centerline goodness [0,1] 0.6621412613851176 Centerline is valid? [False, False] Translation: X:321.70, Y:18.41, Z:-0.24 [[ 9.99996206e-01 2.64248419e-04 -2.74201033e-03 3.21698541e+02] [-2.49147626e-04 9.99984810e-01 5.50607858e-03 1.84129761e+01] [ 2.74342365e-03 -5.50537452e-03 9.99981082e-01 -2.39509972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.221400513 meters Centerline goodness [0,1] 0.6613103124065132 Centerline is valid? [False, False] Translation: X:321.70, Y:18.41, Z:-0.24 [[ 9.99992136e-01 -1.83617542e-03 -3.51520002e-03 3.21704655e+02] [ 1.84751242e-03 9.99993094e-01 3.22461088e-03 1.84144573e+01] [ 3.50925480e-03 -3.23107990e-03 9.99988623e-01 -2.43631074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.251400513 meters Centerline goodness [0,1] 0.6510841836734693 Centerline is valid? [False, False] Translation: X:321.71, Y:18.41, Z:-0.25 [[ 9.99985367e-01 -3.34855385e-03 -4.24890924e-03 3.21709839e+02] [ 3.35662911e-03 9.99992571e-01 1.89484201e-03 1.84148875e+01] [ 4.24253270e-03 -1.90907630e-03 9.99989178e-01 -2.46749662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.281400513 meters Centerline goodness [0,1] 0.6510841836734693 Centerline is valid? [False, False] Translation: X:321.71, Y:18.41, Z:-0.25 [[ 9.99985367e-01 -3.34855385e-03 -4.24890924e-03 3.21709839e+02] [ 3.35662911e-03 9.99992571e-01 1.89484201e-03 1.84148875e+01] [ 4.24253270e-03 -1.90907630e-03 9.99989178e-01 -2.46749662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.311400513 meters Centerline goodness [0,1] 0.6657356076759062 Centerline is valid? [False, False] Translation: X:321.71, Y:18.41, Z:-0.25 [[ 9.99985580e-01 -3.09246374e-03 -4.39038615e-03 3.21710346e+02] [ 3.10390999e-03 9.99991796e-01 2.60270233e-03 1.84115579e+01] [ 4.38230137e-03 -2.61629216e-03 9.99986975e-01 -2.46688579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.341400513 meters Centerline goodness [0,1] 0.6622255067567567 Centerline is valid? [False, False] Translation: X:321.73, Y:18.42, Z:-0.25 [[ 9.99980170e-01 -6.09959069e-03 1.56695434e-03 3.21727755e+02] [ 6.11609338e-03 9.99923490e-01 -1.07521209e-02 1.84203836e+01] [-1.50125091e-03 1.07614913e-02 9.99940967e-01 -2.47501636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.371400513 meters Centerline goodness [0,1] 0.6806539276314382 Centerline is valid? [False, False] Translation: X:321.71, Y:18.41, Z:-0.24 [[ 9.99971012e-01 -6.60089107e-03 -3.79515107e-03 3.21706390e+02] [ 6.59912892e-03 9.99978112e-01 -4.76652190e-04 1.84085656e+01] [ 3.79821433e-03 4.51593681e-04 9.99992685e-01 -2.43402504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.401400513 meters Centerline goodness [0,1] 0.6799590784117309 Centerline is valid? [False, False] Translation: X:321.71, Y:18.41, Z:-0.24 [[ 9.99972558e-01 -6.33711019e-03 -3.83725910e-03 3.21706559e+02] [ 6.33768792e-03 9.99979907e-01 1.38417916e-04 1.84057020e+01] [ 3.83630483e-03 -1.62733468e-04 9.99992628e-01 -2.43380295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.431400513 meters Centerline goodness [0,1] 0.6641391614629795 Centerline is valid? [False, False] Translation: X:321.71, Y:18.40, Z:-0.24 [[ 9.99975134e-01 -5.89775093e-03 -3.86637423e-03 3.21707001e+02] [ 5.90217645e-03 9.99981939e-01 1.13420957e-03 1.84011134e+01] [ 3.85961511e-03 -1.15700139e-03 9.99991882e-01 -2.43887035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.461400513 meters Centerline goodness [0,1] 0.66464 Centerline is valid? [False, False] Translation: X:321.71, Y:18.40, Z:-0.24 [[ 9.99975724e-01 -5.80729350e-03 -3.85060895e-03 3.21707056e+02] [ 5.81242668e-03 9.99982232e-01 1.32323498e-03 1.84002578e+01] [ 3.84285612e-03 -1.34558424e-03 9.99991711e-01 -2.44072872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.491400513 meters Centerline goodness [0,1] 0.6820533652612675 Centerline is valid? [False, False] Translation: X:321.71, Y:18.40, Z:-0.24 [[ 9.99975891e-01 -5.79261588e-03 -3.82926320e-03 3.21707025e+02] [ 5.79770370e-03 9.99982323e-01 1.31890558e-03 1.84003074e+01] [ 3.82155560e-03 -1.34107472e-03 9.99991799e-01 -2.44177536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.521400513 meters Centerline goodness [0,1] 0.6758572159672467 Centerline is valid? [False, False] Translation: X:321.71, Y:18.40, Z:-0.24 [[ 9.99975717e-01 -5.82087622e-03 -3.83191889e-03 3.21707037e+02] [ 5.82547720e-03 9.99982323e-01 1.19063441e-03 1.84009324e+01] [ 3.82492061e-03 -1.21292825e-03 9.99991949e-01 -2.44244812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.551400513 meters Centerline goodness [0,1] 0.6347875907142554 Centerline is valid? [False, False] Translation: X:321.71, Y:18.40, Z:-0.25 [[ 9.99980667e-01 -4.00777940e-03 -4.75422290e-03 3.21713156e+02] [ 4.02167778e-03 9.99987657e-01 2.91742710e-03 1.83985572e+01] [ 4.74247182e-03 -2.93649065e-03 9.99984443e-01 -2.47842281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.581400513 meters Centerline goodness [0,1] 0.6318979266347687 Centerline is valid? [False, False] Translation: X:321.71, Y:18.40, Z:-0.25 [[ 9.99981163e-01 -3.93348840e-03 -4.71175224e-03 3.21713099e+02] [ 3.94785563e-03 9.99987575e-01 3.04382270e-03 1.83979907e+01] [ 4.69972086e-03 -3.06236669e-03 9.99984267e-01 -2.48009720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.611400513 meters Centerline goodness [0,1] 0.6479309534491231 Centerline is valid? [False, False] Translation: X:321.71, Y:18.40, Z:-0.25 [[ 9.99982081e-01 -3.81153954e-03 -4.61629577e-03 3.21712801e+02] [ 3.82684185e-03 9.99987198e-01 3.31056220e-03 1.83967623e+01] [ 4.60361834e-03 -3.32816871e-03 9.99983865e-01 -2.48014131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.641400513 meters Centerline goodness [0,1] 0.6447262735151131 Centerline is valid? [False, False] Translation: X:321.73, Y:18.40, Z:-0.25 [[ 9.99996245e-01 -2.71457888e-03 -3.74447426e-04 3.21731223e+02] [ 2.71207470e-03 9.99974979e-01 -6.53349169e-03 1.84033399e+01] [ 3.92173735e-04 6.53245163e-03 9.99978586e-01 -2.48620904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.671400513 meters Centerline goodness [0,1] 0.651422742631277 Centerline is valid? [False, False] Translation: X:321.73, Y:18.40, Z:-0.25 [[ 9.99997276e-01 -2.28254474e-03 -4.88167507e-04 3.21732013e+02] [ 2.27989337e-03 9.99983012e-01 -5.36454893e-03 1.83978623e+01] [ 5.00404037e-04 5.36342135e-03 9.99985492e-01 -2.49300251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.701400513 meters Centerline goodness [0,1] 0.6667019005137095 Centerline is valid? [False, False] Translation: X:321.73, Y:18.39, Z:-0.25 [[ 9.99997668e-01 -2.00902309e-03 -7.92601440e-04 3.21733175e+02] [ 2.00546267e-03 9.99988009e-01 -4.46756853e-03 1.83935844e+01] [ 8.01567385e-04 4.46596858e-03 9.99989706e-01 -2.49559526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.731400513 meters Centerline goodness [0,1] 0.6667162276975361 Centerline is valid? [False, False] Translation: X:321.73, Y:18.39, Z:-0.25 [[ 9.99997908e-01 -1.74788189e-03 -1.06264286e-03 3.21734284e+02] [ 1.74432881e-03 9.99992916e-01 -3.33540818e-03 1.83880733e+01] [ 1.06846523e-03 3.33354760e-03 9.99993873e-01 -2.49869674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.761400513 meters Centerline goodness [0,1] 0.6881092455017821 Centerline is valid? [False, False] Translation: X:321.71, Y:18.37, Z:-0.24 [[ 9.99954305e-01 -7.29737019e-03 -6.17551812e-03 3.21709655e+02] [ 7.30995873e-03 9.99971245e-01 2.01834781e-03 1.83737133e+01] [ 6.16061192e-03 -2.06339837e-03 9.99978894e-01 -2.43079024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.791400513 meters Centerline goodness [0,1] 0.6838196286472149 Centerline is valid? [False, False] Translation: X:321.73, Y:18.38, Z:-0.24 [[ 9.99956517e-01 -9.22445607e-03 -1.36884823e-03 3.21726663e+02] [ 9.20903316e-03 9.99898455e-01 -1.08753128e-02 1.83808270e+01] [ 1.46902808e-03 1.08622341e-02 9.99939925e-01 -2.42774853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.821400513 meters Centerline goodness [0,1] 0.6794438420817654 Centerline is valid? [False, False] Translation: X:321.73, Y:18.37, Z:-0.24 [[ 9.99987733e-01 -4.78279721e-03 -1.28788530e-03 3.21726624e+02] [ 4.77676105e-03 9.99977780e-01 -4.64986130e-03 1.83708227e+01] [ 1.31009603e-03 4.64365234e-03 9.99988360e-01 -2.43175355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.851400513 meters Centerline goodness [0,1] 0.6765117462471377 Centerline is valid? [False, False] Translation: X:321.73, Y:18.37, Z:-0.24 [[ 9.99989100e-01 -4.47371212e-03 -1.33639454e-03 3.21726923e+02] [ 4.46837327e-03 9.99982130e-01 -3.97159365e-03 1.83677084e+01] [ 1.35413843e-03 3.96557885e-03 9.99991220e-01 -2.43380312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.881400513 meters Centerline goodness [0,1] 0.6737518013054167 Centerline is valid? [False, False] Translation: X:321.73, Y:18.36, Z:-0.24 [[ 9.99991833e-01 -3.80473964e-03 -1.36315512e-03 3.21727746e+02] [ 3.80105377e-03 9.99989141e-01 -2.69639020e-03 1.83620076e+01] [ 1.37339938e-03 2.69118675e-03 9.99995436e-01 -2.44642877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.911400513 meters Centerline goodness [0,1] 0.6673406836660849 Centerline is valid? [False, False] Translation: X:321.73, Y:18.36, Z:-0.25 [[ 9.99992862e-01 -3.54764840e-03 -1.30003409e-03 3.21727810e+02] [ 3.54482490e-03 9.99991367e-01 -2.16777450e-03 1.83596105e+01] [ 1.30771337e-03 2.16315063e-03 9.99996805e-01 -2.45139006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.941400513 meters Centerline goodness [0,1] 0.6759786023605332 Centerline is valid? [False, False] Translation: X:321.73, Y:18.36, Z:-0.25 [[ 9.99993586e-01 -3.35483358e-03 -1.25395614e-03 3.21727839e+02] [ 3.35254832e-03 9.99992724e-01 -1.82011898e-03 1.83580691e+01] [ 1.26005321e-03 1.81590335e-03 9.99997557e-01 -2.45483009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.971400513 meters Centerline goodness [0,1] 0.6554039650394372 Centerline is valid? [False, False] Translation: X:321.73, Y:18.36, Z:-0.25 [[ 9.99994096e-01 -3.21891796e-03 -1.20252499e-03 3.21727908e+02] [ 3.21704231e-03 9.99993611e-01 -1.55845389e-03 1.83568959e+01] [ 1.20753384e-03 1.55457611e-03 9.99998063e-01 -2.45942788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.001400513 meters Centerline goodness [0,1] 0.6734772469566334 Centerline is valid? [False, False] Translation: X:321.73, Y:18.35, Z:-0.25 [[ 9.99995249e-01 -2.83331806e-03 -1.21388478e-03 3.21728471e+02] [ 2.83239296e-03 9.99995698e-01 -7.63143212e-04 1.83532993e+01] [ 1.21604179e-03 7.59701388e-04 9.99998972e-01 -2.46941189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.031400513 meters Centerline goodness [0,1] 0.6413730422100569 Centerline is valid? [False, False] Translation: X:321.77, Y:18.35, Z:-0.25 [[ 9.99996695e-01 -2.53397226e-03 4.35802072e-04 3.21770924e+02] [ 2.53308063e-03 9.99994722e-01 2.03448573e-03 1.83514608e+01] [-4.40955102e-04 -2.03337508e-03 9.99997835e-01 -2.47778218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.061400513 meters Centerline goodness [0,1] 0.6759447596617065 Centerline is valid? [False, False] Translation: X:321.74, Y:18.35, Z:-0.24 [[ 9.99978000e-01 -6.11922252e-03 -2.56025222e-03 3.21744878e+02] [ 6.08558125e-03 9.99897659e-01 -1.29475159e-02 1.83522611e+01] [ 2.63921893e-03 1.29316505e-02 9.99912900e-01 -2.39829525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.091400513 meters Centerline goodness [0,1] 0.6723940920055864 Centerline is valid? [False, False] Translation: X:321.77, Y:18.34, Z:-0.25 [[ 9.99964372e-01 -8.38828812e-03 9.44122589e-04 3.21769395e+02] [ 8.39118133e-03 9.99959978e-01 -3.10337918e-03 1.83427269e+01] [-9.18052765e-04 3.11119092e-03 9.99994739e-01 -2.46231087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.121400513 meters Centerline goodness [0,1] 0.6882676740420939 Centerline is valid? [False, False] Translation: X:321.73, Y:18.33, Z:-0.25 [[ 9.99952212e-01 -9.66467804e-03 -1.47209209e-03 3.21728096e+02] [ 9.65977779e-03 9.99947897e-01 -3.30027423e-03 1.83320739e+01] [ 1.50391148e-03 3.28589643e-03 9.99993471e-01 -2.45542634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.151400513 meters Centerline goodness [0,1] 0.7020089047953815 Centerline is valid? [False, False] Translation: X:321.75, Y:18.34, Z:-0.25 [[ 9.99911349e-01 -1.28256462e-02 3.57719429e-03 3.21747471e+02] [ 1.28850802e-02 9.99770441e-01 -1.71184184e-02 1.83383062e+01] [-3.35681833e-03 1.71629933e-02 9.99847070e-01 -2.47792164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.181400513 meters Centerline goodness [0,1] 0.7083474504489242 Centerline is valid? [False, False] Translation: X:321.77, Y:18.33, Z:-0.24 [[ 9.99878671e-01 -1.53406137e-02 2.70343057e-03 3.21766525e+02] [ 1.53583610e-02 9.99859799e-01 -6.67101504e-03 1.83271922e+01] [-2.60071408e-03 6.71172591e-03 9.99974094e-01 -2.44865415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.211400513 meters Centerline goodness [0,1] 0.8396083029355568 Centerline is valid? [False, False] Translation: X:321.73, Y:18.31, Z:-0.25 [[ 9.99840951e-01 -1.78258552e-02 5.58918922e-04 3.21725995e+02] [ 1.78294971e-02 9.99813799e-01 -7.38087057e-03 1.83142436e+01] [-4.27244520e-04 7.38966189e-03 9.99972605e-01 -2.45351581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.241400513 meters Centerline goodness [0,1] 0.8490654304973738 Centerline is valid? [False, False] Translation: X:321.77, Y:18.31, Z:-0.25 [[ 9.99842193e-01 -1.77011866e-02 1.50256474e-03 3.21769850e+02] [ 1.77073352e-02 9.99834465e-01 -4.18245732e-03 1.83105783e+01] [-1.42828155e-03 4.20840371e-03 9.99990125e-01 -2.47008686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.271400513 meters Centerline goodness [0,1] 0.9753282757731405 Centerline is valid? [False, True] Translation: X:321.77, Y:18.31, Z:-0.25 [[ 9.99849031e-01 -1.73315148e-02 1.23826847e-03 3.21770909e+02] [ 1.73353357e-02 9.99844787e-01 -3.14458332e-03 1.83056902e+01] [-1.18357588e-03 3.16557439e-03 9.99994289e-01 -2.47284762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.301400513 meters Centerline goodness [0,1] 0.9939870291629086 Centerline is valid? [True, True] Translation: X:321.80, Y:18.30, Z:-0.25 [[ 9.99785526e-01 -2.07099652e-02 8.26566524e-06 3.21800829e+02] [ 2.07099652e-02 9.99785526e-01 6.49847502e-07 1.82983152e+01] [-8.27735079e-06 -4.78526487e-07 1.00000000e+00 -2.48564291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.331400513 meters Centerline goodness [0,1] 0.9340999745395909 Centerline is valid? [True, False] Translation: X:321.80, Y:18.30, Z:-0.25 [[ 9.99790023e-01 -2.04915844e-02 -7.18795331e-05 3.21801010e+02] [ 2.04916264e-02 9.99789818e-01 6.43448472e-04 1.82952504e+01] [ 5.86791466e-05 -6.44786291e-04 9.99999790e-01 -2.48322924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.361400513 meters Centerline goodness [0,1] 0.9163345769035103 Centerline is valid? [False, False] Translation: X:321.80, Y:18.29, Z:-0.25 [[ 9.99793488e-01 -2.03219091e-02 -2.75316994e-05 3.21800652e+02] [ 2.03219269e-02 9.99792921e-01 1.06502317e-03 1.82932573e+01] [ 5.88269424e-06 -1.06536272e-03 9.99999432e-01 -2.47839065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.391400513 meters Centerline goodness [0,1] 0.9923607110086848 Centerline is valid? [False, True] Translation: X:321.80, Y:18.29, Z:-0.25 [[ 9.99795438e-01 -2.02257618e-02 3.29496984e-05 3.21800304e+02] [ 2.02257003e-02 9.99794560e-01 1.32648708e-03 1.82920094e+01] [-5.97721410e-05 -1.32554930e-03 9.99999120e-01 -2.47494134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.421400513 meters Centerline goodness [0,1] 0.9895693064016244 Centerline is valid? [True, True] Translation: X:321.83, Y:18.29, Z:-0.25 [[ 9.99710228e-01 -2.40526187e-02 9.65301129e-04 3.21829366e+02] [ 2.40525608e-02 9.99710693e-01 7.15109680e-05 1.82943444e+01] [-9.66741886e-04 -4.82722820e-05 9.99999532e-01 -2.46470014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.451400513 meters Centerline goodness [0,1] 0.999829030603522 Centerline is valid? [True, True] Translation: X:321.86, Y:18.29, Z:-0.25 [[ 9.99645238e-01 -2.65919205e-02 1.50615361e-03 3.21860915e+02] [ 2.65917826e-02 9.99646370e-01 1.11476480e-04 1.82864710e+01] [-1.50858536e-03 -7.13856226e-05 9.99998860e-01 -2.46467143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.481400513 meters Centerline goodness [0,1] 0.9999146648461834 Centerline is valid? [True, True] Translation: X:321.89, Y:18.29, Z:-0.25 [[ 9.99568488e-01 -2.93242656e-02 1.71021540e-03 3.21891476e+02] [ 2.93240918e-02 9.99569948e-01 1.26620544e-04 1.82852121e+01] [-1.71319298e-03 -7.64153922e-05 9.99998530e-01 -2.46209794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.511400513 meters Centerline goodness [0,1] 0.9999786055069425 Centerline is valid? [True, True] Translation: X:321.92, Y:18.28, Z:-0.25 [[ 9.99473539e-01 -3.24284838e-02 1.01940812e-03 3.21922623e+02] [ 3.24284238e-02 9.99474058e-01 7.53851688e-05 1.82832450e+01] [-1.02131660e-03 -4.22876829e-05 9.99999478e-01 -2.46933165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.541400513 meters Centerline goodness [0,1] 0.9999572091829093 Centerline is valid? [True, True] Translation: X:321.95, Y:18.29, Z:-0.25 [[ 9.99358274e-01 -3.58186372e-02 2.56083794e-04 3.21951923e+02] [ 3.58186335e-02 9.99358307e-01 1.89891543e-05 1.82850278e+01] [-2.56599632e-04 -9.80439694e-06 9.99999967e-01 -2.47776511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.571400513 meters Centerline goodness [0,1] 0.9997852879288873 Centerline is valid? [True, True] Translation: X:321.98, Y:18.28, Z:-0.25 [[ 9.99091475e-01 -4.25793661e-02 -1.79519014e-03 3.21983034e+02] [ 4.25791960e-02 9.99093086e-01 -1.32889734e-04 1.82767388e+01] [ 1.79922041e-03 5.63312474e-05 9.99998380e-01 -2.51272474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.601400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.01, Y:18.28, Z:-0.25 [[ 9.98964758e-01 -4.54416050e-02 -2.11486104e-03 3.22013693e+02] [ 4.54413753e-02 9.98966995e-01 -1.56561427e-04 1.82765570e+01] [ 2.11979078e-03 6.02971533e-05 9.99997751e-01 -2.51250003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.631400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.05, Y:18.28, Z:-0.25 [[ 9.98862213e-01 -4.76509575e-02 -1.91462036e-03 3.22045543e+02] [ 4.76507733e-02 9.98864047e-01 -1.41734831e-04 1.82761782e+01] [ 1.91919924e-03 5.03404263e-05 9.99998157e-01 -2.50820051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.661400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.08, Y:18.28, Z:-0.25 [[ 9.98792850e-01 -4.90794629e-02 -2.01222561e-03 3.22077108e+02] [ 4.90792625e-02 9.98794876e-01 -1.48875317e-04 1.82766681e+01] [ 2.01710735e-03 4.99370533e-05 9.99997964e-01 -2.50567470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.691400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.11, Y:18.28, Z:-0.25 [[ 9.98730454e-01 -5.02072553e-02 -4.08793530e-03 3.22108029e+02] [ 5.02064383e-02 9.98738816e-01 -3.02282743e-04 1.82785385e+01] [ 4.09795644e-03 9.66583101e-05 9.99991599e-01 -2.54391151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.721400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.14, Y:18.28, Z:-0.26 [[ 9.98721426e-01 -5.02507452e-02 -5.51146640e-03 3.22138444e+02] [ 5.02492613e-02 9.98736625e-01 -4.07458452e-04 1.82812403e+01] [ 5.52497844e-03 1.29990371e-04 9.99984729e-01 -2.56575905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.751400513 meters Centerline goodness [0,1] 0.9998704914848151 Centerline is valid? [True, True] Translation: X:322.17, Y:18.28, Z:-0.26 [[ 9.98700016e-01 -5.05381850e-02 -6.64599904e-03 3.22169285e+02] [ 5.05360338e-02 9.98722117e-01 -4.91333574e-04 1.82841088e+01] [ 6.66233734e-03 1.54832416e-04 9.99977794e-01 -2.58430064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.781400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.20, Y:18.28, Z:-0.26 [[ 9.98582115e-01 -5.28839164e-02 -6.08692965e-03 3.22199273e+02] [ 5.28821549e-02 9.98600658e-01 -4.50086829e-04 1.82842940e+01] [ 6.10221432e-03 1.27558702e-04 9.99981373e-01 -2.56488105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.811400513 meters Centerline goodness [0,1] 0.9999133561495472 Centerline is valid? [True, True] Translation: X:322.23, Y:18.28, Z:-0.26 [[ 9.98473056e-01 -5.50132763e-02 -5.00949940e-03 3.22229724e+02] [ 5.50121097e-02 9.98485619e-01 -3.70472416e-04 1.82837784e+01] [ 5.02229400e-03 9.43235944e-05 9.99987384e-01 -2.55543313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.841400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.26, Y:18.28, Z:-0.25 [[ 9.98346928e-01 -5.73344793e-02 -4.02108564e-03 3.22260483e+02] [ 5.73337465e-02 9.98355024e-01 -2.97375285e-04 1.82811942e+01] [ 4.03152091e-03 6.63397976e-05 9.99991871e-01 -2.53996594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.871400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.29, Y:18.28, Z:-0.25 [[ 9.98184478e-01 -6.01222772e-02 -3.61392264e-03 3.22291243e+02] [ 6.01217035e-02 9.98191018e-01 -2.67252205e-04 1.82787424e+01] [ 3.62345293e-03 4.94918165e-05 9.99993434e-01 -2.53863304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.901400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.32, Y:18.27, Z:-0.25 [[ 9.97778790e-01 -6.64971901e-02 -3.95097430e-03 3.22323017e+02] [ 6.64965546e-02 9.97786612e-01 -2.92125868e-04 1.82711986e+01] [ 3.96165481e-03 2.87508167e-05 9.99992152e-01 -2.54262398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.931400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.35, Y:18.27, Z:-0.25 [[ 9.97606657e-01 -6.90098252e-02 -4.31292464e-03 3.22352613e+02] [ 6.90090914e-02 9.97615980e-01 -3.18892679e-04 1.82695759e+01] [ 4.32464927e-03 2.04984487e-05 9.99990648e-01 -2.54259803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.961400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.38, Y:18.27, Z:-0.25 [[ 9.97493859e-01 -7.06352277e-02 -4.08235523e-03 3.22381137e+02] [ 7.06345834e-02 9.97502213e-01 -3.01972960e-04 1.82682073e+01] [ 4.09348830e-03 1.28607124e-05 9.99991622e-01 -2.54197913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.991400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.41, Y:18.26, Z:-0.25 [[ 9.97348629e-01 -7.27136933e-02 -2.90377792e-03 3.22410801e+02] [ 7.27133758e-02 9.97352856e-01 -2.14888091e-04 1.82638235e+01] [ 2.91171651e-03 3.17484771e-06 9.99995761e-01 -2.51702281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.021400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.44, Y:18.27, Z:-0.25 [[ 9.97331586e-01 -7.29689944e-02 -2.28785718e-03 3.22441770e+02] [ 7.29687979e-02 9.97334210e-01 -1.69359347e-04 1.82650269e+01] [ 2.29411622e-03 1.96523747e-06 9.99997369e-01 -2.50503827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.051400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.47, Y:18.27, Z:-0.25 [[ 9.97364332e-01 -7.25188571e-02 -2.32486468e-03 3.22471607e+02] [ 7.25186529e-02 9.97367041e-01 -1.72112420e-04 1.82676437e+01] [ 2.33122481e-03 3.06273353e-06 9.99997283e-01 -2.50645240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.081400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.50, Y:18.27, Z:-0.25 [[ 9.97409949e-01 -7.18737476e-02 -2.74914570e-03 3.22502138e+02] [ 7.18734600e-02 9.97413738e-01 -2.03394974e-04 1.82702445e+01] [ 2.75665445e-03 5.27755640e-06 9.99996200e-01 -2.51616926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.111400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.53, Y:18.27, Z:-0.25 [[ 9.97495792e-01 -7.06820524e-02 -2.48862269e-03 3.22532027e+02] [ 7.06818131e-02 9.97498896e-01 -1.84118157e-04 1.82715347e+01] [ 2.49541223e-03 7.75672275e-06 9.99996886e-01 -2.51955932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.141400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.56, Y:18.27, Z:-0.25 [[ 9.97543762e-01 -7.00273540e-02 -1.61646133e-03 3.22562635e+02] [ 7.00272521e-02 9.97545071e-01 -1.19613132e-04 1.82729107e+01] [ 1.62086922e-03 6.12298853e-06 9.99998686e-01 -2.50155139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.171400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.59, Y:18.28, Z:-0.25 [[ 9.97548958e-01 -6.99424766e-02 -2.03113907e-03 3.22593770e+02] [ 6.99423155e-02 9.97551026e-01 -1.50313374e-04 1.82756435e+01] [ 2.03667816e-03 7.88237993e-06 9.99997926e-01 -2.49703855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.201400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.62, Y:18.28, Z:-0.25 [[ 9.97548958e-01 -6.99424764e-02 -2.03114386e-03 3.22623688e+02] [ 6.99423155e-02 9.97551026e-01 -1.50248702e-04 1.82778566e+01] [ 2.03667841e-03 7.81753157e-06 9.99997926e-01 -2.49623843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.231400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.65, Y:18.28, Z:-0.25 [[ 9.97519042e-01 -7.03276429e-02 -3.12800398e-03 3.22653908e+02] [ 7.03272631e-02 9.97523946e-01 -2.31380434e-04 1.82805084e+01] [ 3.13653132e-03 1.08224293e-05 9.99995081e-01 -2.50974204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.261400513 meters Centerline goodness [0,1] 0.9999344835116838 Centerline is valid? [True, True] Translation: X:322.68, Y:18.28, Z:-0.25 [[ 9.97455740e-01 -7.11790573e-02 -3.94817333e-03 3.22682946e+02] [ 7.11784590e-02 9.97463554e-01 -2.92023446e-04 1.82821653e+01] [ 3.95894496e-03 1.02555690e-05 9.99992163e-01 -2.52747314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.291400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.71, Y:18.28, Z:-0.25 [[ 9.97369051e-01 -7.23935468e-02 -3.76172570e-03 3.22712975e+02] [ 7.23930121e-02 9.97376145e-01 -2.78289819e-04 1.82828779e+01] [ 3.77200186e-03 5.23499808e-06 9.99992886e-01 -2.52229069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.321400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.74, Y:18.28, Z:-0.25 [[ 9.97086347e-01 -7.62511114e-02 -2.14128802e-03 3.22742876e+02] [ 7.62509470e-02 9.97088646e-01 -1.58434378e-04 1.82811399e+01] [ 2.14713477e-03 -5.30248399e-06 9.99997695e-01 -2.50378292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.351400513 meters Centerline goodness [0,1] 0.9998278348074978 Centerline is valid? [True, True] Translation: X:322.77, Y:18.28, Z:-0.25 [[ 9.96925578e-01 -7.83287830e-02 -1.99851345e-03 3.22772458e+02] [ 7.83286438e-02 9.96927581e-01 -1.47930369e-04 1.82806892e+01] [ 2.00396038e-03 -9.06527938e-06 9.99997992e-01 -2.50470302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.381400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.80, Y:18.28, Z:-0.25 [[ 9.96735786e-01 -8.07013353e-02 -2.25098682e-03 3.22801978e+02] [ 8.07011648e-02 9.96738328e-01 -1.66613699e-04 1.82810527e+01] [ 2.25709078e-03 -1.55874214e-05 9.99997453e-01 -2.50831073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.411400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.83, Y:18.28, Z:-0.25 [[ 9.96371651e-01 -8.50291239e-02 -3.68520738e-03 3.22831881e+02] [ 8.50286961e-02 9.96378465e-01 -2.72903277e-04 1.82816104e+01] [ 3.69506600e-03 -4.14352891e-05 9.99993172e-01 -2.51586291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.441400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.86, Y:18.28, Z:-0.25 [[ 9.96249112e-01 -8.64485180e-02 -3.78958596e-03 3.22860757e+02] [ 8.64480754e-02 9.96256318e-01 -2.80743189e-04 1.82828266e+01] [ 3.79966879e-03 -4.79122599e-05 9.99992780e-01 -2.51249736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.471400513 meters Centerline goodness [0,1] 0.9998929702885521 Centerline is valid? [True, True] Translation: X:322.89, Y:18.29, Z:-0.25 [[ 9.96171641e-01 -8.73378625e-02 -3.76295710e-03 3.22889312e+02] [ 8.73374314e-02 9.96178747e-01 -2.79052471e-04 1.82867412e+01] [ 3.77294974e-03 -5.06628497e-05 9.99992881e-01 -2.50898540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.501400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.92, Y:18.29, Z:-0.25 [[ 9.96127579e-01 -8.78710417e-02 -2.92001412e-03 3.22918155e+02] [ 8.78707832e-02 9.96131858e-01 -2.16929558e-04 1.82911240e+01] [ 2.92778092e-03 -4.04944129e-05 9.99995713e-01 -2.49130398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.531400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.95, Y:18.30, Z:-0.25 [[ 9.96174415e-01 -8.73656421e-02 -1.94404728e-03 3.22947766e+02] [ 8.73655260e-02 9.96176312e-01 -1.44702357e-04 1.82964587e+01] [ 1.94925586e-03 -2.56939274e-05 9.99998100e-01 -2.47976779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.561400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.98, Y:18.31, Z:-0.25 [[ 9.96244943e-01 -8.65541327e-02 -2.09673538e-03 3.22977676e+02] [ 8.65539958e-02 9.96247149e-01 -1.56135561e-04 1.83066993e+01] [ 2.10238082e-03 -2.59315621e-05 9.99997790e-01 -2.48294216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.591400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:323.01, Y:18.31, Z:-0.25 [[ 9.96195145e-01 -8.70718995e-02 -3.70364962e-03 3.23008154e+02] [ 8.70714758e-02 9.96202029e-01 -2.75796086e-04 1.83114994e+01] [ 3.71359735e-03 -4.77355164e-05 9.99993103e-01 -2.50763864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.621400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:323.04, Y:18.31, Z:-0.25 [[ 9.96079081e-01 -8.83103070e-02 -5.26817224e-03 3.23036445e+02] [ 8.83094665e-02 9.96093010e-01 -3.92392906e-04 1.83139179e+01] [ 5.28224188e-03 -7.43751148e-05 9.99986046e-01 -2.53399994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.651400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:323.06, Y:18.31, Z:-0.25 [[ 9.95952421e-01 -8.96861333e-02 -5.93065113e-03 3.23064264e+02] [ 8.96850908e-02 9.95970074e-01 -4.42033391e-04 1.83140514e+01] [ 5.94639531e-03 -9.16467588e-05 9.99982316e-01 -2.54946601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.681400513 meters Centerline goodness [0,1] 0.9999351463530632 Centerline is valid? [True, True] Translation: X:323.09, Y:18.32, Z:-0.25 [[ 9.95829752e-01 -9.10489142e-02 -5.76193137e-03 3.23092446e+02] [ 9.10479490e-02 9.95846417e-01 -4.30132926e-04 1.83224593e+01] [ 5.77716184e-03 -9.62728683e-05 9.99983307e-01 -2.54542288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.711400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:323.12, Y:18.33, Z:-0.25 [[ 9.95846159e-01 -9.09113377e-02 -5.05528573e-03 3.23121051e+02] [ 9.09105906e-02 9.95858987e-01 -3.77862251e-04 1.83260485e+01] [ 5.06870369e-03 -8.32863396e-05 9.99987151e-01 -2.53799349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.741400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:323.15, Y:18.33, Z:-0.25 [[ 9.95861297e-01 -9.07544638e-02 -4.88914466e-03 3.23149794e+02] [ 9.07537623e-02 9.95873296e-01 -3.65615157e-04 1.83290587e+01] [ 4.90214981e-03 -7.96062877e-05 9.99987981e-01 -2.53999639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.771400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:323.18, Y:18.33, Z:-0.25 [[ 9.95868979e-01 -9.06698471e-02 -4.89444302e-03 3.23178332e+02] [ 9.06691408e-02 9.95881003e-01 -3.66471265e-04 1.83336042e+01] [ 4.90751072e-03 -7.88175788e-05 9.99987955e-01 -2.54096422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.801400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:323.21, Y:18.34, Z:-0.25 [[ 9.95901306e-01 -9.03316412e-02 -4.55882111e-03 3.23207568e+02] [ 9.03310227e-02 9.95911738e-01 -3.41793208e-04 1.83438647e+01] [ 4.57105819e-03 -7.14106707e-05 9.99989550e-01 -2.52208097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.831400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:323.24, Y:18.35, Z:-0.25 [[ 9.95931122e-01 -9.00402408e-02 -3.73561599e-03 3.23236889e+02] [ 9.00398233e-02 9.95938126e-01 -2.80140040e-04 1.83496299e+01] [ 3.74566627e-03 -5.73540191e-05 9.99992983e-01 -2.50935951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.861400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:323.27, Y:18.36, Z:-0.25 [[ 9.95966961e-01 -8.96903080e-02 -2.33693685e-03 3.23266290e+02] [ 8.96901436e-02 9.95969702e-01 -1.75274674e-04 1.83577068e+01] [ 2.34323874e-03 -3.50324172e-05 9.99997254e-01 -2.49765461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.891400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:323.30, Y:18.36, Z:-0.25 [[ 9.95965418e-01 -8.97132823e-02 -2.10070042e-03 3.23296146e+02] [ 8.97131495e-02 9.95967633e-01 -1.57534605e-04 1.83594224e+01] [ 2.10636257e-03 -3.15614326e-05 9.99997781e-01 -2.49642314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.921400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:323.33, Y:18.37, Z:-0.25 [[ 9.95935759e-01 -9.00447439e-02 -1.97665926e-03 3.23327544e+02] [ 9.00446270e-02 9.95937721e-01 -1.48218752e-04 1.83661103e+01] [ 1.98197583e-03 -3.03711903e-05 9.99998035e-01 -2.49821513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.951400513 meters Centerline goodness [0,1] 0.9999567137044412 Centerline is valid? [True, True] Translation: X:323.36, Y:18.37, Z:-0.25 [[ 9.95842875e-01 -9.10739645e-02 -1.58141122e-03 3.23359141e+02] [ 9.10738910e-02 9.95844131e-01 -1.18584195e-04 1.83729414e+01] [ 1.58563901e-03 -2.59340474e-05 9.99998743e-01 -2.50198299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.981400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:323.39, Y:18.38, Z:-0.25 [[ 9.95717251e-01 -9.24416473e-02 -1.30314376e-03 3.23389892e+02] [ 9.24415986e-02 9.95718103e-01 -9.76612301e-05 1.83763807e+01] [ 1.30659180e-03 -2.32217209e-05 9.99999146e-01 -2.48994032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.011400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:323.42, Y:18.38, Z:-0.25 [[ 9.95455691e-01 -9.52225033e-02 -8.01329955e-04 3.23420594e+02] [ 9.52224858e-02 9.95456013e-01 -6.00393671e-05 1.83772409e+01] [ 8.03405821e-04 -1.65381006e-05 9.99999677e-01 -2.48127193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.041400513 meters Centerline goodness [0,1] 0.9998703851720637 Centerline is valid? [True, True] Translation: X:323.45, Y:18.38, Z:-0.25 [[ 9.95339634e-01 -9.64239784e-02 -1.19556337e-03 3.23452274e+02] [ 9.64239404e-02 9.95340352e-01 -8.95535979e-05 1.83833316e+01] [ 1.19862758e-03 -2.61446857e-05 9.99999281e-01 -2.48595285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.071400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:323.48, Y:18.39, Z:-0.25 [[ 9.95203566e-01 -9.78201326e-02 -1.04108955e-03 3.23483743e+02] [ 9.78201046e-02 9.95204110e-01 -7.79095932e-05 1.83861645e+01] [ 1.04371773e-03 -2.43035840e-05 9.99999455e-01 -2.48617026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.101400513 meters Centerline goodness [0,1] 0.9999784464177947 Centerline is valid? [True, True] Translation: X:323.51, Y:18.39, Z:-0.25 [[ 9.94853314e-01 -1.01314349e-01 -1.51226863e-03 3.23513586e+02] [ 1.01314294e-01 9.94854462e-01 -1.13077105e-04 1.83885389e+01] [ 1.51594353e-03 -4.07192962e-05 9.99998850e-01 -2.50527849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.131400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:323.55, Y:18.39, Z:-0.25 [[ 9.94667205e-01 -1.03118903e-01 -1.90848750e-03 3.23545034e+02] [ 1.03118819e-01 9.94669035e-01 -1.42721498e-04 1.83904952e+01] [ 1.91303071e-03 -5.48405843e-05 9.99998169e-01 -2.51083280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.161400513 meters Centerline goodness [0,1] 0.9999786151148369 Centerline is valid? [True, True] Translation: X:323.58, Y:18.39, Z:-0.25 [[ 9.94478416e-01 -1.04920021e-01 -2.11409619e-03 3.23575932e+02] [ 1.04919922e-01 9.94480661e-01 -1.58033891e-04 1.83877286e+01] [ 2.11900870e-03 -6.46495125e-05 9.99997753e-01 -2.51017266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.191400513 meters Centerline goodness [0,1] 0.9999785177228786 Centerline is valid? [True, True] Translation: X:323.61, Y:18.39, Z:-0.25 [[ 9.94025005e-01 -1.09107160e-01 -3.14917842e-03 3.23606440e+02] [ 1.09106961e-01 9.94029987e-01 -2.35356126e-04 1.83904917e+01] [ 3.15605682e-03 -1.09647414e-04 9.99995014e-01 -2.52548528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.221400513 meters Centerline goodness [0,1] 0.9999573342435362 Centerline is valid? [True, True] Translation: X:323.64, Y:18.39, Z:-0.25 [[ 9.93792169e-01 -1.11186242e-01 -3.83973196e-03 3.23637105e+02] [ 1.11185962e-01 9.93799577e-01 -2.86913947e-04 1.83899030e+01] [ 3.84782488e-03 -1.41791459e-04 9.99992587e-01 -2.53925285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.251400513 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:323.67, Y:18.39, Z:-0.25 [[ 9.93585074e-01 -1.13009831e-01 -4.18073734e-03 3.23667750e+02] [ 1.13009516e-01 9.93593857e-01 -3.12343547e-04 1.83949271e+01] [ 4.18925282e-03 -1.62123215e-04 9.99991212e-01 -2.54206280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.281400513 meters Centerline goodness [0,1] 0.9999571054776305 Centerline is valid? [True, True] Translation: X:323.70, Y:18.40, Z:-0.25 [[ 9.93426282e-01 -1.14399607e-01 -4.11724247e-03 3.23697869e+02] [ 1.14399313e-01 9.93434800e-01 -3.07569138e-04 1.83989968e+01] [ 4.12539774e-03 -1.65462445e-04 9.99991477e-01 -2.53888017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.311400513 meters Centerline goodness [0,1] 0.9998077621376851 Centerline is valid? [True, True] Translation: X:323.73, Y:18.40, Z:-0.25 [[ 9.93268526e-01 -1.15781333e-01 -3.50961889e-03 3.23728614e+02] [ 1.15781128e-01 9.93274716e-01 -2.62155117e-04 1.84029216e+01] [ 3.51636838e-03 -1.45957208e-04 9.99993807e-01 -2.53134855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.341400513 meters Centerline goodness [0,1] 0.9996757527939301 Centerline is valid? [True, True] Translation: X:323.76, Y:18.41, Z:-0.25 [[ 9.93212404e-01 -1.16275118e-01 -3.03612033e-03 3.23759755e+02] [ 1.16274967e-01 9.93217036e-01 -2.26715646e-04 1.84068001e+01] [ 3.04188783e-03 -1.27848001e-04 9.99995365e-01 -2.52615521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.371400513 meters Centerline goodness [0,1] 0.999030924282884 Centerline is valid? [True, True] Translation: X:323.79, Y:18.40, Z:-0.25 [[ 9.93174601e-01 -1.16599388e-01 -2.96555214e-03 3.23790577e+02] [ 1.16599246e-01 9.93179020e-01 -2.21380819e-04 1.84001713e+01] [ 2.97113704e-03 -1.25911338e-04 9.99995578e-01 -2.52985751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.401400513 meters Centerline goodness [0,1] 0.9987922444842237 Centerline is valid? [True, True] Translation: X:323.82, Y:18.42, Z:-0.25 [[ 9.93161563e-01 -1.16698148e-01 -3.41352915e-03 3.23821496e+02] [ 1.16697961e-01 9.93167418e-01 -2.54750622e-04 1.84192895e+01] [ 3.41993486e-03 -1.45343364e-04 9.99994141e-01 -2.52629378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.431400513 meters Centerline goodness [0,1] 0.9985178502384328 Centerline is valid? [True, True] Translation: X:323.85, Y:18.42, Z:-0.25 [[ 9.93224112e-01 -1.16162833e-01 -3.47263286e-03 3.23852372e+02] [ 1.16162636e-01 9.93230172e-01 -2.59013829e-04 1.84200456e+01] [ 3.47921152e-03 -1.46131409e-04 9.99993937e-01 -2.52809441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.461400513 meters Centerline goodness [0,1] 0.9982719631352136 Centerline is valid? [True, True] Translation: X:323.88, Y:18.43, Z:-0.25 [[ 9.93337969e-01 -1.15195674e-01 -3.10431576e-03 3.23883262e+02] [ 1.15195513e-01 9.93342811e-01 -2.31475755e-04 1.84318035e+01] [ 3.11031475e-03 -1.27669588e-04 9.99995155e-01 -2.51978107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.491400513 meters Centerline goodness [0,1] 0.997738737171682 Centerline is valid? [True, True] Translation: X:323.91, Y:18.44, Z:-0.25 [[ 9.93499850e-01 -1.13810069e-01 -2.30559509e-03 3.23913799e+02] [ 1.13809976e-01 9.93502521e-01 -1.71880950e-04 1.84417594e+01] [ 2.31017631e-03 -9.16360221e-05 9.99997327e-01 -2.50788537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.521400513 meters Centerline goodness [0,1] 0.9970956499290048 Centerline is valid? [True, True] Translation: X:323.94, Y:18.46, Z:-0.25 [[ 9.93783796e-01 -1.11323645e-01 -9.01703252e-04 3.23943382e+02] [ 1.11323630e-01 9.93784204e-01 -6.72382964e-05 1.84558318e+01] [ 9.03583662e-04 -3.35605500e-05 9.99999591e-01 -2.48225794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.551400513 meters Centerline goodness [0,1] 0.9970007172197952 Centerline is valid? [True, True] Translation: X:323.98, Y:18.47, Z:-0.25 [[ 9.93850439e-01 -1.10730020e-01 -4.08752323e-04 3.23975179e+02] [ 1.10730017e-01 9.93850523e-01 -3.05587764e-05 1.84651855e+01] [ 4.09622484e-04 -1.48902984e-05 9.99999916e-01 -2.47872647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.581400513 meters Centerline goodness [0,1] 0.9967320973399272 Centerline is valid? [True, True] Translation: X:324.01, Y:18.47, Z:-0.25 [[ 9.93894273e-01 -1.10336211e-01 -3.07920095e-04 3.24006604e+02] [ 1.10336210e-01 9.93894320e-01 -2.30395154e-05 1.84746578e+01] [ 3.08582126e-04 -1.10758937e-05 9.99999952e-01 -2.48136278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.611400513 meters Centerline goodness [0,1] 0.9965820417463832 Centerline is valid? [True, True] Translation: X:324.04, Y:18.48, Z:-0.25 [[ 9.93898489e-01 -1.10297660e-01 -4.68777445e-04 3.24038209e+02] [ 1.10297656e-01 9.93898599e-01 -3.50113888e-05 1.84757653e+01] [ 4.69778920e-04 -1.69072868e-05 9.99999890e-01 -2.48039968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.641400513 meters Centerline goodness [0,1] 0.996461610606642 Centerline is valid? [True, True] Translation: X:324.07, Y:18.48, Z:-0.25 [[ 9.93590795e-01 -1.13018819e-01 -2.01951094e-03 3.24068336e+02] [ 1.13018747e-01 9.93592844e-01 -1.50140055e-04 1.84800897e+01] [ 2.02354027e-03 -7.90648196e-05 9.99997950e-01 -2.51331667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.671400513 meters Centerline goodness [0,1] 0.9961488812392427 Centerline is valid? [True, True] Translation: X:324.10, Y:18.48, Z:-0.25 [[ 9.93354511e-01 -1.15043599e-01 -3.43305143e-03 3.24099297e+02] [ 1.15043403e-01 9.93360433e-01 -2.55168947e-04 1.84825534e+01] [ 3.43961301e-03 -1.41476692e-04 9.99994075e-01 -2.53134047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.701400513 meters Centerline goodness [0,1] 0.9962134325774623 Centerline is valid? [True, True] Translation: X:324.13, Y:18.49, Z:-0.25 [[ 9.93029546e-01 -1.17781772e-01 -4.44687720e-03 3.24129839e+02] [ 1.17781471e-01 9.93039484e-01 -3.30463795e-04 1.84869374e+01] [ 4.45484725e-03 -1.95599427e-04 9.99990058e-01 -2.54838560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.731400513 meters Centerline goodness [0,1] 0.9955685257241678 Centerline is valid? [True, True] Translation: X:324.16, Y:18.48, Z:-0.26 [[ 9.92382149e-01 -1.23094725e-01 -5.03578312e-03 3.24159983e+02] [ 1.23094407e-01 9.92394895e-01 -3.74203161e-04 1.84807660e+01] [ 5.04354789e-03 -2.48524199e-04 9.99987250e-01 -2.56217162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.761400513 meters Centerline goodness [0,1] 0.9955905990703332 Centerline is valid? [True, True] Translation: X:324.19, Y:18.49, Z:-0.26 [[ 9.92005485e-01 -1.26100578e-01 -4.87465340e-03 3.24190273e+02] [ 1.26100316e-01 9.92017429e-01 -3.62229817e-04 1.84879087e+01] [ 4.88141852e-03 -2.55361370e-04 9.99988053e-01 -2.55487141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.791400513 meters Centerline goodness [0,1] 0.9949461278737177 Centerline is valid? [True, True] Translation: X:324.22, Y:18.49, Z:-0.25 [[ 9.91736087e-01 -1.28213272e-01 -4.57066411e-03 3.24220729e+02] [ 1.28213065e-01 9.91746588e-01 -3.39533737e-04 1.84854741e+01] [ 4.57647327e-03 -2.49290994e-04 9.99989497e-01 -2.54731841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.821400513 meters Centerline goodness [0,1] 0.9944961623632103 Centerline is valid? [True, True] Translation: X:324.25, Y:18.48, Z:-0.25 [[ 9.91450170e-01 -1.30415195e-01 -4.29398207e-03 3.24250890e+02] [ 1.30415033e-01 9.91459438e-01 -3.18857535e-04 1.84824155e+01] [ 4.29889292e-03 -2.43868456e-04 9.99990730e-01 -2.54367053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.851400513 meters Centerline goodness [0,1] 0.9947859435933898 Centerline is valid? [True, True] Translation: X:324.28, Y:18.49, Z:-0.25 [[ 9.91389418e-01 -1.30856700e-01 -4.85248952e-03 3.24282334e+02] [ 1.30856499e-01 9.91401254e-01 -3.60226881e-04 1.84924895e+01] [ 4.85790230e-03 -2.77854674e-04 9.99988162e-01 -2.54546094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.881400513 meters Centerline goodness [0,1] 0.993806727175654 Centerline is valid? [True, True] Translation: X:324.31, Y:18.49, Z:-0.26 [[ 9.91372278e-01 -1.30970495e-01 -5.26654911e-03 3.24313794e+02] [ 1.30970261e-01 9.91386220e-01 -3.90736218e-04 1.84865593e+01] [ 5.27235914e-03 -3.02396257e-04 9.99986055e-01 -2.55452230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.911400513 meters Centerline goodness [0,1] 0.9944860096008303 Centerline is valid? [True, True] Translation: X:324.34, Y:18.50, Z:-0.26 [[ 9.91374611e-01 -1.30929563e-01 -5.81642734e-03 3.24344916e+02] [ 1.30929279e-01 9.91391617e-01 -4.31280796e-04 1.84981922e+01] [ 5.82282471e-03 -3.33979806e-04 9.99982991e-01 -2.55398518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.941400513 meters Centerline goodness [0,1] 0.9937698747485236 Centerline is valid? [True, True] Translation: X:324.38, Y:18.50, Z:-0.25 [[ 9.91368409e-01 -1.30989324e-01 -5.52030888e-03 3.24376772e+02] [ 1.30989070e-01 9.91383728e-01 -4.09070963e-04 1.85021719e+01] [ 5.52632833e-03 -3.17560097e-04 9.99984679e-01 -2.54308771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.971400513 meters Centerline goodness [0,1] 0.9934189092330749 Centerline is valid? [True, True] Translation: X:324.41, Y:18.51, Z:-0.25 [[ 9.91430787e-01 -1.30530011e-01 -5.18761655e-03 3.24408905e+02] [ 1.30529781e-01 9.91444314e-01 -3.84180743e-04 1.85054529e+01] [ 5.19338005e-03 -2.96249838e-04 9.99986470e-01 -2.53077709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.001400513 meters Centerline goodness [0,1] 0.9928699897225077 Centerline is valid? [True, True] Translation: X:324.44, Y:18.50, Z:-0.25 [[ 9.91477383e-01 -1.30186881e-01 -4.89634599e-03 3.24440623e+02] [ 1.30186674e-01 9.91489434e-01 -3.62308290e-04 1.85041441e+01] [ 4.90184310e-03 -2.78218527e-04 9.99987947e-01 -2.52655566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.031400513 meters Centerline goodness [0,1] 0.9932668652078208 Centerline is valid? [True, True] Translation: X:324.47, Y:18.51, Z:-0.25 [[ 9.91577225e-01 -1.29414818e-01 -5.13924554e-03 3.24472789e+02] [ 1.29414582e-01 9.91590501e-01 -3.79907145e-04 1.85127931e+01] [ 5.14519268e-03 -2.88386040e-04 9.99986722e-01 -2.52422270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.061400513 meters Centerline goodness [0,1] 0.9920983131708979 Centerline is valid? [True, True] Translation: X:324.50, Y:18.51, Z:-0.25 [[ 9.91817579e-01 -1.27581893e-01 -4.55531506e-03 3.24504096e+02] [ 1.27581689e-01 9.91828009e-01 -3.36558101e-04 1.85101030e+01] [ 4.56102779e-03 -2.47370550e-04 9.99989568e-01 -2.52129264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.091400513 meters Centerline goodness [0,1] 0.99308212811034 Centerline is valid? [True, True] Translation: X:324.54, Y:18.52, Z:-0.25 [[ 9.91897011e-01 -1.26967434e-01 -4.42610883e-03 3.24535462e+02] [ 1.26967236e-01 9.91906858e-01 -3.26867557e-04 1.85222402e+01] [ 4.43178924e-03 -2.37751850e-04 9.99990151e-01 -2.51619444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.121400513 meters Centerline goodness [0,1] 0.99308212811034 Centerline is valid? [True, True] Translation: X:324.57, Y:18.52, Z:-0.25 [[ 9.91902986e-01 -1.26920743e-01 -4.42612421e-03 3.24567108e+02] [ 1.26920545e-01 9.91912833e-01 -3.26659204e-04 1.85245027e+01] [ 4.43178924e-03 -2.37751859e-04 9.99990151e-01 -2.51534846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.151400513 meters Centerline goodness [0,1] 0.992011308389197 Centerline is valid? [True, True] Translation: X:324.60, Y:18.52, Z:-0.25 [[ 9.92131457e-01 -1.25147870e-01 -3.63091721e-03 3.24597706e+02] [ 1.25147725e-01 9.92138083e-01 -2.67856121e-04 1.85200960e+01] [ 3.63589286e-03 -1.88652546e-04 9.99993372e-01 -2.50026148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.181400513 meters Centerline goodness [0,1] 0.9932198998099845 Centerline is valid? [True, True] Translation: X:324.63, Y:18.53, Z:-0.25 [[ 9.92292786e-01 -1.23885952e-01 -2.70160762e-03 3.24627958e+02] [ 1.23885867e-01 9.92296454e-01 -1.99275640e-04 1.85319448e+01] [ 2.70548311e-03 -1.36951223e-04 9.99996331e-01 -2.47947151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.211400513 meters Centerline goodness [0,1] 0.9926724411783392 Centerline is valid? [True, True] Translation: X:324.66, Y:18.53, Z:-0.25 [[ 9.92434787e-01 -1.22766187e-01 -1.28695798e-03 3.24658627e+02] [ 1.22766167e-01 9.92435620e-01 -9.49145275e-05 1.85298198e+01] [ 1.28887523e-03 -6.37984188e-05 9.99999167e-01 -2.46123160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.241400513 meters Centerline goodness [0,1] 0.9925531014639926 Centerline is valid? [True, True] Translation: X:324.69, Y:18.54, Z:-0.25 [[ 9.92717440e-01 -1.20465707e-01 -3.14148857e-04 3.24688598e+02] [ 1.20465705e-01 9.92717489e-01 -2.31611698e-05 1.85395869e+01] [ 3.14651192e-04 -1.48516666e-05 9.99999950e-01 -2.45735020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.271400513 meters Centerline goodness [0,1] 0.9926767999318772 Centerline is valid? [True, True] Translation: X:324.72, Y:18.54, Z:-0.25 [[ 9.92768163e-01 -1.20040759e-01 -1.26134888e-03 3.24719680e+02] [ 1.20040738e-01 9.92768962e-01 -9.30423411e-05 1.85407782e+01] [ 1.26339689e-03 -5.90437759e-05 9.99999200e-01 -2.47484540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.301400513 meters Centerline goodness [0,1] 0.993057808343606 Centerline is valid? [True, True] Translation: X:324.75, Y:18.55, Z:-0.25 [[ 9.92733766e-01 -1.20299980e-01 -2.75385150e-03 3.24751011e+02] [ 1.20299879e-01 9.92737578e-01 -2.02936277e-04 1.85471817e+01] [ 2.75826510e-03 -1.29826308e-04 9.99996188e-01 -2.50154192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.331400513 meters Centerline goodness [0,1] 0.9931386766520205 Centerline is valid? [True, True] Translation: X:324.78, Y:18.55, Z:-0.25 [[ 9.92618093e-01 -1.21206455e-01 -4.27975555e-03 3.24782842e+02] [ 1.21206220e-01 9.92627298e-01 -3.15162461e-04 1.85504226e+01] [ 4.28640192e-03 -2.05897030e-04 9.99990792e-01 -2.52108059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.361400513 meters Centerline goodness [0,1] 0.992973683643339 Centerline is valid? [True, True] Translation: X:324.81, Y:18.55, Z:-0.25 [[ 9.92551893e-01 -1.21715581e-01 -5.10462957e-03 3.24814105e+02] [ 1.21715255e-01 9.92564988e-01 -3.75670398e-04 1.85500906e+01] [ 5.11240153e-03 -2.48438926e-04 9.99986901e-01 -2.52492281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.391400513 meters Centerline goodness [0,1] 0.9925539032654911 Centerline is valid? [True, True] Translation: X:324.85, Y:18.55, Z:-0.25 [[ 9.92456870e-01 -1.22535274e-01 -3.80378259e-03 3.24846347e+02] [ 1.22535099e-01 9.92464141e-01 -2.79812150e-04 1.85519269e+01] [ 3.80940468e-03 -1.88395386e-04 9.99992726e-01 -2.50656757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.421400513 meters Centerline goodness [0,1] 0.9920835294621079 Centerline is valid? [True, True] Translation: X:324.88, Y:18.55, Z:-0.25 [[ 9.92576353e-01 -1.21587204e-01 -2.95559695e-03 3.24877822e+02] [ 1.21587095e-01 9.92580743e-01 -2.17307349e-04 1.85539281e+01] [ 2.96009041e-03 -1.43668310e-04 9.99995609e-01 -2.49501888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.451400513 meters Centerline goodness [0,1] 0.9914871990343689 Centerline is valid? [True, True] Translation: X:324.91, Y:18.55, Z:-0.25 [[ 9.92746700e-01 -1.20188149e-01 -2.96622145e-03 3.24908540e+02] [ 1.20188033e-01 9.92751121e-01 -2.17960341e-04 1.85514916e+01] [ 2.97091592e-03 -1.40124912e-04 9.99995577e-01 -2.49437924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.481400513 meters Centerline goodness [0,1] 0.99172434547096 Centerline is valid? [True, True] Translation: X:324.94, Y:18.56, Z:-0.25 [[ 9.92926729e-01 -1.18648822e-01 -4.35518429e-03 3.24939664e+02] [ 1.18648557e-01 9.92936261e-01 -3.19920085e-04 1.85578697e+01] [ 4.36237854e-03 -1.99079129e-04 9.99990465e-01 -2.51460011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.511400513 meters Centerline goodness [0,1] 0.9931546909862877 Centerline is valid? [True, True] Translation: X:324.97, Y:18.57, Z:-0.26 [[ 9.93125728e-01 -1.16803233e-01 -7.63498438e-03 3.24970764e+02] [ 1.16802369e-01 9.93155019e-01 -5.60571139e-04 1.85658475e+01] [ 7.64819958e-03 -3.35066641e-04 9.99970696e-01 -2.56626039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.541400513 meters Centerline goodness [0,1] 0.9926502377864246 Centerline is valid? [True, True] Translation: X:325.00, Y:18.57, Z:-0.26 [[ 9.93089629e-01 -1.17089761e-01 -7.93575731e-03 3.25002440e+02] [ 1.17088840e-01 9.93121274e-01 -5.82194074e-04 1.85660862e+01] [ 7.94933838e-03 -3.51017721e-04 9.99968342e-01 -2.57434465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.571400513 meters Centerline goodness [0,1] 0.993083536230635 Centerline is valid? [True, True] Translation: X:325.03, Y:18.57, Z:-0.26 [[ 9.92974669e-01 -1.18110476e-01 -7.15699287e-03 3.25034742e+02] [ 1.18109756e-01 9.93000408e-01 -5.24671171e-04 1.85669487e+01] [ 7.16886600e-03 -3.24325498e-04 9.99974251e-01 -2.56418176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.601400513 meters Centerline goodness [0,1] 0.9921403687654007 Centerline is valid? [True, True] Translation: X:325.07, Y:18.56, Z:-0.26 [[ 9.92822570e-01 -1.19445774e-01 -6.00426701e-03 3.25066647e+02] [ 1.19445293e-01 9.92840686e-01 -4.39945597e-04 1.85629505e+01] [ 6.01383022e-03 -2.80393512e-04 9.99981877e-01 -2.55079927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.631400513 meters Centerline goodness [0,1] 0.9914830626649218 Centerline is valid? [True, True] Translation: X:325.10, Y:18.56, Z:-0.25 [[ 9.92624195e-01 -1.21127194e-01 -5.04082225e-03 3.25096980e+02] [ 1.21126877e-01 9.92636965e-01 -3.69274346e-04 1.85571649e+01] [ 5.04843567e-03 -2.44028406e-04 9.99987227e-01 -2.53486982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.661400513 meters Centerline goodness [0,1] 0.9910051338622767 Centerline is valid? [True, True] Translation: X:325.13, Y:18.56, Z:-0.25 [[ 9.92627600e-01 -1.21072680e-01 -5.64388042e-03 3.25129541e+02] [ 1.21072283e-01 9.92643607e-01 -4.13318648e-04 1.85582181e+01] [ 5.65240342e-03 -2.73045989e-04 9.99983988e-01 -2.53823647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.691400513 meters Centerline goodness [0,1] 0.9916496726414081 Centerline is valid? [True, True] Translation: X:325.16, Y:18.56, Z:-0.25 [[ 9.92755977e-01 -1.19959059e-01 -6.73756895e-03 3.25160278e+02] [ 1.19958468e-01 9.92778788e-01 -4.93177411e-04 1.85639685e+01] [ 6.74807664e-03 -3.18623629e-04 9.99977181e-01 -2.53555244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.721400513 meters Centerline goodness [0,1] 0.9929027372065347 Centerline is valid? [True, True] Translation: X:325.19, Y:18.58, Z:-0.25 [[ 9.92895529e-01 -1.18779809e-01 -7.05874968e-03 3.25190968e+02] [ 1.18779132e-01 9.92920566e-01 -5.16520141e-04 1.85750320e+01] [ 7.07012990e-03 -3.25581623e-04 9.99974953e-01 -2.53138212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.751400513 meters Centerline goodness [0,1] 0.9930360309701977 Centerline is valid? [True, True] Translation: X:325.22, Y:18.59, Z:-0.25 [[ 9.93435464e-01 -1.14287234e-01 -4.94037576e-03 3.25220285e+02] [ 1.14286847e-01 9.93447727e-01 -3.61465018e-04 1.85865606e+01] [ 4.94931591e-03 -2.05527800e-04 9.99987731e-01 -2.49951614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.781400513 meters Centerline goodness [0,1] 0.9935700966628802 Centerline is valid? [True, True] Translation: X:325.25, Y:18.59, Z:-0.25 [[ 9.93786997e-01 -1.11256814e-01 -3.05385258e-03 3.25249253e+02] [ 1.11256651e-01 9.93791682e-01 -2.23440920e-04 1.85930445e+01] [ 3.05975262e-03 -1.17708732e-04 9.99995312e-01 -2.47267077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.811400513 meters Centerline goodness [0,1] 0.9933753537432467 Centerline is valid? [True, True] Translation: X:325.28, Y:18.60, Z:-0.25 [[ 9.94194345e-01 -1.07581861e-01 -1.93581761e-03 3.25278777e+02] [ 1.07581789e-01 9.94196227e-01 -1.41657564e-04 1.86009008e+01] [ 1.93982235e-03 -6.74235725e-05 9.99998116e-01 -2.45647540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.841400513 meters Centerline goodness [0,1] 0.9942343419675842 Centerline is valid? [True, True] Translation: X:325.31, Y:18.61, Z:-0.25 [[ 9.94621585e-01 -1.03551019e-01 -2.25610786e-03 3.25307690e+02] [ 1.03550911e-01 9.94624141e-01 -1.65095483e-04 1.86113130e+01] [ 2.26107515e-03 -6.94144930e-05 9.99997441e-01 -2.46079296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.871400513 meters Centerline goodness [0,1] 0.9951846253508961 Centerline is valid? [True, True] Translation: X:325.34, Y:18.62, Z:-0.25 [[ 9.95032544e-01 -9.94775961e-02 -3.80042934e-03 3.25336884e+02] [ 9.94772590e-02 9.95039797e-01 -2.78104485e-04 1.86230463e+01] [ 3.80924360e-03 -1.01333280e-04 9.99992740e-01 -2.48135625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.901400513 meters Centerline goodness [0,1] 0.9967482125936773 Centerline is valid? [True, True] Translation: X:325.37, Y:18.65, Z:-0.25 [[ 9.95846601e-01 -9.08856736e-02 -5.41670359e-03 3.25365570e+02] [ 9.08848618e-02 9.95861328e-01 -3.96341498e-04 1.86504404e+01] [ 5.43030739e-03 -9.76010235e-05 9.99985251e-01 -2.50429332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.931400513 meters Centerline goodness [0,1] 0.9971949509116409 Centerline is valid? [True, True] Translation: X:325.39, Y:18.66, Z:-0.25 [[ 9.96215557e-01 -8.67925545e-02 -4.64933895e-03 3.25394931e+02] [ 8.67919121e-02 9.96226404e-01 -3.40138629e-04 1.86618508e+01] [ 4.66131572e-03 -6.46736232e-05 9.99989134e-01 -2.49434245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.961400513 meters Centerline goodness [0,1] 0.9977875630974117 Centerline is valid? [True, True] Translation: X:325.43, Y:18.68, Z:-0.25 [[ 9.96571200e-01 -8.26766785e-02 -3.22657783e-03 3.25425894e+02] [ 8.26763477e-02 9.96576422e-01 -2.36002426e-04 1.86772217e+01] [ 3.23504329e-03 -3.15684496e-05 9.99994767e-01 -2.47042142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.991400513 meters Centerline goodness [0,1] 0.9976953562505385 Centerline is valid? [True, True] Translation: X:325.46, Y:18.69, Z:-0.25 [[ 9.96866657e-01 -7.90671150e-02 -2.29338519e-03 3.25456372e+02] [ 7.90669385e-02 9.96869295e-01 -1.67668259e-04 1.86900826e+01] [ 2.29946232e-03 -1.41880492e-05 9.99997356e-01 -2.45076770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.021400513 meters Centerline goodness [0,1] 0.998050062525169 Centerline is valid? [True, True] Translation: X:325.49, Y:18.70, Z:-0.24 [[ 9.97101778e-01 -7.60725756e-02 -1.00350352e-03 3.25486538e+02] [ 7.60725403e-02 9.97102283e-01 -7.33827529e-05 1.87019270e+01] [ 1.00617806e-03 -3.16898845e-06 9.99999494e-01 -2.43731234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.051400513 meters Centerline goodness [0,1] 0.9982045143638851 Centerline is valid? [True, True] Translation: X:325.52, Y:18.72, Z:-0.24 [[ 9.97244218e-01 -7.41884525e-02 -2.07182914e-04 3.25517665e+02] [ 7.41884509e-02 9.97244240e-01 -1.52439560e-05 1.87191477e+01] [ 2.07742893e-04 -1.68632413e-07 9.99999978e-01 -2.44103950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.081400513 meters Centerline goodness [0,1] 0.998479592273759 Centerline is valid? [True, True] Translation: X:325.55, Y:18.73, Z:-0.24 [[ 9.97227355e-01 -7.44146116e-02 2.59465265e-04 3.25549923e+02] [ 7.44146092e-02 9.97227389e-01 1.87340296e-05 1.87277654e+01] [-2.60139955e-04 6.25919492e-07 9.99999966e-01 -2.43599978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.111400513 meters Centerline goodness [0,1] 0.9981166385244837 Centerline is valid? [True, True] Translation: X:325.58, Y:18.74, Z:-0.24 [[ 9.97075487e-01 -7.64164120e-02 1.00224569e-03 3.25581584e+02] [ 7.64163773e-02 9.97075991e-01 7.28994437e-05 1.87386152e+01] [-1.00488583e-03 3.90173639e-06 9.99999495e-01 -2.43128835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.141400513 meters Centerline goodness [0,1] 0.9979050580968425 Centerline is valid? [True, True] Translation: X:325.61, Y:18.74, Z:-0.24 [[ 9.96956769e-01 -7.79532341e-02 7.03555676e-04 3.25613128e+02] [ 7.79532178e-02 9.96957017e-01 5.06466246e-05 1.87420872e+01] [-7.05362836e-04 4.35193365e-06 9.99999751e-01 -2.43285008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.171400513 meters Centerline goodness [0,1] 0.9978571122444606 Centerline is valid? [True, True] Translation: X:325.64, Y:18.74, Z:-0.24 [[ 9.96838318e-01 -7.94564662e-02 -1.92171325e-04 3.25644048e+02] [ 7.94564649e-02 9.96838337e-01 -1.43505875e-05 1.87449907e+01] [ 1.92703991e-04 -9.64038677e-07 9.99999981e-01 -2.44324714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.201400513 meters Centerline goodness [0,1] 0.9973733663620057 Centerline is valid? [True, True] Translation: X:325.68, Y:18.75, Z:-0.25 [[ 9.96722364e-01 -8.08833873e-02 -1.55150532e-03 3.25676296e+02] [ 8.08833101e-02 9.96723571e-01 -1.12579175e-04 1.87505333e+01] [ 1.55552771e-03 -1.32807051e-05 9.99998790e-01 -2.46806254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.231400513 meters Centerline goodness [0,1] 0.9976985782806014 Centerline is valid? [True, True] Translation: X:325.71, Y:18.76, Z:-0.25 [[ 9.96635700e-01 -8.18948668e-02 -3.24222861e-03 3.25707816e+02] [ 8.18945357e-02 9.96640973e-01 -2.34973921e-04 1.87608682e+01] [ 3.25058104e-03 -3.13374086e-05 9.99994716e-01 -2.49869673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.261400513 meters Centerline goodness [0,1] 0.9977188419391976 Centerline is valid? [True, True] Translation: X:325.74, Y:18.77, Z:-0.25 [[ 9.96708301e-01 -8.10133749e-02 -3.06514372e-03 3.25739097e+02] [ 8.10130753e-02 9.96713014e-01 -2.21959156e-04 1.87663686e+01] [ 3.07305030e-03 -2.70881859e-05 9.99995278e-01 -2.50160428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.291400513 meters Centerline goodness [0,1] 0.9978369024443002 Centerline is valid? [True, True] Translation: X:325.77, Y:18.77, Z:-0.25 [[ 9.96803079e-01 -7.98111359e-02 -3.71541604e-03 3.25770912e+02] [ 7.98106895e-02 9.96810003e-01 -2.68507259e-04 1.87733230e+01] [ 3.72499374e-03 -2.88810529e-05 9.99993062e-01 -2.50462622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.321400513 meters Centerline goodness [0,1] 0.997974240873422 Centerline is valid? [True, True] Translation: X:325.80, Y:18.78, Z:-0.25 [[ 9.96923510e-01 -7.82670609e-02 -4.21696915e-03 3.25802248e+02] [ 7.82664729e-02 9.96932428e-01 -3.04544249e-04 1.87810239e+01] [ 4.22786907e-03 -2.64399794e-05 9.99991062e-01 -2.51000007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.351400513 meters Centerline goodness [0,1] 0.9980077955825033 Centerline is valid? [True, True] Translation: X:325.83, Y:18.79, Z:-0.25 [[ 9.97043511e-01 -7.66750516e-02 -5.01736419e-03 3.25834054e+02] [ 7.66742003e-02 9.97056135e-01 -3.62090632e-04 1.87879481e+01] [ 5.03035707e-03 -2.36822721e-05 9.99987347e-01 -2.50646171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.381400513 meters Centerline goodness [0,1] 0.9985553806679748 Centerline is valid? [True, True] Translation: X:325.87, Y:18.80, Z:-0.25 [[ 9.97336813e-01 -7.28162656e-02 -4.13203728e-03 3.25865096e+02] [ 7.28156558e-02 9.97345372e-01 -2.98025137e-04 1.88004566e+01] [ 4.14276934e-03 -3.64556406e-06 9.99991419e-01 -2.49784072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.411400513 meters Centerline goodness [0,1] 0.9987564322469983 Centerline is valid? [True, True] Translation: X:325.90, Y:18.81, Z:-0.25 [[ 9.97529563e-01 -7.01813911e-02 -3.05667879e-03 3.25896948e+02] [ 7.01810455e-02 9.97534246e-01 -2.20298046e-04 1.88077706e+01] [ 3.06460260e-03 5.23290045e-06 9.99995304e-01 -2.48281106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.441400513 meters Centerline goodness [0,1] 0.9988831615120275 Centerline is valid? [True, True] Translation: X:325.93, Y:18.82, Z:-0.25 [[ 9.97731554e-01 -6.72826580e-02 -2.18871833e-03 3.25928492e+02] [ 6.72824745e-02 9.97733954e-01 -1.57421672e-04 1.88156333e+01] [ 2.19435034e-03 9.80218466e-06 9.99997592e-01 -2.46254604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.471400513 meters Centerline goodness [0,1] 0.9993601910895946 Centerline is valid? [True, True] Translation: X:325.96, Y:18.83, Z:-0.25 [[ 9.97952083e-01 -6.39392633e-02 -1.84705041e-03 3.25958598e+02] [ 6.39391270e-02 9.97953792e-01 -1.32808412e-04 1.88253372e+01] [ 1.85176263e-03 1.44376407e-05 9.99998285e-01 -2.45252223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.501400513 meters Centerline goodness [0,1] 0.999593147751606 Centerline is valid? [True, True] Translation: X:325.99, Y:18.83, Z:-0.25 [[ 9.98151258e-01 -6.07249281e-02 -2.55928781e-03 3.25989922e+02] [ 6.07246566e-02 9.98154538e-01 -1.83722219e-04 1.88337547e+01] [ 2.56572126e-03 2.79706911e-05 9.99996708e-01 -2.46074900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.531400513 meters Centerline goodness [0,1] 0.9997017024268638 Centerline is valid? [True, True] Translation: X:326.02, Y:18.85, Z:-0.25 [[ 9.98487198e-01 -5.49113800e-02 -2.83819049e-03 3.26020282e+02] [ 5.49110230e-02 9.98491231e-01 -2.03603495e-04 1.88486760e+01] [ 2.84508846e-03 4.74475401e-05 9.99995952e-01 -2.46157567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.561400513 meters Centerline goodness [0,1] 0.9998718277364779 Centerline is valid? [True, True] Translation: X:326.05, Y:18.86, Z:-0.24 [[ 9.98614222e-01 -5.25960858e-02 -1.81303128e-03 3.26051872e+02] [ 5.25959364e-02 9.98615867e-01 -1.30061972e-04 1.88560162e+01] [ 1.81736256e-03 3.45236569e-05 9.99998348e-01 -2.44308049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.591400513 meters Centerline goodness [0,1] 0.9998493975903614 Centerline is valid? [True, True] Translation: X:326.08, Y:18.86, Z:-0.24 [[ 9.98722230e-01 -5.05325675e-02 -6.05136342e-04 3.26083394e+02] [ 5.05325505e-02 9.98722414e-01 -4.34665180e-05 1.88626857e+01] [ 6.06559703e-04 1.28318951e-05 9.99999816e-01 -2.42395493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.621400513 meters Centerline goodness [0,1] 0.9998064224722001 Centerline is valid? [True, True] Translation: X:326.11, Y:18.87, Z:-0.24 [[ 9.98873185e-01 -4.74329186e-02 1.57427353e-03 3.26114754e+02] [ 4.74328003e-02 9.98874425e-01 1.12402288e-04 1.88693935e+01] [-1.57783313e-03 -3.76034291e-05 9.99998755e-01 -2.39793484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.651400513 meters Centerline goodness [0,1] 0.9996776481206885 Centerline is valid? [True, True] Translation: X:326.15, Y:18.88, Z:-0.24 [[ 9.98918582e-01 -4.64569077e-02 1.84969347e-03 3.26145074e+02] [ 4.64567431e-02 9.98920294e-01 1.31900889e-04 1.88776983e+01] [-1.85382405e-03 -4.58275143e-05 9.99998281e-01 -2.39063391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.681400513 meters Centerline goodness [0,1] 0.9997428148910178 Centerline is valid? [True, True] Translation: X:326.18, Y:18.88, Z:-0.24 [[ 9.98951328e-01 -4.57666875e-02 1.28599650e-03 3.26176976e+02] [ 4.57666073e-02 9.98952156e-01 9.16871429e-05 1.88817362e+01] [-1.28884519e-03 -3.27352965e-05 9.99999169e-01 -2.39544509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.711400513 meters Centerline goodness [0,1] 0.9998276493526079 Centerline is valid? [True, True] Translation: X:326.21, Y:18.89, Z:-0.24 [[ 9.98980377e-01 -4.51461997e-02 1.61678856e-04 3.26209122e+02] [ 4.51461985e-02 9.98980391e-01 1.14061715e-05 1.88866406e+01] [-1.62028952e-04 -4.09535574e-06 9.99999987e-01 -2.41169832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.741400513 meters Centerline goodness [0,1] 0.9998501808531131 Centerline is valid? [True, True] Translation: X:326.24, Y:18.89, Z:-0.24 [[ 9.99010928e-01 -4.44541876e-02 -9.95712602e-04 3.26240195e+02] [ 4.44541386e-02 9.99011424e-01 -7.13019618e-05 1.88932119e+01] [ 9.97897935e-04 2.69678930e-05 9.99999502e-01 -2.42368409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.771400513 meters Centerline goodness [0,1] 0.9997191314680782 Centerline is valid? [True, True] Translation: X:326.27, Y:18.90, Z:-0.24 [[ 9.99115852e-01 -4.20152143e-02 -1.49549821e-03 3.26271494e+02] [ 4.20151019e-02 9.99116970e-01 -1.06508733e-04 1.89023563e+01] [ 1.49865263e-03 4.35810537e-05 9.99998876e-01 -2.42834455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.801400513 meters Centerline goodness [0,1] 0.9998714845674385 Centerline is valid? [True, True] Translation: X:326.30, Y:18.91, Z:-0.24 [[ 9.99214987e-01 -3.96020255e-02 -1.04364820e-03 3.26301477e+02] [ 3.96019694e-02 9.99215532e-01 -7.43969714e-05 1.89125246e+01] [ 1.04577577e-03 3.30080446e-05 9.99999453e-01 -2.42721596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.831400513 meters Centerline goodness [0,1] 0.9999359535449713 Centerline is valid? [True, True] Translation: X:326.33, Y:18.92, Z:-0.24 [[ 9.99311680e-01 -3.70863744e-02 -8.75331604e-04 3.26332462e+02] [ 3.70863341e-02 9.99312063e-01 -6.22525668e-05 1.89207987e+01] [ 8.77038153e-04 2.97468768e-05 9.99999615e-01 -2.42223260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.861400513 meters Centerline goodness [0,1] 0.999765162998228 Centerline is valid? [True, True] Translation: X:326.36, Y:18.93, Z:-0.24 [[ 9.99387691e-01 -3.49743198e-02 -1.01991116e-03 3.26364224e+02] [ 3.49742640e-02 9.99388211e-01 -7.25414876e-05 1.89254006e+01] [ 1.02182428e-03 3.68264275e-05 9.99999477e-01 -2.41975036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.891400513 meters Centerline goodness [0,1] 0.9999355365507757 Centerline is valid? [True, True] Translation: X:326.39, Y:18.93, Z:-0.24 [[ 9.99462384e-01 -3.27510173e-02 -1.52143946e-03 3.26394092e+02] [ 3.27508907e-02 9.99463540e-01 -1.08063117e-04 1.89347983e+01] [ 1.52416244e-03 5.81765229e-05 9.99998837e-01 -2.43004138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.921400513 meters Centerline goodness [0,1] 0.9998703375545662 Centerline is valid? [True, True] Translation: X:326.42, Y:18.94, Z:-0.24 [[ 9.99553692e-01 -2.97528284e-02 -2.68059450e-03 3.26424644e+02] [ 2.97524251e-02 9.99557281e-01 -1.90224790e-04 1.89417909e+01] [ 2.68506747e-03 1.10385704e-04 9.99996389e-01 -2.44536174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.951400513 meters Centerline goodness [0,1] 0.9997837417010877 Centerline is valid? [True, True] Translation: X:326.46, Y:18.95, Z:-0.25 [[ 9.99594389e-01 -2.83223664e-02 -2.98331187e-03 3.26455359e+02] [ 2.83218606e-02 9.99598833e-01 -2.11657811e-04 1.89528986e+01] [ 2.98810971e-03 1.27079018e-04 9.99995528e-01 -2.46218127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.981400513 meters Centerline goodness [0,1] 0.9998499753530937 Centerline is valid? [True, True] Translation: X:326.49, Y:18.96, Z:-0.25 [[ 9.99617650e-01 -2.75113042e-02 -2.77165691e-03 3.26487699e+02] [ 2.75108648e-02 9.99621485e-01 -1.96543539e-04 1.89561823e+01] [ 2.77601497e-03 1.20217712e-04 9.99996140e-01 -2.45800876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.011400513 meters Centerline goodness [0,1] 0.9998499753530937 Centerline is valid? [True, True] Translation: X:326.52, Y:18.96, Z:-0.25 [[ 9.99619658e-01 -2.74382593e-02 -2.77166665e-03 3.26520201e+02] [ 2.74378200e-02 9.99623493e-01 -1.96406079e-04 1.89583630e+01] [ 2.77601214e-03 1.20282887e-04 9.99996140e-01 -2.45714056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.041400513 meters Centerline goodness [0,1] 0.9995905172413793 Centerline is valid? [True, True] Translation: X:326.55, Y:18.96, Z:-0.24 [[ 9.99659537e-01 -2.60791305e-02 -8.29581522e-04 3.26552197e+02] [ 2.60790907e-02 9.99659881e-01 -5.88187545e-05 1.89621861e+01] [ 8.30833308e-04 3.71639972e-05 9.99999654e-01 -2.43198059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.071400513 meters Centerline goodness [0,1] 0.9990996977556751 Centerline is valid? [True, True] Translation: X:326.58, Y:18.97, Z:-0.24 [[ 9.99674455e-01 -2.55134508e-02 -2.19764160e-04 3.26582673e+02] [ 2.55134480e-02 9.99674479e-01 -1.56374032e-05 1.89699792e+01] [ 2.20091587e-04 1.00253710e-05 9.99999976e-01 -2.42321203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.101400513 meters Centerline goodness [0,1] 0.9990787754140155 Centerline is valid? [True, True] Translation: X:326.61, Y:18.97, Z:-0.24 [[ 9.99680872e-01 -2.52611322e-02 -1.72359283e-04 3.26614554e+02] [ 2.52611304e-02 9.99680887e-01 -1.23067998e-05 1.89712855e+01] [ 1.72615165e-04 7.94888207e-06 9.99999985e-01 -2.42400675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.131400513 meters Centerline goodness [0,1] 0.999015811206915 Centerline is valid? [True, True] Translation: X:326.65, Y:18.97, Z:-0.24 [[ 9.99684618e-01 -2.51127159e-02 -1.28326694e-04 3.26646632e+02] [ 2.51127149e-02 9.99684626e-01 -9.37219842e-06 1.89746550e+01] [ 1.28521585e-04 6.14661091e-06 9.99999992e-01 -2.41903809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.161400513 meters Centerline goodness [0,1] 0.9974819145984934 Centerline is valid? [True, True] Translation: X:326.68, Y:18.98, Z:-0.24 [[ 9.99698644e-01 -2.45247657e-02 1.07533782e-03 3.26678686e+02] [ 2.45246985e-02 9.99699221e-01 7.56710845e-05 1.89769190e+01] [-1.07687020e-03 -4.92759448e-05 9.99999419e-01 -2.39837324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.191400513 meters Centerline goodness [0,1] 0.9947641732114502 Centerline is valid? [True, True] Translation: X:326.71, Y:18.98, Z:-0.24 [[ 9.99707558e-01 -2.40998403e-02 1.99897483e-03 3.26710380e+02] [ 2.40996070e-02 9.99709552e-01 1.40736849e-04 1.89788164e+01] [-2.00178597e-03 -9.25211841e-05 9.99997992e-01 -2.38121552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.221400513 meters Centerline goodness [0,1] 0.9967303500448775 Centerline is valid? [True, True] Translation: X:326.74, Y:18.98, Z:-0.24 [[ 9.99713149e-01 -2.37891887e-02 2.77394819e-03 3.26743028e+02] [ 2.37887386e-02 9.99716989e-01 1.95168408e-04 1.89775534e+01] [-2.77780603e-03 -1.29123695e-04 9.99996134e-01 -2.37347325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.251400513 meters Centerline goodness [0,1] 0.9994201529078258 Centerline is valid? [True, True] Translation: X:326.78, Y:18.97, Z:-0.24 [[ 9.99717265e-01 -2.36212156e-02 2.72558311e-03 3.26775783e+02] [ 2.36207808e-02 9.99720972e-01 1.91621499e-04 1.89726926e+01] [-2.72934893e-03 -1.27186920e-04 9.99996267e-01 -2.38317315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.281400513 meters Centerline goodness [0,1] 0.9738860015336117 Centerline is valid? [True, True] Translation: X:326.81, Y:18.98, Z:-0.24 [[ 9.99719613e-01 -2.35817011e-02 2.14467535e-03 3.26806572e+02] [ 2.35814332e-02 9.99721908e-01 1.50106813e-04 1.89815083e+01] [-2.14761871e-03 -9.94902059e-05 9.99997689e-01 -2.37499377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.311400513 meters Centerline goodness [0,1] 0.9955008287946957 Centerline is valid? [True, True] Translation: X:326.84, Y:18.98, Z:-0.24 [[ 9.99734697e-01 -2.29235148e-02 2.24695366e-03 3.26839382e+02] [ 2.29232186e-02 9.99737216e-01 1.57480416e-04 1.89751627e+01] [-2.24997320e-03 -1.05931226e-04 9.99997463e-01 -2.37805560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.341400513 meters Centerline goodness [0,1] 0.9828696987797594 Centerline is valid? [True, True] Translation: X:326.87, Y:18.98, Z:-0.24 [[ 9.99755922e-01 -2.18936053e-02 2.96068391e-03 3.26870119e+02] [ 2.18930867e-02 9.99760296e-01 2.07469651e-04 1.89778738e+01] [-2.96451648e-03 -1.42600503e-04 9.99995596e-01 -2.36353872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.371400513 meters Centerline goodness [0,1] 0.9621931781957284 Centerline is valid? [True, True] Translation: X:326.90, Y:18.98, Z:-0.23 [[ 9.99780202e-01 -2.06120255e-02 3.83289843e-03 3.26902303e+02] [ 2.06111476e-02 9.99787532e-01 2.68408712e-04 1.89790662e+01] [-3.83761651e-03 -1.89349281e-04 9.99992618e-01 -2.34985601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.401400513 meters Centerline goodness [0,1] 0.9871354323267901 Centerline is valid? [True, True] Translation: X:326.93, Y:18.97, Z:-0.24 [[ 9.99830103e-01 -1.79946527e-02 3.99463893e-03 3.26933558e+02] [ 1.79936781e-02 9.99838062e-01 2.79782635e-04 1.89721893e+01] [-3.99902664e-03 -2.07856853e-04 9.99991982e-01 -2.35857505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.431400513 meters Centerline goodness [0,1] 0.8734355946344907 Centerline is valid? [True, False] Translation: X:326.93, Y:18.97, Z:-0.24 [[ 9.99833917e-01 -1.78063421e-02 3.88242796e-03 3.26934161e+02] [ 1.78043003e-02 9.99841334e-01 5.59838584e-04 1.89710540e+01] [-3.89178063e-03 -4.90621691e-04 9.99992307e-01 -2.36318684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.461400513 meters Centerline goodness [0,1] 0.890308295009368 Centerline is valid? [False, False] Translation: X:326.94, Y:18.97, Z:-0.24 [[ 9.99839206e-01 -1.75488293e-02 3.68789845e-03 3.26935155e+02] [ 1.75452539e-02 9.99845570e-01 9.99626543e-04 1.89692078e+01] [-3.70487121e-03 -9.34760695e-04 9.99992700e-01 -2.36961625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.491400513 meters Centerline goodness [0,1] 0.8584219124604842 Centerline is valid? [False, False] Translation: X:326.94, Y:18.97, Z:-0.24 [[ 9.99845814e-01 -1.72105716e-02 3.48494816e-03 3.26936394e+02] [ 1.72049704e-02 9.99850653e-01 1.63093155e-03 1.89665122e+01] [-3.51249696e-03 -1.57072165e-03 9.99992598e-01 -2.37986251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.521400513 meters Centerline goodness [0,1] 0.7961200350779629 Centerline is valid? [False, False] Translation: X:326.92, Y:18.97, Z:-0.23 [[ 9.99878754e-01 -1.55515391e-02 7.91691265e-04 3.26915084e+02] [ 1.55584626e-02 9.99832334e-01 -9.65601907e-03 1.89687247e+01] [-6.41392567e-04 9.66716582e-03 9.99953066e-01 -2.32792716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.551400513 meters Centerline goodness [0,1] 0.9557207429146762 Centerline is valid? [False, True] Translation: X:326.92, Y:18.96, Z:-0.24 [[ 9.99945244e-01 -1.04512813e-02 5.29141996e-04 3.26917711e+02] [ 1.04525968e-02 9.99942125e-01 -2.54748936e-03 1.89559743e+01] [-5.02486844e-04 2.55288077e-03 9.99996615e-01 -2.36137949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.581400513 meters Centerline goodness [0,1] 0.8709367801382135 Centerline is valid? [True, False] Translation: X:326.92, Y:18.95, Z:-0.24 [[ 9.99948097e-01 -1.01809290e-02 3.88998373e-04 3.26918408e+02] [ 1.01816808e-02 9.99946201e-01 -1.98227465e-03 1.89534295e+01] [-3.68796048e-04 1.98613242e-03 9.99997960e-01 -2.36532656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.611400513 meters Centerline goodness [0,1] 0.8532705277807515 Centerline is valid? [False, False] Translation: X:326.92, Y:18.95, Z:-0.24 [[ 9.99950791e-01 -9.91546823e-03 3.14556796e-04 3.26918951e+02] [ 9.91590062e-03 9.99949850e-01 -1.40420060e-03 1.89508524e+01] [-3.00617715e-04 1.40725062e-03 9.99998965e-01 -2.37044929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.641400513 meters Centerline goodness [0,1] 0.8151859083009719 Centerline is valid? [False, False] Translation: X:326.92, Y:18.95, Z:-0.24 [[ 9.99955294e-01 -9.45458845e-03 1.44584210e-04 3.26919832e+02] [ 9.45464828e-03 9.99955216e-01 -4.18902451e-04 1.89463691e+01] [-1.40617184e-04 4.20250716e-04 9.99999902e-01 -2.37521412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.671400513 meters Centerline goodness [0,1] 0.8173504273504273 Centerline is valid? [False, False] Translation: X:326.92, Y:18.94, Z:-0.24 [[ 9.99957997e-01 -9.16525551e-03 4.90907588e-05 3.26920256e+02] [ 9.16524575e-03 9.99957979e-01 1.95553166e-04 1.89435789e+01] [-5.08809907e-05 -1.95095024e-04 9.99999980e-01 -2.37648072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.701400513 meters Centerline goodness [0,1] 0.887759884117246 Centerline is valid? [False, False] Translation: X:326.92, Y:18.94, Z:-0.24 [[ 9.99960690e-01 -8.86654933e-03 -4.30449279e-05 3.26920749e+02] [ 8.86658202e-03 9.99960346e-01 8.30394426e-04 1.89406987e+01] [ 3.56804879e-05 -8.30743445e-04 9.99999654e-01 -2.37923393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.731400513 meters Centerline goodness [0,1] 0.8845789360327374 Centerline is valid? [False, False] Translation: X:326.92, Y:18.94, Z:-0.24 [[ 9.99916640e-01 -1.29116668e-02 3.45175422e-05 3.26920266e+02] [ 1.29117013e-02 9.99908578e-01 -4.01547405e-03 1.89437303e+01] [ 1.73320762e-05 4.01558500e-03 9.99991937e-01 -2.37058552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.761400513 meters Centerline goodness [0,1] 0.7854155106918776 Centerline is valid? [False, False] Translation: X:326.92, Y:18.94, Z:-0.24 [[ 9.99923433e-01 -1.23745027e-02 1.63049265e-05 3.26920931e+02] [ 1.23744958e-02 9.99918910e-01 -3.00768556e-03 1.89392632e+01] [ 2.09150089e-05 3.00765704e-03 9.99995477e-01 -2.38050232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.791400513 meters Centerline goodness [0,1] 0.7402804673036409 Centerline is valid? [False, False] Translation: X:326.92, Y:18.93, Z:-0.24 [[ 9.99971364e-01 -7.56050873e-03 -3.32530694e-04 3.26923006e+02] [ 7.56148741e-03 9.99966768e-01 3.04755035e-03 1.89311834e+01] [ 3.09478612e-04 -3.04997751e-03 9.99995301e-01 -2.39961378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.821400513 meters Centerline goodness [0,1] 0.7352728047740835 Centerline is valid? [False, False] Translation: X:326.92, Y:18.93, Z:-0.24 [[ 9.99972485e-01 -7.40505885e-03 -4.40528462e-04 3.26923524e+02] [ 7.40649699e-03 9.99966934e-01 3.35778810e-03 1.89298076e+01] [ 4.15649277e-04 -3.36095849e-03 9.99994266e-01 -2.40240270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.851400513 meters Centerline goodness [0,1] 0.7255776246453183 Centerline is valid? [False, False] Translation: X:326.92, Y:18.93, Z:-0.24 [[ 9.99973776e-01 -7.22490049e-03 -4.98657248e-04 3.26923775e+02] [ 7.22671113e-03 9.99966930e-01 3.73012879e-03 1.89281245e+01] [ 4.71690948e-04 -3.73363462e-03 9.99992919e-01 -2.40320409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.881400513 meters Centerline goodness [0,1] 0.7413734052572994 Centerline is valid? [False, False] Translation: X:326.92, Y:18.93, Z:-0.24 [[ 9.99974517e-01 -7.12289337e-03 -4.78354360e-04 3.26923614e+02] [ 7.12473406e-03 9.99966765e-01 3.96332514e-03 1.89270112e+01] [ 4.50108120e-04 -3.96663229e-03 9.99992032e-01 -2.40107943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.911400513 meters Centerline goodness [0,1] 0.7158119658119658 Centerline is valid? [False, False] Translation: X:326.92, Y:18.93, Z:-0.24 [[ 9.99974485e-01 -7.12768403e-03 -4.75567681e-04 3.26923465e+02] [ 7.12947015e-03 9.99967111e-01 3.86617242e-03 1.89274841e+01] [ 4.47995185e-04 -3.86946432e-03 9.99992413e-01 -2.39852998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.941400513 meters Centerline goodness [0,1] 0.7375812466702185 Centerline is valid? [False, False] Translation: X:326.92, Y:18.93, Z:-0.24 [[ 9.99973715e-01 -7.23582833e-03 -4.60073490e-04 3.26923352e+02] [ 7.23735583e-03 9.99967996e-01 3.40997119e-03 1.89296938e+01] [ 4.35384799e-04 -3.41321127e-03 9.99994080e-01 -2.39816874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.971400513 meters Centerline goodness [0,1] 0.6853310441034446 Centerline is valid? [False, False] Translation: X:326.92, Y:18.93, Z:-0.24 [[ 9.99974161e-01 -7.17281643e-03 -4.78448300e-04 3.26923630e+02] [ 7.17445956e-03 9.99968047e-01 3.52585362e-03 1.89292066e+01] [ 4.53142712e-04 -3.52919513e-03 9.99993670e-01 -2.40243912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.001400513 meters Centerline goodness [0,1] 0.719642551735933 Centerline is valid? [False, False] Translation: X:326.92, Y:18.93, Z:-0.24 [[ 9.99975149e-01 -7.03070801e-03 -5.20986619e-04 3.26923886e+02] [ 7.03264487e-03 9.99967997e-01 3.81409640e-03 1.89279387e+01] [ 4.94154148e-04 -3.81766553e-03 9.99992591e-01 -2.40473980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.031400513 meters Centerline goodness [0,1] 0.7352922320760765 Centerline is valid? [False, False] Translation: X:326.92, Y:18.93, Z:-0.24 [[ 9.99975893e-01 -6.92266219e-03 -5.38555900e-04 3.26923934e+02] [ 6.92480834e-03 9.99967656e-01 4.09079157e-03 1.89266314e+01] [ 5.10219313e-04 -4.09442235e-03 9.99991488e-01 -2.40426528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.061400513 meters Centerline goodness [0,1] 0.736410081015797 Centerline is valid? [False, False] Translation: X:326.92, Y:18.92, Z:-0.24 [[ 9.99976088e-01 -6.90241005e-03 -4.23819090e-04 3.26923352e+02] [ 6.90426610e-03 9.99965831e-01 4.54630695e-03 1.89242173e+01] [ 3.92424134e-04 -4.54912440e-03 9.99989576e-01 -2.39949514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.091400513 meters Centerline goodness [0,1] 0.7577177919338688 Centerline is valid? [False, False] Translation: X:326.92, Y:18.92, Z:-0.24 [[ 9.99976842e-01 -6.78254839e-03 -5.59288429e-04 3.26923873e+02] [ 6.78518941e-03 9.99965152e-01 4.86377141e-03 1.89227668e+01] [ 5.26280173e-04 -4.86745365e-03 9.99988015e-01 -2.40053650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.121400513 meters Centerline goodness [0,1] 0.8099228177902862 Centerline is valid? [False, False] Translation: X:326.92, Y:18.92, Z:-0.24 [[ 9.99977563e-01 -6.65821421e-03 -7.35960504e-04 3.26924737e+02] [ 6.66195256e-03 9.99964291e-01 5.19951435e-03 1.89212506e+01] [ 7.01314743e-04 -5.20430063e-03 9.99986212e-01 -2.40561296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.151400513 meters Centerline goodness [0,1] 0.8140932730838093 Centerline is valid? [False, False] Translation: X:326.93, Y:18.92, Z:-0.24 [[ 9.99978340e-01 -6.52012886e-03 -8.98267738e-04 3.26925667e+02] [ 6.52499568e-03 9.99963443e-01 5.52601567e-03 1.89198186e+01] [ 8.62204566e-04 -5.53175717e-03 9.99984328e-01 -2.41300540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.181400513 meters Centerline goodness [0,1] 0.8961160505381376 Centerline is valid? [False, False] Translation: X:326.93, Y:18.92, Z:-0.24 [[ 9.99978027e-01 -6.50030636e-03 -1.30055102e-03 3.26927233e+02] [ 6.50794417e-03 9.99961078e-01 5.95733146e-03 1.89177013e+01] [ 1.26177592e-03 -5.96566447e-03 9.99981409e-01 -2.41828519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.211400513 meters Centerline goodness [0,1] 0.9347002546925497 Centerline is valid? [False, False] Translation: X:326.93, Y:18.92, Z:-0.24 [[ 9.99935857e-01 -1.12543156e-02 -1.27358157e-03 3.26926490e+02] [ 1.12547257e-02 9.99936614e-01 3.15320378e-04 1.89238975e+01] [ 1.26995213e-03 -3.29633964e-04 9.99999139e-01 -2.40448514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.241400513 meters Centerline goodness [0,1] 0.9913431100200272 Centerline is valid? [False, True] Translation: X:326.93, Y:18.92, Z:-0.24 [[ 9.99936325e-01 -1.12021123e-02 -1.36335289e-03 3.26926709e+02] [ 1.12027464e-02 9.99937142e-01 4.58369251e-04 1.89232284e+01] [ 1.35813249e-03 -4.73613361e-04 9.99998966e-01 -2.40257682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.271400513 meters Centerline goodness [0,1] 0.9165089424324266 Centerline is valid? [True, False] Translation: X:326.93, Y:18.92, Z:-0.24 [[ 9.99936791e-01 -1.11503220e-02 -1.44361192e-03 3.26926769e+02] [ 1.11512029e-02 9.99937641e-01 6.03608759e-04 1.89224964e+01] [ 1.43679146e-03 -6.19668615e-04 9.99998776e-01 -2.39854693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.301400513 meters Centerline goodness [0,1] 0.9104056661789341 Centerline is valid? [False, False] Translation: X:326.93, Y:18.92, Z:-0.24 [[ 9.99939182e-01 -1.09437443e-02 -1.36632585e-03 3.26926550e+02] [ 1.09451262e-02 9.99939592e-01 1.00808780e-03 1.89206485e+01] [ 1.35521105e-03 -1.02298110e-03 9.99998558e-01 -2.39882956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.331400513 meters Centerline goodness [0,1] 0.9135433776317754 Centerline is valid? [False, False] Translation: X:326.93, Y:18.92, Z:-0.24 [[ 9.99939843e-01 -1.08758441e-02 -1.42339598e-03 3.26926821e+02] [ 1.08774207e-02 9.99940229e-01 1.10463817e-03 1.89202512e+01] [ 1.41129703e-03 -1.12005459e-03 9.99998377e-01 -2.40059516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.361400513 meters Centerline goodness [0,1] 0.8739056551012068 Centerline is valid? [False, False] Translation: X:326.93, Y:18.92, Z:-0.24 [[ 9.99939975e-01 -1.08519932e-02 -1.51032876e-03 3.26927211e+02] [ 1.08535471e-02 9.99940574e-01 1.02451047e-03 1.89207453e+01] [ 1.49912102e-03 -1.04084140e-03 9.99998335e-01 -2.40327812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.391400513 meters Centerline goodness [0,1] 0.8255037891836032 Centerline is valid? [False, False] Translation: X:326.93, Y:18.92, Z:-0.24 [[ 9.99980505e-01 -5.98645717e-03 -1.77517411e-03 3.26928837e+02] [ 5.99809236e-03 9.99960078e-01 6.62315039e-03 1.89150215e+01] [ 1.73545403e-03 -6.63366893e-03 9.99976491e-01 -2.41888857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.421400513 meters Centerline goodness [0,1] 0.7577707006369427 Centerline is valid? [False, False] Translation: X:326.93, Y:18.92, Z:-0.24 [[ 9.99980958e-01 -5.84642917e-03 -1.97542865e-03 3.26929596e+02] [ 5.85915969e-03 9.99961701e-01 6.50130755e-03 1.89158446e+01] [ 1.93734356e-03 -6.51275810e-03 9.99976915e-01 -2.42076741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.451400513 meters Centerline goodness [0,1] 0.7255011614901488 Centerline is valid? [False, False] Translation: X:326.91, Y:18.92, Z:-0.24 [[ 9.99987304e-01 -1.02236229e-03 -4.93418378e-03 3.26905837e+02] [ 1.01740694e-03 9.99998976e-01 -1.00669570e-03 1.89160970e+01] [ 4.93520793e-03 1.00166284e-03 9.99987320e-01 -2.35546685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.481400513 meters Centerline goodness [0,1] 0.7044540475782988 Centerline is valid? [False, False] Translation: X:326.91, Y:18.91, Z:-0.24 [[ 9.99987889e-01 -8.80641260e-04 -4.84218335e-03 3.26905433e+02] [ 8.77074695e-04 9.99999343e-01 -7.38635498e-04 1.89148756e+01] [ 4.84283064e-03 7.34379596e-04 9.99988004e-01 -2.35321859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.511400513 meters Centerline goodness [0,1] 0.7025810833757853 Centerline is valid? [False, False] Translation: X:326.91, Y:18.91, Z:-0.24 [[ 9.99988094e-01 -6.55348460e-04 -4.83546842e-03 3.26905366e+02] [ 6.54162843e-04 9.99999756e-01 -2.46769142e-04 1.89125808e+01] [ 4.83562896e-03 2.43603020e-04 9.99988279e-01 -2.35211646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.541400513 meters Centerline goodness [0,1] 0.7246762157989536 Centerline is valid? [False, False] Translation: X:326.90, Y:18.91, Z:-0.23 [[ 9.99987855e-01 -2.86738514e-03 -4.00856087e-03 3.26899958e+02] [ 2.85920427e-03 9.99993821e-01 -2.04509185e-03 1.89067765e+01] [ 4.01440017e-03 2.03360572e-03 9.99989874e-01 -2.31908673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.571400513 meters Centerline goodness [0,1] 0.7385721623009759 Centerline is valid? [False, False] Translation: X:326.90, Y:18.90, Z:-0.23 [[ 9.99988597e-01 -2.30864357e-03 -4.18032733e-03 3.26901010e+02] [ 2.30578017e-03 9.99997104e-01 -6.89659876e-04 1.89005360e+01] [ 4.18190740e-03 6.80013097e-04 9.99991025e-01 -2.32662777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.601400513 meters Centerline goodness [0,1] 0.7395726276121959 Centerline is valid? [False, False] Translation: X:326.90, Y:18.89, Z:-0.23 [[ 9.99989481e-01 -1.79828531e-03 -4.21945450e-03 3.26901533e+02] [ 1.80086282e-03 9.99998194e-01 6.07143835e-04 1.88944401e+01] [ 4.21835507e-03 -6.14736107e-04 9.99990914e-01 -2.33211764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.631400513 meters Centerline goodness [0,1] 0.7334436032826516 Centerline is valid? [False, False] Translation: X:326.92, Y:18.90, Z:-0.23 [[ 9.99993773e-01 -2.42189706e-03 -2.56692237e-03 3.26915959e+02] [ 2.39419870e-03 9.99939467e-01 -1.07391888e-02 1.88993410e+01] [ 2.59277620e-03 1.07329762e-02 9.99939039e-01 -2.26450875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.661400513 meters Centerline goodness [0,1] 0.7397335822161887 Centerline is valid? [False, False] Translation: X:326.91, Y:18.89, Z:-0.23 [[ 9.99995990e-01 1.64325669e-03 -2.30648324e-03 3.26914781e+02] [-1.65403041e-03 9.99987695e-01 -4.67694846e-03 1.88884059e+01] [ 2.29876943e-03 4.68074470e-03 9.99986403e-01 -2.26359857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.691400513 meters Centerline goodness [0,1] 0.724510551741673 Centerline is valid? [False, False] Translation: X:326.91, Y:18.89, Z:-0.23 [[ 9.99995490e-01 1.91575207e-03 -2.31308543e-03 3.26914974e+02] [-1.92524892e-03 9.99989699e-01 -4.11048340e-03 1.88858197e+01] [ 2.30518693e-03 4.11491813e-03 9.99988877e-01 -2.26672490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.721400513 meters Centerline goodness [0,1] 0.720868655377848 Centerline is valid? [False, False] Translation: X:326.92, Y:18.88, Z:-0.23 [[ 9.99994900e-01 2.23580370e-03 -2.28075447e-03 3.26915213e+02] [-2.24363609e-03 9.99991575e-01 -3.43736529e-03 1.88827579e+01] [ 2.27304998e-03 3.44246494e-03 9.99991491e-01 -2.27312491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.751400513 meters Centerline goodness [0,1] 0.7144130757800892 Centerline is valid? [False, False] Translation: X:326.92, Y:18.88, Z:-0.23 [[ 9.99993757e-01 2.63133814e-03 -2.35851571e-03 3.26915932e+02] [-2.63750253e-03 9.99993104e-01 -2.61438437e-03 1.88790465e+01] [ 2.35162012e-03 2.62058864e-03 9.99993801e-01 -2.28136707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.781400513 meters Centerline goodness [0,1] 0.7222186666666667 Centerline is valid? [False, False] Translation: X:326.92, Y:18.87, Z:-0.23 [[ 9.99991692e-01 3.16917974e-03 -2.56375721e-03 3.26917440e+02] [-3.17296720e-03 9.99993879e-01 -1.47458982e-03 1.88739325e+01] [ 2.55906828e-03 1.48271228e-03 9.99995626e-01 -2.29676476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.811400513 meters Centerline goodness [0,1] 0.7233630540718831 Centerline is valid? [False, False] Translation: X:326.92, Y:18.87, Z:-0.23 [[ 9.99990584e-01 3.40143420e-03 -2.69499936e-03 3.26918162e+02] [-3.40416171e-03 9.99993698e-01 -1.00812660e-03 1.88718257e+01] [ 2.69155330e-03 1.01729132e-03 9.99995860e-01 -2.30195316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.841400513 meters Centerline goodness [0,1] 0.7286371650969767 Centerline is valid? [False, False] Translation: X:326.92, Y:18.87, Z:-0.23 [[ 9.99989614e-01 3.63644707e-03 -2.74724875e-03 3.26918559e+02] [-3.63784315e-03 9.99993256e-01 -5.03349946e-04 1.88695357e+01] [ 2.74539982e-03 5.13338778e-04 9.99996100e-01 -2.30608214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.871400513 meters Centerline goodness [0,1] 0.7401856278398691 Centerline is valid? [False, False] Translation: X:326.92, Y:18.87, Z:-0.23 [[ 9.99988569e-01 3.88892771e-03 -2.78157668e-03 3.26918872e+02] [-3.88881546e-03 9.99992437e-01 4.57619792e-05 1.88670276e+01] [ 2.78173361e-03 -3.49444177e-05 9.99996130e-01 -2.30954059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.901400513 meters Centerline goodness [0,1] 0.7401856278398691 Centerline is valid? [False, False] Translation: X:326.92, Y:18.87, Z:-0.23 [[ 9.99988569e-01 3.88892771e-03 -2.78157668e-03 3.26918872e+02] [-3.88881546e-03 9.99992437e-01 4.57619792e-05 1.88670276e+01] [ 2.78173361e-03 -3.49444177e-05 9.99996130e-01 -2.30954059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.931400513 meters Centerline goodness [0,1] 0.7102066772655008 Centerline is valid? [False, False] Translation: X:326.96, Y:18.86, Z:-0.23 [[ 9.99991722e-01 4.05566735e-03 -3.26532805e-04 3.26959555e+02] [-4.05444731e-03 9.99985104e-01 3.65412529e-03 1.88617640e+01] [ 3.41347857e-04 -3.65277114e-03 9.99993270e-01 -2.32283668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.961400513 meters Centerline goodness [0,1] 0.7221651909833611 Centerline is valid? [False, False] Translation: X:326.96, Y:18.86, Z:-0.23 [[ 9.99990965e-01 4.24150938e-03 -2.81312798e-04 3.26959539e+02] [-4.24033076e-03 9.99982745e-01 4.06572126e-03 1.88598530e+01] [ 2.98552738e-04 -4.06449166e-03 9.99991695e-01 -2.32514756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.991400513 meters Centerline goodness [0,1] 0.7228621066855414 Centerline is valid? [False, False] Translation: X:326.96, Y:18.86, Z:-0.23 [[ 9.99990190e-01 4.41594970e-03 -3.46468450e-04 3.26960090e+02] [-4.41437318e-03 9.99980461e-01 4.42620807e-03 1.88582428e+01] [ 3.66007593e-04 -4.42463520e-03 9.99990144e-01 -2.33172644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.021400513 meters Centerline goodness [0,1] 0.6976181814290912 Centerline is valid? [False, False] Translation: X:326.97, Y:18.86, Z:-0.24 [[ 9.99996739e-01 2.34989515e-03 -9.99654154e-04 3.26965890e+02] [-2.34786007e-03 9.99995179e-01 2.03210893e-03 1.88601537e+01] [ 1.00442458e-03 -2.02975526e-03 9.99997436e-01 -2.37481771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.051400513 meters Centerline goodness [0,1] 0.7218514807155192 Centerline is valid? [False, False] Translation: X:326.97, Y:18.86, Z:-0.24 [[ 9.99998285e-01 3.98729144e-04 -1.80850875e-03 3.26972283e+02] [-3.98491058e-04 9.99999912e-01 1.32005917e-04 1.88591314e+01] [ 1.80856123e-03 -1.31285016e-04 9.99998356e-01 -2.41867135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.081400513 meters Centerline goodness [0,1] 0.7174136381148067 Centerline is valid? [False, False] Translation: X:326.97, Y:18.86, Z:-0.24 [[ 9.99998167e-01 6.55648174e-04 -1.79894107e-03 3.26972218e+02] [-6.54255122e-04 9.99999486e-01 7.74852516e-04 1.88560716e+01] [ 1.79944817e-03 -7.73674130e-04 9.99998082e-01 -2.41711888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.111400513 meters Centerline goodness [0,1] 0.6946278892557785 Centerline is valid? [False, False] Translation: X:327.01, Y:18.86, Z:-0.24 [[ 9.99999360e-01 -5.63600590e-04 9.81075225e-04 3.27011969e+02] [ 5.61333815e-04 9.99997176e-01 2.30924497e-03 1.88550334e+01] [-9.82373946e-04 -2.30869279e-03 9.99996852e-01 -2.41919721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.141400513 meters Centerline goodness [0,1] 0.7019508057675996 Centerline is valid? [False, False] Translation: X:327.01, Y:18.85, Z:-0.24 [[ 9.99999516e-01 -1.92311688e-04 9.65081609e-04 3.27012176e+02] [ 1.89236740e-04 9.99994909e-01 3.18528517e-03 1.88509034e+01] [-9.65689263e-04 -3.18510100e-03 9.99994461e-01 -2.42115201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.171400513 meters Centerline goodness [0,1] 0.710093670289156 Centerline is valid? [False, False] Translation: X:326.99, Y:18.85, Z:-0.24 [[ 9.99998896e-01 1.00510625e-03 -1.09407415e-03 3.26989043e+02] [-1.01363270e-03 9.99968903e-01 -7.82084610e-03 1.88499355e+01] [ 1.08617935e-03 7.82194646e-03 9.99968818e-01 -2.37419852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.201400513 meters Centerline goodness [0,1] 0.6949825813578043 Centerline is valid? [False, False] Translation: X:327.01, Y:18.84, Z:-0.24 [[ 9.99998939e-01 -1.79802005e-05 1.45672509e-03 3.27011213e+02] [ 1.23187670e-05 9.99992448e-01 3.88632754e-03 1.88416529e+01] [-1.45678396e-03 -3.88630547e-03 9.99991387e-01 -2.42343882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.231400513 meters Centerline goodness [0,1] 0.6869308076370884 Centerline is valid? [False, False] Translation: X:327.01, Y:18.84, Z:-0.24 [[ 9.99989713e-01 -4.18824483e-03 1.74123408e-03 3.27009939e+02] [ 4.18987738e-03 9.99990785e-01 -9.34997069e-04 1.88444670e+01] [-1.73730203e-03 9.42283009e-04 9.99998047e-01 -2.41521791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.261400513 meters Centerline goodness [0,1] 0.7003638530118943 Centerline is valid? [False, False] Translation: X:327.01, Y:18.84, Z:-0.24 [[ 9.99991262e-01 -3.77369777e-03 1.79872162e-03 3.27009817e+02] [ 3.77372607e-03 9.99992879e-01 -1.23394375e-05 1.88401668e+01] [-1.79866225e-03 1.91272123e-05 9.99998382e-01 -2.41527547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.291400513 meters Centerline goodness [0,1] 0.693657936069958 Centerline is valid? [False, False] Translation: X:327.01, Y:18.83, Z:-0.24 [[ 9.99994170e-01 -2.89312800e-03 1.81372925e-03 3.27010218e+02] [ 2.88960627e-03 9.99993941e-01 1.94133223e-03 1.88311460e+01] [-1.81933479e-03 -1.93607995e-03 9.99996471e-01 -2.42147595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.321400513 meters Centerline goodness [0,1] 0.6894108635986469 Centerline is valid? [False, False] Translation: X:327.01, Y:18.83, Z:-0.24 [[ 9.99995398e-01 -2.51663296e-03 1.69404545e-03 3.27011053e+02] [ 2.51191231e-03 9.99992973e-01 2.78300125e-03 1.88272500e+01] [-1.70103734e-03 -2.77873315e-03 9.99994693e-01 -2.42880182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.351400513 meters Centerline goodness [0,1] 0.6930463226759522 Centerline is valid? [False, False] Translation: X:327.02, Y:18.83, Z:-0.25 [[ 9.99988605e-01 -4.67726209e-03 9.56056934e-04 3.27017279e+02] [ 4.67695106e-03 9.99989009e-01 3.27304108e-04 1.88275931e+01] [-9.57577313e-04 -3.22828947e-04 9.99999489e-01 -2.47267200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.381400513 meters Centerline goodness [0,1] 0.68651856295122 Centerline is valid? [False, False] Translation: X:326.98, Y:18.82, Z:-0.25 [[ 9.99989782e-01 -3.98734360e-03 -2.12987349e-03 3.26978096e+02] [ 3.98668197e-03 9.99992004e-01 -3.14797348e-04 1.88213167e+01] [ 2.13111167e-03 3.06303004e-04 9.99997682e-01 -2.48263060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.411400513 meters Centerline goodness [0,1] 0.6821321741375971 Centerline is valid? [False, False] Translation: X:326.98, Y:18.82, Z:-0.25 [[ 9.99990973e-01 -3.61581295e-03 -2.23161750e-03 3.26978854e+02] [ 3.61691776e-03 9.99993338e-01 4.91234564e-04 1.88176160e+01] [ 2.22982642e-03 -4.99301706e-04 9.99997389e-01 -2.48990312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.441400513 meters Centerline goodness [0,1] 0.6822362258366687 Centerline is valid? [False, False] Translation: X:326.98, Y:18.81, Z:-0.25 [[ 9.99979572e-01 -5.61358339e-03 -3.05672605e-03 3.26984974e+02] [ 5.60896772e-03 9.99983120e-01 -1.51649031e-03 1.88134216e+01] [ 3.06518739e-03 1.49931426e-03 9.99994178e-01 -2.53012537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.471400513 meters Centerline goodness [0,1] 0.6817093075015368 Centerline is valid? [False, False] Translation: X:326.99, Y:18.81, Z:-0.25 [[ 9.99981331e-01 -5.25503352e-03 -3.11806458e-03 3.26985362e+02] [ 5.25275237e-03 9.99985931e-01 -7.39332875e-04 1.88098225e+01] [ 3.12190593e-03 7.22940652e-04 9.99994866e-01 -2.53269362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.501400513 meters Centerline goodness [0,1] 0.6799329969042873 Centerline is valid? [False, False] Translation: X:326.99, Y:18.81, Z:-0.25 [[ 9.99982682e-01 -4.98628430e-03 -3.12615906e-03 3.26985426e+02] [ 4.98583752e-03 9.99987559e-01 -1.50691575e-04 1.88070756e+01] [ 3.12687156e-03 1.35102444e-04 9.99995102e-01 -2.53259357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.531400513 meters Centerline goodness [0,1] 0.6745158824528623 Centerline is valid? [False, False] Translation: X:326.99, Y:18.80, Z:-0.25 [[ 9.99984038e-01 -4.70840004e-03 -3.12316758e-03 3.26985416e+02] [ 4.70983976e-03 9.99988806e-01 4.53788460e-04 1.88042546e+01] [ 3.12099600e-03 -4.68490836e-04 9.99995020e-01 -2.53191384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.561400513 meters Centerline goodness [0,1] 0.6716237430523144 Centerline is valid? [False, False] Translation: X:326.99, Y:18.80, Z:-0.25 [[ 9.99986943e-01 -3.86887568e-03 -3.33854639e-03 3.26986731e+02] [ 3.87678316e-03 9.99989688e-01 2.36532760e-03 1.87953940e+01] [ 3.32936081e-03 -2.37823953e-03 9.99991630e-01 -2.54066249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.591400513 meters Centerline goodness [0,1] 0.6691960754975097 Centerline is valid? [False, False] Translation: X:326.98, Y:18.79, Z:-0.25 [[ 9.99976610e-01 -6.50321802e-03 -2.11848026e-03 3.26981405e+02] [ 6.50228457e-03 9.99978760e-01 -4.47213670e-04 1.87925415e+01] [ 2.12134359e-03 4.33428248e-04 9.99997656e-01 -2.52064642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.621400513 meters Centerline goodness [0,1] 0.6691366460953683 Centerline is valid? [False, False] Translation: X:326.98, Y:18.79, Z:-0.25 [[ 9.99979393e-01 -6.03008698e-03 -2.20253325e-03 3.26982061e+02] [ 6.03152389e-03 9.99981601e-01 6.46330789e-04 1.87874561e+01] [ 2.19859529e-03 -6.59602102e-04 9.99997366e-01 -2.52630816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.651400513 meters Centerline goodness [0,1] 0.6715946209646629 Centerline is valid? [False, False] Translation: X:326.98, Y:18.78, Z:-0.25 [[ 9.99983171e-01 -5.37815680e-03 -2.17550277e-03 3.26981995e+02] [ 5.38317937e-03 9.99982844e-01 2.30946788e-03 1.87794849e+01] [ 2.16304477e-03 -2.32114014e-03 9.99994967e-01 -2.52417724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.681400513 meters Centerline goodness [0,1] 0.6670292173171252 Centerline is valid? [False, False] Translation: X:326.98, Y:18.78, Z:-0.25 [[ 9.99985118e-01 -5.02177852e-03 -2.13189861e-03 3.26981842e+02] [ 5.02845629e-03 9.99982432e-01 3.13859359e-03 1.87756034e+01] [ 2.11609983e-03 -3.14926704e-03 9.99992802e-01 -2.52259747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.711400513 meters Centerline goodness [0,1] 0.6668639428462726 Centerline is valid? [False, False] Translation: X:326.98, Y:18.78, Z:-0.25 [[ 9.99956728e-01 -9.06839912e-03 -2.07515075e-03 3.26981554e+02] [ 9.06539287e-03 9.99957852e-01 -1.45353699e-03 1.87774417e+01] [ 2.08824454e-03 1.43466204e-03 9.99996790e-01 -2.51867245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.741400513 meters Centerline goodness [0,1] 0.6608745464960856 Centerline is valid? [False, False] Translation: X:326.98, Y:18.77, Z:-0.25 [[ 9.99960401e-01 -8.63727246e-03 -2.14323541e-03 3.26982279e+02] [ 8.63617650e-03 9.99962572e-01 -5.20084812e-04 1.87731369e+01] [ 2.14764731e-03 5.01554858e-04 9.99997568e-01 -2.52674107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.771400513 meters Centerline goodness [0,1] 0.6567321328806567 Centerline is valid? [False, False] Translation: X:326.96, Y:18.77, Z:-0.25 [[ 9.99968375e-01 -6.89027941e-03 -3.97150902e-03 3.26962296e+02] [ 6.84633253e-03 9.99916336e-01 -1.09749028e-02 1.87736393e+01] [ 4.04679690e-03 1.09473654e-02 9.99931887e-01 -2.51369501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.801400513 meters Centerline goodness [0,1] 0.6528554249910339 Centerline is valid? [False, False] Translation: X:327.01, Y:18.76, Z:-0.25 [[ 9.99982092e-01 -5.24917615e-03 -2.87448636e-03 3.27005419e+02] [ 5.23544130e-03 9.99974942e-01 -4.76505393e-03 1.87625279e+01] [ 2.89942694e-03 4.74991939e-03 9.99984516e-01 -2.53613821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.831400513 meters Centerline goodness [0,1] 0.6524731091725248 Centerline is valid? [False, False] Translation: X:327.01, Y:18.76, Z:-0.25 [[ 9.99984975e-01 -4.67103610e-03 -2.86903413e-03 3.27005515e+02] [ 4.66108442e-03 9.99983132e-01 -3.46559685e-03 1.87564196e+01] [ 2.88517366e-03 3.45217197e-03 9.99989879e-01 -2.53660946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.861400513 meters Centerline goodness [0,1] 0.5659428134751321 Centerline is valid? [False, False] Translation: X:327.01, Y:18.75, Z:-0.25 [[ 9.99987327e-01 -4.11883348e-03 -2.89509366e-03 3.27005720e+02] [ 4.11244950e-03 9.99989107e-01 -2.20760830e-03 1.87505175e+01] [ 2.90415489e-03 2.19567440e-03 9.99993372e-01 -2.53731436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.891400513 meters Centerline goodness [0,1] 0.5787958336861716 Centerline is valid? [False, False] Translation: X:327.01, Y:18.75, Z:-0.25 [[ 9.99989058e-01 -3.67092883e-03 -2.89963181e-03 3.27006084e+02] [ 3.66729940e-03 9.99992487e-01 -1.25601312e-03 1.87460948e+01] [ 2.90422076e-03 1.24536556e-03 9.99995007e-01 -2.54253099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.921400513 meters Centerline goodness [0,1] 0.44060881513582073 Centerline is valid? [False, False] Translation: X:327.01, Y:18.74, Z:-0.25 [[ 9.99991273e-01 -3.08176010e-03 -2.82091364e-03 3.27006274e+02] [ 3.08108741e-03 9.99995224e-01 -2.42779630e-04 1.87415297e+01] [ 2.82164836e-03 2.34086030e-04 9.99995992e-01 -2.54938739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.951400513 meters Centerline goodness [0,1] 0.37258773326539707 Centerline is valid? [False, False] Translation: X:327.01, Y:18.74, Z:-0.26 [[ 9.99992155e-01 -2.79110081e-03 -2.81078261e-03 3.27006543e+02] [ 2.79185153e-03 9.99996068e-01 2.63195083e-04 1.87392379e+01] [ 2.81003696e-03 -2.71040306e-04 9.99996015e-01 -2.55478603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.981400513 meters Centerline goodness [0,1] 0.4041928274981377 Centerline is valid? [False, False] Translation: X:327.01, Y:18.74, Z:-0.26 [[ 9.99993200e-01 -2.41597075e-03 -2.78632902e-03 3.27006945e+02] [ 2.41858093e-03 9.99996639e-01 9.33791091e-04 1.87362147e+01] [ 2.78406365e-03 -9.40523703e-04 9.99995682e-01 -2.56309449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.011400513 meters Centerline goodness [0,1] 0.31330890296341796 Centerline is valid? [False, False] Translation: X:327.01, Y:18.73, Z:-0.26 [[ 9.99994140e-01 -1.98938260e-03 -2.78595157e-03 3.27007370e+02] [ 1.99407913e-03 9.99996594e-01 1.68402782e-03 1.87328066e+01] [ 2.78259190e-03 -1.68957336e-03 9.99994701e-01 -2.57010493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.041400513 meters Centerline goodness [0,1] 0.2715766224940537 Centerline is valid? [False, False] Translation: X:327.01, Y:18.73, Z:-0.26 [[ 9.99995505e-01 -1.29946748e-03 -2.70194989e-03 3.27007790e+02] [ 1.30750484e-03 9.99994720e-01 2.97501857e-03 1.87268279e+01] [ 2.69806968e-03 -2.97853801e-03 9.99991924e-01 -2.58104806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.071400513 meters Centerline goodness [0,1] 0.27998564067911136 Centerline is valid? [False, False] Translation: X:327.01, Y:18.72, Z:-0.26 [[ 9.99995867e-01 -9.94585629e-04 -2.69738388e-03 3.27008035e+02] [ 1.00421719e-03 9.99993117e-01 3.57170436e-03 1.87240623e+01] [ 2.69381295e-03 -3.57439836e-03 9.99989983e-01 -2.58469750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.101400513 meters Centerline goodness [0,1] 0.25653013081707055 Centerline is valid? [False, False] Translation: X:326.97, Y:18.72, Z:-0.26 [[ 9.99986342e-01 -1.44522410e-03 -5.02268966e-03 3.26966147e+02] [ 1.45340844e-03 9.99997622e-01 1.62620571e-03 1.87192282e+01] [ 5.02032748e-03 -1.63348352e-03 9.99986064e-01 -2.57788427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.131400513 meters Centerline goodness [0,1] 0.2326953274201078 Centerline is valid? [False, False] Translation: X:326.99, Y:18.72, Z:-0.26 [[ 9.99999742e-01 2.20608922e-04 -6.84285967e-04 3.26986375e+02] [-2.25590512e-04 9.99973413e-01 -7.28846831e-03 1.87198056e+01] [ 6.82659873e-04 7.28862080e-03 9.99973205e-01 -2.60788262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.161400513 meters Centerline goodness [0,1] 0.24316454341076976 Centerline is valid? [False, False] Translation: X:326.99, Y:18.72, Z:-0.26 [[ 9.99999615e-01 6.06537215e-04 -6.34646128e-04 3.26986487e+02] [-6.10619290e-04 9.99979001e-01 -6.45174711e-03 1.87159071e+01] [ 6.30719576e-04 6.45213215e-03 9.99978986e-01 -2.61208087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.191400513 meters Centerline goodness [0,1] 0.2450072235913997 Centerline is valid? [False, False] Translation: X:327.01, Y:18.71, Z:-0.26 [[ 9.99997824e-01 -3.12669183e-04 -2.06269354e-03 3.27006067e+02] [ 3.21974453e-04 9.99989767e-01 4.51243403e-03 1.87072939e+01] [ 2.06126154e-03 -4.51308834e-03 9.99987692e-01 -2.57780083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.221400513 meters Centerline goodness [0,1] 0.4934358669329141 Centerline is valid? [False, False] Translation: X:327.01, Y:18.70, Z:-0.26 [[ 9.99997950e-01 -7.86860648e-06 -2.02504643e-03 3.27005817e+02] [ 1.83760233e-05 9.99986538e-01 5.18876255e-03 1.87040873e+01] [ 2.02497834e-03 -5.18878912e-03 9.99984488e-01 -2.57433159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.251400513 meters Centerline goodness [0,1] 0.47055957978565677 Centerline is valid? [False, False] Translation: X:327.01, Y:18.70, Z:-0.26 [[ 9.99994586e-01 -1.72188348e-03 -2.80423152e-03 3.27011957e+02] [ 1.73192524e-03 9.99992083e-01 3.58244723e-03 1.87006706e+01] [ 2.79804076e-03 -3.58728456e-03 9.99989651e-01 -2.61138127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.281400513 meters Centerline goodness [0,1] 0.45934742195346057 Centerline is valid? [False, False] Translation: X:327.01, Y:18.70, Z:-0.26 [[ 9.99991286e-01 -3.58586886e-03 -2.13771328e-03 3.27006224e+02] [ 3.58965159e-03 9.99991994e-01 1.76831563e-03 1.86993851e+01] [ 2.13135521e-03 -1.77597387e-03 9.99996152e-01 -2.57142823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.311400513 meters Centerline goodness [0,1] 0.454254404813064 Centerline is valid? [False, False] Translation: X:327.01, Y:18.70, Z:-0.26 [[ 9.99992375e-01 -3.25583034e-03 -2.15609063e-03 3.27006428e+02] [ 3.26124867e-03 9.99991521e-01 2.51430675e-03 1.86958609e+01] [ 2.14788619e-03 -2.52131913e-03 9.99994515e-01 -2.57268375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.341400513 meters Centerline goodness [0,1] 0.4468755951499249 Centerline is valid? [False, False] Translation: X:327.05, Y:18.70, Z:-0.26 [[ 9.99985596e-01 -5.24870920e-03 1.12153971e-03 3.27045463e+02] [ 5.24765301e-03 9.99985787e-01 9.42612456e-04 1.86995768e+01] [-1.12647127e-03 -9.36713428e-04 9.99998927e-01 -2.57121025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.371400513 meters Centerline goodness [0,1] 0.48440048291784044 Centerline is valid? [False, False] Translation: X:327.05, Y:18.69, Z:-0.26 [[ 9.99988470e-01 -4.70836975e-03 9.43624948e-04 3.27046447e+02] [ 4.70602741e-03 9.99985878e-01 2.46931838e-03 1.86921305e+01] [-9.55238086e-04 -2.46484919e-03 9.99996506e-01 -2.57568884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.401400513 meters Centerline goodness [0,1] 0.4581391407507839 Centerline is valid? [False, False] Translation: X:327.05, Y:18.69, Z:-0.26 [[ 9.99990208e-01 -4.36622755e-03 7.20817843e-04 3.27047394e+02] [ 4.36383490e-03 9.99985072e-01 3.28821464e-03 1.86882275e+01] [-7.35164176e-04 -3.28503692e-03 9.99994334e-01 -2.57779092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.431400513 meters Centerline goodness [0,1] 0.4492302479723863 Centerline is valid? [False, False] Translation: X:327.05, Y:18.68, Z:-0.26 [[ 9.99991797e-01 -4.02306984e-03 4.69910001e-04 3.27048544e+02] [ 4.02109235e-03 9.99983362e-01 4.13596675e-03 1.86841725e+01] [-4.86541466e-04 -4.13404327e-03 9.99991336e-01 -2.58180029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.461400513 meters Centerline goodness [0,1] 0.43001589825119235 Centerline is valid? [False, False] Translation: X:327.05, Y:18.68, Z:-0.26 [[ 9.99993135e-01 -3.69879270e-03 2.21952977e-04 3.27049645e+02] [ 3.69764508e-03 9.99980835e-01 4.96558102e-03 1.86801614e+01] [-2.40315378e-04 -4.96472623e-03 9.99987647e-01 -2.58517159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.491400513 meters Centerline goodness [0,1] 0.5112243172402131 Centerline is valid? [False, False] Translation: X:327.05, Y:18.68, Z:-0.26 [[ 9.99969058e-01 -7.85480436e-03 4.30362820e-04 3.27048744e+02] [ 7.85441521e-03 9.99968750e-01 8.98580984e-04 1.86790363e+01] [-4.37407549e-04 -8.95172932e-04 9.99999504e-01 -2.57827154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.521400513 meters Centerline goodness [0,1] 0.5456322645077665 Centerline is valid? [False, False] Translation: X:327.05, Y:18.67, Z:-0.26 [[ 9.99972372e-01 -7.41457110e-03 5.29106033e-04 3.27048327e+02] [ 7.41350539e-03 9.99970543e-01 1.98847290e-03 1.86737815e+01] [-5.43834121e-04 -1.98449543e-03 9.99997883e-01 -2.57469117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.551400513 meters Centerline goodness [0,1] 0.5640289003709024 Centerline is valid? [False, False] Translation: X:327.05, Y:18.67, Z:-0.26 [[ 9.99934664e-01 -1.14048529e-02 7.72780402e-04 3.27047520e+02] [ 1.14061695e-02 9.99933466e-01 -1.72119599e-03 1.86709045e+01] [-7.53098999e-04 1.72989799e-03 9.99998220e-01 -2.57064099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.581400513 meters Centerline goodness [0,1] 0.6044033334043777 Centerline is valid? [False, False] Translation: X:327.05, Y:18.67, Z:-0.26 [[ 9.99938121e-01 -1.11063076e-02 6.36046916e-04 3.27048258e+02] [ 1.11069310e-02 9.99937831e-01 -9.85133111e-04 1.86673827e+01] [-6.25066182e-04 9.92136681e-04 9.99999312e-01 -2.57417791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.611400513 meters Centerline goodness [0,1] 0.5487213170328622 Centerline is valid? [False, False] Translation: X:327.05, Y:18.66, Z:-0.26 [[ 9.99941292e-01 -1.08243823e-02 4.95349396e-04 3.27049147e+02] [ 1.08245575e-02 9.99941351e-01 -3.52282461e-04 1.86644206e+01] [-4.91507104e-04 3.57623717e-04 9.99999815e-01 -2.57965869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.641400513 meters Centerline goodness [0,1] 0.10923243795061566 Centerline is valid? [False, False] Translation: X:327.05, Y:18.66, Z:-0.26 [[ 9.99945195e-01 -1.04623015e-02 3.84349906e-04 3.27049751e+02] [ 1.04621355e-02 9.99945177e-01 4.31532356e-04 1.86606871e+01] [-3.88843657e-04 -4.27487584e-04 9.99999833e-01 -2.58239359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.671400513 meters Centerline goodness [0,1] 0.5731722985995118 Centerline is valid? [False, False] Translation: X:327.05, Y:18.66, Z:-0.26 [[ 9.99949676e-01 -1.00271986e-02 3.17654189e-04 3.27049992e+02] [ 1.00267469e-02 9.99948761e-01 1.39302238e-03 1.86560399e+01] [-3.31606024e-04 -1.38976723e-03 9.99998979e-01 -2.58094249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.701400513 meters Centerline goodness [0,1] 0.11043258080302998 Centerline is valid? [False, False] Translation: X:327.05, Y:18.65, Z:-0.26 [[ 9.99957457e-01 -9.21593458e-03 3.88223240e-04 3.27049775e+02] [ 9.21473575e-03 9.99953091e-01 2.98419785e-03 1.86483120e+01] [-4.15707201e-04 -2.98049352e-03 9.99995472e-01 -2.57496064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.731400513 meters Centerline goodness [0,1] 0.1114704568182302 Centerline is valid? [False, False] Translation: X:327.05, Y:18.65, Z:-0.26 [[ 9.99960239e-01 -8.90614413e-03 4.47471162e-04 3.27049528e+02] [ 8.90447778e-03 9.99953884e-01 3.59728332e-03 1.86453974e+01] [-4.79488450e-04 -3.59315579e-03 9.99993430e-01 -2.57327559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.761400513 meters Centerline goodness [0,1] 0.11092504663388159 Centerline is valid? [False, False] Translation: X:327.05, Y:18.64, Z:-0.26 [[ 9.99963730e-01 -8.50432466e-03 4.63707547e-04 3.27049687e+02] [ 8.50221105e-03 9.99954246e-01 4.38395923e-03 1.86415906e+01] [-5.00968943e-04 -4.37985768e-03 9.99990283e-01 -2.57534694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.791400513 meters Centerline goodness [0,1] 0.11416629537691214 Centerline is valid? [False, False] Translation: X:327.05, Y:18.64, Z:-0.26 [[ 9.99968116e-01 -7.97283974e-03 4.48348485e-04 3.27049967e+02] [ 7.97025713e-03 9.99953145e-01 5.49386289e-03 1.86360891e+01] [-4.92129166e-04 -5.49011427e-03 9.99984808e-01 -2.57698603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.821400513 meters Centerline goodness [0,1] 0.11416629537691214 Centerline is valid? [False, False] Translation: X:327.05, Y:18.64, Z:-0.26 [[ 9.99968116e-01 -7.97283974e-03 4.48348485e-04 3.27049967e+02] [ 7.97025713e-03 9.99953145e-01 5.49386289e-03 1.86360891e+01] [-4.92129166e-04 -5.49011427e-03 9.99984808e-01 -2.57698603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.851400513 meters Centerline goodness [0,1] 0.09990672828252856 Centerline is valid? [False, False] Translation: X:327.05, Y:18.63, Z:-0.26 [[ 9.99931322e-01 -1.17048088e-02 5.91073543e-04 3.27049920e+02] [ 1.17036340e-02 9.99929602e-01 1.95350934e-03 1.86323829e+01] [-6.13897386e-04 -1.94645746e-03 9.99997917e-01 -2.57964345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.881400513 meters Centerline goodness [0,1] 0.1007422662719355 Centerline is valid? [False, False] Translation: X:327.05, Y:18.63, Z:-0.26 [[ 9.99936071e-01 -1.12929048e-02 5.68800851e-04 3.27050080e+02] [ 1.12912426e-02 9.99932204e-01 2.84520702e-03 1.86280544e+01] [-6.00892940e-04 -2.83860266e-03 9.99995791e-01 -2.57977543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.911400513 meters Centerline goodness [0,1] 0.10425289298082607 Centerline is valid? [False, False] Translation: X:327.07, Y:18.64, Z:-0.27 [[ 9.99911533e-01 -1.10941757e-02 7.33792053e-03 3.27074674e+02] [ 1.11346961e-02 9.99922857e-01 -5.50444168e-03 1.86365372e+01] [-7.27628721e-03 5.58566023e-03 9.99957927e-01 -2.66287162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.941400513 meters Centerline goodness [0,1] 0.10685402559911694 Centerline is valid? [False, False] Translation: X:327.08, Y:18.63, Z:-0.27 [[ 9.99953357e-01 -6.59402043e-03 7.05709717e-03 3.27076010e+02] [ 6.58990195e-03 9.99978102e-01 6.06687920e-04 1.86263820e+01] [-7.06094315e-03 -5.60154043e-04 9.99974914e-01 -2.66879386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.971400513 meters Centerline goodness [0,1] 0.10836558499553439 Centerline is valid? [False, False] Translation: X:327.08, Y:18.62, Z:-0.27 [[ 9.99955655e-01 -6.27118470e-03 7.02565482e-03 3.27076673e+02] [ 6.26286830e-03 9.99979662e-01 1.20509492e-03 1.86234050e+01] [-7.03306931e-03 -1.16104073e-03 9.99974594e-01 -2.67710652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.001400513 meters Centerline goodness [0,1] 0.1104122396940076 Centerline is valid? [False, False] Translation: X:327.08, Y:18.62, Z:-0.27 [[ 9.99960575e-01 -5.51055069e-03 6.96286916e-03 3.27078212e+02] [ 5.49467053e-03 9.99982264e-01 2.29776786e-03 1.86176620e+01] [-6.97540764e-03 -2.25941860e-03 9.99973119e-01 -2.69447749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.031400513 meters Centerline goodness [0,1] 0.11237131017984536 Centerline is valid? [False, False] Translation: X:327.08, Y:18.62, Z:-0.27 [[ 9.99961483e-01 -5.32184869e-03 6.97928289e-03 3.27078364e+02] [ 5.30379867e-03 9.99982549e-01 2.60219249e-03 1.86161330e+01] [-6.99300957e-03 -2.56507555e-03 9.99972259e-01 -2.69812528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.061400513 meters Centerline goodness [0,1] 0.1116915105958296 Centerline is valid? [False, False] Translation: X:327.08, Y:18.62, Z:-0.27 [[ 9.99961469e-01 -5.19739333e-03 7.07441981e-03 3.27078079e+02] [ 5.17786875e-03 9.99982743e-01 2.77540813e-03 1.86153693e+01] [-7.08872262e-03 -2.73867077e-03 9.99971124e-01 -2.69802744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.091400513 meters Centerline goodness [0,1] 0.11470386560383994 Centerline is valid? [False, False] Translation: X:327.08, Y:18.61, Z:-0.27 [[ 9.99962943e-01 -4.82832928e-03 7.12736493e-03 3.27077903e+02] [ 4.80313651e-03 9.99982172e-01 3.54754972e-03 1.86114825e+01] [-7.14436661e-03 -3.51318456e-03 9.99968307e-01 -2.69561222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.121400513 meters Centerline goodness [0,1] 0.11884008673838176 Centerline is valid? [False, False] Translation: X:327.08, Y:18.61, Z:-0.27 [[ 9.99965044e-01 -4.54223778e-03 7.01992007e-03 3.27078885e+02] [ 4.51270720e-03 9.99980927e-01 4.21681328e-03 1.86080994e+01] [-7.03893995e-03 -4.18498703e-03 9.99966469e-01 -2.70333546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.151400513 meters Centerline goodness [0,1] 0.12128649479255593 Centerline is valid? [False, False] Translation: X:327.08, Y:18.61, Z:-0.27 [[ 9.99967072e-01 -4.30302794e-03 6.88027885e-03 3.27079922e+02] [ 4.27021187e-03 9.99979472e-01 4.77718188e-03 1.86051548e+01] [-6.90069395e-03 -4.74764433e-03 9.99964920e-01 -2.71138410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.181400513 meters Centerline goodness [0,1] 0.17162955290868287 Centerline is valid? [False, False] Translation: X:327.08, Y:18.60, Z:-0.27 [[ 9.99968451e-01 -4.16698192e-03 6.76268594e-03 3.27080797e+02] [ 4.13204245e-03 9.99978087e-01 5.17228224e-03 1.86031578e+01] [-6.78409055e-03 -5.14417535e-03 9.99963756e-01 -2.71792922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.211400513 meters Centerline goodness [0,1] 0.17402798375137019 Centerline is valid? [False, False] Translation: X:327.08, Y:18.60, Z:-0.27 [[ 9.99969926e-01 -4.03884162e-03 6.62077180e-03 3.27081482e+02] [ 4.00182891e-03 9.99976345e-01 5.59413949e-03 1.86010360e+01] [-6.64320903e-03 -5.56747605e-03 9.99962435e-01 -2.71918476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.241400513 meters SLAMing on 645.271400513 meters Centerline goodness [0,1] 0.13616771159874608 Centerline is valid? [False, False] Translation: X:327.08, Y:18.59, Z:-0.27 [[ 9.99948302e-01 -7.53938710e-03 6.82278845e-03 3.27079120e+02] [ 7.51928342e-03 9.99967327e-01 2.96741830e-03 1.85931094e+01] [-6.84493805e-03 -2.91596241e-03 9.99972322e-01 -2.68813025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.301400513 meters Centerline goodness [0,1] 0.45972249621884653 Centerline is valid? [False, False] Translation: X:327.08, Y:18.59, Z:-0.27 [[ 9.99908644e-01 -1.16942893e-02 6.77845561e-03 3.27080152e+02] [ 1.16990576e-02 9.99931343e-01 -6.64214424e-04 1.85909154e+01] [-6.77022270e-03 7.43455286e-04 9.99976805e-01 -2.69524717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.331400513 meters Centerline goodness [0,1] 0.4737555769399002 Centerline is valid? [False, False] Translation: X:327.08, Y:18.59, Z:-0.27 [[ 9.99912215e-01 -1.15506334e-02 6.49191542e-03 3.27081888e+02] [ 1.15494364e-02 9.99933278e-01 2.21846725e-04 1.85862271e+01] [-6.49404474e-03 -1.46849286e-04 9.99978903e-01 -2.70345726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.361400513 meters Centerline goodness [0,1] 0.47540168241679825 Centerline is valid? [False, False] Translation: X:327.09, Y:18.58, Z:-0.27 [[ 9.99897133e-01 -1.31654453e-02 5.69157765e-03 3.27088507e+02] [ 1.31700402e-02 9.99912974e-01 -7.70593020e-04 1.85846581e+01] [-5.68093714e-03 8.45472058e-04 9.99983506e-01 -2.74675253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.391400513 meters Centerline goodness [0,1] 0.46741786880636715 Centerline is valid? [False, False] Translation: X:327.09, Y:18.58, Z:-0.27 [[ 9.99903483e-01 -1.27167853e-02 5.59529698e-03 3.27088870e+02] [ 1.27148263e-02 9.99919089e-01 3.85552418e-04 1.85783319e+01] [-5.59974724e-03 -3.14371977e-04 9.99984272e-01 -2.74388993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.421400513 meters Centerline goodness [0,1] 0.46670260944576236 Centerline is valid? [False, False] Translation: X:327.09, Y:18.57, Z:-0.27 [[ 9.99909525e-01 -1.22356336e-02 5.58844536e-03 3.27088957e+02] [ 1.22278668e-02 9.99924226e-01 1.42186181e-03 1.85727758e+01] [-5.60541928e-03 -1.35339840e-03 9.99983374e-01 -2.74140613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.451400513 meters Centerline goodness [0,1] 0.47307404637247574 Centerline is valid? [False, False] Translation: X:327.09, Y:18.56, Z:-0.27 [[ 9.99919461e-01 -1.13645304e-02 5.64973931e-03 3.27088678e+02] [ 1.13475537e-02 9.99931030e-01 3.02788606e-03 1.85640234e+01] [-5.68376015e-03 -2.96353148e-03 9.99979456e-01 -2.73456419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.481400513 meters Centerline goodness [0,1] 0.4686299336360461 Centerline is valid? [False, False] Translation: X:327.09, Y:18.56, Z:-0.27 [[ 9.99924777e-01 -1.08462872e-02 5.72700776e-03 3.27088483e+02] [ 1.08239480e-02 9.99933746e-01 3.91736674e-03 1.85592152e+01] [-5.76911720e-03 -3.85508323e-03 9.99975928e-01 -2.73194007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.511400513 meters Centerline goodness [0,1] 0.46096566014115814 Centerline is valid? [False, False] Translation: X:327.09, Y:18.56, Z:-0.27 [[ 9.99928066e-01 -1.04029866e-02 5.96997722e-03 3.27088332e+02] [ 1.03754229e-02 9.99935457e-01 4.62959331e-03 1.85551994e+01] [-6.01775349e-03 -4.56731924e-03 9.99971463e-01 -2.73393450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.541400513 meters Centerline goodness [0,1] 0.4606411417714248 Centerline is valid? [False, False] Translation: X:327.09, Y:18.55, Z:-0.27 [[ 9.99934726e-01 -9.69126292e-03 6.05164169e-03 3.27088596e+02] [ 9.65470877e-03 9.99935146e-01 6.04064840e-03 1.85473832e+01] [-6.10979073e-03 -5.98182727e-03 9.99963443e-01 -2.73532713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.571400513 meters Centerline goodness [0,1] 0.461603281960306 Centerline is valid? [False, False] Translation: X:327.09, Y:18.54, Z:-0.27 [[ 9.99938482e-01 -9.35484302e-03 5.95978560e-03 3.27089440e+02] [ 9.31445125e-03 9.99933705e-01 6.76947200e-03 1.85433645e+01] [-6.02271785e-03 -6.71354342e-03 9.99959327e-01 -2.74127929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.601400513 meters Centerline goodness [0,1] 0.45739851877592685 Centerline is valid? [False, False] Translation: X:327.10, Y:18.54, Z:-0.28 [[ 9.99923438e-01 -1.09875077e-02 5.69148509e-03 3.27095619e+02] [ 1.09562370e-02 9.99924871e-01 5.49664005e-03 1.85433292e+01] [-5.75145187e-03 -5.43386196e-03 9.99968696e-01 -2.79759151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.631400513 meters Centerline goodness [0,1] 0.4622877338160504 Centerline is valid? [False, False] Translation: X:327.10, Y:18.54, Z:-0.28 [[ 9.99867276e-01 -1.51773461e-02 5.92277768e-03 3.27096457e+02] [ 1.51677640e-02 9.99883586e-01 1.65941198e-03 1.85417825e+01] [-5.94727365e-03 -1.56935644e-03 9.99981083e-01 -2.80693230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.661400513 meters Centerline goodness [0,1] 0.47298239497995465 Centerline is valid? [False, False] Translation: X:327.10, Y:18.54, Z:-0.28 [[ 9.99870512e-01 -1.49887845e-02 5.85619967e-03 3.27096852e+02] [ 1.49731512e-02 9.99884239e-01 2.70430276e-03 1.85359344e+01] [-5.89605597e-03 -2.61626682e-03 9.99979196e-01 -2.80394661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.691400513 meters Centerline goodness [0,1] 0.48816134334325445 Centerline is valid? [False, False] Translation: X:327.10, Y:18.53, Z:-0.28 [[ 9.99872951e-01 -1.48374379e-02 5.82507196e-03 3.27097116e+02] [ 1.48150298e-02 9.99882757e-01 3.87133387e-03 1.85292036e+01] [-5.88182969e-03 -3.78454341e-03 9.99975540e-01 -2.80079601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.721400513 meters Centerline goodness [0,1] 0.505913583977209 Centerline is valid? [False, False] Translation: X:327.10, Y:18.52, Z:-0.28 [[ 9.99795464e-01 -1.91608685e-02 6.47235526e-03 3.27098030e+02] [ 1.91570304e-02 9.99816273e-01 6.54485252e-04 1.85239445e+01] [-6.48370662e-03 -5.30360279e-04 9.99978840e-01 -2.81136559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.751400513 meters Centerline goodness [0,1] 0.533059856203961 Centerline is valid? [False, False] Translation: X:327.10, Y:18.52, Z:-0.28 [[ 9.99798318e-01 -1.90615272e-02 6.32312721e-03 3.27099282e+02] [ 1.90515939e-02 9.99817177e-01 1.62748352e-03 1.85183744e+01] [-6.35299352e-03 -1.50668964e-03 9.99978684e-01 -2.81702216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.781400513 meters Centerline goodness [0,1] 0.5509783956082877 Centerline is valid? [False, False] Translation: X:327.10, Y:18.51, Z:-0.28 [[ 9.99805368e-01 -1.87435644e-02 6.15675752e-03 3.27100841e+02] [ 1.87277205e-02 9.99821185e-01 2.62107360e-03 1.85131139e+01] [-6.20478487e-03 -2.50526142e-03 9.99977612e-01 -2.82647691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.811400513 meters Centerline goodness [0,1] 0.5512612671033007 Centerline is valid? [False, False] Translation: X:327.10, Y:18.51, Z:-0.28 [[ 9.99810496e-01 -1.84248745e-02 6.28460000e-03 3.27101801e+02] [ 1.84039687e-02 9.99824959e-01 3.36829211e-03 1.85088376e+01] [-6.34556030e-03 -3.25199222e-03 9.99974579e-01 -2.83532180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.841400513 meters Centerline goodness [0,1] 0.5532385885686457 Centerline is valid? [False, False] Translation: X:327.10, Y:18.51, Z:-0.28 [[ 9.99815551e-01 -1.80470404e-02 6.57026248e-03 3.27101753e+02] [ 1.80208727e-02 9.99829528e-01 4.02039181e-03 1.85051558e+01] [-6.64169861e-03 -3.90124839e-03 9.99970334e-01 -2.83443195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.871400513 meters Centerline goodness [0,1] 0.6595086090152834 Centerline is valid? [False, False] Translation: X:327.10, Y:18.51, Z:-0.28 [[ 9.99812679e-01 -1.79847790e-02 7.15225343e-03 3.27101811e+02] [ 1.79559883e-02 9.99830497e-01 4.06944429e-03 1.85054026e+01] [-7.22422916e-03 -3.94025622e-03 9.99966142e-01 -2.83904380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.901400513 meters Centerline goodness [0,1] 0.6649619199433228 Centerline is valid? [False, False] Translation: X:327.10, Y:18.51, Z:-0.28 [[ 9.99813242e-01 -1.79399336e-02 7.18606016e-03 3.27102611e+02] [ 1.79122250e-02 9.99831950e-01 3.90186189e-03 1.85060597e+01] [-7.25485168e-03 -3.77241486e-03 9.99966567e-01 -2.84652341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.931400513 meters Centerline goodness [0,1] 0.22385016070043218 Centerline is valid? [False, False] Translation: X:327.10, Y:18.51, Z:-0.29 [[ 9.99815808e-01 -1.77790502e-02 7.22876718e-03 3.27103806e+02] [ 1.77519833e-02 9.99835233e-01 3.79141154e-03 1.85058038e+01] [-7.29498381e-03 -3.66238824e-03 9.99966685e-01 -2.85824998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.961400513 meters Centerline goodness [0,1] 0.4291292716603383 Centerline is valid? [False, False] Translation: X:327.11, Y:18.50, Z:-0.29 [[ 9.99857815e-01 -1.52173477e-02 7.26513716e-03 3.27111092e+02] [ 1.51763763e-02 9.99868803e-01 5.66166874e-03 1.85014402e+01] [-7.35033958e-03 -5.55060528e-03 9.99957581e-01 -2.91671894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.991400513 meters Centerline goodness [0,1] 0.29021951749619646 Centerline is valid? [False, False] Translation: X:327.11, Y:18.50, Z:-0.29 [[ 9.99855639e-01 -1.52202202e-02 7.55288089e-03 3.27110994e+02] [ 1.51800366e-02 9.99870467e-01 5.34941303e-03 1.85031148e+01] [-7.63332179e-03 -5.23398778e-03 9.99957168e-01 -2.91811937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.021400513 meters Centerline goodness [0,1] 0.5162963294138687 Centerline is valid? [False, False] Translation: X:327.11, Y:18.51, Z:-0.29 [[ 9.99852337e-01 -1.53224396e-02 7.77985775e-03 3.27110953e+02] [ 1.52854118e-02 9.99871665e-01 4.79680402e-03 1.85062806e+01] [-7.85235807e-03 -4.67717739e-03 9.99958231e-01 -2.91907277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.051400513 meters Centerline goodness [0,1] 0.4875024136969255 Centerline is valid? [False, False] Translation: X:327.14, Y:18.51, Z:-0.30 [[ 9.99846759e-01 -1.00603088e-02 1.43265174e-02 3.27144473e+02] [ 1.00108287e-02 9.99943690e-01 3.52127507e-03 1.85127444e+01] [-1.43611358e-02 -3.37731516e-03 9.99891170e-01 -3.03692160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.081400513 meters Centerline goodness [0,1] 0.4404895073605083 Centerline is valid? [False, False] Translation: X:327.15, Y:18.52, Z:-0.30 [[ 9.99845392e-01 -1.00469517e-02 1.44308848e-02 3.27145209e+02] [ 1.00048919e-02 9.99945498e-01 2.98381513e-03 1.85152875e+01] [-1.44600765e-02 -2.83897437e-03 9.99891417e-01 -3.04783523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.111400513 meters Centerline goodness [0,1] 0.24008509685365576 Centerline is valid? [False, False] Translation: X:327.15, Y:18.51, Z:-0.31 [[ 9.99872013e-01 -8.16937995e-03 1.37556812e-02 3.27152152e+02] [ 8.11433956e-03 9.99958867e-01 4.05235453e-03 1.85147505e+01] [-1.37882206e-02 -3.94021761e-03 9.99897175e-01 -3.10144954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.141400513 meters Centerline goodness [0,1] 0.19307308354584884 Centerline is valid? [False, False] Translation: X:327.16, Y:18.52, Z:-0.32 [[ 9.99890260e-01 -5.99704872e-03 1.35463425e-02 3.27159047e+02] [ 5.92681712e-03 9.99968818e-01 5.21875272e-03 1.85155207e+01] [-1.35772172e-02 -5.13789332e-03 9.99894625e-01 -3.16492753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.171400513 meters Centerline goodness [0,1] 0.4243181114893241 Centerline is valid? [False, False] Translation: X:327.18, Y:18.52, Z:-0.31 [[ 9.99942581e-01 3.40549277e-03 1.01606018e-02 3.27180745e+02] [-3.48824037e-03 9.99960807e-01 8.13739032e-03 1.85170608e+01] [-1.01324918e-02 -8.17236569e-03 9.99915269e-01 -3.12108510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.201400513 meters Centerline goodness [0,1] 0.2524295062721482 Centerline is valid? [False, False] Translation: X:327.19, Y:18.52, Z:-0.32 [[ 9.99940088e-01 5.11547356e-03 9.67741513e-03 3.27188881e+02] [-5.20019783e-03 9.99948196e-01 8.75003465e-03 1.85201099e+01] [-9.63215323e-03 -8.79983489e-03 9.99914889e-01 -3.19443559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.231400513 meters Centerline goodness [0,1] 0.04872899991204149 Centerline is valid? [False, False] Translation: X:327.19, Y:18.53, Z:-0.32 [[ 9.99940079e-01 4.91588060e-03 9.78127289e-03 3.27189951e+02] [-4.99123590e-03 9.99957939e-01 7.69459999e-03 1.85261243e+01] [-9.74303575e-03 -7.74295956e-03 9.99922557e-01 -3.20994584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.261400513 meters Centerline goodness [0,1] 0.044755707510753306 Centerline is valid? [False, False] Translation: X:327.19, Y:18.53, Z:-0.32 [[ 9.99941052e-01 4.56598869e-03 9.85111484e-03 3.27191262e+02] [-4.63097594e-03 9.99967600e-01 6.58425004e-03 1.85325860e+01] [-9.82073205e-03 -6.62948219e-03 9.99929799e-01 -3.22851830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.291400513 meters Centerline goodness [0,1] 0.04323628268366142 Centerline is valid? [False, False] Translation: X:327.20, Y:18.54, Z:-0.33 [[ 9.99934724e-01 5.94737200e-03 9.75586206e-03 3.27199602e+02] [-6.01347198e-03 9.99959069e-01 6.76012843e-03 1.85403485e+01] [-9.71525774e-03 -6.81835375e-03 9.99929559e-01 -3.29528991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.321400513 meters Centerline goodness [0,1] 0.17254927784362795 Centerline is valid? [False, False] Translation: X:327.20, Y:18.54, Z:-0.33 [[ 9.99935367e-01 5.52987224e-03 9.93393461e-03 3.27199945e+02] [-5.59023632e-03 9.99966018e-01 6.05909820e-03 1.85448548e+01] [-9.90009099e-03 -6.11423962e-03 9.99932300e-01 -3.30304548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.351400513 meters Centerline goodness [0,1] 0.2602619149849721 Centerline is valid? [False, False] Translation: X:327.20, Y:18.55, Z:-0.33 [[ 9.99932993e-01 5.22156046e-03 1.03317695e-02 3.27200521e+02] [-5.28036430e-03 9.99969970e-01 5.67248720e-03 1.85477135e+01] [-1.03018400e-02 -5.72666260e-03 9.99930536e-01 -3.31866181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.381400513 meters Centerline goodness [0,1] 0.20859704071714003 Centerline is valid? [False, False] Translation: X:327.20, Y:18.55, Z:-0.33 [[ 9.99934289e-01 4.96479383e-03 1.03328731e-02 3.27201700e+02] [-5.02029035e-03 9.99973077e-01 5.35188007e-03 1.85500264e+01] [-1.03060239e-02 -5.40340242e-03 9.99932292e-01 -3.33388733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.411400513 meters Centerline goodness [0,1] 0.04597575863271708 Centerline is valid? [False, False] Translation: X:327.20, Y:18.56, Z:-0.33 [[ 9.99934849e-01 4.25459546e-03 1.05922551e-02 3.27203499e+02] [-4.30300960e-03 9.99980381e-01 4.55212453e-03 1.85552555e+01] [-1.05726799e-02 -4.59740653e-03 9.99933539e-01 -3.33953126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.441400513 meters Centerline goodness [0,1] 0.3818802904653461 Centerline is valid? [False, False] Translation: X:327.20, Y:18.56, Z:-0.34 [[ 9.99935370e-01 3.91487978e-03 1.06737435e-02 3.27204631e+02] [-3.96012744e-03 9.99983249e-01 4.22132103e-03 1.85579497e+01] [-1.06570387e-02 -4.26331759e-03 9.99934124e-01 -3.35140966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.471400513 meters Centerline goodness [0,1] 0.38288714814495994 Centerline is valid? [False, False] Translation: X:327.21, Y:18.56, Z:-0.34 [[ 9.99936645e-01 3.68947076e-03 1.06345867e-02 3.27205808e+02] [-3.73227376e-03 9.99985004e-01 4.00785335e-03 1.85598443e+01] [-1.06196404e-02 -4.04729062e-03 9.99935419e-01 -3.36206451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.501400513 meters Centerline goodness [0,1] 0.33286859532938307 Centerline is valid? [False, False] Translation: X:327.21, Y:18.56, Z:-0.34 [[ 9.99936928e-01 3.55158030e-03 1.06548437e-02 3.27206558e+02] [-3.59255062e-03 9.99986218e-01 3.82855745e-03 1.85612057e+01] [-1.06410994e-02 -3.86659405e-03 9.99935906e-01 -3.37142217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.531400513 meters Centerline goodness [0,1] 0.29441393921051495 Centerline is valid? [False, False] Translation: X:327.21, Y:18.57, Z:-0.34 [[ 9.99932833e-01 3.01209784e-03 1.11917806e-02 3.27207218e+02] [-3.04751153e-03 9.99990400e-01 3.14855372e-03 1.85661667e+01] [-1.11821894e-02 -3.18244932e-03 9.99932413e-01 -3.37367171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.561400513 meters Centerline goodness [0,1] 0.16866182595233425 Centerline is valid? [False, False] Translation: X:327.21, Y:18.57, Z:-0.34 [[ 9.99932238e-01 2.73639886e-03 1.13150701e-02 3.27207675e+02] [-2.76721458e-03 9.99992503e-01 2.70866435e-03 1.85692237e+01] [-1.13075732e-02 -2.73979203e-03 9.99932314e-01 -3.38269392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.591400513 meters Centerline goodness [0,1] 0.18900795618706745 Centerline is valid? [False, False] Translation: X:327.21, Y:18.57, Z:-0.34 [[ 9.99934013e-01 2.61959875e-03 1.11851338e-02 3.27209166e+02] [-2.64803634e-03 9.99993298e-01 2.52839261e-03 1.85705155e+01] [-1.11784355e-02 -2.55784441e-03 9.99934248e-01 -3.39516261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.621400513 meters Centerline goodness [0,1] 0.20914858096828048 Centerline is valid? [False, False] Translation: X:327.21, Y:18.57, Z:-0.34 [[ 9.99930669e-01 2.60178858e-03 1.14842651e-02 3.27210876e+02] [-2.63140130e-03 9.99993250e-01 2.56419110e-03 1.85701391e+01] [-1.14775161e-02 -2.59423304e-03 9.99930766e-01 -3.40359147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.651400513 meters Centerline goodness [0,1] 0.263681592039801 Centerline is valid? [False, False] Translation: X:327.21, Y:18.57, Z:-0.34 [[ 9.99931225e-01 2.48729144e-03 1.14611746e-02 3.27212108e+02] [-2.51395537e-03 9.99994166e-01 2.31263819e-03 1.85717271e+01] [-1.14553556e-02 -2.34129202e-03 9.99931644e-01 -3.41926801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.681400513 meters Centerline goodness [0,1] 0.05380620205576203 Centerline is valid? [False, False] Translation: X:327.21, Y:18.57, Z:-0.34 [[ 9.99931604e-01 2.31726706e-03 1.14637084e-02 3.27213015e+02] [-2.34076558e-03 9.99995186e-01 2.03682572e-03 1.85739779e+01] [-1.14589334e-02 -2.06352027e-03 9.99932215e-01 -3.43203168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.711400513 meters Centerline goodness [0,1] 0.05380620205576203 Centerline is valid? [False, False] Translation: X:327.21, Y:18.57, Z:-0.34 [[ 9.99931604e-01 2.31726706e-03 1.14637084e-02 3.27213015e+02] [-2.34076558e-03 9.99995186e-01 2.03682572e-03 1.85739779e+01] [-1.14589334e-02 -2.06352027e-03 9.99932215e-01 -3.43203168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.741400513 meters Centerline goodness [0,1] 0.04741313080316967 Centerline is valid? [False, False] Translation: X:327.21, Y:18.58, Z:-0.34 [[ 9.99932665e-01 2.07827842e-03 1.14169221e-02 3.27214051e+02] [-2.09667100e-03 9.99996523e-01 1.59926028e-03 1.85770631e+01] [-1.14135587e-02 -1.62309012e-03 9.99933546e-01 -3.44393446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.771400513 meters SLAMing on 646.801400513 meters Centerline goodness [0,1] 0.14296924384767962 Centerline is valid? [False, False] Translation: X:327.22, Y:18.58, Z:-0.35 [[ 9.99923524e-01 4.34382900e-03 1.15791946e-02 3.27221864e+02] [-4.37709875e-03 9.99986361e-01 2.84944317e-03 1.85771306e+01] [-1.15666592e-02 -2.89990853e-03 9.99928899e-01 -3.50700085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.831400513 meters Centerline goodness [0,1] 0.1440377804014168 Centerline is valid? [False, False] Translation: X:327.22, Y:18.58, Z:-0.35 [[ 9.99924174e-01 4.41348010e-03 1.14964259e-02 3.27223326e+02] [-4.44488671e-03 9.99986455e-01 2.70774098e-03 1.85780941e+01] [-1.14843196e-02 -2.75863597e-03 9.99930248e-01 -3.52325714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.861400513 meters SLAMing on 646.891400513 meters Centerline goodness [0,1] 0.2643231146935494 Centerline is valid? [False, False] Translation: X:327.23, Y:18.58, Z:-0.36 [[ 9.99892308e-01 9.49890712e-03 1.11867827e-02 3.27234663e+02] [-9.57989914e-03 9.99928127e-01 7.20877955e-03 1.85767194e+01] [-1.11175032e-02 -7.31517147e-03 9.99911441e-01 -3.60873823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.921400513 meters Centerline goodness [0,1] 0.045580441846771236 Centerline is valid? [False, False] Translation: X:327.24, Y:18.58, Z:-0.36 [[ 9.99892580e-01 9.59828013e-03 1.10770793e-02 3.27236136e+02] [-9.67650847e-03 9.99928467e-01 7.03032582e-03 1.85781731e+01] [-1.10088079e-02 -7.13675807e-03 9.99913933e-01 -3.62512443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.951400513 meters Centerline goodness [0,1] 0.044212392441734805 Centerline is valid? [False, False] Translation: X:327.24, Y:18.58, Z:-0.36 [[ 9.99892465e-01 9.64986372e-03 1.10425940e-02 3.27237264e+02] [-9.72702903e-03 9.99928499e-01 6.95572815e-03 1.85786497e+01] [-1.09746826e-02 -7.06239180e-03 9.99914836e-01 -3.64012055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.981400513 meters Centerline goodness [0,1] 0.046657015003948366 Centerline is valid? [False, False] Translation: X:327.24, Y:18.58, Z:-0.36 [[ 9.99887951e-01 9.56566511e-03 1.15145190e-02 3.27237923e+02] [-9.64527230e-03 9.99929828e-01 6.87807179e-03 1.85798155e+01] [-1.14479177e-02 -6.98836178e-03 9.99910050e-01 -3.63916735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.011400513 meters Centerline goodness [0,1] 0.29831786290146856 Centerline is valid? [False, False] Translation: X:327.24, Y:18.58, Z:-0.37 [[ 9.99887094e-01 9.66244967e-03 1.15081203e-02 3.27239065e+02] [-9.74356910e-03 9.99927932e-01 7.01380193e-03 1.85791006e+01] [-1.14395204e-02 -7.12514019e-03 9.99909181e-01 -3.65191575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.041400513 meters Centerline goodness [0,1] 0.2828315810095997 Centerline is valid? [False, False] Translation: X:327.24, Y:18.58, Z:-0.37 [[ 9.99886334e-01 9.83273476e-03 1.14296193e-02 3.27240540e+02] [-9.91647584e-03 9.99924233e-01 7.29323596e-03 1.85772422e+01] [-1.13570409e-02 -7.40574852e-03 9.99908082e-01 -3.66613092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.071400513 meters Centerline goodness [0,1] 0.06722540802823118 Centerline is valid? [False, False] Translation: X:327.24, Y:18.58, Z:-0.37 [[ 9.99916445e-01 5.48749723e-03 1.17042754e-02 3.27242796e+02] [-5.51928890e-03 9.99981162e-01 2.68567522e-03 1.85818510e+01] [-1.16893173e-02 -2.75005010e-03 9.99927896e-01 -3.67634944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.101400513 meters Centerline goodness [0,1] 0.07714949651433001 Centerline is valid? [False, False] Translation: X:327.24, Y:18.58, Z:-0.37 [[ 9.99918529e-01 5.58211126e-03 1.14793218e-02 3.27244704e+02] [-5.61716854e-03 9.99979651e-01 3.02398005e-03 1.85796789e+01] [-1.14622080e-02 -3.08821497e-03 9.99929538e-01 -3.68744574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.131400513 meters Centerline goodness [0,1] 0.06821049835063875 Centerline is valid? [False, False] Translation: X:327.25, Y:18.58, Z:-0.37 [[ 9.99919060e-01 5.63273935e-03 1.14081809e-02 3.27246075e+02] [-5.67125355e-03 9.99978319e-01 3.34648403e-03 1.85778677e+01] [-1.13890837e-02 -3.41091185e-03 9.99929325e-01 -3.69746977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.161400513 meters Centerline goodness [0,1] 0.07111950624876451 Centerline is valid? [False, False] Translation: X:327.25, Y:18.58, Z:-0.37 [[ 9.99918529e-01 5.69796476e-03 1.14223132e-02 3.27247114e+02] [-5.74059223e-03 9.99976668e-01 3.70264049e-03 1.85763272e+01] [-1.14009492e-02 -3.76790967e-03 9.99927908e-01 -3.70223941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.191400513 meters Centerline goodness [0,1] 0.07344312356854621 Centerline is valid? [False, False] Translation: X:327.25, Y:18.58, Z:-0.37 [[ 9.99919337e-01 5.67552474e-03 1.13625804e-02 3.27248296e+02] [-5.71915589e-03 9.99976383e-01 3.81109414e-03 1.85758649e+01] [-1.13406821e-02 -3.87577109e-03 9.99928181e-01 -3.70956578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.221400513 meters Centerline goodness [0,1] 0.07115204912561746 Centerline is valid? [False, False] Translation: X:327.25, Y:18.58, Z:-0.37 [[ 9.99914854e-01 5.53035470e-03 1.18194455e-02 3.27249249e+02] [-5.57513269e-03 9.99977394e-01 3.75891637e-03 1.85767740e+01] [-1.17983902e-02 -3.82449129e-03 9.99923083e-01 -3.70820202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.251400513 meters Centerline goodness [0,1] 0.28371134933994857 Centerline is valid? [False, False] Translation: X:327.25, Y:18.58, Z:-0.37 [[ 9.99916987e-01 5.47640863e-03 1.16631013e-02 3.27250887e+02] [-5.51904964e-03 9.99978192e-01 3.62701863e-03 1.85777287e+01] [-1.16429840e-02 -3.69108678e-03 9.99925406e-01 -3.72187561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.281400513 meters Centerline goodness [0,1] 0.2878040065212051 Centerline is valid? [False, False] Translation: X:327.25, Y:18.58, Z:-0.37 [[ 9.99919387e-01 5.39962411e-03 1.14918540e-02 3.27252566e+02] [-5.44032374e-03 9.99979030e-01 3.51329780e-03 1.85784975e+01] [-1.14726425e-02 -3.57553399e-03 9.99927794e-01 -3.73616234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.311400513 meters Centerline goodness [0,1] 0.07513480858299959 Centerline is valid? [False, False] Translation: X:327.25, Y:18.58, Z:-0.37 [[ 9.99921850e-01 5.29490768e-03 1.13251219e-02 3.27253981e+02] [-5.33423090e-03 9.99979839e-01 3.44482764e-03 1.85789334e+01] [-1.13066536e-02 -3.50496924e-03 9.99929935e-01 -3.74561932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.341400513 meters Centerline goodness [0,1] 0.09079695140755095 Centerline is valid? [False, False] Translation: X:327.26, Y:18.58, Z:-0.37 [[ 9.99916981e-01 4.90987758e-03 1.19131597e-02 3.27255148e+02] [-4.95434807e-03 9.99980859e-01 3.70625093e-03 1.85769482e+01] [-1.18947344e-02 -3.76496518e-03 9.99922167e-01 -3.73956656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.371400513 meters Centerline goodness [0,1] 0.07514246587445328 Centerline is valid? [False, False] Translation: X:327.26, Y:18.57, Z:-0.37 [[ 9.99919926e-01 4.92328388e-03 1.16577315e-02 3.27256869e+02] [-4.96983994e-03 9.99979778e-01 3.96798248e-03 1.85749989e+01] [-1.16379603e-02 -4.02560181e-03 9.99924173e-01 -3.74584872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.401400513 meters Centerline goodness [0,1] 0.07507440806716714 Centerline is valid? [False, False] Translation: X:327.26, Y:18.57, Z:-0.38 [[ 9.99922664e-01 4.98518926e-03 1.13935739e-02 3.27258733e+02] [-5.03439525e-03 9.99978107e-01 4.29415695e-03 1.85724385e+01] [-1.13719173e-02 -4.35118461e-03 9.99925871e-01 -3.75428014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.431400513 meters Centerline goodness [0,1] 0.3715273162302273 Centerline is valid? [False, False] Translation: X:327.27, Y:18.57, Z:-0.38 [[ 9.99933726e-01 2.33558658e-03 1.12733870e-02 3.27266276e+02] [-2.35246748e-03 9.99996131e-01 1.48438296e-03 1.85723496e+01] [-1.12698765e-02 -1.51080486e-03 9.99935352e-01 -3.80511042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.461400513 meters Centerline goodness [0,1] 0.3626734923542002 Centerline is valid? [False, False] Translation: X:327.27, Y:18.57, Z:-0.38 [[ 9.99936501e-01 2.49332251e-03 1.09898333e-02 3.27268405e+02] [-2.51335247e-03 9.99995205e-01 1.80915657e-03 1.85701904e+01] [-1.09852698e-02 -1.83666302e-03 9.99937973e-01 -3.81622034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.491400513 meters Centerline goodness [0,1] 0.07606188844853456 Centerline is valid? [False, False] Translation: X:327.29, Y:18.57, Z:-0.36 [[ 9.99993630e-01 2.89671522e-03 -2.08554167e-03 3.27291449e+02] [-2.89428175e-03 9.99995128e-01 1.16890570e-03 1.85692497e+01] [ 2.08891750e-03 -1.16286211e-03 9.99997142e-01 -3.55394812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.521400513 meters Centerline goodness [0,1] 0.07527647359871836 Centerline is valid? [False, False] Translation: X:327.29, Y:18.56, Z:-0.36 [[ 9.99992586e-01 3.55645498e-03 -1.47652550e-03 3.27292786e+02] [-3.55297287e-03 9.99990917e-01 2.35427677e-03 1.85616843e+01] [ 1.48488497e-03 -2.34901326e-03 9.99996139e-01 -3.55807801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.551400513 meters Centerline goodness [0,1] 0.3024418043926176 Centerline is valid? [False, False] Translation: X:327.29, Y:18.56, Z:-0.36 [[ 9.99991281e-01 3.81793030e-03 -1.69164855e-03 3.27294878e+02] [-3.81324362e-03 9.99988907e-01 2.76509890e-03 1.85590917e+01] [ 1.70218674e-03 -2.75862412e-03 9.99994746e-01 -3.57188273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.581400513 meters Centerline goodness [0,1] 0.37595479519363917 Centerline is valid? [False, False] Translation: X:327.30, Y:18.56, Z:-0.36 [[ 9.99990461e-01 3.93537048e-03 -1.89475253e-03 3.27296755e+02] [-3.92983919e-03 9.99988032e-01 2.91419350e-03 1.85584260e+01] [ 1.90619828e-03 -2.90671963e-03 9.99993959e-01 -3.58491510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.611400513 meters Centerline goodness [0,1] 0.298322489266587 Centerline is valid? [False, False] Translation: X:327.30, Y:18.56, Z:-0.36 [[ 9.99989488e-01 4.03982935e-03 -2.16880929e-03 3.27299082e+02] [-4.03357559e-03 9.99987717e-01 2.88017235e-03 1.85593768e+01] [ 2.18041805e-03 -2.87139402e-03 9.99993500e-01 -3.59895641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.641400513 meters Centerline goodness [0,1] 0.16891995867132714 Centerline is valid? [False, False] Translation: X:327.31, Y:18.56, Z:-0.37 [[ 9.99980196e-01 5.66672458e-03 -2.73785401e-03 3.27310065e+02] [-5.65771135e-03 9.99978587e-01 3.28868566e-03 1.85608888e+01] [ 2.75643146e-03 -3.27313055e-03 9.99990844e-01 -3.68257865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.671400513 meters Centerline goodness [0,1] 0.07711737487985337 Centerline is valid? [False, False] Translation: X:327.31, Y:18.56, Z:-0.37 [[ 9.99979439e-01 5.71446262e-03 -2.90972397e-03 3.27311608e+02] [-5.70568312e-03 9.99979172e-01 3.01670804e-03 1.85633021e+01] [ 2.92690223e-03 -3.00004405e-03 9.99991216e-01 -3.69302241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.701400513 meters Centerline goodness [0,1] 0.17107347118345795 Centerline is valid? [False, False] Translation: X:327.32, Y:18.56, Z:-0.37 [[ 9.99967183e-01 7.22993158e-03 -3.65528842e-03 3.27318814e+02] [-7.21561252e-03 9.99966301e-01 3.91548226e-03 1.85623555e+01] [ 3.68347391e-03 -3.88897862e-03 9.99985654e-01 -3.73668304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.731400513 meters Centerline goodness [0,1] 0.17195197044334976 Centerline is valid? [False, False] Translation: X:327.32, Y:18.56, Z:-0.37 [[ 9.99966882e-01 7.21735385e-03 -3.76105547e-03 3.27320107e+02] [-7.20300143e-03 9.99966778e-01 3.81573666e-03 1.85633017e+01] [ 3.78847004e-03 -3.78851940e-03 9.99985647e-01 -3.74610596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.761400513 meters Centerline goodness [0,1] 0.17642649263603494 Centerline is valid? [False, False] Translation: X:327.32, Y:18.56, Z:-0.38 [[ 9.99965851e-01 7.27315179e-03 -3.92408245e-03 3.27321631e+02] [-7.25765693e-03 9.99965867e-01 3.94855440e-03 1.85626678e+01] [ 3.95266695e-03 -3.91993992e-03 9.99984505e-01 -3.75529413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.791400513 meters Centerline goodness [0,1] 0.31890170039032706 Centerline is valid? [False, False] Translation: X:327.32, Y:18.57, Z:-0.37 [[ 9.99987542e-01 4.10883419e-03 -2.83445434e-03 3.27317139e+02] [-4.10715055e-03 9.99991386e-01 5.99557721e-04 1.85671083e+01] [ 2.83689341e-03 -5.87908721e-04 9.99995803e-01 -3.71871046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.821400513 meters Centerline goodness [0,1] 0.17295279912184414 Centerline is valid? [False, False] Translation: X:327.33, Y:18.57, Z:-0.38 [[ 9.99988467e-01 3.11073969e-03 -3.65906243e-03 3.27327024e+02] [-3.11033309e-03 9.99995156e-01 1.16805574e-04 1.85685905e+01] [ 3.65940806e-03 -1.05423324e-04 9.99993299e-01 -3.78334731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 22474.83 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%| | 0/21592 [00:00